+ python -m lidar_slam --no-model /working/79aa1111-e3d9-4bb0-ac7b-251745de0001 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/79aa1111-e3d9-4bb0-ac7b-251745de0001 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 0.020714057 Adjusted end_distance from 9.223372036854776e+18 to 934.510714057 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.020714057 meters Centerline goodness : 0.163307 Centerline is valid? [0, False] SLAMing on 0.050714057 meters Centerline goodness : 0.166172 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999756e-01 -5.34049431e-04 -4.49617843e-04 1.08696381e-03] [ 5.33736895e-04 9.99999616e-01 -6.94947949e-04 1.95866818e-03] [ 4.49988807e-04 6.94707802e-04 9.99999657e-01 -4.65185029e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.080714057 meters Centerline goodness : 0.169360 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 0.99999897 -0.00102059 -0.00100881 0.00374201] [ 0.00101941 0.9999988 -0.00116384 0.00488132] [ 0.00100999 0.00116281 0.99999881 -0.00146889] [ 0. 0. 0. 1. ]] SLAMing on 0.110714057 meters Centerline goodness : 0.170049 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 0.99999805 -0.00139342 -0.0014009 0.00493493] [ 0.00139124 0.99999782 -0.0015554 0.00638761] [ 0.00140307 0.00155345 0.99999781 -0.00177175] [ 0. 0. 0. 1. ]] SLAMing on 0.140714057 meters Centerline goodness : 0.173007 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.9999955 -0.00252525 -0.00161881 0.00605536] [ 0.0025216 0.99999428 -0.00225404 0.00928378] [ 0.00162449 0.00224995 0.99999615 -0.00221979] [ 0. 0. 0. 1. ]] SLAMing on 0.170714057 meters Centerline goodness : 0.168844 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999363 -0.00309901 -0.00177261 0.00644687] [ 0.00309423 0.99999158 -0.00269449 0.01054597] [ 0.00178095 0.00268899 0.9999948 -0.00212654] [ 0. 0. 0. 1. ]] SLAMing on 0.200714057 meters Centerline goodness : 0.171238 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99998963 -0.00404863 -0.00208765 0.00815202] [ 0.00404194 0.99998671 -0.00320173 0.01325266] [ 0.00210058 0.00319326 0.9999927 -0.0028661 ] [ 0. 0. 0. 1. ]] SLAMing on 0.230714057 meters Centerline goodness : 0.173453 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99998808 -0.00429759 -0.00231559 0.00947736] [ 0.00428984 0.99998521 -0.0033423 0.01473604] [ 0.00232991 0.00333233 0.99999173 -0.00353525] [ 0. 0. 0. 1. ]] SLAMing on 0.260714057 meters Centerline goodness : 0.177953 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99998305 -0.00516455 -0.00268925 0.01175395] [ 0.00515412 0.99997923 -0.00386955 0.01806335] [ 0.00270918 0.00385562 0.9999889 -0.00454865] [ 0. 0. 0. 1. ]] SLAMing on 0.290714057 meters Centerline goodness : 0.183734 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.99998033 -0.00553883 -0.00294269 0.01313276] [ 0.00552685 0.99997646 -0.00406498 0.01964009] [ 0.00296514 0.00404864 0.99998741 -0.00521344] [ 0. 0. 0. 1. ]] SLAMing on 0.320714057 meters Centerline goodness : 0.122865 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.99997626 -0.00610991 -0.00318409 0.01420059] [ 0.00609653 0.99997262 -0.00419466 0.02072079] [ 0.00320963 0.00417515 0.99998613 -0.00555579] [ 0. 0. 0. 1. ]] SLAMing on 0.35071405699999997 meters Centerline goodness : 0.189473 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99993572 -0.01069248 -0.00377255 0.01712774] [ 0.01066117 0.99990934 -0.00822522 0.0256046 ] [ 0.00386016 0.00818447 0.99995906 -0.00636364] [ 0. 0. 0. 1. ]] SLAMing on 0.380714057 meters Centerline goodness : 0.200082 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99993072 -0.0111155 -0.00387341 0.01833423] [ 0.01108337 0.99990479 -0.00822045 0.02563327] [ 0.00396442 0.00817695 0.99995871 -0.00710801] [ 0. 0. 0. 1. ]] SLAMing on 0.410714057 meters Centerline goodness : 0.199223 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99991281 -0.01254618 -0.00411903 0.02012153] [ 0.01251022 0.99988441 -0.00864103 0.02735866] [ 0.00422696 0.00858875 0.99995418 -0.00764972] [ 0. 0. 0. 1. ]] SLAMing on 0.440714057 meters Centerline goodness : 0.197014 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99991009 -0.01267259 -0.00438353 0.0217256 ] [ 0.01263446 0.99988302 -0.00862022 0.02799937] [ 0.00449226 0.00856406 0.99995324 -0.00839362] [ 0. 0. 0. 1. ]] SLAMing on 0.47071405699999996 meters Centerline goodness : 0.205377 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99990418 -0.01290268 -0.00501435 0.02533304] [ 0.01286059 0.99988253 -0.00833813 0.02896166] [ 0.00512134 0.00827284 0.99995266 -0.00994315] [ 0. 0. 0. 1. ]] SLAMing on 0.5007140569999999 meters Centerline goodness : 0.205363 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.9999013 -0.01302545 -0.0052659 0.02691416] [ 0.01298228 0.9998825 -0.00815094 0.02902181] [ 0.00537145 0.00808177 0.99995292 -0.01072389] [ 0. 0. 0. 1. ]] SLAMing on 0.530714057 meters Centerline goodness : 0.208974 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99989924 -0.0130531 -0.00557977 0.02860403] [ 0.013009 0.99988442 -0.00786832 0.02850946] [ 0.00568183 0.00779494 0.99995348 -0.0114021 ] [ 0. 0. 0. 1. ]] SLAMing on 0.560714057 meters Centerline goodness : 0.212318 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 0.99988695 -0.01378233 -0.00601142 0.03185438] [ 0.01373511 0.99987504 -0.00782663 0.02818788] [ 0.00611853 0.00774318 0.9999513 -0.01274645] [ 0. 0. 0. 1. ]] SLAMing on 0.5907140569999999 meters Centerline goodness : 0.211979 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.01 [[ 0.99987936 -0.01404615 -0.00663163 0.03543178] [ 0.01399619 0.99987376 -0.00752191 0.02906524] [ 0.00673645 0.00742818 0.99994972 -0.0138556 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6207140569999999 meters Centerline goodness : 0.230367 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.01 [[ 0.99987718 -0.01405953 -0.006925 0.03740974] [ 0.01400736 0.99987357 -0.00752576 0.03019848] [ 0.00702993 0.00742784 0.9999477 -0.01475051] [ 0. 0. 0. 1. ]] SLAMing on 0.650714057 meters Centerline goodness : 0.214984 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.999875 -0.01399443 -0.0073586 0.03957188] [ 0.01393859 0.99987407 -0.00758664 0.03160235] [ 0.00746384 0.00748312 0.99994415 -0.01536992] [ 0. 0. 0. 1. ]] SLAMing on 0.6807140569999999 meters Centerline goodness : 0.222531 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.99986472 -0.01439773 -0.00795289 0.04309225] [ 0.01433842 0.99986933 -0.00746506 0.03317539] [ 0.00805933 0.00735001 0.99994051 -0.01623244] [ 0. 0. 0. 1. ]] SLAMing on 0.7107140569999999 meters Centerline goodness : 0.227622 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.99986069 -0.01460061 -0.00808827 0.04488324] [ 0.01454087 0.99986692 -0.00739579 0.03344958] [ 0.00819517 0.00727715 0.99993994 -0.01710822] [ 0. 0. 0. 1. ]] SLAMing on 0.7407140569999999 meters Centerline goodness : 0.845698 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 0.9998487 -0.01520481 -0.0084493 0.04833156] [ 0.0151418 0.99985744 -0.00747207 0.03448291] [ 0.00856171 0.007343 0.99993639 -0.01819619] [ 0. 0. 0. 1. ]] SLAMing on 0.770714057 meters Centerline goodness : 0.830570 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.02 [[ 0.99984774 -0.01511317 -0.00872337 0.05054721] [ 0.0150499 0.99986029 -0.00727395 0.035201 ] [ 0.00883208 0.00714155 0.99993549 -0.0192916 ] [ 0. 0. 0. 1. ]] SLAMing on 0.800714057 meters Centerline goodness : 0.850089 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.02 [[ 0.99984328 -0.01508134 -0.00927147 0.05514521] [ 0.01501739 0.99986323 -0.00692867 0.0375092 ] [ 0.00937469 0.00678835 0.99993301 -0.0213294 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8307140569999999 meters Centerline goodness : 0.131242 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.02 [[ 0.99984214 -0.01479865 -0.00983348 0.05804781] [ 0.01473325 0.99986908 -0.00669001 0.03875308] [ 0.00993119 0.00654407 0.99992927 -0.02245109] [ 0. 0. 0. 1. ]] SLAMing on 0.8607140569999999 meters Centerline goodness : 0.856566 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.02 [[ 0.99983673 -0.01484104 -0.01030815 0.06275277] [ 0.01477622 0.99987075 -0.00633618 0.0417496 ] [ 0.01040086 0.00618283 0.99992679 -0.02452536] [ 0. 0. 0. 1. ]] SLAMing on 0.890714057 meters Centerline goodness : 0.856566 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.02 [[ 0.99983673 -0.01484104 -0.01030815 0.06275277] [ 0.01477622 0.99987075 -0.00633618 0.0417496 ] [ 0.01040086 0.00618283 0.99992679 -0.02452536] [ 0. 0. 0. 1. ]] SLAMing on 0.9207140569999999 meters Centerline goodness : 0.840594 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.03 [[ 0.99983356 -0.01470645 -0.0107966 0.06538426] [ 0.01464062 0.9998739 -0.00615091 0.04335482] [ 0.01088569 0.00599181 0.9999228 -0.02543172] [ 0. 0. 0. 1. ]] SLAMing on 0.9507140569999999 meters Centerline goodness : 0.847882 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.03 [[ 0.99983089 -0.01461593 -0.01116069 0.06776303] [ 0.01454965 0.99987616 -0.00599746 0.04481012] [ 0.01124697 0.00583406 0.99991973 -0.02635687] [ 0. 0. 0. 1. ]] SLAMing on 0.9807140569999999 meters Centerline goodness : 0.842398 Centerline is valid? [False, False] Translation: X:0.07, Y:0.05, Z:-0.03 [[ 0.99981932 -0.01507561 -0.01157828 0.07191631] [ 0.01500718 0.99986954 -0.00597431 0.04791943] [ 0.01166683 0.00579947 0.99991512 -0.02794951] [ 0. 0. 0. 1. ]] SLAMing on 1.010714057 meters Centerline goodness : 0.851132 Centerline is valid? [False, False] Translation: X:0.07, Y:0.05, Z:-0.03 [[ 0.99981244 -0.01515371 -0.01206037 0.07439136] [ 0.01508264 0.99986847 -0.00596255 0.04928132] [ 0.01214913 0.00577953 0.99990949 -0.02877947] [ 0. 0. 0. 1. ]] SLAMing on 1.040714057 meters Centerline goodness : 0.117130 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 0.99979894 -0.01562369 -0.01256933 0.078659 ] [ 0.01554718 0.99986015 -0.00616169 0.05278504] [ 0.01266384 0.00596503 0.99990202 -0.03023005] [ 0. 0. 0. 1. ]] SLAMing on 1.070714057 meters Centerline goodness : 0.872162 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 0.9997918 -0.01557943 -0.01317702 0.08127652] [ 0.01550112 0.9998617 -0.00602473 0.05444965] [ 0.01326906 0.00581921 0.99989503 -0.03104414] [ 0. 0. 0. 1. ]] SLAMing on 1.100714057 meters Centerline goodness : 0.875300 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-0.03 [[ 0.99978601 -0.01554031 -0.01365381 0.08378626] [ 0.01545945 0.99986245 -0.0060078 0.05629436] [ 0.0137453 0.00579543 0.99988873 -0.0319838 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1307140569999998 meters Centerline goodness : 0.878282 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.03 [[ 0.99977321 -0.01587641 -0.01419384 0.08790339] [ 0.01579317 0.99985753 -0.00595727 0.0594869 ] [ 0.0142864 0.00573175 0.99988152 -0.0336053 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1607140569999999 meters Centerline goodness : 0.878231 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:-0.03 [[ 0.99976512 -0.01582335 -0.01480971 0.09053493] [ 0.01573627 0.99985831 -0.00597774 0.06087045] [ 0.0149022 0.00574329 0.99987246 -0.03455924] [ 0. 0. 0. 1. ]] SLAMing on 1.1907140569999999 meters Centerline goodness : 0.880391 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.04 [[ 0.99978298 -0.01425569 -0.01519117 0.09515338] [ 0.01418503 0.99988811 -0.00474888 0.06415137] [ 0.01525717 0.00453237 0.99987333 -0.03686389] [ 0. 0. 0. 1. ]] SLAMing on 1.220714057 meters Centerline goodness : 0.883352 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-0.04 [[ 0.99977589 -0.01412925 -0.01576515 0.09723352] [ 0.01405413 0.9998894 -0.00486566 0.06613944] [ 0.01583215 0.00464301 0.99986388 -0.03723387] [ 0. 0. 0. 1. ]] SLAMing on 1.250714057 meters Centerline goodness : 0.887084 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-0.04 [[ 0.99977015 -0.01406255 -0.01618297 0.10082088] [ 0.01398688 0.99989075 -0.00477969 0.06869932] [ 0.01624841 0.00455224 0.99985762 -0.0383017 ] [ 0. 0. 0. 1. ]] SLAMing on 1.280714057 meters Centerline goodness : 0.889770 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:-0.04 [[ 0.99975926 -0.0140036 -0.01689137 0.10328268] [ 0.01392323 0.99989122 -0.00486687 0.06958653] [ 0.01695769 0.00463051 0.99984549 -0.03897943] [ 0. 0. 0. 1. ]] SLAMing on 1.310714057 meters Centerline goodness : 0.886210 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.04 [[ 0.99974711 -0.01387658 -0.01769608 0.1060213 ] [ 0.01379432 0.99989351 -0.00476203 0.07013256] [ 0.01776028 0.00451672 0.99983207 -0.03984183] [ 0. 0. 0. 1. ]] SLAMing on 1.3407140569999998 meters Centerline goodness : 0.893665 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.04 [[ 0.99973354 -0.01433368 -0.01809387 0.10942367] [ 0.01425146 0.99988756 -0.00466492 0.0710222 ] [ 0.0181587 0.00440582 0.99982541 -0.04116483] [ 0. 0. 0. 1. ]] SLAMing on 1.3707140569999998 meters Centerline goodness : 0.894496 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.04 [[ 0.999723 -0.01382035 -0.01905024 0.1126508 ] [ 0.01374008 0.99989619 -0.00433817 0.07151979] [ 0.01910822 0.00407521 0.99980912 -0.04224688] [ 0. 0. 0. 1. ]] SLAMing on 1.4007140569999998 meters Centerline goodness : 0.899169 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.04 [[ 0.99971533 -0.01342484 -0.01972399 0.11649361] [ 0.01335615 0.99990429 -0.00361003 0.07252481] [ 0.01977056 0.00334557 0.99979895 -0.0435044 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4307140569999999 meters Centerline goodness : 0.902215 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.04 [[ 0.99970203 -0.01342719 -0.02038552 0.11857887] [ 0.01335777 0.99990452 -0.00353767 0.07282715] [ 0.02043108 0.00326431 0.99978593 -0.04410474] [ 0. 0. 0. 1. ]] SLAMing on 1.460714057 meters Centerline goodness : 0.837644 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.04 [[ 0.99968488 -0.01328287 -0.02130057 0.12139736] [ 0.01321498 0.99990715 -0.00332505 0.07263648] [ 0.02134276 0.00304251 0.99976759 -0.04497591] [ 0. 0. 0. 1. ]] SLAMing on 1.490714057 meters Centerline goodness : 0.869628 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 0.99965408 -0.01467768 -0.02182417 0.12640515] [ 0.01457634 0.99988226 -0.00479532 0.07316132] [ 0.02189199 0.00447554 0.99975032 -0.04732888] [ 0. 0. 0. 1. ]] SLAMing on 1.520714057 meters Centerline goodness : 0.820159 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 0.99963865 -0.01469606 -0.02250778 0.12838051] [ 0.014594 0.99988249 -0.0046918 0.07299481] [ 0.02257408 0.00436163 0.99973566 -0.04768435] [ 0. 0. 0. 1. ]] SLAMing on 1.550714057 meters Centerline goodness : 0.903386 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 0.99962449 -0.01492746 -0.02297914 0.13092253] [ 0.01482883 0.99988012 -0.00445652 0.0731514 ] [ 0.02304291 0.00411409 0.99972601 -0.0481314 ] [ 0. 0. 0. 1. ]] SLAMing on 1.580714057 meters Centerline goodness : 0.914093 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.05 [[ 0.99961089 -0.01380419 -0.02423883 0.13459724] [ 0.01371373 0.99989838 -0.0038947 0.07354494] [ 0.02429013 0.00356078 0.99969861 -0.04893563] [ 0. 0. 0. 1. ]] SLAMing on 1.6107140569999998 meters Centerline goodness : 0.901563 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.99959255 -0.01305337 -0.02538398 0.13733073] [ 0.01296542 0.99990937 -0.00362661 0.07403517] [ 0.02542902 0.00329602 0.9996712 -0.04909934] [ 0. 0. 0. 1. ]] SLAMing on 1.6407140569999998 meters Centerline goodness : 0.915498 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.9995953 -0.0118965 -0.02584019 0.14030689] [ 0.01182609 0.99992593 -0.00287596 0.0747749 ] [ 0.02587249 0.00256921 0.99966195 -0.04944689] [ 0. 0. 0. 1. ]] SLAMing on 1.6707140569999999 meters Centerline goodness : 0.909958 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.05 [[ 0.99959465 -0.01109392 -0.02621958 0.14334713] [ 0.01104855 0.99993721 -0.00187445 0.07376582] [ 0.02623873 0.00158401 0.99965445 -0.0509283 ] [ 0. 0. 0. 1. ]] SLAMing on 1.700714057 meters Centerline goodness : 0.905231 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.05 [[ 0.99955675 -0.01192286 -0.02727896 0.14760499] [ 0.01183484 0.99992423 -0.00338584 0.07451711] [ 0.02731726 0.0030615 0.99962213 -0.05254338] [ 0. 0. 0. 1. ]] SLAMing on 1.730714057 meters Centerline goodness : 0.908838 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.05 [[ 0.99953702 -0.01177299 -0.02805601 0.14968854] [ 0.01168648 0.99992644 -0.00324526 0.07421748] [ 0.02809215 0.00291588 0.99960108 -0.05314452] [ 0. 0. 0. 1. ]] SLAMing on 1.760714057 meters Centerline goodness : 0.928994 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.05 [[ 0.99953094 -0.01214481 -0.02811399 0.15118429] [ 0.0120699 0.99992314 -0.00283263 0.07322306] [ 0.02814623 0.00249197 0.99960071 -0.05356269] [ 0. 0. 0. 1. ]] SLAMing on 1.790714057 meters Centerline goodness : 0.922912 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.05 [[ 0.9995085 -0.01253617 -0.02873335 0.15229492] [ 0.01245517 0.99991794 -0.00299609 0.07271792] [ 0.02876855 0.00263673 0.99958262 -0.05335554] [ 0. 0. 0. 1. ]] SLAMing on 1.8207140569999998 meters Centerline goodness : 0.928429 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.05 [[ 0.99943741 -0.01642469 -0.02924195 0.15450665] [ 0.01623934 0.99984658 -0.0065648 0.07197471] [ 0.02934529 0.00608624 0.9995508 -0.05280384] [ 0. 0. 0. 1. ]] SLAMing on 1.8507140569999998 meters Centerline goodness : 0.935190 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.05 [[ 0.999406 -0.0169786 -0.02998973 0.15601996] [ 0.01679175 0.99983807 -0.00647145 0.07053838] [ 0.03009475 0.00596403 0.99952926 -0.05314668] [ 0. 0. 0. 1. ]] SLAMing on 1.8807140569999998 meters Centerline goodness : 0.938827 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.05 [[ 0.99937818 -0.01768482 -0.03050399 0.15691977] [ 0.01749636 0.99982622 -0.00643432 0.06905663] [ 0.03061248 0.00589661 0.99951393 -0.05324657] [ 0. 0. 0. 1. ]] SLAMing on 1.9107140569999999 meters Centerline goodness : 0.936895 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.05 [[ 0.99927284 -0.02223421 -0.03097478 0.15879992] [ 0.02192799 0.99970761 -0.01019079 0.06782958] [ 0.03119231 0.00950416 0.99946821 -0.05306558] [ 0. 0. 0. 1. ]] SLAMing on 1.9407140569999999 meters Centerline goodness : 0.942729 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.05 [[ 0.99923426 -0.0227577 -0.03182725 0.16041016] [ 0.02244819 0.99969751 -0.01004838 0.06638338] [ 0.0320463 0.00932623 0.99944287 -0.05324763] [ 0. 0. 0. 1. ]] SLAMing on 1.970714057 meters Centerline goodness : 0.945099 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.05 [[ 0.99910759 -0.02724204 -0.03227825 0.16202098] [ 0.02680476 0.999544 -0.01390328 0.06527563] [ 0.03264229 0.01302566 0.99938222 -0.05272543] [ 0. 0. 0. 1. ]] SLAMing on 2.000714057 meters Centerline goodness : 0.947694 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 0.99907418 -0.02782937 -0.03280726 0.16316289] [ 0.02738946 0.99952981 -0.01378301 0.06401211] [ 0.03317541 0.01287167 0.99936666 -0.05307147] [ 0. 0. 0. 1. ]] SLAMing on 2.030714057 meters Centerline goodness : 0.949901 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 0.99904101 -0.02829781 -0.03341105 0.16427984] [ 0.02785121 0.9995174 -0.01375753 0.06289582] [ 0.03378423 0.0128138 0.999347 -0.05311161] [ 0. 0. 0. 1. ]] SLAMing on 2.060714057 meters Centerline goodness : 0.953669 Centerline is valid? [False, True] Translation: X:0.17, Y:0.06, Z:-0.05 [[ 0.99899623 -0.02939642 -0.03379908 0.1654689 ] [ 0.02894972 0.99948793 -0.0136308 0.06132741] [ 0.03418247 0.01263864 0.99933569 -0.05363638] [ 0. 0. 0. 1. ]] SLAMing on 2.090714057 meters Centerline goodness : 0.954048 Centerline is valid? [True, True] Translation: X:0.20, Y:0.06, Z:-0.06 [[ 9.99051209e-01 -2.82620683e-02 -3.31351427e-02 1.95864653e-01] [ 2.82385153e-02 9.99600519e-01 -1.17866505e-03 5.60408708e-02] [ 3.31552173e-02 2.41859508e-04 9.99450185e-01 -6.13200211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1207140570000003 meters Centerline goodness : 0.958860 Centerline is valid? [True, True] Translation: X:0.23, Y:0.05, Z:-0.05 [[ 9.98930306e-01 -3.23034164e-02 -3.30867583e-02 2.30907828e-01] [ 3.23108159e-02 9.99477821e-01 -3.11153380e-04 5.18885736e-02] [ 3.30795324e-02 -7.58239616e-04 9.99452435e-01 -5.49890622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.150714057 meters Centerline goodness : 0.959181 Centerline is valid? [True, True] Translation: X:0.26, Y:0.05, Z:-0.06 [[ 9.98992264e-01 -3.03470743e-02 -3.30682779e-02 2.60635294e-01] [ 3.03641859e-02 9.99538902e-01 1.52841509e-05 4.89239237e-02] [ 3.30525664e-02 -1.01936009e-03 9.99453095e-01 -5.57686184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1807140570000003 meters Centerline goodness : 0.960726 Centerline is valid? [True, True] Translation: X:0.29, Y:0.05, Z:-0.05 [[ 9.99103185e-01 -2.64443828e-02 -3.30684221e-02 2.94124454e-01] [ 2.64592759e-02 9.99649892e-01 1.27731021e-05 4.64077070e-02] [ 3.30565068e-02 -8.87728151e-04 9.99453090e-01 -4.79554114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.210714057 meters Centerline goodness : 0.963758 Centerline is valid? [True, True] Translation: X:0.33, Y:0.04, Z:-0.05 [[ 9.99112285e-01 -2.61015548e-02 -3.30658476e-02 3.28108142e-01] [ 2.61177238e-02 9.99658872e-01 5.70926547e-05 4.40391651e-02] [ 3.30530777e-02 -9.20646646e-04 9.99453174e-01 -4.52536522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.240714057 meters Centerline goodness : 0.963984 Centerline is valid? [True, True] Translation: X:0.36, Y:0.04, Z:-0.05 [[ 9.99194302e-01 -2.27707857e-02 -3.30490195e-02 3.57183323e-01] [ 2.27945252e-02 9.99740113e-01 3.41670492e-04 4.31214302e-02] [ 3.30326503e-02 -1.09473192e-03 9.99453674e-01 -4.57552488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.270714057 meters Centerline goodness : 0.966046 Centerline is valid? [True, True] Translation: X:0.39, Y:0.04, Z:-0.05 [[ 9.99234271e-01 -2.09381108e-02 -3.30524994e-02 3.91049304e-01] [ 2.09589751e-02 9.99780296e-01 2.84868369e-04 4.15960700e-02] [ 3.30392730e-02 -9.77396751e-04 9.99453576e-01 -4.76946784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.300714057 meters Centerline goodness : 0.969055 Centerline is valid? [True, True] Translation: X:0.42, Y:0.04, Z:-0.04 [[ 9.99347788e-01 -1.45509069e-02 -3.30495036e-02 4.20990280e-01] [ 1.45698697e-02 9.99893798e-01 3.33002160e-04 3.68823159e-02] [ 3.30411482e-02 -8.14311933e-04 9.99453660e-01 -4.00304992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3307140570000002 meters Centerline goodness : 0.969407 Centerline is valid? [True, True] Translation: X:0.45, Y:0.03, Z:-0.04 [[ 9.99364650e-01 -1.33290618e-02 -3.30549918e-02 4.53807699e-01] [ 1.33444381e-02 9.99910929e-01 2.44597156e-04 3.44670899e-02] [ 3.30487873e-02 -6.85542043e-04 9.99453505e-01 -4.26499698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.360714057 meters Centerline goodness : 0.971460 Centerline is valid? [True, True] Translation: X:0.49, Y:0.03, Z:-0.03 [[ 9.99391623e-01 -1.11823301e-02 -3.30354179e-02 4.85573705e-01] [ 1.12067705e-02 9.99937048e-01 5.54750233e-04 3.40686739e-02] [ 3.30271349e-02 -9.24633083e-04 9.99454028e-01 -3.16900573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3907140570000003 meters Centerline goodness : 0.974191 Centerline is valid? [True, True] Translation: X:0.52, Y:0.03, Z:-0.03 [[ 9.99404671e-01 -9.97865686e-03 -3.30262027e-02 5.18714711e-01] [ 1.00072265e-02 9.99949682e-01 6.99872327e-04 3.40485275e-02] [ 3.30175571e-02 -1.02995636e-03 9.99454241e-01 -2.94017252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.420714057 meters Centerline goodness : 0.976774 Centerline is valid? [True, True] Translation: X:0.55, Y:0.03, Z:-0.02 [[ 9.99435219e-01 -6.29224189e-03 -3.30098623e-02 5.47269122e-01] [ 6.32723995e-03 9.99979526e-01 9.55877195e-04 3.28119035e-02] [ 3.30031718e-02 -1.16419865e-03 9.99454569e-01 -2.49041969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.450714057 meters Centerline goodness : 0.979825 Centerline is valid? [True, True] Translation: X:0.59, Y:0.03, Z:-0.02 [[ 9.99423106e-01 -7.97899873e-03 -3.30119735e-02 5.89126131e-01] [ 8.01383881e-03 9.99967463e-01 9.23197340e-04 3.23829997e-02] [ 3.30035332e-02 -1.18721739e-03 9.99454530e-01 -2.44218081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.480714057 meters Centerline goodness : 0.980436 Centerline is valid? [True, True] Translation: X:0.62, Y:0.03, Z:-0.02 [[ 0.99943042 -0.0073224 -0.03294251 0.61885232] [ 0.00739165 0.99997072 0.00198092 0.03265648] [ 0.03292704 -0.00222329 0.99945529 -0.02187488] [ 0. 0. 0. 1. ]] SLAMing on 2.510714057 meters Centerline goodness : 0.982926 Centerline is valid? [True, True] Translation: X:0.65, Y:0.03, Z:-0.02 [[ 0.99942018 -0.00860742 -0.03294268 0.64683671] [ 0.00867728 0.99996039 0.00197827 0.0326593 ] [ 0.03292435 -0.00226298 0.99945528 -0.01820547] [ 0. 0. 0. 1. ]] SLAMing on 2.540714057 meters Centerline goodness : 0.984632 Centerline is valid? [True, True] Translation: X:0.68, Y:0.03, Z:-0.02 [[ 0.99941862 -0.0087734 -0.03294624 0.67822324] [ 0.00884157 0.99995906 0.00192393 0.03215232] [ 0.03292801 -0.0022141 0.99945527 -0.01736156] [ 0. 0. 0. 1. ]] SLAMing on 2.570714057 meters Centerline goodness : 0.986104 Centerline is valid? [True, True] Translation: X:0.71, Y:0.03, Z:-0.02 [[ 0.99942134 -0.0085025 -0.0329346 0.70855762] [ 0.00857634 0.99996101 0.00210161 0.03201296] [ 0.03291544 -0.00238285 0.9994553 -0.0196927 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6007140570000002 meters Centerline goodness : 0.986837 Centerline is valid? [True, True] Translation: X:0.74, Y:0.03, Z:-0.02 [[ 0.99941326 -0.00941811 -0.03293062 0.73803683] [ 0.00949444 0.99995259 0.00216223 0.03247545] [ 0.0329087 -0.00247362 0.9994553 -0.02045116] [ 0. 0. 0. 1. ]] SLAMing on 2.630714057 meters Centerline goodness : 0.988493 Centerline is valid? [True, True] Translation: X:0.77, Y:0.03, Z:-0.02 [[ 0.99936584 -0.01356354 -0.03292335 0.77196826] [ 0.01364573 0.99990431 0.00227315 0.03252078] [ 0.03288937 -0.00272098 0.99945529 -0.01662068] [ 0. 0. 0. 1. ]] SLAMing on 2.660714057 meters Centerline goodness : 0.989005 Centerline is valid? [True, True] Translation: X:0.80, Y:0.03, Z:-0.02 [[ 0.99939825 -0.01099287 -0.03289833 0.80153592] [ 0.01108613 0.99993503 0.00265357 0.0299004 ] [ 0.03286702 -0.00301669 0.99945518 -0.01705214] [ 0. 0. 0. 1. ]] SLAMing on 2.690714057 meters Centerline goodness : 0.989628 Centerline is valid? [True, True] Translation: X:0.84, Y:0.03, Z:-0.01 [[ 0.99930823 -0.01733321 -0.03290312 0.8383459 ] [ 0.01742749 0.9998448 0.00258054 0.03315976] [ 0.03285328 -0.00315217 0.99945521 -0.01290407] [ 0. 0. 0. 1. ]] SLAMing on 2.720714057 meters Centerline goodness : 0.989756 Centerline is valid? [True, True] Translation: X:0.87, Y:0.03, Z:-0.01 [[ 0.99929206 -0.01831526 -0.03286241 0.86955509] [ 0.0184302 0.99982503 0.00319814 0.031771 ] [ 0.03279808 -0.00380153 0.99945477 -0.01013116] [ 0. 0. 0. 1. ]] SLAMing on 2.750714057 meters Centerline goodness : 0.988691 Centerline is valid? [True, True] Translation: X:0.89, Y:0.03, Z:-0.01 [[ 0.99938131 -0.01254813 -0.03285642 0.88917775] [ 0.01266297 0.99991441 0.00328946 0.03113066] [ 0.03281233 -0.00370348 0.99945467 -0.01155673] [ 0. 0. 0. 1. ]] SLAMing on 2.780714057 meters Centerline goodness : 0.991121 Centerline is valid? [True, True] Translation: X:0.91, Y:0.03, Z:-0.01 [[ 0.99942177 -0.00855125 -0.03290911 0.90612364] [ 0.00863735 0.99995963 0.00247496 0.03140432] [ 0.03288662 -0.00275778 0.99945528 -0.00634015] [ 0. 0. 0. 1. ]] SLAMing on 2.810714057 meters Centerline goodness : 0.990954 Centerline is valid? [True, True] Translation: X:0.94, Y:0.03, Z:-0.01 [[ 0.99939266 -0.01127571 -0.03297216 0.93984824] [ 0.01133082 0.9999347 0.00148514 0.02800984] [ 0.03295326 -0.00185784 0.99945517 -0.00757994] [ 0. 0. 0. 1. ]] SLAMing on 2.840714057 meters Centerline goodness : 0.990954 Centerline is valid? [True, True] Translation: X:0.97, Y:0.03, Z:-0.01 [[ 0.99939252 -0.01135947 -0.03294781 0.96901633] [ 0.01142711 0.99993297 0.00186531 0.02605602] [ 0.03292441 -0.00224067 0.99945533 -0.00682117] [ 0. 0. 0. 1. ]] SLAMing on 2.8707140570000003 meters Centerline goodness : 0.991714 Centerline is valid? [True, True] Translation: X:1.00, Y:0.03, Z:-0.00 [[ 0.99937344 -0.0129287 -0.03294805 0.99937144] [ 0.01299706 0.9999138 0.00186152 0.02844583] [ 0.03292115 -0.00228858 0.99945533 -0.0034095 ] [ 0. 0. 0. 1. ]] SLAMing on 2.900714057 meters Centerline goodness : 0.992446 Centerline is valid? [True, True] Translation: X:1.04, Y:0.03, Z:-0.00 [[ 0.99932471 -0.01628279 -0.03293931 1.03580609] [ 0.01635744 0.99986421 0.00199804 0.02565748] [ 0.03290231 -0.00253549 0.99945536 -0.0048594 ] [ 0. 0. 0. 1. ]] SLAMing on 2.930714057 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:1.06, Y:0.03, Z:0.00 [[ 9.99387909e-01 -1.18896705e-02 -3.29005166e-02 1.06089215e+00] [ 1.19816601e-02 9.99924836e-01 2.60024761e-03 2.76738917e-02] [ 3.28671276e-02 -2.99285883e-03 9.99455249e-01 4.59919341e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.960714057 meters Centerline goodness : 0.993090 Centerline is valid? [True, True] Translation: X:1.09, Y:0.03, Z:-0.00 [[ 9.99403606e-01 -1.03990704e-02 -3.29285896e-02 1.09222279e+00] [ 1.04759066e-02 9.99942789e-01 2.16175026e-03 2.62002142e-02] [ 3.29042256e-02 -2.50541783e-03 9.99455369e-01 -1.04513551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.990714057 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:1.13, Y:0.03, Z:0.00 [[ 0.99934076 -0.0153333 -0.03290807 1.12768685] [ 0.01542326 0.99987798 0.00248156 0.02755749] [ 0.03286601 -0.00298747 0.9994553 0.0037524 ] [ 0. 0. 0. 1. ]] SLAMing on 3.020714057 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:1.15, Y:0.02, Z:0.00 [[ 0.99941166 -0.0097752 -0.03287507 1.15032793] [ 0.00987896 0.99994672 0.00299527 0.02411261] [ 0.03284404 -0.00331828 0.99945498 0.00190446] [ 0. 0. 0. 1. ]] SLAMing on 3.050714057 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:1.19, Y:0.02, Z:0.01 [[ 0.99935737 -0.01420059 -0.03291173 1.18851989] [ 0.01428758 0.99989502 0.00240937 0.02170483] [ 0.03287406 -0.00287805 0.99945536 0.00672493] [ 0. 0. 0. 1. ]] SLAMing on 3.0807140570000002 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:1.22, Y:0.02, Z:0.01 [[ 0.99938021 -0.01259341 -0.03287263 1.21723391] [ 0.0127005 0.99991469 0.00305116 0.01914079] [ 0.0328314 -0.00346677 0.99945489 0.00791441] [ 0. 0. 0. 1. ]] SLAMing on 3.110714057 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:1.25, Y:0.02, Z:0.01 [[ 0.99932705 -0.01627128 -0.03287397 1.25451033] [ 0.01637963 0.99986126 0.00302914 0.01979433] [ 0.03282012 -0.00356557 0.99945491 0.01053348] [ 0. 0. 0. 1. ]] SLAMing on 3.1407140570000003 meters Centerline goodness : 0.997546 Centerline is valid? [True, True] Translation: X:1.28, Y:0.02, Z:0.01 [[ 0.9993725 -0.01329897 -0.03282912 1.2760787 ] [ 0.01342916 0.9999028 0.0037485 0.01576862] [ 0.03277608 -0.00418701 0.99945395 0.01232731] [ 0. 0. 0. 1. ]] SLAMing on 3.170714057 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:1.31, Y:0.01, Z:0.01 [[ 0.99936676 -0.01361369 -0.03287466 1.30552162] [ 0.01371989 0.99990136 0.00300701 0.01122043] [ 0.03283048 -0.00345614 0.99945496 0.01246658] [ 0. 0. 0. 1. ]] SLAMing on 3.200714057 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:1.34, Y:0.01, Z:0.01 [[ 0.9993215 -0.01661581 -0.03287036 1.33689587] [ 0.01672592 0.99985538 0.0030777 0.00860453] [ 0.03281446 -0.0036254 0.99945489 0.0136424 ] [ 0. 0. 0. 1. ]] SLAMing on 3.230714057 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:1.37, Y:0.00, Z:0.01 [[ 0.99930185 -0.01778836 -0.032854 1.36660457] [ 0.01790788 0.99983404 0.00334723 0.00297317] [ 0.03278901 -0.00393323 0.99945456 0.01239269] [ 0. 0. 0. 1. ]] SLAMing on 3.260714057 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.00, Z:0.01 [[ 0.99930519 -0.01759602 -0.03285612 1.39701918] [ 0.01771428 0.9998376 0.00331183 -0.00247785] [ 0.03279251 -0.00389156 0.9994546 0.0088843 ] [ 0. 0. 0. 1. ]] SLAMing on 3.290714057 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.00, Z:0.01 [[ 0.99932737 -0.01628218 -0.03285877 1.42134661] [ 0.0163983 0.9998602 0.00326752 -0.00309099] [ 0.03280097 -0.00380415 0.99945466 0.01011781] [ 0. 0. 0. 1. ]] SLAMing on 3.320714057 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.01, Z:0.02 [[ 0.99918914 -0.02322996 -0.03288515 1.45932441] [ 0.02333529 0.99972371 0.00282287 -0.00549876] [ 0.03281049 -0.00358797 0.99945515 0.01759667] [ 0. 0. 0. 1. ]] SLAMing on 3.3507140570000002 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.01, Z:0.02 [[ 0.99909232 -0.027132 -0.03283894 1.49164514] [ 0.0272648 0.99962175 0.00360281 -0.01079247] [ 0.03272876 -0.00449489 0.99945416 0.02209278] [ 0. 0. 0. 1. ]] SLAMing on 3.380714057 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.01, Z:0.02 [[ 0.9991963 -0.02301214 -0.03282058 1.51483334] [ 0.02315285 0.99972428 0.00391373 -0.01450548] [ 0.03272146 -0.00467047 0.9994536 0.01901228] [ 0. 0. 0. 1. ]] SLAMing on 3.410714057 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.02, Z:0.02 [[ 0.99917722 -0.02377887 -0.03285487 1.54766698] [ 0.02390086 0.9997088 0.00332519 -0.01827678] [ 0.03276623 -0.00410771 0.9994546 0.02049175] [ 0. 0. 0. 1. ]] SLAMing on 3.440714057 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.02, Z:0.02 [[ 0.99921938 -0.02195617 -0.03284128 1.56984427] [ 0.02208487 0.99974976 0.00356117 -0.02175662] [ 0.03275487 -0.00428369 0.99945424 0.02281173] [ 0. 0. 0. 1. ]] SLAMing on 3.470714057 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.03, Z:0.02 [[ 0.99914822 -0.02494003 -0.03287612 1.60343955] [ 0.02505037 0.99968184 0.00294858 -0.02555303] [ 0.03279212 -0.00376963 0.99945508 0.02378008] [ 0. 0. 0. 1. ]] SLAMing on 3.500714057 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.03, Z:0.02 [[ 0.99919644 -0.02295368 -0.03285746 1.63155541] [ 0.02307364 0.9997284 0.00327638 -0.03051008] [ 0.03277333 -0.00403189 0.99945468 0.02474639] [ 0. 0. 0. 1. ]] SLAMing on 3.530714057 meters Centerline goodness : 0.997571 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.03, Z:0.03 [[ 0.99917539 -0.02383335 -0.03287104 1.66135989] [ 0.02394594 0.99970865 0.00303588 -0.03273438] [ 0.0327891 -0.00382051 0.99945499 0.02590812] [ 0. 0. 0. 1. ]] SLAMing on 3.560714057 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.04, Z:0.03 [[ 0.99915082 -0.02483469 -0.0328767 1.69132811] [ 0.02494451 0.99968453 0.00293439 -0.03725475] [ 0.03279345 -0.00375199 0.99945511 0.03407987] [ 0. 0. 0. 1. ]] SLAMing on 3.590714057 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.04, Z:0.03 [[ 0.99915 -0.02485846 -0.03288363 1.72242708] [ 0.02496422 0.9996844 0.00280966 -0.03938049] [ 0.03280341 -0.00362818 0.99945524 0.02988822] [ 0. 0. 0. 1. ]] SLAMing on 3.620714057 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.04, Z:0.03 [[ 0.99913619 -0.02541141 -0.03288055 1.75339163] [ 0.02551929 0.99967022 0.00286526 -0.04345011] [ 0.0327969 -0.00370187 0.99945518 0.03061916] [ 0. 0. 0. 1. ]] SLAMing on 3.650714057 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.05, Z:0.03 [[ 0.99911221 -0.02633384 -0.03288356 1.78436845] [ 0.02644042 0.99964644 0.00281059 -0.04647236] [ 0.03279792 -0.00367755 0.99945524 0.03038198] [ 0. 0. 0. 1. ]] SLAMing on 3.680714057 meters Centerline goodness : 0.996020 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.05, Z:0.04 [[ 0.99910177 -0.02670942 -0.03289771 1.80943262] [ 0.02680698 0.99963743 0.00252782 -0.05063412] [ 0.03281827 -0.00340744 0.99945553 0.04099496] [ 0. 0. 0. 1. ]] SLAMing on 3.710714057 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.05, Z:0.04 [[ 0.99902769 -0.02933459 -0.03291137 1.84542135] [ 0.02942459 0.99956446 0.00225349 -0.05413474] [ 0.03283094 -0.0032197 0.99945573 0.04080498] [ 0. 0. 0. 1. ]] SLAMing on 3.740714057 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.06, Z:0.05 [[ 0.99907835 -0.02757093 -0.03289815 1.87219062] [ 0.02766878 0.99961396 0.00252284 -0.05621961] [ 0.03281589 -0.00343076 0.99945553 0.04743634] [ 0. 0. 0. 1. ]] SLAMing on 3.770714057 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.06, Z:0.05 [[ 0.9989817 -0.03086282 -0.03290977 1.90772714] [ 0.03095424 0.99951822 0.00227181 -0.06036322] [ 0.0328238 -0.0032882 0.99945574 0.05171241] [ 0. 0. 0. 1. ]] SLAMing on 3.800714057 meters Centerline goodness : 0.996988 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.06, Z:0.05 [[ 0.99894867 -0.03194356 -0.03288096 1.93826117] [ 0.03205621 0.99948185 0.00290443 -0.0627465 ] [ 0.03277115 -0.00395542 0.99945505 0.05253823] [ 0. 0. 0. 1. ]] SLAMing on 3.8307140570000002 meters Centerline goodness : 0.996802 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.07, Z:0.05 [[ 0.99897009 -0.03126693 -0.03288062 1.97059546] [ 0.03137947 0.9995033 0.00291213 -0.06843074] [ 0.03277324 -0.00394091 0.99945504 0.0548416 ] [ 0. 0. 0. 1. ]] SLAMing on 3.860714057 meters Centerline goodness : 0.996089 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.07, Z:0.06 [[ 0.99902575 -0.02943816 -0.03287763 1.99734746] [ 0.02955196 0.9995588 0.00298081 -0.06990294] [ 0.03277537 -0.0039495 0.99945494 0.05507048] [ 0. 0. 0. 1. ]] SLAMing on 3.890714057 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.08, Z:0.06 [[ 0.99890703 -0.03320147 -0.03289985 2.03290528] [ 0.03330049 0.99944234 0.00246636 -0.07512744] [ 0.03279961 -0.00355924 0.99945561 0.05659532] [ 0. 0. 0. 1. ]] SLAMing on 3.920714057 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.08, Z:0.06 [[ 0.99886262 -0.03453217 -0.03287847 2.06390355] [ 0.0346486 0.99939512 0.00297816 -0.07822716] [ 0.03275574 -0.00411396 0.99945492 0.06293402] [ 0. 0. 0. 1. ]] SLAMing on 3.950714057 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.08, Z:0.06 [[ 0.99889852 -0.03347645 -0.03287982 2.09436574] [ 0.03359126 0.99943131 0.00294543 -0.08105872] [ 0.03276252 -0.00404666 0.99945497 0.0601628 ] [ 0. 0. 0. 1. ]] SLAMing on 3.980714057 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.08, Z:0.06 [[ 0.99878961 -0.03656832 -0.03289489 2.12768417] [ 0.03667224 0.99932407 0.00256102 -0.08175128] [ 0.032779 -0.00376425 0.99945554 0.06254951] [ 0. 0. 0. 1. ]] SLAMing on 4.0107140569999995 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.09, Z:0.06 [[ 0.99875151 -0.03760892 -0.03287828 2.1569087 ] [ 0.03772706 0.99928364 0.00298016 -0.08656195] [ 0.03274265 -0.00421684 0.99945492 0.06497524] [ 0. 0. 0. 1. ]] SLAMing on 4.040714057 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.09, Z:0.07 [[ 0.99858948 -0.04168408 -0.03288595 2.18919693] [ 0.0417989 0.99912209 0.00281132 -0.0852814 ] [ 0.03273989 -0.00418195 0.99945516 0.06645437] [ 0. 0. 0. 1. ]] SLAMing on 4.070714057 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.09, Z:0.07 [[ 0.99857215 -0.04208763 -0.03289836 2.22113585] [ 0.0421937 0.99910623 0.00253642 -0.08934229] [ 0.0327622 -0.00392091 0.99945548 0.06790874] [ 0. 0. 0. 1. ]] SLAMing on 4.100714057 meters Centerline goodness : 0.995861 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.10, Z:0.06 [[ 0.9986859 -0.03929647 -0.0328976 2.25223332] [ 0.03940159 0.99922019 0.00255291 -0.09573566] [ 0.03277162 -0.00384577 0.99945547 0.06300302] [ 0. 0. 0. 1. ]] SLAMing on 4.130714057 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.09, Z:0.07 [[ 0.99847986 -0.04422898 -0.03289013 2.28519595] [ 0.04434241 0.99901267 0.00272716 -0.09374428] [ 0.03273703 -0.00418144 0.99945525 0.07088313] [ 0. 0. 0. 1. ]] SLAMing on 4.160714057 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.10, Z:0.07 [[ 0.99846527 -0.04455257 -0.03289652 2.31521606] [ 0.04466131 0.99899886 0.00257762 -0.095091 ] [ 0.03274875 -0.00404287 0.99945544 0.07331131] [ 0. 0. 0. 1. ]] SLAMing on 4.190714057 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.10, Z:0.07 [[ 0.99852653 -0.0431514 -0.03290492 2.34582794] [ 0.04325297 0.99906132 0.00238079 -0.09855822] [ 0.03277129 -0.00380052 0.99945565 0.07408972] [ 0. 0. 0. 1. ]] SLAMing on 4.220714057 meters Centerline goodness : 0.996297 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.10, Z:0.07 [[ 0.9985412 -0.04281789 -0.03289541 2.37719792] [ 0.04292799 0.99907466 0.00264778 -0.09939786] [ 0.03275159 -0.00405606 0.99945529 0.07461536] [ 0. 0. 0. 1. ]] SLAMing on 4.250714057 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.10, Z:0.08 [[ 0.99857842 -0.04194047 -0.0328959 2.40763123] [ 0.04204965 0.99911205 0.00263378 -0.10131681] [ 0.03275623 -0.00401329 0.99945531 0.07704194] [ 0. 0. 0. 1. ]] SLAMing on 4.280714057 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.10, Z:0.08 [[ 9.98568225e-01 -4.21769637e-02 -3.29029458e-02 2.43890713e+00] [ 4.22794338e-02 9.99102883e-01 2.42449879e-03 -1.03026757e-01] [ 3.27711700e-02 -3.81214537e-03 9.99455611e-01 7.71570013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.310714057 meters Centerline goodness : 0.995807 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.10, Z:0.08 [[ 9.98579516e-01 -4.19063698e-02 -3.29060187e-02 2.46851547e+00] [ 4.20055612e-02 9.99114663e-01 2.32858391e-03 -1.03800650e-01] [ 3.27793033e-02 -3.70751198e-03 9.99455738e-01 8.03381368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3407140570000005 meters Centerline goodness : 0.996123 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.11, Z:0.08 [[ 9.98593200e-01 -4.15753588e-02 -3.29106390e-02 2.50190775e+00] [ 4.16696208e-02 9.99129059e-01 2.18321193e-03 -1.05673631e-01] [ 3.27912079e-02 -3.55151444e-03 9.99455914e-01 7.99018154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.370714057 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.11, Z:0.08 [[ 9.98543837e-01 -4.27488475e-02 -3.29050285e-02 2.53093875e+00] [ 4.28496571e-02 9.99078734e-01 2.36427558e-03 -1.05114699e-01] [ 3.27736442e-02 -3.77080199e-03 9.99455687e-01 8.35191255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.400714057 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.11, Z:0.08 [[ 9.98657121e-01 -4.00083543e-02 -3.29133106e-02 2.56228722e+00] [ 4.00988142e-02 9.99193528e-01 2.09269949e-03 -1.05020004e-01] [ 3.28030414e-02 -3.40967397e-03 9.99456019e-01 8.42205727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.430714057 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.10, Z:0.09 [[ 9.98738210e-01 -3.79284488e-02 -3.29153442e-02 2.59488710e+00] [ 3.80155855e-02 9.99275094e-01 2.02530514e-03 -1.04569493e-01] [ 3.28146670e-02 -3.27404571e-03 9.99456091e-01 8.52281559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.460714057 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.10, Z:0.09 [[ 9.98801810e-01 -3.62156043e-02 -3.29146597e-02 2.62455259e+00] [ 3.63025751e-02 9.99338745e-01 2.04836255e-03 -1.03640727e-01] [ 3.28187120e-02 -3.24079512e-03 9.99456067e-01 8.76337160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.490714057 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.10, Z:0.09 [[ 9.98889429e-01 -3.37076087e-02 -3.29196910e-02 2.65632244e+00] [ 3.37875810e-02 9.99427276e-01 1.87589582e-03 -1.01724285e-01] [ 3.28376051e-02 -2.98608923e-03 9.99456240e-01 9.05024585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.520714057 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.10, Z:0.09 [[ 9.98936978e-01 -3.22675325e-02 -3.29199228e-02 2.68564888e+00] [ 3.23464675e-02 9.99474971e-01 1.86790784e-03 -1.02334678e-01] [ 3.28423661e-02 -2.93076543e-03 9.99456247e-01 9.18340794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.550714057 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.10, Z:0.09 [[ 9.98858526e-01 -3.46069607e-02 -3.29242094e-02 2.71841363e+00] [ 3.46823869e-02 9.99396901e-01 1.72239690e-03 -1.01962319e-01] [ 3.28447459e-02 -2.86232100e-03 9.99456367e-01 9.37783108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.580714057 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.10, Z:0.09 [[ 9.98860618e-01 -3.45489860e-02 -3.29216189e-02 2.74866620e+00] [ 3.46272940e-02 9.99398654e-01 1.81127816e-03 -1.02070551e-01] [ 3.28392438e-02 -2.94920100e-03 9.99456295e-01 9.40836647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.610714057 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.10, Z:0.10 [[ 9.98851474e-01 -3.48074984e-02 -3.29267489e-02 2.78037899e+00] [ 3.48800550e-02 9.99390174e-01 1.63157513e-03 -1.01869726e-01] [ 3.28498783e-02 -2.77818804e-03 9.99456436e-01 9.56708245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.640714057 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.10, Z:0.10 [[ 9.98826770e-01 -3.55091659e-02 -3.29269249e-02 2.81075649e+00] [ 3.55818983e-02 9.99365442e-01 1.62539539e-03 -1.00511775e-01] [ 3.28483144e-02 -2.79509092e-03 9.99456440e-01 9.55161517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.670714057 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.10, Z:0.10 [[ 9.98814592e-01 -3.58473622e-02 -3.29298984e-02 2.84322918e+00] [ 3.59168146e-02 9.99353627e-01 1.51980688e-03 -9.98480519e-02] [ 3.28541324e-02 -2.70074235e-03 9.99456508e-01 9.69564202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.700714057 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.10, Z:0.10 [[ 9.98805020e-01 -3.61127781e-02 -3.29302207e-02 2.87474541e+00] [ 3.61819971e-02 9.99344079e-01 1.50832410e-03 -1.00593304e-01] [ 3.28541513e-02 -2.69800283e-03 9.99456515e-01 9.80014475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.730714057 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.10, Z:0.10 [[ 9.98829995e-01 -3.54153210e-02 -3.29301791e-02 2.90610553e+00] [ 3.54842125e-02 9.99369097e-01 1.50981094e-03 -9.80529145e-02] [ 3.28559329e-02 -2.67654593e-03 9.99456514e-01 1.00149531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.760714057 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.10, Z:0.10 [[ 9.98818181e-01 -3.57450635e-02 -3.29322384e-02 2.93663738e+00] [ 3.58116854e-02 9.99357525e-01 1.43519585e-03 -9.68894268e-02] [ 3.28597791e-02 -2.61285867e-03 9.99456556e-01 1.01116857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.790714057 meters Centerline goodness : 0.996291 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.10, Z:0.10 [[ 9.98802410e-01 -3.61814265e-02 -3.29340190e-02 2.96974857e+00] [ 3.62461513e-02 9.99341953e-01 1.37018915e-03 -9.64533187e-02] [ 3.28627715e-02 -2.56227966e-03 9.99456589e-01 1.03311018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.820714057 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.09, Z:0.10 [[ 9.98772543e-01 -3.69972989e-02 -3.29333671e-02 3.00013205e+00] [ 3.70632416e-02 9.99311950e-01 1.39387925e-03 -9.49249927e-02] [ 3.28591375e-02 -2.61278566e-03 9.99456578e-01 1.04129352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.850714057 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.09, Z:0.11 [[ 9.98709718e-01 -3.86530416e-02 -3.29369447e-02 3.03286651e+00] [ 3.87154930e-02 9.99249480e-01 1.26020617e-03 -9.37838206e-02] [ 3.28635140e-02 -2.53375020e-03 9.99456637e-01 1.06420203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.880714057 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.09, Z:0.10 [[ 9.98765003e-01 -3.71997228e-02 -3.29340051e-02 3.06216005e+00] [ 3.72649855e-02 9.99304480e-01 1.36982207e-03 -9.31852066e-02] [ 3.28601418e-02 -2.59541557e-03 9.99456590e-01 1.04234544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.910714057 meters Centerline goodness : 0.996832 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.09, Z:0.11 [[ 9.98728585e-01 -3.81613728e-02 -3.29381671e-02 3.09515572e+00] [ 3.82220597e-02 9.99268532e-01 1.21453759e-03 -9.12658716e-02] [ 3.28677254e-02 -2.47195800e-03 9.99456653e-01 1.06829910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.940714057 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.09, Z:0.11 [[ 9.98761058e-01 -3.73031465e-02 -3.29366800e-02 3.12748366e+00] [ 3.73651864e-02 9.99300871e-01 1.26990056e-03 -9.08837960e-02] [ 3.28662818e-02 -2.49901242e-03 9.99456634e-01 1.08007094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.970714057 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.09, Z:0.11 [[ 9.98786148e-01 -3.66270639e-02 -3.29346144e-02 3.16033568e+00] [ 3.66912877e-02 9.99325739e-01 1.34758411e-03 -8.92086305e-02] [ 3.28630499e-02 -2.55436176e-03 9.99456600e-01 1.10586383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.000714057 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.09, Z:0.11 [[ 9.98791806e-01 -3.64730403e-02 -3.29339650e-02 3.19321283e+00] [ 3.65379896e-02 9.99331323e-01 1.37222958e-03 -8.91334340e-02] [ 3.28618935e-02 -2.57391253e-03 9.99456588e-01 1.13268113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.030714057 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.08, Z:0.11 [[ 9.98581340e-01 -4.18422559e-02 -3.29322448e-02 3.21560168e+00] [ 4.19122123e-02 9.99120264e-01 1.43650298e-03 -8.12412583e-02] [ 3.28431666e-02 -2.81472831e-03 9.99456554e-01 1.12898781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.060714057 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.09, Z:0.12 [[ 9.98642096e-01 -4.03497602e-02 -3.29523947e-02 3.25785957e+00] [ 4.03936658e-02 9.99183620e-01 6.67496471e-04 -8.68406138e-02] [ 3.28985597e-02 -1.99765809e-03 9.99456699e-01 1.16410252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.090714057 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.09, Z:0.11 [[ 9.98680679e-01 -3.94067691e-02 -3.29242678e-02 3.28589393e+00] [ 3.94851426e-02 9.99218654e-01 1.73337971e-03 -8.67760901e-02] [ 3.28302357e-02 -3.03111223e-03 9.99456346e-01 1.12248306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.120714057 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.09, Z:0.11 [[ 9.98556735e-01 -4.24237784e-02 -3.29343177e-02 3.31967717e+00] [ 4.24910583e-02 9.99095941e-01 1.34533504e-03 -8.52466740e-02] [ 3.28474689e-02 -2.74280737e-03 9.99456613e-01 1.14382544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.150714057 meters Centerline goodness : 0.997781 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.09, Z:0.12 [[ 9.98554744e-01 -4.24731127e-02 -3.29311213e-02 3.35061126e+00] [ 4.25444579e-02 9.99093495e-01 1.46850893e-03 -8.51160385e-02] [ 3.28388970e-02 -2.86742327e-03 9.99456545e-01 1.15022420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.180714057 meters Centerline goodness : 0.998300 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.08, Z:0.12 [[ 9.98412135e-01 -4.57003948e-02 -3.29345316e-02 3.38647085e+00] [ 4.57689804e-02 9.98951164e-01 1.33121221e-03 -8.40850421e-02] [ 3.28391517e-02 -2.83647836e-03 9.99456625e-01 1.21705336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.210714057 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.08, Z:0.12 [[ 9.98451904e-01 -4.48295219e-02 -3.29258064e-02 3.41544059e+00] [ 4.49089621e-02 9.98989676e-01 1.67677606e-03 -8.31352548e-02] [ 3.28173716e-02 -3.15284404e-03 9.99456392e-01 1.20604165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.240714057 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.08, Z:0.12 [[ 9.98421008e-01 -4.55067771e-02 -3.29336288e-02 3.45002836e+00] [ 4.55762014e-02 9.98959939e-01 1.35999727e-03 -8.28768642e-02] [ 3.28374867e-02 -2.85883955e-03 9.99456616e-01 1.24751174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.270714057 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.08, Z:0.12 [[ 9.98435836e-01 -4.51849446e-02 -3.29272248e-02 3.48487066e+00] [ 4.52626458e-02 9.98973811e-01 1.61784931e-03 -8.42556364e-02] [ 3.28203328e-02 -3.10569204e-03 9.99456442e-01 1.20521504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3007140569999995 meters Centerline goodness : 0.998395 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.08, Z:0.12 [[ 9.98408358e-01 -4.57930300e-02 -3.29203369e-02 3.51669562e+00] [ 4.58801075e-02 9.98945158e-01 1.89418433e-03 -8.30696298e-02] [ 3.27988707e-02 -3.40155806e-03 9.99456184e-01 1.21014583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.330714057 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.07, Z:0.13 [[ 9.98130552e-01 -5.14936987e-02 -3.29211243e-02 3.53541798e+00] [ 5.15827998e-02 9.98666985e-01 1.86237819e-03 -7.37497495e-02] [ 3.27813392e-02 -3.55706033e-03 9.99456218e-01 1.26732350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.360714057 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.08, Z:0.12 [[ 9.98510253e-01 -4.34946748e-02 -3.29467353e-02 3.57725861e+00] [ 4.35438575e-02 9.99051215e-01 7.76417209e-04 -8.17461832e-02] [ 3.28817059e-02 -2.20988849e-03 9.99456807e-01 1.23592515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.390714057 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.08, Z:0.13 [[ 9.98445757e-01 -4.49673874e-02 -3.29242343e-02 3.60687216e+00] [ 4.50479681e-02 9.98983362e-01 1.70940400e-03 -7.94057566e-02] [ 3.28138949e-02 -3.18991703e-03 9.99456389e-01 1.26261414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.420714057 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.07, Z:0.13 [[ 9.98162572e-01 -5.08629655e-02 -3.29308140e-02 3.62976921e+00] [ 5.09377037e-02 9.98700803e-01 1.43406305e-03 -7.04415350e-02] [ 3.28150897e-02 -3.10884811e-03 9.99456605e-01 1.32236014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.450714057 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.08, Z:0.13 [[ 9.98398043e-01 -4.59987621e-02 -3.29463558e-02 3.67107153e+00] [ 4.60489360e-02 9.98938892e-01 7.65339857e-04 -7.63413044e-02] [ 3.28761914e-02 -2.28125844e-03 9.99456828e-01 1.28267701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.480714057 meters Centerline goodness : 0.997476 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.07, Z:0.13 [[ 9.98354121e-01 -4.69582121e-02 -3.29237902e-02 3.69500888e+00] [ 4.70361654e-02 9.98891911e-01 1.59675980e-03 -7.22287044e-02] [ 3.28123268e-02 -3.14274057e-03 9.99456590e-01 1.29349663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.510714057 meters Centerline goodness : 0.998417 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.08, Z:0.13 [[ 9.98537594e-01 -4.28615800e-02 -3.29478271e-02 3.73237424e+00] [ 4.29074271e-02 9.99078817e-01 6.85396958e-04 -7.65086628e-02] [ 3.28880989e-02 -2.09810112e-03 9.99456838e-01 1.31795329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.540714057 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.08, Z:0.13 [[ 9.98572405e-01 -4.20566783e-02 -3.29300342e-02 3.76396512e+00] [ 4.21256470e-02 9.99111336e-01 1.40311533e-03 -7.62002825e-02] [ 3.28417600e-02 -2.78831125e-03 9.99456674e-01 1.31025489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.570714057 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.07, Z:0.13 [[ 9.98390447e-01 -4.61740524e-02 -3.29313263e-02 3.78650309e+00] [ 4.62436020e-02 9.98929276e-01 1.35305087e-03 -6.74719880e-02] [ 3.28335901e-02 -2.87373621e-03 9.99456701e-01 1.30100523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.600714057 meters Centerline goodness : 0.997332 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.07, Z:0.13 [[ 9.98259853e-01 -4.89029356e-02 -3.29510197e-02 3.81920578e+00] [ 4.89475606e-02 9.98801199e-01 5.48509714e-04 -6.50799914e-02] [ 3.28846942e-02 -2.16042726e-03 9.99456817e-01 1.32971697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.630714057 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.06, Z:0.13 [[ 9.98284232e-01 -4.84043202e-02 -3.29486546e-02 3.84919555e+00] [ 4.84518110e-02 9.98825314e-01 6.43990476e-04 -6.39149566e-02] [ 3.28787784e-02 -2.23930752e-03 9.99456838e-01 1.34046216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.660714057 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.06, Z:0.14 [[ 9.98290493e-01 -4.82727195e-02 -3.29520353e-02 3.88174588e+00] [ 4.83157059e-02 9.98831985e-01 5.09032862e-04 -6.40383454e-02] [ 3.28889744e-02 -2.10026352e-03 9.99456805e-01 1.35000002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.690714057 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.07, Z:0.14 [[ 9.98367528e-01 -4.66526788e-02 -3.29515935e-02 3.92088212e+00] [ 4.66953282e-02 9.98909040e-01 5.25522970e-04 -6.86031938e-02] [ 3.28911276e-02 -2.06335054e-03 9.99456811e-01 1.39734547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.720714057 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.07, Z:0.14 [[ 9.98266266e-01 -4.87865768e-02 -3.29292099e-02 3.95561466e+00] [ 4.88596478e-02 9.98804648e-01 1.41753934e-03 -6.84588168e-02] [ 3.28206910e-02 -3.02399130e-03 9.99456681e-01 1.36356438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.750714057 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.07, Z:0.13 [[ 9.98363667e-01 -4.67566335e-02 -3.29212017e-02 3.98096602e+00] [ 4.68389398e-02 9.98900951e-01 1.73292647e-03 -6.80443195e-02] [ 3.28039939e-02 -3.27208501e-03 9.99456448e-01 1.33956208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.780714057 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.07, Z:0.14 [[ 9.98195128e-01 -5.02158306e-02 -3.29371688e-02 4.01612054e+00] [ 5.02787399e-02 9.98734636e-01 1.08399872e-03 -6.65913851e-02] [ 3.28410574e-02 -2.73808158e-03 9.99456836e-01 1.36978744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.810714057 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.07, Z:0.14 [[ 9.98182681e-01 -5.04681119e-02 -3.29287982e-02 4.04770544e+00] [ 5.05420888e-02 9.98720926e-01 1.41755242e-03 -6.58686712e-02] [ 3.28151387e-02 -3.07926652e-03 9.99456695e-01 1.37470574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.840714057 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.06, Z:0.14 [[ 9.98226189e-01 -4.95991493e-02 -3.29302255e-02 4.07994348e+00] [ 4.96708062e-02 9.98764716e-01 1.36103882e-03 -6.41427304e-02] [ 3.28220409e-02 -2.99429544e-03 9.99456726e-01 1.39748472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.870714057 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.07, Z:0.14 [[ 9.98362317e-01 -4.67777860e-02 -3.29320818e-02 4.11493353e+00] [ 4.68454993e-02 9.98901318e-01 1.28716933e-03 -6.61421677e-02] [ 3.28356889e-02 -2.82778117e-03 9.99456763e-01 1.42536156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.900714057 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.06, Z:0.14 [[ 9.98289713e-01 -4.83078111e-02 -3.29242182e-02 4.14663112e+00] [ 4.83866952e-02 9.98827392e-01 1.60292582e-03 -6.37425746e-02] [ 3.28081772e-02 -3.19327847e-03 9.99456566e-01 1.39764846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.930714057 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.06, Z:0.14 [[ 9.98488479e-01 -4.40067186e-02 -3.29266852e-02 4.17682129e+00] [ 4.40800324e-02 9.99026871e-01 1.50364411e-03 -6.19862156e-02] [ 3.28284729e-02 -2.95278067e-03 9.99456639e-01 1.40969690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.960714057 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.06, Z:0.14 [[ 9.98573968e-01 -4.20177516e-02 -3.29323264e-02 4.21049269e+00] [ 4.20822578e-02 9.99113345e-01 1.26777593e-03 -6.25904115e-02] [ 3.28498577e-02 -2.65183470e-03 9.99456780e-01 1.40681603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.990714057 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.06, Z:0.14 [[ 9.98647765e-01 -4.02302028e-02 -3.29267830e-02 4.23855734e+00] [ 4.03013426e-02 9.99186446e-01 1.49945831e-03 -6.04217292e-02] [ 3.28396718e-02 -2.82442425e-03 9.99456642e-01 1.40696485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.020714057 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.06, Z:0.14 [[ 9.98706409e-01 -3.87416020e-02 -3.29332173e-02 4.27079389e+00] [ 3.88031033e-02 9.99246119e-01 1.23014262e-03 -6.05254281e-02] [ 3.28607319e-02 -2.50646235e-03 9.99456797e-01 1.41634088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0507140569999995 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.06, Z:0.15 [[ 9.98666634e-01 -3.97535977e-02 -3.29333435e-02 4.30031469e+00] [ 3.98154819e-02 9.99206298e-01 1.22514245e-03 -5.70042893e-02] [ 3.28585004e-02 -2.53476583e-03 9.99456799e-01 1.45618132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.080714057 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.06, Z:0.14 [[ 9.98826439e-01 -3.55014437e-02 -3.29452784e-02 4.33501824e+00] [ 3.55452998e-02 9.99367788e-01 7.46266768e-04 -5.96205821e-02] [ 3.28979565e-02 -1.91644078e-03 9.99456878e-01 1.44092561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.110714057 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.06, Z:0.14 [[ 9.98852446e-01 -3.47713748e-02 -3.29354173e-02 4.36791710e+00] [ 3.48284682e-02 9.99392630e-01 1.16121159e-03 -6.04036871e-02] [ 3.28750364e-02 -2.30696918e-03 9.99456807e-01 1.44653824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.140714057 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.06, Z:0.15 [[ 9.98902319e-01 -3.33104170e-02 -3.29328481e-02 4.39933859e+00] [ 3.33702414e-02 9.99442253e-01 1.26844104e-03 -6.15901764e-02] [ 3.28722276e-02 -2.36602579e-03 9.99456762e-01 1.45218838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.170714057 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.06, Z:0.15 [[ 9.98905570e-01 -3.32139104e-02 -3.29317160e-02 4.42992926e+00] [ 3.32751855e-02 9.99445364e-01 1.31421642e-03 -6.15881465e-02] [ 3.28698006e-02 -2.40858706e-03 9.99456740e-01 1.45421747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.200714057 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.06, Z:0.15 [[ 9.98936358e-01 -3.22715237e-02 -3.29347976e-02 4.46257501e+00] [ 3.23281596e-02 9.99476602e-01 1.18844394e-03 -6.22662376e-02] [ 3.28792067e-02 -2.25190125e-03 9.99456796e-01 1.46050745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.230714057 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.06, Z:0.15 [[ 9.98951373e-01 -3.18043097e-02 -3.29338827e-02 4.49167159e+00] [ 3.18619128e-02 9.99491529e-01 1.22558989e-03 -6.08227087e-02] [ 3.28781577e-02 -2.27364120e-03 9.99456781e-01 1.45500693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.260714057 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.06, Z:0.15 [[ 9.98997006e-01 -3.03321313e-02 -3.29384930e-02 4.52667093e+00] [ 3.03826499e-02 9.99537806e-01 1.03418139e-03 -6.20062396e-02] [ 3.28919001e-02 -2.03390281e-03 9.99456846e-01 1.48154988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.290714057 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.06, Z:0.15 [[ 9.99053659e-01 -2.84136985e-02 -3.29309471e-02 4.55730749e+00] [ 2.84734100e-02 9.99593645e-01 1.34560598e-03 -6.12082760e-02] [ 3.28793318e-02 -2.28198894e-03 9.99456723e-01 1.48786798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.320714057 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.06, Z:0.15 [[ 9.99060984e-01 -2.81508608e-02 -3.29344626e-02 4.58961898e+00] [ 2.82056816e-02 9.99601419e-01 1.20104087e-03 -6.13772026e-02] [ 3.28875252e-02 -2.12885204e-03 9.99456792e-01 1.47979973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.350714057 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.06, Z:0.15 [[ 9.99087676e-01 -2.71851325e-02 -3.29360711e-02 4.62025956e+00] [ 2.72372544e-02 9.99628353e-01 1.13480222e-03 -6.28474595e-02] [ 3.28929808e-02 -2.03085506e-03 9.99456816e-01 1.49381000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.380714057 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.06, Z:0.15 [[ 9.99066129e-01 -2.79653758e-02 -3.29364129e-02 4.65292788e+00] [ 2.80174528e-02 9.99606806e-01 1.12058782e-03 -6.28550092e-02] [ 3.28921248e-02 -2.04233572e-03 9.99456821e-01 1.48799681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.410714057 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.06, Z:0.15 [[ 9.99111957e-01 -2.62781482e-02 -3.29356373e-02 4.68645745e+00] [ 2.63303934e-02 9.99652630e-01 1.15348933e-03 -6.47536137e-02] [ 3.28938849e-02 -2.01967326e-03 9.99456809e-01 1.48780664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.440714057 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.07, Z:0.15 [[ 9.99146325e-01 -2.49424904e-02 -3.29316541e-02 4.71749595e+00] [ 2.49995240e-02 9.99686590e-01 1.32120046e-03 -6.57501832e-02] [ 3.28883790e-02 -2.14334826e-03 9.99456733e-01 1.49599644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.470714057 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.07, Z:0.15 [[ 9.99219520e-01 -2.18133225e-02 -3.29322084e-02 4.75022503e+00] [ 2.18679014e-02 9.99760026e-01 1.29800090e-03 -6.75350572e-02] [ 3.28959918e-02 -2.01714612e-03 9.99456745e-01 1.51204594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.500714057 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.07, Z:0.15 [[ 9.99221918e-01 -2.17117040e-02 -3.29265991e-02 4.78055355e+00] [ 2.17739466e-02 9.99761744e-01 1.53291250e-03 -6.77166028e-02] [ 3.28854720e-02 -2.24866178e-03 9.99456597e-01 1.51507804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.530714057 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.07, Z:0.15 [[ 9.99221972e-01 -2.17018350e-02 -3.29314747e-02 4.81340682e+00] [ 2.17571873e-02 9.99762409e-01 1.32337600e-03 -6.81753411e-02] [ 3.28949308e-02 -2.03884264e-03 9.99456736e-01 1.52059117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.560714057 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.07, Z:0.15 [[ 9.99232850e-01 -2.11972443e-02 -3.29300575e-02 4.84380675e+00] [ 2.12543225e-02 9.99773143e-01 1.38419448e-03 -6.96545546e-02] [ 3.28932459e-02 -2.08303866e-03 9.99456700e-01 1.53435562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.590714057 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.07, Z:0.15 [[ 9.99215600e-01 -2.19913679e-02 -3.29327183e-02 4.87671563e+00] [ 2.20451003e-02 9.99756171e-01 1.26932448e-03 -7.10166845e-02] [ 3.28967742e-02 -1.99433390e-03 9.99456765e-01 1.54141889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.620714057 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.07, Z:0.16 [[ 9.99210262e-01 -2.22341070e-02 -3.29317049e-02 4.90822790e+00] [ 2.22894177e-02 9.99750697e-01 1.31335137e-03 -7.15897719e-02] [ 3.28942938e-02 -2.04634269e-03 9.99456741e-01 1.55156709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.650714057 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.07, Z:0.15 [[ 9.99166654e-01 -2.41138743e-02 -3.29320229e-02 4.93951729e+00] [ 2.41697409e-02 9.99707025e-01 1.29933088e-03 -7.24577346e-02] [ 3.28910427e-02 -2.09420654e-03 9.99456749e-01 1.53836068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.680714057 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.07, Z:0.15 [[ 9.99149647e-01 -2.48054201e-02 -3.29344022e-02 4.97227988e+00] [ 2.48581835e-02 9.99690275e-01 1.19352462e-03 -7.27375098e-02] [ 3.28945957e-02 -2.01119912e-03 9.99456803e-01 1.54061923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.710714057 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.07, Z:0.15 [[ 9.99093917e-01 -2.69581033e-02 -3.29333660e-02 5.00066723e+00] [ 2.70135466e-02 9.99634299e-01 1.23963813e-03 -7.35122752e-02] [ 3.28879039e-02 -2.12816193e-03 9.99456781e-01 1.52950461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.740714057 meters Centerline goodness : 0.997566 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.07, Z:0.15 [[ 9.99066619e-01 -2.79449569e-02 -3.29388797e-02 5.03366272e+00] [ 2.79928306e-02 9.99607631e-01 9.93067020e-04 -7.47335014e-02] [ 3.28982043e-02 -1.91419259e-03 9.99456875e-01 1.54291607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.770714057 meters Centerline goodness : 0.997005 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.08, Z:0.16 [[ 9.99032886e-01 -2.91282806e-02 -3.29368621e-02 5.06558200e+00] [ 2.91797788e-02 9.99573592e-01 1.08384677e-03 -7.69006239e-02] [ 3.28912470e-02 -2.04388891e-03 9.99456847e-01 1.55804875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8007140569999995 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.08, Z:0.16 [[ 9.98894746e-01 -3.35312505e-02 -3.29384556e-02 5.09830050e+00] [ 3.35827250e-02 9.99435430e-01 1.01060714e-03 -7.83068989e-02] [ 3.28859726e-02 -2.11565326e-03 9.99456871e-01 1.55754617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.830714057 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.08, Z:0.16 [[ 9.98828511e-01 -3.54508080e-02 -3.29370077e-02 5.13079504e+00] [ 3.55055144e-02 9.99368900e-01 1.07736408e-03 -8.09436339e-02] [ 3.28780277e-02 -2.24554736e-03 9.99456849e-01 1.56592947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.860714057 meters Centerline goodness : 0.997836 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.08, Z:0.16 [[ 9.98723572e-01 -3.82927879e-02 -3.29376672e-02 5.16136758e+00] [ 3.83480371e-02 9.99263895e-01 1.04707614e-03 -8.28431331e-02] [ 3.28733262e-02 -2.30883451e-03 9.99456859e-01 1.58486473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.890714057 meters Centerline goodness : 0.998072 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.08, Z:0.16 [[ 9.98682688e-01 -3.93421159e-02 -3.29406551e-02 5.19341548e+00] [ 3.93934621e-02 9.99223361e-01 9.10949787e-04 -8.47937098e-02] [ 3.28792334e-02 -2.20739623e-03 9.99456894e-01 1.60066363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.920714057 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.09, Z:0.16 [[ 9.98669819e-01 -3.96685690e-02 -3.29392865e-02 5.22596020e+00] [ 3.97221393e-02 9.99210290e-01 9.73284003e-04 -8.64468029e-02] [ 3.28746652e-02 -2.28040828e-03 9.99456881e-01 1.60229565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.950714057 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.09, Z:0.16 [[ 9.98651018e-01 -4.01381291e-02 -3.29404692e-02 5.25663901e+00] [ 4.01901836e-02 9.99191625e-01 9.19397258e-04 -8.93486209e-02] [ 3.28769381e-02 -2.24204052e-03 9.99456893e-01 1.60750334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.980714057 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.09, Z:0.16 [[ 9.98638366e-01 -4.04502958e-02 -3.29421841e-02 5.29103849e+00] [ 4.04999234e-02 9.99179188e-01 8.40369242e-04 -9.17527845e-02] [ 3.28811516e-02 -2.17338090e-03 9.99456906e-01 1.60500269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0107140569999995 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.09, Z:0.16 [[ 9.98611135e-01 -4.11200232e-02 -3.29384954e-02 5.32138085e+00] [ 4.11755541e-02 9.99151418e-01 1.00907276e-03 -9.42770496e-02] [ 3.28690513e-02 -2.36393209e-03 9.99456871e-01 1.61540884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.040714057 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.10, Z:0.16 [[ 9.98574362e-01 -4.20020927e-02 -3.29403698e-02 5.35272107e+00] [ 4.20552851e-02 9.99114858e-01 9.23321230e-04 -9.61595574e-02] [ 3.28724315e-02 -2.30732155e-03 9.99456892e-01 1.58260805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.070714057 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.10, Z:0.16 [[ 9.98570106e-01 -4.21016924e-02 -3.29422444e-02 5.38582078e+00] [ 4.21521092e-02 9.99110854e-01 8.37169604e-04 -9.73721923e-02] [ 3.28777077e-02 -2.22455762e-03 9.99456906e-01 1.59121399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.100714057 meters Centerline goodness : 0.998070 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.10, Z:0.16 [[ 9.98656393e-01 -4.00038978e-02 -3.29408136e-02 5.41653365e+00] [ 4.00553324e-02 9.99197055e-01 9.02735625e-04 -9.99095012e-02] [ 3.28782510e-02 -2.22097794e-03 9.99456896e-01 1.60231064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.130714057 meters Centerline goodness : 0.998200 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.10, Z:0.16 [[ 9.98662539e-01 -3.98492408e-02 -3.29419442e-02 5.44767401e+00] [ 3.98988998e-02 9.99203359e-01 8.51234559e-04 -9.90382426e-02] [ 3.28817802e-02 -2.16444340e-03 9.99456904e-01 1.60946004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.160714057 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.10, Z:0.17 [[ 9.98729262e-01 -3.81379790e-02 -3.29447409e-02 5.47947586e+00] [ 3.81825295e-02 9.99270519e-01 7.23983890e-04 -9.97919577e-02] [ 3.28930970e-02 -1.98097744e-03 9.99456912e-01 1.65302776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.190714057 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.10, Z:0.17 [[ 9.98790546e-01 -3.64983565e-02 -3.29441138e-02 5.51227245e+00] [ 3.65429495e-02 9.99331800e-01 7.52310111e-04 -1.00851786e-01] [ 3.28946424e-02 -1.95527531e-03 9.99456912e-01 1.66475243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2207140569999995 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.10, Z:0.17 [[ 9.98828376e-01 -3.54497001e-02 -3.29422687e-02 5.54402775e+00] [ 3.54964377e-02 9.99369454e-01 8.34849103e-04 -1.01530045e-01] [ 3.28919019e-02 -2.00320416e-03 9.99456908e-01 1.67777669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.250714057 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.10, Z:0.17 [[ 9.98827017e-01 -3.54868114e-02 -3.29435420e-02 5.57611995e+00] [ 3.55316991e-02 9.99368247e-01 7.77953498e-04 -1.01680871e-01] [ 3.28951228e-02 -1.94758099e-03 9.99456911e-01 1.68624166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.280714057 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.10, Z:0.17 [[ 9.98874823e-01 -3.41132070e-02 -3.29450620e-02 5.60671267e+00] [ 3.41551268e-02 9.99416291e-01 7.10318737e-04 -1.02414926e-01] [ 3.29016004e-02 -1.83476227e-03 9.99456912e-01 1.69557705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.310714057 meters Centerline goodness : 0.997993 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.10, Z:0.17 [[ 9.98898579e-01 -3.34080686e-02 -3.29473810e-02 5.64051577e+00] [ 3.34462291e-02 9.99440334e-01 6.07618253e-04 -1.03905018e-01] [ 3.29086421e-02 -1.70891466e-03 9.99456903e-01 1.70655635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.340714057 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.10, Z:0.17 [[ 9.98964461e-01 -3.13788201e-02 -3.29450412e-02 5.66724598e+00] [ 3.14192530e-02 9.99506041e-01 7.10178593e-04 -1.04906572e-01] [ 3.29064831e-02 -1.74455176e-03 9.99456912e-01 1.73320673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.370714057 meters Centerline goodness : 0.997523 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.11, Z:0.17 [[ 9.98966084e-01 -3.13196418e-02 -3.29521301e-02 5.70179483e+00] [ 3.13497517e-02 9.99508397e-01 3.97354623e-04 -1.06512606e-01] [ 3.29234857e-02 -1.42998489e-03 9.99456852e-01 1.73084404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.400714057 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.11, Z:0.17 [[ 9.98978991e-01 -3.09078484e-02 -3.29496791e-02 5.73360866e+00] [ 3.09412519e-02 9.99521078e-01 5.04240810e-04 -1.07797923e-01] [ 3.29183137e-02 -1.52323029e-03 9.99456885e-01 1.73641262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.430714057 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.11, Z:0.17 [[ 9.98950072e-01 -3.18308358e-02 -3.29477125e-02 5.76840803e+00] [ 3.18674753e-02 9.99491930e-01 5.87389787e-04 -1.09000408e-01] [ 3.29122757e-02 -1.63673348e-03 9.99456904e-01 1.71860796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.460714057 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.11, Z:0.17 [[ 9.98968937e-01 -3.12371119e-02 -3.29439733e-02 5.79971396e+00] [ 3.12785568e-02 9.99510430e-01 7.43307949e-04 -1.10621315e-01] [ 3.29046262e-02 -1.77298149e-03 9.99456924e-01 1.72731239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.490714057 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.11, Z:0.17 [[ 9.98976698e-01 -3.09878343e-02 -3.29440683e-02 5.83119353e+00] [ 3.10290148e-02 9.99518211e-01 7.39374393e-04 -1.12468419e-01] [ 3.29052846e-02 -1.76083977e-03 9.99456923e-01 1.73956072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.520714057 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.11, Z:0.18 [[ 9.99007651e-01 -2.99725616e-02 -3.29447803e-02 5.86591452e+00] [ 3.00122285e-02 9.99549279e-01 7.10084353e-04 -1.14464772e-01] [ 3.29086484e-02 -1.69812598e-03 9.99456921e-01 1.76647326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5507140569999995 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.12, Z:0.18 [[ 9.99097380e-01 -2.68228647e-02 -3.29387253e-02 5.89620267e+00] [ 2.68689447e-02 9.99638507e-01 9.57044958e-04 -1.15944306e-01] [ 3.29011475e-02 -1.84120990e-03 9.99456915e-01 1.79344580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.580714057 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.12, Z:0.18 [[ 9.99158358e-01 -2.44411426e-02 -3.29424591e-02 5.92998962e+00] [ 2.44809026e-02 9.99699974e-01 8.04093340e-04 -1.17815391e-01] [ 3.29129225e-02 -1.60987771e-03 9.99456926e-01 1.80587854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.610714057 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.12, Z:0.18 [[ 9.99176286e-01 -2.37065325e-02 -3.29355356e-02 5.96192349e+00] [ 2.37552181e-02 9.99717213e-01 1.08763812e-03 -1.18520680e-01] [ 3.29004378e-02 -1.86913305e-03 9.99456886e-01 1.80560447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.640714057 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.12, Z:0.18 [[ 9.99220948e-01 -2.17420293e-02 -3.29360119e-02 5.99605360e+00] [ 2.17890040e-02 9.99762021e-01 1.06795219e-03 -1.20909401e-01] [ 3.29049544e-02 -1.78476310e-03 9.99456892e-01 1.80532589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.670714057 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.12, Z:0.18 [[ 9.99241410e-01 -2.07872608e-02 -3.29316649e-02 6.02805353e+00] [ 2.08396105e-02 9.99782054e-01 1.24717384e-03 -1.22818120e-01] [ 3.28985623e-02 -1.93251081e-03 9.99456827e-01 1.82097455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.700714057 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.12, Z:0.18 [[ 9.99258980e-01 -1.99258198e-02 -3.29310279e-02 6.06035000e+00] [ 1.99785804e-02 9.99799597e-01 1.27385108e-03 -1.24702240e-01] [ 3.28990459e-02 -1.93082232e-03 9.99456815e-01 1.82389434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.730714057 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.13, Z:0.18 [[ 9.99280559e-01 -1.88132676e-02 -3.29306094e-02 6.09113041e+00] [ 1.88660056e-02 9.99821187e-01 1.29147620e-03 -1.26298390e-01] [ 3.29004241e-02 -1.91181612e-03 9.99456806e-01 1.83418425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7607140569999995 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.13, Z:0.18 [[ 9.99280683e-01 -1.88055645e-02 -3.29312587e-02 6.12256541e+00] [ 1.88574045e-02 9.99821384e-01 1.26428787e-03 -1.27491897e-01] [ 3.29016010e-02 -1.88437651e-03 9.99456819e-01 1.84404019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.790714057 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.13, Z:0.19 [[ 9.99276229e-01 -1.90404738e-02 -3.29314142e-02 6.15481741e+00] [ 1.90922255e-02 9.99816936e-01 1.25773150e-03 -1.28439117e-01] [ 3.29014378e-02 -1.88555518e-03 9.99456823e-01 1.85451371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.820714057 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.13, Z:0.18 [[ 9.99264024e-01 -1.96686735e-02 -3.29325489e-02 6.18655213e+00] [ 1.97191742e-02 9.99804827e-01 1.20933972e-03 -1.30317875e-01] [ 3.29023352e-02 -1.85785235e-03 9.99456845e-01 1.84502512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.850714057 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.13, Z:0.18 [[ 9.99236560e-01 -2.10162574e-02 -3.29334884e-02 6.21929397e+00] [ 2.10661211e-02 9.99777403e-01 1.16777971e-03 -1.32120343e-01] [ 3.29016151e-02 -1.86066903e-03 9.99456863e-01 1.84243781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.880714057 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.13, Z:0.19 [[ 9.99187262e-01 -2.32458176e-02 -3.29309538e-02 6.24954849e+00] [ 2.33005589e-02 9.99727686e-01 1.27947129e-03 -1.34237046e-01] [ 3.28922439e-02 -2.04574104e-03 9.99456810e-01 1.85053137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.910714057 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.14, Z:0.19 [[ 9.99149199e-01 -2.48254560e-02 -3.29328863e-02 6.28127984e+00] [ 2.48782336e-02 9.99689776e-01 1.19371964e-03 -1.35583700e-01] [ 3.28930351e-02 -2.01201606e-03 9.99456853e-01 1.85932413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.940714057 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.14, Z:0.19 [[ 9.99087468e-01 -2.71963291e-02 -3.29331338e-02 6.31301626e+00] [ 2.72500277e-02 9.99627949e-01 1.18271439e-03 -1.36299918e-01] [ 3.28887155e-02 -2.07906393e-03 9.99456857e-01 1.86844333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9707140569999995 meters Centerline goodness : 0.997223 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.14, Z:0.19 [[ 9.98964547e-01 -3.13866161e-02 -3.29350140e-02 6.34451395e+00] [ 3.14397996e-02 9.99505044e-01 1.09804015e-03 -1.37910036e-01] [ 3.28842489e-02 -2.13237342e-03 9.99456892e-01 1.89651305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.000714057 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.14, Z:0.19 [[ 9.98913962e-01 -3.29550737e-02 -3.29372044e-02 6.37708125e+00] [ 3.30058251e-02 9.99454661e-01 9.98189390e-04 -1.39277310e-01] [ 3.28863471e-02 -2.08422493e-03 9.99456925e-01 1.90708963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.030714056999999 meters Centerline goodness : 0.996929 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.14, Z:0.19 [[ 9.98831457e-01 -3.53685394e-02 -3.29361056e-02 6.40818044e+00] [ 3.54222418e-02 9.99371886e-01 1.04825555e-03 -1.41940972e-01] [ 3.28783427e-02 -2.21370131e-03 9.99456910e-01 1.91405610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.060714056999998 meters Centerline goodness : 0.996906 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.14, Z:0.19 [[ 9.98811439e-01 -3.59283731e-02 -3.29372236e-02 6.44185312e+00] [ 3.59807185e-02 9.99351986e-01 9.97721002e-04 -1.44192191e-01] [ 3.28800334e-02 -2.18164012e-03 9.99456924e-01 1.90542169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.090714057 meters Centerline goodness : 0.997517 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.14, Z:0.19 [[ 9.98727403e-01 -3.81953868e-02 -3.29345804e-02 6.47369133e+00] [ 3.82529617e-02 9.99267460e-01 1.11961001e-03 -1.44427250e-01] [ 3.28676906e-02 -2.37803044e-03 9.99456882e-01 1.93130550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.120714056999999 meters Centerline goodness : 0.997091 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.14, Z:0.20 [[ 9.98618088e-01 -4.09533435e-02 -3.29353500e-02 6.50344133e+00] [ 4.10112500e-02 9.99158096e-01 1.08428473e-03 -1.44576088e-01] [ 3.28632166e-02 -2.43350622e-03 9.99456896e-01 1.96608153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.150714056999998 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.15, Z:0.20 [[ 9.98575843e-01 -4.19681438e-02 -3.29387309e-02 6.53676657e+00] [ 4.20215126e-02 9.99116274e-01 9.29360363e-04 -1.45684357e-01] [ 3.28706185e-02 -2.31217210e-03 9.99456941e-01 1.97742806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.180714057 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.15, Z:0.20 [[ 9.98558913e-01 -4.23696913e-02 -3.29379272e-02 6.57086098e+00] [ 4.24244861e-02 9.99099209e-01 9.66170816e-04 -1.47815884e-01] [ 3.28673207e-02 -2.36215312e-03 9.99456932e-01 1.98082164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.210714056999999 meters Centerline goodness : 0.997075 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.15, Z:0.20 [[ 9.98525201e-01 -4.31589585e-02 -3.29352099e-02 6.60195714e+00] [ 4.32182844e-02 9.99065058e-01 1.09119467e-03 -1.47324638e-01] [ 3.28573225e-02 -2.51298864e-03 9.99456893e-01 2.01567031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.240714056999998 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.15, Z:0.20 [[ 9.98499934e-01 -4.37380287e-02 -3.29373015e-02 6.63510241e+00] [ 4.37945022e-02 9.99040065e-01 9.94756151e-04 -1.46880930e-01] [ 3.28621751e-02 -2.43573667e-03 9.99456925e-01 2.01747945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.270714057 meters Centerline goodness : 0.996782 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.15, Z:0.20 [[ 9.98519306e-01 -4.32949736e-02 -3.29354183e-02 6.66811616e+00] [ 4.33540466e-02 9.99059186e-01 1.08124945e-03 -1.49017938e-01] [ 3.28576195e-02 -2.50753211e-03 9.99456897e-01 2.00691439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.300714056999999 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.15, Z:0.20 [[ 9.98506995e-01 -4.35782521e-02 -3.29350493e-02 6.70074006e+00] [ 4.36380297e-02 9.99046804e-01 1.09805411e-03 -1.50559690e-01] [ 3.28558044e-02 -2.53363537e-03 9.99456891e-01 2.00819490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.330714057 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.15, Z:0.20 [[ 9.98646952e-01 -4.02434355e-02 -3.29352545e-02 6.72419067e+00] [ 4.03011030e-02 9.99186987e-01 1.08870176e-03 -1.53089590e-01] [ 3.28646647e-02 -2.41455578e-03 9.99456894e-01 2.01550986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.360714057 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.15, Z:0.20 [[ 9.98539962e-01 -4.28062904e-02 -3.29479171e-02 6.76571969e+00] [ 4.28461960e-02 9.99081552e-01 5.05764474e-04 -1.53675896e-01] [ 3.28960062e-02 -1.91671895e-03 9.99456942e-01 2.01276259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.390714056999999 meters Centerline goodness : 0.997118 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.15, Z:0.20 [[ 9.98518697e-01 -4.33125249e-02 -3.29308048e-02 6.79607248e+00] [ 4.33776951e-02 9.99057942e-01 1.26682388e-03 -1.53993741e-01] [ 3.28449127e-02 -2.69340974e-03 9.99456831e-01 2.03981496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.420714057 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.15, Z:0.20 [[ 9.98516731e-01 -4.33564400e-02 -3.29326114e-02 6.82867582e+00] [ 4.34190288e-02 9.99056244e-01 1.18741387e-03 -1.54850413e-01] [ 3.28500490e-02 -2.61555462e-03 9.99456869e-01 2.04048094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.450714056999999 meters Centerline goodness : 0.997693 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.16, Z:0.21 [[ 9.98494252e-01 -4.38711400e-02 -3.29325265e-02 6.86027465e+00] [ 4.39341304e-02 9.99033720e-01 1.19117805e-03 -1.56023361e-01] [ 3.28484461e-02 -2.63624635e-03 9.99456867e-01 2.05467285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.480714056999998 meters Centerline goodness : 0.996780 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.16, Z:0.21 [[ 9.98523389e-01 -4.32024490e-02 -3.29331194e-02 6.89169783e+00] [ 4.32642170e-02 9.99062986e-01 1.16493266e-03 -1.57177744e-01] [ 3.28519327e-02 -2.58803814e-03 9.99456879e-01 2.06698506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.510714057 meters Centerline goodness : 0.996780 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.16, Z:0.21 [[ 9.98518991e-01 -4.33035742e-02 -3.29336437e-02 6.92512744e+00] [ 4.33646372e-02 9.99058659e-01 1.14178042e-03 -1.57865998e-01] [ 3.28531987e-02 -2.56824494e-03 9.99456888e-01 2.07812636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.540714056999999 meters Centerline goodness : 0.997300 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.16, Z:0.21 [[ 9.98479183e-01 -4.42111068e-02 -3.29347568e-02 6.95701458e+00] [ 4.42709840e-02 9.99018964e-01 1.09069957e-03 -1.57411733e-01] [ 3.28542256e-02 -2.54709491e-03 9.99456909e-01 2.10255578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.570714056999998 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.16, Z:0.21 [[ 9.98489284e-01 -4.39818164e-02 -3.29355234e-02 6.99138102e+00] [ 4.40404141e-02 9.99029193e-01 1.05548492e-03 -1.57729664e-01] [ 3.28571272e-02 -2.50438447e-03 9.99456921e-01 2.10862552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.600714057 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.16, Z:0.21 [[ 9.98464084e-01 -4.45519427e-02 -3.29332294e-02 7.02277321e+00] [ 4.46142823e-02 9.99003614e-01 1.16012920e-03 -1.58763438e-01] [ 3.28487291e-02 -2.62763973e-03 9.99456881e-01 2.11972427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.630714056999999 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.16, Z:0.21 [[ 9.98408737e-01 -4.57747679e-02 -3.29342482e-02 7.05616726e+00] [ 4.58362478e-02 9.98948346e-01 1.11378225e-03 -1.60125715e-01] [ 3.28486296e-02 -2.62159230e-03 9.99456900e-01 2.11931935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.660714057 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.16, Z:0.21 [[ 9.98407088e-01 -4.58113025e-02 -3.29334498e-02 7.08584244e+00] [ 4.58739913e-02 9.98946572e-01 1.15002990e-03 -1.60112650e-01] [ 3.28460724e-02 -2.65898680e-03 9.99456885e-01 2.13444793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.690714057 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.16, Z:0.21 [[ 9.98404320e-01 -4.58687113e-02 -3.29374482e-02 7.12007610e+00] [ 4.59253983e-02 9.98944405e-01 9.66180046e-04 -1.61794887e-01] [ 3.28583621e-02 -2.47730376e-03 9.99456948e-01 2.13369995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.720714056999999 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.16, Z:0.22 [[ 9.98372364e-01 -4.65613536e-02 -3.29342387e-02 7.15096720e+00] [ 4.66231992e-02 9.98911928e-01 1.11197654e-03 -1.61808467e-01] [ 3.28466287e-02 -2.64566621e-03 9.99456902e-01 2.15275812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.750714057 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.16, Z:0.22 [[ 9.98252817e-01 -4.90571623e-02 -3.29349192e-02 7.18342671e+00] [ 4.91193349e-02 9.98792332e-01 1.08082453e-03 -1.63261697e-01] [ 3.28421226e-02 -2.69667746e-03 9.99456914e-01 2.17578893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.780714056999999 meters Centerline goodness : 0.995691 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.16, Z:0.22 [[ 9.98204977e-01 -5.00220456e-02 -3.29335466e-02 7.21357387e+00] [ 5.00867906e-02 9.98744215e-01 1.14336436e-03 -1.64602137e-01] [ 3.28349957e-02 -2.79084765e-03 9.99456890e-01 2.19243427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.810714056999998 meters Centerline goodness : 0.996236 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.17, Z:0.22 [[ 9.98155472e-01 -5.09992593e-02 -3.29352367e-02 7.24661466e+00] [ 5.10620220e-02 9.98694914e-01 1.06681452e-03 -1.65986867e-01] [ 3.28378467e-02 -2.74658653e-03 9.99456919e-01 2.20930549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.840714057 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.17, Z:0.22 [[ 9.98113774e-01 -5.18092625e-02 -3.29347109e-02 7.27826996e+00] [ 5.18732619e-02 9.98653080e-01 1.09117610e-03 -1.67051605e-01] [ 3.28338174e-02 -2.79754878e-03 9.99456910e-01 2.21799571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.870714056999999 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.17, Z:0.22 [[ 9.98063080e-01 -5.27762345e-02 -3.29356666e-02 7.31149957e+00] [ 5.28393055e-02 9.98602479e-01 1.04692948e-03 -1.67754749e-01] [ 3.28343853e-02 -2.78519941e-03 9.99456925e-01 2.22752094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.900714056999998 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.17, Z:0.22 [[ 9.98064936e-01 -5.27423092e-02 -3.29337508e-02 7.34160305e+00] [ 5.28082642e-02 9.98604025e-01 1.13545030e-03 -1.68472182e-01] [ 3.28278899e-02 -2.87242735e-03 9.99456892e-01 2.23442328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.930714057 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.17, Z:0.22 [[ 9.98070285e-01 -5.26392273e-02 -3.29365664e-02 7.37507079e+00] [ 5.27008349e-02 9.98609840e-01 1.00456701e-03 -1.70244256e-01] [ 3.28378997e-02 -2.73841303e-03 9.99456939e-01 2.24298641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.960714056999999 meters Centerline goodness : 0.996484 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.17, Z:0.23 [[ 9.98063750e-01 -5.27645298e-02 -3.29341205e-02 7.40653149e+00] [ 5.28299369e-02 9.98602898e-01 1.11837220e-03 -1.70879586e-01] [ 3.28290978e-02 -2.85611426e-03 9.99456899e-01 2.25421606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.990714056999998 meters Centerline goodness : 0.996624 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.17, Z:0.23 [[ 9.97973206e-01 -5.44483865e-02 -3.29371061e-02 7.44254671e+00] [ 5.45100598e-02 9.98512744e-01 9.76751925e-04 -1.71442870e-01] [ 3.28349376e-02 -2.77017587e-03 9.99456949e-01 2.25910863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.020714057 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.17, Z:0.23 [[ 9.97929192e-01 -5.52532698e-02 -3.29303008e-02 7.47118120e+00] [ 5.53258441e-02 9.98467511e-01 1.29607305e-03 -1.72778321e-01] [ 3.28082233e-02 -3.11528582e-03 9.99456810e-01 2.27164469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.050714056999999 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.18, Z:0.23 [[ 9.97863847e-01 -5.64176454e-02 -3.29361949e-02 7.50443322e+00] [ 5.64815344e-02 9.98403131e-01 1.01187783e-03 -1.75697819e-01] [ 3.28265124e-02 -2.87000313e-03 9.99456944e-01 2.29103934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.080714057 meters Centerline goodness : 0.996201 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.18, Z:0.23 [[ 9.97720046e-01 -5.89078056e-02 -3.29329624e-02 7.53283623e+00] [ 5.89780933e-02 9.98258596e-01 1.16608548e-03 -1.77498689e-01] [ 3.28069213e-02 -3.10575018e-03 9.99456883e-01 2.31735490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.110714057 meters Centerline goodness : 0.997083 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.18, Z:0.23 [[ 9.97510018e-01 -6.23604195e-02 -3.29384614e-02 7.56854844e+00] [ 6.24239716e-02 9.98049313e-01 9.03599742e-04 -1.78585977e-01] [ 3.28178599e-02 -2.95749938e-03 9.99456973e-01 2.34208365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.140714056999999 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.18, Z:0.23 [[ 9.97610668e-01 -6.07336684e-02 -3.29298708e-02 7.59449130e+00] [ 6.08095006e-02 9.98148536e-01 1.30532696e-03 -1.79642389e-01] [ 3.27896250e-02 -3.30465710e-03 9.99456812e-01 2.30887937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.170714057 meters Centerline goodness : 0.997186 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.18, Z:0.23 [[ 9.97611267e-01 -6.07190125e-02 -3.29387503e-02 7.62769666e+00] [ 6.07809963e-02 9.98150736e-01 8.82841470e-04 -1.81625858e-01] [ 3.28242326e-02 -2.88278266e-03 9.99456982e-01 2.31716347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.200714056999999 meters Centerline goodness : 0.997242 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.18, Z:0.23 [[ 9.97614307e-01 -6.06698024e-02 -3.29373516e-02 7.65982060e+00] [ 6.07339362e-02 9.98153539e-01 9.49249252e-04 -1.83185468e-01] [ 3.28189433e-02 -2.94739965e-03 9.99456967e-01 2.33995738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.230714056999998 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.18, Z:0.24 [[ 9.97623367e-01 -6.05203925e-02 -3.29378268e-02 7.69196978e+00] [ 6.05837086e-02 9.98162690e-01 9.26763660e-04 -1.83606161e-01] [ 3.28212217e-02 -2.92005678e-03 9.99456973e-01 2.38792169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.260714057 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.18, Z:0.24 [[ 9.97747076e-01 -5.84462984e-02 -3.29363544e-02 7.72470450e+00] [ 5.85107628e-02 9.98286281e-01 9.95999960e-04 -1.83417829e-01] [ 3.28216982e-02 -2.92088727e-03 9.99456955e-01 2.41047705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.290714056999999 meters Centerline goodness : 0.997608 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.18, Z:0.24 [[ 9.97750309e-01 -5.83909348e-02 -3.29365994e-02 7.75681227e+00] [ 5.84549905e-02 9.98289560e-01 9.84442432e-04 -1.83397651e-01] [ 3.28227808e-02 -2.90753635e-03 9.99456958e-01 2.42474260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.320714056999998 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.18, Z:0.24 [[ 9.97837825e-01 -5.68755547e-02 -3.29370037e-02 7.78756764e+00] [ 5.69381668e-02 9.98377240e-01 9.65392656e-04 -1.84855831e-01] [ 3.28286476e-02 -2.83867792e-03 9.99456963e-01 2.42550501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.350714057 meters Centerline goodness : 0.996986 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.19, Z:0.24 [[ 9.97811031e-01 -5.73431339e-02 -3.29379998e-02 7.82162281e+00] [ 5.74044339e-02 9.98350584e-01 9.17668943e-04 -1.85752961e-01] [ 3.28310494e-02 -2.80644743e-03 9.99456976e-01 2.44250873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.380714056999999 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.19, Z:0.24 [[ 9.97922050e-01 -5.53791283e-02 -3.29353010e-02 7.85142645e+00] [ 5.54435367e-02 9.98461277e-01 1.04485563e-03 -1.86496194e-01] [ 3.28267595e-02 -2.86873404e-03 9.99456940e-01 2.43371530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.410714056999998 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.19, Z:0.25 [[ 9.97827417e-01 -5.70560918e-02 -3.29400641e-02 7.88807677e+00] [ 5.71140095e-02 9.98367327e-01 8.19266049e-04 -1.87136341e-01] [ 3.28395396e-02 -2.69882526e-03 9.99456993e-01 2.47047099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.440714057 meters Centerline goodness : 0.997386 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.19, Z:0.25 [[ 9.98072094e-01 -5.26084429e-02 -3.29309398e-02 7.91830693e+00] [ 5.26779106e-02 9.98610779e-01 1.24485848e-03 -1.87842877e-01] [ 3.28197014e-02 -2.97719161e-03 9.99456854e-01 2.47034989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.470714056999999 meters Centerline goodness : 0.997132 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.19, Z:0.25 [[ 9.98171408e-01 -5.06859280e-02 -3.29359505e-02 7.94904098e+00] [ 5.07466848e-02 9.98711045e-01 1.01086037e-03 -1.87851151e-01] [ 3.28422611e-02 -2.68040222e-03 9.99456953e-01 2.48562196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.500714057 meters Centerline goodness : 0.996938 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.19, Z:0.25 [[ 9.98317905e-01 -4.77121096e-02 -3.29380566e-02 7.98107096e+00] [ 4.77680596e-02 9.98858037e-01 9.13381408e-04 -1.88938133e-01] [ 3.28568632e-02 -2.48523206e-03 9.99456978e-01 2.49446327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.530714056999999 meters Centerline goodness : 0.997120 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.19, Z:0.25 [[ 9.98279070e-01 -4.85179082e-02 -3.29379735e-02 8.01795778e+00] [ 4.85744213e-02 9.98819145e-01 9.17255569e-04 -1.90061202e-01] [ 3.28545753e-02 -2.51562004e-03 9.99456977e-01 2.51590390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.560714056999998 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.19, Z:0.25 [[ 9.98321107e-01 -4.76515315e-02 -3.29286877e-02 8.04987444e+00] [ 4.77216492e-02 9.98859766e-01 1.34630467e-03 -1.90812151e-01] [ 3.28269878e-02 -2.91545565e-03 9.99456797e-01 2.52979612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.590714057 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.19, Z:0.25 [[ 9.98457988e-01 -4.46914423e-02 -3.29290335e-02 8.08287159e+00] [ 4.47594333e-02 9.98996909e-01 1.33016438e-03 -1.91074604e-01] [ 3.28365557e-02 -2.80199813e-03 9.99456807e-01 2.53769441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.620714056999999 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.19, Z:0.25 [[ 9.98561834e-01 -4.23084142e-02 -3.29281178e-02 8.11176321e+00] [ 4.23765309e-02 9.99100768e-01 1.37321386e-03 -1.91501665e-01] [ 3.28404093e-02 -2.76661835e-03 9.99456779e-01 2.52818681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.650714056999998 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.19, Z:0.26 [[ 9.98536505e-01 -4.28976657e-02 -3.29338453e-02 8.14736199e+00] [ 4.29566294e-02 9.99076349e-01 1.08457670e-03 -1.92098702e-01] [ 3.28569001e-02 -2.49771641e-03 9.99456945e-01 2.56816150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.680714057 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.19, Z:0.26 [[ 9.98676545e-01 -3.95091794e-02 -3.29269278e-02 8.17313112e+00] [ 3.95776837e-02 9.99215472e-01 1.43107924e-03 -1.91998032e-01] [ 3.28445549e-02 -2.73235680e-03 9.99456737e-01 2.55986750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.710714056999999 meters Centerline goodness : 0.996957 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.19, Z:0.26 [[ 9.98614359e-01 -4.10428229e-02 -3.29370496e-02 8.21110912e+00] [ 4.10954603e-02 9.99154799e-01 9.22464311e-04 -1.92959544e-01] [ 3.28713507e-02 -2.27474932e-03 9.99457002e-01 2.55590439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.740714056999998 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.19, Z:0.26 [[ 9.98644432e-01 -4.03140461e-02 -3.29253150e-02 8.24319024e+00] [ 4.03852256e-02 9.99183059e-01 1.49941719e-03 -1.93669312e-01] [ 3.28379694e-02 -2.82708090e-03 9.99456690e-01 2.55543644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.770714057 meters Centerline goodness : 0.996891 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.19, Z:0.26 [[ 9.98746773e-01 -3.76934229e-02 -3.29255069e-02 8.27163074e+00] [ 3.77628768e-02 9.99285617e-01 1.48990668e-03 -1.94857993e-01] [ 3.28458258e-02 -2.73140134e-03 9.99456698e-01 2.57537377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.800714056999999 meters Centerline goodness : 0.996250 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.20, Z:0.26 [[ 9.98806658e-01 -3.60668719e-02 -3.29308508e-02 8.30289384e+00] [ 3.61266231e-02 9.99346475e-01 1.22105629e-03 -1.95811998e-01] [ 3.28652899e-02 -2.40927958e-03 9.99456887e-01 2.56859997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.830714057 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.20, Z:0.26 [[ 9.98623986e-01 -4.08116860e-02 -3.29323610e-02 8.33957696e+00] [ 4.08714668e-02 9.99163758e-01 1.14384619e-03 -1.95677475e-01] [ 3.28581393e-02 -2.48826615e-03 9.99456928e-01 2.57897828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.860714057 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.20, Z:0.26 [[ 9.98575498e-01 -4.19879981e-02 -3.29238917e-02 8.37223318e+00] [ 4.20625319e-02 9.99113740e-01 1.57417157e-03 -1.96591443e-01] [ 3.28286163e-02 -2.95679141e-03 9.99456622e-01 2.58697778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.890714056999999 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.20, Z:0.26 [[ 9.98643878e-01 -4.03288921e-02 -3.29239410e-02 8.39907217e+00] [ 4.04024482e-02 9.99182252e-01 1.57163124e-03 -1.96627073e-01] [ 3.28336354e-02 -2.89970774e-03 9.99456624e-01 2.64226530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.920714057 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.20, Z:0.26 [[ 9.98573585e-01 -4.20271707e-02 -3.29319216e-02 8.43291234e+00] [ 4.20878526e-02 9.99113250e-01 1.15130747e-03 -1.96582223e-01] [ 3.28543331e-02 -2.53569910e-03 9.99456934e-01 2.61783185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.950714056999999 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.20, Z:0.26 [[ 9.98434900e-01 -4.52029867e-02 -3.29308524e-02 8.46684441e+00] [ 4.52674305e-02 9.98974167e-01 1.21364668e-03 -1.96139114e-01] [ 3.28422104e-02 -2.70244228e-03 9.99456896e-01 2.63499101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.980714056999998 meters Centerline goodness : 0.997719 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.20, Z:0.26 [[ 9.98510180e-01 -4.35119712e-02 -3.29261179e-02 8.49510527e+00] [ 4.35844606e-02 9.99048640e-01 1.48672080e-03 -1.95966074e-01] [ 3.28301031e-02 -2.91957294e-03 9.99456683e-01 2.63070682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.010714057 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.20, Z:0.26 [[ 9.98368475e-01 -4.66461234e-02 -3.29321646e-02 8.52925660e+00] [ 4.67088389e-02 9.98907899e-01 1.13722058e-03 -1.96274253e-01] [ 3.28431524e-02 -2.67358835e-03 9.99456942e-01 2.63856288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.040714056999999 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.19, Z:0.27 [[ 9.98047874e-01 -5.30683990e-02 -3.29269955e-02 8.55031915e+00] [ 5.31442354e-02 9.98585820e-01 1.43166125e-03 -1.88473784e-01] [ 3.28044548e-02 -3.17874646e-03 9.99456734e-01 2.68407855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.070714056999998 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.20, Z:0.26 [[ 9.98306170e-01 -4.79544989e-02 -3.29417208e-02 8.59171755e+00] [ 4.79986131e-02 9.98847251e-01 5.49217823e-04 -1.97372979e-01] [ 3.28774098e-02 -2.12944445e-03 9.99457123e-01 2.64595154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.100714057 meters Centerline goodness : 0.997382 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.20, Z:0.27 [[ 9.98308989e-01 -4.79074194e-02 -3.29247972e-02 8.62310623e+00] [ 4.79833072e-02 9.98846984e-01 1.51817319e-03 -1.97398806e-01] [ 3.28141026e-02 -3.09544660e-03 9.99456679e-01 2.65436256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.130714056999999 meters Centerline goodness : 0.996888 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.20, Z:0.27 [[ 9.98450469e-01 -4.48620777e-02 -3.29249750e-02 8.64806324e+00] [ 4.49360035e-02 9.98988729e-01 1.50839271e-03 -1.96139107e-01] [ 3.28240092e-02 -2.98557220e-03 9.99456688e-01 2.72090206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.160714056999998 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.20, Z:0.27 [[ 9.98434257e-01 -4.52147469e-02 -3.29341978e-02 8.68182128e+00] [ 4.52713773e-02 9.98974249e-01 9.75461324e-04 -1.96587686e-01] [ 3.28563103e-02 -2.46491050e-03 9.99457046e-01 2.74039125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.190714057 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.20, Z:0.27 [[ 9.98409789e-01 -4.57538966e-02 -3.29313651e-02 8.71512915e+00] [ 4.58161753e-02 9.98949239e-01 1.13866179e-03 -1.96904402e-01] [ 3.28446639e-02 -2.64564027e-03 9.99456967e-01 2.73344752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.220714056999999 meters Centerline goodness : 0.996548 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.20, Z:0.27 [[ 9.98371535e-01 -4.65814932e-02 -3.29308857e-02 8.74816082e+00] [ 4.66451348e-02 9.98910842e-01 1.16657152e-03 -1.97435513e-01] [ 3.28406781e-02 -2.70073740e-03 9.99456950e-01 2.73122812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.250714057 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.20, Z:0.27 [[ 9.98240412e-01 -4.93122282e-02 -3.29299850e-02 8.77812578e+00] [ 4.93790798e-02 9.98779365e-01 1.21946831e-03 -1.97421470e-01] [ 3.28296547e-02 -2.84337490e-03 9.99456917e-01 2.74431438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.280714056999999 meters Centerline goodness : 0.996534 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.20, Z:0.28 [[ 9.98209798e-01 -4.99259391e-02 -3.29332555e-02 8.81077608e+00] [ 4.99867035e-02 9.98749359e-01 1.02381592e-03 -1.98240228e-01] [ 3.28409528e-02 -2.66820796e-03 9.99457029e-01 2.77137275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.310714056999998 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.20, Z:0.28 [[ 9.98176758e-01 -5.05825558e-02 -3.29327315e-02 8.84461306e+00] [ 5.06447157e-02 9.98716175e-01 1.05552821e-03 -1.98274622e-01] [ 3.28370604e-02 -2.72147255e-03 9.99457013e-01 2.78235860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.340714057 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.20, Z:0.27 [[ 9.97901064e-01 -5.57588203e-02 -3.29305493e-02 8.88063505e+00] [ 5.58283525e-02 9.98439666e-01 1.19507231e-03 -1.98660637e-01] [ 3.28125308e-02 -3.03102225e-03 9.99456928e-01 2.70215836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.370714056999999 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.20, Z:0.28 [[ 9.98031839e-01 -5.33715613e-02 -3.29230237e-02 8.90731064e+00] [ 5.34551025e-02 9.98568871e-01 1.66189291e-03 -1.98928110e-01] [ 3.27872088e-02 -3.41852564e-03 9.99456509e-01 2.78933522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.400714056999998 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.20, Z:0.28 [[ 9.98048156e-01 -5.30615680e-02 -3.29294481e-02 8.93669703e+00] [ 5.31314588e-02 9.98586744e-01 1.25043189e-03 -1.98258330e-01] [ 3.28165605e-02 -2.99758086e-03 9.99456896e-01 2.78529271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.430714057 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.20, Z:0.28 [[ 9.98042561e-01 -5.31657004e-02 -3.29310580e-02 8.96831018e+00] [ 5.32324456e-02 9.98581483e-01 1.15278593e-03 -1.98587098e-01] [ 3.28230561e-02 -2.90353018e-03 9.99456961e-01 2.79620324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.460714056999999 meters Centerline goodness : 0.997365 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.20, Z:0.28 [[ 9.98006452e-01 -5.38387018e-02 -3.29319784e-02 9.00044076e+00] [ 5.39038597e-02 9.98545532e-01 1.09330519e-03 -1.97626036e-01] [ 3.28252178e-02 -2.86628638e-03 9.99456997e-01 2.83800478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.490714056999998 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.20, Z:0.28 [[ 9.98040710e-01 -5.32005861e-02 -3.29308324e-02 9.03344628e+00] [ 5.32678390e-02 9.98579578e-01 1.16768806e-03 -1.97475394e-01] [ 3.28219350e-02 -2.91955450e-03 9.99456951e-01 2.84196494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.520714057 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.20, Z:0.28 [[ 9.98058781e-01 -5.28601806e-02 -3.29313216e-02 9.06594251e+00] [ 5.29261312e-02 9.98597787e-01 1.13358914e-03 -1.95750528e-01] [ 3.28252231e-02 -2.87431605e-03 9.99456974e-01 2.83402624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.550714056999999 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.20, Z:0.28 [[ 9.97988978e-01 -5.41623769e-02 -3.29307907e-02 9.10067681e+00] [ 5.42302524e-02 9.98527771e-01 1.17084271e-03 -1.95239060e-01] [ 3.28188934e-02 -2.95433322e-03 9.99456949e-01 2.78616092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.580714056999998 meters Centerline goodness : 0.997194 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.19, Z:0.28 [[ 9.98213794e-01 -4.98507924e-02 -3.29259630e-02 9.12779839e+00] [ 4.99275512e-02 9.98751697e-01 1.51268985e-03 -1.92746682e-01] [ 3.28094526e-02 -3.15390058e-03 9.99456649e-01 2.82704326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.610714057 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.19, Z:0.28 [[ 9.98288589e-01 -4.83256911e-02 -3.29320746e-02 9.15771576e+00] [ 4.83869699e-02 9.98828096e-01 1.06588721e-03 -1.91802027e-01] [ 3.28419717e-02 -2.65754634e-03 9.99457024e-01 2.84642661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.640714056999999 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.19, Z:0.29 [[ 9.98334985e-01 -4.73567359e-02 -3.29332157e-02 9.19345614e+00] [ 4.74147026e-02 9.98874809e-01 9.80953216e-04 -1.89942003e-01] [ 3.28497048e-02 -2.54083854e-03 9.99457073e-01 2.87641487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.670714057 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.19, Z:0.29 [[ 9.98343072e-01 -4.71895428e-02 -3.29280784e-02 9.22335255e+00] [ 4.72597811e-02 9.98881710e-01 1.35761934e-03 -1.88225335e-01] [ 3.28271898e-02 -2.91154364e-03 9.99456802e-01 2.90407926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.700714056999999 meters Centerline goodness : 0.997429 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.19, Z:0.29 [[ 9.98415478e-01 -4.56309094e-02 -3.29295279e-02 9.25685006e+00] [ 4.56968184e-02 9.98954571e-01 1.25131750e-03 -1.88511887e-01] [ 3.28380037e-02 -2.75410942e-03 9.99456893e-01 2.90824670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.730714056999998 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.18, Z:0.29 [[ 9.98494287e-01 -4.38735871e-02 -3.29282086e-02 9.27897047e+00] [ 4.39410200e-02 9.99033246e-01 1.32668311e-03 -1.84267291e-01] [ 3.28381688e-02 -2.77158458e-03 9.99456839e-01 2.87924853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.760714057 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.19, Z:0.29 [[ 9.98703915e-01 -3.87957902e-02 -3.29450556e-02 9.31773075e+00] [ 3.88268056e-02 9.99245910e-01 3.01960709e-04 -1.89629721e-01] [ 3.29084972e-02 -1.58072061e-03 9.99457119e-01 2.91494395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.790714056999999 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.19, Z:0.29 [[ 9.98731975e-01 -3.80748528e-02 -3.29355192e-02 9.35256403e+00] [ 3.81290461e-02 9.99272304e-01 1.01870604e-03 -1.88880929e-01] [ 3.28727651e-02 -2.27321422e-03 9.99456959e-01 2.93464422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.820714056999998 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.19, Z:0.30 [[ 9.98789935e-01 -3.65252075e-02 -3.29328741e-02 9.38437689e+00] [ 3.65851848e-02 9.99329793e-01 1.22024793e-03 -1.88304936e-01] [ 3.28662324e-02 -2.42362664e-03 9.99456821e-01 2.95655078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.850714057 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.19, Z:0.30 [[ 9.98825226e-01 -3.55466551e-02 -3.29333074e-02 9.41563891e+00] [ 3.56049837e-02 9.99365238e-01 1.18616862e-03 -1.87334921e-01] [ 3.28702383e-02 -2.35736502e-03 9.99456848e-01 2.96242350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.880714056999999 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.19, Z:0.30 [[ 9.98968232e-01 -3.12698738e-02 -3.29342857e-02 9.44638018e+00] [ 3.13233300e-02 9.99508690e-01 1.10829793e-03 -1.88241406e-01] [ 3.28834484e-02 -2.13876592e-03 9.99456905e-01 2.96288926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.910714056999998 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.19, Z:0.30 [[ 9.98983413e-01 -3.07794326e-02 -3.29358146e-02 9.47986373e+00] [ 3.08285689e-02 9.99524201e-01 9.84979487e-04 -1.87451531e-01] [ 3.28898266e-02 -1.99934220e-03 9.99456984e-01 2.97211439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.940714057 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.19, Z:0.30 [[ 9.99053064e-01 -2.84307058e-02 -3.29343293e-02 9.50855523e+00] [ 2.84825892e-02 9.99593676e-01 1.10718414e-03 -1.87908966e-01] [ 3.28894692e-02 -2.04419068e-03 9.99456905e-01 2.99156680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.970714056999999 meters Centerline goodness : 0.997480 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.19, Z:0.30 [[ 9.99130971e-01 -2.55426382e-02 -3.29374610e-02 9.53921663e+00] [ 2.55843255e-02 9.99672311e-01 8.44748689e-04 -1.87694795e-01] [ 3.29050907e-02 -1.68669730e-03 9.99457058e-01 2.99719290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.000714057 meters Centerline goodness : 0.996978 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.19, Z:0.30 [[ 9.99140819e-01 -2.51538748e-02 -3.29379176e-02 9.57062266e+00] [ 2.51940734e-02 9.99682254e-01 8.05906215e-04 -1.86791496e-01] [ 3.29071800e-02 -1.63505411e-03 9.99457075e-01 3.02560576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.030714056999999 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.19, Z:0.30 [[ 9.99179409e-01 -2.35693041e-02 -3.29392960e-02 9.60315673e+00] [ 2.36046822e-02 9.99721136e-01 6.85533870e-04 -1.87362303e-01] [ 3.29139529e-02 -1.46249294e-03 9.99457119e-01 3.02073484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.060714056999998 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.19, Z:0.30 [[ 9.99218855e-01 -2.18344213e-02 -3.29383897e-02 9.63436490e+00] [ 2.18714792e-02 9.99760498e-01 7.65139966e-04 -1.88475971e-01] [ 3.29137945e-02 -1.48495359e-03 9.99457091e-01 3.03375089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.090714057 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.19, Z:0.30 [[ 9.99287958e-01 -1.84008438e-02 -3.29391097e-02 9.66696195e+00] [ 1.84338874e-02 9.99829837e-01 6.99747370e-04 -1.89817813e-01] [ 3.29206288e-02 -1.30644496e-03 9.99457115e-01 3.01363945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.120714056999999 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.19, Z:0.30 [[ 9.99309486e-01 -1.71940259e-02 -3.29380705e-02 9.69746001e+00] [ 1.72297083e-02 9.99851238e-01 7.99770001e-04 -1.90712158e-01] [ 3.29194193e-02 -1.36673110e-03 9.99457075e-01 3.02815868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.150714056999998 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.19, Z:0.30 [[ 9.99330250e-01 -1.59407759e-02 -3.29384872e-02 9.72813879e+00] [ 1.59744426e-02 9.99872112e-01 7.59184980e-04 -1.91850088e-01] [ 3.29221728e-02 -1.28485049e-03 9.99457092e-01 3.04136731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.180714057 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.19, Z:0.31 [[ 9.99334936e-01 -1.56438373e-02 -3.29386611e-02 9.75903253e+00] [ 1.56767878e-02 9.99876836e-01 7.42325673e-04 -1.92891624e-01] [ 3.29229914e-02 -1.25820438e-03 9.99457099e-01 3.06734317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.210714056999999 meters Centerline goodness : 0.996777 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.19, Z:0.31 [[ 9.99354726e-01 -1.43222328e-02 -3.29394162e-02 9.78916074e+00] [ 1.43520075e-02 9.99896782e-01 6.67651004e-04 -1.94681156e-01] [ 3.29264540e-02 -1.13996693e-03 9.99457127e-01 3.07338942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.240714056999998 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.20, Z:0.31 [[ 9.99374950e-01 -1.28325027e-02 -3.29398832e-02 9.81985550e+00] [ 1.28598943e-02 9.99917116e-01 6.19831173e-04 -1.97966476e-01] [ 3.29291990e-02 -1.04304716e-03 9.99457143e-01 3.06232430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.270714057 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.20, Z:0.31 [[ 9.99365262e-01 -1.35689206e-02 -3.29386999e-02 9.84925305e+00] [ 1.36011948e-02 9.99907214e-01 7.55949433e-04 -1.99366772e-01] [ 3.29253863e-02 -1.20347528e-03 9.99457088e-01 3.06489398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.300714056999999 meters Centerline goodness : 0.997421 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.20, Z:0.31 [[ 9.99395378e-01 -1.11322513e-02 -3.29385988e-02 9.87844038e+00] [ 1.11635917e-02 9.99937390e-01 7.67719720e-04 -2.03118683e-01] [ 3.29279900e-02 -1.13496861e-03 9.99457082e-01 3.09296718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.330714056999998 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.21, Z:0.31 [[ 9.99385865e-01 -1.19544138e-02 -3.29391189e-02 9.90776789e+00] [ 1.19842008e-02 9.99927937e-01 7.07017691e-04 -2.05102151e-01] [ 3.29282932e-02 -1.10133250e-03 9.99457110e-01 3.08775925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.360714057 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.21, Z:0.31 [[ 9.99396953e-01 -1.09907058e-02 -3.29383447e-02 9.93725895e+00] [ 1.10230531e-02 9.99938924e-01 8.00623512e-04 -2.09848452e-01] [ 3.29275335e-02 -1.16322182e-03 9.99457065e-01 3.09376272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.390714056999999 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.21, Z:0.31 [[ 9.99407494e-01 -9.98954454e-03 -3.29373705e-02 9.96598780e+00] [ 1.00253330e-02 9.99949320e-01 9.21588186e-04 -2.12136705e-01] [ 3.29264950e-02 -1.25125025e-03 9.99456993e-01 3.10833105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.420714057 meters Centerline goodness : 0.996288 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.21, Z:0.31 [[ 9.99408829e-01 -9.85036006e-03 -3.29387688e-02 9.99589052e+00] [ 9.88030710e-03 9.99950910e-01 7.46525871e-04 -2.14885008e-01] [ 3.29297983e-02 -1.07152970e-03 9.99457093e-01 3.10399187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.450714056999999 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.22, Z:0.31 [[ 9.99401864e-01 -1.05376827e-02 -3.29373817e-02 1.00236008e+01] [ 1.05739185e-02 9.99943666e-01 9.26144689e-04 -2.16210293e-01] [ 3.29257668e-02 -1.27386792e-03 9.99456988e-01 3.11249698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.480714056999998 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.22, Z:0.31 [[ 9.99411820e-01 -9.53899561e-03 -3.29396697e-02 1.00536916e+01] [ 9.56434972e-03 9.99954073e-01 6.12229794e-04 -2.18376812e-01] [ 3.29323169e-02 -9.26916213e-04 9.99457154e-01 3.10367326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.510714057 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.22, Z:0.31 [[ 9.99431624e-01 -7.17282563e-03 -3.29390155e-02 1.00815051e+01] [ 7.19996015e-03 9.99973831e-01 7.05241073e-04 -2.23009681e-01] [ 3.29330949e-02 -9.41999831e-04 9.99457115e-01 3.13914869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.540714056999999 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.23, Z:0.32 [[ 9.99436115e-01 -6.51732142e-03 -3.29389815e-02 1.01094738e+01] [ 6.54424595e-03 9.99978334e-01 7.09661550e-04 -2.25930773e-01] [ 3.29336427e-02 -9.24822179e-04 9.99457113e-01 3.16006451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.570714056999998 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.23, Z:0.32 [[ 9.99430733e-01 -7.29362901e-03 -3.29395306e-02 1.01371452e+01] [ 7.31849372e-03 9.99973018e-01 6.34354282e-04 -2.26702130e-01] [ 3.29340151e-02 -8.75060913e-04 9.99457145e-01 3.15327148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.600714057 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.23, Z:0.32 [[ 9.99432846e-01 -6.99405282e-03 -3.29403857e-02 1.01652136e+01] [ 7.01470706e-03 9.99975266e-01 5.11494337e-04 -2.31848159e-01] [ 3.29359935e-02 -7.42271397e-04 9.99457187e-01 3.16971074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.630714056999999 meters Centerline goodness : 0.997234 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.23, Z:0.31 [[ 9.99414998e-01 -9.19643281e-03 -3.29406515e-02 1.01960100e+01] [ 9.21661128e-03 9.99957420e-01 4.60777926e-04 -2.33578472e-01] [ 3.29350113e-02 -7.64109550e-04 9.99457203e-01 3.12502231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.660714056999998 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.24, Z:0.32 [[ 9.99405960e-01 -1.01360866e-02 -3.29391245e-02 1.02237447e+01] [ 1.01662216e-02 9.99948043e-01 7.47514459e-04 -2.38265302e-01] [ 3.29298362e-02 -1.08193684e-03 9.99457080e-01 3.16997141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.690714057 meters Centerline goodness : 0.995598 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.24, Z:0.32 [[ 9.99379941e-01 -1.24352680e-02 -3.29408185e-02 1.02553092e+01] [ 1.24570373e-02 9.99922304e-01 4.55707735e-04 -2.41630316e-01] [ 3.29325923e-02 -8.65770173e-04 9.99457200e-01 3.15768682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.720714056999999 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.24, Z:0.32 [[ 9.99381767e-01 -1.22922784e-02 -3.29391023e-02 1.02837135e+01] [ 1.23238113e-02 9.99923774e-01 7.54449812e-04 -2.43802193e-01] [ 3.29273176e-02 -1.15991867e-03 9.99457076e-01 3.17977984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.750714057 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.25, Z:0.31 [[ 9.99304248e-01 -1.74910877e-02 -3.29405848e-02 1.03166071e+01] [ 1.75137906e-02 9.99846541e-01 4.00775836e-04 -2.49606491e-01] [ 3.29285198e-02 -9.77411499e-04 9.99457231e-01 3.14831481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.780714056999999 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.25, Z:0.32 [[ 9.99290444e-01 -1.82670647e-02 -3.29381794e-02 1.03413910e+01] [ 1.83085954e-02 9.99831923e-01 9.59677755e-04 -2.50726713e-01] [ 3.29151128e-02 -1.56204861e-03 9.99456930e-01 3.19109483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.810714056999998 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.26, Z:0.32 [[ 9.99193344e-01 -2.29692518e-02 -3.29404878e-02 1.03752609e+01] [ 2.29925673e-02 9.99735582e-01 3.29134032e-04 -2.55185231e-01] [ 3.29242177e-02 -1.08625491e-03 9.99457261e-01 3.15680587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.840714057 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.26, Z:0.32 [[ 9.99164526e-01 -2.41939180e-02 -3.29378878e-02 1.04033037e+01] [ 2.42391885e-02 9.99705712e-01 9.75753743e-04 -2.55102687e-01] [ 3.29045872e-02 -1.77332620e-03 9.99456924e-01 3.18969663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.870714056999999 meters Centerline goodness : 0.992587 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.26, Z:0.32 [[ 9.99165164e-01 -2.41657029e-02 -3.29392370e-02 1.04313124e+01] [ 2.42015820e-02 9.99706860e-01 6.90927876e-04 -2.57311255e-01] [ 3.29128844e-02 -1.48753271e-03 9.99457117e-01 3.21028793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.900714056999998 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.26, Z:0.32 [[ 9.99028021e-01 -2.92902176e-02 -3.29408032e-02 1.04642202e+01] [ 2.93172558e-02 9.99570100e-01 3.38007074e-04 -2.61238725e-01] [ 3.29167416e-02 -1.30341249e-03 9.99457247e-01 3.21009922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.930714057 meters Centerline goodness : 0.992095 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.26, Z:0.32 [[ 9.98968523e-01 -3.12548461e-02 -3.29397112e-02 1.04963000e+01] [ 3.12917882e-02 9.99510108e-01 6.06467243e-04 -2.64558545e-01] [ 3.29046193e-02 -1.63658415e-03 9.99457156e-01 3.21191179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.960714056999999 meters Centerline goodness : 0.991886 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.27, Z:0.32 [[ 9.98783840e-01 -3.66853224e-02 -3.29397598e-02 1.05296199e+01] [ 3.67247714e-02 9.99325242e-01 5.93187390e-04 -2.68990383e-01] [ 3.28957721e-02 -1.80217112e-03 9.99457163e-01 3.20998049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.990714056999998 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.27, Z:0.32 [[ 9.98693992e-01 -3.90550190e-02 -3.29395644e-02 1.05626244e+01] [ 3.90977426e-02 9.99235177e-01 6.53676756e-04 -2.68497574e-01] [ 3.28888421e-02 -1.94068566e-03 9.99457132e-01 3.24265019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.020714057 meters Centerline goodness : 0.992401 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.27, Z:0.33 [[ 9.98560759e-01 -4.23249151e-02 -3.29395238e-02 1.05965371e+01] [ 4.23700012e-02 9.99101763e-01 6.71635206e-04 -2.70287357e-01] [ 3.28815094e-02 -2.06631623e-03 9.99457121e-01 3.25311729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.050714056999999 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.27, Z:0.33 [[ 9.98382498e-01 -4.63399735e-02 -3.29392674e-02 1.06252801e+01] [ 4.63907911e-02 9.98923063e-01 7.79785984e-04 -2.72959198e-01] [ 3.28676587e-02 -2.30660335e-03 9.99457051e-01 3.28301534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.080714056999998 meters Centerline goodness : 0.991164 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.27, Z:0.33 [[ 9.98300112e-01 -4.80818225e-02 -3.29397112e-02 1.06549181e+01] [ 4.81277678e-02 9.98841006e-01 6.02920838e-04 -2.74004966e-01] [ 3.28725447e-02 -2.18721071e-03 9.99457159e-01 3.29547762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.110714057 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.28, Z:0.33 [[ 9.98110565e-01 -5.18676037e-02 -3.29401290e-02 1.06882689e+01] [ 5.19093632e-02 9.98651715e-01 4.13249024e-04 -2.76343977e-01] [ 3.28742821e-02 -2.12236934e-03 9.99457241e-01 3.31517164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.140714056999999 meters Centerline goodness : 0.992609 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.28, Z:0.33 [[ 9.98052761e-01 -5.29682746e-02 -3.29400728e-02 1.07200557e+01] [ 5.30114016e-02 9.98593812e-01 4.36684693e-04 -2.75813814e-01] [ 3.28706224e-02 -2.18203379e-03 9.99457233e-01 3.32329497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.170714057 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.28, Z:0.33 [[ 9.97711298e-01 -5.90519133e-02 -3.29399026e-02 1.07597174e+01] [ 5.91005542e-02 9.98251907e-01 5.04117127e-04 -2.76586458e-01] [ 3.28525515e-02 -2.44972985e-03 9.99457207e-01 3.29329755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.200714056999999 meters Centerline goodness : 0.993127 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.28, Z:0.33 [[ 9.97936586e-01 -5.51145637e-02 -3.29386708e-02 1.07865054e+01] [ 5.51813120e-02 9.98475722e-01 1.12015271e-03 -2.77608298e-01] [ 3.28267263e-02 -2.93544044e-03 9.99456747e-01 3.33040629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.230714056999998 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.28, Z:0.33 [[ 9.97982024e-01 -5.42851996e-02 -3.29392920e-02 1.08171353e+01] [ 5.43369429e-02 9.98522427e-01 6.77092802e-04 -2.77901345e-01] [ 3.28538657e-02 -2.46554687e-03 9.99457125e-01 3.33613095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.260714057 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.28, Z:0.33 [[ 9.97960960e-01 -5.46709492e-02 -3.29394733e-02 1.08521308e+01] [ 5.47188453e-02 9.98501648e-01 5.53697851e-04 -2.78667373e-01] [ 3.28598472e-02 -2.35497878e-03 9.99457195e-01 3.32690450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.290714056999999 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.28, Z:0.33 [[ 9.97953964e-01 -5.47985026e-02 -3.29394825e-02 1.08852505e+01] [ 5.48524154e-02 9.98494203e-01 7.34626234e-04 -2.79536359e-01] [ 3.28496259e-02 -2.53993334e-03 9.99457078e-01 3.32536777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.320714056999998 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.28, Z:0.33 [[ 9.97929434e-01 -5.52433855e-02 -3.29395312e-02 1.09177105e+01] [ 5.53028554e-02 9.98469224e-01 8.96398497e-04 -2.79353669e-01] [ 3.28395880e-02 -2.71619257e-03 9.99456944e-01 3.33536834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.350714057 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.28, Z:0.33 [[ 9.98056439e-01 -5.28992598e-02 -3.29395301e-02 1.09472205e+01] [ 5.29573921e-02 9.98596372e-01 8.94280215e-04 -2.78109738e-01] [ 3.28459885e-02 -2.63693374e-03 9.99456946e-01 3.34832588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.380714056999999 meters Centerline goodness : 0.992681 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.28, Z:0.34 [[ 9.98217365e-01 -4.97702393e-02 -3.29395677e-02 1.09799135e+01] [ 4.98214549e-02 9.98757869e-01 7.35386824e-04 -2.76838137e-01] [ 3.28620520e-02 -2.37517308e-03 9.99457075e-01 3.35755997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.410714056999998 meters Centerline goodness : 0.992379 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.28, Z:0.34 [[ 9.98270119e-01 -4.87006630e-02 -3.29395714e-02 1.10107518e+01] [ 4.87529486e-02 9.98810559e-01 7.85539217e-04 -2.75761528e-01] [ 3.28621354e-02 -2.39008156e-03 9.99457036e-01 3.36021464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.440714057 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.27, Z:0.34 [[ 9.98413440e-01 -4.56683619e-02 -3.29393788e-02 1.10448963e+01] [ 4.57136439e-02 9.98954391e-01 6.22532170e-04 -2.73651679e-01] [ 3.28765071e-02 -2.12732352e-03 9.99457158e-01 3.36580127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.470714056999999 meters Centerline goodness : 0.992527 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.27, Z:0.34 [[ 9.98516755e-01 -4.33505493e-02 -3.29396428e-02 1.10731677e+01] [ 4.34021940e-02 9.99057316e-01 8.54123248e-04 -2.71860778e-01] [ 3.28715644e-02 -2.28250914e-03 9.99456978e-01 3.38682212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.500714057 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.27, Z:0.34 [[ 9.98648137e-01 -4.02108259e-02 -3.29391627e-02 1.11089974e+01] [ 4.02514808e-02 9.99189417e-01 5.71800078e-04 -2.70637014e-01] [ 3.28894702e-02 -1.89687716e-03 9.99457195e-01 3.38784177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.530714056999999 meters Centerline goodness : 0.992920 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.27, Z:0.34 [[ 9.98691469e-01 -3.91193656e-02 -3.29397141e-02 1.11381765e+01] [ 3.91710706e-02 9.99232090e-01 9.25585610e-04 -2.68632161e-01] [ 3.28782111e-02 -2.21465832e-03 9.99456912e-01 3.39181826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.560714056999998 meters Centerline goodness : 0.992929 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.27, Z:0.34 [[ 9.98710891e-01 -3.86207612e-02 -3.29392425e-02 1.11705994e+01] [ 3.86655123e-02 9.99251948e-01 7.22462182e-04 -2.66988044e-01] [ 3.28867002e-02 -1.99514353e-03 9.99457095e-01 3.39727192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.590714057 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.27, Z:0.34 [[ 9.98810454e-01 -3.59538457e-02 -3.29393025e-02 1.12024834e+01] [ 3.59980315e-02 9.99351580e-01 7.49185061e-04 -2.66060186e-01] [ 3.28910079e-02 -1.93404392e-03 9.99457073e-01 3.41576504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.620714056999999 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.26, Z:0.34 [[ 9.98762845e-01 -3.72526892e-02 -3.29396024e-02 1.12346725e+01] [ 3.73015470e-02 9.99303677e-01 8.69768727e-04 -2.63956027e-01] [ 3.28842645e-02 -2.09739081e-03 9.99456966e-01 3.41514934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.650714056999998 meters Centerline goodness : 0.991171 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.26, Z:0.35 [[ 9.98833042e-01 -3.53206037e-02 -3.29394709e-02 1.12572844e+01] [ 3.53668339e-02 9.99374060e-01 8.21724941e-04 -2.61714255e-01] [ 3.28898289e-02 -1.98573082e-03 9.99457011e-01 3.47115548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.680714057 meters Centerline goodness : 0.993674 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.26, Z:0.34 [[ 9.98667528e-01 -3.97282579e-02 -3.29368280e-02 1.12951911e+01] [ 3.97532825e-02 9.99209520e-01 1.05012583e-04 -2.60931353e-01] [ 3.29066201e-02 -1.41421968e-03 9.99457430e-01 3.43545127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.710714056999999 meters Centerline goodness : 0.992788 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.26, Z:0.34 [[ 9.98604960e-01 -4.12690348e-02 -3.29393371e-02 1.13284514e+01] [ 4.13186191e-02 9.99145680e-01 8.25763911e-04 -2.60544099e-01] [ 3.28771179e-02 -2.18561986e-03 9.99457012e-01 3.44470482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.740714056999998 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.26, Z:0.35 [[ 9.98535744e-01 -4.29111391e-02 -3.29393777e-02 1.13578804e+01] [ 4.29619878e-02 9.99076357e-01 8.37169723e-04 -2.59210111e-01] [ 3.28730295e-02 -2.25108503e-03 9.99457001e-01 3.47015638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.770714057 meters Centerline goodness : 0.993010 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.26, Z:0.35 [[ 9.98367521e-01 -4.66620307e-02 -3.29385450e-02 1.13900055e+01] [ 4.67084532e-02 9.98908359e-01 6.40894651e-04 -2.57438138e-01] [ 3.28726825e-02 -2.17835689e-03 9.99457173e-01 3.46349261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.800714056999999 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.26, Z:0.35 [[ 9.98275257e-01 -4.85956362e-02 -3.29389762e-02 1.14211774e+01] [ 4.86464669e-02 9.98815783e-01 7.43064415e-04 -2.55968907e-01] [ 3.28638596e-02 -2.34414763e-03 9.99457088e-01 3.48619423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.830714056999998 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.25, Z:0.35 [[ 9.98133982e-01 -5.14155795e-02 -3.29392174e-02 1.14525829e+01] [ 5.14700585e-02 9.98674212e-01 8.07580695e-04 -2.54037355e-01] [ 3.28540248e-02 -2.50145718e-03 9.99457030e-01 3.48283506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.860714057 meters Centerline goodness : 0.993462 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.25, Z:0.35 [[ 9.98082550e-01 -5.24048392e-02 -3.29386790e-02 1.14858827e+01] [ 5.24560804e-02 9.98622992e-01 6.92839320e-04 -2.53794335e-01] [ 3.28570141e-02 -2.41934483e-03 9.99457134e-01 3.48667171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.890714056999999 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.25, Z:0.35 [[ 9.97893328e-01 -5.58920597e-02 -3.29390967e-02 1.15178041e+01] [ 5.59481416e-02 9.98433369e-01 7.82647782e-04 -2.51315510e-01] [ 3.28437496e-02 -2.62388025e-03 9.99457054e-01 3.49385559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.920714057 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.25, Z:0.35 [[ 9.97696388e-01 -5.93039521e-02 -3.29387106e-02 1.15501008e+01] [ 5.93597424e-02 9.98236398e-01 7.17605815e-04 -2.48774149e-01] [ 3.28380629e-02 -2.67118610e-03 9.99457116e-01 3.48947215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.950714056999999 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.25, Z:0.35 [[ 9.97657558e-01 -5.99535242e-02 -3.29389042e-02 1.15800427e+01] [ 6.00107402e-02 9.98197449e-01 7.50285205e-04 -2.47492782e-01] [ 3.28345479e-02 -2.72521573e-03 9.99457085e-01 3.51726454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.980714056999998 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.25, Z:0.35 [[ 9.97413024e-01 -6.38929246e-02 -3.29386253e-02 1.16125943e+01] [ 6.39506564e-02 9.97952816e-01 7.01109053e-04 -2.45601199e-01] [ 3.28263979e-02 -2.80574201e-03 9.99457130e-01 3.52753595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.010714057 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.25, Z:0.35 [[ 9.97271084e-01 -6.60713790e-02 -3.29386946e-02 1.16454200e+01] [ 6.61306712e-02 9.97810717e-01 7.12721785e-04 -2.45011703e-01] [ 3.28194919e-02 -2.88903481e-03 9.99457120e-01 3.53311207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.040714056999999 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.24, Z:0.35 [[ 9.96975934e-01 -7.03848248e-02 -3.29387849e-02 1.16761407e+01] [ 7.04469513e-02 9.97515262e-01 7.27959943e-04 -2.43731177e-01] [ 3.28057033e-02 -3.04619552e-03 9.99457106e-01 3.53973650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.070714056999998 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.24, Z:0.35 [[ 9.96745005e-01 -7.35832427e-02 -3.29378330e-02 1.17092880e+01] [ 7.36424021e-02 9.97284540e-01 5.84921890e-04 -2.42718335e-01] [ 3.28053512e-02 -3.00863912e-03 9.99457231e-01 3.53643344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.100714057 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.24, Z:0.36 [[ 9.96495493e-01 -7.68883038e-02 -3.29381487e-02 1.17387908e+01] [ 7.69508130e-02 9.97034690e-01 6.32464544e-04 -2.39608113e-01] [ 3.27918478e-02 -3.16486539e-03 9.99457192e-01 3.57825694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.130714056999999 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.24, Z:0.36 [[ 9.96118363e-01 -8.16296724e-02 -3.29363600e-02 1.17717230e+01] [ 8.16873699e-02 9.96657919e-01 4.07747910e-04 -2.37760172e-01] [ 3.27929996e-02 -3.09664980e-03 9.99457368e-01 3.58622473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.160714056999998 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.24, Z:0.36 [[ 9.95974304e-01 -8.33687297e-02 -3.29369219e-02 1.18015334e+01] [ 8.34297711e-02 9.96513543e-01 4.80918118e-04 -2.35971116e-01] [ 3.27819952e-02 -3.22690194e-03 9.99457317e-01 3.60392384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.190714057 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.23, Z:0.36 [[ 9.95611643e-01 -8.75937991e-02 -3.29360280e-02 1.18294444e+01] [ 8.76530528e-02 9.96151000e-01 3.56730988e-04 -2.31888763e-01] [ 3.27780098e-02 -3.24210893e-03 9.99457398e-01 3.62682639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.220714056999999 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.23, Z:0.36 [[ 9.95427195e-01 -8.96663945e-02 -3.29338207e-02 1.18622829e+01] [ 8.97172881e-02 9.95967270e-01 6.78444943e-05 -2.30379146e-01] [ 3.27949241e-02 -3.02226733e-03 9.99457532e-01 3.64552591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.250714056999998 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.23, Z:0.37 [[ 9.95305445e-01 -9.10077471e-02 -3.29341938e-02 1.18936762e+01] [ 9.10609933e-02 9.95845310e-01 1.17334334e-04 -2.27552674e-01] [ 3.27866842e-02 -3.11580391e-03 9.99457515e-01 3.66030896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.280714056999999 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.23, Z:0.37 [[ 9.95269364e-01 -9.14015970e-02 -3.29338819e-02 1.19266428e+01] [ 9.14537131e-02 9.95809325e-01 7.64014037e-05 -2.25629448e-01] [ 3.27888835e-02 -3.08796576e-03 9.99457530e-01 3.66623906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.310714056999998 meters Centerline goodness : 0.995040 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.22, Z:0.37 [[ 9.95304230e-01 -9.10210231e-02 -3.29342267e-02 1.19571804e+01] [ 9.10744297e-02 9.95844081e-01 1.22000817e-04 -2.23594059e-01] [ 3.27862501e-02 -3.12089384e-03 9.99457514e-01 3.68017729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.340714057 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.22, Z:0.37 [[ 9.95342930e-01 -9.05972163e-02 -3.29332015e-02 1.19905098e+01] [ 9.06459665e-02 9.95883180e-01 -1.28135645e-05 -2.20918293e-01] [ 3.27987823e-02 -2.97250799e-03 9.99457555e-01 3.68760355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.370714056999999 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.22, Z:0.37 [[ 9.95309802e-01 -9.09603089e-02 -3.29335618e-02 1.20239046e+01] [ 9.10108231e-02 9.95849903e-01 3.49073235e-05 -2.18658401e-01] [ 3.27937091e-02 -3.03205417e-03 9.99457543e-01 3.69477362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.400714056999998 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.22, Z:0.37 [[ 9.95398091e-01 -8.99888191e-02 -3.29340589e-02 1.20564279e+01] [ 9.00409871e-02 9.95938055e-01 1.01330478e-04 -2.16264929e-01] [ 3.27911640e-02 -3.06627934e-03 9.99457522e-01 3.72148422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.430714057 meters Centerline goodness : 0.996188 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.21, Z:0.37 [[ 9.95356753e-01 -9.04449062e-02 -3.29340848e-02 1.20878363e+01] [ 9.04974369e-02 9.95896683e-01 1.04843187e-04 -2.13783128e-01] [ 3.27894632e-02 -3.08480663e-03 9.99457520e-01 3.73707985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.460714056999999 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.21, Z:0.37 [[ 9.95329703e-01 -9.07422488e-02 -3.29336652e-02 1.21214088e+01] [ 9.07930542e-02 9.95869780e-01 4.73774607e-05 -2.11500771e-01] [ 3.27933428e-02 -3.03730424e-03 9.99457539e-01 3.72558357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.490714056999998 meters Centerline goodness : 0.996395 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.21, Z:0.37 [[ 9.95356506e-01 -9.04476789e-02 -3.29339201e-02 1.21548320e+01] [ 9.04994761e-02 9.95896500e-01 8.24522818e-05 -2.11369894e-01] [ 3.27913181e-02 -3.06257193e-03 9.99457528e-01 3.72722539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.520714057 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.21, Z:0.37 [[ 9.95294730e-01 -9.11247977e-02 -3.29343526e-02 1.21864648e+01] [ 9.11789679e-02 9.95834512e-01 1.43552923e-04 -2.09443385e-01] [ 3.27840837e-02 -3.14579775e-03 9.99457507e-01 3.73369214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.550714056999999 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.21, Z:0.37 [[ 9.95334952e-01 -9.06846704e-02 -3.29336257e-02 1.22182800e+01] [ 9.07352105e-02 9.95875052e-01 4.02462687e-05 -2.08050280e-01] [ 3.27941265e-02 -3.02829798e-03 9.99457540e-01 3.74602090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.580714056999998 meters Centerline goodness : 0.996431 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.21, Z:0.38 [[ 9.95231626e-01 -9.18115895e-02 -3.29339133e-02 1.22488871e+01] [ 9.18640834e-02 9.95771552e-01 8.11369824e-05 -2.05887369e-01] [ 3.27872046e-02 -3.10619385e-03 9.99457528e-01 3.76465167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.610714057 meters Centerline goodness : 0.996651 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.20, Z:0.38 [[ 9.95143375e-01 -9.27635495e-02 -3.29330793e-02 1.22817348e+01] [ 9.28126901e-02 9.95683586e-01 -3.67397127e-05 -2.04289071e-01] [ 3.27943346e-02 -3.02004640e-03 9.99457558e-01 3.77370279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.640714056999999 meters Centerline goodness : 0.996061 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.20, Z:0.38 [[ 9.95066496e-01 -9.35844530e-02 -3.29335634e-02 1.23134420e+01] [ 9.36363312e-02 9.95606467e-01 3.30755189e-05 -2.03481812e-01] [ 3.27857734e-02 -3.11669039e-03 9.99457543e-01 3.78238315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.670714057 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.20, Z:0.38 [[ 9.95001882e-01 -9.42690072e-02 -3.29333954e-02 1.23462514e+01] [ 9.43204778e-02 9.95541886e-01 9.34220945e-06 -2.02561659e-01] [ 3.27856939e-02 -3.11558911e-03 9.99457549e-01 3.78433836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.700714056999999 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.20, Z:0.38 [[ 9.94999777e-01 -9.42912174e-02 -3.29334128e-02 1.23801668e+01] [ 9.43427791e-02 9.95539773e-01 1.17511469e-05 -2.01585408e-01] [ 3.27854143e-02 -3.11872208e-03 9.99457548e-01 3.77467387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.730714056999998 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.20, Z:0.38 [[ 9.95060581e-01 -9.36470130e-02 -3.29344222e-02 1.24098993e+01] [ 9.37029443e-02 9.95600188e-01 1.55536433e-04 -2.00023872e-01] [ 3.27749514e-02 -3.24082050e-03 9.99457503e-01 3.78827382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.760714057 meters Centerline goodness : 0.996294 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.20, Z:0.38 [[ 9.95040055e-01 -9.38653731e-02 -3.29329779e-02 1.24441050e+01] [ 9.39148912e-02 9.95580228e-01 -4.34529272e-05 -1.98403724e-01] [ 3.27915004e-02 -3.04965964e-03 9.99457561e-01 3.79384768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.790714056999999 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.20, Z:0.38 [[ 9.95104040e-01 -9.31842354e-02 -3.29339794e-02 1.24767757e+01] [ 9.32380914e-02 9.95643836e-01 9.99537178e-05 -1.97979054e-01] [ 3.27811995e-02 -3.17016573e-03 9.99457524e-01 3.79427417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.820714056999998 meters Centerline goodness : 0.996629 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.20, Z:0.38 [[ 9.95093056e-01 -9.33013438e-02 -3.29343299e-02 1.25089562e+01] [ 9.33569585e-02 9.95632691e-01 1.51606943e-04 -1.97125115e-01] [ 3.27763504e-02 -3.22551189e-03 9.99457506e-01 3.81012010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.850714057 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.20, Z:0.38 [[ 9.94961529e-01 -9.46937054e-02 -3.29341514e-02 1.25402548e+01] [ 9.47492008e-02 9.95501167e-01 1.24960651e-04 -1.95129533e-01] [ 3.27741532e-02 -3.24481557e-03 9.99457516e-01 3.82895220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.880714056999999 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.19, Z:0.38 [[ 9.94984603e-01 -9.44510512e-02 -3.29338390e-02 1.25738509e+01] [ 9.45048875e-02 9.95524395e-01 7.84150190e-05 -1.94892579e-01] [ 3.27790338e-02 -3.19043049e-03 9.99457531e-01 3.82837383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.910714056999998 meters Centerline goodness : 0.997329 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.19, Z:0.38 [[ 9.94934217e-01 -9.49801424e-02 -3.29344339e-02 1.26056827e+01] [ 9.50370769e-02 9.95473720e-01 1.64083530e-04 -1.93635502e-01] [ 3.27697788e-02 -3.29324465e-03 9.99457501e-01 3.82821154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.940714057 meters Centerline goodness : 0.996854 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.19, Z:0.38 [[ 9.94996157e-01 -9.43290796e-02 -3.29343594e-02 1.26367818e+01] [ 9.43853105e-02 9.95535730e-01 1.53399317e-04 -1.92116007e-01] [ 3.27728615e-02 -3.26115147e-03 9.99457505e-01 3.82869695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.970714056999999 meters Centerline goodness : 0.996488 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.19, Z:0.38 [[ 9.95237990e-01 -9.17424547e-02 -3.29342708e-02 1.26676079e+01] [ 9.17968615e-02 9.95777745e-01 1.40559556e-04 -1.92379018e-01] [ 3.27823186e-02 -3.16315290e-03 9.99457510e-01 3.84106533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.000714056999998 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.19, Z:0.38 [[ 9.95365382e-01 -9.03499048e-02 -3.29340501e-02 1.27008971e+01] [ 9.04025003e-02 9.95905305e-01 1.08393071e-04 -1.90715534e-01] [ 3.27894019e-02 -3.08521119e-03 9.99457521e-01 3.84983825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.030714056999999 meters Centerline goodness : 0.996934 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.19, Z:0.39 [[ 9.95839332e-01 -8.49667865e-02 -3.29343342e-02 1.27340243e+01] [ 8.50178292e-02 9.96379419e-01 1.50023083e-04 -1.90334748e-01] [ 3.28023457e-02 -2.94940448e-03 9.99457506e-01 3.86250937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.060714056999998 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.19, Z:0.39 [[ 9.96116323e-01 -8.16552690e-02 -3.29345896e-02 1.27685234e+01] [ 8.17056268e-02 9.96656489e-01 1.83845483e-04 -1.86649749e-01] [ 3.28094604e-02 -2.87407277e-03 9.99457492e-01 3.89533428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.090714057 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.19, Z:0.39 [[ 9.96358599e-01 -7.86431287e-02 -3.29363169e-02 1.27983859e+01] [ 7.86998616e-02 9.96898264e-01 4.27653518e-04 -1.85095933e-01] [ 3.28005251e-02 -3.01817984e-03 9.99457361e-01 3.90835521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.120714056999999 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.18, Z:0.39 [[ 9.96481011e-01 -7.70772027e-02 -3.29347854e-02 1.28332016e+01] [ 7.71267209e-02 9.97021271e-01 2.33864594e-04 -1.84069438e-01] [ 3.28186560e-02 -2.77319363e-03 9.99457475e-01 3.91455237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.150714056999998 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.18, Z:0.39 [[ 9.96733404e-01 -7.37404851e-02 -3.29372344e-02 1.28629183e+01] [ 7.37986899e-02 9.97273005e-01 5.53302712e-04 -1.83159066e-01] [ 3.28066139e-02 -2.98222004e-03 9.99457269e-01 3.93191387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.180714057 meters Centerline goodness : 0.997046 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.18, Z:0.39 [[ 9.97089763e-01 -6.87546027e-02 -3.29364263e-02 1.28953589e+01] [ 6.88063412e-02 9.97629939e-01 4.38674704e-04 -1.81530832e-01] [ 3.28282041e-02 -2.70363304e-03 9.99457352e-01 3.93326645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.210714056999999 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.18, Z:0.39 [[ 9.97199078e-01 -6.71505655e-02 -3.29362978e-02 1.29298843e+01] [ 6.72009174e-02 9.97739374e-01 4.22929313e-04 -1.80407041e-01] [ 3.28334412e-02 -2.63509415e-03 9.99457363e-01 3.94047985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.240714056999998 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.18, Z:0.39 [[ 9.97172869e-01 -6.75376158e-02 -3.29384188e-02 1.29613428e+01] [ 6.75964835e-02 9.97712513e-01 6.75655986e-04 -1.79941817e-01] [ 3.28174404e-02 -2.90026710e-03 9.99457155e-01 3.94955736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.270714057 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.18, Z:0.40 [[ 9.97528414e-01 -6.20655606e-02 -3.29382527e-02 1.29930705e+01] [ 6.21208428e-02 9.98068419e-01 6.56677453e-04 -1.77857071e-01] [ 3.28338727e-02 -2.70120643e-03 9.99457173e-01 3.96532753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.300714056999999 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.18, Z:0.40 [[ 9.97720790e-01 -5.88920538e-02 -3.29386123e-02 1.30225473e+01] [ 5.89469705e-02 9.98260872e-01 6.97813458e-04 -1.75492013e-01] [ 3.28402322e-02 -2.63785440e-03 9.99457133e-01 3.98179696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.330714056999998 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.17, Z:0.40 [[ 9.97933738e-01 -5.51667122e-02 -3.29376520e-02 1.30556529e+01] [ 5.52159220e-02 9.98474266e-01 5.85619282e-04 -1.73517759e-01] [ 3.28550912e-02 -2.40309206e-03 9.99457237e-01 3.97201016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.360714057 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.17, Z:0.40 [[ 9.98016744e-01 -5.36438039e-02 -3.29381458e-02 1.30887519e+01] [ 5.36940418e-02 9.98557228e-01 6.41950781e-04 -1.72910227e-01] [ 3.28561869e-02 -2.40925980e-03 9.99457186e-01 3.97534976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.390714056999999 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.17, Z:0.39 [[ 9.97912967e-01 -5.55406035e-02 -3.29385971e-02 1.31240740e+01] [ 5.55935135e-02 9.98453245e-01 6.91962176e-04 -1.71484277e-01] [ 3.28492172e-02 -2.52169037e-03 9.99457138e-01 3.90092116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.420714056999998 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.17, Z:0.40 [[ 9.97914109e-01 -5.55184116e-02 -3.29414243e-02 1.31467935e+01] [ 5.55814131e-02 9.98453658e-01 9.99202452e-04 -1.67679502e-01] [ 3.28350115e-02 -2.82804914e-03 9.99456785e-01 3.99010527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.450714056999999 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.17, Z:0.40 [[ 9.97907344e-01 -5.56450214e-02 -3.29327287e-02 1.31798026e+01] [ 5.56817460e-02 9.98448548e-01 1.98355733e-04 -1.67430280e-01] [ 3.28705977e-02 -2.03169248e-03 9.99457551e-01 4.00502980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.480714056999998 meters Centerline goodness : 0.998203 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.17, Z:0.40 [[ 9.97753984e-01 -5.83297533e-02 -3.29336903e-02 1.32159094e+01] [ 5.83708253e-02 9.98294929e-01 2.86230214e-04 -1.66184556e-01] [ 3.28608403e-02 -2.20795402e-03 9.99457498e-01 3.95794333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.510714057 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.17, Z:0.40 [[ 9.97655956e-01 -5.99812878e-02 -3.29368969e-02 1.32491137e+01] [ 6.00316102e-02 9.98196330e-01 5.40187073e-04 -1.65486014e-01] [ 3.28450885e-02 -2.51617581e-03 9.99457287e-01 3.96248766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.540714056999999 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.16, Z:0.40 [[ 9.97614891e-01 -6.06589057e-02 -3.29397382e-02 1.32741199e+01] [ 6.07170059e-02 9.98154727e-01 7.65512041e-04 -1.64145425e-01] [ 3.28325203e-02 -2.76368849e-03 9.99457046e-01 4.04342718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.570714056999998 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.16, Z:0.41 [[ 9.97466221e-01 -6.30593537e-02 -3.29341042e-02 1.33007011e+01] [ 6.31029488e-02 9.98006982e-01 2.84953100e-04 -1.62007620e-01] [ 3.28504969e-02 -2.36247018e-03 9.99457485e-01 4.05163828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.600714057 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.16, Z:0.40 [[ 9.97217977e-01 -6.68729061e-02 -3.29290328e-02 1.33339838e+01] [ 6.69049450e-02 9.97759346e-01 -1.29162170e-04 -1.60954752e-01] [ 3.28638877e-02 -2.07431229e-03 9.99457684e-01 4.04798466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.630714056999999 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.16, Z:0.41 [[ 9.96964917e-01 -7.05451729e-02 -3.29292132e-02 1.33695888e+01] [ 7.05796708e-02 9.97506139e-01 -1.15015899e-04 -1.62380119e-01] [ 3.28552061e-02 -2.20946621e-03 9.99457680e-01 4.05345976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.660714056999998 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.16, Z:0.41 [[ 9.96785251e-01 -7.30380896e-02 -3.29332731e-02 1.33994839e+01] [ 7.30847246e-02 9.97325713e-01 2.12879993e-04 -1.61331857e-01] [ 3.28296518e-02 -2.61911484e-03 9.99457530e-01 4.05150501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.690714057 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.16, Z:0.41 [[ 9.96559264e-01 -7.60605646e-02 -3.29306025e-02 1.34319492e+01] [ 7.61014694e-02 9.97100078e-01 -1.12517190e-05 -1.62374495e-01] [ 3.28359621e-02 -2.49485424e-03 9.99457641e-01 4.05318915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.720714056999999 meters Centerline goodness : 0.997485 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.16, Z:0.40 [[ 9.96194672e-01 -8.06952491e-02 -3.29310259e-02 1.34680151e+01] [ 8.07397690e-02 9.96735215e-01 2.22057725e-05 -1.61510538e-01] [ 3.28217213e-02 -2.68096470e-03 9.99457626e-01 4.03744789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.750714056999998 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.16, Z:0.41 [[ 9.96173662e-01 -8.09527230e-02 -3.29346691e-02 1.34968171e+01] [ 8.10071145e-02 9.96713472e-01 3.18332305e-04 -1.61004329e-01] [ 3.28006586e-02 -2.98505677e-03 9.99457456e-01 4.08508081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.780714056999999 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.16, Z:0.41 [[ 9.95969774e-01 -8.34248762e-02 -3.29317400e-02 1.35267814e+01] [ 8.34728567e-02 9.96510048e-01 8.24401636e-05 -1.60442956e-01] [ 3.28099322e-02 -2.83101433e-03 9.99457600e-01 4.10902054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.810714056999998 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.16, Z:0.41 [[ 9.95860333e-01 -8.47218350e-02 -3.29303415e-02 1.35584277e+01] [ 8.47668390e-02 9.96400814e-01 -2.95433061e-05 -1.59880125e-01] [ 3.28143220e-02 -2.76197995e-03 9.99457649e-01 4.10996186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.840714057 meters Centerline goodness : 0.996976 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.16, Z:0.41 [[ 9.95742621e-01 -8.60943165e-02 -3.29302582e-02 1.35897334e+01] [ 8.61398455e-02 9.96283055e-01 -3.62329246e-05 -1.60585862e-01] [ 3.28109777e-02 -2.80052869e-03 9.99457651e-01 4.14177625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.870714056999999 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.16, Z:0.41 [[ 9.95705543e-01 -8.65219328e-02 -3.29306443e-02 1.36197704e+01] [ 8.65687155e-02 9.96245882e-01 -5.14325043e-06 -1.60175587e-01] [ 3.28074637e-02 -2.84564241e-03 9.99457639e-01 4.14217017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.900714056999998 meters Centerline goodness : 0.996676 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.16, Z:0.42 [[ 9.95485001e-01 -8.90241765e-02 -3.29288344e-02 1.36541020e+01] [ 8.90676293e-02 9.96025570e-01 -1.47805517e-04 -1.59626403e-01] [ 3.28111193e-02 -2.78575504e-03 9.99457688e-01 4.15420850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.930714057 meters Centerline goodness : 0.997282 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.16, Z:0.42 [[ 9.95267969e-01 -9.14178114e-02 -3.29310391e-02 1.36862931e+01] [ 9.14682936e-02 9.95807989e-01 2.65992033e-05 -1.58971659e-01] [ 3.27905602e-02 -3.03861929e-03 9.99457626e-01 4.15357172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.960714056999999 meters Centerline goodness : 0.997434 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.16, Z:0.41 [[ 9.95128592e-01 -9.29232394e-02 -3.29295741e-02 1.37204087e+01] [ 9.29709458e-02 9.95668819e-01 -8.27703935e-05 -1.58467159e-01] [ 3.27946414e-02 -2.97912646e-03 9.99457671e-01 4.14825772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.990714056999998 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.16, Z:0.42 [[ 9.95063045e-01 -9.36219589e-02 -3.29312307e-02 1.37490728e+01] [ 9.36742089e-02 9.95602903e-01 4.40135441e-05 -1.59084849e-01] [ 3.27823083e-02 -3.12860324e-03 9.99457619e-01 4.15715786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.020714057 meters Centerline goodness : 0.996588 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.16, Z:0.42 [[ 9.94947462e-01 -9.48436226e-02 -3.29277380e-02 1.37830276e+01] [ 9.48876185e-02 9.95487965e-01 -2.27457850e-04 -1.59325368e-01] [ 3.28007398e-02 -2.89812603e-03 9.99457709e-01 4.15116367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.050714056999999 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.16, Z:0.42 [[ 9.94773766e-01 -9.66477276e-02 -3.29297964e-02 1.38151271e+01] [ 9.66980386e-02 9.95313762e-01 -6.50268924e-05 -1.59739241e-01] [ 3.27817642e-02 -3.11955968e-03 9.99457665e-01 4.17642675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.080714056999998 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.16, Z:0.42 [[ 9.94797204e-01 -9.64060403e-02 -3.29301946e-02 1.38446140e+01] [ 9.64572825e-02 9.95337125e-01 -3.26733991e-05 -1.59533786e-01] [ 3.27797951e-02 -3.14385368e-03 9.99457654e-01 4.17384648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.110714057 meters Centerline goodness : 0.996639 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.16, Z:0.42 [[ 9.94600003e-01 -9.84204817e-02 -3.29278475e-02 1.38778488e+01] [ 9.84666300e-02 9.95140329e-01 -2.21089638e-04 -1.59502384e-01] [ 3.27895887e-02 -3.02239842e-03 9.99457707e-01 4.20406135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.140714056999999 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.16, Z:0.42 [[ 9.94510450e-01 -9.93210349e-02 -3.29286599e-02 1.39109233e+01] [ 9.93698364e-02 9.95050557e-01 -1.55194135e-04 -1.59431614e-01] [ 3.27810954e-02 -3.11777336e-03 9.99457693e-01 4.22081961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.170714056999998 meters Centerline goodness : 0.996614 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.16, Z:0.42 [[ 9.94558662e-01 -9.88369712e-02 -3.29290182e-02 1.39417326e+01] [ 9.88864773e-02 9.95098713e-01 -1.25730718e-04 -1.59842712e-01] [ 3.27800504e-02 -3.13118803e-03 9.99457685e-01 4.23215293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.200714056999999 meters Centerline goodness : 0.996893 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.16, Z:0.42 [[ 9.94567161e-01 -9.87517874e-02 -3.29278881e-02 1.39758852e+01] [ 9.87982640e-02 9.95107460e-01 -2.16573286e-04 -1.59977754e-01] [ 3.27881741e-02 -3.03782150e-03 9.99457707e-01 4.24681145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.230714056999998 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.16, Z:0.43 [[ 9.94631518e-01 -9.81006863e-02 -3.29301971e-02 1.40078021e+01] [ 9.81529970e-02 9.95171336e-01 -2.81385372e-05 -1.59480587e-01] [ 3.27739487e-02 -3.20421007e-03 9.99457654e-01 4.26845111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.260714057 meters Centerline goodness : 0.997062 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.16, Z:0.43 [[ 9.94758797e-01 -9.68018449e-02 -3.29293033e-02 1.40413851e+01] [ 9.68511260e-02 9.95298875e-01 -9.89293607e-05 -1.58153752e-01] [ 3.27840751e-02 -3.09082926e-03 9.99457679e-01 4.28257063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.290714056999999 meters Centerline goodness : 0.996988 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.16, Z:0.43 [[ 9.94903122e-01 -9.53065900e-02 -3.29306965e-02 1.40719016e+01] [ 9.53587403e-02 9.95442972e-01 1.31567978e-05 -1.57827086e-01] [ 3.27793765e-02 -3.15331948e-03 9.99457637e-01 4.28326775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.320714056999998 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.16, Z:0.43 [[ 9.95129516e-01 -9.29133491e-02 -3.29295721e-02 1.41033032e+01] [ 9.29611674e-02 9.95669732e-01 -7.91987303e-05 -1.57811069e-01] [ 3.27943368e-02 -2.98235847e-03 9.99457671e-01 4.28432587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.350714057 meters Centerline goodness : 0.996094 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.16, Z:0.43 [[ 9.95379810e-01 -9.01929978e-02 -3.29280470e-02 1.41380557e+01] [ 9.02353197e-02 9.95920452e-01 -2.01522674e-04 -1.57244126e-01] [ 3.28118914e-02 -2.77068125e-03 9.99457705e-01 4.30149380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.380714056999999 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.16, Z:0.43 [[ 9.95507334e-01 -8.87732620e-02 -3.29310811e-02 1.41711491e+01] [ 8.88225280e-02 9.96047467e-01 3.32594866e-05 -1.56454431e-01] [ 3.27979674e-02 -2.95813193e-03 9.99457624e-01 4.31407885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.410714056999998 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.15, Z:0.43 [[ 9.96005590e-01 -8.29959039e-02 -3.29324109e-02 1.42023585e+01] [ 8.30454366e-02 9.96545752e-01 1.36753521e-04 -1.54367752e-01] [ 3.28073042e-02 -2.87109371e-03 9.99457572e-01 4.33112655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.440714057 meters Centerline goodness : 0.996092 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.15, Z:0.44 [[ 9.96319421e-01 -7.91397800e-02 -3.29318455e-02 1.42331578e+01] [ 7.91857440e-02 9.96859875e-01 9.18116488e-05 -1.53884116e-01] [ 3.28211694e-02 -2.69920641e-03 9.99457595e-01 4.35465712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.470714056999999 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.15, Z:0.43 [[ 9.96504489e-01 -7.67751269e-02 -3.29299749e-02 1.42685580e+01] [ 7.68151727e-02 9.97045348e-01 -4.91571057e-05 -1.52828958e-01] [ 3.28364524e-02 -2.48053643e-03 9.99457660e-01 4.34917981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.500714056999998 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.15, Z:0.44 [[ 9.96927493e-01 -7.10694833e-02 -3.29348176e-02 1.42968987e+01] [ 7.11184673e-02 9.97467826e-01 3.16755504e-04 -1.51270462e-01] [ 3.28289093e-02 -2.65805602e-03 9.99457452e-01 4.37070149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.530714056999999 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.15, Z:0.44 [[ 9.97045604e-01 -6.93941120e-02 -3.29320739e-02 1.43261619e+01] [ 6.94350067e-02 9.97586473e-01 9.84091788e-05 -1.49011850e-01] [ 3.28457624e-02 -2.38475721e-03 9.99457587e-01 4.39663406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.560714056999998 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.15, Z:0.44 [[ 9.97236810e-01 -6.65915677e-02 -3.29288343e-02 1.43610531e+01] [ 6.66231420e-02 9.97778201e-01 -1.38631179e-04 -1.47414131e-01] [ 3.28649047e-02 -2.05557429e-03 9.99457689e-01 4.41863704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.590714057 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.15, Z:0.44 [[ 9.97358597e-01 -6.47401266e-02 -3.29324454e-02 1.43894754e+01] [ 6.47795037e-02 9.97899594e-01 1.29017777e-04 -1.45890457e-01] [ 3.28549212e-02 -2.26202446e-03 9.99457572e-01 4.43483674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.620714056999999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.14, Z:0.44 [[ 9.97461191e-01 -6.31413835e-02 -3.29293050e-02 1.44221498e+01] [ 6.31720170e-02 9.98002647e-01 -1.10315397e-04 -1.44551694e-01] [ 3.28704990e-02 -1.97017529e-03 9.99457677e-01 4.44174725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.650714056999998 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.14, Z:0.44 [[ 9.97505585e-01 -6.24358997e-02 -3.29297199e-02 1.44555661e+01] [ 6.24671711e-02 9.98047016e-01 -7.93020511e-05 -1.44887232e-01] [ 3.28703600e-02 -1.97792221e-03 9.99457667e-01 4.44834172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.680714057 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.14, Z:0.45 [[ 9.97513858e-01 -6.23030202e-02 -3.29307953e-02 1.44884934e+01] [ 6.23368702e-02 9.98055166e-01 1.23793217e-06 -1.44498325e-01] [ 3.28666732e-02 -2.05403757e-03 9.99457634e-01 4.46695897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.710714056999999 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.14, Z:0.45 [[ 9.97570065e-01 -6.13960308e-02 -3.29316440e-02 1.45209124e+01] [ 6.14315077e-02 9.98111299e-01 6.56200605e-05 -1.44531852e-01] [ 3.28654172e-02 -2.08850115e-03 9.99457604e-01 4.49188462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.740714056999998 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.14, Z:0.45 [[ 9.97409646e-01 -6.39493667e-02 -3.29314065e-02 1.45577964e+01] [ 6.39856795e-02 9.97950816e-01 4.89254602e-05 -1.44502808e-01] [ 3.28607952e-02 -2.15593715e-03 9.99457613e-01 4.46171839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.770714057 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.14, Z:0.45 [[ 9.97561874e-01 -6.15251220e-02 -3.29388290e-02 1.45830414e+01] [ 6.15778930e-02 9.98102107e-01 5.89105130e-04 -1.43142742e-01] [ 3.28400698e-02 -2.61597250e-03 9.99457196e-01 4.50859603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.800714056999999 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.14, Z:0.45 [[ 9.97760619e-01 -5.82171686e-02 -3.29318747e-02 1.46171271e+01] [ 5.82514036e-02 9.98301942e-01 8.02887471e-05 -1.44364310e-01] [ 3.28712803e-02 -1.99843687e-03 9.99457595e-01 4.53877851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.830714056999998 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.14, Z:0.45 [[ 9.97792085e-01 -5.76728910e-02 -3.29362071e-02 1.46482003e+01] [ 5.77182291e-02 9.98332822e-01 4.26647226e-04 -1.43229015e-01] [ 3.28566906e-02 -2.32672477e-03 9.99457365e-01 4.52864651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.860714057 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.14, Z:0.45 [[ 9.97792819e-01 -5.76614512e-02 -3.29339810e-02 1.46827256e+01] [ 5.77016643e-02 9.98333834e-01 2.71108194e-04 -1.42481273e-01] [ 3.28634751e-02 -2.17085533e-03 9.99457493e-01 4.50819425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.890714056999999 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.14, Z:0.45 [[ 9.97928557e-01 -5.52592989e-02 -3.29394119e-02 1.47098827e+01] [ 5.53104837e-02 9.98468996e-01 6.44048041e-04 -1.40000336e-01] [ 3.28533918e-02 -2.46460874e-03 9.99457143e-01 4.54680856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.920714056999998 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.14, Z:0.45 [[ 9.98073393e-01 -5.25827902e-02 -3.29325417e-02 1.47405824e+01] [ 5.26177285e-02 9.98614709e-01 1.94550173e-04 -1.39102698e-01] [ 3.28766906e-02 -1.92701089e-03 9.99457558e-01 4.54781276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.950714056999999 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.14, Z:0.45 [[ 9.98060683e-01 -5.28244745e-02 -3.29309569e-02 1.47751451e+01] [ 5.28561439e-02 9.98602133e-01 9.12869584e-05 -1.39368194e-01] [ 3.28801016e-02 -1.83171332e-03 9.99457625e-01 4.54854569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.980714056999998 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.14, Z:0.46 [[ 9.98071952e-01 -5.26090471e-02 -3.29342692e-02 1.48072671e+01] [ 5.26475560e-02 9.98613110e-01 3.02566217e-04 -1.38819082e-01] [ 3.28726752e-02 -2.03589163e-03 9.99457474e-01 4.56084270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.010714057 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.14, Z:0.46 [[ 9.98311434e-01 -4.78497551e-02 -3.29345128e-02 1.48349518e+01] [ 4.78861923e-02 9.98852748e-01 3.18023412e-04 -1.38549714e-01] [ 3.28815113e-02 -1.89459482e-03 9.99457461e-01 4.58192518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.040714057 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.14, Z:0.46 [[ 9.98423641e-01 -4.54521894e-02 -3.29291825e-02 1.48673745e+01] [ 4.54763171e-02 9.98965417e-01 -1.62542826e-05 -1.38808883e-01] [ 3.28958533e-02 -1.48126929e-03 9.99457687e-01 4.59280445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.070714057 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.14, Z:0.46 [[ 9.98558541e-01 -4.23851066e-02 -3.29293726e-02 1.49039555e+01] [ 4.24079453e-02 9.99100378e-01 -4.86135185e-06 -1.39546959e-01] [ 3.28999547e-02 -1.39161269e-03 9.99457681e-01 4.57404110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.100714056999998 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.14, Z:0.46 [[ 9.98799840e-01 -3.62502491e-02 -3.29362774e-02 1.49318955e+01] [ 3.62835659e-02 9.99341449e-01 4.14235680e-04 -1.40177456e-01] [ 3.28995711e-02 -1.60878413e-03 9.99457368e-01 4.60454369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.130714057 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.14, Z:0.46 [[ 9.98787992e-01 -3.65790635e-02 -3.29320263e-02 1.49633698e+01] [ 3.66039503e-02 9.99329839e-01 1.52931100e-04 -1.39438036e-01] [ 3.29043624e-02 -1.35818800e-03 9.99457582e-01 4.61625962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.160714057 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.14, Z:0.46 [[ 9.98914106e-01 -3.29565091e-02 -3.29313947e-02 1.49976153e+01] [ 3.29782127e-02 9.99456064e-01 1.15969143e-04 -1.40705425e-01] [ 3.29096602e-02 -1.20186175e-03 9.99457608e-01 4.61765974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.190714056999997 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.14, Z:0.46 [[ 9.99133062e-01 -2.54638321e-02 -3.29350476e-02 1.50283495e+01] [ 2.54885266e-02 9.99675060e-01 3.30095909e-04 -1.41926599e-01] [ 3.29159402e-02 -1.16927558e-03 9.99457440e-01 4.62974032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.220714057 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.14, Z:0.46 [[ 9.99192033e-01 -2.30382155e-02 -3.29320755e-02 1.50609031e+01] [ 2.30563065e-02 9.99734154e-01 1.69647168e-04 -1.42414240e-01] [ 3.29194123e-02 -9.28802125e-04 9.99457578e-01 4.64172201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.250714057 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.15, Z:0.47 [[ 9.99350680e-01 -1.46140039e-02 -3.29340163e-02 1.50941950e+01] [ 1.46308442e-02 9.99892927e-01 2.70386443e-04 -1.45684507e-01] [ 3.29265385e-02 -7.52063335e-04 9.99457492e-01 4.65390024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.280714056999997 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.15, Z:0.47 [[ 9.99394631e-01 -1.11979605e-02 -3.29389838e-02 1.51242288e+01] [ 1.12214095e-02 9.99936899e-01 5.27114184e-04 -1.46301216e-01] [ 3.29310028e-02 -8.96416913e-04 9.99457225e-01 4.66383051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.310714057 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.15, Z:0.47 [[ 9.99406906e-01 -1.00453955e-02 -3.29382337e-02 1.51521530e+01] [ 1.00669474e-02 9.99949208e-01 4.88534821e-04 -1.46782995e-01] [ 3.29316532e-02 -8.19832539e-04 9.99457270e-01 4.65773710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.340714057 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.15, Z:0.46 [[ 9.99432762e-01 -7.04246706e-03 -3.29326339e-02 1.51820842e+01] [ 7.05358690e-03 9.99975099e-01 2.21486916e-04 -1.50135941e-01] [ 3.29302540e-02 -4.53654475e-04 9.99457549e-01 4.64494220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.370714056999997 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.15, Z:0.46 [[ 9.99437900e-01 -6.25911763e-03 -3.29349035e-02 1.52111149e+01] [ 6.27327268e-03 9.99980270e-01 3.26472250e-04 -1.52196234e-01] [ 3.29322103e-02 -5.32898371e-04 9.99457446e-01 4.64792227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.400714057 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.15, Z:0.47 [[ 9.99435181e-01 -6.67188718e-03 -3.29363814e-02 1.52388588e+01] [ 6.68846082e-03 9.99977555e-01 3.93049138e-04 -1.53897526e-01] [ 3.29330198e-02 -6.13120833e-04 9.99457373e-01 4.66262783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.430714057 meters Centerline goodness : 0.997448 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.16, Z:0.47 [[ 9.99424898e-01 -8.07227818e-03 -3.29349697e-02 1.52658673e+01] [ 8.08756735e-03 9.99967240e-01 3.31029378e-04 -1.59073589e-01] [ 3.29312186e-02 -5.97202788e-04 9.99457442e-01 4.66486031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.460714056999997 meters Centerline goodness : 0.997239 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.16, Z:0.47 [[ 9.99415552e-01 -9.16070492e-03 -3.29338074e-02 1.52969588e+01] [ 9.17496323e-03 9.99957869e-01 2.81836951e-04 -1.62847573e-01] [ 3.29298381e-02 -5.83838705e-04 9.99457495e-01 4.67641337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.490714056999998 meters Centerline goodness : 0.995825 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.17, Z:0.47 [[ 9.99362323e-01 -1.37818373e-02 -3.29394523e-02 1.53250777e+01] [ 1.38064318e-02 9.99904552e-01 5.19313183e-04 -1.69958633e-01] [ 3.29291512e-02 -9.73758330e-04 9.99457214e-01 4.69413403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.520714057 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.17, Z:0.47 [[ 9.99298507e-01 -1.78183654e-02 -3.29393417e-02 1.53544221e+01] [ 1.78449937e-02 9.99840633e-01 5.14576890e-04 -1.71912069e-01] [ 3.29249234e-02 -1.10201826e-03 9.99457220e-01 4.69586183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.550714057 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.18, Z:0.47 [[ 9.99169914e-01 -2.39673967e-02 -3.29400637e-02 1.53880585e+01] [ 2.39983866e-02 9.99711848e-01 5.45702210e-04 -1.83385182e-01] [ 3.29174929e-02 -1.33575761e-03 9.99457180e-01 4.72693223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.580714056999998 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.18, Z:0.47 [[ 9.98896445e-01 -3.34771694e-02 -3.29419287e-02 1.54187754e+01] [ 3.35155869e-02 9.99438006e-01 6.14572110e-04 -1.83408356e-01] [ 3.29028414e-02 -1.71796197e-03 9.99457078e-01 4.72543706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.610714057 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.19, Z:0.47 [[ 9.98739404e-01 -3.78736556e-02 -3.29422160e-02 1.54526041e+01] [ 3.79148058e-02 9.99280780e-01 6.25167833e-04 -1.87519302e-01] [ 3.28948459e-02 -1.87337747e-03 9.99457062e-01 4.73122641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.640714057 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.19, Z:0.48 [[ 9.98413234e-01 -4.56672716e-02 -3.29471470e-02 1.54795118e+01] [ 4.57185486e-02 9.98954037e-01 8.04277749e-04 -1.93570011e-01] [ 3.28759564e-02 -2.30929729e-03 9.99456772e-01 4.75150428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.670714056999998 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.20, Z:0.47 [[ 9.98095541e-01 -5.21610401e-02 -3.29320073e-02 1.55145701e+01] [ 5.21987782e-02 9.98636673e-01 2.86656360e-04 -1.96652463e-01] [ 3.28721580e-02 -2.00512098e-03 9.99457553e-01 4.74469714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.700714057 meters Centerline goodness : 0.991452 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.20, Z:0.48 [[ 9.97762445e-01 -5.81771433e-02 -3.29472831e-02 1.55414524e+01] [ 5.82355791e-02 9.98302535e-01 8.15974517e-04 -2.01714566e-01] [ 3.28438852e-02 -2.73285284e-03 9.99456758e-01 4.76137331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.730714057 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.20, Z:0.48 [[ 9.97268895e-01 -6.61076138e-02 -3.29322645e-02 1.55722697e+01] [ 6.61539967e-02 9.97809374e-01 3.19638827e-04 -2.01111945e-01] [ 3.28389917e-02 -2.49736677e-03 9.99457535e-01 4.75839669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.760714056999998 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.20, Z:0.47 [[ 9.97001954e-01 -7.00163387e-02 -3.29365520e-02 1.56042754e+01] [ 7.00694042e-02 9.97542013e-01 4.58255161e-04 -2.02713359e-01] [ 3.28235090e-02 -2.76472586e-03 9.99457340e-01 4.74597642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.790714057 meters Centerline goodness : 0.991759 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.21, Z:0.47 [[ 9.96748232e-01 -7.35405418e-02 -3.29355642e-02 1.56336723e+01] [ 7.35944752e-02 9.97288159e-01 4.26636573e-04 -2.06694065e-01] [ 3.28148731e-02 -2.84912482e-03 9.99457386e-01 4.74000093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.820714057 meters Centerline goodness : 0.989935 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.21, Z:0.48 [[ 9.96534571e-01 -7.63823624e-02 -3.29330190e-02 1.56589616e+01] [ 7.64345677e-02 9.97074546e-01 3.27324425e-04 -2.06152581e-01] [ 3.28116731e-02 -2.84341117e-03 9.99457507e-01 4.78687287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.850714056999998 meters Centerline goodness : 0.989794 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.20, Z:0.48 [[ 9.96234111e-01 -8.02130267e-02 -3.29160457e-02 1.56890242e+01] [ 8.02455510e-02 9.96775070e-01 -3.33885436e-04 -2.04693373e-01] [ 3.28366757e-02 -2.30873816e-03 9.99458064e-01 4.78415590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.880714057 meters Centerline goodness : 0.990387 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.21, Z:0.48 [[ 9.96468897e-01 -7.72441252e-02 -3.29102317e-02 1.57244179e+01] [ 7.72675942e-02 9.97010233e-01 -5.59978586e-04 -2.08777024e-01] [ 3.28550928e-02 -1.98489318e-03 9.99458155e-01 4.76038513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.910714057 meters Centerline goodness : 0.990249 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.21, Z:0.48 [[ 9.96408707e-01 -7.80077982e-02 -3.29313323e-02 1.57527630e+01] [ 7.80545804e-02 9.96949078e-01 1.35465716e-04 -2.07497451e-01] [ 3.28202940e-02 -2.70542054e-03 9.99457607e-01 4.77911621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.940714056999997 meters Centerline goodness : 0.990401 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.21, Z:0.47 [[ 9.96325951e-01 -7.90615691e-02 -3.29221366e-02 1.57861764e+01] [ 7.90992160e-02 9.96866736e-01 -1.59366577e-04 -2.08272843e-01] [ 3.28315826e-02 -2.44533413e-03 9.99457907e-01 4.73280980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.970714057 meters Centerline goodness : 0.989920 Centerline is valid? [True, True] Translation: X:15.81, Y:-0.20, Z:0.47 [[ 9.96169521e-01 -8.10079299e-02 -3.29241615e-02 1.58125151e+01] [ 8.10487629e-02 9.96710133e-01 -9.46822497e-05 -2.04788568e-01] [ 3.28235154e-02 -2.57414298e-03 9.99457848e-01 4.71849502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.000714057 meters Centerline goodness : 0.990485 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.20, Z:0.47 [[ 9.96016113e-01 -8.28772436e-02 -3.29130078e-02 1.58454736e+01] [ 8.29076919e-02 9.96557133e-01 -4.40900796e-04 -2.01030081e-01] [ 3.28362334e-02 -2.28959721e-03 9.99458123e-01 4.72837304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.030714056999997 meters Centerline goodness : 0.990658 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.20, Z:0.48 [[ 9.96109046e-01 -8.17515416e-02 -3.29158620e-02 1.58802695e+01] [ 8.17843045e-02 9.96649991e-01 -3.52037091e-04 -2.01747365e-01] [ 3.28343731e-02 -2.34133355e-03 9.99458064e-01 4.75544772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.060714057 meters Centerline goodness : 0.990657 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.20, Z:0.47 [[ 9.95935962e-01 -8.38305259e-02 -3.29241840e-02 1.59103769e+01] [ 8.38728698e-02 9.96476459e-01 -9.53194770e-05 -1.99794109e-01] [ 3.28161650e-02 -2.66651370e-03 9.99457848e-01 4.74810995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.090714057 meters Centerline goodness : 0.992735 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.20, Z:0.47 [[ 9.95761202e-01 -8.58855593e-02 -3.29135210e-02 1.59443458e+01] [ 8.59188705e-02 9.96302055e-01 -4.03529465e-04 -1.97613858e-01] [ 3.28264659e-02 -2.42607356e-03 9.99458122e-01 4.73300246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.120714056999997 meters Centerline goodness : 0.990436 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.20, Z:0.48 [[ 9.95809449e-01 -8.53199475e-02 -3.29248856e-02 1.59718843e+01] [ 8.53638191e-02 9.96349845e-01 -7.34640319e-05 -1.95262377e-01] [ 3.28109726e-02 -2.73743780e-03 9.99457826e-01 4.78598119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.150714057 meters Centerline goodness : 0.991386 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.19, Z:0.48 [[ 9.95666102e-01 -8.69796208e-02 -3.29174572e-02 1.60043030e+01] [ 8.70169562e-02 9.96206786e-01 -2.99382479e-04 -1.91890859e-01] [ 3.28186344e-02 -2.56629194e-03 9.99458029e-01 4.80334029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.180714057 meters Centerline goodness : 0.991205 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.19, Z:0.48 [[ 9.95475556e-01 -8.91322236e-02 -3.29220808e-02 1.60351739e+01] [ 8.91753154e-02 9.96015932e-01 -1.60018400e-04 -1.90507059e-01] [ 3.28051798e-02 -2.77654253e-03 9.99457909e-01 4.80124133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.210714056999997 meters Centerline goodness : 0.991162 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.19, Z:0.48 [[ 9.95168193e-01 -9.25028358e-02 -3.29164455e-02 1.60685066e+01] [ 9.25423177e-02 9.95708699e-01 -3.25282824e-04 -1.88906765e-01] [ 3.28052807e-02 -2.72245304e-03 9.99458054e-01 4.78858028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.240714056999998 meters Centerline goodness : 0.991601 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.19, Z:0.48 [[ 9.94994412e-01 -9.43532244e-02 -3.29179218e-02 1.60991534e+01] [ 9.43951416e-02 9.95534770e-01 -2.81828112e-04 -1.87063358e-01] [ 3.27975271e-02 -2.82687449e-03 9.99458019e-01 4.79038825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.270714057 meters Centerline goodness : 0.989351 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.19, Z:0.49 [[ 9.95080124e-01 -9.34457806e-02 -3.29155344e-02 1.61256882e+01] [ 9.34848955e-02 9.95620636e-01 -3.51991363e-04 -1.86187580e-01] [ 3.28042774e-02 -2.72684569e-03 9.99458075e-01 4.89193964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.300714057 meters Centerline goodness : 0.992607 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.18, Z:0.48 [[ 9.94650499e-01 -9.79183439e-02 -3.28996003e-02 1.61625347e+01] [ 9.79448637e-02 9.95191514e-01 -8.08443622e-04 -1.81674545e-01] [ 3.28205645e-02 -2.41822801e-03 9.99458335e-01 4.81097188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.330714056999998 meters Centerline goodness : 0.992683 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.18, Z:0.48 [[ 9.94566174e-01 -9.87650276e-02 -3.29180066e-02 1.61936581e+01] [ 9.88096591e-02 9.95106315e-01 -2.72133085e-04 -1.79693033e-01] [ 3.27837934e-02 -2.98196264e-03 9.99458019e-01 4.82161805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.360714057 meters Centerline goodness : 0.992306 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.18, Z:0.48 [[ 9.94548332e-01 -9.89447720e-02 -3.29172939e-02 1.62241306e+01] [ 9.89888204e-02 9.95088502e-01 -2.92819879e-04 -1.76355839e-01] [ 3.27845937e-02 -2.96722058e-03 9.99458036e-01 4.84260825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.390714057 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.17, Z:0.48 [[ 9.94410876e-01 -1.00318610e-01 -3.29117998e-02 1.62576792e+01] [ 1.00358247e-01 9.94951265e-01 -4.49557562e-04 -1.74380698e-01] [ 3.27907359e-02 -2.85592562e-03 9.99458159e-01 4.82416610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.420714056999998 meters Centerline goodness : 0.992285 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.17, Z:0.48 [[ 9.94310235e-01 -1.01309520e-01 -3.29171244e-02 1.62899538e+01] [ 1.01354632e-01 9.94850315e-01 -2.99548950e-04 -1.71419463e-01] [ 3.27779587e-02 -3.03845843e-03 9.99458040e-01 4.83024530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.450714057 meters Centerline goodness : 0.992855 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.17, Z:0.48 [[ 9.94454883e-01 -9.98791668e-02 -3.29186603e-02 1.63198171e+01] [ 9.99249257e-02 9.94994946e-01 -2.56267384e-04 -1.66867281e-01] [ 3.27794964e-02 -3.03454833e-03 9.99458001e-01 4.84716093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.480714057 meters Centerline goodness : 0.992191 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.16, Z:0.49 [[ 9.94579983e-01 -9.86262830e-02 -3.29167729e-02 1.63497503e+01] [ 9.86696030e-02 9.95120201e-01 -3.09703931e-04 -1.63893767e-01] [ 3.27866906e-02 -2.93985959e-03 9.99458048e-01 4.87559362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.510714056999998 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.16, Z:0.49 [[ 9.94622091e-01 -9.82025457e-02 -3.29113265e-02 1.63836061e+01] [ 9.82407149e-02 9.95162575e-01 -4.59201321e-04 -1.59348078e-01] [ 3.27972152e-02 -2.77650047e-03 9.99458170e-01 4.85780414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.540714057 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.16, Z:0.49 [[ 9.94710447e-01 -9.73014568e-02 -3.29173621e-02 1.64162222e+01] [ 9.73446062e-02 9.95250693e-01 -2.93022488e-04 -1.57079938e-01] [ 3.27895390e-02 -2.91285512e-03 9.99458034e-01 4.86653689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.570714057 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.15, Z:0.49 [[ 9.94714117e-01 -9.72638602e-02 -3.29175777e-02 1.64489965e+01] [ 9.73071794e-02 9.95254355e-01 -2.87243214e-04 -1.53845026e-01] [ 3.27893010e-02 -2.91739176e-03 9.99458028e-01 4.86634185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.600714056999998 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.15, Z:0.49 [[ 9.94965926e-01 -9.46530372e-02 -3.29182014e-02 1.64785988e+01] [ 9.46954889e-02 9.95506249e-01 -2.70525035e-04 -1.49614342e-01] [ 3.27958812e-02 -2.84804198e-03 9.99458013e-01 4.89090421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.630714057 meters Centerline goodness : 0.993314 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.15, Z:0.49 [[ 9.95086402e-01 -9.33788913e-02 -3.29155857e-02 1.65091630e+01] [ 9.34183448e-02 9.95626886e-01 -3.40575020e-04 -1.45900286e-01] [ 3.28034446e-02 -2.73601796e-03 9.99458077e-01 4.90460211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.660714057 meters Centerline goodness : 0.993120 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.14, Z:0.49 [[ 9.95390927e-01 -9.00756671e-02 -3.29131822e-02 1.65421649e+01] [ 9.01112406e-02 9.95931625e-01 -4.03919118e-04 -1.41559886e-01] [ 3.28156623e-02 -2.56379025e-03 9.99458133e-01 4.90988386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.690714056999997 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.14, Z:0.49 [[ 9.95571985e-01 -8.80504857e-02 -3.29170951e-02 1.65710553e+01] [ 8.80883517e-02 9.96112620e-01 -3.00903023e-04 -1.37899553e-01] [ 3.28156285e-02 -2.60004203e-03 9.99458040e-01 4.91593410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.720714057 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:16.60, Y:-0.14, Z:0.49 [[ 9.95827903e-01 -8.51101045e-02 -3.29098434e-02 1.66037763e+01] [ 8.51401272e-02 9.96368866e-01 -4.90554147e-04 -1.35332711e-01] [ 3.28320945e-02 -2.31344075e-03 9.99458204e-01 4.93477933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.750714057 meters Centerline goodness : 0.992868 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.13, Z:0.50 [[ 9.96406720e-01 -7.80407291e-02 -3.29134176e-02 1.66347370e+01] [ 7.80699921e-02 9.96947801e-01 -3.97055820e-04 -1.31286027e-01] [ 3.28439458e-02 -2.17392116e-03 9.99458128e-01 4.96644552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.780714056999997 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.13, Z:0.50 [[ 9.96551937e-01 -7.61633795e-02 -3.29146732e-02 1.66685202e+01] [ 7.61926902e-02 9.97093045e-01 -3.64668058e-04 -1.27435393e-01] [ 3.28467661e-02 -2.14444684e-03 9.99458099e-01 4.98158991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.810714057 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.12, Z:0.50 [[ 9.96803634e-01 -7.27930613e-02 -3.29193924e-02 1.67010165e+01] [ 7.28244917e-02 9.97344742e-01 -2.44808995e-04 -1.22463538e-01] [ 3.28498033e-02 -2.15331152e-03 9.99457980e-01 4.98443982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.840714057 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.12, Z:0.50 [[ 9.96746154e-01 -7.35764337e-02 -3.29182766e-02 1.67306900e+01] [ 7.36073718e-02 9.97287261e-01 -2.72652749e-04 -1.18363244e-01] [ 3.28490388e-02 -2.15126225e-03 9.99458009e-01 4.97874004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.870714056999997 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.12, Z:0.50 [[ 9.96844278e-01 -7.22376994e-02 -3.29119951e-02 1.67609624e+01] [ 7.22627506e-02 9.97385538e-01 -4.29241521e-04 -1.16294552e-01] [ 3.28569553e-02 -1.95042434e-03 9.99458161e-01 5.00286234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.900714057 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.11, Z:0.50 [[ 9.96817996e-01 -7.25998630e-02 -3.29111331e-02 1.67935200e+01] [ 7.26244083e-02 9.97359259e-01 -4.50562351e-04 -1.12464819e-01] [ 3.28569341e-02 -1.94102290e-03 9.99458180e-01 5.01953234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.930714057 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.11, Z:0.50 [[ 9.96726594e-01 -7.38430564e-02 -3.29135238e-02 1.68257895e+01] [ 7.38702053e-02 9.97267787e-01 -3.92036569e-04 -1.09391598e-01] [ 3.28525462e-02 -2.04057548e-03 9.99458126e-01 5.02344265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.960714056999997 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.11, Z:0.50 [[ 9.96480690e-01 -7.70912570e-02 -3.29115724e-02 1.68564046e+01] [ 7.71186001e-02 9.97021829e-01 -4.39671258e-04 -1.05932629e-01] [ 3.28474510e-02 -2.09997047e-03 9.99458171e-01 5.02913673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.990714056999998 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:16.89, Y:-0.10, Z:0.50 [[ 9.96254718e-01 -7.99608471e-02 -3.29059269e-02 1.68888446e+01] [ 7.99852432e-02 9.96795881e-01 -5.76406317e-04 -1.03235483e-01] [ 3.28465823e-02 -2.05774105e-03 9.99458287e-01 5.02860748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.020714057 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.10, Z:0.50 [[ 9.95872394e-01 -8.45907883e-02 -3.29024979e-02 1.69193549e+01] [ 8.46150094e-02 9.96413502e-01 -6.58056195e-04 -1.00951594e-01] [ 3.28401586e-02 -2.12870517e-03 9.99458350e-01 5.02777338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.050714056999997 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.10, Z:0.50 [[ 9.95867097e-01 -8.46553397e-02 -3.28967784e-02 1.69527854e+01] [ 8.46751331e-02 9.96408296e-01 -7.93504457e-04 -9.93631289e-02] [ 3.28457973e-02 -1.99531411e-03 9.99458440e-01 5.03943558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.080714056999998 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.10, Z:0.51 [[ 9.95707704e-01 -8.65098379e-02 -3.28970661e-02 1.69848368e+01] [ 8.65308640e-02 9.96248860e-01 -7.86682891e-04 -9.74012780e-02] [ 3.28417204e-02 -2.06330534e-03 9.99458435e-01 5.05233518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.110714057 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.09, Z:0.50 [[ 9.95324411e-01 -9.08136663e-02 -3.28967322e-02 1.70156430e+01] [ 9.08367723e-02 9.95865478e-01 -7.94556504e-04 -9.34356515e-02] [ 3.28328765e-02 -2.19739149e-03 9.99458440e-01 5.04656566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.140714057 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.09, Z:0.51 [[ 9.95257814e-01 -9.15425258e-02 -3.28914811e-02 1.70483689e+01] [ 9.15619483e-02 9.95798959e-01 -9.18395031e-04 -9.20767961e-02] [ 3.28373749e-02 -2.09756827e-03 9.99458507e-01 5.06075131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.170714056999998 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.09, Z:0.51 [[ 9.95071828e-01 -9.35413959e-02 -3.28947418e-02 1.70809874e+01] [ 9.35644356e-02 9.95612871e-01 -8.41584965e-04 -8.96583862e-02] [ 3.28291514e-02 -2.24034046e-03 9.99458467e-01 5.06409966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.200714057 meters Centerline goodness : 0.995391 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.09, Z:0.51 [[ 9.95017995e-01 -9.41112780e-02 -3.28976808e-02 1.71141752e+01] [ 9.41369102e-02 9.95558961e-01 -7.72289235e-04 -8.88106209e-02] [ 3.28242620e-02 -2.32844434e-03 9.99458426e-01 5.08057602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.230714057 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.09, Z:0.51 [[ 9.94755431e-01 -9.68468036e-02 -3.28987630e-02 1.71454655e+01] [ 9.68747453e-02 9.95296300e-01 -7.47330936e-04 -8.58281915e-02] [ 3.28163937e-02 -2.44364778e-03 9.99458410e-01 5.06452974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.260714056999998 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.08, Z:0.51 [[ 9.94544281e-01 -9.89923481e-02 -3.28966325e-02 1.71781141e+01] [ 9.90198468e-02 9.95085140e-01 -7.96200792e-04 -8.34606605e-02] [ 3.28137680e-02 -2.46556257e-03 9.99458442e-01 5.07758070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.290714057 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.08, Z:0.51 [[ 9.94281127e-01 -1.01601377e-01 -3.28968129e-02 1.72118185e+01] [ 1.01630428e-01 9.94821908e-01 -7.92152759e-04 -8.06637462e-02] [ 3.28069540e-02 -2.55569462e-03 9.99458439e-01 5.07529765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.320714057 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.08, Z:0.51 [[ 9.94222549e-01 -1.02169764e-01 -3.29068620e-02 1.72409922e+01] [ 1.02206544e-01 9.94763038e-01 -5.66874956e-04 -7.83061833e-02] [ 3.27924475e-02 -2.79969677e-03 9.99458262e-01 5.09224959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.350714056999998 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.08, Z:0.51 [[ 9.94110582e-01 -1.03256427e-01 -3.28977397e-02 1.72737466e+01] [ 1.03286899e-01 9.94651303e-01 -7.76348037e-04 -7.61398694e-02] [ 3.28019426e-02 -2.62612972e-03 9.99458421e-01 5.10271589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.380714057 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.07, Z:0.51 [[ 9.93923741e-01 -1.05039480e-01 -3.28983966e-02 1.73062487e+01] [ 1.05071416e-01 9.94464387e-01 -7.61340186e-04 -7.37343604e-02] [ 3.27962546e-02 -2.69996704e-03 9.99458411e-01 5.10052018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.410714057 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.07, Z:0.51 [[ 9.93815521e-01 -1.06058947e-01 -3.28969643e-02 1.73379559e+01] [ 1.06090367e-01 9.94356176e-01 -7.93855402e-04 -7.10016219e-02] [ 3.27954951e-02 -2.70110519e-03 9.99458433e-01 5.11425373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.440714056999997 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.07, Z:0.51 [[ 9.93851787e-01 -1.05718335e-01 -3.28977084e-02 1.73687775e+01] [ 1.05750126e-01 9.94392431e-01 -7.76965144e-04 -6.87986334e-02] [ 3.27953717e-02 -2.70674862e-03 9.99458422e-01 5.14215055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.470714057 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.07, Z:0.51 [[ 9.93714845e-01 -1.06999278e-01 -3.28931704e-02 1.74016747e+01] [ 1.07028369e-01 9.94255578e-01 -8.80117986e-04 -6.56984821e-02] [ 3.27983901e-02 -2.64591607e-03 9.99458486e-01 5.13859136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.500714057 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.06, Z:0.52 [[ 9.93689072e-01 -1.07237521e-01 -3.28959189e-02 1.74333121e+01] [ 1.07268803e-01 9.94229720e-01 -8.17519064e-04 -6.32317028e-02] [ 3.27937689e-02 -2.71634608e-03 9.99458448e-01 5.15967223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.530714056999997 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.06, Z:0.52 [[ 9.93623203e-01 -1.07846260e-01 -3.28955239e-02 1.74668608e+01] [ 1.07877580e-01 9.94163842e-01 -8.26424110e-04 -6.12330927e-02] [ 3.27926672e-02 -2.72753535e-03 9.99458454e-01 5.17101222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.560714057 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.06, Z:0.52 [[ 9.93482563e-01 -1.09132594e-01 -3.29009685e-02 1.74972445e+01] [ 1.09168664e-01 9.94022992e-01 -7.03411872e-04 -5.82570631e-02] [ 3.27810843e-02 -2.89292735e-03 9.99458369e-01 5.18408626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.590714057 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.06, Z:0.52 [[ 9.93412921e-01 -1.09765747e-01 -3.28975622e-02 1.75271966e+01] [ 1.09799612e-01 9.93953437e-01 -7.80861819e-04 -5.58685346e-02] [ 3.27843569e-02 -2.83642133e-03 9.99458424e-01 5.18277268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.620714056999997 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.05, Z:0.52 [[ 9.93301823e-01 -1.10768158e-01 -3.28923092e-02 1.75596212e+01] [ 1.10798642e-01 9.93842468e-01 -9.00112007e-04 -5.39601145e-02] [ 3.27894775e-02 -2.75034029e-03 9.99458496e-01 5.18751028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.650714057 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.05, Z:0.52 [[ 9.93169931e-01 -1.11944601e-01 -3.28921588e-02 1.75908231e+01] [ 1.11975613e-01 9.93710544e-01 -9.03520967e-04 -5.24629918e-02] [ 3.27864293e-02 -2.78576978e-03 9.99458498e-01 5.19709709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.680714057 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.05, Z:0.52 [[ 9.92942431e-01 -1.13946575e-01 -3.28862779e-02 1.76250037e+01] [ 1.13974473e-01 9.93483143e-01 -1.03117934e-03 -5.02062310e-02] [ 3.27894621e-02 -2.72429446e-03 9.99458568e-01 5.19032767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.710714056999997 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.05, Z:0.52 [[ 9.92980892e-01 -1.13608048e-01 -3.28962035e-02 1.76545656e+01] [ 1.13642893e-01 9.93521328e-01 -8.14615371e-04 -4.77931010e-02] [ 3.27756267e-02 -2.92952224e-03 9.99458441e-01 5.21559742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.740714056999998 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.04, Z:0.52 [[ 9.92987052e-01 -1.13555898e-01 -3.28903076e-02 1.76875452e+01] [ 1.13586428e-01 9.93527670e-01 -9.44801990e-04 -4.49329801e-02] [ 3.27847185e-02 -2.79771640e-03 9.99458521e-01 5.20386381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.770714057 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.04, Z:0.52 [[ 9.92978880e-01 -1.13626703e-01 -3.28924861e-02 1.77192491e+01] [ 1.13658850e-01 9.93519432e-01 -8.96866881e-04 -4.31691325e-02] [ 3.27812321e-02 -2.84795226e-03 9.99458493e-01 5.20996939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.800714056999997 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.04, Z:0.52 [[ 9.93162782e-01 -1.12008325e-01 -3.28910815e-02 1.77507627e+01] [ 1.12038581e-01 9.93703425e-01 -9.27528851e-04 -4.07203752e-02] [ 3.27878713e-02 -2.76388297e-03 9.99458512e-01 5.23807261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.830714056999998 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.04, Z:0.53 [[ 9.93449514e-01 -1.09436682e-01 -3.28888299e-02 1.77830407e+01] [ 1.09463917e-01 9.93990290e-01 -9.76741660e-04 -3.93017124e-02] [ 3.27980689e-02 -2.62979663e-03 9.99458539e-01 5.25869820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.860714057 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:17.82, Y:-0.04, Z:0.53 [[ 9.93487642e-01 -1.09088735e-01 -3.28930466e-02 1.78155747e+01] [ 1.09118809e-01 9.94028321e-01 -8.84810508e-04 -3.75088354e-02] [ 3.27931427e-02 -2.71020175e-03 9.99458486e-01 5.27118284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.890714057 meters Centerline goodness : 0.996532 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.04, Z:0.53 [[ 9.93522100e-01 -1.08774006e-01 -3.28945497e-02 1.78466633e+01] [ 1.08804988e-01 9.94062749e-01 -8.52048742e-04 -3.54626796e-02] [ 3.27919272e-02 -2.73256181e-03 9.99458465e-01 5.27970654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.920714056999998 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.03, Z:0.53 [[ 9.93597456e-01 -1.08084840e-01 -3.28901584e-02 1.78782710e+01] [ 1.08112321e-01 9.94138235e-01 -9.46930820e-04 -3.40957970e-02] [ 3.27997129e-02 -2.61496330e-03 9.99458524e-01 5.30207650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.950714057 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.03, Z:0.53 [[ 9.93576395e-01 -1.08278837e-01 -3.28883162e-02 1.79123760e+01] [ 1.08305136e-01 9.94117209e-01 -9.86046195e-04 -3.22855740e-02] [ 3.28016091e-02 -2.58226132e-03 9.99458547e-01 5.29505705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.980714057 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.03, Z:0.53 [[ 9.93496346e-01 -1.09008131e-01 -3.28973922e-02 1.79448436e+01] [ 1.09041024e-01 9.94036930e-01 -7.97905684e-04 -3.03550310e-02] [ 3.27882010e-02 -2.79444895e-03 9.99458416e-01 5.29683964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.010714056999998 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.03, Z:0.53 [[ 9.93736935e-01 -1.06792028e-01 -3.28993353e-02 1.79742878e+01] [ 1.06825044e-01 9.94277545e-01 -7.57586677e-04 -2.94186855e-02] [ 3.27919746e-02 -2.76163107e-03 9.99458383e-01 5.33136519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.040714057 meters Centerline goodness : 0.997242 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.03, Z:0.53 [[ 9.93633310e-01 -1.07754900e-01 -3.28896195e-02 1.80079851e+01] [ 1.07781864e-01 9.94174106e-01 -9.57164306e-04 -2.78784383e-02] [ 3.28011472e-02 -2.59383415e-03 9.99458532e-01 5.33028497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.070714057 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.03, Z:0.54 [[ 9.93853397e-01 -1.05702548e-01 -3.28998056e-02 1.80404998e+01] [ 1.05735310e-01 9.94394029e-01 -7.47284821e-04 -2.64978526e-02] [ 3.27943602e-02 -2.73597960e-03 9.99458375e-01 5.35570506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.100714056999998 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.02, Z:0.54 [[ 9.93858780e-01 -1.05650062e-01 -3.29057649e-02 1.80674078e+01] [ 1.05686867e-01 9.94399264e-01 -6.23707628e-04 -2.31691155e-02] [ 3.27873631e-02 -2.85782989e-03 9.99458264e-01 5.35472065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.130714057 meters Centerline goodness : 0.996676 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.02, Z:0.54 [[ 9.94072215e-01 -1.03628105e-01 -3.28883911e-02 1.81010957e+01] [ 1.03651924e-01 9.94613146e-01 -9.84464945e-04 -2.08684157e-02] [ 3.28132444e-02 -2.43031578e-03 9.99458546e-01 5.37250573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.160714057 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.02, Z:0.54 [[ 9.94221062e-01 -1.02188128e-01 -3.28947718e-02 1.81322936e+01] [ 1.02215534e-01 9.94761911e-01 -8.51802665e-04 -1.86132674e-02] [ 3.28095101e-02 -2.51547652e-03 9.99458458e-01 5.37564602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.190714056999997 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.02, Z:0.54 [[ 9.94271887e-01 -1.01695306e-01 -3.28858631e-02 1.81651869e+01] [ 1.01716475e-01 9.94812893e-01 -1.03295735e-03 -1.73561451e-02] [ 3.28203275e-02 -2.31799361e-03 9.99458580e-01 5.37388719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.220714057 meters Centerline goodness : 0.996915 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.01, Z:0.54 [[ 9.94301986e-01 -1.01397954e-01 -3.28940141e-02 1.81966744e+01] [ 1.01424417e-01 9.94842870e-01 -8.67414377e-04 -1.45418340e-02] [ 3.28123294e-02 -2.47378436e-03 9.99458469e-01 5.38697722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.250714057 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.01, Z:0.54 [[ 9.94606933e-01 -9.83622245e-02 -3.28925690e-02 1.82277046e+01] [ 9.83860642e-02 9.95147918e-01 -8.96898288e-04 -1.20765136e-02] [ 3.28211925e-02 -2.34410915e-03 9.99458491e-01 5.39865627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.280714056999997 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.01, Z:0.54 [[ 9.94741338e-01 -9.69950160e-02 -3.28882495e-02 1.82603501e+01] [ 9.70152403e-02 9.95282410e-01 -9.84040142e-04 -9.45259373e-03] [ 3.28285432e-02 -2.21179602e-03 9.99458551e-01 5.40857828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.310714057 meters Centerline goodness : 0.996457 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.01, Z:0.54 [[ 9.95054322e-01 -9.37280360e-02 -3.28930317e-02 1.82892851e+01] [ 9.37496537e-02 9.95595407e-01 -8.87848187e-04 -5.95305212e-03] [ 3.28313676e-02 -2.20025316e-03 9.99458483e-01 5.43012031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.340714057 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.00, Z:0.54 [[ 9.95264974e-01 -9.14673102e-02 -3.28840889e-02 1.83225447e+01] [ 9.14817967e-02 9.95806177e-01 -1.06691615e-03 -3.76450064e-03] [ 3.28437668e-02 -1.94643126e-03 9.99458603e-01 5.43749072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.370714056999997 meters Centerline goodness : 0.996388 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.00, Z:0.54 [[ 9.95674250e-01 -8.68960982e-02 -3.28915753e-02 1.83517771e+01] [ 8.69130451e-02 9.96215480e-01 -9.16864777e-04 -1.97366638e-04] [ 3.28467684e-02 -1.94580832e-03 9.99458505e-01 5.43875422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.400714057 meters Centerline goodness : 0.997179 Centerline is valid? [True, True] Translation: X:18.39, Y:0.00, Z:0.54 [[ 9.95788117e-01 -8.55860731e-02 -3.28793351e-02 1.83856053e+01] [ 8.55943990e-02 9.96329394e-01 -1.15680199e-03 1.99255176e-03] [ 3.28576542e-02 -1.66235725e-03 9.99458659e-01 5.44471615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.430714057 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:18.42, Y:0.00, Z:0.55 [[ 9.96093333e-01 -8.19531798e-02 -3.28899383e-02 1.84155824e+01] [ 8.19664057e-02 9.96634642e-01 -9.48246978e-04 3.96079144e-03] [ 3.28569637e-02 -1.75132753e-03 9.99458530e-01 5.45748138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.460714056999997 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:18.45, Y:0.01, Z:0.55 [[ 9.96470440e-01 -7.72345317e-02 -3.28860104e-02 1.84497095e+01] [ 7.72426181e-02 9.97011798e-01 -1.02638264e-03 5.54723481e-03] [ 3.28670125e-02 -1.51744157e-03 9.99458582e-01 5.46134196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.490714056999998 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:18.48, Y:0.01, Z:0.55 [[ 9.96502095e-01 -7.68235824e-02 -3.28893889e-02 1.84833970e+01] [ 7.68335938e-02 9.97043467e-01 -9.61215152e-04 7.44675981e-03] [ 3.28659943e-02 -1.56915703e-03 9.99458535e-01 5.47108602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.520714057 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:18.52, Y:0.01, Z:0.55 [[ 9.96689517e-01 -7.43493074e-02 -3.28966099e-02 1.85165092e+01] [ 7.43625297e-02 9.97230935e-01 -8.23046545e-04 9.67885510e-03] [ 3.28667100e-02 -1.62595327e-03 9.99458421e-01 5.47120960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.550714056999997 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:18.55, Y:0.01, Z:0.55 [[ 9.96847790e-01 -7.21944170e-02 -3.29006063e-02 1.85485528e+01] [ 7.22089876e-02 9.97389244e-01 -7.46651474e-04 1.08499005e-02] [ 3.28686149e-02 -1.63142160e-03 9.99458350e-01 5.48503505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.580714056999998 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:18.58, Y:0.01, Z:0.55 [[ 9.96951697e-01 -7.07441989e-02 -3.29024722e-02 1.85813392e+01] [ 7.07591588e-02 9.97493176e-01 -7.10954725e-04 1.18687013e-02] [ 3.28702874e-02 -1.61936374e-03 9.99458314e-01 5.49623237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.610714057 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:18.61, Y:0.01, Z:0.55 [[ 9.97023210e-01 -6.97271761e-02 -3.29065166e-02 1.86112205e+01] [ 6.97441300e-02 9.97564712e-01 -6.33731707e-04 1.37424433e-02] [ 3.28705681e-02 -1.66319115e-03 9.99458233e-01 5.52324728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.640714057 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:18.64, Y:0.01, Z:0.55 [[ 9.97070642e-01 -6.90491055e-02 -3.28991748e-02 1.86445141e+01] [ 6.90610178e-02 9.97612136e-01 -7.75468506e-04 1.28333685e-02] [ 3.28741615e-02 -1.49885361e-03 9.99458375e-01 5.53337303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.670714056999998 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:18.68, Y:0.01, Z:0.55 [[ 9.96795212e-01 -7.29204808e-02 -3.28923838e-02 1.86776658e+01] [ 7.29303932e-02 9.97336627e-01 -8.99895094e-04 1.40296338e-02] [ 3.28703999e-02 -1.50184336e-03 9.99458494e-01 5.51917100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.700714057 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:18.71, Y:0.02, Z:0.55 [[ 9.96444250e-01 -7.75649427e-02 -3.29019182e-02 1.87115433e+01] [ 7.75830942e-02 9.96985625e-01 -7.26547493e-04 1.50734595e-02] [ 3.28590941e-02 -1.82866855e-03 9.99458321e-01 5.50442702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.730714057 meters Centerline goodness : 0.997029 Centerline is valid? [True, True] Translation: X:18.74, Y:0.02, Z:0.55 [[ 9.96489172e-01 -7.69803256e-02 -3.29144279e-02 1.87382092e+01] [ 7.70056756e-02 9.97030530e-01 -4.98655784e-04 1.59874682e-02] [ 3.28550761e-02 -2.03769266e-03 9.99458049e-01 5.53683267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.760714056999998 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:18.76, Y:0.02, Z:0.55 [[ 9.96215145e-01 -8.04573645e-02 -3.28937189e-02 1.87643514e+01] [ 8.04722401e-02 9.96756467e-01 -8.73543171e-04 1.56498992e-02] [ 3.28573100e-02 -1.77679431e-03 9.99458473e-01 5.54852895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.790714057 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:18.80, Y:0.02, Z:0.55 [[ 9.95881803e-01 -8.44943705e-02 -3.28654114e-02 1.87994593e+01] [ 8.44947831e-02 9.96422968e-01 -1.37878754e-03 1.55500935e-02] [ 3.28643506e-02 -1.40384638e-03 9.99458835e-01 5.53721347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.820714057 meters Centerline goodness : 0.996144 Centerline is valid? [True, True] Translation: X:18.83, Y:0.01, Z:0.56 [[ 9.95386962e-01 -9.01292231e-02 -3.28864652e-02 1.88298756e+01] [ 9.01451034e-02 9.95928138e-01 -1.00250012e-03 1.49465517e-02] [ 3.28429106e-02 -1.96667826e-03 9.99458591e-01 5.58184853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.850714056999998 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:18.86, Y:0.02, Z:0.56 [[ 9.95194836e-01 -9.22293076e-02 -3.28784733e-02 1.88620838e+01] [ 9.22416472e-02 9.95735993e-01 -1.14452763e-03 1.56611518e-02] [ 3.28438383e-02 -1.89373655e-03 9.99458702e-01 5.59593310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.880714057 meters Centerline goodness : 0.995139 Centerline is valid? [True, True] Translation: X:18.89, Y:0.02, Z:0.56 [[ 9.95021960e-01 -9.40765972e-02 -3.28769378e-02 1.88935101e+01] [ 9.40890419e-02 9.95563096e-01 -1.17181210e-03 1.62810600e-02] [ 3.28413061e-02 -1.92738080e-03 9.99458720e-01 5.61092232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.910714057 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:18.92, Y:0.02, Z:0.56 [[ 9.94643632e-01 -9.79964627e-02 -3.28745901e-02 1.89243561e+01] [ 9.80096594e-02 9.95184723e-01 -1.21367348e-03 1.54145283e-02] [ 3.28352255e-02 -2.01485478e-03 9.99458748e-01 5.63022005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.940714056999997 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:18.96, Y:0.02, Z:0.56 [[ 9.94621864e-01 -9.82185901e-02 -3.28703054e-02 1.89568421e+01] [ 9.82293804e-02 9.95162963e-01 -1.29033836e-03 1.73778141e-02] [ 3.28380457e-02 -1.94543098e-03 9.99458793e-01 5.64130202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.970714057 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:18.99, Y:0.02, Z:0.56 [[ 9.94416517e-01 -1.00277506e-01 -3.28665994e-02 1.89909248e+01] [ 1.00287274e-01 9.94957600e-01 -1.35532802e-03 1.79586870e-02] [ 3.28367818e-02 -1.94834110e-03 9.99458828e-01 5.64540331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.000714057 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:19.02, Y:0.02, Z:0.56 [[ 9.94265887e-01 -1.01756618e-01 -3.28776082e-02 1.90239680e+01] [ 1.01773559e-01 9.94806912e-01 -1.16213734e-03 1.82396320e-02] [ 3.28251270e-02 -2.19059770e-03 9.99458710e-01 5.64819078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.030714056999997 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:19.05, Y:0.02, Z:0.57 [[ 9.93874355e-01 -1.05511954e-01 -3.28784738e-02 1.90535689e+01] [ 1.05531441e-01 9.94415305e-01 -1.14691916e-03 1.92677196e-02] [ 3.28158713e-02 -2.32981918e-03 9.99458699e-01 5.68320748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.060714057 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:19.08, Y:0.02, Z:0.57 [[ 9.93837629e-01 -1.05860886e-01 -3.28670030e-02 1.90834403e+01] [ 1.05873921e-01 9.94378648e-01 -1.34839405e-03 2.02568279e-02] [ 3.28249881e-02 -2.13967373e-03 9.99458825e-01 5.69584915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.090714057 meters Centerline goodness : 0.994197 Centerline is valid? [True, True] Translation: X:19.11, Y:0.02, Z:0.57 [[ 9.93658796e-01 -1.07528310e-01 -3.28612087e-02 1.91141590e+01] [ 1.07538880e-01 9.94199821e-01 -1.45072321e-03 2.14128077e-02] [ 3.28266016e-02 -2.09233368e-03 9.99458872e-01 5.70655133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.120714056999997 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:19.15, Y:0.02, Z:0.57 [[ 9.93676840e-01 -1.07363143e-01 -3.28556320e-02 1.91489182e+01] [ 1.07370418e-01 9.94217882e-01 -1.54795322e-03 2.22008357e-02] [ 3.28318499e-02 -1.98955768e-03 9.99458909e-01 5.68771550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.150714057 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:19.18, Y:0.02, Z:0.57 [[ 9.93662246e-01 -1.07493224e-01 -3.28716993e-02 1.91815667e+01] [ 1.07509852e-01 9.94203213e-01 -1.26638382e-03 2.38578805e-02] [ 3.28172767e-02 -2.27567372e-03 9.99458777e-01 5.68959877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.180714057 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:19.21, Y:0.03, Z:0.57 [[ 9.93679058e-01 -1.07335531e-01 -3.28787832e-02 1.92120930e+01] [ 1.07356182e-01 9.94219969e-01 -1.14174554e-03 2.52529963e-02] [ 3.28112927e-02 -2.39521199e-03 9.99458695e-01 5.68718539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.210714056999997 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:19.24, Y:0.03, Z:0.57 [[ 9.93646348e-01 -1.07640299e-01 -3.28709624e-02 1.92438974e+01] [ 1.07656581e-01 9.94187318e-01 -1.27931046e-03 2.71810295e-02] [ 3.28175993e-02 -2.26759326e-03 9.99458785e-01 5.70433289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.240714056999998 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:19.28, Y:0.03, Z:0.57 [[ 9.93714207e-01 -1.07014112e-01 -3.28641753e-02 1.92778217e+01] [ 1.07026172e-01 9.94255222e-01 -1.39703488e-03 2.86226068e-02] [ 3.28248804e-02 -2.12907347e-03 9.99458851e-01 5.70998349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.270714057 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:19.31, Y:0.03, Z:0.57 [[ 9.93860595e-01 -1.05642516e-01 -3.28751626e-02 1.93064355e+01] [ 1.05660123e-01 9.94401571e-01 -1.20609912e-03 3.08000810e-02] [ 3.28185287e-02 -2.27489934e-03 9.99458738e-01 5.72316570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.300714056999997 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:19.34, Y:0.03, Z:0.57 [[ 9.93890192e-01 -1.05367810e-01 -3.28620063e-02 1.93406910e+01] [ 1.05377718e-01 9.94431233e-01 -1.43512460e-03 3.29618956e-02] [ 3.28302213e-02 -2.03656696e-03 9.99458868e-01 5.72866136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.330714056999998 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:19.37, Y:0.04, Z:0.57 [[ 9.94300806e-01 -1.01415598e-01 -3.28752650e-02 1.93721496e+01] [ 1.01431017e-01 9.94841848e-01 -1.20268490e-03 3.50243370e-02] [ 3.28276604e-02 -2.13874099e-03 9.99458739e-01 5.74825286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.360714057 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:19.41, Y:0.04, Z:0.58 [[ 9.94448892e-01 -9.99545751e-02 -3.28707325e-02 1.94057263e+01] [ 9.99666359e-02 9.94989966e-01 -1.28044003e-03 3.78164392e-02] [ 3.28340348e-02 -2.01264437e-03 9.99458791e-01 5.75622339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.390714057 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:19.44, Y:0.04, Z:0.57 [[ 9.95071357e-01 -9.35511908e-02 -3.28811478e-02 1.94390832e+01] [ 9.35656644e-02 9.95612501e-01 -1.10161891e-03 4.02262654e-02] [ 3.28399396e-02 -1.98035702e-03 9.99458662e-01 5.74985879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.420714056999998 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:19.47, Y:0.04, Z:0.58 [[ 9.95327940e-01 -9.07777977e-02 -3.28889412e-02 1.94686775e+01] [ 9.07951692e-02 9.95869118e-01 -9.68002841e-04 4.33962547e-02] [ 3.28409540e-02 -2.02267671e-03 9.99458544e-01 5.76459698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.450714057 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:19.50, Y:0.05, Z:0.58 [[ 9.95519236e-01 -8.86581332e-02 -3.28813872e-02 1.95010404e+01] [ 8.86701248e-02 9.96060444e-01 -1.09619864e-03 4.58188068e-02] [ 3.28490360e-02 -1.82430987e-03 9.99458660e-01 5.78117243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.480714057 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:19.53, Y:0.05, Z:0.58 [[ 9.95951150e-01 -8.36660316e-02 -3.28831467e-02 1.95313823e+01] [ 8.36762943e-02 9.96492419e-01 -1.06634045e-03 4.87991337e-02] [ 3.28570229e-02 -1.68951687e-03 9.99458634e-01 5.79476956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.510714056999998 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:19.56, Y:0.05, Z:0.58 [[ 9.96083903e-01 -8.20722473e-02 -3.28786380e-02 1.95641412e+01] [ 8.20791317e-02 9.96625161e-01 -1.14252806e-03 5.08732112e-02] [ 3.28614477e-02 -1.56059625e-03 9.99458698e-01 5.81060036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.540714057 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:19.59, Y:0.05, Z:0.58 [[ 9.96221062e-01 -8.03891747e-02 -3.28812491e-02 1.95947913e+01] [ 8.03965986e-02 9.96762349e-01 -1.09843026e-03 5.32170090e-02] [ 3.28630930e-02 -1.54926123e-03 9.99458662e-01 5.76500777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.570714057 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:19.62, Y:0.06, Z:0.59 [[ 9.96198773e-01 -8.06659158e-02 -3.28787813e-02 1.96232443e+01] [ 8.06720988e-02 9.96740042e-01 -1.14062610e-03 5.50077978e-02] [ 3.28636075e-02 -1.51610997e-03 9.99458696e-01 5.85476073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.600714056999998 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:19.65, Y:0.06, Z:0.59 [[ 9.96131767e-01 -8.14945266e-02 -3.28655548e-02 1.96542996e+01] [ 8.14937583e-02 9.96672917e-01 -1.36513761e-03 5.69872935e-02] [ 3.28674596e-02 -1.31848064e-03 9.99458849e-01 5.87364638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.630714057 meters Centerline goodness : 0.995247 Centerline is valid? [True, True] Translation: X:19.69, Y:0.06, Z:0.59 [[ 9.95847912e-01 -8.48965999e-02 -3.28557901e-02 1.96877831e+01] [ 8.48923321e-02 9.96388960e-01 -1.52737935e-03 5.88543573e-02] [ 3.28668158e-02 -1.26816710e-03 9.99458936e-01 5.88091684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.660714057 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:19.72, Y:0.06, Z:0.59 [[ 9.95702065e-01 -8.65870476e-02 -3.28645853e-02 1.97164227e+01] [ 8.65885353e-02 9.96243203e-01 -1.38064240e-03 6.03494326e-02] [ 3.28606655e-02 -1.47098782e-03 9.99458860e-01 5.90291509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.690714056999997 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:19.75, Y:0.06, Z:0.59 [[ 9.95429662e-01 -8.96697881e-02 -3.28499206e-02 1.97483802e+01] [ 8.96648441e-02 9.95970667e-01 -1.62658849e-03 6.25760011e-02] [ 3.28634132e-02 -1.32632858e-03 9.99458972e-01 5.88640093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.720714057 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:19.78, Y:0.06, Z:0.59 [[ 9.95313904e-01 -9.09462485e-02 -3.28483098e-02 1.97815558e+01] [ 9.09411085e-02 9.95854899e-01 -1.65358389e-03 6.06898792e-02] [ 3.28625375e-02 -1.34142666e-03 9.99458981e-01 5.89646422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.750714057 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:19.81, Y:0.06, Z:0.59 [[ 9.95160897e-01 -9.26045766e-02 -3.28509014e-02 1.98139520e+01] [ 9.26017501e-02 9.95701924e-01 -1.61074352e-03 6.28709150e-02] [ 3.28588679e-02 -1.43910199e-03 9.99458966e-01 5.89108939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.780714056999997 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:19.85, Y:0.06, Z:0.59 [[ 9.95295701e-01 -9.11438529e-02 -3.28521792e-02 1.98472473e+01] [ 9.11409299e-02 9.95836736e-01 -1.58958279e-03 6.33003109e-02] [ 3.28602876e-02 -1.41207324e-03 9.99458957e-01 5.90598218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.810714057 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:19.88, Y:0.06, Z:0.59 [[ 9.95495334e-01 -8.89345211e-02 -3.28586599e-02 1.98775299e+01] [ 8.89339365e-02 9.96036424e-01 -1.48221587e-03 6.35901106e-02] [ 3.28602423e-02 -1.44671100e-03 9.99458909e-01 5.91431928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.840714057 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:19.91, Y:0.07, Z:0.59 [[ 9.95675805e-01 -8.68928338e-02 -3.28531013e-02 1.99107663e+01] [ 8.68880800e-02 9.96216834e-01 -1.57503645e-03 6.53877019e-02] [ 3.28656719e-02 -1.28631720e-03 9.99458950e-01 5.93293701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.870714056999997 meters Centerline goodness : 0.994273 Centerline is valid? [True, True] Translation: X:19.94, Y:0.06, Z:0.60 [[ 9.96171737e-01 -8.10091433e-02 -3.28540650e-02 1.99449783e+01] [ 8.10017226e-02 9.96712742e-01 -1.55897688e-03 6.43947948e-02] [ 3.28723566e-02 -1.10822715e-03 9.99458944e-01 5.95697414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.900714057 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:19.98, Y:0.06, Z:0.60 [[ 9.96589271e-01 -7.56969152e-02 -3.28603552e-02 1.99763724e+01] [ 7.56900580e-02 9.97130332e-01 -1.45435185e-03 6.48605338e-02] [ 3.28761469e-02 -1.03781074e-03 9.99458895e-01 5.98011410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.930714057 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:20.01, Y:0.06, Z:0.60 [[ 9.96867832e-01 -7.19374893e-02 -3.28560883e-02 2.00080906e+01] [ 7.19262545e-02 9.97408787e-01 -1.52527316e-03 6.49494054e-02] [ 3.28806755e-02 -8.42719617e-04 9.99458929e-01 5.98713854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.960714056999997 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:20.04, Y:0.07, Z:0.60 [[ 9.97138178e-01 -6.80869669e-02 -3.28575615e-02 2.00381724e+01] [ 6.80744507e-02 9.97679115e-01 -1.50075533e-03 6.51006883e-02] [ 3.28834847e-02 -7.40300012e-04 9.99458918e-01 6.00549024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.990714056999998 meters Centerline goodness : 0.992872 Centerline is valid? [True, True] Translation: X:20.07, Y:0.06, Z:0.60 [[ 9.97461922e-01 -6.31701784e-02 -3.28518428e-02 2.00732405e+01] [ 6.31518607e-02 9.98002653e-01 -1.59593419e-03 6.32267776e-02] [ 3.28870417e-02 -4.82771412e-04 9.99458958e-01 5.99931208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.020714057 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:20.10, Y:0.07, Z:0.60 [[ 9.97413717e-01 -6.39215339e-02 -3.28620486e-02 2.01037231e+01] [ 6.39091198e-02 9.97954699e-01 -1.42907708e-03 6.52320456e-02] [ 3.28861847e-02 -6.74803526e-04 9.99458875e-01 6.00572090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.050714056999997 meters Centerline goodness : 0.991124 Centerline is valid? [True, True] Translation: X:20.13, Y:0.06, Z:0.60 [[ 9.97599615e-01 -6.09534986e-02 -3.28584613e-02 2.01330658e+01] [ 6.09375462e-02 9.98140472e-01 -1.48763108e-03 6.46805472e-02] [ 3.28880364e-02 -5.18253811e-04 9.99458908e-01 6.00838642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.080714056999998 meters Centerline goodness : 0.992109 Centerline is valid? [True, True] Translation: X:20.17, Y:0.06, Z:0.60 [[ 9.97717968e-01 -5.89930599e-02 -3.28431761e-02 2.01681957e+01] [ 5.89678341e-02 9.98258372e-01 -1.73699178e-03 6.19838633e-02] [ 3.28884460e-02 -2.03663048e-04 9.99459008e-01 6.01383755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.110714057 meters Centerline goodness : 0.991307 Centerline is valid? [True, True] Translation: X:20.20, Y:0.06, Z:0.60 [[ 9.97785626e-01 -5.78277820e-02 -3.28601943e-02 2.01973033e+01] [ 5.78110942e-02 9.98326475e-01 -1.45850913e-03 6.18156057e-02] [ 3.28895443e-02 -4.44404338e-04 9.99458894e-01 6.02542925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.140714056999997 meters Centerline goodness : 0.990969 Centerline is valid? [True, True] Translation: X:20.23, Y:0.06, Z:0.60 [[ 9.97811741e-01 -5.73810532e-02 -3.28503188e-02 2.02300687e+01] [ 5.73588169e-02 9.98352314e-01 -1.61965597e-03 6.02872519e-02] [ 3.28891294e-02 -2.68143678e-04 9.99458970e-01 6.02362782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.170714056999998 meters Centerline goodness : 0.992123 Centerline is valid? [True, True] Translation: X:20.26, Y:0.06, Z:0.60 [[ 9.97757488e-01 -5.83139775e-02 -3.28553713e-02 2.02623666e+01] [ 5.82949549e-02 9.98298219e-01 -1.53740887e-03 5.83738419e-02] [ 3.28891111e-02 -3.81341177e-04 9.99458934e-01 6.04502525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.200714057 meters Centerline goodness : 0.992073 Centerline is valid? [True, True] Translation: X:20.30, Y:0.06, Z:0.61 [[ 9.97630161e-01 -6.04552406e-02 -3.28515737e-02 2.02966487e+01] [ 6.04353767e-02 9.98170833e-01 -1.59819545e-03 5.71392868e-02] [ 3.28881020e-02 -3.90989254e-04 9.99458964e-01 6.05069837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.230714057 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:20.33, Y:0.05, Z:0.61 [[ 9.97458817e-01 -6.32101056e-02 -3.28692991e-02 2.03285136e+01] [ 6.32011107e-02 9.97999947e-01 -1.31359271e-03 5.13584357e-02] [ 3.28865911e-02 -7.67121586e-04 9.99458795e-01 6.05370319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.260714056999998 meters Centerline goodness : 0.990469 Centerline is valid? [True, True] Translation: X:20.35, Y:0.05, Z:0.60 [[ 9.97168124e-01 -6.76408534e-02 -3.28701642e-02 2.03544281e+01] [ 6.76347431e-02 9.97709303e-01 -1.29901485e-03 5.21094142e-02] [ 3.28827351e-02 -9.27828909e-04 9.99458786e-01 6.04641823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.290714057 meters Centerline goodness : 0.990581 Centerline is valid? [True, True] Translation: X:20.39, Y:0.05, Z:0.61 [[ 9.96877019e-01 -7.18207906e-02 -3.28326381e-02 2.03865929e+01] [ 7.17963360e-02 9.97417456e-01 -1.92469521e-03 5.06156343e-02] [ 3.28860795e-02 -4.38578690e-04 9.99459010e-01 6.06516707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.320714057 meters Centerline goodness : 0.990529 Centerline is valid? [True, True] Translation: X:20.42, Y:0.04, Z:0.61 [[ 9.96607603e-01 -7.54682068e-02 -3.28304183e-02 2.04222643e+01] [ 7.54445065e-02 9.97148072e-01 -1.96184327e-03 4.23513053e-02] [ 3.28848451e-02 -5.21686787e-04 9.99459011e-01 6.10566823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.350714056999998 meters Centerline goodness : 0.990234 Centerline is valid? [True, True] Translation: X:20.46, Y:0.04, Z:0.61 [[ 9.96313592e-01 -7.92436008e-02 -3.28584615e-02 2.04565911e+01] [ 7.92369492e-02 9.96854671e-01 -1.50658881e-03 4.06580991e-02] [ 3.28744984e-02 -1.10256934e-03 9.99458879e-01 6.10583368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.380714057 meters Centerline goodness : 0.990693 Centerline is valid? [True, True] Translation: X:20.49, Y:0.03, Z:0.61 [[ 9.96016006e-01 -8.28958903e-02 -3.28692544e-02 2.04874138e+01] [ 8.28970270e-02 9.96557230e-01 -1.33051764e-03 3.48059523e-02] [ 3.28663875e-02 -1.39954660e-03 9.99458774e-01 6.11585169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.410714057 meters Centerline goodness : 0.990695 Centerline is valid? [True, True] Translation: X:20.52, Y:0.04, Z:0.61 [[ 9.95489945e-01 -8.89939526e-02 -3.28610199e-02 2.05206040e+01] [ 8.89940376e-02 9.96031084e-01 -1.46293623e-03 3.50621513e-02] [ 3.28607897e-02 -1.46809653e-03 9.99458860e-01 6.12902773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.440714056999997 meters Centerline goodness : 0.990350 Centerline is valid? [True, True] Translation: X:20.55, Y:0.03, Z:0.61 [[ 9.95087388e-01 -9.33845213e-02 -3.28697518e-02 2.05518859e+01] [ 9.33916221e-02 9.95628573e-01 -1.32256345e-03 3.12997198e-02] [ 3.28495710e-02 -1.75369323e-03 9.99458769e-01 6.13869311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.470714057 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:20.59, Y:0.03, Z:0.61 [[ 9.94622710e-01 -9.82121373e-02 -3.28639654e-02 2.05901089e+01] [ 9.82187969e-02 9.95163838e-01 -1.41557727e-03 3.02238977e-02] [ 3.28440568e-02 -1.81989383e-03 9.99458832e-01 6.10753447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.500714057 meters Centerline goodness : 0.992334 Centerline is valid? [True, True] Translation: X:20.61, Y:0.04, Z:0.61 [[ 9.93637143e-01 -1.07715496e-01 -3.29028917e-02 2.06057808e+01] [ 1.07748113e-01 9.94177915e-01 -7.85347459e-04 4.03864429e-02] [ 3.27959224e-02 -2.76487407e-03 9.99458245e-01 6.12566361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.530714056999997 meters Centerline goodness : 0.989397 Centerline is valid? [True, True] Translation: X:20.65, Y:0.03, Z:0.62 [[ 9.94624780e-01 -9.82052829e-02 -3.28217766e-02 2.06456113e+01] [ 9.81903236e-02 9.95165499e-01 -2.07119461e-03 2.81163527e-02] [ 3.28665019e-02 -1.16271938e-03 9.99459074e-01 6.16072960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.560714057 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:20.68, Y:0.03, Z:0.62 [[ 9.94685465e-01 -9.75758303e-02 -3.28600671e-02 2.06794807e+01] [ 9.75806780e-02 9.95226547e-01 -1.45996845e-03 2.68808119e-02] [ 3.28456688e-02 -1.75429823e-03 9.99458896e-01 6.16166507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.590714057 meters Centerline goodness : 0.991919 Centerline is valid? [True, True] Translation: X:20.72, Y:0.02, Z:0.61 [[ 9.94279808e-01 -1.01624199e-01 -3.28661609e-02 2.07194423e+01] [ 1.01634448e-01 9.94820879e-01 -1.36299302e-03 2.46397460e-02] [ 3.28344562e-02 -1.98513767e-03 9.99458832e-01 6.12192327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.620714056999997 meters Centerline goodness : 0.990163 Centerline is valid? [True, True] Translation: X:20.74, Y:0.03, Z:0.62 [[ 9.94628710e-01 -9.81346613e-02 -3.29138035e-02 2.07397002e+01] [ 9.81682639e-02 9.95169651e-01 -5.97411081e-04 2.54106637e-02] [ 3.28134451e-02 -2.63688874e-03 9.99458015e-01 6.15380319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.650714057 meters Centerline goodness : 0.991088 Centerline is valid? [True, True] Translation: X:20.78, Y:0.03, Z:0.61 [[ 9.94076170e-01 -1.03601460e-01 -3.28527806e-02 2.07811606e+01] [ 1.03606521e-01 9.94617151e-01 -1.55286418e-03 2.51225869e-02] [ 3.28368181e-02 -1.86009703e-03 9.99458995e-01 6.13794199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.680714057 meters Centerline goodness : 0.990770 Centerline is valid? [True, True] Translation: X:20.81, Y:0.02, Z:0.61 [[ 9.94011868e-01 -1.04198416e-01 -3.29104235e-02 2.08115644e+01] [ 1.04233960e-01 9.94552600e-01 -6.38476899e-04 2.40447305e-02] [ 3.27976755e-02 -2.79573015e-03 9.99458101e-01 6.13756056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.710714056999997 meters Centerline goodness : 0.990298 Centerline is valid? [True, True] Translation: X:20.84, Y:0.02, Z:0.61 [[ 9.94432720e-01 -1.00104203e-01 -3.29046175e-02 2.08380397e+01] [ 1.00134380e-01 9.94973652e-01 -7.33640681e-04 2.47120284e-02] [ 3.28126679e-02 -2.56532717e-03 9.99458227e-01 6.13073964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.740714056999998 meters Centerline goodness : 0.989173 Centerline is valid? [True, True] Translation: X:20.87, Y:0.03, Z:0.62 [[ 9.94706287e-01 -9.73587505e-02 -3.28736452e-02 2.08687511e+01] [ 9.73712555e-02 9.95247376e-01 -1.22410898e-03 2.54641134e-02] [ 3.28365869e-02 -1.98331921e-03 9.99458766e-01 6.17006802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.770714057 meters Centerline goodness : 0.990468 Centerline is valid? [True, True] Translation: X:20.89, Y:0.04, Z:0.62 [[ 9.93504798e-01 -1.08939318e-01 -3.28700622e-02 2.08897658e+01] [ 1.08956267e-01 9.94045719e-01 -1.28045191e-03 3.95857739e-02] [ 3.28138362e-02 -2.30926416e-03 9.99458813e-01 6.17120664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.800714056999997 meters Centerline goodness : 0.990533 Centerline is valid? [True, True] Translation: X:20.92, Y:0.04, Z:0.62 [[ 9.93863851e-01 -1.05630232e-01 -3.28161411e-02 2.09214413e+01] [ 1.05617810e-01 9.94404544e-01 -2.11662415e-03 4.07935305e-02] [ 3.28560993e-02 -1.36233272e-03 9.99459164e-01 6.17909901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.830714056999998 meters Centerline goodness : 0.988767 Centerline is valid? [True, True] Translation: X:20.97, Y:0.03, Z:0.61 [[ 9.95213528e-01 -9.20494276e-02 -3.28167262e-02 2.09696229e+01] [ 9.20299239e-02 9.95754012e-01 -2.10751243e-03 2.94216648e-02] [ 3.28713821e-02 -9.22695937e-04 9.99459164e-01 6.13156481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.860714057 meters Centerline goodness : 0.988767 Centerline is valid? [True, True] Translation: X:21.00, Y:0.03, Z:0.61 [[ 9.95156125e-01 -9.26351550e-02 -3.29091887e-02 2.10010073e+01] [ 9.26640096e-02 9.95697222e-01 -6.50570414e-04 3.13805336e-02] [ 3.28278535e-02 -2.40207825e-03 9.99458134e-01 6.13654774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.890714056999997 meters Centerline goodness : 0.987717 Centerline is valid? [True, True] Translation: X:21.01, Y:0.04, Z:0.62 [[ 9.95279588e-01 -9.13003802e-02 -3.29056718e-02 2.10138372e+01] [ 9.13266930e-02 9.95820736e-01 -7.05605365e-04 4.40021722e-02] [ 3.28325724e-02 -2.30289157e-03 9.99458213e-01 6.17669742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.920714056999998 meters Centerline goodness : 0.985748 Centerline is valid? [True, True] Translation: X:21.06, Y:0.03, Z:0.62 [[ 9.96801738e-01 -7.28679074e-02 -3.28110178e-02 2.10587820e+01] [ 7.28365874e-02 9.97341570e-01 -2.15038334e-03 3.38933065e-02] [ 3.28804860e-02 -2.46336715e-04 9.99459260e-01 6.21934639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.950714057 meters Centerline goodness : 0.985343 Centerline is valid? [True, True] Translation: X:21.09, Y:0.03, Z:0.63 [[ 9.97186064e-01 -6.73665520e-02 -3.28892335e-02 2.10886432e+01] [ 6.73720300e-02 9.97727478e-01 -9.42878834e-04 3.43794832e-02] [ 3.28780105e-02 -1.27558880e-03 9.99458558e-01 6.25275122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.980714057 meters Centerline goodness : 0.985958 Centerline is valid? [True, True] Translation: X:21.12, Y:0.04, Z:0.63 [[ 9.97411465e-01 -6.39465086e-02 -3.28817977e-02 2.11216031e+01] [ 6.39463219e-02 9.97952778e-01 -1.05837461e-03 3.65088354e-02] [ 3.28821607e-02 -1.04703505e-03 9.99458687e-01 6.25101801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.010714056999998 meters Centerline goodness : 0.985292 Centerline is valid? [True, True] Translation: X:21.15, Y:0.04, Z:0.63 [[ 9.97596962e-01 -6.09821179e-02 -3.28859059e-02 2.11541652e+01] [ 6.09824003e-02 9.98138345e-01 -9.95348831e-04 3.73817661e-02] [ 3.28853822e-02 -1.01250451e-03 9.99458617e-01 6.25368401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.040714057 meters Centerline goodness : 0.985244 Centerline is valid? [True, True] Translation: X:21.19, Y:0.04, Z:0.62 [[ 9.97835662e-01 -5.69474242e-02 -3.28782893e-02 2.11897181e+01] [ 5.69418162e-02 9.98376884e-01 -1.10763189e-03 3.52320008e-02] [ 3.28880008e-02 -7.66914903e-04 9.99458749e-01 6.24789755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.070714057 meters Centerline goodness : 0.984960 Centerline is valid? [True, True] Translation: X:21.22, Y:0.04, Z:0.63 [[ 9.98003340e-01 -5.39122386e-02 -3.29059919e-02 2.12207869e+01] [ 5.39184489e-02 9.98545098e-01 -6.99248236e-04 3.50537734e-02] [ 3.28958149e-02 -1.07638797e-03 9.99458207e-01 6.25892078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.100714056999998 meters Centerline goodness : 0.983253 Centerline is valid? [True, True] Translation: X:21.24, Y:0.04, Z:0.63 [[ 9.97989022e-01 -5.41736446e-02 -3.29109001e-02 2.12432262e+01] [ 5.41823954e-02 9.98530859e-01 -6.26541134e-04 3.65786517e-02] [ 3.28964913e-02 -1.15791023e-03 9.99458093e-01 6.28477634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.130714057 meters Centerline goodness : 0.984430 Centerline is valid? [True, True] Translation: X:21.28, Y:0.04, Z:0.63 [[ 9.97937756e-01 -5.51366982e-02 -3.28660774e-02 2.12763733e+01] [ 5.51241048e-02 9.98478677e-01 -1.28984157e-03 3.78077276e-02] [ 3.28871951e-02 -5.24531497e-04 9.99458932e-01 6.27818432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.160714057 meters Centerline goodness : 0.982127 Centerline is valid? [True, True] Translation: X:21.31, Y:0.03, Z:0.63 [[ 9.97820459e-01 -5.72212791e-02 -3.28642211e-02 2.13059429e+01] [ 5.72089364e-02 9.98361360e-01 -1.31653320e-03 3.39420586e-02] [ 3.28857022e-02 -5.66463376e-04 9.99458958e-01 6.27271299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.190714056999997 meters Centerline goodness : 0.983343 Centerline is valid? [True, True] Translation: X:21.34, Y:0.03, Z:0.63 [[ 9.97838041e-01 -5.69258929e-02 -3.28433650e-02 2.13420617e+01] [ 5.69036056e-02 9.98378373e-01 -1.61365786e-03 3.38186381e-02] [ 3.28819642e-02 -2.58736691e-04 9.99459209e-01 6.27049545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.220714057 meters Centerline goodness : 0.983074 Centerline is valid? [True, True] Translation: X:21.37, Y:0.03, Z:0.63 [[ 9.97766626e-01 -5.81483299e-02 -3.28714570e-02 2.13672758e+01] [ 5.81398883e-02 9.98307709e-01 -1.21338881e-03 3.05778057e-02] [ 3.28863855e-02 -7.00463984e-04 9.99458851e-01 6.32394190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.250714057 meters Centerline goodness : 0.983000 Centerline is valid? [True, True] Translation: X:21.40, Y:0.03, Z:0.64 [[ 9.97716736e-01 -5.90211125e-02 -3.28302035e-02 2.14011146e+01] [ 5.89940157e-02 9.98256724e-01 -1.79424908e-03 2.92705490e-02] [ 3.28788700e-02 -1.46633207e-04 9.99459333e-01 6.35150513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.280714056999997 meters Centerline goodness : 0.985691 Centerline is valid? [True, True] Translation: X:21.42, Y:0.04, Z:0.63 [[ 9.97274984e-01 -6.60619072e-02 -3.28394576e-02 2.14240468e+01] [ 6.60429095e-02 9.97815396e-01 -1.66405336e-03 3.79786014e-02] [ 3.28776470e-02 -5.09294540e-04 9.99459254e-01 6.26905436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.310714057 meters Centerline goodness : 0.983830 Centerline is valid? [True, True] Translation: X:21.46, Y:0.02, Z:0.64 [[ 9.97823485e-01 -5.72110289e-02 -3.27901078e-02 2.14639185e+01] [ 5.71646100e-02 9.98361996e-01 -2.35212976e-03 2.31984905e-02] [ 3.28709652e-02 4.72576593e-04 9.99459492e-01 6.36547722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.340714057 meters Centerline goodness : 0.981702 Centerline is valid? [True, True] Translation: X:21.49, Y:0.02, Z:0.64 [[ 9.97896230e-01 -5.58999248e-02 -3.28376672e-02 2.14949674e+01] [ 5.58747196e-02 9.98436365e-01 -1.68543358e-03 2.11687349e-02] [ 3.28805367e-02 -1.52907629e-04 9.99459277e-01 6.37734637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.370714056999997 meters Centerline goodness : 0.982936 Centerline is valid? [True, True] Translation: X:21.53, Y:0.01, Z:0.64 [[ 9.98000763e-01 -5.40036827e-02 -3.28341226e-02 2.15275665e+01] [ 5.39758124e-02 9.98540736e-01 -1.73524106e-03 1.44287702e-02] [ 3.28799183e-02 -4.04765400e-05 9.99459308e-01 6.37276629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.400714057 meters Centerline goodness : 0.985631 Centerline is valid? [True, True] Translation: X:21.55, Y:0.02, Z:0.64 [[ 9.97492956e-01 -6.26864893e-02 -3.28360613e-02 2.15484843e+01] [ 6.26642157e-02 9.98033205e-01 -1.70800342e-03 2.32051733e-02] [ 3.28785483e-02 -3.53924649e-04 9.99459292e-01 6.37444453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.430714057 meters Centerline goodness : 0.983391 Centerline is valid? [True, True] Translation: X:21.59, Y:0.01, Z:0.64 [[ 9.98045766e-01 -5.32031924e-02 -3.27730095e-02 2.15884516e+01] [ 5.31470035e-02 9.98583356e-01 -2.58385271e-03 6.02398578e-03] [ 3.28640510e-02 8.37016007e-04 9.99459481e-01 6.40004084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.460714056999997 meters Centerline goodness : 0.986700 Centerline is valid? [True, True] Translation: X:21.61, Y:0.01, Z:0.63 [[ 9.97708626e-01 -5.91626379e-02 -3.28219405e-02 2.16124554e+01] [ 5.91321142e-02 9.98248356e-01 -1.90072991e-03 1.12386994e-02] [ 3.28769004e-02 -4.44561104e-05 9.99459408e-01 6.33797861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.490714056999998 meters Centerline goodness : 0.983528 Centerline is valid? [True, True] Translation: X:21.65, Y:0.00, Z:0.64 [[ 9.98075036e-01 -5.26505491e-02 -3.27741147e-02 2.16488477e+01] [ 5.25947526e-02 9.98612650e-01 -2.56284011e-03 3.94746958e-04] [ 3.28635805e-02 8.34160281e-04 9.99459499e-01 6.39394822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.520714057 meters Centerline goodness : 0.985609 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.00, Z:0.63 [[ 9.97844362e-01 -5.68307927e-02 -3.28160016e-02 2.16754390e+01] [ 5.67963893e-02 9.98383818e-01 -1.98034344e-03 -1.36468672e-03] [ 3.28755095e-02 1.12244133e-04 9.99459448e-01 6.33751319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.550714056999997 meters Centerline goodness : 0.983008 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.01, Z:0.64 [[ 9.98132404e-01 -5.15459952e-02 -3.27828279e-02 2.17102112e+01] [ 5.14936465e-02 9.98670342e-01 -2.43967610e-03 -1.11467486e-02] [ 3.28649935e-02 7.47012422e-04 9.99459521e-01 6.37748552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.580714056999998 meters Centerline goodness : 0.985580 Centerline is valid? [True, True] Translation: X:21.73, Y:-0.01, Z:0.64 [[ 9.97552522e-01 -6.17477762e-02 -3.28051561e-02 2.17321729e+01] [ 6.17110966e-02 9.98091780e-01 -2.13039199e-03 -5.89783185e-03] [ 3.28741036e-02 1.00735746e-04 9.99459496e-01 6.40941363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.610714057 meters Centerline goodness : 0.985149 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.01, Z:0.64 [[ 9.97550565e-01 -6.18114469e-02 -3.27447094e-02 2.17636637e+01] [ 6.17475411e-02 9.98087410e-01 -2.96024877e-03 -8.16720783e-03] [ 3.28650594e-02 9.31092549e-04 9.99459364e-01 6.42962756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.640714056999997 meters Centerline goodness : 0.982615 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.03, Z:0.64 [[ 9.98285365e-01 -4.85187607e-02 -3.27453885e-02 2.18068125e+01] [ 4.84480189e-02 9.98821346e-01 -2.95081870e-03 -2.60027422e-02] [ 3.28499631e-02 1.35930992e-03 9.99459370e-01 6.42141436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.670714056999998 meters Centerline goodness : 0.981883 Centerline is valid? [True, True] Translation: X:21.84, Y:-0.04, Z:0.64 [[ 9.98362174e-01 -4.68529205e-02 -3.28294483e-02 2.18384701e+01] [ 4.68199793e-02 9.98901772e-01 -1.77185401e-03 -3.54858460e-02] [ 3.28764106e-02 2.31877930e-04 9.99459398e-01 6.43597202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.700714057 meters Centerline goodness : 0.981771 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.04, Z:0.64 [[ 9.98322840e-01 -4.76790870e-02 -3.28361422e-02 2.18690742e+01] [ 4.76496848e-02 9.98862700e-01 -1.67781145e-03 -3.75778038e-02] [ 3.28787942e-02 1.10365664e-04 9.99459340e-01 6.44456422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.730714057 meters Centerline goodness : 0.985646 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.03, Z:0.64 [[ 9.97568338e-01 -6.14781169e-02 -3.28306596e-02 2.18836809e+01] [ 6.14536546e-02 9.98108396e-01 -1.75459727e-03 -2.83391881e-02] [ 3.28764263e-02 -2.67233337e-04 9.99459388e-01 6.44542340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.760714056999998 meters Centerline goodness : 0.985851 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.03, Z:0.65 [[ 9.97555155e-01 -6.17426153e-02 -3.27347239e-02 2.19158346e+01] [ 6.16746859e-02 9.98091547e-01 -3.08179105e-03 -3.02113680e-02] [ 3.28625291e-02 1.05535274e-03 9.99459324e-01 6.45795369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.790714057 meters Centerline goodness : 0.985350 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.04, Z:0.64 [[ 9.97716108e-01 -5.90868249e-02 -3.27309333e-02 2.19487870e+01] [ 5.90157513e-02 9.98252132e-01 -3.13413365e-03 -3.72558913e-02] [ 3.28589100e-02 1.19533500e-03 9.99459285e-01 6.43797030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.820714057 meters Centerline goodness : 0.985650 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.04, Z:0.65 [[ 9.97562732e-01 -6.16074276e-02 -3.27585171e-02 2.19802630e+01] [ 6.15502891e-02 9.98100193e-01 -2.75076069e-03 -4.45514991e-02] [ 3.28657495e-02 7.27760150e-04 9.99459510e-01 6.45584726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.850714056999998 meters Centerline goodness : 0.982682 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.05, Z:0.65 [[ 9.97278852e-01 -6.60438985e-02 -3.27581199e-02 2.20076863e+01] [ 6.59889743e-02 9.97816546e-01 -2.75614345e-03 -4.51406546e-02] [ 3.28686205e-02 5.86968846e-04 9.99459509e-01 6.47791935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.880714057 meters Centerline goodness : 0.982293 Centerline is valid? [True, True] Translation: X:22.05, Y:-0.05, Z:0.65 [[ 9.97409923e-01 -6.40516327e-02 -3.27235964e-02 2.20482837e+01] [ 6.39804025e-02 9.97945959e-01 -3.22029751e-03 -5.28875555e-02] [ 3.28626462e-02 1.11828782e-03 9.99459252e-01 6.52399662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.910714057 meters Centerline goodness : 0.983404 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.04, Z:0.65 [[ 9.95806761e-01 -8.53839339e-02 -3.28401992e-02 2.20601646e+01] [ 8.53727131e-02 9.96347555e-01 -1.74630165e-03 -4.24341239e-02] [ 3.28693583e-02 -1.06467792e-03 9.99459090e-01 6.52540569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.940714056999997 meters Centerline goodness : 0.980866 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.06, Z:0.65 [[ 9.96705901e-01 -7.42116448e-02 -3.27105300e-02 2.21057049e+01] [ 7.41414752e-02 9.97242091e-01 -3.35457760e-03 -5.98499589e-02] [ 3.28692661e-02 9.18320342e-04 9.99459238e-01 6.54578019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.970714057 meters Centerline goodness : 0.981759 Centerline is valid? [True, True] Translation: X:22.14, Y:-0.07, Z:0.65 [[ 9.96122539e-01 -8.16252231e-02 -3.28208860e-02 2.21380106e+01] [ 8.16044113e-02 9.96662841e-01 -1.97536977e-03 -6.51400968e-02] [ 3.28725975e-02 -7.10618729e-04 9.99459297e-01 6.54795765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.000714057 meters Centerline goodness : 0.981549 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.06, Z:0.65 [[ 9.95709562e-01 -8.65159688e-02 -3.28246284e-02 2.21677249e+01] [ 8.64993502e-02 9.96250040e-01 -1.92865488e-03 -6.44072241e-02] [ 3.28683968e-02 -9.18928917e-04 9.99459266e-01 6.54766946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.030714056999997 meters Centerline goodness : 0.985793 Centerline is valid? [True, True] Translation: X:22.21, Y:-0.07, Z:0.65 [[ 9.95227214e-01 -9.19020658e-02 -3.28146722e-02 2.22055587e+01] [ 9.18842872e-02 9.95767576e-01 -2.05255976e-03 -6.69710600e-02] [ 3.28644210e-02 -9.72389430e-04 9.99459346e-01 6.46541235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.060714057 meters Centerline goodness : 0.981238 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.07, Z:0.66 [[ 9.94993813e-01 -9.43756562e-02 -3.28716954e-02 2.22273412e+01] [ 9.43826184e-02 9.95535091e-01 -1.34328852e-03 -6.72704227e-02] [ 3.28517000e-02 -1.76595292e-03 9.99458677e-01 6.59211779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.090714057 meters Centerline goodness : 0.981210 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.07, Z:0.66 [[ 9.94888513e-01 -9.55047707e-02 -3.27976529e-02 2.22577296e+01] [ 9.54823174e-02 9.95428575e-01 -2.25372956e-03 -6.64838984e-02] [ 3.28629628e-02 -8.89386253e-04 9.99459471e-01 6.60208943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.120714056999997 meters Centerline goodness : 0.982009 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.07, Z:0.66 [[ 9.94656310e-01 -9.78951098e-02 -3.27928623e-02 2.22880143e+01] [ 9.78720186e-02 9.95196323e-01 -2.31246516e-03 -6.56978310e-02] [ 3.28617150e-02 -9.09395562e-04 9.99459494e-01 6.59425368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.150714057 meters Centerline goodness : 0.985454 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.07, Z:0.65 [[ 9.94480334e-01 -9.96704034e-02 -3.27822424e-02 2.23298087e+01] [ 9.96439936e-02 9.95020155e-01 -2.44242618e-03 -6.79194137e-02] [ 3.28624295e-02 -8.37608745e-04 9.99459534e-01 6.50008520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.180714057 meters Centerline goodness : 0.983648 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.05, Z:0.66 [[ 9.93388980e-01 -1.09990856e-01 -3.28686256e-02 2.23323823e+01] [ 1.10005328e-01 9.93930049e-01 -1.37323148e-03 -5.00555295e-02] [ 3.28201575e-02 -2.25157091e-03 9.99458737e-01 6.63602416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.210714056999997 meters Centerline goodness : 0.984867 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.06, Z:0.65 [[ 9.94275398e-01 -1.01725730e-01 -3.26850080e-02 2.23858369e+01] [ 1.01662888e-01 9.94812454e-01 -3.58313085e-03 -6.34019054e-02] [ 3.28799496e-02 2.39766542e-04 9.99459280e-01 6.54203984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.240714056999998 meters Centerline goodness : 0.981841 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.05, Z:0.67 [[ 9.93321721e-01 -1.10600979e-01 -3.28539435e-02 2.23906595e+01] [ 1.10610977e-01 9.93862619e-01 -1.51862569e-03 -4.65534726e-02] [ 3.28202678e-02 -2.12552290e-03 9.99459010e-01 6.68112741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.270714057 meters Centerline goodness : 0.981990 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.04, Z:0.67 [[ 9.93293902e-01 -1.10903178e-01 -3.26758180e-02 2.24224732e+01] [ 1.10843274e-01 9.93831216e-01 -3.64464562e-03 -4.39300660e-02] [ 3.28784507e-02 -1.69038581e-06 9.99459358e-01 6.69664954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.300714056999997 meters Centerline goodness : 0.984088 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.05, Z:0.67 [[ 9.93152720e-01 -1.12161906e-01 -3.26707966e-02 2.24632387e+01] [ 1.12100699e-01 9.93689945e-01 -3.70495846e-03 -4.56200273e-02] [ 3.28801973e-02 1.71704199e-05 9.99459300e-01 6.66020971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.330714056999998 meters Centerline goodness : 0.984630 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.04, Z:0.67 [[ 9.93126883e-01 -1.12366229e-01 -3.27539940e-02 2.24944045e+01] [ 1.12338436e-01 9.93666353e-01 -2.69342547e-03 -4.27818242e-02] [ 3.28491918e-02 -1.00461922e-03 9.99459815e-01 6.66273723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.360714057 meters Centerline goodness : 0.983773 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.04, Z:0.67 [[ 9.93356629e-01 -1.10316699e-01 -3.27541413e-02 2.25257011e+01] [ 1.10287852e-01 9.93896043e-01 -2.69163298e-03 -4.09929452e-02] [ 3.28511435e-02 -9.38632419e-04 9.99459815e-01 6.68445788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.390714056999997 meters Centerline goodness : 0.984949 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.04, Z:0.67 [[ 9.93604454e-01 -1.08061718e-01 -3.27544583e-02 2.25518557e+01] [ 1.08031774e-01 9.94143808e-01 -2.68776871e-03 -3.50990084e-02] [ 3.28530869e-02 -8.67943269e-04 9.99459815e-01 6.67881740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.420714056999998 meters Centerline goodness : 0.985772 Centerline is valid? [True, True] Translation: X:22.60, Y:-0.05, Z:0.66 [[ 9.94515177e-01 -9.93454024e-02 -3.27116808e-02 2.26018939e+01] [ 9.92936574e-02 9.95053007e-01 -3.20656695e-03 -4.61759504e-02] [ 3.28684140e-02 -5.90829282e-05 9.99459686e-01 6.58974337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.450714057 meters Centerline goodness : 0.985417 Centerline is valid? [True, True] Translation: X:22.63, Y:-0.04, Z:0.66 [[ 9.94348416e-01 -1.00949688e-01 -3.28692456e-02 2.26317161e+01] [ 1.00962764e-01 9.94889400e-01 -1.26592151e-03 -4.16804969e-02] [ 3.28290584e-02 -2.05980283e-03 9.99458859e-01 6.60486512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.480714057 meters Centerline goodness : 0.985345 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.03, Z:0.67 [[ 9.93164681e-01 -1.12002658e-01 -3.28530281e-02 2.26461431e+01] [ 1.12015196e-01 9.93705415e-01 -1.46441613e-03 -2.54678942e-02] [ 3.28102504e-02 -2.22563201e-03 9.99459121e-01 6.70686133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.510714056999998 meters Centerline goodness : 0.987229 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.04, Z:0.66 [[ 9.94491193e-01 -9.95731021e-02 -3.27485048e-02 2.26950943e+01] [ 9.95374186e-02 9.95030096e-01 -2.72217513e-03 -3.64232547e-02] [ 3.28568033e-02 -5.52522444e-04 9.99459917e-01 6.63037953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.540714057 meters Centerline goodness : 0.983816 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.03, Z:0.67 [[ 9.94731349e-01 -9.70963256e-02 -3.28914549e-02 2.27145685e+01] [ 9.71166687e-02 9.95272519e-01 -9.82317249e-04 -3.10181963e-02] [ 3.28313406e-02 -2.21716677e-03 9.99458447e-01 6.74657730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.570714057 meters Centerline goodness : 0.984651 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.01, Z:0.68 [[ 9.92949019e-01 -1.13911623e-01 -3.28083514e-02 2.27245927e+01] [ 1.13908402e-01 9.93489296e-01 -1.97334186e-03 -1.12153765e-02] [ 3.28195325e-02 -1.77771901e-03 9.99459713e-01 6.78079282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.600714056999998 meters Centerline goodness : 0.983866 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.03, Z:0.68 [[ 9.94523759e-01 -9.92728611e-02 -3.26709560e-02 2.27761754e+01] [ 9.92088444e-02 9.95060198e-01 -3.57871113e-03 -2.54390861e-02] [ 3.28648369e-02 3.17865455e-04 9.99459755e-01 6.77531304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.630714057 meters Centerline goodness : 0.986814 Centerline is valid? [True, True] Translation: X:22.79, Y:-0.01, Z:0.68 [[ 9.92586795e-01 -1.17018943e-01 -3.28332422e-02 2.27917430e+01] [ 1.17028224e-01 9.93127226e-01 -1.64555496e-03 -7.70089744e-03] [ 3.28001479e-02 -2.20905991e-03 9.99459489e-01 6.75168606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.660714057 meters Centerline goodness : 0.987084 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.02, Z:0.67 [[ 9.94004448e-01 -1.04323968e-01 -3.27363314e-02 2.28373075e+01] [ 1.04288788e-01 9.94543158e-01 -2.78496332e-03 -1.62814510e-02] [ 3.28482328e-02 -6.45766395e-04 9.99460143e-01 6.69166159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.690714056999997 meters Centerline goodness : 0.982037 Centerline is valid? [True, True] Translation: X:22.85, Y:-0.01, Z:0.68 [[ 9.94702298e-01 -9.74039763e-02 -3.28603823e-02 2.28546624e+01] [ 9.74134503e-02 9.95243130e-01 -1.31634001e-03 -1.23487062e-02] [ 3.28322865e-02 -1.89167679e-03 9.99459085e-01 6.79202150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.720714057 meters Centerline goodness : 0.982980 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.01, Z:0.68 [[ 9.94704118e-01 -9.74179968e-02 -3.27635665e-02 2.28877585e+01] [ 9.73903469e-02 9.95243264e-01 -2.44252850e-03 -6.91352651e-03] [ 3.28456651e-02 -7.61261954e-04 9.99460146e-01 6.80095026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.750714057 meters Centerline goodness : 0.982980 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.00, Z:0.68 [[ 9.94680063e-01 -9.76584075e-02 -3.27781574e-02 2.29192476e+01] [ 9.76364750e-02 9.95219550e-01 -2.27289365e-03 -4.14881805e-03] [ 3.28434302e-02 -9.39541744e-04 9.99460067e-01 6.81105388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.780714056999997 meters Centerline goodness : 0.981917 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.00, Z:0.69 [[ 9.95647551e-01 -8.72442322e-02 -3.27780206e-02 2.29497992e+01] [ 8.72166031e-02 9.96186775e-01 -2.27448266e-03 -1.62713623e-03] [ 3.28514661e-02 -5.94204518e-04 9.99460068e-01 6.85197181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.810714057 meters Centerline goodness : 0.982368 Centerline is valid? [True, True] Translation: X:22.98, Y:0.00, Z:0.68 [[ 9.95791518e-01 -8.55855399e-02 -3.27775594e-02 2.29814648e+01] [ 8.55568372e-02 9.96330683e-01 -2.27981091e-03 3.28939982e-03] [ 3.28524069e-02 -5.34127948e-04 9.99460071e-01 6.84633280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.840714057 meters Centerline goodness : 0.982076 Centerline is valid? [True, True] Translation: X:23.01, Y:0.01, Z:0.68 [[ 9.96685237e-01 -7.44540168e-02 -3.27892921e-02 2.30081717e+01] [ 7.44237428e-02 9.97224402e-01 -2.14449765e-03 7.46702279e-03] [ 3.28579486e-02 -3.02912696e-04 9.99459986e-01 6.83730032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.870714056999997 meters Centerline goodness : 0.983839 Centerline is valid? [True, True] Translation: X:23.03, Y:0.02, Z:0.68 [[ 9.95940945e-01 -8.38376528e-02 -3.27548882e-02 2.30283511e+01] [ 8.37994861e-02 9.96479403e-01 -2.53870143e-03 2.40430484e-02] [ 3.28524102e-02 -2.16446105e-04 9.99460190e-01 6.82352089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.900714057 meters Centerline goodness : 0.981570 Centerline is valid? [True, True] Translation: X:23.07, Y:0.01, Z:0.69 [[ 9.97197688e-01 -6.72986042e-02 -3.26751997e-02 2.30716422e+01] [ 6.72217615e-02 9.97732109e-01 -3.44582838e-03 1.32036057e-02] [ 3.28329954e-02 1.23968761e-03 9.99460083e-01 6.85644995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.930714057 meters Centerline goodness : 0.984499 Centerline is valid? [True, True] Translation: X:23.11, Y:0.01, Z:0.68 [[ 9.97513363e-01 -6.23919342e-02 -3.27770732e-02 2.31071071e+01] [ 6.23506636e-02 9.98051699e-01 -2.28073316e-03 1.22321634e-02] [ 3.28555130e-02 2.31389539e-04 9.99460085e-01 6.79877414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.960714056999997 meters Centerline goodness : 0.985951 Centerline is valid? [True, True] Translation: X:23.12, Y:0.02, Z:0.68 [[ 9.97101480e-01 -6.86388463e-02 -3.28229826e-02 2.31235129e+01] [ 6.86182374e-02 9.97641447e-01 -1.75523091e-03 2.48204448e-02] [ 3.28660449e-02 -5.02111870e-04 9.99459639e-01 6.82794373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.990714056999998 meters Centerline goodness : 0.981833 Centerline is valid? [True, True] Translation: X:23.16, Y:0.02, Z:0.69 [[ 9.98021873e-01 -5.36808085e-02 -3.27217372e-02 2.31565457e+01] [ 5.36145873e-02 9.98557497e-01 -2.89846766e-03 1.52842666e-02] [ 3.28301281e-02 1.13837168e-03 9.99460298e-01 6.86920354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.020714057 meters Centerline goodness : 0.986749 Centerline is valid? [True, True] Translation: X:23.18, Y:0.02, Z:0.68 [[ 9.97641135e-01 -6.03265240e-02 -3.27547903e-02 2.31829461e+01] [ 6.02761076e-02 9.98178548e-01 -2.52536325e-03 2.24864785e-02] [ 3.28474754e-02 5.45074994e-04 9.99460227e-01 6.84088633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.050714056999997 meters Centerline goodness : 0.985861 Centerline is valid? [True, True] Translation: X:23.21, Y:0.02, Z:0.68 [[ 9.97798544e-01 -5.76838611e-02 -3.27205873e-02 2.32125472e+01] [ 5.76194121e-02 9.98334381e-01 -2.90997840e-03 2.17586311e-02] [ 3.28339460e-02 1.01823121e-03 9.99460302e-01 6.84984169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.080714056999998 meters Centerline goodness : 0.987769 Centerline is valid? [True, True] Translation: X:23.24, Y:0.02, Z:0.69 [[ 9.98131975e-01 -5.15939067e-02 -3.27204836e-02 2.32422770e+01] [ 5.15261509e-02 9.98667403e-01 -2.91114379e-03 1.55354608e-02] [ 3.28270777e-02 1.21974512e-03 9.99460302e-01 6.87471792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.110714057 meters Centerline goodness : 0.987974 Centerline is valid? [True, True] Translation: X:23.27, Y:0.01, Z:0.69 [[ 9.98262466e-01 -4.90043734e-02 -3.27203295e-02 2.32714890e+01] [ 4.89351722e-02 9.98797709e-01 -2.91287464e-03 1.29738243e-02] [ 3.28237338e-02 1.30663846e-03 9.99460302e-01 6.89552296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.140714056999997 meters Centerline goodness : 0.988056 Centerline is valid? [True, True] Translation: X:23.30, Y:0.01, Z:0.69 [[ 9.98365897e-01 -4.68500670e-02 -3.27201372e-02 2.33002144e+01] [ 4.67796403e-02 9.98900980e-01 -2.91503397e-03 1.02154297e-02] [ 3.28207466e-02 1.37963426e-03 9.99460302e-01 6.91173893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.170714056999998 meters Centerline goodness : 0.988189 Centerline is valid? [True, True] Translation: X:23.33, Y:0.01, Z:0.69 [[ 9.98494312e-01 -4.40290239e-02 -3.27193218e-02 2.33289375e+01] [ 4.39567872e-02 9.99029154e-01 -2.92415710e-03 6.16446920e-03] [ 3.28163042e-02 1.48151796e-03 9.99460302e-01 6.93412323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.200714057 meters Centerline goodness : 0.990987 Centerline is valid? [True, True] Translation: X:23.36, Y:-0.00, Z:0.69 [[ 9.98623543e-01 -4.09941229e-02 -3.27185042e-02 2.33581021e+01] [ 4.09199630e-02 9.99158122e-01 -2.93327676e-03 -4.14653254e-03] [ 3.28112063e-02 1.59039924e-03 9.99460302e-01 6.94009083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.230714057 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.01, Z:0.69 [[ 9.98673224e-01 -3.97661293e-02 -3.27176863e-02 2.33875303e+01] [ 3.96910149e-02 9.99207669e-01 -2.94237199e-03 -1.49485466e-02] [ 3.28087698e-02 1.63986995e-03 9.99460302e-01 6.94996253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.260714056999998 meters Centerline goodness : 0.993150 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.02, Z:0.70 [[ 9.98661674e-01 -4.00558207e-02 -3.27168525e-02 2.34150575e+01] [ 3.99805593e-02 9.99196098e-01 -2.95161413e-03 -1.90315607e-02] [ 3.28087807e-02 1.63962584e-03 9.99460302e-01 6.95960309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.290714057 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:23.44, Y:-0.02, Z:0.70 [[ 9.98638506e-01 -4.06296061e-02 -3.27164922e-02 2.34438530e+01] [ 4.05545214e-02 9.99172956e-01 -2.95560221e-03 -2.33334649e-02] [ 3.28095192e-02 1.62477649e-03 9.99460302e-01 6.97049352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.320714057 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:23.47, Y:-0.04, Z:0.70 [[ 9.98583955e-01 -4.19496082e-02 -3.27156573e-02 2.34725436e+01] [ 4.18749289e-02 9.99118462e-01 -2.96481461e-03 -3.57233069e-02] [ 3.28111900e-02 1.59065048e-03 9.99460302e-01 6.97807455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.350714056999998 meters Centerline goodness : 0.995604 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.04, Z:0.70 [[ 9.98543711e-01 -4.28975392e-02 -3.27148119e-02 2.35001223e+01] [ 4.28230634e-02 9.99078245e-01 -2.97411427e-03 -4.09439637e-02] [ 3.28122390e-02 1.56883463e-03 9.99460302e-01 6.99449167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.380714057 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.05, Z:0.70 [[ 9.98458562e-01 -4.48359809e-02 -3.27144455e-02 2.35293059e+01] [ 4.47624113e-02 9.98993222e-01 -2.97813956e-03 -5.26164059e-02] [ 3.28150371e-02 1.50917148e-03 9.99460302e-01 7.01763823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.410714057 meters Centerline goodness : 0.997183 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.06, Z:0.70 [[ 9.98422590e-01 -4.56305746e-02 -3.27136372e-02 2.35578865e+01] [ 4.55571411e-02 9.98957269e-01 -2.98699129e-03 -5.68122631e-02] [ 3.28158238e-02 1.49193979e-03 9.99460302e-01 7.03490856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.440714056999997 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.07, Z:0.71 [[ 9.98330748e-01 -4.75982461e-02 -3.27127718e-02 2.35857409e+01] [ 4.75255575e-02 9.98865528e-01 -2.99643947e-03 -6.72001336e-02] [ 3.28182853e-02 1.43674494e-03 9.99460302e-01 7.05753042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.470714057 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.07, Z:0.71 [[ 9.98290961e-01 -4.84261017e-02 -3.27119096e-02 2.36131692e+01] [ 4.83535497e-02 9.98825760e-01 -3.00582274e-03 -7.10514621e-02] [ 3.28190582e-02 1.41894872e-03 9.99460302e-01 7.06792408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.500714057 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.08, Z:0.71 [[ 9.98085411e-01 -5.24925544e-02 -3.27115337e-02 2.36423704e+01] [ 5.24220480e-02 9.98620483e-01 -3.00990799e-03 -8.13816613e-02] [ 3.28244053e-02 1.28933967e-03 9.99460302e-01 7.07832039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.530714056999997 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.08, Z:0.71 [[ 9.97945872e-01 -5.50822148e-02 -3.27106566e-02 2.36706713e+01] [ 5.50127860e-02 9.98481085e-01 -3.01941036e-03 -8.46172840e-02] [ 3.28272877e-02 1.21370375e-03 9.99460302e-01 7.08051097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.560714057 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.09, Z:0.71 [[ 9.97764553e-01 -5.82749146e-02 -3.27097970e-02 2.36990319e+01] [ 5.82068947e-02 9.98299947e-01 -3.02869368e-03 -8.77275974e-02] [ 3.28306855e-02 1.11798749e-03 9.99460302e-01 7.08924047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.590714057 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.10, Z:0.71 [[ 9.97237056e-01 -6.66961800e-02 -3.27089296e-02 2.37283199e+01] [ 6.66323763e-02 9.97772969e-01 -3.03803199e-03 -9.64497818e-02] [ 3.28387110e-02 8.50164368e-04 9.99460303e-01 7.10452051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.620714056999997 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.10, Z:0.71 [[ 9.96910502e-01 -7.14117115e-02 -3.27080662e-02 2.37562191e+01] [ 7.13501391e-02 9.97446676e-01 -3.04729997e-03 -9.87418310e-02] [ 3.28421648e-02 7.04160272e-04 9.99460303e-01 7.09527163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.650714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.78, Y:-0.11, Z:0.71 [[ 9.96007805e-01 -8.30581280e-02 -3.27077992e-02 2.37846846e+01] [ 8.30027323e-02 9.96544652e-01 -3.05016324e-03 -1.06779261e-01] [ 3.28481232e-02 3.23149699e-04 9.99460303e-01 7.11615096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.680714057 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.11, Z:0.71 [[ 9.95463226e-01 -8.93488651e-02 -3.27069581e-02 2.38132760e+01] [ 8.92965666e-02 9.96000384e-01 -3.05915568e-03 -1.08130451e-01] [ 3.28494749e-02 1.24657923e-04 9.99460303e-01 7.10299568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.710714056999997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:23.84, Y:-0.11, Z:0.71 [[ 9.94894060e-01 -9.54783729e-02 -3.27061103e-02 2.38403028e+01] [ 9.54290867e-02 9.95431502e-01 -3.06819314e-03 -1.09874954e-01] [ 3.28496386e-02 -6.85870997e-05 9.99460303e-01 7.12977625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.740714056999998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:23.87, Y:-0.11, Z:0.71 [[ 9.94293983e-01 -1.01537304e-01 -3.27055318e-02 2.38684345e+01] [ 1.01491091e-01 9.94831698e-01 -3.07434695e-03 -1.10833970e-01] [ 3.28486606e-02 -2.62515422e-04 9.99460303e-01 7.12188850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.770714057 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.11, Z:0.71 [[ 9.93136284e-01 -1.12297489e-01 -3.27046670e-02 2.38955981e+01] [ 1.12256798e-01 9.93674445e-01 -3.08351928e-03 -1.14234727e-01] [ 3.28440633e-02 -6.08966318e-04 9.99460303e-01 7.14021697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.800714056999997 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.11, Z:0.71 [[ 9.92641249e-01 -1.16592369e-01 -3.27042931e-02 2.39222729e+01] [ 1.16553876e-01 9.93179572e-01 -3.08747954e-03 -1.14022866e-01] [ 3.28412124e-02 -7.47052586e-04 9.99460303e-01 7.14807252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.830714056999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.12, Z:0.72 [[ 9.91894248e-01 -1.22785398e-01 -3.27039243e-02 2.39500308e+01] [ 1.22750138e-01 9.92432792e-01 -3.09138147e-03 -1.15351240e-01] [ 3.28360234e-02 -9.48087711e-04 9.99460303e-01 7.18972055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.860714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.11, Z:0.72 [[ 9.91640421e-01 -1.24818884e-01 -3.27035375e-02 2.39775948e+01] [ 1.24784593e-01 9.92179028e-01 -3.09546816e-03 -1.13722328e-01] [ 3.28341369e-02 -1.01130628e-03 9.99460303e-01 7.18824988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.890714056999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.00, Y:-0.11, Z:0.72 [[ 9.91384673e-01 -1.26834412e-01 -3.27026388e-02 2.40043794e+01] [ 1.26800904e-01 9.91923329e-01 -3.10493364e-03 -1.10809312e-01] [ 3.28323228e-02 -1.06854055e-03 9.99460303e-01 7.21879546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.920714056999998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:24.03, Y:-0.11, Z:0.72 [[ 9.91331793e-01 -1.27247286e-01 -3.27017403e-02 2.40325234e+01] [ 1.27213691e-01 9.91870444e-01 -3.11436801e-03 -1.06745097e-01] [ 3.28321846e-02 -1.07273707e-03 9.99460303e-01 7.24039893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.950714057 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:24.06, Y:-0.10, Z:0.72 [[ 9.91387012e-01 -1.26816615e-01 -3.27007569e-02 2.40600726e+01] [ 1.26782447e-01 9.91925626e-01 -3.12465971e-03 -1.03085891e-01] [ 3.28329775e-02 -1.04813492e-03 9.99460303e-01 7.19803424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.980714057 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:24.09, Y:-0.10, Z:0.72 [[ 9.91603488e-01 -1.25112987e-01 -3.26995972e-02 2.40879509e+01] [ 1.25077495e-01 9.92142017e-01 -3.13674916e-03 -9.78311314e-02] [ 3.28350924e-02 -9.79572314e-04 9.99460303e-01 7.20571407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.010714056999998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:24.12, Y:-0.09, Z:0.73 [[ 9.91698952e-01 -1.24354274e-01 -3.26986738e-02 2.41159799e+01] [ 1.24318054e-01 9.92237432e-01 -3.14634606e-03 -9.33865980e-02] [ 3.28361097e-02 -9.44807403e-04 9.99460303e-01 7.28903821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.040714057 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:24.14, Y:-0.09, Z:0.73 [[ 9.92039939e-01 -1.21601957e-01 -3.27066337e-02 2.41426789e+01] [ 1.21566966e-01 9.92578504e-01 -3.06369666e-03 -8.50912325e-02] [ 3.28364530e-02 -9.36736785e-04 9.99460299e-01 7.25392578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.070714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.08, Z:0.72 [[ 9.92153401e-01 -1.20674706e-01 -3.26993137e-02 2.41706575e+01] [ 1.20636714e-01 9.92691758e-01 -3.13951483e-03 -8.01469298e-02] [ 3.28391993e-02 -8.29857431e-04 9.99460304e-01 7.24202529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.100714056999998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.07, Z:0.72 [[ 9.92275359e-01 -1.19668474e-01 -3.26966192e-02 2.41982150e+01] [ 1.19629020e-01 9.92813611e-01 -3.16733036e-03 -7.47953219e-02] [ 3.28406782e-02 -7.68600656e-04 9.99460304e-01 7.24799228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.130714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.07, Z:0.73 [[ 9.92523937e-01 -1.17589221e-01 -3.26957150e-02 2.42250255e+01] [ 1.17548333e-01 9.93062082e-01 -3.17663721e-03 -6.62776689e-02] [ 3.28424131e-02 -6.90438319e-04 9.99460304e-01 7.25243429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.160714057 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:24.25, Y:-0.06, Z:0.72 [[ 9.92646990e-01 -1.16546143e-01 -3.26948138e-02 2.42519830e+01] [ 1.16504385e-01 9.93185068e-01 -3.18588559e-03 -6.00607154e-02] [ 3.28433035e-02 -6.46629419e-04 9.99460304e-01 7.23488464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.190714056999997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:24.28, Y:-0.05, Z:0.72 [[ 9.92790017e-01 -1.15321534e-01 -3.26944208e-02 2.42789803e+01] [ 1.15278980e-01 9.93328033e-01 -3.18991423e-03 -5.09413193e-02] [ 3.28441505e-02 -6.02064465e-04 9.99460304e-01 7.22840291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.220714057 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:24.31, Y:-0.04, Z:0.73 [[ 9.92826049e-01 -1.15011185e-01 -3.26934806e-02 2.43052575e+01] [ 1.14968147e-01 9.93364026e-01 -3.19952059e-03 -4.49858679e-02] [ 3.28445082e-02 -5.82141482e-04 9.99460304e-01 7.25682336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.250714057 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.03, Z:0.72 [[ 9.92876739e-01 -1.14572941e-01 -3.26928369e-02 2.43318378e+01] [ 1.14529448e-01 9.93414680e-01 -3.20608448e-03 -3.49008228e-02] [ 3.28448747e-02 -5.61045874e-04 9.99460304e-01 7.23655259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.280714056999997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.03, Z:0.73 [[ 9.92776571e-01 -1.15437796e-01 -3.26924403e-02 2.43597500e+01] [ 1.15394639e-01 9.93314539e-01 -3.21012374e-03 -2.90180727e-02] [ 3.28444459e-02 -5.85596711e-04 9.99460304e-01 7.26449909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.310714057 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.02, Z:0.72 [[ 9.92658323e-01 -1.16450498e-01 -3.26915197e-02 2.43876387e+01] [ 1.16407583e-01 9.93196310e-01 -3.21947215e-03 -2.26362130e-02] [ 3.28440058e-02 -6.09704954e-04 9.99460304e-01 7.24696652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.340714057 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:24.41, Y:-0.01, Z:0.73 [[ 9.92384756e-01 -1.18759511e-01 -3.26905759e-02 2.44141449e+01] [ 1.18717532e-01 9.92922817e-01 -3.22902652e-03 -1.41575338e-02] [ 3.28426964e-02 -6.76507815e-04 9.99460304e-01 7.28377137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.370714056999997 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:24.44, Y:-0.01, Z:0.73 [[ 9.92218880e-01 -1.20137621e-01 -3.26901669e-02 2.44403506e+01] [ 1.20096253e-01 9.92756988e-01 -3.23316196e-03 -8.02031455e-03] [ 3.28418160e-02 -7.17962221e-04 9.99460304e-01 7.26604807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.400714057 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:24.47, Y:-0.00, Z:0.73 [[ 9.91917709e-01 -1.22599500e-01 -3.26897637e-02 2.44680071e+01] [ 1.22559334e-01 9.92455908e-01 -3.23723382e-03 -2.32001197e-03] [ 3.28400324e-02 -7.95366101e-04 9.99460304e-01 7.30144233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.430714057 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:24.49, Y:0.01, Z:0.73 [[ 9.91361186e-01 -1.27021409e-01 -3.26888312e-02 2.44948804e+01] [ 1.26983333e-01 9.91899537e-01 -3.24662332e-03 7.05974412e-03] [ 3.28364272e-02 -9.32360404e-04 9.99460304e-01 7.28030267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.460714056999997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:24.52, Y:0.01, Z:0.73 [[ 9.90942837e-01 -1.30245133e-01 -3.26879001e-02 2.45220416e+01] [ 1.30208501e-01 9.91481288e-01 -3.25597069e-03 1.30785590e-02] [ 3.28335156e-02 -1.02976164e-03 9.99460304e-01 7.28957354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.490714056999998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:24.55, Y:0.02, Z:0.73 [[ 9.90135476e-01 -1.36247206e-01 -3.26869709e-02 2.45492220e+01] [ 1.36213531e-01 9.90674120e-01 -3.26527274e-03 2.15245166e-02] [ 3.28270204e-02 -1.21934535e-03 9.99460304e-01 7.30031810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.520714057 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:24.58, Y:0.03, Z:0.73 [[ 9.89588852e-01 -1.40162501e-01 -3.26860295e-02 2.45768673e+01] [ 1.40130646e-01 9.90127607e-01 -3.27466851e-03 2.79554292e-02] [ 3.28223259e-02 -1.33973899e-03 9.99460304e-01 7.33250286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.550714056999997 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:24.60, Y:0.04, Z:0.73 [[ 9.88953358e-01 -1.44578493e-01 -3.26850834e-02 2.46034205e+01] [ 1.44548733e-01 9.89492233e-01 -3.28408512e-03 3.85312845e-02] [ 3.28164442e-02 -1.47678039e-03 9.99460304e-01 7.32389280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.580714056999998 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:24.63, Y:0.05, Z:0.74 [[ 9.88470188e-01 -1.47845862e-01 -3.26846738e-02 2.46309384e+01] [ 1.47817749e-01 9.89009151e-01 -3.28815634e-03 4.59282672e-02] [ 3.28115818e-02 -1.58113041e-03 9.99460304e-01 7.35307941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.610714057 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:24.66, Y:0.05, Z:0.73 [[ 9.88287841e-01 -1.49060118e-01 -3.26837043e-02 2.46570705e+01] [ 1.49032350e-01 9.88826822e-01 -3.29776476e-03 5.24814845e-02] [ 3.28100887e-02 -1.61178846e-03 9.99460304e-01 7.34487161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.640714056999997 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:24.68, Y:0.06, Z:0.74 [[ 9.87806180e-01 -1.52219428e-01 -3.26832827e-02 2.46842853e+01] [ 1.52193246e-01 9.88345240e-01 -3.30193787e-03 6.41935686e-02] [ 3.28049860e-02 -1.71250025e-03 9.99460304e-01 7.35411798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.670714056999998 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:24.71, Y:0.07, Z:0.74 [[ 9.87760574e-01 -1.52515297e-01 -3.26822918e-02 2.47125828e+01] [ 1.52488954e-01 9.88299626e-01 -3.31171670e-03 6.71219214e-02] [ 3.28049843e-02 -1.71250531e-03 9.99460305e-01 7.36347478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.700714057 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:24.74, Y:0.07, Z:0.74 [[ 9.87586870e-01 -1.53636282e-01 -3.26812975e-02 2.47403119e+01] [ 1.53610228e-01 9.88125936e-01 -3.32150034e-03 7.45258592e-02] [ 3.28035406e-02 -1.73991143e-03 9.99460305e-01 7.37000624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.730714056999997 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:24.77, Y:0.08, Z:0.74 [[ 9.87412822e-01 -1.54751147e-01 -3.26802962e-02 2.47676915e+01] [ 1.54725378e-01 9.87951902e-01 -3.33132322e-03 8.24458152e-02] [ 3.28020869e-02 -1.76707991e-03 9.99460305e-01 7.37917437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.760714056999998 meters Centerline goodness : 0.996844 Centerline is valid? [True, True] Translation: X:24.79, Y:0.10, Z:0.74 [[ 9.87339963e-01 -1.55215528e-01 -3.26792979e-02 2.47938153e+01] [ 1.55189689e-01 9.87879040e-01 -3.34108720e-03 9.60666002e-02] [ 3.28017821e-02 -1.77270117e-03 9.99460305e-01 7.38855550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.790714057 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:24.82, Y:0.11, Z:0.74 [[ 9.87299973e-01 -1.55469764e-01 -3.26789889e-02 2.48214902e+01] [ 1.55443965e-01 9.87839051e-01 -3.34410663e-03 1.05028506e-01] [ 3.28014889e-02 -1.77811522e-03 9.99460305e-01 7.39633977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.820714057 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:24.85, Y:0.12, Z:0.74 [[ 9.87367111e-01 -1.55042988e-01 -3.26781117e-02 2.48489158e+01] [ 1.55016674e-01 9.87906165e-01 -3.35265715e-03 1.19438168e-01] [ 3.28027140e-02 -1.75534878e-03 9.99460305e-01 7.39091815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.850714056999998 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:24.88, Y:0.13, Z:0.74 [[ 9.87559133e-01 -1.53815201e-01 -3.26778727e-02 2.48777405e+01] [ 1.53788139e-01 9.88098149e-01 -3.35498462e-03 1.26711680e-01] [ 3.28049932e-02 -1.71222354e-03 9.99460305e-01 7.39335134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.880714057 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:24.91, Y:0.13, Z:0.74 [[ 9.87526072e-01 -1.54027341e-01 -3.26777512e-02 2.49065315e+01] [ 1.54000356e-01 9.88065092e-01 -3.35616831e-03 1.34863126e-01] [ 3.28046869e-02 -1.71808161e-03 9.99460305e-01 7.39411683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.910714057 meters Centerline goodness : 0.991869 Centerline is valid? [True, True] Translation: X:24.94, Y:0.14, Z:0.74 [[ 9.87908343e-01 -1.51556187e-01 -3.26776276e-02 2.49391970e+01] [ 1.51527814e-01 9.88447292e-01 -3.35737079e-03 1.44067634e-01] [ 3.28089429e-02 -1.63479487e-03 9.99460305e-01 7.37597657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.940714056999997 meters Centerline goodness : 0.990721 Centerline is valid? [True, True] Translation: X:24.97, Y:0.15, Z:0.74 [[ 9.87695986e-01 -1.52922948e-01 -3.27293593e-02 2.49695273e+01] [ 1.52911958e-01 9.88235696e-01 -2.85338325e-03 1.52695688e-01] [ 3.27806689e-02 -2.18643523e-03 9.99460178e-01 7.37663702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.970714057 meters Centerline goodness : 0.989102 Centerline is valid? [True, True] Translation: X:25.00, Y:0.17, Z:0.74 [[ 9.87252611e-01 -1.55760132e-01 -3.27270912e-02 2.50017456e+01] [ 1.55749965e-01 9.87792327e-01 -2.87538923e-03 1.66015575e-01] [ 3.27754406e-02 -2.25850780e-03 9.99460189e-01 7.36142507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.000714057 meters Centerline goodness : 0.988163 Centerline is valid? [True, True] Translation: X:25.03, Y:0.17, Z:0.74 [[ 9.86931745e-01 -1.57777242e-01 -3.27425084e-02 2.50318788e+01] [ 1.57773113e-01 9.87471627e-01 -2.72598425e-03 1.74357497e-01] [ 3.27623964e-02 -2.47552710e-03 9.99460103e-01 7.35864916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.030714056999997 meters Centerline goodness : 0.986379 Centerline is valid? [True, True] Translation: X:25.06, Y:0.19, Z:0.73 [[ 9.86371034e-01 -1.61246247e-01 -3.27388404e-02 2.50632538e+01] [ 1.61242843e-01 9.86910898e-01 -2.76151030e-03 1.86583267e-01] [ 3.27556016e-02 -2.55502994e-03 9.99460125e-01 7.33286739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.060714057 meters Centerline goodness : 0.985129 Centerline is valid? [True, True] Translation: X:25.09, Y:0.19, Z:0.73 [[ 9.85963857e-01 -1.63717330e-01 -3.27400026e-02 2.50949931e+01] [ 1.63715648e-01 9.86503737e-01 -2.75034391e-03 1.94828607e-01] [ 3.27484139e-02 -2.64831105e-03 9.99460118e-01 7.33226353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.090714057 meters Centerline goodness : 0.984942 Centerline is valid? [True, True] Translation: X:25.13, Y:0.20, Z:0.73 [[ 9.85713205e-01 -1.65219795e-01 -3.27398340e-02 2.51258471e+01] [ 1.65218882e-01 9.86253085e-01 -2.75196042e-03 2.03247569e-01] [ 3.27444406e-02 -2.69659506e-03 9.99460119e-01 7.33773916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.120714056999997 meters Centerline goodness : 0.984566 Centerline is valid? [True, True] Translation: X:25.15, Y:0.21, Z:0.74 [[ 9.85261565e-01 -1.67894130e-01 -3.27293278e-02 2.51549569e+01] [ 1.67891363e-01 9.85801377e-01 -2.85243091e-03 2.12878101e-01] [ 3.27435228e-02 -2.68458089e-03 9.99460182e-01 7.35485594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.150714057 meters Centerline goodness : 0.982100 Centerline is valid? [True, True] Translation: X:25.18, Y:0.23, Z:0.74 [[ 9.84791692e-01 -1.70631630e-01 -3.27134479e-02 2.51834687e+01] [ 1.70625356e-01 9.85331398e-01 -3.00397674e-03 2.27356439e-01] [ 3.27461608e-02 -2.62345234e-03 9.99460258e-01 7.36558909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.180714057 meters Centerline goodness : 0.982869 Centerline is valid? [True, True] Translation: X:25.21, Y:0.24, Z:0.74 [[ 9.83664731e-01 -1.77014655e-01 -3.27033526e-02 2.52092023e+01] [ 1.77008701e-01 9.84204404e-01 -3.10019587e-03 2.43408260e-01] [ 3.27355637e-02 -2.73922462e-03 9.99460294e-01 7.39593250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.210714056999997 meters Centerline goodness : 0.982742 Centerline is valid? [True, True] Translation: X:25.25, Y:0.25, Z:0.74 [[ 9.84732175e-01 -1.70983497e-01 -3.26678441e-02 2.52460808e+01] [ 1.70963090e-01 9.85271437e-01 -3.43764980e-03 2.49074375e-01] [ 3.27744751e-02 -2.19983120e-03 9.99460352e-01 7.37220392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.240714056999998 meters Centerline goodness : 0.983014 Centerline is valid? [True, True] Translation: X:25.28, Y:0.26, Z:0.74 [[ 9.84836611e-01 -1.70369109e-01 -3.27294527e-02 2.52779261e+01] [ 1.70367827e-01 9.85376420e-01 -2.84849231e-03 2.56874835e-01] [ 3.27361261e-02 -2.77074622e-03 9.99460189e-01 7.38262983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.270714057 meters Centerline goodness : 0.982164 Centerline is valid? [True, True] Translation: X:25.31, Y:0.27, Z:0.74 [[ 9.84823865e-01 -1.70444277e-01 -3.27215935e-02 2.53088006e+01] [ 1.70440575e-01 9.85363622e-01 -2.92298307e-03 2.65836135e-01] [ 3.27408736e-02 -2.69846371e-03 9.99460231e-01 7.39675465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.300714056999997 meters Centerline goodness : 0.984559 Centerline is valid? [True, True] Translation: X:25.34, Y:0.28, Z:0.74 [[ 9.85272339e-01 -1.67832427e-01 -3.27214674e-02 2.53422933e+01] [ 1.67827254e-01 9.85812082e-01 -2.92417484e-03 2.78393212e-01] [ 3.27479893e-02 -2.61044545e-03 9.99460232e-01 7.40606966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.330714056999998 meters Centerline goodness : 0.985121 Centerline is valid? [True, True] Translation: X:25.36, Y:0.30, Z:0.75 [[ 9.84213366e-01 -1.73930238e-01 -3.27463251e-02 2.53639135e+01] [ 1.73936144e-01 9.84753259e-01 -2.69009310e-03 2.95765650e-01] [ 3.27149389e-02 -3.04814393e-03 9.99460075e-01 7.45475173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.360714057 meters Centerline goodness : 0.985976 Centerline is valid? [True, True] Translation: X:25.39, Y:0.31, Z:0.75 [[ 9.84995246e-01 -1.69462861e-01 -3.26604426e-02 2.53948951e+01] [ 1.69439785e-01 9.85534351e-01 -3.49317670e-03 3.09774239e-01] [ 3.27799518e-02 -2.09321592e-03 9.99460401e-01 7.45476263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.390714056999997 meters Centerline goodness : 0.985739 Centerline is valid? [True, True] Translation: X:25.43, Y:0.31, Z:0.74 [[ 9.87013238e-01 -1.57283502e-01 -3.26614077e-02 2.54309538e+01] [ 1.57254067e-01 9.87552034e-01 -3.48412922e-03 3.09963216e-01] [ 3.28028357e-02 -1.69725755e-03 9.99460401e-01 7.42530470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.420714056999998 meters Centerline goodness : 0.987138 Centerline is valid? [True, True] Translation: X:25.45, Y:0.33, Z:0.75 [[ 9.86050539e-01 -1.63202244e-01 -3.27011073e-02 2.54542767e+01] [ 1.63188316e-01 9.86590030e-01 -3.11243749e-03 3.25762238e-01] [ 3.27705432e-02 -2.26741796e-03 9.99460330e-01 7.46136944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.450714057 meters Centerline goodness : 0.987446 Centerline is valid? [True, True] Translation: X:25.50, Y:0.33, Z:0.74 [[ 9.87853563e-01 -1.51921795e-01 -3.26359742e-02 2.54971296e+01] [ 1.51881607e-01 9.88391688e-01 -3.72144079e-03 3.30456041e-01] [ 3.28224936e-02 -1.28056567e-03 9.99460376e-01 7.44992810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.480714056999997 meters Centerline goodness : 0.988106 Centerline is valid? [True, True] Translation: X:25.52, Y:0.35, Z:0.75 [[ 9.87107365e-01 -1.56672738e-01 -3.27521467e-02 2.55169249e+01] [ 1.56671153e-01 9.87647320e-01 -2.63069806e-03 3.45760100e-01] [ 3.27597286e-02 -2.53453516e-03 9.99460042e-01 7.48008505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.510714056999998 meters Centerline goodness : 0.986055 Centerline is valid? [True, True] Translation: X:25.55, Y:0.35, Z:0.75 [[ 9.89055019e-01 -1.43887452e-01 -3.26583872e-02 2.55512101e+01] [ 1.43850041e-01 9.89593292e-01 -3.50454848e-03 3.45355993e-01] [ 3.28227815e-02 -1.23171906e-03 9.99460428e-01 7.50223543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.540714057 meters Centerline goodness : 0.987502 Centerline is valid? [True, True] Translation: X:25.57, Y:0.37, Z:0.75 [[ 9.88897557e-01 -1.44962226e-01 -3.26737535e-02 2.55716522e+01] [ 1.44930132e-01 9.89436183e-01 -3.36103470e-03 3.65022376e-01] [ 3.28158171e-02 -1.41169241e-03 9.99460419e-01 7.54395190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.570714057 meters Centerline goodness : 0.990621 Centerline is valid? [True, True] Translation: X:25.61, Y:0.37, Z:0.75 [[ 9.89065946e-01 -1.43823649e-01 -3.26084749e-02 2.56098615e+01] [ 1.43770640e-01 9.89603046e-01 -3.97680396e-03 3.70402667e-01] [ 3.28414046e-02 -7.54819937e-04 9.99460291e-01 7.51642227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.600714056999998 meters Centerline goodness : 0.990722 Centerline is valid? [True, True] Translation: X:25.64, Y:0.38, Z:0.75 [[ 9.89624304e-01 -1.39916881e-01 -3.26650126e-02 2.56393872e+01] [ 1.39879438e-01 9.90162567e-01 -3.43998619e-03 3.76246108e-01] [ 3.28249849e-02 -1.16486965e-03 9.99460436e-01 7.52198000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.630714057 meters Centerline goodness : 0.989431 Centerline is valid? [True, True] Translation: X:25.67, Y:0.38, Z:0.75 [[ 9.90301273e-01 -1.35048272e-01 -3.26397335e-02 2.56684738e+01] [ 1.35000277e-01 9.90838727e-01 -3.67992768e-03 3.83716191e-01] [ 3.28376798e-02 -7.62136000e-04 9.99460407e-01 7.52157955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.660714057 meters Centerline goodness : 0.986242 Centerline is valid? [True, True] Translation: X:25.71, Y:0.38, Z:0.76 [[ 9.91541865e-01 -1.25620385e-01 -3.26228329e-02 2.57080026e+01] [ 1.25561995e-01 9.92078342e-01 -3.84053067e-03 3.80070492e-01] [ 3.28468549e-02 -2.88141026e-04 9.99460355e-01 7.56376033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.690714056999997 meters Centerline goodness : 0.990051 Centerline is valid? [True, True] Translation: X:25.75, Y:0.39, Z:0.75 [[ 9.91287229e-01 -1.27596269e-01 -3.26928446e-02 2.57466633e+01] [ 1.27560917e-01 9.91825661e-01 -3.17337594e-03 3.85522415e-01] [ 3.28305131e-02 -1.02460218e-03 9.99460408e-01 7.52149486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.720714057 meters Centerline goodness : 0.988196 Centerline is valid? [True, True] Translation: X:25.76, Y:0.40, Z:0.76 [[ 9.90452564e-01 -1.33905524e-01 -3.27571241e-02 2.57584712e+01] [ 1.33894021e-01 9.90992364e-01 -2.55439800e-03 4.00483021e-01] [ 3.28041079e-02 -1.85597303e-03 9.99460077e-01 7.59862127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.750714057 meters Centerline goodness : 0.987782 Centerline is valid? [True, True] Translation: X:25.81, Y:0.39, Z:0.75 [[ 9.91297456e-01 -1.27537600e-01 -3.26115614e-02 2.58050369e+01] [ 1.27477252e-01 9.91833702e-01 -3.93156229e-03 3.94124769e-01] [ 3.28466677e-02 -2.59884522e-04 9.99460369e-01 7.53164164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.780714056999997 meters Centerline goodness : 0.988462 Centerline is valid? [True, True] Translation: X:25.84, Y:0.40, Z:0.75 [[ 9.90853733e-01 -1.30913327e-01 -3.27197354e-02 2.58403303e+01] [ 1.30888330e-01 9.91392835e-01 -2.91396137e-03 3.98715353e-01] [ 3.28195876e-02 -1.39532203e-03 9.99460318e-01 7.54151835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.810714057 meters Centerline goodness : 0.985687 Centerline is valid? [True, True] Translation: X:25.86, Y:0.40, Z:0.76 [[ 9.91091387e-01 -1.29093137e-01 -3.27539959e-02 2.58642531e+01] [ 1.29077807e-01 9.91631084e-01 -2.59095788e-03 4.02503710e-01] [ 3.28143553e-02 -1.65993793e-03 9.99460086e-01 7.60894955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.840714057 meters Centerline goodness : 0.987699 Centerline is valid? [True, True] Translation: X:25.90, Y:0.41, Z:0.76 [[ 9.90124394e-01 -1.36327227e-01 -3.26890284e-02 2.59022402e+01] [ 1.36295780e-01 9.90663024e-01 -3.19882303e-03 4.08141475e-01] [ 3.28198984e-02 -1.28814390e-03 9.99460452e-01 7.56681928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.870714056999997 meters Centerline goodness : 0.987600 Centerline is valid? [True, True] Translation: X:25.93, Y:0.41, Z:0.76 [[ 9.89468042e-01 -1.40999519e-01 -3.27433880e-02 2.59326201e+01] [ 1.40987438e-01 9.90007733e-01 -2.68909757e-03 4.12575191e-01] [ 3.27953688e-02 -1.95563027e-03 9.99460174e-01 7.58887444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.900714057 meters Centerline goodness : 0.987084 Centerline is valid? [True, True] Translation: X:25.97, Y:0.42, Z:0.76 [[ 9.89222408e-01 -1.42716619e-01 -3.27260467e-02 2.59658118e+01] [ 1.42700120e-01 9.89761863e-01 -2.85124714e-03 4.16219639e-01] [ 3.27979133e-02 -1.84949324e-03 9.99460292e-01 7.60366379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.930714057 meters Centerline goodness : 0.985397 Centerline is valid? [True, True] Translation: X:25.99, Y:0.42, Z:0.76 [[ 9.89303786e-01 -1.42152320e-01 -3.27221068e-02 2.59920825e+01] [ 1.42134306e-01 9.89843169e-01 -2.88783001e-03 4.19886265e-01] [ 3.28002656e-02 -1.79399277e-03 9.99460316e-01 7.64837049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.960714056999997 meters Centerline goodness : 0.985995 Centerline is valid? [True, True] Translation: X:26.02, Y:0.42, Z:0.77 [[ 9.88574894e-01 -1.47146474e-01 -3.26740529e-02 2.60234255e+01] [ 1.47116532e-01 9.89113555e-01 -3.33175008e-03 4.24453677e-01] [ 3.28086039e-02 -1.51320889e-03 9.99460507e-01 7.66892676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.990714056999998 meters Centerline goodness : 0.986347 Centerline is valid? [True, True] Translation: X:26.06, Y:0.43, Z:0.76 [[ 9.88663008e-01 -1.46553085e-01 -3.26749074e-02 2.60553522e+01] [ 1.46523081e-01 9.89201667e-01 -3.32384054e-03 4.26937236e-01] [ 3.28091919e-02 -1.50146991e-03 9.99460506e-01 7.64646147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.020714057 meters Centerline goodness : 0.984714 Centerline is valid? [True, True] Translation: X:26.08, Y:0.43, Z:0.77 [[ 9.87774407e-01 -1.52424863e-01 -3.26861180e-02 2.60833814e+01] [ 1.52401513e-01 9.88313420e-01 -3.21920707e-03 4.31645664e-01] [ 3.27948163e-02 -1.80156348e-03 9.99460482e-01 7.68939704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.050714056999997 meters Centerline goodness : 0.986441 Centerline is valid? [True, True] Translation: X:26.12, Y:0.43, Z:0.77 [[ 9.87281617e-01 -1.55591577e-01 -3.26537762e-02 2.61176710e+01] [ 1.55560011e-01 9.87820170e-01 -3.52052625e-03 4.34996428e-01] [ 3.28038230e-02 -1.60387094e-03 9.99460523e-01 7.65620006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.080714056999998 meters Centerline goodness : 0.984781 Centerline is valid? [True, True] Translation: X:26.15, Y:0.44, Z:0.77 [[ 9.87103531e-01 -1.56714683e-01 -3.26669283e-02 2.61499502e+01] [ 1.56687774e-01 9.87642342e-01 -3.39798229e-03 4.38915438e-01] [ 3.27957553e-02 -1.76434796e-03 9.99460517e-01 7.70240713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.110714057 meters Centerline goodness : 0.985499 Centerline is valid? [True, True] Translation: X:26.18, Y:0.44, Z:0.77 [[ 9.87207547e-01 -1.56058517e-01 -3.26649531e-02 2.61821980e+01] [ 1.56030641e-01 9.87746307e-01 -3.41640716e-03 4.42607829e-01] [ 3.27978462e-02 -1.72403065e-03 9.99460519e-01 7.68936852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.140714056999997 meters Centerline goodness : 0.984987 Centerline is valid? [True, True] Translation: X:26.22, Y:0.45, Z:0.77 [[ 9.87365647e-01 -1.55054722e-01 -3.26666823e-02 2.62157893e+01] [ 1.55026832e-01 9.87904408e-01 -3.40023893e-03 4.46470351e-01] [ 3.27987825e-02 -1.70693316e-03 9.99460518e-01 7.69597066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.170714056999998 meters Centerline goodness : 0.986253 Centerline is valid? [True, True] Translation: X:26.25, Y:0.45, Z:0.77 [[ 9.87505242e-01 -1.54160940e-01 -3.26772452e-02 2.62474666e+01] [ 1.54135827e-01 9.88044153e-01 -3.30132449e-03 4.52629248e-01] [ 3.27954963e-02 -1.77665899e-03 9.99460504e-01 7.71501689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.200714057 meters Centerline goodness : 0.986360 Centerline is valid? [True, True] Translation: X:26.28, Y:0.46, Z:0.77 [[ 9.87795039e-01 -1.52294973e-01 -3.26680625e-02 2.62795990e+01] [ 1.52266004e-01 9.88333744e-01 -3.38732080e-03 4.57648329e-01] [ 3.28028204e-02 -1.62825665e-03 9.99460516e-01 7.72661665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.230714056999997 meters Centerline goodness : 0.986326 Centerline is valid? [True, True] Translation: X:26.31, Y:0.46, Z:0.77 [[ 9.88062731e-01 -1.50548768e-01 -3.26666184e-02 2.63122643e+01] [ 1.50518400e-01 9.88601358e-01 -3.40085755e-03 4.62173101e-01] [ 3.28062582e-02 -1.55666655e-03 9.99460518e-01 7.72355074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.260714056999998 meters Centerline goodness : 0.986684 Centerline is valid? [True, True] Translation: X:26.35, Y:0.47, Z:0.77 [[ 9.88774286e-01 -1.45799631e-01 -3.26784035e-02 2.63466131e+01] [ 1.45770329e-01 9.89312987e-01 -3.29011123e-03 4.67168418e-01] [ 3.28088660e-02 -1.51036424e-03 9.99460503e-01 7.70118105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.290714057 meters Centerline goodness : 0.988488 Centerline is valid? [True, True] Translation: X:26.38, Y:0.47, Z:0.77 [[ 9.87922971e-01 -1.51457963e-01 -3.26908005e-02 2.63828290e+01] [ 1.51435566e-01 9.88462034e-01 -3.17434155e-03 4.72675775e-01] [ 3.27943944e-02 -1.81454493e-03 9.99460472e-01 7.72115347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.320714057 meters Centerline goodness : 0.986668 Centerline is valid? [True, True] Translation: X:26.41, Y:0.48, Z:0.78 [[ 9.88599616e-01 -1.46965988e-01 -3.27383064e-02 2.64055596e+01] [ 1.46955877e-01 9.89139287e-01 -2.72796344e-03 4.76544482e-01] [ 3.27836629e-02 -2.11422293e-03 9.99460235e-01 7.76104920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.350714056999998 meters Centerline goodness : 0.987062 Centerline is valid? [True, True] Translation: X:26.44, Y:0.48, Z:0.78 [[ 9.88787178e-01 -1.45715165e-01 -3.26650901e-02 2.64395760e+01] [ 1.45681807e-01 9.89325615e-01 -3.41167613e-03 4.82063430e-01] [ 3.28135433e-02 -1.38528774e-03 9.99460531e-01 7.75673959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.380714057 meters Centerline goodness : 0.986280 Centerline is valid? [True, True] Translation: X:26.47, Y:0.49, Z:0.78 [[ 9.89031554e-01 -1.44043965e-01 -3.26790611e-02 2.64691331e+01] [ 1.44014013e-01 9.89570210e-01 -3.28079261e-03 4.86705506e-01] [ 3.28108038e-02 -1.46143532e-03 9.99460512e-01 7.78133159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.410714057 meters Centerline goodness : 0.987816 Centerline is valid? [True, True] Translation: X:26.50, Y:0.49, Z:0.78 [[ 9.89007532e-01 -1.44210976e-01 -3.26695013e-02 2.65001641e+01] [ 1.44178160e-01 9.89546006e-01 -3.37040263e-03 4.91649942e-01] [ 3.28140235e-02 -1.37687499e-03 9.99460527e-01 7.76960988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.440714056999997 meters Centerline goodness : 0.985890 Centerline is valid? [True, True] Translation: X:26.53, Y:0.49, Z:0.78 [[ 9.89242553e-01 -1.42589955e-01 -3.26691945e-02 2.65310788e+01] [ 1.42556162e-01 9.89780967e-01 -3.37327935e-03 4.93585305e-01] [ 3.28163427e-02 -1.32020351e-03 9.99460527e-01 7.77866889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.470714057 meters Centerline goodness : 0.987322 Centerline is valid? [True, True] Translation: X:26.56, Y:0.50, Z:0.78 [[ 9.89104670e-01 -1.43544903e-01 -3.26620908e-02 2.65646565e+01] [ 1.43509431e-01 9.89642971e-01 -3.43994889e-03 4.98764121e-01] [ 3.28175957e-02 -1.28484854e-03 9.99460532e-01 7.79196711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.500714057 meters Centerline goodness : 0.986836 Centerline is valid? [True, True] Translation: X:26.60, Y:0.50, Z:0.78 [[ 9.89356251e-01 -1.41796659e-01 -3.26789831e-02 2.65968442e+01] [ 1.41765476e-01 9.89894835e-01 -3.28103268e-03 5.03768390e-01] [ 3.28139960e-02 -1.38664138e-03 9.99460514e-01 7.80075478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.530714056999997 meters Centerline goodness : 0.987476 Centerline is valid? [True, True] Translation: X:26.63, Y:0.51, Z:0.78 [[ 9.89542548e-01 -1.40488392e-01 -3.26887852e-02 2.66284808e+01] [ 1.40459544e-01 9.90081284e-01 -3.18864214e-03 5.07137768e-01] [ 3.28125216e-02 -1.43615478e-03 9.99460492e-01 7.79123465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.560714057 meters Centerline goodness : 0.987476 Centerline is valid? [True, True] Translation: X:26.66, Y:0.51, Z:0.78 [[ 9.89528889e-01 -1.40583171e-01 -3.26947834e-02 2.66609180e+01] [ 1.40556242e-01 9.90067742e-01 -3.13203331e-03 5.10608258e-01] [ 3.28103616e-02 -1.49621844e-03 9.99460475e-01 7.80178370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.590714057 meters Centerline goodness : 0.990186 Centerline is valid? [True, True] Translation: X:26.70, Y:0.52, Z:0.78 [[ 9.89031464e-01 -1.44041894e-01 -3.26909072e-02 2.67036655e+01] [ 1.44015648e-01 9.89570338e-01 -3.16841638e-03 5.15010472e-01] [ 3.28063368e-02 -1.57433871e-03 9.99460487e-01 7.77902749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.620714056999997 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:26.73, Y:0.52, Z:0.78 [[ 9.89116114e-01 -1.43434561e-01 -3.28000020e-02 2.67348720e+01] [ 1.43442157e-01 9.89656403e-01 -2.13363306e-03 5.18651870e-01] [ 3.27667687e-02 -2.59449218e-03 9.99459658e-01 7.78552027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.650714057 meters Centerline goodness : 0.987305 Centerline is valid? [True, True] Translation: X:26.76, Y:0.52, Z:0.78 [[ 9.90118124e-01 -1.36347146e-01 -3.27956716e-02 2.67590842e+01] [ 1.36349517e-01 9.90658407e-01 -2.17462742e-03 5.22300672e-01] [ 3.27858120e-02 -2.31853596e-03 9.99459712e-01 7.82824619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.680714057 meters Centerline goodness : 0.989911 Centerline is valid? [True, True] Translation: X:26.80, Y:0.53, Z:0.78 [[ 9.89480534e-01 -1.40915620e-01 -3.27270569e-02 2.67999593e+01] [ 1.40899238e-01 9.90019931e-01 -2.81783428e-03 5.27108801e-01] [ 3.27975155e-02 -1.82302520e-03 9.99460354e-01 7.80238067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.710714056999997 meters Centerline goodness : 0.987324 Centerline is valid? [True, True] Translation: X:26.82, Y:0.53, Z:0.79 [[ 9.90274924e-01 -1.35196885e-01 -3.28234212e-02 2.68218013e+01] [ 1.35207436e-01 9.90815476e-01 -1.90817460e-03 5.30244548e-01] [ 3.27799330e-02 -2.54835317e-03 9.99459345e-01 7.85056288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.740714056999998 meters Centerline goodness : 0.990135 Centerline is valid? [True, True] Translation: X:26.86, Y:0.53, Z:0.78 [[ 9.89355061e-01 -1.41791022e-01 -3.27394232e-02 2.68617467e+01] [ 1.41779331e-01 9.89894633e-01 -2.69013026e-03 5.34718288e-01] [ 3.27900157e-02 -1.98027953e-03 9.99460301e-01 7.82778654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.770714057 meters Centerline goodness : 0.988677 Centerline is valid? [True, True] Translation: X:26.88, Y:0.54, Z:0.79 [[ 9.89762972e-01 -1.38893425e-01 -3.28310115e-02 2.68835977e+01] [ 1.38908473e-01 9.90303527e-01 -1.83320421e-03 5.38878162e-01] [ 3.27672865e-02 -2.74606803e-03 9.99459236e-01 7.87785381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.800714056999997 meters Centerline goodness : 0.988579 Centerline is valid? [True, True] Translation: X:26.92, Y:0.54, Z:0.79 [[ 9.88641108e-01 -1.46685046e-01 -3.27453487e-02 2.69194564e+01] [ 1.46678138e-01 9.89180786e-01 -2.62607837e-03 5.43806886e-01] [ 3.27762762e-02 -2.20677777e-03 9.99460277e-01 7.86081910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.830714056999998 meters Centerline goodness : 0.989628 Centerline is valid? [True, True] Translation: X:26.95, Y:0.55, Z:0.79 [[ 9.87136442e-01 -1.56479751e-01 -3.27983689e-02 2.69455603e+01] [ 1.56495128e-01 9.87676469e-01 -2.11364054e-03 5.53334692e-01] [ 3.27249191e-02 -3.04633334e-03 9.99459754e-01 7.85583205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.860714057 meters Centerline goodness : 0.988807 Centerline is valid? [True, True] Translation: X:26.97, Y:0.56, Z:0.79 [[ 9.87938960e-01 -1.51346069e-01 -3.27258082e-02 2.69676086e+01] [ 1.51335633e-01 9.88478442e-01 -2.80998425e-03 5.55156330e-01] [ 3.27740360e-02 -2.17648797e-03 9.99460417e-01 7.90371794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.890714056999997 meters Centerline goodness : 0.983032 Centerline is valid? [True, True] Translation: X:26.99, Y:0.57, Z:0.80 [[ 9.86462832e-01 -1.60706368e-01 -3.26273473e-02 2.69893167e+01] [ 1.60670476e-01 9.87001033e-01 -3.73608059e-03 5.65130831e-01] [ 3.28036374e-02 -1.55674678e-03 9.99460603e-01 7.95453050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.920714056999998 meters Centerline goodness : 0.987494 Centerline is valid? [True, True] Translation: X:27.04, Y:0.56, Z:0.79 [[ 9.87125740e-01 -1.56603787e-01 -3.25273430e-02 2.70350213e+01] [ 1.56534445e-01 9.87661397e-01 -4.68329830e-03 5.64610274e-01] [ 3.28594233e-02 -4.68645296e-04 9.99459873e-01 7.92531920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.950714057 meters Centerline goodness : 0.986560 Centerline is valid? [True, True] Translation: X:27.06, Y:0.57, Z:0.79 [[ 9.87032660e-01 -1.57149769e-01 -3.27181590e-02 2.70642559e+01] [ 1.57138922e-01 9.87572195e-01 -2.91867571e-03 5.67412996e-01] [ 3.27702133e-02 -2.26046798e-03 9.99460356e-01 7.93208360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.980714056999997 meters Centerline goodness : 0.991167 Centerline is valid? [True, True] Translation: X:27.09, Y:0.58, Z:0.79 [[ 9.84489645e-01 -1.72368501e-01 -3.26992054e-02 2.70895150e+01] [ 1.72360174e-01 9.85029134e-01 -3.09454159e-03 5.82514312e-01] [ 3.27430715e-02 -2.58949658e-03 9.99460447e-01 7.86428457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.010714056999998 meters Centerline goodness : 0.988358 Centerline is valid? [True, True] Translation: X:27.13, Y:0.58, Z:0.79 [[ 9.86460543e-01 -1.60715444e-01 -3.26518600e-02 2.71284197e+01] [ 1.60686288e-01 9.86999210e-01 -3.53223088e-03 5.77349338e-01] [ 3.27950441e-02 -1.76229977e-03 9.99460544e-01 7.92568667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.040714057 meters Centerline goodness : 0.984204 Centerline is valid? [True, True] Translation: X:27.15, Y:0.59, Z:0.79 [[ 9.84997282e-01 -1.69441553e-01 -3.27095591e-02 2.71452493e+01] [ 1.69435581e-01 9.85536776e-01 -2.97451372e-03 5.87305975e-01] [ 3.27404797e-02 -2.61227523e-03 9.99460473e-01 7.92378328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.070714057 meters Centerline goodness : 0.982595 Centerline is valid? [True, True] Translation: X:27.18, Y:0.59, Z:0.80 [[ 9.84891076e-01 -1.70094930e-01 -3.25158843e-02 2.71764729e+01] [ 1.70028509e-01 9.85427369e-01 -4.81727660e-03 5.91592328e-01] [ 3.28614366e-02 -7.84134581e-04 9.99459610e-01 8.00248646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.100714056999998 meters Centerline goodness : 0.981626 Centerline is valid? [True, True] Translation: X:27.21, Y:0.60, Z:0.81 [[ 9.84225421e-01 -1.73904805e-01 -3.25182941e-02 2.72084151e+01] [ 1.73841214e-01 9.84762025e-01 -4.79438531e-03 5.97864644e-01] [ 3.28565478e-02 -9.34263842e-04 9.99459641e-01 8.05982874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.130714057 meters Centerline goodness : 0.983261 Centerline is valid? [True, True] Translation: X:27.24, Y:0.60, Z:0.80 [[ 9.84333898e-01 -1.73283890e-01 -3.25495190e-02 2.72395227e+01] [ 1.73229896e-01 9.84871167e-01 -4.49307584e-03 6.01298743e-01] [ 3.28356604e-02 -1.21586294e-03 9.99460025e-01 8.03397669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.160714057 meters Centerline goodness : 0.988065 Centerline is valid? [True, True] Translation: X:27.28, Y:0.60, Z:0.80 [[ 9.84852783e-01 -1.70314710e-01 -3.25253158e-02 2.72842096e+01] [ 1.70251375e-01 9.85389325e-01 -4.72727498e-03 6.02463088e-01] [ 3.28552234e-02 -8.81809828e-04 9.99459732e-01 7.97277287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.190714056999997 meters Centerline goodness : 0.989546 Centerline is valid? [True, True] Translation: X:27.31, Y:0.61, Z:0.80 [[ 9.84009890e-01 -1.75076460e-01 -3.27531710e-02 2.73141305e+01] [ 1.75084672e-01 9.84549842e-01 -2.63952474e-03 6.13102866e-01] [ 3.27092480e-02 -3.13725975e-03 9.99459986e-01 7.96944626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.220714057 meters Centerline goodness : 0.988833 Centerline is valid? [True, True] Translation: X:27.34, Y:0.62, Z:0.80 [[ 9.83567527e-01 -1.77549036e-01 -3.27300992e-02 2.73385179e+01] [ 1.77551508e-01 9.84107370e-01 -2.85418917e-03 6.19504040e-01] [ 3.27166904e-02 -3.00399068e-03 9.99460151e-01 7.98324483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.250714057 meters Centerline goodness : 0.989116 Centerline is valid? [True, True] Translation: X:27.38, Y:0.62, Z:0.80 [[ 9.84275458e-01 -1.73593668e-01 -3.26658907e-02 2.73766914e+01] [ 1.73574312e-01 9.84814735e-01 -3.44906207e-03 6.21194633e-01] [ 3.27685858e-02 -2.27513238e-03 9.99460376e-01 8.01183581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.280714056999997 meters Centerline goodness : 0.990559 Centerline is valid? [True, True] Translation: X:27.40, Y:0.63, Z:0.80 [[ 9.83182503e-01 -1.79664588e-01 -3.27536500e-02 2.74025929e+01] [ 1.79675491e-01 9.83722409e-01 -2.63428510e-03 6.32117116e-01] [ 3.26937872e-02 -3.29504512e-03 9.99459984e-01 8.00048580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.310714057 meters Centerline goodness : 0.991125 Centerline is valid? [True, True] Translation: X:27.43, Y:0.65, Z:0.80 [[ 9.81895039e-01 -1.86583906e-01 -3.26891145e-02 2.74263445e+01] [ 1.86578950e-01 9.82434664e-01 -3.22896897e-03 6.45343240e-01] [ 3.27173928e-02 -2.92859202e-03 9.99460352e-01 8.03396168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.340714057 meters Centerline goodness : 0.984734 Centerline is valid? [True, True] Translation: X:27.45, Y:0.66, Z:0.80 [[ 9.80972259e-01 -1.91388625e-01 -3.26162604e-02 2.74513318e+01] [ 1.91364465e-01 9.81511340e-01 -3.88991013e-03 6.56433938e-01] [ 3.27577140e-02 -2.42569929e-03 9.99460378e-01 8.01772933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.370714056999997 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:27.49, Y:0.66, Z:0.80 [[ 9.81786645e-01 -1.87178897e-01 -3.25429491e-02 2.74905666e+01] [ 1.87130548e-01 9.82324506e-01 -4.55227201e-03 6.57962386e-01] [ 3.28198256e-02 -1.62042002e-03 9.99459971e-01 8.04649370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.400714057 meters Centerline goodness : 0.984203 Centerline is valid? [True, True] Translation: X:27.51, Y:0.67, Z:0.80 [[ 9.81065628e-01 -1.90909321e-01 -3.26169333e-02 2.75149261e+01] [ 1.90885331e-01 9.81604687e-01 -3.87674420e-03 6.68754013e-01] [ 3.27570412e-02 -2.42275361e-03 9.99460408e-01 8.02016407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.430714057 meters Centerline goodness : 0.982863 Centerline is valid? [True, True] Translation: X:27.55, Y:0.67, Z:0.81 [[ 9.81209806e-01 -1.90178140e-01 -3.25513770e-02 2.75459651e+01] [ 1.90134071e-01 9.81747948e-01 -4.47241496e-03 6.74345901e-01] [ 3.28078031e-02 -1.80074842e-03 9.99460057e-01 8.07183740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.460714056999997 meters Centerline goodness : 0.983263 Centerline is valid? [True, True] Translation: X:27.58, Y:0.68, Z:0.81 [[ 9.81428037e-01 -1.89052268e-01 -3.25307383e-02 2.75763469e+01] [ 1.89001383e-01 9.81965763e-01 -4.66016749e-03 6.79519814e-01] [ 3.28250865e-02 -1.57473549e-03 9.99459871e-01 8.08000711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.490714056999998 meters Centerline goodness : 0.990711 Centerline is valid? [True, True] Translation: X:27.62, Y:0.68, Z:0.80 [[ 9.82565426e-01 -1.83048112e-01 -3.25357160e-02 2.76191117e+01] [ 1.82995450e-01 9.83102931e-01 -4.61440421e-03 6.83659852e-01] [ 3.28306158e-02 -1.41993397e-03 9.99459921e-01 8.02697258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.520714057 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:27.65, Y:0.69, Z:0.80 [[ 9.82524259e-01 -1.83225557e-01 -3.27791897e-02 2.76489944e+01] [ 1.83241587e-01 9.83064631e-01 -2.54003368e-03 6.89478885e-01] [ 3.26894612e-02 -3.51086603e-03 9.99459390e-01 8.03240849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.550714056999997 meters Centerline goodness : 0.989526 Centerline is valid? [True, True] Translation: X:27.68, Y:0.70, Z:0.80 [[ 9.82533210e-01 -1.83181707e-01 -3.27559746e-02 2.76775194e+01] [ 1.83191177e-01 9.83073496e-01 -2.73738513e-03 6.96288967e-01] [ 3.27029694e-02 -3.31103375e-03 9.99459630e-01 8.03758867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.580714056999998 meters Centerline goodness : 0.991041 Centerline is valid? [True, True] Translation: X:27.71, Y:0.71, Z:0.80 [[ 9.81958177e-01 -1.86243686e-01 -3.27326644e-02 2.77077530e+01] [ 1.86248324e-01 9.82498322e-01 -2.93420630e-03 7.07217434e-01] [ 3.27062653e-02 -3.21513602e-03 9.99459836e-01 8.01262969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.610714057 meters Centerline goodness : 0.990082 Centerline is valid? [True, True] Translation: X:27.73, Y:0.72, Z:0.80 [[ 9.81422728e-01 -1.89045769e-01 -3.27280580e-02 2.77313617e+01] [ 1.89050622e-01 9.81962838e-01 -2.97430481e-03 7.15832787e-01] [ 3.27000165e-02 -3.26820938e-03 9.99459868e-01 8.01997608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.640714056999997 meters Centerline goodness : 0.982356 Centerline is valid? [True, True] Translation: X:27.75, Y:0.73, Z:0.81 [[ 9.80466868e-01 -1.93957507e-01 -3.26374926e-02 2.77548504e+01] [ 1.93939127e-01 9.81006366e-01 -3.75826250e-03 7.28165556e-01] [ 3.27465312e-02 -2.64483496e-03 9.99460189e-01 8.08850165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.670714056999998 meters Centerline goodness : 0.983022 Centerline is valid? [True, True] Translation: X:27.79, Y:0.73, Z:0.81 [[ 9.80609968e-01 -1.93251648e-01 -3.25252385e-02 2.77884318e+01] [ 1.93200871e-01 9.81147839e-01 -4.72668974e-03 7.33519982e-01] [ 3.28255080e-02 -1.64886535e-03 9.99459738e-01 8.08009983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.700714057 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:27.83, Y:0.74, Z:0.81 [[ 9.80559001e-01 -1.93510340e-01 -3.25237296e-02 2.78269683e+01] [ 1.93459272e-01 9.81096858e-01 -4.73978848e-03 7.39052620e-01] [ 3.28261270e-02 -1.64437480e-03 9.99459725e-01 8.06534106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.730714056999997 meters Centerline goodness : 0.990803 Centerline is valid? [True, True] Translation: X:27.87, Y:0.74, Z:0.81 [[ 9.82597782e-01 -1.82855728e-01 -3.26401908e-02 2.78662019e+01] [ 1.82832595e-01 9.83137032e-01 -3.71735708e-03 7.36570385e-01] [ 3.27695203e-02 -2.31502395e-03 9.99460254e-01 8.11922355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.760714056999998 meters Centerline goodness : 0.991126 Centerline is valid? [True, True] Translation: X:27.90, Y:0.75, Z:0.81 [[ 9.82093659e-01 -1.85533419e-01 -3.27016112e-02 2.78953088e+01] [ 1.85529584e-01 9.82633539e-01 -3.17820331e-03 7.45573284e-01] [ 3.27233628e-02 -2.94582300e-03 9.99460106e-01 8.11878159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.790714057 meters Centerline goodness : 0.990859 Centerline is valid? [True, True] Translation: X:27.93, Y:0.75, Z:0.82 [[ 9.82328447e-01 -1.84288217e-01 -3.26905911e-02 2.79250353e+01] [ 1.84280500e-01 9.82868238e-01 -3.27487391e-03 7.50352079e-01] [ 3.27340643e-02 -2.80723667e-03 9.99460155e-01 8.15930872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.820714056999996 meters Centerline goodness : 0.990954 Centerline is valid? [True, True] Translation: X:27.96, Y:0.76, Z:0.82 [[ 9.82255813e-01 -1.84675838e-01 -3.26856484e-02 2.79582913e+01] [ 1.84666899e-01 9.82795566e-01 -3.31829384e-03 7.56708815e-01] [ 3.27361191e-02 -2.77654390e-03 9.99460173e-01 8.16011618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.850714056999998 meters Centerline goodness : 0.992080 Centerline is valid? [True, True] Translation: X:27.99, Y:0.77, Z:0.81 [[ 9.82339723e-01 -1.84226461e-01 -3.26998441e-02 2.79894220e+01] [ 1.84221408e-01 9.82879583e-01 -3.19331098e-03 7.66105164e-01] [ 3.27283015e-02 -2.88709509e-03 9.99460116e-01 8.14240947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.880714057 meters Centerline goodness : 0.991510 Centerline is valid? [True, True] Translation: X:28.02, Y:0.78, Z:0.82 [[ 9.82452722e-01 -1.83622579e-01 -3.27016581e-02 2.80173198e+01] [ 1.83617719e-01 9.82992593e-01 -3.17741114e-03 7.75679297e-01] [ 3.27289321e-02 -2.88294766e-03 9.99460107e-01 8.19146226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.910714057 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:28.05, Y:0.78, Z:0.82 [[ 9.82825096e-01 -1.81623286e-01 -3.26773972e-02 2.80493211e+01] [ 1.81610307e-01 9.83364737e-01 -3.38973965e-03 7.81991167e-01] [ 3.27494558e-02 -2.60303093e-03 9.99460203e-01 8.20721466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.940714056999997 meters Centerline goodness : 0.991627 Centerline is valid? [True, True] Translation: X:28.08, Y:0.79, Z:0.82 [[ 9.83139618e-01 -1.79911363e-01 -3.26862682e-02 2.80823089e+01] [ 1.79900014e-01 9.83679326e-01 -3.31200015e-03 7.87911293e-01] [ 3.27486727e-02 -2.62410154e-03 9.99460174e-01 8.21752794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.970714057 meters Centerline goodness : 0.991194 Centerline is valid? [True, True] Translation: X:28.11, Y:0.79, Z:0.82 [[ 9.83322466e-01 -1.78909059e-01 -3.26875706e-02 2.81116813e+01] [ 1.78897538e-01 9.83862174e-01 -3.30056883e-03 7.94071589e-01] [ 3.27505659e-02 -2.60220242e-03 9.99460169e-01 8.23354807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.000714057 meters Centerline goodness : 0.991159 Centerline is valid? [True, True] Translation: X:28.14, Y:0.80, Z:0.82 [[ 9.83731770e-01 -1.76647588e-01 -3.26716209e-02 2.81441496e+01] [ 1.76630195e-01 9.84271272e-01 -3.44064770e-03 8.00433994e-01] [ 3.27655200e-02 -2.38612032e-03 9.99460218e-01 8.22829615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.030714056999997 meters Centerline goodness : 0.991180 Centerline is valid? [True, True] Translation: X:28.18, Y:0.81, Z:0.82 [[ 9.83920247e-01 -1.75593090e-01 -3.26804735e-02 2.81764165e+01] [ 1.75577687e-01 9.84459835e-01 -3.36298148e-03 8.05466762e-01] [ 3.27631299e-02 -2.42905636e-03 9.99460193e-01 8.22180932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.060714057 meters Centerline goodness : 0.991684 Centerline is valid? [True, True] Translation: X:28.21, Y:0.81, Z:0.82 [[ 9.84545050e-01 -1.72053541e-01 -3.26898200e-02 2.82091150e+01] [ 1.72038910e-01 9.85084691e-01 -3.28088105e-03 8.09648624e-01] [ 3.27667285e-02 -2.39374582e-03 9.99460160e-01 8.20056477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.090714057 meters Centerline goodness : 0.991664 Centerline is valid? [True, True] Translation: X:28.24, Y:0.82, Z:0.82 [[ 9.85408046e-01 -1.67036691e-01 -3.27066902e-02 2.82414333e+01] [ 1.67024238e-01 9.85947816e-01 -3.13187100e-03 8.16620310e-01] [ 3.27702271e-02 -2.37663912e-03 9.99460086e-01 8.22171191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.120714056999997 meters Centerline goodness : 0.991951 Centerline is valid? [True, True] Translation: X:28.27, Y:0.82, Z:0.82 [[ 9.85779744e-01 -1.64826315e-01 -3.27197615e-02 2.82729090e+01] [ 1.64816462e-01 9.86319641e-01 -3.01659920e-03 8.23064402e-01] [ 3.27693583e-02 -2.41905294e-03 9.99460013e-01 8.21823213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.150714057 meters Centerline goodness : 0.992452 Centerline is valid? [True, True] Translation: X:28.31, Y:0.83, Z:0.82 [[ 9.87218850e-01 -1.55976126e-01 -3.27168146e-02 2.83069206e+01] [ 1.55960572e-01 9.87758596e-01 -3.04254827e-03 8.28875492e-01] [ 3.27908797e-02 -2.09887209e-03 9.99460031e-01 8.24111713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.180714057 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:28.34, Y:0.83, Z:0.82 [[ 9.87840707e-01 -1.51982240e-01 -3.27434809e-02 2.83401316e+01] [ 1.51972276e-01 9.88380770e-01 -2.80736779e-03 8.34011718e-01] [ 3.27896969e-02 -2.20286912e-03 9.99459846e-01 8.24399047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.210714056999997 meters Centerline goodness : 0.992398 Centerline is valid? [True, True] Translation: X:28.37, Y:0.84, Z:0.82 [[ 9.89172537e-01 -1.43056255e-01 -3.27505789e-02 2.83728803e+01] [ 1.43043474e-01 9.89712599e-01 -2.74505751e-03 8.40561464e-01] [ 3.28063583e-02 -1.96942109e-03 9.99459786e-01 8.23811645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.240714056999998 meters Centerline goodness : 0.992013 Centerline is valid? [True, True] Translation: X:28.41, Y:0.85, Z:0.82 [[ 9.89731728e-01 -1.39131706e-01 -3.27639132e-02 2.84059507e+01] [ 1.39120637e-01 9.90271952e-01 -2.62842874e-03 8.45232218e-01] [ 3.28108821e-02 -1.95669718e-03 9.99459663e-01 8.24417074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.270714057 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:28.44, Y:0.85, Z:0.83 [[ 9.90172462e-01 -1.35956492e-01 -3.27769427e-02 2.84384797e+01] [ 1.35947454e-01 9.90712858e-01 -2.51457254e-03 8.49664999e-01] [ 3.28144111e-02 -1.96608142e-03 9.99459528e-01 8.25168026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.300714056999997 meters Centerline goodness : 0.991627 Centerline is valid? [True, True] Translation: X:28.47, Y:0.85, Z:0.83 [[ 9.90737473e-01 -1.31773357e-01 -3.27878306e-02 2.84689105e+01] [ 1.31765172e-01 9.91278006e-01 -2.41973308e-03 8.53921010e-01] [ 3.28207117e-02 -1.92297389e-03 9.99459405e-01 8.26958026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.330714056999998 meters Centerline goodness : 0.991854 Centerline is valid? [True, True] Translation: X:28.50, Y:0.86, Z:0.83 [[ 9.90923579e-01 -1.30366868e-01 -3.27862935e-02 2.85004339e+01] [ 1.30357472e-01 9.91464074e-01 -2.43310814e-03 8.56816249e-01] [ 3.28236288e-02 -1.86291412e-03 9.99459423e-01 8.27449957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.360714057 meters Centerline goodness : 0.992654 Centerline is valid? [True, True] Translation: X:28.53, Y:0.86, Z:0.83 [[ 9.90819969e-01 -1.31150196e-01 -3.27935124e-02 2.85305694e+01] [ 1.31143299e-01 9.91360588e-01 -2.37047713e-03 8.61266843e-01] [ 3.28210843e-02 -1.95193333e-03 9.99459337e-01 8.28746793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.390714056999997 meters Centerline goodness : 0.992248 Centerline is valid? [True, True] Translation: X:28.56, Y:0.86, Z:0.83 [[ 9.90808089e-01 -1.31244720e-01 -3.27742791e-02 2.85627230e+01] [ 1.31232395e-01 9.91348388e-01 -2.53623669e-03 8.64199495e-01] [ 3.28235964e-02 -1.78812330e-03 9.99459561e-01 8.28513997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.420714056999998 meters Centerline goodness : 0.991468 Centerline is valid? [True, True] Translation: X:28.60, Y:0.87, Z:0.83 [[ 9.90865734e-01 -1.30809935e-01 -3.27697894e-02 2.85955923e+01] [ 1.30796096e-01 9.91405947e-01 -2.57485490e-03 8.66800861e-01] [ 3.28249807e-02 -1.73482503e-03 9.99459610e-01 8.30078682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.450714057 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:28.63, Y:0.87, Z:0.83 [[ 9.90461790e-01 -1.33838608e-01 -3.27516299e-02 2.86275790e+01] [ 1.33821403e-01 9.91001714e-01 -2.72667447e-03 8.69265958e-01] [ 3.28218556e-02 -1.68220220e-03 9.99459802e-01 8.30764723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.480714056999997 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:28.66, Y:0.87, Z:0.83 [[ 9.90394539e-01 -1.34331751e-01 -3.27664254e-02 2.86587724e+01] [ 1.34318893e-01 9.90934739e-01 -2.60329208e-03 8.73344255e-01] [ 3.28190940e-02 -1.82286373e-03 9.99459646e-01 8.31745699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.510714056999998 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:28.69, Y:0.88, Z:0.83 [[ 9.90502153e-01 -1.33535883e-01 -3.27666532e-02 2.86877396e+01] [ 1.33522653e-01 9.91042347e-01 -2.60139544e-03 8.75650828e-01] [ 3.28205205e-02 -1.79840269e-03 9.99459644e-01 8.33113845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.540714057 meters Centerline goodness : 0.990365 Centerline is valid? [True, True] Translation: X:28.72, Y:0.88, Z:0.83 [[ 9.90597453e-01 -1.32830156e-01 -3.27541770e-02 2.87199258e+01] [ 1.32813067e-01 9.91137409e-01 -2.70655672e-03 8.77257845e-01] [ 3.28234025e-02 -1.66907450e-03 9.99459773e-01 8.34081505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.570714056999996 meters Centerline goodness : 0.990402 Centerline is valid? [True, True] Translation: X:28.75, Y:0.88, Z:0.84 [[ 9.89903927e-01 -1.37901764e-01 -3.27615434e-02 2.87481819e+01] [ 1.37889500e-01 9.90444089e-01 -2.64423487e-03 8.78339357e-01] [ 3.28131217e-02 -1.89993436e-03 9.99459699e-01 8.36888091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.600714056999998 meters Centerline goodness : 0.989979 Centerline is valid? [True, True] Translation: X:28.78, Y:0.88, Z:0.84 [[ 9.89045955e-01 -1.43936181e-01 -3.27181031e-02 2.87802222e+01] [ 1.43915298e-01 9.89585448e-01 -3.00465107e-03 8.78018295e-01] [ 3.28098367e-02 -1.73689756e-03 9.99460103e-01 8.35177684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.630714057 meters Centerline goodness : 0.990432 Centerline is valid? [True, True] Translation: X:28.81, Y:0.88, Z:0.84 [[ 9.88637243e-01 -1.46715861e-01 -3.27239694e-02 2.88077666e+01] [ 1.46698101e-01 9.89176895e-01 -2.95605071e-03 8.79188807e-01] [ 3.28034939e-02 -1.87808234e-03 9.99460056e-01 8.37475609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.660714057 meters Centerline goodness : 0.991957 Centerline is valid? [True, True] Translation: X:28.84, Y:0.88, Z:0.83 [[ 9.87753545e-01 -1.52564231e-01 -3.26663412e-02 2.88435983e+01] [ 1.52534169e-01 9.88292263e-01 -3.42502625e-03 8.81670804e-01] [ 3.28064287e-02 -1.59965137e-03 9.99460444e-01 8.33620996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.690714056999997 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:28.88, Y:0.88, Z:0.83 [[ 9.86623405e-01 -1.59697403e-01 -3.27260826e-02 2.88845630e+01] [ 1.59687390e-01 9.87163267e-01 -2.93628112e-03 8.79940981e-01] [ 3.27749031e-02 -2.32893905e-03 9.99460045e-01 8.27861305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.720714057 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:28.91, Y:0.88, Z:0.84 [[ 9.86937528e-01 -1.57723878e-01 -3.28251916e-02 2.89069484e+01] [ 1.57740011e-01 9.87478415e-01 -2.11388168e-03 8.80679244e-01] [ 3.27475778e-02 -3.09157693e-03 9.99458873e-01 8.36038905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.750714057 meters Centerline goodness : 0.991327 Centerline is valid? [True, True] Translation: X:28.93, Y:0.88, Z:0.84 [[ 9.85179204e-01 -1.68377502e-01 -3.27254103e-02 2.89332376e+01] [ 1.68372487e-01 9.85719092e-01 -2.92877396e-03 8.82201406e-01] [ 3.27512014e-02 -2.62469154e-03 9.99460089e-01 8.35778120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.780714056999997 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:28.97, Y:0.88, Z:0.84 [[ 9.84611002e-01 -1.71678967e-01 -3.26727151e-02 2.89664044e+01] [ 1.71661676e-01 9.85150250e-01 -3.35455261e-03 8.84655924e-01] [ 3.27634396e-02 -2.30572364e-03 9.99460475e-01 8.36537403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.810714057 meters Centerline goodness : 0.991191 Centerline is valid? [True, True] Translation: X:29.00, Y:0.89, Z:0.84 [[ 9.84238007e-01 -1.73802232e-01 -3.26853194e-02 2.89968062e+01] [ 1.73789475e-01 9.84777456e-01 -3.25265719e-03 8.86405772e-01] [ 3.27530847e-02 -2.47897565e-03 9.99460399e-01 8.38675044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.840714057 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:29.02, Y:0.90, Z:0.84 [[ 9.80886289e-01 -1.91818216e-01 -3.26781164e-02 2.90182561e+01] [ 1.91813419e-01 9.81425825e-01 -3.31101883e-03 8.98720136e-01] [ 3.27062611e-02 -3.02036827e-03 9.99460443e-01 8.39412088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.870714056999997 meters Centerline goodness : 0.992887 Centerline is valid? [True, True] Translation: X:29.05, Y:0.90, Z:0.84 [[ 9.80666158e-01 -1.92955931e-01 -3.25867179e-02 2.90511300e+01] [ 1.92927413e-01 9.81204686e-01 -4.04703314e-03 9.00935925e-01] [ 3.27551394e-02 -2.31808273e-03 9.99460718e-01 8.41394860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.900714057 meters Centerline goodness : 0.990659 Centerline is valid? [True, True] Translation: X:29.08, Y:0.89, Z:0.84 [[ 9.81969428e-01 -1.86209760e-01 -3.25878330e-02 2.90847202e+01] [ 1.86177837e-01 9.82507764e-01 -4.03803441e-03 8.93386905e-01] [ 3.27697204e-02 -2.10190592e-03 9.99460718e-01 8.43300673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.930714057 meters Centerline goodness : 0.984963 Centerline is valid? [True, True] Translation: X:29.11, Y:0.90, Z:0.85 [[ 9.80485459e-01 -1.93871786e-01 -3.25882580e-02 2.91068416e+01] [ 1.93844181e-01 9.81024034e-01 -4.03460151e-03 9.03098407e-01] [ 3.27520597e-02 -2.36117607e-03 9.99460718e-01 8.45998756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.960714056999997 meters Centerline goodness : 0.991498 Centerline is valid? [True, True] Translation: X:29.15, Y:0.90, Z:0.85 [[ 9.81581772e-01 -1.88266716e-01 -3.24479400e-02 2.91526441e+01] [ 1.88198832e-01 9.82117387e-01 -5.16127814e-03 9.00277341e-01] [ 3.28393829e-02 -1.04044787e-03 9.99460100e-01 8.46273778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.990714056999998 meters Centerline goodness : 0.990911 Centerline is valid? [True, True] Translation: X:29.18, Y:0.90, Z:0.85 [[ 9.81593907e-01 -1.88155312e-01 -3.27258236e-02 2.91836588e+01] [ 1.88157444e-01 9.82134167e-01 -3.04224282e-03 9.00637596e-01] [ 3.27135636e-02 -3.17136029e-03 9.99459737e-01 8.46706568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.020714057 meters Centerline goodness : 0.993646 Centerline is valid? [True, True] Translation: X:29.20, Y:0.92, Z:0.85 [[ 9.77802302e-01 -2.06959311e-01 -3.27185114e-02 2.91976740e+01] [ 2.06969953e-01 9.78342394e-01 -3.09828163e-03 9.19544853e-01] [ 3.26511250e-02 -3.74224185e-03 9.99459804e-01 8.45863941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.050714056999997 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:29.23, Y:0.92, Z:0.85 [[ 9.77545507e-01 -2.08193552e-01 -3.25611299e-02 2.92305257e+01] [ 2.08165315e-01 9.78084239e-01 -4.29233929e-03 9.21738391e-01] [ 3.27411653e-02 -2.58214087e-03 9.99460529e-01 8.45966827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.080714056999998 meters Centerline goodness : 0.990473 Centerline is valid? [True, True] Translation: X:29.26, Y:0.92, Z:0.85 [[ 9.79020006e-01 -2.01145520e-01 -3.25623529e-02 2.92638995e+01] [ 2.01113710e-01 9.79558539e-01 -4.28304127e-03 9.18608517e-01] [ 3.27582454e-02 -2.35555253e-03 9.99460529e-01 8.45651306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.110714057 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:29.30, Y:0.92, Z:0.85 [[ 9.79905034e-01 -1.96789118e-01 -3.25601968e-02 2.93012720e+01] [ 1.96754371e-01 9.80443386e-01 -4.29945407e-03 9.15939504e-01] [ 3.27695154e-02 -2.19330435e-03 9.99460529e-01 8.48006286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.140714056999997 meters Centerline goodness : 0.991804 Centerline is valid? [True, True] Translation: X:29.33, Y:0.92, Z:0.85 [[ 9.78300393e-01 -2.04601117e-01 -3.26607406e-02 2.93279517e+01] [ 2.04595869e-01 9.78840135e-01 -3.53840139e-03 9.24367096e-01] [ 3.26936047e-02 -3.22063313e-03 9.99460232e-01 8.47489569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.170714056999998 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:29.36, Y:0.93, Z:0.85 [[ 9.76137438e-01 -2.14694152e-01 -3.25902403e-02 2.93557124e+01] [ 2.14676862e-01 9.76676651e-01 -4.07004150e-03 9.34038692e-01] [ 3.27039408e-02 -3.02345063e-03 9.99460510e-01 8.46712177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.200714057 meters Centerline goodness : 0.993158 Centerline is valid? [True, True] Translation: X:29.39, Y:0.94, Z:0.85 [[ 9.75972712e-01 -2.15446818e-01 -3.25566262e-02 2.93889035e+01] [ 2.15421559e-01 9.76511578e-01 -4.32318696e-03 9.38018767e-01] [ 3.27233393e-02 -2.79408669e-03 9.99460543e-01 8.47790250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.230714056999997 meters Centerline goodness : 0.984776 Centerline is valid? [True, True] Translation: X:29.41, Y:0.94, Z:0.85 [[ 9.75980497e-01 -2.15411367e-01 -3.25578399e-02 2.94129481e+01] [ 2.15386393e-01 9.76519376e-01 -4.31402752e-03 9.41783057e-01] [ 3.27226521e-02 -2.80210897e-03 9.99460543e-01 8.51535446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.260714056999998 meters Centerline goodness : 0.992794 Centerline is valid? [True, True] Translation: X:29.45, Y:0.95, Z:0.85 [[ 9.75638307e-01 -2.16974461e-01 -3.24341861e-02 2.94520148e+01] [ 2.16919633e-01 9.76175390e-01 -5.24214432e-03 9.45278087e-01] [ 3.27988657e-02 -1.92117495e-03 9.99460126e-01 8.51402248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.290714057 meters Centerline goodness : 0.990533 Centerline is valid? [True, True] Translation: X:29.48, Y:0.94, Z:0.85 [[ 9.77065384e-01 -2.10435640e-01 -3.25588261e-02 2.94840976e+01] [ 2.10408445e-01 9.77604119e-01 -4.29808660e-03 9.42623245e-01] [ 3.27341131e-02 -2.65114033e-03 9.99460579e-01 8.54986617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.320714056999996 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:29.52, Y:0.95, Z:0.85 [[ 9.75150321e-01 -2.19140868e-01 -3.25443026e-02 2.95158242e+01] [ 2.19114836e-01 9.75689119e-01 -4.40807328e-03 9.52539725e-01] [ 3.27191109e-02 -2.83240545e-03 9.99460573e-01 8.53054287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.350714056999998 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:29.56, Y:0.94, Z:0.86 [[ 9.77493341e-01 -2.08438594e-01 -3.25595105e-02 2.95575194e+01] [ 2.08410475e-01 9.78032027e-01 -4.29272588e-03 9.44967512e-01] [ 3.27390138e-02 -2.58963207e-03 9.99460580e-01 8.55419298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.380714057 meters Centerline goodness : 0.990310 Centerline is valid? [True, True] Translation: X:29.58, Y:0.95, Z:0.86 [[ 9.76418013e-01 -2.13405435e-01 -3.26494068e-02 2.95819467e+01] [ 2.13403232e-01 9.76957600e-01 -3.59276689e-03 9.50722854e-01] [ 3.26638021e-02 -3.45944662e-03 9.99460409e-01 8.55164692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.410714057 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:29.61, Y:0.96, Z:0.85 [[ 9.74550303e-01 -2.21791351e-01 -3.25622884e-02 2.96136008e+01] [ 2.21771416e-01 9.75089340e-01 -4.26817221e-03 9.61383839e-01] [ 3.26977840e-02 -3.06183631e-03 9.99460595e-01 8.54535174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.440714056999997 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:29.65, Y:0.97, Z:0.86 [[ 9.73850385e-01 -2.24843214e-01 -3.25723302e-02 2.96468366e+01] [ 2.24827553e-01 9.74389560e-01 -4.19011246e-03 9.66265873e-01] [ 3.26802568e-02 -3.24261466e-03 9.99460598e-01 8.55507730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.470714057 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:29.68, Y:0.97, Z:0.86 [[ 9.73632639e-01 -2.25784078e-01 -3.25735262e-02 2.96800582e+01] [ 2.25769246e-01 9.74171837e-01 -4.18079389e-03 9.70695418e-01] [ 3.26761686e-02 -3.28354306e-03 9.99460598e-01 8.56917564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.500714057 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:29.71, Y:0.98, Z:0.86 [[ 9.73313864e-01 -2.27154152e-01 -3.25747388e-02 2.97128711e+01] [ 2.27140393e-01 9.73853091e-01 -4.17132457e-03 9.75138784e-01] [ 3.26705437e-02 -3.33903093e-03 9.99460598e-01 8.58749767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.530714056999997 meters Centerline goodness : 0.992670 Centerline is valid? [True, True] Translation: X:29.76, Y:0.97, Z:0.86 [[ 9.76121430e-01 -2.14769084e-01 -3.25759891e-02 2.97602118e+01] [ 2.14748798e-01 9.76660450e-01 -4.16153763e-03 9.66203895e-01] [ 3.27094498e-02 -2.93348844e-03 9.99460598e-01 8.62507995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.560714057 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:29.77, Y:0.98, Z:0.86 [[ 9.72481692e-01 -2.30665120e-01 -3.27560976e-02 2.97717196e+01] [ 2.30700733e-01 9.73020897e-01 -2.73973518e-03 9.84931822e-01] [ 3.25043288e-02 -4.89251342e-03 9.99459620e-01 8.60458181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.590714057 meters Centerline goodness : 0.991554 Centerline is valid? [True, True] Translation: X:29.81, Y:0.98, Z:0.86 [[ 9.74847470e-01 -2.20480171e-01 -3.25715182e-02 2.98118218e+01] [ 2.20462465e-01 9.75386508e-01 -4.17872932e-03 9.81541054e-01] [ 3.26911463e-02 -3.10717348e-03 9.99460672e-01 8.63354905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.620714056999997 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:29.84, Y:0.99, Z:0.86 [[ 9.75367487e-01 -2.18156562e-01 -3.26493452e-02 2.98423374e+01] [ 2.18157759e-01 9.75906990e-01 -3.56909101e-03 9.87827803e-01] [ 3.26413448e-02 -3.64153265e-03 9.99460495e-01 8.62686084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.650714057 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:29.88, Y:0.99, Z:0.86 [[ 9.75338245e-01 -2.18287402e-01 -3.26483873e-02 2.98754961e+01] [ 2.18288423e-01 9.75877745e-01 -3.57661149e-03 9.92183024e-01] [ 3.26415638e-02 -3.63835898e-03 9.99460500e-01 8.63787669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.680714057 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:29.91, Y:1.00, Z:0.87 [[ 9.75885580e-01 -2.15828704e-01 -3.26390026e-02 2.99091035e+01] [ 2.15825947e-01 9.76425031e-01 -3.64958706e-03 9.97921529e-01] [ 3.26572247e-02 -3.48276426e-03 9.99460543e-01 8.66787612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.710714056999997 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:29.93, Y:1.01, Z:0.87 [[ 9.73939146e-01 -2.24445571e-01 -3.26607524e-02 2.99309181e+01] [ 2.24453190e-01 9.74478657e-01 -3.48034749e-03 1.01450557e+00] [ 3.26083547e-02 -3.94116338e-03 9.99460436e-01 8.66146126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.740714056999998 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:29.98, Y:1.01, Z:0.86 [[ 9.76656411e-01 -2.12324366e-01 -3.25671498e-02 2.99793958e+01] [ 2.12301273e-01 9.77195213e-01 -4.20530250e-03 1.00945351e+00] [ 3.27173511e-02 -2.80691174e-03 9.99460703e-01 8.63125183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.770714057 meters Centerline goodness : 0.992818 Centerline is valid? [True, True] Translation: X:30.00, Y:1.02, Z:0.87 [[ 9.77955736e-01 -2.06225809e-01 -3.27642324e-02 3.00010657e+01] [ 2.06250420e-01 9.78495616e-01 -2.66355137e-03 1.01697940e+00] [ 3.26089508e-02 -4.15280134e-03 9.99459559e-01 8.70838439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.800714056999997 meters Centerline goodness : 0.992930 Centerline is valid? [True, True] Translation: X:30.04, Y:1.02, Z:0.87 [[ 9.78731582e-01 -2.02528375e-01 -3.26611008e-02 3.00362683e+01] [ 2.02524379e-01 9.79271090e-01 -3.46520140e-03 1.02378895e+00] [ 3.26858734e-02 -3.22316710e-03 9.99460477e-01 8.74977575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.830714056999998 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:30.07, Y:1.03, Z:0.87 [[ 9.78499716e-01 -2.03637546e-01 -3.27116876e-02 3.00659559e+01] [ 2.03647198e-01 9.79039521e-01 -3.07169633e-03 1.03056419e+00] [ 3.26515477e-02 -3.65598954e-03 9.99460109e-01 8.68175330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.860714057 meters Centerline goodness : 0.992389 Centerline is valid? [True, True] Translation: X:30.10, Y:1.04, Z:0.87 [[ 9.79663784e-01 -1.97962069e-01 -3.27091718e-02 3.00965801e+01] [ 1.97967943e-01 9.80203620e-01 -3.09125646e-03 1.03801867e+00] [ 3.26736002e-02 -3.44697548e-03 9.99460131e-01 8.68190311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.890714056999997 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:30.12, Y:1.05, Z:0.87 [[ 9.81314993e-01 -1.89609285e-01 -3.26986892e-02 3.01226880e+01] [ 1.89607866e-01 9.81854771e-01 -3.17258765e-03 1.04601383e+00] [ 3.27069160e-02 -3.08662084e-03 9.99460220e-01 8.73768213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.920714056999998 meters Centerline goodness : 0.992567 Centerline is valid? [True, True] Translation: X:30.15, Y:1.05, Z:0.87 [[ 9.81519881e-01 -1.88553597e-01 -3.26536939e-02 3.01526707e+01] [ 1.88540096e-01 9.82059185e-01 -3.51995254e-03 1.05333513e+00] [ 3.27315597e-02 -2.70162717e-03 9.99460528e-01 8.73462343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.950714057 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:30.17, Y:1.07, Z:0.88 [[ 9.80621839e-01 -1.93171913e-01 -3.26407763e-02 3.01729048e+01] [ 1.93157651e-01 9.81161057e-01 -3.61960703e-03 1.06716111e+00] [ 3.27250650e-02 -2.75534998e-03 9.99460594e-01 8.79194410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.980714056999997 meters Centerline goodness : 0.991135 Centerline is valid? [True, True] Translation: X:30.21, Y:1.06, Z:0.88 [[ 9.82716754e-01 -1.82232318e-01 -3.25447833e-02 3.02136826e+01] [ 1.82187705e-01 9.83254120e-01 -4.35606695e-03 1.06499740e+00] [ 3.27936084e-02 -1.64847941e-03 9.99460786e-01 8.76093889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.010714056999998 meters Centerline goodness : 0.992014 Centerline is valid? [True, True] Translation: X:30.25, Y:1.07, Z:0.88 [[ 9.83313620e-01 -1.78965289e-01 -3.26458348e-02 3.02460135e+01] [ 1.78944668e-01 9.83852640e-01 -3.57604130e-03 1.06949939e+00] [ 3.27586781e-02 -2.32542797e-03 9.99460585e-01 8.77809053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.040714057 meters Centerline goodness : 0.991578 Centerline is valid? [True, True] Translation: X:30.28, Y:1.07, Z:0.88 [[ 9.83548606e-01 -1.77667707e-01 -3.26546504e-02 3.02775898e+01] [ 1.77648630e-01 9.84087729e-01 -3.50787245e-03 1.07322124e+00] [ 3.27582765e-02 -2.35089085e-03 9.99460539e-01 8.79399081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.070714056999996 meters Centerline goodness : 0.992302 Centerline is valid? [True, True] Translation: X:30.31, Y:1.08, Z:0.88 [[ 9.83387677e-01 -1.78556739e-01 -3.26522097e-02 3.03104424e+01] [ 1.78537533e-01 9.83926782e-01 -3.52649136e-03 1.07766380e+00] [ 3.27570624e-02 -2.36173683e-03 9.99460553e-01 8.79520410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.100714056999998 meters Centerline goodness : 0.991580 Centerline is valid? [True, True] Translation: X:30.34, Y:1.08, Z:0.88 [[ 9.83592301e-01 -1.77422726e-01 -3.26705106e-02 3.03397581e+01] [ 1.77407522e-01 9.84131648e-01 -3.38677006e-03 1.08257733e+00] [ 3.27529734e-02 -2.46479336e-03 9.99460438e-01 8.81854519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.130714057 meters Centerline goodness : 0.990858 Centerline is valid? [True, True] Translation: X:30.37, Y:1.09, Z:0.88 [[ 9.83432773e-01 -1.78307592e-01 -3.26555176e-02 3.03711957e+01] [ 1.78289055e-01 9.83971924e-01 -3.50217254e-03 1.08929817e+00] [ 3.27565765e-02 -2.37797011e-03 9.99460530e-01 8.81751386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.160714057 meters Centerline goodness : 0.992413 Centerline is valid? [True, True] Translation: X:30.40, Y:1.09, Z:0.88 [[ 9.83088923e-01 -1.80198221e-01 -3.26308200e-02 3.04049834e+01] [ 1.80174548e-01 9.83627737e-01 -3.68872100e-03 1.09444672e+00] [ 3.27612806e-02 -2.25290250e-03 9.99460666e-01 8.81073853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.190714056999997 meters Centerline goodness : 0.992825 Centerline is valid? [True, True] Translation: X:30.44, Y:1.10, Z:0.88 [[ 9.83039582e-01 -1.80461198e-01 -3.26639770e-02 3.04355490e+01] [ 1.80445975e-01 9.83578890e-01 -3.43767818e-03 1.09851916e+00] [ 3.27479657e-02 -2.51470946e-03 9.99460478e-01 8.81944554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.220714057 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:30.47, Y:1.10, Z:0.88 [[ 9.83021697e-01 -1.80559275e-01 -3.26602314e-02 3.04659799e+01] [ 1.80543167e-01 9.83560954e-01 -3.46606193e-03 1.10277200e+00] [ 3.27491580e-02 -2.48936753e-03 9.99460502e-01 8.84521437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.250714057 meters Centerline goodness : 0.991682 Centerline is valid? [True, True] Translation: X:30.50, Y:1.11, Z:0.88 [[ 9.82711678e-01 -1.82242525e-01 -3.26407800e-02 3.04994225e+01] [ 1.82222504e-01 9.83250686e-01 -3.61218702e-03 1.10716162e+00] [ 3.27523634e-02 -2.39814631e-03 9.99460620e-01 8.83105917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.280714056999997 meters Centerline goodness : 0.992179 Centerline is valid? [True, True] Translation: X:30.53, Y:1.11, Z:0.88 [[ 9.82565784e-01 -1.83024511e-01 -3.26574573e-02 3.05295718e+01] [ 1.83009071e-01 9.83105042e-01 -3.48674030e-03 1.11191921e+00] [ 3.27438698e-02 -2.55065920e-03 9.99460521e-01 8.84479489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.310714057 meters Centerline goodness : 0.991814 Centerline is valid? [True, True] Translation: X:30.56, Y:1.12, Z:0.89 [[ 9.82735243e-01 -1.82115649e-01 -3.26394486e-02 3.05583498e+01] [ 1.82095222e-01 9.83274229e-01 -3.62234902e-03 1.11614245e+00] [ 3.27532151e-02 -2.38367760e-03 9.99460627e-01 8.88010415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.340714057 meters Centerline goodness : 0.992247 Centerline is valid? [True, True] Translation: X:30.59, Y:1.12, Z:0.89 [[ 9.82352392e-01 -1.84174423e-01 -3.26122639e-02 3.05904303e+01] [ 1.84148337e-01 9.82891011e-01 -3.82755988e-03 1.12073042e+00] [ 3.27592396e-02 -2.24548154e-03 9.99460750e-01 8.86350767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.370714056999997 meters Centerline goodness : 0.992247 Centerline is valid? [True, True] Translation: X:30.62, Y:1.13, Z:0.89 [[ 9.82341505e-01 -1.84230274e-01 -3.26247356e-02 3.06226133e+01] [ 1.84207330e-01 9.82880319e-01 -3.73351041e-03 1.12510110e+00] [ 3.27540361e-02 -2.34213320e-03 9.99460698e-01 8.87379227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.400714057 meters Centerline goodness : 0.992892 Centerline is valid? [True, True] Translation: X:30.66, Y:1.13, Z:0.89 [[ 9.82084350e-01 -1.85598709e-01 -3.26105732e-02 3.06569755e+01] [ 1.85573027e-01 9.82622977e-01 -3.83896842e-03 1.12911679e+00] [ 3.27564061e-02 -2.28145196e-03 9.99460761e-01 8.86151481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.430714057 meters Centerline goodness : 0.991024 Centerline is valid? [True, True] Translation: X:30.68, Y:1.13, Z:0.89 [[ 9.82278990e-01 -1.84559536e-01 -3.26460274e-02 3.06845410e+01] [ 1.84542036e-01 9.82818122e-01 -3.57444333e-03 1.13256551e+00] [ 3.27448049e-02 -2.51346378e-03 9.99460585e-01 8.91751949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.460714056999997 meters Centerline goodness : 0.992481 Centerline is valid? [True, True] Translation: X:30.72, Y:1.14, Z:0.89 [[ 9.81381677e-01 -1.89280379e-01 -3.26028041e-02 3.07167860e+01] [ 1.89254795e-01 9.81920280e-01 -3.89702867e-03 1.13788007e+00] [ 3.27509856e-02 -2.34576449e-03 9.99460790e-01 8.88990142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.490714056999998 meters Centerline goodness : 0.992390 Centerline is valid? [True, True] Translation: X:30.75, Y:1.14, Z:0.89 [[ 9.80524675e-01 -1.93669177e-01 -3.26130656e-02 3.07462874e+01] [ 1.93648530e-01 9.81063530e-01 -3.82070177e-03 1.14230667e+00] [ 3.27354414e-02 -2.56917983e-03 9.99460750e-01 8.91499417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.520714057 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:30.78, Y:1.15, Z:0.89 [[ 9.80410710e-01 -1.94249456e-01 -3.25881500e-02 3.07777551e+01] [ 1.94223000e-01 9.80949224e-01 -4.00588723e-03 1.14583066e+00] [ 3.27454619e-02 -2.40195350e-03 9.99460837e-01 8.93237929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.550714056999997 meters Centerline goodness : 0.991845 Centerline is valid? [True, True] Translation: X:30.81, Y:1.15, Z:0.90 [[ 9.80341667e-01 -1.94597178e-01 -3.25907116e-02 3.08090431e+01] [ 1.94571545e-01 9.80880227e-01 -3.98676362e-03 1.14840196e+00] [ 3.27433975e-02 -2.43283463e-03 9.99460830e-01 8.96417343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.580714056999998 meters Centerline goodness : 0.992409 Centerline is valid? [True, True] Translation: X:30.84, Y:1.15, Z:0.89 [[ 9.79551470e-01 -1.98537609e-01 -3.25842872e-02 3.08417147e+01] [ 1.98512564e-01 9.80090039e-01 -4.03443013e-03 1.15316129e+00] [ 3.27365214e-02 -2.51645841e-03 9.99460848e-01 8.93740105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.610714057 meters Centerline goodness : 0.991503 Centerline is valid? [True, True] Translation: X:30.87, Y:1.16, Z:0.90 [[ 9.79285766e-01 -1.99842531e-01 -3.25937279e-02 3.08710575e+01] [ 1.99820526e-01 9.79824496e-01 -3.96425861e-03 1.15799105e+00] [ 3.27283605e-02 -2.63075382e-03 9.99460821e-01 8.96061734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.640714056999997 meters Centerline goodness : 0.992237 Centerline is valid? [True, True] Translation: X:30.90, Y:1.16, Z:0.90 [[ 9.78998295e-01 -2.01250806e-01 -3.25645779e-02 3.09031310e+01] [ 2.01222416e-01 9.79536657e-01 -4.18061090e-03 1.16249198e+00] [ 3.27395490e-02 -2.45991210e-03 9.99460890e-01 8.97642621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.670714056999998 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:30.94, Y:1.17, Z:0.90 [[ 9.78667933e-01 -2.02850321e-01 -3.25703117e-02 3.09364791e+01] [ 2.02824219e-01 9.79206420e-01 -4.13804350e-03 1.16562476e+00] [ 3.27324618e-02 -2.55627756e-03 9.99460880e-01 8.97607660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.700714057 meters Centerline goodness : 0.992047 Centerline is valid? [True, True] Translation: X:30.97, Y:1.17, Z:0.90 [[ 9.78447317e-01 -2.03910032e-01 -3.25813726e-02 3.09660467e+01] [ 2.03887235e-01 9.78985978e-01 -4.05581790e-03 1.16918340e+00] [ 3.27237289e-02 -2.67452184e-03 9.99460857e-01 8.98813926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.730714056999997 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:31.00, Y:1.17, Z:0.90 [[ 9.78091796e-01 -2.05610974e-01 -3.25663323e-02 3.09992838e+01] [ 2.05585408e-01 9.78630303e-01 -4.16776889e-03 1.17116005e+00] [ 3.27273386e-02 -2.61870215e-03 9.99460887e-01 8.99971524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.760714056999998 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:31.04, Y:1.17, Z:0.90 [[ 9.77180933e-01 -2.09896284e-01 -3.25725966e-02 3.10378396e+01] [ 2.09874617e-01 9.77719622e-01 -4.12132220e-03 1.17479915e+00] [ 3.27119171e-02 -2.80888376e-03 9.99460875e-01 8.97765553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.790714057 meters Centerline goodness : 0.992173 Centerline is valid? [True, True] Translation: X:31.06, Y:1.18, Z:0.90 [[ 9.77702135e-01 -2.07441248e-01 -3.26598223e-02 3.10636693e+01] [ 2.07439754e-01 9.78241636e-01 -3.47140596e-03 1.17749269e+00] [ 3.26693108e-02 -3.38094449e-03 9.99460497e-01 9.00307804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.820714056999996 meters Centerline goodness : 0.992472 Centerline is valid? [True, True] Translation: X:31.09, Y:1.18, Z:0.90 [[ 9.77785353e-01 -2.07059145e-01 -3.25931729e-02 3.10945240e+01] [ 2.07041061e-01 9.78324216e-01 -3.96580492e-03 1.18080250e+00] [ 3.27078465e-02 -2.87041915e-03 9.99460833e-01 9.01908773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.850714056999998 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:31.13, Y:1.18, Z:0.90 [[ 9.77587348e-01 -2.07992969e-01 -3.25868416e-02 3.11289005e+01] [ 2.07973853e-01 9.78126155e-01 -4.01252470e-03 1.18372048e+00] [ 3.27086191e-02 -2.85461765e-03 9.99460853e-01 9.02358114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.880714057 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:31.16, Y:1.19, Z:0.90 [[ 9.77833343e-01 -2.06828485e-01 -3.26179501e-02 3.11599074e+01] [ 2.06816338e-01 9.78372472e-01 -3.78272951e-03 1.18681825e+00] [ 3.26948807e-02 -3.04704595e-03 9.99460735e-01 9.03360719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.910714057 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:31.19, Y:1.19, Z:0.91 [[ 9.78313509e-01 -2.04545909e-01 -3.26136282e-02 3.11902912e+01] [ 2.04531442e-01 9.78852561e-01 -3.81477784e-03 1.18931778e+00] [ 3.27042306e-02 -2.93846372e-03 9.99460754e-01 9.05590048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.940714056999997 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:31.22, Y:1.19, Z:0.91 [[ 9.78223236e-01 -2.04979214e-01 -3.26009474e-02 3.12224582e+01] [ 2.04961869e-01 9.78762153e-01 -3.90889208e-03 1.19293848e+00] [ 3.27098151e-02 -2.85818208e-03 9.99460804e-01 9.05233264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.970714057 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:31.26, Y:1.20, Z:0.90 [[ 9.77431963e-01 -2.08718443e-01 -3.26093540e-02 3.12598470e+01] [ 2.08705226e-01 9.77971029e-01 -3.84650614e-03 1.19728235e+00] [ 3.26938403e-02 -3.04604455e-03 9.99460772e-01 9.02320235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.000714057 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:31.29, Y:1.20, Z:0.90 [[ 9.77589663e-01 -2.07967895e-01 -3.26772818e-02 3.12908866e+01] [ 2.07970916e-01 9.78129294e-01 -3.34401117e-03 1.20093471e+00] [ 3.26580535e-02 -3.52685345e-03 9.99460361e-01 9.03343791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.030714057 meters Centerline goodness : 0.991878 Centerline is valid? [True, True] Translation: X:31.31, Y:1.20, Z:0.91 [[ 9.78656364e-01 -2.02890934e-01 -3.26648170e-02 3.13148219e+01] [ 2.02888099e-01 9.79195901e-01 -3.43613711e-03 1.20391549e+00] [ 3.26824159e-02 -3.26450518e-03 9.99460456e-01 9.05004946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.060714057 meters Centerline goodness : 0.992989 Centerline is valid? [True, True] Translation: X:31.35, Y:1.21, Z:0.91 [[ 9.77868386e-01 -2.06667627e-01 -3.25869851e-02 3.13506849e+01] [ 2.06647962e-01 9.78407156e-01 -4.00700939e-03 1.21020251e+00] [ 3.27114586e-02 -2.81570626e-03 9.99460871e-01 9.08351510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.090714057 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:31.37, Y:1.22, Z:0.91 [[ 9.76567536e-01 -2.12719683e-01 -3.26524644e-02 3.13701304e+01] [ 2.12719314e-01 9.77106988e-01 -3.52538420e-03 1.22195356e+00] [ 3.26548697e-02 -3.50303405e-03 9.99460549e-01 9.07511457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.120714057 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:31.40, Y:1.23, Z:0.91 [[ 9.76596386e-01 -2.12606644e-01 -3.25255957e-02 3.14016889e+01] [ 2.12575508e-01 9.77134500e-01 -4.45230830e-03 1.22589942e+00] [ 3.27284720e-02 -2.56603684e-03 9.99460986e-01 9.08961467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.150714056999995 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:31.43, Y:1.23, Z:0.91 [[ 9.76579762e-01 -2.12682822e-01 -3.25266964e-02 3.14343405e+01] [ 2.12651994e-01 9.77117894e-01 -4.44425236e-03 1.22947296e+00] [ 3.27276332e-02 -2.57669994e-03 9.99460986e-01 9.12438598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.180714056999996 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:31.47, Y:1.23, Z:0.92 [[ 9.76563372e-01 -2.12757876e-01 -3.25279296e-02 3.14674975e+01] [ 2.12727390e-01 9.77101523e-01 -4.43520840e-03 1.23328988e+00] [ 3.27267150e-02 -2.58831948e-03 9.99460986e-01 9.15372587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.210714057 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:31.51, Y:1.23, Z:0.92 [[ 9.77967687e-01 -2.06206342e-01 -3.25291855e-02 3.15126545e+01] [ 2.06172554e-01 9.78505641e-01 -4.42597813e-03 1.22926021e+00] [ 3.27426562e-02 -2.37816165e-03 9.99460986e-01 9.15802335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.240714057 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:31.54, Y:1.23, Z:0.92 [[ 9.77710962e-01 -2.07397450e-01 -3.26737272e-02 3.15435567e+01] [ 2.07399668e-01 9.78250529e-01 -3.35852624e-03 1.23424724e+00] [ 3.26596407e-02 -3.49285226e-03 9.99460428e-01 9.16547383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.270714057 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:31.56, Y:1.25, Z:0.92 [[ 9.76505809e-01 -2.13002658e-01 -3.26538240e-02 3.15624521e+01] [ 2.13003105e-01 9.77045234e-01 -3.50533073e-03 1.24501483e+00] [ 3.26509079e-02 -3.53239008e-03 9.99460575e-01 9.18265113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.300714057 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:31.60, Y:1.25, Z:0.92 [[ 9.76676682e-01 -2.12237445e-01 -3.25257583e-02 3.15953264e+01] [ 2.12206412e-01 9.77214766e-01 -4.44297249e-03 1.24940072e+00] [ 3.27276165e-02 -2.56282685e-03 9.99461022e-01 9.18230566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.330714057 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:31.63, Y:1.25, Z:0.92 [[ 9.76963091e-01 -2.10914934e-01 -3.25270446e-02 3.16277078e+01] [ 2.10883484e-01 9.77501151e-01 -4.43353603e-03 1.25401046e+00] [ 3.27303225e-02 -2.52801543e-03 9.99461022e-01 9.19249959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.360714056999996 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:31.66, Y:1.26, Z:0.92 [[ 9.77055871e-01 -2.10484516e-01 -3.25283316e-02 3.16600590e+01] [ 2.10453143e-01 9.77593935e-01 -4.42407299e-03 1.25914287e+00] [ 3.27306986e-02 -2.52312313e-03 9.99461022e-01 9.20107179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.390714057 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:31.70, Y:1.26, Z:0.92 [[ 9.78389392e-01 -2.04196037e-01 -3.25296257e-02 3.17048590e+01] [ 2.04161519e-01 9.78927263e-01 -4.41453742e-03 1.25613702e+00] [ 3.27455685e-02 -2.32216122e-03 9.99461022e-01 9.20611301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.420714057 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:31.72, Y:1.27, Z:0.92 [[ 9.77135687e-01 -2.10091673e-01 -3.26701341e-02 3.17218976e+01] [ 2.10094908e-01 9.77675179e-01 -3.37254825e-03 1.26776270e+00] [ 3.26493236e-02 -3.56839158e-03 9.99460499e-01 9.21090449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.450714057 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:31.76, Y:1.27, Z:0.92 [[ 9.77305296e-01 -2.09323514e-01 -3.25272844e-02 3.17551386e+01] [ 2.09291528e-01 9.77843286e-01 -4.42317762e-03 1.27269499e+00] [ 3.27324617e-02 -2.48489014e-03 9.99461060e-01 9.21806343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.480714057 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:31.79, Y:1.28, Z:0.92 [[ 9.76062791e-01 -2.15042606e-01 -3.25285485e-02 3.17859479e+01] [ 2.15014079e-01 9.76600975e-01 -4.41386153e-03 1.28223781e+00] [ 3.27165805e-02 -2.68588991e-03 9.99461060e-01 9.20123810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.510714057 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:31.82, Y:1.28, Z:0.92 [[ 9.77232459e-01 -2.09663265e-01 -3.25274779e-02 3.18187670e+01] [ 2.09631513e-01 9.77770462e-01 -4.42176028e-03 1.28203804e+00] [ 3.27314878e-02 -2.49769672e-03 9.99461060e-01 9.22209179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.540714056999995 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:31.87, Y:1.28, Z:0.92 [[ 9.78271518e-01 -2.04759871e-01 -3.25304702e-02 3.18650631e+01] [ 2.04726154e-01 9.78809402e-01 -4.39963522e-03 1.27908947e+00] [ 3.27419988e-02 -2.35580022e-03 9.99461061e-01 9.22221092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.570714056999996 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:31.91, Y:1.28, Z:0.92 [[ 9.78761441e-01 -2.02385136e-01 -3.26542198e-02 3.19051622e+01] [ 2.02379840e-01 9.79300841e-01 -3.50184443e-03 1.28033347e+00] [ 3.26870262e-02 -3.18108548e-03 9.99460574e-01 9.19543769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.600714057 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:31.93, Y:1.29, Z:0.92 [[ 9.77586446e-01 -2.07966636e-01 -3.27813923e-02 3.19260173e+01] [ 2.07995194e-01 9.78126460e-01 -2.57424471e-03 1.28945025e+00] [ 3.25997042e-02 -4.30182529e-03 9.99459231e-01 9.23725176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.630714057 meters Centerline goodness : 0.991572 Centerline is valid? [True, True] Translation: X:31.95, Y:1.30, Z:0.92 [[ 9.75976667e-01 -2.15413302e-01 -3.26596690e-02 3.19516895e+01] [ 2.15415722e-01 9.76516212e-01 -3.48636843e-03 1.30120217e+00] [ 3.26437064e-02 -3.63279193e-03 9.99460450e-01 9.23198307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.660714057 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:31.99, Y:1.30, Z:0.92 [[ 9.77280292e-01 -2.09434053e-01 -3.25669801e-02 3.19888141e+01] [ 2.09410276e-01 9.77818943e-01 -4.17749350e-03 1.30015171e+00] [ 3.27195195e-02 -2.73727823e-03 9.99460825e-01 9.24103873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.690714057 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:32.01, Y:1.31, Z:0.93 [[ 9.76216062e-01 -2.14316627e-01 -3.27197678e-02 3.20131817e+01] [ 2.14333135e-01 9.76755878e-01 -3.04329895e-03 1.30892399e+00] [ 3.26114551e-02 -4.04201309e-03 9.99459932e-01 9.25879354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.720714056999995 meters Centerline goodness : 0.991598 Centerline is valid? [True, True] Translation: X:32.04, Y:1.32, Z:0.93 [[ 9.75316185e-01 -2.18392273e-01 -3.26060637e-02 3.20407040e+01] [ 2.18383049e-01 9.75855385e-01 -3.88740583e-03 1.31791654e+00] [ 3.26677822e-02 -3.32916178e-03 9.99460721e-01 9.26238362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.750714056999996 meters Centerline goodness : 0.992650 Centerline is valid? [True, True] Translation: X:32.07, Y:1.32, Z:0.93 [[ 9.75462286e-01 -2.17745508e-01 -3.25610625e-02 3.20741881e+01] [ 2.17724880e-01 9.76001056e-01 -4.22089382e-03 1.32186063e+00] [ 3.26987120e-02 -2.97203070e-03 9.99460835e-01 9.27046998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.780714057 meters Centerline goodness : 0.986221 Centerline is valid? [True, True] Translation: X:32.10, Y:1.33, Z:0.93 [[ 9.76292357e-01 -2.13989668e-01 -3.25830619e-02 3.20950743e+01] [ 2.13972394e-01 9.76831283e-01 -4.05699207e-03 1.32580691e+00] [ 3.26963085e-02 -3.01106541e-03 9.99460797e-01 9.31627542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.810714057 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:32.13, Y:1.33, Z:0.93 [[ 9.76242209e-01 -2.14242909e-01 -3.24210709e-02 3.21327916e+01] [ 2.14186154e-01 9.76778728e-01 -5.25437238e-03 1.33055101e+00] [ 3.27939244e-02 -1.81460438e-03 9.99460487e-01 9.32766515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.840714057 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:32.16, Y:1.34, Z:0.93 [[ 9.76313796e-01 -2.13898382e-01 -3.25400376e-02 3.21649338e+01] [ 2.13870747e-01 9.76852201e-01 -4.36826549e-03 1.33574995e+00] [ 3.27211723e-02 -2.69456431e-03 9.99460887e-01 9.33101573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.870714057 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:32.20, Y:1.34, Z:0.94 [[ 9.76361348e-01 -2.13681045e-01 -3.25411895e-02 3.21975090e+01] [ 2.13653576e-01 9.76899761e-01 -4.35966776e-03 1.34259355e+00] [ 3.27210586e-02 -2.69593041e-03 9.99460887e-01 9.36276254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.900714056999995 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:32.23, Y:1.35, Z:0.94 [[ 9.76439881e-01 -2.13321695e-01 -3.25424665e-02 3.22268920e+01] [ 2.13294344e-01 9.76978300e-01 -4.35011506e-03 1.34851375e+00] [ 3.27212575e-02 -2.69349821e-03 9.99460887e-01 9.43365100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.930714056999996 meters Centerline goodness : 0.986562 Centerline is valid? [True, True] Translation: X:32.25, Y:1.36, Z:0.94 [[ 9.75947770e-01 -2.15565693e-01 -3.25174076e-02 3.22516283e+01] [ 2.15533436e-01 9.76485927e-01 -4.53570196e-03 1.35601718e+00] [ 3.27305327e-02 -2.58198038e-03 9.99460877e-01 9.38786074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.960714057 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:32.29, Y:1.36, Z:0.94 [[ 9.76461656e-01 -2.13239940e-01 -3.24247344e-02 3.22897494e+01] [ 2.13183963e-01 9.76998164e-01 -5.21404819e-03 1.36066955e+00] [ 3.27907492e-02 -1.82111524e-03 9.99460580e-01 9.38849204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.990714057 meters Centerline goodness : 0.991386 Centerline is valid? [True, True] Translation: X:32.33, Y:1.35, Z:0.94 [[ 9.78952317e-01 -2.01479268e-01 -3.25340673e-02 3.23346508e+01] [ 2.01443514e-01 9.79490219e-01 -4.40699232e-03 1.35457768e+00] [ 3.27547183e-02 -2.23954151e-03 9.99460911e-01 9.40078330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.020714057 meters Centerline goodness : 0.992582 Centerline is valid? [True, True] Translation: X:32.35, Y:1.37, Z:0.94 [[ 9.76400603e-01 -2.13480933e-01 -3.26765079e-02 3.23512411e+01] [ 2.13486837e-01 9.76940201e-01 -3.34887174e-03 1.37160578e+00] [ 3.26379144e-02 -3.70616391e-03 9.99460370e-01 9.39088716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.050714057 meters Centerline goodness : 0.992609 Centerline is valid? [True, True] Translation: X:32.40, Y:1.36, Z:0.94 [[ 9.78780945e-01 -2.02310571e-01 -3.25314255e-02 3.23958759e+01] [ 2.02274925e-01 9.79318815e-01 -4.41744510e-03 1.36477837e+00] [ 3.27523329e-02 -2.25658057e-03 9.99460951e-01 9.41549474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.080714057 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:32.43, Y:1.37, Z:0.94 [[ 9.78642550e-01 -2.02955326e-01 -3.26786751e-02 3.24258342e+01] [ 2.02956177e-01 9.79182173e-01 -3.32589898e-03 1.36968148e+00] [ 3.26733850e-02 -3.37747273e-03 9.99460376e-01 9.41343602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.110714056999996 meters Centerline goodness : 0.992162 Centerline is valid? [True, True] Translation: X:32.46, Y:1.38, Z:0.94 [[ 9.78386890e-01 -2.04188194e-01 -3.26538669e-02 3.24569821e+01] [ 2.04183662e-01 9.78926310e-01 -3.50885754e-03 1.37606729e+00] [ 3.26821967e-02 -3.23436590e-03 9.99460561e-01 9.41717790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.140714057 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:32.47, Y:1.39, Z:0.95 [[ 9.76320779e-01 -2.13850440e-01 -3.26454443e-02 3.24735615e+01] [ 2.13849183e-01 9.76860162e-01 -3.57093456e-03 1.39222527e+00] [ 3.26536799e-02 -3.49482396e-03 9.99460616e-01 9.48546088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.170714057 meters Centerline goodness : 0.993472 Centerline is valid? [True, True] Translation: X:32.51, Y:1.40, Z:0.94 [[ 9.76213871e-01 -2.14359288e-01 -3.25049794e-02 3.25063371e+01] [ 2.14324290e-01 9.76751737e-01 -4.59813109e-03 1.39738611e+00] [ 3.27349472e-02 -2.47784729e-03 9.99460996e-01 9.43790897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.200714057 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:32.55, Y:1.39, Z:0.95 [[ 9.78328277e-01 -2.04489027e-01 -3.25272316e-02 3.25500998e+01] [ 2.04453997e-01 9.78866127e-01 -4.43492942e-03 1.39309081e+00] [ 3.27466996e-02 -2.31150565e-03 9.99461010e-01 9.47117375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.230714057 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:32.58, Y:1.40, Z:0.95 [[ 9.78177692e-01 -2.05188035e-01 -3.26538241e-02 3.25808128e+01] [ 2.05184286e-01 9.78717092e-01 -3.50176180e-03 1.39823255e+00] [ 3.26773754e-02 -3.27470629e-03 9.99460587e-01 9.46558371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.260714057 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:32.62, Y:1.40, Z:0.94 [[ 9.77714955e-01 -2.07385550e-01 -3.26297501e-02 3.26172106e+01] [ 2.07377163e-01 9.78254150e-01 -3.67829629e-03 1.40232646e+00] [ 3.26830139e-02 -3.17033970e-03 9.99460739e-01 9.42800768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.290714056999995 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:32.65, Y:1.41, Z:0.94 [[ 9.77618614e-01 -2.07828632e-01 -3.26971844e-02 3.26483777e+01] [ 2.07836871e-01 9.78158319e-01 -3.18411784e-03 1.40678217e+00] [ 3.26447738e-02 -3.68282761e-03 9.99460232e-01 9.43629707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.320714056999996 meters Centerline goodness : 0.992750 Centerline is valid? [True, True] Translation: X:32.67, Y:1.41, Z:0.95 [[ 9.78193434e-01 -2.05106320e-01 -3.26956192e-02 3.26746655e+01] [ 2.05112676e-01 9.78733150e-01 -3.19557527e-03 1.41110122e+00] [ 3.26557191e-02 -3.58039521e-03 9.99460247e-01 9.51119806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.350714057 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:32.71, Y:1.42, Z:0.95 [[ 9.77797033e-01 -2.06997408e-01 -3.26348660e-02 3.27057717e+01] [ 2.06990235e-01 9.78336255e-01 -3.63511779e-03 1.41616887e+00] [ 3.26803325e-02 -3.20069118e-03 9.99460730e-01 9.51847329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.380714057 meters Centerline goodness : 0.992914 Centerline is valid? [True, True] Translation: X:32.74, Y:1.42, Z:0.95 [[ 9.77937696e-01 -2.06331396e-01 -3.26376728e-02 3.27367308e+01] [ 2.06324529e-01 9.78476940e-01 -3.61478295e-03 1.42015990e+00] [ 3.26810534e-02 -3.19891997e-03 9.99460712e-01 9.50605439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.410714057 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:32.77, Y:1.42, Z:0.95 [[ 9.77888469e-01 -2.06565091e-01 -3.26344171e-02 3.27695282e+01] [ 2.06557573e-01 9.78427683e-01 -3.63830737e-03 1.42454990e+00] [ 3.26819645e-02 -3.18302718e-03 9.99460733e-01 9.51518208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.440714057 meters Centerline goodness : 0.992015 Centerline is valid? [True, True] Translation: X:32.80, Y:1.43, Z:0.95 [[ 9.78402441e-01 -2.04115696e-01 -3.26411724e-02 3.27994719e+01] [ 2.04108444e-01 9.78941703e-01 -3.58956402e-03 1.42820877e+00] [ 3.26864913e-02 -3.15030070e-03 9.99460689e-01 9.54080564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.470714056999995 meters Centerline goodness : 0.992554 Centerline is valid? [True, True] Translation: X:32.83, Y:1.43, Z:0.96 [[ 9.78225043e-01 -2.04968030e-01 -3.26170425e-02 3.28309135e+01] [ 2.04955509e-01 9.78764058e-01 -3.76273367e-03 1.43348168e+00] [ 3.26956290e-02 -3.00424222e-03 9.99460840e-01 9.55523098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.500714056999996 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:32.86, Y:1.44, Z:0.96 [[ 9.78431190e-01 -2.03979505e-01 -3.26307962e-02 3.28629374e+01] [ 2.03969714e-01 9.78970343e-01 -3.66390881e-03 1.43811445e+00] [ 3.26919440e-02 -3.07081150e-03 9.99460758e-01 9.56508361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.530714057 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:32.90, Y:1.44, Z:0.96 [[ 9.78745057e-01 -2.02468399e-01 -3.26291529e-02 3.28952624e+01] [ 2.02457386e-01 9.79284176e-01 -3.67567684e-03 1.44352304e+00] [ 3.26974215e-02 -3.00846246e-03 9.99460769e-01 9.58708658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.560714057 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:32.93, Y:1.45, Z:0.96 [[ 9.78955390e-01 -2.01448430e-01 -3.26324241e-02 3.29263662e+01] [ 2.01437631e-01 9.79494534e-01 -3.65225891e-03 1.44853075e+00] [ 3.26990228e-02 -2.99799965e-03 9.99460748e-01 9.59923858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.590714057 meters Centerline goodness : 0.992024 Centerline is valid? [True, True] Translation: X:32.96, Y:1.45, Z:0.96 [[ 9.79106569e-01 -2.00713970e-01 -3.26225344e-02 3.29579016e+01] [ 2.00700434e-01 9.79645588e-01 -3.72262310e-03 1.45360193e+00] [ 3.27057043e-02 -2.90251209e-03 9.99460811e-01 9.60700090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.620714057 meters Centerline goodness : 0.991786 Centerline is valid? [True, True] Translation: X:32.99, Y:1.46, Z:0.96 [[ 9.79191151e-01 -2.00301789e-01 -3.26172162e-02 3.29872210e+01] [ 2.00286774e-01 9.79730099e-01 -3.76044301e-03 1.45862964e+00] [ 3.27092919e-02 -2.85060448e-03 9.99460843e-01 9.61426654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.650714056999995 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:33.02, Y:1.46, Z:0.96 [[ 9.79361495e-01 -1.99471871e-01 -3.25888771e-02 3.30210209e+01] [ 1.99449750e-01 9.79900049e-01 -3.96119055e-03 1.46337798e+00] [ 3.27239883e-02 -2.62040588e-03 9.99460992e-01 9.61623439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.680714056999996 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:33.05, Y:1.47, Z:0.96 [[ 9.79850924e-01 -1.97049944e-01 -3.26111447e-02 3.30495281e+01] [ 1.97031716e-01 9.80389737e-01 -3.80340784e-03 1.46808647e+00] [ 3.27210929e-02 -2.69865712e-03 9.99460878e-01 9.64095197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.710714057 meters Centerline goodness : 0.992782 Centerline is valid? [True, True] Translation: X:33.08, Y:1.47, Z:0.97 [[ 9.79758846e-01 -1.97513747e-01 -3.25718244e-02 3.30815027e+01] [ 1.97486582e-01 9.80297095e-01 -4.08104753e-03 1.47415445e+00] [ 3.27361279e-02 -2.43405586e-03 9.99461065e-01 9.65415427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.740714057 meters Centerline goodness : 0.992288 Centerline is valid? [True, True] Translation: X:33.11, Y:1.48, Z:0.97 [[ 9.80053304e-01 -1.96045964e-01 -3.25806766e-02 3.31129541e+01] [ 1.96020055e-01 9.80591652e-01 -4.01873834e-03 1.47822891e+00] [ 3.27361969e-02 -2.44788822e-03 9.99461029e-01 9.66752866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.770714057 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:33.14, Y:1.48, Z:0.97 [[ 9.80215685e-01 -1.95232805e-01 -3.25785621e-02 3.31447294e+01] [ 1.95205957e-01 9.80753978e-01 -4.03361554e-03 1.48285400e+00] [ 3.27390485e-02 -2.40571617e-03 9.99461038e-01 9.67656453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.800714057 meters Centerline goodness : 0.992014 Centerline is valid? [True, True] Translation: X:33.18, Y:1.49, Z:0.97 [[ 9.80296035e-01 -1.94828251e-01 -3.25827512e-02 3.31760181e+01] [ 1.94802156e-01 9.80834383e-01 -4.00414697e-03 1.48717983e+00] [ 3.27384036e-02 -2.42194079e-03 9.99461020e-01 9.69551007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.830714057 meters Centerline goodness : 0.992199 Centerline is valid? [True, True] Translation: X:33.21, Y:1.49, Z:0.97 [[ 9.80373578e-01 -1.94438604e-01 -3.25772368e-02 3.32085008e+01] [ 1.94411013e-01 9.80911827e-01 -4.04287522e-03 1.49169985e+00] [ 3.27414879e-02 -2.36984557e-03 9.99461044e-01 9.71362390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.860714056999996 meters Centerline goodness : 0.992720 Centerline is valid? [True, True] Translation: X:33.24, Y:1.50, Z:0.97 [[ 9.80391309e-01 -1.94348366e-01 -3.25821033e-02 3.32394406e+01] [ 1.94321857e-01 9.80929634e-01 -4.00870978e-03 1.49602388e+00] [ 3.27398369e-02 -2.40131058e-03 9.99461023e-01 9.72350912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.890714057 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:33.26, Y:1.51, Z:0.97 [[ 9.78324659e-01 -2.04499892e-01 -3.25676976e-02 3.32624320e+01] [ 2.04475616e-01 9.78863030e-01 -4.10981805e-03 1.50769530e+00] [ 3.27197725e-02 -2.63856368e-03 9.99461082e-01 9.69776396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.920714057 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:33.29, Y:1.51, Z:0.97 [[ 9.78349637e-01 -2.04392568e-01 -3.24910034e-02 3.32893833e+01] [ 2.04350482e-01 9.78886762e-01 -4.64617917e-03 1.51207326e+00] [ 3.27546576e-02 -2.09396451e-03 9.99461229e-01 9.74955391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.950714057 meters Centerline goodness : 0.992757 Centerline is valid? [True, True] Translation: X:33.33, Y:1.51, Z:0.97 [[ 9.79027757e-01 -2.01127287e-01 -3.24417373e-02 3.33294359e+01] [ 2.01072042e-01 9.79563746e-01 -4.99012906e-03 1.50850932e+00] [ 3.27824008e-02 -1.63765151e-03 9.99461171e-01 9.72895210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.980714057 meters Centerline goodness : 0.992371 Centerline is valid? [True, True] Translation: X:33.36, Y:1.51, Z:0.97 [[ 9.78948240e-01 -2.01499480e-01 -3.25315765e-02 3.33636521e+01] [ 2.01465212e-01 9.79485958e-01 -4.36182961e-03 1.51169348e+00] [ 3.27431288e-02 -2.28397553e-03 9.99461190e-01 9.73330213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.010714057 meters Centerline goodness : 0.993739 Centerline is valid? [True, True] Translation: X:33.38, Y:1.52, Z:0.97 [[ 9.76946931e-01 -2.10983630e-01 -3.25668938e-02 3.33836762e+01] [ 2.10962760e-01 9.77485439e-01 -4.11475407e-03 1.52385101e+00] [ 3.27018102e-02 -2.85050545e-03 9.99461088e-01 9.73697823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.040714056999995 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:33.43, Y:1.52, Z:0.97 [[ 9.78723342e-01 -2.02603464e-01 -3.24415738e-02 3.34298007e+01] [ 2.02549139e-01 9.79259403e-01 -4.98671351e-03 1.51907629e+00] [ 3.27790417e-02 -1.69039993e-03 9.99461193e-01 9.73856232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.070714056999996 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:33.46, Y:1.52, Z:0.97 [[ 9.78242194e-01 -2.04888092e-01 -3.26049015e-02 3.34631683e+01] [ 2.04872858e-01 9.78781049e-01 -3.84321440e-03 1.52252766e+00] [ 3.27004885e-02 -2.92026485e-03 9.99460930e-01 9.73618564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.100714057 meters Centerline goodness : 0.992717 Centerline is valid? [True, True] Translation: X:33.49, Y:1.53, Z:0.98 [[ 9.77727074e-01 -2.07331498e-01 -3.26101169e-02 3.34910608e+01] [ 2.07318821e-01 9.78266025e-01 -3.80666186e-03 1.52716934e+00] [ 3.26906103e-02 -3.03881463e-03 9.99460899e-01 9.75462437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.130714057 meters Centerline goodness : 0.993010 Centerline is valid? [True, True] Translation: X:33.53, Y:1.53, Z:0.98 [[ 9.77480073e-01 -2.08500033e-01 -3.25644356e-02 3.35257861e+01] [ 2.08477438e-01 9.78018476e-01 -4.12546417e-03 1.53149507e+00] [ 3.27087791e-02 -2.75639107e-03 9.99461124e-01 9.75099401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.160714057 meters Centerline goodness : 0.991313 Centerline is valid? [True, True] Translation: X:33.55, Y:1.53, Z:0.98 [[ 9.77473037e-01 -2.08527060e-01 -3.26025702e-02 3.35511503e+01] [ 2.08513307e-01 9.78011916e-01 -3.85902120e-03 1.53456960e+00] [ 3.26904125e-02 -3.02598055e-03 9.99460945e-01 9.76439965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.190714057 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:33.59, Y:1.54, Z:0.98 [[ 9.76777250e-01 -2.11774078e-01 -3.25260551e-02 3.35874137e+01] [ 2.11744496e-01 9.77315194e-01 -4.39087498e-03 1.53891610e+00] [ 3.27180813e-02 -2.59830633e-03 9.99461243e-01 9.78931510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.220714056999995 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:33.62, Y:1.54, Z:0.98 [[ 9.76445570e-01 -2.13288180e-01 -3.25914271e-02 3.36191371e+01] [ 2.13274522e-01 9.76984386e-01 -3.93535918e-03 1.54289162e+00] [ 3.26806810e-02 -3.10825701e-03 9.99461011e-01 9.80468579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.250714056999996 meters Centerline goodness : 0.991327 Centerline is valid? [True, True] Translation: X:33.65, Y:1.55, Z:0.98 [[ 9.76326486e-01 -2.13834014e-01 -3.25823058e-02 3.36479460e+01] [ 2.13818550e-01 9.76865209e-01 -3.99895530e-03 1.54695297e+00] [ 3.26836336e-02 -3.06241540e-03 9.99461056e-01 9.81002475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.280714057 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:33.68, Y:1.55, Z:0.98 [[ 9.75674487e-01 -2.16793235e-01 -3.25574647e-02 3.36814171e+01] [ 2.16773660e-01 9.76212975e-01 -4.17228130e-03 1.54976024e+00] [ 3.26875418e-02 -2.98681236e-03 9.99461157e-01 9.82372975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.310714057 meters Centerline goodness : 0.991608 Centerline is valid? [True, True] Translation: X:33.71, Y:1.55, Z:0.98 [[ 9.75115445e-01 -2.19289895e-01 -3.25854269e-02 3.37114280e+01] [ 2.19278177e-01 9.75654276e-01 -3.97683792e-03 1.55490327e+00] [ 3.26641914e-02 -3.26739692e-03 9.99461042e-01 9.84377145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.340714057 meters Centerline goodness : 0.991350 Centerline is valid? [True, True] Translation: X:33.75, Y:1.56, Z:0.99 [[ 9.74731934e-01 -2.20992398e-01 -3.25578882e-02 3.37453509e+01] [ 2.20975322e-01 9.75270498e-01 -4.16683328e-03 1.55793546e+00] [ 3.26735864e-02 -3.13294439e-03 9.99461166e-01 9.86287036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.370714057 meters Centerline goodness : 0.991748 Centerline is valid? [True, True] Translation: X:33.77, Y:1.56, Z:0.99 [[ 9.73860624e-01 -2.24795059e-01 -3.25985560e-02 3.37739453e+01] [ 2.24789402e-01 9.74399623e-01 -3.88584441e-03 1.56246778e+00] [ 3.26375393e-02 -3.54353905e-03 9.99460972e-01 9.85834460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.400714056999995 meters Centerline goodness : 0.991822 Centerline is valid? [True, True] Translation: X:33.80, Y:1.57, Z:0.99 [[ 9.73332558e-01 -2.27074524e-01 -3.25713456e-02 3.38038340e+01] [ 2.27063892e-01 9.73871343e-01 -4.07392784e-03 1.56714690e+00] [ 3.26453853e-02 -3.43048989e-03 9.99461110e-01 9.85580078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.430714056999996 meters Centerline goodness : 0.991524 Centerline is valid? [True, True] Translation: X:33.83, Y:1.57, Z:0.98 [[ 9.72436029e-01 -2.30886093e-01 -3.25542902e-02 3.38347988e+01] [ 2.30873668e-01 9.72974706e-01 -4.19164586e-03 1.57036243e+00] [ 3.26422937e-02 -3.43982094e-03 9.99461179e-01 9.84610839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.460714057 meters Centerline goodness : 0.991469 Centerline is valid? [True, True] Translation: X:33.87, Y:1.57, Z:0.99 [[ 9.72211021e-01 -2.31833806e-01 -3.25394609e-02 3.38678043e+01] [ 2.31818514e-01 9.72749577e-01 -4.29395236e-03 1.57449713e+00] [ 3.26482302e-02 -3.36862166e-03 9.99461228e-01 9.87381108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.490714057 meters Centerline goodness : 0.991011 Centerline is valid? [True, True] Translation: X:33.90, Y:1.58, Z:0.99 [[ 9.71938544e-01 -2.32973124e-01 -3.25421183e-02 3.38995943e+01] [ 2.32959071e-01 9.72477141e-01 -4.27561853e-03 1.57801553e+00] [ 3.26425704e-02 -3.42534320e-03 9.99461220e-01 9.88614046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.520714057 meters Centerline goodness : 0.992726 Centerline is valid? [True, True] Translation: X:33.93, Y:1.58, Z:0.99 [[ 9.71623080e-01 -2.34286745e-01 -3.25316899e-02 3.39325721e+01] [ 2.34271037e-01 9.72161602e-01 -4.34747743e-03 1.58231410e+00] [ 3.26446161e-02 -3.39712334e-03 9.99461249e-01 9.88475031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.550714057 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:33.97, Y:1.59, Z:0.99 [[ 9.70723685e-01 -2.37986374e-01 -3.25271144e-02 3.39705131e+01] [ 2.37971674e-01 9.71262224e-01 -4.37894203e-03 1.58764801e+00] [ 3.26344860e-02 -3.48978912e-03 9.99461261e-01 9.90275264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.580714057 meters Centerline goodness : 0.992586 Centerline is valid? [True, True] Translation: X:34.00, Y:1.59, Z:0.99 [[ 9.71634332e-01 -2.34229631e-01 -3.26068305e-02 3.39980408e+01] [ 2.34231059e-01 9.72173412e-01 -3.82990697e-03 1.59156085e+00] [ 3.25965713e-02 -3.91626333e-03 9.99460918e-01 9.92389223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.610714056999996 meters Centerline goodness : 0.992664 Centerline is valid? [True, True] Translation: X:34.03, Y:1.60, Z:0.99 [[ 9.71750081e-01 -2.33757540e-01 -3.25452512e-02 3.40299296e+01] [ 2.33744688e-01 9.72288711e-01 -4.25245650e-03 1.59715408e+00] [ 3.26374241e-02 -3.47495466e-03 9.99461216e-01 9.94016846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.640714057 meters Centerline goodness : 0.992744 Centerline is valid? [True, True] Translation: X:34.06, Y:1.60, Z:1.00 [[ 9.72017969e-01 -2.32641365e-01 -3.25432514e-02 3.40612927e+01] [ 2.32627440e-01 9.72556566e-01 -4.26615494e-03 1.60209572e+00] [ 3.26426369e-02 -3.42367401e-03 9.99461223e-01 9.95128125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.670714057 meters Centerline goodness : 0.991202 Centerline is valid? [True, True] Translation: X:34.09, Y:1.61, Z:1.00 [[ 9.72745128e-01 -2.29582249e-01 -3.25408581e-02 3.40917689e+01] [ 2.29566087e-01 9.73283654e-01 -4.28255408e-03 1.60689091e+00] [ 3.26546836e-02 -3.30444383e-03 9.99461231e-01 9.97261740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.700714057 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:34.13, Y:1.61, Z:0.99 [[ 9.72071599e-01 -2.32417916e-01 -3.25379670e-02 3.41297325e+01] [ 2.32402666e-01 9.72610143e-01 -4.30240069e-03 1.61269004e+00] [ 3.26467117e-02 -3.37966875e-03 9.99461240e-01 9.94998191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.730714057 meters Centerline goodness : 0.992275 Centerline is valid? [True, True] Translation: X:34.16, Y:1.62, Z:1.00 [[ 9.73665463e-01 -2.25636728e-01 -3.26133851e-02 3.41563807e+01] [ 2.25634895e-01 9.74204584e-01 -3.78462926e-03 1.61607352e+00] [ 3.26260606e-02 -3.67375493e-03 9.99460877e-01 9.98443957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.760714057 meters Centerline goodness : 0.991886 Centerline is valid? [True, True] Translation: X:34.19, Y:1.62, Z:1.00 [[ 9.73934954e-01 -2.24480415e-01 -3.25460910e-02 3.41858617e+01] [ 2.24462668e-01 9.74473442e-01 -4.24517199e-03 1.62206125e+00] [ 3.26682593e-02 -3.17086103e-03 9.99461220e-01 9.98587573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.790714056999995 meters Centerline goodness : 0.992527 Centerline is valid? [True, True] Translation: X:34.22, Y:1.63, Z:1.00 [[ 9.74148080e-01 -2.23556863e-01 -3.25245782e-02 3.42203169e+01] [ 2.23533746e-01 9.74686296e-01 -4.39178841e-03 1.62730093e+00] [ 3.26830751e-02 -2.99208856e-03 9.99461287e-01 9.98599286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.820714056999996 meters Centerline goodness : 0.991605 Centerline is valid? [True, True] Translation: X:34.25, Y:1.63, Z:1.00 [[ 9.74847948e-01 -2.20479722e-01 -3.25602496e-02 3.42509719e+01] [ 2.20462982e-01 9.75386522e-01 -4.14810331e-03 1.63089635e+00] [ 3.26734013e-02 -3.13455974e-03 9.99461167e-01 9.99600953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.850714057 meters Centerline goodness : 0.991725 Centerline is valid? [True, True] Translation: X:34.28, Y:1.64, Z:1.00 [[ 9.75319060e-01 -2.18387837e-01 -3.25497274e-02 3.42837413e+01] [ 2.18367559e-01 9.75857470e-01 -4.21998326e-03 1.63681275e+00] [ 3.26854877e-02 -2.99197442e-03 9.99461208e-01 1.00017057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.880714057 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:34.32, Y:1.64, Z:1.00 [[ 9.75724947e-01 -2.16565812e-01 -3.25588091e-02 3.43153079e+01] [ 2.16546587e-01 9.76263431e-01 -4.15787076e-03 1.64252374e+00] [ 3.26864274e-02 -2.99356077e-03 9.99461173e-01 1.00090958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.910714057 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:34.35, Y:1.65, Z:1.00 [[ 9.75487524e-01 -2.17632116e-01 -3.25630597e-02 3.43525188e+01] [ 2.17614442e-01 9.76026079e-01 -4.12884026e-03 1.64956626e+00] [ 3.26809637e-02 -3.05855991e-03 9.99461155e-01 1.00367277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.940714057 meters Centerline goodness : 0.991182 Centerline is valid? [True, True] Translation: X:34.38, Y:1.65, Z:1.01 [[ 9.76324007e-01 -2.13838100e-01 -3.26297373e-02 3.43779445e+01] [ 2.13833381e-01 9.76863235e-01 -3.67501962e-03 1.65403430e+00] [ 3.26606499e-02 -3.38931716e-03 9.99460752e-01 1.00505362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.970714056999995 meters Centerline goodness : 0.991210 Centerline is valid? [True, True] Translation: X:34.41, Y:1.66, Z:1.01 [[ 9.76293513e-01 -2.13988885e-01 -3.25535499e-02 3.44098338e+01] [ 2.13967161e-01 9.76831866e-01 -4.19034345e-03 1.66021831e+00] [ 3.26960318e-02 -2.87438555e-03 9.99461209e-01 1.00671492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.000714056999996 meters Centerline goodness : 0.990967 Centerline is valid? [True, True] Translation: X:34.44, Y:1.66, Z:1.01 [[ 9.76616549e-01 -2.12508538e-01 -3.25612735e-02 3.44419987e+01] [ 2.12487730e-01 9.77154973e-01 -4.13809592e-03 1.66308213e+00] [ 3.26967911e-02 -2.87753814e-03 9.99461175e-01 1.00712522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.030714057 meters Centerline goodness : 0.990251 Centerline is valid? [True, True] Translation: X:34.47, Y:1.67, Z:1.01 [[ 9.76531712e-01 -2.12897202e-01 -3.25667985e-02 3.44749354e+01] [ 2.12877845e-01 9.77070216e-01 -4.10074728e-03 1.66760751e+00] [ 3.26930865e-02 -2.92824014e-03 9.99461149e-01 1.00726854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.060714057 meters Centerline goodness : 0.989857 Centerline is valid? [True, True] Translation: X:34.51, Y:1.67, Z:1.01 [[ 9.76603555e-01 -2.12565502e-01 -3.25791846e-02 3.45057799e+01] [ 2.12548738e-01 9.77142210e-01 -4.01702278e-03 1.67161858e+00] [ 3.26883769e-02 -3.00162583e-03 9.99461085e-01 1.00881893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.090714057 meters Centerline goodness : 0.989806 Centerline is valid? [True, True] Translation: X:34.53, Y:1.68, Z:1.01 [[ 9.76535939e-01 -2.12876106e-01 -3.25779535e-02 3.45333495e+01] [ 2.12859237e-01 9.77074583e-01 -4.02535441e-03 1.67577907e+00] [ 3.26879921e-02 -3.00361509e-03 9.99461092e-01 1.00804906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.120714057 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:34.57, Y:1.68, Z:1.01 [[ 9.76347802e-01 -2.13744990e-01 -3.25276771e-02 3.45716957e+01] [ 2.13717351e-01 9.76885788e-01 -4.36479909e-03 1.67935006e+00] [ 3.27087794e-02 -2.69016699e-03 9.99461304e-01 1.00909210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.150714056999995 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:34.60, Y:1.69, Z:1.01 [[ 9.75558929e-01 -2.17302558e-01 -3.26247422e-02 3.45990689e+01] [ 2.17298684e-01 9.76098119e-01 -3.70719610e-03 1.68538245e+00] [ 3.26505327e-02 -3.47272530e-03 9.99460796e-01 1.01152065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.180714056999996 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:34.63, Y:1.69, Z:1.01 [[ 9.75512965e-01 -2.17516018e-01 -3.25766188e-02 3.46302584e+01] [ 2.17501499e-01 9.76051660e-01 -4.03168158e-03 1.69034549e+00] [ 3.26734182e-02 -3.15250577e-03 9.99461110e-01 1.01268847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.210714057 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] Translation: X:34.66, Y:1.70, Z:1.01 [[ 9.75307887e-01 -2.18433388e-01 -3.25788472e-02 3.46608271e+01] [ 2.18419873e-01 9.75846620e-01 -4.01665591e-03 1.69529784e+00] [ 3.26693297e-02 -3.19839148e-03 9.99461097e-01 1.01387954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.240714057 meters Centerline goodness : 0.989964 Centerline is valid? [True, True] Translation: X:34.69, Y:1.70, Z:1.02 [[ 9.74578717e-01 -2.21666405e-01 -3.25626805e-02 3.46928641e+01] [ 2.21651099e-01 9.75117315e-01 -4.12456335e-03 1.69955067e+00] [ 3.26667107e-02 -3.19784225e-03 9.99461185e-01 1.01604813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.270714057 meters Centerline goodness : 0.989568 Centerline is valid? [True, True] Translation: X:34.72, Y:1.70, Z:1.02 [[ 9.74517532e-01 -2.21934435e-01 -3.25681692e-02 3.47242864e+01] [ 2.21920492e-01 9.75056195e-01 -4.08789705e-03 1.70341544e+00] [ 3.26630403e-02 -3.24381681e-03 9.99461157e-01 1.01654141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.300714057 meters Centerline goodness : 0.990052 Centerline is valid? [True, True] Translation: X:34.76, Y:1.71, Z:1.02 [[ 9.74099274e-01 -2.23764723e-01 -3.25569201e-02 3.47573432e+01] [ 2.23749322e-01 9.74637838e-01 -4.16234217e-03 1.70793771e+00] [ 3.26625916e-02 -3.23005433e-03 9.99461216e-01 1.01968201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.330714056999994 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:34.78, Y:1.72, Z:1.02 [[ 9.71711907e-01 -2.33911153e-01 -3.25813154e-02 3.47763623e+01] [ 2.33906731e-01 9.72250808e-01 -4.00083318e-03 1.72034551e+00] [ 3.26130497e-02 -3.73333173e-03 9.99461080e-01 1.01711437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.360714056999996 meters Centerline goodness : 0.991152 Centerline is valid? [True, True] Translation: X:34.81, Y:1.72, Z:1.02 [[ 9.71851518e-01 -2.33350104e-01 -3.24400469e-02 3.48065545e+01] [ 2.33314540e-01 9.72388820e-01 -4.93041640e-03 1.72451514e+00] [ 3.26948521e-02 -2.77710194e-03 9.99461522e-01 1.01681149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.390714057 meters Centerline goodness : 0.990745 Centerline is valid? [True, True] Translation: X:34.84, Y:1.73, Z:1.02 [[ 9.71791865e-01 -2.33601703e-01 -3.24162895e-02 3.48357584e+01] [ 2.33561092e-01 9.72328823e-01 -5.08693682e-03 1.72900168e+00] [ 3.27076097e-02 -2.62774014e-03 9.99461509e-01 1.02488105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.420714057 meters Centerline goodness : 0.992464 Centerline is valid? [True, True] Translation: X:34.89, Y:1.72, Z:1.02 [[ 9.73533687e-01 -2.26237096e-01 -3.23872785e-02 3.48897499e+01] [ 2.26186072e-01 9.74069810e-01 -5.27875095e-03 1.72164077e+00] [ 3.27417195e-02 -2.18650943e-03 9.99461454e-01 1.01664163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.450714057 meters Centerline goodness : 0.991675 Centerline is valid? [True, True] Translation: X:34.91, Y:1.73, Z:1.02 [[ 9.74109805e-01 -2.23704131e-01 -3.26580648e-02 3.49148853e+01] [ 2.23711781e-01 9.74649179e-01 -3.46648333e-03 1.72550511e+00] [ 3.26056227e-02 -3.92925841e-03 9.99460572e-01 1.02221071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.480714057 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:34.94, Y:1.73, Z:1.02 [[ 9.73524986e-01 -2.26247938e-01 -3.25725589e-02 3.49446884e+01] [ 2.26238232e-01 9.74063657e-01 -4.03167331e-03 1.73098064e+00] [ 3.26399036e-02 -3.44422343e-03 9.99461242e-01 1.02323445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.510714057 meters Centerline goodness : 0.992147 Centerline is valid? [True, True] Translation: X:34.98, Y:1.74, Z:1.03 [[ 9.73192273e-01 -2.27677055e-01 -3.25570107e-02 3.49762695e+01] [ 2.27664754e-01 9.73730801e-01 -4.13372666e-03 1.73594385e+00] [ 3.26429188e-02 -3.38917299e-03 9.99461332e-01 1.02502583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.540714056999995 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:35.01, Y:1.74, Z:1.02 [[ 9.72970184e-01 -2.28624415e-01 -3.25560793e-02 3.50112063e+01] [ 2.28612435e-01 9.73508714e-01 -4.13983668e-03 1.74048649e+00] [ 3.26400947e-02 -3.41478692e-03 9.99461337e-01 1.02458851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.570714056999996 meters Centerline goodness : 0.992293 Centerline is valid? [True, True] Translation: X:35.04, Y:1.74, Z:1.02 [[ 9.73452547e-01 -2.26553274e-01 -3.26152203e-02 3.50390672e+01] [ 2.26553165e-01 9.73991591e-01 -3.74757887e-03 1.74380444e+00] [ 3.26159766e-02 -3.74099120e-03 9.99460956e-01 1.02428183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.600714057 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:35.07, Y:1.75, Z:1.03 [[ 9.73298874e-01 -2.27220485e-01 -3.25599916e-02 3.50692089e+01] [ 2.27208628e-01 9.73837422e-01 -4.11268978e-03 1.74851843e+00] [ 3.26426257e-02 -3.39503469e-03 9.99461321e-01 1.02666437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.630714057 meters Centerline goodness : 0.992403 Centerline is valid? [True, True] Translation: X:35.10, Y:1.75, Z:1.03 [[ 9.72963058e-01 -2.28657289e-01 -3.25381690e-02 3.51010748e+01] [ 2.28641468e-01 9.73501394e-01 -4.25615803e-03 1.75409455e+00] [ 3.26491545e-02 -3.29849020e-03 9.99461431e-01 1.02837754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.660714057 meters Centerline goodness : 0.992775 Centerline is valid? [True, True] Translation: X:35.13, Y:1.76, Z:1.03 [[ 9.72657347e-01 -2.29954139e-01 -3.25388886e-02 3.51333640e+01] [ 2.29939193e-01 9.73195712e-01 -4.25143009e-03 1.75786165e+00] [ 3.26443408e-02 -3.34678107e-03 9.99461428e-01 1.02905374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.690714057 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:35.17, Y:1.76, Z:1.03 [[ 9.72580716e-01 -2.30278686e-01 -3.25342580e-02 3.51657245e+01] [ 2.30262911e-01 9.73119036e-01 -4.28182262e-03 1.76186815e+00] [ 3.26457182e-02 -3.32701484e-03 9.99461449e-01 1.02905621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.720714056999995 meters Centerline goodness : 0.992909 Centerline is valid? [True, True] Translation: X:35.20, Y:1.77, Z:1.03 [[ 9.72240204e-01 -2.31710996e-01 -3.25422855e-02 3.51988760e+01] [ 2.31697754e-01 9.72778630e-01 -4.22939116e-03 1.76549486e+00] [ 3.26364364e-02 -3.42799034e-03 9.99461411e-01 1.02846404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.750714056999996 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:35.23, Y:1.77, Z:1.03 [[ 9.71893215e-01 -2.33162502e-01 -3.25396024e-02 3.52322749e+01] [ 2.33149486e-01 9.72431634e-01 -4.24679156e-03 1.77039251e+00] [ 3.26327312e-02 -3.45916366e-03 9.99461424e-01 1.03143258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.780714057 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:35.26, Y:1.78, Z:1.03 [[ 9.71945877e-01 -2.32939973e-01 -3.25604142e-02 3.52618411e+01] [ 2.32931316e-01 9.72484496e-01 -4.11173510e-03 1.77575188e+00] [ 3.26222855e-02 -3.58795615e-03 9.99461311e-01 1.03316138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.810714057 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:35.29, Y:1.78, Z:1.03 [[ 9.72225302e-01 -2.31771922e-01 -3.25536267e-02 3.52934330e+01] [ 2.31761148e-01 9.72763845e-01 -4.15603022e-03 1.77972829e+00] [ 3.26302422e-02 -3.50406817e-03 9.99461349e-01 1.03484160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.840714057 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:35.33, Y:1.79, Z:1.03 [[ 9.71157443e-01 -2.36208361e-01 -3.25396936e-02 3.53301240e+01] [ 2.36197054e-01 9.71695900e-01 -4.24615415e-03 1.78531127e+00] [ 3.26216639e-02 -3.56209555e-03 9.99461424e-01 1.03166902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.870714057 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:35.35, Y:1.79, Z:1.04 [[ 9.71815003e-01 -2.33475995e-01 -3.26275847e-02 3.53546128e+01] [ 2.33482105e-01 9.72354150e-01 -3.67600870e-03 1.78966444e+00] [ 3.25838272e-02 -4.04555676e-03 9.99460818e-01 1.03753247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.900714056999995 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:35.39, Y:1.79, Z:1.04 [[ 9.71468801e-01 -2.34926646e-01 -3.25244493e-02 3.53873624e+01] [ 2.34911507e-01 9.72007071e-01 -4.34016238e-03 1.79475027e+00] [ 3.26336145e-02 -3.42403505e-03 9.99461517e-01 1.03743901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.930714056999996 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:35.42, Y:1.80, Z:1.03 [[ 9.70985505e-01 -2.36913419e-01 -3.25450556e-02 3.54238196e+01] [ 2.36903795e-01 9.71524005e-01 -4.20717848e-03 1.79870156e+00] [ 3.26150398e-02 -3.62493784e-03 9.99461414e-01 1.03299581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.960714057 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:35.46, Y:1.80, Z:1.03 [[ 9.70975885e-01 -2.36944750e-01 -3.26039411e-02 3.54562703e+01] [ 2.36947733e-01 9.71514857e-01 -3.82807810e-03 1.80380541e+00] [ 3.25822562e-02 -4.00845842e-03 9.99461019e-01 1.03346031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.990714057 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:35.49, Y:1.81, Z:1.03 [[ 9.70950106e-01 -2.37049226e-01 -3.26121976e-02 3.54853387e+01] [ 2.37054032e-01 9.71489133e-01 -3.77496648e-03 1.80979403e+00] [ 3.25772484e-02 -4.06554882e-03 9.99460952e-01 1.03459270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.020714057 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:35.52, Y:1.82, Z:1.04 [[ 9.71497690e-01 -2.34797363e-01 -3.25950516e-02 3.55159033e+01] [ 2.34797259e-01 9.72036601e-01 -3.88513582e-03 1.81566252e+00] [ 3.25958028e-02 -3.87882828e-03 9.99461089e-01 1.03508490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.050714057 meters Centerline goodness : 0.992935 Centerline is valid? [True, True] Translation: X:35.54, Y:1.82, Z:1.04 [[ 9.72081169e-01 -2.32372401e-01 -3.25771150e-02 3.55419809e+01] [ 2.32367155e-01 9.72619920e-01 -3.99947189e-03 1.82111344e+00] [ 3.26145179e-02 -3.68204022e-03 9.99461223e-01 1.04121963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.080714056999994 meters Centerline goodness : 0.993194 Centerline is valid? [True, True] Translation: X:35.57, Y:1.83, Z:1.04 [[ 9.72688141e-01 -2.29827610e-01 -3.25123126e-02 3.55726238e+01] [ 2.29807296e-01 9.73226156e-01 -4.41091856e-03 1.82559587e+00] [ 3.26555839e-02 -3.18111848e-03 9.99461602e-01 1.04203693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.110714056999996 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:35.61, Y:1.83, Z:1.04 [[ 9.72204452e-01 -2.31865245e-01 -3.25117270e-02 3.56099806e+01] [ 2.31845935e-01 9.72742501e-01 -4.41464272e-03 1.83053785e+00] [ 3.26491408e-02 -3.24577644e-03 9.99461604e-01 1.03618632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.140714057 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:35.64, Y:1.84, Z:1.04 [[ 9.72976127e-01 -2.28593492e-01 -3.25955672e-02 3.56355464e+01] [ 2.28590109e-01 9.73515026e-01 -3.88029654e-03 1.83597987e+00] [ 3.26192850e-02 -3.67558838e-03 9.99461091e-01 1.04225637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.170714057 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:35.67, Y:1.84, Z:1.04 [[ 9.72630188e-01 -2.30074083e-01 -3.25028298e-02 3.56729656e+01] [ 2.30052103e-01 9.73168070e-01 -4.46517872e-03 1.84222272e+00] [ 3.26580380e-02 -3.13437673e-03 9.99461669e-01 1.03850778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.200714057 meters Centerline goodness : 0.992768 Centerline is valid? [True, True] Translation: X:35.70, Y:1.85, Z:1.04 [[ 9.73348703e-01 -2.27001706e-01 -3.25964243e-02 3.56989963e+01] [ 2.26997631e-01 9.73887603e-01 -3.87459676e-03 1.84740205e+00] [ 3.26247936e-02 -3.62797736e-03 9.99461085e-01 1.04459630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.230714057 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:35.73, Y:1.85, Z:1.05 [[ 9.74078055e-01 -2.23860927e-01 -3.25304221e-02 3.57334074e+01] [ 2.23841348e-01 9.74616157e-01 -4.28924261e-03 1.85106302e+00] [ 3.26648688e-02 -3.10359644e-03 9.99461542e-01 1.04684414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.260714057 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:35.76, Y:1.86, Z:1.04 [[ 9.72777910e-01 -2.29437533e-01 -3.25815327e-02 3.57610762e+01] [ 2.29431716e-01 9.73316673e-01 -3.96759053e-03 1.85955610e+00] [ 3.26224632e-02 -3.61565255e-03 9.99461206e-01 1.04128798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.290714056999995 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:35.79, Y:1.87, Z:1.04 [[ 9.72885897e-01 -2.28983248e-01 -3.25530890e-02 3.57924908e+01] [ 2.28971242e-01 9.73424356e-01 -4.14642129e-03 1.86533202e+00] [ 3.26374307e-02 -3.41972642e-03 9.99461407e-01 1.04221518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.320714056999996 meters Centerline goodness : 0.992949 Centerline is valid? [True, True] Translation: X:35.82, Y:1.87, Z:1.04 [[ 9.73300630e-01 -2.27214680e-01 -3.25480189e-02 3.58217013e+01] [ 2.27200637e-01 9.73839007e-01 -4.17827989e-03 1.87144070e+00] [ 3.26458970e-02 -3.32820819e-03 9.99461439e-01 1.04322953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.350714057 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:35.85, Y:1.88, Z:1.05 [[ 9.73266507e-01 -2.27363950e-01 -3.25259952e-02 3.58532772e+01] [ 2.27345420e-01 9.73804617e-01 -4.31597996e-03 1.87825882e+00] [ 3.26552626e-02 -3.19403731e-03 9.99461571e-01 1.04551178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.380714057 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:35.89, Y:1.88, Z:1.05 [[ 9.73694682e-01 -2.25524936e-01 -3.25141591e-02 3.58851190e+01] [ 2.25502945e-01 9.74232597e-01 -4.38963601e-03 1.88437995e+00] [ 3.26663261e-02 -3.05787342e-03 9.99461635e-01 1.04722457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.410714057 meters Centerline goodness : 0.992656 Centerline is valid? [True, True] Translation: X:35.92, Y:1.89, Z:1.05 [[ 9.73524329e-01 -2.26258814e-01 -3.25166116e-02 3.59157911e+01] [ 2.26237732e-01 9.74062294e-01 -4.37447003e-03 1.89043512e+00] [ 3.26629676e-02 -3.09783144e-03 9.99461622e-01 1.04941490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.440714057 meters Centerline goodness : 0.991029 Centerline is valid? [True, True] Translation: X:35.94, Y:1.89, Z:1.06 [[ 9.74462744e-01 -2.22182996e-01 -3.25127260e-02 3.59407047e+01] [ 2.22158866e-01 9.75000560e-01 -4.39848133e-03 1.89447680e+00] [ 3.26771938e-02 -2.93683415e-03 9.99461643e-01 1.05571504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.470714056999995 meters Centerline goodness : 0.993462 Centerline is valid? [True, True] Translation: X:35.98, Y:1.90, Z:1.05 [[ 9.73880687e-01 -2.24732277e-01 -3.24316369e-02 3.59780876e+01] [ 2.24692984e-01 9.74417297e-01 -4.89831240e-03 1.90058320e+00] [ 3.27027568e-02 -2.51678942e-03 9.99461953e-01 1.05118332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.500714056999996 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:36.00, Y:1.90, Z:1.06 [[ 9.74893054e-01 -2.20286498e-01 -3.25175783e-02 3.60045546e+01] [ 2.20262370e-01 9.75430889e-01 -4.36684450e-03 1.90469011e+00] [ 3.26806072e-02 -2.90519250e-03 9.99461624e-01 1.05620323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.530714057 meters Centerline goodness : 0.991549 Centerline is valid? [True, True] Translation: X:36.04, Y:1.91, Z:1.06 [[ 9.74973476e-01 -2.19941044e-01 -3.24446812e-02 3.60357028e+01] [ 2.19901836e-01 9.75510117e-01 -4.81606054e-03 1.91051131e+00] [ 3.27093642e-02 -2.43911370e-03 9.99461929e-01 1.05751378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.560714057 meters Centerline goodness : 0.991381 Centerline is valid? [True, True] Translation: X:36.07, Y:1.92, Z:1.06 [[ 9.75291591e-01 -2.18526380e-01 -3.24427600e-02 3.60658139e+01] [ 2.18486002e-01 9.75828140e-01 -4.82790161e-03 1.91591137e+00] [ 3.27135820e-02 -2.37967710e-03 9.99461935e-01 1.05797546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.590714057 meters Centerline goodness : 0.991761 Centerline is valid? [True, True] Translation: X:36.10, Y:1.92, Z:1.06 [[ 9.75249531e-01 -2.18717562e-01 -3.24188387e-02 3.60996182e+01] [ 2.18672417e-01 9.75785644e-01 -4.97502640e-03 1.92073795e+00] [ 3.27219630e-02 -2.23721367e-03 9.99461989e-01 1.05965386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.620714057 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:36.13, Y:1.93, Z:1.06 [[ 9.75470586e-01 -2.17727121e-01 -3.24351075e-02 3.61307191e+01] [ 2.17684748e-01 9.76006960e-01 -4.87485837e-03 1.92526551e+00] [ 3.27182795e-02 -2.30534726e-03 9.99461955e-01 1.06123007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.650714056999995 meters Centerline goodness : 0.991730 Centerline is valid? [True, True] Translation: X:36.16, Y:1.93, Z:1.06 [[ 9.76189899e-01 -2.14479710e-01 -3.24304621e-02 3.61607732e+01] [ 2.14434604e-01 9.76726039e-01 -4.90350753e-03 1.92845796e+00] [ 3.27273797e-02 -2.16745880e-03 9.99461966e-01 1.06273286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.680714056999996 meters Centerline goodness : 0.991503 Centerline is valid? [True, True] Translation: X:36.20, Y:1.93, Z:1.06 [[ 9.76223434e-01 -2.14330822e-01 -3.24053444e-02 3.61958386e+01] [ 2.14280518e-01 9.76759067e-01 -5.05814954e-03 1.93366398e+00] [ 3.27363313e-02 -2.00594986e-03 9.99462010e-01 1.06359639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.710714057 meters Centerline goodness : 0.990206 Centerline is valid? [True, True] Translation: X:36.22, Y:1.94, Z:1.06 [[ 9.76934788e-01 -2.11059096e-01 -3.24419271e-02 3.62217067e+01] [ 2.11014466e-01 9.77470994e-01 -4.83237800e-03 1.93754223e+00] [ 3.27309600e-02 -2.12479776e-03 9.99461940e-01 1.06412872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.740714057 meters Centerline goodness : 0.991595 Centerline is valid? [True, True] Translation: X:36.26, Y:1.94, Z:1.07 [[ 9.76663685e-01 -2.12320992e-01 -3.23703896e-02 3.62576076e+01] [ 2.12262491e-01 9.77198462e-01 -5.27270027e-03 1.94281531e+00] [ 3.27517998e-02 -1.72136466e-03 9.99462034e-01 1.06628997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.770714057 meters Centerline goodness : 0.990875 Centerline is valid? [True, True] Translation: X:36.29, Y:1.95, Z:1.07 [[ 9.77042290e-01 -2.10564493e-01 -3.24184652e-02 3.62894447e+01] [ 2.10514831e-01 9.77577998e-01 -4.97627200e-03 1.94674865e+00] [ 3.27394045e-02 -1.96253953e-03 9.99461995e-01 1.06763368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.800714057 meters Centerline goodness : 0.990647 Centerline is valid? [True, True] Translation: X:36.32, Y:1.95, Z:1.07 [[ 9.77366337e-01 -2.09056329e-01 -3.24113294e-02 3.63234348e+01] [ 2.09004388e-01 9.77901817e-01 -5.02017304e-03 1.95049688e+00] [ 3.27445969e-02 -1.86756194e-03 9.99462007e-01 1.06613425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.830714056999994 meters Centerline goodness : 0.990612 Centerline is valid? [True, True] Translation: X:36.36, Y:1.95, Z:1.07 [[ 9.77517642e-01 -2.08345378e-01 -3.24262804e-02 3.63569935e+01] [ 2.08296091e-01 9.78053399e-01 -4.92814349e-03 1.95399432e+00] [ 3.27413897e-02 -1.93692025e-03 9.99461980e-01 1.06589612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.860714056999996 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:36.39, Y:1.96, Z:1.07 [[ 9.77948140e-01 -2.06312107e-01 -3.24460994e-02 3.63907410e+01] [ 2.06265746e-01 9.78484208e-01 -4.80598937e-03 1.95653062e+00] [ 3.27395297e-02 -1.99251053e-03 9.99461932e-01 1.06627899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.890714057 meters Centerline goodness : 0.991705 Centerline is valid? [True, True] Translation: X:36.42, Y:1.96, Z:1.07 [[ 9.77836901e-01 -2.06836757e-01 -3.24584492e-02 3.64244292e+01] [ 2.06793185e-01 9.78373243e-01 -4.73040394e-03 1.96139760e+00] [ 3.27348996e-02 -2.08662256e-03 9.99461891e-01 1.06571727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.920714057 meters Centerline goodness : 0.991526 Centerline is valid? [True, True] Translation: X:36.45, Y:1.96, Z:1.07 [[ 9.78096762e-01 -2.05600813e-01 -3.24812080e-02 3.64523537e+01] [ 2.05561180e-01 9.78633499e-01 -4.59092549e-03 1.96378011e+00] [ 3.27310963e-02 -2.18650608e-03 9.99461802e-01 1.06880969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.950714057 meters Centerline goodness : 0.991061 Centerline is valid? [True, True] Translation: X:36.48, Y:1.97, Z:1.07 [[ 9.78021330e-01 -2.05964251e-01 -3.24500479e-02 3.64842082e+01] [ 2.05918483e-01 9.78557463e-01 -4.78231968e-03 1.96852447e+00] [ 3.27392234e-02 -2.00485397e-03 9.99461917e-01 1.06988930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.980714057 meters Centerline goodness : 0.990999 Centerline is valid? [True, True] Translation: X:36.52, Y:1.97, Z:1.07 [[ 9.77736265e-01 -2.07314327e-01 -3.24432592e-02 3.65177130e+01] [ 2.07267926e-01 9.78272323e-01 -4.82383249e-03 1.97264347e+00] [ 3.27383921e-02 -2.00801109e-03 9.99461938e-01 1.07018736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.010714057 meters Centerline goodness : 0.990721 Centerline is valid? [True, True] Translation: X:36.55, Y:1.97, Z:1.07 [[ 9.77323584e-01 -2.09247152e-01 -3.24690858e-02 3.65492295e+01] [ 2.09207043e-01 9.77860237e-01 -4.66574839e-03 1.97457370e+00] [ 3.27265225e-02 -2.23281550e-03 9.99461850e-01 1.07126499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.040714056999995 meters Centerline goodness : 0.991025 Centerline is valid? [True, True] Translation: X:36.58, Y:1.98, Z:1.07 [[ 9.77102027e-01 -2.10280418e-01 -3.24619015e-02 3.65800053e+01] [ 2.10239419e-01 9.77638586e-01 -4.70978075e-03 1.97822552e+00] [ 3.27263821e-02 -2.22283500e-03 9.99461877e-01 1.07218083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.070714056999996 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:36.61, Y:1.98, Z:1.07 [[ 9.76476151e-01 -2.13169212e-01 -3.24532459e-02 3.66148168e+01] [ 2.13128051e-01 9.77012667e-01 -4.76258721e-03 1.98282004e+00] [ 3.27224693e-02 -2.26614422e-03 9.99461908e-01 1.07210823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.100714057 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:36.65, Y:1.99, Z:1.07 [[ 9.76444305e-01 -2.13310056e-01 -3.24859809e-02 3.66478052e+01] [ 2.13275586e-01 9.76981425e-01 -4.56293001e-03 1.98835379e+00] [ 3.27115187e-02 -2.47301957e-03 9.99461776e-01 1.07313091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.130714057 meters Centerline goodness : 0.991951 Centerline is valid? [True, True] Translation: X:36.68, Y:1.99, Z:1.08 [[ 9.75533741e-01 -2.17436793e-01 -3.24832437e-02 3.66807582e+01] [ 2.17404041e-01 9.76070955e-01 -4.57959926e-03 1.99053820e+00] [ 3.27017240e-02 -2.59443484e-03 9.99461788e-01 1.07656992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.160714057 meters Centerline goodness : 0.991753 Centerline is valid? [True, True] Translation: X:36.71, Y:1.99, Z:1.08 [[ 9.74896954e-01 -2.20274288e-01 -3.24833337e-02 3.67145358e+01] [ 2.20243118e-01 9.75434263e-01 -4.57905390e-03 1.99479837e+00] [ 3.26940045e-02 -2.69012500e-03 9.99461788e-01 1.07669519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.190714057 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:36.74, Y:2.00, Z:1.08 [[ 9.74567070e-01 -2.21725322e-01 -3.25100996e-02 3.67443161e+01] [ 2.21700330e-01 9.75104843e-01 -4.41691008e-03 1.99950968e+00] [ 3.26800964e-02 -2.90292471e-03 9.99461647e-01 1.07770385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.220714056999995 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:36.78, Y:2.00, Z:1.08 [[ 9.73297702e-01 -2.27235466e-01 -3.24904104e-02 3.67761861e+01] [ 2.27209563e-01 9.73835324e-01 -4.53605552e-03 2.00322802e+00] [ 3.26710621e-02 -2.96719955e-03 9.99461754e-01 1.07776772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.250714056999996 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:36.81, Y:2.01, Z:1.08 [[ 9.73169920e-01 -2.27783154e-01 -3.24829544e-02 3.68059655e+01] [ 2.27756057e-01 9.73707447e-01 -4.58117570e-03 2.00775959e+00] [ 3.26724092e-02 -2.93992722e-03 9.99461790e-01 1.07809160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.280714057 meters Centerline goodness : 0.991235 Centerline is valid? [True, True] Translation: X:36.83, Y:2.01, Z:1.08 [[ 9.72806826e-01 -2.29330161e-01 -3.24739314e-02 3.68336226e+01] [ 2.29302098e-01 9.73344263e-01 -4.63602463e-03 2.01216055e+00] [ 3.26714951e-02 -2.93638418e-03 9.99461831e-01 1.08165542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.310714057 meters Centerline goodness : 0.992244 Centerline is valid? [True, True] Translation: X:36.87, Y:2.02, Z:1.08 [[ 9.72001785e-01 -2.32725872e-01 -3.24222085e-02 3.68698069e+01] [ 2.32689356e-01 9.72538527e-01 -4.94743630e-03 2.01799030e+00] [ 3.26832433e-02 -2.73538590e-03 9.99462017e-01 1.08121775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.340714057 meters Centerline goodness : 0.992036 Centerline is valid? [True, True] Translation: X:36.90, Y:2.02, Z:1.08 [[ 9.71957522e-01 -2.32901042e-01 -3.24912379e-02 3.68994309e+01] [ 2.32878461e-01 9.72495295e-01 -4.53032673e-03 2.02232262e+00] [ 3.26526938e-02 -3.16322433e-03 9.99461753e-01 1.08160396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.370714057 meters Centerline goodness : 0.991264 Centerline is valid? [True, True] Translation: X:36.93, Y:2.03, Z:1.08 [[ 9.71813694e-01 -2.33503516e-01 -3.24692621e-02 3.69278121e+01] [ 2.33476840e-01 9.72351179e-01 -4.66375620e-03 2.02713561e+00] [ 3.26605288e-02 -3.04851856e-03 9.99461853e-01 1.08497201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.400714056999995 meters Centerline goodness : 0.990649 Centerline is valid? [True, True] Translation: X:36.95, Y:2.03, Z:1.09 [[ 9.71774582e-01 -2.33669618e-01 -3.24448902e-02 3.69520488e+01] [ 2.33638114e-01 9.72311717e-01 -4.81205730e-03 2.03157864e+00] [ 3.26709785e-02 -2.90412798e-03 9.99461942e-01 1.08558223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.430714056999996 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:36.99, Y:2.04, Z:1.08 [[ 9.71731485e-01 -2.33860707e-01 -3.23587989e-02 3.69903178e+01] [ 2.33811998e-01 9.72267193e-01 -5.33432774e-03 2.03854987e+00] [ 3.27088882e-02 -2.38234121e-03 9.99462082e-01 1.08417455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.460714057 meters Centerline goodness : 0.992039 Centerline is valid? [True, True] Translation: X:37.02, Y:2.04, Z:1.09 [[ 9.71691696e-01 -2.34012441e-01 -3.24565273e-02 3.70205383e+01] [ 2.33983547e-01 9.72229007e-01 -4.73903763e-03 2.04426195e+00] [ 3.26641710e-02 -2.98940987e-03 9.99461913e-01 1.08535043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.490714057 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:37.05, Y:2.05, Z:1.09 [[ 9.72008958e-01 -2.32693757e-01 -3.24376501e-02 3.70509689e+01] [ 2.32660321e-01 9.72545944e-01 -4.85403890e-03 2.05116507e+00] [ 3.26766096e-02 -2.82878479e-03 9.99461974e-01 1.08551485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.520714057 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:37.07, Y:2.07, Z:1.08 [[ 9.69260209e-01 -2.43890856e-01 -3.24329543e-02 3.70739089e+01] [ 2.43862667e-01 9.69797484e-01 -4.88265312e-03 2.06727516e+00] [ 3.26442319e-02 -3.17662535e-03 9.99461987e-01 1.08391037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.550714057 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:37.11, Y:2.07, Z:1.08 [[ 9.69443015e-01 -2.43172874e-01 -3.23603879e-02 3.71061320e+01] [ 2.43129657e-01 9.69979189e-01 -5.32376634e-03 2.07333584e+00] [ 3.26834984e-02 -2.70668192e-03 9.99462087e-01 1.08424452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.580714056999994 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:37.14, Y:2.08, Z:1.09 [[ 9.69879479e-01 -2.41425985e-01 -3.23618656e-02 3.71389755e+01] [ 2.41382100e-01 9.70415599e-01 -5.31476856e-03 2.07970031e+00] [ 3.26875824e-02 -2.65689013e-03 9.99462087e-01 1.08595220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.610714056999996 meters Centerline goodness : 0.985016 Centerline is valid? [True, True] Translation: X:37.16, Y:2.08, Z:1.09 [[ 9.70625412e-01 -2.38409148e-01 -3.23633562e-02 3.71620495e+01] [ 2.38363899e-01 9.71161419e-01 -5.30567605e-03 2.08469431e+00] [ 3.26949647e-02 -2.56443175e-03 9.99462087e-01 1.08977751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.640714057 meters Centerline goodness : 0.992253 Centerline is valid? [True, True] Translation: X:37.20, Y:2.09, Z:1.09 [[ 9.71926023e-01 -2.33074129e-01 -3.21909278e-02 3.72024504e+01] [ 2.32991348e-01 9.72458066e-01 -6.35156324e-03 2.08618488e+00] [ 3.27847124e-02 -1.32695805e-03 9.99461556e-01 1.09265295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.670714057 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:37.23, Y:2.10, Z:1.09 [[ 9.70321527e-01 -2.39641394e-01 -3.23749329e-02 3.72315788e+01] [ 2.39599368e-01 9.70857766e-01 -5.22885078e-03 2.09829724e+00] [ 3.26845041e-02 -2.68334698e-03 9.99462117e-01 1.09041553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.700714057 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:37.29, Y:2.09, Z:1.08 [[ 9.73201621e-01 -2.27664767e-01 -3.23629288e-02 3.72894760e+01] [ 2.27613710e-01 9.73737073e-01 -5.30212158e-03 2.08928471e+00] [ 3.27200898e-02 -2.20621297e-03 9.99462120e-01 1.08487570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.730714057 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:37.29, Y:2.11, Z:1.09 [[ 9.69931895e-01 -2.41166878e-01 -3.27208703e-02 3.72891339e+01] [ 2.41196666e-01 9.70471330e-01 -3.09289886e-03 2.10873946e+00] [ 3.25005713e-02 -4.89226357e-03 9.99459743e-01 1.09029492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.760714057 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:37.34, Y:2.10, Z:1.09 [[ 9.73224061e-01 -2.27570230e-01 -3.23530196e-02 3.73368999e+01] [ 2.27518273e-01 9.73759239e-01 -5.32736802e-03 2.10136259e+00] [ 3.27164021e-02 -2.17618040e-03 9.99462306e-01 1.09481463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.790714056999995 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:37.37, Y:2.11, Z:1.09 [[ 9.72951321e-01 -2.28707773e-01 -3.25343114e-02 3.73730635e+01] [ 2.28692643e-01 9.73489464e-01 -4.23548076e-03 2.10531174e+00] [ 3.26404967e-02 -3.31944107e-03 9.99461645e-01 1.09434646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.820714056999996 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:37.38, Y:2.13, Z:1.09 [[ 9.68816737e-01 -2.45622737e-01 -3.26128908e-02 3.73813125e+01] [ 2.45632755e-01 9.69355663e-01 -3.76128516e-03 2.12527056e+00] [ 3.25373475e-02 -4.36679821e-03 9.99460981e-01 1.09200748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.850714057 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:37.44, Y:2.12, Z:1.10 [[ 9.72774322e-01 -2.29487697e-01 -3.23344362e-02 3.74383434e+01] [ 2.29433653e-01 9.73309200e-01 -5.42211285e-03 2.11532230e+00] [ 3.27157124e-02 -2.14411568e-03 9.99462398e-01 1.09563832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.880714057 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:37.44, Y:2.14, Z:1.10 [[ 9.67972289e-01 -2.48919402e-01 -3.26921932e-02 3.74401561e+01] [ 2.48947767e-01 9.68511409e-01 -3.26503853e-03 2.13667201e+00] [ 3.24754935e-02 -4.97818167e-03 9.99460134e-01 1.09534564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.910714057 meters Centerline goodness : 0.994219 Centerline is valid? [True, True] Translation: X:37.50, Y:2.13, Z:1.09 [[ 9.70722280e-01 -2.38019599e-01 -3.23252987e-02 3.74977770e+01] [ 2.37969513e-01 9.71257367e-01 -5.44404322e-03 2.12912008e+00] [ 3.26919735e-02 -2.40778156e-03 9.99462574e-01 1.09047776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.940714057 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:37.50, Y:2.15, Z:1.10 [[ 9.67106688e-01 -2.52259913e-01 -3.27045884e-02 3.74980187e+01] [ 2.52293401e-01 9.67645603e-01 -3.16653817e-03 2.14744221e+00] [ 3.24452418e-02 -5.18877159e-03 9.99460046e-01 1.09760606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.970714056999995 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:37.53, Y:2.15, Z:1.10 [[ 9.67045035e-01 -2.52546353e-01 -3.23146970e-02 3.75303471e+01] [ 2.52503407e-01 9.67580542e-01 -5.47028561e-03 2.15354978e+00] [ 3.26485727e-02 -2.86955855e-03 9.99462774e-01 1.10021800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.000714056999996 meters Centerline goodness : 0.994163 Centerline is valid? [True, True] Translation: X:37.58, Y:2.15, Z:1.10 [[ 9.69028896e-01 -2.44823731e-01 -3.23162487e-02 3.75804657e+01] [ 2.44776819e-01 9.69564070e-01 -5.46110334e-03 2.14876731e+00] [ 3.26696813e-02 -2.61830160e-03 9.99462774e-01 1.09824663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.030714057 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:37.61, Y:2.15, Z:1.10 [[ 9.69406937e-01 -2.43290550e-01 -3.25560922e-02 3.76071201e+01] [ 2.43289929e-01 9.69945195e-01 -4.04087182e-03 2.15388172e+00] [ 3.25607312e-02 -4.00332021e-03 9.99461741e-01 1.10455095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.060714057 meters Centerline goodness : 0.992656 Centerline is valid? [True, True] Translation: X:37.64, Y:2.16, Z:1.11 [[ 9.69487213e-01 -2.42980012e-01 -3.24847445e-02 3.76365131e+01] [ 2.42965231e-01 9.70024737e-01 -4.46172456e-03 2.15878183e+00] [ 3.25951156e-02 -3.56707853e-03 9.99462273e-01 1.10789801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.090714057 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:37.67, Y:2.16, Z:1.10 [[ 9.69020652e-01 -2.44835256e-01 -3.24757282e-02 3.76725899e+01] [ 2.44819731e-01 9.69558102e-01 -4.51510003e-03 2.16471822e+00] [ 3.25925611e-02 -3.57547387e-03 9.99462326e-01 1.09913315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.120714057 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:37.70, Y:2.17, Z:1.11 [[ 9.69672219e-01 -2.42233985e-01 -3.25343594e-02 3.77008421e+01] [ 2.42228435e-01 9.70210278e-01 -4.17152433e-03 2.16986810e+00] [ 3.25756548e-02 -3.83573572e-03 9.99461912e-01 1.10826800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.150714056999995 meters Centerline goodness : 0.992685 Centerline is valid? [True, True] Translation: X:37.73, Y:2.18, Z:1.11 [[ 9.70001765e-01 -2.40915801e-01 -3.24985019e-02 3.77318358e+01] [ 2.40902571e-01 9.70539418e-01 -4.38055431e-03 2.17654296e+00] [ 3.25964219e-02 -3.57982725e-03 9.99462184e-01 1.10917284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.180714056999996 meters Centerline goodness : 0.992101 Centerline is valid? [True, True] Translation: X:37.76, Y:2.18, Z:1.11 [[ 9.69997447e-01 -2.40934613e-01 -3.24879346e-02 3.77615266e+01] [ 2.40919360e-01 9.70534972e-01 -4.44175213e-03 2.18368800e+00] [ 3.26008485e-02 -3.51848420e-03 9.99462258e-01 1.10974270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.210714057 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:37.79, Y:2.19, Z:1.11 [[ 9.70394204e-01 -2.39334371e-01 -3.24676549e-02 3.77934180e+01] [ 2.39314339e-01 9.70931441e-01 -4.55892316e-03 2.19031890e+00] [ 3.26149740e-02 -3.34602278e-03 9.99462389e-01 1.11046070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.240714057 meters Centerline goodness : 0.991867 Centerline is valid? [True, True] Translation: X:37.82, Y:2.20, Z:1.11 [[ 9.70865735e-01 -2.37414011e-01 -3.24701650e-02 3.78243525e+01] [ 2.37393398e-01 9.71402966e-01 -4.54444070e-03 2.19645517e+00] [ 3.26205285e-02 -3.29616104e-03 9.99462374e-01 1.11080289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.270714057 meters Centerline goodness : 0.992000 Centerline is valid? [True, True] Translation: X:37.85, Y:2.20, Z:1.11 [[ 9.71776696e-01 -2.33657854e-01 -3.24663048e-02 3.78536362e+01] [ 2.33634427e-01 9.72313787e-01 -4.56664651e-03 2.20428501e+00] [ 3.26344686e-02 -3.14748585e-03 9.99462398e-01 1.11072347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.300714057 meters Centerline goodness : 0.991609 Centerline is valid? [True, True] Translation: X:37.88, Y:2.21, Z:1.11 [[ 9.72383228e-01 -2.31125448e-01 -3.24327765e-02 3.78833332e+01] [ 2.31094234e-01 9.72919732e-01 -4.75913018e-03 2.21066459e+00] [ 3.26544444e-02 -2.86732927e-03 9.99462588e-01 1.11348609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.330714056999994 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:37.92, Y:2.22, Z:1.11 [[ 9.73363443e-01 -2.26965340e-01 -3.24089749e-02 3.79212762e+01] [ 2.26927324e-01 9.73899393e-01 -4.89512252e-03 2.21672789e+00] [ 3.26741041e-02 -2.58974864e-03 9.99462704e-01 1.11454951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.360714056999996 meters Centerline goodness : 0.991864 Centerline is valid? [True, True] Translation: X:37.95, Y:2.22, Z:1.12 [[ 9.74474965e-01 -2.22126455e-01 -3.25327650e-02 3.79496282e+01] [ 2.22109313e-01 9.75012786e-01 -4.18558277e-03 2.22421755e+00] [ 3.26495906e-02 -3.14708448e-03 9.99461905e-01 1.11528750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.390714057 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:37.98, Y:2.23, Z:1.12 [[ 9.74371901e-01 -2.22582876e-01 -3.25001861e-02 3.79782310e+01] [ 2.22559828e-01 9.74909235e-01 -4.37102261e-03 2.23185110e+00] [ 3.26576464e-02 -2.97423421e-03 9.99462171e-01 1.11819740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.420714057 meters Centerline goodness : 0.990794 Centerline is valid? [True, True] Translation: X:37.99, Y:2.24, Z:1.12 [[ 9.74438401e-01 -2.22294978e-01 -3.24768386e-02 3.79949358e+01] [ 2.22267261e-01 9.74975360e-01 -4.50695331e-03 2.23939256e+00] [ 3.26659905e-02 -2.82678959e-03 9.99462327e-01 1.11738562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.450714057 meters Centerline goodness : 0.983485 Centerline is valid? [True, True] Translation: X:38.02, Y:2.25, Z:1.12 [[ 9.73451004e-01 -2.26613551e-01 -3.22403745e-02 3.80220820e+01] [ 2.26543461e-01 9.73983437e-01 -5.85866358e-03 2.25063333e+00] [ 3.27292434e-02 -1.60072410e-03 9.99462973e-01 1.12102105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.480714057 meters Centerline goodness : 0.984434 Centerline is valid? [True, True] Translation: X:38.06, Y:2.26, Z:1.12 [[ 9.73869653e-01 -2.24818129e-01 -3.21668631e-02 3.80550705e+01] [ 2.24733148e-01 9.74400108e-01 -6.28027910e-03 2.25524231e+00] [ 3.27553155e-02 -1.11278716e-03 9.99462781e-01 1.12133919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.510714057 meters Centerline goodness : 0.991006 Centerline is valid? [True, True] Translation: X:38.09, Y:2.26, Z:1.12 [[ 9.74870001e-01 -2.20439048e-01 -3.21730722e-02 3.80935968e+01] [ 2.20352874e-01 9.75400237e-01 -6.24414128e-03 2.25611734e+00] [ 3.27580748e-02 -1.00220290e-03 9.99462808e-01 1.12405104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.540714056999995 meters Centerline goodness : 0.983353 Centerline is valid? [True, True] Translation: X:38.12, Y:2.26, Z:1.12 [[ 9.74031884e-01 -2.24095251e-01 -3.22987343e-02 3.81185245e+01] [ 2.24035342e-01 9.74565452e-01 -5.50870123e-03 2.26418781e+00] [ 3.27117044e-02 -1.87040735e-03 9.99463079e-01 1.12440888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.570714056999996 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:38.16, Y:2.27, Z:1.12 [[ 9.73651292e-01 -2.25761861e-01 -3.21674407e-02 3.81554067e+01] [ 2.25677761e-01 9.74181835e-01 -6.26907578e-03 2.26985971e+00] [ 3.27522546e-02 -1.15558227e-03 9.99462833e-01 1.12340875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.600714057 meters Centerline goodness : 0.990893 Centerline is valid? [True, True] Translation: X:38.20, Y:2.26, Z:1.13 [[ 9.76360113e-01 -2.13724495e-01 -3.22919620e-02 3.82004232e+01] [ 2.13657755e-01 9.76892845e-01 -5.54380792e-03 2.26263545e+00] [ 3.27306342e-02 -1.48667517e-03 9.99463104e-01 1.12759231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.630714057 meters Centerline goodness : 0.990308 Centerline is valid? [True, True] Translation: X:38.22, Y:2.27, Z:1.13 [[ 9.74946257e-01 -2.20056383e-01 -3.24805090e-02 3.82191692e+01] [ 2.20030635e-01 9.75482997e-01 -4.40927518e-03 2.27129263e+00] [ 3.26544734e-02 -2.84790068e-03 9.99462643e-01 1.12903548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.660714057 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:38.25, Y:2.28, Z:1.13 [[ 9.73981671e-01 -2.24316386e-01 -3.22779005e-02 3.82515962e+01] [ 2.24252947e-01 9.74514772e-01 -5.61907361e-03 2.27843708e+00] [ 3.27157411e-02 -1.76553961e-03 9.99463137e-01 1.12783664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.690714057 meters Centerline goodness : 0.991324 Centerline is valid? [True, True] Translation: X:38.29, Y:2.27, Z:1.13 [[ 9.76427557e-01 -2.13412724e-01 -3.23146333e-02 3.82945125e+01] [ 2.13350583e-01 9.76960786e-01 -5.39923119e-03 2.27434785e+00] [ 3.27223942e-02 -1.62238772e-03 9.99463162e-01 1.13154230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.720714056999995 meters Centerline goodness : 0.991409 Centerline is valid? [True, True] Translation: X:38.33, Y:2.28, Z:1.13 [[ 9.76256191e-01 -2.14176108e-01 -3.24413842e-02 3.83273109e+01] [ 2.14139387e-01 9.76792079e-01 -4.64295261e-03 2.27890305e+00] [ 3.26828967e-02 -2.41426691e-03 9.99462856e-01 1.13057906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.750714056999996 meters Centerline goodness : 0.991315 Centerline is valid? [True, True] Translation: X:38.36, Y:2.28, Z:1.13 [[ 9.76432893e-01 -2.13367535e-01 -3.24515186e-02 3.83597104e+01] [ 2.13332371e-01 9.76968935e-01 -4.58250765e-03 2.28285475e+00] [ 3.26818840e-02 -2.44844820e-03 9.99462805e-01 1.13099005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.780714057 meters Centerline goodness : 0.992237 Centerline is valid? [True, True] Translation: X:38.39, Y:2.29, Z:1.13 [[ 9.76831310e-01 -2.11535789e-01 -3.24530721e-02 3.83925010e+01] [ 2.11499927e-01 9.77367314e-01 -4.57323911e-03 2.28692873e+00] [ 3.26859757e-02 -2.39653922e-03 9.99462798e-01 1.13210292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.810714057 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:38.42, Y:2.29, Z:1.13 [[ 9.77016429e-01 -2.10673215e-01 -3.24914309e-02 3.84218832e+01] [ 2.10644462e-01 9.77553087e-01 -4.34427304e-03 2.29300693e+00] [ 3.26773205e-02 -2.59971384e-03 9.99462573e-01 1.13308764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.840714057 meters Centerline goodness : 0.990810 Centerline is valid? [True, True] Translation: X:38.45, Y:2.30, Z:1.13 [[ 9.77252263e-01 -2.09578844e-01 -3.24764974e-02 3.84523841e+01] [ 2.09546540e-01 9.77788624e-01 -4.43332097e-03 2.29864461e+00] [ 3.26842800e-02 -2.47286471e-03 9.99462667e-01 1.13392011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.870714057 meters Centerline goodness : 0.991866 Centerline is valid? [True, True] Translation: X:38.49, Y:2.30, Z:1.14 [[ 9.78249276e-01 -2.04877634e-01 -3.24578094e-02 3.84861688e+01] [ 2.04839075e-01 9.78785115e-01 -4.54439977e-03 2.30328335e+00] [ 3.27002666e-02 -2.20307188e-03 9.99462775e-01 1.13613537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.900714056999995 meters Centerline goodness : 0.991077 Centerline is valid? [True, True] Translation: X:38.52, Y:2.31, Z:1.13 [[ 9.79177152e-01 -2.00391503e-01 -3.24861661e-02 3.85217482e+01] [ 2.00356061e-01 9.79713376e-01 -4.37599752e-03 2.30632399e+00] [ 3.27040442e-02 -2.22392347e-03 9.99462605e-01 1.13496303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.930714056999996 meters Centerline goodness : 0.991276 Centerline is valid? [True, True] Translation: X:38.55, Y:2.31, Z:1.14 [[ 9.79737988e-01 -1.97619251e-01 -3.25592833e-02 3.85463257e+01] [ 1.97596699e-01 9.80275479e-01 -3.94093073e-03 2.31206677e+00] [ 3.26958708e-02 -2.57252733e-03 9.99462036e-01 1.13830684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.960714057 meters Centerline goodness : 0.984361 Centerline is valid? [True, True] Translation: X:38.57, Y:2.32, Z:1.14 [[ 9.79629306e-01 -1.98169271e-01 -3.24863533e-02 3.85656206e+01] [ 1.98131861e-01 9.80165504e-01 -4.39895764e-03 2.31650812e+00] [ 3.27137411e-02 -2.12723382e-03 9.99462499e-01 1.14170350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.990714057 meters Centerline goodness : 0.984361 Centerline is valid? [True, True] Translation: X:38.60, Y:2.32, Z:1.14 [[ 9.79868527e-01 -1.97029250e-01 -3.22047314e-02 3.85982542e+01] [ 1.96933430e-01 9.80397560e-01 -6.15206173e-03 2.32111500e+00] [ 3.27855762e-02 -3.13976560e-04 9.99462359e-01 1.14347274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.020714057 meters Centerline goodness : 0.991060 Centerline is valid? [True, True] Translation: X:38.64, Y:2.33, Z:1.14 [[ 9.80976518e-01 -1.91437843e-01 -3.21966525e-02 3.86408515e+01] [ 1.91337351e-01 9.81504736e-01 -6.20253732e-03 2.32548034e+00] [ 3.27885673e-02 -7.58787438e-05 9.99462307e-01 1.14213033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.050714057 meters Centerline goodness : 0.991879 Centerline is valid? [True, True] Translation: X:38.68, Y:2.33, Z:1.14 [[ 9.81384644e-01 -1.89282491e-01 -3.25010633e-02 3.86767079e+01] [ 1.89239921e-01 9.81920981e-01 -4.40899275e-03 2.32936866e+00] [ 3.27480211e-02 -1.82358086e-03 9.99461976e-01 1.14165401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.080714056999994 meters Centerline goodness : 0.992980 Centerline is valid? [True, True] Translation: X:38.69, Y:2.35, Z:1.14 [[ 9.78347625e-01 -2.04388535e-01 -3.25768650e-02 3.86856067e+01] [ 2.04369079e-01 9.78885891e-01 -3.96138489e-03 2.34757190e+00] [ 3.26986951e-02 -2.78209241e-03 9.99461383e-01 1.14042688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.110714056999996 meters Centerline goodness : 0.992980 Centerline is valid? [True, True] Translation: X:38.72, Y:2.35, Z:1.14 [[ 9.78404227e-01 -2.04160179e-01 -3.23077396e-02 3.87186361e+01] [ 2.04088599e-01 9.78936785e-01 -5.53306356e-03 2.35370150e+00] [ 3.27568660e-02 -1.18006856e-03 9.99462653e-01 1.14214714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.140714057 meters Centerline goodness : 0.992648 Centerline is valid? [True, True] Translation: X:38.77, Y:2.34, Z:1.14 [[ 9.81167109e-01 -1.90439523e-01 -3.23093216e-02 3.87729302e+01] [ 1.90360798e-01 9.81698657e-01 -5.52381027e-03 2.34394396e+00] [ 3.27699695e-02 -7.30647295e-04 9.99462653e-01 1.13795767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.170714057 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:38.81, Y:2.35, Z:1.14 [[ 9.81229673e-01 -1.90065778e-01 -3.26087292e-02 3.88051387e+01] [ 1.90044897e-01 9.81768173e-01 -3.76706550e-03 2.34750736e+00] [ 3.27302028e-02 -2.50076615e-03 9.99461095e-01 1.13787581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.200714057 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:38.84, Y:2.35, Z:1.14 [[ 9.80772939e-01 -1.92411690e-01 -3.25911637e-02 3.88362502e+01] [ 1.92388741e-01 9.81311168e-01 -3.86819540e-03 2.35238302e+00] [ 3.27263589e-02 -2.47635158e-03 9.99461281e-01 1.13915039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.230714057 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:38.87, Y:2.36, Z:1.14 [[ 9.80834188e-01 -1.92098051e-01 -3.25980612e-02 3.88666234e+01] [ 1.92076244e-01 9.81372538e-01 -3.82858085e-03 2.35721053e+00] [ 3.27263049e-02 -2.50611017e-03 9.99461209e-01 1.14008244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.260714057 meters Centerline goodness : 0.993484 Centerline is valid? [True, True] Translation: X:38.90, Y:2.36, Z:1.14 [[ 9.80498891e-01 -1.93805797e-01 -3.25766343e-02 3.88978486e+01] [ 1.93780854e-01 9.81036884e-01 -3.95136667e-03 2.36206023e+00] [ 3.27246775e-02 -2.43841737e-03 9.99461430e-01 1.14083029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.290714056999995 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:38.93, Y:2.37, Z:1.14 [[ 9.80045815e-01 -1.96083054e-01 -3.25827459e-02 3.89259707e+01] [ 1.96060521e-01 9.80583976e-01 -3.91644132e-03 2.36745224e+00] [ 3.27180663e-02 -2.54989819e-03 9.99461368e-01 1.14212714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.320714056999996 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] Translation: X:38.93, Y:2.38, Z:1.15 [[ 9.76986220e-01 -2.10804355e-01 -3.25491782e-02 3.89345257e+01] [ 2.10783567e-01 9.77524125e-01 -4.10769004e-03 2.38159830e+00] [ 3.26835259e-02 -2.84767533e-03 9.99461694e-01 1.14687932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.350714057 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:38.98, Y:2.38, Z:1.14 [[ 9.78503793e-01 -2.03689708e-01 -3.22619074e-02 3.89842181e+01] [ 2.03611487e-01 9.79035020e-01 -5.72639666e-03 2.37515632e+00] [ 3.27519452e-02 -9.65594099e-04 9.99463045e-01 1.14485521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.380714057 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:39.01, Y:2.38, Z:1.15 [[ 9.78270763e-01 -2.04768321e-01 -3.24999864e-02 3.90106812e+01] [ 2.04735243e-01 9.78807598e-01 -4.37804793e-03 2.37691983e+00] [ 3.27077191e-02 -2.37097632e-03 9.99462147e-01 1.15352896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.410714057 meters Centerline goodness : 0.992237 Centerline is valid? [True, True] Translation: X:39.04, Y:2.38, Z:1.16 [[ 9.77978905e-01 -2.06169629e-01 -3.24244481e-02 3.90420424e+01] [ 2.06123191e-01 9.78514254e-01 -4.80467302e-03 2.38162973e+00] [ 3.27183623e-02 -1.98456182e-03 9.99462641e-01 1.15558165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.440714057 meters Centerline goodness : 0.992370 Centerline is valid? [True, True] Translation: X:39.08, Y:2.39, Z:1.16 [[ 9.77161938e-01 -2.10010509e-01 -3.24057691e-02 3.90759844e+01] [ 2.09962710e-01 9.77697069e-01 -4.90931061e-03 2.38510248e+00] [ 3.27140323e-02 -2.00681165e-03 9.99462738e-01 1.15599210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.470714056999995 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:39.09, Y:2.40, Z:1.15 [[ 9.73183250e-01 -2.27729449e-01 -3.24601172e-02 3.90906914e+01] [ 2.27701489e-01 9.73720098e-01 -4.60459137e-03 2.39745093e+00] [ 3.26556696e-02 -2.91010584e-03 9.99462425e-01 1.15255741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.500714056999996 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:39.14, Y:2.39, Z:1.15 [[ 9.75443315e-01 -2.17877317e-01 -3.22461455e-02 3.91427343e+01] [ 2.17804540e-01 9.75975203e-01 -5.79530505e-03 2.38985196e+00] [ 3.27341039e-02 -1.37036532e-03 9.99463156e-01 1.14909711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.530714057 meters Centerline goodness : 0.992412 Centerline is valid? [True, True] Translation: X:39.17, Y:2.39, Z:1.16 [[ 9.75498246e-01 -2.17584084e-01 -3.25628540e-02 3.91661765e+01] [ 2.17570010e-01 9.76036448e-01 -4.01784688e-03 2.39170224e+00] [ 3.26567519e-02 -3.16529791e-03 9.99461614e-01 1.15753889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.560714057 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:39.20, Y:2.40, Z:1.16 [[ 9.74865060e-01 -2.20424031e-01 -3.24246950e-02 3.92010449e+01] [ 2.20386078e-01 9.75400988e-01 -4.78433467e-03 2.39827904e+00] [ 3.26816619e-02 -2.48187065e-03 9.99462730e-01 1.15958642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.590714057 meters Centerline goodness : 0.993146 Centerline is valid? [True, True] Translation: X:39.23, Y:2.40, Z:1.16 [[ 9.74297321e-01 -2.22911080e-01 -3.24866178e-02 3.92283198e+01] [ 2.22885863e-01 9.74834429e-01 -4.44173529e-03 2.40448277e+00] [ 3.26591855e-02 -2.91323704e-03 9.99462301e-01 1.15857764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.620714057 meters Centerline goodness : 0.992117 Centerline is valid? [True, True] Translation: X:39.26, Y:2.41, Z:1.16 [[ 9.74346749e-01 -2.22703513e-01 -3.24277386e-02 3.92585183e+01] [ 2.22667400e-01 9.74882818e-01 -4.76664825e-03 2.40864781e+00] [ 3.26747945e-02 -2.57623202e-03 9.99462716e-01 1.16143160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.650714056999995 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:39.29, Y:2.41, Z:1.16 [[ 9.74450610e-01 -2.22250340e-01 -3.24159615e-02 3.92929078e+01] [ 2.22211827e-01 9.74986441e-01 -4.83150596e-03 2.41139961e+00] [ 3.26789268e-02 -2.49514610e-03 9.99462787e-01 1.16169433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.680714056999996 meters Centerline goodness : 0.991542 Centerline is valid? [True, True] Translation: X:39.32, Y:2.42, Z:1.16 [[ 9.74460550e-01 -2.22201647e-01 -3.24509681e-02 3.93231534e+01] [ 2.22169481e-01 9.74997025e-01 -4.63931804e-03 2.41539757e+00] [ 3.26704615e-02 -2.68878234e-03 9.99462561e-01 1.16276956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.710714057 meters Centerline goodness : 0.991750 Centerline is valid? [True, True] Translation: X:39.35, Y:2.42, Z:1.16 [[ 9.74349347e-01 -2.22690777e-01 -3.24371463e-02 3.93501394e+01] [ 2.22656368e-01 9.74885588e-01 -4.71504854e-03 2.42165242e+00] [ 3.26725042e-02 -2.62823271e-03 9.99462656e-01 1.16295893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.740714057 meters Centerline goodness : 0.990856 Centerline is valid? [True, True] Translation: X:39.38, Y:2.43, Z:1.17 [[ 9.74791275e-01 -2.20756246e-01 -3.23828651e-02 3.93816247e+01] [ 2.20710916e-01 9.75326390e-01 -5.01243405e-03 2.42648574e+00] [ 3.26903890e-02 -2.26117486e-03 9.99462969e-01 1.16502300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.770714057 meters Centerline goodness : 0.991088 Centerline is valid? [True, True] Translation: X:39.41, Y:2.43, Z:1.16 [[ 9.74649252e-01 -2.21381560e-01 -3.23889042e-02 3.94119833e+01] [ 2.21337668e-01 9.75184517e-01 -4.97939825e-03 2.43195338e+00] [ 3.26875048e-02 -2.31571775e-03 9.99462938e-01 1.16308289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.800714057 meters Centerline goodness : 0.991942 Centerline is valid? [True, True] Translation: X:39.44, Y:2.44, Z:1.16 [[ 9.74492278e-01 -2.22076097e-01 -3.23574949e-02 3.94443970e+01] [ 2.22026951e-01 9.75026931e-01 -5.14954661e-03 2.43680527e+00] [ 3.26930201e-02 -2.16604253e-03 9.99463093e-01 1.16342804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.830714056999994 meters Centerline goodness : 0.991267 Centerline is valid? [True, True] Translation: X:39.47, Y:2.44, Z:1.17 [[ 9.74896096e-01 -2.20293355e-01 -3.23796248e-02 3.94734062e+01] [ 2.20247198e-01 9.75431122e-01 -5.02973810e-03 2.44115969e+00] [ 3.26921117e-02 -2.22804960e-03 9.99462987e-01 1.16519746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.860714056999996 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:39.51, Y:2.45, Z:1.17 [[ 9.74786816e-01 -2.20782166e-01 -3.23403645e-02 3.95067644e+01] [ 2.20729272e-01 9.75321033e-01 -5.24132789e-03 2.44608507e+00] [ 3.26994295e-02 -2.02928779e-03 9.99463171e-01 1.16518599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.890714057 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:39.54, Y:2.45, Z:1.17 [[ 9.75130502e-01 -2.19254817e-01 -3.23702054e-02 3.95369819e+01] [ 2.19206410e-01 9.75665280e-01 -5.08045826e-03 2.45242047e+00] [ 3.26964005e-02 -2.14164672e-03 9.99463035e-01 1.16546435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.920714057 meters Centerline goodness : 0.990871 Centerline is valid? [True, True] Translation: X:39.57, Y:2.46, Z:1.17 [[ 9.75577907e-01 -2.17258047e-01 -3.23525712e-02 3.95682769e+01] [ 2.17205390e-01 9.76112201e-01 -5.17580244e-03 2.45812239e+00] [ 3.27042242e-02 -1.97775433e-03 9.99463117e-01 1.16920767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.950714057 meters Centerline goodness : 0.990952 Centerline is valid? [True, True] Translation: X:39.60, Y:2.46, Z:1.17 [[ 9.75687392e-01 -2.16765370e-01 -3.23556453e-02 3.95995753e+01] [ 2.16712993e-01 9.76221728e-01 -5.15921070e-03 2.46392557e+00] [ 3.27046222e-02 -1.97811189e-03 9.99463103e-01 1.16914952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.980714057 meters Centerline goodness : 0.991899 Centerline is valid? [True, True] Translation: X:39.63, Y:2.47, Z:1.17 [[ 9.75752720e-01 -2.16472167e-01 -3.23485767e-02 3.96293584e+01] [ 2.16418367e-01 9.76286883e-01 -5.19735959e-03 2.46860664e+00] [ 3.27065748e-02 -1.92948840e-03 9.99463134e-01 1.16914095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.010714057 meters Centerline goodness : 0.991857 Centerline is valid? [True, True] Translation: X:39.66, Y:2.47, Z:1.17 [[ 9.75927971e-01 -2.15683301e-01 -3.23312344e-02 3.96605382e+01] [ 2.15625966e-01 9.76461697e-01 -5.29119637e-03 2.47288898e+00] [ 3.27114347e-02 -1.80762710e-03 9.99463203e-01 1.16947130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.040714056999995 meters Centerline goodness : 0.991751 Centerline is valid? [True, True] Translation: X:39.69, Y:2.48, Z:1.17 [[ 9.75759152e-01 -2.16446090e-01 -3.23290455e-02 3.96930558e+01] [ 2.16388781e-01 9.76292873e-01 -5.30302786e-03 2.47767325e+00] [ 3.27104363e-02 -1.82116477e-03 9.99463211e-01 1.17057979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.070714056999996 meters Centerline goodness : 0.992106 Centerline is valid? [True, True] Translation: X:39.73, Y:2.48, Z:1.17 [[ 9.75535126e-01 -2.17453622e-01 -3.23286237e-02 3.97268436e+01] [ 2.17396789e-01 9.76068896e-01 -5.30529046e-03 2.48232662e+00] [ 3.27086187e-02 -1.85264181e-03 9.99463213e-01 1.17103034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.100714057 meters Centerline goodness : 0.990631 Centerline is valid? [True, True] Translation: X:39.76, Y:2.49, Z:1.17 [[ 9.75493060e-01 -2.17638279e-01 -3.23553485e-02 3.97571374e+01] [ 2.17586292e-01 9.76027439e-01 -5.16188321e-03 2.48698354e+00] [ 3.27031313e-02 -2.00469905e-03 9.99463099e-01 1.17313584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.130714057 meters Centerline goodness : 0.990750 Centerline is valid? [True, True] Translation: X:39.79, Y:2.49, Z:1.17 [[ 9.75347839e-01 -2.18290107e-01 -3.23422813e-02 3.97884081e+01] [ 2.18236155e-01 9.75881963e-01 -5.23203836e-03 2.49135044e+00] [ 3.27043512e-02 -1.95519780e-03 9.99463157e-01 1.17495978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.160714057 meters Centerline goodness : 0.990639 Centerline is valid? [True, True] Translation: X:39.82, Y:2.50, Z:1.18 [[ 9.75049009e-01 -2.19619080e-01 -3.23556846e-02 3.98181671e+01] [ 2.19568239e-01 9.75583498e-01 -5.16004863e-03 2.49647697e+00] [ 3.26989171e-02 -2.07298038e-03 9.99463098e-01 1.17570409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.190714057 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:39.85, Y:2.50, Z:1.17 [[ 9.74535252e-01 -2.21894343e-01 -3.23101118e-02 3.98514832e+01] [ 2.21836741e-01 9.75068858e-01 -5.40199183e-03 2.50188727e+00] [ 3.27032552e-02 -1.90313843e-03 9.99463294e-01 1.17336324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.220714056999995 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:39.88, Y:2.51, Z:1.18 [[ 9.74626941e-01 -2.21487233e-01 -3.23377722e-02 3.98814431e+01] [ 2.21434272e-01 9.75161139e-01 -5.25502404e-03 2.50585511e+00] [ 3.26984596e-02 -2.03900305e-03 9.99463183e-01 1.17638028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.250714056999996 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:39.91, Y:2.51, Z:1.18 [[ 9.75015169e-01 -2.19772219e-01 -3.23355986e-02 3.99097721e+01] [ 2.19717934e-01 9.75549226e-01 -5.26661832e-03 2.51105757e+00] [ 3.27024246e-02 -1.96967818e-03 9.99463192e-01 1.17859475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.280714057 meters Centerline goodness : 0.991035 Centerline is valid? [True, True] Translation: X:39.94, Y:2.52, Z:1.18 [[ 9.75124235e-01 -2.19295855e-01 -3.22808652e-02 3.99433127e+01] [ 2.19231686e-01 9.75656999e-01 -5.55763948e-03 2.51695776e+00] [ 3.27138194e-02 -1.65759956e-03 9.99463385e-01 1.17794671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.310714057 meters Centerline goodness : 0.990609 Centerline is valid? [True, True] Translation: X:39.98, Y:2.52, Z:1.18 [[ 9.75455456e-01 -2.17813205e-01 -3.23119403e-02 3.99761065e+01] [ 2.17753685e-01 9.75988859e-01 -5.39246879e-03 2.52255255e+00] [ 3.27106447e-02 -1.77593099e-03 9.99463286e-01 1.17962860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.340714057 meters Centerline goodness : 0.990562 Centerline is valid? [True, True] Translation: X:40.01, Y:2.53, Z:1.18 [[ 9.76382897e-01 -2.13614798e-01 -3.23288825e-02 4.00082088e+01] [ 2.13555961e-01 9.76916443e-01 -5.30237951e-03 2.52589708e+00] [ 3.27152836e-02 -1.72687291e-03 9.99463220e-01 1.18251946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.370714057 meters Centerline goodness : 0.989769 Centerline is valid? [True, True] Translation: X:40.04, Y:2.53, Z:1.18 [[ 9.77070509e-01 -2.10440242e-01 -3.23747629e-02 4.00363049e+01] [ 2.10387770e-01 9.77604935e-01 -5.05743034e-03 2.53068170e+00] [ 3.27140148e-02 -1.86978814e-03 9.99463004e-01 1.18035777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.400714056999995 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:40.07, Y:2.54, Z:1.18 [[ 9.77383757e-01 -2.08990734e-01 -3.23089023e-02 4.00689477e+01] [ 2.08925963e-01 9.77916521e-01 -5.40557658e-03 2.53728262e+00] [ 3.27251248e-02 -1.46684580e-03 9.99463313e-01 1.18219675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.430714056999996 meters Centerline goodness : 0.991825 Centerline is valid? [True, True] Translation: X:40.10, Y:2.54, Z:1.18 [[ 9.78545715e-01 -2.03474473e-01 -3.23484661e-02 4.00991412e+01] [ 2.03413608e-01 9.79079110e-01 -5.19627437e-03 2.54232299e+00] [ 3.27290165e-02 -1.49532617e-03 9.99463144e-01 1.18193929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.460714057 meters Centerline goodness : 0.993234 Centerline is valid? [True, True] Translation: X:40.14, Y:2.55, Z:1.18 [[ 9.78128759e-01 -2.05474034e-01 -3.23195438e-02 4.01374691e+01] [ 2.05409239e-01 9.78661556e-01 -5.34829369e-03 2.54813548e+00] [ 3.27288305e-02 -1.40741302e-03 9.99463277e-01 1.17907904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.490714057 meters Centerline goodness : 0.990996 Centerline is valid? [True, True] Translation: X:40.16, Y:2.55, Z:1.18 [[ 9.79599808e-01 -1.98321890e-01 -3.24444764e-02 4.01610361e+01] [ 1.98274960e-01 9.80135219e-01 -4.68972151e-03 2.55055274e+00] [ 3.27300484e-02 -1.83887699e-03 9.99462537e-01 1.18474519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.520714057 meters Centerline goodness : 0.990761 Centerline is valid? [True, True] Translation: X:40.19, Y:2.56, Z:1.18 [[ 9.79777207e-01 -1.97463289e-01 -3.23245217e-02 4.01939698e+01] [ 1.97395092e-01 9.80309585e-01 -5.31930638e-03 2.55603328e+00] [ 3.27384062e-02 -1.16896677e-03 9.99463271e-01 1.18490106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.550714057 meters Centerline goodness : 0.991431 Centerline is valid? [True, True] Translation: X:40.22, Y:2.56, Z:1.19 [[ 9.78865883e-01 -2.01929923e-01 -3.23402075e-02 4.02157648e+01] [ 2.01866906e-01 9.79398967e-01 -5.23593039e-03 2.56477692e+00] [ 3.27312569e-02 -1.40314399e-03 9.99463204e-01 1.18589686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.580714056999994 meters Centerline goodness : 0.991278 Centerline is valid? [True, True] Translation: X:40.24, Y:2.57, Z:1.19 [[ 9.78317739e-01 -2.04596223e-01 -3.21681071e-02 4.02446288e+01] [ 2.04504658e-01 9.78846293e-01 -6.14646407e-03 2.57365852e+00] [ 3.27451757e-02 -5.65332914e-04 9.99463573e-01 1.18936779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.610714056999996 meters Centerline goodness : 0.989490 Centerline is valid? [True, True] Translation: X:40.29, Y:2.56, Z:1.19 [[ 9.81062715e-01 -1.91011698e-01 -3.21011027e-02 4.02902965e+01] [ 1.90901112e-01 9.81587728e-01 -6.50370224e-03 2.56465347e+00] [ 3.27523317e-02 2.52403576e-04 9.99463467e-01 1.18717594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.640714057 meters Centerline goodness : 0.989025 Centerline is valid? [True, True] Translation: X:40.32, Y:2.57, Z:1.19 [[ 9.80983050e-01 -1.91384639e-01 -3.23136933e-02 4.03233307e+01] [ 1.91311740e-01 9.81514681e-01 -5.36177141e-03 2.56840162e+00] [ 3.27425250e-02 -9.22182021e-04 9.99463394e-01 1.18674273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.670714057 meters Centerline goodness : 0.991537 Centerline is valid? [True, True] Translation: X:40.36, Y:2.57, Z:1.18 [[ 9.80055682e-01 -1.96078545e-01 -3.23119696e-02 4.03620796e+01] [ 1.96007888e-01 9.80587610e-01 -5.37099114e-03 2.57088365e+00] [ 3.27378532e-02 -1.06953054e-03 9.99463401e-01 1.18451547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.700714057 meters Centerline goodness : 0.989114 Centerline is valid? [True, True] Translation: X:40.38, Y:2.57, Z:1.19 [[ 9.80485294e-01 -1.93897764e-01 -3.24383189e-02 4.03836957e+01] [ 1.93848285e-01 9.81020292e-01 -4.69347854e-03 2.57394970e+00] [ 3.27327041e-02 -1.68622579e-03 9.99462719e-01 1.18938435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.730714057 meters Centerline goodness : 0.989911 Centerline is valid? [True, True] Translation: X:40.42, Y:2.58, Z:1.19 [[ 9.80158928e-01 -1.95562152e-01 -3.23097492e-02 4.04153550e+01] [ 1.95490818e-01 9.80690758e-01 -5.38305143e-03 2.57855912e+00] [ 3.27385936e-02 -1.04001337e-03 9.99463407e-01 1.19068259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.760714057 meters Centerline goodness : 0.990163 Centerline is valid? [True, True] Translation: X:40.45, Y:2.58, Z:1.19 [[ 9.79183872e-01 -2.00389861e-01 -3.22931485e-02 4.04495242e+01] [ 2.00318240e-01 9.79715606e-01 -5.47127272e-03 2.58115965e+00] [ 3.27344891e-02 -1.11152465e-03 9.99463465e-01 1.18843580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.790714056999995 meters Centerline goodness : 0.990781 Centerline is valid? [True, True] Translation: X:40.48, Y:2.59, Z:1.19 [[ 9.78951227e-01 -2.01519349e-01 -3.23178935e-02 4.04804996e+01] [ 2.01452683e-01 9.79483693e-01 -5.33960656e-03 2.58514093e+00] [ 3.27308837e-02 -1.28331197e-03 9.99463377e-01 1.18756001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.820714056999996 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:40.52, Y:2.59, Z:1.19 [[ 9.77912958e-01 -2.06500415e-01 -3.23082976e-02 4.05169658e+01] [ 2.06434775e-01 9.78445514e-01 -5.39066835e-03 2.58994587e+00] [ 3.27250841e-02 -1.39795170e-03 9.99463413e-01 1.18909954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.850714057 meters Centerline goodness : 0.989638 Centerline is valid? [True, True] Translation: X:40.54, Y:2.59, Z:1.19 [[ 9.78464928e-01 -2.03854226e-01 -3.24012228e-02 4.05429669e+01] [ 2.03803516e-01 9.78999573e-01 -4.89509863e-03 2.59025927e+00] [ 3.27186698e-02 -1.81380082e-03 9.99462955e-01 1.18958338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.880714057 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:40.58, Y:2.60, Z:1.19 [[ 9.77122877e-01 -2.10206535e-01 -3.23124860e-02 4.05773718e+01] [ 2.10143769e-01 9.77655776e-01 -5.36475165e-03 2.59539284e+00] [ 3.27181944e-02 -1.54824603e-03 9.99463417e-01 1.19016344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.910714057 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:40.61, Y:2.60, Z:1.19 [[ 9.77044332e-01 -2.10561491e-01 -3.23764211e-02 4.06083601e+01] [ 2.10510105e-01 9.77578760e-01 -5.02636926e-03 2.60141044e+00] [ 3.27088613e-02 -1.90457821e-03 9.99463107e-01 1.19110101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.940714057 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:40.63, Y:2.60, Z:1.19 [[ 9.77563318e-01 -2.08138832e-01 -3.23757037e-02 4.06327606e+01] [ 2.08085996e-01 9.78097600e-01 -5.03016344e-03 2.60360997e+00] [ 3.27135705e-02 -1.81962730e-03 9.99463112e-01 1.19267702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.970714056999995 meters Centerline goodness : 0.989132 Centerline is valid? [True, True] Translation: X:40.66, Y:2.61, Z:1.19 [[ 9.77570923e-01 -2.08118123e-01 -3.22790469e-02 4.06630647e+01] [ 2.08048420e-01 9.78102836e-01 -5.54045629e-03 2.60824695e+00] [ 3.27252966e-02 -1.29941572e-03 9.99463539e-01 1.19356870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.000714056999996 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:40.69, Y:2.62, Z:1.19 [[ 9.75016754e-01 -2.19774147e-01 -3.22746605e-02 4.06858994e+01] [ 2.19710033e-01 9.75549357e-01 -5.56364673e-03 2.62233193e+00] [ 3.27082700e-02 -1.66641795e-03 9.99463552e-01 1.19426741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.030714057 meters Centerline goodness : 0.988886 Centerline is valid? [True, True] Translation: X:40.73, Y:2.62, Z:1.19 [[ 9.76137558e-01 -2.14756596e-01 -3.21725388e-02 4.07319054e+01] [ 2.14671989e-01 9.76667140e-01 -6.10209700e-03 2.61658666e+00] [ 3.27323270e-02 -9.50056815e-04 9.99463702e-01 1.19422275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.060714057 meters Centerline goodness : 0.988630 Centerline is valid? [True, True] Translation: X:40.76, Y:2.62, Z:1.20 [[ 9.76415298e-01 -2.13466860e-01 -3.23274688e-02 4.07583084e+01] [ 2.13408228e-01 9.76948774e-01 -5.29360154e-03 2.62119258e+00] [ 3.27122895e-02 -1.73019429e-03 9.99463312e-01 1.19841985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.090714057 meters Centerline goodness : 0.990580 Centerline is valid? [True, True] Translation: X:40.78, Y:2.64, Z:1.20 [[ 9.73660040e-01 -2.25712430e-01 -3.22494209e-02 4.07814487e+01] [ 2.25647065e-01 9.74192442e-01 -5.69973372e-03 2.63592781e+00] [ 3.27036429e-02 -1.72738423e-03 9.99463600e-01 1.19732806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.120714057 meters Centerline goodness : 0.990159 Centerline is valid? [True, True] Translation: X:40.83, Y:2.63, Z:1.20 [[ 9.75445497e-01 -2.17881139e-01 -3.21541834e-02 4.08311016e+01] [ 2.17795195e-01 9.75974839e-01 -6.19413953e-03 2.62898986e+00] [ 3.27312602e-02 -9.60981132e-04 9.99463727e-01 1.19573566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.150714056999995 meters Centerline goodness : 0.989910 Centerline is valid? [True, True] Translation: X:40.86, Y:2.63, Z:1.20 [[ 9.74992680e-01 -2.19857624e-01 -3.24329993e-02 4.08614455e+01] [ 2.19820892e-01 9.75528742e-01 -4.73809840e-03 2.63351127e+00] [ 3.26810301e-02 -2.50983958e-03 9.99462681e-01 1.19658204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.180714056999996 meters Centerline goodness : 0.990243 Centerline is valid? [True, True] Translation: X:40.90, Y:2.64, Z:1.20 [[ 9.74788058e-01 -2.20768128e-01 -3.23987079e-02 4.08951075e+01] [ 2.20725971e-01 9.75323470e-01 -4.91675167e-03 2.63922841e+00] [ 3.26846823e-02 -2.35844545e-03 9.99462930e-01 1.19726233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.210714057 meters Centerline goodness : 0.988107 Centerline is valid? [True, True] Translation: X:40.92, Y:2.64, Z:1.20 [[ 9.74455972e-01 -2.22228542e-01 -3.24042069e-02 4.09206605e+01] [ 2.22188126e-01 9.74991559e-01 -4.88845649e-03 2.64415034e+00] [ 3.26801828e-02 -2.43624439e-03 9.99462891e-01 1.20214993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.240714057 meters Centerline goodness : 0.990331 Centerline is valid? [True, True] Translation: X:40.95, Y:2.65, Z:1.20 [[ 9.72904495e-01 -2.28938643e-01 -3.23100833e-02 4.09528255e+01] [ 2.28885949e-01 9.73438434e-01 -5.37000042e-03 2.65138051e+00] [ 3.26812775e-02 -2.17082655e-03 9.99463467e-01 1.20133241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.270714057 meters Centerline goodness : 0.990280 Centerline is valid? [True, True] Translation: X:40.97, Y:2.67, Z:1.20 [[ 9.70396737e-01 -2.39340146e-01 -3.23491473e-02 4.09676838e+01] [ 2.39299805e-01 9.70931961e-01 -5.17008134e-03 2.66640956e+00] [ 3.26462291e-02 -2.72411458e-03 9.99463257e-01 1.20225690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.300714057 meters Centerline goodness : 0.989549 Centerline is valid? [True, True] Translation: X:41.02, Y:2.66, Z:1.20 [[ 9.71372790e-01 -2.35378460e-01 -3.21229528e-02 4.10152546e+01] [ 2.35297881e-01 9.71902755e-01 -6.31990431e-03 2.66182453e+00] [ 3.27079557e-02 -1.41947966e-03 9.99463944e-01 1.20163318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.330714056999994 meters Centerline goodness : 0.989326 Centerline is valid? [True, True] Translation: X:41.05, Y:2.67, Z:1.20 [[ 9.70807329e-01 -2.37667608e-01 -3.23610614e-02 4.10466753e+01] [ 2.37628566e-01 9.71342691e-01 -5.10305285e-03 2.66795073e+00] [ 3.26465108e-02 -2.73583151e-03 9.99463216e-01 1.20268279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.360714056999996 meters Centerline goodness : 0.986802 Centerline is valid? [True, True] Translation: X:41.07, Y:2.67, Z:1.21 [[ 9.71073751e-01 -2.36579464e-01 -3.23407870e-02 4.10700610e+01] [ 2.36536398e-01 9.71608680e-01 -5.20623128e-03 2.67386495e+00] [ 3.26542768e-02 -2.59413872e-03 9.99463340e-01 1.21018433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.390714057 meters Centerline goodness : 0.986662 Centerline is valid? [True, True] Translation: X:41.10, Y:2.68, Z:1.21 [[ 9.70534467e-01 -2.38797450e-01 -3.22277261e-02 4.11026578e+01] [ 2.38736649e-01 9.71067158e-01 -5.77808707e-03 2.68141749e+00] [ 3.26750789e-02 -2.08610669e-03 9.99463850e-01 1.21079451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.420714057 meters Centerline goodness : 0.987467 Centerline is valid? [True, True] Translation: X:41.13, Y:2.69, Z:1.21 [[ 9.70038289e-01 -2.40801842e-01 -3.22519893e-02 4.11332824e+01] [ 2.40746200e-01 9.70571626e-01 -5.65556094e-03 2.68955844e+00] [ 3.26647352e-02 -2.27843321e-03 9.99463768e-01 1.21026563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.450714057 meters Centerline goodness : 0.987664 Centerline is valid? [True, True] Translation: X:41.16, Y:2.70, Z:1.21 [[ 9.69809066e-01 -2.41725649e-01 -3.22348519e-02 4.11632572e+01] [ 2.41667649e-01 9.70342092e-01 -5.74208083e-03 2.69781577e+00] [ 3.26668419e-02 -2.22139883e-03 9.99463828e-01 1.21278062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.480714057 meters Centerline goodness : 0.988507 Centerline is valid? [True, True] Translation: X:41.20, Y:2.70, Z:1.21 [[ 9.69750331e-01 -2.41963175e-01 -3.22198406e-02 4.11964143e+01] [ 2.41902807e-01 9.70283046e-01 -5.81750828e-03 2.70494103e+00] [ 3.26699879e-02 -2.15253932e-03 9.99463876e-01 1.21398735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.510714057 meters Centerline goodness : 0.986921 Centerline is valid? [True, True] Translation: X:41.23, Y:2.71, Z:1.22 [[ 9.70302700e-01 -2.39734326e-01 -3.22509385e-02 4.12266414e+01] [ 2.39677913e-01 9.70835954e-01 -5.66113848e-03 2.71164589e+00] [ 3.26675398e-02 -2.23681969e-03 9.99463770e-01 1.21687487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.540714056999995 meters Centerline goodness : 0.988423 Centerline is valid? [True, True] Translation: X:41.26, Y:2.72, Z:1.22 [[ 9.70415390e-01 -2.39277670e-01 -3.22516286e-02 4.12584311e+01] [ 2.39221121e-01 9.70948632e-01 -5.65768198e-03 2.72074467e+00] [ 3.26684316e-02 -2.22496908e-03 9.99463768e-01 1.21507621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.570714056999996 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:41.29, Y:2.73, Z:1.21 [[ 9.70523716e-01 -2.38836185e-01 -3.22644251e-02 4.12890510e+01] [ 2.38781514e-01 9.71057207e-01 -5.59366968e-03 2.72924155e+00] [ 3.26665732e-02 -2.27535917e-03 9.99463715e-01 1.21448036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.600714057 meters Centerline goodness : 0.989537 Centerline is valid? [True, True] Translation: X:41.31, Y:2.74, Z:1.22 [[ 9.68942385e-01 -2.45172386e-01 -3.22669523e-02 4.13072303e+01] [ 2.45121621e-01 9.69476273e-01 -5.58103457e-03 2.74465472e+00] [ 3.26503602e-02 -2.50162669e-03 9.99463704e-01 1.21846277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.630714057 meters Centerline goodness : 0.988121 Centerline is valid? [True, True] Translation: X:41.35, Y:2.75, Z:1.22 [[ 9.71207515e-01 -2.36063591e-01 -3.20927411e-02 4.13470050e+01] [ 2.35979148e-01 9.71736725e-01 -6.44815576e-03 2.74599021e+00] [ 3.27078700e-02 -1.31072036e-03 9.99464095e-01 1.21782336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.660714057 meters Centerline goodness : 0.989168 Centerline is valid? [True, True] Translation: X:41.38, Y:2.75, Z:1.22 [[ 9.71005436e-01 -2.36877065e-01 -3.22133520e-02 4.13777440e+01] [ 2.36812830e-01 9.71537679e-01 -5.85001248e-03 2.75398566e+00] [ 3.26822190e-02 -1.94814114e-03 9.99463895e-01 1.21541692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.690714057 meters Centerline goodness : 0.989174 Centerline is valid? [True, True] Translation: X:41.41, Y:2.76, Z:1.22 [[ 9.71404941e-01 -2.35233371e-01 -3.22133878e-02 4.14077003e+01] [ 2.35168241e-01 9.71937075e-01 -5.84983476e-03 2.76062966e+00] [ 3.26854623e-02 -1.89300737e-03 9.99463895e-01 1.21736283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.720714056999995 meters Centerline goodness : 0.988635 Centerline is valid? [True, True] Translation: X:41.44, Y:2.77, Z:1.22 [[ 9.71560338e-01 -2.34591756e-01 -3.22058598e-02 4.14381140e+01] [ 2.34525037e-01 9.72092252e-01 -5.88725754e-03 2.76912095e+00] [ 3.26881688e-02 -1.83325452e-03 9.99463918e-01 1.21750748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.750714056999996 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:41.47, Y:2.78, Z:1.22 [[ 9.71482532e-01 -2.34915073e-01 -3.21962414e-02 4.14714165e+01] [ 2.34846956e-01 9.72014241e-01 -5.93487548e-03 2.77648373e+00] [ 3.26893969e-02 -1.79556144e-03 9.99463946e-01 1.21709080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.780714057 meters Centerline goodness : 0.989273 Centerline is valid? [True, True] Translation: X:41.50, Y:2.79, Z:1.22 [[ 9.71082635e-01 -2.36556806e-01 -3.22396242e-02 4.15013733e+01] [ 2.36496695e-01 9.71615455e-01 -5.72013952e-03 2.78583523e+00] [ 3.26776551e-02 -2.06983642e-03 9.99463800e-01 1.21766497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.810714057 meters Centerline goodness : 0.989348 Centerline is valid? [True, True] Translation: X:41.53, Y:2.79, Z:1.22 [[ 9.70819707e-01 -2.37637298e-01 -3.22119667e-02 4.15330620e+01] [ 2.37573260e-01 9.71351968e-01 -5.85665086e-03 2.79323727e+00] [ 3.26809160e-02 -1.96694988e-03 9.99463901e-01 1.21696556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.840714057 meters Centerline goodness : 0.989771 Centerline is valid? [True, True] Translation: X:41.56, Y:2.80, Z:1.22 [[ 9.70595812e-01 -2.38548726e-01 -3.22222741e-02 4.15633590e+01] [ 2.38486872e-01 9.71128367e-01 -5.80578235e-03 2.80125693e+00] [ 3.26769264e-02 -2.04952130e-03 9.99463865e-01 1.21813857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.870714057 meters Centerline goodness : 0.989348 Centerline is valid? [True, True] Translation: X:41.59, Y:2.81, Z:1.22 [[ 9.70297463e-01 -2.39760308e-01 -3.22153271e-02 4.15947826e+01] [ 2.39697982e-01 9.70829939e-01 -5.84010838e-03 2.80880843e+00] [ 3.26758303e-02 -2.05530657e-03 9.99463889e-01 1.21780014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.900714056999995 meters Centerline goodness : 0.991154 Centerline is valid? [True, True] Translation: X:41.63, Y:2.82, Z:1.22 [[ 9.69810995e-01 -2.41721959e-01 -3.22044716e-02 4.16276950e+01] [ 2.41658936e-01 9.70343353e-01 -5.89370383e-03 2.81748445e+00] [ 3.26740326e-02 -2.06671956e-03 9.99463924e-01 1.21675874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.930714056999996 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:41.66, Y:2.83, Z:1.22 [[ 9.69402933e-01 -2.43349737e-01 -3.22313348e-02 4.16604347e+01] [ 2.43291990e-01 9.69935984e-01 -5.76143626e-03 2.82524221e+00] [ 3.26643755e-02 -2.25647236e-03 9.99463830e-01 1.21713111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.960714057 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:41.69, Y:2.83, Z:1.22 [[ 9.68781441e-01 -2.45807588e-01 -3.22668378e-02 4.16902648e+01] [ 2.45756993e-01 9.69315372e-01 -5.58653812e-03 2.83337435e+00] [ 3.26499553e-02 -2.51766659e-03 9.99463677e-01 1.22029555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.990714057 meters Centerline goodness : 0.990806 Centerline is valid? [True, True] Translation: X:41.72, Y:2.84, Z:1.22 [[ 9.68481683e-01 -2.46987136e-01 -3.22580976e-02 4.17210690e+01] [ 2.46935761e-01 9.69015499e-01 -5.62963059e-03 2.84097107e+00] [ 3.26490429e-02 -2.51348379e-03 9.99463717e-01 1.22201673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.020714057 meters Centerline goodness : 0.990304 Centerline is valid? [True, True] Translation: X:41.75, Y:2.85, Z:1.23 [[ 9.67951781e-01 -2.49054810e-01 -3.22653119e-02 4.17477684e+01] [ 2.49005757e-01 9.68485849e-01 -5.59403764e-03 2.84924441e+00] [ 3.26417199e-02 -2.61948970e-03 9.99463684e-01 1.22523902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.050714057 meters Centerline goodness : 0.991471 Centerline is valid? [True, True] Translation: X:41.78, Y:2.86, Z:1.22 [[ 9.65627816e-01 -2.57926314e-01 -3.22015097e-02 4.17814443e+01] [ 2.57871733e-01 9.66161096e-01 -5.90816206e-03 2.86015383e+00] [ 3.26357164e-02 -2.59877347e-03 9.99463935e-01 1.22335932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.080714056999994 meters Centerline goodness : 0.990867 Centerline is valid? [True, True] Translation: X:41.81, Y:2.87, Z:1.23 [[ 9.65627789e-01 -2.57922680e-01 -3.22314290e-02 4.18104259e+01] [ 2.57872961e-01 9.66161653e-01 -5.76162889e-03 2.86717288e+00] [ 3.26268255e-02 -2.74802506e-03 9.99463826e-01 1.22802223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.110714056999996 meters Centerline goodness : 0.992403 Centerline is valid? [True, True] Translation: X:41.84, Y:2.88, Z:1.23 [[ 9.63792048e-01 -2.64705375e-01 -3.21862041e-02 4.18445183e+01] [ 2.64652058e-01 9.64325408e-01 -5.98297360e-03 2.87770007e+00] [ 3.26216997e-02 -2.75180280e-03 9.99463982e-01 1.22657677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.140714057 meters Centerline goodness : 0.991580 Centerline is valid? [True, True] Translation: X:41.87, Y:2.88, Z:1.23 [[ 9.64132117e-01 -2.63454400e-01 -3.22651423e-02 4.18699906e+01] [ 2.63413258e-01 9.64666856e-01 -5.59568576e-03 2.88474389e+00] [ 3.25993214e-02 -3.10408589e-03 9.99463681e-01 1.22892819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.170714057 meters Centerline goodness : 0.992065 Centerline is valid? [True, True] Translation: X:41.90, Y:2.90, Z:1.23 [[ 9.63194461e-01 -2.66872156e-01 -3.21820320e-02 4.19005675e+01] [ 2.66819438e-01 9.63727853e-01 -6.00103235e-03 2.89518571e+00] [ 3.26162290e-02 -2.80663055e-03 9.99464009e-01 1.23143291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.200714057 meters Centerline goodness : 0.992101 Centerline is valid? [True, True] Translation: X:41.93, Y:2.91, Z:1.23 [[ 9.62269812e-01 -2.70188278e-01 -3.21730214e-02 4.19297236e+01] [ 2.70135938e-01 9.62803216e-01 -6.04496435e-03 2.90737338e+00] [ 3.26095670e-02 -2.87420259e-03 9.99464034e-01 1.23419165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.230714057 meters Centerline goodness : 0.992072 Centerline is valid? [True, True] Translation: X:41.96, Y:2.92, Z:1.23 [[ 9.62190488e-01 -2.70474836e-01 -3.21376232e-02 4.19616280e+01] [ 2.70416935e-01 9.62723235e-01 -6.21723186e-03 2.91631359e+00] [ 3.26212414e-02 -2.70839620e-03 9.99464116e-01 1.23408237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.260714056999994 meters Centerline goodness : 0.993127 Centerline is valid? [True, True] Translation: X:41.99, Y:2.93, Z:1.23 [[ 9.62515358e-01 -2.69314831e-01 -3.21513177e-02 4.19921493e+01] [ 2.69258502e-01 9.63048301e-01 -6.15050431e-03 2.92764363e+00] [ 3.26196940e-02 -2.73706079e-03 9.99464088e-01 1.23363031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.290714056999995 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:42.02, Y:2.94, Z:1.24 [[ 9.62660275e-01 -2.68794718e-01 -3.21651254e-02 4.20211197e+01] [ 2.68740338e-01 9.63193452e-01 -6.08312459e-03 2.93713143e+00] [ 3.26163499e-02 -2.78808428e-03 9.99464057e-01 1.23552891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.320714056999996 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:42.05, Y:2.95, Z:1.24 [[ 9.63158992e-01 -2.67004713e-01 -3.21440456e-02 4.20527177e+01] [ 2.66945933e-01 9.63691654e-01 -6.18584581e-03 2.94706651e+00] [ 3.26285984e-02 -2.62276922e-03 9.99464104e-01 1.23603845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.350714057 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:42.08, Y:2.96, Z:1.24 [[ 9.63779016e-01 -2.64756273e-01 -3.21577961e-02 4.20848947e+01] [ 2.64698474e-01 9.64311816e-01 -6.11879584e-03 2.95693294e+00] [ 3.26301323e-02 -2.61495252e-03 9.99464075e-01 1.23545874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.380714057 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:42.11, Y:2.97, Z:1.24 [[ 9.65043418e-01 -2.60109301e-01 -3.21613580e-02 4.21137222e+01] [ 2.60049512e-01 9.65576006e-01 -6.10141499e-03 2.96995300e+00] [ 3.26412704e-02 -2.47541509e-03 9.99464066e-01 1.23879415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.410714057 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:42.14, Y:2.98, Z:1.24 [[ 9.65491923e-01 -2.58439163e-01 -3.21643433e-02 4.21440059e+01] [ 2.58378936e-01 9.66024470e-01 -6.08684445e-03 2.97985346e+00] [ 3.26446217e-02 -2.43378965e-03 9.99464059e-01 1.24060553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.440714057 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:42.18, Y:2.99, Z:1.24 [[ 9.66673079e-01 -2.53987242e-01 -3.21502674e-02 4.21751524e+01] [ 2.53922286e-01 9.67205036e-01 -6.15553023e-03 2.99231002e+00] [ 3.26593267e-02 -2.21328403e-03 9.99464091e-01 1.24095471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.470714056999995 meters Centerline goodness : 0.994095 Centerline is valid? [True, True] Translation: X:42.21, Y:3.00, Z:1.24 [[ 9.67172628e-01 -2.52077581e-01 -3.21558781e-02 4.22068783e+01] [ 2.52012480e-01 9.67704581e-01 -6.12817811e-03 3.00166499e+00] [ 3.26621669e-02 -2.17667647e-03 9.99464079e-01 1.24130193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.500714056999996 meters Centerline goodness : 0.992930 Centerline is valid? [True, True] Translation: X:42.24, Y:3.01, Z:1.24 [[ 9.67993045e-01 -2.48907942e-01 -3.21605689e-02 4.22367762e+01] [ 2.48841857e-01 9.68524887e-01 -6.10529589e-03 3.01038026e+00] [ 3.26679680e-02 -2.09301172e-03 9.99464068e-01 1.24270095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.530714057 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:42.27, Y:3.02, Z:1.24 [[ 9.68314720e-01 -2.47654583e-01 -3.21529292e-02 4.22668785e+01] [ 2.47586575e-01 9.68846302e-01 -6.14258111e-03 3.02034209e+00] [ 3.26724849e-02 -2.01268190e-03 9.99464085e-01 1.24191495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.560714057 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:42.30, Y:3.03, Z:1.24 [[ 9.69176610e-01 -2.44263138e-01 -3.21281459e-02 4.22985496e+01] [ 2.44189278e-01 9.69707362e-01 -6.26323866e-03 3.03257368e+00] [ 3.26847780e-02 -1.77516434e-03 9.99464133e-01 1.24251762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.590714057 meters Centerline goodness : 0.992899 Centerline is valid? [True, True] Translation: X:42.33, Y:3.04, Z:1.25 [[ 9.70304030e-01 -2.39742276e-01 -3.21516926e-02 4.23308818e+01] [ 2.39669737e-01 9.70835009e-01 -6.14844339e-03 3.03973397e+00] [ 3.26880306e-02 -1.73992831e-03 9.99464089e-01 1.24703669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.620714057 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:42.36, Y:3.05, Z:1.25 [[ 9.70656914e-01 -2.38302502e-01 -3.22036212e-02 4.23631630e+01] [ 2.38237549e-01 9.71189022e-01 -5.89530996e-03 3.04827453e+00] [ 3.26806705e-02 -1.94978841e-03 9.99463942e-01 1.24774200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.650714056999995 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:42.39, Y:3.06, Z:1.25 [[ 9.71450090e-01 -2.35043970e-01 -3.22343594e-02 4.23906801e+01] [ 2.34982191e-01 9.71982695e-01 -5.74545215e-03 3.05898196e+00] [ 3.26816734e-02 -1.99308039e-03 9.99463824e-01 1.24795983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.680714056999996 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:42.42, Y:3.07, Z:1.25 [[ 9.71234176e-01 -2.35940933e-01 -3.21877565e-02 4.24215271e+01] [ 2.35872178e-01 9.71765744e-01 -5.97108997e-03 3.06847465e+00] [ 3.26877837e-02 -1.79286960e-03 9.99464004e-01 1.24702062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.710714057 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:42.45, Y:3.08, Z:1.25 [[ 9.72280353e-01 -2.31589249e-01 -3.22076763e-02 4.24518386e+01] [ 2.31521305e-01 9.72812096e-01 -5.87460323e-03 3.07776890e+00] [ 3.26925121e-02 -1.74500193e-03 9.99463934e-01 1.24814208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.740714057 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:42.49, Y:3.08, Z:1.25 [[ 9.73050146e-01 -2.28332665e-01 -3.22119107e-02 4.24852160e+01] [ 2.28263618e-01 9.73581763e-01 -5.85409218e-03 3.08326599e+00] [ 3.26976093e-02 -1.65648203e-03 9.99463918e-01 1.25056680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.770714057 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:42.52, Y:3.09, Z:1.25 [[ 9.73640776e-01 -2.25793947e-01 -3.22604024e-02 4.25171059e+01] [ 2.25731282e-01 9.74173400e-01 -5.61917522e-03 3.09161005e+00] [ 3.26960017e-02 -1.81112388e-03 9.99463702e-01 1.25205722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.800714057 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:42.55, Y:3.10, Z:1.25 [[ 9.73550940e-01 -2.26177354e-01 -3.22857967e-02 4.25479209e+01] [ 2.26118977e-01 9.74084187e-01 -5.49597073e-03 3.09824508e+00] [ 3.26921482e-02 -1.94982385e-03 9.99463567e-01 1.25304204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.830714056999994 meters Centerline goodness : 0.992950 Centerline is valid? [True, True] Translation: X:42.58, Y:3.11, Z:1.25 [[ 9.74643728e-01 -2.21421579e-01 -3.22813850e-02 4.25806209e+01] [ 2.21359892e-01 9.75176577e-01 -5.51732948e-03 3.10511982e+00] [ 3.27017063e-02 -1.76837333e-03 9.99463592e-01 1.25367227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.860714056999996 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:42.61, Y:3.11, Z:1.25 [[ 9.74653055e-01 -2.21374587e-01 -3.23220324e-02 4.26105468e+01] [ 2.21319382e-01 9.75186864e-01 -5.32077381e-03 3.11205389e+00] [ 3.26979056e-02 -1.96758378e-03 9.99463344e-01 1.25338537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.890714057 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:42.64, Y:3.12, Z:1.25 [[ 9.74296093e-01 -2.22943473e-01 -3.23006347e-02 4.26367220e+01] [ 2.22885714e-01 9.74829493e-01 -5.42383188e-03 3.12096515e+00] [ 3.26968193e-02 -1.91493182e-03 9.99463482e-01 1.25487996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.920714057 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:42.67, Y:3.12, Z:1.25 [[ 9.74932062e-01 -2.20154583e-01 -3.22402543e-02 4.26704484e+01] [ 2.20085713e-01 9.75463804e-01 -5.71362668e-03 3.12394609e+00] [ 3.27070822e-02 -1.52522151e-03 9.99463816e-01 1.25383228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.950714057 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:42.70, Y:3.13, Z:1.25 [[ 9.74261091e-01 -2.23096876e-01 -3.22972181e-02 4.26967031e+01] [ 2.23038649e-01 9.74794421e-01 -5.44047731e-03 3.13332826e+00] [ 3.26969015e-02 -1.90308253e-03 9.99463502e-01 1.25496536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.980714057 meters Centerline goodness : 0.992645 Centerline is valid? [True, True] Translation: X:42.73, Y:3.14, Z:1.26 [[ 9.74093788e-01 -2.23835530e-01 -3.22327089e-02 4.27259303e+01] [ 2.23767498e-01 9.74625598e-01 -5.74904673e-03 3.13947121e+00] [ 3.27016640e-02 -1.61252190e-03 9.99463857e-01 1.25545203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.010714056999994 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:42.76, Y:3.15, Z:1.26 [[ 9.73899654e-01 -2.24681745e-01 -3.22114608e-02 4.27561439e+01] [ 2.24610820e-01 9.74430988e-01 -5.85057540e-03 3.14606124e+00] [ 3.27023631e-02 -1.53716926e-03 9.99463953e-01 1.25658780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.040714056999995 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:42.79, Y:3.15, Z:1.26 [[ 9.73945110e-01 -2.24488428e-01 -3.21849042e-02 4.27897712e+01] [ 2.24413223e-01 9.74475747e-01 -5.97695085e-03 3.15193553e+00] [ 3.27051649e-02 -1.40149602e-03 9.99464060e-01 1.25724330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.070714056999996 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:42.83, Y:3.16, Z:1.25 [[ 9.73208701e-01 -2.27656299e-01 -3.22092147e-02 4.28275271e+01] [ 2.27586621e-01 9.73740195e-01 -5.86198472e-03 3.15930239e+00] [ 3.26979247e-02 -1.62545179e-03 9.99463958e-01 1.25061409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.100714057 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:42.85, Y:3.16, Z:1.26 [[ 9.73638121e-01 -2.25794185e-01 -3.23387626e-02 4.28514174e+01] [ 2.25743813e-01 9.74172566e-01 -5.24813117e-03 3.16476871e+00] [ 3.26885328e-02 -2.19049501e-03 9.99463187e-01 1.26103642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.130714057 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:42.88, Y:3.17, Z:1.26 [[ 9.73437983e-01 -2.26669867e-01 -3.22376181e-02 4.28814370e+01] [ 2.26604112e-01 9.73970111e-01 -5.72703614e-03 3.17056315e+00] [ 3.26966230e-02 -1.73026231e-03 9.99463825e-01 1.26318693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.160714057 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:42.92, Y:3.17, Z:1.25 [[ 9.72967746e-01 -2.28685218e-01 -3.21999420e-02 4.29242181e+01] [ 2.28614712e-01 9.73499079e-01 -5.90399247e-03 3.17491885e+00] [ 3.26967697e-02 -1.61698622e-03 9.99464010e-01 1.25411030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.190714057 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:42.95, Y:3.18, Z:1.26 [[ 9.72973216e-01 -2.28632230e-01 -3.24102404e-02 4.29518041e+01] [ 2.28594360e-01 9.73509334e-01 -4.91884182e-03 3.17901121e+00] [ 3.26762773e-02 -2.62289681e-03 9.99462546e-01 1.26256603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.220714056999995 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:42.98, Y:3.19, Z:1.26 [[ 9.72249332e-01 -2.31700350e-01 -3.23447682e-02 4.29844508e+01] [ 2.31654005e-01 9.72784213e-01 -5.22465548e-03 3.18674280e+00] [ 3.26750344e-02 -2.41312732e-03 9.99463115e-01 1.25552783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.250714056999996 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:43.00, Y:3.19, Z:1.26 [[ 9.71223668e-01 -2.35953306e-01 -3.24133341e-02 4.29984814e+01] [ 2.35920088e-01 9.71760104e-01 -4.90033392e-03 3.19367288e+00] [ 3.26542349e-02 -2.88763635e-03 9.99462537e-01 1.26214783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.280714057 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:43.03, Y:3.20, Z:1.26 [[ 9.70221581e-01 -2.40076656e-01 -3.21447215e-02 4.30314667e+01] [ 2.40004111e-01 9.70752366e-01 -6.15382639e-03 3.20035197e+00] [ 3.26819545e-02 -1.74429014e-03 9.99464280e-01 1.26162929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.310714057 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:43.07, Y:3.20, Z:1.26 [[ 9.68391629e-01 -2.47348016e-01 -3.21964540e-02 4.30678665e+01] [ 2.47287460e-01 9.68924124e-01 -5.91225380e-03 3.20460977e+00] [ 3.26583052e-02 -2.23640225e-03 9.99464073e-01 1.25803505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.340714057 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:43.09, Y:3.21, Z:1.26 [[ 9.68286546e-01 -2.47746475e-01 -3.22931629e-02 4.30893625e+01] [ 2.47701164e-01 9.68821101e-01 -5.45961846e-03 3.20987109e+00] [ 3.26388988e-02 -2.71257892e-03 9.99463528e-01 1.26280064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.370714057 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:43.13, Y:3.22, Z:1.26 [[ 9.66742422e-01 -2.53724124e-01 -3.21427784e-02 4.31265459e+01] [ 2.53658907e-01 9.67274124e-01 -6.15854677e-03 3.21672382e+00] [ 3.26534497e-02 -2.19957362e-03 9.99464314e-01 1.26085698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.400714056999995 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:43.15, Y:3.22, Z:1.26 [[ 9.66972007e-01 -2.52833803e-01 -3.22522082e-02 4.31523191e+01] [ 2.52785001e-01 9.67505985e-01 -5.64916457e-03 3.22183813e+00] [ 3.26325042e-02 -2.69029049e-03 9.99463797e-01 1.26454247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.430714056999996 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:43.19, Y:3.23, Z:1.27 [[ 9.66815117e-01 -2.53446723e-01 -3.21447962e-02 4.31919162e+01] [ 2.53381750e-01 9.67346840e-01 -6.14655469e-03 3.22526512e+00] [ 3.26529911e-02 -2.20232272e-03 9.99464322e-01 1.26516704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.460714057 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:43.23, Y:3.23, Z:1.26 [[ 9.65388727e-01 -2.58807418e-01 -3.23005497e-02 4.32268212e+01] [ 2.58769421e-01 9.65923895e-01 -5.42366734e-03 3.23215085e+00] [ 3.26035581e-02 -3.12244721e-03 9.99463485e-01 1.26092532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.490714057 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:43.25, Y:3.24, Z:1.26 [[ 9.63673893e-01 -2.65114275e-01 -3.23581565e-02 4.32492694e+01] [ 2.65088693e-01 9.64210246e-01 -5.15627337e-03 3.24069535e+00] [ 3.25670677e-02 -3.60881538e-03 9.99463037e-01 1.26418336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.520714057 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:43.27, Y:3.25, Z:1.27 [[ 9.64063500e-01 -2.63710309e-01 -3.22248413e-02 4.32738711e+01] [ 2.63663463e-01 9.64597466e-01 -5.77116275e-03 3.24697003e+00] [ 3.26059154e-02 -2.93274591e-03 9.99463983e-01 1.27115130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.550714057 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:43.31, Y:3.25, Z:1.27 [[ 9.63666281e-01 -2.65170575e-01 -3.21226550e-02 4.33053876e+01] [ 2.65108940e-01 9.64198271e-01 -6.24058633e-03 3.25431388e+00] [ 3.26274283e-02 -2.50216040e-03 9.99464452e-01 1.27302920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.580714056999994 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:43.34, Y:3.26, Z:1.27 [[ 9.61907812e-01 -2.71481005e-01 -3.21158069e-02 4.33408618e+01] [ 2.71421812e-01 9.62440056e-01 -6.27205687e-03 3.26169924e+00] [ 3.26122833e-02 -2.68379002e-03 9.99464475e-01 1.26909713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.610714056999996 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:43.37, Y:3.27, Z:1.27 [[ 9.61423358e-01 -2.73180514e-01 -3.22107708e-02 4.33716910e+01] [ 2.73136798e-01 9.61957506e-01 -5.83493699e-03 3.26915820e+00] [ 3.25793838e-02 -3.18810209e-03 9.99464066e-01 1.27012742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.640714057 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:43.40, Y:3.28, Z:1.27 [[ 9.61056308e-01 -2.74471422e-01 -3.21902320e-02 4.34032161e+01] [ 2.74425289e-01 9.61590145e-01 -5.92910939e-03 3.27637926e+00] [ 3.25811809e-02 -3.13560573e-03 9.99464174e-01 1.27038474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.670714057 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:43.44, Y:3.28, Z:1.27 [[ 9.61481456e-01 -2.72977454e-01 -3.21981184e-02 4.34390592e+01] [ 2.72931695e-01 9.62015365e-01 -5.89294791e-03 3.28231997e+00] [ 3.25837265e-02 -3.12192688e-03 9.99464134e-01 1.26915896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.700714057 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:43.47, Y:3.29, Z:1.27 [[ 9.61565665e-01 -2.72670542e-01 -3.22838480e-02 4.34650926e+01] [ 2.72637618e-01 9.62101061e-01 -5.50259885e-03 3.28958102e+00] [ 3.25607210e-02 -3.51068130e-03 9.99463593e-01 1.27487333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.730714057 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:43.48, Y:3.30, Z:1.28 [[ 9.60130204e-01 -2.77690733e-01 -3.22156583e-02 4.34834947e+01] [ 2.77650290e-01 9.60664633e-01 -5.81198465e-03 3.30034638e+00] [ 3.25623779e-02 -3.36442487e-03 9.99464042e-01 1.27625268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.760714056999994 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:43.52, Y:3.31, Z:1.28 [[ 9.59746534e-01 -2.79036701e-01 -3.20173528e-02 4.35162535e+01] [ 2.78967237e-01 9.60277198e-01 -6.70706578e-03 3.30948031e+00] [ 3.26170513e-02 -2.49470931e-03 9.99464809e-01 1.27798100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.790714056999995 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:43.55, Y:3.32, Z:1.28 [[ 9.59760502e-01 -2.78985615e-01 -3.20438026e-02 4.35492163e+01] [ 2.78920078e-01 9.60291721e-01 -6.58792720e-03 3.31702138e+00] [ 3.26093353e-02 -2.61482761e-03 9.99464754e-01 1.27910376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.820714056999996 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:43.58, Y:3.32, Z:1.28 [[ 9.59843158e-01 -2.78696679e-01 -3.20822984e-02 4.35770115e+01] [ 2.78636748e-01 9.60375145e-01 -6.41436631e-03 3.32495238e+00] [ 3.25987046e-02 -2.78252166e-03 9.99464648e-01 1.28067732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.850714057 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:43.61, Y:3.34, Z:1.28 [[ 9.59210404e-01 -2.80872229e-01 -3.20342331e-02 4.36083461e+01] [ 2.80806298e-01 9.59741554e-01 -6.63124006e-03 3.33524397e+00] [ 3.26071159e-02 -2.63465997e-03 9.99464774e-01 1.28135618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.880714057 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:43.64, Y:3.34, Z:1.28 [[ 9.58972191e-01 -2.81683859e-01 -3.20396797e-02 4.36400197e+01] [ 2.81619193e-01 9.59503508e-01 -6.60668641e-03 3.34296024e+00] [ 3.26031820e-02 -2.68736020e-03 9.99464762e-01 1.28306969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.910714057 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:43.68, Y:3.35, Z:1.28 [[ 9.57075224e-01 -2.88062197e-01 -3.20497395e-02 4.36754962e+01] [ 2.88002577e-01 9.57607155e-01 -6.56138498e-03 3.35325276e+00] [ 3.25811468e-02 -2.95066855e-03 9.99464738e-01 1.28328463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.940714057 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:43.70, Y:3.36, Z:1.29 [[ 9.57269372e-01 -2.87407035e-01 -3.21332372e-02 4.37008837e+01] [ 2.87359553e-01 9.57802811e-01 -6.18571134e-03 3.36086637e+00] [ 3.25551219e-02 -3.31240066e-03 9.99464453e-01 1.28536023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.970714056999995 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:43.73, Y:3.37, Z:1.29 [[ 9.55964950e-01 -2.91728011e-01 -3.20278177e-02 4.37348333e+01] [ 2.91667187e-01 9.56496687e-01 -6.65885369e-03 3.37116758e+00] [ 3.25770756e-02 -2.97583275e-03 9.99464796e-01 1.28602815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.000714056999996 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:43.77, Y:3.38, Z:1.29 [[ 9.55899472e-01 -2.91935118e-01 -3.20949701e-02 4.37675369e+01] [ 2.91884444e-01 9.56432463e-01 -6.35733059e-03 3.37942582e+00] [ 3.25525993e-02 -3.29105354e-03 9.99464605e-01 1.28552028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.030714057 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:43.80, Y:3.39, Z:1.29 [[ 9.55717381e-01 -2.92526278e-01 -3.21350858e-02 4.37972611e+01] [ 2.92481932e-01 9.56251097e-01 -6.17729598e-03 3.38862372e+00] [ 3.25362324e-02 -3.49518286e-03 9.99464445e-01 1.28815517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.060714057 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:43.82, Y:3.40, Z:1.29 [[ 9.57335302e-01 -2.87189297e-01 -3.21158330e-02 4.38213832e+01] [ 2.87139099e-01 9.57868417e-01 -6.26363580e-03 3.39710467e+00] [ 3.25615913e-02 -3.22531167e-03 9.99464527e-01 1.28981493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.090714057 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:43.86, Y:3.41, Z:1.29 [[ 9.56193048e-01 -2.90981996e-01 -3.20052120e-02 4.38564485e+01] [ 2.90917494e-01 9.56724284e-01 -6.75691932e-03 3.40760341e+00] [ 3.25863054e-02 -2.84995679e-03 9.99464862e-01 1.29144488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.120714057 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:43.88, Y:3.42, Z:1.29 [[ 9.57306903e-01 -2.87285441e-01 -3.21024692e-02 4.38832112e+01] [ 2.87233336e-01 9.57839776e-01 -6.32249846e-03 3.41524385e+00] [ 3.25653837e-02 -3.16832789e-03 9.99464585e-01 1.29328203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.150714056999995 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:43.91, Y:3.43, Z:1.29 [[ 9.57831790e-01 -2.85541115e-01 -3.20083379e-02 4.39145097e+01] [ 2.85474112e-01 9.58362711e-01 -6.74129798e-03 3.42590507e+00] [ 3.26005152e-02 -2.68052231e-03 9.99464867e-01 1.29455663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.180714056999996 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:43.95, Y:3.44, Z:1.29 [[ 9.57668451e-01 -2.86086306e-01 -3.20275260e-02 4.39497372e+01] [ 2.86022445e-01 9.58199802e-01 -6.65582904e-03 3.43508090e+00] [ 3.25929106e-02 -2.78651380e-03 9.99464826e-01 1.29463870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.210714057 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:43.98, Y:3.45, Z:1.30 [[ 9.58671097e-01 -2.82698076e-01 -3.21173604e-02 4.39813625e+01] [ 2.82645642e-01 9.59203997e-01 -6.25568043e-03 3.44617593e+00] [ 3.25755693e-02 -3.08069195e-03 9.99464527e-01 1.29511653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.240714057 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:44.01, Y:3.45, Z:1.30 [[ 9.60138034e-01 -2.77675071e-01 -3.21171476e-02 4.40098265e+01] [ 2.77619817e-01 9.60670647e-01 -6.25662807e-03 3.45422648e+00] [ 3.25913106e-02 -2.90913005e-03 9.99464528e-01 1.29856120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.270714057 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:44.04, Y:3.46, Z:1.29 [[ 9.60386027e-01 -2.76822452e-01 -3.20625813e-02 4.40438064e+01] [ 2.76758660e-01 9.60917480e-01 -6.49926223e-03 3.46343449e+00] [ 3.26086365e-02 -2.63179638e-03 9.99464732e-01 1.29419326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.300714057 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:44.07, Y:3.47, Z:1.29 [[ 9.62608798e-01 -2.68980370e-01 -3.21537348e-02 4.40735351e+01] [ 2.68925730e-01 9.63141643e-01 -6.09325917e-03 3.47366598e+00] [ 3.26075680e-02 -2.78154173e-03 9.99464361e-01 1.29278210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.330714056999994 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:44.10, Y:3.48, Z:1.30 [[ 9.64263821e-01 -2.62986967e-01 -3.21424628e-02 4.41005445e+01] [ 2.62927346e-01 9.64796076e-01 -6.14347821e-03 3.48194501e+00] [ 3.26265767e-02 -2.52719869e-03 9.99464416e-01 1.29982440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.360714056999996 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:44.13, Y:3.49, Z:1.30 [[ 9.65862287e-01 -2.57063621e-01 -3.20677082e-02 4.41337160e+01] [ 2.56989784e-01 9.66392436e-01 -6.47375441e-03 3.49194157e+00] [ 3.26541574e-02 -1.98831817e-03 9.99464733e-01 1.30234248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.390714057 meters Centerline goodness : 0.992868 Centerline is valid? [True, True] Translation: X:44.16, Y:3.50, Z:1.30 [[ 9.66913655e-01 -2.53071056e-01 -3.21406986e-02 4.41637167e+01] [ 2.53005716e-01 9.67445229e-01 -6.15120453e-03 3.49945679e+00] [ 3.26510573e-02 -2.18409682e-03 9.99464426e-01 1.30408671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.420714057 meters Centerline goodness : 0.993400 Centerline is valid? [True, True] Translation: X:44.20, Y:3.51, Z:1.31 [[ 9.67286410e-01 -2.51643267e-01 -3.21351544e-02 4.41955481e+01] [ 2.51576327e-01 9.67817757e-01 -6.17577602e-03 3.50882598e+00] [ 3.26550655e-02 -2.11069992e-03 9.99464452e-01 1.30568013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.450714057 meters Centerline goodness : 0.993360 Centerline is valid? [True, True] Translation: X:44.23, Y:3.51, Z:1.31 [[ 9.68334398e-01 -2.47582044e-01 -3.21189388e-02 4.42306476e+01] [ 2.47510515e-01 9.68865068e-01 -6.24702793e-03 3.51453989e+00] [ 3.26655698e-02 -1.90056307e-03 9.99464531e-01 1.30594974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.480714057 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:44.26, Y:3.53, Z:1.31 [[ 9.68490322e-01 -2.46957760e-01 -3.22236181e-02 4.42563925e+01] [ 2.46901120e-01 9.69023394e-01 -5.78776264e-03 3.52594172e+00] [ 3.26547727e-02 -2.35065529e-03 9.99463926e-01 1.30807259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.510714056999994 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:44.26, Y:3.54, Z:1.31 [[ 9.65577621e-01 -2.58118671e-01 -3.21653535e-02 4.42640249e+01] [ 2.58059711e-01 9.66110072e-01 -6.04271310e-03 3.54353841e+00] [ 3.26350090e-02 -2.46587327e-03 9.99464294e-01 1.31149264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.540714056999995 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:44.30, Y:3.55, Z:1.31 [[ 9.66237771e-01 -2.55681496e-01 -3.18047535e-02 4.42984365e+01] [ 2.55569536e-01 9.66760759e-01 -7.60572661e-03 3.55047282e+00] [ 3.26922312e-02 -7.79385764e-04 9.99465162e-01 1.30924243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.570714056999996 meters Centerline goodness : 0.994054 Centerline is valid? [True, True] Translation: X:44.33, Y:3.56, Z:1.31 [[ 9.67388608e-01 -2.51284246e-01 -3.18670586e-02 4.43311285e+01] [ 2.51178811e-01 9.67912910e-01 -7.33504815e-03 3.55775340e+00] [ 3.26877195e-02 -9.08487866e-04 9.99465201e-01 1.31094316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.600714057 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:44.38, Y:3.55, Z:1.31 [[ 9.71041027e-01 -2.36777698e-01 -3.18691995e-02 4.43790985e+01] [ 2.36664733e-01 9.71563759e-01 -7.32573465e-03 3.55442131e+00] [ 3.26975299e-02 -4.28726689e-04 9.99465201e-01 1.31387922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.630714057 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:44.41, Y:3.56, Z:1.32 [[ 9.71708507e-01 -2.33980837e-01 -3.21798878e-02 4.44105290e+01] [ 2.33910895e-01 9.72239684e-01 -5.97417918e-03 3.56024100e+00] [ 3.26844074e-02 -1.72206563e-03 9.99464238e-01 1.31541283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.660714057 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:44.44, Y:3.57, Z:1.32 [[ 9.72001862e-01 -2.32759652e-01 -3.21764627e-02 4.44387974e+01] [ 2.32688546e-01 9.72532863e-01 -5.98921106e-03 3.56745929e+00] [ 3.26867141e-02 -1.66557001e-03 9.99464259e-01 1.31702408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.690714057 meters Centerline goodness : 0.993312 Centerline is valid? [True, True] Translation: X:44.47, Y:3.57, Z:1.32 [[ 9.72499259e-01 -2.30683105e-01 -3.21013383e-02 4.44702408e+01] [ 2.30599977e-01 9.73028121e-01 -6.31878211e-03 3.57301888e+00] [ 3.26931412e-02 -1.25755697e-03 9.99464645e-01 1.31630754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.720714056999995 meters Centerline goodness : 0.993312 Centerline is valid? [True, True] Translation: X:44.50, Y:3.58, Z:1.32 [[ 9.72393962e-01 -2.31121564e-01 -3.21372833e-02 4.45008559e+01] [ 2.31043819e-01 9.72923826e-01 -6.16300098e-03 3.58036606e+00] [ 3.26915311e-02 -1.43225572e-03 9.99464463e-01 1.31727169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.750714056999996 meters Centerline goodness : 0.993693 Centerline is valid? [True, True] Translation: X:44.53, Y:3.58, Z:1.32 [[ 9.73200531e-01 -2.27701352e-01 -3.21375284e-02 4.45313187e+01] [ 2.27621779e-01 9.73730125e-01 -6.16193941e-03 3.58489694e+00] [ 3.26963615e-02 -1.31839867e-03 9.99464461e-01 1.31770483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.780714057 meters Centerline goodness : 0.993537 Centerline is valid? [True, True] Translation: X:44.56, Y:3.59, Z:1.32 [[ 9.73306641e-01 -2.27250261e-01 -3.21170033e-02 4.45625436e+01] [ 2.27167512e-01 9.73835638e-01 -6.25074742e-03 3.59143356e+00] [ 3.26971664e-02 -1.21204575e-03 9.99464570e-01 1.31887422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.810714057 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:44.58, Y:3.61, Z:1.32 [[ 9.70814436e-01 -2.37675554e-01 -3.20883403e-02 4.45779240e+01] [ 2.37594367e-01 9.71343540e-01 -6.37526789e-03 3.60570624e+00] [ 3.26840474e-02 -1.43480682e-03 9.99464704e-01 1.31955182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.840714057 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:44.62, Y:3.60, Z:1.32 [[ 9.74066069e-01 -2.24019868e-01 -3.17866774e-02 4.46240801e+01] [ 2.23888589e-01 9.74584511e-01 -7.67668772e-03 3.59990383e+00] [ 3.26985340e-02 3.60926701e-04 9.99465195e-01 1.31998287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.870714057 meters Centerline goodness : 0.992223 Centerline is valid? [True, True] Translation: X:44.66, Y:3.61, Z:1.32 [[ 9.73992933e-01 -2.24288270e-01 -3.21331406e-02 4.46561371e+01] [ 2.24205959e-01 9.74522133e-01 -6.18875424e-03 3.60505102e+00] [ 3.27025217e-02 -1.17663869e-03 9.99464437e-01 1.32049753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.900714056999995 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:44.69, Y:3.61, Z:1.32 [[ 9.73721934e-01 -2.25461258e-01 -3.21374543e-02 4.46881741e+01] [ 2.25380194e-01 9.74251351e-01 -6.17026795e-03 3.60707903e+00] [ 3.27011147e-02 -1.23502045e-03 9.99464412e-01 1.32063469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.930714056999996 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:44.72, Y:3.61, Z:1.32 [[ 9.73413909e-01 -2.26787785e-01 -3.21350626e-02 4.47189314e+01] [ 2.26707105e-01 9.73943371e-01 -6.18050097e-03 3.61096794e+00] [ 3.26993933e-02 -1.26906140e-03 9.99464426e-01 1.32248176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.960714057 meters Centerline goodness : 0.992529 Centerline is valid? [True, True] Translation: X:44.75, Y:3.62, Z:1.32 [[ 9.72788469e-01 -2.29458178e-01 -3.21175894e-02 4.47498784e+01] [ 2.29376495e-01 9.73317677e-01 -6.25487024e-03 3.61609086e+00] [ 3.26958486e-02 -1.28235443e-03 9.99464525e-01 1.32217785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.990714057 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:44.78, Y:3.62, Z:1.32 [[ 9.72626353e-01 -2.30147080e-01 -3.20982797e-02 4.47819399e+01] [ 2.30063062e-01 9.73155091e-01 -6.33696456e-03 3.62045248e+00] [ 3.26950381e-02 -1.22112977e-03 9.99464628e-01 1.32387557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.020714057 meters Centerline goodness : 0.991825 Centerline is valid? [True, True] Translation: X:44.81, Y:3.62, Z:1.33 [[ 9.71740214e-01 -2.33858444e-01 -3.21120649e-02 4.48144035e+01] [ 2.33778382e-01 9.72269639e-01 -6.27834465e-03 3.62208611e+00] [ 3.26898296e-02 -1.40618658e-03 9.99464555e-01 1.32625960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.050714057 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:44.85, Y:3.63, Z:1.32 [[ 9.71262330e-01 -2.35841556e-01 -3.20663004e-02 4.48484873e+01] [ 2.35756216e-01 9.71790685e-01 -6.47084315e-03 3.62630661e+00] [ 3.26878257e-02 -1.27494343e-03 9.99464797e-01 1.32487792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.080714056999994 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:44.88, Y:3.63, Z:1.32 [[ 9.70246870e-01 -2.39972716e-01 -3.21575476e-02 4.48810608e+01] [ 2.39902319e-01 9.70777948e-01 -6.08711386e-03 3.62756079e+00] [ 3.26785793e-02 -1.80866706e-03 9.99464276e-01 1.32401437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.110714056999996 meters Centerline goodness : 0.992694 Centerline is valid? [True, True] Translation: X:44.91, Y:3.63, Z:1.33 [[ 9.69716099e-01 -2.42108399e-01 -3.21591499e-02 4.49093900e+01] [ 2.42039394e-01 9.70247371e-01 -6.08038703e-03 3.63080895e+00] [ 3.26744434e-02 -1.88753198e-03 9.99464265e-01 1.32585540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.140714057 meters Centerline goodness : 0.992582 Centerline is valid? [True, True] Translation: X:44.94, Y:3.64, Z:1.33 [[ 9.68303495e-01 -2.47707095e-01 -3.20863929e-02 4.49363209e+01] [ 2.47631064e-01 9.68833364e-01 -6.38504785e-03 3.63694213e+00] [ 3.26679896e-02 -1.76292347e-03 9.99464704e-01 1.32520064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.170714057 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:44.97, Y:3.64, Z:1.32 [[ 9.66704958e-01 -2.53882342e-01 -3.20200046e-02 4.49661414e+01] [ 2.53800529e-01 9.67233638e-01 -6.66184426e-03 3.64045967e+00] [ 3.26621502e-02 -1.68665622e-03 9.99465026e-01 1.32441729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.200714057 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:45.00, Y:3.65, Z:1.33 [[ 9.66090249e-01 -2.56217418e-01 -3.19728761e-02 4.49990449e+01] [ 2.56130391e-01 9.66617913e-01 -6.85807090e-03 3.64631565e+00] [ 3.26627120e-02 -1.56370984e-03 9.99465208e-01 1.32509810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.230714057 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:45.03, Y:3.65, Z:1.33 [[ 9.65478328e-01 -2.58512986e-01 -3.19786533e-02 4.50322783e+01] [ 2.58428009e-01 9.66006346e-01 -6.83401181e-03 3.64741504e+00] [ 3.26582629e-02 -1.66608943e-03 9.99465188e-01 1.32743357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.260714056999994 meters Centerline goodness : 0.992517 Centerline is valid? [True, True] Translation: X:45.06, Y:3.65, Z:1.33 [[ 9.64319163e-01 -2.62798586e-01 -3.20227336e-02 4.50597107e+01] [ 2.62722048e-01 9.64848642e-01 -6.65006671e-03 3.65306660e+00] [ 3.26447192e-02 -2.00029141e-03 9.99465017e-01 1.32667975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.290714056999995 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:45.09, Y:3.66, Z:1.33 [[ 9.63827639e-01 -2.64604591e-01 -3.19482739e-02 4.50920429e+01] [ 2.64518800e-01 9.64355417e-01 -6.95938932e-03 3.65798199e+00] [ 3.26509774e-02 -1.74326731e-03 9.99465294e-01 1.32867610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.320714056999996 meters Centerline goodness : 0.992939 Centerline is valid? [True, True] Translation: X:45.12, Y:3.66, Z:1.33 [[ 9.62547836e-01 -2.69220531e-01 -3.19682648e-02 4.51238462e+01] [ 2.69140014e-01 9.63076511e-01 -6.87656825e-03 3.66259954e+00] [ 3.26391983e-02 -1.98491333e-03 9.99465228e-01 1.32882678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.350714057 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:45.16, Y:3.67, Z:1.32 [[ 9.61857879e-01 -2.71676450e-01 -3.19582032e-02 4.51626055e+01] [ 2.71595903e-01 9.62386515e-01 -6.91818887e-03 3.66911366e+00] [ 3.26356528e-02 -2.02540257e-03 9.99465263e-01 1.32463560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.380714057 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:45.19, Y:3.67, Z:1.32 [[ 9.61108646e-01 -2.74296532e-01 -3.21182738e-02 4.51930134e+01] [ 2.74239465e-01 9.61641093e-01 -6.25489644e-03 3.67368100e+00] [ 3.26019483e-02 -2.79646315e-03 9.99464503e-01 1.32420779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.410714057 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:45.22, Y:3.68, Z:1.33 [[ 9.60603189e-01 -2.76066320e-01 -3.20764767e-02 4.52200306e+01] [ 2.76004511e-01 9.61134853e-01 -6.42677988e-03 3.68008806e+00] [ 3.26040372e-02 -2.67966703e-03 9.99464755e-01 1.33030862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.440714057 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:45.26, Y:3.69, Z:1.33 [[ 9.59711380e-01 -2.79160308e-01 -3.19935768e-02 4.52551364e+01] [ 2.79088898e-01 9.60241425e-01 -6.76698718e-03 3.68659777e+00] [ 3.26106321e-02 -2.43469751e-03 9.99465166e-01 1.32512130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.470714056999995 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:45.28, Y:3.69, Z:1.33 [[ 9.59619502e-01 -2.79464993e-01 -3.20894045e-02 4.52777503e+01] [ 2.79406846e-01 9.60151652e-01 -6.37334762e-03 3.69295177e+00] [ 3.25918223e-02 -2.85001062e-03 9.99464682e-01 1.33004815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.500714056999996 meters Centerline goodness : 0.992934 Centerline is valid? [True, True] Translation: X:45.31, Y:3.70, Z:1.33 [[ 9.58913649e-01 -2.81895498e-01 -3.19302633e-02 4.53110500e+01] [ 2.81817031e-01 9.59442448e-01 -7.02498927e-03 3.69946299e+00] [ 3.26155629e-02 -2.26213391e-03 9.99465411e-01 1.33067588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.530714057 meters Centerline goodness : 0.992775 Centerline is valid? [True, True] Translation: X:45.34, Y:3.71, Z:1.33 [[ 9.59085192e-01 -2.81307526e-01 -3.19635674e-02 4.53403283e+01] [ 2.81233263e-01 9.59614714e-01 -6.88855262e-03 3.70643517e+00] [ 3.26105113e-02 -2.38250956e-03 9.99465296e-01 1.33223538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.560714057 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:45.38, Y:3.71, Z:1.33 [[ 9.57876910e-01 -2.85398381e-01 -3.19310111e-02 4.53781706e+01] [ 2.85321974e-01 9.58406007e-01 -7.02113146e-03 3.71456665e+00] [ 3.26066924e-02 -2.38523942e-03 9.99465414e-01 1.32759788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.590714057 meters Centerline goodness : 0.993788 Centerline is valid? [True, True] Translation: X:45.41, Y:3.72, Z:1.33 [[ 9.57651527e-01 -2.86135014e-01 -3.20983890e-02 4.54079657e+01] [ 2.86081762e-01 9.58184252e-01 -6.33762976e-03 3.72162648e+00] [ 3.25695887e-02 -3.11352287e-03 9.99464621e-01 1.32890461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.620714057 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:45.44, Y:3.73, Z:1.33 [[ 9.57444821e-01 -2.86828132e-01 -3.20786000e-02 4.54402732e+01] [ 2.86772577e-01 9.57977189e-01 -6.41826024e-03 3.72940815e+00] [ 3.25715047e-02 -3.05413277e-03 9.99464741e-01 1.32995576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.650714056999995 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:45.45, Y:3.75, Z:1.33 [[ 9.54322031e-01 -2.97051281e-01 -3.20935868e-02 4.54493444e+01] [ 2.97003460e-01 9.54855240e-01 -6.35726287e-03 3.74638720e+00] [ 3.25331626e-02 -3.46503031e-03 9.99464650e-01 1.33462696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.680714056999996 meters Centerline goodness : 0.992457 Centerline is valid? [True, True] Translation: X:45.49, Y:3.74, Z:1.34 [[ 9.58142950e-01 -2.84527204e-01 -3.17231235e-02 4.54936575e+01] [ 2.84422733e-01 9.58666797e-01 -7.85380202e-03 3.74482868e+00] [ 3.26465255e-02 -1.49771243e-03 9.99465838e-01 1.33792368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.710714057 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:45.53, Y:3.75, Z:1.34 [[ 9.58488503e-01 -2.83331188e-01 -3.19879319e-02 4.55253189e+01] [ 2.83261650e-01 9.59018702e-01 -6.77985378e-03 3.75252330e+00] [ 3.25979689e-02 -2.56254247e-03 9.99465260e-01 1.33910894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.740714057 meters Centerline goodness : 0.992941 Centerline is valid? [True, True] Translation: X:45.56, Y:3.76, Z:1.34 [[ 9.58552210e-01 -2.83115571e-01 -3.19880216e-02 4.55571252e+01] [ 2.83045926e-01 9.59082396e-01 -6.77949066e-03 3.76090564e+00] [ 3.25985278e-02 -2.55558344e-03 9.99465260e-01 1.33952065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.770714057 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:45.57, Y:3.78, Z:1.34 [[ 9.54833896e-01 -2.95410390e-01 -3.20145640e-02 4.55682315e+01] [ 2.95351141e-01 9.55365472e-01 -6.67213429e-03 3.78061830e+00] [ 3.25566269e-02 -3.08475805e-03 9.99465132e-01 1.33661335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.800714057 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:45.62, Y:3.78, Z:1.33 [[ 9.58020352e-01 -2.84940879e-01 -3.17127876e-02 4.56177912e+01] [ 2.84835572e-01 9.58543953e-01 -7.88583100e-03 3.77984304e+00] [ 3.26450964e-02 -1.47814341e-03 9.99465914e-01 1.33427209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.830714056999994 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:45.65, Y:3.79, Z:1.34 [[ 9.57821515e-01 -2.85568562e-01 -3.20708724e-02 4.56461813e+01] [ 2.85511677e-01 9.58353614e-01 -6.43686805e-03 3.78880729e+00] [ 3.25734036e-02 -2.99123787e-03 9.99464870e-01 1.33604188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.860714056999996 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:45.67, Y:3.80, Z:1.35 [[ 9.58978066e-01 -2.81665564e-01 -3.20246577e-02 4.56711213e+01] [ 2.81600290e-01 9.59508938e-01 -6.62379661e-03 3.79714405e+00] [ 3.25936408e-02 -2.66607724e-03 9.99465130e-01 1.34527517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.890714057 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:45.70, Y:3.81, Z:1.34 [[ 9.59530143e-01 -2.79789601e-01 -3.19324881e-02 4.57015053e+01] [ 2.79710925e-01 9.60058777e-01 -6.99595598e-03 3.80572764e+00] [ 3.26144612e-02 -2.21903514e-03 9.99465544e-01 1.34412931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.920714057 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:45.73, Y:3.82, Z:1.35 [[ 9.59195546e-01 -2.80937676e-01 -3.19049502e-02 4.57325100e+01] [ 2.80855975e-01 9.59723618e-01 -7.10618487e-03 3.81749837e+00] [ 3.26163293e-02 -2.14447501e-03 9.99465645e-01 1.34642520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.950714057 meters Centerline goodness : 0.993308 Centerline is valid? [True, True] Translation: X:45.76, Y:3.83, Z:1.35 [[ 9.59613579e-01 -2.79502611e-01 -3.19385157e-02 4.57646738e+01] [ 2.79424574e-01 9.60142333e-01 -6.97195102e-03 3.82590660e+00] [ 3.26141995e-02 -2.23402726e-03 9.99465519e-01 1.34659170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.980714057 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:45.79, Y:3.84, Z:1.35 [[ 9.59606971e-01 -2.79524500e-01 -3.19455124e-02 4.57930745e+01] [ 2.79447402e-01 9.60135892e-01 -6.94400614e-03 3.83674130e+00] [ 3.26130529e-02 -2.26357376e-03 9.99465490e-01 1.34659101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.010714056999994 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:45.82, Y:3.85, Z:1.35 [[ 9.59938851e-01 -2.78386879e-01 -3.19084389e-02 4.58173513e+01] [ 2.78304249e-01 9.60466788e-01 -7.09186974e-03 3.84932352e+00] [ 3.26212793e-02 -2.07249285e-03 9.99465636e-01 1.34545380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.040714056999995 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:45.85, Y:3.86, Z:1.35 [[ 9.61053006e-01 -2.74526436e-01 -3.18175270e-02 4.58469080e+01] [ 2.74429687e-01 9.61578275e-01 -7.45441856e-03 3.85869966e+00] [ 3.26414776e-02 -1.56758260e-03 9.99465896e-01 1.34715267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.070714056999996 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:45.88, Y:3.87, Z:1.35 [[ 9.62037407e-01 -2.71060354e-01 -3.17854061e-02 4.58783347e+01] [ 2.70957489e-01 9.62561451e-01 -7.58235921e-03 3.86842339e+00] [ 3.26506836e-02 -1.31798060e-03 9.99465955e-01 1.34910305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.100714057 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:45.91, Y:3.88, Z:1.35 [[ 9.63872160e-01 -2.64460285e-01 -3.17996407e-02 4.59074209e+01] [ 2.64355699e-01 9.64395888e-01 -7.52564748e-03 3.87900585e+00] [ 3.26576776e-02 -1.15265417e-03 9.99465931e-01 1.35364585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.130714057 meters Centerline goodness : 0.993014 Centerline is valid? [True, True] Translation: X:45.94, Y:3.89, Z:1.35 [[ 9.64863257e-01 -2.60823946e-01 -3.17768026e-02 4.59380059e+01] [ 2.60714390e-01 9.65385930e-01 -7.61663471e-03 3.88768264e+00] [ 3.26634788e-02 -9.35658740e-04 9.99465968e-01 1.35396660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.160714057 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:45.96, Y:3.90, Z:1.35 [[ 9.64285632e-01 -2.62951045e-01 -3.17800051e-02 4.59632908e+01] [ 2.62843061e-01 9.64808637e-01 -7.60388301e-03 3.90352675e+00] [ 3.26610724e-02 -1.02083869e-03 9.99465964e-01 1.35304684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.190714057 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:45.99, Y:3.91, Z:1.35 [[ 9.65202166e-01 -2.59577644e-01 -3.16895054e-02 4.59904344e+01] [ 2.59455997e-01 9.65722093e-01 -7.96399883e-03 3.91258794e+00] [ 3.26705316e-02 -5.35163312e-04 9.99466032e-01 1.35452644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.220714056999995 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:46.03, Y:3.92, Z:1.35 [[ 9.66250311e-01 -2.55661140e-01 -3.15866801e-02 4.60259745e+01] [ 2.55523999e-01 9.66766456e-01 -8.37286073e-03 3.91940129e+00] [ 3.26775579e-02 1.91244737e-05 9.99465946e-01 1.35454650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.250714056999996 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:46.07, Y:3.92, Z:1.36 [[ 9.71418438e-01 -2.35248332e-01 -3.16929043e-02 4.60724292e+01] [ 2.35114139e-01 9.71935260e-01 -7.94937465e-03 3.91563193e+00] [ 3.26735283e-02 2.70719217e-04 9.99466041e-01 1.35883298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.280714057 meters Centerline goodness : 0.991791 Centerline is valid? [True, True] Translation: X:46.10, Y:3.92, Z:1.36 [[ 9.72642428e-01 -2.30093273e-01 -3.19967474e-02 4.61023725e+01] [ 2.29996151e-01 9.73168243e-01 -6.73355080e-03 3.92259179e+00] [ 3.26875632e-02 -8.09791541e-04 9.99465291e-01 1.36050598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.310714057 meters Centerline goodness : 0.992533 Centerline is valid? [True, True] Translation: X:46.13, Y:3.93, Z:1.36 [[ 9.72989854e-01 -2.28626671e-01 -3.19466644e-02 4.61341387e+01] [ 2.28522186e-01 9.73514015e-01 -6.93342773e-03 3.92954871e+00] [ 3.26856920e-02 -5.54366757e-04 9.99465526e-01 1.35866654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.340714057 meters Centerline goodness : 0.992593 Centerline is valid? [True, True] Translation: X:46.16, Y:3.93, Z:1.36 [[ 9.74281125e-01 -2.23055301e-01 -3.19784612e-02 4.61647285e+01] [ 2.22951983e-01 9.74805665e-01 -6.80653552e-03 3.93425799e+00] [ 3.26910189e-02 -4.98182236e-04 9.99465382e-01 1.35815428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.370714057 meters Centerline goodness : 0.992511 Centerline is valid? [True, True] Translation: X:46.19, Y:3.94, Z:1.36 [[ 9.74729665e-01 -2.21089797e-01 -3.19590578e-02 4.61934957e+01] [ 2.20982884e-01 9.75253391e-01 -6.88385491e-03 3.93951978e+00] [ 3.26901296e-02 -3.52507166e-04 9.99465473e-01 1.35876269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.400714056999995 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:46.23, Y:3.94, Z:1.35 [[ 9.74714792e-01 -2.21159648e-01 -3.19293783e-02 4.62288368e+01] [ 2.21048892e-01 9.75237589e-01 -7.00224848e-03 3.94322047e+00] [ 3.26873448e-02 -2.32758529e-04 9.99465599e-01 1.35339588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.430714056999996 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:46.25, Y:3.95, Z:1.36 [[ 9.74648573e-01 -2.21441069e-01 -3.20001978e-02 4.62452806e+01] [ 2.21339878e-01 9.75173607e-01 -6.71527218e-03 3.95073291e+00] [ 3.26927854e-02 -5.37889435e-04 9.99465303e-01 1.35919430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.460714057 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:46.28, Y:3.96, Z:1.36 [[ 9.73896243e-01 -2.24774516e-01 -3.16626642e-02 4.62783029e+01] [ 2.24630700e-01 9.74410516e-01 -8.07439052e-03 3.95801240e+00] [ 3.26673502e-02 7.51212163e-04 9.99465997e-01 1.35719472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.490714057 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:46.31, Y:3.96, Z:1.36 [[ 9.74051464e-01 -2.24093557e-01 -3.17147065e-02 4.63113750e+01] [ 2.23956207e-01 9.74567477e-01 -7.86452660e-03 3.96186344e+00] [ 3.26705112e-02 5.57748273e-04 9.99466021e-01 1.35796942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.520714057 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:46.35, Y:3.95, Z:1.36 [[ 9.76289422e-01 -2.14133146e-01 -3.17168724e-02 4.63549148e+01] [ 2.13990817e-01 9.76804083e-01 -7.85578206e-03 3.95310414e+00] [ 3.26633538e-02 8.82397505e-04 9.99466021e-01 1.35781237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.550714057 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:46.38, Y:3.96, Z:1.36 [[ 9.73749347e-01 -2.25378636e-01 -3.18854245e-02 4.63766743e+01] [ 2.25264524e-01 9.74271231e-01 -7.17374961e-03 3.96328899e+00] [ 3.26818617e-02 -1.97220980e-04 9.99465786e-01 1.35912128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.580714056999994 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:46.41, Y:3.96, Z:1.36 [[ 9.73087022e-01 -2.28244988e-01 -3.17155047e-02 4.64107998e+01] [ 2.28110004e-01 9.73603644e-01 -7.85946534e-03 3.96088511e+00] [ 3.26722145e-02 4.13319821e-04 9.99466035e-01 1.36036539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.610714056999996 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:46.44, Y:3.97, Z:1.36 [[ 9.73152385e-01 -2.27965847e-01 -3.17176280e-02 4.64434214e+01] [ 2.27830995e-01 9.73669041e-01 -7.85088709e-03 3.96889851e+00] [ 3.26722066e-02 4.13850745e-04 9.99466035e-01 1.36146077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.640714057 meters Centerline goodness : 0.993877 Centerline is valid? [True, True] Translation: X:46.48, Y:3.97, Z:1.36 [[ 9.72665107e-01 -2.30035733e-01 -3.17198764e-02 4.64766711e+01] [ 2.29902277e-01 9.73182125e-01 -7.84179250e-03 3.97115173e+00] [ 3.26731092e-02 3.34966132e-04 9.99466035e-01 1.36263746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.670714057 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:46.51, Y:3.97, Z:1.36 [[ 9.72091538e-01 -2.32447301e-01 -3.17221393e-02 4.65089306e+01] [ 2.32315427e-01 9.72608962e-01 -7.83262767e-03 3.97314987e+00] [ 3.26739101e-02 2.44488751e-04 9.99466035e-01 1.36350328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.700714057 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:46.54, Y:3.97, Z:1.36 [[ 9.70697127e-01 -2.38202982e-01 -3.17242438e-02 4.65439125e+01] [ 2.38074454e-01 9.71215392e-01 -7.82409462e-03 3.96953446e+00] [ 3.26747965e-02 4.20941437e-05 9.99466035e-01 1.36400291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.730714057 meters Centerline goodness : 0.993054 Centerline is valid? [True, True] Translation: X:46.58, Y:3.97, Z:1.36 [[ 9.70058397e-01 -2.40790645e-01 -3.17265067e-02 4.65778602e+01] [ 2.40663801e-01 9.70577077e-01 -7.81490783e-03 3.97214372e+00] [ 3.26747768e-02 -5.45047094e-05 9.99466035e-01 1.36458144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.760714056999994 meters Centerline goodness : 0.992885 Centerline is valid? [True, True] Translation: X:46.61, Y:3.97, Z:1.37 [[ 9.69384802e-01 -2.43487970e-01 -3.17287526e-02 4.66112440e+01] [ 2.43362868e-01 9.69903905e-01 -7.80577885e-03 3.97417740e+00] [ 3.26744542e-02 -1.54796840e-04 9.99466035e-01 1.36535659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.790714056999995 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:46.65, Y:3.98, Z:1.37 [[ 9.68840701e-01 -2.45643726e-01 -3.17309813e-02 4.66450363e+01] [ 2.45520076e-01 9.69360152e-01 -7.79670817e-03 3.97646582e+00] [ 3.26739613e-02 -2.36824739e-04 9.99466036e-01 1.36637531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.820714056999996 meters Centerline goodness : 0.991572 Centerline is valid? [True, True] Translation: X:46.68, Y:3.97, Z:1.37 [[ 9.67851385e-01 -2.49512928e-01 -3.17331996e-02 4.66798745e+01] [ 2.49391650e-01 9.68371394e-01 -7.78766933e-03 3.97379308e+00] [ 3.26726469e-02 -3.76688461e-04 9.99466036e-01 1.36741507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.850714057 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:46.71, Y:3.98, Z:1.37 [[ 9.67453392e-01 -2.51051382e-01 -3.17354202e-02 4.67125191e+01] [ 2.50931229e-01 9.67973663e-01 -7.77860974e-03 3.97681349e+00] [ 3.26718816e-02 -4.37965590e-04 9.99466036e-01 1.36793712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.880714057 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:46.75, Y:3.98, Z:1.37 [[ 9.67162428e-01 -2.52169810e-01 -3.17368000e-02 4.67471851e+01] [ 2.52050443e-01 9.67682879e-01 -7.77297567e-03 3.97516251e+00] [ 3.26712679e-02 -4.81544504e-04 9.99466036e-01 1.36946110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.910714057 meters Centerline goodness : 0.989066 Centerline is valid? [True, True] Translation: X:46.77, Y:3.98, Z:1.38 [[ 9.67087879e-01 -2.52455287e-01 -3.17389883e-02 4.67742588e+01] [ 2.52336367e-01 9.67608432e-01 -7.76403023e-03 3.98005811e+00] [ 3.26709832e-02 -5.00401468e-04 9.99466036e-01 1.37602026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.940714057 meters Centerline goodness : 0.989114 Centerline is valid? [True, True] Translation: X:46.81, Y:3.98, Z:1.37 [[ 9.67313387e-01 -2.51604758e-01 -3.16205151e-02 4.68138596e+01] [ 2.51469540e-01 9.67830070e-01 -8.24776202e-03 3.98092327e+00] [ 3.26784615e-02 2.65742353e-05 9.99465916e-01 1.37227839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.970714056999995 meters Centerline goodness : 0.988735 Centerline is valid? [True, True] Translation: X:46.85, Y:3.98, Z:1.37 [[ 9.67131725e-01 -2.52286838e-01 -3.17423683e-02 4.68472706e+01] [ 2.52168333e-01 9.67652361e-01 -7.74860548e-03 3.98095955e+00] [ 3.26704488e-02 -5.10497906e-04 9.99466048e-01 1.37338455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.000714056999996 meters Centerline goodness : 0.987624 Centerline is valid? [True, True] Translation: X:46.87, Y:3.99, Z:1.38 [[ 9.67200488e-01 -2.52022827e-01 -3.17444679e-02 4.68728073e+01] [ 2.51904463e-01 9.67721155e-01 -7.73999419e-03 3.98664366e+00] [ 3.26704483e-02 -5.10446968e-04 9.99466048e-01 1.37991510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.030714057 meters Centerline goodness : 0.986552 Centerline is valid? [True, True] Translation: X:46.92, Y:3.98, Z:1.38 [[ 9.69939207e-01 -2.41284721e-01 -3.16167357e-02 4.69205834e+01] [ 2.41143492e-01 9.70454291e-01 -8.26352024e-03 3.97631278e+00] [ 3.26764580e-02 3.90942220e-04 9.99465906e-01 1.37673732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.060714057 meters Centerline goodness : 0.985445 Centerline is valid? [True, True] Translation: X:46.95, Y:3.98, Z:1.38 [[ 9.69804248e-01 -2.41790644e-01 -3.18905249e-02 4.69515532e+01] [ 2.41686566e-01 9.70328123e-01 -7.13702760e-03 3.98009828e+00] [ 3.26699397e-02 -7.85991761e-04 9.99465886e-01 1.37711115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.090714057 meters Centerline goodness : 0.986837 Centerline is valid? [True, True] Translation: X:46.97, Y:3.99, Z:1.38 [[ 9.67439496e-01 -2.51089358e-01 -3.18583775e-02 4.69694592e+01] [ 2.50985964e-01 9.67963432e-01 -7.26912153e-03 3.98988780e+00] [ 3.26629434e-02 -9.63570293e-04 9.99465959e-01 1.38250003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.120714057 meters Centerline goodness : 0.987090 Centerline is valid? [True, True] Translation: X:47.01, Y:3.99, Z:1.38 [[ 9.67565708e-01 -2.50633161e-01 -3.16167693e-02 4.70085918e+01] [ 2.50497083e-01 9.68082132e-01 -8.25819392e-03 3.99244919e+00] [ 3.26774067e-02 7.04367559e-05 9.99465948e-01 1.37833402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.150714056999995 meters Centerline goodness : 0.984329 Centerline is valid? [True, True] Translation: X:47.05, Y:3.99, Z:1.38 [[ 9.70572016e-01 -2.38709548e-01 -3.17445160e-02 4.70496777e+01] [ 2.38584241e-01 9.71091009e-01 -7.73386310e-03 3.98810326e+00] [ 3.26729611e-02 -6.74701769e-05 9.99466094e-01 1.38191297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.180714056999996 meters Centerline goodness : 0.986718 Centerline is valid? [True, True] Translation: X:47.09, Y:3.99, Z:1.38 [[ 9.69622119e-01 -2.42519211e-01 -3.18963648e-02 4.70859573e+01] [ 2.42416415e-01 9.70146241e-01 -7.11000490e-03 3.99051056e+00] [ 3.26684512e-02 -8.38184385e-04 9.99465892e-01 1.37715057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.210714057 meters Centerline goodness : 0.985829 Centerline is valid? [True, True] Translation: X:47.11, Y:3.99, Z:1.38 [[ 9.70210250e-01 -2.40146168e-01 -3.19670013e-02 4.71137596e+01] [ 2.40051595e-01 9.70736166e-01 -6.82115325e-03 3.99467628e+00] [ 3.26695981e-02 -1.05577687e-03 9.99465649e-01 1.38020490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.240714057 meters Centerline goodness : 0.984347 Centerline is valid? [True, True] Translation: X:47.15, Y:4.00, Z:1.38 [[ 9.70052339e-01 -2.40794131e-01 -3.18848904e-02 4.71462963e+01] [ 2.40688901e-01 9.70575937e-01 -7.15567941e-03 3.99886860e+00] [ 3.26697530e-02 -7.32955685e-04 9.99465932e-01 1.38101624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.270714057 meters Centerline goodness : 0.984488 Centerline is valid? [True, True] Translation: X:47.18, Y:4.00, Z:1.38 [[ 9.70361925e-01 -2.39541209e-01 -3.19021016e-02 4.71793157e+01] [ 2.39437607e-01 9.70885898e-01 -7.08557597e-03 4.00100238e+00] [ 3.26705880e-02 -7.62989719e-04 9.99465883e-01 1.38419929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.300714057 meters Centerline goodness : 0.983560 Centerline is valid? [True, True] Translation: X:47.21, Y:4.00, Z:1.39 [[ 9.69633854e-01 -2.42464341e-01 -3.19567328e-02 4.72098284e+01] [ 2.42369650e-01 9.70159705e-01 -6.86290373e-03 4.00242989e+00] [ 3.26671439e-02 -1.09083836e-03 9.99465691e-01 1.38574105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.330714056999994 meters Centerline goodness : 0.983913 Centerline is valid? [True, True] Translation: X:47.24, Y:4.01, Z:1.39 [[ 9.68965388e-01 -2.45128106e-01 -3.19106425e-02 4.72406820e+01] [ 2.45028678e-01 9.69490194e-01 -7.05054283e-03 4.00886169e+00] [ 3.26653412e-02 -9.87290580e-04 9.99465858e-01 1.38672863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.360714056999996 meters Centerline goodness : 0.983537 Centerline is valid? [True, True] Translation: X:47.28, Y:4.01, Z:1.39 [[ 9.68668724e-01 -2.46301149e-01 -3.18849151e-02 4.72755755e+01] [ 2.46198913e-01 9.69192911e-01 -7.15513112e-03 4.00912268e+00] [ 3.26649507e-02 -9.19079706e-04 9.99465936e-01 1.38940377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.390714057 meters Centerline goodness : 0.986474 Centerline is valid? [True, True] Translation: X:47.30, Y:4.02, Z:1.39 [[ 9.66799678e-01 -2.53530223e-01 -3.19500952e-02 4.73039827e+01] [ 2.53440651e-01 9.67326400e-01 -6.89006338e-03 4.01572001e+00] [ 3.26530098e-02 -1.43614186e-03 9.99465716e-01 1.38578846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.420714057 meters Centerline goodness : 0.985548 Centerline is valid? [True, True] Translation: X:47.33, Y:4.02, Z:1.39 [[ 9.67038712e-01 -2.52618697e-01 -3.19362265e-02 4.73331378e+01] [ 2.52526769e-01 9.67564974e-01 -6.94639085e-03 4.02025909e+00] [ 3.26551623e-02 -1.34732320e-03 9.99465770e-01 1.39077407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.450714057 meters Centerline goodness : 0.986083 Centerline is valid? [True, True] Translation: X:47.35, Y:4.03, Z:1.39 [[ 9.62670793e-01 -2.68789534e-01 -3.18924753e-02 4.73537057e+01] [ 2.68700566e-01 9.63197413e-01 -7.12382800e-03 4.02914963e+00] [ 3.26335601e-02 -1.71162502e-03 9.99465918e-01 1.39274267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.480714057 meters Centerline goodness : 0.985399 Centerline is valid? [True, True] Translation: X:47.39, Y:4.03, Z:1.39 [[ 9.64520418e-01 -2.62096545e-01 -3.17137783e-02 4.73937881e+01] [ 2.61980124e-01 9.65041374e-01 -7.84615050e-03 4.02670930e+00] [ 3.26615572e-02 -7.40607217e-04 9.99466195e-01 1.39431405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.510714056999994 meters Centerline goodness : 0.987867 Centerline is valid? [True, True] Translation: X:47.41, Y:4.04, Z:1.39 [[ 9.60425236e-01 -2.76702804e-01 -3.19206091e-02 4.74123909e+01] [ 2.76621984e-01 9.60953253e-01 -7.00881814e-03 4.03946628e+00] [ 3.26135728e-02 -2.09849641e-03 9.99465833e-01 1.39349940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.540714056999995 meters Centerline goodness : 0.986958 Centerline is valid? [True, True] Translation: X:47.45, Y:4.04, Z:1.40 [[ 9.60242248e-01 -2.77361384e-01 -3.17094207e-02 4.74498263e+01] [ 2.77252757e-01 9.60764860e-01 -7.86077895e-03 4.03677231e+00] [ 3.26455736e-02 -1.24327225e-03 9.99466218e-01 1.39606625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.570714056999996 meters Centerline goodness : 0.987718 Centerline is valid? [True, True] Translation: X:47.48, Y:4.04, Z:1.40 [[ 9.58658530e-01 -2.82767582e-01 -3.18797356e-02 4.74799850e+01] [ 2.82684621e-01 9.59186081e-01 -7.17402310e-03 4.04341996e+00] [ 3.26071798e-02 -2.13447252e-03 9.99465965e-01 1.39713945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.600714057 meters Centerline goodness : 0.987622 Centerline is valid? [True, True] Translation: X:47.52, Y:4.04, Z:1.39 [[ 9.58479290e-01 -2.83376514e-01 -3.18622286e-02 4.75192802e+01] [ 2.83291554e-01 9.59006472e-01 -7.24441891e-03 4.04324701e+00] [ 3.26089816e-02 -2.08267477e-03 9.99466016e-01 1.39341426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.630714057 meters Centerline goodness : 0.989081 Centerline is valid? [True, True] Translation: X:47.55, Y:4.05, Z:1.40 [[ 9.56915746e-01 -2.88594895e-01 -3.20193932e-02 4.75499637e+01] [ 2.88533715e-01 9.57446881e-01 -6.61559166e-03 4.05132616e+00] [ 3.25660941e-02 -2.90811065e-03 9.99465353e-01 1.39553067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.660714057 meters Centerline goodness : 0.988398 Centerline is valid? [True, True] Translation: X:47.58, Y:4.06, Z:1.40 [[ 9.56227614e-01 -2.90867552e-01 -3.20127802e-02 4.75797601e+01] [ 2.90806754e-01 9.56758755e-01 -6.64200550e-03 4.05866499e+00] [ 3.25604516e-02 -2.95826362e-03 9.99465390e-01 1.39677496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.690714057 meters Centerline goodness : 0.987251 Centerline is valid? [True, True] Translation: X:47.60, Y:4.07, Z:1.40 [[ 9.55243140e-01 -2.94085620e-01 -3.20030073e-02 4.76029549e+01] [ 2.94025305e-01 9.55774284e-01 -6.68118094e-03 4.06747863e+00] [ 3.25524906e-02 -3.02754171e-03 9.99465442e-01 1.40181066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.720714056999995 meters Centerline goodness : 0.988259 Centerline is valid? [True, True] Translation: X:47.63, Y:4.08, Z:1.40 [[ 9.52882527e-01 -3.01661675e-01 -3.18610158e-02 4.76310991e+01] [ 3.01586724e-01 9.53411206e-01 -7.24715597e-03 4.07897987e+00] [ 3.25628387e-02 -2.70317108e-03 9.99466035e-01 1.40297996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.750714056999996 meters Centerline goodness : 0.988197 Centerline is valid? [True, True] Translation: X:47.66, Y:4.09, Z:1.40 [[ 9.53193966e-01 -3.00677016e-01 -3.18527257e-02 4.76623605e+01] [ 3.00600421e-01 9.53722384e-01 -7.28015174e-03 4.08559584e+00] [ 3.25676318e-02 -2.63554607e-03 9.99466059e-01 1.40165579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.780714057 meters Centerline goodness : 0.988933 Centerline is valid? [True, True] Translation: X:47.69, Y:4.10, Z:1.40 [[ 9.51704620e-01 -3.05353538e-01 -3.18987913e-02 4.76897729e+01] [ 3.05285639e-01 9.52234379e-01 -7.09693118e-03 4.09856622e+00] [ 3.25421988e-02 -2.98406071e-03 9.99465908e-01 1.40445140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.810714057 meters Centerline goodness : 0.987729 Centerline is valid? [True, True] Translation: X:47.72, Y:4.11, Z:1.41 [[ 9.51333206e-01 -3.06512922e-01 -3.18584421e-02 4.77221541e+01] [ 3.06440356e-01 9.51862202e-01 -7.25643854e-03 4.10864120e+00] [ 3.25490391e-02 -2.85942141e-03 9.99466049e-01 1.40517760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.840714057 meters Centerline goodness : 0.987735 Centerline is valid? [True, True] Translation: X:47.75, Y:4.12, Z:1.41 [[ 9.50762179e-01 -3.08274024e-01 -3.19124524e-02 4.77496527e+01] [ 3.08209549e-01 9.51292421e-01 -7.04300612e-03 4.12118225e+00] [ 3.25292500e-02 -3.13949873e-03 9.99465853e-01 1.40713781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.870714057 meters Centerline goodness : 0.987587 Centerline is valid? [True, True] Translation: X:47.78, Y:4.13, Z:1.41 [[ 9.50550369e-01 -3.08929328e-01 -3.18852223e-02 4.77804157e+01] [ 3.08861629e-01 9.51080103e-01 -7.15068898e-03 4.13132349e+00] [ 3.25344581e-02 -3.05103167e-03 9.99465958e-01 1.40816253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.900714056999995 meters Centerline goodness : 0.985837 Centerline is valid? [True, True] Translation: X:47.81, Y:4.14, Z:1.41 [[ 9.50318372e-01 -3.09640670e-01 -3.19005967e-02 4.78088848e+01] [ 3.09575393e-01 9.50848468e-01 -7.08994157e-03 4.14157679e+00] [ 3.25279678e-02 -3.13793802e-03 9.99465900e-01 1.40959322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.930714056999996 meters Centerline goodness : 0.985657 Centerline is valid? [True, True] Translation: X:47.84, Y:4.15, Z:1.41 [[ 9.50778226e-01 -3.08229214e-01 -3.18671629e-02 4.78360891e+01] [ 3.08158762e-01 9.51307535e-01 -7.22163648e-03 4.15202035e+00] [ 3.25413915e-02 -2.95397072e-03 9.99466023e-01 1.41222926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.960714057 meters Centerline goodness : 0.987643 Centerline is valid? [True, True] Translation: X:47.86, Y:4.17, Z:1.41 [[ 9.46737544e-01 -3.20432281e-01 -3.17989807e-02 4.78553553e+01] [ 3.20359704e-01 9.47266365e-01 -7.48963907e-03 4.17410565e+00] [ 3.25220270e-02 -3.09638954e-03 9.99466223e-01 1.41170040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.990714057 meters Centerline goodness : 0.984938 Centerline is valid? [True, True] Translation: X:47.89, Y:4.18, Z:1.41 [[ 9.49510499e-01 -3.12134577e-01 -3.16515221e-02 4.78928902e+01] [ 3.12038153e-01 9.50035313e-01 -8.06814633e-03 4.17822873e+00] [ 3.25884111e-02 -2.21569282e-03 9.99466401e-01 1.41200005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.020714057 meters Centerline goodness : 0.984768 Centerline is valid? [True, True] Translation: X:47.92, Y:4.19, Z:1.41 [[ 9.49128805e-01 -3.13279641e-01 -3.17864359e-02 4.79230923e+01] [ 3.13201460e-01 9.49656792e-01 -7.53813329e-03 4.19157462e+00] [ 3.25477484e-02 -2.80089869e-03 9.99466257e-01 1.41083105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.050714057 meters Centerline goodness : 0.984343 Centerline is valid? [True, True] Translation: X:47.95, Y:4.20, Z:1.41 [[ 9.48581287e-01 -3.14932060e-01 -3.18015595e-02 4.79537147e+01] [ 3.14856775e-01 9.49109730e-01 -7.47878229e-03 4.20330827e+00] [ 3.25384778e-02 -2.91870353e-03 9.99466222e-01 1.41134581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.080714056999994 meters Centerline goodness : 0.984552 Centerline is valid? [True, True] Translation: X:47.98, Y:4.21, Z:1.41 [[ 9.48315712e-01 -3.15731196e-01 -3.17981530e-02 4.79836505e+01] [ 3.15655911e-01 9.48844146e-01 -7.49214898e-03 4.21428547e+00] [ 3.25369965e-02 -2.93235238e-03 9.99466230e-01 1.41224097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.110714056999996 meters Centerline goodness : 0.983597 Centerline is valid? [True, True] Translation: X:48.01, Y:4.23, Z:1.41 [[ 9.47882257e-01 -3.17029274e-01 -3.18067152e-02 4.80128034e+01] [ 3.16955833e-01 9.48410971e-01 -7.45852768e-03 4.22939790e+00] [ 3.25304093e-02 -3.01151789e-03 9.99466209e-01 1.41218029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.140714057 meters Centerline goodness : 0.983565 Centerline is valid? [True, True] Translation: X:48.04, Y:4.24, Z:1.41 [[ 9.47333494e-01 -3.18665516e-01 -3.18047225e-02 4.80407288e+01] [ 3.18592728e-01 9.47862294e-01 -7.46635165e-03 4.24233084e+00] [ 3.25257661e-02 -3.05962831e-03 9.99466214e-01 1.41318629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.170714057 meters Centerline goodness : 0.985456 Centerline is valid? [True, True] Translation: X:48.08, Y:4.25, Z:1.41 [[ 9.46059188e-01 -3.22431302e-01 -3.17815695e-02 4.80783513e+01] [ 3.22357591e-01 9.46587805e-01 -7.55715900e-03 4.25479770e+00] [ 3.25207107e-02 -3.09551046e-03 9.99466268e-01 1.41155189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.200714057 meters Centerline goodness : 0.984817 Centerline is valid? [True, True] Translation: X:48.10, Y:4.27, Z:1.42 [[ 9.46300431e-01 -3.21708594e-01 -3.19229634e-02 4.81018818e+01] [ 3.21652953e-01 9.46831731e-01 -7.00363694e-03 4.26973093e+00] [ 3.24788049e-02 -3.64057081e-03 9.99465794e-01 1.41679665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.230714057 meters Centerline goodness : 0.985865 Centerline is valid? [True, True] Translation: X:48.14, Y:4.28, Z:1.41 [[ 9.45047904e-01 -3.25380500e-01 -3.18117726e-02 4.81373900e+01] [ 3.25312448e-01 9.45577339e-01 -7.43687391e-03 4.28230199e+00] [ 3.25003051e-02 -3.32056353e-03 9.99466210e-01 1.41492523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.260714056999994 meters Centerline goodness : 0.985034 Centerline is valid? [True, True] Translation: X:48.16, Y:4.30, Z:1.41 [[ 9.47168802e-01 -3.19141789e-01 -3.19339757e-02 4.81600950e+01] [ 3.19086157e-01 9.47700153e-01 -6.96026370e-03 4.29724309e+00] [ 3.24851446e-02 -3.59714493e-03 9.99465745e-01 1.41316995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.290714056999995 meters Centerline goodness : 0.984620 Centerline is valid? [True, True] Translation: X:48.19, Y:4.31, Z:1.42 [[ 9.47585247e-01 -3.17916923e-01 -3.17966991e-02 4.81883506e+01] [ 3.17842696e-01 9.48113820e-01 -7.49694892e-03 4.31001394e+00] [ 3.25302968e-02 -3.00235040e-03 9.99466240e-01 1.42116243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.320714056999996 meters Centerline goodness : 0.987501 Centerline is valid? [True, True] Translation: X:48.22, Y:4.33, Z:1.42 [[ 9.47074874e-01 -3.19436572e-01 -3.17719745e-02 4.82238546e+01] [ 3.19359998e-01 9.47603050e-01 -7.59284721e-03 4.32942050e+00] [ 3.25326530e-02 -2.95570290e-03 9.99466303e-01 1.41899231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.350714057 meters Centerline goodness : 0.986003 Centerline is valid? [True, True] Translation: X:48.25, Y:4.34, Z:1.43 [[ 9.48752241e-01 -3.14403025e-01 -3.19362467e-02 4.82477681e+01] [ 3.14344913e-01 9.49283362e-01 -6.95511467e-03 4.34040278e+00] [ 3.25032567e-02 -3.44031604e-03 9.99465709e-01 1.42613560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.380714057 meters Centerline goodness : 0.986726 Centerline is valid? [True, True] Translation: X:48.28, Y:4.35, Z:1.43 [[ 9.49564997e-01 -3.11952857e-01 -3.18077166e-02 4.82789754e+01] [ 3.11876800e-01 9.50093326e-01 -7.45209640e-03 4.35348651e+00] [ 3.25450020e-02 -2.84383899e-03 9.99466225e-01 1.42673860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.410714057 meters Centerline goodness : 0.987493 Centerline is valid? [True, True] Translation: X:48.31, Y:4.37, Z:1.43 [[ 9.50109555e-01 -3.10289847e-01 -3.18126353e-02 4.83074597e+01] [ 3.10213497e-01 9.50637857e-01 -7.43312095e-03 4.36691779e+00] [ 3.25487174e-02 -2.80642962e-03 9.99466210e-01 1.42774656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.440714057 meters Centerline goodness : 0.988133 Centerline is valid? [True, True] Translation: X:48.33, Y:4.38, Z:1.43 [[ 9.52434909e-01 -3.03079801e-01 -3.17864569e-02 4.83345260e+01] [ 3.02996094e-01 9.52962016e-01 -7.53406123e-03 4.38421078e+00] [ 3.25747078e-02 -2.45546935e-03 9.99466287e-01 1.43187967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.470714056999995 meters Centerline goodness : 0.988784 Centerline is valid? [True, True] Translation: X:48.36, Y:4.40, Z:1.43 [[ 9.54723811e-01 -2.95793540e-01 -3.17588840e-02 4.83634756e+01] [ 2.95702277e-01 9.55249594e-01 -7.64051716e-03 4.40194992e+00] [ 3.25976767e-02 -2.09659066e-03 9.99466356e-01 1.43326055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.500714056999996 meters Centerline goodness : 0.989475 Centerline is valid? [True, True] Translation: X:48.39, Y:4.41, Z:1.43 [[ 9.55548173e-01 -2.93120309e-01 -3.17517466e-02 4.83931815e+01] [ 2.93026665e-01 9.56073520e-01 -7.66797416e-03 4.41404164e+00] [ 3.26046431e-02 -1.97698971e-03 9.99466372e-01 1.43296648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.530714057 meters Centerline goodness : 0.989475 Centerline is valid? [True, True] Translation: X:48.42, Y:4.42, Z:1.43 [[ 9.55507016e-01 -2.93254967e-01 -3.17469102e-02 4.84245661e+01] [ 2.93160781e-01 9.56032255e-01 -7.68656529e-03 4.42231644e+00] [ 3.26051936e-02 -1.96238192e-03 9.99466383e-01 1.43403218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.560714057 meters Centerline goodness : 0.990287 Centerline is valid? [True, True] Translation: X:48.45, Y:4.44, Z:1.44 [[ 9.55356171e-01 -2.93745874e-01 -3.17481873e-02 4.84459085e+01] [ 2.93652122e-01 9.55881491e-01 -7.68162211e-03 4.43668089e+00] [ 3.26039494e-02 -1.98423749e-03 9.99466380e-01 1.43690201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.590714057 meters Centerline goodness : 0.989785 Centerline is valid? [True, True] Translation: X:48.48, Y:4.45, Z:1.44 [[ 9.57522787e-01 -2.86625140e-01 -3.15617164e-02 4.84831549e+01] [ 2.86503724e-01 9.58042292e-01 -8.40137592e-03 4.44554693e+00] [ 3.26455047e-02 -9.98040392e-04 9.99466495e-01 1.43846738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.620714057 meters Centerline goodness : 0.990922 Centerline is valid? [True, True] Translation: X:48.51, Y:4.46, Z:1.44 [[ 9.59717707e-01 -2.79170133e-01 -3.17168615e-02 4.85140595e+01] [ 2.79064353e-01 9.60240690e-01 -7.80405986e-03 4.45979810e+00] [ 3.26344814e-02 -1.36135098e-03 9.99466426e-01 1.43767434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.650714056999995 meters Centerline goodness : 0.991802 Centerline is valid? [True, True] Translation: X:48.55, Y:4.47, Z:1.44 [[ 9.60535978e-01 -2.76338912e-01 -3.17402105e-02 4.85453139e+01] [ 2.76234556e-01 9.61059291e-01 -7.71418904e-03 4.46899004e+00] [ 3.26359549e-02 -1.35798684e-03 9.99466383e-01 1.43612744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.680714056999996 meters Centerline goodness : 0.991508 Centerline is valid? [True, True] Translation: X:48.58, Y:4.48, Z:1.44 [[ 9.61543426e-01 -2.72813174e-01 -3.17365961e-02 4.85765536e+01] [ 2.72706440e-01 9.62066252e-01 -7.72810407e-03 4.48013823e+00] [ 3.26410367e-02 -1.22386647e-03 9.99466390e-01 1.44035334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.710714057 meters Centerline goodness : 0.992173 Centerline is valid? [True, True] Translation: X:48.60, Y:4.49, Z:1.44 [[ 9.63456465e-01 -2.65972238e-01 -3.17869216e-02 4.86047759e+01] [ 2.65868179e-01 9.63979952e-01 -7.53421080e-03 4.49237061e+00] [ 3.26458461e-02 -1.19224686e-03 9.99466271e-01 1.44340627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.740714057 meters Centerline goodness : 0.993442 Centerline is valid? [True, True] Translation: X:48.62, Y:4.51, Z:1.44 [[ 9.61963221e-01 -2.71326139e-01 -3.17629904e-02 4.86234312e+01] [ 2.71221949e-01 9.62486619e-01 -7.62643385e-03 4.50881848e+00] [ 3.26407041e-02 -1.27847132e-03 9.99466333e-01 1.44060250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.770714057 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:48.65, Y:4.52, Z:1.44 [[ 9.63485040e-01 -2.65895361e-01 -3.15632027e-02 4.86536940e+01] [ 2.65763006e-01 9.64001850e-01 -8.39393522e-03 4.51795543e+00] [ 3.26588942e-02 -3.00900620e-04 9.99466511e-01 1.44036687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.800714057 meters Centerline goodness : 0.992186 Centerline is valid? [True, True] Translation: X:48.68, Y:4.52, Z:1.45 [[ 9.64185217e-01 -2.63345479e-01 -3.15598648e-02 4.86830666e+01] [ 2.63211337e-01 9.64701569e-01 -8.40677573e-03 4.52450202e+00] [ 3.26597374e-02 -2.01225313e-04 9.99466508e-01 1.44668634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.830714056999994 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:48.71, Y:4.53, Z:1.44 [[ 9.64710211e-01 -2.61417189e-01 -3.15477848e-02 4.87126690e+01] [ 2.61280496e-01 9.65225904e-01 -8.45323527e-03 4.53338127e+00] [ 3.26605601e-02 -8.78984796e-05 9.99466498e-01 1.44259347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.860714056999996 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:48.75, Y:4.54, Z:1.44 [[ 9.65368302e-01 -2.58975115e-01 -3.15583906e-02 4.87475660e+01] [ 2.58838453e-01 9.65883993e-01 -8.41238110e-03 4.54055550e+00] [ 3.26603417e-02 -4.74789293e-05 9.99466508e-01 1.44274042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.890714057 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:48.78, Y:4.55, Z:1.44 [[ 9.66331083e-01 -2.55346526e-01 -3.16605477e-02 4.87763779e+01] [ 2.55220830e-01 9.66849544e-01 -8.01790103e-03 4.54723527e+00] [ 3.26583293e-02 -3.32484267e-04 9.99466519e-01 1.44395668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.920714057 meters Centerline goodness : 0.992825 Centerline is valid? [True, True] Translation: X:48.81, Y:4.55, Z:1.44 [[ 9.67094945e-01 -2.52443517e-01 -3.16170666e-02 4.88076224e+01] [ 2.52310770e-01 9.67611630e-01 -8.18584473e-03 4.55390643e+00] [ 3.26595048e-02 -6.08373584e-05 9.99466534e-01 1.44428238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.950714057 meters Centerline goodness : 0.993011 Centerline is valid? [True, True] Translation: X:48.84, Y:4.56, Z:1.44 [[ 9.67717716e-01 -2.50045382e-01 -3.16184975e-02 4.88377938e+01] [ 2.49911536e-01 9.68234118e-01 -8.18031413e-03 4.55990827e+00] [ 3.26595578e-02 1.44076442e-05 9.99466534e-01 1.44458247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.980714057 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:48.87, Y:4.57, Z:1.45 [[ 9.67895776e-01 -2.49359586e-01 -3.15842318e-02 4.88716268e+01] [ 2.49221047e-01 9.68410949e-01 -8.31286032e-03 4.56610141e+00] [ 3.26594073e-02 1.74527092e-04 9.99466524e-01 1.44613878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.010714056999994 meters Centerline goodness : 0.993046 Centerline is valid? [True, True] Translation: X:48.90, Y:4.57, Z:1.45 [[ 9.68340042e-01 -2.47623898e-01 -3.16222822e-02 4.89049646e+01] [ 2.47489244e-01 9.68856232e-01 -8.16550536e-03 4.56944303e+00] [ 3.26594194e-02 8.08110829e-05 9.99466536e-01 1.44699254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.040714056999995 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:48.94, Y:4.58, Z:1.45 [[ 9.68605353e-01 -2.46583758e-01 -3.16246791e-02 4.89374633e+01] [ 2.46448853e-01 9.69121478e-01 -8.15621149e-03 4.57521988e+00] [ 3.26593450e-02 1.06284212e-04 9.99466536e-01 1.44807554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.070714056999996 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:48.97, Y:4.58, Z:1.45 [[ 9.68951280e-01 -2.45220605e-01 -3.16270612e-02 4.89701564e+01] [ 2.45085276e-01 9.69467294e-01 -8.14696404e-03 4.58069066e+00] [ 3.26592049e-02 1.42684221e-04 9.99466536e-01 1.44931025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.100714057 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:49.00, Y:4.58, Z:1.45 [[ 9.69137627e-01 -2.44482796e-01 -3.16294433e-02 4.90033272e+01] [ 2.44347376e-01 9.69653617e-01 -8.13770535e-03 4.58310607e+00] [ 3.26591331e-02 1.57984972e-04 9.99466536e-01 1.44946724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.130714057 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:49.04, Y:4.59, Z:1.45 [[ 9.69246056e-01 -2.44052274e-01 -3.16318041e-02 4.90350503e+01] [ 2.43916925e-01 9.69762064e-01 -8.12851827e-03 4.58741403e+00] [ 3.26591070e-02 1.63001875e-04 9.99466536e-01 1.45016702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.160714057 meters Centerline goodness : 0.992424 Centerline is valid? [True, True] Translation: X:49.07, Y:4.59, Z:1.45 [[ 9.69214604e-01 -2.44176866e-01 -3.16339983e-02 4.90692699e+01] [ 2.44041862e-01 9.69730703e-01 -8.11997030e-03 4.58800852e+00] [ 3.26591683e-02 1.49973957e-04 9.99466536e-01 1.45067796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.190714057 meters Centerline goodness : 0.991126 Centerline is valid? [True, True] Translation: X:49.10, Y:4.59, Z:1.45 [[ 9.69143820e-01 -2.44457357e-01 -3.16363206e-02 4.91018252e+01] [ 2.44322798e-01 9.69660035e-01 -8.11091206e-03 4.59216177e+00] [ 3.26592479e-02 1.31165933e-04 9.99466536e-01 1.45212296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.220714056999995 meters Centerline goodness : 0.990658 Centerline is valid? [True, True] Translation: X:49.13, Y:4.60, Z:1.45 [[ 9.69024451e-01 -2.44929802e-01 -3.16386737e-02 4.91338358e+01] [ 2.44795795e-01 9.69540809e-01 -8.10172299e-03 4.59656863e+00] [ 3.26593387e-02 1.05753398e-04 9.99466536e-01 1.45288643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.250714056999996 meters Centerline goodness : 0.991160 Centerline is valid? [True, True] Translation: X:49.17, Y:4.60, Z:1.45 [[ 9.68624279e-01 -2.46507327e-01 -3.16408570e-02 4.91673194e+01] [ 2.46374439e-01 9.69140927e-01 -8.09318696e-03 4.59612894e+00] [ 3.26594794e-02 4.37589639e-05 9.99466536e-01 1.45424995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.280714057 meters Centerline goodness : 0.990986 Centerline is valid? [True, True] Translation: X:49.20, Y:4.60, Z:1.46 [[ 9.68343186e-01 -2.47608959e-01 -3.16429851e-02 4.92000095e+01] [ 2.47476931e-01 9.68860054e-01 -8.08485824e-03 4.60013296e+00] [ 3.26595075e-02 -1.99146069e-06 9.99466536e-01 1.45516715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.310714057 meters Centerline goodness : 0.988823 Centerline is valid? [True, True] Translation: X:49.23, Y:4.60, Z:1.46 [[ 9.68200936e-01 -2.48164300e-01 -3.16453403e-02 4.92295171e+01] [ 2.48032871e-01 9.68717957e-01 -8.07562885e-03 4.59966666e+00] [ 3.26594922e-02 -3.02531950e-05 9.99466536e-01 1.45582483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.340714057 meters Centerline goodness : 0.989526 Centerline is valid? [True, True] Translation: X:49.26, Y:4.60, Z:1.46 [[ 9.67620531e-01 -2.50428742e-01 -3.15587151e-02 4.92645594e+01] [ 2.50287446e-01 9.68135004e-01 -8.41480543e-03 4.60327956e+00] [ 3.26604059e-02 2.43588306e-04 9.99466477e-01 1.45607282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.370714057 meters Centerline goodness : 0.988621 Centerline is valid? [True, True] Translation: X:49.29, Y:4.61, Z:1.46 [[ 9.67823241e-01 -2.49632871e-01 -3.16481293e-02 4.92916002e+01] [ 2.49502609e-01 9.68340550e-01 -8.06389299e-03 4.60787445e+00] [ 3.26591797e-02 -9.18677823e-05 9.99466542e-01 1.45834762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.400714056999995 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:49.33, Y:4.61, Z:1.46 [[ 9.67165716e-01 -2.52181468e-01 -3.15433938e-02 4.93300971e+01] [ 2.52039141e-01 9.67679930e-01 -8.47497709e-03 4.60856577e+00] [ 3.26611413e-02 2.46537414e-04 9.99466452e-01 1.45795382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.430714056999996 meters Centerline goodness : 0.986962 Centerline is valid? [True, True] Translation: X:49.36, Y:4.61, Z:1.46 [[ 9.67175744e-01 -2.52129347e-01 -3.16523632e-02 4.93632293e+01] [ 2.52000996e-01 9.67693523e-01 -8.04633020e-03 4.61257190e+00] [ 3.26585028e-02 -1.94211636e-04 9.99466550e-01 1.45891245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.460714057 meters Centerline goodness : 0.987511 Centerline is valid? [True, True] Translation: X:49.40, Y:4.62, Z:1.46 [[ 9.66812877e-01 -2.53517127e-01 -3.16532364e-02 4.93959748e+01] [ 2.53389632e-01 9.67330867e-01 -8.04289370e-03 4.61759453e+00] [ 3.26581639e-02 -2.44628716e-04 9.99466550e-01 1.45930813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.490714057 meters Centerline goodness : 0.987331 Centerline is valid? [True, True] Translation: X:49.43, Y:4.62, Z:1.46 [[ 9.65963064e-01 -2.56736006e-01 -3.16541120e-02 4.94286684e+01] [ 2.56610349e-01 9.66481503e-01 -8.03944613e-03 4.61847724e+00] [ 3.26571290e-02 -3.56964723e-04 9.99466550e-01 1.45992229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.520714057 meters Centerline goodness : 0.986728 Centerline is valid? [True, True] Translation: X:49.46, Y:4.62, Z:1.46 [[ 9.65326466e-01 -2.59119248e-01 -3.16548372e-02 4.94603255e+01] [ 2.58994965e-01 9.65845237e-01 -8.03658961e-03 4.62304668e+00] [ 3.26561088e-02 -4.40510815e-04 9.99466550e-01 1.46079531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.550714057 meters Centerline goodness : 0.984176 Centerline is valid? [True, True] Translation: X:49.50, Y:4.61, Z:1.47 [[ 9.67011431e-01 -2.52758417e-01 -3.16555530e-02 4.95046722e+01] [ 2.52630814e-01 9.67529395e-01 -8.03376919e-03 4.61470186e+00] [ 3.26582808e-02 -2.28421470e-04 9.99466550e-01 1.46742869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.580714056999994 meters Centerline goodness : 0.982684 Centerline is valid? [True, True] Translation: X:49.53, Y:4.62, Z:1.47 [[ 9.65675784e-01 -2.57788848e-01 -3.18620333e-02 4.95338008e+01] [ 2.57690752e-01 9.66200482e-01 -7.21830162e-03 4.62050472e+00] [ 3.26459096e-02 -1.24001225e-03 9.99466211e-01 1.46831853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.610714056999996 meters Centerline goodness : 0.985573 Centerline is valid? [True, True] Translation: X:49.56, Y:4.63, Z:1.47 [[ 9.61779284e-01 -2.71973546e-01 -3.17962173e-02 4.95565715e+01] [ 2.71874603e-01 9.62303632e-01 -7.47793155e-03 4.63412168e+00] [ 3.26314150e-02 -1.45246431e-03 9.99466398e-01 1.46697921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.640714057 meters Centerline goodness : 0.986517 Centerline is valid? [True, True] Translation: X:49.59, Y:4.64, Z:1.47 [[ 9.60705579e-01 -2.75758782e-01 -3.16525720e-02 4.95896817e+01] [ 2.75643261e-01 9.61226351e-01 -8.04324145e-03 4.63983345e+00] [ 3.26432808e-02 -9.97631252e-04 9.99466568e-01 1.46827694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.670714057 meters Centerline goodness : 0.986732 Centerline is valid? [True, True] Translation: X:49.62, Y:4.64, Z:1.47 [[ 9.58688697e-01 -2.82690715e-01 -3.16534563e-02 4.96233150e+01] [ 2.82579073e-01 9.59210316e-01 -8.03976018e-03 4.64214987e+00] [ 3.26350873e-02 -1.23697712e-03 9.99466568e-01 1.47092623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.700714057 meters Centerline goodness : 0.986142 Centerline is valid? [True, True] Translation: X:49.67, Y:4.64, Z:1.47 [[ 9.59281281e-01 -2.80673166e-01 -3.16543401e-02 4.96664657e+01] [ 2.80560542e-01 9.59802688e-01 -8.03627880e-03 4.64104644e+00] [ 3.26374885e-02 -1.17190700e-03 9.99466568e-01 1.46922027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.730714057 meters Centerline goodness : 0.987688 Centerline is valid? [True, True] Translation: X:49.68, Y:4.65, Z:1.47 [[ 9.54850263e-01 -2.95370318e-01 -3.18959496e-02 4.96839671e+01] [ 2.95297360e-01 9.55379148e-01 -7.08178951e-03 4.65173299e+00] [ 3.25644756e-02 -2.65674115e-03 9.99466106e-01 1.47098524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.760714056999994 meters Centerline goodness : 0.987978 Centerline is valid? [True, True] Translation: X:49.72, Y:4.66, Z:1.47 [[ 9.53901482e-01 -2.98446300e-01 -3.16507408e-02 4.97156719e+01] [ 2.98343046e-01 9.54424792e-01 -8.04639165e-03 4.65870548e+00] [ 3.26096675e-02 -1.76731350e-03 9.99466601e-01 1.47245275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.790714056999995 meters Centerline goodness : 0.986235 Centerline is valid? [True, True] Translation: X:49.75, Y:4.67, Z:1.47 [[ 9.52306290e-01 -3.03497816e-01 -3.16513166e-02 4.97476257e+01] [ 3.03397412e-01 9.52830154e-01 -8.04412624e-03 4.66540074e+00] [ 3.25997036e-02 -1.94245553e-03 9.99466601e-01 1.47384750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.820714056999996 meters Centerline goodness : 0.987069 Centerline is valid? [True, True] Translation: X:49.78, Y:4.67, Z:1.48 [[ 9.52007955e-01 -3.04432275e-01 -3.16519031e-02 4.97778537e+01] [ 3.04332461e-01 9.52531932e-01 -8.04181786e-03 4.67198431e+00] [ 3.25976373e-02 -1.97682699e-03 9.99466601e-01 1.47596503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.850714057 meters Centerline goodness : 0.987020 Centerline is valid? [True, True] Translation: X:49.82, Y:4.67, Z:1.47 [[ 9.53710931e-01 -2.99054441e-01 -3.16528349e-02 4.98211904e+01] [ 2.98951793e-01 9.54234360e-01 -8.03814858e-03 4.67293215e+00] [ 3.26080667e-02 -1.79660158e-03 9.99466601e-01 1.47389926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.880714057 meters Centerline goodness : 0.986410 Centerline is valid? [True, True] Translation: X:49.83, Y:4.69, Z:1.48 [[ 9.50285960e-01 -3.09733775e-01 -3.19622105e-02 4.98328500e+01] [ 3.09677660e-01 9.50817168e-01 -6.81612805e-03 4.68869731e+00] [ 3.25014036e-02 -3.42071178e-03 9.99465836e-01 1.47649622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.910714057 meters Centerline goodness : 0.986906 Centerline is valid? [True, True] Translation: X:49.87, Y:4.69, Z:1.48 [[ 9.52084101e-01 -3.04194686e-01 -3.16458015e-02 4.98737253e+01] [ 3.04094178e-01 9.52607888e-01 -8.05874086e-03 4.69060345e+00] [ 3.25974663e-02 -1.95070495e-03 9.99466658e-01 1.47579095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.940714057 meters Centerline goodness : 0.987036 Centerline is valid? [True, True] Translation: X:49.89, Y:4.71, Z:1.48 [[ 9.48252033e-01 -3.15917324e-01 -3.18484796e-02 4.98917095e+01] [ 3.15849740e-01 9.48781421e-01 -7.26345429e-03 4.70734486e+00] [ 3.25118967e-02 -3.17174868e-03 9.99466316e-01 1.47634472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.970714056999995 meters Centerline goodness : 0.985157 Centerline is valid? [True, True] Translation: X:49.92, Y:4.71, Z:1.48 [[ 9.49406973e-01 -3.12454607e-01 -3.15993493e-02 4.99217010e+01] [ 3.12352740e-01 9.49930480e-01 -8.23704248e-03 4.71405148e+00] [ 3.25908869e-02 -2.04983779e-03 9.99466674e-01 1.48184697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.000714056999996 meters Centerline goodness : 0.985826 Centerline is valid? [True, True] Translation: X:49.95, Y:4.72, Z:1.48 [[ 9.48490254e-01 -3.15226061e-01 -3.16032939e-02 4.99512740e+01] [ 3.15126234e-01 9.49014152e-01 -8.22162503e-03 4.72447376e+00] [ 3.25836437e-02 -2.16089579e-03 9.99466676e-01 1.47885037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.030714057 meters Centerline goodness : 0.985204 Centerline is valid? [True, True] Translation: X:49.99, Y:4.73, Z:1.48 [[ 9.50085748e-01 -3.10380637e-01 -3.16375185e-02 4.99920327e+01] [ 3.10282574e-01 9.50609969e-01 -8.08774726e-03 4.72893976e+00] [ 3.25852206e-02 -2.13251726e-03 9.99466686e-01 1.48074185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.060714057 meters Centerline goodness : 0.984635 Centerline is valid? [True, True] Translation: X:50.01, Y:4.74, Z:1.48 [[ 9.48168274e-01 -3.16170967e-01 -3.18252078e-02 5.00116172e+01] [ 3.16100740e-01 9.48697184e-01 -7.34678620e-03 4.74454413e+00] [ 3.25153255e-02 -3.09398214e-03 9.99466448e-01 1.48409072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.090714057 meters Centerline goodness : 0.986041 Centerline is valid? [True, True] Translation: X:50.04, Y:4.75, Z:1.48 [[ 9.47489246e-01 -3.18223529e-01 -3.15897678e-02 5.00442357e+01] [ 3.18123678e-01 9.48013130e-01 -8.27230735e-03 4.75443896e+00] [ 3.25799575e-02 -2.21153087e-03 9.99466686e-01 1.47914706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.120714057 meters Centerline goodness : 0.984125 Centerline is valid? [True, True] Translation: X:50.07, Y:4.76, Z:1.49 [[ 9.47584603e-01 -3.17926729e-01 -3.17177320e-02 5.00653096e+01] [ 3.17843506e-01 9.48111379e-01 -7.76656246e-03 4.76476824e+00] [ 3.25411404e-02 -2.72180012e-03 9.99466691e-01 1.48840520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.150714056999995 meters Centerline goodness : 0.984615 Centerline is valid? [True, True] Translation: X:50.09, Y:4.78, Z:1.49 [[ 9.46524971e-01 -3.21076542e-01 -3.16280413e-02 5.00946422e+01] [ 3.20983288e-01 9.47050039e-01 -8.12109245e-03 4.77789649e+00] [ 3.25608301e-02 -2.46525588e-03 9.99466715e-01 1.48773276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.180714056999996 meters Centerline goodness : 0.986388 Centerline is valid? [True, True] Translation: X:50.13, Y:4.79, Z:1.48 [[ 9.45789111e-01 -3.23239611e-01 -3.16087096e-02 5.01252712e+01] [ 3.23145020e-01 9.46313953e-01 -8.19752590e-03 4.78776117e+00] [ 3.25615280e-02 -2.46106635e-03 9.99466703e-01 1.48363469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.210714057 meters Centerline goodness : 0.984686 Centerline is valid? [True, True] Translation: X:50.16, Y:4.80, Z:1.49 [[ 9.46621043e-01 -3.20787187e-01 -3.16888152e-02 5.01571065e+01] [ 3.20701759e-01 9.47147442e-01 -7.88069815e-03 4.79981813e+00] [ 3.25420072e-02 -2.70262407e-03 9.99466715e-01 1.49009146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.240714057 meters Centerline goodness : 0.985691 Centerline is valid? [True, True] Translation: X:50.18, Y:4.81, Z:1.49 [[ 9.44967444e-01 -3.25619819e-01 -3.17531602e-02 5.01792988e+01] [ 3.25545564e-01 9.45495601e-01 -7.62592128e-03 4.81457811e+00] [ 3.25056244e-02 -3.13085311e-03 9.99466649e-01 1.49137595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.270714057 meters Centerline goodness : 0.984977 Centerline is valid? [True, True] Translation: X:50.21, Y:4.83, Z:1.49 [[ 9.44736611e-01 -3.26304649e-01 -3.15913275e-02 5.02076757e+01] [ 3.26209521e-01 9.45261360e-01 -8.26492328e-03 4.83074316e+00] [ 3.25589441e-02 -2.49721620e-03 9.99466697e-01 1.49284615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.300714057 meters Centerline goodness : 0.984835 Centerline is valid? [True, True] Translation: X:50.24, Y:4.84, Z:1.49 [[ 9.44331217e-01 -3.27478665e-01 -3.15638403e-02 5.02359027e+01] [ 3.27380581e-01 9.44855459e-01 -8.37358992e-03 4.84423651e+00] [ 3.25654389e-02 -2.42594600e-03 9.99466661e-01 1.49420193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.330714056999994 meters Centerline goodness : 0.985633 Centerline is valid? [True, True] Translation: X:50.27, Y:4.85, Z:1.50 [[ 9.45155416e-01 -3.25097478e-01 -3.15098353e-02 5.02676778e+01] [ 3.24990990e-01 9.45678126e-01 -8.58714226e-03 4.85456574e+00] [ 3.25898202e-02 -2.12422853e-03 9.99466553e-01 1.49593863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.360714056999996 meters Centerline goodness : 0.982127 Centerline is valid? [True, True] Translation: X:50.29, Y:4.87, Z:1.50 [[ 9.44867089e-01 -3.25931329e-01 -3.15428846e-02 5.02892663e+01] [ 3.25829604e-01 9.45390682e-01 -8.45743826e-03 4.87282149e+00] [ 3.25768933e-02 -2.28645053e-03 9.99466617e-01 1.49645402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.390714057 meters Centerline goodness : 0.989054 Centerline is valid? [True, True] Translation: X:50.32, Y:4.89, Z:1.49 [[ 9.44738631e-01 -3.26311139e-01 -3.14636317e-02 5.03212681e+01] [ 3.26199344e-01 9.45260344e-01 -8.76752499e-03 4.88547351e+00] [ 3.26022644e-02 -1.98039648e-03 9.99466443e-01 1.49242868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.420714057 meters Centerline goodness : 0.989054 Centerline is valid? [True, True] Translation: X:50.35, Y:4.89, Z:1.49 [[ 9.44775049e-01 -3.26188442e-01 -3.16418713e-02 5.03538392e+01] [ 3.26099774e-01 9.45300923e-01 -8.06857160e-03 4.89340402e+00] [ 3.25429649e-02 -2.69542195e-03 9.99466703e-01 1.49334394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.450714057 meters Centerline goodness : 0.989690 Centerline is valid? [True, True] Translation: X:50.38, Y:4.91, Z:1.49 [[ 9.45090742e-01 -3.25272543e-01 -3.16427255e-02 5.03846097e+01] [ 3.25183478e-01 9.45616549e-01 -8.06521998e-03 4.90607018e+00] [ 3.25452795e-02 -2.66732680e-03 9.99466703e-01 1.49411272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.480714057 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:50.41, Y:4.92, Z:1.49 [[ 9.45876918e-01 -3.22979164e-01 -3.16435852e-02 5.04138928e+01] [ 3.22888935e-01 9.46402526e-01 -8.06184553e-03 4.92132517e+00] [ 3.25513772e-02 -2.59184994e-03 9.99466703e-01 1.49111274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.510714056999994 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:50.44, Y:4.93, Z:1.50 [[ 9.46579401e-01 -3.20911715e-01 -3.16718876e-02 5.04418541e+01] [ 3.20824033e-01 9.47105447e-01 -7.95065620e-03 4.93346170e+00] [ 3.25480760e-02 -2.63517533e-03 9.99466697e-01 1.49530763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.540714056999995 meters Centerline goodness : 0.990401 Centerline is valid? [True, True] Translation: X:50.47, Y:4.95, Z:1.50 [[ 9.48412297e-01 -3.15456223e-01 -3.16462559e-02 5.04672020e+01] [ 3.15362169e-01 9.48937236e-01 -8.05140291e-03 4.94855090e+00] [ 3.25701758e-02 -2.34398237e-03 9.99466702e-01 1.49968659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.570714056999996 meters Centerline goodness : 0.992255 Centerline is valid? [True, True] Translation: X:50.50, Y:4.96, Z:1.50 [[ 9.48207805e-01 -3.16079390e-01 -3.15559533e-02 5.05001370e+01] [ 3.15973927e-01 9.48730635e-01 -8.40592215e-03 4.96223311e+00] [ 3.25950383e-02 -2.00029750e-03 9.99466639e-01 1.49832357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.600714057 meters Centerline goodness : 0.993103 Centerline is valid? [True, True] Translation: X:50.53, Y:4.98, Z:1.50 [[ 9.49278351e-01 -3.12840131e-01 -3.16491002e-02 5.05303294e+01] [ 3.12745033e-01 9.49803093e-01 -8.03922792e-03 4.97924632e+00] [ 3.25754063e-02 -2.26663386e-03 9.99466710e-01 1.50123236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.630714057 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:50.56, Y:4.99, Z:1.50 [[ 9.49648388e-01 -3.11714819e-01 -3.16513844e-02 5.05612148e+01] [ 3.11619398e-01 9.50173072e-01 -8.03022464e-03 4.99145096e+00] [ 3.25774331e-02 -2.23729548e-03 9.99466710e-01 1.50292150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.660714057 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:50.59, Y:5.00, Z:1.50 [[ 9.50021129e-01 -3.10576723e-01 -3.16536629e-02 5.05928225e+01] [ 3.10480972e-01 9.50545752e-01 -8.02123290e-03 5.00328038e+00] [ 3.25794631e-02 -2.20751930e-03 9.99466711e-01 1.50451501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.690714056999994 meters Centerline goodness : 0.986093 Centerline is valid? [True, True] Translation: X:50.61, Y:5.02, Z:1.51 [[ 9.50633720e-01 -3.08696337e-01 -3.16559952e-02 5.06145642e+01] [ 3.08599853e-01 9.51158209e-01 -8.01201793e-03 5.01624741e+00] [ 3.25831403e-02 -2.15254105e-03 9.99466711e-01 1.50548462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.720714056999995 meters Centerline goodness : 0.985410 Centerline is valid? [True, True] Translation: X:50.64, Y:5.03, Z:1.51 [[ 9.50757537e-01 -3.08333215e-01 -3.14759219e-02 5.06433151e+01] [ 3.08213055e-01 9.51277374e-01 -8.72179006e-03 5.02676864e+00] [ 3.26315500e-02 -1.40898243e-03 9.99466456e-01 1.50590249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.750714056999996 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:50.68, Y:5.04, Z:1.51 [[ 9.50663733e-01 -3.08623803e-01 -3.14613146e-02 5.06787502e+01] [ 3.08501898e-01 9.51183210e-01 -8.77946697e-03 5.04272390e+00] [ 3.26350267e-02 -1.35955442e-03 9.99466411e-01 1.51134206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.780714057 meters Centerline goodness : 0.992419 Centerline is valid? [True, True] Translation: X:50.70, Y:5.06, Z:1.51 [[ 9.49139796e-01 -3.13241403e-01 -3.18350580e-02 5.07000503e+01] [ 3.13169777e-01 9.49668788e-01 -7.34051517e-03 5.05590171e+00] [ 3.25321143e-02 -3.00260296e-03 9.99466180e-01 1.51275477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.810714057 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:50.74, Y:5.07, Z:1.51 [[ 9.49108616e-01 -3.13353228e-01 -3.16636932e-02 5.07352201e+01] [ 3.13259798e-01 9.49633790e-01 -7.99779656e-03 5.06645038e+00] [ 3.25750483e-02 -2.32818450e-03 9.99466581e-01 1.51271849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.840714057 meters Centerline goodness : 0.986343 Centerline is valid? [True, True] Translation: X:50.76, Y:5.08, Z:1.51 [[ 9.48206669e-01 -3.16060907e-01 -3.17744436e-02 5.07554339e+01] [ 3.15983469e-01 9.48734560e-01 -7.56181911e-03 5.07537033e+00] [ 3.25355082e-02 -2.87003161e-03 9.99466459e-01 1.51095697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.870714057 meters Centerline goodness : 0.993065 Centerline is valid? [True, True] Translation: X:50.79, Y:5.09, Z:1.52 [[ 9.48107647e-01 -3.16389287e-01 -3.14596425e-02 5.07911380e+01] [ 3.16271042e-01 9.48628078e-01 -8.79755092e-03 5.08980075e+00] [ 3.26269511e-02 -1.60874859e-03 9.99466305e-01 1.52015726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.900714056999995 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:50.82, Y:5.10, Z:1.52 [[ 9.48864926e-01 -3.14082479e-01 -3.17418998e-02 5.08204710e+01] [ 3.13999253e-01 9.49391980e-01 -7.70301543e-03 5.09877131e+00] [ 3.25548873e-02 -2.65781168e-03 9.99466415e-01 1.51913648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.930714056999996 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:50.85, Y:5.11, Z:1.52 [[ 9.48344928e-01 -3.15649129e-01 -3.17415306e-02 5.08500792e+01] [ 3.15566726e-01 9.48872111e-01 -7.70444900e-03 5.11406635e+00] [ 3.25505558e-02 -2.71009577e-03 9.99466416e-01 1.52271512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.960714057 meters Centerline goodness : 0.994046 Centerline is valid? [True, True] Translation: X:50.88, Y:5.13, Z:1.52 [[ 9.48183835e-01 -3.16131681e-01 -3.17517775e-02 5.08797672e+01] [ 3.16050869e-01 9.48711284e-01 -7.66471405e-03 5.12551960e+00] [ 3.25463286e-02 -2.76761890e-03 9.99466396e-01 1.52381231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.990714057 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:50.91, Y:5.14, Z:1.52 [[ 9.48619347e-01 -3.14821518e-01 -3.17607845e-02 5.09065066e+01] [ 3.14741139e-01 9.49146881e-01 -7.62979032e-03 5.13586683e+00] [ 3.25476717e-02 -2.75865878e-03 9.99466377e-01 1.52069132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.020714057 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:50.94, Y:5.15, Z:1.52 [[ 9.50294083e-01 -3.09735375e-01 -3.17041696e-02 5.09442754e+01] [ 3.09644874e-01 9.50819877e-01 -7.84942726e-03 5.14642630e+00] [ 3.25762000e-02 -2.35776932e-03 9.99466474e-01 1.52192503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.050714057 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:50.96, Y:5.16, Z:1.52 [[ 9.46639962e-01 -3.20715173e-01 -3.18521612e-02 5.09600920e+01] [ 3.20649897e-01 9.47169844e-01 -7.27529035e-03 5.16468872e+00] [ 3.25027026e-02 -3.32631163e-03 9.99466112e-01 1.52186988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.080714056999994 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:51.00, Y:5.17, Z:1.53 [[ 9.50535111e-01 -3.09003794e-01 -3.16173611e-02 5.10003886e+01] [ 3.08901837e-01 9.51058726e-01 -8.18260846e-03 5.17073520e+00] [ 3.25984242e-02 -1.98880427e-03 9.99466551e-01 1.52602871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.110714056999996 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:51.04, Y:5.18, Z:1.52 [[ 9.49797144e-01 -3.11245028e-01 -3.18106441e-02 5.10386798e+01] [ 3.11169072e-01 9.50325469e-01 -7.43717339e-03 5.18145515e+00] [ 3.25452485e-02 -2.83468256e-03 9.99466243e-01 1.52256647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.140714057 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:51.07, Y:5.19, Z:1.52 [[ 9.50114381e-01 -3.10256290e-01 -3.19952573e-02 5.10687623e+01] [ 3.10203608e-01 9.50646370e-01 -6.72309748e-03 5.19216286e+00] [ 3.25020585e-02 -3.53733265e-03 9.99465409e-01 1.52271349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.170714057 meters Centerline goodness : 0.993582 Centerline is valid? [True, True] Translation: X:51.10, Y:5.20, Z:1.52 [[ 9.51505199e-01 -3.05967553e-01 -3.19642424e-02 5.10958608e+01] [ 3.05908476e-01 9.52036334e-01 -6.84270928e-03 5.20302112e+00] [ 3.25247672e-02 -3.26725924e-03 9.99465589e-01 1.52477775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.200714057 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:51.13, Y:5.21, Z:1.52 [[ 9.50756872e-01 -3.08288648e-01 -3.19292757e-02 5.11291285e+01] [ 3.08226372e-01 9.51287454e-01 -6.97736285e-03 5.21467617e+00] [ 3.25249612e-02 -3.20766913e-03 9.99465776e-01 1.52280883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.230714057 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:51.16, Y:5.23, Z:1.52 [[ 9.50566060e-01 -3.08866972e-01 -3.20212273e-02 5.11591784e+01] [ 3.08816902e-01 9.51098457e-01 -6.62169799e-03 5.22539985e+00] [ 3.25005637e-02 -3.59433486e-03 9.99465254e-01 1.52354463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.260714056999994 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:51.18, Y:5.24, Z:1.53 [[ 9.51131715e-01 -3.07122484e-01 -3.20037706e-02 5.11823418e+01] [ 3.07069187e-01 9.51663686e-01 -6.68898559e-03 5.23731501e+00] [ 3.25111641e-02 -3.46526547e-03 9.99465365e-01 1.52578314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.290714056999995 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:51.21, Y:5.25, Z:1.53 [[ 9.50645930e-01 -3.08636904e-01 -3.18681308e-02 5.12119900e+01] [ 3.08567128e-01 9.51175259e-01 -7.20793008e-03 5.24868153e+00] [ 3.25368108e-02 -2.98126819e-03 9.99466091e-01 1.52837508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.320714056999996 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:51.24, Y:5.26, Z:1.52 [[ 9.49233192e-01 -3.12955500e-01 -3.18622397e-02 5.12449159e+01] [ 3.12887379e-01 9.49762712e-01 -7.23045445e-03 5.26084253e+00] [ 3.25243776e-02 -3.10590532e-03 9.99466117e-01 1.52414551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.350714057 meters Centerline goodness : 0.993166 Centerline is valid? [True, True] Translation: X:51.27, Y:5.27, Z:1.53 [[ 9.49421362e-01 -3.12380149e-01 -3.19017252e-02 5.12712961e+01] [ 3.12316712e-01 9.49951650e-01 -7.08051040e-03 5.26957328e+00] [ 3.25169074e-02 -3.24105408e-03 9.99465931e-01 1.52834092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.380714057 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:51.30, Y:5.28, Z:1.53 [[ 9.49315709e-01 -3.12706811e-01 -3.18454902e-02 5.12996970e+01] [ 3.12636440e-01 9.49844860e-01 -7.29376632e-03 5.27962331e+00] [ 3.25290856e-02 -3.03197374e-03 9.99466190e-01 1.52886120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.410714057 meters Centerline goodness : 0.992761 Centerline is valid? [True, True] Translation: X:51.33, Y:5.29, Z:1.53 [[ 9.48253534e-01 -3.15916917e-01 -3.18077929e-02 5.13296159e+01] [ 3.15843588e-01 9.48782131e-01 -7.43615419e-03 5.29127865e+00] [ 3.25278724e-02 -2.99492793e-03 9.99466342e-01 1.53093981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.440714056999994 meters Centerline goodness : 0.994198 Centerline is valid? [True, True] Translation: X:51.37, Y:5.30, Z:1.53 [[ 9.48633007e-01 -3.14775421e-01 -3.18096357e-02 5.13714495e+01] [ 3.14701687e-01 9.49161554e-01 -7.42918856e-03 5.30011976e+00] [ 3.25310092e-02 -2.96297254e-03 9.99466335e-01 1.52578136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.470714056999995 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:51.39, Y:5.31, Z:1.53 [[ 9.47990085e-01 -3.16680169e-01 -3.20697511e-02 5.13940278e+01] [ 3.16640481e-01 9.48523745e-01 -6.44293826e-03 5.31115945e+00] [ 3.24592712e-02 -4.04673983e-03 9.99464867e-01 1.53059337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.500714056999996 meters Centerline goodness : 0.993700 Centerline is valid? [True, True] Translation: X:51.42, Y:5.32, Z:1.53 [[ 9.47722924e-01 -3.17495459e-01 -3.19044218e-02 5.14233572e+01] [ 3.17435318e-01 9.48253590e-01 -7.06737127e-03 5.32138428e+00] [ 3.24973408e-02 -3.42968054e-03 9.99465937e-01 1.53173889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.530714057 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:51.45, Y:5.33, Z:1.53 [[ 9.47394055e-01 -3.18474851e-01 -3.19104085e-02 5.14516890e+01] [ 3.18416015e-01 9.47924898e-01 -7.04477625e-03 5.33109521e+00] [ 3.24922548e-02 -3.48660596e-03 9.99465906e-01 1.53257840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.560714057 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:51.48, Y:5.34, Z:1.53 [[ 9.45608288e-01 -3.23746660e-01 -3.18286848e-02 5.14847445e+01] [ 3.23680575e-01 9.46137867e-01 -7.34995942e-03 5.34426476e+00] [ 3.24938488e-02 -3.35214446e-03 9.99466314e-01 1.53094688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.590714057 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:51.51, Y:5.36, Z:1.53 [[ 9.44174352e-01 -3.27892894e-01 -3.19537729e-02 5.15069288e+01] [ 3.27844758e-01 9.44706534e-01 -6.88331168e-03 5.35596599e+00] [ 3.24439270e-02 -3.97683059e-03 9.99465645e-01 1.53495034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.620714057 meters Centerline goodness : 0.993271 Centerline is valid? [True, True] Translation: X:51.54, Y:5.37, Z:1.54 [[ 9.44291044e-01 -3.27572942e-01 -3.17866517e-02 5.15370197e+01] [ 3.27503834e-01 9.44820047e-01 -7.50457635e-03 5.36855780e+00] [ 3.24909619e-02 -3.32374605e-03 9.99466503e-01 1.53712131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.650714056999995 meters Centerline goodness : 0.991872 Centerline is valid? [True, True] Translation: X:51.56, Y:5.38, Z:1.54 [[ 9.44762487e-01 -3.26211322e-01 -3.17807618e-02 5.15633762e+01] [ 3.26140721e-01 9.45291269e-01 -7.52644743e-03 5.37877883e+00] [ 3.24972890e-02 -3.25429536e-03 9.99466526e-01 1.54234575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.680714056999996 meters Centerline goodness : 0.992767 Centerline is valid? [True, True] Translation: X:51.59, Y:5.39, Z:1.54 [[ 9.45062355e-01 -3.25349861e-01 -3.16956298e-02 5.15924447e+01] [ 3.25268255e-01 9.45589270e-01 -7.84191293e-03 5.38865770e+00] [ 3.25224127e-02 -2.89848549e-03 9.99466804e-01 1.54360600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.710714057 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:51.62, Y:5.40, Z:1.54 [[ 9.45600972e-01 -3.23781107e-01 -3.16953707e-02 5.16212825e+01] [ 3.23698595e-01 9.46127745e-01 -7.84287290e-03 5.40019683e+00] [ 3.25272437e-02 -2.84351872e-03 9.99466804e-01 1.54457799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.740714057 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:51.65, Y:5.41, Z:1.55 [[ 9.45779925e-01 -3.23258754e-01 -3.16877280e-02 5.16530267e+01] [ 3.23175006e-01 9.46306483e-01 -7.87124171e-03 5.41001251e+00] [ 3.25307502e-02 -2.79621929e-03 9.99466824e-01 1.54557510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.770714057 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:51.68, Y:5.42, Z:1.54 [[ 9.46146855e-01 -3.22181741e-01 -3.17026007e-02 5.16838115e+01] [ 3.22099226e-01 9.46673648e-01 -7.81621500e-03 5.42138211e+00] [ 3.25302584e-02 -2.81609592e-03 9.99466784e-01 1.54473414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.800714057 meters Centerline goodness : 0.992771 Centerline is valid? [True, True] Translation: X:51.71, Y:5.43, Z:1.54 [[ 9.46313574e-01 -3.21691064e-01 -3.17092992e-02 5.17137180e+01] [ 3.21609102e-01 9.46840472e-01 -7.79142625e-03 5.43149278e+00] [ 3.25300800e-02 -2.82486681e-03 9.99466765e-01 1.54485849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.830714056999994 meters Centerline goodness : 0.992767 Centerline is valid? [True, True] Translation: X:51.74, Y:5.44, Z:1.55 [[ 9.46506752e-01 -3.21122471e-01 -3.17068971e-02 5.17442641e+01] [ 3.21039896e-01 9.47033547e-01 -7.80031431e-03 5.44141687e+00] [ 3.25323514e-02 -2.79612879e-03 9.99466772e-01 1.54705010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.860714056999996 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:51.77, Y:5.45, Z:1.55 [[ 9.46756300e-01 -3.20388607e-01 -3.16804206e-02 5.17747846e+01] [ 3.20302382e-01 9.47282435e-01 -7.89766980e-03 5.45345995e+00] [ 3.25406294e-02 -2.67014554e-03 9.99466847e-01 1.54799960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.890714057 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:51.80, Y:5.46, Z:1.55 [[ 9.47616511e-01 -3.17833005e-01 -3.17037679e-02 5.18045063e+01] [ 3.17748220e-01 9.48142946e-01 -7.81177477e-03 5.46256639e+00] [ 3.25425437e-02 -2.67124905e-03 9.99466781e-01 1.54829423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.920714057 meters Centerline goodness : 0.992522 Centerline is valid? [True, True] Translation: X:51.83, Y:5.48, Z:1.55 [[ 9.47718201e-01 -3.17530754e-01 -3.16927615e-02 5.18305086e+01] [ 3.17444447e-01 9.48244358e-01 -7.85243347e-03 5.47555748e+00] [ 3.25458714e-02 -2.61879702e-03 9.99466812e-01 1.54886010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.950714057 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:51.86, Y:5.48, Z:1.55 [[ 9.48060095e-01 -3.16515628e-01 -3.16214015e-02 5.18610269e+01] [ 3.16419994e-01 9.48584480e-01 -8.11611915e-03 5.48435613e+00] [ 3.25644493e-02 -2.31107498e-03 9.99466966e-01 1.55022514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.980714057 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:51.89, Y:5.50, Z:1.55 [[ 9.47523842e-01 -3.18117672e-01 -3.16182855e-02 5.18905415e+01] [ 3.18022543e-01 9.48048313e-01 -8.12760145e-03 5.49684495e+00] [ 3.25611959e-02 -2.35423140e-03 9.99466971e-01 1.55102455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.010714056999994 meters Centerline goodness : 0.992595 Centerline is valid? [True, True] Translation: X:51.92, Y:5.51, Z:1.55 [[ 9.46976487e-01 -3.19746078e-01 -3.15907945e-02 5.19225902e+01] [ 3.19648495e-01 9.47500464e-01 -8.22860923e-03 5.50718672e+00] [ 3.25633580e-02 -2.30565044e-03 9.99467014e-01 1.55282822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.040714056999995 meters Centerline goodness : 0.992847 Centerline is valid? [True, True] Translation: X:51.95, Y:5.52, Z:1.55 [[ 9.46860652e-01 -3.20084908e-01 -3.16315951e-02 5.19536814e+01] [ 3.19992494e-01 9.47385634e-01 -8.07868534e-03 5.51604067e+00] [ 3.25531840e-02 -2.47248376e-03 9.99466946e-01 1.55398147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.070714056999996 meters Centerline goodness : 0.992925 Centerline is valid? [True, True] Translation: X:51.98, Y:5.53, Z:1.55 [[ 9.46503045e-01 -3.21141709e-01 -3.16226021e-02 5.19783322e+01] [ 3.21048782e-01 9.47027919e-01 -8.11173176e-03 5.52576991e+00] [ 3.25525025e-02 -2.47461909e-03 9.99466963e-01 1.55330865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.100714057 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:52.01, Y:5.54, Z:1.56 [[ 9.45677251e-01 -3.23576437e-01 -3.15091630e-02 5.20117763e+01] [ 3.23471039e-01 9.46199642e-01 -8.52787544e-03 5.53737828e+00] [ 3.25733783e-02 -2.12768387e-03 9.99467082e-01 1.55671748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.130714057 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:52.04, Y:5.55, Z:1.55 [[ 9.45444720e-01 -3.24248916e-01 -3.15740600e-02 5.20398729e+01] [ 3.24151807e-01 9.45968758e-01 -8.28942542e-03 5.54667669e+00] [ 3.25559115e-02 -2.39759509e-03 9.99467040e-01 1.55388466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.160714057 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:52.07, Y:5.56, Z:1.56 [[ 9.44958848e-01 -3.25667606e-01 -3.15180383e-02 5.20726422e+01] [ 3.25564444e-01 9.45481688e-01 -8.49533027e-03 5.55567994e+00] [ 3.25663820e-02 -2.23341511e-03 9.99467079e-01 1.55819615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.190714056999994 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:52.11, Y:5.57, Z:1.56 [[ 9.44601056e-01 -3.26700206e-01 -3.15566069e-02 5.21052183e+01] [ 3.26602318e-01 9.45124934e-01 -8.35376900e-03 5.56520223e+00] [ 3.25541141e-02 -2.41548194e-03 9.99467056e-01 1.55967218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.220714056999995 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:52.14, Y:5.57, Z:1.56 [[ 9.44480574e-01 -3.27045227e-01 -3.15889991e-02 5.21350995e+01] [ 3.26951487e-01 9.45005246e-01 -8.23472836e-03 5.57384875e+00] [ 3.25448985e-02 -2.55052926e-03 9.99467020e-01 1.56120639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.250714056999996 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:52.16, Y:5.58, Z:1.56 [[ 9.44438134e-01 -3.27168416e-01 -3.15822611e-02 5.21647106e+01] [ 3.27073920e-01 9.44962661e-01 -8.25952878e-03 5.58397911e+00] [ 3.25463145e-02 -2.52911999e-03 9.99467028e-01 1.56197711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.280714057 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:52.20, Y:5.59, Z:1.56 [[ 9.44473955e-01 -3.27065781e-01 -3.15740849e-02 5.21956770e+01] [ 3.26970229e-01 9.44998282e-01 -8.28958427e-03 5.59481844e+00] [ 3.25486953e-02 -2.49448933e-03 9.99467038e-01 1.56379595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.310714057 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:52.23, Y:5.60, Z:1.56 [[ 9.44832750e-01 -3.26027265e-01 -3.15799958e-02 5.22276116e+01] [ 3.25931859e-01 9.45357110e-01 -8.26785284e-03 5.60400394e+00] [ 3.25499190e-02 -2.48118858e-03 9.99467031e-01 1.56383552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.340714057 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:52.26, Y:5.61, Z:1.56 [[ 9.44849284e-01 -3.25977258e-01 -3.16015350e-02 5.22589869e+01] [ 3.25884457e-01 9.45374141e-01 -8.18865410e-03 5.61257560e+00] [ 3.25445890e-02 -2.56140511e-03 9.99467002e-01 1.56486142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.370714057 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:52.29, Y:5.62, Z:1.57 [[ 9.45140658e-01 -3.25131787e-01 -3.15983892e-02 5.22904572e+01] [ 3.25038132e-01 9.45665358e-01 -8.20021416e-03 5.62178772e+00] [ 3.25476524e-02 -2.52032561e-03 9.99467007e-01 1.56534822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.400714056999995 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:52.32, Y:5.63, Z:1.57 [[ 9.45620007e-01 -3.23733279e-01 -3.16159100e-02 5.23207689e+01] [ 3.23640992e-01 9.46144977e-01 -8.13574861e-03 5.63092307e+00] [ 3.25470470e-02 -2.53887780e-03 9.99466980e-01 1.56764125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.430714056999996 meters Centerline goodness : 0.993804 Centerline is valid? [True, True] Translation: X:52.35, Y:5.64, Z:1.57 [[ 9.46486900e-01 -3.21190825e-01 -3.16070072e-02 5.23509294e+01] [ 3.21096036e-01 9.47011410e-01 -8.16856989e-03 5.64140951e+00] [ 3.25558661e-02 -2.41744032e-03 9.99466994e-01 1.56956541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.460714057 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:52.38, Y:5.65, Z:1.57 [[ 9.46969324e-01 -3.19767397e-01 -3.15897247e-02 5.23836035e+01] [ 3.19669707e-01 9.47493277e-01 -8.23218925e-03 5.65062622e+00] [ 3.25634375e-02 -2.30264736e-03 9.99467018e-01 1.57099110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.490714057 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:52.41, Y:5.66, Z:1.57 [[ 9.48093125e-01 -3.16415370e-01 -3.16344838e-02 5.24111721e+01] [ 3.16321300e-01 9.48617812e-01 -8.06734399e-03 5.66020806e+00] [ 3.25616665e-02 -2.35806767e-03 9.99466947e-01 1.57192301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.520714057 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:52.44, Y:5.67, Z:1.57 [[ 9.48412557e-01 -3.15460877e-01 -3.15920392e-02 5.24425093e+01] [ 3.15361087e-01 9.48936117e-01 -8.22376150e-03 5.66959019e+00] [ 3.25731021e-02 -2.16338116e-03 9.99467014e-01 1.57198549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.550714057 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:52.48, Y:5.68, Z:1.57 [[ 9.48432643e-01 -3.15401180e-01 -3.15850703e-02 5.24761893e+01] [ 3.15300507e-01 9.48956025e-01 -8.24934891e-03 5.67893721e+00] [ 3.25746971e-02 -2.13483690e-03 9.99467024e-01 1.57154157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.580714056999994 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:52.50, Y:5.69, Z:1.57 [[ 9.48826190e-01 -3.14208944e-01 -3.16480895e-02 5.25038782e+01] [ 3.14115305e-01 9.49350985e-01 -8.01761553e-03 5.68739661e+00] [ 3.25643515e-02 -2.33382569e-03 9.99466916e-01 1.57149468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.610714056999996 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:52.53, Y:5.70, Z:1.57 [[ 9.48940992e-01 -3.13867521e-01 -3.15938664e-02 5.25340713e+01] [ 3.13767061e-01 9.49464431e-01 -8.21743233e-03 5.69673056e+00] [ 3.25764375e-02 -2.11525623e-03 9.99467009e-01 1.57103332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.640714057 meters Centerline goodness : 0.993975 Centerline is valid? [True, True] Translation: X:52.57, Y:5.71, Z:1.57 [[ 9.48481376e-01 -3.15256446e-01 -3.15666244e-02 5.25680713e+01] [ 3.15153434e-01 9.49004285e-01 -8.31749572e-03 5.70570820e+00] [ 3.25790059e-02 -2.05934028e-03 9.99467042e-01 1.57112627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.670714057 meters Centerline goodness : 0.992897 Centerline is valid? [True, True] Translation: X:52.60, Y:5.71, Z:1.57 [[ 9.48892810e-01 -3.14008414e-01 -3.16409843e-02 5.25955554e+01] [ 3.13913784e-01 9.49417415e-01 -8.04412245e-03 5.71283464e+00] [ 3.25664237e-02 -2.29953116e-03 9.99466928e-01 1.57059815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.700714057 meters Centerline goodness : 0.993191 Centerline is valid? [True, True] Translation: X:52.63, Y:5.72, Z:1.57 [[ 9.48662924e-01 -3.14708230e-01 -3.15814400e-02 5.26277748e+01] [ 3.14606708e-01 9.49186143e-01 -8.26343700e-03 5.72233769e+00] [ 3.25772368e-02 -2.09651656e-03 9.99467022e-01 1.57149591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.730714057 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:52.66, Y:5.73, Z:1.57 [[ 9.48417932e-01 -3.15441440e-01 -3.16247229e-02 5.26582626e+01] [ 3.15345614e-01 9.48942289e-01 -8.10400973e-03 5.73217406e+00] [ 3.25663774e-02 -2.28672952e-03 9.99466959e-01 1.57333420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.760714056999994 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:52.69, Y:5.74, Z:1.58 [[ 9.48472082e-01 -3.15279681e-01 -3.16138014e-02 5.26871961e+01] [ 3.15182430e-01 9.48996158e-01 -8.14425953e-03 5.73952238e+00] [ 3.25690956e-02 -2.23951196e-03 9.99466977e-01 1.57594924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.790714056999995 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:52.72, Y:5.75, Z:1.58 [[ 9.47731560e-01 -3.17500794e-01 -3.15932718e-02 5.27190264e+01] [ 3.17402258e-01 9.48255366e-01 -8.21992522e-03 5.75070261e+00] [ 3.25683223e-02 -2.23749328e-03 9.99467007e-01 1.57699741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.820714056999996 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:52.75, Y:5.76, Z:1.58 [[ 9.47535321e-01 -3.18082725e-01 -3.16258669e-02 5.27482070e+01] [ 3.17988508e-01 9.48059970e-01 -8.09954688e-03 5.75871750e+00] [ 3.25595444e-02 -2.38205549e-03 9.99466959e-01 1.57974007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.850714057 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:52.78, Y:5.77, Z:1.58 [[ 9.45846499e-01 -3.23073432e-01 -3.15904874e-02 5.27780596e+01] [ 3.22977646e-01 9.46370809e-01 -8.22999644e-03 5.77095243e+00] [ 3.25552083e-02 -2.41870793e-03 9.99467012e-01 1.58029628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.880714057 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:52.81, Y:5.78, Z:1.58 [[ 9.45329663e-01 -3.24583575e-01 -3.15805409e-02 5.28096748e+01] [ 3.24487408e-01 9.45853892e-01 -8.26666146e-03 5.77942099e+00] [ 3.25538001e-02 -2.43276758e-03 9.99467024e-01 1.58070382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.910714057 meters Centerline goodness : 0.995219 Centerline is valid? [True, True] Translation: X:52.84, Y:5.79, Z:1.58 [[ 9.45733508e-01 -3.23404233e-01 -3.15885245e-02 5.28414905e+01] [ 3.23308390e-01 9.46257805e-01 -8.23723233e-03 5.78635647e+00] [ 3.25548437e-02 -2.42260836e-03 9.99467015e-01 1.58025088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.940714056999994 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:52.87, Y:5.79, Z:1.58 [[ 9.45588565e-01 -3.23827562e-01 -3.15907484e-02 5.28728853e+01] [ 3.23732225e-01 9.46112958e-01 -8.22903898e-03 5.79475704e+00] [ 3.25532061e-02 -2.44565814e-03 9.99467012e-01 1.57771179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.970714056999995 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:52.90, Y:5.80, Z:1.58 [[ 9.45858542e-01 -3.23036046e-01 -3.16122151e-02 5.28999370e+01] [ 3.22942902e-01 9.46383359e-01 -8.14987357e-03 5.80351321e+00] [ 3.25499772e-02 -2.50031297e-03 9.99466982e-01 1.57683004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.000714056999996 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:52.93, Y:5.81, Z:1.58 [[ 9.46436953e-01 -3.21344411e-01 -3.15414644e-02 5.29346571e+01] [ 3.21241671e-01 9.46959899e-01 -8.41061728e-03 5.81155535e+00] [ 3.25712068e-02 -2.17231375e-03 9.99467057e-01 1.57792745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.030714057 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:52.97, Y:5.82, Z:1.58 [[ 9.47022307e-01 -3.19608018e-01 -3.16143019e-02 5.29660916e+01] [ 3.19513221e-01 9.47546834e-01 -8.14247095e-03 5.82200368e+00] [ 3.25584307e-02 -2.39008580e-03 9.99466976e-01 1.58063893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.060714057 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:52.99, Y:5.83, Z:1.58 [[ 9.47542708e-01 -3.18061038e-01 -3.16226575e-02 5.29945511e+01] [ 3.17966406e-01 9.48067279e-01 -8.11169730e-03 5.83131371e+00] [ 3.25604217e-02 -2.36876313e-03 9.99466962e-01 1.58252906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.090714057 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:53.03, Y:5.84, Z:1.59 [[ 9.48618760e-01 -3.14841492e-01 -3.15797747e-02 5.30283204e+01] [ 3.14739839e-01 9.49141953e-01 -8.26962611e-03 5.84131958e+00] [ 3.25773105e-02 -2.09469072e-03 9.99467024e-01 1.58642364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.120714057 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:53.06, Y:5.85, Z:1.59 [[ 9.49339929e-01 -3.12655093e-01 -3.16305700e-02 5.30599550e+01] [ 3.12558444e-01 9.49864145e-01 -8.08240390e-03 5.84877086e+00] [ 3.25717491e-02 -2.21345302e-03 9.99466949e-01 1.58854266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.150714056999995 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:53.09, Y:5.86, Z:1.59 [[ 9.48906623e-01 -3.13965250e-01 -3.16550620e-02 5.30947996e+01] [ 3.13872323e-01 9.49431562e-01 -7.99215531e-03 5.85855360e+00] [ 3.25635740e-02 -2.35183874e-03 9.99466899e-01 1.58584154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.180714056999996 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:53.12, Y:5.87, Z:1.59 [[ 9.50201843e-01 -3.10012892e-01 -3.17563383e-02 5.31174616e+01] [ 3.09930196e-01 9.50728789e-01 -7.61857635e-03 5.86595145e+00] [ 3.25535219e-02 -2.60306286e-03 9.99466604e-01 1.59289569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.210714057 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:53.15, Y:5.88, Z:1.59 [[ 9.49523673e-01 -3.12098666e-01 -3.16103986e-02 5.31535161e+01] [ 3.11999283e-01 9.50047333e-01 -8.15553261e-03 5.87666729e+00] [ 3.25767057e-02 -2.11855042e-03 9.99466993e-01 1.58961463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.240714057 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:53.18, Y:5.89, Z:1.59 [[ 9.50098657e-01 -3.10332141e-01 -3.17254440e-02 5.31848019e+01] [ 3.10245831e-01 9.50624917e-01 -7.73253558e-03 5.88521894e+00] [ 3.25586518e-02 -2.49601504e-03 9.99466710e-01 1.58909278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.270714057 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:53.22, Y:5.89, Z:1.59 [[ 9.50524614e-01 -3.09024171e-01 -3.17335816e-02 5.32162104e+01] [ 3.08938132e-01 9.51050945e-01 -7.70261952e-03 5.89304505e+00] [ 3.25605483e-02 -2.48218395e-03 9.99466683e-01 1.58816690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.300714057 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:53.25, Y:5.90, Z:1.59 [[ 9.50823253e-01 -3.08102197e-01 -3.17518274e-02 5.32468256e+01] [ 3.08017878e-01 9.51349928e-01 -7.63553988e-03 5.90157943e+00] [ 3.25596254e-02 -2.52008163e-03 9.99466618e-01 1.58893722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.330714056999994 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:53.28, Y:5.91, Z:1.59 [[ 9.51732571e-01 -3.05285155e-01 -3.17188998e-02 5.32789681e+01] [ 3.05195277e-01 9.52258205e-01 -7.75588257e-03 5.90970508e+00] [ 3.25723384e-02 -2.29893234e-03 9.99466737e-01 1.58885277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.360714056999996 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:53.31, Y:5.92, Z:1.59 [[ 9.52278533e-01 -3.03573599e-01 -3.17594970e-02 5.33077686e+01] [ 3.03487706e-01 9.52804984e-01 -7.60752509e-03 5.91831336e+00] [ 3.25700508e-02 -2.39413405e-03 9.99466588e-01 1.58996754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.390714057 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:53.34, Y:5.93, Z:1.59 [[ 9.52983680e-01 -3.01357981e-01 -3.17091984e-02 5.33398237e+01] [ 3.01264794e-01 9.53508697e-01 -7.79028832e-03 5.92750862e+00] [ 3.25826620e-02 -2.12884747e-03 9.99466777e-01 1.59311604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.420714057 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:53.37, Y:5.94, Z:1.60 [[ 9.53769374e-01 -2.98855789e-01 -3.17678769e-02 5.33662781e+01] [ 2.98768293e-01 9.54295599e-01 -7.57735891e-03 5.93564079e+00] [ 3.25804827e-02 -2.26418149e-03 9.99466551e-01 1.59815596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.450714057 meters Centerline goodness : 0.995120 Centerline is valid? [True, True] Translation: X:53.40, Y:5.94, Z:1.60 [[ 9.53907540e-01 -2.98424573e-01 -3.16730062e-02 5.33973380e+01] [ 2.98325441e-01 9.54431344e-01 -7.92090585e-03 5.94381409e+00] [ 3.25935028e-02 -1.89305171e-03 9.99466898e-01 1.59570840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.480714057 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:53.43, Y:5.95, Z:1.60 [[ 9.54658533e-01 -2.96013784e-01 -3.16689869e-02 5.34263292e+01] [ 2.95912848e-01 9.55181980e-01 -7.93544145e-03 5.95007101e+00] [ 3.25986457e-02 -1.79562319e-03 9.99466910e-01 1.60377285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.510714056999994 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:53.46, Y:5.96, Z:1.61 [[ 9.54834915e-01 -2.95444906e-01 -3.16637298e-02 5.34584426e+01] [ 2.95343030e-01 9.55358164e-01 -7.95441037e-03 5.95821341e+00] [ 3.26002928e-02 -1.75651314e-03 9.99466926e-01 1.60658925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.540714056999995 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:53.49, Y:5.97, Z:1.61 [[ 9.54864643e-01 -2.95347533e-01 -3.16756727e-02 5.34857116e+01] [ 2.95247031e-01 9.55388194e-01 -7.91130651e-03 5.96623923e+00] [ 3.25991486e-02 -1.79792145e-03 9.99466889e-01 1.60544409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.570714056999996 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:53.52, Y:5.98, Z:1.60 [[ 9.54080650e-01 -2.97878044e-01 -3.16035596e-02 5.35191807e+01] [ 2.97770326e-01 9.54602569e-01 -8.17122593e-03 5.97566664e+00] [ 3.26028680e-02 -1.61459371e-03 9.99467081e-01 1.60415172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.600714057 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:53.55, Y:5.98, Z:1.60 [[ 9.54084900e-01 -2.97856608e-01 -3.16771998e-02 5.35493948e+01] [ 2.97757672e-01 9.54608753e-01 -7.90559499e-03 5.98338456e+00] [ 3.25940659e-02 -1.88952045e-03 9.99466886e-01 1.60422942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.630714057 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:53.58, Y:5.99, Z:1.61 [[ 9.53526861e-01 -2.99642333e-01 -3.16385610e-02 5.35797006e+01] [ 2.99539784e-01 9.54049898e-01 -8.04421907e-03 5.99082731e+00] [ 3.25951544e-02 -1.80662875e-03 9.99467004e-01 1.60768256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.660714057 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:53.61, Y:6.00, Z:1.61 [[ 9.53804895e-01 -2.98755764e-01 -3.16420045e-02 5.36114133e+01] [ 2.98653138e-01 9.54327927e-01 -8.03186859e-03 5.99699555e+00] [ 3.25964156e-02 -1.78914834e-03 9.99466994e-01 1.60563908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.690714056999994 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:53.64, Y:6.00, Z:1.61 [[ 9.54073276e-01 -2.97895381e-01 -3.16627060e-02 5.36438778e+01] [ 2.97794745e-01 9.54596757e-01 -7.95750858e-03 6.00178297e+00] [ 3.25956215e-02 -1.83694119e-03 9.99466933e-01 1.60528217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.720714056999995 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:53.66, Y:6.01, Z:1.61 [[ 9.51695119e-01 -3.05405509e-01 -3.16839852e-02 5.36610225e+01] [ 3.05311542e-01 9.52219908e-01 -7.88099507e-03 6.01425186e+00] [ 3.25770208e-02 -2.17318183e-03 9.99466865e-01 1.61009488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.750714056999996 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:53.71, Y:6.01, Z:1.61 [[ 9.54479453e-01 -2.96615651e-01 -3.14345333e-02 5.37090554e+01] [ 2.96487338e-01 9.54996473e-01 -8.77468644e-03 6.01466448e+00] [ 3.26225778e-02 -9.44683216e-04 9.99467296e-01 1.60683545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.780714057 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:53.72, Y:6.03, Z:1.61 [[ 9.51289357e-01 -3.06651680e-01 -3.18324763e-02 5.37202190e+01] [ 3.06576304e-01 9.51817762e-01 -7.34281382e-03 6.02569484e+00] [ 3.25504025e-02 -2.77394230e-03 9.99466246e-01 1.61225147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.810714057 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:53.75, Y:6.03, Z:1.61 [[ 9.51360551e-01 -3.06472496e-01 -3.14278822e-02 5.37526079e+01] [ 3.06349043e-01 9.51878672e-01 -8.78960633e-03 6.03389258e+00] [ 3.26093034e-02 -1.26581692e-03 9.99467374e-01 1.61463638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.840714057 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:53.81, Y:6.03, Z:1.61 [[ 9.55923667e-01 -2.91928203e-01 -3.14303591e-02 5.38107890e+01] [ 2.91797154e-01 9.56439920e-01 -8.78074034e-03 6.03015920e+00] [ 3.26245959e-02 -7.77571825e-04 9.99467374e-01 1.61012027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.870714057 meters Centerline goodness : 0.995691 Centerline is valid? [True, True] Translation: X:53.84, Y:6.04, Z:1.61 [[ 9.55395200e-01 -2.93587199e-01 -3.20401228e-02 5.38400101e+01] [ 2.93529834e-01 9.55927229e-01 -6.58559494e-03 6.03691007e+00] [ 3.25614721e-02 -3.11288611e-03 9.99464887e-01 1.61013571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.900714056999995 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:53.87, Y:6.04, Z:1.61 [[ 9.55207150e-01 -2.94206377e-01 -3.19673080e-02 5.38691410e+01] [ 2.94140618e-01 9.55737628e-01 -6.84712258e-03 6.04388982e+00] [ 3.25668263e-02 -2.86246330e-03 9.99465461e-01 1.61064139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.930714056999996 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:53.90, Y:6.05, Z:1.61 [[ 9.54992868e-01 -2.94901530e-01 -3.19642002e-02 5.38967532e+01] [ 2.94835784e-01 9.55523325e-01 -6.85829058e-03 6.04885317e+00] [ 3.25650592e-02 -2.87457143e-03 9.99465484e-01 1.61011075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.960714057 meters Centerline goodness : 0.995285 Centerline is valid? [True, True] Translation: X:53.93, Y:6.05, Z:1.61 [[ 9.55164888e-01 -2.94352835e-01 -3.18817435e-02 5.39314992e+01] [ 2.94276963e-01 9.55693417e-01 -7.15280233e-03 6.05406714e+00] [ 3.25746200e-02 -2.54995701e-03 9.99466053e-01 1.60968458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.990714057 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:53.96, Y:6.06, Z:1.61 [[ 9.53870718e-01 -2.98507771e-01 -3.19963065e-02 5.39566589e+01] [ 2.98447866e-01 9.54402115e-01 -6.74350152e-03 6.06007468e+00] [ 3.25503302e-02 -3.11680076e-03 9.99465238e-01 1.60995151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.020714057 meters Centerline goodness : 0.995695 Centerline is valid? [True, True] Translation: X:53.99, Y:6.07, Z:1.61 [[ 9.53574887e-01 -2.99465329e-01 -3.18661484e-02 5.39880318e+01] [ 2.99390530e-01 9.54103449e-01 -7.20552068e-03 6.06732707e+00] [ 3.25614057e-02 -2.66941948e-03 9.99466172e-01 1.61053735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.050714057 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:54.02, Y:6.07, Z:1.61 [[ 9.53283844e-01 -3.00389975e-01 -3.18712450e-02 5.40191987e+01] [ 3.00316290e-01 9.53812595e-01 -7.18750651e-03 6.07256206e+00] [ 3.25582497e-02 -2.71972019e-03 9.99466139e-01 1.61076145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.080714056999994 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:54.05, Y:6.08, Z:1.61 [[ 9.52453726e-01 -3.03015678e-01 -3.18339127e-02 5.40487210e+01] [ 3.02939078e-01 9.52981822e-01 -7.31859598e-03 6.08097589e+00] [ 3.25547895e-02 -2.67311216e-03 9.99466378e-01 1.61240142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.110714056999996 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:54.08, Y:6.09, Z:1.61 [[ 9.52878573e-01 -3.01678918e-01 -3.18159500e-02 5.40771756e+01] [ 3.01599478e-01 9.53406140e-01 -7.38159961e-03 6.08689042e+00] [ 3.25603950e-02 -2.56190577e-03 9.99466486e-01 1.61294504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.140714057 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:54.10, Y:6.09, Z:1.62 [[ 9.52317374e-01 -3.03453485e-01 -3.17427301e-02 5.41049957e+01] [ 3.03366523e-01 9.52843339e-01 -7.63705373e-03 6.09453040e+00] [ 3.25633395e-02 -2.35678271e-03 9.99466895e-01 1.62135295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.170714057 meters Centerline goodness : 0.993244 Centerline is valid? [True, True] Translation: X:54.13, Y:6.10, Z:1.62 [[ 9.52237078e-01 -3.03707529e-01 -3.17219760e-02 5.41349657e+01] [ 3.03618303e-01 9.52762558e-01 -7.70937374e-03 6.09947347e+00] [ 3.25649058e-02 -2.29022098e-03 9.99466999e-01 1.62453822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.200714057 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:54.16, Y:6.11, Z:1.63 [[ 9.51345885e-01 -3.06488242e-01 -3.17169304e-02 5.41642510e+01] [ 3.06399969e-01 9.51871501e-01 -7.72690764e-03 6.10598097e+00] [ 3.25586485e-02 -2.36710468e-03 9.99467024e-01 1.62702300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.230714057 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:54.19, Y:6.12, Z:1.63 [[ 9.51211441e-01 -3.06911344e-01 -3.16578759e-02 5.41943952e+01] [ 3.06816500e-01 9.51735638e-01 -7.93165003e-03 6.11509411e+00] [ 3.25642421e-02 -2.16848240e-03 9.99467292e-01 1.62813546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.260714056999994 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:54.23, Y:6.12, Z:1.62 [[ 9.50479106e-01 -3.09171463e-01 -3.16618908e-02 5.42266861e+01] [ 3.09078327e-01 9.51003626e-01 -7.91773135e-03 6.12186794e+00] [ 3.25585096e-02 -2.26036602e-03 9.99467275e-01 1.62185412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.290714056999995 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:54.26, Y:6.13, Z:1.62 [[ 9.49895906e-01 -3.10951936e-01 -3.17279294e-02 5.42576006e+01] [ 3.10867379e-01 9.50422193e-01 -7.68945789e-03 6.12905615e+00] [ 3.25459801e-02 -2.55899370e-03 9.99466963e-01 1.62151896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.320714056999996 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:54.29, Y:6.14, Z:1.62 [[ 9.49175484e-01 -3.13145094e-01 -3.17183018e-02 5.42890858e+01] [ 3.13060647e-01 9.49701739e-01 -7.72263735e-03 6.13640928e+00] [ 3.25412324e-02 -2.59961404e-03 9.99467013e-01 1.62165528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.350714057 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:54.31, Y:6.14, Z:1.63 [[ 9.48265288e-01 -3.15891785e-01 -3.17068503e-02 5.43139261e+01] [ 3.15807549e-01 9.48791517e-01 -7.76204141e-03 6.14049036e+00] [ 3.25351557e-02 -2.65278824e-03 9.99467071e-01 1.62905637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.380714057 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:54.34, Y:6.15, Z:1.63 [[ 9.47800929e-01 -3.17298107e-01 -3.15485344e-02 5.43440657e+01] [ 3.17196583e-01 9.48323442e-01 -8.30519017e-03 6.14788247e+00] [ 3.25534359e-02 -2.13542035e-03 9.99467715e-01 1.62961291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.410714057 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:54.38, Y:6.15, Z:1.63 [[ 9.47587932e-01 -3.17934022e-01 -3.15447136e-02 5.43783156e+01] [ 3.17832413e-01 9.48110417e-01 -8.31831231e-03 6.15302558e+00] [ 3.25525461e-02 -2.14360010e-03 9.99467727e-01 1.62600744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.440714056999994 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:54.41, Y:6.16, Z:1.63 [[ 9.46402524e-01 -3.21440734e-01 -3.15929844e-02 5.44075573e+01] [ 3.21346553e-01 9.46926565e-01 -8.15310192e-03 6.16134892e+00] [ 3.25369752e-02 -2.43618040e-03 9.99467563e-01 1.62690440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.470714056999995 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:54.42, Y:6.18, Z:1.63 [[ 9.41891518e-01 -3.34430170e-01 -3.15726001e-02 5.44216364e+01] [ 3.34340885e-01 9.42416341e-01 -8.22275627e-03 6.17888131e+00] [ 3.25044721e-02 -2.81106667e-03 9.99467637e-01 1.62850442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.500714056999996 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:54.47, Y:6.18, Z:1.63 [[ 9.45511496e-01 -3.24081977e-01 -3.12871165e-02 5.44653571e+01] [ 3.23954740e-01 9.46027902e-01 -9.19428430e-03 6.17684793e+00] [ 3.25781870e-02 -1.44230818e-03 9.99468149e-01 1.63057092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.530714057 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:54.50, Y:6.18, Z:1.63 [[ 9.44867747e-01 -3.25927671e-01 -3.15609496e-02 5.44969787e+01] [ 3.25832408e-01 9.45391458e-01 -8.26028605e-03 6.18357824e+00] [ 3.25297079e-02 -2.47870234e-03 9.99467695e-01 1.63374646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.560714057 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:54.53, Y:6.19, Z:1.63 [[ 9.43713925e-01 -3.29255705e-01 -3.15390124e-02 5.45326797e+01] [ 3.29159802e-01 9.44237445e-01 -8.33499309e-03 6.19270921e+00] [ 3.25246605e-02 -2.51552602e-03 9.99467768e-01 1.62863041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.590714057 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:54.56, Y:6.20, Z:1.63 [[ 9.42852382e-01 -3.31703993e-01 -3.16519533e-02 5.45630781e+01] [ 3.31622237e-01 9.43378749e-01 -7.95154290e-03 6.20148346e+00] [ 3.24973386e-02 -2.99936038e-03 9.99467322e-01 1.63035220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.620714057 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:54.59, Y:6.21, Z:1.63 [[ 9.42924089e-01 -3.31500654e-01 -3.16461605e-02 5.45939576e+01] [ 3.31418128e-01 9.43450308e-01 -7.97117946e-03 6.20872893e+00] [ 3.24990311e-02 -2.97189416e-03 9.99467349e-01 1.63127914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.650714056999995 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:54.62, Y:6.22, Z:1.63 [[ 9.41884053e-01 -3.34440960e-01 -3.16808292e-02 5.46234671e+01] [ 3.34364002e-01 9.42411286e-01 -7.85376860e-03 6.21718943e+00] [ 3.24829929e-02 -3.19558941e-03 9.99467180e-01 1.63279380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.680714056999996 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:54.66, Y:6.22, Z:1.63 [[ 9.42206331e-01 -3.33535546e-01 -3.16428474e-02 5.46589631e+01] [ 3.33453786e-01 9.42732653e-01 -7.98228097e-03 6.22309366e+00] [ 3.24931199e-02 -3.03047160e-03 9.99467365e-01 1.63179609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.710714057 meters Centerline goodness : 0.995603 Centerline is valid? [True, True] Translation: X:54.66, Y:6.24, Z:1.64 [[ 9.37298598e-01 -3.47076958e-01 -3.17635573e-02 5.46623694e+01] [ 3.47016475e-01 9.37828446e-01 -7.57436835e-03 6.23974663e+00] [ 3.24176563e-02 -3.92303285e-03 9.99466710e-01 1.63710874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.740714057 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:54.71, Y:6.24, Z:1.63 [[ 9.39736213e-01 -3.40469901e-01 -3.12425539e-02 5.47081202e+01] [ 3.40347450e-01 9.40253548e-01 -9.32089959e-03 6.24241496e+00] [ 3.25494079e-02 -1.87413668e-03 9.99468371e-01 1.63403626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.770714057 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:54.72, Y:6.26, Z:1.64 [[ 9.36683891e-01 -3.48747969e-01 -3.15933859e-02 5.47215834e+01] [ 3.48669425e-01 9.37210414e-01 -8.14077594e-03 6.25662225e+00] [ 3.24487294e-02 -3.39031404e-03 9.99467651e-01 1.63772063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.800714057 meters Centerline goodness : 0.995096 Centerline is valid? [True, True] Translation: X:54.77, Y:6.26, Z:1.63 [[ 9.40720548e-01 -3.37741063e-01 -3.12382034e-02 5.47741067e+01] [ 3.37616805e-01 9.41237400e-01 -9.33005926e-03 6.25712229e+00] [ 3.25537095e-02 -1.76956395e-03 9.99468421e-01 1.63329699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.830714056999994 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:54.79, Y:6.27, Z:1.64 [[ 9.39732926e-01 -3.40432627e-01 -3.17435697e-02 5.47878969e+01] [ 3.40366547e-01 9.40261885e-01 -7.62901916e-03 6.26790475e+00] [ 3.24444357e-02 -3.63520872e-03 9.99466930e-01 1.64029436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.860714056999996 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:54.82, Y:6.28, Z:1.64 [[ 9.39574017e-01 -3.40905654e-01 -3.13688008e-02 5.48193817e+01] [ 3.40797943e-01 9.40094592e-01 -8.88365309e-03 6.27832910e+00] [ 3.25181275e-02 -2.34357316e-03 9.99468398e-01 1.64220870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.890714057 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:54.86, Y:6.29, Z:1.64 [[ 9.38855237e-01 -3.42877930e-01 -3.13937671e-02 5.48580621e+01] [ 3.42774091e-01 9.39376645e-01 -8.80011701e-03 6.28884460e+00] [ 3.25079375e-02 -2.49893403e-03 9.99468353e-01 1.63847938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.920714057 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:54.89, Y:6.30, Z:1.64 [[ 9.37166635e-01 -3.47450811e-01 -3.15694754e-02 5.48854875e+01] [ 3.47369069e-01 9.37692516e-01 -8.21436658e-03 6.30107250e+00] [ 3.24565492e-02 -3.26802901e-03 9.99467805e-01 1.64409024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.950714057 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:54.91, Y:6.31, Z:1.64 [[ 9.37187908e-01 -3.47399943e-01 -3.14977078e-02 5.49144877e+01] [ 3.47310184e-01 9.37712204e-01 -8.45337160e-03 6.31081272e+00] [ 3.24724858e-02 -3.01707705e-03 9.99468076e-01 1.64371754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.980714057 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:54.95, Y:6.32, Z:1.64 [[ 9.36749428e-01 -3.48584503e-01 -3.14539787e-02 5.49485951e+01] [ 3.48490566e-01 9.37272849e-01 -8.59833963e-03 6.32123441e+00] [ 3.24782082e-02 -2.90692509e-03 9.99468216e-01 1.64306309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.010714056999994 meters Centerline goodness : 0.994803 Centerline is valid? [True, True] Translation: X:54.97, Y:6.33, Z:1.65 [[ 9.35551800e-01 -3.51774166e-01 -3.15874199e-02 5.49719651e+01] [ 3.51696817e-01 9.36078433e-01 -8.15576938e-03 6.33204026e+00] [ 3.24372915e-02 -3.47905033e-03 9.99467718e-01 1.64707517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.040714056999995 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:55.00, Y:6.34, Z:1.65 [[ 9.34229798e-01 -3.55284526e-01 -3.14259372e-02 5.50006745e+01] [ 3.55191285e-01 9.34753251e-01 -8.68976255e-03 6.34327910e+00] [ 3.24628351e-02 -3.04398389e-03 9.99468308e-01 1.64884338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.070714056999996 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:55.03, Y:6.35, Z:1.65 [[ 9.33992277e-01 -3.55910202e-01 -3.14062892e-02 5.50269094e+01] [ 3.55815142e-01 9.34515350e-01 -8.75469755e-03 6.35327046e+00] [ 3.24655455e-02 -2.99801335e-03 9.99468359e-01 1.65357301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.100714057 meters Centerline goodness : 0.995986 Centerline is valid? [True, True] Translation: X:55.06, Y:6.36, Z:1.65 [[ 9.32350184e-01 -3.60200050e-01 -3.12899086e-02 5.50611521e+01] [ 3.60094578e-01 9.32871041e-01 -9.13871553e-03 6.36488643e+00] [ 3.24812154e-02 -2.74684333e-03 9.99468572e-01 1.65020246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.130714057 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:55.08, Y:6.37, Z:1.65 [[ 9.32079616e-01 -3.60890884e-01 -3.13904346e-02 5.50846614e+01] [ 3.60796886e-01 9.32602838e-01 -8.80650912e-03 6.37362966e+00] [ 3.24529972e-02 -3.11720340e-03 9.99468402e-01 1.65360089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.160714057 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:55.12, Y:6.39, Z:1.65 [[ 9.30974737e-01 -3.63745321e-01 -3.12310914e-02 5.51214030e+01] [ 3.63635386e-01 9.31494616e-01 -9.33205290e-03 6.38517758e+00] [ 3.24860840e-02 -2.66882446e-03 9.99468625e-01 1.65084499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.190714056999994 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:55.15, Y:6.39, Z:1.65 [[ 9.30693380e-01 -3.64451332e-01 -3.13856353e-02 5.51519555e+01] [ 3.64358847e-01 9.31216849e-01 -8.82104811e-03 6.39492424e+00] [ 3.24416751e-02 -3.22594281e-03 9.99468424e-01 1.65139713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.220714056999995 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:55.18, Y:6.41, Z:1.65 [[ 9.30407970e-01 -3.65179079e-01 -3.13886700e-02 5.51819656e+01] [ 3.65087339e-01 9.30931577e-01 -8.81100428e-03 6.40516825e+00] [ 3.24382985e-02 -3.26177741e-03 9.99468418e-01 1.65074783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.250714056999996 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:55.21, Y:6.42, Z:1.65 [[ 9.30340157e-01 -3.65349307e-01 -3.14177712e-02 5.52126851e+01] [ 3.65260884e-01 9.30864405e-01 -8.71471285e-03 6.41534169e+00] [ 3.24295992e-02 -3.36803556e-03 9.99468347e-01 1.65081628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.280714057 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:55.24, Y:6.43, Z:1.65 [[ 9.30506875e-01 -3.64925179e-01 -3.14097034e-02 5.52435893e+01] [ 3.64835624e-01 9.31030910e-01 -8.74140585e-03 6.42564910e+00] [ 3.24333638e-02 -3.32544050e-03 9.99468368e-01 1.65062437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.310714057 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:55.27, Y:6.44, Z:1.65 [[ 9.30637857e-01 -3.64589669e-01 -3.14253641e-02 5.52731153e+01] [ 3.64501660e-01 9.31162194e-01 -8.68954756e-03 6.43762424e+00] [ 3.24302302e-02 -3.36777544e-03 9.99468328e-01 1.65231352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.340714057 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:55.30, Y:6.45, Z:1.66 [[ 9.31675400e-01 -3.61932921e-01 -3.13928236e-02 5.52991385e+01] [ 3.61839826e-01 9.32198774e-01 -8.79693210e-03 6.44748736e+00] [ 3.24482510e-02 -3.16328860e-03 9.99468411e-01 1.65893669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.370714057 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:55.33, Y:6.46, Z:1.66 [[ 9.31343645e-01 -3.62794582e-01 -3.12906779e-02 5.53328618e+01] [ 3.62690739e-01 9.31864803e-01 -9.13330249e-03 6.46149284e+00] [ 3.24721940e-02 -2.84259583e-03 9.99468597e-01 1.65591210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.400714056999995 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:55.36, Y:6.47, Z:1.66 [[ 9.31698399e-01 -3.61874199e-01 -3.13872089e-02 5.53639220e+01] [ 3.61780448e-01 9.32221644e-01 -8.81555951e-03 6.47215599e+00] [ 3.24499590e-02 -3.14183582e-03 9.99468423e-01 1.65604919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.430714056999996 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:55.39, Y:6.48, Z:1.66 [[ 9.31618003e-01 -3.62079186e-01 -3.14095328e-02 5.53936548e+01] [ 3.61988006e-01 9.32141759e-01 -8.74211997e-03 6.48353817e+00] [ 3.24434768e-02 -3.22555780e-03 9.99468367e-01 1.65730702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.460714057 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:55.42, Y:6.50, Z:1.66 [[ 9.32255063e-01 -3.60437679e-01 -3.13875336e-02 5.54218821e+01] [ 3.60343159e-01 9.32778169e-01 -8.81446657e-03 6.49545347e+00] [ 3.24546720e-02 -3.09295192e-03 9.99468423e-01 1.65650722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.490714057 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:55.45, Y:6.51, Z:1.66 [[ 9.32358751e-01 -3.60171681e-01 -3.13611232e-02 5.54532135e+01] [ 3.60074110e-01 9.32881237e-01 -8.90131170e-03 6.50685872e+00] [ 3.24622038e-02 -2.99311266e-03 9.99468482e-01 1.65762187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.520714057 meters Centerline goodness : 0.994423 Centerline is valid? [True, True] Translation: X:55.48, Y:6.52, Z:1.66 [[ 9.32975192e-01 -3.58572047e-01 -3.13588540e-02 5.54792015e+01] [ 3.58473333e-01 9.33497458e-01 -8.90875620e-03 6.51679710e+00] [ 3.24678415e-02 -2.92966439e-03 9.99468487e-01 1.66204926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.550714057 meters Centerline goodness : 0.995021 Centerline is valid? [True, True] Translation: X:55.51, Y:6.53, Z:1.66 [[ 9.34113172e-01 -3.55605934e-01 -3.12570223e-02 5.55094004e+01] [ 3.55494444e-01 9.34632697e-01 -9.24239570e-03 6.52825362e+00] [ 3.25004858e-02 -2.47825419e-03 9.99468647e-01 1.66113394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.580714056999994 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:55.54, Y:6.54, Z:1.66 [[ 9.33340060e-01 -3.57628480e-01 -3.12762401e-02 5.55444192e+01] [ 3.57520214e-01 9.33860287e-01 -9.17940206e-03 6.54045324e+00] [ 3.24904541e-02 -2.61438436e-03 9.99468627e-01 1.65994960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.610714056999996 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:55.58, Y:6.55, Z:1.66 [[ 9.33363262e-01 -3.57558885e-01 -3.13793776e-02 5.55751274e+01] [ 3.57461835e-01 9.33885891e-01 -8.84192289e-03 6.55204680e+00] [ 3.24662661e-02 -2.96420393e-03 9.99468436e-01 1.66206142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.640714057 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:55.60, Y:6.56, Z:1.66 [[ 9.33211945e-01 -3.57952700e-01 -3.13899593e-02 5.56028345e+01] [ 3.57857027e-01 9.33734855e-01 -8.80729614e-03 6.56238049e+00] [ 3.24624945e-02 -3.01404354e-03 9.99468410e-01 1.66370667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.670714057 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:55.63, Y:6.57, Z:1.67 [[ 9.33925830e-01 -3.56090613e-01 -3.13371974e-02 5.56308782e+01] [ 3.55988142e-01 9.34447327e-01 -8.97978011e-03 6.57115692e+00] [ 3.24805758e-02 -2.76922209e-03 9.99468531e-01 1.66753977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.700714057 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:55.66, Y:6.58, Z:1.67 [[ 9.33793375e-01 -3.56442441e-01 -3.12844922e-02 5.56620833e+01] [ 3.56334433e-01 9.34313661e-01 -9.15180563e-03 6.58165785e+00] [ 3.24916204e-02 -2.60184631e-03 9.99468621e-01 1.67002393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.730714057 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:55.70, Y:6.59, Z:1.67 [[ 9.32767781e-01 -3.59116754e-01 -3.12957439e-02 5.56960595e+01] [ 3.59011462e-01 9.33288640e-01 -9.11506826e-03 6.59193189e+00] [ 3.24813360e-02 -2.73328876e-03 9.99468605e-01 1.66748063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.760714056999994 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:55.73, Y:6.60, Z:1.67 [[ 9.30868741e-01 -3.64003061e-01 -3.13872396e-02 5.57261117e+01] [ 3.63910469e-01 9.31392203e-01 -8.81672755e-03 6.60163622e+00] [ 3.24431460e-02 -3.21492901e-03 9.99468412e-01 1.66950587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.790714056999995 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:55.76, Y:6.61, Z:1.67 [[ 9.30237335e-01 -3.65615176e-01 -3.13694803e-02 5.57581346e+01] [ 3.65521554e-01 9.30760568e-01 -8.87463241e-03 6.61098015e+00] [ 3.24421756e-02 -3.21070678e-03 9.99468457e-01 1.67069257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.820714056999996 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:55.79, Y:6.62, Z:1.67 [[ 9.29404679e-01 -3.67726258e-01 -3.13742314e-02 5.57870978e+01] [ 3.67634343e-01 9.29928226e-01 -8.85913907e-03 6.62024396e+00] [ 3.24335215e-02 -3.30051967e-03 9.99468445e-01 1.67238129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.850714057 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:55.82, Y:6.63, Z:1.67 [[ 9.29952705e-01 -3.66341451e-01 -3.13354002e-02 5.58213087e+01] [ 3.66244520e-01 9.30475259e-01 -8.98582156e-03 6.62777992e+00] [ 3.24486935e-02 -3.12002951e-03 9.99468533e-01 1.67011015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.880714057 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:55.85, Y:6.64, Z:1.68 [[ 9.27653367e-01 -3.72117806e-01 -3.14256236e-02 5.58467345e+01] [ 3.72033954e-01 9.28178419e-01 -8.69247191e-03 6.63812654e+00] [ 3.24032092e-02 -3.62779819e-03 9.99468294e-01 1.67584971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.910714057 meters Centerline goodness : 0.995920 Centerline is valid? [True, True] Translation: X:55.88, Y:6.65, Z:1.67 [[ 9.28396229e-01 -3.70268607e-01 -3.13305132e-02 5.58804872e+01] [ 3.70173363e-01 9.28919079e-01 -9.00143346e-03 6.64630893e+00] [ 3.24364597e-02 -3.24082457e-03 9.99468545e-01 1.67287233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.940714056999994 meters Centerline goodness : 0.996110 Centerline is valid? [True, True] Translation: X:55.91, Y:6.66, Z:1.68 [[ 9.27165473e-01 -3.73334432e-01 -3.13940821e-02 5.59104141e+01] [ 3.73247814e-01 9.27689985e-01 -8.79553318e-03 6.65609270e+00] [ 3.24076509e-02 -3.56285784e-03 9.99468384e-01 1.67551836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.970714056999995 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:55.94, Y:6.66, Z:1.68 [[ 9.27702057e-01 -3.71999118e-01 -3.13934669e-02 5.59351674e+01] [ 3.71911678e-01 9.28226431e-01 -8.79752726e-03 6.66395885e+00] [ 3.24129181e-02 -3.51411282e-03 9.99468386e-01 1.67932877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.000714056999996 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:55.97, Y:6.67, Z:1.68 [[ 9.27744839e-01 -3.71904404e-01 -3.12510612e-02 5.59666201e+01] [ 3.71801500e-01 9.28266090e-01 -9.25807533e-03 6.67344929e+00] [ 3.24524194e-02 -3.03005982e-03 9.99468688e-01 1.68005960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.030714057 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:56.00, Y:6.68, Z:1.68 [[ 9.28241514e-01 -3.70662660e-01 -3.12551360e-02 5.59958602e+01] [ 3.70559499e-01 9.28762720e-01 -9.24488974e-03 6.68243965e+00] [ 3.24553405e-02 -3.00039707e-03 9.99468683e-01 1.68215489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.060714057 meters Centerline goodness : 0.995460 Centerline is valid? [True, True] Translation: X:56.03, Y:6.69, Z:1.68 [[ 9.28554766e-01 -3.69880918e-01 -3.12114364e-02 5.60272767e+01] [ 3.69772593e-01 9.29074875e-01 -9.38643111e-03 6.69237355e+00] [ 3.24696231e-02 -2.82531842e-03 9.99468729e-01 1.68383364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.090714057 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:56.06, Y:6.70, Z:1.68 [[ 9.28597022e-01 -3.69775203e-01 -3.12068982e-02 5.60628607e+01] [ 3.69666329e-01 9.29117013e-01 -9.40111554e-03 6.70267109e+00] [ 3.24711594e-02 -2.80629161e-03 9.99468733e-01 1.68462259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.120714057 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:56.09, Y:6.71, Z:1.69 [[ 9.29191502e-01 -3.68267523e-01 -3.13398031e-02 5.60944699e+01] [ 3.68172178e-01 9.29714350e-01 -8.97075442e-03 6.71179953e+00] [ 3.24407022e-02 -3.20289480e-03 9.99468530e-01 1.68528369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.150714056999995 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:56.13, Y:6.72, Z:1.69 [[ 9.29072924e-01 -3.68566398e-01 -3.13418591e-02 5.61254958e+01] [ 3.68471444e-01 9.29595848e-01 -8.96410172e-03 6.72154873e+00] [ 3.24391288e-02 -3.22027588e-03 9.99468525e-01 1.68634119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.180714056999996 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:56.16, Y:6.73, Z:1.69 [[ 9.29578634e-01 -3.67289342e-01 -3.13385171e-02 5.61574200e+01] [ 3.67193308e-01 9.30101353e-01 -8.97490338e-03 6.73089705e+00] [ 3.24443835e-02 -3.16441534e-03 9.99468533e-01 1.68669648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.210714057 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:56.19, Y:6.74, Z:1.69 [[ 9.30358066e-01 -3.65308814e-01 -3.13582380e-02 5.61880095e+01] [ 3.65213797e-01 9.30881020e-01 -8.91116753e-03 6.74032061e+00] [ 3.24461166e-02 -3.16188459e-03 9.99468485e-01 1.68735733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.240714057 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:56.22, Y:6.75, Z:1.69 [[ 9.30917143e-01 -3.63883078e-01 -3.13429177e-02 5.62192950e+01] [ 3.63785605e-01 9.31439606e-01 -8.96068225e-03 6.74910163e+00] [ 3.24546755e-02 -3.06044956e-03 9.99468523e-01 1.68764824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.270714057 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:56.25, Y:6.76, Z:1.69 [[ 9.32726743e-01 -3.59218239e-01 -3.13540960e-02 5.62549671e+01] [ 3.59119356e-01 9.33248969e-01 -8.92465076e-03 6.75713608e+00] [ 3.24670751e-02 -2.93560233e-03 9.99468494e-01 1.68567340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.300714057 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:56.28, Y:6.77, Z:1.69 [[ 9.32216633e-01 -3.60529201e-01 -3.14776847e-02 5.62806735e+01] [ 3.60444362e-01 9.32741741e-01 -8.52684226e-03 6.76743882e+00] [ 3.24347261e-02 -3.39708981e-03 9.99468083e-01 1.68850377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.330714056999994 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:56.31, Y:6.78, Z:1.69 [[ 9.33084126e-01 -3.58288453e-01 -3.13591719e-02 5.63095943e+01] [ 3.58189609e-01 9.33606370e-01 -8.90787496e-03 6.77702323e+00] [ 3.24687114e-02 -2.92073281e-03 9.99468485e-01 1.68906406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.360714056999996 meters Centerline goodness : 0.995652 Centerline is valid? [True, True] Translation: X:56.34, Y:6.79, Z:1.69 [[ 9.34676066e-01 -3.54116635e-01 -3.13378396e-02 5.63398989e+01] [ 3.54013163e-01 9.35197358e-01 -8.97670141e-03 6.78740550e+00] [ 3.24858641e-02 -2.70369978e-03 9.99468538e-01 1.69117021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.390714057 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:56.37, Y:6.80, Z:1.69 [[ 9.35423622e-01 -3.52138909e-01 -3.13183079e-02 5.63713240e+01] [ 3.52032236e-01 9.35944223e-01 -9.03969236e-03 6.79761942e+00] [ 3.24954167e-02 -2.56911218e-03 9.99468583e-01 1.69344845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.420714057 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:56.39, Y:6.81, Z:1.70 [[ 9.34851109e-01 -3.53656785e-01 -3.13094801e-02 5.63928455e+01] [ 3.53550010e-01 9.35371669e-01 -9.06811651e-03 6.81071094e+00] [ 3.24930016e-02 -2.59212825e-03 9.99468602e-01 1.69552689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.450714057 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:56.43, Y:6.82, Z:1.70 [[ 9.37898510e-01 -3.45511305e-01 -3.11178964e-02 5.64328921e+01] [ 3.45379587e-01 9.38413110e-01 -9.68377557e-03 6.81632002e+00] [ 3.25472958e-02 -1.66508751e-03 9.99468809e-01 1.69575799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.480714057 meters Centerline goodness : 0.995509 Centerline is valid? [True, True] Translation: X:56.47, Y:6.82, Z:1.69 [[ 9.39485005e-01 -3.41155910e-01 -3.13140504e-02 5.64697127e+01] [ 3.41042706e-01 9.40004211e-01 -9.05291889e-03 6.82422676e+00] [ 3.25237960e-02 -2.17434691e-03 9.99468596e-01 1.69389850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.510714056999994 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:56.48, Y:6.84, Z:1.70 [[ 9.37039031e-01 -3.47802643e-01 -3.14829442e-02 5.64824052e+01] [ 3.47711262e-01 9.37563053e-01 -8.50887296e-03 6.83760399e+00] [ 3.24766537e-02 -2.97382816e-03 9.99468070e-01 1.69755906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.540714056999995 meters Centerline goodness : 0.995034 Centerline is valid? [True, True] Translation: X:56.51, Y:6.85, Z:1.70 [[ 9.37842772e-01 -3.45663289e-01 -3.11098919e-02 5.65139325e+01] [ 3.45530956e-01 9.38357168e-01 -9.70481993e-03 6.84653785e+00] [ 3.25467900e-02 -1.64783545e-03 9.99468854e-01 1.69852428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.570714056999996 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:56.55, Y:6.86, Z:1.70 [[ 9.38131424e-01 -3.44878865e-01 -3.11126826e-02 5.65452936e+01] [ 3.44746397e-01 9.38645786e-01 -9.69586493e-03 6.85576114e+00] [ 3.25476873e-02 -1.62998965e-03 9.99468855e-01 1.69939942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.600714057 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:56.58, Y:6.86, Z:1.70 [[ 9.38654388e-01 -3.43452709e-01 -3.11155196e-02 5.65761427e+01] [ 3.43319762e-01 9.39168626e-01 -9.68675204e-03 6.86419759e+00] [ 3.25496610e-02 -1.59006045e-03 9.99468855e-01 1.69982444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.630714057 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:56.63, Y:6.86, Z:1.69 [[ 9.43936583e-01 -3.28656944e-01 -3.11181546e-02 5.66346062e+01] [ 3.28516210e-01 9.44448744e-01 -9.67827966e-03 6.86391026e+00] [ 3.25703359e-02 -1.08713597e-03 9.99468855e-01 1.69362170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.660714057 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:56.66, Y:6.87, Z:1.69 [[ 9.43799549e-01 -3.28984419e-01 -3.18066643e-02 5.66592010e+01] [ 3.28918031e-01 9.44329109e-01 -7.44728829e-03 6.87243326e+00] [ 3.24860008e-02 -3.43303807e-03 9.99466295e-01 1.69376179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.690714056999994 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:56.69, Y:6.88, Z:1.69 [[ 9.43653031e-01 -3.29422060e-01 -3.16237720e-02 5.66935011e+01] [ 3.29336200e-01 9.44178526e-01 -8.03607561e-03 6.88129722e+00] [ 3.25057470e-02 -2.83158579e-03 9.99467538e-01 1.69495314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.720714056999995 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:56.72, Y:6.89, Z:1.70 [[ 9.43240589e-01 -3.30589474e-01 -3.17457274e-02 5.67241681e+01] [ 3.30517365e-01 9.43768950e-01 -7.64469508e-03 6.89071105e+00] [ 3.24878875e-02 -3.28172746e-03 9.99466742e-01 1.69543263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.750714056999996 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:56.76, Y:6.90, Z:1.70 [[ 9.42976429e-01 -3.31343211e-01 -3.17353314e-02 5.67550238e+01] [ 3.31270410e-01 9.43504618e-01 -7.67791986e-03 6.89989750e+00] [ 3.24864583e-02 -3.27287879e-03 9.99466817e-01 1.69583812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.780714057 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:56.78, Y:6.91, Z:1.70 [[ 9.41184326e-01 -3.36402201e-01 -3.17115733e-02 5.67787185e+01] [ 3.36329709e-01 9.41712384e-01 -7.75327485e-03 6.91013131e+00] [ 3.24714000e-02 -3.36828345e-03 9.99466989e-01 1.69768974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.810714057 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:56.80, Y:6.92, Z:1.70 [[ 9.40303625e-01 -3.38867455e-01 -3.15902017e-02 5.68025435e+01] [ 3.38783497e-01 9.40829175e-01 -8.13663774e-03 6.92015766e+00] [ 3.24782251e-02 -3.05132902e-03 9.99467786e-01 1.69962831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.840714057 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:56.83, Y:6.93, Z:1.70 [[ 9.40192432e-01 -3.39187256e-01 -3.14673962e-02 5.68336055e+01] [ 3.39090562e-01 9.40715125e-01 -8.52314280e-03 6.92944793e+00] [ 3.24927969e-02 -2.65690271e-03 9.99468438e-01 1.69982449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.870714057 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:56.84, Y:6.95, Z:1.71 [[ 9.36667956e-01 -3.48800634e-01 -3.14842551e-02 5.68420770e+01] [ 3.48711074e-01 9.37192000e-01 -8.47010125e-03 6.94530240e+00] [ 3.24611687e-02 -3.04523599e-03 9.99468358e-01 1.70573035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.900714056999995 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:56.89, Y:6.95, Z:1.70 [[ 9.40108741e-01 -3.39460260e-01 -3.10207629e-02 5.68913052e+01] [ 3.39317417e-01 9.40619632e-01 -9.91965816e-03 6.94868362e+00] [ 3.25460683e-02 -1.20032780e-03 9.99469516e-01 1.70208076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.930714056999996 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:56.92, Y:6.96, Z:1.70 [[ 9.40682217e-01 -3.37825065e-01 -3.14831885e-02 5.69232347e+01] [ 3.37729380e-01 9.41205144e-01 -8.47013698e-03 6.95719073e+00] [ 3.24935635e-02 -2.66509050e-03 9.99468392e-01 1.70218584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.960714057 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:56.95, Y:6.97, Z:1.70 [[ 9.41414920e-01 -3.35775256e-01 -3.15107437e-02 5.69538854e+01] [ 3.35681312e-01 9.41938304e-01 -8.38378581e-03 6.96594651e+00] [ 3.24962443e-02 -2.68494674e-03 9.99468251e-01 1.70275718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.990714057 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:56.96, Y:6.98, Z:1.71 [[ 9.37239329e-01 -3.47254308e-01 -3.15734892e-02 5.69555642e+01] [ 3.47173351e-01 9.37765234e-01 -8.18721305e-03 6.98434585e+00] [ 3.24515655e-02 -3.28809597e-03 9.99467901e-01 1.71021913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.020714057 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:56.98, Y:7.00, Z:1.72 [[ 9.37665286e-01 -3.46154378e-01 -3.09993251e-02 5.69825819e+01] [ 3.46013439e-01 9.38176558e-01 -9.97222697e-03 6.99547759e+00] [ 3.25347701e-02 -1.37557204e-03 9.99469658e-01 1.71840876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.050714057 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:57.03, Y:7.00, Z:1.72 [[ 9.41457205e-01 -3.35711997e-01 -3.09157911e-02 5.70295120e+01] [ 3.35556859e-01 9.41964387e-01 -1.02317559e-02 6.99723984e+00] [ 3.25564974e-02 -7.41245404e-04 9.99469622e-01 1.71907081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.080714056999994 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:57.06, Y:7.01, Z:1.72 [[ 9.41347020e-01 -3.35989199e-01 -3.12577347e-02 5.70611381e+01] [ 3.35869161e-01 9.41863993e-01 -9.17197237e-03 7.00682739e+00] [ 3.25222185e-02 -1.86450029e-03 9.99469274e-01 1.71835554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.110714056999996 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:57.10, Y:7.02, Z:1.71 [[ 9.41675669e-01 -3.35063682e-01 -3.12931932e-02 5.70980858e+01] [ 3.34946776e-01 9.42193470e-01 -9.06214227e-03 7.01642298e+00] [ 3.25206370e-02 -1.94795530e-03 9.99469166e-01 1.71029582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.140714057 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:57.12, Y:7.03, Z:1.72 [[ 9.41314829e-01 -3.36057601e-01 -3.14909835e-02 5.71185731e+01] [ 3.35961633e-01 9.41837773e-01 -8.44927300e-03 7.02744500e+00] [ 3.24988402e-02 -2.62633627e-03 9.99468323e-01 1.71830619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.170714057 meters Centerline goodness : 0.992979 Centerline is valid? [True, True] Translation: X:57.15, Y:7.04, Z:1.72 [[ 9.41885161e-01 -3.34479116e-01 -3.12420161e-02 5.71483144e+01] [ 3.34356719e-01 9.42401512e-01 -9.21810567e-03 7.03748454e+00] [ 3.25257871e-02 -1.76358107e-03 9.99469341e-01 1.72064157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.200714057 meters Centerline goodness : 0.993661 Centerline is valid? [True, True] Translation: X:57.18, Y:7.05, Z:1.72 [[ 9.41677007e-01 -3.35066038e-01 -3.12276218e-02 5.71809155e+01] [ 3.34942495e-01 9.42193044e-01 -9.26245428e-03 7.04839838e+00] [ 3.25259819e-02 -1.73721733e-03 9.99469381e-01 1.72052201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.230714057 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:57.21, Y:7.06, Z:1.72 [[ 9.41903202e-01 -3.34423060e-01 -3.12981784e-02 5.72123785e+01] [ 3.34306348e-01 9.42421053e-01 -9.04566155e-03 7.05852574e+00] [ 3.25211401e-02 -1.94304213e-03 9.99469159e-01 1.72106861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.260714056999994 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:57.24, Y:7.07, Z:1.72 [[ 9.42568814e-01 -3.32539547e-01 -3.13285857e-02 5.72409315e+01] [ 3.32424898e-01 9.43087241e-01 -8.95226592e-03 7.06735306e+00] [ 3.25225719e-02 -1.97627525e-03 9.99469047e-01 1.72302609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.290714056999995 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:57.27, Y:7.08, Z:1.72 [[ 9.42410563e-01 -3.32994443e-01 -3.12574957e-02 5.72744093e+01] [ 3.32872816e-01 9.42927141e-01 -9.17029452e-03 7.07716469e+00] [ 3.25271982e-02 -1.76258821e-03 9.99469297e-01 1.72301487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.320714056999996 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:57.30, Y:7.09, Z:1.72 [[ 9.42672261e-01 -3.32241674e-01 -3.13763824e-02 5.73041392e+01] [ 3.32131726e-01 9.43191908e-01 -8.80576514e-03 7.08725608e+00] [ 3.25195922e-02 -2.12014152e-03 9.99468850e-01 1.72395190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.350714057 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:57.33, Y:7.10, Z:1.72 [[ 9.43122001e-01 -3.30965757e-01 -3.13457929e-02 5.73342677e+01] [ 3.30851999e-01 9.43640693e-01 -8.89933613e-03 7.09677542e+00] [ 3.25245412e-02 -1.97765853e-03 9.99468981e-01 1.72485247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.380714057 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:57.37, Y:7.11, Z:1.73 [[ 9.44053932e-01 -3.28298311e-01 -3.13431445e-02 5.73659456e+01] [ 3.28182819e-01 9.44572229e-01 -8.90741779e-03 7.10655049e+00] [ 3.25301541e-02 -1.87719874e-03 9.99468992e-01 1.72726225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.410714057 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:57.40, Y:7.12, Z:1.73 [[ 9.44308174e-01 -3.27565988e-01 -3.13463768e-02 5.73967255e+01] [ 3.27450420e-01 9.44826468e-01 -8.89758561e-03 7.11658137e+00] [ 3.25314329e-02 -1.86232142e-03 9.99468978e-01 1.72753153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.440714056999994 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:57.43, Y:7.12, Z:1.73 [[ 9.45055452e-01 -3.25402448e-01 -3.13598427e-02 5.74276230e+01] [ 3.25287048e-01 9.45573844e-01 -8.85674547e-03 7.12470856e+00] [ 3.25350537e-02 -1.83083505e-03 9.99468918e-01 1.73061510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.470714056999995 meters Centerline goodness : 0.992643 Centerline is valid? [True, True] Translation: X:57.45, Y:7.13, Z:1.73 [[ 9.45903242e-01 -3.22925507e-01 -3.14034007e-02 5.74536814e+01] [ 3.22813124e-01 9.46422509e-01 -8.72476231e-03 7.13416822e+00] [ 3.25383335e-02 -1.88464893e-03 9.99468711e-01 1.73276027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.500714056999996 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:57.48, Y:7.14, Z:1.73 [[ 9.45203755e-01 -3.24979222e-01 -3.12788388e-02 5.74830434e+01] [ 3.24855498e-01 9.45719872e-01 -9.10108611e-03 7.14414165e+00] [ 3.25386833e-02 -1.55872201e-03 9.99469261e-01 1.73243438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.530714057 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:57.51, Y:7.15, Z:1.73 [[ 9.45640991e-01 -3.23703385e-01 -3.12927329e-02 5.75136938e+01] [ 3.23580352e-01 9.46157327e-01 -9.05911364e-03 7.15159541e+00] [ 3.25403142e-02 -1.55904431e-03 9.99469208e-01 1.72994534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.560714057 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:57.54, Y:7.16, Z:1.73 [[ 9.44991807e-01 -3.25594900e-01 -3.12801087e-02 5.75441583e+01] [ 3.25471642e-01 9.45508039e-01 -9.09716482e-03 7.16100863e+00] [ 3.25375847e-02 -1.58404214e-03 9.99469257e-01 1.72865544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.590714057 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:57.55, Y:7.18, Z:1.73 [[ 9.39832400e-01 -3.40199065e-01 -3.12994571e-02 5.75510589e+01] [ 3.40085756e-01 9.40350985e-01 -9.03894316e-03 7.17931191e+00] [ 3.25075153e-02 -2.14940790e-03 9.99469180e-01 1.73103339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.620714056999994 meters Centerline goodness : 0.994269 Centerline is valid? [True, True] Translation: X:57.61, Y:7.18, Z:1.72 [[ 9.44103383e-01 -3.28207665e-01 -3.07982169e-02 5.76081428e+01] [ 3.28038468e-01 9.44605582e-01 -1.05384175e-02 7.17723881e+00] [ 3.25509570e-02 -1.53644265e-04 9.99470065e-01 1.72291849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.650714056999995 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:57.63, Y:7.19, Z:1.72 [[ 9.43142613e-01 -3.30896444e-01 -3.14571850e-02 5.76332568e+01] [ 3.30794103e-01 9.43664177e-01 -8.55466156e-03 7.18633469e+00] [ 3.25157257e-02 -2.33758544e-03 9.99468490e-01 1.72402240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.680714056999996 meters Centerline goodness : 0.992875 Centerline is valid? [True, True] Translation: X:57.66, Y:7.20, Z:1.73 [[ 9.43373518e-01 -3.30248995e-01 -3.13369825e-02 5.76573189e+01] [ 3.30134271e-01 9.43891870e-01 -8.91638892e-03 7.19543867e+00] [ 3.25233514e-02 -1.93392666e-03 9.99469105e-01 1.73230307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.710714057 meters Centerline goodness : 0.993800 Centerline is valid? [True, True] Translation: X:57.69, Y:7.20, Z:1.73 [[ 9.42485690e-01 -3.32787256e-01 -3.11988073e-02 5.76867852e+01] [ 3.32660188e-01 9.43000600e-01 -9.33097685e-03 7.20481992e+00] [ 3.25257242e-02 -1.58428895e-03 9.99469643e-01 1.73409883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.740714057 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:57.72, Y:7.21, Z:1.73 [[ 9.41878346e-01 -3.34503416e-01 -3.11872893e-02 5.77175101e+01] [ 3.34376144e-01 9.42393167e-01 -9.36547952e-03 7.21447866e+00] [ 3.25234732e-02 -1.60714319e-03 9.99469680e-01 1.73443884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.770714057 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:57.75, Y:7.22, Z:1.73 [[ 9.40501972e-01 -3.38357071e-01 -3.11533905e-02 5.77508171e+01] [ 3.38228563e-01 9.41016378e-01 -9.46652602e-03 7.22322494e+00] [ 3.25189167e-02 -1.63368013e-03 9.99469785e-01 1.73432296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.800714057 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:57.78, Y:7.23, Z:1.74 [[ 9.39549239e-01 -3.40986406e-01 -3.12329555e-02 5.77769454e+01] [ 3.40867202e-01 9.40066152e-01 -9.22930623e-03 7.23286409e+00] [ 3.25081123e-02 -1.97490250e-03 9.99469520e-01 1.73518515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.830714056999994 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:57.81, Y:7.24, Z:1.73 [[ 9.37096817e-01 -3.47677096e-01 -3.11479277e-02 5.78114159e+01] [ 3.47553144e-01 9.37612328e-01 -9.48333685e-03 7.24442392e+00] [ 3.25018200e-02 -1.93875543e-03 9.99469796e-01 1.73137169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.860714056999996 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:57.84, Y:7.25, Z:1.74 [[ 9.37061490e-01 -3.47763071e-01 -3.12507781e-02 5.78370680e+01] [ 3.47649368e-01 9.37579710e-01 -9.17624632e-03 7.25213364e+00] [ 3.24912551e-02 -2.26560620e-03 9.99469452e-01 1.73746095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.890714057 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:57.87, Y:7.26, Z:1.73 [[ 9.33747570e-01 -3.56575690e-01 -3.11328290e-02 5.78718190e+01] [ 3.56455168e-01 9.34263846e-01 -9.52785336e-03 7.26246454e+00] [ 3.24836775e-02 -2.20084788e-03 9.99469843e-01 1.73185491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.920714057 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:57.89, Y:7.27, Z:1.74 [[ 9.32094173e-01 -3.60864599e-01 -3.12600961e-02 5.78946706e+01] [ 3.60759079e-01 9.32614165e-01 -9.14908337e-03 7.27180985e+00] [ 3.24551887e-02 -2.74955619e-03 9.99469410e-01 1.73611917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.950714057 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:57.92, Y:7.28, Z:1.74 [[ 9.29584263e-01 -3.67297341e-01 -3.10767142e-02 5.79243701e+01] [ 3.67177266e-01 9.30100480e-01 -9.69294876e-03 7.28170760e+00] [ 3.24646610e-02 -2.40025032e-03 9.99470002e-01 1.73981077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.980714057 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:57.95, Y:7.29, Z:1.74 [[ 9.27940615e-01 -3.71435365e-01 -3.10158705e-02 5.79546773e+01] [ 3.71311604e-01 9.28455827e-01 -9.87268507e-03 7.29276770e+00] [ 3.24639300e-02 -2.35528716e-03 9.99470133e-01 1.74147665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.010714056999994 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:57.99, Y:7.30, Z:1.74 [[ 9.26216426e-01 -3.75713946e-01 -3.10187653e-02 5.79882461e+01] [ 3.75592850e-01 9.26732275e-01 -9.86412793e-03 7.30399602e+00] [ 3.24521814e-02 -2.51410915e-03 9.99470127e-01 1.74012445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.040714056999995 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:58.02, Y:7.31, Z:1.74 [[ 9.26063958e-01 -3.76079133e-01 -3.11453168e-02 5.80190123e+01] [ 3.75970762e-01 9.26582941e-01 -9.48895454e-03 7.31449775e+00] [ 3.24273170e-02 -2.92234970e-03 9.99469824e-01 1.74103342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.070714056999996 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:58.04, Y:7.32, Z:1.75 [[ 9.25984747e-01 -3.76274329e-01 -3.11428519e-02 5.80440661e+01] [ 3.76165823e-01 9.26503694e-01 -9.49625835e-03 7.32281423e+00] [ 3.24271656e-02 -2.92148615e-03 9.99469831e-01 1.74670133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.100714057 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:58.08, Y:7.33, Z:1.75 [[ 9.25461320e-01 -3.77570043e-01 -3.10194818e-02 5.80757146e+01] [ 3.77450086e-01 9.25977426e-01 -9.86096828e-03 7.33378659e+00] [ 3.24465462e-02 -2.58236135e-03 9.99470136e-01 1.74794816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.130714057 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:58.12, Y:7.34, Z:1.74 [[ 9.25376722e-01 -3.77776428e-01 -3.10305133e-02 5.81193579e+01] [ 3.77657669e-01 9.25893129e-01 -9.82847105e-03 7.34410047e+00] [ 3.24439037e-02 -2.62387299e-03 9.99470114e-01 1.74089526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.160714057 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:58.12, Y:7.36, Z:1.75 [[ 9.20103170e-01 -3.90412807e-01 -3.14324014e-02 5.81209431e+01] [ 3.90341034e-01 9.20629782e-01 -8.64186659e-03 7.36175501e+00] [ 3.23115002e-02 -4.31794721e-03 9.99468520e-01 1.74766432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.190714056999994 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:58.16, Y:7.37, Z:1.75 [[ 9.24089019e-01 -3.80934557e-01 -3.07952696e-02 5.81624476e+01] [ 3.80794902e-01 9.24599806e-01 -1.05090810e-02 7.36640646e+00] [ 3.24765724e-02 -2.01535534e-03 9.99470465e-01 1.75069972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.220714056999995 meters Centerline goodness : 0.994795 Centerline is valid? [True, True] Translation: X:58.20, Y:7.38, Z:1.75 [[ 9.25648182e-01 -3.77112475e-01 -3.10100843e-02 5.82014226e+01] [ 3.76991623e-01 9.26163972e-01 -9.87993145e-03 7.37724836e+00] [ 3.24462682e-02 -2.54520141e-03 9.99470240e-01 1.74776988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.250714056999996 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:58.23, Y:7.39, Z:1.75 [[ 9.25161452e-01 -3.78282271e-01 -3.12859686e-02 5.82292458e+01] [ 3.78189137e-01 9.25683905e-01 -9.07111221e-03 7.38943727e+00] [ 3.23923585e-02 -3.43977014e-03 9.99469311e-01 1.74816886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.280714057 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:58.24, Y:7.41, Z:1.75 [[ 9.19931792e-01 -3.90833360e-01 -3.12215088e-02 5.82376521e+01] [ 3.90740995e-01 9.20454091e-01 -9.25966700e-03 7.40911422e+00] [ 3.23569522e-02 -3.68126136e-03 9.99469597e-01 1.75026613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.310714057 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:58.29, Y:7.41, Z:1.75 [[ 9.24195850e-01 -3.80677346e-01 -3.07699544e-02 5.82866703e+01] [ 3.80535396e-01 9.24705903e-01 -1.05737958e-02 7.41470630e+00] [ 3.24783630e-02 -1.93679858e-03 9.99470562e-01 1.74591302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.340714057 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:58.32, Y:7.43, Z:1.75 [[ 9.24529017e-01 -3.79829533e-01 -3.12349589e-02 5.83156616e+01] [ 3.79732342e-01 9.25050474e-01 -9.21790425e-03 7.42571988e+00] [ 3.23951458e-02 -3.33870411e-03 9.99469563e-01 1.74895095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.370714056999994 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:58.35, Y:7.44, Z:1.75 [[ 9.23872472e-01 -3.81430782e-01 -3.11482643e-02 5.83462096e+01] [ 3.81326073e-01 9.24392106e-01 -9.46896681e-03 7.43975416e+00] [ 3.24049650e-02 -3.12952751e-03 9.99469922e-01 1.74898206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.400714056999995 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:58.37, Y:7.45, Z:1.75 [[ 9.23475373e-01 -3.82385759e-01 -3.12148510e-02 5.83747625e+01] [ 3.82288048e-01 9.23996644e-01 -9.27635158e-03 7.45229156e+00] [ 3.23895623e-02 -3.36658222e-03 9.99469651e-01 1.74985624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.430714056999996 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:58.40, Y:7.46, Z:1.75 [[ 9.24231717e-01 -3.80557752e-01 -3.11693962e-02 5.84046838e+01] [ 3.80454605e-01 9.24751744e-01 -9.40768214e-03 7.46324187e+00] [ 3.24041198e-02 -3.16366210e-03 9.99469842e-01 1.74974607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.460714057 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:58.43, Y:7.48, Z:1.75 [[ 9.23260267e-01 -3.82910133e-01 -3.11497796e-02 5.84315298e+01] [ 3.82806417e-01 9.23780102e-01 -9.46416846e-03 7.47720779e+00] [ 3.23994725e-02 -3.18644481e-03 9.99469920e-01 1.75201893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.490714057 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:58.46, Y:7.49, Z:1.75 [[ 9.23352587e-01 -3.82690015e-01 -3.11183530e-02 5.84599201e+01] [ 3.82583147e-01 9.23871661e-01 -9.55454611e-03 7.48933196e+00] [ 3.24057939e-02 -3.08314253e-03 9.99470039e-01 1.75277489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.520714057 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:58.49, Y:7.50, Z:1.75 [[ 9.23194871e-01 -3.83075983e-01 -3.10486841e-02 5.84892698e+01] [ 3.82962657e-01 9.23712328e-01 -9.75393893e-03 7.50272634e+00] [ 3.24165520e-02 -2.88570014e-03 9.99470280e-01 1.75461535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.550714057 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:58.51, Y:7.51, Z:1.76 [[ 9.23826857e-01 -3.81548929e-01 -3.10540192e-02 5.85147060e+01] [ 3.81435257e-01 9.24344255e-01 -9.73869328e-03 7.51406616e+00] [ 3.24203923e-02 -2.84823141e-03 9.99470263e-01 1.76144921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.580714056999994 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:58.55, Y:7.53, Z:1.76 [[ 9.23368894e-01 -3.82664790e-01 -3.09442103e-02 5.85468121e+01] [ 3.82541274e-01 9.23883720e-01 -1.00521711e-02 7.52676387e+00] [ 3.24354640e-02 -2.55557553e-03 9.99470565e-01 1.75800266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.610714056999996 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:58.57, Y:7.54, Z:1.76 [[ 9.24401070e-01 -3.80156220e-01 -3.10468973e-02 5.85718803e+01] [ 3.80041093e-01 9.24918122e-01 -9.75891338e-03 7.53864111e+00] [ 3.24257496e-02 -2.77794682e-03 9.99470287e-01 1.76411524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.640714057 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:58.61, Y:7.55, Z:1.76 [[ 9.24108481e-01 -3.80877217e-01 -3.09202464e-02 5.86064906e+01] [ 3.80750450e-01 9.24622455e-01 -1.01198279e-02 7.55115178e+00] [ 3.24439660e-02 -2.42107889e-03 9.99470624e-01 1.75961526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.670714057 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:58.63, Y:7.56, Z:1.76 [[ 9.24133435e-01 -3.80804234e-01 -3.10729644e-02 5.86347757e+01] [ 3.80691949e-01 9.24651202e-01 -9.68476878e-03 7.56365892e+00] [ 3.24196548e-02 -2.87920872e-03 9.99470198e-01 1.76027423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.700714057 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:58.66, Y:7.57, Z:1.77 [[ 9.25221282e-01 -3.78157639e-01 -3.10222429e-02 5.86615315e+01] [ 3.78039057e-01 9.25737470e-01 -9.82890129e-03 7.57328291e+00] [ 3.24353267e-02 -2.63371079e-03 9.99470366e-01 1.76508466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.730714057 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:58.69, Y:7.59, Z:1.76 [[ 9.25322271e-01 -3.77915800e-01 -3.09571014e-02 5.86933567e+01] [ 3.77790916e-01 9.25836782e-01 -1.00138577e-02 7.58627086e+00] [ 3.24456182e-02 -2.42926609e-03 9.99470550e-01 1.76021849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.760714056999994 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:58.72, Y:7.60, Z:1.77 [[ 9.26459027e-01 -3.75111768e-01 -3.10617576e-02 5.87204562e+01] [ 3.74995236e-01 9.26975814e-01 -9.71659171e-03 7.59709123e+00] [ 3.24383059e-02 -2.64598703e-03 9.99470237e-01 1.76522890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.790714056999995 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:58.75, Y:7.61, Z:1.77 [[ 9.26811971e-01 -3.74246946e-01 -3.09644031e-02 5.87500572e+01] [ 3.74120736e-01 9.27326170e-01 -9.99246095e-03 7.60940980e+00] [ 3.24537493e-02 -2.32329286e-03 9.99470538e-01 1.76627383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.820714056999996 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:58.78, Y:7.62, Z:1.76 [[ 9.26314147e-01 -3.75478947e-01 -3.09460931e-02 5.87827589e+01] [ 3.75351696e-01 9.26828041e-01 -1.00442682e-02 7.62318622e+00] [ 3.24531181e-02 -2.31152077e-03 9.99470586e-01 1.76366328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.850714057 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:58.81, Y:7.63, Z:1.77 [[ 9.28884289e-01 -3.69067978e-01 -3.10291201e-02 5.88077626e+01] [ 3.68945000e-01 9.29399467e-01 -9.80909034e-03 7.63389504e+00] [ 3.24586688e-02 -2.33652882e-03 9.99470347e-01 1.76967200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.880714057 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:58.84, Y:7.64, Z:1.77 [[ 9.29766990e-01 -3.66848527e-01 -3.09112012e-02 5.88400432e+01] [ 3.66713255e-01 9.30278736e-01 -1.01421235e-02 7.64485682e+00] [ 3.24766563e-02 -1.90573557e-03 9.99470677e-01 1.77061638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.910714057 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:58.88, Y:7.66, Z:1.77 [[ 9.31643220e-01 -3.62048110e-01 -3.10173562e-02 5.88776838e+01] [ 3.61920140e-01 9.32157142e-01 -9.84247408e-03 7.65634868e+00] [ 3.24764993e-02 -2.05613166e-03 9.99470384e-01 1.76570664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.940714056999994 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:58.90, Y:7.67, Z:1.77 [[ 9.32484906e-01 -3.59853561e-01 -3.12620273e-02 5.89018273e+01] [ 3.59747440e-01 9.33004850e-01 -9.15038962e-03 7.66747763e+00] [ 3.24604234e-02 -2.71383408e-03 9.99469337e-01 1.76879842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.970714056999995 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:58.91, Y:7.69, Z:1.77 [[ 9.28407869e-01 -3.70256254e-01 -3.11309341e-02 5.89095274e+01] [ 3.70143519e-01 9.28925782e-01 -9.52188628e-03 7.68733702e+00] [ 3.24438653e-02 -2.68271934e-03 9.99469959e-01 1.77497321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.000714056999996 meters Centerline goodness : 0.993590 Centerline is valid? [True, True] Translation: X:58.96, Y:7.69, Z:1.77 [[ 9.34251036e-01 -3.55296336e-01 -3.06515103e-02 5.89608455e+01] [ 3.55130656e-01 9.34753435e-01 -1.08734493e-02 7.69096396e+00] [ 3.25149012e-02 -7.26759683e-04 9.99470987e-01 1.77029728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.030714057 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:58.99, Y:7.70, Z:1.77 [[ 9.35299318e-01 -3.52476498e-01 -3.12330493e-02 5.89894452e+01] [ 3.52363751e-01 9.35817648e-01 -9.22583358e-03 7.70102713e+00] [ 3.24803283e-02 -2.37647857e-03 9.99469550e-01 1.77077773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.060714057 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:59.02, Y:7.71, Z:1.77 [[ 9.34969850e-01 -3.53356767e-01 -3.11508455e-02 5.90151897e+01] [ 3.53236759e-01 9.35486146e-01 -9.45852350e-03 7.71354869e+00] [ 3.24834177e-02 -2.16018940e-03 9.99469940e-01 1.77372879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.090714057 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:59.05, Y:7.72, Z:1.77 [[ 9.36032376e-01 -3.50539263e-01 -3.10743751e-02 5.90497560e+01] [ 3.50410541e-01 9.36546242e-01 -9.67415271e-03 7.72322716e+00] [ 3.24937596e-02 -1.83346844e-03 9.99470257e-01 1.77337861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.120714056999994 meters Centerline goodness : 0.992510 Centerline is valid? [True, True] Translation: X:59.07, Y:7.73, Z:1.78 [[ 9.35976844e-01 -3.50674143e-01 -3.12248817e-02 5.90702156e+01] [ 3.50559591e-01 9.36494746e-01 -9.25009977e-03 7.73287716e+00] [ 3.24857084e-02 -2.28830256e-03 9.99469581e-01 1.78147032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.150714056999995 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:59.10, Y:7.74, Z:1.78 [[ 9.36287236e-01 -3.49867672e-01 -3.09648709e-02 5.90996446e+01] [ 3.49728462e-01 9.36797954e-01 -9.97983912e-03 7.74215942e+00] [ 3.24994508e-02 -1.48530068e-03 9.99470650e-01 1.78055306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.180714056999996 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:59.14, Y:7.75, Z:1.77 [[ 9.35740488e-01 -3.51327639e-01 -3.09617528e-02 5.91381646e+01] [ 3.51188935e-01 9.36251334e-01 -9.98860395e-03 7.75244900e+00] [ 3.24972550e-02 -1.52668387e-03 9.99470659e-01 1.77329364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.210714057 meters Centerline goodness : 0.992610 Centerline is valid? [True, True] Translation: X:59.16, Y:7.76, Z:1.78 [[ 9.35435561e-01 -3.52118908e-01 -3.11862993e-02 5.91600176e+01] [ 3.52001539e-01 9.35952633e-01 -9.35864862e-03 7.76156363e+00] [ 3.24842561e-02 -2.22321264e-03 9.99469775e-01 1.78210430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.240714057 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:59.19, Y:7.77, Z:1.77 [[ 9.34203220e-01 -3.55394308e-01 -3.09714122e-02 5.91946146e+01] [ 3.55258781e-01 9.34714930e-01 -9.95980429e-03 7.77056232e+00] [ 3.24890991e-02 -1.69838489e-03 9.99470647e-01 1.77491271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.270714057 meters Centerline goodness : 0.993565 Centerline is valid? [True, True] Translation: X:59.20, Y:7.79, Z:1.78 [[ 9.29717995e-01 -3.66954698e-01 -3.11239289e-02 5.92016773e+01] [ 3.66839751e-01 9.30235305e-01 -9.53279754e-03 7.78732986e+00] [ 3.24506823e-02 -2.55468088e-03 9.99470073e-01 1.78241252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.300714057 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:59.26, Y:7.79, Z:1.78 [[ 9.33934783e-01 -3.56131217e-01 -3.06002849e-02 5.92591196e+01] [ 3.55962133e-01 9.34435745e-01 -1.09908250e-02 7.78753662e+00] [ 3.25081759e-02 -6.27828921e-04 9.99471272e-01 1.77691394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.330714056999994 meters Centerline goodness : 0.993619 Centerline is valid? [True, True] Translation: X:59.26, Y:7.80, Z:1.78 [[ 9.27947005e-01 -3.71394131e-01 -3.13169976e-02 5.92586180e+01] [ 3.71300018e-01 9.28469478e-01 -8.98474708e-03 7.80385755e+00] [ 3.24137588e-02 -3.29063264e-03 9.99469119e-01 1.78392237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.360714056999996 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:59.29, Y:7.81, Z:1.79 [[ 9.26768860e-01 -3.74384725e-01 -3.05869021e-02 5.92906107e+01] [ 3.74224772e-01 9.27272635e-01 -1.10127443e-02 7.81347610e+00] [ 3.24854006e-02 -1.24010800e-03 9.99471441e-01 1.78582991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.390714057 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:59.34, Y:7.81, Z:1.79 [[ 9.31637558e-01 -3.62099042e-01 -3.05899529e-02 5.93412515e+01] [ 3.61932720e-01 9.32139267e-01 -1.10042638e-02 7.81359963e+00] [ 3.24987296e-02 -8.19519374e-04 9.99471441e-01 1.78804431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.420714057 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:59.37, Y:7.82, Z:1.79 [[ 9.31189196e-01 -3.63207035e-01 -3.11019333e-02 5.93682243e+01] [ 3.63088575e-01 9.31705427e-01 -9.57519070e-03 7.82045189e+00] [ 3.24556167e-02 -2.37644253e-03 9.99470352e-01 1.78832448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.450714057 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:59.38, Y:7.84, Z:1.79 [[ 9.24690610e-01 -3.79453053e-01 -3.10267038e-02 5.93773897e+01] [ 3.79336603e-01 9.25206992e-01 -9.78586227e-03 7.84060248e+00] [ 3.24193986e-02 -2.72066949e-03 9.99470650e-01 1.78878796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.480714057 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:59.43, Y:7.84, Z:1.78 [[ 9.27146592e-01 -3.73447312e-01 -3.05990439e-02 5.94290781e+01] [ 3.73287995e-01 9.27650558e-01 -1.09779626e-02 7.84177740e+00] [ 3.24849107e-02 -1.24407511e-03 9.99471452e-01 1.78423342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.510714056999994 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:59.45, Y:7.85, Z:1.79 [[ 9.26189791e-01 -3.75768581e-01 -3.11519699e-02 5.94495518e+01] [ 3.75661992e-01 9.26708777e-01 -9.42928875e-03 7.85042331e+00] [ 3.24120344e-02 -2.96930010e-03 9.99470181e-01 1.79235852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.540714056999995 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:59.48, Y:7.86, Z:1.79 [[ 9.22452425e-01 -3.84874889e-01 -3.08681565e-02 5.94835337e+01] [ 3.84746906e-01 9.22965509e-01 -1.02219000e-02 7.86130001e+00] [ 3.24243964e-02 -2.44721122e-03 9.99471195e-01 1.78777332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.570714056999996 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:59.51, Y:7.87, Z:1.79 [[ 9.22264515e-01 -3.85314811e-01 -3.09945473e-02 5.95111011e+01] [ 3.85198834e-01 9.22780824e-01 -9.86955625e-03 7.87020663e+00] [ 3.24040601e-02 -2.83672200e-03 9.99470825e-01 1.79337910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.600714057 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:59.54, Y:7.88, Z:1.79 [[ 9.19934027e-01 -3.90853565e-01 -3.09010729e-02 5.95434657e+01] [ 3.90731995e-01 9.20448748e-01 -1.01296343e-02 7.88228948e+00] [ 3.24020575e-02 -2.75544263e-03 9.99471117e-01 1.79017480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.630714057 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:59.57, Y:7.89, Z:1.80 [[ 9.20290996e-01 -3.90006500e-01 -3.09743722e-02 5.95690998e+01] [ 3.89891278e-01 9.20807403e-01 -9.92562308e-03 7.88959930e+00] [ 3.23924887e-02 -2.94217599e-03 9.99470895e-01 1.79557594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.660714057 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:59.60, Y:7.90, Z:1.79 [[ 9.18409730e-01 -3.94424497e-01 -3.08688137e-02 5.96031989e+01] [ 3.94301916e-01 9.18924130e-01 -1.02197446e-02 7.90143794e+00] [ 3.23970154e-02 -2.78571950e-03 9.99471197e-01 1.79112308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.690714056999994 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:59.63, Y:7.91, Z:1.79 [[ 9.17044374e-01 -3.97582258e-01 -3.09510006e-02 5.96340221e+01] [ 3.97469068e-01 9.17561167e-01 -9.99219771e-03 7.91255452e+00] [ 3.23721568e-02 -3.13877669e-03 9.99470956e-01 1.79320882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.720714056999995 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:59.66, Y:7.92, Z:1.79 [[ 9.16855442e-01 -3.98013081e-01 -3.10110606e-02 5.96634576e+01] [ 3.97905713e-01 9.17373694e-01 -9.82589879e-03 7.92294023e+00] [ 3.23595675e-02 -3.33054943e-03 9.99470743e-01 1.79323751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.750714056999996 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:59.69, Y:7.93, Z:1.79 [[ 9.16347022e-01 -3.99182178e-01 -3.10116774e-02 5.96934226e+01] [ 3.99075529e-01 9.16865425e-01 -9.82418805e-03 7.93385616e+00] [ 3.23551755e-02 -3.37363611e-03 9.99470741e-01 1.79325887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.780714057 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:59.72, Y:7.94, Z:1.80 [[ 9.16692307e-01 -3.98388898e-01 -3.10080710e-02 5.97172418e+01] [ 3.98281465e-01 9.17210534e-01 -9.83418354e-03 7.94275092e+00] [ 3.23587589e-02 -3.33501952e-03 9.99470754e-01 1.80013203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.810714057 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:59.75, Y:7.95, Z:1.80 [[ 9.15879089e-01 -4.00267928e-01 -3.08395915e-02 5.97471303e+01] [ 4.00145948e-01 9.16393548e-01 -1.02997634e-02 7.95418173e+00] [ 3.23838677e-02 -2.90699967e-03 9.99471277e-01 1.80123722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.840714057 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:59.78, Y:7.97, Z:1.80 [[ 9.13540649e-01 -4.05578503e-01 -3.08149203e-02 5.97818046e+01] [ 4.05457238e-01 9.14055217e-01 -1.03676538e-02 7.96754641e+00] [ 3.23714362e-02 -3.02285932e-03 9.99471336e-01 1.79654954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.870714056999994 meters Centerline goodness : 0.993599 Centerline is valid? [True, True] Translation: X:59.81, Y:7.98, Z:1.80 [[ 9.14670786e-01 -4.03011878e-01 -3.09641496e-02 5.98051530e+01] [ 4.02902960e-01 9.15188547e-01 -9.95630836e-03 7.97620100e+00] [ 3.23505456e-02 -3.36880312e-03 9.99470907e-01 1.80270213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.900714056999995 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:59.84, Y:7.99, Z:1.80 [[ 9.13019395e-01 -4.06752606e-01 -3.07880080e-02 5.98406580e+01] [ 4.06629520e-01 9.13533471e-01 -1.04417727e-02 7.98953911e+00] [ 3.23730941e-02 -2.98577192e-03 9.99471394e-01 1.79724150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.930714056999996 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:59.87, Y:8.00, Z:1.80 [[ 9.12656946e-01 -4.07554836e-01 -3.09249764e-02 5.98706079e+01] [ 4.07444803e-01 9.13174357e-01 -1.00661437e-02 8.00095418e+00] [ 3.23424009e-02 -3.41328493e-03 9.99471019e-01 1.79826268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.960714057 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:59.90, Y:8.01, Z:1.80 [[ 9.12466446e-01 -4.07979424e-01 -3.09479323e-02 5.99000771e+01] [ 4.07871747e-01 9.12984432e-01 -1.00032434e-02 8.01205295e+00] [ 3.23360979e-02 -3.49516321e-03 9.99470940e-01 1.79926011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.990714057 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:59.92, Y:8.02, Z:1.80 [[ 9.13936314e-01 -4.04675849e-01 -3.09495036e-02 5.99228321e+01] [ 4.04566443e-01 9.14453943e-01 -9.99894030e-03 8.02148319e+00] [ 3.23482253e-02 -3.38273598e-03 9.99470935e-01 1.80415452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.020714057 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:59.96, Y:8.03, Z:1.81 [[ 9.14030501e-01 -4.04478883e-01 -3.07421033e-02 5.99556313e+01] [ 4.04350400e-01 9.14543131e-01 -1.05648415e-02 8.03386117e+00] [ 3.23882347e-02 -2.77399443e-03 9.99471514e-01 1.80553156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.050714057 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:59.98, Y:8.05, Z:1.81 [[ 9.14182993e-01 -4.04128213e-01 -3.08195161e-02 5.99822346e+01] [ 4.04006585e-01 9.14697476e-01 -1.03540638e-02 8.04716979e+00] [ 3.23749029e-02 -2.98577842e-03 9.99471336e-01 1.80703688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.080714056999994 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:60.01, Y:8.06, Z:1.81 [[ 9.15062679e-01 -4.02136909e-01 -3.07603643e-02 6.00090616e+01] [ 4.02008776e-01 9.15575435e-01 -1.05150753e-02 8.05875755e+00] [ 3.23919338e-02 -2.74398343e-03 9.99471477e-01 1.80854027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.110714056999996 meters Centerline goodness : 0.993914 Centerline is valid? [True, True] Translation: X:60.04, Y:8.07, Z:1.81 [[ 9.16087813e-01 -3.99801318e-01 -3.06924329e-02 6.00392263e+01] [ 3.99665715e-01 9.16598511e-01 -1.06997963e-02 8.07282373e+00] [ 3.24104310e-02 -2.46476010e-03 9.99471605e-01 1.81041611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.140714057 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:60.07, Y:8.09, Z:1.81 [[ 9.16508005e-01 -3.98833113e-01 -3.07445013e-02 6.00688462e+01] [ 3.98701690e-01 9.17019894e-01 -1.05582651e-02 8.08553146e+00] [ 3.24043050e-02 -2.58115009e-03 9.99471510e-01 1.81160156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.170714057 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:60.10, Y:8.10, Z:1.81 [[ 9.16642752e-01 -3.98524996e-01 -3.07228448e-02 6.00964300e+01] [ 3.98391438e-01 9.17154043e-01 -1.06171075e-02 8.09809402e+00] [ 3.24087641e-02 -2.50762371e-03 9.99471552e-01 1.81214848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.200714057 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:60.13, Y:8.11, Z:1.81 [[ 9.18125426e-01 -3.95102482e-01 -3.06550150e-02 6.01280582e+01] [ 3.94960889e-01 9.18634437e-01 -1.08012298e-02 8.11138036e+00] [ 3.24283452e-02 -2.19064827e-03 9.99471662e-01 1.81361300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.230714057 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:60.16, Y:8.12, Z:1.81 [[ 9.17858405e-01 -3.95718682e-01 -3.07029954e-02 6.01605695e+01] [ 3.95581768e-01 9.18368770e-01 -1.06709054e-02 8.12415490e+00] [ 3.24193488e-02 -2.35116495e-03 9.99471589e-01 1.81032604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.260714056999994 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:60.19, Y:8.14, Z:1.81 [[ 9.18613086e-01 -3.93954274e-01 -3.08225300e-02 6.01878563e+01] [ 3.93827195e-01 9.19126265e-01 -1.03465135e-02 8.13784027e+00] [ 3.24058501e-02 -2.63430782e-03 9.99471321e-01 1.81255220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.290714056999995 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:60.21, Y:8.15, Z:1.82 [[ 9.19783258e-01 -3.91217582e-01 -3.07825045e-02 6.02132185e+01] [ 3.91085360e-01 9.20295027e-01 -1.04549120e-02 8.14892278e+00] [ 3.24191312e-02 -2.42233381e-03 9.99471426e-01 1.81612182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.320714056999996 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:60.24, Y:8.16, Z:1.82 [[ 9.20726559e-01 -3.89000680e-01 -3.06769524e-02 6.02424313e+01] [ 3.88857730e-01 9.21235209e-01 -1.07404212e-02 8.16026642e+00] [ 3.24387197e-02 -2.03997901e-03 9.99471644e-01 1.81837500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.350714057 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:60.27, Y:8.17, Z:1.82 [[ 9.21727861e-01 -3.86621347e-01 -3.06868717e-02 6.02713474e+01] [ 3.86477976e-01 9.22236409e-01 -1.07135426e-02 8.17237281e+00] [ 3.24426346e-02 -1.98482929e-03 9.99471628e-01 1.81683401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.380714057 meters Centerline goodness : 0.992972 Centerline is valid? [True, True] Translation: X:60.30, Y:8.18, Z:1.82 [[ 9.22392804e-01 -3.85033151e-01 -3.06755176e-02 6.03035026e+01] [ 3.84887883e-01 9.22900795e-01 -1.07442949e-02 8.18356161e+00] [ 3.24473693e-02 -1.89617475e-03 9.99471647e-01 1.81861194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.410714057 meters Centerline goodness : 0.992855 Centerline is valid? [True, True] Translation: X:60.33, Y:8.20, Z:1.82 [[ 9.22413746e-01 -3.84980954e-01 -3.07009145e-02 6.03331591e+01] [ 3.84837932e-01 9.22922420e-01 -1.06757584e-02 8.19701673e+00] [ 3.24445259e-02 -1.96741013e-03 9.99471601e-01 1.82032320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.440714056999994 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:60.36, Y:8.21, Z:1.82 [[ 9.22800419e-01 -3.84051015e-01 -3.07279106e-02 6.03627321e+01] [ 3.83909898e-01 9.23309682e-01 -1.06029341e-02 8.20863192e+00] [ 3.24434449e-02 -2.01235701e-03 9.99471547e-01 1.82126134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.470714056999995 meters Centerline goodness : 0.994062 Centerline is valid? [True, True] Translation: X:60.39, Y:8.22, Z:1.82 [[ 9.22254235e-01 -3.85361175e-01 -3.07228027e-02 6.03937504e+01] [ 3.85220324e-01 9.22763560e-01 -1.06167082e-02 8.22180184e+00] [ 3.24411499e-02 -2.04374389e-03 9.99471558e-01 1.81917157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.500714056999996 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:60.43, Y:8.23, Z:1.82 [[ 9.24152597e-01 -3.80781575e-01 -3.07793581e-02 6.04296464e+01] [ 3.80643256e-01 9.24662754e-01 -1.04643781e-02 8.23297202e+00] [ 3.24451684e-02 -2.04527282e-03 9.99471424e-01 1.81696061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.530714057 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:60.45, Y:8.24, Z:1.82 [[ 9.23840831e-01 -3.81521346e-01 -3.09771221e-02 6.04463413e+01] [ 3.81401275e-01 9.24356253e-01 -9.92897528e-03 8.24397139e+00] [ 3.24220125e-02 -2.64192109e-03 9.99470777e-01 1.82384596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.560714057 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:60.48, Y:8.26, Z:1.83 [[ 9.24254605e-01 -3.80547338e-01 -3.06128731e-02 6.04771621e+01] [ 3.80394074e-01 9.24760126e-01 -1.09113880e-02 8.25634827e+00] [ 3.24618640e-02 -1.56005488e-03 9.99471757e-01 1.82739267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.590714057 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:60.52, Y:8.27, Z:1.82 [[ 9.24547047e-01 -3.79835272e-01 -3.06255463e-02 6.05165109e+01] [ 3.79682747e-01 9.25052808e-01 -1.08772707e-02 8.26913672e+00] [ 3.24618187e-02 -1.57144301e-03 9.99471741e-01 1.82439877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.620714056999994 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:60.53, Y:8.28, Z:1.83 [[ 9.21348720e-01 -3.87507449e-01 -3.08952080e-02 6.05278253e+01] [ 3.87383342e-01 9.21862858e-01 -1.01497429e-02 8.28405002e+00] [ 3.24142458e-02 -2.61683634e-03 9.99471095e-01 1.82831791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.650714056999995 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:60.56, Y:8.30, Z:1.83 [[ 9.20904769e-01 -3.88596216e-01 -3.04530528e-02 6.05584898e+01] [ 3.88433273e-01 9.21407106e-01 -1.13374703e-02 8.29545572e+00] [ 3.24653573e-02 -1.38824849e-03 9.99471897e-01 1.82958988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.680714056999996 meters Centerline goodness : 0.993582 Centerline is valid? [True, True] Translation: X:60.59, Y:8.31, Z:1.83 [[ 9.20639570e-01 -3.89223870e-01 -3.04558850e-02 6.05895311e+01] [ 3.89061522e-01 9.21142099e-01 -1.13298571e-02 8.30639949e+00] [ 3.24640487e-02 -1.41849823e-03 9.99471897e-01 1.83051680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.710714057 meters Centerline goodness : 0.992073 Centerline is valid? [True, True] Translation: X:60.62, Y:8.31, Z:1.83 [[ 9.22120248e-01 -3.85702594e-01 -3.04591037e-02 6.06233732e+01] [ 3.85538612e-01 9.22622246e-01 -1.13211973e-02 8.31311185e+00] [ 3.24688619e-02 -1.30365533e-03 9.99471897e-01 1.83440539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.740714057 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:60.66, Y:8.32, Z:1.83 [[ 9.20762169e-01 -3.88928424e-01 -3.05238987e-02 6.06555418e+01] [ 3.88771958e-01 9.21266580e-01 -1.11469241e-02 8.32398366e+00] [ 3.24560034e-02 -1.60316985e-03 9.99471879e-01 1.83430195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.770714057 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:60.68, Y:8.33, Z:1.84 [[ 9.20242602e-01 -3.90151823e-01 -3.05795513e-02 6.06838519e+01] [ 3.90000985e-01 9.20748768e-01 -1.09971779e-02 8.33462474e+00] [ 3.24466532e-02 -1.80598359e-03 9.99471837e-01 1.83644989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.800714057 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:60.72, Y:8.34, Z:1.84 [[ 9.18755966e-01 -3.93644298e-01 -3.05227901e-02 6.07151728e+01] [ 3.93490321e-01 9.19261142e-01 -1.11499195e-02 8.34459507e+00] [ 3.24475171e-02 -1.76636742e-03 9.99471880e-01 1.83791827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.830714056999994 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:60.74, Y:8.35, Z:1.84 [[ 9.18440074e-01 -3.94378062e-01 -3.05577231e-02 6.07448080e+01] [ 3.94227606e-01 9.18946333e-01 -1.10558807e-02 8.35434656e+00] [ 3.24411044e-02 -1.89253413e-03 9.99471857e-01 1.83729710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.860714056999996 meters Centerline goodness : 0.993158 Centerline is valid? [True, True] Translation: X:60.77, Y:8.36, Z:1.84 [[ 9.17927979e-01 -3.95568474e-01 -3.05582679e-02 6.07728631e+01] [ 3.95418722e-01 9.18434447e-01 -1.10544136e-02 8.36444572e+00] [ 3.24385434e-02 -1.93615571e-03 9.99471857e-01 1.83746315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.890714057 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:60.80, Y:8.38, Z:1.84 [[ 9.16868046e-01 -3.98022502e-01 -3.05135149e-02 6.08038566e+01] [ 3.97870111e-01 9.17373696e-01 -1.11747973e-02 8.37546835e+00] [ 3.24401167e-02 -1.89460094e-03 9.99471885e-01 1.83929697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.920714057 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:60.84, Y:8.38, Z:1.84 [[ 9.16133365e-01 -3.99708803e-01 -3.05373601e-02 6.08360360e+01] [ 3.99559474e-01 9.16639941e-01 -1.11106144e-02 8.38466165e+00] [ 3.24327743e-02 -2.02268697e-03 9.99471872e-01 1.84000309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.950714057 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:60.87, Y:8.40, Z:1.84 [[ 9.14390807e-01 -4.03677183e-01 -3.05644371e-02 6.08684139e+01] [ 4.03532476e-01 9.14898743e-01 -1.10376721e-02 8.39575554e+00] [ 3.24190215e-02 -2.24099708e-03 9.99471853e-01 1.84355546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.980714057 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:60.90, Y:8.41, Z:1.85 [[ 9.13826472e-01 -4.04946637e-01 -3.06496376e-02 6.08995376e+01] [ 4.04810283e-01 9.14336819e-01 -1.08081964e-02 8.40711704e+00] [ 3.24008349e-02 -2.53047251e-03 9.99471752e-01 1.84548285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.010714056999994 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:60.93, Y:8.42, Z:1.84 [[ 9.14782592e-01 -4.02781450e-01 -3.06580068e-02 6.09330870e+01] [ 4.02644639e-01 9.15292830e-01 -1.07856480e-02 8.41673562e+00] [ 3.24053128e-02 -2.47775900e-03 9.99471739e-01 1.83995803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.040714056999995 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:60.95, Y:8.43, Z:1.84 [[ 9.11672165e-01 -4.09763354e-01 -3.07872769e-02 6.09490363e+01] [ 4.09642141e-01 9.12186604e-01 -1.04362841e-02 8.42972762e+00] [ 3.23601484e-02 -3.09729628e-03 9.99471474e-01 1.84261036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.070714056999996 meters Centerline goodness : 0.993705 Centerline is valid? [True, True] Translation: X:60.99, Y:8.44, Z:1.84 [[ 9.14134934e-01 -4.04263885e-01 -3.04636337e-02 6.09918556e+01] [ 4.04110514e-01 9.14640266e-01 -1.13082004e-02 8.43690478e+00] [ 3.24347631e-02 -1.97345368e-03 9.99471906e-01 1.84227728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.100714057 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:61.02, Y:8.45, Z:1.84 [[ 9.13189568e-01 -4.06368994e-01 -3.08067045e-02 6.10207781e+01] [ 4.06247687e-01 9.13704018e-01 -1.03819076e-02 8.44738851e+00] [ 3.23670950e-02 -3.03450275e-03 9.99471442e-01 1.84403616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.130714057 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:61.05, Y:8.46, Z:1.85 [[ 9.12240530e-01 -4.08498520e-01 -3.07599556e-02 6.10480954e+01] [ 4.08374190e-01 9.12754131e-01 -1.05079739e-02 8.45832660e+00] [ 3.23687684e-02 -2.97577227e-03 9.99471564e-01 1.84754632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.160714057 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:61.08, Y:8.47, Z:1.85 [[ 9.12082051e-01 -4.08859918e-01 -3.06577786e-02 6.10786631e+01] [ 4.08726580e-01 9.12593175e-01 -1.07833274e-02 8.46950270e+00] [ 3.23869498e-02 -2.69536964e-03 9.99471771e-01 1.84811456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.190714056999994 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:61.11, Y:8.48, Z:1.85 [[ 9.11515938e-01 -4.10119830e-01 -3.06662671e-02 6.11102834e+01] [ 4.09987963e-01 9.12027457e-01 -1.07604514e-02 8.48007060e+00] [ 3.23815521e-02 -2.76447744e-03 9.99471757e-01 1.84929123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.220714056999995 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:61.14, Y:8.49, Z:1.85 [[ 9.11146168e-01 -4.10941132e-01 -3.06601821e-02 6.11409320e+01] [ 4.10809178e-01 9.11657654e-01 -1.07768312e-02 8.49096509e+00] [ 3.23802330e-02 -2.77621576e-03 9.99471767e-01 1.85016618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.250714056999996 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:61.17, Y:8.50, Z:1.85 [[ 9.11221878e-01 -4.10772582e-01 -3.06687978e-02 6.11723776e+01] [ 4.10641309e-01 9.11733554e-01 -1.07536458e-02 8.50139418e+00] [ 3.23790749e-02 -2.79491800e-03 9.99471752e-01 1.84982550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.280714057 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:61.20, Y:8.51, Z:1.85 [[ 9.11543712e-01 -4.10055738e-01 -3.06977642e-02 6.12028285e+01] [ 4.09926670e-01 9.12056005e-01 -1.06756820e-02 8.51105967e+00] [ 3.23757048e-02 -2.85248146e-03 9.99471699e-01 1.84892772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.310714057 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:61.23, Y:8.52, Z:1.85 [[ 9.10813041e-01 -4.11675990e-01 -3.06998891e-02 6.12319128e+01] [ 4.11548024e-01 9.11325614e-01 -1.06699770e-02 8.52253856e+00] [ 3.23701686e-02 -2.91612447e-03 9.99471695e-01 1.85251761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.340714057 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:61.26, Y:8.53, Z:1.85 [[ 9.11232224e-01 -4.10747069e-01 -3.07030671e-02 6.12618208e+01] [ 4.10618866e-01 9.11744745e-01 -1.06614424e-02 8.53264323e+00] [ 3.23725163e-02 -2.89220874e-03 9.99471688e-01 1.85462713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.370714056999994 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:61.29, Y:8.54, Z:1.86 [[ 9.11374446e-01 -4.10432091e-01 -3.06939347e-02 6.12868818e+01] [ 4.10302890e-01 9.11886697e-01 -1.06859589e-02 8.54319830e+00] [ 3.23752512e-02 -2.85490029e-03 9.99471707e-01 1.85612037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.400714056999995 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:61.32, Y:8.56, Z:1.86 [[ 9.10204588e-01 -4.13030029e-01 -3.05581813e-02 6.13208415e+01] [ 4.12890124e-01 9.10713810e-01 -1.10499522e-02 8.55545625e+00] [ 3.23937198e-02 -2.55945410e-03 9.99471909e-01 1.85811880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.430714056999996 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:61.35, Y:8.57, Z:1.86 [[ 9.09510403e-01 -4.14546651e-01 -3.06904017e-02 6.13498306e+01] [ 4.14419465e-01 9.10023145e-01 -1.06949648e-02 8.56535692e+00] [ 3.23625377e-02 -2.99151811e-03 9.99471719e-01 1.85863446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.460714057 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:61.38, Y:8.58, Z:1.86 [[ 9.08751429e-01 -4.16208204e-01 -3.06850339e-02 6.13774751e+01] [ 4.16081473e-01 9.09264273e-01 -1.07093710e-02 8.57604955e+00] [ 3.23581331e-02 -3.03531790e-03 9.99471729e-01 1.85892246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.490714057 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:61.41, Y:8.59, Z:1.86 [[ 9.07592013e-01 -4.18733318e-01 -3.06455082e-02 6.14070883e+01] [ 4.18604458e-01 9.08104253e-01 -1.08154099e-02 8.58740339e+00] [ 3.23580888e-02 -3.01236673e-03 9.99471800e-01 1.86059410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.520714057 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:61.44, Y:8.60, Z:1.86 [[ 9.07086511e-01 -4.19827994e-01 -3.06352384e-02 6.14374403e+01] [ 4.19698829e-01 9.07598657e-01 -1.08429556e-02 8.59870883e+00] [ 3.23566775e-02 -3.02207499e-03 9.99471817e-01 1.86182217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.550714057 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:61.47, Y:8.61, Z:1.86 [[ 9.06342787e-01 -4.21431787e-01 -3.06268037e-02 6.14686957e+01] [ 4.21302771e-01 9.06854958e-01 -1.08655706e-02 8.60973015e+00] [ 3.23531656e-02 -3.05522570e-03 9.99471830e-01 1.86366699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.580714056999994 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:61.50, Y:8.62, Z:1.87 [[ 9.05869373e-01 -4.22448635e-01 -3.06240007e-02 6.14995496e+01] [ 4.22319943e-01 9.06381621e-01 -1.08730661e-02 8.62091324e+00] [ 3.23503433e-02 -3.08354866e-03 9.99471834e-01 1.86595295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.610714056999996 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:61.53, Y:8.63, Z:1.87 [[ 9.05246913e-01 -4.23779205e-01 -3.06465673e-02 6.15288673e+01] [ 4.23653290e-01 9.05759888e-01 -1.08127153e-02 8.63222011e+00] [ 3.23406353e-02 -3.19534191e-03 9.99471797e-01 1.86595587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.640714057 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:61.56, Y:8.64, Z:1.87 [[ 9.05582562e-01 -4.23063988e-01 -3.06118446e-02 6.15597467e+01] [ 4.22934555e-01 9.06094604e-01 -1.09055536e-02 8.64132070e+00] [ 3.23509742e-02 -3.07092764e-03 9.99471852e-01 1.86629169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.670714057 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:61.59, Y:8.65, Z:1.87 [[ 9.05037270e-01 -4.24228352e-01 -3.06242560e-02 6.15904201e+01] [ 4.24100689e-01 9.05549776e-01 -1.08723911e-02 8.65220241e+00] [ 3.23441647e-02 -3.14784892e-03 9.99471834e-01 1.86881325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.700714057 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:61.61, Y:8.67, Z:1.87 [[ 9.03163310e-01 -4.28201668e-01 -3.06490952e-02 6.16109105e+01] [ 4.28078489e-01 9.03676954e-01 -1.08060006e-02 8.66613971e+00] [ 3.23240285e-02 -3.36063512e-03 9.99471792e-01 1.86881805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.730714057 meters Centerline goodness : 0.995882 Centerline is valid? [True, True] Translation: X:61.65, Y:8.67, Z:1.87 [[ 9.05798604e-01 -4.22614715e-01 -3.04251767e-02 6.16529840e+01] [ 4.22468379e-01 9.06305925e-01 -1.14034492e-02 8.67468601e+00] [ 3.23937834e-02 -2.52444673e-03 9.99471996e-01 1.87159027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.760714056999994 meters Centerline goodness : 0.995363 Centerline is valid? [True, True] Translation: X:61.67, Y:8.69, Z:1.87 [[ 9.03931606e-01 -4.26568235e-01 -3.07765009e-02 6.16688914e+01] [ 4.26455632e-01 9.04447953e-01 -1.04639250e-02 8.68734400e+00] [ 3.22993213e-02 -3.66613962e-03 9.99471517e-01 1.87070519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.790714056999995 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:61.71, Y:8.70, Z:1.87 [[ 9.06897941e-01 -4.20250717e-01 -3.04213694e-02 6.17120850e+01] [ 4.20102812e-01 9.07404773e-01 -1.14107616e-02 8.69522000e+00] [ 3.23998766e-02 -2.43170665e-03 9.99472028e-01 1.87008465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.820714056999996 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:61.74, Y:8.71, Z:1.87 [[ 9.07066082e-01 -4.19863912e-01 -3.07476686e-02 6.17429902e+01] [ 4.19744945e-01 9.07580905e-01 -1.05395604e-02 8.70687141e+00] [ 3.23311779e-02 -3.34610065e-03 9.99471610e-01 1.87076349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.850714057 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:61.77, Y:8.72, Z:1.87 [[ 9.06871545e-01 -4.20283054e-01 -3.07596273e-02 6.17733090e+01] [ 4.20165397e-01 9.07386703e-01 -1.05076533e-02 8.71850159e+00] [ 3.23270654e-02 -3.39503930e-03 9.99471578e-01 1.87180545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.880714057 meters Centerline goodness : 0.995139 Centerline is valid? [True, True] Translation: X:61.80, Y:8.73, Z:1.87 [[ 9.07233556e-01 -4.19503183e-01 -3.07303683e-02 6.18016906e+01] [ 4.19382472e-01 9.07747924e-01 -1.05853613e-02 8.73008112e+00] [ 3.23360208e-02 -3.28438280e-03 9.99471658e-01 1.87483946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.910714057 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:61.83, Y:8.74, Z:1.88 [[ 9.08464945e-01 -4.16831636e-01 -3.07055406e-02 6.18255686e+01] [ 4.16707201e-01 9.08978360e-01 -1.06512613e-02 8.74008618e+00] [ 3.23504546e-02 -3.11892234e-03 9.99471721e-01 1.87623245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.940714056999994 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:61.86, Y:8.75, Z:1.88 [[ 9.08857179e-01 -4.15988339e-01 -3.05340953e-02 6.18590750e+01] [ 4.15848233e-01 9.09366218e-01 -1.11053073e-02 8.75259438e+00] [ 3.23863531e-02 -2.60441133e-03 9.99472031e-01 1.87862585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.970714056999995 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:61.89, Y:8.76, Z:1.88 [[ 9.09580948e-01 -4.14393931e-01 -3.06621857e-02 6.18873695e+01] [ 4.14264286e-01 9.10092963e-01 -1.07656410e-02 8.76417251e+00] [ 3.23666557e-02 -2.91002657e-03 9.99471826e-01 1.88070601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.000714056999996 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:61.92, Y:8.78, Z:1.88 [[ 9.10258804e-01 -4.12904107e-01 -3.06448650e-02 6.19166367e+01] [ 4.12772086e-01 9.10770176e-01 -1.08116428e-02 8.77616154e+00] [ 3.23746008e-02 -2.80795179e-03 9.99471861e-01 1.88202192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.030714057 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:61.95, Y:8.79, Z:1.88 [[ 9.11832601e-01 -4.09419208e-01 -3.06140292e-02 6.19481375e+01] [ 4.09282507e-01 9.12342681e-01 -1.08932228e-02 8.78835751e+00] [ 3.23903801e-02 -2.59699094e-03 9.99471920e-01 1.88442579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.060714057 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:61.98, Y:8.80, Z:1.89 [[ 9.12534562e-01 -4.07848690e-01 -3.06613576e-02 6.19760209e+01] [ 4.07715294e-01 9.13045613e-01 -1.07679384e-02 8.79922138e+00] [ 3.23869077e-02 -2.67498844e-03 9.99471827e-01 1.88508686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.090714057 meters Centerline goodness : 0.993769 Centerline is valid? [True, True] Translation: X:62.00, Y:8.81, Z:1.89 [[ 9.14135948e-01 -4.04249592e-01 -3.06224622e-02 6.20042689e+01] [ 4.04110744e-01 9.14645465e-01 -1.08710494e-02 8.80882295e+00] [ 3.24033135e-02 -2.43724895e-03 9.99471903e-01 1.88528559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.120714056999994 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:62.03, Y:8.82, Z:1.89 [[ 9.15398484e-01 -4.01384430e-01 -3.05966560e-02 6.20310324e+01] [ 4.01241708e-01 9.15906884e-01 -1.09394659e-02 8.81952382e+00] [ 3.24146191e-02 -2.26268404e-03 9.99471947e-01 1.88623056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.150714056999995 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:62.07, Y:8.83, Z:1.89 [[ 9.14722843e-01 -4.02930487e-01 -3.04818389e-02 6.20655253e+01] [ 4.02778526e-01 9.15228414e-01 -1.12431606e-02 8.83290387e+00] [ 3.24280572e-02 -1.99305428e-03 9.99472085e-01 1.88726314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.180714056999996 meters Centerline goodness : 0.992898 Centerline is valid? [True, True] Translation: X:62.10, Y:8.84, Z:1.89 [[ 9.16019899e-01 -3.99962338e-01 -3.06214309e-02 6.20982062e+01] [ 3.99821002e-01 9.16528734e-01 -1.08741116e-02 8.84321736e+00] [ 3.24146564e-02 -2.28218859e-03 9.99471901e-01 1.89019391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.210714057 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:62.12, Y:8.85, Z:1.89 [[ 9.17037957e-01 -3.97619678e-01 -3.06590560e-02 6.21238157e+01] [ 3.97480353e-01 9.17547424e-01 -1.07746543e-02 8.85348551e+00] [ 3.24153524e-02 -2.30560546e-03 9.99471825e-01 1.88882394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.240714057 meters Centerline goodness : 0.993361 Centerline is valid? [True, True] Translation: X:62.15, Y:8.86, Z:1.89 [[ 9.17775538e-01 -3.95925596e-01 -3.05120289e-02 6.21537243e+01] [ 3.95772442e-01 9.18280768e-01 -1.11626568e-02 8.86454633e+00] [ 3.24381909e-02 -1.83100680e-03 9.99472066e-01 1.88991806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.270714057 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:62.19, Y:8.88, Z:1.89 [[ 9.17254854e-01 -3.97130808e-01 -3.05066319e-02 6.21883759e+01] [ 3.96977845e-01 9.17760136e-01 -1.11768940e-02 8.87662699e+00] [ 3.24364596e-02 -1.85839671e-03 9.99472072e-01 1.89270841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.300714057 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:62.22, Y:8.89, Z:1.89 [[ 9.17495964e-01 -3.96563300e-01 -3.06382904e-02 6.22183269e+01] [ 3.96421566e-01 9.18004720e-01 -1.08294037e-02 8.88716747e+00] [ 3.24206393e-02 -2.20974484e-03 9.99471870e-01 1.89414494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.330714056999994 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:62.25, Y:8.90, Z:1.89 [[ 9.17928325e-01 -3.95562002e-01 -3.06315641e-02 6.22493165e+01] [ 3.95419123e-01 9.18436746e-01 -1.08471562e-02 8.89645646e+00] [ 3.24238769e-02 -2.15539430e-03 9.99471884e-01 1.89468874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.360714056999996 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:62.28, Y:8.90, Z:1.89 [[ 9.19368940e-01 -3.92198665e-01 -3.06750804e-02 6.22849754e+01] [ 3.92057743e-01 9.19878005e-01 -1.07322718e-02 8.90441652e+00] [ 3.24265145e-02 -2.15948547e-03 9.99471789e-01 1.89170837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.390714057 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:62.32, Y:8.92, Z:1.89 [[ 9.19378094e-01 -3.92163785e-01 -3.08461710e-02 6.23159632e+01] [ 3.92037948e-01 9.19891615e-01 -1.02792641e-02 8.91513883e+00] [ 3.24062892e-02 -2.64233937e-03 9.99471285e-01 1.89242054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.420714057 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:62.35, Y:8.93, Z:1.89 [[ 9.18496879e-01 -3.94226040e-01 -3.08109028e-02 6.23454282e+01] [ 3.94098259e-01 9.19009785e-01 -1.03718939e-02 8.92686125e+00] [ 3.24043919e-02 -2.61597097e-03 9.99471416e-01 1.89417286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.450714057 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:62.38, Y:8.94, Z:1.89 [[ 9.18202371e-01 -3.94909411e-01 -3.08376941e-02 6.23755941e+01] [ 3.94784361e-01 9.18716052e-01 -1.03016573e-02 8.93815269e+00] [ 3.23993060e-02 -2.71523314e-03 9.99471316e-01 1.89469073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.480714057 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:62.40, Y:8.95, Z:1.90 [[ 9.18069998e-01 -3.95218755e-01 -3.08158290e-02 6.24021884e+01] [ 3.95091961e-01 9.18583167e-01 -1.03589518e-02 8.94914378e+00] [ 3.24009538e-02 -2.66484347e-03 9.99471399e-01 1.89548037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.510714056999994 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:62.44, Y:8.96, Z:1.90 [[ 9.18146017e-01 -3.95047385e-01 -3.07482590e-02 6.24351788e+01] [ 3.94914565e-01 9.18657427e-01 -1.05365206e-02 8.95825110e+00] [ 3.24095414e-02 -2.46887095e-03 9.99471624e-01 1.89528847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.540714056999995 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:62.46, Y:8.97, Z:1.90 [[ 9.16355012e-01 -3.99182779e-01 -3.07668813e-02 6.24617032e+01] [ 3.99053889e-01 9.16867491e-01 -1.04879643e-02 8.97027909e+00] [ 3.23957680e-02 -2.66694498e-03 9.99471561e-01 1.89954954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.570714056999996 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:62.49, Y:8.98, Z:1.90 [[ 9.16353985e-01 -3.99191108e-01 -3.06892960e-02 6.24908084e+01] [ 3.99055471e-01 9.16864468e-01 -1.06901076e-02 8.98105559e+00] [ 3.24053210e-02 -2.45080877e-03 9.99471805e-01 1.90090919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.600714057 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:62.52, Y:8.99, Z:1.90 [[ 9.15424063e-01 -4.01320581e-01 -3.06688325e-02 6.25206212e+01] [ 4.01184356e-01 9.15934329e-01 -1.07432872e-02 8.99291267e+00] [ 3.24021388e-02 -2.46919221e-03 9.99471863e-01 1.90409501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.630714057 meters Centerline goodness : 0.994407 Centerline is valid? [True, True] Translation: X:62.55, Y:9.00, Z:1.91 [[ 9.15117957e-01 -4.02016742e-01 -3.06865534e-02 6.25486994e+01] [ 4.01882443e-01 9.15628785e-01 -1.06972392e-02 9.00432713e+00] [ 3.23979609e-02 -2.54315135e-03 9.99471813e-01 1.90703799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.660714057 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:62.57, Y:9.01, Z:1.91 [[ 9.16184863e-01 -3.99581063e-01 -3.06638473e-02 6.25723626e+01] [ 3.99443437e-01 9.16694739e-01 -1.07562161e-02 9.01279217e+00] [ 3.24073678e-02 -2.39379025e-03 9.99471877e-01 1.90616052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.690714056999994 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:62.61, Y:9.03, Z:1.91 [[ 9.14608684e-01 -4.03188762e-01 -3.04922489e-02 6.26076972e+01] [ 4.03038338e-01 9.15114550e-01 -1.12008088e-02 9.02592138e+00] [ 3.24199408e-02 -2.04518834e-03 9.99472243e-01 1.90863264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.720714056999995 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:62.64, Y:9.04, Z:1.91 [[ 9.14062404e-01 -4.04413675e-01 -3.06512879e-02 6.26380148e+01] [ 4.04277651e-01 9.14572676e-01 -1.07889509e-02 9.03691621e+00] [ 3.23960297e-02 -2.52985629e-03 9.99471909e-01 1.91047241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.750714056999996 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:62.66, Y:9.05, Z:1.91 [[ 9.14727190e-01 -4.02908339e-01 -3.06437215e-02 6.26607411e+01] [ 4.02770822e-01 9.15237041e-01 -1.08085343e-02 9.04558584e+00] [ 3.24011176e-02 -2.45553671e-03 9.99471930e-01 1.91003961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.780714057 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:62.70, Y:9.06, Z:1.91 [[ 9.12896884e-01 -4.07053365e-01 -3.04439846e-02 6.26961118e+01] [ 4.06900950e-01 9.13402080e-01 -1.13250845e-02 9.05887413e+00] [ 3.24175126e-02 -2.04905187e-03 9.99472314e-01 1.91291446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.810714057 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:62.73, Y:9.07, Z:1.91 [[ 9.13054608e-01 -4.06686027e-01 -3.06228439e-02 6.27331599e+01] [ 4.06548842e-01 9.13564482e-01 -1.08617013e-02 9.06907732e+00] [ 3.23932446e-02 -2.53235535e-03 9.99471993e-01 1.90823749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.840714057 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:62.76, Y:9.08, Z:1.91 [[ 9.12843136e-01 -4.07151518e-01 -3.07416592e-02 6.27604607e+01] [ 4.07024828e-01 9.13356100e-01 -1.05557829e-02 9.07934272e+00] [ 3.23758850e-02 -2.87684456e-03 9.99471623e-01 1.91167195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.870714056999994 meters Centerline goodness : 0.994803 Centerline is valid? [True, True] Translation: X:62.79, Y:9.09, Z:1.92 [[ 9.09291671e-01 -4.15028009e-01 -3.06660715e-02 6.27867746e+01] [ 4.14899239e-01 9.09803857e-01 -1.07500339e-02 9.09276466e+00] [ 3.23616753e-02 -2.94841345e-03 9.99471875e-01 1.91782689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.900714056999995 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:62.82, Y:9.10, Z:1.91 [[ 9.08782414e-01 -4.16147211e-01 -3.05944858e-02 6.28224247e+01] [ 4.16012910e-01 9.09292972e-01 -1.09339108e-02 9.10197179e+00] [ 3.23694674e-02 -2.79115521e-03 9.99472074e-01 1.91252061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.930714056999996 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:62.84, Y:9.11, Z:1.92 [[ 9.07429643e-01 -4.19079536e-01 -3.07211021e-02 6.28418989e+01] [ 4.18957785e-01 9.07943732e-01 -1.06091503e-02 9.11301652e+00] [ 3.23391098e-02 -3.24378745e-03 9.99471690e-01 1.91923273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.960714057 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:62.88, Y:9.13, Z:1.92 [[ 9.05271997e-01 -4.23741359e-01 -3.04281379e-02 6.28757053e+01] [ 4.23597126e-01 9.05779479e-01 -1.13582680e-02 9.12530559e+00] [ 3.23741508e-02 -2.60694984e-03 9.99472420e-01 1.91859107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.990714057 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:62.91, Y:9.14, Z:1.92 [[ 9.04524641e-01 -4.25324898e-01 -3.05598659e-02 6.29061767e+01] [ 4.25192847e-01 9.05035679e-01 -1.10210100e-02 9.13720054e+00] [ 3.23452789e-02 -3.02506129e-03 9.99472177e-01 1.91972314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.020714057 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:62.94, Y:9.15, Z:1.92 [[ 9.03532635e-01 -4.27428796e-01 -3.05516348e-02 6.29377890e+01] [ 4.27297230e-01 9.04043777e-01 -1.10420079e-02 9.14961894e+00] [ 3.23396875e-02 -3.07781447e-03 9.99472197e-01 1.92042410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.050714057 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:62.97, Y:9.16, Z:1.92 [[ 9.03482492e-01 -4.27530555e-01 -3.06106378e-02 6.29668206e+01] [ 4.27404103e-01 9.03995082e-01 -1.08914900e-02 9.16067556e+00] [ 3.23283108e-02 -3.24284164e-03 9.99472043e-01 1.92059152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.080714056999994 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:63.00, Y:9.17, Z:1.92 [[ 9.02785718e-01 -4.28999852e-01 -3.06116643e-02 6.29961181e+01] [ 4.28874322e-01 9.03298538e-01 -1.08888640e-02 9.17168758e+00] [ 3.23227927e-02 -3.29824591e-03 9.99472040e-01 1.92092229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.110714056999996 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:63.03, Y:9.18, Z:1.92 [[ 9.02261006e-01 -4.30105113e-01 -3.05723381e-02 6.30275162e+01] [ 4.29976848e-01 9.02773036e-01 -1.09888648e-02 9.18344870e+00] [ 3.23262495e-02 -3.23057333e-03 9.99472149e-01 1.92113148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.140714057 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:63.06, Y:9.20, Z:1.92 [[ 9.01364616e-01 -4.31975098e-01 -3.06487199e-02 6.30565626e+01] [ 4.31854430e-01 9.01878719e-01 -1.07947845e-02 9.19553587e+00] [ 3.23045064e-02 -3.50574864e-03 9.99471925e-01 1.92286143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.170714057 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:63.07, Y:9.21, Z:1.93 [[ 8.97448242e-01 -4.40056280e-01 -3.06124870e-02 6.30683621e+01] [ 4.39937130e-01 8.97962583e-01 -1.08867398e-02 9.21282076e+00] [ 3.22796461e-02 -3.69728419e-03 9.99472038e-01 1.92712748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.200714057 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:63.11, Y:9.22, Z:1.92 [[ 9.01108820e-01 -4.32540311e-01 -3.01956046e-02 6.31136032e+01] [ 4.32381550e-01 9.01611673e-01 -1.19409824e-02 9.21992962e+00] [ 3.23896659e-02 -2.29589773e-03 9.99472680e-01 1.92395116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.230714057 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:63.14, Y:9.23, Z:1.92 [[ 9.01091006e-01 -4.32545840e-01 -3.06446550e-02 6.31437144e+01] [ 4.32425247e-01 9.01605080e-01 -1.08020502e-02 9.23191166e+00] [ 3.23017585e-02 -3.51789226e-03 9.99471971e-01 1.92293026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.260714056999994 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:63.15, Y:9.25, Z:1.93 [[ 8.97015661e-01 -4.40934644e-01 -3.06519652e-02 6.31541190e+01] [ 4.40819480e-01 8.97531003e-01 -1.07835240e-02 9.24888827e+00] [ 3.22659183e-02 -3.83899345e-03 9.99471947e-01 1.92765117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.290714056999995 meters Centerline goodness : 0.995467 Centerline is valid? [True, True] Translation: X:63.18, Y:9.26, Z:1.93 [[ 8.97279847e-01 -4.40429020e-01 -3.01853449e-02 6.31831548e+01] [ 4.40273996e-01 8.97783793e-01 -1.19611636e-02 9.26203053e+00] [ 3.23679570e-02 -2.55731143e-03 9.99472749e-01 1.93116574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.320714056999996 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:63.21, Y:9.28, Z:1.93 [[ 8.97462729e-01 -4.40056039e-01 -3.01882942e-02 6.32136956e+01] [ 4.39901055e-01 8.97966687e-01 -1.19537153e-02 9.27520374e+00] [ 3.23683871e-02 -2.55184850e-03 9.99472749e-01 1.93301711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.350714057 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:63.24, Y:9.29, Z:1.93 [[ 8.97951996e-01 -4.39056574e-01 -3.01916874e-02 6.32435045e+01] [ 4.38901315e-01 8.98455869e-01 -1.19451389e-02 9.28786373e+00] [ 3.23704905e-02 -2.52500995e-03 9.99472749e-01 1.93440769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.380714057 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:63.27, Y:9.30, Z:1.94 [[ 8.98765526e-01 -4.37388616e-01 -3.01948392e-02 6.32737325e+01] [ 4.37232688e-01 8.99269193e-01 -1.19371663e-02 9.30229772e+00] [ 3.23744694e-02 -2.47345714e-03 9.99472749e-01 1.93542674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.410714057 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:63.30, Y:9.32, Z:1.94 [[ 8.99065008e-01 -4.36772461e-01 -3.01981566e-02 6.33043009e+01] [ 4.36616468e-01 8.99568654e-01 -1.19287682e-02 9.31564607e+00] [ 3.23754726e-02 -2.46027444e-03 9.99472749e-01 1.93662676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.440714056999994 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:63.33, Y:9.33, Z:1.94 [[ 8.99272542e-01 -4.36344774e-01 -3.02015519e-02 6.33345717e+01] [ 4.36188829e-01 8.99776203e-01 -1.19201657e-02 9.32892200e+00] [ 3.23759397e-02 -2.45410188e-03 9.99472749e-01 1.93662471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.470714056999995 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:63.36, Y:9.34, Z:1.94 [[ 8.99610614e-01 -4.35647113e-01 -3.02049112e-02 6.33627639e+01] [ 4.35491061e-01 9.00114242e-01 -1.19116475e-02 9.34087991e+00] [ 3.23771456e-02 -2.43812430e-03 9.99472749e-01 1.93688506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.500714056999996 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:63.39, Y:9.35, Z:1.94 [[ 8.98864948e-01 -4.37188073e-01 -3.01395814e-02 6.33948551e+01] [ 4.37027360e-01 8.99367125e-01 -1.20773080e-02 9.35361740e+00] [ 3.23866037e-02 -2.31595289e-03 9.99472733e-01 1.93741861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.530714057 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:63.42, Y:9.37, Z:1.94 [[ 8.97982894e-01 -4.38992167e-01 -3.02092806e-02 6.34239010e+01] [ 4.38838366e-01 8.98487212e-01 -1.19003771e-02 9.36612888e+00] [ 3.23668247e-02 -2.57065632e-03 9.99472751e-01 1.93717526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.560714057 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:63.45, Y:9.38, Z:1.94 [[ 8.97236915e-01 -4.40514692e-01 -3.02113502e-02 6.34541456e+01] [ 4.40361922e-01 8.97741546e-01 -1.18951207e-02 9.37925814e+00] [ 3.23619597e-02 -2.63118685e-03 9.99472751e-01 1.93844937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.590714057 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:63.48, Y:9.39, Z:1.94 [[ 8.96800276e-01 -4.41402697e-01 -3.02146255e-02 6.34835737e+01] [ 4.41250706e-01 8.97305142e-01 -1.18867953e-02 9.39208024e+00] [ 3.23586024e-02 -2.67214350e-03 9.99472751e-01 1.93938418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.620714056999994 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:63.53, Y:9.40, Z:1.94 [[ 9.00487274e-01 -4.33831259e-01 -3.02176739e-02 6.35305829e+01] [ 4.33675278e-01 9.00990922e-01 -1.18790411e-02 9.39905171e+00] [ 3.23793492e-02 -2.40773282e-03 9.99472751e-01 1.93668886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.650714056999995 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:63.56, Y:9.41, Z:1.94 [[ 9.00259029e-01 -4.34267753e-01 -3.07440965e-02 6.35607624e+01] [ 4.34157101e-01 9.00775555e-01 -1.05362114e-02 9.41127534e+00] [ 3.22690675e-02 -3.86244834e-03 9.99471755e-01 1.93673213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.680714056999996 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:63.58, Y:9.43, Z:1.94 [[ 8.97763663e-01 -4.39401431e-01 -3.07699149e-02 6.35814303e+01] [ 4.39295959e-01 8.98281376e-01 -1.04703908e-02 9.42588367e+00] [ 3.22407462e-02 -4.11716286e-03 9.99471652e-01 1.93952475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.710714057 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:63.61, Y:9.44, Z:1.95 [[ 8.98030050e-01 -4.38869165e-01 -3.05922542e-02 6.36058954e+01] [ 4.38748074e-01 8.98543713e-01 -1.09234823e-02 9.43849104e+00] [ 3.22824573e-02 -3.61267726e-03 9.99472257e-01 1.94652370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.740714057 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:63.64, Y:9.45, Z:1.94 [[ 8.95897030e-01 -4.43215603e-01 -3.04703315e-02 6.36374740e+01] [ 4.43086541e-01 8.96408455e-01 -1.12338069e-02 9.45322758e+00] [ 3.22928612e-02 -3.43665953e-03 9.99472541e-01 1.94343438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.770714057 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:63.67, Y:9.46, Z:1.94 [[ 8.95766107e-01 -4.43473445e-01 -3.05677343e-02 6.36667795e+01] [ 4.43352889e-01 8.96279827e-01 -1.09857943e-02 9.46492806e+00] [ 3.22691516e-02 -3.71159114e-03 9.99472324e-01 1.94435381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.800714057 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:63.70, Y:9.48, Z:1.95 [[ 8.95400140e-01 -4.44213698e-01 -3.05414556e-02 6.36980480e+01] [ 4.44091316e-01 8.95913358e-01 -1.10524823e-02 9.47787110e+00] [ 3.22721621e-02 -3.66680104e-03 9.99472392e-01 1.94559174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.830714056999994 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:63.73, Y:9.49, Z:1.95 [[ 8.94829243e-01 -4.45358521e-01 -3.06008938e-02 6.37251682e+01] [ 4.45241887e-01 8.95343964e-01 -1.09017490e-02 9.49136353e+00] [ 3.22535124e-02 -3.86959587e-03 9.99472229e-01 1.94615073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.860714056999996 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:63.75, Y:9.50, Z:1.95 [[ 8.94575555e-01 -4.45869940e-01 -3.05707813e-02 6.37547852e+01] [ 4.45751022e-01 8.95089666e-01 -1.09780460e-02 9.50467461e+00] [ 3.22583711e-02 -3.80626536e-03 9.99472316e-01 1.94690577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.890714057 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:63.79, Y:9.52, Z:1.95 [[ 8.94129084e-01 -4.46766862e-01 -3.05377160e-02 6.37858581e+01] [ 4.46645642e-01 8.94642562e-01 -1.10614637e-02 9.51842992e+00] [ 3.22622359e-02 -3.74916134e-03 9.99472407e-01 1.94655110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.920714057 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:63.81, Y:9.53, Z:1.95 [[ 8.94369466e-01 -4.46280745e-01 -3.06064596e-02 6.38128407e+01] [ 4.46165111e-01 8.94884433e-01 -1.08879017e-02 9.53024265e+00] [ 3.22483051e-02 -3.91772763e-03 9.99472210e-01 1.94685709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.950714057 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:63.84, Y:9.54, Z:1.95 [[ 8.94007756e-01 -4.47008191e-01 -3.05582873e-02 6.38426588e+01] [ 4.46888858e-01 8.94521735e-01 -1.10096952e-02 9.54348722e+00] [ 3.22564761e-02 -3.81340523e-03 9.99472350e-01 1.94786997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.980714057 meters Centerline goodness : 0.994009 Centerline is valid? [True, True] Translation: X:63.87, Y:9.55, Z:1.96 [[ 8.95123531e-01 -4.44768875e-01 -3.05697928e-02 6.38656757e+01] [ 4.44649238e-01 8.95637472e-01 -1.09806134e-02 9.55498251e+00] [ 3.22632870e-02 -3.76382969e-03 9.99472318e-01 1.95534743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.010714057 meters Centerline goodness : 0.994785 Centerline is valid? [True, True] Translation: X:63.90, Y:9.57, Z:1.95 [[ 8.93957291e-01 -4.47120346e-01 -3.03933917e-02 6.38971118e+01] [ 4.46987035e-01 8.94467458e-01 -1.14261771e-02 9.56901686e+00] [ 3.22947760e-02 -3.37093776e-03 9.99472703e-01 1.95030083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.040714057 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:63.91, Y:9.59, Z:1.95 [[ 8.92038168e-01 -4.50930165e-01 -3.04941311e-02 6.39144317e+01] [ 4.50807631e-01 8.92551222e-01 -1.11712339e-02 9.58517312e+00] [ 3.22550204e-02 -3.78181999e-03 9.99472517e-01 1.95320909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.070714057 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:63.94, Y:9.60, Z:1.95 [[ 8.92000963e-01 -4.51024625e-01 -3.01839183e-02 6.39441823e+01] [ 4.50875792e-01 8.92506644e-01 -1.19545204e-02 9.59778175e+00] [ 3.23311307e-02 -2.94575434e-03 9.99472871e-01 1.95391662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.100714057 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:63.97, Y:9.61, Z:1.95 [[ 8.92042158e-01 -4.50943002e-01 -3.01860482e-02 6.39738233e+01] [ 4.50794302e-01 8.92547878e-01 -1.19491398e-02 9.60973334e+00] [ 3.23308742e-02 -2.94856211e-03 9.99472871e-01 1.95436549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.130714057 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:64.01, Y:9.62, Z:1.95 [[ 8.93785138e-01 -4.47478198e-01 -3.01892295e-02 6.40137655e+01] [ 4.47327807e-01 8.94290357e-01 -1.19410967e-02 9.61922758e+00] [ 3.23413173e-02 -2.83170704e-03 9.99472871e-01 1.95296194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.160714057 meters Centerline goodness : 0.995407 Centerline is valid? [True, True] Translation: X:64.04, Y:9.63, Z:1.95 [[ 8.93568318e-01 -4.47892174e-01 -3.04673797e-02 6.40433329e+01] [ 4.47765646e-01 8.94080330e-01 -1.12378331e-02 9.63192259e+00] [ 3.22736224e-02 -3.60047437e-03 9.99472586e-01 1.95381330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19071405700001 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:64.08, Y:9.64, Z:1.95 [[ 8.94258005e-01 -4.46515420e-01 -3.04401251e-02 6.40751923e+01] [ 4.46385783e-01 8.94769183e-01 -1.13067030e-02 9.64432302e+00] [ 3.22855031e-02 -3.47692943e-03 9.99472640e-01 1.95328896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22071405700001 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:64.11, Y:9.66, Z:1.95 [[ 8.94139432e-01 -4.46751711e-01 -3.04562742e-02 6.41050962e+01] [ 4.46623578e-01 8.94651024e-01 -1.12660837e-02 9.65656076e+00] [ 3.22808791e-02 -3.52904047e-03 9.99472606e-01 1.95458862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25071405700001 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:64.14, Y:9.67, Z:1.95 [[ 8.96461832e-01 -4.42069834e-01 -3.05031966e-02 6.41392097e+01] [ 4.41943005e-01 8.96973858e-01 -1.11479777e-02 9.66758526e+00] [ 3.22887547e-02 -3.48693784e-03 9.99472500e-01 1.95382426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.280714057 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:64.16, Y:9.68, Z:1.96 [[ 8.96361091e-01 -4.42265116e-01 -3.06326960e-02 6.41648393e+01] [ 4.42149381e-01 8.96876132e-01 -1.08225930e-02 9.68089899e+00] [ 3.22601892e-02 -3.84327631e-03 9.99472115e-01 1.96397753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.310714057 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:64.19, Y:9.69, Z:1.96 [[ 8.94676131e-01 -4.45669566e-01 -3.05492876e-02 6.41860432e+01] [ 4.45548721e-01 8.95189723e-01 -1.10316536e-02 9.69431530e+00] [ 3.22638806e-02 -3.74143889e-03 9.99472383e-01 1.96323976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.340714057 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:64.21, Y:9.71, Z:1.96 [[ 8.92844547e-01 -4.49343387e-01 -3.03172427e-02 6.42066973e+01] [ 4.49205095e-01 8.93353206e-01 -1.16117586e-02 9.71137468e+00] [ 3.23016729e-02 -3.25116453e-03 9.99472877e-01 1.96190559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.370714057 meters Centerline goodness : 0.995957 Centerline is valid? [True, True] Translation: X:64.25, Y:9.72, Z:1.96 [[ 8.96089200e-01 -4.42851283e-01 -3.01145506e-02 6.42518568e+01] [ 4.42692369e-01 8.96591672e-01 -1.21177747e-02 9.72063212e+00] [ 3.23668274e-02 -2.47287474e-03 9.99472998e-01 1.95933510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.400714057 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:64.29, Y:9.73, Z:1.97 [[ 8.99164372e-01 -4.36547365e-01 -3.04931082e-02 6.42871053e+01] [ 4.36416440e-01 8.99675376e-01 -1.11763033e-02 9.73162383e+00] [ 3.23128843e-02 -3.25835997e-03 9.99472491e-01 1.96788184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.430714057 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:64.31, Y:9.75, Z:1.96 [[ 8.96787599e-01 -4.41394130e-01 -3.07119411e-02 6.43077206e+01] [ 4.41284780e-01 8.97304286e-01 -1.06188842e-02 9.74528440e+00] [ 3.22450696e-02 -4.02982852e-03 9.99471869e-01 1.96499962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.460714057 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:64.34, Y:9.76, Z:1.97 [[ 8.98153752e-01 -4.38639422e-01 -3.02538333e-02 6.43353138e+01] [ 4.38489407e-01 8.98659139e-01 -1.17809755e-02 9.75691394e+00] [ 3.23554841e-02 -2.68485805e-03 9.99472818e-01 1.96705305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.490714057 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:64.39, Y:9.77, Z:1.96 [[ 9.03966805e-01 -4.26534605e-01 -3.02034148e-02 6.43871402e+01] [ 4.26373560e-01 9.04468776e-01 -1.19088487e-02 9.76553712e+00] [ 3.23975816e-02 -2.11273359e-03 9.99472828e-01 1.96137445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.520714057 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:64.39, Y:9.78, Z:1.97 [[ 8.99377748e-01 -4.36078793e-01 -3.09023133e-02 6.43889139e+01] [ 4.35982962e-01 8.99897913e-01 -1.01293547e-02 9.78103823e+00] [ 3.22261240e-02 -4.36276584e-03 9.99471082e-01 1.96813306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55071405700001 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:64.42, Y:9.79, Z:1.97 [[ 8.99977453e-01 -4.34889897e-01 -3.01887547e-02 6.44193148e+01] [ 4.34732642e-01 9.00480481e-01 -1.19344946e-02 9.79474098e+00] [ 3.23745755e-02 -2.38326107e-03 9.99472965e-01 1.96978385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58071405700001 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:64.47, Y:9.80, Z:1.96 [[ 9.04782461e-01 -4.24802469e-01 -3.01920705e-02 6.44737742e+01] [ 4.24639880e-01 9.05283790e-01 -1.19261002e-02 9.80182285e+00] [ 3.23986288e-02 -2.03023095e-03 9.99472965e-01 1.96284108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61071405700001 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:64.47, Y:9.82, Z:1.97 [[ 8.99596534e-01 -4.35626881e-01 -3.09078812e-02 6.44747051e+01] [ 4.35531590e-01 9.00116724e-01 -1.01052663e-02 9.81702388e+00] [ 3.22228264e-02 -4.37069613e-03 9.99471153e-01 1.97020318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64071405700001 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:64.52, Y:9.82, Z:1.97 [[ 9.02922464e-01 -4.28742551e-01 -3.01802921e-02 6.45208744e+01] [ 4.28581545e-01 9.03424154e-01 -1.19439328e-02 9.82425982e+00] [ 3.23864771e-02 -2.15027100e-03 9.99473107e-01 1.96698916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.670714057 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:64.54, Y:9.83, Z:1.97 [[ 9.02773362e-01 -4.29023000e-01 -3.06516261e-02 6.45429375e+01] [ 4.28902110e-01 9.03287008e-01 -1.07499098e-02 9.83370043e+00] [ 3.22991742e-02 -3.44181488e-03 9.99472319e-01 1.96859706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.700714057 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:64.57, Y:9.85, Z:1.97 [[ 9.00661566e-01 -4.33456962e-01 -3.03941576e-02 6.45731410e+01] [ 4.33316752e-01 9.01169593e-01 -1.13998784e-02 9.84656627e+00] [ 3.23316473e-02 -2.90286535e-03 9.99472980e-01 1.97128915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.730714057 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:64.60, Y:9.86, Z:1.98 [[ 9.00970317e-01 -4.32810343e-01 -3.04580911e-02 6.45966803e+01] [ 4.32675181e-01 9.01479831e-01 -1.12383934e-02 9.85590720e+00] [ 3.23214477e-02 -3.05300123e-03 9.99472863e-01 1.97624601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.760714057 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:64.63, Y:9.87, Z:1.97 [[ 9.00123944e-01 -4.34580627e-01 -3.02748067e-02 6.46307392e+01] [ 4.34430981e-01 9.00629121e-01 -1.17008091e-02 9.86811424e+00] [ 3.23513175e-02 -2.62013559e-03 9.99473125e-01 1.97353119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.790714057 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:64.66, Y:9.88, Z:1.97 [[ 8.99407114e-01 -4.36052644e-01 -3.04127591e-02 6.46611690e+01] [ 4.35915456e-01 8.99916004e-01 -1.13534776e-02 9.87941714e+00] [ 3.23196426e-02 -3.04599327e-03 9.99472942e-01 1.97465793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.820714057 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:64.69, Y:9.89, Z:1.97 [[ 8.99207790e-01 -4.36462415e-01 -3.04287948e-02 6.46921616e+01] [ 4.36326814e-01 8.99717136e-01 -1.13130966e-02 9.88866218e+00] [ 3.23150495e-02 -3.10407448e-03 9.99472912e-01 1.97430420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.850714057 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:64.72, Y:9.90, Z:1.97 [[ 8.98260565e-01 -4.38406278e-01 -3.04613446e-02 6.47231367e+01] [ 4.38274539e-01 8.98770991e-01 -1.12309530e-02 9.89789031e+00] [ 3.23014932e-02 -3.26210963e-03 9.99472847e-01 1.97482804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.880714057 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:64.75, Y:9.91, Z:1.98 [[ 8.97769240e-01 -4.39413304e-01 -3.04358313e-02 6.47544370e+01] [ 4.39279976e-01 8.98279199e-01 -1.12952788e-02 9.90866973e+00] [ 3.23031700e-02 -3.22929741e-03 9.99472900e-01 1.97521876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.910714057 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:64.78, Y:9.92, Z:1.98 [[ 8.98524145e-01 -4.37866375e-01 -3.04532262e-02 6.47809325e+01] [ 4.37733640e-01 8.99034296e-01 -1.12514769e-02 9.91749449e+00] [ 3.23051382e-02 -3.22067788e-03 9.99472864e-01 1.98054496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94071405700001 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:64.82, Y:9.93, Z:1.98 [[ 8.97134319e-01 -4.40715281e-01 -3.03324127e-02 6.48157883e+01] [ 4.40573957e-01 8.97641944e-01 -1.15554744e-02 9.92891067e+00] [ 3.23203200e-02 -2.99685841e-03 9.99473069e-01 1.97642279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97071405700001 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:64.83, Y:9.94, Z:1.99 [[ 8.91590137e-01 -4.51817794e-01 -3.04583161e-02 6.48276311e+01] [ 4.51693418e-01 8.92102416e-01 -1.12399244e-02 9.94284983e+00] [ 3.22503353e-02 -3.73641517e-03 9.99472839e-01 1.98580651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00071405700001 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:64.87, Y:9.94, Z:1.98 [[ 8.94802751e-01 -4.45453860e-01 -2.99815974e-02 6.48706292e+01] [ 4.45285978e-01 8.95302125e-01 -1.24299151e-02 9.94376204e+00] [ 3.23795415e-02 -2.22806270e-03 9.99473162e-01 1.98256772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.030714057 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:64.89, Y:9.96, Z:1.98 [[ 8.90205503e-01 -4.54550777e-01 -3.02944526e-02 6.48928380e+01] [ 4.54414287e-01 8.90714340e-01 -1.16455843e-02 9.95843881e+00] [ 3.22772128e-02 -3.39926882e-03 9.99473174e-01 1.98442191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.060714057 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:64.94, Y:9.96, Z:1.98 [[ 8.93541203e-01 -4.47968472e-01 -3.01391311e-02 6.49405674e+01] [ 4.47815193e-01 8.94045145e-01 -1.20345757e-02 9.96206730e+00] [ 3.23368544e-02 -2.74337154e-03 9.99473262e-01 1.97979837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.090714057 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:64.95, Y:9.97, Z:1.98 [[ 8.88061958e-01 -4.58704369e-01 -3.05983609e-02 6.49536875e+01] [ 4.58596124e-01 8.88578195e-01 -1.08805954e-02 9.97386371e+00] [ 3.21800129e-02 -4.36964688e-03 9.99472537e-01 1.98419224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.120714057 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:64.99, Y:9.98, Z:1.99 [[ 8.87650313e-01 -4.59531034e-01 -3.01355535e-02 6.49850308e+01] [ 4.59384152e-01 8.88156101e-01 -1.20391322e-02 9.98386747e+00] [ 3.22974306e-02 -3.15725624e-03 9.99473315e-01 1.98513778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.150714057 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:65.02, Y:9.99, Z:1.99 [[ 8.86787679e-01 -4.61193292e-01 -3.01390054e-02 6.50184582e+01] [ 4.61047648e-01 8.87293826e-01 -1.20304844e-02 9.99049205e+00] [ 3.22905321e-02 -3.22703223e-03 9.99473315e-01 1.98581331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.180714057 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:65.07, Y:9.99, Z:1.98 [[ 8.91155243e-01 -4.52696107e-01 -3.01424475e-02 6.50690178e+01] [ 4.52545921e-01 8.91660061e-01 -1.20218540e-02 9.99219852e+00] [ 3.23190631e-02 -2.92750350e-03 9.99473315e-01 1.98052524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.210714057 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:65.10, Y:10.00, Z:1.98 [[ 8.90245320e-01 -4.54445058e-01 -3.07076452e-02 6.50966266e+01] [ 4.54343885e-01 8.90763321e-01 -1.05990455e-02 1.00003483e+01] [ 3.21699279e-02 -4.51608015e-03 9.99472211e-01 1.98115625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.240714057 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:65.13, Y:10.01, Z:1.98 [[ 8.89766553e-01 -4.55389839e-01 -3.05871762e-02 6.51279864e+01] [ 4.55278947e-01 8.90282110e-01 -1.09015559e-02 1.00063096e+01] [ 3.21956736e-02 -4.22585759e-03 9.99472651e-01 1.98263792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.270714057 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:65.15, Y:10.01, Z:1.99 [[ 8.91273378e-01 -4.52433080e-01 -3.05953268e-02 6.51496857e+01] [ 4.52321169e-01 8.91788743e-01 -1.08810976e-02 1.00131407e+01] [ 3.22075365e-02 -4.14088139e-03 9.99472625e-01 1.98696985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30071405700001 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:65.18, Y:10.02, Z:1.99 [[ 8.92336989e-01 -4.50348653e-01 -3.03444886e-02 6.51801470e+01] [ 4.50214332e-01 8.92846342e-01 -1.15093678e-02 1.00202763e+01] [ 3.22761939e-02 -3.39128908e-03 9.99473234e-01 1.98872703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33071405700001 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:65.22, Y:10.03, Z:1.99 [[ 8.91077283e-01 -4.52838007e-01 -3.03152618e-02 6.52161962e+01] [ 4.52702645e-01 8.91586317e-01 -1.15825397e-02 1.00321215e+01] [ 3.22736868e-02 -3.40286122e-03 9.99473276e-01 1.99098099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36071405700001 meters Centerline goodness : 0.991299 Centerline is valid? [True, True] Translation: X:65.24, Y:10.04, Z:1.99 [[ 8.93765609e-01 -4.47496156e-01 -3.04996135e-02 6.52403182e+01] [ 4.47373300e-01 8.94278178e-01 -1.11206898e-02 1.00387624e+01] [ 3.22516047e-02 -3.70542263e-03 9.99472913e-01 1.99060205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39071405700001 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] Translation: X:65.28, Y:10.05, Z:1.99 [[ 8.93374343e-01 -4.48291161e-01 -3.02872693e-02 6.52777473e+01] [ 4.48150886e-01 8.93881997e-01 -1.16515808e-02 1.00475655e+01] [ 3.22965454e-02 -3.16404320e-03 9.99473322e-01 1.99224924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.420714057 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:65.31, Y:10.06, Z:1.99 [[ 8.94528276e-01 -4.45971228e-01 -3.04766673e-02 6.53100343e+01] [ 4.45845563e-01 8.95040102e-01 -1.11780899e-02 1.00564683e+01] [ 3.22629459e-02 -3.58876944e-03 9.99472973e-01 1.99095306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.450714057 meters Centerline goodness : 0.991306 Centerline is valid? [True, True] Translation: X:65.34, Y:10.06, Z:1.99 [[ 8.96016600e-01 -4.42970661e-01 -3.05163219e-02 6.53373380e+01] [ 4.42846623e-01 8.96528932e-01 -1.10789323e-02 1.00628330e+01] [ 3.22664075e-02 -3.58714285e-03 9.99472867e-01 1.99262974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.480714057 meters Centerline goodness : 0.992065 Centerline is valid? [True, True] Translation: X:65.35, Y:10.08, Z:1.99 [[ 8.94864284e-01 -4.45299942e-01 -3.04281850e-02 6.53538946e+01] [ 4.45169817e-01 8.95374874e-01 -1.12990557e-02 1.00768212e+01] [ 3.22761012e-02 -3.43458819e-03 9.99473090e-01 1.99293152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.510714057 meters Centerline goodness : 0.991100 Centerline is valid? [True, True] Translation: X:65.40, Y:10.08, Z:1.99 [[ 8.98164700e-01 -4.38626757e-01 -3.01121137e-02 6.53975405e+01] [ 4.38466484e-01 8.98666266e-01 -1.20865396e-02 1.00818943e+01] [ 3.23622204e-02 -2.34744940e-03 9.99473449e-01 1.99451015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.540714057 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:65.42, Y:10.09, Z:2.00 [[ 8.97969363e-01 -4.39004607e-01 -3.04298747e-02 6.54168608e+01] [ 4.38871070e-01 8.98479065e-01 -1.12939619e-02 1.00935318e+01] [ 3.22987066e-02 -3.21315987e-03 9.99473096e-01 1.99542708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.570714057 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:65.45, Y:10.10, Z:2.00 [[ 8.99204223e-01 -4.36492055e-01 -3.01073229e-02 6.54475776e+01] [ 4.36330249e-01 8.99705275e-01 -1.20967838e-02 1.01033089e+01] [ 3.23678673e-02 -2.25925658e-03 9.99473470e-01 1.99670174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.600714057 meters Centerline goodness : 0.991942 Centerline is valid? [True, True] Translation: X:65.48, Y:10.11, Z:2.00 [[ 9.01118359e-01 -4.32526366e-01 -3.01105612e-02 6.54806272e+01] [ 4.32362623e-01 9.01618781e-01 -1.20887180e-02 1.01106671e+01] [ 3.23769367e-02 -2.12531544e-03 9.99473470e-01 1.99658316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.630714057 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:65.51, Y:10.12, Z:2.00 [[ 9.02107784e-01 -4.30458704e-01 -3.01139588e-02 6.55123823e+01] [ 4.30294095e-01 9.02607921e-01 -1.20802483e-02 1.01204108e+01] [ 3.23811458e-02 -2.06017262e-03 9.99473470e-01 1.99787614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.660714057 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:65.54, Y:10.13, Z:2.00 [[ 9.03195703e-01 -4.28171066e-01 -3.01174600e-02 6.55434127e+01] [ 4.28005479e-01 9.03695517e-01 -1.20715132e-02 1.01295670e+01] [ 3.23856862e-02 -1.98749902e-03 9.99473470e-01 1.99838762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69071405700001 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:65.57, Y:10.14, Z:2.00 [[ 9.03314796e-01 -4.27919528e-01 -3.01207136e-02 6.55746252e+01] [ 4.27754072e-01 9.03814654e-01 -1.20633893e-02 1.01419761e+01] [ 3.23857022e-02 -1.98721983e-03 9.99473470e-01 1.99947523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72071405700001 meters Centerline goodness : 0.992100 Centerline is valid? [True, True] Translation: X:65.61, Y:10.15, Z:2.00 [[ 9.03984112e-01 -4.26503536e-01 -3.01240689e-02 6.56070262e+01] [ 4.26337575e-01 9.04483802e-01 -1.20550047e-02 1.01508560e+01] [ 3.23882346e-02 -1.94548978e-03 9.99473470e-01 2.00057322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75071405700001 meters Centerline goodness : 0.992232 Centerline is valid? [True, True] Translation: X:65.64, Y:10.16, Z:2.00 [[ 9.04168015e-01 -4.26113293e-01 -3.01274390e-02 6.56387310e+01] [ 4.25947396e-01 9.04667727e-01 -1.20465765e-02 1.01607539e+01] [ 3.23885281e-02 -1.94057507e-03 9.99473470e-01 2.00169736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.780714057 meters Centerline goodness : 0.991955 Centerline is valid? [True, True] Translation: X:65.67, Y:10.17, Z:2.00 [[ 9.04105618e-01 -4.26245432e-01 -3.01307808e-02 6.56713961e+01] [ 4.26079885e-01 9.04605446e-01 -1.20382122e-02 1.01682250e+01] [ 3.23877014e-02 -1.95430431e-03 9.99473470e-01 2.00317649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.810714057 meters Centerline goodness : 0.991948 Centerline is valid? [True, True] Translation: X:65.70, Y:10.18, Z:2.00 [[ 9.03840795e-01 -4.26806451e-01 -3.01341934e-02 6.57032640e+01] [ 4.26641499e-01 9.04340820e-01 -1.20296638e-02 1.01783518e+01] [ 3.23859192e-02 -1.98359654e-03 9.99473470e-01 2.00421685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.840714057 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:65.75, Y:10.18, Z:2.01 [[ 9.06069586e-01 -4.22054059e-01 -3.01376425e-02 6.57498280e+01] [ 4.21886770e-01 9.06568833e-01 -1.20210164e-02 1.01835626e+01] [ 3.23953662e-02 -1.82279530e-03 9.99473470e-01 2.00636680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.870714057 meters Centerline goodness : 0.992992 Centerline is valid? [True, True] Translation: X:65.77, Y:10.20, Z:2.01 [[ 9.02195845e-01 -4.30244770e-01 -3.05302423e-02 6.57654070e+01] [ 4.30114969e-01 9.02706680e-01 -1.10346510e-02 1.01963826e+01] [ 3.23074545e-02 -3.17609795e-03 9.99472931e-01 2.00617110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.900714057 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:65.80, Y:10.21, Z:2.01 [[ 9.01965967e-01 -4.30754464e-01 -3.01327961e-02 6.57953984e+01] [ 4.30591679e-01 9.02466664e-01 -1.20302088e-02 1.02068378e+01] [ 3.23759101e-02 -2.12409239e-03 9.99473506e-01 2.00789724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.930714057 meters Centerline goodness : 0.992553 Centerline is valid? [True, True] Translation: X:65.83, Y:10.22, Z:2.01 [[ 9.01596221e-01 -4.31527607e-01 -3.01359963e-02 6.58266828e+01] [ 4.31365519e-01 9.02097144e-01 -1.20221870e-02 1.02176875e+01] [ 3.23735017e-02 -2.16047128e-03 9.99473506e-01 2.00963373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.960714057 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:65.86, Y:10.23, Z:2.01 [[ 9.00618768e-01 -4.33563669e-01 -3.01393507e-02 6.58624174e+01] [ 4.33402992e-01 9.01120145e-01 -1.20137717e-02 1.02269460e+01] [ 3.23679110e-02 -2.24265647e-03 9.99473506e-01 2.00963809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.990714057 meters Centerline goodness : 0.992020 Centerline is valid? [True, True] Translation: X:65.89, Y:10.24, Z:2.01 [[ 9.00668999e-01 -4.33448724e-01 -3.02912304e-02 6.58890579e+01] [ 4.33300697e-01 9.01174340e-01 -1.16324949e-02 1.02370685e+01] [ 3.23397696e-02 -2.64818371e-03 9.99473425e-01 2.01166652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.020714057 meters Centerline goodness : 0.991215 Centerline is valid? [True, True] Translation: X:65.92, Y:10.25, Z:2.01 [[ 9.00086796e-01 -4.34667162e-01 -3.01366589e-02 6.59182447e+01] [ 4.34506891e-01 9.00588297e-01 -1.20200442e-02 1.02456348e+01] [ 3.23654408e-02 -2.27550293e-03 9.99473512e-01 2.01281282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05071405700001 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:65.95, Y:10.26, Z:2.01 [[ 8.98696777e-01 -4.37537917e-01 -3.00778131e-02 6.59494287e+01] [ 4.37374336e-01 8.99197221e-01 -1.21675196e-02 1.02581406e+01] [ 3.23696371e-02 -2.22035291e-03 9.99473500e-01 2.01342183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08071405700001 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:66.00, Y:10.26, Z:2.01 [[ 9.03106351e-01 -4.28358179e-01 -3.01361802e-02 6.60020494e+01] [ 4.28194364e-01 9.03606705e-01 -1.20211991e-02 1.02615323e+01] [ 3.23806334e-02 -2.04772120e-03 9.99473512e-01 2.01133080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11071405700001 meters Centerline goodness : 0.991713 Centerline is valid? [True, True] Translation: X:66.01, Y:10.28, Z:2.01 [[ 8.97354361e-01 -4.40235528e-01 -3.07868755e-02 6.60055801e+01] [ 4.40133292e-01 8.97872370e-01 -1.03871536e-02 1.02786988e+01] [ 3.22154789e-02 -4.22937127e-03 9.99471998e-01 2.01386839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14071405700001 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:66.04, Y:10.29, Z:2.02 [[ 8.97425154e-01 -4.40137664e-01 -3.01152721e-02 6.60358346e+01] [ 4.39978978e-01 8.97927036e-01 -1.20638371e-02 1.02909797e+01] [ 3.23510661e-02 -2.42369580e-03 9.99473629e-01 2.01536566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.170714057 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:66.07, Y:10.30, Z:2.02 [[ 8.97429294e-01 -4.40128983e-01 -3.01187919e-02 6.60656716e+01] [ 4.39970585e-01 8.97931267e-01 -1.20550430e-02 1.03028652e+01] [ 3.23503788e-02 -2.43283384e-03 9.99473629e-01 2.01632460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.200714057 meters Centerline goodness : 0.992463 Centerline is valid? [True, True] Translation: X:66.10, Y:10.32, Z:2.02 [[ 8.97503745e-01 -4.39976992e-01 -3.01209784e-02 6.60962225e+01] [ 4.39818692e-01 8.98005749e-01 -1.20495772e-02 1.03152406e+01] [ 3.23503486e-02 -2.43322864e-03 9.99473629e-01 2.01731149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.230714057 meters Centerline goodness : 0.991555 Centerline is valid? [True, True] Translation: X:66.13, Y:10.33, Z:2.02 [[ 8.97846615e-01 -4.39276649e-01 -3.01244428e-02 6.61258421e+01] [ 4.39118247e-01 8.98348586e-01 -1.20409099e-02 1.03271837e+01] [ 3.23515412e-02 -2.41730232e-03 9.99473629e-01 2.01816169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.260714057 meters Centerline goodness : 0.992348 Centerline is valid? [True, True] Translation: X:66.16, Y:10.34, Z:2.02 [[ 8.98778248e-01 -4.37367106e-01 -3.01276653e-02 6.61552809e+01] [ 4.37207905e-01 8.99279967e-01 -1.20328414e-02 1.03392167e+01] [ 3.23559749e-02 -2.35719729e-03 9.99473629e-01 2.01957642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.290714057 meters Centerline goodness : 0.992875 Centerline is valid? [True, True] Translation: X:66.19, Y:10.35, Z:2.02 [[ 8.99138083e-01 -4.36626661e-01 -3.01308234e-02 6.61860107e+01] [ 4.36467310e-01 8.99639755e-01 -1.20249283e-02 1.03519986e+01] [ 3.23572909e-02 -2.33904847e-03 9.99473629e-01 2.02066503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.320714057 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:66.22, Y:10.37, Z:2.02 [[ 8.99294325e-01 -4.36304535e-01 -3.01341851e-02 6.62198353e+01] [ 4.36145286e-01 8.99796029e-01 -1.20164982e-02 1.03653701e+01] [ 3.23574727e-02 -2.33651416e-03 9.99473629e-01 2.01954849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.350714057 meters Centerline goodness : 0.984221 Centerline is valid? [True, True] Translation: X:66.24, Y:10.37, Z:2.03 [[ 9.02825739e-01 -4.28939891e-01 -3.02697062e-02 6.62376566e+01] [ 4.28787937e-01 9.03329740e-01 -1.16741827e-02 1.03721528e+01] [ 3.23510485e-02 -2.43953228e-03 9.99473591e-01 2.02702536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.380714057 meters Centerline goodness : 0.992305 Centerline is valid? [True, True] Translation: X:66.27, Y:10.39, Z:2.02 [[ 9.02755982e-01 -4.29117151e-01 -2.98346898e-02 6.62692622e+01] [ 4.28929055e-01 9.03247948e-01 -1.27675407e-02 1.03866020e+01] [ 3.24268930e-02 -1.27099153e-03 9.99473302e-01 2.02415230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.410714057 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:66.30, Y:10.40, Z:2.03 [[ 9.04437450e-01 -4.25539328e-01 -3.01525957e-02 6.62984517e+01] [ 4.25375757e-01 9.04937715e-01 -1.19665319e-02 1.04003865e+01] [ 3.23784510e-02 -2.00320361e-03 9.99473673e-01 2.02616971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44071405700001 meters Centerline goodness : 0.989737 Centerline is valid? [True, True] Translation: X:66.34, Y:10.41, Z:2.03 [[ 9.10046059e-01 -4.13408834e-01 -3.01547077e-02 6.63419136e+01] [ 4.13238765e-01 9.10544152e-01 -1.19612076e-02 1.04050937e+01] [ 3.24020616e-02 -1.57584430e-03 9.99473673e-01 2.03331533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47071405700001 meters Centerline goodness : 0.990472 Centerline is valid? [True, True] Translation: X:66.37, Y:10.42, Z:2.03 [[ 9.11074598e-01 -4.11116137e-01 -3.04400823e-02 6.63727244e+01] [ 4.10968570e-01 9.11580162e-01 -1.12447125e-02 1.04181706e+01] [ 3.23714579e-02 -2.26514518e-03 9.99473340e-01 2.03401929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50071405700001 meters Centerline goodness : 0.990684 Centerline is valid? [True, True] Translation: X:66.41, Y:10.43, Z:2.03 [[ 9.12359609e-01 -4.08251298e-01 -3.05093673e-02 6.64057386e+01] [ 4.08107933e-01 9.12866558e-01 -1.10708184e-02 1.04303845e+01] [ 3.23706571e-02 -2.35054732e-03 9.99473169e-01 2.03497100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.530714057 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:66.44, Y:10.44, Z:2.03 [[ 9.10869284e-01 -4.11556664e-01 -3.06310410e-02 6.64357871e+01] [ 4.11425339e-01 9.11379884e-01 -1.07655706e-02 1.04440384e+01] [ 3.23471569e-02 -2.79635881e-03 9.99472782e-01 2.02779794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.560714057 meters Centerline goodness : 0.991632 Centerline is valid? [True, True] Translation: X:66.44, Y:10.46, Z:2.03 [[ 9.05966575e-01 -4.22235388e-01 -3.06894361e-02 6.64410971e+01] [ 4.22114994e-01 9.06480095e-01 -1.06192623e-02 1.04627724e+01] [ 3.23031913e-02 -3.33377439e-03 9.99472556e-01 2.03040844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.590714057 meters Centerline goodness : 0.990730 Centerline is valid? [True, True] Translation: X:66.49, Y:10.47, Z:2.03 [[ 9.09770899e-01 -4.14017728e-01 -3.01036976e-02 6.64902113e+01] [ 4.13844091e-01 9.10267632e-01 -1.20791496e-02 1.04684076e+01] [ 3.24034036e-02 -1.46897860e-03 9.99473792e-01 2.02807787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.620714057 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:66.50, Y:10.49, Z:2.03 [[ 9.04099034e-01 -4.26221208e-01 -3.06662517e-02 6.64959219e+01] [ 4.26101274e-01 9.04612514e-01 -1.06725933e-02 1.04856907e+01] [ 3.22899606e-02 -3.41784768e-03 9.99472699e-01 2.03182213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.650714057 meters Centerline goodness : 0.984703 Centerline is valid? [True, True] Translation: X:66.52, Y:10.49, Z:2.04 [[ 9.03881879e-01 -4.26722275e-01 -3.00940090e-02 6.65151724e+01] [ 4.26555038e-01 9.04380715e-01 -1.20963541e-02 1.04943820e+01] [ 3.23782251e-02 -1.90307584e-03 9.99473876e-01 2.03849392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.680714057 meters Centerline goodness : 0.984635 Centerline is valid? [True, True] Translation: X:66.54, Y:10.51, Z:2.04 [[ 9.02975571e-01 -4.28657566e-01 -2.97961210e-02 6.65423694e+01] [ 4.28467090e-01 9.03466269e-01 -1.28317417e-02 1.05053119e+01] [ 3.24202135e-02 -1.17990795e-03 9.99473630e-01 2.04229802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.710714057 meters Centerline goodness : 0.990667 Centerline is valid? [True, True] Translation: X:66.58, Y:10.52, Z:2.04 [[ 9.01442843e-01 -4.31863789e-01 -2.99076687e-02 6.65788284e+01] [ 4.31684234e-01 9.01937429e-01 -1.25537042e-02 1.05191840e+01] [ 3.23963361e-02 -1.59422223e-03 9.99473830e-01 2.03989527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.740714057 meters Centerline goodness : 0.991817 Centerline is valid? [True, True] Translation: X:66.60, Y:10.53, Z:2.04 [[ 8.99254740e-01 -4.36360216e-01 -3.05069619e-02 6.65994205e+01] [ 4.36231636e-01 8.99765919e-01 -1.11018845e-02 1.05303820e+01] [ 3.22935453e-02 -3.32467964e-03 9.99472898e-01 2.03733070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.770714057 meters Centerline goodness : 0.991839 Centerline is valid? [True, True] Translation: X:66.64, Y:10.54, Z:2.04 [[ 8.98366522e-01 -4.38205707e-01 -3.02216989e-02 6.66354563e+01] [ 4.38055018e-01 8.98870825e-01 -1.17916096e-02 1.05432683e+01] [ 3.23325540e-02 -2.64557949e-03 9.99473665e-01 2.03537605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80071405700001 meters Centerline goodness : 0.991797 Centerline is valid? [True, True] Translation: X:66.66, Y:10.56, Z:2.04 [[ 8.96537893e-01 -4.41917694e-01 -3.04722371e-02 6.66575001e+01] [ 4.41789457e-01 8.97049028e-01 -1.11855696e-02 1.05554770e+01] [ 3.22781918e-02 -3.43402608e-03 9.99473024e-01 2.04033588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83071405700001 meters Centerline goodness : 0.991235 Centerline is valid? [True, True] Translation: X:66.69, Y:10.57, Z:2.04 [[ 8.95562609e-01 -4.43906855e-01 -3.02376694e-02 6.66854352e+01] [ 4.43760699e-01 8.96068262e-01 -1.17520771e-02 1.05678496e+01] [ 3.23118435e-02 -2.89356844e-03 9.99473647e-01 2.04052507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86071405700001 meters Centerline goodness : 0.991684 Centerline is valid? [True, True] Translation: X:66.71, Y:10.58, Z:2.04 [[ 8.95216054e-01 -4.44608148e-01 -3.01962108e-02 6.67144154e+01] [ 4.44459030e-01 8.95720768e-01 -1.18522488e-02 1.05797571e+01] [ 3.23169795e-02 -2.81065512e-03 9.99473718e-01 2.04273649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89071405700001 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:66.74, Y:10.59, Z:2.04 [[ 8.94052209e-01 -4.46943699e-01 -3.01989811e-02 6.67404628e+01] [ 4.46796123e-01 8.94557381e-01 -1.18455575e-02 1.05931292e+01] [ 3.23090188e-02 -2.90224081e-03 9.99473714e-01 2.04210104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.920714057 meters Centerline goodness : 0.990695 Centerline is valid? [True, True] Translation: X:66.77, Y:10.61, Z:2.05 [[ 8.94206112e-01 -4.46641586e-01 -3.01118354e-02 6.67713615e+01] [ 4.46486795e-01 8.94709001e-01 -1.20559200e-02 1.06050564e+01] [ 3.23260054e-02 -2.66405955e-03 9.99473828e-01 2.04649618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.950714057 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:66.80, Y:10.62, Z:2.05 [[ 8.93296964e-01 -4.48452955e-01 -3.01741837e-02 6.68007906e+01] [ 4.48304208e-01 8.93801759e-01 -1.19059549e-02 1.06181839e+01] [ 3.23089991e-02 -2.89166016e-03 9.99473745e-01 2.04632305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.980714057 meters Centerline goodness : 0.990633 Centerline is valid? [True, True] Translation: X:66.83, Y:10.63, Z:2.05 [[ 8.92990753e-01 -4.49060491e-01 -3.02025055e-02 6.68297421e+01] [ 4.48914373e-01 8.93496364e-01 -1.18378228e-02 1.06317025e+01] [ 3.23017274e-02 -2.98727254e-03 9.99473699e-01 2.04522982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.010714057 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:66.86, Y:10.64, Z:2.05 [[ 8.93263149e-01 -4.48519542e-01 -3.01855447e-02 6.68558762e+01] [ 4.48371749e-01 8.93768243e-01 -1.18786290e-02 1.06440725e+01] [ 3.23066785e-02 -2.92360396e-03 9.99473727e-01 2.04825126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.040714057 meters Centerline goodness : 0.990496 Centerline is valid? [True, True] Translation: X:66.89, Y:10.66, Z:2.05 [[ 8.92841019e-01 -4.49365887e-01 -3.00867710e-02 6.68876524e+01] [ 4.49210625e-01 8.93343731e-01 -1.21157932e-02 1.06580755e+01] [ 3.23222524e-02 -2.69782009e-03 9.99473858e-01 2.04851465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.070714057 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:66.92, Y:10.67, Z:2.05 [[ 8.93855721e-01 -4.47336604e-01 -3.01978778e-02 6.69155373e+01] [ 4.47189141e-01 8.94360932e-01 -1.18488643e-02 1.06729903e+01] [ 3.23082328e-02 -2.91298793e-03 9.99473708e-01 2.04770421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.100714057 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:66.94, Y:10.69, Z:2.05 [[ 8.95185279e-01 -4.44672392e-01 -3.01625671e-02 6.69417363e+01] [ 4.44520584e-01 8.95689141e-01 -1.19336667e-02 1.06852897e+01] [ 3.23228559e-02 -2.72503916e-03 9.99473765e-01 2.05017365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.130714057 meters Centerline goodness : 0.990708 Centerline is valid? [True, True] Translation: X:66.97, Y:10.70, Z:2.05 [[ 8.95829218e-01 -4.43379638e-01 -3.00750484e-02 6.69724522e+01] [ 4.43220075e-01 8.96330569e-01 -1.21439374e-02 1.06988788e+01] [ 3.23415598e-02 -2.45097125e-03 9.99473870e-01 2.05198508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.160714057 meters Centerline goodness : 0.991563 Centerline is valid? [True, True] Translation: X:67.00, Y:10.71, Z:2.05 [[ 8.96556073e-01 -4.41904168e-01 -3.01316062e-02 6.70016261e+01] [ 4.41748316e-01 8.97058655e-01 -1.20080791e-02 1.07135052e+01] [ 3.23362383e-02 -2.54467005e-03 9.99473808e-01 2.04962447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19071405700001 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:67.03, Y:10.73, Z:2.05 [[ 8.96888328e-01 -4.41228758e-01 -3.01415067e-02 6.70308419e+01] [ 4.41073322e-01 8.97391052e-01 -1.19842943e-02 1.07267515e+01] [ 3.23365337e-02 -2.54604082e-03 9.99473795e-01 2.05282312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22071405700001 meters Centerline goodness : 0.990717 Centerline is valid? [True, True] Translation: X:67.05, Y:10.74, Z:2.05 [[ 8.98245113e-01 -4.38457615e-01 -3.01767504e-02 6.70543130e+01] [ 4.38303457e-01 8.98748285e-01 -1.18995932e-02 1.07400076e+01] [ 3.23387699e-02 -2.53782261e-03 9.99473743e-01 2.05253203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25071405700001 meters Centerline goodness : 0.992486 Centerline is valid? [True, True] Translation: X:67.09, Y:10.76, Z:2.05 [[ 8.97787637e-01 -4.39405512e-01 -3.00025827e-02 6.70877600e+01] [ 4.39237942e-01 8.98286315e-01 -1.23177221e-02 1.07554625e+01] [ 3.23633845e-02 -2.11957406e-03 9.99473921e-01 2.05106222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.280714057 meters Centerline goodness : 0.991303 Centerline is valid? [True, True] Translation: X:67.12, Y:10.77, Z:2.06 [[ 8.97253259e-01 -4.40485700e-01 -3.01485976e-02 6.71168878e+01] [ 4.40330422e-01 8.97756040e-01 -1.19671096e-02 1.07697086e+01] [ 3.23374262e-02 -2.53781660e-03 9.99473787e-01 2.05564284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.310714057 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:67.14, Y:10.79, Z:2.06 [[ 8.96480845e-01 -4.42057824e-01 -3.01160147e-02 6.71448810e+01] [ 4.41900819e-01 8.96983043e-01 -1.20451983e-02 1.07859690e+01] [ 3.23382287e-02 -2.51000195e-03 9.99473831e-01 2.05607148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.340714057 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:67.17, Y:10.80, Z:2.06 [[ 8.96271406e-01 -4.42483204e-01 -3.01028506e-02 6.71734820e+01] [ 4.42325383e-01 8.96773332e-01 -1.20767355e-02 1.07997649e+01] [ 3.23391862e-02 -2.49122224e-03 9.99473847e-01 2.05956172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.370714057 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:67.20, Y:10.81, Z:2.06 [[ 8.96009491e-01 -4.43014307e-01 -3.00884602e-02 6.72008281e+01] [ 4.42855632e-01 8.96511131e-01 -1.21112178e-02 1.08146301e+01] [ 3.23400823e-02 -2.47307796e-03 9.99473863e-01 2.06040673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.400714057 meters Centerline goodness : 0.991256 Centerline is valid? [True, True] Translation: X:67.23, Y:10.83, Z:2.06 [[ 8.95521081e-01 -4.44000938e-01 -3.00858781e-02 6.72269377e+01] [ 4.43842608e-01 8.96022827e-01 -1.21174066e-02 1.08282431e+01] [ 3.23377734e-02 -2.50200153e-03 9.99473866e-01 2.06181717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.430714057 meters Centerline goodness : 0.991856 Centerline is valid? [True, True] Translation: X:67.26, Y:10.84, Z:2.06 [[ 8.95492380e-01 -4.44064437e-01 -3.00028701e-02 6.72573661e+01] [ 4.43899507e-01 8.95991928e-01 -1.23163433e-02 1.08415090e+01] [ 3.23515795e-02 -2.28906766e-03 9.99473929e-01 2.06409418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.460714057 meters Centerline goodness : 0.991515 Centerline is valid? [True, True] Translation: X:67.29, Y:10.86, Z:2.06 [[ 8.94730833e-01 -4.45595276e-01 -3.00264451e-02 6.72885032e+01] [ 4.45433084e-01 8.95231291e-01 -1.22598322e-02 1.08564765e+01] [ 3.23435365e-02 -2.40552223e-03 9.99473916e-01 2.06248580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.490714057 meters Centerline goodness : 0.991960 Centerline is valid? [True, True] Translation: X:67.32, Y:10.87, Z:2.06 [[ 8.94208162e-01 -4.46638748e-01 -3.00930487e-02 6.73157647e+01] [ 4.46482478e-01 8.94710560e-01 -1.21000444e-02 1.08699596e+01] [ 3.23289171e-02 -2.61606051e-03 9.99473860e-01 2.06360680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.520714057 meters Centerline goodness : 0.992360 Centerline is valid? [True, True] Translation: X:67.35, Y:10.88, Z:2.06 [[ 8.93658596e-01 -4.47740922e-01 -3.00396370e-02 6.73458814e+01] [ 4.47580990e-01 8.94159790e-01 -1.22281409e-02 1.08841938e+01] [ 3.23352746e-02 -2.51738726e-03 9.99473908e-01 2.06355815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55071405700001 meters Centerline goodness : 0.992055 Centerline is valid? [True, True] Translation: X:67.38, Y:10.90, Z:2.07 [[ 8.93910707e-01 -4.47235881e-01 -3.00618367e-02 6.73753478e+01] [ 4.47077446e-01 8.94412394e-01 -1.21748617e-02 1.08970768e+01] [ 3.23327143e-02 -2.55672996e-03 9.99473891e-01 2.06555365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58071405700001 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:67.41, Y:10.91, Z:2.06 [[ 8.94174447e-01 -4.46706830e-01 -3.00843167e-02 6.74062198e+01] [ 4.46549902e-01 8.94676628e-01 -1.21208893e-02 1.09117343e+01] [ 3.23302190e-02 -2.59595919e-03 9.99473871e-01 2.06466191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61071405700001 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:67.44, Y:10.92, Z:2.07 [[ 8.94167980e-01 -4.46716550e-01 -3.01321579e-02 6.74362001e+01] [ 4.46563471e-01 8.94671405e-01 -1.20060012e-02 1.09242766e+01] [ 3.23216595e-02 -2.72053913e-03 9.99473816e-01 2.06567576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64071405700001 meters Centerline goodness : 0.992688 Centerline is valid? [True, True] Translation: X:67.46, Y:10.94, Z:2.07 [[ 8.95268088e-01 -4.44507551e-01 -3.01344926e-02 6.74637107e+01] [ 4.44353417e-01 8.95771194e-01 -1.20003925e-02 1.09387877e+01] [ 3.23278755e-02 -2.64679627e-03 9.99473813e-01 2.06815691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.670714057 meters Centerline goodness : 0.992306 Centerline is valid? [True, True] Translation: X:67.50, Y:10.95, Z:2.07 [[ 8.96948509e-01 -4.41107480e-01 -3.01258033e-02 6.74958668e+01] [ 4.40950740e-01 8.97450797e-01 -1.20212669e-02 1.09508369e+01] [ 3.23390969e-02 -2.50153789e-03 9.99473824e-01 2.06743874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.700714057 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:67.53, Y:10.97, Z:2.07 [[ 8.96198637e-01 -4.42623661e-01 -3.02042768e-02 6.75273064e+01] [ 4.42474080e-01 8.96703226e-01 -1.18326740e-02 1.09686506e+01] [ 3.23216939e-02 -2.76018328e-03 9.99473706e-01 2.06520002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.730714057 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:67.55, Y:10.98, Z:2.07 [[ 8.98162322e-01 -4.38613664e-01 -3.03726254e-02 6.75487259e+01] [ 4.38475404e-01 8.98670534e-01 -1.14276834e-02 1.09803825e+01] [ 3.23073216e-02 -3.05373451e-03 9.99473317e-01 2.06941825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.760714057 meters Centerline goodness : 0.991977 Centerline is valid? [True, True] Translation: X:67.58, Y:10.99, Z:2.07 [[ 8.99281260e-01 -4.36331166e-01 -3.01384842e-02 6.75783267e+01] [ 4.36172807e-01 8.99783045e-01 -1.19897571e-02 1.09926494e+01] [ 3.23496017e-02 -2.36342339e-03 9.99473820e-01 2.07336687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.790714057 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:67.60, Y:11.01, Z:2.07 [[ 8.98820930e-01 -4.37274434e-01 -3.01994237e-02 6.76026983e+01] [ 4.37121489e-01 8.99324490e-01 -1.18434082e-02 1.10091374e+01] [ 3.23379009e-02 -2.55571381e-03 9.99473726e-01 2.07057680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.820714057 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:67.63, Y:11.02, Z:2.07 [[ 8.99282081e-01 -4.36331041e-01 -3.01158040e-02 6.76320695e+01] [ 4.36170870e-01 8.99783258e-01 -1.20441159e-02 1.10226833e+01] [ 3.23529179e-02 -2.30457883e-03 9.99473850e-01 2.07306177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.850714057 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:67.67, Y:11.04, Z:2.07 [[ 8.96902316e-01 -4.41202970e-01 -3.01027205e-02 6.76668000e+01] [ 4.41044472e-01 8.97404009e-01 -1.20755280e-02 1.10395609e+01] [ 3.23420609e-02 -2.44606940e-03 9.99473866e-01 2.07044704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.880714057 meters Centerline goodness : 0.992475 Centerline is valid? [True, True] Translation: X:67.70, Y:11.05, Z:2.07 [[ 8.99748805e-01 -4.35353867e-01 -3.03166455e-02 6.76951863e+01] [ 4.35209294e-01 9.00255083e-01 -1.15609669e-02 1.10495390e+01] [ 3.23258259e-02 -2.79211977e-03 9.99473484e-01 2.07276356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.910714057 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:67.72, Y:11.07, Z:2.07 [[ 8.96481960e-01 -4.42045777e-01 -3.02593216e-02 6.77196378e+01] [ 4.41900361e-01 8.96987856e-01 -1.16985954e-02 1.10671497e+01] [ 3.23135587e-02 -2.88402541e-03 9.99473620e-01 2.07145858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94071405700001 meters Centerline goodness : 0.993023 Centerline is valid? [True, True] Translation: X:67.75, Y:11.08, Z:2.08 [[ 8.96001936e-01 -4.43026703e-01 -3.01308980e-02 6.77454876e+01] [ 4.42871582e-01 8.96504682e-01 -1.20048965e-02 1.10806833e+01] [ 3.23309808e-02 -2.58770794e-03 9.99473867e-01 2.07603114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97071405700001 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:67.78, Y:11.09, Z:2.08 [[ 8.95610089e-01 -4.43823395e-01 -3.00559894e-02 6.77762510e+01] [ 4.43662760e-01 8.96110999e-01 -1.21833126e-02 1.10944497e+01] [ 3.23407418e-02 -2.42322560e-03 9.99473964e-01 2.07754685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00071405700001 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:67.80, Y:11.11, Z:2.08 [[ 8.95217635e-01 -4.44610863e-01 -3.01092551e-02 6.78036584e+01] [ 4.44454909e-01 8.95720089e-01 -1.20563982e-02 1.11083799e+01] [ 3.23298702e-02 -2.58910598e-03 9.99473900e-01 2.07711773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.030714057 meters Centerline goodness : 0.992967 Centerline is valid? [True, True] Translation: X:67.83, Y:11.12, Z:2.08 [[ 8.94181746e-01 -4.46694266e-01 -3.00539168e-02 6.78338207e+01] [ 4.46535070e-01 8.94683114e-01 -1.21883744e-02 1.11231559e+01] [ 3.23332088e-02 -2.52150596e-03 9.99473964e-01 2.07597552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.060714057 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:67.86, Y:11.14, Z:2.08 [[ 8.93625405e-01 -4.47805480e-01 -3.00647312e-02 6.78619031e+01] [ 4.47647768e-01 8.94127254e-01 -1.21626304e-02 1.11375901e+01] [ 3.23281881e-02 -2.58957430e-03 9.99473953e-01 2.07931997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.090714057 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:67.89, Y:11.15, Z:2.08 [[ 8.92342949e-01 -4.50356121e-01 -3.00570370e-02 6.78922927e+01] [ 4.50199230e-01 8.92845047e-01 -1.21809498e-02 1.11530265e+01] [ 3.23220419e-02 -2.66207027e-03 9.99473961e-01 2.07974063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.120714057 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:67.93, Y:11.17, Z:2.08 [[ 8.91905396e-01 -4.51216072e-01 -3.01466550e-02 6.79266974e+01] [ 4.51066812e-01 8.92409943e-01 -1.19676861e-02 1.11676988e+01] [ 3.23031870e-02 -2.92411173e-03 9.99473838e-01 2.07863261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.150714057 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:67.94, Y:11.19, Z:2.08 [[ 8.87156662e-01 -4.60469738e-01 -3.03426567e-02 6.79370560e+01] [ 4.60341489e-01 8.87667418e-01 -1.15008157e-02 1.11865338e+01] [ 3.22299653e-02 -3.76495847e-03 9.99473389e-01 2.08189801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.180714057 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:67.98, Y:11.20, Z:2.08 [[ 8.90057236e-01 -4.54868245e-01 -2.98830423e-02 6.79813369e+01] [ 4.54700162e-01 8.90555564e-01 -1.25916505e-02 1.11955874e+01] [ 3.23400516e-02 -2.38053451e-03 9.99474089e-01 2.08206377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.210714057 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:68.01, Y:11.21, Z:2.08 [[ 8.88154542e-01 -4.58543541e-01 -3.03204819e-02 6.80091913e+01] [ 4.58412488e-01 8.88664486e-01 -1.15508438e-02 1.12098960e+01] [ 3.22413003e-02 -3.64035313e-03 9.99473485e-01 2.08292963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.240714057 meters Centerline goodness : 0.994370 Centerline is valid? [True, True] Translation: X:68.04, Y:11.22, Z:2.08 [[ 8.87672530e-01 -4.59480038e-01 -3.02584495e-02 6.80385917e+01] [ 4.59344543e-01 8.88181142e-01 -1.16982977e-02 1.12236812e+01] [ 3.22501185e-02 -3.51479611e-03 9.99473650e-01 2.08336352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.270714057 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:68.07, Y:11.24, Z:2.08 [[ 8.87236992e-01 -4.60319820e-01 -3.02685060e-02 6.80682590e+01] [ 4.60185613e-01 8.87745971e-01 -1.16744141e-02 1.12375220e+01] [ 3.22447085e-02 -3.57115898e-03 9.99473624e-01 2.08372662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30071405700001 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:68.10, Y:11.25, Z:2.08 [[ 8.86696998e-01 -4.61357700e-01 -3.02903869e-02 6.80977755e+01] [ 4.61225842e-01 8.87206650e-01 -1.16225086e-02 1.12524981e+01] [ 3.22359665e-02 -3.66506575e-03 9.99473566e-01 2.08349051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33071405700001 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:68.13, Y:11.27, Z:2.08 [[ 8.86110062e-01 -4.62481619e-01 -3.03267092e-02 6.81260914e+01] [ 4.62353320e-01 8.86620730e-01 -1.15364313e-02 1.12663446e+01] [ 3.22236765e-02 -3.79910681e-03 9.99473462e-01 2.08401290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36071405700001 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:68.15, Y:11.28, Z:2.08 [[ 8.87530019e-01 -4.59751144e-01 -3.03207969e-02 6.81497439e+01] [ 4.59620799e-01 8.88040150e-01 -1.15504303e-02 1.12778537e+01] [ 3.22364086e-02 -3.68471524e-03 9.99473480e-01 2.08383259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39071405700001 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:68.18, Y:11.29, Z:2.09 [[ 8.86908566e-01 -4.60958219e-01 -3.01780589e-02 6.81791254e+01] [ 4.60817122e-01 8.87415472e-01 -1.18895111e-02 1.12915923e+01] [ 3.22610442e-02 -3.36165696e-03 9.99473824e-01 2.08556928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.420714057 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:68.21, Y:11.31, Z:2.09 [[ 8.85541407e-01 -4.63581692e-01 -3.01401994e-02 6.82121813e+01] [ 4.63439085e-01 8.86047811e-01 -1.19787940e-02 1.13070434e+01] [ 3.22588073e-02 -3.36042833e-03 9.99473900e-01 2.08685505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.450714057 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:68.24, Y:11.32, Z:2.09 [[ 8.85287454e-01 -4.64051437e-01 -3.03708501e-02 6.82394699e+01] [ 4.63927501e-01 8.85799371e-01 -1.14344770e-02 1.13201320e+01] [ 3.22086654e-02 -3.96707356e-03 9.99473293e-01 2.08824774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.480714057 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:68.27, Y:11.33, Z:2.09 [[ 8.84809918e-01 -4.64964356e-01 -3.03241829e-02 6.82674351e+01] [ 4.64837222e-01 8.85320893e-01 -1.15444137e-02 1.13334800e+01] [ 3.22143736e-02 -3.88119714e-03 9.99473447e-01 2.08979442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.510714057 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:68.30, Y:11.35, Z:2.09 [[ 8.84575956e-01 -4.65411750e-01 -3.02866328e-02 6.82973587e+01] [ 4.65281882e-01 8.85086125e-01 -1.16327495e-02 1.13479419e+01] [ 3.22202968e-02 -3.80177099e-03 9.99473561e-01 2.09086130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.540714057 meters Centerline goodness : 0.993924 Centerline is valid? [True, True] Translation: X:68.32, Y:11.36, Z:2.09 [[ 8.85383993e-01 -4.63870626e-01 -3.03187712e-02 6.83215843e+01] [ 4.63742425e-01 8.85894685e-01 -1.15572474e-02 1.13593537e+01] [ 3.22203058e-02 -3.82749863e-03 9.99473462e-01 2.09485731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.570714057 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:68.35, Y:11.37, Z:2.09 [[ 8.85008454e-01 -4.64597197e-01 -3.01576092e-02 6.83471575e+01] [ 4.64456641e-01 8.85515433e-01 -1.19351123e-02 1.13731145e+01] [ 3.22500480e-02 -3.44422662e-03 9.99473897e-01 2.09477515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.600714057 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:68.38, Y:11.39, Z:2.09 [[ 8.83556682e-01 -4.67357138e-01 -3.00814841e-02 6.83813649e+01] [ 4.67212153e-01 8.84062256e-01 -1.21132895e-02 1.13889286e+01] [ 3.22551370e-02 -3.35165709e-03 9.99474048e-01 2.09192995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.630714057 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:68.41, Y:11.40, Z:2.09 [[ 8.83221025e-01 -4.67977874e-01 -3.02874664e-02 6.84100211e+01] [ 4.67849548e-01 8.83731589e-01 -1.16309640e-02 1.14025935e+01] [ 3.22090246e-02 -3.89726554e-03 9.99473556e-01 2.09293668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.660714057 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:68.43, Y:11.41, Z:2.09 [[ 8.85184319e-01 -4.64255183e-01 -3.02629595e-02 6.84318155e+01] [ 4.64122768e-01 8.85693762e-01 -1.16883118e-02 1.14140393e+01] [ 3.22300738e-02 -3.69941822e-03 9.99473630e-01 2.09200383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69071405700001 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:68.47, Y:11.43, Z:2.10 [[ 8.83443978e-01 -4.67576620e-01 -2.99807066e-02 6.84665705e+01] [ 4.67423899e-01 8.83947089e-01 -1.23467138e-02 1.14306315e+01] [ 3.22743930e-02 -3.10606886e-03 9.99474220e-01 2.09574715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72071405700001 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:68.50, Y:11.45, Z:2.10 [[ 8.84022066e-01 -4.66464785e-01 -3.02587325e-02 6.84954648e+01] [ 4.66333345e-01 8.84531735e-01 -1.16970534e-02 1.14450553e+01] [ 3.22210726e-02 -3.77020260e-03 9.99473656e-01 2.09707489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75071405700001 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:68.52, Y:11.46, Z:2.10 [[ 8.85938579e-01 -4.62816353e-01 -3.02300967e-02 6.85177103e+01] [ 4.62680552e-01 8.86447018e-01 -1.17639416e-02 1.14562409e+01] [ 3.22419236e-02 -3.56474817e-03 9.99473737e-01 2.10208037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.780714057 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:68.55, Y:11.47, Z:2.10 [[ 8.84690145e-01 -4.65212402e-01 -3.00128195e-02 6.85515485e+01] [ 4.65060909e-01 8.85193649e-01 -1.22700943e-02 1.14722242e+01] [ 3.22753572e-02 -3.10255758e-03 9.99474199e-01 2.09956200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.810714057 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:68.57, Y:11.48, Z:2.10 [[ 8.86341378e-01 -4.62044458e-01 -3.02304410e-02 6.85745692e+01] [ 4.61908235e-01 8.86849709e-01 -1.17633485e-02 1.14847325e+01] [ 3.22450478e-02 -3.53734712e-03 9.99473734e-01 2.10455564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.840714057 meters Centerline goodness : 0.995139 Centerline is valid? [True, True] Translation: X:68.61, Y:11.50, Z:2.10 [[ 8.85847671e-01 -4.63004176e-01 -3.00172810e-02 6.86066636e+01] [ 4.62851807e-01 8.86350905e-01 -1.22587697e-02 1.14992533e+01] [ 3.22817057e-02 -3.03415016e-03 9.99474204e-01 2.10288579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.870714057 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:68.63, Y:11.51, Z:2.10 [[ 8.86796884e-01 -4.61172037e-01 -3.01933606e-02 6.86336020e+01] [ 4.61032424e-01 8.87304179e-01 -1.18489347e-02 1.15122610e+01] [ 3.22550924e-02 -3.41251984e-03 9.99473843e-01 2.10410630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.900714057 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:68.66, Y:11.52, Z:2.11 [[ 8.88751576e-01 -4.57396492e-01 -3.01510474e-02 6.86566374e+01] [ 4.57251404e-01 8.89257224e-01 -1.19475076e-02 1.15228762e+01] [ 3.22767848e-02 -3.16824259e-03 9.99473947e-01 2.11076381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.930714057 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:68.69, Y:11.54, Z:2.11 [[ 8.86968926e-01 -4.60855978e-01 -2.99648381e-02 6.86896675e+01] [ 4.60698308e-01 8.87470447e-01 -1.23804185e-02 1.15383795e+01] [ 3.22984981e-02 -2.82370374e-03 9.99474279e-01 2.10628463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.960714057 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:68.71, Y:11.55, Z:2.11 [[ 8.87805388e-01 -4.59233279e-01 -3.01062783e-02 6.87149672e+01] [ 4.59085704e-01 8.88310224e-01 -1.20524876e-02 1.15493077e+01] [ 3.22786182e-02 -3.12109852e-03 9.99474036e-01 2.10817911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.990714057 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:68.75, Y:11.56, Z:2.11 [[ 8.87608372e-01 -4.59622974e-01 -2.99683035e-02 6.87451064e+01] [ 4.59464892e-01 8.88109762e-01 -1.23719195e-02 1.15626692e+01] [ 3.23015613e-02 -2.78796403e-03 9.99474280e-01 2.10858366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.020714057 meters Centerline goodness : 0.995177 Centerline is valid? [True, True] Translation: X:68.78, Y:11.58, Z:2.11 [[ 8.87562211e-01 -4.59711760e-01 -2.99736591e-02 6.87750020e+01] [ 4.59554143e-01 8.88063754e-01 -1.23595221e-02 1.15754619e+01] [ 3.23003378e-02 -2.80467446e-03 9.99474273e-01 2.10921923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05071405700001 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:68.80, Y:11.59, Z:2.11 [[ 8.88044387e-01 -4.58778556e-01 -2.99900502e-02 6.88019918e+01] [ 4.58621685e-01 8.88546188e-01 -1.23215858e-02 1.15874950e+01] [ 3.23004242e-02 -2.81197223e-03 9.99474249e-01 2.11188711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08071405700001 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:68.83, Y:11.60, Z:2.11 [[ 8.87802472e-01 -4.59251172e-01 -2.99187658e-02 6.88323383e+01] [ 4.59089041e-01 8.88302505e-01 -1.24864935e-02 1.16008778e+01] [ 3.23113513e-02 -2.64983770e-03 9.99474339e-01 2.11219298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11071405700001 meters Centerline goodness : 0.995743 Centerline is valid? [True, True] Translation: X:68.87, Y:11.62, Z:2.11 [[ 8.86994290e-01 -4.60808288e-01 -2.99474717e-02 6.88677382e+01] [ 4.60649260e-01 8.87495352e-01 -1.24201076e-02 1.16165190e+01] [ 3.23015305e-02 -2.77871620e-03 9.99474307e-01 2.11004889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14071405700001 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:68.89, Y:11.63, Z:2.11 [[ 8.88915599e-01 -4.57075078e-01 -3.01899224e-02 6.88894596e+01] [ 4.56932799e-01 8.89422166e-01 -1.18586780e-02 1.16265516e+01] [ 3.22718924e-02 -3.25340195e-03 9.99473832e-01 2.11439777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.170714057 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:68.92, Y:11.64, Z:2.11 [[ 8.88537929e-01 -4.57824015e-01 -2.99586433e-02 6.89204030e+01] [ 4.57664225e-01 8.89038741e-01 -1.23925397e-02 1.16406359e+01] [ 3.23079968e-02 -2.69975770e-03 9.99474314e-01 2.11268960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.200714057 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:68.95, Y:11.65, Z:2.12 [[ 8.89294743e-01 -4.56348811e-01 -3.00103852e-02 6.89483511e+01] [ 4.56192195e-01 8.89796637e-01 -1.22729792e-02 1.16521774e+01] [ 3.23038993e-02 -2.77620758e-03 9.99474237e-01 2.11613224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.230714057 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:68.98, Y:11.67, Z:2.11 [[ 8.88719976e-01 -4.57470869e-01 -2.99534292e-02 6.89844395e+01] [ 4.57310479e-01 8.89220588e-01 -1.24044881e-02 1.16671975e+01] [ 3.23098979e-02 -2.67390072e-03 9.99474322e-01 2.11108481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.260714057 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:69.01, Y:11.68, Z:2.12 [[ 8.89581872e-01 -4.55776688e-01 -3.01944399e-02 6.90096600e+01] [ 4.55634006e-01 8.90088344e-01 -1.18487336e-02 1.16790585e+01] [ 3.22760955e-02 -3.21719498e-03 9.99473813e-01 2.11560663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.290714057 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:69.04, Y:11.69, Z:2.12 [[ 8.89998432e-01 -4.54971615e-01 -3.00602805e-02 6.90387393e+01] [ 4.54818088e-01 8.90501374e-01 -1.21576681e-02 1.16926654e+01] [ 3.23001150e-02 -2.85165380e-03 9.99474147e-01 2.11857985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.320714057 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:69.07, Y:11.70, Z:2.12 [[ 8.90739525e-01 -4.53519094e-01 -3.00587880e-02 6.90659329e+01] [ 4.53364632e-01 8.91242177e-01 -1.21611047e-02 1.17034618e+01] [ 3.23049528e-02 -2.79521471e-03 9.99474150e-01 2.12129844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.350714057 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:69.08, Y:11.72, Z:2.12 [[ 8.85885581e-01 -4.62930915e-01 -3.00284019e-02 6.90815489e+01] [ 4.62779430e-01 8.86389078e-01 -1.22311721e-02 1.17232388e+01] [ 3.22790352e-02 -3.06110767e-03 9.99474209e-01 2.11768628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.380714057 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:69.12, Y:11.73, Z:2.12 [[ 8.90720802e-01 -4.53577509e-01 -2.97304053e-02 6.91237817e+01] [ 4.53397842e-01 8.91214646e-01 -1.29170746e-02 1.17291362e+01] [ 3.23550671e-02 -1.97419453e-03 9.99474488e-01 2.12211089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.410714057 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:69.15, Y:11.74, Z:2.12 [[ 8.90309264e-01 -4.54365655e-01 -3.00210896e-02 6.91548024e+01] [ 4.54208752e-01 8.90811087e-01 -1.22481757e-02 1.17433028e+01] [ 3.23082698e-02 -2.73117738e-03 9.99474220e-01 2.12145590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44071405700001 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:69.18, Y:11.76, Z:2.12 [[ 8.89671648e-01 -4.55610544e-01 -3.00564609e-02 6.91831304e+01] [ 4.55457072e-01 8.90174603e-01 -1.21667970e-02 1.17570047e+01] [ 3.22988191e-02 -2.86497334e-03 9.99474151e-01 2.12186835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47071405700001 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:69.21, Y:11.77, Z:2.12 [[ 8.89891875e-01 -4.55183718e-01 -3.00038914e-02 6.92128604e+01] [ 4.55025952e-01 8.90393394e-01 -1.22876795e-02 1.17689281e+01] [ 3.23084184e-02 -2.71784308e-03 9.99474252e-01 2.12433083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50071405700001 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:69.24, Y:11.78, Z:2.13 [[ 8.89820121e-01 -4.55322922e-01 -3.00198217e-02 6.92425416e+01] [ 4.55166461e-01 8.90322079e-01 -1.22510552e-02 1.17820185e+01] [ 3.23054963e-02 -2.76278057e-03 9.99474223e-01 2.12536697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.530714057 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:69.27, Y:11.80, Z:2.12 [[ 8.88674669e-01 -4.57555361e-01 -3.00070593e-02 6.92719315e+01] [ 4.57399179e-01 8.89176689e-01 -1.22803513e-02 1.17953837e+01] [ 3.23005182e-02 -2.81196719e-03 9.99474246e-01 2.12493864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.560714057 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:69.30, Y:11.81, Z:2.13 [[ 8.88037109e-01 -4.58791783e-01 -3.00032242e-02 6.93016703e+01] [ 4.58636004e-01 8.88539246e-01 -1.22891530e-02 1.18079001e+01] [ 3.22972046e-02 -2.84733496e-03 9.99474253e-01 2.12576171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.590714057 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:69.33, Y:11.82, Z:2.13 [[ 8.87284333e-01 -4.60246582e-01 -2.99932758e-02 6.93324855e+01] [ 4.60090860e-01 8.87786470e-01 -1.23119639e-02 1.18200570e+01] [ 3.22941638e-02 -2.87541935e-03 9.99474271e-01 2.12658376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.620714057 meters Centerline goodness : 0.995510 Centerline is valid? [True, True] Translation: X:69.36, Y:11.83, Z:2.13 [[ 8.86443387e-01 -4.61862711e-01 -3.00159736e-02 6.93625746e+01] [ 4.61709652e-01 8.86946386e-01 -1.22599454e-02 1.18330214e+01] [ 3.22849709e-02 -2.99091722e-03 9.99474229e-01 2.12768165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.650714057 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:69.38, Y:11.85, Z:2.13 [[ 8.80709494e-01 -4.72703695e-01 -3.00333713e-02 6.93788913e+01] [ 4.72558164e-01 8.81214759e-01 -1.22200888e-02 1.18500923e+01] [ 3.22423311e-02 -3.43016661e-03 9.99474195e-01 2.12556217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.680714057 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:69.42, Y:11.86, Z:2.13 [[ 8.84692786e-01 -4.65227780e-01 -2.96949016e-02 6.94205355e+01] [ 4.65052050e-01 8.85187978e-01 -1.29936365e-02 1.18558053e+01] [ 3.23305706e-02 -2.31429837e-03 9.99474551e-01 2.13021630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.710714057 meters Centerline goodness : 0.995173 Centerline is valid? [True, True] Translation: X:69.45, Y:11.87, Z:2.13 [[ 8.83336436e-01 -4.67780811e-01 -2.99642036e-02 6.94513652e+01] [ 4.67627090e-01 8.83839153e-01 -1.23796958e-02 1.18692512e+01] [ 3.22745204e-02 -3.07663692e-03 9.99474307e-01 2.12942354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.740714057 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:69.48, Y:11.88, Z:2.13 [[ 8.82667871e-01 -4.69036236e-01 -3.00406144e-02 6.94785111e+01] [ 4.68889102e-01 8.83172711e-01 -1.22054315e-02 1.18797532e+01] [ 3.22558405e-02 -3.31237451e-03 9.99474156e-01 2.13011136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.770714057 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:69.51, Y:11.89, Z:2.13 [[ 8.82298268e-01 -4.69734338e-01 -2.99903000e-02 6.95071102e+01] [ 4.69583731e-01 8.82801976e-01 -1.23202971e-02 1.18928344e+01] [ 3.22627627e-02 -3.21278016e-03 9.99474258e-01 2.12993330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80071405700001 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:69.54, Y:11.91, Z:2.13 [[ 8.82354399e-01 -4.69630721e-01 -2.99616644e-02 6.95368334e+01] [ 4.69477853e-01 8.82857373e-01 -1.23856649e-02 1.19062823e+01] [ 3.22685651e-02 -3.13779199e-03 9.99474309e-01 2.13062541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83071405700001 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:69.55, Y:11.92, Z:2.13 [[ 8.78316847e-01 -4.77138495e-01 -2.99728790e-02 6.95529187e+01] [ 4.76990786e-01 8.78821380e-01 -1.23600773e-02 1.19241744e+01] [ 3.22382755e-02 -3.44072302e-03 9.99474289e-01 2.12986820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86071405700001 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:69.60, Y:11.93, Z:2.13 [[ 8.83886708e-01 -4.66758642e-01 -2.96758533e-02 6.95975951e+01] [ 4.66582346e-01 8.84381688e-01 -1.30362515e-02 1.19315277e+01] [ 3.23295643e-02 -2.32365982e-03 9.99474562e-01 2.13429328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.890714057 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:69.62, Y:11.94, Z:2.13 [[ 8.85453143e-01 -4.63752379e-01 -3.01075352e-02 6.96246026e+01] [ 4.63607440e-01 8.85958759e-01 -1.20507086e-02 1.19432440e+01] [ 3.22625793e-02 -3.28773949e-03 9.99474020e-01 2.13418330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.920714057 meters Centerline goodness : 0.995119 Centerline is valid? [True, True] Translation: X:69.66, Y:11.96, Z:2.13 [[ 8.84419983e-01 -4.65725637e-01 -3.00154033e-02 6.96595402e+01] [ 4.65574732e-01 8.84923631e-01 -1.22611903e-02 1.19584879e+01] [ 3.22716903e-02 -3.13037165e-03 9.99474231e-01 2.13074983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.950714057 meters Centerline goodness : 0.995391 Centerline is valid? [True, True] Translation: X:69.69, Y:11.97, Z:2.13 [[ 8.85416755e-01 -4.63813870e-01 -3.02301936e-02 6.96890514e+01] [ 4.63678401e-01 8.85925377e-01 -1.17714142e-02 1.19718486e+01] [ 3.22414408e-02 -3.59448045e-03 9.99473646e-01 2.13199951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.980714057 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:69.72, Y:11.99, Z:2.13 [[ 8.85592335e-01 -4.63476911e-01 -3.02550653e-02 6.97176240e+01] [ 4.63343165e-01 8.86101504e-01 -1.17147993e-02 1.19858113e+01] [ 3.22385978e-02 -3.64394125e-03 9.99473559e-01 2.13376055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.010714057 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:69.74, Y:12.00, Z:2.14 [[ 8.87684649e-01 -4.59458375e-01 -3.02318501e-02 6.97394994e+01] [ 4.59320537e-01 8.88192641e-01 -1.17676349e-02 1.19963030e+01] [ 3.22584452e-02 -3.44016077e-03 9.99473640e-01 2.14028945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.040714057 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:69.77, Y:12.01, Z:2.13 [[ 8.86725250e-01 -4.61322870e-01 -2.99923432e-02 6.97734158e+01] [ 4.61167809e-01 8.87227541e-01 -1.23102882e-02 1.20117016e+01] [ 3.22890504e-02 -2.91565979e-03 9.99474320e-01 2.13492863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.070714057 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:69.80, Y:12.02, Z:2.14 [[ 8.87048389e-01 -4.60685559e-01 -3.02319667e-02 6.98021008e+01] [ 4.60548449e-01 8.87556571e-01 -1.17668657e-02 1.20243166e+01] [ 3.22534058e-02 -3.48550616e-03 9.99473646e-01 2.13539958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.100714057 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:69.82, Y:12.04, Z:2.14 [[ 8.88055575e-01 -4.58742169e-01 -3.02145409e-02 6.98217451e+01] [ 4.58602614e-01 8.88563027e-01 -1.18063350e-02 1.20358257e+01] [ 3.22635876e-02 -3.37178578e-03 9.99473707e-01 2.14316682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.130714057 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:69.85, Y:12.05, Z:2.14 [[ 8.86301875e-01 -4.62142204e-01 -2.98926402e-02 6.98544639e+01] [ 4.61980153e-01 8.86801714e-01 -1.25322736e-02 1.20514828e+01] [ 3.23005371e-02 -2.70242895e-03 9.99474548e-01 2.13991693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.160714057 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:69.88, Y:12.06, Z:2.14 [[ 8.86303862e-01 -4.62125914e-01 -3.00849435e-02 6.98813134e+01] [ 4.61978441e-01 8.86808634e-01 -1.20982273e-02 1.20644521e+01] [ 3.22704920e-02 -3.17588970e-03 9.99474126e-01 2.14084411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19071405700001 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:69.91, Y:12.08, Z:2.14 [[ 8.85897151e-01 -4.62910161e-01 -3.00070040e-02 6.99104590e+01] [ 4.62757218e-01 8.86400083e-01 -1.22739192e-02 1.20783413e+01] [ 3.22799328e-02 -3.01252763e-03 9.99474327e-01 2.14174827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22071405700001 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:69.94, Y:12.09, Z:2.14 [[ 8.85358890e-01 -4.63936250e-01 -3.00465023e-02 6.99396609e+01] [ 4.63786885e-01 8.85862998e-01 -1.21849612e-02 1.20920318e+01] [ 3.22701298e-02 -3.14711002e-03 9.99474229e-01 2.14437805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25071405700001 meters Centerline goodness : 0.994853 Centerline is valid? [True, True] Translation: X:69.97, Y:12.10, Z:2.14 [[ 8.85386460e-01 -4.63885038e-01 -3.00247895e-02 6.99676998e+01] [ 4.63733997e-01 8.85890012e-01 -1.22338515e-02 1.21043020e+01] [ 3.22737618e-02 -3.09182920e-03 9.99474284e-01 2.14340365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.280714057 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:70.00, Y:12.12, Z:2.14 [[ 8.85092835e-01 -4.64446349e-01 -3.00043928e-02 6.99976134e+01] [ 4.64294080e-01 8.85595965e-01 -1.22798430e-02 1.21174800e+01] [ 3.22750974e-02 -3.06206087e-03 9.99474333e-01 2.14400922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.310714057 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:70.03, Y:12.13, Z:2.15 [[ 8.87031891e-01 -4.60732839e-01 -2.99945740e-02 7.00281261e+01] [ 4.60577722e-01 8.87534126e-01 -1.23018991e-02 1.21277648e+01] [ 3.22890970e-02 -2.90265576e-03 9.99474356e-01 2.14646944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.340714057 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:70.04, Y:12.15, Z:2.15 [[ 8.81676012e-01 -4.70897654e-01 -3.00467813e-02 7.00363452e+01] [ 4.70752278e-01 8.82181289e-01 -1.21846334e-02 1.21458336e+01] [ 3.22444236e-02 -3.40169176e-03 9.99474225e-01 2.15200968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.370714057 meters Centerline goodness : 0.994403 Centerline is valid? [True, True] Translation: X:70.08, Y:12.15, Z:2.15 [[ 8.85931308e-01 -4.62876462e-01 -2.95143892e-02 7.00833850e+01] [ 4.62686685e-01 8.86420961e-01 -1.33757853e-02 1.21542446e+01] [ 3.23535094e-02 -1.80588791e-03 9.99474857e-01 2.14941386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.400714057 meters Centerline goodness : 0.995709 Centerline is valid? [True, True] Translation: X:70.12, Y:12.17, Z:2.14 [[ 8.84407943e-01 -4.65751125e-01 -2.99746451e-02 7.01187071e+01] [ 4.65597293e-01 8.84910548e-01 -1.23483912e-02 1.21680298e+01] [ 3.22761567e-02 -3.03509832e-03 9.99474381e-01 2.14402709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.430714057 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:70.15, Y:12.18, Z:2.14 [[ 8.83860640e-01 -4.66774131e-01 -3.02039732e-02 7.01486483e+01] [ 4.66638169e-01 8.84369106e-01 -1.18365333e-02 1.21812188e+01] [ 3.22364483e-02 -3.63248083e-03 9.99473670e-01 2.14476408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.460714057 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:70.17, Y:12.20, Z:2.15 [[ 8.80983010e-01 -4.72182879e-01 -3.02037276e-02 7.01694183e+01] [ 4.72050018e-01 8.81492294e-01 -1.18370805e-02 1.21951068e+01] [ 3.22136199e-02 -3.82940332e-03 9.99473671e-01 2.15134628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.490714057 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:70.18, Y:12.21, Z:2.15 [[ 8.77877623e-01 -4.77946876e-01 -2.99610317e-02 7.01825139e+01] [ 4.77799065e-01 8.78381966e-01 -1.23763819e-02 1.22112913e+01] [ 3.22324830e-02 -3.45040417e-03 9.99474443e-01 2.15037692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.520714057 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:70.23, Y:12.22, Z:2.15 [[ 8.80379279e-01 -4.73350049e-01 -2.95305990e-02 7.02256820e+01] [ 4.73167609e-01 8.80871571e-01 -1.33299846e-02 1.22218745e+01] [ 3.23224140e-02 -2.23748069e-03 9.99474990e-01 2.15469213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55071405700001 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:70.25, Y:12.23, Z:2.16 [[ 8.81246138e-01 -4.71706358e-01 -2.99725869e-02 7.02512021e+01] [ 4.71555903e-01 8.81749703e-01 -1.23487062e-02 1.22329150e+01] [ 3.22532828e-02 -3.25150058e-03 9.99474439e-01 2.15554059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58071405700001 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:70.27, Y:12.25, Z:2.15 [[ 8.76764488e-01 -4.79995002e-01 -2.98132493e-02 7.02681581e+01] [ 4.79837370e-01 8.77265499e-01 -1.27020335e-02 1.22492935e+01] [ 3.22510476e-02 -3.16881927e-03 9.99474776e-01 2.15389664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61071405700001 meters Centerline goodness : 0.996420 Centerline is valid? [True, True] Translation: X:70.32, Y:12.26, Z:2.15 [[ 8.80654370e-01 -4.72838328e-01 -2.95261854e-02 7.03159868e+01] [ 4.72655348e-01 8.81146430e-01 -1.33375446e-02 1.22583521e+01] [ 3.23233951e-02 -2.20994245e-03 9.99475019e-01 2.15266591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.640714057 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:70.34, Y:12.27, Z:2.15 [[ 8.79719346e-01 -4.74541486e-01 -3.00707629e-02 7.03442690e+01] [ 4.74400125e-01 8.80225790e-01 -1.21276244e-02 1.22715154e+01] [ 3.22241220e-02 -3.59666786e-03 9.99474197e-01 2.15330799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.670714057 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:70.37, Y:12.29, Z:2.16 [[ 8.77834227e-01 -4.78024511e-01 -2.99939493e-02 7.03695096e+01] [ 4.77879385e-01 8.78339371e-01 -1.22980561e-02 1.22858991e+01] [ 3.22236389e-02 -3.53783549e-03 9.99474422e-01 2.16026811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.700714057 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:70.39, Y:12.30, Z:2.16 [[ 8.74957113e-01 -4.83277282e-01 -2.98851123e-02 7.03850750e+01] [ 4.83127031e-01 8.75460477e-01 -1.25389285e-02 1.23021037e+01] [ 3.22230140e-02 -3.46728091e-03 9.99474690e-01 2.15864690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.730714057 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:70.43, Y:12.31, Z:2.16 [[ 8.76807951e-01 -4.79934322e-01 -2.95103890e-02 7.04278781e+01] [ 4.79754354e-01 8.77301033e-01 -1.33662837e-02 1.23114964e+01] [ 3.23044330e-02 -2.43807380e-03 9.99475102e-01 2.15961022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.760714057 meters Centerline goodness : 0.995750 Centerline is valid? [True, True] Translation: X:70.46, Y:12.32, Z:2.16 [[ 8.76425555e-01 -4.80606345e-01 -2.99297124e-02 7.04583125e+01] [ 4.80457943e-01 8.76929554e-01 -1.24387618e-02 1.23235187e+01] [ 3.22243971e-02 -3.47831937e-03 9.99474607e-01 2.15925199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.790714057 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:70.48, Y:12.33, Z:2.16 [[ 8.76939917e-01 -4.79666545e-01 -2.99397301e-02 7.04838117e+01] [ 4.79518351e-01 8.77444003e-01 -1.24166239e-02 1.23345560e+01] [ 3.22262757e-02 -3.46801684e-03 9.99474582e-01 2.16419196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.820714057 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:70.51, Y:12.35, Z:2.17 [[ 8.76121037e-01 -4.81170445e-01 -2.97813841e-02 7.05118170e+01] [ 4.81011320e-01 8.76621434e-01 -1.27660027e-02 1.23479038e+01] [ 3.22496229e-02 -3.14061935e-03 9.99474911e-01 2.16657534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.850714057 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:70.54, Y:12.36, Z:2.17 [[ 8.76212859e-01 -4.81005681e-01 -2.97415566e-02 7.05390142e+01] [ 4.80843503e-01 8.76712213e-01 -1.28538639e-02 1.23610457e+01] [ 3.22575674e-02 -3.03831341e-03 9.99474971e-01 2.16774168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.880714057 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:70.57, Y:12.38, Z:2.17 [[ 8.75709433e-01 -4.81924572e-01 -2.96933660e-02 7.05700792e+01] [ 4.81759343e-01 8.76207721e-01 -1.29601141e-02 1.23755023e+01] [ 3.22633539e-02 -2.95576233e-03 9.99475032e-01 2.16729605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.910714057 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:70.61, Y:12.39, Z:2.16 [[ 8.75861957e-01 -4.81644557e-01 -2.97380838e-02 7.06078656e+01] [ 4.81482486e-01 8.76361339e-01 -1.28615101e-02 1.23896631e+01] [ 3.22559833e-02 -3.05345915e-03 9.99474976e-01 2.16237546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94071405700001 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:70.63, Y:12.40, Z:2.17 [[ 8.75666859e-01 -4.81979944e-01 -3.00480726e-02 7.06258787e+01] [ 4.81841193e-01 8.76173943e-01 -1.21772670e-02 1.24002078e+01] [ 3.21965367e-02 -3.81516997e-03 9.99474276e-01 2.16930329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97071405700001 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:70.66, Y:12.41, Z:2.17 [[ 8.75437135e-01 -4.82420636e-01 -2.96673556e-02 7.06571712e+01] [ 4.82253842e-01 8.75934839e-01 -1.30149625e-02 1.24139949e+01] [ 3.22653568e-02 -2.91341474e-03 9.99475092e-01 2.17058217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00071405700001 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:70.69, Y:12.43, Z:2.17 [[ 8.75105821e-01 -4.83017151e-01 -2.97360550e-02 7.06872816e+01] [ 4.82855782e-01 8.75605399e-01 -1.28638554e-02 1.24273485e+01] [ 3.22505131e-02 -3.10099134e-03 9.99475006e-01 2.17171149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.030714057 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:70.71, Y:12.44, Z:2.17 [[ 8.75419048e-01 -4.82448647e-01 -2.97454724e-02 7.07146286e+01] [ 4.82287651e-01 8.75918761e-01 -1.28431402e-02 1.24404087e+01] [ 3.22507729e-02 -3.10274444e-03 9.99474992e-01 2.17295797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.060714057 meters Centerline goodness : 0.995964 Centerline is valid? [True, True] Translation: X:70.75, Y:12.45, Z:2.17 [[ 8.76056510e-01 -4.81292925e-01 -2.97003490e-02 7.07489901e+01] [ 4.81127930e-01 8.76554853e-01 -1.29423832e-02 1.24546367e+01] [ 3.22630625e-02 -2.95140841e-03 9.99475054e-01 2.17448849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.090714057 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:70.77, Y:12.47, Z:2.18 [[ 8.76132449e-01 -4.81143901e-01 -2.98743890e-02 7.07742781e+01] [ 4.80991731e-01 8.76635169e-01 -1.25592844e-02 1.24668151e+01] [ 3.22317632e-02 -3.36573752e-03 9.99474755e-01 2.17582888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.120714057 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:70.81, Y:12.48, Z:2.18 [[ 8.76251566e-01 -4.80936317e-01 -2.97229203e-02 7.08050810e+01] [ 4.80772817e-01 8.76750420e-01 -1.28918637e-02 1.24813204e+01] [ 3.22597483e-02 -2.99345635e-03 9.99475036e-01 2.17584655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.150714057 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:70.83, Y:12.49, Z:2.18 [[ 8.76633852e-01 -4.80235818e-01 -2.97766438e-02 7.08341393e+01] [ 4.80075890e-01 8.77133951e-01 -1.27738907e-02 1.24940489e+01] [ 3.22525851e-02 -3.09702379e-03 9.99474952e-01 2.17655852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.180714057 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:70.86, Y:12.51, Z:2.18 [[ 8.76720398e-01 -4.80078984e-01 -2.97575754e-02 7.08644778e+01] [ 4.79917559e-01 8.77219981e-01 -1.28156863e-02 1.25072926e+01] [ 3.22564814e-02 -3.04540933e-03 9.99474985e-01 2.17808758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.210714057 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:70.89, Y:12.52, Z:2.18 [[ 8.77139634e-01 -4.79311326e-01 -2.97777549e-02 7.08922270e+01] [ 4.79150952e-01 8.77639593e-01 -1.27714647e-02 1.25201133e+01] [ 3.22556444e-02 -3.06568176e-03 9.99474950e-01 2.17853715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.240714057 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:70.92, Y:12.53, Z:2.18 [[ 8.77346141e-01 -4.78936194e-01 -2.97299728e-02 7.09225863e+01] [ 4.78772084e-01 8.77844802e-01 -1.28761714e-02 1.25337418e+01] [ 3.22651666e-02 -2.93702175e-03 9.99475029e-01 2.17911593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.270714057 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:70.95, Y:12.55, Z:2.18 [[ 8.77770302e-01 -4.78156134e-01 -2.97658879e-02 7.09487760e+01] [ 4.77994227e-01 8.78269744e-01 -1.27974831e-02 1.25467748e+01] [ 3.22616738e-02 -2.99467199e-03 9.99474970e-01 2.18036376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30071405700001 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:70.98, Y:12.56, Z:2.18 [[ 8.77592869e-01 -4.78486796e-01 -2.96840443e-02 7.09786097e+01] [ 4.78319057e-01 8.78090250e-01 -1.29765724e-02 1.25606446e+01] [ 3.22743884e-02 -2.81029666e-03 9.99475095e-01 2.18248058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33071405700001 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:71.01, Y:12.57, Z:2.18 [[ 8.78095187e-01 -4.77563386e-01 -2.96994260e-02 7.10064104e+01] [ 4.77396254e-01 8.78592794e-01 -1.29429085e-02 1.25737906e+01] [ 3.22747609e-02 -2.81328909e-03 9.99475075e-01 2.18266221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36071405700001 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:71.04, Y:12.59, Z:2.18 [[ 8.78908924e-01 -4.76068336e-01 -2.96317718e-02 7.10356119e+01] [ 4.75895396e-01 8.79404458e-01 -1.30908909e-02 1.25880819e+01] [ 3.22904708e-02 -2.59592290e-03 9.99475156e-01 2.18398489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.390714057 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:71.07, Y:12.60, Z:2.19 [[ 8.78825979e-01 -4.76219245e-01 -2.96669941e-02 7.10659863e+01] [ 4.76048971e-01 8.79322476e-01 -1.30138626e-02 1.26020258e+01] [ 3.22843065e-02 -2.68602144e-03 9.99475117e-01 2.18503528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.420714057 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:71.09, Y:12.62, Z:2.19 [[ 8.79188436e-01 -4.75549964e-01 -2.96635299e-02 7.10944497e+01] [ 4.75379059e-01 8.79684712e-01 -1.30214347e-02 1.26159115e+01] [ 3.22868966e-02 -2.65312616e-03 9.99475121e-01 2.18542087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.450714057 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:71.12, Y:12.63, Z:2.19 [[ 8.80580373e-01 -4.72968464e-01 -2.96485977e-02 7.11227406e+01] [ 4.72795010e-01 8.81075745e-01 -1.30540832e-02 1.26297523e+01] [ 3.22968300e-02 -2.52253961e-03 9.99475138e-01 2.18695970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.480714057 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:71.15, Y:12.64, Z:2.19 [[ 8.80816992e-01 -4.72528361e-01 -2.96374040e-02 7.11502811e+01] [ 4.72353841e-01 8.81311977e-01 -1.30785384e-02 1.26442131e+01] [ 3.22997794e-02 -2.47954275e-03 9.99475150e-01 2.18820833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.510714057 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:71.18, Y:12.66, Z:2.19 [[ 8.82631287e-01 -4.69133557e-01 -2.95925259e-02 7.11808147e+01] [ 4.68953861e-01 8.83124371e-01 -1.31765538e-02 1.26587774e+01] [ 3.23154444e-02 -2.24749068e-03 9.99475193e-01 2.19005711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.540714057 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:71.21, Y:12.67, Z:2.19 [[ 8.83256548e-01 -4.67952061e-01 -2.96435466e-02 7.12093999e+01] [ 4.67775425e-01 8.83750788e-01 -1.30650871e-02 1.26727485e+01] [ 3.23113421e-02 -2.32669891e-03 9.99475144e-01 2.19126115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.570714057 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:71.24, Y:12.69, Z:2.19 [[ 8.84274923e-01 -4.66025514e-01 -2.96324236e-02 7.12365785e+01] [ 4.65846991e-01 8.84768472e-01 -1.30893925e-02 1.26860406e+01] [ 3.23178250e-02 -2.22955378e-03 9.99475156e-01 2.19288128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.600714057 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:71.27, Y:12.70, Z:2.20 [[ 8.85080246e-01 -4.64496802e-01 -2.95918786e-02 7.12675733e+01] [ 4.64314476e-01 8.85572363e-01 -1.31779242e-02 1.27001657e+01] [ 3.23268535e-02 -2.07641721e-03 9.99475194e-01 2.19554024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.630714057 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:71.30, Y:12.71, Z:2.20 [[ 8.85657081e-01 -4.63391059e-01 -2.96691997e-02 7.12983622e+01] [ 4.63213745e-01 8.86151111e-01 -1.30090425e-02 1.27134552e+01] [ 3.23196682e-02 -2.22163050e-03 9.99475114e-01 2.19611685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.660714057 meters Centerline goodness : 0.994365 Centerline is valid? [True, True] Translation: X:71.32, Y:12.73, Z:2.20 [[ 8.85722693e-01 -4.63262351e-01 -2.97204402e-02 7.13244214e+01] [ 4.63088703e-01 8.86218099e-01 -1.28970674e-02 1.27252798e+01] [ 3.23135178e-02 -2.33997486e-03 9.99475043e-01 2.19713513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69071405700001 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:71.36, Y:12.74, Z:2.20 [[ 8.85254909e-01 -4.64161510e-01 -2.96283381e-02 7.13553935e+01] [ 4.63981645e-01 8.85747968e-01 -1.30984458e-02 1.27383657e+01] [ 3.23230346e-02 -2.15154163e-03 9.99475158e-01 2.19685627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72071405700001 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:71.38, Y:12.75, Z:2.20 [[ 8.84136033e-01 -4.66284662e-01 -2.96999800e-02 7.13846150e+01] [ 4.66111215e-01 8.84631476e-01 -1.29416917e-02 1.27505243e+01] [ 3.23080495e-02 -2.40127785e-03 9.99475074e-01 2.19628072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75071405700001 meters Centerline goodness : 0.994655 Centerline is valid? [True, True] Translation: X:71.41, Y:12.76, Z:2.20 [[ 8.82774817e-01 -4.68858247e-01 -2.96743283e-02 7.14148601e+01] [ 4.68684367e-01 8.83270072e-01 -1.29978007e-02 1.27647093e+01] [ 3.23045721e-02 -2.43376263e-03 9.99475108e-01 2.19555717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.780714057 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:71.44, Y:12.78, Z:2.20 [[ 8.81895890e-01 -4.70509009e-01 -2.96801755e-02 7.14418321e+01] [ 4.70336484e-01 8.82391626e-01 -1.29850072e-02 1.27762045e+01] [ 3.22991012e-02 -2.50824488e-03 9.99475101e-01 2.19799033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.810714057 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:71.47, Y:12.79, Z:2.20 [[ 8.80783922e-01 -4.72592243e-01 -2.96015873e-02 7.14730777e+01] [ 4.72415144e-01 8.81277954e-01 -1.31567620e-02 1.27903356e+01] [ 3.23050099e-02 -2.39597368e-03 9.99475185e-01 2.19903432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.840714057 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:71.50, Y:12.80, Z:2.20 [[ 8.79196847e-01 -4.75534717e-01 -2.96586742e-02 7.15001133e+01] [ 4.75363452e-01 8.79692991e-01 -1.30319317e-02 1.28022071e+01] [ 3.22876638e-02 -2.64101650e-03 9.99475128e-01 2.19984062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.870714057 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:71.53, Y:12.82, Z:2.20 [[ 8.78084927e-01 -4.77590306e-01 -2.95695812e-02 7.15320361e+01] [ 4.77413677e-01 8.78579100e-01 -1.32266862e-02 1.28161851e+01] [ 3.22961532e-02 -2.50276868e-03 9.99475210e-01 2.20124933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.900714057 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:71.56, Y:12.83, Z:2.20 [[ 8.77321215e-01 -4.78986661e-01 -2.96523825e-02 7.15618622e+01] [ 4.78816887e-01 8.77817863e-01 -1.30456266e-02 1.28295081e+01] [ 3.22780722e-02 -2.75285657e-03 9.99475136e-01 2.20185380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.930714057 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:71.59, Y:12.84, Z:2.20 [[ 8.75866807e-01 -4.81639913e-01 -2.96703721e-02 7.15906013e+01] [ 4.81472965e-01 8.76364433e-01 -1.30062894e-02 1.28420996e+01] [ 3.22664070e-02 -2.89370486e-03 9.99475115e-01 2.20356106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.960714057 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:71.62, Y:12.86, Z:2.20 [[ 8.74954066e-01 -4.83299093e-01 -2.96204112e-02 7.16216699e+01] [ 4.83129418e-01 8.75450712e-01 -1.31155062e-02 1.28556580e+01] [ 3.22699223e-02 -2.83502653e-03 9.99475170e-01 2.20307560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.990714057 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:71.65, Y:12.87, Z:2.21 [[ 8.74414910e-01 -4.84270578e-01 -2.96744596e-02 7.16497303e+01] [ 4.84105426e-01 8.74913141e-01 -1.29973610e-02 1.28686458e+01] [ 3.22568142e-02 -3.00048063e-03 9.99475110e-01 2.20682006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.020714057 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:71.68, Y:12.88, Z:2.21 [[ 8.73231837e-01 -4.86404599e-01 -2.96095617e-02 7.16801218e+01] [ 4.86235906e-01 8.73728800e-01 -1.31387723e-02 1.28820428e+01] [ 3.22614861e-02 -2.92403782e-03 9.99475186e-01 2.20804703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05071405700001 meters Centerline goodness : 0.992963 Centerline is valid? [True, True] Translation: X:71.71, Y:12.89, Z:2.21 [[ 8.73042223e-01 -4.86740589e-01 -2.96795384e-02 7.17058321e+01] [ 4.86577222e-01 8.73541049e-01 -1.29862156e-02 1.28940605e+01] [ 3.22472133e-02 -3.10387285e-03 9.99475104e-01 2.20738641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08071405700001 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:71.74, Y:12.91, Z:2.21 [[ 8.72258826e-01 -4.88150838e-01 -2.95516432e-02 7.17375233e+01] [ 4.87978893e-01 8.72754626e-01 -1.32651073e-02 1.29088176e+01] [ 3.22667065e-02 -2.84997125e-03 9.99475231e-01 2.20661184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11071405700001 meters Centerline goodness : 0.993811 Centerline is valid? [True, True] Translation: X:71.77, Y:12.92, Z:2.21 [[ 8.72328998e-01 -4.88019950e-01 -2.96419975e-02 7.17675847e+01] [ 4.87854544e-01 8.72827107e-01 -1.30684760e-02 1.29224870e+01] [ 3.22500159e-02 -3.06097262e-03 9.99475146e-01 2.20784480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.140714057 meters Centerline goodness : 0.993011 Centerline is valid? [True, True] Translation: X:71.80, Y:12.94, Z:2.21 [[ 8.72446894e-01 -4.87809112e-01 -2.96426550e-02 7.17969321e+01] [ 4.87643633e-01 8.72944981e-01 -1.30670449e-02 1.29364404e+01] [ 3.22506305e-02 -3.05474920e-03 9.99475145e-01 2.20865660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.170714057 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:71.83, Y:12.95, Z:2.21 [[ 8.72932561e-01 -4.86939669e-01 -2.96395413e-02 7.18253644e+01] [ 4.86773467e-01 8.73430402e-01 -1.30738208e-02 1.29500748e+01] [ 3.22542385e-02 -3.01517837e-03 9.99475149e-01 2.20799380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.200714057 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:71.86, Y:12.96, Z:2.21 [[ 8.72692219e-01 -4.87370889e-01 -2.96295012e-02 7.18550494e+01] [ 4.87204196e-01 8.73189884e-01 -1.30957095e-02 1.29636544e+01] [ 3.22546483e-02 -3.00709352e-03 9.99475160e-01 2.20774034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.230714057 meters Centerline goodness : 0.993531 Centerline is valid? [True, True] Translation: X:71.89, Y:12.98, Z:2.21 [[ 8.72907700e-01 -4.86983738e-01 -2.96477005e-02 7.18850336e+01] [ 4.86818160e-01 8.73405759e-01 -1.30560279e-02 1.29763742e+01] [ 3.22525457e-02 -3.03633171e-03 9.99475139e-01 2.20792626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.260714057 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:71.92, Y:12.99, Z:2.21 [[ 8.70565795e-01 -4.91161371e-01 -2.95923143e-02 7.19194775e+01] [ 4.90994126e-01 8.71063231e-01 -1.31763518e-02 1.29928989e+01] [ 3.22484919e-02 -3.05877133e-03 9.99475202e-01 2.20862678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.290714057 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:71.95, Y:13.01, Z:2.21 [[ 8.70703153e-01 -4.90900711e-01 -2.98749180e-02 7.19492230e+01] [ 4.90754105e-01 8.71207566e-01 -1.25612644e-02 1.30056813e+01] [ 3.21935882e-02 -3.72410616e-03 9.99474714e-01 2.20720397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.320714057 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:71.97, Y:13.02, Z:2.21 [[ 8.71388312e-01 -4.89680552e-01 -2.99226778e-02 7.19699002e+01] [ 4.89536772e-01 8.71893668e-01 -1.24571671e-02 1.30172521e+01] [ 3.21894257e-02 -3.79322127e-03 9.99474588e-01 2.20941164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.350714057 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:72.00, Y:13.03, Z:2.21 [[ 8.69071539e-01 -4.93798212e-01 -2.96308250e-02 7.20022960e+01] [ 4.93635322e-01 8.69570451e-01 -1.30919365e-02 1.30335055e+01] [ 3.22308646e-02 -3.24899244e-03 9.99475170e-01 2.21219465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.380714057 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:72.03, Y:13.05, Z:2.21 [[ 8.68140980e-01 -4.95422877e-01 -2.97894407e-02 7.20304929e+01] [ 4.95272560e-01 8.68644104e-01 -1.27479793e-02 1.30483492e+01] [ 3.21920626e-02 -3.68684936e-03 9.99474901e-01 2.21419467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.410714057 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:72.06, Y:13.06, Z:2.21 [[ 8.69253077e-01 -4.93469459e-01 -2.97822370e-02 7.20550770e+01] [ 4.93317482e-01 8.69755685e-01 -1.27635939e-02 1.30604842e+01] [ 3.22017138e-02 -3.59730491e-03 9.99474917e-01 2.21492545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44071405700001 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:72.09, Y:13.08, Z:2.21 [[ 8.67508598e-01 -4.96539200e-01 -2.96252481e-02 7.20861348e+01] [ 4.96377495e-01 8.68007881e-01 -1.31034730e-02 1.30777772e+01] [ 3.22213368e-02 -3.33793097e-03 9.99475184e-01 2.21469699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47071405700001 meters Centerline goodness : 0.994251 Centerline is valid? [True, True] Translation: X:72.11, Y:13.09, Z:2.21 [[ 8.66461050e-01 -4.98358581e-01 -2.97316972e-02 7.21132088e+01] [ 4.98205798e-01 8.66963278e-01 -1.28708119e-02 1.30937476e+01] [ 3.21905693e-02 -3.66044671e-03 9.99475046e-01 2.21393459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50071405700001 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:72.14, Y:13.11, Z:2.22 [[ 8.67386847e-01 -4.96752233e-01 -2.96188628e-02 7.21370976e+01] [ 4.96590182e-01 8.67886010e-01 -1.31173546e-02 1.31061125e+01] [ 3.22218719e-02 -3.33061563e-03 9.99475191e-01 2.21664870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.530714057 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:72.17, Y:13.12, Z:2.22 [[ 8.71235327e-01 -4.89981387e-01 -2.94490374e-02 7.21704475e+01] [ 4.89802995e-01 8.71728797e-01 -1.34881456e-02 1.31155009e+01] [ 3.22805143e-02 -2.67287778e-03 9.99475274e-01 2.21677469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.560714057 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:72.20, Y:13.13, Z:2.22 [[ 8.72968415e-01 -4.86880738e-01 -2.95515391e-02 7.22034737e+01] [ 4.86708102e-01 8.73463958e-01 -1.32641618e-02 1.31283823e+01] [ 3.22702692e-02 -2.80377921e-03 9.99475247e-01 2.21861779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.590714057 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:72.23, Y:13.14, Z:2.22 [[ 8.71114177e-01 -4.90185388e-01 -2.96373909e-02 7.22307799e+01] [ 4.90020933e-01 8.71612574e-01 -1.30769397e-02 1.31442897e+01] [ 3.22424473e-02 -3.13143431e-03 9.99475172e-01 2.22034367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.620714057 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:72.27, Y:13.16, Z:2.22 [[ 8.71227814e-01 -4.89984533e-01 -2.96184662e-02 7.22682831e+01] [ 4.89818575e-01 8.71725690e-01 -1.31181352e-02 1.31588084e+01] [ 3.22468612e-02 -3.07879071e-03 9.99475193e-01 2.22034031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.650714057 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:72.29, Y:13.17, Z:2.22 [[ 8.70032403e-01 -4.92084658e-01 -2.99383808e-02 7.22919506e+01] [ 4.91943423e-01 8.70538528e-01 -1.24233568e-02 1.31743137e+01] [ 3.21758572e-02 -3.91926659e-03 9.99474539e-01 2.22207203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.680714057 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:72.32, Y:13.19, Z:2.22 [[ 8.71770328e-01 -4.89008095e-01 -2.97922639e-02 7.23166714e+01] [ 4.88854325e-01 8.72272394e-01 -1.27404357e-02 1.31865622e+01] [ 3.22171456e-02 -3.45734332e-03 9.99474913e-01 2.22299674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.710714057 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:72.35, Y:13.20, Z:2.22 [[ 8.71560893e-01 -4.89391132e-01 -2.96298728e-02 7.23459211e+01] [ 4.89225714e-01 8.72058944e-01 -1.30919657e-02 1.32026670e+01] [ 3.22460874e-02 -3.08525036e-03 9.99475198e-01 2.22365688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.740714057 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:72.38, Y:13.22, Z:2.22 [[ 8.72625057e-01 -4.87487763e-01 -2.96848539e-02 7.23831367e+01] [ 4.87325267e-01 8.73124153e-01 -1.29729723e-02 1.32176670e+01] [ 3.22427281e-02 -3.14563869e-03 9.99475118e-01 2.22121740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.770714057 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:72.40, Y:13.23, Z:2.22 [[ 8.71359226e-01 -4.89728013e-01 -2.99928906e-02 7.24034955e+01] [ 4.89589415e-01 8.71866262e-01 -1.23055356e-02 1.32317368e+01] [ 3.21761549e-02 -3.96165978e-03 9.99474362e-01 2.22421086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80071405700001 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:72.43, Y:13.25, Z:2.23 [[ 8.71428747e-01 -4.89620631e-01 -2.97250101e-02 7.24327893e+01] [ 4.89462328e-01 8.71929245e-01 -1.28848983e-02 1.32459938e+01] [ 3.22268177e-02 -3.32100187e-03 9.99475064e-01 2.22661226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83071405700001 meters Centerline goodness : 0.993924 Centerline is valid? [True, True] Translation: X:72.46, Y:13.26, Z:2.23 [[ 8.71973463e-01 -4.88646784e-01 -2.97758502e-02 7.24608486e+01] [ 4.88491636e-01 8.72475055e-01 -1.27749892e-02 1.32596236e+01] [ 3.22211439e-02 -3.40580222e-03 9.99474961e-01 2.22687627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86071405700001 meters Centerline goodness : 0.994027 Centerline is valid? [True, True] Translation: X:72.49, Y:13.27, Z:2.23 [[ 8.72886365e-01 -4.87014307e-01 -2.97734522e-02 7.24877598e+01] [ 4.86858046e-01 8.73387606e-01 -1.27801756e-02 1.32749522e+01] [ 3.22278925e-02 -3.33980372e-03 9.99474966e-01 2.22890738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.890714057 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:72.51, Y:13.29, Z:2.23 [[ 8.75564113e-01 -4.82183754e-01 -2.97709813e-02 7.25092411e+01] [ 4.82024546e-01 8.76064420e-01 -1.27855234e-02 1.32860122e+01] [ 3.22462691e-02 -3.15579831e-03 9.99474972e-01 2.23047324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.920714057 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:72.54, Y:13.30, Z:2.23 [[ 8.75936154e-01 -4.81523851e-01 -2.95065118e-02 7.25412753e+01] [ 4.81345102e-01 8.76429410e-01 -1.33559644e-02 1.33044260e+01] [ 3.22915902e-02 -2.50384282e-03 9.99475354e-01 2.23054272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.950714057 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:72.57, Y:13.32, Z:2.23 [[ 8.74745573e-01 -4.83671391e-01 -2.97013159e-02 7.25676478e+01] [ 4.83507980e-01 8.75244371e-01 -1.29353926e-02 1.33195369e+01] [ 3.22523889e-02 -3.04564581e-03 9.99475116e-01 2.23058090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.980714057 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:72.59, Y:13.33, Z:2.24 [[ 8.76883331e-01 -4.79787318e-01 -2.96606268e-02 7.25916767e+01] [ 4.79618743e-01 8.77380337e-01 -1.30232568e-02 1.33316860e+01] [ 3.22720442e-02 -2.80591580e-03 9.99475183e-01 2.23726513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.010714057 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:72.62, Y:13.35, Z:2.24 [[ 8.79576744e-01 -4.74842589e-01 -2.94833324e-02 7.26245770e+01] [ 4.74658439e-01 8.80067986e-01 -1.34054286e-02 1.33462668e+01] [ 3.23128054e-02 -2.20340932e-03 9.99475376e-01 2.23710550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.040714057 meters Centerline goodness : 0.992254 Centerline is valid? [True, True] Translation: X:72.65, Y:13.36, Z:2.24 [[ 8.80392315e-01 -4.73319989e-01 -2.96236424e-02 7.26506228e+01] [ 4.73145097e-01 8.80887072e-01 -1.31027824e-02 1.33602801e+01] [ 3.22968924e-02 -2.48069222e-03 9.99475241e-01 2.23984250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.070714057 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:72.69, Y:13.37, Z:2.24 [[ 8.84850291e-01 -4.64937190e-01 -2.95528772e-02 7.26872566e+01] [ 4.64752524e-01 8.85341395e-01 -1.32553675e-02 1.33740422e+01] [ 3.23272988e-02 -2.00575843e-03 9.99475324e-01 2.23955528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.100714057 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:72.71, Y:13.39, Z:2.24 [[ 8.84905806e-01 -4.64814425e-01 -2.98205547e-02 7.27118119e+01] [ 4.64648979e-01 8.85404199e-01 -1.26779785e-02 1.33882115e+01] [ 3.22961516e-02 -2.63727350e-03 9.99474864e-01 2.23758378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.130714057 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:72.74, Y:13.40, Z:2.24 [[ 8.88416100e-01 -4.58080658e-01 -2.96469814e-02 7.27436522e+01] [ 4.57898951e-01 8.88908427e-01 -1.30521325e-02 1.34008191e+01] [ 3.23323811e-02 -1.97959702e-03 9.99475211e-01 2.23974465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.160714057 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:72.77, Y:13.42, Z:2.24 [[ 8.88678677e-01 -4.57564568e-01 -2.97468482e-02 7.27731723e+01] [ 4.57389741e-01 8.89173681e-01 -1.28370232e-02 1.34157616e+01] [ 3.23238815e-02 -2.19791440e-03 9.99475030e-01 2.24134290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19071405700001 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:72.80, Y:13.43, Z:2.24 [[ 8.90020722e-01 -4.54948257e-01 -2.97522923e-02 7.27991499e+01] [ 4.54772365e-01 8.90515361e-01 -1.28252986e-02 1.34285360e+01] [ 3.23297206e-02 -2.11573879e-03 9.99475019e-01 2.24235863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22071405700001 meters Centerline goodness : 0.992536 Centerline is valid? [True, True] Translation: X:72.83, Y:13.44, Z:2.24 [[ 8.90601960e-01 -4.53814378e-01 -2.96758957e-02 7.28276103e+01] [ 4.53632381e-01 8.91094230e-01 -1.29898620e-02 1.34417906e+01] [ 3.23390056e-02 -1.89315068e-03 9.99475165e-01 2.24281340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25071405700001 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:72.86, Y:13.46, Z:2.24 [[ 8.92063845e-01 -4.50936558e-01 -2.96364111e-02 7.28632835e+01] [ 4.50750159e-01 8.92554395e-01 -1.30746641e-02 1.34551196e+01] [ 3.23479530e-02 -1.69518184e-03 9.99475230e-01 2.24483063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.280714057 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:72.89, Y:13.47, Z:2.25 [[ 8.91799070e-01 -4.51442471e-01 -2.99017352e-02 7.28917485e+01] [ 4.51275327e-01 8.92297153e-01 -1.25047724e-02 1.34684469e+01] [ 3.23264185e-02 -2.34217092e-03 9.99474620e-01 2.24559420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.310714057 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:72.90, Y:13.49, Z:2.25 [[ 8.85974837e-01 -4.62769423e-01 -2.98839372e-02 7.28977411e+01] [ 4.62607357e-01 8.86474539e-01 -1.25429446e-02 1.34853062e+01] [ 3.22958407e-02 -2.71179591e-03 9.99474674e-01 2.24919939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.340714057 meters Centerline goodness : 0.992799 Centerline is valid? [True, True] Translation: X:72.94, Y:13.49, Z:2.25 [[ 8.89490898e-01 -4.56018300e-01 -2.92104803e-02 7.29407582e+01] [ 4.55804795e-01 8.89969964e-01 -1.39803953e-02 1.34926324e+01] [ 3.23717662e-02 -8.78842601e-04 9.99475511e-01 2.24784768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.370714057 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:72.97, Y:13.51, Z:2.25 [[ 8.88716131e-01 -4.57498318e-01 -2.96467105e-02 7.29704782e+01] [ 4.57316471e-01 8.89208319e-01 -1.30464916e-02 1.35058536e+01] [ 3.23308496e-02 -1.96330153e-03 9.99475293e-01 2.24843797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.400714057 meters Centerline goodness : 0.993661 Centerline is valid? [True, True] Translation: X:73.00, Y:13.52, Z:2.25 [[ 8.86537575e-01 -4.61706566e-01 -2.96340268e-02 7.30021903e+01] [ 4.61526151e-01 8.87030266e-01 -1.30736230e-02 1.35197110e+01] [ 3.23224563e-02 -2.08662034e-03 9.99475315e-01 2.25022217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.430714057 meters Centerline goodness : 0.993140 Centerline is valid? [True, True] Translation: X:73.03, Y:13.53, Z:2.25 [[ 8.83729459e-01 -4.67051816e-01 -2.97463334e-02 7.30297868e+01] [ 4.66882418e-01 8.84226280e-01 -1.28333113e-02 1.35308191e+01] [ 3.22963110e-02 -2.54686479e-03 9.99475093e-01 2.25123507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.460714057 meters Centerline goodness : 0.992963 Centerline is valid? [True, True] Translation: X:73.06, Y:13.54, Z:2.25 [[ 8.83287403e-01 -4.67890842e-01 -2.96904636e-02 7.30555675e+01] [ 4.67717914e-01 8.83782880e-01 -1.29527890e-02 1.35417438e+01] [ 3.23004147e-02 -2.44572631e-03 9.99475213e-01 2.25345923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.490714057 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:73.09, Y:13.55, Z:2.25 [[ 8.78959775e-01 -4.75981873e-01 -2.95122283e-02 7.30899441e+01] [ 4.75800766e-01 8.79452024e-01 -1.33330087e-02 1.35537218e+01] [ 3.23008594e-02 -2.32276254e-03 9.99475492e-01 2.25272552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.520714057 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:73.12, Y:13.57, Z:2.25 [[ 8.77405199e-01 -4.78831727e-01 -2.96697471e-02 7.31196036e+01] [ 4.78663497e-01 8.77902241e-01 -1.29966097e-02 1.35658472e+01] [ 3.22703266e-02 -2.79853199e-03 9.99475259e-01 2.25366131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55071405700001 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:73.15, Y:13.58, Z:2.26 [[ 8.77406320e-01 -4.78830819e-01 -2.96512421e-02 7.31454425e+01] [ 4.78661261e-01 8.77902875e-01 -1.30361188e-02 1.35760722e+01] [ 3.22730061e-02 -2.75492791e-03 9.99475294e-01 2.25576162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58071405700001 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:73.18, Y:13.59, Z:2.26 [[ 8.74991251e-01 -4.83239470e-01 -2.94944901e-02 7.31766055e+01] [ 4.83061197e-01 8.75484505e-01 -1.33701850e-02 1.35877874e+01] [ 3.22829702e-02 -2.54884877e-03 9.99475519e-01 2.25605311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61071405700001 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:73.21, Y:13.60, Z:2.26 [[ 8.74161383e-01 -4.84737151e-01 -2.95257605e-02 7.32057419e+01] [ 4.84561959e-01 8.74655775e-01 -1.33035216e-02 1.36004398e+01] [ 3.22735881e-02 -2.67763546e-03 9.99475485e-01 2.25527628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.640714057 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:73.24, Y:13.61, Z:2.26 [[ 8.73403688e-01 -4.86102787e-01 -2.94970767e-02 7.32373667e+01] [ 4.85926319e-01 8.73897592e-01 -1.33645764e-02 1.36124164e+01] [ 3.22739822e-02 -2.66073556e-03 9.99475518e-01 2.25840471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.670714057 meters Centerline goodness : 0.995791 Centerline is valid? [True, True] Translation: X:73.27, Y:13.63, Z:2.26 [[ 8.72504744e-01 -4.87711356e-01 -2.95483473e-02 7.32683247e+01] [ 4.87539466e-01 8.73000323e-01 -1.32553603e-02 1.36263220e+01] [ 3.22605065e-02 -2.84062073e-03 9.99475458e-01 2.25904267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.700714057 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:73.30, Y:13.64, Z:2.26 [[ 8.73167243e-01 -4.86516294e-01 -2.96793259e-02 7.32963500e+01] [ 4.86353135e-01 8.73665987e-01 -1.29757695e-02 1.36384103e+01] [ 3.22427408e-02 -3.10461635e-03 9.99475246e-01 2.25860362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.730714057 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:73.33, Y:13.65, Z:2.26 [[ 8.73225089e-01 -4.86417310e-01 -2.95997271e-02 7.33264912e+01] [ 4.86248378e-01 8.73721758e-01 -1.31455072e-02 1.36516278e+01] [ 3.22561278e-02 -2.91383260e-03 9.99475388e-01 2.26150436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.760714057 meters Centerline goodness : 0.995494 Centerline is valid? [True, True] Translation: X:73.35, Y:13.66, Z:2.26 [[ 8.73685616e-01 -4.85584321e-01 -2.96869046e-02 7.33540816e+01] [ 4.85421177e-01 8.74184380e-01 -1.29595616e-02 1.36642979e+01] [ 3.22447882e-02 -3.08806958e-03 9.99475231e-01 2.26163910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.790714057 meters Centerline goodness : 0.995863 Centerline is valid? [True, True] Translation: X:73.38, Y:13.68, Z:2.26 [[ 8.73471078e-01 -4.85973766e-01 -2.96272729e-02 7.33825690e+01] [ 4.85806566e-01 8.73968376e-01 -1.30865295e-02 1.36776133e+01] [ 3.22530097e-02 -2.96241870e-03 9.99475346e-01 2.26309083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.820714057 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:73.41, Y:13.69, Z:2.26 [[ 8.73908439e-01 -4.85186675e-01 -2.96299115e-02 7.34113228e+01] [ 4.85019216e-01 8.74405655e-01 -1.30809103e-02 1.36904750e+01] [ 3.22552456e-02 -2.93955855e-03 9.99475341e-01 2.26340945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.850714057 meters Centerline goodness : 0.996021 Centerline is valid? [True, True] Translation: X:73.43, Y:13.71, Z:2.26 [[ 8.72008208e-01 -4.88593024e-01 -2.96402206e-02 7.34274337e+01] [ 4.88428247e-01 8.72506339e-01 -1.30589270e-02 1.37054634e+01] [ 3.22417810e-02 -3.08962947e-03 9.99475323e-01 2.26271505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.880714057 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:73.47, Y:13.72, Z:2.27 [[ 8.75686858e-01 -4.81989325e-01 -2.93055989e-02 7.34658377e+01] [ 4.81796961e-01 8.76174667e-01 -1.37710453e-02 1.37153371e+01] [ 3.23143202e-02 -2.06022514e-03 9.99475633e-01 2.26594690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.910714057 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:73.49, Y:13.73, Z:2.27 [[ 8.75040957e-01 -4.83145651e-01 -2.95567795e-02 7.34927706e+01] [ 4.82971814e-01 8.75535852e-01 -1.32362398e-02 1.37289466e+01] [ 3.22730518e-02 -2.69283952e-03 9.99475462e-01 2.26741907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94071405700001 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:73.52, Y:13.74, Z:2.27 [[ 8.75212555e-01 -4.82838431e-01 -2.94963368e-02 7.35201426e+01] [ 4.82660109e-01 8.75705772e-01 -1.33648691e-02 1.37421771e+01] [ 3.22831848e-02 -2.53960391e-03 9.99475536e-01 2.26967955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97071405700001 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:73.55, Y:13.76, Z:2.27 [[ 8.74136105e-01 -4.84787470e-01 -2.94479114e-02 7.35510467e+01] [ 4.84606792e-01 8.74628418e-01 -1.34679982e-02 1.37573831e+01] [ 3.22850969e-02 -2.49779437e-03 9.99475579e-01 2.27003362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00071405700001 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:73.58, Y:13.77, Z:2.27 [[ 8.74947539e-01 -4.83318135e-01 -2.95022849e-02 7.35763335e+01] [ 4.83140499e-01 8.75441015e-01 -1.33524520e-02 1.37692631e+01] [ 3.22809924e-02 -2.57105361e-03 9.99475526e-01 2.27269164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.030714057 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:73.61, Y:13.78, Z:2.27 [[ 8.75814614e-01 -4.81754155e-01 -2.93546624e-02 7.36057049e+01] [ 4.81565165e-01 8.76303735e-01 -1.36658703e-02 1.37826839e+01] [ 3.23071901e-02 -2.16741396e-03 9.99475636e-01 2.27295988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.060714057 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:73.63, Y:13.80, Z:2.27 [[ 8.76112767e-01 -4.81210924e-01 -2.93677650e-02 7.36340482e+01] [ 4.81022558e-01 8.76602135e-01 -1.36380413e-02 1.37964836e+01] [ 3.23066199e-02 -2.17809531e-03 9.99475632e-01 2.27293780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.090714057 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:73.66, Y:13.81, Z:2.27 [[ 8.76757399e-01 -4.80036207e-01 -2.93547735e-02 7.36621898e+01] [ 4.79846265e-01 8.77246152e-01 -1.36656442e-02 1.38093686e+01] [ 3.23113661e-02 -2.10432375e-03 9.99475636e-01 2.27334581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.120714057 meters Centerline goodness : 0.994293 Centerline is valid? [True, True] Translation: X:73.69, Y:13.82, Z:2.28 [[ 8.78024306e-01 -4.77715970e-01 -2.93388727e-02 7.36932599e+01] [ 4.77523612e-01 8.78512109e-01 -1.36994324e-02 1.38229224e+01] [ 3.23189926e-02 -1.98156981e-03 9.99475641e-01 2.27540692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.150714057 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:73.73, Y:13.84, Z:2.28 [[ 8.79202207e-01 -4.75540353e-01 -2.94083651e-02 7.37251245e+01] [ 4.75351703e-01 8.79691486e-01 -1.35517032e-02 1.38372898e+01] [ 3.23146702e-02 -2.06462904e-03 9.99475612e-01 2.27673731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.180714057 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:73.75, Y:13.85, Z:2.28 [[ 8.80608615e-01 -4.72925570e-01 -2.94935967e-02 7.37540290e+01] [ 4.72741506e-01 8.81099711e-01 -1.33703959e-02 1.38518799e+01] [ 3.23100016e-02 -2.16876144e-03 9.99475543e-01 2.27702267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.210714057 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:73.79, Y:13.87, Z:2.28 [[ 8.80092830e-01 -4.73884033e-01 -2.95048164e-02 7.37872106e+01] [ 4.73701300e-01 8.80584436e-01 -1.33465118e-02 1.38674239e+01] [ 3.23061809e-02 -2.23030055e-03 9.99475531e-01 2.27959078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.240714057 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:73.81, Y:13.88, Z:2.28 [[ 8.82126342e-01 -4.70076174e-01 -2.96901898e-02 7.38123503e+01] [ 4.69904515e-01 8.82622233e-01 -1.29514656e-02 1.38796474e+01] [ 3.22933971e-02 -2.52672526e-03 9.99475238e-01 2.27933975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.270714057 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:73.84, Y:13.90, Z:2.28 [[ 8.83510240e-01 -4.67480187e-01 -2.95284847e-02 7.38430449e+01] [ 4.67295589e-01 8.84001168e-01 -1.32954140e-02 1.38950729e+01] [ 3.23185576e-02 -2.05189623e-03 9.99475513e-01 2.28038848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30071405700001 meters Centerline goodness : 0.986529 Centerline is valid? [True, True] Translation: X:73.86, Y:13.91, Z:2.28 [[ 8.83135469e-01 -4.68184908e-01 -2.95742186e-02 7.38587226e+01] [ 4.68003990e-01 8.83627813e-01 -1.31967449e-02 1.39066187e+01] [ 3.23111189e-02 -2.18633879e-03 9.99475468e-01 2.27595885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33071405700001 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:73.89, Y:13.92, Z:2.28 [[ 8.82536789e-01 -4.69345857e-01 -2.90393171e-02 7.38895053e+01] [ 4.69127550e-01 8.83013896e-01 -1.43458043e-02 1.39223330e+01] [ 3.23752643e-02 -9.62443625e-04 9.99475320e-01 2.28290431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36071405700001 meters Centerline goodness : 0.993674 Centerline is valid? [True, True] Translation: X:73.94, Y:13.93, Z:2.28 [[ 8.89233234e-01 -4.56510560e-01 -2.93660403e-02 7.39357626e+01] [ 4.56308428e-01 8.89717090e-01 -1.36425446e-02 1.39272726e+01] [ 3.23554336e-02 -1.26856766e-03 9.99475621e-01 2.28109113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.390714057 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:73.95, Y:13.95, Z:2.29 [[ 8.83197384e-01 -4.68052270e-01 -2.98236989e-02 7.39454570e+01] [ 4.67889356e-01 8.83696422e-01 -1.26563964e-02 1.39491492e+01] [ 3.22789511e-02 -2.77609508e-03 9.99475044e-01 2.28523231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.420714057 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:73.97, Y:13.96, Z:2.29 [[ 8.83467028e-01 -4.67572876e-01 -2.93532830e-02 7.39748635e+01] [ 4.67375993e-01 8.83952996e-01 -1.36667945e-02 1.39632221e+01] [ 3.23371449e-02 -1.64485752e-03 9.99475664e-01 2.28766863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.450714057 meters Centerline goodness : 0.993854 Centerline is valid? [True, True] Translation: X:74.00, Y:13.98, Z:2.29 [[ 8.83286459e-01 -4.67913652e-01 -2.93572118e-02 7.40002899e+01] [ 4.67717236e-01 8.83772616e-01 -1.36583500e-02 1.39761971e+01] [ 3.23360283e-02 -1.66663833e-03 9.99475664e-01 2.28826516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.480714057 meters Centerline goodness : 0.986350 Centerline is valid? [True, True] Translation: X:74.02, Y:13.99, Z:2.29 [[ 8.81624626e-01 -4.71045493e-01 -2.92260589e-02 7.40216869e+01] [ 4.70841527e-01 8.82107690e-01 -1.39384557e-02 1.39890729e+01] [ 3.23461780e-02 -1.47235641e-03 9.99475641e-01 2.28579830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.510714057 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:74.05, Y:14.00, Z:2.29 [[ 8.80587830e-01 -4.72996224e-01 -2.89766513e-02 7.40544447e+01] [ 4.72775838e-01 8.81063933e-01 -1.44690418e-02 1.40015178e+01] [ 3.23740845e-02 -9.58198443e-04 9.99475363e-01 2.29035557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.540714057 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:74.08, Y:14.01, Z:2.29 [[ 8.79945281e-01 -4.74169856e-01 -2.93129690e-02 7.40848410e+01] [ 4.73973778e-01 8.80431562e-01 -1.37522008e-02 1.40144320e+01] [ 3.23289421e-02 -1.79239447e-03 9.99475676e-01 2.29069347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.570714057 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:74.12, Y:14.03, Z:2.29 [[ 8.78171557e-01 -4.77446582e-01 -2.93168468e-02 7.41156098e+01] [ 4.77252592e-01 8.78658675e-01 -1.37439290e-02 1.40269803e+01] [ 3.23214937e-02 -1.92201361e-03 9.99475676e-01 2.29139950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.600714057 meters Centerline goodness : 0.985028 Centerline is valid? [True, True] Translation: X:74.13, Y:14.04, Z:2.29 [[ 8.76991471e-01 -4.79610523e-01 -2.93207467e-02 7.41347033e+01] [ 4.79418012e-01 8.77479175e-01 -1.37356042e-02 1.40365656e+01] [ 3.23160849e-02 -2.01088636e-03 9.99475676e-01 2.28504359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.630714057 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:74.17, Y:14.05, Z:2.29 [[ 8.75997744e-01 -4.81444632e-01 -2.89658208e-02 7.41677202e+01] [ 4.81228109e-01 8.76475622e-01 -1.44910476e-02 1.40501129e+01] [ 3.23644729e-02 -1.24504222e-03 9.99475358e-01 2.29230368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.660714057 meters Centerline goodness : 0.991574 Centerline is valid? [True, True] Translation: X:74.20, Y:14.06, Z:2.29 [[ 8.76876797e-01 -4.79820518e-01 -2.93147134e-02 7.41997452e+01] [ 4.79627741e-01 8.77364376e-01 -1.37470838e-02 1.40575187e+01] [ 3.23158181e-02 -2.00565100e-03 9.99475695e-01 2.28640719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69071405700001 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:74.23, Y:14.08, Z:2.29 [[ 8.73909927e-01 -4.85201023e-01 -2.93497373e-02 7.42254271e+01] [ 4.85013740e-01 8.74399645e-01 -1.36723498e-02 1.40755382e+01] [ 3.22972380e-02 -2.28662368e-03 9.99475692e-01 2.29203085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72071405700001 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:74.25, Y:14.09, Z:2.29 [[ 8.73326093e-01 -4.86252969e-01 -2.93186984e-02 7.42537957e+01] [ 4.86064065e-01 8.73815184e-01 -1.37385882e-02 1.40887074e+01] [ 3.22995532e-02 -2.25249819e-03 9.99475695e-01 2.29106611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75071405700001 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:74.28, Y:14.10, Z:2.29 [[ 8.73398756e-01 -4.86122250e-01 -2.93218559e-02 7.42836520e+01] [ 4.85933497e-01 8.73887906e-01 -1.37318459e-02 1.41023180e+01] [ 3.22993711e-02 -2.25509486e-03 9.99475695e-01 2.29200667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.780714057 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:74.32, Y:14.11, Z:2.30 [[ 8.77651142e-01 -4.78402004e-01 -2.93256624e-02 7.43225920e+01] [ 4.78209216e-01 8.78138716e-01 -1.37237120e-02 1.41085711e+01] [ 3.23174509e-02 -1.97917050e-03 9.99475695e-01 2.29544411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.810714057 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:74.34, Y:14.13, Z:2.29 [[ 8.73918632e-01 -4.85171321e-01 -2.95806289e-02 7.43393957e+01] [ 4.85000578e-01 8.74414536e-01 -1.31779736e-02 1.41278914e+01] [ 3.22593067e-02 -2.83014549e-03 9.99475526e-01 2.29460031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.840714057 meters Centerline goodness : 0.990659 Centerline is valid? [True, True] Translation: X:74.37, Y:14.14, Z:2.29 [[ 8.74600910e-01 -4.83955798e-01 -2.93263367e-02 7.43662675e+01] [ 4.83766179e-01 8.75089713e-01 -1.37214754e-02 1.41408469e+01] [ 3.23037632e-02 -2.18627493e-03 9.99475706e-01 2.29144691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.870714057 meters Centerline goodness : 0.990498 Centerline is valid? [True, True] Translation: X:74.39, Y:14.16, Z:2.29 [[ 8.75898436e-01 -4.81608116e-01 -2.92498274e-02 7.43939746e+01] [ 4.81411744e-01 8.76384584e-01 -1.38850308e-02 1.41553117e+01] [ 3.23212414e-02 -1.91933364e-03 9.99475689e-01 2.29406212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.900714057 meters Centerline goodness : 0.983283 Centerline is valid? [True, True] Translation: X:74.41, Y:14.17, Z:2.30 [[ 8.75537803e-01 -4.82265999e-01 -2.92072277e-02 7.44142851e+01] [ 4.82066978e-01 8.76022892e-01 -1.39757463e-02 1.41685192e+01] [ 3.23262273e-02 -1.84354579e-03 9.99475671e-01 2.29617353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.930714057 meters Centerline goodness : 0.992821 Centerline is valid? [True, True] Translation: X:74.45, Y:14.18, Z:2.30 [[ 8.77640429e-01 -4.78436502e-01 -2.90824711e-02 7.44471746e+01] [ 4.78226518e-01 8.78121023e-01 -1.42430865e-02 1.41796294e+01] [ 3.23523417e-02 -1.40770031e-03 9.99475535e-01 2.30155108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.960714057 meters Centerline goodness : 0.992938 Centerline is valid? [True, True] Translation: X:74.47, Y:14.19, Z:2.30 [[ 8.77624005e-01 -4.78441365e-01 -2.94951915e-02 7.44734681e+01] [ 4.78260500e-01 8.78116290e-01 -1.33669651e-02 1.41924398e+01] [ 3.22955172e-02 -2.37521564e-03 9.99475541e-01 2.30167415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.990714057 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:74.49, Y:14.21, Z:2.30 [[ 8.74738101e-01 -4.83701842e-01 -2.94241706e-02 7.44945473e+01] [ 4.83518887e-01 8.75229544e-01 -1.35177988e-02 1.42110339e+01] [ 3.22914876e-02 -2.40260857e-03 9.99475606e-01 2.30205185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.020714057 meters Centerline goodness : 0.991852 Centerline is valid? [True, True] Translation: X:74.53, Y:14.22, Z:2.30 [[ 8.77500925e-01 -4.78679631e-01 -2.92905618e-02 7.45269301e+01] [ 4.78484418e-01 8.77987576e-01 -1.38013598e-02 1.42189563e+01] [ 3.23231792e-02 -1.90437147e-03 9.99475655e-01 2.30245525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05071405700001 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:74.55, Y:14.24, Z:2.30 [[ 8.74178969e-01 -4.84719499e-01 -2.92939952e-02 7.45531057e+01] [ 4.84527890e-01 8.74667050e-01 -1.37940685e-02 1.42399930e+01] [ 3.23087463e-02 -2.13527314e-03 9.99475655e-01 2.30395815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08071405700001 meters Centerline goodness : 0.992475 Centerline is valid? [True, True] Translation: X:74.59, Y:14.25, Z:2.31 [[ 8.75666536e-01 -4.82026735e-01 -2.92975225e-02 7.45900955e+01] [ 4.81833874e-01 8.76154124e-01 -1.37865727e-02 1.42499823e+01] [ 3.23146418e-02 -2.04409836e-03 9.99475655e-01 2.30650223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11071405700001 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:74.61, Y:14.27, Z:2.30 [[ 8.73058460e-01 -4.86720872e-01 -2.95248622e-02 7.46099710e+01] [ 4.86546835e-01 8.73553217e-01 -1.33024553e-02 1.42676752e+01] [ 3.22661209e-02 -2.75140711e-03 9.99475526e-01 2.30471024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.140714057 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:74.64, Y:14.28, Z:2.31 [[ 8.72465589e-01 -4.87796274e-01 -2.93017315e-02 7.46396792e+01] [ 4.87606953e-01 8.72954554e-01 -1.37770321e-02 1.42832419e+01] [ 3.22994648e-02 -2.26774160e-03 9.99475663e-01 2.30527320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.170714057 meters Centerline goodness : 0.993639 Centerline is valid? [True, True] Translation: X:74.67, Y:14.30, Z:2.31 [[ 8.72753393e-01 -4.87280917e-01 -2.93056889e-02 7.46677203e+01] [ 4.87091589e-01 8.73242354e-01 -1.37686088e-02 1.42972228e+01] [ 3.23001491e-02 -2.25795455e-03 9.99475664e-01 2.30595388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.200714057 meters Centerline goodness : 0.993639 Centerline is valid? [True, True] Translation: X:74.70, Y:14.31, Z:2.31 [[ 8.72921542e-01 -4.86981976e-01 -2.92666419e-02 7.46981941e+01] [ 4.86789707e-01 8.73409360e-01 -1.38517574e-02 1.43114575e+01] [ 3.23073152e-02 -2.15520258e-03 9.99475659e-01 2.30707991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.230714057 meters Centerline goodness : 0.984486 Centerline is valid? [True, True] Translation: X:74.72, Y:14.32, Z:2.30 [[ 8.72445326e-01 -4.87834387e-01 -2.92705251e-02 7.47193708e+01] [ 4.87642870e-01 8.72933439e-01 -1.38434976e-02 1.43234014e+01] [ 3.23045543e-02 -2.19586808e-03 9.99475660e-01 2.30193877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.260714057 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:74.75, Y:14.33, Z:2.31 [[ 8.74015222e-01 -4.85023341e-01 -2.91504797e-02 7.47489837e+01] [ 4.84821773e-01 8.74499332e-01 -1.40984838e-02 1.43349345e+01] [ 3.23301687e-02 -1.81049781e-03 9.99475604e-01 2.31008066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.290714057 meters Centerline goodness : 0.991883 Centerline is valid? [True, True] Translation: X:74.78, Y:14.35, Z:2.31 [[ 8.73897855e-01 -4.85221988e-01 -2.93625772e-02 7.47786904e+01] [ 4.85035453e-01 8.74387942e-01 -1.36504773e-02 1.43502967e+01] [ 3.22977952e-02 -2.31276812e-03 9.99475614e-01 2.31049687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.320714057 meters Centerline goodness : 0.991819 Centerline is valid? [True, True] Translation: X:74.81, Y:14.37, Z:2.31 [[ 8.73460162e-01 -4.86005137e-01 -2.94338571e-02 7.48085082e+01] [ 4.85824081e-01 8.73952354e-01 -1.34998624e-02 1.43656655e+01] [ 3.22847912e-02 -2.50808454e-03 9.99475563e-01 2.31242360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.350714057 meters Centerline goodness : 0.991471 Centerline is valid? [True, True] Translation: X:74.84, Y:14.38, Z:2.31 [[ 8.73273599e-01 -4.86337931e-01 -2.94726699e-02 7.48380739e+01] [ 4.86159811e-01 8.73766902e-01 -1.34178454e-02 1.43811115e+01] [ 3.22778507e-02 -2.61097748e-03 9.99475524e-01 2.31391055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.380714057 meters Centerline goodness : 0.990390 Centerline is valid? [True, True] Translation: X:74.87, Y:14.40, Z:2.32 [[ 8.72889154e-01 -4.87027037e-01 -2.94820212e-02 7.48656480e+01] [ 4.86849969e-01 8.73382848e-01 -1.33980818e-02 1.43959119e+01] [ 3.22743197e-02 -2.65828084e-03 9.99475513e-01 2.31512542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.410714057 meters Centerline goodness : 0.990155 Centerline is valid? [True, True] Translation: X:74.90, Y:14.41, Z:2.32 [[ 8.72335847e-01 -4.88018439e-01 -2.94647791e-02 7.48950153e+01] [ 4.87840709e-01 8.72829282e-01 -1.34345277e-02 1.44101725e+01] [ 3.22740193e-02 -2.65469866e-03 9.99475533e-01 2.31644908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44071405700001 meters Centerline goodness : 0.989443 Centerline is valid? [True, True] Translation: X:74.92, Y:14.42, Z:2.32 [[ 8.72007695e-01 -4.88602430e-01 -2.94999136e-02 7.49209391e+01] [ 4.88427526e-01 8.72502181e-01 -1.33602336e-02 1.44228628e+01] [ 3.22665816e-02 -2.75834328e-03 9.99475492e-01 2.31567230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47071405700001 meters Centerline goodness : 0.989405 Centerline is valid? [True, True] Translation: X:74.95, Y:14.44, Z:2.32 [[ 8.71000986e-01 -4.90401837e-01 -2.93822961e-02 7.49507677e+01] [ 4.90219602e-01 8.71492705e-01 -1.36091068e-02 1.44367879e+01] [ 3.22803877e-02 -2.55023205e-03 9.99475599e-01 2.31611315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50071405700001 meters Centerline goodness : 0.989579 Centerline is valid? [True, True] Translation: X:74.98, Y:14.45, Z:2.32 [[ 8.68913012e-01 -4.94090968e-01 -2.93988593e-02 7.49833384e+01] [ 4.93911995e-01 8.69405938e-01 -1.35740687e-02 1.44524333e+01] [ 3.22663676e-02 -2.72576433e-03 9.99475588e-01 2.31642513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.530714057 meters Centerline goodness : 0.990513 Centerline is valid? [True, True] Translation: X:75.01, Y:14.47, Z:2.31 [[ 8.66783506e-01 -4.97810995e-01 -2.95053801e-02 7.50124922e+01] [ 4.97641717e-01 8.67279958e-01 -1.33489894e-02 1.44673628e+01] [ 3.22346985e-02 -3.11242419e-03 9.99475481e-01 2.31444044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.560714057 meters Centerline goodness : 0.990026 Centerline is valid? [True, True] Translation: X:75.04, Y:14.48, Z:2.31 [[ 8.67048349e-01 -4.97347443e-01 -2.95411757e-02 7.50371172e+01] [ 4.97180451e-01 8.67545628e-01 -1.32733619e-02 1.44796837e+01] [ 3.22297904e-02 -3.17864859e-03 9.99475431e-01 2.31400424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.590714057 meters Centerline goodness : 0.989533 Centerline is valid? [True, True] Translation: X:75.07, Y:14.50, Z:2.32 [[ 8.66125994e-01 -4.98961008e-01 -2.93883476e-02 7.50726681e+01] [ 4.98784059e-01 8.66619642e-01 -1.35962593e-02 1.44951341e+01] [ 3.22525225e-02 -2.88236566e-03 9.99475596e-01 2.31758708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.620714057 meters Centerline goodness : 0.989762 Centerline is valid? [True, True] Translation: X:75.10, Y:14.51, Z:2.32 [[ 8.67180672e-01 -4.97111392e-01 -2.96301369e-02 7.50979510e+01] [ 4.96950637e-01 8.67680156e-01 -1.30847556e-02 1.45081095e+01] [ 3.22140629e-02 -3.37786828e-03 9.99475284e-01 2.31925058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.650714057 meters Centerline goodness : 0.989846 Centerline is valid? [True, True] Translation: X:75.13, Y:14.52, Z:2.32 [[ 8.66947739e-01 -4.97527116e-01 -2.94684069e-02 7.51284380e+01] [ 4.97355093e-01 8.67443178e-01 -1.34255366e-02 1.45227840e+01] [ 3.22417371e-02 -3.01702364e-03 9.99475546e-01 2.32125615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.680714057 meters Centerline goodness : 0.990906 Centerline is valid? [True, True] Translation: X:75.16, Y:14.54, Z:2.32 [[ 8.67986160e-01 -4.95709256e-01 -2.95357495e-02 7.51571108e+01] [ 4.95540973e-01 8.68482980e-01 -1.32837290e-02 1.45373837e+01] [ 3.22361631e-02 -3.10608116e-03 9.99475453e-01 2.32232411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.710714057 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:75.19, Y:14.55, Z:2.32 [[ 8.70115081e-01 -4.91963633e-01 -2.95216836e-02 7.51861342e+01] [ 4.91792215e-01 8.70610804e-01 -1.33133170e-02 1.45523090e+01] [ 3.22515645e-02 -2.93441631e-03 9.99475475e-01 2.32402122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.740714057 meters Centerline goodness : 0.990345 Centerline is valid? [True, True] Translation: X:75.21, Y:14.57, Z:2.33 [[ 8.72412176e-01 -4.87876217e-01 -2.95599887e-02 7.52147567e+01] [ 4.87705185e-01 8.72908098e-01 -1.32327298e-02 1.45661090e+01] [ 3.22590877e-02 -2.87216517e-03 9.99475413e-01 2.32577732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.770714057 meters Centerline goodness : 0.991512 Centerline is valid? [True, True] Translation: X:75.24, Y:14.58, Z:2.33 [[ 8.72913434e-01 -4.86980759e-01 -2.95275778e-02 7.52449841e+01] [ 4.86806927e-01 8.73408325e-01 -1.33008630e-02 1.45795110e+01] [ 3.22668966e-02 -2.76372743e-03 9.99475467e-01 2.32752023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80071405700001 meters Centerline goodness : 0.990501 Centerline is valid? [True, True] Translation: X:75.28, Y:14.59, Z:2.33 [[ 8.75075163e-01 -4.83080175e-01 -2.96142459e-02 7.52752130e+01] [ 4.82910252e-01 8.75571577e-01 -1.31187749e-02 1.45944884e+01] [ 3.22668120e-02 -2.82110889e-03 9.99475309e-01 2.32774451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83071405700001 meters Centerline goodness : 0.990803 Centerline is valid? [True, True] Translation: X:75.30, Y:14.61, Z:2.33 [[ 8.75807849e-01 -4.81747526e-01 -2.96636469e-02 7.53027281e+01] [ 4.81580340e-01 8.76305305e-01 -1.30149605e-02 1.46085922e+01] [ 3.22643362e-02 -2.88682459e-03 9.99475202e-01 2.32902300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86071405700001 meters Centerline goodness : 0.992446 Centerline is valid? [True, True] Translation: X:75.33, Y:14.62, Z:2.33 [[ 8.76674785e-01 -4.80171313e-01 -2.96113541e-02 7.53343981e+01] [ 4.79999549e-01 8.77170554e-01 -1.31245255e-02 1.46231579e+01] [ 3.22762285e-02 -2.70749610e-03 9.99475320e-01 2.32915162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.890714057 meters Centerline goodness : 0.992711 Centerline is valid? [True, True] Translation: X:75.36, Y:14.64, Z:2.33 [[ 8.76691716e-01 -4.80133123e-01 -2.97290874e-02 7.53606421e+01] [ 4.79969639e-01 8.77190577e-01 -1.28777789e-02 1.46354266e+01] [ 3.22611235e-02 -2.97921729e-03 9.99475034e-01 2.32986366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.920714057 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:75.39, Y:14.65, Z:2.33 [[ 8.76795039e-01 -4.79950054e-01 -2.96379077e-02 7.53906474e+01] [ 4.79780041e-01 8.77291469e-01 -1.30686563e-02 1.46490275e+01] [ 3.22733859e-02 -2.76114355e-03 9.99475265e-01 2.33105159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.950714057 meters Centerline goodness : 0.990304 Centerline is valid? [True, True] Translation: X:75.42, Y:14.66, Z:2.33 [[ 8.77433521e-01 -4.78780495e-01 -2.96589510e-02 7.54154249e+01] [ 4.78611302e-01 8.77930283e-01 -1.30246073e-02 1.46611770e+01] [ 3.22744192e-02 -2.76688209e-03 9.99475215e-01 2.32661293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.980714057 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:75.45, Y:14.68, Z:2.33 [[ 8.77418126e-01 -4.78820163e-01 -2.94734449e-02 7.54479210e+01] [ 4.78637999e-01 8.77909893e-01 -1.34121349e-02 1.46753040e+01] [ 3.22970295e-02 -2.33906049e-03 9.99475578e-01 2.33048860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.010714057 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:75.48, Y:14.69, Z:2.33 [[ 8.77684283e-01 -4.78323536e-01 -2.96123881e-02 7.54767279e+01] [ 4.78150815e-01 8.78179716e-01 -1.31219220e-02 1.46889009e+01] [ 3.22815227e-02 -2.64228283e-03 9.99475323e-01 2.33233387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.040714057 meters Centerline goodness : 0.991712 Centerline is valid? [True, True] Translation: X:75.50, Y:14.70, Z:2.33 [[ 8.77521989e-01 -4.78622953e-01 -2.95842330e-02 7.55047353e+01] [ 4.78448430e-01 8.78016725e-01 -1.31806501e-02 1.47029632e+01] [ 3.22840130e-02 -2.58821955e-03 9.99475384e-01 2.33453474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.070714057 meters Centerline goodness : 0.991498 Centerline is valid? [True, True] Translation: X:75.53, Y:14.72, Z:2.34 [[ 8.77652275e-01 -4.78386816e-01 -2.95387672e-02 7.55323778e+01] [ 4.78208987e-01 8.78145734e-01 -1.32753049e-02 1.47159183e+01] [ 3.22900733e-02 -2.47460242e-03 9.99475476e-01 2.33619582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.100714057 meters Centerline goodness : 0.991465 Centerline is valid? [True, True] Translation: X:75.56, Y:14.73, Z:2.34 [[ 8.77559612e-01 -4.78558656e-01 -2.95082940e-02 7.55583432e+01] [ 4.78378801e-01 8.78052277e-01 -1.33387205e-02 1.47288280e+01] [ 3.22931848e-02 -2.41061991e-03 9.99475532e-01 2.33799295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.130714057 meters Centerline goodness : 0.992788 Centerline is valid? [True, True] Translation: X:75.57, Y:14.75, Z:2.34 [[ 8.71796831e-01 -4.88984974e-01 -2.93935410e-02 7.55703342e+01] [ 4.88802996e-01 8.72288536e-01 -1.35772704e-02 1.47497702e+01] [ 3.22787301e-02 -2.53102962e-03 9.99475701e-01 2.34187527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.160714057 meters Centerline goodness : 0.992199 Centerline is valid? [True, True] Translation: X:75.62, Y:14.76, Z:2.34 [[ 8.79883399e-01 -4.74306984e-01 -2.89497742e-02 7.56224132e+01] [ 4.74086353e-01 8.80358988e-01 -1.44976746e-02 1.47556145e+01] [ 3.23625422e-02 -9.68429673e-04 9.99475727e-01 2.34191069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19071405700001 meters Centerline goodness : 0.992163 Centerline is valid? [True, True] Translation: X:75.65, Y:14.77, Z:2.34 [[ 8.79158337e-01 -4.75603990e-01 -2.96894465e-02 7.56507816e+01] [ 4.75435290e-01 8.79655285e-01 -1.29562768e-02 1.47688081e+01] [ 3.22785354e-02 -2.72479181e-03 9.99475198e-01 2.34159543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22071405700001 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:75.68, Y:14.78, Z:2.34 [[ 8.79091092e-01 -4.75730602e-01 -2.96521041e-02 7.56810721e+01] [ 4.75559364e-01 8.79587066e-01 -1.30339327e-02 1.47811535e+01] [ 3.22822479e-02 -2.64332163e-03 9.99475297e-01 2.34069731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25071405700001 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:75.71, Y:14.79, Z:2.34 [[ 8.78752334e-01 -4.76352265e-01 -2.97128780e-02 7.57099763e+01] [ 4.76185619e-01 8.79250047e-01 -1.29077856e-02 1.47949472e+01] [ 3.22737023e-02 -2.80609846e-03 9.99475129e-01 2.34054564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.280714057 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:75.74, Y:14.81, Z:2.34 [[ 8.78586198e-01 -4.76659520e-01 -2.96984034e-02 7.57389465e+01] [ 4.76492038e-01 8.79083586e-01 -1.29377871e-02 1.48093079e+01] [ 3.22742984e-02 -2.78409164e-03 9.99475172e-01 2.33986696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.310714057 meters Centerline goodness : 0.992531 Centerline is valid? [True, True] Translation: X:75.76, Y:14.82, Z:2.34 [[ 8.77375353e-01 -4.78885672e-01 -2.96816869e-02 7.57570367e+01] [ 4.78718286e-01 8.77872724e-01 -1.29724202e-02 1.48212674e+01] [ 3.22690495e-02 -2.82748453e-03 9.99475219e-01 2.34255706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.340714057 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:75.79, Y:14.84, Z:2.34 [[ 8.78825189e-01 -4.76240296e-01 -2.93507795e-02 7.57923163e+01] [ 4.76048548e-01 8.79312968e-01 -1.36559416e-02 1.48355645e+01] [ 3.23120307e-02 -1.97121056e-03 9.99475886e-01 2.34259727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.370714057 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:75.82, Y:14.85, Z:2.34 [[ 8.79865297e-01 -4.74298001e-01 -2.96389197e-02 7.58200820e+01] [ 4.74125091e-01 8.80360633e-01 -1.30596439e-02 1.48487539e+01] [ 3.22871011e-02 -2.56182804e-03 9.99475352e-01 2.34386653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.400714057 meters Centerline goodness : 0.993138 Centerline is valid? [True, True] Translation: X:75.84, Y:14.86, Z:2.35 [[ 8.77540286e-01 -4.78591446e-01 -2.95511975e-02 7.58424602e+01] [ 4.78414885e-01 8.78034102e-01 -1.32405913e-02 1.48628379e+01] [ 3.22837929e-02 -2.51858050e-03 9.99475569e-01 2.34527536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.430714057 meters Centerline goodness : 0.993097 Centerline is valid? [True, True] Translation: X:75.87, Y:14.88, Z:2.35 [[ 8.78199791e-01 -4.77390345e-01 -2.93868232e-02 7.58715459e+01] [ 4.77201795e-01 8.78688827e-01 -1.35790827e-02 1.48775596e+01] [ 3.23043962e-02 -2.09829716e-03 9.99475874e-01 2.34669756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.460714057 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:75.90, Y:14.89, Z:2.35 [[ 8.78907368e-01 -4.76083950e-01 -2.94263779e-02 7.59000574e+01] [ 4.75897389e-01 8.79397231e-01 -1.34976151e-02 1.48913099e+01] [ 3.23034731e-02 -2.14078302e-03 9.99475814e-01 2.34911217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.490714057 meters Centerline goodness : 0.992072 Centerline is valid? [True, True] Translation: X:75.92, Y:14.91, Z:2.35 [[ 8.78412992e-01 -4.76994883e-01 -2.94363220e-02 7.59241355e+01] [ 4.76809514e-01 8.78903325e-01 -1.34771123e-02 1.49050870e+01] [ 3.23001949e-02 -2.19704780e-03 9.99475798e-01 2.34962664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.520714057 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:75.95, Y:14.92, Z:2.35 [[ 8.78269338e-01 -4.77269080e-01 -2.92779012e-02 7.59529728e+01] [ 4.77072999e-01 8.78755269e-01 -1.38032987e-02 1.49197701e+01] [ 3.23159976e-02 -1.84468215e-03 9.99475999e-01 2.34947243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55071405700001 meters Centerline goodness : 0.991610 Centerline is valid? [True, True] Translation: X:75.98, Y:14.93, Z:2.35 [[ 8.77628902e-01 -4.78445945e-01 -2.92743567e-02 7.59783798e+01] [ 4.78250273e-01 8.78114995e-01 -1.38105964e-02 1.49320172e+01] [ 3.23138754e-02 -1.87989049e-03 9.99476002e-01 2.35162668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58071405700001 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:76.01, Y:14.95, Z:2.35 [[ 8.76643734e-01 -4.80256329e-01 -2.91482852e-02 7.60097527e+01] [ 4.80053047e-01 8.77126621e-01 -1.40699617e-02 1.49474879e+01] [ 3.23239251e-02 -1.65837937e-03 9.99476070e-01 2.35183995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61071405700001 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:76.04, Y:14.96, Z:2.35 [[ 8.76823384e-01 -4.79923134e-01 -2.92325061e-02 7.60376666e+01] [ 4.79725423e-01 8.77308614e-01 -1.38965320e-02 1.49598234e+01] [ 3.23151966e-02 -1.83877216e-03 9.99476036e-01 2.35372649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.640714057 meters Centerline goodness : 0.992564 Centerline is valid? [True, True] Translation: X:76.07, Y:14.97, Z:2.36 [[ 8.75156466e-01 -4.82958324e-01 -2.91961869e-02 7.60699047e+01] [ 4.82759808e-01 8.75641348e-01 -1.39713428e-02 1.49729852e+01] [ 3.23129647e-02 -1.86763457e-03 9.99476055e-01 2.35559319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.670714057 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:76.10, Y:14.98, Z:2.36 [[ 8.74738974e-01 -4.83706687e-01 -2.93183897e-02 7.60990787e+01] [ 4.83516981e-01 8.75227462e-01 -1.37192986e-02 1.49830964e+01] [ 3.22963763e-02 -2.17513407e-03 9.99475969e-01 2.35614458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.700714057 meters Centerline goodness : 0.992334 Centerline is valid? [True, True] Translation: X:76.13, Y:15.00, Z:2.36 [[ 8.71827865e-01 -4.88938240e-01 -2.92501616e-02 7.61264183e+01] [ 4.88746769e-01 8.72315598e-01 -1.38598052e-02 1.49989435e+01] [ 3.22919610e-02 -2.21255755e-03 9.99476030e-01 2.35612478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.730714057 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:76.15, Y:15.01, Z:2.36 [[ 8.72165180e-01 -4.88336700e-01 -2.92432109e-02 7.61537715e+01] [ 4.88144415e-01 8.72652588e-01 -1.38741210e-02 1.50111575e+01] [ 3.22944062e-02 -2.17438483e-03 9.99476034e-01 2.35668944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.760714057 meters Centerline goodness : 0.992230 Centerline is valid? [True, True] Translation: X:76.19, Y:15.02, Z:2.36 [[ 8.71367035e-01 -4.89763119e-01 -2.91817955e-02 7.61859677e+01] [ 4.89567409e-01 8.71853046e-01 -1.40006846e-02 1.50246316e+01] [ 3.22992562e-02 -2.08672099e-03 9.99476065e-01 2.35678435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.790714057 meters Centerline goodness : 0.992887 Centerline is valid? [True, True] Translation: X:76.21, Y:15.04, Z:2.36 [[ 8.71199518e-01 -4.90052706e-01 -2.93214291e-02 7.62123272e+01] [ 4.89866778e-01 8.71689453e-01 -1.37126638e-02 1.50385814e+01] [ 3.22791085e-02 -2.41712790e-03 9.99475971e-01 2.35793319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.820714057 meters Centerline goodness : 0.993590 Centerline is valid? [True, True] Translation: X:76.24, Y:15.05, Z:2.36 [[ 8.71495620e-01 -4.89532102e-01 -2.92182345e-02 7.62412407e+01] [ 4.89338770e-01 8.71982597e-01 -1.39254793e-02 1.50518813e+01] [ 3.22947611e-02 -2.16162074e-03 9.99476051e-01 2.35819150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.850714057 meters Centerline goodness : 0.993070 Centerline is valid? [True, True] Translation: X:76.27, Y:15.07, Z:2.36 [[ 8.71802475e-01 -4.88984334e-01 -2.92363706e-02 7.62725456e+01] [ 4.88791944e-01 8.72289835e-01 -1.38880794e-02 1.50658338e+01] [ 3.22936422e-02 -2.18284040e-03 9.99476041e-01 2.36000481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.880714057 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:76.29, Y:15.08, Z:2.36 [[ 8.70487811e-01 -4.91317370e-01 -2.92952743e-02 7.62944135e+01] [ 4.91130350e-01 8.70977303e-01 -1.37665361e-02 1.50806735e+01] [ 3.22792573e-02 -2.40419645e-03 9.99475997e-01 2.36284982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.910714057 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:76.33, Y:15.10, Z:2.36 [[ 8.69871617e-01 -4.92417755e-01 -2.91225741e-02 7.63269080e+01] [ 4.92219460e-01 8.70356567e-01 -1.41226696e-02 1.50961786e+01] [ 3.23012768e-02 -2.04978828e-03 9.99476076e-01 2.36440636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94071405700001 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:76.36, Y:15.11, Z:2.37 [[ 8.70466434e-01 -4.91356620e-01 -2.92721470e-02 7.63557509e+01] [ 4.91168039e-01 8.70955300e-01 -1.38138581e-02 1.51098856e+01] [ 3.22822622e-02 -2.35304324e-03 9.99476022e-01 2.36674134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97071405700001 meters Centerline goodness : 0.993564 Centerline is valid? [True, True] Translation: X:76.39, Y:15.12, Z:2.36 [[ 8.70625684e-01 -4.91074756e-01 -2.92660639e-02 7.63854026e+01] [ 4.90885597e-01 8.71114322e-01 -1.38264030e-02 1.51238273e+01] [ 3.22838849e-02 -2.32866765e-03 9.99476027e-01 2.36290023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00071405700001 meters Centerline goodness : 0.992682 Centerline is valid? [True, True] Translation: X:76.41, Y:15.14, Z:2.37 [[ 8.70192193e-01 -4.91840034e-01 -2.93074736e-02 7.64126141e+01] [ 4.91654163e-01 8.70682129e-01 -1.37409806e-02 1.51369127e+01] [ 3.22758579e-02 -2.45184735e-03 9.99475991e-01 2.36847805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.030714057 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:76.44, Y:15.15, Z:2.37 [[ 8.69589339e-01 -4.92906866e-01 -2.92780216e-02 7.64434389e+01] [ 4.92719561e-01 8.70078701e-01 -1.38017553e-02 1.51510391e+01] [ 3.22771630e-02 -2.42399472e-03 9.99476017e-01 2.36912732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.060714057 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:76.47, Y:15.16, Z:2.37 [[ 8.69778068e-01 -4.92569786e-01 -2.93448219e-02 7.64722062e+01] [ 4.92386908e-01 8.70269171e-01 -1.36639264e-02 1.51648946e+01] [ 3.22683311e-02 -2.56442259e-03 9.99475952e-01 2.36985353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.090714057 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:76.50, Y:15.18, Z:2.37 [[ 8.69780605e-01 -4.92566487e-01 -2.93249842e-02 7.65014064e+01] [ 4.92382236e-01 8.70271171e-01 -1.37048470e-02 1.51791711e+01] [ 3.22712366e-02 -2.51889117e-03 9.99475974e-01 2.37092359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.120714057 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:76.53, Y:15.20, Z:2.37 [[ 8.68342622e-01 -4.95097220e-01 -2.93229222e-02 7.65316160e+01] [ 4.94914255e-01 8.68833667e-01 -1.37090995e-02 1.51953368e+01] [ 3.22640790e-02 -2.60813683e-03 9.99475976e-01 2.37034496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.150714057 meters Centerline goodness : 0.992769 Centerline is valid? [True, True] Translation: X:76.56, Y:15.21, Z:2.37 [[ 8.68584528e-01 -4.94669263e-01 -2.93809121e-02 7.65587466e+01] [ 4.94490074e-01 8.69077036e-01 -1.35894165e-02 1.52091109e+01] [ 3.22565427e-02 -2.72501245e-03 9.99475908e-01 2.37063216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.180714057 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:76.59, Y:15.23, Z:2.37 [[ 8.67896662e-01 -4.95877159e-01 -2.93466827e-02 7.65876978e+01] [ 4.95696281e-01 8.68388507e-01 -1.36601064e-02 1.52253932e+01] [ 3.22580567e-02 -2.69148068e-03 9.99475950e-01 2.37257187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.210714057 meters Centerline goodness : 0.993647 Centerline is valid? [True, True] Translation: X:76.62, Y:15.24, Z:2.37 [[ 8.67398541e-01 -4.96748329e-01 -2.93405598e-02 7.66185465e+01] [ 4.96567520e-01 8.67890405e-01 -1.36727417e-02 1.52406657e+01] [ 3.22563019e-02 -2.70985282e-03 9.99475957e-01 2.37165800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.240714057 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:76.65, Y:15.26, Z:2.37 [[ 8.66836765e-01 -4.97725911e-01 -2.93758494e-02 7.66461748e+01] [ 4.97548102e-01 8.67329768e-01 -1.36000006e-02 1.52556427e+01] [ 3.22476213e-02 -2.82691764e-03 9.99475912e-01 2.37319611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.270714057 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:76.68, Y:15.27, Z:2.37 [[ 8.65821256e-01 -4.99493396e-01 -2.93240553e-02 7.66770554e+01] [ 4.99313009e-01 8.66313252e-01 -1.37065268e-02 1.52720134e+01] [ 3.22501373e-02 -2.77448006e-03 9.99475978e-01 2.37107502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30071405700001 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:76.70, Y:15.29, Z:2.38 [[ 8.65787356e-01 -4.99544862e-01 -2.94480067e-02 7.67022936e+01] [ 4.99373096e-01 8.66282616e-01 -1.34514390e-02 1.52866508e+01] [ 3.22298935e-02 -3.05945647e-03 9.99475799e-01 2.37564741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33071405700001 meters Centerline goodness : 0.993285 Centerline is valid? [True, True] Translation: X:76.73, Y:15.30, Z:2.38 [[ 8.64903475e-01 -5.01080149e-01 -2.93370599e-02 7.67301589e+01] [ 5.00901584e-01 8.65396142e-01 -1.36791777e-02 1.53030262e+01] [ 3.22425429e-02 -2.86381147e-03 9.99475971e-01 2.37663550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36071405700001 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:76.76, Y:15.32, Z:2.38 [[ 8.65227905e-01 -5.00520116e-01 -2.93306199e-02 7.67590313e+01] [ 5.00340788e-01 8.65720286e-01 -1.36923972e-02 1.53174675e+01] [ 3.22454329e-02 -2.82826133e-03 9.99475979e-01 2.37828750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.390714057 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:76.79, Y:15.33, Z:2.38 [[ 8.65096399e-01 -5.00746107e-01 -2.93522852e-02 7.67856423e+01] [ 5.00568404e-01 8.65589399e-01 -1.36479109e-02 1.53332828e+01] [ 3.22411652e-02 -2.88606803e-03 9.99475952e-01 2.37982610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.420714057 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:76.82, Y:15.35, Z:2.38 [[ 8.63160684e-01 -5.04078634e-01 -2.92978631e-02 7.68157862e+01] [ 5.03899072e-01 8.63652939e-01 -1.37595862e-02 1.53506081e+01] [ 3.22390990e-02 -2.88643213e-03 9.99476017e-01 2.37928991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.450714057 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:76.84, Y:15.36, Z:2.38 [[ 8.64637587e-01 -5.01533950e-01 -2.94200564e-02 7.68427145e+01] [ 5.01361388e-01 8.65132517e-01 -1.35087421e-02 1.53638485e+01] [ 3.22273403e-02 -3.06991411e-03 9.99475850e-01 2.38095480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.480714057 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:76.88, Y:15.38, Z:2.38 [[ 8.64982697e-01 -5.00940083e-01 -2.93933264e-02 7.68756303e+01] [ 5.00765329e-01 8.65476812e-01 -1.35636601e-02 1.53781392e+01] [ 3.22338234e-02 -2.98682745e-03 9.99475892e-01 2.37831048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.510714057 meters Centerline goodness : 0.993924 Centerline is valid? [True, True] Translation: X:76.90, Y:15.39, Z:2.38 [[ 8.64459085e-01 -5.01831861e-01 -2.95850306e-02 7.68992890e+01] [ 5.01670977e-01 8.64958278e-01 -1.31684193e-02 1.53924952e+01] [ 3.21981495e-02 -3.45839149e-03 9.99475522e-01 2.38360583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.540714057 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:76.93, Y:15.41, Z:2.38 [[ 8.63864824e-01 -5.02865755e-01 -2.93870368e-02 7.69306097e+01] [ 5.02691721e-01 8.64359159e-01 -1.35748875e-02 1.54072531e+01] [ 3.22273005e-02 -3.04575231e-03 9.99475925e-01 2.38396296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.570714057 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:76.95, Y:15.42, Z:2.38 [[ 8.62238206e-01 -5.05642701e-01 -2.95082217e-02 7.69541610e+01] [ 5.05478675e-01 8.62736185e-01 -1.33260730e-02 1.54214542e+01] [ 3.21960421e-02 -3.42552757e-03 9.99475703e-01 2.38350789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.600714057 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:76.98, Y:15.44, Z:2.38 [[ 8.61535951e-01 -5.06845873e-01 -2.93779878e-02 7.69819080e+01] [ 5.06673488e-01 8.62030851e-01 -1.35936656e-02 1.54358014e+01] [ 3.22146251e-02 -3.17361588e-03 9.99475936e-01 2.38339158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.630714057 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:77.01, Y:15.45, Z:2.38 [[ 8.60424740e-01 -5.08732956e-01 -2.93265340e-02 7.70137507e+01] [ 5.08558085e-01 8.60918696e-01 -1.36993767e-02 1.54499283e+01] [ 3.22170858e-02 -3.12696337e-03 9.99476003e-01 2.37916810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.660714057 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:77.04, Y:15.46, Z:2.38 [[ 8.60175790e-01 -5.09145133e-01 -2.94761539e-02 7.70429001e+01] [ 5.08980911e-01 8.60673630e-01 -1.33916052e-02 1.54646872e+01] [ 3.21876190e-02 -3.48366508e-03 9.99475773e-01 2.38006907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69071405700001 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:77.07, Y:15.48, Z:2.38 [[ 8.58746609e-01 -5.11551676e-01 -2.94812479e-02 7.70674148e+01] [ 5.11389203e-01 8.59245034e-01 -1.33811439e-02 1.54797970e+01] [ 3.21767625e-02 -3.58537989e-03 9.99475763e-01 2.38273207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72071405700001 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:77.10, Y:15.50, Z:2.38 [[ 8.57669439e-01 -5.13363140e-01 -2.93499578e-02 7.70999934e+01] [ 5.13192604e-01 8.58164920e-01 -1.36499550e-02 1.54959013e+01] [ 3.21944880e-02 -3.35503205e-03 9.99475992e-01 2.38330258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75071405700001 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:77.13, Y:15.51, Z:2.38 [[ 8.57631877e-01 -5.13416443e-01 -2.95147406e-02 7.71300329e+01] [ 5.13257370e-01 8.58131479e-01 -1.33130250e-02 1.55097996e+01] [ 3.21626540e-02 -3.73098349e-03 9.99475684e-01 2.38339852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.780714057 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:77.15, Y:15.52, Z:2.39 [[ 8.59395778e-01 -5.10453799e-01 -2.95942066e-02 7.71516320e+01] [ 5.10298522e-01 8.59896783e-01 -1.31506972e-02 1.55215552e+01] [ 3.21607864e-02 -3.80022624e-03 9.99475483e-01 2.38773881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.810714057 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:77.18, Y:15.54, Z:2.39 [[ 8.57829571e-01 -5.13095591e-01 -2.93486130e-02 7.71845219e+01] [ 5.12924867e-01 8.58324959e-01 -1.36508525e-02 1.55390488e+01] [ 3.21948393e-02 -3.34352842e-03 9.99476019e-01 2.38643371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.840714057 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:77.21, Y:15.55, Z:2.39 [[ 8.59791411e-01 -5.09790174e-01 -2.95416175e-02 7.72072309e+01] [ 5.09630885e-01 8.60291001e-01 -1.32572747e-02 1.55518845e+01] [ 3.21728161e-02 -3.65682979e-03 9.99475631e-01 2.38838382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.870714057 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:77.24, Y:15.57, Z:2.39 [[ 8.59022840e-01 -5.11096835e-01 -2.93221040e-02 7.72390898e+01] [ 5.10923165e-01 8.59517146e-01 -1.37038092e-02 1.55683832e+01] [ 3.22068247e-02 -3.20945704e-03 9.99476073e-01 2.39009494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.900714057 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:77.27, Y:15.58, Z:2.39 [[ 8.59822282e-01 -5.09741290e-01 -2.94866168e-02 7.72685825e+01] [ 5.09578167e-01 8.60320494e-01 -1.33693297e-02 1.55830392e+01] [ 3.21828401e-02 -3.53048859e-03 9.99475763e-01 2.39001364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.930714057 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:77.30, Y:15.60, Z:2.39 [[ 8.59615956e-01 -5.10089089e-01 -2.94877891e-02 7.72969289e+01] [ 5.09926249e-01 8.60114263e-01 -1.33669491e-02 1.55977020e+01] [ 3.21812029e-02 -3.54615497e-03 9.99475760e-01 2.39051944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.960714057 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:77.32, Y:15.61, Z:2.39 [[ 8.60536790e-01 -5.08535212e-01 -2.94681304e-02 7.73215493e+01] [ 5.08370117e-01 8.61034308e-01 -1.34068787e-02 1.56098565e+01] [ 3.21909411e-02 -3.44360454e-03 9.99475805e-01 2.38998006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.990714057 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:77.35, Y:15.63, Z:2.39 [[ 8.58704127e-01 -5.11633669e-01 -2.92952347e-02 7.73513203e+01] [ 5.11458499e-01 8.59197847e-01 -1.37572849e-02 1.56260653e+01] [ 3.22090928e-02 -3.16985943e-03 9.99476126e-01 2.39296252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.020714057 meters Centerline goodness : 0.993003 Centerline is valid? [True, True] Translation: X:77.37, Y:15.64, Z:2.39 [[ 8.59704721e-01 -5.09944203e-01 -2.94058133e-02 7.73743484e+01] [ 5.09775649e-01 8.60200934e-01 -1.35329741e-02 1.56379755e+01] [ 3.21959697e-02 -3.35600583e-03 9.99475941e-01 2.39260465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05071405700001 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:77.41, Y:15.65, Z:2.39 [[ 8.58316449e-01 -5.12291677e-01 -2.91566678e-02 7.74080599e+01] [ 5.12107442e-01 8.58806687e-01 -1.40371660e-02 1.56544658e+01] [ 3.22310646e-02 -2.88301605e-03 9.99476286e-01 2.39443191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08071405700001 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:77.44, Y:15.67, Z:2.39 [[ 8.58839003e-01 -5.11400956e-01 -2.94045899e-02 7.74366447e+01] [ 5.11233181e-01 8.59335467e-01 -1.35347670e-02 1.56684262e+01] [ 3.21900998e-02 -3.40841618e-03 9.99475953e-01 2.39481837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11071405700001 meters Centerline goodness : 0.993042 Centerline is valid? [True, True] Translation: X:77.46, Y:15.68, Z:2.40 [[ 8.60883276e-01 -5.07952937e-01 -2.93904656e-02 7.74610682e+01] [ 5.07782204e-01 8.61378702e-01 -1.35633777e-02 1.56814944e+01] [ 3.22058786e-02 -3.24747037e-03 9.99475980e-01 2.39798256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.140714057 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:77.49, Y:15.70, Z:2.40 [[ 8.61652888e-01 -5.06654372e-01 -2.92514594e-02 7.74887058e+01] [ 5.06473395e-01 8.62144431e-01 -1.38448546e-02 1.56963008e+01] [ 3.22335390e-02 -2.88562702e-03 9.99476199e-01 2.39955683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.170714057 meters Centerline goodness : 0.993057 Centerline is valid? [True, True] Translation: X:77.52, Y:15.71, Z:2.40 [[ 8.62357937e-01 -5.05455137e-01 -2.92214379e-02 7.75211448e+01] [ 5.05271431e-01 8.62848430e-01 -1.39056385e-02 1.57133395e+01] [ 3.22423482e-02 -2.77312003e-03 9.99476233e-01 2.39725600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.200714057 meters Centerline goodness : 0.993898 Centerline is valid? [True, True] Translation: X:77.55, Y:15.73, Z:2.40 [[ 8.63134797e-01 -5.04116027e-01 -2.94169072e-02 7.75502790e+01] [ 5.03944876e-01 8.63630144e-01 -1.35105680e-02 1.57289869e+01] [ 3.22162217e-02 -3.16305828e-03 9.99475918e-01 2.39835861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.230714057 meters Centerline goodness : 0.993772 Centerline is valid? [True, True] Translation: X:77.58, Y:15.74, Z:2.40 [[ 8.65406985e-01 -5.00206375e-01 -2.93995145e-02 7.75790626e+01] [ 5.00031802e-01 8.65901098e-01 -1.35456431e-02 1.57444396e+01] [ 3.22326890e-02 -2.97819805e-03 9.99475955e-01 2.39986570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.260714057 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:77.61, Y:15.76, Z:2.40 [[ 8.66422431e-01 -4.98444108e-01 -2.94218162e-02 7.76076786e+01] [ 4.98270043e-01 8.66916775e-01 -1.35007468e-02 1.57593709e+01] [ 3.22356337e-02 -2.96265976e-03 9.99475906e-01 2.40042439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.290714057 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:77.64, Y:15.77, Z:2.40 [[ 8.67621779e-01 -4.96351768e-01 -2.94511422e-02 7.76359417e+01] [ 4.96178500e-01 8.68116476e-01 -1.34417361e-02 1.57743406e+01] [ 3.22388512e-02 -2.95068057e-03 9.99475838e-01 2.40130325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.320714057 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:77.66, Y:15.79, Z:2.40 [[ 8.70177842e-01 -4.91856040e-01 -2.94645261e-02 7.76613020e+01] [ 4.91681121e-01 8.70671992e-01 -1.34148065e-02 1.57889050e+01] [ 3.22520912e-02 -2.81388383e-03 9.99475805e-01 2.40216956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.350714057 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:77.69, Y:15.80, Z:2.40 [[ 8.71170798e-01 -4.90100430e-01 -2.93770290e-02 7.76900316e+01] [ 4.89918597e-01 8.71662237e-01 -1.35909525e-02 1.58043373e+01] [ 3.22677785e-02 -2.55231189e-03 9.99476001e-01 2.40266122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.380714057 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:77.72, Y:15.82, Z:2.40 [[ 8.71524856e-01 -4.89465494e-01 -2.94610812e-02 7.77186563e+01] [ 4.89288982e-01 8.72018432e-01 -1.34218581e-02 1.58193102e+01] [ 3.22601423e-02 -2.71749949e-03 9.99475812e-01 2.40319501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.410714057 meters Centerline goodness : 0.992660 Centerline is valid? [True, True] Translation: X:77.75, Y:15.83, Z:2.40 [[ 8.71608395e-01 -4.89320207e-01 -2.94030865e-02 7.77471721e+01] [ 4.89139709e-01 8.72100376e-01 -1.35380400e-02 1.58344493e+01] [ 3.22668793e-02 -2.58234785e-03 9.99475953e-01 2.40428247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44071405700001 meters Centerline goodness : 0.993300 Centerline is valid? [True, True] Translation: X:77.78, Y:15.85, Z:2.40 [[ 8.72318503e-01 -4.88051968e-01 -2.94228686e-02 7.77758236e+01] [ 4.87872084e-01 8.72810760e-01 -1.34984415e-02 1.58505208e+01] [ 3.22685372e-02 -2.57965589e-03 9.99475906e-01 2.40488082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47071405700001 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:77.80, Y:15.87, Z:2.41 [[ 8.73461705e-01 -4.86002627e-01 -2.94295088e-02 7.78038614e+01] [ 4.85822033e-01 8.73953719e-01 -1.34851542e-02 1.58650195e+01] [ 3.22738490e-02 -2.51873796e-03 9.99475890e-01 2.40579627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50071405700001 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:77.83, Y:15.88, Z:2.41 [[ 8.73799335e-01 -4.85393644e-01 -2.94573102e-02 7.78326403e+01] [ 4.85214573e-01 8.74291979e-01 -1.34295690e-02 1.58798446e+01] [ 3.22729175e-02 -2.55836769e-03 9.99475819e-01 2.40668277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.530714057 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:77.86, Y:15.89, Z:2.41 [[ 8.75732563e-01 -4.81896647e-01 -2.94635541e-02 7.78558982e+01] [ 4.81716025e-01 8.76224659e-01 -1.34170957e-02 1.58920111e+01] [ 3.22823461e-02 -2.44327860e-03 9.99475803e-01 2.40678082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.560714057 meters Centerline goodness : 0.993663 Centerline is valid? [True, True] Translation: X:77.89, Y:15.91, Z:2.41 [[ 8.74930587e-01 -4.83364787e-01 -2.92395354e-02 7.78875124e+01] [ 4.83170050e-01 8.75416753e-01 -1.38640010e-02 1.59094661e+01] [ 3.22981490e-02 -1.99762922e-03 9.99476282e-01 2.40912014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.590714057 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:77.90, Y:15.93, Z:2.42 [[ 8.70786960e-01 -4.90777556e-01 -2.94526726e-02 7.78961647e+01] [ 4.90601231e-01 8.71280576e-01 -1.34384102e-02 1.59289914e+01] [ 3.22568117e-02 -2.74752507e-03 9.99475837e-01 2.41586671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.620714057 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:77.94, Y:15.94, Z:2.41 [[ 8.75911752e-01 -4.81604583e-01 -2.89072323e-02 7.79398897e+01] [ 4.81387008e-01 8.76387814e-01 -1.45240536e-02 1.59398322e+01] [ 3.23287969e-02 -1.19377683e-03 9.99476575e-01 2.41311014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.650714057 meters Centerline goodness : 0.993166 Centerline is valid? [True, True] Translation: X:77.95, Y:15.96, Z:2.42 [[ 8.71858936e-01 -4.88872859e-01 -2.94163748e-02 7.79501391e+01] [ 4.88693123e-01 8.72351176e-01 -1.35076819e-02 1.59579168e+01] [ 3.22649481e-02 -2.59878690e-03 9.99475972e-01 2.41907635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.680714057 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:77.99, Y:15.97, Z:2.42 [[ 8.75593815e-01 -4.82182486e-01 -2.89054055e-02 7.79923294e+01] [ 4.81965204e-01 8.76069962e-01 -1.45246078e-02 1.59685534e+01] [ 3.23266690e-02 -1.21374292e-03 9.99476620e-01 2.41758309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.710714057 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:78.02, Y:15.98, Z:2.42 [[ 8.75739575e-01 -4.81895485e-01 -2.92735053e-02 7.80238650e+01] [ 4.81702328e-01 8.76226369e-01 -1.37919447e-02 1.59835436e+01] [ 3.22964931e-02 -2.02296390e-03 9.99476285e-01 2.41818642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.740714057 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:78.05, Y:16.00, Z:2.42 [[ 8.75733230e-01 -4.81900509e-01 -2.93804270e-02 7.80531733e+01] [ 4.81714461e-01 8.76223023e-01 -1.35791094e-02 1.59974845e+01] [ 3.22875863e-02 -2.26129922e-03 9.99476062e-01 2.41891005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.770714057 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:78.08, Y:16.01, Z:2.42 [[ 8.74476926e-01 -4.84174209e-01 -2.94183751e-02 7.80772255e+01] [ 4.83991962e-01 8.74968247e-01 -1.35036490e-02 1.60112326e+01] [ 3.22782626e-02 -2.42962762e-03 9.99475968e-01 2.41959506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80071405700001 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:78.10, Y:16.02, Z:2.42 [[ 8.75545367e-01 -4.82246115e-01 -2.93086186e-02 7.81004169e+01] [ 4.82055472e-01 8.76033228e-01 -1.37224532e-02 1.60226457e+01] [ 3.22929235e-02 -2.11374962e-03 9.99476212e-01 2.41987725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83071405700001 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:78.14, Y:16.04, Z:2.42 [[ 8.74149349e-01 -4.84786573e-01 -2.90670561e-02 7.81395512e+01] [ 4.84581364e-01 8.74630887e-01 -1.42025613e-02 1.60378923e+01] [ 3.23081561e-02 -1.67019396e-03 9.99476560e-01 2.41993760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86071405700001 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:78.17, Y:16.05, Z:2.42 [[ 8.72899535e-01 -4.87007927e-01 -2.94903583e-02 7.81678294e+01] [ 4.86832026e-01 8.73393398e-01 -1.33623152e-02 1.60518092e+01] [ 3.22642376e-02 -2.69289219e-03 9.99475746e-01 2.42064222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.890714057 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:78.19, Y:16.06, Z:2.42 [[ 8.71403591e-01 -4.89681528e-01 -2.94581655e-02 7.81919256e+01] [ 4.89504991e-01 8.71897128e-01 -1.34262039e-02 1.60646606e+01] [ 3.22590539e-02 -2.72027670e-03 9.99475839e-01 2.42192126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.920714057 meters Centerline goodness : 0.994182 Centerline is valid? [True, True] Translation: X:78.22, Y:16.08, Z:2.42 [[ 8.70519161e-01 -4.91262033e-01 -2.92917427e-02 7.82212062e+01] [ 4.91075327e-01 8.71008500e-01 -1.37555678e-02 1.60790628e+01] [ 3.22709451e-02 -2.40996681e-03 9.99476252e-01 2.42397366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.950714057 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:78.23, Y:16.10, Z:2.43 [[ 8.66481767e-01 -4.98346327e-01 -2.93306325e-02 7.82331754e+01] [ 4.98166207e-01 8.66973659e-01 -1.36786216e-02 1.60950532e+01] [ 3.22455766e-02 -2.75925373e-03 9.99476167e-01 2.42818937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.980714057 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:78.28, Y:16.11, Z:2.43 [[ 8.70793864e-01 -4.90800907e-01 -2.88533687e-02 7.82791934e+01] [ 4.90585158e-01 8.71270591e-01 -1.46205333e-02 1.61064010e+01] [ 3.23148626e-02 -1.42356374e-03 9.99476725e-01 2.42576145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.010714057 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:78.31, Y:16.12, Z:2.43 [[ 8.70564761e-01 -4.91172714e-01 -2.94340221e-02 7.83073912e+01] [ 4.90995465e-01 8.71057948e-01 -1.34723976e-02 1.61204260e+01] [ 3.22560130e-02 -2.72337676e-03 9.99475929e-01 2.42624604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.040714057 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:78.33, Y:16.13, Z:2.43 [[ 8.70514359e-01 -4.91263123e-01 -2.94158847e-02 7.83325824e+01] [ 4.91084719e-01 8.71007076e-01 -1.35082486e-02 1.61342042e+01] [ 3.22575481e-02 -2.68656710e-03 9.99475979e-01 2.42685147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.070714057 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:78.37, Y:16.15, Z:2.43 [[ 8.71980984e-01 -4.88663377e-01 -2.92791313e-02 7.83690164e+01] [ 4.88474457e-01 8.72469409e-01 -1.37780931e-02 1.61469333e+01] [ 3.22779959e-02 -2.28787262e-03 9.99476311e-01 2.42534601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.100714057 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:78.40, Y:16.16, Z:2.43 [[ 8.71268462e-01 -4.89913869e-01 -2.95916911e-02 7.83964977e+01] [ 4.89746399e-01 8.71765592e-01 -1.31612062e-02 1.61611794e+01] [ 3.22448755e-02 -3.02548029e-03 9.99475420e-01 2.42643199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.130714057 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:78.40, Y:16.18, Z:2.43 [[ 8.65597456e-01 -4.99868755e-01 -2.95342470e-02 7.84014278e+01] [ 4.99703154e-01 8.66094999e-01 -1.32744186e-02 1.61772155e+01] [ 3.22149308e-02 -3.26805341e-03 9.99475622e-01 2.43378531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.160714057 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:78.45, Y:16.19, Z:2.43 [[ 8.72152400e-01 -4.88385022e-01 -2.88142743e-02 7.84549126e+01] [ 4.88165751e-01 8.72627349e-01 -1.46870138e-02 1.61865952e+01] [ 3.23170414e-02 -1.25682754e-03 9.99476878e-01 2.42771503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19071405700001 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:78.48, Y:16.20, Z:2.43 [[ 8.72289499e-01 -4.88087168e-01 -2.96975810e-02 7.84833569e+01] [ 4.87925912e-01 8.72789032e-01 -1.29464193e-02 1.61993465e+01] [ 3.22387042e-02 -3.19719371e-03 9.99475084e-01 2.42791860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22071405700001 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:78.50, Y:16.21, Z:2.43 [[ 8.68879370e-01 -4.94136942e-01 -2.96196400e-02 7.85023941e+01] [ 4.93973969e-01 8.69378010e-01 -1.30994081e-02 1.62136909e+01] [ 3.22235651e-02 -3.24952569e-03 9.99475404e-01 2.43168274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25071405700001 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:78.51, Y:16.23, Z:2.44 [[ 8.63801007e-01 -5.02976724e-01 -2.93638437e-02 7.85103433e+01] [ 5.02801874e-01 8.64294693e-01 -1.35999948e-02 1.62310010e+01] [ 3.22194951e-02 -3.01650643e-03 9.99476265e-01 2.43784497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.280714057 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:78.56, Y:16.24, Z:2.43 [[ 8.69110213e-01 -4.93781062e-01 -2.87697897e-02 7.85623159e+01] [ 4.93562378e-01 8.69585175e-01 -1.47581164e-02 1.62394593e+01] [ 3.23050610e-02 -1.37325618e-03 9.99477112e-01 2.43322132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.310714057 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:78.56, Y:16.26, Z:2.44 [[ 8.61733176e-01 -5.06498883e-01 -2.95772698e-02 7.85648198e+01] [ 5.06340344e-01 8.62233019e-01 -1.31786212e-02 1.62556281e+01] [ 3.21774556e-02 -3.61970990e-03 9.99475617e-01 2.43980467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.340714057 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:78.61, Y:16.27, Z:2.44 [[ 8.65278526e-01 -5.00465880e-01 -2.87571707e-02 7.86101251e+01] [ 5.00250300e-01 8.65754780e-01 -1.47749338e-02 1.62664165e+01] [ 3.22910082e-02 -1.60135033e-03 9.99477227e-01 2.43760449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.370714057 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:78.64, Y:16.28, Z:2.44 [[ 8.63289535e-01 -5.03857863e-01 -2.92990120e-02 7.86373214e+01] [ 5.03679547e-01 8.63781659e-01 -1.37171364e-02 1.62788818e+01] [ 3.22194363e-02 -2.91545279e-03 9.99476567e-01 2.43785762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.400714057 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:78.67, Y:16.29, Z:2.44 [[ 8.62812402e-01 -5.04679574e-01 -2.92110729e-02 7.86670465e+01] [ 5.04495939e-01 8.63302349e-01 -1.38888818e-02 1.62925437e+01] [ 3.22274228e-02 -2.75336818e-03 9.99476769e-01 2.43779837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.430714057 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:78.70, Y:16.31, Z:2.44 [[ 8.61598852e-01 -5.06747484e-01 -2.92302106e-02 7.86980998e+01] [ 5.06566282e-01 8.62089749e-01 -1.38515719e-02 1.63063226e+01] [ 3.22183141e-02 -2.87254066e-03 9.99476727e-01 2.43790983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.460714057 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:78.72, Y:16.32, Z:2.44 [[ 8.60783716e-01 -5.08126718e-01 -2.93024265e-02 7.87244414e+01] [ 5.07951056e-01 8.61276807e-01 -1.37108200e-02 1.63204306e+01] [ 3.22043343e-02 -3.08214793e-03 9.99476554e-01 2.43888577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.490714057 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:78.75, Y:16.34, Z:2.44 [[ 8.59922730e-01 -5.09585885e-01 -2.92424987e-02 7.87533598e+01] [ 5.09407115e-01 8.60414546e-01 -1.38275172e-02 1.63351787e+01] [ 3.22069788e-02 -3.00574056e-03 9.99476701e-01 2.44009511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.520714057 meters Centerline goodness : 0.994046 Centerline is valid? [True, True] Translation: X:78.78, Y:16.35, Z:2.44 [[ 8.59620412e-01 -5.10094571e-01 -2.92622046e-02 7.87808367e+01] [ 5.09917387e-01 8.60112851e-01 -1.37891717e-02 1.63499329e+01] [ 3.22025799e-02 -3.06785350e-03 9.99476654e-01 2.44129412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55071405700001 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:78.81, Y:16.37, Z:2.44 [[ 8.59333789e-01 -5.10578712e-01 -2.92372638e-02 7.88098858e+01] [ 5.10400166e-01 8.59825673e-01 -1.38376861e-02 1.63653293e+01] [ 3.22041780e-02 -3.03151312e-03 9.99476714e-01 2.44281042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58071405700001 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:78.84, Y:16.38, Z:2.44 [[ 8.58978179e-01 -5.11176358e-01 -2.92441325e-02 7.88376649e+01] [ 5.10998606e-01 8.59470368e-01 -1.38243383e-02 1.63810223e+01] [ 3.22011402e-02 -3.06890598e-03 9.99476697e-01 2.44461111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61071405700001 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:78.87, Y:16.40, Z:2.44 [[ 8.59247539e-01 -5.10724458e-01 -2.92266246e-02 7.88659224e+01] [ 5.10545297e-01 8.59739173e-01 -1.38583463e-02 1.63958435e+01] [ 3.22050705e-02 -3.01376577e-03 9.99476738e-01 2.44491859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.640714057 meters Centerline goodness : 0.994013 Centerline is valid? [True, True] Translation: X:78.89, Y:16.41, Z:2.45 [[ 8.58613904e-01 -5.11790249e-01 -2.92045416e-02 7.88933300e+01] [ 5.11610253e-01 8.59105178e-01 -1.39011253e-02 1.64105511e+01] [ 3.22042333e-02 -3.00564347e-03 9.99476790e-01 2.44571520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.670714057 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:78.92, Y:16.43, Z:2.45 [[ 8.58120702e-01 -5.12617418e-01 -2.91932173e-02 7.89215969e+01] [ 5.12437156e-01 8.58611851e-01 -1.39230369e-02 1.64257230e+01] [ 3.22028336e-02 -3.01204312e-03 9.99476816e-01 2.44707463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.700714057 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:78.95, Y:16.44, Z:2.45 [[ 8.57730743e-01 -5.13270141e-01 -2.91844945e-02 7.89499389e+01] [ 5.13089683e-01 8.58221799e-01 -1.39399076e-02 1.64404655e+01] [ 3.22017077e-02 -3.01757568e-03 9.99476835e-01 2.44856078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.730714057 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:78.96, Y:16.46, Z:2.45 [[ 8.54198322e-01 -5.19128568e-01 -2.91677459e-02 7.89620823e+01] [ 5.18950379e-01 8.54690166e-01 -1.39722675e-02 1.64571235e+01] [ 3.21827888e-02 -3.20152530e-03 9.99476872e-01 2.45325039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.760714057 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:79.00, Y:16.47, Z:2.45 [[ 8.57005020e-01 -5.14508714e-01 -2.86911123e-02 7.90036720e+01] [ 5.14297056e-01 8.57482831e-01 -1.48906750e-02 1.64700741e+01] [ 3.22635182e-02 -1.99437133e-03 9.99477407e-01 2.45333928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.790714057 meters Centerline goodness : 0.993745 Centerline is valid? [True, True] Translation: X:79.03, Y:16.48, Z:2.46 [[ 8.56200164e-01 -5.15823068e-01 -2.91177175e-02 7.90307027e+01] [ 5.15639737e-01 8.56689995e-01 -1.40682139e-02 1.64849855e+01] [ 3.22015665e-02 -2.96904511e-03 9.99476985e-01 2.45524838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.820714057 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:79.06, Y:16.50, Z:2.46 [[ 8.55347816e-01 -5.17238472e-01 -2.90599003e-02 7.90573926e+01] [ 5.17052192e-01 8.55836416e-01 -1.41795514e-02 1.64999208e+01] [ 3.22047304e-02 -2.89703685e-03 9.99477095e-01 2.45838378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.850714057 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:79.09, Y:16.51, Z:2.46 [[ 8.54760856e-01 -5.18210998e-01 -2.90041577e-02 7.90866839e+01] [ 5.18021658e-01 8.55248180e-01 -1.42868260e-02 1.65148593e+01] [ 3.22093435e-02 -2.81296225e-03 9.99477186e-01 2.46118908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.880714057 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:79.10, Y:16.53, Z:2.46 [[ 8.52133975e-01 -5.22518803e-01 -2.90136090e-02 7.91040093e+01] [ 5.22332539e-01 8.52622499e-01 -1.42686349e-02 1.65302866e+01] [ 3.21932858e-02 -2.99596343e-03 9.99477172e-01 2.46005263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.910714057 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:79.14, Y:16.54, Z:2.46 [[ 8.54586482e-01 -5.18516934e-01 -2.86728799e-02 7.91426363e+01] [ 5.18306424e-01 8.55064761e-01 -1.49233132e-02 1.65438993e+01] [ 3.22551598e-02 -2.10807611e-03 9.99477444e-01 2.46391750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94071405700001 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:79.16, Y:16.56, Z:2.46 [[ 8.52444838e-01 -5.22011091e-01 -2.90210204e-02 7.91598769e+01] [ 5.21825059e-01 8.52933443e-01 -1.42530934e-02 1.65588389e+01] [ 3.21932716e-02 -2.99391976e-03 9.99477178e-01 2.46145619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97071405700001 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:79.19, Y:16.57, Z:2.46 [[ 8.52698007e-01 -5.21616660e-01 -2.86734827e-02 7.91888382e+01] [ 5.21407965e-01 8.53177062e-01 -1.49209728e-02 1.65736666e+01] [ 3.22465857e-02 -2.22749854e-03 9.99477461e-01 2.46285474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00071405700001 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:79.23, Y:16.59, Z:2.46 [[ 8.55475069e-01 -5.17049348e-01 -2.86771289e-02 7.92280630e+01] [ 5.16838329e-01 8.55953104e-01 -1.49139619e-02 1.65860446e+01] [ 3.22575317e-02 -2.06291677e-03 9.99477461e-01 2.46257875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.030714057 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:79.24, Y:16.60, Z:2.46 [[ 8.53495102e-01 -5.20290575e-01 -2.90487347e-02 7.92447153e+01] [ 5.20105415e-01 8.53984060e-01 -1.41980041e-02 1.66001860e+01] [ 3.21942441e-02 -2.99047726e-03 9.99477157e-01 2.46470753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.060714057 meters Centerline goodness : 0.994035 Centerline is valid? [True, True] Translation: X:79.28, Y:16.61, Z:2.46 [[ 8.56265128e-01 -5.15739937e-01 -2.86766128e-02 7.92824528e+01] [ 5.15528198e-01 8.56742822e-01 -1.49135630e-02 1.66134510e+01] [ 3.22600023e-02 -2.01363861e-03 9.99477482e-01 2.46413695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.090714057 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:79.31, Y:16.63, Z:2.47 [[ 8.56158000e-01 -5.15901268e-01 -2.89717070e-02 7.93098063e+01] [ 5.15708621e-01 8.56643925e-01 -1.43459100e-02 1.66287820e+01] [ 3.22195100e-02 -2.65859346e-03 9.99477281e-01 2.46641996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.120714057 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:79.33, Y:16.64, Z:2.47 [[ 8.55705106e-01 -5.16655975e-01 -2.89028472e-02 7.93301033e+01] [ 5.16459307e-01 8.56189326e-01 -1.44783391e-02 1.66444378e+01] [ 3.22266297e-02 -2.53795579e-03 9.99477365e-01 2.46852540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.150714057 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:79.37, Y:16.66, Z:2.47 [[ 8.57931320e-01 -5.12963836e-01 -2.86697250e-02 7.93655881e+01] [ 5.12750133e-01 8.58408127e-01 -1.49261233e-02 1.66577466e+01] [ 3.22668864e-02 -1.89481662e-03 9.99477492e-01 2.46839405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.180714057 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:79.39, Y:16.67, Z:2.47 [[ 8.58140547e-01 -5.12601232e-01 -2.88925141e-02 7.93943489e+01] [ 5.12401614e-01 8.58623545e-01 -1.44980601e-02 1.66723784e+01] [ 3.22395164e-02 -2.36319767e-03 9.99477378e-01 2.47076694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.210714057 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:79.42, Y:16.69, Z:2.47 [[ 8.56676233e-01 -5.15045896e-01 -2.88713722e-02 7.94156455e+01] [ 5.14846295e-01 8.57159215e-01 -1.45386828e-02 1.66878544e+01] [ 3.22354516e-02 -2.40937499e-03 9.99477399e-01 2.47221441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.240714057 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:79.45, Y:16.70, Z:2.47 [[ 8.57481280e-01 -5.13715891e-01 -2.86677089e-02 7.94506164e+01] [ 5.13502484e-01 8.57958216e-01 -1.49297581e-02 1.67014328e+01] [ 3.22653504e-02 -1.91895169e-03 9.99477496e-01 2.47242784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.270714057 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:79.47, Y:16.72, Z:2.47 [[ 8.55542696e-01 -5.16926782e-01 -2.88686312e-02 7.94725878e+01] [ 5.16728079e-01 8.56026038e-01 -1.45435206e-02 1.67161130e+01] [ 3.22302353e-02 -2.47462954e-03 9.99477408e-01 2.47200089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30071405700001 meters Centerline goodness : 0.995327 Centerline is valid? [True, True] Translation: X:79.51, Y:16.73, Z:2.47 [[ 8.56678347e-01 -5.15053612e-01 -2.86703118e-02 7.95081258e+01] [ 5.14841125e-01 8.57155689e-01 -1.49245031e-02 1.67294955e+01] [ 3.22618401e-02 -1.97515698e-03 9.99477500e-01 2.47298434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33071405700001 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:79.53, Y:16.74, Z:2.47 [[ 8.54737298e-01 -5.18255648e-01 -2.89004310e-02 7.95345370e+01] [ 5.18059771e-01 8.55221816e-01 -1.44816935e-02 1.67430257e+01] [ 3.22214985e-02 -2.59410707e-03 9.99477386e-01 2.47469317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36071405700001 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:79.56, Y:16.76, Z:2.48 [[ 8.53840713e-01 -5.19735093e-01 -2.88352017e-02 7.95639513e+01] [ 5.19535845e-01 8.54323790e-01 -1.46071008e-02 1.67575095e+01] [ 3.22264217e-02 -2.50878347e-03 9.99477445e-01 2.47550713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.390714057 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:79.59, Y:16.77, Z:2.48 [[ 8.53947119e-01 -5.19559339e-01 -2.88515374e-02 7.95928887e+01] [ 5.19361045e-01 8.54430603e-01 -1.45756836e-02 1.67717537e+01] [ 3.22245690e-02 -2.53750153e-03 9.99477433e-01 2.47603525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.420714057 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:79.62, Y:16.79, Z:2.48 [[ 8.54036355e-01 -5.19411681e-01 -2.88688498e-02 7.96215220e+01] [ 5.19214422e-01 8.54520277e-01 -1.45423480e-02 1.67859807e+01] [ 3.22224830e-02 -2.56942929e-03 9.99477418e-01 2.47666427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.450714057 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:79.64, Y:16.80, Z:2.48 [[ 8.52130079e-01 -5.22530975e-01 -2.89086312e-02 7.96425211e+01] [ 5.22338065e-01 8.52615792e-01 -1.44657280e-02 1.68010086e+01] [ 3.22067464e-02 -2.77339653e-03 9.99477380e-01 2.47571553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.480714057 meters Centerline goodness : 0.993898 Centerline is valid? [True, True] Translation: X:79.67, Y:16.81, Z:2.48 [[ 8.54453294e-01 -5.18735984e-01 -2.86800862e-02 7.96747053e+01] [ 5.18526188e-01 8.54931821e-01 -1.49054867e-02 1.68133098e+01] [ 3.22515307e-02 -2.13533356e-03 9.99477503e-01 2.47976877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.510714057 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:79.71, Y:16.83, Z:2.48 [[ 8.52331961e-01 -5.22210455e-01 -2.87483522e-02 7.97064024e+01] [ 5.22007006e-01 8.52813233e-01 -1.47741180e-02 1.68293330e+01] [ 3.22321741e-02 -2.41438835e-03 9.99477492e-01 2.48020401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.540714057 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:79.74, Y:16.84, Z:2.48 [[ 8.51897337e-01 -5.22912689e-01 -2.88660177e-02 7.97356758e+01] [ 5.22717240e-01 8.52381988e-01 -1.45476661e-02 1.68443121e+01] [ 3.22120328e-02 -2.69564706e-03 9.99477423e-01 2.48167695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.570714057 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:79.76, Y:16.86, Z:2.48 [[ 8.51425186e-01 -5.23680683e-01 -2.88737745e-02 7.97643698e+01] [ 5.23486173e-01 8.51910222e-01 -1.45327448e-02 1.68591046e+01] [ 3.22083814e-02 -2.74147680e-03 9.99477416e-01 2.48264044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.600714057 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:79.79, Y:16.87, Z:2.48 [[ 8.51554446e-01 -5.23470206e-01 -2.88785093e-02 7.97900858e+01] [ 5.23275883e-01 8.52039562e-01 -1.45236348e-02 1.68712932e+01] [ 3.22083226e-02 -2.74376163e-03 9.99477411e-01 2.48383992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.630714057 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:79.82, Y:16.89, Z:2.48 [[ 8.49913461e-01 -5.26137917e-01 -2.87402241e-02 7.98222161e+01] [ 5.25936173e-01 8.50395444e-01 -1.47895356e-02 1.68870945e+01] [ 3.22218911e-02 -2.54569806e-03 9.99477498e-01 2.48387608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.660714057 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:79.85, Y:16.90, Z:2.48 [[ 8.49680984e-01 -5.26505181e-01 -2.88880466e-02 7.98490225e+01] [ 5.26313216e-01 8.50167044e-01 -1.45050304e-02 1.68987762e+01] [ 3.21966389e-02 -2.87951219e-03 9.99477406e-01 2.48423755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69071405700001 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:79.88, Y:16.91, Z:2.49 [[ 8.49405623e-01 -5.26955211e-01 -2.87800906e-02 7.98777490e+01] [ 5.26756510e-01 8.49888883e-01 -1.47127536e-02 1.69128907e+01] [ 3.22128413e-02 -2.66300447e-03 9.99477484e-01 2.48595769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72071405700001 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:79.91, Y:16.93, Z:2.49 [[ 8.48905900e-01 -5.27760914e-01 -2.87609286e-02 7.99069708e+01] [ 5.27561432e-01 8.49388830e-01 -1.47496367e-02 1.69263259e+01] [ 3.22134933e-02 -2.65210308e-03 9.99477492e-01 2.48555580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75071405700001 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:79.94, Y:16.94, Z:2.49 [[ 8.47238794e-01 -5.30432795e-01 -2.87658819e-02 7.99396411e+01] [ 5.30235156e-01 8.47722483e-01 -1.47401048e-02 1.69429805e+01] [ 3.22041198e-02 -2.76429331e-03 9.99477490e-01 2.48699935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.780714057 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:79.97, Y:16.96, Z:2.49 [[ 8.47190992e-01 -5.30500750e-01 -2.89201811e-02 7.99696588e+01] [ 5.30313170e-01 8.47678795e-01 -1.44430671e-02 1.69572612e+01] [ 3.21770822e-02 -3.10071656e-03 9.99477374e-01 2.48790009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.810714057 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:80.00, Y:16.97, Z:2.49 [[ 8.48158886e-01 -5.28951844e-01 -2.89214659e-02 7.99954581e+01] [ 5.28763457e-01 8.48646379e-01 -1.44405939e-02 1.69702111e+01] [ 3.21824761e-02 -3.04469627e-03 9.99477372e-01 2.48752904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.840714057 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:80.03, Y:16.99, Z:2.49 [[ 8.47162375e-01 -5.30553689e-01 -2.87870364e-02 8.00279778e+01] [ 5.30357496e-01 8.47646660e-01 -1.46991889e-02 1.69866199e+01] [ 3.21999442e-02 -2.81482081e-03 9.99477484e-01 2.49122092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.870714057 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:80.05, Y:17.00, Z:2.49 [[ 8.49029609e-01 -5.27549849e-01 -2.89806845e-02 8.00535651e+01] [ 5.27364522e-01 8.49518347e-01 -1.43261523e-02 1.69988760e+01] [ 3.21773827e-02 -3.12005732e-03 9.99477304e-01 2.49191147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.900714057 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:80.08, Y:17.01, Z:2.49 [[ 8.49100521e-01 -5.27445533e-01 -2.88013052e-02 8.00832437e+01] [ 5.27248503e-01 8.49584468e-01 -1.46713488e-02 1.70145209e+01] [ 3.22074790e-02 -2.72799513e-03 9.99477482e-01 2.49314624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.930714057 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:80.12, Y:17.03, Z:2.50 [[ 8.47904857e-01 -5.29365593e-01 -2.87997044e-02 8.01163505e+01] [ 5.29169555e-01 8.48389205e-01 -1.46744293e-02 1.70310919e+01] [ 3.22014962e-02 -2.79740689e-03 9.99477483e-01 2.49580212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.960714057 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:80.14, Y:17.04, Z:2.50 [[ 8.50273708e-01 -5.25540724e-01 -2.90098057e-02 8.01366986e+01] [ 5.25356149e-01 8.50762771e-01 -1.42696888e-02 1.70412470e+01] [ 3.21797652e-02 -3.10733862e-03 9.99477267e-01 2.49553045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.990714057 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:80.17, Y:17.06, Z:2.50 [[ 8.50610373e-01 -5.25013933e-01 -2.86768767e-02 8.01684177e+01] [ 5.24807511e-01 8.51090340e-01 -1.49100383e-02 1.70574065e+01] [ 3.22345906e-02 -2.36720703e-03 9.99477527e-01 2.49735095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.020714057 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:80.20, Y:17.07, Z:2.50 [[ 8.50657322e-01 -5.24931524e-01 -2.87926240e-02 8.01953468e+01] [ 5.24732531e-01 8.51140446e-01 -1.46871746e-02 1.70714163e+01] [ 3.22163278e-02 -2.61467381e-03 9.99477499e-01 2.49771450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05071405700001 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:80.23, Y:17.09, Z:2.50 [[ 8.49231858e-01 -5.27236957e-01 -2.87479176e-02 8.02287057e+01] [ 5.27036382e-01 8.49714307e-01 -1.47732630e-02 1.70876272e+01] [ 3.22165272e-02 -2.60527288e-03 9.99477517e-01 2.49917424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08071405700001 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:80.25, Y:17.10, Z:2.50 [[ 8.50392207e-01 -5.25351338e-01 -2.89666473e-02 8.02533668e+01] [ 5.25163867e-01 8.50880090e-01 -1.43521808e-02 1.71002643e+01] [ 3.21870809e-02 -3.00725384e-03 9.99477338e-01 2.49792034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11071405700001 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:80.28, Y:17.12, Z:2.50 [[ 8.48518002e-01 -5.28382857e-01 -2.87881375e-02 8.02848438e+01] [ 5.28185544e-01 8.49001808e-01 -1.46955873e-02 1.71169667e+01] [ 3.22060772e-02 -2.73600776e-03 9.99477505e-01 2.50007632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.140714057 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:80.31, Y:17.13, Z:2.50 [[ 8.49666269e-01 -5.26524637e-01 -2.89661659e-02 8.03086808e+01] [ 5.26337815e-01 8.50154397e-01 -1.43528685e-02 1.71298702e+01] [ 3.21828522e-02 -3.05084031e-03 9.99477342e-01 2.49769357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.170714057 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:80.34, Y:17.15, Z:2.50 [[ 8.47803467e-01 -5.29530788e-01 -2.87476158e-02 8.03426318e+01] [ 5.29331522e-01 8.48286447e-01 -1.47730795e-02 1.71479036e+01] [ 3.22090133e-02 -2.69235120e-03 9.99477529e-01 2.50091272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.200714057 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:80.36, Y:17.16, Z:2.50 [[ 8.49568814e-01 -5.26680554e-01 -2.89900690e-02 8.03626763e+01] [ 5.26495403e-01 8.50057602e-01 -1.43060679e-02 1.71591711e+01] [ 3.21779563e-02 -3.10914894e-03 9.99477320e-01 2.49941287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.230714057 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:80.39, Y:17.18, Z:2.50 [[ 8.49688616e-01 -5.26505160e-01 -2.86630974e-02 8.03914986e+01] [ 5.26298749e-01 8.50168559e-01 -1.49347960e-02 1.71762902e+01] [ 3.22317113e-02 -2.39542616e-03 9.99477553e-01 2.50120611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.260714057 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:80.42, Y:17.19, Z:2.51 [[ 8.47834779e-01 -5.29483185e-01 -2.87009565e-02 8.04241203e+01] [ 5.29280904e-01 8.48316478e-01 -1.48619664e-02 1.71942871e+01] [ 3.22166557e-02 -2.59037625e-03 9.99477552e-01 2.50533494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.290714057 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:80.45, Y:17.21, Z:2.51 [[ 8.48331806e-01 -5.28675090e-01 -2.89101501e-02 8.04503045e+01] [ 5.28485906e-01 8.48818930e-01 -1.44593145e-02 1.72104808e+01] [ 3.21837620e-02 -3.01231047e-03 9.99477429e-01 2.50741770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.320714057 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:80.47, Y:17.22, Z:2.51 [[ 8.50304085e-01 -5.25498510e-01 -2.88838938e-02 8.04745165e+01] [ 5.25305803e-01 8.50789797e-01 -1.45098432e-02 1.72235249e+01] [ 3.21990231e-02 -2.83509807e-03 9.99477456e-01 2.50850815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.350714057 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:80.50, Y:17.24, Z:2.51 [[ 8.47485134e-01 -5.30043965e-01 -2.86765362e-02 8.05001736e+01] [ 5.29840439e-01 8.47966300e-01 -1.49084972e-02 1.72419773e+01] [ 3.22188952e-02 -2.55925880e-03 9.99477560e-01 2.50988500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.380714057 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:80.53, Y:17.26, Z:2.51 [[ 8.47469302e-01 -5.30069383e-01 -2.86745676e-02 8.05293089e+01] [ 5.29865745e-01 8.47950421e-01 -1.49122825e-02 1.72570691e+01] [ 3.22191561e-02 -2.55596945e-03 9.99477560e-01 2.51120752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.410714057 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:80.56, Y:17.27, Z:2.51 [[ 8.47361506e-01 -5.30241460e-01 -2.86787806e-02 8.05577159e+01] [ 5.30038191e-01 8.47842781e-01 -1.49041759e-02 1.72714370e+01] [ 3.22179091e-02 -2.57162406e-03 9.99477560e-01 2.51223657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44071405700001 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:80.59, Y:17.29, Z:2.51 [[ 8.46946482e-01 -5.30903979e-01 -2.86813936e-02 8.05872686e+01] [ 5.30701256e-01 8.47427986e-01 -1.48991457e-02 1.72864814e+01] [ 3.22154314e-02 -2.60247264e-03 9.99477560e-01 2.51309614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47071405700001 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:80.62, Y:17.30, Z:2.51 [[ 8.46722218e-01 -5.31261353e-01 -2.86855439e-02 8.06162264e+01] [ 5.31059102e-01 8.47203921e-01 -1.48911509e-02 1.73010111e+01] [ 3.22135982e-02 -2.62505086e-03 9.99477560e-01 2.51433855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50071405700001 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:80.64, Y:17.32, Z:2.51 [[ 8.46655256e-01 -5.31367860e-01 -2.86892815e-02 8.06444046e+01] [ 5.31165912e-01 8.47137086e-01 -1.48839465e-02 1.73154264e+01] [ 3.22126051e-02 -2.63719684e-03 9.99477560e-01 2.51305528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.530714057 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:80.68, Y:17.33, Z:2.52 [[ 8.49908279e-01 -5.26148881e-01 -2.86927217e-02 8.06845286e+01] [ 5.25944195e-01 8.50388952e-01 -1.48773116e-02 1.73280878e+01] [ 3.22276544e-02 -2.44642006e-03 9.99477560e-01 2.51756706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.560714057 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:80.70, Y:17.34, Z:2.51 [[ 8.47289510e-01 -5.30332202e-01 -2.91245911e-02 8.06990967e+01] [ 5.30158087e-01 8.47782523e-01 -1.40426411e-02 1.73434645e+01] [ 3.21385841e-02 -3.54245505e-03 9.99477145e-01 2.51368686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.590714057 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:80.73, Y:17.36, Z:2.52 [[ 8.48235658e-01 -5.28841292e-01 -2.86906920e-02 8.07286491e+01] [ 5.28638061e-01 8.48716918e-01 -1.48793274e-02 1.73591617e+01] [ 3.22190784e-02 -2.54581577e-03 9.99477588e-01 2.51530539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.620714057 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:80.77, Y:17.37, Z:2.52 [[ 8.53461541e-01 -5.20365258e-01 -2.86948936e-02 8.07699738e+01] [ 5.20157513e-01 8.53940870e-01 -1.48712202e-02 1.73733457e+01] [ 3.22422087e-02 -2.23385002e-03 9.99477588e-01 2.52267683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.650714057 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:80.79, Y:17.39, Z:2.52 [[ 8.55219049e-01 -5.17443175e-01 -2.92051269e-02 8.07901750e+01] [ 5.17266957e-01 8.55711466e-01 -1.38846408e-02 1.73861361e+01] [ 3.21756746e-02 -3.23243786e-03 9.99477002e-01 2.52117863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.680714057 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:80.82, Y:17.41, Z:2.53 [[ 8.56183442e-01 -5.15864248e-01 -2.88788992e-02 8.08204482e+01] [ 5.15665921e-01 8.56666797e-01 -1.45140591e-02 1.74052624e+01] [ 3.22268783e-02 -2.46516711e-03 9.99477539e-01 2.52602334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.710714057 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:80.84, Y:17.42, Z:2.52 [[ 8.58407495e-01 -5.12144523e-01 -2.90612958e-02 8.08416685e+01] [ 5.11955918e-01 8.58894977e-01 -1.41618300e-02 1.74185838e+01] [ 3.22135047e-02 -2.72148130e-03 9.99477305e-01 2.52404694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.740714057 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:80.87, Y:17.43, Z:2.53 [[ 8.60487294e-01 -5.08657136e-01 -2.88016370e-02 8.08719859e+01] [ 5.08449795e-01 8.60966788e-01 -1.46627511e-02 1.74343997e+01] [ 3.22555658e-02 -2.02707544e-03 9.99477598e-01 2.52711814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.770714057 meters Centerline goodness : 0.995380 Centerline is valid? [True, True] Translation: X:80.90, Y:17.45, Z:2.53 [[ 8.60199349e-01 -5.09140507e-01 -2.88621605e-02 8.09038703e+01] [ 5.08937330e-01 8.60680665e-01 -1.45460550e-02 1.74508675e+01] [ 3.22470893e-02 -2.17652389e-03 9.99477558e-01 2.53152560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80071405700001 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:80.93, Y:17.46, Z:2.53 [[ 8.61523352e-01 -5.06885824e-01 -2.90564362e-02 8.09281268e+01] [ 5.06693937e-01 8.62009536e-01 -1.41708726e-02 1.74633335e+01] [ 3.22299395e-02 -2.51418244e-03 9.99477318e-01 2.52976400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83071405700001 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:80.96, Y:17.48, Z:2.53 [[ 8.60701914e-01 -5.08290215e-01 -2.88664673e-02 8.09570910e+01] [ 5.08086858e-01 8.61183149e-01 -1.45371769e-02 1.74789992e+01] [ 3.22484200e-02 -2.15449672e-03 9.99477562e-01 2.53180390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86071405700001 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:80.98, Y:17.50, Z:2.53 [[ 8.56656007e-01 -5.15077675e-01 -2.89045895e-02 8.09767472e+01] [ 5.14880593e-01 8.57139883e-01 -1.44636277e-02 1.74961530e+01] [ 3.22251682e-02 -2.49205862e-03 9.99477528e-01 2.52849633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.890714057 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:81.02, Y:17.51, Z:2.53 [[ 8.59482297e-01 -5.10359942e-01 -2.86864235e-02 8.10204022e+01] [ 5.10146180e-01 8.59958916e-01 -1.48841110e-02 1.75076047e+01] [ 3.22653997e-02 -1.84163942e-03 9.99477640e-01 2.53037799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.920714057 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:81.04, Y:17.52, Z:2.53 [[ 8.56633009e-01 -5.15101677e-01 -2.91573297e-02 8.10412076e+01] [ 5.14920969e-01 8.57123691e-01 -1.39776467e-02 1.75197282e+01] [ 3.21913473e-02 -3.04000695e-03 9.99477101e-01 2.53168838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.950714057 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:81.06, Y:17.54, Z:2.53 [[ 8.52589209e-01 -5.21783578e-01 -2.88710589e-02 8.10608513e+01] [ 5.21588136e-01 8.53073711e-01 -1.45279261e-02 1.75372640e+01] [ 3.22095746e-02 -2.67244875e-03 9.99477564e-01 2.53288245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.980714057 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:81.11, Y:17.55, Z:2.53 [[ 8.56023555e-01 -5.16141525e-01 -2.86635593e-02 8.11053012e+01] [ 5.15929569e-01 8.56500953e-01 -1.49264001e-02 1.75489481e+01] [ 3.22545007e-02 -2.01102774e-03 9.99477665e-01 2.53222062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.010714057 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:81.13, Y:17.56, Z:2.54 [[ 8.53120673e-01 -5.20894861e-01 -2.92174976e-02 8.11283021e+01] [ 5.20721447e-01 8.53614114e-01 -1.38606718e-02 1.75639633e+01] [ 3.21604210e-02 -3.38935199e-03 9.99476973e-01 2.54002186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.040714057 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:81.16, Y:17.58, Z:2.54 [[ 8.52479776e-01 -5.21953805e-01 -2.90250988e-02 8.11552386e+01] [ 5.21768482e-01 8.52968432e-01 -1.42304255e-02 1.75788889e+01] [ 3.21851177e-02 -3.01323178e-03 9.99477383e-01 2.53980893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.070714057 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:81.17, Y:17.60, Z:2.54 [[ 8.49253483e-01 -5.27188671e-01 -2.89935605e-02 8.11719038e+01] [ 5.27004304e-01 8.49742448e-01 -1.42911300e-02 1.75960501e+01] [ 3.21711809e-02 -3.14293926e-03 9.99477432e-01 2.53956485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.100714057 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:81.21, Y:17.61, Z:2.54 [[ 8.51732960e-01 -5.23191359e-01 -2.86664771e-02 8.12106699e+01] [ 5.22983578e-01 8.52212170e-01 -1.49196045e-02 1.76075921e+01] [ 3.22357288e-02 -2.28457782e-03 9.99477683e-01 2.53883652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.130714057 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:81.24, Y:17.62, Z:2.54 [[ 8.50986466e-01 -5.24386229e-01 -2.90020221e-02 8.12400144e+01] [ 5.24200811e-01 8.51475042e-01 -1.42745335e-02 1.76217926e+01] [ 3.21798668e-02 -3.05544874e-03 9.99477424e-01 2.53823353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.160714057 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:81.27, Y:17.64, Z:2.54 [[ 8.50464821e-01 -5.25230690e-01 -2.90225951e-02 8.12671845e+01] [ 5.25047096e-01 8.50954119e-01 -1.42349559e-02 1.76363355e+01] [ 3.21735326e-02 -3.13190004e-03 9.99477391e-01 2.53899049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19071405700001 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:81.29, Y:17.65, Z:2.54 [[ 8.50231399e-01 -5.25609329e-01 -2.90069192e-02 8.12914280e+01] [ 5.25424933e-01 8.50720369e-01 -1.42651196e-02 1.76502930e+01] [ 3.21746570e-02 -3.11230593e-03 9.99477416e-01 2.53857455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22071405700001 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:81.32, Y:17.66, Z:2.54 [[ 8.50241819e-01 -5.25599645e-01 -2.88766606e-02 8.13175056e+01] [ 5.25406776e-01 8.50727339e-01 -1.45160196e-02 1.76644149e+01] [ 3.21957793e-02 -2.82986624e-03 9.99477575e-01 2.54019536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25071405700001 meters Centerline goodness : 0.995307 Centerline is valid? [True, True] Translation: X:81.34, Y:17.68, Z:2.54 [[ 8.46134731e-01 -5.32189882e-01 -2.88087898e-02 8.13384554e+01] [ 5.31996380e-01 8.46619942e-01 -1.46467073e-02 1.76834626e+01] [ 3.21849254e-02 -2.93308412e-03 9.99477627e-01 2.54244503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.280714057 meters Centerline goodness : 0.995847 Centerline is valid? [True, True] Translation: X:81.38, Y:17.69, Z:2.54 [[ 8.49906634e-01 -5.26152401e-01 -2.86769129e-02 8.13827614e+01] [ 5.25946929e-01 8.50386854e-01 -1.49005150e-02 1.76943621e+01] [ 3.22264115e-02 -2.41848774e-03 9.99477668e-01 2.53792786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.310714057 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:81.41, Y:17.71, Z:2.54 [[ 8.48145165e-01 -5.28956605e-01 -2.92350682e-02 8.14066088e+01] [ 5.28789144e-01 8.48640654e-01 -1.38232296e-02 1.77081807e+01] [ 3.21219560e-02 -3.73508133e-03 9.99476978e-01 2.53968649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.340714057 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:81.43, Y:17.72, Z:2.54 [[ 8.47111683e-01 -5.30620381e-01 -2.90483759e-02 8.14346485e+01] [ 5.30441650e-01 8.47602792e-01 -1.41831838e-02 1.77231483e+01] [ 3.21473709e-02 -3.39372775e-03 9.99477378e-01 2.54017147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.370714057 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:81.46, Y:17.74, Z:2.54 [[ 8.46995697e-01 -5.30805893e-01 -2.90412300e-02 8.14608781e+01] [ 5.30626802e-01 8.47486663e-01 -1.41969502e-02 1.77383537e+01] [ 3.21478799e-02 -3.38529927e-03 9.99477390e-01 2.54274310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.400714057 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:81.49, Y:17.75, Z:2.54 [[ 8.46164495e-01 -5.32135736e-01 -2.89345148e-02 8.14911046e+01] [ 5.31950461e-01 8.46652990e-01 -1.44021420e-02 1.77546608e+01] [ 3.21613879e-02 -3.20514731e-03 9.99477550e-01 2.54277155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.430714057 meters Centerline goodness : 0.995629 Centerline is valid? [True, True] Translation: X:81.52, Y:17.77, Z:2.54 [[ 8.46865494e-01 -5.31015525e-01 -2.90060003e-02 8.15159675e+01] [ 5.30834260e-01 8.47355598e-01 -1.42646353e-02 1.77690244e+01] [ 3.21531395e-02 -3.31715124e-03 9.99477450e-01 2.54353269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.460714057 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:81.55, Y:17.79, Z:2.55 [[ 8.46566475e-01 -5.31500824e-01 -2.88457719e-02 8.15457529e+01] [ 5.31309424e-01 8.47052500e-01 -1.45725218e-02 1.77868600e+01] [ 3.21791905e-02 -2.98942203e-03 9.99477645e-01 2.54712522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.490714057 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:81.57, Y:17.80, Z:2.55 [[ 8.48058361e-01 -5.29110322e-01 -2.89703855e-02 8.15740103e+01] [ 5.28925641e-01 8.48547129e-01 -1.43330163e-02 1.78017087e+01] [ 3.21664844e-02 -3.16794538e-03 9.99477504e-01 2.54641435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.520714057 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:81.60, Y:17.82, Z:2.55 [[ 8.48032850e-01 -5.29149794e-01 -2.89962338e-02 8.15994875e+01] [ 5.28966821e-01 8.48522299e-01 -1.42831923e-02 1.78170571e+01] [ 3.21618993e-02 -3.22542934e-03 9.99477468e-01 2.54912365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55071405700001 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:81.63, Y:17.83, Z:2.55 [[ 8.47512793e-01 -5.29987900e-01 -2.88944700e-02 8.16262910e+01] [ 5.29798786e-01 8.47999765e-01 -1.44791093e-02 1.78327246e+01] [ 3.21762565e-02 -3.03702478e-03 9.99477596e-01 2.55426743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58071405700001 meters Centerline goodness : 0.995702 Centerline is valid? [True, True] Translation: X:81.66, Y:17.85, Z:2.55 [[ 8.47208773e-01 -5.30476580e-01 -2.88425579e-02 8.16573319e+01] [ 5.30284381e-01 8.47694481e-01 -1.45788162e-02 1.78484176e+01] [ 3.21833978e-02 -2.94345697e-03 9.99477646e-01 2.55423370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61071405700001 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:81.69, Y:17.86, Z:2.56 [[ 8.46860265e-01 -5.31027051e-01 -2.89475903e-02 8.16866923e+01] [ 5.30841986e-01 8.47348858e-01 -1.43769996e-02 1.78633695e+01] [ 3.21632833e-02 -3.19128664e-03 9.99477533e-01 2.55545232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.640714057 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:81.71, Y:17.88, Z:2.56 [[ 8.46373209e-01 -5.31802507e-01 -2.89565850e-02 8.17145231e+01] [ 5.31618476e-01 8.46862205e-01 -1.43597264e-02 1.78785282e+01] [ 3.21587759e-02 -3.24016784e-03 9.99477521e-01 2.55856425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.670714057 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:81.74, Y:17.89, Z:2.56 [[ 8.46231278e-01 -5.32028270e-01 -2.89576348e-02 8.17444122e+01] [ 5.31844437e-01 8.46720350e-01 -1.43577103e-02 1.78929518e+01] [ 3.21577265e-02 -3.25101345e-03 9.99477519e-01 2.55931440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.700714057 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:81.77, Y:17.91, Z:2.56 [[ 8.46717590e-01 -5.31252331e-01 -2.89876328e-02 8.17694395e+01] [ 5.31070001e-01 8.47207271e-01 -1.43000994e-02 1.79062398e+01] [ 3.21554944e-02 -3.28631648e-03 9.99477476e-01 2.55851973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.730714057 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:81.80, Y:17.92, Z:2.56 [[ 8.46525345e-01 -5.31566657e-01 -2.88396988e-02 8.18036108e+01] [ 5.31374910e-01 8.47011224e-01 -1.45839200e-02 1.79212162e+01] [ 3.21798742e-02 -2.97903445e-03 9.99477654e-01 2.55700065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.760714057 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:81.83, Y:17.94, Z:2.56 [[ 8.45947506e-01 -5.32472846e-01 -2.90772219e-02 8.18307079e+01] [ 5.32297067e-01 8.46439740e-01 -1.41279102e-02 1.79359216e+01] [ 3.21348447e-02 -3.52624953e-03 9.99477322e-01 2.55961984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.790714057 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:81.86, Y:17.95, Z:2.56 [[ 8.46411389e-01 -5.31738205e-01 -2.90213987e-02 8.18577012e+01] [ 5.31558362e-01 8.46902044e-01 -1.42350343e-02 1.79485918e+01] [ 3.21475934e-02 -3.37787202e-03 9.99477425e-01 2.56040734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.820714057 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:81.89, Y:17.96, Z:2.56 [[ 8.45132196e-01 -5.33773255e-01 -2.89427620e-02 8.18865761e+01] [ 5.33589479e-01 8.45621261e-01 -1.43857879e-02 1.79641920e+01] [ 3.21533637e-02 -3.28566081e-03 9.99477546e-01 2.56381756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.850714057 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:81.92, Y:17.98, Z:2.56 [[ 8.44957640e-01 -5.34047868e-01 -2.89734524e-02 8.19153485e+01] [ 5.33866246e-01 8.45447556e-01 -1.43269675e-02 1.79793619e+01] [ 3.21468209e-02 -3.36226766e-03 9.99477502e-01 2.56484317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.880714057 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:81.94, Y:17.99, Z:2.57 [[ 8.44744763e-01 -5.34384505e-01 -2.89738903e-02 8.19387190e+01] [ 5.34203107e-01 8.45234762e-01 -1.43261285e-02 1.79919389e+01] [ 3.21454003e-02 -3.37602023e-03 9.99477501e-01 2.56680126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.910714057 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:81.97, Y:18.00, Z:2.57 [[ 8.43720865e-01 -5.36009528e-01 -2.87904229e-02 8.19661115e+01] [ 5.35817179e-01 8.44206448e-01 -1.46773143e-02 1.80047802e+01] [ 3.21722410e-02 -3.04284685e-03 9.99477708e-01 2.56789135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94071405700001 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:82.00, Y:18.02, Z:2.57 [[ 8.41760036e-01 -5.39086647e-01 -2.87337516e-02 8.19985597e+01] [ 5.38892407e-01 8.42244831e-01 -1.47857706e-02 1.80204653e+01] [ 3.21716653e-02 -3.03832978e-03 9.99477740e-01 2.56854233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97071405700001 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:82.03, Y:18.03, Z:2.57 [[ 8.40491451e-01 -5.41053462e-01 -2.89010629e-02 8.20282717e+01] [ 5.40871219e-01 8.40981024e-01 -1.44651706e-02 1.80329044e+01] [ 3.21316761e-02 -3.47390087e-03 9.99477607e-01 2.56920929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00071405700001 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:82.06, Y:18.05, Z:2.57 [[ 8.39838882e-01 -5.42065842e-01 -2.89011329e-02 8.20582941e+01] [ 5.41884194e-01 8.40328676e-01 -1.44650365e-02 1.80472454e+01] [ 3.21274529e-02 -3.51276702e-03 9.99477607e-01 2.57042765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.030714057 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:82.09, Y:18.06, Z:2.57 [[ 8.39425858e-01 -5.42704466e-01 -2.89152589e-02 8.20883034e+01] [ 5.42524110e-01 8.39916148e-01 -1.44379650e-02 1.80599851e+01] [ 3.21219410e-02 -3.56762398e-03 9.99477590e-01 2.57061555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.060714057 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:82.12, Y:18.07, Z:2.57 [[ 8.39811001e-01 -5.42106695e-01 -2.89450144e-02 8.21180693e+01] [ 5.41927930e-01 8.40301914e-01 -1.43809194e-02 1.80730679e+01] [ 3.21185437e-02 -3.60885740e-03 9.99477551e-01 2.56862453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.090714057 meters Centerline goodness : 0.996041 Centerline is valid? [True, True] Translation: X:82.15, Y:18.09, Z:2.57 [[ 8.39092682e-01 -5.43215406e-01 -2.89912618e-02 8.21453305e+01] [ 5.43040310e-01 8.39584989e-01 -1.42922644e-02 1.80877853e+01] [ 3.21044064e-02 -3.75088930e-03 9.99477482e-01 2.57312052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.120714057 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:82.17, Y:18.10, Z:2.57 [[ 8.41266614e-01 -5.39845621e-01 -2.89342274e-02 8.21715136e+01] [ 5.39664835e-01 8.41756771e-01 -1.44015469e-02 1.81006101e+01] [ 3.21301938e-02 -3.49924445e-03 9.99477566e-01 2.57426421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.150714057 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:82.20, Y:18.12, Z:2.58 [[ 8.43617016e-01 -5.36172893e-01 -2.87916350e-02 8.21983791e+01] [ 5.35980731e-01 8.44102668e-01 -1.46745477e-02 1.81153205e+01] [ 3.21711906e-02 -3.05206342e-03 9.99477713e-01 2.57818878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.180714057 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:82.23, Y:18.13, Z:2.58 [[ 8.44195688e-01 -5.35265358e-01 -2.87164860e-02 8.22261001e+01] [ 5.35067825e-01 8.44679135e-01 -1.48182788e-02 1.81306351e+01] [ 3.21879278e-02 -2.85574061e-03 9.99477755e-01 2.58043022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.210714057 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:82.26, Y:18.15, Z:2.58 [[ 8.43891834e-01 -5.35745130e-01 -2.87006703e-02 8.22580840e+01] [ 5.35546852e-01 8.44374970e-01 -1.48485406e-02 1.81476647e+01] [ 3.21891610e-02 -2.83999150e-03 9.99477760e-01 2.57848030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.240714057 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:82.28, Y:18.16, Z:2.58 [[ 8.48323570e-01 -5.28687725e-01 -2.89207649e-02 8.22827498e+01] [ 5.28499664e-01 8.48810936e-01 -1.44256472e-02 1.81605271e+01] [ 3.21749241e-02 -3.04699797e-03 9.99477609e-01 2.58236334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.270714057 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:82.31, Y:18.18, Z:2.58 [[ 8.48236717e-01 -5.28835841e-01 -2.87597897e-02 8.23142246e+01] [ 5.28637446e-01 8.48719822e-01 -1.47347865e-02 1.81775434e+01] [ 3.22012868e-02 -2.70491488e-03 9.99477744e-01 2.57843142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30071405700001 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:82.35, Y:18.19, Z:2.58 [[ 8.48814337e-01 -5.27903920e-01 -2.88387358e-02 8.23459192e+01] [ 5.27710072e-01 8.49299352e-01 -1.45839223e-02 1.81931306e+01] [ 3.21916293e-02 -2.83944904e-03 9.99477682e-01 2.58193139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33071405700001 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:82.37, Y:18.21, Z:2.58 [[ 8.49431341e-01 -5.26901811e-01 -2.89979185e-02 8.23705135e+01] [ 5.26717668e-01 8.49920346e-01 -1.42794810e-02 1.82076658e+01] [ 3.21698054e-02 -3.14427735e-03 9.99477472e-01 2.58127972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36071405700001 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:82.39, Y:18.22, Z:2.58 [[ 8.48747832e-01 -5.28006448e-01 -2.89190090e-02 8.23894615e+01] [ 5.27817830e-01 8.49235005e-01 -1.44306433e-02 1.82235225e+01] [ 3.21785075e-02 -3.01599138e-03 9.99477587e-01 2.58146203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.390714057 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:82.42, Y:18.24, Z:2.58 [[ 8.49794264e-01 -5.26336000e-01 -2.86377874e-02 8.24247607e+01] [ 5.26128341e-01 8.50273431e-01 -1.49686838e-02 1.82370908e+01] [ 3.22285068e-02 -2.34684995e-03 9.99477771e-01 2.58035877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.420714057 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:82.46, Y:18.25, Z:2.58 [[ 8.49970629e-01 -5.26038666e-01 -2.88661069e-02 8.24571334e+01] [ 5.25845475e-01 8.50455955e-01 -1.45328809e-02 1.82503958e+01] [ 3.21942098e-02 -2.82658977e-03 9.99477635e-01 2.58343294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.450714057 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:82.47, Y:18.26, Z:2.58 [[ 8.47536558e-01 -5.29943301e-01 -2.90151795e-02 8.24738346e+01] [ 5.29761975e-01 8.48026673e-01 -1.42481929e-02 1.82646756e+01] [ 3.21563805e-02 -3.29527439e-03 9.99477418e-01 2.58187995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.480714057 meters Centerline goodness : 0.994795 Centerline is valid? [True, True] Translation: X:82.50, Y:18.28, Z:2.59 [[ 8.49719842e-01 -5.26457436e-01 -2.86139717e-02 8.25045832e+01] [ 5.26248363e-01 8.50198373e-01 -1.50129043e-02 1.82751839e+01] [ 3.22312072e-02 -2.30129313e-03 9.99477790e-01 2.58935606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.510714057 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:82.53, Y:18.29, Z:2.59 [[ 8.49224628e-01 -5.27252371e-01 -2.86787092e-02 8.25321964e+01] [ 5.27047883e-01 8.49705145e-01 -1.48894545e-02 1.82885335e+01] [ 3.22189469e-02 -2.47056152e-03 9.99477782e-01 2.59104925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.540714057 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:82.57, Y:18.30, Z:2.59 [[ 8.46364680e-01 -5.31832667e-01 -2.86503551e-02 8.25698222e+01] [ 5.31628961e-01 8.46845522e-01 -1.49435272e-02 1.83029356e+01] [ 3.22098809e-02 -2.58368486e-03 9.99477788e-01 2.58928769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.570714057 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:82.60, Y:18.32, Z:2.59 [[ 8.45476781e-01 -5.33223672e-01 -2.90091254e-02 8.25996843e+01] [ 5.33043892e-01 8.45967436e-01 -1.42585579e-02 1.83163340e+01] [ 3.21437760e-02 -3.40785747e-03 9.99477446e-01 2.58949286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.600714057 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:82.63, Y:18.33, Z:2.59 [[ 8.42445941e-01 -5.37999376e-01 -2.90087594e-02 8.26267948e+01] [ 5.37822352e-01 8.42937596e-01 -1.42592565e-02 1.83289144e+01] [ 3.21240451e-02 -3.58890645e-03 9.99477446e-01 2.58896736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.630714057 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:82.65, Y:18.34, Z:2.59 [[ 8.41219888e-01 -5.39918231e-01 -2.89379480e-02 8.26543726e+01] [ 5.39737732e-01 8.41710154e-01 -1.43943570e-02 1.83421852e+01] [ 3.21291405e-02 -3.51008305e-03 9.99477562e-01 2.58852292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.660714057 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:82.68, Y:18.35, Z:2.59 [[ 8.41095221e-01 -5.40113603e-01 -2.89158155e-02 8.26781855e+01] [ 5.39931784e-01 8.41584966e-01 -1.44365799e-02 1.83514797e+01] [ 3.21325087e-02 -3.47002948e-03 9.99477594e-01 2.58856672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69071405700001 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:82.71, Y:18.37, Z:2.59 [[ 8.38212689e-01 -5.44588678e-01 -2.86820606e-02 8.27116007e+01] [ 5.44394361e-01 8.38697389e-01 -1.48818323e-02 1.83677679e+01] [ 3.21600467e-02 -3.14021140e-03 9.99477799e-01 2.59251412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72071405700001 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:82.74, Y:18.38, Z:2.59 [[ 8.37065506e-01 -5.46339302e-01 -2.88912883e-02 8.27397344e+01] [ 5.46159521e-01 8.37555971e-01 -1.44835734e-02 1.83807280e+01] [ 3.21110164e-02 -3.65555248e-03 9.99477623e-01 2.59291050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75071405700001 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:82.76, Y:18.39, Z:2.59 [[ 8.35422168e-01 -5.48850373e-01 -2.88629576e-02 8.27611374e+01] [ 5.48670227e-01 8.35912461e-01 -1.45375073e-02 1.83923266e+01] [ 3.21058223e-02 -3.69128965e-03 9.99477659e-01 2.59444338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.780714057 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:82.79, Y:18.41, Z:2.59 [[ 8.35260971e-01 -5.49109592e-01 -2.85966140e-02 8.27899223e+01] [ 5.48912411e-01 8.35744488e-01 -1.50438084e-02 1.84059538e+01] [ 3.21601620e-02 -3.13153029e-03 9.99477822e-01 2.59482279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.810714057 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:82.82, Y:18.42, Z:2.60 [[ 8.35000093e-01 -5.49506003e-01 -2.86006629e-02 8.28200247e+01] [ 5.49309312e-01 8.35483809e-01 -1.50361069e-02 1.84190474e+01] [ 3.21578218e-02 -3.15545975e-03 9.99477822e-01 2.59633725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.840714057 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:82.85, Y:18.43, Z:2.60 [[ 8.36945389e-01 -5.46538353e-01 -2.86049620e-02 8.28491788e+01] [ 5.46340222e-01 8.37428518e-01 -1.50279238e-02 1.84292891e+01] [ 3.21679476e-02 -3.05048970e-03 9.99477822e-01 2.60203672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.870714057 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:82.88, Y:18.44, Z:2.60 [[ 8.35501843e-01 -5.48743767e-01 -2.85823219e-02 8.28753671e+01] [ 5.48545454e-01 8.35984898e-01 -1.50710142e-02 1.84443401e+01] [ 3.21645146e-02 -3.08684258e-03 9.99477821e-01 2.59947077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.900714057 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:82.91, Y:18.46, Z:2.60 [[ 8.35874428e-01 -5.48174854e-01 -2.86054110e-02 8.29084488e+01] [ 5.47977698e-01 8.36357955e-01 -1.50270621e-02 1.84575087e+01] [ 3.21618207e-02 -3.11439032e-03 9.99477823e-01 2.59746434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.930714057 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:82.93, Y:18.47, Z:2.60 [[ 8.36921818e-01 -5.46564955e-01 -2.87857623e-02 8.29308138e+01] [ 5.46378508e-01 8.37409651e-01 -1.46834368e-02 1.84706506e+01] [ 3.21309272e-02 -3.43903321e-03 9.99477752e-01 2.60071645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.960714057 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:82.96, Y:18.49, Z:2.60 [[ 8.38036055e-01 -5.44864455e-01 -2.86058939e-02 8.29600048e+01] [ 5.44665427e-01 8.38518810e-01 -1.50258712e-02 1.84854270e+01] [ 3.21736433e-02 -2.98841963e-03 9.99477827e-01 2.60192686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.990714057 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:82.99, Y:18.50, Z:2.60 [[ 8.38621137e-01 -5.43963303e-01 -2.86096758e-02 8.29884810e+01] [ 5.43764000e-01 8.39103779e-01 -1.50186671e-02 1.84995834e+01] [ 3.21760908e-02 -2.96194007e-03 9.99477827e-01 2.60220030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.020714057 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:83.02, Y:18.51, Z:2.60 [[ 8.39250184e-01 -5.42992067e-01 -2.86137032e-02 8.30175134e+01] [ 5.42792465e-01 8.39732702e-01 -1.50109900e-02 1.85133103e+01] [ 3.21787108e-02 -2.93332641e-03 9.99477827e-01 2.60366514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05071405700001 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:83.05, Y:18.53, Z:2.60 [[ 8.40477750e-01 -5.41089815e-01 -2.86175535e-02 8.30472766e+01] [ 5.40889368e-01 8.40959917e-01 -1.50036460e-02 1.85256628e+01] [ 3.21845355e-02 -2.86869977e-03 9.99477827e-01 2.60249203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08071405700001 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:83.08, Y:18.54, Z:2.60 [[ 8.41057115e-01 -5.40188607e-01 -2.86216477e-02 8.30762077e+01] [ 5.39987906e-01 8.41539177e-01 -1.49958318e-02 1.85397197e+01] [ 3.21868153e-02 -2.84299257e-03 9.99477827e-01 2.60324514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11071405700001 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:83.12, Y:18.55, Z:2.61 [[ 8.44024837e-01 -5.35539586e-01 -2.86256309e-02 8.31167622e+01] [ 5.35336484e-01 8.44505892e-01 -1.49882242e-02 1.85520616e+01] [ 3.22013014e-02 -2.67391113e-03 9.99477827e-01 2.60585726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.140714057 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:83.14, Y:18.57, Z:2.61 [[ 8.44132849e-01 -5.35347639e-01 -2.90282374e-02 8.31433931e+01] [ 5.35170469e-01 8.44624426e-01 -1.42178764e-02 1.85669848e+01] [ 3.21294649e-02 -3.53327887e-03 9.99477470e-01 2.60566955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.170714057 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:83.17, Y:18.58, Z:2.61 [[ 8.45964760e-01 -5.32451248e-01 -2.89705737e-02 8.31714435e+01] [ 5.32268652e-01 8.46454243e-01 -1.43281740e-02 1.85812381e+01] [ 3.21513192e-02 -3.29899796e-03 9.99477568e-01 2.60702827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.200714057 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:83.20, Y:18.60, Z:2.61 [[ 8.46783719e-01 -5.31148746e-01 -2.89541568e-02 8.31991132e+01] [ 5.30964334e-01 8.47272493e-01 -1.43595730e-02 1.85952419e+01] [ 3.21591299e-02 -3.21417200e-03 9.99477593e-01 2.60781903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.230714057 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:83.23, Y:18.61, Z:2.61 [[ 8.48861580e-01 -5.27825652e-01 -2.88807802e-02 8.32259800e+01] [ 5.27634605e-01 8.49347687e-01 -1.44993243e-02 1.86080850e+01] [ 3.21829392e-02 -2.93057973e-03 9.99477699e-01 2.61321120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.260714057 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:83.25, Y:18.62, Z:2.61 [[ 8.48615563e-01 -5.28223346e-01 -2.88396003e-02 8.32530323e+01] [ 5.28029883e-01 8.49100661e-01 -1.45777361e-02 1.86233774e+01] [ 3.21880243e-02 -2.85727704e-03 9.99477747e-01 2.61277269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.290714057 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:83.28, Y:18.64, Z:2.62 [[ 8.51502428e-01 -5.23555346e-01 -2.88689346e-02 8.32825213e+01] [ 5.23361102e-01 8.51987249e-01 -1.45218531e-02 1.86368518e+01] [ 3.21989580e-02 -2.74348424e-03 9.99477714e-01 2.61631968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.320714057 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:83.31, Y:18.65, Z:2.62 [[ 8.53290432e-01 -5.20631741e-01 -2.89487234e-02 8.33104422e+01] [ 5.20440950e-01 8.53776742e-01 -1.43698570e-02 1.86501310e+01] [ 3.21971504e-02 -2.80443965e-03 9.99477603e-01 2.61855164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.350714057 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:83.34, Y:18.67, Z:2.62 [[ 8.53120050e-01 -5.20915180e-01 -2.88713563e-02 8.33444078e+01] [ 5.20719603e-01 8.53604332e-01 -1.45168479e-02 1.86651547e+01] [ 3.22067613e-02 -2.64926723e-03 9.99477717e-01 2.62053495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.380714057 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:83.38, Y:18.68, Z:2.61 [[ 8.56168021e-01 -5.15879034e-01 -2.90713241e-02 8.33813573e+01] [ 5.15693399e-01 8.56656570e-01 -1.41364841e-02 1.86766042e+01] [ 3.21968565e-02 -2.88868433e-03 9.99477372e-01 2.61130255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.410714057 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:83.40, Y:18.69, Z:2.62 [[ 8.52548583e-01 -5.21824719e-01 -2.93236530e-02 8.34024979e+01] [ 5.21658765e-01 8.53044908e-01 -1.36571824e-02 1.86898472e+01] [ 3.21410482e-02 -3.65352912e-03 9.99476665e-01 2.61680677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44071405700001 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:83.43, Y:18.71, Z:2.62 [[ 8.51227835e-01 -5.23992512e-01 -2.90348091e-02 8.34316677e+01] [ 5.23809222e-01 8.51717165e-01 -1.42045906e-02 1.87050726e+01] [ 3.21725444e-02 -3.11735782e-03 9.99477468e-01 2.61586827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47071405700001 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:83.47, Y:18.72, Z:2.62 [[ 8.53918444e-01 -5.19591447e-01 -2.91207645e-02 8.34653014e+01] [ 5.19411145e-01 8.54409093e-01 -1.40415198e-02 1.87172482e+01] [ 3.21768996e-02 -3.13533691e-03 9.99477272e-01 2.61623305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.500714057 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:83.49, Y:18.73, Z:2.62 [[ 8.48155057e-01 -5.28938475e-01 -2.92760729e-02 8.34861978e+01] [ 5.28773584e-01 8.48651575e-01 -1.37477675e-02 1.87329759e+01] [ 3.21169085e-02 -3.82017541e-03 9.99476818e-01 2.61759826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.530714057 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:83.51, Y:18.75, Z:2.62 [[ 8.46458155e-01 -5.31661804e-01 -2.90571454e-02 8.35145408e+01] [ 5.31484435e-01 8.46949688e-01 -1.41605422e-02 1.87481315e+01] [ 3.21385596e-02 -3.45711411e-03 9.99477444e-01 2.62018521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.560714057 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:83.54, Y:18.76, Z:2.62 [[ 8.45647966e-01 -5.32950956e-01 -2.90309502e-02 8.35426820e+01] [ 5.32772659e-01 8.46139098e-01 -1.42098740e-02 1.87634149e+01] [ 3.21373880e-02 -3.45034545e-03 9.99477505e-01 2.62218230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.590714057 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:83.57, Y:18.78, Z:2.63 [[ 8.45846749e-01 -5.32636202e-01 -2.90164189e-02 8.35659625e+01] [ 5.32456793e-01 8.46337442e-01 -1.42372237e-02 1.87766780e+01] [ 3.21409425e-02 -3.40748000e-03 9.99477538e-01 2.62665992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.620714057 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:83.59, Y:18.79, Z:2.63 [[ 8.45596226e-01 -5.33043621e-01 -2.88360997e-02 8.35941934e+01] [ 5.32852960e-01 8.46082299e-01 -1.45761991e-02 1.87922722e+01] [ 3.21674635e-02 -3.03982218e-03 9.99477871e-01 2.62799036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.650714057 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:83.62, Y:18.81, Z:2.63 [[ 8.43788366e-01 -5.35899365e-01 -2.88628611e-02 8.36208825e+01] [ 5.35712052e-01 8.44275782e-01 -1.45258927e-02 1.88089437e+01] [ 3.21526313e-02 -3.20540331e-03 9.99477831e-01 2.63034721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.680714057 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:83.65, Y:18.82, Z:2.63 [[ 8.42959356e-01 -5.37204218e-01 -2.88297306e-02 8.36473661e+01] [ 5.37015553e-01 8.43446196e-01 -1.45880188e-02 1.88246511e+01] [ 3.21530718e-02 -3.18490684e-03 9.99477882e-01 2.63130354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.710714057 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:83.67, Y:18.84, Z:2.63 [[ 8.43491482e-01 -5.36369333e-01 -2.88107418e-02 8.36722714e+01] [ 5.36178982e-01 8.43977635e-01 -1.46236171e-02 1.88381329e+01] [ 3.21592815e-02 -3.11281773e-03 9.99477909e-01 2.63036885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.740714057 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:83.70, Y:18.85, Z:2.63 [[ 8.43519371e-01 -5.36332804e-01 -2.86739271e-02 8.37008670e+01] [ 5.36133777e-01 8.44001874e-01 -1.48798907e-02 1.88536105e+01] [ 3.21814217e-02 -2.82158475e-03 9.99478061e-01 2.63151476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.770714057 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:83.73, Y:18.87, Z:2.63 [[ 8.43454531e-01 -5.36434545e-01 -2.86780961e-02 8.37291539e+01] [ 5.36235840e-01 8.43937169e-01 -1.48720797e-02 1.88687380e+01] [ 3.21804085e-02 -2.83429991e-03 9.99478058e-01 2.63394185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80071405700001 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:83.76, Y:18.89, Z:2.63 [[ 8.41609300e-01 -5.39326340e-01 -2.86511098e-02 8.37616738e+01] [ 5.39127586e-01 8.42091896e-01 -1.49226191e-02 1.88852254e+01] [ 3.21750289e-02 -2.88758862e-03 9.99478078e-01 2.63379258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83071405700001 meters Centerline goodness : 0.995041 Centerline is valid? [True, True] Translation: X:83.78, Y:18.90, Z:2.63 [[ 8.39528620e-01 -5.42550139e-01 -2.88278099e-02 8.37841641e+01] [ 5.42364453e-01 8.40016600e-01 -1.45915346e-02 1.89004791e+01] [ 3.21324780e-02 -3.38516842e-03 9.99477886e-01 2.63245773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86071405700001 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:83.81, Y:18.92, Z:2.63 [[ 8.39601730e-01 -5.42447435e-01 -2.86306702e-02 8.38126430e+01] [ 5.42249194e-01 8.40084517e-01 -1.49605147e-02 1.89154976e+01] [ 3.21674755e-02 -2.96408377e-03 9.99478098e-01 2.63275165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.890714057 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:83.84, Y:18.93, Z:2.63 [[ 8.39068710e-01 -5.43269468e-01 -2.86702856e-02 8.38398348e+01] [ 5.43074209e-01 8.39552739e-01 -1.48862833e-02 1.89302741e+01] [ 3.21574800e-02 -3.07947817e-03 9.99478070e-01 2.63316146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.920714057 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:83.86, Y:18.94, Z:2.64 [[ 8.40738610e-01 -5.40682881e-01 -2.86463235e-02 8.38629275e+01] [ 5.40484616e-01 8.41221397e-01 -1.49311979e-02 1.89445636e+01] [ 3.21709434e-02 -2.92966258e-03 9.99478088e-01 2.63864743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.950714057 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:83.89, Y:18.96, Z:2.63 [[ 8.41273109e-01 -5.39860914e-01 -2.84561016e-02 8.38908743e+01] [ 5.39650188e-01 8.41750537e-01 -1.52875257e-02 1.89600831e+01] [ 3.22060764e-02 -2.49535633e-03 9.99478135e-01 2.63374357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.980714057 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:83.92, Y:18.98, Z:2.64 [[ 8.43081461e-01 -5.37030944e-01 -2.84853640e-02 8.39204717e+01] [ 5.36820453e-01 8.43558988e-01 -1.52326795e-02 1.89765895e+01] [ 3.22095051e-02 -2.44913638e-03 9.99478139e-01 2.63897281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.010714057 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:83.95, Y:18.99, Z:2.64 [[ 8.44667249e-01 -5.34528040e-01 -2.85834233e-02 8.39484421e+01] [ 5.34322301e-01 8.45146859e-01 -1.50487813e-02 1.89914552e+01] [ 3.22011859e-02 -2.56154781e-03 9.99478125e-01 2.64178374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.040714057 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:83.98, Y:19.01, Z:2.64 [[ 8.44172956e-01 -5.35309486e-01 -2.85617687e-02 8.39798374e+01] [ 5.35102829e-01 8.44652162e-01 -1.50893416e-02 1.90084833e+01] [ 3.22022274e-02 -2.54546911e-03 9.99478132e-01 2.64464653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.070714057 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:84.00, Y:19.02, Z:2.65 [[ 8.46527633e-01 -5.31567973e-01 -2.87481504e-02 8.40033247e+01] [ 5.31370936e-01 8.47011016e-01 -1.47399997e-02 1.90227131e+01] [ 3.21853118e-02 -2.79811457e-03 9.99478002e-01 2.64675633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.100714057 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:84.03, Y:19.04, Z:2.65 [[ 8.46912499e-01 -5.30967137e-01 -2.85152130e-02 8.40316596e+01] [ 5.30755111e-01 8.47389340e-01 -1.51762613e-02 1.90390953e+01] [ 3.22215836e-02 -2.28162963e-03 9.99478146e-01 2.64712483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.130714057 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:84.06, Y:19.05, Z:2.65 [[ 8.47354127e-01 -5.30260016e-01 -2.85534526e-02 8.40611353e+01] [ 5.30049989e-01 8.47831858e-01 -1.51046196e-02 1.90537698e+01] [ 3.22179026e-02 -2.33579548e-03 9.99478139e-01 2.64801932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.160714057 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:84.09, Y:19.07, Z:2.65 [[ 8.48011919e-01 -5.29205742e-01 -2.85844106e-02 8.40883369e+01] [ 5.28997064e-01 8.48490251e-01 -1.50465781e-02 1.90652662e+01] [ 3.22163292e-02 -2.36139174e-03 9.99478130e-01 2.65027941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19071405700001 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:84.12, Y:19.08, Z:2.65 [[ 8.44610239e-01 -5.34622571e-01 -2.85000336e-02 8.41156936e+01] [ 5.34411653e-01 8.45087570e-01 -1.52047368e-02 1.90827277e+01] [ 3.22138197e-02 -2.38867368e-03 9.99478146e-01 2.65085468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22071405700001 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:84.15, Y:19.10, Z:2.65 [[ 8.42768671e-01 -5.37520013e-01 -2.85167068e-02 8.41459933e+01] [ 5.37311785e-01 8.43247183e-01 -1.51734717e-02 1.90963344e+01] [ 3.22026774e-02 -2.53463604e-03 9.99478145e-01 2.65061929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.250714057 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:84.17, Y:19.11, Z:2.65 [[ 8.41339855e-01 -5.39749354e-01 -2.85986547e-02 8.41726188e+01] [ 5.39547569e-01 8.41821139e-01 -1.50196712e-02 1.91110848e+01] [ 3.21818099e-02 -2.79368666e-03 9.99478127e-01 2.64936652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.280714057 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:84.20, Y:19.13, Z:2.65 [[ 8.40621479e-01 -5.40871465e-01 -2.85234462e-02 8.42018909e+01] [ 5.40665569e-01 8.41100999e-01 -1.51608393e-02 1.91262499e+01] [ 3.21911645e-02 -2.67711813e-03 9.99478145e-01 2.65077767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.310714057 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:84.23, Y:19.14, Z:2.65 [[ 8.39209539e-01 -5.43057760e-01 -2.85590452e-02 8.42299599e+01] [ 5.42855365e-01 8.39690552e-01 -1.50939893e-02 1.91415825e+01] [ 3.21776684e-02 -2.83641109e-03 9.99478140e-01 2.65234443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.340714057 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:84.26, Y:19.16, Z:2.65 [[ 8.37907341e-01 -5.45065290e-01 -2.85502539e-02 8.42622739e+01] [ 5.44863490e-01 8.38388603e-01 -1.51105030e-02 1.91577970e+01] [ 3.21724182e-02 -2.89478961e-03 9.99478142e-01 2.65455314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.370714057 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:84.30, Y:19.17, Z:2.65 [[ 8.39046715e-01 -5.43298911e-01 -2.87559351e-02 8.42954660e+01] [ 5.43109177e-01 8.39532989e-01 -1.47235011e-02 1.91726951e+01] [ 3.21408183e-02 -3.26390699e-03 9.99478021e-01 2.65302416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.400714057 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:84.32, Y:19.19, Z:2.66 [[ 8.41131578e-01 -5.40057446e-01 -2.89071385e-02 8.43203316e+01] [ 5.39875485e-01 8.41621040e-01 -1.44390335e-02 1.91852298e+01] [ 3.21267635e-02 -3.46112841e-03 9.99477809e-01 2.65530633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.430714057 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:84.34, Y:19.20, Z:2.66 [[ 8.40582840e-01 -5.40919617e-01 -2.87481659e-02 8.43434579e+01] [ 5.40728019e-01 8.41068371e-01 -1.47378722e-02 1.92009838e+01] [ 3.21511773e-02 -3.15653636e-03 9.99478033e-01 2.65796039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.460714057 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:84.37, Y:19.22, Z:2.66 [[ 8.40918478e-01 -5.40407194e-01 -2.85688226e-02 8.43717469e+01] [ 5.40203925e-01 8.41399113e-01 -1.50748788e-02 1.92169002e+01] [ 3.21843550e-02 -2.75624598e-03 9.99478149e-01 2.65868228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.490714057 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:84.40, Y:19.23, Z:2.66 [[ 8.40227019e-01 -5.41481907e-01 -2.85639741e-02 8.44021671e+01] [ 5.41278946e-01 8.40707783e-01 -1.50839915e-02 1.92334213e+01] [ 3.21816638e-02 -2.78710061e-03 9.99478150e-01 2.65892145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.520714057 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:84.43, Y:19.25, Z:2.66 [[ 8.41204982e-01 -5.39955812e-01 -2.86687869e-02 8.44300748e+01] [ 5.39758619e-01 8.41688192e-01 -1.48869464e-02 1.92472104e+01] [ 3.21684727e-02 -2.95125132e-03 9.99478104e-01 2.65950619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.55071405700001 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:84.46, Y:19.26, Z:2.66 [[ 8.40795744e-01 -5.40596113e-01 -2.86070034e-02 8.44586268e+01] [ 5.40395370e-01 8.41277452e-01 -1.50030825e-02 1.92630224e+01] [ 3.21770350e-02 -2.84456427e-03 9.99478137e-01 2.66074446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58071405700001 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:84.49, Y:19.28, Z:2.66 [[ 8.40120280e-01 -5.41645049e-01 -2.86104144e-02 8.44854120e+01] [ 5.41445124e-01 8.40602330e-01 -1.49966776e-02 1.92766769e+01] [ 3.21728572e-02 -2.89195639e-03 9.99478136e-01 2.65987925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61071405700001 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:84.52, Y:19.29, Z:2.66 [[ 8.40095444e-01 -5.41688820e-01 -2.85108355e-02 8.45151253e+01] [ 5.41482621e-01 8.40574820e-01 -1.51836615e-02 1.92928749e+01] [ 3.21903101e-02 -2.68239708e-03 9.99478158e-01 2.66094533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.640714057 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:84.55, Y:19.31, Z:2.66 [[ 8.39638081e-01 -5.42391580e-01 -2.86228436e-02 8.45480229e+01] [ 5.42192885e-01 8.40120639e-01 -1.49729097e-02 1.93082827e+01] [ 3.21678218e-02 -2.94727694e-03 9.99478136e-01 2.65821923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.670714057 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:84.57, Y:19.32, Z:2.66 [[ 8.39875536e-01 -5.42016284e-01 -2.87651132e-02 8.45741848e+01] [ 5.41826427e-01 8.40361756e-01 -1.47051522e-02 1.93233582e+01] [ 3.21435330e-02 -3.23520089e-03 9.99478027e-01 2.66098808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.700714057 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:84.61, Y:19.34, Z:2.66 [[ 8.39331307e-01 -5.42864935e-01 -2.86464682e-02 8.46062981e+01] [ 5.42668030e-01 8.39814602e-01 -1.49279268e-02 1.93400620e+01] [ 3.21615703e-02 -3.01604620e-03 9.99478132e-01 2.66314893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.730714057 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:84.63, Y:19.35, Z:2.66 [[ 8.40134063e-01 -5.41612357e-01 -2.88237833e-02 8.46323123e+01] [ 5.41426012e-01 8.40621716e-01 -1.45946632e-02 1.93539554e+01] [ 3.21345481e-02 -3.34447229e-03 9.99477956e-01 2.66318560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.760714057 meters Centerline goodness : 0.993465 Centerline is valid? [True, True] Translation: X:84.66, Y:19.37, Z:2.66 [[ 8.40420391e-01 -5.41172796e-01 -2.87327346e-02 8.46623647e+01] [ 5.40980394e-01 8.40905572e-01 -1.47659363e-02 1.93696479e+01] [ 3.21524397e-02 -3.13425212e-03 9.99478062e-01 2.66439579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.790714057 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:84.69, Y:19.39, Z:2.67 [[ 8.40344632e-01 -5.41285553e-01 -2.88244561e-02 8.46907192e+01] [ 5.41099063e-01 8.40832230e-01 -1.45933198e-02 1.93855615e+01] [ 3.21356849e-02 -3.33346828e-03 9.99477957e-01 2.66547007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.820714057 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:84.72, Y:19.40, Z:2.67 [[ 8.41898556e-01 -5.38864445e-01 -2.88432302e-02 8.47175991e+01] [ 5.38677751e-01 8.42386103e-01 -1.45579863e-02 1.93991133e+01] [ 3.21419174e-02 -3.28085874e-03 9.99477930e-01 2.66723909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.850714057 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:84.75, Y:19.42, Z:2.67 [[ 8.41836354e-01 -5.38964988e-01 -2.87801142e-02 8.47501430e+01] [ 5.38774346e-01 8.42322274e-01 -1.46762350e-02 1.94162653e+01] [ 3.21521081e-02 -3.15099904e-03 9.99478020e-01 2.66893185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.880714057 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:84.78, Y:19.43, Z:2.67 [[ 8.41577407e-01 -5.39356947e-01 -2.90095171e-02 8.47773743e+01] [ 5.39181133e-01 8.42069324e-01 -1.42463806e-02 1.94322655e+01] [ 3.21119088e-02 -3.65195222e-03 9.99477608e-01 2.66966230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.910714057 meters Centerline goodness : 0.993838 Centerline is valid? [True, True] Translation: X:84.80, Y:19.45, Z:2.67 [[ 8.43007294e-01 -5.37120925e-01 -2.89795573e-02 8.48032660e+01] [ 5.36941895e-01 8.43497978e-01 -1.43025066e-02 1.94463783e+01] [ 3.21263736e-02 -3.50322104e-03 9.99477675e-01 2.66868240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94071405700001 meters Centerline goodness : 0.993845 Centerline is valid? [True, True] Translation: X:84.83, Y:19.46, Z:2.67 [[ 8.41269567e-01 -5.39844565e-01 -2.88679836e-02 8.48323326e+01] [ 5.39660029e-01 8.41757971e-01 -1.45111153e-02 1.94622955e+01] [ 3.21336020e-02 -3.37113719e-03 9.99477897e-01 2.67074809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97071405700001 meters Centerline goodness : 0.994118 Centerline is valid? [True, True] Translation: X:84.86, Y:19.48, Z:2.67 [[ 8.41513337e-01 -5.39459460e-01 -2.89619405e-02 8.48568575e+01] [ 5.39280675e-01 8.42004069e-01 -1.43353619e-02 1.94760233e+01] [ 3.21194183e-02 -3.55521659e-03 9.99477715e-01 2.67051598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.000714057 meters Centerline goodness : 0.993733 Centerline is valid? [True, True] Translation: X:84.89, Y:19.49, Z:2.67 [[ 8.41323415e-01 -5.39761647e-01 -2.88491853e-02 8.48863488e+01] [ 5.39575854e-01 8.41811315e-01 -1.45467245e-02 1.94915190e+01] [ 3.21373346e-02 -3.32782393e-03 9.99477922e-01 2.67049295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.030714057 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:84.91, Y:19.51, Z:2.67 [[ 8.41524531e-01 -5.39445674e-01 -2.88933964e-02 8.49130698e+01] [ 5.39262512e-01 8.42013503e-01 -1.44638466e-02 1.95064941e+01] [ 3.21310895e-02 -3.40944379e-03 9.99477848e-01 2.67258297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.060714057 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:84.94, Y:19.52, Z:2.68 [[ 8.41084131e-01 -5.40135371e-01 -2.88316963e-02 8.49396004e+01] [ 5.39948684e-01 8.41571659e-01 -1.45794672e-02 1.95236145e+01] [ 3.21388244e-02 -3.30507803e-03 9.99477950e-01 2.67593627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.090714057 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:84.97, Y:19.54, Z:2.67 [[ 8.41594616e-01 -5.39340654e-01 -2.88125174e-02 8.49674913e+01] [ 5.39152289e-01 8.42081469e-01 -1.46154024e-02 1.95397649e+01] [ 3.21451677e-02 -3.23409070e-03 9.99477978e-01 2.67460840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.120714057 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:85.00, Y:19.56, Z:2.68 [[ 8.41039180e-01 -5.40210223e-01 -2.87404303e-02 8.49956883e+01] [ 5.40017804e-01 8.41524338e-01 -1.47499086e-02 1.95556287e+01] [ 3.21538230e-02 -3.11509304e-03 9.99478078e-01 2.68014988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.150714057 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:85.02, Y:19.57, Z:2.68 [[ 8.41331500e-01 -5.39751598e-01 -2.88013859e-02 8.50213079e+01] [ 5.39562768e-01 8.41818153e-01 -1.46361476e-02 1.95709780e+01] [ 3.21454136e-02 -3.22630348e-03 9.99477995e-01 2.68037767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.180714057 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:85.05, Y:19.59, Z:2.68 [[ 8.42637114e-01 -5.37714870e-01 -2.87299880e-02 8.50476367e+01] [ 5.37520356e-01 8.43121422e-01 -1.47693942e-02 1.95872325e+01] [ 3.21645912e-02 -2.99771371e-03 9.99478090e-01 2.68205147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.210714057 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:85.08, Y:19.60, Z:2.68 [[ 8.42660740e-01 -5.37679558e-01 -2.86979204e-02 8.50756581e+01] [ 5.37483003e-01 8.43144185e-01 -1.48292136e-02 1.96037679e+01] [ 3.21698497e-02 -2.92864829e-03 9.99478126e-01 2.68472668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.240714057 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:85.11, Y:19.62, Z:2.68 [[ 8.44426787e-01 -5.34902195e-01 -2.86887196e-02 8.51073896e+01] [ 5.34703471e-01 8.44909334e-01 -1.48463643e-02 1.96199762e+01] [ 3.21807199e-02 -2.80329027e-03 9.99478135e-01 2.68397886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.270714057 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:85.13, Y:19.63, Z:2.69 [[ 8.42952160e-01 -5.37213291e-01 -2.88710214e-02 8.51303705e+01] [ 5.37027378e-01 8.43440068e-01 -1.45068232e-02 1.96346982e+01] [ 3.21442345e-02 -3.27597098e-03 9.99477872e-01 2.68515441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30071405700001 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:85.16, Y:19.65, Z:2.68 [[ 8.42537877e-01 -5.37874345e-01 -2.86550946e-02 8.51568336e+01] [ 5.37675222e-01 8.43020219e-01 -1.49086232e-02 1.96499752e+01] [ 3.21757900e-02 -2.84605465e-03 9.99478173e-01 2.68349493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33071405700001 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:85.19, Y:19.67, Z:2.69 [[ 8.42684202e-01 -5.37648012e-01 -2.85998379e-02 8.51868701e+01] [ 5.37445298e-01 8.43164996e-01 -1.50113595e-02 1.96651163e+01] [ 3.21852098e-02 -2.72101294e-03 9.99478218e-01 2.68545555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36071405700001 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:85.22, Y:19.68, Z:2.69 [[ 8.45518676e-01 -5.33175245e-01 -2.86762303e-02 8.52228645e+01] [ 5.32974764e-01 8.46000476e-01 -1.48692395e-02 1.96794397e+01] [ 3.21880149e-02 -2.71148737e-03 9.99478154e-01 2.68587079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.390714057 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:85.25, Y:19.69, Z:2.69 [[ 8.44995096e-01 -5.33983949e-01 -2.90590737e-02 8.52486337e+01] [ 5.33808082e-01 8.45487161e-01 -1.41560205e-02 1.96949404e+01] [ 3.21281614e-02 -3.55020044e-03 9.99477452e-01 2.68565867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.420714057 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:85.27, Y:19.71, Z:2.69 [[ 8.46502790e-01 -5.31592105e-01 -2.90320584e-02 8.52725588e+01] [ 5.31413135e-01 8.46993659e-01 -1.42063796e-02 1.97080154e+01] [ 3.21419685e-02 -3.40227722e-03 9.99477523e-01 2.68656440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.450714057 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:85.29, Y:19.73, Z:2.69 [[ 8.42189189e-01 -5.38412068e-01 -2.88065087e-02 8.52932443e+01] [ 5.38222833e-01 8.42675671e-01 -1.46251682e-02 1.97263367e+01] [ 3.21489112e-02 -3.18716215e-03 9.99478009e-01 2.68946471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.480714057 meters Centerline goodness : 0.992264 Centerline is valid? [True, True] Translation: X:85.32, Y:19.74, Z:2.69 [[ 8.43230004e-01 -5.36788472e-01 -2.86582821e-02 8.53159182e+01] [ 5.36589006e-01 8.43712167e-01 -1.49002377e-02 1.97378294e+01] [ 3.21776171e-02 -2.81339159e-03 9.99478207e-01 2.69010029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.510714057 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:85.35, Y:19.76, Z:2.69 [[ 8.43396212e-01 -5.36539790e-01 -2.84233106e-02 8.53489512e+01] [ 5.36325551e-01 8.43871861e-01 -1.53357428e-02 1.97578463e+01] [ 3.22138682e-02 -2.31004040e-03 9.99478329e-01 2.69099832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.540714057 meters Centerline goodness : 0.992468 Centerline is valid? [True, True] Translation: X:85.38, Y:19.77, Z:2.69 [[ 8.43694682e-01 -5.36055388e-01 -2.87037326e-02 8.53769094e+01] [ 5.35858366e-01 8.44177895e-01 -1.48153366e-02 1.97732899e+01] [ 3.21728976e-02 -2.88151460e-03 9.99478165e-01 2.69366495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.570714057 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:85.40, Y:19.79, Z:2.69 [[ 8.44015082e-01 -5.35550874e-01 -2.87019515e-02 8.54044272e+01] [ 5.35353451e-01 8.44498129e-01 -1.48186432e-02 1.97896088e+01] [ 3.21748816e-02 -2.85853044e-03 9.99478167e-01 2.69490718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.600714057 meters Centerline goodness : 0.992263 Centerline is valid? [True, True] Translation: X:85.43, Y:19.81, Z:2.70 [[ 8.43493108e-01 -5.36371061e-01 -2.87308585e-02 8.54310467e+01] [ 5.36175921e-01 8.43977120e-01 -1.47649377e-02 1.98052110e+01] [ 3.21676725e-02 -2.95067130e-03 9.99478131e-01 2.69589677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.630714057 meters Centerline goodness : 0.992048 Centerline is valid? [True, True] Translation: X:85.46, Y:19.82, Z:2.70 [[ 8.42535656e-01 -5.37876373e-01 -2.86823092e-02 8.54597490e+01] [ 5.37679054e-01 8.43018720e-01 -1.48550500e-02 1.98214839e+01] [ 3.21699040e-02 -2.90596754e-03 9.99478190e-01 2.69650859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.660714057 meters Centerline goodness : 0.992048 Centerline is valid? [True, True] Translation: X:85.49, Y:19.84, Z:2.70 [[ 8.42493908e-01 -5.37939834e-01 -2.87184514e-02 8.54882869e+01] [ 5.37744816e-01 8.42977953e-01 -1.47879798e-02 1.98369856e+01] [ 3.21640648e-02 -2.98441549e-03 9.99478147e-01 2.69753159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.69071405700001 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:85.52, Y:19.85, Z:2.70 [[ 8.42101112e-01 -5.38554745e-01 -2.87141756e-02 8.55175303e+01] [ 5.38359812e-01 8.42585185e-01 -1.47959115e-02 1.98531526e+01] [ 3.21625473e-02 -2.99890464e-03 9.99478152e-01 2.69857200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72071405700001 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:85.55, Y:19.87, Z:2.70 [[ 8.41019751e-01 -5.40242499e-01 -2.87022867e-02 8.55463440e+01] [ 5.40047794e-01 8.41503898e-01 -1.48179134e-02 1.98715697e+01] [ 3.21583527e-02 -3.03844877e-03 9.99478168e-01 2.69939920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.750714057 meters Centerline goodness : 0.992693 Centerline is valid? [True, True] Translation: X:85.57, Y:19.89, Z:2.70 [[ 8.41075863e-01 -5.40151523e-01 -2.87701986e-02 8.55725444e+01] [ 5.39961021e-01 8.41561784e-01 -1.46921843e-02 1.98876384e+01] [ 3.21479053e-02 -3.17754426e-03 9.99478071e-01 2.69933181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.780714057 meters Centerline goodness : 0.992097 Centerline is valid? [True, True] Translation: X:85.60, Y:19.91, Z:2.70 [[ 8.41724351e-01 -5.39142535e-01 -2.87305502e-02 8.56014245e+01] [ 5.38948969e-01 8.42208994e-01 -1.47655043e-02 1.99054792e+01] [ 3.21578392e-02 -3.05581586e-03 9.99478132e-01 2.70028984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.810714057 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:85.63, Y:19.92, Z:2.70 [[ 8.42976004e-01 -5.37180453e-01 -2.87857260e-02 8.56298272e+01] [ 5.36989207e-01 8.43461660e-01 -1.46635566e-02 1.99232386e+01] [ 3.21566322e-02 -3.09659780e-03 9.99478045e-01 2.70229529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.840714057 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:85.66, Y:19.94, Z:2.70 [[ 8.42199711e-01 -5.38392516e-01 -2.88642554e-02 8.56597902e+01] [ 5.38206888e-01 8.42687700e-01 -1.45184831e-02 1.99411224e+01] [ 3.21401956e-02 -3.30747878e-03 9.99477898e-01 2.69957566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.870714057 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:85.67, Y:19.96, Z:2.70 [[ 8.37655992e-01 -5.45425705e-01 -2.90385823e-02 8.56660723e+01] [ 5.45255182e-01 8.38149903e-01 -1.41959745e-02 1.99604133e+01] [ 3.20815343e-02 -3.94209441e-03 9.99477481e-01 2.70424008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.900714057 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:85.69, Y:19.98, Z:2.71 [[ 8.38254214e-01 -5.44540305e-01 -2.83853597e-02 8.56944342e+01] [ 5.44328433e-01 8.38730824e-01 -1.54000569e-02 1.99776549e+01] [ 3.21936278e-02 -2.54179575e-03 9.99478419e-01 2.70542808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.930714057 meters Centerline goodness : 0.992953 Centerline is valid? [True, True] Translation: X:85.74, Y:19.99, Z:2.70 [[ 8.44056265e-01 -5.35502607e-01 -2.83897777e-02 8.57416842e+01] [ 5.35285899e-01 8.44530696e-01 -1.53919081e-02 1.99905795e+01] [ 3.22184456e-02 -2.20501118e-03 9.99478419e-01 2.70257810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.960714057 meters Centerline goodness : 0.992217 Centerline is valid? [True, True] Translation: X:85.77, Y:20.00, Z:2.71 [[ 8.44746874e-01 -5.34376675e-01 -2.90566507e-02 8.57663190e+01] [ 5.34200935e-01 8.45238952e-01 -1.41589115e-02 2.00041840e+01] [ 3.21260050e-02 -3.56139371e-03 9.99477482e-01 2.70782456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.990714057 meters Centerline goodness : 0.991687 Centerline is valid? [True, True] Translation: X:85.79, Y:20.02, Z:2.71 [[ 8.44760795e-01 -5.34363129e-01 -2.89006211e-02 8.57927735e+01] [ 5.34177583e-01 8.45248833e-01 -1.44471489e-02 2.00188288e+01] [ 3.21482399e-02 -3.23367894e-03 9.99477881e-01 2.70719113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.020714057 meters Centerline goodness : 0.992450 Centerline is valid? [True, True] Translation: X:85.82, Y:20.03, Z:2.71 [[ 8.44141000e-01 -5.35343495e-01 -2.88672014e-02 8.58211127e+01] [ 5.35156423e-01 8.44628378e-01 -1.45088374e-02 2.00349727e+01] [ 3.21492692e-02 -3.20096376e-03 9.99477953e-01 2.70707612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.05071405700001 meters Centerline goodness : 0.993663 Centerline is valid? [True, True] Translation: X:85.85, Y:20.05, Z:2.70 [[ 8.41923488e-01 -5.38822332e-01 -2.89021572e-02 8.58525817e+01] [ 5.38639464e-01 8.42412541e-01 -1.44443601e-02 2.00524077e+01] [ 3.21304834e-02 -3.40679640e-03 9.99477877e-01 2.70411767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08071405700001 meters Centerline goodness : 0.992581 Centerline is valid? [True, True] Translation: X:85.87, Y:20.07, Z:2.71 [[ 8.42651125e-01 -5.37672581e-01 -2.91080228e-02 8.58736710e+01] [ 5.37501995e-01 8.43145183e-01 -1.40643628e-02 2.00652048e+01] [ 3.21043114e-02 -3.79426920e-03 9.99477322e-01 2.70844410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11071405700001 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:85.90, Y:20.08, Z:2.70 [[ 8.40918569e-01 -5.40391647e-01 -2.88587826e-02 8.58984947e+01] [ 5.40206971e-01 8.41406841e-01 -1.45243608e-02 2.00810616e+01] [ 3.21308204e-02 -3.37591087e-03 9.99477971e-01 2.70456253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.140714057 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:85.93, Y:20.10, Z:2.70 [[ 8.38882059e-01 -5.43552707e-01 -2.87636150e-02 8.59313863e+01] [ 5.43363924e-01 8.39368558e-01 -1.46993158e-02 2.00985819e+01] [ 3.21331270e-02 -3.29811843e-03 9.99478156e-01 2.70417024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.170714057 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:85.96, Y:20.11, Z:2.70 [[ 8.38345615e-01 -5.44365811e-01 -2.90257565e-02 8.59600430e+01] [ 5.44193946e-01 8.38838979e-01 -1.42167619e-02 2.01147779e+01] [ 3.20870551e-02 -3.87708101e-03 9.99477558e-01 2.70479548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.200714057 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:85.99, Y:20.13, Z:2.71 [[ 8.37321874e-01 -5.45941402e-01 -2.89838645e-02 8.59874720e+01] [ 5.45767836e-01 8.37814515e-01 -1.42935888e-02 2.01310803e+01] [ 3.20865643e-02 -3.85012649e-03 9.99477678e-01 2.70656494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.230714057 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:86.01, Y:20.15, Z:2.71 [[ 8.36067337e-01 -5.47861855e-01 -2.89619771e-02 8.60122223e+01] [ 5.47688051e-01 8.36559829e-01 -1.43336076e-02 2.01490012e+01] [ 3.20812635e-02 -3.87826765e-03 9.99477739e-01 2.70953946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.260714057 meters Centerline goodness : 0.993451 Centerline is valid? [True, True] Translation: X:86.04, Y:20.16, Z:2.72 [[ 8.36521069e-01 -5.47171956e-01 -2.89024324e-02 8.60355789e+01] [ 5.46994031e-01 8.37011918e-01 -1.44422906e-02 2.01638568e+01] [ 3.20940968e-02 -3.72817761e-03 9.99477899e-01 2.71515937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.290714057 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:86.06, Y:20.18, Z:2.71 [[ 8.36525211e-01 -5.47174812e-01 -2.87279774e-02 8.60645797e+01] [ 5.46986051e-01 8.37011584e-01 -1.47603262e-02 2.01820970e+01] [ 3.21221286e-02 -3.36641790e-03 9.99478282e-01 2.71387017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.320714057 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:86.09, Y:20.20, Z:2.71 [[ 8.38338451e-01 -5.44384934e-01 -2.88736295e-02 8.60900971e+01] [ 5.44203587e-01 8.38827967e-01 -1.44947227e-02 2.01978446e+01] [ 3.21107166e-02 -3.56164932e-03 9.99477972e-01 2.71421323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.350714057 meters Centerline goodness : 0.994054 Centerline is valid? [True, True] Translation: X:86.12, Y:20.21, Z:2.72 [[ 8.38677741e-01 -5.43865112e-01 -2.88164193e-02 8.61168987e+01] [ 5.43679913e-01 8.39165670e-01 -1.45989732e-02 2.02145276e+01] [ 3.21216220e-02 -3.42307451e-03 9.99478106e-01 2.71601937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.380714057 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:86.14, Y:20.23, Z:2.72 [[ 8.39660783e-01 -5.42346191e-01 -2.88162812e-02 8.61442427e+01] [ 5.42160101e-01 8.40148373e-01 -1.45992247e-02 2.02307566e+01] [ 3.21277857e-02 -3.36464150e-03 9.99478106e-01 2.71721772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.410714057 meters Centerline goodness : 0.993537 Centerline is valid? [True, True] Translation: X:86.15, Y:20.25, Z:2.72 [[ 8.37120285e-01 -5.46258016e-01 -2.88411059e-02 8.61520443e+01] [ 5.46075742e-01 8.37609375e-01 -1.45540169e-02 2.02500299e+01] [ 3.21078291e-02 -3.56596551e-03 9.99478049e-01 2.72224209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44071405700001 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:86.18, Y:20.27, Z:2.72 [[ 8.38247174e-01 -5.44556727e-01 -2.82780355e-02 8.61807327e+01] [ 5.44338925e-01 8.38720760e-01 -1.55762908e-02 2.02664196e+01] [ 3.21995494e-02 -2.33605369e-03 9.99478730e-01 2.72335049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47071405700001 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:86.21, Y:20.28, Z:2.72 [[ 8.40552410e-01 -5.40991455e-01 -2.82823469e-02 8.62092247e+01] [ 5.40771905e-01 8.41025190e-01 -1.55684586e-02 2.02825964e+01] [ 3.22085692e-02 -2.20819320e-03 9.99478730e-01 2.72360811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.500714057 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:86.25, Y:20.29, Z:2.72 [[ 8.45812830e-01 -5.32729308e-01 -2.82867692e-02 8.62538298e+01] [ 5.32505404e-01 8.46283563e-01 -1.55604194e-02 2.02948949e+01] [ 3.22281192e-02 -1.90165509e-03 9.99478730e-01 2.71927561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.530714057 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:86.28, Y:20.31, Z:2.72 [[ 8.46492465e-01 -5.31622387e-01 -2.87774936e-02 8.62786115e+01] [ 5.31427694e-01 8.46976608e-01 -1.46707479e-02 2.03118147e+01] [ 3.21731619e-02 -2.87447951e-03 9.99478176e-01 2.72255869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.560714057 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:86.31, Y:20.33, Z:2.72 [[ 8.48247383e-01 -5.28822715e-01 -2.86864586e-02 8.63080521e+01] [ 5.28620870e-01 8.48728390e-01 -1.48356521e-02 2.03275947e+01] [ 3.21924417e-02 -2.57995758e-03 9.99478359e-01 2.72220767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.590714057 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:86.34, Y:20.34, Z:2.72 [[ 8.51135081e-01 -5.24158416e-01 -2.87581100e-02 8.63366848e+01] [ 5.23958286e-01 8.51616960e-01 -1.47060645e-02 2.03434632e+01] [ 3.21992017e-02 -2.55120265e-03 9.99478215e-01 2.72292392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.620714057 meters Centerline goodness : 0.992988 Centerline is valid? [True, True] Translation: X:86.37, Y:20.36, Z:2.72 [[ 8.52101429e-01 -5.22583053e-01 -2.88115830e-02 8.63650452e+01] [ 5.22385283e-01 8.52584413e-01 -1.46093987e-02 2.03592388e+01] [ 3.21989307e-02 -2.60205743e-03 9.99478093e-01 2.72323843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.650714057 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:86.40, Y:20.37, Z:2.72 [[ 8.54643207e-01 -5.18417572e-01 -2.87786151e-02 8.63958208e+01] [ 5.18215448e-01 8.55124302e-01 -1.46689532e-02 2.03738397e+01] [ 3.22139363e-02 -2.37680170e-03 9.99478170e-01 2.72238497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.680714057 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:86.42, Y:20.39, Z:2.72 [[ 8.54636452e-01 -5.18423266e-01 -2.88764794e-02 8.64212399e+01] [ 5.18227085e-01 8.55120264e-01 -1.44921830e-02 2.03889394e+01] [ 3.22059476e-02 -2.57902584e-03 9.99477927e-01 2.72415523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.710714057 meters Centerline goodness : 0.993431 Centerline is valid? [True, True] Translation: X:86.45, Y:20.40, Z:2.73 [[ 8.55475597e-01 -5.17042117e-01 -2.87915386e-02 8.64489906e+01] [ 5.16840003e-01 8.55956727e-01 -1.46455500e-02 2.04028713e+01] [ 3.22166773e-02 -2.35170824e-03 9.99478141e-01 2.72540900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.740714057 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:86.46, Y:20.42, Z:2.73 [[ 8.50555921e-01 -5.25095003e-01 -2.88073568e-02 8.64568514e+01] [ 5.24898402e-01 8.51039371e-01 -1.46169970e-02 2.04208752e+01] [ 3.21915069e-02 -2.68836219e-03 9.99478104e-01 2.73212677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.770714057 meters Centerline goodness : 0.993859 Centerline is valid? [True, True] Translation: X:86.51, Y:20.43, Z:2.73 [[ 8.55943678e-01 -5.16298677e-01 -2.82151721e-02 8.65068412e+01] [ 5.16061700e-01 8.56407836e-01 -1.56824772e-02 2.04298255e+01] [ 3.22605367e-02 -1.13745245e-03 9.99478846e-01 2.72900380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80071405700001 meters Centerline goodness : 0.993421 Centerline is valid? [True, True] Translation: X:86.53, Y:20.44, Z:2.73 [[ 8.53889712e-01 -5.19647044e-01 -2.89708175e-02 8.65313808e+01] [ 5.19457389e-01 8.54376372e-01 -1.43191090e-02 2.04439112e+01] [ 3.21928646e-02 -2.82216535e-03 9.99477691e-01 2.73046835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83071405700001 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:86.56, Y:20.46, Z:2.73 [[ 8.51345054e-01 -5.23815358e-01 -2.87935593e-02 8.65592140e+01] [ 5.23617309e-01 8.51827820e-01 -1.46382839e-02 2.04579450e+01] [ 3.21949128e-02 -2.61457540e-03 9.99478190e-01 2.73265645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86071405700001 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:86.59, Y:20.47, Z:2.73 [[ 8.49932094e-01 -5.26106987e-01 -2.87554317e-02 8.65865876e+01] [ 5.25907930e-01 8.50414345e-01 -1.47068223e-02 2.04724042e+01] [ 3.21913936e-02 -2.62290925e-03 9.99478281e-01 2.73372533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.890714057 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:86.62, Y:20.49, Z:2.73 [[ 8.47318100e-01 -5.30310808e-01 -2.86789870e-02 8.66161566e+01] [ 5.30109521e-01 8.47799241e-01 -1.48439267e-02 2.04874596e+01] [ 3.21859182e-02 -2.62547625e-03 9.99478451e-01 2.73430218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.920714057 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:86.64, Y:20.50, Z:2.74 [[ 8.45717431e-01 -5.32859074e-01 -2.86920365e-02 8.66428836e+01] [ 5.32660026e-01 8.46199533e-01 -1.48205254e-02 2.05022976e+01] [ 3.21764393e-02 -2.74912421e-03 9.99478424e-01 2.73530620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.950714057 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:86.67, Y:20.52, Z:2.74 [[ 8.43968119e-01 -5.35627822e-01 -2.86469952e-02 8.66698321e+01] [ 5.35427629e-01 8.44449647e-01 -1.49012529e-02 2.05177798e+01] [ 3.21724707e-02 -2.76221037e-03 9.99478515e-01 2.73683048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.980714057 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:86.70, Y:20.53, Z:2.74 [[ 8.42655840e-01 -5.37693523e-01 -2.85798920e-02 8.67020524e+01] [ 5.37490457e-01 8.43136030e-01 -1.50214075e-02 2.05328252e+01] [ 3.21736502e-02 -2.70354249e-03 9.99478638e-01 2.73656603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.010714057 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:86.73, Y:20.55, Z:2.74 [[ 8.39284070e-01 -5.42933656e-01 -2.87279344e-02 8.67274066e+01] [ 5.42742544e-01 8.39769470e-01 -1.47569600e-02 2.05475221e+01] [ 3.21368925e-02 -3.20659078e-03 9.99478333e-01 2.73866564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.040714057 meters Centerline goodness : 0.994009 Centerline is valid? [True, True] Translation: X:86.76, Y:20.56, Z:2.74 [[ 8.36718269e-01 -5.46886980e-01 -2.85861782e-02 8.67551149e+01] [ 5.46689573e-01 8.37200821e-01 -1.50098970e-02 2.05634949e+01] [ 3.21410891e-02 -3.06871053e-03 9.99478631e-01 2.74046386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.070714057 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:86.78, Y:20.58, Z:2.74 [[ 8.35650126e-01 -5.48519741e-01 -2.85475174e-02 8.67846252e+01] [ 5.48320943e-01 8.36132032e-01 -1.50787663e-02 2.05797372e+01] [ 3.21404947e-02 -3.05262864e-03 9.99478699e-01 2.74227713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.100714057 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:86.81, Y:20.59, Z:2.74 [[ 8.34985053e-01 -5.49528398e-01 -2.86094650e-02 8.68122393e+01] [ 5.49333925e-01 8.35468842e-01 -1.49683907e-02 2.05948563e+01] [ 3.21278723e-02 -3.21776718e-03 9.99478587e-01 2.74269952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.130714057 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:86.84, Y:20.61, Z:2.74 [[ 8.33976111e-01 -5.51060468e-01 -2.85693441e-02 8.68415756e+01] [ 5.50864459e-01 8.34459198e-01 -1.50397633e-02 2.06107319e+01] [ 3.21277709e-02 -3.19503297e-03 9.99478663e-01 2.74270596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.160714057 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:86.87, Y:20.63, Z:2.74 [[ 8.32967003e-01 -5.52581056e-01 -2.86382378e-02 8.68691643e+01] [ 5.52390098e-01 8.33452253e-01 -1.49171688e-02 2.06263042e+01] [ 3.21115487e-02 -3.39396963e-03 9.99478529e-01 2.74360922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.19071405700001 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:86.90, Y:20.64, Z:2.74 [[ 8.32064778e-01 -5.53938105e-01 -2.86492761e-02 8.68958020e+01] [ 5.53748608e-01 8.32550625e-01 -1.48975095e-02 2.06418550e+01] [ 3.21042709e-02 -3.46880384e-03 9.99478506e-01 2.74468517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22071405700001 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:86.92, Y:20.66, Z:2.75 [[ 8.31014808e-01 -5.55513542e-01 -2.86198035e-02 8.69232096e+01] [ 5.55323181e-01 8.31500250e-01 -1.49498910e-02 2.06588089e+01] [ 3.21022407e-02 -3.46965949e-03 9.99478568e-01 2.74639587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.250714057 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:86.95, Y:20.68, Z:2.75 [[ 8.29967735e-01 -5.57076484e-01 -2.86242878e-02 8.69491305e+01] [ 5.56887308e-01 8.30453650e-01 -1.49419226e-02 2.06753328e+01] [ 3.20949380e-02 -3.53918894e-03 9.99478559e-01 2.74821918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.280714057 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:86.97, Y:20.69, Z:2.75 [[ 8.31347978e-01 -5.55015519e-01 -2.86061699e-02 8.69720941e+01] [ 5.54824042e-01 8.31832951e-01 -1.49741125e-02 2.06897104e+01] [ 3.21064196e-02 -3.42269268e-03 9.99478596e-01 2.74996875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.310714057 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:87.00, Y:20.71, Z:2.75 [[ 8.29150581e-01 -5.58304294e-01 -2.83836202e-02 8.70041820e+01] [ 5.58101316e-01 8.29630471e-01 -1.53688639e-02 2.07083710e+01] [ 3.21284189e-02 -3.09783333e-03 9.99478948e-01 2.75138425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.340714057 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:87.03, Y:20.73, Z:2.75 [[ 8.28359499e-01 -5.59466709e-01 -2.85926849e-02 8.70311485e+01] [ 5.59277014e-01 8.28845145e-01 -1.49982078e-02 2.07250642e+01] [ 3.20899061e-02 -3.56732358e-03 9.99478620e-01 2.75315511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.370714057 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:87.06, Y:20.74, Z:2.75 [[ 8.27680164e-01 -5.60472549e-01 -2.85669167e-02 8.70580148e+01] [ 5.60281887e-01 8.28165377e-01 -1.50438060e-02 2.07417768e+01] [ 3.20897716e-02 -3.55406617e-03 9.99478672e-01 2.75427410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.400714057 meters Centerline goodness : 0.992947 Centerline is valid? [True, True] Translation: X:87.09, Y:20.76, Z:2.75 [[ 8.28098033e-01 -5.59854657e-01 -2.85729089e-02 8.70856085e+01] [ 5.59663995e-01 8.28583258e-01 -1.50332013e-02 2.07585231e+01] [ 3.20914417e-02 -3.54226387e-03 9.99478660e-01 2.75427755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.430714057 meters Centerline goodness : 0.992452 Centerline is valid? [True, True] Translation: X:87.11, Y:20.78, Z:2.76 [[ 8.27579584e-01 -5.60618843e-01 -2.86102263e-02 8.71137408e+01] [ 5.60430886e-01 8.28065944e-01 -1.49671150e-02 2.07755234e+01] [ 3.20820007e-02 -3.64757571e-03 9.99478584e-01 2.75614606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.460714057 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:87.14, Y:20.79, Z:2.76 [[ 8.27144647e-01 -5.61259468e-01 -2.86276637e-02 8.71392088e+01] [ 5.61072942e-01 8.27631598e-01 -1.49362411e-02 2.07926245e+01] [ 3.20762658e-02 -3.70777561e-03 9.99478547e-01 2.75774627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.490714057 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:87.17, Y:20.81, Z:2.76 [[ 8.26438160e-01 -5.62303862e-01 -2.85365310e-02 8.71655348e+01] [ 5.62112456e-01 8.26923010e-01 -1.50970687e-02 2.08106068e+01] [ 3.20866542e-02 -3.56394588e-03 9.99478737e-01 2.76024505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.520714057 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:87.19, Y:20.83, Z:2.76 [[ 8.26596353e-01 -5.62071818e-01 -2.85261379e-02 8.71931047e+01] [ 5.61879651e-01 8.27080881e-01 -1.51153923e-02 2.08272059e+01] [ 3.20893592e-02 -3.53392824e-03 9.99478756e-01 2.76138923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.55071405700001 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:87.22, Y:20.84, Z:2.76 [[ 8.26331839e-01 -5.62460895e-01 -2.85207559e-02 8.72212317e+01] [ 5.62268632e-01 8.26816318e-01 -1.51248777e-02 2.08434460e+01] [ 3.20885786e-02 -3.53815844e-03 9.99478766e-01 2.76244167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58071405700001 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:87.25, Y:20.86, Z:2.76 [[ 8.26230110e-01 -5.62610761e-01 -2.85120477e-02 8.72493298e+01] [ 5.62418063e-01 8.26714398e-01 -1.51402074e-02 2.08603889e+01] [ 3.20893639e-02 -3.52639542e-03 9.99478783e-01 2.76292896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61071405700001 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:87.28, Y:20.88, Z:2.76 [[ 8.26801965e-01 -5.61769500e-01 -2.85226344e-02 8.72772827e+01] [ 5.61576944e-01 8.27286331e-01 -1.51215759e-02 2.08772661e+01] [ 3.20912257e-02 -3.51510522e-03 9.99478763e-01 2.76236889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.640714057 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:87.30, Y:20.89, Z:2.76 [[ 8.26378287e-01 -5.62393816e-01 -2.84977486e-02 8.73046302e+01] [ 5.62200137e-01 8.26862154e-01 -1.51652571e-02 2.08938562e+01] [ 3.20925566e-02 -3.48919892e-03 9.99478811e-01 2.76274716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.670714057 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:87.33, Y:20.91, Z:2.76 [[ 8.26591359e-01 -5.62077890e-01 -2.85511965e-02 8.73308923e+01] [ 5.61887227e-01 8.27076536e-01 -1.50714423e-02 2.09097676e+01] [ 3.20853492e-02 -3.58462861e-03 9.99478705e-01 2.76336802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.700714057 meters Centerline goodness : 0.993599 Centerline is valid? [True, True] Translation: X:87.36, Y:20.93, Z:2.76 [[ 8.27405823e-01 -5.60879740e-01 -2.85222901e-02 8.73577307e+01] [ 5.60686641e-01 8.27889974e-01 -1.51222503e-02 2.09266921e+01] [ 3.20950818e-02 -3.47982909e-03 9.99478762e-01 2.76276506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.730714057 meters Centerline goodness : 0.993437 Centerline is valid? [True, True] Translation: X:87.38, Y:20.94, Z:2.76 [[ 8.27003366e-01 -5.61473433e-01 -2.85134491e-02 8.73849138e+01] [ 5.61280152e-01 8.27487425e-01 -1.51377843e-02 2.09441084e+01] [ 3.20939843e-02 -3.48503447e-03 9.99478780e-01 2.76406329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.760714057 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:87.39, Y:20.96, Z:2.77 [[ 8.22950818e-01 -5.67395886e-01 -2.85282371e-02 8.73948780e+01] [ 5.67206973e-01 8.23436630e-01 -1.51118051e-02 2.09636264e+01] [ 3.20655715e-02 -3.74514266e-03 9.99478751e-01 2.76791311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.790714057 meters Centerline goodness : 0.993660 Centerline is valid? [True, True] Translation: X:87.42, Y:20.98, Z:2.77 [[ 8.22982943e-01 -5.67374381e-01 -2.80247728e-02 8.74221813e+01] [ 5.67155482e-01 8.23455433e-01 -1.59940110e-02 2.09808774e+01] [ 3.21517435e-02 -2.73160531e-03 9.99479266e-01 2.76809470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.820714057 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:87.45, Y:21.00, Z:2.77 [[ 8.22747022e-01 -5.67716225e-01 -2.80290309e-02 8.74510379e+01] [ 5.67497775e-01 8.23219719e-01 -1.59865453e-02 2.09979703e+01] [ 3.21498721e-02 -2.75353012e-03 9.99479266e-01 2.76954103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.850714057 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:87.49, Y:21.01, Z:2.77 [[ 8.26073583e-01 -5.62864589e-01 -2.80337302e-02 8.74919427e+01] [ 5.62643638e-01 8.26545117e-01 -1.59783005e-02 2.10108700e+01] [ 3.21647623e-02 -2.57374798e-03 9.99479266e-01 2.76776181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.880714057 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:87.52, Y:21.03, Z:2.77 [[ 8.25987723e-01 -5.62968200e-01 -2.84795879e-02 8.75220434e+01] [ 5.62773792e-01 8.26471250e-01 -1.51964500e-02 2.10276188e+01] [ 3.20926787e-02 -3.47548456e-03 9.99478855e-01 2.76678397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.910714057 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:87.55, Y:21.05, Z:2.77 [[ 8.25341217e-01 -5.63909759e-01 -2.85947484e-02 8.75457861e+01] [ 5.63722805e-01 8.25827928e-01 -1.49944444e-02 2.10454540e+01] [ 3.20698554e-02 -3.74397879e-03 9.99478618e-01 2.77013413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94071405700001 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:87.57, Y:21.06, Z:2.77 [[ 8.24771440e-01 -5.64748612e-01 -2.84793940e-02 8.75734896e+01] [ 5.64555255e-01 8.25255378e-01 -1.51962054e-02 2.10629688e+01] [ 3.20848090e-02 -3.54479529e-03 9.99478864e-01 2.77181931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97071405700001 meters Centerline goodness : 0.994158 Centerline is valid? [True, True] Translation: X:87.58, Y:21.08, Z:2.77 [[ 8.20795784e-01 -5.70509438e-01 -2.85177398e-02 8.75834144e+01] [ 5.70321772e-01 8.21282038e-01 -1.51291353e-02 2.10827630e+01] [ 3.20524219e-02 -3.84635736e-03 9.99478788e-01 2.77457005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.000714057 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:87.63, Y:21.10, Z:2.77 [[ 8.24576301e-01 -5.65057885e-01 -2.79912589e-02 8.76250508e+01] [ 5.64835850e-01 8.25047235e-01 -1.60474993e-02 2.10968908e+01] [ 3.21618768e-02 -2.57807886e-03 9.99479348e-01 2.77473798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.030714057 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:87.64, Y:21.12, Z:2.78 [[ 8.21218129e-01 -5.69903081e-01 -2.84826714e-02 8.76371538e+01] [ 5.69713027e-01 8.21703344e-01 -1.51882176e-02 2.11153773e+01] [ 3.20601184e-02 -3.75410930e-03 9.99478892e-01 2.77550657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.060714057 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:87.68, Y:21.13, Z:2.78 [[ 8.25516921e-01 -5.63682778e-01 -2.79917709e-02 8.76793262e+01] [ 5.63460051e-01 8.25987494e-01 -1.60446810e-02 2.11310358e+01] [ 3.21649631e-02 -2.52708898e-03 9.99479379e-01 2.77570297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.090714057 meters Centerline goodness : 0.993291 Centerline is valid? [True, True] Translation: X:87.70, Y:21.15, Z:2.78 [[ 8.26384935e-01 -5.62382397e-01 -2.85303004e-02 8.77041086e+01] [ 5.62190840e-01 8.26869623e-01 -1.51025408e-02 2.11480063e+01] [ 3.20842418e-02 -3.55896131e-03 9.99478832e-01 2.77573637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.120714057 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:87.73, Y:21.17, Z:2.78 [[ 8.26578359e-01 -5.62102392e-01 -2.84449814e-02 8.77314577e+01] [ 5.61905582e-01 8.27060759e-01 -1.52517938e-02 2.11655841e+01] [ 3.20987977e-02 -3.37659110e-03 9.99478997e-01 2.77749110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.150714057 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:87.76, Y:21.18, Z:2.78 [[ 8.27755287e-01 -5.60369545e-01 -2.84105368e-02 8.77587883e+01] [ 5.60169682e-01 8.28236363e-01 -1.53118702e-02 2.11843508e+01] [ 3.21109454e-02 -3.24023991e-03 9.99479058e-01 2.77849435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.180714057 meters Centerline goodness : 0.992293 Centerline is valid? [True, True] Translation: X:87.79, Y:21.20, Z:2.78 [[ 8.28981272e-01 -5.58552306e-01 -2.84494593e-02 8.77854305e+01] [ 5.58353696e-01 8.29462942e-01 -1.52439637e-02 2.12013132e+01] [ 3.21123233e-02 -3.24790026e-03 9.99478989e-01 2.77852173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.210714057 meters Centerline goodness : 0.992173 Centerline is valid? [True, True] Translation: X:87.81, Y:21.22, Z:2.78 [[ 8.29974890e-01 -5.57074630e-01 -2.84523855e-02 8.78112746e+01] [ 5.56875335e-01 8.30456283e-01 -1.52388503e-02 2.12178566e+01] [ 3.21176392e-02 -3.19656855e-03 9.99478984e-01 2.77970718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.240714057 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:87.84, Y:21.24, Z:2.78 [[ 8.32438842e-01 -5.53388406e-01 -2.84050229e-02 8.78384819e+01] [ 5.53184185e-01 8.32918072e-01 -1.53213171e-02 2.12367347e+01] [ 3.21376961e-02 -2.95914998e-03 9.99479070e-01 2.78022506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.270714057 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:87.86, Y:21.25, Z:2.78 [[ 8.34142524e-01 -5.50813941e-01 -2.84649309e-02 8.78648893e+01] [ 5.50611771e-01 8.34622742e-01 -1.52169557e-02 2.12536089e+01] [ 3.21391900e-02 -2.98001616e-03 9.99478960e-01 2.78079247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30071405700001 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:87.89, Y:21.27, Z:2.78 [[ 8.37242002e-01 -5.46091212e-01 -2.84643349e-02 8.78913041e+01] [ 5.45886296e-01 8.37721054e-01 -1.52179927e-02 2.12713265e+01] [ 3.21555847e-02 -2.79714770e-03 9.99478961e-01 2.78118259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33071405700001 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:87.92, Y:21.29, Z:2.78 [[ 8.40791253e-01 -5.40609829e-01 -2.84795031e-02 8.79176845e+01] [ 5.40402677e-01 8.41269375e-01 -1.51916043e-02 2.12887259e+01] [ 3.21716644e-02 -2.61743169e-03 9.99478931e-01 2.78012067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36071405700001 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:87.94, Y:21.31, Z:2.78 [[ 8.41372551e-01 -5.39705402e-01 -2.84659166e-02 8.79448457e+01] [ 5.39496942e-01 8.41850074e-01 -1.52152034e-02 2.13064450e+01] [ 3.21757615e-02 -2.55562042e-03 9.99478959e-01 2.78193351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.390714057 meters Centerline goodness : 0.993036 Centerline is valid? [True, True] Translation: X:87.95, Y:21.33, Z:2.79 [[ 8.37743876e-01 -5.45318820e-01 -2.85058325e-02 8.79529944e+01] [ 5.45115900e-01 8.38223871e-01 -1.51458827e-02 2.13266436e+01] [ 3.21536041e-02 -2.85061203e-03 9.99478874e-01 2.78697132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.420714057 meters Centerline goodness : 0.992516 Centerline is valid? [True, True] Translation: X:87.98, Y:21.35, Z:2.79 [[ 8.40039899e-01 -5.41804888e-01 -2.79362079e-02 8.79807299e+01] [ 5.41566961e-01 8.40502811e-01 -1.61323377e-02 2.13454992e+01] [ 3.22210407e-02 -1.57751988e-03 9.99479523e-01 2.78970414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.450714057 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:88.01, Y:21.36, Z:2.79 [[ 8.41068540e-01 -5.40206472e-01 -2.79406324e-02 8.80080567e+01] [ 5.39967919e-01 8.41531130e-01 -1.61246711e-02 2.13619517e+01] [ 3.22235636e-02 -1.52509156e-03 9.99479523e-01 2.78972642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.480714057 meters Centerline goodness : 0.992929 Centerline is valid? [True, True] Translation: X:88.04, Y:21.38, Z:2.79 [[ 8.42883074e-01 -5.37370650e-01 -2.79447424e-02 8.80365252e+01] [ 5.37130775e-01 8.43344980e-01 -1.61175450e-02 2.13796590e+01] [ 3.22281539e-02 -1.42477529e-03 9.99479523e-01 2.79263341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.510714057 meters Centerline goodness : 0.993016 Centerline is valid? [True, True] Translation: X:88.06, Y:21.40, Z:2.79 [[ 8.43761362e-01 -5.35990300e-01 -2.79492695e-02 8.80646667e+01] [ 5.35749930e-01 8.44223010e-01 -1.61096908e-02 2.13966501e+01] [ 3.22300544e-02 -1.38108447e-03 9.99479523e-01 2.79433063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.540714057 meters Centerline goodness : 0.992703 Centerline is valid? [True, True] Translation: X:88.09, Y:21.41, Z:2.80 [[ 8.44885062e-01 -5.34217010e-01 -2.79538547e-02 8.80920015e+01] [ 5.33975934e-01 8.45346341e-01 -1.61017306e-02 2.14132208e+01] [ 3.22325072e-02 -1.32257400e-03 9.99479523e-01 2.79540852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.570714057 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:88.12, Y:21.43, Z:2.80 [[ 8.47075124e-01 -5.30737296e-01 -2.79581319e-02 8.81205695e+01] [ 5.30494569e-01 8.47535536e-01 -1.60943004e-02 2.14308527e+01] [ 3.22373558e-02 -1.19855562e-03 9.99479523e-01 2.79682625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.600714057 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:88.15, Y:21.45, Z:2.80 [[ 8.49239450e-01 -5.27266959e-01 -2.79626574e-02 8.81490728e+01] [ 5.27022608e-01 8.49699004e-01 -1.60864339e-02 2.14473540e+01] [ 3.22416872e-02 -1.07571836e-03 9.99479523e-01 2.79879574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.630714057 meters Centerline goodness : 0.993018 Centerline is valid? [True, True] Translation: X:88.19, Y:21.46, Z:2.80 [[ 8.53425575e-01 -5.20463850e-01 -2.79672788e-02 8.81899675e+01] [ 5.20216098e-01 8.53883304e-01 -1.60783954e-02 2.14601514e+01] [ 3.22490159e-02 -8.27314824e-04 9.99479523e-01 2.79612840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.660714057 meters Centerline goodness : 0.992818 Centerline is valid? [True, True] Translation: X:88.22, Y:21.48, Z:2.80 [[ 8.53597526e-01 -5.20159345e-01 -2.83816861e-02 8.82176464e+01] [ 5.19935186e-01 8.54067645e-01 -1.53577398e-02 2.14757341e+01] [ 3.22283517e-02 -1.64730849e-03 9.99479174e-01 2.79747835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.69071405700001 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:88.23, Y:21.49, Z:2.80 [[ 8.51255237e-01 -5.23984476e-01 -2.83688425e-02 8.82320790e+01] [ 5.23761686e-01 8.51725983e-01 -1.53800706e-02 2.14932000e+01] [ 3.22213985e-02 -1.76614710e-03 9.99479195e-01 2.80065016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72071405700001 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:88.27, Y:21.51, Z:2.80 [[ 8.54290004e-01 -5.19044661e-01 -2.79504738e-02 8.82702691e+01] [ 5.18795241e-01 8.54746799e-01 -1.61061278e-02 2.15061000e+01] [ 3.22503776e-02 -7.41268812e-04 9.99479546e-01 2.80276291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.750714057 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:88.29, Y:21.52, Z:2.80 [[ 8.50780385e-01 -5.24759328e-01 -2.82910727e-02 8.82884420e+01] [ 5.24532512e-01 8.51249057e-01 -1.55141081e-02 2.15219560e+01] [ 3.22239219e-02 -1.64048855e-03 9.99479328e-01 2.80493125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.780714057 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:88.33, Y:21.53, Z:2.80 [[ 8.53394449e-01 -5.20515802e-01 -2.79502142e-02 8.83295833e+01] [ 5.20267185e-01 8.53851664e-01 -1.61056586e-02 2.15342443e+01] [ 3.22485867e-02 -7.97099666e-04 9.99479561e-01 2.80305920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.810714057 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:88.35, Y:21.55, Z:2.81 [[ 8.47946961e-01 -5.29321316e-01 -2.83706942e-02 8.83460706e+01] [ 5.29101667e-01 8.48419146e-01 -1.53745904e-02 2.15489948e+01] [ 3.22083385e-02 -1.97414437e-03 9.99479227e-01 2.80607328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.840714057 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:88.39, Y:21.56, Z:2.80 [[ 8.51273435e-01 -5.23977494e-01 -2.79486150e-02 8.83926596e+01] [ 5.23730691e-01 8.51731606e-01 -1.61069988e-02 2.15601721e+01] [ 3.22444236e-02 -9.26087266e-04 9.99479584e-01 2.80241510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.870714057 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:88.40, Y:21.57, Z:2.81 [[ 8.43890369e-01 -5.35755427e-01 -2.85511473e-02 8.84028995e+01] [ 5.35549971e-01 8.44369264e-01 -1.50590607e-02 2.15747584e+01] [ 3.21756848e-02 -2.58236980e-03 9.99478893e-01 2.80829340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.900714057 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:88.43, Y:21.59, Z:2.81 [[ 8.42778238e-01 -5.37535123e-01 -2.79433758e-02 8.84329414e+01] [ 5.37295480e-01 8.43240141e-01 -1.61131069e-02 2.15899064e+01] [ 3.22243370e-02 -1.43407369e-03 9.99479632e-01 2.80958948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.930714057 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:88.46, Y:21.60, Z:2.81 [[ 8.41633362e-01 -5.39325696e-01 -2.79477559e-02 8.84621196e+01] [ 5.39087287e-01 8.42095903e-01 -1.61055061e-02 2.16036915e+01] [ 3.22208041e-02 -1.51134865e-03 9.99479632e-01 2.81034736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.960714057 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:88.51, Y:21.61, Z:2.81 [[ 8.44127519e-01 -5.35413394e-01 -2.79504777e-02 8.85089627e+01] [ 5.35172997e-01 8.44589029e-01 -1.61007813e-02 2.16117877e+01] [ 3.22272407e-02 -1.36722836e-03 9.99479632e-01 2.80614324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.990714057 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:88.52, Y:21.63, Z:2.81 [[ 8.38135168e-01 -5.44714966e-01 -2.85489966e-02 8.85193714e+01] [ 5.44514616e-01 8.38616156e-01 -1.50590810e-02 2.16279341e+01] [ 3.21445566e-02 -2.92380051e-03 9.99478954e-01 2.81140076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.020714057 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:88.57, Y:21.64, Z:2.81 [[ 8.41536092e-01 -5.39477560e-01 -2.79458173e-02 8.85676314e+01] [ 5.39239224e-01 8.41998613e-01 -1.61057330e-02 2.16361077e+01] [ 3.22190210e-02 -1.51592523e-03 9.99479683e-01 2.80701288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.05071405700001 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:88.59, Y:21.65, Z:2.81 [[ 8.38912063e-01 -5.43515993e-01 -2.85817216e-02 8.85925637e+01] [ 5.43316888e-01 8.39393650e-01 -1.50019821e-02 2.16503722e+01] [ 3.21451328e-02 -2.94358833e-03 9.99478877e-01 2.80952447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08071405700001 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:88.62, Y:21.67, Z:2.81 [[ 8.37977458e-01 -5.44963165e-01 -2.84416672e-02 8.86219607e+01] [ 5.44756683e-01 8.38455577e-01 -1.52447013e-02 2.16651178e+01] [ 3.21548752e-02 -2.71907222e-03 9.99479200e-01 2.81091053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11071405700001 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:88.65, Y:21.68, Z:2.81 [[ 8.36076989e-01 -5.47873703e-01 -2.84547559e-02 8.86507484e+01] [ 5.47669651e-01 8.36556180e-01 -1.52220401e-02 2.16782537e+01] [ 3.21437574e-02 -2.85700880e-03 9.99479173e-01 2.81218153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.140714057 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:88.68, Y:21.69, Z:2.81 [[ 8.33983677e-01 -5.51057663e-01 -2.84020862e-02 8.86796307e+01] [ 5.50852357e-01 8.34462216e-01 -1.53131155e-02 2.16924369e+01] [ 3.21388774e-02 -2.87446773e-03 9.99479279e-01 2.81414414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.170714057 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:88.71, Y:21.71, Z:2.82 [[ 8.33110966e-01 -5.52376685e-01 -2.83922021e-02 8.87082107e+01] [ 5.52171558e-01 8.33589561e-01 -1.53301969e-02 2.17078457e+01] [ 3.21354866e-02 -2.90561134e-03 9.99479298e-01 2.81548161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.200714057 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:88.74, Y:21.72, Z:2.82 [[ 8.31074144e-01 -5.55439773e-01 -2.83271172e-02 8.87373904e+01] [ 5.55232611e-01 8.31551731e-01 -1.54423502e-02 2.17225246e+01] [ 3.21327589e-02 -2.89440130e-03 9.99479419e-01 2.81635966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.230714057 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:88.77, Y:21.74, Z:2.82 [[ 8.30572494e-01 -5.56188397e-01 -2.83513391e-02 8.87654664e+01] [ 5.55983079e-01 8.31050923e-01 -1.54006203e-02 2.17375276e+01] [ 3.21270529e-02 -2.97153320e-03 9.99479376e-01 2.81689946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.260714057 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:88.79, Y:21.75, Z:2.82 [[ 8.29514652e-01 -5.57765547e-01 -2.83379044e-02 8.87932119e+01] [ 5.57560354e-01 8.29993108e-01 -1.54237532e-02 2.17532783e+01] [ 3.21231035e-02 -3.00586275e-03 9.99479400e-01 2.81826516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.290714057 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:88.82, Y:21.77, Z:2.82 [[ 8.28978054e-01 -5.58562854e-01 -2.83359260e-02 8.88218564e+01] [ 5.58358006e-01 8.29456654e-01 -1.54271588e-02 2.17678191e+01] [ 3.21204602e-02 -3.03281502e-03 9.99479404e-01 2.81840795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.320714057 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:88.83, Y:21.79, Z:2.82 [[ 8.24432462e-01 -5.65248880e-01 -2.83693416e-02 8.88337576e+01] [ 5.65049868e-01 8.24913584e-01 -1.53696248e-02 2.17857110e+01] [ 3.20899185e-02 -3.35887508e-03 9.99479342e-01 2.82231281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.350714057 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:88.86, Y:21.80, Z:2.82 [[ 8.23869670e-01 -5.66093608e-01 -2.78710075e-02 8.88614619e+01] [ 5.65866131e-01 8.24337461e-01 -1.62256512e-02 2.18017330e+01] [ 3.21603530e-02 -2.40343724e-03 9.99479832e-01 2.82337712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.380714057 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:88.91, Y:21.81, Z:2.82 [[ 8.28015143e-01 -5.60012410e-01 -2.78751344e-02 8.89051373e+01] [ 5.59781732e-01 8.28481364e-01 -1.62185581e-02 2.18148077e+01] [ 3.21766232e-02 -2.17477932e-03 9.99479832e-01 2.82129596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.410714057 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:88.92, Y:21.83, Z:2.82 [[ 8.23062294e-01 -5.67239364e-01 -2.84247175e-02 8.89163658e+01] [ 5.67044848e-01 8.23545331e-01 -1.52717976e-02 2.18326433e+01] [ 3.20718082e-02 -3.54844882e-03 9.99479268e-01 2.82376671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44071405700001 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:88.94, Y:21.85, Z:2.83 [[ 8.23042074e-01 -5.67296173e-01 -2.78710657e-02 8.89446663e+01] [ 5.67069464e-01 8.23510193e-01 -1.62230082e-02 2.18495074e+01] [ 3.21553571e-02 -2.45261195e-03 9.99479874e-01 2.82537563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47071405700001 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:88.97, Y:21.87, Z:2.83 [[ 8.23192903e-01 -5.67077075e-01 -2.78753730e-02 8.89737611e+01] [ 5.66850490e-01 8.23661081e-01 -1.62156036e-02 2.18663129e+01] [ 3.21553570e-02 -2.45259904e-03 9.99479874e-01 2.82645650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.500714057 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:89.00, Y:21.88, Z:2.83 [[ 8.23233674e-01 -5.67017673e-01 -2.78796849e-02 8.90025907e+01] [ 5.66791304e-01 8.23701956e-01 -1.62081868e-02 2.18831516e+01] [ 3.21548794e-02 -2.45883777e-03 9.99479874e-01 2.82774212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.530714057 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:89.05, Y:21.90, Z:2.83 [[ 8.27943227e-01 -5.60118421e-01 -2.78812997e-02 8.90464290e+01] [ 5.59888239e-01 8.28409648e-01 -1.62054085e-02 2.18963763e+01] [ 3.21740855e-02 -2.19325357e-03 9.99479874e-01 2.82569280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.560714057 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:89.06, Y:21.92, Z:2.83 [[ 8.22907910e-01 -5.67460482e-01 -2.84810980e-02 8.90557012e+01] [ 5.67269547e-01 8.23392443e-01 -1.51705790e-02 2.19150183e+01] [ 3.20598249e-02 -3.67247013e-03 9.99479205e-01 2.83077262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.590714057 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:89.08, Y:21.93, Z:2.83 [[ 8.23016906e-01 -5.67332277e-01 -2.78793809e-02 8.90835114e+01] [ 5.67106163e-01 8.23485259e-01 -1.62057803e-02 2.19325070e+01] [ 3.21523215e-02 -2.47293755e-03 9.99479921e-01 2.83300159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.620714057 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:89.13, Y:21.95, Z:2.83 [[ 8.27058668e-01 -5.61423588e-01 -2.78839585e-02 8.91257368e+01] [ 5.61194390e-01 8.27525519e-01 -1.61979003e-02 2.19462194e+01] [ 3.21685705e-02 -2.25170717e-03 9.99479921e-01 2.83067615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.650714057 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:89.15, Y:21.96, Z:2.83 [[ 8.26701028e-01 -5.61925626e-01 -2.83725345e-02 8.91530776e+01] [ 5.61725162e-01 8.27181401e-01 -1.53549139e-02 2.19633633e+01] [ 3.20975524e-02 -3.24364345e-03 9.99479477e-01 2.83280297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.680714057 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:89.18, Y:21.98, Z:2.83 [[ 8.26576047e-01 -5.62112482e-01 -2.83124640e-02 8.91795296e+01] [ 5.61908609e-01 8.27054866e-01 -1.54584574e-02 2.19800783e+01] [ 3.21053530e-02 -3.13142670e-03 9.99479585e-01 2.83440534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.710714057 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:89.19, Y:22.00, Z:2.84 [[ 8.23963242e-01 -5.65938082e-01 -2.82606440e-02 8.91935990e+01] [ 5.65733395e-01 8.24441625e-01 -1.55477439e-02 2.20003594e+01] [ 3.20983116e-02 -3.17722061e-03 9.99479666e-01 2.83741929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.740714057 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:89.22, Y:22.02, Z:2.84 [[ 8.24633158e-01 -5.64980587e-01 -2.78763493e-02 8.92219771e+01] [ 5.64753036e-01 8.25100773e-01 -1.62086880e-02 2.20179003e+01] [ 3.21583914e-02 -2.37703133e-03 9.99479959e-01 2.83916596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.770714057 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:89.26, Y:22.03, Z:2.84 [[ 8.28314308e-01 -5.59569531e-01 -2.78809378e-02 8.92614647e+01] [ 5.59339188e-01 8.28780554e-01 -1.62007915e-02 2.20319575e+01] [ 3.21726483e-02 -2.17555373e-03 9.99479959e-01 2.83704346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80071405700001 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:89.28, Y:22.05, Z:2.84 [[ 8.25971506e-01 -5.63003570e-01 -2.82498082e-02 8.92769009e+01] [ 5.62796603e-01 8.26448862e-01 -1.55647666e-02 2.20505362e+01] [ 3.21100410e-02 -3.04284236e-03 9.99479708e-01 2.83929985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83071405700001 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:89.32, Y:22.06, Z:2.84 [[ 8.30937122e-01 -5.55667175e-01 -2.78835086e-02 8.93193372e+01] [ 5.55434819e-01 8.31402351e-01 -1.61954376e-02 2.20642750e+01] [ 3.21816877e-02 -2.03008125e-03 9.99479974e-01 2.83719752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86071405700001 meters Centerline goodness : 0.995072 Centerline is valid? [True, True] Translation: X:89.34, Y:22.08, Z:2.84 [[ 8.29836127e-01 -5.57282124e-01 -2.84365347e-02 8.93409589e+01] [ 5.57082831e-01 8.30317068e-01 -1.52409619e-02 2.20804029e+01] [ 3.21048557e-02 -3.19400443e-03 9.99479403e-01 2.84029290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.890714057 meters Centerline goodness : 0.994540 Centerline is valid? [True, True] Translation: X:89.37, Y:22.10, Z:2.84 [[ 8.29910819e-01 -5.57180780e-01 -2.82420040e-02 8.93663460e+01] [ 5.56970065e-01 8.30386490e-01 -1.55763956e-02 2.20964170e+01] [ 3.21306468e-02 -2.80293160e-03 9.99479747e-01 2.84231704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.920714057 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:89.39, Y:22.11, Z:2.84 [[ 8.29951948e-01 -5.57121374e-01 -2.82052900e-02 8.93941003e+01] [ 5.56908489e-01 8.30426598e-01 -1.56396902e-02 2.21131263e+01] [ 3.21356288e-02 -2.72757406e-03 9.99479796e-01 2.84225196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.950714057 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:89.42, Y:22.13, Z:2.84 [[ 8.30011510e-01 -5.57032413e-01 -2.82096343e-02 8.94223228e+01] [ 5.56819730e-01 8.30486257e-01 -1.56322108e-02 2.21298927e+01] [ 3.21353617e-02 -2.73276607e-03 9.99479790e-01 2.84308249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.980714057 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:89.45, Y:22.15, Z:2.85 [[ 8.30030763e-01 -5.57003082e-01 -2.82223062e-02 8.94484939e+01] [ 5.56791118e-01 8.30505850e-01 -1.56104019e-02 2.21468174e+01] [ 3.21338324e-02 -2.75681564e-03 9.99479773e-01 2.84649793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.010714057 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:89.48, Y:22.16, Z:2.85 [[ 8.30988598e-01 -5.55575951e-01 -2.81658137e-02 8.94762715e+01] [ 5.55359894e-01 8.31461760e-01 -1.57076311e-02 2.21625285e+01] [ 3.21455791e-02 -2.58930094e-03 9.99479843e-01 2.84529235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.040714057 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:89.50, Y:22.18, Z:2.85 [[ 8.30670503e-01 -5.56050388e-01 -2.81865430e-02 8.95036354e+01] [ 5.55835802e-01 8.31144361e-01 -1.56720054e-02 2.21803982e+01] [ 3.21415109e-02 -2.64881716e-03 9.99479818e-01 2.84734504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.070714057 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:89.53, Y:22.20, Z:2.85 [[ 8.30894094e-01 -5.55715629e-01 -2.81982918e-02 8.95306921e+01] [ 5.55501532e-01 8.31368191e-01 -1.56518079e-02 2.21963841e+01] [ 3.21411171e-02 -2.65919950e-03 9.99479803e-01 2.84788047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.100714057 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:89.55, Y:22.21, Z:2.85 [[ 8.32018305e-01 -5.54031157e-01 -2.81960641e-02 8.95528145e+01] [ 5.53815971e-01 8.32491904e-01 -1.56556371e-02 2.22094988e+01] [ 3.21467058e-02 -2.58965396e-03 9.99479806e-01 2.85182718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.130714057 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:89.59, Y:22.23, Z:2.85 [[ 8.31442070e-01 -5.54907578e-01 -2.79582473e-02 8.95857040e+01] [ 5.54679186e-01 8.31909220e-01 -1.60639239e-02 2.22280575e+01] [ 3.21727169e-02 -2.15163573e-03 9.99480008e-01 2.84922658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.160714057 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:89.61, Y:22.24, Z:2.85 [[ 8.32775502e-01 -5.52891130e-01 -2.82198836e-02 8.96098852e+01] [ 5.52676689e-01 8.33249466e-01 -1.56142285e-02 2.22428096e+01] [ 3.21471714e-02 -2.59332482e-03 9.99479782e-01 2.85359723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.19071405700001 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:89.64, Y:22.26, Z:2.85 [[ 8.32354952e-01 -5.53534096e-01 -2.80221070e-02 8.96429238e+01] [ 5.53308616e-01 8.32823541e-01 -1.59538363e-02 2.22623267e+01] [ 3.21684628e-02 -2.22561857e-03 9.99479983e-01 2.85061015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22071405700001 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:89.67, Y:22.28, Z:2.85 [[ 8.33185234e-01 -5.52271121e-01 -2.82661457e-02 8.96706039e+01] [ 5.52059022e-01 8.33660317e-01 -1.55342184e-02 2.22778941e+01] [ 3.21434642e-02 -2.66169940e-03 9.99479721e-01 2.85022568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.250714057 meters Centerline goodness : 0.993672 Centerline is valid? [True, True] Translation: X:89.69, Y:22.29, Z:2.85 [[ 8.35696669e-01 -5.48462814e-01 -2.82775433e-02 8.96920237e+01] [ 5.48249209e-01 8.36171096e-01 -1.55145992e-02 2.22913362e+01] [ 3.21540451e-02 -2.53764193e-03 9.99479704e-01 2.85498378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.280714057 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:89.73, Y:22.31, Z:2.85 [[ 8.35432299e-01 -5.48879599e-01 -2.80010573e-02 8.97262612e+01] [ 5.48650316e-01 8.35899018e-01 -1.59894662e-02 2.23104260e+01] [ 3.21823481e-02 -2.00467244e-03 9.99480004e-01 2.85375771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.310714057 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:89.75, Y:22.32, Z:2.86 [[ 8.38001580e-01 -5.44932825e-01 -2.83119898e-02 8.97486767e+01] [ 5.44719233e-01 8.38476064e-01 -1.54546724e-02 2.23238120e+01] [ 3.21606841e-02 -2.47104554e-03 9.99479657e-01 2.85850940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.340714057 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:89.78, Y:22.34, Z:2.86 [[ 8.38318198e-01 -5.44456364e-01 -2.81045716e-02 8.97768669e+01] [ 5.44230572e-01 8.38786685e-01 -1.58108336e-02 2.23408787e+01] [ 3.21820494e-02 -2.04085761e-03 9.99479940e-01 2.86033111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.370714057 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:89.80, Y:22.36, Z:2.86 [[ 8.38934614e-01 -5.43504921e-01 -2.81267595e-02 8.98024552e+01] [ 5.43279869e-01 8.39403481e-01 -1.57727337e-02 2.23567227e+01] [ 3.21822583e-02 -2.04840999e-03 9.99479918e-01 2.86222240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.400714057 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:89.84, Y:22.37, Z:2.86 [[ 8.40537055e-01 -5.41026431e-01 -2.80688352e-02 8.98352666e+01] [ 5.40796687e-01 8.41003579e-01 -1.58720858e-02 2.23731685e+01] [ 3.21932088e-02 -1.83845678e-03 9.99479973e-01 2.86259025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.430714057 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:89.85, Y:22.39, Z:2.86 [[ 8.34598660e-01 -5.50130508e-01 -2.83107808e-02 8.98484324e+01] [ 5.49919801e-01 8.35074430e-01 -1.54566860e-02 2.23917063e+01] [ 3.21448036e-02 -2.66852951e-03 9.99479660e-01 2.86146412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.460714057 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:89.88, Y:22.41, Z:2.86 [[ 8.34664738e-01 -5.50053946e-01 -2.78465857e-02 8.98773975e+01] [ 5.49816570e-01 8.35127302e-01 -1.62520731e-02 2.24082136e+01] [ 3.21949609e-02 -1.74548194e-03 9.99480084e-01 2.86277171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.490714057 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:89.92, Y:22.42, Z:2.86 [[ 8.40136633e-01 -5.41659254e-01 -2.78512052e-02 8.99154231e+01] [ 5.41417515e-01 8.40596932e-01 -1.62441528e-02 2.24186538e+01] [ 3.22104333e-02 -1.43182245e-03 9.99480084e-01 2.86118860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.520714057 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:89.93, Y:22.44, Z:2.86 [[ 8.33773068e-01 -5.51391633e-01 -2.81022947e-02 8.99329277e+01] [ 5.51169647e-01 8.34243344e-01 -1.58133656e-02 2.24392922e+01] [ 3.21635098e-02 -2.30437347e-03 9.99479964e-01 2.86358164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.55071405700001 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:89.97, Y:22.45, Z:2.86 [[ 8.39395344e-01 -5.42807451e-01 -2.78482957e-02 8.99726073e+01] [ 5.42566190e-01 8.39855886e-01 -1.62486972e-02 2.24496016e+01] [ 3.22084690e-02 -1.47046293e-03 9.99480091e-01 2.86315206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58071405700001 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:90.00, Y:22.46, Z:2.86 [[ 8.40271348e-01 -5.41433316e-01 -2.81784739e-02 9.00043248e+01] [ 5.41210113e-01 8.40741142e-01 -1.56826329e-02 2.24639907e+01] [ 3.21819023e-02 -2.07280797e-03 9.99479879e-01 2.86347712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61071405700001 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:90.02, Y:22.48, Z:2.87 [[ 8.33185583e-01 -5.52268748e-01 -2.83021819e-02 9.00155471e+01] [ 5.52058796e-01 8.33661652e-01 -1.54704422e-02 2.24849716e+01] [ 3.21382855e-02 -2.73471902e-03 9.99479691e-01 2.86525899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.640714057 meters Centerline goodness : 0.994955 Centerline is valid? [True, True] Translation: X:90.05, Y:22.50, Z:2.87 [[ 8.39147876e-01 -5.43190435e-01 -2.78386843e-02 9.00541045e+01] [ 5.42948883e-01 8.39608241e-01 -1.62638346e-02 2.24956504e+01] [ 3.22079481e-02 -1.46722032e-03 9.99480113e-01 2.86771536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.670714057 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:90.08, Y:22.51, Z:2.87 [[ 8.38986696e-01 -5.43423950e-01 -2.81377820e-02 9.00815758e+01] [ 5.43199551e-01 8.39455854e-01 -1.57517565e-02 2.25109872e+01] [ 3.21803076e-02 -2.06891642e-03 9.99479938e-01 2.86943239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.700714057 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:90.10, Y:22.53, Z:2.87 [[ 8.33340154e-01 -5.52044438e-01 -2.81269770e-02 9.00977519e+01] [ 5.51824266e-01 8.33811297e-01 -1.57702540e-02 2.25318511e+01] [ 3.21584721e-02 -2.37916252e-03 9.99479951e-01 2.87202361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.730714057 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:90.12, Y:22.55, Z:2.87 [[ 8.33302967e-01 -5.52115562e-01 -2.78311008e-02 9.01200254e+01] [ 5.51878525e-01 8.33765662e-01 -1.62761917e-02 2.25474947e+01] [ 3.21909549e-02 -1.79638801e-03 9.99480123e-01 2.87342412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.760714057 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:90.15, Y:22.56, Z:2.88 [[ 8.33270129e-01 -5.52176916e-01 -2.75961181e-02 9.01532899e+01] [ 5.51926604e-01 8.33725899e-01 -1.66778072e-02 2.25617752e+01] [ 3.22166985e-02 -1.33391323e-03 9.99480017e-01 2.87512716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.790714057 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:90.18, Y:22.58, Z:2.88 [[ 8.33183295e-01 -5.52295772e-01 -2.78384006e-02 9.01817176e+01] [ 5.52059270e-01 8.33646252e-01 -1.62630867e-02 2.25774169e+01] [ 3.21894123e-02 -1.81831493e-03 9.99480133e-01 2.87514554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.820714057 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:90.21, Y:22.59, Z:2.88 [[ 8.33154466e-01 -5.52339040e-01 -2.78427859e-02 9.02102567e+01] [ 5.52102812e-01 8.33617563e-01 -1.62555754e-02 2.25932934e+01] [ 3.21888243e-02 -1.82867515e-03 9.99480133e-01 2.87610351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.850714057 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:90.24, Y:22.61, Z:2.88 [[ 8.32864270e-01 -5.52776323e-01 -2.78467904e-02 9.02398464e+01] [ 5.52540567e-01 8.33327607e-01 -1.62487127e-02 2.26088895e+01] [ 3.21874028e-02 -1.85350913e-03 9.99480133e-01 2.87675137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.880714057 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:90.27, Y:22.62, Z:2.88 [[ 8.32719254e-01 -5.52994526e-01 -2.78513505e-02 9.02684370e+01] [ 5.52759152e-01 8.33182785e-01 -1.62408924e-02 2.26248541e+01] [ 3.21863904e-02 -1.87098506e-03 9.99480133e-01 2.87830801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.910714057 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:90.30, Y:22.64, Z:2.88 [[ 8.33655606e-01 -5.51581701e-01 -2.78560210e-02 9.02951060e+01] [ 5.51345808e-01 8.34118873e-01 -1.62328778e-02 2.26382040e+01] [ 3.21889912e-02 -1.82567081e-03 9.99480133e-01 2.87959294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94071405700001 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:90.32, Y:22.65, Z:2.88 [[ 8.32795538e-01 -5.52884232e-01 -2.77599917e-02 9.03240161e+01] [ 5.52643585e-01 8.33256374e-01 -1.63976646e-02 2.26545871e+01] [ 3.21972002e-02 -1.68547944e-03 9.99480115e-01 2.87926512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97071405700001 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:90.35, Y:22.67, Z:2.88 [[ 8.33162844e-01 -5.52325447e-01 -2.78617399e-02 9.03533511e+01] [ 5.52090299e-01 8.33626487e-01 -1.62229205e-02 2.26705273e+01] [ 3.21866161e-02 -1.86586173e-03 9.99480135e-01 2.88047058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.000714057 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:90.40, Y:22.68, Z:2.88 [[ 8.37848324e-01 -5.45191391e-01 -2.78663408e-02 9.03958056e+01] [ 5.44952554e-01 8.38310078e-01 -1.62150135e-02 2.26834823e+01] [ 3.22009201e-02 -1.60011178e-03 9.99480135e-01 2.88278076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.030714057 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:90.42, Y:22.70, Z:2.88 [[ 8.40540376e-01 -5.41006404e-01 -2.83539434e-02 9.04195893e+01] [ 5.40793254e-01 8.41015019e-01 -1.53751430e-02 2.26966763e+01] [ 3.21641430e-02 -2.41019286e-03 9.99479694e-01 2.88339238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.060714057 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:90.45, Y:22.71, Z:2.89 [[ 8.41221605e-01 -5.39957287e-01 -2.81485184e-02 9.04470748e+01] [ 5.39731716e-01 8.41690134e-01 -1.57287221e-02 2.27122444e+01] [ 3.21851684e-02 -1.96130730e-03 9.99479999e-01 2.88586201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.090714057 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:90.48, Y:22.73, Z:2.89 [[ 8.40970014e-01 -5.40350443e-01 -2.81217555e-02 9.04803205e+01] [ 5.40123557e-01 8.41437876e-01 -1.57747548e-02 2.27291392e+01] [ 3.21866059e-02 -1.92312683e-03 9.99480027e-01 2.88546318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.120714057 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:90.51, Y:22.75, Z:2.89 [[ 8.40917109e-01 -5.40421302e-01 -2.83413375e-02 9.05090842e+01] [ 5.40207095e-01 8.41391249e-01 -1.53967783e-02 2.27452521e+01] [ 3.21669004e-02 -2.36277731e-03 9.99479719e-01 2.88687095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.150714057 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:90.52, Y:22.76, Z:2.89 [[ 8.37338045e-01 -5.45950007e-01 -2.83476419e-02 9.05209241e+01] [ 5.45739293e-01 8.37813760e-01 -1.53859301e-02 2.27630983e+01] [ 3.21499931e-02 -2.58719745e-03 9.99479707e-01 2.89028949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.180714057 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:90.55, Y:22.78, Z:2.89 [[ 8.37424435e-01 -5.45842738e-01 -2.78571581e-02 9.05497882e+01] [ 5.45603829e-01 8.37886099e-01 -1.62279337e-02 2.27795947e+01] [ 3.21990253e-02 -1.60930396e-03 9.99480181e-01 2.89106743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.210714057 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:90.58, Y:22.79, Z:2.89 [[ 8.37991634e-01 -5.44971320e-01 -2.78618406e-02 9.05755178e+01] [ 5.44732198e-01 8.38453188e-01 -1.62198903e-02 2.27927667e+01] [ 3.22002241e-02 -1.58510927e-03 9.99480181e-01 2.89117411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.240714057 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:90.61, Y:22.81, Z:2.89 [[ 8.36353857e-01 -5.47486330e-01 -2.77658887e-02 9.06077331e+01] [ 5.47243131e-01 8.36813298e-01 -1.63847595e-02 2.28081596e+01] [ 3.22052967e-02 -1.49123502e-03 9.99480162e-01 2.89046099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.270714057 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:90.64, Y:22.82, Z:2.89 [[ 8.35951920e-01 -5.48094585e-01 -2.78695791e-02 9.06363692e+01] [ 5.47857633e-01 8.36414589e-01 -1.62064486e-02 2.28226973e+01] [ 3.21931893e-02 -1.72074982e-03 9.99480184e-01 2.89022786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30071405700001 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:90.67, Y:22.84, Z:2.89 [[ 8.35131378e-01 -5.49343815e-01 -2.78739145e-02 9.06663830e+01] [ 5.49107803e-01 8.35594527e-01 -1.61989886e-02 2.28374577e+01] [ 3.21901046e-02 -1.77750030e-03 9.99480184e-01 2.89181082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33071405700001 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:90.70, Y:22.85, Z:2.89 [[ 8.35149995e-01 -5.49315279e-01 -2.78784806e-02 9.06951270e+01] [ 5.49079512e-01 8.35613270e-01 -1.61911266e-02 2.28531185e+01] [ 3.21896615e-02 -1.78548324e-03 9.99480184e-01 2.89269243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36071405700001 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:90.72, Y:22.87, Z:2.89 [[ 8.35304338e-01 -5.49080322e-01 -2.78830261e-02 9.07242271e+01] [ 5.48844686e-01 8.35767678e-01 -1.61832949e-02 2.28699148e+01] [ 3.21896608e-02 -1.78547429e-03 9.99480184e-01 2.89377295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.390714057 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:90.75, Y:22.89, Z:2.90 [[ 8.35799308e-01 -5.48326363e-01 -2.78875739e-02 9.07520289e+01] [ 5.48090569e-01 8.36262568e-01 -1.61754542e-02 2.28850376e+01] [ 3.21907621e-02 -1.76548278e-03 9.99480184e-01 2.89587122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.420714057 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:90.80, Y:22.90, Z:2.89 [[ 8.39746316e-01 -5.42262088e-01 -2.78918031e-02 9.07966249e+01] [ 5.42023188e-01 8.40207983e-01 -1.61681584e-02 2.28979233e+01] [ 3.22022949e-02 -1.54085256e-03 9.99480184e-01 2.89374219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.450714057 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:90.81, Y:22.92, Z:2.90 [[ 8.36377497e-01 -5.47415834e-01 -2.84356692e-02 9.08073221e+01] [ 5.47211279e-01 8.36855979e-01 -1.52278336e-02 2.29163017e+01] [ 3.21325170e-02 -2.82410158e-03 9.99479628e-01 2.89784954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.480714057 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:90.83, Y:22.93, Z:2.90 [[ 8.37783644e-01 -5.45289688e-01 -2.78876737e-02 9.08348231e+01] [ 5.45052300e-01 8.38246044e-01 -1.61728111e-02 2.29308507e+01] [ 3.21955992e-02 -1.65092406e-03 9.99480224e-01 2.89991433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.510714057 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:90.86, Y:22.95, Z:2.90 [[ 8.38447453e-01 -5.44268267e-01 -2.78912602e-02 9.08635514e+01] [ 5.44030521e-01 8.38909669e-01 -1.61666234e-02 2.29468598e+01] [ 3.21972280e-02 -1.61883260e-03 9.99480224e-01 2.90130088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.540714057 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:90.89, Y:22.96, Z:2.90 [[ 8.39233204e-01 -5.43055673e-01 -2.78956199e-02 9.08920289e+01] [ 5.42817508e-01 8.39695204e-01 -1.61590972e-02 2.29628162e+01] [ 3.21991077e-02 -1.58097993e-03 9.99480224e-01 2.90294997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.570714057 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:90.92, Y:22.98, Z:2.90 [[ 8.40326530e-01 -5.41362093e-01 -2.78999552e-02 9.09199309e+01] [ 5.41123244e-01 8.40788178e-01 -1.61516085e-02 2.29777687e+01] [ 3.22018211e-02 -1.52468919e-03 9.99480224e-01 2.90395981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.600714057 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:90.95, Y:22.99, Z:2.90 [[ 8.40580259e-01 -5.40967901e-01 -2.79026466e-02 9.09486492e+01] [ 5.40728990e-01 8.41041875e-01 -1.61469577e-02 2.29935687e+01] [ 3.22022800e-02 -1.51495598e-03 9.99480224e-01 2.90468444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.630714057 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:90.98, Y:23.01, Z:2.90 [[ 8.40804506e-01 -5.40619215e-01 -2.79042473e-02 9.09767849e+01] [ 5.40380204e-01 8.41266070e-01 -1.61441909e-02 2.30087068e+01] [ 3.22027563e-02 -1.50479442e-03 9.99480224e-01 2.90482308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.660714057 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:91.01, Y:23.02, Z:2.90 [[ 8.40365218e-01 -5.41301677e-01 -2.79068904e-02 9.10052695e+01] [ 5.41063192e-01 8.40827054e-01 -1.61396209e-02 2.30229195e+01] [ 3.22012722e-02 -1.53621516e-03 9.99480224e-01 2.90419978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.69071405700001 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:91.03, Y:23.04, Z:2.90 [[ 8.39806364e-01 -5.42168255e-01 -2.79079493e-02 9.10333725e+01] [ 5.41930308e-01 8.40268477e-01 -1.61377895e-02 2.30360512e+01] [ 3.21995673e-02 -1.57154522e-03 9.99480224e-01 2.90341396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72071405700001 meters Centerline goodness : 0.995745 Centerline is valid? [True, True] Translation: X:91.06, Y:23.05, Z:2.90 [[ 8.39815018e-01 -5.42154811e-01 -2.79087389e-02 9.10615518e+01] [ 5.41916901e-01 8.40277150e-01 -1.61364239e-02 2.30507305e+01] [ 3.21995154e-02 -1.57260615e-03 9.99480224e-01 2.90416976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.750714057 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:91.09, Y:23.07, Z:2.90 [[ 8.39671351e-01 -5.42377236e-01 -2.79097673e-02 9.10894715e+01] [ 5.42139508e-01 8.40133577e-01 -1.61346451e-02 2.30660169e+01] [ 3.21989968e-02 -1.58318825e-03 9.99480224e-01 2.90491812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.780714057 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:91.13, Y:23.08, Z:2.91 [[ 8.45461595e-01 -5.33306392e-01 -2.79102782e-02 9.11322730e+01] [ 5.33063731e-01 8.45921250e-01 -1.61337612e-02 2.30768286e+01] [ 3.22141354e-02 -1.23748156e-03 9.99480224e-01 2.90972231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.810714057 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:91.16, Y:23.09, Z:2.91 [[ 8.46002067e-01 -5.32422710e-01 -2.84000043e-02 9.11577004e+01] [ 5.32207745e-01 8.46475806e-01 -1.52848529e-02 2.30918271e+01] [ 3.21779194e-02 -2.18368509e-03 9.99479771e-01 2.91009743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.840714057 meters Centerline goodness : 0.994372 Centerline is valid? [True, True] Translation: X:91.18, Y:23.11, Z:2.91 [[ 8.49164019e-01 -5.27369979e-01 -2.83085313e-02 9.11834560e+01] [ 5.27146905e-01 8.49633823e-01 -1.54436547e-02 2.31060589e+01] [ 3.21964056e-02 -1.80855877e-03 9.99479925e-01 2.91083654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.870714057 meters Centerline goodness : 0.994332 Centerline is valid? [True, True] Translation: X:91.21, Y:23.12, Z:2.91 [[ 8.48314569e-01 -5.28739631e-01 -2.82275410e-02 9.12131055e+01] [ 5.28512648e-01 8.48782373e-01 -1.55840737e-02 2.31241987e+01] [ 3.21989567e-02 -1.69841571e-03 9.99480036e-01 2.91255845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.900714057 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:91.23, Y:23.14, Z:2.92 [[ 8.45129680e-01 -5.33812047e-01 -2.82935109e-02 9.12264522e+01] [ 5.33591667e-01 8.45600737e-01 -1.54701965e-02 2.31427070e+01] [ 3.21831909e-02 -2.02285948e-03 9.99479940e-01 2.91621980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.930714057 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:91.27, Y:23.15, Z:2.92 [[ 8.53704531e-01 -5.20015015e-01 -2.78021178e-02 9.12657795e+01] [ 5.19759232e-01 8.54156960e-01 -1.63165068e-02 2.31531945e+01] [ 3.22322009e-02 -5.20931611e-04 9.99480272e-01 2.91730430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.960714057 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:91.28, Y:23.17, Z:2.92 [[ 8.49719999e-01 -5.26482142e-01 -2.81509838e-02 9.12802246e+01] [ 5.26249573e-01 8.50184933e-01 -1.57151992e-02 2.31720637e+01] [ 3.22073140e-02 -1.46092416e-03 9.99480142e-01 2.92407285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.990714057 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:91.32, Y:23.18, Z:2.92 [[ 8.56212253e-01 -5.15879085e-01 -2.77371065e-02 9.13213825e+01] [ 5.15617522e-01 8.56661376e-01 -1.64273327e-02 2.31831785e+01] [ 3.22358252e-02 -2.36454582e-04 9.99480263e-01 2.92362304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.020714057 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:91.35, Y:23.20, Z:2.92 [[ 8.56986749e-01 -5.14564962e-01 -2.82243115e-02 9.13524313e+01] [ 5.14330157e-01 8.57450614e-01 -1.55863058e-02 2.31978572e+01] [ 3.22211201e-02 -1.15935703e-03 9.99480093e-01 2.92440677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.05071405700001 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:91.38, Y:23.21, Z:2.92 [[ 8.57293958e-01 -5.14049074e-01 -2.82952092e-02 9.13835325e+01] [ 5.13818022e-01 8.57759819e-01 -1.54639201e-02 2.32115478e+01] [ 3.22197073e-02 -1.28146315e-03 9.99479989e-01 2.92463994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08071405700001 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:91.41, Y:23.23, Z:2.92 [[ 8.55829371e-01 -5.16479226e-01 -2.83777600e-02 9.14087287e+01] [ 5.16254207e-01 8.56298339e-01 -1.53215005e-02 2.32252409e+01] [ 3.22130654e-02 -1.53754785e-03 9.99479842e-01 2.92489221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11071405700001 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:91.44, Y:23.24, Z:2.93 [[ 8.54351393e-01 -5.18928945e-01 -2.82213951e-02 9.14392245e+01] [ 5.18696356e-01 8.54816362e-01 -1.55909563e-02 2.32373950e+01] [ 3.22147088e-02 -1.31817963e-03 9.99480102e-01 2.92624973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.140714057 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:91.47, Y:23.25, Z:2.93 [[ 8.52511515e-01 -5.21948440e-01 -2.81769738e-02 9.14682209e+01] [ 5.21714972e-01 8.52975979e-01 -1.56674105e-02 2.32522921e+01] [ 3.22118622e-02 -1.34370126e-03 9.99480160e-01 2.92663264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.170714057 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:91.50, Y:23.26, Z:2.93 [[ 8.49523238e-01 -5.26796053e-01 -2.82167942e-02 9.14974526e+01] [ 5.26567504e-01 8.49990199e-01 -1.55988905e-02 2.32648202e+01] [ 3.22014325e-02 -1.60642697e-03 9.99480108e-01 2.92656936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.200714057 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:91.53, Y:23.28, Z:2.93 [[ 8.48370171e-01 -5.28653274e-01 -2.81738884e-02 9.15253091e+01] [ 5.28423300e-01 8.48836370e-01 -1.56727035e-02 2.32782865e+01] [ 3.22004472e-02 -1.59148489e-03 9.99480164e-01 2.92665579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.230714057 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:91.54, Y:23.30, Z:2.93 [[ 8.41195726e-01 -5.39998989e-01 -2.81219364e-02 9.15386249e+01] [ 5.39772317e-01 8.41663474e-01 -1.57620529e-02 2.32968081e+01] [ 3.21806993e-02 -1.92047121e-03 9.99480222e-01 2.92906889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.260714057 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:91.57, Y:23.31, Z:2.93 [[ 8.38506334e-01 -5.44189864e-01 -2.76499389e-02 9.15731719e+01] [ 5.43938671e-01 8.38961312e-01 -1.65722155e-02 2.33093105e+01] [ 3.22156608e-02 -1.14396336e-03 9.99480286e-01 2.92788965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.290714057 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:91.61, Y:23.32, Z:2.93 [[ 8.42387002e-01 -5.38152330e-01 -2.78605174e-02 9.16129447e+01] [ 5.37909777e-01 8.42846545e-01 -1.62103016e-02 2.33189176e+01] [ 3.22057524e-02 -1.33109729e-03 9.99480374e-01 2.93084471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.320714057 meters Centerline goodness : 0.988018 Centerline is valid? [True, True] Translation: X:91.63, Y:23.33, Z:2.93 [[ 8.36845445e-01 -5.46716450e-01 -2.81216208e-02 9.16279692e+01] [ 5.46493678e-01 8.37314973e-01 -1.57574199e-02 2.33301779e+01] [ 3.21614948e-02 -2.18176296e-03 9.99480304e-01 2.92920746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.350714057 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:91.66, Y:23.34, Z:2.93 [[ 8.35691635e-01 -5.48509624e-01 -2.75078971e-02 9.16568617e+01] [ 5.48252696e-01 8.36143611e-01 -1.68179203e-02 2.33449582e+01] [ 3.22253436e-02 -1.02668345e-03 9.99480101e-01 2.93408038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.380714057 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:91.69, Y:23.36, Z:2.94 [[ 8.35092223e-01 -5.49409479e-01 -2.77525477e-02 9.16859009e+01] [ 5.49167101e-01 8.35551802e-01 -1.63914906e-02 2.33597829e+01] [ 3.21943316e-02 -1.55237989e-03 9.99480423e-01 2.93558816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.410714057 meters Centerline goodness : 0.988331 Centerline is valid? [True, True] Translation: X:91.71, Y:23.37, Z:2.93 [[ 8.30230716e-01 -5.56729917e-01 -2.77264800e-02 9.17075435e+01] [ 5.56490089e-01 8.30691651e-01 -1.64365803e-02 2.33731926e+01] [ 3.21828914e-02 -1.78335754e-03 9.99480406e-01 2.93360720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44071405700001 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:91.74, Y:23.39, Z:2.93 [[ 8.28754348e-01 -5.58927702e-01 -2.76776742e-02 9.17359782e+01] [ 5.58686295e-01 8.29214499e-01 -1.65208285e-02 2.33876957e+01] [ 3.21846775e-02 -1.77142877e-03 9.99480369e-01 2.93295953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47071405700001 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:91.77, Y:23.40, Z:2.93 [[ 8.26485276e-01 -5.62266894e-01 -2.78931675e-02 9.17654092e+01] [ 5.62039779e-01 8.26952543e-01 -1.61485988e-02 2.34019777e+01] [ 3.21461483e-02 -2.33049054e-03 9.99480462e-01 2.93186609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.500714057 meters Centerline goodness : 0.987548 Centerline is valid? [True, True] Translation: X:91.78, Y:23.41, Z:2.93 [[ 8.25625334e-01 -5.63530497e-01 -2.78601252e-02 9.17833401e+01] [ 5.63302186e-01 8.26092020e-01 -1.62056224e-02 2.34126654e+01] [ 3.21473895e-02 -2.31389703e-03 9.99480461e-01 2.93109848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.530714057 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:91.82, Y:23.43, Z:2.93 [[ 8.25143024e-01 -5.64255270e-01 -2.74769258e-02 9.18150051e+01] [ 5.64005412e-01 8.25598867e-01 -1.68643285e-02 2.34251670e+01] [ 3.22007051e-02 -1.58165185e-03 9.99480171e-01 2.93318248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.560714057 meters Centerline goodness : 0.993472 Centerline is valid? [True, True] Translation: X:91.84, Y:23.44, Z:2.93 [[ 8.23557772e-01 -5.66549827e-01 -2.78188896e-02 9.18413366e+01] [ 5.66320931e-01 8.24024127e-01 -1.62739344e-02 2.34404564e+01] [ 3.21434309e-02 -2.35189427e-03 9.99480499e-01 2.93383591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.590714057 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:91.86, Y:23.46, Z:2.93 [[ 8.20381614e-01 -5.71136344e-01 -2.78798157e-02 9.18637003e+01] [ 5.70913592e-01 8.20850925e-01 -1.61687739e-02 2.34577714e+01] [ 3.21197470e-02 -2.65240092e-03 9.99480508e-01 2.93457226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.620714057 meters Centerline goodness : 0.986285 Centerline is valid? [True, True] Translation: X:91.88, Y:23.47, Z:2.93 [[ 8.21002899e-01 -5.70242658e-01 -2.78845969e-02 9.18804777e+01] [ 5.70019673e-01 8.21472100e-01 -1.61605242e-02 2.34672327e+01] [ 3.21218386e-02 -2.62693155e-03 9.99480508e-01 2.93270234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.650714057 meters Centerline goodness : 0.994989 Centerline is valid? [True, True] Translation: X:91.91, Y:23.49, Z:2.94 [[ 8.19219682e-01 -5.72822290e-01 -2.74542546e-02 9.19102842e+01] [ 5.72575975e-01 8.19677444e-01 -1.69009399e-02 2.34868357e+01] [ 3.21848683e-02 -1.87406399e-03 9.99480176e-01 2.93577088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.680714057 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:91.95, Y:23.50, Z:2.94 [[ 8.26375383e-01 -5.62429184e-01 -2.78772237e-02 9.19534444e+01] [ 5.62201377e-01 8.26842236e-01 -1.61718434e-02 2.34985463e+01] [ 3.21455827e-02 -2.30860027e-03 9.99480531e-01 2.93613214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.710714057 meters Centerline goodness : 0.993233 Centerline is valid? [True, True] Translation: X:91.97, Y:23.51, Z:2.94 [[ 8.25433278e-01 -5.63785312e-01 -2.83905978e-02 9.19713594e+01] [ 5.63588222e-01 8.25914447e-01 -1.52853534e-02 2.35149539e+01] [ 3.20658626e-02 -3.38356722e-03 9.99480031e-01 2.93794963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.740714057 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:92.01, Y:23.54, Z:2.94 [[ 8.24835269e-01 -5.64677296e-01 -2.80415899e-02 9.20055321e+01] [ 5.64460333e-01 8.25307295e-01 -1.58871700e-02 2.35372147e+01] [ 3.21140529e-02 -2.72406704e-03 9.99480499e-01 2.93663503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.770714057 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:92.02, Y:23.55, Z:2.94 [[ 8.26931672e-01 -5.61582758e-01 -2.84396851e-02 9.20233225e+01] [ 5.61387311e-01 8.27413601e-01 -1.51993396e-02 2.35531429e+01] [ 3.20670693e-02 -3.39686303e-03 9.99479947e-01 2.93822653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80071405700001 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:92.05, Y:23.57, Z:2.94 [[ 8.26919500e-01 -5.61617477e-01 -2.81060489e-02 9.20496297e+01] [ 5.61402542e-01 8.27392491e-01 -1.57750352e-02 2.35720607e+01] [ 3.21142693e-02 -2.73412307e-03 9.99480464e-01 2.94161200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83071405700001 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:92.08, Y:23.59, Z:2.94 [[ 8.26587735e-01 -5.62108755e-01 -2.80439495e-02 9.20770383e+01] [ 5.61890500e-01 8.27059146e-01 -1.58818904e-02 2.35912193e+01] [ 3.21213546e-02 -2.62985298e-03 9.99480516e-01 2.94322231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86071405700001 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:92.10, Y:23.61, Z:2.94 [[ 8.27583770e-01 -5.60638118e-01 -2.81070298e-02 9.21008255e+01] [ 5.60422682e-01 8.28056533e-01 -1.57732729e-02 2.36078962e+01] [ 3.21173076e-02 -2.69811239e-03 9.99480464e-01 2.94373691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.890714057 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:92.13, Y:23.63, Z:2.94 [[ 8.27628483e-01 -5.60577219e-01 -2.80049299e-02 9.21310196e+01] [ 5.60355833e-01 8.28098405e-01 -1.59490666e-02 2.36302167e+01] [ 3.21315211e-02 -2.49282401e-03 9.99480541e-01 2.94499611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.920714057 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:92.16, Y:23.65, Z:2.95 [[ 8.28894262e-01 -5.58694654e-01 -2.81884064e-02 9.21569770e+01] [ 5.58482818e-01 8.29368756e-01 -1.56336102e-02 2.36502223e+01] [ 3.21129979e-02 -2.78413086e-03 9.99480367e-01 2.94553967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.950714057 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:92.18, Y:23.67, Z:2.95 [[ 8.29440017e-01 -5.57882055e-01 -2.82288941e-02 9.21802716e+01] [ 5.57672105e-01 8.29915409e-01 -1.55639881e-02 2.36674968e+01] [ 3.21104639e-02 -2.83307228e-03 9.99480311e-01 2.94814340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.980714057 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:92.19, Y:23.69, Z:2.95 [[ 8.29975799e-01 -5.57089117e-01 -2.81405145e-02 9.21930098e+01] [ 5.56873581e-01 8.30448563e-01 -1.57161970e-02 2.36873437e+01] [ 3.21245722e-02 -2.62664589e-03 9.99480421e-01 2.94759750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.010714057 meters Centerline goodness : 0.987683 Centerline is valid? [True, True] Translation: X:92.21, Y:23.70, Z:2.95 [[ 8.30180145e-01 -5.56805974e-01 -2.77134279e-02 9.22122550e+01] [ 5.56565824e-01 8.30640701e-01 -1.64471781e-02 2.37030153e+01] [ 3.21777882e-02 -1.77022611e-03 9.99480593e-01 2.94632158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.040714057 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:92.24, Y:23.72, Z:2.95 [[ 8.30708367e-01 -5.56023307e-01 -2.75987732e-02 9.22425523e+01] [ 5.55776198e-01 8.31165324e-01 -1.66439955e-02 2.37212170e+01] [ 3.21935927e-02 -1.51243489e-03 9.99480508e-01 2.95159768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.070714057 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:92.27, Y:23.74, Z:2.95 [[ 8.31934024e-01 -5.54166733e-01 -2.80180665e-02 9.22696678e+01] [ 5.53942422e-01 8.32402597e-01 -1.59282681e-02 2.37410111e+01] [ 3.21492277e-02 -2.26912746e-03 9.99480504e-01 2.95231648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.100714057 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:92.30, Y:23.76, Z:2.95 [[ 8.33155371e-01 -5.52328831e-01 -2.80176615e-02 9.22981163e+01] [ 5.52103464e-01 8.33623436e-01 -1.59289598e-02 2.37599531e+01] [ 3.21542030e-02 -2.19734949e-03 9.99480505e-01 2.95049622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.130714057 meters Centerline goodness : 0.996019 Centerline is valid? [True, True] Translation: X:92.33, Y:23.78, Z:2.95 [[ 8.32323741e-01 -5.53574195e-01 -2.81567178e-02 9.23256042e+01] [ 5.53357499e-01 8.32796048e-01 -1.56914071e-02 2.37789666e+01] [ 3.21351614e-02 -2.52040029e-03 9.99480354e-01 2.95022398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.160714057 meters Centerline goodness : 0.996019 Centerline is valid? [True, True] Translation: X:92.35, Y:23.80, Z:2.95 [[ 8.32141204e-01 -5.53848186e-01 -2.81638761e-02 9.23536039e+01] [ 5.53632056e-01 8.32613782e-01 -1.56791834e-02 2.37955527e+01] [ 3.21335186e-02 -2.54513010e-03 9.99480345e-01 2.95126838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.19071405700001 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:92.38, Y:23.81, Z:2.95 [[ 8.32879402e-01 -5.52737404e-01 -2.81649316e-02 9.23784092e+01] [ 5.52520705e-01 8.33351721e-01 -1.56773813e-02 2.38107086e+01] [ 3.21367693e-02 -2.50433990e-03 9.99480343e-01 2.95078534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22071405700001 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:92.41, Y:23.83, Z:2.95 [[ 8.31328221e-01 -5.55070668e-01 -2.81059297e-02 9.24052217e+01] [ 5.54851902e-01 8.31799504e-01 -1.57782156e-02 2.38284448e+01] [ 3.21365231e-02 -2.47775268e-03 9.99480417e-01 2.95157806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.250714057 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:92.43, Y:23.84, Z:2.95 [[ 8.31289955e-01 -5.55127742e-01 -2.81104895e-02 9.24331853e+01] [ 5.54909271e-01 8.31761381e-01 -1.57704253e-02 2.38449661e+01] [ 3.21358202e-02 -2.48897505e-03 9.99480412e-01 2.95262217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.280714057 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:92.45, Y:23.86, Z:2.96 [[ 8.26575922e-01 -5.62122606e-01 -2.81144105e-02 9.24486129e+01] [ 5.61908347e-01 8.27049282e-01 -1.57637253e-02 2.38644936e+01] [ 3.21131494e-02 -2.76780617e-03 9.99480407e-01 2.95537785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.310714057 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:92.49, Y:23.88, Z:2.95 [[ 8.28933260e-01 -5.58656010e-01 -2.78048991e-02 9.24895236e+01] [ 5.58422060e-01 8.29396994e-01 -1.62919688e-02 2.38815040e+01] [ 3.21629061e-02 -2.02191424e-03 9.99480595e-01 2.95493272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.340714057 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:92.51, Y:23.90, Z:2.96 [[ 8.27380331e-01 -5.60926240e-01 -2.83468045e-02 9.25140573e+01] [ 5.60724785e-01 8.27859667e-01 -1.53651221e-02 2.38985394e+01] [ 3.20858763e-02 -3.18195599e-03 9.99480051e-01 2.95685450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.370714057 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:92.54, Y:23.92, Z:2.96 [[ 8.26319619e-01 -5.62492576e-01 -2.82487251e-02 9.25396115e+01] [ 5.62286338e-01 8.26796714e-01 -1.55327833e-02 2.39159289e+01] [ 3.20930284e-02 -3.04882863e-03 9.99480236e-01 2.95846750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.400714057 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:92.57, Y:23.93, Z:2.96 [[ 8.25607141e-01 -5.63537896e-01 -2.82469394e-02 9.25660287e+01] [ 5.63332158e-01 8.26084449e-01 -1.55358341e-02 2.39331675e+01] [ 3.20893887e-02 -3.08591378e-03 9.99480239e-01 2.95990614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.430714057 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:92.59, Y:23.95, Z:2.96 [[ 8.25389381e-01 -5.63857905e-01 -2.82246836e-02 9.25938637e+01] [ 5.63651064e-01 8.25866172e-01 -1.55738481e-02 2.39504858e+01] [ 3.20912487e-02 -3.05438411e-03 9.99480276e-01 2.96102407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.460714057 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:92.62, Y:23.97, Z:2.96 [[ 8.23942681e-01 -5.65969556e-01 -2.82297694e-02 9.26190506e+01] [ 5.65764231e-01 8.24420136e-01 -1.55651631e-02 2.39691690e+01] [ 3.20825988e-02 -3.14659158e-03 9.99480268e-01 2.96190644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.490714057 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:92.64, Y:23.99, Z:2.96 [[ 8.22990936e-01 -5.67355646e-01 -2.81689557e-02 9.26448660e+01] [ 5.67147602e-01 8.23467110e-01 -1.56689657e-02 2.39866338e+01] [ 3.20860847e-02 -3.08053893e-03 9.99480362e-01 2.96227320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.520714057 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:92.67, Y:24.00, Z:2.96 [[ 8.22586171e-01 -5.67943255e-01 -2.81504843e-02 9.26735504e+01] [ 5.67734483e-01 8.23061998e-01 -1.57004816e-02 2.40035981e+01] [ 3.20865765e-02 -3.06700164e-03 9.99480388e-01 2.96298448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.55071405700001 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:92.70, Y:24.02, Z:2.96 [[ 8.21852752e-01 -5.69002415e-01 -2.81834453e-02 9.27004572e+01] [ 5.68796164e-01 8.22329728e-01 -1.56442304e-02 2.40201933e+01] [ 3.20776897e-02 -3.17338179e-03 9.99480341e-01 2.96336744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58071405700001 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:92.73, Y:24.04, Z:2.96 [[ 8.20401492e-01 -5.71093898e-01 -2.81629473e-02 9.27275685e+01] [ 5.70887675e-01 8.20878448e-01 -1.56792036e-02 2.40380980e+01] [ 3.20726540e-02 -3.21463746e-03 9.99480370e-01 2.96328130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61071405700001 meters Centerline goodness : 0.994470 Centerline is valid? [True, True] Translation: X:92.75, Y:24.06, Z:2.96 [[ 8.18903052e-01 -5.73241277e-01 -2.81465621e-02 9.27526979e+01] [ 5.73035353e-01 8.19380113e-01 -1.57071610e-02 2.40553551e+01] [ 3.20667262e-02 -3.26633309e-03 9.99480393e-01 2.96258088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.640714057 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:92.77, Y:24.07, Z:2.96 [[ 8.16872575e-01 -5.76133190e-01 -2.81023624e-02 9.27695454e+01] [ 5.75926388e-01 8.17349195e-01 -1.57825720e-02 2.40726243e+01] [ 3.20623068e-02 -3.29254182e-03 9.99480449e-01 2.96178111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.670714057 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:92.81, Y:24.09, Z:2.96 [[ 8.18176804e-01 -5.74294579e-01 -2.77930457e-02 9.28062882e+01] [ 5.74068877e-01 8.18644562e-01 -1.63096850e-02 2.40895848e+01] [ 3.21191894e-02 -2.61091660e-03 9.99480636e-01 2.96416992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.700714057 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:92.83, Y:24.11, Z:2.96 [[ 8.17797963e-01 -5.74818896e-01 -2.81021082e-02 9.28324804e+01] [ 5.74611343e-01 8.18274240e-01 -1.57820630e-02 2.41068158e+01] [ 3.20670593e-02 -3.24125115e-03 9.99480464e-01 2.96479530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.730714057 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:92.86, Y:24.12, Z:2.97 [[ 8.18031553e-01 -5.74487461e-01 -2.80808593e-02 9.28583567e+01] [ 5.74278483e-01 8.18507180e-01 -1.58183395e-02 2.41246378e+01] [ 3.20718226e-02 -3.18633246e-03 9.99480488e-01 2.96725748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.760714057 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:92.89, Y:24.14, Z:2.97 [[ 8.18552603e-01 -5.73747917e-01 -2.80171981e-02 9.28890741e+01] [ 5.73534839e-01 8.19026333e-01 -1.59265252e-02 2.41436402e+01] [ 3.20846336e-02 -3.03214055e-03 9.99480556e-01 2.96915904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.790714057 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:92.91, Y:24.16, Z:2.97 [[ 8.19101313e-01 -5.72953777e-01 -2.82313320e-02 9.29143684e+01] [ 5.72752615e-01 8.19580537e-01 -1.55623132e-02 2.41594840e+01] [ 3.20543363e-02 -3.42245806e-03 9.99480268e-01 2.96934924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.820714057 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:92.94, Y:24.18, Z:2.97 [[ 8.17334837e-01 -5.75476319e-01 -2.81206333e-02 9.29393359e+01] [ 5.75270225e-01 8.17811771e-01 -1.57504229e-02 2.41776719e+01] [ 3.20613803e-02 -3.30359372e-03 9.99480442e-01 2.97245277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.850714057 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:92.96, Y:24.19, Z:2.98 [[ 8.19201161e-01 -5.72817506e-01 -2.80991708e-02 9.29597053e+01] [ 5.72608624e-01 8.19676849e-01 -1.57869034e-02 2.41936705e+01] [ 3.20752544e-02 -3.15717797e-03 9.99480470e-01 2.97644567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.880714057 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:92.99, Y:24.21, Z:2.98 [[ 8.19788124e-01 -5.71991441e-01 -2.78069053e-02 9.29881737e+01] [ 5.71765317e-01 8.20255623e-01 -1.62829680e-02 2.42117194e+01] [ 3.21224887e-02 -2.55044029e-03 9.99480686e-01 2.97704870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.910714057 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:93.01, Y:24.23, Z:2.98 [[ 8.20732693e-01 -5.70632860e-01 -2.78565318e-02 9.30145011e+01] [ 5.70408798e-01 8.21201197e-01 -1.61986891e-02 2.42301780e+01] [ 3.21193216e-02 -2.59481710e-03 9.99480673e-01 2.97831445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94071405700001 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:93.04, Y:24.25, Z:2.98 [[ 8.21625182e-01 -5.69346187e-01 -2.78743586e-02 9.30433193e+01] [ 5.69122410e-01 8.22093830e-01 -1.61684076e-02 2.42481238e+01] [ 3.21207594e-02 -2.57955128e-03 9.99480667e-01 2.97794305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97071405700001 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:93.07, Y:24.26, Z:2.98 [[ 8.22859247e-01 -5.67558121e-01 -2.79363414e-02 9.30707681e+01] [ 5.67336871e-01 8.23329129e-01 -1.60630412e-02 2.42644028e+01] [ 3.21175130e-02 -2.63169454e-03 9.99480635e-01 2.97820308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.000714057 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:93.10, Y:24.28, Z:2.98 [[ 8.24888647e-01 -5.64603856e-01 -2.79500556e-02 9.30993745e+01] [ 5.64381706e-01 8.25358114e-01 -1.60397244e-02 2.42840378e+01] [ 3.21248954e-02 -2.54351353e-03 9.99480626e-01 2.97800913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.030714057 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:93.13, Y:24.30, Z:2.98 [[ 8.25630862e-01 -5.63515372e-01 -2.80018684e-02 9.31270463e+01] [ 5.63295566e-01 8.26101476e-01 -1.59516849e-02 2.43017755e+01] [ 3.21214045e-02 -2.60312490e-03 9.99480585e-01 2.97898005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.060714057 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:93.15, Y:24.32, Z:2.98 [[ 8.28512935e-01 -5.59266871e-01 -2.80514450e-02 9.31531040e+01] [ 5.59047483e-01 8.28983798e-01 -1.58674256e-02 2.43196478e+01] [ 3.21283189e-02 -2.53572235e-03 9.99480536e-01 2.97978962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.090714057 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:93.18, Y:24.34, Z:2.98 [[ 8.30574545e-01 -5.56202364e-01 -2.80152759e-02 9.31831731e+01] [ 5.55979175e-01 8.31043578e-01 -1.59288789e-02 2.43390801e+01] [ 3.21415952e-02 -2.34578862e-03 9.99480573e-01 2.98187444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.120714057 meters Centerline goodness : 0.993055 Centerline is valid? [True, True] Translation: X:93.21, Y:24.36, Z:2.98 [[ 8.33879963e-01 -5.51227252e-01 -2.81553491e-02 9.32103363e+01] [ 5.51009241e-01 8.34351613e-01 -1.56908487e-02 2.43577307e+01] [ 3.21406843e-02 -2.42957322e-03 9.99480402e-01 2.98301957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.150714057 meters Centerline goodness : 0.992878 Centerline is valid? [True, True] Translation: X:93.23, Y:24.38, Z:2.99 [[ 8.33301449e-01 -5.52101882e-01 -2.81461898e-02 9.32327985e+01] [ 5.51883843e-01 8.33773070e-01 -1.57063817e-02 2.43751323e+01] [ 3.21390580e-02 -2.44527676e-03 9.99480416e-01 2.98635549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.180714057 meters Centerline goodness : 0.993512 Centerline is valid? [True, True] Translation: X:93.26, Y:24.39, Z:2.98 [[ 8.37683876e-01 -5.45439225e-01 -2.79602351e-02 9.32623770e+01] [ 5.45206918e-01 8.38148392e-01 -1.60215127e-02 2.43927666e+01] [ 3.21735875e-02 -1.82315075e-03 9.99480633e-01 2.98499803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.210714057 meters Centerline goodness : 0.993089 Centerline is valid? [True, True] Translation: X:93.27, Y:24.41, Z:2.99 [[ 8.33081419e-01 -5.52434850e-01 -2.81262495e-02 9.32699923e+01] [ 5.52215885e-01 8.33552567e-01 -1.57395393e-02 2.44123484e+01] [ 3.21397775e-02 -2.41944401e-03 9.99480456e-01 2.98980732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.240714057 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:93.32, Y:24.43, Z:2.99 [[ 8.39192800e-01 -5.43139562e-01 -2.74747325e-02 9.33151626e+01] [ 5.42878906e-01 8.39642070e-01 -1.68430107e-02 2.44257002e+01] [ 3.22170467e-02 -7.80919426e-04 9.99480591e-01 2.98681448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.270714057 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:93.35, Y:24.44, Z:2.99 [[ 8.40303968e-01 -5.41388541e-01 -2.80658098e-02 9.33475210e+01] [ 5.41159999e-01 8.40770435e-01 -1.58408060e-02 2.44413910e+01] [ 3.21729340e-02 -1.87700143e-03 9.99480555e-01 2.98802419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30071405700001 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:93.37, Y:24.46, Z:2.99 [[ 8.40348790e-01 -5.41310899e-01 -2.82209460e-02 9.33710918e+01] [ 5.41091100e-01 8.40819695e-01 -1.55775935e-02 2.44570801e+01] [ 3.21610483e-02 -2.17949090e-03 9.99480323e-01 2.98766081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33071405700001 meters Centerline goodness : 0.992665 Centerline is valid? [True, True] Translation: X:93.39, Y:24.47, Z:2.99 [[ 8.39630645e-01 -5.42429658e-01 -2.81148651e-02 9.33932018e+01] [ 5.42204465e-01 8.40098811e-01 -1.57577341e-02 2.44714794e+01] [ 3.21667271e-02 -2.01332897e-03 9.99480489e-01 2.98732658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36071405700001 meters Centerline goodness : 0.992499 Centerline is valid? [True, True] Translation: X:93.42, Y:24.49, Z:2.99 [[ 8.39996914e-01 -5.41871820e-01 -2.79305249e-02 9.34229666e+01] [ 5.41635914e-01 8.40459563e-01 -1.60704691e-02 2.44887057e+01] [ 3.21826111e-02 -1.62903092e-03 9.99480678e-01 2.98765919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.390714057 meters Centerline goodness : 0.992857 Centerline is valid? [True, True] Translation: X:93.46, Y:24.51, Z:2.99 [[ 8.37532684e-01 -5.45671100e-01 -2.79652302e-02 9.34560487e+01] [ 5.45439247e-01 8.37997407e-01 -1.60116785e-02 2.45079872e+01] [ 3.21719006e-02 -1.84303006e-03 9.99480651e-01 2.98929380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.420714057 meters Centerline goodness : 0.992928 Centerline is valid? [True, True] Translation: X:93.48, Y:24.52, Z:2.99 [[ 8.38681730e-01 -5.43888309e-01 -2.82570799e-02 9.34845354e+01] [ 5.43672003e-01 8.39154330e-01 -1.55165756e-02 2.45231325e+01] [ 3.21513350e-02 -2.34911475e-03 9.99480252e-01 2.98595891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.450714057 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:93.51, Y:24.54, Z:2.99 [[ 8.37827331e-01 -5.45200053e-01 -2.83243027e-02 9.35116174e+01] [ 5.44988340e-01 8.38302147e-01 -1.54019201e-02 2.45398064e+01] [ 3.21414514e-02 -2.53226514e-03 9.99480122e-01 2.98897581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.480714057 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:93.54, Y:24.55, Z:2.99 [[ 8.36748530e-01 -5.46855766e-01 -2.82960882e-02 9.35380189e+01] [ 5.46643373e-01 8.37222980e-01 -1.54500330e-02 2.45545365e+01] [ 3.21390749e-02 -2.54007665e-03 9.99480179e-01 2.99073618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.510714057 meters Centerline goodness : 0.992532 Centerline is valid? [True, True] Translation: X:93.56, Y:24.57, Z:3.00 [[ 8.36878933e-01 -5.46661975e-01 -2.81839771e-02 9.35614828e+01] [ 5.46443089e-01 8.37350189e-01 -1.56400645e-02 2.45691899e+01] [ 3.21496871e-02 -2.31209897e-03 9.99480391e-01 2.99721703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.540714057 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:93.59, Y:24.59, Z:2.99 [[ 8.32354578e-01 -5.53535294e-01 -2.80095306e-02 9.35925518e+01] [ 5.53310394e-01 8.32822721e-01 -1.59349554e-02 2.45877867e+01] [ 3.21475337e-02 -2.23443138e-03 9.99480637e-01 2.99450065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.570714057 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:93.62, Y:24.60, Z:3.00 [[ 8.30810730e-01 -5.55841137e-01 -2.81808695e-02 9.36208973e+01] [ 5.55627272e-01 8.31284281e-01 -1.56453982e-02 2.46038323e+01] [ 3.21226697e-02 -2.65969494e-03 9.99480395e-01 2.99504943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.600714057 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:93.65, Y:24.62, Z:3.00 [[ 8.28968040e-01 -5.58584664e-01 -2.81986080e-02 9.36469864e+01] [ 5.58373378e-01 8.29442783e-01 -1.56154270e-02 2.46197044e+01] [ 3.21116699e-02 -2.80066205e-03 9.99480363e-01 2.99653964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.630714057 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:93.67, Y:24.63, Z:3.00 [[ 8.27385637e-01 -5.60928629e-01 -2.81439191e-02 9.36706631e+01] [ 5.60715564e-01 8.27859481e-01 -1.57078008e-02 2.46327353e+01] [ 3.21101655e-02 -2.78432470e-03 9.99480457e-01 2.99705785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.660714057 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:93.70, Y:24.65, Z:3.00 [[ 8.22501787e-01 -5.68076363e-01 -2.79294794e-02 9.37004661e+01] [ 5.67855182e-01 8.22971605e-01 -1.60695306e-02 2.46508648e+01] [ 3.21138889e-02 -2.64268199e-03 9.99480722e-01 2.99673370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.69071405700001 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:93.72, Y:24.66, Z:3.00 [[ 8.22805939e-01 -5.67630403e-01 -2.80377087e-02 9.37236818e+01] [ 5.67415129e-01 8.23278614e-01 -1.58869470e-02 2.46648637e+01] [ 3.21007601e-02 -2.83714577e-03 9.99480611e-01 2.99885810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72071405700001 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:93.76, Y:24.68, Z:3.00 [[ 8.21205100e-01 -5.69955467e-01 -2.78019531e-02 9.37564639e+01] [ 5.69728132e-01 8.21671881e-01 -1.62842209e-02 2.46835946e+01] [ 3.21253638e-02 -2.46686956e-03 9.99480803e-01 2.99843946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.750714057 meters Centerline goodness : 0.994470 Centerline is valid? [True, True] Translation: X:93.78, Y:24.70, Z:3.00 [[ 8.21766350e-01 -5.69132746e-01 -2.80710352e-02 9.37804319e+01] [ 5.68920256e-01 8.22240322e-01 -1.58301995e-02 2.46986203e+01] [ 3.20906220e-02 -2.96145530e-03 9.99480576e-01 2.99757444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.780714057 meters Centerline goodness : 0.994803 Centerline is valid? [True, True] Translation: X:93.81, Y:24.72, Z:3.00 [[ 8.21889944e-01 -5.68962150e-01 -2.79104306e-02 9.38079326e+01] [ 5.68740413e-01 8.22359471e-01 -1.61010046e-02 2.47154726e+01] [ 3.21132691e-02 -2.64053605e-03 9.99480748e-01 2.99875810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.810714057 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:93.83, Y:24.73, Z:3.00 [[ 8.21464963e-01 -5.69574421e-01 -2.79337391e-02 9.38333543e+01] [ 5.69354360e-01 8.21935298e-01 -1.60616987e-02 2.47321743e+01] [ 3.21080589e-02 -2.71007345e-03 9.99480729e-01 3.00071742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.840714057 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:93.86, Y:24.75, Z:3.00 [[ 8.21554321e-01 -5.69448859e-01 -2.78656499e-02 9.38618873e+01] [ 5.69224859e-01 8.22022738e-01 -1.61764662e-02 2.47490315e+01] [ 3.21178680e-02 -2.57197496e-03 9.99480779e-01 3.00193930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.870714057 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:93.89, Y:24.77, Z:3.01 [[ 8.21306361e-01 -5.69804847e-01 -2.78979932e-02 9.38878570e+01] [ 5.69582888e-01 8.21775771e-01 -1.61219228e-02 2.47651219e+01] [ 3.21122446e-02 -2.64918173e-03 9.99480758e-01 3.00526860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.900714057 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:93.92, Y:24.78, Z:3.01 [[ 8.21884507e-01 -5.68972527e-01 -2.78589453e-02 9.39172091e+01] [ 5.68747875e-01 8.22352607e-01 -1.61877656e-02 2.47825343e+01] [ 3.21202702e-02 -2.54024219e-03 9.99480783e-01 3.00571795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.930714057 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:93.94, Y:24.80, Z:3.01 [[ 8.21271407e-01 -5.69854308e-01 -2.79167266e-02 9.39425312e+01] [ 5.69633443e-01 8.21741348e-01 -1.60902635e-02 2.47990313e+01] [ 3.21094345e-02 -2.68782775e-03 9.99480745e-01 3.00576780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.960714057 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:93.97, Y:24.82, Z:3.01 [[ 8.20816031e-01 -5.70511835e-01 -2.78799199e-02 9.39689382e+01] [ 5.70289253e-01 8.21285132e-01 -1.61523703e-02 2.48157501e+01] [ 3.21124821e-02 -2.64149418e-03 9.99480771e-01 3.00749349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.990714057 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:94.00, Y:24.83, Z:3.01 [[ 8.20808999e-01 -5.70522930e-01 -2.78598778e-02 9.39968809e+01] [ 5.70299215e-01 8.21277549e-01 -1.61862039e-02 2.48324428e+01] [ 3.21152926e-02 -2.60268463e-03 9.99480782e-01 3.00745432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.020714057 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:94.03, Y:24.85, Z:3.01 [[ 8.20497047e-01 -5.70972347e-01 -2.78419545e-02 9.40257770e+01] [ 5.70747869e-01 8.20965222e-01 -1.62164668e-02 2.48489880e+01] [ 3.21164304e-02 -2.58517308e-03 9.99480791e-01 3.01072751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.05071405700001 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:94.05, Y:24.87, Z:3.01 [[ 8.20574996e-01 -5.70858666e-01 -2.78757771e-02 9.40540677e+01] [ 5.70636048e-01 8.21044077e-01 -1.61593364e-02 2.48653754e+01] [ 3.21119389e-02 -2.64697586e-03 9.99480774e-01 3.00982479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08071405700001 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:94.08, Y:24.88, Z:3.01 [[ 8.19262353e-01 -5.72739488e-01 -2.79047621e-02 9.40806853e+01] [ 5.72519599e-01 8.19732740e-01 -1.61103739e-02 2.48825806e+01] [ 3.21014944e-02 -2.77740038e-03 9.99480755e-01 3.01196801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11071405700001 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:94.10, Y:24.90, Z:3.01 [[ 8.20136878e-01 -5.71487581e-01 -2.78827247e-02 9.41047273e+01] [ 5.71265718e-01 8.20606321e-01 -1.61476136e-02 2.48976382e+01] [ 3.21089008e-02 -2.68519136e-03 9.99480769e-01 3.01012035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.140714057 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:94.13, Y:24.91, Z:3.01 [[ 8.20248943e-01 -5.71331958e-01 -2.77752658e-02 9.41327386e+01] [ 5.71103897e-01 8.20715358e-01 -1.63291117e-02 2.49142645e+01] [ 3.21249306e-02 -2.46862589e-03 9.99480813e-01 3.01125261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.170714057 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:94.16, Y:24.93, Z:3.02 [[ 8.19650633e-01 -5.72190181e-01 -2.77711590e-02 9.41624465e+01] [ 5.71962374e-01 8.20117172e-01 -1.63360473e-02 2.49324633e+01] [ 3.21229303e-02 -2.49420654e-03 9.99480813e-01 3.01518474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.200714057 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:94.19, Y:24.95, Z:3.02 [[ 8.22381397e-01 -5.68252792e-01 -2.78855140e-02 9.41923120e+01] [ 5.68029245e-01 8.22850040e-01 -1.61427311e-02 2.49496409e+01] [ 3.21187483e-02 -2.56430573e-03 9.99480770e-01 3.01817615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.230714057 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:94.22, Y:24.97, Z:3.02 [[ 8.21844306e-01 -5.69023423e-01 -2.80050190e-02 9.42159169e+01] [ 5.68807132e-01 8.22316449e-01 -1.59406242e-02 2.49663848e+01] [ 3.20995763e-02 -2.82874333e-03 9.99480673e-01 3.02018257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.260714057 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:94.24, Y:24.99, Z:3.02 [[ 8.22572739e-01 -5.67976378e-01 -2.78733500e-02 9.42445179e+01] [ 5.67751990e-01 8.23040967e-01 -1.61630474e-02 2.49861109e+01] [ 3.21211380e-02 -2.52986775e-03 9.99480781e-01 3.02274304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.290714057 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:94.27, Y:25.00, Z:3.02 [[ 8.23455405e-01 -5.66690109e-01 -2.79913608e-02 9.42694023e+01] [ 5.66471707e-01 8.23926556e-01 -1.59635256e-02 2.50029632e+01] [ 3.21091976e-02 -2.71106250e-03 9.99480690e-01 3.02109889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.320714057 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:94.30, Y:25.02, Z:3.02 [[ 8.25282929e-01 -5.64029586e-01 -2.79054214e-02 9.42967875e+01] [ 5.63804784e-01 8.25750978e-01 -1.61086556e-02 2.50186739e+01] [ 3.21286873e-02 -2.43901157e-03 9.99480765e-01 3.02462643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.350714057 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:94.32, Y:25.04, Z:3.03 [[ 8.26147182e-01 -5.62761567e-01 -2.79329796e-02 9.43230337e+01] [ 5.62537609e-01 8.26615658e-01 -1.60621294e-02 2.50367985e+01] [ 3.21289874e-02 -2.44366865e-03 9.99480744e-01 3.02507885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.380714057 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:94.35, Y:25.05, Z:3.03 [[ 8.25950746e-01 -5.63050920e-01 -2.79110526e-02 9.43514344e+01] [ 5.62825882e-01 8.26418686e-01 -1.60991475e-02 2.50541047e+01] [ 3.21308552e-02 -2.41195989e-03 9.99480760e-01 3.02608937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.410714057 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:94.38, Y:25.07, Z:3.03 [[ 8.25238029e-01 -5.64093086e-01 -2.79496873e-02 9.43801508e+01] [ 5.63870833e-01 8.25707332e-01 -1.60338890e-02 2.50715012e+01] [ 3.21228676e-02 -2.52823845e-03 9.99480730e-01 3.02843510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44071405700001 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:94.40, Y:25.09, Z:3.03 [[ 8.25425306e-01 -5.63814306e-01 -2.80444925e-02 9.44049225e+01] [ 5.63597292e-01 8.25897161e-01 -1.58736123e-02 2.50868502e+01] [ 3.21116364e-02 -2.70331877e-03 9.99480633e-01 3.02808942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47071405700001 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:94.44, Y:25.11, Z:3.03 [[ 8.24129259e-01 -5.65712425e-01 -2.79359349e-02 9.44350210e+01] [ 5.65490314e-01 8.24598615e-01 -1.60570491e-02 2.51056138e+01] [ 3.21196054e-02 -2.56441667e-03 9.99480743e-01 3.03066709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.500714057 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:94.46, Y:25.12, Z:3.03 [[ 8.22826610e-01 -5.67598961e-01 -2.80675999e-02 9.44623158e+01] [ 5.67385439e-01 8.23300087e-01 -1.58345040e-02 2.51233906e+01] [ 3.20957054e-02 -2.89609625e-03 9.99480604e-01 3.03133179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.530714057 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:94.49, Y:25.14, Z:3.03 [[ 8.22159022e-01 -5.68565980e-01 -2.80583237e-02 9.44894908e+01] [ 5.68352484e-01 8.22632497e-01 -1.58501855e-02 2.51401306e+01] [ 3.20935651e-02 -2.91564499e-03 9.99480616e-01 3.03233514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.560714057 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:94.52, Y:25.16, Z:3.03 [[ 8.22124524e-01 -5.68617340e-01 -2.80283511e-02 9.45153909e+01] [ 5.68402164e-01 8.22597196e-01 -1.59007143e-02 2.51560798e+01] [ 3.20974649e-02 -2.85900824e-03 9.99480655e-01 3.03379658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.590714057 meters Centerline goodness : 0.995327 Centerline is valid? [True, True] Translation: X:94.54, Y:25.17, Z:3.03 [[ 8.21518687e-01 -5.69494534e-01 -2.79825391e-02 9.45432101e+01] [ 5.69277253e-01 8.21990338e-01 -1.59779350e-02 2.51731948e+01] [ 3.21007234e-02 -2.80365086e-03 9.99480707e-01 3.03487914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.620714057 meters Centerline goodness : 0.995958 Centerline is valid? [True, True] Translation: X:94.57, Y:25.19, Z:3.04 [[ 8.20506869e-01 -5.70948856e-01 -2.80335887e-02 9.45671722e+01] [ 5.70735321e-01 8.20980292e-01 -1.58918949e-02 2.51906873e+01] [ 3.20884830e-02 -2.96035031e-03 9.99480648e-01 3.03568630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.650714057 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:94.59, Y:25.21, Z:3.04 [[ 8.18801431e-01 -5.73394299e-01 -2.79856066e-02 9.45857373e+01] [ 5.73179439e-01 8.19274192e-01 -1.59727387e-02 2.52078653e+01] [ 3.20865626e-02 -2.96227297e-03 9.99480704e-01 3.03631211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.680714057 meters Centerline goodness : 0.996253 Centerline is valid? [True, True] Translation: X:94.61, Y:25.23, Z:3.04 [[ 8.19003644e-01 -5.73119491e-01 -2.76961960e-02 9.46135104e+01] [ 5.72888054e-01 8.19468336e-01 -1.64597296e-02 2.52258237e+01] [ 3.21295476e-02 -2.38624133e-03 9.99480864e-01 3.03792156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.710714057 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:94.64, Y:25.24, Z:3.04 [[ 8.19095499e-01 -5.72987986e-01 -2.77007532e-02 9.46416197e+01] [ 5.72756732e-01 8.19560282e-01 -1.64520566e-02 2.52429941e+01] [ 3.21292679e-02 -2.38998734e-03 9.99480864e-01 3.03979917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.740714057 meters Centerline goodness : 0.996119 Centerline is valid? [True, True] Translation: X:94.67, Y:25.26, Z:3.04 [[ 8.19519733e-01 -5.72380834e-01 -2.77053890e-02 9.46737433e+01] [ 5.72149498e-01 8.19984475e-01 -1.64442462e-02 2.52591399e+01] [ 3.21303602e-02 -2.37524012e-03 9.99480864e-01 3.04085796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.770714057 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:94.70, Y:25.28, Z:3.04 [[ 8.18647318e-01 -5.73619526e-01 -2.78784534e-02 9.47006473e+01] [ 5.73398709e-01 8.19117214e-01 -1.61527412e-02 2.52756745e+01] [ 3.21012488e-02 -2.76207094e-03 9.99480806e-01 3.04261415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80071405700001 meters Centerline goodness : 0.996011 Centerline is valid? [True, True] Translation: X:94.73, Y:25.29, Z:3.04 [[ 8.18263459e-01 -5.74167977e-01 -2.78575861e-02 9.47272448e+01] [ 5.73946288e-01 8.18732930e-01 -1.61878950e-02 2.52917627e+01] [ 3.21024940e-02 -2.74279515e-03 9.99480819e-01 3.04268442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.83071405700001 meters Centerline goodness : 0.996622 Centerline is valid? [True, True] Translation: X:94.75, Y:25.31, Z:3.04 [[ 8.17420871e-01 -5.75367410e-01 -2.78471210e-02 9.47507001e+01] [ 5.75145813e-01 8.17890380e-01 -1.62055427e-02 2.53072177e+01] [ 3.21000335e-02 -2.76940621e-03 9.99480824e-01 3.04341735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86071405700001 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:94.78, Y:25.32, Z:3.04 [[ 8.16592793e-01 -5.76548614e-01 -2.77111080e-02 9.47800367e+01] [ 5.76319964e-01 8.17058868e-01 -1.64348786e-02 2.53234249e+01] [ 3.21171130e-02 -2.54986129e-03 9.99480860e-01 3.04387239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.890714057 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:94.81, Y:25.34, Z:3.04 [[ 8.15706418e-01 -5.77798230e-01 -2.77893104e-02 9.48086543e+01] [ 5.77574741e-01 8.16175001e-01 -1.63029708e-02 2.53392255e+01] [ 3.21007681e-02 -2.75196587e-03 9.99480849e-01 3.04437282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.920714057 meters Centerline goodness : 0.996397 Centerline is valid? [True, True] Translation: X:94.84, Y:25.36, Z:3.05 [[ 8.15300917e-01 -5.78370232e-01 -2.77901181e-02 9.48372471e+01] [ 5.78147117e-01 8.15769679e-01 -1.63016086e-02 2.53558060e+01] [ 3.20987009e-02 -2.77606022e-03 9.99480849e-01 3.04700244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.950714057 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:94.86, Y:25.37, Z:3.05 [[ 8.15225037e-01 -5.78475679e-01 -2.78213503e-02 9.48610523e+01] [ 5.78254407e-01 8.15694683e-01 -1.62488631e-02 2.53700650e+01] [ 3.20932997e-02 -2.84133836e-03 9.99480839e-01 3.04526972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.980714057 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:94.89, Y:25.39, Z:3.05 [[ 8.14444906e-01 -5.79581583e-01 -2.76529066e-02 9.48899883e+01] [ 5.79351360e-01 8.14910215e-01 -1.65330904e-02 2.53868822e+01] [ 3.21169108e-02 -2.55545779e-03 9.99480852e-01 3.04826073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.010714057 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:94.92, Y:25.40, Z:3.05 [[ 8.14236031e-01 -5.79871733e-01 -2.77210846e-02 9.49185168e+01] [ 5.79645554e-01 8.14703309e-01 -1.64179753e-02 2.54028968e+01] [ 3.21047791e-02 -2.70029640e-03 9.99480861e-01 3.05076470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.040714057 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:94.95, Y:25.42, Z:3.05 [[ 8.13405483e-01 -5.81035978e-01 -2.77256615e-02 9.49480442e+01] [ 5.80810729e-01 8.13873210e-01 -1.64102424e-02 2.54183908e+01] [ 3.21001144e-02 -2.75518051e-03 9.99480861e-01 3.05169263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.070714057 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:94.98, Y:25.43, Z:3.06 [[ 8.13813793e-01 -5.80463734e-01 -2.77301730e-02 9.49821109e+01] [ 5.80238414e-01 8.14281485e-01 -1.64026154e-02 2.54339706e+01] [ 3.21012898e-02 -2.74143694e-03 9.99480861e-01 3.05540974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.100714057 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:95.02, Y:25.45, Z:3.06 [[ 8.15520331e-01 -5.78052711e-01 -2.79580503e-02 9.50175167e+01] [ 5.77839043e-01 8.15993564e-01 -1.60170086e-02 2.54479081e+01] [ 3.20722644e-02 -3.09305683e-03 9.99480767e-01 3.05500917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.130714057 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:95.03, Y:25.46, Z:3.05 [[ 8.11992322e-01 -5.82985825e-01 -2.82134195e-02 9.50312400e+01] [ 5.82789789e-01 8.12473495e-01 -1.55846526e-02 2.54627855e+01] [ 3.20082871e-02 -3.78787453e-03 9.99480426e-01 3.05326064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.160714057 meters Centerline goodness : 0.996253 Centerline is valid? [True, True] Translation: X:95.06, Y:25.48, Z:3.05 [[ 8.12011056e-01 -5.82983290e-01 -2.77223610e-02 9.50593876e+01] [ 5.82759030e-01 8.12479225e-01 -1.64140507e-02 2.54790131e+01] [ 3.20929597e-02 -2.82706557e-03 9.99480890e-01 3.05377802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.19071405700001 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:95.09, Y:25.49, Z:3.06 [[ 8.11982831e-01 -5.83022400e-01 -2.77265833e-02 9.50876125e+01] [ 5.82798404e-01 8.12451127e-01 -1.64069155e-02 2.54937636e+01] [ 3.20920930e-02 -2.83687478e-03 9.99480890e-01 3.05533200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22071405700001 meters Centerline goodness : 0.996495 Centerline is valid? [True, True] Translation: X:95.14, Y:25.51, Z:3.05 [[ 8.17552672e-01 -5.75185743e-01 -2.77306399e-02 9.51371141e+01] [ 5.74957485e-01 8.18018905e-01 -1.64000562e-02 2.55052211e+01] [ 3.21172662e-02 -2.53602920e-03 9.99480890e-01 3.05302492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.250714057 meters Centerline goodness : 0.996649 Centerline is valid? [True, True] Translation: X:95.14, Y:25.52, Z:3.06 [[ 8.09612483e-01 -5.86280623e-01 -2.83312357e-02 9.51438693e+01] [ 5.86093249e-01 8.10097433e-01 -1.53900062e-02 2.55227401e+01] [ 3.19739237e-02 -4.14480489e-03 9.99480109e-01 3.06062701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.280714057 meters Centerline goodness : 0.996873 Centerline is valid? [True, True] Translation: X:95.19, Y:25.54, Z:3.06 [[ 8.15689046e-01 -5.77828605e-01 -2.76673774e-02 9.51940777e+01] [ 5.77598385e-01 8.16154248e-01 -1.65030200e-02 2.55371403e+01] [ 3.21167646e-02 -2.51929990e-03 9.99480949e-01 3.05652510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.310714057 meters Centerline goodness : 0.996448 Centerline is valid? [True, True] Translation: X:95.20, Y:25.55, Z:3.06 [[ 8.09144735e-01 -5.86914729e-01 -2.85639313e-02 9.51973690e+01] [ 5.86741389e-01 8.09635532e-01 -1.49949188e-02 2.55505809e+01] [ 3.19271124e-02 -4.62658110e-03 9.99479492e-01 3.06243369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.340714057 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:95.25, Y:25.56, Z:3.06 [[ 8.15815268e-01 -5.77650928e-01 -2.76560044e-02 9.52471792e+01] [ 5.77420180e-01 8.16280085e-01 -1.65153944e-02 2.55633511e+01] [ 3.21151786e-02 -2.49562412e-03 9.99481059e-01 3.05727758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.370714057 meters Centerline goodness : 0.995912 Centerline is valid? [True, True] Translation: X:95.26, Y:25.58, Z:3.06 [[ 8.12288617e-01 -5.82559678e-01 -2.84855023e-02 9.52641745e+01] [ 5.82379240e-01 8.12776533e-01 -1.51237670e-02 2.55779324e+01] [ 3.19628447e-02 -4.30450137e-03 9.99479789e-01 3.06492071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.400714057 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:95.28, Y:25.59, Z:3.06 [[ 8.09797932e-01 -5.86037387e-01 -2.80622377e-02 9.52779360e+01] [ 5.85834665e-01 8.10275931e-01 -1.58322793e-02 2.55945497e+01] [ 3.20164634e-02 -3.61888460e-03 9.99480790e-01 3.06422310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.430714057 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:95.31, Y:25.61, Z:3.07 [[ 8.15920181e-01 -5.77503743e-01 -2.76348570e-02 9.53131161e+01] [ 5.77271873e-01 8.16384353e-01 -1.65461008e-02 2.56052618e+01] [ 3.21161000e-02 -2.45252810e-03 9.99481136e-01 3.06770383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.460714057 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:95.34, Y:25.62, Z:3.07 [[ 8.15913657e-01 -5.77503709e-01 -2.78275191e-02 9.53415971e+01] [ 5.77282681e-01 8.16383167e-01 -1.62243746e-02 2.56218807e+01] [ 3.20875547e-02 -2.82665602e-03 9.99481065e-01 3.06877478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.490714057 meters Centerline goodness : 0.996060 Centerline is valid? [True, True] Translation: X:95.37, Y:25.64, Z:3.07 [[ 8.15233961e-01 -5.78462379e-01 -2.78364017e-02 9.53727318e+01] [ 5.78242405e-01 8.15703974e-01 -1.62095364e-02 2.56380661e+01] [ 3.20828705e-02 -2.88162329e-03 9.99481058e-01 3.06903663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.520714057 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:95.40, Y:25.65, Z:3.07 [[ 8.16342711e-01 -5.76888732e-01 -2.79994447e-02 9.53955498e+01] [ 5.76677074e-01 8.16816720e-01 -1.59373188e-02 2.56509378e+01] [ 3.20644743e-02 -3.13632380e-03 9.99480882e-01 3.07159822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.55071405700001 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:95.42, Y:25.67, Z:3.07 [[ 8.16736548e-01 -5.76341218e-01 -2.77886919e-02 9.54229827e+01] [ 5.76117346e-01 8.17204674e-01 -1.62888011e-02 2.56663984e+01] [ 3.20969564e-02 -2.70588819e-03 9.99481097e-01 3.07384599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58071405700001 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:95.45, Y:25.68, Z:3.07 [[ 8.17128640e-01 -5.75786183e-01 -2.77679322e-02 9.54489307e+01] [ 5.75560825e-01 8.17596039e-01 -1.63234238e-02 2.56816735e+01] [ 3.21017533e-02 -2.64379689e-03 9.99481109e-01 3.07409858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61071405700001 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:95.48, Y:25.70, Z:3.08 [[ 8.17144065e-01 -5.75766417e-01 -2.77238196e-02 9.54766661e+01] [ 5.75538570e-01 8.17610233e-01 -1.63970027e-02 2.56979609e+01] [ 3.21081221e-02 -2.55741408e-03 9.99481129e-01 3.07604889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.640714057 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:95.51, Y:25.72, Z:3.07 [[ 8.18869152e-01 -5.73311116e-01 -2.77069758e-02 9.55111616e+01] [ 5.73080927e-01 8.19334161e-01 -1.64250907e-02 2.57153947e+01] [ 3.21179588e-02 -2.42833929e-03 9.99481135e-01 3.07387802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.670714057 meters Centerline goodness : 0.994228 Centerline is valid? [True, True] Translation: X:95.53, Y:25.73, Z:3.08 [[ 8.18409817e-01 -5.73951961e-01 -2.80092564e-02 9.55327273e+01] [ 5.73739176e-01 8.18883326e-01 -1.59203303e-02 2.57280782e+01] [ 3.20738178e-02 -3.04065313e-03 9.99480878e-01 3.07698777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.700714057 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:95.56, Y:25.74, Z:3.08 [[ 8.18674027e-01 -5.73587702e-01 -2.77486240e-02 9.55596082e+01] [ 5.73360022e-01 8.19140278e-01 -1.63551087e-02 2.57441509e+01] [ 3.21111048e-02 -2.52044898e-03 9.99481128e-01 3.07811539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.730714057 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:95.59, Y:25.76, Z:3.08 [[ 8.19676717e-01 -5.72154356e-01 -2.77393642e-02 9.55898124e+01] [ 5.71925341e-01 8.20142310e-01 -1.63705591e-02 2.57597376e+01] [ 3.21167129e-02 -2.44627918e-03 9.99481132e-01 3.07806732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.760714057 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:95.62, Y:25.78, Z:3.08 [[ 8.19789689e-01 -5.71989320e-01 -2.78043861e-02 9.56165589e+01] [ 5.71763861e-01 8.20257053e-01 -1.62620553e-02 2.57753683e+01] [ 3.21084657e-02 -2.56607791e-03 9.99481096e-01 3.07984816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.790714057 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:95.65, Y:25.79, Z:3.08 [[ 8.19014656e-01 -5.73100900e-01 -2.77552154e-02 9.56515849e+01] [ 5.72873313e-01 8.19480956e-01 -1.63441149e-02 2.57933314e+01] [ 3.21116974e-02 -2.51415256e-03 9.99481124e-01 3.07625231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.820714057 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:95.67, Y:25.81, Z:3.08 [[ 8.20815315e-01 -5.70504188e-01 -2.80569093e-02 9.56749494e+01] [ 5.70292110e-01 8.21289219e-01 -1.58406968e-02 2.58068369e+01] [ 3.20800210e-02 -2.99834748e-03 9.99480806e-01 3.07950265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.850714057 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:95.69, Y:25.83, Z:3.08 [[ 8.15773283e-01 -5.77701191e-01 -2.78439297e-02 9.56914977e+01] [ 5.77481245e-01 8.16243292e-01 -1.61956546e-02 2.58268151e+01] [ 3.20836698e-02 -2.86736484e-03 9.99481074e-01 3.08133644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.880714057 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:95.74, Y:25.84, Z:3.08 [[ 8.21151465e-01 -5.70042082e-01 -2.76097120e-02 9.57377851e+01] [ 5.69804667e-01 8.21612780e-01 -1.65855594e-02 2.58397123e+01] [ 3.21389591e-02 -2.11288636e-03 9.99481177e-01 3.07646763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.910714057 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:95.75, Y:25.85, Z:3.08 [[ 8.19091548e-01 -5.72970204e-01 -2.81812373e-02 9.57527370e+01] [ 5.72766858e-01 8.19569382e-01 -1.56254068e-02 2.58530987e+01] [ 3.20493717e-02 -3.34264011e-03 9.99480697e-01 3.07799924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94071405700001 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:95.78, Y:25.87, Z:3.08 [[ 8.19884253e-01 -5.71870270e-01 -2.74628024e-02 9.57815949e+01] [ 5.71625768e-01 8.20341868e-01 -1.68285525e-02 2.58681055e+01] [ 3.21526355e-02 -1.90098028e-03 9.99481163e-01 3.08057543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97071405700001 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:95.82, Y:25.89, Z:3.08 [[ 8.20930780e-01 -5.70363117e-01 -2.75421272e-02 9.58231202e+01] [ 5.70122207e-01 8.21390241e-01 -1.66955360e-02 2.58858803e+01] [ 3.21453525e-02 -1.99649899e-03 9.99481211e-01 3.08220017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.000714057 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:95.83, Y:25.90, Z:3.08 [[ 8.14941199e-01 -5.78849677e-01 -2.83530256e-02 9.58289857e+01] [ 5.78659324e-01 8.15424947e-01 -1.53473631e-02 2.59016206e+01] [ 3.20035806e-02 -3.89954418e-03 9.99480147e-01 3.08403407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.030714057 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:95.88, Y:25.92, Z:3.09 [[ 8.19649110e-01 -5.72202116e-01 -2.75694491e-02 9.58752260e+01] [ 5.71963910e-01 8.20109883e-01 -1.66452674e-02 2.59159156e+01] [ 3.21344349e-02 -2.12545131e-03 9.99481296e-01 3.08811279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.060714057 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:95.90, Y:25.93, Z:3.09 [[ 8.19261191e-01 -5.72723883e-01 -2.82569368e-02 9.59031111e+01] [ 5.72524506e-01 8.19740982e-01 -1.55052184e-02 2.59324665e+01] [ 3.20435780e-02 -3.47496506e-03 9.99480432e-01 3.08868593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.090714057 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:95.91, Y:25.95, Z:3.09 [[ 8.14115277e-01 -5.80016625e-01 -2.82317348e-02 9.59111984e+01] [ 5.79820108e-01 8.14596178e-01 -1.55469969e-02 2.59493361e+01] [ 3.20149800e-02 -3.71227982e-03 9.99480495e-01 3.08721501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.120714057 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:95.94, Y:25.97, Z:3.09 [[ 8.14211780e-01 -5.79913970e-01 -2.75493036e-02 9.59389089e+01] [ 5.79679135e-01 8.14674205e-01 -1.66745481e-02 2.59659009e+01] [ 3.21135104e-02 -2.39314298e-03 9.99481363e-01 3.08902941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.150714057 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:95.98, Y:25.98, Z:3.09 [[ 8.21663592e-01 -5.69306366e-01 -2.75536391e-02 9.59843108e+01] [ 5.69065792e-01 8.22123058e-01 -1.66673808e-02 2.59766142e+01] [ 3.21413280e-02 -1.98485348e-03 9.99481363e-01 3.09182165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.180714057 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:96.02, Y:25.99, Z:3.09 [[ 8.21007255e-01 -5.70222098e-01 -2.81752619e-02 9.60158378e+01] [ 5.70016728e-01 8.21484255e-01 -1.56380619e-02 2.59926357e+01] [ 3.20627025e-02 -3.22140836e-03 9.99480668e-01 3.09094439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.210714057 meters Centerline goodness : 0.986809 Centerline is valid? [True, True] Translation: X:96.03, Y:26.00, Z:3.09 [[ 8.19392036e-01 -5.72534895e-01 -2.82928517e-02 9.60313080e+01] [ 5.72337699e-01 8.19872695e-01 -1.54376561e-02 2.60015438e+01] [ 3.20351335e-02 -3.54357318e-03 9.99480462e-01 3.09005063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.240714057 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:96.07, Y:26.03, Z:3.09 [[ 8.15393677e-01 -5.78259839e-01 -2.73625573e-02 9.60663142e+01] [ 5.78013099e-01 8.15850323e-01 -1.70031782e-02 2.60261493e+01] [ 3.21560063e-02 -1.95163251e-03 9.99480956e-01 3.08940874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.270714057 meters Centerline goodness : 0.995763 Centerline is valid? [True, True] Translation: X:96.07, Y:26.04, Z:3.09 [[ 8.07598529e-01 -5.89048332e-01 -2.84021032e-02 9.60658932e+01] [ 5.88865882e-01 8.08085985e-01 -1.52974977e-02 2.60424178e+01] [ 3.19623070e-02 -4.37079293e-03 9.99479518e-01 3.09439863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30071405700001 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:96.11, Y:26.05, Z:3.09 [[ 8.15714201e-01 -5.77802439e-01 -2.74714984e-02 9.61149681e+01] [ 5.77561630e-01 8.16173834e-01 -1.68177246e-02 2.60505315e+01] [ 3.21388404e-02 -2.14802664e-03 9.99481106e-01 3.09236920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33071405700001 meters Centerline goodness : 0.996343 Centerline is valid? [True, True] Translation: X:96.12, Y:26.07, Z:3.10 [[ 8.05443766e-01 -5.92004637e-01 -2.81220407e-02 9.61189104e+01] [ 5.91808185e-01 8.05924859e-01 -1.57541834e-02 2.60732788e+01] [ 3.19908013e-02 -3.95374507e-03 9.99480343e-01 3.09535744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36071405700001 meters Centerline goodness : 0.995011 Centerline is valid? [True, True] Translation: X:96.16, Y:26.08, Z:3.10 [[ 8.13234960e-01 -5.81287547e-01 -2.74533696e-02 9.61640900e+01] [ 5.81047819e-01 8.13695096e-01 -1.68440698e-02 2.60849934e+01] [ 3.21299202e-02 -2.25353411e-03 9.99481160e-01 3.09611789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.390714057 meters Centerline goodness : 0.995818 Centerline is valid? [True, True] Translation: X:96.20, Y:26.10, Z:3.09 [[ 8.11089745e-01 -5.84246325e-01 -2.81008574e-02 9.61952426e+01] [ 5.84044158e-01 8.11568367e-01 -1.57863071e-02 2.61040878e+01] [ 3.20288589e-02 -3.60802977e-03 9.99480432e-01 3.09461092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.420714057 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:96.20, Y:26.12, Z:3.10 [[ 8.05051344e-01 -5.92531625e-01 -2.82596434e-02 9.61984690e+01] [ 5.92343324e-01 8.05536033e-01 -1.55269316e-02 2.61211897e+01] [ 3.19643590e-02 -4.23943398e-03 9.99480018e-01 3.09953620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.450714057 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:96.23, Y:26.14, Z:3.10 [[ 8.05279636e-01 -5.92260042e-01 -2.74362822e-02 9.62264420e+01] [ 5.92025813e-01 8.05742491e-01 -1.68663584e-02 2.61389526e+01] [ 3.20958485e-02 -2.66085232e-03 9.99481254e-01 3.10152876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.480714057 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:96.25, Y:26.16, Z:3.10 [[ 8.06196086e-01 -5.91011724e-01 -2.74410971e-02 9.62547362e+01] [ 5.90777042e-01 8.06658711e-01 -1.68585209e-02 2.61550375e+01] [ 3.20991836e-02 -2.62029665e-03 9.99481254e-01 3.10231032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.510714057 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:96.28, Y:26.17, Z:3.10 [[ 8.06716282e-01 -5.90301263e-01 -2.74455755e-02 9.62826513e+01] [ 5.90066420e-01 8.07178825e-01 -1.68512270e-02 2.61720913e+01] [ 3.21007880e-02 -2.60055335e-03 9.99481254e-01 3.10387964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.540714057 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:96.31, Y:26.19, Z:3.11 [[ 8.08113949e-01 -5.88386205e-01 -2.74503013e-02 9.63111473e+01] [ 5.88150525e-01 8.08576067e-01 -1.68435253e-02 2.61894769e+01] [ 3.21061546e-02 -2.53342140e-03 9.99481254e-01 3.10605889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.570714057 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:96.34, Y:26.21, Z:3.11 [[ 8.09081967e-01 -5.87054160e-01 -2.74551439e-02 9.63395590e+01] [ 5.86817985e-01 8.09543831e-01 -1.68356280e-02 2.62069682e+01] [ 3.21095679e-02 -2.48976924e-03 9.99481254e-01 3.10721229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.600714057 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:96.37, Y:26.22, Z:3.11 [[ 8.10285778e-01 -5.85391240e-01 -2.74600288e-02 9.63672643e+01] [ 5.85154385e-01 8.10747295e-01 -1.68276567e-02 2.62240431e+01] [ 3.21139069e-02 -2.43314534e-03 9.99481254e-01 3.10762302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.630714057 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:96.40, Y:26.24, Z:3.11 [[ 8.12543264e-01 -5.82253502e-01 -2.74645727e-02 9.63951023e+01] [ 5.82015113e-01 8.13003990e-01 -1.68202373e-02 2.62424107e+01] [ 3.21224493e-02 -2.31762589e-03 9.99481254e-01 3.10867979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.660714057 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:96.42, Y:26.26, Z:3.11 [[ 8.13391423e-01 -5.81067836e-01 -2.74693100e-02 9.64225937e+01] [ 5.80829035e-01 8.13851935e-01 -1.68124972e-02 2.62603453e+01] [ 3.21251525e-02 -2.27983172e-03 9.99481254e-01 3.10979485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.69071405700001 meters Centerline goodness : 0.995327 Centerline is valid? [True, True] Translation: X:96.45, Y:26.28, Z:3.11 [[ 8.15163657e-01 -5.78578765e-01 -2.74740759e-02 9.64485795e+01] [ 5.78338818e-01 8.15623573e-01 -1.68047054e-02 2.62780654e+01] [ 3.21313497e-02 -2.19073946e-03 9.99481254e-01 3.11094402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72071405700001 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:96.49, Y:26.29, Z:3.11 [[ 8.20484697e-01 -5.71007729e-01 -2.74779162e-02 9.64929894e+01] [ 5.70763744e-01 8.20942483e-01 -1.67984237e-02 2.62918156e+01] [ 3.21498185e-02 -1.90054873e-03 9.99481254e-01 3.10714264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.750714057 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:96.50, Y:26.31, Z:3.11 [[ 8.16995267e-01 -5.75960888e-01 -2.80675715e-02 9.64999048e+01] [ 5.75752298e-01 8.17470887e-01 -1.58316218e-02 2.63109640e+01] [ 3.20628175e-02 -3.22560868e-03 9.99480651e-01 3.11394504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.780714057 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:96.54, Y:26.33, Z:3.11 [[ 8.21079735e-01 -5.70151954e-01 -2.74739534e-02 9.65410977e+01] [ 5.69907360e-01 8.21537147e-01 -1.68023046e-02 2.63256055e+01] [ 3.21507401e-02 -1.86157646e-03 9.99481298e-01 3.11239364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.810714057 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:96.55, Y:26.34, Z:3.12 [[ 8.17173481e-01 -5.75711686e-01 -2.79920965e-02 9.65520547e+01] [ 5.75498807e-01 8.17646998e-01 -1.59533749e-02 2.63440880e+01] [ 3.20721980e-02 -3.07274330e-03 9.99480831e-01 3.11529723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.840714057 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:96.58, Y:26.36, Z:3.12 [[ 8.17515938e-01 -5.75250449e-01 -2.74701837e-02 9.65779712e+01] [ 5.75008564e-01 8.17974751e-01 -1.68064724e-02 2.63611867e+01] [ 3.21378475e-02 -2.05603187e-03 9.99481331e-01 3.11576804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.870714057 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:96.61, Y:26.38, Z:3.12 [[ 8.17713540e-01 -5.74969349e-01 -2.74738779e-02 9.66060397e+01] [ 5.74727508e-01 8.18172376e-01 -1.68004312e-02 2.63784116e+01] [ 3.21381010e-02 -2.05205333e-03 9.99481331e-01 3.11646683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.900714057 meters Centerline goodness : 0.995550 Centerline is valid? [True, True] Translation: X:96.63, Y:26.40, Z:3.12 [[ 8.18501065e-01 -5.73847628e-01 -2.74755691e-02 9.66328690e+01] [ 5.73605251e-01 8.18959617e-01 -1.67976650e-02 2.63952078e+01] [ 3.21406818e-02 -2.01122402e-03 9.99481331e-01 3.11737875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.930714057 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:96.66, Y:26.41, Z:3.12 [[ 8.19059434e-01 -5.73050339e-01 -2.74764077e-02 9.66597340e+01] [ 5.72807561e-01 8.19517775e-01 -1.67962932e-02 2.64119188e+01] [ 3.21425260e-02 -1.98153165e-03 9.99481331e-01 3.12063786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.960714057 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:96.69, Y:26.43, Z:3.12 [[ 8.19965059e-01 -5.71753636e-01 -2.74787507e-02 9.66875289e+01] [ 5.71510261e-01 8.20423083e-01 -1.67924591e-02 2.64287335e+01] [ 3.21453509e-02 -1.93515830e-03 9.99481331e-01 3.12012097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.990714057 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:96.73, Y:26.44, Z:3.12 [[ 8.25930828e-01 -5.63101180e-01 -2.74832531e-02 9.67323907e+01] [ 5.62853247e-01 8.26386400e-01 -1.67850871e-02 2.64449205e+01] [ 3.21634889e-02 -1.60571741e-03 9.99481331e-01 3.12025036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.020714057 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:96.74, Y:26.46, Z:3.12 [[ 8.20946359e-01 -5.70307101e-01 -2.82291822e-02 9.67386198e+01] [ 5.70104427e-01 8.21424857e-01 -1.55610417e-02 2.64621184e+01] [ 3.20627246e-02 -3.31880127e-03 9.99480349e-01 3.12375759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.05071405700001 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:96.78, Y:26.48, Z:3.12 [[ 8.27325216e-01 -5.61051073e-01 -2.74714494e-02 9.67819133e+01] [ 5.60801509e-01 8.27779815e-01 -1.68001449e-02 2.64765405e+01] [ 3.21660506e-02 -1.50684675e-03 9.99481403e-01 3.12301591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08071405700001 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:96.79, Y:26.50, Z:3.12 [[ 8.21166958e-01 -5.69997464e-01 -2.80663128e-02 9.67896472e+01] [ 5.69785616e-01 8.21640987e-01 -1.58253189e-02 2.64954346e+01] [ 3.20808246e-02 -2.99655235e-03 9.99480786e-01 3.12457258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11071405700001 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:96.82, Y:26.51, Z:3.13 [[ 8.21435963e-01 -5.69638941e-01 -2.74669988e-02 9.68150300e+01] [ 5.69393964e-01 8.21893003e-01 -1.68049156e-02 2.65115539e+01] [ 3.21476684e-02 -1.83538126e-03 9.99481445e-01 3.12576501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.140714057 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:96.86, Y:26.52, Z:3.12 [[ 8.25682181e-01 -5.63470346e-01 -2.73880609e-02 9.68551162e+01] [ 5.63217680e-01 8.26135029e-01 -1.69339561e-02 2.65238603e+01] [ 3.21680186e-02 -1.44337429e-03 9.99481433e-01 3.12285326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.170714057 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:96.88, Y:26.54, Z:3.12 [[ 8.25134276e-01 -5.64252682e-01 -2.77909507e-02 9.68824395e+01] [ 5.64022431e-01 8.25599094e-01 -1.62737197e-02 2.65391661e+01] [ 3.21266737e-02 -2.24671565e-03 9.99481280e-01 3.12200418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.200714057 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:96.91, Y:26.56, Z:3.13 [[ 8.21021877e-01 -5.70220947e-01 -2.77695659e-02 9.69075479e+01] [ 5.69992894e-01 8.21487751e-01 -1.63087889e-02 2.65581132e+01] [ 3.21119712e-02 -2.43858275e-03 9.99481303e-01 3.12696230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.230714057 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:96.92, Y:26.58, Z:3.13 [[ 8.17049121e-01 -5.75902369e-01 -2.76982795e-02 9.69237835e+01] [ 5.75673614e-01 8.17514579e-01 -1.64256774e-02 2.65774931e+01] [ 3.21033339e-02 -2.52458337e-03 9.99481367e-01 3.12801433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.260714057 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:96.97, Y:26.59, Z:3.13 [[ 8.20279548e-01 -5.71305981e-01 -2.74032821e-02 9.69656574e+01] [ 5.71058456e-01 8.20735227e-01 -1.69093628e-02 2.65913242e+01] [ 3.21512590e-02 -1.77847147e-03 9.99481432e-01 3.12613754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.290714057 meters Centerline goodness : 0.995120 Centerline is valid? [True, True] Translation: X:96.98, Y:26.61, Z:3.13 [[ 8.14774080e-01 -5.79107158e-01 -2.78944168e-02 9.69801029e+01] [ 5.78891168e-01 8.15245810e-01 -1.61023310e-02 2.66117999e+01] [ 3.20657815e-02 -3.02806957e-03 9.99481174e-01 3.12821270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.320714057 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:97.01, Y:26.62, Z:3.13 [[ 8.17521358e-01 -5.75241647e-01 -2.74931973e-02 9.70140643e+01] [ 5.75001284e-01 8.17980813e-01 -1.67604928e-02 2.66247602e+01] [ 3.21302413e-02 -2.10656290e-03 9.99481471e-01 3.12857028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.350714057 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:97.04, Y:26.64, Z:3.13 [[ 8.16482123e-01 -5.76704621e-01 -2.77258326e-02 9.70381798e+01] [ 5.76477920e-01 8.16948568e-01 -1.63781813e-02 2.66411666e+01] [ 3.20959521e-02 -2.61083809e-03 9.99481382e-01 3.13085998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.380714057 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:97.07, Y:26.66, Z:3.13 [[ 8.14987089e-01 -5.78821420e-01 -2.76008740e-02 9.70654492e+01] [ 5.78589024e-01 8.15450636e-01 -1.65831914e-02 2.66591664e+01] [ 3.21058566e-02 -2.45447585e-03 9.99481460e-01 3.13460544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.410714057 meters Centerline goodness : 0.995694 Centerline is valid? [True, True] Translation: X:97.08, Y:26.68, Z:3.13 [[ 8.10827877e-01 -5.84631745e-01 -2.76383213e-02 9.70826584e+01] [ 5.84404743e-01 8.11294107e-01 -1.65217296e-02 2.66790899e+01] [ 3.20819348e-02 -2.75568715e-03 9.99481443e-01 3.13492733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44071405700001 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:97.12, Y:26.69, Z:3.14 [[ 8.12668328e-01 -5.82084887e-01 -2.73381355e-02 9.71176976e+01] [ 5.81839921e-01 8.13125364e-01 -1.70132229e-02 2.66939706e+01] [ 3.21324713e-02 -2.08031119e-03 9.99481454e-01 3.13652245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47071405700001 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:97.15, Y:26.71, Z:3.14 [[ 8.11720293e-01 -5.83396266e-01 -2.75492680e-02 9.71463552e+01] [ 5.83163649e-01 8.12183700e-01 -1.66672150e-02 2.67116361e+01] [ 3.20986574e-02 -2.53661505e-03 9.99481486e-01 3.13598832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.500714057 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:97.17, Y:26.73, Z:3.14 [[ 8.11419336e-01 -5.83812433e-01 -2.75989685e-02 9.71739996e+01] [ 5.83582800e-01 8.11884246e-01 -1.65857281e-02 2.67285654e+01] [ 3.20901221e-02 -2.64830283e-03 9.99481471e-01 3.13532413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.530714057 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:97.20, Y:26.75, Z:3.14 [[ 8.11485907e-01 -5.83718083e-01 -2.76373272e-02 9.72002902e+01] [ 5.83490517e-01 8.11951853e-01 -1.65228544e-02 2.67464670e+01] [ 3.20848679e-02 -2.71805488e-03 9.99481452e-01 3.13502670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.560714057 meters Centerline goodness : 0.994365 Centerline is valid? [True, True] Translation: X:97.23, Y:26.77, Z:3.14 [[ 8.10930321e-01 -5.84491863e-01 -2.75912419e-02 9.72293150e+01] [ 5.84262193e-01 8.11395209e-01 -1.65983644e-02 2.67652283e+01] [ 3.20890104e-02 -2.66040253e-03 9.99481474e-01 3.13732616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.590714057 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:97.26, Y:26.78, Z:3.14 [[ 8.10935202e-01 -5.84480995e-01 -2.76778767e-02 9.72554916e+01] [ 5.84256116e-01 8.11402478e-01 -1.64563025e-02 2.67828023e+01] [ 3.20762938e-02 -2.82597374e-03 9.99481428e-01 3.13804233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.620714057 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:97.27, Y:26.80, Z:3.14 [[ 8.06417435e-01 -5.90698970e-01 -2.76703429e-02 9.72680467e+01] [ 5.90477272e-01 8.06886222e-01 -1.64686560e-02 2.68043279e+01] [ 3.20548366e-02 -3.05809721e-03 9.99481433e-01 3.14221805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.650714057 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:97.31, Y:26.82, Z:3.14 [[ 8.10965181e-01 -5.84460335e-01 -2.72321924e-02 9.73095975e+01] [ 5.84210918e-01 8.11419885e-01 -1.71864344e-02 2.68193152e+01] [ 3.21415316e-02 -1.97174423e-03 9.99481383e-01 3.14040693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.680714057 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:97.34, Y:26.84, Z:3.14 [[ 8.10979436e-01 -5.84417734e-01 -2.77176240e-02 9.73401734e+01] [ 5.84195076e-01 8.11447778e-01 -1.63895123e-02 2.68365276e+01] [ 3.20697261e-02 -2.90094200e-03 9.99481424e-01 3.14161727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.710714057 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:97.36, Y:26.85, Z:3.14 [[ 8.09013420e-01 -5.87127623e-01 -2.79005426e-02 9.73632476e+01] [ 5.86916750e-01 8.09487413e-01 -1.60890462e-02 2.68540286e+01] [ 3.20314615e-02 -3.35904148e-03 9.99481217e-01 3.14181327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.740714057 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:97.39, Y:26.87, Z:3.14 [[ 8.08276283e-01 -5.88149248e-01 -2.77472961e-02 9.73893718e+01] [ 5.87930420e-01 8.08746447e-01 -1.63403241e-02 2.68710347e+01] [ 3.20510765e-02 -3.10598302e-03 9.99481406e-01 3.14378278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.770714057 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:97.42, Y:26.89, Z:3.14 [[ 8.07582106e-01 -5.89104179e-01 -2.77021266e-02 9.74159291e+01] [ 5.88883392e-01 8.08051309e-01 -1.64143873e-02 2.68878296e+01] [ 3.20545238e-02 -3.05735687e-03 9.99481446e-01 3.14456744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80071405700001 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:97.44, Y:26.91, Z:3.15 [[ 8.06795567e-01 -5.90182021e-01 -2.76784184e-02 9.74436245e+01] [ 5.89960542e-01 8.07264424e-01 -1.64532287e-02 2.69054856e+01] [ 3.20542023e-02 -3.05478270e-03 9.99481464e-01 3.14656898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83071405700001 meters Centerline goodness : 0.994372 Centerline is valid? [True, True] Translation: X:97.47, Y:26.92, Z:3.15 [[ 8.06637955e-01 -5.90395393e-01 -2.77216611e-02 9.74681694e+01] [ 5.90176445e-01 8.07108037e-01 -1.63823593e-02 2.69216801e+01] [ 3.20464449e-02 -3.14603863e-03 9.99481429e-01 3.14730440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86071405700001 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:97.50, Y:26.94, Z:3.15 [[ 8.05220564e-01 -5.92331736e-01 -2.76217117e-02 9.74967131e+01] [ 5.92108354e-01 8.05688478e-01 -1.65461244e-02 2.69399089e+01] [ 3.20552895e-02 -3.03176661e-03 9.99481499e-01 3.14634550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.890714057 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:97.51, Y:26.96, Z:3.15 [[ 8.01098793e-01 -5.97891466e-01 -2.76860622e-02 9.75077728e+01] [ 5.97674923e-01 8.01569955e-01 -1.64406175e-02 2.69596175e+01] [ 3.20220205e-02 -3.37670629e-03 9.99481460e-01 3.14968012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.920714057 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:97.55, Y:26.97, Z:3.15 [[ 8.05732893e-01 -5.91654484e-01 -2.71933069e-02 9.75480251e+01] [ 5.91407071e-01 8.06188685e-01 -1.72476201e-02 2.69732433e+01] [ 3.21275681e-02 -2.18533920e-03 9.99481387e-01 3.14902188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.950714057 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:97.58, Y:26.99, Z:3.15 [[ 8.05818884e-01 -5.91517911e-01 -2.76131656e-02 9.75760076e+01] [ 5.91293633e-01 8.06286335e-01 -1.65585340e-02 2.69899035e+01] [ 3.20587876e-02 -2.98430958e-03 9.99481530e-01 3.14976624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.980714057 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:97.60, Y:27.01, Z:3.15 [[ 8.06102228e-01 -5.91131660e-01 -2.76144549e-02 9.76004501e+01] [ 5.90907229e-01 8.06569607e-01 -1.65564169e-02 2.70056451e+01] [ 3.20600023e-02 -2.97141646e-03 9.99481529e-01 3.15005238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.010714057 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:97.63, Y:27.02, Z:3.15 [[ 8.05550386e-01 -5.91887830e-01 -2.75204106e-02 9.76281133e+01] [ 5.91658612e-01 8.06015408e-01 -1.67107753e-02 2.70238334e+01] [ 3.20727795e-02 -2.82131647e-03 9.99481554e-01 3.14947437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.040714057 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:97.66, Y:27.04, Z:3.15 [[ 8.06588324e-01 -5.90471594e-01 -2.75421899e-02 9.76559284e+01] [ 5.90242768e-01 8.07053542e-01 -1.66750137e-02 2.70405959e+01] [ 3.20741438e-02 -2.80670706e-03 9.99481551e-01 3.15017769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.070714057 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:97.69, Y:27.06, Z:3.15 [[ 8.07950792e-01 -5.88605597e-01 -2.75493946e-02 9.76869561e+01] [ 5.88376095e-01 8.08415678e-01 -1.66631788e-02 2.70591190e+01] [ 3.20794028e-02 -2.74637674e-03 9.99481550e-01 3.15263862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.100714057 meters Centerline goodness : 0.993621 Centerline is valid? [True, True] Translation: X:97.71, Y:27.08, Z:3.15 [[ 8.08323871e-01 -5.88083488e-01 -2.77548287e-02 9.77086583e+01] [ 5.87865122e-01 8.08794212e-01 -1.63254733e-02 2.70751600e+01] [ 3.20486861e-02 -3.11982600e-03 9.99481440e-01 3.15351575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.130714057 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:97.73, Y:27.09, Z:3.16 [[ 8.08633078e-01 -5.87669105e-01 -2.75239501e-02 9.77349209e+01] [ 5.87437661e-01 8.09096993e-01 -1.67048142e-02 2.70924357e+01] [ 3.20864485e-02 -2.66053953e-03 9.99481556e-01 3.15612155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.160714057 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:97.76, Y:27.11, Z:3.16 [[ 8.10025230e-01 -5.85749329e-01 -2.75109258e-02 9.77630883e+01] [ 5.85516064e-01 8.10488231e-01 -1.67262184e-02 2.71094955e+01] [ 3.20946528e-02 -2.55943008e-03 9.99481557e-01 3.15581973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.19071405700001 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:97.79, Y:27.13, Z:3.15 [[ 8.10875292e-01 -5.84570973e-01 -2.75324986e-02 9.77913422e+01] [ 5.84338227e-01 8.11338557e-01 -1.66907646e-02 2.71266368e+01] [ 3.20951142e-02 -2.55416276e-03 9.99481556e-01 3.15425755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22071405700001 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:97.82, Y:27.14, Z:3.16 [[ 8.11233580e-01 -5.84073436e-01 -2.75372550e-02 9.78198931e+01] [ 5.83840670e-01 8.11696835e-01 -1.66829427e-02 2.71437352e+01] [ 3.20959664e-02 -2.54360604e-03 9.99481555e-01 3.15573398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.250714057 meters Centerline goodness : 0.992800 Centerline is valid? [True, True] Translation: X:97.84, Y:27.16, Z:3.16 [[ 8.13248010e-01 -5.81260498e-01 -2.76388658e-02 9.78449032e+01] [ 5.81031761e-01 8.13713296e-01 -1.65156042e-02 2.71594492e+01] [ 3.20899809e-02 -2.62777663e-03 9.99481530e-01 3.15798541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.280714057 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:97.87, Y:27.18, Z:3.16 [[ 8.12639753e-01 -5.82114943e-01 -2.75467981e-02 9.78716603e+01] [ 5.81881589e-01 8.13102712e-01 -1.66672092e-02 2.71768493e+01] [ 3.21006078e-02 -2.48453783e-03 9.99481555e-01 3.15516519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.310714057 meters Centerline goodness : 0.992530 Centerline is valid? [True, True] Translation: X:97.90, Y:27.19, Z:3.16 [[ 8.13614510e-01 -5.80750574e-01 -2.75717166e-02 9.78987695e+01] [ 5.80517824e-01 8.14077777e-01 -1.66261639e-02 2.71923011e+01] [ 3.21011760e-02 -2.47858470e-03 9.99481551e-01 3.15829375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.340714057 meters Centerline goodness : 0.992987 Centerline is valid? [True, True] Translation: X:97.93, Y:27.21, Z:3.16 [[ 8.12946647e-01 -5.81687851e-01 -2.75135069e-02 9.79274377e+01] [ 5.81452411e-01 8.13408549e-01 -1.67220552e-02 2.72098207e+01] [ 3.21067381e-02 -2.40365621e-03 9.99481556e-01 3.15745260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.370714057 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:97.96, Y:27.23, Z:3.16 [[ 8.10152605e-01 -5.85572627e-01 -2.75219226e-02 9.79601999e+01] [ 5.85339868e-01 8.10615862e-01 -1.67081825e-02 2.72302718e+01] [ 3.20935613e-02 -2.57350097e-03 9.99481556e-01 3.15594265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.400714057 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:97.98, Y:27.24, Z:3.16 [[ 8.12884303e-01 -5.81759582e-01 -2.78370035e-02 9.79827385e+01] [ 5.81542206e-01 8.13355157e-01 -1.61879940e-02 2.72418606e+01] [ 3.20588909e-02 -3.02942622e-03 9.99481391e-01 3.15762989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.430714057 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:98.01, Y:27.26, Z:3.16 [[ 8.12614425e-01 -5.82149606e-01 -2.75614396e-02 9.80101752e+01] [ 5.81917102e-01 8.13077803e-01 -1.66424903e-02 2.72595295e+01] [ 3.20980139e-02 -2.51454539e-03 9.99481563e-01 3.15706642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.460714057 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:98.04, Y:27.28, Z:3.16 [[ 8.13130211e-01 -5.81428319e-01 -2.75748082e-02 9.80370072e+01] [ 5.81196147e-01 8.13593756e-01 -1.66204321e-02 2.72763987e+01] [ 3.20982817e-02 -2.51179686e-03 9.99481561e-01 3.15714807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.490714057 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:98.07, Y:27.29, Z:3.16 [[ 8.12914751e-01 -5.81730439e-01 -2.75554794e-02 9.80663264e+01] [ 5.81497365e-01 8.13377842e-01 -1.66523336e-02 2.72944863e+01] [ 3.21001857e-02 -2.48651105e-03 9.99481563e-01 3.15806788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.520714057 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:98.09, Y:27.31, Z:3.16 [[ 8.13488206e-01 -5.80924852e-01 -2.76270548e-02 9.80933378e+01] [ 5.80695297e-01 8.13953067e-01 -1.65341201e-02 2.73117375e+01] [ 3.20922073e-02 -2.59258915e-03 9.99481550e-01 3.15872815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.55071405700001 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:98.12, Y:27.33, Z:3.16 [[ 8.13270035e-01 -5.81229700e-01 -2.76385112e-02 9.81203525e+01] [ 5.81000956e-01 8.13735299e-01 -1.65151969e-02 2.73296924e+01] [ 3.20895551e-02 -2.62668674e-03 9.99481546e-01 3.16148116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58071405700001 meters Centerline goodness : 0.992911 Centerline is valid? [True, True] Translation: X:98.14, Y:27.35, Z:3.16 [[ 8.14768974e-01 -5.79128702e-01 -2.75946676e-02 9.81443317e+01] [ 5.78896322e-01 8.15232420e-01 -1.65876362e-02 2.73454430e+01] [ 3.21024438e-02 -2.45936027e-03 9.99481558e-01 3.16312561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.610714057 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:98.17, Y:27.37, Z:3.17 [[ 8.14813722e-01 -5.79069937e-01 -2.75064811e-02 9.81724942e+01] [ 5.78832634e-01 8.15274664e-01 -1.67333494e-02 2.73662153e+01] [ 3.21151167e-02 -2.28708622e-03 9.99481560e-01 3.16710315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.640714057 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:98.20, Y:27.38, Z:3.17 [[ 8.16790288e-01 -5.76273571e-01 -2.76115192e-02 9.81976979e+01] [ 5.76040510e-01 8.17253393e-01 -1.65596555e-02 2.73841276e+01] [ 3.21084996e-02 -2.37958781e-03 9.99481557e-01 3.16941388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.670714057 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:98.22, Y:27.40, Z:3.17 [[ 8.17852351e-01 -5.74767271e-01 -2.75702047e-02 9.82246003e+01] [ 5.74531067e-01 8.18313854e-01 -1.66279883e-02 2.74014608e+01] [ 3.21183039e-02 -2.24069977e-03 9.99481563e-01 3.17066568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.700714057 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:98.25, Y:27.42, Z:3.17 [[ 8.18883320e-01 -5.73297744e-01 -2.75645701e-02 9.82510176e+01] [ 5.73060400e-01 8.19344237e-01 -1.66373099e-02 2.74185945e+01] [ 3.21230039e-02 -2.17214800e-03 9.99481563e-01 3.17268709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.730714057 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:98.28, Y:27.44, Z:3.17 [[ 8.19361381e-01 -5.72614339e-01 -2.75634860e-02 9.82784498e+01] [ 5.72376550e-01 8.19822069e-01 -1.66391040e-02 2.74378535e+01] [ 3.21249437e-02 -2.14325375e-03 9.99481563e-01 3.17439432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.760714057 meters Centerline goodness : 0.992910 Centerline is valid? [True, True] Translation: X:98.30, Y:27.45, Z:3.18 [[ 8.20106971e-01 -5.71545194e-01 -2.75798565e-02 9.83048905e+01] [ 5.71307710e-01 8.20567817e-01 -1.66120006e-02 2.74545952e+01] [ 3.21256517e-02 -2.13296719e-03 9.99481562e-01 3.17596929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.790714057 meters Centerline goodness : 0.983044 Centerline is valid? [True, True] Translation: X:98.32, Y:27.47, Z:3.18 [[ 8.18559666e-01 -5.73759503e-01 -2.75700203e-02 9.83207643e+01] [ 5.73522720e-01 8.19020872e-01 -1.66282954e-02 2.74698333e+01] [ 3.21210646e-02 -2.20078115e-03 9.99481562e-01 3.17593647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.820714057 meters Centerline goodness : 0.991939 Centerline is valid? [True, True] Translation: X:98.35, Y:27.48, Z:3.18 [[ 8.20651840e-01 -5.70783011e-01 -2.71534930e-02 9.83511021e+01] [ 5.70521684e-01 8.21099943e-01 -1.73174062e-02 2.74835619e+01] [ 3.21802128e-02 -1.28009524e-03 9.99481263e-01 3.17573595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.850714057 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:98.39, Y:27.50, Z:3.18 [[ 8.24014499e-01 -5.65909717e-01 -2.73184499e-02 9.83890291e+01] [ 5.65654799e-01 8.24466012e-01 -1.70423944e-02 2.74980310e+01] [ 3.21675900e-02 -1.40963222e-03 9.99481495e-01 3.17691057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.880714057 meters Centerline goodness : 0.992747 Centerline is valid? [True, True] Translation: X:98.40, Y:27.51, Z:3.18 [[ 8.19752292e-01 -5.72031376e-01 -2.80407679e-02 9.84001830e+01] [ 5.71820316e-01 8.20226054e-01 -1.58349644e-02 2.75132973e+01] [ 3.20578649e-02 -3.05353237e-03 9.99481350e-01 3.17635387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.910714057 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:98.44, Y:27.53, Z:3.18 [[ 8.22608137e-01 -5.67950703e-01 -2.73468923e-02 9.84368485e+01] [ 5.67698556e-01 8.23061120e-01 -1.69924439e-02 2.75282158e+01] [ 3.21590342e-02 -1.54666864e-03 9.99481568e-01 3.17616910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94071405700001 meters Centerline goodness : 0.992692 Centerline is valid? [True, True] Translation: X:98.45, Y:27.54, Z:3.18 [[ 8.18190799e-01 -5.74266476e-01 -2.79612355e-02 9.84506829e+01] [ 5.74052282e-01 8.18662986e-01 -1.59654003e-02 2.75439191e+01] [ 3.20592226e-02 -2.98846741e-03 9.99481503e-01 3.17663081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97071405700001 meters Centerline goodness : 0.993065 Centerline is valid? [True, True] Translation: X:98.49, Y:27.55, Z:3.18 [[ 8.23935614e-01 -5.66022454e-01 -2.73621172e-02 9.84863390e+01] [ 5.65770200e-01 8.24388452e-01 -1.69635148e-02 2.75536005e+01] [ 3.21587437e-02 -1.50382648e-03 9.99481643e-01 3.17584350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.000714057 meters Centerline goodness : 0.985656 Centerline is valid? [True, True] Translation: X:98.50, Y:27.57, Z:3.17 [[ 8.17177113e-01 -5.75718445e-01 -2.77459651e-02 9.85008676e+01] [ 5.75493030e-01 8.17643784e-01 -1.63222065e-02 2.75705369e+01] [ 3.20833112e-02 -2.62947589e-03 9.99481739e-01 3.17469863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.030714057 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:98.53, Y:27.59, Z:3.18 [[ 8.18711571e-01 -5.73559610e-01 -2.72164845e-02 9.85323548e+01] [ 5.73303546e-01 8.19162419e-01 -1.72039427e-02 2.75876887e+01] [ 3.21622079e-02 -1.51824010e-03 9.99481509e-01 3.17808730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.060714057 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:98.56, Y:27.61, Z:3.18 [[ 8.16935596e-01 -5.76052520e-01 -2.79235769e-02 9.85647362e+01] [ 5.75836827e-01 8.17407268e-01 -1.60407890e-02 2.76062104e+01] [ 3.20652716e-02 -2.97513242e-03 9.99481349e-01 3.17678625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.090714057 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:98.59, Y:27.62, Z:3.18 [[ 8.17593801e-01 -5.75108793e-01 -2.81114478e-02 9.85918665e+01] [ 5.74903064e-01 8.18070284e-01 -1.57314177e-02 2.76222954e+01] [ 3.20444167e-02 -3.29944787e-03 9.99481000e-01 3.17687661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.120714057 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:98.62, Y:27.64, Z:3.18 [[ 8.19155543e-01 -5.72882777e-01 -2.80984062e-02 9.86157249e+01] [ 5.72675021e-01 8.19631116e-01 -1.57528924e-02 2.76369743e+01] [ 3.20548888e-02 -3.18718621e-03 9.99481028e-01 3.18179358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.150714057 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:98.63, Y:27.66, Z:3.18 [[ 8.12460313e-01 -5.82347075e-01 -2.79307158e-02 9.86273558e+01] [ 5.82135459e-01 8.12933826e-01 -1.60281705e-02 2.76583236e+01] [ 3.20397819e-02 -3.23720761e-03 9.99481352e-01 3.18143893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.180714057 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:98.67, Y:27.67, Z:3.18 [[ 8.17415132e-01 -5.75393320e-01 -2.74778079e-02 9.86740869e+01] [ 5.75152694e-01 8.17874157e-01 -1.67702757e-02 2.76721138e+01] [ 3.21228935e-02 -2.09565813e-03 9.99481730e-01 3.17936863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.210714057 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:98.70, Y:27.69, Z:3.18 [[ 8.17014603e-01 -5.75926922e-01 -2.82013813e-02 9.87011222e+01] [ 5.75726789e-01 8.17493662e-01 -1.55813211e-02 2.76874835e+01] [ 3.20281528e-02 -3.50612379e-03 9.99480817e-01 3.17898388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.240714057 meters Centerline goodness : 0.994983 Centerline is valid? [True, True] Translation: X:98.72, Y:27.70, Z:3.18 [[ 8.16088624e-01 -5.77239614e-01 -2.81742125e-02 9.87213057e+01] [ 5.77038722e-01 8.16567291e-01 -1.56260175e-02 2.77010815e+01] [ 3.20260967e-02 -3.50539643e-03 9.99480886e-01 3.18331160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.270714057 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:98.75, Y:27.72, Z:3.19 [[ 8.14538093e-01 -5.79441253e-01 -2.78483189e-02 9.87486145e+01] [ 5.79223480e-01 8.15008605e-01 -1.61596225e-02 2.77185689e+01] [ 3.20601714e-02 -2.96777210e-03 9.99481534e-01 3.18509520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30071405700001 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:98.78, Y:27.74, Z:3.19 [[ 8.12158403e-01 -5.82770298e-01 -2.78838210e-02 9.87763774e+01] [ 5.82556428e-01 8.12630759e-01 -1.61015036e-02 2.77371323e+01] [ 3.20427286e-02 -3.16692771e-03 9.99481483e-01 3.18636320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33071405700001 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:98.80, Y:27.75, Z:3.19 [[ 8.12231416e-01 -5.82665852e-01 -2.79398030e-02 9.88030249e+01] [ 5.82455038e-01 8.12705243e-01 -1.60098838e-02 2.77542413e+01] [ 3.20352370e-02 -3.26994842e-03 9.99481391e-01 3.18778988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.360714057 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:98.83, Y:27.77, Z:3.19 [[ 8.11973895e-01 -5.83026274e-01 -2.79062316e-02 9.88311443e+01] [ 5.82813800e-01 8.12446919e-01 -1.60648183e-02 2.77715680e+01] [ 3.20385430e-02 -3.21992377e-03 9.99481447e-01 3.18843401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.390714057 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:98.86, Y:27.79, Z:3.19 [[ 8.11473905e-01 -5.83721379e-01 -2.79186953e-02 9.88579224e+01] [ 5.83510003e-01 8.11947444e-01 -1.60444617e-02 2.77891743e+01] [ 3.20340086e-02 -3.27117601e-03 9.99481426e-01 3.19109334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.420714057 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:98.87, Y:27.81, Z:3.19 [[ 8.08222799e-01 -5.88215575e-01 -2.78988246e-02 9.88707130e+01] [ 5.88005723e-01 8.08696978e-01 -1.60769131e-02 2.78064067e+01] [ 3.20183858e-02 -3.41094078e-03 9.99481460e-01 3.19189733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.450714057 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:98.91, Y:27.82, Z:3.19 [[ 8.10435285e-01 -5.85185462e-01 -2.74339783e-02 9.89085743e+01] [ 5.84948208e-01 8.10895921e-01 -1.68344656e-02 2.78227038e+01] [ 3.20973857e-02 -2.40421154e-03 9.99481855e-01 3.19273425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.480714057 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:98.93, Y:27.84, Z:3.19 [[ 8.09048713e-01 -5.87083994e-01 -2.77950541e-02 9.89347371e+01] [ 5.86867697e-01 8.09519827e-01 -1.62467147e-02 2.78388695e+01] [ 3.20388335e-02 -3.16763582e-03 9.99481605e-01 3.19383253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.510714057 meters Centerline goodness : 0.995886 Centerline is valid? [True, True] Translation: X:98.95, Y:27.86, Z:3.20 [[ 8.06028344e-01 -5.91226149e-01 -2.77479574e-02 9.89528896e+01] [ 5.91009660e-01 8.06499305e-01 -1.63233698e-02 2.78560863e+01] [ 3.20295115e-02 -3.24221213e-03 9.99481665e-01 3.19528483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.540714057 meters Centerline goodness : 0.995658 Centerline is valid? [True, True] Translation: X:98.98, Y:27.87, Z:3.20 [[ 8.05751727e-01 -5.91618622e-01 -2.74146278e-02 9.89811867e+01] [ 5.91384004e-01 8.06213696e-01 -1.68652139e-02 2.78729081e+01] [ 3.20798231e-02 -2.62339712e-03 9.99481867e-01 3.19612950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.570714057 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:99.02, Y:27.89, Z:3.20 [[ 8.05920810e-01 -5.91388051e-01 -2.74193673e-02 9.90162855e+01] [ 5.91153561e-01 8.06382844e-01 -1.68575049e-02 2.78880739e+01] [ 3.20798344e-02 -2.62324264e-03 9.99481867e-01 3.19564002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.600714057 meters Centerline goodness : 0.995771 Centerline is valid? [True, True] Translation: X:99.05, Y:27.90, Z:3.20 [[ 8.05566649e-01 -5.91858511e-01 -2.76744811e-02 9.90453427e+01] [ 5.91638341e-01 8.06035806e-01 -1.64424345e-02 2.79041222e+01] [ 3.20382175e-02 -3.12780720e-03 9.99481750e-01 3.19687515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.630714057 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:99.08, Y:27.92, Z:3.20 [[ 8.06383650e-01 -5.90743022e-01 -2.77144487e-02 9.90759245e+01] [ 5.90524414e-01 8.06853579e-01 -1.63773786e-02 2.79193731e+01] [ 3.20363243e-02 -3.15960823e-03 9.99481711e-01 3.19936128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.660714057 meters Centerline goodness : 0.996110 Centerline is valid? [True, True] Translation: X:99.11, Y:27.94, Z:3.20 [[ 8.05879242e-01 -5.91426085e-01 -2.78178503e-02 9.91051407e+01] [ 5.91213601e-01 8.06352117e-01 -1.62092986e-02 2.79366150e+01] [ 3.20175845e-02 -3.38355417e-03 9.99481579e-01 3.19964077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.69071405700001 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:99.13, Y:27.95, Z:3.20 [[ 8.05407466e-01 -5.92065450e-01 -2.78804168e-02 9.91310046e+01] [ 5.91856812e-01 8.05882161e-01 -1.61076838e-02 2.79535146e+01] [ 3.20051335e-02 -3.52796582e-03 9.99481478e-01 3.20266452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72071405700001 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:99.16, Y:27.97, Z:3.20 [[ 8.05765392e-01 -5.91580979e-01 -2.78222634e-02 9.91588865e+01] [ 5.91368830e-01 8.06238425e-01 -1.62021045e-02 2.79702478e+01] [ 3.20162347e-02 -3.39812429e-03 9.99481572e-01 3.20454642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.750714057 meters Centerline goodness : 0.996592 Centerline is valid? [True, True] Translation: X:99.19, Y:27.99, Z:3.21 [[ 8.05641329e-01 -5.91749236e-01 -2.78368543e-02 9.91860604e+01] [ 5.91537994e-01 8.06114793e-01 -1.61784520e-02 2.79874574e+01] [ 3.20132866e-02 -3.43252736e-03 9.99481549e-01 3.20624343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.780714057 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:99.20, Y:28.00, Z:3.20 [[ 8.03468861e-01 -5.94696463e-01 -2.78191652e-02 9.92004939e+01] [ 5.94485977e-01 8.03942630e-01 -1.62071233e-02 2.80041144e+01] [ 3.20033317e-02 -3.51618465e-03 9.99481577e-01 3.20268137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.810714057 meters Centerline goodness : 0.995956 Centerline is valid? [True, True] Translation: X:99.24, Y:28.02, Z:3.21 [[ 8.06733680e-01 -5.90280735e-01 -2.73755837e-02 9.92376139e+01] [ 5.90043345e-01 8.07194157e-01 -1.69246377e-02 2.80207970e+01] [ 3.20876988e-02 -2.49910568e-03 9.99481933e-01 3.20957512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.840714057 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:99.25, Y:28.04, Z:3.21 [[ 8.04735545e-01 -5.92981909e-01 -2.78057417e-02 9.92529689e+01] [ 5.92769705e-01 8.05208505e-01 -1.62277721e-02 2.80372858e+01] [ 3.20121950e-02 -3.42333625e-03 9.99481616e-01 3.20635866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.870714057 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:99.28, Y:28.06, Z:3.21 [[ 8.04890685e-01 -5.92791425e-01 -2.73735555e-02 9.92814096e+01] [ 5.92555398e-01 8.05351840e-01 -1.69267159e-02 2.80551639e+01] [ 3.20793553e-02 -2.59619212e-03 9.99481953e-01 3.20776361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.900714057 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:99.32, Y:28.07, Z:3.21 [[ 8.07430431e-01 -5.89327195e-01 -2.73780374e-02 9.93180630e+01] [ 5.89089433e-01 8.07890693e-01 -1.69194635e-02 2.80715201e+01] [ 3.20895616e-02 -2.46682281e-03 9.99481953e-01 3.21207081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.930714057 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:99.35, Y:28.09, Z:3.21 [[ 8.08989769e-01 -5.87169223e-01 -2.77102529e-02 9.93504568e+01] [ 5.86948373e-01 8.09458606e-01 -1.63820922e-02 2.80881314e+01] [ 3.20493630e-02 -3.01154290e-03 9.99481750e-01 3.20936101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.960714057 meters Centerline goodness : 0.995765 Centerline is valid? [True, True] Translation: X:99.38, Y:28.11, Z:3.21 [[ 8.08443221e-01 -5.87913377e-01 -2.78822262e-02 9.93770127e+01] [ 5.87702416e-01 8.08916883e-01 -1.61042509e-02 2.81053144e+01] [ 3.20223080e-02 -3.36707925e-03 9.99481483e-01 3.21127897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.990714057 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:99.40, Y:28.12, Z:3.21 [[ 8.07286314e-01 -5.89502156e-01 -2.78570584e-02 9.93974786e+01] [ 5.89290738e-01 8.07759722e-01 -1.61448970e-02 2.81209435e+01] [ 3.20192613e-02 -3.38235214e-03 9.99481529e-01 3.21391064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.020714057 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:99.42, Y:28.14, Z:3.22 [[ 8.07556170e-01 -5.89143968e-01 -2.76119095e-02 9.94244591e+01] [ 5.88918886e-01 8.08022867e-01 -1.65406124e-02 2.81387033e+01] [ 3.20558563e-02 -2.90370136e-03 9.99481861e-01 3.21620156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.05071405700001 meters Centerline goodness : 0.995247 Centerline is valid? [True, True] Translation: X:99.45, Y:28.16, Z:3.22 [[ 8.08392575e-01 -5.87994707e-01 -2.76345609e-02 9.94510786e+01] [ 5.87770200e-01 8.08859573e-01 -1.65040445e-02 2.81553871e+01] [ 3.20567699e-02 -2.90102435e-03 9.99481840e-01 3.21640445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08071405700001 meters Centerline goodness : 0.995865 Centerline is valid? [True, True] Translation: X:99.49, Y:28.17, Z:3.21 [[ 8.11693654e-01 -5.83430063e-01 -2.76183665e-02 9.94857819e+01] [ 5.83202046e-01 8.12158930e-01 -1.65301727e-02 2.81729138e+01] [ 3.20747027e-02 -2.68965156e-03 9.99481855e-01 3.21318714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.110714057 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:99.50, Y:28.19, Z:3.22 [[ 8.09685792e-01 -5.86196830e-01 -2.79677493e-02 9.95043440e+01] [ 5.85989574e-01 8.10161279e-01 -1.59662709e-02 2.81897053e+01] [ 3.20177649e-02 -3.46114681e-03 9.99481307e-01 3.21954305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.140714057 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:99.53, Y:28.21, Z:3.22 [[ 8.11516816e-01 -5.83674081e-01 -2.76590807e-02 9.95290125e+01] [ 5.83448451e-01 8.11983285e-01 -1.64636109e-02 2.82051158e+01] [ 3.20680942e-02 -2.77715070e-03 9.99481828e-01 3.22002521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.170714057 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:99.56, Y:28.22, Z:3.22 [[ 8.11773019e-01 -5.83323452e-01 -2.75375249e-02 9.95595107e+01] [ 5.83091021e-01 8.12236008e-01 -1.66592063e-02 2.82243445e+01] [ 3.20846750e-02 -2.53338927e-03 9.99481944e-01 3.22127529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.200714057 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:99.59, Y:28.24, Z:3.22 [[ 8.12673889e-01 -5.82060585e-01 -2.76879857e-02 9.95872056e+01] [ 5.81835598e-01 8.13140709e-01 -1.64171738e-02 2.82428925e+01] [ 3.20700181e-02 -2.76804727e-03 9.99481792e-01 3.22185579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.230714057 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:99.61, Y:28.26, Z:3.22 [[ 8.13897450e-01 -5.80348041e-01 -2.76964200e-02 9.96129077e+01] [ 5.80122530e-01 8.14364029e-01 -1.64036141e-02 2.82600486e+01] [ 3.20747734e-02 -2.71645756e-03 9.99481781e-01 3.22344425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.260714057 meters Centerline goodness : 0.995957 Centerline is valid? [True, True] Translation: X:99.64, Y:28.28, Z:3.22 [[ 8.13856852e-01 -5.80408637e-01 -2.76195320e-02 9.96401759e+01] [ 5.80178991e-01 8.14321307e-01 -1.65271839e-02 2.82778590e+01] [ 3.20836937e-02 -2.57351037e-03 9.99481873e-01 3.22365150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.290714057 meters Centerline goodness : 0.996380 Centerline is valid? [True, True] Translation: X:99.67, Y:28.30, Z:3.23 [[ 8.14334121e-01 -5.79737058e-01 -2.76565325e-02 9.96668923e+01] [ 5.79509031e-01 8.14799421e-01 -1.64677658e-02 2.82967818e+01] [ 3.20815008e-02 -2.61694675e-03 9.99481830e-01 3.22511147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.320714057 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:99.68, Y:28.32, Z:3.22 [[ 8.11854874e-01 -5.83202353e-01 -2.76889687e-02 9.96819193e+01] [ 5.82978074e-01 8.12322037e-01 -1.64156582e-02 2.83150688e+01] [ 3.20660099e-02 -2.81492947e-03 9.99481789e-01 3.22401571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.350714057 meters Centerline goodness : 0.996051 Centerline is valid? [True, True] Translation: X:99.72, Y:28.33, Z:3.23 [[ 8.15189733e-01 -5.78549853e-01 -2.73087519e-02 9.97176932e+01] [ 5.78302451e-01 8.15644779e-01 -1.70255370e-02 2.83319197e+01] [ 3.21243628e-02 -1.91367522e-03 9.99482047e-01 3.22623051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.380714057 meters Centerline goodness : 0.995909 Centerline is valid? [True, True] Translation: X:99.74, Y:28.35, Z:3.23 [[ 8.15814839e-01 -5.77654821e-01 -2.75872416e-02 9.97419680e+01] [ 5.77421834e-01 8.16277607e-01 -1.65799306e-02 2.83481071e+01] [ 3.20963244e-02 -2.40332222e-03 9.99481891e-01 3.22886691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.410714057 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:99.77, Y:28.36, Z:3.23 [[ 8.16773191e-01 -5.76303979e-01 -2.74823322e-02 9.97675521e+01] [ 5.76064600e-01 8.17232580e-01 -1.67477224e-02 2.83647128e+01] [ 3.21112363e-02 -2.15250808e-03 9.99481983e-01 3.22579023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44071405700001 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:99.80, Y:28.39, Z:3.23 [[ 8.16256469e-01 -5.77037927e-01 -2.74336934e-02 9.97983712e+01] [ 5.76796358e-01 8.16714677e-01 -1.68255093e-02 2.83854521e+01] [ 3.21144570e-02 -2.08972362e-03 9.99482013e-01 3.22771114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47071405700001 meters Centerline goodness : 0.995579 Centerline is valid? [True, True] Translation: X:99.82, Y:28.40, Z:3.23 [[ 8.17150562e-01 -5.75758786e-01 -2.76907782e-02 9.98198821e+01] [ 5.75530309e-01 8.17615710e-01 -1.64138575e-02 2.84006871e+01] [ 3.20908380e-02 -2.52428926e-03 9.99481769e-01 3.23165800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.500714057 meters Centerline goodness : 0.995652 Centerline is valid? [True, True] Translation: X:99.85, Y:28.42, Z:3.23 [[ 8.14867909e-01 -5.78997025e-01 -2.74360211e-02 9.98494166e+01] [ 5.78756700e-01 8.15326762e-01 -1.68212158e-02 2.84208522e+01] [ 3.21087561e-02 -2.17171211e-03 9.99482022e-01 3.23205440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.530714057 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:99.88, Y:28.44, Z:3.23 [[ 8.14043148e-01 -5.80148221e-01 -2.76006341e-02 9.98759072e+01] [ 5.79917389e-01 8.14507001e-01 -1.65579806e-02 2.84378475e+01] [ 3.20869928e-02 -2.52717700e-03 9.99481885e-01 3.23431236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.560714057 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:99.89, Y:28.46, Z:3.24 [[ 8.10583832e-01 -5.84973210e-01 -2.75716344e-02 9.98935561e+01] [ 5.84743571e-01 8.11048242e-01 -1.66043544e-02 2.84561814e+01] [ 3.20750281e-02 -2.66311471e-03 9.99481916e-01 3.23692647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.590714057 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:99.93, Y:28.47, Z:3.24 [[ 8.11914383e-01 -5.83139020e-01 -2.72748555e-02 9.99277907e+01] [ 5.82892423e-01 8.12369838e-01 -1.70783329e-02 2.84724485e+01] [ 3.21163123e-02 -2.03216256e-03 9.99482072e-01 3.23759137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.620714057 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:99.95, Y:28.49, Z:3.24 [[ 8.11315339e-01 -5.83960305e-01 -2.75278495e-02 9.99542683e+01] [ 5.83727722e-01 8.11778238e-01 -1.66744881e-02 2.84897427e+01] [ 3.20837483e-02 -2.54050085e-03 9.99481955e-01 3.23867759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.650714057 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:99.98, Y:28.51, Z:3.24 [[ 8.11935020e-01 -5.83098945e-01 -2.75162637e-02 9.99831345e+01] [ 5.82865248e-01 8.12397346e-01 -1.66929739e-02 2.85082700e+01] [ 3.20877951e-02 -2.48466373e-03 9.99481966e-01 3.23992861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.680714057 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:100.01, Y:28.53, Z:3.24 [[ 8.12141248e-01 -5.82808521e-01 -2.75829821e-02 1.00009035e+02] [ 5.82578246e-01 8.12605362e-01 -1.65864925e-02 2.85251604e+01] [ 3.20808283e-02 -2.59867064e-03 9.99481899e-01 3.24053179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.710714057 meters Centerline goodness : 0.996059 Centerline is valid? [True, True] Translation: X:100.04, Y:28.54, Z:3.24 [[ 8.12187081e-01 -5.82746167e-01 -2.75508534e-02 1.00036762e+02] [ 5.82514130e-01 8.12650278e-01 -1.66377311e-02 2.85429891e+01] [ 3.20847827e-02 -2.53581116e-03 9.99481934e-01 3.24218241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.740714057 meters Centerline goodness : 0.995553 Centerline is valid? [True, True] Translation: X:100.07, Y:28.56, Z:3.24 [[ 8.14722164e-01 -5.79195589e-01 -2.75729028e-02 1.00068600e+02] [ 5.78962715e-01 8.15184966e-01 -1.66025581e-02 2.85590239e+01] [ 3.20931442e-02 -2.43721063e-03 9.99481911e-01 3.24239345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.770714057 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:100.09, Y:28.58, Z:3.25 [[ 8.14288833e-01 -5.79795632e-01 -2.77618613e-02 1.00094140e+02] [ 5.79573267e-01 8.14757077e-01 -1.63013099e-02 2.85764787e+01] [ 3.20706012e-02 -2.81605808e-03 9.99481639e-01 3.24513951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80071405700001 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:100.12, Y:28.59, Z:3.25 [[ 8.16662825e-01 -5.76450212e-01 -2.76944606e-02 1.00122542e+02] [ 5.76222305e-01 8.17128271e-01 -1.64086714e-02 2.85942256e+01] [ 3.20887088e-02 -2.55781400e-03 9.99481752e-01 3.24627587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83071405700001 meters Centerline goodness : 0.994763 Centerline is valid? [True, True] Translation: X:100.15, Y:28.61, Z:3.24 [[ 8.19867584e-01 -5.71878554e-01 -2.77860496e-02 1.00153321e+02] [ 5.71652961e-01 8.20334330e-01 -1.62627966e-02 2.86105027e+01] [ 3.20941950e-02 -2.55063777e-03 9.99481594e-01 3.23991617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.860714057 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:100.19, Y:28.62, Z:3.23 [[ 8.25057377e-01 -5.64357592e-01 -2.79434107e-02 1.00185650e+02] [ 5.64136185e-01 8.25526492e-01 -1.60117240e-02 2.86228071e+01] [ 3.21043638e-02 -2.55329814e-03 9.99481261e-01 3.23382742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.890714057 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:100.19, Y:28.64, Z:3.24 [[ 8.22159654e-01 -5.68565955e-01 -2.80402843e-02 1.00187853e+02] [ 5.68352182e-01 8.22632571e-01 -1.58571744e-02 2.86401077e+01] [ 3.20827007e-02 -2.89962777e-03 9.99481012e-01 3.24145042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.920714057 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:100.23, Y:28.66, Z:3.25 [[ 8.28564397e-01 -5.59231038e-01 -2.72339221e-02 1.00227754e+02] [ 5.58969291e-01 8.29011219e-01 -1.71385866e-02 2.86592735e+01] [ 3.21616565e-02 -1.02250341e-03 9.99482157e-01 3.25018585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.950714057 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:100.26, Y:28.68, Z:3.25 [[ 8.33868964e-01 -5.51261280e-01 -2.78127956e-02 1.00255645e+02] [ 5.51025633e-01 8.34330721e-01 -1.62172727e-02 2.86780100e+01] [ 3.21450243e-02 -1.80248290e-03 9.99481590e-01 3.25144244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.980714057 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:100.26, Y:28.69, Z:3.26 [[ 8.30363249e-01 -5.56522642e-01 -2.79181449e-02 1.00263688e+02] [ 5.56295528e-01 8.30829521e-01 -1.60497032e-02 2.86944588e+01] [ 3.21272422e-02 -2.20365542e-03 9.99481358e-01 3.25560553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.010714057 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:100.30, Y:28.70, Z:3.25 [[ 8.32395339e-01 -5.53513677e-01 -2.72141256e-02 1.00295115e+02] [ 5.53247966e-01 8.32839733e-01 -1.71658807e-02 2.87040035e+01] [ 3.21665549e-02 -7.67360611e-04 9.99482228e-01 3.25118206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.040714057 meters Centerline goodness : 0.994212 Centerline is valid? [True, True] Translation: X:100.34, Y:28.72, Z:3.25 [[ 8.35356444e-01 -5.49034491e-01 -2.72165081e-02 1.00336989e+02] [ 5.48766520e-01 8.35799479e-01 -1.71621024e-02 2.87152047e+01] [ 3.21701295e-02 -5.99035624e-04 9.99482228e-01 3.25226161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.070714057 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:100.37, Y:28.73, Z:3.25 [[ 8.34894800e-01 -5.49715357e-01 -2.76350977e-02 1.00367409e+02] [ 5.49469547e-01 8.35350846e-01 -1.64978968e-02 2.87297434e+01] [ 3.21541495e-02 -1.41063637e-03 9.99481926e-01 3.25428668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.100714057 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:100.40, Y:28.75, Z:3.25 [[ 8.34143493e-01 -5.50851242e-01 -2.77045408e-02 1.00396651e+02] [ 5.50609701e-01 8.34601940e-01 -1.63877712e-02 2.87465274e+01] [ 3.21494876e-02 -1.58463624e-03 9.99481815e-01 3.25369510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.130714057 meters Centerline goodness : 0.992412 Centerline is valid? [True, True] Translation: X:100.41, Y:28.76, Z:3.26 [[ 8.31744389e-01 -5.54462687e-01 -2.77920998e-02 1.00412502e+02] [ 5.54227758e-01 8.32206443e-01 -1.62489516e-02 2.87584742e+01] [ 3.21382019e-02 -1.88817887e-03 9.99481651e-01 3.26019276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.160714057 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:100.44, Y:28.77, Z:3.26 [[ 8.23956876e-01 -5.65994299e-01 -2.73042029e-02 1.00438982e+02] [ 5.65740088e-01 8.24407927e-01 -1.70212275e-02 2.87733335e+01] [ 3.21437191e-02 -1.42232477e-03 9.99482245e-01 3.25927019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.19071405700001 meters Centerline goodness : 0.993400 Centerline is valid? [True, True] Translation: X:100.48, Y:28.78, Z:3.26 [[ 8.25488487e-01 -5.63763133e-01 -2.72008934e-02 1.00482499e+02] [ 5.63502314e-01 8.25935728e-01 -1.71847521e-02 2.87847301e+01] [ 3.21543194e-02 -1.14195138e-03 9.99482264e-01 3.26195107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22071405700001 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:100.51, Y:28.80, Z:3.26 [[ 8.24710025e-01 -5.64876809e-01 -2.77049609e-02 1.00507012e+02] [ 5.64643108e-01 8.25172500e-01 -1.63861407e-02 2.87953114e+01] [ 3.21175227e-02 -2.12960068e-03 9.99481831e-01 3.26312923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.250714057 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:100.54, Y:28.81, Z:3.26 [[ 8.24356576e-01 -5.65407424e-01 -2.73985344e-02 1.00541891e+02] [ 5.65157873e-01 8.24810256e-01 -1.68707097e-02 2.88105608e+01] [ 3.21374167e-02 -1.57701695e-03 9.99482216e-01 3.26434639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.280714057 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:100.56, Y:28.83, Z:3.26 [[ 8.15694735e-01 -5.77820439e-01 -2.76701852e-02 1.00555144e+02] [ 5.77592223e-01 8.16159867e-01 -1.64406903e-02 2.88272540e+01] [ 3.20830615e-02 -2.57149928e-03 9.99481898e-01 3.26411008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.310714057 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:100.58, Y:28.84, Z:3.27 [[ 8.14939122e-01 -5.78908662e-01 -2.71843320e-02 1.00582514e+02] [ 5.78655362e-01 8.15390611e-01 -1.72082312e-02 2.88430475e+01] [ 3.21278432e-02 -1.70669863e-03 9.99482310e-01 3.26558705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.340714057 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:100.61, Y:28.85, Z:3.26 [[ 8.14089690e-01 -5.80102424e-01 -2.71874068e-02 1.00613812e+02] [ 5.79849948e-01 8.14541639e-01 -1.72033719e-02 2.88548767e+01] [ 3.21249926e-02 -1.75952870e-03 9.99482310e-01 3.26490457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.370714057 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:100.64, Y:28.87, Z:3.26 [[ 8.13969218e-01 -5.80271223e-01 -2.71922926e-02 1.00643733e+02] [ 5.80019097e-01 8.14421363e-01 -1.71956457e-02 2.88683684e+01] [ 3.21241224e-02 -1.77532275e-03 9.99482310e-01 3.26441225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.400714057 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:100.69, Y:28.88, Z:3.26 [[ 8.18256124e-01 -5.74210107e-01 -2.71968432e-02 1.00691456e+02] [ 5.73954870e-01 8.18706519e-01 -1.71884454e-02 2.88812151e+01] [ 3.21360119e-02 -1.54520990e-03 9.99482311e-01 3.26261798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.430714057 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:100.72, Y:28.90, Z:3.26 [[ 8.18294118e-01 -5.74121740e-01 -2.79099240e-02 1.00718919e+02] [ 5.73904365e-01 8.18764889e-01 -1.60572521e-02 2.88950236e+01] [ 3.20704834e-02 -2.87807224e-03 9.99481466e-01 3.26458958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.460714057 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:100.74, Y:28.91, Z:3.27 [[ 8.15793323e-01 -5.77677445e-01 -2.77492969e-02 1.00742184e+02] [ 5.77453521e-01 8.16260611e-01 -1.63109364e-02 2.89118969e+01] [ 3.20731181e-02 -2.71757621e-03 9.99481831e-01 3.27027328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.490714057 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:100.77, Y:28.93, Z:3.27 [[ 8.18299941e-01 -5.74125859e-01 -2.76533092e-02 1.00769266e+02] [ 5.73894802e-01 8.18763546e-01 -1.64624504e-02 2.89257821e+01] [ 3.20930399e-02 -2.39886824e-03 9.99482007e-01 3.27199708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.520714057 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:100.80, Y:28.94, Z:3.27 [[ 8.15483414e-01 -5.78122249e-01 -2.75946975e-02 1.00796697e+02] [ 5.77890352e-01 8.15946493e-01 -1.65548035e-02 2.89437297e+01] [ 3.20864968e-02 -2.44654176e-03 9.99482101e-01 3.27052218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.55071405700001 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:100.83, Y:28.96, Z:3.27 [[ 8.16077237e-01 -5.77282925e-01 -2.76110068e-02 1.00825594e+02] [ 5.77051416e-01 8.16540539e-01 -1.65291005e-02 2.89588580e+01] [ 3.20874738e-02 -2.44394790e-03 9.99482076e-01 3.27059730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58071405700001 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:100.85, Y:28.97, Z:3.27 [[ 8.16440623e-01 -5.76767668e-01 -2.76363391e-02 1.00854969e+02] [ 5.76537211e-01 8.16904494e-01 -1.64891767e-02 2.89744381e+01] [ 3.20866736e-02 -2.47094412e-03 9.99482036e-01 3.27021898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.610714057 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:100.87, Y:28.99, Z:3.27 [[ 8.13957011e-01 -5.80266475e-01 -2.76550688e-02 1.00867093e+02] [ 5.80039007e-01 8.14422390e-01 -1.64596727e-02 2.89912067e+01] [ 3.20739035e-02 -2.64355269e-03 9.99482004e-01 3.27084413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.640714057 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:100.91, Y:29.01, Z:3.27 [[ 8.16507886e-01 -5.76696032e-01 -2.71396186e-02 1.00905144e+02] [ 5.76439460e-01 8.16957346e-01 -1.72697370e-02 2.90079860e+01] [ 3.21312996e-02 -1.54347061e-03 9.99482465e-01 3.27307307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.670714057 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:100.92, Y:29.02, Z:3.27 [[ 8.14797437e-01 -5.79090649e-01 -2.75528228e-02 1.00921367e+02] [ 5.78857121e-01 8.15259605e-01 -1.66195382e-02 2.90245841e+01] [ 3.20869226e-02 -2.40759057e-03 9.99482182e-01 3.27332412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.700714057 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:100.95, Y:29.04, Z:3.27 [[ 8.15568708e-01 -5.78023611e-01 -2.71364586e-02 1.00950353e+02] [ 5.77767640e-01 8.16018489e-01 -1.72736536e-02 2.90406210e+01] [ 3.21284316e-02 -1.59071624e-03 9.99482483e-01 3.27352287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.730714057 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:100.98, Y:29.06, Z:3.27 [[ 8.15948954e-01 -5.77486491e-01 -2.71414046e-02 1.00977590e+02] [ 5.77230482e-01 8.16398714e-01 -1.72658786e-02 2.90567842e+01] [ 3.21290195e-02 -1.57877045e-03 9.99482483e-01 3.27286172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.760714057 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:101.01, Y:29.07, Z:3.27 [[ 8.16008830e-01 -5.77401666e-01 -2.71460048e-02 1.01005932e+02] [ 5.77145850e-01 8.16458699e-01 -1.72586430e-02 2.90746878e+01] [ 3.21287610e-02 -1.58399889e-03 9.99482483e-01 3.27393780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.790714057 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:101.03, Y:29.09, Z:3.27 [[ 8.16774917e-01 -5.76317388e-01 -2.71477946e-02 1.01034850e+02] [ 5.76061068e-01 8.17224499e-01 -1.72558271e-02 2.90916786e+01] [ 3.21306761e-02 -1.54466079e-03 9.99482483e-01 3.27490480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.820714057 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:101.08, Y:29.11, Z:3.28 [[ 8.20563092e-01 -5.70910629e-01 -2.71526416e-02 1.01077473e+02] [ 5.70651597e-01 8.21011117e-01 -1.72481969e-02 2.91095007e+01] [ 3.21397995e-02 -1.34146455e-03 9.99482483e-01 3.27613823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.850714057 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:101.09, Y:29.13, Z:3.28 [[ 8.16400759e-01 -5.76815742e-01 -2.78100935e-02 1.01087263e+02] [ 5.76594703e-01 8.16869486e-01 -1.62108451e-02 2.91258726e+01] [ 3.20678874e-02 -2.80060639e-03 9.99481769e-01 3.27592407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.880714057 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:101.11, Y:29.14, Z:3.28 [[ 8.16612341e-01 -5.76547771e-01 -2.71468573e-02 1.01114823e+02] [ 5.76291623e-01 8.17061963e-01 -1.72543811e-02 2.91443833e+01] [ 3.21286395e-02 -1.55436597e-03 9.99482533e-01 3.27748523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.910714057 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:101.16, Y:29.16, Z:3.28 [[ 8.20118367e-01 -5.71549341e-01 -2.71517015e-02 1.01155597e+02] [ 5.71290703e-01 8.20566561e-01 -1.72467548e-02 2.91609474e+01] [ 3.21371497e-02 -1.36713428e-03 9.99482533e-01 3.27940833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94071405700001 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:101.18, Y:29.18, Z:3.28 [[ 8.20023899e-01 -5.71661343e-01 -2.76426094e-02 1.01182610e+02] [ 5.71428539e-01 8.20486487e-01 -1.64727097e-02 2.91783290e+01] [ 3.20971989e-02 -2.28776024e-03 9.99482134e-01 3.28198190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97071405700001 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:101.21, Y:29.20, Z:3.28 [[ 8.21099387e-01 -5.70116932e-01 -2.76130559e-02 1.01208917e+02] [ 5.69881697e-01 8.21560689e-01 -1.65192730e-02 2.91973418e+01] [ 3.21037185e-02 -2.17221024e-03 9.99482182e-01 3.28081629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.000714057 meters Centerline goodness : 0.992285 Centerline is valid? [True, True] Translation: X:101.23, Y:29.21, Z:3.28 [[ 8.22771572e-01 -5.67702245e-01 -2.75880648e-02 1.01232102e+02] [ 5.67464340e-01 8.23231459e-01 -1.65586214e-02 2.92143712e+01] [ 3.21117294e-02 -2.03128001e-03 9.99482221e-01 3.28352651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.030714057 meters Centerline goodness : 0.993628 Centerline is valid? [True, True] Translation: X:101.26, Y:29.24, Z:3.28 [[ 8.25383928e-01 -5.63903778e-01 -2.74572509e-02 1.01261315e+02] [ 5.63656909e-01 8.25838871e-01 -1.67644582e-02 2.92352886e+01] [ 3.21288064e-02 -1.63935479e-03 9.99482392e-01 3.27771877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.060714057 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:101.29, Y:29.25, Z:3.28 [[ 8.26102605e-01 -5.62840743e-01 -2.76547283e-02 1.01287261e+02] [ 5.62603627e-01 8.26563024e-01 -1.64537652e-02 2.92544376e+01] [ 3.21192253e-02 -1.96615215e-03 9.99482111e-01 3.27845463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.090714057 meters Centerline goodness : 0.992450 Centerline is valid? [True, True] Translation: X:101.31, Y:29.27, Z:3.28 [[ 8.28999765e-01 -5.58566975e-01 -2.76102123e-02 1.01311819e+02] [ 5.58325159e-01 8.29457645e-01 -1.65236792e-02 2.92707517e+01] [ 3.21310832e-02 -1.71734998e-03 9.99482188e-01 3.28188842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.120714057 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:101.33, Y:29.29, Z:3.28 [[ 8.30597536e-01 -5.56190496e-01 -2.75656606e-02 1.01333371e+02] [ 5.55945050e-01 8.31053400e-01 -1.65936307e-02 2.92903532e+01] [ 3.21377557e-02 -1.54236381e-03 9.99482259e-01 3.28396395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.150714057 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:101.36, Y:29.31, Z:3.29 [[ 8.31328227e-01 -5.55101578e-01 -2.74884836e-02 1.01357588e+02] [ 5.54851530e-01 8.31781460e-01 -1.67147089e-02 2.93082937e+01] [ 3.21427723e-02 -1.35661783e-03 9.99482367e-01 3.28579629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.180714057 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:101.39, Y:29.33, Z:3.28 [[ 8.30556337e-01 -5.56261105e-01 -2.73816286e-02 1.01387321e+02] [ 5.56006172e-01 8.31006700e-01 -1.68819760e-02 2.93306852e+01] [ 3.21451034e-02 -1.20292231e-03 9.99482489e-01 3.28463933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.210714057 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:101.41, Y:29.35, Z:3.29 [[ 8.30989375e-01 -5.55599043e-01 -2.76832639e-02 1.01407416e+02] [ 5.55359388e-01 8.31448545e-01 -1.64093897e-02 2.93454569e+01] [ 3.21342507e-02 -1.73813201e-03 9.99482050e-01 3.29001277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.240714057 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:101.43, Y:29.36, Z:3.29 [[ 8.30070901e-01 -5.56984752e-01 -2.73913470e-02 1.01432823e+02] [ 5.56730714e-01 8.30521779e-01 -1.68667286e-02 2.93625412e+01] [ 3.21436209e-02 -1.24902358e-03 9.99482480e-01 3.29170807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.270714057 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:101.44, Y:29.38, Z:3.30 [[ 8.21507562e-01 -5.69541504e-01 -2.73459327e-02 1.01444075e+02] [ 5.69291993e-01 8.21960912e-01 -1.69377086e-02 2.93837089e+01] [ 3.21240158e-02 -1.65336484e-03 9.99482523e-01 3.29502177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30071405700001 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:101.49, Y:29.40, Z:3.29 [[ 8.26099097e-01 -5.62886437e-01 -2.68167992e-02 1.01485671e+02] [ 5.62606242e-01 8.26534142e-01 -1.77631192e-02 2.93963357e+01] [ 3.21636190e-02 -4.13201934e-04 9.99482532e-01 3.29189705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33071405700001 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:101.52, Y:29.41, Z:3.29 [[ 8.24585646e-01 -5.65074681e-01 -2.73700156e-02 1.01515309e+02] [ 5.64824017e-01 8.25038350e-01 -1.68982582e-02 2.94140802e+01] [ 3.21300903e-02 -1.52518101e-03 9.99482532e-01 3.29269102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.360714057 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:101.54, Y:29.43, Z:3.29 [[ 8.20858379e-01 -5.70471406e-01 -2.74571532e-02 1.01543311e+02] [ 5.70228256e-01 8.21315270e-01 -1.67619599e-02 2.94313392e+01] [ 3.21131980e-02 -1.89764932e-03 9.99482437e-01 3.28883716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.390714057 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:101.58, Y:29.45, Z:3.29 [[ 8.22432886e-01 -5.68197906e-01 -2.74825147e-02 1.01576910e+02] [ 5.67954813e-01 8.22889844e-01 -1.67222754e-02 2.94456122e+01] [ 3.21166441e-02 -1.85587727e-03 9.99482404e-01 3.29190447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.420714057 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:101.59, Y:29.46, Z:3.30 [[ 8.14647587e-01 -5.79291883e-01 -2.77528908e-02 1.01587871e+02] [ 5.79069381e-01 8.15115390e-01 -1.62957746e-02 2.94617863e+01] [ 3.20618184e-02 -2.79553586e-03 9.99481978e-01 3.29539201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.450714057 meters Centerline goodness : 0.986289 Centerline is valid? [True, True] Translation: X:101.61, Y:29.48, Z:3.30 [[ 8.11183854e-01 -5.84168052e-01 -2.69896611e-02 1.01605167e+02] [ 5.83908250e-01 8.11631209e-01 -1.74910521e-02 2.94775582e+01] [ 3.21233651e-02 -1.57102675e-03 9.99482677e-01 3.29610455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.480714057 meters Centerline goodness : 0.995370 Centerline is valid? [True, True] Translation: X:101.63, Y:29.50, Z:3.30 [[ 8.08712561e-01 -5.87598131e-01 -2.66913822e-02 1.01633526e+02] [ 5.87324840e-01 8.09152089e-01 -1.79563283e-02 2.94973437e+01] [ 3.21484926e-02 -1.15500355e-03 9.99482436e-01 3.29718832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.510714057 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:101.67, Y:29.51, Z:3.30 [[ 8.14907360e-01 -5.78957935e-01 -2.70869688e-02 1.01669828e+02] [ 5.78700323e-01 8.15355946e-01 -1.73383357e-02 2.95083987e+01] [ 3.21236881e-02 -1.54610021e-03 9.99482705e-01 3.30027846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.540714057 meters Centerline goodness : 0.987497 Centerline is valid? [True, True] Translation: X:101.68, Y:29.52, Z:3.30 [[ 8.11727933e-01 -5.83396815e-01 -2.73115204e-02 1.01681209e+02] [ 5.83153440e-01 8.12184448e-01 -1.69849117e-02 2.95244437e+01] [ 3.20909356e-02 -2.13967980e-03 9.99482663e-01 3.30079775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.570714057 meters Centerline goodness : 0.987109 Centerline is valid? [True, True] Translation: X:101.71, Y:29.54, Z:3.30 [[ 8.12573894e-01 -5.82248696e-01 -2.66481360e-02 1.01705787e+02] [ 5.81970118e-01 8.13010283e-01 -1.80294618e-02 2.95389519e+01] [ 3.21628392e-02 -8.58148849e-04 9.99482274e-01 3.30236190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.600714057 meters Centerline goodness : 0.986926 Centerline is valid? [True, True] Translation: X:101.73, Y:29.55, Z:3.30 [[ 8.13039014e-01 -5.81602444e-01 -2.65736306e-02 1.01729706e+02] [ 5.81319689e-01 8.13472873e-01 -1.81467244e-02 2.95532818e+01] [ 3.21711069e-02 -6.93779761e-04 9.99482135e-01 3.30411606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.630714057 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:101.76, Y:29.57, Z:3.31 [[ 8.12039561e-01 -5.82997502e-01 -2.65643349e-02 1.01761169e+02] [ 5.82715014e-01 8.12473617e-01 -1.81613457e-02 2.95723398e+01] [ 3.21708404e-02 -7.31705611e-04 9.99482117e-01 3.30581878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.660714057 meters Centerline goodness : 0.986478 Centerline is valid? [True, True] Translation: X:101.78, Y:29.58, Z:3.31 [[ 8.13448938e-01 -5.81001900e-01 -2.71591133e-02 1.01777257e+02] [ 5.80749226e-01 8.13900293e-01 -1.72234981e-02 2.95816555e+01] [ 3.21116954e-02 -1.76219782e-03 9.99482733e-01 3.30719388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.69071405700001 meters Centerline goodness : 0.986611 Centerline is valid? [True, True] Translation: X:101.80, Y:29.60, Z:3.31 [[ 8.13281594e-01 -5.81262354e-01 -2.65918113e-02 1.01800021e+02] [ 5.80980487e-01 8.13715897e-01 -1.81138699e-02 2.95966941e+01] [ 3.21670903e-02 -7.17646476e-04 9.99482248e-01 3.30923013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72071405700001 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:101.83, Y:29.62, Z:3.31 [[ 8.10675681e-01 -5.84895073e-01 -2.65083723e-02 1.01831118e+02] [ 5.84610877e-01 8.11108658e-01 -1.82446634e-02 2.96157302e+01] [ 3.21723840e-02 -7.06577867e-04 9.99482085e-01 3.30651766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.750714057 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:101.86, Y:29.63, Z:3.31 [[ 8.10303762e-01 -5.85381740e-01 -2.71299074e-02 1.01858238e+02] [ 5.85130013e-01 8.10755620e-01 -1.72682165e-02 2.96311386e+01] [ 3.21042235e-02 -1.88202223e-03 9.99482755e-01 3.30567913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.780714057 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:101.90, Y:29.64, Z:3.31 [[ 8.17674710e-01 -5.75040715e-01 -2.71338229e-02 1.01903795e+02] [ 5.74783472e-01 8.18123452e-01 -1.72620618e-02 2.96437126e+01] [ 3.21252052e-02 -1.48132150e-03 9.99482755e-01 3.30823802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.810714057 meters Centerline goodness : 0.987369 Centerline is valid? [True, True] Translation: X:101.92, Y:29.65, Z:3.31 [[ 8.13731297e-01 -5.80579367e-01 -2.77303741e-02 1.01918365e+02] [ 5.80357294e-01 8.14198752e-01 -1.63035064e-02 2.96512395e+01] [ 3.20435154e-02 -2.82685144e-03 9.99482477e-01 3.30558461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.840714057 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:101.95, Y:29.67, Z:3.31 [[ 8.11638788e-01 -5.83549560e-01 -2.66906024e-02 1.01949130e+02] [ 5.83273798e-01 8.12076928e-01 -1.79649671e-02 2.96706957e+01] [ 3.21582711e-02 -9.86864891e-04 9.99482302e-01 3.30652480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.870714057 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:101.99, Y:29.68, Z:3.31 [[ 8.17632485e-01 -5.75093968e-01 -2.72772357e-02 1.01993916e+02] [ 5.74844600e-01 8.18085467e-01 -1.70251144e-02 2.96815274e+01] [ 3.21061507e-02 -1.75988506e-03 9.99482915e-01 3.30885539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.900714057 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:102.00, Y:29.70, Z:3.31 [[ 8.08929198e-01 -5.87245473e-01 -2.78622909e-02 1.02003433e+02] [ 5.87034634e-01 8.09401986e-01 -1.60861086e-02 2.97014843e+01] [ 3.19982881e-02 -3.34360682e-03 9.99482331e-01 3.30863643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.930714057 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:102.03, Y:29.72, Z:3.31 [[ 8.08206377e-01 -5.88267585e-01 -2.72708827e-02 1.02031015e+02] [ 5.88025322e-01 8.08663154e-01 -1.70330260e-02 2.97175699e+01] [ 3.20729351e-02 -2.26976932e-03 9.99482954e-01 3.30933843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.960714057 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:102.08, Y:29.73, Z:3.31 [[ 8.15729333e-01 -5.77790433e-01 -2.72739898e-02 1.02075798e+02] [ 5.77542462e-01 8.16183037e-01 -1.70280494e-02 2.97285879e+01] [ 3.20992118e-02 -1.86160783e-03 9.99482954e-01 3.31249456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.990714057 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:102.09, Y:29.75, Z:3.31 [[ 8.07305959e-01 -5.89475326e-01 -2.78554971e-02 1.02085162e+02] [ 5.89265478e-01 8.07779141e-01 -1.60952094e-02 2.97490771e+01] [ 3.19888184e-02 -3.42052438e-03 9.99482374e-01 3.31090199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.020714057 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:102.13, Y:29.76, Z:3.31 [[ 8.14888680e-01 -5.78975816e-01 -2.72661429e-02 1.02131831e+02] [ 5.78728159e-01 8.15342512e-01 -1.70383776e-02 2.97595814e+01] [ 3.20960540e-02 -1.89530363e-03 9.99482992e-01 3.31432958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05071405700001 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:102.13, Y:29.78, Z:3.32 [[ 8.06110246e-01 -5.91107163e-01 -2.79032900e-02 1.02134072e+02] [ 5.90900966e-01 8.06585102e-01 -1.60163224e-02 2.97783695e+01] [ 3.19737409e-02 -3.57715947e-03 9.99482308e-01 3.31682607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08071405700001 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:102.17, Y:29.79, Z:3.31 [[ 8.04740161e-01 -5.93010260e-01 -2.70574481e-02 1.02166218e+02] [ 5.92759467e-01 8.05192262e-01 -1.73676536e-02 2.97947833e+01] [ 3.20856446e-02 -2.06211011e-03 9.99482996e-01 3.31497245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.110714057 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:102.20, Y:29.81, Z:3.32 [[ 8.04193485e-01 -5.93742030e-01 -2.72624315e-02 1.02195420e+02] [ 5.93502639e-01 8.04651643e-01 -1.70396976e-02 2.98114414e+01] [ 3.20539450e-02 -2.47711123e-03 9.99483071e-01 3.31544392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.140714057 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:102.22, Y:29.83, Z:3.31 [[ 8.03348220e-01 -5.94884973e-01 -2.72673069e-02 1.02223518e+02] [ 5.94646497e-01 8.03806854e-01 -1.70318924e-02 2.98274096e+01] [ 3.20496650e-02 -2.53186805e-03 9.99483071e-01 3.31498910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.170714057 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:102.25, Y:29.84, Z:3.32 [[ 8.01871360e-01 -5.96873996e-01 -2.72718559e-02 1.02252885e+02] [ 5.96636903e-01 8.02330710e-01 -1.70246052e-02 2.98419906e+01] [ 3.20425917e-02 -2.61985230e-03 9.99483071e-01 3.31537415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.200714057 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:102.28, Y:29.86, Z:3.32 [[ 8.01572551e-01 -5.97274999e-01 -2.72767604e-02 1.02281299e+02] [ 5.97038400e-01 8.02032156e-01 -1.70167436e-02 2.98586777e+01] [ 3.20405145e-02 -2.64511881e-03 9.99483071e-01 3.31596949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.230714057 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:102.31, Y:29.88, Z:3.32 [[ 8.01730932e-01 -5.97062162e-01 -2.72816450e-02 1.02309057e+02] [ 5.96825705e-01 8.02190610e-01 -1.70089090e-02 2.98752391e+01] [ 3.20404554e-02 -2.64581855e-03 9.99483071e-01 3.31592048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.260714057 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:102.34, Y:29.89, Z:3.32 [[ 8.02330923e-01 -5.96255443e-01 -2.72861858e-02 1.02337587e+02] [ 5.96018770e-01 8.02790490e-01 -1.70016215e-02 2.98926012e+01] [ 3.20423998e-02 -2.62215224e-03 9.99483071e-01 3.31833522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.290714057 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:102.36, Y:29.91, Z:3.32 [[ 8.03071937e-01 -5.95256944e-01 -2.72880034e-02 1.02364963e+02] [ 5.95019797e-01 8.03531259e-01 -1.69987036e-02 2.99097482e+01] [ 3.20453601e-02 -2.58572042e-03 9.99483071e-01 3.31943774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.320714057 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:102.39, Y:29.93, Z:3.32 [[ 8.04832251e-01 -5.92874497e-01 -2.72924827e-02 1.02392207e+02] [ 5.92636232e-01 8.05290994e-01 -1.69915088e-02 2.99278386e+01] [ 3.20522227e-02 -2.49919986e-03 9.99483071e-01 3.32084928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.350714057 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:102.44, Y:29.94, Z:3.32 [[ 8.12192210e-01 -5.82751070e-01 -2.72947746e-02 1.02442436e+02] [ 5.82507203e-01 8.12648000e-01 -1.69878262e-02 2.99411486e+01] [ 3.20807179e-02 -2.10202269e-03 9.99483071e-01 3.31722409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.380714057 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:102.44, Y:29.96, Z:3.32 [[ 8.06720501e-01 -5.90260551e-01 -2.81871607e-02 1.02442638e+02] [ 5.90069855e-01 8.07202434e-01 -1.55498027e-02 2.99609390e+01] [ 3.19311799e-02 -4.08804925e-03 9.99481709e-01 3.32195225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.410714057 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:102.49, Y:29.98, Z:3.32 [[ 8.13356124e-01 -5.81126054e-01 -2.72823098e-02 1.02492368e+02] [ 5.80880801e-01 8.13811054e-01 -1.70018742e-02 2.99757543e+01] [ 3.20828773e-02 -2.01919141e-03 9.99483172e-01 3.31906324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44071405700001 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:102.49, Y:29.99, Z:3.33 [[ 8.07287743e-01 -5.89486981e-01 -2.81353734e-02 1.02493037e+02] [ 5.89293084e-01 8.07768157e-01 -1.56290197e-02 2.99943286e+01] [ 3.19399624e-02 -3.96286492e-03 9.99481933e-01 3.32521360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47071405700001 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:102.52, Y:30.01, Z:3.33 [[ 8.07429531e-01 -5.89333435e-01 -2.72700415e-02 1.02520668e+02] [ 5.89092323e-01 8.07886560e-01 -1.70159001e-02 3.00128724e+01] [ 3.20591389e-02 -2.32543184e-03 9.99483268e-01 3.32643189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.500714057 meters Centerline goodness : 0.987622 Centerline is valid? [True, True] Translation: X:102.54, Y:30.03, Z:3.32 [[ 8.06265217e-01 -5.90925106e-01 -2.72748717e-02 1.02541952e+02] [ 5.90685155e-01 8.06722858e-01 -1.70081543e-02 3.00280994e+01] [ 3.20538078e-02 -2.39777858e-03 9.99483269e-01 3.32199651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.530714057 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:102.57, Y:30.04, Z:3.33 [[ 8.06433861e-01 -5.90700479e-01 -2.71545835e-02 1.02568319e+02] [ 5.90453944e-01 8.06888015e-01 -1.72009113e-02 3.00430833e+01] [ 3.20712945e-02 -2.16213360e-03 9.99483245e-01 3.32719538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.560714057 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:102.60, Y:30.06, Z:3.33 [[ 8.06332569e-01 -5.90833383e-01 -2.72708935e-02 1.02595418e+02] [ 5.90593168e-01 8.06790070e-01 -1.70144907e-02 3.00603834e+01] [ 3.20546151e-02 -2.38666539e-03 9.99483269e-01 3.32731738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.590714057 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:102.62, Y:30.08, Z:3.33 [[ 8.06245699e-01 -5.90951712e-01 -2.72753961e-02 1.02622428e+02] [ 5.90711806e-01 8.06703362e-01 -1.70072696e-02 3.00777905e+01] [ 3.20536288e-02 -2.39986056e-03 9.99483269e-01 3.32790813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.620714057 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:102.65, Y:30.10, Z:3.33 [[ 8.06011866e-01 -5.91270547e-01 -2.72765882e-02 1.02650135e+02] [ 5.91030886e-01 8.06469658e-01 -1.70053575e-02 3.00955026e+01] [ 3.20525078e-02 -2.41478615e-03 9.99483269e-01 3.32899349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.650714057 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:102.68, Y:30.11, Z:3.33 [[ 8.05732118e-01 -5.91651624e-01 -2.72783770e-02 1.02676540e+02] [ 5.91412276e-01 8.06190074e-01 -1.70024876e-02 3.01126559e+01] [ 3.20511061e-02 -2.43331672e-03 9.99483269e-01 3.33117349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.680714057 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:102.71, Y:30.13, Z:3.33 [[ 8.05793349e-01 -5.91568188e-01 -2.72792619e-02 1.02705040e+02] [ 5.91328840e-01 8.06251305e-01 -1.70010677e-02 3.01303040e+01] [ 3.20512313e-02 -2.43166698e-03 9.99483269e-01 3.33225099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.710714057 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:102.73, Y:30.15, Z:3.33 [[ 8.05226390e-01 -5.92339604e-01 -2.72810220e-02 1.02733139e+02] [ 5.92100790e-01 8.05684625e-01 -1.69982429e-02 3.01464380e+01] [ 3.20486324e-02 -2.46568089e-03 9.99483269e-01 3.33288179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.740714057 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:102.76, Y:30.16, Z:3.33 [[ 8.06685623e-01 -5.90340575e-01 -2.75011066e-02 1.02764016e+02] [ 5.90112527e-01 8.07149401e-01 -1.66447882e-02 3.01598473e+01] [ 3.20235956e-02 -2.80163619e-03 9.99483187e-01 3.33114593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.770714057 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:102.78, Y:30.18, Z:3.33 [[ 8.03342182e-01 -5.94865876e-01 -2.78554687e-02 1.02779818e+02] [ 5.94659842e-01 8.03816684e-01 -1.60751385e-02 3.01761667e+01] [ 3.19532419e-02 -3.65069179e-03 9.99482698e-01 3.33398914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80071405700001 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:102.80, Y:30.19, Z:3.34 [[ 8.03637697e-01 -5.94483897e-01 -2.74835967e-02 1.02801443e+02] [ 5.94257338e-01 8.04102160e-01 -1.66712883e-02 3.01898694e+01] [ 3.20104319e-02 -2.93465322e-03 9.99483227e-01 3.33702483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83071405700001 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:102.83, Y:30.21, Z:3.34 [[ 8.02479822e-01 -5.96052909e-01 -2.73324741e-02 1.02830155e+02] [ 5.95819075e-01 8.02940578e-01 -1.69132839e-02 3.02060887e+01] [ 3.20275646e-02 -2.71264041e-03 9.99483305e-01 3.33501784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.860714057 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:102.86, Y:30.22, Z:3.33 [[ 8.02591859e-01 -5.95888098e-01 -2.76348194e-02 1.02861050e+02] [ 5.95670473e-01 8.03060810e-01 -1.64323802e-02 3.02239311e+01] [ 3.19843002e-02 -3.27275139e-03 9.99483013e-01 3.33324428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.890714057 meters Centerline goodness : 0.993295 Centerline is valid? [True, True] Translation: X:102.87, Y:30.24, Z:3.34 [[ 7.99600793e-01 -5.99888281e-01 -2.77960970e-02 1.02874653e+02] [ 5.99681851e-01 8.00075053e-01 -1.61736676e-02 3.02405086e+01] [ 3.19413574e-02 -3.73633750e-03 9.99482761e-01 3.34100127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.920714057 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:102.90, Y:30.26, Z:3.34 [[ 7.98616996e-01 -6.01222273e-01 -2.72520208e-02 1.02895905e+02] [ 6.00987013e-01 7.99077045e-01 -1.70436524e-02 3.02563923e+01] [ 3.20234877e-02 -2.76676010e-03 9.99483287e-01 3.34275293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.950714057 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:102.92, Y:30.27, Z:3.34 [[ 7.98248424e-01 -6.01711658e-01 -2.72494799e-02 1.02924029e+02] [ 6.01476543e-01 7.98708547e-01 -1.70477139e-02 3.02729136e+01] [ 3.20222007e-02 -2.78161224e-03 9.99483287e-01 3.33837561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.980714057 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:102.95, Y:30.29, Z:3.34 [[ 7.99326428e-01 -6.00267461e-01 -2.74997708e-02 1.02949368e+02] [ 6.00045067e-01 7.99792956e-01 -1.66476538e-02 3.02872616e+01] [ 3.19871679e-02 -3.19419219e-03 9.99483176e-01 3.34044685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.010714057 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:102.98, Y:30.31, Z:3.34 [[ 7.98081237e-01 -6.01920288e-01 -2.75373770e-02 1.02976512e+02] [ 6.01700896e-01 7.98549230e-01 -1.65879048e-02 3.03069253e+01] [ 3.19745476e-02 -3.33076883e-03 9.99483134e-01 3.34341166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.040714057 meters Centerline goodness : 0.992371 Centerline is valid? [True, True] Translation: X:102.99, Y:30.32, Z:3.34 [[ 7.95954855e-01 -6.04729110e-01 -2.75422066e-02 1.02991595e+02] [ 6.04511632e-01 7.96423747e-01 -1.65801923e-02 3.03234945e+01] [ 3.19617923e-02 -3.45249969e-03 9.99483128e-01 3.34401133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.070714057 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:103.02, Y:30.34, Z:3.35 [[ 8.00049033e-01 -5.99322996e-01 -2.70830259e-02 1.03021438e+02] [ 5.99077628e-01 8.00503783e-01 -1.73115242e-02 3.03382876e+01] [ 3.20552592e-02 -2.37476674e-03 9.99483277e-01 3.34758790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.100714057 meters Centerline goodness : 0.993449 Centerline is valid? [True, True] Translation: X:103.04, Y:30.36, Z:3.35 [[ 7.99157404e-01 -6.00498325e-01 -2.73715973e-02 1.03041237e+02] [ 6.00269133e-01 7.99620524e-01 -1.68518861e-02 3.03557916e+01] [ 3.20064203e-02 -2.96301545e-03 9.99483271e-01 3.34835819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.130714057 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:103.07, Y:30.37, Z:3.35 [[ 8.01119442e-01 -5.97888719e-01 -2.71425572e-02 1.03069052e+02] [ 5.97645734e-01 8.01575435e-01 -1.72162392e-02 3.03740598e+01] [ 3.20502023e-02 -2.42936956e-03 9.99483308e-01 3.34865608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.160714057 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:103.09, Y:30.39, Z:3.35 [[ 8.02977966e-01 -5.95377799e-01 -2.74164692e-02 1.03094600e+02] [ 5.95148005e-01 8.03440853e-01 -1.67823340e-02 3.03907281e+01] [ 3.20193405e-02 -2.84101251e-03 9.99483212e-01 3.35266958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.19071405700001 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:103.11, Y:30.41, Z:3.35 [[ 7.99806472e-01 -5.99635522e-01 -2.73285347e-02 1.03107175e+02] [ 5.99403459e-01 8.00268167e-01 -1.69220275e-02 3.04087371e+01] [ 3.20172051e-02 -2.84647106e-03 9.99483265e-01 3.35074040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22071405700001 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:103.14, Y:30.42, Z:3.35 [[ 8.05370693e-01 -5.92162757e-01 -2.68573435e-02 1.03143323e+02] [ 5.91901460e-01 8.05816660e-01 -1.76684015e-02 3.04231332e+01] [ 3.21046642e-02 -1.66728808e-03 9.99483122e-01 3.35252705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.250714057 meters Centerline goodness : 0.995027 Centerline is valid? [True, True] Translation: X:103.16, Y:30.44, Z:3.35 [[ 8.00626743e-01 -5.98528906e-01 -2.75675109e-02 1.03157183e+02] [ 5.98308975e-01 8.01094630e-01 -1.65458028e-02 3.04431658e+01] [ 3.19873262e-02 -3.24687702e-03 9.99483001e-01 3.35041024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.280714057 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:103.20, Y:30.46, Z:3.35 [[ 8.05503482e-01 -5.91968693e-01 -2.71515375e-02 1.03195477e+02] [ 5.91722819e-01 8.05957929e-01 -1.72023766e-02 3.04588872e+01] [ 3.20662654e-02 -2.20961008e-03 9.99483303e-01 3.35339889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.310714057 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:103.23, Y:30.48, Z:3.35 [[ 8.06933466e-01 -5.89997012e-01 -2.76026772e-02 1.03225603e+02] [ 5.89774048e-01 8.07399952e-01 -1.64890740e-02 3.04757262e+01] [ 3.20149046e-02 -2.97375701e-03 9.99482968e-01 3.35199464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.340714057 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:103.25, Y:30.49, Z:3.35 [[ 8.06573392e-01 -5.90484009e-01 -2.77127847e-02 1.03253889e+02] [ 5.90267245e-01 8.07042999e-01 -1.63149285e-02 3.04929761e+01] [ 3.19991133e-02 -3.19876190e-03 9.99482779e-01 3.35307193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.370714057 meters Centerline goodness : 0.985199 Centerline is valid? [True, True] Translation: X:103.27, Y:30.50, Z:3.35 [[ 8.05257913e-01 -5.92273435e-01 -2.77825674e-02 1.03270246e+02] [ 5.92061558e-01 8.05729858e-01 -1.62021154e-02 3.05048205e+01] [ 3.19813267e-02 -3.40210848e-03 9.99482676e-01 3.35292937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.400714057 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:103.30, Y:30.52, Z:3.35 [[ 8.08576042e-01 -5.87774197e-01 -2.69495346e-02 1.03301533e+02] [ 5.87514681e-01 8.09023345e-01 -1.75421403e-02 3.05223456e+01] [ 3.21136201e-02 -1.64909280e-03 9.99482864e-01 3.35453116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.430714057 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:103.32, Y:30.54, Z:3.36 [[ 8.05271438e-01 -5.92257004e-01 -2.77408239e-02 1.03316641e+02] [ 5.92042224e-01 8.05742330e-01 -1.62881152e-02 3.05423278e+01] [ 3.19987064e-02 -3.30738515e-03 9.99482438e-01 3.35898452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.460714057 meters Centerline goodness : 0.994095 Centerline is valid? [True, True] Translation: X:103.34, Y:30.56, Z:3.36 [[ 8.06522679e-01 -5.90567976e-01 -2.73976963e-02 1.03343655e+02] [ 5.90333816e-01 8.06983710e-01 -1.68308287e-02 3.05603314e+01] [ 3.20492430e-02 -2.59934156e-03 9.99482911e-01 3.36056123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.490714057 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:103.37, Y:30.58, Z:3.36 [[ 8.07866626e-01 -5.88726731e-01 -2.74290267e-02 1.03371094e+02] [ 5.88493187e-01 8.08328000e-01 -1.67813353e-02 3.05784398e+01] [ 3.20512710e-02 -2.58471462e-03 9.99482884e-01 3.36152883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.520714057 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:103.39, Y:30.60, Z:3.36 [[ 8.10902401e-01 -5.84537010e-01 -2.74550566e-02 1.03394814e+02] [ 5.84302464e-01 8.11363295e-01 -1.67402124e-02 3.05964656e+01] [ 3.20612989e-02 -2.46737882e-03 9.99482859e-01 3.36459659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55071405700001 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:103.41, Y:30.61, Z:3.37 [[ 8.08826797e-01 -5.87409808e-01 -2.73665840e-02 1.03407693e+02] [ 5.87172176e-01 8.09286033e-01 -1.68805488e-02 3.06139385e+01] [ 3.20631941e-02 -2.41545645e-03 9.99482925e-01 3.36616433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58071405700001 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:103.44, Y:30.63, Z:3.37 [[ 8.13403625e-01 -5.81079244e-01 -2.68599236e-02 1.03440933e+02] [ 5.80811431e-01 8.13846072e-01 -1.76819976e-02 3.06307043e+01] [ 3.21344851e-02 -1.21794973e-03 9.99482812e-01 3.36707584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.610714057 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:103.47, Y:30.65, Z:3.37 [[ 8.15467110e-01 -5.78154595e-01 -2.73981109e-02 1.03466993e+02] [ 5.77913304e-01 8.15924524e-01 -1.68340512e-02 3.06475843e+01] [ 3.20874746e-02 -2.10611768e-03 9.99482845e-01 3.36963086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.640714057 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:103.49, Y:30.67, Z:3.37 [[ 8.12365196e-01 -5.82507646e-01 -2.73428416e-02 1.03485307e+02] [ 5.82265886e-01 8.12822314e-01 -1.69211321e-02 3.06698859e+01] [ 3.20815606e-02 -2.17466513e-03 9.99482888e-01 3.36825668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.670714057 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:103.51, Y:30.69, Z:3.37 [[ 8.13731683e-01 -5.80606681e-01 -2.71409258e-02 1.03512108e+02] [ 5.80353258e-01 8.14182358e-01 -1.72390301e-02 3.06873358e+01] [ 3.21067591e-02 -1.72337973e-03 9.99482959e-01 3.36909804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.700714057 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:103.55, Y:30.70, Z:3.37 [[ 8.20792968e-01 -5.70580437e-01 -2.71453325e-02 1.03548236e+02] [ 5.70321733e-01 8.21240632e-01 -1.72320884e-02 3.06996226e+01] [ 3.21251426e-02 -1.33759614e-03 9.99482959e-01 3.37121381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.730714057 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:103.59, Y:30.72, Z:3.37 [[ 8.24737038e-01 -5.64855157e-01 -2.73398823e-02 1.03586254e+02] [ 5.64603438e-01 8.25188749e-01 -1.69259221e-02 3.07184472e+01] [ 3.21212576e-02 -1.47675671e-03 9.99482888e-01 3.36932935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.760714057 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:103.60, Y:30.73, Z:3.37 [[ 8.21739039e-01 -5.69180401e-01 -2.79037969e-02 1.03600611e+02] [ 5.68960799e-01 8.22208244e-01 -1.60378599e-02 3.07336774e+01] [ 3.20711674e-02 -2.69723099e-03 9.99481948e-01 3.37111661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.790714057 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:103.64, Y:30.75, Z:3.37 [[ 8.22782283e-01 -5.67696047e-01 -2.73955036e-02 1.03641160e+02] [ 5.67448869e-01 8.23236498e-01 -1.68359806e-02 3.07533112e+01] [ 3.21106980e-02 -1.69320099e-03 9.99482884e-01 3.36573969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.820714057 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:103.67, Y:30.77, Z:3.37 [[ 8.21159233e-01 -5.70010456e-01 -2.80284618e-02 1.03665203e+02] [ 5.69798018e-01 8.21632095e-01 -1.58404084e-02 3.07695905e+01] [ 3.20582822e-02 -2.96306435e-03 9.99481609e-01 3.36660510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.850714057 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:103.69, Y:30.78, Z:3.37 [[ 8.22663726e-01 -5.67845704e-01 -2.78504921e-02 1.03686309e+02] [ 5.67622567e-01 8.23131076e-01 -1.61199924e-02 3.07826517e+01] [ 3.20782740e-02 -2.54723479e-03 9.99482114e-01 3.36934890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.880714057 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:103.72, Y:30.80, Z:3.37 [[ 8.20385299e-01 -5.71146402e-01 -2.75635498e-02 1.03718982e+02] [ 5.70910017e-01 8.20845416e-01 -1.65697540e-02 3.08032311e+01] [ 3.20891688e-02 -2.14272409e-03 9.99482713e-01 3.36874549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.910714057 meters Centerline goodness : 0.995173 Centerline is valid? [True, True] Translation: X:103.75, Y:30.82, Z:3.37 [[ 8.19501144e-01 -5.72400813e-01 -2.78421270e-02 1.03746248e+02] [ 5.72179800e-01 8.19969494e-01 -1.61339748e-02 3.08205025e+01] [ 3.20647951e-02 -2.70889186e-03 9.99482121e-01 3.37055519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94071405700001 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:103.75, Y:30.84, Z:3.38 [[ 8.12800324e-01 -5.81874417e-01 -2.78889969e-02 1.03745995e+02] [ 5.81661350e-01 8.13272481e-01 -1.60607148e-02 3.08381021e+01] [ 3.20266727e-02 -3.16779738e-03 9.99481994e-01 3.37720001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97071405700001 meters Centerline goodness : 0.995658 Centerline is valid? [True, True] Translation: X:103.77, Y:30.86, Z:3.38 [[ 8.12478862e-01 -5.82368355e-01 -2.69295080e-02 1.03772931e+02] [ 5.82105508e-01 8.12923795e-01 -1.75522370e-02 3.08561516e+01] [ 3.21135053e-02 -1.41499339e-03 9.99483227e-01 3.37806119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.000714057 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:103.80, Y:30.87, Z:3.38 [[ 8.11601202e-01 -5.83589980e-01 -2.69485387e-02 1.03802931e+02] [ 5.83328781e-01 8.12047098e-01 -1.75226404e-02 3.08743602e+01] [ 3.21095200e-02 -1.49846225e-03 9.99483233e-01 3.38021069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.030714057 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:103.83, Y:30.89, Z:3.38 [[ 8.11147049e-01 -5.84216629e-01 -2.70443416e-02 1.03830213e+02] [ 5.83960719e-01 8.11595983e-01 -1.73735105e-02 3.08909874e+01] [ 3.20989727e-02 -1.70036136e-03 9.99483249e-01 3.38083555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.060714057 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:103.87, Y:30.91, Z:3.38 [[ 8.13957862e-01 -5.80293926e-01 -2.70473396e-02 1.03872679e+02] [ 5.80036006e-01 8.14405645e-01 -1.73688419e-02 3.09060382e+01] [ 3.21065395e-02 -1.55092538e-03 9.99483249e-01 3.38153488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.090714057 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:103.90, Y:30.92, Z:3.38 [[ 8.13748274e-01 -5.80559986e-01 -2.76378357e-02 1.03902163e+02] [ 5.80333021e-01 8.14213151e-01 -1.64477664e-02 3.09230531e+01] [ 3.20520043e-02 -2.65480716e-03 9.99482677e-01 3.38045345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.120714057 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:103.93, Y:30.94, Z:3.38 [[ 8.12625535e-01 -5.82127644e-01 -2.76973954e-02 1.03927273e+02] [ 5.81904717e-01 8.13092501e-01 -1.63549453e-02 3.09411067e+01] [ 3.20412103e-02 -2.82679890e-03 9.99482551e-01 3.38249406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.150714057 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:103.95, Y:30.96, Z:3.39 [[ 8.11336720e-01 -5.83926450e-01 -2.76157289e-02 1.03949477e+02] [ 5.83700254e-01 8.11801919e-01 -1.64820184e-02 3.09589497e+01] [ 3.20427882e-02 -2.74684128e-03 9.99482724e-01 3.38558503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.180714057 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:103.96, Y:30.98, Z:3.38 [[ 8.08914968e-01 -5.87285054e-01 -2.74379331e-02 1.03963749e+02] [ 5.87051446e-01 8.09376152e-01 -1.67584026e-02 3.09772006e+01] [ 3.20495681e-02 -2.55135557e-03 9.99483024e-01 3.38455346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.210714057 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:104.00, Y:31.00, Z:3.39 [[ 8.14053807e-01 -5.80160664e-01 -2.70185602e-02 1.04003362e+02] [ 5.79901329e-01 8.14500685e-01 -1.74092720e-02 3.09953152e+01] [ 3.21068106e-02 -1.49601481e-03 9.99483324e-01 3.38796705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.240714057 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:104.03, Y:31.01, Z:3.39 [[ 8.13534851e-01 -5.80862603e-01 -2.75623491e-02 1.04026716e+02] [ 5.80631892e-01 8.13997693e-01 -1.65638508e-02 3.10127984e+01] [ 3.20570101e-02 -2.52830900e-03 9.99482844e-01 3.38985205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.270714057 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:104.05, Y:31.03, Z:3.39 [[ 8.13886771e-01 -5.80375869e-01 -2.74257918e-02 1.04051744e+02] [ 5.80137754e-01 8.14345600e-01 -1.67758871e-02 3.10320684e+01] [ 3.20703930e-02 -2.25706466e-03 9.99483064e-01 3.39225721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30071405700001 meters Centerline goodness : 0.995193 Centerline is valid? [True, True] Translation: X:104.08, Y:31.05, Z:3.39 [[ 8.16575824e-01 -5.76587229e-01 -2.74060492e-02 1.04084827e+02] [ 5.76345959e-01 8.17032971e-01 -1.68065460e-02 3.10498910e+01] [ 3.20820856e-02 -2.07154654e-03 9.99483091e-01 3.38912747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33071405700001 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:104.11, Y:31.07, Z:3.39 [[ 8.15674667e-01 -5.77845479e-01 -2.77387799e-02 1.04108860e+02] [ 5.77622320e-01 8.16141604e-01 -1.62891669e-02 3.10672635e+01] [ 3.20513938e-02 -2.73587768e-03 9.99482478e-01 3.39106773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.360714057 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:104.14, Y:31.09, Z:3.39 [[ 8.14370307e-01 -5.79688194e-01 -2.76152278e-02 1.04135928e+02] [ 5.79459604e-01 8.14834303e-01 -1.64810893e-02 3.10852132e+01] [ 3.20557278e-02 -2.58019919e-03 9.99482753e-01 3.39179177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.390714057 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:104.16, Y:31.10, Z:3.40 [[ 8.11543146e-01 -5.83637398e-01 -2.76606304e-02 1.04157011e+02] [ 5.83413450e-01 8.12009506e-01 -1.64106404e-02 3.11024240e+01] [ 3.20385583e-02 -2.81964106e-03 9.99482656e-01 3.39726415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.420714057 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:104.19, Y:31.12, Z:3.39 [[ 8.10382399e-01 -5.85259087e-01 -2.74257084e-02 1.04187301e+02] [ 5.85023785e-01 8.10842644e-01 -1.67742990e-02 3.11213145e+01] [ 3.20552448e-02 -2.45109509e-03 9.99483093e-01 3.39439121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.450714057 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:104.20, Y:31.14, Z:3.40 [[ 8.04862474e-01 -5.92817837e-01 -2.76298831e-02 1.04195756e+02] [ 5.92597583e-01 8.05330513e-01 -1.64581366e-02 3.11377879e+01] [ 3.20078649e-02 -3.12686544e-03 9.99482726e-01 3.39728466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.480714057 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:104.23, Y:31.16, Z:3.40 [[ 8.04820693e-01 -5.92904776e-01 -2.69736517e-02 1.04230628e+02] [ 5.92650429e-01 8.05270279e-01 -1.74713232e-02 3.11550841e+01] [ 3.20799110e-02 -1.92466380e-03 9.99483454e-01 3.40075547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.510714057 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:104.26, Y:31.17, Z:3.40 [[ 8.04341456e-01 -5.93539885e-01 -2.72988614e-02 1.04257656e+02] [ 5.93302756e-01 8.04800542e-01 -1.69684122e-02 3.11723618e+01] [ 3.20415678e-02 -2.54809233e-03 9.99483289e-01 3.40100181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.540714057 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:104.28, Y:31.19, Z:3.40 [[ 8.03884597e-01 -5.94157025e-01 -2.73310232e-02 1.04284775e+02] [ 5.93921929e-01 8.04344766e-01 -1.69186197e-02 3.11907361e+01] [ 3.20358822e-02 -2.63187624e-03 9.99483254e-01 3.40250031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.570714057 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:104.31, Y:31.21, Z:3.40 [[ 8.02329606e-01 -5.96254529e-01 -2.73448317e-02 1.04309259e+02] [ 5.96021357e-01 8.02790773e-01 -1.68972713e-02 3.12098024e+01] [ 3.20272530e-02 -2.74092266e-03 9.99483238e-01 3.40427408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.600714057 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:104.34, Y:31.23, Z:3.41 [[ 8.02297851e-01 -5.96299800e-01 -2.72893139e-02 1.04337270e+02] [ 5.96063755e-01 8.02757482e-01 -1.69830651e-02 3.12281400e+01] [ 3.20336992e-02 -2.64069424e-03 9.99483301e-01 3.40538802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.630714057 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:104.36, Y:31.25, Z:3.41 [[ 8.02282003e-01 -5.96321678e-01 -2.72771700e-02 1.04364311e+02] [ 5.96085013e-01 8.02741301e-01 -1.70018150e-02 3.12463928e+01] [ 3.20350618e-02 -2.61926206e-03 9.99483314e-01 3.40696812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.660714057 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:104.39, Y:31.26, Z:3.41 [[ 8.03454033e-01 -5.94739028e-01 -2.73332356e-02 1.04387625e+02] [ 5.94504379e-01 8.03914435e-01 -1.69152502e-02 3.12635829e+01] [ 3.20337421e-02 -2.65910232e-03 9.99483251e-01 3.40791882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.69071405700001 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:104.42, Y:31.28, Z:3.41 [[ 8.05250477e-01 -5.92309461e-01 -2.72244689e-02 1.04419259e+02] [ 5.92067775e-01 8.05707093e-01 -1.70830379e-02 3.12819130e+01] [ 3.20533927e-02 -2.36260630e-03 9.99483366e-01 3.40850235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72071405700001 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:104.44, Y:31.30, Z:3.41 [[ 8.03394913e-01 -5.94813987e-01 -2.74396644e-02 1.04442942e+02] [ 5.94584934e-01 8.03858294e-01 -1.67511242e-02 3.13011354e+01] [ 3.20214048e-02 -2.85744311e-03 9.99483099e-01 3.41187953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.750714057 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:104.47, Y:31.32, Z:3.41 [[ 8.05694211e-01 -5.91699480e-01 -2.73598917e-02 1.04465855e+02] [ 5.91464480e-01 8.06154472e-01 -1.68741217e-02 3.13196670e+01] [ 3.20407081e-02 -2.58702192e-03 9.99483217e-01 3.41277816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.780714057 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:104.50, Y:31.34, Z:3.42 [[ 8.05278063e-01 -5.92271367e-01 -2.72372594e-02 1.04495832e+02] [ 5.92030328e-01 8.05735031e-01 -1.70631227e-02 3.13404800e+01] [ 3.20520131e-02 -2.38472526e-03 9.99483357e-01 3.41508042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.810714057 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:104.52, Y:31.36, Z:3.42 [[ 8.06658108e-01 -5.90382739e-01 -2.74028948e-02 1.04519976e+02] [ 5.90149219e-01 8.07119192e-01 -1.68079929e-02 3.13586252e+01] [ 3.20405512e-02 -2.61349326e-03 9.99483153e-01 3.41648883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.840714057 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:104.55, Y:31.38, Z:3.42 [[ 8.07619476e-01 -5.89072082e-01 -2.72922013e-02 1.04550767e+02] [ 5.88832078e-01 8.08077050e-01 -1.69783671e-02 3.13771423e+01] [ 3.20556836e-02 -2.35846361e-03 9.99483302e-01 3.41535556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.870714057 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:104.57, Y:31.39, Z:3.42 [[ 8.06483697e-01 -5.90616825e-01 -2.74920571e-02 1.04570337e+02] [ 5.90388084e-01 8.06947335e-01 -1.66705778e-02 3.13933985e+01] [ 3.20305659e-02 -2.78643374e-03 9.99483006e-01 3.41909231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.900714057 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:104.60, Y:31.41, Z:3.42 [[ 8.05791867e-01 -5.91571938e-01 -2.72416956e-02 1.04596696e+02] [ 5.91330750e-01 8.06248750e-01 -1.70557083e-02 3.14122716e+01] [ 3.20532614e-02 -2.36550128e-03 9.99483363e-01 3.42188260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.930714057 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:104.62, Y:31.43, Z:3.42 [[ 8.05130008e-01 -5.92473152e-01 -2.72256369e-02 1.04623985e+02] [ 5.92231645e-01 8.05586704e-01 -1.70804006e-02 3.14306092e+01] [ 3.20522899e-02 -2.37194066e-03 9.99483379e-01 3.42308213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.960714057 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:104.65, Y:31.45, Z:3.42 [[ 8.04277908e-01 -5.93630387e-01 -2.72031509e-02 1.04650980e+02] [ 5.93388376e-01 8.04734313e-01 -1.71149177e-02 3.14499140e+01] [ 3.20512441e-02 -2.37688336e-03 9.99483401e-01 3.42366537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.990714057 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:104.68, Y:31.47, Z:3.42 [[ 8.04768681e-01 -5.92963367e-01 -2.72363032e-02 1.04678442e+02] [ 5.92722689e-01 8.05225827e-01 -1.70640141e-02 3.14679767e+01] [ 3.20497100e-02 -2.41099082e-03 9.99483368e-01 3.42371684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.020714057 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:104.71, Y:31.49, Z:3.42 [[ 8.05427567e-01 -5.92065724e-01 -2.72876012e-02 1.04709858e+02] [ 5.91827184e-01 8.05885899e-01 -1.69853515e-02 3.14863878e+01] [ 3.20471374e-02 -2.46907382e-03 9.99483309e-01 3.42139928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05071405700001 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:104.71, Y:31.51, Z:3.42 [[ 7.96854058e-01 -6.03544514e-01 -2.75250868e-02 1.04710362e+02] [ 6.03324982e-01 7.97322215e-01 -1.66207918e-02 3.15063282e+01] [ 3.19777509e-02 -3.36222714e-03 9.99482926e-01 3.42112108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08071405700001 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:104.74, Y:31.53, Z:3.43 [[ 7.97633700e-01 -6.02555658e-01 -2.65924750e-02 1.04742400e+02] [ 6.02287633e-01 7.98075210e-01 -1.80434614e-02 3.15264588e+01] [ 3.20949848e-02 -1.62424594e-03 9.99483504e-01 3.42765887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.110714057 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:104.78, Y:31.54, Z:3.43 [[ 8.01568241e-01 -5.97298534e-01 -2.68852390e-02 1.04781261e+02] [ 5.97042465e-01 8.02016627e-01 -1.75961545e-02 3.15416461e+01] [ 3.20725660e-02 -1.94711069e-03 9.99483646e-01 3.42711071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.140714057 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:104.79, Y:31.56, Z:3.43 [[ 7.97643244e-01 -6.02507608e-01 -2.73831492e-02 1.04793127e+02] [ 6.02280196e-01 7.98107254e-01 -1.68338056e-02 3.15609066e+01] [ 3.19971859e-02 -3.06495717e-03 9.99483260e-01 3.42969680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.170714057 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:104.82, Y:31.58, Z:3.43 [[ 7.97687354e-01 -6.02471693e-01 -2.68838866e-02 1.04819278e+02] [ 6.02218514e-01 7.98137345e-01 -1.75965978e-02 3.15788697e+01] [ 3.20584859e-02 -2.15339072e-03 9.99483675e-01 3.43102613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.200714057 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:104.86, Y:31.59, Z:3.43 [[ 8.02676248e-01 -5.95808596e-01 -2.68878774e-02 1.04855381e+02] [ 5.95551881e-01 8.03124231e-01 -1.75904976e-02 3.15923414e+01] [ 3.20748756e-02 -1.89365139e-03 9.99483675e-01 3.43085185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.230714057 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:104.87, Y:31.61, Z:3.43 [[ 7.95607561e-01 -6.05200520e-01 -2.72202226e-02 1.04870128e+02] [ 6.04966248e-01 7.96067870e-01 -1.70816959e-02 3.16136414e+01] [ 3.20069959e-02 -2.87698960e-03 9.99483504e-01 3.43194306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.260714057 meters Centerline goodness : 0.995193 Centerline is valid? [True, True] Translation: X:104.89, Y:31.63, Z:3.43 [[ 7.94808608e-01 -6.06264085e-01 -2.68911956e-02 1.04889121e+02] [ 6.06013445e-01 7.95260006e-01 -1.75848626e-02 3.16305544e+01] [ 3.20465630e-02 -2.31982588e-03 9.99483685e-01 3.43297518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.290714057 meters Centerline goodness : 0.995643 Centerline is valid? [True, True] Translation: X:104.92, Y:31.65, Z:3.43 [[ 7.94210903e-01 -6.07060246e-01 -2.65875643e-02 1.04922401e+02] [ 6.06794544e-01 7.94653775e-01 -1.80487842e-02 3.16484377e+01] [ 3.20846077e-02 -1.79864782e-03 9.99483538e-01 3.43431752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.320714057 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:104.95, Y:31.66, Z:3.43 [[ 7.98045868e-01 -6.01996123e-01 -2.68972389e-02 1.04954229e+02] [ 6.01743401e-01 7.98496089e-01 -1.75748556e-02 3.16612979e+01] [ 3.20573350e-02 -2.15969512e-03 9.99483698e-01 3.43267404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.350714057 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:104.97, Y:31.68, Z:3.44 [[ 7.92909886e-01 -6.08739407e-01 -2.70231068e-02 1.04973483e+02] [ 6.08497008e-01 7.93365775e-01 -1.73820894e-02 3.16824786e+01] [ 3.20203709e-02 -2.66104917e-03 9.99483674e-01 3.43505259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.380714057 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:105.00, Y:31.70, Z:3.43 [[ 7.93312199e-01 -6.08220524e-01 -2.68988658e-02 1.04999273e+02] [ 6.07971419e-01 7.93764429e-01 -1.75722737e-02 3.17015859e+01] [ 3.20391803e-02 -2.41344253e-03 9.99483700e-01 3.43328287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.410714057 meters Centerline goodness : 0.995139 Centerline is valid? [True, True] Translation: X:105.03, Y:31.72, Z:3.43 [[ 7.94141720e-01 -6.07136831e-01 -2.69034817e-02 1.05025129e+02] [ 6.06887346e-01 7.94593741e-01 -1.75652037e-02 3.17196909e+01] [ 3.20418203e-02 -2.37812158e-03 9.99483700e-01 3.43431956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44071405700001 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:105.05, Y:31.74, Z:3.44 [[ 7.94923435e-01 -6.06112874e-01 -2.69056751e-02 1.05052034e+02] [ 6.05862920e-01 7.95375197e-01 -1.75618434e-02 3.17384445e+01] [ 3.20445660e-02 -2.34082999e-03 9.99483700e-01 3.43542619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47071405700001 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:105.08, Y:31.76, Z:3.44 [[ 7.95833662e-01 -6.04917164e-01 -2.69073972e-02 1.05078846e+02] [ 6.04666619e-01 7.96285096e-01 -1.75592043e-02 3.17566977e+01] [ 3.20478235e-02 -2.29579903e-03 9.99483700e-01 3.43907258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.500714057 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:105.10, Y:31.77, Z:3.44 [[ 7.98785309e-01 -6.01013973e-01 -2.69115906e-02 1.05096295e+02] [ 6.00761436e-01 7.99235633e-01 -1.75527752e-02 3.17724835e+01] [ 3.20581653e-02 -2.14654686e-03 9.99483700e-01 3.43998202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.530714057 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:105.14, Y:31.79, Z:3.45 [[ 8.02402713e-01 -5.96188019e-01 -2.66408089e-02 1.05139975e+02] [ 5.95918943e-01 8.02843523e-01 -1.79691426e-02 3.17911661e+01] [ 3.21013884e-02 -1.45727388e-03 9.99483555e-01 3.44587889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.560714057 meters Centerline goodness : 0.994010 Centerline is valid? [True, True] Translation: X:105.17, Y:31.81, Z:3.44 [[ 8.03906745e-01 -5.94127746e-01 -2.73160389e-02 1.05165675e+02] [ 5.93892216e-01 8.04366457e-01 -1.69303978e-02 3.18077743e+01] [ 3.20309245e-02 -2.61232193e-03 9.99483464e-01 3.44198356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.590714057 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:105.19, Y:31.82, Z:3.44 [[ 8.06791501e-01 -5.90208824e-01 -2.72216386e-02 1.05185528e+02] [ 5.89966179e-01 8.07247379e-01 -1.70756314e-02 3.18215961e+01] [ 3.20527847e-02 -2.28337183e-03 9.99483569e-01 3.44171915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.620714057 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:105.20, Y:31.85, Z:3.45 [[ 8.02790202e-01 -5.95655590e-01 -2.68758130e-02 1.05201571e+02] [ 5.95398244e-01 8.03237780e-01 -1.76068247e-02 3.18452992e+01] [ 3.20752719e-02 -1.86722555e-03 9.99483712e-01 3.44665073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.650714057 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:105.24, Y:31.86, Z:3.45 [[ 8.08205688e-01 -5.88298768e-01 -2.66106319e-02 1.05238429e+02] [ 5.88023895e-01 8.08642922e-01 -1.80145404e-02 3.18607951e+01] [ 3.21164310e-02 -1.08823343e-03 9.99483542e-01 3.44641275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.680714057 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:105.26, Y:31.88, Z:3.44 [[ 8.07279806e-01 -5.89552605e-01 -2.69636920e-02 1.05255389e+02] [ 5.89296393e-01 8.07728009e-01 -1.74706804e-02 3.18791453e+01] [ 3.20792144e-02 -1.78587899e-03 9.99483734e-01 3.44005441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.710714057 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:105.29, Y:31.90, Z:3.44 [[ 8.09790749e-01 -5.86113372e-01 -2.66469072e-02 1.05287135e+02] [ 5.85839218e-01 8.10228345e-01 -1.79566266e-02 3.18978805e+01] [ 3.21146985e-02 -1.06969315e-03 9.99483618e-01 3.44399126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.740714057 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:105.31, Y:31.92, Z:3.44 [[ 8.08476996e-01 -5.87916009e-01 -2.68274689e-02 1.05307460e+02] [ 5.87651975e-01 8.08920639e-01 -1.76792863e-02 3.19167726e+01] [ 3.20952287e-02 -1.47191880e-03 9.99483732e-01 3.44104847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.770714057 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:105.33, Y:31.93, Z:3.44 [[ 8.09574800e-01 -5.86410706e-01 -2.66669621e-02 1.05333915e+02] [ 5.86137728e-01 8.10013107e-01 -1.79257054e-02 3.19343909e+01] [ 3.21124144e-02 -1.11831321e-03 9.99483638e-01 3.44270485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80071405700001 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:105.36, Y:31.95, Z:3.45 [[ 8.12305818e-01 -5.82619298e-01 -2.67210056e-02 1.05363994e+02] [ 5.82346999e-01 8.12744495e-01 -1.78425740e-02 3.19528497e+01] [ 3.21127781e-02 -1.06727077e-03 9.99483682e-01 3.44974102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83071405700001 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:105.39, Y:31.97, Z:3.45 [[ 8.12232597e-01 -5.82712491e-01 -2.69139575e-02 1.05385936e+02] [ 5.82450028e-01 8.12677133e-01 -1.75454326e-02 3.19720113e+01] [ 3.20963006e-02 -1.42506305e-03 9.99483765e-01 3.45243833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.860714057 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:105.43, Y:31.99, Z:3.45 [[ 8.20651989e-01 -5.70802043e-01 -2.67458716e-02 1.05428395e+02] [ 5.70524675e-01 8.21087455e-01 -1.78041367e-02 3.19893151e+01] [ 3.21233372e-02 -6.48179524e-04 9.99483702e-01 3.44910545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.890714057 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:105.46, Y:32.01, Z:3.45 [[ 8.23567081e-01 -5.66554764e-01 -2.74401644e-02 1.05459772e+02] [ 5.66310339e-01 8.24022212e-01 -1.67330525e-02 3.20066155e+01] [ 3.20914956e-02 -1.75885765e-03 9.99483388e-01 3.44918090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.920714057 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:105.47, Y:32.03, Z:3.46 [[ 8.18665259e-01 -5.73608005e-01 -2.75871276e-02 1.05467438e+02] [ 5.73375064e-01 8.19126699e-01 -1.65071908e-02 3.20282188e+01] [ 3.20660096e-02 -2.30390743e-03 9.99483098e-01 3.45742117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.950714057 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:105.51, Y:32.04, Z:3.46 [[ 8.25319537e-01 -5.64018834e-01 -2.70262426e-02 1.05506051e+02] [ 5.63752113e-01 8.25761431e-01 -1.73670409e-02 3.20431809e+01] [ 3.21125669e-02 -9.02743241e-04 9.99483851e-01 3.45662648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.980714057 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:105.53, Y:32.06, Z:3.46 [[ 8.24973959e-01 -5.64500340e-01 -2.75196909e-02 1.05532526e+02] [ 5.64258910e-01 8.25430815e-01 -1.66088018e-02 3.20608648e+01] [ 3.20912752e-02 -1.82640186e-03 9.99483274e-01 3.45907275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.010714057 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:105.55, Y:32.07, Z:3.46 [[ 8.24950062e-01 -5.64534005e-01 -2.75454559e-02 1.05549883e+02] [ 5.64293911e-01 8.25407682e-01 -1.65692491e-02 3.20749631e+01] [ 3.20901355e-02 -1.87492998e-03 9.99483220e-01 3.45968335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.040714057 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:105.58, Y:32.10, Z:3.46 [[ 8.21449544e-01 -5.69635971e-01 -2.71202357e-02 1.05579856e+02] [ 5.69377153e-01 8.21896086e-01 -1.72186062e-02 3.20950119e+01] [ 3.20983531e-02 -1.29742638e-03 9.99483873e-01 3.46302982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.070714057 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:105.61, Y:32.11, Z:3.46 [[ 8.17832331e-01 -5.74803230e-01 -2.74139648e-02 1.05605535e+02] [ 5.74562162e-01 8.18289130e-01 -1.67696699e-02 3.21113466e+01] [ 3.20718098e-02 -2.03624865e-03 9.99483493e-01 3.46042256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.100714057 meters Centerline goodness : 0.994540 Centerline is valid? [True, True] Translation: X:105.63, Y:32.13, Z:3.46 [[ 8.17309842e-01 -5.75545716e-01 -2.74180813e-02 1.05630605e+02] [ 5.75305273e-01 8.17766979e-01 -1.67633744e-02 3.21259291e+01] [ 3.20696899e-02 -2.07289586e-03 9.99483486e-01 3.46140302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.130714057 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:105.66, Y:32.14, Z:3.46 [[ 8.15165191e-01 -5.78583954e-01 -2.73188616e-02 1.05662655e+02] [ 5.78340145e-01 8.15620355e-01 -1.69148676e-02 3.21433153e+01] [ 3.20684906e-02 -2.01118313e-03 9.99483650e-01 3.45832471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.160714057 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:105.69, Y:32.16, Z:3.46 [[ 8.14893711e-01 -5.78956944e-01 -2.75153901e-02 1.05685861e+02] [ 5.78723409e-01 8.15354629e-01 -1.66146282e-02 3.21582375e+01] [ 3.20539550e-02 -2.38464429e-03 9.99483295e-01 3.45787985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.19071405700001 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:105.70, Y:32.18, Z:3.46 [[ 8.09528878e-01 -5.86442313e-01 -2.73570522e-02 1.05697312e+02] [ 5.86204880e-01 8.09987467e-01 -1.68565229e-02 3.21755912e+01] [ 3.20442476e-02 -2.39099544e-03 9.99483591e-01 3.46187662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22071405700001 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:105.73, Y:32.19, Z:3.46 [[ 8.08935580e-01 -5.87283498e-01 -2.68573970e-02 1.05725379e+02] [ 5.87021121e-01 8.09379887e-01 -1.76182264e-02 3.21927632e+01] [ 3.20847306e-02 -1.51384917e-03 9.99484006e-01 3.46493036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.250714057 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:105.77, Y:32.21, Z:3.46 [[ 8.12686240e-01 -5.82082028e-01 -2.68623928e-02 1.05769808e+02] [ 5.81817058e-01 8.13129004e-01 -1.76106061e-02 3.22104727e+01] [ 3.20934080e-02 -1.31710106e-03 9.99484006e-01 3.46438715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.280714057 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:105.78, Y:32.22, Z:3.47 [[ 8.07610600e-01 -5.89069950e-01 -2.75991470e-02 1.05777686e+02] [ 5.88846597e-01 8.08076703e-01 -1.64841910e-02 3.22248494e+01] [ 3.20125693e-02 -2.93885645e-03 9.99483146e-01 3.46783157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.310714057 meters Centerline goodness : 0.993902 Centerline is valid? [True, True] Translation: X:105.80, Y:32.24, Z:3.47 [[ 8.07236101e-01 -5.89617476e-01 -2.68534577e-02 1.05804006e+02] [ 5.89356300e-01 8.07681041e-01 -1.76206576e-02 3.22421147e+01] [ 3.20784763e-02 -1.60222347e-03 9.99484069e-01 3.46811569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.340714057 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:105.85, Y:32.26, Z:3.47 [[ 8.11294563e-01 -5.84021562e-01 -2.68318443e-02 1.05854722e+02] [ 5.83756227e-01 8.11737037e-01 -1.76536086e-02 3.22583418e+01] [ 3.20904899e-02 -1.34097949e-03 9.99484068e-01 3.46728983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.370714057 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:105.88, Y:32.28, Z:3.47 [[ 8.08768572e-01 -5.87473995e-01 -2.77074183e-02 1.05882980e+02] [ 5.87255312e-01 8.09237212e-01 -1.63197284e-02 3.22752368e+01] [ 3.20092900e-02 -3.07244514e-03 9.99482849e-01 3.46867175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.400714057 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:105.91, Y:32.29, Z:3.47 [[ 8.03842048e-01 -5.94200361e-01 -2.76386065e-02 1.05909705e+02] [ 5.93982028e-01 8.04310635e-01 -1.64241455e-02 3.22911167e+01] [ 3.19892584e-02 -3.21441683e-03 9.99483044e-01 3.47050916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.430714057 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:105.94, Y:32.31, Z:3.47 [[ 8.01331272e-01 -5.97584988e-01 -2.75748750e-02 1.05938043e+02] [ 5.97365342e-01 8.01799054e-01 -1.65204398e-02 3.23087891e+01] [ 3.19818755e-02 -3.23392960e-03 9.99483217e-01 3.47189158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.460714057 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:105.94, Y:32.32, Z:3.48 [[ 7.92509547e-01 -6.09233607e-01 -2.76229992e-02 1.05936890e+02] [ 6.09023319e-01 7.92981755e-01 -1.64479185e-02 3.23230177e+01] [ 3.19251591e-02 -3.78791818e-03 9.99483084e-01 3.48029751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.490714057 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:105.98, Y:32.34, Z:3.48 [[ 7.97564020e-01 -6.02651820e-01 -2.65031610e-02 1.05981017e+02] [ 6.02381037e-01 7.98002826e-01 -1.81266631e-02 3.23364142e+01] [ 3.20736639e-02 -1.50782734e-03 9.99484370e-01 3.47718322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.520714057 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:106.01, Y:32.35, Z:3.48 [[ 7.97467682e-01 -6.02748362e-01 -2.71975657e-02 1.06008243e+02] [ 6.02512701e-01 7.97926535e-01 -1.70789372e-02 3.23540823e+01] [ 3.19959608e-02 -2.76697826e-03 9.99484168e-01 3.47773383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55071405700001 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:106.03, Y:32.37, Z:3.48 [[ 7.95493845e-01 -6.05351858e-01 -2.71785052e-02 1.06030130e+02] [ 6.05116722e-01 7.95952938e-01 -1.71076865e-02 3.23696898e+01] [ 3.19889809e-02 -2.83710864e-03 9.99484195e-01 3.47919952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58071405700001 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:106.06, Y:32.39, Z:3.48 [[ 7.93685037e-01 -6.07731207e-01 -2.69600157e-02 1.06057638e+02] [ 6.07486317e-01 7.94138738e-01 -1.74367089e-02 3.23875440e+01] [ 3.20068250e-02 -2.53858572e-03 9.99484426e-01 3.47921942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.610714057 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:106.09, Y:32.41, Z:3.48 [[ 7.92196862e-01 -6.09669485e-01 -2.69676007e-02 1.06086624e+02] [ 6.09426090e-01 7.92651373e-01 -1.74253074e-02 3.24067249e+01] [ 3.19995839e-02 -2.63048563e-03 9.99484421e-01 3.47893836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.640714057 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:106.10, Y:32.43, Z:3.48 [[ 7.90302896e-01 -6.12115358e-01 -2.71315478e-02 1.06102203e+02] [ 6.11881732e-01 7.90762694e-01 -1.71786755e-02 3.24254543e+01] [ 3.19699469e-02 -3.02494144e-03 9.99484253e-01 3.47834971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.670714057 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:106.13, Y:32.44, Z:3.48 [[ 7.94770137e-01 -6.06321852e-01 -2.67252910e-02 1.06131730e+02] [ 6.06064335e-01 7.95216683e-01 -1.77890296e-02 3.24420106e+01] [ 3.20382746e-02 -2.05905619e-03 9.99484522e-01 3.48238788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.700714057 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:106.16, Y:32.46, Z:3.48 [[ 7.96757580e-01 -6.03704063e-01 -2.68097532e-02 1.06161021e+02] [ 6.03449320e-01 7.97205726e-01 -1.76620536e-02 3.24584000e+01] [ 3.20355423e-02 -2.10595228e-03 9.99484512e-01 3.48224808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.730714057 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:106.18, Y:32.47, Z:3.49 [[ 7.98691318e-01 -6.01138187e-01 -2.69269184e-02 1.06184321e+02] [ 6.00887910e-01 7.99142025e-01 -1.74855330e-02 3.24736434e+01] [ 3.20296537e-02 -2.21451637e-03 9.99484466e-01 3.48550225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.760714057 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:106.21, Y:32.49, Z:3.49 [[ 8.00164671e-01 -5.99181561e-01 -2.67947037e-02 1.06209580e+02] [ 5.98923530e-01 8.00610927e-01 -1.76846750e-02 3.24948582e+01] [ 3.20484638e-02 -1.89732638e-03 9.99484515e-01 3.48655193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.790714057 meters Centerline goodness : 0.992910 Centerline is valid? [True, True] Translation: X:106.24, Y:32.51, Z:3.49 [[ 8.02176626e-01 -5.96484791e-01 -2.68058602e-02 1.06236784e+02] [ 5.96225819e-01 8.02622339e-01 -1.76678828e-02 3.25132657e+01] [ 3.20536056e-02 -1.80958335e-03 9.99484513e-01 3.48787069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.820714057 meters Centerline goodness : 0.992855 Centerline is valid? [True, True] Translation: X:106.26, Y:32.53, Z:3.49 [[ 8.06768042e-01 -5.90258939e-01 -2.68274318e-02 1.06264592e+02] [ 5.89997601e-01 8.07212378e-01 -1.76354024e-02 3.25327573e+01] [ 3.20648889e-02 -1.60044137e-03 9.99484508e-01 3.48893022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.850714057 meters Centerline goodness : 0.992790 Centerline is valid? [True, True] Translation: X:106.29, Y:32.55, Z:3.49 [[ 8.08666115e-01 -5.87649559e-01 -2.69649840e-02 1.06289460e+02] [ 5.87393658e-01 8.09113682e-01 -1.74281692e-02 3.25508582e+01] [ 3.20593934e-02 -1.74549067e-03 9.99484441e-01 3.49009184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.880714057 meters Centerline goodness : 0.991561 Centerline is valid? [True, True] Translation: X:106.32, Y:32.57, Z:3.49 [[ 8.10340442e-01 -5.85341004e-01 -2.69124034e-02 1.06317504e+02] [ 5.85081202e-01 8.10785717e-01 -1.75073992e-02 3.25689870e+01] [ 3.20679910e-02 -1.55898771e-03 9.99484474e-01 3.48842749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.910714057 meters Centerline goodness : 0.992213 Centerline is valid? [True, True] Translation: X:106.35, Y:32.59, Z:3.49 [[ 8.12284053e-01 -5.82638576e-01 -2.69611886e-02 1.06345093e+02] [ 5.82379725e-01 8.12729916e-01 -1.74338674e-02 3.25880335e+01] [ 3.20698082e-02 -1.54039714e-03 9.99484444e-01 3.48925225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94071405700001 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:106.38, Y:32.61, Z:3.49 [[ 8.15181269e-01 -5.78575372e-01 -2.70192062e-02 1.06375366e+02] [ 5.78317186e-01 8.15627570e-01 -1.73464195e-02 3.26063300e+01] [ 3.20738206e-02 -1.48519508e-03 9.99484399e-01 3.48808878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97071405700001 meters Centerline goodness : 0.992221 Centerline is valid? [True, True] Translation: X:106.40, Y:32.62, Z:3.49 [[ 8.16798993e-01 -5.76281819e-01 -2.71784915e-02 1.06401615e+02] [ 5.76030332e-01 8.17249309e-01 -1.71062625e-02 3.26237329e+01] [ 3.20696315e-02 -1.68325748e-03 9.99484220e-01 3.49115124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.000714057 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:106.43, Y:32.64, Z:3.49 [[ 8.18112138e-01 -5.74416720e-01 -2.71654516e-02 1.06428987e+02] [ 5.74163556e-01 8.18561491e-01 -1.71259140e-02 3.26414001e+01] [ 3.20740039e-02 -1.58649413e-03 9.99484238e-01 3.49183107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.030714057 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:106.46, Y:32.66, Z:3.49 [[ 8.17279113e-01 -5.75600074e-01 -2.71920281e-02 1.06460094e+02] [ 5.75348889e-01 8.17729619e-01 -1.70858618e-02 3.26621956e+01] [ 3.20703501e-02 -1.68098516e-03 9.99484200e-01 3.48729918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.060714057 meters Centerline goodness : 0.992134 Centerline is valid? [True, True] Translation: X:106.48, Y:32.68, Z:3.49 [[ 8.18007394e-01 -5.74551135e-01 -2.74753853e-02 1.06480628e+02] [ 5.74313618e-01 8.18465857e-01 -1.66585762e-02 3.26759655e+01] [ 3.20588686e-02 -2.15264941e-03 9.99483664e-01 3.49354703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.090714057 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:106.51, Y:32.69, Z:3.49 [[ 8.19138339e-01 -5.72950868e-01 -2.71971233e-02 1.06505965e+02] [ 5.72698502e-01 8.19588180e-01 -1.70775226e-02 3.26928742e+01] [ 3.20750221e-02 -1.58689829e-03 9.99484204e-01 3.49473445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.120714057 meters Centerline goodness : 0.991745 Centerline is valid? [True, True] Translation: X:106.53, Y:32.71, Z:3.50 [[ 8.17169068e-01 -5.75759329e-01 -2.71276399e-02 1.06530763e+02] [ 5.75505038e-01 8.17617714e-01 -1.71821167e-02 3.27108749e+01] [ 3.20728029e-02 -1.57139914e-03 9.99484300e-01 3.49927031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.150714057 meters Centerline goodness : 0.992475 Centerline is valid? [True, True] Translation: X:106.56, Y:32.73, Z:3.50 [[ 8.17451099e-01 -5.75364242e-01 -2.70127602e-02 1.06563987e+02] [ 5.75104035e-01 8.17896185e-01 -1.73545044e-02 3.27286685e+01] [ 3.20787948e-02 -1.34868868e-03 9.99484433e-01 3.49678669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.180714057 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:106.59, Y:32.74, Z:3.50 [[ 8.17728502e-01 -5.74956222e-01 -2.73027380e-02 1.06589493e+02] [ 5.74710232e-01 8.18182069e-01 -1.69189444e-02 3.27446379e+01] [ 3.20662630e-02 -1.85605980e-03 9.99484022e-01 3.49802004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.210714057 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:106.60, Y:32.76, Z:3.49 [[ 8.10670678e-01 -5.84869943e-01 -2.72066483e-02 1.06600756e+02] [ 5.84624655e-01 8.11124438e-01 -1.70634034e-02 3.27644140e+01] [ 3.20478490e-02 -2.07287656e-03 9.99484186e-01 3.49385315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.240714057 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:106.63, Y:32.78, Z:3.49 [[ 8.10331274e-01 -5.85362829e-01 -2.67130106e-02 1.06629048e+02] [ 5.85093243e-01 8.10770567e-01 -1.78040742e-02 3.27823707e+01] [ 3.20799659e-02 -1.20240388e-03 9.99484582e-01 3.49424263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.270714057 meters Centerline goodness : 0.992435 Centerline is valid? [True, True] Translation: X:106.67, Y:32.80, Z:3.50 [[ 8.14744407e-01 -5.79204368e-01 -2.67179916e-02 1.06674353e+02] [ 5.78931705e-01 8.15181797e-01 -1.77965961e-02 3.27954308e+01] [ 3.20878866e-02 -9.68215257e-04 9.99484582e-01 3.50015773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30071405700001 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:106.70, Y:32.81, Z:3.50 [[ 8.14658765e-01 -5.79296607e-01 -2.73228495e-02 1.06702222e+02] [ 5.79054108e-01 8.15114213e-01 -1.68866870e-02 3.28121527e+01] [ 3.20536434e-02 -2.06452070e-03 9.99484018e-01 3.50131471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33071405700001 meters Centerline goodness : 0.992738 Centerline is valid? [True, True] Translation: X:106.73, Y:32.83, Z:3.50 [[ 8.12755431e-01 -5.81963727e-01 -2.73281699e-02 1.06727661e+02] [ 5.81722991e-01 8.13211824e-01 -1.68786899e-02 3.28301884e+01] [ 3.20463761e-02 -2.17917785e-03 9.99484007e-01 3.50209479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.360714057 meters Centerline goodness : 0.992897 Centerline is valid? [True, True] Translation: X:106.75, Y:32.85, Z:3.50 [[ 8.11088683e-01 -5.84288984e-01 -2.72310775e-02 1.06754086e+02] [ 5.84044682e-01 8.11542968e-01 -1.70241163e-02 3.28467918e+01] [ 3.20461931e-02 -2.09609793e-03 9.99484191e-01 3.50358659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.390714057 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:106.78, Y:32.86, Z:3.50 [[ 8.10210972e-01 -5.85506018e-01 -2.72191652e-02 1.06783145e+02] [ 5.85261802e-01 8.10665280e-01 -1.70419326e-02 3.28634394e+01] [ 3.20437863e-02 -2.12277688e-03 9.99484212e-01 3.50450046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.420714057 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:106.81, Y:32.88, Z:3.50 [[ 8.07109571e-01 -5.89769250e-01 -2.73197956e-02 1.06805597e+02] [ 5.89532497e-01 8.07568026e-01 -1.68913563e-02 3.28798137e+01] [ 3.20245959e-02 -2.47273196e-03 9.99484022e-01 3.50404626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.450714057 meters Centerline goodness : 0.993183 Centerline is valid? [True, True] Translation: X:106.83, Y:32.90, Z:3.50 [[ 8.04944563e-01 -5.92729453e-01 -2.71301806e-02 1.06832256e+02] [ 5.92484857e-01 8.05398494e-01 -1.71743994e-02 3.28967995e+01] [ 3.20303790e-02 -2.24978178e-03 9.99484364e-01 3.50269813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.480714057 meters Centerline goodness : 0.992722 Centerline is valid? [True, True] Translation: X:106.86, Y:32.91, Z:3.50 [[ 8.03144651e-01 -5.95166343e-01 -2.71236620e-02 1.06858298e+02] [ 5.94922797e-01 8.03599136e-01 -1.71841272e-02 3.29133236e+01] [ 3.20239655e-02 -2.33514505e-03 9.99484373e-01 3.50253933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.510714057 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:106.87, Y:32.93, Z:3.51 [[ 7.94110183e-01 -6.07171824e-01 -2.70442704e-02 1.06870261e+02] [ 6.06931137e-01 7.94566061e-01 -1.73023107e-02 3.29333824e+01] [ 3.19939349e-02 -2.67406865e-03 9.99484486e-01 3.50768533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.540714057 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:106.90, Y:32.95, Z:3.50 [[ 7.93275623e-01 -6.08283564e-01 -2.65497770e-02 1.06898827e+02] [ 6.08018853e-01 7.93717670e-01 -1.80370111e-02 3.29509844e+01] [ 3.20446446e-02 -1.83444374e-03 9.99484755e-01 3.50277474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.570714057 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:106.93, Y:32.97, Z:3.51 [[ 7.90894766e-01 -6.11372351e-01 -2.66330214e-02 1.06925106e+02] [ 6.11113502e-01 7.91340258e-01 -1.79132459e-02 3.29676085e+01] [ 3.20274453e-02 -2.10830657e-03 9.99484766e-01 3.50918886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.600714057 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:106.97, Y:32.98, Z:3.51 [[ 7.95977167e-01 -6.04743010e-01 -2.65752059e-02 1.06965265e+02] [ 6.04477587e-01 7.96418781e-01 -1.79992338e-02 3.29815732e+01] [ 3.20499039e-02 -1.73713721e-03 9.99484760e-01 3.50533074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.630714057 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:107.00, Y:33.00, Z:3.50 [[ 7.93747251e-01 -6.07645160e-01 -2.70677001e-02 1.06995010e+02] [ 6.07405990e-01 7.94203922e-01 -1.72653858e-02 3.30016165e+01] [ 3.19885017e-02 -2.73673069e-03 9.99484490e-01 3.50464083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.660714057 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:107.02, Y:33.02, Z:3.51 [[ 7.94591080e-01 -6.06534057e-01 -2.72296259e-02 1.07018102e+02] [ 6.06302430e-01 7.95051913e-01 -1.70240891e-02 3.30180906e+01] [ 3.19746560e-02 -2.98219900e-03 9.99484231e-01 3.50646219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.69071405700001 meters Centerline goodness : 0.994118 Centerline is valid? [True, True] Translation: X:107.04, Y:33.04, Z:3.51 [[ 7.94902558e-01 -6.06134996e-01 -2.70238966e-02 1.07044458e+02] [ 6.05892765e-01 7.95357542e-01 -1.73302606e-02 3.30373594e+01] [ 3.19981374e-02 -2.59771499e-03 9.99484553e-01 3.50785564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72071405700001 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:107.07, Y:33.06, Z:3.51 [[ 7.96506101e-01 -6.04025547e-01 -2.70401244e-02 1.07069335e+02] [ 6.03782926e-01 7.96960900e-01 -1.73061072e-02 3.30562400e+01] [ 3.20032527e-02 -2.54194548e-03 9.99484532e-01 3.51046073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.750714057 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:107.10, Y:33.08, Z:3.51 [[ 7.98098341e-01 -6.01921668e-01 -2.70063659e-02 1.07095865e+02] [ 6.01676157e-01 7.98551539e-01 -1.73563474e-02 3.30754019e+01] [ 3.20131366e-02 -2.39701439e-03 9.99484574e-01 3.51148071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.780714057 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:107.12, Y:33.09, Z:3.52 [[ 8.01069035e-01 -5.97962084e-01 -2.70138365e-02 1.07120107e+02] [ 5.97714704e-01 8.01521226e-01 -1.73452281e-02 3.30944498e+01] [ 3.20239521e-02 -2.25184212e-03 9.99484565e-01 3.51614443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.810714057 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:107.15, Y:33.11, Z:3.52 [[ 8.02522470e-01 -5.96010501e-01 -2.70031166e-02 1.07146020e+02] [ 5.95761487e-01 8.02973748e-01 -1.73611842e-02 3.31141618e+01] [ 3.20302419e-02 -2.15467647e-03 9.99484578e-01 3.51701532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.840714057 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:107.17, Y:33.13, Z:3.52 [[ 8.03152511e-01 -5.95163733e-01 -2.69476144e-02 1.07172877e+02] [ 5.94911490e-01 8.03601919e-01 -1.74435152e-02 3.31342089e+01] [ 3.20369023e-02 -2.02164238e-03 9.99484642e-01 3.51788937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.870714057 meters Centerline goodness : 0.992510 Centerline is valid? [True, True] Translation: X:107.20, Y:33.15, Z:3.52 [[ 8.05892682e-01 -5.91444078e-01 -2.70349515e-02 1.07196747e+02] [ 5.91194084e-01 8.06343465e-01 -1.73139271e-02 3.31515273e+01] [ 3.20396761e-02 -2.02973621e-03 9.99484537e-01 3.51938852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.900714057 meters Centerline goodness : 0.991919 Centerline is valid? [True, True] Translation: X:107.22, Y:33.17, Z:3.52 [[ 8.06523034e-01 -5.90586119e-01 -2.69931702e-02 1.07224241e+02] [ 5.90333570e-01 8.06972333e-01 -1.73761040e-02 3.31701024e+01] [ 3.20448274e-02 -1.92074643e-03 9.99484587e-01 3.52114396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.930714057 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:107.25, Y:33.19, Z:3.52 [[ 8.06707576e-01 -5.90334540e-01 -2.69817959e-02 1.07254431e+02] [ 5.90081288e-01 8.07156464e-01 -1.73929752e-02 3.31901375e+01] [ 3.20462049e-02 -1.89040800e-03 9.99484601e-01 3.52143877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.960714057 meters Centerline goodness : 0.992911 Centerline is valid? [True, True] Translation: X:107.28, Y:33.21, Z:3.52 [[ 8.05208932e-01 -5.92366716e-01 -2.72075420e-02 1.07276787e+02] [ 5.92125819e-01 8.05664964e-01 -1.70581583e-02 3.32071750e+01] [ 3.20248485e-02 -2.37490670e-03 9.99484251e-01 3.52192789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.990714057 meters Centerline goodness : 0.992581 Centerline is valid? [True, True] Translation: X:107.30, Y:33.23, Z:3.52 [[ 8.04558958e-01 -5.93257775e-01 -2.70202986e-02 1.07301270e+02] [ 5.93008068e-01 8.05009878e-01 -1.73356996e-02 3.32250209e+01] [ 3.20361459e-02 -2.07566271e-03 9.99484556e-01 3.52247987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.020714057 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:107.33, Y:33.24, Z:3.52 [[ 8.04131851e-01 -5.93838150e-01 -2.69855148e-02 1.07327488e+02] [ 5.93587044e-01 8.04581943e-01 -1.73872720e-02 3.32422010e+01] [ 3.20372834e-02 -2.03659281e-03 9.99484600e-01 3.52126520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05071405700001 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:107.35, Y:33.26, Z:3.52 [[ 8.01835170e-01 -5.96938526e-01 -2.69212827e-02 1.07354121e+02] [ 5.96685977e-01 8.02284371e-01 -1.74823641e-02 3.32606439e+01] [ 3.20344210e-02 -2.04557753e-03 9.99484673e-01 3.52017479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08071405700001 meters Centerline goodness : 0.992973 Centerline is valid? [True, True] Translation: X:107.38, Y:33.28, Z:3.52 [[ 8.01087970e-01 -5.97939791e-01 -2.69456928e-02 1.07379345e+02] [ 5.97689013e-01 8.01538192e-01 -1.74462251e-02 3.32777619e+01] [ 3.20297941e-02 -2.12918343e-03 9.99484647e-01 3.52143252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.110714057 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:107.41, Y:33.30, Z:3.52 [[ 8.01221924e-01 -5.97762371e-01 -2.68993559e-02 1.07406161e+02] [ 5.97509199e-01 8.01670748e-01 -1.75148216e-02 3.32951444e+01] [ 3.20341280e-02 -2.03935352e-03 9.99484695e-01 3.52230021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.140714057 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:107.43, Y:33.31, Z:3.52 [[ 8.00720063e-01 -5.98431232e-01 -2.69711224e-02 1.07433805e+02] [ 5.98181996e-01 8.01171171e-01 -1.74084348e-02 3.33141216e+01] [ 3.20262368e-02 -2.19435686e-03 9.99484620e-01 3.52164192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.170714057 meters Centerline goodness : 0.992968 Centerline is valid? [True, True] Translation: X:107.46, Y:33.33, Z:3.52 [[ 8.01183717e-01 -5.97808155e-01 -2.70196431e-02 1.07460116e+02] [ 5.97560976e-01 8.01636027e-01 -1.73366518e-02 3.33320681e+01] [ 3.20239112e-02 -2.25604117e-03 9.99484557e-01 3.52404856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.200714057 meters Centerline goodness : 0.992425 Centerline is valid? [True, True] Translation: X:107.48, Y:33.35, Z:3.53 [[ 8.02378640e-01 -5.96201589e-01 -2.70588832e-02 1.07482246e+02] [ 5.95955452e-01 8.02831582e-01 -1.72785905e-02 3.33486281e+01] [ 3.20252491e-02 -2.26191708e-03 9.99484501e-01 3.52712020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.230714057 meters Centerline goodness : 0.994621 Centerline is valid? [True, True] Translation: X:107.50, Y:33.37, Z:3.53 [[ 7.96059198e-01 -6.04620410e-01 -2.69056213e-02 1.07495743e+02] [ 6.04371416e-01 7.96510358e-01 -1.75054484e-02 3.33729584e+01] [ 3.20147574e-02 -2.32561520e-03 9.99484691e-01 3.52876894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.260714057 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:107.54, Y:33.39, Z:3.53 [[ 8.02900040e-01 -5.95520594e-01 -2.65847269e-02 1.07535859e+02] [ 5.95250727e-01 8.03338841e-01 -1.79799252e-02 3.33872069e+01] [ 3.20639595e-02 -1.38849537e-03 9.99484855e-01 3.53034283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.290714057 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:107.56, Y:33.40, Z:3.53 [[ 8.03609589e-01 -5.94542955e-01 -2.70241338e-02 1.07561693e+02] [ 5.94294186e-01 8.04061017e-01 -1.73291790e-02 3.34044814e+01] [ 3.20319938e-02 -2.13439124e-03 9.99484565e-01 3.53179984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.320714057 meters Centerline goodness : 0.992778 Centerline is valid? [True, True] Translation: X:107.59, Y:33.42, Z:3.53 [[ 8.03441703e-01 -5.94771570e-01 -2.69853550e-02 1.07588200e+02] [ 5.94521009e-01 8.03892080e-01 -1.73865906e-02 3.34234942e+01] [ 3.20343629e-02 -2.07424855e-03 9.99484616e-01 3.53197058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.350714057 meters Centerline goodness : 0.993115 Centerline is valid? [True, True] Translation: X:107.61, Y:33.44, Z:3.53 [[ 8.04341932e-01 -5.93551773e-01 -2.70249639e-02 1.07613110e+02] [ 5.93302490e-01 8.04793078e-01 -1.73279409e-02 3.34416558e+01] [ 3.20345339e-02 -2.09638884e-03 9.99484564e-01 3.53200759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.380714057 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:107.64, Y:33.46, Z:3.53 [[ 8.03026783e-01 -5.95333163e-01 -2.69520334e-02 1.07642545e+02] [ 5.95081266e-01 8.03476369e-01 -1.74359145e-02 3.34632194e+01] [ 3.20355000e-02 -2.03714384e-03 9.99484656e-01 3.52797064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.410714057 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:107.67, Y:33.48, Z:3.53 [[ 8.02840072e-01 -5.95576428e-01 -2.71392209e-02 1.07668612e+02] [ 5.95333964e-01 8.03295119e-01 -1.71587351e-02 3.34809927e+01] [ 3.20201419e-02 -2.38117988e-03 9.99484387e-01 3.52885156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44071405700001 meters Centerline goodness : 0.993804 Centerline is valid? [True, True] Translation: X:107.69, Y:33.50, Z:3.53 [[ 8.04180351e-01 -5.93765632e-01 -2.71355377e-02 1.07693787e+02] [ 5.93521960e-01 8.04634745e-01 -1.71641877e-02 3.35003371e+01] [ 3.20257012e-02 -2.30243502e-03 9.99484394e-01 3.53019028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47071405700001 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:107.72, Y:33.52, Z:3.54 [[ 8.06356012e-01 -5.90811637e-01 -2.70479539e-02 1.07719585e+02] [ 5.90561976e-01 8.06806974e-01 -1.72933462e-02 3.35173829e+01] [ 3.20395880e-02 -2.02889940e-03 9.99484541e-01 3.53604448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.500714057 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:107.75, Y:33.54, Z:3.53 [[ 8.08034568e-01 -5.88514158e-01 -2.70411330e-02 1.07746394e+02] [ 5.88262878e-01 8.08484619e-01 -1.73034010e-02 3.35374168e+01] [ 3.20456366e-02 -1.92554857e-03 9.99484552e-01 3.53246150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.530714057 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:107.77, Y:33.55, Z:3.54 [[ 8.10592579e-01 -5.84980715e-01 -2.71520569e-02 1.07767622e+02] [ 5.84732936e-01 8.11044776e-01 -1.71395831e-02 3.35526272e+01] [ 3.20478595e-02 -1.98348307e-03 9.99484367e-01 3.53753892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.560714057 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:107.80, Y:33.57, Z:3.54 [[ 8.11340329e-01 -5.83951937e-01 -2.69630400e-02 1.07795614e+02] [ 5.83694293e-01 8.11786645e-01 -1.74188158e-02 3.35727312e+01] [ 3.20599870e-02 -1.60558484e-03 9.99484657e-01 3.53831214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.590714057 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:107.82, Y:33.59, Z:3.54 [[ 8.12085478e-01 -5.82914421e-01 -2.69806272e-02 1.07824347e+02] [ 5.82657065e-01 8.12531988e-01 -1.73929009e-02 3.35927529e+01] [ 3.20611954e-02 -1.59593081e-03 9.99484634e-01 3.53661614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.620714057 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:107.85, Y:33.61, Z:3.54 [[ 8.11928323e-01 -5.83128304e-01 -2.70883736e-02 1.07849765e+02] [ 5.82876335e-01 8.12378086e-01 -1.72343421e-02 3.36113390e+01] [ 3.20558338e-02 -1.79612149e-03 9.99484466e-01 3.53849446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.650714057 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:107.88, Y:33.63, Z:3.54 [[ 8.12776251e-01 -5.81947032e-01 -2.70632139e-02 1.07875776e+02] [ 5.81693179e-01 8.13224905e-01 -1.72713660e-02 3.36282371e+01] [ 3.20594997e-02 -1.70473079e-03 9.99484508e-01 3.53937372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.680714057 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:107.90, Y:33.65, Z:3.54 [[ 8.13234573e-01 -5.81306793e-01 -2.70544090e-02 1.07900768e+02] [ 5.81052157e-01 8.13682766e-01 -1.72843099e-02 3.36451747e+01] [ 3.20611931e-02 -1.66382429e-03 9.99484523e-01 3.54209391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.710714057 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:107.93, Y:33.66, Z:3.54 [[ 8.12335706e-01 -5.82567286e-01 -2.69454484e-02 1.07930216e+02] [ 5.82308037e-01 8.12781057e-01 -1.74442784e-02 3.36647516e+01] [ 3.20632159e-02 -1.51994098e-03 9.99484687e-01 3.54146350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.740714057 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:107.96, Y:33.68, Z:3.54 [[ 8.11283848e-01 -5.84024446e-01 -2.70917714e-02 1.07956257e+02] [ 5.83773141e-01 8.11733989e-01 -1.72293515e-02 3.36820182e+01] [ 3.20536742e-02 -1.83755388e-03 9.99484460e-01 3.54273889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.770714057 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:107.98, Y:33.70, Z:3.55 [[ 8.10931775e-01 -5.84514132e-01 -2.70718455e-02 1.07976538e+02] [ 5.84262123e-01 8.11381483e-01 -1.72586335e-02 3.36965093e+01] [ 3.20535094e-02 -1.82147968e-03 9.99484495e-01 3.54856872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80071405700001 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:107.99, Y:33.72, Z:3.55 [[ 8.03576599e-01 -5.94596529e-01 -2.68256725e-02 1.07992900e+02] [ 5.94338080e-01 8.04022253e-01 -1.76199649e-02 3.37153945e+01] [ 3.20452076e-02 -1.78452726e-03 9.99484827e-01 3.54732813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83071405700001 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:108.03, Y:33.73, Z:3.55 [[ 8.04791792e-01 -5.92964827e-01 -2.65119795e-02 1.08031943e+02] [ 5.92690268e-01 8.05227522e-01 -1.80799648e-02 3.37312779e+01] [ 3.20689588e-02 -1.16278496e-03 9.99484982e-01 3.54836182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.860714057 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:108.06, Y:33.75, Z:3.55 [[ 8.03364830e-01 -5.94880019e-01 -2.68833353e-02 1.08061966e+02] [ 5.94624543e-01 8.03812267e-01 -1.75354490e-02 3.37488537e+01] [ 3.20406429e-02 -1.89812798e-03 9.99484764e-01 3.54781842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.890714057 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:108.09, Y:33.77, Z:3.55 [[ 8.00002468e-01 -5.99389070e-01 -2.69961942e-02 1.08087868e+02] [ 5.99141664e-01 8.00454590e-01 -1.73699755e-02 3.37651210e+01] [ 3.20206010e-02 -2.27852147e-03 9.99484612e-01 3.54935404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.920714057 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:108.12, Y:33.78, Z:3.55 [[ 7.96893801e-01 -6.03521929e-01 -2.68617040e-02 1.08115960e+02] [ 6.03270260e-01 7.97343347e-01 -1.75664553e-02 3.37824227e+01] [ 3.20197420e-02 -2.20626784e-03 9.99484802e-01 3.54950620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.950714057 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:108.13, Y:33.80, Z:3.55 [[ 7.91981566e-01 -6.09949956e-01 -2.69490307e-02 1.08129410e+02] [ 6.09706239e-01 7.92435605e-01 -1.74388599e-02 3.37999996e+01] [ 3.19922033e-02 -2.61973659e-03 9.99484685e-01 3.55088713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.980714057 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:108.16, Y:33.82, Z:3.55 [[ 7.92883835e-01 -6.08797879e-01 -2.64644400e-02 1.08163588e+02] [ 6.08529820e-01 7.93323512e-01 -1.81456307e-02 3.38171257e+01] [ 3.20418839e-02 -1.71702363e-03 9.99485052e-01 3.55218742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.010714057 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:108.19, Y:33.83, Z:3.55 [[ 7.90436675e-01 -6.11958908e-01 -2.67611212e-02 1.08190249e+02] [ 6.11707107e-01 7.90886011e-01 -1.77125153e-02 3.38344823e+01] [ 3.20043279e-02 -2.36934628e-03 9.99484922e-01 3.55421509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.040714057 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:108.22, Y:33.85, Z:3.56 [[ 7.90330703e-01 -6.12096935e-01 -2.67342651e-02 1.08217826e+02] [ 6.11843895e-01 7.90779315e-01 -1.77517286e-02 3.38518447e+01] [ 3.20066825e-02 -2.32746071e-03 9.99484945e-01 3.55695545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.070714057 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:108.25, Y:33.87, Z:3.56 [[ 7.89053202e-01 -6.13739876e-01 -2.68031612e-02 1.08245189e+02] [ 6.13491160e-01 7.89504297e-01 -1.76511108e-02 3.38707875e+01] [ 3.19944015e-02 -2.51583698e-03 9.99484882e-01 3.55909611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.100714057 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:108.27, Y:33.89, Z:3.56 [[ 7.88469024e-01 -6.14490242e-01 -2.68018785e-02 1.08271588e+02] [ 6.14241892e-01 7.88920319e-01 -1.76529837e-02 3.38893991e+01] [ 3.19921328e-02 -2.54400573e-03 9.99484883e-01 3.56067859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.130714057 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:108.30, Y:33.91, Z:3.56 [[ 7.87851004e-01 -6.15283566e-01 -2.67755189e-02 1.08297992e+02] [ 6.15034371e-01 7.88301804e-01 -1.76914615e-02 3.39079179e+01] [ 3.19924554e-02 -2.52962875e-03 9.99484909e-01 3.56123447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.160714057 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:108.33, Y:33.93, Z:3.56 [[ 7.87072389e-01 -6.16280560e-01 -2.67455762e-02 1.08325218e+02] [ 6.16030462e-01 7.87522657e-01 -1.77351364e-02 3.39265640e+01] [ 3.19925670e-02 -2.51725352e-03 9.99484937e-01 3.56130310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19071405700001 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:108.35, Y:33.94, Z:3.56 [[ 7.85940745e-01 -6.17722175e-01 -2.67667605e-02 1.08349772e+02] [ 6.17473947e-01 7.86392068e-01 -1.77042413e-02 3.39448212e+01] [ 3.19854706e-02 -2.61329263e-03 9.99484918e-01 3.56259600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22071405700001 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:108.37, Y:33.96, Z:3.56 [[ 7.83572781e-01 -6.20726899e-01 -2.66798440e-02 1.08368723e+02] [ 6.20476114e-01 7.84022607e-01 -1.78309797e-02 3.39644076e+01] [ 3.19857696e-02 -2.58233557e-03 9.99484988e-01 3.56085662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.250714057 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:108.40, Y:33.98, Z:3.56 [[ 7.85292123e-01 -6.18559939e-01 -2.64553210e-02 1.08400635e+02] [ 6.18296921e-01 7.85734816e-01 -1.81581014e-02 3.39823621e+01] [ 3.20187409e-02 -2.09782956e-03 9.99485067e-01 3.56357566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.280714057 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:108.43, Y:34.00, Z:3.57 [[ 7.85535163e-01 -6.18242615e-01 -2.66566299e-02 1.08427196e+02] [ 6.17989277e-01 7.85983533e-01 -1.78644891e-02 3.40017345e+01] [ 3.19962606e-02 -2.44032711e-03 9.99485009e-01 3.56505311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.310714057 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:108.45, Y:34.02, Z:3.57 [[ 7.86948060e-01 -6.16442953e-01 -2.66615109e-02 1.08451731e+02] [ 6.16188829e-01 7.87395988e-01 -1.78573676e-02 3.40217270e+01] [ 3.20012151e-02 -2.37570440e-03 9.99485007e-01 3.56692078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.340714057 meters Centerline goodness : 0.995370 Centerline is valid? [True, True] Translation: X:108.48, Y:34.04, Z:3.57 [[ 7.87614719e-01 -6.15591188e-01 -2.66560315e-02 1.08476981e+02] [ 6.15336310e-01 7.88062214e-01 -1.78653625e-02 3.40417911e+01] [ 3.20043709e-02 -2.33140165e-03 9.99485010e-01 3.56790737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.370714057 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:108.50, Y:34.06, Z:3.57 [[ 7.90430406e-01 -6.11973170e-01 -2.66197738e-02 1.08500833e+02] [ 6.11714471e-01 7.90875680e-01 -1.79182679e-02 3.40620544e+01] [ 3.20184309e-02 -2.12055712e-03 9.99485029e-01 3.56996464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.400714057 meters Centerline goodness : 0.995829 Centerline is valid? [True, True] Translation: X:108.52, Y:34.08, Z:3.57 [[ 7.91163977e-01 -6.11024551e-01 -2.66187799e-02 1.08521624e+02] [ 6.10765269e-01 7.91608912e-01 -1.79197181e-02 3.40818298e+01] [ 3.20210511e-02 -2.08039088e-03 9.99485030e-01 3.57139090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.430714057 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:108.55, Y:34.10, Z:3.57 [[ 7.94031146e-01 -6.07300704e-01 -2.64649748e-02 1.08551360e+02] [ 6.07031867e-01 7.94470330e-01 -1.81440607e-02 3.40998658e+01] [ 3.20445381e-02 -1.65813375e-03 9.99485067e-01 3.57242977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.460714057 meters Centerline goodness : 0.995702 Centerline is valid? [True, True] Translation: X:108.57, Y:34.12, Z:3.57 [[ 7.95954836e-01 -6.04770296e-01 -2.66230704e-02 1.08572151e+02] [ 6.04507731e-01 7.96397840e-01 -1.79132252e-02 3.41205609e+01] [ 3.20359422e-02 -1.83573366e-03 9.99485032e-01 3.57409273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.490714057 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:108.61, Y:34.14, Z:3.57 [[ 7.99535997e-01 -6.00034599e-01 -2.64701762e-02 1.08606439e+02] [ 5.99762022e-01 7.99972868e-01 -1.81363773e-02 3.41393887e+01] [ 3.20578767e-02 -1.37511988e-03 9.99485068e-01 3.57430946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.520714057 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:108.63, Y:34.16, Z:3.58 [[ 8.00961730e-01 -5.98116412e-01 -2.67780734e-02 1.08631727e+02] [ 5.97857691e-01 8.01407113e-01 -1.76867186e-02 3.41590627e+01] [ 3.20388552e-02 -1.84309244e-03 9.99484925e-01 3.57651342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55071405700001 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:108.66, Y:34.18, Z:3.58 [[ 8.02005190e-01 -5.96717185e-01 -2.67633381e-02 1.08658073e+02] [ 5.96456971e-01 8.02449687e-01 -1.77082386e-02 3.41769290e+01] [ 3.20430426e-02 -1.76108031e-03 9.99484938e-01 3.57696425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58071405700001 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:108.67, Y:34.19, Z:3.58 [[ 8.00358863e-01 -5.98921141e-01 -2.68171190e-02 1.08673957e+02] [ 5.98664770e-01 8.00805649e-01 -1.76296980e-02 3.41947108e+01] [ 3.20340992e-02 -1.94437937e-03 9.99484885e-01 3.57777853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.610714057 meters Centerline goodness : 0.995521 Centerline is valid? [True, True] Translation: X:108.71, Y:34.21, Z:3.58 [[ 8.05774764e-01 -5.91630476e-01 -2.64652639e-02 1.08708674e+02] [ 5.91353123e-01 8.06208606e-01 -1.81429625e-02 3.42120077e+01] [ 3.20704530e-02 -1.03117512e-03 9.99485079e-01 3.57871081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.640714057 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:108.73, Y:34.23, Z:3.58 [[ 8.01658971e-01 -5.97182811e-01 -2.67504000e-02 1.08726169e+02] [ 5.96922244e-01 8.02103237e-01 -1.77266110e-02 3.42315833e+01] [ 3.20426098e-02 -1.75721200e-03 9.99484959e-01 3.57812461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.670714057 meters Centerline goodness : 0.995935 Centerline is valid? [True, True] Translation: X:108.77, Y:34.25, Z:3.58 [[ 8.05824148e-01 -5.91563122e-01 -2.64672485e-02 1.08766570e+02] [ 5.91285838e-01 8.06258028e-01 -1.81397571e-02 3.42510266e+01] [ 3.20702429e-02 -1.03225488e-03 9.99485084e-01 3.57566550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.700714057 meters Centerline goodness : 0.995810 Centerline is valid? [True, True] Translation: X:108.78, Y:34.27, Z:3.58 [[ 8.02300578e-01 -5.96306887e-01 -2.70532626e-02 1.08778419e+02] [ 5.96060644e-01 8.02753383e-01 -1.72833629e-02 3.42679659e+01] [ 3.20232864e-02 -2.25893306e-03 9.99484570e-01 3.57744838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.730714057 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:108.82, Y:34.29, Z:3.58 [[ 8.05886823e-01 -5.91478011e-01 -2.64611230e-02 1.08817872e+02] [ 5.91200448e-01 8.06320484e-01 -1.81468327e-02 3.42872523e+01] [ 3.20695980e-02 -1.01953445e-03 9.99485118e-01 3.57715700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.760714057 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:108.84, Y:34.31, Z:3.58 [[ 8.06254117e-01 -5.90953033e-01 -2.69965006e-02 1.08844251e+02] [ 5.90701022e-01 8.06703618e-01 -1.73659224e-02 3.43050596e+01] [ 3.20406192e-02 -1.94551407e-03 9.99484674e-01 3.57742881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.790714057 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:108.87, Y:34.32, Z:3.58 [[ 8.07254489e-01 -5.89588582e-01 -2.69349926e-02 1.08872866e+02] [ 5.89332824e-01 8.07701756e-01 -1.74555342e-02 3.43235844e+01] [ 3.20470245e-02 -1.78261688e-03 9.99484773e-01 3.57762613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.820714057 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:108.90, Y:34.34, Z:3.58 [[ 8.06209725e-01 -5.91013632e-01 -2.69956842e-02 1.08896376e+02] [ 5.90761609e-01 8.06659221e-01 -1.73672775e-02 3.43425519e+01] [ 3.20406153e-02 -1.94634583e-03 9.99484673e-01 3.58073605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.850714057 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:108.92, Y:34.36, Z:3.58 [[ 8.06250003e-01 -5.90963163e-01 -2.68974375e-02 1.08919594e+02] [ 5.90706353e-01 8.06696599e-01 -1.75100371e-02 3.43600842e+01] [ 3.20458583e-02 -1.77101974e-03 9.99484831e-01 3.58166387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.880714057 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:108.95, Y:34.38, Z:3.58 [[ 8.07115431e-01 -5.89785369e-01 -2.67936459e-02 1.08946754e+02] [ 5.89522903e-01 8.07558569e-01 -1.76608062e-02 3.43780059e+01] [ 3.20535235e-02 -1.54115872e-03 9.99484966e-01 3.58286158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.910714057 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:108.97, Y:34.40, Z:3.58 [[ 8.06555801e-01 -5.90550117e-01 -2.68011098e-02 1.08972549e+02] [ 5.90288429e-01 8.06999410e-01 -1.76499950e-02 3.43964252e+01] [ 3.20516864e-02 -1.58467918e-03 9.99484956e-01 3.58383798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94071405700001 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:109.00, Y:34.41, Z:3.58 [[ 8.07630669e-01 -5.89080377e-01 -2.67770939e-02 1.08997245e+02] [ 5.88816730e-01 8.08073083e-01 -1.76847815e-02 3.44133840e+01] [ 3.20556066e-02 -1.48402896e-03 9.99484985e-01 3.58317724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97071405700001 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:109.03, Y:34.43, Z:3.59 [[ 8.08167691e-01 -5.88348536e-01 -2.66642627e-02 1.09025749e+02] [ 5.88079095e-01 8.08606469e-01 -1.78481384e-02 3.44316343e+01] [ 3.20618215e-02 -1.25640666e-03 9.99485098e-01 3.58520030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.000714057 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:109.05, Y:34.45, Z:3.59 [[ 8.08080340e-01 -5.88463783e-01 -2.67682769e-02 1.09051407e+02] [ 5.88199376e-01 8.08522289e-01 -1.76975413e-02 3.44491046e+01] [ 3.20571106e-02 -1.44404858e-03 9.99484996e-01 3.58517338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.030714057 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:109.08, Y:34.47, Z:3.58 [[ 8.09394556e-01 -5.86657285e-01 -2.67148502e-02 1.09081552e+02] [ 5.86389340e-01 8.09834301e-01 -1.77748935e-02 3.44662688e+01] [ 3.20623728e-02 -1.27840133e-03 9.99485052e-01 3.58477903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.060714057 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:109.11, Y:34.48, Z:3.59 [[ 8.07899030e-01 -5.88710430e-01 -2.68176651e-02 1.09106697e+02] [ 5.88448522e-01 8.08342536e-01 -1.76261456e-02 3.44834024e+01] [ 3.20545551e-02 -1.54066945e-03 9.99484933e-01 3.58761613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.090714057 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:109.14, Y:34.50, Z:3.59 [[ 8.06451304e-01 -5.90694544e-01 -2.67628582e-02 1.09135399e+02] [ 5.90431101e-01 8.06893819e-01 -1.77053358e-02 3.44996020e+01] [ 3.20532301e-02 -1.52313273e-03 9.99485003e-01 3.58867872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.120714057 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:109.16, Y:34.52, Z:3.59 [[ 8.05837391e-01 -5.91531224e-01 -2.67751654e-02 1.09163233e+02] [ 5.91268831e-01 8.06280547e-01 -1.76875506e-02 3.45158733e+01] [ 3.20510335e-02 -1.57803109e-03 9.99484988e-01 3.58610097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.150714057 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:109.19, Y:34.53, Z:3.59 [[ 8.02706348e-01 -5.95772498e-01 -2.67889902e-02 1.09192209e+02] [ 5.95513110e-01 8.03151289e-01 -1.76675763e-02 3.45306816e+01] [ 3.20414681e-02 -1.77131920e-03 9.99484971e-01 3.58739015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.180714057 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:109.22, Y:34.55, Z:3.59 [[ 8.01167366e-01 -5.97839797e-01 -2.68035048e-02 1.09220960e+02] [ 5.97582256e-01 8.01613401e-01 -1.76466162e-02 3.45478781e+01] [ 3.20358981e-02 -1.87940587e-03 9.99484952e-01 3.58756743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.210714057 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:109.25, Y:34.57, Z:3.59 [[ 7.99889815e-01 -5.99547975e-01 -2.68050227e-02 1.09250258e+02] [ 5.99291459e-01 8.00336443e-01 -1.76444243e-02 3.45651010e+01] [ 3.20317154e-02 -1.95042583e-03 9.99484950e-01 3.58664323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.240714057 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:109.28, Y:34.58, Z:3.59 [[ 7.97442537e-01 -6.02796576e-01 -2.68642574e-02 1.09275013e+02] [ 6.02544741e-01 7.97891920e-01 -1.75590096e-02 3.45783805e+01] [ 3.20192848e-02 -2.18461589e-03 9.99484864e-01 3.58981701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.270714057 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:109.31, Y:34.60, Z:3.59 [[ 7.95215988e-01 -6.05740427e-01 -2.66470976e-02 1.09306053e+02] [ 6.05479777e-01 7.95660002e-01 -1.78717769e-02 3.45974118e+01] [ 3.20276875e-02 -1.92235602e-03 9.99485133e-01 3.58785972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30071405700001 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:109.32, Y:34.61, Z:3.59 [[ 7.89312572e-01 -6.13403768e-01 -2.68604134e-02 1.09319539e+02] [ 6.13157784e-01 7.89765172e-01 -1.75643144e-02 3.46133428e+01] [ 3.19874356e-02 -2.60593739e-03 9.99484874e-01 3.58901521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33071405700001 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:109.35, Y:34.63, Z:3.59 [[ 7.89479793e-01 -6.13211104e-01 -2.63400661e-02 1.09346946e+02] [ 6.12939921e-01 7.89917271e-01 -1.83127760e-02 3.46327698e+01] [ 3.20360707e-02 -1.68731148e-03 9.99485289e-01 3.59044596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.360714057 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:109.39, Y:34.65, Z:3.59 [[ 7.93075842e-01 -6.08552910e-01 -2.63450979e-02 1.09387104e+02] [ 6.08279397e-01 7.93511867e-01 -1.83055342e-02 3.46481758e+01] [ 3.20450340e-02 -1.50750335e-03 9.99485289e-01 3.58911890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.390714057 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:109.41, Y:34.67, Z:3.59 [[ 7.92248688e-01 -6.09606839e-01 -2.68610951e-02 1.09413272e+02] [ 6.09358778e-01 7.92700117e-01 -1.75614448e-02 3.46652436e+01] [ 3.19983700e-02 -2.45501248e-03 9.99484906e-01 3.58961564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.420714057 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:109.44, Y:34.68, Z:3.59 [[ 7.91346498e-01 -6.10779097e-01 -2.68256403e-02 1.09437541e+02] [ 6.10529983e-01 7.91797284e-01 -1.76125049e-02 3.46815219e+01] [ 3.19978190e-02 -2.44026366e-03 9.99484960e-01 3.59217905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.450714057 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:109.46, Y:34.70, Z:3.59 [[ 7.89930685e-01 -6.12615603e-01 -2.66764977e-02 1.09464172e+02] [ 6.12360316e-01 7.90377785e-01 -1.78269234e-02 3.46996497e+01] [ 3.20055627e-02 -2.25359474e-03 9.99485150e-01 3.59354056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.480714057 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:109.49, Y:34.72, Z:3.60 [[ 7.87311527e-01 -6.15979572e-01 -2.66407042e-02 1.09488087e+02] [ 6.15724462e-01 7.87758688e-01 -1.78783744e-02 3.47170696e+01] [ 3.19991596e-02 -2.32748307e-03 9.99485186e-01 3.59610624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.510714057 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:109.51, Y:34.74, Z:3.60 [[ 7.85577941e-01 -6.18194667e-01 -2.65075923e-02 1.09514910e+02] [ 6.17934387e-01 7.86021998e-01 -1.80696485e-02 3.47361828e+01] [ 3.20061110e-02 -2.18483551e-03 9.99485285e-01 3.59681690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.540714057 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:109.54, Y:34.75, Z:3.60 [[ 7.84207603e-01 -6.19931089e-01 -2.65307334e-02 1.09539753e+02] [ 6.19672910e-01 7.84652900e-01 -1.80363973e-02 3.47541920e+01] [ 3.19987402e-02 -2.29609688e-03 9.99485272e-01 3.59706493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.570714057 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:109.57, Y:34.77, Z:3.60 [[ 7.81454980e-01 -6.23399795e-01 -2.64728108e-02 1.09570227e+02] [ 6.23140790e-01 7.81899760e-01 -1.81196111e-02 3.47749567e+01] [ 3.19948462e-02 -2.33662791e-03 9.99485303e-01 3.60136505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.600714057 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:109.59, Y:34.79, Z:3.60 [[ 7.80785232e-01 -6.24227125e-01 -2.67379490e-02 1.09590355e+02] [ 6.23981476e-01 7.81237778e-01 -1.77384617e-02 3.47910132e+01] [ 3.19615248e-02 -2.83405595e-03 9.99485082e-01 3.60012176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.630714057 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:109.62, Y:34.81, Z:3.60 [[ 7.79803213e-01 -6.25466547e-01 -2.64300490e-02 1.09615336e+02] [ 6.25206668e-01 7.80247454e-01 -1.81805377e-02 3.48105392e+01] [ 3.19932966e-02 -2.34700112e-03 9.99485328e-01 3.60209344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.660714057 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:109.64, Y:34.83, Z:3.60 [[ 7.79793292e-01 -6.25478962e-01 -2.64289695e-02 1.09641896e+02] [ 6.25219038e-01 7.80237507e-01 -1.81820877e-02 3.48297846e+01] [ 3.19933866e-02 -2.34562490e-03 9.99485328e-01 3.60315828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69071405700001 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:109.67, Y:34.85, Z:3.60 [[ 7.79946314e-01 -6.25287140e-01 -2.64525776e-02 1.09669355e+02] [ 6.25028248e-01 7.80391141e-01 -1.81481810e-02 3.48487516e+01] [ 3.19911814e-02 -2.37900137e-03 9.99485320e-01 3.60456771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72071405700001 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:109.70, Y:34.87, Z:3.61 [[ 7.78761176e-01 -6.26761455e-01 -2.64784581e-02 1.09697705e+02] [ 6.26504658e-01 7.79207228e-01 -1.81110004e-02 3.48693778e+01] [ 3.19834830e-02 -2.48473336e-03 9.99485309e-01 3.60738108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.750714057 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:109.72, Y:34.89, Z:3.61 [[ 7.79523356e-01 -6.25805905e-01 -2.66515883e-02 1.09721511e+02] [ 6.25556951e-01 7.79973987e-01 -1.78628522e-02 3.48867265e+01] [ 3.19662240e-02 -2.74757582e-03 9.99485173e-01 3.60825246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.780714057 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:109.75, Y:34.91, Z:3.61 [[ 7.80078958e-01 -6.25117368e-01 -2.65536367e-02 1.09745778e+02] [ 6.24863266e-01 7.80526606e-01 -1.80032376e-02 3.49057532e+01] [ 3.19799564e-02 -2.54844535e-03 9.99485261e-01 3.60952874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.810714057 meters Centerline goodness : 0.995991 Centerline is valid? [True, True] Translation: X:109.79, Y:34.93, Z:3.60 [[ 7.83101343e-01 -6.21328828e-01 -2.65099090e-02 1.09789775e+02] [ 6.21070448e-01 7.83546501e-01 -1.80659721e-02 3.49265844e+01] [ 3.19966557e-02 -2.31703404e-03 9.99485290e-01 3.60054886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.840714057 meters Centerline goodness : 0.995922 Centerline is valid? [True, True] Translation: X:109.79, Y:34.95, Z:3.61 [[ 7.74976385e-01 -6.31398296e-01 -2.73458490e-02 1.09788050e+02] [ 6.31186993e-01 7.75447368e-01 -1.68629870e-02 3.49450899e+01] [ 3.18525278e-02 -4.19192747e-03 9.99483789e-01 3.60581882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.870714057 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:109.81, Y:34.97, Z:3.61 [[ 7.74996771e-01 -6.31417598e-01 -2.63024874e-02 1.09812858e+02] [ 6.31155134e-01 7.75439348e-01 -1.83579629e-02 3.49667409e+01] [ 3.19875246e-02 -2.37358796e-03 9.99485450e-01 3.61058855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.900714057 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:109.85, Y:34.98, Z:3.61 [[ 7.80041224e-01 -6.25174852e-01 -2.63076676e-02 1.09845935e+02] [ 6.24909091e-01 7.80481829e-01 -1.83505366e-02 3.49830062e+01] [ 3.20049505e-02 -2.12572559e-03 9.99485450e-01 3.61429720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.930714057 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:109.88, Y:35.01, Z:3.61 [[ 7.80031238e-01 -6.25175230e-01 -2.65932131e-02 1.09875380e+02] [ 6.24923262e-01 7.80480009e-01 -1.79408004e-02 3.50069554e+01] [ 3.19716152e-02 -2.62433268e-03 9.99485332e-01 3.61406658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.960714057 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:109.90, Y:35.02, Z:3.61 [[ 7.82082497e-01 -6.22594538e-01 -2.68888288e-02 1.09895651e+02] [ 6.22355493e-01 7.82538707e-01 -1.75160841e-02 3.50233911e+01] [ 3.19469676e-02 -3.03538747e-03 9.99484956e-01 3.61435446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.990714057 meters Centerline goodness : 0.995835 Centerline is valid? [True, True] Translation: X:109.93, Y:35.05, Z:3.61 [[ 7.82792303e-01 -6.21715452e-01 -2.65726810e-02 1.09930960e+02] [ 6.21460539e-01 7.83239367e-01 -1.79692105e-02 3.50465005e+01] [ 3.19845057e-02 -2.44771300e-03 9.99485368e-01 3.61483476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.020714057 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:109.95, Y:35.06, Z:3.62 [[ 7.85395988e-01 -6.18398020e-01 -2.71483046e-02 1.09950819e+02] [ 6.18169261e-01 7.85858053e-01 -1.71430915e-02 3.50632076e+01] [ 3.19359676e-02 -3.31813215e-03 9.99484409e-01 3.61845272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05071405700001 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:109.98, Y:35.08, Z:3.62 [[ 7.84510103e-01 -6.19531326e-01 -2.69227685e-02 1.09980114e+02] [ 6.19292174e-01 7.84966314e-01 -1.74667792e-02 3.50845657e+01] [ 3.19546832e-02 -2.97019515e-03 9.99484905e-01 3.61650886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08071405700001 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:110.00, Y:35.10, Z:3.62 [[ 7.85006803e-01 -6.18894467e-01 -2.70916592e-02 1.10004527e+02] [ 6.18663199e-01 7.85467471e-01 -1.72249105e-02 3.51047363e+01] [ 3.19400189e-02 -3.23894063e-03 9.99484539e-01 3.61690498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.110714057 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:110.03, Y:35.12, Z:3.62 [[ 7.85799053e-01 -6.17888306e-01 -2.70903900e-02 1.10025124e+02] [ 6.17656386e-01 7.86259390e-01 -1.72267270e-02 3.51224352e+01] [ 3.19442667e-02 -3.19580660e-03 9.99484542e-01 3.62076996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.140714057 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:110.06, Y:35.14, Z:3.62 [[ 7.87233704e-01 -6.16070172e-01 -2.68447211e-02 1.10059230e+02] [ 6.15825246e-01 7.87686668e-01 -1.75778216e-02 3.51448720e+01] [ 3.19744005e-02 -2.69380339e-03 9.99485058e-01 3.61669667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.170714057 meters Centerline goodness : 0.995027 Centerline is valid? [True, True] Translation: X:110.08, Y:35.16, Z:3.62 [[ 7.84776474e-01 -6.19178912e-01 -2.72646532e-02 1.10077289e+02] [ 6.18956309e-01 7.85241910e-01 -1.69773404e-02 3.51638180e+01] [ 3.19213595e-02 -3.55221183e-03 9.99484071e-01 3.61837308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.200714057 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:110.10, Y:35.18, Z:3.62 [[ 7.85581909e-01 -6.18170922e-01 -2.69402302e-02 1.10102335e+02] [ 6.17931873e-01 7.86038186e-01 -1.74404560e-02 3.51837531e+01] [ 3.19572325e-02 -2.94632024e-03 9.99484895e-01 3.61858272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.230714057 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:110.13, Y:35.20, Z:3.62 [[ 7.85926580e-01 -6.17731373e-01 -2.69696482e-02 1.10127826e+02] [ 6.17493498e-01 7.86383540e-01 -1.73984856e-02 3.52029038e+01] [ 3.19560779e-02 -2.97965017e-03 9.99484833e-01 3.61870729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.260714057 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:110.15, Y:35.22, Z:3.62 [[ 7.87482713e-01 -6.15746513e-01 -2.69668101e-02 1.10150174e+02] [ 6.15507348e-01 7.87938993e-01 -1.74025304e-02 3.52198688e+01] [ 3.19637486e-02 -2.89407792e-03 9.99484839e-01 3.62164882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.290714057 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:110.18, Y:35.24, Z:3.62 [[ 7.88043356e-01 -6.15036842e-01 -2.67834391e-02 1.10175764e+02] [ 6.14788417e-01 7.88494261e-01 -1.76636187e-02 3.52416769e+01] [ 3.19823643e-02 -2.54645081e-03 9.99485189e-01 3.62182501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.320714057 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:110.20, Y:35.26, Z:3.63 [[ 7.92231993e-01 -6.09627614e-01 -2.68819752e-02 1.10196623e+02] [ 6.09380844e-01 7.92684002e-01 -1.75231258e-02 3.52595585e+01] [ 3.19914931e-02 -2.49897987e-03 9.99485017e-01 3.62623143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.350714057 meters Centerline goodness : 0.993106 Centerline is valid? [True, True] Translation: X:110.22, Y:35.28, Z:3.63 [[ 7.93938724e-01 -6.07412427e-01 -2.66729562e-02 1.10223153e+02] [ 6.07154403e-01 7.94384011e-01 -1.78205902e-02 3.52797674e+01] [ 3.20130179e-02 -2.04614612e-03 9.99485358e-01 3.62753926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.380714057 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:110.23, Y:35.30, Z:3.63 [[ 7.89228981e-01 -6.13518236e-01 -2.67018570e-02 1.10231832e+02] [ 6.13265038e-01 7.89677075e-01 -1.77794610e-02 3.53022351e+01] [ 3.19938679e-02 -2.34324946e-03 9.99485318e-01 3.63215461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.410714057 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:110.26, Y:35.32, Z:3.63 [[ 7.93481124e-01 -6.08029696e-01 -2.62220382e-02 1.10257355e+02] [ 6.07750739e-01 7.93913238e-01 -1.84610153e-02 3.53241544e+01] [ 3.20428688e-02 -1.28799590e-03 9.99485666e-01 3.63446660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44071405700001 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:110.28, Y:35.34, Z:3.64 [[ 7.95520582e-01 -6.05358688e-01 -2.62271473e-02 1.10284123e+02] [ 6.05078519e-01 7.95951911e-01 -1.84537541e-02 3.53444187e+01] [ 3.20466884e-02 -1.18914227e-03 9.99485666e-01 3.63589364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47071405700001 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:110.31, Y:35.36, Z:3.64 [[ 8.00430300e-01 -5.98851573e-01 -2.62322234e-02 1.10305368e+02] [ 5.98568132e-01 8.00859486e-01 -1.84465356e-02 3.53617874e+01] [ 3.20550618e-02 -9.36606913e-04 9.99485666e-01 3.63729919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.500714057 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:110.36, Y:35.38, Z:3.63 [[ 8.10814158e-01 -5.84722516e-01 -2.60764171e-02 1.10360115e+02] [ 5.84424435e-01 8.11233362e-01 -1.86684625e-02 3.53790238e+01] [ 3.20699298e-02 -1.03041620e-04 9.99485622e-01 3.63272022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.530714057 meters Centerline goodness : 0.992681 Centerline is valid? [True, True] Translation: X:110.36, Y:35.40, Z:3.64 [[ 8.02536046e-01 -5.95977822e-01 -2.73190314e-02 1.10357227e+02] [ 5.95744562e-01 8.02996294e-01 -1.68928602e-02 3.53982266e+01] [ 3.20048510e-02 -2.71803520e-03 9.99484018e-01 3.63705752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.560714057 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:110.38, Y:35.42, Z:3.64 [[ 8.06024704e-01 -5.91300322e-01 -2.62317755e-02 1.10379990e+02] [ 5.91013079e-01 8.06451188e-01 -1.84396615e-02 3.54162948e+01] [ 3.20580243e-02 -6.40499742e-04 9.99485804e-01 3.63665608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.590714057 meters Centerline goodness : 0.992669 Centerline is valid? [True, True] Translation: X:110.41, Y:35.44, Z:3.64 [[ 8.06421348e-01 -5.90765507e-01 -2.60906985e-02 1.10409431e+02] [ 5.90471473e-01 8.06843217e-01 -1.86403687e-02 3.54358815e+01] [ 3.20631900e-02 -3.73821940e-04 9.99485774e-01 3.63863299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.620714057 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:110.46, Y:35.45, Z:3.63 [[ 8.15360458e-01 -5.78358729e-01 -2.62393729e-02 1.10463579e+02] [ 5.78065068e-01 8.15782545e-01 -1.84286829e-02 3.54506447e+01] [ 3.20640121e-02 -1.42045568e-04 9.99485807e-01 3.63285336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.650714057 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:110.48, Y:35.47, Z:3.64 [[ 8.15493161e-01 -5.78120958e-01 -2.73324477e-02 1.10484823e+02] [ 5.77878476e-01 8.15948524e-01 -1.68663011e-02 3.54655308e+01] [ 3.20526325e-02 -2.04048005e-03 9.99484100e-01 3.63620126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.680714057 meters Centerline goodness : 0.992677 Centerline is valid? [True, True] Translation: X:110.51, Y:35.48, Z:3.64 [[ 8.15425914e-01 -5.78229368e-01 -2.70439693e-02 1.10512340e+02] [ 5.77973217e-01 8.15872798e-01 -1.72782587e-02 3.54832877e+01] [ 3.20552355e-02 -1.54155007e-03 9.99484910e-01 3.63721151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.710714057 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:110.51, Y:35.50, Z:3.64 [[ 8.06578604e-01 -5.90506881e-01 -2.70661985e-02 1.10513767e+02] [ 5.90258585e-01 8.07029961e-01 -1.72465864e-02 3.55017832e+01] [ 3.20274611e-02 -2.06532844e-03 9.99484855e-01 3.64127609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.740714057 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:110.56, Y:35.51, Z:3.64 [[ 8.13265366e-01 -5.81302504e-01 -2.62076961e-02 1.10561037e+02] [ 5.81009194e-01 8.13687505e-01 -1.84651272e-02 3.55138232e+01] [ 3.20586996e-02 -2.09863993e-04 9.99485966e-01 3.64283179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.770714057 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:110.59, Y:35.53, Z:3.64 [[ 8.08911512e-01 -5.87316062e-01 -2.68702277e-02 1.10587889e+02] [ 5.87056593e-01 8.09356102e-01 -1.75287744e-02 3.55320707e+01] [ 3.20425135e-02 -1.59511690e-03 9.99485234e-01 3.63816526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80071405700001 meters Centerline goodness : 0.992897 Centerline is valid? [True, True] Translation: X:110.61, Y:35.55, Z:3.64 [[ 8.08176767e-01 -5.88322596e-01 -2.69599021e-02 1.10608602e+02] [ 5.88067899e-01 8.08624337e-01 -1.74019553e-02 3.55469853e+01] [ 3.20383965e-02 -1.79039706e-03 9.99485035e-01 3.64421146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83071405700001 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:110.63, Y:35.56, Z:3.64 [[ 8.04960434e-01 -5.92726677e-01 -2.67167585e-02 1.10634032e+02] [ 5.92462983e-01 8.05402199e-01 -1.77457612e-02 3.55603190e+01] [ 3.20361221e-02 -1.54405478e-03 9.99485519e-01 3.64291820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.860714057 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:110.66, Y:35.58, Z:3.65 [[ 8.02430169e-01 -5.96154946e-01 -2.65537907e-02 1.10662106e+02] [ 5.95885525e-01 8.02868186e-01 -1.79754783e-02 3.55780513e+01] [ 3.20353641e-02 -1.39895340e-03 9.99485757e-01 3.64579119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.890714057 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:110.69, Y:35.59, Z:3.65 [[ 7.97952154e-01 -6.02131539e-01 -2.66452490e-02 1.10689490e+02] [ 6.01869683e-01 7.98394879e-01 -1.78466039e-02 3.55937009e+01] [ 3.20194334e-02 -1.79623158e-03 9.99485632e-01 3.64622309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.920714057 meters Centerline goodness : 0.993140 Centerline is valid? [True, True] Translation: X:110.72, Y:35.61, Z:3.65 [[ 7.96130956e-01 -6.04540792e-01 -2.65693712e-02 1.10715327e+02] [ 6.04276713e-01 7.96572235e-01 -1.79534903e-02 3.56111483e+01] [ 3.20180407e-02 -1.76192290e-03 9.99485738e-01 3.64793698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.950714057 meters Centerline goodness : 0.992215 Centerline is valid? [True, True] Translation: X:110.74, Y:35.63, Z:3.65 [[ 7.93971516e-01 -6.07373317e-01 -2.65873332e-02 1.10737248e+02] [ 6.07111657e-01 7.94414261e-01 -1.79281453e-02 3.56255829e+01] [ 3.20104337e-02 -1.90704318e-03 9.99485715e-01 3.64871575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.980714057 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:110.77, Y:35.64, Z:3.65 [[ 7.90344969e-01 -6.12096351e-01 -2.63227478e-02 1.10766258e+02] [ 6.11824916e-01 7.90781489e-01 -1.83005197e-02 3.56424586e+01] [ 3.20172230e-02 -1.64118928e-03 9.99485970e-01 3.65010727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.010714057 meters Centerline goodness : 0.992364 Centerline is valid? [True, True] Translation: X:110.79, Y:35.66, Z:3.65 [[ 7.89459321e-01 -6.13234636e-01 -2.64057020e-02 1.10791188e+02] [ 6.12967717e-01 7.89898683e-01 -1.81837197e-02 3.56584184e+01] [ 3.20087160e-02 -1.83053587e-03 9.99485913e-01 3.65418559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.040714057 meters Centerline goodness : 0.992178 Centerline is valid? [True, True] Translation: X:110.82, Y:35.68, Z:3.65 [[ 7.85965087e-01 -6.17711103e-01 -2.63035378e-02 1.10817144e+02] [ 6.17441878e-01 7.86402965e-01 -1.83276807e-02 3.56752709e+01] [ 3.20063920e-02 -1.83598860e-03 9.99485978e-01 3.65434367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.070714057 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:110.85, Y:35.69, Z:3.65 [[ 7.84123292e-01 -6.20051169e-01 -2.62147028e-02 1.10845429e+02] [ 6.19779081e-01 7.84559358e-01 -1.84527596e-02 3.56944617e+01] [ 3.20086456e-02 -1.77808582e-03 9.99486010e-01 3.65241419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.100714057 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:110.87, Y:35.71, Z:3.65 [[ 7.81211545e-01 -6.23711723e-01 -2.63098640e-02 1.10872668e+02] [ 6.23446159e-01 7.81651656e-01 -1.83187283e-02 3.57117610e+01] [ 3.19907543e-02 -2.09198168e-03 9.99485976e-01 3.65366599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.130714057 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:110.90, Y:35.73, Z:3.65 [[ 7.79867228e-01 -6.25392839e-01 -2.62850452e-02 1.10900660e+02] [ 6.25127052e-01 7.80307190e-01 -1.83536867e-02 3.57303563e+01] [ 3.19886740e-02 -2.11805405e-03 9.99485987e-01 3.65319351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.160714057 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:110.93, Y:35.75, Z:3.65 [[ 7.77795260e-01 -6.27967313e-01 -2.62980461e-02 1.10927651e+02] [ 6.27703598e-01 7.78236473e-01 -1.83353702e-02 3.57477022e+01] [ 3.19801119e-02 -2.24621411e-03 9.99485981e-01 3.65369050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19071405700001 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:110.96, Y:35.77, Z:3.66 [[ 7.77186005e-01 -6.28721474e-01 -2.62911029e-02 1.10956868e+02] [ 6.28457857e-01 7.77627274e-01 -1.83451552e-02 3.57674487e+01] [ 3.19786717e-02 -2.26525231e-03 9.99485984e-01 3.65508417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.220714057 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:110.98, Y:35.79, Z:3.66 [[ 7.77160631e-01 -6.28745748e-01 -2.64601220e-02 1.10983374e+02] [ 6.28490175e-01 7.77606739e-01 -1.81068691e-02 3.57862381e+01] [ 3.19601862e-02 -2.55798093e-03 9.99485869e-01 3.65601495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.250714057 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:111.01, Y:35.80, Z:3.66 [[ 7.75873042e-01 -6.30334056e-01 -2.64575174e-02 1.11008086e+02] [ 6.30079272e-01 7.76319599e-01 -1.81105411e-02 3.58036294e+01] [ 3.19551801e-02 -2.61885268e-03 9.99485872e-01 3.65657913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.280714057 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:111.04, Y:35.82, Z:3.66 [[ 7.73913723e-01 -6.32743210e-01 -2.63358915e-02 1.11035000e+02] [ 6.32484017e-01 7.74357629e-01 -1.82819562e-02 3.58235706e+01] [ 3.19611821e-02 -2.50837368e-03 9.99485963e-01 3.65702156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.310714057 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:111.06, Y:35.84, Z:3.66 [[ 7.73563186e-01 -6.33170680e-01 -2.63607146e-02 1.11062594e+02] [ 6.32912914e-01 7.74007940e-01 -1.82469808e-02 3.58430191e+01] [ 3.19568556e-02 -2.56884412e-03 9.99485948e-01 3.65836240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.340714057 meters Centerline goodness : 0.993733 Centerline is valid? [True, True] Translation: X:111.09, Y:35.86, Z:3.66 [[ 7.73212247e-01 -6.33596587e-01 -2.64232314e-02 1.11088837e+02] [ 6.33342047e-01 7.73658908e-01 -1.81589047e-02 3.58625513e+01] [ 3.19479884e-02 -2.69425601e-03 9.99485901e-01 3.65963699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.370714057 meters Centerline goodness : 0.993756 Centerline is valid? [True, True] Translation: X:111.11, Y:35.88, Z:3.66 [[ 7.72856960e-01 -6.34029073e-01 -2.64434303e-02 1.11113032e+02] [ 6.33775747e-01 7.73304332e-01 -1.81304410e-02 3.58824048e+01] [ 3.19440459e-02 -2.74696727e-03 9.99485884e-01 3.66161031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.400714057 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:111.13, Y:35.90, Z:3.66 [[ 7.73155613e-01 -6.33666416e-01 -2.64059021e-02 1.11134246e+02] [ 6.33411089e-01 7.73601809e-01 -1.81833210e-02 3.58984968e+01] [ 3.19498135e-02 -2.66725445e-03 9.99485915e-01 3.66361280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.430714057 meters Centerline goodness : 0.993366 Centerline is valid? [True, True] Translation: X:111.16, Y:35.92, Z:3.67 [[ 7.73872506e-01 -6.32801893e-01 -2.61363623e-02 1.11161591e+02] [ 6.32533281e-01 7.74310706e-01 -1.85628374e-02 3.59221104e+01] [ 3.19842638e-02 -2.16684950e-03 9.99486024e-01 3.66541333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.460714057 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:111.18, Y:35.94, Z:3.67 [[ 7.74733126e-01 -6.31739160e-01 -2.63480109e-02 1.11184208e+02] [ 6.31479980e-01 7.75177040e-01 -1.82644813e-02 3.59403806e+01] [ 3.19627612e-02 -2.48814275e-03 9.99485963e-01 3.66794856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.490714057 meters Centerline goodness : 0.993205 Centerline is valid? [True, True] Translation: X:111.21, Y:35.96, Z:3.67 [[ 7.76126779e-01 -6.30031060e-01 -2.62314032e-02 1.11208192e+02] [ 6.29765376e-01 7.76566771e-01 -1.84288044e-02 3.59622365e+01] [ 3.19811553e-02 -2.21654093e-03 9.99486014e-01 3.66865572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.520714057 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:111.23, Y:35.98, Z:3.67 [[ 7.77359233e-01 -6.28510489e-01 -2.62142649e-02 1.11231760e+02] [ 6.28243135e-01 7.77798208e-01 -1.84529629e-02 3.59809429e+01] [ 3.19872890e-02 -2.12435092e-03 9.99486018e-01 3.67006673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55071405700001 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:111.26, Y:36.00, Z:3.67 [[ 7.80117816e-01 -6.25085381e-01 -2.61621692e-02 1.11259043e+02] [ 6.24813646e-01 7.80554085e-01 -1.85264110e-02 3.60031384e+01] [ 3.20015767e-02 -1.89369709e-03 9.99486024e-01 3.66799454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58071405700001 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:111.28, Y:36.02, Z:3.67 [[ 7.81399370e-01 -6.23475926e-01 -2.63210049e-02 1.11283521e+02] [ 6.23210778e-01 7.81839722e-01 -1.83023219e-02 3.60225738e+01] [ 3.19898643e-02 -2.10211121e-03 9.99485983e-01 3.67081627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.610714057 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:111.31, Y:36.04, Z:3.67 [[ 7.83754286e-01 -6.20513979e-01 -2.62987066e-02 1.11307590e+02] [ 6.20246115e-01 7.84192980e-01 -1.83337781e-02 3.60440347e+01] [ 3.19996267e-02 -1.94249347e-03 9.99485993e-01 3.67289200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.640714057 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:111.33, Y:36.06, Z:3.67 [[ 7.85115566e-01 -6.18791271e-01 -2.62852052e-02 1.11331020e+02] [ 6.18521809e-01 7.85553273e-01 -1.83528294e-02 3.60630685e+01] [ 3.20049997e-02 -1.84888063e-03 9.99485999e-01 3.67472685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.670714057 meters Centerline goodness : 0.992469 Centerline is valid? [True, True] Translation: X:111.36, Y:36.08, Z:3.68 [[ 7.86580507e-01 -6.16931307e-01 -2.62081590e-02 1.11356049e+02] [ 6.16657197e-01 7.87015294e-01 -1.84615396e-02 3.60817188e+01] [ 3.20157237e-02 -1.63996268e-03 9.99486020e-01 3.67521164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.700714057 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:111.38, Y:36.10, Z:3.68 [[ 7.88743942e-01 -6.14165134e-01 -2.61568976e-02 1.11381160e+02] [ 6.13887104e-01 7.89176228e-01 -1.85338852e-02 3.61030780e+01] [ 3.20252678e-02 -1.43889246e-03 9.99486024e-01 3.67816625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.730714057 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:111.41, Y:36.12, Z:3.68 [[ 7.89557699e-01 -6.13116214e-01 -2.62134972e-02 1.11408629e+02] [ 6.12840253e-01 7.89991313e-01 -1.84539753e-02 3.61228684e+01] [ 3.20228665e-02 -1.49420800e-03 9.99486020e-01 3.67797470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.760714057 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:111.43, Y:36.14, Z:3.68 [[ 7.91770184e-01 -6.10252400e-01 -2.63055964e-02 1.11433375e+02] [ 6.09979173e-01 7.92205557e-01 -1.83238787e-02 3.61414696e+01] [ 3.20216306e-02 -1.53756511e-03 9.99485993e-01 3.67910597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.790714057 meters Centerline goodness : 0.992045 Centerline is valid? [True, True] Translation: X:111.46, Y:36.16, Z:3.68 [[ 7.92575759e-01 -6.09207442e-01 -2.62670658e-02 1.11460350e+02] [ 6.08931840e-01 7.93009617e-01 -1.83783080e-02 3.61618240e+01] [ 3.20262378e-02 -1.42865134e-03 9.99486007e-01 3.68061328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.820714057 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:111.49, Y:36.18, Z:3.68 [[ 7.94629629e-01 -6.06522927e-01 -2.63380094e-02 1.11486276e+02] [ 6.06249171e-01 7.95064687e-01 -1.82780364e-02 3.61812005e+01] [ 3.20264693e-02 -1.44312710e-03 9.99485979e-01 3.68103078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.850714057 meters Centerline goodness : 0.992016 Centerline is valid? [True, True] Translation: X:111.51, Y:36.20, Z:3.68 [[ 7.95559412e-01 -6.05302144e-01 -2.63540701e-02 1.11513076e+02] [ 6.05028470e-01 7.95994531e-01 -1.82553319e-02 3.62004214e+01] [ 3.20276872e-02 -1.42176157e-03 9.99485971e-01 3.68065267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.880714057 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:111.54, Y:36.22, Z:3.68 [[ 7.96299476e-01 -6.04327666e-01 -2.63669572e-02 1.11541172e+02] [ 6.04054061e-01 7.96734647e-01 -1.82371498e-02 3.62212102e+01] [ 3.20286825e-02 -1.40483478e-03 9.99485963e-01 3.68128961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.910714057 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:111.57, Y:36.24, Z:3.68 [[ 7.96733244e-01 -6.03749441e-01 -2.65094516e-02 1.11565742e+02] [ 6.03482180e-01 7.97172480e-01 -1.80359867e-02 3.62395745e+01] [ 3.20218221e-02 -1.62811149e-03 9.99485844e-01 3.68211710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94071405700001 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:111.59, Y:36.26, Z:3.68 [[ 7.95361227e-01 -6.05558759e-01 -2.64406654e-02 1.11594808e+02] [ 6.05289272e-01 7.95799024e-01 -1.81331071e-02 3.62604867e+01] [ 3.20221176e-02 -1.58188079e-03 9.99485909e-01 3.68393339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.970714057 meters Centerline goodness : 0.993291 Centerline is valid? [True, True] Translation: X:111.62, Y:36.28, Z:3.68 [[ 7.96654995e-01 -6.03848230e-01 -2.66107730e-02 1.11618295e+02] [ 6.03585769e-01 7.97097265e-01 -1.78933063e-02 3.62764694e+01] [ 3.20162158e-02 -1.80709203e-03 9.99485716e-01 3.68324742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.000714057 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:111.65, Y:36.30, Z:3.69 [[ 7.94277858e-01 -6.06978145e-01 -2.64615719e-02 1.11646547e+02] [ 6.06710429e-01 7.94716757e-01 -1.81033499e-02 3.62965432e+01] [ 3.20177924e-02 -1.67542163e-03 9.99485895e-01 3.68673739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.030714057 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:111.67, Y:36.31, Z:3.69 [[ 7.95421293e-01 -6.05472135e-01 -2.66169081e-02 1.11668837e+02] [ 6.05210869e-01 7.95864277e-01 -1.78845399e-02 3.63113852e+01] [ 3.20120369e-02 -1.88309816e-03 9.99485709e-01 3.68679326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.060714057 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:111.70, Y:36.33, Z:3.69 [[ 7.96259077e-01 -6.04379126e-01 -2.64074579e-02 1.11698743e+02] [ 6.04107457e-01 7.96695481e-01 -1.81794245e-02 3.63301027e+01] [ 3.20259671e-02 -1.47741045e-03 9.99485945e-01 3.68768473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.090714057 meters Centerline goodness : 0.995011 Centerline is valid? [True, True] Translation: X:111.73, Y:36.35, Z:3.69 [[ 7.93336045e-01 -6.08203012e-01 -2.65897658e-02 1.11728933e+02] [ 6.07941996e-01 7.93779131e-01 -1.79226462e-02 3.63503757e+01] [ 3.20070085e-02 -1.94635406e-03 9.99485749e-01 3.68558710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.120714057 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:111.74, Y:36.37, Z:3.69 [[ 7.87534371e-01 -6.15688074e-01 -2.67919724e-02 1.11736854e+02] [ 6.15440874e-01 7.87985687e-01 -1.76376622e-02 3.63680720e+01] [ 3.19709890e-02 -2.59860971e-03 9.99485419e-01 3.68927406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.150714057 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:111.76, Y:36.39, Z:3.69 [[ 7.86586920e-01 -6.16926954e-01 -2.61180137e-02 1.11763889e+02] [ 6.16648750e-01 7.87019010e-01 -1.85848404e-02 3.63856752e+01] [ 3.20208623e-02 -1.48704818e-03 9.99486094e-01 3.69014664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.180714057 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:111.79, Y:36.40, Z:3.69 [[ 7.86215212e-01 -6.17400384e-01 -2.61229244e-02 1.11791412e+02] [ 6.17122669e-01 7.86647616e-01 -1.85779353e-02 3.64038457e+01] [ 3.20195606e-02 -1.51479346e-03 9.99486095e-01 3.69071987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.210714057 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:111.84, Y:36.42, Z:3.69 [[ 7.91305246e-01 -6.10862774e-01 -2.61281234e-02 1.11840881e+02] [ 6.10581726e-01 7.91735491e-01 -1.85706206e-02 3.64198464e+01] [ 3.20306634e-02 -1.25832513e-03 9.99486095e-01 3.68528797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.240714057 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:111.87, Y:36.44, Z:3.69 [[ 7.90805257e-01 -6.11468084e-01 -2.70892545e-02 1.11866275e+02] [ 6.11232821e-01 7.91263616e-01 -1.72141996e-02 3.64359249e+01] [ 3.19606751e-02 -2.94476191e-03 9.99484789e-01 3.68547854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.270714057 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:111.89, Y:36.45, Z:3.69 [[ 7.88977392e-01 -6.13831230e-01 -2.69424587e-02 1.11892580e+02] [ 6.13590306e-01 7.89432361e-01 -1.74207660e-02 3.64539086e+01] [ 3.19626590e-02 -2.78704095e-03 9.99485178e-01 3.68754388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30071405700001 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:111.89, Y:36.47, Z:3.69 [[ 7.80774052e-01 -6.24228901e-01 -2.70214552e-02 1.11894793e+02] [ 6.23997835e-01 7.81234331e-01 -1.73096049e-02 3.64697257e+01] [ 3.19152441e-02 -3.34643923e-03 9.99484977e-01 3.69438968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33071405700001 meters Centerline goodness : 0.996233 Centerline is valid? [True, True] Translation: X:111.94, Y:36.49, Z:3.69 [[ 7.85483073e-01 -6.18332980e-01 -2.60896100e-02 1.11939680e+02] [ 6.18054520e-01 7.85914797e-01 -1.86156460e-02 3.64878256e+01] [ 3.20148785e-02 -1.50252655e-03 9.99486263e-01 3.69183521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.360714057 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:111.95, Y:36.50, Z:3.70 [[ 7.78897398e-01 -6.26575914e-01 -2.68601338e-02 1.11946597e+02] [ 6.26338557e-01 7.79353960e-01 -1.75333373e-02 3.65039693e+01] [ 3.19195185e-02 -3.16686667e-03 9.99485425e-01 3.69513382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.390714057 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:111.99, Y:36.52, Z:3.70 [[ 7.81642138e-01 -6.23181650e-01 -2.60806179e-02 1.11985819e+02] [ 6.22905554e-01 7.82075305e-01 -1.86249474e-02 3.65218615e+01] [ 3.20037326e-02 -1.68771807e-03 9.99486324e-01 3.69842188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.420714057 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:112.00, Y:36.54, Z:3.70 [[ 7.77557435e-01 -6.28250368e-01 -2.65689885e-02 1.11999918e+02] [ 6.28000138e-01 7.78006420e-01 -1.79398331e-02 3.65393559e+01] [ 3.19415504e-02 -2.73607788e-03 9.99485994e-01 3.69719617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.450714057 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:112.03, Y:36.56, Z:3.70 [[ 7.77416749e-01 -6.28444866e-01 -2.60815704e-02 1.12026689e+02] [ 6.28171781e-01 7.77851796e-01 -1.86225015e-02 3.65587189e+01] [ 3.19908118e-02 -1.90626195e-03 9.99486345e-01 3.69966771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.480714057 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:112.07, Y:36.58, Z:3.70 [[ 7.81553572e-01 -6.23292457e-01 -2.60868988e-02 1.12066813e+02] [ 6.23016750e-01 7.81986962e-01 -1.86150342e-02 3.65759946e+01] [ 3.20022252e-02 -1.70392849e-03 9.99486345e-01 3.69802848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.510714057 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:112.08, Y:36.60, Z:3.70 [[ 7.77472899e-01 -6.28350809e-01 -2.66674407e-02 1.12077172e+02] [ 6.28105388e-01 7.77924667e-01 -1.77998394e-02 3.65950572e+01] [ 3.19298034e-02 -2.91107046e-03 9.99485874e-01 3.70216079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.540714057 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:112.12, Y:36.61, Z:3.70 [[ 7.81558829e-01 -6.23285953e-01 -2.60848123e-02 1.12116893e+02] [ 6.23010201e-01 7.81992152e-01 -1.86162380e-02 3.66133289e+01] [ 3.20013581e-02 -1.70141899e-03 9.99486377e-01 3.70150246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.570714057 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:112.14, Y:36.63, Z:3.70 [[ 7.81848689e-01 -6.22897565e-01 -2.66693107e-02 1.12137870e+02] [ 6.22649118e-01 7.82298778e-01 -1.77960150e-02 3.66298535e+01] [ 3.19484635e-02 -2.69183181e-03 9.99485893e-01 3.70380768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.600714057 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:112.17, Y:36.65, Z:3.70 [[ 7.80765600e-01 -6.24264683e-01 -2.64326132e-02 1.12167613e+02] [ 6.24005816e-01 7.81209400e-01 -1.81277312e-02 3.66499614e+01] [ 3.19659083e-02 -2.34059548e-03 9.99486219e-01 3.70321059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.630714057 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:112.18, Y:36.67, Z:3.71 [[ 7.75474218e-01 -6.30816848e-01 -2.66428522e-02 1.12177054e+02] [ 6.30571734e-01 7.75926076e-01 -1.78329043e-02 3.66684470e+01] [ 3.19221802e-02 -2.97127205e-03 9.99485941e-01 3.70668718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.660714057 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:112.22, Y:36.69, Z:3.70 [[ 7.79106585e-01 -6.26349127e-01 -2.60710749e-02 1.12218264e+02] [ 6.26074517e-01 7.79540577e-01 -1.86329568e-02 3.66861845e+01] [ 3.19941971e-02 -1.80537630e-03 9.99486424e-01 3.70369537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69071405700001 meters Centerline goodness : 0.995092 Centerline is valid? [True, True] Translation: X:112.24, Y:36.70, Z:3.71 [[ 7.75757835e-01 -6.30465754e-01 -2.66966992e-02 1.12237743e+02] [ 6.30223063e-01 7.76211070e-01 -1.77557235e-02 3.67039257e+01] [ 3.19166491e-02 -3.05073394e-03 9.99485878e-01 3.71047641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.720714057 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:112.26, Y:36.72, Z:3.71 [[ 7.75144500e-01 -6.31230408e-01 -2.64419551e-02 1.12264168e+02] [ 6.30976046e-01 7.75590857e-01 -1.81121711e-02 3.67231329e+01] [ 3.19410917e-02 -2.64469052e-03 9.99486254e-01 3.71267915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.750714057 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:112.29, Y:36.74, Z:3.71 [[ 7.74219468e-01 -6.32362380e-01 -2.64959759e-02 1.12290648e+02] [ 6.32111234e-01 7.74667716e-01 -1.80365704e-02 3.67409225e+01] [ 3.19312257e-02 -2.78414010e-03 9.99486191e-01 3.71016207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.780714057 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:112.32, Y:36.76, Z:3.71 [[ 7.73293407e-01 -6.33492451e-01 -2.65446973e-02 1.12316964e+02] [ 6.33244280e-01 7.73743381e-01 -1.79683633e-02 3.67599291e+01] [ 3.19216064e-02 -2.91446083e-03 9.99486126e-01 3.71165942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.810714057 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:112.34, Y:36.78, Z:3.71 [[ 7.72105608e-01 -6.34940251e-01 -2.65293899e-02 1.12343262e+02] [ 6.34692193e-01 7.72555621e-01 -1.79897853e-02 3.67778514e+01] [ 3.19178681e-02 -2.94798261e-03 9.99486148e-01 3.71072007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.840714057 meters Centerline goodness : 0.995307 Centerline is valid? [True, True] Translation: X:112.38, Y:36.80, Z:3.71 [[ 7.74405943e-01 -6.32130620e-01 -2.65765842e-02 1.12378723e+02] [ 6.31883174e-01 7.74856370e-01 -1.79237393e-02 3.67974200e+01] [ 3.19231800e-02 -2.91304613e-03 9.99486080e-01 3.70662485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.870714057 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:112.40, Y:36.81, Z:3.71 [[ 7.72901258e-01 -6.33952276e-01 -2.69843809e-02 1.12401889e+02] [ 6.33725478e-01 7.73363371e-01 -1.73526569e-02 3.68149409e+01] [ 3.18694881e-02 -3.68879935e-03 9.99485232e-01 3.70652667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.900714057 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:112.42, Y:36.83, Z:3.71 [[ 7.69382661e-01 -6.38222378e-01 -2.68796877e-02 1.12418610e+02] [ 6.37993079e-01 7.69843239e-01 -1.74990907e-02 3.68327057e+01] [ 3.18614571e-02 -3.68555773e-03 9.99485500e-01 3.71185788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.930714057 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:112.45, Y:36.85, Z:3.71 [[ 7.70985518e-01 -6.36298848e-01 -2.65538453e-02 1.12449195e+02] [ 6.36052792e-01 7.71436641e-01 -1.79542746e-02 3.68509756e+01] [ 3.19088935e-02 -3.04716170e-03 9.99486137e-01 3.70932514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.960714057 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:112.46, Y:36.87, Z:3.72 [[ 7.69388101e-01 -6.38218490e-01 -2.68162197e-02 1.12460463e+02] [ 6.37986130e-01 7.69846977e-01 -1.75877901e-02 3.68654939e+01] [ 3.18692385e-02 -3.57653983e-03 9.99485648e-01 3.71806151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.990714057 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:112.49, Y:36.89, Z:3.72 [[ 7.66138877e-01 -6.42138153e-01 -2.62642879e-02 1.12489282e+02] [ 6.41881797e-01 7.66583839e-01 -1.83569378e-02 3.68882162e+01] [ 3.19214688e-02 -2.79460463e-03 9.99486473e-01 3.72135672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.020714057 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:112.52, Y:36.91, Z:3.72 [[ 7.67079165e-01 -6.41006050e-01 -2.64726199e-02 1.12519277e+02] [ 6.40758925e-01 7.67529549e-01 -1.80663375e-02 3.69074719e+01] [ 3.18991497e-02 -3.10425635e-03 9.99486272e-01 3.71760946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05071405700001 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:112.53, Y:36.92, Z:3.72 [[ 7.66932396e-01 -6.41174144e-01 -2.66536405e-02 1.12534354e+02] [ 6.40935764e-01 7.67387785e-01 -1.78139014e-02 3.69222108e+01] [ 3.18754912e-02 -3.42121336e-03 9.99485992e-01 3.72455374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08071405700001 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:112.55, Y:36.94, Z:3.72 [[ 7.62206816e-01 -6.46802896e-01 -2.62065522e-02 1.12551770e+02] [ 6.46546554e-01 7.62651725e-01 -1.84363593e-02 3.69434318e+01] [ 3.19111628e-02 -2.89143731e-03 9.99486527e-01 3.72177728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.110714057 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:112.58, Y:36.96, Z:3.72 [[ 7.62185061e-01 -6.46836200e-01 -2.60165837e-02 1.12576135e+02] [ 6.46570918e-01 7.62624635e-01 -1.87006487e-02 3.69611572e+01] [ 3.19371443e-02 -2.56821132e-03 9.99486580e-01 3.72287528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.140714057 meters Centerline goodness : 0.992752 Centerline is valid? [True, True] Translation: X:112.61, Y:36.97, Z:3.72 [[ 7.65548834e-01 -6.42851578e-01 -2.60159741e-02 1.12605526e+02] [ 6.42583978e-01 7.65987001e-01 -1.87014968e-02 3.69742137e+01] [ 3.19501847e-02 -2.40053905e-03 9.99486580e-01 3.72466477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.170714057 meters Centerline goodness : 0.992707 Centerline is valid? [True, True] Translation: X:112.62, Y:36.99, Z:3.73 [[ 7.65004145e-01 -6.43494772e-01 -2.61368984e-02 1.12624291e+02] [ 6.43233223e-01 7.65445975e-01 -1.85332370e-02 3.69909755e+01] [ 3.19324248e-02 -2.63411826e-03 9.99486559e-01 3.72672500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.200714057 meters Centerline goodness : 0.993046 Centerline is valid? [True, True] Translation: X:112.65, Y:37.01, Z:3.73 [[ 7.66112606e-01 -6.42179788e-01 -2.60114604e-02 1.12649455e+02] [ 6.41911595e-01 7.66550408e-01 -1.87076496e-02 3.70079086e+01] [ 3.19527700e-02 -2.36489189e-03 9.99486582e-01 3.72717310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.230714057 meters Centerline goodness : 0.993333 Centerline is valid? [True, True] Translation: X:112.67, Y:37.03, Z:3.73 [[ 7.65944086e-01 -6.42376881e-01 -2.61074642e-02 1.12671248e+02] [ 6.42113304e-01 7.66384698e-01 -1.85741660e-02 3.70250247e+01] [ 3.19399759e-02 -2.53717751e-03 9.99486569e-01 3.72838184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.260714057 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:112.70, Y:37.05, Z:3.72 [[ 7.63942550e-01 -6.44754961e-01 -2.61308429e-02 1.12698278e+02] [ 6.44493855e-01 7.64384639e-01 -1.85416663e-02 3.70454842e+01] [ 3.19288462e-02 -2.67639988e-03 9.99486561e-01 3.72458754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.290714057 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:112.71, Y:37.06, Z:3.73 [[ 7.62185499e-01 -6.46822154e-01 -2.63508144e-02 1.12711674e+02] [ 6.46572657e-01 7.62634414e-01 -1.82359289e-02 3.70627501e+01] [ 3.18914407e-02 -3.13855553e-03 9.99486411e-01 3.72636010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.320714057 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:112.74, Y:37.08, Z:3.73 [[ 7.63256616e-01 -6.45572462e-01 -2.59910208e-02 1.12737541e+02] [ 6.45305288e-01 7.63695019e-01 -1.87350781e-02 3.70814223e+01] [ 3.19440636e-02 -2.47247084e-03 9.99486600e-01 3.73102557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.350714057 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:112.77, Y:37.10, Z:3.73 [[ 7.66838494e-01 -6.41313458e-01 -2.59956199e-02 1.12773066e+02] [ 6.41044061e-01 7.67275536e-01 -1.87286944e-02 3.70991778e+01] [ 3.19567670e-02 -2.30245389e-03 9.99486600e-01 3.72896392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.380714057 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:112.79, Y:37.12, Z:3.73 [[ 7.64334136e-01 -6.44284136e-01 -2.62922297e-02 1.12788638e+02] [ 6.44030376e-01 7.64780591e-01 -1.83172668e-02 3.71204055e+01] [ 3.19093114e-02 -2.93248232e-03 9.99486466e-01 3.73313654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.410714057 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:112.82, Y:37.14, Z:3.73 [[ 7.69092935e-01 -6.38608570e-01 -2.59836713e-02 1.12821537e+02] [ 6.38337089e-01 7.69528678e-01 -1.87449877e-02 3.71379395e+01] [ 3.19658900e-02 -2.16970353e-03 9.99486605e-01 3.73449072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44071405700001 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:112.84, Y:37.16, Z:3.73 [[ 7.65686860e-01 -6.42677879e-01 -2.62445526e-02 1.12839760e+02] [ 6.42420950e-01 7.66131445e-01 -1.83829540e-02 3.71595432e+01] [ 3.19210950e-02 -2.78446408e-03 9.99486513e-01 3.73344190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.470714057 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:112.87, Y:37.18, Z:3.74 [[ 7.70134441e-01 -6.37352026e-01 -2.59872530e-02 1.12872901e+02] [ 6.37080008e-01 7.70569844e-01 -1.87397679e-02 3.71757120e+01] [ 3.19688226e-02 -2.12381866e-03 9.99486610e-01 3.73637412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.500714057 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:112.90, Y:37.20, Z:3.74 [[ 7.70254352e-01 -6.37198065e-01 -2.62079851e-02 1.12901093e+02] [ 6.36936267e-01 7.70696051e-01 -1.84333355e-02 3.71952944e+01] [ 3.19440763e-02 -2.49445934e-03 9.99486545e-01 3.73614786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.530714057 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:112.93, Y:37.22, Z:3.74 [[ 7.69831104e-01 -6.37705171e-01 -2.63094123e-02 1.12925511e+02] [ 6.37448431e-01 7.70275850e-01 -1.82924456e-02 3.72151312e+01] [ 3.19306921e-02 -2.68880001e-03 9.99486469e-01 3.73791714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.560714057 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:112.95, Y:37.23, Z:3.73 [[ 7.70941905e-01 -6.36364795e-01 -2.62378965e-02 1.12952517e+02] [ 6.36103922e-01 7.71384173e-01 -1.83917801e-02 3.72329319e+01] [ 3.19433795e-02 -2.51103489e-03 9.99486526e-01 3.73475650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.590714057 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:112.98, Y:37.25, Z:3.74 [[ 7.69920847e-01 -6.37598636e-01 -2.62653715e-02 1.12975148e+02] [ 6.37339767e-01 7.70364311e-01 -1.83534612e-02 3.72502026e+01] [ 3.19360466e-02 -2.60925335e-03 9.99486509e-01 3.73504673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.620714057 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:113.00, Y:37.27, Z:3.74 [[ 7.68137405e-01 -6.39748117e-01 -2.62159203e-02 1.13000018e+02] [ 6.39488165e-01 7.68580194e-01 -1.84220809e-02 3.72703683e+01] [ 3.19345286e-02 -2.61408130e-03 9.99486544e-01 3.73800315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.650714057 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:113.03, Y:37.29, Z:3.74 [[ 7.68442267e-01 -6.39381152e-01 -2.62340361e-02 1.13027177e+02] [ 6.39121840e-01 7.68885444e-01 -1.83969472e-02 3.72896523e+01] [ 3.19336298e-02 -2.62975363e-03 9.99486532e-01 3.73835705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.680714057 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:113.07, Y:37.31, Z:3.73 [[ 7.71372106e-01 -6.35844440e-01 -2.62091972e-02 1.13067540e+02] [ 6.35581936e-01 7.71813379e-01 -1.84312687e-02 3.73111328e+01] [ 3.19480287e-02 -2.44072572e-03 9.99486551e-01 3.73334498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.710714057 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:113.08, Y:37.33, Z:3.74 [[ 7.68291820e-01 -6.39528623e-01 -2.70336995e-02 1.13077422e+02] [ 6.39307387e-01 7.68756882e-01 -1.72893154e-02 3.73259723e+01] [ 3.18393546e-02 -3.99960421e-03 9.99484997e-01 3.74019025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.740714057 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:113.10, Y:37.35, Z:3.74 [[ 7.68170685e-01 -6.39705805e-01 -2.62731968e-02 1.13103695e+02] [ 6.39448635e-01 7.68615068e-01 -1.83390156e-02 3.73451232e+01] [ 3.19255497e-02 -2.71286562e-03 9.99486568e-01 3.74427230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.770714057 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:113.13, Y:37.36, Z:3.75 [[ 7.68999308e-01 -6.38706700e-01 -2.63403687e-02 1.13133931e+02] [ 6.38452097e-01 7.69445249e-01 -1.82463412e-02 3.73646478e+01] [ 3.19215319e-02 -2.78563983e-03 9.99486496e-01 3.74543964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80071405700001 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:113.16, Y:37.38, Z:3.74 [[ 7.70036917e-01 -6.37446115e-01 -2.65630556e-02 1.13160566e+02] [ 6.37201252e-01 7.70488652e-01 -1.79388339e-02 3.73825193e+01] [ 3.19015729e-02 -3.11244794e-03 9.99486169e-01 3.74056017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83071405700001 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:113.18, Y:37.40, Z:3.74 [[ 7.68072395e-01 -6.39808232e-01 -2.66499819e-02 1.13182446e+02] [ 6.39568903e-01 7.68527255e-01 -1.78178582e-02 3.74008632e+01] [ 3.18812498e-02 -3.35909471e-03 9.99486019e-01 3.74070227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.860714057 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:113.21, Y:37.42, Z:3.75 [[ 7.66713988e-01 -6.41447533e-01 -2.63575956e-02 1.13207387e+02] [ 6.41195368e-01 7.67161312e-01 -1.82214530e-02 3.74204045e+01] [ 3.19086337e-02 -2.92972526e-03 9.99486496e-01 3.74611741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.890714057 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:113.23, Y:37.44, Z:3.75 [[ 7.65777198e-01 -6.42563932e-01 -2.63984179e-02 1.13233942e+02] [ 6.42314342e-01 7.66226022e-01 -1.81650732e-02 3.74397707e+01] [ 3.18993755e-02 -3.04568357e-03 9.99486445e-01 3.74734300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.920714057 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:113.26, Y:37.46, Z:3.74 [[ 7.65404530e-01 -6.43004675e-01 -2.64743827e-02 1.13256049e+02] [ 6.42758940e-01 7.65855593e-01 -1.80597729e-02 3.74554157e+01] [ 3.18880724e-02 -3.19361419e-03 9.99486344e-01 3.74473098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.950714057 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:113.28, Y:37.48, Z:3.74 [[ 7.61820989e-01 -6.47256665e-01 -2.62219427e-02 1.13279170e+02] [ 6.47001501e-01 7.62266462e-01 -1.84092019e-02 3.74763389e+01] [ 3.19035861e-02 -2.94111988e-03 9.99486624e-01 3.74460530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.980714057 meters Centerline goodness : 0.994531 Centerline is valid? [True, True] Translation: X:113.31, Y:37.49, Z:3.75 [[ 7.61205957e-01 -6.47982944e-01 -2.61456643e-02 1.13305163e+02] [ 6.47724618e-01 7.61649544e-01 -1.85146017e-02 3.74932692e+01] [ 3.19109795e-02 -2.84176532e-03 9.99486675e-01 3.74738310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.010714057 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:113.34, Y:37.51, Z:3.74 [[ 7.59907831e-01 -6.49506772e-01 -2.60967783e-02 1.13335103e+02] [ 6.49247038e-01 7.60350568e-01 -1.85821550e-02 3.75142680e+01] [ 3.19119357e-02 -2.82253091e-03 9.99486699e-01 3.74313904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.040714057 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:113.35, Y:37.53, Z:3.75 [[ 7.60327772e-01 -6.49007545e-01 -2.62847121e-02 1.13350890e+02] [ 6.48756418e-01 7.60775562e-01 -1.83208664e-02 3.75283053e+01] [ 3.18871471e-02 -3.12251210e-03 9.99486598e-01 3.74700116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.070714057 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:113.38, Y:37.55, Z:3.75 [[ 7.60258267e-01 -6.49107783e-01 -2.58157803e-02 1.13377430e+02] [ 6.48834667e-01 7.60692888e-01 -1.89711378e-02 3.75471552e+01] [ 3.19521937e-02 -2.32720893e-03 9.99486689e-01 3.74575275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.100714057 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:113.40, Y:37.57, Z:3.75 [[ 7.64001316e-01 -6.44683627e-01 -2.61726904e-02 1.13397630e+02] [ 6.44424636e-01 7.64444545e-01 -1.84777248e-02 3.75662099e+01] [ 3.19198570e-02 -2.74932040e-03 9.99486650e-01 3.75253814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.130714057 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:113.42, Y:37.59, Z:3.75 [[ 7.66179923e-01 -6.42100999e-01 -2.59736963e-02 1.13423910e+02] [ 6.41831236e-01 7.66616595e-01 -1.87526139e-02 3.75857480e+01] [ 3.19529387e-02 -2.30285336e-03 9.99486722e-01 3.75434579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.160714057 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:113.45, Y:37.60, Z:3.76 [[ 7.68548389e-01 -6.39263967e-01 -2.59798741e-02 1.13448263e+02] [ 6.38992878e-01 7.68984240e-01 -1.87440746e-02 3.76047599e+01] [ 3.19605253e-02 -2.19522615e-03 9.99486721e-01 3.75616668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19071405700001 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:113.47, Y:37.63, Z:3.75 [[ 7.66859323e-01 -6.41290194e-01 -2.59550851e-02 1.13471920e+02] [ 6.41019104e-01 7.67295172e-01 -1.87783529e-02 3.76250354e+01] [ 3.19575851e-02 -2.23735040e-03 9.99486722e-01 3.75397899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.220714057 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:113.50, Y:37.64, Z:3.75 [[ 7.67422330e-01 -6.40616001e-01 -2.59635708e-02 1.13498885e+02] [ 6.40344923e-01 7.67858186e-01 -1.87666130e-02 3.76436798e+01] [ 3.19585330e-02 -2.22372286e-03 9.99486722e-01 3.75378376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.250714057 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:113.52, Y:37.66, Z:3.75 [[ 7.68004958e-01 -6.39917181e-01 -2.59689419e-02 1.13515096e+02] [ 6.39645955e-01 7.68440723e-01 -1.87591776e-02 3.76562212e+01] [ 3.19599125e-02 -2.20378722e-03 9.99486722e-01 3.75254146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.280714057 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:113.55, Y:37.68, Z:3.75 [[ 7.67053875e-01 -6.41072161e-01 -2.55897844e-02 1.13545146e+02] [ 6.40784099e-01 7.67478927e-01 -1.92830122e-02 3.76754339e+01] [ 3.20014226e-02 -1.60641768e-03 9.99486532e-01 3.75120004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.310714057 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:113.57, Y:37.69, Z:3.75 [[ 7.69600730e-01 -6.37997352e-01 -2.59633575e-02 1.13574320e+02] [ 6.37724803e-01 7.70035652e-01 -1.87661779e-02 3.76925496e+01] [ 3.19654828e-02 -2.11501285e-03 9.99486736e-01 3.75200277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.340714057 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:113.60, Y:37.71, Z:3.75 [[ 7.66007623e-01 -6.42303814e-01 -2.60409848e-02 1.13596972e+02] [ 6.42037328e-01 7.66446295e-01 -1.86587088e-02 3.77132889e+01] [ 3.19435761e-02 -2.42657110e-03 9.99486728e-01 3.75141226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.370714057 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:113.63, Y:37.73, Z:3.75 [[ 7.67199174e-01 -6.40883009e-01 -2.59691492e-02 1.13628357e+02] [ 6.40612365e-01 7.67635284e-01 -1.87581597e-02 3.77311285e+01] [ 3.19566211e-02 -2.24491345e-03 9.99486736e-01 3.74989699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.400714057 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:113.65, Y:37.75, Z:3.75 [[ 7.68924350e-01 -6.38803950e-01 -2.61697828e-02 1.13652120e+02] [ 6.38541476e-01 7.69365492e-01 -1.84803120e-02 3.77469210e+01] [ 3.19394241e-02 -2.50052989e-03 9.99486679e-01 3.75418217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.430714057 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:113.68, Y:37.77, Z:3.76 [[ 7.66835211e-01 -6.41317534e-01 -2.59919173e-02 1.13680514e+02] [ 6.41048201e-01 7.67272130e-01 -1.87265289e-02 3.77684141e+01] [ 3.19525251e-02 -2.30191010e-03 9.99486737e-01 3.75691876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.460714057 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:113.71, Y:37.78, Z:3.76 [[ 7.66051058e-01 -6.42247138e-01 -2.61608459e-02 1.13705031e+02] [ 6.41986214e-01 7.66493122e-01 -1.84930994e-02 3.77845304e+01] [ 3.19292486e-02 -2.62824405e-03 9.99486676e-01 3.75939300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.490714057 meters Centerline goodness : 0.994785 Centerline is valid? [True, True] Translation: X:113.73, Y:37.80, Z:3.76 [[ 7.65799175e-01 -6.42551815e-01 -2.60535702e-02 1.13729193e+02] [ 6.42286059e-01 7.66238293e-01 -1.86412872e-02 3.78022091e+01] [ 3.19412360e-02 -2.45836257e-03 9.99486725e-01 3.76117833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.520714057 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:113.76, Y:37.82, Z:3.76 [[ 7.64462604e-01 -6.44143445e-01 -2.60028797e-02 1.13756909e+02] [ 6.43876238e-01 7.64900828e-01 -1.87113264e-02 3.78198668e+01] [ 3.19424025e-02 -2.43852701e-03 9.99486737e-01 3.76256701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55071405700001 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:113.78, Y:37.84, Z:3.76 [[ 7.61440366e-01 -6.47711349e-01 -2.60495222e-02 1.13784441e+02] [ 6.47448377e-01 7.61881155e-01 -1.86468470e-02 3.78405166e+01] [ 3.19244145e-02 -2.66725894e-03 9.99486727e-01 3.75918822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58071405700001 meters Centerline goodness : 0.995485 Centerline is valid? [True, True] Translation: X:113.81, Y:37.86, Z:3.77 [[ 7.62182554e-01 -6.46831812e-01 -2.61985122e-02 1.13807650e+02] [ 6.46575324e-01 7.62627228e-01 -1.84407374e-02 3.78555448e+01] [ 3.19077544e-02 -2.88410319e-03 9.99486657e-01 3.76610089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.610714057 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:113.83, Y:37.87, Z:3.77 [[ 7.61436907e-01 -6.47718375e-01 -2.59758353e-02 1.13833090e+02] [ 6.47451962e-01 7.61875609e-01 -1.87486838e-02 3.78738166e+01] [ 3.19342224e-02 -2.54216576e-03 9.99486740e-01 3.76732632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.640714057 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:113.86, Y:37.89, Z:3.77 [[ 7.57966800e-01 -6.51777464e-01 -2.59319729e-02 1.13858326e+02] [ 6.51511343e-01 7.58405682e-01 -1.88093533e-02 3.78936733e+01] [ 3.19264681e-02 -2.63810919e-03 9.99486739e-01 3.76590970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.670714057 meters Centerline goodness : 0.996152 Centerline is valid? [True, True] Translation: X:113.89, Y:37.91, Z:3.77 [[ 7.58924004e-01 -6.50661253e-01 -2.59670802e-02 1.13890463e+02] [ 6.50396132e-01 7.59363487e-01 -1.87607607e-02 3.79125060e+01] [ 3.19253527e-02 -2.65089688e-03 9.99486741e-01 3.76563073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.700714057 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:113.92, Y:37.93, Z:3.77 [[ 7.59643777e-01 -6.49808797e-01 -2.62651740e-02 1.13917429e+02] [ 6.49557219e-01 7.60091294e-01 -1.83478805e-02 3.79300495e+01] [ 3.18865443e-02 -3.12288012e-03 9.99486616e-01 3.76603451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.730714057 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:113.94, Y:37.95, Z:3.76 [[ 7.59912966e-01 -6.49491855e-01 -2.63175869e-02 1.13942010e+02] [ 6.49242573e-01 7.60361820e-01 -1.82752247e-02 3.79466294e+01] [ 3.18804979e-02 -3.19891767e-03 9.99486569e-01 3.76488928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.760714057 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:113.96, Y:37.96, Z:3.77 [[ 7.59910100e-01 -6.49498734e-01 -2.62304216e-02 1.13960942e+02] [ 6.49245327e-01 7.60356553e-01 -1.83960972e-02 3.79631321e+01] [ 3.18927148e-02 -3.05059863e-03 9.99486643e-01 3.76806778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.790714057 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:113.99, Y:37.98, Z:3.77 [[ 7.62235825e-01 -6.46777975e-01 -2.59768725e-02 1.13987127e+02] [ 6.46511063e-01 7.62674229e-01 -1.87474259e-02 3.79813222e+01] [ 3.19373134e-02 -2.50437585e-03 9.99486736e-01 3.76826068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.820714057 meters Centerline goodness : 0.995578 Centerline is valid? [True, True] Translation: X:114.02, Y:38.00, Z:3.77 [[ 7.65343888e-01 -6.43096949e-01 -2.59816754e-02 1.14021465e+02] [ 6.42828152e-01 7.65781138e-01 -1.87407674e-02 3.80006254e+01] [ 3.19484073e-02 -2.35862055e-03 9.99486736e-01 3.76941136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.850714057 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:114.05, Y:38.02, Z:3.77 [[ 7.69431638e-01 -6.38187567e-01 -2.62979859e-02 1.14049485e+02] [ 6.37930766e-01 7.69876205e-01 -1.83020981e-02 3.80202903e+01] [ 3.19263650e-02 -2.69408098e-03 9.99486593e-01 3.77260977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.880714057 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:114.06, Y:38.04, Z:3.77 [[ 7.69259171e-01 -6.38391919e-01 -2.63834293e-02 1.14063808e+02] [ 6.38139258e-01 7.69706207e-01 -1.81835832e-02 3.80385878e+01] [ 3.19157418e-02 -2.84841386e-03 9.99486504e-01 3.77458213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.910714057 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:114.10, Y:38.06, Z:3.78 [[ 7.76272959e-01 -6.29861683e-01 -2.59721662e-02 1.14101021e+02] [ 6.29585004e-01 7.76705248e-01 -1.87531746e-02 3.80581453e+01] [ 3.19846239e-02 -1.79410404e-03 9.99486751e-01 3.77789313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94071405700001 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:114.13, Y:38.08, Z:3.78 [[ 7.78714064e-01 -6.26821024e-01 -2.64539319e-02 1.14127473e+02] [ 6.26565043e-01 7.79159285e-01 -1.80846667e-02 3.80761281e+01] [ 3.19476760e-02 -2.49232470e-03 9.99486435e-01 3.77866339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.970714057 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:114.14, Y:38.09, Z:3.78 [[ 7.79049445e-01 -6.26402508e-01 -2.64926591e-02 1.14139215e+02] [ 6.26148103e-01 7.79495632e-01 -1.80309027e-02 3.80941684e+01] [ 3.19455147e-02 -2.54136350e-03 9.99486381e-01 3.77766420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.000714057 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:114.17, Y:38.11, Z:3.78 [[ 7.79217653e-01 -6.26214877e-01 -2.59764655e-02 1.14166290e+02] [ 6.25936404e-01 7.79648766e-01 -1.87462091e-02 3.81140646e+01] [ 3.19916743e-02 -1.65223840e-03 9.99486770e-01 3.77909851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.030714057 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:114.21, Y:38.13, Z:3.78 [[ 7.85248792e-01 -6.18635025e-01 -2.59815368e-02 1.14207627e+02] [ 6.18352620e-01 7.85677339e-01 -1.87391779e-02 3.81322556e+01] [ 3.20058165e-02 -1.35083447e-03 9.99486770e-01 3.77800111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.060714057 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:114.24, Y:38.15, Z:3.78 [[ 7.86834510e-01 -6.16591011e-01 -2.65890831e-02 1.14235468e+02] [ 6.16335587e-01 7.87280257e-01 -1.78952835e-02 3.81503566e+01] [ 3.19671311e-02 -2.30717151e-03 9.99486258e-01 3.77849081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.090714057 meters Centerline goodness : 0.995956 Centerline is valid? [True, True] Translation: X:114.27, Y:38.17, Z:3.78 [[ 7.88855514e-01 -6.14003790e-01 -2.65767711e-02 1.14266021e+02] [ 6.13746330e-01 7.89300063e-01 -1.79123800e-02 3.81683804e+01] [ 3.19753163e-02 -2.18111603e-03 9.99486279e-01 3.77724485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.120714057 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:114.27, Y:38.18, Z:3.78 [[ 7.82964866e-01 -6.21489548e-01 -2.67723821e-02 1.14271710e+02] [ 6.21245529e-01 7.83417379e-01 -1.76409628e-02 3.81847967e+01] [ 3.19376234e-02 -2.81996859e-03 9.99485886e-01 3.78247109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.150714057 meters Centerline goodness : 0.996031 Centerline is valid? [True, True] Translation: X:114.31, Y:38.20, Z:3.78 [[ 7.87437801e-01 -6.15847327e-01 -2.59572544e-02 1.14314601e+02] [ 6.15562440e-01 7.87864602e-01 -1.87683637e-02 3.82025720e+01] [ 3.20092486e-02 -1.19939180e-03 9.99486853e-01 3.78219930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.180714057 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:114.34, Y:38.22, Z:3.78 [[ 7.87001982e-01 -6.16376502e-01 -2.66061518e-02 1.14343050e+02] [ 6.16121805e-01 7.87448147e-01 -1.78700357e-02 3.82184089e+01] [ 3.19656350e-02 -2.32887678e-03 9.99486255e-01 3.78275467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.210714057 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:114.37, Y:38.24, Z:3.78 [[ 7.86272136e-01 -6.17305416e-01 -2.66486635e-02 1.14367728e+02] [ 6.17053228e-01 7.86719819e-01 -1.78112263e-02 3.82352371e+01] [ 3.19599982e-02 -2.43917291e-03 9.99486172e-01 3.78395959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.240714057 meters Centerline goodness : 0.996183 Centerline is valid? [True, True] Translation: X:114.39, Y:38.25, Z:3.79 [[ 7.84983679e-01 -6.18948136e-01 -2.65297661e-02 1.14394912e+02] [ 6.18691360e-01 7.85428480e-01 -1.79750666e-02 3.82536621e+01] [ 3.19628678e-02 -2.30360318e-03 9.99486402e-01 3.78570003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.270714057 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:114.42, Y:38.27, Z:3.79 [[ 7.84760786e-01 -6.19228507e-01 -2.65813117e-02 1.14420117e+02] [ 6.18974282e-01 7.85207160e-01 -1.79040462e-02 3.82684322e+01] [ 3.19585320e-02 -2.40275497e-03 9.99486308e-01 3.78606531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30071405700001 meters Centerline goodness : 0.996011 Centerline is valid? [True, True] Translation: X:114.45, Y:38.29, Z:3.79 [[ 7.85339522e-01 -6.18498527e-01 -2.64840791e-02 1.14451661e+02] [ 6.18239371e-01 7.85782858e-01 -1.80383176e-02 3.82869084e+01] [ 3.19674082e-02 -2.20729660e-03 9.99486474e-01 3.78522118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33071405700001 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:114.48, Y:38.30, Z:3.79 [[ 7.83332447e-01 -6.21031743e-01 -2.66430388e-02 1.14479949e+02] [ 6.20781393e-01 7.83781165e-01 -1.78198912e-02 3.83035910e+01] [ 3.19490301e-02 -2.58060378e-03 9.99486168e-01 3.78628662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.360714057 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:114.50, Y:38.32, Z:3.79 [[ 7.82105606e-01 -6.22571820e-01 -2.67422775e-02 1.14504870e+02] [ 6.22326982e-01 7.82557615e-01 -1.76835029e-02 3.83207562e+01] [ 3.19366235e-02 -2.81207412e-03 9.99485940e-01 3.78733152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.390714057 meters Centerline goodness : 0.996118 Centerline is valid? [True, True] Translation: X:114.53, Y:38.34, Z:3.79 [[ 7.80954093e-01 -6.24019470e-01 -2.66534280e-02 1.14530878e+02] [ 6.23771323e-01 7.81404057e-01 -1.78055240e-02 3.83386462e+01] [ 3.19380904e-02 -2.72034719e-03 9.99486147e-01 3.78900340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.420714057 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:114.54, Y:38.35, Z:3.79 [[ 7.74056738e-01 -6.32555037e-01 -2.66513061e-02 1.14537814e+02] [ 6.32311745e-01 7.74509340e-01 -1.78084350e-02 3.83535279e+01] [ 3.19065008e-02 -3.06719469e-03 9.99486152e-01 3.79193023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.450714057 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:114.59, Y:38.37, Z:3.79 [[ 7.80817333e-01 -6.24224384e-01 -2.58497701e-02 1.14587505e+02] [ 6.23939558e-01 7.81243910e-01 -1.89044953e-02 3.83704892e+01] [ 3.19956224e-02 -1.36773651e-03 9.99487073e-01 3.78848178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.480714057 meters Centerline goodness : 0.995762 Centerline is valid? [True, True] Translation: X:114.61, Y:38.39, Z:3.79 [[ 7.79829820e-01 -6.25414229e-01 -2.68792479e-02 1.14610581e+02] [ 6.25177558e-01 7.80286509e-01 -1.74924289e-02 3.83864969e+01] [ 3.19135284e-02 -3.16318489e-03 9.99485628e-01 3.78900757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.510714057 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:114.64, Y:38.40, Z:3.79 [[ 7.78891085e-01 -6.26592253e-01 -2.66613341e-02 1.14635887e+02] [ 6.26346093e-01 7.79342075e-01 -1.77905149e-02 3.84043719e+01] [ 3.19256983e-02 -2.84234899e-03 9.99486203e-01 3.79101257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.540714057 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:114.66, Y:38.42, Z:3.80 [[ 7.77270895e-01 -6.28602987e-01 -2.66128029e-02 1.14657525e+02] [ 6.28355734e-01 7.77721161e-01 -1.78568575e-02 3.84193251e+01] [ 3.19222139e-02 -2.84269163e-03 9.99486314e-01 3.79513549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.570714057 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:114.68, Y:38.43, Z:3.80 [[ 7.77317931e-01 -6.28554646e-01 -2.63797611e-02 1.14683254e+02] [ 6.28296577e-01 7.77761578e-01 -1.81752388e-02 3.84348193e+01] [ 3.19412954e-02 -2.44637461e-03 9.99486753e-01 3.79617097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.600714057 meters Centerline goodness : 0.996202 Centerline is valid? [True, True] Translation: X:114.71, Y:38.45, Z:3.80 [[ 7.76455384e-01 -6.29623624e-01 -2.62893419e-02 1.14710154e+02] [ 6.29362009e-01 7.76896794e-01 -1.82984652e-02 3.84531665e+01] [ 3.19452514e-02 -2.33757124e-03 9.99486887e-01 3.79797131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.630714057 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:114.74, Y:38.47, Z:3.80 [[ 7.75910813e-01 -6.30292739e-01 -2.63338844e-02 1.14738115e+02] [ 6.30033551e-01 7.76353726e-01 -1.82377906e-02 3.84688980e+01] [ 3.19395563e-02 -2.44033176e-03 9.99486823e-01 3.79782678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.660714057 meters Centerline goodness : 0.996389 Centerline is valid? [True, True] Translation: X:114.77, Y:38.49, Z:3.80 [[ 7.77443571e-01 -6.28401416e-01 -2.63278206e-02 1.14768874e+02] [ 6.28140872e-01 7.77885677e-01 -1.82460497e-02 3.84862168e+01] [ 3.19458780e-02 -2.35230621e-03 9.99486832e-01 3.79532071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69071405700001 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:114.78, Y:38.50, Z:3.80 [[ 7.71465565e-01 -6.35717415e-01 -2.65377240e-02 1.14776016e+02] [ 6.35470784e-01 7.71916005e-01 -1.79600683e-02 3.85033809e+01] [ 3.19024220e-02 -3.00837405e-03 9.99486461e-01 3.79927721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.720714057 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:114.80, Y:38.52, Z:3.80 [[ 7.71291659e-01 -6.35959396e-01 -2.57841652e-02 1.14804007e+02] [ 6.35678404e-01 7.71720538e-01 -1.89836197e-02 3.85218342e+01] [ 3.19709812e-02 -1.74852949e-03 9.99487268e-01 3.80091312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.750714057 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:114.85, Y:38.54, Z:3.80 [[ 7.76927912e-01 -6.29061142e-01 -2.57895180e-02 1.14849484e+02] [ 6.28776580e-01 7.77354431e-01 -1.89763450e-02 3.85398392e+01] [ 3.19848774e-02 -1.47259283e-03 9.99487268e-01 3.79825340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.780714057 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:114.87, Y:38.56, Z:3.80 [[ 7.73975447e-01 -6.32657050e-01 -2.65906838e-02 1.14870878e+02] [ 6.32411170e-01 7.74426379e-01 -1.78856203e-02 3.85563377e+01] [ 3.19079907e-02 -2.97321452e-03 9.99486388e-01 3.80241122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.810714057 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:114.89, Y:38.57, Z:3.81 [[ 7.74100368e-01 -6.32516506e-01 -2.62961886e-02 1.14894432e+02] [ 6.32256952e-01 7.74542940e-01 -1.82860715e-02 3.85729002e+01] [ 3.19337693e-02 -2.47069343e-03 9.99486933e-01 3.80515963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.840714057 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:114.92, Y:38.59, Z:3.80 [[ 7.71473364e-01 -6.35722285e-01 -2.61921006e-02 1.14922685e+02] [ 6.35459786e-01 7.71914039e-01 -1.84276021e-02 3.85913732e+01] [ 3.19328875e-02 -2.42762247e-03 9.99487067e-01 3.80433483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.870714057 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:114.95, Y:38.61, Z:3.81 [[ 7.70012373e-01 -6.37486906e-01 -2.62942893e-02 1.14947597e+02] [ 6.37230122e-01 7.70456552e-01 -1.82886027e-02 3.86095801e+01] [ 3.19173522e-02 -2.67306277e-03 9.99486937e-01 3.80634605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.900714057 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:114.97, Y:38.63, Z:3.81 [[ 7.70128671e-01 -6.37350749e-01 -2.61888008e-02 1.14973966e+02] [ 6.37089043e-01 7.70569805e-01 -1.84316873e-02 3.86268182e+01] [ 3.19277488e-02 -2.48982714e-03 9.99487078e-01 3.80880691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.930714057 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:115.00, Y:38.65, Z:3.80 [[ 7.69071409e-01 -6.38626252e-01 -2.61854671e-02 1.15003385e+02] [ 6.38365125e-01 7.69512881e-01 -1.84362082e-02 3.86465651e+01] [ 3.19239007e-02 -2.53712838e-03 9.99487082e-01 3.80442090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.960714057 meters Centerline goodness : 0.996232 Centerline is valid? [True, True] Translation: X:115.02, Y:38.66, Z:3.81 [[ 7.67735513e-01 -6.40222499e-01 -2.64070684e-02 1.15024911e+02] [ 6.39972512e-01 7.68183761e-01 -1.81354068e-02 3.86643099e+01] [ 3.18961766e-02 -2.97660205e-03 9.99486755e-01 3.80615597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.990714057 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:115.05, Y:38.68, Z:3.81 [[ 7.66910249e-01 -6.41219800e-01 -2.61884922e-02 1.15051937e+02] [ 6.40960329e-01 7.67352684e-01 -1.84313323e-02 3.86844797e+01] [ 3.19143450e-02 -2.65060692e-03 9.99487093e-01 3.80852292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.020714057 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:115.09, Y:38.70, Z:3.80 [[ 7.71004978e-01 -6.36287193e-01 -2.62665371e-02 1.15090329e+02] [ 6.36028462e-01 7.71447967e-01 -1.83256539e-02 3.87047035e+01] [ 3.19236455e-02 -2.57709485e-03 9.99486988e-01 3.80343323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05071405700001 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:115.10, Y:38.72, Z:3.81 [[ 7.65993285e-01 -6.42287753e-01 -2.68464258e-02 1.15102247e+02] [ 6.42059408e-01 7.66454175e-01 -1.75417993e-02 3.87219393e+01] [ 3.18434380e-02 -3.80009978e-03 9.99485645e-01 3.80990846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08071405700001 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:115.13, Y:38.74, Z:3.81 [[ 7.65720166e-01 -6.42638304e-01 -2.62419116e-02 1.15125047e+02] [ 6.42382185e-01 7.66164580e-01 -1.83566272e-02 3.87409683e+01] [ 3.19022949e-02 -2.80129693e-03 9.99487067e-01 3.81234911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.110714057 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:115.14, Y:38.76, Z:3.82 [[ 7.62576371e-01 -6.46366597e-01 -2.62202255e-02 1.15135196e+02] [ 6.46111654e-01 7.63021423e-01 -1.83858366e-02 3.87619562e+01] [ 3.18905844e-02 -2.92058870e-03 9.99487099e-01 3.81554279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.140714057 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:115.17, Y:38.78, Z:3.82 [[ 7.66139241e-01 -6.42161174e-01 -2.56844365e-02 1.15169336e+02] [ 6.41879542e-01 7.66567420e-01 -1.91061215e-02 3.87795375e+01] [ 3.19580617e-02 -1.84836492e-03 9.99487502e-01 3.81693449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.170714057 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:115.19, Y:38.80, Z:3.82 [[ 7.66763017e-01 -6.41399302e-01 -2.61038539e-02 1.15190910e+02] [ 6.41136187e-01 7.67203096e-01 -1.85418111e-02 3.87972970e+01] [ 3.19196622e-02 -2.51895040e-03 9.99487264e-01 3.81844613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.200714057 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:115.20, Y:38.82, Z:3.82 [[ 7.66053178e-01 -6.42248543e-01 -2.60640921e-02 1.15200511e+02] [ 6.41984110e-01 7.66492413e-01 -1.85952576e-02 3.88180773e+01] [ 3.19207060e-02 -2.48777673e-03 9.99487308e-01 3.82048789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.230714057 meters Centerline goodness : 0.995768 Centerline is valid? [True, True] Translation: X:115.24, Y:38.84, Z:3.82 [[ 7.71951171e-01 -6.35163494e-01 -2.56656468e-02 1.15237401e+02] [ 6.34877189e-01 7.72376206e-01 -1.91298455e-02 3.88393300e+01] [ 3.19741144e-02 -1.52722710e-03 9.99487530e-01 3.82107691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.260714057 meters Centerline goodness : 0.995848 Centerline is valid? [True, True] Translation: X:115.25, Y:38.86, Z:3.82 [[ 7.67876863e-01 -6.40060591e-01 -2.62214293e-02 1.15247467e+02] [ 6.39802084e-01 7.68319829e-01 -1.83829500e-02 3.88593536e+01] [ 3.19126459e-02 -2.66068317e-03 9.99487120e-01 3.82371148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.290714057 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:115.27, Y:38.88, Z:3.82 [[ 7.69037201e-01 -6.38688698e-01 -2.56618379e-02 1.15269172e+02] [ 6.38404218e-01 7.69463426e-01 -1.91334971e-02 3.88781132e+01] [ 3.19661941e-02 -1.66825451e-03 9.99487558e-01 3.82326976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.320714057 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:115.30, Y:38.90, Z:3.83 [[ 7.68088283e-01 -6.39834581e-01 -2.55362232e-02 1.15296414e+02] [ 6.39545144e-01 7.68511185e-01 -1.93020036e-02 3.88997850e+01] [ 3.19749625e-02 -1.50592479e-03 9.99487536e-01 3.82570740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.350714057 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:115.32, Y:38.92, Z:3.83 [[ 7.66667776e-01 -6.41530568e-01 -2.56719950e-02 1.15321240e+02] [ 6.41248126e-01 7.67095351e-01 -1.91197044e-02 3.89212335e+01] [ 3.19587428e-02 -1.80365745e-03 9.99487561e-01 3.82707846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.380714057 meters Centerline goodness : 0.995888 Centerline is valid? [True, True] Translation: X:115.37, Y:38.94, Z:3.82 [[ 7.72103682e-01 -6.34977618e-01 -2.56773902e-02 1.15369475e+02] [ 6.34691785e-01 7.72528997e-01 -1.91124560e-02 3.89404362e+01] [ 3.19725103e-02 -1.54043097e-03 9.99487562e-01 3.82171606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.410714057 meters Centerline goodness : 0.996495 Centerline is valid? [True, True] Translation: X:115.37, Y:38.96, Z:3.83 [[ 7.62606764e-01 -6.46309912e-01 -2.67286509e-02 1.15367163e+02] [ 6.46078661e-01 7.63065692e-01 -1.76949916e-02 3.89579652e+01] [ 3.18321650e-02 -3.77449067e-03 9.99486101e-01 3.82834459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44071405700001 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:115.39, Y:38.98, Z:3.83 [[ 7.61506135e-01 -6.47649273e-01 -2.56675973e-02 1.15392731e+02] [ 6.47370262e-01 7.61935816e-01 -1.91195207e-02 3.89791900e+01] [ 3.19398054e-02 -2.05680681e-03 9.99487678e-01 3.82973594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.470714057 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:115.44, Y:39.00, Z:3.82 [[ 7.66827000e-01 -6.41340202e-01 -2.56729040e-02 1.15439399e+02] [ 6.41057889e-01 7.67254520e-01 -1.91123924e-02 3.89990281e+01] [ 3.19551972e-02 -1.80191916e-03 9.99487678e-01 3.82455111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.500714057 meters Centerline goodness : 0.996495 Centerline is valid? [True, True] Translation: X:115.44, Y:39.02, Z:3.83 [[ 7.57857560e-01 -6.51873461e-01 -2.67003538e-02 1.15439409e+02] [ 6.51644427e-01 7.58317398e-01 -1.77275276e-02 3.90168786e+01] [ 3.18034476e-02 -3.96419591e-03 9.99486281e-01 3.82834373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.530714057 meters Centerline goodness : 0.996082 Centerline is valid? [True, True] Translation: X:115.48, Y:39.04, Z:3.82 [[ 7.63172651e-01 -6.45684820e-01 -2.56635486e-02 1.15484200e+02] [ 6.45404701e-01 7.63601482e-01 -1.91192965e-02 3.90371298e+01] [ 3.19417633e-02 -1.97205075e-03 9.99487786e-01 3.82344296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.560714057 meters Centerline goodness : 0.996306 Centerline is valid? [True, True] Translation: X:115.51, Y:39.06, Z:3.82 [[ 7.61725152e-01 -6.47359506e-01 -2.64662596e-02 1.15509469e+02] [ 6.47116903e-01 7.62177287e-01 -1.80415063e-02 3.90574290e+01] [ 3.18513225e-02 -3.38409482e-03 9.99486889e-01 3.82366064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.590714057 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:115.52, Y:39.08, Z:3.83 [[ 7.57665433e-01 -6.52105959e-01 -2.64747055e-02 1.15523464e+02] [ 6.51866577e-01 7.58119304e-01 -1.80301706e-02 3.90767531e+01] [ 3.18285670e-02 -3.59713866e-03 9.99486870e-01 3.82733425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.620714057 meters Centerline goodness : 0.995923 Centerline is valid? [True, True] Translation: X:115.55, Y:39.10, Z:3.83 [[ 7.56854512e-01 -6.53063992e-01 -2.60512875e-02 1.15547227e+02] [ 6.52805743e-01 7.57297054e-01 -1.85965998e-02 3.90974363e+01] [ 3.18733330e-02 -2.93150958e-03 9.99487617e-01 3.82916195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.650714057 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:115.57, Y:39.12, Z:3.83 [[ 7.56503505e-01 -6.53470152e-01 -2.60616119e-02 1.15570526e+02] [ 6.53212612e-01 7.56946474e-01 -1.85827850e-02 3.91177441e+01] [ 3.18705406e-02 -2.96583158e-03 9.99487605e-01 3.83117233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.680714057 meters Centerline goodness : 0.996251 Centerline is valid? [True, True] Translation: X:115.60, Y:39.14, Z:3.83 [[ 7.56316370e-01 -6.53687569e-01 -2.60405545e-02 1.15595513e+02] [ 6.53429196e-01 7.56758825e-01 -1.86109119e-02 3.91399404e+01] [ 3.18721412e-02 -2.93992124e-03 9.99487630e-01 3.83191421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.710714057 meters Centerline goodness : 0.996806 Centerline is valid? [True, True] Translation: X:115.62, Y:39.16, Z:3.83 [[ 7.56254844e-01 -6.53757312e-01 -2.60765834e-02 1.15620316e+02] [ 6.53500622e-01 7.56698328e-01 -1.85627903e-02 3.91610078e+01] [ 3.18676670e-02 -3.00286343e-03 9.99487586e-01 3.83352029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.740714057 meters Centerline goodness : 0.996382 Centerline is valid? [True, True] Translation: X:115.64, Y:39.18, Z:3.83 [[ 7.57856502e-01 -6.51900623e-01 -2.60595529e-02 1.15644149e+02] [ 6.51642071e-01 7.58298879e-01 -1.85855447e-02 3.91827539e+01] [ 3.18768579e-02 -2.89632512e-03 9.99487607e-01 3.83457768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.770714057 meters Centerline goodness : 0.996231 Centerline is valid? [True, True] Translation: X:115.67, Y:39.20, Z:3.84 [[ 7.58458706e-01 -6.51198079e-01 -2.61046604e-02 1.15667808e+02] [ 6.50941170e-01 7.58902106e-01 -1.85252807e-02 3.92037132e+01] [ 3.18745090e-02 -2.94193776e-03 9.99487549e-01 3.83684467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80071405700001 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:115.69, Y:39.23, Z:3.84 [[ 7.61621121e-01 -6.47497898e-01 -2.60718422e-02 1.15691775e+02] [ 6.47237344e-01 7.62062339e-01 -1.85691272e-02 3.92264032e+01] [ 3.18918399e-02 -2.73203046e-03 9.99487592e-01 3.83853471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83071405700001 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:115.72, Y:39.25, Z:3.84 [[ 7.62987648e-01 -6.45885296e-01 -2.61157762e-02 1.15716519e+02] [ 6.45625799e-01 7.63429558e-01 -1.85105012e-02 3.92474131e+01] [ 3.18932160e-02 -2.73773512e-03 9.99487532e-01 3.83941010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.860714057 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:115.74, Y:39.27, Z:3.84 [[ 7.68026494e-01 -6.39883352e-01 -2.61648720e-02 1.15738383e+02] [ 6.39622614e-01 7.68467758e-01 -1.84449891e-02 3.92677721e+01] [ 3.19095019e-02 -2.56940349e-03 9.99487460e-01 3.83784318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.890714057 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:115.76, Y:39.29, Z:3.84 [[ 7.67819490e-01 -6.40136379e-01 -2.60508728e-02 1.15764311e+02] [ 6.39870650e-01 7.68257577e-01 -1.85969617e-02 3.92900814e+01] [ 3.19183722e-02 -2.39007926e-03 9.99487621e-01 3.83979720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.920714057 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:115.79, Y:39.31, Z:3.84 [[ 7.67566977e-01 -6.40434512e-01 -2.61643217e-02 1.15789405e+02] [ 6.40174065e-01 7.68008412e-01 -1.84457346e-02 3.93091376e+01] [ 3.19077042e-02 -2.59138347e-03 9.99487460e-01 3.84073194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.950714057 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:115.81, Y:39.33, Z:3.84 [[ 7.72505714e-01 -6.34468600e-01 -2.61632910e-02 1.15809588e+02] [ 6.34204695e-01 7.72945088e-01 -1.84471081e-02 3.93290757e+01] [ 3.19268981e-02 -2.34238555e-03 9.99487462e-01 3.83941024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.980714057 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:115.84, Y:39.35, Z:3.84 [[ 7.74861851e-01 -6.31598943e-01 -2.59207868e-02 1.15844113e+02] [ 6.31322621e-01 7.75293144e-01 -1.87693536e-02 3.93532518e+01] [ 3.19509122e-02 -1.82072300e-03 9.99487781e-01 3.84028679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.010714057 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:115.87, Y:39.37, Z:3.84 [[ 7.76371309e-01 -6.29716911e-01 -2.65368123e-02 1.15868118e+02] [ 6.29467130e-01 7.76819765e-01 -1.79495334e-02 3.93732107e+01] [ 3.19174451e-02 -2.76854833e-03 9.99486674e-01 3.84086381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.040714057 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:115.89, Y:39.39, Z:3.84 [[ 7.81290291e-01 -6.23605160e-01 -2.64968844e-02 1.15891189e+02] [ 6.23350070e-01 7.81735629e-01 -1.80026751e-02 3.93922035e+01] [ 3.19401196e-02 -2.45151946e-03 9.99486778e-01 3.83953981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.070714057 meters Centerline goodness : 0.995357 Centerline is valid? [True, True] Translation: X:115.92, Y:39.41, Z:3.84 [[ 7.82954201e-01 -6.21520373e-01 -2.63656162e-02 1.15915606e+02] [ 6.21258235e-01 7.83395054e-01 -1.81767369e-02 3.94135755e+01] [ 3.19519056e-02 -2.14830365e-03 9.99487099e-01 3.84285456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.100714057 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:115.94, Y:39.43, Z:3.84 [[ 7.84729931e-01 -6.19271855e-01 -2.64821813e-02 1.15940283e+02] [ 6.19013647e-01 7.85173424e-01 -1.80221761e-02 3.94333011e+01] [ 3.19537314e-02 -2.25029059e-03 9.99486816e-01 3.84384013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.130714057 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:115.94, Y:39.45, Z:3.85 [[ 7.79176987e-01 -6.26245289e-01 -2.64586689e-02 1.15939268e+02] [ 6.25989992e-01 7.79622093e-01 -1.80533071e-02 3.94526779e+01] [ 3.19335613e-02 -2.49614054e-03 9.99486877e-01 3.85230326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.160714057 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:115.99, Y:39.47, Z:3.85 [[ 7.90600687e-01 -6.11801224e-01 -2.54914967e-02 1.15985703e+02] [ 6.11495891e-01 7.91011485e-01 -1.93289083e-02 3.94713213e+01] [ 3.19895164e-02 -3.06497256e-04 9.99488157e-01 3.84761800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19071405700001 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:116.01, Y:39.49, Z:3.85 [[ 7.92905904e-01 -6.08770845e-01 -2.64250781e-02 1.16010976e+02] [ 6.08504354e-01 7.93344222e-01 -1.80941003e-02 3.94891285e+01] [ 3.19793438e-02 -1.73285610e-03 9.99487028e-01 3.84741367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.220714057 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:116.01, Y:39.51, Z:3.86 [[ 7.88678017e-01 -6.14241265e-01 -2.63562673e-02 1.16011805e+02] [ 6.13974778e-01 7.89116140e-01 -1.81848749e-02 3.95083112e+01] [ 3.19680565e-02 -1.84007232e-03 9.99487197e-01 3.85659140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.250714057 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:116.06, Y:39.53, Z:3.85 [[ 7.96811043e-01 -6.03692088e-01 -2.54563383e-02 1.16059330e+02] [ 6.03381332e-01 7.97217573e-01 -1.93677693e-02 3.95255101e+01] [ 3.19864093e-02 7.25731711e-05 9.99488301e-01 3.85024826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.280714057 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:116.08, Y:39.54, Z:3.85 [[ 7.98238865e-01 -6.01763858e-01 -2.63623629e-02 1.16084803e+02] [ 6.01490889e-01 7.98672923e-01 -1.81734251e-02 3.95432565e+01] [ 3.19910158e-02 -1.34998693e-03 9.99487245e-01 3.85003462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.310714057 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:116.09, Y:39.56, Z:3.86 [[ 7.90554469e-01 -6.11828180e-01 -2.62661248e-02 1.16087274e+02] [ 6.11556518e-01 7.90989084e-01 -1.83001351e-02 3.95620888e+01] [ 3.19727563e-02 -1.59596628e-03 9.99487467e-01 3.85921364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.340714057 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:116.14, Y:39.58, Z:3.85 [[ 7.97408713e-01 -6.02903109e-01 -2.54398450e-02 1.16138127e+02] [ 6.02591415e-01 7.97814405e-01 -1.93845737e-02 3.95771929e+01] [ 3.19832946e-02 1.27595789e-04 9.99488395e-01 3.85219948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.370714057 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:116.17, Y:39.59, Z:3.85 [[ 7.93343418e-01 -6.08201552e-01 -2.64025257e-02 1.16166319e+02] [ 6.07933951e-01 7.93780863e-01 -1.81177646e-02 3.95928277e+01] [ 3.19770721e-02 -1.67738248e-03 9.99487195e-01 3.85301425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.400714057 meters Centerline goodness : 0.992694 Centerline is valid? [True, True] Translation: X:116.19, Y:39.61, Z:3.86 [[ 7.92984001e-01 -6.08673020e-01 -2.63349359e-02 1.16189133e+02] [ 6.08402726e-01 7.93419588e-01 -1.82065932e-02 3.96079177e+01] [ 3.19765161e-02 -1.58470968e-03 9.99487364e-01 3.86018630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.430714057 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:116.22, Y:39.63, Z:3.86 [[ 7.89530342e-01 -6.13154700e-01 -2.61371917e-02 1.16218181e+02] [ 6.12878259e-01 7.89961545e-01 -1.84661122e-02 3.96260013e+01] [ 3.19699599e-02 -1.43936069e-03 9.99487794e-01 3.85535970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.460714057 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:116.25, Y:39.64, Z:3.86 [[ 7.85294024e-01 -6.18566175e-01 -2.62522926e-02 1.16245069e+02] [ 6.18297739e-01 7.85730532e-01 -1.83149633e-02 3.96406291e+01] [ 3.19562446e-02 -1.84910196e-03 9.99487558e-01 3.85756659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.490714057 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:116.27, Y:39.66, Z:3.86 [[ 7.83212879e-01 -6.21205463e-01 -2.61028347e-02 1.16273657e+02] [ 6.20931985e-01 7.83645868e-01 -1.85100945e-02 3.96594703e+01] [ 3.19539504e-02 -1.71074060e-03 9.99487878e-01 3.85952588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.520714057 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:116.30, Y:39.67, Z:3.86 [[ 7.81039283e-01 -6.23930359e-01 -2.62401384e-02 1.16303570e+02] [ 6.23664382e-01 7.81477263e-01 -1.83309801e-02 3.96742684e+01] [ 3.19433265e-02 -2.04782415e-03 9.99487584e-01 3.86035175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55071405700001 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:116.33, Y:39.69, Z:3.86 [[ 7.79618728e-01 -6.25701803e-01 -2.63038658e-02 1.16331455e+02] [ 6.25439614e-01 7.80059166e-01 -1.82479062e-02 3.96915996e+01] [ 3.19363194e-02 -2.22507028e-03 9.99487429e-01 3.86112799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58071405700001 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:116.36, Y:39.71, Z:3.86 [[ 7.74165014e-01 -6.32434126e-01 -2.63743598e-02 1.16355203e+02] [ 6.32178874e-01 7.74609724e-01 -1.81561631e-02 3.97059041e+01] [ 3.19124127e-02 -2.61744684e-03 9.99487242e-01 3.86272220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.610714057 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:116.36, Y:39.72, Z:3.87 [[ 7.65093102e-01 -6.43388193e-01 -2.61567935e-02 1.16358344e+02] [ 6.43129653e-01 7.65535278e-01 -1.84387514e-02 3.97228400e+01] [ 3.18872231e-02 -2.71484801e-03 9.99487786e-01 3.86935416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.640714057 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:116.41, Y:39.74, Z:3.87 [[ 7.67981045e-01 -6.39972664e-01 -2.53002492e-02 1.16405285e+02] [ 6.39675138e-01 7.68396783e-01 -1.95474285e-02 3.97375502e+01] [ 3.19504500e-02 -1.17188584e-03 9.99488767e-01 3.86658956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.670714057 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:116.43, Y:39.75, Z:3.87 [[ 7.64736591e-01 -6.43815551e-01 -2.60668937e-02 1.16430160e+02] [ 6.43553347e-01 7.65176349e-01 -1.85538200e-02 3.97549999e+01] [ 3.18910084e-02 -2.58665165e-03 9.99488005e-01 3.86675249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.700714057 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:116.46, Y:39.77, Z:3.87 [[ 7.60072073e-01 -6.49319688e-01 -2.59689549e-02 1.16455343e+02] [ 6.49056355e-01 7.60510936e-01 -1.86805674e-02 3.97717456e+01] [ 3.18793344e-02 -2.65673766e-03 9.99488194e-01 3.86672978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.730714057 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:116.48, Y:39.79, Z:3.87 [[ 7.58590586e-01 -6.51053503e-01 -2.58777787e-02 1.16482215e+02] [ 6.50787171e-01 7.59027455e-01 -1.87984318e-02 3.97903269e+01] [ 3.18807294e-02 -2.58061298e-03 9.99488349e-01 3.86664897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.760714057 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:116.51, Y:39.81, Z:3.87 [[ 7.57289462e-01 -6.52564737e-01 -2.59217101e-02 1.16507309e+02] [ 6.52301206e-01 7.57728109e-01 -1.87416383e-02 3.98083890e+01] [ 3.18717407e-02 -2.71591755e-03 9.99488277e-01 3.86722828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.790714057 meters Centerline goodness : 0.995177 Centerline is valid? [True, True] Translation: X:116.53, Y:39.83, Z:3.87 [[ 7.55636292e-01 -6.54479915e-01 -2.58811525e-02 1.16534632e+02] [ 6.54215710e-01 7.56074458e-01 -1.87941330e-02 3.98268981e+01] [ 3.18684610e-02 -2.73032757e-03 9.99488342e-01 3.86866023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.820714057 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:116.56, Y:39.85, Z:3.87 [[ 7.54538815e-01 -6.55746200e-01 -2.58476060e-02 1.16560685e+02] [ 6.55481256e-01 7.54976473e-01 -1.88374267e-02 3.98467734e+01] [ 3.18669054e-02 -2.72905163e-03 9.99488395e-01 3.87028009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.850714057 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:116.59, Y:39.87, Z:3.87 [[ 7.55955859e-01 -6.54111081e-01 -2.58734032e-02 1.16591263e+02] [ 6.53846322e-01 7.56393675e-01 -1.88041309e-02 3.98664283e+01] [ 3.18704689e-02 -2.70213659e-03 9.99488355e-01 3.86890700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.880714057 meters Centerline goodness : 0.995859 Centerline is valid? [True, True] Translation: X:116.59, Y:39.88, Z:3.87 [[ 7.48833664e-01 -6.62241282e-01 -2.61653965e-02 1.16592657e+02] [ 6.61994239e-01 7.49282374e-01 -1.84269553e-02 3.98833401e+01] [ 3.18083609e-02 -3.52261722e-03 9.99487778e-01 3.87459436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.910714057 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:116.62, Y:39.90, Z:3.88 [[ 7.49906581e-01 -6.61061963e-01 -2.52428301e-02 1.16615960e+02] [ 6.60773851e-01 7.50328726e-01 -1.96143195e-02 3.99020828e+01] [ 3.19067011e-02 -1.97089478e-03 9.99488908e-01 3.87570268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94071405700001 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:116.66, Y:39.92, Z:3.87 [[ 7.56080713e-01 -6.53995217e-01 -2.51438087e-02 1.16663844e+02] [ 6.53698923e-01 7.56497175e-01 -1.97418826e-02 3.99235140e+01] [ 3.19323171e-02 -1.51002400e-03 9.99488893e-01 3.87143857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.970714057 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:116.69, Y:39.94, Z:3.87 [[ 7.55591515e-01 -6.54517651e-01 -2.62318086e-02 1.16690383e+02] [ 6.54269068e-01 7.56039490e-01 -1.83378244e-02 3.99435129e+01] [ 3.18347130e-02 -3.30675643e-03 9.99487677e-01 3.87178588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.000714057 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:116.69, Y:39.96, Z:3.88 [[ 7.47830257e-01 -6.63371080e-01 -2.62434257e-02 1.16689600e+02] [ 6.63128310e-01 7.48281443e-01 -1.83228447e-02 3.99602959e+01] [ 3.17923137e-02 -3.70038084e-03 9.99487647e-01 3.87815974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.030714057 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:116.73, Y:39.98, Z:3.88 [[ 7.53811490e-01 -6.56606623e-01 -2.52186469e-02 1.16731565e+02] [ 6.56315188e-01 7.54231191e-01 -1.96388560e-02 3.99821371e+01] [ 3.19156930e-02 -1.74738566e-03 9.99489037e-01 3.87692154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.060714057 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:116.76, Y:40.00, Z:3.88 [[ 7.53944617e-01 -6.56420164e-01 -2.60784024e-02 1.16757675e+02] [ 6.56166003e-01 7.54388968e-01 -1.85327314e-02 4.00024564e+01] [ 3.18385176e-02 -3.13910801e-03 9.99488096e-01 3.87774878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.090714057 meters Centerline goodness : 0.995756 Centerline is valid? [True, True] Translation: X:116.77, Y:40.02, Z:3.88 [[ 7.52016998e-01 -6.58625671e-01 -2.61277693e-02 1.16774595e+02] [ 6.58374996e-01 7.52463455e-01 -1.84692567e-02 4.00210726e+01] [ 3.18245181e-02 -3.31267503e-03 9.99487982e-01 3.88077289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.120714057 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:116.78, Y:40.04, Z:3.88 [[ 7.47410446e-01 -6.63861497e-01 -2.57980292e-02 1.16783662e+02] [ 6.63599388e-01 7.47849529e-01 -1.88926962e-02 4.00400233e+01] [ 3.18351776e-02 -2.99895788e-03 9.99488633e-01 3.88437679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.150714057 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:116.82, Y:40.06, Z:3.88 [[ 7.51834357e-01 -6.58870484e-01 -2.51949535e-02 1.16823147e+02] [ 6.58579423e-01 7.52254224e-01 -1.96653719e-02 4.00626634e+01] [ 3.19099433e-02 -1.80777566e-03 9.99489113e-01 3.88243212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.180714057 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:116.84, Y:40.08, Z:3.89 [[ 7.49256098e-01 -6.61772708e-01 -2.59264821e-02 1.16840312e+02] [ 6.61515067e-01 7.49698038e-01 -1.87261417e-02 4.00806009e+01] [ 3.18294823e-02 -3.12008269e-03 9.99488444e-01 3.88659769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.210714057 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:116.87, Y:40.10, Z:3.89 [[ 7.49257193e-01 -6.61785626e-01 -2.55625414e-02 1.16866161e+02] [ 6.61512091e-01 7.49688860e-01 -1.91928775e-02 4.01023358e+01] [ 3.18655230e-02 -2.52952868e-03 9.99488964e-01 3.88764939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.240714057 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:116.89, Y:40.12, Z:3.89 [[ 7.49360225e-01 -6.61665229e-01 -2.56588768e-02 1.16892014e+02] [ 6.61395812e-01 7.49794597e-01 -1.90693971e-02 4.01236048e+01] [ 3.18564442e-02 -2.68082599e-03 9.99488859e-01 3.88823614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.270714057 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:116.92, Y:40.14, Z:3.89 [[ 7.49055966e-01 -6.62009547e-01 -2.56616092e-02 1.16915344e+02] [ 6.61740449e-01 7.49490540e-01 -1.90658968e-02 4.01439050e+01] [ 3.18549390e-02 -2.69990105e-03 9.99488856e-01 3.89066275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30071405700001 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:116.93, Y:40.16, Z:3.89 [[ 7.47092891e-01 -6.64226000e-01 -2.56131355e-02 1.16927403e+02] [ 6.63956079e-01 7.47526887e-01 -1.91279743e-02 4.01642275e+01] [ 3.18518052e-02 -2.71562339e-03 9.99488913e-01 3.89261102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33071405700001 meters Centerline goodness : 0.995750 Centerline is valid? [True, True] Translation: X:116.95, Y:40.19, Z:3.89 [[ 7.49287899e-01 -6.61765763e-01 -2.51737856e-02 1.16950730e+02] [ 6.61475506e-01 7.49708257e-01 -1.96897073e-02 4.01857806e+01] [ 3.19029691e-02 -1.89858310e-03 9.99489167e-01 3.89379264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.360714057 meters Centerline goodness : 0.996218 Centerline is valid? [True, True] Translation: X:116.99, Y:40.21, Z:3.89 [[ 7.56319186e-01 -6.53718225e-01 -2.51748009e-02 1.16993861e+02] [ 6.53423534e-01 7.56736448e-01 -1.96884091e-02 4.02074125e+01] [ 3.19213612e-02 -1.55908583e-03 9.99489167e-01 3.89209791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.390714057 meters Centerline goodness : 0.996283 Centerline is valid? [True, True] Translation: X:117.01, Y:40.23, Z:3.89 [[ 7.54375132e-01 -6.55928865e-01 -2.59900800e-02 1.17011575e+02] [ 6.55670489e-01 7.54816852e-01 -1.86474977e-02 4.02277262e+01] [ 3.18491823e-02 -2.97371993e-03 9.99488262e-01 3.89474601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.420714057 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:117.04, Y:40.25, Z:3.89 [[ 7.58573908e-01 -6.51080285e-01 -2.56921645e-02 1.17037405e+02] [ 6.50806209e-01 7.59005423e-01 -1.90274975e-02 4.02490322e+01] [ 3.18889207e-02 -2.28685704e-03 9.99488803e-01 3.89433962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.450714057 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:117.06, Y:40.27, Z:3.90 [[ 7.59299984e-01 -6.50227363e-01 -2.58439646e-02 1.17056877e+02] [ 6.49959340e-01 7.59735574e-01 -1.88338569e-02 4.02702357e+01] [ 3.18808684e-02 -2.49697896e-03 9.99488557e-01 3.89592819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.480714057 meters Centerline goodness : 0.996050 Centerline is valid? [True, True] Translation: X:117.09, Y:40.29, Z:3.89 [[ 7.61398667e-01 -6.47778217e-01 -2.56017894e-02 1.17085965e+02] [ 6.47498426e-01 7.61826340e-01 -1.91419961e-02 4.02917826e+01] [ 3.19038856e-02 -2.00242807e-03 9.99488936e-01 3.89461445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.510714057 meters Centerline goodness : 0.996639 Centerline is valid? [True, True] Translation: X:117.09, Y:40.31, Z:3.90 [[ 7.57133674e-01 -6.52749755e-01 -2.58138880e-02 1.17092829e+02] [ 6.52481888e-01 7.57569292e-01 -1.88720460e-02 4.03104763e+01] [ 3.18745323e-02 -2.55443291e-03 9.99488614e-01 3.89763949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.540714057 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:117.14, Y:40.33, Z:3.89 [[ 7.64956823e-01 -6.43592211e-01 -2.51022910e-02 1.17137519e+02] [ 6.43289135e-01 7.65367901e-01 -1.97753615e-02 4.03324019e+01] [ 3.19397564e-02 -1.02073342e-03 9.99489275e-01 3.89418368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.570714057 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:117.14, Y:40.35, Z:3.90 [[ 7.59146479e-01 -6.50402079e-01 -2.59568825e-02 1.17140383e+02] [ 6.50139034e-01 7.59585358e-01 -1.86901106e-02 4.03514735e+01] [ 3.18725547e-02 -2.68705086e-03 9.99488329e-01 3.89927118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.600714057 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:117.18, Y:40.37, Z:3.90 [[ 7.67328829e-01 -6.40763411e-01 -2.50742904e-02 1.17183074e+02] [ 6.40457769e-01 7.67737918e-01 -1.98074386e-02 4.03727729e+01] [ 3.19423655e-02 -8.60205471e-04 9.99489342e-01 3.89774747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.630714057 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:117.21, Y:40.39, Z:3.90 [[ 7.69783540e-01 -6.37776991e-01 -2.59578741e-02 1.17209918e+02] [ 6.37506883e-01 7.70218037e-01 -1.86855307e-02 4.03905838e+01] [ 3.19104244e-02 -2.16450940e-03 9.99488389e-01 3.89662454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.660714057 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:117.23, Y:40.41, Z:3.90 [[ 7.67872737e-01 -6.40073803e-01 -2.60189611e-02 1.17227895e+02] [ 6.39807612e-01 7.68309810e-01 -1.86079702e-02 4.04103829e+01] [ 3.19010973e-02 -2.35857638e-03 9.99488248e-01 3.89893344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69071405700001 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:117.25, Y:40.43, Z:3.90 [[ 7.68553706e-01 -6.39266739e-01 -2.57534006e-02 1.17245899e+02] [ 6.38988784e-01 7.68982731e-01 -1.89444841e-02 4.04275959e+01] [ 3.19144989e-02 -1.89628067e-03 9.99488804e-01 3.90461713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.720714057 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:117.27, Y:40.45, Z:3.90 [[ 7.67191021e-01 -6.40912778e-01 -2.54705572e-02 1.17273595e+02] [ 6.40623813e-01 7.67612231e-01 -1.93026641e-02 4.04499272e+01] [ 3.19228353e-02 -1.50821495e-03 9.99489198e-01 3.90195338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.750714057 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:117.30, Y:40.47, Z:3.90 [[ 7.66778512e-01 -6.41399043e-01 -2.56511557e-02 1.17299646e+02] [ 6.41117940e-01 7.67205290e-01 -1.90743455e-02 4.04697454e+01] [ 3.19139693e-02 -1.81961781e-03 9.99488963e-01 3.90269372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.780714057 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:117.31, Y:40.49, Z:3.91 [[ 7.61489006e-01 -6.47668498e-01 -2.56906883e-02 1.17308011e+02] [ 6.47392584e-01 7.61919232e-01 -1.90243648e-02 4.04889064e+01] [ 3.18957112e-02 -2.14511647e-03 9.99488900e-01 3.90670385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.810714057 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:117.33, Y:40.51, Z:3.91 [[ 7.61671499e-01 -6.47479496e-01 -2.50365555e-02 1.17334099e+02] [ 6.47176075e-01 7.62082100e-01 -1.98494649e-02 4.05100763e+01] [ 3.19320324e-02 -1.08428803e-03 9.99489454e-01 3.90817686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.840714057 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:117.38, Y:40.53, Z:3.90 [[ 7.67035885e-01 -6.41115310e-01 -2.50421781e-02 1.17377733e+02] [ 6.40808712e-01 7.67444118e-01 -1.98423689e-02 4.05283295e+01] [ 3.19397188e-02 -8.27436889e-04 9.99489455e-01 3.90435403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.870714057 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:117.38, Y:40.55, Z:3.91 [[ 7.60141512e-01 -6.49242539e-01 -2.58651731e-02 1.17382662e+02] [ 6.48975065e-01 7.60577348e-01 -1.88006098e-02 4.05465320e+01] [ 3.18786204e-02 -2.49472847e-03 9.99488634e-01 3.90871355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.900714057 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:117.41, Y:40.57, Z:3.91 [[ 7.59482660e-01 -6.50045389e-01 -2.50415990e-02 1.17408803e+02] [ 6.49743659e-01 7.59894431e-01 -1.98401442e-02 4.05673091e+01] [ 3.19259658e-02 -1.20237468e-03 9.99489513e-01 3.91039995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.930714057 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:117.44, Y:40.59, Z:3.91 [[ 7.57447311e-01 -6.52415670e-01 -2.50472543e-02 1.17435703e+02] [ 6.52115464e-01 7.57860194e-01 -1.98330020e-02 4.05870722e+01] [ 3.19216783e-02 -1.31124786e-03 9.99489513e-01 3.91162017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.960714057 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:117.48, Y:40.60, Z:3.91 [[ 7.61638357e-01 -6.47517850e-01 -2.50528847e-02 1.17481793e+02] [ 6.47215221e-01 7.62049468e-01 -1.98258872e-02 4.06042386e+01] [ 3.19291533e-02 -1.11445210e-03 9.99489513e-01 3.90714741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.990714057 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:117.49, Y:40.62, Z:3.91 [[ 7.53225934e-01 -6.57249831e-01 -2.59490420e-02 1.17485424e+02] [ 6.56990732e-01 7.53666928e-01 -1.86906174e-02 4.06224597e+01] [ 3.18413399e-02 -2.97002240e-03 9.99488523e-01 3.91299881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.020714057 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:117.51, Y:40.64, Z:3.91 [[ 7.52257869e-01 -6.58392682e-01 -2.50434401e-02 1.17510896e+02] [ 6.58095713e-01 7.52672997e-01 -1.98341250e-02 4.06425461e+01] [ 3.19081639e-02 -1.56060394e-03 9.99489587e-01 3.91436981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05071405700001 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:117.55, Y:40.66, Z:3.91 [[ 7.54525090e-01 -6.55792994e-01 -2.50487069e-02 1.17550877e+02] [ 6.55494813e-01 7.54939349e-01 -1.98274712e-02 4.06612486e+01] [ 3.19129712e-02 -1.45897292e-03 9.99489587e-01 3.91138223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08071405700001 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:117.58, Y:40.68, Z:3.91 [[ 7.53486622e-01 -6.56964900e-01 -2.55935488e-02 1.17578051e+02] [ 6.56690387e-01 7.53917388e-01 -1.91391748e-02 4.06810763e+01] [ 3.18691875e-02 -2.38592531e-03 9.99489201e-01 3.91149368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.110714057 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:117.60, Y:40.70, Z:3.91 [[ 7.50080521e-01 -6.60849202e-01 -2.56426318e-02 1.17601661e+02] [ 6.60579019e-01 7.50514102e-01 -1.90772759e-02 4.07010220e+01] [ 3.18523594e-02 -2.62949148e-03 9.99489126e-01 3.91292790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.140714057 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:117.63, Y:40.72, Z:3.91 [[ 7.50370957e-01 -6.60521689e-01 -2.55836937e-02 1.17630513e+02] [ 6.60248795e-01 7.50802733e-01 -1.91515989e-02 4.07212704e+01] [ 3.18583536e-02 -2.52079933e-03 9.99489215e-01 3.91219457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.170714057 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:117.65, Y:40.74, Z:3.92 [[ 7.46637650e-01 -6.64730648e-01 -2.57950491e-02 1.17649703e+02] [ 6.64469282e-01 7.47076921e-01 -1.88851116e-02 4.07406857e+01] [ 3.18243983e-02 -3.03968244e-03 9.99488853e-01 3.91592174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.200714057 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:117.68, Y:40.76, Z:3.92 [[ 7.44858047e-01 -6.66735952e-01 -2.54884141e-02 1.17676240e+02] [ 6.66462601e-01 7.45289365e-01 -1.92708280e-02 4.07610809e+01] [ 3.18447978e-02 -2.63304342e-03 9.99489358e-01 3.91635364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.230714057 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:117.70, Y:40.78, Z:3.92 [[ 7.42664067e-01 -6.69173924e-01 -2.56191873e-02 1.17696876e+02] [ 6.68907598e-01 7.43099975e-01 -1.91063367e-02 4.07796274e+01] [ 3.18230798e-02 -2.94727931e-03 9.99489172e-01 3.91905457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.260714057 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:117.72, Y:40.80, Z:3.92 [[ 7.40537608e-01 -6.71532617e-01 -2.54557589e-02 1.17720416e+02] [ 6.71260660e-01 7.40969757e-01 -1.93117814e-02 4.07998017e+01] [ 3.18304386e-02 -2.78634915e-03 9.99489399e-01 3.92048876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.290714057 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:117.75, Y:40.82, Z:3.92 [[ 7.39347756e-01 -6.72843578e-01 -2.54246848e-02 1.17745005e+02] [ 6.72571058e-01 7.39779507e-01 -1.93508019e-02 4.08202251e+01] [ 3.18287236e-02 -2.79293520e-03 9.99489436e-01 3.92193577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.320714057 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:117.77, Y:40.84, Z:3.92 [[ 7.38272652e-01 -6.74024433e-01 -2.53880827e-02 1.17769389e+02] [ 6.73751036e-01 7.38703802e-01 -1.93967641e-02 4.08412681e+01] [ 3.18281661e-02 -2.78514657e-03 9.99489475e-01 3.92276518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.350714057 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:117.78, Y:40.86, Z:3.92 [[ 7.35506261e-01 -6.77042276e-01 -2.53830086e-02 1.17783182e+02] [ 6.76770430e-01 7.35938383e-01 -1.94031337e-02 4.08613582e+01] [ 3.18170721e-02 -2.90734329e-03 9.99489480e-01 3.92138783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.380714057 meters Centerline goodness : 0.995509 Centerline is valid? [True, True] Translation: X:117.81, Y:40.88, Z:3.92 [[ 7.40351295e-01 -6.71756241e-01 -2.49702183e-02 1.17814052e+02] [ 6.71463843e-01 7.40769518e-01 -1.99205730e-02 4.08805716e+01] [ 3.18789458e-02 -2.01837669e-03 9.99489699e-01 3.92183871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.410714057 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:117.84, Y:40.90, Z:3.92 [[ 7.42008778e-01 -6.69918316e-01 -2.51480210e-02 1.17844377e+02] [ 6.69632350e-01 7.42431481e-01 -1.96980105e-02 4.09047709e+01] [ 3.18667405e-02 -2.22383167e-03 9.99489652e-01 3.92169748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44071405700001 meters Centerline goodness : 0.995964 Centerline is valid? [True, True] Translation: X:117.85, Y:40.93, Z:3.93 [[ 7.38802028e-01 -6.73435134e-01 -2.56258495e-02 1.17851263e+02] [ 6.73171573e-01 7.39239650e-01 -1.90990319e-02 4.09261463e+01] [ 3.18056031e-02 -3.14018998e-03 9.99489141e-01 3.92601066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.470714057 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:117.89, Y:40.95, Z:3.92 [[ 7.44520039e-01 -6.67133847e-01 -2.49467836e-02 1.17889260e+02] [ 6.66837924e-01 7.44935735e-01 -1.99482835e-02 4.09475299e+01] [ 3.18919257e-02 -1.78356459e-03 9.99489732e-01 3.92358259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.500714057 meters Centerline goodness : 0.995768 Centerline is valid? [True, True] Translation: X:117.91, Y:40.97, Z:3.93 [[ 7.43821806e-01 -6.67889560e-01 -2.55471547e-02 1.17909651e+02] [ 6.67619410e-01 7.44255214e-01 -1.91963353e-02 4.09683291e+01] [ 3.18346350e-02 -2.77712352e-03 9.99489291e-01 3.92827112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.530714057 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:117.93, Y:40.99, Z:3.93 [[ 7.46205659e-01 -6.65234219e-01 -2.53090480e-02 1.17934179e+02] [ 6.64952465e-01 7.46631248e-01 -1.94935352e-02 4.09911973e+01] [ 3.18642927e-02 -2.28312756e-03 9.99489597e-01 3.92920136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.560714057 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:117.96, Y:41.01, Z:3.93 [[ 7.48512564e-01 -6.62632469e-01 -2.54391894e-02 1.17957475e+02] [ 6.62354712e-01 7.48940949e-01 -1.93310571e-02 4.10133664e+01] [ 3.18618368e-02 -2.38022784e-03 9.99489449e-01 3.93007385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.590714057 meters Centerline goodness : 0.996007 Centerline is valid? [True, True] Translation: X:117.98, Y:41.03, Z:3.93 [[ 7.51521557e-01 -6.59217225e-01 -2.54558223e-02 1.17984290e+02] [ 6.58938220e-01 7.51949157e-01 -1.93102821e-02 4.10340477e+01] [ 3.18711547e-02 -2.26172095e-03 9.99489427e-01 3.92906403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.620714057 meters Centerline goodness : 0.995867 Centerline is valid? [True, True] Translation: X:118.01, Y:41.06, Z:3.93 [[ 7.50481888e-01 -6.60397191e-01 -2.55437859e-02 1.18006997e+02] [ 6.60122568e-01 7.50912469e-01 -1.92005130e-02 4.10564390e+01] [ 3.18611122e-02 -2.45239230e-03 9.99489297e-01 3.93110240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.650714057 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:118.03, Y:41.08, Z:3.93 [[ 7.51830606e-01 -6.58862262e-01 -2.55197896e-02 1.18030076e+02] [ 6.58585749e-01 7.52259930e-01 -1.92304336e-02 4.10781429e+01] [ 3.18677221e-02 -2.34894123e-03 9.99489335e-01 3.93247869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.680714057 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:118.05, Y:41.10, Z:3.93 [[ 7.52747790e-01 -6.57815481e-01 -2.54864066e-02 1.18053789e+02] [ 6.57536967e-01 7.53175760e-01 -1.92720596e-02 4.10985107e+01] [ 3.18732028e-02 -2.25125422e-03 9.99489385e-01 3.93307710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.710714057 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:118.06, Y:41.12, Z:3.94 [[ 7.49485262e-01 -6.61530293e-01 -2.54855634e-02 1.18061024e+02] [ 6.61253863e-01 7.49914579e-01 -1.92731122e-02 4.11195567e+01] [ 3.18617431e-02 -2.40751370e-03 9.99489386e-01 3.93973812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.740714057 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:118.10, Y:41.14, Z:3.94 [[ 7.54169231e-01 -6.56207595e-01 -2.49070963e-02 1.18099875e+02] [ 6.55904139e-01 7.54579359e-01 -1.99937558e-02 4.11398118e+01] [ 3.19144352e-02 -1.25799210e-03 9.99489813e-01 3.93747796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.770714057 meters Centerline goodness : 0.995517 Centerline is valid? [True, True] Translation: X:118.13, Y:41.16, Z:3.94 [[ 7.55272776e-01 -6.54913694e-01 -2.55163946e-02 1.18129226e+02] [ 6.54634826e-01 7.55700544e-01 -1.92336205e-02 4.11601980e+01] [ 3.18791147e-02 -2.17729058e-03 9.99489360e-01 3.93568417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80071405700001 meters Centerline goodness : 0.995738 Centerline is valid? [True, True] Translation: X:118.15, Y:41.18, Z:3.93 [[ 7.52745875e-01 -6.57809668e-01 -2.56921763e-02 1.18152942e+02] [ 6.57539851e-01 7.53179781e-01 -1.90147786e-02 4.11807104e+01] [ 3.18589329e-02 -2.58033363e-03 9.99489045e-01 3.93490539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83071405700001 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:118.17, Y:41.20, Z:3.94 [[ 7.49997021e-01 -6.60944361e-01 -2.56324026e-02 1.18171425e+02] [ 6.60673828e-01 7.50430342e-01 -1.90891446e-02 4.11997984e+01] [ 3.18521951e-02 -2.61785595e-03 9.99489162e-01 3.93716333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.860714057 meters Centerline goodness : 0.995706 Centerline is valid? [True, True] Translation: X:118.20, Y:41.22, Z:3.94 [[ 7.47368003e-01 -6.63927065e-01 -2.53361632e-02 1.18195854e+02] [ 6.63645802e-01 7.47793879e-01 -1.94566960e-02 4.12209522e+01] [ 3.18640548e-02 -2.27292630e-03 9.99489628e-01 3.93924400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.890714057 meters Centerline goodness : 0.995401 Centerline is valid? [True, True] Translation: X:118.22, Y:41.24, Z:3.94 [[ 7.46630679e-01 -6.64754869e-01 -2.53691175e-02 1.18218839e+02] [ 6.64475459e-01 7.47057823e-01 -1.94158157e-02 4.12408244e+01] [ 3.18589557e-02 -2.36071233e-03 9.99489587e-01 3.94092011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.920714057 meters Centerline goodness : 0.996123 Centerline is valid? [True, True] Translation: X:118.25, Y:41.26, Z:3.94 [[ 7.47426310e-01 -6.63861228e-01 -2.53412692e-02 1.18248211e+02] [ 6.63580141e-01 7.47852311e-01 -1.94503965e-02 4.12610212e+01] [ 3.18638908e-02 -2.27822489e-03 9.99489621e-01 3.93756981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.950714057 meters Centerline goodness : 0.995995 Centerline is valid? [True, True] Translation: X:118.27, Y:41.28, Z:3.94 [[ 7.44264214e-01 -6.67397804e-01 -2.55137460e-02 1.18268587e+02] [ 6.67125993e-01 7.44696489e-01 -1.92366350e-02 4.12810562e+01] [ 3.18384850e-02 -2.70374410e-03 9.99489370e-01 3.94176222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.980714057 meters Centerline goodness : 0.995735 Centerline is valid? [True, True] Translation: X:118.29, Y:41.30, Z:3.94 [[ 7.44072954e-01 -6.67617810e-01 -2.53357288e-02 1.18294397e+02] [ 6.67338643e-01 7.44500205e-01 -1.94571567e-02 4.13021043e+01] [ 3.18523996e-02 -2.42996682e-03 9.99489630e-01 3.94357347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.010714057 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:118.32, Y:41.32, Z:3.95 [[ 7.44223241e-01 -6.67448660e-01 -2.53782339e-02 1.18318016e+02] [ 6.67171178e-01 7.44651653e-01 -1.94045014e-02 4.13222068e+01] [ 3.18494523e-02 -2.49034525e-03 9.99489575e-01 3.94534958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.040714057 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:118.34, Y:41.34, Z:3.95 [[ 7.45574424e-01 -6.65940368e-01 -2.53417552e-02 1.18342147e+02] [ 6.65660491e-01 7.46001220e-01 -1.94496920e-02 4.13436705e+01] [ 3.18573153e-02 -2.36781227e-03 9.99489622e-01 3.94769281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.070714057 meters Centerline goodness : 0.995667 Centerline is valid? [True, True] Translation: X:118.37, Y:41.37, Z:3.95 [[ 7.48332513e-01 -6.62840421e-01 -2.53184916e-02 1.18373267e+02] [ 6.62557806e-01 7.48757466e-01 -1.94784687e-02 4.13654055e+01] [ 3.18685260e-02 -2.19859275e-03 9.99489651e-01 3.94682536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.100714057 meters Centerline goodness : 0.996215 Centerline is valid? [True, True] Translation: X:118.39, Y:41.38, Z:3.95 [[ 7.46664984e-01 -6.64705335e-01 -2.56557873e-02 1.18388346e+02] [ 6.64437946e-01 7.47100325e-01 -1.90609481e-02 4.13839919e+01] [ 3.18373610e-02 -2.81453613e-03 9.99489100e-01 3.94944358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.130714057 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:118.42, Y:41.40, Z:3.95 [[ 7.47327758e-01 -6.63976472e-01 -2.52282690e-02 1.18416458e+02] [ 6.63690802e-01 7.47750502e-01 -1.95884040e-02 4.14049648e+01] [ 3.18706902e-02 -2.10481207e-03 9.99489784e-01 3.94893376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.160714057 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:118.44, Y:41.42, Z:3.95 [[ 7.46318870e-01 -6.65102514e-01 -2.54320718e-02 1.18437497e+02] [ 6.64825972e-01 7.46747958e-01 -1.93368743e-02 4.14239505e+01] [ 3.18523514e-02 -2.47642762e-03 9.99489517e-01 3.95087399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19071405700001 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:118.46, Y:41.44, Z:3.95 [[ 7.45140141e-01 -6.66429483e-01 -2.52569820e-02 1.18462096e+02] [ 6.66146402e-01 7.45564657e-01 -1.95528323e-02 4.14445435e+01] [ 3.18612971e-02 -2.25524749e-03 9.99489756e-01 3.95227170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.220714057 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:118.49, Y:41.46, Z:3.96 [[ 7.43758902e-01 -6.67970721e-01 -2.52549516e-02 1.18485314e+02] [ 6.67688434e-01 7.44183945e-01 -1.95553362e-02 4.14649010e+01] [ 3.18567215e-02 -2.31798369e-03 9.99489758e-01 3.95537232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.250714057 meters Centerline goodness : 0.995958 Centerline is valid? [True, True] Translation: X:118.51, Y:41.49, Z:3.96 [[ 7.42196734e-01 -6.69707887e-01 -2.52062340e-02 1.18510592e+02] [ 6.69424568e-01 7.42621024e-01 -1.96153657e-02 4.14865788e+01] [ 3.18552444e-02 -2.31521189e-03 9.99489811e-01 3.95598926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.280714057 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:118.54, Y:41.51, Z:3.96 [[ 7.41349027e-01 -6.70645616e-01 -2.52205919e-02 1.18535918e+02] [ 6.70363431e-01 7.41774091e-01 -1.95976764e-02 4.15075334e+01] [ 3.18510774e-02 -2.37824421e-03 9.99489796e-01 3.95703320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.310714057 meters Centerline goodness : 0.995841 Centerline is valid? [True, True] Translation: X:118.56, Y:41.53, Z:3.96 [[ 7.40058541e-01 -6.72069315e-01 -2.52228400e-02 1.18560083e+02] [ 6.71788041e-01 7.40484211e-01 -1.95949082e-02 4.15278570e+01] [ 3.18462514e-02 -2.44302315e-03 9.99489794e-01 3.95797130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.340714057 meters Centerline goodness : 0.996091 Centerline is valid? [True, True] Translation: X:118.59, Y:41.55, Z:3.96 [[ 7.38624491e-01 -6.73646807e-01 -2.51761934e-02 1.18586440e+02] [ 6.73364499e-01 7.39049416e-01 -1.96522830e-02 4.15480277e+01] [ 3.18451487e-02 -2.43709737e-03 9.99489843e-01 3.96073223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.370714057 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:118.61, Y:41.57, Z:3.96 [[ 7.37713966e-01 -6.74642240e-01 -2.52181087e-02 1.18611506e+02] [ 6.74362253e-01 7.38140477e-01 -1.96007100e-02 4.15678203e+01] [ 3.18379737e-02 -2.54642309e-03 9.99489799e-01 3.96206636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.400714057 meters Centerline goodness : 0.995823 Centerline is valid? [True, True] Translation: X:118.64, Y:41.59, Z:3.96 [[ 7.38810228e-01 -6.73442067e-01 -2.52037592e-02 1.18640604e+02] [ 6.73160789e-01 7.39235871e-01 -1.96183367e-02 4.15884039e+01] [ 3.18433361e-02 -2.47195459e-03 9.99489816e-01 3.95872058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.430714057 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:118.66, Y:41.61, Z:3.97 [[ 7.36368152e-01 -6.76103478e-01 -2.54171551e-02 1.18660617e+02] [ 6.75832672e-01 7.36800879e-01 -1.93562621e-02 4.16083645e+01] [ 3.18142183e-02 -2.92440889e-03 9.99489521e-01 3.96601108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.460714057 meters Centerline goodness : 0.996148 Centerline is valid? [True, True] Translation: X:118.68, Y:41.63, Z:3.97 [[ 7.35656336e-01 -6.76886104e-01 -2.51983612e-02 1.18683429e+02] [ 6.76606598e-01 7.36083133e-01 -1.96247914e-02 4.16289219e+01] [ 3.18318372e-02 -2.61227529e-03 9.99489825e-01 3.96752910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.490714057 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:118.70, Y:41.65, Z:3.97 [[ 7.37531119e-01 -6.74845267e-01 -2.51339010e-02 1.18704458e+02] [ 6.74561899e-01 7.37955282e-01 -1.97039684e-02 4.16459754e+01] [ 3.18448248e-02 -2.42208215e-03 9.99489890e-01 3.96806954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.520714057 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:118.72, Y:41.67, Z:3.97 [[ 7.33963919e-01 -6.78731318e-01 -2.49151206e-02 1.18722659e+02] [ 6.78441103e-01 7.34383252e-01 -1.99727116e-02 4.16672656e+01] [ 3.18533522e-02 -2.24419223e-03 9.99490034e-01 3.96541275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55071405700001 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:118.76, Y:41.69, Z:3.97 [[ 7.37582703e-01 -6.74802680e-01 -2.47608480e-02 1.18757797e+02] [ 6.74503886e-01 7.37995931e-01 -2.01621728e-02 4.16877753e+01] [ 3.18788933e-02 -1.83001828e-03 9.99490064e-01 3.96651165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58071405700001 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:118.78, Y:41.71, Z:3.97 [[ 7.38964641e-01 -6.73273085e-01 -2.51915232e-02 1.18784701e+02] [ 6.72991211e-01 7.39389865e-01 -1.96330654e-02 4.17091810e+01] [ 3.18447714e-02 -2.44553264e-03 9.99489835e-01 3.96629455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.610714057 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:118.81, Y:41.73, Z:3.97 [[ 7.39220249e-01 -6.72989148e-01 -2.52790547e-02 1.18806376e+02] [ 6.72710757e-01 7.39647884e-01 -1.95254887e-02 4.17292882e+01] [ 3.18380413e-02 -2.57185537e-03 9.99489732e-01 3.96943143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.640714057 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:118.83, Y:41.75, Z:3.97 [[ 7.41431992e-01 -6.70556793e-01 -2.51433572e-02 1.18832449e+02] [ 6.70271367e-01 7.41854779e-01 -1.96921651e-02 4.17509587e+01] [ 3.18574348e-02 -2.25247117e-03 9.99489885e-01 3.96991669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.670714057 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:118.86, Y:41.77, Z:3.97 [[ 7.42478198e-01 -6.69395187e-01 -2.52231728e-02 1.18857275e+02] [ 6.69112407e-01 7.42902860e-01 -1.95940662e-02 4.17715337e+01] [ 3.18545408e-02 -2.32897094e-03 9.99489802e-01 3.97051568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.700714057 meters Centerline goodness : 0.994269 Centerline is valid? [True, True] Translation: X:118.88, Y:41.79, Z:3.97 [[ 7.46729517e-01 -6.64649749e-01 -2.52138769e-02 1.18878391e+02] [ 6.64363885e-01 7.47152096e-01 -1.96054831e-02 4.17890578e+01] [ 3.18693804e-02 -2.11119635e-03 9.99489813e-01 3.97098899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.730714057 meters Centerline goodness : 0.994269 Centerline is valid? [True, True] Translation: X:118.90, Y:41.81, Z:3.97 [[ 7.46676405e-01 -6.64718988e-01 -2.49602476e-02 1.18904191e+02] [ 6.64422754e-01 7.47091516e-01 -1.99166041e-02 4.18103534e+01] [ 3.18865342e-02 -1.71289814e-03 9.99490027e-01 3.97221773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.760714057 meters Centerline goodness : 0.995719 Centerline is valid? [True, True] Translation: X:118.92, Y:41.83, Z:3.97 [[ 7.43081107e-01 -6.68735518e-01 -2.49654832e-02 1.18920190e+02] [ 6.68441741e-01 7.43497964e-01 -1.99101815e-02 4.18331283e+01] [ 3.18764315e-02 -1.89309138e-03 9.99490025e-01 3.97207120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.790714057 meters Centerline goodness : 0.995349 Centerline is valid? [True, True] Translation: X:118.96, Y:41.85, Z:3.97 [[ 7.49722818e-01 -6.61289227e-01 -2.47437833e-02 1.18959920e+02] [ 6.60982320e-01 7.50130029e-01 -2.01819959e-02 4.18534575e+01] [ 3.19071914e-02 -1.22430048e-03 9.99490086e-01 3.97049145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.820714057 meters Centerline goodness : 0.995460 Centerline is valid? [True, True] Translation: X:118.99, Y:41.87, Z:3.97 [[ 7.52633591e-01 -6.57948134e-01 -2.54348410e-02 1.18985628e+02] [ 6.57667646e-01 7.53060099e-01 -1.93327370e-02 4.18738920e+01] [ 3.18739022e-02 -2.17720471e-03 9.99489527e-01 3.97158825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.850714057 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:119.01, Y:41.89, Z:3.98 [[ 7.55605462e-01 -6.54531930e-01 -2.54625060e-02 1.19006139e+02] [ 6.54250653e-01 7.56031508e-01 -1.92987565e-02 4.18913274e+01] [ 3.18821091e-02 -2.07661537e-03 9.99489479e-01 3.97676067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.880714057 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:119.04, Y:41.91, Z:3.97 [[ 7.56315698e-01 -6.53720122e-01 -2.52302787e-02 1.19035707e+02] [ 6.53428869e-01 7.56734562e-01 -1.95835701e-02 4.19141213e+01] [ 3.18947977e-02 -1.67483102e-03 9.99489828e-01 3.97408286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.910714057 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:119.06, Y:41.93, Z:3.98 [[ 7.57473501e-01 -6.52368433e-01 -2.54818214e-02 1.19055463e+02] [ 6.52086725e-01 7.57899310e-01 -1.92753438e-02 4.19319171e+01] [ 3.18872807e-02 -2.01579532e-03 9.99489439e-01 3.97921231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94071405700001 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:119.08, Y:41.95, Z:3.98 [[ 7.55653589e-01 -6.54487221e-01 -2.51819527e-02 1.19083793e+02] [ 6.54194448e-01 7.56071303e-01 -1.96420137e-02 4.19536157e+01] [ 3.18947988e-02 -1.63133548e-03 9.99489900e-01 3.97785319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.970714057 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:119.11, Y:41.97, Z:3.98 [[ 7.54304789e-01 -6.56031903e-01 -2.54249211e-02 1.19108044e+02] [ 6.55749922e-01 7.54730292e-01 -1.93449047e-02 4.19732835e+01] [ 3.18798328e-02 -2.08043574e-03 9.99489544e-01 3.97932630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.000714057 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:119.13, Y:41.99, Z:3.98 [[ 7.54428214e-01 -6.55893440e-01 -2.53350565e-02 1.19126319e+02] [ 6.55607698e-01 7.54851018e-01 -1.94547186e-02 4.19885551e+01] [ 3.18844155e-02 -1.93266947e-03 9.99489694e-01 3.98286751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.030714057 meters Centerline goodness : 0.995349 Centerline is valid? [True, True] Translation: X:119.16, Y:42.01, Z:3.98 [[ 7.50908716e-01 -6.59933657e-01 -2.49733762e-02 1.19158856e+02] [ 6.59635457e-01 7.51322313e-01 -1.98958676e-02 4.20107456e+01] [ 3.18930074e-02 -1.53334406e-03 9.99490112e-01 3.98075709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.060714057 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:119.18, Y:42.03, Z:3.99 [[ 7.47976353e-01 -6.63240321e-01 -2.53702817e-02 1.19180694e+02] [ 6.62960188e-01 7.48402957e-01 -1.94114408e-02 4.20292083e+01] [ 3.18616441e-02 -2.30018798e-03 9.99489642e-01 3.98548671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.090714057 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:119.21, Y:42.05, Z:3.98 [[ 7.45657772e-01 -6.65853557e-01 -2.51699709e-02 1.19209384e+02] [ 6.65566684e-01 7.46079518e-01 -1.96555611e-02 4.20484450e+01] [ 3.18665250e-02 -2.09597221e-03 9.99489936e-01 3.98422974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.120714057 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:119.22, Y:42.07, Z:3.98 [[ 7.40108120e-01 -6.72013025e-01 -2.52678669e-02 1.19219587e+02] [ 6.71733699e-01 7.40535058e-01 -1.95362620e-02 4.20669398e+01] [ 3.18403638e-02 -2.51433151e-03 9.99489805e-01 3.98446212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.150714057 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:119.25, Y:42.09, Z:3.99 [[ 7.39592238e-01 -6.72603340e-01 -2.46590514e-02 1.19245603e+02] [ 6.72299495e-01 7.40001517e-01 -2.02766830e-02 4.20862711e+01] [ 3.18859001e-02 -1.58179046e-03 9.99490264e-01 3.98854793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.180714057 meters Centerline goodness : 0.995574 Centerline is valid? [True, True] Translation: X:119.29, Y:42.11, Z:3.98 [[ 7.45921181e-01 -6.65577398e-01 -2.46641219e-02 1.19289691e+02] [ 6.65269899e-01 7.46327721e-01 -2.02705134e-02 4.21059522e+01] [ 3.18991135e-02 -1.28809260e-03 9.99490264e-01 3.98362945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.210714057 meters Centerline goodness : 0.996000 Centerline is valid? [True, True] Translation: X:119.32, Y:42.12, Z:3.99 [[ 7.46026148e-01 -6.65427780e-01 -2.55118776e-02 1.19315749e+02] [ 6.65154781e-01 7.46457647e-01 -1.92379439e-02 4.21239562e+01] [ 3.18449984e-02 -2.61733812e-03 9.99489392e-01 3.98563791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.240714057 meters Centerline goodness : 0.995893 Centerline is valid? [True, True] Translation: X:119.34, Y:42.14, Z:3.99 [[ 7.44876758e-01 -6.66715238e-01 -2.54834654e-02 1.19337293e+02] [ 6.66441808e-01 7.45307914e-01 -1.92725043e-02 4.21432146e+01] [ 3.18423008e-02 -2.62760624e-03 9.99489451e-01 3.98866084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.270714057 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:119.34, Y:42.16, Z:3.99 [[ 7.40446193e-01 -6.71638310e-01 -2.53261983e-02 1.19344808e+02] [ 6.71361230e-01 7.40874663e-01 -1.94636258e-02 4.21605853e+01] [ 3.18360554e-02 -2.59126001e-03 9.99489745e-01 3.99347512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30071405700001 meters Centerline goodness : 0.996029 Centerline is valid? [True, True] Translation: X:119.39, Y:42.18, Z:3.99 [[ 7.47252447e-01 -6.64083897e-01 -2.46243582e-02 1.19388132e+02] [ 6.63774137e-01 7.47657154e-01 -2.03144007e-02 4.21808613e+01] [ 3.19010440e-02 -1.16502651e-03 9.99490353e-01 3.99007517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33071405700001 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:119.41, Y:42.20, Z:3.99 [[ 7.48598664e-01 -6.62535064e-01 -2.54426684e-02 1.19413551e+02] [ 6.62257614e-01 7.49027098e-01 -1.93199206e-02 4.21986911e+01] [ 3.18573729e-02 -2.38673414e-03 9.99489575e-01 3.98972932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.360714057 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:119.44, Y:42.22, Z:3.99 [[ 7.48567782e-01 -6.62571438e-01 -2.54040563e-02 1.19437227e+02] [ 6.62292423e-01 7.48995109e-01 -1.93668359e-02 4.22180123e+01] [ 3.18594262e-02 -2.32752456e-03 9.99489650e-01 3.99074687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.390714057 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:119.44, Y:42.24, Z:4.00 [[ 7.44074228e-01 -6.67616049e-01 -2.53447003e-02 1.19444390e+02] [ 6.67337483e-01 7.44501720e-01 -1.94389444e-02 4.22357959e+01] [ 3.18469242e-02 -2.44945098e-03 9.99489757e-01 3.99721393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.420714057 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:119.49, Y:42.26, Z:3.99 [[ 7.50546298e-01 -6.60359127e-01 -2.46186707e-02 1.19487235e+02] [ 6.60047216e-01 7.50949283e-01 -2.03186555e-02 4.22556879e+01] [ 3.19049827e-02 -9.99393448e-04 9.99490407e-01 3.99266227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.450714057 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:119.51, Y:42.27, Z:3.99 [[ 7.51151514e-01 -6.59642325e-01 -2.53654477e-02 1.19514707e+02] [ 6.59360074e-01 7.51576618e-01 -1.94133998e-02 4.22742409e+01] [ 3.18699776e-02 -2.14255877e-03 9.99489727e-01 3.99353554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.480714057 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:119.53, Y:42.29, Z:4.00 [[ 7.50524844e-01 -6.60353950e-01 -2.53991831e-02 1.19534721e+02] [ 6.60073480e-01 7.50951201e-01 -1.93725240e-02 4.22921894e+01] [ 3.18662698e-02 -2.22576664e-03 9.99489663e-01 3.99536403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.510714057 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:119.56, Y:42.31, Z:4.00 [[ 7.50964312e-01 -6.59864925e-01 -2.51173869e-02 1.19561509e+02] [ 6.59572762e-01 7.51382175e-01 -1.97129062e-02 4.23107519e+01] [ 3.18806122e-02 -1.76305528e-03 9.99490129e-01 3.99799508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.540714057 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:119.59, Y:42.33, Z:4.00 [[ 7.53027168e-01 -6.57506532e-01 -2.52040627e-02 1.19590855e+02] [ 6.57216552e-01 7.53446696e-01 -1.96081755e-02 4.23309735e+01] [ 3.18824212e-02 -1.79903829e-03 9.99490007e-01 3.99682166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.570714057 meters Centerline goodness : 0.995783 Centerline is valid? [True, True] Translation: X:119.62, Y:42.35, Z:4.00 [[ 7.54672669e-01 -6.55608329e-01 -2.54338648e-02 1.19619451e+02] [ 6.55326598e-01 7.55098268e-01 -1.93301762e-02 4.23496912e+01] [ 3.18780918e-02 -2.07953244e-03 9.99489601e-01 3.99832514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.600714057 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:119.62, Y:42.37, Z:4.01 [[ 7.47786407e-01 -6.63447594e-01 -2.55495398e-02 1.19619924e+02] [ 6.63175066e-01 7.48218259e-01 -1.91903251e-02 4.23668016e+01] [ 3.18484072e-02 -2.59355349e-03 9.99489346e-01 4.00650687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.630714057 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:119.65, Y:42.39, Z:4.01 [[ 7.49239849e-01 -6.61843389e-01 -2.45555852e-02 1.19646669e+02] [ 6.61530014e-01 7.49641507e-01 -2.03875448e-02 4.23870229e+01] [ 3.19012476e-02 -9.69095581e-04 9.99490556e-01 4.00875422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.660714057 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:119.70, Y:42.41, Z:4.00 [[ 7.58521644e-01 -6.51184808e-01 -2.45613852e-02 1.19700810e+02] [ 6.50866012e-01 7.58919013e-01 -2.03805550e-02 4.24082432e+01] [ 3.19116100e-02 -5.27078745e-04 9.99490556e-01 4.00130730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69071405700001 meters Centerline goodness : 0.995739 Centerline is valid? [True, True] Translation: X:119.69, Y:42.42, Z:4.01 [[ 7.49839703e-01 -6.61113710e-01 -2.58666335e-02 1.19694750e+02] [ 6.60853064e-01 7.50279742e-01 -1.88025370e-02 4.24221268e+01] [ 3.18378261e-02 -2.99515529e-03 9.99488560e-01 4.00859781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.720714057 meters Centerline goodness : 0.995912 Centerline is valid? [True, True] Translation: X:119.74, Y:42.44, Z:4.00 [[ 7.57133335e-01 -6.52799283e-01 -2.45399510e-02 1.19742567e+02] [ 6.52480743e-01 7.57530709e-01 -2.03986667e-02 4.24413871e+01] [ 3.19060014e-02 -5.67334887e-04 9.99490713e-01 4.00494092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.750714057 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:119.77, Y:42.46, Z:4.01 [[ 7.57005089e-01 -6.52908426e-01 -2.55711159e-02 1.19769483e+02] [ 6.52631036e-01 7.57433694e-01 -1.91554061e-02 4.24585074e+01] [ 3.18751508e-02 -2.18776397e-03 9.99489464e-01 4.00501708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.780714057 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:119.77, Y:42.48, Z:4.01 [[ 7.49731671e-01 -6.61250539e-01 -2.54979549e-02 1.19770832e+02] [ 6.60974922e-01 7.50161208e-01 -1.92435562e-02 4.24751116e+01] [ 3.18523886e-02 -2.42600520e-03 9.99489640e-01 4.01209898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.810714057 meters Centerline goodness : 0.995765 Centerline is valid? [True, True] Translation: X:119.80, Y:42.50, Z:4.01 [[ 7.49838024e-01 -6.61167082e-01 -2.45158600e-02 1.19796843e+02] [ 6.60852190e-01 7.50238163e-01 -2.04225519e-02 4.24958358e+01] [ 3.18954528e-02 -8.87753811e-04 9.99490816e-01 4.01396262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.840714057 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:119.82, Y:42.51, Z:4.01 [[ 7.50178679e-01 -6.60780327e-01 -2.45216096e-02 1.19823563e+02] [ 6.60465454e-01 7.50578833e-01 -2.04156459e-02 4.25133702e+01] [ 3.18956583e-02 -8.80293757e-04 9.99490816e-01 4.01369425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.870714057 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:119.85, Y:42.53, Z:4.01 [[ 7.50208428e-01 -6.60746352e-01 -2.45269599e-02 1.19848570e+02] [ 6.60431672e-01 7.50608733e-01 -2.04092162e-02 4.25320606e+01] [ 3.18954655e-02 -8.87215109e-04 9.99490816e-01 4.01478016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.900714057 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:119.89, Y:42.55, Z:4.01 [[ 7.58682622e-01 -6.50998521e-01 -2.45276481e-02 1.19893806e+02] [ 6.50678721e-01 7.59078849e-01 -2.04083891e-02 4.25482092e+01] [ 3.19042500e-02 -4.76128500e-04 9.99490816e-01 4.01486373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.930714057 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:119.90, Y:42.57, Z:4.02 [[ 7.49788319e-01 -6.61192657e-01 -2.53327272e-02 1.19899177e+02] [ 6.60910391e-01 7.50213018e-01 -1.94392029e-02 4.25668484e+01] [ 3.18579999e-02 -2.16737534e-03 9.99490055e-01 4.01730915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.960714057 meters Centerline goodness : 0.995615 Centerline is valid? [True, True] Translation: X:119.95, Y:42.59, Z:4.01 [[ 7.56391567e-01 -6.53659587e-01 -2.45141075e-02 1.19946627e+02] [ 6.53340743e-01 7.56788491e-01 -2.04219010e-02 4.25861821e+01] [ 3.19009658e-02 -5.69111486e-04 9.99490873e-01 4.01399900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.990714057 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:119.97, Y:42.60, Z:4.02 [[ 7.56976123e-01 -6.52945423e-01 -2.54837839e-02 1.19969894e+02] [ 6.52664626e-01 7.57402172e-01 -1.92570737e-02 4.26027693e+01] [ 3.18752914e-02 -2.05521926e-03 9.99489741e-01 4.01754245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.020714057 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:119.97, Y:42.62, Z:4.02 [[ 7.46246714e-01 -6.65188254e-01 -2.53066842e-02 1.19974848e+02] [ 6.64907232e-01 7.46672156e-01 -1.94695914e-02 4.26198743e+01] [ 3.18467400e-02 -2.29747876e-03 9.99490123e-01 4.02018486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05071405700001 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:120.00, Y:42.64, Z:4.02 [[ 7.45376059e-01 -6.66194702e-01 -2.44775466e-02 1.20001222e+02] [ 6.65881224e-01 7.45777126e-01 -2.04615078e-02 4.26399440e+01] [ 3.18861424e-02 -1.04762070e-03 9.99490959e-01 4.02303958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08071405700001 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:120.05, Y:42.66, Z:4.02 [[ 7.50634230e-01 -6.60264337e-01 -2.44797226e-02 1.20049957e+02] [ 6.59947775e-01 7.51032867e-01 -2.04589041e-02 4.26578139e+01] [ 3.18933610e-02 -7.98184755e-04 9.99490959e-01 4.01875389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.110714057 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:120.07, Y:42.68, Z:4.02 [[ 7.48709063e-01 -6.62410482e-01 -2.54379970e-02 1.20074022e+02] [ 6.62133259e-01 7.49137279e-01 -1.93102450e-02 4.26767030e+01] [ 3.18478605e-02 -2.38558843e-03 9.99489881e-01 4.01967510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.140714057 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:120.10, Y:42.70, Z:4.02 [[ 7.47209834e-01 -6.64107005e-01 -2.52853754e-02 1.20100089e+02] [ 6.63824584e-01 7.47634241e-01 -1.94926589e-02 4.26970383e+01] [ 3.18494238e-02 -2.21994738e-03 9.99490213e-01 4.02112237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.170714057 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:120.10, Y:42.71, Z:4.03 [[ 7.38071603e-01 -6.74246707e-01 -2.53315447e-02 1.20104041e+02] [ 6.73971986e-01 7.38501148e-01 -1.94375170e-02 4.27139807e+01] [ 3.18130567e-02 -2.72647216e-03 9.99490118e-01 4.02612295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.200714057 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:120.13, Y:42.73, Z:4.03 [[ 7.37642639e-01 -6.74749402e-01 -2.44250341e-02 1.20129050e+02] [ 6.74438738e-01 7.38045697e-01 -2.05167598e-02 4.27333975e+01] [ 3.18704627e-02 -1.33915232e-03 9.99491111e-01 4.02709001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.230714057 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:120.15, Y:42.75, Z:4.03 [[ 7.36419536e-01 -6.76083948e-01 -2.44287255e-02 1.20154698e+02] [ 6.75774160e-01 7.36823268e-01 -2.05123636e-02 4.27508556e+01] [ 3.18677331e-02 -1.40259615e-03 9.99491111e-01 4.02648377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.260714057 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:120.18, Y:42.77, Z:4.03 [[ 7.35809866e-01 -6.76747386e-01 -2.44298215e-02 1.20180102e+02] [ 6.76438005e-01 7.36213911e-01 -2.05110582e-02 4.27704356e+01] [ 3.18663794e-02 -1.43302072e-03 9.99491111e-01 4.02757398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.290714057 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:120.21, Y:42.79, Z:4.03 [[ 7.34993928e-01 -6.77633408e-01 -2.44313241e-02 1.20205991e+02] [ 6.77324574e-01 7.35398390e-01 -2.05092682e-02 4.27894350e+01] [ 3.18645217e-02 -1.47374859e-03 9.99491111e-01 4.02756449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.320714057 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:120.23, Y:42.81, Z:4.03 [[ 7.34568423e-01 -6.78094574e-01 -2.44331937e-02 1.20232014e+02] [ 6.77786067e-01 7.34973135e-01 -2.05070407e-02 4.28101045e+01] [ 3.18634540e-02 -1.49665366e-03 9.99491111e-01 4.02956365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.350714057 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:120.26, Y:42.83, Z:4.03 [[ 7.34306538e-01 -6.78377941e-01 -2.44392381e-02 1.20257507e+02] [ 6.78069829e-01 7.34711551e-01 -2.04998348e-02 4.28300101e+01] [ 3.18624262e-02 -1.51834727e-03 9.99491111e-01 4.03089755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.380714057 meters Centerline goodness : 0.994264 Centerline is valid? [True, True] Translation: X:120.28, Y:42.85, Z:4.03 [[ 7.33378235e-01 -6.79381199e-01 -2.44448606e-02 1.20283883e+02] [ 6.79073863e-01 7.33783838e-01 -2.04931281e-02 4.28493184e+01] [ 3.18598895e-02 -1.57065176e-03 9.99491111e-01 4.03268469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.410714057 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:120.31, Y:42.87, Z:4.03 [[ 7.33209505e-01 -6.79563240e-01 -2.44463606e-02 1.20308983e+02] [ 6.79256065e-01 7.33615229e-01 -2.04913386e-02 4.28685439e+01] [ 3.18593828e-02 -1.58089448e-03 9.99491111e-01 4.03363678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44071405700001 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:120.33, Y:42.89, Z:4.03 [[ 7.32953838e-01 -6.79838919e-01 -2.44482309e-02 1.20334008e+02] [ 6.79531970e-01 7.33359733e-01 -2.04891069e-02 4.28870576e+01] [ 3.18586403e-02 -1.59578497e-03 9.99491111e-01 4.03399035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.470714057 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:120.36, Y:42.91, Z:4.04 [[ 7.33040099e-01 -6.79745818e-01 -2.44506958e-02 1.20359232e+02] [ 6.79438915e-01 7.33446029e-01 -2.04861650e-02 4.29070252e+01] [ 3.18586507e-02 -1.59557381e-03 9.99491111e-01 4.03517725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.500714057 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:120.38, Y:42.93, Z:4.04 [[ 7.33140363e-01 -6.79637623e-01 -2.44521657e-02 1.20383877e+02] [ 6.79330719e-01 7.33546292e-01 -2.04844103e-02 4.29252768e+01] [ 3.18587714e-02 -1.59315934e-03 9.99491111e-01 4.03549406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.530714057 meters Centerline goodness : 0.993243 Centerline is valid? [True, True] Translation: X:120.41, Y:42.95, Z:4.04 [[ 7.32637468e-01 -6.80179706e-01 -2.44521657e-02 1.20407970e+02] [ 6.79873102e-01 7.33043624e-01 -2.04844103e-02 4.29451345e+01] [ 3.18575843e-02 -1.61672328e-03 9.99491111e-01 4.03583968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.560714057 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:120.43, Y:42.96, Z:4.04 [[ 7.32224626e-01 -6.80624091e-01 -2.44528953e-02 1.20434027e+02] [ 6.80317763e-01 7.32630989e-01 -2.04835393e-02 4.29644271e+01] [ 3.18565392e-02 -1.63718712e-03 9.99491111e-01 4.03626232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.590714057 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:120.46, Y:42.98, Z:4.04 [[ 7.32685760e-01 -6.80127606e-01 -2.44543809e-02 1.20462836e+02] [ 6.79821061e-01 7.33091960e-01 -2.04817656e-02 4.29827281e+01] [ 3.18575242e-02 -1.61790521e-03 9.99491111e-01 4.03563070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.620714057 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:120.48, Y:43.00, Z:4.04 [[ 7.32361049e-01 -6.80464157e-01 -2.48158334e-02 1.20483752e+02] [ 6.80172246e-01 7.32778079e-01 -2.00500087e-02 4.30003407e+01] [ 3.18278110e-02 -2.19519578e-03 9.99490956e-01 4.03633567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.650714057 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:120.50, Y:43.02, Z:4.04 [[ 7.31613245e-01 -6.81268435e-01 -2.48068501e-02 1.20498620e+02] [ 6.80976621e-01 7.32030333e-01 -2.00607321e-02 4.30170839e+01] [ 3.18261103e-02 -2.21618767e-03 9.99490964e-01 4.03976957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.680714057 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:120.52, Y:43.04, Z:4.04 [[ 7.32004009e-01 -6.80861961e-01 -2.44360797e-02 1.20521012e+02] [ 6.80555128e-01 7.32409967e-01 -2.05026431e-02 4.30361731e+01] [ 3.18566981e-02 -1.62208235e-03 9.99491130e-01 4.04141231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.710714057 meters Centerline goodness : 0.987148 Centerline is valid? [True, True] Translation: X:120.54, Y:43.05, Z:4.04 [[ 7.33325651e-01 -6.79438300e-01 -2.44353504e-02 1.20537968e+02] [ 6.79130650e-01 7.33730991e-01 -2.05035122e-02 4.30518356e+01] [ 3.18598454e-02 -1.55904394e-03 9.99491130e-01 4.04153862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.740714057 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:120.56, Y:43.07, Z:4.04 [[ 7.34529923e-01 -6.78148225e-01 -2.40993258e-02 1.20562820e+02] [ 6.77826699e-01 7.34924501e-01 -2.09032140e-02 4.30712903e+01] [ 3.18866625e-02 -9.81130289e-04 9.99491010e-01 4.04369198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.770714057 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:120.59, Y:43.09, Z:4.04 [[ 7.35352538e-01 -6.77244514e-01 -2.44236354e-02 1.20586851e+02] [ 6.76935202e-01 7.35756603e-01 -2.05171621e-02 4.30924417e+01] [ 3.18649864e-02 -1.44587136e-03 9.99491137e-01 4.04486423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80071405700001 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:120.61, Y:43.11, Z:4.05 [[ 7.36153410e-01 -6.76373839e-01 -2.44251274e-02 1.20610537e+02] [ 6.76064108e-01 7.36557154e-01 -2.05153857e-02 4.31121639e+01] [ 3.18665725e-02 -1.41048079e-03 9.99491137e-01 4.04580636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83071405700001 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:120.63, Y:43.13, Z:4.05 [[ 7.36757410e-01 -6.75715827e-01 -2.44262387e-02 1.20634719e+02] [ 6.75405779e-01 7.37160910e-01 -2.05140625e-02 4.31330050e+01] [ 3.18677450e-02 -1.38373522e-03 9.99491137e-01 4.04719373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.860714057 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:120.66, Y:43.15, Z:4.05 [[ 7.38013586e-01 -6.74343558e-01 -2.44277189e-02 1.20658395e+02] [ 6.74032818e-01 7.38416553e-01 -2.05122997e-02 4.31529871e+01] [ 3.18701692e-02 -1.32672838e-03 9.99491137e-01 4.04852511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.890714057 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:120.68, Y:43.17, Z:4.05 [[ 7.38459432e-01 -6.73855252e-01 -2.44288220e-02 1.20679109e+02] [ 6.73544289e-01 7.38862227e-01 -2.05109860e-02 4.31702644e+01] [ 3.18709694e-02 -1.30736251e-03 9.99491137e-01 4.04962538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.920714057 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:120.70, Y:43.19, Z:4.05 [[ 7.38863615e-01 -6.73412142e-01 -2.44263135e-02 1.20704770e+02] [ 6.73100839e-01 7.39266148e-01 -2.05139728e-02 4.31913504e+01] [ 3.18719051e-02 -1.28434397e-03 9.99491137e-01 4.05105148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.950714057 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:120.73, Y:43.21, Z:4.05 [[ 7.39121720e-01 -6.73128761e-01 -2.44285599e-02 1.20730740e+02] [ 6.72817392e-01 7.39524201e-01 -2.05112975e-02 4.32122661e+01] [ 3.18722555e-02 -1.27561447e-03 9.99491137e-01 4.05171158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.980714057 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:120.76, Y:43.23, Z:4.05 [[ 7.39210163e-01 -6.73031551e-01 -2.44308409e-02 1.20755188e+02] [ 6.72720218e-01 7.39612673e-01 -2.05085802e-02 4.32312809e+01] [ 3.18722811e-02 -1.27496973e-03 9.99491137e-01 4.05131595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.010714057 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:120.78, Y:43.25, Z:4.05 [[ 7.40964423e-01 -6.71099696e-01 -2.44319700e-02 1.20781069e+02] [ 6.70787358e-01 7.41366153e-01 -2.05072350e-02 4.32474354e+01] [ 3.18754348e-02 -1.19352513e-03 9.99491137e-01 4.05211677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.040714057 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:120.80, Y:43.27, Z:4.05 [[ 7.38787001e-01 -6.73491751e-01 -2.45485043e-02 1.20799237e+02] [ 6.73185301e-01 7.39193261e-01 -2.03684273e-02 4.32664560e+01] [ 3.18640567e-02 -1.47776295e-03 9.99491120e-01 4.05234141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.070714057 meters Centerline goodness : 0.992950 Centerline is valid? [True, True] Translation: X:120.83, Y:43.29, Z:4.05 [[ 7.38912569e-01 -6.73358520e-01 -2.44237377e-02 1.20825515e+02] [ 6.73047089e-01 7.39315001e-01 -2.05169525e-02 4.32867729e+01] [ 3.18721005e-02 -1.27809149e-03 9.99491138e-01 4.05333475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.100714057 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:120.85, Y:43.31, Z:4.05 [[ 7.38957188e-01 -6.73309472e-01 -2.44260021e-02 1.20849934e+02] [ 6.72998104e-01 7.39359667e-01 -2.05142563e-02 4.33060172e+01] [ 3.18720439e-02 -1.27949595e-03 9.99491138e-01 4.05358267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.130714057 meters Centerline goodness : 0.987597 Centerline is valid? [True, True] Translation: X:120.87, Y:43.32, Z:4.05 [[ 7.38444469e-01 -6.73871654e-01 -2.44286640e-02 1.20868256e+02] [ 6.73560697e-01 7.38847266e-01 -2.05110860e-02 4.33214952e+01] [ 3.18708911e-02 -1.30788995e-03 9.99491138e-01 4.05452817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.160714057 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:120.89, Y:43.34, Z:4.06 [[ 7.37908627e-01 -6.74470529e-01 -2.40907450e-02 1.20893920e+02] [ 6.74146723e-01 7.38301328e-01 -2.09127963e-02 4.33413021e+01] [ 3.18912938e-02 -8.08963945e-04 9.99491016e-01 4.05652158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19071405700001 meters Centerline goodness : 0.992729 Centerline is valid? [True, True] Translation: X:120.92, Y:43.36, Z:4.06 [[ 7.35973005e-01 -6.76570360e-01 -2.44189248e-02 1.20920130e+02] [ 6.76260507e-01 7.36376643e-01 -2.05223108e-02 4.33607174e+01] [ 3.18663130e-02 -1.40968773e-03 9.99491146e-01 4.05678143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.220714057 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:120.94, Y:43.38, Z:4.06 [[ 7.34473601e-01 -6.78197738e-01 -2.44204297e-02 1.20944482e+02] [ 6.77888839e-01 7.34877970e-01 -2.05205199e-02 4.33800473e+01] [ 3.18630059e-02 -1.48255660e-03 9.99491146e-01 4.05735317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.250714057 meters Centerline goodness : 0.987009 Centerline is valid? [True, True] Translation: X:120.96, Y:43.39, Z:4.06 [[ 7.30805793e-01 -6.82148430e-01 -2.44215496e-02 1.20963402e+02] [ 6.81841760e-01 7.31211855e-01 -2.05191870e-02 4.33949659e+01] [ 3.18544578e-02 -1.65609164e-03 9.99491146e-01 4.05721120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.280714057 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:120.99, Y:43.42, Z:4.06 [[ 7.29479182e-01 -6.83575546e-01 -2.41784448e-02 1.20994660e+02] [ 6.83260067e-01 7.29878535e-01 -2.08087625e-02 4.34176531e+01] [ 3.18716891e-02 -1.34060677e-03 9.99491070e-01 4.05780579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.310714057 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:121.00, Y:43.44, Z:4.06 [[ 7.19355111e-01 -6.94186913e-01 -2.51545922e-02 1.20995799e+02] [ 6.93916079e-01 7.19787190e-01 -1.96691585e-02 4.34371844e+01] [ 3.17600257e-02 -3.30606628e-03 9.99490055e-01 4.06142963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.340714057 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:121.02, Y:43.46, Z:4.06 [[ 7.15503159e-01 -6.98190538e-01 -2.41909378e-02 1.21016497e+02] [ 6.97883809e-01 7.15909174e-01 -2.07904801e-02 4.34553117e+01] [ 3.18342308e-02 -2.00680960e-03 9.99491148e-01 4.06215877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.370714057 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:121.04, Y:43.47, Z:4.06 [[ 7.12683627e-01 -7.01068561e-01 -2.41851066e-02 1.21037477e+02] [ 7.00763243e-01 7.13090704e-01 -2.07972612e-02 4.34734740e+01] [ 3.18264807e-02 -2.12616620e-03 9.99491148e-01 4.06248231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.400714057 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:121.07, Y:43.49, Z:4.06 [[ 7.17553042e-01 -6.96084050e-01 -2.41790518e-02 1.21074949e+02] [ 6.95775666e-01 7.17957801e-01 -2.08042983e-02 4.34913191e+01] [ 3.18410790e-02 -1.89500831e-03 9.99491148e-01 4.06084727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.430714057 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:121.10, Y:43.51, Z:4.06 [[ 7.15448360e-01 -6.98224878e-01 -2.48125694e-02 1.21098217e+02] [ 6.97942662e-01 7.15872379e-01 -2.00693202e-02 4.35144891e+01] [ 3.17755318e-02 -2.95918850e-03 9.99490650e-01 4.06259691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.460714057 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:121.10, Y:43.54, Z:4.06 [[ 7.10214496e-01 -7.03547164e-01 -2.48346107e-02 1.21103817e+02] [ 7.03269005e-01 7.10641228e-01 -2.00437504e-02 4.35359868e+01] [ 3.17502220e-02 -3.23004983e-03 9.99490615e-01 4.06363278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.490714057 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:121.14, Y:43.56, Z:4.06 [[ 7.15251284e-01 -6.98450527e-01 -2.41342420e-02 1.21139965e+02] [ 6.98141801e-01 7.15655730e-01 -2.08543003e-02 4.35554957e+01] [ 3.18375057e-02 -1.93305807e-03 9.99491189e-01 4.06291935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.520714057 meters Centerline goodness : 0.991799 Centerline is valid? [True, True] Translation: X:121.16, Y:43.58, Z:4.07 [[ 7.15138056e-01 -6.98545440e-01 -2.47351775e-02 1.21158896e+02] [ 6.98260316e-01 7.15560004e-01 -2.01596660e-02 4.35774096e+01] [ 3.17819465e-02 -2.85464852e-03 9.99490750e-01 4.06729953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55071405700001 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:121.18, Y:43.60, Z:4.06 [[ 7.14465903e-01 -6.99238406e-01 -2.45789564e-02 1.21184966e+02] [ 6.98947518e-01 7.14883658e-01 -2.03401655e-02 4.36007700e+01] [ 3.17937192e-02 -2.64704587e-03 9.99490947e-01 4.06369783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58071405700001 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:121.21, Y:43.62, Z:4.07 [[ 7.12475145e-01 -7.01261794e-01 -2.47197072e-02 1.21206554e+02] [ 7.00977660e-01 7.12897736e-01 -2.01776724e-02 4.36236288e+01] [ 3.17724541e-02 -2.95187243e-03 9.99490769e-01 4.06674435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.610714057 meters Centerline goodness : 0.992702 Centerline is valid? [True, True] Translation: X:121.22, Y:43.64, Z:4.07 [[ 7.14103594e-01 -6.99603746e-01 -2.47114558e-02 1.21224327e+02] [ 6.99318303e-01 7.14525289e-01 -2.01871946e-02 4.36441229e+01] [ 3.17799971e-02 -2.86542511e-03 9.99490781e-01 4.06938166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.640714057 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:121.25, Y:43.67, Z:4.07 [[ 7.13324733e-01 -7.00405325e-01 -2.44990906e-02 1.21249775e+02] [ 7.00111985e-01 7.13740666e-01 -2.04321056e-02 4.36681786e+01] [ 3.17967528e-02 -2.57738065e-03 9.99491032e-01 4.06713818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.670714057 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:121.27, Y:43.69, Z:4.07 [[ 7.13314615e-01 -7.00411124e-01 -2.46275854e-02 1.21270591e+02] [ 7.00122836e-01 7.13734241e-01 -2.02841840e-02 4.36915516e+01] [ 3.17848191e-02 -2.77333004e-03 9.99490887e-01 4.07242164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.700714057 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:121.30, Y:43.72, Z:4.07 [[ 7.10940993e-01 -7.02822840e-01 -2.45552520e-02 1.21295074e+02] [ 7.02533125e-01 7.11359528e-01 -2.03673781e-02 4.37161637e+01] [ 3.17822710e-02 -2.77087390e-03 9.99490975e-01 4.06978188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.730714057 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:121.32, Y:43.74, Z:4.07 [[ 7.10429396e-01 -7.03334525e-01 -2.47107317e-02 1.21318312e+02] [ 7.03051253e-01 7.10852561e-01 -2.01884423e-02 4.37378782e+01] [ 3.17649154e-02 -3.03044800e-03 9.99490774e-01 4.07024208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.760714057 meters Centerline goodness : 0.993739 Centerline is valid? [True, True] Translation: X:121.34, Y:43.76, Z:4.07 [[ 7.08400934e-01 -7.05377520e-01 -2.47117600e-02 1.21341133e+02] [ 7.05095509e-01 7.08824942e-01 -2.01872605e-02 4.37611706e+01] [ 3.17559516e-02 -3.12347682e-03 9.99490772e-01 4.07081658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.790714057 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:121.36, Y:43.78, Z:4.07 [[ 7.08068005e-01 -7.05711046e-01 -2.47309369e-02 1.21364639e+02] [ 7.05429995e-01 7.08492686e-01 -2.01652211e-02 4.37831967e+01] [ 3.17525072e-02 -3.16759684e-03 9.99490743e-01 4.07036508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.820714057 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:121.38, Y:43.80, Z:4.07 [[ 7.06410914e-01 -7.07368663e-01 -2.47627839e-02 1.21383226e+02] [ 7.07089875e-01 7.06837144e-01 -2.01285910e-02 4.38044077e+01] [ 3.17415899e-02 -3.29045740e-03 9.99490692e-01 4.07495530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.850714057 meters Centerline goodness : 0.993792 Centerline is valid? [True, True] Translation: X:121.41, Y:43.83, Z:4.07 [[ 7.03249352e-01 -7.10519712e-01 -2.45374906e-02 1.21409604e+02] [ 7.10233887e-01 7.03670513e-01 -2.03871239e-02 4.38291145e+01] [ 3.17517619e-02 -3.09012565e-03 9.99491009e-01 4.07209498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.880714057 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:121.43, Y:43.85, Z:4.08 [[ 7.02717488e-01 -7.11036508e-01 -2.48035479e-02 1.21426948e+02] [ 7.10761575e-01 7.03146294e-01 -2.00816763e-02 4.38498058e+01] [ 3.17193277e-02 -3.51766361e-03 9.99490625e-01 4.07615637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.910714057 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:121.45, Y:43.87, Z:4.07 [[ 7.00985204e-01 -7.12755754e-01 -2.44740433e-02 1.21454234e+02] [ 7.12468790e-01 7.01405484e-01 -2.04589969e-02 4.38748388e+01] [ 3.17484960e-02 -3.09553788e-03 9.99491096e-01 4.07357034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94071405700001 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:121.47, Y:43.90, Z:4.07 [[ 7.00016793e-01 -7.13696992e-01 -2.47607300e-02 1.21474992e+02] [ 7.13421976e-01 7.00445456e-01 -2.01307308e-02 4.38996671e+01] [ 3.17107828e-02 -3.57299930e-03 9.99490700e-01 4.07458301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.970714057 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:121.48, Y:43.92, Z:4.08 [[ 6.94390435e-01 -7.19174207e-01 -2.47059586e-02 1.21479921e+02] [ 7.18900374e-01 6.94819746e-01 -2.01933847e-02 4.39209943e+01] [ 3.16887493e-02 -3.73902968e-03 9.99490792e-01 4.07881445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00071405699998 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:121.52, Y:43.94, Z:4.08 [[ 7.01832904e-01 -7.11937759e-01 -2.39833723e-02 1.21517790e+02] [ 7.11631213e-01 7.02238750e-01 -2.10179497e-02 4.39442680e+01] [ 3.18055254e-02 -2.31622767e-03 9.99491392e-01 4.07553867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03071405699998 meters Centerline goodness : 0.994735 Centerline is valid? [True, True] Translation: X:121.54, Y:43.97, Z:4.08 [[ 7.01802997e-01 -7.11942891e-01 -2.46955921e-02 1.21542859e+02] [ 7.11664231e-01 7.02229159e-01 -2.02047219e-02 4.39681279e+01] [ 3.17265730e-02 -3.39523518e-03 9.99490819e-01 4.07639946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06071405699998 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:121.56, Y:43.99, Z:4.08 [[ 7.01790630e-01 -7.11949978e-01 -2.48423137e-02 1.21561275e+02] [ 7.11677154e-01 7.02220863e-01 -2.00371585e-02 4.39918984e+01] [ 3.17102456e-02 -3.61781704e-03 9.99490556e-01 4.07915920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09071405699999 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:121.58, Y:44.01, Z:4.08 [[ 7.02612344e-01 -7.11143075e-01 -2.47269204e-02 1.21582143e+02] [ 7.10865172e-01 7.03039061e-01 -2.01689216e-02 4.40134394e+01] [ 3.17269798e-02 -3.40657331e-03 9.99490767e-01 4.08044148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.120714057 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:121.60, Y:44.04, Z:4.08 [[ 7.02851160e-01 -7.10907926e-01 -2.47015700e-02 1.21604012e+02] [ 7.10628875e-01 7.03277078e-01 -2.01978811e-02 4.40362521e+01] [ 3.17308818e-02 -3.35754471e-03 9.99490809e-01 4.08165964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.150714057 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:121.62, Y:44.06, Z:4.08 [[ 7.03360662e-01 -7.10403880e-01 -2.47003325e-02 1.21623624e+02] [ 7.10124474e-01 7.03786345e-01 -2.01992941e-02 4.40597117e+01] [ 3.17334136e-02 -3.33292177e-03 9.99490811e-01 4.08268999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.180714057 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:121.65, Y:44.08, Z:4.08 [[ 7.03063360e-01 -7.10701405e-01 -2.46053730e-02 1.21645859e+02] [ 7.10418434e-01 7.03486500e-01 -2.03074408e-02 4.40838557e+01] [ 3.17420744e-02 -3.20269302e-03 9.99490962e-01 4.08327201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.210714057 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:121.67, Y:44.11, Z:4.08 [[ 7.03177879e-01 -7.10586378e-01 -2.46550420e-02 1.21668598e+02] [ 7.10305294e-01 7.03602366e-01 -2.02508967e-02 4.41057292e+01] [ 3.17373572e-02 -3.27262431e-03 9.99490885e-01 4.08340410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.240714057 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:121.69, Y:44.13, Z:4.09 [[ 7.01700476e-01 -7.12045190e-01 -2.46594535e-02 1.21688555e+02] [ 7.11765163e-01 7.02125670e-01 -2.02458752e-02 4.41283982e+01] [ 3.17300134e-02 -3.34519970e-03 9.99490878e-01 4.08505828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.270714057 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:121.71, Y:44.15, Z:4.08 [[ 7.01243020e-01 -7.12501604e-01 -2.44886007e-02 1.21711110e+02] [ 7.12215138e-01 7.01663599e-01 -2.04399355e-02 4.41527125e+01] [ 3.17462465e-02 -3.10779001e-03 9.99491129e-01 4.08482541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.300714057 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:121.73, Y:44.18, Z:4.09 [[ 7.00643590e-01 -7.13091571e-01 -2.44738859e-02 1.21734553e+02] [ 7.12804883e-01 7.01063995e-01 -2.04566288e-02 4.41759676e+01] [ 3.17452098e-02 -3.11229957e-03 9.99491148e-01 4.08582540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.330714057 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:121.76, Y:44.20, Z:4.09 [[ 6.99386636e-01 -7.14324523e-01 -2.44705689e-02 1.21755114e+02] [ 7.14038447e-01 6.99807452e-01 -2.04603902e-02 4.41999674e+01] [ 3.17400449e-02 -3.16320358e-03 9.99491152e-01 4.08785491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.360714057 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:121.78, Y:44.22, Z:4.09 [[ 6.99172488e-01 -7.14537797e-01 -2.43632585e-02 1.21779168e+02] [ 7.14247658e-01 6.99590358e-01 -2.05818656e-02 4.42224808e+01] [ 3.17508216e-02 -3.01112615e-03 9.99491280e-01 4.08854728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.390714057 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:121.80, Y:44.25, Z:4.09 [[ 6.98642811e-01 -7.15053785e-01 -2.44193967e-02 1.21803018e+02] [ 7.14766145e-01 6.99062483e-01 -2.05183486e-02 4.42453881e+01] [ 3.17424069e-02 -3.11916124e-03 9.99491216e-01 4.09039339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.420714057 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:121.82, Y:44.27, Z:4.09 [[ 6.97511345e-01 -7.16157667e-01 -2.44155653e-02 1.21823769e+02] [ 7.15870541e-01 6.97931363e-01 -2.05226812e-02 4.42683116e+01] [ 3.17378642e-02 -3.16358098e-03 9.99491220e-01 4.09313426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.450714057 meters Centerline goodness : 0.995909 Centerline is valid? [True, True] Translation: X:121.85, Y:44.29, Z:4.09 [[ 6.99851810e-01 -7.13873634e-01 -2.43285560e-02 1.21851995e+02] [ 7.13581751e-01 7.00268418e-01 -2.06210509e-02 4.42906572e+01] [ 3.17573440e-02 -2.92873381e-03 9.99491317e-01 4.09233218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.480714057 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:121.87, Y:44.31, Z:4.09 [[ 6.96933576e-01 -7.16711960e-01 -2.46486662e-02 1.21869607e+02] [ 7.16434319e-01 6.97360334e-01 -2.02590811e-02 4.43129639e+01] [ 3.17089278e-02 -3.53991657e-03 9.99490877e-01 4.09472278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.510714057 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:121.89, Y:44.34, Z:4.10 [[ 6.96789103e-01 -7.16861412e-01 -2.43856936e-02 1.21894211e+02] [ 7.16573553e-01 6.97208568e-01 -2.05561369e-02 4.43356442e+01] [ 3.17378158e-02 -3.15085092e-03 9.99491262e-01 4.09521455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54071405699997 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:121.92, Y:44.36, Z:4.10 [[ 6.96564038e-01 -7.17076769e-01 -2.44836533e-02 1.21917699e+02] [ 7.16792866e-01 6.96986345e-01 -2.04455867e-02 4.43567203e+01] [ 3.17258272e-02 -3.30804764e-03 9.99491135e-01 4.09616711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57071405699998 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:121.92, Y:44.38, Z:4.10 [[ 6.90040986e-01 -7.23355996e-01 -2.44855205e-02 1.21924918e+02] [ 7.23076003e-01 6.90465899e-01 -2.04434800e-02 4.43771214e+01] [ 3.16943308e-02 -3.59805323e-03 9.99491132e-01 4.09905332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60071405699998 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:121.96, Y:44.40, Z:4.10 [[ 6.93195826e-01 -7.20354984e-01 -2.38378500e-02 1.21960326e+02] [ 7.20048060e-01 6.93601116e-01 -2.11727000e-02 4.44009314e+01] [ 3.17858194e-02 -2.48757042e-03 9.99491608e-01 4.09727723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63071405699998 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:121.98, Y:44.42, Z:4.10 [[ 6.90736569e-01 -7.22693654e-01 -2.44310105e-02 1.21979227e+02] [ 7.22411150e-01 6.91159697e-01 -2.05037621e-02 4.44202856e+01] [ 3.17036685e-02 -3.48653611e-03 9.99491231e-01 4.10017124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66071405699998 meters Centerline goodness : 0.996676 Centerline is valid? [True, True] Translation: X:121.99, Y:44.44, Z:4.10 [[ 6.86551994e-01 -7.26678168e-01 -2.41908894e-02 1.21993660e+02] [ 7.26388683e-01 6.86970080e-01 -2.07747765e-02 4.44415260e+01] [ 3.17149937e-02 -3.30902409e-03 9.99491475e-01 4.09814890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69071405699998 meters Centerline goodness : 0.996730 Centerline is valid? [True, True] Translation: X:122.03, Y:44.47, Z:4.10 [[ 6.89107769e-01 -7.24266133e-01 -2.38547966e-02 1.22025130e+02] [ 7.23962154e-01 6.89515277e-01 -2.11537892e-02 4.44659043e+01] [ 3.17692198e-02 -2.69272945e-03 9.99491604e-01 4.10052502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72071405699998 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:122.05, Y:44.49, Z:4.10 [[ 6.89018963e-01 -7.24335886e-01 -2.42979991e-02 1.22046002e+02] [ 7.24049187e-01 6.89439060e-01 -2.06532722e-02 4.44875446e+01] [ 3.17118959e-02 -3.36245034e-03 9.99491395e-01 4.10270321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75071405699998 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:122.07, Y:44.51, Z:4.10 [[ 6.89664376e-01 -7.23723614e-01 -2.42317600e-02 1.22068446e+02] [ 7.23433948e-01 6.90082363e-01 -2.07281150e-02 4.45101668e+01] [ 3.17233365e-02 -3.23463530e-03 9.99491454e-01 4.10349996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78071405699998 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:122.09, Y:44.53, Z:4.11 [[ 6.93122474e-01 -7.20413254e-01 -2.42070166e-02 1.22091213e+02] [ 7.20120627e-01 6.93538368e-01 -2.07560682e-02 4.45339509e+01] [ 3.17414415e-02 -3.04547461e-03 9.99491474e-01 4.10576872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81071405699998 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:122.11, Y:44.56, Z:4.11 [[ 6.96879302e-01 -7.16778226e-01 -2.42530885e-02 1.22111021e+02] [ 7.16485216e-01 6.97294973e-01 -2.07040139e-02 4.45579045e+01] [ 3.17517430e-02 -2.94878062e-03 9.99491436e-01 4.10767513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84071405699999 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:122.13, Y:44.58, Z:4.11 [[ 6.98817476e-01 -7.14890480e-01 -2.42019966e-02 1.22134180e+02] [ 7.14594369e-01 6.99230891e-01 -2.07617078e-02 4.45817022e+01] [ 3.17651309e-02 -2.78596621e-03 9.99491478e-01 4.10964543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.870714057 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:122.16, Y:44.61, Z:4.11 [[ 7.00611019e-01 -7.13132810e-01 -2.42032362e-02 1.22157345e+02] [ 7.12835708e-01 7.01023725e-01 -2.07603093e-02 4.46054785e+01] [ 3.17719005e-02 -2.70802959e-03 9.99491477e-01 4.11082091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.900714057 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:122.18, Y:44.63, Z:4.11 [[ 7.03820882e-01 -7.09964185e-01 -2.42285549e-02 1.22178437e+02] [ 7.09666198e-01 7.04232974e-01 -2.07317408e-02 4.46285224e+01] [ 3.17813407e-02 -2.60275433e-03 9.99491457e-01 4.11169641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.930714057 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:122.20, Y:44.65, Z:4.11 [[ 7.04082650e-01 -7.09704980e-01 -2.42170319e-02 1.22200966e+02] [ 7.09406398e-01 7.04494299e-01 -2.07447372e-02 4.46509709e+01] [ 3.17834042e-02 -2.57370784e-03 9.99491466e-01 4.11416723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.960714057 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:122.22, Y:44.67, Z:4.11 [[ 7.04928242e-01 -7.08865637e-01 -2.42008828e-02 1.22224906e+02] [ 7.08565945e-01 7.05339068e-01 -2.07629509e-02 4.46744826e+01] [ 3.17879706e-02 -2.51153095e-03 9.99491479e-01 4.11389843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.990714057 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:122.25, Y:44.70, Z:4.11 [[ 7.04284476e-01 -7.09503770e-01 -2.42441187e-02 1.22248211e+02] [ 7.09206113e-01 7.04696823e-01 -2.07141678e-02 4.46958088e+01] [ 3.17815335e-02 -2.60541038e-03 9.99491444e-01 4.11403040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.020714057 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:122.27, Y:44.72, Z:4.11 [[ 7.02670137e-01 -7.11104005e-01 -2.42027363e-02 1.22273290e+02] [ 7.10805696e-01 7.03081968e-01 -2.07607384e-02 4.47179561e+01] [ 3.17795517e-02 -2.61549193e-03 9.99491480e-01 4.11357237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.050714057 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:122.29, Y:44.74, Z:4.11 [[ 7.02840500e-01 -7.10932812e-01 -2.42851513e-02 1.22292572e+02] [ 7.10637574e-01 7.03254630e-01 -2.06679454e-02 4.47365749e+01] [ 3.17721656e-02 -2.73167187e-03 9.99491404e-01 4.11471569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.080714057 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:122.32, Y:44.76, Z:4.11 [[ 7.00535186e-01 -7.13214424e-01 -2.39924711e-02 1.22321137e+02] [ 7.12909301e-01 7.00941829e-01 -2.09971524e-02 4.47610631e+01] [ 3.17927985e-02 -2.39521173e-03 9.99491611e-01 4.11467072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.110714057 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:122.34, Y:44.78, Z:4.12 [[ 6.98256919e-01 -7.15434120e-01 -2.43165639e-02 1.22343900e+02] [ 7.15142773e-01 6.98673830e-01 -2.06323519e-02 4.47826691e+01] [ 3.17504354e-02 -2.98313250e-03 9.99491376e-01 4.11669073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.140714057 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:122.37, Y:44.80, Z:4.12 [[ 6.98146800e-01 -7.15543737e-01 -2.42529523e-02 1.22366010e+02] [ 7.15249993e-01 6.98561947e-01 -2.07039378e-02 4.48034048e+01] [ 3.17567626e-02 -2.89253610e-03 9.99491441e-01 4.11566500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.170714057 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:122.39, Y:44.83, Z:4.12 [[ 6.97715712e-01 -7.15967335e-01 -2.41569916e-02 1.22389272e+02] [ 7.15670142e-01 6.98128294e-01 -2.08118365e-02 4.48260163e+01] [ 3.17652744e-02 -2.76769228e-03 9.99491524e-01 4.11835602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.200714057 meters Centerline goodness : 0.995560 Centerline is valid? [True, True] Translation: X:122.41, Y:44.85, Z:4.12 [[ 6.98766442e-01 -7.14939699e-01 -2.42216123e-02 1.22412087e+02] [ 7.14644389e-01 6.99180438e-01 -2.07391465e-02 4.48469566e+01] [ 3.17625166e-02 -2.81801972e-03 9.99491471e-01 4.11807216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.230714057 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:122.43, Y:44.87, Z:4.12 [[ 7.01165829e-01 -7.12587100e-01 -2.42096094e-02 1.22434620e+02] [ 7.12289939e-01 7.01578485e-01 -2.07526370e-02 4.48703408e+01] [ 3.17730026e-02 -2.69322129e-03 9.99491482e-01 4.12065185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.260714057 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:122.46, Y:44.89, Z:4.12 [[ 7.02924537e-01 -7.10851715e-01 -2.42267381e-02 1.22458379e+02] [ 7.10554191e-01 7.03336952e-01 -2.07333931e-02 4.48929214e+01] [ 3.17779282e-02 -2.64039956e-03 9.99491466e-01 4.12244986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29071405699997 meters Centerline goodness : 0.995407 Centerline is valid? [True, True] Translation: X:122.48, Y:44.92, Z:4.13 [[ 7.05177112e-01 -7.08616906e-01 -2.42347009e-02 1.22479587e+02] [ 7.08318380e-01 7.05588811e-01 -2.07244506e-02 4.49170259e+01] [ 3.17854299e-02 -2.55147580e-03 9.99491459e-01 4.12656431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32071405699998 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:122.50, Y:44.94, Z:4.13 [[ 7.06921368e-01 -7.06878726e-01 -2.41794777e-02 1.22504471e+02] [ 7.06577080e-01 7.07330724e-01 -2.07864343e-02 4.49398758e+01] [ 3.17963756e-02 -2.39029020e-03 9.99491509e-01 4.12567268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35071405699998 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:122.52, Y:44.96, Z:4.13 [[ 7.04996368e-01 -7.08795613e-01 -2.42672798e-02 1.22516742e+02] [ 7.08498438e-01 7.05409084e-01 -2.06878640e-02 4.49597649e+01] [ 3.17818269e-02 -2.60846089e-03 9.99491426e-01 4.12588329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38071405699998 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:122.55, Y:44.98, Z:4.13 [[ 7.08214657e-01 -7.05596222e-01 -2.37901330e-02 1.22549332e+02] [ 7.05279151e-01 7.08611963e-01 -2.12227453e-02 4.49820330e+01] [ 3.18326617e-02 -1.74842553e-03 9.99491683e-01 4.12718479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41071405699998 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:122.57, Y:45.00, Z:4.13 [[ 7.07472246e-01 -7.06327364e-01 -2.41800677e-02 1.22569556e+02] [ 7.06025446e-01 7.07881383e-01 -2.07850285e-02 4.50024611e+01] [ 3.17976542e-02 -2.36691226e-03 9.99491524e-01 4.12688618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44071405699998 meters Centerline goodness : 0.996033 Centerline is valid? [True, True] Translation: X:122.59, Y:45.02, Z:4.13 [[ 7.07768472e-01 -7.06037424e-01 -2.39780322e-02 1.22588151e+02] [ 7.05727679e-01 7.08171555e-01 -2.10117003e-02 4.50243921e+01] [ 3.18156071e-02 -2.05054196e-03 9.99491652e-01 4.12755354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47071405699998 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:122.62, Y:45.05, Z:4.13 [[ 7.12717298e-01 -7.01047692e-01 -2.37946642e-02 1.22618952e+02] [ 7.00728263e-01 7.13112702e-01 -2.12173442e-02 4.50477721e+01] [ 3.18426475e-02 -1.55162549e-03 9.99491690e-01 4.13200360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50071405699998 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:122.64, Y:45.07, Z:4.13 [[ 7.13165297e-01 -7.00578733e-01 -2.41805482e-02 1.22639366e+02] [ 7.00273550e-01 7.13571990e-01 -2.07838986e-02 4.50684860e+01] [ 3.18153192e-02 -2.11064314e-03 9.99491536e-01 4.13223498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53071405699998 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:122.67, Y:45.09, Z:4.13 [[ 7.15727087e-01 -6.97964775e-01 -2.40813054e-02 1.22665380e+02] [ 6.97654366e-01 7.16129715e-01 -2.08953638e-02 4.50908063e+01] [ 3.18295663e-02 -1.84504993e-03 9.99491608e-01 4.13201852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56071405699998 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:122.69, Y:45.11, Z:4.14 [[ 7.17202840e-01 -6.96442415e-01 -2.42497116e-02 1.22686695e+02] [ 6.96137504e-01 7.17609809e-01 -2.07059555e-02 4.51115455e+01] [ 3.18223366e-02 -2.03076361e-03 9.99491478e-01 4.13516560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59071405699999 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:122.71, Y:45.13, Z:4.13 [[ 7.18958957e-01 -6.94632287e-01 -2.41661686e-02 1.22712679e+02] [ 6.94323202e-01 7.19362673e-01 -2.07999023e-02 4.51330650e+01] [ 3.18325233e-02 -1.82485552e-03 9.99491551e-01 4.13290426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.620714057 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:122.74, Y:45.16, Z:4.13 [[ 7.19676956e-01 -6.93885510e-01 -2.42482587e-02 1.22737086e+02] [ 6.93579098e-01 7.20082794e-01 -2.07075764e-02 4.51558444e+01] [ 3.18294411e-02 -1.91531985e-03 9.99491480e-01 4.13438726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.650714057 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:122.76, Y:45.18, Z:4.13 [[ 7.19808826e-01 -6.93747501e-01 -2.42828727e-02 1.22762214e+02] [ 6.93442317e-01 7.20215633e-01 -2.06687064e-02 4.51775814e+01] [ 3.18277680e-02 -1.96125417e-03 9.99491444e-01 4.13421714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.680714057 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:122.78, Y:45.20, Z:4.14 [[ 7.18721295e-01 -6.94869561e-01 -2.44129647e-02 1.22784694e+02] [ 6.94569935e-01 7.19132411e-01 -2.05226893e-02 4.51985512e+01] [ 3.18167463e-02 -2.20641749e-03 9.99491284e-01 4.13557428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.710714057 meters Centerline goodness : 0.994148 Centerline is valid? [True, True] Translation: X:122.81, Y:45.22, Z:4.14 [[ 7.19080703e-01 -6.94499637e-01 -2.43556171e-02 1.22805327e+02] [ 6.94197627e-01 7.19489978e-01 -2.05870512e-02 4.52158555e+01] [ 3.18213220e-02 -2.10386034e-03 9.99491359e-01 4.13704900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.740714057 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:122.83, Y:45.24, Z:4.14 [[ 7.16276445e-01 -6.97399290e-01 -2.41305922e-02 1.22833905e+02] [ 6.97090440e-01 7.16680292e-01 -2.08393220e-02 4.52404243e+01] [ 3.18272482e-02 -1.89448967e-03 9.99491589e-01 4.13641794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.770714057 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:122.86, Y:45.26, Z:4.14 [[ 7.13443119e-01 -7.00286347e-01 -2.44529805e-02 1.22856045e+02] [ 6.99991370e-01 7.13857652e-01 -2.04776834e-02 4.52599378e+01] [ 3.17961894e-02 -2.50721303e-03 9.99491229e-01 4.13850679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.800714057 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:122.88, Y:45.28, Z:4.14 [[ 7.12153067e-01 -7.01603037e-01 -2.43143335e-02 1.22882050e+02] [ 7.01303547e-01 7.12564115e-01 -2.06328888e-02 4.52816528e+01] [ 3.18016190e-02 -2.35795327e-03 9.99491419e-01 4.13836499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.830714057 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:122.91, Y:45.30, Z:4.14 [[ 7.09010542e-01 -7.04774024e-01 -2.44464243e-02 1.22905012e+02] [ 7.04481418e-01 7.09426738e-01 -2.04849811e-02 4.53014390e+01] [ 3.17802296e-02 -2.69798411e-03 9.99491240e-01 4.14014248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.860714057 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:122.93, Y:45.32, Z:4.14 [[ 7.07037353e-01 -7.06756257e-01 -2.43674947e-02 1.22929785e+02] [ 7.06461797e-01 7.07452098e-01 -2.05732225e-02 4.53228266e+01] [ 3.17790890e-02 -2.66866739e-03 9.99491354e-01 4.14141698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.890714057 meters Centerline goodness : 0.995556 Centerline is valid? [True, True] Translation: X:122.95, Y:45.34, Z:4.14 [[ 7.05621165e-01 -7.08169159e-01 -2.43970056e-02 1.22952593e+02] [ 7.07876660e-01 7.06037346e-01 -2.05402322e-02 4.53425224e+01] [ 3.17711560e-02 -2.77644824e-03 9.99491313e-01 4.14192414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.920714057 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:122.98, Y:45.36, Z:4.14 [[ 7.03434133e-01 -7.10342703e-01 -2.43652394e-02 1.22978838e+02] [ 7.10050268e-01 7.03850306e-01 -2.05757967e-02 4.53620486e+01] [ 3.17653483e-02 -2.82682704e-03 9.99491356e-01 4.14197969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.950714057 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:123.00, Y:45.38, Z:4.15 [[ 7.05054122e-01 -7.08734736e-01 -2.43671710e-02 1.22997448e+02] [ 7.08441425e-01 7.05469682e-01 -2.05736353e-02 4.53790134e+01] [ 3.17715503e-02 -2.75718699e-03 9.99491354e-01 4.14517972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.980714057 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:123.02, Y:45.40, Z:4.15 [[ 7.03582055e-01 -7.10209003e-01 -2.39888311e-02 1.23018918e+02] [ 7.09902156e-01 7.03987272e-01 -2.09964290e-02 4.53972972e+01] [ 3.17996846e-02 -2.25701225e-03 9.99491714e-01 4.14595369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.010714057 meters Centerline goodness : 0.995844 Centerline is valid? [True, True] Translation: X:123.05, Y:45.43, Z:4.15 [[ 7.00851968e-01 -7.12911302e-01 -2.37485875e-02 1.23050962e+02] [ 7.12596951e-01 7.01251308e-01 -2.12647375e-02 4.54258432e+01] [ 3.18135998e-02 -2.01973791e-03 9.99491779e-01 4.14844100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04071405699997 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:123.07, Y:45.45, Z:4.15 [[ 6.99960697e-01 -7.13764508e-01 -2.43977454e-02 1.23072424e+02] [ 7.13475405e-01 7.00379210e-01 -2.05379833e-02 4.54452193e+01] [ 3.17469572e-02 -3.03141013e-03 9.99491341e-01 4.15094505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07071405699998 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:123.10, Y:45.47, Z:4.15 [[ 6.99522394e-01 -7.14198299e-01 -2.42736456e-02 1.23096089e+02] [ 7.13904673e-01 6.99937555e-01 -2.06769784e-02 4.54662113e+01] [ 3.17574989e-02 -2.86505954e-03 9.99491497e-01 4.15167762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10071405699998 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:123.12, Y:45.49, Z:4.15 [[ 6.98149367e-01 -7.15541724e-01 -2.42384543e-02 1.23119885e+02] [ 7.15247544e-01 6.98564088e-01 -2.07163451e-02 4.54871621e+01] [ 3.17555231e-02 -2.87339168e-03 9.99491536e-01 4.15263603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13071405699998 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:123.14, Y:45.51, Z:4.15 [[ 6.97669869e-01 -7.16009760e-01 -2.42234767e-02 1.23143886e+02] [ 7.15715282e-01 6.98084360e-01 -2.07330894e-02 4.55088481e+01] [ 3.17551246e-02 -2.87226070e-03 9.99491552e-01 4.15421699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16071405699998 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:123.17, Y:45.53, Z:4.16 [[ 6.96728968e-01 -7.16926367e-01 -2.41935849e-02 1.23167893e+02] [ 7.16631289e-01 6.97142992e-01 -2.07664404e-02 4.55304189e+01] [ 3.17543969e-02 -2.86929933e-03 9.99491583e-01 4.15575921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19071405699998 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:123.19, Y:45.55, Z:4.16 [[ 6.96904556e-01 -7.16755772e-01 -2.41909925e-02 1.23193304e+02] [ 7.16460492e-01 6.97318433e-01 -2.07693326e-02 4.55522501e+01] [ 3.17553640e-02 -2.85764785e-03 9.99491586e-01 4.15710763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22071405699998 meters Centerline goodness : 0.995767 Centerline is valid? [True, True] Translation: X:123.22, Y:45.57, Z:4.16 [[ 6.96547410e-01 -7.17100168e-01 -2.42704627e-02 1.23215066e+02] [ 7.16808144e-01 6.96963698e-01 -2.06806387e-02 4.55724297e+01] [ 3.17457209e-02 -2.99222002e-03 9.99491499e-01 4.15576935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25071405699998 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:123.24, Y:45.59, Z:4.16 [[ 6.95764112e-01 -7.17864937e-01 -2.41294939e-02 1.23238381e+02] [ 7.17567964e-01 6.96176702e-01 -2.08378645e-02 4.55943866e+01] [ 3.17571638e-02 -2.81631352e-03 9.99491646e-01 4.15881631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28071405699998 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:123.26, Y:45.62, Z:4.16 [[ 6.95188260e-01 -7.18421587e-01 -2.41599941e-02 1.23257939e+02] [ 7.18126113e-01 6.95601959e-01 -2.08038377e-02 4.56158296e+01] [ 3.17516654e-02 -2.88733890e-03 9.99491618e-01 4.15837395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31071405699998 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:123.28, Y:45.64, Z:4.16 [[ 6.95215632e-01 -7.18400876e-01 -2.39876298e-02 1.23281977e+02] [ 7.18098815e-01 6.95624374e-01 -2.09957573e-02 4.56380475e+01] [ 3.17697504e-02 -2.62890989e-03 9.99491757e-01 4.16220572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34071405699999 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:123.31, Y:45.66, Z:4.16 [[ 6.96269024e-01 -7.17378098e-01 -2.40439073e-02 1.23305141e+02] [ 7.17077576e-01 6.96678947e-01 -2.09330976e-02 4.56586960e+01] [ 3.17678298e-02 -2.66627937e-03 9.99491719e-01 4.16284858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.370714057 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:123.33, Y:45.68, Z:4.16 [[ 6.96873307e-01 -7.16790151e-01 -2.40722625e-02 1.23328517e+02] [ 7.16490363e-01 6.97283792e-01 -2.09014889e-02 4.56799854e+01] [ 3.17671799e-02 -2.68185443e-03 9.99491698e-01 4.16348191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.400714057 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:123.35, Y:45.70, Z:4.17 [[ 6.97253336e-01 -7.16421851e-01 -2.40315703e-02 1.23354624e+02] [ 7.16120297e-01 6.97662489e-01 -2.09468599e-02 4.57019003e+01] [ 3.17727133e-02 -2.60422731e-03 9.99491727e-01 4.16529712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.430714057 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:123.38, Y:45.72, Z:4.17 [[ 6.97223752e-01 -7.16448336e-01 -2.41002439e-02 1.23379497e+02] [ 7.16149415e-01 6.97634896e-01 -2.08702670e-02 4.57243185e+01] [ 3.17656392e-02 -2.70812969e-03 9.99491676e-01 4.16632337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.460714057 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:123.41, Y:45.75, Z:4.17 [[ 6.98354176e-01 -7.15347234e-01 -2.40786156e-02 1.23406734e+02] [ 7.15046841e-01 6.98764224e-01 -2.08943660e-02 4.57463447e+01] [ 3.17720020e-02 -2.62567026e-03 9.99491694e-01 4.16656132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.490714057 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:123.43, Y:45.77, Z:4.17 [[ 6.96853271e-01 -7.16802845e-01 -2.42734491e-02 1.23426685e+02] [ 7.16510762e-01 6.97269519e-01 -2.06771776e-02 4.57661743e+01] [ 3.17465959e-02 -2.98322864e-03 9.99491498e-01 4.16756132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.520714057 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:123.45, Y:45.79, Z:4.17 [[ 6.95667151e-01 -7.17961232e-01 -2.40600107e-02 1.23452280e+02] [ 7.17661685e-01 6.96077786e-01 -2.09146209e-02 4.57874595e+01] [ 3.17635259e-02 -2.71733308e-03 9.99491718e-01 4.16979083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.550714057 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:123.48, Y:45.81, Z:4.17 [[ 6.95129843e-01 -7.18478072e-01 -2.41611590e-02 1.23475804e+02] [ 7.18182691e-01 6.95543598e-01 -2.08020558e-02 4.58079980e+01] [ 3.17509604e-02 -2.89199643e-03 9.99491627e-01 4.16996386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.580714057 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:123.50, Y:45.83, Z:4.17 [[ 6.94581930e-01 -7.19008064e-01 -2.41525540e-02 1.23499100e+02] [ 7.18712670e-01 6.94995665e-01 -2.08116351e-02 4.58290083e+01] [ 3.17496538e-02 -2.90336089e-03 9.99491636e-01 4.17033303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.610714057 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:123.52, Y:45.85, Z:4.17 [[ 6.94158683e-01 -7.19417983e-01 -2.41141027e-02 1.23523667e+02] [ 7.19121363e-01 6.94571494e-01 -2.08543869e-02 4.58514059e+01] [ 3.17519893e-02 -2.86471264e-03 9.99491673e-01 4.17175251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.640714057 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:123.55, Y:45.87, Z:4.17 [[ 6.95870987e-01 -7.17761450e-01 -2.41261376e-02 1.23549084e+02] [ 7.17464306e-01 6.96283435e-01 -2.08410017e-02 4.58720119e+01] [ 3.17574976e-02 -2.80699414e-03 9.99491662e-01 4.17293481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.670714057 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:123.57, Y:45.89, Z:4.18 [[ 6.96103467e-01 -7.17536259e-01 -2.41180423e-02 1.23573550e+02] [ 7.17238674e-01 6.96515587e-01 -2.08499929e-02 4.58935216e+01] [ 3.17592183e-02 -2.78464035e-03 9.99491670e-01 4.17545233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.700714057 meters Centerline goodness : 0.995966 Centerline is valid? [True, True] Translation: X:123.60, Y:45.91, Z:4.18 [[ 6.97724816e-01 -7.15959273e-01 -2.41329707e-02 1.23596052e+02] [ 7.15661323e-01 6.98136691e-01 -2.08334100e-02 4.59148243e+01] [ 3.17639854e-02 -2.73504656e-03 9.99491655e-01 4.17559783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.730714057 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:123.62, Y:45.94, Z:4.18 [[ 6.98471938e-01 -7.15231477e-01 -2.41015760e-02 1.23620186e+02] [ 7.14931906e-01 6.98882597e-01 -2.08682809e-02 4.59370764e+01] [ 3.17698234e-02 -2.65507710e-03 9.99491685e-01 4.17766973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.760714057 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:123.64, Y:45.96, Z:4.18 [[ 7.00636339e-01 -7.13110818e-01 -2.41180876e-02 1.23642437e+02] [ 7.12810629e-01 7.01046566e-01 -2.08499353e-02 4.59584665e+01] [ 3.17762170e-02 -2.58340685e-03 9.99491670e-01 4.17934941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79071405699997 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:123.67, Y:45.98, Z:4.18 [[ 7.02108179e-01 -7.11662749e-01 -2.40880961e-02 1.23667176e+02] [ 7.11360579e-01 7.02516915e-01 -2.08832676e-02 4.59802236e+01] [ 3.17841386e-02 -2.47300897e-03 9.99491697e-01 4.18056526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82071405699998 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:123.68, Y:46.00, Z:4.18 [[ 7.00561208e-01 -7.13185168e-01 -2.41020867e-02 1.23680774e+02] [ 7.12884416e-01 7.00971004e-01 -2.08677170e-02 4.60006784e+01] [ 3.17774102e-02 -2.56288902e-03 9.99491685e-01 4.18073167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85071405699998 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:123.71, Y:46.02, Z:4.18 [[ 7.06644254e-01 -7.07172502e-01 -2.36843811e-02 1.23714146e+02] [ 7.06852669e-01 7.07039087e-01 -2.13315050e-02 4.60226594e+01] [ 3.18308370e-02 -1.66758259e-03 9.99491879e-01 4.18438522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88071405699998 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:123.74, Y:46.04, Z:4.18 [[ 7.07414661e-01 -7.06387291e-01 -2.41141659e-02 1.23737156e+02] [ 7.06083061e-01 7.07821886e-01 -2.08539562e-02 4.60433771e+01] [ 3.17995040e-02 -2.27420970e-03 9.99491681e-01 4.18467627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91071405699998 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:123.76, Y:46.06, Z:4.19 [[ 7.11871945e-01 -7.01898474e-01 -2.40180309e-02 1.23762049e+02] [ 7.01588082e-01 7.12274392e-01 -2.09607460e-02 4.60644802e+01] [ 3.18197440e-02 -1.92939723e-03 9.99491762e-01 4.18541733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94071405699998 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:123.79, Y:46.09, Z:4.19 [[ 7.14095671e-01 -6.99635430e-01 -2.40340895e-02 1.23786144e+02] [ 6.99324360e-01 7.14497609e-01 -2.09429243e-02 4.60863184e+01] [ 3.18247113e-02 -1.85237272e-03 9.99491749e-01 4.18651633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97071405699998 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:123.81, Y:46.11, Z:4.19 [[ 7.20218755e-01 -6.93329844e-01 -2.40556055e-02 1.23810829e+02] [ 6.93016047e-01 7.20618590e-01 -2.09190454e-02 4.61078596e+01] [ 3.18387150e-02 -1.60463176e-03 9.99491732e-01 4.18699737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00071405699998 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:123.84, Y:46.13, Z:4.19 [[ 7.25947026e-01 -6.87328592e-01 -2.40898712e-02 1.23836625e+02] [ 6.87012745e-01 7.26345283e-01 -2.08810341e-02 4.61296470e+01] [ 3.18496961e-02 -1.39152392e-03 9.99491701e-01 4.18989902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03071405699998 meters Centerline goodness : 0.994165 Centerline is valid? [True, True] Translation: X:123.86, Y:46.15, Z:4.19 [[ 7.27870994e-01 -6.85286181e-01 -2.42211880e-02 1.23857837e+02] [ 6.84974043e-01 7.28272343e-01 -2.07353526e-02 4.61490954e+01] [ 3.18492720e-02 -1.49822338e-03 9.99491560e-01 4.18939071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06071405699998 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:123.88, Y:46.17, Z:4.19 [[ 7.31006411e-01 -6.81945976e-01 -2.40689166e-02 1.23882822e+02] [ 6.81626429e-01 7.31401682e-01 -2.09043361e-02 4.61695118e+01] [ 3.18596740e-02 -1.12480592e-03 9.99491719e-01 4.19220623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09071405699999 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:123.91, Y:46.19, Z:4.19 [[ 7.33884150e-01 -6.78846876e-01 -2.41034062e-02 1.23907824e+02] [ 6.78526911e-01 7.34279126e-01 -2.08661529e-02 4.61899596e+01] [ 3.18635508e-02 -1.04147089e-03 9.99491686e-01 4.19388077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.120714057 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:123.92, Y:46.21, Z:4.19 [[ 7.31682338e-01 -6.81218941e-01 -2.41186679e-02 1.23920661e+02] [ 6.80900813e-01 7.32078815e-01 -2.08492552e-02 4.62087213e+01] [ 3.18596734e-02 -1.16738872e-03 9.99491670e-01 4.19313139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.150714057 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:123.96, Y:46.23, Z:4.20 [[ 7.35587635e-01 -6.77017091e-01 -2.36366046e-02 1.23955888e+02] [ 6.76679404e-01 7.35967246e-01 -2.13821575e-02 4.62282341e+01] [ 3.18718529e-02 -2.65952858e-04 9.99491928e-01 4.19583440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.180714057 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:123.97, Y:46.25, Z:4.19 [[ 7.32288258e-01 -6.80569606e-01 -2.40607316e-02 1.23971041e+02] [ 6.80249043e-01 7.32682675e-01 -2.09126287e-02 4.62466650e+01] [ 3.18613806e-02 -1.05321720e-03 9.99491742e-01 4.19412088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.210714057 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:124.01, Y:46.27, Z:4.20 [[ 7.33370065e-01 -6.79418538e-01 -2.36389069e-02 1.24008445e+02] [ 6.79082194e-01 7.33750850e-01 -2.13790514e-02 4.62650837e+01] [ 3.18703919e-02 -3.74004507e-04 9.99491940e-01 4.19558965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.240714057 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:124.04, Y:46.28, Z:4.20 [[ 7.31597627e-01 -6.81310904e-01 -2.40907559e-02 1.24035164e+02] [ 6.80991846e-01 7.31993288e-01 -2.08789651e-02 4.62845557e+01] [ 3.18593382e-02 -1.13060703e-03 9.99491723e-01 4.19582227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.270714057 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:124.06, Y:46.30, Z:4.20 [[ 7.29078499e-01 -6.84006018e-01 -2.40896220e-02 1.24061378e+02] [ 6.83688382e-01 7.29475300e-01 -2.08802188e-02 4.63044825e+01] [ 3.18549796e-02 -1.24647607e-03 9.99491724e-01 4.19718757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.300714057 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:124.09, Y:46.32, Z:4.20 [[ 7.24503608e-01 -6.88847856e-01 -2.41485588e-02 1.24089332e+02] [ 6.88535035e-01 7.24904297e-01 -2.08150454e-02 4.63209938e+01] [ 3.18437934e-02 -1.54655331e-03 9.99491661e-01 4.19889536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.330714057 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:124.12, Y:46.34, Z:4.20 [[ 7.19183790e-01 -6.94398883e-01 -2.41840275e-02 1.24118362e+02] [ 6.94090466e-01 7.19587930e-01 -2.07758201e-02 4.63387420e+01] [ 3.18292406e-02 -1.84426984e-03 9.99491620e-01 4.19854998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.360714057 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:124.13, Y:46.36, Z:4.20 [[ 7.12280940e-01 -7.01476309e-01 -2.42249877e-02 1.24129998e+02] [ 7.01173435e-01 7.12689315e-01 -2.07305205e-02 4.63558702e+01] [ 3.18068589e-02 -2.21996322e-03 9.99491568e-01 4.19889270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.390714057 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:124.16, Y:46.38, Z:4.20 [[ 7.10590804e-01 -7.03208899e-01 -2.36210323e-02 1.24156579e+02] [ 7.02884676e-01 7.10981919e-01 -2.13972628e-02 4.63752156e+01] [ 3.18408725e-02 -1.39816339e-03 9.99491973e-01 4.20150271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.420714057 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:124.20, Y:46.39, Z:4.20 [[ 7.10977183e-01 -7.02818040e-01 -2.36272864e-02 1.24199607e+02] [ 7.02493831e-01 7.11368309e-01 -2.13903546e-02 4.63945725e+01] [ 3.18412299e-02 -1.38996888e-03 9.99491973e-01 4.19955121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.450714057 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:124.22, Y:46.41, Z:4.20 [[ 7.08691331e-01 -7.05095353e-01 -2.44364712e-02 1.24223514e+02] [ 7.04802602e-01 7.09107370e-01 -2.04946448e-02 4.64132072e+01] [ 3.17787606e-02 -2.69851135e-03 9.99491285e-01 4.20077472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.480714057 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:124.25, Y:46.43, Z:4.20 [[ 7.04720126e-01 -7.09068204e-01 -2.43274836e-02 1.24250333e+02] [ 7.08773665e-01 7.05134676e-01 -2.06150287e-02 4.64324665e+01] [ 3.17716136e-02 -2.71485408e-03 9.99491468e-01 4.20208743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.510714057 meters Centerline goodness : 0.995621 Centerline is valid? [True, True] Translation: X:124.27, Y:46.45, Z:4.21 [[ 7.00620778e-01 -7.13117223e-01 -2.43793320e-02 1.24269215e+02] [ 7.12827048e-01 7.01038498e-01 -2.05578241e-02 4.64511402e+01] [ 3.17509887e-02 -2.97500858e-03 9.99491383e-01 4.20799669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54071405699997 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:124.30, Y:46.47, Z:4.21 [[ 6.97373421e-01 -7.16303128e-01 -2.40861068e-02 1.24295630e+02] [ 7.16003753e-01 6.97784081e-01 -2.08806575e-02 4.64716968e+01] [ 3.17637822e-02 -2.68412735e-03 9.99491800e-01 4.20873672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57071405699998 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:124.32, Y:46.49, Z:4.21 [[ 6.96489129e-01 -7.17161310e-01 -2.41360472e-02 1.24318971e+02] [ 7.16864325e-01 6.96901593e-01 -2.08256855e-02 4.64922569e+01] [ 3.17558257e-02 -2.79740768e-03 9.99491742e-01 4.20756124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60071405699998 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:124.34, Y:46.51, Z:4.21 [[ 6.94212418e-01 -7.19367977e-01 -2.40589427e-02 1.24342084e+02] [ 7.19069388e-01 6.94623614e-01 -2.09105198e-02 4.65131466e+01] [ 3.17542680e-02 -2.78370672e-03 9.99491830e-01 4.20937233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63071405699998 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:124.37, Y:46.53, Z:4.21 [[ 6.92444069e-01 -7.21070425e-01 -2.40552106e-02 1.24367061e+02] [ 7.20772706e-01 6.92855890e-01 -2.09146253e-02 4.65339826e+01] [ 3.17477121e-02 -2.85613096e-03 9.99491834e-01 4.20932449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66071405699998 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:124.39, Y:46.56, Z:4.21 [[ 6.89573872e-01 -7.23814576e-01 -2.40901359e-02 1.24389994e+02] [ 7.23519819e-01 6.89987866e-01 -2.08762352e-02 4.65550210e+01] [ 3.17324248e-02 -3.03398444e-03 9.99491795e-01 4.21042524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69071405699998 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:124.41, Y:46.58, Z:4.21 [[ 6.88986466e-01 -7.24375510e-01 -2.40368565e-02 1.24414256e+02] [ 7.24079070e-01 6.89399185e-01 -2.09347693e-02 4.65769800e+01] [ 3.17356235e-02 -2.98081199e-03 9.99491853e-01 4.21186655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72071405699998 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:124.44, Y:46.60, Z:4.21 [[ 6.88467542e-01 -7.24867903e-01 -2.40617414e-02 1.24437232e+02] [ 7.24572702e-01 6.88881180e-01 -2.09074298e-02 4.65988954e+01] [ 3.17308055e-02 -3.04039416e-03 9.99491827e-01 4.21365017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75071405699998 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:124.46, Y:46.62, Z:4.22 [[ 6.88054032e-01 -7.25260036e-01 -2.40733949e-02 1.24460547e+02] [ 7.24965513e-01 6.88468169e-01 -2.08946304e-02 4.66213867e+01] [ 3.17278065e-02 -3.07574632e-03 9.99491814e-01 4.21515282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78071405699998 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:124.48, Y:46.64, Z:4.22 [[ 6.87276075e-01 -7.25998718e-01 -2.40303717e-02 1.24483384e+02] [ 7.25703007e-01 6.87689307e-01 -2.09418716e-02 4.66438979e+01] [ 3.17292016e-02 -3.04606574e-03 9.99491861e-01 4.21608817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81071405699998 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:124.51, Y:46.67, Z:4.22 [[ 6.85918642e-01 -7.27282311e-01 -2.40011954e-02 1.24505862e+02] [ 7.26986266e-01 6.86331599e-01 -2.09739097e-02 4.66652759e+01] [ 3.17267324e-02 -3.06214380e-03 9.99491890e-01 4.21746887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84071405699999 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:124.53, Y:46.69, Z:4.22 [[ 6.84386795e-01 -7.28727210e-01 -2.39033255e-02 1.24529927e+02] [ 7.28428336e-01 6.84797596e-01 -2.10810649e-02 4.66874060e+01] [ 3.17312854e-02 -2.98425719e-03 9.99491981e-01 4.22101156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.870714057 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:124.55, Y:46.71, Z:4.22 [[ 6.83492108e-01 -7.29564588e-01 -2.39593474e-02 1.24551488e+02] [ 7.29268337e-01 6.83904865e-01 -2.10197143e-02 4.67086117e+01] [ 3.17211535e-02 -3.10598461e-03 9.99491932e-01 4.22200735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.900714057 meters Centerline goodness : 0.995307 Centerline is valid? [True, True] Translation: X:124.57, Y:46.73, Z:4.22 [[ 6.80107199e-01 -7.32722723e-01 -2.39083517e-02 1.24565139e+02] [ 7.32426451e-01 6.80519886e-01 -2.10755547e-02 4.67297273e+01] [ 3.17126466e-02 -3.17747271e-03 9.99491977e-01 4.22193999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.930714057 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:124.59, Y:46.75, Z:4.22 [[ 6.81800302e-01 -7.31160188e-01 -2.35186381e-02 1.24594254e+02] [ 7.30848333e-01 6.82201132e-01 -2.15018302e-02 4.67518469e+01] [ 3.17657238e-02 -2.52860309e-03 9.99492144e-01 4.22434863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.960714057 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:124.62, Y:46.77, Z:4.22 [[ 6.81104694e-01 -7.31799037e-01 -2.38026492e-02 1.24617816e+02] [ 7.31498223e-01 6.81513976e-01 -2.11908261e-02 4.67740755e+01] [ 3.17292642e-02 -2.97842450e-03 9.99492062e-01 4.22496618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.990714057 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:124.64, Y:46.80, Z:4.23 [[ 6.80701849e-01 -7.32171688e-01 -2.38665317e-02 1.24641963e+02] [ 7.31873514e-01 6.81113110e-01 -2.11208561e-02 4.67960015e+01] [ 3.17199005e-02 -3.09027657e-03 9.99492020e-01 4.22507726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.020714057 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:124.67, Y:46.82, Z:4.23 [[ 6.80056721e-01 -7.32769784e-01 -2.39018914e-02 1.24666119e+02] [ 7.32473311e-01 6.80469244e-01 -2.10821398e-02 4.68180775e+01] [ 3.17128570e-02 -3.17044668e-03 9.99491992e-01 4.22608358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.050714057 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:124.69, Y:46.84, Z:4.23 [[ 6.79376933e-01 -7.33399648e-01 -2.39152600e-02 1.24690394e+02] [ 7.33104065e-01 6.79790108e-01 -2.10675038e-02 4.68406086e+01] [ 3.17082571e-02 -3.21959821e-03 9.99491981e-01 4.22707629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.080714057 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:124.71, Y:46.86, Z:4.23 [[ 6.79318772e-01 -7.33451589e-01 -2.39744066e-02 1.24714508e+02] [ 7.33158284e-01 6.79733635e-01 -2.10027808e-02 4.68632292e+01] [ 3.17007335e-02 -3.30945155e-03 9.99491926e-01 4.22803971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.110714057 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:124.73, Y:46.88, Z:4.23 [[ 6.80139225e-01 -7.32690154e-01 -2.39952754e-02 1.24734746e+02] [ 7.32397177e-01 6.80554346e-01 -2.09799444e-02 4.68838050e+01] [ 3.17018876e-02 -3.30478877e-03 9.99491905e-01 4.22768029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.140714057 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:124.76, Y:46.91, Z:4.23 [[ 6.79210550e-01 -7.33557386e-01 -2.38031292e-02 1.24760452e+02] [ 7.33257660e-01 6.79620621e-01 -2.11899848e-02 4.69078316e+01] [ 3.17211674e-02 -3.06136556e-03 9.99492069e-01 4.23006839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.170714057 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:124.78, Y:46.93, Z:4.23 [[ 6.80117951e-01 -7.32709493e-01 -2.40077353e-02 1.24783296e+02] [ 7.32417003e-01 6.80533430e-01 -2.09662873e-02 4.69311965e+01] [ 3.17002642e-02 -3.32412515e-03 9.99491893e-01 4.23104062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.200714057 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:124.81, Y:46.95, Z:4.23 [[ 6.80471316e-01 -7.32381828e-01 -2.39926031e-02 1.24806532e+02] [ 7.32088564e-01 6.80886229e-01 -2.09828117e-02 4.69538750e+01] [ 3.17036630e-02 -3.28650889e-03 9.99491909e-01 4.23199837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.230714057 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:124.83, Y:46.98, Z:4.23 [[ 6.83225277e-01 -7.29812902e-01 -2.40072590e-02 1.24828311e+02] [ 7.29518631e-01 6.83639496e-01 -2.09668052e-02 4.69757338e+01] [ 3.17141554e-02 -3.18869143e-03 9.99491893e-01 4.23304107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.260714057 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:124.85, Y:47.00, Z:4.24 [[ 6.83053887e-01 -7.29975677e-01 -2.39352935e-02 1.24852623e+02] [ 7.29678786e-01 6.83466138e-01 -2.10453600e-02 4.69996353e+01] [ 3.17215636e-02 -3.08996090e-03 9.99491968e-01 4.23514186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29071405699997 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:124.87, Y:47.02, Z:4.24 [[ 6.85940017e-01 -7.27260792e-01 -2.40423513e-02 1.24873142e+02] [ 7.26966302e-01 6.86354130e-01 -2.09285194e-02 4.70206852e+01] [ 3.17220587e-02 -3.12227031e-03 9.99491852e-01 4.23592806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32071405699998 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:124.90, Y:47.04, Z:4.24 [[ 6.85989121e-01 -7.27220570e-01 -2.38572697e-02 1.24895373e+02] [ 7.26919093e-01 6.86397944e-01 -2.11304233e-02 4.70430345e+01] [ 3.17420593e-02 -2.84706432e-03 9.99492039e-01 4.23775355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35071405699998 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:124.92, Y:47.07, Z:4.24 [[ 6.85810855e-01 -7.27387344e-01 -2.38981663e-02 1.24919315e+02] [ 7.27087505e-01 6.86220921e-01 -2.10857231e-02 4.70651115e+01] [ 3.17369098e-02 -2.91524032e-03 9.99492006e-01 4.23877030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38071405699998 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:124.95, Y:47.09, Z:4.24 [[ 6.85440465e-01 -7.27737778e-01 -2.38557303e-02 1.24945619e+02] [ 7.27436555e-01 6.85849471e-01 -2.11320043e-02 4.70893063e+01] [ 3.17399978e-02 -2.86879946e-03 9.99492042e-01 4.23739275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41071405699998 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:124.97, Y:47.11, Z:4.24 [[ 6.83884640e-01 -7.29194571e-01 -2.40224516e-02 1.24966892e+02] [ 7.28900490e-01 6.84299022e-01 -2.09505086e-02 4.71112588e+01] [ 3.17155373e-02 -3.18224572e-03 9.99491870e-01 4.24082202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44071405699998 meters Centerline goodness : 0.994785 Centerline is valid? [True, True] Translation: X:124.99, Y:47.13, Z:4.24 [[ 6.83887155e-01 -7.29194072e-01 -2.39659099e-02 1.24989286e+02] [ 7.28897860e-01 6.84299936e-01 -2.10120453e-02 4.71332138e+01] [ 3.17217295e-02 -3.09883253e-03 9.99491935e-01 4.23996199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47071405699998 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:125.01, Y:47.16, Z:4.24 [[ 6.82865692e-01 -7.30152406e-01 -2.39146626e-02 1.25012278e+02] [ 7.29854846e-01 6.83277434e-01 -2.10677629e-02 4.71561111e+01] [ 3.17230271e-02 -3.06777992e-03 9.99491990e-01 4.24306274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50071405699998 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:125.02, Y:47.18, Z:4.24 [[ 6.78467678e-01 -7.34240146e-01 -2.39377992e-02 1.25023198e+02] [ 7.33945937e-01 6.78881852e-01 -2.10426127e-02 4.71780572e+01] [ 3.17012685e-02 -3.29231791e-03 9.99491966e-01 4.23877203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53071405699998 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:125.06, Y:47.20, Z:4.24 [[ 6.82802592e-01 -7.30227013e-01 -2.34335337e-02 1.25059922e+02] [ 7.29911602e-01 6.83200503e-01 -2.15899509e-02 4.72010853e+01] [ 3.17753674e-02 -2.36273368e-03 9.99492243e-01 4.23818809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56071405699998 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:125.07, Y:47.22, Z:4.24 [[ 6.76934512e-01 -7.35649271e-01 -2.40793568e-02 1.25068270e+02] [ 7.35361328e-01 6.77353248e-01 -2.08876771e-02 4.72210752e+01] [ 3.16762350e-02 -3.56743831e-03 9.99491816e-01 4.23840553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59071405699999 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:125.10, Y:47.24, Z:4.24 [[ 6.79305516e-01 -7.33481472e-01 -2.34296123e-02 1.25100805e+02] [ 7.33167868e-01 6.79704812e-01 -2.15927171e-02 4.72443021e+01] [ 3.17630781e-02 -2.50978706e-03 9.99492275e-01 4.24391974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.620714057 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:125.13, Y:47.27, Z:4.24 [[ 6.79924855e-01 -7.32894514e-01 -2.38290390e-02 1.25126244e+02] [ 7.32595436e-01 6.80335362e-01 -2.11594381e-02 4.72682326e+01] [ 3.17193740e-02 -3.07021731e-03 9.99492099e-01 4.24108752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.650714057 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:125.15, Y:47.29, Z:4.24 [[ 6.79478547e-01 -7.33303416e-01 -2.39792410e-02 1.25146316e+02] [ 7.33010238e-01 6.79893478e-01 -2.09964008e-02 4.72894803e+01] [ 3.17000619e-02 -3.31042527e-03 9.99491945e-01 4.24391183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.680714057 meters Centerline goodness : 0.995246 Centerline is valid? [True, True] Translation: X:125.17, Y:47.31, Z:4.24 [[ 6.80219307e-01 -7.32620579e-01 -2.38491283e-02 1.25169351e+02] [ 7.32322095e-01 6.80630264e-01 -2.11374641e-02 4.73141942e+01] [ 3.17181797e-02 -3.08713243e-03 9.99492084e-01 4.24497304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.710714057 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:125.19, Y:47.34, Z:4.25 [[ 6.80937155e-01 -7.31950633e-01 -2.39345399e-02 1.25192066e+02] [ 7.31654951e-01 6.81350239e-01 -2.10448301e-02 4.73365496e+01] [ 3.17115812e-02 -3.18161787e-03 9.99491997e-01 4.24517840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.740714057 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:125.21, Y:47.36, Z:4.25 [[ 6.80567094e-01 -7.32294201e-01 -2.39506676e-02 1.25214690e+02] [ 7.31999334e-01 6.80980783e-01 -2.10273397e-02 4.73603347e+01] [ 3.17081433e-02 -3.22135723e-03 9.99491979e-01 4.24718688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.770714057 meters Centerline goodness : 0.995823 Centerline is valid? [True, True] Translation: X:125.24, Y:47.38, Z:4.25 [[ 6.80110472e-01 -7.32718412e-01 -2.39473363e-02 1.25237981e+02] [ 7.32423678e-01 6.80524251e-01 -2.10309465e-02 4.73826310e+01] [ 3.17065048e-02 -3.23622920e-03 9.99491983e-01 4.24833876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.800714057 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:125.26, Y:47.41, Z:4.25 [[ 6.79726351e-01 -7.33074921e-01 -2.39426030e-02 1.25261082e+02] [ 7.32780226e-01 6.80140150e-01 -2.10360699e-02 4.74053105e+01] [ 3.17053409e-02 -3.24589505e-03 9.99491989e-01 4.24859315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.830714057 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:125.28, Y:47.43, Z:4.25 [[ 6.79819781e-01 -7.32988208e-01 -2.39447809e-02 1.25279728e+02] [ 7.32693542e-01 6.80233605e-01 -2.10337120e-02 4.74256787e+01] [ 3.17055075e-02 -3.24505284e-03 9.99491986e-01 4.25209841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.860714057 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:125.30, Y:47.45, Z:4.25 [[ 6.77632204e-01 -7.35019285e-01 -2.36906675e-02 1.25303547e+02] [ 7.34716342e-01 6.78039711e-01 -2.13083718e-02 4.74502118e+01] [ 3.17252775e-02 -2.96668163e-03 9.99492224e-01 4.25459325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.890714057 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:125.32, Y:47.47, Z:4.25 [[ 6.79022791e-01 -7.33730446e-01 -2.38260807e-02 1.25324198e+02] [ 7.33431785e-01 6.79433580e-01 -2.11619194e-02 4.74700200e+01] [ 3.17153838e-02 -3.10537935e-03 9.99492117e-01 4.25496237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.920714057 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:125.35, Y:47.49, Z:4.26 [[ 6.77721579e-01 -7.34938772e-01 -2.36318061e-02 1.25345151e+02] [ 7.34633591e-01 6.78127368e-01 -2.13719391e-02 4.74926999e+01] [ 3.17324412e-02 -2.87649425e-03 9.99492260e-01 4.25514315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.950714057 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:125.37, Y:47.51, Z:4.26 [[ 6.77947585e-01 -7.34732987e-01 -2.35480308e-02 1.25367902e+02] [ 7.34424572e-01 6.78350875e-01 -2.14624997e-02 4.75143636e+01] [ 3.17430338e-02 -2.74380263e-03 9.99492297e-01 4.25675450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.980714057 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:125.39, Y:47.54, Z:4.26 [[ 6.76825928e-01 -7.35767284e-01 -2.35195103e-02 1.25393111e+02] [ 7.35458427e-01 6.77228868e-01 -2.14933223e-02 4.75404102e+01] [ 3.17421747e-02 -2.75038423e-03 9.99492306e-01 4.25908015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.010714057 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:125.42, Y:47.56, Z:4.26 [[ 6.77349196e-01 -7.35279459e-01 -2.37104167e-02 1.25415673e+02] [ 7.34977406e-01 6.77757383e-01 -2.12871638e-02 4.75648388e+01] [ 3.17219243e-02 -3.00777732e-03 9.99492207e-01 4.26044430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04071405699997 meters Centerline goodness : 0.995832 Centerline is valid? [True, True] Translation: X:125.43, Y:47.58, Z:4.26 [[ 6.76483094e-01 -7.36076052e-01 -2.37206701e-02 1.25429010e+02] [ 7.35774862e-01 6.76891928e-01 -2.12760681e-02 4.75848704e+01] [ 3.17171342e-02 -3.06017240e-03 9.99492200e-01 4.25745655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07071405699998 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:125.46, Y:47.61, Z:4.26 [[ 6.78442561e-01 -7.34285690e-01 -2.32425476e-02 1.25459860e+02] [ 7.33965750e-01 6.78836765e-01 -2.17927503e-02 4.76090461e+01] [ 3.17800006e-02 -2.27410457e-03 9.99492301e-01 4.26080209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10071405699998 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:125.48, Y:47.63, Z:4.26 [[ 6.79267055e-01 -7.33507559e-01 -2.37261289e-02 1.25481546e+02] [ 7.33205021e-01 6.79674901e-01 -2.12703203e-02 4.76313055e+01] [ 3.17279950e-02 -2.94788897e-03 9.99492193e-01 4.26139232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13071405699998 meters Centerline goodness : 0.995964 Centerline is valid? [True, True] Translation: X:125.51, Y:47.65, Z:4.26 [[ 6.80600821e-01 -7.32271362e-01 -2.36891494e-02 1.25506477e+02] [ 7.31966708e-01 6.81007056e-01 -2.13102704e-02 4.76542143e+01] [ 3.17373786e-02 -2.83588112e-03 9.99492219e-01 4.26009668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16071405699998 meters Centerline goodness : 0.996660 Centerline is valid? [True, True] Translation: X:125.53, Y:47.68, Z:4.26 [[ 6.79547301e-01 -7.33245814e-01 -2.37916425e-02 1.25525088e+02] [ 7.32945555e-01 6.79956900e-01 -2.11997190e-02 4.76767596e+01] [ 3.17218967e-02 -3.03176672e-03 9.99492136e-01 4.26382108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19071405699998 meters Centerline goodness : 0.996478 Centerline is valid? [True, True] Translation: X:125.55, Y:47.70, Z:4.27 [[ 6.79048029e-01 -7.33713604e-01 -2.36245845e-02 1.25545957e+02] [ 7.33407421e-01 6.79453059e-01 -2.13798010e-02 4.76983619e+01] [ 3.17384471e-02 -2.80853389e-03 9.99492263e-01 4.26565717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22071405699998 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:125.57, Y:47.72, Z:4.27 [[ 6.79497718e-01 -7.33299877e-01 -2.35402027e-02 1.25568797e+02] [ 7.32990327e-01 6.79900129e-01 -2.14707837e-02 4.77212037e+01] [ 3.17495099e-02 -2.66539237e-03 9.99492303e-01 4.26731910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25071405699998 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:125.59, Y:47.74, Z:4.27 [[ 6.81695011e-01 -7.31258183e-01 -2.35240869e-02 1.25589286e+02] [ 7.30946833e-01 6.82096024e-01 -2.14881629e-02 4.77399718e+01] [ 3.17590811e-02 -2.54648343e-03 9.99492309e-01 4.26804210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28071405699998 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:125.61, Y:47.76, Z:4.27 [[ 6.82273461e-01 -7.30724250e-01 -2.33451213e-02 1.25611718e+02] [ 7.30406024e-01 6.82669003e-01 -2.16811474e-02 4.77641263e+01] [ 3.17799308e-02 -2.25894579e-03 9.99492338e-01 4.26724298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31071405699998 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:125.64, Y:47.79, Z:4.27 [[ 6.82051807e-01 -7.30930585e-01 -2.33626454e-02 1.25638018e+02] [ 7.30613120e-01 6.82447959e-01 -2.16622409e-02 4.77884858e+01] [ 3.17773841e-02 -2.29428473e-03 9.99492338e-01 4.26800543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34071405699999 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:125.66, Y:47.81, Z:4.27 [[ 6.84664805e-01 -7.28475649e-01 -2.36079332e-02 1.25656087e+02] [ 7.28165764e-01 6.85066986e-01 -2.13973071e-02 4.78092257e+01] [ 3.17604329e-02 -2.54050564e-03 9.99492281e-01 4.26912529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.370714057 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:125.68, Y:47.83, Z:4.27 [[ 6.85163460e-01 -7.28015527e-01 -2.33329296e-02 1.25683509e+02] [ 7.27695294e-01 6.85557378e-01 -2.16942277e-02 4.78346850e+01] [ 3.17897967e-02 -2.11517091e-03 9.99492339e-01 4.27263445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.400714057 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:125.71, Y:47.86, Z:4.27 [[ 6.88592766e-01 -7.24763492e-01 -2.36195636e-02 1.25706671e+02] [ 7.24451877e-01 6.88993605e-01 -2.13843572e-02 4.78572612e+01] [ 3.17723297e-02 -2.38612349e-03 9.99492284e-01 4.27104651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.430714057 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:125.73, Y:47.88, Z:4.27 [[ 6.89861123e-01 -7.23554700e-01 -2.36691346e-02 1.25729968e+02] [ 7.23244204e-01 6.90262863e-01 -2.13307387e-02 4.78799797e+01] [ 3.17718809e-02 -2.40331706e-03 9.99492257e-01 4.27332997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.460714057 meters Centerline goodness : 0.996244 Centerline is valid? [True, True] Translation: X:125.76, Y:47.91, Z:4.27 [[ 6.94252126e-01 -7.19342721e-01 -2.36650567e-02 1.25757192e+02] [ 7.19029637e-01 6.94651850e-01 -2.13351480e-02 4.79056616e+01] [ 3.17862589e-02 -2.20390526e-03 9.99492259e-01 4.27326184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.490714057 meters Centerline goodness : 0.996087 Centerline is valid? [True, True] Translation: X:125.78, Y:47.93, Z:4.27 [[ 6.95687365e-01 -7.17946038e-01 -2.39285728e-02 1.25781553e+02] [ 7.17641813e-01 6.96094173e-01 -2.10506700e-02 4.79287104e+01] [ 3.17697852e-02 -2.52745918e-03 9.99492017e-01 4.27427349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.520714057 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:125.80, Y:47.95, Z:4.28 [[ 6.99401914e-01 -7.14323918e-01 -2.40479525e-02 1.25800022e+02] [ 7.14021974e-01 6.99810617e-01 -2.09217843e-02 4.79495835e+01] [ 3.17739434e-02 -2.53803052e-03 9.99491858e-01 4.27635931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.550714057 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:125.83, Y:47.97, Z:4.28 [[ 7.02919650e-01 -7.10869653e-01 -2.38390710e-02 1.25825624e+02] [ 7.10558062e-01 7.03320719e-01 -2.11472666e-02 4.79727137e+01] [ 3.17994626e-02 -2.07421484e-03 9.99492117e-01 4.27671071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.580714057 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:125.84, Y:47.99, Z:4.28 [[ 7.07430956e-01 -7.06373968e-01 -2.40262492e-02 1.25843863e+02] [ 7.06066633e-01 7.07835580e-01 -2.09451730e-02 4.79892681e+01] [ 3.18017590e-02 -2.14686917e-03 9.99491890e-01 4.28002311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.610714057 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:125.87, Y:48.02, Z:4.28 [[ 7.06743518e-01 -7.07074099e-01 -2.36604891e-02 1.25874258e+02] [ 7.06753913e-01 7.07137559e-01 -2.13396053e-02 4.80159822e+01] [ 3.18199026e-02 -1.64051553e-03 9.99492272e-01 4.27754040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.640714057 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:125.88, Y:48.03, Z:4.28 [[ 7.02638879e-01 -7.11135809e-01 -2.41757419e-02 1.25879251e+02] [ 7.10836736e-01 7.03049924e-01 -2.07831720e-02 4.80349705e+01] [ 3.17764113e-02 -2.58194077e-03 9.99491667e-01 4.28148855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.670714057 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:125.90, Y:48.06, Z:4.28 [[ 7.03853870e-01 -7.09960997e-01 -2.33476338e-02 1.25902685e+02] [ 7.09631260e-01 7.04239775e-01 -2.16752102e-02 4.80564431e+01] [ 3.18308862e-02 -1.31203025e-03 9.99492408e-01 4.28217058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.700714057 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:125.93, Y:48.08, Z:4.28 [[ 7.04897274e-01 -7.08924924e-01 -2.33513695e-02 1.25927878e+02] [ 7.08594751e-01 7.05282807e-01 -2.16711849e-02 4.80782386e+01] [ 3.18325625e-02 -1.27069874e-03 9.99492408e-01 4.28198449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.730714057 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:125.97, Y:48.10, Z:4.28 [[ 7.10613206e-01 -7.03195193e-01 -2.33536194e-02 1.25968251e+02] [ 7.02861990e-01 7.10996124e-01 -2.16687600e-02 4.80984035e+01] [ 3.18417007e-02 -1.01626432e-03 9.99492408e-01 4.27967541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.760714057 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:125.97, Y:48.12, Z:4.28 [[ 7.06229710e-01 -7.07576550e-01 -2.39796261e-02 1.25972788e+02] [ 7.07268292e-01 7.06633477e-01 -2.09926820e-02 4.81165823e+01] [ 3.17987360e-02 -2.13437347e-03 9.99492013e-01 4.28285142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79071405699997 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:126.00, Y:48.14, Z:4.28 [[ 7.04041488e-01 -7.09782324e-01 -2.31221962e-02 1.25997375e+02] [ 7.09444605e-01 7.04420401e-01 -2.19146207e-02 4.81385703e+01] [ 3.18423571e-02 -9.75115187e-04 9.99492428e-01 4.28483961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82071405699998 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:126.04, Y:48.16, Z:4.28 [[ 7.07279754e-01 -7.06548672e-01 -2.33307418e-02 1.26035512e+02] [ 7.06216571e-01 7.07663540e-01 -2.16903050e-02 4.81589013e+01] [ 3.18355715e-02 -1.13544289e-03 9.99492475e-01 4.28481125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85071405699998 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:126.06, Y:48.18, Z:4.29 [[ 7.05989093e-01 -7.07818752e-01 -2.39168321e-02 1.26057196e+02] [ 7.07508399e-01 7.06391106e-01 -2.10587438e-02 4.81783755e+01] [ 3.18004112e-02 -2.05411612e-03 9.99492128e-01 4.28527906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88071405699998 meters Centerline goodness : 0.992623 Centerline is valid? [True, True] Translation: X:126.07, Y:48.19, Z:4.29 [[ 7.06981274e-01 -7.06831143e-01 -2.38162314e-02 1.26074558e+02] [ 7.06516579e-01 7.07379862e-01 -2.11673039e-02 4.81920109e+01] [ 3.18088321e-02 -1.86167483e-03 9.99492237e-01 4.28760010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91071405699998 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:126.10, Y:48.22, Z:4.29 [[ 7.03699169e-01 -7.10114000e-01 -2.33577958e-02 1.26101849e+02] [ 7.09784804e-01 7.04085450e-01 -2.16612611e-02 4.82150026e+01] [ 3.18278489e-02 -1.33599710e-03 9.99492473e-01 4.28796690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94071405699998 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:126.13, Y:48.24, Z:4.29 [[ 7.01224050e-01 -7.12551341e-01 -2.35673129e-02 1.26129361e+02] [ 7.12231013e-01 7.01617780e-01 -2.14353815e-02 4.82387390e+01] [ 3.18090556e-02 -1.75436612e-03 9.99492424e-01 4.28800587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97071405699998 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:126.15, Y:48.26, Z:4.29 [[ 7.01621766e-01 -7.12153209e-01 -2.37635101e-02 1.26148950e+02] [ 7.11839763e-01 7.02021159e-01 -2.12236554e-02 4.82561167e+01] [ 3.17969812e-02 -2.02483281e-03 9.99492297e-01 4.28940292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00071405699998 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:126.17, Y:48.28, Z:4.29 [[ 6.98223164e-01 -7.15495386e-01 -2.34683820e-02 1.26174143e+02] [ 7.15173151e-01 6.98615283e-01 -2.15418216e-02 4.82774926e+01] [ 3.18084443e-02 -1.74295786e-03 9.99492464e-01 4.28951135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03071405699998 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:126.20, Y:48.30, Z:4.29 [[ 6.99308719e-01 -7.14433001e-01 -2.35117273e-02 1.26201256e+02] [ 7.14111733e-01 6.99701647e-01 -2.14950622e-02 4.82973670e+01] [ 3.18079761e-02 -1.75831589e-03 9.99492452e-01 4.28960703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06071405699998 meters Centerline goodness : 0.994095 Centerline is valid? [True, True] Translation: X:126.23, Y:48.32, Z:4.29 [[ 6.93740040e-01 -7.19838679e-01 -2.36015567e-02 1.26228165e+02] [ 7.19523740e-01 6.94138105e-01 -2.13981022e-02 4.83209589e+01] [ 3.17859215e-02 -2.13716009e-03 9.99492415e-01 4.29067418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09071405699999 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:126.25, Y:48.34, Z:4.29 [[ 6.92694430e-01 -7.20838426e-01 -2.37989543e-02 1.26254827e+02] [ 7.20531293e-01 6.93098729e-01 -2.11851086e-02 4.83432732e+01] [ 3.17660654e-02 -2.47308459e-03 9.99492272e-01 4.29071223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.120714057 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:126.27, Y:48.36, Z:4.29 [[ 6.92839717e-01 -7.20693380e-01 -2.39620349e-02 1.26274398e+02] [ 7.20392177e-01 6.93248678e-01 -2.10090779e-02 4.83606011e+01] [ 3.17527524e-02 -2.70613891e-03 9.99492091e-01 4.29160133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.150714057 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:126.30, Y:48.39, Z:4.29 [[ 6.90096421e-01 -7.23330605e-01 -2.36593595e-02 1.26302218e+02] [ 7.23019814e-01 6.90497761e-01 -2.13351905e-02 4.83852730e+01] [ 3.17691310e-02 -2.38284706e-03 9.99492393e-01 4.29149041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.180714057 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:126.31, Y:48.41, Z:4.29 [[ 6.84538384e-01 -7.28582796e-01 -2.39647852e-02 1.26310774e+02] [ 7.28286408e-01 6.84950846e-01 -2.10058836e-02 4.84060599e+01] [ 3.17192253e-02 -3.07389370e-03 9.99492092e-01 4.29277762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.210714057 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:126.35, Y:48.43, Z:4.29 [[ 6.89157617e-01 -7.24235679e-01 -2.33336857e-02 1.26347894e+02] [ 7.23913580e-01 6.89549773e-01 -2.16849855e-02 4.84286701e+01] [ 3.17947779e-02 -1.94719897e-03 9.99492521e-01 4.29240718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.240714057 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:126.37, Y:48.45, Z:4.29 [[ 6.88936571e-01 -7.24424571e-01 -2.39883949e-02 1.26371142e+02] [ 7.24126597e-01 6.89347904e-01 -2.09795015e-02 4.84500222e+01] [ 3.17344161e-02 -2.91708894e-03 9.99492080e-01 4.29304930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.270714057 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:126.39, Y:48.47, Z:4.29 [[ 6.91222663e-01 -7.22244042e-01 -2.39744495e-02 1.26391574e+02] [ 7.21944254e-01 6.91632651e-01 -2.09945266e-02 4.84695390e+01] [ 3.17446838e-02 -2.79632349e-03 9.99492099e-01 4.29188047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.300714057 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:126.42, Y:48.49, Z:4.29 [[ 6.89198877e-01 -7.24182342e-01 -2.37664184e-02 1.26417182e+02] [ 7.23876016e-01 6.89603711e-01 -2.12187403e-02 4.84949108e+01] [ 3.17556474e-02 -2.58000827e-03 9.99492332e-01 4.29374457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.330714057 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:126.44, Y:48.52, Z:4.29 [[ 6.89149835e-01 -7.24223007e-01 -2.39487305e-02 1.26442201e+02] [ 7.23923427e-01 6.89559946e-01 -2.10226980e-02 4.85176422e+01] [ 3.17392069e-02 -2.84925820e-03 9.99492123e-01 4.29469666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.360714057 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:126.46, Y:48.54, Z:4.30 [[ 6.88710458e-01 -7.24637933e-01 -2.40368846e-02 1.26463856e+02] [ 7.24341867e-01 6.89123270e-01 -2.09279388e-02 4.85412372e+01] [ 3.17295548e-02 -2.99763157e-03 9.99491996e-01 4.29660039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.390714057 meters Centerline goodness : 0.996060 Centerline is valid? [True, True] Translation: X:126.49, Y:48.56, Z:4.30 [[ 6.89440471e-01 -7.23944727e-01 -2.39972709e-02 1.26486216e+02] [ 7.23646779e-01 6.89851852e-01 -2.09705080e-02 4.85628443e+01] [ 3.17360504e-02 -2.90763087e-03 9.99492055e-01 4.29785709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.420714057 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:126.50, Y:48.59, Z:4.30 [[ 6.88271572e-01 -7.25056764e-01 -2.39777250e-02 1.26504853e+02] [ 7.24758757e-01 6.88682875e-01 -2.09914785e-02 4.85851672e+01] [ 3.17330621e-02 -2.93022823e-03 9.99492084e-01 4.29987286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.450714057 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:126.52, Y:48.60, Z:4.30 [[ 6.91467467e-01 -7.22015281e-01 -2.38049736e-02 1.26522841e+02] [ 7.21709117e-01 6.91872457e-01 -2.11767211e-02 4.86030520e+01] [ 3.17599218e-02 -2.53725282e-03 9.99492306e-01 4.30048747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.480714057 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:126.55, Y:48.63, Z:4.30 [[ 6.91628526e-01 -7.21872592e-01 -2.34508732e-02 1.26549759e+02] [ 7.21553485e-01 6.92023057e-01 -2.15558829e-02 4.86313868e+01] [ 3.17891460e-02 -2.01239582e-03 9.99492571e-01 4.30255735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.510714057 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:126.57, Y:48.65, Z:4.31 [[ 6.91743146e-01 -7.21746765e-01 -2.39380016e-02 1.26566343e+02] [ 7.21445331e-01 6.92151869e-01 -2.10338883e-02 4.86524216e+01] [ 3.17498734e-02 -2.71991140e-03 9.99492145e-01 4.30782296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54071405699997 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:126.59, Y:48.68, Z:4.31 [[ 6.91963511e-01 -7.21548079e-01 -2.35556575e-02 1.26588396e+02] [ 7.21232588e-01 6.92360991e-01 -2.14432175e-02 4.86776251e+01] [ 3.17813307e-02 -2.15118373e-03 9.99492531e-01 4.30781856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57071405699998 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:126.61, Y:48.70, Z:4.31 [[ 6.93097097e-01 -7.20456086e-01 -2.36525187e-02 1.26609112e+02] [ 7.20143475e-01 6.93496934e-01 -2.13396024e-02 4.86995441e+01] [ 3.17771956e-02 -2.24279052e-03 9.99492461e-01 4.31277892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60071405699998 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:126.63, Y:48.72, Z:4.32 [[ 6.96471036e-01 -7.17199815e-01 -2.35057557e-02 1.26629111e+02] [ 7.16880048e-01 6.96865047e-01 -2.14965862e-02 4.87203041e+01] [ 3.17976872e-02 -1.87905760e-03 9.99492559e-01 4.31538904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63071405699998 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:126.66, Y:48.75, Z:4.31 [[ 6.94550844e-01 -7.19063654e-01 -2.33791899e-02 1.26656527e+02] [ 7.18740401e-01 6.94941937e-01 -2.16319008e-02 4.87465273e+01] [ 3.18018931e-02 -1.77911335e-03 9.99492608e-01 4.31388695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66071405699998 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:126.68, Y:48.77, Z:4.31 [[ 6.92826898e-01 -7.20714148e-01 -2.37066491e-02 1.26679835e+02] [ 7.20403653e-01 6.93228440e-01 -2.12816156e-02 4.87692551e+01] [ 3.17720848e-02 -2.33388086e-03 9.99492415e-01 4.31291120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69071405699998 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:126.70, Y:48.79, Z:4.31 [[ 6.91981449e-01 -7.21525038e-01 -2.37338200e-02 1.26701603e+02] [ 7.21216002e-01 6.92384147e-01 -2.12525515e-02 4.87919940e+01] [ 3.17671688e-02 -2.41083939e-03 9.99492389e-01 4.31476539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72071405699998 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:126.72, Y:48.81, Z:4.32 [[ 6.92539304e-01 -7.20991115e-01 -2.36880597e-02 1.26723205e+02] [ 7.20680105e-01 6.92940425e-01 -2.13014904e-02 4.88136121e+01] [ 3.17725994e-02 -2.31939403e-03 9.99492432e-01 4.31583399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75071405699998 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:126.74, Y:48.83, Z:4.32 [[ 6.93118743e-01 -7.20438772e-01 -2.35453649e-02 1.26744960e+02] [ 7.20122279e-01 6.93515413e-01 -2.14540541e-02 4.88345043e+01] [ 3.17854059e-02 -2.08533478e-03 9.99492541e-01 4.31810422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78071405699998 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:126.77, Y:48.86, Z:4.32 [[ 6.92814067e-01 -7.20733737e-01 -2.34850756e-02 1.26769908e+02] [ 7.20415240e-01 6.93209086e-01 -2.15184706e-02 4.88579491e+01] [ 3.17891555e-02 -2.01070730e-03 9.99492575e-01 4.31719234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81071405699998 meters Centerline goodness : 0.993854 Centerline is valid? [True, True] Translation: X:126.79, Y:48.88, Z:4.32 [[ 6.95325989e-01 -7.18306884e-01 -2.36006328e-02 1.26793619e+02] [ 7.17991165e-01 6.95723322e-01 -2.13949809e-02 4.88791996e+01] [ 3.17876727e-02 -2.06855960e-03 9.99492504e-01 4.32160464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84071405699999 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:126.82, Y:48.90, Z:4.32 [[ 6.94822568e-01 -7.18793668e-01 -2.36063793e-02 1.26818669e+02] [ 7.18478435e-01 6.95220293e-01 -2.13888451e-02 4.89025206e+01] [ 3.17858003e-02 -2.09922223e-03 9.99492499e-01 4.32145776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.870714057 meters Centerline goodness : 0.994531 Centerline is valid? [True, True] Translation: X:126.84, Y:48.92, Z:4.32 [[ 6.95164971e-01 -7.18456495e-01 -2.37892301e-02 1.26837989e+02] [ 7.18147685e-01 6.95567924e-01 -2.11935161e-02 4.89240577e+01] [ 3.17736447e-02 -2.35119053e-03 9.99492325e-01 4.31983979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.900714057 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:126.85, Y:48.95, Z:4.32 [[ 6.92128003e-01 -7.21388679e-01 -2.36050983e-02 1.26850819e+02] [ 7.21074893e-01 6.92526867e-01 -2.13901330e-02 4.89469886e+01] [ 3.17777645e-02 -2.21633370e-03 9.99492502e-01 4.32111944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.930714057 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:126.88, Y:48.97, Z:4.32 [[ 6.98444975e-01 -7.15286385e-01 -2.32380104e-02 1.26884430e+02] [ 7.14956033e-01 6.98830041e-01 -2.17817695e-02 4.89682162e+01] [ 3.18196229e-02 -1.40078824e-03 9.99492646e-01 4.32189630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.960714057 meters Centerline goodness : 0.994803 Centerline is valid? [True, True] Translation: X:126.90, Y:48.99, Z:4.32 [[ 6.94195699e-01 -7.19396475e-01 -2.36863311e-02 1.26896243e+02] [ 7.19084494e-01 6.94596052e-01 -2.13029430e-02 4.89902844e+01] [ 3.17776941e-02 -2.24406200e-03 9.99492442e-01 4.32308269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.990714057 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:126.92, Y:49.01, Z:4.32 [[ 6.96564090e-01 -7.17118196e-01 -2.32370769e-02 1.26919879e+02] [ 7.16788841e-01 6.96949993e-01 -2.17822135e-02 4.90134884e+01] [ 3.18155022e-02 -1.48336970e-03 9.99492658e-01 4.32463831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.020714057 meters Centerline goodness : 0.995867 Centerline is valid? [True, True] Translation: X:126.97, Y:49.04, Z:4.32 [[ 7.07363238e-01 -7.06467974e-01 -2.32433147e-02 1.26970081e+02] [ 7.06133021e-01 7.07744292e-01 -2.17755552e-02 4.90389034e+01] [ 3.18340557e-02 -1.00964482e-03 9.99492658e-01 4.31991482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.050714057 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:126.98, Y:49.06, Z:4.32 [[ 7.06090967e-01 -7.07691660e-01 -2.46588844e-02 1.26984565e+02] [ 7.07408585e-01 7.06514445e-01 -2.02591690e-02 4.90563172e+01] [ 3.17591030e-02 -3.13909028e-03 9.99490623e-01 4.32164899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.080714057 meters Centerline goodness : 0.995624 Centerline is valid? [True, True] Translation: X:127.01, Y:49.08, Z:4.32 [[ 7.08068265e-01 -7.05732838e-01 -2.40934307e-02 1.27012535e+02] [ 7.05427909e-01 7.08474569e-01 -2.08626467e-02 4.90786891e+01] [ 3.17930378e-02 -2.22400039e-03 9.99491999e-01 4.32233706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.110714057 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:127.01, Y:49.09, Z:4.33 [[ 6.99254555e-01 -7.14456005e-01 -2.44066391e-02 1.27009278e+02] [ 7.14167647e-01 6.99673607e-01 -2.05284099e-02 4.90940880e+01] [ 3.17433269e-02 -3.07584789e-03 9.99491321e-01 4.32741639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.140714057 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:127.06, Y:49.12, Z:4.33 [[ 7.10339001e-01 -7.03477695e-01 -2.31869854e-02 1.27057159e+02] [ 7.03139537e-01 7.10716886e-01 -2.18242915e-02 4.91155444e+01] [ 3.18322843e-02 -8.01040701e-04 9.99492903e-01 4.32978663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.170714057 meters Centerline goodness : 0.995173 Centerline is valid? [True, True] Translation: X:127.08, Y:49.14, Z:4.32 [[ 7.07196900e-01 -7.06601641e-01 -2.42211756e-02 1.27082303e+02] [ 7.06301841e-01 7.07607320e-01 -2.07265441e-02 4.91375934e+01] [ 3.17844912e-02 -2.44971317e-03 9.99491743e-01 4.32162158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.200714057 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:127.11, Y:49.16, Z:4.32 [[ 7.06347639e-01 -7.07444869e-01 -2.43879131e-02 1.27105391e+02] [ 7.07151620e-01 7.06763256e-01 -2.05495911e-02 4.91557968e+01] [ 3.17741836e-02 -2.73079710e-03 9.99491343e-01 4.32082957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.230714057 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:127.13, Y:49.18, Z:4.32 [[ 7.03811445e-01 -7.09973785e-01 -2.42213647e-02 1.27129993e+02] [ 7.09675966e-01 7.04223298e-01 -2.07260713e-02 4.91754320e+01] [ 3.17722167e-02 -2.60207421e-03 9.99491749e-01 4.32108928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.260714057 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:127.15, Y:49.20, Z:4.32 [[ 7.02337876e-01 -7.11432827e-01 -2.41834922e-02 1.27153162e+02] [ 7.11134489e-01 7.02749248e-01 -2.07661472e-02 4.91964846e+01] [ 3.17686498e-02 -2.61286370e-03 9.99491834e-01 4.32219459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29071405699997 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:127.18, Y:49.22, Z:4.32 [[ 7.03696729e-01 -7.10090361e-01 -2.41369581e-02 1.27182048e+02] [ 7.09789556e-01 7.04106176e-01 -2.08153591e-02 4.92178271e+01] [ 3.17757671e-02 -2.48446064e-03 9.99491935e-01 4.32169182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32071405699998 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:127.20, Y:49.24, Z:4.32 [[ 7.00286085e-01 -7.13444047e-01 -2.44334047e-02 1.27200545e+02] [ 7.13156000e-01 7.00705489e-01 -2.05021342e-02 4.92350342e+01] [ 3.17477464e-02 -3.06746987e-03 9.99491206e-01 4.32319094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35071405699998 meters Centerline goodness : 0.995667 Centerline is valid? [True, True] Translation: X:127.22, Y:49.26, Z:4.32 [[ 6.98892595e-01 -7.14822972e-01 -2.40261941e-02 1.27224316e+02] [ 7.14520987e-01 6.99300845e-01 -2.09305385e-02 4.92565227e+01] [ 3.17631676e-02 -2.53902158e-03 9.99492198e-01 4.32440513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38071405699998 meters Centerline goodness : 0.996310 Centerline is valid? [True, True] Translation: X:127.23, Y:49.27, Z:4.33 [[ 6.89196743e-01 -7.24174571e-01 -2.40632504e-02 1.27225271e+02] [ 7.23879461e-01 6.89610084e-01 -2.08915806e-02 4.92724918e+01] [ 3.17234116e-02 -3.02048345e-03 9.99492122e-01 4.33132320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41071405699998 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:127.25, Y:49.29, Z:4.33 [[ 6.88204168e-01 -7.25151648e-01 -2.30241251e-02 1.27251834e+02] [ 7.24820133e-01 6.88587430e-01 -2.19801145e-02 4.92932099e+01] [ 3.17930394e-02 -1.56154305e-03 9.99493254e-01 4.33328512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44071405699998 meters Centerline goodness : 0.995807 Centerline is valid? [True, True] Translation: X:127.28, Y:49.31, Z:4.33 [[ 6.87852199e-01 -7.25485318e-01 -2.30305351e-02 1.27276123e+02] [ 7.25154213e-01 6.88235815e-01 -2.19733961e-02 4.93136066e+01] [ 3.17918154e-02 -1.58624080e-03 9.99493254e-01 4.33376225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47071405699998 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:127.30, Y:49.33, Z:4.33 [[ 6.86798584e-01 -7.26482639e-01 -2.30364954e-02 1.27302141e+02] [ 7.26152299e-01 6.87182860e-01 -2.19671456e-02 4.93334833e+01] [ 3.17890347e-02 -1.64099960e-03 9.99493254e-01 4.33360949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50071405699998 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:127.32, Y:49.35, Z:4.33 [[ 6.86318266e-01 -7.26936295e-01 -2.30404156e-02 1.27324972e+02] [ 7.26606347e-01 6.86702877e-01 -2.19630332e-02 4.93528554e+01] [ 3.17876456e-02 -1.66768134e-03 9.99493254e-01 4.33442858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53071405699998 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:127.37, Y:49.37, Z:4.33 [[ 6.93411382e-01 -7.20173472e-01 -2.30396640e-02 1.27370785e+02] [ 7.19839743e-01 6.93792718e-01 -2.19638216e-02 4.93731044e+01] [ 3.18025127e-02 -1.35490191e-03 9.99493254e-01 4.33026537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56071405699998 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:127.37, Y:49.39, Z:4.34 [[ 6.85389684e-01 -7.27779352e-01 -2.40456889e-02 1.27373793e+02] [ 7.27485900e-01 6.85804056e-01 -2.09060522e-02 4.93903000e+01] [ 3.17056241e-02 -3.16410710e-03 9.99492242e-01 4.33523345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59071405699999 meters Centerline goodness : 0.995915 Centerline is valid? [True, True] Translation: X:127.42, Y:49.41, Z:4.33 [[ 6.92456410e-01 -7.21092113e-01 -2.30279250e-02 1.27418425e+02] [ 7.20758590e-01 6.92837827e-01 -2.19727417e-02 4.94123824e+01] [ 3.17989882e-02 -1.38240886e-03 9.99493328e-01 4.33134117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.620714057 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:127.45, Y:49.43, Z:4.33 [[ 6.93723266e-01 -7.19840600e-01 -2.40320889e-02 1.27446727e+02] [ 7.19541994e-01 6.94133832e-01 -2.09175230e-02 4.94314446e+01] [ 3.17387683e-02 -2.78112475e-03 9.99492329e-01 4.32933244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.650714057 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:127.44, Y:49.45, Z:4.34 [[ 6.86021532e-01 -7.27180608e-01 -2.41416811e-02 1.27444945e+02] [ 7.26890391e-01 6.86438359e-01 -2.08023722e-02 4.94457315e+01] [ 3.16988576e-02 -3.27748080e-03 9.99492091e-01 4.33682713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.680714057 meters Centerline goodness : 0.996191 Centerline is valid? [True, True] Translation: X:127.49, Y:49.47, Z:4.33 [[ 6.95238631e-01 -7.18410594e-01 -2.30100873e-02 1.27492661e+02] [ 7.18075133e-01 6.95618206e-01 -2.19866987e-02 4.94694437e+01] [ 3.18017130e-02 -1.23696918e-03 9.99493432e-01 4.33199701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.710714057 meters Centerline goodness : 0.995743 Centerline is valid? [True, True] Translation: X:127.52, Y:49.49, Z:4.33 [[ 6.95482414e-01 -7.18133820e-01 -2.42493016e-02 1.27516615e+02] [ 7.17842185e-01 6.95898479e-01 -2.06858252e-02 4.94888494e+01] [ 3.17302427e-02 -3.02054399e-03 9.99491905e-01 4.33210762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.740714057 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:127.54, Y:49.51, Z:4.33 [[ 6.95179894e-01 -7.18430452e-01 -2.41371258e-02 1.27540302e+02] [ 7.18134928e-01 6.95592869e-01 -2.08034916e-02 4.95080688e+01] [ 3.17354745e-02 -2.87154397e-03 9.99492178e-01 4.33373726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.770714057 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:127.56, Y:49.53, Z:4.34 [[ 6.99854887e-01 -7.13880569e-01 -2.40347814e-02 1.27564312e+02] [ 7.13578684e-01 7.00262952e-01 -2.09107653e-02 4.95253841e+01] [ 3.17584560e-02 -2.51620637e-03 9.99492406e-01 4.33652265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.800714057 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:127.57, Y:49.54, Z:4.34 [[ 6.87120193e-01 -7.26148680e-01 -2.39569257e-02 1.27565119e+02] [ 7.25851238e-01 6.87531311e-01 -2.09922941e-02 4.95442982e+01] [ 3.17146632e-02 -2.96493502e-03 9.99492566e-01 4.34084745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.830714057 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:127.62, Y:49.57, Z:4.33 [[ 6.95442071e-01 -7.18214682e-01 -2.29781482e-02 1.27615898e+02] [ 7.17878208e-01 6.95820568e-01 -2.20139858e-02 4.95653908e+01] [ 3.17994360e-02 -1.18605996e-03 9.99493566e-01 4.33493565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.860714057 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:127.61, Y:49.58, Z:4.34 [[ 6.86041238e-01 -7.27155658e-01 -2.43324708e-02 1.27609159e+02] [ 7.26872612e-01 6.86463399e-01 -2.05962960e-02 4.95786855e+01] [ 3.16800638e-02 -3.55669823e-03 9.99491733e-01 4.34187477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.890714057 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:127.66, Y:49.60, Z:4.34 [[ 6.92540541e-01 -7.21016663e-01 -2.28598168e-02 1.27656816e+02] [ 7.20677858e-01 6.92916773e-01 -2.21307725e-02 4.96031368e+01] [ 3.17966062e-02 -1.14810668e-03 9.99493701e-01 4.33855512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.920714057 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:127.68, Y:49.62, Z:4.34 [[ 6.93190913e-01 -7.20352629e-01 -2.40509474e-02 1.27677147e+02] [ 7.20055391e-01 6.93602208e-01 -2.08856658e-02 4.96169813e+01] [ 3.17268345e-02 -2.84026059e-03 9.99492542e-01 4.34219211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.950714057 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:127.70, Y:49.64, Z:4.34 [[ 6.89602396e-01 -7.23804039e-01 -2.35849107e-02 1.27700386e+02] [ 7.23492203e-01 6.90001669e-01 -2.13712362e-02 4.96377087e+01] [ 3.17422149e-02 -2.32584333e-03 9.99493383e-01 4.34442940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.980714057 meters Centerline goodness : 0.992967 Centerline is valid? [True, True] Translation: X:127.73, Y:49.66, Z:4.34 [[ 6.89343778e-01 -7.24051373e-01 -2.35534401e-02 1.27728205e+02] [ 7.23738568e-01 6.89742239e-01 -2.14039536e-02 4.96603091e+01] [ 3.17433645e-02 -2.29185083e-03 9.99493425e-01 4.34464176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.010714057 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:127.75, Y:49.68, Z:4.34 [[ 6.89089523e-01 -7.24284956e-01 -2.38103332e-02 1.27751459e+02] [ 7.23981410e-01 6.89495581e-01 -2.11367237e-02 4.96799261e+01] [ 3.17261306e-02 -2.67314374e-03 9.99493025e-01 4.34373705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04071405699997 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:127.77, Y:49.70, Z:4.35 [[ 6.86265406e-01 -7.26964826e-01 -2.37051787e-02 1.27771689e+02] [ 7.26659104e-01 6.86669605e-01 -2.12461844e-02 4.97002003e+01] [ 3.17228545e-02 -2.64506254e-03 9.99493204e-01 4.34843024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07071405699998 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:127.80, Y:49.72, Z:4.35 [[ 6.81985669e-01 -7.30987276e-01 -2.35191426e-02 1.27796173e+02] [ 7.30677299e-01 6.82386277e-01 -2.14395523e-02 4.97248826e+01] [ 3.17211801e-02 -2.56343616e-03 9.99493469e-01 4.34736200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10071405699998 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:127.80, Y:49.74, Z:4.35 [[ 6.75220686e-01 -7.37235062e-01 -2.36957582e-02 1.27801337e+02] [ 7.36935132e-01 6.75629183e-01 -2.12560165e-02 4.97431711e+01] [ 3.16802264e-02 -3.10973466e-03 9.99493218e-01 4.35073388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13071405699998 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:127.82, Y:49.76, Z:4.35 [[ 6.74310376e-01 -7.38093106e-01 -2.28928761e-02 1.27820911e+02] [ 7.37765224e-01 6.74695921e-01 -2.20881792e-02 4.97621201e+01] [ 3.17488629e-02 -1.99527949e-03 9.99493886e-01 4.35095281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16071405699998 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:127.84, Y:49.78, Z:4.35 [[ 6.74114374e-01 -7.38272206e-01 -2.28901891e-02 1.27841264e+02] [ 7.37944333e-01 6.74499926e-01 -2.20909633e-02 4.97819027e+01] [ 3.17485751e-02 -1.99984944e-03 9.99493886e-01 4.35185742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19071405699998 meters Centerline goodness : 0.993130 Centerline is valid? [True, True] Translation: X:127.88, Y:49.80, Z:4.35 [[ 6.77695263e-01 -7.34986693e-01 -2.28843191e-02 1.27879888e+02] [ 7.34656746e-01 6.78079042e-01 -2.20970425e-02 4.98023064e+01] [ 3.17584094e-02 -1.83705840e-03 9.99493886e-01 4.35149047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22071405699998 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:127.90, Y:49.82, Z:4.35 [[ 6.76216492e-01 -7.36324702e-01 -2.36048367e-02 1.27903937e+02] [ 7.36020870e-01 6.76621994e-01 -2.13531472e-02 4.98244142e+01] [ 3.16944015e-02 -2.93430213e-03 9.99493299e-01 4.35220965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25071405699998 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:127.93, Y:49.85, Z:4.35 [[ 6.77790398e-01 -7.34876707e-01 -2.35881722e-02 1.27932639e+02] [ 7.34571416e-01 6.78194769e-01 -2.13702944e-02 4.98479389e+01] [ 3.17019066e-02 -2.84261667e-03 9.99493326e-01 4.35185337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28071405699998 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:127.95, Y:49.87, Z:4.36 [[ 6.74986446e-01 -7.37441026e-01 -2.39589300e-02 1.27947932e+02] [ 7.37150556e-01 6.75402491e-01 -2.09888919e-02 4.98687830e+01] [ 3.16599910e-02 -3.49412102e-03 9.99492589e-01 4.35564681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31071405699998 meters Centerline goodness : 0.993227 Centerline is valid? [True, True] Translation: X:127.97, Y:49.89, Z:4.36 [[ 6.75762213e-01 -7.36743157e-01 -2.35574207e-02 1.27968174e+02] [ 7.36437914e-01 6.76166539e-01 -2.14011681e-02 4.98909909e+01] [ 3.16959038e-02 -2.88647709e-03 9.99493391e-01 4.35784337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34071405699999 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:127.99, Y:49.92, Z:4.36 [[ 6.79591807e-01 -7.33214816e-01 -2.34735881e-02 1.27992068e+02] [ 7.32904521e-01 6.79992107e-01 -2.14871424e-02 4.99155848e+01] [ 3.17165457e-02 -2.60141292e-03 9.99493518e-01 4.35814473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.370714057 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:128.00, Y:49.94, Z:4.36 [[ 6.74565334e-01 -7.37837522e-01 -2.36093543e-02 1.27995556e+02] [ 7.37534776e-01 6.74971643e-01 -2.13479427e-02 4.99359462e+01] [ 3.16869578e-02 -3.01213771e-03 9.99493303e-01 4.36073045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.400714057 meters Centerline goodness : 0.991735 Centerline is valid? [True, True] Translation: X:128.03, Y:49.96, Z:4.37 [[ 6.84629450e-01 -7.28536524e-01 -2.27387217e-02 1.28030972e+02] [ 7.28198261e-01 6.85005660e-01 -2.22382058e-02 4.99578137e+01] [ 3.17774983e-02 -1.33336702e-03 9.99494078e-01 4.36632962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.430714057 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:128.06, Y:49.98, Z:4.36 [[ 6.84599179e-01 -7.28548409e-01 -2.32632451e-02 1.28057499e+02] [ 7.28228117e-01 6.84991146e-01 -2.17011176e-02 4.99828671e+01] [ 3.17454316e-02 -2.08438189e-03 9.99493813e-01 4.36090154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.460714057 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:128.07, Y:50.00, Z:4.37 [[ 6.84282928e-01 -7.28836642e-01 -2.35377008e-02 1.28066892e+02] [ 7.28526129e-01 6.84683095e-01 -2.14182078e-02 4.99992066e+01] [ 3.17262405e-02 -2.49171610e-03 9.99493490e-01 4.36875266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.490714057 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:128.08, Y:50.02, Z:4.36 [[ 6.82433049e-01 -7.30591037e-01 -2.28444674e-02 1.28083959e+02] [ 7.30257476e-01 6.82813475e-01 -2.21309139e-02 5.00205548e+01] [ 3.17671575e-02 -1.57947601e-03 9.99494048e-01 4.36467507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.520714057 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:128.11, Y:50.04, Z:4.36 [[ 6.82331230e-01 -7.30687780e-01 -2.27916682e-02 1.28108399e+02] [ 7.30352467e-01 6.82710109e-01 -2.21851567e-02 5.00423382e+01] [ 3.17705252e-02 -1.50832577e-03 9.99494051e-01 4.36359291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.550714057 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:128.12, Y:50.06, Z:4.37 [[ 6.82052974e-01 -7.30938653e-01 -2.30743525e-02 1.28124211e+02] [ 7.30613202e-01 6.82440458e-01 -2.18945373e-02 5.00601473e+01] [ 3.17504353e-02 -1.92519225e-03 9.99493974e-01 4.36585141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.580714057 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:128.14, Y:50.08, Z:4.37 [[ 6.80458095e-01 -7.32432635e-01 -2.27863133e-02 1.28143305e+02] [ 7.32098121e-01 6.80837669e-01 -2.21903166e-02 5.00785347e+01] [ 3.17666925e-02 -1.58223654e-03 9.99494059e-01 4.36642192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.610714057 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:128.16, Y:50.10, Z:4.37 [[ 6.79747828e-01 -7.33091941e-01 -2.27836758e-02 1.28163541e+02] [ 7.32757705e-01 6.80127647e-01 -2.21930243e-02 5.00974439e+01] [ 3.17653351e-02 -1.60925391e-03 9.99494059e-01 4.36732367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.640714057 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:128.18, Y:50.12, Z:4.37 [[ 6.78336327e-01 -7.34398395e-01 -2.27777086e-02 1.28184339e+02] [ 7.34064686e-01 6.78716609e-01 -2.21991471e-02 5.01154547e+01] [ 3.17626271e-02 -1.66182358e-03 9.99494059e-01 4.36804146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.670714057 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:128.20, Y:50.13, Z:4.37 [[ 6.77794330e-01 -7.34898831e-01 -2.27717688e-02 1.28203671e+02] [ 7.34565199e-01 6.78174680e-01 -2.22052384e-02 5.01335551e+01] [ 3.17618408e-02 -1.67676416e-03 9.99494059e-01 4.36837172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.700714057 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:128.22, Y:50.15, Z:4.37 [[ 6.77034257e-01 -7.35599197e-01 -2.27691940e-02 1.28224127e+02] [ 7.35265870e-01 6.77414874e-01 -2.22078783e-02 5.01530829e+01] [ 3.17602881e-02 -1.70591683e-03 9.99494059e-01 4.36967386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.730714057 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:128.24, Y:50.17, Z:4.37 [[ 6.76034760e-01 -7.36518045e-01 -2.27633840e-02 1.28244290e+02] [ 7.36185036e-01 6.76415655e-01 -2.22138320e-02 5.01722012e+01] [ 3.17583974e-02 -1.74074012e-03 9.99494059e-01 4.37159649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.760714057 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:128.27, Y:50.19, Z:4.37 [[ 6.75644920e-01 -7.36875861e-01 -2.27575725e-02 1.28270203e+02] [ 7.36542854e-01 6.76025817e-01 -2.22197841e-02 5.01935638e+01] [ 3.17579291e-02 -1.74924316e-03 9.99494059e-01 4.37242067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79071405699997 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:128.29, Y:50.21, Z:4.37 [[ 6.73703518e-01 -7.38641241e-01 -2.30799918e-02 1.28285423e+02] [ 7.38320393e-01 6.74094842e-01 -2.18892957e-02 5.02102058e+01] [ 3.17264400e-02 -2.29353304e-03 9.99493958e-01 4.37371486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82071405699998 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:128.31, Y:50.23, Z:4.37 [[ 6.72564976e-01 -7.39688298e-01 -2.27502938e-02 1.28305164e+02] [ 7.39356647e-01 6.72947040e-01 -2.22267644e-02 5.02281107e+01] [ 3.17506204e-02 -1.87163769e-03 9.99494070e-01 4.37405049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85071405699998 meters Centerline goodness : 0.986732 Centerline is valid? [True, True] Translation: X:128.32, Y:50.25, Z:4.37 [[ 6.68247384e-01 -7.43591315e-01 -2.27462080e-02 1.28323890e+02] [ 7.43261754e-01 6.68631252e-01 -2.22309450e-02 5.02476674e+01] [ 3.17395631e-02 -2.05061561e-03 9.99494070e-01 4.37178657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88071405699998 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:128.35, Y:50.27, Z:4.38 [[ 6.66565592e-01 -7.45102052e-01 -2.26548645e-02 1.28346059e+02] [ 7.44770207e-01 6.66947497e-01 -2.23243171e-02 5.02661356e+01] [ 3.17434997e-02 -1.99204647e-03 9.99494063e-01 4.37522710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91071405699998 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:128.36, Y:50.28, Z:4.38 [[ 6.64968760e-01 -7.46525015e-01 -2.27365494e-02 1.28364891e+02] [ 7.46196811e-01 6.65353790e-01 -2.22408118e-02 5.02847847e+01] [ 3.17311717e-02 -2.17649560e-03 9.99494070e-01 4.37575766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94071405699998 meters Centerline goodness : 0.986763 Centerline is valid? [True, True] Translation: X:128.38, Y:50.31, Z:4.37 [[ 6.62447705e-01 -7.48763116e-01 -2.27340068e-02 1.28382904e+02] [ 7.48436124e-01 6.62833764e-01 -2.22434104e-02 5.03053423e+01] [ 3.17239126e-02 -2.27985577e-03 9.99494070e-01 4.37131820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97071405699998 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:128.40, Y:50.32, Z:4.38 [[ 6.60928629e-01 -7.50107539e-01 -2.26280246e-02 1.28403807e+02] [ 7.49777656e-01 6.61312234e-01 -2.23516467e-02 5.03244887e+01] [ 3.17303282e-02 -2.19314403e-03 9.99494060e-01 4.37538031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00071405699998 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:128.42, Y:50.34, Z:4.38 [[ 6.58368741e-01 -7.52352440e-01 -2.27246002e-02 1.28421875e+02] [ 7.52027223e-01 6.58756296e-01 -2.22530250e-02 5.03439612e+01] [ 3.17120911e-02 -2.43882192e-03 9.99494070e-01 4.37522884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03071405699998 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:128.46, Y:50.37, Z:4.37 [[ 6.64748961e-01 -7.46721183e-01 -2.27221029e-02 1.28463695e+02] [ 7.46392592e-01 6.65133661e-01 -2.22555746e-02 5.03667125e+01] [ 3.17319445e-02 -2.16523923e-03 9.99494070e-01 4.37444142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06071405699998 meters Centerline goodness : 0.993072 Centerline is valid? [True, True] Translation: X:128.49, Y:50.39, Z:4.38 [[ 6.62952857e-01 -7.48286571e-01 -2.36794616e-02 1.28485099e+02] [ 7.47992733e-01 6.63365809e-01 -2.12761377e-02 5.03894766e+01] [ 3.16287933e-02 -3.60698892e-03 9.99493176e-01 4.37504897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09071405699999 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:128.50, Y:50.41, Z:4.38 [[ 6.60196611e-01 -7.50723759e-01 -2.35430042e-02 1.28504568e+02] [ 7.50426539e-01 6.60606831e-01 -2.14155127e-02 5.04140777e+01] [ 3.16298037e-02 -3.52884627e-03 9.99493423e-01 4.37695780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.120714057 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:128.51, Y:50.44, Z:4.38 [[ 6.53075087e-01 -7.56929310e-01 -2.34723281e-02 1.28507272e+02] [ 7.56633433e-01 6.53486136e-01 -2.14876302e-02 5.04359621e+01] [ 3.16034581e-02 -3.72691224e-03 9.99493538e-01 4.37875627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.150714057 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:128.52, Y:50.46, Z:4.38 [[ 6.51896392e-01 -7.57968685e-01 -2.26840671e-02 1.28522910e+02] [ 7.57645526e-01 6.52285535e-01 -2.22898607e-02 5.04577739e+01] [ 3.16915052e-02 -2.65580213e-03 9.99494170e-01 4.37974048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.180714057 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:128.54, Y:50.48, Z:4.38 [[ 6.51703959e-01 -7.58134218e-01 -2.26816506e-02 1.28540911e+02] [ 7.57811073e-01 6.52093114e-01 -2.22923194e-02 5.04781062e+01] [ 3.16911183e-02 -2.66041315e-03 9.99494170e-01 4.38037591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.210714057 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:128.56, Y:50.50, Z:4.39 [[ 6.54237764e-01 -7.55948808e-01 -2.26792517e-02 1.28561140e+02] [ 7.55624279e-01 6.54625765e-01 -2.22947596e-02 5.04983214e+01] [ 3.17001195e-02 -2.55091954e-03 9.99494170e-01 4.38627429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.240714057 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:128.58, Y:50.52, Z:4.39 [[ 6.55654544e-01 -7.54720506e-01 -2.26732709e-02 1.28584742e+02] [ 7.54395042e-01 6.56041762e-01 -2.23008403e-02 5.05201008e+01] [ 3.17055141e-02 -2.48295591e-03 9.99494170e-01 4.38614624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.270714057 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:128.60, Y:50.55, Z:4.39 [[ 6.54236799e-01 -7.55939872e-01 -2.30026125e-02 1.28603529e+02] [ 7.55626608e-01 6.54634137e-01 -2.19676150e-02 5.05455387e+01] [ 3.16644915e-02 -3.00936397e-03 9.99494024e-01 4.38694650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.300714057 meters Centerline goodness : 0.992992 Centerline is valid? [True, True] Translation: X:128.63, Y:50.57, Z:4.39 [[ 6.54363963e-01 -7.55831734e-01 -2.29389132e-02 1.28625319e+02] [ 7.55516173e-01 6.54759421e-01 -2.20320673e-02 5.05686750e+01] [ 3.16720052e-02 -2.91372906e-03 9.99494069e-01 4.38865197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.330714057 meters Centerline goodness : 0.993599 Centerline is valid? [True, True] Translation: X:128.64, Y:50.59, Z:4.39 [[ 6.53480511e-01 -7.56593647e-01 -2.30059525e-02 1.28644336e+02] [ 7.56280899e-01 6.53878258e-01 -2.19642127e-02 5.05937704e+01] [ 3.16610759e-02 -3.04577750e-03 9.99494022e-01 4.38818904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.360714057 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:128.67, Y:50.62, Z:4.39 [[ 6.50627523e-01 -7.59048349e-01 -2.30093446e-02 1.28667338e+02] [ 7.58737219e-01 6.51026540e-01 -2.19607811e-02 5.06203203e+01] [ 3.16489886e-02 -3.16975754e-03 9.99494019e-01 4.38651636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.390714057 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:128.68, Y:50.64, Z:4.39 [[ 6.51911857e-01 -7.57938262e-01 -2.32491252e-02 1.28682250e+02] [ 7.57634925e-01 6.52317136e-01 -2.17180692e-02 5.06393741e+01] [ 3.16267584e-02 -3.45608238e-03 9.99493774e-01 4.39094248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.420714057 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:128.70, Y:50.66, Z:4.39 [[ 6.50498313e-01 -7.59162174e-01 -2.29071721e-02 1.28697554e+02] [ 7.58847535e-01 6.50894468e-01 -2.20637677e-02 5.06627438e+01] [ 3.16601295e-02 -3.03060742e-03 9.99494098e-01 4.39222809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.450714057 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:128.72, Y:50.69, Z:4.39 [[ 6.47725033e-01 -7.61530551e-01 -2.28801653e-02 1.28720872e+02] [ 7.61216411e-01 6.48121564e-01 -2.20910350e-02 5.06892194e+01] [ 3.16521266e-02 -3.10784090e-03 9.99494114e-01 4.39017803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.480714057 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:128.74, Y:50.72, Z:4.39 [[ 6.46882739e-01 -7.62238425e-01 -2.31366598e-02 1.28741267e+02] [ 7.61933767e-01 6.47286870e-01 -2.18321541e-02 5.07156837e+01] [ 3.16173629e-02 -3.50575874e-03 9.99493898e-01 4.39044589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.510714057 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:128.76, Y:50.74, Z:4.39 [[ 6.45515250e-01 -7.63397825e-01 -2.31045859e-02 1.28762644e+02] [ 7.63092757e-01 6.45919028e-01 -2.18644361e-02 5.07404111e+01] [ 3.16149546e-02 -3.51711520e-03 9.99493934e-01 4.39278065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54071405699997 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:128.78, Y:50.76, Z:4.40 [[ 6.46554023e-01 -7.62516881e-01 -2.31495574e-02 1.28777114e+02] [ 7.62212853e-01 6.46958647e-01 -2.18191591e-02 5.07611112e+01] [ 3.16142835e-02 -3.53762506e-03 9.99493883e-01 4.39717979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57071405699998 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:128.80, Y:50.79, Z:4.40 [[ 6.44867647e-01 -7.63955040e-01 -2.27687271e-02 1.28798910e+02] [ 7.63638526e-01 6.45262174e-01 -2.22019701e-02 5.07863044e+01] [ 3.16531053e-02 -3.06974494e-03 9.99494201e-01 4.39897761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60071405699998 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:128.81, Y:50.81, Z:4.40 [[ 6.38704256e-01 -7.69113433e-01 -2.28341879e-02 1.28811447e+02] [ 7.68802404e-01 6.39103164e-01 -2.21361482e-02 5.08114874e+01] [ 3.16186107e-02 -3.41652646e-03 9.99494167e-01 4.39820820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63071405699998 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:128.84, Y:50.84, Z:4.40 [[ 6.41756973e-01 -7.66576756e-01 -2.25402983e-02 1.28843283e+02] [ 7.66253890e-01 6.42146249e-01 -2.24314677e-02 5.08377689e+01] [ 3.16696097e-02 -2.87604045e-03 9.99494254e-01 4.39961339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66071405699998 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:128.86, Y:50.86, Z:4.40 [[ 6.41373118e-01 -7.66881314e-01 -2.30992097e-02 1.28864275e+02] [ 7.66578264e-01 6.41778388e-01 -2.18692672e-02 5.08600905e+01] [ 3.15957060e-02 -3.68099199e-03 9.99493953e-01 4.40067053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69071405699998 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:128.88, Y:50.88, Z:4.40 [[ 6.42054223e-01 -7.66312967e-01 -2.30393515e-02 1.28881505e+02] [ 7.66007437e-01 6.42457550e-01 -2.19295090e-02 5.08806306e+01] [ 3.16066724e-02 -3.56838075e-03 9.99494014e-01 4.40164779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72071405699998 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:128.90, Y:50.90, Z:4.40 [[ 6.42617473e-01 -7.65849285e-01 -2.27520456e-02 1.28902799e+02] [ 7.65533359e-01 6.43012454e-01 -2.22184771e-02 5.09026976e+01] [ 3.16458535e-02 -3.13946824e-03 9.99494214e-01 4.40144015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75071405699998 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:128.93, Y:50.93, Z:4.40 [[ 6.40964727e-01 -7.67235741e-01 -2.26613195e-02 1.28929507e+02] [ 7.66917495e-01 6.41357804e-01 -2.23097090e-02 5.09299834e+01] [ 3.16508202e-02 -3.07962585e-03 9.99494243e-01 4.40126688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78071405699998 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:128.95, Y:50.95, Z:4.40 [[ 6.41951671e-01 -7.66400157e-01 -2.29967507e-02 1.28949989e+02] [ 7.66093165e-01 6.42353846e-01 -2.19727039e-02 5.09513450e+01] [ 3.16119350e-02 -3.51223953e-03 9.99494047e-01 4.40215678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81071405699998 meters Centerline goodness : 0.995624 Centerline is valid? [True, True] Translation: X:128.97, Y:50.98, Z:4.40 [[ 6.41075104e-01 -7.67137821e-01 -2.28533336e-02 1.28973527e+02] [ 7.66826240e-01 6.41473591e-01 -2.21167391e-02 5.09761032e+01] [ 3.16263970e-02 -3.34604504e-03 9.99494160e-01 4.40383291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84071405699999 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:129.00, Y:51.00, Z:4.40 [[ 6.42218520e-01 -7.66176355e-01 -2.30036109e-02 1.28996121e+02] [ 7.65869465e-01 6.42620780e-01 -2.19657879e-02 5.10005727e+01] [ 3.16122657e-02 -3.51092742e-03 9.99494041e-01 4.40431291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.870714057 meters Centerline goodness : 0.995611 Centerline is valid? [True, True] Translation: X:129.02, Y:51.02, Z:4.41 [[ 6.44682596e-01 -7.64101341e-01 -2.30974358e-02 1.29016824e+02] [ 7.63796464e-01 6.45086505e-01 -2.18715114e-02 5.10238651e+01] [ 3.16118953e-02 -3.54155705e-03 9.99493945e-01 4.40568772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.900714057 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:129.04, Y:51.05, Z:4.41 [[ 6.45950940e-01 -7.63030072e-01 -2.30758060e-02 1.29038836e+02] [ 7.62723762e-01 6.46353733e-01 -2.18932619e-02 5.10474252e+01] [ 3.16203505e-02 -3.45849250e-03 9.99493968e-01 4.40712800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.930714057 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:129.06, Y:51.07, Z:4.41 [[ 6.47012378e-01 -7.62132293e-01 -2.30076263e-02 1.29061605e+02] [ 7.61823031e-01 6.47412818e-01 -2.19615909e-02 5.10719628e+01] [ 3.16330698e-02 -3.31831844e-03 9.99494041e-01 4.40755461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.960714057 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:129.08, Y:51.10, Z:4.41 [[ 6.50955738e-01 -7.58763442e-01 -2.31228575e-02 1.29081458e+02] [ 7.58456135e-01 6.51357842e-01 -2.18461091e-02 5.10958996e+01] [ 3.16372835e-02 -3.31682307e-03 9.99493912e-01 4.40767111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.990714057 meters Centerline goodness : 0.996293 Centerline is valid? [True, True] Translation: X:129.10, Y:51.12, Z:4.41 [[ 6.54093619e-01 -7.56063668e-01 -2.30058377e-02 1.29103475e+02] [ 7.55750627e-01 6.54491105e-01 -2.19632326e-02 5.11215605e+01] [ 3.16627183e-02 -3.02066597e-03 9.99494046e-01 4.40956346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.020714057 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:129.13, Y:51.14, Z:4.41 [[ 6.58584729e-01 -7.52151464e-01 -2.31156078e-02 1.29128519e+02] [ 7.51839862e-01 6.58983501e-01 -2.18533257e-02 5.11448984e+01] [ 3.16698150e-02 -2.98696881e-03 9.99493922e-01 4.40691459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.050714057 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:129.15, Y:51.17, Z:4.41 [[ 6.58168116e-01 -7.52509743e-01 -2.33199030e-02 1.29150676e+02] [ 7.52205508e-01 6.58572882e-01 -2.16479265e-02 5.11672123e+01] [ 3.16481313e-02 -3.29338448e-03 9.99493647e-01 4.40780443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.080714057 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:129.15, Y:51.19, Z:4.41 [[ 6.54144803e-01 -7.56009958e-01 -2.33135249e-02 1.29153472e+02] [ 7.55707662e-01 6.54551006e-01 -2.16543340e-02 5.11871794e+01] [ 3.16307833e-02 -3.45313934e-03 9.99493656e-01 4.41351684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.110714057 meters Centerline goodness : 0.996678 Centerline is valid? [True, True] Translation: X:129.19, Y:51.21, Z:4.41 [[ 6.61534670e-01 -7.49576709e-01 -2.25086203e-02 1.29187342e+02] [ 7.49242798e-01 6.61914447e-01 -2.24609752e-02 5.12145039e+01] [ 3.17350048e-02 -2.00570784e-03 9.99494305e-01 4.41451917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.140714057 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:129.21, Y:51.24, Z:4.42 [[ 6.62236296e-01 -7.48936135e-01 -2.31895025e-02 1.29206983e+02] [ 7.48625217e-01 6.62635670e-01 -2.17773857e-02 5.12370009e+01] [ 3.16760627e-02 -2.93847109e-03 9.99493868e-01 4.41647914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.170714057 meters Centerline goodness : 0.996213 Centerline is valid? [True, True] Translation: X:129.23, Y:51.26, Z:4.42 [[ 6.63088275e-01 -7.48187455e-01 -2.30102333e-02 1.29227812e+02] [ 7.47869899e-01 6.63482112e-01 -2.19568056e-02 5.12614471e+01] [ 3.16946847e-02 -2.64936051e-03 9.99494086e-01 4.41838610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.200714057 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:129.25, Y:51.28, Z:4.42 [[ 6.63810945e-01 -7.47544199e-01 -2.30803141e-02 1.29247453e+02] [ 7.47228673e-01 6.64206508e-01 -2.18866501e-02 5.12831641e+01] [ 3.16913331e-02 -2.71767461e-03 9.99494009e-01 4.41954919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.230714057 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:129.27, Y:51.31, Z:4.42 [[ 6.64030252e-01 -7.47351387e-01 -2.30158224e-02 1.29267772e+02] [ 7.47033523e-01 6.64423851e-01 -2.19513462e-02 5.13060882e+01] [ 3.16976303e-02 -2.61723291e-03 9.99494077e-01 4.42064902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.260714057 meters Centerline goodness : 0.996219 Centerline is valid? [True, True] Translation: X:129.29, Y:51.33, Z:4.42 [[ 6.65580083e-01 -7.45975606e-01 -2.28811783e-02 1.29294781e+02] [ 7.45652320e-01 6.65969083e-01 -2.20861531e-02 5.13309359e+01] [ 3.17138888e-02 -2.36130012e-03 9.99494199e-01 4.41797631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29071405699997 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:129.32, Y:51.36, Z:4.42 [[ 6.64800381e-01 -7.46662365e-01 -2.31466292e-02 1.29316333e+02] [ 7.46348587e-01 6.65197448e-01 -2.18206660e-02 5.13550069e+01] [ 3.16897488e-02 -2.76906687e-03 9.99493918e-01 4.41840671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32071405699998 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:129.34, Y:51.38, Z:4.42 [[ 6.64535289e-01 -7.46897853e-01 -2.31613465e-02 1.29338951e+02] [ 7.46584723e-01 6.64932893e-01 -2.18059692e-02 5.13786452e+01] [ 3.16875727e-02 -2.80107144e-03 9.99493898e-01 4.41908276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35071405699998 meters Centerline goodness : 0.995887 Centerline is valid? [True, True] Translation: X:129.36, Y:51.40, Z:4.42 [[ 6.64306828e-01 -7.47100763e-01 -2.31708285e-02 1.29359875e+02] [ 7.46788082e-01 6.64704802e-01 -2.17965004e-02 5.14005944e+01] [ 3.16859430e-02 -2.82413455e-03 9.99493885e-01 4.41978059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38071405699998 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:129.37, Y:51.42, Z:4.43 [[ 6.58736616e-01 -7.52017634e-01 -2.31419097e-02 1.29365829e+02] [ 7.51706915e-01 6.59136075e-01 -2.18254096e-02 5.14217741e+01] [ 3.16667604e-02 -3.01873705e-03 9.99493924e-01 4.42528288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41071405699998 meters Centerline goodness : 0.995798 Centerline is valid? [True, True] Translation: X:129.40, Y:51.45, Z:4.42 [[ 6.63247654e-01 -7.48063023e-01 -2.24558238e-02 1.29400449e+02] [ 7.47726592e-01 6.63625082e-01 -2.25098693e-02 5.14465606e+01] [ 3.17410488e-02 -1.86119856e-03 9.99494393e-01 4.42486348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44071405699998 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:129.41, Y:51.47, Z:4.43 [[ 6.59339782e-01 -7.51491589e-01 -2.30530448e-02 1.29408853e+02] [ 7.51177514e-01 6.59736433e-01 -2.19130357e-02 5.14678494e+01] [ 3.16763956e-02 -2.86879264e-03 9.99494060e-01 4.42974111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47071405699998 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:129.44, Y:51.49, Z:4.43 [[ 6.62715949e-01 -7.48534063e-01 -2.24572613e-02 1.29441300e+02] [ 7.48197978e-01 6.63093657e-01 -2.25075051e-02 5.14917384e+01] [ 3.17389018e-02 -1.88639492e-03 9.99494414e-01 4.42988613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50071405699998 meters Centerline goodness : 0.995798 Centerline is valid? [True, True] Translation: X:129.47, Y:51.51, Z:4.43 [[ 6.63942329e-01 -7.47431527e-01 -2.29498599e-02 1.29467436e+02] [ 7.47111513e-01 6.64334039e-01 -2.20152682e-02 5.15143200e+01] [ 3.17012786e-02 -2.52923608e-03 9.99494188e-01 4.42847778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53071405699998 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:129.49, Y:51.54, Z:4.43 [[ 6.61291835e-01 -7.49773671e-01 -2.30770788e-02 1.29487910e+02] [ 7.49459411e-01 6.61688361e-01 -2.18884404e-02 5.15371319e+01] [ 3.16812107e-02 -2.82068697e-03 9.99494044e-01 4.43141398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56071405699998 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:129.51, Y:51.56, Z:4.43 [[ 6.60930724e-01 -7.50095179e-01 -2.29739252e-02 1.29509993e+02] [ 7.49777569e-01 6.61324416e-01 -2.19912225e-02 5.15602812e+01] [ 3.16887277e-02 -2.69065919e-03 9.99494165e-01 4.43398844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59071405699999 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:129.53, Y:51.58, Z:4.43 [[ 6.60910122e-01 -7.50114028e-01 -2.29511866e-02 1.29533049e+02] [ 7.49795651e-01 6.61303162e-01 -2.20138522e-02 5.15835987e+01] [ 3.16905916e-02 -2.65952212e-03 9.99494189e-01 4.43380321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.620714057 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:129.56, Y:51.61, Z:4.43 [[ 6.61474376e-01 -7.49615230e-01 -2.29925345e-02 1.29555072e+02] [ 7.49297973e-01 6.61868378e-01 -2.19726890e-02 5.16060366e+01] [ 3.16890939e-02 -2.69388876e-03 9.99494144e-01 4.43469537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.650714057 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:129.58, Y:51.63, Z:4.44 [[ 6.61601197e-01 -7.49504822e-01 -2.29429433e-02 1.29578794e+02] [ 7.49185804e-01 6.61993704e-01 -2.20219549e-02 5.16301672e+01] [ 3.16936454e-02 -2.61877576e-03 9.99494200e-01 4.43593741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.680714057 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:129.60, Y:51.65, Z:4.44 [[ 6.61891724e-01 -7.49245760e-01 -2.30246956e-02 1.29602247e+02] [ 7.48929381e-01 6.62286483e-01 -2.19407555e-02 5.16531518e+01] [ 3.16879627e-02 -2.72146655e-03 9.99494105e-01 4.43626979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.710714057 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:129.63, Y:51.67, Z:4.43 [[ 6.63163588e-01 -7.48119446e-01 -2.30510297e-02 1.29625435e+02] [ 7.47803297e-01 6.63558572e-01 -2.19145968e-02 5.16749055e+01] [ 3.16904444e-02 -2.70467335e-03 9.99494072e-01 4.43459148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.740714057 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:129.65, Y:51.70, Z:4.44 [[ 6.62488108e-01 -7.48719989e-01 -2.29757388e-02 1.29650219e+02] [ 7.48401628e-01 6.62881192e-01 -2.19892720e-02 5.16986402e+01] [ 3.16939926e-02 -2.62744908e-03 9.99494166e-01 4.43558058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.770714057 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:129.67, Y:51.72, Z:4.44 [[ 6.61948633e-01 -7.49191403e-01 -2.31570323e-02 1.29672764e+02] [ 7.48879524e-01 6.62347192e-01 -2.18095451e-02 5.17215754e+01] [ 3.16775190e-02 -2.90502873e-03 9.99493920e-01 4.43639262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.800714057 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:129.69, Y:51.74, Z:4.44 [[ 6.60870273e-01 -7.50143694e-01 -2.31283460e-02 1.29692869e+02] [ 7.49831404e-01 6.61268454e-01 -2.18379634e-02 5.17433897e+01] [ 3.16756561e-02 -2.91029929e-03 9.99493963e-01 4.43798226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.830714057 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:129.72, Y:51.77, Z:4.44 [[ 6.61404309e-01 -7.49676280e-01 -2.30177162e-02 1.29716242e+02] [ 7.49359925e-01 6.61799071e-01 -2.19474977e-02 5.17657182e+01] [ 3.16866216e-02 -2.73238450e-03 9.99494118e-01 4.43639136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.860714057 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:129.74, Y:51.79, Z:4.44 [[ 6.60028750e-01 -7.50886788e-01 -2.30451855e-02 1.29736587e+02] [ 7.50572096e-01 6.60424885e-01 -2.19203216e-02 5.17885037e+01] [ 3.16792938e-02 -2.82903073e-03 9.99494081e-01 4.43964918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.890714057 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:129.74, Y:51.81, Z:4.44 [[ 6.55112829e-01 -7.55181357e-01 -2.29847807e-02 1.29744141e+02] [ 7.54867186e-01 6.55509275e-01 -2.19800359e-02 5.18087843e+01] [ 3.16656503e-02 -2.95105328e-03 9.99494161e-01 4.44186490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.920714057 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:129.78, Y:51.83, Z:4.44 [[ 6.61445788e-01 -7.49660610e-01 -2.23257646e-02 1.29781443e+02] [ 7.49321028e-01 6.61820120e-01 -2.26302055e-02 5.18333668e+01] [ 3.17406139e-02 -1.76051078e-03 9.99494589e-01 4.43932706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.950714057 meters Centerline goodness : 0.995719 Centerline is valid? [True, True] Translation: X:129.79, Y:51.85, Z:4.44 [[ 6.54670165e-01 -7.55563347e-01 -2.30435300e-02 1.29786575e+02] [ 7.55251456e-01 6.55068478e-01 -2.19209528e-02 5.18533594e+01] [ 3.16577586e-02 -3.05266576e-03 9.99494106e-01 4.44388961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.980714057 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:129.82, Y:51.88, Z:4.45 [[ 6.60006779e-01 -7.50928041e-01 -2.23188154e-02 1.29818579e+02] [ 7.50588995e-01 6.60381550e-01 -2.26355498e-02 5.18763942e+01] [ 3.17366030e-02 -1.81264090e-03 9.99494623e-01 4.44678273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01071405699997 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:129.84, Y:51.90, Z:4.45 [[ 6.58655789e-01 -7.52100722e-01 -2.27388426e-02 1.29844258e+02] [ 7.51776406e-01 6.59043595e-01 -2.22210711e-02 5.19018545e+01] [ 3.16983722e-02 -2.45848824e-03 9.99494457e-01 4.44513164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04071405699997 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:129.86, Y:51.92, Z:4.45 [[ 6.56024731e-01 -7.54389840e-01 -2.29678425e-02 1.29864273e+02] [ 7.54074669e-01 6.56420305e-01 -2.19949400e-02 5.19244220e+01] [ 3.16693174e-02 -2.89024361e-03 9.99494223e-01 4.44763956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07071405699998 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:129.89, Y:51.95, Z:4.45 [[ 6.54744721e-01 -7.55504749e-01 -2.28456547e-02 1.29887047e+02] [ 7.55186083e-01 6.55137303e-01 -2.21154539e-02 5.19484476e+01] [ 3.16753711e-02 -2.77274382e-03 9.99494364e-01 4.44878020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10071405699998 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:129.91, Y:51.97, Z:4.45 [[ 6.52685790e-01 -7.57283988e-01 -2.28521433e-02 1.29908569e+02] [ 7.56966614e-01 6.53079425e-01 -2.21090566e-02 5.19717297e+01] [ 3.16670991e-02 -2.86804245e-03 9.99494357e-01 4.44982543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13071405699998 meters Centerline goodness : 0.995754 Centerline is valid? [True, True] Translation: X:129.93, Y:52.00, Z:4.45 [[ 6.51843537e-01 -7.58009907e-01 -2.28250714e-02 1.29931726e+02] [ 7.57692047e-01 6.52236744e-01 -2.21357376e-02 5.19956746e+01] [ 3.16664587e-02 -2.86533760e-03 9.99494385e-01 4.45090035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16071405699998 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:129.95, Y:52.02, Z:4.45 [[ 6.50920726e-01 -7.58802108e-01 -2.28379085e-02 1.29954554e+02] [ 7.58485165e-01 6.51314689e-01 -2.21230927e-02 5.20191325e+01] [ 3.16617146e-02 -2.92183523e-03 9.99494372e-01 4.45266347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19071405699998 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:129.98, Y:52.04, Z:4.45 [[ 6.50547225e-01 -7.59120736e-01 -2.28913812e-02 1.29976471e+02] [ 7.58805814e-01 6.50942881e-01 -2.20703934e-02 5.20415787e+01] [ 3.16550750e-02 -3.01227997e-03 9.99494313e-01 4.45331903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22071405699998 meters Centerline goodness : 0.996060 Centerline is valid? [True, True] Translation: X:129.99, Y:52.06, Z:4.45 [[ 6.49760158e-01 -7.59795816e-01 -2.28485357e-02 1.29993910e+02] [ 7.59479839e-01 6.50154910e-01 -2.21126093e-02 5.20621895e+01] [ 3.16561557e-02 -2.98510973e-03 9.99494361e-01 4.45238604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25071405699998 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:130.02, Y:52.09, Z:4.45 [[ 6.51603103e-01 -7.58225902e-01 -2.25139245e-02 1.30022969e+02] [ 7.57897646e-01 6.51987367e-01 -2.24417428e-02 5.20894011e+01] [ 3.16947051e-02 -2.44014109e-03 9.99494618e-01 4.45369168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28071405699998 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:130.04, Y:52.11, Z:4.45 [[ 6.49407927e-01 -7.60091490e-01 -2.30275943e-02 1.30035614e+02] [ 7.59781839e-01 6.49807942e-01 -2.19361957e-02 5.21080911e+01] [ 3.16370294e-02 -3.25040855e-03 9.99494139e-01 4.45493001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31071405699998 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:130.06, Y:52.13, Z:4.46 [[ 6.47994158e-01 -7.61312816e-01 -2.25026009e-02 1.30060301e+02] [ 7.60986034e-01 6.48379645e-01 -2.24520075e-02 5.21345491e+01] [ 3.16832295e-02 -2.57539527e-03 9.99494642e-01 4.45740982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34071405699999 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:130.08, Y:52.15, Z:4.46 [[ 6.49736496e-01 -7.59818224e-01 -2.27761611e-02 1.30078583e+02] [ 7.59499815e-01 6.50129173e-01 -2.21830787e-02 5.21540541e+01] [ 3.16625542e-02 -2.88533429e-03 9.99494451e-01 4.45819711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.370714057 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:130.10, Y:52.18, Z:4.46 [[ 6.50345521e-01 -7.59307570e-01 -2.24213640e-02 1.30104249e+02] [ 7.58976880e-01 6.50727613e-01 -2.25315158e-02 5.21806191e+01] [ 3.16985512e-02 -2.36402654e-03 9.99494679e-01 4.45894368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.400714057 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:130.13, Y:52.20, Z:4.46 [[ 6.49783757e-01 -7.59780039e-01 -2.27015589e-02 1.30125020e+02] [ 7.59459079e-01 6.50174260e-01 -2.22562020e-02 5.22034236e+01] [ 3.16697873e-02 -2.77918652e-03 9.99494523e-01 4.45888018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.430714057 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:130.15, Y:52.23, Z:4.46 [[ 6.48952606e-01 -7.60492003e-01 -2.26368754e-02 1.30147840e+02] [ 7.60169279e-01 6.49341587e-01 -2.23197501e-02 5.22277653e+01] [ 3.16730561e-02 -2.72339727e-03 9.99494573e-01 4.46210954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.460714057 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:130.17, Y:52.25, Z:4.46 [[ 6.49963738e-01 -7.59623894e-01 -2.27745004e-02 1.30168085e+02] [ 7.59305318e-01 6.50356272e-01 -2.21845191e-02 5.22489067e+01] [ 3.16634300e-02 -2.87366626e-03 9.99494457e-01 4.46081742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.490714057 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:130.19, Y:52.27, Z:4.46 [[ 6.48546608e-01 -7.60840843e-01 -2.25501413e-02 1.30191554e+02] [ 7.60515403e-01 6.48933241e-01 -2.24047227e-02 5.22743298e+01] [ 3.16799643e-02 -2.61922288e-03 9.99494632e-01 4.46335449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.520714057 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:130.21, Y:52.30, Z:4.46 [[ 6.49941781e-01 -7.59644817e-01 -2.27031511e-02 1.30211905e+02] [ 7.59323835e-01 6.50332263e-01 -2.22544708e-02 5.22957254e+01] [ 3.16700850e-02 -2.77493336e-03 9.99494525e-01 4.46227305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.550714057 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:130.23, Y:52.32, Z:4.47 [[ 6.49121026e-01 -7.60350611e-01 -2.25575022e-02 1.30233172e+02] [ 7.60025128e-01 6.49507628e-01 -2.23974648e-02 5.23201023e+01] [ 3.16811958e-02 -2.60560313e-03 9.99494629e-01 4.46509729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.580714057 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:130.25, Y:52.34, Z:4.47 [[ 6.48401342e-01 -7.60962483e-01 -2.26229838e-02 1.30253595e+02] [ 7.60639577e-01 6.48790153e-01 -2.23331869e-02 5.23427780e+01] [ 3.16722865e-02 -2.72706851e-03 9.99494587e-01 4.46698944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.610714057 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:130.28, Y:52.37, Z:4.47 [[ 6.48714113e-01 -7.60697120e-01 -2.25807642e-02 1.30275912e+02] [ 7.60372629e-01 6.49101565e-01 -2.23746188e-02 5.23651704e+01] [ 3.16775175e-02 -2.65506408e-03 9.99494615e-01 4.46882122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.640714057 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:130.30, Y:52.39, Z:4.47 [[ 6.48425331e-01 -7.60942553e-01 -2.26057706e-02 1.30297724e+02] [ 7.60619053e-01 6.48813633e-01 -2.23500752e-02 5.23869009e+01] [ 3.16740554e-02 -2.70202490e-03 9.99494599e-01 4.46934463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.670714057 meters Centerline goodness : 0.995090 Centerline is valid? [True, True] Translation: X:130.32, Y:52.41, Z:4.47 [[ 6.48666756e-01 -7.60737064e-01 -2.25955663e-02 1.30321569e+02] [ 7.60413096e-01 6.49054658e-01 -2.23600911e-02 5.24101814e+01] [ 3.16759076e-02 -2.67771681e-03 9.99494606e-01 4.47043245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.700714057 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:130.34, Y:52.43, Z:4.47 [[ 6.48805697e-01 -7.60618015e-01 -2.26142100e-02 1.30344891e+02] [ 7.60294606e-01 6.49194082e-01 -2.23417986e-02 5.24341382e+01] [ 3.16745857e-02 -2.69797568e-03 9.99494593e-01 4.47144912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.730714057 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:130.37, Y:52.46, Z:4.47 [[ 6.49024009e-01 -7.60432230e-01 -2.25977615e-02 1.30368189e+02] [ 7.60108155e-01 6.49411823e-01 -2.23579142e-02 5.24574858e+01] [ 3.16769321e-02 -2.66591971e-03 9.99494605e-01 4.47345477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76071405699997 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:130.39, Y:52.48, Z:4.47 [[ 6.49083810e-01 -7.60379262e-01 -2.26624251e-02 1.30388979e+02] [ 7.60057339e-01 6.49473475e-01 -2.22945417e-02 5.24793817e+01] [ 3.16709511e-02 -2.75371644e-03 9.99494556e-01 4.47316541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79071405699997 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:130.41, Y:52.50, Z:4.48 [[ 6.48843667e-01 -7.60587309e-01 -2.25575014e-02 1.30412853e+02] [ 7.60261974e-01 6.49230387e-01 -2.23972397e-02 5.25028510e+01] [ 3.16800716e-02 -2.61730338e-03 9.99494634e-01 4.47612380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82071405699998 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:130.43, Y:52.52, Z:4.47 [[ 6.47611334e-01 -7.61634662e-01 -2.26318864e-02 1.30433543e+02] [ 7.61312462e-01 6.48000738e-01 -2.23244137e-02 5.25242822e+01] [ 3.16685264e-02 -2.77239386e-03 9.99494581e-01 4.47427159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85071405699998 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:130.46, Y:52.55, Z:4.48 [[ 6.48303554e-01 -7.61047719e-01 -2.25581719e-02 1.30458719e+02] [ 7.60722681e-01 6.48690524e-01 -2.23965641e-02 5.25472375e+01] [ 3.16781264e-02 -2.64074091e-03 9.99494634e-01 4.47678454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88071405699998 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:130.47, Y:52.57, Z:4.47 [[ 6.45094851e-01 -7.63766337e-01 -2.26631035e-02 1.30471199e+02] [ 7.63446482e-01 6.45486215e-01 -2.22938432e-02 5.25680632e+01] [ 3.16560078e-02 -2.92042323e-03 9.99494556e-01 4.47462855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91071405699998 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:130.50, Y:52.59, Z:4.48 [[ 6.47701081e-01 -7.61570459e-01 -2.22203933e-02 1.30499300e+02] [ 7.61234444e-01 6.48078404e-01 -2.27266992e-02 5.25926945e+01] [ 3.17085398e-02 -2.19482111e-03 9.99494748e-01 4.47774066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94071405699998 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:130.52, Y:52.62, Z:4.48 [[ 6.48671825e-01 -7.60735327e-01 -2.25083489e-02 1.30521381e+02] [ 7.60408444e-01 6.49057184e-01 -2.24448354e-02 5.26155684e+01] [ 3.16837847e-02 -2.55620617e-03 9.99494674e-01 4.47840574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97071405699998 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:130.54, Y:52.64, Z:4.48 [[ 6.48734278e-01 -7.60682624e-01 -2.24896026e-02 1.30544806e+02] [ 7.60355079e-01 6.49119063e-01 -2.24632072e-02 5.26395633e+01] [ 3.16858011e-02 -2.52743106e-03 9.99494683e-01 4.47948298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00071405699998 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:130.57, Y:52.66, Z:4.48 [[ 6.48978590e-01 -7.60474981e-01 -2.24631358e-02 1.30568095e+02] [ 7.60146426e-01 6.49362496e-01 -2.24891160e-02 5.26632739e+01] [ 3.16891280e-02 -2.48031758e-03 9.99494696e-01 4.48231339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03071405699998 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:130.59, Y:52.69, Z:4.48 [[ 6.49317242e-01 -7.60184550e-01 -2.25071071e-02 1.30591303e+02] [ 7.59857297e-01 6.49702287e-01 -2.24460820e-02 5.26864636e+01] [ 3.16860837e-02 -2.52756148e-03 9.99494674e-01 4.48332819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06071405699998 meters Centerline goodness : 0.995011 Centerline is valid? [True, True] Translation: X:130.61, Y:52.71, Z:4.48 [[ 6.49912207e-01 -7.59674579e-01 -2.25534293e-02 1.30614816e+02] [ 7.59348579e-01 6.50298349e-01 -2.24007304e-02 5.27089236e+01] [ 3.16837233e-02 -2.56740639e-03 9.99494647e-01 4.48397609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09071405699999 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:130.64, Y:52.73, Z:4.49 [[ 6.49839290e-01 -7.59735562e-01 -2.26002652e-02 1.30637806e+02] [ 7.59411174e-01 6.50226828e-01 -2.23548744e-02 5.27312698e+01] [ 3.16790918e-02 -2.63581819e-03 9.99494616e-01 4.48580526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.120714057 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:130.66, Y:52.75, Z:4.49 [[ 6.50419836e-01 -7.59239767e-01 -2.25613283e-02 1.30660881e+02] [ 7.58913774e-01 6.50805990e-01 -2.23930052e-02 5.27535825e+01] [ 3.16847077e-02 -2.55724803e-03 9.99494642e-01 4.48687072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.150714057 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:130.68, Y:52.78, Z:4.49 [[ 6.50066709e-01 -7.59541884e-01 -2.25699187e-02 1.30682965e+02] [ 7.59216359e-01 6.50453265e-01 -2.23846012e-02 5.27766865e+01] [ 3.16827194e-02 -2.58396749e-03 9.99494637e-01 4.48824621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.180714057 meters Centerline goodness : 0.995629 Centerline is valid? [True, True] Translation: X:130.71, Y:52.80, Z:4.49 [[ 6.50359850e-01 -7.59291776e-01 -2.25402822e-02 1.30705607e+02] [ 7.58965108e-01 6.50745415e-01 -2.24135982e-02 5.28002755e+01] [ 3.16864461e-02 -2.53038333e-03 9.99494655e-01 4.48881673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.210714057 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:130.73, Y:52.82, Z:4.49 [[ 6.51058070e-01 -7.58691579e-01 -2.25937350e-02 1.30728285e+02] [ 7.58366350e-01 6.51444896e-01 -2.23612742e-02 5.28225997e+01] [ 3.16838838e-02 -2.57584032e-03 9.99494621e-01 4.48914874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.240714057 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:130.75, Y:52.85, Z:4.49 [[ 6.50540083e-01 -7.59134314e-01 -2.26427359e-02 1.30749021e+02] [ 7.58810999e-01 6.50928557e-01 -2.23132516e-02 5.28453640e+01] [ 3.16775584e-02 -2.66589248e-03 9.99494585e-01 4.48819020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.270714057 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:130.77, Y:52.87, Z:4.49 [[ 6.50782110e-01 -7.58929584e-01 -2.25506504e-02 1.30772006e+02] [ 7.58603050e-01 6.51167797e-01 -2.24034143e-02 5.28685319e+01] [ 3.16868712e-02 -2.52725091e-03 9.99494650e-01 4.48912586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.300714057 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:130.80, Y:52.89, Z:4.49 [[ 6.51361574e-01 -7.58430913e-01 -2.25975676e-02 1.30795020e+02] [ 7.58105659e-01 6.51748381e-01 -2.23574745e-02 5.28918032e+01] [ 3.16845279e-02 -2.56854415e-03 9.99494619e-01 4.49055783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.330714057 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:130.82, Y:52.92, Z:4.49 [[ 6.51897765e-01 -7.57968527e-01 -2.26498588e-02 1.30816517e+02] [ 7.57644757e-01 6.52285867e-01 -2.23062942e-02 5.29153817e+01] [ 3.16816518e-02 -2.61912343e-03 9.99494579e-01 4.49200548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.360714057 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:130.84, Y:52.94, Z:4.49 [[ 6.52349753e-01 -7.57579956e-01 -2.26364666e-02 1.30838146e+02] [ 7.57255504e-01 6.52737271e-01 -2.23194005e-02 5.29383623e+01] [ 3.16843959e-02 -2.58153353e-03 9.99494590e-01 4.49351568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.390714057 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:130.86, Y:52.96, Z:4.50 [[ 6.52953989e-01 -7.57059265e-01 -2.26353406e-02 1.30861302e+02] [ 7.56734466e-01 6.53341215e-01 -2.23205016e-02 5.29618539e+01] [ 3.16865434e-02 -2.55468184e-03 9.99494591e-01 4.49571487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.420714057 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:130.88, Y:52.99, Z:4.50 [[ 6.53567011e-01 -7.56528011e-01 -2.27052883e-02 1.30882089e+02] [ 7.56205247e-01 6.53956015e-01 -2.22521009e-02 5.29852142e+01] [ 3.16825975e-02 -2.62661908e-03 9.99494529e-01 4.49570805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.450714057 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:130.90, Y:53.01, Z:4.50 [[ 6.54103121e-01 -7.56065116e-01 -2.26858561e-02 1.30904593e+02] [ 7.55741423e-01 6.54491329e-01 -2.22711130e-02 5.30087428e+01] [ 3.16861077e-02 -2.57703664e-03 9.99494547e-01 4.49589639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.480714057 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:130.93, Y:53.03, Z:4.50 [[ 6.53553319e-01 -7.56540653e-01 -2.26781891e-02 1.30926863e+02] [ 7.56216985e-01 6.53941538e-01 -2.22786018e-02 5.30326500e+01] [ 3.16848778e-02 -2.58937759e-03 9.99494554e-01 4.49740226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51071405699997 meters Centerline goodness : 0.994814 Centerline is valid? [True, True] Translation: X:130.95, Y:53.06, Z:4.50 [[ 6.53744060e-01 -7.56375007e-01 -2.27057819e-02 1.30948602e+02] [ 7.56052167e-01 6.54133003e-01 -2.22516479e-02 5.30558859e+01] [ 3.16831916e-02 -2.61987297e-03 9.99494528e-01 4.49708407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54071405699997 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:130.97, Y:53.08, Z:4.50 [[ 6.52685911e-01 -7.57289359e-01 -2.26699985e-02 1.30970763e+02] [ 7.56965861e-01 6.53074263e-01 -2.22866041e-02 5.30794780e+01] [ 3.16826007e-02 -2.61426249e-03 9.99494561e-01 4.49907575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57071405699998 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:130.99, Y:53.10, Z:4.50 [[ 6.52490357e-01 -7.57457793e-01 -2.26721351e-02 1.30993267e+02] [ 7.57134468e-01 6.52878854e-01 -2.22845194e-02 5.31027389e+01] [ 3.16817405e-02 -2.62542097e-03 9.99494560e-01 4.50008616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60071405699998 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:131.02, Y:53.13, Z:4.50 [[ 6.50887270e-01 -7.58834543e-01 -2.27133639e-02 1.31016715e+02] [ 7.58513426e-01 6.51277647e-01 -2.22443028e-02 5.31276147e+01] [ 3.16724515e-02 -2.74985790e-03 9.99494519e-01 4.50073045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63071405699998 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:131.04, Y:53.15, Z:4.50 [[ 6.49920648e-01 -7.59660413e-01 -2.27861423e-02 1.31039976e+02] [ 7.59342246e-01 6.50313537e-01 -2.21733429e-02 5.31514742e+01] [ 3.16623476e-02 -2.89156706e-03 9.99494439e-01 4.50134398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66071405699998 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:131.05, Y:53.17, Z:4.50 [[ 6.42990037e-01 -7.65535152e-01 -2.27979091e-02 1.31047525e+02] [ 7.65220969e-01 6.43386136e-01 -2.21618719e-02 5.31723183e+01] [ 3.16335506e-02 -3.19557527e-03 9.99494426e-01 4.50297775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69071405699998 meters Centerline goodness : 0.995370 Centerline is valid? [True, True] Translation: X:131.08, Y:53.20, Z:4.50 [[ 6.47617808e-01 -7.61642925e-01 -2.21637180e-02 1.31084339e+02] [ 7.61305171e-01 6.47993484e-01 -2.27789515e-02 5.31962860e+01] [ 3.17113721e-02 -2.12129850e-03 9.99494817e-01 4.50036867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72071405699998 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:131.11, Y:53.22, Z:4.50 [[ 6.45974614e-01 -7.63018826e-01 -2.27830731e-02 1.31108021e+02] [ 7.62702562e-01 6.46369062e-01 -2.21774039e-02 5.32197917e+01] [ 3.16480503e-02 -3.05066825e-03 9.99494419e-01 4.50095369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75071405699998 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:131.13, Y:53.24, Z:4.50 [[ 6.45625969e-01 -7.63311626e-01 -2.28576013e-02 1.31128791e+02] [ 7.62998066e-01 6.46022694e-01 -2.21049882e-02 5.32421501e+01] [ 3.16395236e-02 -3.16875115e-03 9.99494322e-01 4.50256177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78071405699998 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:131.15, Y:53.26, Z:4.50 [[ 6.47111564e-01 -7.62056245e-01 -2.27354902e-02 1.31147338e+02] [ 7.61737795e-01 6.47504170e-01 -2.22234546e-02 5.32621817e+01] [ 3.16568471e-02 -2.93742771e-03 9.99494480e-01 4.50429799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81071405699998 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:131.17, Y:53.29, Z:4.51 [[ 6.45574662e-01 -7.63365183e-01 -2.25156414e-02 1.31171901e+02] [ 7.63040149e-01 6.45961555e-01 -2.24365828e-02 5.32876298e+01] [ 3.16715449e-02 -2.69584901e-03 9.99494695e-01 4.50570740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84071405699999 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:131.19, Y:53.31, Z:4.51 [[ 6.47364156e-01 -7.61840728e-01 -2.27673930e-02 1.31189203e+02] [ 7.61523225e-01 6.47757575e-01 -2.21923765e-02 5.33071349e+01] [ 3.16548075e-02 -2.97134949e-03 9.99494444e-01 4.50813467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.870714057 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:131.21, Y:53.33, Z:4.51 [[ 6.47508908e-01 -7.61727710e-01 -2.24301154e-02 1.31211564e+02] [ 7.61398859e-01 6.47892477e-01 -2.25192382e-02 5.33318157e+01] [ 3.16858308e-02 -2.49685694e-03 9.99494759e-01 4.50751747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.900714057 meters Centerline goodness : 0.992427 Centerline is valid? [True, True] Translation: X:131.23, Y:53.35, Z:4.51 [[ 6.49695102e-01 -7.59862462e-01 -2.24791809e-02 1.31234351e+02] [ 7.59534136e-01 6.50079163e-01 -2.24716986e-02 5.33524703e+01] [ 3.16886473e-02 -2.47395272e-03 9.99494727e-01 4.50988000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.930714057 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:131.24, Y:53.38, Z:4.51 [[ 6.40939322e-01 -7.67262983e-01 -2.24566367e-02 1.31242382e+02] [ 7.66938328e-01 6.41326471e-01 -2.24935403e-02 5.33783559e+01] [ 3.16604964e-02 -2.80586092e-03 9.99494742e-01 4.51440426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.960714057 meters Centerline goodness : 0.994188 Centerline is valid? [True, True] Translation: X:131.28, Y:53.40, Z:4.52 [[ 6.45463934e-01 -7.63470884e-01 -2.21024653e-02 1.31277651e+02] [ 7.63132241e-01 6.45838745e-01 -2.28363354e-02 5.34025735e+01] [ 3.17095056e-02 -2.12707297e-03 9.99494864e-01 4.51618791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.990714057 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:131.30, Y:53.42, Z:4.52 [[ 6.44418291e-01 -7.64335868e-01 -2.27100713e-02 1.31301565e+02] [ 7.64017945e-01 6.44811289e-01 -2.22481688e-02 5.34249578e+01] [ 3.16487837e-02 -3.01377513e-03 9.99494508e-01 4.51661694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.020714057 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:131.32, Y:53.45, Z:4.52 [[ 6.43641698e-01 -7.64990012e-01 -2.27078362e-02 1.31322901e+02] [ 7.64672413e-01 6.44034955e-01 -2.22503325e-02 5.34468635e+01] [ 3.16459224e-02 -3.04281409e-03 9.99494511e-01 4.51739191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.050714057 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:131.35, Y:53.47, Z:4.52 [[ 6.43916020e-01 -7.64761644e-01 -2.26227056e-02 1.31346892e+02] [ 7.64441044e-01 6.44306712e-01 -2.23327093e-02 5.34701061e+01] [ 3.16551605e-02 -2.91333539e-03 9.99494604e-01 4.51989788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.080714057 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:131.37, Y:53.49, Z:4.52 [[ 6.46112236e-01 -7.62905484e-01 -2.26759872e-02 1.31366228e+02] [ 7.62585547e-01 6.46503545e-01 -2.22811424e-02 5.34885113e+01] [ 3.16585118e-02 -2.89626135e-03 9.99494547e-01 4.51971666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.110714057 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:131.39, Y:53.51, Z:4.52 [[ 6.45218276e-01 -7.63671211e-01 -2.23530204e-02 1.31389374e+02] [ 7.63340968e-01 6.45600577e-01 -2.25933886e-02 5.35109213e+01] [ 3.16850433e-02 -2.48530900e-03 9.99494813e-01 4.52201971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.140714057 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:131.42, Y:53.54, Z:4.52 [[ 6.43721128e-01 -7.64933589e-01 -2.23542859e-02 1.31416093e+02] [ 7.64604138e-01 6.44104111e-01 -2.25921653e-02 5.35359760e+01] [ 3.16799936e-02 -2.54912538e-03 9.99494812e-01 4.52072348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.170714057 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:131.44, Y:53.56, Z:4.52 [[ 6.43570939e-01 -7.65051548e-01 -2.26401224e-02 1.31439759e+02] [ 7.64731713e-01 6.43962278e-01 -2.23157390e-02 5.35584676e+01] [ 3.16520755e-02 -2.95185849e-03 9.99494589e-01 4.52189687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.200714057 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:131.46, Y:53.58, Z:4.52 [[ 6.43044045e-01 -7.65495499e-01 -2.26052545e-02 1.31459246e+02] [ 7.65174763e-01 6.43434600e-01 -2.23494550e-02 5.35773432e+01] [ 3.16534101e-02 -2.92528631e-03 9.99494624e-01 4.52485690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.230714057 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:131.48, Y:53.60, Z:4.53 [[ 6.43455212e-01 -7.65159699e-01 -2.22716256e-02 1.31481665e+02] [ 7.64827651e-01 6.43835891e-01 -2.26717920e-02 5.35995089e+01] [ 3.16868134e-02 -2.44567235e-03 9.99494855e-01 4.52589312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26071405699997 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:131.50, Y:53.62, Z:4.53 [[ 6.39173641e-01 -7.68740675e-01 -2.22448238e-02 1.31495569e+02] [ 7.68409867e-01 6.39555385e-01 -2.26976919e-02 5.36220076e+01] [ 3.16754359e-02 -2.58537571e-03 9.99494864e-01 4.52733027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29071405699997 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:131.52, Y:53.64, Z:4.53 [[ 6.40042720e-01 -7.68027794e-01 -2.18775038e-02 1.31518410e+02] [ 7.67684469e-01 6.40413261e-01 -2.30523603e-02 5.36428989e+01] [ 3.17154970e-02 -2.04052453e-03 9.99494854e-01 4.52828302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32071405699998 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:131.54, Y:53.66, Z:4.53 [[ 6.40593652e-01 -7.67567786e-01 -2.18967485e-02 1.31542064e+02] [ 7.67224825e-01 6.40964519e-01 -2.30337492e-02 5.36645986e+01] [ 3.17150028e-02 -2.04445556e-03 9.99494862e-01 4.52954346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35071405699998 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:131.57, Y:53.69, Z:4.53 [[ 6.41765681e-01 -7.66588983e-01 -2.18664722e-02 1.31566205e+02] [ 7.66244466e-01 6.42135121e-01 -2.30630530e-02 5.36876975e+01] [ 3.17211121e-02 -1.95398739e-03 9.99494849e-01 4.52992024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38071405699998 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:131.59, Y:53.71, Z:4.53 [[ 6.42601331e-01 -7.65887203e-01 -2.19162286e-02 1.31589658e+02] [ 7.65543910e-01 6.42971880e-01 -2.30148515e-02 5.37104630e+01] [ 3.17182990e-02 -1.98846111e-03 9.99494870e-01 4.53098162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41071405699998 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:131.62, Y:53.73, Z:4.53 [[ 6.43662341e-01 -7.64996539e-01 -2.18880428e-02 1.31615929e+02] [ 7.64651812e-01 6.44031572e-01 -2.30421690e-02 5.37331277e+01] [ 3.17237701e-02 -1.90535510e-03 9.99494858e-01 4.53006853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44071405699998 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:131.66, Y:53.76, Z:4.53 [[ 6.56531287e-01 -7.53974185e-01 -2.21268443e-02 1.31660977e+02] [ 7.53630971e-01 6.56901849e-01 -2.28105273e-02 5.37555727e+01] [ 3.17337137e-02 -1.69965031e-03 9.99494914e-01 4.52731868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47071405699998 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:131.68, Y:53.78, Z:4.53 [[ 6.58757775e-01 -7.51995936e-01 -2.32444980e-02 1.31682706e+02] [ 7.51688731e-01 6.59160160e-01 -2.17240860e-02 5.37756496e+01] [ 3.16582714e-02 -3.16171664e-03 9.99493751e-01 4.52644439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50071405699998 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:131.71, Y:53.80, Z:4.53 [[ 6.58024636e-01 -7.52645704e-01 -2.29787342e-02 1.31705849e+02] [ 7.52329932e-01 6.58419679e-01 -2.19818051e-02 5.37998440e+01] [ 3.16741620e-02 -2.82302018e-03 9.99494261e-01 4.52848942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53071405699998 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:131.73, Y:53.82, Z:4.53 [[ 6.63366672e-01 -7.47935010e-01 -2.31922255e-02 1.31728186e+02] [ 7.47623581e-01 6.63765654e-01 -2.17747010e-02 5.38198140e+01] [ 3.16802639e-02 -2.89444370e-03 9.99493863e-01 4.52687846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56071405699998 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:131.75, Y:53.84, Z:4.53 [[ 6.57935209e-01 -7.52723083e-01 -2.30048104e-02 1.31748409e+02] [ 7.52408236e-01 6.58331044e-01 -2.19563836e-02 5.38440469e+01] [ 3.16718576e-02 -2.86313095e-03 9.99494220e-01 4.52836770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59071405699999 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:131.77, Y:53.86, Z:4.53 [[ 6.66410837e-01 -7.45226640e-01 -2.31052354e-02 1.31774753e+02] [ 7.44910680e-01 6.66806016e-01 -2.18590088e-02 5.38602647e+01] [ 3.16966257e-02 -2.64425624e-03 9.99494038e-01 4.52959819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.620714057 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:131.78, Y:53.88, Z:4.53 [[ 6.61743443e-01 -7.49371394e-01 -2.31976036e-02 1.31782485e+02] [ 7.49061043e-01 6.62143251e-01 -2.17685315e-02 5.38795062e+01] [ 3.16728515e-02 -2.97123820e-03 9.99493873e-01 4.53286007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.650714057 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:131.81, Y:53.90, Z:4.54 [[ 6.60103009e-01 -7.50838029e-01 -2.25004586e-02 1.31806414e+02] [ 7.50505307e-01 6.60483132e-01 -2.24458437e-02 5.39036440e+01] [ 3.17143664e-02 -2.07014462e-03 9.99494829e-01 4.53583763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.680714057 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:131.83, Y:53.93, Z:4.54 [[ 6.59349221e-01 -7.51494306e-01 -2.26916734e-02 1.31830389e+02] [ 7.51168279e-01 6.59735326e-01 -2.22602042e-02 5.39256193e+01] [ 3.16989152e-02 -2.36801698e-03 9.99494658e-01 4.53803362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.710714057 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:131.85, Y:53.94, Z:4.54 [[ 6.60085354e-01 -7.50846368e-01 -2.27388891e-02 1.31848517e+02] [ 7.50521528e-01 6.60472527e-01 -2.22143628e-02 5.39444468e+01] [ 3.16979852e-02 -2.40265026e-03 9.99494605e-01 4.53768992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.740714057 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:131.87, Y:53.97, Z:4.54 [[ 6.58373440e-01 -7.52358222e-01 -2.23946529e-02 1.31871391e+02] [ 7.52022889e-01 6.58751185e-01 -2.25488622e-02 5.39652145e+01] [ 3.17173259e-02 -1.99571960e-03 9.99494887e-01 4.54107803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.770714057 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:131.90, Y:53.99, Z:4.54 [[ 6.56076027e-01 -7.54358687e-01 -2.25215119e-02 1.31899730e+02] [ 7.54028681e-01 6.56458548e-01 -2.24259676e-02 5.39915700e+01] [ 3.17016625e-02 -2.26872612e-03 9.99494801e-01 4.54125009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.800714057 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:131.92, Y:54.01, Z:4.54 [[ 6.55381532e-01 -7.54948934e-01 -2.29598585e-02 1.31918296e+02] [ 7.54633883e-01 6.55777138e-01 -2.20010835e-02 5.40086939e+01] [ 3.16662448e-02 -2.90718331e-03 9.99494271e-01 4.54251492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.830714057 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:131.94, Y:54.03, Z:4.54 [[ 6.57360536e-01 -7.53236881e-01 -2.26125405e-02 1.31944126e+02] [ 7.52909206e-01 6.57745180e-01 -2.23384428e-02 5.40270826e+01] [ 3.16994285e-02 -2.34077919e-03 9.99494706e-01 4.54168605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.860714057 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:131.96, Y:54.05, Z:4.54 [[ 6.56920866e-01 -7.53614125e-01 -2.28194504e-02 1.31963520e+02] [ 7.53293559e-01 6.57311755e-01 -2.21375395e-02 5.40474191e+01] [ 3.16826555e-02 -2.64713338e-03 9.99494473e-01 4.54247265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.890714057 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:131.98, Y:54.07, Z:4.55 [[ 6.50293889e-01 -7.59344494e-01 -2.26670777e-02 1.31983414e+02] [ 7.59022284e-01 6.50683161e-01 -2.22844248e-02 5.40734448e+01] [ 3.16706410e-02 -2.71339183e-03 9.99494676e-01 4.54585362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.920714057 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:132.01, Y:54.10, Z:4.55 [[ 6.48410750e-01 -7.60951428e-01 -2.27249403e-02 1.32007941e+02] [ 7.60632111e-01 6.48802494e-01 -2.22287227e-02 5.40957751e+01] [ 3.16589762e-02 -2.87197655e-03 9.99494603e-01 4.54673336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.950714057 meters Centerline goodness : 0.994735 Centerline is valid? [True, True] Translation: X:132.03, Y:54.12, Z:4.55 [[ 6.47855078e-01 -7.61426491e-01 -2.26604422e-02 1.32029913e+02] [ 7.61105318e-01 6.48245189e-01 -2.22905784e-02 5.41163142e+01] [ 3.16621595e-02 -2.80591862e-03 9.99494690e-01 4.54974146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.980714057 meters Centerline goodness : 0.995084 Centerline is valid? [True, True] Translation: X:132.05, Y:54.14, Z:4.55 [[ 6.47507742e-01 -7.61724469e-01 -2.25733909e-02 1.32052398e+02] [ 7.61400591e-01 6.47895472e-01 -2.23740240e-02 5.41392404e+01] [ 3.16680394e-02 -2.70003942e-03 9.99494795e-01 4.54863963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01071405699997 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:132.08, Y:54.16, Z:4.55 [[ 6.47453349e-01 -7.61769253e-01 -2.26222572e-02 1.32076165e+02] [ 7.61447022e-01 6.47842522e-01 -2.23271125e-02 5.41629079e+01] [ 3.16637680e-02 -2.76988660e-03 9.99494739e-01 4.54843889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04071405699997 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:132.10, Y:54.18, Z:4.55 [[ 6.47549538e-01 -7.61684134e-01 -2.27348965e-02 1.32096610e+02] [ 7.61365598e-01 6.47941929e-01 -2.22189775e-02 5.41849336e+01] [ 3.16547354e-02 -2.92167943e-03 9.99494593e-01 4.55070145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07071405699998 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:132.12, Y:54.21, Z:4.55 [[ 6.50151587e-01 -7.59467399e-01 -2.26314741e-02 1.32122369e+02] [ 7.59144093e-01 6.50539883e-01 -2.23182829e-02 5.42077897e+01] [ 3.16726847e-02 -2.67028282e-03 9.99494728e-01 4.55043676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10071405699998 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:132.14, Y:54.23, Z:4.55 [[ 6.48775428e-01 -7.60638620e-01 -2.27889020e-02 1.32139853e+02] [ 7.60321249e-01 6.49168865e-01 -2.21671835e-02 5.42278142e+01] [ 3.16550615e-02 -2.94536245e-03 9.99494513e-01 4.55133226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13071405699998 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:132.17, Y:54.25, Z:4.55 [[ 6.50817427e-01 -7.58899245e-01 -2.25524228e-02 1.32165388e+02] [ 7.58572981e-01 6.51203132e-01 -2.23944778e-02 5.42487937e+01] [ 3.16813607e-02 -2.53294220e-03 9.99494810e-01 4.54861590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16071405699998 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:132.18, Y:54.27, Z:4.55 [[ 6.46657461e-01 -7.62443544e-01 -2.26709238e-02 1.32181999e+02] [ 7.62123304e-01 6.47048382e-01 -2.22814297e-02 5.42697721e+01] [ 3.16575168e-02 -2.86958664e-03 9.99494656e-01 4.55379358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19071405699998 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:132.20, Y:54.29, Z:4.55 [[ 6.45938859e-01 -7.63060412e-01 -2.24008504e-02 1.32204615e+02] [ 7.62731654e-01 6.46322228e-01 -2.25389044e-02 5.42917287e+01] [ 3.16767132e-02 -2.52708348e-03 9.99494972e-01 4.55450666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22071405699998 meters Centerline goodness : 0.996263 Centerline is valid? [True, True] Translation: X:132.23, Y:54.32, Z:4.56 [[ 6.43565191e-01 -7.65064015e-01 -2.23807651e-02 1.32229060e+02] [ 7.64735791e-01 6.43948992e-01 -2.25580393e-02 5.43162695e+01] [ 3.16704153e-02 -2.59780323e-03 9.99494991e-01 4.55508017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25071405699998 meters Centerline goodness : 0.995579 Centerline is valid? [True, True] Translation: X:132.24, Y:54.34, Z:4.56 [[ 6.37896779e-01 -7.69790566e-01 -2.25872491e-02 1.32235700e+02] [ 7.69472025e-01 6.38288943e-01 -2.23613008e-02 5.43363931e+01] [ 3.16307098e-02 -3.11605456e-03 9.99494767e-01 4.55896363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28071405699998 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:132.27, Y:54.36, Z:4.56 [[ 6.43048670e-01 -7.65512359e-01 -2.18914594e-02 1.32272214e+02] [ 7.65168545e-01 6.43418248e-01 -2.30229163e-02 5.43613071e+01] [ 3.17096914e-02 -1.94580041e-03 9.99495227e-01 4.55708371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31071405699998 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:132.29, Y:54.38, Z:4.56 [[ 6.42873137e-01 -7.65640133e-01 -2.25680586e-02 1.32291719e+02] [ 7.65318437e-01 6.43262672e-01 -2.23791014e-02 5.43814880e+01] [ 3.16515278e-02 -2.88482824e-03 9.99494802e-01 4.56159218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34071405699999 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:132.32, Y:54.41, Z:4.56 [[ 6.41563155e-01 -7.66745452e-01 -2.23188181e-02 1.32315848e+02] [ 7.66416230e-01 6.41946005e-01 -2.26161121e-02 5.44061197e+01] [ 3.16682772e-02 -2.59584024e-03 9.99495063e-01 4.55865295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.370714057 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:132.34, Y:54.43, Z:4.56 [[ 6.39415992e-01 -7.68532402e-01 -2.24752574e-02 1.32337347e+02] [ 7.68209395e-01 6.39804298e-01 -2.24674509e-02 5.44293917e+01] [ 3.16467303e-02 -2.89965647e-03 9.99494911e-01 4.56152776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.400714057 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:132.36, Y:54.45, Z:4.56 [[ 6.39107680e-01 -7.68790360e-01 -2.24222283e-02 1.32360396e+02] [ 7.68465761e-01 6.39494582e-01 -2.25178419e-02 5.44534707e+01] [ 3.16503933e-02 -2.83938907e-03 9.99494968e-01 4.56231337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.430714057 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:132.38, Y:54.48, Z:4.56 [[ 6.39387456e-01 -7.68556953e-01 -2.24475284e-02 1.32382458e+02] [ 7.68233047e-01 6.39774972e-01 -2.24937975e-02 5.44762288e+01] [ 3.16491313e-02 -2.86268114e-03 9.99494941e-01 4.56286093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.460714057 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:132.40, Y:54.50, Z:4.56 [[ 6.41132292e-01 -7.67099969e-01 -2.25171376e-02 1.32402618e+02] [ 7.66777475e-01 6.41521087e-01 -2.24276426e-02 5.44980338e+01] [ 3.16494626e-02 -2.88654797e-03 9.99494862e-01 4.56225246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.490714057 meters Centerline goodness : 0.995799 Centerline is valid? [True, True] Translation: X:132.41, Y:54.52, Z:4.57 [[ 6.36694142e-01 -7.70790051e-01 -2.24336295e-02 1.32409063e+02] [ 7.70467039e-01 6.37082389e-01 -2.25071297e-02 5.45197516e+01] [ 3.16403419e-02 -2.95421452e-03 9.99494953e-01 4.56785130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.520714057 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:132.43, Y:54.55, Z:4.57 [[ 6.38908524e-01 -7.68971498e-01 -2.18799601e-02 1.32429206e+02] [ 7.68629338e-01 6.39279609e-01 -2.30330928e-02 5.45453631e+01] [ 3.16992043e-02 -2.10153993e-03 9.99495245e-01 4.56979956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.550714057 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:132.45, Y:54.57, Z:4.57 [[ 6.40281280e-01 -7.67829700e-01 -2.18502803e-02 1.32449593e+02] [ 7.67485922e-01 6.40650869e-01 -2.30612904e-02 5.45687264e+01] [ 3.17055447e-02 -2.00407001e-03 9.99495244e-01 4.57122328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.580714057 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:132.47, Y:54.59, Z:4.57 [[ 6.41056117e-01 -7.67185266e-01 -2.17674691e-02 1.32470692e+02] [ 7.66838462e-01 6.41422883e-01 -2.31399736e-02 5.45945407e+01] [ 3.17147996e-02 -1.85811088e-03 9.99495232e-01 4.57254926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.610714057 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:132.49, Y:54.62, Z:4.57 [[ 6.41368365e-01 -7.66920761e-01 -2.18898723e-02 1.32491961e+02] [ 7.66577734e-01 6.41738647e-01 -2.30235985e-02 5.46180571e+01] [ 3.17048527e-02 -2.01368098e-03 9.99495246e-01 4.57242916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.640714057 meters Centerline goodness : 0.995246 Centerline is valid? [True, True] Translation: X:132.51, Y:54.64, Z:4.57 [[ 6.41332892e-01 -7.66950390e-01 -2.18911148e-02 1.32513952e+02] [ 7.66607421e-01 6.41703227e-01 -2.30224170e-02 5.46421404e+01] [ 3.17046507e-02 -2.01685783e-03 9.99495246e-01 4.57421195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.670714057 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:132.56, Y:54.67, Z:4.57 [[ 6.48915853e-01 -7.60545148e-01 -2.18927549e-02 1.32555550e+02] [ 7.60198571e-01 6.49282814e-01 -2.30208573e-02 5.46688831e+01] [ 3.17229908e-02 -1.70424174e-03 9.99495246e-01 4.56915578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.700714057 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:132.55, Y:54.69, Z:4.57 [[ 6.37876074e-01 -7.69794416e-01 -2.30363003e-02 1.32552939e+02] [ 7.69491039e-01 6.38280965e-01 -2.19306093e-02 5.46875228e+01] [ 3.15856925e-02 -3.73721568e-03 9.99494061e-01 4.57491177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.730714057 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:132.59, Y:54.71, Z:4.57 [[ 6.42651898e-01 -7.65845863e-01 -2.18780892e-02 1.32589105e+02] [ 7.65501962e-01 6.43021246e-01 -2.30309019e-02 5.47139612e+01] [ 3.17061972e-02 -1.94686737e-03 9.99495336e-01 4.57167358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76071405699997 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:132.61, Y:54.74, Z:4.57 [[ 6.40550135e-01 -7.67582277e-01 -2.26488921e-02 1.32609358e+02] [ 7.67264607e-01 6.40942951e-01 -2.22970027e-02 5.47374081e+01] [ 3.16314318e-02 -3.09534521e-03 9.99494808e-01 4.57248530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79071405699997 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:132.63, Y:54.76, Z:4.57 [[ 6.36791211e-01 -7.70706046e-01 -2.25642367e-02 1.32627949e+02] [ 7.70387482e-01 6.37183155e-01 -2.23775518e-02 5.47619956e+01] [ 3.16240659e-02 -3.13337719e-03 9.99494923e-01 4.57381926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82071405699998 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:132.65, Y:54.79, Z:4.57 [[ 6.34309566e-01 -7.72751977e-01 -2.24890355e-02 1.32650686e+02] [ 7.72432175e-01 6.34700382e-01 -2.24490397e-02 5.47873860e+01] [ 3.16213392e-02 -3.13161399e-03 9.99495014e-01 4.57292713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85071405699998 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:132.67, Y:54.81, Z:4.57 [[ 6.32016743e-01 -7.74625284e-01 -2.25943629e-02 1.32671572e+02] [ 7.74310154e-01 6.32411504e-01 -2.23489232e-02 5.48112454e+01] [ 3.16009761e-02 -3.37015094e-03 9.99494883e-01 4.57356713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88071405699998 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:132.69, Y:54.84, Z:4.57 [[ 6.30499581e-01 -7.75862607e-01 -2.25275862e-02 1.32693357e+02] [ 7.75546020e-01 6.30893063e-01 -2.24123358e-02 5.48354980e+01] [ 3.16013912e-02 -3.34021150e-03 9.99494970e-01 4.57435008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91071405699998 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:132.72, Y:54.86, Z:4.58 [[ 6.28596665e-01 -7.77405796e-01 -2.25046883e-02 1.32715004e+02] [ 7.77089410e-01 6.28990272e-01 -2.24340486e-02 5.48597073e+01] [ 3.15955894e-02 -3.38618681e-03 9.99494999e-01 4.57530893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94071405699998 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:132.73, Y:54.88, Z:4.58 [[ 6.25789520e-01 -7.79666900e-01 -2.25166990e-02 1.32733302e+02] [ 7.79352338e-01 6.26184604e-01 -2.24226556e-02 5.48825134e+01] [ 3.15818126e-02 -3.51657918e-03 9.99494984e-01 4.57621010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97071405699998 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:132.75, Y:54.91, Z:4.58 [[ 6.23083628e-01 -7.81834433e-01 -2.23989078e-02 1.32753047e+02] [ 7.81517292e-01 6.23476478e-01 -2.25345024e-02 5.49069204e+01] [ 3.15834421e-02 -3.46425425e-03 9.99495115e-01 4.57841342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00071405699998 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:132.77, Y:54.93, Z:4.58 [[ 6.21627340e-01 -7.82995508e-01 -2.23043662e-02 1.32774990e+02] [ 7.82675943e-01 6.22018102e-01 -2.26240659e-02 5.49315859e+01] [ 3.15882615e-02 -3.39335299e-03 9.99495206e-01 4.58069752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03071405699998 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:132.80, Y:54.96, Z:4.58 [[ 6.21340825e-01 -7.83222547e-01 -2.23163728e-02 1.32797033e+02] [ 7.82903526e-01 6.21732045e-01 -2.26126886e-02 5.49550844e+01] [ 3.15855717e-02 -3.42138039e-03 9.99495195e-01 4.58129667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06071405699998 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:132.82, Y:54.98, Z:4.58 [[ 6.20366546e-01 -7.83994010e-01 -2.23324986e-02 1.32816127e+02] [ 7.83676014e-01 6.20758618e-01 -2.25973996e-02 5.49782939e+01] [ 3.15793169e-02 -3.48277278e-03 9.99495181e-01 4.58394119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09071405699999 meters Centerline goodness : 0.993924 Centerline is valid? [True, True] Translation: X:132.83, Y:55.00, Z:4.59 [[ 6.22989961e-01 -7.81912814e-01 -2.22679120e-02 1.32832515e+02] [ 7.81591354e-01 6.23379129e-01 -2.26587019e-02 5.49961771e+01] [ 3.15984809e-02 -3.28826368e-03 9.99495234e-01 4.58541708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.120714057 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:132.85, Y:55.02, Z:4.59 [[ 6.22808085e-01 -7.82065165e-01 -2.20037703e-02 1.32854565e+02] [ 7.81735070e-01 6.23189756e-01 -2.29086954e-02 5.50214408e+01] [ 3.16286169e-02 -2.93339816e-03 9.99495386e-01 4.58681143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.150714057 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:132.88, Y:55.04, Z:4.59 [[ 6.24004080e-01 -7.81109111e-01 -2.20786008e-02 1.32876201e+02] [ 7.80780893e-01 6.24387404e-01 -2.28378443e-02 5.50447599e+01] [ 3.16244485e-02 -2.98764163e-03 9.99495357e-01 4.58645637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.180714057 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:132.90, Y:55.07, Z:4.59 [[ 6.22674499e-01 -7.82170091e-01 -2.20548678e-02 1.32900127e+02] [ 7.81841742e-01 6.23057699e-01 -2.28603106e-02 5.50732919e+01] [ 3.16221064e-02 -3.00888380e-03 9.99495367e-01 4.58736106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.210714057 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:132.92, Y:55.10, Z:4.59 [[ 6.22866096e-01 -7.82008294e-01 -2.23797609e-02 1.32921231e+02] [ 7.81690629e-01 6.23258491e-01 -2.25524761e-02 5.50976353e+01] [ 3.15845994e-02 -3.44687660e-03 9.99495139e-01 4.58951125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.240714057 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:132.94, Y:55.12, Z:4.59 [[ 6.23437624e-01 -7.81554305e-01 -2.23248142e-02 1.32942693e+02] [ 7.81234523e-01 6.23828226e-01 -2.26045070e-02 5.51223622e+01] [ 3.15934990e-02 -3.34841545e-03 9.99495192e-01 4.59052757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.270714057 meters Centerline goodness : 0.995051 Centerline is valid? [True, True] Translation: X:132.95, Y:55.15, Z:4.59 [[ 6.20599079e-01 -7.83809563e-01 -2.23461998e-02 1.32950037e+02] [ 7.83491913e-01 6.20991444e-01 -2.25842611e-02 5.51455964e+01] [ 3.15785587e-02 -3.49229517e-03 9.99495172e-01 4.59145958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.300714057 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:132.98, Y:55.17, Z:4.59 [[ 6.26258229e-01 -7.79310266e-01 -2.18206337e-02 1.32977376e+02] [ 7.78972540e-01 6.26633100e-01 -2.30811366e-02 5.51680840e+01] [ 3.16608980e-02 -2.54292276e-03 9.99495433e-01 4.59182154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.330714057 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:133.00, Y:55.20, Z:4.59 [[ 6.25519523e-01 -7.79895636e-01 -2.20935213e-02 1.32999658e+02] [ 7.79567163e-01 6.25902640e-01 -2.28237512e-02 5.51950553e+01] [ 3.16285373e-02 -2.94668177e-03 9.99495349e-01 4.59452024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.360714057 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:133.02, Y:55.22, Z:4.60 [[ 6.26587456e-01 -7.79032514e-01 -2.22823250e-02 1.33022784e+02] [ 7.78709723e-01 6.26975553e-01 -2.26456044e-02 5.52183491e+01] [ 3.16121351e-02 -3.16201143e-03 9.99495210e-01 4.59626882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.390714057 meters Centerline goodness : 0.995510 Centerline is valid? [True, True] Translation: X:133.04, Y:55.24, Z:4.60 [[ 6.26353578e-01 -7.79220078e-01 -2.22994306e-02 1.33042861e+02] [ 7.78897969e-01 6.26742261e-01 -2.26294651e-02 5.52419086e+01] [ 3.16093292e-02 -3.19493477e-03 9.99495194e-01 4.59694999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.420714057 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:133.06, Y:55.27, Z:4.60 [[ 6.26638135e-01 -7.78992960e-01 -2.22399898e-02 1.33061477e+02] [ 7.78668748e-01 6.27024997e-01 -2.26855551e-02 5.52664559e+01] [ 3.16169172e-02 -3.10195111e-03 9.99495247e-01 4.59737471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.450714057 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:133.08, Y:55.29, Z:4.60 [[ 6.26052536e-01 -7.79465321e-01 -2.21818833e-02 1.33081235e+02] [ 7.79139486e-01 6.26437974e-01 -2.27404222e-02 5.52903868e+01] [ 3.16209445e-02 -3.04608220e-03 9.99495291e-01 4.59755298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.480714057 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:133.10, Y:55.32, Z:4.60 [[ 6.25852630e-01 -7.79627842e-01 -2.21113720e-02 1.33101180e+02] [ 7.79299790e-01 6.26236122e-01 -2.28069512e-02 5.53151882e+01] [ 3.16278740e-02 -2.95759716e-03 9.99495338e-01 4.59897665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51071405699997 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:133.12, Y:55.34, Z:4.60 [[ 6.25348979e-01 -7.80032889e-01 -2.20759316e-02 1.33122432e+02] [ 7.79703922e-01 6.25731660e-01 -2.28403904e-02 5.53394362e+01] [ 3.16298650e-02 -2.92947566e-03 9.99495358e-01 4.59998660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54071405699997 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:133.14, Y:55.36, Z:4.60 [[ 6.25069229e-01 -7.80257302e-01 -2.20681072e-02 1.33143725e+02] [ 7.79928216e-01 6.25451803e-01 -2.28477737e-02 5.53626059e+01] [ 3.16296796e-02 -2.93009918e-03 9.99495362e-01 4.60070028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57071405699998 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:133.16, Y:55.39, Z:4.60 [[ 6.23329423e-01 -7.81648202e-01 -2.20571645e-02 1.33163802e+02] [ 7.81319610e-01 6.23712414e-01 -2.28580990e-02 5.53863971e+01] [ 3.16243193e-02 -2.98556943e-03 9.99495367e-01 4.60100397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60071405699998 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:133.19, Y:55.41, Z:4.60 [[ 6.23017831e-01 -7.81898136e-01 -2.20019900e-02 1.33186506e+02] [ 7.81567887e-01 6.23399361e-01 -2.29101490e-02 5.54103775e+01] [ 3.16294293e-02 -2.92261752e-03 9.99495391e-01 4.60232805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63071405699998 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:133.20, Y:55.43, Z:4.60 [[ 6.22113895e-01 -7.82616478e-01 -2.20397370e-02 1.33204124e+02] [ 7.82287909e-01 6.22496894e-01 -2.28745487e-02 5.54318867e+01] [ 3.16216665e-02 -3.01084515e-03 9.99495375e-01 4.60062099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66071405699998 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:133.23, Y:55.46, Z:4.60 [[ 6.21329634e-01 -7.83246504e-01 -2.17807342e-02 1.33230695e+02] [ 7.82909852e-01 6.21705468e-01 -2.31187160e-02 5.54575710e+01] [ 3.16488550e-02 -2.68800807e-03 9.99495435e-01 4.60207389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69071405699998 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:133.25, Y:55.48, Z:4.60 [[ 6.19682779e-01 -7.84542312e-01 -2.20593401e-02 1.33246676e+02] [ 7.84215583e-01 6.20067357e-01 -2.28558905e-02 5.54793795e+01] [ 3.16096899e-02 -3.13587656e-03 9.99495370e-01 4.60192041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72071405699998 meters Centerline goodness : 0.995956 Centerline is valid? [True, True] Translation: X:133.28, Y:55.51, Z:4.61 [[ 6.24575994e-01 -7.80659941e-01 -2.17918320e-02 1.33279962e+02] [ 7.80322094e-01 6.24950752e-01 -2.31081632e-02 5.55052168e+01] [ 3.16584392e-02 -2.57184398e-03 9.99495437e-01 4.60580911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75071405699998 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:133.30, Y:55.53, Z:4.61 [[ 6.23550803e-01 -7.81460474e-01 -2.24482436e-02 1.33296975e+02] [ 7.81144732e-01 6.23944860e-01 -2.24882193e-02 5.55263798e+01] [ 3.15801207e-02 -3.51278006e-03 9.99495051e-01 4.60635943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78071405699998 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:133.32, Y:55.55, Z:4.61 [[ 6.23496247e-01 -7.81510507e-01 -2.22206526e-02 1.33319744e+02] [ 7.81187243e-01 6.23883857e-01 -2.27029712e-02 5.55509128e+01] [ 3.16057170e-02 -3.20327296e-03 9.99495281e-01 4.60755212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81071405699998 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:133.34, Y:55.57, Z:4.61 [[ 6.24135618e-01 -7.80999674e-01 -2.22314745e-02 1.33340600e+02] [ 7.80676451e-01 6.24523273e-01 -2.26927574e-02 5.55738307e+01] [ 3.16071094e-02 -3.19223040e-03 9.99495273e-01 4.60857189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84071405699999 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:133.36, Y:55.60, Z:4.61 [[ 6.24376259e-01 -7.80808833e-01 -2.21777615e-02 1.33363979e+02] [ 7.80483721e-01 6.24762275e-01 -2.27433800e-02 5.55984912e+01] [ 3.16140608e-02 -3.10895529e-03 9.99495315e-01 4.61140390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.870714057 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:133.39, Y:55.62, Z:4.61 [[ 6.24722135e-01 -7.80528701e-01 -2.22980111e-02 1.33386204e+02] [ 7.80207383e-01 6.25111448e-01 -2.26300233e-02 5.56231090e+01] [ 3.16021247e-02 -3.25959639e-03 9.99495213e-01 4.61327936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.900714057 meters Centerline goodness : 0.996581 Centerline is valid? [True, True] Translation: X:133.42, Y:55.65, Z:4.61 [[ 6.29478506e-01 -7.76696978e-01 -2.23297031e-02 1.33418674e+02] [ 7.76374329e-01 6.29866758e-01 -2.26001616e-02 5.56479932e+01] [ 3.16182149e-02 -3.10989233e-03 9.99495181e-01 4.61089352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.930714057 meters Centerline goodness : 0.996588 Centerline is valid? [True, True] Translation: X:133.44, Y:55.67, Z:4.61 [[ 6.29099653e-01 -7.76985041e-01 -2.29755020e-02 1.33438509e+02] [ 7.76684131e-01 6.29506286e-01 -2.19908378e-02 5.56680254e+01] [ 3.15497750e-02 -4.01027939e-03 9.99494137e-01 4.61021577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.960714057 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:133.46, Y:55.69, Z:4.61 [[ 6.26858291e-01 -7.78802349e-01 -2.27064754e-02 1.33461646e+02] [ 7.78493569e-01 6.27258293e-01 -2.22440458e-02 5.56912633e+01] [ 3.15665401e-02 -3.73298052e-03 9.99494682e-01 4.61085882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.990714057 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:133.47, Y:55.71, Z:4.61 [[ 6.21527236e-01 -7.83058392e-01 -2.28790065e-02 1.33472884e+02] [ 7.82758171e-01 6.21934116e-01 -2.20816656e-02 5.57085558e+01] [ 3.15204683e-02 -4.18437270e-03 9.99494348e-01 4.61243674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.020714057 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:133.50, Y:55.73, Z:4.61 [[ 6.24077961e-01 -7.81045780e-01 -2.22303505e-02 1.33502583e+02] [ 7.80722637e-01 6.24465598e-01 -2.26909825e-02 5.57340228e+01] [ 3.16047852e-02 -3.19479579e-03 9.99495338e-01 4.61475730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.050714057 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:133.52, Y:55.76, Z:4.62 [[ 6.23525319e-01 -7.81474268e-01 -2.26747763e-02 1.33523486e+02] [ 7.81166147e-01 6.23925750e-01 -2.22735200e-02 5.57560654e+01] [ 3.15535596e-02 -3.82466400e-03 9.99494745e-01 4.61571340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.080714057 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:133.54, Y:55.78, Z:4.62 [[ 6.23344742e-01 -7.81621599e-01 -2.25612000e-02 1.33539942e+02] [ 7.81309779e-01 6.23742060e-01 -2.23801809e-02 5.57767665e+01] [ 3.15652021e-02 -3.67671813e-03 9.99494932e-01 4.61678864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.110714057 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:133.56, Y:55.80, Z:4.62 [[ 6.25999927e-01 -7.79504698e-01 -2.22826613e-02 1.33559550e+02] [ 7.79182328e-01 6.26388265e-01 -2.26415941e-02 5.57994284e+01] [ 3.16068266e-02 -3.18861966e-03 9.99495293e-01 4.61877807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.140714057 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:133.58, Y:55.82, Z:4.62 [[ 6.27864240e-01 -7.78006322e-01 -2.21959158e-02 1.33581556e+02] [ 7.77680185e-01 6.28249311e-01 -2.27229872e-02 5.58231927e+01] [ 3.16231965e-02 -2.99437283e-03 9.99495376e-01 4.62060649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.170714057 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:133.60, Y:55.85, Z:4.62 [[ 6.29998378e-01 -7.76278632e-01 -2.22155159e-02 1.33603611e+02] [ 7.75952077e-01 6.30383118e-01 -2.27045973e-02 5.58471534e+01] [ 3.16293799e-02 -2.93431622e-03 9.99495359e-01 4.62238130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.200714057 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:133.62, Y:55.87, Z:4.62 [[ 6.34592363e-01 -7.72527751e-01 -2.22127591e-02 1.33624149e+02] [ 7.72198830e-01 6.34975079e-01 -2.27071835e-02 5.58700929e+01] [ 3.16464779e-02 -2.74286133e-03 9.99495361e-01 4.62215873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.230714057 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:133.65, Y:55.89, Z:4.63 [[ 6.41225187e-01 -7.67031738e-01 -2.21939750e-02 1.33646411e+02] [ 7.66698929e-01 6.41604503e-01 -2.27247545e-02 5.58922885e+01] [ 3.16703622e-02 -2.44441186e-03 9.99495379e-01 4.62626167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26071405699997 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:133.67, Y:55.92, Z:4.63 [[ 6.43141367e-01 -7.65426195e-01 -2.21793181e-02 1.33668424e+02] [ 7.65091970e-01 6.43519417e-01 -2.27384492e-02 5.59161964e+01] [ 3.16774265e-02 -2.34518092e-03 9.99495393e-01 4.62812068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29071405699997 meters Centerline goodness : 0.995578 Centerline is valid? [True, True] Translation: X:133.70, Y:55.94, Z:4.62 [[ 6.45004557e-01 -7.63854602e-01 -2.22546507e-02 1.33695642e+02] [ 7.63521861e-01 6.45384015e-01 -2.26680733e-02 5.59432086e+01] [ 3.16779079e-02 -2.37090173e-03 9.99495317e-01 4.62245412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32071405699998 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:133.72, Y:55.96, Z:4.63 [[ 6.49478571e-01 -7.60044307e-01 -2.25884243e-02 1.33715249e+02] [ 7.59720006e-01 6.49865893e-01 -2.23569714e-02 5.59646413e+01] [ 3.16717354e-02 -2.64050400e-03 9.99494837e-01 4.62848029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35071405699998 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:133.74, Y:55.99, Z:4.63 [[ 6.51859679e-01 -7.58005652e-01 -2.25031482e-02 1.33736747e+02] [ 7.57677408e-01 6.52243477e-01 -2.24364080e-02 5.59881114e+01] [ 3.16844557e-02 -2.42473726e-03 9.99494980e-01 4.62737696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38071405699998 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:133.76, Y:56.01, Z:4.63 [[ 6.54094450e-01 -7.56077132e-01 -2.25348700e-02 1.33756022e+02] [ 7.55748769e-01 6.54478213e-01 -2.24068286e-02 5.60089286e+01] [ 3.16898721e-02 -2.37451800e-03 9.99494929e-01 4.62593786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41071405699998 meters Centerline goodness : 0.994116 Centerline is valid? [True, True] Translation: X:133.78, Y:56.03, Z:4.63 [[ 6.55313966e-01 -7.55023906e-01 -2.24166858e-02 1.33781609e+02] [ 7.54691163e-01 6.55693700e-01 -2.25171304e-02 5.60344853e+01] [ 3.16994514e-02 -2.16188467e-03 9.99495108e-01 4.62527246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44071405699998 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:133.80, Y:56.06, Z:4.63 [[ 6.53518082e-01 -7.56573929e-01 -2.25833201e-02 1.33798896e+02] [ 7.56247388e-01 6.53903522e-01 -2.23622850e-02 5.60560743e+01] [ 3.16860344e-02 -2.46441920e-03 9.99494833e-01 4.62664830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47071405699998 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:133.82, Y:56.08, Z:4.62 [[ 6.53235946e-01 -7.56824061e-01 -2.23637992e-02 1.33823267e+02] [ 7.56490698e-01 6.53615025e-01 -2.25659605e-02 5.60827403e+01] [ 3.16957770e-02 -2.17710954e-03 9.99495192e-01 4.62354300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50071405699998 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:133.84, Y:56.10, Z:4.63 [[ 6.53661667e-01 -7.56451552e-01 -2.25271806e-02 1.33841795e+02] [ 7.56123133e-01 6.54045394e-01 -2.24149631e-02 5.61047697e+01] [ 3.16896324e-02 -2.38152023e-03 9.99494920e-01 4.62914779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53071405699998 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:133.84, Y:56.13, Z:4.63 [[ 6.45219988e-01 -7.63667658e-01 -2.24248884e-02 1.33841745e+02] [ 7.63340258e-01 6.45604351e-01 -2.25093845e-02 5.61255675e+01] [ 3.16672945e-02 -2.59431534e-03 9.99495099e-01 4.63054817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56071405699998 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:133.86, Y:56.15, Z:4.63 [[ 6.45664788e-01 -7.63318200e-01 -2.15013374e-02 1.33860251e+02] [ 7.62961832e-01 6.46021344e-01 -2.33595042e-02 5.61463635e+01] [ 3.17210576e-02 -1.32229042e-03 9.99495886e-01 4.63260616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59071405699999 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:133.90, Y:56.17, Z:4.64 [[ 6.54326824e-01 -7.55906309e-01 -2.14955583e-02 1.33898966e+02] [ 7.55545724e-01 6.54679116e-01 -2.33648210e-02 5.61698308e+01] [ 3.17343087e-02 -9.52647986e-04 9.99495886e-01 4.63662224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.620714057 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:133.92, Y:56.19, Z:4.64 [[ 6.54410143e-01 -7.55811785e-01 -2.22690292e-02 1.33922296e+02] [ 7.55474903e-01 6.54785878e-01 -2.26522692e-02 5.61933842e+01] [ 3.17022978e-02 -1.99981794e-03 9.99495355e-01 4.63741873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.650714057 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:133.94, Y:56.22, Z:4.64 [[ 6.53968833e-01 -7.56193922e-01 -2.22602135e-02 1.33944643e+02] [ 7.55856984e-01 6.54344501e-01 -2.26603858e-02 5.62167303e+01] [ 3.17014943e-02 -2.00635175e-03 9.99495368e-01 4.63923151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.680714057 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:133.95, Y:56.24, Z:4.64 [[ 6.46616308e-01 -7.62490240e-01 -2.22707093e-02 1.33947708e+02] [ 7.62157287e-01 6.46995531e-01 -2.26506621e-02 5.62352666e+01] [ 3.16799582e-02 -2.32749591e-03 9.99495354e-01 4.64168937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.710714057 meters Centerline goodness : 0.993943 Centerline is valid? [True, True] Translation: X:133.98, Y:56.26, Z:4.64 [[ 6.52749545e-01 -7.57272435e-01 -2.13656552e-02 1.33984118e+02] [ 7.56908597e-01 6.53098578e-01 -2.34866824e-02 5.62589989e+01] [ 3.17396962e-02 -8.40926873e-04 9.99495815e-01 4.64159685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.740714057 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:134.00, Y:56.28, Z:4.64 [[ 6.49333973e-01 -7.60175389e-01 -2.23331539e-02 1.34002868e+02] [ 7.59842894e-01 6.49713865e-01 -2.25980221e-02 5.62792662e+01] [ 3.16886200e-02 -2.29602482e-03 9.99495152e-01 4.64259187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.770714057 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:134.03, Y:56.30, Z:4.64 [[ 6.48094690e-01 -7.61241167e-01 -2.20262977e-02 1.34025172e+02] [ 7.60899711e-01 6.48466001e-01 -2.28796021e-02 5.63031795e+01] [ 3.17002002e-02 -1.93165494e-03 9.99495556e-01 4.64166795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.800714057 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:134.05, Y:56.32, Z:4.64 [[ 6.45816796e-01 -7.63173297e-01 -2.20722483e-02 1.34047219e+02] [ 7.62834384e-01 6.46190495e-01 -2.28374078e-02 5.63244849e+01] [ 3.16917768e-02 -2.08868843e-03 9.99495507e-01 4.64125471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.830714057 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:134.07, Y:56.35, Z:4.64 [[ 6.44110265e-01 -7.64618131e-01 -2.19335426e-02 1.34069552e+02] [ 7.64275738e-01 6.44480587e-01 -2.29645143e-02 5.63491107e+01] [ 3.16948264e-02 -1.97159507e-03 9.99495648e-01 4.64135286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.860714057 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:134.09, Y:56.37, Z:4.64 [[ 6.43561212e-01 -7.65079834e-01 -2.19502730e-02 1.34092600e+02] [ 7.64738226e-01 6.43932279e-01 -2.29491859e-02 5.63727031e+01] [ 3.16924487e-02 -2.01700695e-03 9.99495633e-01 4.64262889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.890714057 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:134.11, Y:56.40, Z:4.64 [[ 6.42381901e-01 -7.66069546e-01 -2.19759933e-02 1.34113564e+02] [ 7.65729311e-01 6.42754259e-01 -2.29256292e-02 5.63957765e+01] [ 3.16877896e-02 -2.10065293e-03 9.99495608e-01 4.64401529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.920714057 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:134.14, Y:56.42, Z:4.65 [[ 6.43380696e-01 -7.65232996e-01 -2.19030128e-02 1.34135690e+02] [ 7.64890013e-01 6.43750432e-01 -2.29923937e-02 5.64201388e+01] [ 3.16946122e-02 -1.96053350e-03 9.99495677e-01 4.64648615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.950714057 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:134.16, Y:56.44, Z:4.65 [[ 6.44506834e-01 -7.64283120e-01 -2.19602689e-02 1.34155257e+02] [ 7.63941365e-01 6.44877776e-01 -2.29400081e-02 5.64430270e+01] [ 3.16943503e-02 -1.99136583e-03 9.99495624e-01 4.64859249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.980714057 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:134.18, Y:56.47, Z:4.65 [[ 6.46607672e-01 -7.62510164e-01 -2.18350436e-02 1.34182021e+02] [ 7.62163532e-01 6.46973911e-01 -2.30544757e-02 5.64691337e+01] [ 3.17059756e-02 -1.73467309e-03 9.99495734e-01 4.64913638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01071405699997 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:134.20, Y:56.49, Z:4.65 [[ 6.46461755e-01 -7.62622433e-01 -2.22311428e-02 1.34200180e+02] [ 7.62288150e-01 6.46839888e-01 -2.26921931e-02 5.64914810e+01] [ 3.16855655e-02 -2.27690175e-03 9.99495293e-01 4.65304345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04071405699997 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:134.22, Y:56.51, Z:4.66 [[ 6.47203851e-01 -7.61998945e-01 -2.20177938e-02 1.34221301e+02] [ 7.61657666e-01 6.47575305e-01 -2.28871925e-02 5.65146851e+01] [ 3.16981960e-02 -1.95734234e-03 9.99495569e-01 4.65535339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07071405699998 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:134.25, Y:56.54, Z:4.65 [[ 6.49683464e-01 -7.59886419e-01 -2.20006160e-02 1.34251124e+02] [ 7.59543402e-01 6.50053289e-01 -2.29028851e-02 5.65400442e+01] [ 3.17051641e-02 -1.83079700e-03 9.99495588e-01 4.65430126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10071405699998 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:134.26, Y:56.56, Z:4.66 [[ 6.45302209e-01 -7.63596299e-01 -2.24888941e-02 1.34264832e+02] [ 7.63270689e-01 6.45688426e-01 -2.24569045e-02 5.65609702e+01] [ 3.16688278e-02 -2.67362359e-03 9.99494841e-01 4.65596172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13071405699998 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:134.30, Y:56.59, Z:4.65 [[ 6.45207874e-01 -7.63689022e-01 -2.20426072e-02 1.34295526e+02] [ 7.63349509e-01 6.45580959e-01 -2.28637707e-02 5.65877355e+01] [ 3.16910982e-02 -2.07432852e-03 9.99495558e-01 4.64953634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16071405699998 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:134.32, Y:56.61, Z:4.65 [[ 6.44606201e-01 -7.64181650e-01 -2.25665902e-02 1.34316524e+02] [ 7.63858843e-01 6.44994980e-01 -2.23862552e-02 5.66087958e+01] [ 3.16625028e-02 -2.80737060e-03 9.99494675e-01 4.65478119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19071405699998 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:134.33, Y:56.63, Z:4.66 [[ 6.37320726e-01 -7.70272016e-01 -2.24346424e-02 1.34328843e+02] [ 7.69948724e-01 6.37708740e-01 -2.25061214e-02 5.66293342e+01] [ 3.16426031e-02 -2.92990668e-03 9.99494953e-01 4.65726239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22071405699998 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:134.35, Y:56.65, Z:4.66 [[ 6.34640896e-01 -7.72496294e-01 -2.19182427e-02 1.34350816e+02] [ 7.72158137e-01 6.35014947e-01 -2.29745452e-02 5.66540420e+01] [ 3.16661627e-02 -2.34376351e-03 9.99495753e-01 4.65535340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25071405699998 meters Centerline goodness : 0.995354 Centerline is valid? [True, True] Translation: X:134.37, Y:56.68, Z:4.66 [[ 6.32606959e-01 -7.74158229e-01 -2.20787754e-02 1.34373403e+02] [ 7.73826073e-01 6.32986610e-01 -2.28289073e-02 5.66786112e+01] [ 3.16487557e-02 -2.64340647e-03 9.99495557e-01 4.65566485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28071405699998 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:134.39, Y:56.70, Z:4.66 [[ 6.28799352e-01 -7.77253358e-01 -2.21041367e-02 1.34393625e+02] [ 7.76923869e-01 6.29181367e-01 -2.28059023e-02 5.67003430e+01] [ 3.16334751e-02 -2.83289481e-03 9.99495522e-01 4.65735712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31071405699998 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:134.42, Y:56.72, Z:4.66 [[ 6.26740668e-01 -7.78919497e-01 -2.19214948e-02 1.34416049e+02] [ 7.78585286e-01 6.27118237e-01 -2.29710312e-02 5.67245861e+01] [ 3.16399532e-02 -2.67087382e-03 9.99495763e-01 4.65894103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34071405699999 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:134.43, Y:56.74, Z:4.66 [[ 6.25335514e-01 -7.80045339e-01 -2.20173580e-02 1.34434353e+02] [ 7.79714821e-01 6.25716475e-01 -2.28843113e-02 5.67448927e+01] [ 3.16274241e-02 -2.85688780e-03 9.99495645e-01 4.66182586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.370714057 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:134.46, Y:56.77, Z:4.66 [[ 6.23088708e-01 -7.81848125e-01 -2.17708839e-02 1.34456915e+02] [ 7.81510975e-01 6.23463442e-01 -2.31069971e-02 5.67710943e+01] [ 3.16395126e-02 -2.61647572e-03 9.99495921e-01 4.66306301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.400714057 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:134.48, Y:56.80, Z:4.66 [[ 6.21974976e-01 -7.82729351e-01 -2.19520755e-02 1.34477571e+02] [ 7.82398415e-01 6.22355465e-01 -2.29433184e-02 5.67954792e+01] [ 3.16204028e-02 -2.90509920e-03 9.99495728e-01 4.66477621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.430714057 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:134.50, Y:56.82, Z:4.67 [[ 6.21662199e-01 -7.82978500e-01 -2.19266669e-02 1.34498510e+02] [ 7.82646917e-01 6.22042083e-01 -2.29662689e-02 5.68192297e+01] [ 3.16214044e-02 -2.88357701e-03 9.99495759e-01 4.66512481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.460714057 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:134.52, Y:56.84, Z:4.67 [[ 6.20957044e-01 -7.83537769e-01 -2.19297603e-02 1.34517174e+02] [ 7.83206625e-01 6.21337316e-01 -2.29634746e-02 5.68416637e+01] [ 3.16185280e-02 -2.91620222e-03 9.99495755e-01 4.66783248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.490714057 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:134.54, Y:56.87, Z:4.67 [[ 6.19744597e-01 -7.84501085e-01 -2.17871981e-02 1.34539491e+02] [ 7.84166058e-01 6.20121242e-01 -2.30919785e-02 5.68661923e+01] [ 3.16263865e-02 -2.77365229e-03 9.99495912e-01 4.66774789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.520714057 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:134.56, Y:56.89, Z:4.67 [[ 6.19010697e-01 -7.85076852e-01 -2.19110102e-02 1.34558752e+02] [ 7.84746064e-01 6.19391248e-01 -2.29803695e-02 5.68891141e+01] [ 3.16128441e-02 -2.96948448e-03 9.99495778e-01 4.66925973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.550714057 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:134.58, Y:56.91, Z:4.67 [[ 6.17884028e-01 -7.85967506e-01 -2.17809104e-02 1.34580439e+02] [ 7.85633173e-01 6.18261283e-01 -2.30976793e-02 5.69135025e+01] [ 3.16203190e-02 -2.84011866e-03 9.99495918e-01 4.67023419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.580714057 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:134.60, Y:56.94, Z:4.67 [[ 6.17159642e-01 -7.86535140e-01 -2.18277363e-02 1.34601069e+02] [ 7.86202625e-01 6.17538562e-01 -2.30555147e-02 5.69382933e+01] [ 3.16134414e-02 -2.93209039e-03 9.99495870e-01 4.67236406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.610714057 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:134.62, Y:56.96, Z:4.67 [[ 6.18636836e-01 -7.85375107e-01 -2.17808872e-02 1.34618682e+02] [ 7.85040414e-01 6.19013769e-01 -2.30976662e-02 5.69608598e+01] [ 3.16230011e-02 -2.80980954e-03 9.99495918e-01 4.67093680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.640714057 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:134.64, Y:56.99, Z:4.67 [[ 6.18381913e-01 -7.85583167e-01 -2.15150568e-02 1.34638496e+02] [ 7.85240346e-01 6.18751176e-01 -2.33362551e-02 5.69862184e+01] [ 3.16450359e-02 -2.46377260e-03 9.99496134e-01 4.67090105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.670714057 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:134.66, Y:57.01, Z:4.67 [[ 6.18393588e-01 -7.85573784e-01 -2.15220827e-02 1.34660145e+02] [ 7.85231175e-01 6.18763053e-01 -2.33299509e-02 5.70104692e+01] [ 3.16444674e-02 -2.47271826e-03 9.99496130e-01 4.67192950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.700714057 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:134.68, Y:57.04, Z:4.67 [[ 6.18874481e-01 -7.85194817e-01 -2.15284988e-02 1.34680679e+02] [ 7.84852180e-01 6.19243924e-01 -2.33241920e-02 5.70355451e+01] [ 3.16454268e-02 -2.46194202e-03 9.99496126e-01 4.67375588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.730714057 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:134.70, Y:57.06, Z:4.68 [[ 6.23555729e-01 -7.81480142e-01 -2.16111117e-02 1.34700814e+02] [ 7.81137846e-01 6.23925561e-01 -2.32499337e-02 5.70622838e+01] [ 3.16530865e-02 -2.38362788e-03 9.99496073e-01 4.67620397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76071405699997 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:134.72, Y:57.09, Z:4.68 [[ 6.31731328e-01 -7.74884345e-01 -2.16744367e-02 1.34717000e+02] [ 7.74540118e-01 6.32099430e-01 -2.31930116e-02 5.70854473e+01] [ 3.16723007e-02 -2.13596874e-03 9.99496025e-01 4.67767250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79071405699997 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:134.74, Y:57.11, Z:4.68 [[ 6.33367789e-01 -7.73553736e-01 -2.14443819e-02 1.34738196e+02] [ 7.73201746e-01 6.33728270e-01 -2.33995912e-02 5.71131422e+01] [ 3.16907522e-02 -1.76028618e-03 9.99496172e-01 4.68104456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82071405699998 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:134.76, Y:57.14, Z:4.68 [[ 6.40526034e-01 -7.67630900e-01 -2.16610667e-02 1.34758244e+02] [ 7.67282099e-01 6.40889784e-01 -2.32048654e-02 5.71351895e+01] [ 3.16951280e-02 -1.75682832e-03 9.99496039e-01 4.67797758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85071405699998 meters Centerline goodness : 0.993700 Centerline is valid? [True, True] Translation: X:134.78, Y:57.16, Z:4.68 [[ 6.46626007e-01 -7.62503704e-01 -2.15153100e-02 1.34782484e+02] [ 7.62147657e-01 6.46982527e-01 -2.33357914e-02 5.71649612e+01] [ 3.17136570e-02 -1.30831348e-03 9.99496139e-01 4.67935462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88071405699998 meters Centerline goodness : 0.993846 Centerline is valid? [True, True] Translation: X:134.80, Y:57.19, Z:4.68 [[ 6.50846865e-01 -7.58892853e-01 -2.19088127e-02 1.34800714e+02] [ 7.58546574e-01 6.51213391e-01 -2.29829066e-02 5.71902770e+01] [ 3.17088758e-02 -1.66050217e-03 9.99495768e-01 4.68133202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91071405699998 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:134.82, Y:57.21, Z:4.68 [[ 6.53504462e-01 -7.56608105e-01 -2.18195678e-02 1.34820453e+02] [ 7.56257872e-01 6.53867060e-01 -2.30629486e-02 5.72141363e+01] [ 3.17167105e-02 -1.42948013e-03 9.99495876e-01 4.68265260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94071405699998 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:134.84, Y:57.24, Z:4.68 [[ 6.55968155e-01 -7.54473781e-01 -2.17966272e-02 1.34841267e+02] [ 7.54121685e-01 6.56328908e-01 -2.30835222e-02 5.72384125e+01] [ 3.17216688e-02 -1.29525374e-03 9.99495902e-01 4.68379079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97071405699998 meters Centerline goodness : 0.992657 Centerline is valid? [True, True] Translation: X:134.86, Y:57.26, Z:4.69 [[ 6.61460210e-01 -7.49662935e-01 -2.18145559e-02 1.34860044e+02] [ 7.49308743e-01 6.61818934e-01 -2.30674356e-02 5.72598032e+01] [ 3.17300876e-02 -1.08764669e-03 9.99495882e-01 4.68597663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00071405699998 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:134.88, Y:57.29, Z:4.69 [[ 6.61005454e-01 -7.50070705e-01 -2.15807051e-02 1.34883444e+02] [ 7.49709868e-01 6.61357171e-01 -2.32767291e-02 5.72857473e+01] [ 3.17317466e-02 -7.93222649e-04 9.99496107e-01 4.68677301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03071405699998 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:134.90, Y:57.30, Z:4.69 [[ 6.63937559e-01 -7.47468684e-01 -2.18514277e-02 1.34902872e+02] [ 7.47114397e-01 6.64296245e-01 -2.30342532e-02 5.73039469e+01] [ 3.17332043e-02 -1.03221036e-03 9.99495842e-01 4.68593370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06071405699998 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:134.93, Y:57.33, Z:4.69 [[ 6.62960641e-01 -7.48346290e-01 -2.14713463e-02 1.34932399e+02] [ 7.47981374e-01 6.63308007e-01 -2.33741651e-02 5.73315101e+01] [ 3.17340856e-02 -5.64015632e-04 9.99496188e-01 4.68684042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09071405699999 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:134.95, Y:57.35, Z:4.69 [[ 6.60483137e-01 -7.50516416e-01 -2.20711540e-02 1.34954159e+02] [ 7.50170337e-01 6.60850163e-01 -2.28369936e-02 5.73521928e+01] [ 3.17252643e-02 -1.47367585e-03 9.99495541e-01 4.68616070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.120714057 meters Centerline goodness : 0.994049 Centerline is valid? [True, True] Translation: X:134.98, Y:57.37, Z:4.69 [[ 6.59712081e-01 -7.51196196e-01 -2.20055774e-02 1.34975323e+02] [ 7.50848535e-01 6.60077468e-01 -2.28957074e-02 5.73739496e+01] [ 3.17245541e-02 -1.41828080e-03 9.99495643e-01 4.68587161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.150714057 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:135.00, Y:57.40, Z:4.69 [[ 6.57474694e-01 -7.53156978e-01 -2.19452112e-02 1.34999491e+02] [ 7.52808603e-01 6.57839279e-01 -2.29497398e-02 5.73963351e+01] [ 3.17211786e-02 -1.43167061e-03 9.99495731e-01 4.68510042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.180714057 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:135.02, Y:57.42, Z:4.69 [[ 6.58447921e-01 -7.52305956e-01 -2.19564090e-02 1.35021451e+02] [ 7.51957443e-01 6.58812396e-01 -2.29397446e-02 5.74170959e+01] [ 3.17228609e-02 -1.40565798e-03 9.99495715e-01 4.68841268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.210714057 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:135.05, Y:57.44, Z:4.69 [[ 6.55076910e-01 -7.55244902e-01 -2.18947726e-02 1.35045675e+02] [ 7.54896184e-01 6.55441067e-01 -2.29947493e-02 5.74402145e+01] [ 3.17174003e-02 -1.46495105e-03 9.99495803e-01 4.68632445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.240714057 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:135.07, Y:57.46, Z:4.69 [[ 6.52992388e-01 -7.57045021e-01 -2.19949341e-02 1.35070816e+02] [ 7.56700306e-01 6.53360537e-01 -2.29053561e-02 5.74640143e+01] [ 3.17110078e-02 -1.68655019e-03 9.99495657e-01 4.68766232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.270714057 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:135.09, Y:57.48, Z:4.69 [[ 6.50569931e-01 -7.59119733e-01 -2.22709666e-02 1.35090962e+02] [ 7.58784545e-01 6.50947445e-01 -2.26591568e-02 5.74847946e+01] [ 3.16982419e-02 -2.15749920e-03 9.99495156e-01 4.68979773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.300714057 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:135.11, Y:57.50, Z:4.69 [[ 6.45308230e-01 -7.63601667e-01 -2.21310281e-02 1.35109159e+02] [ 7.63264822e-01 6.45683903e-01 -2.27839614e-02 5.75037041e+01] [ 3.16875195e-02 -2.18915742e-03 9.99495427e-01 4.69404121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.330714057 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:135.13, Y:57.53, Z:4.70 [[ 6.44205137e-01 -7.64543290e-01 -2.17554541e-02 1.35132775e+02] [ 7.64195663e-01 6.44570055e-01 -2.31178209e-02 5.75269744e+01] [ 3.16974891e-02 -1.73280472e-03 9.99496006e-01 4.69542696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.360714057 meters Centerline goodness : 0.995556 Centerline is valid? [True, True] Translation: X:135.16, Y:57.55, Z:4.70 [[ 6.41641793e-01 -7.66694480e-01 -2.18032976e-02 1.35155374e+02] [ 7.66349511e-01 6.42009310e-01 -2.30753785e-02 5.75481937e+01] [ 3.16896853e-02 -1.90281924e-03 9.99495945e-01 4.69730238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.390714057 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:135.18, Y:57.57, Z:4.70 [[ 6.42087911e-01 -7.66322967e-01 -2.17307471e-02 1.35177906e+02] [ 7.65975612e-01 6.42453046e-01 -2.31397225e-02 5.75698282e+01] [ 3.16934854e-02 -1.78748627e-03 9.99496037e-01 4.69743735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.420714057 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:135.21, Y:57.59, Z:4.70 [[ 6.41580674e-01 -7.66749784e-01 -2.16565992e-02 1.35207199e+02] [ 7.66400458e-01 6.41943803e-01 -2.32054186e-02 5.75934240e+01] [ 3.16950693e-02 -1.70947946e-03 9.99496123e-01 4.69682064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.450714057 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:135.23, Y:57.61, Z:4.70 [[ 6.40393962e-01 -7.67730322e-01 -2.20392057e-02 1.35227089e+02] [ 7.67393079e-01 6.40769071e-01 -2.28661330e-02 5.76139580e+01] [ 3.16770650e-02 -2.26940042e-03 9.99495579e-01 4.69748001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.480714057 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:135.25, Y:57.64, Z:4.70 [[ 6.39515022e-01 -7.68468916e-01 -2.18188341e-02 1.35250518e+02] [ 7.68125442e-01 6.39883958e-01 -2.30613677e-02 5.76366416e+01] [ 3.16834662e-02 -2.01151049e-03 9.99495929e-01 4.69758667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51071405699997 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:135.27, Y:57.66, Z:4.70 [[ 6.37097853e-01 -7.70473617e-01 -2.18341868e-02 1.35273638e+02] [ 7.70131766e-01 6.37468323e-01 -2.30477974e-02 5.76580206e+01] [ 3.16763222e-02 -2.13149862e-03 9.99495907e-01 4.69740128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54071405699997 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:135.29, Y:57.68, Z:4.70 [[ 6.34573966e-01 -7.72554530e-01 -2.18031963e-02 1.35292684e+02] [ 7.72212957e-01 6.34944631e-01 -2.30751748e-02 5.76804914e+01] [ 3.16706532e-02 -2.19380550e-03 9.99495951e-01 4.69936130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57071405699998 meters Centerline goodness : 0.995467 Centerline is valid? [True, True] Translation: X:135.32, Y:57.70, Z:4.70 [[ 6.33518754e-01 -7.73426308e-01 -2.15808871e-02 1.35315313e+02] [ 7.73078562e-01 6.33883254e-01 -2.32714049e-02 5.77019936e+01] [ 3.16784797e-02 -1.94084972e-03 9.99496227e-01 4.69920685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60071405699998 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:135.34, Y:57.72, Z:4.70 [[ 6.32649631e-01 -7.74137157e-01 -2.15894866e-02 1.35335427e+02] [ 7.73790079e-01 6.33014778e-01 -2.32638037e-02 5.77242511e+01] [ 3.16758389e-02 -1.98789375e-03 9.99496218e-01 4.70083990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63071405699998 meters Centerline goodness : 0.995479 Centerline is valid? [True, True] Translation: X:135.37, Y:57.75, Z:4.70 [[ 6.34189533e-01 -7.72879095e-01 -2.14834946e-02 1.35366187e+02] [ 7.72528131e-01 6.34550804e-01 -2.33572970e-02 5.77484546e+01] [ 3.16847354e-02 -1.78365065e-03 9.99496321e-01 4.69980971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66071405699998 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:135.38, Y:57.77, Z:4.70 [[ 6.31244083e-01 -7.75270854e-01 -2.20456404e-02 1.35381585e+02] [ 7.74938254e-01 6.31623357e-01 -2.28612720e-02 5.77686956e+01] [ 3.16482193e-02 -2.65296741e-03 9.99495549e-01 4.70205270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69071405699998 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:135.40, Y:57.79, Z:4.70 [[ 6.30471515e-01 -7.75908252e-01 -2.17267875e-02 1.35403851e+02] [ 7.75566341e-01 6.30841721e-01 -2.31424464e-02 5.77913212e+01] [ 3.16625791e-02 -2.25991188e-03 9.99496060e-01 4.70426573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72071405699998 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:135.42, Y:57.81, Z:4.71 [[ 6.29020647e-01 -7.77081964e-01 -2.18322586e-02 1.35423836e+02] [ 7.76743940e-01 6.29394608e-01 -2.30494889e-02 5.78146932e+01] [ 3.16524480e-02 -2.45947015e-03 9.99495910e-01 4.70643031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75071405699998 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:135.45, Y:57.84, Z:4.71 [[ 6.29833219e-01 -7.76425762e-01 -2.17520675e-02 1.35445962e+02] [ 7.76084920e-01 6.30204456e-01 -2.31201267e-02 5.78371888e+01] [ 3.16593119e-02 -2.31962779e-03 9.99496027e-01 4.70698992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78071405699998 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:135.47, Y:57.86, Z:4.71 [[ 6.26559099e-01 -7.79069119e-01 -2.17945674e-02 1.35467412e+02] [ 7.78731132e-01 6.26933019e-01 -2.30827552e-02 5.78617210e+01] [ 3.16467957e-02 -2.50939784e-03 9.99495965e-01 4.70725207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81071405699998 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:135.47, Y:57.88, Z:4.71 [[ 6.17195797e-01 -7.86506542e-01 -2.18359155e-02 1.35469173e+02] [ 7.86174321e-01 6.17574934e-01 -2.30464218e-02 5.78815093e+01] [ 3.16114756e-02 -2.94268141e-03 9.99495901e-01 4.71110204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84071405699999 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:135.51, Y:57.91, Z:4.71 [[ 6.24546703e-01 -7.80707553e-01 -2.09077289e-02 1.35511232e+02] [ 7.80344149e-01 6.24894966e-01 -2.38598000e-02 5.79078128e+01] [ 3.16926606e-02 -1.41366449e-03 9.99496662e-01 4.70752892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.870714057 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:135.52, Y:57.93, Z:4.71 [[ 6.21306834e-01 -7.83255387e-01 -2.21092242e-02 1.35524937e+02] [ 7.82929654e-01 6.21692150e-01 -2.28041051e-02 5.79266808e+01] [ 3.16065693e-02 -3.14162088e-03 9.99495450e-01 4.70915147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.900714057 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:135.54, Y:57.95, Z:4.71 [[ 6.18146878e-01 -7.85761892e-01 -2.17413336e-02 1.35540535e+02] [ 7.85426398e-01 6.18522852e-01 -2.31269275e-02 5.79472793e+01] [ 3.16197700e-02 -2.78037929e-03 9.99496103e-01 4.71010609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.930714057 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:135.56, Y:57.97, Z:4.71 [[ 6.17232695e-01 -7.86483023e-01 -2.16391888e-02 1.35559453e+02] [ 7.86144856e-01 6.17606075e-01 -2.32164084e-02 5.79685406e+01] [ 3.16238055e-02 -2.68161061e-03 9.99496245e-01 4.71029748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.960714057 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:135.58, Y:57.99, Z:4.71 [[ 6.14975577e-01 -7.88248570e-01 -2.16617443e-02 1.35576113e+02] [ 7.87912163e-01 6.15350582e-01 -2.31966606e-02 5.79886654e+01] [ 3.16143015e-02 -2.80217203e-03 9.99496215e-01 4.71029548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.990714057 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:135.59, Y:58.01, Z:4.71 [[ 6.13395615e-01 -7.89481263e-01 -2.15674583e-02 1.35594057e+02] [ 7.89142736e-01 6.13768543e-01 -2.32791229e-02 5.80105462e+01] [ 3.16158588e-02 -2.74049117e-03 9.99496337e-01 4.71020029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.020714057 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:135.61, Y:58.03, Z:4.71 [[ 6.10906169e-01 -7.91409543e-01 -2.15543087e-02 1.35611132e+02] [ 7.91071792e-01 6.11279779e-01 -2.32906109e-02 5.80330721e+01] [ 3.16081248e-02 -2.82262772e-03 9.99496353e-01 4.71023974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.050714057 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:135.63, Y:58.05, Z:4.71 [[ 6.09356258e-01 -7.92605558e-01 -2.14797840e-02 1.35627705e+02] [ 7.92266271e-01 6.09728357e-01 -2.33556622e-02 5.80543751e+01] [ 3.16086611e-02 -2.78578945e-03 9.99496439e-01 4.71092201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.080714057 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:135.65, Y:58.08, Z:4.71 [[ 6.07999344e-01 -7.93648318e-01 -2.14276743e-02 1.35645116e+02] [ 7.93308086e-01 6.08370503e-01 -2.34010992e-02 5.80763747e+01] [ 3.16082080e-02 -2.77089432e-03 9.99496495e-01 4.71164385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.110714057 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:135.66, Y:58.10, Z:4.71 [[ 6.05623737e-01 -7.95463683e-01 -2.13873316e-02 1.35660682e+02] [ 7.95123337e-01 6.05994737e-01 -2.34362438e-02 5.80987215e+01] [ 3.16032912e-02 -2.81202090e-03 9.99496536e-01 4.71286153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.140714057 meters Centerline goodness : 0.995173 Centerline is valid? [True, True] Translation: X:135.68, Y:58.12, Z:4.71 [[ 6.03740633e-01 -7.96895306e-01 -2.13335154e-02 1.35675909e+02] [ 7.96554205e-01 6.04110870e-01 -2.34830971e-02 5.81204749e+01] [ 3.16013784e-02 -2.81560152e-03 9.99496586e-01 4.71392909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.170714057 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:135.69, Y:58.14, Z:4.72 [[ 6.02244754e-01 -7.98027998e-01 -2.12736894e-02 1.35692294e+02] [ 7.97685778e-01 6.02613887e-01 -2.35351406e-02 5.81435578e+01] [ 3.16015218e-02 -2.79580452e-03 9.99496637e-01 4.71677795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.200714057 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:135.71, Y:58.17, Z:4.72 [[ 6.01848547e-01 -7.98328552e-01 -2.12096626e-02 1.35711461e+02] [ 7.97984578e-01 6.02215981e-01 -2.35908022e-02 5.81668222e+01] [ 3.16060088e-02 -2.72689364e-03 9.99496685e-01 4.71587179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.230714057 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:135.73, Y:58.19, Z:4.72 [[ 5.99845802e-01 -7.99833108e-01 -2.12605896e-02 1.35727436e+02] [ 7.99491599e-01 6.00215581e-01 -2.35465590e-02 5.81901717e+01] [ 3.15942546e-02 -2.87335821e-03 9.99496647e-01 4.71745328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26071405699997 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:135.75, Y:58.22, Z:4.72 [[ 5.98391775e-01 -8.00925895e-01 -2.10948710e-02 1.35747748e+02] [ 8.00580067e-01 5.98757341e-01 -2.36897336e-02 5.82160178e+01] [ 3.16044300e-02 -2.71239150e-03 9.99496775e-01 4.71987423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29071405699997 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:135.77, Y:58.24, Z:4.72 [[ 5.98032726e-01 -8.01191002e-01 -2.12093663e-02 1.35766099e+02] [ 8.00848785e-01 5.98401787e-01 -2.35907736e-02 5.82403476e+01] [ 3.15924382e-02 -2.87744058e-03 9.99496692e-01 4.71944471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32071405699998 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:135.78, Y:58.26, Z:4.72 [[ 5.97174196e-01 -8.01831438e-01 -2.11972741e-02 1.35783721e+02] [ 8.01489250e-01 5.97543272e-01 -2.36012689e-02 5.82630308e+01] [ 3.15905280e-02 -2.89531855e-03 9.99496701e-01 4.71998277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35071405699998 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:135.80, Y:58.29, Z:4.72 [[ 5.95743865e-01 -8.02898412e-01 -2.10567656e-02 1.35803867e+02] [ 8.02552657e-01 5.96109458e-01 -2.37223050e-02 5.82885760e+01] [ 3.15987381e-02 -2.76674556e-03 9.99496806e-01 4.72200718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38071405699998 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:135.82, Y:58.32, Z:4.72 [[ 5.94440956e-01 -8.03859179e-01 -2.12219223e-02 1.35822201e+02] [ 8.03518995e-01 5.94811909e-01 -2.35800263e-02 5.83153259e+01] [ 3.15780727e-02 -3.03528429e-03 9.99496680e-01 4.72227819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41071405699998 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:135.84, Y:58.34, Z:4.72 [[ 5.94128400e-01 -8.04091122e-01 -2.11875179e-02 1.35842912e+02] [ 8.03750043e-01 5.94498489e-01 -2.36096489e-02 5.83410468e+01] [ 3.15802565e-02 -3.00230550e-03 9.99496710e-01 4.72202398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44071405699998 meters Centerline goodness : 0.995946 Centerline is valid? [True, True] Translation: X:135.86, Y:58.37, Z:4.72 [[ 5.92955596e-01 -8.04954619e-01 -2.12537894e-02 1.35860839e+02] [ 8.04616086e-01 5.93328097e-01 -2.35525741e-02 5.83665931e+01] [ 3.15692238e-02 -3.13551022e-03 9.99496650e-01 4.72090626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47071405699998 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:135.88, Y:58.39, Z:4.72 [[ 5.92511423e-01 -8.05281971e-01 -2.12405419e-02 1.35881015e+02] [ 8.04943242e-01 5.92883729e-01 -2.35639762e-02 5.83925891e+01] [ 3.15688169e-02 -3.13550556e-03 9.99496663e-01 4.72152496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50071405699998 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:135.89, Y:58.42, Z:4.73 [[ 5.87833728e-01 -8.08702012e-01 -2.12735620e-02 1.35885443e+02] [ 8.08366453e-01 5.88208938e-01 -2.35355645e-02 5.84163456e+01] [ 3.15465577e-02 -3.36183520e-03 9.99496630e-01 4.72655971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53071405699998 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:135.90, Y:58.44, Z:4.73 [[ 5.88496412e-01 -8.08235645e-01 -2.06667601e-02 1.35901133e+02] [ 8.07881533e-01 5.88853713e-01 -2.40568689e-02 5.84388410e+01] [ 3.16133174e-02 -2.53891283e-03 9.99496950e-01 4.72693061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56071405699998 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:135.92, Y:58.46, Z:4.73 [[ 5.89292912e-01 -8.07655157e-01 -2.06642350e-02 1.35917205e+02] [ 8.07300618e-01 5.89649790e-01 -2.40590376e-02 5.84615551e+01] [ 3.16160677e-02 -2.50442935e-03 9.99496950e-01 4.72885006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59071405699999 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:135.94, Y:58.48, Z:4.73 [[ 5.89067142e-01 -8.07820011e-01 -2.06575041e-02 1.35935609e+02] [ 8.07465372e-01 5.89423920e-01 -2.40648156e-02 5.84831265e+01] [ 3.16160666e-02 -2.50442710e-03 9.99496950e-01 4.72975337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.620714057 meters Centerline goodness : 0.996211 Centerline is valid? [True, True] Translation: X:135.95, Y:58.51, Z:4.73 [[ 5.91845573e-01 -8.05786797e-01 -2.06507732e-02 1.35951803e+02] [ 8.05430733e-01 5.92200929e-01 -2.40705902e-02 5.85102143e+01] [ 3.16251708e-02 -2.38669513e-03 9.99496950e-01 4.73063295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.650714057 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:135.99, Y:58.54, Z:4.73 [[ 5.99964535e-01 -7.99760006e-01 -2.06516297e-02 1.35986489e+02] [ 7.99400391e-01 6.00316297e-01 -2.40698553e-02 5.85406728e+01] [ 3.16476175e-02 -2.06786131e-03 9.99496950e-01 4.72662231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.680714057 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:136.00, Y:58.57, Z:4.73 [[ 6.03105307e-01 -7.97370740e-01 -2.15381369e-02 1.36004045e+02] [ 7.97036038e-01 6.03481763e-01 -2.33091478e-02 5.85694839e+01] [ 3.15839053e-02 -3.10880054e-03 9.99496269e-01 4.72690613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.710714057 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:136.00, Y:58.59, Z:4.73 [[ 5.97773708e-01 -8.01373366e-01 -2.16176437e-02 1.36003736e+02] [ 8.01043604e-01 5.98154667e-01 -2.32408953e-02 5.85894706e+01] [ 3.15553289e-02 -3.42387908e-03 9.99496142e-01 4.73246944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.740714057 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:136.03, Y:58.62, Z:4.74 [[ 6.05818172e-01 -7.95335842e-01 -2.06213757e-02 1.36031198e+02] [ 7.94972848e-01 6.06166371e-01 -2.40936223e-02 5.86214419e+01] [ 3.16625058e-02 -1.79707956e-03 9.99497002e-01 4.73506570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.770714057 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:136.04, Y:58.64, Z:4.74 [[ 6.03282840e-01 -7.97243306e-01 -2.12820637e-02 1.36037731e+02] [ 7.96900881e-01 6.03651770e-01 -2.35271213e-02 5.86441103e+01] [ 3.16037953e-02 -2.76618674e-03 9.99496647e-01 4.73791689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.800714057 meters Centerline goodness : 0.995851 Centerline is valid? [True, True] Translation: X:136.07, Y:58.68, Z:4.73 [[ 6.13388572e-01 -7.89511980e-01 -2.06226245e-02 1.36070093e+02] [ 7.89145741e-01 6.13733324e-01 -2.40916223e-02 5.86752162e+01] [ 3.16774163e-02 -1.49673051e-03 9.99497024e-01 4.73471302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.830714057 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:136.08, Y:58.70, Z:4.74 [[ 6.12122945e-01 -7.90471976e-01 -2.14372481e-02 1.36083170e+02] [ 7.90130038e-01 6.12492614e-01 -2.33948751e-02 5.86987599e+01] [ 3.16231493e-02 -2.61767386e-03 9.99496435e-01 4.73814954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.860714057 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:136.09, Y:58.72, Z:4.74 [[ 6.12528967e-01 -7.90167682e-01 -2.10546767e-02 1.36093271e+02] [ 7.89814314e-01 6.12887126e-01 -2.37217346e-02 5.87207765e+01] [ 3.16482883e-02 -2.09903547e-03 9.99496863e-01 4.73824674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.890714057 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:136.11, Y:58.75, Z:4.74 [[ 6.17689213e-01 -7.86152837e-01 -2.05852450e-02 1.36113716e+02] [ 7.85783700e-01 6.18030816e-01 -2.41223407e-02 5.87455539e+01] [ 3.16861624e-02 -1.27544038e-03 9.99497054e-01 4.73712670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.920714057 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:136.15, Y:58.78, Z:4.74 [[ 6.26780464e-01 -7.78923891e-01 -2.05869276e-02 1.36147723e+02] [ 7.78550857e-01 6.27117808e-01 -2.41209047e-02 5.87753351e+01] [ 3.16987778e-02 -9.09458258e-04 9.99497054e-01 4.73795535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.950714057 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:136.16, Y:58.80, Z:4.74 [[ 6.26780112e-01 -7.78901995e-01 -2.14096323e-02 1.36164551e+02] [ 7.78552441e-01 6.27142502e-01 -2.34174778e-02 5.87983257e+01] [ 3.16668105e-02 -1.99091214e-03 9.99496498e-01 4.74083616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.980714057 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:136.18, Y:58.82, Z:4.75 [[ 6.25520510e-01 -7.79921236e-01 -2.11413755e-02 1.36183870e+02] [ 7.79564531e-01 6.25875395e-01 -2.36459829e-02 5.88235650e+01] [ 3.16738710e-02 -1.69001916e-03 9.99496828e-01 4.74546790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01071405699997 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:136.20, Y:58.84, Z:4.75 [[ 6.24746466e-01 -7.80540413e-01 -2.11782194e-02 1.36204510e+02] [ 7.80185119e-01 6.25102816e-01 -2.36146013e-02 5.88446900e+01] [ 3.16707153e-02 -1.76979293e-03 9.99496790e-01 4.74521796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04071405699997 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:136.23, Y:58.87, Z:4.75 [[ 6.23279662e-01 -7.81715793e-01 -2.10447446e-02 1.36227455e+02] [ 7.81357338e-01 6.23632650e-01 -2.37282302e-02 5.88687855e+01] [ 3.16729222e-02 -1.65414233e-03 9.99496918e-01 4.74617691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07071405699998 meters Centerline goodness : 0.995615 Centerline is valid? [True, True] Translation: X:136.24, Y:58.89, Z:4.74 [[ 6.18703246e-01 -7.85340234e-01 -2.11426337e-02 1.36238932e+02] [ 7.84986671e-01 6.19061262e-01 -2.36448921e-02 5.88868560e+01] [ 3.16578706e-02 -1.96751414e-03 9.99496827e-01 4.73961910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10071405699998 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:136.27, Y:58.91, Z:4.74 [[ 6.19458179e-01 -7.84761003e-01 -2.05361507e-02 1.36274744e+02] [ 7.84389833e-01 6.19797438e-01 -2.41604108e-02 5.89143157e+01] [ 3.16884018e-02 -1.14198375e-03 9.99497144e-01 4.74202790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13071405699998 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:136.30, Y:58.94, Z:4.74 [[ 6.15492322e-01 -7.87855466e-01 -2.12830237e-02 1.36298083e+02] [ 7.87507443e-01 6.15855960e-01 -2.35257879e-02 5.89371926e+01] [ 3.16421976e-02 -2.28059777e-03 9.99496658e-01 4.74286554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16071405699998 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:136.32, Y:58.96, Z:4.74 [[ 6.13596513e-01 -7.89332045e-01 -2.13129325e-02 1.36319820e+02] [ 7.88985772e-01 6.13961874e-01 -2.35003988e-02 5.89610060e+01] [ 3.16349458e-02 -2.39583778e-03 9.99496618e-01 4.74412569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19071405699998 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:136.34, Y:58.98, Z:4.74 [[ 6.13552756e-01 -7.89366303e-01 -2.13038635e-02 1.36343555e+02] [ 7.89019785e-01 6.13917867e-01 -2.35080924e-02 5.89843474e+01] [ 3.16353185e-02 -2.38571490e-03 9.99496631e-01 4.74327140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22071405699998 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:136.36, Y:59.00, Z:4.75 [[ 6.12568023e-01 -7.90128247e-01 -2.13955676e-02 1.36363337e+02] [ 7.89784882e-01 6.12936272e-01 -2.34300338e-02 5.90014439e+01] [ 3.16268510e-02 -2.54540637e-03 9.99496505e-01 4.74921437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25071405699998 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:136.39, Y:59.03, Z:4.75 [[ 6.08471013e-01 -7.93297994e-01 -2.10075814e-02 1.36388060e+02] [ 7.92945190e-01 6.08829571e-01 -2.37587877e-02 5.90281473e+01] [ 3.16378354e-02 -2.20132700e-03 9.99496974e-01 4.74555758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28071405699998 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:136.41, Y:59.05, Z:4.75 [[ 6.05225096e-01 -7.95767234e-01 -2.13797003e-02 1.36410304e+02] [ 7.95426839e-01 6.05596045e-01 -2.34430045e-02 5.90504453e+01] [ 3.16026368e-02 -2.81769277e-03 9.99496540e-01 4.74765612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31071405699998 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:136.43, Y:59.07, Z:4.75 [[ 6.03574963e-01 -7.97019839e-01 -2.13691471e-02 1.36429189e+02] [ 7.96679899e-01 6.03946309e-01 -2.34519558e-02 5.90720798e+01] [ 3.15974915e-02 -2.86935665e-03 9.99496556e-01 4.74904727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34071405699999 meters Centerline goodness : 0.995902 Centerline is valid? [True, True] Translation: X:136.45, Y:59.09, Z:4.75 [[ 5.98247130e-01 -8.01033342e-01 -2.11176793e-02 1.36452527e+02] [ 8.00688437e-01 5.98613410e-01 -2.36645899e-02 5.90946893e+01] [ 3.15974515e-02 -2.75140864e-03 9.99496889e-01 4.75048399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.370714057 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:136.47, Y:59.12, Z:4.75 [[ 5.97232618e-01 -8.01787907e-01 -2.11979562e-02 1.36473485e+02] [ 8.01445837e-01 5.97601677e-01 -2.35967213e-02 5.91155650e+01] [ 3.15874999e-02 -2.89628211e-03 9.99496794e-01 4.75457260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.400714057 meters Centerline goodness : 0.995393 Centerline is valid? [True, True] Translation: X:136.50, Y:59.14, Z:4.75 [[ 5.93430328e-01 -8.04611599e-01 -2.09909498e-02 1.36497320e+02] [ 8.04265158e-01 5.93794973e-01 -2.37715246e-02 5.91369953e+01] [ 3.15911649e-02 -2.77554593e-03 9.99497021e-01 4.75430609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.430714057 meters Centerline goodness : 0.995848 Centerline is valid? [True, True] Translation: X:136.52, Y:59.16, Z:4.75 [[ 5.92093338e-01 -8.05596833e-01 -2.09576082e-02 1.36524250e+02] [ 8.05250014e-01 5.92457584e-01 -2.37996795e-02 5.91628385e+01] [ 3.15894403e-02 -2.78448262e-03 9.99497050e-01 4.75168857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.460714057 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:136.53, Y:59.18, Z:4.76 [[ 5.82374560e-01 -8.12639821e-01 -2.13633766e-02 1.36529712e+02] [ 8.12309607e-01 5.82754565e-01 -2.34567521e-02 5.91792464e+01] [ 3.15114961e-02 -3.69306031e-03 9.99496567e-01 4.75681901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.490714057 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:136.57, Y:59.21, Z:4.76 [[ 5.86186830e-01 -8.09918254e-01 -2.04309270e-02 1.36565507e+02] [ 8.09558706e-01 5.86538146e-01 -2.42426224e-02 5.92050857e+01] [ 3.16180604e-02 -2.32932890e-03 9.99497310e-01 4.75635402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.520714057 meters Centerline goodness : 0.996056 Centerline is valid? [True, True] Translation: X:136.59, Y:59.23, Z:4.76 [[ 5.84378260e-01 -8.11205179e-01 -2.11709078e-02 1.36586782e+02] [ 8.10868271e-01 5.84751944e-01 -2.36180454e-02 5.92274458e+01] [ 3.15388103e-02 -3.36494509e-03 9.99496864e-01 4.75769291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.550714057 meters Centerline goodness : 0.995825 Centerline is valid? [True, True] Translation: X:136.61, Y:59.25, Z:4.76 [[ 5.84964923e-01 -8.10785400e-01 -2.10493371e-02 1.36608530e+02] [ 8.10444593e-01 5.85334861e-01 -2.37204923e-02 5.92468090e+01] [ 3.15531397e-02 -3.18366551e-03 9.99497005e-01 4.76062655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.580714057 meters Centerline goodness : 0.996522 Centerline is valid? [True, True] Translation: X:136.63, Y:59.27, Z:4.76 [[ 5.83630107e-01 -8.11751506e-01 -2.08659965e-02 1.36630742e+02] [ 8.11405866e-01 5.83995301e-01 -2.38748783e-02 5.92715859e+01] [ 3.15661123e-02 -2.99669413e-03 9.99497174e-01 4.76013629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.610714057 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:136.65, Y:59.30, Z:4.76 [[ 5.85276993e-01 -8.10560595e-01 -2.10324272e-02 1.36652725e+02] [ 8.10219148e-01 5.85646311e-01 -2.37345811e-02 5.92952675e+01] [ 3.15558796e-02 -3.14957097e-03 9.99497027e-01 4.76086533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.640714057 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:136.66, Y:59.32, Z:4.76 [[ 5.83168804e-01 -8.12079316e-01 -2.10078654e-02 1.36661371e+02] [ 8.11738098e-01 5.83538300e-01 -2.37552720e-02 5.93160077e+01] [ 3.15500591e-02 -3.19955113e-03 9.99497052e-01 4.76246263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.670714057 meters Centerline goodness : 0.995920 Centerline is valid? [True, True] Translation: X:136.69, Y:59.34, Z:4.76 [[ 5.90636580e-01 -8.06679713e-01 -2.04027128e-02 1.36694283e+02] [ 8.06317496e-01 5.90985065e-01 -2.42641330e-02 5.93423679e+01] [ 3.16310824e-02 -2.11977972e-03 9.99497364e-01 4.76218021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.700714057 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:136.72, Y:59.37, Z:4.76 [[ 5.91676644e-01 -8.05902041e-01 -2.09916424e-02 1.36715271e+02] [ 8.05556485e-01 5.92042057e-01 -2.37687233e-02 5.93666003e+01] [ 3.15831978e-02 -2.84655521e-03 9.99497073e-01 4.76397412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.730714057 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:136.74, Y:59.39, Z:4.76 [[ 5.94179503e-01 -8.04059727e-01 -2.09445380e-02 1.36736198e+02] [ 8.03711657e-01 5.94542459e-01 -2.38083500e-02 5.93893645e+01] [ 3.15957525e-02 -2.68693573e-03 9.99497118e-01 4.76497062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76071405699997 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:136.76, Y:59.41, Z:4.77 [[ 5.94927617e-01 -8.03507624e-01 -2.08956722e-02 1.36757851e+02] [ 8.03157789e-01 5.95288812e-01 -2.38494539e-02 5.94134102e+01] [ 3.16021779e-02 -2.59382312e-03 9.99497161e-01 4.76593825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79071405699997 meters Centerline goodness : 0.996694 Centerline is valid? [True, True] Translation: X:136.78, Y:59.44, Z:4.76 [[ 5.97051438e-01 -8.01930480e-01 -2.09065880e-02 1.36780005e+02] [ 8.01580008e-01 5.97412029e-01 -2.38402730e-02 5.94362076e+01] [ 3.16080887e-02 -2.52443374e-03 9.99497152e-01 4.76499168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82071405699998 meters Centerline goodness : 0.995887 Centerline is valid? [True, True] Translation: X:136.80, Y:59.46, Z:4.77 [[ 5.97382031e-01 -8.01685081e-01 -2.08744083e-02 1.36801315e+02] [ 8.01333526e-01 5.97741527e-01 -2.38672734e-02 5.94607396e+01] [ 3.16115377e-02 -2.46948292e-03 9.99497180e-01 4.76584090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85071405699998 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:136.83, Y:59.49, Z:4.76 [[ 6.01206403e-01 -7.98820815e-01 -2.08845759e-02 1.36829090e+02] [ 7.98467840e-01 6.01564517e-01 -2.38587447e-02 5.94872112e+01] [ 3.16222817e-02 -2.33163216e-03 9.99497171e-01 4.76268835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88071405699998 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:136.84, Y:59.51, Z:4.77 [[ 5.99696872e-01 -7.99943683e-01 -2.13017932e-02 1.36843285e+02] [ 7.99603562e-01 6.00067905e-01 -2.35085758e-02 5.95079790e+01] [ 3.15880591e-02 -2.93497033e-03 9.99496664e-01 4.76657540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91071405699998 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:136.85, Y:59.53, Z:4.77 [[ 5.96489210e-01 -8.02348874e-01 -2.09023115e-02 1.36852673e+02] [ 8.01998544e-01 5.96849919e-01 -2.38434401e-02 5.95292495e+01] [ 3.16063002e-02 -2.54126867e-03 9.99497165e-01 4.76761298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94071405699998 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:136.89, Y:59.56, Z:4.76 [[ 6.05797207e-01 -7.95358939e-01 -2.03446029e-02 1.36892224e+02] [ 7.94988647e-01 6.06137003e-01 -2.43101838e-02 5.95576697e+01] [ 3.16669386e-02 -1.44668689e-03 9.99497430e-01 4.76379221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97071405699998 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:136.91, Y:59.58, Z:4.77 [[ 6.01548618e-01 -7.98550750e-01 -2.13532166e-02 1.36905059e+02] [ 7.98211212e-01 6.01920368e-01 -2.34676767e-02 5.95790914e+01] [ 3.15930669e-02 -2.92742838e-03 9.99496527e-01 4.76917002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00071405699998 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:136.92, Y:59.60, Z:4.77 [[ 6.02948022e-01 -7.97506540e-01 -2.09045797e-02 1.36923568e+02] [ 7.97153362e-01 6.03305960e-01 -2.38419253e-02 5.96030133e+01] [ 3.16259489e-02 -2.28871422e-03 9.99497154e-01 4.77002822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03071405699998 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:136.94, Y:59.63, Z:4.77 [[ 6.02665979e-01 -7.97721170e-01 -2.08483202e-02 1.36943436e+02] [ 7.97366505e-01 6.03022368e-01 -2.38889122e-02 5.96279689e+01] [ 3.16286944e-02 -2.22671758e-03 9.99497207e-01 4.77241854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06071405699998 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:136.97, Y:59.65, Z:4.77 [[ 6.05547865e-01 -7.95535309e-01 -2.08651977e-02 1.36967879e+02] [ 7.95179838e-01 6.05903472e-01 -2.38748255e-02 5.96528993e+01] [ 3.16355624e-02 -2.13423493e-03 9.99497192e-01 4.76755801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09071405699999 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:136.97, Y:59.67, Z:4.77 [[ 6.00538819e-01 -7.99314860e-01 -2.11868508e-02 1.36969084e+02] [ 7.98970932e-01 6.00906138e-01 -2.36064340e-02 5.96725508e+01] [ 3.16002822e-02 -2.75109792e-03 9.99496800e-01 4.77253221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.120714057 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:137.01, Y:59.70, Z:4.77 [[ 6.08879043e-01 -7.93003913e-01 -2.02757078e-02 1.37006818e+02] [ 7.92630491e-01 6.09215287e-01 -2.43646941e-02 5.97016322e+01] [ 3.16735689e-02 -1.23599254e-03 9.99497502e-01 4.76961434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.150714057 meters Centerline goodness : 0.995578 Centerline is valid? [True, True] Translation: X:137.01, Y:59.72, Z:4.78 [[ 6.02167905e-01 -7.98084615e-01 -2.13251505e-02 1.37006537e+02] [ 7.97744021e-01 6.02538568e-01 -2.34893988e-02 5.97209832e+01] [ 3.15957534e-02 -2.86744927e-03 9.99496616e-01 4.77643633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.180714057 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:137.02, Y:59.74, Z:4.78 [[ 6.02356082e-01 -7.97970242e-01 -2.02643548e-02 1.37024638e+02] [ 7.97599358e-01 6.02695027e-01 -2.43714670e-02 5.97437963e+01] [ 3.16609313e-02 -1.48253496e-03 9.99497568e-01 4.77878698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.210714057 meters Centerline goodness : 0.996091 Centerline is valid? [True, True] Translation: X:137.06, Y:59.77, Z:4.78 [[ 6.09538300e-01 -7.92497731e-01 -2.02585016e-02 1.37063475e+02] [ 7.92123641e-01 6.09873702e-01 -2.43763314e-02 5.97713641e+01] [ 3.16733147e-02 -1.18893042e-03 9.99497568e-01 4.77656868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.240714057 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:137.08, Y:59.80, Z:4.78 [[ 6.07177337e-01 -7.94284459e-01 -2.11631754e-02 1.37083716e+02] [ 7.93936826e-01 6.07541076e-01 -2.36253483e-02 5.97957852e+01] [ 3.16227453e-02 -2.45744828e-03 9.99496855e-01 4.77903143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.270714057 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:137.10, Y:59.82, Z:4.78 [[ 6.06537197e-01 -7.94774546e-01 -2.11198914e-02 1.37102703e+02] [ 7.94425965e-01 6.06899936e-01 -2.36612450e-02 5.98183711e+01] [ 3.16230160e-02 -2.42676488e-03 9.99496921e-01 4.78097612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.300714057 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:137.12, Y:59.84, Z:4.78 [[ 6.06147246e-01 -7.95074989e-01 -2.10066147e-02 1.37123315e+02] [ 7.94723346e-01 6.06506796e-01 -2.37552211e-02 5.98422225e+01] [ 3.16278367e-02 -2.29528526e-03 9.99497079e-01 4.78168099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.330714057 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:137.14, Y:59.87, Z:4.78 [[ 6.04742898e-01 -7.96145502e-01 -2.09372180e-02 1.37142212e+02] [ 7.95792516e-01 6.05101006e-01 -2.38127020e-02 5.98660560e+01] [ 3.16275073e-02 -2.26111896e-03 9.99497168e-01 4.78296381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.360714057 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:137.17, Y:59.89, Z:4.78 [[ 6.06179726e-01 -7.95054390e-01 -2.08483976e-02 1.37165568e+02] [ 7.94698244e-01 6.06534544e-01 -2.38861437e-02 5.98905192e+01] [ 3.16360568e-02 -2.08888891e-03 9.99497272e-01 4.78193999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.390714057 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:137.19, Y:59.91, Z:4.78 [[ 6.09322028e-01 -7.92644320e-01 -2.10154418e-02 1.37185698e+02] [ 7.92291487e-01 6.09680432e-01 -2.37480395e-02 5.99132447e+01] [ 3.16364522e-02 -2.18015204e-03 9.99497064e-01 4.78155977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.420714057 meters Centerline goodness : 0.996252 Centerline is valid? [True, True] Translation: X:137.21, Y:59.94, Z:4.78 [[ 6.10119849e-01 -7.92033774e-01 -2.08871126e-02 1.37207822e+02] [ 7.91676960e-01 6.10474056e-01 -2.38540811e-02 5.99385309e+01] [ 3.16442783e-02 -1.98199746e-03 9.99497229e-01 4.78261536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.450714057 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:137.24, Y:59.96, Z:4.78 [[ 6.14635708e-01 -7.88529920e-01 -2.10597335e-02 1.37235604e+02] [ 7.88175927e-01 6.14993062e-01 -2.37116417e-02 5.99649134e+01] [ 3.16489290e-02 -2.02475327e-03 9.99496996e-01 4.78170059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.480714057 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:137.26, Y:59.99, Z:4.78 [[ 6.13976524e-01 -7.89029755e-01 -2.15609131e-02 1.37255399e+02] [ 7.88690333e-01 6.14349048e-01 -2.32981854e-02 5.99892792e+01] [ 3.16288880e-02 -2.70034480e-03 9.99496034e-01 4.78246864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51071405699997 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:137.27, Y:60.01, Z:4.79 [[ 6.11934510e-01 -7.90615825e-01 -2.15121527e-02 1.37265527e+02] [ 7.90275964e-01 6.12306479e-01 -2.33383280e-02 6.00097332e+01] [ 3.16236819e-02 -2.71900886e-03 9.99496148e-01 4.78659248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54071405699997 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:137.29, Y:60.03, Z:4.79 [[ 6.17306378e-01 -7.86443611e-01 -2.09590467e-02 1.37292794e+02] [ 7.86085659e-01 6.17659492e-01 -2.37926101e-02 6.00347871e+01] [ 3.16571003e-02 -1.78827609e-03 9.99497189e-01 4.78590621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57071405699998 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:137.31, Y:60.06, Z:4.79 [[ 6.15756218e-01 -7.87644681e-01 -2.14508017e-02 1.37311164e+02] [ 7.87301278e-01 6.16124722e-01 -2.33885630e-02 6.00574679e+01] [ 3.16382464e-02 -2.48659049e-03 9.99496292e-01 4.78967832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60071405699998 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:137.33, Y:60.08, Z:4.79 [[ 6.15427665e-01 -7.87907709e-01 -2.12186397e-02 1.37334812e+02] [ 7.87557903e-01 6.15789413e-01 -2.35785600e-02 6.00828034e+01] [ 3.16439429e-02 -2.20000927e-03 9.99496784e-01 4.79123109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63071405699998 meters Centerline goodness : 0.996064 Centerline is valid? [True, True] Translation: X:137.35, Y:60.10, Z:4.79 [[ 6.10037549e-01 -7.92081107e-01 -2.14874053e-02 1.37347698e+02] [ 7.91741426e-01 6.10409606e-01 -2.33586598e-02 6.01008575e+01] [ 3.16180717e-02 -2.76280933e-03 9.99496205e-01 4.79426238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66071405699998 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:137.35, Y:60.12, Z:4.80 [[ 6.00385904e-01 -7.99434548e-01 -2.10040556e-02 1.37348382e+02] [ 7.99085550e-01 6.00747901e-01 -2.37538106e-02 6.01195206e+01] [ 3.16077591e-02 -2.52258428e-03 9.99497167e-01 4.79991088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69071405699998 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:137.39, Y:60.15, Z:4.80 [[ 6.07425438e-01 -7.94124493e-01 -2.00156420e-02 1.37390354e+02] [ 7.93745228e-01 6.07754350e-01 -2.45593903e-02 6.01469399e+01] [ 3.16678069e-02 -9.69321935e-04 9.99497979e-01 4.79652955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72071405699998 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:137.39, Y:60.16, Z:4.80 [[ 5.93764257e-01 -8.04356536e-01 -2.13206199e-02 1.37388339e+02] [ 8.04019711e-01 5.94138341e-01 -2.34933152e-02 6.01608852e+01] [ 3.15643994e-02 -3.19270775e-03 9.99496621e-01 4.80051694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75071405699998 meters Centerline goodness : 0.996062 Centerline is valid? [True, True] Translation: X:137.42, Y:60.19, Z:4.80 [[ 5.96007838e-01 -8.02729641e-01 -1.99945046e-02 1.37424122e+02] [ 8.02354675e-01 5.96341489e-01 -2.45724305e-02 6.01870622e+01] [ 3.16485709e-02 -1.39732306e-03 9.99498082e-01 4.79934673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78071405699998 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:137.45, Y:60.21, Z:4.80 [[ 5.94327757e-01 -8.03954816e-01 -2.07646849e-02 1.37445025e+02] [ 8.03601917e-01 5.94685315e-01 -2.39444039e-02 6.02104407e+01] [ 3.15986720e-02 -2.45571677e-03 9.99497620e-01 4.79947895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81071405699998 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:137.47, Y:60.24, Z:4.80 [[ 5.93854569e-01 -8.04305852e-01 -2.07086109e-02 1.37469079e+02] [ 8.03951583e-01 5.94210675e-01 -2.39901324e-02 6.02361949e+01] [ 3.16006815e-02 -2.40207077e-03 9.99497687e-01 4.79893203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84071405699999 meters Centerline goodness : 0.995805 Centerline is valid? [True, True] Translation: X:137.49, Y:60.26, Z:4.80 [[ 5.89971712e-01 -8.07153145e-01 -2.09088471e-02 1.37488166e+02] [ 8.06806290e-01 5.90335406e-01 -2.38268369e-02 6.02577134e+01] [ 3.15751391e-02 -2.81222957e-03 9.99497425e-01 4.80032381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.870714057 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:137.51, Y:60.28, Z:4.80 [[ 5.88150351e-01 -8.08486597e-01 -2.07023629e-02 1.37508971e+02] [ 8.08134686e-01 5.88508769e-01 -2.39949714e-02 6.02818633e+01] [ 3.15831348e-02 -2.61764672e-03 9.99497701e-01 4.80135202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.900714057 meters Centerline goodness : 0.995127 Centerline is valid? [True, True] Translation: X:137.53, Y:60.30, Z:4.80 [[ 5.85832801e-01 -8.10168232e-01 -2.06728303e-02 1.37528912e+02] [ 8.09816510e-01 5.86191357e-01 -2.40190094e-02 6.03043871e+01] [ 3.15776728e-02 -2.67007574e-03 9.99497735e-01 4.80191071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.930714057 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:137.55, Y:60.33, Z:4.81 [[ 5.83740110e-01 -8.11676609e-01 -2.07018367e-02 1.37545701e+02] [ 8.11326640e-01 5.84100423e-01 -2.39953977e-02 6.03262080e+01] [ 3.15684546e-02 -2.78887553e-03 9.99497701e-01 4.80552921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.960714057 meters Centerline goodness : 0.996189 Centerline is valid? [True, True] Translation: X:137.57, Y:60.35, Z:4.80 [[ 5.82579383e-01 -8.12513984e-01 -2.05496570e-02 1.37567969e+02] [ 8.12160219e-01 5.82935729e-01 -2.41187554e-02 6.03518506e+01] [ 3.15759553e-02 -2.63852422e-03 9.99497873e-01 4.80487735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.990714057 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:137.59, Y:60.38, Z:4.81 [[ 5.82494956e-01 -8.12570996e-01 -2.06882186e-02 1.37588161e+02] [ 8.12221193e-01 5.82855407e-01 -2.40064419e-02 6.03767787e+01] [ 3.15651785e-02 -2.81977822e-03 9.99497718e-01 4.80502429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.020714057 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:137.61, Y:60.40, Z:4.81 [[ 5.82947914e-01 -8.12245769e-01 -2.07012161e-02 1.37608328e+02] [ 8.11896133e-01 5.83308550e-01 -2.39959092e-02 6.04025617e+01] [ 3.15657721e-02 -2.81887214e-03 9.99497702e-01 4.80622807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.050714057 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:137.63, Y:60.43, Z:4.80 [[ 5.86721111e-01 -8.09524770e-01 -2.06878049e-02 1.37634889e+02] [ 8.09173082e-01 5.87079721e-01 -2.40067556e-02 6.04295914e+01] [ 3.15794540e-02 -2.65474449e-03 9.99497719e-01 4.80489558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.080714057 meters Centerline goodness : 0.995860 Centerline is valid? [True, True] Translation: X:137.63, Y:60.45, Z:4.81 [[ 5.78517188e-01 -8.15396052e-01 -2.11457206e-02 1.37629964e+02] [ 8.15061178e-01 5.78892561e-01 -2.36363806e-02 6.04472043e+01] [ 3.15141118e-02 -3.56100355e-03 9.99496963e-01 4.81036317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.110714057 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:137.67, Y:60.48, Z:4.81 [[ 5.86884009e-01 -8.09427180e-01 -1.98695735e-02 1.37669037e+02] [ 8.09052893e-01 5.87218085e-01 -2.46644920e-02 6.04752890e+01] [ 3.16318831e-02 -1.60034004e-03 9.99498306e-01 4.80823208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.140714057 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:137.69, Y:60.50, Z:4.81 [[ 5.87457688e-01 -8.08987349e-01 -2.08070725e-02 1.37691228e+02] [ 8.08638624e-01 5.87819491e-01 -2.39127982e-02 6.05022376e+01] [ 3.15759539e-02 -2.77764531e-03 9.99497496e-01 4.80921372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.170714057 meters Centerline goodness : 0.995760 Centerline is valid? [True, True] Translation: X:137.68, Y:60.52, Z:4.81 [[ 5.76776402e-01 -8.16628612e-01 -2.11350870e-02 1.37683293e+02] [ 8.16294077e-01 5.77152203e-01 -2.36498447e-02 6.05193988e+01] [ 3.15113018e-02 -3.61177398e-03 9.99496870e-01 4.81436533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.200714057 meters Centerline goodness : 0.996378 Centerline is valid? [True, True] Translation: X:137.70, Y:60.54, Z:4.82 [[ 5.76467683e-01 -8.16881144e-01 -1.97536499e-02 1.37699287e+02] [ 8.16508166e-01 5.76803031e-01 -2.47523652e-02 6.05422267e+01] [ 3.16137056e-02 -1.86007781e-03 9.99498431e-01 4.81536858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.230714057 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:137.72, Y:60.56, Z:4.82 [[ 5.76221591e-01 -8.17054927e-01 -1.97465315e-02 1.37715445e+02] [ 8.16681856e-01 5.76556836e-01 -2.47580427e-02 6.05641743e+01] [ 3.16136785e-02 -1.86051529e-03 9.99498431e-01 4.81567529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26071405699997 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:137.75, Y:60.59, Z:4.81 [[ 5.84826681e-01 -8.10917967e-01 -1.97434491e-02 1.37753528e+02] [ 8.10541291e-01 5.85157870e-01 -2.47605006e-02 6.05934409e+01] [ 3.16317694e-02 -1.52227934e-03 9.99498431e-01 4.81291639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29071405699997 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:137.77, Y:60.62, Z:4.81 [[ 5.84512240e-01 -8.11116773e-01 -2.08571949e-02 1.37771733e+02] [ 8.10770834e-01 5.84876768e-01 -2.38709225e-02 6.06187232e+01] [ 3.15609944e-02 -2.95755888e-03 9.99497452e-01 4.81365999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32071405699998 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:137.79, Y:60.64, Z:4.81 [[ 5.85979697e-01 -8.10060648e-01 -2.07253717e-02 1.37791048e+02] [ 8.09710355e-01 5.86339733e-01 -2.39761948e-02 6.06440815e+01] [ 3.15742808e-02 -2.73198470e-03 9.99497674e-01 4.81411024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35071405699998 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:137.81, Y:60.67, Z:4.81 [[ 5.89607034e-01 -8.07421884e-01 -2.08194084e-02 1.37809796e+02] [ 8.07072601e-01 5.89968266e-01 -2.39010952e-02 6.06708355e+01] [ 3.15810576e-02 -2.71052025e-03 9.99497519e-01 4.81460487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38071405699998 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:137.83, Y:60.70, Z:4.82 [[ 5.89725763e-01 -8.07333649e-01 -2.08783024e-02 1.37827455e+02] [ 8.06985957e-01 5.90088675e-01 -2.38541484e-02 6.06969632e+01] [ 3.15783065e-02 -2.78109095e-03 9.99497412e-01 4.81610209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41071405699998 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:137.84, Y:60.72, Z:4.82 [[ 5.92705285e-01 -8.05150530e-01 -2.08102991e-02 1.37844720e+02] [ 8.04799615e-01 5.93064903e-01 -2.39081633e-02 6.07235035e+01] [ 3.15915284e-02 -2.57762590e-03 9.99497539e-01 4.81776887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44071405699998 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:137.86, Y:60.75, Z:4.82 [[ 5.93819745e-01 -8.04327762e-01 -2.08557323e-02 1.37859831e+02] [ 8.03977605e-01 5.94180220e-01 -2.38720986e-02 6.07475287e+01] [ 3.15930553e-02 -2.59181817e-03 9.99497454e-01 4.81923255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47071405699998 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:137.88, Y:60.77, Z:4.82 [[ 5.96076887e-01 -8.02662610e-01 -2.06174543e-02 1.37879814e+02] [ 8.02304920e-01 5.96429290e-01 -2.40607260e-02 6.07737529e+01] [ 3.16094987e-02 -2.19944234e-03 9.99497875e-01 4.81933685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50071405699998 meters Centerline goodness : 0.995734 Centerline is valid? [True, True] Translation: X:137.87, Y:60.79, Z:4.82 [[ 5.90410187e-01 -8.06834389e-01 -2.08346008e-02 1.37873409e+02] [ 8.06485170e-01 5.90771519e-01 -2.38889718e-02 6.07931970e+01] [ 3.15829327e-02 -2.69850424e-03 9.99497492e-01 4.82474739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53071405699998 meters Centerline goodness : 0.995456 Centerline is valid? [True, True] Translation: X:137.91, Y:60.82, Z:4.82 [[ 6.03554073e-01 -7.97081316e-01 -1.95922437e-02 1.37913034e+02] [ 7.96693527e-01 6.03871688e-01 -2.48678198e-02 6.08245857e+01] [ 3.16528758e-02 -5.99939803e-04 9.99498742e-01 4.82065006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56071405699998 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:137.91, Y:60.84, Z:4.83 [[ 5.95747223e-01 -8.02899995e-01 -2.09008221e-02 1.37907648e+02] [ 8.02550275e-01 5.96108186e-01 -2.38345480e-02 6.08411188e+01] [ 3.15959096e-02 -2.57459477e-03 9.99497409e-01 4.82565161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59071405699999 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:137.95, Y:60.87, Z:4.82 [[ 6.05552441e-01 -7.95564782e-01 -1.95682900e-02 1.37945575e+02] [ 7.95175719e-01 6.05868331e-01 -2.48825443e-02 6.08709759e+01] [ 3.16514831e-02 -4.92543670e-04 9.99498845e-01 4.82253171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.620714057 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:137.96, Y:60.89, Z:4.82 [[ 6.09056600e-01 -7.92857866e-01 -2.06509496e-02 1.37963355e+02] [ 7.92495560e-01 6.09404142e-01 -2.40287250e-02 6.08947108e+01] [ 3.16361378e-02 -1.73093226e-03 9.99497953e-01 4.82221816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.650714057 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:137.96, Y:60.92, Z:4.83 [[ 6.03316942e-01 -7.97237430e-01 -2.05218948e-02 1.37962927e+02] [ 7.96874184e-01 6.03663199e-01 -2.41304237e-02 6.09150836e+01] [ 3.16259896e-02 -1.79507476e-03 9.99498161e-01 4.82763371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.680714057 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:138.00, Y:60.94, Z:4.83 [[ 6.12048191e-01 -7.90578616e-01 -1.95567115e-02 1.37999047e+02] [ 7.90186776e-01 6.12360518e-01 -2.48888580e-02 6.09428846e+01] [ 3.16523569e-02 -2.20274281e-04 9.99498914e-01 4.82568581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.710714057 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:138.00, Y:60.96, Z:4.83 [[ 6.05557244e-01 -7.95539759e-01 -2.04185140e-02 1.38002231e+02] [ 7.95172849e-01 6.05899339e-01 -2.42101339e-02 6.09630826e+01] [ 3.16316882e-02 -1.57562602e-03 9.99498351e-01 4.82936737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.740714057 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:138.02, Y:60.98, Z:4.83 [[ 6.03367640e-01 -7.97223377e-01 -1.95544827e-02 1.38021050e+02] [ 7.96834970e-01 6.03684162e-01 -2.48889996e-02 6.09832154e+01] [ 3.16468239e-02 -5.64478722e-04 9.99498954e-01 4.83220207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.770714057 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:138.06, Y:61.01, Z:4.83 [[ 6.08542868e-01 -7.93280200e-01 -1.95474273e-02 1.38059822e+02] [ 7.92889564e-01 6.08856635e-01 -2.48945396e-02 6.10113566e+01] [ 3.16499262e-02 -3.49556549e-04 9.99498954e-01 4.83055554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.800714057 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:138.08, Y:61.03, Z:4.83 [[ 6.03867479e-01 -7.96819981e-01 -2.05422966e-02 1.38077318e+02] [ 7.96457131e-01 6.04214097e-01 -2.41114669e-02 6.10333519e+01] [ 3.16244438e-02 -1.80092784e-03 9.99498200e-01 4.83235490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.830714057 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:138.10, Y:61.06, Z:4.83 [[ 5.97241433e-01 -8.01805866e-01 -2.02490644e-02 1.38100542e+02] [ 8.01438073e-01 5.97582208e-01 -2.43417306e-02 6.10568183e+01] [ 3.16178230e-02 -1.69048110e-03 9.99498602e-01 4.83331687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.860714057 meters Centerline goodness : 0.995699 Centerline is valid? [True, True] Translation: X:138.12, Y:61.08, Z:4.84 [[ 5.93129196e-01 -8.04851687e-01 -2.02859213e-02 1.38119977e+02] [ 8.04486627e-01 5.93472961e-01 -2.43127946e-02 6.10799405e+01] [ 3.16073395e-02 -1.89912408e-03 9.99498559e-01 4.83503204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.890714057 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:138.13, Y:61.10, Z:4.84 [[ 5.82389335e-01 -8.12659399e-01 -2.01832752e-02 1.38129265e+02] [ 8.12296159e-01 5.82734856e-01 -2.43933699e-02 6.10998394e+01] [ 3.15849993e-02 -2.18835842e-03 9.99498674e-01 4.83716022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.920714057 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:138.16, Y:61.13, Z:4.84 [[ 5.84925248e-01 -8.10852283e-01 -1.95199517e-02 1.38160898e+02] [ 8.10470431e-01 5.85249534e-01 -2.49131123e-02 6.11267489e+01] [ 3.16248966e-02 -1.24803526e-03 9.99499029e-01 4.83658605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.950714057 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:138.18, Y:61.15, Z:4.84 [[ 5.82280983e-01 -8.12738396e-01 -2.01284976e-02 1.38182857e+02] [ 8.12373759e-01 5.82624913e-01 -2.44353395e-02 6.11503569e+01] [ 3.15869028e-02 -2.12362975e-03 9.99498753e-01 4.83563482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.980714057 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:138.20, Y:61.18, Z:4.84 [[ 5.79994001e-01 -8.14370968e-01 -2.01714026e-02 1.38203141e+02] [ 8.14008459e-01 5.80340234e-01 -2.44016590e-02 6.11758771e+01] [ 3.15782791e-02 -2.26687650e-03 9.99498711e-01 4.83674873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01071405699997 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:138.21, Y:61.20, Z:4.84 [[ 5.74261345e-01 -8.18423363e-01 -2.01768629e-02 1.38210827e+02] [ 8.18063443e-01 5.74610277e-01 -2.43973744e-02 6.11968543e+01] [ 3.15612140e-02 -2.49548491e-03 9.99498706e-01 4.83898169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04071405699997 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:138.23, Y:61.22, Z:4.84 [[ 5.72191282e-01 -8.19887942e-01 -1.95166430e-02 1.38227811e+02] [ 8.19511149e-01 5.72521389e-01 -2.49145669e-02 6.12200869e+01] [ 3.16008486e-02 -1.73820861e-03 9.99499057e-01 4.83900358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07071405699998 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:138.26, Y:61.25, Z:4.84 [[ 5.77425147e-01 -8.16210477e-01 -1.95104401e-02 1.38262454e+02] [ 8.15831416e-01 5.77752648e-01 -2.49194234e-02 6.12507278e+01] [ 3.16117029e-02 -1.52812829e-03 9.99499057e-01 4.83712907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10071405699998 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:138.27, Y:61.27, Z:4.84 [[ 5.70673605e-01 -8.20921278e-01 -2.04912528e-02 1.38265285e+02] [ 8.20571588e-01 5.71033324e-01 -2.41497838e-02 6.12685993e+01] [ 3.15262596e-02 -3.03289564e-03 9.99498322e-01 4.84023899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13071405699998 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:138.28, Y:61.29, Z:4.84 [[ 5.70822596e-01 -8.20841760e-01 -1.95030501e-02 1.38281859e+02] [ 8.20465224e-01 5.71152917e-01 -2.49231124e-02 6.12907374e+01] [ 3.15971554e-02 -1.77489866e-03 9.99499109e-01 4.84123102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16071405699998 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:138.32, Y:61.32, Z:4.84 [[ 5.79608853e-01 -8.14661461e-01 -1.95008083e-02 1.38316530e+02] [ 8.14281339e-01 5.79935041e-01 -2.49248664e-02 6.13201996e+01] [ 3.16145301e-02 -1.43247111e-03 9.99499109e-01 4.84471396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19071405699998 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:138.32, Y:61.34, Z:4.85 [[ 5.71395570e-01 -8.20419413e-01 -2.04716718e-02 1.38317278e+02] [ 8.20068899e-01 5.71754406e-01 -2.41640158e-02 6.13406071e+01] [ 3.15293962e-02 -2.98096973e-03 9.99498380e-01 4.84596408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22071405699998 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:138.35, Y:61.37, Z:4.85 [[ 5.77087874e-01 -8.16449554e-01 -1.94861568e-02 1.38349382e+02] [ 8.16070124e-01 5.77414787e-01 -2.49342294e-02 6.13714068e+01] [ 3.16091356e-02 -1.51282896e-03 9.99499162e-01 4.84524916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25071405699998 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:138.37, Y:61.40, Z:4.85 [[ 5.76938221e-01 -8.16534447e-01 -2.03417337e-02 1.38368915e+02] [ 8.16177981e-01 5.77290845e-01 -2.42648566e-02 6.13970974e+01] [ 3.15561879e-02 -2.60315200e-03 9.99498590e-01 4.84635820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28071405699998 meters Centerline goodness : 0.996261 Centerline is valid? [True, True] Translation: X:138.39, Y:61.42, Z:4.85 [[ 5.73986380e-01 -8.18613359e-01 -2.02929572e-02 1.38386202e+02] [ 8.18256835e-01 5.74338853e-01 -2.43029441e-02 6.14231557e+01] [ 3.15497485e-02 -2.65529207e-03 9.99498656e-01 4.84799287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31071405699998 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:138.39, Y:61.44, Z:4.85 [[ 5.67546430e-01 -8.23094179e-01 -2.01748249e-02 1.38392313e+02] [ 8.22737190e-01 5.67898224e-01 -2.43951422e-02 6.14442699e+01] [ 3.15367467e-02 -2.75320286e-03 9.99498801e-01 4.85011733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34071405699999 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:138.41, Y:61.47, Z:4.85 [[ 5.64764496e-01 -8.25023008e-01 -1.94448258e-02 1.38408368e+02] [ 8.24647514e-01 5.65095821e-01 -2.49637716e-02 6.14672898e+01] [ 3.15838757e-02 -1.93647539e-03 9.99499229e-01 4.85087108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.370714057 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:138.44, Y:61.50, Z:4.85 [[ 5.67903721e-01 -8.22865443e-01 -1.94377456e-02 1.38438379e+02] [ 8.22488503e-01 5.68233400e-01 -2.49692832e-02 6.14960706e+01] [ 3.15915366e-02 -1.80717346e-03 9.99499229e-01 4.85027767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.400714057 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:138.46, Y:61.52, Z:4.85 [[ 5.67582534e-01 -8.23071389e-01 -2.00886993e-02 1.38458502e+02] [ 8.22712044e-01 5.67931777e-01 -2.44619901e-02 6.15216273e+01] [ 3.15429749e-02 -2.64301654e-03 9.99498902e-01 4.85102031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.430714057 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:138.48, Y:61.55, Z:4.85 [[ 5.66342797e-01 -8.23925523e-01 -2.00640998e-02 1.38478292e+02] [ 8.23566035e-01 5.66691856e-01 -2.44811471e-02 6.15473294e+01] [ 3.15408039e-02 -2.65938981e-03 9.99498927e-01 4.85096243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.460714057 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:138.50, Y:61.57, Z:4.85 [[ 5.63936293e-01 -8.25574996e-01 -2.00445396e-02 1.38496160e+02] [ 8.25215994e-01 5.64285824e-01 -2.44963533e-02 6.15743900e+01] [ 3.15344264e-02 -2.72669200e-03 9.99498947e-01 4.85389723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.490714057 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:138.51, Y:61.60, Z:4.86 [[ 5.63596330e-01 -8.25807757e-01 -2.00181113e-02 1.38513756e+02] [ 8.25448180e-01 5.63945232e-01 -2.45168986e-02 6.15995242e+01] [ 3.15353634e-02 -2.70627943e-03 9.99498973e-01 4.85546388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.520714057 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:138.53, Y:61.63, Z:4.86 [[ 5.63823482e-01 -8.25655196e-01 -1.99143027e-02 1.38531878e+02] [ 8.25292706e-01 5.64169222e-01 -2.45975190e-02 6.16265456e+01] [ 3.15441060e-02 -2.56647002e-03 9.99499066e-01 4.85561049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.550714057 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:138.55, Y:61.65, Z:4.86 [[ 5.65554988e-01 -8.24468272e-01 -1.99905686e-02 1.38551205e+02] [ 8.24107121e-01 5.65902222e-01 -2.45382898e-02 6.16520421e+01] [ 3.15437486e-02 -2.59661775e-03 9.99498999e-01 4.85523935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.580714057 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:138.57, Y:61.68, Z:4.86 [[ 5.67854822e-01 -8.22884538e-01 -2.00484074e-02 1.38566284e+02] [ 8.22523985e-01 5.68202756e-01 -2.44933020e-02 6.16760901e+01] [ 3.15467199e-02 -2.58165625e-03 9.99498944e-01 4.85544769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.610714057 meters Centerline goodness : 0.996351 Centerline is valid? [True, True] Translation: X:138.59, Y:61.70, Z:4.85 [[ 5.70867869e-01 -8.20798153e-01 -2.00066929e-02 1.38590393e+02] [ 8.20435205e-01 5.71213242e-01 -2.45256327e-02 6.17043317e+01] [ 3.15586819e-02 -2.41329954e-03 9.99498987e-01 4.85229422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.640714057 meters Centerline goodness : 0.995965 Centerline is valid? [True, True] Translation: X:138.60, Y:61.73, Z:4.86 [[ 5.69402979e-01 -8.21804080e-01 -2.04524301e-02 1.38602211e+02] [ 8.21453878e-01 5.69762106e-01 -2.41799211e-02 6.17279010e+01] [ 3.15241775e-02 -3.03260897e-03 9.99498389e-01 4.85725061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.670714057 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:138.62, Y:61.75, Z:4.86 [[ 5.71797213e-01 -8.20148192e-01 -2.01218780e-02 1.38618162e+02] [ 8.19787964e-01 5.72145590e-01 -2.44359883e-02 6.17548208e+01] [ 3.15537754e-02 -2.52324339e-03 9.99498871e-01 4.85798883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.700714057 meters Centerline goodness : 0.995807 Centerline is valid? [True, True] Translation: X:138.62, Y:61.78, Z:4.86 [[ 5.67259108e-01 -8.23292973e-01 -2.01441216e-02 1.38621318e+02] [ 8.22935278e-01 5.67610124e-01 -2.44187555e-02 6.17759533e+01] [ 3.15377971e-02 -2.72554685e-03 9.99498844e-01 4.86107516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.730714057 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:138.65, Y:61.81, Z:4.86 [[ 5.72986414e-01 -8.19336438e-01 -1.93486660e-02 1.38650965e+02] [ 8.18955294e-01 5.73311038e-01 -2.50335898e-02 6.18064351e+01] [ 3.16037361e-02 -1.50178564e-03 9.99499349e-01 4.86176901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76071405699997 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:138.67, Y:61.84, Z:4.86 [[ 5.75129875e-01 -8.17816301e-01 -2.00530543e-02 1.38674595e+02] [ 8.17452838e-01 5.75474734e-01 -2.44885222e-02 6.18350451e+01] [ 3.15671387e-02 -2.30834541e-03 9.99498968e-01 4.85955146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79071405699997 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:138.69, Y:61.86, Z:4.86 [[ 5.74516079e-01 -8.18240054e-01 -2.03589997e-02 1.38692509e+02] [ 8.17885091e-01 5.74870268e-01 -2.42518573e-02 6.18617420e+01] [ 3.15476246e-02 -2.71824031e-03 9.99498554e-01 4.86001893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82071405699998 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:138.70, Y:61.89, Z:4.86 [[ 5.70856868e-01 -8.20799566e-01 -2.02609950e-02 1.38704255e+02] [ 8.20443529e-01 5.71209759e-01 -2.43274943e-02 6.18883040e+01] [ 3.15412748e-02 -2.73548502e-03 9.99498707e-01 4.86477139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85071405699998 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:138.72, Y:61.92, Z:4.87 [[ 5.70458170e-01 -8.21082975e-01 -2.00056394e-02 1.38722189e+02] [ 8.20720236e-01 5.70803687e-01 -2.45243832e-02 6.19153873e+01] [ 3.15558462e-02 -2.42889835e-03 9.99499039e-01 4.86604727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88071405699998 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:138.73, Y:61.94, Z:4.87 [[ 5.65644975e-01 -8.24405871e-01 -2.00180448e-02 1.38732727e+02] [ 8.24045494e-01 5.65992975e-01 -2.45148316e-02 6.19397865e+01] [ 3.15402439e-02 -2.62908826e-03 9.99499025e-01 4.86907991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91071405699998 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:138.75, Y:61.97, Z:4.87 [[ 5.65009316e-01 -8.24850842e-01 -1.96357334e-02 1.38750561e+02] [ 8.24480531e-01 5.65346240e-01 -2.48089303e-02 6.19657120e+01] [ 3.15646551e-02 -2.17200315e-03 9.99499352e-01 4.87001187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94071405699998 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:138.77, Y:61.99, Z:4.87 [[ 5.63611645e-01 -8.25807387e-01 -1.95977966e-02 1.38767536e+02] [ 8.25436642e-01 5.63948063e-01 -2.48381129e-02 6.19936093e+01] [ 3.15636366e-02 -2.17768979e-03 9.99499372e-01 4.87119091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97071405699998 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:138.79, Y:62.02, Z:4.87 [[ 5.64072007e-01 -8.25493416e-01 -1.95804028e-02 1.38785459e+02] [ 8.25122024e-01 5.64407698e-01 -2.48514945e-02 6.20190342e+01] [ 3.15660752e-02 -2.13818920e-03 9.99499380e-01 4.87140293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00071405699998 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:138.80, Y:62.05, Z:4.87 [[ 5.63274781e-01 -8.26038206e-01 -1.95551329e-02 1.38802430e+02] [ 8.25666470e-01 5.63610075e-01 -2.48709353e-02 6.20454597e+01] [ 3.15658127e-02 -2.13684690e-03 9.99499391e-01 4.87288787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03071405699998 meters Centerline goodness : 0.995712 Centerline is valid? [True, True] Translation: X:138.82, Y:62.07, Z:4.87 [[ 5.64628473e-01 -8.25115367e-01 -1.94760998e-02 1.38820873e+02] [ 8.24741002e-01 5.64960785e-01 -2.49317201e-02 6.20731619e+01] [ 3.15747780e-02 -1.98557897e-03 9.99499420e-01 4.87497895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06071405699998 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:138.84, Y:62.10, Z:4.87 [[ 5.64601366e-01 -8.25133151e-01 -1.95084729e-02 1.38838597e+02] [ 8.24759648e-01 5.64934662e-01 -2.49068212e-02 6.20994783e+01] [ 3.15724564e-02 -2.02737603e-03 9.99499410e-01 4.87450833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09071405699999 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:138.85, Y:62.12, Z:4.87 [[ 5.67155319e-01 -8.23380903e-01 -1.94610589e-02 1.38853052e+02] [ 8.23005128e-01 5.67486028e-01 -2.49432842e-02 6.21224169e+01] [ 3.15817029e-02 -1.86983495e-03 9.99499425e-01 4.87471319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.120714057 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:138.88, Y:62.15, Z:4.88 [[ 5.66356042e-01 -8.23939307e-01 -1.91011033e-02 1.38876373e+02] [ 8.23554510e-01 5.66676208e-01 -2.52199258e-02 6.21521700e+01] [ 3.16038290e-02 -1.44734245e-03 9.99499426e-01 4.87561236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.150714057 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:138.90, Y:62.18, Z:4.88 [[ 5.65730048e-01 -8.24358719e-01 -1.95503099e-02 1.38895387e+02] [ 8.23985875e-01 5.66064089e-01 -2.48741935e-02 6.21784517e+01] [ 3.15719866e-02 -2.03710051e-03 9.99499405e-01 4.87645680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.180714057 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:138.92, Y:62.21, Z:4.88 [[ 5.63930839e-01 -8.25591331e-01 -1.95182642e-02 1.38915101e+02] [ 8.25218371e-01 5.64264732e-01 -2.48988375e-02 6.22055376e+01] [ 3.15697325e-02 -2.06560788e-03 9.99499417e-01 4.87769140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.210714057 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:138.94, Y:62.23, Z:4.88 [[ 5.62817698e-01 -8.26348216e-01 -1.96179877e-02 1.38935952e+02] [ 8.25978344e-01 5.63155074e-01 -2.48221225e-02 6.22320801e+01] [ 3.15596860e-02 -2.23370317e-03 9.99499373e-01 4.87844708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.240714057 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:138.96, Y:62.26, Z:4.88 [[ 5.59979511e-01 -8.28271771e-01 -1.97185196e-02 1.38955953e+02] [ 8.27905742e-01 5.60321140e-01 -2.47447489e-02 6.22578949e+01] [ 3.15440804e-02 -2.46852322e-03 9.99499313e-01 4.87776929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.270714057 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:138.98, Y:62.28, Z:4.88 [[ 5.59033282e-01 -8.28908993e-01 -1.97906727e-02 1.38976287e+02] [ 8.28545290e-01 5.59377462e-01 -2.46892113e-02 6.22842664e+01] [ 3.15355656e-02 -2.59537780e-03 9.99499261e-01 4.87851316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.300714057 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:139.00, Y:62.31, Z:4.88 [[ 5.59434575e-01 -8.28637544e-01 -1.98186150e-02 1.38996003e+02] [ 8.28274425e-01 5.59779404e-01 -2.46677041e-02 6.23104697e+01] [ 3.15346382e-02 -2.61528538e-03 9.99499238e-01 4.87763410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.330714057 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:139.01, Y:62.34, Z:4.88 [[ 5.58784379e-01 -8.29072228e-01 -1.99814508e-02 1.39012666e+02] [ 8.28713781e-01 5.59134283e-01 -2.45422617e-02 6.23361551e+01] [ 3.15196218e-02 -2.84507114e-03 9.99499084e-01 4.88068751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.360714057 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:139.03, Y:62.36, Z:4.88 [[ 5.62034905e-01 -8.26875754e-01 -1.98305964e-02 1.39033188e+02] [ 8.26511884e-01 5.62378946e-01 -2.46582112e-02 6.23644534e+01] [ 3.15415869e-02 -2.53144822e-03 9.99499235e-01 4.88004755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.390714057 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:139.05, Y:62.39, Z:4.88 [[ 5.62814173e-01 -8.26341085e-01 -2.00154357e-02 1.39051456e+02] [ 8.25981854e-01 5.63163328e-01 -2.45161879e-02 6.23910666e+01] [ 3.15306927e-02 -2.73432871e-03 9.99499044e-01 4.88311572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.420714057 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:139.07, Y:62.42, Z:4.88 [[ 5.63808277e-01 -8.25664908e-01 -1.99420866e-02 1.39070720e+02] [ 8.25303288e-01 5.64154836e-01 -2.45724364e-02 6.24180591e+01] [ 3.15390231e-02 -2.60412661e-03 9.99499129e-01 4.88375648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.450714057 meters Centerline goodness : 0.995139 Centerline is valid? [True, True] Translation: X:139.09, Y:62.44, Z:4.89 [[ 5.67084413e-01 -8.23416622e-01 -2.00083961e-02 1.39086701e+02] [ 8.23055398e-01 5.67431496e-01 -2.45216025e-02 6.24436021e+01] [ 3.15448892e-02 -2.56219988e-03 9.99499052e-01 4.88720383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.480714057 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:139.09, Y:62.47, Z:4.89 [[ 5.63473633e-01 -8.25894298e-01 -1.99015984e-02 1.39091352e+02] [ 8.25531730e-01 5.63819142e-01 -2.46036097e-02 6.24663606e+01] [ 3.15408831e-02 -2.56591565e-03 9.99499169e-01 4.88898573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51071405699997 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:139.12, Y:62.50, Z:4.89 [[ 5.70202186e-01 -8.21278986e-01 -1.92430315e-02 1.39118399e+02] [ 8.20896420e-01 5.70524879e-01 -2.51083489e-02 6.24953184e+01] [ 3.15995876e-02 -1.47970022e-03 9.99499513e-01 4.89040918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54071405699997 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:139.14, Y:62.52, Z:4.89 [[ 5.71499242e-01 -8.20365792e-01 -1.97125238e-02 1.39138526e+02] [ 8.19994885e-01 5.71835541e-01 -2.47488091e-02 6.25213331e+01] [ 3.15753981e-02 -2.02024309e-03 9.99499331e-01 4.89108549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57071405699998 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:139.16, Y:62.55, Z:4.89 [[ 5.72438897e-01 -8.19709079e-01 -1.97670274e-02 1.39156265e+02] [ 8.19339214e-01 5.72776407e-01 -2.47070815e-02 6.25464414e+01] [ 3.15747060e-02 -2.05260626e-03 9.99499287e-01 4.89195709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60071405699998 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:139.18, Y:62.57, Z:4.89 [[ 5.76001367e-01 -8.17211408e-01 -1.96962167e-02 1.39176877e+02] [ 8.16838232e-01 5.76335129e-01 -2.47612884e-02 6.25741306e+01] [ 3.15868290e-02 -1.82608688e-03 9.99499343e-01 4.89151129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63071405699998 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:139.20, Y:62.60, Z:4.89 [[ 5.76674589e-01 -8.16732603e-01 -1.98563300e-02 1.39196390e+02] [ 8.16363327e-01 5.77012868e-01 -2.46387665e-02 6.26012495e+01] [ 3.15806418e-02 -2.00142906e-03 9.99499203e-01 4.89211582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66071405699998 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:139.21, Y:62.62, Z:4.89 [[ 5.75284091e-01 -8.17712475e-01 -1.98625770e-02 1.39209402e+02] [ 8.17343939e-01 5.75623185e-01 -2.46339853e-02 6.26246970e+01] [ 3.15768770e-02 -2.06301708e-03 9.99499197e-01 4.89347953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69071405699998 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:139.23, Y:62.65, Z:4.90 [[ 5.77015044e-01 -8.16498198e-01 -1.96043557e-02 1.39231837e+02] [ 8.16122236e-01 5.77345562e-01 -2.48313935e-02 6.26507640e+01] [ 3.15932758e-02 -1.67146301e-03 9.99499410e-01 4.89540924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72071405699998 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:139.25, Y:62.68, Z:4.90 [[ 5.76462255e-01 -8.16884518e-01 -1.97725441e-02 1.39251335e+02] [ 8.16513140e-01 5.76798109e-01 -2.47028929e-02 6.26768563e+01] [ 3.15841768e-02 -1.90425671e-03 9.99499281e-01 4.89544777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75071405699998 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:139.27, Y:62.70, Z:4.90 [[ 5.74904437e-01 -8.17980414e-01 -1.98224655e-02 1.39271313e+02] [ 8.17610981e-01 5.75242499e-01 -2.46647650e-02 6.27031616e+01] [ 3.15780192e-02 -2.02718264e-03 9.99499234e-01 4.89608690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78071405699998 meters Centerline goodness : 0.993009 Centerline is valid? [True, True] Translation: X:139.29, Y:62.73, Z:4.89 [[ 5.74960791e-01 -8.17940576e-01 -1.98318829e-02 1.39293142e+02] [ 8.17571366e-01 5.75299110e-01 -2.46575762e-02 6.27304644e+01] [ 3.15776966e-02 -2.03684004e-03 9.99499225e-01 4.89475568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81071405699998 meters Centerline goodness : 0.990644 Centerline is valid? [True, True] Translation: X:139.31, Y:62.75, Z:4.90 [[ 5.73742439e-01 -8.18790914e-01 -2.00262955e-02 1.39306598e+02] [ 8.18427323e-01 5.74087117e-01 -2.45091710e-02 6.27517423e+01] [ 3.15647248e-02 -2.32811589e-03 9.99498999e-01 4.90004137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84071405699999 meters Centerline goodness : 0.991883 Centerline is valid? [True, True] Translation: X:139.33, Y:62.78, Z:4.90 [[ 5.71408473e-01 -8.20432748e-01 -1.95566735e-02 1.39329371e+02] [ 8.20057840e-01 5.71740119e-01 -2.48671656e-02 6.27798018e+01] [ 3.15831718e-02 -1.82829430e-03 9.99499455e-01 4.89852637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.870714057 meters Centerline goodness : 0.992266 Centerline is valid? [True, True] Translation: X:139.35, Y:62.80, Z:4.90 [[ 5.68954580e-01 -8.22127129e-01 -1.99416573e-02 1.39348842e+02] [ 8.21763333e-01 5.69298861e-01 -2.45729868e-02 6.28043458e+01] [ 3.15548819e-02 -2.40640940e-03 9.99499124e-01 4.89986519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.900714057 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:139.37, Y:62.83, Z:4.90 [[ 5.66405132e-01 -8.23888058e-01 -1.98417366e-02 1.39367710e+02] [ 8.23522684e-01 5.66747571e-01 -2.46491375e-02 6.28295501e+01] [ 3.15533860e-02 -2.37872219e-03 9.99499237e-01 4.90335136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.930714057 meters Centerline goodness : 0.991158 Centerline is valid? [True, True] Translation: X:139.38, Y:62.85, Z:4.91 [[ 5.66604949e-01 -8.23751869e-01 -1.97911630e-02 1.39384344e+02] [ 8.23385080e-01 5.66945794e-01 -2.46875986e-02 6.28519793e+01] [ 3.15569721e-02 -2.30763280e-03 9.99499291e-01 4.90517182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.960714057 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:139.40, Y:62.88, Z:4.91 [[ 5.61810002e-01 -8.27035302e-01 -1.95481635e-02 1.39403752e+02] [ 8.26664104e-01 5.62145736e-01 -2.48722767e-02 6.28790647e+01] [ 3.15591677e-02 -2.18627127e-03 9.99499494e-01 4.90644729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.990714057 meters Centerline goodness : 0.990909 Centerline is valid? [True, True] Translation: X:139.42, Y:62.90, Z:4.91 [[ 5.63206158e-01 -8.26081212e-01 -1.97143155e-02 1.39418402e+02] [ 8.25713806e-01 5.63546226e-01 -2.47459293e-02 6.29003082e+01] [ 3.15520754e-02 -2.34132272e-03 9.99499367e-01 4.90669415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.020714057 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:139.44, Y:62.93, Z:4.91 [[ 5.59421431e-01 -8.28657766e-01 -1.93382912e-02 1.39441215e+02] [ 8.28282062e-01 5.59751953e-01 -2.50314975e-02 6.29299058e+01] [ 3.15671911e-02 -2.01440353e-03 9.99499602e-01 4.90892458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.050714057 meters Centerline goodness : 0.990498 Centerline is valid? [True, True] Translation: X:139.46, Y:62.95, Z:4.91 [[ 5.61508417e-01 -8.27237257e-01 -1.96677218e-02 1.39457061e+02] [ 8.26869330e-01 5.61847852e-01 -2.47810866e-02 6.29510873e+01] [ 3.15501053e-02 -2.34784724e-03 9.99499414e-01 4.90934982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.080714057 meters Centerline goodness : 0.990688 Centerline is valid? [True, True] Translation: X:139.48, Y:62.98, Z:4.91 [[ 5.61762810e-01 -8.27072342e-01 -1.93361329e-02 1.39476683e+02] [ 8.26695654e-01 5.62092203e-01 -2.50329773e-02 6.29756843e+01] [ 3.15727728e-02 -1.92250139e-03 9.99499607e-01 4.90991488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.110714057 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:139.50, Y:63.00, Z:4.91 [[ 5.59943928e-01 -8.28305705e-01 -1.92991298e-02 1.39497051e+02] [ 8.27928782e-01 5.60273035e-01 -2.50610842e-02 6.30013340e+01] [ 3.15710210e-02 -1.94550312e-03 9.99499618e-01 4.91165639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.140714057 meters Centerline goodness : 0.991206 Centerline is valid? [True, True] Translation: X:139.52, Y:63.03, Z:4.91 [[ 5.60190087e-01 -8.28138868e-01 -1.93153170e-02 1.39516586e+02] [ 8.27762267e-01 5.60519569e-01 -2.50487843e-02 6.30261251e+01] [ 3.15704851e-02 -1.95640997e-03 9.99499613e-01 4.91065547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.170714057 meters Centerline goodness : 0.991271 Centerline is valid? [True, True] Translation: X:139.54, Y:63.05, Z:4.91 [[ 5.58443678e-01 -8.29317878e-01 -1.93006590e-02 1.39537388e+02] [ 8.28941591e-01 5.58773513e-01 -2.50599244e-02 6.30520960e+01] [ 3.15673404e-02 -2.00456266e-03 9.99499617e-01 4.91070083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.200714057 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:139.56, Y:63.08, Z:4.91 [[ 5.57628914e-01 -8.29865769e-01 -1.93080202e-02 1.39557879e+02] [ 8.29489998e-01 5.57959339e-01 -2.50543334e-02 6.30774864e+01] [ 3.15648239e-02 -2.04478892e-03 9.99499615e-01 4.91277641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.230714057 meters Centerline goodness : 0.991648 Centerline is valid? [True, True] Translation: X:139.58, Y:63.10, Z:4.91 [[ 5.57084817e-01 -8.30230666e-01 -1.93274068e-02 1.39576746e+02] [ 8.29855616e-01 5.57416069e-01 -2.50396052e-02 6.31016481e+01] [ 3.15620552e-02 -2.08977318e-03 9.99499610e-01 4.91255547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26071405699997 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:139.60, Y:63.13, Z:4.92 [[ 5.56884129e-01 -8.30367080e-01 -1.92504637e-02 1.39599299e+02] [ 8.29990108e-01 5.57213163e-01 -2.50980426e-02 6.31277233e+01] [ 3.15672001e-02 -2.00099287e-03 9.99499629e-01 4.91608778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29071405699997 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:139.62, Y:63.15, Z:4.92 [[ 5.56981405e-01 -8.30299529e-01 -1.93495671e-02 1.39619011e+02] [ 8.29925100e-01 5.57313369e-01 -2.50227437e-02 6.31536269e+01] [ 3.15601447e-02 -2.12148842e-03 9.99499603e-01 4.91706667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32071405699998 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:139.64, Y:63.18, Z:4.92 [[ 5.55021540e-01 -8.31610760e-01 -1.93554627e-02 1.39640091e+02] [ 8.31237269e-01 5.55354562e-01 -2.50182623e-02 6.31802808e+01] [ 3.15546006e-02 -2.20330749e-03 9.99499601e-01 4.91737608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35071405699998 meters Centerline goodness : 0.992491 Centerline is valid? [True, True] Translation: X:139.66, Y:63.20, Z:4.92 [[ 5.56976497e-01 -8.30299022e-01 -1.95119540e-02 1.39657302e+02] [ 8.29928851e-01 5.57313312e-01 -2.48992983e-02 6.32020964e+01] [ 3.15481348e-02 -2.32520965e-03 9.99499529e-01 4.91973829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38071405699998 meters Centerline goodness : 0.992691 Centerline is valid? [True, True] Translation: X:139.68, Y:63.23, Z:4.92 [[ 5.57409879e-01 -8.30015126e-01 -1.92124365e-02 1.39676226e+02] [ 8.29636960e-01 5.57737531e-01 -2.51269049e-02 6.32270079e+01] [ 3.15712080e-02 -1.93336236e-03 9.99499635e-01 4.91928336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41071405699998 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:139.70, Y:63.25, Z:4.92 [[ 5.55822702e-01 -8.31079741e-01 -1.91725738e-02 1.39695379e+02] [ 8.30701167e-01 5.56149877e-01 -2.51572083e-02 6.32527409e+01] [ 3.15704707e-02 -1.94373197e-03 9.99499638e-01 4.92413435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44071405699998 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:139.72, Y:63.28, Z:4.93 [[ 5.55035020e-01 -8.31606465e-01 -1.91523786e-02 1.39720642e+02] [ 8.31227677e-01 5.55361946e-01 -2.51725650e-02 6.32818369e+01] [ 3.15701700e-02 -1.94833205e-03 9.99499639e-01 4.92755055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47071405699998 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:139.74, Y:63.31, Z:4.93 [[ 5.53022944e-01 -8.32934832e-01 -1.96262300e-02 1.39741663e+02] [ 8.32569318e-01 5.53364896e-01 -2.48117475e-02 6.33058714e+01] [ 3.15270354e-02 -2.61873122e-03 9.99499469e-01 4.92818087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50071405699998 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:139.75, Y:63.33, Z:4.92 [[ 5.48197774e-01 -8.36117934e-01 -1.96469098e-02 1.39752461e+02] [ 8.35754958e-01 5.48542441e-01 -2.47959942e-02 6.33270794e+01] [ 3.15095393e-02 -2.82689343e-03 9.99499454e-01 4.92340482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53071405699998 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:139.78, Y:63.35, Z:4.93 [[ 5.48706170e-01 -8.35795885e-01 -1.91514664e-02 1.39782130e+02] [ 8.35419576e-01 5.49035934e-01 -2.51729333e-02 6.33528781e+01] [ 3.15542773e-02 -2.18696608e-03 9.99499647e-01 4.93049753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56071405699998 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:139.80, Y:63.38, Z:4.93 [[ 5.50186625e-01 -8.34810452e-01 -1.96516342e-02 1.39801084e+02] [ 8.34446790e-01 5.50530565e-01 -2.47921621e-02 6.33758408e+01] [ 3.15155813e-02 -2.75792706e-03 9.99499456e-01 4.92944755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59071405699999 meters Centerline goodness : 0.993448 Centerline is valid? [True, True] Translation: X:139.82, Y:63.40, Z:4.93 [[ 5.50627350e-01 -8.34523325e-01 -1.95023620e-02 1.39821864e+02] [ 8.34155506e-01 5.50966692e-01 -2.49057456e-02 6.34008572e+01] [ 3.15295775e-02 -2.55421789e-03 9.99499556e-01 4.92923304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.620714057 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:139.85, Y:63.43, Z:4.93 [[ 5.46539368e-01 -8.37205792e-01 -1.95238715e-02 1.39845193e+02] [ 8.36840210e-01 5.46881139e-01 -2.48893960e-02 6.34290874e+01] [ 3.15147836e-02 -2.73532602e-03 9.99499543e-01 4.92842900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.650714057 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:139.85, Y:63.45, Z:4.93 [[ 5.40109194e-01 -8.41360518e-01 -1.98629508e-02 1.39846449e+02] [ 8.41006770e-01 5.40463606e-01 -2.46313477e-02 6.34464316e+01] [ 3.14590455e-02 -3.40125877e-03 9.99499255e-01 4.93025423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.680714057 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:139.89, Y:63.48, Z:4.93 [[ 5.46707649e-01 -8.37112922e-01 -1.87803511e-02 1.39888811e+02] [ 8.36727801e-01 5.47027166e-01 -2.54532148e-02 6.34795151e+01] [ 3.15805773e-02 -1.79857461e-03 9.99499591e-01 4.92630557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.710714057 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:139.89, Y:63.50, Z:4.93 [[ 5.39271901e-01 -8.41889633e-01 -2.01906527e-02 1.39891084e+02] [ 8.41545357e-01 5.39636050e-01 -2.43791928e-02 6.34964931e+01] [ 3.14201938e-02 -3.84433641e-03 9.99498871e-01 4.92843779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.740714057 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:139.93, Y:63.53, Z:4.93 [[ 5.46114776e-01 -8.37492013e-01 -1.91253540e-02 1.39926547e+02] [ 8.37116189e-01 5.46444914e-01 -2.51881106e-02 6.35270469e+01] [ 3.15457939e-02 -2.25454413e-03 9.99499765e-01 4.92724641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.770714057 meters Centerline goodness : 0.994361 Centerline is valid? [True, True] Translation: X:139.95, Y:63.55, Z:4.93 [[ 5.47704336e-01 -8.36430248e-01 -2.01097461e-02 1.39945025e+02] [ 8.36080169e-01 5.48062669e-01 -2.44389380e-02 6.35500115e+01] [ 3.14628680e-02 -3.42804763e-03 9.99499043e-01 4.92822473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.800714057 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:139.96, Y:63.57, Z:4.93 [[ 5.49946236e-01 -8.34961089e-01 -1.99779261e-02 1.39964138e+02] [ 8.34606460e-01 5.50299807e-01 -2.45393360e-02 6.35749117e+01] [ 3.14832396e-02 -3.17839072e-03 9.99499226e-01 4.93023986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.830714057 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:139.98, Y:63.60, Z:4.94 [[ 5.51726804e-01 -8.33780811e-01 -2.01765585e-02 1.39978674e+02] [ 8.33430824e-01 5.52085383e-01 -2.43883582e-02 6.35968229e+01] [ 3.14737281e-02 -3.36005480e-03 9.99498932e-01 4.93511736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.860714057 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:140.00, Y:63.62, Z:4.94 [[ 5.53744788e-01 -8.32450926e-01 -1.98031663e-02 1.40000190e+02] [ 8.32090016e-01 5.54091620e-01 -2.46714833e-02 6.36244839e+01] [ 3.15105676e-02 -2.81631166e-03 9.99499451e-01 4.93727067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.890714057 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:140.02, Y:63.65, Z:4.93 [[ 5.54112492e-01 -8.32200445e-01 -2.00440915e-02 1.40021124e+02] [ 8.31845847e-01 5.54466216e-01 -2.44888242e-02 6.36511830e+01] [ 3.14933820e-02 -3.10403082e-03 9.99499141e-01 4.93447403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.920714057 meters Centerline goodness : 0.991613 Centerline is valid? [True, True] Translation: X:140.03, Y:63.67, Z:4.94 [[ 5.58125577e-01 -8.29510119e-01 -2.02188567e-02 1.40031398e+02] [ 8.29158530e-01 5.58482684e-01 -2.43561822e-02 6.36673143e+01] [ 3.14955809e-02 -3.17082926e-03 9.99498862e-01 4.93977715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.950714057 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:140.05, Y:63.70, Z:4.94 [[ 5.57315462e-01 -8.30070024e-01 -1.95762977e-02 1.40052521e+02] [ 8.29701693e-01 5.57654019e-01 -2.48414063e-02 6.36958490e+01] [ 3.15369078e-02 -2.39798753e-03 9.99499711e-01 4.94208003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.980714057 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:140.07, Y:63.72, Z:4.94 [[ 5.58571759e-01 -8.29216441e-01 -1.99420089e-02 1.40071245e+02] [ 8.28857255e-01 5.58920576e-01 -2.45650210e-02 6.37197848e+01] [ 3.15157183e-02 -2.80775177e-03 9.99499313e-01 4.94125743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01071405699997 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:140.09, Y:63.75, Z:4.94 [[ 5.56322417e-01 -8.30729419e-01 -1.98494570e-02 1.40094169e+02] [ 8.30368716e-01 5.56669488e-01 -2.46348809e-02 6.37474458e+01] [ 3.15145074e-02 -2.77743160e-03 9.99499436e-01 4.93842732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04071405699997 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:140.11, Y:63.77, Z:4.94 [[ 5.58172514e-01 -8.29479956e-01 -2.01605326e-02 1.40107302e+02] [ 8.29126785e-01 5.58527900e-01 -2.43999917e-02 6.37667756e+01] [ 3.14995240e-02 -3.09623288e-03 9.99498971e-01 4.94227826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07071405699998 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:140.12, Y:63.79, Z:4.94 [[ 5.57409190e-01 -8.30004261e-01 -1.96957323e-02 1.40122249e+02] [ 8.29639035e-01 5.57751249e-01 -2.47510780e-02 6.37884049e+01] [ 3.15288195e-02 -2.54386994e-03 9.99499606e-01 4.94271093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10071405699998 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:140.14, Y:63.82, Z:4.94 [[ 5.54915205e-01 -8.31678573e-01 -1.94901901e-02 1.40144248e+02] [ 8.31308978e-01 5.55252266e-01 -2.49058852e-02 6.38159211e+01] [ 3.15356633e-02 -2.38171568e-03 9.99499790e-01 4.94360105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13071405699998 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:140.16, Y:63.83, Z:4.94 [[ 5.57396178e-01 -8.30010293e-01 -1.98094432e-02 1.40157661e+02] [ 8.29648074e-01 5.57741603e-01 -2.46653153e-02 6.38328862e+01] [ 3.15210162e-02 -2.68651395e-03 9.99499479e-01 4.94405715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16071405699998 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:140.17, Y:63.86, Z:4.95 [[ 5.53732986e-01 -8.32468347e-01 -1.93966818e-02 1.40174280e+02] [ 8.32096806e-01 5.54067789e-01 -2.49757954e-02 6.38577691e+01] [ 3.15386357e-02 -2.30999517e-03 9.99499864e-01 4.94803186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19071405699998 meters Centerline goodness : 0.992827 Centerline is valid? [True, True] Translation: X:140.19, Y:63.88, Z:4.95 [[ 5.58023959e-01 -8.29596168e-01 -1.94797077e-02 1.40191278e+02] [ 8.29225056e-01 5.58359321e-01 -2.49133722e-02 6.38776687e+01] [ 3.15447144e-02 -2.25080310e-03 9.99499807e-01 4.94689757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22071405699998 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:140.21, Y:63.90, Z:4.95 [[ 5.58244285e-01 -8.29450594e-01 -1.93656896e-02 1.40205018e+02] [ 8.29076442e-01 5.58576138e-01 -2.49990201e-02 6.38982922e+01] [ 3.15526642e-02 -2.10007694e-03 9.99499884e-01 4.95067298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25071405699998 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:140.23, Y:63.93, Z:4.95 [[ 5.56202028e-01 -8.30825270e-01 -1.92009206e-02 1.40226001e+02] [ 8.30447692e-01 5.56529857e-01 -2.51226819e-02 6.39253160e+01] [ 3.15584446e-02 -1.97207353e-03 9.99499963e-01 4.95201861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28071405699998 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:140.24, Y:63.95, Z:4.95 [[ 5.55728260e-01 -8.31133877e-01 -1.95596472e-02 1.40242473e+02] [ 8.30765778e-01 5.56067024e-01 -2.48533101e-02 6.39481569e+01] [ 3.15329028e-02 -2.43779879e-03 9.99499741e-01 4.95287228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31071405699998 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:140.26, Y:63.97, Z:4.95 [[ 5.53697456e-01 -8.32488557e-01 -1.95430154e-02 1.40255647e+02] [ 8.32120851e-01 5.54036625e-01 -2.48657871e-02 6.39692353e+01] [ 3.15280295e-02 -2.49402754e-03 9.99499756e-01 4.95156381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34071405699999 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:140.27, Y:63.99, Z:4.95 [[ 5.53075140e-01 -8.32906699e-01 -1.93473753e-02 1.40274238e+02] [ 8.32534154e-01 5.53408766e-01 -2.50124040e-02 6.39922209e+01] [ 3.15400059e-02 -2.27361190e-03 9.99499904e-01 4.95405889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.370714057 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:140.29, Y:64.02, Z:4.95 [[ 5.51309666e-01 -8.34074520e-01 -1.94254122e-02 1.40292213e+02] [ 8.33704713e-01 5.51646401e-01 -2.49539441e-02 6.40150467e+01] [ 3.15294077e-02 -2.43770709e-03 9.99499852e-01 4.95401802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.400714057 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:140.30, Y:64.04, Z:4.95 [[ 5.46414183e-01 -8.37289626e-01 -1.94324982e-02 1.40299013e+02] [ 8.36921984e-01 5.46753288e-01 -2.49486378e-02 6.40356245e+01] [ 3.15140179e-02 -2.63119543e-03 9.99499847e-01 4.95470954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.430714057 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:140.33, Y:64.06, Z:4.96 [[ 5.47037282e-01 -8.36894182e-01 -1.89298837e-02 1.40327839e+02] [ 8.36513285e-01 5.47361125e-01 -2.53243486e-02 6.40600672e+01] [ 3.15552824e-02 -1.98173641e-03 9.99500043e-01 4.95574792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.460714057 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:140.35, Y:64.08, Z:4.96 [[ 5.45373361e-01 -8.37966801e-01 -1.94817301e-02 1.40345625e+02] [ 8.37600886e-01 5.45714374e-01 -2.49113925e-02 6.40819619e+01] [ 3.15063800e-02 -2.73190458e-03 9.99499817e-01 4.95599978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.490714057 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:140.36, Y:64.10, Z:4.96 [[ 5.43618427e-01 -8.39106178e-01 -1.94891637e-02 1.40363181e+02] [ 8.38741174e-01 5.43960423e-01 -2.49058341e-02 6.41036695e+01] [ 3.14999730e-02 -2.80709370e-03 9.99499811e-01 4.95610496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.520714057 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:140.38, Y:64.13, Z:4.96 [[ 5.39728213e-01 -8.41612549e-01 -1.95389994e-02 1.40380535e+02] [ 8.41250454e-01 5.40073353e-01 -2.48685847e-02 6.41253310e+01] [ 3.14822059e-02 -3.01491538e-03 9.99499765e-01 4.95671296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.550714057 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:140.38, Y:64.14, Z:4.96 [[ 5.34273601e-01 -8.45085729e-01 -1.95404913e-02 1.40384955e+02] [ 8.44725913e-01 5.34621119e-01 -2.48674707e-02 6.41447755e+01] [ 3.14619039e-02 -3.22032625e-03 9.99499764e-01 4.95664215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.580714057 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:140.41, Y:64.17, Z:4.96 [[ 5.36449669e-01 -8.43720924e-01 -1.88879691e-02 1.40413165e+02] [ 8.43343117e-01 5.36777032e-01 -2.53536008e-02 6.41714461e+01] [ 3.15299915e-02 -2.32810800e-03 9.99500095e-01 4.95896605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.610714057 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:140.43, Y:64.20, Z:4.96 [[ 5.34231284e-01 -8.45118245e-01 -1.92895378e-02 1.40433653e+02] [ 8.44751796e-01 5.34571495e-01 -2.50543346e-02 6.41986617e+01] [ 3.14855124e-02 -2.91006241e-03 9.99499972e-01 4.96162663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.640714057 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:140.45, Y:64.23, Z:4.96 [[ 5.33140052e-01 -8.45804936e-01 -1.93828635e-02 1.40452988e+02] [ 8.45441395e-01 5.33483463e-01 -2.49848163e-02 6.42254840e+01] [ 3.14727181e-02 -3.06666892e-03 9.99499907e-01 4.96291899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.670714057 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:140.46, Y:64.25, Z:4.96 [[ 5.30410501e-01 -8.47518488e-01 -1.94193968e-02 1.40460779e+02] [ 8.47157029e-01 5.30756146e-01 -2.49576086e-02 6.42461756e+01] [ 3.14589989e-02 -3.21350077e-03 9.99499877e-01 4.96289598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.700714057 meters Centerline goodness : 0.995947 Centerline is valid? [True, True] Translation: X:140.50, Y:64.28, Z:4.96 [[ 5.37879279e-01 -8.42813666e-01 -1.87351668e-02 1.40497821e+02] [ 8.42431423e-01 5.38201427e-01 -2.54660888e-02 6.42765207e+01] [ 3.15464612e-02 -2.08541176e-03 9.99500111e-01 4.95949139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.730714057 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:140.50, Y:64.29, Z:4.96 [[ 5.30662405e-01 -8.47347341e-01 -1.99973961e-02 1.40495809e+02] [ 8.47001403e-01 5.31024572e-01 -2.45260653e-02 6.42913193e+01] [ 3.14012049e-02 -3.92276174e-03 9.99499163e-01 4.96299453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76071405699997 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:140.51, Y:64.31, Z:4.96 [[ 5.30915543e-01 -8.47215389e-01 -1.88353347e-02 1.40511636e+02] [ 8.46838510e-01 5.31243801e-01 -2.53882310e-02 6.43140286e+01] [ 3.15154548e-02 -2.47148034e-03 9.99500209e-01 4.96368650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79071405699997 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:140.56, Y:64.35, Z:4.96 [[ 5.44799933e-01 -8.38354658e-01 -1.88281958e-02 1.40558028e+02] [ 8.37972241e-01 5.45121723e-01 -2.53935242e-02 6.43493450e+01] [ 3.15524378e-02 -1.94311513e-03 9.99500209e-01 4.95633175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82071405699998 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:140.57, Y:64.37, Z:4.96 [[ 5.47619098e-01 -8.36469752e-01 -2.07768269e-02 1.40567659e+02] [ 8.36137811e-01 5.47996541e-01 -2.39447692e-02 6.43677988e+01] [ 3.14147044e-02 -4.25967764e-03 9.99497359e-01 4.95735090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85071405699998 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:140.56, Y:64.39, Z:4.97 [[ 5.37396349e-01 -8.43091458e-01 -2.00488555e-02 1.40559058e+02] [ 8.42744050e-01 5.37757223e-01 -2.44874672e-02 6.43856457e+01] [ 3.14265913e-02 -3.73657823e-03 9.99499078e-01 4.96651738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88071405699998 meters Centerline goodness : 0.993109 Centerline is valid? [True, True] Translation: X:140.60, Y:64.41, Z:4.96 [[ 5.49889929e-01 -8.35024568e-01 -1.88424118e-02 1.40597506e+02] [ 8.34640556e-01 5.50209817e-01 -2.53830810e-02 6.44141836e+01] [ 3.15627762e-02 -1.76874037e-03 9.99500206e-01 4.96094084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91071405699998 meters Centerline goodness : 0.993361 Centerline is valid? [True, True] Translation: X:140.61, Y:64.44, Z:4.96 [[ 5.50372879e-01 -8.34681975e-01 -1.98920919e-02 1.40613311e+02] [ 8.34324838e-01 5.50723769e-01 -2.46047857e-02 6.44386389e+01] [ 3.14922190e-02 -3.05465961e-03 9.99499329e-01 4.96220987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94071405699998 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:140.63, Y:64.46, Z:4.96 [[ 5.51362034e-01 -8.34027900e-01 -1.99341179e-02 1.40626514e+02] [ 8.33671455e-01 5.51713730e-01 -2.45736512e-02 6.44600699e+01] [ 3.14930372e-02 -3.06952677e-03 9.99499258e-01 4.96300693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97071405699998 meters Centerline goodness : 0.991721 Centerline is valid? [True, True] Translation: X:140.64, Y:64.48, Z:4.96 [[ 5.55762307e-01 -8.31105946e-01 -1.97778903e-02 1.40638754e+02] [ 8.30743561e-01 5.56107516e-01 -2.46894149e-02 6.44803342e+01] [ 3.15181529e-02 -2.70890879e-03 9.99499509e-01 4.96191893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00071405699998 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:140.65, Y:64.50, Z:4.97 [[ 5.55595679e-01 -8.31227270e-01 -1.93563105e-02 1.40653997e+02] [ 8.30854117e-01 5.55928430e-01 -2.50003332e-02 6.45049703e+01] [ 3.15416820e-02 -2.19219322e-03 9.99500033e-01 4.96944579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03071405699998 meters Centerline goodness : 0.992536 Centerline is valid? [True, True] Translation: X:140.67, Y:64.53, Z:4.97 [[ 5.56472255e-01 -8.30640313e-01 -1.93726433e-02 1.40673593e+02] [ 8.30267224e-01 5.56805102e-01 -2.49883209e-02 6.45310525e+01] [ 3.15430933e-02 -2.17916350e-03 9.99500017e-01 4.97027377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06071405699998 meters Centerline goodness : 0.992864 Centerline is valid? [True, True] Translation: X:140.69, Y:64.55, Z:4.97 [[ 5.57657744e-01 -8.29841781e-01 -1.95053899e-02 1.40690116e+02] [ 8.29471590e-01 5.57994028e-01 -2.48906972e-02 6.45549273e+01] [ 3.15392316e-02 -2.29867672e-03 9.99499871e-01 4.96672712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09071405699999 meters Centerline goodness : 0.992185 Centerline is valid? [True, True] Translation: X:140.71, Y:64.58, Z:4.97 [[ 5.56297150e-01 -8.30760203e-01 -1.92604876e-02 1.40707727e+02] [ 8.30384358e-01 5.56626711e-01 -2.50703406e-02 6.45804498e+01] [ 3.15483431e-02 -2.04704861e-03 9.99500131e-01 4.97307796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.120714057 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:140.73, Y:64.60, Z:4.97 [[ 5.55364804e-01 -8.31382441e-01 -1.93176492e-02 1.40725682e+02] [ 8.31008410e-01 5.55696501e-01 -2.50283966e-02 6.46049957e+01] [ 3.15429195e-02 -2.15323836e-03 9.99500079e-01 4.96993395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.150714057 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:140.74, Y:64.63, Z:4.97 [[ 5.53082154e-01 -8.32904024e-01 -1.92618220e-02 1.40736728e+02] [ 8.32529486e-01 5.53413206e-01 -2.50694785e-02 6.46250449e+01] [ 3.15402162e-02 -2.17055358e-03 9.99500127e-01 4.97182521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.180714057 meters Centerline goodness : 0.992409 Centerline is valid? [True, True] Translation: X:140.75, Y:64.65, Z:4.97 [[ 5.52407638e-01 -8.33358644e-01 -1.89518382e-02 1.40754998e+02] [ 8.32976564e-01 5.52729669e-01 -2.52973748e-02 6.46466859e+01] [ 3.15570292e-02 -1.81197406e-03 9.99500310e-01 4.97344549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.210714057 meters Centerline goodness : 0.992409 Centerline is valid? [True, True] Translation: X:140.77, Y:64.67, Z:4.97 [[ 5.52207601e-01 -8.33490334e-01 -1.89902523e-02 1.40771580e+02] [ 8.33109292e-01 5.52530884e-01 -2.52691367e-02 6.46695259e+01] [ 3.15542821e-02 -1.86714628e-03 9.99500296e-01 4.97431961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.240714057 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:140.79, Y:64.70, Z:4.98 [[ 5.50749911e-01 -8.34456043e-01 -1.89115933e-02 1.40789873e+02] [ 8.34073602e-01 5.51071485e-01 -2.53267502e-02 6.46958465e+01] [ 3.15556995e-02 -1.82495536e-03 9.99500329e-01 4.98187502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.270714057 meters Centerline goodness : 0.992623 Centerline is valid? [True, True] Translation: X:140.81, Y:64.72, Z:4.98 [[ 5.51315215e-01 -8.34080860e-01 -1.89908674e-02 1.40809368e+02] [ 8.33700181e-01 5.51638924e-01 -2.52686635e-02 6.47213523e+01] [ 3.15522102e-02 -1.90169092e-03 9.99500296e-01 4.97906222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.300714057 meters Centerline goodness : 0.992657 Centerline is valid? [True, True] Translation: X:140.82, Y:64.74, Z:4.98 [[ 5.49312345e-01 -8.35400692e-01 -1.90166348e-02 1.40823421e+02] [ 8.35021439e-01 5.49637742e-01 -2.52497544e-02 6.47435076e+01] [ 3.15459225e-02 -2.00929594e-03 9.99500284e-01 4.97947685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.330714057 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:140.84, Y:64.77, Z:4.98 [[ 5.48700032e-01 -8.35807188e-01 -1.88313449e-02 1.40841791e+02] [ 8.35423533e-01 5.49020121e-01 -2.53855528e-02 6.47668424e+01] [ 3.15562147e-02 -1.80309512e-03 9.99500352e-01 4.98178626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.360714057 meters Centerline goodness : 0.992853 Centerline is valid? [True, True] Translation: X:140.86, Y:64.79, Z:4.98 [[ 5.46740954e-01 -8.37088742e-01 -1.88882796e-02 1.40858672e+02] [ 8.36707262e-01 5.47063657e-01 -2.53438991e-02 6.47925906e+01] [ 3.15481839e-02 -1.94741313e-03 9.99500335e-01 4.98194445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.390714057 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:140.87, Y:64.82, Z:4.98 [[ 5.41180341e-01 -8.40697307e-01 -1.87583911e-02 1.40870027e+02] [ 8.40314707e-01 5.41501666e-01 -2.54389251e-02 6.48202278e+01] [ 3.15441358e-02 -1.99590576e-03 9.99500367e-01 4.98325508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.420714057 meters Centerline goodness : 0.992385 Centerline is valid? [True, True] Translation: X:140.89, Y:64.84, Z:4.99 [[ 5.46752769e-01 -8.37086142e-01 -1.86601041e-02 1.40892883e+02] [ 8.36698978e-01 5.47068568e-01 -2.55108182e-02 6.48406024e+01] [ 3.15631089e-02 -1.66477953e-03 9.99500375e-01 4.98534178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.450714057 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:140.91, Y:64.87, Z:4.98 [[ 5.44873069e-01 -8.38307871e-01 -1.87949900e-02 1.40913129e+02] [ 8.37924771e-01 5.45193813e-01 -2.54122852e-02 6.48711803e+01] [ 3.15502310e-02 -1.90231789e-03 9.99500357e-01 4.98425423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.480714057 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:140.93, Y:64.89, Z:4.99 [[ 5.47613833e-01 -8.36512939e-01 -1.91100425e-02 1.40928482e+02] [ 8.36136684e-01 5.47942801e-01 -2.51819913e-02 6.48926574e+01] [ 3.15362717e-02 -2.18860086e-03 9.99500212e-01 4.98702836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51071405699997 meters Centerline goodness : 0.992483 Centerline is valid? [True, True] Translation: X:140.94, Y:64.91, Z:4.99 [[ 5.48492307e-01 -8.35944071e-01 -1.88069173e-02 1.40944738e+02] [ 8.35559884e-01 5.48811753e-01 -2.54035415e-02 6.49148231e+01] [ 3.15573971e-02 -1.78065863e-03 9.99500355e-01 4.99068944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54071405699997 meters Centerline goodness : 0.992213 Centerline is valid? [True, True] Translation: X:140.97, Y:64.94, Z:4.99 [[ 5.47162159e-01 -8.36814624e-01 -1.88376314e-02 1.40966770e+02] [ 8.36431711e-01 5.47483144e-01 -2.53810885e-02 6.49419492e+01] [ 3.15525516e-02 -1.86882111e-03 9.99500347e-01 4.98827255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57071405699998 meters Centerline goodness : 0.991391 Centerline is valid? [True, True] Translation: X:140.98, Y:64.96, Z:4.99 [[ 5.45014183e-01 -8.38207147e-01 -1.91916441e-02 1.40978634e+02] [ 8.37833979e-01 5.45346752e-01 -2.51225688e-02 6.49618403e+01] [ 3.15240175e-02 -2.38725521e-03 9.99500144e-01 4.99050238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60071405699998 meters Centerline goodness : 0.990827 Centerline is valid? [True, True] Translation: X:140.99, Y:64.98, Z:4.99 [[ 5.45687354e-01 -8.37777014e-01 -1.88410861e-02 1.40993113e+02] [ 8.37394764e-01 5.46009116e-01 -2.53782237e-02 6.49816292e+01] [ 3.15486972e-02 -1.92885114e-03 9.99500355e-01 4.99208572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63071405699998 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:141.00, Y:65.01, Z:4.99 [[ 5.36457173e-01 -8.43720674e-01 -1.86849116e-02 1.41003337e+02] [ 8.43338052e-01 5.36778435e-01 -2.54920132e-02 6.50089246e+01] [ 3.15377962e-02 -2.08232362e-03 9.99500391e-01 4.99153369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66071405699998 meters Centerline goodness : 0.990436 Centerline is valid? [True, True] Translation: X:141.03, Y:65.03, Z:4.99 [[ 5.43725146e-01 -8.39057042e-01 -1.86076910e-02 1.41029501e+02] [ 8.38669748e-01 5.44040753e-01 -2.55482559e-02 6.50328920e+01] [ 3.15597862e-02 -1.71447834e-03 9.99500395e-01 4.99068066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69071405699998 meters Centerline goodness : 0.992014 Centerline is valid? [True, True] Translation: X:141.05, Y:65.06, Z:4.99 [[ 5.43647193e-01 -8.39103768e-01 -1.87775116e-02 1.41050956e+02] [ 8.38720718e-01 5.43967970e-01 -2.54245063e-02 6.50619778e+01] [ 3.15481639e-02 -1.92712654e-03 9.99500375e-01 4.99140125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72071405699998 meters Centerline goodness : 0.991222 Centerline is valid? [True, True] Translation: X:141.07, Y:65.09, Z:4.99 [[ 5.41428028e-01 -8.40530945e-01 -1.90636080e-02 1.41067851e+02] [ 8.40155945e-01 5.41758381e-01 -2.52159613e-02 6.50862344e+01] [ 3.15226652e-02 -2.36377538e-03 9.99500242e-01 4.99055660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75071405699998 meters Centerline goodness : 0.990947 Centerline is valid? [True, True] Translation: X:141.08, Y:65.11, Z:4.99 [[ 5.41259739e-01 -8.40644489e-01 -1.88344813e-02 1.41084993e+02] [ 8.40263782e-01 5.41583314e-01 -2.53828905e-02 6.51103161e+01] [ 3.15384279e-02 -2.08719579e-03 9.99500361e-01 4.99230326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78071405699998 meters Centerline goodness : 0.989450 Centerline is valid? [True, True] Translation: X:141.10, Y:65.14, Z:4.99 [[ 5.37622940e-01 -8.42978599e-01 -1.86723273e-02 1.41103858e+02] [ 8.42595224e-01 5.37943294e-01 -2.55010076e-02 6.51371499e+01] [ 3.15414569e-02 -2.02328711e-03 9.99500397e-01 4.99484676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81071405699998 meters Centerline goodness : 0.991591 Centerline is valid? [True, True] Translation: X:141.12, Y:65.16, Z:4.99 [[ 5.36267924e-01 -8.43839558e-01 -1.87486995e-02 1.41121672e+02] [ 8.43458615e-01 5.36591184e-01 -2.54453528e-02 6.51623293e+01] [ 3.15321821e-02 -2.16822557e-03 9.99500385e-01 4.99466709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84071405699999 meters Centerline goodness : 0.990677 Centerline is valid? [True, True] Translation: X:141.14, Y:65.19, Z:5.00 [[ 5.32850658e-01 -8.46001649e-01 -1.87453098e-02 1.41141039e+02] [ 8.45621931e-01 5.33175355e-01 -2.54478227e-02 6.51895040e+01] [ 3.15234371e-02 -2.29155604e-03 9.99500386e-01 4.99638572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.870714057 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:141.16, Y:65.21, Z:5.00 [[ 5.32353240e-01 -8.46313520e-01 -1.88003760e-02 1.41160641e+02] [ 8.45935387e-01 5.32679801e-01 -2.54076946e-02 6.52148432e+01] [ 3.15174560e-02 -2.37803481e-03 9.99500373e-01 4.99770662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.900714057 meters Centerline goodness : 0.989825 Centerline is valid? [True, True] Translation: X:141.18, Y:65.24, Z:5.00 [[ 5.30378755e-01 -8.47551903e-01 -1.88188420e-02 1.41180869e+02] [ 8.47175001e-01 5.30706746e-01 -2.53942424e-02 6.52416995e+01] [ 3.15102248e-02 -2.47428581e-03 9.99500367e-01 4.99962758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.930714057 meters Centerline goodness : 0.990657 Centerline is valid? [True, True] Translation: X:141.20, Y:65.27, Z:5.00 [[ 5.29722644e-01 -8.47960421e-01 -1.88956330e-02 1.41197009e+02] [ 8.47585732e-01 5.30053204e-01 -2.53382812e-02 6.52651044e+01] [ 3.15015504e-02 -2.59340767e-03 9.99500338e-01 5.00132958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.960714057 meters Centerline goodness : 0.991079 Centerline is valid? [True, True] Translation: X:141.21, Y:65.29, Z:5.00 [[ 5.29123947e-01 -8.48339327e-01 -1.86610711e-02 1.41213587e+02] [ 8.47958905e-01 5.29447802e-01 -2.55091991e-02 6.52870101e+01] [ 3.15205199e-02 -2.32629329e-03 9.99500398e-01 5.00236817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.990714057 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:141.23, Y:65.31, Z:5.00 [[ 5.27789373e-01 -8.49169812e-01 -1.86817314e-02 1.41227779e+02] [ 8.48790425e-01 5.28114442e-01 -2.54941493e-02 6.53082885e+01] [ 3.15149541e-02 -2.40133363e-03 9.99500396e-01 5.00361393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.020714057 meters Centerline goodness : 0.989296 Centerline is valid? [True, True] Translation: X:141.25, Y:65.33, Z:5.01 [[ 5.26141479e-01 -8.50193446e-01 -1.86077193e-02 1.41245549e+02] [ 8.49812813e-01 5.26465081e-01 -2.55480337e-02 6.53322727e+01] [ 3.15170853e-02 -2.37119803e-03 9.99500401e-01 5.00604086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.050714057 meters Centerline goodness : 0.989829 Centerline is valid? [True, True] Translation: X:141.26, Y:65.35, Z:5.01 [[ 5.26112738e-01 -8.50208712e-01 -1.87225413e-02 1.41261029e+02] [ 8.49831003e-01 5.26439766e-01 -2.54644573e-02 6.53525677e+01] [ 3.15063937e-02 -2.51382068e-03 9.99500389e-01 5.00780392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.080714057 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:141.28, Y:65.37, Z:5.01 [[ 5.24890252e-01 -8.50965832e-01 -1.86380346e-02 1.41278682e+02] [ 8.50586445e-01 5.25215314e-01 -2.55259281e-02 6.53749206e+01] [ 3.15106738e-02 -2.45494881e-03 9.99500401e-01 5.00902460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.110714057 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:141.30, Y:65.40, Z:5.01 [[ 5.24429921e-01 -8.51249035e-01 -1.86638548e-02 1.41295252e+02] [ 8.50870480e-01 5.24755955e-01 -2.55071547e-02 6.53976720e+01] [ 3.15069097e-02 -2.50380800e-03 9.99500398e-01 5.01030618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.140714057 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:141.31, Y:65.42, Z:5.01 [[ 5.24193091e-01 -8.51395391e-01 -1.86411162e-02 1.41312051e+02] [ 8.51016349e-01 5.24518555e-01 -2.55236750e-02 6.54203511e+01] [ 3.15083506e-02 -2.48456052e-03 9.99500401e-01 5.01128012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.170714057 meters Centerline goodness : 0.990887 Centerline is valid? [True, True] Translation: X:141.33, Y:65.44, Z:5.01 [[ 5.24370911e-01 -8.51285959e-01 -1.86376956e-02 1.41326394e+02] [ 8.50906762e-01 5.24696195e-01 -2.55261584e-02 6.54419820e+01] [ 3.15091882e-02 -2.47376631e-03 9.99500401e-01 5.01274545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.200714057 meters Centerline goodness : 0.989879 Centerline is valid? [True, True] Translation: X:141.34, Y:65.47, Z:5.01 [[ 5.24502652e-01 -8.51206553e-01 -1.85572762e-02 1.41343582e+02] [ 8.50825273e-01 5.24825484e-01 -2.55845100e-02 6.54650616e+01] [ 3.15170340e-02 -2.36985625e-03 9.99500405e-01 5.01334681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.230714057 meters Centerline goodness : 0.991065 Centerline is valid? [True, True] Translation: X:141.36, Y:65.49, Z:5.01 [[ 5.22655792e-01 -8.52340801e-01 -1.86033058e-02 1.41363698e+02] [ 8.51961387e-01 5.22980818e-01 -2.55511211e-02 6.54907782e+01] [ 3.15074350e-02 -2.49485678e-03 9.99500404e-01 5.00933814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26071405699997 meters Centerline goodness : 0.991836 Centerline is valid? [True, True] Translation: X:141.38, Y:65.51, Z:5.01 [[ 5.26721986e-01 -8.49826990e-01 -1.89218431e-02 1.41376630e+02] [ 8.49454121e-01 5.27054643e-01 -2.53199359e-02 6.55077203e+01] [ 3.14904103e-02 -2.73667070e-03 9.99500308e-01 5.01384030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29071405699997 meters Centerline goodness : 0.991697 Centerline is valid? [True, True] Translation: X:141.39, Y:65.53, Z:5.01 [[ 5.26340667e-01 -8.50072236e-01 -1.85120460e-02 1.41393641e+02] [ 8.49689135e-01 5.26661322e-01 -2.56169146e-02 6.55325244e+01] [ 3.15258064e-02 -2.24626041e-03 9.99500414e-01 5.01433122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32071405699998 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:141.41, Y:65.56, Z:5.01 [[ 5.24995248e-01 -8.50901807e-01 -1.86039149e-02 1.41414254e+02] [ 8.50521527e-01 5.25319247e-01 -2.55503514e-02 6.55628082e+01] [ 3.15138347e-02 -2.40921704e-03 9.99500412e-01 5.00992804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35071405699998 meters Centerline goodness : 0.993109 Centerline is valid? [True, True] Translation: X:141.43, Y:65.59, Z:5.01 [[ 5.26415385e-01 -8.50017129e-01 -1.89135677e-02 1.41433207e+02] [ 8.49644172e-01 5.26747933e-01 -2.53258054e-02 6.55883596e+01] [ 3.14900511e-02 -2.73790899e-03 9.99500315e-01 5.01017993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38071405699998 meters Centerline goodness : 0.992611 Centerline is valid? [True, True] Translation: X:141.45, Y:65.61, Z:5.01 [[ 5.30657001e-01 -8.47375745e-01 -1.89075193e-02 1.41447202e+02] [ 8.47000977e-01 5.30987501e-01 -2.53301952e-02 6.56062895e+01] [ 3.15038494e-02 -2.57304191e-03 9.99500319e-01 5.01294169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41071405699998 meters Centerline goodness : 0.992103 Centerline is valid? [True, True] Translation: X:141.46, Y:65.63, Z:5.01 [[ 5.31119688e-01 -8.47092819e-01 -1.85912144e-02 1.41461949e+02] [ 8.46709898e-01 5.31440555e-01 -2.55594459e-02 6.56272737e+01] [ 3.15313483e-02 -2.16624031e-03 9.99500416e-01 5.01483556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44071405699998 meters Centerline goodness : 0.992938 Centerline is valid? [True, True] Translation: X:141.48, Y:65.66, Z:5.01 [[ 5.27973862e-01 -8.49058943e-01 -1.85070829e-02 1.41482027e+02] [ 8.48675105e-01 5.28293631e-01 -2.56203952e-02 6.56556991e+01] [ 3.15303997e-02 -2.17960150e-03 9.99500417e-01 5.01351703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47071405699998 meters Centerline goodness : 0.992556 Centerline is valid? [True, True] Translation: X:141.50, Y:65.68, Z:5.02 [[ 5.30725423e-01 -8.47334067e-01 -1.88548263e-02 1.41502403e+02] [ 8.46957918e-01 5.31054331e-01 -2.53689377e-02 6.56794641e+01] [ 3.15089023e-02 -2.50530427e-03 9.99500331e-01 5.01684369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50071405699998 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:141.52, Y:65.71, Z:5.02 [[ 5.30678557e-01 -8.47363235e-01 -1.88631262e-02 1.41523189e+02] [ 8.46987314e-01 5.31007733e-01 -2.53629345e-02 6.57061850e+01] [ 3.15080841e-02 -2.51726312e-03 9.99500327e-01 5.01955073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53071405699998 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:141.53, Y:65.73, Z:5.02 [[ 5.27581555e-01 -8.49289454e-01 -1.91083071e-02 1.41530696e+02] [ 8.48921012e-01 5.27919326e-01 -2.51853259e-02 6.57253279e+01] [ 3.14772763e-02 -2.93413001e-03 9.99500161e-01 5.01839803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56071405699998 meters Centerline goodness : 0.991793 Centerline is valid? [True, True] Translation: X:141.55, Y:65.75, Z:5.02 [[ 5.31999608e-01 -8.46542114e-01 -1.85166505e-02 1.41551927e+02] [ 8.46157013e-01 5.32317838e-01 -2.56130671e-02 6.57472112e+01] [ 3.15392833e-02 -2.04185195e-03 9.99500427e-01 5.02394870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59071405699999 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:141.57, Y:65.77, Z:5.02 [[ 5.33316547e-01 -8.45709714e-01 -1.86692296e-02 1.41570569e+02] [ 8.45327913e-01 5.33638759e-01 -2.55028188e-02 6.57717411e+01] [ 3.15306061e-02 -2.18054561e-03 9.99500408e-01 5.02451962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.620714057 meters Centerline goodness : 0.992660 Centerline is valid? [True, True] Translation: X:141.59, Y:65.80, Z:5.02 [[ 5.32531037e-01 -8.46204912e-01 -1.86532049e-02 1.41591150e+02] [ 8.45823010e-01 5.32853123e-01 -2.55143935e-02 6.58002615e+01] [ 3.15298236e-02 -2.19010348e-03 9.99500412e-01 5.02419371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.650714057 meters Centerline goodness : 0.993060 Centerline is valid? [True, True] Translation: X:141.61, Y:65.83, Z:5.02 [[ 5.35840588e-01 -8.44109141e-01 -1.88314125e-02 1.41614433e+02] [ 8.43730429e-01 5.36166515e-01 -2.53856571e-02 6.58275751e+01] [ 3.15250381e-02 -2.28597032e-03 9.99500348e-01 5.02303525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.680714057 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:141.64, Y:65.85, Z:5.02 [[ 5.37257970e-01 -8.43201354e-01 -1.91141286e-02 1.41635535e+02] [ 8.42829217e-01 5.37591680e-01 -2.51812902e-02 6.58547286e+01] [ 3.15084945e-02 -2.58109721e-03 9.99500151e-01 5.02241775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.710714057 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:141.65, Y:65.88, Z:5.02 [[ 5.38852774e-01 -8.42180834e-01 -1.92127529e-02 1.41651360e+02] [ 8.41810567e-01 5.39188703e-01 -2.51100028e-02 6.58781375e+01] [ 3.15064624e-02 -2.64290377e-03 9.99500054e-01 5.02298739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.740714057 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:141.67, Y:65.90, Z:5.03 [[ 5.36160227e-01 -8.43903253e-01 -1.89607883e-02 1.41666720e+02] [ 8.43527673e-01 5.36489869e-01 -2.52920142e-02 6.59033930e+01] [ 3.15162839e-02 -2.43337761e-03 9.99500276e-01 5.02523504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.770714057 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:141.69, Y:65.93, Z:5.02 [[ 5.39757029e-01 -8.41610575e-01 -1.88146027e-02 1.41689812e+02] [ 8.41229943e-01 5.40080688e-01 -2.53975172e-02 6.59321998e+01] [ 3.15362227e-02 -2.11891872e-03 9.99500364e-01 5.02376201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.800714057 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:141.71, Y:65.96, Z:5.03 [[ 5.39806428e-01 -8.41571586e-01 -1.91386081e-02 1.41705069e+02] [ 8.41199059e-01 5.40139738e-01 -2.51636186e-02 6.59559843e+01] [ 3.15145092e-02 -2.51589610e-03 9.99500128e-01 5.02734205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.830714057 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:141.73, Y:65.98, Z:5.03 [[ 5.40845878e-01 -8.40908512e-01 -1.89370087e-02 1.41725436e+02] [ 8.40530516e-01 5.41172713e-01 -2.53089983e-02 6.59835631e+01] [ 3.15307445e-02 -2.22886631e-03 9.99500297e-01 5.02549016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.860714057 meters Centerline goodness : 0.992368 Centerline is valid? [True, True] Translation: X:141.75, Y:66.01, Z:5.03 [[ 5.43398015e-01 -8.39258262e-01 -1.90831778e-02 1.41746857e+02] [ 8.38882922e-01 5.43728076e-01 -2.52036181e-02 6.60109811e+01] [ 3.15284043e-02 -2.31295585e-03 9.99500180e-01 5.02521130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.890714057 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:141.76, Y:66.04, Z:5.03 [[ 5.43620069e-01 -8.39109862e-01 -1.92836529e-02 1.41763376e+02] [ 8.38739480e-01 5.43956000e-01 -2.50590436e-02 6.60351595e+01] [ 3.15167493e-02 -2.55136200e-03 9.99499968e-01 5.02605642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.920714057 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:141.79, Y:66.06, Z:5.03 [[ 5.45154306e-01 -8.38117819e-01 -1.91129210e-02 1.41785872e+02] [ 8.37742538e-01 5.45484470e-01 -2.51820038e-02 6.60629678e+01] [ 3.15312877e-02 -2.28362908e-03 9.99500157e-01 5.02547031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.950714057 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:141.81, Y:66.09, Z:5.03 [[ 5.45215381e-01 -8.38071211e-01 -1.94122038e-02 1.41806412e+02] [ 8.37703437e-01 5.45554420e-01 -2.49665145e-02 6.60900356e+01] [ 3.15141306e-02 -2.64954207e-03 9.99499795e-01 5.02511002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.980714057 meters Centerline goodness : 0.994232 Centerline is valid? [True, True] Translation: X:141.82, Y:66.11, Z:5.03 [[ 5.41539717e-01 -8.40447841e-01 -1.95489734e-02 1.41819635e+02] [ 8.40085045e-01 5.41884389e-01 -2.48681757e-02 6.61149686e+01] [ 3.14936881e-02 -2.95569532e-03 9.99499581e-01 5.02784800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01071405699997 meters Centerline goodness : 0.992751 Centerline is valid? [True, True] Translation: X:141.84, Y:66.14, Z:5.03 [[ 5.44263492e-01 -8.38692738e-01 -1.92806229e-02 1.41842746e+02] [ 8.38322030e-01 5.44599047e-01 -2.50609581e-02 6.61422332e+01] [ 3.15186524e-02 -2.52360633e-03 9.99499978e-01 5.02693395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04071405699997 meters Centerline goodness : 0.989031 Centerline is valid? [True, True] Translation: X:141.85, Y:66.15, Z:5.03 [[ 5.41960168e-01 -8.40173273e-01 -1.96989048e-02 1.41852237e+02] [ 8.39814379e-01 5.42309031e-01 -2.47532461e-02 6.61545987e+01] [ 3.14799098e-02 -3.12815010e-03 9.99499490e-01 5.02796310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07071405699998 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:141.87, Y:66.18, Z:5.04 [[ 5.38759170e-01 -8.42257889e-01 -1.84446314e-02 1.41871645e+02] [ 8.41868210e-01 5.39072140e-01 -2.56738068e-02 6.61820767e+01] [ 3.15669532e-02 -1.69595001e-03 9.99500201e-01 5.03697152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10071405699998 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:141.89, Y:66.21, Z:5.04 [[ 5.38510882e-01 -8.42401330e-01 -1.91319102e-02 1.41890977e+02] [ 8.42028984e-01 5.38844579e-01 -2.51736079e-02 6.62082659e+01] [ 3.15154069e-02 -2.55336109e-03 9.99500005e-01 5.03767520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13071405699998 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:141.91, Y:66.23, Z:5.03 [[ 5.36189601e-01 -8.43881008e-01 -1.91195401e-02 1.41910916e+02] [ 8.43509266e-01 5.36523955e-01 -2.51826095e-02 6.62344328e+01] [ 3.15092172e-02 -2.62485592e-03 9.99500015e-01 5.03482137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16071405699998 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:141.93, Y:66.26, Z:5.04 [[ 5.32838271e-01 -8.45999596e-01 -1.91849143e-02 1.41927016e+02] [ 8.45630862e-01 5.33176024e-01 -2.51351010e-02 6.62601327e+01] [ 3.14932216e-02 -2.83041189e-03 9.99499958e-01 5.03996556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19071405699998 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:141.95, Y:66.29, Z:5.04 [[ 5.31384910e-01 -8.46915296e-01 -1.90934240e-02 1.41945871e+02] [ 8.46544791e-01 5.31720602e-01 -2.52015687e-02 6.62866814e+01] [ 3.14959609e-02 -2.77170535e-03 9.99500036e-01 5.04053965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22071405699998 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:141.97, Y:66.32, Z:5.03 [[ 5.32414178e-01 -8.46268611e-01 -1.90940161e-02 1.41970056e+02] [ 8.45897712e-01 5.32749437e-01 -2.52011387e-02 6.63152927e+01] [ 3.14992590e-02 -2.73414100e-03 9.99500036e-01 5.03429701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25071405699998 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:141.98, Y:66.33, Z:5.04 [[ 5.30998312e-01 -8.47148081e-01 -1.95171977e-02 1.41978775e+02] [ 8.46788714e-01 5.31346575e-01 -2.48936040e-02 6.63341639e+01] [ 3.14589650e-02 -3.30848100e-03 9.99499569e-01 5.03894427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28071405699998 meters Centerline goodness : 0.993013 Centerline is valid? [True, True] Translation: X:142.00, Y:66.36, Z:5.04 [[ 5.31710466e-01 -8.46717585e-01 -1.87965820e-02 1.42002974e+02] [ 8.46339424e-01 5.32037216e-01 -2.54161483e-02 6.63644817e+01] [ 3.15207809e-02 -2.39425629e-03 9.99500229e-01 5.03809929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31071405699998 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:142.02, Y:66.39, Z:5.04 [[ 5.32064920e-01 -8.46483558e-01 -1.93004394e-02 1.42020743e+02] [ 8.46118125e-01 5.32406400e-01 -2.50508129e-02 6.63925253e+01] [ 3.14807787e-02 -3.00179289e-03 9.99499850e-01 5.04026438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34071405699999 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:142.04, Y:66.42, Z:5.04 [[ 5.33464868e-01 -8.45600842e-01 -1.93507137e-02 1.42037251e+02] [ 8.45236142e-01 5.33807218e-01 -2.50143530e-02 6.64176625e+01] [ 3.14817086e-02 -3.01164408e-03 9.99499791e-01 5.04096444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.370714057 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:142.06, Y:66.45, Z:5.04 [[ 5.33167608e-01 -8.45792608e-01 -1.91615724e-02 1.42057472e+02] [ 8.45423168e-01 5.33504528e-01 -2.51512673e-02 6.64465969e+01] [ 3.14955416e-02 -2.78979626e-03 9.99499999e-01 5.04078146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.400714057 meters Centerline goodness : 0.993052 Centerline is valid? [True, True] Translation: X:142.07, Y:66.47, Z:5.04 [[ 5.37153759e-01 -8.43260085e-01 -1.94491019e-02 1.42071786e+02] [ 8.42896428e-01 5.37497401e-01 -2.49430349e-02 6.64717513e+01] [ 3.14873075e-02 -2.99533352e-03 9.99499664e-01 5.04461687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.430714057 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:142.09, Y:66.50, Z:5.05 [[ 5.39107650e-01 -8.42017428e-01 -1.92248249e-02 1.42087365e+02] [ 8.41647238e-01 5.39443834e-01 -2.51053130e-02 6.64974936e+01] [ 3.15098243e-02 -2.64605450e-03 9.99499940e-01 5.04566742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.460714057 meters Centerline goodness : 0.992379 Centerline is valid? [True, True] Translation: X:142.09, Y:66.52, Z:5.05 [[ 5.34988133e-01 -8.44643072e-01 -1.91253713e-02 1.42090659e+02] [ 8.44271985e-01 5.35323186e-01 -2.51774107e-02 6.65203085e+01] [ 3.15041802e-02 -2.67739929e-03 9.99500034e-01 5.04963104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.490714057 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:142.12, Y:66.55, Z:5.05 [[ 5.44153323e-01 -8.38781198e-01 -1.85273786e-02 1.42121461e+02] [ 8.38391660e-01 5.44466299e-01 -2.56100345e-02 6.65486951e+01] [ 3.15687487e-02 -1.59741439e-03 9.99500306e-01 5.05006461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.520714057 meters Centerline goodness : 0.992572 Centerline is valid? [True, True] Translation: X:142.14, Y:66.58, Z:5.05 [[ 5.42020064e-01 -8.40145978e-01 -1.92090053e-02 1.42138585e+02] [ 8.39774245e-01 5.42354493e-01 -2.51161625e-02 6.65759479e+01] [ 3.15193333e-02 -2.51776394e-03 9.99499971e-01 5.04846708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.550714057 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:142.16, Y:66.60, Z:5.05 [[ 5.46028682e-01 -8.37545786e-01 -1.92284946e-02 1.42157346e+02] [ 8.37172950e-01 5.46361912e-01 -2.51020373e-02 6.65988650e+01] [ 3.15298226e-02 -2.39114320e-03 9.99499951e-01 5.05151027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.580714057 meters Centerline goodness : 0.992041 Centerline is valid? [True, True] Translation: X:142.17, Y:66.62, Z:5.05 [[ 5.43143726e-01 -8.39419752e-01 -1.92190824e-02 1.42172241e+02] [ 8.39047826e-01 5.43477957e-01 -2.51088666e-02 6.66218643e+01] [ 3.15220262e-02 -2.48800596e-03 9.99499961e-01 5.04809048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.610714057 meters Centerline goodness : 0.992107 Centerline is valid? [True, True] Translation: X:142.19, Y:66.65, Z:5.05 [[ 5.44023795e-01 -8.38853979e-01 -1.90292677e-02 1.42191691e+02] [ 8.38476935e-01 5.44351971e-01 -2.52459963e-02 6.66469794e+01] [ 3.15363238e-02 -2.22117939e-03 9.99500138e-01 5.05085621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.640714057 meters Centerline goodness : 0.991102 Centerline is valid? [True, True] Translation: X:142.21, Y:66.67, Z:5.05 [[ 5.44063874e-01 -8.38825306e-01 -1.91469641e-02 1.42208349e+02] [ 8.38451198e-01 5.44395549e-01 -2.51609930e-02 6.66721888e+01] [ 3.15291997e-02 -2.36460762e-03 9.99500034e-01 5.05076117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.670714057 meters Centerline goodness : 0.991675 Centerline is valid? [True, True] Translation: X:142.23, Y:66.70, Z:5.05 [[ 5.44533647e-01 -8.38522008e-01 -1.90774469e-02 1.42225571e+02] [ 8.38145970e-01 5.44863037e-01 -2.52112051e-02 6.66977414e+01] [ 3.15347459e-02 -2.26133575e-03 9.99500098e-01 5.05057966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.700714057 meters Centerline goodness : 0.991306 Centerline is valid? [True, True] Translation: X:142.24, Y:66.72, Z:5.05 [[ 5.43421876e-01 -8.39243407e-01 -1.90569939e-02 1.42239811e+02] [ 8.38867292e-01 5.43751152e-01 -2.52260207e-02 6.67194003e+01] [ 3.15330339e-02 -2.27791740e-03 9.99500114e-01 5.05047627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.730714057 meters Centerline goodness : 0.990894 Centerline is valid? [True, True] Translation: X:142.26, Y:66.75, Z:5.05 [[ 5.41591331e-01 -8.40430546e-01 -1.88501640e-02 1.42255144e+02] [ 8.40049983e-01 5.41915234e-01 -2.53752752e-02 6.67457843e+01] [ 3.15413474e-02 -2.09205085e-03 9.99500258e-01 5.05437411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76071405699997 meters Centerline goodness : 0.990667 Centerline is valid? [True, True] Translation: X:142.27, Y:66.77, Z:5.06 [[ 5.40315682e-01 -8.41253818e-01 -1.87343716e-02 1.42269997e+02] [ 8.40870874e-01 5.40636684e-01 -2.54587947e-02 6.67694596e+01] [ 3.15457968e-02 -1.99740142e-03 9.99500312e-01 5.05558171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79071405699997 meters Centerline goodness : 0.991066 Centerline is valid? [True, True] Translation: X:142.29, Y:66.79, Z:5.06 [[ 5.39424983e-01 -8.41830093e-01 -1.85143623e-02 1.42289175e+02] [ 8.41442066e-01 5.39739748e-01 -2.56174354e-02 6.67943998e+01] [ 3.15584653e-02 -1.76007863e-03 9.99500358e-01 5.05642020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82071405699998 meters Centerline goodness : 0.992005 Centerline is valid? [True, True] Translation: X:142.31, Y:66.83, Z:5.06 [[ 5.35295482e-01 -8.44457770e-01 -1.87034981e-02 1.42312291e+02] [ 8.44075968e-01 5.35617834e-01 -2.54812837e-02 6.68252134e+01] [ 3.15357952e-02 -2.14715726e-03 9.99500317e-01 5.05583978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85071405699998 meters Centerline goodness : 0.990688 Centerline is valid? [True, True] Translation: X:142.32, Y:66.84, Z:5.06 [[ 5.33607887e-01 -8.45514117e-01 -1.91963824e-02 1.42322999e+02] [ 8.45145386e-01 5.33945641e-01 -2.51262616e-02 6.68424982e+01] [ 3.14944336e-02 -2.81616265e-03 9.99499960e-01 5.05839236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88071405699998 meters Centerline goodness : 0.991695 Centerline is valid? [True, True] Translation: X:142.34, Y:66.87, Z:5.06 [[ 5.31197148e-01 -8.47046727e-01 -1.84778910e-02 1.42344085e+02] [ 8.46660912e-01 5.31514580e-01 -2.56427426e-02 6.68718694e+01] [ 3.15418697e-02 -2.02315629e-03 9.99500384e-01 5.06052821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91071405699998 meters Centerline goodness : 0.991669 Centerline is valid? [True, True] Translation: X:142.37, Y:66.90, Z:5.06 [[ 5.29504561e-01 -8.48101240e-01 -1.86870774e-02 1.42368596e+02] [ 8.47721265e-01 5.29829026e-01 -2.54923473e-02 6.69008330e+01] [ 3.15210473e-02 -2.34311872e-03 9.99500342e-01 5.06123064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94071405699998 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:142.38, Y:66.92, Z:5.06 [[ 5.23997186e-01 -8.51506135e-01 -1.90853701e-02 1.42379446e+02] [ 8.51138405e-01 5.24335849e-01 -2.52058383e-02 6.69233971e+01] [ 3.14700696e-02 -3.03650312e-03 9.99500082e-01 5.06262892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97071405699998 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:142.39, Y:66.94, Z:5.06 [[ 5.22212594e-01 -8.52611303e-01 -1.86540077e-02 1.42394117e+02] [ 8.52233289e-01 5.22539326e-01 -2.55161700e-02 6.69438087e+01] [ 3.15028276e-02 -2.57270097e-03 9.99500352e-01 5.06451600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00071405699998 meters Centerline goodness : 0.991814 Centerline is valid? [True, True] Translation: X:142.42, Y:66.97, Z:5.06 [[ 5.20774060e-01 -8.53495511e-01 -1.84334179e-02 1.42415437e+02] [ 8.53112503e-01 5.21094872e-01 -2.56747217e-02 6.69717591e+01] [ 3.15188193e-02 -2.35505025e-03 9.99500384e-01 5.06473393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03071405699998 meters Centerline goodness : 0.991888 Centerline is valid? [True, True] Translation: X:142.43, Y:67.00, Z:5.07 [[ 5.21148365e-01 -8.53263178e-01 -1.86099682e-02 1.42432845e+02] [ 8.52884463e-01 5.21474262e-01 -2.55477457e-02 6.69950889e+01] [ 3.15035701e-02 -2.55798685e-03 9.99500366e-01 5.06575328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06071405699998 meters Centerline goodness : 0.991623 Centerline is valid? [True, True] Translation: X:142.45, Y:67.02, Z:5.07 [[ 5.19995780e-01 -8.53969470e-01 -1.84535497e-02 1.42449960e+02] [ 8.53587259e-01 5.20317541e-01 -2.56602347e-02 6.70184265e+01] [ 3.15147626e-02 -2.40850115e-03 9.99500385e-01 5.06524682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09071405699999 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:142.47, Y:67.04, Z:5.06 [[ 5.19534311e-01 -8.54249934e-01 -1.84702485e-02 1.42465989e+02] [ 8.53868316e-01 5.19856776e-01 -2.56482295e-02 6.70400433e+01] [ 3.15118822e-02 -2.44602470e-03 9.99500384e-01 5.06496047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.120714057 meters Centerline goodness : 0.992723 Centerline is valid? [True, True] Translation: X:142.49, Y:67.07, Z:5.06 [[ 5.19025389e-01 -8.54559805e-01 -1.84441093e-02 1.42485225e+02] [ 8.54177723e-01 5.19347303e-01 -2.56670130e-02 6.70659167e+01] [ 3.15128960e-02 -2.43271588e-03 9.99500385e-01 5.06456692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.150714057 meters Centerline goodness : 0.992002 Centerline is valid? [True, True] Translation: X:142.50, Y:67.09, Z:5.06 [[ 5.20415796e-01 -8.53709112e-01 -1.86588033e-02 1.42498913e+02] [ 8.53331909e-01 5.20743465e-01 -2.55126950e-02 6.70853818e+01] [ 3.14968700e-02 -2.64494274e-03 9.99500351e-01 5.06470057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.180714057 meters Centerline goodness : 0.992169 Centerline is valid? [True, True] Translation: X:142.52, Y:67.11, Z:5.06 [[ 5.20573154e-01 -8.53618012e-01 -1.84358668e-02 1.42515141e+02] [ 8.53235146e-01 5.20894129e-01 -2.56727892e-02 6.71084472e+01] [ 3.15178900e-02 -2.36556466e-03 9.99500389e-01 5.06470018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.210714057 meters Centerline goodness : 0.991594 Centerline is valid? [True, True] Translation: X:142.53, Y:67.13, Z:5.06 [[ 5.20252377e-01 -8.53813707e-01 -1.84286978e-02 1.42529289e+02] [ 8.53430783e-01 5.20573283e-01 -2.56779343e-02 6.71296619e+01] [ 3.15176600e-02 -2.36861161e-03 9.99500389e-01 5.06257702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.240714057 meters Centerline goodness : 0.991303 Centerline is valid? [True, True] Translation: X:142.55, Y:67.15, Z:5.07 [[ 5.21798918e-01 -8.52871437e-01 -1.83358053e-02 1.42547765e+02] [ 8.52485621e-01 5.22116350e-01 -2.57445657e-02 6.71535147e+01] [ 3.15302284e-02 -2.19752383e-03 9.99500383e-01 5.06707514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.270714057 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:142.57, Y:67.18, Z:5.07 [[ 5.19052948e-01 -8.54542111e-01 -1.84883194e-02 1.42568107e+02] [ 8.54161129e-01 5.19376165e-01 -2.56352179e-02 6.71841622e+01] [ 3.15087656e-02 -2.48596833e-03 9.99500384e-01 5.06579029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.300714057 meters Centerline goodness : 0.991621 Centerline is valid? [True, True] Translation: X:142.58, Y:67.21, Z:5.07 [[ 5.21613600e-01 -8.52974475e-01 -1.88095179e-02 1.42583698e+02] [ 8.52600619e-01 5.21945195e-01 -2.54047024e-02 6.72055388e+01] [ 3.14871002e-02 -2.78556832e-03 9.99500277e-01 5.06779050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.330714057 meters Centerline goodness : 0.991811 Centerline is valid? [True, True] Translation: X:142.60, Y:67.23, Z:5.07 [[ 5.21033512e-01 -8.53336704e-01 -1.84539670e-02 1.42599567e+02] [ 8.52954119e-01 5.21354821e-01 -2.56597268e-02 6.72284162e+01] [ 3.15174513e-02 -2.37080959e-03 9.99500390e-01 5.06830383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.360714057 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:142.62, Y:67.25, Z:5.07 [[ 5.21577962e-01 -8.53004822e-01 -1.84174385e-02 1.42617932e+02] [ 8.52621122e-01 5.21897936e-01 -2.56859187e-02 6.72527771e+01] [ 3.15222356e-02 -2.30588793e-03 9.99500391e-01 5.06981837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.390714057 meters Centerline goodness : 0.992581 Centerline is valid? [True, True] Translation: X:142.64, Y:67.28, Z:5.07 [[ 5.20653986e-01 -8.53564702e-01 -1.86206050e-02 1.42636263e+02] [ 8.53186439e-01 5.20980418e-01 -2.55402608e-02 6.72777642e+01] [ 3.15012356e-02 -2.58920908e-03 9.99500359e-01 5.06989466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.420714057 meters Centerline goodness : 0.991456 Centerline is valid? [True, True] Translation: X:142.65, Y:67.30, Z:5.07 [[ 5.22388581e-01 -8.52499770e-01 -1.88231761e-02 1.42647043e+02] [ 8.52125954e-01 5.22720240e-01 -2.53950858e-02 6.72955353e+01] [ 3.14885600e-02 -2.77361407e-03 9.99500264e-01 5.07053973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.450714057 meters Centerline goodness : 0.991711 Centerline is valid? [True, True] Translation: X:142.67, Y:67.32, Z:5.07 [[ 5.22070776e-01 -8.52704529e-01 -1.83600650e-02 1.42667146e+02] [ 8.52319236e-01 5.22388810e-01 -2.57264773e-02 6.73243709e+01] [ 3.15281762e-02 -2.21759460e-03 9.99500403e-01 5.07448440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.480714057 meters Centerline goodness : 0.991335 Centerline is valid? [True, True] Translation: X:142.69, Y:67.35, Z:5.07 [[ 5.22763711e-01 -8.52276428e-01 -1.85200462e-02 1.42687632e+02] [ 8.51894855e-01 5.23086213e-01 -2.56119041e-02 6.73482411e+01] [ 3.15160030e-02 -2.38815802e-03 9.99500394e-01 5.07401033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51071405699997 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:142.71, Y:67.37, Z:5.07 [[ 5.22199754e-01 -8.52620872e-01 -1.85759193e-02 1.42706287e+02] [ 8.52240910e-01 5.22524172e-01 -2.55718935e-02 6.73725543e+01] [ 3.15094969e-02 -2.47752186e-03 9.99500382e-01 5.07319713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54071405699997 meters Centerline goodness : 0.991865 Centerline is valid? [True, True] Translation: X:142.72, Y:67.39, Z:5.07 [[ 5.22395544e-01 -8.52500600e-01 -1.85909556e-02 1.42722725e+02] [ 8.52120939e-01 5.22720321e-01 -2.55611293e-02 6.73936976e+01] [ 3.15087483e-02 -2.48872250e-03 9.99500378e-01 5.07364056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57071405699998 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:142.74, Y:67.42, Z:5.08 [[ 5.20581551e-01 -8.53610775e-01 -1.85335719e-02 1.42741022e+02] [ 8.53230368e-01 5.20905430e-01 -2.56021744e-02 6.74173680e+01] [ 3.15085302e-02 -2.48538676e-03 9.99500393e-01 5.07525607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60071405699998 meters Centerline goodness : 0.991084 Centerline is valid? [True, True] Translation: X:142.75, Y:67.43, Z:5.08 [[ 5.18331464e-01 -8.54977128e-01 -1.86173082e-02 1.42751576e+02] [ 8.54599681e-01 5.18658825e-01 -2.55423017e-02 6.74347189e+01] [ 3.14941150e-02 -2.67096704e-03 9.99500369e-01 5.07553515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63071405699998 meters Centerline goodness : 0.992077 Centerline is valid? [True, True] Translation: X:142.77, Y:67.46, Z:5.08 [[ 5.17159485e-01 -8.55697598e-01 -1.81021304e-02 1.42770612e+02] [ 8.55307786e-01 5.17472008e-01 -2.59096743e-02 6.74585189e+01] [ 3.15381918e-02 -2.08345921e-03 9.99500376e-01 5.07540128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66071405699998 meters Centerline goodness : 0.992909 Centerline is valid? [True, True] Translation: X:142.79, Y:67.49, Z:5.07 [[ 5.14132012e-01 -8.57517612e-01 -1.82158999e-02 1.42790504e+02] [ 8.57131724e-01 5.14449313e-01 -2.58285026e-02 6.74861555e+01] [ 3.15195531e-02 -2.33416573e-03 9.99500410e-01 5.07440013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69071405699998 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:142.81, Y:67.51, Z:5.08 [[ 5.13639635e-01 -8.57805242e-01 -1.85605079e-02 1.42808782e+02] [ 8.57428164e-01 5.13967384e-01 -2.55826477e-02 6.75091264e+01] [ 3.14844250e-02 -2.77404039e-03 9.99500393e-01 5.07626812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72071405699998 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:142.83, Y:67.53, Z:5.08 [[ 5.16113229e-01 -8.56318126e-01 -1.86118897e-02 1.42829794e+02] [ 8.55941397e-01 5.16441407e-01 -2.55459962e-02 6.75338048e+01] [ 3.14874501e-02 -2.74606024e-03 9.99500375e-01 5.07558891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75071405699998 meters Centerline goodness : 0.992772 Centerline is valid? [True, True] Translation: X:142.84, Y:67.55, Z:5.08 [[ 5.17286964e-01 -8.55603194e-01 -1.89042719e-02 1.42839490e+02] [ 8.55233434e-01 5.17623227e-01 -2.53371001e-02 6.75514678e+01] [ 3.14637940e-02 -3.06101377e-03 9.99500205e-01 5.08151983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78071405699998 meters Centerline goodness : 0.991975 Centerline is valid? [True, True] Translation: X:142.86, Y:67.57, Z:5.08 [[ 5.20004529e-01 -8.53966437e-01 -1.83470634e-02 1.42856995e+02] [ 8.53581636e-01 5.20323104e-01 -2.57343655e-02 6.75718537e+01] [ 3.15226854e-02 -2.27872972e-03 9.99500439e-01 5.08200104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81071405699998 meters Centerline goodness : 0.991910 Centerline is valid? [True, True] Translation: X:142.87, Y:67.59, Z:5.08 [[ 5.22451357e-01 -8.52471745e-01 -1.83440386e-02 1.42872617e+02] [ 8.52085958e-01 5.22768737e-01 -2.57365215e-02 6.75939224e+01] [ 3.15293473e-02 -2.18461708e-03 9.99500439e-01 5.08260593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84071405699999 meters Centerline goodness : 0.992507 Centerline is valid? [True, True] Translation: X:142.89, Y:67.62, Z:5.08 [[ 5.21637286e-01 -8.52970190e-01 -1.83411089e-02 1.42890084e+02] [ 8.52584634e-01 5.21954946e-01 -2.57386092e-02 6.76226979e+01] [ 3.15274989e-02 -2.21112937e-03 9.99500439e-01 5.08433871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.870714057 meters Centerline goodness : 0.992153 Centerline is valid? [True, True] Translation: X:142.91, Y:67.65, Z:5.09 [[ 5.24257841e-01 -8.51361543e-01 -1.83640736e-02 1.42907310e+02] [ 8.50975577e-01 5.24575003e-01 -2.57222365e-02 6.76474738e+01] [ 3.15322569e-02 -2.14229398e-03 9.99500439e-01 5.08560721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.900714057 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:142.92, Y:67.67, Z:5.09 [[ 5.27186528e-01 -8.49553220e-01 -1.82672245e-02 1.42922245e+02] [ 8.49163797e-01 5.27499440e-01 -2.57912232e-02 6.76695730e+01] [ 3.15469674e-02 -1.91508034e-03 9.99500436e-01 5.08660756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.930714057 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:142.94, Y:67.70, Z:5.09 [[ 5.27373763e-01 -8.49437128e-01 -1.82614120e-02 1.42940463e+02] [ 8.49047494e-01 5.27686414e-01 -2.57953669e-02 6.76955863e+01] [ 3.15478414e-02 -1.90100639e-03 9.99500435e-01 5.08788305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.960714057 meters Centerline goodness : 0.992036 Centerline is valid? [True, True] Translation: X:142.96, Y:67.72, Z:5.09 [[ 5.29747081e-01 -8.47956647e-01 -1.83726880e-02 1.42955804e+02] [ 8.47568852e-01 5.30062002e-01 -2.57160370e-02 6.77169184e+01] [ 3.15447483e-02 -1.94912254e-03 9.99500440e-01 5.08991442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.990714057 meters Centerline goodness : 0.992195 Centerline is valid? [True, True] Translation: X:142.97, Y:67.74, Z:5.09 [[ 5.30395572e-01 -8.47553008e-01 -1.82875854e-02 1.42971830e+02] [ 8.47162901e-01 5.30707625e-01 -2.57766549e-02 6.77383094e+01] [ 3.15524424e-02 -1.82074027e-03 9.99500439e-01 5.09111658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.020714057 meters Centerline goodness : 0.992195 Centerline is valid? [True, True] Translation: X:142.99, Y:67.76, Z:5.09 [[ 5.30325751e-01 -8.47597027e-01 -1.82723165e-02 1.42987676e+02] [ 8.47206575e-01 5.30637374e-01 -2.57875237e-02 6.77607198e+01] [ 3.15534025e-02 -1.80463883e-03 9.99500438e-01 5.09199183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.050714057 meters Centerline goodness : 0.991852 Centerline is valid? [True, True] Translation: X:143.01, Y:67.79, Z:5.09 [[ 5.31419130e-01 -8.46911859e-01 -1.82759562e-02 1.43005233e+02] [ 8.46521094e-01 5.31730360e-01 -2.57849327e-02 6.77850325e+01] [ 3.15554461e-02 -1.76837587e-03 9.99500439e-01 5.09413092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.080714057 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:143.03, Y:67.81, Z:5.09 [[ 5.29171992e-01 -8.48316311e-01 -1.83422701e-02 1.43026009e+02] [ 8.47927987e-01 5.29486259e-01 -2.57377397e-02 6.78137863e+01] [ 3.15457244e-02 -1.93323317e-03 9.99500440e-01 5.09090947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.110714057 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:143.04, Y:67.83, Z:5.10 [[ 5.34876083e-01 -8.44720693e-01 -1.88288739e-02 1.43039946e+02] [ 8.44342175e-01 5.35202375e-01 -2.53911077e-02 6.78316832e+01] [ 3.15256521e-02 -2.31691618e-03 9.99500258e-01 5.09540379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.140714057 meters Centerline goodness : 0.991906 Centerline is valid? [True, True] Translation: X:143.06, Y:67.85, Z:5.10 [[ 5.36838525e-01 -8.43482373e-01 -1.84900967e-02 1.43057547e+02] [ 8.43094806e-01 5.37153742e-01 -2.56321259e-02 6.78548820e+01] [ 3.15522710e-02 -1.82859184e-03 9.99500430e-01 5.09558857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.170714057 meters Centerline goodness : 0.991944 Centerline is valid? [True, True] Translation: X:143.07, Y:67.88, Z:5.10 [[ 5.38548976e-01 -8.42390489e-01 -1.85274147e-02 1.43072057e+02] [ 8.42003187e-01 5.38864535e-01 -2.56055928e-02 6.78754041e+01] [ 3.15536745e-02 -1.81027648e-03 9.99500419e-01 5.09734340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.200714057 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:143.09, Y:67.90, Z:5.10 [[ 5.38971015e-01 -8.42124641e-01 -1.83394299e-02 1.43091773e+02] [ 8.41732651e-01 5.39280672e-01 -2.57390933e-02 6.79026928e+01] [ 3.15656248e-02 -1.56427170e-03 9.99500457e-01 5.09680591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.230714057 meters Centerline goodness : 0.992022 Centerline is valid? [True, True] Translation: X:143.11, Y:67.92, Z:5.10 [[ 5.39318615e-01 -8.41895336e-01 -1.86460392e-02 1.43107841e+02] [ 8.41510628e-01 5.39637406e-01 -2.55212235e-02 6.79235900e+01] [ 3.15482993e-02 -1.92676926e-03 9.99500371e-01 5.09761095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26071405699997 meters Centerline goodness : 0.991521 Centerline is valid? [True, True] Translation: X:143.13, Y:67.95, Z:5.10 [[ 5.38859691e-01 -8.42191006e-01 -1.85618564e-02 1.43126501e+02] [ 8.41804428e-01 5.39176150e-01 -2.55809582e-02 6.79491713e+01] [ 3.15521632e-02 -1.84090566e-03 9.99500411e-01 5.09826857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29071405699997 meters Centerline goodness : 0.991006 Centerline is valid? [True, True] Translation: X:143.14, Y:67.97, Z:5.10 [[ 5.38419915e-01 -8.42471914e-01 -1.85760303e-02 1.43141897e+02] [ 8.42085844e-01 5.38737004e-01 -2.55709011e-02 6.79696310e+01] [ 3.15503609e-02 -1.87472973e-03 9.99500405e-01 5.09909384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32071405699998 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:143.16, Y:67.99, Z:5.10 [[ 5.37352113e-01 -8.43156108e-01 -1.84522061e-02 1.43161024e+02] [ 8.42767444e-01 5.37665945e-01 -2.56586670e-02 6.79946505e+01] [ 3.15553847e-02 -1.76317969e-03 9.99500450e-01 5.09941105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35071405699998 meters Centerline goodness : 0.991232 Centerline is valid? [True, True] Translation: X:143.18, Y:68.02, Z:5.10 [[ 5.36151669e-01 -8.43918282e-01 -1.85289274e-02 1.43177090e+02] [ 8.43531922e-01 5.36468374e-01 -2.56043035e-02 6.80167543e+01] [ 3.15481234e-02 -1.90195170e-03 9.99500424e-01 5.10063194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38071405699998 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:143.19, Y:68.04, Z:5.10 [[ 5.34500566e-01 -8.44965356e-01 -1.85119386e-02 1.43191723e+02] [ 8.44579204e-01 5.34817513e-01 -2.56163339e-02 6.80387466e+01] [ 3.15454237e-02 -1.94285334e-03 9.99500431e-01 5.10261305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41071405699998 meters Centerline goodness : 0.991518 Centerline is valid? [True, True] Translation: X:143.21, Y:68.06, Z:5.10 [[ 5.32871018e-01 -8.45995919e-01 -1.84223386e-02 1.43208731e+02] [ 8.45608204e-01 5.33186006e-01 -2.56797229e-02 6.80613319e+01] [ 3.15474739e-02 -1.89410056e-03 9.99500460e-01 5.10271906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44071405699998 meters Centerline goodness : 0.991092 Centerline is valid? [True, True] Translation: X:143.23, Y:68.08, Z:5.10 [[ 5.32320776e-01 -8.46341039e-01 -1.84780046e-02 1.43226220e+02] [ 8.45954879e-01 5.32637695e-01 -2.56403597e-02 6.80841798e+01] [ 3.15425705e-02 -1.98266200e-03 9.99500443e-01 5.10208452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47071405699998 meters Centerline goodness : 0.991758 Centerline is valid? [True, True] Translation: X:143.23, Y:68.11, Z:5.10 [[ 5.23655566e-01 -8.51729689e-01 -1.84765999e-02 1.43228828e+02] [ 8.51346749e-01 5.23976368e-01 -2.56413519e-02 6.81056913e+01] [ 3.15208024e-02 -2.30275657e-03 9.99500443e-01 5.10396634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50071405699998 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:143.26, Y:68.13, Z:5.10 [[ 5.29025870e-01 -8.48418647e-01 -1.78165140e-02 1.43259142e+02] [ 8.48017885e-01 5.29324207e-01 -2.61065177e-02 6.81289947e+01] [ 3.15799686e-02 -1.29769932e-03 9.99500386e-01 5.10184385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53071405699998 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:143.28, Y:68.15, Z:5.10 [[ 5.28005834e-01 -8.49039854e-01 -1.84706554e-02 1.43275922e+02] [ 8.48655157e-01 5.28324492e-01 -2.56447800e-02 6.81500038e+01] [ 3.15319399e-02 -2.13462357e-03 9.99500465e-01 5.10266620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56071405699998 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:143.28, Y:68.17, Z:5.11 [[ 5.20786415e-01 -8.53487764e-01 -1.84430626e-02 1.43278850e+02] [ 8.53105104e-01 5.21107501e-01 -2.56642422e-02 6.81712249e+01] [ 3.15149350e-02 -2.36828212e-03 9.99500475e-01 5.10516496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59071405699999 meters Centerline goodness : 0.992537 Centerline is valid? [True, True] Translation: X:143.31, Y:68.20, Z:5.11 [[ 5.26596469e-01 -8.49929047e-01 -1.77981430e-02 1.43309536e+02] [ 8.49528739e-01 5.26895387e-01 -2.61184498e-02 6.81967738e+01] [ 3.15765885e-02 -1.36615054e-03 9.99500402e-01 5.10628093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.620714057 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:143.33, Y:68.22, Z:5.11 [[ 5.27888157e-01 -8.49112986e-01 -1.84724021e-02 1.43332131e+02] [ 8.48728400e-01 5.28206920e-01 -2.56427923e-02 6.82206616e+01] [ 3.15308786e-02 -2.14152586e-03 9.99500484e-01 5.10797723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.650714057 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:143.34, Y:68.24, Z:5.11 [[ 5.23768052e-01 -8.51652692e-01 -1.88340079e-02 1.43342284e+02] [ 8.51278605e-01 5.24099425e-01 -2.53875723e-02 6.82405627e+01] [ 3.14922870e-02 -2.73578873e-03 9.99500251e-01 5.10876550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.680714057 meters Centerline goodness : 0.993512 Centerline is valid? [True, True] Translation: X:143.35, Y:68.27, Z:5.11 [[ 5.15955724e-01 -8.56417734e-01 -1.83944638e-02 1.43352043e+02] [ 8.56035734e-01 5.16277519e-01 -2.56971905e-02 6.82656972e+01] [ 3.15041778e-02 -2.48770572e-03 9.99500524e-01 5.11025944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.710714057 meters Centerline goodness : 0.992384 Centerline is valid? [True, True] Translation: X:143.38, Y:68.29, Z:5.11 [[ 5.25204549e-01 -8.50781585e-01 -1.81900114e-02 1.43384870e+02] [ 8.50391169e-01 5.25516029e-01 -2.58411094e-02 6.82905810e+01] [ 3.15442825e-02 -1.89675686e-03 9.99500556e-01 5.11116609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.740714057 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:143.39, Y:68.31, Z:5.11 [[ 5.13132728e-01 -8.58101227e-01 -1.88967665e-02 1.43386654e+02] [ 8.57732879e-01 5.13470563e-01 -2.53434319e-02 6.83116836e+01] [ 3.14501634e-02 -3.20383361e-03 9.99500186e-01 5.11161530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.770714057 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:143.42, Y:68.34, Z:5.11 [[ 5.20649177e-01 -8.53577512e-01 -1.81621770e-02 1.43424316e+02] [ 8.53188134e-01 5.20961900e-01 -2.58593819e-02 6.83416373e+01] [ 3.15347891e-02 -2.03208802e-03 9.99500589e-01 5.10700309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.800714057 meters Centerline goodness : 0.993174 Centerline is valid? [True, True] Translation: X:143.44, Y:68.36, Z:5.11 [[ 5.24809526e-01 -8.50999296e-01 -1.93690580e-02 1.43439247e+02] [ 8.50638323e-01 5.25156139e-01 -2.50094542e-02 6.83590516e+01] [ 3.14548076e-02 -3.35086323e-03 9.99499558e-01 5.10790986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.830714057 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:143.44, Y:68.38, Z:5.11 [[ 5.11125393e-01 -8.59297400e-01 -1.89423022e-02 1.43435635e+02] [ 8.58931072e-01 5.11465407e-01 -2.53090945e-02 6.83810217e+01] [ 3.14363714e-02 -3.33401107e-03 9.99500195e-01 5.11275273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.860714057 meters Centerline goodness : 0.994305 Centerline is valid? [True, True] Translation: X:143.48, Y:68.41, Z:5.11 [[ 5.20292889e-01 -8.53795595e-01 -1.81215851e-02 1.43475916e+02] [ 8.53405497e-01 5.20604544e-01 -2.58837105e-02 6.84132581e+01] [ 3.15335775e-02 -1.99794988e-03 9.99500696e-01 5.10689007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.890714057 meters Centerline goodness : 0.994219 Centerline is valid? [True, True] Translation: X:143.49, Y:68.43, Z:5.11 [[ 5.19580633e-01 -8.54198388e-01 -1.95212436e-02 1.43491933e+02] [ 8.53843540e-01 5.19933839e-01 -2.49000657e-02 6.84349334e+01] [ 3.14193511e-02 -3.73049581e-03 9.99499329e-01 5.10646467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.920714057 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:143.50, Y:68.45, Z:5.11 [[ 5.19189015e-01 -8.54437900e-01 -1.94587005e-02 1.43503074e+02] [ 8.54081602e-01 5.19540581e-01 -2.49439671e-02 6.84547722e+01] [ 3.14226554e-02 -3.66868438e-03 9.99499453e-01 5.11085520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.950714057 meters Centerline goodness : 0.993590 Centerline is valid? [True, True] Translation: X:143.52, Y:68.48, Z:5.11 [[ 5.17224873e-01 -8.55637353e-01 -1.90565362e-02 1.43517656e+02] [ 8.55271615e-01 5.17565599e-01 -2.52252956e-02 6.84774433e+01] [ 3.14467128e-02 -3.25136418e-03 9.99500142e-01 5.11244281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.980714057 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:143.53, Y:68.50, Z:5.11 [[ 5.16713680e-01 -8.55946714e-01 -1.90314556e-02 1.43534957e+02] [ 8.55580547e-01 5.17053893e-01 -2.52428079e-02 6.85009943e+01] [ 3.14467867e-02 -3.23963905e-03 9.99500177e-01 5.11228430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01071405699997 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:143.55, Y:68.52, Z:5.11 [[ 5.15582802e-01 -8.56625964e-01 -1.91398194e-02 1.43549596e+02] [ 8.56262987e-01 5.15926652e-01 -2.51671980e-02 6.85221865e+01] [ 3.14336182e-02 -3.41294442e-03 9.99500015e-01 5.11318825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04071405699997 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:143.57, Y:68.55, Z:5.11 [[ 5.10279552e-01 -8.59800981e-01 -1.88958024e-02 1.43566593e+02] [ 8.59433962e-01 5.10618557e-01 -2.53368234e-02 6.85489249e+01] [ 3.14331730e-02 -3.31083143e-03 9.99500372e-01 5.11361565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07071405699998 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:143.57, Y:68.57, Z:5.12 [[ 5.07271543e-01 -8.61574175e-01 -1.91186304e-02 1.43574620e+02] [ 8.61213988e-01 5.07618279e-01 -2.51823189e-02 6.85676683e+01] [ 3.14014019e-02 -3.69095820e-03 9.99500039e-01 5.12117715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10071405699998 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:143.59, Y:68.59, Z:5.12 [[ 5.05530510e-01 -8.62609641e-01 -1.85340179e-02 1.43590879e+02] [ 8.62235458e-01 5.05860979e-01 -2.55868096e-02 6.85919386e+01] [ 3.14470651e-02 -3.04577455e-03 9.99500778e-01 5.12148474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13071405699998 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:143.61, Y:68.62, Z:5.13 [[ 5.03276765e-01 -8.63925336e-01 -1.85879212e-02 1.43606216e+02] [ 8.63553360e-01 5.03609786e-01 -2.55495177e-02 6.86159045e+01] [ 3.14339347e-02 -3.19318320e-03 9.99500731e-01 5.12532409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16071405699998 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:143.62, Y:68.64, Z:5.13 [[ 5.03296504e-01 -8.63912379e-01 -1.86555489e-02 1.43621122e+02] [ 8.63542084e-01 5.03631491e-01 -2.55027518e-02 6.86380938e+01] [ 3.14276649e-02 -3.27440571e-03 9.99500665e-01 5.12585185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19071405699998 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:143.64, Y:68.66, Z:5.13 [[ 5.02888946e-01 -8.64153034e-01 -1.84997940e-02 1.43637675e+02] [ 8.63779028e-01 5.03219554e-01 -2.56099832e-02 6.86631511e+01] [ 3.14404028e-02 -3.10075662e-03 9.99500819e-01 5.12696512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22071405699998 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:143.65, Y:68.69, Z:5.13 [[ 5.04586573e-01 -8.63160698e-01 -1.86010622e-02 1.43653031e+02] [ 8.62788547e-01 5.04919413e-01 -2.55403272e-02 6.86879189e+01] [ 3.14374441e-02 -3.16147732e-03 9.99500721e-01 5.12762044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25071405699998 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:143.67, Y:68.71, Z:5.13 [[ 5.05199256e-01 -8.62802911e-01 -1.85700910e-02 1.43667476e+02] [ 8.62429758e-01 5.05530925e-01 -2.55616111e-02 6.87117175e+01] [ 3.14423877e-02 -3.10169223e-03 9.99500753e-01 5.12971485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28071405699998 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:143.68, Y:68.73, Z:5.13 [[ 5.06491697e-01 -8.62045331e-01 -1.85474229e-02 1.43681796e+02] [ 8.61671124e-01 5.06822141e-01 -2.55771704e-02 6.87345560e+01] [ 3.14489249e-02 -3.02715433e-03 9.99500776e-01 5.13114179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31071405699998 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:143.69, Y:68.76, Z:5.13 [[ 5.09480058e-01 -8.60282978e-01 -1.85275014e-02 1.43691354e+02] [ 8.59907138e-01 5.09808614e-01 -2.55908359e-02 6.87571366e+01] [ 3.14608403e-02 -2.89391016e-03 9.99500796e-01 5.13154271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34071405699999 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:143.71, Y:68.79, Z:5.13 [[ 5.10888464e-01 -8.59454907e-01 -1.81725141e-02 1.43708918e+02] [ 8.59069954e-01 5.11205867e-01 -2.58336059e-02 6.87857499e+01] [ 3.14927152e-02 -2.41336961e-03 9.99501068e-01 5.13499351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.370714057 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:143.72, Y:68.81, Z:5.13 [[ 5.13381055e-01 -8.57965479e-01 -1.83065496e-02 1.43715501e+02] [ 8.57582816e-01 5.13701340e-01 -2.57419202e-02 6.88102593e+01] [ 3.14897779e-02 -2.48396828e-03 9.99500987e-01 5.13492512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.400714057 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:143.73, Y:68.83, Z:5.14 [[ 5.16068919e-01 -8.56361754e-01 -1.78162397e-02 1.43729453e+02] [ 8.55966507e-01 5.16373250e-01 -2.60769159e-02 6.88346206e+01] [ 3.15311030e-02 -1.79261867e-03 9.99501164e-01 5.13636902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.430714057 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:143.76, Y:68.87, Z:5.14 [[ 5.27439327e-01 -8.49406025e-01 -1.78090061e-02 1.43757369e+02] [ 8.49006591e-01 5.27738141e-01 -2.60818551e-02 6.88663240e+01] [ 3.15525766e-02 -1.36336746e-03 9.99501164e-01 5.13666050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.460714057 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:143.78, Y:68.89, Z:5.14 [[ 5.30623290e-01 -8.47404775e-01 -1.85491399e-02 1.43776422e+02] [ 8.47021444e-01 5.30943090e-01 -2.55755321e-02 6.88930448e+01] [ 3.15213657e-02 -2.14054630e-03 9.99500786e-01 5.13515142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.490714057 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:143.80, Y:68.92, Z:5.14 [[ 5.33729017e-01 -8.45450766e-01 -1.86101953e-02 1.43795112e+02] [ 8.45067705e-01 5.34049247e-01 -2.55338289e-02 6.89209222e+01] [ 3.15263560e-02 -2.09872957e-03 9.99500717e-01 5.13516276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.520714057 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:143.81, Y:68.95, Z:5.14 [[ 5.35142466e-01 -8.44554049e-01 -1.87349868e-02 1.43811149e+02] [ 8.44173403e-01 5.35465808e-01 -2.54486491e-02 6.89460189e+01] [ 3.15247044e-02 -2.19692470e-03 9.99500559e-01 5.13833796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.550714057 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:143.83, Y:68.97, Z:5.14 [[ 5.33769928e-01 -8.45425277e-01 -1.85947408e-02 1.43829012e+02] [ 8.45041838e-01 5.34089674e-01 -2.55443252e-02 6.89734892e+01] [ 3.15270773e-02 -2.07854135e-03 9.99500737e-01 5.13756879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.580714057 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:143.85, Y:69.00, Z:5.14 [[ 5.33217279e-01 -8.45771474e-01 -1.87068732e-02 1.43849585e+02] [ 8.45390898e-01 5.33540645e-01 -2.54678219e-02 6.90003355e+01] [ 3.15208344e-02 -2.23473767e-03 9.99500597e-01 5.13807049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.610714057 meters Centerline goodness : 0.993016 Centerline is valid? [True, True] Translation: X:143.86, Y:69.03, Z:5.14 [[ 5.29529624e-01 -8.48082002e-01 -1.88492522e-02 1.43864146e+02] [ 8.47706245e-01 5.29858892e-01 -2.53708021e-02 6.90250281e+01] [ 3.15039645e-02 -2.54403751e-03 9.99500389e-01 5.14104807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.640714057 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:143.88, Y:69.05, Z:5.14 [[ 5.25376024e-01 -8.50667558e-01 -1.85671332e-02 1.43881997e+02] [ 8.50286657e-01 5.25698724e-01 -2.55627210e-02 6.90504510e+01] [ 3.15060957e-02 -2.35734491e-03 9.99500780e-01 5.14420927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.670714057 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:143.91, Y:69.08, Z:5.14 [[ 5.27068207e-01 -8.49621624e-01 -1.84987046e-02 1.43907380e+02] [ 8.49238461e-01 5.27388096e-01 -2.56092274e-02 6.90797982e+01] [ 3.15141499e-02 -2.21200183e-03 9.99500858e-01 5.14123644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.700714057 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:143.92, Y:69.10, Z:5.14 [[ 5.23194905e-01 -8.52000921e-01 -1.90137210e-02 1.43924247e+02] [ 8.51631621e-01 5.23531819e-01 -2.52590052e-02 6.91042714e+01] [ 3.14749837e-02 -2.97730315e-03 9.99500106e-01 5.14267546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.730714057 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:143.94, Y:69.13, Z:5.15 [[ 5.17430670e-01 -8.55516624e-01 -1.88893350e-02 1.43935938e+02] [ 8.55146558e-01 5.17766420e-01 -2.53436090e-02 6.91250399e+01] [ 3.14621422e-02 -3.03958920e-03 9.99500322e-01 5.14529623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76071405699997 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:143.94, Y:69.14, Z:5.15 [[ 5.09791921e-01 -8.60098357e-01 -1.85206112e-02 1.43936798e+02] [ 8.59722275e-01 5.10120134e-01 -2.55941013e-02 6.91431806e+01] [ 3.14611812e-02 -2.87491592e-03 9.99500840e-01 5.14882876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79071405699997 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:143.97, Y:69.17, Z:5.15 [[ 5.14683989e-01 -8.57197017e-01 -1.77106010e-02 1.43968935e+02] [ 8.56799996e-01 5.14985746e-01 -2.61428647e-02 6.91718783e+01] [ 3.15302927e-02 -1.71912895e-03 9.99501318e-01 5.14696084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82071405699998 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:143.99, Y:69.20, Z:5.15 [[ 5.10541134e-01 -8.59653599e-01 -1.85321247e-02 1.43986711e+02] [ 8.59277489e-01 5.10869361e-01 -2.55869709e-02 6.91989297e+01] [ 3.14634264e-02 -2.86103641e-03 9.99500809e-01 5.14893293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85071405699998 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:144.00, Y:69.22, Z:5.15 [[ 5.09282955e-01 -8.60398677e-01 -1.85738518e-02 1.44002457e+02] [ 8.60024058e-01 5.09612962e-01 -2.55587399e-02 6.92240267e+01] [ 3.14561816e-02 -2.95732882e-03 9.99500757e-01 5.14983558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88071405699998 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:144.02, Y:69.25, Z:5.15 [[ 5.06740405e-01 -8.61902324e-01 -1.83996369e-02 1.44019881e+02] [ 8.61524463e-01 5.07066383e-01 -2.56764978e-02 6.92512219e+01] [ 3.14604705e-02 -2.84041843e-03 9.99500961e-01 5.15235039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91071405699998 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:144.04, Y:69.28, Z:5.15 [[ 5.06340628e-01 -8.62136057e-01 -1.84550001e-02 1.44037869e+02] [ 8.61759684e-01 5.06668415e-01 -2.56391107e-02 6.92782670e+01] [ 3.14549675e-02 -2.92165161e-03 9.99500900e-01 5.15335087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94071405699998 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:144.05, Y:69.30, Z:5.16 [[ 5.04826193e-01 -8.63023698e-01 -1.84556571e-02 1.44053347e+02] [ 8.62647917e-01 5.05154659e-01 -2.56386672e-02 6.93028717e+01] [ 3.14497386e-02 -2.97766345e-03 9.99500899e-01 5.15593666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97071405699998 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:144.07, Y:69.33, Z:5.16 [[ 5.04208379e-01 -8.63387237e-01 -1.83409513e-02 1.44068744e+02] [ 8.63008920e-01 5.04533733e-01 -2.57160559e-02 6.93262719e+01] [ 3.14565431e-02 -2.86215371e-03 9.99501022e-01 5.15678751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00071405699998 meters Centerline goodness : 0.994179 Centerline is valid? [True, True] Translation: X:144.07, Y:69.35, Z:5.16 [[ 4.98920395e-01 -8.66454258e-01 -1.83154931e-02 1.44072454e+02] [ 8.66077322e-01 4.99247308e-01 -2.57332122e-02 6.93457802e+01] [ 3.14406120e-02 -3.02380880e-03 9.99501048e-01 5.15887833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03071405699998 meters Centerline goodness : 0.994188 Centerline is valid? [True, True] Translation: X:144.10, Y:69.37, Z:5.16 [[ 5.02180256e-01 -8.64583584e-01 -1.76130036e-02 1.44096573e+02] [ 8.64188810e-01 5.02484805e-01 -2.62053790e-02 6.93720894e+01] [ 3.15070071e-02 -2.06113669e-03 9.99501406e-01 5.15971543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06071405699998 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:144.11, Y:69.40, Z:5.16 [[ 5.02373843e-01 -8.64459446e-01 -1.81765547e-02 1.44112651e+02] [ 8.64077883e-01 5.02695141e-01 -2.58264673e-02 6.93959414e+01] [ 3.14631993e-02 -2.73141731e-03 9.99501179e-01 5.16090662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09071405699999 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:144.12, Y:69.42, Z:5.16 [[ 4.99303035e-01 -8.66235842e-01 -1.82193695e-02 1.44118008e+02] [ 8.65856450e-01 4.99626949e-01 -2.57976932e-02 6.94151942e+01] [ 3.14497745e-02 -2.89449215e-03 9.99501142e-01 5.16047339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.120714057 meters Centerline goodness : 0.994027 Centerline is valid? [True, True] Translation: X:144.14, Y:69.44, Z:5.16 [[ 5.02375088e-01 -8.64470954e-01 -1.75852397e-02 1.44139837e+02] [ 8.64075502e-01 5.02678709e-01 -2.62229547e-02 6.94404720e+01] [ 3.15087083e-02 -2.02121564e-03 9.99501434e-01 5.16074539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.150714057 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:144.16, Y:69.46, Z:5.16 [[ 5.03664824e-01 -8.63713638e-01 -1.79023993e-02 1.44155773e+02] [ 8.63325120e-01 5.03977385e-01 -2.60102376e-02 6.94640671e+01] [ 3.14878013e-02 -2.35514926e-03 9.99501361e-01 5.16050573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.180714057 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:144.17, Y:69.49, Z:5.16 [[ 5.07163778e-01 -8.61662684e-01 -1.79533050e-02 1.44170396e+02] [ 8.61274091e-01 5.07476286e-01 -2.59761104e-02 6.94876427e+01] [ 3.14935215e-02 -2.28857414e-03 9.99501336e-01 5.15950211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.210714057 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:144.19, Y:69.51, Z:5.16 [[ 5.10624202e-01 -8.59616502e-01 -1.79553200e-02 1.44185258e+02] [ 8.59226703e-01 5.10935206e-01 -2.59747598e-02 6.95118061e+01] [ 3.15023373e-02 -2.16434942e-03 9.99501335e-01 5.15972344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.240714057 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:144.20, Y:69.54, Z:5.16 [[ 5.11792918e-01 -8.58919814e-01 -1.80211396e-02 1.44199777e+02] [ 8.58531124e-01 5.12105370e-01 -2.59306713e-02 6.95359211e+01] [ 3.15010898e-02 -2.20057529e-03 9.99501295e-01 5.16036024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.270714057 meters Centerline goodness : 0.993295 Centerline is valid? [True, True] Translation: X:144.21, Y:69.56, Z:5.16 [[ 5.12458787e-01 -8.58523782e-01 -1.79696393e-02 1.44213703e+02] [ 8.58133652e-01 5.12769389e-01 -2.59651387e-02 6.95593654e+01] [ 3.15059701e-02 -2.11428872e-03 9.99501327e-01 5.16020112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.300714057 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:144.23, Y:69.59, Z:5.16 [[ 5.16023941e-01 -8.56386607e-01 -1.79240634e-02 1.44233935e+02] [ 8.55994140e-01 5.16331541e-01 -2.59956106e-02 6.95863534e+01] [ 3.15170521e-02 -1.92853582e-03 9.99501354e-01 5.16264904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.330714057 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:144.25, Y:69.61, Z:5.16 [[ 5.14316059e-01 -8.57407573e-01 -1.82001573e-02 1.44246268e+02] [ 8.57022126e-01 5.14632742e-01 -2.58111701e-02 6.96090355e+01] [ 3.14970895e-02 -2.32283823e-03 9.99501144e-01 5.16212931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.360714057 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:144.26, Y:69.63, Z:5.16 [[ 5.13175186e-01 -8.58094708e-01 -1.80194302e-02 1.44260300e+02] [ 8.57705477e-01 5.13486960e-01 -2.59317727e-02 6.96322651e+01] [ 3.15046594e-02 -2.14782173e-03 9.99501297e-01 5.16483708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.390714057 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:144.28, Y:69.66, Z:5.17 [[ 5.12621175e-01 -8.58427243e-01 -1.79499078e-02 1.44277213e+02] [ 8.58036604e-01 5.12931108e-01 -2.59781404e-02 6.96571038e+01] [ 3.15074095e-02 -2.08473306e-03 9.99501344e-01 5.16624395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.420714057 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:144.29, Y:69.67, Z:5.17 [[ 5.14180107e-01 -8.57493098e-01 -1.80112505e-02 1.44289120e+02] [ 8.57103311e-01 5.14491179e-01 -2.59372499e-02 6.96737551e+01] [ 3.15076422e-02 -2.10108449e-03 9.99501303e-01 5.16998848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.450714057 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:144.30, Y:69.70, Z:5.17 [[ 5.06631827e-01 -8.61983007e-01 -1.75922915e-02 1.44298522e+02] [ 8.61586293e-01 5.06933703e-01 -2.62160331e-02 6.96992260e+01] [ 3.15159005e-02 -1.87540046e-03 9.99501491e-01 5.17035633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.480714057 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:144.32, Y:69.72, Z:5.17 [[ 5.07262318e-01 -8.61614353e-01 -1.74827683e-02 1.44321689e+02] [ 8.61214927e-01 5.07560582e-01 -2.62888691e-02 6.97245659e+01] [ 3.15244310e-02 -1.72106829e-03 9.99501500e-01 5.17076028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51071405699997 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:144.34, Y:69.75, Z:5.17 [[ 5.05650298e-01 -8.62553568e-01 -1.78638673e-02 1.44340239e+02] [ 8.62163458e-01 5.05960807e-01 -2.60352320e-02 6.97496652e+01] [ 3.14951990e-02 -2.23685080e-03 9.99501400e-01 5.17353583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54071405699997 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:144.35, Y:69.77, Z:5.17 [[ 5.01784306e-01 -8.64805299e-01 -1.80084585e-02 1.44351759e+02] [ 8.64419967e-01 5.02100873e-01 -2.59390591e-02 6.97708022e+01] [ 3.14742985e-02 -2.55105831e-03 9.99501306e-01 5.17292365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57071405699998 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:144.37, Y:69.80, Z:5.17 [[ 5.02114230e-01 -8.64619433e-01 -1.77351662e-02 1.44370301e+02] [ 8.64227612e-01 5.02422476e-01 -2.61206655e-02 6.97962860e+01] [ 3.14949811e-02 -2.21166244e-03 9.99501463e-01 5.17488110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60071405699998 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:144.39, Y:69.82, Z:5.18 [[ 5.00496790e-01 -8.65552389e-01 -1.79450367e-02 1.44385115e+02] [ 8.65166038e-01 5.00812042e-01 -2.59812323e-02 6.98199279e+01] [ 3.14752082e-02 -2.52191293e-03 9.99501351e-01 5.17615889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63071405699998 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:144.40, Y:69.85, Z:5.18 [[ 4.99494406e-01 -8.66135077e-01 -1.77585975e-02 1.44401860e+02] [ 8.65744758e-01 4.99804537e-01 -2.61043854e-02 6.98451226e+01] [ 3.14857514e-02 -2.33541827e-03 9.99501472e-01 5.18025456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66071405699998 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:144.41, Y:69.87, Z:5.18 [[ 4.98058491e-01 -8.66956677e-01 -1.79961022e-02 1.44413171e+02] [ 8.66572412e-01 4.98376346e-01 -2.59474893e-02 6.98662561e+01] [ 3.14641808e-02 -2.67155830e-03 9.99501310e-01 5.17614718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69071405699998 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:144.44, Y:69.89, Z:5.18 [[ 5.00122143e-01 -8.65773749e-01 -1.77103804e-02 1.44435369e+02] [ 8.65382082e-01 5.00430546e-01 -2.61365882e-02 6.98927270e+01] [ 3.14911873e-02 -2.25475936e-03 9.99501486e-01 5.17980008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72071405699998 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:144.45, Y:69.92, Z:5.18 [[ 4.97175707e-01 -8.67464392e-01 -1.79400519e-02 1.44449892e+02] [ 8.67079099e-01 4.97492292e-01 -2.59856776e-02 6.99183823e+01] [ 3.14666876e-02 -2.63599636e-03 9.99501325e-01 5.18282869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75071405699998 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:144.46, Y:69.94, Z:5.18 [[ 4.92848601e-01 -8.69928716e-01 -1.80079207e-02 1.44458956e+02] [ 8.69546596e-01 4.93169110e-01 -2.59412198e-02 6.99407284e+01] [ 3.14479623e-02 -2.87363220e-03 9.99501260e-01 5.18026391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78071405699998 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:144.47, Y:69.97, Z:5.18 [[ 4.92209257e-01 -8.70298913e-01 -1.76025408e-02 1.44474432e+02] [ 8.69907609e-01 4.92517997e-01 -2.62063798e-02 6.99652866e+01] [ 3.14769519e-02 -2.41356143e-03 9.99501564e-01 5.18075713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81071405699998 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:144.49, Y:69.99, Z:5.18 [[ 4.90608713e-01 -8.71201818e-01 -1.76205179e-02 1.44489398e+02] [ 8.70811497e-01 4.90918708e-01 -2.61946267e-02 6.99882022e+01] [ 3.14710483e-02 -2.49283748e-03 9.99501555e-01 5.18046799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84071405699999 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:144.51, Y:70.02, Z:5.18 [[ 4.88785022e-01 -8.72227361e-01 -1.75679351e-02 1.44506655e+02] [ 8.71836478e-01 4.89094265e-01 -2.62289108e-02 7.00159779e+01] [ 3.14699500e-02 -2.49606791e-03 9.99501582e-01 5.18328078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.870714057 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:144.53, Y:70.05, Z:5.18 [[ 4.90466220e-01 -8.71282508e-01 -1.75977014e-02 1.44529458e+02] [ 8.70891713e-01 4.90775597e-01 -2.62094954e-02 7.00462583e+01] [ 3.14723973e-02 -2.47082016e-03 9.99501567e-01 5.18302232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.900714057 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:144.55, Y:70.07, Z:5.18 [[ 4.89311351e-01 -8.71920909e-01 -1.81198970e-02 1.44545112e+02] [ 8.71542724e-01 4.89636706e-01 -2.58684283e-02 7.00725209e+01] [ 3.14273901e-02 -3.13454876e-03 9.99501122e-01 5.18308197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.930714057 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:144.56, Y:70.10, Z:5.19 [[ 4.85258717e-01 -8.74186275e-01 -1.79536355e-02 1.44557920e+02] [ 8.73805673e-01 4.85580945e-01 -2.59767540e-02 7.00981107e+01] [ 3.14264651e-02 -3.08254222e-03 9.99501313e-01 5.18737235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.960714057 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:144.58, Y:70.13, Z:5.18 [[ 4.86400881e-01 -8.73554307e-01 -1.78060596e-02 1.44579373e+02] [ 8.73169827e-01 4.86718255e-01 -2.60728592e-02 7.01267387e+01] [ 3.14425927e-02 -2.86585228e-03 9.99501451e-01 5.18353914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.990714057 meters Centerline goodness : 0.996213 Centerline is valid? [True, True] Translation: X:144.58, Y:70.15, Z:5.19 [[ 4.78623213e-01 -8.77832610e-01 -1.81584405e-02 1.44578836e+02] [ 8.77459369e-01 4.78954283e-01 -2.58428199e-02 7.01451427e+01] [ 3.13827329e-02 -3.56432018e-03 9.99501085e-01 5.18718060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.020714057 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:144.60, Y:70.17, Z:5.19 [[ 4.80505572e-01 -8.76822656e-01 -1.72170291e-02 1.44600560e+02] [ 8.76426681e-01 4.80808048e-01 -2.64555066e-02 7.01728199e+01] [ 3.14748737e-02 -2.37744532e-03 9.99501716e-01 5.19148316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.050714057 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:144.62, Y:70.20, Z:5.19 [[ 4.79749300e-01 -8.77228529e-01 -1.76271551e-02 1.44617389e+02] [ 8.76842284e-01 4.80064312e-01 -2.61890204e-02 7.02011155e+01] [ 3.14359240e-02 -2.89207072e-03 9.99501585e-01 5.19373633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.080714057 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:144.64, Y:70.23, Z:5.19 [[ 4.81521300e-01 -8.76255771e-01 -1.76935591e-02 1.44635146e+02] [ 8.75870437e-01 4.81837494e-01 -2.61458627e-02 7.02302457e+01] [ 3.14358832e-02 -2.90747554e-03 9.99501542e-01 5.18903379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.110714057 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:144.65, Y:70.26, Z:5.19 [[ 4.80710641e-01 -8.76696868e-01 -1.78852510e-02 1.44649829e+02] [ 8.76316326e-01 4.81032836e-01 -2.60213004e-02 7.02579455e+01] [ 3.14161856e-02 -3.16442141e-03 9.99501381e-01 5.19020824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.140714057 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:144.66, Y:70.28, Z:5.19 [[ 4.79741725e-01 -8.77229075e-01 -1.78052719e-02 1.44663891e+02] [ 8.76847005e-01 4.80061991e-01 -2.60732573e-02 7.02840816e+01] [ 3.14198537e-02 -3.10406989e-03 9.99501454e-01 5.19249903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.170714057 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:144.68, Y:70.31, Z:5.20 [[ 4.78578965e-01 -8.77867293e-01 -1.76405706e-02 1.44677576e+02] [ 8.77481789e-01 4.78894887e-01 -2.61800961e-02 7.03107038e+01] [ 3.14306291e-02 -2.95003617e-03 9.99501582e-01 5.19669855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.200714057 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:144.69, Y:70.34, Z:5.20 [[ 4.78802117e-01 -8.77747522e-01 -1.75448241e-02 1.44688724e+02] [ 8.77359710e-01 4.79115110e-01 -2.62421719e-02 7.03374999e+01] [ 3.14399916e-02 -2.82831431e-03 9.99501640e-01 5.19666788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.230714057 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:144.70, Y:70.36, Z:5.20 [[ 4.79372635e-01 -8.77439567e-01 -1.73690470e-02 1.44703201e+02] [ 8.77047493e-01 4.79680155e-01 -2.63561046e-02 7.03625871e+01] [ 3.14574762e-02 -2.59908381e-03 9.99501712e-01 5.19717789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26071405699997 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:144.72, Y:70.39, Z:5.20 [[ 4.80748765e-01 -8.76685923e-01 -1.73901356e-02 1.44718409e+02] [ 8.76293851e-01 4.81056299e-01 -2.63424470e-02 7.03893996e+01] [ 3.14596867e-02 -2.57477006e-03 9.99501705e-01 5.19807644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29071405699997 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:144.73, Y:70.42, Z:5.20 [[ 4.81824108e-01 -8.76094740e-01 -1.74222942e-02 1.44734505e+02] [ 8.75703027e-01 4.82132119e-01 -2.63216342e-02 7.04152729e+01] [ 3.14600929e-02 -2.57435785e-03 9.99501693e-01 5.19915673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32071405699998 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:144.75, Y:70.44, Z:5.20 [[ 4.84541143e-01 -8.74594807e-01 -1.74299913e-02 1.44750725e+02] [ 8.74202316e-01 4.84848166e-01 -2.63166590e-02 7.04443530e+01] [ 3.14673126e-02 -2.48583475e-03 9.99501690e-01 5.20006532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35071405699998 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:144.76, Y:70.47, Z:5.20 [[ 4.86127872e-01 -8.73712641e-01 -1.74903671e-02 1.44760745e+02] [ 8.73320970e-01 4.86435986e-01 -2.62776336e-02 7.04696792e+01] [ 3.14670446e-02 -2.50041431e-03 9.99501662e-01 5.19893307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38071405699998 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:144.77, Y:70.49, Z:5.20 [[ 4.90514732e-01 -8.71264654e-01 -1.71230666e-02 1.44774722e+02] [ 8.70863189e-01 4.90809810e-01 -2.65148369e-02 7.04934294e+01] [ 3.15056093e-02 -1.90593026e-03 9.99501758e-01 5.20167173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41071405699998 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:144.80, Y:70.52, Z:5.20 [[ 4.99619057e-01 -8.66076129e-01 -1.71153784e-02 1.44795429e+02] [ 8.65671425e-01 4.99909676e-01 -2.65197987e-02 7.05213229e+01] [ 3.15243079e-02 -1.56649722e-03 9.99501758e-01 5.20347556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44071405699998 meters Centerline goodness : 0.995774 Centerline is valid? [True, True] Translation: X:144.81, Y:70.55, Z:5.20 [[ 5.02778397e-01 -8.64237920e-01 -1.75128885e-02 1.44811801e+02] [ 8.63840905e-01 5.03079633e-01 -2.62635349e-02 7.05486825e+01] [ 3.15083204e-02 -1.92361148e-03 9.99501639e-01 5.20334229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47071405699998 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:144.83, Y:70.58, Z:5.20 [[ 5.04998209e-01 -8.62943546e-01 -1.74712914e-02 1.44830431e+02] [ 8.62544837e-01 5.05297161e-01 -2.62903484e-02 7.05766811e+01] [ 3.15152804e-02 -1.79319330e-03 9.99501662e-01 5.20306709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50071405699998 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:144.85, Y:70.60, Z:5.20 [[ 5.06284756e-01 -8.62187319e-01 -1.75719262e-02 1.44848892e+02] [ 8.61790391e-01 5.06586169e-01 -2.62254845e-02 7.06043568e+01] [ 3.15129749e-02 -1.86575412e-03 9.99501601e-01 5.20280684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53071405699998 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:144.87, Y:70.63, Z:5.20 [[ 5.10320088e-01 -8.59804823e-01 -1.75805251e-02 1.44868942e+02] [ 8.59406676e-01 5.10619898e-01 -2.62199423e-02 7.06327676e+01] [ 3.15209988e-02 -1.72825738e-03 9.99501596e-01 5.20077621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56071405699998 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:144.87, Y:70.65, Z:5.20 [[ 5.06171800e-01 -8.62249344e-01 -1.77814011e-02 1.44872672e+02] [ 8.61857129e-01 5.06479594e-01 -2.60904041e-02 7.06540515e+01] [ 3.15023506e-02 -2.11880050e-03 9.99501432e-01 5.20472129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59071405699999 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:144.89, Y:70.68, Z:5.21 [[ 5.05692791e-01 -8.62544529e-01 -1.70803209e-02 1.44887725e+02] [ 8.62137059e-01 5.05979482e-01 -2.65415837e-02 7.06786696e+01] [ 3.15355897e-02 -1.30369008e-03 9.99501779e-01 5.20714939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.620714057 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:144.92, Y:70.71, Z:5.20 [[ 5.09764387e-01 -8.60144613e-01 -1.70738220e-02 1.44915886e+02] [ 8.59735653e-01 5.10048948e-01 -2.65457637e-02 7.07070357e+01] [ 3.15416806e-02 -1.14688854e-03 9.99501779e-01 5.20423775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.650714057 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:144.93, Y:70.73, Z:5.20 [[ 5.07302120e-01 -8.61584037e-01 -1.78186918e-02 1.44934601e+02] [ 8.61192258e-01 5.07610524e-01 -2.60662580e-02 7.07300239e+01] [ 3.15032273e-02 -2.12185148e-03 9.99501398e-01 5.20496382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.680714057 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:144.95, Y:70.75, Z:5.21 [[ 5.04435793e-01 -8.63266984e-01 -1.77382474e-02 1.44950230e+02] [ 8.62874435e-01 5.04743076e-01 -2.61177383e-02 7.07545320e+01] [ 3.14998387e-02 -2.13115815e-03 9.99501485e-01 5.20770330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.710714057 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:144.97, Y:70.78, Z:5.21 [[ 5.00925940e-01 -8.65311391e-01 -1.75897652e-02 1.44968438e+02] [ 8.64916780e-01 5.01230344e-01 -2.62126996e-02 7.07785462e+01] [ 3.14986716e-02 -2.08306191e-03 9.99501623e-01 5.20879465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.740714057 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:144.99, Y:70.81, Z:5.21 [[ 4.94981787e-01 -8.68729192e-01 -1.73959951e-02 1.44988045e+02] [ 8.68332356e-01 4.95283058e-01 -2.63365223e-02 7.08085098e+01] [ 3.14952474e-02 -2.06940656e-03 9.99501759e-01 5.21096612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.770714057 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:145.01, Y:70.83, Z:5.21 [[ 4.88259952e-01 -8.72520329e-01 -1.76208656e-02 1.45005142e+02] [ 8.72130893e-01 4.88571005e-01 -2.61931067e-02 7.08332121e+01] [ 3.14630621e-02 -2.57865618e-03 9.99501589e-01 5.21319098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.800714057 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:145.02, Y:70.86, Z:5.21 [[ 4.86396743e-01 -8.73563691e-01 -1.74552398e-02 1.45022699e+02] [ 8.73171175e-01 4.86703684e-01 -2.62987216e-02 7.08586098e+01] [ 3.14691378e-02 -2.44979973e-03 9.99501722e-01 5.21347355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.830714057 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:145.04, Y:70.89, Z:5.21 [[ 4.86330412e-01 -8.73600646e-01 -1.74539691e-02 1.45040561e+02] [ 8.73208125e-01 4.86637344e-01 -2.62995309e-02 7.08869180e+01] [ 3.14690404e-02 -2.45068588e-03 9.99501723e-01 5.21453095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.860714057 meters Centerline goodness : 0.992170 Centerline is valid? [True, True] Translation: X:145.05, Y:70.90, Z:5.21 [[ 4.84009942e-01 -8.74888263e-01 -1.74614535e-02 1.45052108e+02] [ 8.74496728e-01 4.84318139e-01 -2.62947247e-02 7.09026526e+01] [ 3.14618446e-02 -2.54307576e-03 9.99501718e-01 5.21421405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.890714057 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:145.07, Y:70.93, Z:5.22 [[ 4.85549937e-01 -8.74051311e-01 -1.66001304e-02 1.45074100e+02] [ 8.73640219e-01 4.85831401e-01 -2.68443167e-02 7.09293571e+01] [ 3.15281749e-02 -1.46828529e-03 9.99501785e-01 5.21572059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.920714057 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:145.09, Y:70.95, Z:5.22 [[ 4.79789713e-01 -8.77217331e-01 -1.70758574e-02 1.45086007e+02] [ 8.76818587e-01 4.80088266e-01 -2.65409528e-02 7.09520865e+01] [ 3.14801026e-02 -2.23835300e-03 9.99501872e-01 5.21797299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.950714057 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:145.10, Y:70.97, Z:5.22 [[ 4.81183777e-01 -8.76455649e-01 -1.69607725e-02 1.45099481e+02] [ 8.76053877e-01 4.81478228e-01 -2.66142945e-02 7.09718069e+01] [ 3.14924915e-02 -2.05218375e-03 9.99501882e-01 5.21708577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.980714057 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:145.12, Y:70.99, Z:5.22 [[ 4.86780435e-01 -8.73366044e-01 -1.66301494e-02 1.45121924e+02] [ 8.72955217e-01 4.87062237e-01 -2.68247165e-02 7.09941497e+01] [ 3.15277143e-02 -1.45962848e-03 9.99501812e-01 5.22056211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01071405699997 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:145.14, Y:71.03, Z:5.22 [[ 4.86735801e-01 -8.73385714e-01 -1.69012917e-02 1.45144564e+02] [ 8.72980790e-01 4.87025890e-01 -2.66518742e-02 7.10250561e+01] [ 3.15087328e-02 -1.78208158e-03 9.99501888e-01 5.21993801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04071405699997 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:145.16, Y:71.05, Z:5.22 [[ 4.89358542e-01 -8.71910239e-01 -1.73422241e-02 1.45161583e+02] [ 8.71514171e-01 4.89660754e-01 -2.63703525e-02 7.10479001e+01] [ 3.14843869e-02 -2.20943687e-03 9.99501802e-01 5.21957196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07071405699998 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:145.18, Y:71.07, Z:5.22 [[ 4.91514795e-01 -8.70699826e-01 -1.71761055e-02 1.45176088e+02] [ 8.70299329e-01 4.91811010e-01 -2.64765599e-02 7.10682681e+01] [ 3.15005340e-02 -1.93473219e-03 9.99501863e-01 5.21942104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10071405699998 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:145.20, Y:71.09, Z:5.22 [[ 4.94041807e-01 -8.69271871e-01 -1.70031756e-02 1.45195911e+02] [ 8.68866733e-01 4.94331600e-01 -2.65870316e-02 7.10927200e+01] [ 3.15165657e-02 -1.63838852e-03 9.99501887e-01 5.22300909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13071405699998 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:145.20, Y:71.12, Z:5.22 [[ 4.88301192e-01 -8.72505233e-01 -1.72210485e-02 1.45203965e+02] [ 8.72106829e-01 4.88600237e-01 -2.64478319e-02 7.11175518e+01] [ 3.14900801e-02 -2.10408617e-03 9.99501850e-01 5.22205093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16071405699998 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:145.23, Y:71.14, Z:5.22 [[ 4.95678731e-01 -8.68340025e-01 -1.69763468e-02 1.45229210e+02] [ 8.67933765e-01 4.95966941e-01 -2.66039808e-02 7.11418273e+01] [ 3.15210082e-02 -1.54731720e-03 9.99501892e-01 5.22051013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19071405699998 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:145.24, Y:71.16, Z:5.22 [[ 4.89700851e-01 -8.71718017e-01 -1.73428691e-02 1.45237538e+02] [ 8.71321838e-01 4.90002927e-01 -2.63701631e-02 7.11646115e+01] [ 3.14854029e-02 -2.19772926e-03 9.99501796e-01 5.22351822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22071405699998 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:145.25, Y:71.19, Z:5.22 [[ 4.89336274e-01 -8.71930326e-01 -1.69563305e-02 1.45253181e+02] [ 8.71525751e-01 4.89626829e-01 -2.66164164e-02 7.11875396e+01] [ 3.15099349e-02 -1.75350068e-03 9.99501901e-01 5.22375348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25071405699998 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:145.28, Y:71.22, Z:5.22 [[ 4.93702565e-01 -8.69465651e-01 -1.69487240e-02 1.45284823e+02] [ 8.69059459e-01 4.93990855e-01 -2.66212591e-02 7.12186948e+01] [ 3.15187851e-02 -1.58646498e-03 9.99501901e-01 5.22168975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28071405699998 meters Centerline goodness : 0.995506 Centerline is valid? [True, True] Translation: X:145.30, Y:71.25, Z:5.22 [[ 4.93112681e-01 -8.69784278e-01 -1.77536937e-02 1.45304263e+02] [ 8.69396121e-01 4.93425529e-01 -2.61081048e-02 7.12452259e+01] [ 3.14685448e-02 -2.56075489e-03 9.99501462e-01 5.22130267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31071405699998 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:145.32, Y:71.27, Z:5.22 [[ 4.91782844e-01 -8.70536656e-01 -1.77641648e-02 1.45322597e+02] [ 8.70149214e-01 4.92096596e-01 -2.61014285e-02 7.12689254e+01] [ 3.14639354e-02 -2.62123930e-03 9.99501451e-01 5.22184361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34071405699999 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:145.34, Y:71.30, Z:5.22 [[ 4.90637560e-01 -8.71184030e-01 -1.76966139e-02 1.45340477e+02] [ 8.70795471e-01 4.90949809e-01 -2.61444591e-02 7.12952427e+01] [ 3.14647845e-02 -2.58267763e-03 9.99501524e-01 5.22326757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.370714057 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:145.36, Y:71.32, Z:5.22 [[ 4.92486208e-01 -8.70141182e-01 -1.76538484e-02 1.45363283e+02] [ 8.69750997e-01 4.92796353e-01 -2.61716783e-02 7.13224643e+01] [ 3.14728072e-02 -2.46526162e-03 9.99501568e-01 5.22297448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.400714057 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:145.36, Y:71.34, Z:5.23 [[ 4.85225034e-01 -8.74204694e-01 -1.79671565e-02 1.45363573e+02] [ 8.73824285e-01 4.85547687e-01 -2.59723255e-02 7.13403722e+01] [ 3.14290401e-02 -3.09771517e-03 9.99501185e-01 5.22799143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.430714057 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:145.39, Y:71.37, Z:5.24 [[ 4.92436062e-01 -8.70184513e-01 -1.69008123e-02 1.45387817e+02] [ 8.69777802e-01 4.92723478e-01 -2.66486405e-02 7.13653259e+01] [ 3.15166613e-02 -1.57719982e-03 9.99501982e-01 5.23534597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.460714057 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:145.41, Y:71.39, Z:5.24 [[ 4.93354923e-01 -8.69655730e-01 -1.73156622e-02 1.45406818e+02] [ 8.69257744e-01 4.93654508e-01 -2.63856305e-02 7.13918901e+01] [ 3.14943694e-02 -2.03429277e-03 9.99501859e-01 5.23660794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.490714057 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:145.43, Y:71.42, Z:5.23 [[ 4.94533893e-01 -8.68985702e-01 -1.73227655e-02 1.45426080e+02] [ 8.68587466e-01 4.94833153e-01 -2.63811280e-02 7.14179554e+01] [ 3.14967017e-02 -1.99997503e-03 9.99501855e-01 5.23267678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.520714057 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:145.44, Y:71.44, Z:5.23 [[ 4.93452859e-01 -8.69597937e-01 -1.74270808e-02 1.45441423e+02] [ 8.69202381e-01 4.93755760e-01 -2.63148396e-02 7.14419533e+01] [ 3.14880518e-02 -2.16252728e-03 9.99501789e-01 5.23444325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.550714057 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:145.46, Y:71.46, Z:5.24 [[ 4.94762839e-01 -8.68850873e-01 -1.75468895e-02 1.45455036e+02] [ 8.68457520e-01 4.95068750e-01 -2.62386916e-02 7.14627248e+01] [ 3.14844268e-02 -2.25679858e-03 9.99501695e-01 5.23561872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.580714057 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:145.47, Y:71.49, Z:5.24 [[ 4.90840633e-01 -8.71078177e-01 -1.72708805e-02 1.45471815e+02] [ 8.70680086e-01 4.91140015e-01 -2.64134971e-02 7.14880454e+01] [ 3.14906414e-02 -2.07259412e-03 9.99501898e-01 5.23839160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.610714057 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:145.48, Y:71.51, Z:5.24 [[ 4.86017667e-01 -8.73775560e-01 -1.74096948e-02 1.45478656e+02] [ 8.73382220e-01 4.86323410e-01 -2.63256369e-02 7.15070685e+01] [ 3.14694403e-02 -2.41059329e-03 9.99501808e-01 5.23761173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.640714057 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:145.50, Y:71.53, Z:5.24 [[ 4.89931556e-01 -8.71598009e-01 -1.68517495e-02 1.45503445e+02] [ 8.71191117e-01 4.90218642e-01 -2.66780825e-02 7.15301168e+01] [ 3.15136053e-02 -1.61066003e-03 9.99502025e-01 5.23953297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.670714057 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:145.51, Y:71.55, Z:5.24 [[ 4.82063604e-01 -8.75968677e-01 -1.71335391e-02 1.45512561e+02] [ 8.75570574e-01 4.82362848e-01 -2.65000346e-02 7.15528101e+01] [ 3.14777830e-02 -2.22692044e-03 9.99501971e-01 5.23610416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.700714057 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:145.53, Y:71.58, Z:5.24 [[ 4.79719859e-01 -8.77260095e-01 -1.68399159e-02 1.45528744e+02] [ 8.76856332e-01 4.80011318e-01 -2.66853293e-02 7.15756615e+01] [ 3.14933248e-02 -1.96470448e-03 9.99502031e-01 5.23524864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.730714057 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:145.55, Y:71.60, Z:5.24 [[ 4.83123318e-01 -8.75390401e-01 -1.68376524e-02 1.45554585e+02] [ 8.74985460e-01 4.83413138e-01 -2.66867574e-02 7.16030882e+01] [ 3.15008737e-02 -1.83970628e-03 9.99502031e-01 5.23975935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76071405699997 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:145.56, Y:71.62, Z:5.24 [[ 4.77114238e-01 -8.78665826e-01 -1.75604916e-02 1.45559189e+02] [ 8.78279035e-01 4.77428434e-01 -2.62302693e-02 7.16221869e+01] [ 3.14315192e-02 -2.90817669e-03 9.99501677e-01 5.23618381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79071405699997 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:145.58, Y:71.65, Z:5.24 [[ 4.75442773e-01 -8.79585936e-01 -1.68152128e-02 1.45575068e+02] [ 8.79183094e-01 4.75735447e-01 -2.66996540e-02 7.16455355e+01] [ 3.14842329e-02 -2.08949328e-03 9.99502065e-01 5.23874273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82071405699998 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:145.58, Y:71.66, Z:5.25 [[ 4.73869198e-01 -8.80434825e-01 -1.68077913e-02 1.45583669e+02] [ 8.80032344e-01 4.74162369e-01 -2.67043250e-02 7.16636667e+01] [ 3.14810399e-02 -2.13704290e-03 9.99502065e-01 5.24504941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85071405699998 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:145.60, Y:71.69, Z:5.25 [[ 4.73005947e-01 -8.80909524e-01 -1.62414201e-02 1.45598821e+02] [ 8.80495084e-01 4.73282323e-01 -2.70601235e-02 7.16872526e+01] [ 3.15242976e-02 -1.50089119e-03 9.99501859e-01 5.24668874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88071405699998 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:145.61, Y:71.71, Z:5.25 [[ 4.72233769e-01 -8.81323556e-01 -1.62498632e-02 1.45614609e+02] [ 8.80909538e-01 4.72510766e-01 -2.70548102e-02 7.17113852e+01] [ 3.15222768e-02 -1.53846455e-03 9.99501866e-01 5.24934219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91071405699998 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:145.64, Y:71.74, Z:5.25 [[ 4.77549603e-01 -8.78453803e-01 -1.62878187e-02 1.45643809e+02] [ 8.78038925e-01 4.77825257e-01 -2.70309085e-02 7.17384138e+01] [ 3.15281356e-02 -1.39273920e-03 9.99501894e-01 5.24961944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94071405699998 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:145.66, Y:71.76, Z:5.25 [[ 4.76052518e-01 -8.79252957e-01 -1.69775623e-02 1.45659952e+02] [ 8.78853532e-01 4.76349799e-01 -2.65958193e-02 7.17588383e+01] [ 3.14717112e-02 -2.25978389e-03 9.99502088e-01 5.25207641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97071405699998 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:145.68, Y:71.78, Z:5.25 [[ 4.75070719e-01 -8.79786383e-01 -1.68443530e-02 1.45675268e+02] [ 8.79384352e-01 4.75364439e-01 -2.66797944e-02 7.17823100e+01] [ 3.14797262e-02 -2.13787131e-03 9.99502104e-01 5.25239907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00071405699998 meters Centerline goodness : 0.992899 Centerline is valid? [True, True] Translation: X:145.69, Y:71.81, Z:5.25 [[ 4.73674772e-01 -8.80538046e-01 -1.68807219e-02 1.45690299e+02] [ 8.80137284e-01 4.73970224e-01 -2.66568718e-02 7.18053279e+01] [ 3.14733494e-02 -2.23066507e-03 9.99502102e-01 5.25364870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03071405699998 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:145.71, Y:71.83, Z:5.25 [[ 4.73580822e-01 -8.80589599e-01 -1.68274472e-02 1.45706140e+02] [ 8.80187694e-01 4.73874713e-01 -2.66904263e-02 7.18272642e+01] [ 3.14774136e-02 -2.17123791e-03 9.99502105e-01 5.25114560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06071405699998 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:145.72, Y:71.86, Z:5.25 [[ 4.63959268e-01 -8.85697054e-01 -1.68085199e-02 1.45715609e+02] [ 8.85297953e-01 4.64256954e-01 -2.67023407e-02 7.18559647e+01] [ 3.14536567e-02 -2.49174988e-03 9.99502105e-01 5.24924698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09071405699999 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:145.75, Y:71.89, Z:5.25 [[ 4.68445460e-01 -8.83332568e-01 -1.68054994e-02 1.45745004e+02] [ 8.82931896e-01 4.68741028e-01 -2.67042416e-02 7.18856184e+01] [ 3.14661533e-02 -2.32863070e-03 9.99502105e-01 5.24866645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.120714057 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:145.76, Y:71.91, Z:5.25 [[ 4.67767316e-01 -8.83674751e-01 -1.76825741e-02 1.45758788e+02] [ 8.83294195e-01 4.68089168e-01 -2.61514041e-02 7.19076951e+01] [ 3.13863569e-02 -3.38614297e-03 9.99501591e-01 5.25048379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.150714057 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:145.78, Y:71.93, Z:5.25 [[ 4.67386488e-01 -8.83877879e-01 -1.76001660e-02 1.45775677e+02] [ 8.83495553e-01 4.67706092e-01 -2.62034071e-02 7.19323401e+01] [ 3.13923167e-02 -3.30254998e-03 9.99501684e-01 5.24925051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.180714057 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:145.79, Y:71.96, Z:5.25 [[ 4.66011410e-01 -8.84604212e-01 -1.75713851e-02 1.45790731e+02] [ 8.84221721e-01 4.66330765e-01 -2.62214879e-02 7.19567877e+01] [ 3.13897161e-02 -3.31748780e-03 9.99501716e-01 5.25065795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.210714057 meters Centerline goodness : 0.992929 Centerline is valid? [True, True] Translation: X:145.80, Y:71.97, Z:5.25 [[ 4.68021409e-01 -8.83541267e-01 -1.76292313e-02 1.45797389e+02] [ 8.83159379e-01 4.68341590e-01 -2.61852315e-02 7.19706010e+01] [ 3.13922348e-02 -3.31417207e-03 9.99501648e-01 5.25488508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.240714057 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:145.82, Y:72.00, Z:5.25 [[ 4.65647279e-01 -8.84812504e-01 -1.67166038e-02 1.45819313e+02] [ 8.84410946e-01 4.65941439e-01 -2.67554557e-02 7.20046671e+01] [ 3.14625202e-02 -2.32574219e-03 9.99502226e-01 5.25402500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.270714057 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:145.84, Y:72.03, Z:5.26 [[ 4.66008892e-01 -8.84606160e-01 -1.75400965e-02 1.45836786e+02] [ 8.84222970e-01 4.66327328e-01 -2.62404775e-02 7.20302390e+01] [ 3.13919143e-02 -3.28106039e-03 9.99501767e-01 5.25502656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.300714057 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:145.84, Y:72.05, Z:5.26 [[ 4.59504351e-01 -8.87998957e-01 -1.77088361e-02 1.45835265e+02] [ 8.87622032e-01 4.59830502e-01 -2.61349987e-02 7.20469726e+01] [ 3.13509146e-02 -3.70960748e-03 9.99501555e-01 5.25892811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.330714057 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:145.87, Y:72.08, Z:5.26 [[ 4.67856132e-01 -8.83647256e-01 -1.66783402e-02 1.45866774e+02] [ 8.83244205e-01 4.68148131e-01 -2.67768842e-02 7.20769191e+01] [ 3.14692541e-02 -2.20331783e-03 9.99502292e-01 5.25560931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.360714057 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:145.86, Y:72.09, Z:5.26 [[ 4.60194653e-01 -8.87642741e-01 -1.76421453e-02 1.45864775e+02] [ 8.87264036e-01 4.60518569e-01 -2.61759114e-02 7.20944171e+01] [ 3.13593933e-02 -3.60722656e-03 9.99501664e-01 5.26022431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.390714057 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:145.89, Y:72.12, Z:5.26 [[ 4.65001194e-01 -8.85153474e-01 -1.66498519e-02 1.45890454e+02] [ 8.84750809e-01 4.65293632e-01 -2.67925827e-02 7.21220172e+01] [ 3.14626177e-02 -2.27238700e-03 9.99502346e-01 5.26232227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.420714057 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:145.91, Y:72.15, Z:5.26 [[ 4.64799521e-01 -8.85246766e-01 -1.73080558e-02 1.45905860e+02] [ 8.84858800e-01 4.65111650e-01 -2.63829125e-02 7.21455521e+01] [ 3.14055664e-02 -3.05242039e-03 9.99502063e-01 5.26254353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.450714057 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:145.92, Y:72.17, Z:5.26 [[ 4.64154923e-01 -8.85585103e-01 -1.72983525e-02 1.45920812e+02] [ 8.85197145e-01 4.64467047e-01 -2.63889441e-02 7.21692569e+01] [ 3.14041705e-02 -3.06389390e-03 9.99502071e-01 5.26295633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.480714057 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:145.94, Y:72.19, Z:5.26 [[ 4.64464763e-01 -8.85423134e-01 -1.72730551e-02 1.45937525e+02] [ 8.85034496e-01 4.64776005e-01 -2.64046567e-02 7.21928465e+01] [ 3.14073954e-02 -3.02321701e-03 9.99502094e-01 5.26301271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51071405699997 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:145.95, Y:72.22, Z:5.26 [[ 4.64279019e-01 -8.85519431e-01 -1.73300268e-02 1.45951886e+02] [ 8.85132145e-01 4.64592023e-01 -2.63692758e-02 7.22165872e+01] [ 3.14018983e-02 -3.09666229e-03 9.99502042e-01 5.26345505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54071405699997 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:145.97, Y:72.24, Z:5.26 [[ 4.67141545e-01 -8.84012708e-01 -1.73294499e-02 1.45968975e+02] [ 8.83624398e-01 4.67453277e-01 -2.63696339e-02 7.22416108e+01] [ 3.14117996e-02 -2.99437323e-03 9.99502042e-01 5.26478976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57071405699998 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:145.97, Y:72.26, Z:5.27 [[ 4.62418040e-01 -8.86488999e-01 -1.75160130e-02 1.45966990e+02] [ 8.86106602e-01 4.62737317e-01 -2.62538803e-02 7.22604743e+01] [ 3.13790889e-02 -3.38078686e-03 9.99501837e-01 5.26514499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60071405699998 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:145.98, Y:72.28, Z:5.27 [[ 4.63696616e-01 -8.85838670e-01 -1.65921196e-02 1.45981032e+02] [ 8.85435274e-01 4.63987906e-01 -2.68253522e-02 7.22842573e+01] [ 3.14614772e-02 -2.25242290e-03 9.99502427e-01 5.26669831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63071405699998 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:146.01, Y:72.31, Z:5.27 [[ 4.70988506e-01 -8.81983425e-01 -1.65850992e-02 1.46008439e+02] [ 8.81577488e-01 4.71276246e-01 -2.68296920e-02 7.23130823e+01] [ 3.14795069e-02 -1.98457359e-03 9.99502427e-01 5.27146294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66071405699998 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:146.02, Y:72.34, Z:5.27 [[ 4.71720303e-01 -8.81578144e-01 -1.73185217e-02 1.46020882e+02] [ 8.81187999e-01 4.72029691e-01 -2.63757652e-02 7.23358685e+01] [ 3.14271546e-02 -2.81888954e-03 9.99502070e-01 5.27235832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69071405699998 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:146.04, Y:72.36, Z:5.28 [[ 4.74491024e-01 -8.80093358e-01 -1.71449434e-02 1.46036942e+02] [ 8.79698416e-01 4.74794006e-01 -2.64830000e-02 7.23615986e+01] [ 3.14478287e-02 -2.51643380e-03 9.99502227e-01 5.27615120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72071405699998 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:146.05, Y:72.39, Z:5.28 [[ 4.73998391e-01 -8.80357101e-01 -1.72307764e-02 1.46051552e+02] [ 8.79964216e-01 4.74304157e-01 -2.64300164e-02 7.23858170e+01] [ 3.14404815e-02 -2.63468142e-03 9.99502153e-01 5.27700845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75071405699998 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:146.07, Y:72.41, Z:5.28 [[ 4.74137218e-01 -8.80283623e-01 -1.71651243e-02 1.46066904e+02] [ 8.79889250e-01 4.74440961e-01 -2.64704085e-02 7.24107265e+01] [ 3.14453052e-02 -2.55280244e-03 9.99502214e-01 5.27946850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78071405699998 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:146.08, Y:72.43, Z:5.28 [[ 4.74054630e-01 -8.80326841e-01 -1.72296591e-02 1.46080181e+02] [ 8.79933911e-01 4.74360337e-01 -2.64307222e-02 7.24330307e+01] [ 3.14407411e-02 -2.63135509e-03 9.99502154e-01 5.27970886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81071405699998 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:146.08, Y:72.45, Z:5.28 [[ 4.69787706e-01 -8.82613096e-01 -1.71357276e-02 1.46083938e+02] [ 8.82219580e-01 4.70092517e-01 -2.64884513e-02 7.24533712e+01] [ 3.14344314e-02 -2.67352565e-03 9.99502241e-01 5.27794344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84071405699999 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:146.11, Y:72.48, Z:5.28 [[ 4.73751967e-01 -8.80503949e-01 -1.64884722e-02 1.46112660e+02] [ 8.80095181e-01 4.74035492e-01 -2.68854153e-02 7.24824044e+01] [ 3.14888353e-02 -1.77440651e-03 9.99502529e-01 5.28016970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.870714057 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:146.13, Y:72.50, Z:5.28 [[ 4.72484617e-01 -8.81169124e-01 -1.72992000e-02 1.46126453e+02] [ 8.80778288e-01 4.72793092e-01 -2.63874937e-02 7.25049869e+01] [ 3.14307870e-02 -2.76907496e-03 9.99502095e-01 5.28115928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.900714057 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:146.14, Y:72.53, Z:5.28 [[ 4.70055031e-01 -8.82469181e-01 -1.72166347e-02 1.46141721e+02] [ 8.82077369e-01 4.70362130e-01 -2.64382544e-02 7.25293940e+01] [ 3.14289976e-02 -2.75896931e-03 9.99502179e-01 5.28049415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.930714057 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:146.16, Y:72.55, Z:5.28 [[ 4.67466667e-01 -8.83844505e-01 -1.71407812e-02 1.46156007e+02] [ 8.83451923e-01 4.67772659e-01 -2.64846920e-02 7.25535827e+01] [ 3.14263383e-02 -2.76234545e-03 9.99502253e-01 5.28225046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.960714057 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:146.16, Y:72.57, Z:5.28 [[ 4.58343440e-01 -8.88608552e-01 -1.72085285e-02 1.46157121e+02] [ 8.88220653e-01 4.58655454e-01 -2.64432525e-02 7.25732234e+01] [ 3.13904857e-02 -3.16487914e-03 9.99502187e-01 5.28196439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.990714057 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:146.18, Y:72.60, Z:5.29 [[ 4.62874561e-01 -8.86271628e-01 -1.64238561e-02 1.46181318e+02] [ 8.85865094e-01 4.63161142e-01 -2.69219608e-02 7.25997161e+01] [ 3.14670619e-02 -2.08783011e-03 9.99502609e-01 5.28622557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.020714057 meters Centerline goodness : 0.995212 Centerline is valid? [True, True] Translation: X:146.19, Y:72.62, Z:5.29 [[ 4.60205742e-01 -8.87651128e-01 -1.69159696e-02 1.46193919e+02] [ 8.87256121e-01 4.60508275e-01 -2.66214909e-02 7.26226412e+01] [ 3.14205404e-02 -2.75743461e-03 9.99502449e-01 5.28729159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.050714057 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:146.21, Y:72.65, Z:5.29 [[ 4.57098346e-01 -8.89257782e-01 -1.67839134e-02 1.46209642e+02] [ 8.88860936e-01 4.57398335e-01 -2.67020444e-02 7.26497498e+01] [ 3.14219348e-02 -2.71310472e-03 9.99502527e-01 5.28826512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.080714057 meters Centerline goodness : 0.996547 Centerline is valid? [True, True] Translation: X:146.23, Y:72.68, Z:5.28 [[ 4.61046448e-01 -8.87212668e-01 -1.70251290e-02 1.46234462e+02] [ 8.86819766e-01 4.61351851e-01 -2.65550868e-02 7.26802709e+01] [ 3.14145842e-02 -2.85509246e-03 9.99502362e-01 5.28235402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.110714057 meters Centerline goodness : 0.996089 Centerline is valid? [True, True] Translation: X:146.23, Y:72.70, Z:5.29 [[ 4.48979255e-01 -8.93365579e-01 -1.77642921e-02 1.46226182e+02] [ 8.92993727e-01 4.49311447e-01 -2.61041570e-02 7.26961449e+01] [ 3.13022551e-02 -4.14317644e-03 9.99501377e-01 5.28887305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.140714057 meters Centerline goodness : 0.996616 Centerline is valid? [True, True] Translation: X:146.24, Y:72.72, Z:5.29 [[ 4.47707613e-01 -8.94030236e-01 -1.63655020e-02 1.46238755e+02] [ 8.93627501e-01 4.47999327e-01 -2.69535167e-02 7.27214686e+01] [ 3.14289928e-02 -2.55736803e-03 9.99502715e-01 5.29089285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.170714057 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:146.27, Y:72.75, Z:5.29 [[ 4.55583244e-01 -8.90042783e-01 -1.63631705e-02 1.46270772e+02] [ 8.89637438e-01 4.55871320e-01 -2.69549321e-02 7.27540694e+01] [ 3.14505429e-02 -2.27707369e-03 9.99502715e-01 5.28737495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.200714057 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:146.29, Y:72.78, Z:5.29 [[ 4.53751172e-01 -8.90956937e-01 -1.74817076e-02 1.46287686e+02] [ 8.90576815e-01 4.54073173e-01 -2.62771837e-02 7.27831843e+01] [ 3.13498135e-02 -3.64550056e-03 9.99501826e-01 5.28796767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.230714057 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:146.30, Y:72.81, Z:5.29 [[ 4.51249526e-01 -8.92223088e-01 -1.76586226e-02 1.46298762e+02] [ 8.91847906e-01 4.51577725e-01 -2.61700522e-02 7.28094688e+01] [ 3.13237654e-02 -3.93958195e-03 9.99501526e-01 5.28894789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26071405699997 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:146.31, Y:72.83, Z:5.29 [[ 4.52505876e-01 -8.91590593e-01 -1.74541397e-02 1.46305890e+02] [ 8.91210299e-01 4.52827605e-01 -2.62937999e-02 7.28270156e+01] [ 3.13470209e-02 -3.65721011e-03 9.99501870e-01 5.28859593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29071405699997 meters Centerline goodness : 0.995738 Centerline is valid? [True, True] Translation: X:146.31, Y:72.85, Z:5.29 [[ 4.44765485e-01 -8.95491882e-01 -1.66719309e-02 1.46313817e+02] [ 8.95096885e-01 4.45067610e-01 -2.67654367e-02 7.28537260e+01] [ 3.13883677e-02 -3.01865102e-03 9.99502705e-01 5.29348343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32071405699998 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:146.34, Y:72.89, Z:5.29 [[ 4.49930708e-01 -8.92911151e-01 -1.64934803e-02 1.46343743e+02] [ 8.92510550e-01 4.50225234e-01 -2.68729858e-02 7.28890126e+01] [ 3.14209697e-02 -2.62962369e-03 9.99502780e-01 5.28742407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35071405699998 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:146.34, Y:72.90, Z:5.29 [[ 4.42916999e-01 -8.96385211e-01 -1.78349659e-02 1.46343342e+02] [ 8.96017216e-01 4.43253731e-01 -2.60629627e-02 7.29044966e+01] [ 3.12678695e-02 -4.43670729e-03 9.99501194e-01 5.29441667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38071405699998 meters Centerline goodness : 0.996102 Centerline is valid? [True, True] Translation: X:146.36, Y:72.93, Z:5.30 [[ 4.41614314e-01 -8.97050952e-01 -1.66249320e-02 1.46356041e+02] [ 8.96656109e-01 4.41916426e-01 -2.67898079e-02 7.29299292e+01] [ 3.13786532e-02 -3.07608420e-03 9.99502835e-01 5.29564928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41071405699998 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:146.38, Y:72.96, Z:5.29 [[ 4.48147845e-01 -8.93804472e-01 -1.66455679e-02 1.46382610e+02] [ 8.93407884e-01 4.48447682e-01 -2.67774190e-02 7.29612490e+01] [ 3.13984432e-02 -2.87103895e-03 9.99502824e-01 5.29071752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44071405699998 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:146.40, Y:72.99, Z:5.29 [[ 4.47462093e-01 -8.94130877e-01 -1.75399788e-02 1.46395976e+02] [ 8.93754418e-01 4.47788445e-01 -2.62401930e-02 7.29888443e+01] [ 3.13163666e-02 -3.93494188e-03 9.99501777e-01 5.29301645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47071405699998 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:146.40, Y:73.01, Z:5.30 [[ 4.42845339e-01 -8.96424511e-01 -1.76380485e-02 1.46396873e+02] [ 8.96051989e-01 4.43176453e-01 -2.61813782e-02 7.30073936e+01] [ 3.12863970e-02 -4.21030717e-03 9.99501593e-01 5.30030780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50071405699998 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:146.41, Y:73.03, Z:5.30 [[ 4.44341668e-01 -8.95700762e-01 -1.67519079e-02 1.46410112e+02] [ 8.95307863e-01 4.44646322e-01 -2.67110040e-02 7.30321424e+01] [ 3.13737409e-02 -3.12930282e-03 9.99502824e-01 5.30197636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53071405699998 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:146.42, Y:73.06, Z:5.30 [[ 4.45214626e-01 -8.95266671e-01 -1.67787153e-02 1.46424726e+02] [ 8.94874061e-01 4.45519688e-01 -2.66949958e-02 7.30582441e+01] [ 3.13743880e-02 -3.12983456e-03 9.99502802e-01 5.30137256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56071405699998 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:146.44, Y:73.08, Z:5.30 [[ 4.46326721e-01 -8.94711313e-01 -1.68560238e-02 1.46438392e+02] [ 8.94320011e-01 4.46633576e-01 -2.66489396e-02 7.30832532e+01] [ 3.13715739e-02 -3.18054558e-03 9.99502731e-01 5.30205849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59071405699999 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:146.45, Y:73.11, Z:5.30 [[ 4.46267542e-01 -8.94740075e-01 -1.68961548e-02 1.46451899e+02] [ 8.94349671e-01 4.46575605e-01 -2.66250600e-02 7.31072955e+01] [ 3.13679187e-02 -3.22917039e-03 9.99502689e-01 5.30312003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.620714057 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:146.47, Y:73.13, Z:5.30 [[ 4.47978748e-01 -8.93885564e-01 -1.68416089e-02 1.46469349e+02] [ 8.93493385e-01 4.48284454e-01 -2.66574358e-02 7.31340570e+01] [ 3.13785285e-02 -3.10590142e-03 9.99502747e-01 5.30082494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.650714057 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:146.49, Y:73.16, Z:5.30 [[ 4.49174766e-01 -8.93283150e-01 -1.69482661e-02 1.46485200e+02] [ 8.92892880e-01 4.49483096e-01 -2.65941984e-02 7.31617427e+01] [ 3.13741085e-02 -3.18754325e-03 9.99502629e-01 5.30257168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.680714057 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:146.50, Y:73.19, Z:5.30 [[ 4.52066801e-01 -8.91821603e-01 -1.70245592e-02 1.46497637e+02] [ 8.91431994e-01 4.52376118e-01 -2.65489719e-02 7.31854007e+01] [ 3.13784507e-02 -3.17432801e-03 9.99502535e-01 5.30337173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.710714057 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:146.51, Y:73.21, Z:5.30 [[ 4.54499980e-01 -8.90584016e-01 -1.70258240e-02 1.46510432e+02] [ 8.90193592e-01 4.54808269e-01 -2.65482216e-02 7.32084912e+01] [ 3.13869073e-02 -3.09011328e-03 9.99502533e-01 5.30216876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.740714057 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:146.52, Y:73.23, Z:5.30 [[ 4.56513802e-01 -8.89555313e-01 -1.69261320e-02 1.46523585e+02] [ 8.89162036e-01 4.56818252e-01 -2.66074769e-02 7.32322876e+01] [ 3.14009885e-02 -2.90339358e-03 9.99502650e-01 5.30411397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.770714057 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:146.54, Y:73.26, Z:5.31 [[ 4.58546607e-01 -8.88512951e-01 -1.67256058e-02 1.46538122e+02] [ 8.88114720e-01 4.58844179e-01 -2.67257244e-02 7.32612276e+01] [ 3.14205991e-02 -2.59926651e-03 9.99502871e-01 5.30897814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.800714057 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:146.55, Y:73.29, Z:5.31 [[ 4.65037696e-01 -8.85128017e-01 -1.69804181e-02 1.46553230e+02] [ 8.84732982e-01 4.65339976e-01 -2.65754858e-02 7.32889728e+01] [ 3.14243744e-02 -2.66453329e-03 9.99502581e-01 5.30896436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.830714057 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:146.56, Y:73.31, Z:5.31 [[ 4.66110829e-01 -8.84558871e-01 -1.72133100e-02 1.46560930e+02] [ 8.84168448e-01 4.66419567e-01 -2.64375201e-02 7.33092550e+01] [ 3.14141675e-02 -2.89665119e-03 9.99502256e-01 5.30999309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.860714057 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:146.58, Y:73.34, Z:5.31 [[ 4.65792696e-01 -8.84738429e-01 -1.65854589e-02 1.46577211e+02] [ 8.84334908e-01 4.66082780e-01 -2.68069581e-02 7.33390288e+01] [ 3.14473428e-02 -2.18061495e-03 9.99503031e-01 5.31325686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.890714057 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:146.59, Y:73.37, Z:5.31 [[ 4.70597213e-01 -8.82186215e-01 -1.69040171e-02 1.46591434e+02] [ 8.81787717e-01 4.70894707e-01 -2.66194925e-02 7.33652036e+01] [ 3.14433615e-02 -2.37869563e-03 9.99502705e-01 5.31325491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.920714057 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:146.58, Y:73.39, Z:5.32 [[ 4.60798166e-01 -8.87343237e-01 -1.69419717e-02 1.46584792e+02] [ 8.86948867e-01 4.61101185e-01 -2.65970764e-02 7.33864923e+01] [ 3.14126991e-02 -2.77077856e-03 9.99502659e-01 5.31802933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.950714057 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:146.59, Y:73.41, Z:5.32 [[ 4.62304166e-01 -8.86577281e-01 -1.59869249e-02 1.46594594e+02] [ 8.86162652e-01 4.62577700e-01 -2.71592737e-02 7.34080384e+01] [ 3.14739900e-02 -1.61117035e-03 9.99503273e-01 5.31965810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.980714057 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:146.63, Y:73.44, Z:5.32 [[ 4.74694818e-01 -8.80009997e-01 -1.57236968e-02 1.46631007e+02] [ 8.79586419e-01 4.74954374e-01 -2.73143513e-02 7.34417985e+01] [ 3.15049408e-02 -8.64369126e-04 9.99503222e-01 5.31942789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01071405699997 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:146.64, Y:73.47, Z:5.32 [[ 4.73434386e-01 -8.80660504e-01 -1.72324870e-02 1.46642904e+02] [ 8.80267989e-01 4.73740443e-01 -2.64246112e-02 7.34651007e+01] [ 3.14348374e-02 -2.65888707e-03 9.99502267e-01 5.32160847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04071405699997 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:146.66, Y:73.49, Z:5.32 [[ 4.75523351e-01 -8.79542681e-01 -1.67992362e-02 1.46663982e+02] [ 8.79140407e-01 4.75815444e-01 -2.66797152e-02 7.34934718e+01] [ 3.14592843e-02 -2.08205974e-03 9.99502866e-01 5.32112365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07071405699998 meters Centerline goodness : 0.993999 Centerline is valid? [True, True] Translation: X:146.68, Y:73.52, Z:5.32 [[ 4.70408525e-01 -8.82282085e-01 -1.71505875e-02 1.46675517e+02] [ 8.81888887e-01 4.70713484e-01 -2.64727808e-02 7.35169618e+01] [ 3.14294730e-02 -2.67189076e-03 9.99502401e-01 5.31817637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10071405699998 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:146.69, Y:73.54, Z:5.32 [[ 4.68571338e-01 -8.83266156e-01 -1.67868680e-02 1.46691335e+02] [ 8.82865963e-01 4.68866221e-01 -2.66862985e-02 7.35438205e+01] [ 3.14418997e-02 -2.31611974e-03 9.99502898e-01 5.32190735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13071405699998 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:146.71, Y:73.57, Z:5.32 [[ 4.64457387e-01 -8.85437925e-01 -1.67037665e-02 1.46708806e+02] [ 8.85037375e-01 4.64751634e-01 -2.67350655e-02 7.35721296e+01] [ 3.14353437e-02 -2.36615895e-03 9.99502987e-01 5.31792829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16071405699998 meters Centerline goodness : 0.994814 Centerline is valid? [True, True] Translation: X:146.72, Y:73.59, Z:5.32 [[ 4.63131675e-01 -8.86126321e-01 -1.70057248e-02 1.46722142e+02] [ 8.85732563e-01 4.63435551e-01 -2.65577902e-02 7.35918631e+01] [ 3.14146144e-02 -2.76277030e-03 9.99502621e-01 5.31962500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19071405699998 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:146.74, Y:73.62, Z:5.32 [[ 4.57678758e-01 -8.88961754e-01 -1.66479862e-02 1.46738685e+02] [ 8.88562317e-01 4.57974386e-01 -2.67669579e-02 7.36194212e+01] [ 3.14191532e-02 -2.54210516e-03 9.99503064e-01 5.31928487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22071405699998 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:146.75, Y:73.64, Z:5.32 [[ 4.57298932e-01 -8.89151670e-01 -1.69409390e-02 1.46752597e+02] [ 8.88758542e-01 4.57603465e-01 -2.65955333e-02 7.36432061e+01] [ 3.13996953e-02 -2.89429530e-03 9.99502717e-01 5.31878279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25071405699998 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:146.75, Y:73.66, Z:5.32 [[ 4.49480082e-01 -8.93130031e-01 -1.69234818e-02 1.46748646e+02] [ 8.92739214e-01 4.49787537e-01 -2.66057690e-02 7.36601488e+01] [ 3.13743825e-02 -3.14949261e-03 9.99502741e-01 5.32399230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28071405699998 meters Centerline goodness : 0.995246 Centerline is valid? [True, True] Translation: X:146.76, Y:73.68, Z:5.32 [[ 4.48403338e-01 -8.93690010e-01 -1.58937723e-02 1.46762328e+02] [ 8.93278001e-01 4.48680482e-01 -2.72073230e-02 7.36843760e+01] [ 3.14461382e-02 -1.99770267e-03 9.99503452e-01 5.32459772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31071405699998 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:146.80, Y:73.72, Z:5.32 [[ 4.57463605e-01 -8.89086337e-01 -1.58913875e-02 1.46797538e+02] [ 8.88671484e-01 4.57736474e-01 -2.72087158e-02 7.37169282e+01] [ 3.14649652e-02 -1.67522574e-03 9.99503452e-01 5.32004274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34071405699999 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:146.81, Y:73.74, Z:5.32 [[ 4.57116163e-01 -8.89241738e-01 -1.71448047e-02 1.46809148e+02] [ 8.88853111e-01 4.57426809e-01 -2.64737788e-02 7.37382983e+01] [ 3.13840824e-02 -3.13762077e-03 9.99502474e-01 5.32360205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.370714057 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:146.82, Y:73.76, Z:5.32 [[ 4.56290980e-01 -8.89673459e-01 -1.67235783e-02 1.46821424e+02] [ 8.89276154e-01 4.56589483e-01 -2.67201575e-02 7.37620789e+01] [ 3.14080249e-02 -2.67971255e-03 9.99503054e-01 5.32126902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.400714057 meters Centerline goodness : 0.994618 Centerline is valid? [True, True] Translation: X:146.83, Y:73.79, Z:5.33 [[ 4.53266018e-01 -8.91222280e-01 -1.65156109e-02 1.46834981e+02] [ 8.90821623e-01 4.53559661e-01 -2.68415787e-02 7.37884870e+01] [ 3.14126279e-02 -2.54608783e-03 9.99503259e-01 5.32681940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.430714057 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:146.85, Y:73.81, Z:5.33 [[ 4.50546066e-01 -8.92598039e-01 -1.66428212e-02 1.46846859e+02] [ 8.92200953e-01 4.50844722e-01 -2.67674273e-02 7.38127619e+01] [ 3.13958812e-02 -2.78878194e-03 9.99503137e-01 5.32858972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.460714057 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:146.85, Y:73.83, Z:5.33 [[ 4.40599165e-01 -8.97553381e-01 -1.64409083e-02 1.46848891e+02] [ 8.97155344e-01 4.40896236e-01 -2.68849113e-02 7.38348953e+01] [ 3.13793776e-02 -2.90457926e-03 9.99503326e-01 5.33223606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.490714057 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:146.88, Y:73.87, Z:5.33 [[ 4.47181572e-01 -8.94303351e-01 -1.58163730e-02 1.46879281e+02] [ 8.93890305e-01 4.47456925e-01 -2.72474459e-02 7.38682299e+01] [ 3.14446278e-02 -1.95354675e-03 9.99503586e-01 5.32920434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.520714057 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:146.89, Y:73.89, Z:5.34 [[ 4.47431942e-01 -8.94159871e-01 -1.68161254e-02 1.46892248e+02] [ 8.93767543e-01 4.47737114e-01 -2.66656256e-02 7.38917606e+01] [ 3.13725358e-02 -3.09865449e-03 9.99502958e-01 5.33630635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.550714057 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:146.91, Y:73.91, Z:5.33 [[ 4.49838237e-01 -8.92956734e-01 -1.65478410e-02 1.46906472e+02] [ 8.92557906e-01 4.50134377e-01 -2.68221438e-02 7.39131657e+01] [ 3.13997661e-02 -2.70428046e-03 9.99503247e-01 5.33258267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.580714057 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:146.92, Y:73.94, Z:5.33 [[ 4.42078502e-01 -8.96826539e-01 -1.63937921e-02 1.46922268e+02] [ 8.96427039e-01 4.42373513e-01 -2.69116783e-02 7.39437377e+01] [ 3.13872868e-02 -2.79876411e-03 9.99503379e-01 5.32962096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.610714057 meters Centerline goodness : 0.995652 Centerline is valid? [True, True] Translation: X:146.94, Y:73.97, Z:5.33 [[ 4.41872311e-01 -8.96922169e-01 -1.67177779e-02 1.46938227e+02] [ 8.96529599e-01 4.42177017e-01 -2.67238309e-02 7.39696614e+01] [ 3.13614135e-02 -3.17946182e-03 9.99503053e-01 5.33413462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.640714057 meters Centerline goodness : 0.995652 Centerline is valid? [True, True] Translation: X:146.95, Y:74.00, Z:5.34 [[ 4.41359400e-01 -8.97175362e-01 -1.66808096e-02 1.46953742e+02] [ 8.96782178e-01 4.41663239e-01 -2.67452412e-02 7.39970043e+01] [ 3.13624719e-02 -3.15478911e-03 9.99503098e-01 5.33514138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.670714057 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:146.96, Y:74.02, Z:5.34 [[ 4.36591735e-01 -8.99505388e-01 -1.66647386e-02 1.46963658e+02] [ 8.99113478e-01 4.36897183e-01 -2.67545345e-02 7.40199799e+01] [ 3.13466253e-02 -3.30268250e-03 9.99503117e-01 5.33507706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.700714057 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:146.98, Y:74.05, Z:5.34 [[ 4.35560079e-01 -9.00014358e-01 -1.61732552e-02 1.46979279e+02] [ 8.99612402e-01 4.35851428e-01 -2.70381152e-02 7.40490807e+01] [ 3.13838283e-02 -2.77293737e-03 9.99503560e-01 5.33575978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.730714057 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:147.00, Y:74.08, Z:5.33 [[ 4.39613668e-01 -8.98040138e-01 -1.62398637e-02 1.46996655e+02] [ 8.97638257e-01 4.39905191e-01 -2.69996824e-02 7.40755378e+01] [ 3.13907988e-02 -2.70809354e-03 9.99503519e-01 5.33397038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76071405699997 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:147.01, Y:74.10, Z:5.34 [[ 4.37719265e-01 -8.98960328e-01 -1.64976929e-02 1.47010966e+02] [ 8.98564487e-01 4.38019288e-01 -2.68508071e-02 7.41016658e+01] [ 3.13641181e-02 -3.07112542e-03 9.99503307e-01 5.33632845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79071405699997 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:147.01, Y:74.12, Z:5.34 [[ 4.29212970e-01 -9.03049988e-01 -1.66416914e-02 1.47005911e+02] [ 9.02660104e-01 4.29520941e-01 -2.67674978e-02 7.41175532e+01] [ 3.13203435e-02 -3.53283369e-03 9.99503154e-01 5.33978672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82071405699998 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:147.03, Y:74.15, Z:5.34 [[ 4.38278745e-01 -8.98707487e-01 -1.53816556e-02 1.47033721e+02] [ 8.98288580e-01 4.38545015e-01 -2.74935745e-02 7.41493921e+01] [ 3.14542296e-02 -1.76731621e-03 9.99503631e-01 5.34030313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85071405699998 meters Centerline goodness : 0.994272 Centerline is valid? [True, True] Translation: X:147.04, Y:74.17, Z:5.34 [[ 4.37713399e-01 -8.98964968e-01 -1.64002001e-02 1.47044879e+02] [ 8.98567089e-01 4.38010534e-01 -2.69064775e-02 7.41717631e+01] [ 3.13714411e-02 -2.95935437e-03 9.99503414e-01 5.34270468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88071405699998 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:147.04, Y:74.19, Z:5.35 [[ 4.32930561e-01 -9.01284384e-01 -1.60495854e-02 1.47043473e+02] [ 9.00880731e-01 4.33219397e-01 -2.71083606e-02 7.41930616e+01] [ 3.13853338e-02 -2.72272448e-03 9.99503651e-01 5.34648811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91071405699998 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:147.07, Y:74.22, Z:5.35 [[ 4.37699990e-01 -8.98990237e-01 -1.53385632e-02 1.47065855e+02] [ 8.98570674e-01 4.37965217e-01 -2.75175081e-02 7.42201818e+01] [ 3.14557283e-02 -1.73837001e-03 9.99503634e-01 5.34672700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94071405699998 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:147.08, Y:74.25, Z:5.35 [[ 4.37511807e-01 -8.99073877e-01 -1.57981610e-02 1.47080862e+02] [ 8.98663615e-01 4.37791038e-01 -2.72527732e-02 7.42461729e+01] [ 3.14185498e-02 -2.27382241e-03 9.99503729e-01 5.34777225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97071405699998 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:147.10, Y:74.27, Z:5.35 [[ 4.36600647e-01 -8.99513814e-01 -1.59616439e-02 1.47095025e+02] [ 8.99107182e-01 4.36885203e-01 -2.71586931e-02 7.42691249e+01] [ 3.14030256e-02 -2.49372566e-03 9.99503692e-01 5.34814063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00071405699998 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:147.11, Y:74.29, Z:5.35 [[ 4.33629784e-01 -9.00951665e-01 -1.58527172e-02 1.47109030e+02] [ 9.00543732e-01 4.33912418e-01 -2.72213156e-02 7.42939402e+01] [ 3.14037805e-02 -2.47209188e-03 9.99503723e-01 5.34745672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03071405699998 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:147.12, Y:74.32, Z:5.35 [[ 4.31870042e-01 -9.01795327e-01 -1.59202739e-02 1.47122399e+02] [ 9.01389339e-01 4.32155494e-01 -2.71824958e-02 7.43163815e+01] [ 3.13930815e-02 -2.61105957e-03 9.99503705e-01 5.34616400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06071405699998 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:147.14, Y:74.34, Z:5.35 [[ 4.28684512e-01 -9.03316339e-01 -1.57854854e-02 1.47138336e+02] [ 9.02908576e-01 4.28967368e-01 -2.72598700e-02 7.43414505e+01] [ 3.13957441e-02 -2.56696613e-03 9.99503736e-01 5.34528685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09071405699999 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:147.15, Y:74.36, Z:5.34 [[ 4.27058748e-01 -9.04084806e-01 -1.58583809e-02 1.47151690e+02] [ 9.03679061e-01 4.27344514e-01 -2.72180381e-02 7.43648400e+01] [ 3.13844068e-02 -2.70718549e-03 9.99503722e-01 5.34494218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.120714057 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:147.17, Y:74.39, Z:5.34 [[ 4.24862444e-01 -9.05119767e-01 -1.58149089e-02 1.47165235e+02] [ 9.04713814e-01 4.25147898e-01 -2.72429750e-02 7.43894851e+01] [ 3.13818305e-02 -2.73344964e-03 9.99503731e-01 5.34486050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.150714057 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:147.18, Y:74.41, Z:5.35 [[ 4.23108056e-01 -9.05942110e-01 -1.57628006e-02 1.47179309e+02] [ 9.05535630e-01 4.23392744e-01 -2.72728409e-02 7.44140874e+01] [ 3.13814704e-02 -2.73441893e-03 9.99503740e-01 5.34601895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.180714057 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:147.19, Y:74.44, Z:5.35 [[ 4.22524317e-01 -9.06214748e-01 -1.57490605e-02 1.47191574e+02] [ 9.05808166e-01 4.22808857e-01 -2.72807110e-02 7.44374497e+01] [ 3.13810249e-02 -2.73886384e-03 9.99503742e-01 5.34695432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.210714057 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:147.21, Y:74.46, Z:5.35 [[ 4.22473174e-01 -9.06240113e-01 -1.56612520e-02 1.47205583e+02] [ 9.05831733e-01 4.22755117e-01 -2.73309756e-02 7.44624369e+01] [ 3.13893008e-02 -2.63985502e-03 9.99503748e-01 5.35005054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.240714057 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:147.22, Y:74.49, Z:5.35 [[ 4.24021670e-01 -9.05516044e-01 -1.56945132e-02 1.47221903e+02] [ 9.05107867e-01 4.24303909e-01 -2.73119488e-02 7.44885201e+01] [ 3.13906512e-02 -2.62436923e-03 9.99503747e-01 5.35141617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.270714057 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:147.23, Y:74.51, Z:5.35 [[ 4.25535122e-01 -9.04803158e-01 -1.58462718e-02 1.47233959e+02] [ 9.04397638e-01 4.25821211e-01 -2.72251373e-02 7.45122833e+01] [ 3.13810688e-02 -2.74607862e-03 9.99503721e-01 5.35378011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.300714057 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:147.25, Y:74.54, Z:5.36 [[ 4.26339866e-01 -9.04425330e-01 -1.57841948e-02 1.47245725e+02] [ 9.04018276e-01 4.26623740e-01 -2.72606226e-02 7.45354071e+01] [ 3.13891098e-02 -2.64691040e-03 9.99503736e-01 5.35591331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.330714057 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:147.26, Y:74.56, Z:5.35 [[ 4.23712758e-01 -9.05660660e-01 -1.56929178e-02 1.47262108e+02] [ 9.05252550e-01 4.23995088e-01 -2.73127509e-02 7.45641862e+01] [ 3.13898040e-02 -2.63329284e-03 9.99503750e-01 5.35226248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.360714057 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:147.28, Y:74.58, Z:5.36 [[ 4.26490675e-01 -9.04349920e-01 -1.60289154e-02 1.47275315e+02] [ 9.03947888e-01 4.26781772e-01 -2.71207526e-02 7.45843480e+01] [ 3.13674993e-02 -2.92255609e-03 9.99503646e-01 5.35573151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.390714057 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:147.29, Y:74.61, Z:5.35 [[ 4.23360849e-01 -9.05824822e-01 -1.57156828e-02 1.47291240e+02] [ 9.05417303e-01 4.23644017e-01 -2.72993658e-02 7.46123066e+01] [ 3.13862982e-02 -2.67176846e-03 9.99503758e-01 5.35477086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.420714057 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:147.31, Y:74.64, Z:5.35 [[ 4.20586796e-01 -9.07115808e-01 -1.57371473e-02 1.47307879e+02] [ 9.06709600e-01 4.20871849e-01 -2.72871270e-02 7.46387723e+01] [ 3.13759065e-02 -2.79241720e-03 9.99503754e-01 5.35022572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.450714057 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:147.32, Y:74.66, Z:5.35 [[ 4.20345953e-01 -9.07222646e-01 -1.60109253e-02 1.47321242e+02] [ 9.06822221e-01 4.20639238e-01 -2.71309844e-02 7.46584318e+01] [ 3.13486669e-02 -3.11466341e-03 9.99503657e-01 5.35086188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.480714057 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:147.33, Y:74.68, Z:5.35 [[ 4.18105032e-01 -9.08264015e-01 -1.56416297e-02 1.47334882e+02] [ 9.07856620e-01 4.18388351e-01 -2.73412833e-02 7.46826619e+01] [ 3.13773794e-02 -2.76882892e-03 9.99503774e-01 5.35090819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51071405699997 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:147.35, Y:74.71, Z:5.35 [[ 4.17206167e-01 -9.08677740e-01 -1.56134139e-02 1.47348344e+02] [ 9.08270043e-01 4.17489048e-01 -2.73573418e-02 7.47057529e+01] [ 3.13774368e-02 -2.76754443e-03 9.99503775e-01 5.35049555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54071405699997 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:147.36, Y:74.73, Z:5.35 [[ 4.15734783e-01 -9.09352944e-01 -1.55503502e-02 1.47362642e+02] [ 9.08944404e-01 4.16016444e-01 -2.73932048e-02 7.47287087e+01] [ 3.13792928e-02 -2.74609576e-03 9.99503776e-01 5.35081234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57071405699998 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:147.38, Y:74.75, Z:5.36 [[ 4.14907191e-01 -9.09732447e-01 -1.54563156e-02 1.47378011e+02] [ 9.09322231e-01 4.15186418e-01 -2.74466418e-02 7.47536625e+01] [ 3.13863530e-02 -2.66696230e-03 9.99503769e-01 5.35511272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60071405699998 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:147.39, Y:74.78, Z:5.36 [[ 4.15213918e-01 -9.09591279e-01 -1.55276206e-02 1.47393768e+02] [ 9.09182433e-01 4.15495136e-01 -2.74061263e-02 7.47790429e+01] [ 3.13800243e-02 -2.73803483e-03 9.99503775e-01 5.35670128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63071405699998 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:147.41, Y:74.80, Z:5.36 [[ 4.14887346e-01 -9.09739170e-01 -1.55926985e-02 1.47407474e+02] [ 9.09331766e-01 4.15170649e-01 -2.73691558e-02 7.48035991e+01] [ 3.13724239e-02 -2.82381968e-03 9.99503775e-01 5.35787231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66071405699998 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:147.42, Y:74.83, Z:5.36 [[ 4.14404148e-01 -9.09960537e-01 -1.55249620e-02 1.47423284e+02] [ 9.09551886e-01 4.14685650e-01 -2.74076221e-02 7.48287969e+01] [ 3.13778334e-02 -2.76292621e-03 9.99503776e-01 5.36271810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69071405699998 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:147.44, Y:74.85, Z:5.36 [[ 4.16932575e-01 -9.08803299e-01 -1.56138219e-02 1.47438762e+02] [ 9.08395693e-01 4.17215591e-01 -2.73571787e-02 7.48524028e+01] [ 3.13766242e-02 -2.77742957e-03 9.99503774e-01 5.36452739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72071405699998 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:147.45, Y:74.88, Z:5.37 [[ 4.17033305e-01 -9.08756955e-01 -1.56211251e-02 1.47451673e+02] [ 9.08349468e-01 4.17316494e-01 -2.73530323e-02 7.48756258e+01] [ 3.13762115e-02 -2.78231524e-03 9.99503773e-01 5.36608951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75071405699998 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:147.47, Y:74.90, Z:5.37 [[ 4.18857313e-01 -9.07919350e-01 -1.55243171e-02 1.47468706e+02] [ 9.07509314e-01 4.19136791e-01 -2.74079561e-02 7.49008033e+01] [ 3.13910262e-02 -2.60843947e-03 9.99503777e-01 5.36770770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78071405699998 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:147.48, Y:74.93, Z:5.37 [[ 4.20235812e-01 -9.07279937e-01 -1.56517862e-02 1.47484844e+02] [ 9.06872081e-01 4.20518477e-01 -2.73356634e-02 7.49259138e+01] [ 3.13829643e-02 -2.70674315e-03 9.99503768e-01 5.36507909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81071405699998 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:147.50, Y:74.95, Z:5.37 [[ 4.19630945e-01 -9.07558112e-01 -1.57525540e-02 1.47498811e+02] [ 9.07152518e-01 4.19916885e-01 -2.72785540e-02 7.49502913e+01] [ 3.13716364e-02 -2.84304368e-03 9.99503746e-01 5.36690829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84071405699999 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:147.52, Y:74.97, Z:5.37 [[ 4.21157170e-01 -9.06851068e-01 -1.57410085e-02 1.47515558e+02] [ 9.06444756e-01 4.21442082e-01 -2.72850927e-02 7.49729776e+01] [ 3.13774388e-02 -2.77704221e-03 9.99503749e-01 5.36593023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.870714057 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:147.53, Y:75.00, Z:5.36 [[ 4.21590362e-01 -9.06648908e-01 -1.57900184e-02 1.47531254e+02] [ 9.06243467e-01 4.21876541e-01 -2.72573382e-02 7.49974338e+01] [ 3.13742743e-02 -2.81816991e-03 9.99503733e-01 5.36492797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.900714057 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:147.55, Y:75.02, Z:5.36 [[ 4.21924919e-01 -9.06493508e-01 -1.57759959e-02 1.47547193e+02] [ 9.06087674e-01 4.22210531e-01 -2.72652741e-02 7.50218327e+01] [ 3.13765856e-02 -2.79053686e-03 9.99503738e-01 5.36458118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.930714057 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:147.57, Y:75.05, Z:5.37 [[ 4.18354887e-01 -9.08146219e-01 -1.57997814e-02 1.47565210e+02] [ 9.07742002e-01 4.18642800e-01 -2.72518391e-02 7.50517406e+01] [ 3.13631194e-02 -2.94118510e-03 9.99503729e-01 5.36637352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.960714057 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:147.58, Y:75.07, Z:5.37 [[ 4.20952366e-01 -9.06936507e-01 -1.62873396e-02 1.47575586e+02] [ 9.06541636e-01 4.21253543e-01 -2.69761786e-02 7.50717719e+01] [ 3.13267807e-02 -3.40946528e-03 9.99503381e-01 5.36535046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.990714057 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:147.59, Y:75.10, Z:5.37 [[ 4.21345659e-01 -9.06762403e-01 -1.58044502e-02 1.47588572e+02] [ 9.06357351e-01 4.21632376e-01 -2.72487030e-02 7.50952531e+01] [ 3.13717673e-02 -2.84335683e-03 9.99503741e-01 5.36637753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.020714057 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:147.61, Y:75.12, Z:5.37 [[ 4.20797209e-01 -9.07017526e-01 -1.57770812e-02 1.47606195e+02] [ 9.06612085e-01 4.21083357e-01 -2.72641396e-02 7.51239925e+01] [ 3.13725188e-02 -2.83101865e-03 9.99503752e-01 5.36919458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.050714057 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:147.62, Y:75.14, Z:5.37 [[ 4.24984951e-01 -9.05056595e-01 -1.61353763e-02 1.47617351e+02] [ 9.04657204e-01 4.25279878e-01 -2.70623198e-02 7.51447751e+01] [ 3.13549818e-02 -3.09590571e-03 9.99503517e-01 5.37010821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.080714057 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:147.63, Y:75.17, Z:5.37 [[ 4.28790306e-01 -9.03267400e-01 -1.57123418e-02 1.47630105e+02] [ 9.02858155e-01 4.29070920e-01 -2.73001260e-02 7.51709796e+01] [ 3.14010228e-02 -2.47998655e-03 9.99503790e-01 5.37318362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.110714057 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:147.65, Y:75.20, Z:5.37 [[ 4.34583133e-01 -9.00493654e-01 -1.57695686e-02 1.47647626e+02] [ 9.00083759e-01 4.34862835e-01 -2.72679645e-02 7.51962933e+01] [ 3.14122283e-02 -2.34373517e-03 9.99503766e-01 5.37276456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.140714057 meters Centerline goodness : 0.993772 Centerline is valid? [True, True] Translation: X:147.66, Y:75.22, Z:5.38 [[ 4.34028500e-01 -9.00757392e-01 -1.59807009e-02 1.47657115e+02] [ 9.00351921e-01 4.34314790e-01 -2.71492480e-02 7.52199543e+01] [ 3.13955406e-02 -2.60470736e-03 9.99503645e-01 5.37676275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.170714057 meters Centerline goodness : 0.994182 Centerline is valid? [True, True] Translation: X:147.66, Y:75.24, Z:5.38 [[ 4.32161164e-01 -9.01657960e-01 -1.58003734e-02 1.47659667e+02] [ 9.01249441e-01 4.32442892e-01 -2.72505134e-02 7.52447383e+01] [ 3.14034015e-02 -2.46346410e-03 9.99503756e-01 5.37548734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.200714057 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:147.69, Y:75.27, Z:5.38 [[ 4.44153372e-01 -8.95818314e-01 -1.54055448e-02 1.47685254e+02] [ 8.95398392e-01 4.44417611e-01 -2.74719268e-02 7.52744383e+01] [ 3.14563505e-02 -1.59235119e-03 9.99503858e-01 5.37911318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.230714057 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:147.68, Y:75.30, Z:5.38 [[ 4.35508892e-01 -9.00042057e-01 -1.60094226e-02 1.47684862e+02] [ 8.99636664e-01 4.35795378e-01 -2.71341259e-02 7.52979349e+01] [ 3.13986869e-02 -2.58551042e-03 9.99503596e-01 5.38199402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26071405699997 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:147.72, Y:75.33, Z:5.38 [[ 4.51351490e-01 -8.92216615e-01 -1.52100057e-02 1.47720671e+02] [ 8.91790933e-01 4.51606318e-01 -2.75801593e-02 7.53295812e+01] [ 3.14764110e-02 -1.11579922e-03 9.99503872e-01 5.37912649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29071405699997 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:147.73, Y:75.35, Z:5.38 [[ 4.44713871e-01 -8.95517265e-01 -1.66853476e-02 1.47728990e+02] [ 8.95122794e-01 4.45016395e-01 -2.67505615e-02 7.53547766e+01] [ 3.13808429e-02 -3.03908921e-03 9.99502880e-01 5.37637830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32071405699998 meters Centerline goodness : 0.995060 Centerline is valid? [True, True] Translation: X:147.75, Y:75.38, Z:5.38 [[ 4.46600701e-01 -8.94585417e-01 -1.62710013e-02 1.47745702e+02] [ 8.94181905e-01 4.46890016e-01 -2.69821123e-02 7.53815359e+01] [ 3.14091522e-02 -2.49900468e-03 9.99503487e-01 5.38009103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35071405699998 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:147.75, Y:75.40, Z:5.38 [[ 4.43993313e-01 -8.95878056e-01 -1.65059608e-02 1.47754999e+02] [ 8.95480151e-01 4.44290821e-01 -2.68508074e-02 7.54030568e+01] [ 3.13884961e-02 -2.85918135e-03 9.99503170e-01 5.38042736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38071405699998 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:147.77, Y:75.43, Z:5.38 [[ 4.41239116e-01 -8.97243565e-01 -1.61872564e-02 1.47769387e+02] [ 8.96840106e-01 4.41528334e-01 -2.70287734e-02 7.54312763e+01] [ 3.13985254e-02 -2.59122866e-03 9.99503586e-01 5.37807882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41071405699998 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:147.78, Y:75.45, Z:5.38 [[ 4.41295361e-01 -8.97211895e-01 -1.64079287e-02 1.47778900e+02] [ 8.96812882e-01 4.41591148e-01 -2.69056470e-02 7.54538491e+01] [ 3.13856626e-02 -2.84150463e-03 9.99503310e-01 5.38267694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44071405699998 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:147.78, Y:75.48, Z:5.39 [[ 4.32501868e-01 -9.01489757e-01 -1.60733095e-02 1.47776388e+02] [ 9.01086831e-01 4.32791596e-01 -2.70916439e-02 7.54760760e+01] [ 3.13792328e-02 -2.76626087e-03 9.99503723e-01 5.38637651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47071405699998 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:147.80, Y:75.51, Z:5.39 [[ 4.40480152e-01 -8.97632569e-01 -1.52645464e-02 1.47803487e+02] [ 8.97211363e-01 4.40741786e-01 -2.75399321e-02 7.55073891e+01] [ 3.14484634e-02 -1.56473104e-03 9.99504150e-01 5.38883698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50071405699998 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:147.82, Y:75.53, Z:5.39 [[ 4.38222117e-01 -8.98721898e-01 -1.61346248e-02 1.47817176e+02] [ 8.98318390e-01 4.38511112e-01 -2.70568923e-02 7.55333446e+01] [ 3.13918339e-02 -2.63710158e-03 9.99503676e-01 5.39027296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53071405699998 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:147.83, Y:75.56, Z:5.39 [[ 4.37465212e-01 -8.99089813e-01 -1.61770237e-02 1.47830565e+02] [ 8.98687400e-01 4.37755814e-01 -2.70333810e-02 7.55581112e+01] [ 3.13870236e-02 -2.71192360e-03 9.99503627e-01 5.39114124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56071405699998 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:147.83, Y:75.58, Z:5.39 [[ 4.28881353e-01 -9.03216114e-01 -1.61689755e-02 1.47827838e+02] [ 9.02816324e-01 4.29175537e-01 -2.70378368e-02 7.55763242e+01] [ 3.13603386e-02 -3.00159100e-03 9.99503637e-01 5.39114884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59071405699999 meters Centerline goodness : 0.996300 Centerline is valid? [True, True] Translation: X:147.84, Y:75.60, Z:5.39 [[ 4.27341899e-01 -9.03962175e-01 -1.52081479e-02 1.47840400e+02] [ 9.03543838e-01 4.27607932e-01 -2.75679098e-02 7.56010701e+01] [ 3.14234724e-02 -1.96030541e-03 9.99504238e-01 5.39378820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.620714057 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:147.87, Y:75.63, Z:5.39 [[ 4.30600636e-01 -9.02414565e-01 -1.52001807e-02 1.47866225e+02] [ 9.01995118e-01 4.30864916e-01 -2.75723020e-02 7.56300446e+01] [ 3.14308715e-02 -1.83783805e-03 9.99504238e-01 5.39447414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.650714057 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:147.88, Y:75.65, Z:5.39 [[ 4.28026448e-01 -9.03626109e-01 -1.59127414e-02 1.47879677e+02] [ 9.03221450e-01 4.28313378e-01 -2.71783513e-02 7.56539511e+01] [ 3.13747078e-02 -2.73967626e-03 9.99503938e-01 5.39497470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.680714057 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:147.89, Y:75.68, Z:5.40 [[ 4.26256156e-01 -9.04464282e-01 -1.58130406e-02 1.47894029e+02] [ 9.04058184e-01 4.26540901e-01 -2.72334246e-02 7.56782847e+01] [ 3.13765684e-02 -2.68749392e-03 9.99504021e-01 5.39646186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.710714057 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:147.91, Y:75.70, Z:5.40 [[ 4.21543744e-01 -9.06669823e-01 -1.58336196e-02 1.47908326e+02] [ 9.06265627e-01 4.21831211e-01 -2.72221054e-02 7.57028450e+01] [ 3.13605764e-02 -2.87415699e-03 9.99504004e-01 5.39593697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.740714057 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:147.92, Y:75.73, Z:5.40 [[ 4.19428267e-01 -9.07650159e-01 -1.58467165e-02 1.47921595e+02] [ 9.07246898e-01 4.19717065e-01 -2.72149107e-02 7.57267869e+01] [ 3.13527554e-02 -2.96218157e-03 9.99503992e-01 5.39587182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.770714057 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:147.93, Y:75.75, Z:5.40 [[ 4.17114363e-01 -9.08716694e-01 -1.57980389e-02 1.47934729e+02] [ 9.08313187e-01 4.17402742e-01 -2.72416192e-02 7.57527170e+01] [ 3.13490590e-02 -2.98669642e-03 9.99504035e-01 5.39607571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.800714057 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:147.95, Y:75.78, Z:5.40 [[ 4.16336351e-01 -9.09073537e-01 -1.57907433e-02 1.47948510e+02] [ 9.08670129e-01 4.16624859e-01 -2.72456114e-02 7.57803573e+01] [ 3.13470805e-02 -3.00523833e-03 9.99504042e-01 5.39724929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.830714057 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:147.95, Y:75.80, Z:5.40 [[ 4.11912434e-01 -9.11088083e-01 -1.57051337e-02 1.47945855e+02] [ 9.10684349e-01 4.12200362e-01 -2.72924433e-02 7.58034240e+01] [ 3.13394816e-02 -3.06032268e-03 9.99504113e-01 5.39760802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.860714057 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:147.96, Y:75.83, Z:5.40 [[ 4.15275830e-01 -9.09572224e-01 -1.49784695e-02 1.47956520e+02] [ 9.09153150e-01 4.15540465e-01 -2.76888306e-02 7.58281664e+01] [ 3.14091514e-02 -2.11922066e-03 9.99504364e-01 5.39896446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.890714057 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:147.96, Y:75.85, Z:5.40 [[ 4.22209417e-01 -9.06375374e-01 -1.49294687e-02 1.47963815e+02] [ 9.05953363e-01 4.22469354e-01 -2.77155124e-02 7.58533071e+01] [ 3.14279009e-02 -1.82365209e-03 9.99504358e-01 5.40053800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.920714057 meters Centerline goodness : 0.995424 Centerline is valid? [True, True] Translation: X:147.98, Y:75.88, Z:5.40 [[ 4.27691111e-01 -9.03804504e-01 -1.47557490e-02 1.47977849e+02] [ 9.03377689e-01 4.27943170e-01 -2.78099770e-02 7.58794712e+01] [ 3.14494044e-02 -1.43593449e-03 9.99504314e-01 5.40301925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.950714057 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:147.99, Y:75.91, Z:5.41 [[ 4.37365374e-01 -8.99160421e-01 -1.49019115e-02 1.47988969e+02] [ 8.98733601e-01 4.37617342e-01 -2.77304376e-02 7.59055913e+01] [ 3.14554468e-02 -1.26451534e-03 9.99504355e-01 5.40551994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98071405699997 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:148.00, Y:75.93, Z:5.41 [[ 4.40972475e-01 -8.97396427e-01 -1.49308088e-02 1.48000324e+02] [ 8.96969126e-01 4.41223618e-01 -2.77147171e-02 7.59314955e+01] [ 3.14589135e-02 -1.17104712e-03 9.99504360e-01 5.40588054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01071405699997 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:148.02, Y:75.96, Z:5.41 [[ 4.52364656e-01 -8.91709348e-01 -1.48545143e-02 1.48017638e+02] [ 8.91277523e-01 4.52607966e-01 -2.77561979e-02 7.59581519e+01] [ 3.14737327e-02 -6.83571777e-04 9.99504346e-01 5.40793351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04071405699997 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:148.03, Y:75.98, Z:5.41 [[ 4.55437811e-01 -8.90138374e-01 -1.51682539e-02 1.48031147e+02] [ 8.89711314e-01 4.55689376e-01 -2.75856864e-02 7.59839377e+01] [ 3.14670902e-02 -9.31802472e-04 9.99504354e-01 5.40996017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07071405699998 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:148.04, Y:76.01, Z:5.41 [[ 4.59385363e-01 -8.88107067e-01 -1.51962595e-02 1.48041873e+02] [ 8.87679396e-01 4.59635899e-01 -2.75704738e-02 7.60088988e+01] [ 3.14702790e-02 -8.23934380e-04 9.99504349e-01 5.41138543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10071405699998 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:148.06, Y:76.03, Z:5.41 [[ 4.60504100e-01 -8.87527829e-01 -1.51765365e-02 1.48055334e+02] [ 8.87099490e-01 4.60753484e-01 -2.75811799e-02 7.60328209e+01] [ 3.14717067e-02 -7.61851372e-04 9.99504353e-01 5.41222171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13071405699998 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:148.07, Y:76.06, Z:5.41 [[ 4.60874173e-01 -8.87335052e-01 -1.52151928e-02 1.48071291e+02] [ 8.86907299e-01 4.61124579e-01 -2.75602064e-02 7.60567848e+01] [ 3.14712366e-02 -7.92678239e-04 9.99504344e-01 5.41384210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16071405699998 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:148.09, Y:76.08, Z:5.41 [[ 4.59821440e-01 -8.87880600e-01 -1.52408179e-02 1.48085157e+02] [ 8.87453604e-01 4.60073148e-01 -2.75463220e-02 7.60809971e+01] [ 3.14697360e-02 -8.59129266e-04 9.99504336e-01 5.41374419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19071405699998 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:148.10, Y:76.11, Z:5.41 [[ 4.58340277e-01 -8.88646769e-01 -1.52022924e-02 1.48101517e+02] [ 8.88219502e-01 4.58591502e-01 -2.75671856e-02 7.61054095e+01] [ 3.14691325e-02 -8.67821156e-04 9.99504347e-01 5.41453264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22071405699998 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:148.12, Y:76.13, Z:5.41 [[ 4.57862390e-01 -8.88891184e-01 -1.53132374e-02 1.48122388e+02] [ 8.88466047e-01 4.58117279e-01 -2.75071364e-02 7.61326592e+01] [ 3.14661097e-02 -1.01080828e-03 9.99504308e-01 5.41113617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25071405699998 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:148.14, Y:76.16, Z:5.41 [[ 4.55181854e-01 -8.90261235e-01 -1.56337540e-02 1.48138892e+02] [ 8.89842721e-01 4.55447883e-01 -2.73341947e-02 7.61588483e+01] [ 3.14549341e-02 -1.46955273e-03 9.99504091e-01 5.41164282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28071405699998 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:148.16, Y:76.19, Z:5.41 [[ 4.55950585e-01 -8.89869139e-01 -1.55556844e-02 1.48158649e+02] [ 8.89448962e-01 4.56213856e-01 -2.73762922e-02 7.61875831e+01] [ 3.14580363e-02 -1.35375087e-03 9.99504157e-01 5.41012993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31071405699998 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:148.18, Y:76.22, Z:5.41 [[ 4.53843026e-01 -8.90940882e-01 -1.58383300e-02 1.48175632e+02] [ 8.90526570e-01 4.54115939e-01 -2.72239263e-02 7.62165769e+01] [ 3.14473470e-02 -1.74906462e-03 9.99503880e-01 5.40887052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34071405699999 meters Centerline goodness : 0.995027 Centerline is valid? [True, True] Translation: X:148.19, Y:76.24, Z:5.41 [[ 4.54509966e-01 -8.90596212e-01 -1.60958898e-02 1.48186868e+02] [ 8.90186541e-01 4.54790408e-01 -2.70851993e-02 7.62367918e+01] [ 3.14422322e-02 -2.01785141e-03 9.99503534e-01 5.41254245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.370714057 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:148.21, Y:76.27, Z:5.41 [[ 4.53357494e-01 -8.91193279e-01 -1.55409597e-02 1.48207383e+02] [ 8.90773636e-01 4.53621534e-01 -2.73830705e-02 7.62700710e+01] [ 3.14533224e-02 -1.42915698e-03 9.99504200e-01 5.41242734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.400714057 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:148.22, Y:76.29, Z:5.42 [[ 4.54261124e-01 -8.90720813e-01 -1.62254250e-02 1.48217736e+02] [ 8.90313687e-01 4.54545607e-01 -2.70153768e-02 7.62874250e+01] [ 3.14383541e-02 -2.17368251e-03 9.99503329e-01 5.41726830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.430714057 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:148.23, Y:76.31, Z:5.42 [[ 4.50833502e-01 -8.92472973e-01 -1.55288649e-02 1.48231616e+02] [ 8.92053838e-01 4.51098359e-01 -2.73901481e-02 7.63097036e+01] [ 3.14500124e-02 -1.50418714e-03 9.99504194e-01 5.41813690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.460714057 meters Centerline goodness : 0.994700 Centerline is valid? [True, True] Translation: X:148.24, Y:76.33, Z:5.42 [[ 4.47903277e-01 -8.93948937e-01 -1.54256854e-02 1.48243800e+02] [ 8.93528770e-01 4.48166349e-01 -2.74456010e-02 7.63318400e+01] [ 3.14482390e-02 -1.49031905e-03 9.99504271e-01 5.41944043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.490714057 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:148.26, Y:76.36, Z:5.42 [[ 4.43484156e-01 -8.96154307e-01 -1.51413650e-02 1.48258583e+02] [ 8.95730236e-01 4.43740585e-01 -2.75977828e-02 7.63578384e+01] [ 3.14507101e-02 -1.32339900e-03 9.99504428e-01 5.42195494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.520714057 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:148.28, Y:76.39, Z:5.42 [[ 4.34505513e-01 -9.00538581e-01 -1.53369735e-02 1.48276542e+02] [ 9.00120726e-01 4.34772132e-01 -2.74931288e-02 7.63854013e+01] [ 3.14267119e-02 -1.85921165e-03 9.99504330e-01 5.42181685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.550714057 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:148.29, Y:76.41, Z:5.42 [[ 4.31811996e-01 -9.01829010e-01 -1.55832498e-02 1.48289061e+02] [ 9.01416600e-01 4.32087324e-01 -2.73616061e-02 7.64078586e+01] [ 3.14088149e-02 -2.23193026e-03 9.99504129e-01 5.42495581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.580714057 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:148.30, Y:76.43, Z:5.43 [[ 4.24588271e-01 -9.05259348e-01 -1.51760568e-02 1.48303711e+02] [ 9.04841417e-01 4.24854590e-01 -2.75787489e-02 7.64312157e+01] [ 3.14135377e-02 -2.02231144e-03 9.99504427e-01 5.42825383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.610714057 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:148.32, Y:76.46, Z:5.43 [[ 4.18511021e-01 -9.08086050e-01 -1.51080008e-02 1.48318327e+02] [ 9.07668625e-01 4.18778078e-01 -2.76150081e-02 7.64564311e+01] [ 3.14037032e-02 -2.15587303e-03 9.99504457e-01 5.42762843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.640714057 meters Centerline goodness : 0.996250 Centerline is valid? [True, True] Translation: X:148.32, Y:76.48, Z:5.43 [[ 4.09251814e-01 -9.12294606e-01 -1.52152527e-02 1.48322091e+02] [ 9.11881988e-01 4.09526323e-01 -2.75577608e-02 7.64794382e+01] [ 3.13718430e-02 -2.59645125e-03 9.99504410e-01 5.42919955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.670714057 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:148.35, Y:76.51, Z:5.43 [[ 4.13420581e-01 -9.10419899e-01 -1.47997147e-02 1.48348177e+02] [ 9.09998156e-01 4.13680643e-01 -2.77791482e-02 7.65095798e+01] [ 3.14130448e-02 -1.98324148e-03 9.99504521e-01 5.42912855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.700714057 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:148.36, Y:76.53, Z:5.43 [[ 4.12711858e-01 -9.10728882e-01 -1.55507464e-02 1.48359335e+02] [ 9.10321744e-01 4.12994845e-01 -2.73784701e-02 7.65306456e+01] [ 3.13567416e-02 -2.85676334e-03 9.99504174e-01 5.43164409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73071405699997 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:148.37, Y:76.55, Z:5.43 [[ 4.12163458e-01 -9.10984862e-01 -1.50952140e-02 1.48372121e+02] [ 9.10569096e-01 4.12433034e-01 -2.76208879e-02 7.65549113e+01] [ 3.13879756e-02 -2.36091466e-03 9.99504488e-01 5.43266190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76071405699997 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] Translation: X:148.39, Y:76.58, Z:5.43 [[ 4.11039665e-01 -9.11493427e-01 -1.50375343e-02 1.48386927e+02] [ 9.11076895e-01 4.11308016e-01 -2.76515500e-02 7.65841425e+01] [ 3.13892645e-02 -2.33446618e-03 9.99504509e-01 5.43406459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79071405699997 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:148.40, Y:76.61, Z:5.43 [[ 4.12217819e-01 -9.10955187e-01 -1.53986351e-02 1.48399782e+02] [ 9.10545233e-01 4.12496483e-01 -2.74596036e-02 7.66082153e+01] [ 3.13663512e-02 -2.70181592e-03 9.99504303e-01 5.43453252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82071405699998 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:148.41, Y:76.63, Z:5.44 [[ 4.13820461e-01 -9.10228291e-01 -1.53975255e-02 1.48409954e+02] [ 9.09817827e-01 4.14098369e-01 -2.74601932e-02 7.66326428e+01] [ 3.13711349e-02 -2.64535336e-03 9.99504304e-01 5.43610125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85071405699998 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:148.42, Y:76.66, Z:5.44 [[ 4.17832497e-01 -9.08396245e-01 -1.52402740e-02 1.48422684e+02] [ 9.07981563e-01 4.18103857e-01 -2.75435117e-02 7.66552570e+01] [ 3.13924400e-02 -2.32931354e-03 9.99504422e-01 5.43716834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88071405699998 meters Centerline goodness : 0.995797 Centerline is valid? [True, True] Translation: X:148.43, Y:76.68, Z:5.44 [[ 4.18130902e-01 -9.08261918e-01 -1.50610997e-02 1.48433649e+02] [ 9.07843772e-01 4.18396711e-01 -2.76383465e-02 7.66830416e+01] [ 3.14043721e-02 -2.11667883e-03 9.99504520e-01 5.43783526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91071405699998 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:148.44, Y:76.71, Z:5.44 [[ 4.16148525e-01 -9.09169598e-01 -1.52002724e-02 1.48438199e+02] [ 9.08754667e-01 4.16419447e-01 -2.75644638e-02 7.67060164e+01] [ 3.13904614e-02 -2.34240753e-03 9.99504453e-01 5.43966254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94071405699998 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:148.45, Y:76.73, Z:5.44 [[ 4.17466300e-01 -9.08572900e-01 -1.47368087e-02 1.48450092e+02] [ 9.08148920e-01 4.17722563e-01 -2.78100623e-02 7.67302973e+01] [ 3.14233665e-02 -1.77345309e-03 9.99504591e-01 5.43946422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97071405699998 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:148.47, Y:76.76, Z:5.44 [[ 4.23732505e-01 -9.05667537e-01 -1.47335206e-02 1.48473478e+02] [ 9.05241737e-01 4.23985733e-01 -2.78118043e-02 7.67602643e+01] [ 3.14350508e-02 -1.55263226e-03 9.99504591e-01 5.44255029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00071405699998 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:148.49, Y:76.79, Z:5.44 [[ 4.25070501e-01 -9.05029208e-01 -1.54013803e-02 1.48487012e+02] [ 9.04615421e-01 4.25343416e-01 -2.74575874e-02 7.67854207e+01] [ 3.14007943e-02 -2.26091569e-03 9.99504316e-01 5.43982365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03071405699998 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:148.50, Y:76.81, Z:5.44 [[ 4.24092746e-01 -9.05486908e-01 -1.54531945e-02 1.48499100e+02] [ 9.05074400e-01 4.24367671e-01 -2.74300952e-02 7.68098685e+01] [ 3.13954283e-02 -2.35338635e-03 9.99504271e-01 5.44059623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06071405699998 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:148.51, Y:76.83, Z:5.44 [[ 4.21360718e-01 -9.06762556e-01 -1.53886911e-02 1.48510865e+02] [ 9.06349652e-01 4.21634943e-01 -2.74642192e-02 7.68344171e+01] [ 3.13919355e-02 -2.37519169e-03 9.99504330e-01 5.44221761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09071405699999 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:148.51, Y:76.86, Z:5.44 [[ 4.15530042e-01 -9.09450516e-01 -1.53148153e-02 1.48513625e+02] [ 9.09037968e-01 4.15804693e-01 -2.75032607e-02 7.68558233e+01] [ 3.13808267e-02 -2.49331752e-03 9.99504391e-01 5.44356021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.120714057 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:148.54, Y:76.89, Z:5.44 [[ 4.19235608e-01 -9.07758830e-01 -1.46768987e-02 1.48536802e+02] [ 9.07333323e-01 4.19489212e-01 -2.78395766e-02 7.68854981e+01] [ 3.14284222e-02 -1.64549745e-03 9.99504651e-01 5.44394825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.150714057 meters Centerline goodness : 0.996386 Centerline is valid? [True, True] Translation: X:148.54, Y:76.91, Z:5.44 [[ 4.13295180e-01 -9.10467828e-01 -1.53436934e-02 1.48539477e+02] [ 9.10056522e-01 4.13571708e-01 -2.74876170e-02 7.69068247e+01] [ 3.13723084e-02 -2.60312865e-03 9.99504378e-01 5.44415392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.180714057 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:148.56, Y:76.94, Z:5.45 [[ 4.17481087e-01 -9.08567283e-01 -1.46640137e-02 1.48563563e+02] [ 9.08142057e-01 4.17735118e-01 -2.78455601e-02 7.69372894e+01] [ 3.14252383e-02 -1.69201284e-03 9.99504673e-01 5.44735583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.210714057 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:148.57, Y:76.96, Z:5.45 [[ 4.18020262e-01 -9.08306647e-01 -1.54303453e-02 1.48573094e+02] [ 9.07895574e-01 4.18297255e-01 -2.74414712e-02 7.69563358e+01] [ 3.13797418e-02 -2.53805120e-03 9.99504312e-01 5.44953515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.240714057 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:148.59, Y:76.98, Z:5.45 [[ 4.13724033e-01 -9.10280025e-01 -1.49231746e-02 1.48587954e+02] [ 9.09860675e-01 4.13987688e-01 -2.77082416e-02 7.69848293e+01] [ 3.14002693e-02 -2.11444424e-03 9.99504653e-01 5.45103823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.270714057 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:148.59, Y:77.01, Z:5.45 [[ 4.05493629e-01 -9.13970465e-01 -1.52612389e-02 1.48590483e+02] [ 9.13559965e-01 4.05771201e-01 -2.75304054e-02 7.70058121e+01] [ 3.13545487e-02 -2.77865291e-03 9.99504463e-01 5.45295189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.300714057 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:148.60, Y:77.03, Z:5.45 [[ 4.00853538e-01 -9.16025400e-01 -1.46255856e-02 1.48602824e+02] [ 9.15604207e-01 4.01114111e-01 -2.78640631e-02 7.70296935e+01] [ 3.13907183e-02 -2.22183947e-03 9.99504720e-01 5.45300062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.330714057 meters Centerline goodness : 0.996269 Centerline is valid? [True, True] Translation: X:148.62, Y:77.06, Z:5.45 [[ 4.00189733e-01 -9.16315650e-01 -1.46221307e-02 1.48621828e+02] [ 9.15894581e-01 4.00450507e-01 -2.78658760e-02 7.70571227e+01] [ 3.13893779e-02 -2.24069278e-03 9.99504720e-01 5.45411406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.360714057 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:148.64, Y:77.08, Z:5.45 [[ 3.97727535e-01 -9.17382132e-01 -1.49275515e-02 1.48635009e+02] [ 9.16967557e-01 3.97998620e-01 -2.77055699e-02 7.70818504e+01] [ 3.13577397e-02 -2.66881239e-03 9.99504662e-01 5.45402334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.390714057 meters Centerline goodness : 0.996371 Centerline is valid? [True, True] Translation: X:148.65, Y:77.11, Z:5.45 [[ 3.93621054e-01 -9.19151983e-01 -1.49029366e-02 1.48647356e+02] [ 9.18738151e-01 3.93893254e-01 -2.77184848e-02 7.71056409e+01] [ 3.13476664e-02 -2.78131721e-03 9.99504671e-01 5.45426051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.420714057 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:148.65, Y:77.13, Z:5.46 [[ 3.90125852e-01 -9.20641258e-01 -1.48826563e-02 1.48654835e+02] [ 9.20228071e-01 3.90399019e-01 -2.77291222e-02 7.71284941e+01] [ 3.13387483e-02 -2.87759071e-03 9.99504678e-01 5.45541543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.450714057 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:148.67, Y:77.15, Z:5.46 [[ 3.89864378e-01 -9.20756472e-01 -1.46043176e-02 1.48667806e+02] [ 9.20338031e-01 3.90129333e-01 -2.78749519e-02 7.71537087e+01] [ 3.13636150e-02 -2.57345815e-03 9.99504728e-01 5.45642839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48071405699997 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:148.69, Y:77.18, Z:5.46 [[ 3.88261742e-01 -9.21433538e-01 -1.45964076e-02 1.48685422e+02] [ 9.21015407e-01 3.88527188e-01 -2.78790932e-02 7.71807395e+01] [ 3.13598327e-02 -2.61913097e-03 9.99504728e-01 5.45610546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51071405699997 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:148.70, Y:77.20, Z:5.46 [[ 3.86876962e-01 -9.22012011e-01 -1.48347085e-02 1.48697217e+02] [ 9.21598859e-01 3.87150155e-01 -2.77542823e-02 7.72043741e+01] [ 3.13330413e-02 -2.93415805e-03 9.99504693e-01 5.45635167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54071405699997 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:148.71, Y:77.23, Z:5.46 [[ 3.85217130e-01 -9.22708057e-01 -1.47514294e-02 1.48709986e+02] [ 9.22293788e-01 3.85488586e-01 -2.77978198e-02 7.72303357e+01] [ 3.13357799e-02 -2.89695537e-03 9.99504716e-01 5.45901066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57071405699998 meters Centerline goodness : 0.997129 Centerline is valid? [True, True] Translation: X:148.72, Y:77.26, Z:5.46 [[ 3.85383285e-01 -9.22638383e-01 -1.47694724e-02 1.48724420e+02] [ 9.22224413e-01 3.85655204e-01 -2.77883919e-02 7.72563283e+01] [ 3.13345608e-02 -2.91158626e-03 9.99504711e-01 5.46131713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60071405699998 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:148.74, Y:77.28, Z:5.46 [[ 3.86108361e-01 -9.22333836e-01 -1.48535760e-02 1.48737328e+02] [ 9.21921275e-01 3.86382461e-01 -2.77444710e-02 7.72818259e+01] [ 3.13288257e-02 -2.98145553e-03 9.99504685e-01 5.46265715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63071405699998 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:148.75, Y:77.31, Z:5.46 [[ 3.86702759e-01 -9.22083765e-01 -1.49166239e-02 1.48748613e+02] [ 9.21672249e-01 3.86978470e-01 -2.77115330e-02 7.73059567e+01] [ 3.13247670e-02 -3.03211207e-03 9.99504660e-01 5.46181337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66071405699998 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:148.76, Y:77.33, Z:5.47 [[ 3.88577326e-01 -9.21297173e-01 -1.48047310e-02 1.48762376e+02] [ 9.20882944e-01 3.88848862e-01 -2.77698746e-02 7.73325070e+01] [ 3.13411098e-02 -2.84268062e-03 9.99504704e-01 5.46687445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69071405699998 meters Centerline goodness : 0.995521 Centerline is valid? [True, True] Translation: X:148.78, Y:77.36, Z:5.47 [[ 3.89576046e-01 -9.20872635e-01 -1.49698181e-02 1.48776043e+02] [ 9.20461287e-01 3.89852056e-01 -2.76838184e-02 7.73584295e+01] [ 3.13292851e-02 -2.99418553e-03 9.99504633e-01 5.46841775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72071405699998 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:148.79, Y:77.38, Z:5.47 [[ 3.91517861e-01 -9.20047774e-01 -1.50286081e-02 1.48788754e+02] [ 9.19636978e-01 3.91794754e-01 -2.76531894e-02 7.73837026e+01] [ 3.13303851e-02 -2.99414617e-03 9.99504598e-01 5.46759749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75071405699998 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:148.81, Y:77.42, Z:5.46 [[ 3.95323740e-01 -9.18419096e-01 -1.50168286e-02 1.48809200e+02] [ 9.18006932e-01 3.95598578e-01 -2.76593217e-02 7.74150246e+01] [ 3.13434853e-02 -2.85116624e-03 9.99504606e-01 5.46453019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78071405699998 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:148.82, Y:77.44, Z:5.47 [[ 3.98027788e-01 -9.17239876e-01 -1.56489506e-02 1.48819732e+02] [ 9.16839165e-01 3.98320191e-01 -2.73307613e-02 7.74378575e+01] [ 3.13021571e-02 -3.46916834e-03 9.99503947e-01 5.46808212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81071405699998 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:148.83, Y:77.46, Z:5.47 [[ 3.99190232e-01 -9.16738572e-01 -1.54126199e-02 1.48832584e+02] [ 9.16332872e-01 3.99475130e-01 -2.74533873e-02 7.74621663e+01] [ 3.13245374e-02 -3.16396620e-03 9.99504258e-01 5.46877498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84071405699999 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:148.85, Y:77.49, Z:5.47 [[ 4.02120734e-01 -9.15456180e-01 -1.54563454e-02 1.48846320e+02] [ 9.15050415e-01 4.02405633e-01 -2.74307110e-02 7.74867044e+01] [ 3.13313344e-02 -3.11287766e-03 9.99504206e-01 5.46702719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.870714057 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:148.84, Y:77.50, Z:5.47 [[ 3.90570361e-01 -9.20441663e-01 -1.55543857e-02 1.48841562e+02] [ 9.20041458e-01 3.90863229e-01 -2.73797691e-02 7.75039733e+01] [ 3.12811176e-02 -3.61695344e-03 9.99504082e-01 5.47163858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.900714057 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:148.87, Y:77.54, Z:5.47 [[ 4.01638911e-01 -9.15683919e-01 -1.44619006e-02 1.48871182e+02] [ 9.15259612e-01 4.01894154e-01 -2.79451677e-02 7.75382443e+01] [ 3.14010940e-02 -2.01252683e-03 9.99504838e-01 5.47199253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.930714057 meters Centerline goodness : 0.996293 Centerline is valid? [True, True] Translation: X:148.88, Y:77.56, Z:5.47 [[ 3.99234537e-01 -9.16714499e-01 -1.56942924e-02 1.48883560e+02] [ 9.16314322e-01 3.99527748e-01 -2.73064523e-02 7.75632873e+01] [ 3.13025260e-02 -3.47922603e-03 9.99503900e-01 5.47078818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.960714057 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:148.90, Y:77.59, Z:5.48 [[ 3.99623965e-01 -9.16547938e-01 -1.55101367e-02 1.48895685e+02] [ 9.16144043e-01 3.99911559e-01 -2.74014284e-02 7.75888055e+01] [ 3.13174056e-02 -3.25925188e-03 9.99504176e-01 5.47524461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.990714057 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:148.91, Y:77.61, Z:5.48 [[ 3.99901354e-01 -9.16430384e-01 -1.53055098e-02 1.48907781e+02] [ 9.16022458e-01 4.00182746e-01 -2.75068452e-02 7.76141055e+01] [ 3.13331097e-02 -3.02016611e-03 9.99504435e-01 5.47731992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.020714057 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:148.91, Y:77.63, Z:5.46 [[ 3.95094653e-01 -9.18516274e-01 -1.51019568e-02 1.48907467e+02] [ 9.18105898e-01 3.95372125e-01 -2.76123711e-02 7.76314124e+01] [ 3.13333050e-02 -2.95569545e-03 9.99504621e-01 5.46438845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.050714057 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:148.93, Y:77.66, Z:5.48 [[ 3.98717231e-01 -9.16965142e-01 -1.41243609e-02 1.48930761e+02] [ 9.16535587e-01 3.98963556e-01 -2.81175683e-02 7.76637355e+01] [ 3.14179352e-02 -1.73452044e-03 9.99504830e-01 5.47985259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.080714057 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:148.94, Y:77.69, Z:5.48 [[ 4.01482526e-01 -9.15745617e-01 -1.48911265e-02 1.48942633e+02] [ 9.15329310e-01 4.01750811e-01 -2.77225612e-02 7.76850610e+01] [ 3.13693360e-02 -2.50016065e-03 9.99504734e-01 5.47952388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.110714057 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:148.96, Y:77.71, Z:5.48 [[ 4.02958692e-01 -9.15102997e-01 -1.45188865e-02 1.48955286e+02] [ 9.14679414e-01 4.03215050e-01 -2.79140156e-02 7.77092148e+01] [ 3.13984328e-02 -2.03193139e-03 9.99504882e-01 5.48038347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.140714057 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:148.97, Y:77.74, Z:5.48 [[ 4.02371393e-01 -9.15362498e-01 -1.44485316e-02 1.48972145e+02] [ 9.14937803e-01 4.02625887e-01 -2.79501709e-02 7.77384609e+01] [ 3.14018911e-02 -1.97315856e-03 9.99504891e-01 5.48455465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.170714057 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:148.98, Y:77.76, Z:5.48 [[ 4.05269138e-01 -9.14076631e-01 -1.48606174e-02 1.48982158e+02] [ 9.13658653e-01 4.05534777e-01 -2.77382444e-02 7.77582357e+01] [ 3.13813781e-02 -2.33607728e-03 9.99504753e-01 5.48419143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.200714057 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:149.00, Y:77.78, Z:5.49 [[ 4.06549016e-01 -9.13514753e-01 -1.44462603e-02 1.48997026e+02] [ 9.13088870e-01 4.06801497e-01 -2.79510034e-02 7.77842861e+01] [ 3.14104143e-02 -1.82726658e-03 9.99504901e-01 5.48741556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23071405699997 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:149.01, Y:77.81, Z:5.49 [[ 4.04001630e-01 -9.14642884e-01 -1.45285109e-02 1.49012462e+02] [ 9.14219193e-01 4.04257797e-01 -2.79087902e-02 7.78118832e+01] [ 3.13998402e-02 -2.00704673e-03 9.99504888e-01 5.48932344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26071405699997 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:149.03, Y:77.83, Z:5.49 [[ 4.05833396e-01 -9.13826552e-01 -1.48420703e-02 1.49025239e+02] [ 9.13408066e-01 4.06098217e-01 -2.77478469e-02 7.78342255e+01] [ 3.13840576e-02 -2.29586374e-03 9.99504762e-01 5.48988386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29071405699997 meters Centerline goodness : 0.996250 Centerline is valid? [True, True] Translation: X:149.03, Y:77.86, Z:5.49 [[ 3.99756883e-01 -9.16504939e-01 -1.45990215e-02 1.49032388e+02] [ 9.16083737e-01 4.00017145e-01 -2.78724068e-02 7.78583076e+01] [ 3.13850574e-02 -2.23173968e-03 9.99504876e-01 5.48820700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32071405699998 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:149.06, Y:77.89, Z:5.49 [[ 4.01359870e-01 -9.15808193e-01 -1.43390771e-02 1.49056249e+02] [ 9.15381829e-01 4.01611503e-01 -2.80055023e-02 7.78886633e+01] [ 3.14064067e-02 -1.88544589e-03 9.99504919e-01 5.49176009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35071405699998 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:149.07, Y:77.91, Z:5.49 [[ 3.98443784e-01 -9.17071322e-01 -1.49245093e-02 1.49068575e+02] [ 9.16656501e-01 3.98714452e-01 -2.77063998e-02 7.79126654e+01] [ 3.13593623e-02 -2.64120566e-03 9.99504685e-01 5.49125946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38071405699998 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:149.08, Y:77.93, Z:5.49 [[ 3.99133189e-01 -9.16772684e-01 -1.48506776e-02 1.49078518e+02] [ 9.16356288e-01 3.99401326e-01 -2.77440810e-02 7.79334901e+01] [ 3.13663959e-02 -2.53492825e-03 9.99504739e-01 5.49017399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41071405699998 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:149.09, Y:77.96, Z:5.49 [[ 3.93562451e-01 -9.19183966e-01 -1.44718560e-02 1.49093151e+02] [ 9.18762201e-01 3.93821713e-01 -2.79369927e-02 7.79617341e+01] [ 3.13785669e-02 -2.30124300e-03 9.99504922e-01 5.49153471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44071405699998 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:149.11, Y:77.99, Z:5.49 [[ 3.93219498e-01 -9.19327240e-01 -1.46918926e-02 1.49108241e+02] [ 9.18909625e-01 3.93485547e-01 -2.78249143e-02 7.79869134e+01] [ 3.13612490e-02 -2.55922266e-03 9.99504839e-01 5.49350358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47071405699998 meters Centerline goodness : 0.995592 Centerline is valid? [True, True] Translation: X:149.12, Y:78.01, Z:5.50 [[ 3.92219705e-01 -9.19753872e-01 -1.47145835e-02 1.49121401e+02] [ 9.19336966e-01 3.92486889e-01 -2.78133818e-02 7.80133190e+01] [ 3.13567467e-02 -2.61870412e-03 9.99504826e-01 5.49661635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50071405699998 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:149.13, Y:78.04, Z:5.50 [[ 3.93830409e-01 -9.19064089e-01 -1.47921978e-02 1.49131990e+02] [ 9.18648155e-01 3.94099194e-01 -2.77739624e-02 7.80354646e+01] [ 3.13556447e-02 -2.65059427e-03 9.99504776e-01 5.49624847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53071405699998 meters Centerline goodness : 0.996206 Centerline is valid? [True, True] Translation: X:149.15, Y:78.07, Z:5.50 [[ 3.94554448e-01 -9.18758347e-01 -1.44874816e-02 1.49150545e+02] [ 9.18336601e-01 3.94813726e-01 -2.79286249e-02 7.80688434e+01] [ 3.13795138e-02 -2.28502145e-03 9.99504930e-01 5.49602778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56071405699998 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:149.16, Y:78.09, Z:5.50 [[ 3.93727022e-01 -9.19101931e-01 -1.51878930e-02 1.49161331e+02] [ 9.18693469e-01 3.94007677e-01 -2.75728338e-02 7.80923069e+01] [ 3.13263912e-02 -3.09684833e-03 9.99504411e-01 5.49802785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59071405699999 meters Centerline goodness : 0.995686 Centerline is valid? [True, True] Translation: X:149.17, Y:78.11, Z:5.50 [[ 3.90576089e-01 -9.20448529e-01 -1.49941411e-02 1.49168938e+02] [ 9.20037352e-01 3.90852376e-01 -2.76711231e-02 7.81145076e+01] [ 3.13303403e-02 -2.98749081e-03 9.99504620e-01 5.50006852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.620714057 meters Centerline goodness : 0.995553 Centerline is valid? [True, True] Translation: X:149.18, Y:78.13, Z:5.50 [[ 3.92558904e-01 -9.19610730e-01 -1.46154663e-02 1.49179562e+02] [ 9.19191923e-01 3.92822952e-01 -2.78628052e-02 7.81343073e+01] [ 3.13642253e-02 -2.49662634e-03 9.99504904e-01 5.50032368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.650714057 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:149.19, Y:78.16, Z:5.50 [[ 3.89878205e-01 -9.20757146e-01 -1.41867547e-02 1.49191691e+02] [ 9.20331307e-01 3.90130531e-01 -2.80794102e-02 7.81622996e+01] [ 3.13890037e-02 -2.10896441e-03 9.99505019e-01 5.50222210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.680714057 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:149.21, Y:78.19, Z:5.50 [[ 3.85974420e-01 -9.22397338e-01 -1.43839535e-02 1.49205222e+02] [ 9.21976162e-01 3.86234499e-01 -2.79797888e-02 7.81897666e+01] [ 3.13640618e-02 -2.46217949e-03 9.99504994e-01 5.50401745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.710714057 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:149.22, Y:78.22, Z:5.50 [[ 3.84488797e-01 -9.23014912e-01 -1.45546708e-02 1.49223057e+02] [ 9.22597301e-01 3.84754682e-01 -2.78936246e-02 7.82181150e+01] [ 3.13462092e-02 -2.70331390e-03 9.99504931e-01 5.49994732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.740714057 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:149.24, Y:78.24, Z:5.50 [[ 3.82729277e-01 -9.23740175e-01 -1.49127439e-02 1.49235486e+02] [ 9.23329799e-01 3.83006638e-01 -2.77127654e-02 7.82420293e+01] [ 3.13110747e-02 -3.16289420e-03 9.99504684e-01 5.49810729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.770714057 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:149.24, Y:78.27, Z:5.50 [[ 3.73975527e-01 -9.27320874e-01 -1.47750531e-02 1.49243853e+02] [ 9.26910498e-01 3.74252685e-01 -2.77822994e-02 7.82661651e+01] [ 3.12927095e-02 -3.30525178e-03 9.99504798e-01 5.50304763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.800714057 meters Centerline goodness : 0.995835 Centerline is valid? [True, True] Translation: X:149.26, Y:78.29, Z:5.51 [[ 3.70951537e-01 -9.28539996e-01 -1.44372045e-02 1.49255902e+02] [ 9.28124117e-01 3.71220004e-01 -2.79523252e-02 7.82915331e+01] [ 3.13142310e-02 -3.03055971e-03 9.99504995e-01 5.50556909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.830714057 meters Centerline goodness : 0.996330 Centerline is valid? [True, True] Translation: X:149.27, Y:78.32, Z:5.51 [[ 3.66933205e-01 -9.30134525e-01 -1.44840379e-02 1.49267377e+02] [ 9.29720697e-01 3.67204859e-01 -2.79287744e-02 7.83158240e+01] [ 3.12961265e-02 -3.21811510e-03 9.99504976e-01 5.50602961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.860714057 meters Centerline goodness : 0.995863 Centerline is valid? [True, True] Translation: X:149.28, Y:78.34, Z:5.50 [[ 3.69684787e-01 -9.29044967e-01 -1.44432682e-02 1.49282856e+02] [ 9.28629568e-01 3.69954002e-01 -2.79492634e-02 7.83413656e+01] [ 3.13094674e-02 -3.08002836e-03 9.99504993e-01 5.50316262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.890714057 meters Centerline goodness : 0.995700 Centerline is valid? [True, True] Translation: X:149.29, Y:78.37, Z:5.51 [[ 3.65172871e-01 -9.30826266e-01 -1.45340159e-02 1.49292666e+02] [ 9.30413902e-01 3.65446787e-01 -2.79037040e-02 7.83680384e+01] [ 3.12849101e-02 -3.33297473e-03 9.99504950e-01 5.50866516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.920714057 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:149.30, Y:78.39, Z:5.51 [[ 3.62816206e-01 -9.31747918e-01 -1.44989289e-02 1.49298166e+02] [ 9.31335579e-01 3.63090127e-01 -2.79213038e-02 7.83905481e+01] [ 3.12800346e-02 -3.37306682e-03 9.99504968e-01 5.50534746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.950714057 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:149.32, Y:78.42, Z:5.51 [[ 3.68090477e-01 -9.29683308e-01 -1.40836100e-02 1.49316258e+02] [ 9.29261679e-01 3.68349666e-01 -2.81292473e-02 7.84208460e+01] [ 3.13389847e-02 -2.73325104e-03 9.99505076e-01 5.51093936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98071405699997 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:149.33, Y:78.45, Z:5.51 [[ 3.68838302e-01 -9.29380071e-01 -1.45255054e-02 1.49327522e+02] [ 9.28966467e-01 3.69110339e-01 -2.79080862e-02 7.84462709e+01] [ 3.12987333e-02 -3.20013634e-03 9.99504952e-01 5.51314569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01071405699997 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:149.34, Y:78.47, Z:5.51 [[ 3.73114047e-01 -9.27672153e-01 -1.45012084e-02 1.49340504e+02] [ 9.27256846e-01 3.73383453e-01 -2.79202277e-02 7.84748426e+01] [ 3.13153290e-02 -3.02891560e-03 9.99504965e-01 5.51465671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04071405699997 meters Centerline goodness : 0.996113 Centerline is valid? [True, True] Translation: X:149.35, Y:78.50, Z:5.52 [[ 3.74851322e-01 -9.26968819e-01 -1.46729500e-02 1.49352882e+02] [ 9.26556220e-01 3.75125064e-01 -2.78344809e-02 7.85005255e+01] [ 3.13058872e-02 -3.16152110e-03 9.99504851e-01 5.51514464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07071405699998 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:149.37, Y:78.53, Z:5.51 [[ 3.79174389e-01 -9.25208522e-01 -1.46960397e-02 1.49365950e+02] [ 9.24795080e-01 3.79446891e-01 -2.78229610e-02 7.85258313e+01] [ 3.13184071e-02 -3.04107094e-03 9.99504832e-01 5.51392378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10071405699998 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:149.38, Y:78.55, Z:5.51 [[ 3.79927660e-01 -9.24897782e-01 -1.48009005e-02 1.49378336e+02] [ 9.24486078e-01 3.80202948e-01 -2.77706692e-02 7.85518901e+01] [ 3.13123764e-02 -3.13238108e-03 9.99504739e-01 5.51462311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13071405699998 meters Centerline goodness : 0.996644 Centerline is valid? [True, True] Translation: X:149.39, Y:78.58, Z:5.51 [[ 3.83646357e-01 -9.23360613e-01 -1.48542996e-02 1.49392874e+02] [ 9.22948801e-01 3.83921578e-01 -2.77440626e-02 7.85781526e+01] [ 3.13206608e-02 -3.06584947e-03 9.99504686e-01 5.51145799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16071405699998 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:149.40, Y:78.60, Z:5.51 [[ 3.82998788e-01 -9.23626517e-01 -1.50328273e-02 1.49403516e+02] [ 9.23218251e-01 3.83279604e-01 -2.76551408e-02 7.86035903e+01] [ 3.13047975e-02 -3.28669508e-03 9.99504481e-01 5.51300340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19071405699998 meters Centerline goodness : 0.995738 Centerline is valid? [True, True] Translation: X:149.40, Y:78.62, Z:5.52 [[ 3.78837530e-01 -9.25342864e-01 -1.49234469e-02 1.49400252e+02] [ 9.24933796e-01 3.79116941e-01 -2.77095325e-02 7.86217900e+01] [ 3.12985497e-02 -3.30578950e-03 9.99504614e-01 5.51578326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22071405699998 meters Centerline goodness : 0.987375 Centerline is valid? [True, True] Translation: X:149.41, Y:78.64, Z:5.51 [[ 3.82346351e-01 -9.23913524e-01 -1.39666961e-02 1.49410876e+02] [ 9.23485995e-01 3.82595475e-01 -2.81836797e-02 7.86438638e+01] [ 3.13828775e-02 -2.12212113e-03 9.99505183e-01 5.50893694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25071405699998 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:149.42, Y:78.67, Z:5.52 [[ 3.86343871e-01 -9.22253321e-01 -1.36830164e-02 1.49423534e+02] [ 9.21819777e-01 3.86582490e-01 -2.83244852e-02 7.86743227e+01] [ 3.14119652e-02 -1.67028388e-03 9.99505127e-01 5.51909889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28071405699998 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:149.43, Y:78.70, Z:5.52 [[ 3.83983121e-01 -9.23228202e-01 -1.43753108e-02 1.49434934e+02] [ 9.22807381e-01 3.84243852e-01 -2.79856858e-02 7.87031689e+01] [ 3.13607992e-02 -2.51961197e-03 9.99504953e-01 5.52391342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31071405699998 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:149.44, Y:78.73, Z:5.53 [[ 3.84572284e-01 -9.22980999e-01 -1.44994369e-02 1.49444275e+02] [ 9.22562235e-01 3.84836484e-01 -2.79249540e-02 7.87269165e+01] [ 3.13541142e-02 -2.63746959e-03 9.99504859e-01 5.52601649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34071405699999 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:149.46, Y:78.75, Z:5.53 [[ 3.84052395e-01 -9.23199521e-01 -1.43667179e-02 1.49456391e+02] [ 9.22778528e-01 3.84312836e-01 -2.79898613e-02 7.87524366e+01] [ 3.13615407e-02 -2.50772557e-03 9.99504960e-01 5.52696233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.370714057 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:149.46, Y:78.77, Z:5.53 [[ 3.88237509e-01 -9.21447613e-01 -1.43503366e-02 1.49463355e+02] [ 9.21025154e-01 3.88495542e-01 -2.79978595e-02 7.87739722e+01] [ 3.13736026e-02 -2.34720173e-03 9.99504971e-01 5.52942939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.400714057 meters Centerline goodness : 0.995327 Centerline is valid? [True, True] Translation: X:149.47, Y:78.80, Z:5.53 [[ 3.91183334e-01 -9.20207242e-01 -1.39366956e-02 1.49474533e+02] [ 9.19776797e-01 3.91427436e-01 -2.81994034e-02 7.88005113e+01] [ 3.14045002e-02 -1.78751257e-03 9.99505159e-01 5.52934455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.430714057 meters Centerline goodness : 0.995707 Centerline is valid? [True, True] Translation: X:149.49, Y:78.83, Z:5.53 [[ 3.92178759e-01 -9.19783739e-01 -1.39173971e-02 1.49488084e+02] [ 9.19352702e-01 3.92421805e-01 -2.82087974e-02 7.88292415e+01] [ 3.14074833e-02 -1.73210544e-03 9.99505162e-01 5.53056927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.460714057 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:149.50, Y:78.86, Z:5.53 [[ 3.90905918e-01 -9.20323455e-01 -1.40463875e-02 1.49501770e+02] [ 9.19894958e-01 3.91153494e-01 -2.81462259e-02 7.88596228e+01] [ 3.13979255e-02 -1.91867474e-03 9.99505122e-01 5.53333484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.490714057 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:149.51, Y:78.89, Z:5.53 [[ 3.91839512e-01 -9.19924766e-01 -1.41499762e-02 1.49513898e+02] [ 9.19497797e-01 3.92089809e-01 -2.80959575e-02 7.88884097e+01] [ 3.13942285e-02 -2.00176564e-03 9.99505075e-01 5.53396736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.520714057 meters Centerline goodness : 0.995908 Centerline is valid? [True, True] Translation: X:149.52, Y:78.91, Z:5.53 [[ 3.88555365e-01 -9.21316261e-01 -1.41801441e-02 1.49519076e+02] [ 9.20890711e-01 3.88808099e-01 -2.80813185e-02 7.89104163e+01] [ 3.13851302e-02 -2.14721604e-03 9.99505059e-01 5.53158194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.550714057 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:149.54, Y:78.94, Z:5.53 [[ 3.90367970e-01 -9.20556813e-01 -1.37113865e-02 1.49537620e+02] [ 9.20122781e-01 3.90605560e-01 -2.83083697e-02 7.89395483e+01] [ 3.14152064e-02 -1.56547823e-03 9.99505195e-01 5.53474501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.580714057 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:149.55, Y:78.96, Z:5.53 [[ 3.87244346e-01 -9.21867638e-01 -1.42082590e-02 1.49547214e+02] [ 9.21442943e-01 3.87498537e-01 -2.80675472e-02 7.89635641e+01] [ 3.13802430e-02 -2.22310103e-03 9.99505047e-01 5.53332882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.610714057 meters Centerline goodness : 0.995092 Centerline is valid? [True, True] Translation: X:149.55, Y:78.99, Z:5.53 [[ 3.82007310e-01 -9.24053235e-01 -1.40012147e-02 1.49554554e+02] [ 9.23626372e-01 3.82257640e-01 -2.81677476e-02 7.89862018e+01] [ 3.13805696e-02 -2.17160567e-03 9.99505150e-01 5.53370707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.640714057 meters Centerline goodness : 0.995612 Centerline is valid? [True, True] Translation: X:149.57, Y:79.01, Z:5.53 [[ 3.80887818e-01 -9.24519974e-01 -1.36853352e-02 1.49569742e+02] [ 9.24087980e-01 3.81129060e-01 -2.83203930e-02 7.90138842e+01] [ 3.13986479e-02 -1.85956104e-03 9.99505211e-01 5.53288801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.670714057 meters Centerline goodness : 0.995851 Centerline is valid? [True, True] Translation: X:149.58, Y:79.04, Z:5.53 [[ 3.75064530e-01 -9.26893794e-01 -1.39461129e-02 1.49576984e+02] [ 9.26467855e-01 3.75316389e-01 -2.81943501e-02 7.90367965e+01] [ 3.13673728e-02 -2.34592466e-03 9.99505170e-01 5.53417561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.700714057 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:149.59, Y:79.06, Z:5.53 [[ 3.75971324e-01 -9.26530416e-01 -1.36730513e-02 1.49590586e+02] [ 9.26099504e-01 3.76214483e-01 -2.83261587e-02 7.90605815e+01] [ 3.13890475e-02 -2.01278263e-03 9.99505216e-01 5.53453018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73071405699997 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:149.61, Y:79.09, Z:5.53 [[ 3.69738795e-01 -9.29035735e-01 -1.36318260e-02 1.49605400e+02] [ 9.28605752e-01 3.69983594e-01 -2.83460498e-02 7.90903506e+01] [ 3.13780452e-02 -2.17795774e-03 9.99505215e-01 5.53468987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76071405699997 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:149.62, Y:79.12, Z:5.54 [[ 3.67660067e-01 -9.29854685e-01 -1.40121279e-02 1.49618058e+02] [ 9.29431944e-01 3.67917301e-01 -2.81624060e-02 7.91165668e+01] [ 3.13422494e-02 -2.66912723e-03 9.99505147e-01 5.53521620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79071405699997 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:149.63, Y:79.14, Z:5.54 [[ 3.65896085e-01 -9.30550141e-01 -1.40174640e-02 1.49630868e+02] [ 9.30127984e-01 3.66154280e-01 -2.81598307e-02 7.91427554e+01] [ 3.13366889e-02 -2.73446376e-03 9.99505145e-01 5.53632308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82071405699998 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:149.64, Y:79.17, Z:5.54 [[ 3.62895391e-01 -9.31723897e-01 -1.40539599e-02 1.49641559e+02] [ 9.31303230e-01 3.63156039e-01 -2.81422329e-02 7.91673305e+01] [ 3.13245714e-02 -2.87581162e-03 9.99505128e-01 5.53788912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85071405699998 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:149.65, Y:79.19, Z:5.54 [[ 3.60911779e-01 -9.32494430e-01 -1.40294870e-02 1.49651763e+02] [ 9.32073877e-01 3.61172589e-01 -2.81540268e-02 7.91922139e+01] [ 3.13205393e-02 -2.91539846e-03 9.99505140e-01 5.53938112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88071405699998 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:149.66, Y:79.21, Z:5.54 [[ 3.62650530e-01 -9.31820473e-01 -1.39713803e-02 1.49661460e+02] [ 9.31398394e-01 3.62908814e-01 -2.81820002e-02 7.92144176e+01] [ 3.13309018e-02 -2.79270385e-03 9.99505165e-01 5.54046712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91071405699998 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:149.68, Y:79.24, Z:5.54 [[ 3.60635433e-01 -9.32607803e-01 -1.35930444e-02 1.49676446e+02] [ 9.32179580e-01 3.60883253e-01 -2.83638761e-02 7.92432247e+01] [ 3.13578742e-02 -2.44213967e-03 9.99505237e-01 5.54192041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94071405699998 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:149.69, Y:79.27, Z:5.54 [[ 3.63688018e-01 -9.31415879e-01 -1.39816258e-02 1.49687071e+02] [ 9.30993702e-01 3.63946138e-01 -2.81768658e-02 7.92652189e+01] [ 3.13329390e-02 -2.76921710e-03 9.99505167e-01 5.54259581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97071405699998 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:149.70, Y:79.30, Z:5.54 [[ 3.60699854e-01 -9.32580678e-01 -1.37438607e-02 1.49700040e+02] [ 9.32155099e-01 3.60952189e-01 -2.82911511e-02 7.92951123e+01] [ 3.13446575e-02 -2.60679577e-03 9.99505236e-01 5.54313662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00071405699998 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:149.71, Y:79.32, Z:5.54 [[ 3.60154430e-01 -9.32786734e-01 -1.40604005e-02 1.49711062e+02] [ 9.32366958e-01 3.60416506e-01 -2.81389115e-02 7.93195038e+01] [ 3.13152038e-02 -2.97509921e-03 9.99505131e-01 5.54240749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03071405699998 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:149.72, Y:79.34, Z:5.54 [[ 3.63084549e-01 -9.31651134e-01 -1.39919296e-02 1.49721805e+02] [ 9.31229311e-01 3.63343252e-01 -2.81718117e-02 7.93413286e+01] [ 3.13301735e-02 -2.80094539e-03 9.99505165e-01 5.54147020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06071405699998 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:149.74, Y:79.37, Z:5.54 [[ 3.59715670e-01 -9.32961601e-01 -1.36853278e-02 1.49735801e+02] [ 9.32535274e-01 3.59966691e-01 -2.83186024e-02 7.93748070e+01] [ 3.13464308e-02 -2.57540587e-03 9.99505262e-01 5.54422991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09071405699999 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:149.75, Y:79.40, Z:5.54 [[ 3.62083728e-01 -9.32040724e-01 -1.39807680e-02 1.49746634e+02] [ 9.31618986e-01 3.62342549e-01 -2.81769941e-02 7.93983638e+01] [ 3.13279331e-02 -2.82231784e-03 9.99505175e-01 5.54106540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.120714057 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:149.76, Y:79.43, Z:5.55 [[ 3.63577435e-01 -9.31464989e-01 -1.35802545e-02 1.49756854e+02] [ 9.31035803e-01 3.63823513e-01 -2.83687255e-02 7.94252718e+01] [ 3.13652904e-02 -2.32947470e-03 9.99505274e-01 5.54544878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.150714057 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:149.77, Y:79.45, Z:5.55 [[ 3.63284196e-01 -9.31579714e-01 -1.35583367e-02 1.49769196e+02] [ 9.31150226e-01 3.63529746e-01 -2.83792179e-02 7.94532221e+01] [ 3.13663624e-02 -2.31512690e-03 9.99505273e-01 5.54937629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.180714057 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:149.78, Y:79.48, Z:5.55 [[ 3.63844428e-01 -9.31358934e-01 -1.37028406e-02 1.49779431e+02] [ 9.30931811e-01 3.64094087e-01 -2.83100640e-02 7.94775258e+01] [ 3.13559542e-02 -2.45595116e-03 9.99505264e-01 5.55004047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.210714057 meters Centerline goodness : 0.994455 Centerline is valid? [True, True] Translation: X:149.79, Y:79.50, Z:5.55 [[ 3.65006746e-01 -9.30905615e-01 -1.35945327e-02 1.49791417e+02] [ 9.30476301e-01 3.65252596e-01 -2.83618393e-02 7.95025508e+01] [ 3.13676339e-02 -2.29712784e-03 9.99505275e-01 5.55168296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.240714057 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:149.80, Y:79.53, Z:5.55 [[ 3.66996757e-01 -9.30122770e-01 -1.36019156e-02 1.49803578e+02] [ 9.29693059e-01 3.67241913e-01 -2.83583113e-02 7.95305657e+01] [ 3.13719046e-02 -2.23819826e-03 9.99505275e-01 5.55428381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.270714057 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:149.81, Y:79.56, Z:5.56 [[ 3.67735251e-01 -9.29828299e-01 -1.37883538e-02 1.49814294e+02] [ 9.29401618e-01 3.67985707e-01 -2.82692567e-02 7.95565698e+01] [ 3.13594721e-02 -2.41931615e-03 9.99505243e-01 5.55601711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.300714057 meters Centerline goodness : 0.993655 Centerline is valid? [True, True] Translation: X:149.83, Y:79.58, Z:5.56 [[ 3.69399681e-01 -9.29169058e-01 -1.37381519e-02 1.49826326e+02] [ 9.28741061e-01 3.69647854e-01 -2.82932176e-02 7.95826148e+01] [ 3.13674608e-02 -2.30768020e-03 9.99505256e-01 5.55700649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.330714057 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:149.84, Y:79.61, Z:5.56 [[ 3.70376165e-01 -9.28779700e-01 -1.37755343e-02 1.49838941e+02] [ 9.28352087e-01 3.70625020e-01 -2.82753869e-02 7.96078515e+01] [ 3.13671631e-02 -2.31601658e-03 9.99505246e-01 5.55697058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.360714057 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:149.84, Y:79.63, Z:5.56 [[ 3.63529022e-01 -9.31480405e-01 -1.38168717e-02 1.49838648e+02] [ 9.31055360e-01 3.63782262e-01 -2.82556615e-02 7.96284977e+01] [ 3.13459278e-02 -2.59251948e-03 9.99505233e-01 5.56037909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.390714057 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:149.86, Y:79.66, Z:5.56 [[ 3.69656946e-01 -9.29076468e-01 -1.30636748e-02 1.49862463e+02] [ 9.28637027e-01 3.69884444e-01 -2.86141528e-02 7.96601836e+01] [ 3.14167861e-02 -1.55399178e-03 9.99505163e-01 5.55954770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.420714057 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:149.87, Y:79.68, Z:5.56 [[ 3.66978883e-01 -9.30125357e-01 -1.39039250e-02 1.49871449e+02] [ 9.29700900e-01 3.67233171e-01 -2.82140873e-02 7.96839535e+01] [ 3.13486205e-02 -2.57251732e-03 9.99505201e-01 5.56078299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.450714057 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:149.87, Y:79.71, Z:5.56 [[ 3.60317506e-01 -9.32729090e-01 -1.37017908e-02 1.49872329e+02] [ 9.32302906e-01 3.60568747e-01 -2.83102583e-02 7.97053652e+01] [ 3.13462390e-02 -2.57353773e-03 9.99505273e-01 5.56315441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48071405699997 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:149.89, Y:79.73, Z:5.56 [[ 3.65138524e-01 -9.30861465e-01 -1.30687093e-02 1.49894524e+02] [ 9.30423250e-01 3.65368307e-01 -2.86107702e-02 7.97345671e+01] [ 3.14075556e-02 -1.71253659e-03 9.99505194e-01 5.56181659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51071405699997 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:149.91, Y:79.76, Z:5.56 [[ 3.62621351e-01 -9.31837369e-01 -1.35968117e-02 1.49905827e+02] [ 9.31408749e-01 3.62868367e-01 -2.83600093e-02 7.97620105e+01] [ 3.13607693e-02 -2.38024446e-03 9.99505296e-01 5.56071575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54071405699997 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:149.91, Y:79.78, Z:5.56 [[ 3.56149757e-01 -9.34328317e-01 -1.37093667e-02 1.49908885e+02] [ 9.33903394e-01 3.56403125e-01 -2.83065854e-02 7.97839125e+01] [ 3.13337054e-02 -2.72184061e-03 9.99505273e-01 5.56191520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57071405699998 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:149.93, Y:79.81, Z:5.56 [[ 3.61057011e-01 -9.32452065e-01 -1.30759870e-02 1.49929468e+02] [ 9.32015011e-01 3.61288933e-01 -2.86063896e-02 7.98119713e+01] [ 3.13982965e-02 -1.85847867e-03 9.99505224e-01 5.56163722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60071405699998 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:149.94, Y:79.84, Z:5.56 [[ 3.59840192e-01 -9.32915900e-01 -1.35262895e-02 1.49942070e+02] [ 9.32486811e-01 3.60086354e-01 -2.83930267e-02 7.98385942e+01] [ 3.13589383e-02 -2.39613446e-03 9.99505315e-01 5.56159033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63071405699998 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:149.95, Y:79.86, Z:5.56 [[ 3.59267106e-01 -9.33135597e-01 -1.36053247e-02 1.49954163e+02] [ 9.32708027e-01 3.59515918e-01 -2.83556040e-02 7.98640519e+01] [ 3.13509542e-02 -2.50255979e-03 9.99505305e-01 5.56084227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66071405699998 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:149.97, Y:79.89, Z:5.56 [[ 3.59114753e-01 -9.33195163e-01 -1.35419014e-02 1.49967019e+02] [ 9.32766537e-01 3.59361720e-01 -2.83855985e-02 7.98934876e+01] [ 3.13557442e-02 -2.43774530e-03 9.99505315e-01 5.56214247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69071405699998 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:149.98, Y:79.92, Z:5.56 [[ 3.59375963e-01 -9.33093758e-01 -1.35998409e-02 1.49977533e+02] [ 9.32666065e-01 3.59624560e-01 -2.83581936e-02 7.99184098e+01] [ 3.13516903e-02 -2.49285701e-03 9.99505306e-01 5.56423327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72071405699998 meters Centerline goodness : 0.995096 Centerline is valid? [True, True] Translation: X:149.99, Y:79.94, Z:5.56 [[ 3.60460186e-01 -9.32676635e-01 -1.35184664e-02 1.49989303e+02] [ 9.32247251e-01 3.60705826e-01 -2.83966549e-02 7.99432543e+01] [ 3.13610861e-02 -2.36668961e-03 9.99505318e-01 5.56449732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75071405699998 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:150.00, Y:79.97, Z:5.57 [[ 3.60013712e-01 -9.32848596e-01 -1.35507766e-02 1.50001746e+02] [ 9.32419886e-01 3.60260534e-01 -2.83813925e-02 7.99703122e+01] [ 3.13573522e-02 -2.41732314e-03 9.99505314e-01 5.56722662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78071405699998 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:150.01, Y:80.00, Z:5.57 [[ 3.59655073e-01 -9.32985642e-01 -1.36389541e-02 1.50014579e+02] [ 9.32558550e-01 3.59904722e-01 -2.83397752e-02 7.99978126e+01] [ 3.13493274e-02 -2.52657929e-03 9.99505296e-01 5.56851006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81071405699998 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:150.03, Y:80.03, Z:5.57 [[ 3.58480044e-01 -9.33435877e-01 -1.37666599e-02 1.50028893e+02] [ 9.33011323e-01 3.58734074e-01 -2.82795769e-02 8.00250931e+01] [ 3.13357417e-02 -2.70678566e-03 9.99505250e-01 5.56704671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84071405699999 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:150.04, Y:80.05, Z:5.57 [[ 3.57203257e-01 -9.33926478e-01 -1.36809109e-02 1.50040549e+02] [ 9.33500774e-01 3.57455290e-01 -2.83199869e-02 8.00493200e+01] [ 3.13390996e-02 -2.65514939e-03 9.99505283e-01 5.56848706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.870714057 meters Centerline goodness : 0.995611 Centerline is valid? [True, True] Translation: X:150.05, Y:80.07, Z:5.57 [[ 3.55661726e-01 -9.34515364e-01 -1.36297808e-02 1.50054414e+02] [ 9.34089185e-01 3.55912923e-01 -2.83440660e-02 8.00736578e+01] [ 3.13389803e-02 -2.65053142e-03 9.99505299e-01 5.56663719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.900714057 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:150.06, Y:80.10, Z:5.57 [[ 3.50590838e-01 -9.36430017e-01 -1.35973026e-02 1.50058748e+02] [ 9.36004636e-01 3.50843367e-01 -2.83593617e-02 8.00957859e+01] [ 3.13270810e-02 -2.78460588e-03 9.99505308e-01 5.56630660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.930714057 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:150.08, Y:80.13, Z:5.57 [[ 3.54921743e-01 -9.34804777e-01 -1.30608363e-02 1.50078608e+02] [ 9.34369066e-01 3.55156066e-01 -2.86114671e-02 8.01250754e+01] [ 3.13847714e-02 -2.04880960e-03 9.99505277e-01 5.56737974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.960714057 meters Centerline goodness : 0.995072 Centerline is valid? [True, True] Translation: X:150.09, Y:80.15, Z:5.57 [[ 3.54325407e-01 -9.35023522e-01 -1.35838203e-02 1.50089216e+02] [ 9.34596904e-01 3.54575830e-01 -2.83655919e-02 8.01514878e+01] [ 3.13389900e-02 -2.64474649e-03 9.99505314e-01 5.56965174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.990714057 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:150.10, Y:80.18, Z:5.57 [[ 3.56587122e-01 -9.34163935e-01 -1.35412731e-02 1.50102751e+02] [ 9.33735978e-01 3.56835230e-01 -2.83855826e-02 8.01762228e+01] [ 3.13487908e-02 -2.52204063e-03 9.99505324e-01 5.57227971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.020714057 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:150.12, Y:80.20, Z:5.57 [[ 3.58130586e-01 -9.33573851e-01 -1.35036129e-02 1.50115500e+02] [ 9.33144838e-01 3.58376848e-01 -2.84032714e-02 8.02019788e+01] [ 3.13559337e-02 -2.42874642e-03 9.99505331e-01 5.57453085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.050714057 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:150.13, Y:80.23, Z:5.57 [[ 3.58972758e-01 -9.33250703e-01 -1.34790238e-02 1.50129391e+02] [ 9.32821048e-01 3.59217890e-01 -2.84148029e-02 8.02302134e+01] [ 3.13600413e-02 -2.37337694e-03 9.99505335e-01 5.57262594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.080714057 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:150.14, Y:80.25, Z:5.57 [[ 3.59864979e-01 -9.32902965e-01 -1.37569960e-02 1.50140439e+02] [ 9.32477858e-01 3.60118089e-01 -2.82843927e-02 8.02540920e+01] [ 3.13407369e-02 -2.64953176e-03 9.99505247e-01 5.57229558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.110714057 meters Centerline goodness : 0.995460 Centerline is valid? [True, True] Translation: X:150.15, Y:80.27, Z:5.58 [[ 3.62758028e-01 -9.31783059e-01 -1.36727321e-02 1.50149549e+02] [ 9.31355719e-01 3.63007275e-01 -2.83238982e-02 8.02743356e+01] [ 3.13550297e-02 -2.45945577e-03 9.99505284e-01 5.57596490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.140714057 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:150.16, Y:80.30, Z:5.58 [[ 3.66535154e-01 -9.30309039e-01 -1.33068718e-02 1.50160627e+02] [ 9.29874540e-01 3.66771550e-01 -2.84950966e-02 8.02993362e+01] [ 3.13898279e-02 -1.92926666e-03 9.99505356e-01 5.57793618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.170714057 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:150.17, Y:80.33, Z:5.58 [[ 3.68229813e-01 -9.29639431e-01 -1.33166162e-02 1.50172846e+02] [ 9.29204663e-01 3.68465715e-01 -2.84905386e-02 8.03252986e+01] [ 3.13926446e-02 -1.88279614e-03 9.99505356e-01 5.58040014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.200714057 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:150.18, Y:80.35, Z:5.58 [[ 3.71733395e-01 -9.28243456e-01 -1.33555215e-02 1.50184684e+02] [ 9.27808442e-01 3.71968843e-01 -2.84723439e-02 8.03506716e+01] [ 3.13971048e-02 -1.80724457e-03 9.99505356e-01 5.58241472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23071405699997 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:150.20, Y:80.38, Z:5.59 [[ 3.73448532e-01 -9.27554966e-01 -1.33408593e-02 1.50197058e+02] [ 9.27119277e-01 3.73682728e-01 -2.84791961e-02 8.03756148e+01] [ 3.14012685e-02 -1.73305382e-03 9.99505356e-01 5.58544342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26071405699997 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:150.21, Y:80.40, Z:5.59 [[ 3.73362620e-01 -9.27589893e-01 -1.33170937e-02 1.50208959e+02] [ 9.27153836e-01 3.73596129e-01 -2.84902961e-02 8.04012659e+01] [ 3.14025253e-02 -1.70978295e-03 9.99505357e-01 5.58634392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29071405699997 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:150.22, Y:80.43, Z:5.58 [[ 3.75270982e-01 -9.26819528e-01 -1.33136064e-02 1.50222309e+02] [ 9.26382935e-01 3.75503487e-01 -2.84919244e-02 8.04277502e+01] [ 3.14061775e-02 -1.64130529e-03 9.99505357e-01 5.58472894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32071405699998 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:150.23, Y:80.45, Z:5.58 [[ 3.74454429e-01 -9.27148573e-01 -1.33941606e-02 1.50229574e+02] [ 9.26713505e-01 3.74689783e-01 -2.84542741e-02 8.04492140e+01] [ 3.13999948e-02 -1.75772057e-03 9.99505353e-01 5.58316245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35071405699998 meters Centerline goodness : 0.992099 Centerline is valid? [True, True] Translation: X:150.25, Y:80.48, Z:5.58 [[ 3.77680671e-01 -9.25846000e-01 -1.29033264e-02 1.50245696e+02] [ 9.25402248e-01 3.77899402e-01 -2.86831352e-02 8.04762802e+01] [ 3.14323253e-02 -1.10770156e-03 9.99505269e-01 5.58094357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38071405699998 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:150.26, Y:80.50, Z:5.59 [[ 3.80332763e-01 -9.24757071e-01 -1.30900532e-02 1.50260675e+02] [ 9.24315640e-01 3.80555993e-01 -2.85960580e-02 8.05014405e+01] [ 3.14259051e-02 -1.22332313e-03 9.99505336e-01 5.58608472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41071405699998 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:150.27, Y:80.53, Z:5.58 [[ 3.77067247e-01 -9.26089696e-01 -1.33479088e-02 1.50270526e+02] [ 9.25653211e-01 3.77299956e-01 -2.84758899e-02 8.05266039e+01] [ 3.14073936e-02 -1.61820923e-03 9.99505356e-01 5.58338642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44071405699998 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:150.29, Y:80.56, Z:5.58 [[ 3.81444666e-01 -9.24298155e-01 -1.31486514e-02 1.50294106e+02] [ 9.23857389e-01 3.81669172e-01 -2.85686482e-02 8.05576849e+01] [ 3.14243837e-02 -1.25012034e-03 9.99505350e-01 5.58286013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47071405699998 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:150.31, Y:80.58, Z:5.58 [[ 3.82229712e-01 -9.23957059e-01 -1.42758722e-02 1.50305714e+02] [ 9.23534559e-01 3.82488278e-01 -2.80470213e-02 8.05796621e+01] [ 3.13745971e-02 -2.46385647e-03 9.99504659e-01 5.58340342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50071405699998 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:150.32, Y:80.61, Z:5.58 [[ 3.76168916e-01 -9.26446346e-01 -1.39324895e-02 1.50318743e+02] [ 9.26019734e-01 3.76419865e-01 -2.82052583e-02 8.06068007e+01] [ 3.13751243e-02 -2.29181877e-03 9.99505052e-01 5.58320192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53071405699998 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:150.33, Y:80.63, Z:5.58 [[ 3.74705199e-01 -9.27037026e-01 -1.40842570e-02 1.50330190e+02] [ 9.26613371e-01 3.74961413e-01 -2.81353745e-02 8.06309935e+01] [ 3.13635869e-02 -2.50818979e-03 9.99504895e-01 5.58411767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56071405699998 meters Centerline goodness : 0.996645 Centerline is valid? [True, True] Translation: X:150.34, Y:80.66, Z:5.58 [[ 3.72990983e-01 -9.27729074e-01 -1.40175840e-02 1.50343400e+02] [ 9.27304763e-01 3.73245966e-01 -2.81660233e-02 8.06571910e+01] [ 3.13624454e-02 -2.49289968e-03 9.99504969e-01 5.58443110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59071405699999 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:150.35, Y:80.68, Z:5.59 [[ 3.68535059e-01 -9.29507284e-01 -1.40755078e-02 1.50353845e+02] [ 9.29085190e-01 3.68793821e-01 -2.81394334e-02 8.06792716e+01] [ 3.13467686e-02 -2.70697811e-03 9.99504904e-01 5.58606420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.620714057 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:150.37, Y:80.70, Z:5.59 [[ 3.68311688e-01 -9.29600457e-01 -1.37655523e-02 1.50365601e+02] [ 9.29173183e-01 3.68561193e-01 -2.82814804e-02 8.07014381e+01] [ 3.13639255e-02 -2.37418228e-03 9.99505211e-01 5.58751753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.650714057 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:150.38, Y:80.73, Z:5.59 [[ 3.67104059e-01 -9.30080820e-01 -1.35749136e-02 1.50378283e+02] [ 9.29650690e-01 3.67348341e-01 -2.83688369e-02 8.07279775e+01] [ 3.13720331e-02 -2.20561262e-03 9.99505343e-01 5.58847216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.680714057 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:150.39, Y:80.76, Z:5.59 [[ 3.64742560e-01 -9.31008380e-01 -1.36477203e-02 1.50392362e+02] [ 9.30580086e-01 3.64990139e-01 -2.83355311e-02 8.07566479e+01] [ 3.13619003e-02 -2.36512258e-03 9.99505296e-01 5.59026935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.710714057 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:150.40, Y:80.78, Z:5.59 [[ 3.59243551e-01 -9.33139901e-01 -1.39282810e-02 1.50396859e+02] [ 9.32717852e-01 3.59502098e-01 -2.82072616e-02 8.07750932e+01] [ 3.13285675e-02 -2.85787956e-03 9.99505054e-01 5.59370447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.740714057 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:150.41, Y:80.80, Z:5.59 [[ 3.58140969e-01 -9.33573818e-01 -1.32277420e-02 1.50408864e+02] [ 9.33140303e-01 3.58378855e-01 -2.85266876e-02 8.07996976e+01] [ 3.13723117e-02 -2.12676364e-03 9.99505505e-01 5.59469928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.770714057 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:150.42, Y:80.83, Z:5.60 [[ 3.57528599e-01 -9.33808685e-01 -1.32151566e-02 1.50420763e+02] [ 9.33375119e-01 3.57766387e-01 -2.85324195e-02 8.08253104e+01] [ 3.13717600e-02 -2.13354244e-03 9.99505508e-01 5.59548925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.800714057 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:150.43, Y:80.85, Z:5.60 [[ 3.56942013e-01 -9.34033122e-01 -1.32108337e-02 1.50433071e+02] [ 9.33599635e-01 3.57179942e-01 -2.85343844e-02 8.08516383e+01] [ 3.13707050e-02 -2.14850893e-03 9.99505509e-01 5.59605147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.830714057 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:150.45, Y:80.88, Z:5.60 [[ 3.55743792e-01 -9.34488750e-01 -1.33090411e-02 1.50445615e+02] [ 9.34057188e-01 3.55985256e-01 -2.84897778e-02 8.08773485e+01] [ 3.13611992e-02 -2.29634392e-03 9.99505479e-01 5.59611380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.860714057 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:150.46, Y:80.90, Z:5.60 [[ 3.53759016e-01 -9.35240788e-01 -1.33875325e-02 1.50456627e+02] [ 9.34811045e-01 3.54003772e-01 -2.84541536e-02 8.09029565e+01] [ 3.13507220e-02 -2.44889986e-03 9.99505445e-01 5.59617434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.890714057 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:150.47, Y:80.93, Z:5.60 [[ 3.50590199e-01 -9.36433792e-01 -1.33516355e-02 1.50467925e+02] [ 9.36004279e-01 3.50835325e-01 -2.84704300e-02 8.09280809e+01] [ 3.13448981e-02 -2.51573426e-03 9.99505462e-01 5.59573325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.920714057 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:150.48, Y:80.95, Z:5.60 [[ 3.48441429e-01 -9.37235708e-01 -1.33341430e-02 1.50478668e+02] [ 9.36806464e-01 3.48687011e-01 -2.84783544e-02 8.09528937e+01] [ 3.13403731e-02 -2.56847291e-03 9.99505470e-01 5.59774048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.950714057 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:150.49, Y:80.98, Z:5.60 [[ 3.46063919e-01 -9.38116650e-01 -1.33009248e-02 1.50489888e+02] [ 9.37687472e-01 3.46309588e-01 -2.84933920e-02 8.09773380e+01] [ 3.13363633e-02 -2.61157564e-03 9.99505484e-01 5.59757558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98071405699997 meters Centerline goodness : 0.996058 Centerline is valid? [True, True] Translation: X:150.50, Y:81.00, Z:5.60 [[ 3.45480733e-01 -9.38331746e-01 -1.32890275e-02 1.50501187e+02] [ 9.37902521e-01 3.45726309e-01 -2.84987795e-02 8.10023676e+01] [ 3.13356759e-02 -2.61803317e-03 9.99505488e-01 5.59928493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01071405699997 meters Centerline goodness : 0.996162 Centerline is valid? [True, True] Translation: X:150.51, Y:81.03, Z:5.60 [[ 3.44594739e-01 -9.38657914e-01 -1.32584185e-02 1.50511688e+02] [ 9.38228407e-01 3.44839798e-01 -2.85126136e-02 8.10280762e+01] [ 3.13356208e-02 -2.61412817e-03 9.99505500e-01 5.59949892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04071405699997 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:150.52, Y:81.05, Z:5.60 [[ 3.43017075e-01 -9.39236868e-01 -1.31678361e-02 1.50522358e+02] [ 9.38806255e-01 3.43260124e-01 -2.85535256e-02 8.10544259e+01] [ 3.13385170e-02 -2.56770011e-03 9.99505530e-01 5.59724267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07071405699998 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:150.53, Y:81.08, Z:5.60 [[ 3.44171626e-01 -9.38812805e-01 -1.32819093e-02 1.50533115e+02] [ 9.38383802e-01 3.44417587e-01 -2.85020239e-02 8.10804059e+01] [ 3.13325881e-02 -2.65394062e-03 9.99505490e-01 5.59815045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10071405699998 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:150.54, Y:81.11, Z:5.60 [[ 3.45308374e-01 -9.38396056e-01 -1.32275887e-02 1.50544255e+02] [ 9.37965848e-01 3.45552176e-01 -2.85265218e-02 8.11059116e+01] [ 3.13399976e-02 -2.55657956e-03 9.99505512e-01 5.59802524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13071405699998 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:150.56, Y:81.13, Z:5.60 [[ 3.44147676e-01 -9.38822336e-01 -1.32287227e-02 1.50555224e+02] [ 9.38392448e-01 3.44392044e-01 -2.85260107e-02 8.11329707e+01] [ 3.13367229e-02 -2.59657318e-03 9.99505512e-01 5.60126824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16071405699998 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:150.57, Y:81.16, Z:5.61 [[ 3.46586444e-01 -9.37923286e-01 -1.33321749e-02 1.50566245e+02] [ 9.37494491e-01 3.46832816e-01 -2.84794094e-02 8.11574533e+01] [ 3.13355370e-02 -2.62826331e-03 9.99505466e-01 5.60530676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19071405699998 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:150.58, Y:81.18, Z:5.61 [[ 3.46060162e-01 -9.38119431e-01 -1.32021652e-02 1.50578955e+02] [ 9.37688606e-01 3.46302851e-01 -2.85379254e-02 8.11843437e+01] [ 3.13439298e-02 -2.50368081e-03 9.99505523e-01 5.60641100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22071405699998 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:150.59, Y:81.21, Z:5.60 [[ 3.45768078e-01 -9.38224880e-01 -1.33607956e-02 1.50591759e+02] [ 9.37796781e-01 3.46015686e-01 -2.84665016e-02 8.12108577e+01] [ 3.13310249e-02 -2.68690354e-03 9.99505451e-01 5.60434404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25071405699998 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:150.60, Y:81.24, Z:5.61 [[ 3.47293298e-01 -9.37660348e-01 -1.34326604e-02 1.50603329e+02] [ 9.37233052e-01 3.47542375e-01 -2.84341920e-02 8.12365504e+01] [ 3.13300331e-02 -2.71452903e-03 9.99505408e-01 5.60684838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28071405699998 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:150.62, Y:81.26, Z:5.61 [[ 3.46315078e-01 -9.38022496e-01 -1.34038949e-02 1.50616120e+02] [ 9.37594976e-01 3.46563734e-01 -2.84471143e-02 8.12638721e+01] [ 3.13293370e-02 -2.71575997e-03 9.99505426e-01 5.60728547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31071405699998 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:150.63, Y:81.29, Z:5.61 [[ 3.44910917e-01 -9.38537302e-01 -1.35717258e-02 1.50628638e+02] [ 9.38112994e-01 3.45165255e-01 -2.83717748e-02 8.12911034e+01] [ 3.13124572e-02 -2.94607741e-03 9.99505303e-01 5.60749303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34071405699999 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:150.64, Y:81.32, Z:5.61 [[ 3.46934863e-01 -9.37789870e-01 -1.36513887e-02 1.50639578e+02] [ 9.37366366e-01 3.47190675e-01 -2.83360424e-02 8.13150350e+01] [ 3.13128884e-02 -2.96559164e-03 9.99505232e-01 5.60802167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.370714057 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:150.65, Y:81.34, Z:5.61 [[ 3.48358186e-01 -9.37263928e-01 -1.35241866e-02 1.50651934e+02] [ 9.36837888e-01 3.48609532e-01 -2.83930426e-02 8.13419382e+01] [ 3.13264350e-02 -2.77902159e-03 9.99505343e-01 5.61160184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.400714057 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:150.66, Y:81.37, Z:5.61 [[ 3.47746492e-01 -9.37489915e-01 -1.36028010e-02 1.50662713e+02] [ 9.37065365e-01 3.48000480e-01 -2.83578518e-02 8.13688077e+01] [ 3.13189813e-02 -2.88537022e-03 9.99505276e-01 5.61070244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.430714057 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:150.66, Y:81.39, Z:5.61 [[ 3.41500739e-01 -9.39783128e-01 -1.35984629e-02 1.50656813e+02] [ 9.39360203e-01 3.41757415e-01 -2.83597910e-02 8.13896609e+01] [ 3.12994286e-02 -3.08896526e-03 9.99505280e-01 5.61024252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.460714057 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:150.66, Y:81.41, Z:5.62 [[ 3.44537810e-01 -9.38685222e-01 -1.27965468e-02 1.50662678e+02] [ 9.38248226e-01 3.44768898e-01 -2.87171434e-02 8.14111098e+01] [ 3.13682094e-02 -2.11219559e-03 9.99505665e-01 5.61548092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.490714057 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:150.68, Y:81.44, Z:5.61 [[ 3.46085179e-01 -9.38122281e-01 -1.23140046e-02 1.50679597e+02] [ 9.37677300e-01 3.46300785e-01 -2.89317589e-02 8.14429158e+01] [ 3.14058771e-02 -1.53370967e-03 9.99505537e-01 5.61159652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.520714057 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:150.71, Y:81.48, Z:5.61 [[ 3.52506371e-01 -9.35722011e-01 -1.27897399e-02 1.50708810e+02] [ 9.35282966e-01 3.52733526e-01 -2.87199059e-02 8.14771697e+01] [ 3.13852182e-02 -1.83807605e-03 9.99505673e-01 5.61094331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.550714057 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:150.72, Y:81.50, Z:5.62 [[ 3.58856452e-01 -9.33290187e-01 -1.38374303e-02 1.50718078e+02] [ 9.32866583e-01 3.59112454e-01 -2.82521305e-02 8.14985830e+01] [ 3.13366297e-02 -2.77001706e-03 9.99505049e-01 5.61506902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.580714057 meters Centerline goodness : 0.993036 Centerline is valid? [True, True] Translation: X:150.73, Y:81.52, Z:5.62 [[ 3.61163971e-01 -9.32407213e-01 -1.33182408e-02 1.50729338e+02] [ 9.31974533e-01 3.61403197e-01 -2.84815568e-02 8.15242170e+01] [ 3.13696638e-02 -2.12574908e-03 9.99505590e-01 5.61895971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.610714057 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:150.74, Y:81.56, Z:5.62 [[ 3.58168061e-01 -9.33561642e-01 -1.33529047e-02 1.50742407e+02] [ 9.33130290e-01 3.58409728e-01 -2.84662698e-02 8.15556916e+01] [ 3.13608285e-02 -2.26429113e-03 9.99505563e-01 5.61602048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.640714057 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:150.75, Y:81.58, Z:5.62 [[ 3.58291650e-01 -9.33509519e-01 -1.36774314e-02 1.50754693e+02] [ 9.33083397e-01 3.58543087e-01 -2.83236546e-02 8.15817112e+01] [ 3.13443496e-02 -2.61405522e-03 9.99505227e-01 5.61706636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.670714057 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:150.77, Y:81.61, Z:5.62 [[ 3.58163823e-01 -9.33557556e-01 -1.37465038e-02 1.50765083e+02] [ 9.33132602e-01 3.58417403e-01 -2.82933277e-02 8.16051084e+01] [ 3.13404360e-02 -2.69366445e-03 9.99505138e-01 5.61706781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.700714057 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:150.78, Y:81.63, Z:5.62 [[ 3.56498670e-01 -9.34197898e-01 -1.35272066e-02 1.50777630e+02] [ 9.33769808e-01 3.56746387e-01 -2.83894727e-02 8.16312597e+01] [ 3.13471678e-02 -2.51048787e-03 9.99505404e-01 5.61679846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73071405699997 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:150.79, Y:81.65, Z:5.62 [[ 3.55605514e-01 -9.34537083e-01 -1.36072999e-02 1.50788191e+02] [ 9.34110536e-01 3.55856060e-01 -2.83543909e-02 8.16549707e+01] [ 3.13404699e-02 -2.62774445e-03 9.99505313e-01 5.61696491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76071405699997 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:150.80, Y:81.68, Z:5.62 [[ 3.54318332e-01 -9.35029724e-01 -1.33392002e-02 1.50798582e+02] [ 9.34599189e-01 3.54561356e-01 -2.84710378e-02 8.16776152e+01] [ 3.13508315e-02 -2.37899504e-03 9.99505611e-01 5.62196295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79071405699997 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:150.80, Y:81.70, Z:5.62 [[ 3.43461508e-01 -9.39074406e-01 -1.31701476e-02 1.50798134e+02] [ 9.38643967e-01 3.43704402e-01 -2.85444626e-02 8.16992385e+01] [ 3.13320119e-02 -2.55815539e-03 9.99505758e-01 5.61577916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82071405699998 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:150.83, Y:81.73, Z:5.62 [[ 3.49567949e-01 -9.36827710e-01 -1.24936114e-02 1.50826101e+02] [ 9.36385162e-01 3.49787397e-01 -2.88375749e-02 8.17329771e+01] [ 3.13859471e-02 -1.61814044e-03 9.99506030e-01 5.61560561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85071405699998 meters Centerline goodness : 0.994317 Centerline is valid? [True, True] Translation: X:150.82, Y:81.75, Z:5.62 [[ 3.40340150e-01 -9.40204788e-01 -1.35476522e-02 1.50822854e+02] [ 9.39781393e-01 3.40595821e-01 -2.83799099e-02 8.17494863e+01] [ 3.12972009e-02 -3.07300868e-03 9.99505399e-01 5.61784994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88071405699998 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:150.85, Y:81.78, Z:5.62 [[ 3.44767505e-01 -9.38605226e-01 -1.24738540e-02 1.50845868e+02] [ 9.38163561e-01 3.44988607e-01 -2.88443024e-02 8.17816040e+01] [ 3.13767505e-02 -1.75793710e-03 9.99506083e-01 5.61959610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91071405699998 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:150.85, Y:81.80, Z:5.62 [[ 3.40395794e-01 -9.40187943e-01 -1.33167197e-02 1.50849166e+02] [ 9.39760795e-01 3.40644499e-01 -2.84776077e-02 8.18024920e+01] [ 3.13105707e-02 -2.82087324e-03 9.99505723e-01 5.62381168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94071405699998 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:150.86, Y:81.83, Z:5.62 [[ 3.38228120e-01 -9.40980186e-01 -1.25709513e-02 1.50857012e+02] [ 9.40541620e-01 3.38455248e-01 -2.88011394e-02 8.18286310e+01] [ 3.13560060e-02 -2.08214767e-03 9.99506111e-01 5.62203105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97071405699998 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:150.87, Y:81.86, Z:5.63 [[ 3.39906178e-01 -9.40376317e-01 -1.24968823e-02 1.50872102e+02] [ 9.39936193e-01 3.40130264e-01 -2.88332425e-02 8.18554578e+01] [ 3.13646662e-02 -1.94567474e-03 9.99506114e-01 5.62723935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00071405699998 meters Centerline goodness : 0.996288 Centerline is valid? [True, True] Translation: X:150.88, Y:81.88, Z:5.63 [[ 3.37312200e-01 -9.41307976e-01 -1.26401405e-02 1.50879986e+02] [ 9.40870721e-01 3.37541859e-01 -2.87711725e-02 8.18806625e+01] [ 3.13491107e-02 -2.18787059e-03 9.99506101e-01 5.62508389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03071405699998 meters Centerline goodness : 0.996033 Centerline is valid? [True, True] Translation: X:150.89, Y:81.91, Z:5.63 [[ 3.36815175e-01 -9.41487993e-01 -1.24858675e-02 1.50890917e+02] [ 9.41048437e-01 3.37040369e-01 -2.88379680e-02 8.19062388e+01] [ 3.13588420e-02 -2.03674085e-03 9.99506115e-01 5.62604376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06071405699998 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:150.92, Y:81.94, Z:5.63 [[ 3.44770954e-01 -9.38603901e-01 -1.24782271e-02 1.50919255e+02] [ 9.38162338e-01 3.44992187e-01 -2.88412736e-02 8.19419463e+01] [ 3.13754228e-02 -1.76296931e-03 9.99506115e-01 5.62685949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09071405699999 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:150.92, Y:81.96, Z:5.63 [[ 3.37874806e-01 -9.41090768e-01 -1.37397610e-02 1.50922420e+02] [ 9.40671631e-01 3.38137286e-01 -2.82853090e-02 8.19611281e+01] [ 3.12649687e-02 -3.36771013e-03 9.99505458e-01 5.62900366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.120714057 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:150.93, Y:81.99, Z:5.63 [[ 3.35666671e-01 -9.41895216e-01 -1.26999009e-02 1.50932782e+02] [ 9.41459417e-01 3.35898901e-01 -2.87418643e-02 8.19862303e+01] [ 3.13377072e-02 -2.30875539e-03 9.99506187e-01 5.62645897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.150714057 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:150.94, Y:82.01, Z:5.63 [[ 3.35400492e-01 -9.41991039e-01 -1.26250837e-02 1.50944067e+02] [ 9.41554106e-01 3.35630574e-01 -2.87746909e-02 8.20122463e+01] [ 3.13428651e-02 -2.23615390e-03 9.99506190e-01 5.62738228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.180714057 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:150.97, Y:82.04, Z:5.63 [[ 3.41463687e-01 -9.39810280e-01 -1.26169496e-02 1.50971243e+02] [ 9.39371746e-01 3.41690701e-01 -2.87782571e-02 8.20449378e+01] [ 3.13571962e-02 -2.02527620e-03 9.99506190e-01 5.62898955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.210714057 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:150.98, Y:82.07, Z:5.63 [[ 3.35268183e-01 -9.42026766e-01 -1.34468179e-02 1.50979015e+02] [ 9.41603309e-01 3.35523093e-01 -2.84158865e-02 8.20715225e+01] [ 3.12802436e-02 -3.13462556e-03 9.99505738e-01 5.62998750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.240714057 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:150.99, Y:82.10, Z:5.63 [[ 3.33982818e-01 -9.42485128e-01 -1.33138982e-02 1.50989512e+02] [ 9.42059793e-01 3.34234327e-01 -2.84738472e-02 8.20973190e+01] [ 3.12861394e-02 -3.03271242e-03 9.99505868e-01 5.62786891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.270714057 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:151.00, Y:82.12, Z:5.62 [[ 3.34669771e-01 -9.42241316e-01 -1.33209013e-02 1.50999548e+02] [ 9.41815915e-01 3.34921180e-01 -2.84707823e-02 8.21243722e+01] [ 3.12877994e-02 -3.01752662e-03 9.99505862e-01 5.62239321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.300714057 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:151.01, Y:82.15, Z:5.62 [[ 3.33788417e-01 -9.42556549e-01 -1.31318099e-02 1.51010429e+02] [ 9.42128261e-01 3.34034548e-01 -2.85527764e-02 8.21514656e+01] [ 3.12990846e-02 -2.84126313e-03 9.99506025e-01 5.62458611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.330714057 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:151.02, Y:82.18, Z:5.63 [[ 3.33052254e-01 -9.42814448e-01 -1.33083940e-02 1.51018938e+02] [ 9.42389270e-01 3.33304018e-01 -2.84762277e-02 8.21763742e+01] [ 3.12835401e-02 -3.05761593e-03 9.99505873e-01 5.62907126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.360714057 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:151.03, Y:82.20, Z:5.63 [[ 3.35643440e-01 -9.41897372e-01 -1.31461824e-02 1.51027344e+02] [ 9.41468838e-01 3.35889159e-01 -2.85464572e-02 8.22038664e+01] [ 3.13034931e-02 -2.79528996e-03 9.99506017e-01 5.63182373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.390714057 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:151.04, Y:82.23, Z:5.63 [[ 3.37472264e-01 -9.41243382e-01 -1.31668923e-02 1.51038044e+02] [ 9.40814709e-01 3.37717774e-01 -2.85374978e-02 8.22309717e+01] [ 3.13074245e-02 -2.75699200e-03 9.99506000e-01 5.63284845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.420714057 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:151.05, Y:82.26, Z:5.63 [[ 3.39116793e-01 -9.40650450e-01 -1.32865202e-02 1.51045411e+02] [ 9.40223299e-01 3.39365156e-01 -2.84857712e-02 8.22568261e+01] [ 3.13041355e-02 -2.83229247e-03 9.99505893e-01 5.63496073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.450714057 meters Centerline goodness : 0.994370 Centerline is valid? [True, True] Translation: X:151.05, Y:82.28, Z:5.64 [[ 3.38898222e-01 -9.40730468e-01 -1.31978353e-02 1.51054928e+02] [ 9.40301924e-01 3.39144014e-01 -2.85241776e-02 8.22825694e+01] [ 3.13095298e-02 -2.74315687e-03 9.99505972e-01 5.63618760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48071405699997 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:151.06, Y:82.31, Z:5.64 [[ 3.39034467e-01 -9.40682389e-01 -1.31253198e-02 1.51063802e+02] [ 9.40252635e-01 3.39278012e-01 -2.85554313e-02 8.23093331e+01] [ 3.13147237e-02 -2.65984108e-03 9.99506035e-01 5.63775663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51071405699997 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:151.07, Y:82.33, Z:5.64 [[ 3.38303289e-01 -9.40945389e-01 -1.31400208e-02 1.51070319e+02] [ 9.40516063e-01 3.38547611e-01 -2.85490994e-02 8.23323159e+01] [ 3.13116661e-02 -2.70014638e-03 9.99506022e-01 5.63960685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54071405699997 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:151.08, Y:82.36, Z:5.64 [[ 3.37041499e-01 -9.41401994e-01 -1.28574291e-02 1.51081754e+02] [ 9.40968459e-01 3.37277860e-01 -2.86706067e-02 8.23612422e+01] [ 3.13270925e-02 -2.43525097e-03 9.99506220e-01 5.63854784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57071405699998 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:151.09, Y:82.39, Z:5.64 [[ 3.34683864e-01 -9.42240985e-01 -1.29860850e-02 1.51090167e+02] [ 9.41810101e-01 3.34925196e-01 -2.86155013e-02 8.23870916e+01] [ 3.13120652e-02 -2.65327953e-03 9.99506135e-01 5.63613371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60071405699998 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:151.10, Y:82.41, Z:5.64 [[ 3.33751304e-01 -9.42572789e-01 -1.29075327e-02 1.51099689e+02] [ 9.42140884e-01 3.33990692e-01 -2.86491283e-02 8.24125189e+01] [ 3.13148846e-02 -2.59903029e-03 9.99506190e-01 5.64109838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63071405699998 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:151.11, Y:82.44, Z:5.64 [[ 3.32627955e-01 -9.42970588e-01 -1.28496460e-02 1.51107728e+02] [ 9.42538041e-01 3.32866109e-01 -2.86739404e-02 8.24380299e+01] [ 3.13158941e-02 -2.57352603e-03 9.99506224e-01 5.64036729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66071405699998 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:151.12, Y:82.46, Z:5.64 [[ 3.32256102e-01 -9.43103141e-01 -1.27415789e-02 1.51115656e+02] [ 9.42668971e-01 3.32491159e-01 -2.87200365e-02 8.24618440e+01] [ 3.13224190e-02 -2.46868370e-03 9.99506284e-01 5.64127654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69071405699998 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:151.12, Y:82.49, Z:5.64 [[ 3.30442642e-01 -9.43742905e-01 -1.25295662e-02 1.51123071e+02] [ 9.43305847e-01 3.30672110e-01 -2.88103305e-02 8.24907769e+01] [ 3.13327231e-02 -2.29905136e-03 9.99506366e-01 5.63989341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72071405699998 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:151.13, Y:82.52, Z:5.64 [[ 3.30490505e-01 -9.43724829e-01 -1.26282742e-02 1.51130029e+02] [ 9.43289308e-01 3.30722944e-01 -2.87683092e-02 8.25159510e+01] [ 3.13258277e-02 -2.40446301e-03 9.99506334e-01 5.64061240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75071405699998 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:151.14, Y:82.54, Z:5.64 [[ 3.31398283e-01 -9.43409003e-01 -1.24350569e-02 1.51135422e+02] [ 9.42970246e-01 3.31624435e-01 -2.88504767e-02 8.25433294e+01] [ 3.13415682e-02 -2.16489021e-03 9.99506388e-01 5.64165712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78071405699998 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:151.14, Y:82.57, Z:5.64 [[ 3.32346781e-01 -9.43075517e-01 -1.24171623e-02 1.51144173e+02] [ 9.42636256e-01 3.32571947e-01 -2.88580767e-02 8.25689761e+01] [ 3.13449455e-02 -2.11397854e-03 9.99506391e-01 5.64464608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81071405699998 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:151.15, Y:82.60, Z:5.65 [[ 3.33216899e-01 -9.42769568e-01 -1.23304308e-02 1.51153199e+02] [ 9.42328769e-01 3.33439015e-01 -2.88948865e-02 8.25954617e+01] [ 3.13526663e-02 -1.99105517e-03 9.99506401e-01 5.64621341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84071405699999 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:151.16, Y:82.62, Z:5.65 [[ 3.33779063e-01 -9.42570037e-01 -1.23799361e-02 1.51161393e+02] [ 9.42129863e-01 3.34002427e-01 -2.88738753e-02 8.26247211e+01] [ 3.13505785e-02 -2.02601245e-03 9.99506396e-01 5.64765019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.870714057 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:151.17, Y:82.65, Z:5.65 [[ 3.34803575e-01 -9.42204286e-01 -1.25558270e-02 1.51169559e+02] [ 9.41766577e-01 3.35031818e-01 -2.87992147e-02 8.26496459e+01] [ 3.13413451e-02 -2.18257815e-03 9.99506356e-01 5.65065270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.900714057 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:151.18, Y:82.68, Z:5.65 [[ 3.39259971e-01 -9.40610779e-01 -1.24111000e-02 1.51179321e+02] [ 9.40169790e-01 3.39481721e-01 -2.88604743e-02 8.26798411e+01] [ 3.13598148e-02 -1.87733762e-03 9.99506397e-01 5.65134518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.930714057 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:151.19, Y:82.71, Z:5.65 [[ 3.40309968e-01 -9.40232406e-01 -1.23348823e-02 1.51191477e+02] [ 9.39790020e-01 3.40528893e-01 -2.88927442e-02 8.27123713e+01] [ 3.13662782e-02 -1.75971047e-03 9.99506408e-01 5.65033473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.960714057 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:151.20, Y:82.74, Z:5.65 [[ 3.43348300e-01 -9.39124082e-01 -1.25659738e-02 1.51201267e+02] [ 9.38684479e-01 3.43572867e-01 -2.87946735e-02 8.27363379e+01] [ 3.13590990e-02 -1.90888239e-03 9.99506360e-01 5.65102722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.990714057 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:151.21, Y:82.77, Z:5.65 [[ 3.41414151e-01 -9.39830394e-01 -1.24582580e-02 1.51213787e+02] [ 9.39389616e-01 3.41636333e-01 -2.88403478e-02 8.27670904e+01] [ 3.13612290e-02 -1.85665535e-03 9.99506391e-01 5.64943885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.020714057 meters Centerline goodness : 0.995209 Centerline is valid? [True, True] Translation: X:151.23, Y:82.80, Z:5.65 [[ 3.44293830e-01 -9.38774741e-01 -1.27963061e-02 1.51225120e+02] [ 9.38338436e-01 3.44524980e-01 -2.86970070e-02 8.27956052e+01] [ 3.13486724e-02 -2.12706338e-03 9.99506246e-01 5.64831392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.050714057 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:151.24, Y:82.83, Z:5.65 [[ 3.46692781e-01 -9.37890986e-01 -1.28302267e-02 1.51236058e+02] [ 9.37454610e-01 3.46923849e-01 -2.86827053e-02 8.28260515e+01] [ 3.13523624e-02 -2.08366829e-03 9.99506222e-01 5.64849737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.080714057 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:151.25, Y:82.86, Z:5.65 [[ 3.49010266e-01 -9.37029582e-01 -1.29382238e-02 1.51250592e+02] [ 9.36594282e-01 3.49243548e-01 -2.86373163e-02 8.28573886e+01] [ 3.13526037e-02 -2.12314902e-03 9.99506131e-01 5.64782429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.110714057 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:151.26, Y:82.88, Z:5.65 [[ 3.50672409e-01 -9.36404664e-01 -1.32350386e-02 1.51258449e+02] [ 9.35973522e-01 3.50913946e-01 -2.85126015e-02 8.28819055e+01] [ 3.13436927e-02 -2.38906305e-03 9.99505811e-01 5.64922716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.140714057 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:151.27, Y:82.91, Z:5.65 [[ 3.51068520e-01 -9.36261776e-01 -1.28367467e-02 1.51267176e+02] [ 9.35824414e-01 3.51297748e-01 -2.86802916e-02 8.29092518e+01] [ 3.13617810e-02 -1.94419343e-03 9.99506207e-01 5.65354420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.170714057 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:151.28, Y:82.94, Z:5.65 [[ 3.52715429e-01 -9.35642382e-01 -1.28514623e-02 1.51278447e+02] [ 9.35204839e-01 3.52944337e-01 -2.86741050e-02 8.29361750e+01] [ 3.13645587e-02 -1.90495046e-03 9.99506196e-01 5.65396178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.200714057 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:151.29, Y:82.97, Z:5.66 [[ 3.53325470e-01 -9.35411579e-01 -1.28953318e-02 1.51287442e+02] [ 9.34974547e-01 3.53555434e-01 -2.86557551e-02 8.29653078e+01] [ 3.13641398e-02 -1.93199883e-03 9.99506157e-01 5.66027685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23071405699997 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:151.30, Y:82.99, Z:5.66 [[ 3.53576814e-01 -9.35318222e-01 -1.27773084e-02 1.51298803e+02] [ 9.34879364e-01 3.53803049e-01 -2.87050157e-02 8.29947854e+01] [ 3.13689749e-02 -1.79581396e-03 9.99506259e-01 5.66160472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26071405699997 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:151.31, Y:83.02, Z:5.66 [[ 3.53993244e-01 -9.35160818e-01 -1.27682565e-02 1.51308705e+02] [ 9.34721723e-01 3.54219007e-01 -2.87087928e-02 8.30214838e+01] [ 3.13700973e-02 -1.77204798e-03 9.99506267e-01 5.66242985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29071405699997 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:151.32, Y:83.05, Z:5.66 [[ 3.53222545e-01 -9.35454971e-01 -1.25630817e-02 1.51320237e+02] [ 9.35013031e-01 3.53442378e-01 -2.87944073e-02 8.30472417e+01] [ 3.13761969e-02 -1.57581128e-03 9.99506404e-01 5.66396566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32071405699998 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:151.33, Y:83.08, Z:5.66 [[ 3.50892555e-01 -9.36330781e-01 -1.26128378e-02 1.51332996e+02] [ 9.35890123e-01 3.51115013e-01 -2.87736853e-02 8.30752586e+01] [ 3.13702439e-02 -1.70775836e-03 9.99506374e-01 5.66290433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35071405699998 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:151.34, Y:83.10, Z:5.66 [[ 3.50351775e-01 -9.36534302e-01 -1.25353199e-02 1.51344624e+02] [ 9.36092630e-01 3.50572110e-01 -2.88059557e-02 8.31009596e+01] [ 3.13722992e-02 -1.64200287e-03 9.99506420e-01 5.66354680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38071405699998 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:151.36, Y:83.13, Z:5.66 [[ 3.47326723e-01 -9.37660367e-01 -1.25372777e-02 1.51356053e+02] [ 9.37219438e-01 3.47548543e-01 -2.88051416e-02 8.31260893e+01] [ 3.13667523e-02 -1.74538496e-03 9.99506418e-01 5.66285192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41071405699998 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:151.37, Y:83.14, Z:5.67 [[ 3.49887712e-01 -9.36708923e-01 -1.24492359e-02 1.51365257e+02] [ 9.36266099e-01 3.50105623e-01 -2.88417139e-02 8.31443040e+01] [ 3.13748383e-02 -1.56443625e-03 9.99506464e-01 5.66731874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44071405699998 meters Centerline goodness : 0.994235 Centerline is valid? [True, True] Translation: X:151.38, Y:83.18, Z:5.66 [[ 3.44647147e-01 -9.38656494e-01 -1.19302141e-02 1.51380704e+02] [ 9.38207389e-01 3.44851557e-01 -2.90568088e-02 8.31769010e+01] [ 3.13885152e-02 -1.17866875e-03 9.99506564e-01 5.66479137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47071405699998 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:151.39, Y:83.20, Z:5.67 [[ 3.42706674e-01 -9.39360017e-01 -1.24456628e-02 1.51391624e+02] [ 9.38918827e-01 3.42927859e-01 -2.88430355e-02 8.32021841e+01] [ 3.13619588e-02 -1.80076634e-03 9.99506471e-01 5.66577388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50071405699998 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:151.40, Y:83.23, Z:5.67 [[ 3.40711053e-01 -9.40086858e-01 -1.23562718e-02 1.51401983e+02] [ 9.39644815e-01 3.40930438e-01 -2.88800753e-02 8.32271364e+01] [ 3.13624084e-02 -1.77074583e-03 9.99506510e-01 5.66691892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53071405699998 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:151.42, Y:83.25, Z:5.67 [[ 3.39810709e-01 -9.40414704e-01 -1.22010467e-02 1.51419133e+02] [ 9.39970590e-01 3.40025759e-01 -2.89443033e-02 8.32531735e+01] [ 3.13683187e-02 -1.63304083e-03 9.99506559e-01 5.66922963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56071405699998 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:151.43, Y:83.27, Z:5.67 [[ 3.37707436e-01 -9.41169892e-01 -1.23661438e-02 1.51429990e+02] [ 9.40728699e-01 3.37928533e-01 -2.88759852e-02 8.32740192e+01] [ 3.13560808e-02 -1.88155143e-03 9.99506506e-01 5.67187588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59071405699999 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:151.44, Y:83.29, Z:5.68 [[ 3.37399313e-01 -9.41285209e-01 -1.19941620e-02 1.51437231e+02] [ 9.40838637e-01 3.37609147e-01 -2.90296793e-02 8.32936705e+01] [ 3.13745466e-02 -1.48997723e-03 9.99506587e-01 5.67776591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.620714057 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:151.45, Y:83.33, Z:5.67 [[ 3.34345513e-01 -9.42382109e-01 -1.13594966e-02 1.51454694e+02] [ 9.41927217e-01 3.34537200e-01 -2.92913016e-02 8.33256792e+01] [ 3.14037728e-02 -9.06403787e-04 9.99506369e-01 5.67222025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.650714057 meters Centerline goodness : 0.992939 Centerline is valid? [True, True] Translation: X:151.47, Y:83.35, Z:5.68 [[ 3.37632519e-01 -9.41200942e-01 -1.20444491e-02 1.51471330e+02] [ 9.40755057e-01 3.37843788e-01 -2.90085761e-02 8.33481334e+01] [ 3.13720414e-02 -1.53663780e-03 9.99506595e-01 5.68345127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.680714057 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:151.48, Y:83.38, Z:5.67 [[ 3.31577986e-01 -9.43352737e-01 -1.19017731e-02 1.51483132e+02] [ 9.42906135e-01 3.31787739e-01 -2.90674381e-02 8.33768959e+01] [ 3.13697097e-02 -1.58413226e-03 9.99506594e-01 5.67070576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.710714057 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:151.50, Y:83.40, Z:5.68 [[ 3.33804199e-01 -9.42565344e-01 -1.20552292e-02 1.51500794e+02] [ 9.42120479e-01 3.34017610e-01 -2.90041418e-02 8.33996775e+01] [ 3.13649578e-02 -1.67577399e-03 9.99506594e-01 5.68255864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.740714057 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:151.51, Y:83.42, Z:5.68 [[ 3.33592720e-01 -9.42641842e-01 -1.19270713e-02 1.51513417e+02] [ 9.42195160e-01 3.33802295e-01 -2.90569660e-02 8.34231938e+01] [ 3.13715957e-02 -1.54443652e-03 9.99506597e-01 5.68166979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.770714057 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:151.53, Y:83.45, Z:5.68 [[ 3.33521280e-01 -9.42667802e-01 -1.18731447e-02 1.51529290e+02] [ 9.42220357e-01 3.33729231e-01 -2.90791818e-02 8.34481192e+01] [ 3.13744238e-02 -1.48859270e-03 9.99506593e-01 5.68091312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.800714057 meters Centerline goodness : 0.993917 Centerline is valid? [True, True] Translation: X:151.54, Y:83.47, Z:5.68 [[ 3.33985409e-01 -9.42502267e-01 -1.19675859e-02 1.51542527e+02] [ 9.42056085e-01 3.34196043e-01 -2.90402743e-02 8.34735978e+01] [ 3.13700443e-02 -1.57510924e-03 9.99506598e-01 5.68030203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.830714057 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:151.56, Y:83.50, Z:5.68 [[ 3.31798999e-01 -9.43273948e-01 -1.19868282e-02 1.51555070e+02] [ 9.42828536e-01 3.32011258e-01 -2.90323509e-02 8.35000499e+01] [ 3.13652221e-02 -1.66861868e-03 9.99506598e-01 5.67620357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.860714057 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:151.57, Y:83.53, Z:5.68 [[ 3.32774183e-01 -9.42930757e-01 -1.19553472e-02 1.51567879e+02] [ 9.42484668e-01 3.32985015e-01 -2.90453088e-02 8.35253234e+01] [ 3.13686665e-02 -1.60220251e-03 9.99506598e-01 5.67740107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.890714057 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:151.58, Y:83.55, Z:5.68 [[ 3.33233268e-01 -9.42768719e-01 -1.19469994e-02 1.51575254e+02] [ 9.42322407e-01 3.33443627e-01 -2.90487420e-02 8.35460157e+01] [ 3.13698961e-02 -1.57791803e-03 9.99506598e-01 5.67578190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.920714057 meters Centerline goodness : 0.992532 Centerline is valid? [True, True] Translation: X:151.60, Y:83.58, Z:5.68 [[ 3.39524516e-01 -9.40527142e-01 -1.14803357e-02 1.51599108e+02] [ 9.40072904e-01 3.39717453e-01 -2.92401646e-02 8.35769640e+01] [ 3.14012389e-02 -8.64599749e-04 9.99506486e-01 5.67990495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.950714057 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:151.61, Y:83.60, Z:5.68 [[ 3.38364832e-01 -9.40935941e-01 -1.21981803e-02 1.51611385e+02] [ 9.40492097e-01 3.38580478e-01 -2.89460958e-02 8.36024928e+01] [ 3.13664876e-02 -1.67795128e-03 9.99506542e-01 5.68271024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98071405699997 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:151.62, Y:83.63, Z:5.69 [[ 3.39096594e-01 -9.40672455e-01 -1.21996824e-02 1.51624310e+02] [ 9.40228465e-01 3.39311940e-01 -2.89454807e-02 8.36268570e+01] [ 3.13677143e-02 -1.65517472e-03 9.99506542e-01 5.68588787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01071405699997 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:151.64, Y:83.65, Z:5.69 [[ 3.38869299e-01 -9.40754919e-01 -1.21565361e-02 1.51636873e+02] [ 9.40310356e-01 3.39083428e-01 -2.89631383e-02 8.36535474e+01] [ 3.13692948e-02 -1.61619846e-03 9.99506556e-01 5.68771710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04071405699997 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:151.65, Y:83.68, Z:5.69 [[ 3.38901544e-01 -9.40741818e-01 -1.22709274e-02 1.51653493e+02] [ 9.40298908e-01 3.39119167e-01 -2.89163422e-02 8.36805939e+01] [ 3.13641190e-02 -1.73854661e-03 9.99506513e-01 5.68872983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07071405699998 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:151.66, Y:83.71, Z:5.69 [[ 3.38527076e-01 -9.40874392e-01 -1.24417160e-02 1.51664025e+02] [ 9.40434074e-01 3.38750103e-01 -2.88465080e-02 8.37067211e+01] [ 3.13555733e-02 -1.93528967e-03 9.99506420e-01 5.68954631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10071405699998 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:151.68, Y:83.74, Z:5.69 [[ 3.34682761e-01 -9.42248832e-01 -1.24333300e-02 1.51678233e+02] [ 9.41809303e-01 3.34907328e-01 -2.88499345e-02 8.37359768e+01] [ 3.13478304e-02 -2.05425018e-03 9.99506425e-01 5.68999295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13071405699998 meters Centerline goodness : 0.992286 Centerline is valid? [True, True] Translation: X:151.69, Y:83.76, Z:5.69 [[ 3.34497478e-01 -9.42310867e-01 -1.27148542e-02 1.51692189e+02] [ 9.41875602e-01 3.34730701e-01 -2.87351483e-02 8.37582223e+01] [ 3.13334945e-02 -2.36397637e-03 9.99506190e-01 5.69126320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16071405699998 meters Centerline goodness : 0.991824 Centerline is valid? [True, True] Translation: X:151.70, Y:83.78, Z:5.69 [[ 3.33052600e-01 -9.42825067e-01 -1.25243398e-02 1.51703498e+02] [ 9.42387290e-01 3.33280699e-01 -2.88127034e-02 8.37817491e+01] [ 3.13394597e-02 -2.20663284e-03 9.99506363e-01 5.69177264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19071405699998 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:151.71, Y:83.80, Z:5.69 [[ 3.20598754e-01 -9.47133440e-01 -1.24372995e-02 1.51706368e+02] [ 9.46697373e-01 3.20829969e-01 -2.88481481e-02 8.38026411e+01] [ 3.13133041e-02 -2.52567840e-03 9.99506427e-01 5.68967497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22071405699998 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:151.72, Y:83.83, Z:5.69 [[ 3.18173883e-01 -9.47958715e-01 -1.18175951e-02 1.51718530e+02] [ 9.47513949e-01 3.18387370e-01 -2.90998210e-02 8.38286636e+01] [ 3.13480019e-02 -1.93853311e-03 9.99506651e-01 5.69014284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25071405699998 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:151.73, Y:83.85, Z:5.69 [[ 3.15724300e-01 -9.48777465e-01 -1.18105128e-02 1.51730403e+02] [ 9.48333148e-01 3.15938719e-01 -2.91026952e-02 8.38538738e+01] [ 3.13433796e-02 -2.01187270e-03 9.99506651e-01 5.68986811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28071405699998 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:151.74, Y:83.88, Z:5.69 [[ 3.12459619e-01 -9.49857720e-01 -1.18024618e-02 1.51743135e+02] [ 9.49414023e-01 3.12675319e-01 -2.91059598e-02 8.38779942e+01] [ 3.13368592e-02 -2.11098565e-03 9.99506651e-01 5.69001935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31071405699998 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:151.78, Y:83.92, Z:5.69 [[ 3.25430464e-01 -9.45492357e-01 -1.17989678e-02 1.51782797e+02] [ 9.45045700e-01 3.25639964e-01 -2.91073761e-02 8.39227079e+01] [ 3.13630171e-02 -1.67813688e-03 9.99506651e-01 5.68588665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34071405699999 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:151.77, Y:83.93, Z:5.69 [[ 3.10149508e-01 -9.50584708e-01 -1.39998548e-02 1.51766168e+02] [ 9.50177005e-01 3.10431920e-01 -2.82078287e-02 8.39292646e+01] [ 3.11599324e-02 -4.55369589e-03 9.99504038e-01 5.69006986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.370714057 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:151.80, Y:83.97, Z:5.68 [[ 3.21875654e-01 -9.46708512e-01 -1.17922242e-02 1.51801562e+02] [ 9.46262787e-01 3.22086611e-01 -2.91024500e-02 8.39707444e+01] [ 3.13496546e-02 -1.79117277e-03 9.99506874e-01 5.68497158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.400714057 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:151.81, Y:84.00, Z:5.69 [[ 3.20280522e-01 -9.47231682e-01 -1.31349628e-02 1.51814805e+02] [ 9.46806604e-01 3.20532886e-01 -2.85643895e-02 8.40037179e+01] [ 3.12672822e-02 -3.28765192e-03 9.99505652e-01 5.68900316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.430714057 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:151.81, Y:84.02, Z:5.69 [[ 3.16535053e-01 -9.48482329e-01 -1.36686629e-02 1.51814358e+02] [ 9.48066918e-01 3.16804974e-01 -2.83500942e-02 8.40210163e+01] [ 3.12198638e-02 -3.98500859e-03 9.99504597e-01 5.68773989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.460714057 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:151.82, Y:84.05, Z:5.69 [[ 3.13903577e-01 -9.49372359e-01 -1.25167328e-02 1.51823670e+02] [ 9.48939390e-01 3.14140240e-01 -2.88087323e-02 8.40503543e+01] [ 3.12822236e-02 -2.83445668e-03 9.99506572e-01 5.69218618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.490714057 meters Centerline goodness : 0.993838 Centerline is valid? [True, True] Translation: X:151.83, Y:84.08, Z:5.69 [[ 3.11225760e-01 -9.50249987e-01 -1.27862953e-02 1.51830519e+02] [ 9.49821864e-01 3.11471742e-01 -2.87015706e-02 8.40773750e+01] [ 3.12562367e-02 -3.21203467e-03 9.99506243e-01 5.69464226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.520714057 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:151.84, Y:84.10, Z:5.70 [[ 3.10506347e-01 -9.50487015e-01 -1.26586829e-02 1.51839571e+02] [ 9.50057094e-01 3.10748824e-01 -2.87521719e-02 8.41030887e+01] [ 3.12622369e-02 -3.09873964e-03 9.99506413e-01 5.69524697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.550714057 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:151.85, Y:84.13, Z:5.70 [[ 3.09288863e-01 -9.50884044e-01 -1.26465226e-02 1.51848198e+02] [ 9.50454244e-01 3.09531525e-01 -2.87569977e-02 8.41281749e+01] [ 3.12590677e-02 -3.12572197e-03 9.99506428e-01 5.69607630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.580714057 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:151.86, Y:84.16, Z:5.70 [[ 3.06612327e-01 -9.51751678e-01 -1.25548734e-02 1.51856810e+02] [ 9.51321139e-01 3.06853448e-01 -2.87932434e-02 8.41554812e+01] [ 3.12565239e-02 -3.11535310e-03 9.99506540e-01 5.69803433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.610714057 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:151.87, Y:84.18, Z:5.70 [[ 3.04353943e-01 -9.52476697e-01 -1.25227580e-02 1.51865789e+02] [ 9.52046234e-01 3.04595121e-01 -2.88059026e-02 8.41830980e+01] [ 3.12513219e-02 -3.15505458e-03 9.99506579e-01 5.69915825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.640714057 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:151.87, Y:84.21, Z:5.70 [[ 3.02610931e-01 -9.53030825e-01 -1.26044323e-02 1.51874589e+02] [ 9.52602076e-01 3.02855343e-01 -2.87737099e-02 8.42085061e+01] [ 3.12395521e-02 -3.29976922e-03 9.99506479e-01 5.69945946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.670714057 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:151.89, Y:84.24, Z:5.70 [[ 3.00522034e-01 -9.53693529e-01 -1.24563314e-02 1.51885103e+02] [ 9.53263019e-01 3.00762950e-01 -2.88316772e-02 8.42361962e+01] [ 3.12429870e-02 -3.20960581e-03 9.99506665e-01 5.69995694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.700714057 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:151.89, Y:84.26, Z:5.70 [[ 2.95572901e-01 -9.55236748e-01 -1.26259935e-02 1.51892820e+02] [ 9.54810149e-01 2.95821112e-01 -2.87654045e-02 8.42619563e+01] [ 3.12128069e-02 -3.55315267e-03 9.99506446e-01 5.69998047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73071405699997 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:151.90, Y:84.29, Z:5.70 [[ 2.93437972e-01 -9.55896829e-01 -1.24663201e-02 1.51902853e+02] [ 9.55468279e-01 2.93682373e-01 -2.88276358e-02 8.42884522e+01] [ 3.12173841e-02 -3.45205043e-03 9.99506657e-01 5.70003060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76071405699997 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:151.91, Y:84.31, Z:5.70 [[ 2.88343782e-01 -9.57445557e-01 -1.24847253e-02 1.51909884e+02] [ 9.57018604e-01 2.88591010e-01 -2.88204818e-02 8.43140178e+01] [ 3.11970217e-02 -3.63790766e-03 9.99506634e-01 5.70188883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79071405699997 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:151.92, Y:84.34, Z:5.70 [[ 2.86543424e-01 -9.57988430e-01 -1.22895588e-02 1.51918945e+02] [ 9.57558882e-01 2.86785637e-01 -2.88961201e-02 8.43410567e+01] [ 3.12066177e-02 -3.48798303e-03 9.99506869e-01 5.70317334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82071405699998 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:151.93, Y:84.37, Z:5.70 [[ 2.84845718e-01 -9.58494408e-01 -1.23039100e-02 1.51926354e+02] [ 9.58065514e-01 2.85089119e-01 -2.88905649e-02 8.43670955e+01] [ 3.11991558e-02 -3.55859814e-03 9.99506853e-01 5.70484412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85071405699998 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:151.93, Y:84.39, Z:5.71 [[ 2.82498013e-01 -9.59190443e-01 -1.21887827e-02 1.51934238e+02] [ 9.58760350e-01 2.82739030e-01 -2.89349680e-02 8.43928343e+01] [ 3.12003894e-02 -3.51205061e-03 9.99506979e-01 5.70844748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88071405699998 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:151.94, Y:84.42, Z:5.71 [[ 2.82900639e-01 -9.59073125e-01 -1.20817903e-02 1.51942342e+02] [ 9.58641276e-01 2.83138279e-01 -2.89761688e-02 8.44180606e+01] [ 3.12110821e-02 -3.38472616e-03 9.99507085e-01 5.71000555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91071405699998 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:151.95, Y:84.44, Z:5.71 [[ 2.81000543e-01 -9.59633266e-01 -1.19452607e-02 1.51950539e+02] [ 9.59199795e-01 2.81234953e-01 -2.90285238e-02 8.44442618e+01] [ 3.12161620e-02 -3.30086066e-03 9.99507206e-01 5.71396938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94071405699998 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:151.96, Y:84.47, Z:5.72 [[ 2.80653098e-01 -9.59735798e-01 -1.18759070e-02 1.51958858e+02] [ 9.59301355e-01 2.80885586e-01 -2.90550647e-02 8.44710192e+01] [ 3.12209568e-02 -3.23817973e-03 9.99507262e-01 5.71632355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97071405699998 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:151.97, Y:84.50, Z:5.72 [[ 2.80097328e-01 -9.59898512e-01 -1.18462180e-02 1.51966858e+02] [ 9.59463754e-01 2.80329178e-01 -2.90664093e-02 8.44957320e+01] [ 3.12216435e-02 -3.22459318e-03 9.99507284e-01 5.71843514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00071405699998 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:151.98, Y:84.52, Z:5.72 [[ 2.80296723e-01 -9.59841433e-01 -1.17545598e-02 1.51976829e+02] [ 9.59405243e-01 2.80525732e-01 -2.91014302e-02 8.45213985e+01] [ 3.12302149e-02 -3.12035082e-03 9.99507347e-01 5.71777156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03071405699998 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:151.99, Y:84.55, Z:5.72 [[ 2.79106570e-01 -9.60188399e-01 -1.17371997e-02 1.51987060e+02] [ 9.59752231e-01 2.79335597e-01 -2.91080453e-02 8.45482302e+01] [ 3.12278251e-02 -3.14055692e-03 9.99507359e-01 5.71775403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06071405699998 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:152.00, Y:84.57, Z:5.72 [[ 2.78425029e-01 -9.60385736e-01 -1.17788376e-02 1.51996776e+02] [ 9.59950359e-01 2.78655616e-01 -2.90921948e-02 8.45730448e+01] [ 3.12219682e-02 -3.20710422e-03 9.99507330e-01 5.71816516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09071405699999 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:152.01, Y:84.60, Z:5.72 [[ 2.76924674e-01 -9.60819681e-01 -1.17586189e-02 1.52007136e+02] [ 9.60384359e-01 2.77155335e-01 -2.90998898e-02 8.45998500e+01] [ 3.12187108e-02 -3.23431619e-03 9.99507344e-01 5.71739915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.120714057 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:152.02, Y:84.63, Z:5.72 [[ 2.76620894e-01 -9.60907234e-01 -1.17545322e-02 1.52018415e+02] [ 9.60471923e-01 2.76851570e-01 -2.91014419e-02 8.46268596e+01] [ 3.12180467e-02 -3.23983128e-03 9.99507347e-01 5.71561930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.150714057 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:152.03, Y:84.65, Z:5.72 [[ 2.73472796e-01 -9.61807071e-01 -1.18232334e-02 1.52027463e+02] [ 9.61373560e-01 2.73706951e-01 -2.90754590e-02 8.46524388e+01] [ 3.12010832e-02 -3.41519689e-03 9.99507293e-01 5.71850911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.180714057 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:152.04, Y:84.68, Z:5.72 [[ 2.72086757e-01 -9.62201343e-01 -1.17205785e-02 1.52037074e+02] [ 9.61766612e-01 2.72318466e-01 -2.91142053e-02 8.46784710e+01] [ 3.12054574e-02 -3.35087137e-03 9.99507374e-01 5.71914205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.210714057 meters Centerline goodness : 0.995760 Centerline is valid? [True, True] Translation: X:152.05, Y:84.70, Z:5.72 [[ 2.69920549e-01 -9.62811789e-01 -1.16771331e-02 1.52046310e+02] [ 9.62376922e-01 2.70151936e-01 -2.91305789e-02 8.47047382e+01] [ 3.12018649e-02 -3.37486157e-03 9.99507406e-01 5.72243334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.240714057 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:152.06, Y:84.73, Z:5.72 [[ 2.70546515e-01 -9.62636996e-01 -1.16016109e-02 1.52057368e+02] [ 9.62200842e-01 2.70775356e-01 -2.91589939e-02 8.47318436e+01] [ 3.12109566e-02 -3.27421556e-03 9.99507457e-01 5.72081577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.270714057 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:152.07, Y:84.76, Z:5.72 [[ 2.70291306e-01 -9.62707501e-01 -1.16994313e-02 1.52066746e+02] [ 9.62272882e-01 2.70523193e-01 -2.91222024e-02 8.47578691e+01] [ 3.12011302e-02 -3.38656732e-03 9.99507389e-01 5.72146970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.300714057 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:152.08, Y:84.78, Z:5.72 [[ 2.74189274e-01 -9.61604901e-01 -1.16728738e-02 1.52075701e+02] [ 9.61168949e-01 2.74418602e-01 -2.91321690e-02 8.47821866e+01] [ 3.12168902e-02 -3.23187558e-03 9.99507409e-01 5.72115495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.330714057 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:152.09, Y:84.81, Z:5.72 [[ 2.77656490e-01 -9.60612524e-01 -1.14215673e-02 1.52085152e+02] [ 9.60172055e-01 2.77876674e-01 -2.92263455e-02 8.48082996e+01] [ 3.12489807e-02 -2.85178526e-03 9.99507563e-01 5.72104402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.360714057 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:152.10, Y:84.84, Z:5.72 [[ 2.78553494e-01 -9.60352459e-01 -1.14501435e-02 1.52095097e+02] [ 9.59912200e-01 2.78774129e-01 -2.92156329e-02 8.48359351e+01] [ 3.12493087e-02 -2.85301582e-03 9.99507549e-01 5.72173253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.390714057 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:152.10, Y:84.86, Z:5.72 [[ 2.81589536e-01 -9.59465263e-01 -1.15646841e-02 1.52104762e+02] [ 9.59025971e-01 2.81812236e-01 -2.91727751e-02 8.48618435e+01] [ 3.12493339e-02 -2.87608425e-03 9.99507482e-01 5.72451000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.420714057 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:152.11, Y:84.89, Z:5.73 [[ 2.86381640e-01 -9.58046393e-01 -1.15180503e-02 1.52114615e+02] [ 9.57605322e-01 2.86600731e-01 -2.91902023e-02 8.48887060e+01] [ 3.12666496e-02 -2.67020826e-03 9.99507512e-01 5.72651564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.450714057 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:152.12, Y:84.91, Z:5.73 [[ 2.87263036e-01 -9.57782249e-01 -1.15374080e-02 1.52122304e+02] [ 9.57341254e-01 2.87482308e-01 -2.91829747e-02 8.49138984e+01] [ 3.12677358e-02 -2.66204678e-03 9.99507500e-01 5.72748488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48071405699997 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:152.14, Y:84.94, Z:5.73 [[ 2.91631232e-01 -9.56462818e-01 -1.14062730e-02 1.52136403e+02] [ 9.56018976e-01 2.91844506e-01 -2.92318684e-02 8.49441375e+01] [ 3.12880533e-02 -2.37968761e-03 9.99507576e-01 5.72806743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51071405699997 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:152.14, Y:84.97, Z:5.73 [[ 2.90010376e-01 -9.56951254e-01 -1.17592049e-02 1.52142634e+02] [ 9.56512815e-01 2.90235094e-01 -2.91002620e-02 8.49678877e+01] [ 3.12604662e-02 -2.80845224e-03 9.99507327e-01 5.72984819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54071405699997 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:152.15, Y:85.00, Z:5.72 [[ 2.90771587e-01 -9.56724417e-01 -1.14138021e-02 1.52154692e+02] [ 9.56280881e-01 2.90985488e-01 -2.92287865e-02 8.49969163e+01] [ 3.12851445e-02 -2.41590015e-03 9.99507580e-01 5.72491745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57071405699998 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:152.16, Y:85.02, Z:5.73 [[ 2.88815762e-01 -9.57314884e-01 -1.15615160e-02 1.52164139e+02] [ 9.56873872e-01 2.89035049e-01 -2.91742106e-02 8.50232782e+01] [ 3.12705894e-02 -2.63694068e-03 9.99507477e-01 5.72900625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60071405699998 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:152.18, Y:85.05, Z:5.73 [[ 2.89622956e-01 -9.57070715e-01 -1.15840848e-02 1.52176353e+02] [ 9.56629837e-01 2.89842555e-01 -2.91658848e-02 8.50518168e+01] [ 3.12713750e-02 -2.63457134e-03 9.99507459e-01 5.72806140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63071405699998 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:152.20, Y:85.09, Z:5.72 [[ 2.93889889e-01 -9.55767375e-01 -1.17242678e-02 1.52199534e+02] [ 9.55327498e-01 2.94111771e-01 -2.91142176e-02 8.50926197e+01] [ 3.12746645e-02 -2.64414120e-03 9.99507331e-01 5.72200673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66071405699998 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:152.21, Y:85.12, Z:5.73 [[ 2.94669229e-01 -9.55510403e-01 -1.30351442e-02 1.52208998e+02] [ 9.55089776e-01 2.94930103e-01 -2.86313510e-02 8.51173563e+01] [ 3.12020101e-02 -4.01295481e-03 9.99505043e-01 5.72723306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69071405699998 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:152.21, Y:85.14, Z:5.72 [[ 2.87631626e-01 -9.57656512e-01 -1.27299900e-02 1.52212595e+02] [ 9.57233087e-01 2.87886528e-01 -2.87430706e-02 8.51429474e+01] [ 3.11907814e-02 -3.91815143e-03 9.99505769e-01 5.72438130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72071405699998 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:152.20, Y:85.15, Z:5.73 [[ 2.77164595e-01 -9.60742656e-01 -1.23829435e-02 1.52199613e+02] [ 9.60316685e-01 2.77413803e-01 -2.88694581e-02 8.51531822e+01] [ 3.11713193e-02 -3.88995558e-03 9.99506487e-01 5.73183820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75071405699998 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:152.22, Y:85.19, Z:5.73 [[ 2.88901246e-01 -9.57299597e-01 -1.06560392e-02 1.52221481e+02] [ 9.56846624e-01 2.89092846e-01 -2.94934482e-02 8.51865169e+01] [ 3.13146508e-02 -1.67550125e-03 9.99508172e-01 5.73423291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78071405699998 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:152.23, Y:85.21, Z:5.73 [[ 2.91807611e-01 -9.56407489e-01 -1.15340267e-02 1.52231024e+02] [ 9.55965679e-01 2.92024662e-01 -2.91756274e-02 8.52138973e+01] [ 3.12720088e-02 -2.51246355e-03 9.99507753e-01 5.73280152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81071405699998 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:152.24, Y:85.24, Z:5.74 [[ 2.95986116e-01 -9.55121929e-01 -1.15896049e-02 1.52242494e+02] [ 9.54679940e-01 2.96202923e-01 -2.91554414e-02 8.52416351e+01] [ 3.12798763e-02 -2.43475741e-03 9.99507699e-01 5.73663635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84071405699999 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:152.23, Y:85.26, Z:5.74 [[ 2.84917267e-01 -9.58481692e-01 -1.16188194e-02 1.52234828e+02] [ 9.58042653e-01 2.85140056e-01 -2.91448828e-02 8.52612630e+01] [ 3.12478274e-02 -2.82744419e-03 9.99507668e-01 5.74036032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.870714057 meters Centerline goodness : 0.993846 Centerline is valid? [True, True] Translation: X:152.27, Y:85.31, Z:5.74 [[ 3.05139176e-01 -9.52248593e-01 -1.06160667e-02 1.52272398e+02] [ 9.51791999e-01 3.05321806e-01 -2.95056895e-02 8.53073699e+01] [ 3.13380679e-02 -1.10094556e-03 9.99508236e-01 5.74045626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.900714057 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:152.28, Y:85.33, Z:5.74 [[ 3.02277363e-01 -9.53132955e-01 -1.28827596e-02 1.52275270e+02] [ 9.52708049e-01 3.02530310e-01 -2.86842279e-02 8.53285134e+01] [ 3.12373082e-02 -3.60291600e-03 9.99505503e-01 5.74230077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.930714057 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:152.29, Y:85.36, Z:5.74 [[ 3.03497226e-01 -9.52755423e-01 -1.21053079e-02 1.52286232e+02] [ 9.52318976e-01 3.03726211e-01 -2.89647502e-02 8.53559016e+01] [ 3.12730222e-02 -2.73739310e-03 9.99507131e-01 5.74162223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.960714057 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:152.30, Y:85.38, Z:5.74 [[ 3.02567339e-01 -9.53050551e-01 -1.21512215e-02 1.52295233e+02] [ 9.52614973e-01 3.02798139e-01 -2.89482406e-02 8.53823830e+01] [ 3.12685039e-02 -2.81664340e-03 9.99507052e-01 5.74248084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.990714057 meters Centerline goodness : 0.993380 Centerline is valid? [True, True] Translation: X:152.30, Y:85.41, Z:5.74 [[ 2.99236169e-01 -9.54102677e-01 -1.20746725e-02 1.52301696e+02] [ 9.53666831e-01 2.99466175e-01 -2.89756063e-02 8.54080554e+01] [ 3.12616595e-02 -2.84466524e-03 9.99507187e-01 5.74430530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.020714057 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:152.31, Y:85.43, Z:5.74 [[ 2.99158872e-01 -9.54129947e-01 -1.18327344e-02 1.52309675e+02] [ 9.53690765e-01 2.99381584e-01 -2.90618695e-02 8.54329309e+01] [ 3.12713027e-02 -2.59065340e-03 9.99507576e-01 5.74405744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.050714057 meters Centerline goodness : 0.992182 Centerline is valid? [True, True] Translation: X:152.32, Y:85.46, Z:5.74 [[ 3.00382354e-01 -9.53747598e-01 -1.16602437e-02 1.52316516e+02] [ 9.53305783e-01 3.00599258e-01 -2.91233422e-02 8.54557561e+01] [ 3.12813783e-02 -2.36763969e-03 9.99507814e-01 5.74355307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.080714057 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:152.31, Y:85.48, Z:5.74 [[ 2.87165818e-01 -9.57814834e-01 -1.12488324e-02 1.52308135e+02] [ 9.57370431e-01 2.87376328e-01 -2.92695123e-02 8.54786161e+01] [ 3.12674213e-02 -2.36409607e-03 9.99508259e-01 5.74496516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.110714057 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:152.34, Y:85.52, Z:5.74 [[ 3.03024986e-01 -9.52925211e-01 -1.04594083e-02 1.52342766e+02] [ 9.52467498e-01 3.03203768e-01 -2.95489555e-02 8.55233810e+01] [ 3.13292767e-02 -1.00817467e-03 9.99508609e-01 5.74010215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.140714057 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:152.35, Y:85.55, Z:5.75 [[ 3.02861156e-01 -9.52951664e-01 -1.25796098e-02 1.52349585e+02] [ 9.52522163e-01 3.03104743e-01 -2.87931260e-02 8.55475990e+01] [ 3.12513967e-02 -3.26203775e-03 9.99506233e-01 5.74520175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.170714057 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:152.36, Y:85.58, Z:5.74 [[ 3.00939218e-01 -9.53566768e-01 -1.20833081e-02 1.52358853e+02] [ 9.53130732e-01 3.01168698e-01 -2.89693497e-02 8.55754252e+01] [ 3.12633233e-02 -2.79895882e-03 9.99507264e-01 5.74130217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.200714057 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:152.36, Y:85.60, Z:5.75 [[ 3.02142373e-01 -9.53185005e-01 -1.21792107e-02 1.52364594e+02] [ 9.52750016e-01 3.02374206e-01 -2.89351991e-02 8.55962932e+01] [ 3.12632770e-02 -2.86119343e-03 9.99507089e-01 5.74808495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23071405699997 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:152.37, Y:85.62, Z:5.75 [[ 2.95644372e-01 -9.55228545e-01 -1.15252731e-02 1.52368968e+02] [ 9.54786142e-01 2.95859351e-01 -2.91662057e-02 8.56206206e+01] [ 3.12702520e-02 -2.38134646e-03 9.99508129e-01 5.75176438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26071405699997 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:152.38, Y:85.65, Z:5.75 [[ 2.94425952e-01 -9.55608074e-01 -1.12502197e-02 1.52379439e+02] [ 9.55162288e-01 2.94633115e-01 -2.92631452e-02 8.56475057e+01] [ 3.12787851e-02 -2.12995621e-03 9.99508430e-01 5.75287366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29071405699997 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:152.39, Y:85.68, Z:5.75 [[ 2.89887588e-01 -9.56994189e-01 -1.12830606e-02 1.52389328e+02] [ 9.56549828e-01 2.90097864e-01 -2.92516045e-02 8.56781342e+01] [ 3.12668073e-02 -2.31313260e-03 9.99508397e-01 5.74790784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32071405699998 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:152.40, Y:85.71, Z:5.75 [[ 2.88633349e-01 -9.57370468e-01 -1.15141664e-02 1.52400631e+02] [ 9.56929491e-01 2.88851230e-01 -2.91704682e-02 8.57056982e+01] [ 3.12528259e-02 -2.59867546e-03 9.99508133e-01 5.74838909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35071405699998 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:152.41, Y:85.73, Z:5.75 [[ 2.87882322e-01 -9.57595795e-01 -1.15784906e-02 1.52408334e+02] [ 9.57155864e-01 2.88102499e-01 -2.91479451e-02 8.57304817e+01] [ 3.12477418e-02 -2.69124201e-03 9.99508047e-01 5.74980220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38071405699998 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:152.42, Y:85.76, Z:5.76 [[ 2.86753566e-01 -9.57937704e-01 -1.13025142e-02 1.52415513e+02] [ 9.57494315e-01 2.86965885e-01 -2.92440941e-02 8.57554036e+01] [ 3.12574563e-02 -2.43624482e-03 9.99508397e-01 5.75723855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41071405699998 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:152.42, Y:85.78, Z:5.76 [[ 2.85195438e-01 -9.58405257e-01 -1.10871601e-02 1.52424058e+02] [ 9.57959365e-01 2.85401923e-01 -2.93188735e-02 8.57825336e+01] [ 3.12636594e-02 -2.25943991e-03 9.99508619e-01 5.75837576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44071405699998 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:152.43, Y:85.81, Z:5.76 [[ 2.83031993e-01 -9.59046420e-01 -1.10839911e-02 1.52432514e+02] [ 9.58600954e-01 2.83239388e-01 -2.93199719e-02 8.58067004e+01] [ 3.12586369e-02 -2.32663434e-03 9.99508621e-01 5.75873108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47071405699998 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:152.44, Y:85.83, Z:5.76 [[ 2.80916678e-01 -9.59669793e-01 -1.09411801e-02 1.52442014e+02] [ 9.59222908e-01 2.81120705e-01 -2.93694057e-02 8.58330285e+01] [ 3.12607237e-02 -2.24467473e-03 9.99508744e-01 5.75855410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50071405699998 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:152.45, Y:85.86, Z:5.76 [[ 2.77908020e-01 -9.60546043e-01 -1.08826659e-02 1.52450533e+02] [ 9.60099032e-01 2.78111665e-01 -2.93896257e-02 8.58572836e+01] [ 3.12566850e-02 -2.28082431e-03 9.99508788e-01 5.75811497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53071405699998 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:152.45, Y:85.88, Z:5.76 [[ 2.69566372e-01 -9.62921694e-01 -1.07602263e-02 1.52449457e+02] [ 9.62474841e-01 2.69770166e-01 -2.94319276e-02 8.58802404e+01] [ 3.12434297e-02 -2.42258914e-03 9.99508869e-01 5.75609936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56071405699998 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:152.46, Y:85.91, Z:5.76 [[ 2.67796408e-01 -9.63421479e-01 -1.02048064e-02 1.52455608e+02] [ 9.62967806e-01 2.67984080e-01 -2.96232678e-02 8.59060945e+01] [ 3.12744182e-02 -1.89389529e-03 9.99509041e-01 5.76198564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59071405699999 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:152.48, Y:85.94, Z:5.76 [[ 2.77809070e-01 -9.60584049e-01 -1.00202638e-02 1.52480894e+02] [ 9.60126189e-01 2.77986328e-01 -2.96867516e-02 8.59443911e+01] [ 3.13021164e-02 -1.37346878e-03 9.99509025e-01 5.76017482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.620714057 meters Centerline goodness : 0.996015 Centerline is valid? [True, True] Translation: X:152.48, Y:85.97, Z:5.76 [[ 2.69033498e-01 -9.63061878e-01 -1.15237456e-02 1.52481139e+02] [ 9.62625459e-01 2.69260634e-01 -2.91708185e-02 8.59673917e+01] [ 3.11961943e-02 -3.24512357e-03 9.99508012e-01 5.76017584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.650714057 meters Centerline goodness : 0.995991 Centerline is valid? [True, True] Translation: X:152.49, Y:85.99, Z:5.76 [[ 2.67786341e-01 -9.63416919e-01 -1.08772786e-02 1.52488876e+02] [ 9.62971999e-01 2.67994514e-01 -2.93916737e-02 8.59944148e+01] [ 3.12314867e-02 -2.60382599e-03 9.99508787e-01 5.76160922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.680714057 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:152.49, Y:86.02, Z:5.76 [[ 2.67814923e-01 -9.63409109e-01 -1.08653177e-02 1.52494787e+02] [ 9.62964024e-01 2.68022720e-01 -2.93957543e-02 8.60172697e+01] [ 3.12322895e-02 -2.59028841e-03 9.99508797e-01 5.76317880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.710714057 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:152.50, Y:86.05, Z:5.76 [[ 2.64313886e-01 -9.64379221e-01 -1.05303662e-02 1.52503646e+02] [ 9.63930491e-01 2.64513124e-01 -2.95095861e-02 8.60483306e+01] [ 3.12438517e-02 -2.35074770e-03 9.99509027e-01 5.76335312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.740714057 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:152.51, Y:86.07, Z:5.77 [[ 2.65267027e-01 -9.64113487e-01 -1.08898267e-02 1.52511957e+02] [ 9.63669278e-01 2.65476743e-01 -2.93874431e-02 8.60740283e+01] [ 3.12238260e-02 -2.69867178e-03 9.99508774e-01 5.76520051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.770714057 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:152.52, Y:86.10, Z:5.77 [[ 2.63847333e-01 -9.64504643e-01 -1.07414030e-02 1.52518978e+02] [ 9.64058775e-01 2.64053203e-01 -2.94377976e-02 8.61000352e+01] [ 3.12291944e-02 -2.58825942e-03 9.99508899e-01 5.76672918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.800714057 meters Centerline goodness : 0.996021 Centerline is valid? [True, True] Translation: X:152.53, Y:86.13, Z:5.77 [[ 2.60434736e-01 -9.65433260e-01 -1.06004358e-02 1.52528291e+02] [ 9.64986266e-01 2.60637904e-01 -2.94853918e-02 8.61300900e+01] [ 3.12290533e-02 -2.55025476e-03 9.99509001e-01 5.76717040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.830714057 meters Centerline goodness : 0.996041 Centerline is valid? [True, True] Translation: X:152.54, Y:86.16, Z:5.76 [[ 2.57236907e-01 -9.66287525e-01 -1.08440059e-02 1.52537708e+02] [ 9.65844449e-01 2.57448928e-01 -2.94032383e-02 8.61598162e+01] [ 3.12037600e-02 -2.91002479e-03 9.99508808e-01 5.76458161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.860714057 meters Centerline goodness : 0.995762 Centerline is valid? [True, True] Translation: X:152.54, Y:86.18, Z:5.77 [[ 2.56677372e-01 -9.66433530e-01 -1.10886930e-02 1.52543715e+02] [ 9.65993897e-01 2.56897031e-01 -2.93207459e-02 8.61836905e+01] [ 3.11852043e-02 -3.18563773e-03 9.99508547e-01 5.76832299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.890714057 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:152.55, Y:86.21, Z:5.77 [[ 2.54832300e-01 -9.66924634e-01 -1.08282171e-02 1.52551548e+02] [ 9.66481871e-01 2.55044946e-01 -2.94086594e-02 8.62108380e+01] [ 3.11976393e-02 -2.97099923e-03 9.99508820e-01 5.76801758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.920714057 meters Centerline goodness : 0.996251 Centerline is valid? [True, True] Translation: X:152.56, Y:86.24, Z:5.76 [[ 2.52020245e-01 -9.67661817e-01 -1.07891023e-02 1.52563952e+02] [ 9.67219143e-01 2.52232998e-01 -2.94218182e-02 8.62435997e+01] [ 3.11917377e-02 -3.02053248e-03 9.99508855e-01 5.76230826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.950714057 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:152.57, Y:86.27, Z:5.77 [[ 2.50129068e-01 -9.68146237e-01 -1.13275090e-02 1.52567611e+02] [ 9.67711442e-01 2.50358855e-01 -2.92405389e-02 8.62653224e+01] [ 3.11450599e-02 -3.64785138e-03 9.99508218e-01 5.76569871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98071405699997 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:152.58, Y:86.29, Z:5.77 [[ 2.47391787e-01 -9.68856676e-01 -1.06791725e-02 1.52576493e+02] [ 9.68413579e-01 2.47603336e-01 -2.94572340e-02 8.62939485e+01] [ 3.11840366e-02 -3.05437790e-03 9.99508993e-01 5.76745883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01071405699997 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:152.58, Y:86.32, Z:5.77 [[ 2.46011628e-01 -9.69206003e-01 -1.08628991e-02 1.52584810e+02] [ 9.68765702e-01 2.46229340e-01 -2.93960227e-02 8.63217398e+01] [ 3.11655661e-02 -3.29184068e-03 9.99508815e-01 5.76759626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04071405699997 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:152.59, Y:86.35, Z:5.77 [[ 2.45427353e-01 -9.69354083e-01 -1.08662866e-02 1.52592232e+02] [ 9.68913960e-01 2.45645431e-01 -2.93948949e-02 8.63485801e+01] [ 3.11633151e-02 -3.31418554e-03 9.99508811e-01 5.76783195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07071405699998 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:152.60, Y:86.38, Z:5.77 [[ 2.45439188e-01 -9.69351266e-01 -1.08502240e-02 1.52599060e+02] [ 9.68910922e-01 2.45656778e-01 -2.94002295e-02 8.63768381e+01] [ 3.11645807e-02 -3.29693211e-03 9.99508829e-01 5.76913808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10071405699998 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:152.60, Y:86.40, Z:5.77 [[ 2.47120536e-01 -9.68924294e-01 -1.08236874e-02 1.52603653e+02] [ 9.68483213e-01 2.47336563e-01 -2.94090295e-02 8.64029100e+01] [ 3.11722168e-02 -3.21498437e-03 9.99508858e-01 5.76966681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13071405699998 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:152.61, Y:86.43, Z:5.77 [[ 2.49451969e-01 -9.68328621e-01 -1.06487676e-02 1.52610234e+02] [ 9.67884680e-01 2.49661656e-01 -2.94669858e-02 8.64283155e+01] [ 3.11923147e-02 -2.95618140e-03 9.99509030e-01 5.77030306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16071405699998 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:152.62, Y:86.46, Z:5.77 [[ 2.51467137e-01 -9.67809363e-01 -1.04554413e-02 1.52615953e+02] [ 9.67362460e-01 2.51670043e-01 -2.95306593e-02 8.64575951e+01] [ 3.12113699e-02 -2.68821110e-03 9.99509192e-01 5.77249492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19071405699998 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:152.62, Y:86.48, Z:5.77 [[ 2.54202948e-01 -9.67092666e-01 -1.06130230e-02 1.52622649e+02] [ 9.66647233e-01 2.54409369e-01 -2.94787906e-02 8.64833489e+01] [ 3.12087747e-02 -2.76545384e-03 9.99509062e-01 5.77469035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22071405699998 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:152.64, Y:86.52, Z:5.77 [[ 2.63121332e-01 -9.64705837e-01 -1.04791845e-02 1.52637949e+02] [ 9.64256822e-01 2.63319557e-01 -2.95227377e-02 8.65199202e+01] [ 3.12401316e-02 -2.33656312e-03 9.99509177e-01 5.77445121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25071405699998 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:152.64, Y:86.54, Z:5.78 [[ 2.65987886e-01 -9.63908785e-01 -1.14148850e-02 1.52641661e+02] [ 9.63471362e-01 2.66213148e-01 -2.92146111e-02 8.65418038e+01] [ 3.11990128e-02 -3.22718219e-03 9.99507982e-01 5.77701248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28071405699998 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:152.64, Y:86.57, Z:5.78 [[ 2.64277486e-01 -9.64387337e-01 -1.06993145e-02 1.52644259e+02] [ 9.63940933e-01 2.64481869e-01 -2.94485711e-02 8.65704948e+01] [ 3.12296038e-02 -2.53091288e-03 9.99509033e-01 5.77797698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31071405699998 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:152.65, Y:86.60, Z:5.77 [[ 2.64513467e-01 -9.64323258e-01 -1.06432949e-02 1.52653566e+02] [ 9.63876094e-01 2.64716038e-01 -2.94668487e-02 8.66020161e+01] [ 3.12330184e-02 -2.46443915e-03 9.99509092e-01 5.77408104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34071405699999 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:152.66, Y:86.63, Z:5.77 [[ 2.69519220e-01 -9.62932231e-01 -1.09958288e-02 1.52661553e+02] [ 9.62488488e-01 2.69730192e-01 -2.93518924e-02 8.66291292e+01] [ 3.12297903e-02 -2.67245947e-03 9.99508658e-01 5.77273252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.370714057 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:152.67, Y:86.66, Z:5.77 [[ 2.70670903e-01 -9.62609371e-01 -1.09754903e-02 1.52670284e+02] [ 9.62165116e-01 2.70880726e-01 -2.93585181e-02 8.66565550e+01] [ 3.12338334e-02 -2.61373731e-03 9.99508687e-01 5.77306082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.400714057 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:152.68, Y:86.68, Z:5.78 [[ 2.77545201e-01 -9.60649049e-01 -1.10483447e-02 1.52676907e+02] [ 9.60204222e-01 2.77754062e-01 -2.93348288e-02 8.66794137e+01] [ 3.12491980e-02 -2.46692623e-03 9.99508580e-01 5.77801342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.430714057 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:152.69, Y:86.71, Z:5.78 [[ 2.79837405e-01 -9.59988693e-01 -1.06177501e-02 1.52690146e+02] [ 9.59538086e-01 2.80032043e-01 -2.94740027e-02 8.67138454e+01] [ 3.12680196e-02 -1.94020722e-03 9.99509153e-01 5.77874158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.460714057 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:152.70, Y:86.74, Z:5.77 [[ 2.77707052e-01 -9.60600492e-01 -1.12021223e-02 1.52698331e+02] [ 9.60157543e-01 2.77920519e-01 -2.92861178e-02 8.67446311e+01] [ 3.12455588e-02 -2.62284080e-03 9.99508297e-01 5.77481468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.490714057 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:152.70, Y:86.76, Z:5.78 [[ 2.76659779e-01 -9.60900731e-01 -1.13644817e-02 1.52699127e+02] [ 9.60460089e-01 2.76878658e-01 -2.92340038e-02 8.67620846e+01] [ 3.12375581e-02 -2.82725809e-03 9.99507990e-01 5.78090998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.520714057 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:152.72, Y:86.80, Z:5.78 [[ 2.77565747e-01 -9.60650055e-01 -1.04272858e-02 1.52715312e+02] [ 9.60197691e-01 2.77755610e-01 -2.95333021e-02 8.67996023e+01] [ 3.12674054e-02 -1.81482265e-03 9.99509408e-01 5.77568353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.550714057 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:152.72, Y:86.82, Z:5.78 [[ 2.73362504e-01 -9.61843491e-01 -1.14035276e-02 1.52719126e+02] [ 9.61404128e-01 2.73584074e-01 -2.92208460e-02 8.68221650e+01] [ 3.12257041e-02 -2.97551489e-03 9.99507930e-01 5.77657561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.580714057 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:152.71, Y:86.84, Z:5.78 [[ 2.59992499e-01 -9.65549785e-01 -1.08403761e-02 1.52708522e+02] [ 9.65106179e-01 2.60203134e-01 -2.94005470e-02 8.68357004e+01] [ 3.12083917e-02 -2.81819226e-03 9.99508926e-01 5.78198271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.610714057 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:152.73, Y:86.87, Z:5.78 [[ 2.68925050e-01 -9.63114717e-01 -9.45298808e-03 1.52729872e+02] [ 9.62652940e-01 2.69088992e-01 -2.98400899e-02 8.68682905e+01] [ 3.12831248e-02 -1.07519909e-03 9.99509985e-01 5.78339820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.640714057 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:152.74, Y:86.90, Z:5.78 [[ 2.62817400e-01 -9.64792940e-01 -1.00795246e-02 1.52737336e+02] [ 9.64339395e-01 2.63003535e-01 -2.96423817e-02 8.68984211e+01] [ 3.12497112e-02 -1.92954894e-03 9.99509746e-01 5.78277843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.670714057 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:152.74, Y:86.92, Z:5.79 [[ 2.61127748e-01 -9.65249627e-01 -1.02691955e-02 1.52742324e+02] [ 9.64798673e-01 2.61320478e-01 -2.95825578e-02 8.69223505e+01] [ 3.12381040e-02 -2.18287952e-03 9.99509588e-01 5.78678138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.700714057 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:152.75, Y:86.95, Z:5.79 [[ 2.63374654e-01 -9.64642367e-01 -9.94463727e-03 1.52753960e+02] [ 9.64187142e-01 2.63556389e-01 -2.96847631e-02 8.69530146e+01] [ 3.12561528e-02 -1.77027719e-03 9.99509839e-01 5.78748537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73071405699997 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:152.76, Y:86.97, Z:5.79 [[ 2.62835627e-01 -9.64785346e-01 -1.03280653e-02 1.52759006e+02] [ 9.64334754e-01 2.63029358e-01 -2.95641436e-02 8.69743561e+01] [ 3.12396369e-02 -2.18920215e-03 9.99509526e-01 5.79152134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76071405699997 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:152.77, Y:87.00, Z:5.79 [[ 2.62045509e-01 -9.65006324e-01 -9.74403344e-03 1.52765165e+02] [ 9.64549052e-01 2.62221708e-01 -2.97473228e-02 8.69997050e+01] [ 3.12614517e-02 -1.60344586e-03 9.99509955e-01 5.79377890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79071405699997 meters Centerline goodness : 0.994180 Centerline is valid? [True, True] Translation: X:152.77, Y:87.02, Z:5.80 [[ 2.61666812e-01 -9.65110621e-01 -9.58999244e-03 1.52770418e+02] [ 9.64651673e-01 2.61838448e-01 -2.97955878e-02 8.70233459e+01] [ 3.12670670e-02 -1.45448578e-03 9.99510007e-01 5.79588584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82071405699998 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:152.78, Y:87.06, Z:5.80 [[ 2.57783260e-01 -9.66158190e-01 -9.28130123e-03 1.52781217e+02] [ 9.65696477e-01 2.57947226e-01 -2.98921824e-02 8.70566798e+01] [ 3.12746627e-02 -1.25721568e-03 9.99510037e-01 5.79745837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85071405699998 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:152.79, Y:87.08, Z:5.80 [[ 2.56299235e-01 -9.66547606e-01 -9.81976779e-03 1.52789578e+02] [ 9.66092276e-01 2.56480474e-01 -2.97234042e-02 8.70822893e+01] [ 3.12476639e-02 -1.86871606e-03 9.99509926e-01 5.79796835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88071405699998 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:152.80, Y:87.11, Z:5.80 [[ 2.55814690e-01 -9.66676908e-01 -9.72629053e-03 1.52797816e+02] [ 9.66220582e-01 2.55993290e-01 -2.97526717e-02 8.71093226e+01] [ 3.12510858e-02 -1.78657161e-03 9.99509969e-01 5.79889387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91071405699998 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:152.81, Y:87.14, Z:5.80 [[ 2.51748554e-01 -9.67743946e-01 -9.71189410e-03 1.52806677e+02] [ 9.67288208e-01 2.51928629e-01 -2.97571712e-02 8.71352465e+01] [ 3.12440265e-02 -1.90287582e-03 9.99509975e-01 5.79819978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94071405699998 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:152.82, Y:87.16, Z:5.80 [[ 2.51199825e-01 -9.67887496e-01 -9.61474370e-03 1.52816517e+02] [ 9.67430730e-01 2.51377180e-01 -2.97875061e-02 8.71576510e+01] [ 3.12478819e-02 -1.81898218e-03 9.99510011e-01 5.80199087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97071405699998 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:152.82, Y:87.18, Z:5.80 [[ 2.47880281e-01 -9.68745698e-01 -9.33483305e-03 1.52824590e+02] [ 9.68286320e-01 2.48050609e-01 -2.98747159e-02 8.71843874e+01] [ 3.12565135e-02 -1.63343815e-03 9.99510061e-01 5.80316682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00071405699998 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:152.84, Y:87.21, Z:5.80 [[ 2.42016292e-01 -9.70227945e-01 -9.26548465e-03 1.52835907e+02] [ 9.69768807e-01 2.42187268e-01 -2.98963002e-02 8.72146524e+01] [ 3.12502083e-02 -1.74998626e-03 9.99510061e-01 5.79980132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03071405699998 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:152.84, Y:87.24, Z:5.80 [[ 2.40460735e-01 -9.70611714e-01 -9.56737513e-03 1.52844878e+02] [ 9.70156378e-01 2.40641693e-01 -2.98023033e-02 8.72403497e+01] [ 3.12287740e-02 -2.11556624e-03 9.99510024e-01 5.79868796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06071405699998 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:152.86, Y:87.27, Z:5.80 [[ 2.37637909e-01 -9.71306949e-01 -9.54124352e-03 1.52855198e+02] [ 9.70851829e-01 2.37819392e-01 -2.98104397e-02 8.72663228e+01] [ 3.12241800e-02 -2.17904316e-03 9.99510031e-01 5.79837712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09071405699999 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:152.86, Y:87.29, Z:5.80 [[ 2.40643485e-01 -9.70567020e-01 -9.50646121e-03 1.52863434e+02] [ 9.70110931e-01 2.40822493e-01 -2.98212600e-02 8.72884366e+01] [ 3.12329012e-02 -2.04603001e-03 9.99510040e-01 5.79864212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.120714057 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:152.87, Y:87.32, Z:5.80 [[ 2.39489109e-01 -9.70855821e-01 -9.16196777e-03 1.52871882e+02] [ 9.70395945e-01 2.39658101e-01 -2.99283138e-02 8.73156906e+01] [ 3.12518175e-02 -1.72323116e-03 9.99510057e-01 5.80134498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.150714057 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:152.88, Y:87.34, Z:5.80 [[ 2.40628092e-01 -9.70573890e-01 -9.18941582e-03 1.52881249e+02] [ 9.70114130e-01 2.40797388e-01 -2.99197827e-02 8.73445887e+01] [ 3.12521472e-02 -1.71524190e-03 9.99510061e-01 5.80356434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.180714057 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:152.89, Y:87.37, Z:5.80 [[ 2.40715967e-01 -9.70550741e-01 -9.33177618e-03 1.52888541e+02] [ 9.70092602e-01 2.40889590e-01 -2.98755446e-02 8.73704358e+01] [ 3.12436597e-02 -1.86116644e-03 9.99510065e-01 5.80422119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.210714057 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:152.90, Y:87.40, Z:5.81 [[ 2.40037999e-01 -9.70719161e-01 -9.27732806e-03 1.52901047e+02] [ 9.70260515e-01 2.40210273e-01 -2.98924542e-02 8.74033634e+01] [ 3.12456875e-02 -1.82610022e-03 9.99510066e-01 5.80742990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.240714057 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:152.91, Y:87.43, Z:5.81 [[ 2.39039995e-01 -9.70959419e-01 -9.88371308e-03 1.52908011e+02] [ 9.70508155e-01 2.39231264e-01 -2.97039351e-02 8.74280327e+01] [ 3.12058088e-02 -2.49179565e-03 9.99509874e-01 5.80755646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.270714057 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:152.92, Y:87.46, Z:5.81 [[ 2.38734310e-01 -9.71036533e-01 -9.69433325e-03 1.52916940e+02] [ 9.70583039e-01 2.38919952e-01 -2.97627432e-02 8.74560834e+01] [ 3.12168806e-02 -2.30376748e-03 9.99509979e-01 5.80978924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.300714057 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:152.92, Y:87.48, Z:5.81 [[ 2.39667164e-01 -9.70805682e-01 -9.79684577e-03 1.52921887e+02] [ 9.70353241e-01 2.39855496e-01 -2.97309493e-02 8.74776726e+01] [ 3.12128018e-02 -2.38086874e-03 9.99509926e-01 5.81237428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.330714057 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:152.93, Y:87.50, Z:5.81 [[ 2.35510530e-01 -9.71827165e-01 -9.31404955e-03 1.52928784e+02] [ 9.71369781e-01 2.35686062e-01 -2.98802537e-02 8.75047108e+01] [ 3.12336339e-02 -2.01027189e-03 9.99510089e-01 5.81324748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.360714057 meters Centerline goodness : 0.995702 Centerline is valid? [True, True] Translation: X:152.94, Y:87.54, Z:5.81 [[ 2.30013096e-01 -9.73143348e-01 -9.27362486e-03 1.52938359e+02] [ 9.72686485e-01 2.30189977e-01 -2.98927446e-02 8.75356818e+01] [ 3.12246210e-02 -2.14460683e-03 9.99510092e-01 5.81458874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.390714057 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:152.95, Y:87.56, Z:5.82 [[ 2.28649632e-01 -9.73460888e-01 -9.65633282e-03 1.52947290e+02] [ 9.73008877e-01 2.28838814e-01 -2.97745307e-02 8.75587811e+01] [ 3.11940848e-02 -2.58776207e-03 9.99509996e-01 5.81506830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.420714057 meters Centerline goodness : 0.995612 Centerline is valid? [True, True] Translation: X:152.96, Y:87.59, Z:5.81 [[ 2.26491695e-01 -9.73968446e-01 -9.32622857e-03 1.52956467e+02] [ 9.73512863e-01 2.26671830e-01 -2.98762066e-02 8.75859700e+01] [ 3.12124759e-02 -2.31249080e-03 9.99510097e-01 5.81436091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.450714057 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:152.96, Y:87.61, Z:5.81 [[ 2.23801459e-01 -9.74589754e-01 -9.36583379e-03 1.52963189e+02] [ 9.74135146e-01 2.23984058e-01 -2.98640180e-02 8.76113936e+01] [ 3.12029634e-02 -2.43997707e-03 9.99510091e-01 5.81472631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48071405699997 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:152.97, Y:87.64, Z:5.82 [[ 2.23355744e-01 -9.74693469e-01 -9.21156960e-03 1.52972508e+02] [ 9.74237098e-01 2.23533850e-01 -2.99114433e-02 8.76410145e+01] [ 3.12135860e-02 -2.29336016e-03 9.99510106e-01 5.81698260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51071405699997 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:152.98, Y:87.66, Z:5.82 [[ 2.27667944e-01 -9.73693510e-01 -9.39447959e-03 1.52982013e+02] [ 9.73238522e-01 2.27849612e-01 -2.98552116e-02 8.76641057e+01] [ 3.12103543e-02 -2.34599478e-03 9.99510085e-01 5.81749595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54071405699997 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:152.99, Y:87.70, Z:5.82 [[ 2.26420265e-01 -9.73986393e-01 -9.18527460e-03 1.52989386e+02] [ 9.73529158e-01 2.26596131e-01 -2.99194384e-02 8.76955823e+01] [ 3.12224735e-02 -2.16776548e-03 9.99510109e-01 5.81927116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57071405699998 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:153.00, Y:87.72, Z:5.82 [[ 2.30138822e-01 -9.73111872e-01 -9.45550112e-03 1.52997310e+02] [ 9.72657152e-01 2.30321195e-01 -2.98364059e-02 8.77227858e+01] [ 3.12119631e-02 -2.33044549e-03 9.99510071e-01 5.81912231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60071405699998 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:153.00, Y:87.75, Z:5.82 [[ 2.31140967e-01 -9.72873460e-01 -9.54385064e-03 1.53002905e+02] [ 9.72419606e-01 2.31325566e-01 -2.98092712e-02 8.77454364e+01] [ 3.12083854e-02 -2.39048371e-03 9.99510041e-01 5.82069932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63071405699998 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:153.01, Y:87.77, Z:5.82 [[ 2.33420266e-01 -9.72332720e-01 -9.16850599e-03 1.53008979e+02] [ 9.71874047e-01 2.33592324e-01 -2.99242757e-02 8.77730446e+01] [ 3.12380450e-02 -1.92570063e-03 9.99510118e-01 5.82234688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66071405699998 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:153.02, Y:87.80, Z:5.82 [[ 2.34746490e-01 -9.72013470e-01 -9.15962347e-03 1.53016086e+02] [ 9.71554462e-01 2.34917650e-01 -2.99269943e-02 8.77992415e+01] [ 3.12411988e-02 -1.87381619e-03 9.99510118e-01 5.82289793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69071405699998 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:153.03, Y:87.83, Z:5.82 [[ 2.36040936e-01 -9.71699999e-01 -9.15359115e-03 1.53025416e+02] [ 9.71240694e-01 2.36211299e-01 -2.99288392e-02 8.78301593e+01] [ 3.12440347e-02 -1.82590898e-03 9.99510118e-01 5.82495530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72071405699998 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:153.03, Y:87.86, Z:5.83 [[ 2.37064252e-01 -9.71447034e-01 -9.54988998e-03 1.53033043e+02] [ 9.70992131e-01 2.37246267e-01 -2.98075652e-02 8.78556345e+01] [ 3.12221465e-02 -2.20655989e-03 9.99510034e-01 5.82511186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75071405699998 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:153.04, Y:87.89, Z:5.83 [[ 2.38110373e-01 -9.71191978e-01 -9.46534529e-03 1.53043858e+02] [ 9.70735892e-01 2.38289312e-01 -2.98333923e-02 8.78863158e+01] [ 3.12294419e-02 -2.08471024e-03 9.99510068e-01 5.82537553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78071405699998 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:153.05, Y:87.91, Z:5.83 [[ 2.36834406e-01 -9.71500921e-01 -9.76857393e-03 1.53051532e+02] [ 9.71048650e-01 2.37023200e-01 -2.97409017e-02 8.79124929e+01] [ 3.12086921e-02 -2.44209172e-03 9.99509907e-01 5.82668756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81071405699998 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:153.06, Y:87.94, Z:5.83 [[ 2.36830623e-01 -9.71501986e-01 -9.75437025e-03 1.53057846e+02] [ 9.71049547e-01 2.37018985e-01 -2.97452280e-02 8.79378543e+01] [ 3.12095190e-02 -2.42739593e-03 9.99509917e-01 5.82696108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84071405699999 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:153.07, Y:87.96, Z:5.83 [[ 2.35218027e-01 -9.71895098e-01 -9.61244097e-03 1.53065032e+02] [ 9.71441282e-01 2.35402814e-01 -2.97884472e-02 8.79649711e+01] [ 3.12140415e-02 -2.33114219e-03 9.99510005e-01 5.82734233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.870714057 meters Centerline goodness : 0.995072 Centerline is valid? [True, True] Translation: X:153.07, Y:87.99, Z:5.83 [[ 2.34569799e-01 -9.72052807e-01 -9.50527509e-03 1.53074205e+02] [ 9.71597852e-01 2.34751618e-01 -2.98209944e-02 8.79936025e+01] [ 3.12189600e-02 -2.24020021e-03 9.99510059e-01 5.82705067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.900714057 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:153.08, Y:88.02, Z:5.83 [[ 2.35174694e-01 -9.71904958e-01 -9.67554028e-03 1.53082603e+02] [ 9.71451897e-01 2.35361426e-01 -2.97692951e-02 8.80198191e+01] [ 3.12101744e-02 -2.39833710e-03 9.99509966e-01 5.82700558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.930714057 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:153.08, Y:88.04, Z:5.83 [[ 2.23640854e-01 -9.74622983e-01 -9.73697814e-03 1.53079084e+02] [ 9.74172921e-01 2.23834804e-01 -2.97506374e-02 8.80415333e+01] [ 3.11751296e-02 -2.83204248e-03 9.99509925e-01 5.82902262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.960714057 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:153.09, Y:88.07, Z:5.83 [[ 2.23522058e-01 -9.74656702e-01 -9.06661463e-03 1.53086980e+02] [ 9.74198665e-01 2.23695654e-01 -2.99535572e-02 8.80678842e+01] [ 3.12225975e-02 -2.13740311e-03 9.99510170e-01 5.82944898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.990714057 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:153.11, Y:88.11, Z:5.83 [[ 2.30844130e-01 -9.72948524e-01 -9.06401339e-03 1.53109154e+02] [ 9.72489166e-01 2.31014197e-01 -2.99543443e-02 8.81057856e+01] [ 3.12379509e-02 -1.89987026e-03 9.99510170e-01 5.82835321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.020714057 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:153.10, Y:88.12, Z:5.83 [[ 2.22802444e-01 -9.74810916e-01 -1.01365277e-02 1.53103876e+02] [ 9.74366008e-01 2.23008861e-01 -2.96298914e-02 8.81224201e+01] [ 3.11440771e-02 -3.27507580e-03 9.99509540e-01 5.83353089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.050714057 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:153.13, Y:88.16, Z:5.83 [[ 2.32479510e-01 -9.72559501e-01 -9.01632785e-03 1.53127067e+02] [ 9.72099377e-01 2.32647338e-01 -2.99669547e-02 8.81617719e+01] [ 3.12422712e-02 -1.79806374e-03 9.99510224e-01 5.82908149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.080714057 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:153.13, Y:88.18, Z:5.83 [[ 2.29571892e-01 -9.73237179e-01 -1.03024333e-02 1.53130539e+02] [ 9.72792968e-01 2.29780221e-01 -2.95785816e-02 8.81839855e+01] [ 3.11542707e-02 -3.23172371e-03 9.99509363e-01 5.83360708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.110714057 meters Centerline goodness : 0.995204 Centerline is valid? [True, True] Translation: X:153.14, Y:88.21, Z:5.83 [[ 2.29049811e-01 -9.73366342e-01 -9.70296936e-03 1.53139098e+02] [ 9.72914879e-01 2.29240219e-01 -2.97583538e-02 8.82117298e+01] [ 3.11900908e-02 -2.62401796e-03 9.99510026e-01 5.83451446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.140714057 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:153.15, Y:88.23, Z:5.84 [[ 2.31788103e-01 -9.72716499e-01 -9.84311696e-03 1.53145635e+02] [ 9.72266177e-01 2.31981502e-01 -2.97163827e-02 8.82320373e+01] [ 3.11890368e-02 -2.68222570e-03 9.99509905e-01 5.83651439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.170714057 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:153.16, Y:88.26, Z:5.84 [[ 2.30225579e-01 -9.73092173e-01 -9.37049743e-03 1.53155317e+02] [ 9.72636585e-01 2.30405306e-01 -2.98574817e-02 8.82635173e+01] [ 3.12130941e-02 -2.24013262e-03 9.99510242e-01 5.83609949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.200714057 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:153.16, Y:88.29, Z:5.84 [[ 2.29950223e-01 -9.73153771e-01 -9.72797444e-03 1.53162689e+02] [ 9.72702432e-01 2.30140974e-01 -2.97508030e-02 8.82898737e+01] [ 3.11909116e-02 -2.62122062e-03 9.99510008e-01 5.83877889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23071405699997 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:153.17, Y:88.32, Z:5.84 [[ 2.29660087e-01 -9.73223324e-01 -9.62319595e-03 1.53170024e+02] [ 9.72770801e-01 2.29847784e-01 -2.97819691e-02 8.83166227e+01] [ 3.11963772e-02 -2.52143442e-03 9.99510094e-01 5.84106427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26071405699997 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:153.18, Y:88.34, Z:5.84 [[ 2.29153759e-01 -9.73343779e-01 -9.51013416e-03 1.53178818e+02] [ 9.72890029e-01 2.29338247e-01 -2.98154395e-02 8.83445699e+01] [ 3.12017100e-02 -2.41999466e-03 9.99510178e-01 5.84000619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29071405699997 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:153.19, Y:88.37, Z:5.84 [[ 2.28311473e-01 -9.73540848e-01 -9.59623827e-03 1.53187993e+02] [ 9.73088267e-01 2.28498977e-01 -2.97899565e-02 8.83701135e+01] [ 3.11944702e-02 -2.53659801e-03 9.99510115e-01 5.83973921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32071405699998 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:153.20, Y:88.40, Z:5.84 [[ 2.26058143e-01 -9.74066593e-01 -9.59108695e-03 1.53196787e+02] [ 9.73614386e-01 2.26246536e-01 -2.97914844e-02 8.83955732e+01] [ 3.11888399e-02 -2.60341259e-03 9.99510119e-01 5.84053538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35071405699998 meters Centerline goodness : 0.995615 Centerline is valid? [True, True] Translation: X:153.21, Y:88.42, Z:5.84 [[ 2.24231953e-01 -9.74489903e-01 -9.45830355e-03 1.53205856e+02] [ 9.74036484e-01 2.24417154e-01 -2.98306743e-02 8.84236773e+01] [ 3.11922965e-02 -2.52374236e-03 9.99510216e-01 5.84088920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38071405699998 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:153.21, Y:88.44, Z:5.84 [[ 2.17204311e-01 -9.76079346e-01 -9.56022769e-03 1.53205409e+02] [ 9.75628494e-01 2.17395867e-01 -2.98006523e-02 8.84433910e+01] [ 3.11661552e-02 -2.85440039e-03 9.99510142e-01 5.84241567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41071405699998 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:153.23, Y:88.48, Z:5.84 [[ 2.23062789e-01 -9.74764289e-01 -8.80755297e-03 1.53225988e+02] [ 9.74303691e-01 2.23228648e-01 -3.00214783e-02 8.84794463e+01] [ 3.12299631e-02 -1.88455666e-03 9.99510449e-01 5.83912959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44071405699998 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:153.22, Y:88.50, Z:5.84 [[ 2.14836792e-01 -9.76600777e-01 -9.80182559e-03 1.53223207e+02] [ 9.76153360e-01 2.15036748e-01 -2.97290277e-02 8.84965823e+01] [ 3.11411443e-02 -3.18119604e-03 9.99509934e-01 5.84320245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47071405699998 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:153.24, Y:88.53, Z:5.84 [[ 2.21714252e-01 -9.75072095e-01 -8.78638399e-03 1.53244101e+02] [ 9.74611539e-01 2.21880096e-01 -3.00261886e-02 8.85333783e+01] [ 3.12272223e-02 -1.90607728e-03 9.99510494e-01 5.84181197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50071405699998 meters Centerline goodness : 0.996165 Centerline is valid? [True, True] Translation: X:153.25, Y:88.56, Z:5.85 [[ 2.17506781e-01 -9.76010052e-01 -9.75591362e-03 1.53249359e+02] [ 9.75561499e-01 2.17704126e-01 -2.97435023e-02 8.85579001e+01] [ 3.11538599e-02 -3.04808028e-03 9.99509953e-01 5.84788252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53071405699998 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:153.25, Y:88.58, Z:5.85 [[ 2.12670167e-01 -9.77078484e-01 -9.43590416e-03 1.53248001e+02] [ 9.76627042e-01 2.12860046e-01 -2.98365728e-02 8.85791448e+01] [ 3.11612003e-02 -2.87001026e-03 9.99510251e-01 5.84757886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56071405699998 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:153.27, Y:88.62, Z:5.85 [[ 2.18931261e-01 -9.75701431e-01 -8.70746112e-03 1.53265432e+02] [ 9.75240525e-01 2.19095996e-01 -3.00476763e-02 8.86150358e+01] [ 3.12253307e-02 -1.91349328e-03 9.99510539e-01 5.84827929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59071405699999 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:153.26, Y:88.63, Z:5.85 [[ 2.13842590e-01 -9.76821416e-01 -9.55339486e-03 1.53263600e+02] [ 9.76371166e-01 2.14035488e-01 -2.98019518e-02 8.86345727e+01] [ 3.11559503e-02 -2.95473272e-03 9.99510168e-01 5.84820132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.620714057 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:153.28, Y:88.67, Z:5.85 [[ 2.18944733e-01 -9.75698537e-01 -8.69301138e-03 1.53279821e+02] [ 9.75237502e-01 2.19109016e-01 -3.00508538e-02 8.86687435e+01] [ 3.12252912e-02 -1.89827456e-03 9.99510569e-01 5.85297898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.650714057 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:153.29, Y:88.69, Z:5.85 [[ 2.19022753e-01 -9.75674188e-01 -9.42932197e-03 1.53286888e+02] [ 9.75221476e-01 2.19209488e-01 -2.98374264e-02 8.86942701e+01] [ 3.11786036e-02 -2.66060201e-03 9.99510288e-01 5.85426541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.680714057 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:153.29, Y:88.72, Z:5.85 [[ 2.14343619e-01 -9.76713806e-01 -9.32496470e-03 1.53286363e+02] [ 9.76260762e-01 2.14529352e-01 -2.98677403e-02 8.87150481e+01] [ 3.11727129e-02 -2.70163761e-03 9.99510362e-01 5.85320547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.710714057 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:153.30, Y:88.75, Z:5.86 [[ 2.19242171e-01 -9.75631680e-01 -8.70035016e-03 1.53301837e+02] [ 9.75170679e-01 2.19406539e-01 -3.00485997e-02 8.87471299e+01] [ 3.12252795e-02 -1.89640613e-03 9.99510573e-01 5.85697062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.740714057 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:153.31, Y:88.77, Z:5.85 [[ 2.18424433e-01 -9.75809975e-01 -9.25530100e-03 1.53311809e+02] [ 9.75355360e-01 2.18606149e-01 -2.98876689e-02 8.87745590e+01] [ 3.11879512e-02 -2.49901031e-03 9.99510413e-01 5.85398460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.770714057 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:153.32, Y:88.80, Z:5.85 [[ 2.17784153e-01 -9.75951878e-01 -9.38048424e-03 1.53319469e+02] [ 9.75498838e-01 2.17969978e-01 -2.98513874e-02 8.88017114e+01] [ 3.11781816e-02 -2.64949234e-03 9.99510331e-01 5.85481596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.800714057 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:153.33, Y:88.83, Z:5.86 [[ 2.17136351e-01 -9.76096443e-01 -9.35623271e-03 1.53325458e+02] [ 9.75643243e-01 2.17321738e-01 -2.98583977e-02 8.88265320e+01] [ 3.11779885e-02 -2.64500172e-03 9.99510349e-01 5.85910855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.830714057 meters Centerline goodness : 0.995984 Centerline is valid? [True, True] Translation: X:153.33, Y:88.85, Z:5.86 [[ 2.18914957e-01 -9.75701491e-01 -9.10178791e-03 1.53333740e+02] [ 9.75245040e-01 2.19091762e-01 -2.99317920e-02 8.88546719e+01] [ 3.11986208e-02 -2.32395655e-03 9.99510503e-01 5.85838249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.860714057 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:153.34, Y:88.88, Z:5.86 [[ 2.17698492e-01 -9.75972466e-01 -9.22563257e-03 1.53339674e+02] [ 9.75517650e-01 2.17879642e-01 -2.98961049e-02 8.88822870e+01] [ 3.11878528e-02 -2.49143045e-03 9.99510435e-01 5.86049533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.890714057 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:153.35, Y:88.91, Z:5.86 [[ 2.18457423e-01 -9.75803292e-01 -9.18090262e-03 1.53346848e+02] [ 9.75347826e-01 2.18636856e-01 -2.99089159e-02 8.89090288e+01] [ 3.11925023e-02 -2.42074870e-03 9.99510464e-01 5.86305137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.920714057 meters Centerline goodness : 0.995201 Centerline is valid? [True, True] Translation: X:153.35, Y:88.94, Z:5.86 [[ 2.20202216e-01 -9.75410677e-01 -9.21926573e-03 1.53354772e+02] [ 9.74955325e-01 2.20382005e-01 -2.98979429e-02 8.89353135e+01] [ 3.11945330e-02 -2.40477892e-03 9.99510439e-01 5.86378286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.950714057 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:153.36, Y:88.96, Z:5.86 [[ 2.20297856e-01 -9.75390007e-01 -9.12084684e-03 1.53362421e+02] [ 9.74933528e-01 2.20474595e-01 -2.99260505e-02 8.89636720e+01] [ 3.12004856e-02 -2.29957465e-03 9.99510501e-01 5.86438646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98071405699997 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:153.37, Y:88.99, Z:5.87 [[ 2.20922123e-01 -9.75248316e-01 -9.17266824e-03 1.53369886e+02] [ 9.74792306e-01 2.21100152e-01 -2.99112572e-02 8.89888134e+01] [ 3.11989815e-02 -2.33338800e-03 9.99510470e-01 5.86508746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01071405699997 meters Centerline goodness : 0.996005 Centerline is valid? [True, True] Translation: X:153.38, Y:89.02, Z:5.87 [[ 2.19360152e-01 -9.75601991e-01 -9.04869286e-03 1.53377280e+02] [ 9.75144877e-01 2.19535125e-01 -2.99465763e-02 8.90167180e+01] [ 3.12024454e-02 -2.25470097e-03 9.99510542e-01 5.86669431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04071405699997 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:153.38, Y:89.04, Z:5.87 [[ 2.18465620e-01 -9.75801746e-01 -9.15018989e-03 1.53384956e+02] [ 9.75345930e-01 2.18644111e-01 -2.99177223e-02 8.90437856e+01] [ 3.11944008e-02 -2.38860673e-03 9.99510482e-01 5.86927597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07071405699998 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:153.39, Y:89.07, Z:5.87 [[ 2.18484206e-01 -9.75797670e-01 -9.14110989e-03 1.53394169e+02] [ 9.75341748e-01 2.18662412e-01 -2.99202994e-02 8.90713873e+01] [ 3.11949756e-02 -2.37859325e-03 9.99510488e-01 5.86797811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10071405699998 meters Centerline goodness : 0.995485 Centerline is valid? [True, True] Translation: X:153.40, Y:89.10, Z:5.87 [[ 2.15854216e-01 -9.76382316e-01 -9.19405863e-03 1.53400752e+02] [ 9.75927475e-01 2.16035264e-01 -2.99053284e-02 8.90976120e+01] [ 3.11852747e-02 -2.51754321e-03 9.99510450e-01 5.87024838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13071405699998 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:153.41, Y:89.12, Z:5.87 [[ 2.14255501e-01 -9.76735244e-01 -9.10185800e-03 1.53407868e+02] [ 9.76279655e-01 2.14434484e-01 -2.99313651e-02 8.91233937e+01] [ 3.11867714e-02 -2.47299918e-03 9.99510515e-01 5.87097636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16071405699998 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:153.42, Y:89.15, Z:5.87 [[ 2.13232057e-01 -9.76960012e-01 -9.01245279e-03 1.53415726e+02] [ 9.76503605e-01 2.13408791e-01 -2.99565823e-02 8.91513021e+01] [ 3.11897196e-02 -2.41298898e-03 9.99510570e-01 5.87223327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19071405699998 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:153.42, Y:89.17, Z:5.87 [[ 2.08840442e-01 -9.77908301e-01 -9.00140131e-03 1.53417730e+02] [ 9.77452567e-01 2.09018888e-01 -2.99596921e-02 8.91736579e+01] [ 3.11792945e-02 -2.54164746e-03 9.99510576e-01 5.87118216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22071405699998 meters Centerline goodness : 0.995916 Centerline is valid? [True, True] Translation: X:153.43, Y:89.21, Z:5.87 [[ 2.11697283e-01 -9.77298773e-01 -8.44803778e-03 1.53432334e+02] [ 9.76836478e-01 2.11857465e-01 -3.01149307e-02 8.92069481e+01] [ 3.12210646e-02 -1.87710247e-03 9.99510741e-01 5.87473389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25071405699998 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:153.44, Y:89.23, Z:5.88 [[ 2.10686308e-01 -9.77512033e-01 -9.02802960e-03 1.53440380e+02] [ 9.77056259e-01 2.10864705e-01 -2.99523626e-02 8.92345155e+01] [ 3.11824876e-02 -2.51034015e-03 9.99510556e-01 5.87582063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28071405699998 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:153.45, Y:89.26, Z:5.88 [[ 2.12256660e-01 -9.77172499e-01 -9.00093300e-03 1.53447996e+02] [ 9.76716136e-01 2.12433498e-01 -2.99599452e-02 8.92590931e+01] [ 3.11881342e-02 -2.43215859e-03 9.99510573e-01 5.87610003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31071405699998 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:153.46, Y:89.30, Z:5.87 [[ 2.14967883e-01 -9.76582277e-01 -8.71007234e-03 1.53463972e+02] [ 9.76122257e-01 2.15134556e-01 -3.00410262e-02 8.92972315e+01] [ 3.12113713e-02 -2.04423968e-03 9.99510716e-01 5.87278861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34071405699999 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:153.46, Y:89.32, Z:5.88 [[ 2.09078932e-01 -9.77849280e-01 -9.83802909e-03 1.53464054e+02] [ 9.77403276e-01 2.09282636e-01 -2.97256667e-02 8.93158317e+01] [ 3.11261505e-02 -3.40071120e-03 9.99509679e-01 5.87924154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.370714057 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:153.47, Y:89.34, Z:5.88 [[ 2.08255265e-01 -9.78034514e-01 -8.84502615e-03 1.53472659e+02] [ 9.77577196e-01 2.08429211e-01 -3.00015153e-02 8.93415189e+01] [ 3.11860793e-02 -2.39872234e-03 9.99510718e-01 5.88287702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.400714057 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:153.49, Y:89.38, Z:5.88 [[ 2.11432160e-01 -9.77353569e-01 -8.74316655e-03 1.53487126e+02] [ 9.76894578e-01 2.11601505e-01 -3.00297573e-02 8.93752136e+01] [ 3.11997577e-02 -2.19189556e-03 9.99510766e-01 5.88124820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.430714057 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:153.49, Y:89.40, Z:5.88 [[ 2.04581126e-01 -9.78804233e-01 -9.42529303e-03 1.53490923e+02] [ 9.78354210e-01 2.04774416e-01 -2.98408932e-02 8.93959716e+01] [ 3.11384514e-02 -3.11639158e-03 9.99510223e-01 5.88301181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.460714057 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:153.50, Y:89.42, Z:5.88 [[ 2.04006751e-01 -9.78930367e-01 -8.75107794e-03 1.53498698e+02] [ 9.78472788e-01 2.04179815e-01 -3.00267659e-02 8.94229876e+01] [ 3.11809065e-02 -2.43702867e-03 9.99510786e-01 5.88324359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.490714057 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:153.51, Y:89.45, Z:5.88 [[ 2.02857012e-01 -9.79169191e-01 -8.75946221e-03 1.53507240e+02] [ 9.78711908e-01 2.03030869e-01 -3.00244594e-02 8.94505627e+01] [ 3.11774668e-02 -2.48231785e-03 9.99510782e-01 5.88366992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.520714057 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:153.50, Y:89.47, Z:5.88 [[ 1.93137175e-01 -9.81132046e-01 -8.82836089e-03 1.53503986e+02] [ 9.80677294e-01 1.93317650e-01 -3.00055255e-02 8.94745267e+01] [ 3.11460606e-02 -2.86259065e-03 9.99510745e-01 5.88434413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.550714057 meters Centerline goodness : 0.992416 Centerline is valid? [True, True] Translation: X:153.51, Y:89.50, Z:5.88 [[ 1.93507013e-01 -9.81064097e-01 -8.26273583e-03 1.53508584e+02] [ 9.80603000e-01 1.93670083e-01 -3.01604891e-02 8.94974624e+01] [ 3.11896177e-02 -2.26619740e-03 9.99510916e-01 5.88014186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.580714057 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:153.52, Y:89.53, Z:5.88 [[ 1.94865624e-01 -9.80797714e-01 -7.95185706e-03 1.53522177e+02] [ 9.80333085e-01 1.95018531e-01 -3.02459193e-02 8.95314293e+01] [ 3.12158880e-02 -1.90157863e-03 9.99510857e-01 5.88445291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.610714057 meters Centerline goodness : 0.994264 Centerline is valid? [True, True] Translation: X:153.53, Y:89.55, Z:5.88 [[ 1.97877630e-01 -9.80184177e-01 -9.13359747e-03 1.53529045e+02] [ 9.79731849e-01 1.98065191e-01 -2.99279868e-02 8.95537517e+01] [ 3.11439869e-02 -3.02639725e-03 9.99510327e-01 5.88486968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.640714057 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:153.54, Y:89.58, Z:5.89 [[ 1.98014363e-01 -9.80161197e-01 -8.62202550e-03 1.53537076e+02] [ 9.79703161e-01 1.98186298e-01 -3.00650514e-02 8.95838595e+01] [ 3.11773641e-02 -2.49371362e-03 9.99510757e-01 5.88513270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.670714057 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:153.54, Y:89.61, Z:5.89 [[ 1.99046509e-01 -9.79949579e-01 -8.90566590e-03 1.53542276e+02] [ 9.79494470e-01 1.99226604e-01 -2.99890641e-02 8.96082847e+01] [ 3.11620163e-02 -2.75383198e-03 9.99510553e-01 5.88733905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.700714057 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:153.55, Y:89.63, Z:5.89 [[ 1.98606378e-01 -9.80040632e-01 -8.71009158e-03 1.53549003e+02] [ 9.79583449e-01 1.98780723e-01 -3.00414940e-02 8.96347529e+01] [ 3.11732831e-02 -2.56582922e-03 9.99510702e-01 5.88827108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73071405699997 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:153.56, Y:89.66, Z:5.89 [[ 1.96878081e-01 -9.80390037e-01 -8.62534873e-03 1.53555954e+02] [ 9.79932240e-01 1.97050648e-01 -3.00640554e-02 8.96644701e+01] [ 3.11741310e-02 -2.53330376e-03 9.99510758e-01 5.89040181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76071405699997 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:153.56, Y:89.69, Z:5.89 [[ 1.96131153e-01 -9.80537330e-01 -8.89468221e-03 1.53562347e+02] [ 9.80082624e-01 1.96312269e-01 -2.99923833e-02 8.96891047e+01] [ 3.11547867e-02 -2.83508275e-03 9.99510551e-01 5.89138569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79071405699997 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:153.57, Y:89.72, Z:5.89 [[ 1.94968840e-01 -9.80770229e-01 -8.76983585e-03 1.53568245e+02] [ 9.80314354e-01 1.95146698e-01 -3.00255478e-02 8.97166898e+01] [ 3.11595679e-02 -2.74314973e-03 9.99510659e-01 5.89317344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82071405699998 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:153.57, Y:89.74, Z:5.89 [[ 1.92992356e-01 -9.81161441e-01 -8.72800158e-03 1.53574982e+02] [ 9.80705463e-01 1.93169860e-01 -3.00366500e-02 8.97423302e+01] [ 3.11567896e-02 -2.76275499e-03 9.99510691e-01 5.89381479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85071405699998 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:153.58, Y:89.77, Z:5.90 [[ 1.90476414e-01 -9.81654079e-01 -8.60255451e-03 1.53583226e+02] [ 9.81197178e-01 1.90651270e-01 -3.00697654e-02 8.97698850e+01] [ 3.11581958e-02 -2.71322111e-03 9.99510783e-01 5.89511994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88071405699998 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:153.59, Y:89.80, Z:5.89 [[ 1.87570265e-01 -9.82213325e-01 -8.62436587e-03 1.53590769e+02] [ 9.81757183e-01 1.87747136e-01 -3.00640267e-02 8.97984006e+01] [ 3.11484876e-02 -2.82791569e-03 9.99510768e-01 5.89471314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91071405699998 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:153.60, Y:89.83, Z:5.89 [[ 1.84422150e-01 -9.82808750e-01 -8.68507749e-03 1.53599606e+02] [ 9.82353855e-01 1.84602325e-01 -3.00480653e-02 8.98297176e+01] [ 3.11347870e-02 -2.99029053e-03 9.99510722e-01 5.89318214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94071405699998 meters Centerline goodness : 0.995899 Centerline is valid? [True, True] Translation: X:153.61, Y:89.86, Z:5.89 [[ 1.82465288e-01 -9.83170609e-01 -9.05386680e-03 1.53606906e+02] [ 9.82720286e-01 1.82657528e-01 -2.99510627e-02 8.98565411e+01] [ 3.11007614e-02 -3.43238931e-03 9.99510361e-01 5.89342540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97071405699998 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:153.61, Y:89.88, Z:5.90 [[ 1.83825137e-01 -9.82917693e-01 -9.00709890e-03 1.53611549e+02] [ 9.82466566e-01 1.84015340e-01 -2.99633219e-02 8.98792806e+01] [ 3.11089236e-02 -3.34116177e-03 9.99510416e-01 5.89569242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00071405699998 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:153.62, Y:89.91, Z:5.90 [[ 1.84308181e-01 -9.82831333e-01 -8.54782938e-03 1.53619756e+02] [ 9.82374958e-01 1.84484237e-01 -3.00833570e-02 8.99073621e+01] [ 3.11438057e-02 -2.85256473e-03 9.99510843e-01 5.89604130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03071405699998 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:153.63, Y:89.94, Z:5.90 [[ 1.81946732e-01 -9.83270376e-01 -8.64607082e-03 1.53628053e+02] [ 9.82815516e-01 1.82126866e-01 -3.00577274e-02 8.99395259e+01] [ 3.11295547e-02 -3.02858728e-03 9.99510770e-01 5.89613061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06071405699998 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:153.63, Y:89.97, Z:5.90 [[ 1.81678029e-01 -9.83316613e-01 -9.02949786e-03 1.53634252e+02] [ 9.82866161e-01 1.81869894e-01 -2.99574973e-02 8.99659838e+01] [ 3.10998986e-02 -3.43216883e-03 9.99510388e-01 5.89773250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09071405699999 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:153.63, Y:89.98, Z:5.90 [[ 1.75297733e-01 -9.84475058e-01 -8.91996767e-03 1.53626481e+02] [ 9.84024579e-01 1.75489213e-01 -2.99860747e-02 8.99836781e+01] [ 3.10859007e-02 -3.52097650e-03 9.99510515e-01 5.90315789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.120714057 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:153.63, Y:90.01, Z:5.90 [[ 1.76725295e-01 -9.84228928e-01 -7.84779563e-03 1.53632691e+02] [ 9.83766381e-01 1.76883554e-01 -3.02641197e-02 9.00113494e+01] [ 3.11749681e-02 -2.37196202e-03 9.99511128e-01 5.90424544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.150714057 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:153.64, Y:90.04, Z:5.90 [[ 1.77689095e-01 -9.84055443e-01 -7.84027045e-03 1.53639125e+02] [ 9.83592663e-01 1.77846670e-01 -3.02660691e-02 9.00388618e+01] [ 3.11778560e-02 -2.33368208e-03 9.99511128e-01 5.90363745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.180714057 meters Centerline goodness : 0.995702 Centerline is valid? [True, True] Translation: X:153.64, Y:90.07, Z:5.91 [[ 1.79499092e-01 -9.83726917e-01 -7.83760317e-03 1.53644435e+02] [ 9.83263820e-01 1.79655735e-01 -3.02667598e-02 9.00664745e+01] [ 3.11822966e-02 -2.27357573e-03 9.99511128e-01 5.90558767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.210714057 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:153.67, Y:90.10, Z:5.90 [[ 1.91460905e-01 -9.81469014e-01 -7.82915547e-03 1.53665524e+02] [ 9.81003961e-01 1.91611639e-01 -3.02689448e-02 9.01001682e+01] [ 3.12081887e-02 -1.88511296e-03 9.99511128e-01 5.90219820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.240714057 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:153.66, Y:90.12, Z:5.91 [[ 1.82738335e-01 -9.83123651e-01 -8.63638515e-03 1.53656387e+02] [ 9.82668551e-01 1.82917808e-01 -3.00598485e-02 9.01199643e+01] [ 3.11322967e-02 -2.99361742e-03 9.99510790e-01 5.90632452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.270714057 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:153.66, Y:90.15, Z:5.91 [[ 1.86384414e-01 -9.82446673e-01 -7.70620682e-03 1.53661263e+02] [ 9.81981203e-01 1.86533775e-01 -3.02996211e-02 9.01456491e+01] [ 3.12052298e-02 -1.91997311e-03 9.99511154e-01 5.90866228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.300714057 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:153.67, Y:90.18, Z:5.91 [[ 1.86060926e-01 -9.82509239e-01 -7.54505560e-03 1.53669009e+02] [ 9.82042226e-01 1.86205487e-01 -3.03411080e-02 9.01766516e+01] [ 3.12153497e-02 -1.76426856e-03 9.99511125e-01 5.91092127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.330714057 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:153.68, Y:90.20, Z:5.91 [[ 1.87600594e-01 -9.82214433e-01 -7.79906995e-03 1.53675009e+02] [ 9.81749705e-01 1.87752230e-01 -3.02756746e-02 9.02040685e+01] [ 3.12014973e-02 -1.97700010e-03 9.99511160e-01 5.91166511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.360714057 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:153.68, Y:90.23, Z:5.91 [[ 1.88318783e-01 -9.82077053e-01 -7.79090456e-03 1.53681244e+02] [ 9.81612133e-01 1.88469829e-01 -3.02777756e-02 9.02307760e+01] [ 3.12034591e-02 -1.94577258e-03 9.99511160e-01 5.91167037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.390714057 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:153.71, Y:90.28, Z:5.90 [[ 2.02363555e-01 -9.79279501e-01 -7.78779022e-03 1.53710926e+02] [ 9.78812437e-01 2.02507831e-01 -3.02785767e-02 9.02762314e+01] [ 3.12282780e-02 -1.49550550e-03 9.99511160e-01 5.90349660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.420714057 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:153.69, Y:90.28, Z:5.91 [[ 1.88932050e-01 -9.81942685e-01 -9.65632676e-03 1.53694140e+02] [ 9.81498097e-01 1.89139508e-01 -2.97948488e-02 9.02843720e+01] [ 3.10832267e-02 -3.84846448e-03 9.99509391e-01 5.91088546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.450714057 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:153.72, Y:90.33, Z:5.91 [[ 2.02628007e-01 -9.79225051e-01 -7.75828596e-03 1.53721715e+02] [ 9.78757822e-01 2.02771239e-01 -3.02812039e-02 9.03286980e+01] [ 3.12252707e-02 -1.45766307e-03 9.99511309e-01 5.90664514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48071405699997 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:153.71, Y:90.34, Z:5.91 [[ 1.89901734e-01 -9.81756647e-01 -9.55078418e-03 1.53708603e+02] [ 9.81310805e-01 1.90105551e-01 -2.98158174e-02 9.03369703e+01] [ 3.10875340e-02 -3.71021229e-03 9.99509780e-01 5.91224479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51071405699997 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:153.73, Y:90.38, Z:5.91 [[ 1.99177392e-01 -9.79934198e-01 -7.57191864e-03 1.53732559e+02] [ 9.79465885e-01 1.99316513e-01 -3.03233748e-02 9.03767022e+01] [ 3.12241204e-02 -1.37670528e-03 9.99511460e-01 5.91126975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54071405699997 meters Centerline goodness : 0.994317 Centerline is valid? [True, True] Translation: X:153.74, Y:90.40, Z:5.91 [[ 1.94119844e-01 -9.80939194e-01 -8.70538643e-03 1.53737756e+02] [ 9.80483001e-01 1.94296115e-01 -3.00350627e-02 9.04040979e+01] [ 3.11539930e-02 -2.70508171e-03 9.99510936e-01 5.91260204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57071405699998 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:153.74, Y:90.43, Z:5.91 [[ 1.92728549e-01 -9.81214249e-01 -8.61998122e-03 1.53742515e+02] [ 9.80757401e-01 1.92902864e-01 -3.00566970e-02 9.04278796e+01] [ 3.11548784e-02 -2.66132677e-03 9.99511026e-01 5.91253549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60071405699998 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:153.75, Y:90.46, Z:5.91 [[ 1.91842251e-01 -9.81389988e-01 -8.38102207e-03 1.53749747e+02] [ 9.80930793e-01 1.92009688e-01 -3.01174132e-02 9.04556137e+01] [ 3.11661652e-02 -2.44341030e-03 9.99511230e-01 5.91276083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63071405699998 meters Centerline goodness : 0.995833 Centerline is valid? [True, True] Translation: X:153.76, Y:90.49, Z:5.91 [[ 1.85817193e-01 -9.82549435e-01 -8.28116005e-03 1.53756939e+02] [ 9.82090236e-01 1.85984399e-01 -3.01425135e-02 9.04866313e+01] [ 3.11566762e-02 -2.53184918e-03 9.99511306e-01 5.91364837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66071405699998 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:153.76, Y:90.51, Z:5.91 [[ 1.85355493e-01 -9.82633843e-01 -8.60645205e-03 1.53762912e+02] [ 9.82178151e-01 1.85532824e-01 -3.00607920e-02 9.05105471e+01] [ 3.11355310e-02 -2.88113623e-03 9.99511019e-01 5.91462456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69071405699998 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:153.77, Y:90.54, Z:5.92 [[ 1.84833008e-01 -9.82734145e-01 -8.38803670e-03 1.53769380e+02] [ 9.82276233e-01 1.85003933e-01 -3.01155726e-02 9.05379018e+01] [ 3.11474213e-02 -2.67301719e-03 9.99511227e-01 5.91559114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72071405699998 meters Centerline goodness : 0.995204 Centerline is valid? [True, True] Translation: X:153.78, Y:90.56, Z:5.92 [[ 1.84542959e-01 -9.82788623e-01 -8.39163011e-03 1.53775014e+02] [ 9.82330798e-01 1.84714128e-01 -3.01146726e-02 9.05617857e+01] [ 3.11464103e-02 -2.68590591e-03 9.99511224e-01 5.91580127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75071405699998 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:153.78, Y:90.59, Z:5.92 [[ 1.82088377e-01 -9.83248738e-01 -8.10812675e-03 1.53781064e+02] [ 9.82788390e-01 1.82252044e-01 -3.01856457e-02 9.05906713e+01] [ 3.11577207e-02 -2.47211761e-03 9.99511423e-01 5.91752425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78071405699998 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:153.79, Y:90.61, Z:5.92 [[ 1.82059753e-01 -9.83252998e-01 -8.23333534e-03 1.53786495e+02] [ 9.82793948e-01 1.82227254e-01 -3.01543192e-02 9.06149305e+01] [ 3.11496629e-02 -2.60178425e-03 9.99511345e-01 5.91936650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81071405699998 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:153.79, Y:90.65, Z:5.92 [[ 1.80095536e-01 -9.83617016e-01 -7.94752024e-03 1.53794757e+02] [ 9.83155373e-01 1.80255228e-01 -3.02252403e-02 9.06478362e+01] [ 3.11626428e-02 -2.37021637e-03 9.99511517e-01 5.92070659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84071405699999 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:153.80, Y:90.68, Z:5.92 [[ 1.82300912e-01 -9.83206467e-01 -8.45104273e-03 1.53803793e+02] [ 9.82749648e-01 1.82474935e-01 -3.01002988e-02 9.06784386e+01] [ 3.11369119e-02 -2.81794735e-03 9.99511156e-01 5.91974190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.870714057 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:153.79, Y:90.69, Z:5.93 [[ 1.73420817e-01 -9.84809033e-01 -8.74009963e-03 1.53794823e+02] [ 9.84356967e-01 1.73607713e-01 -3.00287130e-02 9.06932955e+01] [ 3.10898965e-02 -3.39577401e-03 9.99510824e-01 5.92602444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.900714057 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:153.81, Y:90.73, Z:5.92 [[ 1.85135438e-01 -9.82684719e-01 -7.45735306e-03 1.53814094e+02] [ 9.82217600e-01 1.85277707e-01 -3.03439895e-02 9.07314652e+01] [ 3.12002561e-02 -1.70699566e-03 9.99511696e-01 5.92496738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.930714057 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:153.81, Y:90.75, Z:5.93 [[ 1.78511158e-01 -9.83900830e-01 -8.53946636e-03 1.53806072e+02] [ 9.83445729e-01 1.78689616e-01 -3.00752119e-02 9.07473381e+01] [ 3.11169399e-02 -3.02934083e-03 9.99511160e-01 5.92914983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.960714057 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:153.81, Y:90.77, Z:5.93 [[ 1.81963184e-01 -9.83277657e-01 -7.37891766e-03 1.53809036e+02] [ 9.82810315e-01 1.82104544e-01 -3.03614745e-02 9.07731989e+01] [ 3.11974939e-02 -1.72740581e-03 9.99511747e-01 5.93066076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.990714057 meters Centerline goodness : 0.994785 Centerline is valid? [True, True] Translation: X:153.82, Y:90.80, Z:5.93 [[ 1.84143072e-01 -9.82873793e-01 -7.10177673e-03 1.53815957e+02] [ 9.82403591e-01 1.84274849e-01 -3.04296627e-02 9.08009405e+01] [ 3.12171968e-02 -1.37339940e-03 9.99511681e-01 5.93293068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.020714057 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:153.84, Y:90.84, Z:5.93 [[ 1.96556484e-01 -9.80465578e-01 -7.26623370e-03 1.53835420e+02] [ 9.79995192e-01 1.96687397e-01 -3.03889943e-02 9.08372609e+01] [ 3.12245395e-02 -1.14772022e-03 9.99511736e-01 5.93182443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.050714057 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:153.83, Y:90.86, Z:5.93 [[ 1.87522671e-01 -9.82225529e-01 -8.26183895e-03 1.53828272e+02] [ 9.81765979e-01 1.87688478e-01 -3.01429518e-02 9.08571842e+01] [ 3.11578287e-02 -2.45870558e-03 9.99511453e-01 5.93494315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.080714057 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:153.85, Y:90.89, Z:5.93 [[ 1.99325286e-01 -9.79906908e-01 -7.20287095e-03 1.53846397e+02] [ 9.79435640e-01 1.99452906e-01 -3.04033789e-02 9.08926111e+01] [ 3.12291145e-02 -9.94586323e-04 9.99511757e-01 5.93252130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.110714057 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:153.85, Y:90.92, Z:5.93 [[ 2.00762010e-01 -9.79605885e-01 -8.18079438e-03 1.53852811e+02] [ 9.79143386e-01 2.00919110e-01 -3.01619234e-02 9.09191045e+01] [ 3.11904756e-02 -1.95480235e-03 9.99511547e-01 5.93310277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.140714057 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:153.86, Y:90.94, Z:5.93 [[ 2.01094990e-01 -9.79538540e-01 -8.06559505e-03 1.53856767e+02] [ 9.79074883e-01 2.01248393e-01 -3.01903488e-02 9.09449266e+01] [ 3.11957982e-02 -1.82569366e-03 9.99511625e-01 5.93299569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.170714057 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:153.86, Y:90.97, Z:5.93 [[ 2.02438054e-01 -9.79262109e-01 -8.03473737e-03 1.53864784e+02] [ 9.78797951e-01 2.02589872e-01 -3.01979235e-02 9.09732821e+01] [ 3.11994387e-02 -1.75117561e-03 9.99511645e-01 5.93290682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.200714057 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:153.86, Y:91.00, Z:5.94 [[ 1.92258262e-01 -9.81310847e-01 -8.11060035e-03 1.53858441e+02] [ 9.80849032e-01 1.92417217e-01 -3.01793238e-02 9.09953719e+01] [ 3.11759170e-02 -2.15305015e-03 9.99511594e-01 5.93557339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23071405699997 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:153.86, Y:91.02, Z:5.94 [[ 1.91857053e-01 -9.81394896e-01 -7.41140646e-03 1.53863696e+02] [ 9.80926557e-01 1.91994697e-01 -3.03500734e-02 9.10227793e+01] [ 3.12083579e-02 -1.44716976e-03 9.99511853e-01 5.93758500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26071405699997 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:153.87, Y:91.05, Z:5.94 [[ 1.91219514e-01 -9.81519383e-01 -7.40256740e-03 1.53866851e+02] [ 9.81051053e-01 1.91357189e-01 -3.03522292e-02 9.10460161e+01] [ 3.12078357e-02 -1.45835802e-03 9.99511853e-01 5.93817622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29071405699997 meters Centerline goodness : 0.994264 Centerline is valid? [True, True] Translation: X:153.90, Y:91.09, Z:5.94 [[ 2.04264034e-01 -9.78890940e-01 -6.98078891e-03 1.53895200e+02] [ 9.78417267e-01 2.04382376e-01 -3.04548087e-02 9.10903299e+01] [ 3.12386865e-02 -6.09302336e-04 9.99511767e-01 5.93570740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32071405699998 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:153.88, Y:91.10, Z:5.94 [[ 1.89124197e-01 -9.81913411e-01 -8.83694497e-03 1.53880479e+02] [ 9.81459601e-01 1.89306780e-01 -2.99999132e-02 9.10989903e+01] [ 3.11302107e-02 -2.99939500e-03 9.99510837e-01 5.93745266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35071405699998 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:153.91, Y:91.14, Z:5.94 [[ 2.00763438e-01 -9.79615215e-01 -6.93340840e-03 1.53909091e+02] [ 9.79141728e-01 2.00881998e-01 -3.04614336e-02 9.11435060e+01] [ 3.12332807e-02 -6.73247338e-04 9.99511895e-01 5.93649829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38071405699998 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:153.92, Y:91.17, Z:5.94 [[ 1.99405640e-01 -9.79877194e-01 -8.83601976e-03 1.53917064e+02] [ 9.79421526e-01 1.99583425e-01 -2.99988620e-02 9.11703692e+01] [ 3.11587238e-02 -2.67224568e-03 9.99510877e-01 5.93577652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41071405699998 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:153.90, Y:91.18, Z:5.94 [[ 1.85252750e-01 -9.82652742e-01 -8.66071437e-03 1.53903068e+02] [ 9.82197813e-01 1.85431763e-01 -3.00419149e-02 9.11795223e+01] [ 3.11267416e-02 -2.94118737e-03 9.99511118e-01 5.94037196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44071405699998 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:153.93, Y:91.22, Z:5.94 [[ 1.95290529e-01 -9.80721510e-01 -6.85054178e-03 1.53928613e+02] [ 9.80247998e-01 1.95409159e-01 -3.04815057e-02 9.12223677e+01] [ 3.12325269e-02 -7.62480487e-04 9.99511855e-01 5.93791879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47071405699998 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:153.94, Y:91.25, Z:5.94 [[ 1.93714108e-01 -9.81019134e-01 -8.73522017e-03 1.53938246e+02] [ 9.80563363e-01 1.93891473e-01 -3.00264641e-02 9.12510573e+01] [ 3.11502205e-02 -2.74888715e-03 9.99510934e-01 5.93707195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50071405699998 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:153.94, Y:91.27, Z:5.94 [[ 1.85803967e-01 -9.82547131e-01 -8.83298597e-03 1.53935023e+02] [ 9.82093835e-01 1.85987969e-01 -3.00029029e-02 9.12691634e+01] [ 3.11220953e-02 -3.10016269e-03 9.99510782e-01 5.93885498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53071405699998 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:153.94, Y:91.29, Z:5.94 [[ 1.81810924e-01 -9.83301287e-01 -7.96027628e-03 1.53939712e+02] [ 9.82839814e-01 1.81970177e-01 -3.02118342e-02 9.12945911e+01] [ 3.11558684e-02 -2.33083496e-03 9.99511820e-01 5.94135168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56071405699998 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:153.95, Y:91.32, Z:5.94 [[ 1.79824409e-01 -9.83667856e-01 -7.79307669e-03 1.53946121e+02] [ 9.83205074e-01 1.79979476e-01 -3.02517728e-02 9.13228516e+01] [ 3.11602903e-02 -2.22218540e-03 9.99511930e-01 5.94187740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59071405699999 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:153.95, Y:91.35, Z:5.94 [[ 1.77800336e-01 -9.84035437e-01 -7.82941385e-03 1.53950869e+02] [ 9.83573329e-01 1.77957468e-01 -3.02431041e-02 9.13481789e+01] [ 3.11535888e-02 -2.32356858e-03 9.99511908e-01 5.94387832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.620714057 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:153.96, Y:91.37, Z:5.94 [[ 1.76448762e-01 -9.84279970e-01 -7.66650486e-03 1.53956317e+02] [ 9.83816499e-01 1.76601541e-01 -3.02818795e-02 9.13749813e+01] [ 3.11597640e-02 -2.19923381e-03 9.99511997e-01 5.94489861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.650714057 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:153.96, Y:91.40, Z:5.95 [[ 1.75805412e-01 -9.84395524e-01 -7.60979585e-03 1.53962745e+02] [ 9.83931609e-01 1.75956756e-01 -3.02953533e-02 9.14028488e+01] [ 3.11616052e-02 -2.16143161e-03 9.99512022e-01 5.94642139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.680714057 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:153.97, Y:91.43, Z:5.95 [[ 1.77701779e-01 -9.84054913e-01 -7.61622827e-03 1.53973552e+02] [ 9.83590768e-01 1.77852426e-01 -3.02938256e-02 9.14336118e+01] [ 3.11653526e-02 -2.10798512e-03 9.99512020e-01 5.94688647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.710714057 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:153.98, Y:91.46, Z:5.95 [[ 1.76386877e-01 -9.84288540e-01 -7.98367406e-03 1.53977662e+02] [ 9.83828175e-01 1.76549388e-01 -3.02065514e-02 9.14571548e+01] [ 3.11414752e-02 -2.52652420e-03 9.99511793e-01 5.94779800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.740714057 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:153.99, Y:91.49, Z:5.95 [[ 1.77127289e-01 -9.84157990e-01 -7.67947992e-03 1.53987530e+02] [ 9.83694544e-01 1.77280145e-01 -3.02786219e-02 9.14881647e+01] [ 3.11603670e-02 -2.19109229e-03 9.99511996e-01 5.94936000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.770714057 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:153.99, Y:91.51, Z:5.95 [[ 1.72580686e-01 -9.84962963e-01 -7.99181767e-03 1.53987242e+02] [ 9.84503310e-01 1.72745223e-01 -3.02046338e-02 9.15063692e+01] [ 3.11309940e-02 -2.65523451e-03 9.99511786e-01 5.94795865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.800714057 meters Centerline goodness : 0.993726 Centerline is valid? [True, True] Translation: X:153.99, Y:91.53, Z:5.95 [[ 1.70167576e-01 -9.85388306e-01 -7.27206526e-03 1.53993113e+02] [ 9.84922071e-01 1.70311222e-01 -3.03743629e-02 9.15347880e+01] [ 3.11690563e-02 -1.99368586e-03 9.99512139e-01 5.94975507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.830714057 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:154.00, Y:91.56, Z:5.95 [[ 1.68441425e-01 -9.85684827e-01 -7.27374339e-03 1.53999714e+02] [ 9.85218861e-01 1.68585938e-01 -3.03739677e-02 9.15621403e+01] [ 3.11654099e-02 -2.04999478e-03 9.99512138e-01 5.94870736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.860714057 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:154.01, Y:91.60, Z:5.95 [[ 1.59498132e-01 -9.87171515e-01 -7.26260978e-03 1.54008568e+02] [ 9.86706770e-01 1.59646523e-01 -3.03765870e-02 9.15972036e+01] [ 3.11463519e-02 -2.32105735e-03 9.99512140e-01 5.94612782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.890714057 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:154.01, Y:91.61, Z:5.95 [[ 1.63153416e-01 -9.86568959e-01 -7.91532571e-03 1.54012097e+02] [ 9.86110114e-01 1.63320015e-01 -3.02227617e-02 9.16139687e+01] [ 3.11095696e-02 -2.87443593e-03 9.99511847e-01 5.95123492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.920714057 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:154.02, Y:91.65, Z:5.95 [[ 1.55161478e-01 -9.87863439e-01 -7.12334942e-03 1.54020319e+02] [ 9.87398025e-01 1.55307648e-01 -3.04084663e-02 9.16494445e+01] [ 3.11457227e-02 -2.31535858e-03 9.99512173e-01 5.94886363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.950714057 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:154.02, Y:91.67, Z:5.95 [[ 1.51330997e-01 -9.88452208e-01 -7.82066392e-03 1.54016216e+02] [ 9.87994412e-01 1.51500204e-01 -3.02445175e-02 9.16689505e+01] [ 3.10800923e-02 -3.14983927e-03 9.99511934e-01 5.95160418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98071405699997 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:154.02, Y:91.70, Z:5.96 [[ 1.50745114e-01 -9.88547056e-01 -7.11540860e-03 1.54022081e+02] [ 9.88082247e-01 1.50893118e-01 -3.04095458e-02 9.16974015e+01] [ 3.11349331e-02 -2.44651847e-03 9.99512196e-01 5.95584893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01071405699997 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:154.04, Y:91.73, Z:5.95 [[ 1.60495821e-01 -9.87010929e-01 -7.10763649e-03 1.54037810e+02] [ 9.86544608e-01 1.60638991e-01 -3.04113623e-02 9.17308162e+01] [ 3.11581105e-02 -2.13110391e-03 9.99512196e-01 5.95400758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04071405699997 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:154.04, Y:91.76, Z:5.96 [[ 1.59151824e-01 -9.87223757e-01 -7.74274944e-03 1.54041642e+02] [ 9.86763841e-01 1.59315031e-01 -3.02628903e-02 9.17563834e+01] [ 3.11097806e-02 -2.82387098e-03 9.99511985e-01 5.95535784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07071405699998 meters Centerline goodness : 0.995092 Centerline is valid? [True, True] Translation: X:154.05, Y:91.79, Z:5.95 [[ 1.60006630e-01 -9.87087860e-01 -7.44553328e-03 1.54052229e+02] [ 9.86624860e-01 1.60160371e-01 -3.03321703e-02 9.17912182e+01] [ 3.11329965e-02 -2.49259988e-03 9.99512143e-01 5.95210130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10071405699998 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:154.04, Y:91.80, Z:5.96 [[ 1.54389394e-01 -9.87976274e-01 -8.17293915e-03 1.54042691e+02] [ 9.87521660e-01 1.54567865e-01 -3.01619872e-02 9.18036476e+01] [ 3.10626015e-02 -3.41426351e-03 9.99511610e-01 5.95746172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13071405699998 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:154.05, Y:91.83, Z:5.96 [[ 1.54621733e-01 -9.87950914e-01 -6.71645048e-03 1.54047604e+02] [ 9.87481875e-01 1.54755672e-01 -3.04996365e-02 9.18301842e+01] [ 3.11715526e-02 -1.91646647e-03 9.99512212e-01 5.95742211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16071405699998 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:154.06, Y:91.86, Z:5.96 [[ 1.52700553e-01 -9.88250212e-01 -6.63778661e-03 1.54055461e+02] [ 9.87780714e-01 1.52832988e-01 -3.05178320e-02 9.18629749e+01] [ 3.11737267e-02 -1.89658777e-03 9.99512182e-01 5.96227163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19071405699998 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:154.06, Y:91.89, Z:5.96 [[ 1.53123282e-01 -9.88181974e-01 -7.04607663e-03 1.54060782e+02] [ 9.87716221e-01 1.53268040e-01 -3.04232743e-02 9.18914488e+01] [ 3.11436696e-02 -2.30101256e-03 9.99512270e-01 5.96364414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22071405699998 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:154.07, Y:91.92, Z:5.96 [[ 1.53404689e-01 -9.88138378e-01 -7.03902617e-03 1.54066221e+02] [ 9.87672516e-01 1.53549098e-01 -3.04249055e-02 9.19184768e+01] [ 3.11448528e-02 -2.28492955e-03 9.99512270e-01 5.96419926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25071405699998 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:154.09, Y:91.96, Z:5.96 [[ 1.61505639e-01 -9.86846748e-01 -7.03033450e-03 1.54085609e+02] [ 9.86379637e-01 1.61645955e-01 -3.04269137e-02 9.19564569e+01] [ 3.11631260e-02 -2.02046065e-03 9.99512270e-01 5.95956937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28071405699998 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:154.08, Y:91.97, Z:5.96 [[ 1.53187818e-01 -9.88163686e-01 -8.12541805e-03 1.54077673e+02] [ 9.87708776e-01 1.53365404e-01 -3.01732846e-02 9.19728449e+01] [ 3.10623021e-02 -3.40336709e-03 9.99511656e-01 5.96448425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31071405699998 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:154.08, Y:92.00, Z:5.96 [[ 1.52556919e-01 -9.88269896e-01 -6.99996720e-03 1.54083010e+02] [ 9.87803842e-01 1.52700529e-01 -3.04321806e-02 9.20006125e+01] [ 3.11441066e-02 -2.27195478e-03 9.99512323e-01 5.96475231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34071405699999 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:154.10, Y:92.04, Z:5.96 [[ 1.59257259e-01 -9.87212355e-01 -6.99231202e-03 1.54100917e+02] [ 9.86745267e-01 1.59397468e-01 -3.04339394e-02 9.20358544e+01] [ 3.11593178e-02 -2.05280503e-03 9.99512323e-01 5.95986206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.370714057 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:154.11, Y:92.06, Z:5.96 [[ 1.58142871e-01 -9.87385407e-01 -7.80318799e-03 1.54106140e+02] [ 9.86926316e-01 1.58308383e-01 -3.02473480e-02 9.20614149e+01] [ 3.11011001e-02 -2.91776912e-03 9.99511985e-01 5.95983859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.400714057 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:154.11, Y:92.09, Z:5.96 [[ 1.56812411e-01 -9.87599040e-01 -7.61602207e-03 1.54112837e+02] [ 9.87138299e-01 1.56972843e-01 -3.02903637e-02 9.20908213e+01] [ 3.11102427e-02 -2.76816210e-03 9.99512126e-01 5.96047460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.430714057 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:154.12, Y:92.12, Z:5.96 [[ 1.49608558e-01 -9.88715697e-01 -7.65178896e-03 1.54117879e+02] [ 9.88256498e-01 1.49773432e-01 -3.02822269e-02 9.21209969e+01] [ 3.10865478e-02 -3.03144985e-03 9.99512099e-01 5.96327799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.460714057 meters Centerline goodness : 0.995510 Centerline is valid? [True, True] Translation: X:154.12, Y:92.15, Z:5.96 [[ 1.49131530e-01 -9.88785888e-01 -7.89012910e-03 1.54124126e+02] [ 9.88329208e-01 1.49303860e-01 -3.02280364e-02 9.21481380e+01] [ 3.10670826e-02 -3.29009173e-03 9.99511887e-01 5.96315359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.490714057 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:154.13, Y:92.17, Z:5.96 [[ 1.51113028e-01 -9.88484724e-01 -7.92483744e-03 1.54127754e+02] [ 9.88028057e-01 1.51285495e-01 -3.02201499e-02 9.21698860e+01] [ 3.10710695e-02 -3.26330340e-03 9.99511851e-01 5.96252513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.520714057 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:154.13, Y:92.20, Z:5.96 [[ 1.50055835e-01 -9.88649152e-01 -7.49008076e-03 1.54134072e+02] [ 9.88188260e-01 1.50215581e-01 -3.03190125e-02 9.21989967e+01] [ 3.10999928e-02 -2.85206512e-03 9.99512209e-01 5.96402864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.550714057 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:154.14, Y:92.23, Z:5.97 [[ 1.45697266e-01 -9.89300558e-01 -7.53075247e-03 1.54141052e+02] [ 9.88840784e-01 1.45860278e-01 -3.03098017e-02 9.22317388e+01] [ 3.10839414e-02 -3.03065992e-03 9.99512183e-01 5.96603344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.580714057 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:154.15, Y:92.26, Z:5.97 [[ 1.44916396e-01 -9.89412488e-01 -7.88453230e-03 1.54147027e+02] [ 9.88956476e-01 1.45090503e-01 -3.02297087e-02 9.22592501e+01] [ 3.10536221e-02 -3.41667884e-03 9.99511880e-01 5.96676424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.610714057 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:154.15, Y:92.29, Z:5.97 [[ 1.44954977e-01 -9.89408456e-01 -7.67867293e-03 1.54153446e+02] [ 9.88950332e-01 1.45122823e-01 -3.02755186e-02 9.22851560e+01] [ 3.10692049e-02 -3.20523903e-03 9.99512096e-01 5.97236759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.640714057 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:154.16, Y:92.31, Z:5.97 [[ 1.44816171e-01 -9.89429542e-01 -7.58013573e-03 1.54160000e+02] [ 9.88970451e-01 1.44981089e-01 -3.02973834e-02 9.23120871e+01] [ 3.10761025e-02 -3.10897917e-03 9.99512186e-01 5.97315404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.670714057 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:154.16, Y:92.34, Z:5.98 [[ 1.43815334e-01 -9.89575637e-01 -7.56362720e-03 1.54164718e+02] [ 9.89116548e-01 1.43980215e-01 -3.03010393e-02 9.23377955e+01] [ 3.10741829e-02 -3.12355473e-03 9.99512200e-01 5.97548088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.700714057 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:154.17, Y:92.37, Z:5.98 [[ 1.43015201e-01 -9.89692428e-01 -7.45324186e-03 1.54170383e+02] [ 9.89232374e-01 1.43177098e-01 -3.03253832e-02 9.23654673e+01] [ 3.10799357e-02 -3.03599736e-03 9.99512291e-01 5.97684737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73071405699997 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:154.18, Y:92.39, Z:5.98 [[ 1.42323799e-01 -9.89792042e-01 -7.45991805e-03 1.54175717e+02] [ 9.89332167e-01 1.42486220e-01 -3.03239125e-02 9.23910134e+01] [ 3.10773028e-02 -3.06452247e-03 9.99512286e-01 5.97753072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76071405699997 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:154.18, Y:92.42, Z:5.98 [[ 1.41746150e-01 -9.89875876e-01 -7.33339952e-03 1.54182212e+02] [ 9.89414851e-01 1.41904991e-01 -3.03516947e-02 9.24179948e+01] [ 3.10850564e-02 -2.95353851e-03 9.99512379e-01 5.97843847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79071405699997 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:154.19, Y:92.45, Z:5.98 [[ 1.41601248e-01 -9.89896669e-01 -7.32608225e-03 1.54188889e+02] [ 9.89435596e-01 1.41759933e-01 -3.03532977e-02 9.24453433e+01] [ 3.10851733e-02 -2.95062173e-03 9.99512384e-01 5.97719440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82071405699998 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:154.20, Y:92.47, Z:5.98 [[ 1.41190238e-01 -9.89955412e-01 -7.32113612e-03 1.54195162e+02] [ 9.89494357e-01 1.41348964e-01 -3.03543796e-02 9.24721196e+01] [ 3.10843174e-02 -2.95848080e-03 9.99512387e-01 5.97727890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85071405699998 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:154.20, Y:92.50, Z:5.98 [[ 1.40661029e-01 -9.90030903e-01 -7.29971416e-03 1.54201843e+02] [ 9.89569724e-01 1.40819350e-01 -3.03590556e-02 9.25000160e+01] [ 3.10843442e-02 -2.95324012e-03 9.99512402e-01 5.97676922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88071405699998 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:154.21, Y:92.53, Z:5.98 [[ 1.38897669e-01 -9.90279945e-01 -7.28479351e-03 1.54207589e+02] [ 9.89818903e-01 1.39056357e-01 -3.03623038e-02 9.25268511e+01] [ 3.10801774e-02 -2.99337311e-03 9.99512412e-01 5.97567905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91071405699998 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:154.22, Y:92.56, Z:5.97 [[ 1.36814430e-01 -9.90570410e-01 -7.21631234e-03 1.54215195e+02] [ 9.90109033e-01 1.36972004e-01 -3.03771889e-02 9.25577694e+01] [ 3.10791773e-02 -2.98889824e-03 9.99512457e-01 5.97279123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94071405699998 meters Centerline goodness : 0.994989 Centerline is valid? [True, True] Translation: X:154.22, Y:92.58, Z:5.98 [[ 1.37118265e-01 -9.90526504e-01 -7.47167101e-03 1.54220393e+02] [ 9.90067587e-01 1.37283460e-01 -3.03220141e-02 9.25819856e+01] [ 3.10604955e-02 -3.23975733e-03 9.99512256e-01 5.97614607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97071405699998 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:154.22, Y:92.61, Z:5.98 [[ 1.37611284e-01 -9.90460293e-01 -7.17934643e-03 1.54224864e+02] [ 9.89998440e-01 1.37767361e-01 -3.03849008e-02 9.26077110e+01] [ 3.10841173e-02 -2.92623655e-03 9.99512489e-01 5.97603316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00071405699998 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:154.23, Y:92.64, Z:5.98 [[ 1.35633709e-01 -9.90733880e-01 -7.06225933e-03 1.54231415e+02] [ 9.90271217e-01 1.35787141e-01 -3.04100209e-02 9.26398602e+01] [ 3.10872020e-02 -2.86892821e-03 9.99512559e-01 5.97752610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03071405699998 meters Centerline goodness : 0.995139 Centerline is valid? [True, True] Translation: X:154.23, Y:92.66, Z:5.98 [[ 1.29541743e-01 -9.91546318e-01 -7.40515333e-03 1.54225354e+02] [ 9.91087999e-01 1.29708427e-01 -3.03364761e-02 9.26587922e+01] [ 3.10405319e-02 -3.40931862e-03 9.99512312e-01 5.97988544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06071405699998 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:154.24, Y:92.69, Z:5.98 [[ 1.36514397e-01 -9.90616689e-01 -6.51111937e-03 1.54240730e+02] [ 9.90148834e-01 1.36650572e-01 -3.05271772e-02 9.26949092e+01] [ 3.11304794e-02 -2.27957805e-03 9.99512730e-01 5.98336032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09071405699999 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:154.24, Y:92.72, Z:5.99 [[ 1.37862297e-01 -9.90424106e-01 -7.35370011e-03 1.54244989e+02] [ 9.89963921e-01 1.38023561e-01 -3.03468652e-02 9.27171381e+01] [ 3.10712507e-02 -3.09620924e-03 9.99512377e-01 5.98602196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.120714057 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:154.25, Y:92.74, Z:5.99 [[ 1.35753062e-01 -9.90719007e-01 -6.85232368e-03 1.54249501e+02] [ 9.90254386e-01 1.35900031e-01 -3.04537641e-02 9.27445167e+01] [ 3.11023539e-02 -2.65135186e-03 9.99512688e-01 5.98722888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.150714057 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:154.25, Y:92.77, Z:5.99 [[ 1.30186166e-01 -9.91466084e-01 -6.82399823e-03 1.54249378e+02] [ 9.91002028e-01 1.30334879e-01 -3.04597969e-02 9.27689260e+01] [ 3.10892606e-02 -2.79715190e-03 9.99512698e-01 5.98560227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.180714057 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:154.26, Y:92.80, Z:5.99 [[ 1.31854952e-01 -9.91247825e-01 -6.48233023e-03 1.54259739e+02] [ 9.90780385e-01 1.31992442e-01 -3.05323385e-02 9.27976742e+01] [ 3.11207328e-02 -2.39672560e-03 9.99512759e-01 5.99048243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.210714057 meters Centerline goodness : 0.986408 Centerline is valid? [True, True] Translation: X:154.26, Y:92.82, Z:5.98 [[ 1.28014657e-01 -9.91750813e-01 -6.52482594e-03 1.54261492e+02] [ 9.91284297e-01 1.28155256e-01 -3.05233053e-02 9.28206332e+01] [ 3.11077036e-02 -2.56052702e-03 9.99512759e-01 5.98454018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.240714057 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:154.27, Y:92.85, Z:5.99 [[ 1.25807609e-01 -9.92037107e-01 -5.90111921e-03 1.54269512e+02] [ 9.91565385e-01 1.25930133e-01 -3.06543564e-02 9.28514075e+01] [ 3.11533878e-02 -1.99479425e-03 9.99512625e-01 5.98554100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.270714057 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:154.28, Y:92.88, Z:5.99 [[ 1.30043390e-01 -9.91487453e-01 -6.43025952e-03 1.54283674e+02] [ 9.91019808e-01 1.30180139e-01 -3.05429603e-02 9.28839871e+01] [ 3.11200540e-02 -2.40060445e-03 9.99512771e-01 5.99022409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.300714057 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:154.29, Y:92.91, Z:5.99 [[ 1.25932079e-01 -9.92014225e-01 -6.99210013e-03 1.54285857e+02] [ 9.91552423e-01 1.26087898e-01 -3.04242428e-02 9.29067345e+01] [ 3.10629008e-02 -3.10164567e-03 9.99512619e-01 5.98610470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.330714057 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:154.30, Y:92.94, Z:5.99 [[ 1.25659862e-01 -9.92052268e-01 -6.47268574e-03 1.54297446e+02] [ 9.91585634e-01 1.25799973e-01 -3.05335508e-02 9.29383950e+01] [ 3.11051420e-02 -2.58138041e-03 9.99512785e-01 5.98985129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.360714057 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:154.30, Y:92.97, Z:5.99 [[ 1.24507754e-01 -9.92194980e-01 -6.85139374e-03 1.54304512e+02] [ 9.91732046e-01 1.24659955e-01 -3.04539894e-02 9.29666036e+01] [ 3.10703899e-02 -3.00298891e-03 9.99512688e-01 5.99161432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.390714057 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:154.31, Y:92.99, Z:5.99 [[ 1.22276585e-01 -9.92472372e-01 -6.85766410e-03 1.54310994e+02] [ 9.92009842e-01 1.22430017e-01 -3.04526707e-02 9.29918811e+01] [ 3.10630183e-02 -3.07922171e-03 9.99512685e-01 5.99092868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.420714057 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:154.32, Y:93.02, Z:5.99 [[ 1.21651618e-01 -9.92550501e-01 -6.66228326e-03 1.54316793e+02] [ 9.92086209e-01 1.21799394e-01 -3.04936320e-02 9.30186961e+01] [ 3.10779318e-02 -2.89995967e-03 9.99512757e-01 5.99164757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.450714057 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:154.32, Y:93.05, Z:5.99 [[ 1.21972179e-01 -9.92511464e-01 -6.61669837e-03 1.54322195e+02] [ 9.92046697e-01 1.22118416e-01 -3.05031790e-02 9.30455529e+01] [ 3.10827756e-02 -2.84353455e-03 9.99512769e-01 5.99183286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48071405699997 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:154.33, Y:93.07, Z:5.99 [[ 1.23577767e-01 -9.92313290e-01 -6.54756498e-03 1.54328349e+02] [ 9.91847646e-01 1.23721142e-01 -3.05176347e-02 9.30729779e+01] [ 3.10931267e-02 -2.72288577e-03 9.99512783e-01 5.99316897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51071405699997 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:154.33, Y:93.10, Z:5.99 [[ 1.24000173e-01 -9.92260402e-01 -6.57664653e-03 1.54330486e+02] [ 9.91794965e-01 1.24144238e-01 -3.05115610e-02 9.30992989e+01] [ 3.10918666e-02 -2.73924607e-03 9.99512777e-01 5.99375315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54071405699997 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:154.34, Y:93.13, Z:5.99 [[ 1.26029581e-01 -9.92006024e-01 -6.37129159e-03 1.54336528e+02] [ 9.91538434e-01 1.26166415e-01 -3.05543830e-02 9.31260301e+01] [ 3.11139750e-02 -2.46662440e-03 9.99512799e-01 5.99464393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57071405699998 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:154.34, Y:93.15, Z:6.00 [[ 1.30158710e-01 -9.91472725e-01 -6.36761639e-03 1.54342688e+02] [ 9.91004536e-01 1.30293484e-01 -3.05551489e-02 9.31522712e+01] [ 3.11242556e-02 -2.33331798e-03 9.99512799e-01 5.99543286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60071405699998 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:154.35, Y:93.18, Z:6.00 [[ 1.32431779e-01 -9.91171705e-01 -6.36207126e-03 1.54348033e+02] [ 9.90703160e-01 1.32565309e-01 -3.05563034e-02 9.31789602e+01] [ 3.11299333e-02 -2.25629848e-03 9.99512800e-01 5.99620242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63071405699998 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:154.35, Y:93.21, Z:6.00 [[ 1.36907952e-01 -9.90563371e-01 -6.35768830e-03 1.54353127e+02] [ 9.90094191e-01 1.37039230e-01 -3.05572153e-02 9.32060671e+01] [ 3.11401109e-02 -2.11118447e-03 9.99512800e-01 5.99701952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66071405699998 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:154.36, Y:93.23, Z:6.00 [[ 1.38766064e-01 -9.90304801e-01 -6.35463583e-03 1.54358754e+02] [ 9.89835348e-01 1.38896367e-01 -3.05578501e-02 9.32332500e+01] [ 3.11442215e-02 -2.04965060e-03 9.99512800e-01 6.00131235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69071405699998 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:154.36, Y:93.26, Z:6.00 [[ 1.42419343e-01 -9.89786069e-01 -6.34577107e-03 1.54364642e+02] [ 9.89316065e-01 1.42547640e-01 -3.05596909e-02 9.32599274e+01] [ 3.11521310e-02 -1.92568217e-03 9.99512800e-01 6.00133504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72071405699998 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:154.37, Y:93.29, Z:6.00 [[ 1.43630199e-01 -9.89611108e-01 -6.34192118e-03 1.54370804e+02] [ 9.89140915e-01 1.43757803e-01 -3.05604898e-02 9.32873818e+01] [ 3.11547008e-02 -1.88364449e-03 9.99512800e-01 6.00319872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75071405699998 meters Centerline goodness : 0.992495 Centerline is valid? [True, True] Translation: X:154.38, Y:93.31, Z:6.00 [[ 1.45093060e-01 -9.89397744e-01 -6.33316696e-03 1.54375202e+02] [ 9.88927290e-01 1.45219699e-01 -3.05623039e-02 9.33109833e+01] [ 3.11579751e-02 -1.82866345e-03 9.99512800e-01 6.00464973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78071405699998 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:154.38, Y:93.34, Z:6.01 [[ 1.46544515e-01 -9.89186774e-01 -5.85077259e-03 1.54383571e+02] [ 9.88712289e-01 1.46655579e-01 -3.06618906e-02 9.33405089e+01] [ 3.11883851e-02 -1.29139887e-03 9.99512690e-01 6.00965465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81071405699998 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:154.39, Y:93.37, Z:6.01 [[ 1.46508136e-01 -9.89190824e-01 -6.07281757e-03 1.54389402e+02] [ 9.88718098e-01 1.46626075e-01 -3.06156424e-02 9.33665119e+01] [ 3.11751460e-02 -1.51886394e-03 9.99512783e-01 6.00998325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84071405699999 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:154.40, Y:93.39, Z:6.01 [[ 1.45238738e-01 -9.89378265e-01 -6.02974408e-03 1.54395680e+02] [ 9.88905345e-01 1.45355956e-01 -3.06245763e-02 9.33920515e+01] [ 3.11757494e-02 -1.51497132e-03 9.99512770e-01 6.00847427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.870714057 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:154.41, Y:93.43, Z:6.01 [[ 1.49063036e-01 -9.88810054e-01 -5.90671514e-03 1.54411573e+02] [ 9.88335726e-01 1.49174621e-01 -3.06500514e-02 9.34258721e+01] [ 3.11882109e-02 -1.26902789e-03 9.99512724e-01 6.01099082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.900714057 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:154.43, Y:93.46, Z:6.01 [[ 1.53574071e-01 -9.88115266e-01 -6.57456548e-03 1.54426690e+02] [ 9.87645708e-01 1.53704110e-01 -3.05123325e-02 9.34647125e+01] [ 3.11602393e-02 -1.80743825e-03 9.99512768e-01 6.00785934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.930714057 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:154.43, Y:93.49, Z:6.01 [[ 1.54062144e-01 -9.88031227e-01 -7.69095783e-03 1.54432781e+02] [ 9.87571438e-01 1.54226161e-01 -3.02811177e-02 9.34882673e+01] [ 3.11048368e-02 -2.93019637e-03 9.99511832e-01 6.00809203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.960714057 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:154.43, Y:93.51, Z:6.01 [[ 1.44862007e-01 -9.89425066e-01 -7.28271250e-03 1.54432835e+02] [ 9.88962985e-01 1.45017856e-01 -3.03650351e-02 9.35097941e+01] [ 3.11000502e-02 -2.80359319e-03 9.99512344e-01 6.01395777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.990714057 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:154.45, Y:93.55, Z:6.01 [[ 1.52973965e-01 -9.88207294e-01 -6.73130916e-03 1.54448229e+02] [ 9.87739186e-01 1.53109106e-01 -3.04778872e-02 9.35470858e+01] [ 3.11490952e-02 -1.98645458e-03 9.99512775e-01 6.00945627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.020714057 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:154.45, Y:93.56, Z:6.01 [[ 1.44961946e-01 -9.89406489e-01 -7.79959022e-03 1.54447523e+02] [ 9.88949292e-01 1.45133490e-01 -3.02583519e-02 9.35648937e+01] [ 3.10697915e-02 -3.32708965e-03 9.99511680e-01 6.01486181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.050714057 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:154.45, Y:93.59, Z:6.02 [[ 1.44757443e-01 -9.89443680e-01 -6.81820065e-03 1.54454434e+02] [ 9.88977520e-01 1.44899129e-01 -3.04582812e-02 9.35939177e+01] [ 3.11247052e-02 -2.33398427e-03 9.99512784e-01 6.01678528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.080714057 meters Centerline goodness : 0.994027 Centerline is valid? [True, True] Translation: X:154.46, Y:93.62, Z:6.02 [[ 1.44714738e-01 -9.89449151e-01 -6.92977675e-03 1.54458827e+02] [ 9.88983971e-01 1.44859862e-01 -3.04355941e-02 9.36176428e+01] [ 3.11183193e-02 -2.44895911e-03 9.99512708e-01 6.01617990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.110714057 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:154.47, Y:93.64, Z:6.02 [[ 1.47717431e-01 -9.89007235e-01 -6.65206998e-03 1.54465638e+02] [ 9.88539243e-01 1.47852622e-01 -3.04920734e-02 9.36448373e+01] [ 3.11404072e-02 -2.07162148e-03 9.99512873e-01 6.01641183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.140714057 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:154.47, Y:93.67, Z:6.02 [[ 1.45600509e-01 -9.89321705e-01 -6.56173964e-03 1.54471610e+02] [ 9.88853247e-01 1.45733927e-01 -3.05102898e-02 9.36742107e+01] [ 3.11407600e-02 -2.04628383e-03 9.99512914e-01 6.02070877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.170714057 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:154.48, Y:93.70, Z:6.02 [[ 1.49613914e-01 -9.88721179e-01 -6.79026280e-03 1.54482138e+02] [ 9.88254085e-01 1.49752453e-01 -3.04641859e-02 9.37049922e+01] [ 3.11374443e-02 -2.15263885e-03 9.99512794e-01 6.01797136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.200714057 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:154.49, Y:93.73, Z:6.02 [[ 1.50380528e-01 -9.88601744e-01 -7.23114277e-03 1.54487203e+02] [ 9.88138354e-01 1.50532219e-01 -3.03750508e-02 9.37285518e+01] [ 3.11173481e-02 -2.57755334e-03 9.99512415e-01 6.01652376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23071405699997 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:154.49, Y:93.75, Z:6.02 [[ 1.42464090e-01 -9.89776632e-01 -6.79724280e-03 1.54488435e+02] [ 9.89310627e-01 1.42606214e-01 -3.04622849e-02 9.37523382e+01] [ 3.11201868e-02 -2.38480285e-03 9.99512805e-01 6.02370010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26071405699997 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:154.50, Y:93.78, Z:6.02 [[ 1.40392547e-01 -9.90074758e-01 -6.47354454e-03 1.54497161e+02] [ 9.89606296e-01 1.40525718e-01 -3.05270542e-02 9.37806000e+01] [ 3.11337653e-02 -2.12048956e-03 9.99512977e-01 6.02456436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29071405699997 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:154.50, Y:93.80, Z:6.02 [[ 1.37808665e-01 -9.90437195e-01 -6.55243454e-03 1.54502341e+02] [ 9.89969750e-01 1.37945479e-01 -3.05112812e-02 9.38023755e+01] [ 3.11233865e-02 -2.28199305e-03 9.99512945e-01 6.02254757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32071405699998 meters Centerline goodness : 0.994004 Centerline is valid? [True, True] Translation: X:154.51, Y:93.83, Z:6.03 [[ 1.35787251e-01 -9.90719268e-01 -6.09539567e-03 1.54509418e+02] [ 9.90248304e-01 1.35910981e-01 -3.06023180e-02 9.38339855e+01] [ 3.11467373e-02 -1.88055059e-03 9.99513054e-01 6.02557740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35071405699998 meters Centerline goodness : 0.994621 Centerline is valid? [True, True] Translation: X:154.52, Y:93.86, Z:6.02 [[ 1.31856926e-01 -9.91247808e-01 -6.44464763e-03 1.54517191e+02] [ 9.90780265e-01 1.31993243e-01 -3.05327716e-02 9.38622717e+01] [ 3.11161929e-02 -2.35927230e-03 9.99512990e-01 6.02339169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38071405699998 meters Centerline goodness : 0.994700 Centerline is valid? [True, True] Translation: X:154.52, Y:93.89, Z:6.02 [[ 1.29388355e-01 -9.91572543e-01 -6.52267321e-03 1.54522698e+02] [ 9.91106017e-01 1.29528225e-01 -3.05172487e-02 9.38892340e+01] [ 3.11049362e-02 -2.51608404e-03 9.99512958e-01 6.02417621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41071405699998 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:154.53, Y:93.91, Z:6.02 [[ 1.28732192e-01 -9.91658466e-01 -6.44280369e-03 1.54529017e+02] [ 9.91191340e-01 1.28869926e-01 -3.05331086e-02 9.39141925e+01] [ 3.11086992e-02 -2.45545722e-03 9.99512991e-01 6.02150641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44071405699998 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:154.54, Y:93.94, Z:6.02 [[ 1.29463435e-01 -9.91563965e-01 -6.33420932e-03 1.54536137e+02] [ 9.91095807e-01 1.29597496e-01 -3.05547174e-02 9.39420188e+01] [ 3.11178544e-02 -2.32208964e-03 9.99513025e-01 6.01979154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47071405699998 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:154.54, Y:93.97, Z:6.02 [[ 1.27386590e-01 -9.91832073e-01 -6.46493973e-03 1.54539571e+02] [ 9.91365326e-01 1.27525635e-01 -3.05287300e-02 9.39689094e+01] [ 3.11038191e-02 -2.52016626e-03 9.99512982e-01 6.02219018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50071405699998 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:154.54, Y:94.00, Z:6.02 [[ 1.27012812e-01 -9.91880836e-01 -6.33663696e-03 1.54544828e+02] [ 9.91413033e-01 1.27148104e-01 -3.05541751e-02 9.39967493e+01] [ 3.11117921e-02 -2.40145278e-03 9.99513026e-01 6.02312224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53071405699998 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:154.55, Y:94.02, Z:6.02 [[ 1.27408436e-01 -9.91830134e-01 -6.33056399e-03 1.54550248e+02] [ 9.91362225e-01 1.27543356e-01 -3.05553776e-02 9.40240474e+01] [ 3.11131657e-02 -2.38286912e-03 9.99513028e-01 6.02370684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56071405699998 meters Centerline goodness : 0.995624 Centerline is valid? [True, True] Translation: X:154.56, Y:94.06, Z:6.02 [[ 1.25337432e-01 -9.92094413e-01 -6.26133682e-03 1.54560443e+02] [ 9.91626196e-01 1.25471208e-01 -3.05689922e-02 9.40632183e+01] [ 3.11129439e-02 -2.37746661e-03 9.99513048e-01 6.02401888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59071405699999 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:154.56, Y:94.08, Z:6.03 [[ 1.28043501e-01 -9.91741527e-01 -7.32155220e-03 1.54560270e+02] [ 9.91282448e-01 1.28208362e-01 -3.03598952e-02 9.40812136e+01] [ 3.10478531e-02 -3.37033891e-03 9.99512217e-01 6.02640066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.620714057 meters Centerline goodness : 0.995852 Centerline is valid? [True, True] Translation: X:154.57, Y:94.12, Z:6.03 [[ 1.25413359e-01 -9.92084059e-01 -6.38031169e-03 1.54567056e+02] [ 9.91616906e-01 1.25550738e-01 -3.05438121e-02 9.41170313e+01] [ 3.11030819e-02 -2.49622287e-03 9.99513065e-01 6.02768917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.650714057 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:154.57, Y:94.14, Z:6.03 [[ 1.30993895e-01 -9.91357872e-01 -7.08303363e-03 1.54569302e+02] [ 9.90896113e-01 1.31150125e-01 -3.04062181e-02 9.41386988e+01] [ 3.10723844e-02 -3.03552155e-03 9.99512527e-01 6.02784566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.680714057 meters Centerline goodness : 0.994633 Centerline is valid? [True, True] Translation: X:154.58, Y:94.17, Z:6.03 [[ 1.35568308e-01 -9.90746327e-01 -6.55353344e-03 1.54577600e+02] [ 9.90279252e-01 1.35706208e-01 -3.05094677e-02 9.41719370e+01] [ 3.11164983e-02 -2.35371129e-03 9.99512993e-01 6.02937581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.710714057 meters Centerline goodness : 0.995285 Centerline is valid? [True, True] Translation: X:154.58, Y:94.20, Z:6.03 [[ 1.32143722e-01 -9.91205946e-01 -6.98631031e-03 1.54577558e+02] [ 9.90743132e-01 1.32296467e-01 -3.04251687e-02 9.42021518e+01] [ 3.10818723e-02 -2.90114392e-03 9.99512632e-01 6.02869704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.740714057 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:154.58, Y:94.22, Z:6.03 [[ 1.37897786e-01 -9.90421536e-01 -7.02718558e-03 1.54580539e+02] [ 9.89958202e-01 1.38049090e-01 -3.04172179e-02 9.42243437e+01] [ 3.10959642e-02 -2.76215300e-03 9.99512587e-01 6.02898959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.770714057 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:154.59, Y:94.25, Z:6.03 [[ 1.41176329e-01 -9.89962536e-01 -6.58952136e-03 1.54585780e+02] [ 9.89495001e-01 1.41312686e-01 -3.05019415e-02 9.42532835e+01] [ 3.11269623e-02 -2.21414632e-03 9.99512986e-01 6.02926112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.800714057 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:154.59, Y:94.28, Z:6.03 [[ 1.46972383e-01 -9.89117812e-01 -6.71367316e-03 1.54587751e+02] [ 9.88650494e-01 1.47109814e-01 -3.04779236e-02 9.42806522e+01] [ 3.11339043e-02 -2.15806324e-03 9.99512893e-01 6.03138471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.830714057 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:154.59, Y:94.31, Z:6.03 [[ 1.52035000e-01 -9.88352273e-01 -6.71883022e-03 1.54593501e+02] [ 9.87884299e-01 1.52170196e-01 -3.04769272e-02 9.43110380e+01] [ 3.11443460e-02 -2.00386726e-03 9.99512888e-01 6.03420192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.860714057 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:154.60, Y:94.34, Z:6.04 [[ 1.60669780e-01 -9.86984212e-01 -6.88375140e-03 1.54598961e+02] [ 9.86516365e-01 1.60805961e-01 -3.04451155e-02 9.43440662e+01] [ 3.11557966e-02 -1.89932338e-03 9.99512736e-01 6.03679398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.890714057 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:154.60, Y:94.37, Z:6.04 [[ 1.64813296e-01 -9.86298144e-01 -7.24900370e-03 1.54603333e+02] [ 9.85832634e-01 1.64958754e-01 -3.03747653e-02 9.43733581e+01] [ 3.11543613e-02 -2.14013922e-03 9.99512294e-01 6.03949137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.920714057 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:154.58, Y:94.38, Z:6.05 [[ 1.54367893e-01 -9.87987366e-01 -7.17764346e-03 1.54581351e+02] [ 9.87522826e-01 1.54516079e-01 -3.03883177e-02 9.43807201e+01] [ 3.11323353e-02 -2.39710617e-03 9.99512397e-01 6.04823336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.950714057 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:154.59, Y:94.41, Z:6.05 [[ 1.58396715e-01 -9.87361142e-01 -5.33432685e-03 1.54585129e+02] [ 9.86882731e-01 1.58486017e-01 -3.07352912e-02 9.44091595e+01] [ 3.11922485e-02 -3.95985880e-04 9.99513325e-01 6.05022069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98071405699997 meters Centerline goodness : 0.986844 Centerline is valid? [True, True] Translation: X:154.59, Y:94.43, Z:6.05 [[ 1.60654757e-01 -9.86996408e-01 -5.30459188e-03 1.54586605e+02] [ 9.86517614e-01 1.60742039e-01 -3.07407664e-02 9.44297845e+01] [ 3.11936969e-02 -2.94422957e-04 9.99513315e-01 6.05081548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01071405699997 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:154.59, Y:94.46, Z:6.05 [[ 1.62865789e-01 -9.86636712e-01 -4.76794736e-03 1.54590701e+02] [ 9.86154693e-01 1.62935250e-01 -3.08387077e-02 9.44646009e+01] [ 3.12034678e-02 3.20636775e-04 9.99513002e-01 6.05427402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04071405699997 meters Centerline goodness : 0.986463 Centerline is valid? [True, True] Translation: X:154.60, Y:94.48, Z:6.06 [[ 1.66331065e-01 -9.86053941e-01 -5.62163775e-03 1.54595665e+02] [ 9.85576563e-01 1.66425464e-01 -3.06823057e-02 9.44849715e+01] [ 3.11899922e-02 -4.37133822e-04 9.99513378e-01 6.05564217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07071405699998 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:154.60, Y:94.52, Z:6.06 [[ 1.66284131e-01 -9.86066482e-01 -4.74135349e-03 1.54603439e+02] [ 9.85584129e-01 1.66351090e-01 -3.08421645e-02 9.45180062e+01] [ 3.12011540e-02 4.55559763e-04 9.99513022e-01 6.05590273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10071405699998 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:154.61, Y:94.54, Z:6.06 [[ 1.69117869e-01 -9.85579957e-01 -5.59425081e-03 1.54611181e+02] [ 9.85102168e-01 1.69210065e-01 -3.06866914e-02 9.45417337e+01] [ 3.11907915e-02 -3.21240735e-04 9.99513397e-01 6.05719069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13071405699998 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:154.62, Y:94.57, Z:6.06 [[ 1.65663156e-01 -9.86167934e-01 -5.34076018e-03 1.54618310e+02] [ 9.85688956e-01 1.65749133e-01 -3.07328206e-02 9.45727979e+01] [ 3.11929486e-02 -1.73032253e-04 9.99513367e-01 6.05638753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16071405699998 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:154.63, Y:94.60, Z:6.06 [[ 1.64123272e-01 -9.86423993e-01 -5.59086988e-03 1.54628539e+02] [ 9.85946658e-01 1.64217782e-01 -3.06872545e-02 9.45961778e+01] [ 3.11887644e-02 -4.75806856e-04 9.99513399e-01 6.05588701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19071405699998 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:154.64, Y:94.63, Z:6.06 [[ 1.61357817e-01 -9.86881812e-01 -5.28615442e-03 1.54637880e+02] [ 9.86402892e-01 1.61444183e-01 -3.07426371e-02 9.46254960e+01] [ 3.11927683e-02 -2.53713197e-04 9.99513355e-01 6.05518246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22071405699998 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:154.65, Y:94.65, Z:6.06 [[ 1.59959514e-01 -9.87107800e-01 -5.58079979e-03 1.54650275e+02] [ 9.86630806e-01 1.60055724e-01 -3.06890573e-02 9.46495452e+01] [ 3.11866468e-02 -5.97182298e-04 9.99513400e-01 6.05639334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25071405699998 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:154.66, Y:94.67, Z:6.06 [[ 1.58327069e-01 -9.87372271e-01 -5.34209182e-03 1.54657196e+02] [ 9.86893960e-01 1.58416645e-01 -3.07323774e-02 9.46744834e+01] [ 3.11905735e-02 -4.06310922e-04 9.99513373e-01 6.05691596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28071405699998 meters Centerline goodness : 0.987686 Centerline is valid? [True, True] Translation: X:154.66, Y:94.70, Z:6.06 [[ 1.54434310e-01 -9.87989441e-01 -5.18738566e-03 1.54664908e+02] [ 9.87510557e-01 1.54520958e-01 -3.07599381e-02 9.46965971e+01] [ 3.11920538e-02 -3.72208290e-04 9.99513340e-01 6.05591117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31071405699998 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:154.68, Y:94.73, Z:6.06 [[ 1.57192688e-01 -9.87555200e-01 -5.01858461e-03 1.54676192e+02] [ 9.87075099e-01 1.57272739e-01 -3.07901852e-02 9.47274481e+01] [ 3.11962940e-02 -1.13727932e-04 9.99513271e-01 6.05983455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34071405699999 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:154.68, Y:94.76, Z:6.06 [[ 1.55826272e-01 -9.87769997e-01 -5.34849629e-03 1.54684517e+02] [ 9.87291978e-01 1.55917259e-01 -3.07304182e-02 9.47566153e+01] [ 3.11885080e-02 -4.91920961e-04 9.99513399e-01 6.05811103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.370714057 meters Centerline goodness : 0.996062 Centerline is valid? [True, True] Translation: X:154.70, Y:94.78, Z:6.06 [[ 1.55824559e-01 -9.87769076e-01 -5.56405634e-03 1.54696162e+02] [ 9.87292406e-01 1.55922245e-01 -3.06913399e-02 9.47827378e+01] [ 3.11835166e-02 -7.10886065e-04 9.99513423e-01 6.06035155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.400714057 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:154.71, Y:94.81, Z:6.06 [[ 1.55286694e-01 -9.87853826e-01 -5.55530816e-03 1.54708246e+02] [ 9.87377153e-01 1.55384368e-01 -3.06929233e-02 9.48086276e+01] [ 3.11833298e-02 -7.18981783e-04 9.99513423e-01 6.06071068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.430714057 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:154.72, Y:94.83, Z:6.06 [[ 1.55903262e-01 -9.87756756e-01 -5.54659293e-03 1.54716252e+02] [ 9.87279967e-01 1.56000368e-01 -3.06944982e-02 9.48332113e+01] [ 3.11839685e-02 -6.90667692e-04 9.99513423e-01 6.06119641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.460714057 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:154.72, Y:94.86, Z:6.06 [[ 1.54786193e-01 -9.87934265e-01 -5.20791510e-03 1.54724933e+02] [ 9.87455496e-01 1.54873310e-01 -3.07555116e-02 9.48627108e+01] [ 3.11909908e-02 -3.82055834e-04 9.99513370e-01 6.06292568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.490714057 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:154.74, Y:94.89, Z:6.06 [[ 1.53406421e-01 -9.88147680e-01 -5.53463075e-03 1.54736733e+02] [ 9.87671063e-01 1.53504361e-01 -3.06966061e-02 9.48892697e+01] [ 3.11823701e-02 -7.57338139e-04 9.99513425e-01 6.06377041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.520714057 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:154.75, Y:94.92, Z:6.06 [[ 1.51253166e-01 -9.88479614e-01 -5.52566145e-03 1.54749243e+02] [ 9.88003154e-01 1.51351865e-01 -3.06982206e-02 9.49154351e+01] [ 3.11808844e-02 -8.16167881e-04 9.99513425e-01 6.06387772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.550714057 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:154.76, Y:94.94, Z:6.06 [[ 1.49616179e-01 -9.88728762e-01 -5.51663904e-03 1.54758098e+02] [ 9.88252408e-01 1.49715387e-01 -3.06998419e-02 9.49418431e+01] [ 3.11797424e-02 -8.58638784e-04 9.99513425e-01 6.06452282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.580714057 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:154.77, Y:94.97, Z:6.07 [[ 1.47791944e-01 -9.89003139e-01 -5.50756994e-03 1.54766458e+02] [ 9.88526909e-01 1.47891749e-01 -3.07014688e-02 9.49674815e+01] [ 3.11783732e-02 -9.06951345e-04 9.99513425e-01 6.06509741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.610714057 meters Centerline goodness : 0.988041 Centerline is valid? [True, True] Translation: X:154.78, Y:94.99, Z:6.07 [[ 1.42616149e-01 -9.89762772e-01 -5.50364453e-03 1.54777417e+02] [ 9.89287045e-01 1.42718323e-01 -3.07021725e-02 9.49896464e+01] [ 3.11733382e-02 -1.06605862e-03 9.99513425e-01 6.07129365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.640714057 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:154.79, Y:95.02, Z:6.07 [[ 1.40652635e-01 -9.90045496e-01 -5.17225617e-03 1.54787532e+02] [ 9.89567810e-01 1.40745477e-01 -3.07613396e-02 9.50193367e+01] [ 3.11830974e-02 -7.91634745e-04 9.99513375e-01 6.07071457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.670714057 meters Centerline goodness : 0.987607 Centerline is valid? [True, True] Translation: X:154.80, Y:95.04, Z:6.07 [[ 1.30459628e-01 -9.91438806e-01 -5.42021437e-03 1.54796383e+02] [ 9.90963791e-01 1.30565053e-01 -3.07169630e-02 9.50438426e+01] [ 3.11616797e-02 -1.36391262e-03 9.99513426e-01 6.06886341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.700714057 meters Centerline goodness : 0.987367 Centerline is valid? [True, True] Translation: X:154.80, Y:95.07, Z:6.07 [[ 1.26215060e-01 -9.91989857e-01 -5.08741315e-03 1.54803860e+02] [ 9.91513007e-01 1.26312225e-01 -3.07762857e-02 9.50699902e+01] [ 3.11723658e-02 -1.15980554e-03 9.99513351e-01 6.06960991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73071405699997 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:154.82, Y:95.10, Z:6.07 [[ 1.21192522e-01 -9.92616201e-01 -5.04477153e-03 1.54815883e+02] [ 9.92139558e-01 1.21290779e-01 -3.07838472e-02 9.50984809e+01] [ 3.11684297e-02 -1.27434534e-03 9.99513334e-01 6.07070874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76071405699997 meters Centerline goodness : 0.987606 Centerline is valid? [True, True] Translation: X:154.82, Y:95.12, Z:6.07 [[ 1.17379846e-01 -9.93072675e-01 -5.35098862e-03 1.54819850e+02] [ 9.92598578e-01 1.17489388e-01 -3.07295565e-02 9.51221448e+01] [ 3.11453673e-02 -1.70435310e-03 9.99513412e-01 6.07129907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79071405699997 meters Centerline goodness : 0.986943 Centerline is valid? [True, True] Translation: X:154.83, Y:95.15, Z:6.07 [[ 1.14905149e-01 -9.93363990e-01 -4.97896431e-03 1.54825594e+02] [ 9.92887529e-01 1.15004388e-01 -3.07952037e-02 9.51481717e+01] [ 3.11634492e-02 -1.40502410e-03 9.99513314e-01 6.07455559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82071405699998 meters Centerline goodness : 0.986699 Centerline is valid? [True, True] Translation: X:154.83, Y:95.17, Z:6.08 [[ 1.14827367e-01 -9.93372854e-01 -5.00479907e-03 1.54829365e+02] [ 9.92896580e-01 1.14927442e-01 -3.07906608e-02 9.51735694e+01] [ 3.11617953e-02 -1.43363738e-03 9.99513325e-01 6.07739108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85071405699998 meters Centerline goodness : 0.987162 Centerline is valid? [True, True] Translation: X:154.83, Y:95.20, Z:6.08 [[ 1.17738902e-01 -9.93032129e-01 -4.97418114e-03 1.54833189e+02] [ 9.92555355e-01 1.17836633e-01 -3.07960311e-02 9.52019322e+01] [ 3.11675891e-02 -1.31125925e-03 9.99513313e-01 6.07634910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88071405699998 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:154.84, Y:95.23, Z:6.07 [[ 1.19478236e-01 -9.92823906e-01 -5.06382155e-03 1.54838285e+02] [ 9.92347570e-01 1.19577905e-01 -3.07802767e-02 9.52322566e+01] [ 3.11649157e-02 -1.34749787e-03 9.99513348e-01 6.07028949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91071405699998 meters Centerline goodness : 0.987655 Centerline is valid? [True, True] Translation: X:154.84, Y:95.25, Z:6.07 [[ 1.26338094e-01 -9.91972518e-01 -5.40466334e-03 1.54840927e+02] [ 9.91497817e-01 1.26445012e-01 -3.07203138e-02 9.52536153e+01] [ 3.11570998e-02 -1.47756601e-03 9.99513408e-01 6.07358078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94071405699998 meters Centerline goodness : 0.988047 Centerline is valid? [True, True] Translation: X:154.84, Y:95.28, Z:6.07 [[ 1.29215331e-01 -9.91604185e-01 -4.95353471e-03 1.54844828e+02] [ 9.91126194e-01 1.29306901e-01 -3.07992401e-02 9.52810913e+01] [ 3.11811816e-02 -9.29843995e-04 9.99513316e-01 6.07232476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97071405699998 meters Centerline goodness : 0.987251 Centerline is valid? [True, True] Translation: X:154.85, Y:95.31, Z:6.08 [[ 1.32631762e-01 -9.91152647e-01 -5.02446273e-03 1.54848838e+02] [ 9.90674792e-01 1.32723885e-01 -3.07868103e-02 9.53076019e+01] [ 3.11812947e-02 -8.94299673e-04 9.99513345e-01 6.07527239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00071405699998 meters Centerline goodness : 0.988345 Centerline is valid? [True, True] Translation: X:154.85, Y:95.33, Z:6.08 [[ 1.38114757e-01 -9.90403848e-01 -4.95298174e-03 1.54852260e+02] [ 9.89925051e-01 1.38202014e-01 -3.07992939e-02 9.53340581e+01] [ 3.11882512e-02 -6.49243692e-04 9.99513317e-01 6.07763285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03071405699998 meters Centerline goodness : 0.991217 Centerline is valid? [True, True] Translation: X:154.86, Y:95.36, Z:6.08 [[ 1.46074283e-01 -9.89260956e-01 -5.00644440e-03 1.54860431e+02] [ 9.88781788e-01 1.46159350e-01 -3.07899345e-02 9.53640327e+01] [ 3.11910187e-02 -4.52663449e-04 9.99513339e-01 6.08024862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06071405699998 meters Centerline goodness : 0.987154 Centerline is valid? [True, True] Translation: X:154.86, Y:95.39, Z:6.08 [[ 1.45723614e-01 -9.89310946e-01 -5.33667809e-03 1.54861456e+02] [ 9.88833820e-01 1.45819113e-01 -3.07321204e-02 9.53881486e+01] [ 3.11818128e-02 -7.98692144e-04 9.99513410e-01 6.08343420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09071405699999 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:154.87, Y:95.42, Z:6.08 [[ 1.48631553e-01 -9.88880233e-01 -4.95436688e-03 1.54867335e+02] [ 9.88400569e-01 1.48713760e-01 -3.07982565e-02 9.54170627e+01] [ 3.11925696e-02 -3.19306367e-04 9.99513342e-01 6.07931612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.120714057 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:154.87, Y:95.45, Z:6.08 [[ 1.51058884e-01 -9.88511072e-01 -5.20320533e-03 1.54874057e+02] [ 9.88032662e-01 1.51147658e-01 -3.07545701e-02 9.54474072e+01] [ 3.11876854e-02 -4.95185770e-04 9.99513423e-01 6.07958636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.150714057 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:154.88, Y:95.47, Z:6.08 [[ 1.51866554e-01 -9.88386292e-01 -5.39320946e-03 1.54878311e+02] [ 9.87908958e-01 1.51960844e-01 -3.07212149e-02 9.54716943e+01] [ 3.11839843e-02 -6.62474890e-04 9.99513442e-01 6.07979083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.180714057 meters Centerline goodness : 0.988069 Centerline is valid? [True, True] Translation: X:154.88, Y:95.50, Z:6.08 [[ 1.49400436e-01 -9.88763088e-01 -5.20248508e-03 1.54883174e+02] [ 9.88284834e-01 1.49489990e-01 -3.07543542e-02 9.54967326e+01] [ 3.11864896e-02 -5.46823190e-04 9.99513434e-01 6.08189521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.210714057 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:154.89, Y:95.52, Z:6.08 [[ 1.46636004e-01 -9.89178367e-01 -4.90312937e-03 1.54891254e+02] [ 9.88698604e-01 1.46717583e-01 -3.08061762e-02 9.55249767e+01] [ 3.11921783e-02 -3.30422580e-04 9.99513351e-01 6.08005629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.240714057 meters Centerline goodness : 0.988479 Centerline is valid? [True, True] Translation: X:154.90, Y:95.55, Z:6.08 [[ 1.43927716e-01 -9.89574374e-01 -5.23177589e-03 1.54895494e+02] [ 9.89096803e-01 1.44020824e-01 -3.07492610e-02 9.55477539e+01] [ 3.11821653e-02 -7.49061902e-04 9.99513437e-01 6.08388146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.270714057 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:154.90, Y:95.58, Z:6.08 [[ 1.39983879e-01 -9.90141795e-01 -4.87225255e-03 1.54904467e+02] [ 9.89662417e-01 1.40067720e-01 -3.08112533e-02 9.55766221e+01] [ 3.11899550e-02 -5.08806482e-04 9.99513345e-01 6.08164184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.300714057 meters Centerline goodness : 0.988386 Centerline is valid? [True, True] Translation: X:154.91, Y:95.60, Z:6.09 [[ 1.36716253e-01 -9.90596918e-01 -5.13934001e-03 1.54909246e+02] [ 9.90119454e-01 1.36809970e-01 -3.07652072e-02 9.56006444e+01] [ 3.11790324e-02 -8.82456654e-04 9.99513426e-01 6.08970595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.330714057 meters Centerline goodness : 0.993308 Centerline is valid? [True, True] Translation: X:154.92, Y:95.63, Z:6.09 [[ 1.36363285e-01 -9.90646592e-01 -4.93812535e-03 1.54919174e+02] [ 9.90167919e-01 1.36450925e-01 -3.07999469e-02 9.56299140e+01] [ 3.11856742e-02 -6.89591378e-04 9.99513371e-01 6.08722892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.360714057 meters Centerline goodness : 0.988177 Centerline is valid? [True, True] Translation: X:154.92, Y:95.65, Z:6.08 [[ 1.28346156e-01 -9.91715832e-01 -5.19350278e-03 1.54922403e+02] [ 9.91239531e-01 1.28445579e-01 -3.07558883e-02 9.56522459e+01] [ 3.11681839e-02 -1.20060522e-03 9.99513433e-01 6.08447859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.390714057 meters Centerline goodness : 0.988177 Centerline is valid? [True, True] Translation: X:154.93, Y:95.68, Z:6.09 [[ 1.28209120e-01 -9.91735522e-01 -4.80378697e-03 1.54926676e+02] [ 9.91256757e-01 1.28296526e-01 -3.08227741e-02 9.56784973e+01] [ 3.11843491e-02 -8.10025557e-04 9.99513322e-01 6.08541554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.420714057 meters Centerline goodness : 0.987663 Centerline is valid? [True, True] Translation: X:154.93, Y:95.71, Z:6.08 [[ 1.24290741e-01 -9.92234319e-01 -4.78201109e-03 1.54932321e+02] [ 9.91755767e-01 1.24379363e-01 -3.08265039e-02 9.57069386e+01] [ 3.11818986e-02 -9.11138060e-04 9.99513311e-01 6.08395767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.450714057 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:154.94, Y:95.74, Z:6.08 [[ 1.20005219e-01 -9.92760500e-01 -5.03368177e-03 1.54940562e+02] [ 9.92283978e-01 1.20103700e-01 -3.07832460e-02 9.57359358e+01] [ 3.11649545e-02 -1.30069160e-03 9.99513409e-01 6.08230652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48071405699997 meters Centerline goodness : 0.988017 Centerline is valid? [True, True] Translation: X:154.94, Y:95.76, Z:6.09 [[ 1.13301360e-01 -9.93546628e-01 -5.28201650e-03 1.54944688e+02] [ 9.93072518e-01 1.13410720e-01 -3.07405768e-02 9.57613414e+01] [ 3.11412337e-02 -1.76247628e-03 9.99513440e-01 6.08530914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51071405699997 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] Translation: X:154.95, Y:95.79, Z:6.09 [[ 1.13101371e-01 -9.93569904e-01 -5.18902623e-03 1.54951927e+02] [ 9.93095159e-01 1.13207959e-01 -3.07565081e-02 9.57885702e+01] [ 3.11461799e-02 -1.67459360e-03 9.99513437e-01 6.08605688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54071405699997 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:154.96, Y:95.82, Z:6.09 [[ 1.10604142e-01 -9.93850643e-01 -5.25571424e-03 1.54957201e+02] [ 9.93376642e-01 1.10713979e-01 -3.07451082e-02 9.58164123e+01] [ 3.11379266e-02 -1.82036744e-03 9.99513440e-01 6.08767598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57071405699998 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:154.96, Y:95.85, Z:6.09 [[ 1.05177268e-01 -9.94439646e-01 -5.24714886e-03 1.54962308e+02] [ 9.93966189e-01 1.05289426e-01 -3.07465700e-02 9.58458019e+01] [ 3.11280774e-02 -1.98164833e-03 9.99513440e-01 6.08594159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60071405699998 meters Centerline goodness : 0.986866 Centerline is valid? [True, True] Translation: X:154.96, Y:95.87, Z:6.09 [[ 9.96419995e-02 -9.95009194e-01 -5.30805711e-03 1.54964636e+02] [ 9.94536826e-01 9.97586633e-02 -3.07361500e-02 9.58702719e+01] [ 3.11122765e-02 -2.21644683e-03 9.99513438e-01 6.09200366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63071405699998 meters Centerline goodness : 0.993159 Centerline is valid? [True, True] Translation: X:154.97, Y:95.90, Z:6.09 [[ 9.80461933e-02 -9.95169404e-01 -4.98011016e-03 1.54969715e+02] [ 9.94694796e-01 9.81535259e-02 -3.07920038e-02 9.59003150e+01] [ 3.11320754e-02 -1.93465090e-03 9.99513407e-01 6.08948542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66071405699998 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:154.97, Y:95.93, Z:6.09 [[ 9.51355874e-02 -9.95450565e-01 -5.23378066e-03 1.54971668e+02] [ 9.94978163e-01 9.52521079e-02 -3.07488274e-02 9.59271162e+01] [ 3.11074663e-02 -2.28218971e-03 9.99513440e-01 6.08986838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69071405699998 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:154.97, Y:95.96, Z:6.09 [[ 9.37999180e-02 -9.95577336e-01 -5.22906613e-03 1.54974527e+02] [ 9.95105055e-01 9.39169274e-02 -3.07496291e-02 9.59552299e+01] [ 3.11047317e-02 -2.31915745e-03 9.99513440e-01 6.08998787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72071405699998 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:154.98, Y:95.98, Z:6.09 [[ 9.35860318e-02 -9.95597512e-01 -5.22002060e-03 1.54977400e+02] [ 9.95125188e-01 9.37028649e-02 -3.07511646e-02 9.59823302e+01] [ 3.11049139e-02 -2.31669451e-03 9.99513440e-01 6.09130957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75071405699998 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:154.98, Y:96.01, Z:6.09 [[ 9.42527699e-02 -9.95534634e-01 -5.21610523e-03 1.54977136e+02] [ 9.95062202e-01 9.43691664e-02 -3.07518287e-02 9.60111008e+01] [ 3.11067501e-02 -2.29190411e-03 9.99513440e-01 6.09293621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78071405699998 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:154.98, Y:96.04, Z:6.09 [[ 9.56511773e-02 -9.95401295e-01 -5.20722344e-03 1.54975926e+02] [ 9.94928633e-01 9.57666371e-02 -3.07533326e-02 9.60397807e+01] [ 3.11105854e-02 -2.23922323e-03 9.99513440e-01 6.09471193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81071405699998 meters Centerline goodness : 0.994034 Centerline is valid? [True, True] Translation: X:154.98, Y:96.07, Z:6.10 [[ 9.57450229e-02 -9.95392318e-01 -5.19841730e-03 1.54977669e+02] [ 9.94919579e-01 9.58601674e-02 -3.07548211e-02 9.60682167e+01] [ 3.11114338e-02 -2.22738610e-03 9.99513440e-01 6.09579830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84071405699999 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:154.99, Y:96.10, Z:6.10 [[ 9.96851010e-02 -9.95005501e-01 -5.18968452e-03 1.54987410e+02] [ 9.94532246e-01 9.97981043e-02 -3.07562946e-02 9.61038097e+01] [ 3.11206030e-02 -2.09536427e-03 9.99513440e-01 6.10096563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.870714057 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:154.98, Y:96.13, Z:6.10 [[ 9.65349061e-02 -9.95312238e-01 -5.87883855e-03 1.54979869e+02] [ 9.94844715e-01 9.66705363e-02 -3.06398356e-02 9.61250689e+01] [ 3.10645138e-02 -2.89071781e-03 9.99513201e-01 6.09560252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.900714057 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:154.98, Y:96.15, Z:6.10 [[ 9.70043017e-02 -9.95270558e-01 -5.16541920e-03 1.54981703e+02] [ 9.94797452e-01 9.71178318e-02 -3.07596472e-02 9.61526623e+01] [ 3.11158256e-02 -2.15472776e-03 9.99513463e-01 6.09528846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.930714057 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:154.98, Y:96.18, Z:6.09 [[ 9.83644406e-02 -9.95137098e-01 -5.15678298e-03 1.54981816e+02] [ 9.94663774e-01 9.84770583e-02 -3.07610950e-02 9.61822045e+01] [ 3.11193316e-02 -2.10346732e-03 9.99513463e-01 6.09491093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.960714057 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:155.00, Y:96.23, Z:6.10 [[ 1.08582219e-01 -9.94074136e-01 -5.14913442e-03 1.54999385e+02] [ 9.93599627e-01 1.08689732e-01 -3.07623753e-02 9.62250300e+01] [ 3.11397396e-02 -1.77593108e-03 9.99513463e-01 6.10023322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.990714057 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:154.98, Y:96.24, Z:6.10 [[ 1.00078508e-01 -9.94957295e-01 -6.65384227e-03 1.54984097e+02] [ 9.94495812e-01 1.00236121e-01 -3.05090171e-02 9.62378913e+01] [ 3.10221245e-02 -3.56392136e-03 9.99512344e-01 6.09635366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.020714057 meters Centerline goodness : 0.993800 Centerline is valid? [True, True] Translation: X:154.99, Y:96.27, Z:6.10 [[ 1.00315988e-01 -9.94942473e-01 -5.11650205e-03 1.54986114e+02] [ 9.94468734e-01 1.00426431e-01 -3.07647315e-02 9.62662056e+01] [ 3.11229701e-02 -2.00200688e-03 9.99513558e-01 6.09650498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.050714057 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:154.99, Y:96.29, Z:6.10 [[ 1.00384471e-01 -9.94935611e-01 -5.10768502e-03 1.54987423e+02] [ 9.94461801e-01 1.00494610e-01 -3.07661953e-02 9.62940094e+01] [ 3.11236781e-02 -1.99094939e-03 9.99513558e-01 6.09698151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.080714057 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:154.99, Y:96.32, Z:6.10 [[ 9.98167977e-02 -9.94992768e-01 -5.09892964e-03 1.54989963e+02] [ 9.94518959e-01 9.99269371e-02 -3.07676463e-02 9.63205673e+01] [ 3.11231059e-02 -1.99985427e-03 9.99513558e-01 6.09737963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.110714057 meters Centerline goodness : 0.986387 Centerline is valid? [True, True] Translation: X:154.99, Y:96.34, Z:6.10 [[ 9.94056825e-02 -9.95033944e-01 -5.09513854e-03 1.54989141e+02] [ 9.94560153e-01 9.95159010e-02 -3.07682741e-02 9.63432437e+01] [ 3.11225244e-02 -2.00888049e-03 9.99513558e-01 6.10391896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.140714057 meters Centerline goodness : 0.986309 Centerline is valid? [True, True] Translation: X:154.99, Y:96.37, Z:6.11 [[ 9.91722601e-02 -9.95059995e-01 -4.52418371e-03 1.54991375e+02] [ 9.94582317e-01 9.92649722e-02 -3.08622758e-02 9.63703215e+01] [ 3.11589090e-02 -1.43899147e-03 9.99513407e-01 6.10659589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.170714057 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:154.99, Y:96.40, Z:6.11 [[ 1.01261062e-01 -9.94849686e-01 -4.50551677e-03 1.54994036e+02] [ 9.94371693e-01 1.01352194e-01 -3.08653425e-02 9.64049717e+01] [ 3.11630203e-02 -1.35470098e-03 9.99513397e-01 6.10554971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.200714057 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:154.99, Y:96.43, Z:6.10 [[ 9.20117070e-02 -9.95742119e-01 -5.61052759e-03 1.54986744e+02] [ 9.95272901e-01 9.21412689e-02 -3.06893973e-02 9.64260194e+01] [ 3.10756867e-02 -2.76022224e-03 9.99513223e-01 6.10228544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23071405699997 meters Centerline goodness : 0.986069 Centerline is valid? [True, True] Translation: X:154.99, Y:96.45, Z:6.11 [[ 9.24412425e-02 -9.95706221e-01 -4.87215944e-03 1.54986930e+02] [ 9.95231562e-01 9.25479152e-02 -3.08061830e-02 9.64465075e+01] [ 3.11248162e-02 -2.00116502e-03 9.99513502e-01 6.11091838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26071405699997 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:154.99, Y:96.48, Z:6.10 [[ 9.06737485e-02 -9.95871145e-01 -4.35129005e-03 1.54990209e+02] [ 9.95393183e-01 9.07651917e-02 -3.08883562e-02 9.64786237e+01] [ 3.11557683e-02 -1.53048142e-03 9.99513369e-01 6.10483749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29071405699997 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:155.00, Y:96.52, Z:6.11 [[ 9.76637311e-02 -9.95207570e-01 -4.86706449e-03 1.55003129e+02] [ 9.94732327e-01 9.77677547e-02 -3.08068752e-02 9.65151455e+01] [ 3.11350773e-02 -1.83271202e-03 9.99513506e-01 6.10877374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32071405699998 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:155.00, Y:96.54, Z:6.11 [[ 9.01325754e-02 -9.95913250e-01 -5.73728163e-03 1.55000354e+02] [ 9.95445278e-01 9.02669012e-02 -3.06689518e-02 9.65373640e+01] [ 3.10615021e-02 -2.94687829e-03 9.99513131e-01 6.11029849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35071405699998 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:155.00, Y:96.57, Z:6.11 [[ 8.55396354e-02 -9.96321226e-01 -5.19481835e-03 1.55003856e+02] [ 9.95849694e-01 8.56595055e-02 -3.07544578e-02 9.65661189e+01] [ 3.10863047e-02 -2.54253315e-03 9.99513470e-01 6.10897139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38071405699998 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:155.00, Y:96.59, Z:6.11 [[ 7.62229808e-02 -9.97077206e-01 -5.20608374e-03 1.54997535e+02] [ 9.96606902e-01 7.63475981e-02 -3.07526883e-02 9.65875930e+01] [ 3.10602765e-02 -2.84435742e-03 9.99513466e-01 6.11068692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41071405699998 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:155.01, Y:96.63, Z:6.11 [[ 8.69245309e-02 -9.96204549e-01 -4.54127175e-03 1.55014615e+02] [ 9.95728259e-01 8.70236333e-02 -3.08564528e-02 9.66261955e+01] [ 3.11345366e-02 -1.83968994e-03 9.99513510e-01 6.10854578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44071405699998 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:155.01, Y:96.65, Z:6.11 [[ 7.93386275e-02 -9.96831917e-01 -5.61355555e-03 1.55012290e+02] [ 9.96364409e-01 7.94742397e-02 -3.06889279e-02 9.66519594e+01] [ 3.10378359e-02 -3.15832954e-03 9.99513220e-01 6.10655069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47071405699998 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:155.01, Y:96.68, Z:6.11 [[ 7.84548158e-02 -9.96903620e-01 -5.29285004e-03 1.55013775e+02] [ 9.96433715e-01 7.85810361e-02 -3.07387838e-02 9.66802877e+01] [ 3.10595224e-02 -2.86236861e-03 9.99513438e-01 6.10740869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50071405699998 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:155.02, Y:96.71, Z:6.11 [[ 7.82642380e-02 -9.96918706e-01 -5.27280987e-03 1.55016088e+02] [ 9.96448671e-01 7.83899346e-02 -3.07418890e-02 9.67084181e+01] [ 3.10604994e-02 -2.84809387e-03 9.99513449e-01 6.10841732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53071405699998 meters Centerline goodness : 0.995550 Centerline is valid? [True, True] Translation: X:155.02, Y:96.74, Z:6.11 [[ 7.89059615e-02 -9.96868350e-01 -5.22897098e-03 1.55016527e+02] [ 9.96397901e-01 7.90300125e-02 -3.07486542e-02 9.67367767e+01] [ 3.10656058e-02 -2.78388359e-03 9.99513471e-01 6.10882048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56071405699998 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:155.02, Y:96.76, Z:6.11 [[ 7.99388873e-02 -9.96786241e-01 -5.19276462e-03 1.55017296e+02] [ 9.96315392e-01 8.00613411e-02 -3.07542171e-02 9.67644670e+01] [ 3.10711202e-02 -2.71517342e-03 9.99513488e-01 6.11137210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59071405699999 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:155.02, Y:96.79, Z:6.11 [[ 8.10128293e-02 -9.96700002e-01 -5.10163998e-03 1.55019582e+02] [ 9.96228348e-01 8.11319806e-02 -3.07681838e-02 9.67918023e+01] [ 3.10805550e-02 -2.58978075e-03 9.99513528e-01 6.11215069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.620714057 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:155.02, Y:96.82, Z:6.11 [[ 8.22747393e-02 -9.96596783e-01 -5.07140147e-03 1.55022406e+02] [ 9.96124758e-01 8.23923651e-02 -3.07728026e-02 9.68199148e+01] [ 3.10859209e-02 -2.51992425e-03 9.99513539e-01 6.11203882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.650714057 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:155.02, Y:96.85, Z:6.11 [[ 8.63858248e-02 -9.96248624e-01 -5.11544990e-03 1.55022878e+02] [ 9.95776433e-01 8.65028555e-02 -3.07660899e-02 9.68466835e+01] [ 3.10931757e-02 -2.43609041e-03 9.99513522e-01 6.11320280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.680714057 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:155.03, Y:96.88, Z:6.11 [[ 8.98436474e-02 -9.95943016e-01 -5.06249481e-03 1.55027277e+02] [ 9.95470048e-01 8.99574097e-02 -3.07741442e-02 9.68766170e+01] [ 3.11047029e-02 -2.27470059e-03 9.99513543e-01 6.11346442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.710714057 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:155.03, Y:96.90, Z:6.11 [[ 9.41778298e-02 -9.95541357e-01 -5.28606535e-03 1.55026008e+02] [ 9.95069460e-01 9.42964107e-02 -3.07401483e-02 9.69019197e+01] [ 3.11015460e-02 -2.36496174e-03 9.99513432e-01 6.11433387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.740714057 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:155.03, Y:96.93, Z:6.12 [[ 9.79527478e-02 -9.95178242e-01 -5.05233267e-03 1.55030232e+02] [ 9.94704299e-01 9.80623406e-02 -3.07755715e-02 9.69308287e+01] [ 3.11226227e-02 -2.01102523e-03 9.99513551e-01 6.11612803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.770714057 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:155.03, Y:96.96, Z:6.12 [[ 1.05524060e-01 -9.94403460e-01 -5.14122829e-03 1.55033257e+02] [ 9.93929276e-01 1.05632786e-01 -3.07621287e-02 9.69612169e+01] [ 3.11330494e-02 -1.86387259e-03 9.99513511e-01 6.11604320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.800714057 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:155.04, Y:96.99, Z:6.11 [[ 1.09238124e-01 -9.94000841e-01 -5.41845156e-03 1.55038456e+02] [ 9.93528081e-01 1.09353630e-01 -3.07202797e-02 9.69923788e+01] [ 3.11285112e-02 -2.02755806e-03 9.99513334e-01 6.11383652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.830714057 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:155.04, Y:97.03, Z:6.12 [[ 1.13127934e-01 -9.93564787e-01 -5.57528422e-03 1.55044642e+02] [ 9.93092619e-01 1.13246425e-01 -3.06968609e-02 9.70251610e+01] [ 3.11307011e-02 -2.06410114e-03 9.99513191e-01 6.11562759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.860714057 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:155.05, Y:97.05, Z:6.12 [[ 1.15124570e-01 -9.93333172e-01 -5.96178994e-03 1.55047091e+02] [ 9.92863404e-01 1.15254016e-01 -3.06394025e-02 9.70527878e+01] [ 3.11222551e-02 -2.39189503e-03 9.99512723e-01 6.11509421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.890714057 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:155.05, Y:97.08, Z:6.12 [[ 1.18009170e-01 -9.92995112e-01 -5.87728886e-03 1.55050553e+02] [ 9.92524390e-01 1.18134650e-01 -3.06519020e-02 9.70798680e+01] [ 3.11315003e-02 -2.21614704e-03 9.99512841e-01 6.11618078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.920714057 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:155.03, Y:97.09, Z:6.12 [[ 1.03583872e-01 -9.94603706e-01 -5.81801986e-03 1.55032821e+02] [ 9.94134425e-01 1.03714351e-01 -3.06607101e-02 9.70871637e+01] [ 3.10986680e-02 -2.60793874e-03 9.99512917e-01 6.12029511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.950714057 meters Centerline goodness : 0.993788 Centerline is valid? [True, True] Translation: X:155.05, Y:97.13, Z:6.12 [[ 1.17259668e-01 -9.93092715e-01 -4.12666466e-03 1.55053909e+02] [ 9.92611705e-01 1.17331311e-01 -3.09090018e-02 9.71316979e+01] [ 3.11796915e-02 -4.71796361e-04 9.99513684e-01 6.12172743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98071405699997 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:155.06, Y:97.16, Z:6.12 [[ 1.16159650e-01 -9.93214843e-01 -5.58665707e-03 1.55061120e+02] [ 9.92742424e-01 1.16277048e-01 -3.06941118e-02 9.71622650e+01] [ 3.11354474e-02 -1.98069420e-03 9.99513212e-01 6.12122839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01071405699997 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:155.07, Y:97.19, Z:6.12 [[ 1.12954221e-01 -9.93583470e-01 -5.76477395e-03 1.55067987e+02] [ 9.93112634e-01 1.13078630e-01 -3.06678923e-02 9.71945335e+01] [ 3.11229836e-02 -2.26100195e-03 9.99513005e-01 6.11561929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04071405699997 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:155.07, Y:97.22, Z:6.12 [[ 1.09410551e-01 -9.93977981e-01 -6.09133042e-03 1.55070700e+02] [ 9.93509912e-01 1.09546675e-01 -3.06199272e-02 9.72160634e+01] [ 3.11028184e-02 -2.70165404e-03 9.99512539e-01 6.12402039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07071405699998 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:155.08, Y:97.25, Z:6.13 [[ 1.07792211e-01 -9.94158344e-01 -5.47961050e-03 1.55077068e+02] [ 9.93686236e-01 1.07910284e-01 -3.07088892e-02 9.72469029e+01] [ 3.11208048e-02 -2.13483447e-03 9.99513351e-01 6.12605019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10071405699998 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:155.08, Y:97.27, Z:6.13 [[ 1.00686563e-01 -9.94901697e-01 -5.72971011e-03 1.55078203e+02] [ 9.94432194e-01 1.00815694e-01 -3.06725945e-02 9.72658900e+01] [ 3.10938610e-02 -2.60949007e-03 9.99513063e-01 6.12962566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13071405699998 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:155.08, Y:97.30, Z:6.13 [[ 9.70233000e-02 -9.95269874e-01 -4.93529637e-03 1.55082625e+02] [ 9.94795438e-01 9.71297162e-02 -3.07872558e-02 9.72950653e+01] [ 3.11209922e-02 -1.92252915e-03 9.99513776e-01 6.13018233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16071405699998 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:155.09, Y:97.34, Z:6.12 [[ 9.22465663e-02 -9.95723709e-01 -4.98663009e-03 1.55093906e+02] [ 9.95250124e-01 9.23568395e-02 -3.07799380e-02 9.73360980e+01] [ 3.11088634e-02 -2.12360062e-03 9.99513746e-01 6.12298711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19071405699998 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:155.09, Y:97.35, Z:6.13 [[ 8.91666693e-02 -9.95997367e-01 -6.20892260e-03 1.55092292e+02] [ 9.95533034e-01 8.93158861e-02 -3.06047536e-02 9.73497562e+01] [ 3.10368094e-02 -3.45226361e-03 9.99512280e-01 6.13139546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22071405699998 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:155.10, Y:97.38, Z:6.13 [[ 8.19123091e-02 -9.96627378e-01 -4.92363975e-03 1.55097115e+02] [ 9.96154609e-01 8.20255467e-02 -3.07864302e-02 9.73841019e+01] [ 3.10864634e-02 -2.38291885e-03 9.99513859e-01 6.12671676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25071405699998 meters Centerline goodness : 0.992938 Centerline is valid? [True, True] Translation: X:155.10, Y:97.40, Z:6.13 [[ 8.42042363e-02 -9.96433538e-01 -5.46369303e-03 1.55098608e+02] [ 9.95964281e-01 8.43329718e-02 -3.07099484e-02 9.73990603e+01] [ 3.10611920e-02 -2.85573534e-03 9.99513405e-01 6.12982455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28071405699998 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:155.11, Y:97.44, Z:6.13 [[ 8.63671715e-02 -9.96253991e-01 -4.32406460e-03 1.55106553e+02] [ 9.95776968e-01 8.64598015e-02 -3.08696029e-02 9.74380191e+01] [ 3.11278229e-02 -1.63968365e-03 9.99514067e-01 6.13419119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31071405699998 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:155.11, Y:97.47, Z:6.13 [[ 8.58169552e-02 -9.96296844e-01 -5.29613168e-03 1.55110529e+02] [ 9.95826220e-01 8.59397865e-02 -3.07326012e-02 9.74658720e+01] [ 3.10739420e-02 -2.63664853e-03 9.99513611e-01 6.13472680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34071405699999 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:155.11, Y:97.50, Z:6.13 [[ 8.41935229e-02 -9.96436164e-01 -5.14019678e-03 1.55114831e+02] [ 9.95964663e-01 8.43123316e-02 -3.07542061e-02 9.74958596e+01] [ 3.10779852e-02 -2.53014940e-03 9.99513760e-01 6.13475035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.370714057 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:155.11, Y:97.52, Z:6.14 [[ 8.16065736e-02 -9.96650109e-01 -5.37850577e-03 1.55113015e+02] [ 9.96180592e-01 8.17339190e-02 -3.07212553e-02 9.75159934e+01] [ 3.10579488e-02 -2.85090667e-03 9.99513520e-01 6.13716143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.400714057 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:155.12, Y:97.55, Z:6.14 [[ 8.22558537e-02 -9.96600692e-01 -4.58641551e-03 1.55119545e+02] [ 9.96125803e-01 8.23585372e-02 -3.08294816e-02 9.75512052e+01] [ 3.11024131e-02 -2.03274151e-03 9.99514136e-01 6.13796892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.430714057 meters Centerline goodness : 0.992846 Centerline is valid? [True, True] Translation: X:155.12, Y:97.58, Z:6.14 [[ 8.11200654e-02 -9.96690735e-01 -5.20712733e-03 1.55123902e+02] [ 9.96220086e-01 8.12423809e-02 -3.07443491e-02 9.75768372e+01] [ 3.10656473e-02 -2.69346123e-03 9.99513717e-01 6.13845562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.460714057 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:155.13, Y:97.61, Z:6.13 [[ 7.51997546e-02 -9.97156015e-01 -4.98786243e-03 1.55125592e+02] [ 9.96684562e-01 7.53181365e-02 -3.07743820e-02 9.76092261e+01] [ 3.10625366e-02 -2.65709951e-03 9.99513911e-01 6.13384907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.490714057 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:155.13, Y:97.63, Z:6.14 [[ 7.65046623e-02 -9.97055155e-01 -5.29664265e-03 1.55127414e+02] [ 9.96585719e-01 7.66318994e-02 -3.07320044e-02 9.76309364e+01] [ 3.10473952e-02 -2.92741681e-03 9.99513626e-01 6.13741826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.520714057 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:155.13, Y:97.66, Z:6.14 [[ 7.48612194e-02 -9.97182482e-01 -4.78484187e-03 1.55131442e+02] [ 9.96709703e-01 7.49735238e-02 -3.08016109e-02 9.76593441e+01] [ 3.10735632e-02 -2.46325217e-03 9.99514065e-01 6.13757988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.550714057 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:155.14, Y:97.69, Z:6.13 [[ 6.89655004e-02 -9.97607425e-01 -4.81508313e-03 1.55135560e+02] [ 9.97135525e-01 6.90815258e-02 -3.07975137e-02 9.76931259e+01] [ 3.10564617e-02 -2.67732450e-03 9.99514046e-01 6.13429349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.580714057 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:155.14, Y:97.72, Z:6.13 [[ 6.56346860e-02 -9.97830090e-01 -5.21537362e-03 1.55139333e+02] [ 9.97361452e-01 6.57645473e-02 -3.07434158e-02 9.77219122e+01] [ 3.10196921e-02 -3.18377817e-03 9.99513703e-01 6.13448220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.610714057 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:155.14, Y:97.75, Z:6.14 [[ 6.23801287e-02 -9.98038716e-01 -5.23833463e-03 1.55140527e+02] [ 9.97570677e-01 6.25122195e-02 -3.07403195e-02 9.77484261e+01] [ 3.10074890e-02 -3.30802393e-03 9.99513678e-01 6.13602299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.640714057 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:155.14, Y:97.78, Z:6.14 [[ 6.03050134e-02 -9.98166707e-01 -5.15071643e-03 1.55142726e+02] [ 9.97698287e-01 6.04353996e-02 -3.07520793e-02 9.77765544e+01] [ 3.10069873e-02 -3.28435640e-03 9.99513772e-01 6.13777778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.670714057 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:155.14, Y:97.80, Z:6.14 [[ 5.86403941e-02 -9.98265717e-01 -5.18297465e-03 1.55144332e+02] [ 9.97797756e-01 5.87725468e-02 -3.07477630e-02 9.78028114e+01] [ 3.09990543e-02 -3.36849954e-03 9.99513738e-01 6.13893880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.700714057 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:155.14, Y:97.82, Z:6.14 [[ 6.22438203e-02 -9.98047859e-01 -5.11653977e-03 1.55144535e+02] [ 9.97578936e-01 6.23722509e-02 -3.07566127e-02 9.78235390e+01] [ 3.10157016e-02 -3.18974322e-03 9.99513808e-01 6.14165523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73071405699997 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:155.15, Y:97.86, Z:6.14 [[ 5.74817635e-02 -9.98336245e-01 -4.53738261e-03 1.55145359e+02] [ 9.97863804e-01 5.75946962e-02 -3.08331081e-02 9.78588585e+01] [ 3.10431386e-02 -2.75534844e-03 9.99514248e-01 6.14199472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76071405699997 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:155.15, Y:97.89, Z:6.14 [[ 5.99172302e-02 -9.98190354e-01 -5.09349826e-03 1.55150889e+02] [ 9.97721569e-01 6.00460482e-02 -3.07594439e-02 9.78911893e+01] [ 3.10096247e-02 -3.23887239e-03 9.99513838e-01 6.14120870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79071405699997 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:155.14, Y:97.90, Z:6.15 [[ 4.86142624e-02 -9.98803436e-01 -5.32453354e-03 1.55136162e+02] [ 9.98337928e-01 4.87554203e-02 -3.07293108e-02 9.79044138e+01] [ 3.09521410e-02 -3.82180100e-03 9.99513561e-01 6.14934698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82071405699998 meters Centerline goodness : 0.995391 Centerline is valid? [True, True] Translation: X:155.15, Y:97.94, Z:6.15 [[ 5.66616416e-02 -9.98385530e-01 -3.97380110e-03 1.55148694e+02] [ 9.97909602e-01 5.67576322e-02 -3.09030297e-02 9.79449706e+01] [ 3.10786813e-02 -2.21447788e-03 9.99514488e-01 6.14742266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85071405699998 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:155.15, Y:97.97, Z:6.15 [[ 5.67722493e-02 -9.98373768e-01 -5.17016558e-03 1.55150400e+02] [ 9.97905999e-01 5.69048820e-02 -3.07482110e-02 9.79704519e+01] [ 3.09924150e-02 -3.41369414e-03 9.99513790e-01 6.14679198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88071405699998 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:155.15, Y:97.99, Z:6.15 [[ 5.61604743e-02 -9.98409095e-01 -5.02797130e-03 1.55148484e+02] [ 9.97940350e-01 5.62890489e-02 -3.07668870e-02 9.79901862e+01] [ 3.10009595e-02 -3.28973247e-03 9.99513941e-01 6.15077236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91071405699998 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:155.15, Y:98.02, Z:6.15 [[ 5.05192628e-02 -9.98713841e-01 -4.29739232e-03 1.55151822e+02] [ 9.98240626e-01 5.06281212e-02 -3.08617092e-02 9.80241558e+01] [ 3.10395850e-02 -2.73072081e-03 9.99514426e-01 6.15056851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94071405699998 meters Centerline goodness : 0.995987 Centerline is valid? [True, True] Translation: X:155.16, Y:98.06, Z:6.15 [[ 5.06731036e-02 -9.98704187e-01 -4.70996270e-03 1.55157824e+02] [ 9.98233816e-01 5.07945327e-02 -3.08085153e-02 9.80572618e+01] [ 3.10078336e-02 -3.14048095e-03 9.99514208e-01 6.14696675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97071405699998 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:155.16, Y:98.08, Z:6.15 [[ 4.49210229e-02 -9.98977307e-01 -5.14208114e-03 1.55155818e+02] [ 9.98510896e-01 4.50583452e-02 -3.07528365e-02 9.80799233e+01] [ 3.09530795e-02 -3.75297518e-03 9.99513793e-01 6.15060746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00071405699998 meters Centerline goodness : 0.995560 Centerline is valid? [True, True] Translation: X:155.16, Y:98.11, Z:6.15 [[ 4.35113697e-02 -9.99041838e-01 -4.70805757e-03 1.55157752e+02] [ 9.98572333e-01 4.36361103e-02 -3.08088637e-02 9.81071816e+01] [ 3.09847851e-02 -3.36080018e-03 9.99514206e-01 6.15036270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03071405699998 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:155.16, Y:98.14, Z:6.15 [[ 4.61423691e-02 -9.98924049e-01 -4.65038979e-03 1.55162942e+02] [ 9.98453799e-01 4.62641094e-02 -3.08162708e-02 9.81375805e+01] [ 3.09982602e-02 -3.22126361e-03 9.99514248e-01 6.14706714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06071405699998 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:155.16, Y:98.16, Z:6.15 [[ 4.18628648e-02 -9.99111669e-01 -4.83468685e-03 1.55161382e+02] [ 9.98643310e-01 4.19922460e-02 -3.07926981e-02 9.81606689e+01] [ 3.09683633e-02 -3.53905713e-03 9.99514100e-01 6.15114167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09071405699999 meters Centerline goodness : 0.996541 Centerline is valid? [True, True] Translation: X:155.15, Y:98.18, Z:6.15 [[ 3.30111783e-02 -9.99445395e-01 -4.37770859e-03 1.55152701e+02] [ 9.98974772e-01 3.31307635e-02 -3.08505601e-02 9.81843055e+01] [ 3.09784870e-02 -3.35480710e-03 9.99514421e-01 6.15457796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.120714057 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:155.16, Y:98.22, Z:6.15 [[ 4.02507289e-02 -9.99182033e-01 -3.89147141e-03 1.55164539e+02] [ 9.98707254e-01 4.03519938e-02 -3.09117761e-02 9.82171573e+01] [ 3.10435199e-02 -2.64221920e-03 9.99514541e-01 6.15263350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.150714057 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:155.17, Y:98.25, Z:6.15 [[ 4.17420806e-02 -9.99119077e-01 -4.32065118e-03 1.55169840e+02] [ 9.98647012e-01 4.18558039e-02 -3.08583364e-02 9.82548689e+01] [ 3.10119970e-02 -3.02671423e-03 9.99514430e-01 6.15093496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.180714057 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:155.17, Y:98.28, Z:6.15 [[ 3.78320585e-02 -9.99270473e-01 -5.22085574e-03 1.55168482e+02] [ 9.98805572e-01 3.79750956e-02 -3.07460919e-02 9.82791849e+01] [ 3.09219243e-02 -4.05143185e-03 9.99513592e-01 6.15397161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.210714057 meters Centerline goodness : 0.995517 Centerline is valid? [True, True] Translation: X:155.17, Y:98.31, Z:6.15 [[ 4.03389854e-02 -9.99174828e-01 -4.73590637e-03 1.55170690e+02] [ 9.98705901e-01 4.04660694e-02 -3.08061674e-02 9.83084037e+01] [ 3.09723906e-02 -3.48708811e-03 9.99514158e-01 6.15216254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.240714057 meters Centerline goodness : 0.996101 Centerline is valid? [True, True] Translation: X:155.17, Y:98.34, Z:6.15 [[ 3.79035088e-02 -9.99269845e-01 -4.80636807e-03 1.55172058e+02] [ 9.98801751e-01 3.80338857e-02 -3.07975005e-02 9.83363412e+01] [ 3.09578184e-02 -3.63327551e-03 9.99514088e-01 6.15428369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.270714057 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:155.17, Y:98.36, Z:6.16 [[ 3.72586531e-02 -9.99294181e-01 -4.78881401e-03 1.55172767e+02] [ 9.98826041e-01 3.73887964e-02 -3.07996333e-02 9.83643670e+01] [ 3.09569423e-02 -3.63563928e-03 9.99514107e-01 6.15527545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.300714057 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:155.16, Y:98.38, Z:6.16 [[ 2.90072805e-02 -9.99567511e-01 -4.83405299e-03 1.55162209e+02] [ 9.99100808e-01 2.91426619e-02 -3.07941676e-02 9.83779046e+01] [ 3.09217266e-02 -3.93645119e-03 9.99514058e-01 6.16020658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.330714057 meters Centerline goodness : 0.995720 Centerline is valid? [True, True] Translation: X:155.17, Y:98.42, Z:6.16 [[ 3.51807763e-02 -9.99374774e-01 -3.51758642e-03 1.55173435e+02] [ 9.98898325e-01 3.52729443e-02 -3.09508535e-02 9.84176901e+01] [ 3.10555778e-02 -2.42483613e-03 9.99514718e-01 6.15853119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.360714057 meters Centerline goodness : 0.996102 Centerline is valid? [True, True] Translation: X:155.18, Y:98.45, Z:6.16 [[ 3.63772007e-02 -9.99327778e-01 -4.54884782e-03 1.55177831e+02] [ 9.98858032e-01 3.65004262e-02 -3.08277516e-02 9.84485650e+01] [ 3.09730634e-02 -3.42222587e-03 9.99514361e-01 6.15743197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.390714057 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:155.18, Y:98.47, Z:6.16 [[ 3.62718546e-02 -9.99330267e-01 -4.83433995e-03 1.55177906e+02] [ 9.98862608e-01 3.64038473e-02 -3.07936811e-02 9.84737876e+01] [ 3.09490461e-02 -3.71189749e-03 9.99514071e-01 6.15833559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.420714057 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:155.18, Y:98.50, Z:6.16 [[ 3.46518044e-02 -9.99389408e-01 -4.47930088e-03 1.55179591e+02] [ 9.98919394e-01 3.47737139e-02 -3.08355953e-02 9.85010698e+01] [ 3.09725293e-02 -3.40595150e-03 9.99514433e-01 6.16007993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.450714057 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:155.18, Y:98.53, Z:6.16 [[ 3.68601713e-02 -9.99310449e-01 -4.46702467e-03 1.55180170e+02] [ 9.98840081e-01 3.69806664e-02 -3.08370388e-02 9.85257220e+01] [ 3.09809686e-02 -3.32518475e-03 9.99514443e-01 6.16365255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48071405699997 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:155.18, Y:98.55, Z:6.16 [[ 3.82820216e-02 -9.99258179e-01 -4.19262619e-03 1.55182490e+02] [ 9.98785782e-01 3.83934428e-02 -3.08691641e-02 9.85533982e+01] [ 3.10072341e-02 -3.00580142e-03 9.99514641e-01 6.16073861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51071405699997 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:155.18, Y:98.58, Z:6.16 [[ 3.94435319e-02 -9.99213134e-01 -4.16180688e-03 1.55183557e+02] [ 9.98740404e-01 3.95534589e-02 -3.08727948e-02 9.85814735e+01] [ 3.10131159e-02 -2.93883262e-03 9.99514657e-01 6.16315027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54071405699997 meters Centerline goodness : 0.995517 Centerline is valid? [True, True] Translation: X:155.19, Y:98.61, Z:6.16 [[ 3.81992235e-02 -9.99261837e-01 -4.07437534e-03 1.55186852e+02] [ 9.98788673e-01 3.83070573e-02 -3.08829320e-02 9.86137078e+01] [ 3.10162127e-02 -2.88973592e-03 9.99514704e-01 6.16490600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57071405699998 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:155.19, Y:98.64, Z:6.17 [[ 3.85319970e-02 -9.99247570e-01 -4.42486635e-03 1.55189261e+02] [ 9.98776699e-01 3.86504157e-02 -3.08423433e-02 9.86415569e+01] [ 3.09901595e-02 -3.23103633e-03 9.99514467e-01 6.16602073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60071405699998 meters Centerline goodness : 0.996061 Centerline is valid? [True, True] Translation: X:155.19, Y:98.67, Z:6.17 [[ 4.21263318e-02 -9.99102643e-01 -4.39097017e-03 1.55191720e+02] [ 9.98631123e-01 4.22420172e-02 -3.08462577e-02 9.86687832e+01] [ 3.10040611e-02 -3.08551979e-03 9.99514496e-01 6.16620077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63071405699998 meters Centerline goodness : 0.995748 Centerline is valid? [True, True] Translation: X:155.19, Y:98.70, Z:6.17 [[ 4.58115853e-02 -9.98940511e-01 -4.37665559e-03 1.55194364e+02] [ 9.98468474e-01 4.59250914e-02 -3.08478934e-02 9.86986002e+01] [ 3.10162086e-02 -2.95676174e-03 9.99514508e-01 6.16647668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66071405699998 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:155.20, Y:98.72, Z:6.17 [[ 5.04655504e-02 -9.98715525e-01 -4.53082415e-03 1.55196168e+02] [ 9.98243955e-01 5.05815882e-02 -3.08303195e-02 9.87236647e+01] [ 3.10198950e-02 -2.96699878e-03 9.99514364e-01 6.16603961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69071405699998 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:155.20, Y:98.76, Z:6.17 [[ 5.05131841e-02 -9.98714870e-01 -4.12632256e-03 1.55198982e+02] [ 9.98240764e-01 5.06167724e-02 -3.08758639e-02 9.87562846e+01] [ 3.10450455e-02 -2.55942519e-03 9.99514709e-01 6.16727059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72071405699998 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:155.19, Y:98.77, Z:6.17 [[ 4.75736301e-02 -9.98857243e-01 -4.57803275e-03 1.55187982e+02] [ 9.98386321e-01 4.76924804e-02 -3.08250142e-02 9.87709892e+01] [ 3.10081265e-02 -3.10418745e-03 9.99514312e-01 6.16980681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75071405699998 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:155.19, Y:98.80, Z:6.17 [[ 4.97354937e-02 -9.98756805e-01 -3.35034138e-03 1.55190502e+02] [ 9.98278435e-01 4.98155309e-02 -3.09609333e-02 9.87993953e+01] [ 3.10893419e-02 -1.80471625e-03 9.99514980e-01 6.17217280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78071405699998 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:155.19, Y:98.82, Z:6.17 [[ 5.67710033e-02 -9.98381358e-01 -3.42292501e-03 1.55191619e+02] [ 9.97902803e-01 5.68499125e-02 -3.09529067e-02 9.88239384e+01] [ 3.10973981e-02 -1.65851890e-03 9.99514983e-01 6.17382764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81071405699998 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:155.21, Y:98.87, Z:6.17 [[ 6.95298503e-02 -9.97574837e-01 -3.16917837e-03 1.55208535e+02] [ 9.97094149e-01 6.95947701e-02 -3.09810455e-02 9.88700026e+01] [ 3.11264697e-02 -1.00586175e-03 9.99514948e-01 6.17031497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84071405699999 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:155.21, Y:98.90, Z:6.17 [[ 7.08490782e-02 -9.97475486e-01 -4.80248342e-03 1.55211607e+02] [ 9.97003306e-01 7.09638234e-02 -3.07984489e-02 9.88986213e+01] [ 3.10615004e-02 -2.60605013e-03 9.99514078e-01 6.17148418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.870714057 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:155.20, Y:98.91, Z:6.18 [[ 6.16965721e-02 -9.98083681e-01 -4.74320713e-03 1.55198317e+02] [ 9.97612200e-01 6.18138227e-02 -3.08050421e-02 9.89117213e+01] [ 3.10392056e-02 -2.83131579e-03 9.99514158e-01 6.17964402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.900714057 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:155.22, Y:98.96, Z:6.17 [[ 7.72722362e-02 -9.97004287e-01 -3.38433673e-03 1.55216924e+02] [ 9.96524150e-01 7.73400958e-02 -3.09536444e-02 9.89566617e+01] [ 3.11226611e-02 -9.80715961e-04 9.99515092e-01 6.17356941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.930714057 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:155.22, Y:98.98, Z:6.17 [[ 8.09359018e-02 -9.96706997e-01 -4.95395748e-03 1.55218802e+02] [ 9.96234618e-01 8.10505288e-02 -3.07798329e-02 9.89786279e+01] [ 3.10799957e-02 -2.44411041e-03 9.99513912e-01 6.17381693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.960714057 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:155.22, Y:99.01, Z:6.17 [[ 8.01411717e-02 -9.96774601e-01 -4.21761519e-03 1.55222995e+02] [ 9.96298269e-01 8.02334521e-02 -3.08601928e-02 9.90115290e+01] [ 3.10990501e-02 -1.72883071e-03 9.99514812e-01 6.17452410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.990714057 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:155.21, Y:99.02, Z:6.18 [[ 6.86469134e-02 -9.97629602e-01 -4.77275191e-03 1.55209710e+02] [ 9.97157559e-01 6.87617806e-02 -3.07996645e-02 9.90237291e+01] [ 3.10548400e-02 -2.64488374e-03 9.99514183e-01 6.18162729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.020714057 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:155.21, Y:99.05, Z:6.18 [[ 6.81411661e-02 -9.97670186e-01 -3.31391764e-03 1.55212738e+02] [ 9.97190535e-01 6.82112305e-02 -3.09558708e-02 9.90510738e+01] [ 3.11097957e-02 -1.19523818e-03 9.99515259e-01 6.18283876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.050714057 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:155.23, Y:99.09, Z:6.18 [[ 7.76855467e-02 -9.96972433e-01 -3.30524972e-03 1.55232036e+02] [ 9.96492096e-01 7.77507488e-02 -3.09567962e-02 9.90922557e+01] [ 3.11200581e-02 -8.88759585e-04 9.99515259e-01 6.17727301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.080714057 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:155.22, Y:99.11, Z:6.18 [[ 6.33141775e-02 -9.97982997e-01 -4.61011106e-03 1.55222847e+02] [ 9.97510627e-01 6.34265612e-02 -3.08158996e-02 9.91058217e+01] [ 3.10461473e-02 -2.64755144e-03 9.99514446e-01 6.18300151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.110714057 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:155.23, Y:99.13, Z:6.18 [[ 6.07518224e-02 -9.98147490e-01 -3.28707127e-03 1.55226630e+02] [ 9.97668316e-01 6.08246025e-02 -3.09564127e-02 9.91338949e+01] [ 3.10990005e-02 -1.39874837e-03 9.99515330e-01 6.18444254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.140714057 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:155.23, Y:99.16, Z:6.19 [[ 5.81635056e-02 -9.98301687e-01 -3.27843781e-03 1.55230860e+02] [ 9.97822662e-01 5.82372608e-02 -3.09573270e-02 9.91613809e+01] [ 3.10956791e-02 -1.47071288e-03 9.99515330e-01 6.18560487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.170714057 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:155.25, Y:99.20, Z:6.18 [[ 6.33424637e-02 -9.97986494e-01 -3.26968546e-03 1.55249422e+02] [ 9.97507052e-01 6.34134614e-02 -3.09582514e-02 9.92024272e+01] [ 3.11032589e-02 -1.30056239e-03 9.99515330e-01 6.18141743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.200714057 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:155.25, Y:99.23, Z:6.18 [[ 6.26567494e-02 -9.98025213e-01 -4.45040775e-03 1.55252517e+02] [ 9.97551976e-01 6.27645298e-02 -3.08329235e-02 9.92303120e+01] [ 3.10513628e-02 -2.50762228e-03 9.99514645e-01 6.18181145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23071405699997 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:155.24, Y:99.25, Z:6.19 [[ 5.13774570e-02 -9.98669679e-01 -4.38517026e-03 1.55242633e+02] [ 9.98197292e-01 5.14885725e-02 -3.08397943e-02 9.92455315e+01] [ 3.10245537e-02 -2.79279487e-03 9.99514721e-01 6.18946066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26071405699997 meters Centerline goodness : 0.995296 Centerline is valid? [True, True] Translation: X:155.25, Y:99.27, Z:6.19 [[ 4.84613090e-02 -9.98819902e-01 -3.21014859e-03 1.55247214e+02] [ 9.98341363e-01 4.85375999e-02 -3.09616441e-02 9.92732116e+01] [ 3.10809193e-02 -1.70438232e-03 9.99515418e-01 6.19071351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29071405699997 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:155.26, Y:99.31, Z:6.19 [[ 5.61126481e-02 -9.98419292e-01 -3.20736648e-03 1.55264260e+02] [ 9.97940170e-01 5.61851842e-02 -3.09619323e-02 9.93144808e+01] [ 3.10931971e-02 -1.46340384e-03 9.99515418e-01 6.18771573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32071405699998 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:155.27, Y:99.34, Z:6.19 [[ 5.21615892e-02 -9.98628675e-01 -4.46528735e-03 1.55267270e+02] [ 9.98156703e-01 5.22747943e-02 -3.08308604e-02 9.93413838e+01] [ 3.10220032e-02 -2.84886982e-03 9.99514642e-01 6.18864486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35071405699998 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:155.27, Y:99.37, Z:6.19 [[ 4.78111784e-02 -9.98847484e-01 -4.21834967e-03 1.55272613e+02] [ 9.98374510e-01 4.79188524e-02 -3.08564645e-02 9.93679214e+01] [ 3.10230404e-02 -2.73620885e-03 9.99514924e-01 6.18858947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38071405699998 meters Centerline goodness : 0.996011 Centerline is valid? [True, True] Translation: X:155.27, Y:99.38, Z:6.19 [[ 3.65270899e-02 -9.99323979e-01 -4.16621141e-03 1.55267157e+02] [ 9.98851924e-01 3.66384995e-02 -3.08618587e-02 9.93849907e+01] [ 3.09936391e-02 -3.03413439e-03 9.99514977e-01 6.19249896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41071405699998 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:155.28, Y:99.42, Z:6.19 [[ 4.12131637e-02 -9.99145379e-01 -3.16033996e-03 1.55279957e+02] [ 9.98667221e-01 4.12913827e-02 -3.09645371e-02 9.94209135e+01] [ 3.10685690e-02 -1.87998138e-03 9.99515487e-01 6.18965208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44071405699998 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:155.28, Y:99.45, Z:6.19 [[ 4.11501427e-02 -9.99145329e-01 -3.90859928e-03 1.55282696e+02] [ 9.98671243e-01 4.12514492e-02 -3.08879658e-02 9.94458207e+01] [ 3.10228021e-02 -2.63236150e-03 9.99515211e-01 6.19203310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47071405699998 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:155.29, Y:99.48, Z:6.19 [[ 3.80723427e-02 -9.99268552e-01 -3.58573555e-03 1.55285979e+02] [ 9.98792935e-01 3.81651763e-02 -3.09207414e-02 9.94769143e+01] [ 3.10349748e-02 -2.40418227e-03 9.99515408e-01 6.19126141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50071405699998 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:155.29, Y:99.50, Z:6.19 [[ 3.87252066e-02 -9.99242616e-01 -3.81487434e-03 1.55289083e+02] [ 9.98768232e-01 3.88247814e-02 -3.08974907e-02 9.95049864e+01] [ 3.10222011e-02 -2.61366359e-03 9.99515278e-01 6.19200583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53071405699998 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:155.29, Y:99.53, Z:6.19 [[ 3.77020541e-02 -9.99281800e-01 -3.79994793e-03 1.55290400e+02] [ 9.98807433e-01 3.78016556e-02 -3.08989905e-02 9.95315284e+01] [ 3.10204432e-02 -2.63046082e-03 9.99515289e-01 6.19433493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56071405699998 meters Centerline goodness : 0.994814 Centerline is valid? [True, True] Translation: X:155.29, Y:99.56, Z:6.19 [[ 4.18331295e-02 -9.99117840e-01 -3.67847550e-03 1.55293607e+02] [ 9.98642392e-01 4.19270286e-02 -3.09111326e-02 9.95569254e+01] [ 3.10380916e-02 -2.38037216e-03 9.99515368e-01 6.19287697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59071405699999 meters Centerline goodness : 0.995654 Centerline is valid? [True, True] Translation: X:155.29, Y:99.59, Z:6.20 [[ 3.95135885e-02 -9.99213210e-01 -3.41126670e-03 1.55293276e+02] [ 9.98736535e-01 3.96003586e-02 -3.09377723e-02 9.95879143e+01] [ 3.10485182e-02 -2.18449428e-03 9.99515491e-01 6.19834923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.620714057 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:155.30, Y:99.62, Z:6.20 [[ 3.97411155e-02 -9.99203690e-01 -3.55375118e-03 1.55295573e+02] [ 9.98727754e-01 3.98321687e-02 -3.09236438e-02 9.96158972e+01] [ 3.10405726e-02 -2.32028984e-03 9.99515432e-01 6.20003283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.650714057 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:155.30, Y:99.65, Z:6.20 [[ 4.23981983e-02 -9.99094622e-01 -3.51122976e-03 1.55299140e+02] [ 9.98618221e-01 4.24866746e-02 -3.09278256e-02 9.96457354e+01] [ 3.10490047e-02 -2.19509393e-03 9.99515453e-01 6.19944399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.680714057 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:155.30, Y:99.67, Z:6.20 [[ 4.39406724e-02 -9.99027409e-01 -3.66785067e-03 1.55300901e+02] [ 9.98551699e-01 4.40332416e-02 -3.09124281e-02 9.96721589e+01] [ 3.10438703e-02 -2.30422564e-03 9.99515367e-01 6.20027743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.710714057 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:155.30, Y:99.70, Z:6.20 [[ 4.51000364e-02 -9.98976083e-01 -3.57393595e-03 1.55304554e+02] [ 9.98499772e-01 4.51891579e-02 -3.09215998e-02 9.97034637e+01] [ 3.10514418e-02 -2.17400896e-03 9.99515423e-01 6.20011069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.740714057 meters Centerline goodness : 0.995604 Centerline is valid? [True, True] Translation: X:155.31, Y:99.73, Z:6.20 [[ 4.49585142e-02 -9.98981570e-01 -3.81513959e-03 1.55306576e+02] [ 9.98506555e-01 4.50551373e-02 -3.08981155e-02 9.97289396e+01] [ 3.10385396e-02 -2.42030852e-03 9.99515258e-01 6.20127207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.770714057 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:155.30, Y:99.75, Z:6.21 [[ 4.01202973e-02 -9.99188139e-01 -3.66396713e-03 1.55300496e+02] [ 9.98712766e-01 4.02145652e-02 -3.09127933e-02 9.97490345e+01] [ 3.10350413e-02 -2.41902029e-03 9.99515370e-01 6.20576537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.800714057 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:155.30, Y:99.78, Z:6.21 [[ 4.06910519e-02 -9.99167333e-01 -2.97974097e-03 1.55303441e+02] [ 9.98688453e-01 4.07639348e-02 -3.09786144e-02 9.97764420e+01] [ 3.10742855e-02 -1.71528050e-03 9.99515606e-01 6.20624838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.830714057 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:155.32, Y:99.82, Z:6.20 [[ 4.81966435e-02 -9.98833438e-01 -2.97422635e-03 1.55316872e+02] [ 9.98354000e-01 4.82657558e-02 -3.09791439e-02 9.98151659e+01] [ 3.10865581e-02 -1.47624002e-03 9.99515606e-01 6.20214831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.860714057 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:155.32, Y:99.84, Z:6.20 [[ 4.80217689e-02 -9.98838219e-01 -4.01519614e-03 1.55319409e+02] [ 9.98363996e-01 4.81230980e-02 -3.08787867e-02 9.98416346e+01] [ 3.10361360e-02 -2.52577330e-03 9.99515072e-01 6.20187691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.890714057 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:155.31, Y:99.86, Z:6.21 [[ 4.07033620e-02 -9.99163557e-01 -3.92726184e-03 1.55311595e+02] [ 9.98689588e-01 4.08054576e-02 -3.08872312e-02 9.98581672e+01] [ 3.10216495e-02 -2.66490136e-03 9.99515160e-01 6.20597003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.920714057 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:155.32, Y:99.89, Z:6.21 [[ 4.99630555e-02 -9.98746758e-01 -2.93370792e-03 1.55323106e+02] [ 9.98267074e-01 5.00300632e-02 -3.09813292e-02 9.98907640e+01] [ 3.10892757e-02 -1.38070215e-03 9.99515658e-01 6.20542037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.950714057 meters Centerline goodness : 0.995604 Centerline is valid? [True, True] Translation: X:155.33, Y:99.92, Z:6.21 [[ 4.70544448e-02 -9.98887065e-01 -3.24209289e-03 1.55327105e+02] [ 9.98408980e-01 4.71323859e-02 -3.09523458e-02 9.99247496e+01] [ 3.10707054e-02 -1.78048921e-03 9.99515603e-01 6.20514807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98071405699997 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:155.33, Y:99.95, Z:6.21 [[ 4.79809654e-02 -9.98841085e-01 -3.78342811e-03 1.55330792e+02] [ 9.98365606e-01 4.80751738e-02 -3.09013710e-02 9.99537272e+01] [ 3.10474479e-02 -2.29456688e-03 9.99515278e-01 6.20536193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01071405699997 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:155.32, Y:99.97, Z:6.21 [[ 4.07116947e-02 -9.99163276e-01 -3.91217920e-03 1.55322216e+02] [ 9.98689202e-01 4.08133239e-02 -3.08893100e-02 9.99706057e+01] [ 3.10231332e-02 -2.64949497e-03 9.99515155e-01 6.21115010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04071405699997 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:155.34, Y:100.02, Z:6.21 [[ 5.67066277e-02 -9.98386791e-01 -2.85885357e-03 1.55340789e+02] [ 9.97906420e-01 5.67680724e-02 -3.09865086e-02 1.00015377e+02] [ 3.10988125e-02 -1.09572793e-03 9.99515714e-01 6.21167438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07071405699998 meters Centerline goodness : 0.996063 Centerline is valid? [True, True] Translation: X:155.33, Y:100.03, Z:6.22 [[ 4.06979985e-02 -9.99161760e-01 -4.41033164e-03 1.55327544e+02] [ 9.98690607e-01 4.08149438e-02 -3.08417278e-02 1.00026218e+02] [ 3.09958825e-02 -3.14936020e-03 9.99514551e-01 6.21524434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10071405699998 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:155.34, Y:100.07, Z:6.22 [[ 5.19363703e-02 -9.98646391e-01 -2.82829380e-03 1.55343546e+02] [ 9.98166291e-01 5.19991586e-02 -3.09861693e-02 1.00067867e+02] [ 3.10912951e-02 -1.21379837e-03 9.99515812e-01 6.21669436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13071405699998 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:155.33, Y:100.08, Z:6.22 [[ 3.58233660e-02 -9.99349662e-01 -4.11566310e-03 1.55334029e+02] [ 9.98877355e-01 3.59335586e-02 -3.08676077e-02 1.00082154e+02] [ 3.09954237e-02 -3.00526107e-03 9.99515008e-01 6.21659315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16071405699998 meters Centerline goodness : 0.996488 Centerline is valid? [True, True] Translation: X:155.35, Y:100.12, Z:6.21 [[ 4.26789521e-02 -9.99084913e-01 -2.80083076e-03 1.55348364e+02] [ 9.98605365e-01 4.27453342e-02 -3.09864810e-02 1.00124383e+02] [ 3.10778481e-02 -1.47445409e-03 9.99515879e-01 6.21407878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19071405699998 meters Centerline goodness : 0.996070 Centerline is valid? [True, True] Translation: X:155.35, Y:100.15, Z:6.22 [[ 3.47308850e-02 -9.99388410e-01 -4.07092071e-03 1.55348542e+02] [ 9.98915977e-01 3.48402181e-02 -3.08712011e-02 1.00147081e+02] [ 3.09941523e-02 -2.99432360e-03 9.99515081e-01 6.21764844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22071405699998 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:155.35, Y:100.17, Z:6.22 [[ 3.41649867e-02 -9.99410149e-01 -3.47975901e-03 1.55350680e+02] [ 9.98934534e-01 3.42563994e-02 -3.09240219e-02 1.00171857e+02] [ 3.10249853e-02 -2.41953265e-03 9.99515681e-01 6.21939505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25071405699998 meters Centerline goodness : 0.996545 Centerline is valid? [True, True] Translation: X:155.35, Y:100.20, Z:6.22 [[ 2.89744663e-02 -9.99575198e-01 -3.14690878e-03 1.55354546e+02] [ 9.99098348e-01 2.90580932e-02 -3.09534954e-02 1.00202838e+02] [ 3.10317895e-02 -2.24721035e-03 9.99515872e-01 6.22013815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28071405699998 meters Centerline goodness : 0.996171 Centerline is valid? [True, True] Translation: X:155.36, Y:100.23, Z:6.22 [[ 2.73213512e-02 -9.99620592e-01 -3.49524121e-03 1.55357861e+02] [ 9.99145706e-01 2.74164940e-02 -3.09223988e-02 1.00231663e+02] [ 3.10064938e-02 -2.64741353e-03 9.99515677e-01 6.21973879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31071405699998 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:155.36, Y:100.26, Z:6.22 [[ 2.53004860e-02 -9.99673866e-01 -3.47100940e-03 1.55360531e+02] [ 9.99199042e-01 2.53958431e-02 -3.09245300e-02 1.00259723e+02] [ 3.10025936e-02 -2.68582363e-03 9.99515695e-01 6.22086056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34071405699999 meters Centerline goodness : 0.996539 Centerline is valid? [True, True] Translation: X:155.36, Y:100.28, Z:6.22 [[ 1.91386455e-02 -9.99810681e-01 -3.50918078e-03 1.55355034e+02] [ 9.99336668e-01 1.92381004e-02 -3.09211936e-02 1.00278114e+02] [ 3.09828496e-02 -2.91506326e-03 9.99515665e-01 6.22060000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.370714057 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:155.36, Y:100.31, Z:6.22 [[ 2.11968726e-02 -9.99771748e-01 -2.67310059e-03 1.55356518e+02] [ 9.99293260e-01 2.12695950e-02 -3.09933145e-02 1.00306829e+02] [ 3.10430960e-02 -2.01425006e-03 9.99516017e-01 6.22293127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.400714057 meters Centerline goodness : 0.996391 Centerline is valid? [True, True] Translation: X:155.37, Y:100.35, Z:6.22 [[ 3.47682267e-02 -9.99391849e-01 -2.66525251e-03 1.55369175e+02] [ 9.98912384e-01 3.48342035e-02 -3.09939894e-02 1.00345569e+02] [ 3.10679823e-02 -1.58474768e-03 9.99516017e-01 6.22159133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.430714057 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:155.36, Y:100.36, Z:6.23 [[ 2.91732981e-02 -9.99567606e-01 -3.67682453e-03 1.55358163e+02] [ 9.99093520e-01 2.92731489e-02 -3.09066373e-02 1.00362330e+02] [ 3.10009057e-02 -2.77184302e-03 9.99515513e-01 6.22587731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.460714057 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:155.37, Y:100.40, Z:6.22 [[ 4.15516594e-02 -9.99132887e-01 -2.63325256e-03 1.55371410e+02] [ 9.98652901e-01 4.16133872e-02 -3.09953126e-02 1.00403695e+02] [ 3.10780148e-02 -1.34179863e-03 9.99516061e-01 6.22282414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.490714057 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:155.36, Y:100.42, Z:6.23 [[ 3.57885435e-02 -9.99351931e-01 -3.85975232e-03 1.55360848e+02] [ 9.98878197e-01 3.58908833e-02 -3.08899984e-02 1.00418163e+02] [ 3.10085094e-02 -2.74991439e-03 9.99515338e-01 6.22892954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.520714057 meters Centerline goodness : 0.995832 Centerline is valid? [True, True] Translation: X:155.36, Y:100.45, Z:6.23 [[ 4.30318070e-02 -9.99070290e-01 -2.61141567e-03 1.55361741e+02] [ 9.98590189e-01 4.30921448e-02 -3.09951981e-02 1.00447065e+02] [ 3.10789130e-02 -1.27395468e-03 9.99516122e-01 6.23172484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.550714057 meters Centerline goodness : 0.996033 Centerline is valid? [True, True] Translation: X:155.38, Y:100.49, Z:6.23 [[ 5.72246979e-02 -9.98357929e-01 -2.60381220e-03 1.55378617e+02] [ 9.97876992e-01 5.72779712e-02 -3.09958368e-02 1.00491804e+02] [ 3.10940805e-02 -8.24556888e-04 9.99516122e-01 6.22725590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.580714057 meters Centerline goodness : 0.995986 Centerline is valid? [True, True] Translation: X:155.38, Y:100.52, Z:6.23 [[ 6.25298244e-02 -9.98034267e-01 -4.19797882e-03 1.55381172e+02] [ 9.97559602e-01 6.26298899e-02 -3.08599703e-02 1.00518286e+02] [ 3.10622268e-02 -2.25806555e-03 9.99514902e-01 6.22692342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.610714057 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:155.37, Y:100.53, Z:6.23 [[ 5.31104903e-02 -9.98580363e-01 -4.06636367e-03 1.55368697e+02] [ 9.98105981e-01 5.32109727e-02 -3.08714029e-02 1.00528634e+02] [ 3.10439519e-02 -2.41906655e-03 9.99515093e-01 6.23364073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.640714057 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:155.39, Y:100.57, Z:6.23 [[ 6.36889105e-02 -9.97966331e-01 -2.63138054e-03 1.55385684e+02] [ 9.97485158e-01 6.37399239e-02 -3.09932678e-02 1.00573113e+02] [ 3.10979617e-02 -6.50835575e-04 9.99516130e-01 6.22913101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.670714057 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:155.39, Y:100.60, Z:6.23 [[ 6.34371209e-02 -9.97977242e-01 -4.14205761e-03 1.55387325e+02] [ 9.97502262e-01 6.35350248e-02 -3.08632207e-02 1.00595807e+02] [ 3.10639576e-02 -2.17383798e-03 9.99515035e-01 6.22971718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.700714057 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:155.39, Y:100.62, Z:6.23 [[ 5.75151101e-02 -9.98337943e-01 -3.65552552e-03 1.55391636e+02] [ 9.97861219e-01 5.76008087e-02 -3.09052626e-02 1.00624274e+02] [ 3.10644575e-02 -1.87018756e-03 9.99515634e-01 6.23013599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73071405699997 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:155.39, Y:100.65, Z:6.23 [[ 5.13950442e-02 -9.98671874e-01 -3.61068771e-03 1.55393389e+02] [ 9.98195475e-01 5.14822784e-02 -3.09090261e-02 1.00651188e+02] [ 3.10538615e-02 -2.01560137e-03 9.99515680e-01 6.23380754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76071405699997 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:155.40, Y:100.68, Z:6.24 [[ 4.64804868e-02 -9.98913075e-01 -3.49752469e-03 1.55397781e+02] [ 9.98436579e-01 4.65665708e-02 -3.09184771e-02 1.00678115e+02] [ 3.10477388e-02 -2.05495072e-03 9.99515790e-01 6.23530127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79071405699997 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:155.40, Y:100.71, Z:6.23 [[ 4.68933093e-02 -9.98893918e-01 -3.45804686e-03 1.55404147e+02] [ 9.98417205e-01 4.69779772e-02 -3.09217517e-02 1.00711210e+02] [ 3.10500018e-02 -2.00255021e-03 9.99515826e-01 6.23213868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82071405699998 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:155.40, Y:100.73, Z:6.24 [[ 4.21772422e-02 -9.99103162e-01 -3.73520355e-03 1.55404358e+02] [ 9.98628178e-01 4.22727102e-02 -3.08995016e-02 1.00733989e+02] [ 3.10296870e-02 -2.42682375e-03 9.99515517e-01 6.23784260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85071405699998 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:155.41, Y:100.76, Z:6.24 [[ 3.64010634e-02 -9.99331950e-01 -3.25818827e-03 1.55407326e+02] [ 9.98855219e-01 3.64845657e-02 -3.09374721e-02 1.00763378e+02] [ 3.10356780e-02 -2.12830148e-03 9.99516011e-01 6.23748097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88071405699998 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:155.41, Y:100.79, Z:6.24 [[ 3.28419892e-02 -9.99454751e-01 -3.40667925e-03 1.55407709e+02] [ 9.98979029e-01 3.29317684e-02 -3.09256923e-02 1.00785969e+02] [ 3.10210181e-02 -2.38753988e-03 9.99515881e-01 6.24229015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91071405699998 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:155.41, Y:100.82, Z:6.24 [[ 3.16195089e-02 -9.99495688e-01 -2.92866401e-03 1.55410528e+02] [ 9.99017867e-01 3.16951195e-02 -3.09632150e-02 1.00815918e+02] [ 3.10404243e-02 -1.94674601e-03 9.99516234e-01 6.24399351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94071405699998 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:155.41, Y:100.85, Z:6.25 [[ 2.54574193e-02 -9.99671381e-01 -3.00846045e-03 1.55411196e+02] [ 9.99194402e-01 2.55384362e-02 -3.09569988e-02 1.00846063e+02] [ 3.10236571e-02 -2.21795154e-03 9.99516190e-01 6.24557646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97071405699998 meters Centerline goodness : 0.996239 Centerline is valid? [True, True] Translation: X:155.41, Y:100.88, Z:6.24 [[ 2.44121863e-02 -9.99697302e-01 -3.05775204e-03 1.55414659e+02] [ 9.99220638e-01 2.44952222e-02 -3.09531901e-02 1.00876126e+02] [ 3.10187209e-02 -2.29973391e-03 9.99516158e-01 6.24475304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00071405699998 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:155.41, Y:100.90, Z:6.25 [[ 2.06826879e-02 -9.99780863e-01 -3.23311772e-03 1.55414921e+02] [ 9.99305370e-01 2.07729048e-02 -3.09396690e-02 1.00900621e+02] [ 3.10000502e-02 -2.59095638e-03 9.99516025e-01 6.24631410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03071405699998 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:155.42, Y:100.93, Z:6.25 [[ 1.79025534e-02 -9.99835562e-01 -2.88925837e-03 1.55419263e+02] [ 9.99358653e-01 1.79834968e-02 -3.09657241e-02 1.00928412e+02] [ 3.10125912e-02 -2.33303982e-03 9.99516271e-01 6.24729442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06071405699998 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:155.42, Y:100.96, Z:6.25 [[ 1.68435771e-02 -9.99853807e-01 -2.94253140e-03 1.55421225e+02] [ 9.99377236e-01 1.69266679e-02 -3.09617072e-02 1.00955568e+02] [ 3.10069880e-02 -2.41919300e-03 9.99516240e-01 6.24612739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09071405699999 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:155.42, Y:100.98, Z:6.25 [[ 1.44054629e-02 -9.99892199e-01 -2.84128126e-03 1.55422913e+02] [ 9.99415348e-01 1.44865950e-02 -3.09693442e-02 1.00983481e+02] [ 3.10071662e-02 -2.39349236e-03 9.99516296e-01 6.24685320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.120714057 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:155.42, Y:101.01, Z:6.25 [[ 1.38986986e-02 -9.99899277e-01 -2.87444484e-03 1.55424759e+02] [ 9.99422625e-01 1.39810945e-02 -3.09668595e-02 1.01010704e+02] [ 3.10039283e-02 -2.44238616e-03 9.99516279e-01 6.24768935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.150714057 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:155.43, Y:101.04, Z:6.25 [[ 1.10100633e-02 -9.99935275e-01 -2.86796275e-03 1.55425345e+02] [ 9.99458831e-01 1.10936362e-02 -3.09673430e-02 1.01039443e+02] [ 3.09971547e-02 -2.52545829e-03 9.99516282e-01 6.24867938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.180714057 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:155.42, Y:101.06, Z:6.25 [[ 6.75654198e-03 -9.99972713e-01 -2.98710297e-03 1.55418711e+02] [ 9.99497228e-01 6.84580793e-03 -3.09584729e-02 1.01059668e+02] [ 3.09780772e-02 -2.77642891e-03 9.99516208e-01 6.24575028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.210714057 meters Centerline goodness : 0.996296 Centerline is valid? [True, True] Translation: X:155.43, Y:101.10, Z:6.24 [[ 1.54288706e-02 -9.99878369e-01 -2.27953687e-03 1.55430342e+02] [ 9.99398990e-01 1.54921716e-02 -3.10104929e-02 1.01101753e+02] [ 3.10420360e-02 -1.79970997e-03 9.99516460e-01 6.24371321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.240714057 meters Centerline goodness : 0.996431 Centerline is valid? [True, True] Translation: X:155.42, Y:101.12, Z:6.25 [[ 7.94144617e-03 -9.99962229e-01 -3.53191817e-03 1.55420850e+02] [ 9.99489562e-01 8.04689297e-03 -3.09170462e-02 1.01116252e+02] [ 3.09442994e-02 -3.28458929e-03 9.99515714e-01 6.24603026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.270714057 meters Centerline goodness : 0.996357 Centerline is valid? [True, True] Translation: X:155.43, Y:101.16, Z:6.25 [[ 2.29270062e-02 -9.99734580e-01 -2.26335832e-03 1.55432487e+02] [ 9.99254740e-01 2.29862066e-02 -3.10096621e-02 1.01160968e+02] [ 3.10534575e-02 -1.55071281e-03 9.99516522e-01 6.24777159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.300714057 meters Centerline goodness : 0.996833 Centerline is valid? [True, True] Translation: X:155.43, Y:101.18, Z:6.24 [[ 2.88115936e-02 -9.99577884e-01 -3.73436560e-03 1.55428784e+02] [ 9.99104176e-01 2.89133833e-02 -3.09008442e-02 1.01182559e+02] [ 3.09957736e-02 -2.84071770e-03 9.99515479e-01 6.24400193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.330714057 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:155.43, Y:101.21, Z:6.25 [[ 2.92286029e-02 -9.99568353e-01 -2.96583717e-03 1.55428355e+02] [ 9.99091000e-01 2.93064961e-02 -3.09564852e-02 1.01214000e+02] [ 3.10300412e-02 -2.05832640e-03 9.99516333e-01 6.25156304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.360714057 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:155.43, Y:101.24, Z:6.25 [[ 3.26956380e-02 -9.99459898e-01 -3.30270210e-03 1.55425303e+02] [ 9.98983743e-01 3.27822766e-02 -3.09322412e-02 1.01241271e+02] [ 3.10238047e-02 -2.28799634e-03 9.99516027e-01 6.24916107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.390714057 meters Centerline goodness : 0.995900 Centerline is valid? [True, True] Translation: X:155.42, Y:101.27, Z:6.25 [[ 3.53229638e-02 -9.99371258e-01 -3.06202369e-03 1.55424922e+02] [ 9.98893843e-01 3.54009169e-02 -3.09493876e-02 1.01267781e+02] [ 3.10383269e-02 -1.96541252e-03 9.99516263e-01 6.25473758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.420714057 meters Centerline goodness : 0.996095 Centerline is valid? [True, True] Translation: X:155.43, Y:101.30, Z:6.25 [[ 3.95948552e-02 -9.99211758e-01 -2.84790893e-03 1.55425235e+02] [ 9.98733176e-01 3.96641444e-02 -3.09644660e-02 1.01300302e+02] [ 3.10530183e-02 -1.61826759e-03 9.99516429e-01 6.25189130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.450714057 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:155.42, Y:101.33, Z:6.25 [[ 3.86940695e-02 -9.99246312e-01 -3.09464984e-03 1.55424409e+02] [ 9.98768762e-01 3.87714206e-02 -3.09473230e-02 1.01325828e+02] [ 3.10439823e-02 -1.89336173e-03 9.99516226e-01 6.25426943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48071405699997 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:155.42, Y:101.35, Z:6.25 [[ 4.06955098e-02 -9.99167554e-01 -2.84154269e-03 1.55424211e+02] [ 9.98688878e-01 4.07640746e-02 -3.09647562e-02 1.01353752e+02] [ 3.10548126e-02 -1.57769054e-03 9.99516438e-01 6.25416262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51071405699997 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:155.43, Y:101.38, Z:6.26 [[ 4.13415482e-02 -9.99140999e-01 -2.85332610e-03 1.55425447e+02] [ 9.98662321e-01 4.14101681e-02 -3.09639483e-02 1.01380101e+02] [ 3.10555069e-02 -1.56941171e-03 9.99516429e-01 6.25758185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54071405699997 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:155.43, Y:101.41, Z:6.25 [[ 4.10278878e-02 -9.99154438e-01 -2.66858093e-03 1.55428213e+02] [ 9.98675119e-01 4.10909388e-02 -3.09764592e-02 1.01412442e+02] [ 3.10599212e-02 -1.39414668e-03 9.99516552e-01 6.25429268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57071405699998 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:155.43, Y:101.44, Z:6.26 [[ 3.88973283e-02 -9.99238642e-01 -3.02236082e-03 1.55428262e+02] [ 9.98760779e-01 3.89723477e-02 -3.09526001e-02 1.01436533e+02] [ 3.10468225e-02 -1.81464200e-03 9.99516284e-01 6.25779065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60071405699998 meters Centerline goodness : 0.995550 Centerline is valid? [True, True] Translation: X:155.43, Y:101.47, Z:6.26 [[ 3.59420781e-02 -9.99350490e-01 -2.60082718e-03 1.55429531e+02] [ 9.98871266e-01 3.60054702e-02 -3.09806250e-02 1.01466729e+02] [ 3.10541468e-02 -1.48438350e-03 9.99516601e-01 6.25697725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63071405699998 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:155.43, Y:101.49, Z:6.26 [[ 3.48651392e-02 -9.99388296e-01 -2.73043559e-03 1.55431989e+02] [ 9.98909613e-01 3.49330585e-02 -3.09720148e-02 1.01492581e+02] [ 3.10484516e-02 -1.64761475e-03 9.99516523e-01 6.25628159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66071405699998 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:155.43, Y:101.52, Z:6.26 [[ 3.10238015e-02 -9.99515425e-01 -2.53738157e-03 1.55434584e+02] [ 9.99036293e-01 3.10875877e-02 -3.09846192e-02 1.01523040e+02] [ 3.10484859e-02 -1.57367560e-03 9.99516641e-01 6.25827079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69071405699998 meters Centerline goodness : 0.995755 Centerline is valid? [True, True] Translation: X:155.44, Y:101.55, Z:6.26 [[ 2.74895325e-02 -9.99618131e-01 -2.81388867e-03 1.55438393e+02] [ 9.99140290e-01 2.75635617e-02 -3.09666189e-02 1.01551279e+02] [ 3.10323545e-02 -1.96021167e-03 9.99516458e-01 6.25789516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72071405699998 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:155.44, Y:101.58, Z:6.26 [[ 2.64036327e-02 -9.99647257e-01 -2.86512611e-03 1.55440252e+02] [ 9.99169704e-01 2.64797641e-02 -3.09632932e-02 1.01575306e+02] [ 3.10282390e-02 -2.04520379e-03 9.99516416e-01 6.26237820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75071405699998 meters Centerline goodness : 0.995570 Centerline is valid? [True, True] Translation: X:155.45, Y:101.61, Z:6.26 [[ 2.26614767e-02 -9.99740095e-01 -2.48986695e-03 1.55447761e+02] [ 9.99261341e-01 2.27277992e-02 -3.09874245e-02 1.01611708e+02] [ 3.10359599e-02 -1.78580699e-03 9.99516673e-01 6.25641888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78071405699998 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:155.45, Y:101.64, Z:6.26 [[ 1.93993209e-02 -9.99806617e-01 -3.22398170e-03 1.55451042e+02] [ 9.99331193e-01 1.94898670e-02 -3.09404691e-02 1.01640980e+02] [ 3.09973207e-02 -2.62160139e-03 9.99516030e-01 6.25660083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81071405699998 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:155.45, Y:101.66, Z:6.26 [[ 1.40351502e-02 -9.99896300e-01 -3.22553681e-03 1.55449103e+02] [ 9.99421375e-01 1.41282935e-02 -3.09403721e-02 1.01660871e+02] [ 3.09827349e-02 -2.78941767e-03 9.99516028e-01 6.26302131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84071405699999 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:155.44, Y:101.68, Z:6.26 [[ 6.50186233e-04 -9.99996803e-01 -2.44374836e-03 1.55443530e+02] [ 9.99519490e-01 7.25603228e-04 -3.09880906e-02 1.01682380e+02] [ 3.09897647e-02 -2.42242609e-03 9.99516766e-01 6.26307634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.870714057 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:155.46, Y:101.72, Z:6.26 [[ 4.54814074e-03 -9.99987912e-01 -1.86847389e-03 1.55455336e+02] [ 9.99508076e-01 4.60392424e-03 -3.10227441e-02 1.01721504e+02] [ 3.10309714e-02 -1.72645893e-03 9.99516932e-01 6.26159674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.900714057 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:155.46, Y:101.75, Z:6.26 [[ 2.48058460e-03 -9.99992884e-01 -2.84243143e-03 1.55463004e+02] [ 9.99517210e-01 2.56741767e-03 -3.09637727e-02 1.01754203e+02] [ 3.09708500e-02 -2.76425088e-03 9.99516466e-01 6.25936258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.930714057 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:155.47, Y:101.78, Z:6.26 [[-9.65995412e-04 -9.99994361e-01 -3.21624835e-03 1.55465403e+02] [ 9.99520828e-01 -8.66022513e-04 -3.09412998e-02 1.01781498e+02] [ 3.09383400e-02 -3.24459637e-03 9.99516029e-01 6.25982104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.960714057 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:155.47, Y:101.81, Z:6.26 [[-5.72661442e-03 -9.99978759e-01 -3.11239788e-03 1.55469021e+02] [ 9.99505172e-01 -5.62757964e-03 -3.09474006e-02 1.01811222e+02] [ 3.09292280e-02 -3.28808161e-03 9.99516169e-01 6.26006883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.990714057 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:155.47, Y:101.83, Z:6.26 [[-8.65160065e-03 -9.99957145e-01 -3.29502448e-03 1.55466246e+02] [ 9.99484812e-01 -8.54557220e-03 -3.09367844e-02 1.01826374e+02] [ 3.09073007e-02 -3.56097962e-03 9.99515912e-01 6.26401672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.020714057 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:155.47, Y:101.86, Z:6.26 [[-9.22042546e-03 -9.99955208e-01 -2.13679940e-03 1.55470649e+02] [ 9.99477441e-01 -9.14977197e-03 -3.10020272e-02 1.01860183e+02] [ 3.09810873e-02 -2.42153468e-03 9.99517038e-01 6.26488141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.050714057 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:155.47, Y:101.89, Z:6.26 [[-1.71250744e-02 -9.99849696e-01 -2.70495999e-03 1.55471548e+02] [ 9.99375172e-01 -1.70331620e-02 -3.09699213e-02 1.01888437e+02] [ 3.09191924e-02 -3.23363207e-03 9.99516657e-01 6.26335383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.080714057 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:155.47, Y:101.92, Z:6.27 [[-1.86795926e-02 -9.99821888e-01 -2.69526719e-03 1.55472590e+02] [ 9.99347459e-01 -1.85872404e-02 -3.09704682e-02 1.01915443e+02] [ 3.09148544e-02 -3.27202415e-03 9.99516666e-01 6.26513050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.110714057 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:155.47, Y:101.94, Z:6.27 [[-1.67244004e-02 -9.99856850e-01 -2.56412259e-03 1.55474608e+02] [ 9.99381603e-01 -1.66370089e-02 -3.09777744e-02 1.01939270e+02] [ 3.09306805e-02 -3.08062165e-03 9.99516785e-01 6.26588059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.140714057 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:155.47, Y:101.97, Z:6.27 [[-2.17571112e-02 -9.99760781e-01 -2.23786389e-03 1.55474910e+02] [ 9.99284425e-01 -2.16773640e-02 -3.09956452e-02 1.01973319e+02] [ 3.09397195e-02 -2.91063823e-03 9.99517014e-01 6.26740172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.170714057 meters Centerline goodness : 0.993333 Centerline is valid? [True, True] Translation: X:155.48, Y:102.00, Z:6.27 [[-1.97556260e-02 -9.99801376e-01 -2.63133444e-03 1.55475553e+02] [ 9.99326717e-01 -1.96647268e-02 -3.09743645e-02 1.01996415e+02] [ 3.09164678e-02 -3.24148077e-03 9.99516716e-01 6.26853102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.200714057 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:155.48, Y:102.03, Z:6.27 [[-2.33834819e-02 -9.99724181e-01 -2.18519505e-03 1.55475930e+02] [ 9.99247722e-01 -2.33045818e-02 -3.09981830e-02 1.02028313e+02] [ 3.09387081e-02 -2.90839663e-03 9.99517052e-01 6.27107900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23071405699997 meters Centerline goodness : 0.993661 Centerline is valid? [True, True] Translation: X:155.48, Y:102.05, Z:6.27 [[-2.07360909e-02 -9.99781772e-01 -2.53426467e-03 1.55476352e+02] [ 9.99306724e-01 -2.06477102e-02 -3.09797149e-02 1.02051290e+02] [ 3.09206275e-02 -3.17490591e-03 9.99516801e-01 6.27237972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26071405699997 meters Centerline goodness : 0.994272 Centerline is valid? [True, True] Translation: X:155.48, Y:102.08, Z:6.27 [[-2.11264290e-02 -9.99774614e-01 -2.09625378e-03 1.55476309e+02] [ 9.99297598e-01 -2.10513454e-02 -3.10024422e-02 1.02079035e+02] [ 3.09513257e-02 -2.74975226e-03 9.99517111e-01 6.27332301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29071405699997 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:155.48, Y:102.11, Z:6.27 [[-2.11943123e-02 -9.99773285e-01 -2.04440145e-03 1.55476812e+02] [ 9.99296050e-01 -2.11207941e-02 -3.10051115e-02 1.02106347e+02] [ 3.09549028e-02 -2.70009431e-03 9.99517135e-01 6.27353486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32071405699998 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:155.48, Y:102.13, Z:6.27 [[-2.17932090e-02 -9.99760485e-01 -2.00738702e-03 1.55477251e+02] [ 9.99283135e-01 -2.17205455e-02 -3.10069985e-02 1.02134911e+02] [ 3.09559703e-02 -2.68168999e-03 9.99517152e-01 6.27445530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35071405699998 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:155.48, Y:102.16, Z:6.28 [[-2.11997767e-02 -9.99773191e-01 -2.03354442e-03 1.55476475e+02] [ 9.99295910e-01 -2.11265904e-02 -3.10056719e-02 1.02160657e+02] [ 3.09556777e-02 -2.68942594e-03 9.99517140e-01 6.27532892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38071405699998 meters Centerline goodness : 0.994235 Centerline is valid? [True, True] Translation: X:155.48, Y:102.19, Z:6.28 [[-2.26103149e-02 -9.99742565e-01 -1.89119275e-03 1.55476226e+02] [ 9.99264787e-01 -2.25408431e-02 -3.10128368e-02 1.02189568e+02] [ 3.09622240e-02 -2.59101233e-03 9.99517197e-01 6.27672561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41071405699998 meters Centerline goodness : 0.993806 Centerline is valid? [True, True] Translation: X:155.48, Y:102.22, Z:6.28 [[-2.32640557e-02 -9.99727489e-01 -1.93148878e-03 1.55476689e+02] [ 9.99249924e-01 -2.31930291e-02 -3.10108351e-02 1.02218624e+02] [ 3.09575873e-02 -2.65147781e-03 9.99517182e-01 6.27814103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44071405699998 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:155.48, Y:102.25, Z:6.28 [[-2.72387636e-02 -9.99626928e-01 -2.01342538e-03 1.55475669e+02] [ 9.99150006e-01 -2.71633149e-02 -3.10067819e-02 1.02249981e+02] [ 3.09405228e-02 -2.85630038e-03 9.99517146e-01 6.27983344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47071405699998 meters Centerline goodness : 0.995177 Centerline is valid? [True, True] Translation: X:155.48, Y:102.28, Z:6.28 [[-2.77215278e-02 -9.99612894e-01 -2.36197108e-03 1.55476734e+02] [ 9.99137608e-01 -2.76351228e-02 -3.09893420e-02 1.02279145e+02] [ 3.09120725e-02 -3.21900604e-03 9.99516924e-01 6.28019022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50071405699998 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:155.48, Y:102.30, Z:6.28 [[-2.62220115e-02 -9.99653366e-01 -2.35664559e-03 1.55475671e+02] [ 9.99177927e-01 -2.61364834e-02 -3.09895996e-02 1.02301942e+02] [ 3.09172632e-02 -3.16731789e-03 9.99516929e-01 6.28162303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53071405699998 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:155.48, Y:102.34, Z:6.28 [[-2.68563686e-02 -9.99637412e-01 -1.94444142e-03 1.55478364e+02] [ 9.99160194e-01 -2.67832303e-02 -3.10091174e-02 1.02339077e+02] [ 3.09457955e-02 -2.77560076e-03 9.99517210e-01 6.27851730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56071405699998 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:155.48, Y:102.37, Z:6.28 [[-2.76258307e-02 -9.99614653e-01 -2.71262670e-03 1.55478709e+02] [ 9.99141068e-01 -2.75286932e-02 -3.09725324e-02 1.02366559e+02] [ 3.08859221e-02 -3.56593867e-03 9.99516555e-01 6.27933795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59071405699999 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:155.48, Y:102.39, Z:6.28 [[-3.07821162e-02 -9.99522789e-01 -2.57998666e-03 1.55476331e+02] [ 9.99048845e-01 -3.06875574e-02 -3.09787007e-02 1.02393118e+02] [ 3.08847438e-02 -3.53112266e-03 9.99516715e-01 6.28319154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.620714057 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:155.48, Y:102.42, Z:6.29 [[-3.34746614e-02 -9.99436759e-01 -2.36876499e-03 1.55475304e+02] [ 9.98962031e-01 -3.33853155e-02 -3.09883946e-02 1.02417806e+02] [ 3.08918587e-02 -3.40363230e-03 9.99516938e-01 6.28609633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.650714057 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:155.48, Y:102.45, Z:6.29 [[-3.30837630e-02 -9.99450340e-01 -2.11717646e-03 1.55476696e+02] [ 9.98974404e-01 -3.30023405e-02 -3.09997710e-02 1.02448902e+02] [ 3.09128599e-02 -3.14059417e-03 9.99517149e-01 6.28620891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.680714057 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:155.47, Y:102.47, Z:6.29 [[-4.01772395e-02 -9.99189858e-01 -2.32757609e-03 1.55468467e+02] [ 9.98715532e-01 -4.00859761e-02 -3.09903472e-02 1.02465254e+02] [ 3.08719374e-02 -3.56969299e-03 9.99516974e-01 6.28637209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.710714057 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:155.47, Y:102.49, Z:6.29 [[-4.03496239e-02 -9.99184714e-01 -1.34762959e-03 1.55467922e+02] [ 9.98706063e-01 -4.02884397e-02 -3.10329171e-02 1.02492335e+02] [ 3.09533225e-02 -2.59805238e-03 9.99517455e-01 6.28658476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.740714057 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:155.48, Y:102.53, Z:6.29 [[-3.42607805e-02 -9.99412024e-01 -1.34369857e-03 1.55477709e+02] [ 9.98932994e-01 -3.42026353e-02 -3.10330873e-02 1.02532737e+02] [ 3.09688826e-02 -2.40548263e-03 9.99517455e-01 6.28758878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.770714057 meters Centerline goodness : 0.995697 Centerline is valid? [True, True] Translation: X:155.47, Y:102.55, Z:6.28 [[-4.05235305e-02 -9.99175798e-01 -2.35959489e-03 1.55468339e+02] [ 9.98701679e-01 -4.04311213e-02 -3.09883891e-02 1.02548953e+02] [ 3.08674473e-02 -3.61229031e-03 9.99516959e-01 6.28446910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.800714057 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:155.48, Y:102.59, Z:6.29 [[-3.62125754e-02 -9.99343232e-01 -1.32430866e-03 1.55476208e+02] [ 9.98864285e-01 -3.61540963e-02 -3.10325864e-02 1.02585882e+02] [ 3.09643260e-02 -2.44657449e-03 9.99517496e-01 6.28823190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.830714057 meters Centerline goodness : 0.996219 Centerline is valid? [True, True] Translation: X:155.48, Y:102.62, Z:6.28 [[-3.16092507e-02 -9.99498066e-01 -2.11456035e-03 1.55481283e+02] [ 9.99022049e-01 -3.15286160e-02 -3.09982667e-02 1.02620689e+02] [ 3.09160384e-02 -3.09232439e-03 9.99517202e-01 6.28340560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.860714057 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:155.48, Y:102.64, Z:6.29 [[-3.26553632e-02 -9.99463098e-01 -2.67246773e-03 1.55477351e+02] [ 9.98989827e-01 -3.25570797e-02 -3.09735613e-02 1.02638379e+02] [ 3.08699238e-02 -3.68122097e-03 9.99516631e-01 6.28959754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.890714057 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:155.48, Y:102.67, Z:6.29 [[-3.19198630e-02 -9.99488906e-01 -1.74632984e-03 1.55479950e+02] [ 9.99011376e-01 -3.18504255e-02 -3.10132292e-02 1.02674258e+02] [ 3.09417572e-02 -2.73454140e-03 9.99517449e-01 6.28825745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.920714057 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:155.48, Y:102.70, Z:6.29 [[-3.28332082e-02 -9.99458139e-01 -2.32575439e-03 1.55476928e+02] [ 9.98983195e-01 -3.27454943e-02 -3.09888426e-02 1.02700751e+02] [ 3.08958929e-02 -3.34085267e-03 9.99517025e-01 6.29437586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.950714057 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:155.48, Y:102.73, Z:6.29 [[-2.88520249e-02 -9.99581329e-01 -2.17410725e-03 1.55477051e+02] [ 9.99105370e-01 -2.87708719e-02 -3.09950984e-02 1.02725970e+02] [ 3.09195707e-02 -3.06643358e-03 9.99517172e-01 6.29372628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98071405699997 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:155.48, Y:102.75, Z:6.30 [[-2.73135142e-02 -9.99625061e-01 -1.92597526e-03 1.55476379e+02] [ 9.99147948e-01 -2.72407400e-02 -3.10051764e-02 1.02752772e+02] [ 3.09410864e-02 -2.77119455e-03 9.99517368e-01 6.29557130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01071405699997 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:155.48, Y:102.78, Z:6.30 [[-2.77411243e-02 -9.99613393e-01 -1.86950858e-03 1.55477192e+02] [ 9.99136084e-01 -2.76698870e-02 -3.10074712e-02 1.02780067e+02] [ 3.09437544e-02 -2.72807560e-03 9.99517404e-01 6.29644279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04071405699997 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:155.48, Y:102.82, Z:6.29 [[-2.72962832e-02 -9.99625788e-01 -1.78811009e-03 1.55477711e+02] [ 9.99148131e-01 -2.72277688e-02 -3.10106532e-02 1.02815603e+02] [ 3.09503624e-02 -2.63306243e-03 9.99517455e-01 6.29376648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07071405699998 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:155.48, Y:102.84, Z:6.30 [[-2.58873047e-02 -9.99662115e-01 -2.34585657e-03 1.55477331e+02] [ 9.99186629e-01 -2.58022709e-02 -3.09890793e-02 1.02840300e+02] [ 3.09180802e-02 -3.14617226e-03 9.99516970e-01 6.29819978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10071405699998 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:155.46, Y:102.86, Z:6.30 [[-3.46139927e-02 -9.99398815e-01 -1.96982375e-03 1.55462905e+02] [ 9.98922441e-01 -3.45363861e-02 -3.10031535e-02 1.02857532e+02] [ 3.09164843e-02 -3.04084408e-03 9.99517346e-01 6.30029147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13071405699998 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:155.46, Y:102.89, Z:6.30 [[-3.40190670e-02 -9.99420761e-01 -9.19249490e-04 1.55463205e+02] [ 9.98940544e-01 -3.39741700e-02 -3.10410343e-02 1.02887599e+02] [ 3.09918234e-02 -1.97426261e-03 9.99517688e-01 6.30126908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16071405699998 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:155.47, Y:102.93, Z:6.30 [[-2.42192413e-02 -9.99706042e-01 -1.12191764e-03 1.55474404e+02] [ 9.99225993e-01 -2.41727839e-02 -3.10337082e-02 1.02925282e+02] [ 3.09974657e-02 -1.87266213e-03 9.99517709e-01 6.30106360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19071405699998 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:155.46, Y:102.94, Z:6.30 [[-3.31442501e-02 -9.99448647e-01 -1.96503124e-03 1.55462484e+02] [ 9.98972162e-01 -3.30674939e-02 -3.10025960e-02 1.02943620e+02] [ 3.09205240e-02 -2.99056931e-03 9.99517372e-01 6.30198038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22071405699998 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:155.47, Y:102.98, Z:6.30 [[-2.44245082e-02 -9.99701061e-01 -1.11041957e-03 1.55472594e+02] [ 9.99221016e-01 -2.43783097e-02 -3.10331869e-02 1.02982063e+02] [ 3.09968397e-02 -1.86752489e-03 9.99517738e-01 6.30265138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25071405699998 meters Centerline goodness : 0.994403 Centerline is valid? [True, True] Translation: X:155.46, Y:103.00, Z:6.30 [[-3.35327370e-02 -9.99435665e-01 -1.97665306e-03 1.55460684e+02] [ 9.98959275e-01 -3.34554393e-02 -3.10016192e-02 1.02997602e+02] [ 3.09179941e-02 -3.01416505e-03 9.99517380e-01 6.30426635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28071405699998 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:155.47, Y:103.04, Z:6.30 [[-2.43852328e-02 -9.99702195e-01 -9.38924344e-04 1.55470143e+02] [ 9.99221683e-01 -2.43443605e-02 -3.10383827e-02 1.03038600e+02] [ 3.10062818e-02 -1.69507175e-03 9.99517752e-01 6.30311874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31071405699998 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:155.47, Y:103.06, Z:6.31 [[-2.33700342e-02 -9.99724667e-01 -2.10520952e-03 1.55469881e+02] [ 9.99248044e-01 -2.32936213e-02 -3.09960286e-02 1.03063768e+02] [ 3.09384564e-02 -2.82800475e-03 9.99517291e-01 6.30586218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34071405699999 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:155.47, Y:103.09, Z:6.31 [[-2.08535825e-02 -9.99780824e-01 -1.85259189e-03 1.55471068e+02] [ 9.99303067e-01 -2.07861650e-02 -3.10051005e-02 1.03093418e+02] [ 3.09597967e-02 -2.49786818e-03 9.99517509e-01 6.30700005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.370714057 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:155.47, Y:103.12, Z:6.31 [[-2.09867508e-02 -9.99777763e-01 -1.99524607e-03 1.55471441e+02] [ 9.99300537e-01 -2.09148666e-02 -3.10000878e-02 1.03123251e+02] [ 3.09514681e-02 -2.64444159e-03 9.99517390e-01 6.30760743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.400714057 meters Centerline goodness : 0.992872 Centerline is valid? [True, True] Translation: X:155.47, Y:103.15, Z:6.31 [[-2.23361150e-02 -9.99748319e-01 -2.09666830e-03 1.55470181e+02] [ 9.99271577e-01 -2.22604578e-02 -3.09965781e-02 1.03148572e+02] [ 3.09421040e-02 -2.78748417e-03 9.99517292e-01 6.30987720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.430714057 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:155.47, Y:103.18, Z:6.31 [[-2.34250676e-02 -9.99723870e-01 -1.85750508e-03 1.55468870e+02] [ 9.99246315e-01 -2.33562706e-02 -3.10046368e-02 1.03175860e+02] [ 3.09526911e-02 -2.58239082e-03 9.99517515e-01 6.31121826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.460714057 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:155.47, Y:103.21, Z:6.31 [[-2.21517332e-02 -9.99753179e-01 -1.69735019e-03 1.55471510e+02] [ 9.99274980e-01 -2.20884900e-02 -3.10098923e-02 1.03207347e+02] [ 3.09647465e-02 -2.38304244e-03 9.99517636e-01 6.31098951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.490714057 meters Centerline goodness : 0.992938 Centerline is valid? [True, True] Translation: X:155.47, Y:103.23, Z:6.31 [[-2.51033860e-02 -9.99682874e-01 -1.99272793e-03 1.55468706e+02] [ 9.99205936e-01 -2.50296147e-02 -3.10002696e-02 1.03229104e+02] [ 3.09405614e-02 -2.76935731e-03 9.99517390e-01 6.31230214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.520714057 meters Centerline goodness : 0.993127 Centerline is valid? [True, True] Translation: X:155.47, Y:103.26, Z:6.31 [[-2.66996716e-02 -9.99642468e-01 -1.43652950e-03 1.55469344e+02] [ 9.99163693e-01 -2.66423100e-02 -3.10177829e-02 1.03258737e+02] [ 3.09684206e-02 -2.26349273e-03 9.99517801e-01 6.31325031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.550714057 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:155.47, Y:103.29, Z:6.31 [[-2.69987048e-02 -9.99634295e-01 -1.53203281e-03 1.55470801e+02] [ 9.99155850e-01 -2.69382497e-02 -3.10147959e-02 1.03286307e+02] [ 3.09621834e-02 -2.36809886e-03 9.99517751e-01 6.31347053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.580714057 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:155.47, Y:103.31, Z:6.31 [[-2.95340150e-02 -9.99562615e-01 -1.52350068e-03 1.55471905e+02] [ 9.99084297e-01 -2.94726101e-02 -3.10150543e-02 1.03314751e+02] [ 3.09565873e-02 -2.43810468e-03 9.99517756e-01 6.31480414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.610714057 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:155.47, Y:103.34, Z:6.31 [[-2.87688376e-02 -9.99584867e-01 -1.56480965e-03 1.55473427e+02] [ 9.99106640e-01 -2.87065230e-02 -3.10138161e-02 1.03342690e+02] [ 3.09560210e-02 -2.45564315e-03 9.99517731e-01 6.31443021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.640714057 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:155.47, Y:103.37, Z:6.31 [[-3.25215532e-02 -9.99469775e-01 -1.58634821e-03 1.55474920e+02] [ 9.98991862e-01 -3.24567787e-02 -3.10131892e-02 1.03370457e+02] [ 3.09452575e-02 -2.59334603e-03 9.99517716e-01 6.31464411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.670714057 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:155.48, Y:103.40, Z:6.32 [[-3.29730662e-02 -9.99454897e-01 -1.63870581e-03 1.55476250e+02] [ 9.98977197e-01 -3.29064596e-02 -3.10116860e-02 1.03397454e+02] [ 3.09408575e-02 -2.65958011e-03 9.99517679e-01 6.31532434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.700714057 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:155.48, Y:103.43, Z:6.31 [[-3.53353492e-02 -9.99374334e-01 -1.53387380e-03 1.55478202e+02] [ 9.98896423e-01 -3.52708493e-02 -3.10145597e-02 1.03430001e+02] [ 3.09410539e-02 -2.62809135e-03 9.99517756e-01 6.31409622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73071405699997 meters Centerline goodness : 0.993179 Centerline is valid? [True, True] Translation: X:155.48, Y:103.45, Z:6.32 [[-3.38769312e-02 -9.99424145e-01 -1.93179891e-03 1.55479921e+02] [ 9.98947580e-01 -3.38008497e-02 -3.10038035e-02 1.03454677e+02] [ 3.09206534e-02 -2.98007956e-03 9.99517400e-01 6.31661759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76071405699997 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:155.48, Y:103.49, Z:6.32 [[-3.60902473e-02 -9.99347247e-01 -1.60460860e-03 1.55480446e+02] [ 9.98869643e-01 -3.60232041e-02 -3.10123247e-02 1.03486443e+02] [ 3.09342781e-02 -2.72203729e-03 9.99517714e-01 6.31592926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79071405699997 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:155.48, Y:103.51, Z:6.32 [[-3.36830518e-02 -9.99430814e-01 -1.87102419e-03 1.55480397e+02] [ 9.98954005e-01 -3.36089374e-02 -3.10054182e-02 1.03510189e+02] [ 3.09248872e-02 -2.91342422e-03 9.99517465e-01 6.32059254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82071405699998 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:155.48, Y:103.54, Z:6.32 [[-3.11749991e-02 -9.99512808e-01 -1.50518962e-03 1.55482183e+02] [ 9.99034557e-01 -3.11133766e-02 -3.10147069e-02 1.03543714e+02] [ 3.09527653e-02 -2.47061991e-03 9.99517795e-01 6.31782099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85071405699998 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:155.47, Y:103.56, Z:6.32 [[-3.98248612e-02 -9.99204413e-01 -2.12618853e-03 1.55469701e+02] [ 9.98729140e-01 -3.97399595e-02 -3.09974403e-02 1.03555273e+02] [ 3.08882845e-02 -3.35795520e-03 9.99517202e-01 6.32272935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88071405699998 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:155.48, Y:103.59, Z:6.33 [[-3.09523268e-02 -9.99520536e-01 -8.06914546e-04 1.55479910e+02] [ 9.99040266e-01 -3.09124022e-02 -3.10317722e-02 1.03592911e+02] [ 3.09919499e-02 -1.76664568e-03 9.99518073e-01 6.32670044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91071405699998 meters Centerline goodness : 0.992636 Centerline is valid? [True, True] Translation: X:155.48, Y:103.62, Z:6.33 [[-2.80227972e-02 -9.99605905e-01 -1.66060874e-03 1.55481303e+02] [ 9.99128020e-01 -2.79578862e-02 -3.10089589e-02 1.03616400e+02] [ 3.09503113e-02 -2.52811848e-03 9.99517727e-01 6.32805876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94071405699998 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:155.48, Y:103.65, Z:6.33 [[-2.95227049e-02 -9.99563221e-01 -1.33323253e-03 1.55482503e+02] [ 9.99084379e-01 -2.94671904e-02 -3.10175333e-02 1.03648165e+02] [ 3.09646989e-02 -2.24773328e-03 9.99517951e-01 6.32797614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97071405699998 meters Centerline goodness : 0.993977 Centerline is valid? [True, True] Translation: X:155.48, Y:103.67, Z:6.33 [[-2.72383703e-02 -9.99627613e-01 -1.64500868e-03 1.55484889e+02] [ 9.99149627e-01 -2.71743162e-02 -3.10093424e-02 1.03674530e+02] [ 3.09530929e-02 -2.48825376e-03 9.99517741e-01 6.32798030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00071405699998 meters Centerline goodness : 0.992935 Centerline is valid? [True, True] Translation: X:155.49, Y:103.70, Z:6.33 [[-2.39872597e-02 -9.99710942e-01 -1.62614464e-03 1.55486104e+02] [ 9.99232690e-01 -2.39253434e-02 -3.10098244e-02 1.03698615e+02] [ 3.09619547e-02 -2.36873760e-03 9.99517757e-01 6.33084573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03071405699998 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:155.49, Y:103.73, Z:6.33 [[-2.18862034e-02 -9.99759695e-01 -1.24355085e-03 1.55486663e+02] [ 9.99280216e-01 -2.18371237e-02 -3.10191890e-02 1.03726229e+02] [ 3.09845794e-02 -1.92154804e-03 9.99518016e-01 6.33210241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06071405699998 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:155.49, Y:103.76, Z:6.33 [[-2.05639393e-02 -9.99787832e-01 -1.18968962e-03 1.55489223e+02] [ 9.99308149e-01 -2.05171605e-02 -3.10204579e-02 1.03761228e+02] [ 3.09894673e-02 -1.82676934e-03 9.99518042e-01 6.32978956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09071405699999 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:155.49, Y:103.79, Z:6.33 [[-1.67769269e-02 -9.99857740e-01 -1.74174007e-03 1.55490443e+02] [ 9.99379387e-01 -1.67148861e-02 -3.10073162e-02 1.03786469e+02] [ 3.09737922e-02 -2.26086660e-03 9.99517640e-01 6.33214667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.120714057 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:155.49, Y:103.82, Z:6.33 [[-1.45094182e-02 -9.99893713e-01 -1.42783702e-03 1.55492231e+02] [ 9.99414360e-01 -1.44581740e-02 -3.10144840e-02 1.03819534e+02] [ 3.09905437e-02 -1.87700294e-03 9.99517915e-01 6.32988191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.150714057 meters Centerline goodness : 0.993168 Centerline is valid? [True, True] Translation: X:155.49, Y:103.85, Z:6.33 [[-9.91506454e-03 -9.99949266e-01 -1.77659499e-03 1.55494544e+02] [ 9.99470592e-01 -9.85522920e-03 -3.10066243e-02 1.03845519e+02] [ 3.09875425e-02 -2.08308713e-03 9.99517600e-01 6.33135683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.180714057 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:155.48, Y:103.86, Z:6.33 [[-2.08295626e-02 -9.99781776e-01 -1.59065184e-03 1.55482304e+02] [ 9.99303224e-01 -2.07702545e-02 -3.10106862e-02 1.03861591e+02] [ 3.09708807e-02 -2.23548254e-03 9.99517787e-01 6.33497086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.210714057 meters Centerline goodness : 0.993194 Centerline is valid? [True, True] Translation: X:155.50, Y:103.90, Z:6.33 [[-7.16548903e-03 -9.99974125e-01 -6.36324219e-04 1.55496911e+02] [ 9.99492926e-01 -7.14229509e-03 -3.10302703e-02 1.03899591e+02] [ 3.10249226e-02 -8.58348618e-04 9.99518243e-01 6.33377283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.240714057 meters Centerline goodness : 0.992752 Centerline is valid? [True, True] Translation: X:155.50, Y:103.93, Z:6.33 [[-6.74293565e-03 -9.99976142e-01 -1.49931113e-03 1.55498688e+02] [ 9.99496599e-01 -6.69320418e-03 -3.10120780e-02 1.03926710e+02] [ 3.10013030e-02 -1.70766883e-03 9.99517885e-01 6.33476596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.270714057 meters Centerline goodness : 0.992761 Centerline is valid? [True, True] Translation: X:155.50, Y:103.96, Z:6.33 [[-3.12425499e-03 -9.99994105e-01 -1.42447523e-03 1.55504011e+02] [ 9.99514219e-01 -3.07857724e-03 -3.10136675e-02 1.03955343e+02] [ 3.10090994e-02 -1.52067785e-03 9.99517945e-01 6.33270595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.300714057 meters Centerline goodness : 0.993037 Centerline is valid? [True, True] Translation: X:155.50, Y:103.98, Z:6.34 [[-6.46407317e-03 -9.99977952e-01 -1.52018016e-03 1.55504515e+02] [ 9.99498442e-01 -6.41382905e-03 -3.10117333e-02 1.03984998e+02] [ 3.10012994e-02 -1.71987982e-03 9.99517864e-01 6.33552621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.330714057 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:155.49, Y:104.00, Z:6.34 [[-2.07893054e-02 -9.99782393e-01 -1.72394937e-03 1.55491476e+02] [ 9.99304239e-01 -2.07258954e-02 -3.10076661e-02 1.03999478e+02] [ 3.09651882e-02 -2.36737775e-03 9.99517660e-01 6.33953189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.360714057 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:155.51, Y:104.04, Z:6.34 [[-1.14204624e-02 -9.99934620e-01 -5.72802455e-04 1.55506400e+02] [ 9.99453505e-01 -1.13971929e-02 -3.10289372e-02 1.04037467e+02] [ 3.10203801e-02 -9.26854233e-04 9.99518322e-01 6.33878007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.390714057 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:155.51, Y:104.06, Z:6.34 [[-1.35620941e-02 -9.99907094e-01 -1.36833867e-03 1.55506671e+02] [ 9.99427602e-01 -1.35131491e-02 -3.10139121e-02 1.04061251e+02] [ 3.09925401e-02 -1.78816903e-03 9.99518016e-01 6.34000253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.420714057 meters Centerline goodness : 0.992374 Centerline is valid? [True, True] Translation: X:155.51, Y:104.09, Z:6.34 [[-1.87062463e-02 -9.99824500e-01 -1.02277020e-03 1.55510987e+02] [ 9.99344461e-01 -1.86655330e-02 -3.10200886e-02 1.04091401e+02] [ 3.09955540e-02 -1.60236915e-03 9.99518238e-01 6.34194801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45071405699997 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:155.51, Y:104.12, Z:6.34 [[-2.27886291e-02 -9.99739613e-01 -1.17648465e-03 1.55511964e+02] [ 9.99260103e-01 -2.27411977e-02 -3.10174936e-02 1.04119120e+02] [ 3.09826624e-02 -1.88246033e-03 9.99518149e-01 6.34373612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48071405699997 meters Centerline goodness : 0.992369 Centerline is valid? [True, True] Translation: X:155.51, Y:104.14, Z:6.34 [[-2.21070941e-02 -9.99754957e-01 -1.14098101e-03 1.55513856e+02] [ 9.99275331e-01 -2.20610886e-02 -3.10180790e-02 1.04142083e+02] [ 3.09853070e-02 -1.82587377e-03 9.99518172e-01 6.34156676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51071405699997 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:155.52, Y:104.17, Z:6.35 [[-2.95937558e-02 -9.99561744e-01 -7.28039767e-04 1.55516327e+02] [ 9.99081507e-01 -2.95569405e-02 -3.10246752e-02 1.04174693e+02] [ 3.09895598e-02 -1.64550773e-03 9.99518354e-01 6.34542586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54071405699997 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:155.52, Y:104.20, Z:6.35 [[-3.17654764e-02 -9.99494804e-01 -1.04429803e-03 1.55518987e+02] [ 9.99015394e-01 -3.17178299e-02 -3.10196886e-02 1.04204075e+02] [ 3.09708947e-02 -2.02862500e-03 9.99518228e-01 6.34571164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57071405699998 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:155.52, Y:104.23, Z:6.35 [[-3.66218256e-02 -9.99328514e-01 -1.16724721e-03 1.55521993e+02] [ 9.98849675e-01 -3.65680481e-02 -3.10178121e-02 1.04231951e+02] [ 3.09543001e-02 -2.30183340e-03 9.99518150e-01 6.34640462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60071405699998 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:155.52, Y:104.26, Z:6.35 [[-3.93578488e-02 -9.99224534e-01 -1.13563118e-03 1.55523504e+02] [ 9.98745755e-01 -3.93037378e-02 -3.10182738e-02 1.04260071e+02] [ 3.09495857e-02 -2.35501935e-03 9.99518172e-01 6.34717085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63071405699998 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:155.51, Y:104.28, Z:6.35 [[-5.24238914e-02 -9.98624297e-01 -1.11758031e-03 1.55513826e+02] [ 9.98146209e-01 -5.23640801e-02 -3.10185287e-02 1.04279983e+02] [ 3.09173354e-02 -2.74162053e-03 9.99518185e-01 6.35097627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66071405699998 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:155.53, Y:104.33, Z:6.34 [[-4.24145459e-02 -9.99100016e-01 -4.06138298e-04 1.55532732e+02] [ 9.98619586e-01 -4.23815374e-02 -3.10278490e-02 1.04329189e+02] [ 3.09827116e-02 -1.72160978e-03 9.99518438e-01 6.34296163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69071405699998 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:155.52, Y:104.33, Z:6.35 [[-5.87069063e-02 -9.98272617e-01 -2.29807046e-03 1.55517539e+02] [ 9.97799636e-01 -5.86077268e-02 -3.10003262e-02 1.04334966e+02] [ 3.08120920e-02 -4.11294711e-03 9.99516733e-01 6.35106361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72071405699998 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:155.53, Y:104.38, Z:6.34 [[-4.76119121e-02 -9.98865840e-01 -3.74545767e-04 1.55533360e+02] [ 9.98385661e-01 -4.75773909e-02 -3.10236061e-02 1.04382808e+02] [ 3.09706005e-02 -1.85103433e-03 9.99518582e-01 6.34432685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75071405699998 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:155.53, Y:104.41, Z:6.35 [[-5.64186066e-02 -9.98405155e-01 -2.02168817e-03 1.55529861e+02] [ 9.97930775e-01 -5.63290207e-02 -3.10033907e-02 1.04405345e+02] [ 3.08400654e-02 -3.76667295e-03 9.99517235e-01 6.34810546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78071405699998 meters Centerline goodness : 0.996091 Centerline is valid? [True, True] Translation: X:155.53, Y:104.44, Z:6.35 [[-5.54329646e-02 -9.98461494e-01 -1.35310679e-03 1.55532230e+02] [ 9.97984527e-01 -5.53644587e-02 -3.10106664e-02 1.04437457e+02] [ 3.08880423e-02 -3.06939281e-03 9.99518138e-01 6.34710528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81071405699998 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:155.53, Y:104.46, Z:6.35 [[-5.78464037e-02 -9.98323995e-01 -1.73062901e-03 1.55531261e+02] [ 9.97848578e-01 -5.77651054e-02 -3.10065828e-02 1.04463085e+02] [ 3.08546456e-02 -3.52052500e-03 9.99517682e-01 6.34798739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84071405699999 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:155.53, Y:104.49, Z:6.35 [[-6.03814754e-02 -9.98174249e-01 -1.49851634e-03 1.55530203e+02] [ 9.97698161e-01 -6.03061236e-02 -3.10088824e-02 1.04489810e+02] [ 3.08618982e-02 -3.36742907e-03 9.99517986e-01 6.34982799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.870714057 meters Centerline goodness : 0.995973 Centerline is valid? [True, True] Translation: X:155.53, Y:104.52, Z:6.35 [[-6.05004047e-02 -9.98167313e-01 -1.30978416e-03 1.55530908e+02] [ 9.97690567e-01 -6.04308167e-02 -3.10104695e-02 1.04519898e+02] [ 3.08744857e-02 -3.18290525e-03 9.99518202e-01 6.35042295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.900714057 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:155.53, Y:104.55, Z:6.35 [[-6.17862897e-02 -9.98088277e-01 -1.49844812e-03 1.55529836e+02] [ 9.97612292e-01 -6.17102697e-02 -3.10089861e-02 1.04546572e+02] [ 3.08572359e-02 -3.41080046e-03 9.99517983e-01 6.35206056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.930714057 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:155.53, Y:104.57, Z:6.35 [[-6.25044762e-02 -9.98043812e-01 -1.31926798e-03 1.55529607e+02] [ 9.97567244e-01 -6.24336392e-02 -3.10102185e-02 1.04574613e+02] [ 3.08671900e-02 -3.25433599e-03 9.99518197e-01 6.35299934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.960714057 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:155.53, Y:104.60, Z:6.35 [[-6.16635695e-02 -9.98096114e-01 -1.32349582e-03 1.55528551e+02] [ 9.97619502e-01 -6.15930037e-02 -3.10101910e-02 1.04601502e+02] [ 3.08696330e-02 -3.23254431e-03 9.99518192e-01 6.35365582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.990714057 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:155.53, Y:104.62, Z:6.35 [[-5.79591597e-02 -9.98318095e-01 -1.31065948e-03 1.55527341e+02] [ 9.97841181e-01 -5.78907592e-02 -3.10102681e-02 1.04623150e+02] [ 3.08822367e-02 -3.10515909e-03 9.99518207e-01 6.35381685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.020714057 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:155.53, Y:104.65, Z:6.36 [[-5.95275678e-02 -9.98226385e-01 -7.43182226e-04 1.55525427e+02] [ 9.97747852e-01 -5.94759416e-02 -3.10134998e-02 1.04652887e+02] [ 3.09142923e-02 -2.58766668e-03 9.99518689e-01 6.35659902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.050714057 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:155.53, Y:104.69, Z:6.36 [[-5.70601006e-02 -9.98370480e-01 -7.28000448e-04 1.55528810e+02] [ 9.97891780e-01 -5.70101266e-02 -3.10135638e-02 1.04693504e+02] [ 3.09215232e-02 -2.49610273e-03 9.99518699e-01 6.35539177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.080714057 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:155.51, Y:104.70, Z:6.36 [[-6.98926563e-02 -9.97552809e-01 -1.84636005e-03 1.55514133e+02] [ 9.97078816e-01 -6.98020536e-02 -3.10081860e-02 1.04701513e+02] [ 3.08034234e-02 -4.00821098e-03 9.99517425e-01 6.36360105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.110714057 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:155.52, Y:104.75, Z:6.36 [[-6.04667963e-02 -9.98170206e-01 -7.62078275e-05 1.55524453e+02] [ 9.97690226e-01 -6.04353525e-02 -3.10125845e-02 1.04745521e+02] [ 3.09512322e-02 -1.95126343e-03 9.99518991e-01 6.35798354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.140714057 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:155.52, Y:104.77, Z:6.36 [[-6.56883668e-02 -9.97839326e-01 -1.31067966e-03 1.55521234e+02] [ 9.97362895e-01 -6.56162679e-02 -3.10122596e-02 1.04770614e+02] [ 3.08592503e-02 -3.34436795e-03 9.99518145e-01 6.36120188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.170714057 meters Centerline goodness : 0.995848 Centerline is valid? [True, True] Translation: X:155.52, Y:104.78, Z:6.36 [[-6.65027617e-02 -9.97786099e-01 -5.33227283e-04 1.55520036e+02] [ 9.97307611e-01 -6.64543006e-02 -3.10057244e-02 1.04775669e+02] [ 3.09016456e-02 -2.59375793e-03 9.99519065e-01 6.36213754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20071405699997 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:155.52, Y:104.79, Z:6.36 [[-6.98384702e-02 -9.97558185e-01 -5.05555075e-04 1.55518371e+02] [ 9.97079795e-01 -6.97892651e-02 -3.10054916e-02 1.04788547e+02] [ 3.08944996e-02 -2.66945485e-03 9.99519086e-01 6.36360385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23071405699997 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:155.52, Y:104.81, Z:6.36 [[-7.10989990e-02 -9.97469193e-01 -3.74737205e-04 1.55517359e+02] [ 9.96990555e-01 -7.10532339e-02 -3.10043720e-02 1.04809204e+02] [ 3.08992797e-02 -2.57798927e-03 9.99519179e-01 6.36442449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26071405699997 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:155.52, Y:104.78, Z:6.36 [[-6.96393795e-02 -9.97572166e-01 -3.61380617e-04 1.55517158e+02] [ 9.97093431e-01 -6.95947279e-02 -3.10042608e-02 1.04781878e+02] [ 3.09038374e-02 -2.51944772e-03 9.99519187e-01 6.36323459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29071405699997 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:155.52, Y:104.78, Z:6.36 [[-7.02350354e-02 -9.97530369e-01 -4.49398205e-04 1.55516136e+02] [ 9.97051868e-01 -7.01873765e-02 -3.10049302e-02 1.04783316e+02] [ 3.08968174e-02 -2.62570569e-03 9.99519131e-01 6.36365037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32071405699998 meters Centerline goodness : 0.996248 Centerline is valid? [True, True] Translation: X:155.51, Y:104.80, Z:6.37 [[-8.44269953e-02 -9.96429564e-01 -4.54076101e-04 1.55508290e+02] [ 9.95951802e-01 -8.43723857e-02 -3.10049655e-02 1.04798737e+02] [ 3.08559528e-02 -3.06989399e-03 9.99519127e-01 6.36882856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35071405699998 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:155.51, Y:105.03, Z:6.38 [[-8.56581744e-02 -9.96324552e-01 2.53571412e-04 1.55505171e+02] [ 9.95845087e-01 -8.56248422e-02 -3.09991847e-02 1.05030582e+02] [ 3.09069609e-02 -2.40281573e-03 9.99519378e-01 6.37510479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38071405699998 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:155.51, Y:104.83, Z:6.37 [[-6.29755184e-02 -9.98014949e-01 4.96317681e-04 1.55512418e+02] [ 9.97534528e-01 -6.29606186e-02 -3.09971924e-02 1.04830940e+02] [ 3.09669099e-02 -1.45697024e-03 9.99519348e-01 6.36532993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41071405699998 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:155.51, Y:104.85, Z:6.37 [[-6.52002015e-02 -9.97871222e-01 -1.39923984e-03 1.55509021e+02] [ 9.97396187e-01 -6.51257283e-02 -3.09755589e-02 1.04847715e+02] [ 3.08184923e-02 -3.41520916e-03 9.99519163e-01 6.36749409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44071405699998 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:155.51, Y:104.88, Z:6.37 [[-6.62697196e-02 -9.97801746e-01 -9.42281523e-06 1.55506808e+02] [ 9.97322586e-01 -6.62376032e-02 -3.09877366e-02 1.04877277e+02] [ 3.09189935e-02 -2.06294620e-03 9.99519765e-01 6.37105412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47071405699998 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:155.51, Y:104.90, Z:6.37 [[-6.40318152e-02 -9.97947820e-01 -2.74628819e-04 1.55506530e+02] [ 9.97469225e-01 -6.39925800e-02 -3.09853871e-02 1.04900944e+02] [ 3.09042253e-02 -2.25798438e-03 9.99519800e-01 6.37043859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50071405699998 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:155.51, Y:104.94, Z:6.37 [[-6.31606149e-02 -9.98003375e-01 -4.36486826e-06 1.55508196e+02] [ 9.97524100e-01 -6.31301475e-02 -3.09879663e-02 1.04937107e+02] [ 3.09258194e-02 -1.96157307e-03 9.99519758e-01 6.37063857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53071405699998 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:155.50, Y:104.95, Z:6.37 [[-7.01417264e-02 -9.97536406e-01 -1.12099291e-03 1.55499705e+02] [ 9.97060590e-01 -7.00734529e-02 -3.09820987e-02 1.04953536e+02] [ 3.08272196e-02 -3.29083574e-03 9.99519311e-01 6.37482145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56071405699998 meters Centerline goodness : 0.995703 Centerline is valid? [True, True] Translation: X:155.50, Y:104.99, Z:6.38 [[-6.60342703e-02 -9.97817348e-01 -1.23963993e-04 1.55504902e+02] [ 9.97338473e-01 -6.59987294e-02 -3.09861029e-02 1.04990123e+02] [ 3.09102895e-02 -2.16977875e-03 9.99519808e-01 6.37641683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59071405699999 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:155.50, Y:105.02, Z:6.38 [[-6.92648341e-02 -9.97598037e-01 -7.34287666e-04 1.55503190e+02] [ 9.97120914e-01 -6.92089007e-02 -3.09840465e-02 1.05016404e+02] [ 3.08588048e-02 -2.87827843e-03 9.99519609e-01 6.37722990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.620714057 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:155.50, Y:105.04, Z:6.38 [[-7.03993877e-02 -9.97518733e-01 -5.51613497e-04 1.55502947e+02] [ 9.97041142e-01 -7.03485480e-02 -3.09845600e-02 1.05043885e+02] [ 3.08688739e-02 -2.73127541e-03 9.99519711e-01 6.37811335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.650714057 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:155.50, Y:105.07, Z:6.38 [[-7.08836866e-02 -9.97484450e-01 -5.25053672e-04 1.55502861e+02] [ 9.97006809e-01 -7.08334346e-02 -3.09846257e-02 1.05070802e+02] [ 3.08694909e-02 -2.71978658e-03 9.99519723e-01 6.37839902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.680714057 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:155.50, Y:105.10, Z:6.38 [[-6.98600959e-02 -9.97556647e-01 -5.50373120e-04 1.55503254e+02] [ 9.97079026e-01 -6.98095527e-02 -3.09845570e-02 1.05095606e+02] [ 3.08704295e-02 -2.71334962e-03 9.99519712e-01 6.37899699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.710714057 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:155.50, Y:105.13, Z:6.38 [[-7.36286369e-02 -9.97285687e-01 -2.87052508e-04 1.55502466e+02] [ 9.96807535e-01 -7.35844169e-02 -3.09850147e-02 1.05126157e+02] [ 3.08797891e-02 -2.56752050e-03 9.99519808e-01 6.37969491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.740714057 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:155.50, Y:105.16, Z:6.38 [[-7.43549627e-02 -9.97231717e-01 -4.91241446e-04 1.55502960e+02] [ 9.96754158e-01 -7.43040920e-02 -3.09846704e-02 1.05155786e+02] [ 3.08623949e-02 -2.79351097e-03 9.99519739e-01 6.38018040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.770714057 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:155.50, Y:105.18, Z:6.38 [[-7.51092394e-02 -9.97175151e-01 -5.65980179e-04 1.55503096e+02] [ 9.96697846e-01 -7.50557015e-02 -3.09845856e-02 1.05183695e+02] [ 3.08545788e-02 -2.89133988e-03 9.99519702e-01 6.38048176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.800714057 meters Centerline goodness : 0.995920 Centerline is valid? [True, True] Translation: X:155.50, Y:105.17, Z:6.38 [[-7.10828587e-02 -9.97470371e-01 -2.93328585e-04 1.55504719e+02] [ 9.96992165e-01 -7.10396687e-02 -3.09836809e-02 1.05172508e+02] [ 3.08844657e-02 -2.49485491e-03 9.99519847e-01 6.37749367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.830714057 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:155.50, Y:105.20, Z:6.38 [[-7.47143419e-02 -9.97204639e-01 -8.21698960e-04 1.55502044e+02] [ 9.96728157e-01 -7.46531128e-02 -3.09821392e-02 1.05197478e+02] [ 3.08341906e-02 -3.13382063e-03 9.99519601e-01 6.37958604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.860714057 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:155.50, Y:105.23, Z:6.38 [[-7.38630584e-02 -9.97268297e-01 -4.39246391e-04 1.55502882e+02] [ 9.96790622e-01 -7.38140328e-02 -3.09829815e-02 1.05227363e+02] [ 3.08659227e-02 -2.72633446e-03 9.99519816e-01 6.38143369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.890714057 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:155.50, Y:105.26, Z:6.38 [[-7.44050489e-02 -9.97227945e-01 -5.60121907e-04 1.55502606e+02] [ 9.96750643e-01 -7.43520341e-02 -3.09827446e-02 1.05255106e+02] [ 3.08552125e-02 -2.86357449e-03 9.99519763e-01 6.38278793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.920714057 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:155.50, Y:105.28, Z:6.38 [[-7.42582044e-02 -9.97238909e-01 -5.26627682e-04 1.55503459e+02] [ 9.96761502e-01 -7.42062933e-02 -3.09828006e-02 1.05283210e+02] [ 3.08581752e-02 -2.82564934e-03 9.99519779e-01 6.38148287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95071405699997 meters Centerline goodness : 0.996360 Centerline is valid? [True, True] Translation: X:155.50, Y:105.31, Z:6.38 [[-7.49204108e-02 -9.97189366e-01 -5.48835049e-04 1.55504185e+02] [ 9.96712057e-01 -7.48674975e-02 -3.09827848e-02 1.05312339e+02] [ 3.08546136e-02 -2.86827347e-03 9.99519768e-01 6.38237579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98071405699997 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:155.51, Y:105.33, Z:6.38 [[-7.66916144e-02 -9.97054798e-01 -3.56024681e-04 1.55505152e+02] [ 9.96577068e-01 -7.66438054e-02 -3.09818543e-02 1.05329731e+02] [ 3.08633194e-02 -2.73085446e-03 9.99519884e-01 6.38258882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01071405699997 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:155.50, Y:105.32, Z:6.38 [[-7.85742283e-02 -9.96908230e-01 -2.67490070e-04 1.55504885e+02] [ 9.96430361e-01 -7.85282507e-02 -3.09814298e-02 1.05323473e+02] [ 3.08646369e-02 -2.70087717e-03 9.99519924e-01 6.38427774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04071405699997 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:155.51, Y:105.35, Z:6.38 [[-7.76236095e-02 -9.96982716e-01 -2.00142794e-04 1.55506215e+02] [ 9.96504635e-01 -7.75801674e-02 -3.09811228e-02 1.05345981e+02] [ 3.08721168e-02 -2.60430980e-03 9.99519950e-01 6.38342824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07071405699998 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:155.51, Y:105.36, Z:6.38 [[-7.77153372e-02 -9.96975558e-01 -2.49793830e-04 1.55508565e+02] [ 9.96497606e-01 -7.76703178e-02 -3.09813457e-02 1.05361053e+02] [ 3.08682429e-02 -2.65664468e-03 9.99519932e-01 6.38111335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10071405699998 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:155.51, Y:105.36, Z:6.38 [[-7.78885222e-02 -9.96962036e-01 -2.78275518e-04 1.55509195e+02] [ 9.96484163e-01 -7.78425404e-02 -3.09814664e-02 1.05360790e+02] [ 3.08656841e-02 -2.69039778e-03 9.99519920e-01 6.38091040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13071405699998 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:155.51, Y:105.38, Z:6.38 [[-7.75177739e-02 -9.96990929e-01 -2.85877166e-04 1.55510384e+02] [ 9.96513059e-01 -7.74717351e-02 -3.09814962e-02 1.05378338e+02] [ 3.08661233e-02 -2.68649695e-03 9.99519917e-01 6.38153388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16071405699998 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:155.51, Y:105.41, Z:6.38 [[-7.85400862e-02 -9.96910799e-01 -5.60533471e-04 1.55509963e+02] [ 9.96433768e-01 -7.84850842e-02 -3.09812490e-02 1.05406010e+02] [ 3.08415481e-02 -2.99180444e-03 9.99519809e-01 6.38243164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19071405699998 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:155.51, Y:105.40, Z:6.38 [[-7.77317684e-02 -9.96974277e-01 -2.51655938e-04 1.55509909e+02] [ 9.96496368e-01 -7.76866870e-02 -3.09801022e-02 1.05399817e+02] [ 3.08668147e-02 -2.65891236e-03 9.99519970e-01 6.38242256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22071405699998 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:155.51, Y:105.39, Z:6.38 [[-7.68393132e-02 -9.97043454e-01 -2.66122904e-04 1.55509784e+02] [ 9.96565542e-01 -7.67942129e-02 -3.09801490e-02 1.05391023e+02] [ 3.08681180e-02 -2.64570229e-03 9.99519965e-01 6.38211001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25071405699998 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:155.51, Y:105.42, Z:6.38 [[-7.67545807e-02 -9.97049894e-01 -4.93536102e-04 1.55509377e+02] [ 9.96572611e-01 -7.67025037e-02 -3.09799526e-02 1.05419129e+02] [ 3.08507030e-02 -2.86969784e-03 9.99519884e-01 6.38306145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28071405699998 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:155.51, Y:105.42, Z:6.38 [[-7.47453042e-02 -9.97202624e-01 -2.58990513e-04 1.55509360e+02] [ 9.96724630e-01 -7.47014304e-02 -3.09791568e-02 1.05422853e+02] [ 3.08731494e-02 -2.57368872e-03 9.99519997e-01 6.38375607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31071405699998 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:155.51, Y:105.45, Z:6.38 [[-7.50120157e-02 -9.97182447e-01 -6.04288593e-04 1.55508803e+02] [ 9.96705431e-01 -7.49573598e-02 -3.09786581e-02 1.05450691e+02] [ 3.08460782e-02 -2.92606931e-03 9.99519864e-01 6.38437852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34071405699999 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:155.51, Y:105.48, Z:6.39 [[-7.54428859e-02 -9.97149982e-01 -5.33437270e-04 1.55508501e+02] [ 9.96672783e-01 -7.53902093e-02 -3.09787024e-02 1.05479307e+02] [ 3.08501966e-02 -2.86878512e-03 9.99519902e-01 6.38557082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.370714057 meters Centerline goodness : 0.996638 Centerline is valid? [True, True] Translation: X:155.51, Y:105.47, Z:6.38 [[-7.34258680e-02 -9.97300632e-01 -3.01996830e-04 1.55508637e+02] [ 9.96822732e-01 -7.33813022e-02 -3.09778305e-02 1.05473448e+02] [ 3.08720490e-02 -2.57561140e-03 9.99520026e-01 6.38430125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.400714057 meters Centerline goodness : 0.996641 Centerline is valid? [True, True] Translation: X:155.51, Y:105.50, Z:6.39 [[-7.45642053e-02 -9.97216008e-01 -6.41885551e-04 1.55507660e+02] [ 9.96739117e-01 -7.45086076e-02 -3.09774127e-02 1.05500713e+02] [ 3.08433459e-02 -2.94959860e-03 9.99519879e-01 6.38547927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.430714057 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:155.51, Y:105.53, Z:6.39 [[-7.40409395e-02 -9.97255030e-01 -5.86234461e-04 1.55507755e+02] [ 9.96777946e-01 -7.39873084e-02 -3.09774695e-02 1.05528250e+02] [ 3.08490634e-02 -2.87794653e-03 9.99519911e-01 6.38527619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.460714057 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:155.51, Y:105.56, Z:6.39 [[-7.49295823e-02 -9.97188669e-01 -5.62137685e-04 1.55507180e+02] [ 9.96711563e-01 -7.48762694e-02 -3.09774847e-02 1.05556422e+02] [ 3.08483059e-02 -2.88141912e-03 9.99519924e-01 6.38692047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.490714057 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:155.51, Y:105.56, Z:6.39 [[-7.54887828e-02 -9.97146607e-01 -2.97588487e-04 1.55506426e+02] [ 9.96668840e-01 -7.54433690e-02 -3.09761574e-02 1.05557643e+02] [ 3.08653192e-02 -2.63494959e-03 9.99520079e-01 6.38762253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.520714057 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:155.51, Y:105.54, Z:6.39 [[-7.36468781e-02 -9.97284340e-01 -2.88235921e-04 1.55506869e+02] [ 9.96806467e-01 -7.36026357e-02 -3.09761129e-02 1.05543456e+02] [ 3.08707773e-02 -2.56860944e-03 9.99520084e-01 6.38594185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.550714057 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:155.51, Y:105.57, Z:6.39 [[-7.34230147e-02 -9.97300627e-01 -7.20952986e-04 1.55506011e+02] [ 9.96823965e-01 -7.33655296e-02 -3.09755115e-02 1.05565886e+02] [ 3.08390040e-02 -2.99297865e-03 9.99519884e-01 6.38855446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.580714057 meters Centerline goodness : 0.996522 Centerline is valid? [True, True] Translation: X:155.51, Y:105.60, Z:6.39 [[-7.54433411e-02 -9.97150043e-01 -3.08291636e-04 1.55507005e+02] [ 9.96672313e-01 -7.53976197e-02 -3.09757989e-02 1.05599059e+02] [ 3.08642748e-02 -2.64418350e-03 9.99520087e-01 6.38549077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.610714057 meters Centerline goodness : 0.996794 Centerline is valid? [True, True] Translation: X:155.51, Y:105.59, Z:6.38 [[-7.47420164e-02 -9.97202839e-01 -3.59639619e-04 1.55507739e+02] [ 9.96725204e-01 -7.46950454e-02 -3.09760759e-02 1.05594782e+02] [ 3.08625676e-02 -2.67367625e-03 9.99520062e-01 6.38460008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.640714057 meters Centerline goodness : 0.996345 Centerline is valid? [True, True] Translation: X:155.51, Y:105.62, Z:6.38 [[-7.68628007e-02 -9.97041401e-01 -7.45099098e-04 1.55508706e+02] [ 9.96565012e-01 -7.68029271e-02 -3.09755937e-02 1.05624150e+02] [ 3.08267236e-02 -3.12341058e-03 9.99519863e-01 6.38438723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.670714057 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:155.51, Y:105.62, Z:6.39 [[-7.76693582e-02 -9.96979094e-01 -3.95029300e-04 1.55508435e+02] [ 9.96501780e-01 -7.76199007e-02 -3.09734231e-02 1.05624123e+02] [ 3.08491932e-02 -2.79933329e-03 9.99520130e-01 6.38500227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70071405699997 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:155.50, Y:105.64, Z:6.39 [[-9.06630877e-02 -9.95881523e-01 -4.44510964e-04 1.55502970e+02] [ 9.95405044e-01 -9.06058849e-02 -3.09737323e-02 1.05644943e+02] [ 3.08058923e-02 -3.25064266e-03 9.99520100e-01 6.38763414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73071405699997 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:155.51, Y:105.65, Z:6.38 [[-7.62963867e-02 -9.97085160e-01 2.10756492e-04 1.55509142e+02] [ 9.96606419e-01 -7.62662998e-02 -3.09692796e-02 1.05650238e+02] [ 3.08950827e-02 -2.15280286e-03 9.99520315e-01 6.38271316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76071405699997 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:155.51, Y:105.65, Z:6.38 [[-7.75295909e-02 -9.96990001e-01 -3.17687703e-04 1.55508915e+02] [ 9.96512500e-01 -7.74825894e-02 -3.09723455e-02 1.05645333e+02] [ 3.08545035e-02 -2.71785304e-03 9.99520191e-01 6.38302419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79071405699997 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:155.51, Y:105.63, Z:6.38 [[-7.78265313e-02 -9.96966887e-01 -2.37651174e-04 1.55507422e+02] [ 9.96489199e-01 -7.77818585e-02 -3.09718976e-02 1.05627655e+02] [ 3.08594714e-02 -2.64725219e-03 9.99520227e-01 6.38296703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82071405699998 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:155.51, Y:105.66, Z:6.38 [[-7.83201099e-02 -9.96928079e-01 -6.04443180e-04 1.55507263e+02] [ 9.96451478e-01 -7.82638894e-02 -3.09712138e-02 1.05655098e+02] [ 3.08287667e-02 -3.02796717e-03 9.99520094e-01 6.38367033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85071405699998 meters Centerline goodness : 0.996055 Centerline is valid? [True, True] Translation: X:155.51, Y:105.68, Z:6.39 [[-7.94291535e-02 -9.96840448e-01 -3.63018666e-04 1.55506880e+02] [ 9.96363216e-01 -7.93798487e-02 -3.09706602e-02 1.05684310e+02] [ 3.08439904e-02 -2.82167177e-03 9.99520228e-01 6.39041206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88071405699998 meters Centerline goodness : 0.996255 Centerline is valid? [True, True] Translation: X:155.50, Y:105.70, Z:6.39 [[-8.01241721e-02 -9.96784865e-01 -2.24671879e-04 1.55504085e+02] [ 9.96307315e-01 -8.00788049e-02 -3.09696589e-02 1.05698730e+02] [ 3.08520958e-02 -2.70526051e-03 9.99520300e-01 6.38870344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91071405699998 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:155.50, Y:105.71, Z:6.39 [[-8.03025831e-02 -9.96770475e-01 -3.40259943e-04 1.55503356e+02] [ 9.96293228e-01 -8.02535626e-02 -3.09704725e-02 1.05708436e+02] [ 3.08431455e-02 -2.82600761e-03 9.99520242e-01 6.39023187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94071405699998 meters Centerline goodness : 0.996563 Centerline is valid? [True, True] Translation: X:155.50, Y:105.74, Z:6.39 [[-8.03811795e-02 -9.96764149e-01 -3.10540031e-04 1.55502645e+02] [ 9.96286829e-01 -8.03330386e-02 -3.09702593e-02 1.05737282e+02] [ 3.08450976e-02 -2.79881292e-03 9.99520258e-01 6.39102542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97071405699998 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:155.50, Y:105.71, Z:6.39 [[-7.67225434e-02 -9.97052444e-01 -2.73509944e-04 1.55502803e+02] [ 9.96574860e-01 -7.66772979e-02 -3.09700030e-02 1.05706783e+02] [ 3.08577452e-02 -2.64867053e-03 9.99520277e-01 6.38897414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00071405699998 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:155.50, Y:105.71, Z:6.39 [[-7.49252829e-02 -9.97189068e-01 -4.05763283e-04 1.55503138e+02] [ 9.96711729e-01 -7.48768151e-02 -3.09708289e-02 1.05706609e+02] [ 3.08533897e-02 -2.72492714e-03 9.99520206e-01 6.38824275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03071405699998 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:155.50, Y:105.71, Z:6.39 [[-7.46844909e-02 -9.97207129e-01 -4.11198828e-04 1.55502405e+02] [ 9.96729792e-01 -7.46359705e-02 -3.09708608e-02 1.05710194e+02] [ 3.08536730e-02 -2.72289709e-03 9.99520203e-01 6.38845034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06071405699998 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:155.50, Y:105.74, Z:6.39 [[-7.33044294e-02 -9.97309337e-01 -7.40131717e-04 1.55502071e+02] [ 9.96832875e-01 -7.32464242e-02 -3.09706531e-02 1.05738805e+02] [ 3.08331095e-02 -3.00807368e-03 9.99520020e-01 6.38906864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09071405699999 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:155.50, Y:105.73, Z:6.39 [[-7.11610783e-02 -9.97464772e-01 -3.60786111e-04 1.55501854e+02] [ 9.96987218e-01 -7.11158074e-02 -3.09681844e-02 1.05730805e+02] [ 3.08640154e-02 -2.56342854e-03 9.99520306e-01 6.38906983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.120714057 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:155.50, Y:105.75, Z:6.39 [[-7.01877915e-02 -9.97533712e-01 -4.09849150e-04 1.55500120e+02] [ 9.97056230e-01 -7.01414715e-02 -3.09684943e-02 1.05749396e+02] [ 3.08633696e-02 -2.58225287e-03 9.99520277e-01 6.39013467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.150714057 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:155.50, Y:105.75, Z:6.39 [[-6.93945475e-02 -9.97589248e-01 -2.96926179e-04 1.55499656e+02] [ 9.97111470e-01 -6.93520948e-02 -3.09677805e-02 1.05754588e+02] [ 3.08725324e-02 -2.44506362e-03 9.99520339e-01 6.39073492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.180714057 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:155.50, Y:105.76, Z:6.39 [[-6.92326507e-02 -9.97600492e-01 -3.14438509e-04 1.55499027e+02] [ 9.97122746e-01 -6.91897346e-02 -3.09678858e-02 1.05758035e+02] [ 3.08718222e-02 -2.45752261e-03 9.99520331e-01 6.39134270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.210714057 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:155.50, Y:105.74, Z:6.39 [[-6.94372284e-02 -9.97586287e-01 -2.66583918e-04 1.55498026e+02] [ 9.97108442e-01 -6.93956925e-02 -3.09676135e-02 1.05744200e+02] [ 3.08743668e-02 -2.41611833e-03 9.99520353e-01 6.39308361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.240714057 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:155.50, Y:105.76, Z:6.39 [[-6.85536303e-02 -9.97647410e-01 -2.14517615e-04 1.55497862e+02] [ 9.97169413e-01 -6.85141260e-02 -3.09673296e-02 1.05758617e+02] [ 3.08797787e-02 -2.33683327e-03 9.99520374e-01 6.39270713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.270714057 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:155.50, Y:105.75, Z:6.39 [[-6.73013552e-02 -9.97732693e-01 -3.05013518e-05 1.55495407e+02] [ 9.97254272e-01 -6.72681370e-02 -3.09663414e-02 1.05748010e+02] [ 3.08940794e-02 -2.11449434e-03 9.99520427e-01 6.39343521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.300714057 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:155.49, Y:105.79, Z:6.39 [[-6.65760010e-02 -9.97781332e-01 -2.22803784e-04 1.55493967e+02] [ 9.97303278e-01 -6.65371883e-02 -3.09673210e-02 1.05790226e+02] [ 3.08837901e-02 -2.28388334e-03 9.99520373e-01 6.39394891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.330714057 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:155.49, Y:105.74, Z:6.39 [[-6.52837150e-02 -9.97866718e-01 -2.21312420e-04 1.55493427e+02] [ 9.97388611e-01 -6.52455676e-02 -3.09673140e-02 1.05743385e+02] [ 3.08868124e-02 -2.24239579e-03 9.99520373e-01 6.39201616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.360714057 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:155.49, Y:105.74, Z:6.39 [[-6.04235969e-02 -9.98172825e-01 -1.32556053e-05 1.55490326e+02] [ 9.97694152e-01 -6.03942095e-02 -3.09664097e-02 1.05739651e+02] [ 3.09090281e-02 -1.88432690e-03 9.99520426e-01 6.39402660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.390714057 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:155.49, Y:105.77, Z:6.40 [[-5.25936848e-02 -9.98615887e-01 -4.63263617e-04 1.55488242e+02] [ 9.98137839e-01 -5.25541421e-02 -3.09663766e-02 1.05765850e+02] [ 3.08991692e-02 -2.09103679e-03 9.99520319e-01 6.39572232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.420714057 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:155.49, Y:105.77, Z:6.40 [[-5.04131889e-02 -9.98728438e-01 -1.35701597e-04 1.55485934e+02] [ 9.98249726e-01 -5.03848174e-02 -3.09653736e-02 1.05769920e+02] [ 3.09191619e-02 -1.69652731e-03 9.99520449e-01 6.39804301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45071405699997 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:155.48, Y:105.76, Z:6.40 [[-4.62260381e-02 -9.98931003e-01 -7.27850327e-05 1.55483801e+02] [ 9.98452085e-01 -4.62016197e-02 -3.09652017e-02 1.05760897e+02] [ 3.09287372e-02 -1.50407096e-03 9.99520461e-01 6.39874193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48071405699997 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:155.48, Y:105.79, Z:6.40 [[-4.20154554e-02 -9.99116767e-01 -6.21863656e-04 1.55483666e+02] [ 9.98638699e-01 -4.19760791e-02 -3.09638093e-02 1.05789256e+02] [ 3.09103576e-02 -1.92197566e-03 9.99520313e-01 6.39972000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51071405699997 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:155.48, Y:105.82, Z:6.40 [[-3.52919636e-02 -9.99376823e-01 -6.64985415e-04 1.55483598e+02] [ 9.98898579e-01 -3.52544716e-02 -3.09637042e-02 1.05821217e+02] [ 3.09209646e-02 -1.75702291e-03 9.99520288e-01 6.39676478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54071405699997 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:155.48, Y:105.85, Z:6.40 [[-3.36099235e-02 -9.99434598e-01 -9.25872665e-04 1.55482381e+02] [ 9.98956788e-01 -3.35651711e-02 -3.09631133e-02 1.05848179e+02] [ 3.09145297e-02 -1.96557465e-03 9.99520099e-01 6.39798010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57071405699998 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:155.48, Y:105.87, Z:6.40 [[-3.22248308e-02 -9.99480359e-01 -7.56294079e-04 1.55479254e+02] [ 9.99002174e-01 -3.21859839e-02 -3.09631733e-02 1.05874156e+02] [ 3.09227415e-02 -1.75332245e-03 9.99520240e-01 6.40317909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60071405699998 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:155.48, Y:105.86, Z:6.40 [[-3.09825735e-02 -9.99519871e-01 -3.28326693e-04 1.55478079e+02] [ 9.99041063e-01 -3.09575615e-02 -3.09609924e-02 1.05864477e+02] [ 3.09359630e-02 -1.28726307e-03 9.99520540e-01 6.40120606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63071405699998 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:155.48, Y:105.85, Z:6.40 [[-2.58810176e-02 -9.99664997e-01 -2.59469429e-04 1.55478580e+02] [ 9.99186003e-01 -2.58605805e-02 -3.09606581e-02 1.05849789e+02] [ 3.09435761e-02 -1.06055156e-03 9.99520570e-01 6.40118363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66071405699998 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:155.48, Y:105.88, Z:6.40 [[-2.53222250e-02 -9.99679020e-01 -8.01252096e-04 1.55477681e+02] [ 9.99200763e-01 -2.52852963e-02 -3.09594736e-02 1.05875615e+02] [ 3.09292763e-02 -1.58457446e-03 9.99520319e-01 6.40076061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69071405699998 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:155.48, Y:105.90, Z:6.40 [[-2.52686657e-02 -9.99680510e-01 -6.10858721e-04 1.55478524e+02] [ 9.99201957e-01 -2.52376514e-02 -3.09598103e-02 1.05904118e+02] [ 3.09345023e-02 -1.39268433e-03 9.99520444e-01 6.40195466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72071405699998 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:155.48, Y:105.93, Z:6.40 [[-2.64733303e-02 -9.99649326e-01 -6.22620920e-04 1.55480334e+02] [ 9.99170829e-01 -2.64413755e-02 -3.09597980e-02 1.05934357e+02] [ 3.09324783e-02 -1.44171362e-03 9.99520437e-01 6.39833510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75071405699998 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:155.48, Y:105.94, Z:6.40 [[-2.92212467e-02 -9.99572905e-01 -3.54497037e-04 1.55479935e+02] [ 9.99094174e-01 -2.91962724e-02 -3.09581744e-02 1.05937279e+02] [ 3.09346024e-02 -1.25881238e-03 9.99520618e-01 6.40131527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78071405699998 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:155.48, Y:105.93, Z:6.40 [[-2.71257495e-02 -9.99631984e-01 -3.01913120e-04 1.55481549e+02] [ 9.99153149e-01 -2.71034059e-02 -3.09578729e-02 1.05931504e+02] [ 3.09382971e-02 -1.14141295e-03 9.99520645e-01 6.39808669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81071405699998 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:155.48, Y:105.96, Z:6.40 [[-3.10547993e-02 -9.99517222e-01 -9.60345516e-04 1.55482563e+02] [ 9.99039569e-01 -3.10102154e-02 -3.09565064e-02 1.05958915e+02] [ 3.09117807e-02 -1.92077126e-03 9.99520271e-01 6.39965114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84071405699999 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:155.48, Y:105.99, Z:6.40 [[-3.36575683e-02 -9.99433072e-01 -8.38711512e-04 1.55483458e+02] [ 9.98955299e-01 -3.36155001e-02 -3.09565609e-02 1.05988184e+02] [ 3.09108170e-02 -1.87975787e-03 9.99520379e-01 6.40140207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.870714057 meters Centerline goodness : 0.995120 Centerline is valid? [True, True] Translation: X:155.49, Y:106.00, Z:6.40 [[-3.54944595e-02 -9.99369740e-01 -5.15418735e-04 1.55485753e+02] [ 9.98891541e-01 -3.54615109e-02 -3.09543195e-02 1.05999993e+02] [ 3.09165327e-02 -1.61355425e-03 9.99520667e-01 6.40039661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.900714057 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:155.49, Y:106.02, Z:6.40 [[-3.35638918e-02 -9.99436076e-01 -9.97401633e-04 1.55487508e+02] [ 9.98958711e-01 -3.35169703e-02 -3.09532795e-02 1.06024922e+02] [ 3.09023943e-02 -2.03527558e-03 9.99520335e-01 6.39948129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.930714057 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:155.49, Y:106.06, Z:6.40 [[-3.70880486e-02 -9.99311827e-01 -5.90578409e-04 1.55489641e+02] [ 9.98833850e-01 -3.70520163e-02 -3.09530051e-02 1.06061231e+02] [ 3.09098220e-02 -1.73787626e-03 9.99520666e-01 6.40131072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.960714057 meters Centerline goodness : 0.995860 Centerline is valid? [True, True] Translation: X:155.49, Y:106.07, Z:6.40 [[-3.09506107e-02 -9.99520634e-01 -7.49919333e-04 1.55494192e+02] [ 9.99042654e-01 -3.09125852e-02 -3.09546090e-02 1.06067423e+02] [ 3.09165885e-02 -1.70726545e-03 9.99520510e-01 6.39829947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.990714057 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:155.49, Y:106.09, Z:6.40 [[-3.39334252e-02 -9.99422557e-01 -1.75366664e-03 1.55492903e+02] [ 9.98947095e-01 -3.38629717e-02 -3.09515894e-02 1.06092873e+02] [ 3.08743323e-02 -2.80211364e-03 9.99519346e-01 6.39923691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.020714057 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:155.49, Y:106.09, Z:6.40 [[-2.79951809e-02 -9.99607749e-01 -7.85849156e-04 1.55494245e+02] [ 9.99130078e-01 -2.79574771e-02 -3.09429750e-02 1.06091613e+02] [ 3.09088672e-02 -1.65141971e-03 9.99520843e-01 6.39883790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.050714057 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:155.49, Y:106.12, Z:6.40 [[-2.65012293e-02 -9.99647258e-01 -1.74470946e-03 1.55494969e+02] [ 9.99171660e-01 -2.64346228e-02 -3.09387179e-02 1.06119004e+02] [ 3.08816838e-02 -2.56317831e-03 9.99519761e-01 6.39906675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.080714057 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:155.50, Y:106.15, Z:6.40 [[-2.62892598e-02 -9.99653085e-01 -1.60757416e-03 1.55495717e+02] [ 9.99177125e-01 -2.62269889e-02 -3.09389503e-02 1.06149914e+02] [ 3.08860553e-02 -2.41961343e-03 9.99519983e-01 6.40056622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.110714057 meters Centerline goodness : 0.995748 Centerline is valid? [True, True] Translation: X:155.49, Y:106.15, Z:6.41 [[-3.54052158e-02 -9.99372486e-01 -1.05108861e-03 1.55491741e+02] [ 9.98895979e-01 -3.53558016e-02 -3.09320386e-02 1.06152219e+02] [ 3.08754662e-02 -2.14508369e-03 9.99520937e-01 6.40535598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.140714057 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:155.49, Y:106.16, Z:6.41 [[-3.68501976e-02 -9.99320738e-01 -3.55057936e-04 1.55491337e+02] [ 9.98843307e-01 -3.68216054e-02 -3.09227788e-02 1.06158509e+02] [ 3.08887004e-02 -1.49415775e-03 9.99521713e-01 6.40740726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.170714057 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:155.49, Y:106.18, Z:6.41 [[-4.00754531e-02 -9.99196596e-01 -3.46495994e-04 1.55491318e+02] [ 9.98719250e-01 -4.00455846e-02 -3.09226640e-02 1.06176872e+02] [ 3.08839450e-02 -1.58529199e-03 9.99521720e-01 6.40818948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20071405699997 meters Centerline goodness : 0.995285 Centerline is valid? [True, True] Translation: X:155.49, Y:106.21, Z:6.41 [[-4.32337255e-02 -9.99064968e-01 -1.87965218e-04 1.55490362e+02] [ 9.98587531e-01 -4.32072474e-02 -3.09204928e-02 1.06214328e+02] [ 3.08834597e-02 -1.52450782e-03 9.99521830e-01 6.41002779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23071405699997 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:155.49, Y:106.23, Z:6.41 [[-4.73264869e-02 -9.98879458e-01 -1.77513042e-04 1.55491131e+02] [ 9.98402121e-01 -4.72983760e-02 -3.09203487e-02 1.06234756e+02] [ 3.08773051e-02 -1.64058088e-03 9.99521836e-01 6.40957758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26071405699997 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:155.49, Y:106.25, Z:6.41 [[-4.98690412e-02 -9.98755759e-01 -1.16012858e-04 1.55490766e+02] [ 9.98278417e-01 -4.98416154e-02 -3.09194977e-02 1.06253797e+02] [ 3.08752441e-02 -1.65773883e-03 9.99521871e-01 6.41066748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29071405699997 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:155.49, Y:106.20, Z:6.41 [[-6.20810174e-02 -9.98071105e-01 -1.31630503e-04 1.55485977e+02] [ 9.97594160e-01 -6.20472731e-02 -3.09197049e-02 1.06201156e+02] [ 3.08518967e-02 -2.05084056e-03 9.99521863e-01 6.41177770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32071405699998 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:155.50, Y:106.20, Z:6.41 [[-4.26537125e-02 -9.99089829e-01 4.18385570e-04 1.55496630e+02] [ 9.98611901e-01 -4.26462536e-02 -3.09122653e-02 1.06203535e+02] [ 3.09019725e-02 -9.00718070e-04 9.99522014e-01 6.40562009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35071405699998 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:155.49, Y:106.19, Z:6.41 [[-5.19927385e-02 -9.98647280e-01 -6.04529661e-04 1.55493397e+02] [ 9.98170817e-01 -5.19492124e-02 -3.09241060e-02 1.06186980e+02] [ 3.08508695e-02 -2.21125282e-03 9.99521553e-01 6.40786926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38071405699998 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:155.50, Y:106.21, Z:6.40 [[-4.46997020e-02 -9.99000448e-01 -2.02087934e-04 1.55496707e+02] [ 9.98523108e-01 -4.46720890e-02 -3.09193744e-02 1.06205552e+02] [ 3.08794412e-02 -1.58387629e-03 9.99521861e-01 6.40488078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41071405699998 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:155.50, Y:106.19, Z:6.40 [[-4.39602643e-02 -9.99033098e-01 -6.03022972e-04 1.55496665e+02] [ 9.98556308e-01 -4.39206184e-02 -3.09237476e-02 1.06189161e+02] [ 3.08673622e-02 -1.96156851e-03 9.99521565e-01 6.40397106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44071405699998 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:155.49, Y:106.20, Z:6.41 [[-5.32811499e-02 -9.98579268e-01 -7.51809607e-04 1.55492965e+02] [ 9.98103167e-01 -5.32324636e-02 -3.09252921e-02 1.06198767e+02] [ 3.08413348e-02 -2.39811867e-03 9.99521416e-01 6.40741790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47071405699998 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:155.49, Y:106.21, Z:6.41 [[-5.30514024e-02 -9.98591745e-01 -2.76539877e-04 1.55492301e+02] [ 9.98114769e-01 -5.30174998e-02 -3.09201060e-02 1.06208211e+02] [ 3.08619011e-02 -1.91637352e-03 9.99521821e-01 6.40767237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50071405699998 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:155.49, Y:106.20, Z:6.41 [[-5.23629488e-02 -9.98628089e-01 -2.47947916e-04 1.55491608e+02] [ 9.98151046e-01 -5.23302581e-02 -3.09198007e-02 1.06197791e+02] [ 3.08644063e-02 -1.86654141e-03 9.99521838e-01 6.40873158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53071405699998 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:155.49, Y:106.19, Z:6.41 [[-5.13809711e-02 -9.98679059e-01 -3.64894947e-04 1.55490491e+02] [ 9.98202169e-01 -5.13451378e-02 -3.09209802e-02 1.06192048e+02] [ 3.08613998e-02 -1.95298892e-03 9.99521766e-01 6.40915656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56071405699998 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:155.49, Y:106.20, Z:6.41 [[-5.16191564e-02 -9.98666757e-01 -4.12854316e-04 1.55489630e+02] [ 9.98189956e-01 -5.15817284e-02 -3.09214526e-02 1.06201703e+02] [ 3.08589311e-02 -2.00824633e-03 9.99521732e-01 6.40967424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59071405699999 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:155.49, Y:106.20, Z:6.41 [[-5.18072020e-02 -9.98657029e-01 -3.90218515e-04 1.55489183e+02] [ 9.98180197e-01 -5.17703832e-02 -3.09212312e-02 1.06203421e+02] [ 3.08595031e-02 -1.99145086e-03 9.99521748e-01 6.40953699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.620714057 meters Centerline goodness : 0.996031 Centerline is valid? [True, True] Translation: X:155.49, Y:106.21, Z:6.41 [[-5.28844889e-02 -9.98600517e-01 -4.87970447e-04 1.55488657e+02] [ 9.98123899e-01 -5.28441376e-02 -3.09221455e-02 1.06205776e+02] [ 3.08530841e-02 -2.12235683e-03 9.99521677e-01 6.40921030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.650714057 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:155.49, Y:106.19, Z:6.41 [[-4.56050286e-02 -9.98959427e-01 -4.94999690e-04 1.55491715e+02] [ 9.98482539e-01 -4.55679351e-02 -3.09222068e-02 1.06193668e+02] [ 3.08674739e-02 -1.90445667e-03 9.99521672e-01 6.40604099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.680714057 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:155.49, Y:106.21, Z:6.41 [[-5.28721649e-02 -9.98599764e-01 -1.74537002e-03 1.55487455e+02] [ 9.98126772e-01 -5.27930851e-02 -3.09166211e-02 1.06212116e+02] [ 3.07811870e-02 -3.37672923e-03 9.99520443e-01 6.40678544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.710714057 meters Centerline goodness : 0.995560 Centerline is valid? [True, True] Translation: X:155.49, Y:106.24, Z:6.41 [[-5.67923507e-02 -9.98385622e-01 -8.82245036e-04 1.55486228e+02] [ 9.97910213e-01 -5.67379848e-02 -3.09193804e-02 1.06242450e+02] [ 3.08194080e-02 -2.63638562e-03 9.99521492e-01 6.40765417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.740714057 meters Centerline goodness : 0.995560 Centerline is valid? [True, True] Translation: X:155.49, Y:106.27, Z:6.41 [[-5.75000150e-02 -9.98344959e-01 -1.04453874e-03 1.55486036e+02] [ 9.97870046e-01 -5.74403127e-02 -3.09189472e-02 1.06270639e+02] [ 3.08077765e-02 -2.82015385e-03 9.99521349e-01 6.40845893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.770714057 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:155.48, Y:106.30, Z:6.41 [[-5.93741767e-02 -9.98235261e-01 -1.03504431e-03 1.55484825e+02] [ 9.97760433e-01 -5.93138753e-02 -3.09189686e-02 1.06298074e+02] [ 3.08030122e-02 -2.86851456e-03 9.99521358e-01 6.40883810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.800714057 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:155.48, Y:106.33, Z:6.41 [[-6.11035464e-02 -9.98131052e-01 -8.72072147e-04 1.55484457e+02] [ 9.97655863e-01 -6.10474422e-02 -3.09190783e-02 1.06327419e+02] [ 3.08080544e-02 -2.75929323e-03 9.99521511e-01 6.41036668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.830714057 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:155.48, Y:106.38, Z:6.42 [[-7.59639341e-02 -9.97110428e-01 -5.24249051e-04 1.55475888e+02] [ 9.96635159e-01 -7.59114715e-02 -3.09161385e-02 1.06382940e+02] [ 3.07870076e-02 -2.87099655e-03 9.99521844e-01 6.41675037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.860714057 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:155.48, Y:106.36, Z:6.41 [[-5.62797125e-02 -9.98415001e-01 2.81734700e-04 1.55482887e+02] [ 9.97937517e-01 -5.62615191e-02 -3.09088020e-02 1.06364017e+02] [ 3.08756624e-02 -1.45838486e-03 9.99522169e-01 6.41159081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.890714057 meters Centerline goodness : 0.995707 Centerline is valid? [True, True] Translation: X:155.47, Y:106.38, Z:6.42 [[-6.37515972e-02 -9.97964930e-01 -1.31599775e-03 1.55472713e+02] [ 9.97491720e-01 -6.36806154e-02 -3.09038516e-02 1.06376638e+02] [ 3.07571566e-02 -3.28286676e-03 9.99521496e-01 6.41502366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.920714057 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:155.48, Y:106.41, Z:6.41 [[-5.66086730e-02 -9.98396442e-01 -4.48522801e-05 1.55480411e+02] [ 9.97919592e-01 -5.65802473e-02 -3.09057214e-02 1.06414618e+02] [ 3.08536245e-02 -1.79429084e-03 9.99522303e-01 6.41345836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95071405699997 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:155.47, Y:106.43, Z:6.41 [[-6.08103434e-02 -9.98148994e-01 -8.29074223e-04 1.55472388e+02] [ 9.97674127e-01 -6.07557435e-02 -3.09042926e-02 1.06432829e+02] [ 3.07967176e-02 -2.70644655e-03 9.99522004e-01 6.41413107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98071405699997 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:155.48, Y:106.47, Z:6.42 [[-5.31502982e-02 -9.98586524e-01 -2.36964005e-05 1.55477733e+02] [ 9.98109567e-01 -5.31241786e-02 -3.09049202e-02 1.06469341e+02] [ 3.08599779e-02 -1.66625733e-03 9.99522329e-01 6.41740023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01071405699997 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:155.47, Y:106.49, Z:6.42 [[-5.58033977e-02 -9.98441535e-01 -6.94569951e-04 1.55469272e+02] [ 9.97966065e-01 -5.57553248e-02 -3.09043088e-02 1.06489531e+02] [ 3.08174195e-02 -2.41772268e-03 9.99522106e-01 6.41960945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04071405699997 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:155.48, Y:106.51, Z:6.42 [[-3.72889536e-02 -9.99304525e-01 3.03415982e-06 1.55475483e+02] [ 9.98827203e-01 -3.72712362e-02 -3.09042478e-02 1.06513916e+02] [ 3.08828678e-02 -1.14935646e-03 9.99522350e-01 6.42299545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07071405699998 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:155.48, Y:106.54, Z:6.42 [[-3.67733193e-02 -9.99323239e-01 -8.87362145e-04 1.55475700e+02] [ 9.98847495e-01 -3.67283762e-02 -3.08983478e-02 1.06542255e+02] [ 3.08448456e-02 -2.02257426e-03 9.99522138e-01 6.42421514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10071405699998 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:155.47, Y:106.56, Z:6.42 [[-4.44204731e-02 -9.99012481e-01 -9.40239669e-04 1.55466545e+02] [ 9.98537227e-01 -4.43702609e-02 -3.08980115e-02 1.06561395e+02] [ 3.08257805e-02 -2.31136860e-03 9.99522100e-01 6.42353943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13071405699998 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:155.48, Y:106.60, Z:6.42 [[-3.78565149e-02 -9.99283172e-01 -1.61747095e-04 1.55476706e+02] [ 9.98806133e-01 -3.78334410e-02 -3.09020956e-02 1.06600266e+02] [ 3.08738247e-02 -1.33139963e-03 9.99522403e-01 6.41984709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16071405699998 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:155.48, Y:106.63, Z:6.42 [[-3.66134026e-02 -9.99329001e-01 -1.00346023e-03 1.55479624e+02] [ 9.98853524e-01 -3.65649571e-02 -3.08972638e-02 1.06631684e+02] [ 3.08398403e-02 -2.13356374e-03 9.99522062e-01 6.41849233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19071405699998 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:155.48, Y:106.66, Z:6.42 [[-3.64446434e-02 -9.99334984e-01 -1.17407333e-03 1.55481138e+02] [ 9.98859904e-01 -3.63910190e-02 -3.08963743e-02 1.06661946e+02] [ 3.08331020e-02 -2.29874212e-03 9.99521904e-01 6.41825624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22071405699998 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:155.48, Y:106.69, Z:6.43 [[-3.87177949e-02 -9.99249279e-01 -1.34531341e-03 1.55480400e+02] [ 9.98774767e-01 -3.86578136e-02 -3.08955924e-02 1.06685272e+02] [ 3.08203916e-02 -2.53987430e-03 9.99521712e-01 6.42631537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25071405699998 meters Centerline goodness : 0.995247 Centerline is valid? [True, True] Translation: X:155.48, Y:106.72, Z:6.42 [[-4.10045039e-02 -9.99158586e-01 -8.66878131e-04 1.55482428e+02] [ 9.98683022e-01 -4.09581804e-02 -3.08973949e-02 1.06716999e+02] [ 3.08358916e-02 -2.13266882e-03 9.99522186e-01 6.41888535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28071405699998 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:155.48, Y:106.74, Z:6.43 [[-4.11824052e-02 -9.99150977e-01 -1.15508234e-03 1.55482498e+02] [ 9.98676112e-01 -4.11271144e-02 -3.08963293e-02 1.06741694e+02] [ 3.08225924e-02 -2.42593829e-03 9.99521927e-01 6.42756021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31071405699998 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:155.48, Y:106.77, Z:6.42 [[-4.36525531e-02 -9.99046431e-01 -8.27006853e-04 1.55483209e+02] [ 9.98570906e-01 -4.36061987e-02 -3.08973213e-02 1.06773615e+02] [ 3.08317959e-02 -2.17457194e-03 9.99522222e-01 6.42112314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34071405699999 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:155.48, Y:106.80, Z:6.42 [[-4.45911233e-02 -9.99004772e-01 -1.04795364e-03 1.55484381e+02] [ 9.98529822e-01 -4.45375131e-02 -3.08966911e-02 1.06800295e+02] [ 3.08192686e-02 -2.42413112e-03 9.99522034e-01 6.42302224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.370714057 meters Centerline goodness : 0.995456 Centerline is valid? [True, True] Translation: X:155.47, Y:106.82, Z:6.43 [[-5.26298230e-02 -9.98613586e-01 -1.00370456e-03 1.55474375e+02] [ 9.98138962e-01 -5.25737546e-02 -3.08967986e-02 1.06816988e+02] [ 3.08011943e-02 -2.62792967e-03 9.99522076e-01 6.42893083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.400714057 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:155.49, Y:106.85, Z:6.43 [[-4.47123979e-02 -9.98999900e-01 -3.30090734e-05 1.55486453e+02] [ 9.98522971e-01 -4.46900310e-02 -3.08978501e-02 1.06853306e+02] [ 3.08654740e-02 -1.41447729e-03 9.99522547e-01 6.43269128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.430714057 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:155.49, Y:106.88, Z:6.42 [[-4.84135241e-02 -9.98827101e-01 -7.43440684e-04 1.55487076e+02] [ 9.98351634e-01 -4.83674812e-02 -3.08966346e-02 1.06884020e+02] [ 3.08244376e-02 -2.23803018e-03 9.99522309e-01 6.42429455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.460714057 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:155.49, Y:106.92, Z:6.43 [[-4.33615075e-02 -9.99059057e-01 -8.83538541e-04 1.55492905e+02] [ 9.98583670e-01 -4.33135507e-02 -3.08964492e-02 1.06917258e+02] [ 3.08291083e-02 -2.22200377e-03 9.99522200e-01 6.43070104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.490714057 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:155.49, Y:106.92, Z:6.42 [[-5.52062912e-02 -9.98474827e-01 -5.33480265e-04 1.55490398e+02] [ 9.97999312e-01 -5.51634938e-02 -3.08927649e-02 1.06923080e+02] [ 3.08162194e-02 -2.23788791e-03 9.99522562e-01 6.42373627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.520714057 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:155.49, Y:106.93, Z:6.42 [[-5.61252506e-02 -9.98423706e-01 -2.42104182e-04 1.55491158e+02] [ 9.97947709e-01 -5.60910027e-02 -3.08896219e-02 1.06925534e+02] [ 3.08273509e-02 -1.97529509e-03 9.99522772e-01 6.42408674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.550714057 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:155.49, Y:106.93, Z:6.42 [[-5.86570665e-02 -9.98278131e-01 -3.48486752e-04 1.55493918e+02] [ 9.97802412e-01 -5.86183305e-02 -3.08907386e-02 1.06932832e+02] [ 3.08171211e-02 -2.15968103e-03 9.99522707e-01 6.42351146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.580714057 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:155.49, Y:106.94, Z:6.43 [[-7.30082019e-02 -9.97331319e-01 -2.06826251e-04 1.55486583e+02] [ 9.96855893e-01 -7.29669933e-02 -3.08892483e-02 1.06941623e+02] [ 3.07917233e-02 -2.46134445e-03 9.99522792e-01 6.42912569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.610714057 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:155.49, Y:106.95, Z:6.43 [[-7.32852889e-02 -9.97310962e-01 3.32962941e-04 1.55486845e+02] [ 9.96834540e-01 -7.32605908e-02 -3.08834332e-02 1.06948750e+02] [ 3.08247796e-02 -1.93139237e-03 9.99522938e-01 6.42974434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.640714057 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:155.50, Y:106.94, Z:6.42 [[-5.34501114e-02 -9.98570470e-01 3.20935332e-04 1.55497888e+02] [ 9.98093662e-01 -5.34345154e-02 -3.08835582e-02 1.06941168e+02] [ 3.08565582e-02 -1.33040611e-03 9.99522938e-01 6.42404747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.670714057 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:155.50, Y:106.97, Z:6.43 [[-5.45847481e-02 -9.98508557e-01 -1.08003053e-03 1.55498437e+02] [ 9.98034636e-01 -5.45254348e-02 -3.08843442e-02 1.06967937e+02] [ 3.07793928e-02 -2.76372203e-03 9.99522381e-01 6.43087347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70071405699997 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:155.50, Y:106.97, Z:6.43 [[-6.10743546e-02 -9.98133108e-01 -4.70150879e-04 1.55497508e+02] [ 9.97658130e-01 -6.10307465e-02 -3.08788608e-02 1.06967722e+02] [ 3.07925196e-02 -2.35495634e-03 9.99523024e-01 6.43283393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73071405699997 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:155.50, Y:106.98, Z:6.43 [[-6.33618456e-02 -9.97990619e-01 1.33614747e-06 1.55495652e+02] [ 9.97514844e-01 -6.33316803e-02 -3.08744789e-02 1.06976574e+02] [ 3.08125249e-02 -1.95493114e-03 9.99523270e-01 6.42618344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76071405699997 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:155.50, Y:106.99, Z:6.43 [[-6.50586873e-02 -9.97881433e-01 -1.09810459e-04 1.55496285e+02] [ 9.97405909e-01 -6.50242870e-02 -3.08754844e-02 1.06992689e+02] [ 3.08029323e-02 -2.11824409e-03 9.99523233e-01 6.42613404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79071405699997 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:155.50, Y:106.99, Z:6.43 [[-6.68093043e-02 -9.97765757e-01 -1.03615430e-04 1.55496203e+02] [ 9.97290282e-01 -6.67742607e-02 -3.08754302e-02 1.06994062e+02] [ 3.07995282e-02 -2.16610068e-03 9.99523235e-01 6.42562745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82071405699998 meters Centerline goodness : 0.996065 Centerline is valid? [True, True] Translation: X:155.50, Y:106.99, Z:6.43 [[-6.68125036e-02 -9.97765548e-01 1.80683864e-05 1.55496300e+02] [ 9.97289849e-01 -6.67812088e-02 -3.08743921e-02 1.06987930e+02] [ 3.08066114e-02 -2.04477601e-03 9.99523272e-01 6.42714577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85071405699998 meters Centerline goodness : 0.995832 Centerline is valid? [True, True] Translation: X:155.50, Y:106.97, Z:6.42 [[-6.45646073e-02 -9.97913496e-01 -2.58702591e-04 1.55498363e+02] [ 9.97438245e-01 -6.45258543e-02 -3.08765385e-02 1.06965672e+02] [ 3.07954215e-02 -2.25157145e-03 9.99523173e-01 6.42444876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88071405699998 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:155.49, Y:106.99, Z:6.43 [[-8.16762841e-02 -9.96658812e-01 -4.42865610e-04 1.55491723e+02] [ 9.96184784e-01 -8.16237168e-02 -3.08779109e-02 1.06990035e+02] [ 3.07385937e-02 -2.96316901e-03 9.99523066e-01 6.42982942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91071405699998 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:155.50, Y:106.97, Z:6.43 [[-7.06000162e-02 -9.97504674e-01 2.50467823e-04 1.55497371e+02] [ 9.97028686e-01 -7.05740792e-02 -3.08722933e-02 1.06969539e+02] [ 3.08129334e-02 -1.92986080e-03 9.99523306e-01 6.42637335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94071405699998 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:155.50, Y:107.01, Z:6.43 [[-7.53315263e-02 -9.97158492e-01 -3.22158435e-04 1.55496305e+02] [ 9.96683858e-01 -7.52856941e-02 -3.08763936e-02 1.07010564e+02] [ 3.07644042e-02 -2.64705597e-03 9.99523159e-01 6.42816888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97071405699998 meters Centerline goodness : 0.996103 Centerline is valid? [True, True] Translation: X:155.50, Y:106.97, Z:6.42 [[-6.95125248e-02 -9.97581063e-01 -1.75678057e-04 1.55498304e+02] [ 9.97105851e-01 -6.94739742e-02 -3.08753765e-02 1.06970451e+02] [ 3.07884859e-02 -2.32139499e-03 9.99523226e-01 6.42488529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00071405699998 meters Centerline goodness : 0.995641 Centerline is valid? [True, True] Translation: X:155.50, Y:106.99, Z:6.42 [[-6.99766030e-02 -9.97548106e-01 -1.02525628e-03 1.55497960e+02] [ 9.97075313e-01 -6.99117062e-02 -3.08735054e-02 1.06994204e+02] [ 3.07261294e-02 -3.18268076e-03 9.99522774e-01 6.42461017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03071405699998 meters Centerline goodness : 0.996633 Centerline is valid? [True, True] Translation: X:155.50, Y:107.03, Z:6.43 [[-7.45218124e-02 -9.97219215e-01 -5.79527375e-04 1.55497584e+02] [ 9.96745334e-01 -7.44684574e-02 -3.08737528e-02 1.07025592e+02] [ 3.07447430e-02 -2.87840922e-03 9.99523124e-01 6.42562640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06071405699998 meters Centerline goodness : 0.996665 Centerline is valid? [True, True] Translation: X:155.49, Y:107.08, Z:6.43 [[-8.92115161e-02 -9.96012588e-01 -4.80119353e-04 1.55491626e+02] [ 9.95539240e-01 -8.91542369e-02 -3.08730114e-02 1.07077555e+02] [ 3.07071033e-02 -3.23220581e-03 9.99523200e-01 6.42942846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09071405699999 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:155.49, Y:107.09, Z:6.43 [[-8.93465110e-02 -9.96000571e-01 2.50231269e-04 1.55490970e+02] [ 9.95525316e-01 -8.93116330e-02 -3.08670989e-02 1.07091770e+02] [ 3.07659967e-02 -2.50875603e-03 9.99523466e-01 6.42958103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.120714057 meters Centerline goodness : 0.996181 Centerline is valid? [True, True] Translation: X:155.50, Y:107.02, Z:6.43 [[-7.88695750e-02 -9.96884915e-01 2.37776406e-04 1.55495658e+02] [ 9.96409343e-01 -7.88393120e-02 -3.08671948e-02 1.07022409e+02] [ 3.07897870e-02 -2.19755991e-03 9.99523466e-01 6.42683395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.150714057 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:155.50, Y:107.02, Z:6.43 [[-7.83080964e-02 -9.96929167e-01 -2.78878929e-04 1.55495455e+02] [ 9.96454739e-01 -7.82621947e-02 -3.08704146e-02 1.07023183e+02] [ 3.07537910e-02 -2.69529363e-03 9.99523356e-01 6.42693064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.180714057 meters Centerline goodness : 0.996239 Centerline is valid? [True, True] Translation: X:155.50, Y:107.02, Z:6.42 [[-7.27053920e-02 -9.97353415e-01 -3.03179574e-04 1.55496329e+02] [ 9.96878793e-01 -7.26614087e-02 -3.08705562e-02 1.07016651e+02] [ 3.07668251e-02 -2.54668917e-03 9.99523345e-01 6.42400378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.210714057 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:155.49, Y:107.04, Z:6.43 [[-7.47687997e-02 -9.97200463e-01 -9.29559973e-04 1.55493359e+02] [ 9.96727802e-01 -7.47045848e-02 -3.08693002e-02 1.07042246e+02] [ 3.07134381e-02 -3.23457880e-03 9.99522997e-01 6.42632540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.240714057 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:155.49, Y:107.07, Z:6.43 [[-7.20308198e-02 -9.97402231e-01 -5.91719614e-04 1.55492489e+02] [ 9.96928380e-01 -7.19782853e-02 -3.08695850e-02 1.07071907e+02] [ 3.07468020e-02 -2.81346359e-03 9.99523246e-01 6.42953547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.270714057 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:155.49, Y:107.08, Z:6.43 [[-7.20609053e-02 -9.97400176e-01 -3.37764814e-04 1.55491464e+02] [ 9.96925684e-01 -7.20161704e-02 -3.08683074e-02 1.07080551e+02] [ 3.07637307e-02 -2.56112459e-03 9.99523403e-01 6.43039220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.300714057 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:155.49, Y:107.08, Z:6.43 [[-6.69315521e-02 -9.97757569e-01 2.29795324e-06 1.55490017e+02] [ 9.97282147e-01 -6.68997309e-02 -3.08665812e-02 1.07077417e+02] [ 3.07975188e-02 -2.06365648e-03 9.99523514e-01 6.43090709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.330714057 meters Centerline goodness : 0.996005 Centerline is valid? [True, True] Translation: X:155.49, Y:107.11, Z:6.43 [[-6.67292331e-02 -9.97770908e-01 -6.51893998e-04 1.55489661e+02] [ 9.97297051e-01 -6.66773760e-02 -3.08661493e-02 1.07105383e+02] [ 3.07538792e-02 -2.70980643e-03 9.99523314e-01 6.43231336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.360714057 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:155.49, Y:107.09, Z:6.43 [[-6.56461465e-02 -9.97842909e-01 -3.33970250e-04 1.55490050e+02] [ 9.97368243e-01 -6.56045890e-02 -3.08646295e-02 1.07085436e+02] [ 3.07761417e-02 -2.35923531e-03 9.99523518e-01 6.43247554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.390714057 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:155.49, Y:107.11, Z:6.43 [[-6.59015780e-02 -9.97826127e-01 -4.02578953e-05 1.55489786e+02] [ 9.97350864e-01 -6.58689440e-02 -3.08631814e-02 1.07113396e+02] [ 3.07934370e-02 -2.07408360e-03 9.99523618e-01 6.43282772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.420714057 meters Centerline goodness : 0.996152 Centerline is valid? [True, True] Translation: X:155.49, Y:107.10, Z:6.43 [[-6.36935467e-02 -9.97969472e-01 -2.56131132e-04 1.55491622e+02] [ 9.97494565e-01 -6.36553153e-02 -3.08641234e-02 1.07099846e+02] [ 3.07851489e-02 -2.22133490e-03 9.99523557e-01 6.43317802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45071405699997 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:155.49, Y:107.13, Z:6.43 [[-6.40695882e-02 -9.97945312e-01 -4.92159348e-04 1.55494486e+02] [ 9.97470974e-01 -6.40239136e-02 -3.08641372e-02 1.07129261e+02] [ 3.07692110e-02 -2.46836722e-03 9.99523468e-01 6.43419335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48071405699997 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:155.50, Y:107.14, Z:6.43 [[-6.37598498e-02 -9.97965218e-01 -3.24135945e-04 1.55495547e+02] [ 9.97490494e-01 -6.37194955e-02 -3.08632404e-02 1.07139059e+02] [ 3.07797867e-02 -2.29115810e-03 9.99523564e-01 6.43428126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51071405699997 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:155.50, Y:107.15, Z:6.43 [[-6.34379295e-02 -9.97985723e-01 -3.54953543e-04 1.55497042e+02] [ 9.97511052e-01 -6.33967794e-02 -3.08633993e-02 1.07149561e+02] [ 3.07787289e-02 -2.31198023e-03 9.99523549e-01 6.43394850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54071405699997 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:155.50, Y:107.14, Z:6.43 [[-6.29087613e-02 -9.98019217e-01 -3.61832693e-04 1.55499915e+02] [ 9.97544539e-01 -6.28676511e-02 -3.08634321e-02 1.07141751e+02] [ 3.07795508e-02 -2.30252451e-03 9.99523545e-01 6.43243625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57071405699998 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:155.50, Y:107.14, Z:6.43 [[-6.06478846e-02 -9.98159171e-01 -3.21553109e-04 1.55501866e+02] [ 9.97684318e-01 -6.06090902e-02 -3.08632513e-02 1.07142396e+02] [ 3.07869483e-02 -2.19259940e-03 9.99523565e-01 6.43225774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60071405699998 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:155.50, Y:107.17, Z:6.43 [[-5.45208994e-02 -9.98512369e-01 -7.21427805e-04 1.55504671e+02] [ 9.98038190e-01 -5.44727099e-02 -3.08625314e-02 1.07166338e+02] [ 3.07773212e-02 -2.40266547e-03 9.99523378e-01 6.43336472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63071405699998 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:155.50, Y:107.19, Z:6.43 [[-5.49405729e-02 -9.98489577e-01 -3.13321270e-04 1.55504374e+02] [ 9.98014503e-01 -5.49047479e-02 -3.08629331e-02 1.07194642e+02] [ 3.07991142e-02 -2.00832640e-03 9.99523577e-01 6.43439623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66071405699998 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:155.51, Y:107.22, Z:6.44 [[-4.96220571e-02 -9.98768019e-01 -3.09357720e-04 1.55507422e+02] [ 9.98292754e-01 -4.95888849e-02 -3.08629357e-02 1.07221751e+02] [ 3.08095724e-02 -1.84031193e-03 9.99523578e-01 6.43560634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69071405699998 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:155.51, Y:107.25, Z:6.44 [[-4.86510707e-02 -9.98815813e-01 -2.12163496e-04 1.55509710e+02] [ 9.98340345e-01 -4.86213555e-02 -3.08629139e-02 1.07253893e+02] [ 3.08160508e-02 -1.71332519e-03 9.99523604e-01 6.43755952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72071405699998 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:155.50, Y:107.27, Z:6.44 [[-6.04770965e-02 -9.98169544e-01 -2.88342954e-04 1.55503094e+02] [ 9.97694611e-01 -6.04394058e-02 -3.08632724e-02 1.07272003e+02] [ 3.07893513e-02 -2.15419932e-03 9.99523574e-01 6.43646446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75071405699998 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:155.51, Y:107.26, Z:6.44 [[-3.56795601e-02 -9.99363270e-01 1.54166583e-04 1.55514291e+02] [ 9.98887099e-01 -3.56673205e-02 -3.08610649e-02 1.07255021e+02] [ 3.08469134e-02 -9.47114209e-04 9.99523672e-01 6.43679305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78071405699998 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:155.51, Y:107.28, Z:6.43 [[-3.83305311e-02 -9.99264366e-01 -1.22326442e-03 1.55514260e+02] [ 9.98790819e-01 -3.82745963e-02 -3.08537749e-02 1.07283159e+02] [ 3.07842579e-02 -2.40442685e-03 9.99523160e-01 6.43331418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81071405699998 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:155.52, Y:107.31, Z:6.43 [[-3.66475939e-02 -9.99327707e-01 -1.04301085e-03 1.55516276e+02] [ 9.98853638e-01 -3.65980055e-02 -3.08544282e-02 1.07312195e+02] [ 3.07955129e-02 -2.17255573e-03 9.99523345e-01 6.43378590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84071405699999 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:155.52, Y:107.34, Z:6.44 [[-2.76211981e-02 -9.99617783e-01 -1.16472685e-03 1.55521435e+02] [ 9.99143537e-01 -2.75721436e-02 -3.08540031e-02 1.07337397e+02] [ 3.08100962e-02 -2.01595383e-03 9.99523223e-01 6.43973642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.870714057 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:155.52, Y:107.37, Z:6.43 [[-3.25171324e-02 -9.99470790e-01 -8.81206073e-04 1.55522904e+02] [ 9.98996196e-01 -3.24744882e-02 -3.08546116e-02 1.07371430e+02] [ 3.08096663e-02 -1.88362501e-03 9.99523495e-01 6.43444062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.900714057 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:155.52, Y:107.36, Z:6.44 [[-3.41487619e-02 -9.99416472e-01 -7.60205950e-04 1.55524888e+02] [ 9.98941751e-01 -3.41090725e-02 -3.08536710e-02 1.07363304e+02] [ 3.08097370e-02 -1.81301613e-03 9.99523623e-01 6.43951428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.930714057 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:155.52, Y:107.39, Z:6.44 [[-5.19648301e-02 -9.98648885e-01 -2.46857389e-04 1.55520390e+02] [ 9.98174001e-01 -5.19324937e-02 -3.08493207e-02 1.07391464e+02] [ 3.07948198e-02 -1.84948634e-03 9.99524016e-01 6.43688167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.960714057 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:155.54, Y:107.37, Z:6.43 [[-2.47327468e-02 -9.99694062e-01 2.72438946e-04 1.55538430e+02] [ 9.99218224e-01 -2.47293804e-02 -3.08447381e-02 1.07373118e+02] [ 3.08420388e-02 -4.90649140e-04 9.99524151e-01 6.43095257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.990714057 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:155.53, Y:107.38, Z:6.43 [[-3.94438890e-02 -9.99219244e-01 -2.25423108e-03 1.55525194e+02] [ 9.98749865e-01 -3.93558323e-02 -3.08192574e-02 1.07376376e+02] [ 3.07064779e-02 -3.46704435e-03 9.99522432e-01 6.43457399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.020714057 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:155.53, Y:107.40, Z:6.44 [[-4.09640306e-02 -9.99160595e-01 -2.30130891e-04 1.55526821e+02] [ 9.98685818e-01 -4.09374636e-02 -3.08344273e-02 1.07403041e+02] [ 3.07991237e-02 -1.49293088e-03 9.99524480e-01 6.43521566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.050714057 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:155.55, Y:107.45, Z:6.43 [[-3.10504561e-02 -9.99517793e-01 -2.25380381e-04 1.55546694e+02] [ 9.99042768e-01 -3.10287464e-02 -3.08344620e-02 1.07454561e+02] [ 3.08126001e-02 -1.18258875e-03 9.99524480e-01 6.43150104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.080714057 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:155.55, Y:107.48, Z:6.43 [[-3.48839092e-02 -9.99388754e-01 -2.28720788e-03 1.55548476e+02] [ 9.98919140e-01 -3.47969879e-02 -3.08175636e-02 1.07481352e+02] [ 3.07191386e-02 -3.35977282e-03 9.99522409e-01 6.43180594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.110714057 meters Centerline goodness : 0.987895 Centerline is valid? [True, True] Translation: X:155.56, Y:107.50, Z:6.43 [[-3.36936205e-02 -9.99430227e-01 -1.99029074e-03 1.55555936e+02] [ 9.98959364e-01 -3.36163624e-02 -3.08241670e-02 1.07496209e+02] [ 3.07396979e-02 -3.02679735e-03 9.99522841e-01 6.43390764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.140714057 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:155.56, Y:107.53, Z:6.44 [[-3.42176685e-02 -9.99414380e-01 -2.21352627e-04 1.55558207e+02] [ 9.98938678e-01 -3.41945469e-02 -3.08585542e-02 1.07527198e+02] [ 3.08329137e-02 -1.27702548e-03 9.99523737e-01 6.43913107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.170714057 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:155.56, Y:107.55, Z:6.44 [[-3.48071781e-02 -9.99393866e-01 -6.01264158e-04 1.55560141e+02] [ 9.98918970e-01 -3.47720773e-02 -3.08511522e-02 1.07553743e+02] [ 3.08115451e-02 -1.67445572e-03 9.99523809e-01 6.43905521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20071405699997 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:155.56, Y:107.58, Z:6.44 [[-3.53901805e-02 -9.99373394e-01 -5.95124099e-04 1.55564201e+02] [ 9.98898505e-01 -3.53549917e-02 -3.08512707e-02 1.07581439e+02] [ 3.08108985e-02 -1.68630061e-03 9.99523809e-01 6.43909725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23071405699997 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:155.57, Y:107.61, Z:6.44 [[-3.56507306e-02 -9.99364139e-01 -5.86199519e-04 1.55566402e+02] [ 9.98889239e-01 -3.56156927e-02 -3.08514403e-02 1.07609715e+02] [ 3.08109451e-02 -1.68542478e-03 9.99523809e-01 6.43979076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26071405699997 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:155.58, Y:107.65, Z:6.44 [[-2.75396633e-02 -9.99620545e-01 -5.77258022e-04 1.55580400e+02] [ 9.99145358e-01 -2.75087557e-02 -3.08516076e-02 1.07653591e+02] [ 3.08240211e-02 -1.42640756e-03 9.99523809e-01 6.44033649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29071405699997 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:155.58, Y:107.68, Z:6.44 [[-2.86305974e-02 -9.99587935e-01 -2.06121542e-03 1.55581795e+02] [ 9.99116959e-01 -2.85535505e-02 -3.08220150e-02 1.07680325e+02] [ 3.07504593e-02 -2.94184798e-03 9.99522764e-01 6.44057988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32071405699998 meters Centerline goodness : 0.995132 Centerline is valid? [True, True] Translation: X:155.58, Y:107.71, Z:6.44 [[-3.14272767e-02 -9.99504255e-01 -1.88981170e-03 1.55581325e+02] [ 9.99032891e-01 -3.13541728e-02 -3.08252795e-02 1.07706733e+02] [ 3.07507445e-02 -2.85673863e-03 9.99523002e-01 6.44398141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35071405699998 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:155.58, Y:107.73, Z:6.45 [[-3.21020525e-02 -9.99483129e-01 -1.71258640e-03 1.55581125e+02] [ 9.99011222e-01 -3.20340717e-02 -3.08285120e-02 1.07726077e+02] [ 3.07577165e-02 -2.70055154e-03 9.99523221e-01 6.44569740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38071405699998 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:155.58, Y:107.76, Z:6.45 [[-3.10930979e-02 -9.99515949e-01 -1.04272358e-03 1.55583082e+02] [ 9.99042051e-01 -3.10461824e-02 -3.08401526e-02 1.07755859e+02] [ 3.07928518e-02 -2.00064059e-03 9.99523785e-01 6.44768027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41071405699998 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:155.58, Y:107.78, Z:6.45 [[-3.40928007e-02 -9.99417874e-01 -1.26285504e-03 1.55582599e+02] [ 9.98944721e-01 -3.40376957e-02 -3.08363414e-02 1.07783974e+02] [ 3.07754061e-02 -2.31281962e-03 9.99523649e-01 6.44592917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44071405699998 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:155.58, Y:107.81, Z:6.45 [[-2.96812789e-02 -9.99558680e-01 -1.21140559e-03 1.55583845e+02] [ 9.99085152e-01 -2.96298449e-02 -3.08371853e-02 1.07810604e+02] [ 3.07876824e-02 -2.12558443e-03 9.99523687e-01 6.44858889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47071405699998 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:155.58, Y:107.84, Z:6.45 [[-3.25818041e-02 -9.99468583e-01 -9.89185765e-04 1.55582130e+02] [ 9.98994634e-01 -3.25358305e-02 -3.08405586e-02 1.07839873e+02] [ 3.07919854e-02 -1.99303231e-03 9.99523827e-01 6.44853224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50071405699998 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:155.58, Y:107.86, Z:6.45 [[-2.46700317e-02 -9.99695047e-01 -1.09678050e-03 1.55581460e+02] [ 9.99220993e-01 -2.46244993e-02 -3.08389501e-02 1.07864407e+02] [ 3.08025380e-02 -1.85672398e-03 9.99523765e-01 6.44971934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53071405699998 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:155.58, Y:107.90, Z:6.45 [[-1.96680866e-02 -9.99806277e-01 -7.58206334e-04 1.55584429e+02] [ 9.99331335e-01 -1.96353531e-02 -3.08437460e-02 1.07899819e+02] [ 3.08228832e-02 -1.36433681e-03 9.99523931e-01 6.45305168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56071405699998 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:155.58, Y:107.93, Z:6.46 [[-1.72607948e-02 -9.99850172e-01 -1.30330004e-03 1.55583801e+02] [ 9.99376246e-01 -1.72124188e-02 -3.08358969e-02 1.07928752e+02] [ 3.08088439e-02 -1.83473919e-03 9.99523611e-01 6.45597422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59071405699999 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:155.57, Y:107.95, Z:6.46 [[-2.29152344e-02 -9.99736527e-01 -1.32967979e-03 1.55574944e+02] [ 9.99262947e-01 -2.28633671e-02 -3.08355301e-02 1.07946044e+02] [ 3.07970048e-02 -2.03530314e-03 9.99523588e-01 6.45706396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.620714057 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:155.58, Y:107.98, Z:6.46 [[-1.42776008e-02 -9.99897994e-01 -3.90293876e-04 1.55582248e+02] [ 9.99422395e-01 -1.42587689e-02 -3.08474292e-02 1.07979556e+02] [ 3.08387175e-02 -8.30495720e-04 9.99524029e-01 6.46221816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.650714057 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:155.58, Y:108.01, Z:6.46 [[-1.42165441e-02 -9.99898621e-01 -7.98920503e-04 1.55583567e+02] [ 9.99423604e-01 -1.41851474e-02 -3.08422018e-02 1.08006203e+02] [ 3.08277422e-02 -1.23692953e-03 9.99523947e-01 6.46266204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.680714057 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:155.58, Y:108.03, Z:6.46 [[-2.59075833e-02 -9.99664046e-01 -7.70238069e-04 1.55578188e+02] [ 9.99189372e-01 -2.58715174e-02 -3.08425586e-02 1.08029755e+02] [ 3.08122697e-02 -1.56866985e-03 9.99523958e-01 6.46242701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.710714057 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:155.59, Y:108.07, Z:6.46 [[-2.25921877e-02 -9.99744697e-01 -3.65685822e-04 1.55589924e+02] [ 9.99269247e-01 -2.25701601e-02 -3.08473570e-02 1.08065511e+02] [ 3.08312280e-02 -1.06232787e-03 9.99524040e-01 6.46402453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.740714057 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:155.59, Y:108.09, Z:6.46 [[-2.31726592e-02 -9.99731050e-01 -9.24524007e-04 1.55590289e+02] [ 9.99256578e-01 -2.31331408e-02 -3.08406907e-02 1.08093798e+02] [ 3.08110090e-02 -1.63849751e-03 9.99523885e-01 6.46471883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.770714057 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:155.60, Y:108.13, Z:6.46 [[-2.55210312e-02 -9.99673877e-01 -9.04098617e-04 1.55595675e+02] [ 9.99199457e-01 -2.54810272e-02 -3.08409259e-02 1.08126906e+02] [ 3.08078306e-02 -1.69046708e-03 9.99523897e-01 6.46346673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.800714057 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:155.60, Y:108.15, Z:6.46 [[-2.69651092e-02 -9.99635515e-01 -1.31120926e-03 1.55597756e+02] [ 9.99162089e-01 -2.69118911e-02 -3.08361823e-02 1.08154544e+02] [ 3.07896559e-02 -2.14161160e-03 9.99523592e-01 6.46332693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.830714057 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:155.59, Y:108.17, Z:6.46 [[-4.21728981e-02 -9.99109391e-01 -1.36821162e-03 1.55587387e+02] [ 9.98636999e-01 -4.21107311e-02 -3.08355306e-02 1.08168741e+02] [ 3.07504518e-02 -2.66677044e-03 9.99523536e-01 6.46412912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.860714057 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:155.60, Y:108.20, Z:6.47 [[-3.48550535e-02 -9.99392331e-01 -3.06158135e-04 1.55596783e+02] [ 9.98917142e-01 -3.48290311e-02 -3.08460892e-02 1.08204182e+02] [ 3.08166818e-02 -1.38096870e-03 9.99524099e-01 6.46644355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.890714057 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:155.60, Y:108.24, Z:6.47 [[-3.90179722e-02 -9.99238068e-01 -9.38873754e-04 1.55598470e+02] [ 9.98764347e-01 -3.89704979e-02 -3.08395822e-02 1.08237462e+02] [ 3.07794961e-02 -2.14101159e-03 9.99523906e-01 6.46731796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.920714057 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:155.59, Y:108.25, Z:6.47 [[-4.73782762e-02 -9.98876131e-01 -1.33180235e-03 1.55589564e+02] [ 9.98403968e-01 -4.73147677e-02 -3.08355241e-02 1.08251356e+02] [ 3.07378551e-02 -2.79061073e-03 9.99523585e-01 6.46610871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95071405699997 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:155.60, Y:108.28, Z:6.47 [[-4.08452073e-02 -9.99165449e-01 -2.72503286e-04 1.55595202e+02] [ 9.98690409e-01 -4.08173756e-02 -3.08448999e-02 1.08281014e+02] [ 3.08080354e-02 -1.53201275e-03 9.99524146e-01 6.46691004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98071405699997 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:155.59, Y:108.31, Z:6.47 [[-4.03965311e-02 -9.99183617e-01 -4.69159288e-04 1.55594976e+02] [ 9.98708936e-01 -4.03628578e-02 -3.08431629e-02 1.08309901e+02] [ 3.07990465e-02 -1.71451036e-03 9.99524126e-01 6.46898728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01071405699997 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:155.60, Y:108.34, Z:6.47 [[-4.25963164e-02 -9.99092251e-01 -4.78208547e-04 1.55596989e+02] [ 9.98617664e-01 -4.25613195e-02 -3.08430847e-02 1.08344991e+02] [ 3.07947338e-02 -1.79134930e-03 9.99524124e-01 6.47169566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04071405699997 meters Centerline goodness : 0.993400 Centerline is valid? [True, True] Translation: X:155.60, Y:108.37, Z:6.47 [[-3.88073511e-02 -9.99246208e-01 -1.00257802e-03 1.55595875e+02] [ 9.98772650e-01 -3.87580185e-02 -3.08384449e-02 1.08366606e+02] [ 3.07763412e-02 -2.19810586e-03 9.99523879e-01 6.47494169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07071405699998 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:155.60, Y:108.40, Z:6.48 [[-3.87499481e-02 -9.99248831e-01 -4.64605438e-04 1.55595870e+02] [ 9.98774101e-01 -3.87171980e-02 -3.08427320e-02 1.08395330e+02] [ 3.08015756e-02 -1.65919014e-03 9.99524142e-01 6.47680363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10071405699998 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:155.60, Y:108.43, Z:6.48 [[-4.29499391e-02 -9.99077083e-01 -5.34616516e-04 1.55596838e+02] [ 9.98602639e-01 -4.29130390e-02 -3.08421820e-02 1.08428166e+02] [ 3.07907752e-02 -1.85853930e-03 9.99524124e-01 6.47736989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13071405699998 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:155.60, Y:108.45, Z:6.48 [[-4.36777164e-02 -9.99045171e-01 -1.00173725e-03 1.55597033e+02] [ 9.98571859e-01 -4.36261019e-02 -3.08383951e-02 1.08454890e+02] [ 3.07652478e-02 -2.34725731e-03 9.99523882e-01 6.47888262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16071405699998 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:155.59, Y:108.47, Z:6.48 [[-4.86202438e-02 -9.98816880e-01 -9.55014388e-04 1.55588422e+02] [ 9.98343702e-01 -4.85677242e-02 -3.08387558e-02 1.08472859e+02] [ 3.07558870e-02 -2.45282042e-03 9.99523916e-01 6.47898047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19071405699998 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:155.60, Y:108.51, Z:6.48 [[-4.19688019e-02 -9.99118901e-01 -2.03219293e-04 1.55597485e+02] [ 9.98643823e-01 -4.19425723e-02 -3.08437178e-02 1.08513495e+02] [ 3.08080179e-02 -1.49741757e-03 9.99524199e-01 6.48200015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22071405699998 meters Centerline goodness : 0.992688 Centerline is valid? [True, True] Translation: X:155.60, Y:108.53, Z:6.48 [[-3.81765936e-02 -9.99270222e-01 -1.25315587e-03 1.55596580e+02] [ 9.98797283e-01 -3.81198546e-02 -3.08360843e-02 1.08533926e+02] [ 3.07658107e-02 -2.42886534e-03 9.99523669e-01 6.48041997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25071405699998 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:155.59, Y:108.56, Z:6.48 [[-4.85083022e-02 -9.98822524e-01 -7.13618929e-04 1.55586096e+02] [ 9.98348733e-01 -4.84632582e-02 -3.08402487e-02 1.08555373e+02] [ 3.07693508e-02 -2.20844866e-03 9.99524072e-01 6.47982211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28071405699998 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:155.60, Y:108.60, Z:6.48 [[-4.33354503e-02 -9.99060556e-01 -2.11711680e-04 1.55595166e+02] [ 9.98585528e-01 -4.33083093e-02 -3.08436977e-02 1.08596541e+02] [ 3.08055529e-02 -1.54803775e-03 9.99524198e-01 6.48300134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31071405699998 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:155.58, Y:108.61, Z:6.48 [[-5.27604959e-02 -9.98606335e-01 -1.31047649e-03 1.55584987e+02] [ 9.98134461e-01 -5.26950993e-02 -3.08354350e-02 1.08612077e+02] [ 3.07234051e-02 -2.93492459e-03 9.99523616e-01 6.47949860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34071405699999 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:155.59, Y:108.65, Z:6.49 [[-4.88603695e-02 -9.98805602e-01 -1.86085312e-04 1.55593809e+02] [ 9.98330732e-01 -4.88313933e-02 -3.08422385e-02 1.08653053e+02] [ 3.07963138e-02 -1.69273786e-03 9.99524248e-01 6.48548130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.370714057 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:155.59, Y:108.68, Z:6.48 [[-4.85687733e-02 -9.98818960e-01 -1.32643531e-03 1.55593770e+02] [ 9.98346892e-01 -4.85048702e-02 -3.08343971e-02 1.08676663e+02] [ 3.07336419e-02 -2.82183141e-03 9.99523627e-01 6.48487137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.400714057 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:155.59, Y:108.70, Z:6.49 [[-5.57539290e-02 -9.98444115e-01 -9.21115902e-04 1.55590502e+02] [ 9.97971292e-01 -5.56990775e-02 -3.08368948e-02 1.08701322e+02] [ 3.07376108e-02 -2.63852527e-03 9.99524005e-01 6.48567608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.430714057 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:155.59, Y:108.73, Z:6.49 [[-5.84226228e-02 -9.98291771e-01 -5.80365963e-04 1.55590459e+02] [ 9.97818174e-01 -5.83769784e-02 -3.08386160e-02 1.08730350e+02] [ 3.07520565e-02 -2.38077253e-03 9.99524208e-01 6.48705717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.460714057 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:155.59, Y:108.76, Z:6.49 [[-6.22282498e-02 -9.98061743e-01 -6.34697217e-04 1.55589509e+02] [ 9.97588468e-01 -6.21791305e-02 -3.08383608e-02 1.08757478e+02] [ 3.07391232e-02 -2.55218384e-03 9.99524183e-01 6.48634521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.490714057 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:155.59, Y:108.79, Z:6.49 [[-6.51667355e-02 -9.97874259e-01 -5.10652372e-04 1.55588832e+02] [ 9.97400794e-01 -6.51200342e-02 -3.08388809e-02 1.08785723e+02] [ 3.07400717e-02 -2.51899428e-03 9.99524238e-01 6.48793067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.520714057 meters Centerline goodness : 0.993054 Centerline is valid? [True, True] Translation: X:155.59, Y:108.81, Z:6.49 [[-6.68973349e-02 -9.97759710e-01 -5.55375171e-04 1.55588112e+02] [ 9.97286448e-01 -6.68484384e-02 -3.08387144e-02 1.08814015e+02] [ 3.07325007e-02 -2.61689593e-03 9.99524219e-01 6.48914148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.550714057 meters Centerline goodness : 0.993054 Centerline is valid? [True, True] Translation: X:155.59, Y:108.84, Z:6.49 [[-6.74279707e-02 -9.97724013e-01 -5.12853061e-04 1.55588034e+02] [ 9.97250662e-01 -6.73801289e-02 -3.08388554e-02 1.08842312e+02] [ 3.07341104e-02 -2.59084449e-03 9.99524238e-01 6.49002819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.580714057 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:155.59, Y:108.87, Z:6.49 [[-6.86596119e-02 -9.97640020e-01 -4.97306798e-04 1.55586910e+02] [ 9.97166687e-01 -6.86116635e-02 -3.08388987e-02 1.08872380e+02] [ 3.07319985e-02 -2.61328459e-03 9.99524244e-01 6.49145669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.610714057 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:155.59, Y:108.90, Z:6.49 [[-6.91073739e-02 -9.97609067e-01 -5.66095236e-04 1.55585570e+02] [ 9.97135944e-01 -6.90570998e-02 -3.08387166e-02 1.08899484e+02] [ 3.07258904e-02 -2.69565663e-03 9.99524213e-01 6.49273881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.640714057 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:155.58, Y:108.93, Z:6.49 [[-6.85144423e-02 -9.97650008e-01 -4.82261743e-04 1.55584107e+02] [ 9.97176628e-01 -6.84670251e-02 -3.08389111e-02 1.08927980e+02] [ 3.07334209e-02 -2.59381093e-03 9.99524251e-01 6.49382345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.670714057 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:155.58, Y:108.95, Z:6.49 [[-6.60928155e-02 -9.97813315e-01 -5.72359568e-04 1.55581278e+02] [ 9.97340059e-01 -6.60437786e-02 -3.08387253e-02 1.08953489e+02] [ 3.07334900e-02 -2.60905531e-03 9.99524210e-01 6.49488522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70071405699997 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:155.58, Y:108.98, Z:6.50 [[-6.41320612e-02 -9.97941310e-01 -4.69005319e-04 1.55580057e+02] [ 9.97467694e-01 -6.40871311e-02 -3.08389099e-02 1.08981631e+02] [ 3.07453650e-02 -2.44558051e-03 9.99524258e-01 6.49684715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73071405699997 meters Centerline goodness : 0.993812 Centerline is valid? [True, True] Translation: X:155.58, Y:109.01, Z:6.50 [[-6.28223659e-02 -9.98024616e-01 -4.64806834e-04 1.55575630e+02] [ 9.97550931e-01 -6.27781865e-02 -3.08389128e-02 1.09010354e+02] [ 3.07488143e-02 -2.40104195e-03 9.99524260e-01 6.49929721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76071405699997 meters Centerline goodness : 0.993484 Centerline is valid? [True, True] Translation: X:155.58, Y:109.01, Z:6.50 [[-6.09928435e-02 -9.98138169e-01 -2.60398000e-04 1.55575144e+02] [ 9.97663967e-01 -6.09558214e-02 -3.08382513e-02 1.09005704e+02] [ 3.07649629e-02 -2.14070234e-03 9.99524354e-01 6.49846025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79071405699997 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:155.56, Y:109.02, Z:6.50 [[-7.11063432e-02 -9.97468739e-01 -5.46292470e-05 1.55564475e+02] [ 9.96994472e-01 -7.10708453e-02 -3.08376133e-02 1.09024338e+02] [ 3.07556727e-02 -2.24721497e-03 9.99524406e-01 6.49831847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82071405699998 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:155.57, Y:109.01, Z:6.49 [[-4.99040048e-02 -9.98754014e-01 9.59125004e-05 1.55570922e+02] [ 9.98278886e-01 -4.98832258e-02 -3.08371454e-02 1.09011282e+02] [ 3.08035072e-02 -1.44314963e-03 9.99524418e-01 6.49341808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85071405699998 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:155.57, Y:109.04, Z:6.50 [[-4.88844538e-02 -9.98804116e-01 -8.05344304e-04 1.55571863e+02] [ 9.98330736e-01 -4.88364233e-02 -3.08341478e-02 1.09043175e+02] [ 3.07579435e-02 -2.31131044e-03 9.99524190e-01 6.49652170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88071405699998 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:155.57, Y:109.08, Z:6.50 [[-5.14659673e-02 -9.98674080e-01 -1.15567699e-03 1.55569552e+02] [ 9.98201759e-01 -5.14059462e-02 -3.08330552e-02 1.09075198e+02] [ 3.07327644e-02 -2.74045181e-03 9.99523880e-01 6.49663599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91071405699998 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:155.57, Y:109.10, Z:6.50 [[-5.12884350e-02 -9.98682890e-01 -1.40759845e-03 1.55565050e+02] [ 9.98211301e-01 -5.12207593e-02 -3.08323276e-02 1.09098187e+02] [ 3.07196198e-02 -2.98642251e-03 9.99523580e-01 6.49874217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94071405699998 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:155.56, Y:109.13, Z:6.50 [[-5.30450478e-02 -9.98591673e-01 -9.45531558e-04 1.55563187e+02] [ 9.98118883e-01 -5.29907385e-02 -3.08330593e-02 1.09127221e+02] [ 3.07395318e-02 -2.57929401e-03 9.99524101e-01 6.49975878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97071405699998 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:155.56, Y:109.12, Z:6.50 [[-5.42583739e-02 -9.98526768e-01 -5.68580024e-04 1.55560682e+02] [ 9.98053204e-01 -5.42150857e-02 -3.08306018e-02 1.09122343e+02] [ 3.07543555e-02 -2.24029143e-03 9.99524462e-01 6.49736217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00071405699998 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:155.56, Y:109.15, Z:6.50 [[-5.62911018e-02 -9.98413499e-01 -1.34027656e-03 1.55557504e+02] [ 9.97942189e-01 -5.62231458e-02 -3.08276630e-02 1.09145476e+02] [ 3.07034003e-02 -3.07284164e-03 9.99523816e-01 6.49850334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03071405699998 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:155.56, Y:109.17, Z:6.50 [[-5.84965108e-02 -9.98287297e-01 -7.93891331e-04 1.55556621e+02] [ 9.97814523e-01 -5.84442906e-02 -3.08292613e-02 1.09174152e+02] [ 3.07300615e-02 -2.59556052e-03 9.99524350e-01 6.49985161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06071405699998 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:155.55, Y:109.20, Z:6.50 [[-6.36011242e-02 -9.97975072e-01 -8.08459514e-04 1.55554885e+02] [ 9.97502611e-01 -6.35460394e-02 -3.08292395e-02 1.09204148e+02] [ 3.07154381e-02 -2.76721477e-03 9.99524339e-01 6.50123577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09071405699999 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:155.55, Y:109.22, Z:6.50 [[-8.17350474e-02 -9.96653958e-01 -5.19791658e-04 1.55545502e+02] [ 9.96181715e-01 -8.16802414e-02 -3.08274154e-02 1.09217387e+02] [ 3.06818089e-02 -3.03748721e-03 9.99524587e-01 6.50371242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.120714057 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:155.55, Y:109.21, Z:6.51 [[-7.24663267e-02 -9.97370837e-01 2.12738160e-04 1.55549874e+02] [ 9.96896511e-01 -7.24384379e-02 -3.08223677e-02 1.09205603e+02] [ 3.07567411e-02 -2.02150584e-03 9.99524855e-01 6.50668586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.150714057 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:155.55, Y:109.23, Z:6.51 [[-7.38043313e-02 -9.97272707e-01 -2.61014885e-04 1.55548718e+02] [ 9.96799420e-01 -7.37612372e-02 -3.08252632e-02 1.09226454e+02] [ 3.07219409e-02 -2.53521742e-03 9.99524755e-01 6.50728517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.180714057 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:155.55, Y:109.22, Z:6.51 [[-7.67623274e-02 -9.97049363e-01 -3.34507213e-04 1.55547688e+02] [ 9.96576388e-01 -7.67155714e-02 -3.08256887e-02 1.09221744e+02] [ 3.07090714e-02 -2.69961360e-03 9.99524720e-01 6.50826989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.210714057 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:155.55, Y:109.23, Z:6.51 [[-7.83287776e-02 -9.96927542e-01 -2.79360360e-04 1.55546943e+02] [ 9.96454501e-01 -7.82829728e-02 -3.08253831e-02 1.09232336e+02] [ 3.07088042e-02 -2.69288446e-03 9.99524746e-01 6.50911616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.240714057 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:155.55, Y:109.23, Z:6.51 [[-7.85416870e-02 -9.96910749e-01 -4.02650867e-04 1.55546798e+02] [ 9.96438038e-01 -7.84919938e-02 -3.08260284e-02 1.09229840e+02] [ 3.06991942e-02 -2.82234491e-03 9.99524684e-01 6.50888501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.270714057 meters Centerline goodness : 0.995511 Centerline is valid? [True, True] Translation: X:155.55, Y:109.24, Z:6.51 [[-7.89070682e-02 -9.96881938e-01 -2.77409763e-04 1.55545062e+02] [ 9.96408917e-01 -7.88610488e-02 -3.08253873e-02 1.09240716e+02] [ 3.07073950e-02 -2.70875450e-03 9.99524746e-01 6.50781194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.300714057 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:155.54, Y:109.27, Z:6.51 [[-7.62878218e-02 -9.97085574e-01 -7.25368590e-04 1.55544091e+02] [ 9.96613720e-01 -7.62292950e-02 -3.08251078e-02 1.09267546e+02] [ 3.06799759e-02 -3.07449262e-03 9.99524530e-01 6.50872759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.330714057 meters Centerline goodness : 0.994950 Centerline is valid? [True, True] Translation: X:155.54, Y:109.27, Z:6.51 [[-7.51327390e-02 -9.97173492e-01 -3.12781836e-04 1.55542382e+02] [ 9.96700463e-01 -7.50874300e-02 -3.08231147e-02 1.09269911e+02] [ 3.07125069e-02 -2.62757483e-03 9.99524806e-01 6.51027584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.360714057 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:155.54, Y:109.30, Z:6.51 [[-7.32489710e-02 -9.97313379e-01 -7.83136160e-04 1.55542042e+02] [ 9.96841604e-01 -7.31901178e-02 -3.08224402e-02 1.09298498e+02] [ 3.06823141e-02 -3.03837474e-03 9.99524569e-01 6.50827219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.390714057 meters Centerline goodness : 0.993242 Centerline is valid? [True, True] Translation: X:155.54, Y:109.28, Z:6.51 [[-7.04449179e-02 -9.97515582e-01 -4.21810696e-04 1.55540928e+02] [ 9.97042700e-01 -7.03984899e-02 -3.08205708e-02 1.09284436e+02] [ 3.07143048e-02 -2.59171585e-03 9.99524844e-01 6.50843558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.420714057 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:155.54, Y:109.29, Z:6.51 [[-6.54979077e-02 -9.97852662e-01 -2.97782503e-04 1.55537969e+02] [ 9.97379280e-01 -6.54576380e-02 -3.08199572e-02 1.09289585e+02] [ 3.07342842e-02 -2.31564481e-03 9.99524908e-01 6.50790992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45071405699997 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:155.54, Y:109.31, Z:6.51 [[-5.80212135e-02 -9.98315322e-01 -2.38799204e-04 1.55536254e+02] [ 9.97841539e-01 -5.79863055e-02 -3.08196747e-02 1.09308246e+02] [ 3.07539064e-02 -2.02647869e-03 9.99524932e-01 6.50503283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48071405699997 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:155.53, Y:109.34, Z:6.51 [[-5.78369238e-02 -9.98325866e-01 -5.97066463e-04 1.55534127e+02] [ 9.97852868e-01 -5.77910891e-02 -3.08195331e-02 1.09335441e+02] [ 3.07334319e-02 -2.37829147e-03 9.99524787e-01 6.50911022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51071405699997 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:155.53, Y:109.33, Z:6.51 [[-5.46392120e-02 -9.98506122e-01 -2.85133466e-04 1.55533706e+02] [ 9.98032363e-01 -5.46044871e-02 -3.08180380e-02 1.09329775e+02] [ 3.07564300e-02 -1.96844574e-03 9.99524971e-01 6.50628586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54071405699997 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:155.54, Y:109.33, Z:6.50 [[-4.64877149e-02 -9.98918846e-01 -1.75475720e-04 1.55535016e+02] [ 9.98444654e-01 -4.64602333e-02 -3.08175330e-02 1.09331067e+02] [ 3.07760618e-02 -1.60783948e-03 9.99525012e-01 6.50410737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57071405699998 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:155.53, Y:109.36, Z:6.51 [[-5.21736927e-02 -9.98637679e-01 -8.32317433e-04 1.55530154e+02] [ 9.98165078e-01 -5.21233178e-02 -3.08161886e-02 1.09357726e+02] [ 3.07308239e-02 -2.43858455e-03 9.99524722e-01 6.51110432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60071405699998 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:155.53, Y:109.39, Z:6.51 [[-4.96544418e-02 -9.98766218e-01 -6.91093452e-04 1.55531193e+02] [ 9.98293161e-01 -4.96096001e-02 -3.08164166e-02 1.09386675e+02] [ 3.07441110e-02 -2.22008583e-03 9.99524823e-01 6.51178449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63071405699998 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:155.53, Y:109.42, Z:6.51 [[-5.08758870e-02 -9.98704733e-01 -7.07202761e-04 1.55529630e+02] [ 9.98231769e-01 -5.08299716e-02 -3.08163967e-02 1.09415340e+02] [ 3.07405341e-02 -2.27376378e-03 9.99524812e-01 6.51337173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66071405699998 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:155.53, Y:109.41, Z:6.52 [[-5.09495051e-02 -9.98701152e-01 -3.96233038e-04 1.55529890e+02] [ 9.98227583e-01 -5.09131199e-02 -3.08147167e-02 1.09412316e+02] [ 3.07545196e-02 -1.96552531e-03 9.99525035e-01 6.51725010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69071405699998 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:155.53, Y:109.40, Z:6.52 [[-5.16995067e-02 -9.98662653e-01 -2.57356726e-04 1.55529820e+02] [ 9.98188868e-01 -5.16670386e-02 -3.08139697e-02 1.09404350e+02] [ 3.07594639e-02 -1.84995765e-03 9.99525104e-01 6.51669397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72071405699998 meters Centerline goodness : 0.993733 Centerline is valid? [True, True] Translation: X:155.53, Y:109.42, Z:6.51 [[-5.21369782e-02 -9.98639916e-01 -2.32802612e-04 1.55531237e+02] [ 9.98166103e-01 -5.21050581e-02 -3.08138418e-02 1.09415020e+02] [ 3.07598022e-02 -1.83891628e-03 9.99525114e-01 6.51464248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75071405699998 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:155.54, Y:109.39, Z:6.51 [[-4.11752391e-02 -9.99151903e-01 -2.71076458e-04 1.55535542e+02] [ 9.98677822e-01 -4.11473420e-02 -3.08140225e-02 1.09391295e+02] [ 3.07767351e-02 -1.53949279e-03 9.99525099e-01 6.51089139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78071405699998 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:155.54, Y:109.43, Z:6.51 [[-4.25452942e-02 -9.99093157e-01 -1.66159891e-03 1.55539379e+02] [ 9.98622631e-01 -4.24740294e-02 -3.08025662e-02 1.09426788e+02] [ 3.07040583e-02 -2.96981452e-03 9.99524107e-01 6.50582655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81071405699998 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:155.54, Y:109.45, Z:6.51 [[-4.64587010e-02 -9.98918129e-01 -2.03993506e-03 1.55536208e+02] [ 9.98449209e-01 -4.63739944e-02 -3.07998182e-02 1.09447895e+02] [ 3.06718968e-02 -3.46769110e-03 9.99523491e-01 6.51145615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84071405699999 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:155.53, Y:109.47, Z:6.51 [[-5.23477892e-02 -9.98627941e-01 -1.39454542e-03 1.55531676e+02] [ 9.98157269e-01 -5.22801008e-02 -3.08035322e-02 1.09467642e+02] [ 3.06883609e-02 -3.00447246e-03 9.99524486e-01 6.51411057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.870714057 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:155.53, Y:109.49, Z:6.52 [[-5.26395238e-02 -9.98613282e-01 -7.70481400e-04 1.55531147e+02] [ 9.98140853e-01 -5.25908520e-02 -3.08065059e-02 1.09493321e+02] [ 3.07232657e-02 -2.39068876e-03 9.99525070e-01 6.51557071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.900714057 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:155.53, Y:109.52, Z:6.52 [[-5.50782728e-02 -9.98481834e-01 -6.41148898e-04 1.55529421e+02] [ 9.98009198e-01 -5.50324193e-02 -3.08070305e-02 1.09520005e+02] [ 3.07249764e-02 -2.33667053e-03 9.99525145e-01 6.51834981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.930714057 meters Centerline goodness : 0.990730 Centerline is valid? [True, True] Translation: X:155.53, Y:109.55, Z:6.52 [[-5.50394576e-02 -9.98484040e-01 -5.29867136e-04 1.55528343e+02] [ 9.98011136e-01 -5.49970411e-02 -3.08074298e-02 1.09546847e+02] [ 3.07315859e-02 -2.22443753e-03 9.99525198e-01 6.51768425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.960714057 meters Centerline goodness : 0.991173 Centerline is valid? [True, True] Translation: X:155.53, Y:109.58, Z:6.52 [[-5.48837754e-02 -9.98492593e-01 -5.60011208e-04 1.55527564e+02] [ 9.98019753e-01 -5.48405066e-02 -3.08073125e-02 1.09575443e+02] [ 3.07301620e-02 -2.24972387e-03 9.99525185e-01 6.51845836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.990714057 meters Centerline goodness : 0.991427 Centerline is valid? [True, True] Translation: X:155.53, Y:109.60, Z:6.52 [[-5.58033939e-02 -9.98441641e-01 -5.20684471e-04 1.55527042e+02] [ 9.97968750e-01 -5.57608978e-02 -3.08074226e-02 1.09603935e+02] [ 3.07303797e-02 -2.23878557e-03 9.99525203e-01 6.52016137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.020714057 meters Centerline goodness : 0.989467 Centerline is valid? [True, True] Translation: X:155.53, Y:109.63, Z:6.52 [[-5.53870583e-02 -9.98464824e-01 -5.17795119e-04 1.55526322e+02] [ 9.97991909e-01 -5.53448481e-02 -3.08074280e-02 1.09631158e+02] [ 3.07314759e-02 -2.22308815e-03 9.99525204e-01 6.52296463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.050714057 meters Centerline goodness : 0.990093 Centerline is valid? [True, True] Translation: X:155.53, Y:109.67, Z:6.52 [[-4.98208163e-02 -9.98758040e-01 -5.12841562e-04 1.55531629e+02] [ 9.98284887e-01 -4.97813951e-02 -3.08074356e-02 1.09666679e+02] [ 3.07436440e-02 -2.04681357e-03 9.99525207e-01 6.52133468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.080714057 meters Centerline goodness : 0.990191 Centerline is valid? [True, True] Translation: X:155.53, Y:109.69, Z:6.52 [[-5.11157076e-02 -9.98692109e-01 -1.12092232e-03 1.55529775e+02] [ 9.98220483e-01 -5.10569915e-02 -3.08066556e-02 1.09694597e+02] [ 3.07091329e-02 -2.69363162e-03 9.99524734e-01 6.52310821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.110714057 meters Centerline goodness : 0.989385 Centerline is valid? [True, True] Translation: X:155.53, Y:109.69, Z:6.52 [[-4.82695807e-02 -9.98834205e-01 -5.28116204e-04 1.55530676e+02] [ 9.98361179e-01 -4.82304352e-02 -3.08022868e-02 1.09691490e+02] [ 3.07409063e-02 -2.01406419e-03 9.99525357e-01 6.52193498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.140714057 meters Centerline goodness : 0.988149 Centerline is valid? [True, True] Translation: X:155.53, Y:109.71, Z:6.52 [[-5.20459098e-02 -9.98643949e-01 -1.21889472e-03 1.55528519e+02] [ 9.98172833e-01 -5.19837630e-02 -3.08007102e-02 1.09713000e+02] [ 3.06955801e-02 -2.81971857e-03 9.99524802e-01 6.52354142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.170714057 meters Centerline goodness : 0.987528 Centerline is valid? [True, True] Translation: X:155.53, Y:109.74, Z:6.52 [[-5.24041156e-02 -9.98625793e-01 -5.77971523e-04 1.55528507e+02] [ 9.98153065e-01 -5.23614817e-02 -3.08015350e-02 1.09740021e+02] [ 3.07289439e-02 -2.19103125e-03 9.99525353e-01 6.52350643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20071405699997 meters Centerline goodness : 0.987156 Centerline is valid? [True, True] Translation: X:155.53, Y:109.77, Z:6.52 [[-5.19631705e-02 -9.98648858e-01 -5.36854057e-04 1.55528573e+02] [ 9.98176020e-01 -5.19220088e-02 -3.08015776e-02 1.09766513e+02] [ 3.07320857e-02 -2.13642247e-03 9.99525375e-01 6.52391311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23071405699997 meters Centerline goodness : 0.987069 Centerline is valid? [True, True] Translation: X:155.53, Y:109.79, Z:6.53 [[-5.12144573e-02 -9.98687545e-01 -5.17315765e-04 1.55528917e+02] [ 9.98214635e-01 -5.11742505e-02 -3.08015917e-02 1.09794058e+02] [ 3.07346927e-02 -2.09387897e-03 9.99525385e-01 6.52500109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26071405699997 meters Centerline goodness : 0.987507 Centerline is valid? [True, True] Translation: X:155.53, Y:109.79, Z:6.53 [[-5.06829750e-02 -9.98714767e-01 -2.26360804e-04 1.55528359e+02] [ 9.98241309e-01 -5.06519669e-02 -3.08004518e-02 1.09790301e+02] [ 3.07494004e-02 -1.78702124e-03 9.99525528e-01 6.52507063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29071405699997 meters Centerline goodness : 0.987012 Centerline is valid? [True, True] Translation: X:155.53, Y:109.79, Z:6.53 [[-4.82190199e-02 -9.98836765e-01 -2.05561682e-04 1.55528271e+02] [ 9.98363200e-01 -4.81898197e-02 -3.08003743e-02 1.09791448e+02] [ 3.07546402e-02 -1.69038908e-03 9.99525535e-01 6.52547969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32071405699998 meters Centerline goodness : 0.987367 Centerline is valid? [True, True] Translation: X:155.53, Y:109.83, Z:6.52 [[-4.23285804e-02 -9.99103633e-01 -4.71497455e-04 1.55532368e+02] [ 9.98630346e-01 -4.22939937e-02 -3.08001559e-02 1.09825050e+02] [ 3.07526062e-02 -1.77457855e-03 9.99525451e-01 6.52364319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35071405699998 meters Centerline goodness : 0.988048 Centerline is valid? [True, True] Translation: X:155.53, Y:109.83, Z:6.52 [[-3.79392961e-02 -9.99279959e-01 -4.16022255e-04 1.55532780e+02] [ 9.98806449e-01 -3.79084959e-02 -3.07997400e-02 1.09828692e+02] [ 3.07617922e-02 -1.58404617e-03 9.99525489e-01 6.52228642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38071405699998 meters Centerline goodness : 0.988387 Centerline is valid? [True, True] Translation: X:155.53, Y:109.86, Z:6.53 [[-3.66889164e-02 -9.99326063e-01 -1.15914553e-03 1.55531776e+02] [ 9.98854006e-01 -3.66358625e-02 -3.07975517e-02 1.09855304e+02] [ 3.07343297e-02 -2.28774596e-03 9.99524971e-01 6.52711291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41071405699998 meters Centerline goodness : 0.991063 Centerline is valid? [True, True] Translation: X:155.52, Y:109.87, Z:6.53 [[-5.33274767e-02 -9.98576579e-01 -9.97732800e-04 1.55515224e+02] [ 9.98105021e-01 -5.32715220e-02 -3.07979264e-02 1.09870259e+02] [ 3.07009373e-02 -2.63821782e-03 9.99525133e-01 6.52913070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44071405699998 meters Centerline goodness : 0.991063 Centerline is valid? [True, True] Translation: X:155.51, Y:109.90, Z:6.53 [[-5.35873369e-02 -9.98563166e-01 -2.97428927e-05 1.55514747e+02] [ 9.98089499e-01 -5.35610005e-02 -3.07988757e-02 1.09898613e+02] [ 3.07530297e-02 -1.68011580e-03 9.99525602e-01 6.53037669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47071405699998 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:155.51, Y:109.93, Z:6.53 [[-5.34702484e-02 -9.98569443e-01 -2.17250601e-05 1.55514510e+02] [ 9.98095759e-01 -5.34442140e-02 -3.07988813e-02 1.09926296e+02] [ 3.07536607e-02 -1.66850752e-03 9.99525602e-01 6.53179185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50071405699998 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:155.52, Y:109.95, Z:6.53 [[-5.30770536e-02 -9.98590420e-01 -1.37017487e-05 1.55515489e+02] [ 9.98116713e-01 -5.30514525e-02 -3.07988849e-02 1.09954259e+02] [ 3.07547445e-02 -1.64839001e-03 9.99525602e-01 6.53330228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53071405699998 meters Centerline goodness : 0.991014 Centerline is valid? [True, True] Translation: X:155.51, Y:109.97, Z:6.54 [[-5.23164617e-02 -9.98630556e-01 -6.09695044e-06 1.55512838e+02] [ 9.98156818e-01 -5.22914553e-02 -3.07988864e-02 1.09974622e+02] [ 3.07563902e-02 -1.61737447e-03 9.99525602e-01 6.53689739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56071405699998 meters Centerline goodness : 0.983781 Centerline is valid? [True, True] Translation: X:155.51, Y:109.99, Z:6.53 [[-5.84129665e-02 -9.98292238e-01 7.30331329e-04 1.55509110e+02] [ 9.97817745e-01 -5.84077311e-02 -3.07942161e-02 1.09991182e+02] [ 3.07842839e-02 -1.07004395e-03 9.99525479e-01 6.53309938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59071405699999 meters Centerline goodness : 0.992097 Centerline is valid? [True, True] Translation: X:155.51, Y:109.12, Z:6.51 [[-4.38576236e-02 -9.99037607e-01 6.06939037e-04 1.55506856e+02] [ 9.98563201e-01 -4.38555049e-02 -3.07933046e-02 1.09119945e+02] [ 3.07902870e-02 -7.44454175e-04 9.99525589e-01 6.50883910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.620714057 meters Centerline goodness : 0.992596 Centerline is valid? [True, True] Translation: X:155.51, Y:109.15, Z:6.51 [[-4.71392042e-02 -9.98888267e-01 -3.54619785e-04 1.55508700e+02] [ 9.98415486e-01 -4.71059647e-02 -3.07822414e-02 1.09148179e+02] [ 3.07313151e-02 -1.80510825e-03 9.99526052e-01 6.50905450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.650714057 meters Centerline goodness : 0.992488 Centerline is valid? [True, True] Translation: X:155.51, Y:109.18, Z:6.51 [[-4.94286248e-02 -9.98777599e-01 -3.46109125e-04 1.55509935e+02] [ 9.98304876e-01 -4.93945631e-02 -3.07823371e-02 1.09175936e+02] [ 3.07276128e-02 -1.86705102e-03 9.99526052e-01 6.51038652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.680714057 meters Centerline goodness : 0.991867 Centerline is valid? [True, True] Translation: X:155.51, Y:109.20, Z:6.51 [[-5.17356810e-02 -9.98660756e-01 -3.37313815e-04 1.55511338e+02] [ 9.98188093e-01 -5.17007974e-02 -3.07824335e-02 1.09202808e+02] [ 3.07237689e-02 -1.92925279e-03 9.99526052e-01 6.50883512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.710714057 meters Centerline goodness : 0.991787 Centerline is valid? [True, True] Translation: X:155.51, Y:109.23, Z:6.51 [[-5.38959901e-02 -9.98546500e-01 -3.32317481e-04 1.55513138e+02] [ 9.98073902e-01 -5.38602375e-02 -3.07824874e-02 1.09231010e+02] [ 3.07198464e-02 -1.99073005e-03 9.99526052e-01 6.50930592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.740714057 meters Centerline goodness : 0.990650 Centerline is valid? [True, True] Translation: X:155.52, Y:109.27, Z:6.51 [[-5.77600773e-02 -9.98330441e-01 -3.23933708e-04 1.55519028e+02] [ 9.97857964e-01 -5.77227532e-02 -3.07825757e-02 1.09265186e+02] [ 3.07124840e-02 -2.10124378e-03 9.99526052e-01 6.50714040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.770714057 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:155.52, Y:109.29, Z:6.51 [[-6.00315881e-02 -9.98196048e-01 -9.25994832e-04 1.55515915e+02] [ 9.97725348e-01 -5.99747303e-02 -3.07759829e-02 1.09285393e+02] [ 3.06649283e-02 -2.77141965e-03 9.99525878e-01 6.51171285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.800714057 meters Centerline goodness : 0.992918 Centerline is valid? [True, True] Translation: X:155.52, Y:109.31, Z:6.51 [[-6.19196054e-02 -9.98081094e-01 -3.05343298e-04 1.55516139e+02] [ 9.97608749e-01 -6.18808846e-02 -3.07821454e-02 1.09313167e+02] [ 3.07041824e-02 -2.21063144e-03 9.99526071e-01 6.51355397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.830714057 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:155.52, Y:109.34, Z:6.51 [[-6.28018960e-02 -9.98025967e-01 -3.01498507e-04 1.55516303e+02] [ 9.97553647e-01 -6.27628756e-02 -3.07821831e-02 1.09341564e+02] [ 3.07024951e-02 -2.23394039e-03 9.99526071e-01 6.51491588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.860714057 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:155.52, Y:109.37, Z:6.52 [[-6.36116577e-02 -9.97974684e-01 -2.93937387e-04 1.55516837e+02] [ 9.97502377e-01 -6.35724861e-02 -3.07822553e-02 1.09368813e+02] [ 3.07012252e-02 -2.25131353e-03 9.99526071e-01 6.51636507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.890714057 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:155.52, Y:109.40, Z:6.52 [[-6.45127064e-02 -9.97916844e-01 -2.89238241e-04 1.55517052e+02] [ 9.97444560e-01 -6.44732525e-02 -3.07822994e-02 1.09396682e+02] [ 3.06995270e-02 -2.27434856e-03 9.99526071e-01 6.51720267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.920714057 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:155.52, Y:109.42, Z:6.52 [[-6.52131105e-02 -9.97871320e-01 -2.80692908e-04 1.55517166e+02] [ 9.97399042e-01 -6.51735873e-02 -3.07823773e-02 1.09424189e+02] [ 3.06985578e-02 -2.28737741e-03 9.99526071e-01 6.51755386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95071405699997 meters Centerline goodness : 0.991340 Centerline is valid? [True, True] Translation: X:155.53, Y:109.47, Z:6.52 [[-5.88615246e-02 -9.98266120e-01 -2.72167130e-04 1.55529825e+02] [ 9.97793580e-01 -5.88252693e-02 -3.07824527e-02 1.09466620e+02] [ 3.07130694e-02 -2.08346871e-03 9.99526071e-01 6.51510180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98071405699997 meters Centerline goodness : 0.992146 Centerline is valid? [True, True] Translation: X:155.52, Y:109.49, Z:6.52 [[-6.51717313e-02 -9.97873068e-01 -1.40917111e-03 1.55524118e+02] [ 9.97404474e-01 -6.50976787e-02 -3.07669929e-02 1.09490032e+02] [ 3.06098199e-02 -3.41065176e-03 9.99525591e-01 6.51577475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01071405699997 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:155.52, Y:109.51, Z:6.52 [[-6.50378399e-02 -9.97882503e-01 -7.67940135e-04 1.55522248e+02] [ 9.97411674e-01 -6.49834698e-02 -3.07749992e-02 1.09513322e+02] [ 3.06599298e-02 -2.76749192e-03 9.99526043e-01 6.51873894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04071405699997 meters Centerline goodness : 0.993205 Centerline is valid? [True, True] Translation: X:155.54, Y:109.56, Z:6.52 [[-5.78248024e-02 -9.98326680e-01 -3.62888628e-04 1.55535313e+02] [ 9.97854375e-01 -5.77862573e-02 -3.07797772e-02 1.09557751e+02] [ 3.07073028e-02 -2.14194454e-03 9.99526125e-01 6.51686914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07071405699998 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:155.54, Y:109.59, Z:6.52 [[-5.80901835e-02 -9.98309926e-01 -1.67976029e-03 1.55536172e+02] [ 9.97841806e-01 -5.80111804e-02 -3.07641533e-02 1.09589752e+02] [ 3.06147147e-02 -3.46323035e-03 9.99525260e-01 6.51509553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10071405699998 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:155.52, Y:109.60, Z:6.52 [[-6.95841542e-02 -9.97574235e-01 -1.92149327e-03 1.55519901e+02] [ 9.97108093e-01 -6.94923878e-02 -3.07613275e-02 1.09596901e+02] [ 3.05531786e-02 -4.05643744e-03 9.99524911e-01 6.51774891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13071405699998 meters Centerline goodness : 0.992079 Centerline is valid? [True, True] Translation: X:155.52, Y:109.63, Z:6.52 [[-7.45220566e-02 -9.97219323e-01 -2.89927121e-04 1.55515640e+02] [ 9.96747631e-01 -7.44778592e-02 -3.07767384e-02 1.09627221e+02] [ 3.06695651e-02 -2.58253001e-03 9.99526242e-01 6.51735427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16071405699998 meters Centerline goodness : 0.992918 Centerline is valid? [True, True] Translation: X:155.52, Y:109.65, Z:6.52 [[-7.22407695e-02 -9.97387123e-01 -4.44299455e-04 1.55515919e+02] [ 9.96915776e-01 -7.21929206e-02 -3.07752897e-02 1.09653291e+02] [ 3.06628024e-02 -2.66615975e-03 9.99526230e-01 6.52093086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19071405699998 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:155.53, Y:109.70, Z:6.52 [[-6.49534622e-02 -9.97888256e-01 -2.77069394e-04 1.55527036e+02] [ 9.97416130e-01 -6.49141858e-02 -3.07767956e-02 1.09697780e+02] [ 3.06938172e-02 -2.27541291e-03 9.99526244e-01 6.52320306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22071405699998 meters Centerline goodness : 0.991075 Centerline is valid? [True, True] Translation: X:155.51, Y:109.71, Z:6.52 [[-7.53900521e-02 -9.97152556e-01 -1.76656361e-03 1.55512488e+02] [ 9.96686625e-01 -7.53003464e-02 -3.07510935e-02 1.09713611e+02] [ 3.05305087e-02 -4.07903687e-03 9.99525512e-01 6.52019275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25071405699998 meters Centerline goodness : 0.990973 Centerline is valid? [True, True] Translation: X:155.51, Y:109.74, Z:6.52 [[-7.38863672e-02 -9.97266615e-01 -3.20103384e-04 1.55513378e+02] [ 9.96795085e-01 -7.38415545e-02 -3.07730972e-02 1.09743198e+02] [ 3.06653456e-02 -2.59278984e-03 9.99526345e-01 6.52142056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28071405699998 meters Centerline goodness : 0.991653 Centerline is valid? [True, True] Translation: X:155.52, Y:109.77, Z:6.53 [[-6.28788907e-02 -9.98021055e-01 -4.67769411e-04 1.55522147e+02] [ 9.97549471e-01 -6.28347571e-02 -3.07708614e-02 1.09774837e+02] [ 3.06805754e-02 -2.40146076e-03 9.99526355e-01 6.53098774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31071405699998 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:155.50, Y:109.80, Z:6.52 [[-7.80075677e-02 -9.96952231e-01 -1.03396876e-03 1.55504617e+02] [ 9.96483409e-01 -7.79389795e-02 -3.07625085e-02 1.09795905e+02] [ 3.05881650e-02 -3.43004118e-03 9.99526187e-01 6.52229619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34071405699999 meters Centerline goodness : 0.987889 Centerline is valid? [True, True] Translation: X:155.49, Y:109.81, Z:6.53 [[-8.28445355e-02 -9.96562453e-01 -2.46314279e-04 1.55489348e+02] [ 9.96091135e-01 -8.27977487e-02 -3.07730872e-02 1.09805067e+02] [ 3.06469090e-02 -2.79473359e-03 9.99526366e-01 6.52620068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.370714057 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:155.51, Y:109.85, Z:6.53 [[-6.94834528e-02 -9.97582001e-01 1.48350482e-03 1.55506564e+02] [ 9.97106896e-01 -6.94961511e-02 -3.07915971e-02 1.09850303e+02] [ 3.08202409e-02 -6.60293599e-04 9.99524725e-01 6.52940556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.400714057 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:155.51, Y:109.88, Z:6.53 [[-6.90467269e-02 -9.97613350e-01 -3.92664077e-04 1.55505342e+02] [ 9.97141953e-01 -6.90019904e-02 -3.07677072e-02 1.09877908e+02] [ 3.06671808e-02 -2.51595130e-03 9.99526485e-01 6.52955625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.430714057 meters Centerline goodness : 0.990170 Centerline is valid? [True, True] Translation: X:155.50, Y:109.90, Z:6.53 [[-7.03453331e-02 -9.97522625e-01 -3.84115615e-04 1.55499923e+02] [ 9.97051261e-01 -7.03002448e-02 -3.07678139e-02 1.09902272e+02] [ 3.06645871e-02 -2.54735508e-03 9.99526485e-01 6.53246510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.460714057 meters Centerline goodness : 0.990050 Centerline is valid? [True, True] Translation: X:155.50, Y:109.94, Z:6.54 [[-5.95480713e-02 -9.98225437e-01 6.06980400e-05 1.55504406e+02] [ 9.97752568e-01 -5.95217340e-02 -3.07729834e-02 1.09936871e+02] [ 3.07219876e-02 -1.77191018e-03 9.99526398e-01 6.53614569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.490714057 meters Centerline goodness : 0.991748 Centerline is valid? [True, True] Translation: X:155.50, Y:109.97, Z:6.54 [[-5.89248575e-02 -9.98262004e-01 -9.12298714e-04 1.55502959e+02] [ 9.97791585e-01 -5.88689754e-02 -3.07635578e-02 1.09966199e+02] [ 3.06563848e-02 -2.72302224e-03 9.99526273e-01 6.53622507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.520714057 meters Centerline goodness : 0.991390 Centerline is valid? [True, True] Translation: X:155.50, Y:109.99, Z:6.54 [[-5.81899492e-02 -9.98305026e-01 -1.00218941e-03 1.55498919e+02] [ 9.97834839e-01 -5.81316602e-02 -3.07627046e-02 1.09993909e+02] [ 3.06523037e-02 -2.79009973e-03 9.99526214e-01 6.54034085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.550714057 meters Centerline goodness : 0.991030 Centerline is valid? [True, True] Translation: X:155.50, Y:110.02, Z:6.54 [[-5.84663100e-02 -9.98288986e-01 -8.89242313e-04 1.55497783e+02] [ 9.97818476e-01 -5.84113506e-02 -3.07636647e-02 1.10022769e+02] [ 3.06590858e-02 -2.68594037e-03 9.99526291e-01 6.54273226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.580714057 meters Centerline goodness : 0.991280 Centerline is valid? [True, True] Translation: X:155.50, Y:110.05, Z:6.54 [[-5.88061343e-02 -9.98269038e-01 -8.75253243e-04 1.55495850e+02] [ 9.97798506e-01 -5.87514433e-02 -3.07637735e-02 1.10050788e+02] [ 3.06591002e-02 -2.68242497e-03 9.99526300e-01 6.54467533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.610714057 meters Centerline goodness : 0.991269 Centerline is valid? [True, True] Translation: X:155.49, Y:110.08, Z:6.55 [[-5.86746388e-02 -9.98276772e-01 -8.78897343e-04 1.55494792e+02] [ 9.97806243e-01 -5.86198982e-02 -3.07637461e-02 1.10077621e+02] [ 3.06592123e-02 -2.68202095e-03 9.99526298e-01 6.54604797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.640714057 meters Centerline goodness : 0.990723 Centerline is valid? [True, True] Translation: X:155.49, Y:110.11, Z:6.55 [[-5.86878265e-02 -9.98276047e-01 -8.20453925e-04 1.55493227e+02] [ 9.97805350e-01 -5.86348705e-02 -3.07641795e-02 1.10105533e+02] [ 3.06630363e-02 -2.62413614e-03 9.99526334e-01 6.54621795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.670714057 meters Centerline goodness : 0.990410 Centerline is valid? [True, True] Translation: X:155.49, Y:110.13, Z:6.55 [[-6.00997458e-02 -9.98192115e-01 -7.22506054e-04 1.55491768e+02] [ 9.97721217e-01 -6.00491257e-02 -3.07648344e-02 1.10132662e+02] [ 3.06658293e-02 -2.56981835e-03 9.99526389e-01 6.54686076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70071405699997 meters Centerline goodness : 0.990128 Centerline is valid? [True, True] Translation: X:155.49, Y:110.16, Z:6.55 [[-6.20637924e-02 -9.98071947e-01 -6.88577195e-04 1.55490644e+02] [ 9.97601055e-01 -6.20132855e-02 -3.07650451e-02 1.10161832e+02] [ 3.06630276e-02 -2.59632071e-03 9.99526407e-01 6.54567007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73071405699997 meters Centerline goodness : 0.989047 Centerline is valid? [True, True] Translation: X:155.49, Y:110.19, Z:6.54 [[-6.30001358e-02 -9.98013210e-01 -7.84568718e-04 1.55489990e+02] [ 9.97542639e-01 -6.29462459e-02 -3.07644865e-02 1.10189074e+02] [ 3.06539783e-02 -2.72080758e-03 9.99526353e-01 6.54486763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76071405699997 meters Centerline goodness : 0.988750 Centerline is valid? [True, True] Translation: X:155.49, Y:110.22, Z:6.55 [[-6.40858697e-02 -9.97944124e-01 -7.25472476e-04 1.55490398e+02] [ 9.97473440e-01 -6.40332783e-02 -3.07648528e-02 1.10217085e+02] [ 3.06551497e-02 -2.69523188e-03 9.99526387e-01 6.54501668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79071405699997 meters Centerline goodness : 0.989701 Centerline is valid? [True, True] Translation: X:155.49, Y:110.25, Z:6.55 [[-7.00673172e-02 -9.97542037e-01 -6.74460300e-04 1.55486690e+02] [ 9.97071524e-01 -7.00134674e-02 -3.07650696e-02 1.10245461e+02] [ 3.06422289e-02 -2.82811105e-03 9.99526416e-01 6.54514983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82071405699998 meters Centerline goodness : 0.990300 Centerline is valid? [True, True] Translation: X:155.49, Y:110.27, Z:6.54 [[-7.03000644e-02 -9.97525667e-01 -6.66494965e-04 1.55486456e+02] [ 9.97055143e-01 -7.02463489e-02 -3.07651012e-02 1.10272436e+02] [ 3.06421593e-02 -2.82732083e-03 9.99526420e-01 6.54404714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85071405699998 meters Centerline goodness : 0.990605 Centerline is valid? [True, True] Translation: X:155.49, Y:110.31, Z:6.54 [[-6.98116802e-02 -9.97559992e-01 -6.25477417e-04 1.55486898e+02] [ 9.97089323e-01 -6.97594516e-02 -3.07652479e-02 1.10305981e+02] [ 3.06465475e-02 -2.77143050e-03 9.99526442e-01 6.54401781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88071405699998 meters Centerline goodness : 0.989586 Centerline is valid? [True, True] Translation: X:155.49, Y:110.33, Z:6.54 [[-7.11423190e-02 -9.97465670e-01 -1.00403732e-03 1.55485709e+02] [ 9.96996248e-01 -7.10778718e-02 -3.07639140e-02 1.10333982e+02] [ 3.06145833e-02 -3.18963763e-03 9.99526174e-01 6.54477256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91071405699998 meters Centerline goodness : 0.989554 Centerline is valid? [True, True] Translation: X:155.48, Y:110.36, Z:6.55 [[-7.17424279e-02 -9.97422794e-01 -8.91402272e-04 1.55483786e+02] [ 9.96953046e-01 -7.16811458e-02 -3.07642293e-02 1.10360762e+02] [ 3.06210468e-02 -3.09578671e-03 9.99526272e-01 6.54616469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94071405699998 meters Centerline goodness : 0.987969 Centerline is valid? [True, True] Translation: X:155.48, Y:110.39, Z:6.55 [[-7.12042129e-02 -9.97461470e-01 -7.58498244e-04 1.55482625e+02] [ 9.96991280e-01 -7.11472539e-02 -3.07645293e-02 1.10387214e+02] [ 3.06324676e-02 -2.94678023e-03 9.99526372e-01 6.54719578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97071405699998 meters Centerline goodness : 0.988786 Centerline is valid? [True, True] Translation: X:155.48, Y:110.42, Z:6.55 [[-7.11396766e-02 -9.97466150e-01 -6.53337988e-04 1.55481836e+02] [ 9.96995644e-01 -7.10859691e-02 -3.07647602e-02 1.10415635e+02] [ 3.06403638e-02 -2.83997022e-03 9.99526439e-01 6.54830787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00071405699998 meters Centerline goodness : 0.988857 Centerline is valid? [True, True] Translation: X:155.48, Y:110.44, Z:6.55 [[-7.12723545e-02 -9.97456687e-01 -6.38963196e-04 1.55480651e+02] [ 9.96986148e-01 -7.12190249e-02 -3.07647840e-02 1.10443590e+02] [ 3.06410332e-02 -2.82971605e-03 9.99526448e-01 6.54990402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03071405699998 meters Centerline goodness : 0.988852 Centerline is valid? [True, True] Translation: X:155.48, Y:110.47, Z:6.55 [[-7.03355364e-02 -9.97523199e-01 -6.16519218e-04 1.55478092e+02] [ 9.97052546e-01 -7.02833364e-02 -3.07648070e-02 1.10471709e+02] [ 3.06452776e-02 -2.77856126e-03 9.99526461e-01 6.55212914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06071405699998 meters Centerline goodness : 0.988816 Centerline is valid? [True, True] Translation: X:155.48, Y:110.44, Z:6.55 [[-6.72527914e-02 -9.97735935e-01 -2.58616825e-04 1.55477057e+02] [ 9.97264279e-01 -6.72130254e-02 -3.07630659e-02 1.10444899e+02] [ 3.06760339e-02 -2.32681138e-03 9.99526671e-01 6.55023217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09071405699999 meters Centerline goodness : 0.987986 Centerline is valid? [True, True] Translation: X:155.47, Y:110.47, Z:6.55 [[-6.35009402e-02 -9.97981426e-01 -8.39349583e-04 1.55474121e+02] [ 9.97511113e-01 -6.34451424e-02 -3.07618721e-02 1.10469895e+02] [ 3.06465243e-02 -2.79066834e-03 9.99526389e-01 6.55073576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.120714057 meters Centerline goodness : 0.988609 Centerline is valid? [True, True] Translation: X:155.47, Y:110.50, Z:6.55 [[-6.30622492e-02 -9.98009410e-01 -6.08298857e-04 1.55473243e+02] [ 9.97538438e-01 -6.30137392e-02 -3.07625475e-02 1.10500304e+02] [ 3.06629807e-02 -2.54675693e-03 9.99526536e-01 6.55125359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.150714057 meters Centerline goodness : 0.988178 Centerline is valid? [True, True] Translation: X:155.47, Y:110.53, Z:6.55 [[-6.11397566e-02 -9.98128928e-01 -7.57236070e-04 1.55472456e+02] [ 9.97658257e-01 -6.10875881e-02 -3.07621493e-02 1.10526140e+02] [ 3.06583334e-02 -2.63625314e-03 9.99526446e-01 6.55369612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.180714057 meters Centerline goodness : 0.987641 Centerline is valid? [True, True] Translation: X:155.47, Y:110.55, Z:6.55 [[-5.80477528e-02 -9.98313587e-01 -6.63042233e-04 1.55469875e+02] [ 9.97842515e-01 -5.79999306e-02 -3.07623825e-02 1.10552351e+02] [ 3.06720480e-02 -2.44729890e-03 9.99526506e-01 6.55270380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.210714057 meters Centerline goodness : 0.986629 Centerline is valid? [True, True] Translation: X:155.47, Y:110.58, Z:6.55 [[-5.72592480e-02 -9.98359188e-01 -5.56237126e-04 1.55469036e+02] [ 9.97887818e-01 -5.72150739e-02 -3.07626071e-02 1.10581712e+02] [ 3.06803063e-02 -2.31650600e-03 9.99526564e-01 6.55223618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.240714057 meters Centerline goodness : 0.986531 Centerline is valid? [True, True] Translation: X:155.47, Y:110.61, Z:6.55 [[-5.52281070e-02 -9.98473598e-01 -5.74215437e-04 1.55467725e+02] [ 9.98002180e-01 -5.51843403e-02 -3.07625944e-02 1.10611266e+02] [ 3.06839506e-02 -2.27202811e-03 9.99526554e-01 6.55286523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.270714057 meters Centerline goodness : 0.985792 Centerline is valid? [True, True] Translation: X:155.47, Y:110.60, Z:6.55 [[-5.33903976e-02 -9.98573675e-01 -2.86450256e-04 1.55466673e+02] [ 9.98101640e-01 -5.33563355e-02 -3.07606678e-02 1.10602877e+02] [ 3.07015091e-02 -1.92823075e-03 9.99526738e-01 6.55267986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.300714057 meters Centerline goodness : 0.986349 Centerline is valid? [True, True] Translation: X:155.47, Y:110.60, Z:6.55 [[-5.27127081e-02 -9.98609647e-01 -3.79348645e-04 1.55465919e+02] [ 9.98137753e-01 -5.26761132e-02 -3.07612405e-02 1.10604353e+02] [ 3.06984889e-02 -2.00015049e-03 9.99526689e-01 6.55317353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.330714057 meters Centerline goodness : 0.985132 Centerline is valid? [True, True] Translation: X:155.47, Y:110.60, Z:6.56 [[-3.80453092e-02 -9.99275957e-01 -3.40969498e-04 1.55470171e+02] [ 9.98803525e-01 -3.80168262e-02 -3.07610179e-02 1.10596154e+02] [ 3.07257831e-02 -1.51087398e-03 9.99526710e-01 6.55640672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.360714057 meters Centerline goodness : 0.985132 Centerline is valid? [True, True] Translation: X:155.47, Y:110.62, Z:6.56 [[-3.88564506e-02 -9.99243362e-01 -1.69699218e-03 1.55470480e+02] [ 9.98774301e-01 -3.87859893e-02 -3.07496666e-02 1.10624142e+02] [ 3.06605807e-02 -2.88973508e-03 9.99525677e-01 6.55668927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.390714057 meters Centerline goodness : 0.984584 Centerline is valid? [True, True] Translation: X:155.47, Y:110.65, Z:6.56 [[-3.77705031e-02 -9.99285097e-01 -1.63806721e-03 1.55467947e+02] [ 9.98815780e-01 -3.77023572e-02 -3.07501321e-02 1.10647998e+02] [ 3.06663898e-02 -2.79757533e-03 9.99525761e-01 6.55789669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.420714057 meters Centerline goodness : 0.985469 Centerline is valid? [True, True] Translation: X:155.46, Y:110.67, Z:6.56 [[-4.02006694e-02 -9.99190709e-01 -1.35417002e-03 1.55463053e+02] [ 9.98720708e-01 -4.01400818e-02 -3.07525774e-02 1.10671479e+02] [ 3.06733331e-02 -2.58871184e-03 9.99526110e-01 6.55614676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45071405699997 meters Centerline goodness : 0.985807 Centerline is valid? [True, True] Translation: X:155.46, Y:110.70, Z:6.56 [[-4.07105118e-02 -9.99170519e-01 -9.63327119e-04 1.55462726e+02] [ 9.98699519e-01 -4.06616691e-02 -3.07554655e-02 1.10699878e+02] [ 3.06907839e-02 -2.21414507e-03 9.99526475e-01 6.55684709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48071405699997 meters Centerline goodness : 0.986003 Centerline is valid? [True, True] Translation: X:155.46, Y:110.73, Z:6.56 [[-4.13293312e-02 -9.99145146e-01 -9.29469972e-04 1.55463121e+02] [ 9.98674095e-01 -4.12812353e-02 -3.07556779e-02 1.10729518e+02] [ 3.06910166e-02 -2.19934918e-03 9.99526500e-01 6.55825137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51071405699997 meters Centerline goodness : 0.985811 Centerline is valid? [True, True] Translation: X:155.46, Y:110.76, Z:6.56 [[-4.17980909e-02 -9.99125573e-01 -1.00424245e-03 1.55463955e+02] [ 9.98654727e-01 -4.17474805e-02 -3.07552410e-02 1.10758391e+02] [ 3.06864232e-02 -2.28840183e-03 9.99526441e-01 6.55925993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54071405699997 meters Centerline goodness : 0.985597 Centerline is valid? [True, True] Translation: X:155.46, Y:110.78, Z:6.56 [[-4.29630096e-02 -9.99076114e-01 -1.04781939e-03 1.55463192e+02] [ 9.98605436e-01 -4.29105137e-02 -3.07550108e-02 1.10784829e+02] [ 3.06816342e-02 -2.36768596e-03 9.99526404e-01 6.56016732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57071405699998 meters Centerline goodness : 0.986269 Centerline is valid? [True, True] Translation: X:155.46, Y:110.81, Z:6.56 [[-4.48515103e-02 -9.98993247e-01 -9.13236846e-04 1.55463379e+02] [ 9.98522333e-01 -4.48022523e-02 -3.07556430e-02 1.10813086e+02] [ 3.06837646e-02 -2.29132442e-03 9.99526516e-01 6.56279247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60071405699998 meters Centerline goodness : 0.987133 Centerline is valid? [True, True] Translation: X:155.46, Y:110.84, Z:6.56 [[-4.57867626e-02 -9.98950786e-01 -9.48102317e-04 1.55463603e+02] [ 9.98480004e-01 -4.57359944e-02 -3.07555005e-02 1.10841333e+02] [ 3.06798691e-02 -2.35485601e-03 9.99526488e-01 6.56123031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63071405699998 meters Centerline goodness : 0.986142 Centerline is valid? [True, True] Translation: X:155.46, Y:110.87, Z:6.56 [[-4.90465914e-02 -9.98796057e-01 -9.31395197e-04 1.55464590e+02] [ 9.98325400e-01 -4.89947994e-02 -3.07555638e-02 1.10867746e+02] [ 3.06729023e-02 -2.43829105e-03 9.99526502e-01 6.56324855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66071405699998 meters Centerline goodness : 0.987507 Centerline is valid? [True, True] Translation: X:155.47, Y:110.89, Z:6.56 [[-5.03793702e-02 -9.98729730e-01 -9.19835471e-04 1.55465025e+02] [ 9.98259112e-01 -5.03273045e-02 -3.07556023e-02 1.10894137e+02] [ 3.06702416e-02 -2.46768202e-03 9.99526511e-01 6.56306275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69071405699998 meters Centerline goodness : 0.986726 Centerline is valid? [True, True] Translation: X:155.47, Y:110.92, Z:6.56 [[-5.20085288e-02 -9.98646248e-01 -8.85956004e-04 1.55465476e+02] [ 9.98175628e-01 -5.19567342e-02 -3.07556980e-02 1.10921566e+02] [ 3.06680310e-02 -2.48389830e-03 9.99526539e-01 6.56463254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72071405699998 meters Centerline goodness : 0.986656 Centerline is valid? [True, True] Translation: X:155.47, Y:110.95, Z:6.57 [[-5.32339130e-02 -9.98581709e-01 -8.48792768e-04 1.55466743e+02] [ 9.98111058e-01 -5.31826805e-02 -3.07557927e-02 1.10949229e+02] [ 3.06670310e-02 -2.48444064e-03 9.99526568e-01 6.56620791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75071405699998 meters Centerline goodness : 0.986919 Centerline is valid? [True, True] Translation: X:155.47, Y:110.98, Z:6.57 [[-5.46054341e-02 -9.98507681e-01 -8.10549915e-04 1.55467120e+02] [ 9.98037004e-01 -5.45547277e-02 -3.07558342e-02 1.10978106e+02] [ 3.06657174e-02 -2.48839449e-03 9.99526599e-01 6.56756137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78071405699998 meters Centerline goodness : 0.987025 Centerline is valid? [True, True] Translation: X:155.47, Y:110.96, Z:6.57 [[-5.43616346e-02 -9.98521250e-01 -3.54375942e-04 1.55467820e+02] [ 9.98049645e-01 -5.43250454e-02 -3.07521535e-02 1.10956549e+02] [ 3.06874273e-02 -2.02542211e-03 9.99526978e-01 6.56857925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81071405699998 meters Centerline goodness : 0.987601 Centerline is valid? [True, True] Translation: X:155.47, Y:110.96, Z:6.57 [[-4.97296953e-02 -9.98762685e-01 -2.38269858e-04 1.55468720e+02] [ 9.98290731e-01 -4.96988600e-02 -3.07512605e-02 1.10960943e+02] [ 3.07013698e-02 -1.76711341e-03 9.99527040e-01 6.57001278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84071405699999 meters Centerline goodness : 0.986834 Centerline is valid? [True, True] Translation: X:155.47, Y:110.99, Z:6.57 [[-5.03100703e-02 -9.98733019e-01 -1.11996862e-03 1.55468528e+02] [ 9.98263141e-01 -5.02519202e-02 -3.07481082e-02 1.10986406e+02] [ 3.06528703e-02 -2.66496287e-03 9.99526538e-01 6.56981547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.870714057 meters Centerline goodness : 0.987788 Centerline is valid? [True, True] Translation: X:155.47, Y:111.01, Z:6.57 [[-4.92501533e-02 -9.98786127e-01 -8.33952873e-04 1.55469737e+02] [ 9.98315450e-01 -4.92012699e-02 -3.07489528e-02 1.11013251e+02] [ 3.06705959e-02 -2.34693868e-03 9.99526791e-01 6.57089177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.900714057 meters Centerline goodness : 0.988671 Centerline is valid? [True, True] Translation: X:155.47, Y:111.05, Z:6.57 [[-4.91010699e-02 -9.98793537e-01 -7.44725185e-04 1.55470766e+02] [ 9.98322644e-01 -4.90549933e-02 -3.07490894e-02 1.11045401e+02] [ 3.06754593e-02 -2.25328920e-03 9.99526858e-01 6.57215422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.930714057 meters Centerline goodness : 0.987211 Centerline is valid? [True, True] Translation: X:155.45, Y:111.77, Z:6.59 [[-8.42052350e-02 -9.96448432e-01 -1.86633350e-05 1.55448680e+02] [ 9.95977652e-01 -8.41648758e-02 -3.07374515e-02 1.11767021e+02] [ 3.06267145e-02 -2.60684259e-03 9.99527493e-01 6.59073384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.960714057 meters Centerline goodness : 0.988002 Centerline is valid? [True, True] Translation: X:155.47, Y:111.05, Z:6.57 [[-4.75597309e-02 -9.98868059e-01 8.20263480e-04 1.55473231e+02] [ 9.98395672e-01 -4.75624683e-02 -3.07228483e-02 1.11047386e+02] [ 3.07270856e-02 -6.42222890e-04 9.99527605e-01 6.56884373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.990714057 meters Centerline goodness : 0.988980 Centerline is valid? [True, True] Translation: X:155.47, Y:111.08, Z:6.57 [[-4.98086363e-02 -9.98758301e-01 -9.78214642e-04 1.55474758e+02] [ 9.98288891e-01 -4.97551385e-02 -3.07199620e-02 1.11077121e+02] [ 3.06331458e-02 -2.50666023e-03 9.99527552e-01 6.56817738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.020714057 meters Centerline goodness : 0.990787 Centerline is valid? [True, True] Translation: X:155.46, Y:111.35, Z:6.58 [[-7.92825216e-02 -9.96852148e-01 -2.76698137e-04 1.55458645e+02] [ 9.96382645e-01 -7.92366561e-02 -3.07111871e-02 1.11354126e+02] [ 3.05925882e-02 -2.71055758e-03 9.99528262e-01 6.57774555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.050714057 meters Centerline goodness : 0.990763 Centerline is valid? [True, True] Translation: X:155.46, Y:111.14, Z:6.57 [[-8.01086560e-02 -9.96785939e-01 6.28623956e-04 1.55463725e+02] [ 9.96314767e-01 -8.00901499e-02 -3.06994093e-02 1.11140574e+02] [ 3.06510861e-02 -1.83298109e-03 9.99528464e-01 6.57129393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.080714057 meters Centerline goodness : 0.988634 Centerline is valid? [True, True] Translation: X:155.48, Y:111.12, Z:6.57 [[-5.92573353e-02 -9.98242524e-01 6.57308225e-04 1.55478605e+02] [ 9.97771045e-01 -5.92495619e-02 -3.06990310e-02 1.11120331e+02] [ 3.06840234e-02 -1.16329966e-03 9.99528458e-01 6.56712318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.110714057 meters Centerline goodness : 0.989395 Centerline is valid? [True, True] Translation: X:155.48, Y:111.11, Z:6.57 [[-6.18955758e-02 -9.98082614e-01 -1.82615369e-04 1.55479410e+02] [ 9.97612258e-01 -6.18607882e-02 -3.07087133e-02 1.11105300e+02] [ 3.06385361e-02 -2.08291282e-03 9.99528360e-01 6.56610388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.140714057 meters Centerline goodness : 0.989173 Centerline is valid? [True, True] Translation: X:155.48, Y:111.12, Z:6.57 [[-6.44600848e-02 -9.97920285e-01 -5.66511383e-05 1.55478691e+02] [ 9.97449799e-01 -6.44279509e-02 -3.07072863e-02 1.11117889e+02] [ 3.06397739e-02 -2.03590095e-03 9.99528418e-01 6.56815715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.170714057 meters Centerline goodness : 0.989268 Centerline is valid? [True, True] Translation: X:155.48, Y:111.13, Z:6.57 [[-6.74477293e-02 -9.97722809e-01 -1.05868340e-05 1.55478683e+02] [ 9.97252341e-01 -6.74155990e-02 -3.07067682e-02 1.11133157e+02] [ 3.06361293e-02 -2.08165953e-03 9.99528436e-01 6.56973091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20071405699997 meters Centerline goodness : 0.989876 Centerline is valid? [True, True] Translation: X:155.48, Y:111.12, Z:6.57 [[-6.62066083e-02 -9.97805931e-01 9.76332440e-05 1.55479712e+02] [ 9.97335245e-01 -6.61783817e-02 -3.07055675e-02 1.11123543e+02] [ 3.06446585e-02 -1.93553840e-03 9.99528468e-01 6.56927279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23071405699997 meters Centerline goodness : 0.988825 Centerline is valid? [True, True] Translation: X:155.48, Y:111.14, Z:6.57 [[-6.81329865e-02 -9.97676248e-01 -8.84077281e-06 1.55480651e+02] [ 9.97205800e-01 -6.81005868e-02 -3.07067067e-02 1.11139073e+02] [ 3.06347499e-02 -2.10095570e-03 9.99528438e-01 6.57143704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26071405699997 meters Centerline goodness : 0.989439 Centerline is valid? [True, True] Translation: X:155.48, Y:111.13, Z:6.57 [[-6.86134953e-02 -9.97643316e-01 5.50499663e-05 1.55480606e+02] [ 9.97172771e-01 -6.85828277e-02 -3.07060403e-02 1.11132356e+02] [ 3.06374513e-02 -2.05195443e-03 9.99528457e-01 6.57188846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29071405699997 meters Centerline goodness : 0.989284 Centerline is valid? [True, True] Translation: X:155.48, Y:111.15, Z:6.57 [[-6.89574220e-02 -9.97619604e-01 -2.09919300e-05 1.55480900e+02] [ 9.97149206e-01 -6.89242610e-02 -3.07068013e-02 1.11146516e+02] [ 3.06322601e-02 -2.13839394e-03 9.99528435e-01 6.57151702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32071405699998 meters Centerline goodness : 0.989165 Centerline is valid? [True, True] Translation: X:155.48, Y:111.15, Z:6.57 [[-6.76598598e-02 -9.97708446e-01 2.16034289e-05 1.55482890e+02] [ 9.97237930e-01 -6.76286165e-02 -3.07063815e-02 1.11154067e+02] [ 3.06374771e-02 -2.05604571e-03 9.99528448e-01 6.57402133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35071405699998 meters Centerline goodness : 0.989890 Centerline is valid? [True, True] Translation: X:155.48, Y:111.14, Z:6.57 [[-6.92144493e-02 -9.97601801e-01 -8.62295078e-05 1.55482373e+02] [ 9.97131535e-01 -6.91791676e-02 -3.07073948e-02 1.11139819e+02] [ 3.06277871e-02 -2.21137758e-03 9.99528413e-01 6.57191511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38071405699998 meters Centerline goodness : 0.988963 Centerline is valid? [True, True] Translation: X:155.48, Y:111.14, Z:6.57 [[-6.79962097e-02 -9.97685579e-01 -3.81609216e-05 1.55483897e+02] [ 9.97215181e-01 -6.79629757e-02 -3.07069578e-02 1.11142232e+02] [ 3.06332955e-02 -2.12601140e-03 9.99528429e-01 6.57247162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41071405699998 meters Centerline goodness : 0.990033 Centerline is valid? [True, True] Translation: X:155.48, Y:111.14, Z:6.57 [[-6.65212793e-02 -9.97785006e-01 2.01417624e-05 1.55484257e+02] [ 9.97314456e-01 -6.64905280e-02 -3.07064445e-02 1.11142542e+02] [ 3.06397692e-02 -2.02254430e-03 9.99528446e-01 6.57239523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44071405699998 meters Centerline goodness : 0.989121 Centerline is valid? [True, True] Translation: X:155.48, Y:111.17, Z:6.57 [[-6.76678304e-02 -9.97707903e-01 -7.67414666e-05 1.55484184e+02] [ 9.97237567e-01 -6.76335687e-02 -3.07072672e-02 1.11165700e+02] [ 3.06316929e-02 -2.15442362e-03 9.99528418e-01 6.57287975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47071405699998 meters Centerline goodness : 0.990121 Centerline is valid? [True, True] Translation: X:155.48, Y:111.15, Z:6.57 [[-6.50120653e-02 -9.97884474e-01 9.24772990e-05 1.55484865e+02] [ 9.97413756e-01 -6.49842437e-02 -3.07058363e-02 1.11149447e+02] [ 3.06468868e-02 -1.90401170e-03 9.99528460e-01 6.57234391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50071405699998 meters Centerline goodness : 0.988832 Centerline is valid? [True, True] Translation: X:155.49, Y:111.16, Z:6.57 [[-6.33379175e-02 -9.97992138e-01 -2.53624705e-05 1.55485223e+02] [ 9.97521570e-01 -6.33072724e-02 -3.07067850e-02 1.11163494e+02] [ 3.06435244e-02 -1.97020343e-03 9.99528435e-01 6.57342944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53071405699998 meters Centerline goodness : 0.989125 Centerline is valid? [True, True] Translation: X:155.49, Y:111.16, Z:6.57 [[-6.23307341e-02 -9.98055548e-01 -4.43311462e-05 1.55485997e+02] [ 9.97584982e-01 -6.22999823e-02 -3.07069318e-02 1.11160968e+02] [ 3.06444618e-02 -1.95820969e-03 9.99528430e-01 6.57313886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56071405699998 meters Centerline goodness : 0.990145 Centerline is valid? [True, True] Translation: X:155.49, Y:111.18, Z:6.57 [[-6.30110337e-02 -9.98012829e-01 5.30730684e-05 1.55485020e+02] [ 9.97542119e-01 -6.29829476e-02 -3.07061882e-02 1.11176545e+02] [ 3.06485125e-02 -1.88188604e-03 9.99528452e-01 6.57208377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59071405699999 meters Centerline goodness : 0.988885 Centerline is valid? [True, True] Translation: X:155.49, Y:111.16, Z:6.57 [[-6.09011842e-02 -9.98143796e-01 9.62903771e-05 1.55485811e+02] [ 9.97672959e-01 -6.08754186e-02 -3.07058690e-02 1.11160767e+02] [ 3.06547343e-02 -1.77395748e-03 9.99528459e-01 6.57145785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.620714057 meters Centerline goodness : 0.988592 Centerline is valid? [True, True] Translation: X:155.49, Y:111.16, Z:6.57 [[-5.77188432e-02 -9.98332873e-01 9.65657032e-05 1.55485527e+02] [ 9.97861957e-01 -5.76945871e-02 -3.07058671e-02 1.11157187e+02] [ 3.06602478e-02 -1.67594789e-03 9.99528459e-01 6.57135276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.650714057 meters Centerline goodness : 0.989173 Centerline is valid? [True, True] Translation: X:155.49, Y:111.20, Z:6.57 [[-5.73348233e-02 -9.98355005e-01 5.26228491e-05 1.55485642e+02] [ 9.97884144e-01 -5.73094006e-02 -3.07061626e-02 1.11197724e+02] [ 3.06586669e-02 -1.70802090e-03 9.99528453e-01 6.57186775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.680714057 meters Centerline goodness : 0.989326 Centerline is valid? [True, True] Translation: X:155.49, Y:111.14, Z:6.57 [[-4.72996838e-02 -9.98880734e-01 1.41260594e-04 1.55488122e+02] [ 9.98409539e-01 -4.72817138e-02 -3.07055794e-02 1.11142030e+02] [ 3.06778907e-02 -1.31132827e-03 9.99528463e-01 6.56981334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.710714057 meters Centerline goodness : 0.988774 Centerline is valid? [True, True] Translation: X:155.49, Y:111.16, Z:6.57 [[-5.13216001e-02 -9.98682101e-01 -3.92842142e-04 1.55486425e+02] [ 9.98211804e-01 -5.12853524e-02 -3.07084138e-02 1.11157944e+02] [ 3.06477962e-02 -1.96814460e-03 9.99528308e-01 6.56915313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.740714057 meters Centerline goodness : 0.989548 Centerline is valid? [True, True] Translation: X:155.49, Y:111.14, Z:6.57 [[-4.03507977e-02 -9.99185575e-01 -2.12216210e-05 1.55488680e+02] [ 9.98714433e-01 -4.03311191e-02 -3.07063744e-02 1.11138299e+02] [ 3.06805104e-02 -1.26022104e-03 9.99528448e-01 6.56822549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.770714057 meters Centerline goodness : 0.989281 Centerline is valid? [True, True] Translation: X:155.49, Y:111.17, Z:6.57 [[-4.00086795e-02 -9.99198883e-01 -9.47650593e-04 1.55489421e+02] [ 9.98729394e-01 -3.99607608e-02 -3.07039866e-02 1.11166094e+02] [ 3.06415202e-02 -2.17487246e-03 9.99528072e-01 6.56843836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.800714057 meters Centerline goodness : 0.989440 Centerline is valid? [True, True] Translation: X:155.49, Y:111.19, Z:6.57 [[-3.78483765e-02 -9.99283095e-01 -8.92006963e-04 1.55488507e+02] [ 9.98813385e-01 -3.78031780e-02 -3.07041072e-02 1.11191636e+02] [ 3.06483746e-02 -2.05304910e-03 9.99528120e-01 6.56829167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.830714057 meters Centerline goodness : 0.990521 Centerline is valid? [True, True] Translation: X:155.49, Y:111.23, Z:6.57 [[-4.21019421e-02 -9.99113052e-01 -7.31752012e-04 1.55488701e+02] [ 9.98643190e-01 -4.20596545e-02 -3.07044724e-02 1.11226346e+02] [ 3.06464619e-02 -2.02347708e-03 9.99528239e-01 6.56762370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.860714057 meters Centerline goodness : 0.988261 Centerline is valid? [True, True] Translation: X:155.49, Y:111.24, Z:6.57 [[-3.42710826e-02 -9.99411761e-01 -1.27478691e-03 1.55486986e+02] [ 9.98942729e-01 -3.42158355e-02 -3.07034475e-02 1.11243386e+02] [ 3.06417686e-02 -2.32567950e-03 9.99527725e-01 6.57331946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.890714057 meters Centerline goodness : 0.987702 Centerline is valid? [True, True] Translation: X:155.49, Y:111.25, Z:6.57 [[-3.14569811e-02 -9.99505092e-01 -1.72054590e-04 1.55487012e+02] [ 9.99034144e-01 -3.14368745e-02 -3.07002073e-02 1.11251248e+02] [ 3.06796046e-02 -1.13762425e-03 9.99528623e-01 6.57406921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.920714057 meters Centerline goodness : 0.987852 Centerline is valid? [True, True] Translation: X:155.49, Y:111.28, Z:6.58 [[-2.75699603e-02 -9.99619762e-01 -4.78629627e-04 1.55487841e+02] [ 9.99149111e-01 -2.75422801e-02 -3.06997892e-02 1.11277904e+02] [ 3.06749334e-02 -1.32461433e-03 9.99528536e-01 6.57651184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95071405699997 meters Centerline goodness : 0.986690 Centerline is valid? [True, True] Translation: X:155.49, Y:111.31, Z:6.58 [[-2.39359613e-02 -9.99713392e-01 -4.51981986e-04 1.55491008e+02] [ 9.99242610e-01 -2.39108098e-02 -3.06998198e-02 1.11309192e+02] [ 3.06802138e-02 -1.18646936e-03 9.99528547e-01 6.57969267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98071405699997 meters Centerline goodness : 0.989537 Centerline is valid? [True, True] Translation: X:155.49, Y:111.35, Z:6.58 [[-3.02950140e-02 -9.99540817e-01 -6.05345417e-04 1.55491266e+02] [ 9.99070429e-01 -3.02621645e-02 -3.06998127e-02 1.11346187e+02] [ 3.06673968e-02 -1.53483396e-03 9.99528466e-01 6.57507652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01071405699997 meters Centerline goodness : 0.986599 Centerline is valid? [True, True] Translation: X:155.49, Y:111.36, Z:6.58 [[-2.41795709e-02 -9.99707448e-01 -6.06437109e-04 1.55494765e+02] [ 9.99236868e-01 -2.41495662e-02 -3.06998248e-02 1.11355057e+02] [ 3.06761983e-02 -1.34828291e-03 9.99528465e-01 6.58309895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04071405699997 meters Centerline goodness : 0.986049 Centerline is valid? [True, True] Translation: X:155.49, Y:111.35, Z:6.58 [[-3.17994461e-02 -9.99494207e-01 -3.54890629e-04 1.55494318e+02] [ 9.99023591e-01 -3.17735736e-02 -3.06969710e-02 1.11353081e+02] [ 3.06701685e-02 -1.33069078e-03 9.99528674e-01 6.57904640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07071405699998 meters Centerline goodness : 0.987147 Centerline is valid? [True, True] Translation: X:155.50, Y:111.36, Z:6.58 [[-2.67853073e-02 -9.99641198e-01 1.52739460e-04 1.55497060e+02] [ 9.99170172e-01 -2.67773756e-02 -3.06910318e-02 1.11358179e+02] [ 3.06841098e-02 -6.69456006e-04 9.99528908e-01 6.57949439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10071405699998 meters Centerline goodness : 0.986526 Centerline is valid? [True, True] Translation: X:155.50, Y:111.36, Z:6.58 [[-2.66178188e-02 -9.99645675e-01 -1.28359536e-04 1.55498919e+02] [ 9.99174779e-01 -2.66013388e-02 -3.06941339e-02 1.11363438e+02] [ 3.06798436e-02 -9.45264503e-04 9.99528816e-01 6.57926165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13071405699998 meters Centerline goodness : 0.986843 Centerline is valid? [True, True] Translation: X:155.50, Y:111.35, Z:6.58 [[-2.67570815e-02 -9.99641959e-01 -1.11346468e-04 1.55500884e+02] [ 9.99171055e-01 -2.67410581e-02 -3.06939493e-02 1.11353596e+02] [ 3.06799821e-02 -9.32534671e-04 9.99528824e-01 6.57920542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16071405699998 meters Centerline goodness : 0.987422 Centerline is valid? [True, True] Translation: X:155.50, Y:111.35, Z:6.58 [[-2.80654271e-02 -9.99606077e-01 -1.53650319e-04 1.55500966e+02] [ 9.99135222e-01 -2.80474892e-02 -3.06943925e-02 1.11351620e+02] [ 3.06779917e-02 -1.01496868e-03 9.99528804e-01 6.57804357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19071405699998 meters Centerline goodness : 0.988102 Centerline is valid? [True, True] Translation: X:155.50, Y:111.36, Z:6.58 [[-3.18110882e-02 -9.99493896e-01 -8.18526967e-05 1.55503697e+02] [ 9.99023057e-01 -3.17935890e-02 -3.06936518e-02 1.11360283e+02] [ 3.06755152e-02 -1.05817119e-03 9.99528836e-01 6.57574264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22071405699998 meters Centerline goodness : 0.988626 Centerline is valid? [True, True] Translation: X:155.51, Y:111.36, Z:6.58 [[-3.14013558e-02 -9.99506856e-01 -1.69810111e-06 1.55506294e+02] [ 9.99035954e-01 -3.13865094e-02 -3.06928297e-02 1.11360203e+02] [ 3.06776404e-02 -9.65492928e-04 9.99528864e-01 6.57579421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25071405699998 meters Centerline goodness : 0.988626 Centerline is valid? [True, True] Translation: X:155.51, Y:111.36, Z:6.58 [[-3.10431683e-02 -9.99518044e-01 -4.00445593e-05 1.55506203e+02] [ 9.99047162e-01 -3.10273139e-02 -3.06932118e-02 1.11362859e+02] [ 3.06771765e-02 -9.92820942e-04 9.99528852e-01 6.57586096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28071405699998 meters Centerline goodness : 0.991394 Centerline is valid? [True, True] Translation: X:155.50, Y:111.38, Z:6.58 [[-5.04404778e-02 -9.98727068e-01 -4.59841516e-05 1.55497787e+02] [ 9.98256590e-01 -5.04153032e-02 -3.06932694e-02 1.11377981e+02] [ 3.06518806e-02 -1.59408715e-03 9.99528850e-01 6.57571950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31071405699998 meters Centerline goodness : 0.988880 Centerline is valid? [True, True] Translation: X:155.50, Y:111.87, Z:6.59 [[-4.89815495e-02 -9.98799637e-01 3.04877459e-04 1.55497199e+02] [ 9.98328748e-01 -4.89678248e-02 -3.06897857e-02 1.11872070e+02] [ 3.06678760e-02 -1.19886533e-03 9.99528911e-01 6.59166668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34071405699999 meters Centerline goodness : 0.991909 Centerline is valid? [True, True] Translation: X:155.50, Y:111.39, Z:6.58 [[-4.98561885e-02 -9.98756240e-01 5.77253398e-04 1.55501937e+02] [ 9.98285154e-01 -4.98504089e-02 -3.06869288e-02 1.11392478e+02] [ 3.06775379e-02 -9.53669807e-04 9.99528879e-01 6.57653249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.370714057 meters Centerline goodness : 0.990153 Centerline is valid? [True, True] Translation: X:155.50, Y:111.80, Z:6.59 [[-4.57218899e-02 -9.98954175e-01 2.56444020e-04 1.55504490e+02] [ 9.98483303e-01 -4.57082166e-02 -3.06896111e-02 1.11798775e+02] [ 3.06692367e-02 -1.14713195e-03 9.99528930e-01 6.59136116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.400714057 meters Centerline goodness : 0.989744 Centerline is valid? [True, True] Translation: X:155.49, Y:112.00, Z:6.59 [[-5.40635254e-02 -9.98537439e-01 3.43351727e-04 1.55494483e+02] [ 9.98066597e-01 -5.40485854e-02 -3.06890459e-02 1.11998881e+02] [ 3.06627189e-02 -1.31647012e-03 9.99528921e-01 6.59354528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.430714057 meters Centerline goodness : 0.992613 Centerline is valid? [True, True] Translation: X:155.51, Y:111.42, Z:6.58 [[-4.53128362e-02 -9.98972823e-01 2.15877566e-04 1.55505932e+02] [ 9.98501986e-01 -4.52981114e-02 -3.06898172e-02 1.11417960e+02] [ 3.06680721e-02 -1.17508848e-03 9.99528933e-01 6.57890003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.460714057 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:155.51, Y:111.42, Z:6.58 [[-4.49953704e-02 -9.98987188e-01 1.20688457e-04 1.55507469e+02] [ 9.98516451e-01 -4.49778757e-02 -3.06901916e-02 1.11416225e+02] [ 3.06645366e-02 -1.26040713e-03 9.99528938e-01 6.57902760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.490714057 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:155.51, Y:111.42, Z:6.58 [[-4.50303415e-02 -9.98985614e-01 1.08885761e-04 1.55509212e+02] [ 9.98514891e-01 -4.50124683e-02 -3.06902335e-02 1.11421430e+02] [ 3.06640030e-02 -1.27326764e-03 9.99528938e-01 6.57889388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.520714057 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:155.51, Y:111.42, Z:6.58 [[-4.54592113e-02 -9.98966191e-01 9.70928162e-05 1.55510994e+02] [ 9.98495490e-01 -4.54407743e-02 -3.06902708e-02 1.11423197e+02] [ 3.06629549e-02 -1.29820877e-03 9.99528938e-01 6.57882480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.550714057 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:155.51, Y:111.43, Z:6.58 [[-4.71856618e-02 -9.98886133e-01 8.52900934e-05 1.55514478e+02] [ 9.98415479e-01 -4.71660495e-02 -3.06903036e-02 1.11425715e+02] [ 3.06601415e-02 -1.36298734e-03 9.99528938e-01 6.57802171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.580714057 meters Centerline goodness : 0.993013 Centerline is valid? [True, True] Translation: X:155.52, Y:111.44, Z:6.58 [[-4.84309892e-02 -9.98826528e-01 7.34913220e-05 1.55516255e+02] [ 9.98355915e-01 -4.84104283e-02 -3.06903319e-02 1.11437509e+02] [ 3.06578754e-02 -1.41299264e-03 9.99528938e-01 6.57744043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.610714057 meters Centerline goodness : 0.991228 Centerline is valid? [True, True] Translation: X:155.53, Y:111.40, Z:6.58 [[-3.43812073e-02 -9.99408790e-01 6.16549305e-05 1.55528804e+02] [ 9.98937945e-01 -3.43669029e-02 -3.06903557e-02 1.11403727e+02] [ 3.06743301e-02 -9.93582031e-04 9.99528938e-01 6.57715629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.640714057 meters Centerline goodness : 0.990937 Centerline is valid? [True, True] Translation: X:155.53, Y:111.43, Z:6.58 [[-3.66026331e-02 -9.99329650e-01 -7.06207282e-04 1.55531120e+02] [ 9.98860038e-01 -3.65637464e-02 -3.06874214e-02 1.11433109e+02] [ 3.06410285e-02 -1.82864266e-03 9.99528781e-01 6.57786805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.670714057 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:155.53, Y:111.46, Z:6.58 [[-3.93671240e-02 -9.99224499e-01 -7.93354155e-04 1.55531607e+02] [ 9.98755176e-01 -3.93242691e-02 -3.06871340e-02 1.11460363e+02] [ 3.06321380e-02 -2.00043078e-03 9.99528724e-01 6.57782241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70071405699997 meters Centerline goodness : 0.990688 Centerline is valid? [True, True] Translation: X:155.53, Y:111.49, Z:6.58 [[-4.18280430e-02 -9.99124583e-01 -6.94514453e-04 1.55532610e+02] [ 9.98655158e-01 -4.17870591e-02 -3.06874232e-02 1.11485697e+02] [ 3.06315372e-02 -1.97717530e-03 9.99528789e-01 6.57948311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73071405699997 meters Centerline goodness : 0.990498 Centerline is valid? [True, True] Translation: X:155.53, Y:111.51, Z:6.58 [[-4.27598400e-02 -9.99085263e-01 -4.83756092e-04 1.55533711e+02] [ 9.98615459e-01 -4.27248738e-02 -3.06879330e-02 1.11513813e+02] [ 3.06391932e-02 -1.79529742e-03 9.99528897e-01 6.58179561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76071405699997 meters Centerline goodness : 0.991357 Centerline is valid? [True, True] Translation: X:155.53, Y:111.53, Z:6.58 [[-4.83824219e-02 -9.98828779e-01 -4.59649656e-04 1.55529300e+02] [ 9.98359130e-01 -4.83455502e-02 -3.06880224e-02 1.11534703e+02] [ 3.06298579e-02 -1.94365628e-03 9.99528906e-01 6.58279455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79071405699997 meters Centerline goodness : 0.984615 Centerline is valid? [True, True] Translation: X:155.52, Y:111.55, Z:6.58 [[-5.34179198e-02 -9.98572226e-01 1.86474978e-04 1.55523322e+02] [ 9.98101599e-01 -5.33984748e-02 -3.06887789e-02 1.11553790e+02] [ 3.06549198e-02 -1.45320976e-03 9.99528971e-01 6.58215337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82071405699998 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:155.52, Y:111.59, Z:6.58 [[-5.77816314e-02 -9.98328879e-01 8.55648679e-04 1.55522890e+02] [ 9.97857449e-01 -5.77806500e-02 -3.06905284e-02 1.11592207e+02] [ 3.06886807e-02 -9.19533391e-04 9.99528569e-01 6.58051854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85071405699998 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:155.52, Y:111.61, Z:6.58 [[-5.94598223e-02 -9.98230544e-01 -5.56653386e-04 1.55521488e+02] [ 9.97761527e-01 -5.94147717e-02 -3.06890760e-02 1.11613905e+02] [ 3.06016996e-02 -2.38017434e-03 9.99528824e-01 6.58196063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88071405699998 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:155.52, Y:111.65, Z:6.58 [[-6.13480225e-02 -9.98116436e-01 -5.82247967e-06 1.55524136e+02] [ 9.97646310e-01 -6.13189477e-02 -3.06891852e-02 1.11647296e+02] [ 3.06310231e-02 -1.88852960e-03 9.99528976e-01 6.57930849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91071405699998 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:156.29, Y:111.37, Z:7.41 [[-9.59225322e-03 9.99953993e-01 5.82247967e-06 1.56286228e+02] [ 9.99482993e-01 9.58755636e-03 3.06891852e-02 1.11374107e+02] [ 3.06877175e-02 3.00197905e-04 -9.99528976e-01 7.40815767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94071405699998 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:155.56, Y:111.34, Z:6.57 [[-1.37722691e-01 -9.90468282e-01 2.24577584e-03 1.55558778e+02] [ 9.89999823e-01 -1.37726761e-01 -3.05236019e-02 1.11342687e+02] [ 3.05419630e-02 -1.98047490e-03 9.99531523e-01 6.57410433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97071405699998 meters Centerline goodness : 0.992982 Centerline is valid? [True, True] Translation: X:155.53, Y:111.75, Z:6.58 [[-1.33223655e-01 -9.91083489e-01 2.23083322e-03 1.55532257e+02] [ 9.90615047e-01 -1.33229394e-01 -3.05246940e-02 1.11747650e+02] [ 3.05497328e-02 -1.85671434e-03 9.99531523e-01 6.58367328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00071405699998 meters Centerline goodness : 0.991540 Centerline is valid? [True, True] Translation: X:155.53, Y:111.76, Z:6.59 [[-1.41028513e-01 -9.90003607e-01 1.95378132e-03 1.55529737e+02] [ 9.89535114e-01 -1.41022058e-01 -3.05456744e-02 1.11763068e+02] [ 3.05158541e-02 -2.37447583e-03 9.99531462e-01 6.58881427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03071405699998 meters Centerline goodness : 0.992972 Centerline is valid? [True, True] Translation: X:155.53, Y:111.77, Z:6.59 [[-1.36244719e-01 -9.90672426e-01 2.34962635e-03 1.55527216e+02] [ 9.90204018e-01 -1.36252676e-01 -3.05157362e-02 1.11768782e+02] [ 3.05512413e-02 -1.83099847e-03 9.99531525e-01 6.58654981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06071405699998 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:156.32, Y:111.54, Z:7.41 [[-6.77795150e-02 9.97697558e-01 -2.34962635e-03 1.56318623e+02] [ 9.97230807e-01 6.78196719e-02 3.05157362e-02 1.11541884e+02] [ 3.06048264e-02 -2.74777975e-04 -9.99531525e-01 7.40727183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09071405699999 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:155.58, Y:111.47, Z:6.58 [[-2.11080735e-01 -9.77459293e-01 4.27257898e-03 1.55577965e+02] [ 9.76993778e-01 -2.11112408e-01 -3.02441396e-02 1.11468561e+02] [ 3.04644097e-02 -2.20967211e-03 9.99533410e-01 6.58265318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.120714057 meters Centerline goodness : 0.993693 Centerline is valid? [True, True] Translation: X:155.58, Y:111.48, Z:6.58 [[-2.10982367e-01 -9.77480594e-01 4.25776130e-03 1.55575365e+02] [ 9.77015053e-01 -2.11013631e-01 -3.02462254e-02 1.11477016e+02] [ 3.04635441e-02 -2.22152334e-03 9.99533410e-01 6.58317990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.150714057 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:155.52, Y:111.90, Z:6.59 [[-2.06726171e-01 -9.78389627e-01 4.24594334e-03 1.55516384e+02] [ 9.77924200e-01 -2.06759098e-01 -3.02478844e-02 1.11901450e+02] [ 3.04721037e-02 -2.10081858e-03 9.99533410e-01 6.59492203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.180714057 meters Centerline goodness : 0.993007 Centerline is valid? [True, True] Translation: X:155.50, Y:111.97, Z:6.60 [[-2.11475345e-01 -9.77375083e-01 4.01571657e-03 1.55501829e+02] [ 9.76909041e-01 -2.11498921e-01 -3.02808730e-02 1.11970532e+02] [ 3.04450904e-02 -2.48066822e-03 9.99533363e-01 6.59713255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.210714057 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:156.34, Y:111.72, Z:7.41 [[-1.29775770e-01 9.91535236e-01 -4.01571657e-03 1.56343201e+02] [ 9.91072750e-01 1.29837875e-01 3.02808730e-02 1.11721242e+02] [ 3.05459446e-02 -5.01436651e-05 -9.99533363e-01 7.41024128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.240714057 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:155.59, Y:111.59, Z:6.59 [[-2.83687738e-01 -9.58896015e-01 6.30070972e-03 1.55592040e+02] [ 9.58435960e-01 -2.83747427e-01 -2.97977987e-02 1.11588524e+02] [ 3.03608006e-02 -2.41444337e-03 9.99536089e-01 6.58812972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.270714057 meters Centerline goodness : 0.993083 Centerline is valid? [True, True] Translation: X:155.50, Y:112.02, Z:6.60 [[-2.83408398e-01 -9.58978709e-01 6.28608853e-03 1.55501181e+02] [ 9.58518613e-01 -2.83467769e-01 -2.98008829e-02 1.12023727e+02] [ 3.03603157e-02 -2.42048761e-03 9.99536089e-01 6.60145952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.300714057 meters Centerline goodness : 0.991902 Centerline is valid? [True, True] Translation: X:155.46, Y:112.19, Z:6.60 [[-2.86057865e-01 -9.58191653e-01 6.29710790e-03 1.55461688e+02] [ 9.57731438e-01 -2.86116305e-01 -2.97985533e-02 1.12191110e+02] [ 3.03544303e-02 -2.49317233e-03 9.99536089e-01 6.60187796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.330714057 meters Centerline goodness : 0.992182 Centerline is valid? [True, True] Translation: X:156.34, Y:111.87, Z:7.42 [[-2.28291194e-01 9.73572533e-01 -6.29710790e-03 1.56344972e+02] [ 9.73116632e-01 2.28377029e-01 2.97985533e-02 1.11867995e+02] [ 3.04491678e-02 6.74926891e-04 -9.99536089e-01 7.42226301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.360714057 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:155.61, Y:111.72, Z:6.59 [[-3.44926167e-01 -9.38579586e-01 9.71083686e-03 1.55611078e+02] [ 9.38137842e-01 -3.45061849e-01 -2.88046863e-02 1.11721036e+02] [ 3.03863298e-02 -8.25386478e-04 9.99537888e-01 6.58813711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.390714057 meters Centerline goodness : 0.994370 Centerline is valid? [True, True] Translation: X:155.61, Y:111.72, Z:6.59 [[-3.45345036e-01 -9.38446483e-01 7.41654919e-03 1.55610498e+02] [ 9.37989371e-01 -3.45409671e-01 -2.94635055e-02 1.11721285e+02] [ 3.02116709e-02 -3.21843107e-03 9.99538342e-01 6.58732567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.420714057 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:155.61, Y:111.72, Z:6.59 [[-3.45916045e-01 -9.38234937e-01 7.56916819e-03 1.55607804e+02] [ 9.37778629e-01 -3.45985151e-01 -2.94196893e-02 1.11723846e+02] [ 3.02214002e-02 -3.07853840e-03 9.99538488e-01 6.58888219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45071405699997 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:155.60, Y:111.73, Z:6.59 [[-3.46250798e-01 -9.38111115e-01 7.61060033e-03 1.55602792e+02] [ 9.37655014e-01 -3.46321030e-01 -2.94077971e-02 1.11733455e+02] [ 3.02234922e-02 -3.04635562e-03 9.99538524e-01 6.59044918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48071405699997 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:155.59, Y:111.75, Z:6.59 [[-3.44532744e-01 -9.38743470e-01 7.60827540e-03 1.55594364e+02] [ 9.38287485e-01 -3.44603739e-01 -2.94084644e-02 1.11750869e+02] [ 3.02288441e-02 -2.99342937e-03 9.99538522e-01 6.59162907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51071405699997 meters Centerline goodness : 0.992837 Centerline is valid? [True, True] Translation: X:155.59, Y:111.74, Z:6.59 [[-3.44590510e-01 -9.38722011e-01 7.63985650e-03 1.55594124e+02] [ 9.38266202e-01 -3.44662459e-01 -2.93994009e-02 1.11742450e+02] [ 3.02310365e-02 -2.96253541e-03 9.99538547e-01 6.59422560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54071405699997 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:155.59, Y:111.74, Z:6.59 [[-3.43018897e-01 -9.39296740e-01 7.72466419e-03 1.55593777e+02] [ 9.38841544e-01 -3.43094243e-01 -2.93750783e-02 1.11737432e+02] [ 3.02422031e-02 -2.82397132e-03 9.99538611e-01 6.59359524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57071405699998 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:155.59, Y:111.74, Z:6.60 [[-3.42021697e-01 -9.39660442e-01 7.70796661e-03 1.55588688e+02] [ 9.39205229e-01 -3.42097007e-01 -2.93798609e-02 1.11742752e+02] [ 3.02439653e-02 -2.80918732e-03 9.99538599e-01 6.59528000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60071405699998 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:155.59, Y:111.74, Z:6.60 [[-3.40890624e-01 -9.40070511e-01 7.81136028e-03 1.55588870e+02] [ 9.39616003e-01 -3.40969690e-01 -2.93502584e-02 1.11735680e+02] [ 3.02547495e-02 -2.66554878e-03 9.99538666e-01 6.59543621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63071405699998 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:155.59, Y:111.73, Z:6.59 [[-3.38007931e-01 -9.41111049e-01 7.78672698e-03 1.55587682e+02] [ 9.40656636e-01 -3.38087626e-01 -2.93572983e-02 1.11731343e+02] [ 3.02610738e-02 -2.59836324e-03 9.99538652e-01 6.59342828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66071405699998 meters Centerline goodness : 0.992607 Centerline is valid? [True, True] Translation: X:155.58, Y:111.74, Z:6.59 [[-3.38375120e-01 -9.40979570e-01 7.72836534e-03 1.55584376e+02] [ 9.40524776e-01 -3.38452828e-01 -2.93739645e-02 1.11738217e+02] [ 3.02559876e-02 -2.67069969e-03 9.99538615e-01 6.59424781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69071405699998 meters Centerline goodness : 0.993470 Centerline is valid? [True, True] Translation: X:155.58, Y:111.75, Z:6.60 [[-3.37740049e-01 -9.41207228e-01 7.78549715e-03 1.55579620e+02] [ 9.40752830e-01 -3.37819835e-01 -2.93576558e-02 1.11750644e+02] [ 3.02617332e-02 -2.59102763e-03 9.99538651e-01 6.59534743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72071405699998 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:155.58, Y:111.74, Z:6.59 [[-3.48249809e-01 -9.37369613e-01 7.76399448e-03 1.55576267e+02] [ 9.36914228e-01 -3.48323839e-01 -2.93637879e-02 1.11735458e+02] [ 3.02291068e-02 -2.95173663e-03 9.99538638e-01 6.59362732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75071405699998 meters Centerline goodness : 0.992811 Centerline is valid? [True, True] Translation: X:155.58, Y:111.73, Z:6.59 [[-3.35862331e-01 -9.41874166e-01 8.33970282e-03 1.55584761e+02] [ 9.41423479e-01 -3.35960162e-01 -2.91993640e-02 1.11728835e+02] [ 3.03039346e-02 -1.95577442e-03 9.99538817e-01 6.59266982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78071405699998 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:155.59, Y:111.74, Z:6.59 [[-3.25166380e-01 -9.45623346e-01 7.95695210e-03 1.55586141e+02] [ 9.45171186e-01 -3.25257513e-01 -2.93083442e-02 1.11738575e+02] [ 3.03027129e-02 -2.00940632e-03 9.99538748e-01 6.58598663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81071405699998 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:155.58, Y:111.75, Z:6.58 [[-3.23900348e-01 -9.46063676e-01 7.21699677e-03 1.55582830e+02] [ 9.45607028e-01 -3.23969184e-01 -2.95180598e-02 1.11754978e+02] [ 3.02640487e-02 -2.73646696e-03 9.99538193e-01 6.58380180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84071405699999 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:155.59, Y:111.73, Z:6.59 [[-3.24964125e-01 -9.45699459e-01 7.13098135e-03 1.55589340e+02] [ 9.45242240e-01 -3.25029776e-01 -2.95423959e-02 1.11729411e+02] [ 3.02560090e-02 -2.85971404e-03 9.99538091e-01 6.58762279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.870714057 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:155.57, Y:111.75, Z:6.59 [[-3.51605455e-01 -9.36118839e-01 7.42454260e-03 1.55572681e+02] [ 9.35661409e-01 -3.51667292e-01 -2.94591895e-02 1.11747612e+02] [ 3.01882711e-02 -3.41115376e-03 9.99538410e-01 6.58861691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.900714057 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:155.44, Y:112.21, Z:6.60 [[-3.58847322e-01 -9.33359279e-01 8.31001078e-03 1.55437447e+02] [ 9.32906170e-01 -3.58933159e-01 -2.92072708e-02 1.12210635e+02] [ 3.02436156e-02 -2.72849058e-03 9.99538833e-01 6.60398414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.930714057 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:155.57, Y:111.78, Z:6.59 [[-3.30180681e-01 -9.43877072e-01 8.76301360e-03 1.55568822e+02] [ 9.43430003e-01 -3.30294253e-01 -2.90780999e-02 1.11779199e+02] [ 3.03405248e-02 -1.33373686e-03 9.99538730e-01 6.58642357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.960714057 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:155.58, Y:111.74, Z:6.58 [[-3.28425013e-01 -9.44501842e-01 7.29946528e-03 1.55579740e+02] [ 9.44045741e-01 -3.28494260e-01 -2.94815053e-02 1.11743359e+02] [ 3.02431685e-02 -2.79143462e-03 9.99538673e-01 6.58495459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.990714057 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:155.58, Y:111.75, Z:6.59 [[-3.31046825e-01 -9.43586280e-01 7.27543215e-03 1.55578190e+02] [ 9.43129859e-01 -3.31114060e-01 -2.94881146e-02 1.11746027e+02] [ 3.02335783e-02 -2.90026941e-03 9.99538653e-01 6.59201630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.020714057 meters Centerline goodness : 0.992486 Centerline is valid? [True, True] Translation: X:155.58, Y:111.75, Z:6.59 [[-3.29745094e-01 -9.44038549e-01 7.70653067e-03 1.55577785e+02] [ 9.43584676e-01 -3.29826313e-01 -2.93694060e-02 1.11745570e+02] [ 3.02676680e-02 -2.41265327e-03 9.99538917e-01 6.59422592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.050714057 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:155.57, Y:111.76, Z:6.59 [[-3.26569339e-01 -9.45142226e-01 7.65765771e-03 1.55573856e+02] [ 9.44688336e-01 -3.26650572e-01 -2.93828497e-02 1.11759343e+02] [ 3.02723503e-02 -2.36143789e-03 9.99538898e-01 6.59166000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.080714057 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:155.58, Y:111.76, Z:6.59 [[-3.25200383e-01 -9.45618200e-01 7.13664833e-03 1.55575177e+02] [ 9.45161452e-01 -3.25266139e-01 -2.95257180e-02 1.11756766e+02] [ 3.02413664e-02 -2.85648991e-03 9.99538544e-01 6.59125123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.110714057 meters Centerline goodness : 0.993261 Centerline is valid? [True, True] Translation: X:155.57, Y:111.76, Z:6.59 [[-3.22336802e-01 -9.46597723e-01 7.19284756e-03 1.55573785e+02] [ 9.46141489e-01 -3.22405682e-01 -2.95103206e-02 1.11763864e+02] [ 3.02534172e-02 -2.70681084e-03 9.99538596e-01 6.59040492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.140714057 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:155.57, Y:111.77, Z:6.59 [[-3.19220869e-01 -9.47653666e-01 7.11098038e-03 1.55573367e+02] [ 9.47197200e-01 -3.19288713e-01 -2.95327278e-02 1.11769254e+02] [ 3.02572535e-02 -2.69196232e-03 9.99538519e-01 6.59022291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.170714057 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:155.57, Y:111.77, Z:6.59 [[-3.18905395e-01 -9.47759436e-01 7.16940826e-03 1.55572557e+02] [ 9.47303321e-01 -3.18975202e-01 -2.95167462e-02 1.11771781e+02] [ 3.02616382e-02 -2.62144538e-03 9.99538574e-01 6.59032746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20071405699997 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:155.58, Y:111.76, Z:6.59 [[-3.17953395e-01 -9.48079355e-01 7.15364539e-03 1.55575236e+02] [ 9.47623221e-01 -3.18023172e-01 -2.95210516e-02 1.11761860e+02] [ 3.02633246e-02 -2.60735810e-03 9.99538560e-01 6.59416173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23071405699997 meters Centerline goodness : 0.991972 Centerline is valid? [True, True] Translation: X:155.57, Y:111.77, Z:6.59 [[-3.17607008e-01 -9.48192244e-01 7.56682950e-03 1.55572324e+02] [ 9.47738574e-01 -3.17689730e-01 -2.94080159e-02 1.11770595e+02] [ 3.02883566e-02 -2.16881572e-03 9.99538850e-01 6.59317403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26071405699997 meters Centerline goodness : 0.990084 Centerline is valid? [True, True] Translation: X:155.57, Y:111.78, Z:6.59 [[-3.12712483e-01 -9.49817115e-01 7.63884170e-03 1.55571424e+02] [ 9.49364332e-01 -3.12799765e-01 -2.93883156e-02 1.11775092e+02] [ 3.03029530e-02 -1.93804930e-03 9.99538881e-01 6.59475193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29071405699997 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:155.56, Y:111.80, Z:6.59 [[-3.10281105e-01 -9.50613925e-01 7.66824518e-03 1.55563441e+02] [ 9.50161556e-01 -3.10370452e-01 -2.93802744e-02 1.11800220e+02] [ 3.03092946e-02 -1.83007224e-03 9.99538892e-01 6.59099930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32071405699998 meters Centerline goodness : 0.991321 Centerline is valid? [True, True] Translation: X:155.57, Y:111.79, Z:6.59 [[-3.04787319e-01 -9.52393099e-01 7.21629579e-03 1.55567088e+02] [ 9.51938370e-01 -3.04865345e-01 -2.95035810e-02 1.11790055e+02] [ 3.02990054e-02 -2.12284850e-03 9.99538625e-01 6.59277695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35071405699998 meters Centerline goodness : 0.991108 Centerline is valid? [True, True] Translation: X:155.57, Y:111.77, Z:6.59 [[-3.02234461e-01 -9.53203226e-01 7.61189138e-03 1.55571338e+02] [ 9.52751253e-01 -3.02325894e-01 -2.93956353e-02 1.11769830e+02] [ 3.03212863e-02 -1.63213493e-03 9.99538872e-01 6.59483042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38071405699998 meters Centerline goodness : 0.990566 Centerline is valid? [True, True] Translation: X:155.57, Y:111.77, Z:6.59 [[-2.94593658e-01 -9.55592661e-01 7.56591356e-03 1.55572947e+02] [ 9.55141120e-01 -2.94687295e-01 -2.94081587e-02 1.11771465e+02] [ 3.03317992e-02 -1.43694191e-03 9.99538852e-01 6.59486579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41071405699998 meters Centerline goodness : 0.992992 Centerline is valid? [True, True] Translation: X:155.56, Y:111.80, Z:6.59 [[-2.98267296e-01 -9.54453747e-01 7.39354247e-03 1.55563841e+02] [ 9.54000710e-01 -2.98353891e-01 -2.94550658e-02 1.11797939e+02] [ 3.03193901e-02 -1.73203805e-03 9.99538761e-01 6.59025795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44071405699998 meters Centerline goodness : 0.990353 Centerline is valid? [True, True] Translation: X:155.57, Y:111.78, Z:6.59 [[-2.98636860e-01 -9.54339848e-01 7.17495682e-03 1.55570871e+02] [ 9.53885382e-01 -2.98716543e-01 -2.95144728e-02 1.11777500e+02] [ 3.03101158e-02 -1.97002307e-03 9.99538601e-01 6.59414509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47071405699998 meters Centerline goodness : 0.991368 Centerline is valid? [True, True] Translation: X:155.57, Y:111.78, Z:6.59 [[-2.96703909e-01 -9.54936993e-01 7.88229679e-03 1.55570680e+02] [ 9.54487442e-01 -2.96806260e-01 -2.93217969e-02 1.11779731e+02] [ 3.03399836e-02 -1.17633845e-03 9.99538945e-01 6.59438442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50071405699998 meters Centerline goodness : 0.990945 Centerline is valid? [True, True] Translation: X:155.57, Y:111.78, Z:6.59 [[-2.93935754e-01 -9.55794125e-01 7.70469799e-03 1.55572855e+02] [ 9.55343617e-01 -2.94033963e-01 -2.93700867e-02 1.11777877e+02] [ 3.03371992e-02 -1.27228455e-03 9.99538912e-01 6.59394232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53071405699998 meters Centerline goodness : 0.988799 Centerline is valid? [True, True] Translation: X:155.58, Y:111.78, Z:6.59 [[-2.99737002e-01 -9.53992630e-01 7.46932358e-03 1.55576039e+02] [ 9.53539968e-01 -2.99825234e-01 -2.94339653e-02 1.11776961e+02] [ 3.03192777e-02 -1.70014996e-03 9.99538819e-01 6.58991294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56071405699998 meters Centerline goodness : 0.988933 Centerline is valid? [True, True] Translation: X:155.57, Y:111.78, Z:6.60 [[-2.96451799e-01 -9.55014630e-01 7.96155135e-03 1.55573186e+02] [ 9.54565672e-01 -2.96556699e-01 -2.93002197e-02 1.11783843e+02] [ 3.03431899e-02 -1.08627923e-03 9.99538949e-01 6.59689779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59071405699999 meters Centerline goodness : 0.989371 Centerline is valid? [True, True] Translation: X:155.58, Y:111.78, Z:6.59 [[-2.96166532e-01 -9.55105535e-01 7.66822806e-03 1.55575801e+02] [ 9.54654557e-01 -2.96262569e-01 -2.93797191e-02 1.11778482e+02] [ 3.03325412e-02 -1.38078064e-03 9.99538909e-01 6.59448361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.620714057 meters Centerline goodness : 0.988700 Centerline is valid? [True, True] Translation: X:155.58, Y:111.79, Z:6.59 [[-3.00108806e-01 -9.53874761e-01 7.59237153e-03 1.55575523e+02] [ 9.53422884e-01 -3.00200648e-01 -2.94002453e-02 1.11790501e+02] [ 3.03233868e-02 -1.58453177e-03 9.99538884e-01 6.59282480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.650714057 meters Centerline goodness : 0.988748 Centerline is valid? [True, True] Translation: X:155.58, Y:111.78, Z:6.59 [[-2.91941006e-01 -9.56406039e-01 7.61164957e-03 1.55584025e+02] [ 9.55955097e-01 -2.92037300e-01 -2.93950337e-02 1.11779877e+02] [ 3.03364733e-02 -1.30522051e-03 9.99538891e-01 6.59290760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.680714057 meters Centerline goodness : 0.989120 Centerline is valid? [True, True] Translation: X:155.58, Y:111.79, Z:6.59 [[-3.04070125e-01 -9.52624248e-01 6.95707851e-03 1.55581772e+02] [ 9.52168109e-01 -3.04140489e-01 -2.95711778e-02 1.11786414e+02] [ 3.02861503e-02 -2.36740345e-03 9.99538466e-01 6.59032359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.710714057 meters Centerline goodness : 0.987038 Centerline is valid? [True, True] Translation: X:155.58, Y:111.79, Z:6.59 [[-3.05721158e-01 -9.52091876e-01 7.45873575e-03 1.55582086e+02] [ 9.51638632e-01 -3.05806222e-01 -2.94358539e-02 1.11791429e+02] [ 3.03065651e-02 -1.90114227e-03 9.99538843e-01 6.59245092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.740714057 meters Centerline goodness : 0.988039 Centerline is valid? [True, True] Translation: X:155.58, Y:111.81, Z:6.59 [[-3.06952854e-01 -9.51693333e-01 7.72957577e-03 1.55577799e+02] [ 9.51241708e-01 -3.07045671e-01 -2.93627214e-02 1.11806395e+02] [ 3.03176389e-02 -1.66027626e-03 9.99538936e-01 6.59148945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.770714057 meters Centerline goodness : 0.988389 Centerline is valid? [True, True] Translation: X:155.58, Y:111.82, Z:6.59 [[-3.01960722e-01 -9.53290353e-01 7.56480114e-03 1.55577044e+02] [ 9.52838135e-01 -3.02050838e-01 -2.94071478e-02 1.11818666e+02] [ 3.03185048e-02 -1.67177256e-03 9.99538890e-01 6.59448990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.800714057 meters Centerline goodness : 0.987788 Centerline is valid? [True, True] Translation: X:155.58, Y:111.80, Z:6.59 [[-3.10382282e-01 -9.50584400e-01 7.22063137e-03 1.55581841e+02] [ 9.50129329e-01 -3.10457773e-01 -2.94996386e-02 1.11799214e+02] [ 3.02835974e-02 -2.29563150e-03 9.99538711e-01 6.59243605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.830714057 meters Centerline goodness : 0.989384 Centerline is valid? [True, True] Translation: X:155.58, Y:111.81, Z:6.59 [[-3.10338939e-01 -9.50595614e-01 7.59742612e-03 1.55580403e+02] [ 9.50142827e-01 -3.10426078e-01 -2.93982740e-02 1.11807274e+02] [ 3.03043096e-02 -1.90478925e-03 9.99538904e-01 6.59143132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.860714057 meters Centerline goodness : 0.988327 Centerline is valid? [True, True] Translation: X:155.58, Y:111.80, Z:6.59 [[-3.11625528e-01 -9.50175581e-01 7.47633965e-03 1.55582769e+02] [ 9.49721934e-01 -3.11708319e-01 -2.94308061e-02 1.11804801e+02] [ 3.02948705e-02 -2.07094672e-03 9.99538860e-01 6.59279651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.890714057 meters Centerline goodness : 0.988669 Centerline is valid? [True, True] Translation: X:155.57, Y:111.84, Z:6.59 [[-3.12662109e-01 -9.49834169e-01 7.58008595e-03 1.55574221e+02] [ 9.49381063e-01 -3.12747605e-01 -2.94029307e-02 1.11835113e+02] [ 3.02985619e-02 -1.99679225e-03 9.99538899e-01 6.59395411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.920714057 meters Centerline goodness : 0.988859 Centerline is valid? [True, True] Translation: X:155.58, Y:111.83, Z:6.59 [[-3.13793430e-01 -9.49461117e-01 7.56776579e-03 1.55576668e+02] [ 9.49007835e-01 -3.13878007e-01 -2.94062373e-02 1.11825064e+02] [ 3.02954342e-02 -2.04561504e-03 9.99538895e-01 6.59447739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95071405699997 meters Centerline goodness : 0.988412 Centerline is valid? [True, True] Translation: X:155.58, Y:111.82, Z:6.59 [[-3.13600077e-01 -9.49523882e-01 7.70647367e-03 1.55577949e+02] [ 9.49071472e-01 -3.13689022e-01 -2.93690118e-02 1.11817629e+02] [ 3.03040143e-02 -1.89613006e-03 9.99538929e-01 6.59432747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98071405699997 meters Centerline goodness : 0.987945 Centerline is valid? [True, True] Translation: X:155.57, Y:111.83, Z:6.59 [[-3.14205599e-01 -9.49323826e-01 7.68858405e-03 1.55573404e+02] [ 9.48871249e-01 -3.14293705e-01 -2.93738062e-02 1.11831655e+02] [ 3.03017277e-02 -1.93393804e-03 9.99538926e-01 6.59398403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01071405699997 meters Centerline goodness : 0.988817 Centerline is valid? [True, True] Translation: X:155.58, Y:111.82, Z:6.59 [[-3.13865421e-01 -9.49436201e-01 7.70704672e-03 1.55575124e+02] [ 9.48983769e-01 -3.13954257e-01 -2.93688613e-02 1.11822707e+02] [ 3.03035202e-02 -1.90400775e-03 9.99538929e-01 6.59310151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04071405699997 meters Centerline goodness : 0.989259 Centerline is valid? [True, True] Translation: X:155.57, Y:111.82, Z:6.60 [[-3.15108616e-01 -9.49024388e-01 7.69880039e-03 1.55573081e+02] [ 9.48571790e-01 -3.15196606e-01 -2.93710662e-02 1.11820528e+02] [ 3.03004938e-02 -1.95221116e-03 9.99538928e-01 6.59532084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07071405699998 meters Centerline goodness : 0.988621 Centerline is valid? [True, True] Translation: X:155.57, Y:111.83, Z:6.60 [[-3.16437375e-01 -9.48582415e-01 7.66739642e-03 1.55570023e+02] [ 9.48129504e-01 -3.16523762e-01 -2.93794526e-02 1.11826565e+02] [ 3.02957453e-02 -2.02707210e-03 9.99538923e-01 6.59537531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10071405699998 meters Centerline goodness : 0.988587 Centerline is valid? [True, True] Translation: X:155.57, Y:111.84, Z:6.59 [[-3.18468563e-01 -9.47901939e-01 7.72586374e-03 1.55566099e+02] [ 9.47449195e-01 -3.18555784e-01 -2.93638557e-02 1.11836103e+02] [ 3.02951743e-02 -2.03160156e-03 9.99538931e-01 6.59467670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13071405699998 meters Centerline goodness : 0.988617 Centerline is valid? [True, True] Translation: X:155.56, Y:111.84, Z:6.59 [[-3.18716232e-01 -9.47818284e-01 7.77587926e-03 1.55564497e+02] [ 9.47365820e-01 -3.18804877e-01 -2.93505275e-02 1.11839890e+02] [ 3.02979548e-02 -1.98788731e-03 9.99538935e-01 6.59396200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16071405699998 meters Centerline goodness : 0.989222 Centerline is valid? [True, True] Translation: X:155.56, Y:111.84, Z:6.59 [[-3.19116586e-01 -9.47683733e-01 7.75542870e-03 1.55563623e+02] [ 9.47231108e-01 -3.19204409e-01 -2.93559693e-02 1.11837204e+02] [ 3.02957416e-02 -2.02179340e-03 9.99538934e-01 6.59344553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19071405699998 meters Centerline goodness : 0.989729 Centerline is valid? [True, True] Translation: X:155.56, Y:111.84, Z:6.59 [[-3.20391167e-01 -9.47254317e-01 7.66540023e-03 1.55560549e+02] [ 9.46801040e-01 -3.20475604e-01 -2.93798873e-02 1.11839712e+02] [ 3.02867988e-02 -2.15544747e-03 9.99538926e-01 6.59236376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22071405699998 meters Centerline goodness : 0.989135 Centerline is valid? [True, True] Translation: X:155.56, Y:111.85, Z:6.59 [[-3.21150931e-01 -9.46997312e-01 7.62695927e-03 1.55557675e+02] [ 9.46543743e-01 -3.21233817e-01 -2.93900888e-02 1.11845413e+02] [ 3.02823723e-02 -2.21940378e-03 9.99538920e-01 6.59323233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25071405699998 meters Centerline goodness : 0.989780 Centerline is valid? [True, True] Translation: X:155.56, Y:111.84, Z:6.59 [[-3.20308764e-01 -9.47281302e-01 7.77368782e-03 1.55557029e+02] [ 9.46828676e-01 -3.20396580e-01 -2.93511518e-02 1.11838533e+02] [ 3.02944603e-02 -2.04108061e-03 9.99538934e-01 6.59291921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28071405699998 meters Centerline goodness : 0.990002 Centerline is valid? [True, True] Translation: X:155.56, Y:111.83, Z:6.59 [[-3.17777044e-01 -9.48134633e-01 7.64647693e-03 1.55555465e+02] [ 9.47681479e-01 -3.17862147e-01 -2.93848613e-02 1.11833118e+02] [ 3.02913302e-02 -2.09140980e-03 9.99538924e-01 6.59460832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31071405699998 meters Centerline goodness : 0.989595 Centerline is valid? [True, True] Translation: X:155.55, Y:111.83, Z:6.59 [[-3.16160417e-01 -9.48675088e-01 7.62686164e-03 1.55553529e+02] [ 9.48221963e-01 -3.16245687e-01 -2.93900513e-02 1.11834326e+02] [ 3.02935716e-02 -2.06001318e-03 9.99538922e-01 6.59481420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34071405699999 meters Centerline goodness : 0.990255 Centerline is valid? [True, True] Translation: X:155.55, Y:111.84, Z:6.60 [[-3.12993119e-01 -9.49725113e-01 7.58395593e-03 1.55549915e+02] [ 9.49272017e-01 -3.13078578e-01 -2.94013914e-02 1.11835875e+02] [ 3.02976139e-02 -2.00319605e-03 9.99538915e-01 6.59510764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.370714057 meters Centerline goodness : 0.990813 Centerline is valid? [True, True] Translation: X:155.55, Y:111.85, Z:6.59 [[-3.11558716e-01 -9.50196646e-01 7.58286231e-03 1.55545242e+02] [ 9.49743673e-01 -3.11644825e-01 -2.94016800e-02 1.11845509e+02] [ 3.03005375e-02 -1.95857416e-03 9.99538914e-01 6.59439388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.400714057 meters Centerline goodness : 0.989656 Centerline is valid? [True, True] Translation: X:155.54, Y:111.87, Z:6.60 [[-3.11148211e-01 -9.50331178e-01 7.57915622e-03 1.55539470e+02] [ 9.49878219e-01 -3.11234402e-01 -2.94026567e-02 1.11865527e+02] [ 3.03011555e-02 -1.94930861e-03 9.99538914e-01 6.59722097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.430714057 meters Centerline goodness : 0.989690 Centerline is valid? [True, True] Translation: X:155.54, Y:111.85, Z:6.60 [[-3.07179470e-01 -9.51620155e-01 7.73654307e-03 1.55539442e+02] [ 9.51168543e-01 -3.07272394e-01 -2.93611864e-02 1.11852632e+02] [ 3.03179228e-02 -1.66039728e-03 9.99538927e-01 6.59600402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.460714057 meters Centerline goodness : 0.989756 Centerline is valid? [True, True] Translation: X:155.54, Y:111.85, Z:6.60 [[-3.01311865e-01 -9.53494354e-01 7.72509958e-03 1.55540328e+02] [ 9.53043248e-01 -3.01407217e-01 -2.93641969e-02 1.11845163e+02] [ 3.03269967e-02 -1.48542694e-03 9.99538927e-01 6.59677410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.490714057 meters Centerline goodness : 0.990735 Centerline is valid? [True, True] Translation: X:155.54, Y:111.85, Z:6.59 [[-2.98044879e-01 -9.54522569e-01 7.47765792e-03 1.55537330e+02] [ 9.54070197e-01 -2.98134173e-01 -2.94291459e-02 1.11846123e+02] [ 3.03201293e-02 -1.63699565e-03 9.99538899e-01 6.59437591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.520714057 meters Centerline goodness : 0.990827 Centerline is valid? [True, True] Translation: X:155.54, Y:111.85, Z:6.59 [[-2.96151962e-01 -9.55111812e-01 7.44596311e-03 1.55535245e+02] [ 9.54659416e-01 -2.96241179e-01 -2.94374548e-02 1.11848716e+02] [ 3.03218617e-02 -1.60960123e-03 9.99538891e-01 6.59453327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.550714057 meters Centerline goodness : 0.990751 Centerline is valid? [True, True] Translation: X:155.53, Y:111.85, Z:6.60 [[-2.92826919e-01 -9.56136782e-01 7.40608060e-03 1.55534550e+02] [ 9.55684443e-01 -2.92916484e-01 -2.94478984e-02 1.11849686e+02] [ 3.03255819e-02 -1.54526134e-03 9.99538879e-01 6.59637447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.580714057 meters Centerline goodness : 0.991060 Centerline is valid? [True, True] Translation: X:155.53, Y:111.85, Z:6.60 [[-2.87659125e-01 -9.57704288e-01 7.39761157e-03 1.55532690e+02] [ 9.57252384e-01 -2.87750872e-01 -2.94501128e-02 1.11846128e+02] [ 3.03331685e-02 -1.39021238e-03 9.99538877e-01 6.59708014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.610714057 meters Centerline goodness : 0.990962 Centerline is valid? [True, True] Translation: X:155.53, Y:111.85, Z:6.60 [[-2.85472459e-01 -9.58359510e-01 7.24746740e-03 1.55531531e+02] [ 9.57906838e-01 -2.85560627e-01 -2.94892915e-02 1.11850882e+02] [ 3.03309343e-02 -1.47598196e-03 9.99538822e-01 6.59661513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.640714057 meters Centerline goodness : 0.990678 Centerline is valid? [True, True] Translation: X:155.54, Y:111.84, Z:6.60 [[-2.79673321e-01 -9.60066631e-01 7.40931127e-03 1.55535249e+02] [ 9.59615586e-01 -2.79769186e-01 -2.94470808e-02 1.11836078e+02] [ 3.03440566e-02 -1.12547229e-03 9.99538879e-01 6.59511953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.670714057 meters Centerline goodness : 0.990705 Centerline is valid? [True, True] Translation: X:155.53, Y:111.84, Z:6.60 [[-2.78637196e-01 -9.60368426e-01 7.33484848e-03 1.55533972e+02] [ 9.59916980e-01 -2.78731267e-01 -2.94664608e-02 1.11837863e+02] [ 3.03431102e-02 -1.16960643e-03 9.99538858e-01 6.59683640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70071405699997 meters Centerline goodness : 0.991719 Centerline is valid? [True, True] Translation: X:155.53, Y:111.85, Z:6.60 [[-2.76656118e-01 -9.60941191e-01 7.30889912e-03 1.55531242e+02] [ 9.60489765e-01 -2.76750325e-01 -2.94732057e-02 1.11845351e+02] [ 3.03447575e-02 -1.13381988e-03 9.99538849e-01 6.59732697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73071405699997 meters Centerline goodness : 0.991678 Centerline is valid? [True, True] Translation: X:155.53, Y:111.86, Z:6.60 [[-2.75055377e-01 -9.61402705e-01 7.02705332e-03 1.55529481e+02] [ 9.60949564e-01 -2.75141693e-01 -2.95462973e-02 1.11855622e+02] [ 3.03393255e-02 -1.37422412e-03 9.99538712e-01 6.59702140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76071405699997 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:155.54, Y:111.84, Z:6.59 [[-2.65303246e-01 -9.64140547e-01 6.86980470e-03 1.55539970e+02] [ 9.63687251e-01 -2.65389329e-01 -2.95869471e-02 1.11835954e+02] [ 3.03491482e-02 -1.22916989e-03 9.99538603e-01 6.59378269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79071405699997 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:155.54, Y:111.85, Z:6.59 [[-2.68017413e-01 -9.63391894e-01 6.53650238e-03 1.55537691e+02] [ 9.62936248e-01 -2.68091978e-01 -2.96727673e-02 1.11846361e+02] [ 3.03388873e-02 -1.65858323e-03 9.99538294e-01 6.59175715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82071405699998 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:155.52, Y:111.87, Z:6.59 [[-3.02615852e-01 -9.53090116e-01 6.54798559e-03 1.55517285e+02] [ 9.52632135e-01 -3.02674278e-01 -2.96698022e-02 1.11870906e+02] [ 3.02599020e-02 -2.74073097e-03 9.99538307e-01 6.59491561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85071405699998 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:155.51, Y:111.90, Z:6.60 [[-3.06580043e-01 -9.51814327e-01 7.62656428e-03 1.55509787e+02] [ 9.51362089e-01 -3.06669868e-01 -2.93899350e-02 1.11902249e+02] [ 3.03125987e-02 -1.75474342e-03 9.99538927e-01 6.59774098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88071405699998 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:155.53, Y:111.87, Z:6.59 [[-2.77558717e-01 -9.60675494e-01 7.98458193e-03 1.55533262e+02] [ 9.60228781e-01 -2.77673152e-01 -2.92969020e-02 1.11872162e+02] [ 3.03619199e-02 -4.64585179e-04 9.99538863e-01 6.59189152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91071405699998 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:155.53, Y:111.87, Z:6.59 [[-2.91153062e-01 -9.56655803e-01 6.29033380e-03 1.55531791e+02] [ 9.56197357e-01 -2.91209026e-01 -2.97307624e-02 1.11873885e+02] [ 3.02739084e-02 -2.64140195e-03 9.99538150e-01 6.58909641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94071405699998 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:155.53, Y:111.88, Z:6.59 [[-2.93693207e-01 -9.55876582e-01 6.65285522e-03 1.55531087e+02] [ 9.55419883e-01 -2.93759164e-01 -2.96378115e-02 1.11878862e+02] [ 3.02844271e-02 -2.34815376e-03 9.99538563e-01 6.59014115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97071405699998 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:155.53, Y:111.88, Z:6.59 [[-2.97720427e-01 -9.54630169e-01 6.61725908e-03 1.55530731e+02] [ 9.54173009e-01 -2.97783358e-01 -2.96469309e-02 1.11884215e+02] [ 3.02723643e-02 -2.51248693e-03 9.99538529e-01 6.59140395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00071405699998 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:155.53, Y:111.89, Z:6.59 [[-2.98516084e-01 -9.54381895e-01 6.58373746e-03 1.55530301e+02] [ 9.53924509e-01 -2.98577597e-01 -2.96555123e-02 1.11888809e+02] [ 3.02684406e-02 -2.57225889e-03 9.99538496e-01 6.59125207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03071405699998 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:155.53, Y:111.91, Z:6.59 [[-3.01909685e-01 -9.53313919e-01 6.56607066e-03 1.55526350e+02] [ 9.52856228e-01 -3.01969024e-01 -2.96600350e-02 1.11907758e+02] [ 3.02580742e-02 -2.69813052e-03 9.99538478e-01 6.59279275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06071405699998 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:155.53, Y:111.91, Z:6.59 [[-3.01595779e-01 -9.53413028e-01 6.60190568e-03 1.55525588e+02] [ 9.52955538e-01 -3.01656377e-01 -2.96508564e-02 1.11910302e+02] [ 3.02610197e-02 -2.65125053e-03 9.99538514e-01 6.59288825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09071405699999 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:155.52, Y:111.94, Z:6.59 [[-3.03829619e-01 -9.52703411e-01 6.61610817e-03 1.55516580e+02] [ 9.52245852e-01 -3.03889585e-01 -2.96472169e-02 1.11944276e+02] [ 3.02555710e-02 -2.70754107e-03 9.99538528e-01 6.59461320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.120714057 meters Centerline goodness : 0.993091 Centerline is valid? [True, True] Translation: X:155.53, Y:111.91, Z:6.60 [[-3.03199106e-01 -9.52903982e-01 6.65598045e-03 1.55525424e+02] [ 9.52446666e-01 -3.03260608e-01 -2.96370059e-02 1.11911202e+02] [ 3.02597177e-02 -2.64644733e-03 9.99538566e-01 6.59804318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.150714057 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:155.52, Y:111.92, Z:6.59 [[-3.04598360e-01 -9.52456082e-01 6.87390314e-03 1.55521905e+02] [ 9.51999802e-01 -3.04665929e-01 -2.95812286e-02 1.11924192e+02] [ 3.02690652e-02 -2.46643931e-03 9.99538744e-01 6.59404891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.180714057 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:155.52, Y:111.93, Z:6.59 [[-3.04694791e-01 -9.52427081e-01 6.61358895e-03 1.55520332e+02] [ 9.51969458e-01 -3.04754263e-01 -2.96477743e-02 1.11931765e+02] [ 3.02528626e-02 -2.73758771e-03 9.99538528e-01 6.59360514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.210714057 meters Centerline goodness : 0.992958 Centerline is valid? [True, True] Translation: X:155.52, Y:111.92, Z:6.59 [[-3.04381898e-01 -9.52526790e-01 6.66145786e-03 1.55522561e+02] [ 9.52069427e-01 -3.04443001e-01 -2.96355488e-02 1.11924314e+02] [ 3.02566884e-02 -2.67835422e-03 9.99538573e-01 6.59254363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.240714057 meters Centerline goodness : 0.991894 Centerline is valid? [True, True] Translation: X:155.52, Y:111.94, Z:6.59 [[-3.04058050e-01 -9.52629775e-01 6.72418485e-03 1.55518157e+02] [ 9.52172751e-01 -3.04121250e-01 -2.96195455e-02 1.11936908e+02] [ 3.02614285e-02 -2.60347567e-03 9.99538627e-01 6.59176957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.270714057 meters Centerline goodness : 0.990753 Centerline is valid? [True, True] Translation: X:155.52, Y:111.93, Z:6.60 [[-3.03685321e-01 -9.52749115e-01 6.65960632e-03 1.55519181e+02] [ 9.52291787e-01 -3.03746702e-01 -2.96360023e-02 1.11934596e+02] [ 3.02585084e-02 -2.65813047e-03 9.99538572e-01 6.59567835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.300714057 meters Centerline goodness : 0.992425 Centerline is valid? [True, True] Translation: X:155.52, Y:111.93, Z:6.59 [[-3.02869232e-01 -9.53006584e-01 6.97708063e-03 1.55518298e+02] [ 9.52550975e-01 -3.02940814e-01 -2.95551007e-02 1.11928148e+02] [ 3.02798480e-02 -2.30530569e-03 9.99538802e-01 6.59082650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.330714057 meters Centerline goodness : 0.991872 Centerline is valid? [True, True] Translation: X:155.51, Y:111.95, Z:6.59 [[-3.02191434e-01 -9.53224472e-01 6.59109326e-03 1.55513568e+02] [ 9.52766903e-01 -3.02251413e-01 -2.96531862e-02 1.11945146e+02] [ 3.02583100e-02 -2.68116333e-03 9.99538517e-01 6.59126888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.360714057 meters Centerline goodness : 0.991492 Centerline is valid? [True, True] Translation: X:155.51, Y:111.96, Z:6.60 [[-3.03979566e-01 -9.52655968e-01 6.55969883e-03 1.55509205e+02] [ 9.52198132e-01 -3.04037715e-01 -2.96611662e-02 1.11960116e+02] [ 3.02512828e-02 -2.77025546e-03 9.99538486e-01 6.59564359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.390714057 meters Centerline goodness : 0.991350 Centerline is valid? [True, True] Translation: X:155.51, Y:111.94, Z:6.59 [[-3.01239926e-01 -9.53522915e-01 6.96835795e-03 1.55512525e+02] [ 9.53067385e-01 -3.01312018e-01 -2.95571878e-02 1.11944268e+02] [ 3.02831058e-02 -2.26249036e-03 9.99538801e-01 6.59080881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.420714057 meters Centerline goodness : 0.992024 Centerline is valid? [True, True] Translation: X:155.52, Y:111.93, Z:6.59 [[-2.98975246e-01 -9.54238267e-01 6.56746691e-03 1.55515341e+02] [ 9.53780800e-01 -2.99036039e-01 -2.96586240e-02 1.11926574e+02] [ 3.02653033e-02 -2.60327059e-03 9.99538511e-01 6.58975622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45071405699997 meters Centerline goodness : 0.990753 Centerline is valid? [True, True] Translation: X:155.51, Y:111.93, Z:6.59 [[-2.98351053e-01 -9.54433436e-01 6.59287368e-03 1.55513571e+02] [ 9.53976137e-01 -2.98412930e-01 -2.96522028e-02 1.11928759e+02] [ 3.02684525e-02 -2.55732174e-03 9.99538534e-01 6.59441157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48071405699997 meters Centerline goodness : 0.991468 Centerline is valid? [True, True] Translation: X:155.51, Y:111.94, Z:6.60 [[-2.96281871e-01 -9.55075420e-01 6.92775963e-03 1.55506508e+02] [ 9.54620046e-01 -2.96355077e-01 -2.95674856e-02 1.11938480e+02] [ 3.02922555e-02 -2.14693175e-03 9.99538779e-01 6.59570258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51071405699997 meters Centerline goodness : 0.991155 Centerline is valid? [True, True] Translation: X:155.50, Y:111.95, Z:6.60 [[-2.95064016e-01 -9.55453223e-01 6.80917151e-03 1.55502884e+02] [ 9.54997291e-01 -2.95134146e-01 -2.95974687e-02 1.11947991e+02] [ 3.02886159e-02 -2.23040764e-03 9.99538706e-01 6.59601180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54071405699997 meters Centerline goodness : 0.991088 Centerline is valid? [True, True] Translation: X:155.50, Y:111.96, Z:6.60 [[-2.93805608e-01 -9.55840564e-01 6.86159771e-03 1.55499405e+02] [ 9.55385012e-01 -2.93877955e-01 -2.95842162e-02 1.11959190e+02] [ 3.02942662e-02 -2.13654104e-03 9.99538740e-01 6.59882686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57071405699998 meters Centerline goodness : 0.991041 Centerline is valid? [True, True] Translation: X:155.50, Y:111.95, Z:6.60 [[-2.90835956e-01 -9.56747869e-01 6.92546967e-03 1.55499472e+02] [ 9.56292905e-01 -2.90911684e-01 -2.95680874e-02 1.11952088e+02] [ 3.03039047e-02 -1.97668547e-03 9.99538777e-01 6.59929928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60071405699998 meters Centerline goodness : 0.991242 Centerline is valid? [True, True] Translation: X:155.49, Y:111.97, Z:6.60 [[-2.88065322e-01 -9.57585512e-01 6.95394731e-03 1.55494839e+02] [ 9.57130934e-01 -2.88143244e-01 -2.95609015e-02 1.11965597e+02] [ 3.03108240e-02 -1.85963253e-03 9.99538792e-01 6.59964656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63071405699998 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:155.50, Y:111.93, Z:6.59 [[-2.86529469e-01 -9.58047660e-01 6.74871963e-03 1.55501950e+02] [ 9.57592035e-01 -2.86601800e-01 -2.96125320e-02 1.11931329e+02] [ 3.03044122e-02 -2.02234290e-03 9.99538670e-01 6.59261898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66071405699998 meters Centerline goodness : 0.992510 Centerline is valid? [True, True] Translation: X:155.50, Y:111.93, Z:6.59 [[-2.85827938e-01 -9.58259575e-01 6.40137616e-03 1.55501394e+02] [ 9.57802127e-01 -2.85889890e-01 -2.96994288e-02 1.11926024e+02] [ 3.02898507e-02 -2.35767479e-03 9.99538377e-01 6.59255281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69071405699998 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:155.50, Y:111.93, Z:6.60 [[-2.86785432e-01 -9.57973154e-01 6.44618142e-03 1.55501945e+02] [ 9.57515878e-01 -2.86848310e-01 -2.96882254e-02 1.11926850e+02] [ 3.02895992e-02 -2.34182949e-03 9.99538421e-01 6.59760188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72071405699998 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:155.49, Y:111.96, Z:6.59 [[-2.86320156e-01 -9.58109106e-01 6.90726219e-03 1.55492388e+02] [ 9.57654398e-01 -2.86397469e-01 -2.95727008e-02 1.11960268e+02] [ 3.03120963e-02 -1.85249029e-03 9.99538766e-01 6.59428206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75071405699998 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:155.50, Y:111.94, Z:6.59 [[-2.85291381e-01 -9.58418788e-01 6.50030862e-03 1.55499058e+02] [ 9.57961908e-01 -2.85356644e-01 -2.96743794e-02 1.11935104e+02] [ 3.02953890e-02 -2.23879663e-03 9.99538482e-01 6.59356012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78071405699998 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:155.50, Y:111.94, Z:6.60 [[-2.86052945e-01 -9.58191830e-01 6.49075890e-03 1.55498842e+02] [ 9.57734847e-01 -2.86117550e-01 -2.96767594e-02 1.11936210e+02] [ 3.02931484e-02 -2.27269844e-03 9.99538473e-01 6.60056056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81071405699998 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:155.49, Y:111.96, Z:6.60 [[-2.83739870e-01 -9.58876586e-01 6.88326594e-03 1.55491539e+02] [ 9.58421947e-01 -2.83817668e-01 -2.95787648e-02 1.11963184e+02] [ 3.03159775e-02 -1.79560173e-03 9.99538752e-01 6.60182518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84071405699999 meters Centerline goodness : 0.991576 Centerline is valid? [True, True] Translation: X:155.50, Y:111.94, Z:6.60 [[-2.81168369e-01 -9.59635107e-01 6.69395733e-03 1.55497432e+02] [ 9.59179591e-01 -2.81241561e-01 -2.96259470e-02 1.11943254e+02] [ 3.03127178e-02 -1.90917194e-03 9.99538641e-01 6.59970764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.870714057 meters Centerline goodness : 0.991991 Centerline is valid? [True, True] Translation: X:155.50, Y:111.94, Z:6.60 [[-2.78421316e-01 -9.60436307e-01 6.60841190e-03 1.55499611e+02] [ 9.59980517e-01 -2.78493179e-01 -2.96472029e-02 1.11939450e+02] [ 3.03146477e-02 -1.91046659e-03 9.99538580e-01 6.59887238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.900714057 meters Centerline goodness : 0.991556 Centerline is valid? [True, True] Translation: X:155.50, Y:111.94, Z:6.60 [[-2.77792540e-01 -9.60618204e-01 6.63103153e-03 1.55498655e+02] [ 9.60162589e-01 -2.77865397e-01 -2.96415871e-02 1.11942427e+02] [ 3.03167824e-02 -1.86734339e-03 9.99538596e-01 6.59922007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.930714057 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:155.48, Y:111.97, Z:6.60 [[-2.98606671e-01 -9.54353151e-01 6.64228296e-03 1.55479437e+02] [ 9.53896116e-01 -2.98669955e-01 -2.96387921e-02 1.11968200e+02] [ 3.02697250e-02 -2.51429313e-03 9.99538605e-01 6.59924638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.960714057 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:155.48, Y:111.97, Z:6.60 [[-3.03343559e-01 -9.52852992e-01 7.33893081e-03 1.55477740e+02] [ 9.52399296e-01 -3.03426067e-01 -2.94652858e-02 1.11966002e+02] [ 3.03029087e-02 -1.94851213e-03 9.99538862e-01 6.60409800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.990714057 meters Centerline goodness : 0.990670 Centerline is valid? [True, True] Translation: X:155.50, Y:111.93, Z:6.60 [[-2.77544380e-01 -9.60681528e-01 7.75361502e-03 1.55502740e+02] [ 9.60232981e-01 -2.77651771e-01 -2.93618078e-02 1.11930449e+02] [ 3.03601513e-02 -7.03927879e-04 9.99538776e-01 6.60021548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.020714057 meters Centerline goodness : 0.991578 Centerline is valid? [True, True] Translation: X:155.50, Y:111.93, Z:6.60 [[-2.71774538e-01 -9.62336545e-01 6.85383111e-03 1.55503997e+02] [ 9.61882777e-01 -2.71857093e-01 -2.95845264e-02 1.11927427e+02] [ 3.03335336e-02 -1.44773892e-03 9.99538784e-01 6.59653921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.050714057 meters Centerline goodness : 0.990655 Centerline is valid? [True, True] Translation: X:155.50, Y:111.95, Z:6.60 [[-2.75416178e-01 -9.61304590e-01 6.27804614e-03 1.55499016e+02] [ 9.60847280e-01 -2.75479294e-01 -2.97264633e-02 1.11948417e+02] [ 3.03056574e-02 -2.15490535e-03 9.99538355e-01 6.59860806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.080714057 meters Centerline goodness : 0.990486 Centerline is valid? [True, True] Translation: X:155.50, Y:111.95, Z:6.60 [[-2.71388669e-01 -9.62447556e-01 6.54929667e-03 1.55499467e+02] [ 9.61992032e-01 -2.71462049e-01 -2.96595197e-02 1.11951427e+02] [ 3.03236177e-02 -1.74888634e-03 9.99538603e-01 6.59817112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.110714057 meters Centerline goodness : 0.990741 Centerline is valid? [True, True] Translation: X:155.50, Y:111.95, Z:6.60 [[-2.75909773e-01 -9.61161944e-01 6.44310689e-03 1.55499127e+02] [ 9.60705494e-01 -2.75977742e-01 -2.96856834e-02 1.11945466e+02] [ 3.03109033e-02 -2.00064198e-03 9.99538517e-01 6.59873845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.140714057 meters Centerline goodness : 0.992454 Centerline is valid? [True, True] Translation: X:155.50, Y:111.95, Z:6.60 [[-2.74683427e-01 -9.61512253e-01 6.57285497e-03 1.55497587e+02] [ 9.61056612e-01 -2.74755972e-01 -2.96537476e-02 1.11946849e+02] [ 3.03183728e-02 -1.82850729e-03 9.99538620e-01 6.59507267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.170714057 meters Centerline goodness : 0.990218 Centerline is valid? [True, True] Translation: X:155.50, Y:111.95, Z:6.60 [[-2.74872854e-01 -9.61460166e-01 6.26599770e-03 1.55497505e+02] [ 9.61002837e-01 -2.74935858e-01 -2.97291184e-02 1.11952684e+02] [ 3.03061106e-02 -2.15008606e-03 9.99538352e-01 6.59981116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20071405699997 meters Centerline goodness : 0.989186 Centerline is valid? [True, True] Translation: X:155.50, Y:111.96, Z:6.60 [[-2.73118887e-01 -9.61956853e-01 6.71471693e-03 1.55496889e+02] [ 9.61502151e-01 -2.73196535e-01 -2.96186916e-02 1.11958822e+02] [ 3.03263407e-02 -1.63320930e-03 9.99538716e-01 6.60208502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23071405699997 meters Centerline goodness : 0.989748 Centerline is valid? [True, True] Translation: X:155.50, Y:111.96, Z:6.60 [[-2.72442840e-01 -9.62148333e-01 6.74415311e-03 1.55497420e+02] [ 9.61693859e-01 -2.72521712e-01 -2.96114534e-02 1.11958071e+02] [ 3.03285387e-02 -1.58161783e-03 9.99538733e-01 6.60061624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26071405699997 meters Centerline goodness : 0.989743 Centerline is valid? [True, True] Translation: X:155.51, Y:111.93, Z:6.60 [[-2.63294976e-01 -9.64693129e-01 6.55146244e-03 1.55509190e+02] [ 9.64238261e-01 -2.63372247e-01 -2.96586600e-02 1.11926276e+02] [ 3.03369789e-02 -1.49180541e-03 9.99538615e-01 6.60383828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29071405699997 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:155.50, Y:111.95, Z:6.60 [[-2.75867246e-01 -9.61175081e-01 6.30287187e-03 1.55501129e+02] [ 9.60717901e-01 -2.75930914e-01 -2.97194281e-02 1.11952308e+02] [ 3.03047309e-02 -2.14333494e-03 9.99538408e-01 6.60052759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32071405699998 meters Centerline goodness : 0.990229 Centerline is valid? [True, True] Translation: X:155.50, Y:111.96, Z:6.60 [[-2.77200031e-01 -9.60787700e-01 6.86582474e-03 1.55500622e+02] [ 9.60333548e-01 -2.77280392e-01 -2.95814159e-02 1.11955122e+02] [ 3.03252191e-02 -1.60648756e-03 9.99538794e-01 6.59988957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35071405699998 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:155.50, Y:111.97, Z:6.60 [[-2.81477949e-01 -9.59543998e-01 6.74392978e-03 1.55497682e+02] [ 9.59088808e-01 -2.81552537e-01 -2.96112716e-02 1.11972059e+02] [ 3.03120885e-02 -1.86689245e-03 9.99538740e-01 6.59808586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38071405699998 meters Centerline goodness : 0.990369 Centerline is valid? [True, True] Translation: X:155.50, Y:111.98, Z:6.60 [[-2.84660865e-01 -9.58604813e-01 6.70856078e-03 1.55496041e+02] [ 9.58149186e-01 -2.84732853e-01 -2.96199339e-02 1.11984186e+02] [ 3.03039588e-02 -2.00383394e-03 9.99538721e-01 6.60080936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41071405699998 meters Centerline goodness : 0.990617 Centerline is valid? [True, True] Translation: X:155.50, Y:111.98, Z:6.60 [[-2.85418065e-01 -9.58377528e-01 7.00301082e-03 1.55498070e+02] [ 9.57923479e-01 -2.85498753e-01 -2.95477676e-02 1.11975074e+02] [ 3.03172674e-02 -1.72511817e-03 9.99538837e-01 6.60047422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44071405699998 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:155.48, Y:112.03, Z:6.60 [[-3.05578832e-01 -9.52141374e-01 6.95563144e-03 1.55475231e+02] [ 9.51685485e-01 -3.05648458e-01 -2.95593787e-02 1.12033931e+02] [ 3.02706855e-02 -2.41314694e-03 9.99538825e-01 6.59773419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47071405699998 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:155.50, Y:111.97, Z:6.60 [[-2.92120232e-01 -9.56352688e-01 7.43686405e-03 1.55499689e+02] [ 9.55900572e-01 -2.92211075e-01 -2.94412095e-02 1.11967551e+02] [ 3.03293139e-02 -1.49147036e-03 9.99538848e-01 6.59849576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50071405699998 meters Centerline goodness : 0.991414 Centerline is valid? [True, True] Translation: X:155.50, Y:111.97, Z:6.60 [[-2.93434074e-01 -9.55955825e-01 6.70112271e-03 1.55502088e+02] [ 9.55499557e-01 -2.93501656e-01 -2.96205089e-02 1.11968652e+02] [ 3.02826886e-02 -2.28874681e-03 9.99538754e-01 6.59602451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53071405699998 meters Centerline goodness : 0.990555 Centerline is valid? [True, True] Translation: X:155.50, Y:111.97, Z:6.60 [[-2.95801048e-01 -9.55225691e-01 6.75422379e-03 1.55501892e+02] [ 9.54769524e-01 -2.95869138e-01 -2.96075793e-02 1.11972151e+02] [ 3.02802868e-02 -2.30922594e-03 9.99538779e-01 6.59672494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56071405699998 meters Centerline goodness : 0.991416 Centerline is valid? [True, True] Translation: X:155.49, Y:112.00, Z:6.60 [[-2.97510304e-01 -9.54693622e-01 6.90709186e-03 1.55494408e+02] [ 9.54238112e-01 -2.97582291e-01 -2.95703426e-02 1.11998305e+02] [ 3.02860457e-02 -2.20647131e-03 9.99538837e-01 6.59760424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59071405699999 meters Centerline goodness : 0.992117 Centerline is valid? [True, True] Translation: X:155.50, Y:111.99, Z:6.60 [[-2.97283663e-01 -9.54765674e-01 6.70306916e-03 1.55497606e+02] [ 9.54309151e-01 -2.97349467e-01 -2.96199246e-02 1.11986648e+02] [ 3.02732413e-02 -2.40871943e-03 9.99538758e-01 6.59788691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.620714057 meters Centerline goodness : 0.991908 Centerline is valid? [True, True] Translation: X:155.50, Y:112.00, Z:6.60 [[-2.98594716e-01 -9.54357043e-01 6.62038019e-03 1.55495305e+02] [ 9.53900029e-01 -2.98657340e-01 -2.96399842e-02 1.11998458e+02] [ 3.02643528e-02 -2.53516182e-03 9.99538715e-01 6.59864330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.650714057 meters Centerline goodness : 0.990454 Centerline is valid? [True, True] Translation: X:155.50, Y:112.00, Z:6.60 [[-2.97934104e-01 -9.54562738e-01 6.72674132e-03 1.55495661e+02] [ 9.54106286e-01 -2.98000327e-01 -2.96141837e-02 1.11999730e+02] [ 3.02731674e-02 -2.40504910e-03 9.99538769e-01 6.60022625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.680714057 meters Centerline goodness : 0.991325 Centerline is valid? [True, True] Translation: X:155.50, Y:112.00, Z:6.60 [[-2.96982656e-01 -9.54858668e-01 6.79898582e-03 1.55496363e+02] [ 9.54402644e-01 -2.97051563e-01 -2.95966667e-02 1.11998039e+02] [ 3.02802831e-02 -2.30072665e-03 9.99538799e-01 6.59866800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.710714057 meters Centerline goodness : 0.991878 Centerline is valid? [True, True] Translation: X:155.49, Y:112.01, Z:6.60 [[-2.97024279e-01 -9.54846757e-01 6.65199021e-03 1.55492445e+02] [ 9.54390002e-01 -2.97088631e-01 -2.96322402e-02 1.12012439e+02] [ 3.02704791e-02 -2.45290182e-03 9.99538734e-01 6.59961683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.740714057 meters Centerline goodness : 0.990790 Centerline is valid? [True, True] Translation: X:155.49, Y:112.00, Z:6.60 [[-2.95322106e-01 -9.55374112e-01 6.72008766e-03 1.55493474e+02] [ 9.54917810e-01 -2.95389372e-01 -2.96157800e-02 1.12004412e+02] [ 3.02791920e-02 -2.32906314e-03 9.99538767e-01 6.59881050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.770714057 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:155.49, Y:112.01, Z:6.60 [[-2.93959819e-01 -9.55794254e-01 6.70584801e-03 1.55493516e+02] [ 9.55337977e-01 -2.94027297e-01 -2.96192155e-02 1.12007981e+02] [ 3.02815784e-02 -2.30050796e-03 9.99538760e-01 6.60000012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.800714057 meters Centerline goodness : 0.991284 Centerline is valid? [True, True] Translation: X:155.49, Y:112.02, Z:6.60 [[-2.93707972e-01 -9.55872288e-01 6.61791908e-03 1.55491810e+02] [ 9.55415593e-01 -2.93772858e-01 -2.96403993e-02 1.12015881e+02] [ 3.02766013e-02 -2.38275848e-03 9.99538719e-01 6.59949777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.830714057 meters Centerline goodness : 0.992327 Centerline is valid? [True, True] Translation: X:155.48, Y:112.04, Z:6.60 [[-3.08940838e-01 -9.51057972e-01 6.65522988e-03 1.55475665e+02] [ 9.50600465e-01 -3.08999574e-01 -2.96314046e-02 1.12044047e+02] [ 3.02376468e-02 -2.82788635e-03 9.99538738e-01 6.59522588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.860714057 meters Centerline goodness : 0.990999 Centerline is valid? [True, True] Translation: X:155.49, Y:112.04, Z:6.60 [[-2.93543388e-01 -9.55919160e-01 7.13015179e-03 1.55486447e+02] [ 9.55465140e-01 -2.93624132e-01 -2.95166845e-02 1.12037755e+02] [ 3.03091489e-02 -1.85181612e-03 9.99538857e-01 6.59693436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.890714057 meters Centerline goodness : 0.991363 Centerline is valid? [True, True] Translation: X:155.49, Y:112.03, Z:6.60 [[-2.92538231e-01 -9.56230547e-01 6.67271447e-03 1.55487076e+02] [ 9.55774219e-01 -2.92605367e-01 -2.96267016e-02 1.12026966e+02] [ 3.02824291e-02 -2.28933439e-03 9.99538760e-01 6.59588857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.920714057 meters Centerline goodness : 0.990111 Centerline is valid? [True, True] Translation: X:155.49, Y:112.03, Z:6.60 [[-2.91772675e-01 -9.56465563e-01 6.50632705e-03 1.55486784e+02] [ 9.56008472e-01 -2.91835044e-01 -2.96666156e-02 1.12026103e+02] [ 3.02738704e-02 -2.43580402e-03 9.99538673e-01 6.59626353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95071405699997 meters Centerline goodness : 0.991861 Centerline is valid? [True, True] Translation: X:155.48, Y:112.02, Z:6.59 [[-2.90400007e-01 -9.56882416e-01 6.62401563e-03 1.55484769e+02] [ 9.56425994e-01 -2.90466662e-01 -2.96384129e-02 1.12023649e+02] [ 3.02845318e-02 -2.27161457e-03 9.99538737e-01 6.59463088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98071405699997 meters Centerline goodness : 0.991861 Centerline is valid? [True, True] Translation: X:155.48, Y:112.03, Z:6.59 [[-2.90084543e-01 -9.56981206e-01 6.15864789e-03 1.55484258e+02] [ 9.56522608e-01 -2.90136983e-01 -2.97494879e-02 1.12026265e+02] [ 3.02565523e-02 -2.73898065e-03 9.99538413e-01 6.59451327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01071405699997 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:155.48, Y:112.03, Z:6.60 [[-2.90548382e-01 -9.56840453e-01 6.16317961e-03 1.55482631e+02] [ 9.56381850e-01 -2.90600740e-01 -2.97484078e-02 1.12027616e+02] [ 3.02555045e-02 -2.74899861e-03 9.99538417e-01 6.59613970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04071405699997 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:155.48, Y:112.03, Z:6.60 [[-2.91624473e-01 -9.56512005e-01 6.32066896e-03 1.55479204e+02] [ 9.56054053e-01 -2.91681182e-01 -2.97108551e-02 1.12032170e+02] [ 3.02624098e-02 -2.62151129e-03 9.99538551e-01 6.59740688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07071405699998 meters Centerline goodness : 0.990607 Centerline is valid? [True, True] Translation: X:155.48, Y:112.04, Z:6.60 [[-2.91596447e-01 -9.56520280e-01 6.36127323e-03 1.55476136e+02] [ 9.56062518e-01 -2.91654423e-01 -2.97011718e-02 1.12044986e+02] [ 3.02650667e-02 -2.57898129e-03 9.99538581e-01 6.59738621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10071405699998 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:155.47, Y:112.04, Z:6.60 [[-2.91049063e-01 -9.56685390e-01 6.59595877e-03 1.55474809e+02] [ 9.56228783e-01 -2.91114543e-01 -2.96451835e-02 1.12036942e+02] [ 3.02812935e-02 -2.32095725e-03 9.99538722e-01 6.59737953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13071405699998 meters Centerline goodness : 0.991484 Centerline is valid? [True, True] Translation: X:155.47, Y:112.05, Z:6.60 [[-2.90644484e-01 -9.56809480e-01 6.43451633e-03 1.55471252e+02] [ 9.56352123e-01 -2.90705176e-01 -2.96836070e-02 1.12045793e+02] [ 3.02721037e-02 -2.47371326e-03 9.99538634e-01 6.59782349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16071405699998 meters Centerline goodness : 0.991937 Centerline is valid? [True, True] Translation: X:155.47, Y:112.04, Z:6.60 [[-2.87913874e-01 -9.57634895e-01 6.40379397e-03 1.55471763e+02] [ 9.57177566e-01 -2.87974923e-01 -2.96909074e-02 1.12035093e+02] [ 3.02771811e-02 -2.41885625e-03 9.99538614e-01 6.59794323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19071405699998 meters Centerline goodness : 0.991419 Centerline is valid? [True, True] Translation: X:155.47, Y:112.05, Z:6.60 [[-2.86763905e-01 -9.57980115e-01 6.36878351e-03 1.55468273e+02] [ 9.57522693e-01 -2.86824423e-01 -2.96992158e-02 1.12047078e+02] [ 3.02779809e-02 -2.41840838e-03 9.99538591e-01 6.59808521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22071405699998 meters Centerline goodness : 0.991004 Centerline is valid? [True, True] Translation: X:155.46, Y:112.07, Z:6.60 [[-2.86529429e-01 -9.58049991e-01 6.41102380e-03 1.55461520e+02] [ 9.57592786e-01 -2.86591362e-01 -2.96891824e-02 1.12073744e+02] [ 3.02810650e-02 -2.36767435e-03 9.99538619e-01 6.59902737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25071405699998 meters Centerline goodness : 0.992146 Centerline is valid? [True, True] Translation: X:155.46, Y:112.08, Z:6.60 [[-2.83727123e-01 -9.58882207e-01 6.62059682e-03 1.55459967e+02] [ 9.58426239e-01 -2.83796850e-01 -2.96393907e-02 1.12078401e+02] [ 3.02995889e-02 -2.06414534e-03 9.99538731e-01 6.59755899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28071405699998 meters Centerline goodness : 0.991949 Centerline is valid? [True, True] Translation: X:155.46, Y:112.08, Z:6.60 [[-2.80398510e-01 -9.59863383e-01 6.24189009e-03 1.55461393e+02] [ 9.59405758e-01 -2.80458152e-01 -2.97290483e-02 1.12077844e+02] [ 3.02864138e-02 -2.34747556e-03 9.99538505e-01 6.59599786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31071405699998 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:155.47, Y:112.05, Z:6.60 [[-2.78722901e-01 -9.60350525e-01 6.35717519e-03 1.55466704e+02] [ 9.59893572e-01 -2.78786895e-01 -2.97018034e-02 1.12052502e+02] [ 3.02964396e-02 -2.17636121e-03 9.99538588e-01 6.59547101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34071405699999 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:155.46, Y:112.06, Z:6.60 [[-2.76486438e-01 -9.60997305e-01 6.27923963e-03 1.55463610e+02] [ 9.60540113e-01 -2.76549095e-01 -2.97201823e-02 1.12060225e+02] [ 3.02975331e-02 -2.18576578e-03 9.99538534e-01 6.59558628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.370714057 meters Centerline goodness : 0.992345 Centerline is valid? [True, True] Translation: X:155.47, Y:112.05, Z:6.60 [[-2.76479778e-01 -9.60999343e-01 6.26058725e-03 1.55465639e+02] [ 9.60542059e-01 -2.76541863e-01 -2.97245725e-02 1.12048219e+02] [ 3.02966091e-02 -2.20468586e-03 9.99538521e-01 6.59618667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.400714057 meters Centerline goodness : 0.992174 Centerline is valid? [True, True] Translation: X:155.47, Y:112.05, Z:6.59 [[-2.74540121e-01 -9.61555179e-01 6.27373103e-03 1.55466112e+02] [ 9.61098087e-01 -2.74603534e-01 -2.97214832e-02 1.12046846e+02] [ 3.03016348e-02 -2.13006870e-03 9.99538530e-01 6.59477487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.430714057 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:155.47, Y:112.05, Z:6.59 [[-2.73375574e-01 -9.61887512e-01 6.18145346e-03 1.55466659e+02] [ 9.61430038e-01 -2.73436697e-01 -2.97431327e-02 1.12049415e+02] [ 3.02997841e-02 -2.18801093e-03 9.99538461e-01 6.59223111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.460714057 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:155.47, Y:112.05, Z:6.59 [[-2.72246711e-01 -9.62207428e-01 6.21237068e-03 1.55466941e+02] [ 9.61750181e-01 -2.72309323e-01 -2.97358849e-02 1.12050927e+02] [ 3.03037758e-02 -2.12074822e-03 9.99538485e-01 6.59156801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.490714057 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:155.46, Y:112.06, Z:6.59 [[-2.73327214e-01 -9.61901694e-01 6.11276596e-03 1.55464335e+02] [ 9.61443889e-01 -2.73386243e-01 -2.97592077e-02 1.12062033e+02] [ 3.02965785e-02 -2.25691986e-03 9.99538405e-01 6.59296556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.520714057 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:155.46, Y:112.06, Z:6.59 [[-2.74915704e-01 -9.61448560e-01 6.16621709e-03 1.55464475e+02] [ 9.60990915e-01 -2.74975625e-01 -2.97467010e-02 1.12062039e+02] [ 3.02954823e-02 -2.25215665e-03 9.99538449e-01 6.59390926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.550714057 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:155.47, Y:112.06, Z:6.59 [[-2.77583321e-01 -9.60682815e-01 6.00240877e-03 1.55465632e+02] [ 9.60224244e-01 -2.77636918e-01 -2.97849319e-02 1.12057929e+02] [ 3.02803625e-02 -2.50414189e-03 9.99538308e-01 6.59413910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.580714057 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:155.46, Y:112.07, Z:6.59 [[-2.81072116e-01 -9.59666907e-01 6.15573253e-03 1.55464439e+02] [ 9.59208840e-01 -2.81128779e-01 -2.97491286e-02 1.12071371e+02] [ 3.02798078e-02 -2.45701747e-03 9.99538442e-01 6.59408503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.610714057 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:155.46, Y:112.07, Z:6.59 [[-2.84008056e-01 -9.58802428e-01 6.10971643e-03 1.55463457e+02] [ 9.58343983e-01 -2.84061896e-01 -2.97598708e-02 1.12074882e+02] [ 3.02693740e-02 -2.59683306e-03 9.99538404e-01 6.59456035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.640714057 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:155.46, Y:112.11, Z:6.60 [[-2.88045764e-01 -9.57596860e-01 6.15556135e-03 1.55455942e+02] [ 9.57138393e-01 -2.88099088e-01 -2.97491550e-02 1.12110595e+02] [ 3.02611090e-02 -2.67739398e-03 9.99538442e-01 6.59633135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.670714057 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:155.45, Y:112.13, Z:6.60 [[-2.91455276e-01 -9.56564128e-01 6.23628553e-03 1.55453368e+02] [ 9.56105823e-01 -2.91509461e-01 -2.97302632e-02 1.12129436e+02] [ 3.02568396e-02 -2.70249317e-03 9.99538504e-01 6.59695265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70071405699997 meters Centerline goodness : 0.992293 Centerline is valid? [True, True] Translation: X:155.45, Y:112.13, Z:6.60 [[-2.97341489e-01 -9.54750441e-01 6.29562534e-03 1.55453178e+02] [ 9.54292062e-01 -2.97394684e-01 -2.97163797e-02 1.12129476e+02] [ 3.02440122e-02 -2.82804730e-03 9.99538544e-01 6.59921643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73071405699997 meters Centerline goodness : 0.992473 Centerline is valid? [True, True] Translation: X:155.45, Y:112.14, Z:6.60 [[-3.00955140e-01 -9.53616534e-01 6.44286537e-03 1.55453688e+02] [ 9.53158576e-01 -3.01011150e-01 -2.96819185e-02 1.12135206e+02] [ 3.02445426e-02 -2.79185356e-03 9.99538630e-01 6.59866046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76071405699997 meters Centerline goodness : 0.992507 Centerline is valid? [True, True] Translation: X:155.45, Y:112.14, Z:6.60 [[-3.02533501e-01 -9.53117251e-01 6.40209365e-03 1.55454011e+02] [ 9.52659030e-01 -3.02587493e-01 -2.96914504e-02 1.12139209e+02] [ 3.02366271e-02 -2.88364614e-03 9.99538609e-01 6.59842433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79071405699997 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:155.44, Y:112.19, Z:6.60 [[-3.04838769e-01 -9.52382371e-01 6.41443990e-03 1.55443260e+02] [ 9.51924071e-01 -3.04892033e-01 -2.96885642e-02 1.12189069e+02] [ 3.02305768e-02 -2.94416560e-03 9.99538616e-01 6.59919812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82071405699998 meters Centerline goodness : 0.992905 Centerline is valid? [True, True] Translation: X:155.45, Y:112.16, Z:6.60 [[-3.07662673e-01 -9.51473627e-01 6.45107637e-03 1.55449933e+02] [ 9.51015320e-01 -3.07715710e-01 -2.96800000e-02 1.12164618e+02] [ 3.02248348e-02 -2.99635567e-03 9.99538634e-01 6.59680837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85071405699998 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:155.45, Y:112.18, Z:6.60 [[-3.07871199e-01 -9.51405774e-01 6.50983540e-03 1.55448322e+02] [ 9.50947695e-01 -3.07925953e-01 -2.96662860e-02 1.12177194e+02] [ 3.02292231e-02 -2.94288207e-03 9.99538660e-01 6.60050938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88071405699998 meters Centerline goodness : 0.993537 Centerline is valid? [True, True] Translation: X:155.46, Y:112.12, Z:6.60 [[-3.06827302e-01 -9.51741429e-01 6.72745702e-03 1.55460975e+02] [ 9.51284338e-01 -3.06889281e-01 -2.96154977e-02 1.12122244e+02] [ 3.02508805e-02 -2.68711874e-03 9.99538725e-01 6.59730145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91071405699998 meters Centerline goodness : 0.992769 Centerline is valid? [True, True] Translation: X:155.47, Y:112.11, Z:6.60 [[-3.07796381e-01 -9.51431546e-01 6.27695882e-03 1.55465348e+02] [ 9.50972561e-01 -3.07843970e-01 -2.97199902e-02 1.12107961e+02] [ 3.02088602e-02 -3.17848983e-03 9.99538555e-01 6.59897101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94071405699998 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] Translation: X:155.46, Y:112.11, Z:6.60 [[-3.16761440e-01 -9.48482015e-01 6.63757598e-03 1.55458836e+02] [ 9.48023947e-01 -3.16815858e-01 -2.96362502e-02 1.12112283e+02] [ 3.02123396e-02 -3.09504028e-03 9.99538711e-01 6.59664331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97071405699998 meters Centerline goodness : 0.992787 Centerline is valid? [True, True] Translation: X:155.46, Y:112.15, Z:6.60 [[-3.09831549e-01 -9.50766643e-01 6.87030846e-03 1.55456910e+02] [ 9.50309978e-01 -3.09896496e-01 -2.95822002e-02 1.12147557e+02] [ 3.02548537e-02 -2.63657621e-03 9.99538740e-01 6.59777164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00071405699998 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:155.46, Y:112.12, Z:6.60 [[-3.10371106e-01 -9.50594319e-01 6.34165476e-03 1.55464181e+02] [ 9.50135467e-01 -3.10419456e-01 -2.97044724e-02 1.12119381e+02] [ 3.02054757e-02 -3.19397884e-03 9.99538607e-01 6.59630431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03071405699998 meters Centerline goodness : 0.992395 Centerline is valid? [True, True] Translation: X:155.46, Y:112.13, Z:6.60 [[-3.09131672e-01 -9.50997831e-01 6.38229619e-03 1.55464338e+02] [ 9.50539199e-01 -3.09181878e-01 -2.96950875e-02 1.12128965e+02] [ 3.02132541e-02 -3.11306934e-03 9.99538628e-01 6.59640301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06071405699998 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:155.46, Y:112.14, Z:6.60 [[-3.08031397e-01 -9.51354059e-01 6.48948764e-03 1.55461988e+02] [ 9.50895908e-01 -3.08085447e-01 -2.96703388e-02 1.12139728e+02] [ 3.02263139e-02 -2.96856867e-03 9.99538672e-01 6.59570112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09071405699999 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:155.46, Y:112.15, Z:6.60 [[-3.07795980e-01 -9.51431459e-01 6.30982917e-03 1.55459648e+02] [ 9.50972618e-01 -3.07844588e-01 -2.97117572e-02 1.12149580e+02] [ 3.02111472e-02 -3.14468467e-03 9.99538592e-01 6.59591144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.120714057 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:155.46, Y:112.14, Z:6.60 [[-3.06683945e-01 -9.51790980e-01 6.23612037e-03 1.55461996e+02] [ 9.51331916e-01 -3.06730809e-01 -2.97287139e-02 1.12142459e+02] [ 3.02083319e-02 -3.18469891e-03 9.99538551e-01 6.59510137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.150714057 meters Centerline goodness : 0.991538 Centerline is valid? [True, True] Translation: X:155.46, Y:112.14, Z:6.60 [[-3.02963098e-01 -9.52982277e-01 6.17578117e-03 1.55464598e+02] [ 9.52523169e-01 -3.03009888e-01 -2.97425757e-02 1.12143508e+02] [ 3.02154703e-02 -3.12832821e-03 9.99538513e-01 6.59620365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.180714057 meters Centerline goodness : 0.993259 Centerline is valid? [True, True] Translation: X:155.46, Y:112.14, Z:6.59 [[-3.04472110e-01 -9.52500183e-01 6.33527591e-03 1.55464845e+02] [ 9.52041614e-01 -3.04523106e-01 -2.97059468e-02 1.12137614e+02] [ 3.02241576e-02 -3.01318600e-03 9.99538604e-01 6.59411903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.210714057 meters Centerline goodness : 0.992551 Centerline is valid? [True, True] Translation: X:155.47, Y:112.13, Z:6.59 [[-3.02290385e-01 -9.53196459e-01 6.08549512e-03 1.55469586e+02] [ 9.52737048e-01 -3.02334706e-01 -2.97631234e-02 1.12128028e+02] [ 3.02099602e-02 -3.19922935e-03 9.99538455e-01 6.59323566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.240714057 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:155.47, Y:112.14, Z:6.59 [[-3.00144725e-01 -9.53872924e-01 6.29192160e-03 1.55467452e+02] [ 9.53414416e-01 -3.00196463e-01 -2.97158973e-02 1.12139509e+02] [ 3.02340025e-02 -2.92026107e-03 9.99538582e-01 6.59140647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.270714057 meters Centerline goodness : 0.992807 Centerline is valid? [True, True] Translation: X:155.46, Y:112.15, Z:6.59 [[-2.98961311e-01 -9.54246515e-01 5.97688802e-03 1.55464462e+02] [ 9.53786855e-01 -2.99003876e-01 -2.97878748e-02 1.12152767e+02] [ 3.02120884e-02 -3.20474486e-03 9.99538373e-01 6.59138183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.300714057 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:155.46, Y:112.17, Z:6.59 [[-2.97131872e-01 -9.54815100e-01 6.38558207e-03 1.55459189e+02] [ 9.54357151e-01 -2.97187950e-01 -2.96943017e-02 1.12173695e+02] [ 3.02502857e-02 -2.72899756e-03 9.99538630e-01 6.59157765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.330714057 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:155.47, Y:112.14, Z:6.59 [[-2.92724074e-01 -9.56175044e-01 6.47321176e-03 1.55465963e+02] [ 9.55717742e-01 -2.92784967e-01 -2.96742541e-02 1.12139287e+02] [ 3.02690403e-02 -2.49980524e-03 9.99538662e-01 6.59092159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.360714057 meters Centerline goodness : 0.991906 Centerline is valid? [True, True] Translation: X:155.47, Y:112.13, Z:6.59 [[-2.85384901e-01 -9.58393451e-01 6.11973090e-03 1.55466235e+02] [ 9.57935058e-01 -2.85438400e-01 -2.97547318e-02 1.12130252e+02] [ 3.02635463e-02 -2.62924641e-03 9.99538496e-01 6.59191569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.390714057 meters Centerline goodness : 0.991402 Centerline is valid? [True, True] Translation: X:155.46, Y:112.14, Z:6.59 [[-2.83358605e-01 -9.58994801e-01 6.07234694e-03 1.55462808e+02] [ 9.58536318e-01 -2.83411610e-01 -2.97655099e-02 1.12139100e+02] [ 3.02659429e-02 -2.61374829e-03 9.99538464e-01 6.59367799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.420714057 meters Centerline goodness : 0.992154 Centerline is valid? [True, True] Translation: X:155.46, Y:112.13, Z:6.59 [[-2.76091968e-01 -9.61109858e-01 6.40824585e-03 1.55464357e+02] [ 9.60653363e-01 -2.76158787e-01 -2.96890680e-02 1.12126601e+02] [ 3.03041493e-02 -2.04081027e-03 9.99538640e-01 6.59273106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45071405699997 meters Centerline goodness : 0.991024 Centerline is valid? [True, True] Translation: X:155.46, Y:112.14, Z:6.59 [[-2.68377617e-01 -9.63294980e-01 6.01960986e-03 1.55459075e+02] [ 9.62837139e-01 -2.68436138e-01 -2.97772264e-02 1.12140459e+02] [ 3.03001336e-02 -2.19563714e-03 9.99538434e-01 6.59314032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48071405699997 meters Centerline goodness : 0.990451 Centerline is valid? [True, True] Translation: X:155.46, Y:112.12, Z:6.59 [[-2.63006329e-01 -9.64773297e-01 6.33696107e-03 1.55461891e+02] [ 9.64317381e-01 -2.63077156e-01 -2.97051932e-02 1.12124241e+02] [ 3.03258869e-02 -1.70181213e-03 9.99538616e-01 6.59324755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51071405699997 meters Centerline goodness : 0.991200 Centerline is valid? [True, True] Translation: X:155.46, Y:112.11, Z:6.59 [[-2.51110165e-01 -9.67938179e-01 6.27425819e-03 1.55464853e+02] [ 9.67482825e-01 -2.51184677e-01 -2.97193903e-02 1.12110146e+02] [ 3.03425300e-02 -1.39260395e-03 9.99538589e-01 6.59121917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54071405699997 meters Centerline goodness : 0.990552 Centerline is valid? [True, True] Translation: X:155.46, Y:112.14, Z:6.60 [[-2.47506792e-01 -9.68869043e-01 5.75887792e-03 1.55459306e+02] [ 9.68411237e-01 -2.47567182e-01 -2.98356703e-02 1.12137991e+02] [ 3.03325666e-02 -1.80756897e-03 9.99538227e-01 6.59906976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57071405699998 meters Centerline goodness : 0.991762 Centerline is valid? [True, True] Translation: X:155.46, Y:112.13, Z:6.59 [[-2.47746228e-01 -9.68806201e-01 6.02914510e-03 1.55459702e+02] [ 9.68349779e-01 -2.47814806e-01 -2.97746134e-02 1.12128598e+02] [ 3.03399415e-02 -1.53822684e-03 9.99538454e-01 6.59235716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60071405699998 meters Centerline goodness : 0.990862 Centerline is valid? [True, True] Translation: X:155.46, Y:112.13, Z:6.60 [[-2.45721498e-01 -9.69323404e-01 5.75191038e-03 1.55460842e+02] [ 9.68865679e-01 -2.45782517e-01 -2.98370527e-02 1.12128115e+02] [ 3.03354724e-02 -1.75877673e-03 9.99538226e-01 6.59762448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63071405699998 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:155.46, Y:112.14, Z:6.59 [[-2.51632986e-01 -9.67803935e-01 6.03196467e-03 1.55455345e+02] [ 9.67347257e-01 -2.51699817e-01 -2.97739361e-02 1.12143308e+02] [ 3.03335770e-02 -1.65709997e-03 9.99538458e-01 6.59386640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66071405699998 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:155.46, Y:112.14, Z:6.59 [[-2.48833443e-01 -9.68527572e-01 6.02160584e-03 1.55457996e+02] [ 9.68071035e-01 -2.48901277e-01 -2.97762681e-02 1.12140007e+02] [ 3.03379220e-02 -1.57998911e-03 9.99538451e-01 6.59265606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69071405699998 meters Centerline goodness : 0.990997 Centerline is valid? [True, True] Translation: X:155.46, Y:112.16, Z:6.60 [[-2.51618659e-01 -9.67809103e-01 5.79570993e-03 1.55456694e+02] [ 9.67351236e-01 -2.51678238e-01 -2.98270252e-02 1.12158637e+02] [ 3.03255206e-02 -1.89854893e-03 9.99538273e-01 6.59680917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72071405699998 meters Centerline goodness : 0.990942 Centerline is valid? [True, True] Translation: X:155.47, Y:112.12, Z:6.59 [[-2.51090861e-01 -9.67944431e-01 6.07931634e-03 1.55466217e+02] [ 9.67488037e-01 -2.51159402e-01 -2.97632759e-02 1.12123510e+02] [ 3.03360746e-02 -1.59162073e-03 9.99538488e-01 6.59319017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75071405699998 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:155.47, Y:112.14, Z:6.59 [[-2.52473400e-01 -9.67585582e-01 5.94341526e-03 1.55465461e+02] [ 9.67128398e-01 -2.52537115e-01 -2.97937334e-02 1.12139721e+02] [ 3.03289198e-02 -1.77407947e-03 9.99538398e-01 6.58952923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78071405699998 meters Centerline goodness : 0.990218 Centerline is valid? [True, True] Translation: X:155.47, Y:112.14, Z:6.59 [[-2.52749265e-01 -9.67514688e-01 5.75658360e-03 1.55466788e+02] [ 9.67056569e-01 -2.52807106e-01 -2.98355582e-02 1.12139047e+02] [ 3.03216460e-02 -1.97397342e-03 9.99538244e-01 6.59464216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81071405699998 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:155.47, Y:112.14, Z:6.59 [[-2.56604144e-01 -9.66497621e-01 6.05487800e-03 1.55466464e+02] [ 9.66040723e-01 -2.56669331e-01 -2.97687164e-02 1.12140872e+02] [ 3.03254951e-02 -1.78951726e-03 9.99538474e-01 6.59128527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84071405699999 meters Centerline goodness : 0.990285 Centerline is valid? [True, True] Translation: X:155.47, Y:112.14, Z:6.59 [[-2.51276918e-01 -9.67896908e-01 5.95701369e-03 1.55469367e+02] [ 9.67439875e-01 -2.51341617e-01 -2.97906023e-02 1.12142672e+02] [ 3.03314773e-02 -1.72263817e-03 9.99538410e-01 6.58796863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.870714057 meters Centerline goodness : 0.990285 Centerline is valid? [True, True] Translation: X:155.47, Y:112.15, Z:6.59 [[-2.50956480e-01 -9.67981001e-01 5.79888120e-03 1.55468770e+02] [ 9.67523203e-01 -2.51016470e-01 -2.98258827e-02 1.12145258e+02] [ 3.03265025e-02 -1.87444643e-03 9.99538288e-01 6.58798440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.900714057 meters Centerline goodness : 0.989477 Centerline is valid? [True, True] Translation: X:155.47, Y:112.15, Z:6.59 [[-2.54144084e-01 -9.67148977e-01 5.80012149e-03 1.55469059e+02] [ 9.66690990e-01 -2.54202604e-01 -2.98256062e-02 1.12153026e+02] [ 3.03202105e-02 -1.97307620e-03 9.99538289e-01 6.59253506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.930714057 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:155.47, Y:112.15, Z:6.59 [[-2.49099432e-01 -9.68458681e-01 6.10371002e-03 1.55473270e+02] [ 9.68002556e-01 -2.49169660e-01 -2.97578924e-02 1.12149122e+02] [ 3.03401486e-02 -1.50426721e-03 9.99538500e-01 6.59034250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.960714057 meters Centerline goodness : 0.990762 Centerline is valid? [True, True] Translation: X:155.48, Y:112.15, Z:6.59 [[-2.48137007e-01 -9.68707971e-01 5.73520372e-03 1.55476978e+02] [ 9.68250046e-01 -2.48196373e-01 -2.98397117e-02 1.12146980e+02] [ 3.03294233e-02 -1.85122548e-03 9.99538243e-01 6.59183818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.990714057 meters Centerline goodness : 0.989111 Centerline is valid? [True, True] Translation: X:155.48, Y:112.15, Z:6.60 [[-2.44826709e-01 -9.69549836e-01 5.74447051e-03 1.55479419e+02] [ 9.69092162e-01 -2.44887924e-01 -2.98376571e-02 1.12152543e+02] [ 3.03358470e-02 -1.73813405e-03 9.99538251e-01 6.59720418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.020714057 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:155.48, Y:112.15, Z:6.60 [[-2.43577971e-01 -9.69863801e-01 5.82913127e-03 1.55479638e+02] [ 9.69406637e-01 -2.43642375e-01 -2.98188895e-02 1.12153478e+02] [ 3.03404849e-02 -1.61242607e-03 9.99538321e-01 6.59674957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.050714057 meters Centerline goodness : 0.989553 Centerline is valid? [True, True] Translation: X:155.48, Y:112.15, Z:6.59 [[-2.44820884e-01 -9.69551397e-01 5.72917114e-03 1.55483491e+02] [ 9.69093649e-01 -2.44881632e-01 -2.98410059e-02 1.12150628e+02] [ 3.03353578e-02 -1.75359809e-03 9.99538239e-01 6.59481938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.080714057 meters Centerline goodness : 0.990209 Centerline is valid? [True, True] Translation: X:155.48, Y:112.16, Z:6.59 [[-2.48929489e-01 -9.68503888e-01 5.85900622e-03 1.55483037e+02] [ 9.68046523e-01 -2.48992285e-01 -2.98122709e-02 1.12157711e+02] [ 3.03321477e-02 -1.74936278e-03 9.99538344e-01 6.59386078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.110714057 meters Centerline goodness : 0.989598 Centerline is valid? [True, True] Translation: X:155.49, Y:112.16, Z:6.60 [[-2.40817215e-01 -9.70551717e-01 6.03608618e-03 1.55488613e+02] [ 9.70095833e-01 -2.40889265e-01 -2.97730848e-02 1.12162348e+02] [ 3.03503469e-02 -1.31428929e-03 9.99538458e-01 6.59608145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.140714057 meters Centerline goodness : 0.989598 Centerline is valid? [True, True] Translation: X:155.49, Y:112.18, Z:6.59 [[-2.43704163e-01 -9.69833137e-01 5.65391268e-03 1.55490402e+02] [ 9.69375093e-01 -2.43763126e-01 -2.98574608e-02 1.12180390e+02] [ 3.03349703e-02 -1.79562538e-03 9.99538176e-01 6.59382694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.170714057 meters Centerline goodness : 0.989847 Centerline is valid? [True, True] Translation: X:155.49, Y:112.18, Z:6.59 [[-2.41243645e-01 -9.70447331e-01 5.78638868e-03 1.55493361e+02] [ 9.69990106e-01 -2.41307837e-01 -2.98282105e-02 1.12178901e+02] [ 3.03430082e-02 -1.58312645e-03 9.99538291e-01 6.59408463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20071405699997 meters Centerline goodness : 0.984872 Centerline is valid? [True, True] Translation: X:155.28, Y:113.07, Z:6.62 [[-2.87268316e-01 -9.57829274e-01 6.32425553e-03 1.55279364e+02] [ 9.57371785e-01 -2.87327234e-01 -2.97039632e-02 1.13066980e+02] [ 3.02684563e-02 -2.47834366e-03 9.99538733e-01 6.61909914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23071405699997 meters Centerline goodness : 0.984753 Centerline is valid? [True, True] Translation: X:155.28, Y:113.05, Z:6.62 [[-2.84780598e-01 -9.58568242e-01 6.85097766e-03 1.55284709e+02] [ 9.58113273e-01 -2.84856906e-01 -2.95888360e-02 1.13054523e+02] [ 3.03144669e-02 -1.86231380e-03 9.99538676e-01 6.61964025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26071405699997 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:155.48, Y:112.21, Z:6.59 [[-2.71454996e-01 -9.62421711e-01 7.52560171e-03 1.55484027e+02] [ 9.61971816e-01 -2.71558256e-01 -2.94336437e-02 1.12209292e+02] [ 3.03712170e-02 -7.50492890e-04 9.99538406e-01 6.59409019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29071405699997 meters Centerline goodness : 0.990619 Centerline is valid? [True, True] Translation: X:155.41, Y:112.58, Z:6.61 [[-2.66008070e-01 -9.63947596e-01 6.68865477e-03 1.55408644e+02] [ 9.63493398e-01 -2.66088277e-01 -2.96226339e-02 1.12584286e+02] [ 3.03344394e-02 -1.43538496e-03 9.99538774e-01 6.60663604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32071405699998 meters Centerline goodness : 0.992306 Centerline is valid? [True, True] Translation: X:155.49, Y:112.22, Z:6.59 [[-2.68240916e-01 -9.63327352e-01 6.87202783e-03 1.55487598e+02] [ 9.62873969e-01 -2.68325691e-01 -2.95811307e-02 1.12219339e+02] [ 3.03402539e-02 -1.31797287e-03 9.99538760e-01 6.59346756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35071405699998 meters Centerline goodness : 0.984431 Centerline is valid? [True, True] Translation: X:155.29, Y:113.10, Z:6.62 [[-2.76125387e-01 -9.61098549e-01 6.65952031e-03 1.55287532e+02] [ 9.60643395e-01 -2.76199921e-01 -2.96288956e-02 1.13103331e+02] [ 3.03156475e-02 -1.78386605e-03 9.99538783e-01 6.61899477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38071405699998 meters Centerline goodness : 0.991351 Centerline is valid? [True, True] Translation: X:155.50, Y:112.21, Z:6.59 [[-2.26970447e-01 -9.73873483e-01 7.40646776e-03 1.55499188e+02] [ 9.73427931e-01 -2.27090656e-01 -2.94601082e-02 1.12211451e+02] [ 3.03723578e-02 5.23088664e-04 9.99538517e-01 6.59160621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41071405699998 meters Centerline goodness : 0.984276 Centerline is valid? [True, True] Translation: X:155.29, Y:113.14, Z:6.62 [[-2.71840535e-01 -9.62324097e-01 5.92078486e-03 1.55285677e+02] [ 9.61865949e-01 -2.71894390e-01 -2.97881964e-02 1.13135312e+02] [ 3.02757274e-02 -2.40263789e-03 9.99538697e-01 6.62040625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44071405699998 meters Centerline goodness : 0.984799 Centerline is valid? [True, True] Translation: X:155.29, Y:113.15, Z:6.62 [[-2.69729522e-01 -9.62914100e-01 6.51315303e-03 1.55285106e+02] [ 9.62458590e-01 -2.69802581e-01 -2.96652913e-02 1.13152726e+02] [ 3.03223928e-02 -1.73296475e-03 9.99538668e-01 6.62313871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47071405699998 meters Centerline goodness : 0.985452 Centerline is valid? [True, True] Translation: X:155.29, Y:113.14, Z:6.62 [[-2.68341135e-01 -9.63302259e-01 6.46479852e-03 1.55289768e+02] [ 9.62846636e-01 -2.68413368e-01 -2.96752372e-02 1.13143547e+02] [ 3.03214614e-02 -1.73847733e-03 9.99538687e-01 6.62116452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50071405699998 meters Centerline goodness : 0.985495 Centerline is valid? [True, True] Translation: X:155.30, Y:113.11, Z:6.62 [[-2.67458711e-01 -9.63547647e-01 6.46291778e-03 1.55299729e+02] [ 9.63092082e-01 -2.67531304e-01 -2.96756220e-02 1.13107275e+02] [ 3.03229086e-02 -1.71261868e-03 9.99538688e-01 6.62114690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53071405699998 meters Centerline goodness : 0.992656 Centerline is valid? [True, True] Translation: X:155.49, Y:112.28, Z:6.60 [[-2.56887497e-01 -9.66415118e-01 7.11568601e-03 1.55485388e+02] [ 9.65963968e-01 -2.56985038e-01 -2.95347547e-02 1.12278543e+02] [ 3.03714583e-02 -7.13612921e-04 9.99538426e-01 6.59704992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56071405699998 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:155.49, Y:112.28, Z:6.60 [[-2.58443822e-01 -9.66005824e-01 6.28801921e-03 1.55487040e+02] [ 9.65550182e-01 -2.58515311e-01 -2.97099390e-02 1.12283056e+02] [ 3.03255234e-02 -1.60695211e-03 9.99538784e-01 6.59509226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59071405699999 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:155.49, Y:112.29, Z:6.60 [[-2.63447686e-01 -9.64653265e-01 6.27652943e-03 1.55490813e+02] [ 9.64197205e-01 -2.63516459e-01 -2.97123662e-02 1.12286228e+02] [ 3.03160998e-02 -1.77584197e-03 9.99538784e-01 6.59559894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.620714057 meters Centerline goodness : 0.990548 Centerline is valid? [True, True] Translation: X:155.42, Y:112.66, Z:6.61 [[-2.62753661e-01 -9.64842610e-01 6.26503482e-03 1.55419193e+02] [ 9.64386547e-01 -2.62822410e-01 -2.97147897e-02 1.12655018e+02] [ 3.03166868e-02 -1.76575448e-03 9.99538784e-01 6.61048534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.650714057 meters Centerline goodness : 0.990772 Centerline is valid? [True, True] Translation: X:155.42, Y:112.66, Z:6.61 [[-2.65179688e-01 -9.64178162e-01 6.34076350e-03 1.55421002e+02] [ 9.63722274e-01 -2.65249614e-01 -2.96988324e-02 1.12657251e+02] [ 3.03168507e-02 -1.76479208e-03 9.99538781e-01 6.60997319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.680714057 meters Centerline goodness : 0.990505 Centerline is valid? [True, True] Translation: X:155.42, Y:112.67, Z:6.61 [[-2.71238624e-01 -9.62491590e-01 6.28869692e-03 1.55423078e+02] [ 9.62035043e-01 -2.71304082e-01 -2.97097805e-02 1.12670280e+02] [ 3.03015630e-02 -2.00849317e-03 9.99538784e-01 6.61021474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.710714057 meters Centerline goodness : 0.991832 Centerline is valid? [True, True] Translation: X:155.50, Y:112.31, Z:6.60 [[-2.76612249e-01 -9.60960764e-01 6.33035225e-03 1.55496090e+02] [ 9.60504034e-01 -2.76676436e-01 -2.97010127e-02 1.12312515e+02] [ 3.02929671e-02 -2.13533505e-03 9.99538782e-01 6.59671734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.740714057 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:155.50, Y:112.32, Z:6.60 [[-2.79928790e-01 -9.60000647e-01 6.21526768e-03 1.55498220e+02] [ 9.59543234e-01 -2.79987859e-01 -2.97250761e-02 1.12317672e+02] [ 3.02762918e-02 -2.35708653e-03 9.99538789e-01 6.59662653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.770714057 meters Centerline goodness : 0.992483 Centerline is valid? [True, True] Translation: X:155.50, Y:112.32, Z:6.60 [[-2.80275329e-01 -9.59899606e-01 6.20365706e-03 1.55498087e+02] [ 9.59442126e-01 -2.80333876e-01 -2.97274991e-02 1.12324276e+02] [ 3.02745099e-02 -2.37983466e-03 9.99538789e-01 6.59649532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.800714057 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:155.50, Y:112.33, Z:6.60 [[-2.79744091e-01 -9.60054635e-01 6.19201983e-03 1.55498158e+02] [ 9.59597142e-01 -2.79802533e-01 -2.97299228e-02 1.12328256e+02] [ 3.02748930e-02 -2.37492571e-03 9.99538789e-01 6.59590280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.830714057 meters Centerline goodness : 0.991212 Centerline is valid? [True, True] Translation: X:155.43, Y:112.68, Z:6.61 [[-2.76612659e-01 -9.60961623e-01 6.18035987e-03 1.55429383e+02] [ 9.60504275e-01 -2.76672233e-01 -2.97323465e-02 1.12677439e+02] [ 3.02815779e-02 -2.28808135e-03 9.99538789e-01 6.60773688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.860714057 meters Centerline goodness : 0.992576 Centerline is valid? [True, True] Translation: X:155.50, Y:112.33, Z:6.60 [[-2.75994665e-01 -9.61138229e-01 6.34425119e-03 1.55498842e+02] [ 9.60681597e-01 -2.76059572e-01 -2.96981734e-02 1.12330560e+02] [ 3.02954411e-02 -2.10173205e-03 9.99538778e-01 6.59557394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.890714057 meters Centerline goodness : 0.990490 Centerline is valid? [True, True] Translation: X:155.52, Y:112.30, Z:6.60 [[-2.51202748e-01 -9.67914870e-01 6.16310715e-03 1.55517062e+02] [ 9.67459174e-01 -2.51273821e-01 -2.97357184e-02 1.12295420e+02] [ 3.03302714e-02 -1.50713962e-03 9.99538795e-01 6.59535045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.920714057 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:155.52, Y:112.30, Z:6.60 [[-2.48340741e-01 -9.68657426e-01 5.44669291e-03 1.55515068e+02] [ 9.68198756e-01 -2.48391179e-01 -2.98829709e-02 1.12297730e+02] [ 3.02992722e-02 -2.14767786e-03 9.99538564e-01 6.59679764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95071405699997 meters Centerline goodness : 0.991430 Centerline is valid? [True, True] Translation: X:155.51, Y:112.31, Z:6.60 [[-2.52249199e-01 -9.67647639e-01 5.32808341e-03 1.55509594e+02] [ 9.67188308e-01 -2.52294135e-01 -2.99072978e-02 1.12308192e+02] [ 3.02839703e-02 -2.39083193e-03 9.99538476e-01 6.59656767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98071405699997 meters Centerline goodness : 0.992700 Centerline is valid? [True, True] Translation: X:155.51, Y:112.30, Z:6.60 [[-2.43611249e-01 -9.69857695e-01 5.44150238e-03 1.55511610e+02] [ 9.69399254e-01 -2.43663764e-01 -2.98840587e-02 1.12296062e+02] [ 3.03091812e-02 -2.00510451e-03 9.99538560e-01 6.59530491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01071405699997 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:155.51, Y:112.30, Z:6.60 [[-2.42229402e-01 -9.70205086e-01 5.19686629e-03 1.55509619e+02] [ 9.69745715e-01 -2.42275052e-01 -2.99340471e-02 1.12304534e+02] [ 3.03012358e-02 -2.21126751e-03 9.99538366e-01 6.59566448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04071405699997 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:155.51, Y:112.30, Z:6.60 [[-2.41878729e-01 -9.70292443e-01 5.22061112e-03 1.55509455e+02] [ 9.69833184e-01 -2.41925276e-01 -2.99291938e-02 1.12304411e+02] [ 3.03030684e-02 -2.17611346e-03 9.99538388e-01 6.59769971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07071405699998 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:155.51, Y:112.31, Z:6.60 [[-2.44763867e-01 -9.69566625e-01 5.58645122e-03 1.55506164e+02] [ 9.69108739e-01 -2.44820289e-01 -2.98542793e-02 1.12309777e+02] [ 3.03133894e-02 -1.89337015e-03 9.99538650e-01 6.60014892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10071405699998 meters Centerline goodness : 0.991782 Centerline is valid? [True, True] Translation: X:155.50, Y:112.32, Z:6.60 [[-2.47017606e-01 -9.68994279e-01 5.69125900e-03 1.55503107e+02] [ 9.68536712e-01 -2.47076182e-01 -2.98328229e-02 1.12322052e+02] [ 3.03140093e-02 -1.85703922e-03 9.99538700e-01 6.60037253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13071405699998 meters Centerline goodness : 0.991892 Centerline is valid? [True, True] Translation: X:155.50, Y:112.33, Z:6.60 [[-2.47046650e-01 -9.68988464e-01 5.41377431e-03 1.55502718e+02] [ 9.68529735e-01 -2.47096689e-01 -2.98894547e-02 1.12325004e+02] [ 3.03002625e-02 -2.14068825e-03 9.99538549e-01 6.59855300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16071405699998 meters Centerline goodness : 0.990589 Centerline is valid? [True, True] Translation: X:155.50, Y:112.33, Z:6.60 [[-2.42843940e-01 -9.70050424e-01 5.38482084e-03 1.55504580e+02] [ 9.69591795e-01 -2.42895078e-01 -2.98953581e-02 1.12334662e+02] [ 3.03079513e-02 -2.03882845e-03 9.99538529e-01 6.60167145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19071405699998 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:155.50, Y:112.34, Z:6.60 [[-2.53338946e-01 -9.67362074e-01 5.47687254e-03 1.55498334e+02] [ 9.66903273e-01 -2.53387944e-01 -2.98765823e-02 1.12337570e+02] [ 3.02892461e-02 -2.27329589e-03 9.99538590e-01 6.59992183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22071405699998 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:155.49, Y:112.35, Z:6.60 [[-2.56498943e-01 -9.66529154e-01 5.44849861e-03 1.55494443e+02] [ 9.66070088e-01 -2.56545568e-01 -2.98823680e-02 1.12351873e+02] [ 3.02799680e-02 -2.40116429e-03 9.99538573e-01 6.60115095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25071405699998 meters Centerline goodness : 0.991949 Centerline is valid? [True, True] Translation: X:155.50, Y:112.35, Z:6.60 [[-2.57054332e-01 -9.66380932e-01 5.56460203e-03 1.55495939e+02] [ 9.65922282e-01 -2.57104264e-01 -2.98587046e-02 1.12346940e+02] [ 3.02855657e-02 -2.30033626e-03 9.99538640e-01 6.59836026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28071405699998 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:155.50, Y:112.35, Z:6.59 [[-2.47216897e-01 -9.68944843e-01 5.44943046e-03 1.55499679e+02] [ 9.68486251e-01 -2.47267951e-01 -2.98821243e-02 1.12352551e+02] [ 3.03015998e-02 -2.10966758e-03 9.99538575e-01 6.59265654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31071405699998 meters Centerline goodness : 0.992330 Centerline is valid? [True, True] Translation: X:155.50, Y:112.36, Z:6.59 [[-2.50122095e-01 -9.68200984e-01 5.07853027e-03 1.55497234e+02] [ 9.67740850e-01 -2.50160362e-01 -2.99573031e-02 1.12358053e+02] [ 3.02751373e-02 -2.57828222e-03 9.99538278e-01 6.59285673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34071405699999 meters Centerline goodness : 0.993108 Centerline is valid? [True, True] Translation: X:155.48, Y:112.36, Z:6.60 [[-2.73855278e-01 -9.61757071e-01 5.15965424e-03 1.55483794e+02] [ 9.61296366e-01 -2.73884722e-01 -2.99408554e-02 1.12355146e+02] [ 3.02089799e-02 -3.23950442e-03 9.99538355e-01 6.59753950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.370714057 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:155.48, Y:112.36, Z:6.60 [[-2.73120740e-01 -9.61960665e-01 6.06133707e-03 1.55481242e+02] [ 9.61503051e-01 -2.73178315e-01 -2.97572020e-02 1.12360114e+02] [ 3.02810836e-02 -2.29931493e-03 9.99538778e-01 6.59887439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.400714057 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:155.49, Y:112.35, Z:6.59 [[-2.51621388e-01 -9.67806839e-01 6.04969619e-03 1.55492881e+02] [ 9.67350569e-01 -2.51688787e-01 -2.97595684e-02 1.12346038e+02] [ 3.03241545e-02 -1.63596686e-03 9.99538778e-01 6.59173143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.430714057 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:155.48, Y:112.36, Z:6.60 [[-2.70655983e-01 -9.62661814e-01 5.25084846e-03 1.55478294e+02] [ 9.62201528e-01 -2.70689776e-01 -2.99209598e-02 1.12357710e+02] [ 3.02251164e-02 -3.04591237e-03 9.99538476e-01 6.59861951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.460714057 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:155.48, Y:112.36, Z:6.60 [[-2.69085770e-01 -9.63097305e-01 6.03568842e-03 1.55476139e+02] [ 9.62639853e-01 -2.69144476e-01 -2.97618043e-02 1.12358524e+02] [ 3.02879857e-02 -2.19828383e-03 9.99538796e-01 6.59814745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.490714057 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:155.47, Y:112.36, Z:6.60 [[-2.65224611e-01 -9.64167836e-01 6.02407536e-03 1.55473425e+02] [ 9.63710576e-01 -2.65284792e-01 -2.97641547e-02 1.12356109e+02] [ 3.02957362e-02 -2.08872121e-03 9.99538796e-01 6.59660605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.520714057 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:155.40, Y:112.74, Z:6.61 [[-2.57760392e-01 -9.66190163e-01 6.01248875e-03 1.55398288e+02] [ 9.65733332e-01 -2.57823752e-01 -2.97664951e-02 1.12735230e+02] [ 3.03102571e-02 -1.86616264e-03 9.99538797e-01 6.61003912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.550714057 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:155.39, Y:112.73, Z:6.61 [[-2.53214115e-01 -9.67393095e-01 5.76291508e-03 1.55394379e+02] [ 9.66935484e-01 -2.53271963e-01 -2.98174722e-02 1.12733946e+02] [ 3.03048016e-02 -1.97783775e-03 9.99538747e-01 6.61145360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.580714057 meters Centerline goodness : 0.994198 Centerline is valid? [True, True] Translation: X:156.16, Y:112.63, Z:7.45 [[-2.08227123e-01 9.78063523e-01 -5.76291508e-03 1.56162427e+02] [ 9.77609075e-01 2.08306062e-01 2.98174722e-02 1.12627374e+02] [ 3.03638321e-02 5.74928369e-04 -9.99538747e-01 7.44796019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.610714057 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:155.48, Y:112.47, Z:6.61 [[-3.14184884e-01 -9.49328021e-01 8.01039603e-03 1.55478053e+02] [ 9.48880113e-01 -3.14283044e-01 -2.92010309e-02 1.12467772e+02] [ 3.02388885e-02 -1.57361702e-03 9.99541462e-01 6.60740308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.640714057 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:155.48, Y:112.47, Z:6.61 [[-3.11653457e-01 -9.50162176e-01 7.99765789e-03 1.55476227e+02] [ 9.49714444e-01 -3.11752419e-01 -2.92045192e-02 1.12469450e+02] [ 3.02423187e-02 -1.50619816e-03 9.99541462e-01 6.60768991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.670714057 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:155.48, Y:112.47, Z:6.61 [[-3.09820505e-01 -9.50761522e-01 7.98637272e-03 1.55475146e+02] [ 9.50313905e-01 -3.09919985e-01 -2.92076050e-02 1.12468544e+02] [ 3.02446035e-02 -1.45955388e-03 9.99541462e-01 6.60776186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70071405699997 meters Centerline goodness : 0.994251 Centerline is valid? [True, True] Translation: X:155.47, Y:112.47, Z:6.61 [[-3.08198631e-01 -9.51288601e-01 7.97510157e-03 1.55471237e+02] [ 9.50841077e-01 -3.08298529e-01 -2.92106822e-02 1.12473072e+02] [ 3.02465011e-02 -1.41963811e-03 9.99541462e-01 6.60834262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73071405699997 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:155.47, Y:112.47, Z:6.61 [[-3.08318429e-01 -9.51249875e-01 7.96382924e-03 1.55470681e+02] [ 9.50802261e-01 -3.08417925e-01 -2.92137551e-02 1.12470842e+02] [ 3.02457686e-02 -1.43511223e-03 9.99541462e-01 6.60748229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76071405699997 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:155.47, Y:112.47, Z:6.61 [[-3.10453908e-01 -9.50555168e-01 7.95256508e-03 1.55468202e+02] [ 9.50107257e-01 -3.10552054e-01 -2.92168211e-02 1.12474437e+02] [ 3.02418858e-02 -1.51468652e-03 9.99541462e-01 6.60838639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79071405699997 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:155.47, Y:112.48, Z:6.61 [[-3.10087584e-01 -9.50674821e-01 7.94200496e-03 1.55467438e+02] [ 9.50226876e-01 -3.10185578e-01 -2.92196914e-02 1.12476982e+02] [ 3.02419203e-02 -1.51395696e-03 9.99541462e-01 6.60846291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82071405699998 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:155.46, Y:112.48, Z:6.61 [[-3.11574339e-01 -9.50188684e-01 7.93073851e-03 1.55464816e+02] [ 9.49740512e-01 -3.11671287e-01 -2.92227490e-02 1.12483611e+02] [ 3.02389089e-02 -1.57291504e-03 9.99541462e-01 6.60891816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85071405699998 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:155.46, Y:112.48, Z:6.61 [[-3.12960107e-01 -9.49733254e-01 7.91945393e-03 1.55464254e+02] [ 9.49284867e-01 -3.13056055e-01 -2.92258069e-02 1.12483191e+02] [ 3.02359537e-02 -1.62869388e-03 9.99541462e-01 6.60908223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88071405699998 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:155.46, Y:112.49, Z:6.61 [[-3.16188007e-01 -9.48663589e-01 7.90816055e-03 1.55460318e+02] [ 9.48214806e-01 -3.16282083e-01 -2.92288624e-02 1.12493093e+02] [ 3.02295670e-02 -1.74318082e-03 9.99541462e-01 6.60928642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91071405699998 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:155.46, Y:112.50, Z:6.61 [[-3.17669282e-01 -9.48168691e-01 7.89684512e-03 1.55459001e+02] [ 9.47719689e-01 -3.17762310e-01 -2.92319192e-02 1.12496067e+02] [ 3.02261103e-02 -1.80208719e-03 9.99541462e-01 6.60888045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94071405699998 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:155.47, Y:112.51, Z:6.60 [[-2.99552869e-01 -9.54047115e-01 7.88549424e-03 1.55466156e+02] [ 9.53599888e-01 -2.99654085e-01 -2.92349809e-02 1.12513128e+02] [ 3.02544697e-02 -1.23781598e-03 9.99541462e-01 6.60391838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97071405699998 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:155.46, Y:112.50, Z:6.61 [[-3.21030672e-01 -9.47044253e-01 6.81838223e-03 1.55456336e+02] [ 9.46588854e-01 -3.21088842e-01 -2.95211211e-02 1.12503089e+02] [ 3.01471146e-02 -3.02298075e-03 9.99540901e-01 6.60699295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00071405699998 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:155.46, Y:112.50, Z:6.61 [[-3.21039774e-01 -9.47032985e-01 7.87329325e-03 1.55455499e+02] [ 9.46583545e-01 -3.21130483e-01 -2.92370612e-02 1.12504163e+02] [ 3.02168158e-02 -1.93352971e-03 9.99541498e-01 6.60586483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03071405699998 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:155.45, Y:112.50, Z:6.61 [[-3.20647131e-01 -9.47166093e-01 7.86190589e-03 1.55454276e+02] [ 9.46716620e-01 -3.20737675e-01 -2.92401230e-02 1.12503488e+02] [ 3.02168625e-02 -1.93276457e-03 9.99541498e-01 6.60555493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06071405699998 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:155.45, Y:112.51, Z:6.61 [[-3.19196513e-01 -9.47656032e-01 7.85053847e-03 1.55452352e+02] [ 9.47206627e-01 -3.19287397e-01 -2.92431747e-02 1.12507026e+02] [ 3.02190489e-02 -1.89823732e-03 9.99541498e-01 6.60551197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09071405699999 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:155.46, Y:112.51, Z:6.60 [[-3.01148123e-01 -9.53545151e-01 7.83917938e-03 1.55461144e+02] [ 9.53097476e-01 -3.01247175e-01 -2.92462194e-02 1.12505393e+02] [ 3.02491213e-02 -1.33594201e-03 9.99541498e-01 6.60247976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.120714057 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:155.45, Y:112.51, Z:6.61 [[-3.12667989e-01 -9.49836846e-01 6.97817421e-03 1.55447443e+02] [ 9.49382916e-01 -3.12735114e-01 -2.94758715e-02 1.12511467e+02] [ 3.01795889e-02 -2.59120206e-03 9.99541134e-01 6.60551660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.150714057 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:155.45, Y:112.51, Z:6.61 [[-3.10038145e-01 -9.50691910e-01 7.82560436e-03 1.55446674e+02] [ 9.50243263e-01 -3.10132597e-01 -2.92491538e-02 1.12508133e+02] [ 3.02339089e-02 -1.63212556e-03 9.99541518e-01 6.60612203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.180714057 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:155.45, Y:112.51, Z:6.61 [[-3.06636061e-01 -9.51794759e-01 7.81424295e-03 1.55445304e+02] [ 9.51346378e-01 -3.06731769e-01 -2.92521888e-02 1.12505942e+02] [ 3.02389566e-02 -1.53572423e-03 9.99541518e-01 6.60720158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.210714057 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:155.44, Y:112.51, Z:6.61 [[-3.05359899e-01 -9.52205044e-01 7.80292233e-03 1.55443814e+02] [ 9.51756718e-01 -3.05455861e-01 -2.92552082e-02 1.12508396e+02] [ 3.02404052e-02 -1.50688369e-03 9.99541518e-01 6.60862724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.240714057 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:155.44, Y:112.51, Z:6.61 [[-3.05169118e-01 -9.52266297e-01 7.79162142e-03 1.55442496e+02] [ 9.51817916e-01 -3.05264823e-01 -2.92582177e-02 1.12510986e+02] [ 3.02401226e-02 -1.51249963e-03 9.99541519e-01 6.60912905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.270714057 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:155.44, Y:112.51, Z:6.61 [[-3.06381704e-01 -9.51876945e-01 7.78031554e-03 1.55442427e+02] [ 9.51428369e-01 -3.06476492e-01 -2.92612239e-02 1.12511396e+02] [ 3.02375682e-02 -1.56269072e-03 9.99541519e-01 6.60898766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.300714057 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:155.44, Y:112.52, Z:6.61 [[-3.07477786e-01 -9.51523543e-01 7.76901612e-03 1.55441222e+02] [ 9.51074786e-01 -3.07571710e-01 -2.92642236e-02 1.12516296e+02] [ 3.02351273e-02 -1.60918333e-03 9.99541519e-01 6.60835316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.330714057 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:155.44, Y:112.52, Z:6.61 [[-3.11008559e-01 -9.50375449e-01 7.75771555e-03 1.55439686e+02] [ 9.49926275e-01 -3.11100470e-01 -2.92672190e-02 1.12521575e+02] [ 3.02282754e-02 -1.73309778e-03 9.99541519e-01 6.60687035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.360714057 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:155.46, Y:112.50, Z:6.60 [[-2.84944221e-01 -9.58512798e-01 7.74639295e-03 1.55459480e+02] [ 9.58066221e-01 -2.85048016e-01 -2.92702155e-02 1.12497860e+02] [ 3.02639702e-02 -9.18821343e-04 9.99541519e-01 6.60021529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.390714057 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:155.44, Y:112.53, Z:6.61 [[-3.14877306e-01 -9.49112226e-01 6.18581609e-03 1.55439047e+02] [ 9.48654434e-01 -3.14918865e-01 -2.96795248e-02 1.12525251e+02] [ 3.01172301e-02 -3.47720697e-03 9.99540325e-01 6.60541392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.420714057 meters Centerline goodness : 0.991093 Centerline is valid? [True, True] Translation: X:155.27, Y:113.14, Z:6.62 [[-3.20649384e-01 -9.47166380e-01 7.73442533e-03 1.55274212e+02] [ 9.46716248e-01 -3.20736016e-01 -2.92703591e-02 1.13137290e+02] [ 3.02046089e-02 -2.06321651e-03 9.99541607e-01 6.62293792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45071405699997 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:156.17, Y:112.87, Z:7.46 [[-2.53097964e-01 9.67409737e-01 -7.73442533e-03 1.56167214e+02] [ 9.66966830e-01 2.53216105e-01 2.92703591e-02 1.12871622e+02] [ 3.02749115e-02 -7.06644307e-05 -9.99541607e-01 7.45684516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48071405699997 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:155.45, Y:112.66, Z:6.61 [[-3.74900358e-01 -9.27014368e-01 9.69962614e-03 1.55452616e+02] [ 9.26574586e-01 -3.75021795e-01 -2.86040282e-02 1.12664571e+02] [ 3.01539163e-02 -1.73623333e-03 9.99543759e-01 6.60894003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51071405699997 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:155.46, Y:112.65, Z:6.61 [[-3.76731553e-01 -9.26279584e-01 8.91458392e-03 1.55458326e+02] [ 9.25833321e-01 -3.76827887e-01 -2.88687755e-02 1.12648668e+02] [ 3.00998211e-02 -2.62235979e-03 9.99543458e-01 6.60796749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54071405699997 meters Centerline goodness : 0.993449 Centerline is valid? [True, True] Translation: X:155.45, Y:112.67, Z:6.61 [[-3.81780906e-01 -9.24209373e-01 8.96513544e-03 1.55450656e+02] [ 9.23762965e-01 -3.81876371e-01 -2.88517353e-02 1.12668724e+02] [ 3.00886176e-02 -2.73338156e-03 9.99543498e-01 6.61043833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57071405699998 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:155.45, Y:112.66, Z:6.61 [[-3.82579786e-01 -9.23878048e-01 9.05864512e-03 1.55454086e+02] [ 9.23432252e-01 -3.82677764e-01 -2.88202116e-02 1.12659516e+02] [ 3.00929029e-02 -2.66098535e-03 9.99543564e-01 6.60906597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60071405699998 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:155.45, Y:112.67, Z:6.61 [[-3.84760605e-01 -9.22972165e-01 9.03660640e-03 1.55451216e+02] [ 9.22525975e-01 -3.84856846e-01 -2.88276316e-02 1.12668318e+02] [ 3.00849014e-02 -2.75523286e-03 9.99543550e-01 6.60884383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63071405699998 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:155.45, Y:112.68, Z:6.61 [[-3.85759641e-01 -9.22555519e-01 8.98965115e-03 1.55448553e+02] [ 9.22108883e-01 -3.85853943e-01 -2.88434362e-02 1.12676922e+02] [ 3.00783636e-02 -2.83719643e-03 9.99543517e-01 6.60865795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66071405699998 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:155.44, Y:112.68, Z:6.61 [[-3.99213099e-01 -9.16813685e-01 9.03148525e-03 1.55440026e+02] [ 9.16366004e-01 -3.99302159e-01 -2.88293545e-02 1.12676224e+02] [ 3.00374383e-02 -3.23290992e-03 9.99543546e-01 6.60991399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69071405699998 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:155.44, Y:112.67, Z:6.61 [[-4.00052044e-01 -9.16441601e-01 9.65162184e-03 1.55442540e+02] [ 9.15998306e-01 -4.00159951e-01 -2.86202322e-02 1.12665987e+02] [ 3.00909640e-02 -2.60871315e-03 9.99543760e-01 6.61134424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72071405699998 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:155.45, Y:112.68, Z:6.61 [[-3.88745598e-01 -9.21294700e-01 9.64035440e-03 1.55445576e+02] [ 9.20852677e-01 -3.88858603e-01 -2.86240270e-02 1.12677841e+02] [ 3.01198991e-02 -2.25011834e-03 9.99543760e-01 6.61036299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75071405699998 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:155.45, Y:112.67, Z:6.61 [[-3.88587586e-01 -9.21368448e-01 8.93709794e-03 1.55447842e+02] [ 9.20921185e-01 -3.88678888e-01 -2.88598799e-02 1.12672015e+02] [ 3.00642440e-02 -2.98422822e-03 9.99543514e-01 6.60951665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78071405699998 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:155.45, Y:112.68, Z:6.61 [[-3.89073837e-01 -9.21163520e-01 8.90607201e-03 1.55445394e+02] [ 9.20715991e-01 -3.89163939e-01 -2.88702753e-02 1.12680592e+02] [ 3.00601664e-02 -3.03270585e-03 9.99543490e-01 6.60893704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81071405699998 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:155.44, Y:112.68, Z:6.61 [[-4.04779100e-01 -9.14370842e-01 8.93548725e-03 1.55436698e+02] [ 9.13922028e-01 -4.04862449e-01 -2.88604160e-02 1.12681200e+02] [ 3.00067661e-02 -3.51575458e-03 9.99543513e-01 6.61020577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84071405699999 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:155.44, Y:112.69, Z:6.61 [[-3.92998646e-01 -9.19488754e-01 9.61747039e-03 1.55443229e+02] [ 9.19046048e-01 -3.93108901e-01 -2.86313413e-02 1.12685885e+02] [ 3.01069095e-02 -2.41318020e-03 9.99543771e-01 6.60754257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.870714057 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:155.44, Y:112.68, Z:6.61 [[-3.92821425e-01 -9.19569043e-01 9.17080974e-03 1.55443983e+02] [ 9.19123036e-01 -3.92917931e-01 -2.87809564e-02 1.12682710e+02] [ 3.00694521e-02 -2.87667382e-03 9.99543672e-01 6.60607600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.900714057 meters Centerline goodness : 0.993055 Centerline is valid? [True, True] Translation: X:155.44, Y:112.69, Z:6.61 [[-3.92387668e-01 -9.19756983e-01 8.88875485e-03 1.55444009e+02] [ 9.19309038e-01 -3.92475622e-01 -2.88752141e-02 1.12685066e+02] [ 3.00467994e-02 -3.15876526e-03 9.99543502e-01 6.60777446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.930714057 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:155.44, Y:112.68, Z:6.61 [[-3.92295622e-01 -9.19794190e-01 9.09905340e-03 1.55444713e+02] [ 9.19347727e-01 -3.92390156e-01 -2.88049118e-02 1.12679460e+02] [ 3.00649695e-02 -2.93484674e-03 9.99543638e-01 6.60615280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.960714057 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:155.44, Y:112.69, Z:6.61 [[-3.90156502e-01 -9.20704999e-01 8.95591996e-03 1.55438796e+02] [ 9.20257741e-01 -3.90247630e-01 -2.88526805e-02 1.12693742e+02] [ 3.00598337e-02 -3.01530623e-03 9.99543553e-01 6.60644685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.990714057 meters Centerline goodness : 0.995127 Centerline is valid? [True, True] Translation: X:155.44, Y:112.68, Z:6.61 [[-3.87433121e-01 -9.21854493e-01 8.93702363e-03 1.55443921e+02] [ 9.21407373e-01 -3.87524984e-01 -2.88589780e-02 1.12675920e+02] [ 3.00670985e-02 -2.94628445e-03 9.99543540e-01 6.60611815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.020714057 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:155.44, Y:112.68, Z:6.61 [[-3.83415619e-01 -9.23533863e-01 8.81292956e-03 1.55441925e+02] [ 9.23086262e-01 -3.83505576e-01 -2.89002615e-02 1.12676962e+02] [ 3.00701778e-02 -2.94571744e-03 9.99543449e-01 6.60661348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.050714057 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:155.44, Y:112.68, Z:6.61 [[-3.81358944e-01 -9.24385178e-01 8.79759672e-03 1.55440934e+02] [ 9.23937670e-01 -3.81449422e-01 -2.89053564e-02 1.12676550e+02] [ 3.00755212e-02 -2.89488516e-03 9.99543437e-01 6.60723996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.080714057 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:155.44, Y:112.69, Z:6.61 [[-3.76892202e-01 -9.26215516e-01 8.77992090e-03 1.55437530e+02] [ 9.25768322e-01 -3.76984291e-01 -2.89112247e-02 1.12687207e+02] [ 3.00879172e-02 -2.76824252e-03 9.99543423e-01 6.60816384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.110714057 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:155.44, Y:112.68, Z:6.61 [[-3.75308300e-01 -9.26858553e-01 8.76939976e-03 1.55439342e+02] [ 9.26411441e-01 -3.75400828e-01 -2.89147146e-02 1.12680607e+02] [ 3.00918904e-02 -2.72786010e-03 9.99543414e-01 6.60831391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.140714057 meters Centerline goodness : 0.995201 Centerline is valid? [True, True] Translation: X:155.43, Y:112.69, Z:6.61 [[-3.86912943e-01 -9.22074175e-01 8.80851059e-03 1.55427952e+02] [ 9.21626206e-01 -3.87001066e-01 -2.89017414e-02 1.12687592e+02] [ 3.00584524e-02 -3.06430364e-03 9.99543446e-01 6.61260473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.170714057 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:155.44, Y:112.69, Z:6.61 [[-3.62963105e-01 -9.31754757e-01 9.53193089e-03 1.55437903e+02] [ 9.31315087e-01 -3.63085039e-01 -2.86611606e-02 1.12691280e+02] [ 3.01660742e-02 -1.52571279e-03 9.99543736e-01 6.60720525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20071405699997 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:155.43, Y:112.69, Z:6.61 [[-3.84132612e-01 -9.23240552e-01 8.30775681e-03 1.55426952e+02] [ 9.22789542e-01 -3.84206508e-01 -2.90658020e-02 1.12691675e+02] [ 3.00266214e-02 -3.49881136e-03 9.99542976e-01 6.61239016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23071405699997 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:155.43, Y:112.69, Z:6.61 [[-3.81032497e-01 -9.24512646e-01 9.51859420e-03 1.55427541e+02] [ 9.24070637e-01 -3.81145441e-01 -2.86637356e-02 1.12687031e+02] [ 3.01279548e-02 -2.12596131e-03 9.99543789e-01 6.61210349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26071405699997 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:155.43, Y:112.69, Z:6.61 [[-3.78824638e-01 -9.25419636e-01 9.50742609e-03 1.55426952e+02] [ 9.24977810e-01 -3.78938293e-01 -2.86674394e-02 1.12688011e+02] [ 3.01321392e-02 -2.06577418e-03 9.99543789e-01 6.61191483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29071405699997 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:155.41, Y:112.73, Z:6.62 [[-3.77970922e-01 -9.25768763e-01 9.49629416e-03 1.55409056e+02] [ 9.25326953e-01 -3.78084641e-01 -2.86711265e-02 1.12733832e+02] [ 3.01332363e-02 -2.04967515e-03 9.99543789e-01 6.61679033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32071405699998 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:155.44, Y:112.68, Z:6.61 [[-3.53468107e-01 -9.35395454e-01 9.77967669e-03 1.55437637e+02] [ 9.34959313e-01 -3.53602075e-01 -2.85771837e-02 1.12677834e+02] [ 3.01890817e-02 -9.57523208e-04 9.99543747e-01 6.60739873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35071405699998 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:155.44, Y:112.67, Z:6.61 [[-3.50906847e-01 -9.36371843e-01 8.49449811e-03 1.55441505e+02] [ 9.35925346e-01 -3.51002591e-01 -2.89987739e-02 1.12666040e+02] [ 3.01352262e-02 -2.22565227e-03 9.99543353e-01 6.61291205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38071405699998 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:155.44, Y:112.67, Z:6.61 [[-3.50238114e-01 -9.36619501e-01 8.78482011e-03 1.55436257e+02] [ 9.36175348e-01 -3.50343122e-01 -2.89035416e-02 1.12674692e+02] [ 3.01493220e-02 -1.89898987e-03 9.99543602e-01 6.60910478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41071405699998 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:155.44, Y:112.67, Z:6.61 [[-3.49308300e-01 -9.36968584e-01 8.57817899e-03 1.55437266e+02] [ 9.36522903e-01 -3.49407385e-01 -2.89712026e-02 1.12670421e+02] [ 3.01423858e-02 -2.08622043e-03 9.99543438e-01 6.60955524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44071405699998 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:155.44, Y:112.67, Z:6.61 [[-3.47668605e-01 -9.37578032e-01 8.60090985e-03 1.55436602e+02] [ 9.37132704e-01 -3.47769171e-01 -2.89637644e-02 1.12671856e+02] [ 3.01469205e-02 -2.00959765e-03 9.99543458e-01 6.60936968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47071405699998 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:155.43, Y:112.68, Z:6.61 [[-3.49240580e-01 -9.36993078e-01 8.65963984e-03 1.55433342e+02] [ 9.36548042e-01 -3.49342208e-01 -2.89445559e-02 1.12680320e+02] [ 3.01460262e-02 -1.99844473e-03 9.99543507e-01 6.61207074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50071405699998 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:155.43, Y:112.69, Z:6.61 [[-3.51302710e-01 -9.36221553e-01 8.69536356e-03 1.55430353e+02] [ 9.35776573e-01 -3.51404459e-01 -2.89328727e-02 1.12686958e+02] [ 3.01431685e-02 -2.02727907e-03 9.99543536e-01 6.61207772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53071405699998 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:155.43, Y:112.70, Z:6.61 [[-3.53809507e-01 -9.35276166e-01 8.79353052e-03 1.55427071e+02] [ 9.34831681e-01 -3.53913088e-01 -2.89007536e-02 1.12701983e+02] [ 3.01423316e-02 -2.00489047e-03 9.99543606e-01 6.61382928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56071405699998 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:155.42, Y:112.71, Z:6.61 [[-3.55339872e-01 -9.34695670e-01 8.80795276e-03 1.55424404e+02] [ 9.34251129e-01 -3.55443170e-01 -2.88960331e-02 1.12713338e+02] [ 3.01397236e-02 -2.03907287e-03 9.99543615e-01 6.61392861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59071405699999 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:155.42, Y:112.72, Z:6.61 [[-3.68518615e-01 -9.29578268e-01 8.84723600e-03 1.55417053e+02] [ 9.29132603e-01 -3.68616832e-01 -2.88831736e-02 1.12716782e+02] [ 3.01104106e-02 -2.42373173e-03 9.99543640e-01 6.61171352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.620714057 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:155.42, Y:112.72, Z:6.61 [[-3.55662234e-01 -9.34567198e-01 9.40892914e-03 1.55424876e+02] [ 9.34127520e-01 -3.55783842e-01 -2.86990290e-02 1.12717656e+02] [ 3.01687161e-02 -1.41802114e-03 9.99543815e-01 6.61115485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.650714057 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:155.42, Y:112.72, Z:6.61 [[-3.71849687e-01 -9.28252758e-01 8.63874020e-03 1.55416447e+02] [ 9.27805264e-01 -3.71939853e-01 -2.89506241e-02 1.12720529e+02] [ 3.00865885e-02 -2.75021191e-03 9.99543513e-01 6.61169106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.680714057 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:155.42, Y:112.72, Z:6.61 [[-3.71475785e-01 -9.28393393e-01 9.56284867e-03 1.55415160e+02] [ 9.27952975e-01 -3.71594646e-01 -2.86477812e-02 1.12722907e+02] [ 3.01499142e-02 -1.76808316e-03 9.99543824e-01 6.61214475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.710714057 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:155.43, Y:112.70, Z:6.62 [[-3.57067663e-01 -9.34029583e-01 9.56147694e-03 1.55431226e+02] [ 9.33591045e-01 -3.57193281e-01 -2.86482303e-02 1.12704907e+02] [ 3.01735900e-02 -1.30284740e-03 9.99543824e-01 6.61581597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.740714057 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:155.42, Y:112.72, Z:6.62 [[-3.73017612e-01 -9.27782017e-01 8.85379588e-03 1.55418353e+02] [ 9.27335990e-01 -3.73113877e-01 -2.88790072e-02 1.12716693e+02] [ 3.00968977e-02 -2.56193476e-03 9.99543703e-01 6.61533305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.770714057 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:155.43, Y:112.71, Z:6.61 [[-3.58013812e-01 -9.33669254e-01 9.37196333e-03 1.55431744e+02] [ 9.33229001e-01 -3.58133181e-01 -2.87098629e-02 1.12705814e+02] [ 3.01619273e-02 -1.53233949e-03 9.99543851e-01 6.61336890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.800714057 meters Centerline goodness : 0.992664 Centerline is valid? [True, True] Translation: X:155.42, Y:112.73, Z:6.62 [[-3.74283396e-01 -9.27274262e-01 8.62453434e-03 1.55416487e+02] [ 9.26826504e-01 -3.74371953e-01 -2.89529184e-02 1.12726980e+02] [ 3.00760798e-02 -2.84314959e-03 9.99543569e-01 6.61593307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.830714057 meters Centerline goodness : 0.992173 Centerline is valid? [True, True] Translation: X:155.43, Y:112.71, Z:6.61 [[-3.58419632e-01 -9.33513644e-01 9.36184598e-03 1.55432592e+02] [ 9.33073274e-01 -3.58538501e-01 -2.87125242e-02 1.12707982e+02] [ 3.01601153e-02 -1.55584409e-03 9.99543869e-01 6.61447391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.860714057 meters Centerline goodness : 0.990035 Centerline is valid? [True, True] Translation: X:155.44, Y:112.70, Z:6.61 [[-3.59429722e-01 -9.33133506e-01 8.49319512e-03 1.55435286e+02] [ 9.32686298e-01 -3.59521362e-01 -2.89941396e-02 1.12704658e+02] [ 3.01088882e-02 -2.49986882e-03 9.99543499e-01 6.61489256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.890714057 meters Centerline goodness : 0.992238 Centerline is valid? [True, True] Translation: X:155.43, Y:112.71, Z:6.61 [[-3.56428081e-01 -9.34279928e-01 8.94643346e-03 1.55433052e+02] [ 9.33836466e-01 -3.56535133e-01 -2.88470805e-02 1.12711849e+02] [ 3.01409662e-02 -1.92740375e-03 9.99543800e-01 6.61202366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.920714057 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:155.43, Y:112.72, Z:6.61 [[-3.56883294e-01 -9.34111711e-01 8.34424488e-03 1.55431080e+02] [ 9.33663689e-01 -3.56971550e-01 -2.90418417e-02 1.12720282e+02] [ 3.01069824e-02 -2.57382968e-03 9.99543368e-01 6.61175593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95071405699997 meters Centerline goodness : 0.990456 Centerline is valid? [True, True] Translation: X:155.43, Y:112.71, Z:6.61 [[-3.55719652e-01 -9.34552589e-01 8.65953343e-03 1.55433980e+02] [ 9.34107004e-01 -3.55818203e-01 -2.89397917e-02 1.12711364e+02] [ 3.01269769e-02 -2.20552178e-03 9.99543646e-01 6.61193755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98071405699997 meters Centerline goodness : 0.993219 Centerline is valid? [True, True] Translation: X:155.42, Y:112.73, Z:6.61 [[-3.73971084e-01 -9.27398217e-01 8.84167515e-03 1.55415659e+02] [ 9.26952068e-01 -3.74066521e-01 -2.88808112e-02 1.12731542e+02] [ 3.00913875e-02 -2.60477920e-03 9.99543758e-01 6.61281031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01071405699997 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:155.41, Y:112.73, Z:6.61 [[-3.73306119e-01 -9.27661450e-01 9.31537065e-03 1.55414700e+02] [ 9.27218888e-01 -3.73416498e-01 -2.87272099e-02 1.12733452e+02] [ 3.01276383e-02 -2.08665563e-03 9.99543882e-01 6.61038383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04071405699997 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:155.25, Y:113.24, Z:6.63 [[-3.70985695e-01 -9.28591970e-01 9.30420242e-03 1.55251141e+02] [ 9.28149599e-01 -3.71096836e-01 -2.87308266e-02 1.13239652e+02] [ 3.01319750e-02 -2.02303395e-03 9.99543882e-01 6.62635380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07071405699998 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:156.14, Y:113.11, Z:7.46 [[-3.07082113e-01 9.51637540e-01 -9.30420242e-03 1.56135565e+02] [ 9.51203736e-01 3.07223032e-01 2.87308266e-02 1.13108679e+02] [ 3.01997985e-02 -2.74691410e-05 -9.99543882e-01 7.46156868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10071405699998 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:155.42, Y:112.86, Z:6.62 [[-4.34927859e-01 -9.00395410e-01 1.12188709e-02 1.55415716e+02] [ 8.99963469e-01 -4.35067628e-01 -2.79627150e-02 1.12855931e+02] [ 3.00584678e-02 -2.06518976e-03 9.99546009e-01 6.61614112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13071405699998 meters Centerline goodness : 0.991074 Centerline is valid? [True, True] Translation: X:155.20, Y:113.38, Z:6.63 [[-4.35329241e-01 -9.00201586e-01 1.12052055e-02 1.55204956e+02] [ 8.99769447e-01 -4.35468395e-01 -2.79681899e-02 1.13378314e+02] [ 3.00565218e-02 -2.09326930e-03 9.99546009e-01 6.63048992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16071405699998 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:156.12, Y:113.28, Z:7.46 [[-3.71173255e-01 9.28496019e-01 -1.12052055e-02 1.56115604e+02] [ 9.28074695e-01 3.71342351e-01 2.79681899e-02 1.13275273e+02] [ 3.01293204e-02 -1.82236137e-05 -9.99546009e-01 7.46472188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19071405699998 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:155.41, Y:112.97, Z:6.62 [[-4.95116766e-01 -8.68728267e-01 1.30608920e-02 1.55409407e+02] [ 8.68308765e-01 -4.95284707e-01 -2.70730181e-02 1.12974212e+02] [ 2.99879562e-02 -2.06341816e-03 9.99548130e-01 6.62428062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22071405699998 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:155.41, Y:112.98, Z:6.62 [[-4.94858550e-01 -8.68875560e-01 1.30490243e-02 1.55408140e+02] [ 8.68455961e-01 -4.95026248e-01 -2.70787370e-02 1.12975351e+02] [ 2.99876624e-02 -2.06764160e-03 9.99548130e-01 6.62433313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25071405699998 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:155.41, Y:112.97, Z:6.62 [[-4.94570031e-01 -8.69039978e-01 1.30384768e-02 1.55409125e+02] [ 8.68620304e-01 -4.94737541e-01 -2.70838148e-02 1.12971845e+02] [ 2.99875417e-02 -2.06935743e-03 9.99548130e-01 6.62450816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28071405699998 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:155.40, Y:112.99, Z:6.63 [[-4.94412652e-01 -8.69129681e-01 1.30279557e-02 1.55400236e+02] [ 8.68709907e-01 -4.94579912e-01 -2.70888747e-02 1.12988346e+02] [ 2.99871102e-02 -2.07556823e-03 9.99548131e-01 6.62549688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31071405699998 meters Centerline goodness : 0.992642 Centerline is valid? [True, True] Translation: X:155.15, Y:113.51, Z:6.64 [[-4.96943215e-01 -8.67685420e-01 1.30173934e-02 1.55147831e+02] [ 8.67265032e-01 -4.97108924e-01 -2.70939494e-02 1.13505371e+02] [ 2.99800873e-02 -2.17462420e-03 9.99548131e-01 6.63850240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34071405699999 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:156.07, Y:113.46, Z:7.46 [[-4.49170311e-01 8.93351319e-01 -1.30173934e-02 1.56072421e+02] [ 8.92940533e-01 4.49358568e-01 2.70939494e-02 1.13459583e+02] [ 3.00538927e-02 5.46039455e-04 -9.99548131e-01 7.46458056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.370714057 meters Centerline goodness : 0.991769 Centerline is valid? [True, True] Translation: X:155.79, Y:113.99, Z:7.49 [[-5.01663158e-01 8.64917047e-01 -1.58926883e-02 1.55785750e+02] [ 8.64543040e-01 5.01913894e-01 2.54514315e-02 1.13992398e+02] [ 2.99901381e-02 -9.71867560e-04 -9.99549722e-01 7.48755764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.400714057 meters Centerline goodness : 0.991975 Centerline is valid? [True, True] Translation: X:155.44, Y:113.11, Z:6.63 [[-5.99263207e-01 -8.00373650e-01 1.69005831e-02 1.55444375e+02] [ 7.99991335e-01 -5.99500015e-01 -2.47708702e-02 1.13105018e+02] [ 2.99578516e-02 -1.32395106e-03 9.99550286e-01 6.63308988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.430714057 meters Centerline goodness : 0.992053 Centerline is valid? [True, True] Translation: X:155.45, Y:113.10, Z:6.63 [[-5.97165840e-01 -8.01948780e-01 1.64655701e-02 1.55446339e+02] [ 8.01559032e-01 -5.97390182e-01 -2.50616842e-02 1.13101124e+02] [ 2.99345570e-02 -1.76785522e-03 9.99550297e-01 6.63242705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.460714057 meters Centerline goodness : 0.991782 Centerline is valid? [True, True] Translation: X:155.44, Y:113.11, Z:6.63 [[-5.95984570e-01 -8.02827391e-01 1.64490663e-02 1.55441240e+02] [ 8.02437673e-01 -5.96208973e-01 -2.50727080e-02 1.13105086e+02] [ 2.99361377e-02 -1.74359661e-03 9.99550293e-01 6.63329120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.490714057 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:155.43, Y:113.10, Z:6.63 [[-6.04559120e-01 -7.96396325e-01 1.61605504e-02 1.55430648e+02] [ 7.95999112e-01 -6.04770273e-01 -2.52652277e-02 1.13103041e+02] [ 2.98945549e-02 -2.41054009e-03 9.99550151e-01 6.63064649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.520714057 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:155.45, Y:113.09, Z:6.63 [[-5.89967902e-01 -8.07254927e-01 1.66540271e-02 1.55448722e+02] [ 8.06870716e-01 -5.90201542e-01 -2.49356507e-02 1.13088404e+02] [ 2.99586594e-02 -1.27358671e-03 9.99550327e-01 6.63128348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.550714057 meters Centerline goodness : 0.992714 Centerline is valid? [True, True] Translation: X:155.45, Y:113.08, Z:6.63 [[-5.88188626e-01 -8.08566833e-01 1.59316466e-02 1.55453640e+02] [ 8.08169932e-01 -5.88400693e-01 -2.54162434e-02 1.13078516e+02] [ 2.99249233e-02 -2.07406758e-03 9.99549997e-01 6.62866568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.580714057 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:155.46, Y:113.08, Z:6.63 [[-5.87276368e-01 -8.09233851e-01 1.57175623e-02 1.55455140e+02] [ 8.08833400e-01 -5.87482169e-01 -2.55584188e-02 1.13075124e+02] [ 2.99165253e-02 -2.29696604e-03 9.99549761e-01 6.62751940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.610714057 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:155.44, Y:113.09, Z:6.63 [[-5.91451329e-01 -8.06189511e-01 1.56140091e-02 1.55444740e+02] [ 8.05786207e-01 -5.91651787e-01 -2.56271532e-02 1.13087022e+02] [ 2.98983985e-02 -2.57566068e-03 9.99549624e-01 6.63013916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.640714057 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:155.46, Y:113.07, Z:6.63 [[-5.88262406e-01 -8.08510924e-01 1.60445477e-02 1.55456539e+02] [ 8.08116024e-01 -5.88477967e-01 -2.53411564e-02 1.13070547e+02] [ 2.99304646e-02 -1.94139351e-03 9.99550098e-01 6.62839671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.670714057 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:155.42, Y:113.10, Z:6.63 [[-6.08367106e-01 -7.93498738e-01 1.57866488e-02 1.55420750e+02] [ 7.93094171e-01 -6.08564499e-01 -2.55124786e-02 1.13103981e+02] [ 2.98513136e-02 -3.00065358e-03 9.99549846e-01 6.63098857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70071405699997 meters Centerline goodness : 0.991572 Centerline is valid? [True, True] Translation: X:155.44, Y:113.09, Z:6.63 [[-5.97514578e-01 -8.01685761e-01 1.66213427e-02 1.55437922e+02] [ 8.01298800e-01 -5.97743592e-01 -2.49565819e-02 1.13088790e+02] [ 2.99426375e-02 -1.59325954e-03 9.99550349e-01 6.63305253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73071405699997 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:155.43, Y:113.10, Z:6.63 [[-6.00079073e-01 -7.99781483e-01 1.59588961e-02 1.55430374e+02] [ 7.99382013e-01 -6.00286112e-01 -2.53964808e-02 1.13099622e+02] [ 2.98915388e-02 -2.48264214e-03 9.99550065e-01 6.63121405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76071405699997 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:155.40, Y:113.15, Z:6.63 [[-6.04184422e-01 -7.96678888e-01 1.62460328e-02 1.55395227e+02] [ 7.96283358e-01 -6.04398457e-01 -2.52055426e-02 1.13148243e+02] [ 2.98998008e-02 -2.29235066e-03 9.99550272e-01 6.63396857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79071405699997 meters Centerline goodness : 0.991090 Centerline is valid? [True, True] Translation: X:155.38, Y:113.17, Z:6.64 [[-6.06007002e-01 -7.95291424e-01 1.63421050e-02 1.55378965e+02] [ 7.94897095e-01 -6.06223150e-01 -2.51416143e-02 1.13170291e+02] [ 2.99018726e-02 -2.24570254e-03 9.99550316e-01 6.63559609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82071405699998 meters Centerline goodness : 0.991326 Centerline is valid? [True, True] Translation: X:155.35, Y:113.20, Z:6.64 [[-6.08553000e-01 -7.93345498e-01 1.63146239e-02 1.55354907e+02] [ 7.92949996e-01 -6.08767018e-01 -2.51599041e-02 1.13204133e+02] [ 2.98923016e-02 -2.37445416e-03 9.99550305e-01 6.63728470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85071405699998 meters Centerline goodness : 0.991721 Centerline is valid? [True, True] Translation: X:155.35, Y:113.21, Z:6.64 [[-6.10443656e-01 -7.91889904e-01 1.63988493e-02 1.55347912e+02] [ 7.91495367e-01 -6.10659382e-01 -2.51038390e-02 1.13211397e+02] [ 2.98935878e-02 -2.34486600e-03 9.99550336e-01 6.63719436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88071405699998 meters Centerline goodness : 0.991951 Centerline is valid? [True, True] Translation: X:155.33, Y:113.24, Z:6.64 [[-6.13465858e-01 -7.89551025e-01 1.63957466e-02 1.55327207e+02] [ 7.89155612e-01 -6.13679977e-01 -2.51059035e-02 1.13239734e+02] [ 2.98841332e-02 -2.46281922e-03 9.99550335e-01 6.63800346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91071405699998 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:155.32, Y:113.25, Z:6.64 [[-6.14978577e-01 -7.88371009e-01 1.65076386e-02 1.55322185e+02] [ 7.87977136e-01 -6.15195464e-01 -2.50314659e-02 1.13247278e+02] [ 2.98895064e-02 -2.38617347e-03 9.99550361e-01 6.64142849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94071405699998 meters Centerline goodness : 0.991392 Centerline is valid? [True, True] Translation: X:155.31, Y:113.26, Z:6.64 [[-6.14790551e-01 -7.88515610e-01 1.66045415e-02 1.55313782e+02] [ 7.88123491e-01 -6.15010578e-01 -2.49670200e-02 1.13259066e+02] [ 2.98988537e-02 -2.26305878e-03 9.99550367e-01 6.64262003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97071405699998 meters Centerline goodness : 0.991715 Centerline is valid? [True, True] Translation: X:155.30, Y:113.28, Z:6.64 [[-6.14172215e-01 -7.88997558e-01 1.65935023e-02 1.55297753e+02] [ 7.88605417e-01 -6.14392202e-01 -2.49743547e-02 1.13282513e+02] [ 2.98996233e-02 -2.25282892e-03 9.99550368e-01 6.64175214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00071405699998 meters Centerline goodness : 0.992430 Centerline is valid? [True, True] Translation: X:155.31, Y:113.26, Z:6.64 [[-6.12618728e-01 -7.90204608e-01 1.65822811e-02 1.55313917e+02] [ 7.89812702e-01 -6.12839135e-01 -2.49818030e-02 1.13255353e+02] [ 2.99030067e-02 -2.20742411e-03 9.99550368e-01 6.64017395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03071405699998 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:155.29, Y:113.29, Z:6.64 [[-6.12139399e-01 -7.90576160e-01 1.65738473e-02 1.55290095e+02] [ 7.90184239e-01 -6.12359779e-01 -2.49873956e-02 1.13289710e+02] [ 2.99035967e-02 -2.19937637e-03 9.99550368e-01 6.64080966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06071405699998 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:155.39, Y:113.14, Z:6.63 [[-6.10277853e-01 -7.92014833e-01 1.65362080e-02 1.55391696e+02] [ 7.91622767e-01 -6.10497975e-01 -2.50123321e-02 1.13137489e+02] [ 2.99054596e-02 -2.17403359e-03 9.99550367e-01 6.63385098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09071405699999 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:155.39, Y:113.14, Z:6.63 [[-6.08352142e-01 -7.93495397e-01 1.65144536e-02 1.55391925e+02] [ 7.93103482e-01 -6.08572534e-01 -2.50267291e-02 1.13139916e+02] [ 2.99088372e-02 -2.12739355e-03 9.99550367e-01 6.63169592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.120714057 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:155.40, Y:113.13, Z:6.63 [[-6.06323080e-01 -7.95048856e-01 1.64207284e-02 1.55397824e+02] [ 7.94655849e-01 -6.06541539e-01 -2.50887071e-02 1.13133490e+02] [ 2.99066018e-02 -2.16303428e-03 9.99550357e-01 6.62965195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.150714057 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:155.39, Y:113.14, Z:6.63 [[-6.08350124e-01 -7.93501027e-01 1.63170753e-02 1.55394315e+02] [ 7.93105655e-01 -6.08564323e-01 -2.51572045e-02 1.13138950e+02] [ 2.98922575e-02 -2.36322382e-03 9.99550333e-01 6.62921289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.180714057 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:155.39, Y:113.15, Z:6.63 [[-6.08482226e-01 -7.93398107e-01 1.63958897e-02 1.55385144e+02] [ 7.93004073e-01 -6.08698836e-01 -2.51051311e-02 1.13153210e+02] [ 2.98985225e-02 -2.27401872e-03 9.99550353e-01 6.62950578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.210714057 meters Centerline goodness : 0.992507 Centerline is valid? [True, True] Translation: X:155.40, Y:113.14, Z:6.63 [[-6.07231542e-01 -7.94356071e-01 1.63794621e-02 1.55396656e+02] [ 7.93962091e-01 -6.07448257e-01 -2.51159760e-02 1.13139114e+02] [ 2.99007038e-02 -2.24654085e-03 9.99550349e-01 6.62789982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.240714057 meters Centerline goodness : 0.993564 Centerline is valid? [True, True] Translation: X:155.40, Y:113.14, Z:6.63 [[-6.06811094e-01 -7.94678638e-01 1.63143524e-02 1.55398857e+02] [ 7.94283637e-01 -6.07025974e-01 -2.51589089e-02 1.13136125e+02] [ 2.98964832e-02 -2.30848190e-03 9.99550335e-01 6.62807208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.270714057 meters Centerline goodness : 0.990382 Centerline is valid? [True, True] Translation: X:154.93, Y:113.83, Z:6.65 [[-6.23868128e-01 -7.81357268e-01 1.64127272e-02 1.54928451e+02] [ 7.80959372e-01 -6.24077534e-01 -2.50936477e-02 1.13833116e+02] [ 2.98499183e-02 -2.83745392e-03 9.99550365e-01 6.65413973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.300714057 meters Centerline goodness : 0.989115 Centerline is valid? [True, True] Translation: X:154.93, Y:113.84, Z:6.65 [[-6.25113461e-01 -7.80357005e-01 1.66164202e-02 1.54927094e+02] [ 7.79962196e-01 -6.25328682e-01 -2.49602244e-02 1.13838706e+02] [ 2.98686102e-02 -2.64279267e-03 9.99550340e-01 6.65232626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.330714057 meters Centerline goodness : 0.989307 Centerline is valid? [True, True] Translation: X:154.93, Y:113.84, Z:6.65 [[-6.24078794e-01 -7.81184419e-01 1.66301611e-02 1.54929252e+02] [ 7.80790128e-01 -6.24294972e-01 -2.49512294e-02 1.13836701e+02] [ 2.98736376e-02 -2.58686751e-03 9.99550336e-01 6.65296128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.360714057 meters Centerline goodness : 0.987481 Centerline is valid? [True, True] Translation: X:154.92, Y:113.86, Z:6.65 [[-6.23832483e-01 -7.81382356e-01 1.65724713e-02 1.54915239e+02] [ 7.80987159e-01 -6.24046963e-01 -2.49889060e-02 1.13862189e+02] [ 2.98678906e-02 -2.64600392e-03 9.99550353e-01 6.65331341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.390714057 meters Centerline goodness : 0.987107 Centerline is valid? [True, True] Translation: X:154.89, Y:113.90, Z:6.65 [[-6.23120467e-01 -7.81951336e-01 1.65224852e-02 1.54891715e+02] [ 7.81555495e-01 -6.23333728e-01 -2.50214349e-02 1.13899231e+02] [ 2.98645668e-02 -2.67812909e-03 9.99550367e-01 6.65393523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.420714057 meters Centerline goodness : 0.991634 Centerline is valid? [True, True] Translation: X:155.39, Y:113.15, Z:6.63 [[-5.95027825e-01 -8.03528312e-01 1.68564208e-02 1.55394747e+02] [ 8.03146396e-01 -5.95265289e-01 -2.48012573e-02 1.13147621e+02] [ 2.99625546e-02 -1.21926460e-03 9.99550278e-01 6.62600076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45071405699997 meters Centerline goodness : 0.991027 Centerline is valid? [True, True] Translation: X:155.41, Y:113.13, Z:6.63 [[-5.92968855e-01 -8.05071050e-01 1.57651630e-02 1.55412211e+02] [ 8.04670682e-01 -5.93173385e-01 -2.55035213e-02 1.13126040e+02] [ 2.98836218e-02 -2.43702939e-03 9.99550414e-01 6.62521806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48071405699997 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:155.41, Y:113.14, Z:6.63 [[-5.94540769e-01 -8.03911222e-01 1.57486816e-02 1.55405042e+02] [ 8.03510179e-01 -5.94743997e-01 -2.55141173e-02 1.13136693e+02] [ 2.98775191e-02 -2.51495695e-03 9.99550403e-01 6.62734509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51071405699997 meters Centerline goodness : 0.990585 Centerline is valid? [True, True] Translation: X:155.39, Y:113.16, Z:6.63 [[-5.97524155e-01 -8.01697208e-01 1.56993773e-02 1.55393353e+02] [ 8.01294597e-01 -5.97724335e-01 -2.55458090e-02 1.13156953e+02] [ 2.98639036e-02 -2.68441173e-03 9.99550370e-01 6.63294121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54071405699997 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:155.40, Y:113.15, Z:6.63 [[-5.97740828e-01 -8.01531417e-01 1.59151052e-02 1.55396355e+02] [ 8.01132342e-01 -5.97947699e-01 -2.54070906e-02 1.13154972e+02] [ 2.98809819e-02 -2.43674986e-03 9.99550494e-01 6.63237357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57071405699998 meters Centerline goodness : 0.989631 Centerline is valid? [True, True] Translation: X:155.39, Y:113.17, Z:6.63 [[-5.97686107e-01 -8.01569891e-01 1.60320377e-02 1.55385892e+02] [ 8.01172802e-01 -5.97896678e-01 -2.53318865e-02 1.13173720e+02] [ 2.98907796e-02 -2.29608413e-03 9.99550534e-01 6.63365804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60071405699998 meters Centerline goodness : 0.989631 Centerline is valid? [True, True] Translation: X:155.38, Y:113.18, Z:6.63 [[-5.97386418e-01 -8.01792927e-01 1.60489635e-02 1.55384380e+02] [ 8.01396203e-01 -5.97597667e-01 -2.53210031e-02 1.13175914e+02] [ 2.98930244e-02 -2.26484498e-03 9.99550538e-01 6.63374571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63071405699998 meters Centerline goodness : 0.990768 Centerline is valid? [True, True] Translation: X:155.39, Y:113.17, Z:6.63 [[-5.97058861e-01 -8.02037079e-01 1.60387093e-02 1.55386403e+02] [ 8.01640268e-01 -5.97269951e-01 -2.53275910e-02 1.13173502e+02] [ 2.98931062e-02 -2.26478739e-03 9.99550535e-01 6.63144589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66071405699998 meters Centerline goodness : 0.990373 Centerline is valid? [True, True] Translation: X:155.39, Y:113.18, Z:6.63 [[-5.95687422e-01 -8.03055511e-01 1.60729906e-02 1.55386957e+02] [ 8.02659644e-01 -5.95900263e-01 -2.53055782e-02 1.13178944e+02] [ 2.98996834e-02 -2.17307366e-03 9.99550542e-01 6.63243252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69071405699998 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:155.39, Y:113.18, Z:6.63 [[-5.96401246e-01 -8.02526849e-01 1.60065555e-02 1.55386172e+02] [ 8.02129667e-01 -5.96611654e-01 -2.53481997e-02 1.13182866e+02] [ 2.98923085e-02 -2.27836485e-03 9.99550528e-01 6.63045173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72071405699998 meters Centerline goodness : 0.991183 Centerline is valid? [True, True] Translation: X:155.39, Y:113.18, Z:6.63 [[-5.94223919e-01 -8.04139057e-01 1.60720793e-02 1.55391437e+02] [ 8.03743562e-01 -5.94437452e-01 -2.53061662e-02 1.13182298e+02] [ 2.99035225e-02 -2.11969896e-03 9.99550542e-01 6.62914480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75071405699998 meters Centerline goodness : 0.990694 Centerline is valid? [True, True] Translation: X:155.39, Y:113.18, Z:6.63 [[-5.91358533e-01 -8.06248278e-01 1.60872380e-02 1.55394006e+02] [ 8.05853806e-01 -5.91573945e-01 -2.52964457e-02 1.13180351e+02] [ 2.99120066e-02 -1.99530709e-03 9.99550544e-01 6.62937384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78071405699998 meters Centerline goodness : 0.990893 Centerline is valid? [True, True] Translation: X:155.39, Y:113.18, Z:6.63 [[-5.89380320e-01 -8.07696953e-01 1.60146861e-02 1.55392578e+02] [ 8.07301762e-01 -5.89594437e-01 -2.53429284e-02 1.13184385e+02] [ 2.99115759e-02 -2.00793890e-03 9.99550532e-01 6.63097759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81071405699998 meters Centerline goodness : 0.989883 Centerline is valid? [True, True] Translation: X:155.39, Y:113.19, Z:6.63 [[-5.81828195e-01 -8.13152591e-01 1.60877185e-02 1.55390668e+02] [ 8.12760690e-01 -5.82048250e-01 -2.52961494e-02 1.13189251e+02] [ 2.99334579e-02 -1.64254778e-03 9.99550544e-01 6.63324874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84071405699999 meters Centerline goodness : 0.990739 Centerline is valid? [True, True] Translation: X:155.38, Y:113.21, Z:6.63 [[-5.78885478e-01 -8.15251486e-01 1.60193375e-02 1.55376230e+02] [ 8.14859180e-01 -5.79104831e-01 -2.53399166e-02 1.13213511e+02] [ 2.99352804e-02 -1.61540548e-03 9.99550534e-01 6.63461268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.870714057 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:155.39, Y:113.20, Z:6.63 [[-5.70533412e-01 -8.21117862e-01 1.60338282e-02 1.55394209e+02] [ 8.20728074e-01 -5.70757205e-01 -2.53306451e-02 1.13196111e+02] [ 2.99508681e-02 -1.29256645e-03 9.99550536e-01 6.63165461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.900714057 meters Centerline goodness : 0.990867 Centerline is valid? [True, True] Translation: X:155.40, Y:113.20, Z:6.63 [[-5.64909556e-01 -8.24998621e-01 1.59520894e-02 1.55399134e+02] [ 8.24608900e-01 -5.65133499e-01 -2.53828866e-02 1.13195332e+02] [ 2.99559065e-02 -1.18480032e-03 9.99550519e-01 6.63082282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.930714057 meters Centerline goodness : 0.991555 Centerline is valid? [True, True] Translation: X:155.41, Y:113.19, Z:6.63 [[-5.61345352e-01 -8.27429871e-01 1.58493956e-02 1.55406272e+02] [ 8.27039270e-01 -5.61567825e-01 -2.54484701e-02 1.13190297e+02] [ 2.99573349e-02 -1.17730782e-03 9.99550485e-01 6.63395576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.960714057 meters Centerline goodness : 0.991165 Centerline is valid? [True, True] Translation: X:155.41, Y:113.19, Z:6.64 [[-5.60585865e-01 -8.27942697e-01 1.59492437e-02 1.55406823e+02] [ 8.27554100e-01 -5.60811757e-01 -2.53847301e-02 1.13192195e+02] [ 2.99616253e-02 -1.03145887e-03 9.99550518e-01 6.63627165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.990714057 meters Centerline goodness : 0.990908 Centerline is valid? [True, True] Translation: X:155.41, Y:113.20, Z:6.64 [[-5.61612194e-01 -8.27246786e-01 1.59529926e-02 1.55407820e+02] [ 8.26857977e-01 -5.61837719e-01 -2.53823374e-02 1.13199280e+02] [ 2.99604500e-02 -1.06417100e-03 9.99550518e-01 6.63859147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.020714057 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:155.41, Y:113.21, Z:6.64 [[-5.61892744e-01 -8.27055827e-01 1.59750897e-02 1.55406637e+02] [ 8.26667341e-01 -5.62118813e-01 -2.53682396e-02 1.13206236e+02] [ 2.99608488e-02 -1.04814485e-03 9.99550523e-01 6.63971031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.050714057 meters Centerline goodness : 0.985436 Centerline is valid? [True, True] Translation: X:154.83, Y:114.08, Z:6.67 [[-5.92299305e-01 -8.05558388e-01 1.60379662e-02 1.54831497e+02] [ 8.05162834e-01 -5.92512719e-01 -2.53276339e-02 1.14082220e+02] [ 2.99055869e-02 -2.08836565e-03 9.99550546e-01 6.67344767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.080714057 meters Centerline goodness : 0.992390 Centerline is valid? [True, True] Translation: X:155.18, Y:113.57, Z:6.65 [[-5.87115398e-01 -8.09333039e-01 1.65994545e-02 1.55177497e+02] [ 8.08948707e-01 -5.87348717e-01 -2.49694720e-02 1.13568282e+02] [ 2.99582869e-02 -1.23185418e-03 9.99550391e-01 6.65321238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.110714057 meters Centerline goodness : 0.991021 Centerline is valid? [True, True] Translation: X:155.18, Y:113.58, Z:6.65 [[-5.97392998e-01 -8.01781976e-01 1.63483980e-02 1.55176461e+02] [ 8.01390357e-01 -5.97613599e-01 -2.51293223e-02 1.13582560e+02] [ 2.99182626e-02 -1.91063267e-03 9.99550523e-01 6.65408275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.140714057 meters Centerline goodness : 0.992487 Centerline is valid? [True, True] Translation: X:155.17, Y:113.60, Z:6.66 [[-6.01735782e-01 -7.98526268e-01 1.64270534e-02 1.55171041e+02] [ 7.98134795e-01 -6.01956708e-01 -2.50792811e-02 1.13596222e+02] [ 2.99148397e-02 -1.98009794e-03 9.99550490e-01 6.65520356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.170714057 meters Centerline goodness : 0.983572 Centerline is valid? [True, True] Translation: X:154.86, Y:114.09, Z:6.67 [[-6.08361326e-01 -7.93495025e-01 1.61907933e-02 1.54856439e+02] [ 7.93097846e-01 -6.08571575e-01 -2.52278619e-02 1.14092046e+02] [ 2.98714395e-02 -2.50677225e-03 9.99550606e-01 6.67231716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20071405699997 meters Centerline goodness : 0.989374 Centerline is valid? [True, True] Translation: X:155.10, Y:113.73, Z:6.66 [[-6.06417140e-01 -7.94979260e-01 1.63165025e-02 1.55103726e+02] [ 7.94584654e-01 -6.06632302e-01 -2.51491078e-02 1.13725930e+02] [ 2.98911366e-02 -2.28600754e-03 9.99550546e-01 6.65674736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23071405699997 meters Centerline goodness : 0.990977 Centerline is valid? [True, True] Translation: X:155.17, Y:113.63, Z:6.65 [[-6.10910392e-01 -7.91533218e-01 1.62375507e-02 1.55170862e+02] [ 7.91136117e-01 -6.11120833e-01 -2.51986542e-02 1.13627284e+02] [ 2.98686773e-02 -2.54800689e-03 9.99550584e-01 6.65439425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26071405699997 meters Centerline goodness : 0.989410 Centerline is valid? [True, True] Translation: X:155.09, Y:113.78, Z:6.66 [[-6.11486959e-01 -7.91087976e-01 1.62331067e-02 1.55085582e+02] [ 7.90690650e-01 -6.11696971e-01 -2.52014390e-02 1.13779032e+02] [ 2.98662976e-02 -2.57498561e-03 9.99550586e-01 6.65587510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29071405699997 meters Centerline goodness : 0.989579 Centerline is valid? [True, True] Translation: X:155.09, Y:113.78, Z:6.65 [[-6.13720745e-01 -7.89358128e-01 1.61429108e-02 1.55089998e+02] [ 7.88958770e-01 -6.13926787e-01 -2.52578484e-02 1.13775296e+02] [ 2.98480533e-02 -2.76517451e-03 9.99550623e-01 6.65489639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32071405699998 meters Centerline goodness : 0.984597 Centerline is valid? [True, True] Translation: X:154.86, Y:114.13, Z:6.67 [[-6.18731466e-01 -7.85439589e-01 1.60007817e-02 1.54864482e+02] [ 7.85036730e-01 -6.18930456e-01 -2.53460610e-02 1.14131174e+02] [ 2.98111709e-02 -3.12120414e-03 9.99550675e-01 6.67052674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35071405699998 meters Centerline goodness : 0.989118 Centerline is valid? [True, True] Translation: X:155.10, Y:113.77, Z:6.66 [[-6.10127916e-01 -7.92137834e-01 1.61733657e-02 1.55102112e+02] [ 7.91739907e-01 -6.10336730e-01 -2.52387643e-02 1.13766365e+02] [ 2.98637792e-02 -2.59377562e-03 9.99550613e-01 6.65673521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38071405699998 meters Centerline goodness : 0.983746 Centerline is valid? [True, True] Translation: X:154.84, Y:114.18, Z:6.68 [[-6.15186710e-01 -7.88220896e-01 1.59100887e-02 1.54841439e+02] [ 7.87817576e-01 -6.15384643e-01 -2.54009510e-02 1.14177551e+02] [ 2.98123845e-02 -3.09207999e-03 9.99550729e-01 6.67633552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41071405699998 meters Centerline goodness : 0.983313 Centerline is valid? [True, True] Translation: X:154.93, Y:114.04, Z:6.67 [[-6.08233860e-01 -7.93598930e-01 1.58842566e-02 1.54929390e+02] [ 7.93196969e-01 -6.08434515e-01 -2.54167181e-02 1.14044501e+02] [ 2.98352103e-02 -2.85996435e-03 9.99550739e-01 6.67097560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44071405699998 meters Centerline goodness : 0.984809 Centerline is valid? [True, True] Translation: X:154.93, Y:114.04, Z:6.66 [[-6.03243745e-01 -7.97399093e-01 1.58641373e-02 1.54931665e+02] [ 7.96998087e-01 -6.03446283e-01 -2.54289756e-02 1.14043611e+02] [ 2.98501968e-02 -2.69618341e-03 9.99550747e-01 6.66416904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47071405699998 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:155.17, Y:113.67, Z:6.65 [[-5.86987054e-01 -8.09437973e-01 1.60114370e-02 1.55171282e+02] [ 8.09043557e-01 -5.87202251e-01 -2.53384869e-02 1.13666187e+02] [ 2.99118854e-02 -1.91941389e-03 9.99550697e-01 6.65229747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50071405699998 meters Centerline goodness : 0.992021 Centerline is valid? [True, True] Translation: X:155.38, Y:113.32, Z:6.64 [[-5.84429944e-01 -8.11292204e-01 1.57035007e-02 1.55377172e+02] [ 8.10893458e-01 -5.84636798e-01 -2.55267390e-02 1.13322486e+02] [ 2.98904887e-02 -2.18472465e-03 9.99550792e-01 6.63902910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53071405699998 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:155.37, Y:113.33, Z:6.64 [[-5.82878911e-01 -8.12409317e-01 1.55973529e-02 1.55371871e+02] [ 8.12009264e-01 -5.83083213e-01 -2.55914337e-02 1.13330508e+02] [ 2.98852738e-02 -2.25151194e-03 9.99550800e-01 6.63910215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56071405699998 meters Centerline goodness : 0.983189 Centerline is valid? [True, True] Translation: X:154.85, Y:114.18, Z:6.67 [[-5.88579982e-01 -8.08288712e-01 1.55872838e-02 1.54851926e+02] [ 8.07887074e-01 -5.88781148e-01 -2.55975652e-02 1.14176118e+02] [ 2.98677218e-02 -2.47344934e-03 9.99550800e-01 6.66955505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59071405699999 meters Centerline goodness : 0.983031 Centerline is valid? [True, True] Translation: X:154.85, Y:114.18, Z:6.67 [[-5.87099306e-01 -8.09366095e-01 1.55218711e-02 1.54846674e+02] [ 8.08963819e-01 -5.87299158e-01 -2.56366744e-02 1.14184668e+02] [ 2.98654369e-02 -2.49464164e-03 9.99550815e-01 6.66929628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.620714057 meters Centerline goodness : 0.984639 Centerline is valid? [True, True] Translation: X:154.86, Y:114.17, Z:6.67 [[-5.84330444e-01 -8.11367833e-01 1.54974969e-02 1.54857555e+02] [ 8.10965866e-01 -5.84530906e-01 -2.56512000e-02 1.14166101e+02] [ 2.98713245e-02 -2.42083603e-03 9.99550821e-01 6.66782024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.650714057 meters Centerline goodness : 0.984847 Centerline is valid? [True, True] Translation: X:154.85, Y:114.18, Z:6.67 [[-5.81756995e-01 -8.13215821e-01 1.54540248e-02 1.54846393e+02] [ 8.12813823e-01 -5.81957369e-01 -2.56770256e-02 1.14180379e+02] [ 2.98745471e-02 -2.37654430e-03 9.99550831e-01 6.66704492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.680714057 meters Centerline goodness : 0.985388 Centerline is valid? [True, True] Translation: X:154.84, Y:114.19, Z:6.67 [[-5.80917096e-01 -8.13817324e-01 1.53847558e-02 1.54840686e+02] [ 8.13414472e-01 -5.81115718e-01 -2.57180820e-02 1.14186799e+02] [ 2.98701441e-02 -2.42589047e-03 9.99550844e-01 6.66669457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.710714057 meters Centerline goodness : 0.984578 Centerline is valid? [True, True] Translation: X:154.82, Y:114.21, Z:6.67 [[-5.81748325e-01 -8.13224427e-01 1.53269925e-02 1.54822212e+02] [ 8.12820497e-01 -5.81944726e-01 -2.57521848e-02 1.14214785e+02] [ 2.98617682e-02 -2.52319673e-03 9.99550853e-01 6.66676334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.740714057 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:155.13, Y:113.71, Z:6.65 [[-5.73689731e-01 -8.18925728e-01 1.55159758e-02 1.55126340e+02] [ 8.18526713e-01 -5.73895998e-01 -2.56398944e-02 1.13705351e+02] [ 2.99017255e-02 -2.00910346e-03 9.99550824e-01 6.64866686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.770714057 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:155.34, Y:113.35, Z:6.63 [[-5.72571527e-01 -8.19711833e-01 1.53087626e-02 1.55335866e+02] [ 8.19309873e-01 -5.72771888e-01 -2.57623067e-02 1.13348010e+02] [ 2.98860965e-02 -2.20814295e-03 9.99550872e-01 6.63355457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.800714057 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:155.07, Y:113.79, Z:6.65 [[-5.76973640e-01 -8.16621197e-01 1.52065567e-02 1.55070102e+02] [ 8.16216616e-01 -5.77168636e-01 -2.58224948e-02 1.13787872e+02] [ 2.98639442e-02 -2.48705462e-03 9.99550879e-01 6.64956494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.830714057 meters Centerline goodness : 0.985550 Centerline is valid? [True, True] Translation: X:154.86, Y:114.13, Z:6.66 [[-5.76439832e-01 -8.16997486e-01 1.52390232e-02 1.54863074e+02] [ 8.16593521e-01 -5.76636110e-01 -2.58034533e-02 1.14132555e+02] [ 2.98687275e-02 -2.43005063e-03 9.99550876e-01 6.65970867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.860714057 meters Centerline goodness : 0.992152 Centerline is valid? [True, True] Translation: X:155.32, Y:113.35, Z:6.64 [[-5.71394404e-01 -8.20533797e-01 1.52552594e-02 1.55315866e+02] [ 8.20131299e-01 -5.71593673e-01 -2.57939072e-02 1.13353078e+02] [ 2.98845824e-02 -2.22717857e-03 9.99550875e-01 6.63546241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.890714057 meters Centerline goodness : 0.992383 Centerline is valid? [True, True] Translation: X:155.31, Y:113.36, Z:6.64 [[-5.71848826e-01 -8.20220051e-01 1.50992511e-02 1.55311391e+02] [ 8.19815088e-01 -5.72042999e-01 -2.58849109e-02 1.13355502e+02] [ 2.98687439e-02 -2.42366209e-03 9.99550891e-01 6.63617190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.920714057 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:155.31, Y:113.35, Z:6.64 [[-5.72948531e-01 -8.19452439e-01 1.50890857e-02 1.55306799e+02] [ 8.19047064e-01 -5.73141843e-01 -2.58908353e-02 1.13352893e+02] [ 2.98644945e-02 -2.47544475e-03 9.99550891e-01 6.63687114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95071405699997 meters Centerline goodness : 0.992129 Centerline is valid? [True, True] Translation: X:155.12, Y:113.67, Z:6.65 [[-5.76025242e-01 -8.17292816e-01 1.50789214e-02 1.55117282e+02] [ 8.16886566e-01 -5.76216710e-01 -2.58967536e-02 1.13670530e+02] [ 2.98539572e-02 -2.59941544e-03 9.99550891e-01 6.64843361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98071405699997 meters Centerline goodness : 0.989964 Centerline is valid? [True, True] Translation: X:155.01, Y:113.84, Z:6.65 [[-5.81882252e-01 -8.13132396e-01 1.51245276e-02 1.55013140e+02] [ 8.12725446e-01 -5.82072230e-01 -2.58702098e-02 1.13835394e+02] [ 2.98394732e-02 -2.76132748e-03 9.99550890e-01 6.65113624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01071405699997 meters Centerline goodness : 0.992204 Centerline is valid? [True, True] Translation: X:155.09, Y:113.71, Z:6.65 [[-5.76602958e-01 -8.16882183e-01 1.52488530e-02 1.55088075e+02] [ 8.16478324e-01 -5.76799462e-01 -2.57977887e-02 1.13708011e+02] [ 2.98692842e-02 -2.42472337e-03 9.99550872e-01 6.64714164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04071405699997 meters Centerline goodness : 0.984527 Centerline is valid? [True, True] Translation: X:154.78, Y:114.22, Z:6.66 [[-5.82332988e-01 -8.12810475e-01 1.50805360e-02 1.54784047e+02] [ 8.12402785e-01 -5.82521357e-01 -2.58956247e-02 1.14217545e+02] [ 2.98329693e-02 -2.82840704e-03 9.99550896e-01 6.66279714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07071405699998 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:155.29, Y:113.34, Z:6.64 [[-5.54880017e-01 -8.31789201e-01 1.53261970e-02 1.55292674e+02] [ 8.31391906e-01 -5.55089481e-01 -2.57520167e-02 1.13339529e+02] [ 2.99276601e-02 -1.54720331e-03 9.99550870e-01 6.63566000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10071405699998 meters Centerline goodness : 0.991405 Centerline is valid? [True, True] Translation: X:155.29, Y:113.34, Z:6.64 [[-5.50697872e-01 -8.34584504e-01 1.41618855e-02 1.55288652e+02] [ 8.34170973e-01 -5.50873168e-01 -2.64110190e-02 1.13337664e+02] [ 2.98436299e-02 -2.73105816e-03 9.99550849e-01 6.64193523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13071405699998 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:155.28, Y:113.34, Z:6.64 [[-5.47997273e-01 -8.36355314e-01 1.44491451e-02 1.55283186e+02] [ 8.35946499e-01 -5.48182884e-01 -2.62483545e-02 1.13340368e+02] [ 2.98737248e-02 -2.30531438e-03 9.99551022e-01 6.64372482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16071405699998 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:155.27, Y:113.35, Z:6.64 [[-5.53200893e-01 -8.32921897e-01 1.44874301e-02 1.55266140e+02] [ 8.32512485e-01 -5.53385149e-01 -2.62266801e-02 1.13352654e+02] [ 2.98619048e-02 -2.44765643e-03 9.99551037e-01 6.64046167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19071405699998 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:155.28, Y:113.33, Z:6.64 [[-5.32300239e-01 -8.46426917e-01 1.47624057e-02 1.55283857e+02] [ 8.46026452e-01 -5.32503095e-01 -2.60709800e-02 1.13329094e+02] [ 2.99282059e-02 -1.38820317e-03 9.99551087e-01 6.64423051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22071405699998 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:155.26, Y:113.34, Z:6.64 [[-5.44305410e-01 -8.38766337e-01 1.42356288e-02 1.55264528e+02] [ 8.38355243e-01 -5.44486167e-01 -2.63685698e-02 1.13340911e+02] [ 2.98681717e-02 -2.41804114e-03 9.99550922e-01 6.64333024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25071405699998 meters Centerline goodness : 0.992003 Centerline is valid? [True, True] Translation: X:155.28, Y:113.32, Z:6.65 [[-5.30279494e-01 -8.47694615e-01 1.47478184e-02 1.55278874e+02] [ 8.47294416e-01 -5.30482857e-01 -2.60789290e-02 1.13322376e+02] [ 2.99304325e-02 -1.33337706e-03 9.99551095e-01 6.64890786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28071405699998 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:155.26, Y:113.34, Z:6.64 [[-5.39418954e-01 -8.41915668e-01 1.43248357e-02 1.55260003e+02] [ 8.41506959e-01 -5.39604875e-01 -2.63176218e-02 1.13341695e+02] [ 2.98869693e-02 -2.14177511e-03 9.99550990e-01 6.64459895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31071405699998 meters Centerline goodness : 0.984301 Centerline is valid? [True, True] Translation: X:154.76, Y:114.21, Z:6.67 [[-5.47092058e-01 -8.36942853e-01 1.47289276e-02 1.54763785e+02] [ 8.36538396e-01 -5.47286808e-01 -2.60894938e-02 1.14208668e+02] [ 2.98963631e-02 -1.95204140e-03 9.99551098e-01 6.67217278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34071405699999 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:155.25, Y:113.36, Z:6.65 [[-5.35201231e-01 -8.44586245e-01 1.52877938e-02 1.55249440e+02] [ 8.44193371e-01 -5.35418794e-01 -2.57733624e-02 1.13355454e+02] [ 2.99531995e-02 -8.88081044e-04 9.99550908e-01 6.64505640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.370714057 meters Centerline goodness : 0.988812 Centerline is valid? [True, True] Translation: X:155.26, Y:113.37, Z:6.65 [[-5.25566324e-01 -8.50626746e-01 1.46348371e-02 1.55256345e+02] [ 8.50226024e-01 -5.25768450e-01 -2.61389534e-02 1.13368485e+02] [ 2.99290285e-02 -1.29483425e-03 9.99551188e-01 6.64597089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.400714057 meters Centerline goodness : 0.989102 Centerline is valid? [True, True] Translation: X:155.26, Y:113.37, Z:6.65 [[-5.26884543e-01 -8.49811013e-01 1.46260013e-02 1.55255164e+02] [ 8.49409843e-01 -5.27085776e-01 -2.61438965e-02 1.13369811e+02] [ 2.99265284e-02 -1.35134552e-03 9.99551188e-01 6.64749239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.430714057 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:155.25, Y:113.36, Z:6.64 [[-5.35357770e-01 -8.44498903e-01 1.46171419e-02 1.55249854e+02] [ 8.44095606e-01 -5.35554708e-01 -2.61488489e-02 1.13364328e+02] [ 2.99109534e-02 -1.66072414e-03 9.99551188e-01 6.64209275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.460714057 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:155.25, Y:113.37, Z:6.64 [[-5.35165816e-01 -8.44620712e-01 1.46082946e-02 1.55249970e+02] [ 8.44217327e-01 -5.35362572e-01 -2.61537906e-02 1.13366317e+02] [ 2.99107674e-02 -1.66403931e-03 9.99551188e-01 6.64141147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.490714057 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:155.25, Y:113.37, Z:6.64 [[-5.34839431e-01 -8.44827601e-01 1.45981788e-02 1.55248614e+02] [ 8.44424141e-01 -5.35036031e-01 -2.61594357e-02 1.13368605e+02] [ 2.99107650e-02 -1.66404309e-03 9.99551188e-01 6.64148693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.520714057 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:155.25, Y:113.38, Z:6.64 [[-5.34920761e-01 -8.44776283e-01 1.45880643e-02 1.55247302e+02] [ 8.44372651e-01 -5.35117011e-01 -2.61650749e-02 1.13375204e+02] [ 2.99099561e-02 -1.67847925e-03 9.99551188e-01 6.64158374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.550714057 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:155.25, Y:113.38, Z:6.64 [[-5.35157265e-01 -8.44626654e-01 1.45779339e-02 1.55247136e+02] [ 8.44222816e-01 -5.35353089e-01 -2.61707179e-02 1.13377766e+02] [ 2.99088278e-02 -1.69842535e-03 9.99551188e-01 6.64313272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.580714057 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:155.25, Y:113.38, Z:6.64 [[-5.35399363e-01 -8.44473387e-01 1.45677895e-02 1.55247297e+02] [ 8.44069342e-01 -5.35594758e-01 -2.61763635e-02 1.13380748e+02] [ 2.99076740e-02 -1.71858382e-03 9.99551188e-01 6.64210213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.610714057 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:155.25, Y:113.39, Z:6.64 [[-5.37253382e-01 -8.43295250e-01 1.45576429e-02 1.55248116e+02] [ 8.42890625e-01 -5.37447576e-01 -2.61820052e-02 1.13388346e+02] [ 2.99031305e-02 -1.79587012e-03 9.99551188e-01 6.64453382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.640714057 meters Centerline goodness : 0.991966 Centerline is valid? [True, True] Translation: X:155.06, Y:113.74, Z:6.66 [[-5.39556874e-01 -8.41823467e-01 1.45474822e-02 1.55057400e+02] [ 8.41418164e-01 -5.39749647e-01 -2.61876496e-02 1.13744627e+02] [ 2.98973763e-02 -1.88921061e-03 9.99551188e-01 6.66119222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.670714057 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:155.25, Y:113.40, Z:6.64 [[-5.38758522e-01 -8.42331371e-01 1.47348874e-02 1.55249518e+02] [ 8.41929038e-01 -5.38957465e-01 -2.60834416e-02 1.13400955e+02] [ 2.99123787e-02 -1.64694683e-03 9.99551168e-01 6.64471848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70071405699997 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:155.25, Y:113.41, Z:6.64 [[-5.38860991e-01 -8.42269647e-01 1.45146288e-02 1.55249593e+02] [ 8.41864033e-01 -5.39053082e-01 -2.62054392e-02 1.13405724e+02] [ 2.98962014e-02 -1.90174499e-03 9.99551200e-01 6.64482184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73071405699997 meters Centerline goodness : 0.991958 Centerline is valid? [True, True] Translation: X:155.24, Y:113.42, Z:6.65 [[-5.42269035e-01 -8.40079708e-01 1.45044297e-02 1.55244046e+02] [ 8.39673171e-01 -5.42459165e-01 -2.62110830e-02 1.13420115e+02] [ 2.98874598e-02 -2.03447821e-03 9.99551200e-01 6.64975298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76071405699997 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:155.25, Y:113.41, Z:6.65 [[-5.39389900e-01 -8.41926828e-01 1.47564591e-02 1.55253385e+02] [ 8.41524665e-01 -5.39589206e-01 -2.60715799e-02 1.13409860e+02] [ 2.99127886e-02 -1.64482252e-03 9.99551159e-01 6.64516807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79071405699997 meters Centerline goodness : 0.992947 Centerline is valid? [True, True] Translation: X:155.26, Y:113.41, Z:6.64 [[-5.39658815e-01 -8.41759090e-01 1.44912890e-02 1.55256665e+02] [ 8.41352960e-01 -5.39849799e-01 -2.62181462e-02 1.13413431e+02] [ 2.98924824e-02 -1.95656480e-03 9.99551205e-01 6.64378245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82071405699998 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:155.26, Y:113.42, Z:6.64 [[-5.39612891e-01 -8.41788585e-01 1.44881039e-02 1.55257533e+02] [ 8.41382419e-01 -5.39803799e-01 -2.62199062e-02 1.13416512e+02] [ 2.98923513e-02 -1.95856346e-03 9.99551205e-01 6.64270377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85071405699998 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:155.27, Y:113.42, Z:6.65 [[-5.30612208e-01 -8.47491047e-01 1.44779216e-02 1.55269232e+02] [ 8.47086787e-01 -5.30807119e-01 -2.62255274e-02 1.13418878e+02] [ 2.99108835e-02 -1.65152889e-03 9.99551205e-01 6.64516956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88071405699998 meters Centerline goodness : 0.992141 Centerline is valid? [True, True] Translation: X:155.29, Y:113.40, Z:6.64 [[-5.18788694e-01 -8.54784940e-01 1.41773560e-02 1.55286787e+02] [ 8.54378893e-01 -5.18979975e-01 -2.63911665e-02 1.13401486e+02] [ 2.99165356e-02 -1.57860508e-03 9.99551154e-01 6.64236445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91071405699998 meters Centerline goodness : 0.991006 Centerline is valid? [True, True] Translation: X:155.29, Y:113.40, Z:6.64 [[-5.27540941e-01 -8.49421104e-01 1.35773121e-02 1.55286782e+02] [ 8.49004601e-01 -5.27709378e-01 -2.67207958e-02 1.13403647e+02] [ 2.98620828e-02 -2.56911329e-03 9.99550727e-01 6.64417250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94071405699998 meters Centerline goodness : 0.991825 Centerline is valid? [True, True] Translation: X:155.29, Y:113.41, Z:6.64 [[-5.25992210e-01 -8.50376027e-01 1.38855152e-02 1.55286555e+02] [ 8.49964172e-01 -5.26171010e-01 -2.65513666e-02 1.13409386e+02] [ 2.98848012e-02 -2.16362162e-03 9.99551008e-01 6.64288182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97071405699998 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:155.29, Y:113.41, Z:6.64 [[-5.30710213e-01 -8.47441271e-01 1.37826463e-02 1.55286382e+02] [ 8.47026986e-01 -5.30883514e-01 -2.66078882e-02 1.13411954e+02] [ 2.98656023e-02 -2.44680464e-03 9.99550929e-01 6.64112917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00071405699998 meters Centerline goodness : 0.992499 Centerline is valid? [True, True] Translation: X:155.29, Y:113.41, Z:6.64 [[-5.26471613e-01 -8.50077776e-01 1.39790891e-02 1.55293979e+02] [ 8.49667158e-01 -5.26653087e-01 -2.64999307e-02 1.13412198e+02] [ 2.98891325e-02 -2.07388837e-03 9.99551069e-01 6.64163977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03071405699998 meters Centerline goodness : 0.991450 Centerline is valid? [True, True] Translation: X:155.29, Y:113.42, Z:6.64 [[-5.36257213e-01 -8.43942455e-01 1.37598994e-02 1.55287862e+02] [ 8.43526732e-01 -5.36427080e-01 -2.66202892e-02 1.13418779e+02] [ 2.98471748e-02 -2.66847910e-03 9.99550912e-01 6.64456818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06071405699998 meters Centerline goodness : 0.992043 Centerline is valid? [True, True] Translation: X:155.28, Y:113.44, Z:6.65 [[-5.41568882e-01 -8.40536346e-01 1.42055544e-02 1.55276211e+02] [ 8.40125714e-01 -5.41750063e-01 -2.63752399e-02 1.13437911e+02] [ 2.98652077e-02 -2.34955760e-03 9.99551174e-01 6.64684740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09071405699999 meters Centerline goodness : 0.991385 Centerline is valid? [True, True] Translation: X:155.28, Y:113.44, Z:6.65 [[-5.41492203e-01 -8.40582116e-01 1.44187536e-02 1.55276301e+02] [ 8.40174529e-01 -5.41680052e-01 -2.62579946e-02 1.13440400e+02] [ 2.98823518e-02 -2.10422978e-03 9.99551208e-01 6.64757447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.120714057 meters Centerline goodness : 0.984510 Centerline is valid? [True, True] Translation: X:154.84, Y:114.22, Z:6.67 [[-5.54655945e-01 -8.31955233e-01 1.43969771e-02 1.54844450e+02] [ 8.31544438e-01 -5.54836674e-01 -2.62699958e-02 1.14218134e+02] [ 2.98434314e-02 -2.59908306e-03 9.99551206e-01 6.67006312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.150714057 meters Centerline goodness : 0.991716 Centerline is valid? [True, True] Translation: X:155.28, Y:113.44, Z:6.64 [[-5.29553802e-01 -8.48146068e-01 1.48666742e-02 1.55283734e+02] [ 8.47747941e-01 -5.29761150e-01 -2.60106078e-02 1.13436900e+02] [ 2.99365811e-02 -1.17082381e-03 9.99551114e-01 6.64454436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.180714057 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:155.28, Y:113.46, Z:6.64 [[-5.30629035e-01 -8.47491881e-01 1.37963009e-02 1.55276597e+02] [ 8.47078177e-01 -5.30802831e-01 -2.65879054e-02 1.13456701e+02] [ 2.98561495e-02 -2.42176916e-03 9.99551272e-01 6.64240378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.210714057 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:155.28, Y:113.46, Z:6.64 [[-5.31792355e-01 -8.46766281e-01 1.35556352e-02 1.55276271e+02] [ 8.46349094e-01 -5.31958064e-01 -2.67175915e-02 1.13459076e+02] [ 2.98345851e-02 -2.73541130e-03 9.99551107e-01 6.64146557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.240714057 meters Centerline goodness : 0.992700 Centerline is valid? [True, True] Translation: X:155.28, Y:113.46, Z:6.64 [[-5.36586024e-01 -8.43736497e-01 1.35706681e-02 1.55275982e+02] [ 8.43318574e-01 -5.36749836e-01 -2.67094914e-02 1.13461979e+02] [ 2.98198266e-02 -2.88754338e-03 9.99551119e-01 6.64079499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.270714057 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:155.28, Y:113.46, Z:6.64 [[-5.29466016e-01 -8.48219086e-01 1.37883704e-02 1.55278520e+02] [ 8.47805511e-01 -5.29640133e-01 -2.65921920e-02 1.13464555e+02] [ 2.98588791e-02 -2.38980552e-03 9.99551267e-01 6.64021057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.300714057 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:155.28, Y:113.46, Z:6.64 [[-5.39392142e-01 -8.41947457e-01 1.34386220e-02 1.55279508e+02] [ 8.41527284e-01 -5.39550410e-01 -2.67803351e-02 1.13457399e+02] [ 2.97984490e-02 -3.13613524e-03 9.99551008e-01 6.64256383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.330714057 meters Centerline goodness : 0.991729 Centerline is valid? [True, True] Translation: X:155.27, Y:113.47, Z:6.64 [[-5.41813911e-01 -8.40384745e-01 1.38262697e-02 1.55271678e+02] [ 8.39969176e-01 -5.41983149e-01 -2.65715845e-02 1.13469771e+02] [ 2.98239595e-02 -2.78321378e-03 9.99551292e-01 6.64442390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.360714057 meters Centerline goodness : 0.991883 Centerline is valid? [True, True] Translation: X:155.27, Y:113.47, Z:6.65 [[-5.40897991e-01 -8.40972265e-01 1.39646947e-02 1.55268603e+02] [ 8.40558735e-01 -5.41072010e-01 -2.64970339e-02 1.13472092e+02] [ 2.98391760e-02 -2.59404629e-03 9.99551347e-01 6.64660353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.390714057 meters Centerline goodness : 0.991744 Centerline is valid? [True, True] Translation: X:155.27, Y:113.47, Z:6.65 [[-5.38558618e-01 -8.42471473e-01 1.40154700e-02 1.55269559e+02] [ 8.42059117e-01 -5.38735369e-01 -2.64697078e-02 1.13467534e+02] [ 2.98506031e-02 -2.45363494e-03 9.99551360e-01 6.64699742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42071405699997 meters Centerline goodness : 0.991164 Centerline is valid? [True, True] Translation: X:155.27, Y:113.47, Z:6.65 [[-5.36755353e-01 -8.43622445e-01 1.39592770e-02 1.55266584e+02] [ 8.43209703e-01 -5.36931235e-01 -2.64999330e-02 1.13470765e+02] [ 2.98511101e-02 -2.45338306e-03 9.99551345e-01 6.64804617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45071405699997 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:155.27, Y:113.46, Z:6.65 [[-5.29873546e-01 -8.47961617e-01 1.39686059e-02 1.55270401e+02] [ 8.47550448e-01 -5.30053070e-01 -2.64949172e-02 1.13461033e+02] [ 2.98707753e-02 -2.19985752e-03 9.99551348e-01 6.64881550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48071405699997 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:155.27, Y:113.46, Z:6.65 [[-5.25638878e-01 -8.50594834e-01 1.38635486e-02 1.55265370e+02] [ 8.50183101e-01 -5.25817192e-01 -2.65513559e-02 1.13464935e+02] [ 2.98741384e-02 -2.16987018e-03 9.99551313e-01 6.64847948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51071405699997 meters Centerline goodness : 0.990851 Centerline is valid? [True, True] Translation: X:155.26, Y:113.47, Z:6.65 [[-5.25777015e-01 -8.50509675e-01 1.38500563e-02 1.55260321e+02] [ 8.50097726e-01 -5.25954843e-01 -2.65585992e-02 1.13470127e+02] [ 2.98728498e-02 -2.18999958e-03 9.99551308e-01 6.64787330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54071405699997 meters Centerline goodness : 0.989851 Centerline is valid? [True, True] Translation: X:155.27, Y:113.46, Z:6.65 [[-5.19053318e-01 -8.54628173e-01 1.39405289e-02 1.55265809e+02] [ 8.54218919e-01 -5.19237187e-01 -2.65100465e-02 1.13460371e+02] [ 2.98946736e-02 -1.85186411e-03 9.99551339e-01 6.64575343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57071405699998 meters Centerline goodness : 0.990679 Centerline is valid? [True, True] Translation: X:155.27, Y:113.45, Z:6.64 [[-5.17628926e-01 -8.55494031e-01 1.37933698e-02 1.55267898e+02] [ 8.55083004e-01 -5.17808928e-01 -2.65889115e-02 1.13453573e+02] [ 2.98889851e-02 -1.96871362e-03 9.99551286e-01 6.64377450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60071405699998 meters Centerline goodness : 0.989393 Centerline is valid? [True, True] Translation: X:155.26, Y:113.47, Z:6.65 [[-5.17725733e-01 -8.55435818e-01 1.37705390e-02 1.55259783e+02] [ 8.55024449e-01 -5.17904982e-01 -2.66011387e-02 1.13465082e+02] [ 2.98873976e-02 -1.99794654e-03 9.99551275e-01 6.64557821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63071405699998 meters Centerline goodness : 0.989362 Centerline is valid? [True, True] Translation: X:155.26, Y:113.46, Z:6.64 [[-5.16648542e-01 -8.56085499e-01 1.38528445e-02 1.55260053e+02] [ 8.55675517e-01 -5.16830854e-01 -2.65570696e-02 1.13459117e+02] [ 2.98946996e-02 -1.86713142e-03 9.99551310e-01 6.64342857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66071405699998 meters Centerline goodness : 0.989873 Centerline is valid? [True, True] Translation: X:155.26, Y:113.45, Z:6.64 [[-5.10879633e-01 -8.59540841e-01 1.38399208e-02 1.55261468e+02] [ 8.59131909e-01 -5.11064299e-01 -2.65639828e-02 1.13454905e+02] [ 2.99059175e-02 -1.68068024e-03 9.99551305e-01 6.63921166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69071405699998 meters Centerline goodness : 0.989334 Centerline is valid? [True, True] Translation: X:155.27, Y:113.44, Z:6.64 [[-5.06424468e-01 -8.62175714e-01 1.36856334e-02 1.55269106e+02] [ 8.61765527e-01 -5.06606500e-01 -2.66463930e-02 1.13441583e+02] [ 2.99071038e-02 -1.70057830e-03 9.99551236e-01 6.63594135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72071405699998 meters Centerline goodness : 0.990079 Centerline is valid? [True, True] Translation: X:155.26, Y:113.45, Z:6.64 [[-5.03662723e-01 -8.63792303e-01 1.36644852e-02 1.55263245e+02] [ 8.63382397e-01 -5.03845417e-01 -2.66576792e-02 1.13446750e+02] [ 2.99114863e-02 -1.62880331e-03 9.99551224e-01 6.63943491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75071405699998 meters Centerline goodness : 0.988476 Centerline is valid? [True, True] Translation: X:155.27, Y:113.44, Z:6.64 [[-4.89682900e-01 -8.71795639e-01 1.35285275e-02 1.55273246e+02] [ 8.71386728e-01 -4.89868014e-01 -2.67301220e-02 1.13440766e+02] [ 2.99303968e-02 -1.30070434e-03 9.99551139e-01 6.63652044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78071405699998 meters Centerline goodness : 0.991008 Centerline is valid? [True, True] Translation: X:155.27, Y:113.44, Z:6.64 [[-4.96246694e-01 -8.68082009e-01 1.31470472e-02 1.55265413e+02] [ 8.67666311e-01 -4.96416954e-01 -2.69328904e-02 1.13440074e+02] [ 2.99063747e-02 -1.95810783e-03 9.99550786e-01 6.63748600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81071405699998 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:155.28, Y:113.42, Z:6.64 [[-4.87754305e-01 -8.72883294e-01 1.30572766e-02 1.55278233e+02] [ 8.72468006e-01 -4.87925844e-01 -2.69805378e-02 1.13421090e+02] [ 2.99218434e-02 -1.76781739e-03 9.99550678e-01 6.63777177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84071405699999 meters Centerline goodness : 0.990123 Centerline is valid? [True, True] Translation: X:155.27, Y:113.43, Z:6.64 [[-4.93761108e-01 -8.69497986e-01 1.31613234e-02 1.55269512e+02] [ 8.69082977e-01 -4.93932998e-01 -2.69253085e-02 1.13427887e+02] [ 2.99123134e-02 -1.85638806e-03 9.99550803e-01 6.63970656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.870714057 meters Centerline goodness : 0.988823 Centerline is valid? [True, True] Translation: X:155.28, Y:113.42, Z:6.64 [[-4.85393996e-01 -8.74191952e-01 1.34573451e-02 1.55275167e+02] [ 8.73782904e-01 -4.85578941e-01 -2.67680508e-02 1.13419094e+02] [ 2.99350180e-02 -1.23425313e-03 9.99551085e-01 6.64101987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.900714057 meters Centerline goodness : 0.988896 Centerline is valid? [True, True] Translation: X:155.27, Y:113.43, Z:6.64 [[-4.83339796e-01 -8.75332584e-01 1.32479615e-02 1.55271049e+02] [ 8.74920915e-01 -4.83519291e-01 -2.68791199e-02 1.13426085e+02] [ 2.99338144e-02 -1.40082971e-03 9.99550901e-01 6.64331805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.930714057 meters Centerline goodness : 0.988452 Centerline is valid? [True, True] Translation: X:155.26, Y:113.44, Z:6.64 [[-4.89191395e-01 -8.72076269e-01 1.32196608e-02 1.55262649e+02] [ 8.71663004e-01 -4.89367258e-01 -2.68941388e-02 1.13437422e+02] [ 2.99230093e-02 -1.63329205e-03 9.99550872e-01 6.64492466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.960714057 meters Centerline goodness : 0.989963 Centerline is valid? [True, True] Translation: X:155.25, Y:113.45, Z:6.65 [[-4.91472569e-01 -8.70787489e-01 1.35596057e-02 1.55254720e+02] [ 8.70378653e-01 -4.91657795e-01 -2.67135398e-02 1.13447908e+02] [ 2.99285021e-02 -1.32698068e-03 9.99551161e-01 6.64662679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.990714057 meters Centerline goodness : 0.989450 Centerline is valid? [True, True] Translation: X:155.25, Y:113.46, Z:6.65 [[-4.91577385e-01 -8.70731178e-01 1.33750082e-02 1.55250735e+02] [ 8.70319651e-01 -4.91756898e-01 -2.68115246e-02 1.13460289e+02] [ 2.99228829e-02 -1.53940664e-03 9.99551025e-01 6.64639124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.020714057 meters Centerline goodness : 0.988817 Centerline is valid? [True, True] Translation: X:155.25, Y:113.47, Z:6.65 [[-4.91792328e-01 -8.70611487e-01 1.32643950e-02 1.55246723e+02] [ 8.70198339e-01 -4.91968335e-01 -2.68701968e-02 1.13469927e+02] [ 2.99191644e-02 -1.67190212e-03 9.99550923e-01 6.64659535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.050714057 meters Centerline goodness : 0.987404 Centerline is valid? [True, True] Translation: X:155.25, Y:113.47, Z:6.65 [[-4.95061710e-01 -8.68756293e-01 1.32818010e-02 1.55246165e+02] [ 8.68342732e-01 -4.95236700e-01 -2.68609631e-02 1.13474144e+02] [ 2.99132660e-02 -1.76467891e-03 9.99550940e-01 6.64693685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.080714057 meters Centerline goodness : 0.989198 Centerline is valid? [True, True] Translation: X:155.24, Y:113.48, Z:6.64 [[-4.94281146e-01 -8.69199455e-01 1.33587355e-02 1.55244286e+02] [ 8.68787142e-01 -4.94458878e-01 -2.68201462e-02 1.13480463e+02] [ 2.99174018e-02 -1.65079501e-03 9.99551011e-01 6.64276845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.110714057 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:155.24, Y:113.49, Z:6.65 [[-4.98746248e-01 -8.66647339e-01 1.32124573e-02 1.55238892e+02] [ 8.66232073e-01 -4.98917336e-01 -2.68977219e-02 1.13494203e+02] [ 2.99027631e-02 -1.97008364e-03 9.99550871e-01 6.64661092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.140714057 meters Centerline goodness : 0.986988 Centerline is valid? [True, True] Translation: X:155.24, Y:113.50, Z:6.65 [[-5.04384328e-01 -8.63375011e-01 1.34178858e-02 1.55236476e+02] [ 8.62961478e-01 -5.04559070e-01 -2.67886632e-02 1.13500881e+02] [ 2.98987784e-02 -1.93266328e-03 9.99551063e-01 6.64781805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17071405699997 meters Centerline goodness : 0.990818 Centerline is valid? [True, True] Translation: X:155.22, Y:113.51, Z:6.64 [[-5.21529508e-01 -8.53123406e-01 1.36903644e-02 1.55218697e+02] [ 8.52710142e-01 -5.21704436e-01 -2.66438624e-02 1.13512925e+02] [ 2.98728265e-02 -2.22164786e-03 9.99551239e-01 6.64448436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20071405699997 meters Centerline goodness : 0.988018 Centerline is valid? [True, True] Translation: X:155.23, Y:113.51, Z:6.65 [[-5.08604648e-01 -8.60881602e-01 1.42891578e-02 1.55233317e+02] [ 8.60479699e-01 -5.08804159e-01 -2.63252076e-02 1.13511473e+02] [ 2.99332698e-02 -1.09359272e-03 9.99551301e-01 6.64687383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23071405699997 meters Centerline goodness : 0.989547 Centerline is valid? [True, True] Translation: X:155.23, Y:113.51, Z:6.65 [[-5.08067874e-01 -8.61207878e-01 1.37122503e-02 1.55234375e+02] [ 8.60797747e-01 -5.08249946e-01 -2.66313838e-02 1.13512065e+02] [ 2.99044080e-02 -1.72707640e-03 9.99551271e-01 6.64610367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26071405699997 meters Centerline goodness : 0.989620 Centerline is valid? [True, True] Translation: X:155.23, Y:113.51, Z:6.65 [[-5.09158208e-01 -8.60564605e-01 1.36557683e-02 1.55234187e+02] [ 8.60153450e-01 -5.09338018e-01 -2.66613264e-02 1.13513595e+02] [ 2.98991957e-02 -1.82877698e-03 9.99551246e-01 6.64564305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29071405699997 meters Centerline goodness : 0.988093 Centerline is valid? [True, True] Translation: X:155.24, Y:113.52, Z:6.65 [[-5.09385625e-01 -8.60429435e-01 1.36920318e-02 1.55235951e+02] [ 8.60018741e-01 -5.09566445e-01 -2.66421118e-02 1.13517581e+02] [ 2.99006572e-02 -1.79570483e-03 9.99551262e-01 6.64740457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32071405699998 meters Centerline goodness : 0.988131 Centerline is valid? [True, True] Translation: X:155.24, Y:113.51, Z:6.65 [[-5.02420986e-01 -8.64514617e-01 1.36977739e-02 1.55244177e+02] [ 8.64105479e-01 -5.02605293e-01 -2.66390709e-02 1.13510680e+02] [ 2.99144398e-02 -1.54770679e-03 9.99551265e-01 6.64770171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35071405699998 meters Centerline goodness : 0.990055 Centerline is valid? [True, True] Translation: X:155.24, Y:113.52, Z:6.64 [[-5.05925161e-01 -8.62472848e-01 1.34282100e-02 1.55241252e+02] [ 8.62059195e-01 -5.06099487e-01 -2.67815935e-02 1.13518122e+02] [ 2.98944074e-02 -1.97357012e-03 9.99551114e-01 6.64368885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38071405699998 meters Centerline goodness : 0.989383 Centerline is valid? [True, True] Translation: X:155.23, Y:113.53, Z:6.64 [[-5.10882770e-01 -8.59546788e-01 1.33459682e-02 1.55234507e+02] [ 8.59131019e-01 -5.11052158e-01 -2.68250716e-02 1.13530751e+02] [ 2.98778900e-02 -2.23853167e-03 9.99551050e-01 6.64330546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41071405699998 meters Centerline goodness : 0.989383 Centerline is valid? [True, True] Translation: X:155.23, Y:113.53, Z:6.64 [[-5.10566264e-01 -8.59728980e-01 1.37175720e-02 1.55233054e+02] [ 8.59318402e-01 -5.10747309e-01 -2.66283867e-02 1.13532949e+02] [ 2.98994087e-02 -1.80779387e-03 9.99551278e-01 6.64350707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44071405699998 meters Centerline goodness : 0.989378 Centerline is valid? [True, True] Translation: X:155.24, Y:113.53, Z:6.64 [[-5.10977181e-01 -8.59485093e-01 1.37002126e-02 1.55238597e+02] [ 8.59074186e-01 -5.11157494e-01 -2.66375654e-02 1.13525158e+02] [ 2.98975567e-02 -1.84168911e-03 9.99551271e-01 6.64312445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47071405699998 meters Centerline goodness : 0.989470 Centerline is valid? [True, True] Translation: X:155.24, Y:113.52, Z:6.64 [[-5.10324493e-01 -8.59873604e-01 1.36491062e-02 1.55239967e+02] [ 8.59462121e-01 -5.10503539e-01 -2.66645663e-02 1.13524265e+02] [ 2.98960737e-02 -1.87669150e-03 9.99551251e-01 6.64244381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50071405699998 meters Centerline goodness : 0.989581 Centerline is valid? [True, True] Translation: X:155.24, Y:113.52, Z:6.64 [[-5.11796284e-01 -8.58999364e-01 1.35888129e-02 1.55240937e+02] [ 8.58586742e-01 -5.11972762e-01 -2.66964009e-02 1.13524218e+02] [ 2.98892934e-02 -1.99594421e-03 9.99551222e-01 6.64335389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53071405699998 meters Centerline goodness : 0.984008 Centerline is valid? [True, True] Translation: X:154.74, Y:114.44, Z:6.67 [[-5.41659891e-01 -8.40482619e-01 1.39114818e-02 1.54735173e+02] [ 8.40068281e-01 -5.41831878e-01 -2.65235756e-02 1.14441353e+02] [ 2.98302886e-02 -2.68016246e-03 9.99551385e-01 6.67141196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56071405699998 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:155.21, Y:113.56, Z:6.64 [[-5.31416637e-01 -8.46984074e-01 1.46402483e-02 1.55212404e+02] [ 8.46582148e-01 -5.31616168e-01 -2.61326922e-02 1.13559663e+02] [ 2.99169668e-02 -1.49317455e-03 9.99551272e-01 6.63841720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59071405699999 meters Centerline goodness : 0.984696 Centerline is valid? [True, True] Translation: X:154.73, Y:114.46, Z:6.67 [[-5.39760712e-01 -8.41701393e-01 1.40406250e-02 1.54727895e+02] [ 8.41289282e-01 -5.39937671e-01 -2.64509900e-02 1.14462274e+02] [ 2.98448975e-02 -2.46497784e-03 9.99551502e-01 6.67165539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.620714057 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:155.20, Y:113.58, Z:6.64 [[-5.28897862e-01 -8.48561631e-01 1.44986362e-02 1.55200033e+02] [ 8.48158269e-01 -5.29094238e-01 -2.62076060e-02 1.13576799e+02] [ 2.99099138e-02 -1.56400862e-03 9.99551375e-01 6.63975813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.650714057 meters Centerline goodness : 0.991309 Centerline is valid? [True, True] Translation: X:155.04, Y:113.88, Z:6.66 [[-5.29725561e-01 -8.48054663e-01 1.39326192e-02 1.55043044e+02] [ 8.47643301e-01 -5.29904060e-01 -2.65051439e-02 1.13878144e+02] [ 2.98607623e-02 -2.23056091e-03 9.99551579e-01 6.65592055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.680714057 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:155.20, Y:113.58, Z:6.64 [[-5.29813085e-01 -8.47996203e-01 1.41610341e-02 1.55195181e+02] [ 8.47587933e-01 -5.29998617e-01 -2.63849012e-02 1.13583213e+02] [ 2.98796246e-02 -1.97634426e-03 9.99551550e-01 6.64125108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.710714057 meters Centerline goodness : 0.990087 Centerline is valid? [True, True] Translation: X:155.01, Y:113.94, Z:6.66 [[-5.30912661e-01 -8.47312240e-01 1.39180973e-02 1.55006517e+02] [ 8.46900443e-01 -5.31090134e-01 -2.65124358e-02 1.13944388e+02] [ 2.98560755e-02 -2.28854508e-03 9.99551588e-01 6.66101316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.740714057 meters Centerline goodness : 0.991639 Centerline is valid? [True, True] Translation: X:155.04, Y:113.89, Z:6.66 [[-5.31083283e-01 -8.47203244e-01 1.40431217e-02 1.55036179e+02] [ 8.46793091e-01 -5.31264552e-01 -2.64468740e-02 1.13885226e+02] [ 2.98664902e-02 -2.15387426e-03 9.99551576e-01 6.65867546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.770714057 meters Centerline goodness : 0.990107 Centerline is valid? [True, True] Translation: X:155.03, Y:113.89, Z:6.66 [[-5.34627028e-01 -8.44973571e-01 1.39142034e-02 1.55030712e+02] [ 8.44560949e-01 -5.34802570e-01 -2.65144127e-02 1.13893558e+02] [ 2.98453297e-02 -2.42392887e-03 9.99551590e-01 6.66288220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.800714057 meters Centerline goodness : 0.992465 Centerline is valid? [True, True] Translation: X:155.19, Y:113.59, Z:6.64 [[-5.35981386e-01 -8.44111475e-01 1.41340658e-02 1.55186333e+02] [ 8.43701502e-01 -5.36163100e-01 -2.63989667e-02 1.13590399e+02] [ 2.98618352e-02 -2.22442225e-03 9.99551561e-01 6.64481307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.830714057 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:155.18, Y:113.60, Z:6.64 [[-5.37036025e-01 -8.43444958e-01 1.38892496e-02 1.55182341e+02] [ 8.43031520e-01 -5.37209612e-01 -2.65271503e-02 1.13596497e+02] [ 2.98356296e-02 -2.53696020e-03 9.99551599e-01 6.64483224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.860714057 meters Centerline goodness : 0.991482 Centerline is valid? [True, True] Translation: X:155.02, Y:113.90, Z:6.66 [[-5.38237970e-01 -8.42678626e-01 1.38787966e-02 1.55021495e+02] [ 8.42264805e-01 -5.38410641e-01 -2.65326181e-02 1.13903630e+02] [ 2.98309620e-02 -2.59124060e-03 9.99551599e-01 6.66017311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.890714057 meters Centerline goodness : 0.984870 Centerline is valid? [True, True] Translation: X:154.72, Y:114.47, Z:6.67 [[-5.50997537e-01 -8.34391276e-01 1.38893212e-02 1.54719649e+02] [ 8.33975007e-01 -5.51164222e-01 -2.65271091e-02 1.14465156e+02] [ 2.97892853e-02 -3.03302508e-03 9.99551599e-01 6.67207594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92071405699997 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:155.19, Y:113.58, Z:6.64 [[-5.13622449e-01 -8.57896010e-01 1.43671498e-02 1.55191137e+02] [ 8.57494371e-01 -5.13822006e-01 -2.62745156e-02 1.13581953e+02] [ 2.99229598e-02 -1.17543095e-03 9.99551517e-01 6.64222802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95071405699997 meters Centerline goodness : 0.992905 Centerline is valid? [True, True] Translation: X:155.16, Y:113.61, Z:6.64 [[-5.33492016e-01 -8.45708926e-01 1.27546658e-02 1.55162630e+02] [ 8.45282806e-01 -5.33631823e-01 -2.70934568e-02 1.13608058e+02] [ 2.97194738e-02 -3.67284318e-03 9.99551531e-01 6.64104082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98071405699997 meters Centerline goodness : 0.992683 Centerline is valid? [True, True] Translation: X:155.16, Y:113.61, Z:6.64 [[-5.33030326e-01 -8.45987147e-01 1.35800942e-02 1.55159596e+02] [ 8.45570973e-01 -5.33196276e-01 -2.66732221e-02 1.13608141e+02] [ 2.98060588e-02 -2.73470279e-03 9.99551960e-01 6.64165028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01071405699997 meters Centerline goodness : 0.993092 Centerline is valid? [True, True] Translation: X:155.16, Y:113.61, Z:6.64 [[-5.31496048e-01 -8.46952075e-01 1.35695640e-02 1.55155633e+02] [ 8.46536072e-01 -5.31662424e-01 -2.66785782e-02 1.13605203e+02] [ 2.98099044e-02 -2.69243347e-03 9.99551960e-01 6.64242476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04071405699997 meters Centerline goodness : 0.985808 Centerline is valid? [True, True] Translation: X:154.77, Y:114.35, Z:6.67 [[-5.38023696e-01 -8.42820654e-01 1.35590478e-02 1.54770749e+02] [ 8.42403249e-01 -5.38186524e-01 -2.66839218e-02 1.14347547e+02] [ 2.97870572e-02 -2.93439632e-03 9.99551960e-01 6.66763957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07071405699998 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:154.97, Y:113.95, Z:6.65 [[-5.15166013e-01 -8.56979256e-01 1.38033976e-02 1.54971912e+02] [ 8.56569578e-01 -5.15347549e-01 -2.65605354e-02 1.13946475e+02] [ 2.98753750e-02 -1.85951468e-03 9.99551902e-01 6.65162494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10071405699998 meters Centerline goodness : 0.991488 Centerline is valid? [True, True] Translation: X:154.97, Y:113.95, Z:6.66 [[-5.15255039e-01 -8.56936880e-01 1.30930537e-02 1.54971042e+02] [ 8.56518235e-01 -5.15414536e-01 -2.69140975e-02 1.13945069e+02] [ 2.98120329e-02 -2.65318512e-03 9.99552001e-01 6.66131568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13071405699998 meters Centerline goodness : 0.985242 Centerline is valid? [True, True] Translation: X:154.76, Y:114.34, Z:6.67 [[-5.25126164e-01 -8.50920055e-01 1.33256144e-02 1.54760505e+02] [ 8.50502376e-01 -5.25288072e-01 -2.67983324e-02 1.14339941e+02] [ 2.98030247e-02 -2.73903880e-03 9.99552038e-01 6.67041451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16071405699998 meters Centerline goodness : 0.985547 Centerline is valid? [True, True] Translation: X:154.76, Y:114.34, Z:6.67 [[-5.23279441e-01 -8.52054457e-01 1.34843715e-02 1.54759088e+02] [ 8.51639057e-01 -5.23447190e-01 -2.67199626e-02 1.14337311e+02] [ 2.98252196e-02 -2.49818970e-03 9.99552007e-01 6.67051133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19071405699998 meters Centerline goodness : 0.984269 Centerline is valid? [True, True] Translation: X:154.74, Y:114.36, Z:6.67 [[-5.17229477e-01 -8.55740847e-01 1.34637175e-02 1.54740675e+02] [ 8.55326389e-01 -5.17399525e-01 -2.67301246e-02 1.14364212e+02] [ 2.98401805e-02 -2.30973545e-03 9.99552014e-01 6.67307424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22071405699998 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:155.11, Y:113.62, Z:6.65 [[-5.14395856e-01 -8.57443640e-01 1.36860474e-02 1.55112047e+02] [ 8.57032591e-01 -5.14574144e-01 -2.66193359e-02 1.13617981e+02] [ 2.98670664e-02 -1.96348747e-03 9.99551951e-01 6.65462564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25071405699998 meters Centerline goodness : 0.984296 Centerline is valid? [True, True] Translation: X:154.72, Y:114.39, Z:6.67 [[-5.13469581e-01 -8.58002464e-01 1.34447514e-02 1.54721952e+02] [ 8.57588549e-01 -5.13640862e-01 -2.67384784e-02 1.14389128e+02] [ 2.98474541e-02 -2.19933042e-03 9.99552046e-01 6.67228592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28071405699998 meters Centerline goodness : 0.984837 Centerline is valid? [True, True] Translation: X:154.69, Y:114.45, Z:6.67 [[-5.12346461e-01 -8.58676892e-01 1.32324997e-02 1.54686691e+02] [ 8.58260625e-01 -5.12511717e-01 -2.68410257e-02 1.14450702e+02] [ 2.98295796e-02 -2.39497102e-03 9.99552130e-01 6.67186942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31071405699998 meters Centerline goodness : 0.984271 Centerline is valid? [True, True] Translation: X:154.67, Y:114.47, Z:6.67 [[-5.10394570e-01 -8.59839520e-01 1.31674649e-02 1.54672998e+02] [ 8.59422851e-01 -5.10558756e-01 -2.68722675e-02 1.14473928e+02] [ 2.98286021e-02 -2.39903919e-03 9.99552149e-01 6.67276781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34071405699999 meters Centerline goodness : 0.985282 Centerline is valid? [True, True] Translation: X:154.66, Y:114.49, Z:6.67 [[-5.08972866e-01 -8.60682827e-01 1.31031968e-02 1.54662860e+02] [ 8.60265666e-01 -5.09135750e-01 -2.69030055e-02 1.14489533e+02] [ 2.98262607e-02 -2.42066948e-03 9.99552167e-01 6.67330244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.370714057 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:155.09, Y:113.62, Z:6.65 [[-4.74509508e-01 -8.80144957e-01 1.36228122e-02 1.55093542e+02] [ 8.79741681e-01 -4.74704559e-01 -2.66487559e-02 1.13618249e+02] [ 2.99215791e-02 -6.60532329e-04 9.99552031e-01 6.64612072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.400714057 meters Centerline goodness : 0.984572 Centerline is valid? [True, True] Translation: X:154.64, Y:114.52, Z:6.67 [[-5.02862674e-01 -8.64272287e-01 1.27493431e-02 1.54640785e+02] [ 8.63852122e-01 -5.03017551e-01 -2.70712757e-02 1.14522203e+02] [ 2.98100967e-02 -2.59958693e-03 9.99552200e-01 6.67370272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.430714057 meters Centerline goodness : 0.985457 Centerline is valid? [True, True] Translation: X:154.63, Y:114.53, Z:6.67 [[-4.98922166e-01 -8.66550178e-01 1.29406849e-02 1.54633132e+02] [ 8.66132957e-01 -4.99084874e-01 -2.69812646e-02 1.14525901e+02] [ 2.98391197e-02 -2.25319731e-03 9.99552175e-01 6.67419923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.460714057 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:155.08, Y:113.62, Z:6.65 [[-4.61310025e-01 -8.87134951e-01 1.35882028e-02 1.55077423e+02] [ 8.86734072e-01 -4.61510037e-01 -2.66678007e-02 1.13622177e+02] [ 2.99290300e-02 -2.53001437e-04 9.99551994e-01 6.64817423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.490714057 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:154.89, Y:114.00, Z:6.66 [[-4.73296128e-01 -8.80816976e-01 1.23381434e-02 1.54888510e+02] [ 8.80397461e-01 -4.73452529e-01 -2.72582755e-02 1.14000927e+02] [ 2.98510770e-02 -2.03876617e-03 9.99552278e-01 6.66192135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.520714057 meters Centerline goodness : 0.990460 Centerline is valid? [True, True] Translation: X:155.07, Y:113.63, Z:6.65 [[-4.57231716e-01 -8.89255220e-01 1.28183905e-02 1.55065049e+02] [ 8.88844817e-01 -4.57410341e-01 -2.70309273e-02 1.13634698e+02] [ 2.99006576e-02 -9.65837350e-04 9.99552409e-01 6.64901302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.550714057 meters Centerline goodness : 0.991621 Centerline is valid? [True, True] Translation: X:155.05, Y:113.65, Z:6.65 [[-4.58624195e-01 -8.88546490e-01 1.22058765e-02 1.55054087e+02] [ 8.88128074e-01 -4.58783485e-01 -2.73173676e-02 1.13650474e+02] [ 2.98726057e-02 -1.68802412e-03 9.99552289e-01 6.64957351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.580714057 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:155.06, Y:113.64, Z:6.65 [[-4.57768336e-01 -8.88986450e-01 1.22980959e-02 1.55058777e+02] [ 8.88569327e-01 -4.57930853e-01 -2.72742487e-02 1.13640457e+02] [ 2.98781151e-02 -1.55757665e-03 9.99552336e-01 6.64848443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.610714057 meters Centerline goodness : 0.991121 Centerline is valid? [True, True] Translation: X:155.06, Y:113.64, Z:6.65 [[-4.61074541e-01 -8.87276745e-01 1.22574292e-02 1.55056586e+02] [ 8.86858522e-01 -4.61234258e-01 -2.72932478e-02 1.13639409e+02] [ 2.98702104e-02 -1.71361619e-03 9.99552317e-01 6.64640407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.640714057 meters Centerline goodness : 0.990469 Centerline is valid? [True, True] Translation: X:155.05, Y:113.66, Z:6.65 [[-4.63874965e-01 -8.85815552e-01 1.22810939e-02 1.55045965e+02] [ 8.85397113e-01 -4.64034087e-01 -2.72821928e-02 1.13658834e+02] [ 2.98658369e-02 -1.78188114e-03 9.99552328e-01 6.64810567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67071405699997 meters Centerline goodness : 0.990864 Centerline is valid? [True, True] Translation: X:155.05, Y:113.65, Z:6.65 [[-4.67347820e-01 -8.83987460e-01 1.23363488e-02 1.55047543e+02] [ 8.83569068e-01 -4.67506996e-01 -2.72563941e-02 1.13652841e+02] [ 2.98616400e-02 -1.83820017e-03 9.99552352e-01 6.64539196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70071405699997 meters Centerline goodness : 0.990976 Centerline is valid? [True, True] Translation: X:155.05, Y:113.65, Z:6.65 [[-4.68565649e-01 -8.83342115e-01 1.23669163e-02 1.55047953e+02] [ 8.82923872e-01 -4.68725188e-01 -2.72421323e-02 1.13648619e+02] [ 2.98608079e-02 -1.84568182e-03 9.99552363e-01 6.64571354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73071405699997 meters Centerline goodness : 0.990372 Centerline is valid? [True, True] Translation: X:155.05, Y:113.64, Z:6.65 [[-4.71532104e-01 -8.81763570e-01 1.22670945e-02 1.55048606e+02] [ 8.81343604e-01 -4.71687163e-01 -2.72886572e-02 1.13641986e+02] [ 2.98483748e-02 -2.05595263e-03 9.99552324e-01 6.64530000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76071405699997 meters Centerline goodness : 0.991568 Centerline is valid? [True, True] Translation: X:155.05, Y:113.64, Z:6.65 [[-4.71890588e-01 -8.81570259e-01 1.23754293e-02 1.55045204e+02] [ 8.81151520e-01 -4.72048811e-01 -2.72381890e-02 1.13644809e+02] [ 2.98541840e-02 -1.94881668e-03 9.99552365e-01 6.64564564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79071405699997 meters Centerline goodness : 0.990834 Centerline is valid? [True, True] Translation: X:155.04, Y:113.65, Z:6.65 [[-4.73030558e-01 -8.80960375e-01 1.22845034e-02 1.55039966e+02] [ 8.80540353e-01 -4.73185440e-01 -2.72805145e-02 1.13651440e+02] [ 2.98459004e-02 -2.08751610e-03 9.99552332e-01 6.64599223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82071405699998 meters Centerline goodness : 0.989871 Centerline is valid? [True, True] Translation: X:155.04, Y:113.65, Z:6.64 [[-4.77483938e-01 -8.78554093e-01 1.23205187e-02 1.55038876e+02] [ 8.78133712e-01 -4.77637803e-01 -2.72637565e-02 1.13648055e+02] [ 2.98374304e-02 -2.19894299e-03 9.99552346e-01 6.64497154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85071405699998 meters Centerline goodness : 0.990785 Centerline is valid? [True, True] Translation: X:155.03, Y:113.65, Z:6.65 [[-4.76057631e-01 -8.79323416e-01 1.26278403e-02 1.55033260e+02] [ 8.78906948e-01 -4.76221635e-01 -2.71206643e-02 1.13651075e+02] [ 2.98614859e-02 -1.81230256e-03 9.99552403e-01 6.64674435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88071405699998 meters Centerline goodness : 0.990575 Centerline is valid? [True, True] Translation: X:155.03, Y:113.65, Z:6.65 [[-4.75689532e-01 -8.79525260e-01 1.24412867e-02 1.55030652e+02] [ 8.79106627e-01 -4.75847976e-01 -2.72073921e-02 1.13653374e+02] [ 2.98497497e-02 -2.00505408e-03 9.99552386e-01 6.64678782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91071405699998 meters Centerline goodness : 0.991094 Centerline is valid? [True, True] Translation: X:155.03, Y:113.65, Z:6.65 [[-4.75019389e-01 -8.79888412e-01 1.23677605e-02 1.55029369e+02] [ 8.79469029e-01 -4.75175888e-01 -2.72415377e-02 1.13654747e+02] [ 2.98463749e-02 -2.06319623e-03 9.99552368e-01 6.64740723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94071405699998 meters Centerline goodness : 0.990568 Centerline is valid? [True, True] Translation: X:155.03, Y:113.66, Z:6.65 [[-4.74719548e-01 -8.80049698e-01 1.24048516e-02 1.55026457e+02] [ 8.79630807e-01 -4.74877332e-01 -2.72243214e-02 1.13655905e+02] [ 2.98495386e-02 -2.01222793e-03 9.99552378e-01 6.64810869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97071405699998 meters Centerline goodness : 0.990954 Centerline is valid? [True, True] Translation: X:155.01, Y:113.68, Z:6.65 [[-4.74608897e-01 -8.80109068e-01 1.24267091e-02 1.55011120e+02] [ 8.79690456e-01 -4.74767406e-01 -2.72141783e-02 1.13684297e+02] [ 2.98512416e-02 -1.98443376e-03 9.99552383e-01 6.65054857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00071405699998 meters Centerline goodness : 0.991262 Centerline is valid? [True, True] Translation: X:155.02, Y:113.66, Z:6.65 [[-4.74890286e-01 -8.79959196e-01 1.22894122e-02 1.55021434e+02] [ 8.79538918e-01 -4.75044432e-01 -2.72778029e-02 1.13656606e+02] [ 2.98413704e-02 -2.14494731e-03 9.99552346e-01 6.64946907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03071405699998 meters Centerline goodness : 0.990365 Centerline is valid? [True, True] Translation: X:155.02, Y:113.65, Z:6.65 [[-4.74373850e-01 -8.80237874e-01 1.22774116e-02 1.55022702e+02] [ 8.79817547e-01 -4.74527873e-01 -2.72833562e-02 1.13653949e+02] [ 2.98418175e-02 -2.14062855e-03 9.99552342e-01 6.64829046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06071405699998 meters Centerline goodness : 0.991365 Centerline is valid? [True, True] Translation: X:155.01, Y:113.67, Z:6.65 [[-4.74878562e-01 -8.79964449e-01 1.23661181e-02 1.55011892e+02] [ 8.79545071e-01 -4.75035077e-01 -2.72423120e-02 1.13670852e+02] [ 2.98466060e-02 -2.06023174e-03 9.99552368e-01 6.64861156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09071405699999 meters Centerline goodness : 0.990528 Centerline is valid? [True, True] Translation: X:155.00, Y:113.69, Z:6.65 [[-4.75585272e-01 -8.79583605e-01 1.23016279e-02 1.55003794e+02] [ 8.79163349e-01 -4.75739463e-01 -2.72721278e-02 1.13685197e+02] [ 2.98404864e-02 -2.15508197e-03 9.99552350e-01 6.64972122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.120714057 meters Centerline goodness : 0.991145 Centerline is valid? [True, True] Translation: X:155.01, Y:113.67, Z:6.65 [[-4.74672347e-01 -8.80076298e-01 1.23237029e-02 1.55010261e+02] [ 8.79656459e-01 -4.74827654e-01 -2.72619279e-02 1.13665126e+02] [ 2.98442115e-02 -2.09985846e-03 9.99552357e-01 6.65208460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.150714057 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:155.01, Y:113.67, Z:6.65 [[-4.74491945e-01 -8.80176359e-01 1.21232089e-02 1.55007282e+02] [ 8.79754235e-01 -4.74641152e-01 -2.73543887e-02 1.13668790e+02] [ 2.98308601e-02 -2.31399271e-03 9.99552282e-01 6.65196225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.180714057 meters Centerline goodness : 0.991004 Centerline is valid? [True, True] Translation: X:155.00, Y:113.67, Z:6.65 [[-4.76080406e-01 -8.79319494e-01 1.20280825e-02 1.55003833e+02] [ 8.78896025e-01 -4.76225908e-01 -2.73982277e-02 1.13670741e+02] [ 2.98198802e-02 -2.47232543e-03 9.99552231e-01 6.65074150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.210714057 meters Centerline goodness : 0.990947 Centerline is valid? [True, True] Translation: X:155.00, Y:113.68, Z:6.65 [[-4.76051856e-01 -8.79332207e-01 1.22270424e-02 1.54998779e+02] [ 8.78911008e-01 -4.76203523e-01 -2.73064901e-02 1.13679353e+02] [ 2.98340369e-02 -2.25282321e-03 9.99552327e-01 6.65191158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.240714057 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:155.00, Y:113.67, Z:6.65 [[-4.76413624e-01 -8.79135342e-01 1.22926642e-02 1.54999572e+02] [ 8.78714837e-01 -4.76567143e-01 -2.72762385e-02 1.13671699e+02] [ 2.98377851e-02 -2.19302528e-03 9.99552348e-01 6.64946057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.270714057 meters Centerline goodness : 0.991202 Centerline is valid? [True, True] Translation: X:154.99, Y:113.68, Z:6.65 [[-4.76563759e-01 -8.79054418e-01 1.22602409e-02 1.54994454e+02] [ 8.78633514e-01 -4.76716205e-01 -2.72911734e-02 1.13679641e+02] [ 2.98350821e-02 -2.23372568e-03 9.99552339e-01 6.65007045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.300714057 meters Centerline goodness : 0.991202 Centerline is valid? [True, True] Translation: X:154.99, Y:113.68, Z:6.65 [[-4.76241148e-01 -8.79229915e-01 1.22116541e-02 1.54993285e+02] [ 8.78808509e-01 -4.76392249e-01 -2.73135417e-02 1.13682043e+02] [ 2.98324204e-02 -2.27612694e-03 9.99552323e-01 6.65012828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.330714057 meters Centerline goodness : 0.991629 Centerline is valid? [True, True] Translation: X:154.99, Y:113.67, Z:6.65 [[-4.76085004e-01 -8.79314639e-01 1.21997956e-02 1.54994827e+02] [ 8.78893123e-01 -4.76235814e-01 -2.73189951e-02 1.13674477e+02] [ 2.98319719e-02 -2.28384740e-03 9.99552319e-01 6.65099253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.360714057 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:154.99, Y:113.68, Z:6.65 [[-4.75602893e-01 -8.79576872e-01 1.21002273e-02 1.54992668e+02] [ 8.79154306e-01 -4.75750857e-01 -2.73647377e-02 1.13678430e+02] [ 2.98260838e-02 -2.37678150e-03 9.99552278e-01 6.65091232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.390714057 meters Centerline goodness : 0.994163 Centerline is valid? [True, True] Translation: X:155.00, Y:113.66, Z:6.65 [[-4.67271132e-01 -8.84031602e-01 1.20753976e-02 1.55001767e+02] [ 8.83610166e-01 -4.67422317e-01 -2.73761277e-02 1.13657932e+02] [ 2.98456724e-02 -2.12213017e-03 9.99552266e-01 6.64829655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42071405699997 meters Centerline goodness : 0.991923 Centerline is valid? [True, True] Translation: X:155.00, Y:113.66, Z:6.65 [[-4.68244606e-01 -8.83524935e-01 1.14314362e-02 1.55001620e+02] [ 8.83096174e-01 -4.68375385e-01 -2.76703238e-02 1.13658785e+02] [ 2.98016244e-02 -2.86142231e-03 9.99551737e-01 6.64936296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45071405699997 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:154.99, Y:113.68, Z:6.65 [[-4.72808089e-01 -8.81082794e-01 1.20673831e-02 1.54988786e+02] [ 8.80660348e-01 -4.72956381e-01 -2.73790484e-02 1.13677115e+02] [ 2.98305543e-02 -2.31776973e-03 9.99552283e-01 6.65397171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48071405699997 meters Centerline goodness : 0.992670 Centerline is valid? [True, True] Translation: X:154.99, Y:113.68, Z:6.65 [[-4.72624577e-01 -8.81180336e-01 1.21336083e-02 1.54987934e+02] [ 8.80758676e-01 -4.72775002e-01 -2.73487110e-02 1.13676129e+02] [ 2.98356130e-02 -2.23889217e-03 9.99552312e-01 6.65286872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51071405699997 meters Centerline goodness : 0.992163 Centerline is valid? [True, True] Translation: X:154.99, Y:113.68, Z:6.66 [[-4.72785909e-01 -8.81096022e-01 1.19701819e-02 1.54988987e+02] [ 8.80672485e-01 -4.72931207e-01 -2.74234849e-02 1.13675099e+02] [ 2.98237961e-02 -2.42362737e-03 9.99552233e-01 6.65583951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54071405699997 meters Centerline goodness : 0.992403 Centerline is valid? [True, True] Translation: X:154.99, Y:113.68, Z:6.65 [[-4.73601437e-01 -8.80656521e-01 1.20735880e-02 1.54987890e+02] [ 8.80234013e-01 -4.73749541e-01 -2.73761881e-02 1.13676740e+02] [ 2.98288753e-02 -2.33781926e-03 9.99552286e-01 6.65390607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57071405699998 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:154.99, Y:113.68, Z:6.65 [[-4.75479189e-01 -8.79644020e-01 1.20805627e-02 1.54987361e+02] [ 8.79221275e-01 -4.75626606e-01 -2.73729987e-02 1.13678459e+02] [ 2.98243317e-02 -2.39380346e-03 9.99552289e-01 6.65444620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60071405699998 meters Centerline goodness : 0.992682 Centerline is valid? [True, True] Translation: X:154.98, Y:113.69, Z:6.65 [[-4.76581344e-01 -8.79046136e-01 1.21701728e-02 1.54981372e+02] [ 8.78624215e-01 -4.76731002e-01 -2.73320284e-02 1.13690854e+02] [ 2.98280126e-02 -2.33292632e-03 9.99552323e-01 6.65200829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63071405699998 meters Centerline goodness : 0.991627 Centerline is valid? [True, True] Translation: X:154.99, Y:113.69, Z:6.65 [[-4.79187798e-01 -8.77630782e-01 1.19693285e-02 1.54985759e+02] [ 8.77206193e-01 -4.79329983e-01 -2.74237346e-02 1.13685189e+02] [ 2.98051716e-02 -2.64154994e-03 9.99552237e-01 6.65316452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66071405699998 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:154.97, Y:113.71, Z:6.65 [[-4.79956368e-01 -8.77206628e-01 1.22644407e-02 1.54974112e+02] [ 8.76785195e-01 -4.80107317e-01 -2.72889418e-02 1.13709709e+02] [ 2.98262884e-02 -2.34422142e-03 9.99552348e-01 6.65310868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69071405699998 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:154.97, Y:113.73, Z:6.65 [[-4.79883785e-01 -8.77250332e-01 1.19752682e-02 1.54969212e+02] [ 8.76825699e-01 -4.80025818e-01 -2.74209291e-02 1.13726127e+02] [ 2.98034570e-02 -2.65863634e-03 9.99552243e-01 6.65274830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72071405699998 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:154.96, Y:113.74, Z:6.65 [[-4.77892427e-01 -8.78334107e-01 1.21665732e-02 1.54964955e+02] [ 8.77911924e-01 -4.78041344e-01 -2.73336154e-02 1.13736132e+02] [ 2.98241717e-02 -2.38134807e-03 9.99552324e-01 6.65473963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75071405699998 meters Centerline goodness : 0.993137 Centerline is valid? [True, True] Translation: X:154.97, Y:113.73, Z:6.65 [[-4.78126182e-01 -8.78211671e-01 1.18158761e-02 1.54967147e+02] [ 8.77785591e-01 -4.78264120e-01 -2.74933915e-02 1.13734356e+02] [ 2.97961268e-02 -2.77350454e-03 9.99552149e-01 6.65386039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78071405699998 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:154.98, Y:113.71, Z:6.65 [[-4.71727025e-01 -8.81661017e-01 1.21435317e-02 1.54978837e+02] [ 8.81239627e-01 -4.71878185e-01 -2.73440716e-02 1.13709913e+02] [ 2.98384697e-02 -2.19757619e-03 9.99552318e-01 6.65051612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81071405699998 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:154.97, Y:113.72, Z:6.65 [[-4.74781099e-01 -8.80029111e-01 1.14748272e-02 1.54973404e+02] [ 8.79599937e-01 -4.74910058e-01 -2.76475614e-02 1.13719386e+02] [ 2.97801697e-02 -3.03328232e-03 9.99551870e-01 6.65279039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84071405699999 meters Centerline goodness : 0.993227 Centerline is valid? [True, True] Translation: X:154.97, Y:113.74, Z:6.65 [[-4.75029070e-01 -8.79890803e-01 1.18133991e-02 1.54965051e+02] [ 8.79465209e-01 -4.75168434e-01 -2.74937457e-02 1.13736633e+02] [ 2.98048483e-02 -2.67085490e-03 9.99552168e-01 6.65403142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.870714057 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:154.98, Y:113.71, Z:6.65 [[-4.70503812e-01 -8.82318498e-01 1.18419081e-02 1.54977343e+02] [ 8.81893939e-01 -4.70646242e-01 -2.74808055e-02 1.13710669e+02] [ 2.98201725e-02 -2.48651675e-03 9.99552187e-01 6.65183070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.900714057 meters Centerline goodness : 0.993772 Centerline is valid? [True, True] Translation: X:154.98, Y:113.71, Z:6.65 [[-4.70344529e-01 -8.82405421e-01 1.16917826e-02 1.54975619e+02] [ 8.81979245e-01 -4.70482385e-01 -2.75487961e-02 1.13713116e+02] [ 2.98099848e-02 -2.64551588e-03 9.99552083e-01 6.65266962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.930714057 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:154.96, Y:113.74, Z:6.65 [[-4.71028696e-01 -8.82039984e-01 1.17232102e-02 1.54963669e+02] [ 8.81614043e-01 -4.71167196e-01 -2.75345566e-02 1.13737701e+02] [ 2.98101720e-02 -2.63421951e-03 9.99552107e-01 6.65362309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.960714057 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:154.97, Y:113.73, Z:6.66 [[-4.71578464e-01 -8.81743805e-01 1.19001526e-02 1.54966707e+02] [ 8.81319717e-01 -4.71722180e-01 -2.74543643e-02 1.13731095e+02] [ 2.98212816e-02 -2.45904782e-03 9.99552222e-01 6.65554737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.990714057 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:154.97, Y:113.72, Z:6.65 [[-4.70058159e-01 -8.82556306e-01 1.18192165e-02 1.54972517e+02] [ 8.82131572e-01 -4.70200101e-01 -2.74909860e-02 1.13722387e+02] [ 2.98197398e-02 -2.49625824e-03 9.99552176e-01 6.65302431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.020714057 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:154.97, Y:113.73, Z:6.65 [[-4.70256799e-01 -8.82451435e-01 1.17476363e-02 1.54971863e+02] [ 8.82025887e-01 -4.70396430e-01 -2.75233275e-02 1.13725127e+02] [ 2.98140461e-02 -2.58131258e-03 9.99552129e-01 6.65237709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.050714057 meters Centerline goodness : 0.993034 Centerline is valid? [True, True] Translation: X:154.97, Y:113.73, Z:6.65 [[-4.68977676e-01 -8.83131741e-01 1.17587040e-02 1.54972624e+02] [ 8.82706517e-01 -4.69118265e-01 -2.75183286e-02 1.13725477e+02] [ 2.98185323e-02 -2.52599713e-03 9.99552137e-01 6.65032375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.080714057 meters Centerline goodness : 0.992996 Centerline is valid? [True, True] Translation: X:154.97, Y:113.73, Z:6.65 [[-4.68974851e-01 -8.83133757e-01 1.17198881e-02 1.54970290e+02] [ 8.82708110e-01 -4.69114240e-01 -2.75358485e-02 1.13730705e+02] [ 2.98158038e-02 -2.56838019e-03 9.99552110e-01 6.64937248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.110714057 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:154.97, Y:113.73, Z:6.65 [[-4.67922057e-01 -8.83692461e-01 1.16868900e-02 1.54972180e+02] [ 8.83266620e-01 -4.68060931e-01 -2.75507330e-02 1.13728596e+02] [ 2.98165517e-02 -2.56895586e-03 9.99552087e-01 6.64922512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.140714057 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:154.97, Y:113.73, Z:6.65 [[-4.65505862e-01 -8.84965077e-01 1.18787448e-02 1.54971457e+02] [ 8.84541742e-01 -4.65651829e-01 -2.74641705e-02 1.13728929e+02] [ 2.98361910e-02 -2.27748672e-03 9.99552207e-01 6.64774597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17071405699997 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:154.96, Y:113.76, Z:6.65 [[-4.62179391e-01 -8.86710092e-01 1.16371440e-02 1.54957857e+02] [ 8.86284615e-01 -4.62319488e-01 -2.75730573e-02 1.13760401e+02] [ 2.98293866e-02 -2.42987712e-03 9.99552051e-01 6.65022511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20071405699997 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:154.97, Y:113.73, Z:6.65 [[-4.59783811e-01 -8.87952985e-01 1.17619373e-02 1.54968772e+02] [ 8.87529281e-01 -4.59928907e-01 -2.75168355e-02 1.13734014e+02] [ 2.98433112e-02 -2.21273176e-03 9.99552140e-01 6.64740016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23071405699997 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:154.97, Y:113.73, Z:6.65 [[-4.57525787e-01 -8.89121176e-01 1.15624187e-02 1.54971894e+02] [ 8.88695613e-01 -4.57665804e-01 -2.76065167e-02 1.13727390e+02] [ 2.98372623e-02 -2.35522249e-03 9.99551995e-01 6.64726423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26071405699997 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:154.97, Y:113.72, Z:6.65 [[-4.54190456e-01 -8.90830067e-01 1.15248548e-02 1.54972928e+02] [ 8.90404613e-01 -4.54330907e-01 -2.76233805e-02 1.13724229e+02] [ 2.98438356e-02 -2.28449192e-03 9.99551963e-01 6.64773142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29071405699997 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:154.97, Y:113.73, Z:6.65 [[-4.51835641e-01 -8.92028647e-01 1.13774295e-02 1.54971004e+02] [ 8.91601931e-01 -4.51972665e-01 -2.76894690e-02 1.13729844e+02] [ 2.98420867e-02 -2.36695087e-03 9.99551823e-01 6.64718360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32071405699998 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:154.97, Y:113.73, Z:6.65 [[-4.50971381e-01 -8.92466089e-01 1.13619465e-02 1.54969904e+02] [ 8.92039335e-01 -4.51108340e-01 -2.76964070e-02 1.13732943e+02] [ 2.98435729e-02 -2.35498373e-03 9.99551807e-01 6.64671832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35071405699998 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:154.97, Y:113.74, Z:6.65 [[-4.51412809e-01 -8.92242322e-01 1.14067722e-02 1.54965712e+02] [ 8.91815995e-01 -4.51550942e-01 -2.76763224e-02 1.13742640e+02] [ 2.98447249e-02 -2.32070456e-03 9.99551853e-01 6.64709573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38071405699998 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:154.97, Y:113.74, Z:6.65 [[-4.49793488e-01 -8.93058791e-01 1.14810138e-02 1.54965600e+02] [ 8.92633543e-01 -4.49934684e-01 -2.76430557e-02 1.13744712e+02] [ 2.98525802e-02 -2.18532843e-03 9.99551924e-01 6.64721002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41071405699998 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:154.96, Y:113.76, Z:6.65 [[-4.49122176e-01 -8.93398272e-01 1.13489717e-02 1.54961548e+02] [ 8.92971660e-01 -4.49259618e-01 -2.77021705e-02 1.13756708e+02] [ 2.98477059e-02 -2.30734899e-03 9.99551795e-01 6.64712547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44071405699998 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:154.96, Y:113.75, Z:6.65 [[-4.50126254e-01 -8.92893198e-01 1.13177460e-02 1.54964735e+02] [ 8.92466089e-01 -4.50262252e-01 -2.77161418e-02 1.13750121e+02] [ 2.98435083e-02 -2.37505865e-03 9.99551762e-01 6.64694028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47071405699998 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:154.96, Y:113.75, Z:6.65 [[-4.50101690e-01 -8.92904603e-01 1.13946707e-02 1.54964432e+02] [ 8.92478345e-01 -4.50240075e-01 -2.76817328e-02 1.13753187e+02] [ 2.98474840e-02 -2.29009782e-03 9.99551841e-01 6.64611327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50071405699998 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:154.96, Y:113.77, Z:6.64 [[-4.50364447e-01 -8.92772376e-01 1.13731738e-02 1.54961247e+02] [ 8.92345841e-01 -4.50502042e-01 -2.76913453e-02 1.13765446e+02] [ 2.98457062e-02 -2.32239305e-03 9.99551820e-01 6.64479373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53071405699998 meters Centerline goodness : 0.993193 Centerline is valid? [True, True] Translation: X:154.96, Y:113.76, Z:6.64 [[-4.49721682e-01 -8.93095388e-01 1.14471101e-02 1.54963376e+02] [ 8.92669771e-01 -4.49861867e-01 -2.76582831e-02 1.13762301e+02] [ 2.98511034e-02 -2.22004045e-03 9.99551891e-01 6.64472460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56071405699998 meters Centerline goodness : 0.994389 Centerline is valid? [True, True] Translation: X:154.96, Y:113.78, Z:6.64 [[-4.42988530e-01 -8.96455166e-01 1.13708770e-02 1.54957649e+02] [ 8.96029754e-01 -4.43129568e-01 -2.76923425e-02 1.13782018e+02] [ 2.98637153e-02 -2.07874597e-03 9.99551818e-01 6.64375234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59071405699999 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:154.96, Y:113.75, Z:6.65 [[-4.63727813e-01 -8.85908571e-01 1.10688140e-02 1.54957619e+02] [ 8.85476862e-01 -4.63849517e-01 -2.78271901e-02 1.13752287e+02] [ 2.97866102e-02 -3.10306337e-03 9.99551464e-01 6.64959608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.620714057 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:154.96, Y:113.78, Z:6.64 [[-4.40931314e-01 -8.97457443e-01 1.22357753e-02 1.54959582e+02] [ 8.97042624e-01 -4.41099770e-01 -2.73042703e-02 1.13778014e+02] [ 2.99016182e-02 -1.06329581e-03 9.99552281e-01 6.64492963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.650714057 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:154.96, Y:113.77, Z:6.64 [[-4.38693480e-01 -8.98567313e-01 1.11720488e-02 1.54962512e+02] [ 8.98140407e-01 -4.38830436e-01 -2.77787407e-02 1.13774359e+02] [ 2.98637034e-02 -2.15228394e-03 9.99551663e-01 6.64477413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.680714057 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:154.97, Y:113.77, Z:6.65 [[-4.32434895e-01 -9.01595657e-01 1.11952438e-02 1.54967091e+02] [ 9.01169977e-01 -4.32575529e-01 -2.77684106e-02 1.13768499e+02] [ 2.98786669e-02 -1.91921215e-03 9.99551690e-01 6.64538122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.710714057 meters Centerline goodness : 0.992653 Centerline is valid? [True, True] Translation: X:154.96, Y:113.78, Z:6.65 [[-4.31133631e-01 -9.02219383e-01 1.11345311e-02 1.54962844e+02] [ 9.01793214e-01 -4.31273014e-01 -2.77954487e-02 1.13776941e+02] [ 2.98796153e-02 -1.94250809e-03 9.99551617e-01 6.65337895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.740714057 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:154.96, Y:113.75, Z:6.65 [[-4.46346280e-01 -8.94785794e-01 1.15490988e-02 1.54958886e+02] [ 8.94361924e-01 -4.46491214e-01 -2.76106020e-02 1.13754818e+02] [ 2.98621455e-02 -1.99481525e-03 9.99552036e-01 6.65273271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.770714057 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:154.97, Y:113.76, Z:6.65 [[-4.23552081e-01 -9.05789555e-01 1.22031304e-02 1.54969864e+02] [ 9.05377652e-01 -4.23727517e-01 -2.73184550e-02 1.13762436e+02] [ 2.99155734e-02 -5.22346947e-04 9.99552293e-01 6.64576378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.800714057 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:154.98, Y:113.76, Z:6.64 [[-4.12920884e-01 -9.10697717e-01 1.12255427e-02 1.54977453e+02] [ 9.10275596e-01 -4.13071578e-01 -2.77526877e-02 1.13756992e+02] [ 2.99112619e-02 -1.24132673e-03 9.99551787e-01 6.64206256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.830714057 meters Centerline goodness : 0.990513 Centerline is valid? [True, True] Translation: X:154.98, Y:113.74, Z:6.65 [[-4.14675763e-01 -9.09904008e-01 1.08953215e-02 1.54983219e+02] [ 9.09477711e-01 -4.14815550e-01 -2.78989617e-02 1.13743667e+02] [ 2.99049259e-02 -1.65997120e-03 9.99551369e-01 6.64860239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.860714057 meters Centerline goodness : 0.990013 Centerline is valid? [True, True] Translation: X:154.99, Y:113.75, Z:6.65 [[-4.11267856e-01 -9.11443508e-01 1.13790139e-02 1.54985643e+02] [ 9.11023531e-01 -4.11423982e-01 -2.76845497e-02 1.13745861e+02] [ 2.99145024e-02 -1.01921600e-03 9.99551941e-01 6.64798093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.890714057 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:154.96, Y:113.76, Z:6.65 [[-4.36097928e-01 -8.99828732e-01 1.12627974e-02 1.54964235e+02] [ 8.99403314e-01 -4.36238913e-01 -2.77360727e-02 1.13764031e+02] [ 2.98709856e-02 -1.96584650e-03 9.99551829e-01 6.64905070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92071405699997 meters Centerline goodness : 0.991705 Centerline is valid? [True, True] Translation: X:155.00, Y:113.74, Z:6.64 [[-4.04726378e-01 -9.14357008e-01 1.21581744e-02 1.54998794e+02] [ 9.13948237e-01 -4.04908953e-01 -2.73378809e-02 1.13741696e+02] [ 2.99195366e-02 4.75805102e-05 9.99552309e-01 6.63968161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95071405699997 meters Centerline goodness : 0.992979 Centerline is valid? [True, True] Translation: X:154.97, Y:113.77, Z:6.65 [[-4.39709593e-01 -8.98078155e-01 1.05404456e-02 1.54970559e+02] [ 8.97644520e-01 -4.39826523e-01 -2.80525467e-02 1.13769101e+02] [ 2.98293470e-02 -2.87340062e-03 9.99550876e-01 6.64893150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98071405699997 meters Centerline goodness : 0.992821 Centerline is valid? [True, True] Translation: X:154.97, Y:113.78, Z:6.65 [[-4.42990180e-01 -8.96444190e-01 1.21455451e-02 1.54969410e+02] [ 8.96028038e-01 -4.43154944e-01 -2.73395343e-02 1.13783240e+02] [ 2.98907251e-02 -1.22839627e-03 9.99552418e-01 6.64923617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01071405699997 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:154.97, Y:113.78, Z:6.65 [[-4.44247243e-01 -8.95822041e-01 1.21350101e-02 1.54974233e+02] [ 8.95405532e-01 -4.44411102e-01 -2.73442096e-02 1.13779643e+02] [ 2.98884789e-02 -1.28183454e-03 9.99552418e-01 6.64919649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04071405699997 meters Centerline goodness : 0.993470 Centerline is valid? [True, True] Translation: X:154.97, Y:113.79, Z:6.65 [[-4.45450458e-01 -8.95224489e-01 1.21244662e-02 1.54973526e+02] [ 8.94807635e-01 -4.45613437e-01 -2.73488840e-02 1.13787663e+02] [ 2.98862158e-02 -1.33350796e-03 9.99552418e-01 6.64931469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07071405699998 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:154.98, Y:113.79, Z:6.65 [[-4.47419383e-01 -8.94242220e-01 1.21139312e-02 1.54979220e+02] [ 8.93824883e-01 -4.47581123e-01 -2.73535496e-02 1.13787620e+02] [ 2.98826658e-02 -1.41077515e-03 9.99552418e-01 6.64910095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10071405699998 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:154.98, Y:113.79, Z:6.65 [[-4.49082815e-01 -8.93408156e-01 1.21033943e-02 1.54981942e+02] [ 8.92990395e-01 -4.49243456e-01 -2.73582111e-02 1.13794286e+02] [ 2.98794197e-02 -1.47788759e-03 9.99552418e-01 6.64857024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13071405699998 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:155.00, Y:113.80, Z:6.64 [[-4.20557801e-01 -9.07185151e-01 1.20928644e-02 1.54999359e+02] [ 9.06772555e-01 -4.20731277e-01 -2.73628648e-02 1.13796125e+02] [ 2.99110309e-02 -5.42188651e-04 9.99552418e-01 6.64297923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16071405699998 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:154.98, Y:113.80, Z:6.65 [[-4.50744282e-01 -8.92590975e-01 1.05329979e-02 1.54984473e+02] [ 8.92156090e-01 -4.50855652e-01 -2.80480127e-02 1.13803057e+02] [ 2.97842646e-02 -3.24540308e-03 9.99551082e-01 6.64737581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19071405699998 meters Centerline goodness : 0.992911 Centerline is valid? [True, True] Translation: X:155.00, Y:113.80, Z:6.64 [[-4.30645785e-01 -9.02440121e-01 1.20845277e-02 1.55003563e+02] [ 9.02025624e-01 -4.30814401e-01 -2.73628420e-02 1.13798529e+02] [ 2.98995150e-02 -8.83138954e-04 9.99552519e-01 6.64410253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22071405699998 meters Centerline goodness : 0.992911 Centerline is valid? [True, True] Translation: X:155.00, Y:113.80, Z:6.64 [[-4.30362978e-01 -9.02588972e-01 1.09934230e-02 1.55002881e+02] [ 9.02161815e-01 -4.30498417e-01 -2.78419071e-02 1.13801116e+02] [ 2.98624495e-02 -2.06427965e-03 9.99551886e-01 6.64376213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25071405699998 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:155.01, Y:113.80, Z:6.64 [[-4.30939140e-01 -9.02313671e-01 1.10225505e-02 1.55006034e+02] [ 9.01886750e-01 -4.31075203e-01 -2.78291316e-02 1.13804187e+02] [ 2.98621541e-02 -2.05156986e-03 9.99551921e-01 6.64316820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28071405699998 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:154.99, Y:113.82, Z:6.65 [[-4.51512421e-01 -8.92197596e-01 1.09537074e-02 1.54990870e+02] [ 8.91766958e-01 -4.51636524e-01 -2.78593559e-02 1.13816074e+02] [ 2.98031447e-02 -2.81069086e-03 9.99551836e-01 6.64544475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31071405699998 meters Centerline goodness : 0.993733 Centerline is valid? [True, True] Translation: X:155.01, Y:113.81, Z:6.64 [[-4.30566733e-01 -9.02478142e-01 1.20619707e-02 1.55005756e+02] [ 9.02063437e-01 -4.30734703e-01 -2.73709854e-02 1.13812285e+02] [ 2.98972254e-02 -9.04372956e-04 9.99552569e-01 6.64313446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34071405699999 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:154.99, Y:113.82, Z:6.64 [[-4.48297192e-01 -8.93817210e-01 1.09737389e-02 1.54994451e+02] [ 8.93387298e-01 -4.48423472e-01 -2.78482462e-02 1.13817999e+02] [ 2.98121239e-02 -2.68049159e-03 9.99551926e-01 6.64402325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.370714057 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:155.01, Y:113.81, Z:6.64 [[-4.27235156e-01 -9.04060254e-01 1.20490355e-02 1.55011058e+02] [ 9.03646062e-01 -4.27404265e-01 -2.73749794e-02 1.13807132e+02] [ 2.98984400e-02 -8.07490083e-04 9.99552616e-01 6.64263494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.400714057 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:155.00, Y:113.82, Z:6.65 [[-4.42445279e-01 -8.96726304e-01 1.11405181e-02 1.54999456e+02] [ 8.96299067e-01 -4.42579521e-01 -2.77732051e-02 1.13815306e+02] [ 2.98355288e-02 -2.30288749e-03 9.99552169e-01 6.64552783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.430714057 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:155.00, Y:113.82, Z:6.65 [[-4.36960815e-01 -8.99400030e-01 1.20346079e-02 1.55000086e+02] [ 8.98983898e-01 -4.37125010e-01 -2.73802358e-02 1.13815863e+02] [ 2.98864130e-02 -1.14517138e-03 9.99552645e-01 6.64811047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.460714057 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:155.00, Y:113.82, Z:6.65 [[-4.33793141e-01 -9.00932257e-01 1.20240924e-02 1.54999869e+02] [ 9.00516578e-01 -4.33958480e-01 -2.73848529e-02 1.13815943e+02] [ 2.98898542e-02 -1.05146681e-03 9.99552645e-01 6.64904744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.490714057 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:155.00, Y:113.82, Z:6.65 [[-4.26839166e-01 -9.04247754e-01 1.20135944e-02 1.54999032e+02] [ 9.03833232e-01 -4.27007385e-01 -2.73894576e-02 1.13819113e+02] [ 2.98967490e-02 -8.32607395e-04 9.99552646e-01 6.65264446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.520714057 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:155.00, Y:113.82, Z:6.65 [[-4.23486711e-01 -9.05822792e-01 1.20031016e-02 1.54999987e+02] [ 9.05408767e-01 -4.23656147e-01 -2.73940551e-02 1.13818318e+02] [ 2.98993473e-02 -7.33304889e-04 9.99552646e-01 6.65289857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.550714057 meters Centerline goodness : 0.993859 Centerline is valid? [True, True] Translation: X:155.00, Y:113.82, Z:6.65 [[-4.20739254e-01 -9.07102341e-01 1.19926192e-02 1.55000049e+02] [ 9.06688701e-01 -4.20909628e-01 -2.73986434e-02 1.13821377e+02] [ 2.99011824e-02 -6.54112418e-04 9.99552646e-01 6.65307536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.580714057 meters Centerline goodness : 0.993869 Centerline is valid? [True, True] Translation: X:155.01, Y:113.82, Z:6.65 [[-4.16740987e-01 -9.08946301e-01 1.19821507e-02 1.55005472e+02] [ 9.08533283e-01 -4.16912865e-01 -2.74032208e-02 1.13820637e+02] [ 2.99035689e-02 -5.33862535e-04 9.99552646e-01 6.65276364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.610714057 meters Centerline goodness : 0.994291 Centerline is valid? [True, True] Translation: X:155.01, Y:113.82, Z:6.65 [[-4.15636424e-01 -9.09452055e-01 1.19716995e-02 1.55007183e+02] [ 9.09039115e-01 -4.15808489e-01 -2.74077858e-02 1.13823237e+02] [ 2.99040014e-02 -5.08930972e-04 9.99552646e-01 6.65241986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.640714057 meters Centerline goodness : 0.986153 Centerline is valid? [True, True] Translation: X:154.61, Y:114.75, Z:6.68 [[-4.23155152e-01 -9.05978281e-01 1.19612690e-02 1.54605784e+02] [ 9.05563802e-01 -4.23323476e-01 -2.74123371e-02 1.14745970e+02] [ 2.98984680e-02 -7.67979444e-04 9.99552646e-01 6.68498486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67071405699997 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:155.01, Y:113.85, Z:6.65 [[-4.14045513e-01 -9.10170957e-01 1.24556524e-02 1.55006339e+02] [ 9.09764553e-01 -4.14232815e-01 -2.71961902e-02 1.13846179e+02] [ 2.99127224e-02 7.12505045e-05 9.99552512e-01 6.65251305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70071405699997 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:155.01, Y:113.85, Z:6.65 [[-4.14583162e-01 -9.09934043e-01 1.18675641e-02 1.55007016e+02] [ 9.09520082e-01 -4.14752569e-01 -2.74504433e-02 1.13853435e+02] [ 2.99001955e-02 -5.86703708e-04 9.99552717e-01 6.65216750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73071405699997 meters Centerline goodness : 0.992815 Centerline is valid? [True, True] Translation: X:155.01, Y:113.86, Z:6.65 [[-4.15553001e-01 -9.09491678e-01 1.18570914e-02 1.55013589e+02] [ 9.09077408e-01 -4.15721650e-01 -2.74549662e-02 1.13855703e+02] [ 2.98993129e-02 -6.29979654e-04 9.99552717e-01 6.65099382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76071405699997 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:155.01, Y:113.86, Z:6.65 [[-4.15324395e-01 -9.09596232e-01 1.18466119e-02 1.55014450e+02] [ 9.09181875e-01 -4.15492833e-01 -2.74594872e-02 1.13863117e+02] [ 2.98992284e-02 -6.33870126e-04 9.99552717e-01 6.65117946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79071405699997 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:155.02, Y:113.87, Z:6.65 [[-4.15387983e-01 -9.09567331e-01 1.18361306e-02 1.55017266e+02] [ 9.09152835e-01 -4.15556074e-01 -2.74640043e-02 1.13872657e+02] [ 2.98989371e-02 -6.47365630e-04 9.99552717e-01 6.65112153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82071405699998 meters Centerline goodness : 0.992225 Centerline is valid? [True, True] Translation: X:155.02, Y:113.87, Z:6.65 [[-4.14950840e-01 -9.09766978e-01 1.18256145e-02 1.55022995e+02] [ 9.09352434e-01 -4.15118814e-01 -2.74685317e-02 1.13867180e+02] [ 2.98989982e-02 -6.44438983e-04 9.99552717e-01 6.65100259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85071405699998 meters Centerline goodness : 0.992188 Centerline is valid? [True, True] Translation: X:155.03, Y:113.88, Z:6.65 [[-4.15139718e-01 -9.09680943e-01 1.18151158e-02 1.55026723e+02] [ 9.09266236e-01 -4.15307289e-01 -2.74730468e-02 1.13875380e+02] [ 2.98986108e-02 -6.62067037e-04 9.99552717e-01 6.65119188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88071405699998 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:155.03, Y:113.88, Z:6.65 [[-4.15108544e-01 -9.09695305e-01 1.18046380e-02 1.55029050e+02] [ 9.09280476e-01 -4.15275813e-01 -2.74775482e-02 1.13879981e+02] [ 2.98983772e-02 -6.72438160e-04 9.99552717e-01 6.65120634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91071405699998 meters Centerline goodness : 0.991648 Centerline is valid? [True, True] Translation: X:154.89, Y:114.22, Z:6.66 [[-4.18702189e-01 -9.08047012e-01 1.17941429e-02 1.54891791e+02] [ 9.07631398e-01 -4.18867499e-01 -2.74820522e-02 1.14219425e+02] [ 2.98951785e-02 -8.02061039e-04 9.99552717e-01 6.66369836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94071405699998 meters Centerline goodness : 0.992312 Centerline is valid? [True, True] Translation: X:155.04, Y:113.89, Z:6.65 [[-4.16161330e-01 -9.09213814e-01 1.18316288e-02 1.55038084e+02] [ 9.08799120e-01 -4.16328933e-01 -2.74659517e-02 1.13890901e+02] [ 2.98982721e-02 -6.77693199e-04 9.99552717e-01 6.65114397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97071405699998 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:155.04, Y:113.90, Z:6.65 [[-4.16782905e-01 -9.08929762e-01 1.17769812e-02 1.55040163e+02] [ 9.08514293e-01 -4.16948574e-01 -2.74893639e-02 1.13896073e+02] [ 2.98962965e-02 -7.57541139e-04 9.99552719e-01 6.65250913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00071405699998 meters Centerline goodness : 0.992385 Centerline is valid? [True, True] Translation: X:155.04, Y:113.90, Z:6.65 [[-4.18601967e-01 -9.08093576e-01 1.17664589e-02 1.55044546e+02] [ 9.07677651e-01 -4.18766486e-01 -2.74938671e-02 1.13903808e+02] [ 2.98944027e-02 -8.28835051e-04 9.99552719e-01 6.65324395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03071405699998 meters Centerline goodness : 0.991860 Centerline is valid? [True, True] Translation: X:155.05, Y:113.91, Z:6.65 [[-4.20728486e-01 -9.07110434e-01 1.17559191e-02 1.55050206e+02] [ 9.06693999e-01 -4.20891710e-01 -2.74983730e-02 1.13910462e+02] [ 2.98920299e-02 -9.10327491e-04 9.99552719e-01 6.65229731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06071405699998 meters Centerline goodness : 0.992196 Centerline is valid? [True, True] Translation: X:155.05, Y:113.92, Z:6.65 [[-4.21701420e-01 -9.06658678e-01 1.17453618e-02 1.55052653e+02] [ 9.06241944e-01 -4.21863878e-01 -2.75028816e-02 1.13915742e+02] [ 2.98906701e-02 -9.53864658e-04 9.99552719e-01 6.65135342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09071405699999 meters Centerline goodness : 0.992402 Centerline is valid? [True, True] Translation: X:155.08, Y:113.89, Z:6.65 [[-4.03849539e-01 -9.14750154e-01 1.17347957e-02 1.55081708e+02] [ 9.14336553e-01 -4.04019816e-01 -2.75073891e-02 1.13893622e+02] [ 2.99034784e-02 -3.79293721e-04 9.99552719e-01 6.64781564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.120714057 meters Centerline goodness : 0.989658 Centerline is valid? [True, True] Translation: X:154.94, Y:114.22, Z:6.66 [[-4.32220713e-01 -9.01702006e-01 1.08971362e-02 1.54937553e+02] [ 9.01274012e-01 -4.32352342e-01 -2.78676903e-02 1.14215751e+02] [ 2.98397546e-02 -2.22368732e-03 9.99552222e-01 6.66440060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.150714057 meters Centerline goodness : 0.989343 Centerline is valid? [True, True] Translation: X:155.08, Y:113.92, Z:6.65 [[-4.11759775e-01 -9.11212152e-01 1.20955692e-02 1.55081217e+02] [ 9.10801645e-01 -4.11937319e-01 -2.73497604e-02 1.13917715e+02] [ 2.99040504e-02 -2.44866893e-04 9.99552744e-01 6.65091759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.180714057 meters Centerline goodness : 0.988917 Centerline is valid? [True, True] Translation: X:155.09, Y:113.91, Z:6.65 [[-4.12479520e-01 -9.10900880e-01 1.09650767e-02 1.55086871e+02] [ 9.10476847e-01 -4.12622525e-01 -2.78309825e-02 1.13912452e+02] [ 2.98757041e-02 -1.49626179e-03 9.99552502e-01 6.65057782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.210714057 meters Centerline goodness : 0.987727 Centerline is valid? [True, True] Translation: X:155.08, Y:113.93, Z:6.65 [[-4.21627434e-01 -9.06701720e-01 1.10588701e-02 1.55082463e+02] [ 9.06277297e-01 -4.21769034e-01 -2.77910677e-02 1.13933232e+02] [ 2.98624978e-02 -1.69507366e-03 9.99552579e-01 6.65146762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.240714057 meters Centerline goodness : 0.988527 Centerline is valid? [True, True] Translation: X:155.09, Y:113.93, Z:6.65 [[-4.20456423e-01 -9.07241036e-01 1.14060941e-02 1.55087024e+02] [ 9.06820704e-01 -4.20609160e-01 -2.76431993e-02 1.13932625e+02] [ 2.98765525e-02 -1.27947839e-03 9.99552777e-01 6.64998871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.270714057 meters Centerline goodness : 0.988719 Centerline is valid? [True, True] Translation: X:155.09, Y:113.94, Z:6.65 [[-4.26046252e-01 -9.04631249e-01 1.12647488e-02 1.55088890e+02] [ 9.04208404e-01 -4.26192079e-01 -2.77033073e-02 1.13938428e+02] [ 2.98622242e-02 -1.61720974e-03 9.99552716e-01 6.65107677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.300714057 meters Centerline goodness : 0.987840 Centerline is valid? [True, True] Translation: X:155.09, Y:113.94, Z:6.65 [[-4.26848171e-01 -9.04251777e-01 1.13737361e-02 1.55089640e+02] [ 9.03830015e-01 -4.26996951e-01 -2.76569711e-02 1.13941663e+02] [ 2.98654159e-02 -1.52540344e-03 9.99552765e-01 6.65014803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.330714057 meters Centerline goodness : 0.987841 Centerline is valid? [True, True] Translation: X:155.09, Y:113.94, Z:6.65 [[-4.28975962e-01 -9.03244991e-01 1.13185730e-02 1.55092916e+02] [ 9.02822269e-01 -4.29122063e-01 -2.76804074e-02 1.13940739e+02] [ 2.98592387e-02 -1.65556964e-03 9.99552742e-01 6.65147774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.360714057 meters Centerline goodness : 0.988480 Centerline is valid? [True, True] Translation: X:155.09, Y:113.95, Z:6.65 [[-4.35236559e-01 -9.00246081e-01 1.12307875e-02 1.55086471e+02] [ 8.99821411e-01 -4.35377031e-01 -2.77176761e-02 1.13954120e+02] [ 2.98423562e-02 -1.95804294e-03 9.99552700e-01 6.65370881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.390714057 meters Centerline goodness : 0.986731 Centerline is valid? [True, True] Translation: X:155.09, Y:113.96, Z:6.66 [[-4.37442115e-01 -8.99173666e-01 1.14505247e-02 1.55087819e+02] [ 8.98751018e-01 -4.37588281e-01 -2.76243460e-02 1.13955220e+02] [ 2.98496999e-02 -1.79288160e-03 9.99552790e-01 6.65532285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42071405699997 meters Centerline goodness : 0.987622 Centerline is valid? [True, True] Translation: X:155.09, Y:113.96, Z:6.66 [[-4.40565934e-01 -8.97647403e-01 1.14367065e-02 1.55087021e+02] [ 8.97224100e-01 -4.40710207e-01 -2.76302094e-02 1.13960721e+02] [ 2.98424590e-02 -1.91164035e-03 9.99552787e-01 6.65576884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45071405699997 meters Centerline goodness : 0.987184 Centerline is valid? [True, True] Translation: X:155.08, Y:113.97, Z:6.66 [[-4.42187119e-01 -8.96849498e-01 1.14686089e-02 1.55083889e+02] [ 8.96426277e-01 -4.42331605e-01 -2.76166791e-02 1.13967867e+02] [ 2.98409330e-02 -1.93097737e-03 9.99552795e-01 6.65556317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48071405699997 meters Centerline goodness : 0.986300 Centerline is valid? [True, True] Translation: X:155.08, Y:113.97, Z:6.66 [[-4.43875702e-01 -8.96015039e-01 1.14634573e-02 1.55083299e+02] [ 8.95591492e-01 -4.44019232e-01 -2.76188621e-02 1.13968543e+02] [ 2.98369113e-02 -1.99276704e-03 9.99552794e-01 6.65743150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51071405699997 meters Centerline goodness : 0.988081 Centerline is valid? [True, True] Translation: X:155.08, Y:113.97, Z:6.66 [[-4.45670078e-01 -8.95123266e-01 1.15117650e-02 1.55080556e+02] [ 8.94699944e-01 -4.45814242e-01 -2.75984068e-02 1.13973577e+02] [ 2.98360848e-02 -2.00020863e-03 9.99552804e-01 6.65755065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54071405699997 meters Centerline goodness : 0.988117 Centerline is valid? [True, True] Translation: X:155.08, Y:113.97, Z:6.65 [[-4.45281696e-01 -8.95316989e-01 1.14760574e-02 1.55080381e+02] [ 8.94893351e-01 -4.45424948e-01 -2.76135142e-02 1.13972701e+02] [ 2.98345707e-02 -2.02594498e-03 9.99552797e-01 6.65452966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57071405699998 meters Centerline goodness : 0.986757 Centerline is valid? [True, True] Translation: X:155.08, Y:113.98, Z:6.66 [[-4.47959347e-01 -8.93981634e-01 1.13693244e-02 1.55078730e+02] [ 8.93556455e-01 -4.48098049e-01 -2.76586324e-02 1.13975794e+02] [ 2.98208815e-02 -2.23080970e-03 9.99552769e-01 6.65614027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60071405699998 meters Centerline goodness : 0.988638 Centerline is valid? [True, True] Translation: X:154.93, Y:114.30, Z:6.67 [[-4.62996890e-01 -8.86285272e-01 1.15020173e-02 1.54930260e+02] [ 8.85859133e-01 -4.63132492e-01 -2.76023950e-02 1.14301941e+02] [ 2.97905541e-02 -2.59065598e-03 9.99552806e-01 6.66573404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63071405699998 meters Centerline goodness : 0.988614 Centerline is valid? [True, True] Translation: X:154.93, Y:114.29, Z:6.67 [[-4.63195010e-01 -8.86177430e-01 1.18298511e-02 1.54933113e+02] [ 8.85754602e-01 -4.63340624e-01 -2.74636476e-02 1.14292590e+02] [ 2.98189153e-02 -2.24267950e-03 9.99552801e-01 6.66710630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66071405699998 meters Centerline goodness : 0.985125 Centerline is valid? [True, True] Translation: X:154.65, Y:114.94, Z:6.68 [[-4.72304968e-01 -8.81357700e-01 1.16884923e-02 1.54652869e+02] [ 8.80931997e-01 -4.72441849e-01 -2.75229987e-02 1.14936774e+02] [ 2.97797397e-02 -2.70248219e-03 9.99552832e-01 6.68338263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69071405699998 meters Centerline goodness : 0.988360 Centerline is valid? [True, True] Translation: X:154.91, Y:114.32, Z:6.67 [[-4.63189988e-01 -8.86177792e-01 1.19981808e-02 1.54914980e+02] [ 8.85756711e-01 -4.63340777e-01 -2.73929486e-02 1.14319640e+02] [ 2.98342691e-02 -2.06067039e-03 9.99552735e-01 6.66913627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72071405699998 meters Centerline goodness : 0.988461 Centerline is valid? [True, True] Translation: X:154.91, Y:114.32, Z:6.67 [[-4.64057939e-01 -8.85727092e-01 1.17366111e-02 1.54913070e+02] [ 8.85303183e-01 -4.64200271e-01 -2.75024062e-02 1.14320718e+02] [ 2.98077643e-02 -2.37225076e-03 9.99552835e-01 6.66691373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75071405699998 meters Centerline goodness : 0.987918 Centerline is valid? [True, True] Translation: X:154.90, Y:114.33, Z:6.67 [[-4.69243797e-01 -8.82991262e-01 1.16914562e-02 1.54903467e+02] [ 8.82566080e-01 -4.69382246e-01 -2.75212809e-02 1.14334844e+02] [ 2.97888126e-02 -2.59570770e-03 9.99552844e-01 6.66728076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78071405699998 meters Centerline goodness : 0.988826 Centerline is valid? [True, True] Translation: X:154.90, Y:114.33, Z:6.67 [[-4.71787862e-01 -8.81634102e-01 1.17270320e-02 1.54902176e+02] [ 8.81208871e-01 -4.71926184e-01 -2.75064252e-02 1.14332940e+02] [ 2.97848959e-02 -2.64323293e-03 9.99552837e-01 6.66721868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81071405699998 meters Centerline goodness : 0.988635 Centerline is valid? [True, True] Translation: X:154.89, Y:114.35, Z:6.67 [[-4.76594939e-01 -8.79044823e-01 1.17244594e-02 1.54890499e+02] [ 8.78618818e-01 -4.76730858e-01 -2.75074985e-02 1.14348641e+02] [ 2.97697358e-02 -2.80860395e-03 9.99552837e-01 6.66627144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84071405699999 meters Centerline goodness : 0.985978 Centerline is valid? [True, True] Translation: X:154.81, Y:114.54, Z:6.67 [[-4.75783029e-01 -8.79485165e-01 1.16770588e-02 1.54808667e+02] [ 8.79058832e-01 -4.75917874e-01 -2.75272083e-02 1.14542555e+02] [ 2.97670924e-02 -2.83215682e-03 9.99552850e-01 6.67276255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.870714057 meters Centerline goodness : 0.986433 Centerline is valid? [True, True] Translation: X:154.80, Y:114.55, Z:6.67 [[-4.77166104e-01 -8.78736300e-01 1.16200010e-02 1.54801267e+02] [ 8.78309216e-01 -4.77298512e-01 -2.75508785e-02 1.14546345e+02] [ 2.97561662e-02 -2.94039140e-03 9.99552862e-01 6.67368732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.900714057 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:154.88, Y:114.36, Z:6.67 [[-4.78051199e-01 -8.78254677e-01 1.16521967e-02 1.54876943e+02] [ 8.77827763e-01 -4.78184174e-01 -2.75375168e-02 1.14357503e+02] [ 2.97568490e-02 -2.93572114e-03 9.99552856e-01 6.66949656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.930714057 meters Centerline goodness : 0.990246 Centerline is valid? [True, True] Translation: X:154.86, Y:114.39, Z:6.67 [[-4.79768504e-01 -8.77317727e-01 1.16527864e-02 1.54858076e+02] [ 8.76890560e-01 -4.79900662e-01 -2.75372721e-02 1.14388452e+02] [ 2.97511169e-02 -2.99329747e-03 9.99552856e-01 6.66921714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.960714057 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:155.00, Y:114.03, Z:6.66 [[-4.77065214e-01 -8.78788957e-01 1.17792098e-02 1.55004478e+02] [ 8.78363409e-01 -4.77202599e-01 -2.74845741e-02 1.14028265e+02] [ 2.97742097e-02 -2.76550731e-03 9.99552824e-01 6.65697062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.990714057 meters Centerline goodness : 0.990849 Centerline is valid? [True, True] Translation: X:154.86, Y:114.37, Z:6.67 [[-4.77033841e-01 -8.78810107e-01 1.14677608e-02 1.54855711e+02] [ 8.78381628e-01 -4.77161594e-01 -2.76139173e-02 1.14374339e+02] [ 2.97393647e-02 -3.09970270e-03 9.99552881e-01 6.66790074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.020714057 meters Centerline goodness : 0.992657 Centerline is valid? [True, True] Translation: X:155.00, Y:114.02, Z:6.66 [[-4.73609630e-01 -8.80656830e-01 1.17245943e-02 1.54998548e+02] [ 8.80231301e-01 -4.73746998e-01 -2.75070714e-02 1.14020815e+02] [ 2.97787816e-02 -2.70725905e-03 9.99552847e-01 6.65687232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.050714057 meters Centerline goodness : 0.992856 Centerline is valid? [True, True] Translation: X:154.99, Y:114.03, Z:6.66 [[-4.71457037e-01 -8.81814723e-01 1.14479888e-02 1.54992144e+02] [ 8.81386887e-01 -4.71586891e-01 -2.76217137e-02 1.14028258e+02] [ 2.97559552e-02 -2.93234409e-03 9.99552892e-01 6.65803953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.080714057 meters Centerline goodness : 0.993243 Centerline is valid? [True, True] Translation: X:154.99, Y:114.02, Z:6.66 [[-4.66660811e-01 -8.84362416e-01 1.14370432e-02 1.54986717e+02] [ 8.83935187e-01 -4.66792648e-01 -2.76262450e-02 1.14024117e+02] [ 2.97703405e-02 -2.78248095e-03 9.99552892e-01 6.65530833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.110714057 meters Centerline goodness : 0.993243 Centerline is valid? [True, True] Translation: X:154.99, Y:114.03, Z:6.66 [[-4.66310857e-01 -8.84547133e-01 1.14260845e-02 1.54985650e+02] [ 8.84119852e-01 -4.66442524e-01 -2.76307768e-02 1.14026517e+02] [ 2.97703361e-02 -2.78250303e-03 9.99552892e-01 6.65538362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.140714057 meters Centerline goodness : 0.992898 Centerline is valid? [True, True] Translation: X:154.98, Y:114.02, Z:6.66 [[-4.63764229e-01 -8.85885114e-01 1.14151447e-02 1.54983280e+02] [ 8.85458108e-01 -4.63896787e-01 -2.76352956e-02 1.14024541e+02] [ 2.97771459e-02 -2.70862911e-03 9.99552893e-01 6.65993746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17071405699997 meters Centerline goodness : 0.985379 Centerline is valid? [True, True] Translation: X:154.58, Y:114.98, Z:6.69 [[-4.68426347e-01 -8.83428945e-01 1.14042145e-02 1.54577722e+02] [ 8.83001144e-01 -4.68556315e-01 -2.76398054e-02 1.14975751e+02] [ 2.97613209e-02 -2.87727867e-03 9.99552893e-01 6.68998794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20071405699997 meters Centerline goodness : 0.985836 Centerline is valid? [True, True] Translation: X:154.61, Y:114.89, Z:6.69 [[-4.60152330e-01 -8.87767957e-01 1.13087312e-02 1.54606081e+02] [ 8.87340509e-01 -4.60283344e-01 -2.76778597e-02 1.14893953e+02] [ 2.97767376e-02 -2.70133634e-03 9.99552924e-01 6.68784435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23071405699997 meters Centerline goodness : 0.991008 Centerline is valid? [True, True] Translation: X:154.81, Y:114.39, Z:6.68 [[-4.42976619e-01 -8.96457564e-01 1.16426448e-02 1.54814736e+02] [ 8.96036098e-01 -4.43126063e-01 -2.75427356e-02 1.14386940e+02] [ 2.98500530e-02 -1.76855782e-03 9.99552823e-01 6.67522365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26071405699997 meters Centerline goodness : 0.992370 Centerline is valid? [True, True] Translation: X:154.95, Y:114.03, Z:6.66 [[-4.40820128e-01 -8.97524683e-01 1.12720311e-02 1.54947884e+02] [ 8.97099831e-01 -4.40959244e-01 -2.76918401e-02 1.14033197e+02] [ 2.98246163e-02 -2.09498334e-03 9.99552952e-01 6.66161006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29071405699997 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:154.95, Y:114.03, Z:6.66 [[-4.39607846e-01 -8.98120894e-01 1.11266554e-02 1.54945958e+02] [ 8.97694802e-01 -4.39743076e-01 -2.77501302e-02 1.14030666e+02] [ 2.98158414e-02 -2.21083420e-03 9.99552964e-01 6.66174258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32071405699998 meters Centerline goodness : 0.992394 Centerline is valid? [True, True] Translation: X:154.94, Y:114.03, Z:6.66 [[-4.39073554e-01 -8.98382354e-01 1.11157750e-02 1.54938996e+02] [ 8.97956237e-01 -4.39208703e-01 -2.77544878e-02 1.14034425e+02] [ 2.98162872e-02 -2.20478211e-03 9.99552964e-01 6.66150705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35071405699998 meters Centerline goodness : 0.991498 Centerline is valid? [True, True] Translation: X:154.95, Y:114.01, Z:6.66 [[-4.26989920e-01 -9.04188194e-01 1.11048966e-02 1.54953978e+02] [ 9.03763816e-01 -4.27130438e-01 -2.77588397e-02 1.14010398e+02] [ 2.98424545e-02 -1.81654104e-03 9.99552964e-01 6.66023196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38071405699998 meters Centerline goodness : 0.992376 Centerline is valid? [True, True] Translation: X:154.96, Y:113.99, Z:6.66 [[-4.18352763e-01 -9.08221950e-01 1.06703172e-02 1.54961104e+02] [ 9.07794528e-01 -4.18484042e-01 -2.79320860e-02 1.13990635e+02] [ 2.98338911e-02 -1.99900980e-03 9.99552871e-01 6.65843482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41071405699998 meters Centerline goodness : 0.986213 Centerline is valid? [True, True] Translation: X:154.61, Y:114.83, Z:6.68 [[-4.53022260e-01 -8.91433967e-01 1.07848964e-02 1.54607728e+02] [ 8.91002849e-01 -4.53140533e-01 -2.78851427e-02 1.14827533e+02] [ 2.97448371e-02 -3.02321691e-03 9.99552952e-01 6.67972056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44071405699998 meters Centerline goodness : 0.992085 Centerline is valid? [True, True] Translation: X:154.94, Y:114.01, Z:6.66 [[-4.18482653e-01 -9.08150829e-01 1.15905381e-02 1.54942570e+02] [ 9.07733293e-01 -4.18641914e-01 -2.75539076e-02 1.14011863e+02] [ 2.98753891e-02 -1.00971507e-03 9.99553121e-01 6.65640094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47071405699998 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:154.94, Y:114.02, Z:6.66 [[-4.18796718e-01 -9.08023666e-01 1.01158459e-02 1.54936936e+02] [ 9.07591416e-01 -4.18910793e-01 -2.81348466e-02 1.14022064e+02] [ 2.97847436e-02 -2.60172648e-03 9.99552950e-01 6.65804742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50071405699998 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:154.93, Y:114.02, Z:6.66 [[-4.20274268e-01 -9.07344161e-01 9.80374416e-03 1.54932043e+02] [ 9.06908950e-01 -4.20378002e-01 -2.82575900e-02 1.14024077e+02] [ 2.97606377e-02 -2.98483461e-03 9.99552598e-01 6.65929636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53071405699998 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:154.91, Y:114.05, Z:6.66 [[-4.39680515e-01 -8.98099670e-01 9.90087574e-03 1.54910987e+02] [ 8.97663120e-01 -4.39777891e-01 -2.82193009e-02 1.14048596e+02] [ 2.96979311e-02 -3.51982574e-03 9.99552722e-01 6.66270815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56071405699998 meters Centerline goodness : 0.992997 Centerline is valid? [True, True] Translation: X:154.90, Y:114.05, Z:6.66 [[-4.40085404e-01 -8.97888551e-01 1.09994030e-02 1.54904443e+02] [ 8.97461657e-01 -4.40216536e-01 -2.77844344e-02 1.14051705e+02] [ 2.97894446e-02 -2.35598154e-03 9.99553419e-01 6.66369083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59071405699999 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:154.91, Y:114.04, Z:6.66 [[-4.29139628e-01 -9.03171319e-01 1.09885204e-02 1.54912772e+02] [ 9.02745944e-01 -4.29275607e-01 -2.77887377e-02 1.14040265e+02] [ 2.98150946e-02 -2.00540640e-03 9.99553420e-01 6.66443280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.620714057 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:154.91, Y:114.04, Z:6.66 [[-4.30003287e-01 -9.02767865e-01 1.03612215e-02 1.54907702e+02] [ 9.02336484e-01 -4.30119586e-01 -2.80359117e-02 1.14041707e+02] [ 2.97664844e-02 -2.70622594e-03 9.99553217e-01 6.66427304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.650714057 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:154.90, Y:114.05, Z:6.66 [[-4.30400230e-01 -9.02578620e-01 1.03671138e-02 1.54903584e+02] [ 9.02147240e-01 -4.30516521e-01 -2.80335921e-02 1.14047530e+02] [ 2.97657346e-02 -2.71300143e-03 9.99553221e-01 6.66493702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.680714057 meters Centerline goodness : 0.992005 Centerline is valid? [True, True] Translation: X:154.90, Y:114.05, Z:6.66 [[-4.33988306e-01 -9.00859056e-01 1.03494776e-02 1.54897731e+02] [ 9.00427061e-01 -4.34102334e-01 -2.80405316e-02 1.14051922e+02] [ 2.97532992e-02 -2.85031310e-03 9.99553209e-01 6.66417597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.710714057 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:154.90, Y:114.05, Z:6.66 [[-4.28311597e-01 -9.03567307e-01 1.07376777e-02 1.54898229e+02] [ 9.03139640e-01 -4.28440279e-01 -2.78876056e-02 1.14054049e+02] [ 2.97987823e-02 -2.24696252e-03 9.99553392e-01 6.66280146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.740714057 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:154.89, Y:114.04, Z:6.66 [[-4.33885555e-01 -9.00908334e-01 1.03681307e-02 1.54893341e+02] [ 9.00476528e-01 -4.34000210e-01 -2.80328539e-02 1.14044606e+02] [ 2.97548026e-02 -2.82679204e-03 9.99553231e-01 6.66289068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.770714057 meters Centerline goodness : 0.992159 Centerline is valid? [True, True] Translation: X:154.89, Y:114.05, Z:6.66 [[-4.32644904e-01 -9.01502366e-01 1.05769202e-02 1.54887680e+02] [ 9.01072603e-01 -4.32766588e-01 -2.79507671e-02 1.14045944e+02] [ 2.97750203e-02 -2.56218394e-03 9.99553342e-01 6.66484113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.800714057 meters Centerline goodness : 0.992002 Centerline is valid? [True, True] Translation: X:154.89, Y:114.04, Z:6.67 [[-4.32380376e-01 -9.01629692e-01 1.05408618e-02 1.54885728e+02] [ 9.01199635e-01 -4.32501075e-01 -2.79649311e-02 1.14043751e+02] [ 2.97729463e-02 -2.59206664e-03 9.99553327e-01 6.66599202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.830714057 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:154.88, Y:114.06, Z:6.67 [[-4.26046931e-01 -9.04639440e-01 1.05591716e-02 1.54875797e+02] [ 9.04210411e-01 -4.26171206e-01 -2.79577407e-02 1.14061554e+02] [ 2.97916898e-02 -2.36359668e-03 9.99553335e-01 6.66719575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.860714057 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:154.87, Y:114.07, Z:6.67 [[-4.30528682e-01 -9.02517447e-01 1.03591622e-02 1.54869311e+02] [ 9.02085994e-01 -4.30644668e-01 -2.80362079e-02 1.14065246e+02] [ 2.97642847e-02 -2.72553650e-03 9.99553230e-01 6.66734524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.890714057 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:154.87, Y:114.05, Z:6.67 [[-4.28779858e-01 -9.03347143e-01 1.05722839e-02 1.54873430e+02] [ 9.02917861e-01 -4.28903239e-01 -2.79525992e-02 1.14047349e+02] [ 2.97853874e-02 -2.43960753e-03 9.99553340e-01 6.66555035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92071405699997 meters Centerline goodness : 0.992810 Centerline is valid? [True, True] Translation: X:154.87, Y:114.05, Z:6.67 [[-4.33321698e-01 -9.01180655e-01 1.02826843e-02 1.54867571e+02] [ 9.00748179e-01 -4.33433986e-01 -2.80659578e-02 1.14050209e+02] [ 2.97493631e-02 -2.89947932e-03 9.99553184e-01 6.66757081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95071405699997 meters Centerline goodness : 0.993671 Centerline is valid? [True, True] Translation: X:154.86, Y:114.05, Z:6.67 [[-4.35258369e-01 -9.00242516e-01 1.06566612e-02 1.54863678e+02] [ 8.99813126e-01 -4.35381261e-01 -2.79194732e-02 1.14054554e+02] [ 2.97740074e-02 -2.56318077e-03 9.99553370e-01 6.66572404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98071405699997 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:154.86, Y:114.06, Z:6.66 [[-4.37433104e-01 -8.99188748e-01 1.05771406e-02 1.54859192e+02] [ 8.98758348e-01 -4.37552507e-01 -2.79505887e-02 1.14062663e+02] [ 2.97609093e-02 -2.72021937e-03 9.99553345e-01 6.66400910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01071405699997 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:154.86, Y:114.06, Z:6.66 [[-4.40530231e-01 -8.97674966e-01 1.06194259e-02 1.54857391e+02] [ 8.97244530e-01 -4.40649454e-01 -2.79340551e-02 1.14058146e+02] [ 2.97551462e-02 -2.77757394e-03 9.99553358e-01 6.66295680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04071405699997 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:154.85, Y:114.07, Z:6.66 [[-4.42707722e-01 -8.96605517e-01 1.04125129e-02 1.54851792e+02] [ 8.96173004e-01 -4.42819508e-01 -2.80148271e-02 1.14066941e+02] [ 2.97291124e-02 -3.07096735e-03 9.99553275e-01 6.66315103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07071405699998 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:154.85, Y:114.07, Z:6.66 [[-4.42944463e-01 -8.96488038e-01 1.04595166e-02 1.54850042e+02] [ 8.96055897e-01 -4.43057588e-01 -2.79964865e-02 1.14067910e+02] [ 2.97326835e-02 -3.02857714e-03 9.99553298e-01 6.66320948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10071405699998 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:154.84, Y:114.08, Z:6.66 [[-4.43678928e-01 -8.96122975e-01 1.06123518e-02 1.54841743e+02] [ 8.95692061e-01 -4.43796422e-01 -2.79368448e-02 1.14079352e+02] [ 2.97445722e-02 -2.88959005e-03 9.99553356e-01 6.66384443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13071405699998 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:154.86, Y:114.05, Z:6.66 [[-4.33718696e-01 -9.00985218e-01 1.06644255e-02 1.54856572e+02] [ 9.00556106e-01 -4.33842560e-01 -2.79165471e-02 1.14046862e+02] [ 2.97790780e-02 -2.50401488e-03 9.99553368e-01 6.66049528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16071405699998 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:154.85, Y:114.05, Z:6.66 [[-4.39719566e-01 -8.98076299e-01 1.02792945e-02 1.54847961e+02] [ 8.97643037e-01 -4.39828674e-01 -2.80662703e-02 1.14054573e+02] [ 2.97267806e-02 -3.11415111e-03 9.99553210e-01 6.66402612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19071405699998 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:154.84, Y:114.07, Z:6.67 [[-4.39667533e-01 -8.98099133e-01 1.05075412e-02 1.54838190e+02] [ 8.97667835e-01 -4.39783719e-01 -2.79774758e-02 1.14070516e+02] [ 2.97475923e-02 -2.86850604e-03 9.99553326e-01 6.66713098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22071405699998 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:154.83, Y:114.07, Z:6.67 [[-4.41533512e-01 -8.97181881e-01 1.06222099e-02 1.54833672e+02] [ 8.96751340e-01 -4.41652340e-01 -2.79328799e-02 1.14074950e+02] [ 2.97521976e-02 -2.80782164e-03 9.99553362e-01 6.66780105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25071405699998 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:154.82, Y:114.09, Z:6.67 [[-4.41603977e-01 -8.97147520e-01 1.05950220e-02 1.54824320e+02] [ 8.96716732e-01 -4.41721932e-01 -2.79434479e-02 1.14094964e+02] [ 2.97494486e-02 -2.83920424e-03 9.99553355e-01 6.66843697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28071405699998 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:154.84, Y:114.06, Z:6.67 [[-4.41078718e-01 -8.97407689e-01 1.04405131e-02 1.54837160e+02] [ 8.96975636e-01 -4.41192157e-01 -2.80033957e-02 1.14063345e+02] [ 2.97367351e-02 -2.98681601e-03 9.99553303e-01 6.66795596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31071405699998 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:154.83, Y:114.08, Z:6.67 [[-4.44361877e-01 -8.95787715e-01 1.03388866e-02 1.54830115e+02] [ 8.95354399e-01 -4.44470588e-01 -2.80427696e-02 1.14079169e+02] [ 2.97156995e-02 -3.20417014e-03 9.99553255e-01 6.66706471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34071405699999 meters Centerline goodness : 0.995921 Centerline is valid? [True, True] Translation: X:154.83, Y:114.08, Z:6.67 [[-4.45982524e-01 -8.94980600e-01 1.04553086e-02 1.54829908e+02] [ 8.94548056e-01 -4.46094055e-01 -2.79976718e-02 1.14080103e+02] [ 2.97214241e-02 -3.13369641e-03 9.99553309e-01 6.66569711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.370714057 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:154.82, Y:114.09, Z:6.67 [[-4.44953291e-01 -8.95493041e-01 1.04298567e-02 1.54824956e+02] [ 8.95060412e-01 -4.45064532e-01 -2.80075232e-02 1.14094341e+02] [ 2.97225014e-02 -3.12668783e-03 9.99553299e-01 6.66543956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.400714057 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:154.83, Y:114.09, Z:6.67 [[-4.44444248e-01 -8.95746732e-01 1.03489902e-02 1.54825638e+02] [ 8.95313492e-01 -4.44553232e-01 -2.80387934e-02 1.14091559e+02] [ 2.97163347e-02 -3.19608989e-03 9.99553262e-01 6.66511344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.430714057 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:154.83, Y:114.08, Z:6.66 [[-4.40935777e-01 -8.97479180e-01 1.03326027e-02 1.54830627e+02] [ 8.97046232e-01 -4.41045949e-01 -2.80451214e-02 1.14082770e+02] [ 2.97270651e-02 -3.09727507e-03 9.99553254e-01 6.66357025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.460714057 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:154.83, Y:114.08, Z:6.66 [[-4.43612709e-01 -8.96158603e-01 1.03693525e-02 1.54827110e+02] [ 8.95725633e-01 -4.43722725e-01 -2.80309416e-02 1.14083272e+02] [ 2.97212868e-02 -3.14678706e-03 9.99553272e-01 6.66454702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.490714057 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:154.83, Y:114.08, Z:6.67 [[-4.41298200e-01 -8.97300385e-01 1.03884081e-02 1.54829304e+02] [ 8.96867861e-01 -4.41409922e-01 -2.80235916e-02 1.14077304e+02] [ 2.97311259e-02 -3.04973115e-03 9.99553280e-01 6.66677857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.520714057 meters Centerline goodness : 0.996104 Centerline is valid? [True, True] Translation: X:154.82, Y:114.09, Z:6.67 [[-4.40417435e-01 -8.97731332e-01 1.05327632e-02 1.54821658e+02] [ 8.97300149e-01 -4.40534039e-01 -2.79679091e-02 1.14093024e+02] [ 2.97477090e-02 -2.86650477e-03 9.99553329e-01 6.66657481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.550714057 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:154.82, Y:114.08, Z:6.67 [[-4.37837557e-01 -8.98994114e-01 1.03854116e-02 1.54824832e+02] [ 8.98562000e-01 -4.37950853e-01 -2.80246645e-02 1.14083983e+02] [ 2.97423083e-02 -2.93831440e-03 9.99553281e-01 6.66679923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.580714057 meters Centerline goodness : 0.996508 Centerline is valid? [True, True] Translation: X:154.82, Y:114.09, Z:6.67 [[-4.36315110e-01 -8.99734187e-01 1.03690526e-02 1.54822746e+02] [ 8.99302126e-01 -4.36428632e-01 -2.80309580e-02 1.14090315e+02] [ 2.97457626e-02 -2.90541948e-03 9.99553274e-01 6.66745714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.610714057 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:154.82, Y:114.09, Z:6.67 [[-4.36753785e-01 -8.99521455e-01 1.03577895e-02 1.54821412e+02] [ 8.99089243e-01 -4.36866749e-01 -2.80352873e-02 1.14094457e+02] [ 2.97433162e-02 -2.93194072e-03 9.99553270e-01 6.67065586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.640714057 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:154.82, Y:114.09, Z:6.67 [[-4.35579993e-01 -9.00087707e-01 1.05919968e-02 1.54822042e+02] [ 8.99657673e-01 -4.35700739e-01 -2.79452646e-02 1.14092347e+02] [ 2.97681299e-02 -2.64322694e-03 9.99553336e-01 6.66652343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67071405699997 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:154.82, Y:114.09, Z:6.66 [[-4.35338396e-01 -9.00206623e-01 1.04171557e-02 1.54823202e+02] [ 8.99775101e-01 -4.35453871e-01 -2.80123795e-02 1.14094890e+02] [ 2.97531203e-02 -2.82176708e-03 9.99553295e-01 6.66472767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70071405699997 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:154.82, Y:114.12, Z:6.67 [[-4.35463702e-01 -9.00145802e-01 1.04355187e-02 1.54815095e+02] [ 8.99714422e-01 -4.35579683e-01 -2.80053315e-02 1.14119011e+02] [ 2.97543815e-02 -2.80631862e-03 9.99553301e-01 6.66565892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73071405699997 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:154.83, Y:114.09, Z:6.66 [[-4.34892984e-01 -9.00421985e-01 1.04086825e-02 1.54827053e+02] [ 8.99990448e-01 -4.35008412e-01 -2.80156203e-02 1.14090800e+02] [ 2.97537449e-02 -2.81608189e-03 9.99553292e-01 6.66487619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76071405699997 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:154.83, Y:114.10, Z:6.66 [[-4.35042992e-01 -9.00349830e-01 1.03816868e-02 1.54826595e+02] [ 8.99918042e-01 -4.35157515e-01 -2.80259555e-02 1.14096289e+02] [ 2.97508333e-02 -2.84982830e-03 9.99553283e-01 6.66485694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79071405699997 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:154.83, Y:114.10, Z:6.67 [[-4.35389426e-01 -9.00182494e-01 1.03694336e-02 1.54825589e+02] [ 8.99750558e-01 -4.35503405e-01 -2.80306419e-02 1.14100339e+02] [ 2.97486168e-02 -2.87434145e-03 9.99553279e-01 6.66526867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82071405699998 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:154.83, Y:114.10, Z:6.67 [[-4.34369070e-01 -9.00674988e-01 1.03960279e-02 1.54828958e+02] [ 9.00243409e-01 -4.34484358e-01 -2.80204757e-02 1.14098173e+02] [ 2.97542531e-02 -2.81227237e-03 9.99553288e-01 6.66687018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85071405699998 meters Centerline goodness : 0.992102 Centerline is valid? [True, True] Translation: X:154.59, Y:114.71, Z:6.68 [[-4.43054767e-01 -8.96431451e-01 1.06360934e-02 1.54592235e+02] [ 8.96000801e-01 -4.43173291e-01 -2.79284741e-02 1.14707355e+02] [ 2.97495951e-02 -2.84389537e-03 9.99553337e-01 6.68299812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88071405699998 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:154.82, Y:114.13, Z:6.67 [[-4.31482465e-01 -9.02053507e-01 1.10613283e-02 1.54817970e+02] [ 9.01628333e-01 -4.31619557e-01 -2.77652211e-02 1.14129960e+02] [ 2.98200007e-02 -2.00699901e-03 9.99553270e-01 6.66810141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91071405699998 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:154.82, Y:114.12, Z:6.66 [[-4.30519003e-01 -9.02518246e-01 1.06865686e-02 1.54821992e+02] [ 9.02089777e-01 -4.30645069e-01 -2.79080239e-02 1.14118266e+02] [ 2.97896189e-02 -2.37469033e-03 9.99553370e-01 6.66499851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94071405699998 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:154.82, Y:114.13, Z:6.67 [[-4.28477504e-01 -9.03492043e-01 1.04478381e-02 1.54818276e+02] [ 9.03061735e-01 -4.28597207e-01 -2.79988645e-02 1.14128409e+02] [ 2.97746656e-02 -2.56184074e-03 9.99553353e-01 6.66922793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97071405699998 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:154.82, Y:114.12, Z:6.67 [[-4.24990606e-01 -9.05134656e-01 1.06882826e-02 1.54822175e+02] [ 9.04706981e-01 -4.25119343e-01 -2.79073854e-02 1.14119953e+02] [ 2.98037373e-02 -2.19061275e-03 9.99553369e-01 6.66831073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00071405699998 meters Centerline goodness : 0.991012 Centerline is valid? [True, True] Translation: X:154.55, Y:114.83, Z:6.69 [[-4.31706969e-01 -9.01951584e-01 1.06034475e-02 1.54547959e+02] [ 9.01522211e-01 -4.31829918e-01 -2.79396656e-02 1.14832385e+02] [ 2.97791116e-02 -2.50250490e-03 9.99553371e-01 6.68595884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03071405699998 meters Centerline goodness : 0.991012 Centerline is valid? [True, True] Translation: X:154.55, Y:114.84, Z:6.69 [[-4.30861428e-01 -9.02354392e-01 1.07229199e-02 1.54546837e+02] [ 9.01926180e-01 -4.30988445e-01 -2.78949059e-02 1.14835034e+02] [ 2.97925455e-02 -2.34755677e-03 9.99553347e-01 6.68609357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06071405699998 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:154.80, Y:114.17, Z:6.66 [[-3.94591979e-01 -9.18790427e-01 1.10146110e-02 1.54804813e+02] [ 9.18370631e-01 -3.94744769e-01 -2.77840172e-02 1.14165669e+02] [ 2.98756491e-02 -8.47855137e-04 9.99553264e-01 6.66242366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09071405699999 meters Centerline goodness : 0.996771 Centerline is valid? [True, True] Translation: X:154.81, Y:114.14, Z:6.66 [[-3.90598069e-01 -9.20515018e-01 9.23314082e-03 1.54813367e+02] [ 9.20079556e-01 -3.90698465e-01 -2.84309570e-02 1.14143593e+02] [ 2.97784969e-02 -2.60985281e-03 9.99553115e-01 6.66031153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.120714057 meters Centerline goodness : 0.995709 Centerline is valid? [True, True] Translation: X:154.82, Y:114.14, Z:6.66 [[-3.89474391e-01 -9.20992231e-01 9.11096908e-03 1.54815359e+02] [ 9.20555897e-01 -3.89571564e-01 -2.84751829e-02 1.14137526e+02] [ 2.97747967e-02 -2.70319821e-03 9.99552977e-01 6.65954159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.150714057 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:154.81, Y:114.14, Z:6.66 [[-3.88362481e-01 -9.21460282e-01 9.24838117e-03 1.54812175e+02] [ 9.21025191e-01 -3.88464402e-01 -2.84254373e-02 1.14140658e+02] [ 2.97855783e-02 -2.52138133e-03 9.99553131e-01 6.66008379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.180714057 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:154.81, Y:114.13, Z:6.66 [[-3.91608727e-01 -9.20085890e-01 9.19567612e-03 1.54814437e+02] [ 9.19650015e-01 -3.91707494e-01 -2.84445037e-02 1.14129146e+02] [ 2.97734017e-02 -2.68231220e-03 9.99553075e-01 6.66406298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.210714057 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:154.81, Y:114.14, Z:6.66 [[-3.91129139e-01 -9.20285020e-01 9.66845181e-03 1.54808829e+02] [ 9.19853156e-01 -3.91242629e-01 -2.82732306e-02 1.14138583e+02] [ 2.98021411e-02 -2.16492843e-03 9.99553473e-01 6.66309905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.240714057 meters Centerline goodness : 0.996584 Centerline is valid? [True, True] Translation: X:154.81, Y:114.14, Z:6.66 [[-3.90307413e-01 -9.20635037e-01 9.55259599e-03 1.54806559e+02] [ 9.20202280e-01 -3.90417744e-01 -2.83151775e-02 1.14142723e+02] [ 2.97974475e-02 -2.26130307e-03 9.99553400e-01 6.66443864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.270714057 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:154.81, Y:114.14, Z:6.67 [[-3.93989603e-01 -9.19065443e-01 9.53436001e-03 1.54807663e+02] [ 9.18632095e-01 -3.94097642e-01 -2.83217762e-02 1.14139855e+02] [ 2.97870346e-02 -2.39991624e-03 9.99553387e-01 6.66675097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.300714057 meters Centerline goodness : 0.994264 Centerline is valid? [True, True] Translation: X:154.81, Y:114.14, Z:6.67 [[-3.94344815e-01 -9.18906120e-01 1.01838091e-02 1.54807257e+02] [ 9.18478406e-01 -3.94472531e-01 -2.80863001e-02 1.14137097e+02] [ 2.98259060e-02 -1.72207809e-03 9.99553625e-01 6.66850962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.330714057 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:154.81, Y:114.14, Z:6.67 [[-3.94208811e-01 -9.18964593e-01 1.01730299e-02 1.54805267e+02] [ 9.18536800e-01 -3.94336262e-01 -2.80902038e-02 1.14140186e+02] [ 2.98254973e-02 -1.72910349e-03 9.99553625e-01 6.66893246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.360714057 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:154.80, Y:114.15, Z:6.67 [[-3.93691135e-01 -9.19186607e-01 1.01622654e-02 1.54799986e+02] [ 9.18758789e-01 -3.93818499e-01 -2.80940976e-02 1.14152895e+02] [ 2.98258064e-02 -1.72372648e-03 9.99553625e-01 6.66846034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.390714057 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:154.80, Y:114.14, Z:6.67 [[-3.93401716e-01 -9.19310632e-01 1.01514527e-02 1.54803759e+02] [ 9.18882755e-01 -3.93528886e-01 -2.80980041e-02 1.14141130e+02] [ 2.98256838e-02 -1.72580825e-03 9.99553625e-01 6.66758593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42071405699997 meters Centerline goodness : 0.996103 Centerline is valid? [True, True] Translation: X:154.80, Y:114.14, Z:6.66 [[-3.86797202e-01 -9.22109045e-01 1.01406546e-02 1.54803678e+02] [ 9.21681992e-01 -3.86927110e-01 -2.81019006e-02 1.14142768e+02] [ 2.98367109e-02 -1.52327783e-03 9.99553626e-01 6.66181522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45071405699997 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:154.80, Y:114.15, Z:6.67 [[-3.94129237e-01 -9.19007041e-01 9.39159990e-03 1.54796559e+02] [ 9.18572558e-01 -3.94232837e-01 -2.83712205e-02 1.14154589e+02] [ 2.97758285e-02 -2.55506155e-03 9.99553336e-01 6.66608508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48071405699997 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:154.79, Y:114.18, Z:6.67 [[-3.97034079e-01 -9.17753246e-01 9.63945579e-03 1.54786736e+02] [ 9.17320470e-01 -3.97143908e-01 -2.82820006e-02 1.14177804e+02] [ 2.97841490e-02 -2.38644792e-03 9.99553505e-01 6.66692770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51071405699997 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:154.79, Y:114.16, Z:6.67 [[-3.97500895e-01 -9.17550221e-01 9.72782934e-03 1.54791014e+02] [ 9.17118128e-01 -3.97613212e-01 -2.82501910e-02 1.14163307e+02] [ 2.97888825e-02 -2.30790758e-03 9.99553548e-01 6.66708682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54071405699997 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:154.79, Y:114.17, Z:6.66 [[-3.99125738e-01 -9.16845175e-01 9.67317080e-03 1.54790261e+02] [ 9.16412429e-01 -3.99235614e-01 -2.82698477e-02 1.14165040e+02] [ 2.97809478e-02 -2.41860988e-03 9.99553523e-01 6.66381341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57071405699998 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:154.79, Y:114.17, Z:6.67 [[-3.99632588e-01 -9.16619523e-01 1.01214739e-02 1.54785537e+02] [ 9.16190542e-01 -3.99755936e-01 -2.81083929e-02 1.14172221e+02] [ 2.98108210e-02 -1.95983109e-03 9.99553637e-01 6.66653624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60071405699998 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:154.78, Y:114.17, Z:6.67 [[-3.99888728e-01 -9.16508646e-01 1.00452610e-02 1.54783812e+02] [ 9.16078966e-01 -4.00009630e-01 -2.81358055e-02 1.14171345e+02] [ 2.98049101e-02 -2.04893911e-03 9.99553635e-01 6.66729547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63071405699998 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:154.78, Y:114.17, Z:6.67 [[-3.98858989e-01 -9.16956386e-01 1.01238350e-02 1.54781152e+02] [ 9.16527530e-01 -3.98982772e-01 -2.81075539e-02 1.14173942e+02] [ 2.98126368e-02 -1.93217706e-03 9.99553637e-01 6.66980901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66071405699998 meters Centerline goodness : 0.995991 Centerline is valid? [True, True] Translation: X:154.78, Y:114.18, Z:6.67 [[-3.98844161e-01 -9.16966787e-01 9.75949160e-03 1.54779397e+02] [ 9.16534811e-01 -3.98956815e-01 -2.82382682e-02 1.14175522e+02] [ 2.97871697e-02 -2.31775460e-03 9.99553577e-01 6.67065382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69071405699998 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:154.78, Y:114.17, Z:6.67 [[-3.99589129e-01 -9.16642577e-01 9.74236576e-03 1.54780338e+02] [ 9.16210368e-01 -3.99700907e-01 -2.82444051e-02 1.14171102e+02] [ 2.97840567e-02 -2.36010069e-03 9.99553570e-01 6.67049045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72071405699998 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:154.78, Y:114.18, Z:6.67 [[-4.00622206e-01 -9.16191403e-01 9.75511697e-03 1.54777737e+02] [ 9.15759173e-01 -4.00733888e-01 -2.82398379e-02 1.14176320e+02] [ 2.97823026e-02 -2.38016829e-03 9.99553575e-01 6.67110473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75071405699998 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:154.78, Y:114.17, Z:6.67 [[-4.03437946e-01 -9.14955289e-01 9.72849781e-03 1.54781671e+02] [ 9.14522500e-01 -4.03547482e-01 -2.82493626e-02 1.14166099e+02] [ 2.97728145e-02 -2.49993466e-03 9.99553565e-01 6.67159015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78071405699998 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:154.78, Y:114.18, Z:6.67 [[-4.05445849e-01 -9.14063699e-01 1.00606997e-02 1.54776522e+02] [ 9.13633420e-01 -4.05564612e-01 -2.81304193e-02 1.14178847e+02] [ 2.97932589e-02 -2.21357023e-03 9.99553631e-01 6.67114928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81071405699998 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:154.78, Y:114.17, Z:6.67 [[-4.08016222e-01 -9.12924194e-01 9.60094700e-03 1.54778585e+02] [ 9.12489864e-01 -4.08119670e-01 -2.82945782e-02 1.14174547e+02] [ 2.97491403e-02 -2.78388007e-03 9.99553520e-01 6.66998976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84071405699999 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:154.77, Y:114.18, Z:6.67 [[-4.09518076e-01 -9.12247516e-01 9.97076491e-03 1.54774881e+02] [ 9.11815972e-01 -4.09632163e-01 -2.81624549e-02 1.14183076e+02] [ 2.97754755e-02 -2.44153163e-03 9.99553630e-01 6.67030076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.870714057 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:154.76, Y:114.21, Z:6.67 [[-4.12582068e-01 -9.10866601e-01 9.90318482e-03 1.54764200e+02] [ 9.10434133e-01 -4.12692631e-01 -2.81865712e-02 1.14209645e+02] [ 2.97611777e-02 -2.61307635e-03 9.99553622e-01 6.67002729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.900714057 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:154.77, Y:114.18, Z:6.67 [[-4.13671574e-01 -9.10371389e-01 9.98817428e-03 1.54770399e+02] [ 9.09939470e-01 -4.13784228e-01 -2.81562506e-02 1.14180626e+02] [ 2.97655939e-02 -2.55880647e-03 9.99553631e-01 6.66863986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.930714057 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:154.77, Y:114.19, Z:6.67 [[-4.12649403e-01 -9.10838306e-01 9.69795808e-03 1.54767017e+02] [ 9.10404218e-01 -4.12753629e-01 -2.82595378e-02 1.14185792e+02] [ 2.97427369e-02 -2.83221945e-03 9.99553574e-01 6.66905515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.960714057 meters Centerline goodness : 0.996402 Centerline is valid? [True, True] Translation: X:154.76, Y:114.20, Z:6.67 [[-4.11734847e-01 -9.11252249e-01 9.68263842e-03 1.54760155e+02] [ 9.10818147e-01 -4.11839039e-01 -2.82649858e-02 1.14200306e+02] [ 2.97442204e-02 -2.81855684e-03 9.99553569e-01 6.66997295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.990714057 meters Centerline goodness : 0.996250 Centerline is valid? [True, True] Translation: X:154.75, Y:114.22, Z:6.67 [[-4.07792798e-01 -9.13022810e-01 9.71502145e-03 1.54748766e+02] [ 9.12589418e-01 -4.07899859e-01 -2.82534703e-02 1.14223151e+02] [ 2.97588187e-02 -2.65573593e-03 9.99553580e-01 6.67405360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.020714057 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:154.75, Y:114.21, Z:6.67 [[-4.05086107e-01 -9.14227927e-01 9.61994777e-03 1.54753182e+02] [ 9.13794098e-01 -4.05191533e-01 -2.82872428e-02 1.14207931e+02] [ 2.97589087e-02 -2.66811755e-03 9.99553545e-01 6.67324409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.050714057 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:154.75, Y:114.22, Z:6.67 [[-3.99386651e-01 -9.16731939e-01 9.63612416e-03 1.54746770e+02] [ 9.16298906e-01 -3.99495272e-01 -2.82815003e-02 1.14216447e+02] [ 2.97761407e-02 -2.46568366e-03 9.99553551e-01 6.67476208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.080714057 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:154.76, Y:114.18, Z:6.68 [[-3.95005362e-01 -9.18629277e-01 9.54015259e-03 1.54760824e+02] [ 9.18195983e-01 -3.95113110e-01 -2.83155052e-02 1.14176661e+02] [ 2.97808915e-02 -2.42504663e-03 9.99553509e-01 6.67564509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.110714057 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:154.74, Y:114.21, Z:6.68 [[-3.90162490e-01 -9.20694218e-01 9.76668008e-03 1.54744950e+02] [ 9.20263402e-01 -3.90279441e-01 -2.82352423e-02 1.14209535e+02] [ 2.98077587e-02 -2.02841420e-03 9.99553592e-01 6.67534474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.140714057 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:154.75, Y:114.19, Z:6.68 [[-3.86880441e-01 -9.22080876e-01 9.50703056e-03 1.54752917e+02] [ 9.21648277e-01 -3.86990997e-01 -2.83270535e-02 1.14185846e+02] [ 2.97989695e-02 -2.19704461e-03 9.99553498e-01 6.67574685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17071405699997 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:154.75, Y:114.19, Z:6.67 [[-3.83204762e-01 -9.23611942e-01 9.75146940e-03 1.54750158e+02] [ 9.23181886e-01 -3.83324497e-01 -2.82406519e-02 1.14189533e+02] [ 2.98213804e-02 -1.81957238e-03 9.99553588e-01 6.67470143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20071405699997 meters Centerline goodness : 0.994158 Centerline is valid? [True, True] Translation: X:154.75, Y:114.19, Z:6.68 [[-3.79022342e-01 -9.25339625e-01 9.41504462e-03 1.54747723e+02] [ 9.24907205e-01 -3.79133768e-01 -2.83592646e-02 1.14191900e+02] [ 2.98115126e-02 -2.04075226e-03 9.99553455e-01 6.67610174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23071405699997 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:154.75, Y:114.19, Z:6.68 [[-3.77582945e-01 -9.25928871e-01 9.31909583e-03 1.54749613e+02] [ 9.25495814e-01 -3.77692114e-01 -2.83930592e-02 1.14186756e+02] [ 2.98097023e-02 -2.09595074e-03 9.99553395e-01 6.67513729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26071405699997 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:154.74, Y:114.20, Z:6.67 [[-3.66881589e-01 -9.30217182e-01 9.68990589e-03 1.54744905e+02] [ 9.29788735e-01 -3.67007011e-01 -2.82623816e-02 1.14203016e+02] [ 2.98464164e-02 -1.35938212e-03 9.99553572e-01 6.66972731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29071405699997 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:154.75, Y:114.19, Z:6.67 [[-3.65721523e-01 -9.30680819e-01 8.99895509e-03 1.54749897e+02] [ 9.30246460e-01 -3.65826457e-01 -2.85048562e-02 1.14186663e+02] [ 2.98209787e-02 -2.05359329e-03 9.99553146e-01 6.66958225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32071405699998 meters Centerline goodness : 0.992961 Centerline is valid? [True, True] Translation: X:154.74, Y:114.20, Z:6.67 [[-3.61518342e-01 -9.32320633e-01 9.09537733e-03 1.54744400e+02] [ 9.31887582e-01 -3.61628174e-01 -2.84710240e-02 1.14201569e+02] [ 2.98332679e-02 -1.81692822e-03 9.99553238e-01 6.67176313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35071405699998 meters Centerline goodness : 0.993033 Centerline is valid? [True, True] Translation: X:154.75, Y:114.19, Z:6.67 [[-3.58054204e-01 -9.33654102e-01 9.33831365e-03 1.54749185e+02] [ 9.33223622e-01 -3.58173028e-01 -2.83857839e-02 1.14185847e+02] [ 2.98472356e-02 -1.44891436e-03 9.99553422e-01 6.66897805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38071405699998 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:154.75, Y:114.18, Z:6.67 [[-3.56899249e-01 -9.34099473e-01 9.00562209e-03 1.54751481e+02] [ 9.33666194e-01 -3.57008492e-01 -2.85021857e-02 1.14177333e+02] [ 2.98389602e-02 -1.76416378e-03 9.99553162e-01 6.67398238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41071405699998 meters Centerline goodness : 0.991963 Centerline is valid? [True, True] Translation: X:154.75, Y:114.17, Z:6.67 [[-3.52025623e-01 -9.35944295e-01 9.28644858e-03 1.54754997e+02] [ 9.35514116e-01 -3.52145648e-01 -2.84039027e-02 1.14172145e+02] [ 2.98546531e-02 -1.31129781e-03 9.99553390e-01 6.67458386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44071405699998 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:154.75, Y:114.19, Z:6.68 [[-3.57975462e-01 -9.33684988e-01 9.26886696e-03 1.54748490e+02] [ 9.33253897e-01 -3.58092213e-01 -2.84100525e-02 1.14185016e+02] [ 2.98451486e-02 -1.51989546e-03 9.99553379e-01 6.67704336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47071405699998 meters Centerline goodness : 0.990380 Centerline is valid? [True, True] Translation: X:154.74, Y:114.20, Z:6.68 [[-3.59279778e-01 -9.33180685e-01 9.58381850e-03 1.54740839e+02] [ 9.32752283e-01 -3.59405481e-01 -2.82997879e-02 1.14204470e+02] [ 2.98532924e-02 -1.22821293e-03 9.99553537e-01 6.67912399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50071405699998 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:154.74, Y:114.21, Z:6.68 [[-3.59257939e-01 -9.33188628e-01 9.62896999e-03 1.54741079e+02] [ 9.32760646e-01 -3.59385020e-01 -2.82839887e-02 1.14208692e+02] [ 2.98548042e-02 -1.17972323e-03 9.99553550e-01 6.67883174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53071405699998 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:154.75, Y:114.20, Z:6.67 [[-3.58118325e-01 -9.33626867e-01 9.59883172e-03 1.54747201e+02] [ 9.33198762e-01 -3.58245016e-01 -2.82945206e-02 1.14199750e+02] [ 2.98552582e-02 -1.17516844e-03 9.99553542e-01 6.67471450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56071405699998 meters Centerline goodness : 0.992277 Centerline is valid? [True, True] Translation: X:154.75, Y:114.20, Z:6.68 [[-3.60531774e-01 -9.32703973e-01 8.95196867e-03 1.54748706e+02] [ 9.32269853e-01 -3.60637696e-01 -2.85197069e-02 1.14201562e+02] [ 2.98288613e-02 -1.93661001e-03 9.99553144e-01 6.67569239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59071405699999 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:154.75, Y:114.20, Z:6.67 [[-3.63161235e-01 -9.31679479e-01 9.34163704e-03 1.54752357e+02] [ 9.31248404e-01 -3.63277802e-01 -2.83839680e-02 1.14200164e+02] [ 2.98383698e-02 -1.60857228e-03 9.99553442e-01 6.67359335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.620714057 meters Centerline goodness : 0.991404 Centerline is valid? [True, True] Translation: X:154.75, Y:114.22, Z:6.67 [[-3.65948101e-01 -9.30589114e-01 9.26756755e-03 1.54748134e+02] [ 9.30157052e-01 -3.66061122e-01 -2.84097431e-02 1.14216237e+02] [ 2.98302939e-02 -1.77619822e-03 9.99553400e-01 6.67450049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.650714057 meters Centerline goodness : 0.991035 Centerline is valid? [True, True] Translation: X:154.75, Y:114.21, Z:6.67 [[-3.72012579e-01 -9.28180316e-01 9.37779564e-03 1.54753421e+02] [ 9.27748457e-01 -3.72126139e-01 -2.83713974e-02 1.14208845e+02] [ 2.98234955e-02 -1.85428127e-03 9.99553461e-01 6.67438670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.680714057 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:154.75, Y:114.21, Z:6.67 [[-3.75908636e-01 -9.26610096e-01 9.29665150e-03 1.54753930e+02] [ 9.26177088e-01 -3.76017905e-01 -2.83995881e-02 1.14213411e+02] [ 2.98110525e-02 -2.06530480e-03 9.99553418e-01 6.67394928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.710714057 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:154.75, Y:114.23, Z:6.68 [[-3.80383263e-01 -9.24779370e-01 9.57546421e-03 1.54750044e+02] [ 9.24348154e-01 -3.80498949e-01 -2.83026444e-02 1.14233179e+02] [ 2.98171557e-02 -1.91478958e-03 9.99553536e-01 6.67545203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.740714057 meters Centerline goodness : 0.989263 Centerline is valid? [True, True] Translation: X:154.76, Y:114.22, Z:6.68 [[-3.86066231e-01 -9.22422382e-01 9.47709309e-03 1.54759619e+02] [ 9.21989655e-01 -3.86176256e-01 -2.83368127e-02 1.14215439e+02] [ 2.97983386e-02 -2.20210468e-03 9.99553505e-01 6.67535663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.770714057 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:154.76, Y:114.22, Z:6.68 [[-3.84329420e-01 -9.23143908e-01 9.80934452e-03 1.54756940e+02] [ 9.22714177e-01 -3.84450392e-01 -2.82213287e-02 1.14220791e+02] [ 2.98235540e-02 -1.79506561e-03 9.99553567e-01 6.67690765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.800714057 meters Centerline goodness : 0.992794 Centerline is valid? [True, True] Translation: X:154.76, Y:114.23, Z:6.68 [[-3.86551130e-01 -9.22224091e-01 8.99724457e-03 1.54755812e+02] [ 9.21787557e-01 -3.86646228e-01 -2.85025367e-02 1.14229671e+02] [ 2.97644766e-02 -2.72413967e-03 9.99553228e-01 6.67563935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.830714057 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:154.76, Y:114.23, Z:6.67 [[-3.87621101e-01 -9.21770343e-01 9.45076664e-03 1.54755704e+02] [ 9.21337238e-01 -3.87729592e-01 -2.83453365e-02 1.14229653e+02] [ 2.97922325e-02 -2.27990731e-03 9.99553513e-01 6.67426082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.860714057 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:154.76, Y:114.23, Z:6.68 [[-3.88294541e-01 -9.21487070e-01 9.43023006e-03 1.54755403e+02] [ 9.21053721e-01 -3.88402088e-01 -2.83524470e-02 1.14232677e+02] [ 2.97891344e-02 -2.32335191e-03 9.99553505e-01 6.67599225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.890714057 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:154.75, Y:114.25, Z:6.68 [[-3.90091414e-01 -9.20731113e-01 9.10525220e-03 1.54751628e+02] [ 9.20295042e-01 -3.90188154e-01 -2.84647221e-02 1.14246203e+02] [ 2.97611169e-02 -2.72432527e-03 9.99553327e-01 6.67692195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92071405699997 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:154.75, Y:114.25, Z:6.68 [[-3.89780501e-01 -9.20863660e-01 9.01552116e-03 1.54750716e+02] [ 9.20426948e-01 -3.89874632e-01 -2.84957041e-02 1.14248695e+02] [ 2.97555814e-02 -2.80894121e-03 9.99553258e-01 6.67696394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95071405699997 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:154.76, Y:114.24, Z:6.67 [[-3.90296612e-01 -9.20645167e-01 9.00171395e-03 1.54756029e+02] [ 9.20208299e-01 -3.90390073e-01 -2.85004646e-02 1.14237226e+02] [ 2.97529947e-02 -2.84018287e-03 9.99553247e-01 6.67308327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98071405699997 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:154.75, Y:114.26, Z:6.68 [[-3.93097579e-01 -9.19450379e-01 9.23550778e-03 1.54749470e+02] [ 9.19014971e-01 -3.93196892e-01 -2.84198334e-02 1.14256769e+02] [ 2.97619996e-02 -2.68419779e-03 9.99553410e-01 6.67555599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01071405699997 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:154.75, Y:114.27, Z:6.67 [[-3.95767234e-01 -9.18305937e-01 9.08306770e-03 1.54745926e+02] [ 9.17869114e-01 -3.95860597e-01 -2.84723875e-02 1.14269062e+02] [ 2.97419911e-02 -2.93137073e-03 9.99553311e-01 6.67374426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04071405699997 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:154.75, Y:114.27, Z:6.67 [[-3.96160632e-01 -9.18133456e-01 9.36541519e-03 1.54745159e+02] [ 9.17698703e-01 -3.96262481e-01 -2.83749367e-02 1.14271326e+02] [ 2.97631414e-02 -2.64640347e-03 9.99553476e-01 6.67362046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07071405699998 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:154.76, Y:114.24, Z:6.68 [[-3.89494769e-01 -9.20981113e-01 9.36029949e-03 1.54757032e+02] [ 9.20547069e-01 -3.89599610e-01 -2.83767004e-02 1.14242705e+02] [ 2.97811741e-02 -2.43598011e-03 9.99553474e-01 6.67584785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10071405699998 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:154.75, Y:114.26, Z:6.67 [[-3.89110165e-01 -9.21147942e-01 8.93013419e-03 1.54753106e+02] [ 9.20710685e-01 -3.89201992e-01 -2.85244376e-02 1.14255315e+02] [ 2.97508530e-02 -2.87707867e-03 9.99553205e-01 6.67385075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13071405699998 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:154.74, Y:114.27, Z:6.67 [[-4.05207070e-01 -9.14182559e-01 8.80228320e-03 1.54738301e+02] [ 9.13742896e-01 -4.05287265e-01 -2.85683832e-02 1.14272671e+02] [ 2.96841710e-02 -3.53308711e-03 9.99553084e-01 6.67455014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16071405699998 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:154.74, Y:114.28, Z:6.68 [[-3.91254426e-01 -9.20230957e-01 9.74479116e-03 1.54741500e+02] [ 9.19799810e-01 -3.91370197e-01 -2.82432041e-02 1.14279791e+02] [ 2.98040916e-02 -2.08702156e-03 9.99553581e-01 6.67932095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19071405699998 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:154.74, Y:114.29, Z:6.68 [[-3.90502796e-01 -9.20556436e-01 9.13321557e-03 1.54736107e+02] [ 9.20120578e-01 -3.90600203e-01 -2.84535478e-02 1.14290275e+02] [ 2.97605324e-02 -2.70753038e-03 9.99553390e-01 6.67957048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22071405699998 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:154.74, Y:114.27, Z:6.68 [[-3.86258155e-01 -9.22343708e-01 9.31241049e-03 1.54744369e+02] [ 9.21909695e-01 -3.86363058e-01 -2.83919447e-02 1.14265892e+02] [ 2.97851030e-02 -2.38141870e-03 9.99553489e-01 6.67805931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25071405699998 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:154.75, Y:114.26, Z:6.68 [[-3.82287745e-01 -9.23998910e-01 9.06061845e-03 1.54745817e+02] [ 9.23563382e-01 -3.82386807e-01 -2.84782419e-02 1.14257818e+02] [ 2.97785254e-02 -2.51882745e-03 9.99553348e-01 6.67641859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28071405699998 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:154.74, Y:114.26, Z:6.68 [[-3.81544461e-01 -9.24307763e-01 8.88725065e-03 1.54744950e+02] [ 9.23870997e-01 -3.81638558e-01 -2.85375558e-02 1.14258848e+02] [ 2.97692019e-02 -2.67767324e-03 9.99553213e-01 6.67537892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31071405699998 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:154.74, Y:114.27, Z:6.68 [[-3.81281343e-01 -9.24415367e-01 8.98708571e-03 1.54741712e+02] [ 9.23979383e-01 -3.81378626e-01 -2.85033988e-02 1.14265509e+02] [ 2.97764623e-02 -2.56393226e-03 9.99553295e-01 6.67549910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34071405699999 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:154.74, Y:114.26, Z:6.68 [[-3.81219083e-01 -9.24441147e-01 8.97648352e-03 1.54743084e+02] [ 9.24005089e-01 -3.81316071e-01 -2.85070219e-02 1.14261811e+02] [ 2.97759414e-02 -2.57310428e-03 9.99553286e-01 6.67500808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.370714057 meters Centerline goodness : 0.994504 Centerline is valid? [True, True] Translation: X:154.74, Y:114.27, Z:6.68 [[-3.88431092e-01 -9.21433918e-01 8.99005496e-03 1.54735400e+02] [ 9.20997216e-01 -3.88525086e-01 -2.85023838e-02 1.14274466e+02] [ 2.97559251e-02 -2.79139648e-03 9.99553297e-01 6.67923821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.400714057 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:154.74, Y:114.27, Z:6.68 [[-3.86896102e-01 -9.22077827e-01 9.15900256e-03 1.54738208e+02] [ 9.21642553e-01 -3.86996005e-01 -2.84446379e-02 1.14267961e+02] [ 2.97726673e-02 -2.56379302e-03 9.99553408e-01 6.68030626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.430714057 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:154.74, Y:114.26, Z:6.68 [[-3.81245670e-01 -9.24429477e-01 9.04878548e-03 1.54743737e+02] [ 9.23993972e-01 -3.81344861e-01 -2.84822320e-02 1.14255024e+02] [ 2.97805226e-02 -2.49770438e-03 9.99553341e-01 6.67515835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.460714057 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:154.73, Y:114.28, Z:6.68 [[-3.89702697e-01 -9.20899020e-01 8.76375052e-03 1.54731038e+02] [ 9.20460567e-01 -3.89789130e-01 -2.85793356e-02 1.14283544e+02] [ 2.97346969e-02 -3.07075740e-03 9.99553109e-01 6.67986463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.490714057 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:154.73, Y:114.30, Z:6.68 [[-3.89818399e-01 -9.20845854e-01 9.19400852e-03 1.54725416e+02] [ 9.20410536e-01 -3.89917995e-01 -2.84324107e-02 1.14297277e+02] [ 2.97667769e-02 -2.62121452e-03 9.99553434e-01 6.68117141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.520714057 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:154.72, Y:114.30, Z:6.68 [[-3.89700012e-01 -9.20896028e-01 9.18725069e-03 1.54722352e+02] [ 9.20460673e-01 -3.89799457e-01 -2.84347169e-02 1.14304444e+02] [ 2.97666032e-02 -2.62450657e-03 9.99553431e-01 6.68143887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.550714057 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:154.72, Y:114.30, Z:6.68 [[-3.89193526e-01 -9.21110236e-01 9.18324998e-03 1.54721672e+02] [ 9.20674905e-01 -3.89293088e-01 -2.84360809e-02 1.14304824e+02] [ 2.97677410e-02 -2.61235079e-03 9.99553429e-01 6.68135962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.580714057 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:154.73, Y:114.29, Z:6.68 [[-3.88279738e-01 -9.21495466e-01 9.21684081e-03 1.54728215e+02] [ 9.21060489e-01 -3.88380761e-01 -2.84246421e-02 1.14285412e+02] [ 2.97728225e-02 -2.54744471e-03 9.99553445e-01 6.68239743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.610714057 meters Centerline goodness : 0.994251 Centerline is valid? [True, True] Translation: X:154.73, Y:114.29, Z:6.68 [[-3.88595097e-01 -9.21363187e-01 9.15033354e-03 1.54726771e+02] [ 9.20927673e-01 -3.88693933e-01 -2.84472646e-02 1.14289887e+02] [ 2.97669415e-02 -2.62767219e-03 9.99553413e-01 6.68032709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.640714057 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:154.72, Y:114.30, Z:6.68 [[-3.88417006e-01 -9.21437454e-01 9.23295398e-03 1.54722901e+02] [ 9.21002584e-01 -3.88518458e-01 -2.84191563e-02 1.14300918e+02] [ 2.97736480e-02 -2.53490911e-03 9.99553452e-01 6.68105400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67071405699997 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:154.73, Y:114.29, Z:6.68 [[-3.88046155e-01 -9.21593784e-01 9.22379329e-03 1.54726006e+02] [ 9.21158885e-01 -3.88147502e-01 -2.84222687e-02 1.14290857e+02] [ 2.97739785e-02 -2.53257294e-03 9.99553448e-01 6.68250946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70071405699997 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:154.72, Y:114.30, Z:6.68 [[-3.87718945e-01 -9.21732291e-01 9.14348175e-03 1.54724912e+02] [ 9.21296823e-01 -3.87817985e-01 -2.84495117e-02 1.14295172e+02] [ 2.97688403e-02 -2.60655396e-03 9.99553411e-01 6.68263034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73071405699997 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:154.73, Y:114.29, Z:6.68 [[-3.87229064e-01 -9.21938443e-01 9.11923007e-03 1.54726073e+02] [ 9.21502846e-01 -3.87327592e-01 -2.84577297e-02 1.14292462e+02] [ 2.97684044e-02 -2.61626356e-03 9.99553399e-01 6.68247822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76071405699997 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:154.72, Y:114.30, Z:6.68 [[-3.86396620e-01 -9.22287927e-01 9.09019705e-03 1.54723324e+02] [ 9.21852202e-01 -3.86494651e-01 -2.84675586e-02 1.14301768e+02] [ 2.97685981e-02 -2.61995024e-03 9.99553383e-01 6.68269342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79071405699997 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:154.73, Y:114.30, Z:6.68 [[-3.85087942e-01 -9.22835310e-01 9.07016927e-03 1.54725306e+02] [ 9.22399575e-01 -3.85185977e-01 -2.84743327e-02 1.14296512e+02] [ 2.97708217e-02 -2.59880191e-03 9.99553372e-01 6.68312452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82071405699998 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:154.72, Y:114.30, Z:6.68 [[-3.82879530e-01 -9.23754053e-01 9.03959131e-03 1.54723888e+02] [ 9.23318324e-01 -3.82977671e-01 -2.84846626e-02 1.14299190e+02] [ 2.97747842e-02 -2.55977394e-03 9.99553355e-01 6.68354551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85071405699998 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:154.72, Y:114.32, Z:6.68 [[-3.82600943e-01 -9.23869965e-01 8.98924320e-03 1.54718292e+02] [ 9.23433889e-01 -3.82697672e-01 -2.85016672e-02 1.14315580e+02] [ 2.97719967e-02 -2.60379294e-03 9.99553324e-01 6.68246444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88071405699998 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:154.72, Y:114.32, Z:6.68 [[-3.81832102e-01 -9.24187748e-01 9.01396132e-03 1.54719515e+02] [ 9.23751938e-01 -3.81929952e-01 -2.84933191e-02 1.14315575e+02] [ 2.97758783e-02 -2.55299970e-03 9.99553340e-01 6.68088035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91071405699998 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:154.72, Y:114.31, Z:6.68 [[-3.81405919e-01 -9.24362684e-01 9.11886305e-03 1.54721459e+02] [ 9.23927713e-01 -3.81507181e-01 -2.84579113e-02 1.14314315e+02] [ 2.97843430e-02 -2.42884552e-03 9.99553397e-01 6.67800652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94071405699998 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:154.72, Y:114.31, Z:6.68 [[-3.81966635e-01 -9.24133008e-01 8.92603442e-03 1.54722921e+02] [ 9.23696531e-01 -3.82061726e-01 -2.85229013e-02 1.14311571e+02] [ 2.97692507e-02 -2.64984957e-03 9.99553285e-01 6.67827433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97071405699998 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:154.72, Y:114.31, Z:6.68 [[-3.81445530e-01 -9.24347981e-01 8.95078486e-03 1.54723933e+02] [ 9.23911742e-01 -3.81541626e-01 -2.85145638e-02 1.14313354e+02] [ 2.97724765e-02 -2.60701770e-03 9.99553302e-01 6.67794010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00071405699998 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:154.72, Y:114.31, Z:6.68 [[-3.81661832e-01 -9.24257141e-01 9.10948646e-03 1.54723349e+02] [ 9.23822070e-01 -3.81762686e-01 -2.84611043e-02 1.14312854e+02] [ 2.97830409e-02 -2.44697256e-03 9.99553392e-01 6.67776729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03071405699998 meters Centerline goodness : 0.994160 Centerline is valid? [True, True] Translation: X:154.72, Y:114.31, Z:6.68 [[-3.82045641e-01 -9.24100444e-01 8.91620919e-03 1.54724163e+02] [ 9.23663889e-01 -3.82140394e-01 -2.85261167e-02 1.14311379e+02] [ 2.97682408e-02 -2.66269807e-03 9.99553281e-01 6.67784429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06071405699998 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:154.72, Y:114.32, Z:6.68 [[-3.82754307e-01 -9.23806909e-01 8.94062551e-03 1.54721092e+02] [ 9.23370462e-01 -3.82849473e-01 -2.85179062e-02 1.14320641e+02] [ 2.97679526e-02 -2.65984191e-03 9.99553297e-01 6.67923167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09071405699999 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:154.72, Y:114.33, Z:6.68 [[-3.82093672e-01 -9.24079958e-01 8.98089166e-03 1.54718955e+02] [ 9.23643877e-01 -3.82190385e-01 -2.85043695e-02 1.14328316e+02] [ 2.97727271e-02 -2.59619363e-03 9.99553322e-01 6.67910429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.120714057 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:154.71, Y:114.37, Z:6.68 [[-3.83205953e-01 -9.23619224e-01 8.98483887e-03 1.54705207e+02] [ 9.23183055e-01 -3.83302262e-01 -2.85030424e-02 1.14369468e+02] [ 2.97698670e-02 -2.62788454e-03 9.99553325e-01 6.68106476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.150714057 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:154.71, Y:114.36, Z:6.67 [[-3.72327174e-01 -9.28057767e-01 9.01429036e-03 1.54713244e+02] [ 9.27622988e-01 -3.72429501e-01 -2.84931402e-02 1.14361902e+02] [ 2.98004678e-02 -2.24690742e-03 9.99553342e-01 6.67497314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.180714057 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:154.72, Y:114.33, Z:6.68 [[-3.82758959e-01 -9.23808101e-01 8.61233398e-03 1.54720520e+02] [ 9.23369314e-01 -3.82844044e-01 -2.86277482e-02 1.14328760e+02] [ 2.97437265e-02 -3.00516217e-03 9.99553040e-01 6.68066148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.210714057 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:154.72, Y:114.32, Z:6.68 [[-3.82780274e-01 -9.23793148e-01 9.24559401e-03 1.54722285e+02] [ 9.23358988e-01 -3.82884766e-01 -2.84154156e-02 1.14320754e+02] [ 2.97899633e-02 -2.33985825e-03 9.99553442e-01 6.68034797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.240714057 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:154.72, Y:114.33, Z:6.68 [[-3.81095945e-01 -9.24492193e-01 8.94793837e-03 1.54722015e+02] [ 9.24055985e-01 -3.81192120e-01 -2.85149889e-02 1.14329888e+02] [ 2.97727683e-02 -2.59855064e-03 9.99553315e-01 6.67652689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.270714057 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:154.72, Y:114.33, Z:6.68 [[-3.82880762e-01 -9.23755295e-01 8.85871114e-03 1.54720357e+02] [ 9.23318256e-01 -3.82973358e-01 -2.85448063e-02 1.14331496e+02] [ 2.97610664e-02 -2.74984748e-03 9.99553259e-01 6.68111671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.300714057 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:154.72, Y:114.34, Z:6.68 [[-3.83852760e-01 -9.23353501e-01 8.68161248e-03 1.54716028e+02] [ 9.22915114e-01 -3.83939458e-01 -2.86039406e-02 1.14344222e+02] [ 2.97447622e-02 -2.96731017e-03 9.99553122e-01 6.68143926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.330714057 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:154.71, Y:114.35, Z:6.68 [[-3.84422433e-01 -9.23115382e-01 8.79687148e-03 1.54714863e+02] [ 9.22677750e-01 -3.84512401e-01 -2.85654346e-02 1.14350885e+02] [ 2.97516982e-02 -2.86451627e-03 9.99553216e-01 6.68253227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.360714057 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:154.71, Y:114.37, Z:6.68 [[-3.84144237e-01 -9.23228667e-01 9.05718616e-03 1.54706430e+02] [ 9.22792945e-01 -3.84242321e-01 -2.84784139e-02 1.14369880e+02] [ 2.97722423e-02 -2.58191109e-03 9.99553374e-01 6.68375336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.390714057 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:154.71, Y:114.35, Z:6.68 [[-3.82967267e-01 -9.23719802e-01 8.82044683e-03 1.54714121e+02] [ 9.23282485e-01 -3.83058649e-01 -2.85573928e-02 1.14346623e+02] [ 2.97577777e-02 -2.79278260e-03 9.99553238e-01 6.68305310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42071405699997 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:154.71, Y:114.35, Z:6.69 [[-3.83857271e-01 -9.23351266e-01 8.71982190e-03 1.54713885e+02] [ 9.22913153e-01 -3.83945142e-01 -2.85909009e-02 1.14348977e+02] [ 2.97473778e-02 -2.92718689e-03 9.99553163e-01 6.68507843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45071405699997 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:154.71, Y:114.37, Z:6.69 [[-3.83521822e-01 -9.23487030e-01 9.09487124e-03 1.54705434e+02] [ 9.23051652e-01 -3.83621354e-01 -2.84658607e-02 1.14373023e+02] [ 2.97768400e-02 -2.52224286e-03 9.99553389e-01 6.68504911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48071405699997 meters Centerline goodness : 0.992560 Centerline is valid? [True, True] Translation: X:154.72, Y:114.35, Z:6.69 [[-3.85634835e-01 -9.22610054e-01 8.74428403e-03 1.54715423e+02] [ 9.22171952e-01 -3.85722614e-01 -2.85824409e-02 1.14345198e+02] [ 2.97433155e-02 -2.95865142e-03 9.99553191e-01 6.68593764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51071405699997 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:154.71, Y:114.35, Z:6.69 [[-3.85543072e-01 -9.22644710e-01 9.12577074e-03 1.54714510e+02] [ 9.22209341e-01 -3.85642596e-01 -2.84555694e-02 1.14346377e+02] [ 2.97736665e-02 -2.55497660e-03 9.99553401e-01 6.68616961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54071405699997 meters Centerline goodness : 0.992963 Centerline is valid? [True, True] Translation: X:154.71, Y:114.37, Z:6.69 [[-3.89122492e-01 -9.21144308e-01 8.76643365e-03 1.54707140e+02] [ 9.20706035e-01 -3.89209294e-01 -2.85748605e-02 1.14369386e+02] [ 2.97335475e-02 -3.04781253e-03 9.99553214e-01 6.68829151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57071405699998 meters Centerline goodness : 0.992236 Centerline is valid? [True, True] Translation: X:154.71, Y:114.36, Z:6.69 [[-3.90409532e-01 -9.20598704e-01 8.85567104e-03 1.54710845e+02] [ 9.20160920e-01 -3.90498466e-01 -2.85452185e-02 1.14361847e+02] [ 2.97368171e-02 -2.99568299e-03 9.99553274e-01 6.68624678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60071405699998 meters Centerline goodness : 0.991635 Centerline is valid? [True, True] Translation: X:154.70, Y:114.39, Z:6.69 [[-3.92840504e-01 -9.19560673e-01 9.19277356e-03 1.54701409e+02] [ 9.19125014e-01 -3.92938631e-01 -2.84331001e-02 1.14391201e+02] [ 2.97581565e-02 -2.72036524e-03 9.99553426e-01 6.68593288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63071405699998 meters Centerline goodness : 0.991206 Centerline is valid? [True, True] Translation: X:154.70, Y:114.39, Z:6.68 [[-3.88488437e-01 -9.21407389e-01 9.22813335e-03 1.54704287e+02] [ 9.20972457e-01 -3.88589706e-01 -2.84213455e-02 1.14388850e+02] [ 2.97735954e-02 -2.54250744e-03 9.99553435e-01 6.68313057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66071405699998 meters Centerline goodness : 0.992563 Centerline is valid? [True, True] Translation: X:154.70, Y:114.40, Z:6.68 [[-3.87306185e-01 -9.21905902e-01 9.13388232e-03 1.54700838e+02] [ 9.21470410e-01 -3.87405126e-01 -2.84526338e-02 1.14398918e+02] [ 2.97691638e-02 -2.60327875e-03 9.99553410e-01 6.68059196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69071405699998 meters Centerline goodness : 0.992282 Centerline is valid? [True, True] Translation: X:154.70, Y:114.40, Z:6.68 [[-3.86890067e-01 -9.22084435e-01 8.73905502e-03 1.54700830e+02] [ 9.21646201e-01 -3.86977092e-01 -2.85833996e-02 1.14398293e+02] [ 2.97381220e-02 -3.00431656e-03 9.99553209e-01 6.68172873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72071405699998 meters Centerline goodness : 0.992540 Centerline is valid? [True, True] Translation: X:154.71, Y:114.38, Z:6.68 [[-3.87028221e-01 -9.22027477e-01 8.63066151e-03 1.54705793e+02] [ 9.21588497e-01 -3.87111847e-01 -2.86192348e-02 1.14384575e+02] [ 2.97287522e-02 -3.12253316e-03 9.99553126e-01 6.68187015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75071405699998 meters Centerline goodness : 0.991583 Centerline is valid? [True, True] Translation: X:154.71, Y:114.38, Z:6.69 [[-3.88102962e-01 -9.21575285e-01 8.66512345e-03 1.54706595e+02] [ 9.21136438e-01 -3.88187136e-01 -2.86078550e-02 1.14382776e+02] [ 2.97279816e-02 -3.12103229e-03 9.99553153e-01 6.68570987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78071405699998 meters Centerline goodness : 0.990654 Centerline is valid? [True, True] Translation: X:154.71, Y:114.37, Z:6.69 [[-3.89721326e-01 -9.20890045e-01 8.87764283e-03 1.54710647e+02] [ 9.20452488e-01 -3.89811262e-01 -2.85376605e-02 1.14372018e+02] [ 2.97406527e-02 -2.95028647e-03 9.99553295e-01 6.68623027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81071405699998 meters Centerline goodness : 0.991273 Centerline is valid? [True, True] Translation: X:154.71, Y:114.38, Z:6.69 [[-3.84985763e-01 -9.22878668e-01 8.99588902e-03 1.54711660e+02] [ 9.22442416e-01 -3.85081571e-01 -2.84986384e-02 1.14375338e+02] [ 2.97649365e-02 -2.67338044e-03 9.99553351e-01 6.68533557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84071405699999 meters Centerline goodness : 0.991273 Centerline is valid? [True, True] Translation: X:154.71, Y:114.38, Z:6.69 [[-3.84656521e-01 -9.23017388e-01 8.84665790e-03 1.54710809e+02] [ 9.22580115e-01 -3.84747909e-01 -2.85478031e-02 1.14377857e+02] [ 2.97538518e-02 -2.81934795e-03 9.99553280e-01 6.68535427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.870714057 meters Centerline goodness : 0.992564 Centerline is valid? [True, True] Translation: X:154.71, Y:114.38, Z:6.69 [[-3.87516407e-01 -9.21820418e-01 8.84027480e-03 1.54706626e+02] [ 9.21382821e-01 -3.87606243e-01 -2.85499035e-02 1.14383718e+02] [ 2.97444297e-02 -2.91827869e-03 9.99553276e-01 6.68623264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.900714057 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:154.71, Y:114.38, Z:6.69 [[-3.86135544e-01 -9.22401120e-01 8.69000290e-03 1.54709809e+02] [ 9.21962633e-01 -3.86221420e-01 -2.85992724e-02 1.14376277e+02] [ 2.97362661e-02 -3.03133763e-03 9.99553183e-01 6.68804861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.930714057 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:154.71, Y:114.38, Z:6.68 [[-3.83659894e-01 -9.23431484e-01 8.90952225e-03 1.54710063e+02] [ 9.22994752e-01 -3.83753682e-01 -2.85271513e-02 1.14376103e+02] [ 2.97619317e-02 -2.72128158e-03 9.99553311e-01 6.68489872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.960714057 meters Centerline goodness : 0.991563 Centerline is valid? [True, True] Translation: X:154.71, Y:114.37, Z:6.69 [[-3.84408084e-01 -9.23123062e-01 8.61610738e-03 1.54712212e+02] [ 9.22684244e-01 -3.84492511e-01 -2.86233402e-02 1.14373011e+02] [ 2.97356942e-02 -3.05309684e-03 9.99553134e-01 6.68641323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.990714057 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:154.71, Y:114.39, Z:6.69 [[-3.80884272e-01 -9.24578057e-01 9.08782411e-03 1.54706823e+02] [ 9.24142905e-01 -3.80984830e-01 -2.84684298e-02 1.14388958e+02] [ 2.97836086e-02 -2.44472899e-03 9.99553380e-01 6.68518470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.020714057 meters Centerline goodness : 0.992256 Centerline is valid? [True, True] Translation: X:154.70, Y:114.40, Z:6.68 [[-3.76773023e-01 -9.26262666e-01 8.91979939e-03 1.54702272e+02] [ 9.25826726e-01 -3.76870376e-01 -2.85235464e-02 1.14402366e+02] [ 2.97819043e-02 -2.48871414e-03 9.99553322e-01 6.68286070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.050714057 meters Centerline goodness : 0.991873 Centerline is valid? [True, True] Translation: X:154.71, Y:114.39, Z:6.68 [[-3.76768670e-01 -9.26267919e-01 8.55046957e-03 1.54708240e+02] [ 9.25829374e-01 -3.76854707e-01 -2.86443889e-02 1.14386387e+02] [ 2.97546632e-02 -2.87603242e-03 9.99553094e-01 6.68486264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.080714057 meters Centerline goodness : 0.991472 Centerline is valid? [True, True] Translation: X:154.71, Y:114.38, Z:6.68 [[-3.71219935e-01 -9.28501529e-01 8.98167331e-03 1.54709497e+02] [ 9.28066645e-01 -3.71321787e-01 -2.85032031e-02 1.14382607e+02] [ 2.98003586e-02 -2.24536579e-03 9.99553349e-01 6.68408555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.110714057 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:154.71, Y:114.39, Z:6.68 [[-3.71026871e-01 -9.28581497e-01 8.68705505e-03 1.54705633e+02] [ 9.28144472e-01 -3.71119806e-01 -2.85994678e-02 1.14392085e+02] [ 2.97808748e-02 -2.54832893e-03 9.99553203e-01 6.68423164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.140714057 meters Centerline goodness : 0.991999 Centerline is valid? [True, True] Translation: X:154.71, Y:114.38, Z:6.68 [[-3.68702512e-01 -9.29506593e-01 8.71497108e-03 1.54708040e+02] [ 9.29070005e-01 -3.68797393e-01 -2.85903513e-02 1.14383928e+02] [ 2.97889787e-02 -2.44451613e-03 9.99553221e-01 6.68439720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17071405699997 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:154.70, Y:114.39, Z:6.68 [[-3.63298854e-01 -9.31631343e-01 8.77408070e-03 1.54703913e+02] [ 9.31195755e-01 -3.63398074e-01 -2.85710725e-02 1.14393775e+02] [ 2.98061907e-02 -2.20945121e-03 9.99553255e-01 6.68163390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20071405699997 meters Centerline goodness : 0.992293 Centerline is valid? [True, True] Translation: X:154.69, Y:114.42, Z:6.69 [[-3.61688803e-01 -9.32261733e-01 8.32292477e-03 1.54693596e+02] [ 9.31823019e-01 -3.61774981e-01 -2.87180148e-02 1.14423740e+02] [ 2.97837322e-02 -2.63149152e-03 9.99552902e-01 6.68638442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23071405699997 meters Centerline goodness : 0.992680 Centerline is valid? [True, True] Translation: X:154.70, Y:114.40, Z:6.68 [[-3.59450280e-01 -9.33123889e-01 8.67775052e-03 1.54702444e+02] [ 9.32687990e-01 -3.59548359e-01 -2.86022767e-02 1.14396487e+02] [ 2.98095387e-02 -2.18746269e-03 9.99553203e-01 6.68483222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26071405699997 meters Centerline goodness : 0.991488 Centerline is valid? [True, True] Translation: X:154.70, Y:114.39, Z:6.69 [[-3.58003886e-01 -9.33679691e-01 8.68631598e-03 1.54703140e+02] [ 9.33244010e-01 -3.58102901e-01 -2.85994871e-02 1.14393936e+02] [ 2.98133552e-02 -2.13227516e-03 9.99553209e-01 6.68733053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29071405699997 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:154.70, Y:114.39, Z:6.68 [[-3.54537169e-01 -9.35001020e-01 8.74580748e-03 1.54701242e+02] [ 9.34566167e-01 -3.54639613e-01 -2.85801348e-02 1.14390997e+02] [ 2.98240650e-02 -1.95918431e-03 9.99553244e-01 6.68445533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32071405699998 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:154.70, Y:114.38, Z:6.68 [[-3.43377603e-01 -9.39160469e-01 8.33282262e-03 1.54704784e+02] [ 9.38723627e-01 -3.43472652e-01 -2.87139416e-02 1.14384729e+02] [ 2.98290955e-02 -2.03750695e-03 9.99552937e-01 6.68136055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35071405699998 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:154.69, Y:114.39, Z:6.69 [[-3.66673093e-01 -9.30315388e-01 8.00763204e-03 1.54688832e+02] [ 9.29874140e-01 -3.66747240e-01 -2.88192030e-02 1.14392659e+02] [ 2.97477250e-02 -3.12113637e-03 9.99552566e-01 6.68979686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38071405699998 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:154.70, Y:114.39, Z:6.68 [[-3.39650651e-01 -9.40506232e-01 9.24465409e-03 1.54702151e+02] [ 9.40077327e-01 -3.39775079e-01 -2.84167972e-02 1.14387786e+02] [ 2.98672779e-02 -9.61093953e-04 9.99553411e-01 6.68208609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41071405699998 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:154.70, Y:114.38, Z:6.69 [[-3.36612934e-01 -9.41609739e-01 7.92665724e-03 1.54702432e+02] [ 9.41170606e-01 -3.36698745e-01 -2.88417474e-02 1.14384758e+02] [ 2.98265658e-02 -2.24816843e-03 9.99552561e-01 6.68788946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44071405699998 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:154.70, Y:114.39, Z:6.69 [[-3.32713865e-01 -9.42992892e-01 8.11724704e-03 1.54701951e+02] [ 9.42555565e-01 -3.32807304e-01 -2.87802780e-02 1.14387084e+02] [ 2.98410767e-02 -1.92464117e-03 9.99552803e-01 6.68837754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47071405699998 meters Centerline goodness : 0.992814 Centerline is valid? [True, True] Translation: X:154.70, Y:114.40, Z:6.69 [[-3.31953353e-01 -9.43260422e-01 8.16991858e-03 1.54698285e+02] [ 9.42823580e-01 -3.32048748e-01 -2.87632932e-02 1.14396372e+02] [ 2.98440873e-02 -1.84527972e-03 9.99552863e-01 6.68900337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50071405699998 meters Centerline goodness : 0.992759 Centerline is valid? [True, True] Translation: X:154.70, Y:114.38, Z:6.69 [[-3.35955610e-01 -9.41843048e-01 8.09325235e-03 1.54702528e+02] [ 9.41405222e-01 -3.36046813e-01 -2.87879775e-02 1.14379093e+02] [ 2.98334682e-02 -2.05245254e-03 9.99552776e-01 6.69013887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53071405699998 meters Centerline goodness : 0.992575 Centerline is valid? [True, True] Translation: X:154.70, Y:114.37, Z:6.69 [[-3.35253382e-01 -9.42089621e-01 8.50383036e-03 1.54703934e+02] [ 9.41655066e-01 -3.35357403e-01 -2.86557034e-02 1.14374330e+02] [ 2.98480632e-02 -1.59924655e-03 9.99553168e-01 6.69068221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56071405699998 meters Centerline goodness : 0.992302 Centerline is valid? [True, True] Translation: X:154.70, Y:114.39, Z:6.69 [[-3.35324613e-01 -9.42064374e-01 8.49231210e-03 1.54700643e+02] [ 9.41629718e-01 -3.35428251e-01 -2.86594109e-02 1.14385564e+02] [ 2.98475714e-02 -1.61359243e-03 9.99553160e-01 6.69003597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59071405699999 meters Centerline goodness : 0.992694 Centerline is valid? [True, True] Translation: X:154.70, Y:114.38, Z:6.69 [[-3.33039177e-01 -9.42874119e-01 8.56166506e-03 1.54703737e+02] [ 9.42440278e-01 -3.33145972e-01 -2.86370927e-02 1.14377090e+02] [ 2.98534578e-02 -1.46841578e-03 9.99553208e-01 6.68826282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.620714057 meters Centerline goodness : 0.992177 Centerline is valid? [True, True] Translation: X:154.70, Y:114.38, Z:6.69 [[-3.31358383e-01 -9.43467580e-01 8.39925127e-03 1.54704331e+02] [ 9.43032616e-01 -3.31461025e-01 -2.86892528e-02 1.14376839e+02] [ 2.98514043e-02 -1.58565651e-03 9.99553090e-01 6.68758246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.650714057 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:154.70, Y:114.38, Z:6.69 [[-3.27851187e-01 -9.44691022e-01 8.51301869e-03 1.54703298e+02] [ 9.44257372e-01 -3.27958892e-01 -2.86527391e-02 1.14381056e+02] [ 2.98599055e-02 -1.35535385e-03 9.99553175e-01 6.68510934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.680714057 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:154.71, Y:114.38, Z:6.68 [[-3.19024364e-01 -9.47711170e-01 8.18494795e-03 1.54706635e+02] [ 9.47275817e-01 -3.19126180e-01 -2.87577491e-02 1.14380792e+02] [ 2.98660712e-02 -1.42101935e-03 9.99552899e-01 6.68283470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.710714057 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:154.70, Y:114.38, Z:6.69 [[-3.21795568e-01 -9.46776036e-01 7.92150145e-03 1.54704752e+02] [ 9.46338307e-01 -3.21888106e-01 -2.88419281e-02 1.14380770e+02] [ 2.98566835e-02 -1.78478438e-03 9.99552596e-01 6.69075661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.740714057 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:154.71, Y:114.38, Z:6.68 [[-3.13681691e-01 -9.49490994e-01 8.40528679e-03 1.54707932e+02] [ 9.49058081e-01 -3.13792620e-01 -2.86871186e-02 1.14379598e+02] [ 2.98756777e-02 -1.02151851e-03 9.99553100e-01 6.68423209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.770714057 meters Centerline goodness : 0.992252 Centerline is valid? [True, True] Translation: X:154.69, Y:114.39, Z:6.69 [[-3.33574347e-01 -9.42689664e-01 8.02204209e-03 1.54692587e+02] [ 9.42251567e-01 -3.33664487e-01 -2.88096227e-02 1.14393954e+02] [ 2.98352041e-02 -2.05136932e-03 9.99552726e-01 6.69289592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.800714057 meters Centerline goodness : 0.992510 Centerline is valid? [True, True] Translation: X:154.71, Y:114.39, Z:6.69 [[-3.05766459e-01 -9.52062705e-01 9.13667621e-03 1.54707468e+02] [ 9.51637481e-01 -3.05902936e-01 -2.84517025e-02 1.14393601e+02] [ 2.98827409e-02 -4.77277629e-06 9.99553411e-01 6.68581884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.830714057 meters Centerline goodness : 0.991570 Centerline is valid? [True, True] Translation: X:154.71, Y:114.39, Z:6.69 [[-3.04975061e-01 -9.52329224e-01 7.69814019e-03 1.54712910e+02] [ 9.51891496e-01 -3.05068570e-01 -2.89092903e-02 1.14390603e+02] [ 2.98796226e-02 -1.48881839e-03 9.99552396e-01 6.68907940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.860714057 meters Centerline goodness : 0.991382 Centerline is valid? [True, True] Translation: X:154.71, Y:114.39, Z:6.69 [[-3.08876137e-01 -9.51067813e-01 8.09617946e-03 1.54713521e+02] [ 9.50632936e-01 -3.08979920e-01 -2.87824596e-02 1.14393258e+02] [ 2.98756278e-02 -1.19372008e-03 9.99552911e-01 6.68846723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.890714057 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:154.72, Y:114.40, Z:6.69 [[-3.06786264e-01 -9.51740773e-01 8.46697953e-03 1.54716038e+02] [ 9.51309315e-01 -3.06902192e-01 -2.86641256e-02 1.14404398e+02] [ 2.98793516e-02 -7.39043521e-04 9.99553239e-01 6.68570345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92071405699997 meters Centerline goodness : 0.992428 Centerline is valid? [True, True] Translation: X:154.72, Y:114.40, Z:6.69 [[-3.10899095e-01 -9.50409769e-01 7.93873613e-03 1.54717680e+02] [ 9.49973400e-01 -3.10997183e-01 -2.88321428e-02 1.14404316e+02] [ 2.98712748e-02 -1.42229895e-03 9.99552742e-01 6.68709063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95071405699997 meters Centerline goodness : 0.992989 Centerline is valid? [True, True] Translation: X:154.72, Y:114.41, Z:6.69 [[-3.10470634e-01 -9.50548141e-01 8.13742266e-03 1.54719781e+02] [ 9.50113445e-01 -3.10574937e-01 -2.87689124e-02 1.14407652e+02] [ 2.98735157e-02 -1.20042779e-03 9.99552966e-01 6.68684700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98071405699997 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:154.73, Y:114.41, Z:6.69 [[-3.11813975e-01 -9.50108522e-01 8.11429953e-03 1.54726936e+02] [ 9.49673488e-01 -3.11916963e-01 -2.87762638e-02 1.14405545e+02] [ 2.98715612e-02 -1.26690608e-03 9.99552942e-01 6.68744534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01071405699997 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:154.73, Y:114.41, Z:6.68 [[-3.09344291e-01 -9.50912514e-01 8.45581745e-03 1.54732733e+02] [ 9.50480651e-01 -3.09458722e-01 -2.86676086e-02 1.14408585e+02] [ 2.98771142e-02 -8.31070184e-04 9.99553234e-01 6.68490237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04071405699997 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:154.73, Y:114.41, Z:6.68 [[-3.09317990e-01 -9.50924929e-01 8.00999750e-03 1.54734182e+02] [ 9.50489317e-01 -3.09418963e-01 -2.88090762e-02 1.14414982e+02] [ 2.98737138e-02 -1.29774847e-03 9.99552839e-01 6.68444657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07071405699998 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:154.74, Y:114.42, Z:6.69 [[-3.12720457e-01 -9.49810568e-01 8.11174058e-03 1.54737040e+02] [ 9.49375424e-01 -3.12822953e-01 -2.87767909e-02 1.14420464e+02] [ 2.98700387e-02 -1.29800405e-03 9.99552948e-01 6.68664602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10071405699998 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:154.74, Y:114.42, Z:6.69 [[-3.12463756e-01 -9.49894717e-01 8.15027707e-03 1.54740350e+02] [ 9.49459918e-01 -3.12567536e-01 -2.87645698e-02 1.14418151e+02] [ 2.98708249e-02 -1.24952413e-03 9.99552986e-01 6.68670490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13071405699998 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:154.74, Y:114.42, Z:6.69 [[-3.14932477e-01 -9.49079211e-01 8.13550076e-03 1.54743690e+02] [ 9.48644023e-01 -3.15034678e-01 -2.87692490e-02 1.14422027e+02] [ 2.98672610e-02 -1.34267669e-03 9.99552972e-01 6.68686986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16071405699998 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:154.75, Y:114.42, Z:6.69 [[-3.17604628e-01 -9.48188925e-01 8.06612092e-03 1.54745336e+02] [ 9.47752897e-01 -3.17703499e-01 -2.87911915e-02 1.14422873e+02] [ 2.98621238e-02 -1.49952619e-03 9.99552903e-01 6.68709940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19071405699998 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:154.76, Y:114.41, Z:6.68 [[-3.14751531e-01 -9.49138636e-01 8.20502010e-03 1.54756833e+02] [ 9.48704033e-01 -3.14855921e-01 -2.87473040e-02 1.14409098e+02] [ 2.98685761e-02 -1.26412230e-03 9.99553035e-01 6.68396513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22071405699998 meters Centerline goodness : 0.994407 Centerline is valid? [True, True] Translation: X:154.75, Y:114.43, Z:6.69 [[-3.31473266e-01 -9.43431359e-01 7.92117534e-03 1.54746675e+02] [ 9.42992857e-01 -3.31561317e-01 -2.88368680e-02 1.14431169e+02] [ 2.98319609e-02 -2.08903906e-03 9.99552745e-01 6.69026929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25071405699998 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:154.75, Y:114.44, Z:6.69 [[-3.37205225e-01 -9.41392336e-01 8.55024543e-03 1.54748359e+02] [ 9.40958026e-01 -3.37309759e-01 -2.86377146e-02 1.14441065e+02] [ 2.98434063e-02 -1.61136492e-03 9.99553288e-01 6.69223562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28071405699998 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:154.76, Y:114.43, Z:6.69 [[-3.35608988e-01 -9.41959911e-01 8.83928069e-03 1.54755753e+02] [ 9.41528105e-01 -3.35723015e-01 -2.85461885e-02 1.14427359e+02] [ 2.98569152e-02 -1.25792623e-03 9.99553391e-01 6.69175067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31071405699998 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:154.77, Y:114.41, Z:6.69 [[-3.29246120e-01 -9.44204789e-01 8.62029295e-03 1.54768525e+02] [ 9.43771953e-01 -3.29356438e-01 -2.86153280e-02 1.14406168e+02] [ 2.98578787e-02 -1.28589500e-03 9.99553327e-01 6.69108997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34071405699999 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:154.74, Y:114.46, Z:6.69 [[-3.52239122e-01 -9.35875001e-01 8.09837514e-03 1.54743060e+02] [ 9.35435886e-01 -3.52322891e-01 -2.87799116e-02 1.14464862e+02] [ 2.97876427e-02 -2.56190006e-03 9.99552967e-01 6.69336394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.370714057 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:154.77, Y:114.41, Z:6.69 [[-3.31243511e-01 -9.43502237e-01 9.01476564e-03 1.54773367e+02] [ 9.43072461e-01 -3.31364836e-01 -2.84899627e-02 1.14407115e+02] [ 2.98675199e-02 -9.35538056e-04 9.99553428e-01 6.69170018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.400714057 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:154.77, Y:114.43, Z:6.69 [[-3.30985367e-01 -9.43601079e-01 8.10491713e-03 1.54770523e+02] [ 9.43164087e-01 -3.31079248e-01 -2.87756408e-02 1.14426227e+02] [ 2.98360956e-02 -1.88004927e-03 9.99553037e-01 6.69012647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.430714057 meters Centerline goodness : 0.993364 Centerline is valid? [True, True] Translation: X:154.77, Y:114.42, Z:6.69 [[-3.34366675e-01 -9.42411760e-01 7.68122625e-03 1.54771623e+02] [ 9.41971411e-01 -3.34446060e-01 -2.89083809e-02 1.14423722e+02] [ 2.98125540e-02 -2.43050368e-03 9.99552552e-01 6.69210628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.460714057 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:154.77, Y:114.43, Z:6.69 [[-3.31202570e-01 -9.43524525e-01 8.14424693e-03 1.54769469e+02] [ 9.43087814e-01 -3.31297547e-01 -2.87630109e-02 1.14434344e+02] [ 2.98367752e-02 -1.84564311e-03 9.99553080e-01 6.68978532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.490714057 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:154.76, Y:114.46, Z:6.70 [[-3.41034485e-01 -9.40017873e-01 7.86632547e-03 1.54759385e+02] [ 9.39578232e-01 -3.41116412e-01 -2.88502963e-02 1.14459896e+02] [ 2.98031269e-02 -2.44791775e-03 9.99552791e-01 6.69739850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.520714057 meters Centerline goodness : 0.991955 Centerline is valid? [True, True] Translation: X:154.76, Y:114.47, Z:6.70 [[-3.39806580e-01 -9.40457717e-01 8.41258478e-03 1.54757073e+02] [ 9.40022157e-01 -3.39905735e-01 -2.86781537e-02 1.14468280e+02] [ 2.98300768e-02 -1.83700924e-03 9.99553296e-01 6.69874989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.550714057 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:154.76, Y:114.47, Z:6.70 [[-3.42035848e-01 -9.39649116e-01 8.42721454e-03 1.54755226e+02] [ 9.39213432e-01 -3.42134415e-01 -2.86735429e-02 1.14473835e+02] [ 2.98263094e-02 -1.89242649e-03 9.99553305e-01 6.69607475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.580714057 meters Centerline goodness : 0.990584 Centerline is valid? [True, True] Translation: X:154.75, Y:114.48, Z:6.70 [[-3.40084494e-01 -9.40353374e-01 8.83563020e-03 1.54751925e+02] [ 9.39921081e-01 -3.40196360e-01 -2.85446544e-02 1.14484532e+02] [ 2.98479114e-02 -1.40279926e-03 9.99553467e-01 6.69768729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.610714057 meters Centerline goodness : 0.991793 Centerline is valid? [True, True] Translation: X:154.76, Y:114.46, Z:6.70 [[-3.32130262e-01 -9.43191865e-01 8.86536178e-03 1.54759687e+02] [ 9.42760779e-01 -3.32246673e-01 -2.85352801e-02 1.14463873e+02] [ 2.98597310e-02 -1.11951467e-03 9.99553472e-01 6.69552764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.640714057 meters Centerline goodness : 0.991238 Centerline is valid? [True, True] Translation: X:154.75, Y:114.48, Z:6.70 [[-3.38227267e-01 -9.41026647e-01 8.43596759e-03 1.54750429e+02] [ 9.40591446e-01 -3.38327865e-01 -2.86703167e-02 1.14481736e+02] [ 2.98336549e-02 -1.76228389e-03 9.99553324e-01 6.69700766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67071405699997 meters Centerline goodness : 0.992997 Centerline is valid? [True, True] Translation: X:154.76, Y:114.46, Z:6.69 [[-3.28625252e-01 -9.44418814e-01 8.86272497e-03 1.54759911e+02] [ 9.43988144e-01 -3.28743185e-01 -2.85359769e-02 1.14457204e+02] [ 2.98634739e-02 -1.01133531e-03 9.99553475e-01 6.69489937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70071405699997 meters Centerline goodness : 0.990471 Centerline is valid? [True, True] Translation: X:154.76, Y:114.46, Z:6.70 [[-3.35672238e-01 -9.41942143e-01 8.31550508e-03 1.54760582e+02] [ 9.41506316e-01 -3.35770357e-01 -2.87075538e-02 1.14458476e+02] [ 2.98329549e-02 -1.80722827e-03 9.99553265e-01 6.69520876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73071405699997 meters Centerline goodness : 0.990471 Centerline is valid? [True, True] Translation: X:154.76, Y:114.46, Z:6.70 [[-3.35315920e-01 -9.42063145e-01 8.95909468e-03 1.54759468e+02] [ 9.41632453e-01 -3.35433708e-01 -2.85052833e-02 1.14460882e+02] [ 2.98589592e-02 -1.12210100e-03 9.99553492e-01 6.69549842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76071405699997 meters Centerline goodness : 0.991848 Centerline is valid? [True, True] Translation: X:154.75, Y:114.48, Z:6.70 [[-3.33050910e-01 -9.42866385e-01 8.94831296e-03 1.54750032e+02] [ 9.42435888e-01 -3.33169407e-01 -2.85086675e-02 1.14480875e+02] [ 2.98611684e-02 -1.06162638e-03 9.99553492e-01 6.70153679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79071405699997 meters Centerline goodness : 0.991513 Centerline is valid? [True, True] Translation: X:154.74, Y:114.49, Z:6.70 [[-3.37946736e-01 -9.41127857e-01 8.38817192e-03 1.54744366e+02] [ 9.40692361e-01 -3.38046013e-01 -2.86840602e-02 1.14490840e+02] [ 2.98309562e-02 -1.80299528e-03 9.99553332e-01 6.70029971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82071405699998 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:154.75, Y:114.47, Z:6.70 [[-3.32475282e-01 -9.43072221e-01 8.65863558e-03 1.54753165e+02] [ 9.42639436e-01 -3.32585285e-01 -2.85993255e-02 1.14465642e+02] [ 2.98509642e-02 -1.34659747e-03 9.99553454e-01 6.70085070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85071405699998 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:154.75, Y:114.48, Z:6.70 [[-3.39679196e-01 -9.40504424e-01 8.33506535e-03 1.54745271e+02] [ 9.40068356e-01 -3.39776056e-01 -2.87004927e-02 1.14484896e+02] [ 2.98249959e-02 -1.91342908e-03 9.99553304e-01 6.69956765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88071405699998 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:154.74, Y:114.49, Z:6.70 [[-3.42992152e-01 -9.39298635e-01 8.62886849e-03 1.54744387e+02] [ 9.38864424e-01 -3.43096409e-01 -2.86085349e-02 1.14487444e+02] [ 2.98324916e-02 -1.71116531e-03 9.99553447e-01 6.69950289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91071405699998 meters Centerline goodness : 0.993465 Centerline is valid? [True, True] Translation: X:154.75, Y:114.48, Z:6.70 [[-3.41290055e-01 -9.39918066e-01 8.66766551e-03 1.54747356e+02] [ 9.39484342e-01 -3.41396275e-01 -2.85964034e-02 1.14481607e+02] [ 2.98373849e-02 -1.61653206e-03 9.99553459e-01 6.70112915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94071405699998 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:154.74, Y:114.49, Z:6.70 [[-3.46412806e-01 -9.38043868e-01 8.47756168e-03 1.54742350e+02] [ 9.37608158e-01 -3.46510878e-01 -2.86557823e-02 1.14493141e+02] [ 2.98179482e-02 -1.97809898e-03 9.99553389e-01 6.69966861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97071405699998 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:154.75, Y:114.48, Z:6.70 [[-3.39918793e-01 -9.40413624e-01 8.79944281e-03 1.54749177e+02] [ 9.39981089e-01 -3.40029640e-01 -2.85551453e-02 1.14478392e+02] [ 2.98457191e-02 -1.43512069e-03 9.99553487e-01 6.69842389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00071405699998 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:154.75, Y:114.48, Z:6.70 [[-3.42641857e-01 -9.39431340e-01 8.08178560e-03 1.54748688e+02] [ 9.38993187e-01 -3.42729624e-01 -2.87784530e-02 1.14480914e+02] [ 2.98052480e-02 -2.27196096e-03 9.99553143e-01 6.69979135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03071405699998 meters Centerline goodness : 0.992951 Centerline is valid? [True, True] Translation: X:154.74, Y:114.49, Z:6.70 [[-3.50629225e-01 -9.36476975e-01 8.36786553e-03 1.54743884e+02] [ 9.36040067e-01 -3.50721993e-01 -2.86893142e-02 1.14487635e+02] [ 2.98016766e-02 -2.22665458e-03 9.99553351e-01 6.70332082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06071405699998 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:154.74, Y:114.49, Z:6.70 [[-3.46914661e-01 -9.37856602e-01 8.67245415e-03 1.54743780e+02] [ 9.37422302e-01 -3.47018428e-01 -2.85943779e-02 1.14493085e+02] [ 2.98269275e-02 -1.79005700e-03 9.99553475e-01 6.70281149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09071405699999 meters Centerline goodness : 0.994034 Centerline is valid? [True, True] Translation: X:154.74, Y:114.50, Z:6.70 [[-3.44375555e-01 -9.38795113e-01 8.31950564e-03 1.54740433e+02] [ 9.38358491e-01 -3.44469763e-01 -2.87041089e-02 1.14504814e+02] [ 2.98130953e-02 -2.07831468e-03 9.99553330e-01 6.70020119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.120714057 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:154.73, Y:114.52, Z:6.70 [[-3.65120172e-01 -9.30926717e-01 7.91886850e-03 1.54726684e+02] [ 9.30485590e-01 -3.65192386e-01 -2.88285995e-02 1.14520201e+02] [ 2.97292240e-02 -3.15751018e-03 9.99553002e-01 6.70307690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.150714057 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:154.74, Y:114.50, Z:6.70 [[-3.51811435e-01 -9.36028593e-01 8.89867968e-03 1.54737389e+02] [ 9.35595474e-01 -3.51919808e-01 -2.85229312e-02 1.14504803e+02] [ 2.98299009e-02 -1.70912895e-03 9.99553528e-01 6.70032204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.180714057 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:154.74, Y:114.50, Z:6.70 [[-3.57210646e-01 -9.33987131e-01 8.28208609e-03 1.54736790e+02] [ 9.33549047e-01 -3.57297721e-01 -2.87143795e-02 1.14499694e+02] [ 2.97780314e-02 -2.52534850e-03 9.99553346e-01 6.70041526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.210714057 meters Centerline goodness : 0.993917 Centerline is valid? [True, True] Translation: X:154.73, Y:114.50, Z:6.70 [[-3.61718262e-01 -9.32249544e-01 8.40757144e-03 1.54732165e+02] [ 9.31811876e-01 -3.61807056e-01 -2.86754430e-02 1.14503957e+02] [ 2.97745873e-02 -2.53815648e-03 9.99553416e-01 6.70069374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.240714057 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:154.73, Y:114.51, Z:6.70 [[-3.64730152e-01 -9.31076804e-01 8.24022554e-03 1.54727151e+02] [ 9.30637764e-01 -3.64812409e-01 -2.87273102e-02 1.14512701e+02] [ 2.97534687e-02 -2.80905112e-03 9.99553320e-01 6.70224001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.270714057 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:154.73, Y:114.51, Z:6.70 [[-3.66753436e-01 -9.30280967e-01 8.32105857e-03 1.54726938e+02] [ 9.29842265e-01 -3.66837215e-01 -2.87022582e-02 1.14506961e+02] [ 2.97536385e-02 -2.78937987e-03 9.99553370e-01 6.70186889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.300714057 meters Centerline goodness : 0.992364 Centerline is valid? [True, True] Translation: X:154.72, Y:114.51, Z:6.70 [[-3.68636827e-01 -9.29534268e-01 8.54018450e-03 1.54722700e+02] [ 9.29096820e-01 -3.68726423e-01 -2.86343300e-02 1.14509351e+02] [ 2.97655827e-02 -2.62101029e-03 9.99553471e-01 6.70155635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.330714057 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:154.72, Y:114.50, Z:6.70 [[-3.66674333e-01 -9.30309847e-01 8.57446660e-03 1.54724519e+02] [ 9.29872818e-01 -3.66765900e-01 -2.86237140e-02 1.14498097e+02] [ 2.97737450e-02 -2.52241784e-03 9.99553481e-01 6.70202157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.360714057 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:154.72, Y:114.51, Z:6.70 [[-3.70614958e-01 -9.28750610e-01 8.17659292e-03 1.54715195e+02] [ 9.28310679e-01 -3.70692486e-01 -2.87465640e-02 1.14514283e+02] [ 2.97293904e-02 -3.06348808e-03 9.99553289e-01 6.70095360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.390714057 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:154.71, Y:114.51, Z:6.70 [[-3.72128044e-01 -9.28143822e-01 8.35249336e-03 1.54714309e+02] [ 9.27704849e-01 -3.72210248e-01 -2.86922232e-02 1.14509897e+02] [ 2.97393934e-02 -2.92853230e-03 9.99553396e-01 6.69940762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42071405699997 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:154.71, Y:114.51, Z:6.70 [[-3.72449073e-01 -9.28012443e-01 8.63676702e-03 1.54708580e+02] [ 9.27575262e-01 -3.72539827e-01 -2.86043613e-02 1.14511394e+02] [ 2.97627429e-02 -2.64241640e-03 9.99553499e-01 6.69966931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45071405699997 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:154.71, Y:114.51, Z:6.70 [[-3.71567124e-01 -9.28367789e-01 8.43328420e-03 1.54706798e+02] [ 9.27929381e-01 -3.71652069e-01 -2.86671247e-02 1.14511938e+02] [ 2.97478827e-02 -2.82626889e-03 9.99553438e-01 6.70180877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48071405699997 meters Centerline goodness : 0.992655 Centerline is valid? [True, True] Translation: X:154.70, Y:114.52, Z:6.70 [[-3.72788415e-01 -9.27877171e-01 8.52960226e-03 1.54699634e+02] [ 9.27439263e-01 -3.72875731e-01 -2.86374164e-02 1.14520884e+02] [ 2.97524866e-02 -2.76500904e-03 9.99553472e-01 6.70264658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51071405699997 meters Centerline goodness : 0.992494 Centerline is valid? [True, True] Translation: X:154.70, Y:114.52, Z:6.70 [[-3.72963336e-01 -9.27806143e-01 8.60881737e-03 1.54696305e+02] [ 9.27368730e-01 -3.73052994e-01 -2.86129900e-02 1.14519495e+02] [ 2.97588530e-02 -2.68804818e-03 9.99553493e-01 6.70430475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54071405699997 meters Centerline goodness : 0.993007 Centerline is valid? [True, True] Translation: X:154.69, Y:114.52, Z:6.71 [[-3.74360300e-01 -9.27243587e-01 8.58462649e-03 1.54693392e+02] [ 9.26805884e-01 -3.74448558e-01 -2.86204405e-02 1.14522092e+02] [ 2.97526210e-02 -2.75807434e-03 9.99553488e-01 6.70562865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57071405699998 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:154.69, Y:114.52, Z:6.70 [[-3.76318828e-01 -9.26450535e-01 8.57591829e-03 1.54692121e+02] [ 9.26012591e-01 -3.76405895e-01 -2.86231194e-02 1.14520594e+02] [ 2.97459305e-02 -2.83001045e-03 9.99553486e-01 6.70289162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60071405699998 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:154.68, Y:114.54, Z:6.70 [[-3.79929899e-01 -9.24974672e-01 8.66764690e-03 1.54684071e+02] [ 9.24536965e-01 -3.80018067e-01 -2.85949074e-02 1.14535995e+02] [ 2.97434275e-02 -2.85050034e-03 9.99553502e-01 6.70433181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63071405699998 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:154.67, Y:114.56, Z:6.70 [[-3.79469356e-01 -9.25162773e-01 8.76652327e-03 1.54673460e+02] [ 9.24725739e-01 -3.79560768e-01 -2.85645094e-02 1.14564729e+02] [ 2.97542490e-02 -2.73272630e-03 9.99553509e-01 6.70487951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66071405699998 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:154.69, Y:114.53, Z:6.70 [[-3.79031721e-01 -9.25343314e-01 8.64329048e-03 1.54685774e+02] [ 9.24905541e-01 -3.79119568e-01 -2.86023479e-02 1.14529963e+02] [ 2.97438319e-02 -2.84696989e-03 9.99553500e-01 6.70141501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69071405699998 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:154.68, Y:114.54, Z:6.70 [[-3.80260201e-01 -9.24838019e-01 8.76460589e-03 1.54678424e+02] [ 9.24400894e-01 -3.80351180e-01 -2.85651251e-02 1.14539171e+02] [ 2.97517419e-02 -2.76017068e-03 9.99553508e-01 6.70158265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72071405699998 meters Centerline goodness : 0.992969 Centerline is valid? [True, True] Translation: X:154.68, Y:114.54, Z:6.70 [[-3.80856650e-01 -9.24593857e-01 8.62625995e-03 1.54675439e+02] [ 9.24155808e-01 -3.80943112e-01 -2.86074961e-02 1.14544597e+02] [ 2.97364295e-02 -2.92334691e-03 9.99553500e-01 6.70245966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75071405699998 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:154.67, Y:114.54, Z:6.70 [[-3.79698778e-01 -9.25069725e-01 8.65118994e-03 1.54673562e+02] [ 9.24631939e-01 -3.79786551e-01 -2.85998658e-02 1.14544430e+02] [ 2.97424756e-02 -2.86016756e-03 9.99553503e-01 6.70207930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78071405699998 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:154.67, Y:114.56, Z:6.70 [[-3.80205362e-01 -9.24861962e-01 8.61589504e-03 1.54667151e+02] [ 9.24423910e-01 -3.80291815e-01 -2.86106579e-02 1.14560372e+02] [ 2.97374636e-02 -2.91318618e-03 9.99553499e-01 6.70276093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81071405699998 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:154.66, Y:114.56, Z:6.70 [[-3.79075823e-01 -9.25325201e-01 8.64826659e-03 1.54664859e+02] [ 9.24887457e-01 -3.79163801e-01 -2.86007665e-02 1.14562720e+02] [ 2.97441196e-02 -2.84318579e-03 9.99553502e-01 6.70363173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84071405699999 meters Centerline goodness : 0.994588 Centerline is valid? [True, True] Translation: X:154.67, Y:114.55, Z:6.70 [[-3.78383784e-01 -9.25608620e-01 8.62529814e-03 1.54666850e+02] [ 9.25170798e-01 -3.78471386e-01 -2.86077751e-02 1.14550711e+02] [ 2.97440317e-02 -2.84484421e-03 9.99553500e-01 6.70478973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.870714057 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:154.66, Y:114.56, Z:6.70 [[-3.78592765e-01 -9.25526495e-01 8.25980820e-03 1.54663713e+02] [ 9.25086460e-01 -3.78669067e-01 -2.87189787e-02 1.14558257e+02] [ 2.97079096e-02 -3.23176084e-03 9.99553398e-01 6.70401953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.900714057 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:154.67, Y:114.55, Z:6.70 [[-3.76885343e-01 -9.26222997e-01 8.27032710e-03 1.54668281e+02] [ 9.25783165e-01 -3.76962778e-01 -2.87157794e-02 1.14549650e+02] [ 2.97148207e-02 -3.16602677e-03 9.99553403e-01 6.70243092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.930714057 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:154.67, Y:114.55, Z:6.70 [[-3.78275226e-01 -9.25653713e-01 8.54729366e-03 1.54667365e+02] [ 9.25215421e-01 -3.78360492e-01 -2.86315022e-02 1.14549017e+02] [ 2.97368145e-02 -2.92250004e-03 9.99553491e-01 6.70187305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.960714057 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:154.66, Y:114.56, Z:6.70 [[-3.78215473e-01 -9.25676889e-01 8.68064921e-03 1.54662053e+02] [ 9.25239428e-01 -3.78304850e-01 -2.85909245e-02 1.14561115e+02] [ 2.97498897e-02 -2.78185112e-03 9.99553503e-01 6.70184846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.990714057 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:154.66, Y:114.56, Z:6.70 [[-3.77640110e-01 -9.25913511e-01 8.49225114e-03 1.54661478e+02] [ 9.25474942e-01 -3.77723991e-01 -2.86481750e-02 1.14560746e+02] [ 2.97334593e-02 -2.95933432e-03 9.99553482e-01 6.70210026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.020714057 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:154.66, Y:114.56, Z:6.70 [[-3.77467545e-01 -9.25986054e-01 8.25108254e-03 1.54660510e+02] [ 9.25546070e-01 -3.77544115e-01 -2.87213221e-02 1.14561739e+02] [ 2.97106914e-02 -3.20460994e-03 9.99553403e-01 6.69989706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.050714057 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:154.66, Y:114.55, Z:6.70 [[-3.74306743e-01 -9.27266037e-01 8.49460527e-03 1.54662906e+02] [ 9.26827788e-01 -3.74392273e-01 -2.86474726e-02 1.14554092e+02] [ 2.97441430e-02 -2.84990595e-03 9.99553482e-01 6.69955705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.080714057 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:154.66, Y:114.57, Z:6.70 [[-3.74873083e-01 -9.27038316e-01 8.37445774e-03 1.54656423e+02] [ 9.26599284e-01 -3.74954666e-01 -2.86838768e-02 1.14573212e+02] [ 2.97310948e-02 -2.99304676e-03 9.99553452e-01 6.69999964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.110714057 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:154.66, Y:114.57, Z:6.70 [[-3.74068904e-01 -9.27362583e-01 8.43180003e-03 1.54657920e+02] [ 9.26923969e-01 -3.74152624e-01 -2.86665177e-02 1.14566117e+02] [ 2.97390360e-02 -2.90761531e-03 9.99553468e-01 6.70012639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.140714057 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:154.66, Y:114.56, Z:6.70 [[-3.70484639e-01 -9.28800584e-01 8.40288186e-03 1.54658602e+02] [ 9.28362118e-01 -3.70569167e-01 -2.86752594e-02 1.14560632e+02] [ 2.97474466e-02 -2.82282593e-03 9.99553461e-01 6.70283111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17071405699997 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:154.66, Y:114.56, Z:6.70 [[-3.68831051e-01 -9.29459188e-01 8.32309894e-03 1.54656697e+02] [ 9.29020381e-01 -3.68913918e-01 -2.86993383e-02 1.14563222e+02] [ 2.97453707e-02 -2.85287854e-03 9.99553437e-01 6.70210814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20071405699997 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:154.65, Y:114.58, Z:6.70 [[-3.66649880e-01 -9.30321859e-01 8.31293989e-03 1.54649155e+02] [ 9.29883185e-01 -3.66733466e-01 -2.87024010e-02 1.14582109e+02] [ 2.97511043e-02 -2.79366884e-03 9.99553434e-01 6.70374541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23071405699997 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:154.65, Y:114.57, Z:6.70 [[-3.64785415e-01 -9.31056878e-01 8.04311468e-03 1.54650824e+02] [ 9.30616733e-01 -3.64861620e-01 -2.87835718e-02 1.14572450e+02] [ 2.97337663e-02 -3.01477005e-03 9.99553307e-01 6.70349121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26071405699997 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:154.64, Y:114.59, Z:6.71 [[-3.62209033e-01 -9.32058594e-01 8.44943699e-03 1.54642446e+02] [ 9.31621199e-01 -3.62298880e-01 -2.86611684e-02 1.14592329e+02] [ 2.97751098e-02 -2.50965947e-03 9.99553473e-01 6.70517360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29071405699997 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:154.64, Y:114.61, Z:6.71 [[-3.60838716e-01 -9.32593054e-01 8.10040999e-03 1.54636652e+02] [ 9.32153592e-01 -3.60918539e-01 -2.87661109e-02 1.14607556e+02] [ 2.97506633e-02 -2.82910026e-03 9.99553347e-01 6.70549629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32071405699998 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:154.64, Y:114.59, Z:6.70 [[-3.57556464e-01 -9.33856230e-01 8.11893397e-03 1.54638016e+02] [ 9.33417167e-01 -3.57638399e-01 -2.87605437e-02 1.14593894e+02] [ 2.97618554e-02 -2.70516596e-03 9.99553357e-01 6.70476794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35071405699998 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:154.64, Y:114.59, Z:6.71 [[-3.55688877e-01 -9.34568744e-01 8.16611891e-03 1.54638255e+02] [ 9.34130144e-01 -3.55773130e-01 -2.87463824e-02 1.14591682e+02] [ 2.97707562e-02 -2.59655062e-03 9.99553380e-01 6.70605492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38071405699998 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:154.64, Y:114.58, Z:6.71 [[-3.52337128e-01 -9.35838021e-01 8.10844600e-03 1.54641678e+02] [ 9.35399356e-01 -3.52421192e-01 -2.87636667e-02 1.14575253e+02] [ 2.97757212e-02 -2.54987256e-03 9.99553353e-01 6.70506638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41071405699998 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:154.64, Y:114.57, Z:6.70 [[-3.49296964e-01 -9.36976345e-01 8.18289189e-03 1.54642870e+02] [ 9.36538440e-01 -3.49384724e-01 -2.87413667e-02 1.14570435e+02] [ 2.97889582e-02 -2.37567935e-03 9.99553387e-01 6.70340612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44071405699998 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:154.64, Y:114.57, Z:6.70 [[-3.36797907e-01 -9.41540000e-01 8.34256676e-03 1.54644948e+02] [ 9.41104424e-01 -3.36896338e-01 -2.86935620e-02 1.14565618e+02] [ 2.98267166e-02 -1.81270513e-03 9.99553441e-01 6.70074127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47071405699998 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:154.64, Y:114.58, Z:6.71 [[-3.40478144e-01 -9.40220154e-01 7.79068451e-03 1.54636755e+02] [ 9.39780513e-01 -3.40558058e-01 -2.88582278e-02 1.14582650e+02] [ 2.97862678e-02 -2.50406235e-03 9.99553154e-01 6.70509935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50071405699998 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:154.64, Y:114.57, Z:6.70 [[-3.37817846e-01 -9.41177214e-01 8.03459295e-03 1.54640103e+02] [ 9.40739410e-01 -3.37906439e-01 -2.87854267e-02 1.14568814e+02] [ 2.98071284e-02 -2.16577263e-03 9.99553323e-01 6.70439118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53071405699998 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:154.64, Y:114.57, Z:6.70 [[-3.33250205e-01 -9.42804735e-01 7.97070832e-03 1.54640061e+02] [ 9.42366930e-01 -3.33338976e-01 -2.88044660e-02 1.14565291e+02] [ 2.98139347e-02 -2.08776228e-03 9.99553285e-01 6.70289632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56071405699998 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:154.64, Y:114.57, Z:6.71 [[-3.21564942e-01 -9.46854186e-01 7.94595047e-03 1.54640226e+02] [ 9.46417335e-01 -3.21658368e-01 -2.88118343e-02 1.14569708e+02] [ 2.98364874e-02 -1.74469055e-03 9.99553270e-01 6.70510701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59071405699999 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:154.64, Y:114.57, Z:6.70 [[-3.18413915e-01 -9.47920033e-01 7.75815923e-03 1.54639974e+02] [ 9.47482158e-01 -3.18503093e-01 -2.88676173e-02 1.14566863e+02] [ 2.98351905e-02 -1.84113359e-03 9.99553136e-01 6.69967877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.620714057 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:154.64, Y:114.56, Z:6.70 [[-3.15858540e-01 -9.48777378e-01 7.40736715e-03 1.54641961e+02] [ 9.48337330e-01 -3.15938231e-01 -2.89714289e-02 1.14560041e+02] [ 2.98277069e-02 -2.12619046e-03 9.99552794e-01 6.69873142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.650714057 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:154.64, Y:114.56, Z:6.70 [[-3.15562605e-01 -9.48875507e-01 7.45076493e-03 1.54641106e+02] [ 9.48435775e-01 -3.15643754e-01 -2.89586002e-02 1.14562543e+02] [ 2.98298938e-02 -2.07167929e-03 9.99552843e-01 6.69882807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.680714057 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:154.64, Y:114.58, Z:6.70 [[-3.14412196e-01 -9.49257322e-01 7.45030702e-03 1.54635585e+02] [ 9.48817686e-01 -3.14493864e-01 -2.89587355e-02 1.14576069e+02] [ 2.98323675e-02 -2.03599653e-03 9.99552842e-01 6.70093249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.710714057 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:154.64, Y:114.57, Z:6.70 [[-3.12087283e-01 -9.50024005e-01 7.47779524e-03 1.54637280e+02] [ 9.49584759e-01 -3.12170864e-01 -2.89506163e-02 1.14570639e+02] [ 2.98381303e-02 -1.93431881e-03 9.99552872e-01 6.70129373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.740714057 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:154.64, Y:114.57, Z:6.70 [[-3.11463903e-01 -9.50229973e-01 7.29631824e-03 1.54636695e+02] [ 9.49789549e-01 -3.11542249e-01 -2.90041269e-02 1.14574114e+02] [ 2.98337022e-02 -2.10377177e-03 9.99552662e-01 6.70110936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.770714057 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:154.63, Y:114.58, Z:6.70 [[-3.14483357e-01 -9.49233991e-01 7.41943450e-03 1.54634075e+02] [ 9.48794141e-01 -3.14564053e-01 -2.89678172e-02 1.14578246e+02] [ 2.98311241e-02 -2.07038040e-03 9.99552809e-01 6.70288913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.800714057 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:154.62, Y:114.61, Z:6.71 [[-3.22655325e-01 -9.46486054e-01 7.59537851e-03 1.54622585e+02] [ 9.46046682e-01 -3.22737588e-01 -2.89158252e-02 1.14605650e+02] [ 2.98197394e-02 -2.14426233e-03 9.99552993e-01 6.70757948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.830714057 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:154.63, Y:114.60, Z:6.70 [[-3.14149309e-01 -9.49340113e-01 7.97248806e-03 1.54628463e+02] [ 9.48904193e-01 -3.14246954e-01 -2.88042381e-02 1.14597781e+02] [ 2.98503487e-02 -1.48370416e-03 9.99553278e-01 6.70355984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.860714057 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:154.62, Y:114.64, Z:6.71 [[-3.13757885e-01 -9.49471931e-01 7.68390129e-03 1.54617982e+02] [ 9.49033974e-01 -3.13846957e-01 -2.88894994e-02 1.14635115e+02] [ 2.98413378e-02 -1.77202484e-03 9.99553077e-01 6.70509208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.890714057 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:154.63, Y:114.59, Z:6.70 [[-3.09567384e-01 -9.50847085e-01 7.60634218e-03 1.54631678e+02] [ 9.50408973e-01 -3.09656033e-01 -2.89123660e-02 1.14592318e+02] [ 2.98465887e-02 -1.72118966e-03 9.99553009e-01 6.70331336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92071405699997 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:154.62, Y:114.60, Z:6.71 [[-3.29903089e-01 -9.43985241e-01 7.47112047e-03 1.54619417e+02] [ 9.43544470e-01 -3.29978189e-01 -2.89521573e-02 1.14600720e+02] [ 2.97957160e-02 -2.50207171e-03 9.99552878e-01 6.71043419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95071405699997 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:154.63, Y:114.60, Z:6.71 [[-3.05382221e-01 -9.52192219e-01 8.46618702e-03 1.54630546e+02] [ 9.51761110e-01 -3.05498766e-01 -2.86582123e-02 1.14601763e+02] [ 2.98745364e-02 -6.93920961e-04 9.99553416e-01 6.70889023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98071405699997 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:154.63, Y:114.61, Z:6.71 [[-3.00796133e-01 -9.53660682e-01 7.27937747e-03 1.54631777e+02] [ 9.53221139e-01 -3.00878901e-01 -2.90059871e-02 1.14607283e+02] [ 2.98520805e-02 -1.78603225e-03 9.99552732e-01 6.70778517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01071405699997 meters Centerline goodness : 0.994982 Centerline is valid? [True, True] Translation: X:154.63, Y:114.60, Z:6.71 [[-3.11647927e-01 -9.50171010e-01 7.11483645e-03 1.54630064e+02] [ 9.49729480e-01 -3.11720665e-01 -2.90541140e-02 1.14598164e+02] [ 2.98242184e-02 -2.29748448e-03 9.99552519e-01 6.70928939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04071405699997 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:154.63, Y:114.60, Z:6.70 [[-2.98411521e-01 -9.54405725e-01 7.76381296e-03 1.54634629e+02] [ 9.53969928e-01 -2.98510060e-01 -2.88638286e-02 1.14600087e+02] [ 2.98653795e-02 -1.20685490e-03 9.99553201e-01 6.70170811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07071405699998 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:154.64, Y:114.60, Z:6.71 [[-2.97980040e-01 -9.54545715e-01 7.09740870e-03 1.54635711e+02] [ 9.54105184e-01 -2.98058579e-01 -2.90582502e-02 1.14596334e+02] [ 2.98528718e-02 -1.88710412e-03 9.99552522e-01 6.70538001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10071405699998 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:154.63, Y:114.60, Z:6.70 [[-3.10020678e-01 -9.50702813e-01 7.16515913e-03 1.54628240e+02] [ 9.50261763e-01 -3.10095708e-01 -2.90384726e-02 1.14603977e+02] [ 2.98288426e-02 -2.19375021e-03 9.99552614e-01 6.70387899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13071405699998 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:154.63, Y:114.61, Z:6.71 [[-3.11994187e-01 -9.50052620e-01 7.72308600e-03 1.54626207e+02] [ 9.49615193e-01 -3.12085267e-01 -2.88751163e-02 1.14609446e+02] [ 2.98431413e-02 -1.67490866e-03 9.99553191e-01 6.70824407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16071405699998 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:154.63, Y:114.61, Z:6.71 [[-3.14727257e-01 -9.49149331e-01 7.89313030e-03 1.54628136e+02] [ 9.48712844e-01 -3.14822234e-01 -2.88253294e-02 1.14605950e+02] [ 2.98444750e-02 -1.58380275e-03 9.99553300e-01 6.70859234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19071405699998 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:154.64, Y:114.60, Z:6.70 [[-2.97690471e-01 -9.54629157e-01 7.97219475e-03 1.54636047e+02] [ 9.54195051e-01 -2.97795630e-01 -2.88022112e-02 1.14601479e+02] [ 2.98695154e-02 -9.67115058e-04 9.99553339e-01 6.70084448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22071405699998 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:154.62, Y:114.62, Z:6.71 [[-3.33689400e-01 -9.42658034e-01 6.87129798e-03 1.54618708e+02] [ 9.42213652e-01 -3.33744377e-01 -2.91226017e-02 1.14623440e+02] [ 2.97459116e-02 -3.24367274e-03 9.99552229e-01 6.70907046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25071405699998 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:154.63, Y:114.61, Z:6.70 [[-3.07494990e-01 -9.51512588e-01 8.40387961e-03 1.54634654e+02] [ 9.51080816e-01 -3.07608704e-01 -2.86734584e-02 1.14608609e+02] [ 2.98682631e-02 -8.24176140e-04 9.99553504e-01 6.70005347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28071405699998 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:154.63, Y:114.61, Z:6.70 [[-3.14497548e-01 -9.49233836e-01 6.81297848e-03 1.54634562e+02] [ 9.48790470e-01 -3.14559760e-01 -2.91342155e-02 1.14614190e+02] [ 2.97982720e-02 -2.69855029e-03 9.99552290e-01 6.70228119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31071405699998 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:154.64, Y:114.61, Z:6.70 [[-3.15935187e-01 -9.48752822e-01 7.28286621e-03 1.54637098e+02] [ 9.48312251e-01 -3.16011071e-01 -2.89978802e-02 1.14606319e+02] [ 2.98132871e-02 -2.25501946e-03 9.99552941e-01 6.70212692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34071405699999 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:154.64, Y:114.61, Z:6.70 [[-3.19851747e-01 -9.47438991e-01 7.36333215e-03 1.54635212e+02] [ 9.46998618e-01 -3.19928264e-01 -2.89745418e-02 1.14614167e+02] [ 2.98073487e-02 -2.29449244e-03 9.99553029e-01 6.70323342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.370714057 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:154.64, Y:114.61, Z:6.70 [[-3.24908660e-01 -9.45716798e-01 7.35536521e-03 1.54635716e+02] [ 9.45275973e-01 -3.24982580e-01 -2.89768511e-02 1.14610300e+02] [ 2.97942604e-02 -2.46197983e-03 9.99553020e-01 6.70416354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.400714057 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:154.63, Y:114.63, Z:6.70 [[-3.26609876e-01 -9.45128209e-01 7.65883786e-03 1.54628348e+02] [ 9.44689160e-01 -3.26692253e-01 -2.88887893e-02 1.14634167e+02] [ 2.98056927e-02 -2.20014277e-03 9.99553290e-01 6.70373693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.430714057 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:154.63, Y:114.63, Z:6.71 [[-3.28386385e-01 -9.44514882e-01 7.34981866e-03 1.54631211e+02] [ 9.44073758e-01 -3.28458513e-01 -2.89783409e-02 1.14626813e+02] [ 2.97845848e-02 -2.57732170e-03 9.99553018e-01 6.70808567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.460714057 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:154.62, Y:114.64, Z:6.71 [[-3.42702774e-01 -9.39413345e-01 7.57465795e-03 1.54622995e+02] [ 9.38972463e-01 -3.42775069e-01 -2.89130838e-02 1.14639878e+02] [ 2.97577407e-02 -2.79619879e-03 9.99553229e-01 6.71024258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.490714057 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:154.62, Y:114.64, Z:6.71 [[-3.44223265e-01 -9.38852780e-01 8.11183975e-03 1.54622823e+02] [ 9.38415054e-01 -3.44311240e-01 -2.87568472e-02 1.14637069e+02] [ 2.97914435e-02 -2.28650328e-03 9.99553521e-01 6.70998578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.520714057 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:154.62, Y:114.63, Z:6.71 [[-3.43846291e-01 -9.38990628e-01 8.14427952e-03 1.54623985e+02] [ 9.38553145e-01 -3.43935429e-01 -2.87474208e-02 1.14633025e+02] [ 2.97946650e-02 -2.24085485e-03 9.99553529e-01 6.70974770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.550714057 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:154.62, Y:114.64, Z:6.71 [[-3.43916812e-01 -9.38964974e-01 8.12428064e-03 1.54620841e+02] [ 9.38527357e-01 -3.44005308e-01 -2.87532247e-02 1.14641758e+02] [ 2.97930665e-02 -2.26385772e-03 9.99553524e-01 6.71129630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.580714057 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:154.62, Y:114.63, Z:6.71 [[-3.43911277e-01 -9.38967282e-01 8.09179978e-03 1.54624142e+02] [ 9.38529459e-01 -3.43998787e-01 -2.87626398e-02 1.14630622e+02] [ 2.97907470e-02 -2.29740371e-03 9.99553517e-01 6.70927370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.610714057 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:154.63, Y:114.63, Z:6.71 [[-3.43419711e-01 -9.39146000e-01 8.22755396e-03 1.54625521e+02] [ 9.38709095e-01 -3.43511582e-01 -2.87232898e-02 1.14628697e+02] [ 2.98016228e-02 -2.14086414e-03 9.99553540e-01 6.71319735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.640714057 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:154.62, Y:114.64, Z:6.71 [[-3.41661380e-01 -9.39786346e-01 8.31416318e-03 1.54620825e+02] [ 9.39350185e-01 -3.41756702e-01 -2.86981984e-02 1.14639042e+02] [ 2.98115960e-02 -1.99515535e-03 9.99553544e-01 6.71310763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67071405699997 meters Centerline goodness : 0.992382 Centerline is valid? [True, True] Translation: X:154.62, Y:114.64, Z:6.71 [[-3.43128556e-01 -9.39253454e-01 8.10822296e-03 1.54622803e+02] [ 9.38815813e-01 -3.43216931e-01 -2.87577422e-02 1.14636323e+02] [ 2.97936881e-02 -2.25547460e-03 9.99553525e-01 6.71325343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70071405699997 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:154.62, Y:114.65, Z:6.71 [[-3.40419229e-01 -9.40237181e-01 8.29416235e-03 1.54618845e+02] [ 9.39801012e-01 -3.40514519e-01 -2.87040147e-02 1.14648518e+02] [ 2.98128645e-02 -1.97653637e-03 9.99553544e-01 6.71191774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73071405699997 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:154.62, Y:114.64, Z:6.71 [[-3.39909646e-01 -9.40423982e-01 8.01038299e-03 1.54621677e+02] [ 9.39986026e-01 -3.39996542e-01 -2.87858145e-02 1.14639452e+02] [ 2.97943728e-02 -2.25492793e-03 9.99553506e-01 6.70977371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76071405699997 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:154.62, Y:114.65, Z:6.71 [[-3.41570682e-01 -9.39823162e-01 7.86720609e-03 1.54618144e+02] [ 9.39384167e-01 -3.41652442e-01 -2.88270058e-02 1.14651510e+02] [ 2.97801379e-02 -2.45613118e-03 9.99553456e-01 6.70944025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79071405699997 meters Centerline goodness : 0.992607 Centerline is valid? [True, True] Translation: X:154.62, Y:114.65, Z:6.71 [[-3.43612870e-01 -9.39078047e-01 7.91305754e-03 1.54619398e+02] [ 9.38639153e-01 -3.43695074e-01 -2.88138244e-02 1.14648189e+02] [ 2.97781089e-02 -2.47329529e-03 9.99553474e-01 6.70834017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82071405699998 meters Centerline goodness : 0.991562 Centerline is valid? [True, True] Translation: X:154.62, Y:114.65, Z:6.71 [[-3.45899401e-01 -9.38238187e-01 7.91888294e-03 1.54617278e+02] [ 9.37799129e-01 -3.45980713e-01 -2.88121504e-02 1.14654371e+02] [ 2.97724405e-02 -2.53978405e-03 9.99553476e-01 6.70852985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85071405699998 meters Centerline goodness : 0.992286 Centerline is valid? [True, True] Translation: X:154.62, Y:114.65, Z:6.71 [[-3.46187741e-01 -9.38131571e-01 7.95003226e-03 1.54616982e+02] [ 9.37692675e-01 -3.46269868e-01 -2.88032054e-02 1.14654730e+02] [ 2.97740530e-02 -2.51662961e-03 9.99553486e-01 6.70976332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88071405699998 meters Centerline goodness : 0.991125 Centerline is valid? [True, True] Translation: X:154.61, Y:114.66, Z:6.71 [[-3.48500742e-01 -9.37275620e-01 7.85136695e-03 1.54614312e+02] [ 9.36835942e-01 -3.48578775e-01 -2.88315095e-02 1.14661067e+02] [ 2.97598908e-02 -2.69235971e-03 9.99553450e-01 6.71057216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91071405699998 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:154.61, Y:114.68, Z:6.71 [[-3.47950373e-01 -9.37478854e-01 7.99603235e-03 1.54607047e+02] [ 9.37040081e-01 -3.48033079e-01 -2.87899941e-02 1.14683985e+02] [ 2.97728944e-02 -2.52488640e-03 9.99553500e-01 6.71196183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94071405699998 meters Centerline goodness : 0.990940 Centerline is valid? [True, True] Translation: X:154.60, Y:114.69, Z:6.71 [[-3.48366682e-01 -9.37323909e-01 8.03401699e-03 1.54604992e+02] [ 9.36885327e-01 -3.48450350e-01 -2.87790978e-02 1.14687638e+02] [ 2.97747924e-02 -2.49872616e-03 9.99553509e-01 6.71162772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97071405699998 meters Centerline goodness : 0.991896 Centerline is valid? [True, True] Translation: X:154.61, Y:114.66, Z:6.71 [[-3.44629018e-01 -9.38703895e-01 8.11401392e-03 1.54611969e+02] [ 9.38266147e-01 -3.44716870e-01 -2.87561590e-02 1.14663689e+02] [ 2.97905559e-02 -2.29710225e-03 9.99553523e-01 6.71149456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00071405699998 meters Centerline goodness : 0.991902 Centerline is valid? [True, True] Translation: X:154.60, Y:114.70, Z:6.71 [[-3.44858269e-01 -9.38621517e-01 7.90079319e-03 1.54600306e+02] [ 9.38182445e-01 -3.44939517e-01 -2.88171755e-02 1.14696059e+02] [ 2.97737168e-02 -2.52545579e-03 9.99553474e-01 6.71285607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03071405699998 meters Centerline goodness : 0.991078 Centerline is valid? [True, True] Translation: X:154.61, Y:114.67, Z:6.71 [[-3.45244149e-01 -9.38479386e-01 7.93220527e-03 1.54607067e+02] [ 9.38040469e-01 -3.45326174e-01 -2.88081916e-02 1.14672440e+02] [ 2.97750921e-02 -2.50513004e-03 9.99553484e-01 6.71256479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06071405699998 meters Centerline goodness : 0.990559 Centerline is valid? [True, True] Translation: X:154.60, Y:114.69, Z:6.71 [[-3.44066459e-01 -9.38911418e-01 7.97632541e-03 1.54600874e+02] [ 9.38472871e-01 -3.44150380e-01 -2.87955869e-02 1.14689563e+02] [ 2.97815608e-02 -2.42203062e-03 9.99553497e-01 6.71206328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09071405699999 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:154.60, Y:114.68, Z:6.71 [[-3.43406385e-01 -9.39153731e-01 7.89462201e-03 1.54601852e+02] [ 9.38714749e-01 -3.43488123e-01 -2.88188967e-02 1.14684882e+02] [ 2.97770833e-02 -2.48579501e-03 9.99553473e-01 6.71187870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.120714057 meters Centerline goodness : 0.991538 Centerline is valid? [True, True] Translation: X:154.60, Y:114.69, Z:6.71 [[-3.41975714e-01 -9.39675662e-01 7.89061656e-03 1.54600130e+02] [ 9.39236781e-01 -3.42057999e-01 -2.88200377e-02 1.14689070e+02] [ 2.97805365e-02 -2.44459567e-03 9.99553472e-01 6.71200239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.150714057 meters Centerline goodness : 0.990220 Centerline is valid? [True, True] Translation: X:154.60, Y:114.68, Z:6.71 [[-3.38912820e-01 -9.40784830e-01 7.87423132e-03 1.54600345e+02] [ 9.40346120e-01 -3.38996035e-01 -2.88246983e-02 1.14684199e+02] [ 2.97871721e-02 -2.36455691e-03 9.99553467e-01 6.71272446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.180714057 meters Centerline goodness : 0.991239 Centerline is valid? [True, True] Translation: X:154.60, Y:114.69, Z:6.71 [[-3.27674283e-01 -9.44758069e-01 7.85841075e-03 1.54600686e+02] [ 9.44320280e-01 -3.27762241e-01 -2.88291911e-02 1.14692370e+02] [ 2.98123012e-02 -2.02572787e-03 9.99553462e-01 6.70964677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.210714057 meters Centerline goodness : 0.991042 Centerline is valid? [True, True] Translation: X:154.60, Y:114.70, Z:6.71 [[-3.26963286e-01 -9.45008064e-01 7.40059789e-03 1.54598366e+02] [ 9.44567504e-01 -3.27037640e-01 -2.89587987e-02 1.14698626e+02] [ 2.97865723e-02 -2.47809970e-03 9.99553210e-01 6.70972935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.240714057 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:154.58, Y:114.71, Z:6.71 [[-3.50594791e-01 -9.36497105e-01 7.51428563e-03 1.54580191e+02] [ 9.36055415e-01 -3.50661537e-01 -2.89265733e-02 1.14710236e+02] [ 2.97246231e-02 -3.10771817e-03 9.99553295e-01 6.71092890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.270714057 meters Centerline goodness : 0.991278 Centerline is valid? [True, True] Translation: X:154.60, Y:114.69, Z:6.71 [[-3.21497687e-01 -9.46872380e-01 8.48136518e-03 1.54599096e+02] [ 9.46439544e-01 -3.21607360e-01 -2.86512787e-02 1.14692762e+02] [ 2.98567740e-02 -1.18422046e-03 9.99553486e-01 6.71041519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.300714057 meters Centerline goodness : 0.992328 Centerline is valid? [True, True] Translation: X:154.53, Y:114.87, Z:6.72 [[-3.49221357e-01 -9.37009836e-01 7.55054715e-03 1.54533671e+02] [ 9.36568442e-01 -3.49289861e-01 -2.89162145e-02 1.14869940e+02] [ 2.97321070e-02 -3.02655548e-03 9.99553321e-01 6.71998893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.330714057 meters Centerline goodness : 0.991545 Centerline is valid? [True, True] Translation: X:154.59, Y:114.69, Z:6.71 [[-3.27109209e-01 -9.44947882e-01 8.54780513e-03 1.54594835e+02] [ 9.44514912e-01 -3.27218322e-01 -2.86312925e-02 1.14692633e+02] [ 2.98520777e-02 -1.29203003e-03 9.99553492e-01 6.71435027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.360714057 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:154.60, Y:114.69, Z:6.71 [[-3.12366211e-01 -9.49930740e-01 7.67722122e-03 1.54599445e+02] [ 9.49493290e-01 -3.12455747e-01 -2.88773092e-02 1.14688645e+02] [ 2.98302356e-02 -1.73082564e-03 9.99553481e-01 6.71308071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.390714057 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:154.60, Y:114.68, Z:6.71 [[-3.11616835e-01 -9.50183432e-01 6.81129952e-03 1.54601739e+02] [ 9.49740682e-01 -3.11680378e-01 -2.91200788e-02 1.14678602e+02] [ 2.97923648e-02 -2.60533856e-03 9.99552714e-01 6.70772867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42071405699997 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:154.60, Y:114.68, Z:6.71 [[-3.10013429e-01 -9.50709280e-01 6.59831137e-03 1.54600721e+02] [ 9.50265432e-01 -3.10071215e-01 -2.91796307e-02 1.14684009e+02] [ 2.97872921e-02 -2.77593017e-03 9.99552406e-01 6.70729929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45071405699997 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:154.60, Y:114.69, Z:6.71 [[-3.07342202e-01 -9.51574987e-01 6.76875391e-03 1.54599218e+02] [ 9.51132280e-01 -3.07406437e-01 -2.91319282e-02 1.14685878e+02] [ 2.98019727e-02 -2.51549062e-03 9.99552657e-01 6.71410069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48071405699997 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:154.59, Y:114.70, Z:6.71 [[-3.10175290e-01 -9.50653812e-01 6.97271381e-03 1.54592564e+02] [ 9.50212110e-01 -3.10244427e-01 -2.90747605e-02 1.14703104e+02] [ 2.98032775e-02 -2.39271516e-03 9.99552920e-01 6.71167630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51071405699997 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:154.59, Y:114.71, Z:6.71 [[-3.09081737e-01 -9.51008341e-01 7.18432838e-03 1.54589583e+02] [ 9.50568015e-01 -3.09157823e-01 -2.90153171e-02 1.14713155e+02] [ 2.98149000e-02 -2.13891185e-03 9.99553149e-01 6.71330700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54071405699997 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:154.59, Y:114.72, Z:6.71 [[-3.08767928e-01 -9.51110010e-01 7.21907185e-03 1.54588766e+02] [ 9.50669927e-01 -3.08845216e-01 -2.90055591e-02 1.14715679e+02] [ 2.98170535e-02 -2.09303188e-03 9.99553181e-01 6.71340056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57071405699998 meters Centerline goodness : 0.993537 Centerline is valid? [True, True] Translation: X:154.59, Y:114.72, Z:6.71 [[-3.09799958e-01 -9.50774405e-01 7.21232298e-03 1.54587299e+02] [ 9.50334195e-01 -3.09876564e-01 -2.90074527e-02 1.14721369e+02] [ 2.98144734e-02 -2.13239047e-03 9.99553175e-01 6.71276589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60071405699998 meters Centerline goodness : 0.990842 Centerline is valid? [True, True] Translation: X:154.59, Y:114.72, Z:6.71 [[-3.09899176e-01 -9.50741201e-01 7.32591422e-03 1.54589953e+02] [ 9.50301699e-01 -3.09979188e-01 -2.89755779e-02 1.14719260e+02] [ 2.98191567e-02 -2.01767898e-03 9.99553274e-01 6.71273002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63071405699998 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:154.59, Y:114.72, Z:6.71 [[-3.10715364e-01 -9.50471603e-01 7.72618436e-03 1.54589642e+02] [ 9.50034652e-01 -3.10807144e-01 -2.88631103e-02 1.14716068e+02] [ 2.98349200e-02 -1.62806897e-03 9.99553514e-01 6.71026113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66071405699998 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:154.59, Y:114.74, Z:6.70 [[-3.04090340e-01 -9.52612976e-01 7.58836945e-03 1.54585115e+02] [ 9.52175727e-01 -3.04180989e-01 -2.89017584e-02 1.14737708e+02] [ 2.98404278e-02 -1.56328432e-03 9.99553453e-01 6.70485383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69071405699998 meters Centerline goodness : 0.988819 Centerline is valid? [True, True] Translation: X:154.38, Y:115.42, Z:6.73 [[-3.42238544e-01 -9.39582420e-01 7.59310886e-03 1.54375484e+02] [ 9.39141900e-01 -3.42311641e-01 -2.89003773e-02 1.15424530e+02] [ 2.97534960e-02 -2.75981637e-03 9.99553457e-01 6.73206293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72071405699998 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:154.57, Y:114.77, Z:6.71 [[-2.94846477e-01 -9.55505767e-01 8.61884445e-03 1.54573458e+02] [ 9.55077668e-01 -2.94972353e-01 -2.85999695e-02 1.14770295e+02] [ 2.98697566e-02 -2.00934400e-04 9.99553779e-01 6.70798842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75071405699998 meters Centerline goodness : 0.992580 Centerline is valid? [True, True] Translation: X:154.57, Y:114.76, Z:6.71 [[-3.07290341e-01 -9.51593759e-01 6.47793626e-03 1.54573454e+02] [ 9.51150236e-01 -3.07345796e-01 -2.91854615e-02 1.14759603e+02] [ 2.97636695e-02 -2.80691982e-03 9.99553023e-01 6.71405429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78071405699998 meters Centerline goodness : 0.992431 Centerline is valid? [True, True] Translation: X:154.58, Y:114.74, Z:6.71 [[-3.03095940e-01 -9.52929965e-01 7.57188836e-03 1.54579318e+02] [ 9.52493334e-01 -3.03186580e-01 -2.88850607e-02 1.14739864e+02] [ 2.98211348e-02 -1.54277144e-03 9.99554060e-01 6.71383069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81071405699998 meters Centerline goodness : 0.992110 Centerline is valid? [True, True] Translation: X:154.58, Y:114.74, Z:6.71 [[-2.96061906e-01 -9.55140585e-01 7.33554561e-03 1.54583271e+02] [ 9.54703046e-01 -2.96148620e-01 -2.89497548e-02 1.14739524e+02] [ 2.98234975e-02 -1.56765187e-03 9.99553951e-01 6.71235380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84071405699999 meters Centerline goodness : 0.993421 Centerline is valid? [True, True] Translation: X:154.58, Y:114.75, Z:6.71 [[-2.99968812e-01 -9.53922383e-01 7.12731549e-03 1.54576489e+02] [ 9.53483172e-01 -3.00047424e-01 -2.90066321e-02 1.14753547e+02] [ 2.98086083e-02 -1.90530960e-03 9.99553809e-01 6.70991907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.870714057 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:154.58, Y:114.75, Z:6.71 [[-3.02684705e-01 -9.53065702e-01 6.90914387e-03 1.54578516e+02] [ 9.52624955e-01 -3.02755440e-01 -2.90661265e-02 1.14746746e+02] [ 2.97937092e-02 -2.21604907e-03 9.99553612e-01 6.70863389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.900714057 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:154.58, Y:114.74, Z:6.71 [[-3.04073788e-01 -9.52621597e-01 7.15707064e-03 1.54580277e+02] [ 9.52182233e-01 -3.04151411e-01 -2.89985267e-02 1.14743183e+02] [ 2.98014559e-02 -2.00285634e-03 9.99553831e-01 6.70881765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.930714057 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:154.58, Y:114.74, Z:6.71 [[-3.04139410e-01 -9.52599238e-01 7.34242189e-03 1.54579930e+02] [ 9.52161020e-01 -3.04222623e-01 -2.89480146e-02 1.14744035e+02] [ 2.98095875e-02 -1.81306415e-03 9.99553951e-01 6.70704817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.960714057 meters Centerline goodness : 0.992835 Centerline is valid? [True, True] Translation: X:154.58, Y:114.76, Z:6.71 [[-3.05656477e-01 -9.52115088e-01 7.13980861e-03 1.54575499e+02] [ 9.51675493e-01 -3.05732845e-01 -2.90031460e-02 1.14762338e+02] [ 2.97972069e-02 -2.07021854e-03 9.99553821e-01 6.71136914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.990714057 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:154.58, Y:114.74, Z:6.71 [[-3.06369402e-01 -9.51884791e-01 7.28936842e-03 1.54580676e+02] [ 9.51446050e-01 -3.06449980e-01 -2.89624344e-02 1.14744364e+02] [ 2.98027276e-02 -1.93776290e-03 9.99553922e-01 6.70922908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.020714057 meters Centerline goodness : 0.992894 Centerline is valid? [True, True] Translation: X:154.58, Y:114.74, Z:6.71 [[-3.05401234e-01 -9.52195026e-01 7.39721903e-03 1.54582440e+02] [ 9.51757042e-01 -3.05485527e-01 -2.89331133e-02 1.14735814e+02] [ 2.98097100e-02 -1.79585321e-03 9.99553979e-01 6.70996749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.050714057 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:154.58, Y:114.76, Z:6.71 [[-3.04859539e-01 -9.52367863e-01 7.49098367e-03 1.54576338e+02] [ 9.51930525e-01 -3.04946921e-01 -2.89076291e-02 1.14757515e+02] [ 2.98150494e-02 -1.68187046e-03 9.99554018e-01 6.71160346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.080714057 meters Centerline goodness : 0.992949 Centerline is valid? [True, True] Translation: X:154.58, Y:114.74, Z:6.71 [[-3.01811431e-01 -9.53337813e-01 7.54155354e-03 1.54580036e+02] [ 9.52901087e-01 -3.01901741e-01 -2.88938987e-02 1.14742474e+02] [ 2.98224544e-02 -1.53415436e-03 9.99554034e-01 6.71192977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.110714057 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:154.59, Y:114.71, Z:6.71 [[-2.91011365e-01 -9.56691177e-01 7.37407720e-03 1.54589388e+02] [ 9.56254363e-01 -2.91101553e-01 -2.89392168e-02 1.14713355e+02] [ 2.98324987e-02 -1.37014746e-03 9.99553973e-01 6.71021131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.140714057 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:154.59, Y:114.71, Z:6.71 [[-2.89561031e-01 -9.57134566e-01 6.91611554e-03 1.54588737e+02] [ 9.56694926e-01 -2.89638029e-01 -2.90625361e-02 1.14712158e+02] [ 2.98199280e-02 -1.79876527e-03 9.99553669e-01 6.71024884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17071405699997 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:154.58, Y:114.73, Z:6.72 [[-2.91078793e-01 -9.56673753e-01 6.96183951e-03 1.54581289e+02] [ 9.56234275e-01 -2.91156480e-01 -2.90502199e-02 1.14730425e+02] [ 2.98185675e-02 -1.79875338e-03 9.99553709e-01 6.71518335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20071405699997 meters Centerline goodness : 0.994165 Centerline is valid? [True, True] Translation: X:154.58, Y:114.73, Z:6.71 [[-2.90004901e-01 -9.56998981e-01 7.07870176e-03 1.54581703e+02] [ 9.56560330e-01 -2.90086620e-01 -2.90187435e-02 1.14725613e+02] [ 2.98243446e-02 -1.64437255e-03 9.99553803e-01 6.71315605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23071405699997 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:154.58, Y:114.75, Z:6.72 [[-2.93370675e-01 -9.55973249e-01 6.98523507e-03 1.54575455e+02] [ 9.55533732e-01 -2.93448017e-01 -2.90439135e-02 1.14746482e+02] [ 2.98150077e-02 -1.84600477e-03 9.99553729e-01 6.71943979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26071405699997 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:154.57, Y:114.75, Z:6.72 [[-2.93335059e-01 -9.55980341e-01 7.49204438e-03 1.54574967e+02] [ 9.55544102e-01 -2.93427749e-01 -2.89071890e-02 1.14747771e+02] [ 2.98330781e-02 -1.32051319e-03 9.99554022e-01 6.71899912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29071405699997 meters Centerline goodness : 0.992815 Centerline is valid? [True, True] Translation: X:154.57, Y:114.77, Z:6.72 [[-2.97227908e-01 -9.54777368e-01 7.46646132e-03 1.54569790e+02] [ 9.54340586e-01 -2.97318046e-01 -2.89140840e-02 1.14765958e+02] [ 2.98264267e-02 -1.46852562e-03 9.99554014e-01 6.71753551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32071405699998 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:154.57, Y:114.76, Z:6.72 [[-2.96124207e-01 -9.55119756e-01 7.53035591e-03 1.54572206e+02] [ 9.54683502e-01 -2.96216780e-01 -2.88968782e-02 1.14760527e+02] [ 2.98305971e-02 -1.36795860e-03 9.99554033e-01 6.71682018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35071405699998 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:154.57, Y:114.77, Z:6.72 [[-2.99131498e-01 -9.54182757e-01 7.45747573e-03 1.54570814e+02] [ 9.53745739e-01 -2.99220494e-01 -2.89164686e-02 1.14765162e+02] [ 2.98230253e-02 -1.53729088e-03 9.99554012e-01 6.71725491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38071405699998 meters Centerline goodness : 0.991166 Centerline is valid? [True, True] Translation: X:154.57, Y:114.78, Z:6.72 [[-3.01946959e-01 -9.53294971e-01 7.53210402e-03 1.54569133e+02] [ 9.52858172e-01 -3.02036921e-01 -2.88964092e-02 1.14778465e+02] [ 2.98217751e-02 -1.54815602e-03 9.99554033e-01 6.71751730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41071405699998 meters Centerline goodness : 0.991788 Centerline is valid? [True, True] Translation: X:154.57, Y:114.79, Z:6.72 [[-3.02227082e-01 -9.53206048e-01 7.55125804e-03 1.54566253e+02] [ 9.52769346e-01 -3.02317496e-01 -2.88912627e-02 1.14793828e+02] [ 2.98222037e-02 -1.53711485e-03 9.99554037e-01 6.71760830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44071405699998 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:154.57, Y:114.79, Z:6.72 [[-3.04689775e-01 -9.52422057e-01 7.50773782e-03 1.54569129e+02] [ 9.51984846e-01 -3.04777742e-01 -2.89029443e-02 1.14787065e+02] [ 2.98159930e-02 -1.65917895e-03 9.99554027e-01 6.71696520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47071405699998 meters Centerline goodness : 0.991683 Centerline is valid? [True, True] Translation: X:154.57, Y:114.79, Z:6.72 [[-3.06046490e-01 -9.51987114e-01 7.48868594e-03 1.54569974e+02] [ 9.51549659e-01 -3.06133258e-01 -2.89080500e-02 1.14785754e+02] [ 2.98126269e-02 -1.72135069e-03 9.99554023e-01 6.71788754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50071405699998 meters Centerline goodness : 0.991151 Centerline is valid? [True, True] Translation: X:154.57, Y:114.78, Z:6.72 [[-3.05462606e-01 -9.52174362e-01 7.52200445e-03 1.54571146e+02] [ 9.51737170e-01 -3.05550650e-01 -2.88991292e-02 1.14783810e+02] [ 2.98153632e-02 -1.66863208e-03 9.99554030e-01 6.71666596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53071405699998 meters Centerline goodness : 0.992185 Centerline is valid? [True, True] Translation: X:154.57, Y:114.79, Z:6.71 [[-3.03358529e-01 -9.52846915e-01 7.50728695e-03 1.54572989e+02] [ 9.52409825e-01 -3.03447094e-01 -2.89030635e-02 1.14785808e+02] [ 2.98182593e-02 -1.61797698e-03 9.99554027e-01 6.71481329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56071405699998 meters Centerline goodness : 0.993325 Centerline is valid? [True, True] Translation: X:154.57, Y:114.79, Z:6.71 [[-3.03394502e-01 -9.52836655e-01 7.35422182e-03 1.54570957e+02] [ 9.52398604e-01 -3.03478418e-01 -2.89438991e-02 1.14793529e+02] [ 2.98106556e-02 -1.77726928e-03 9.99553984e-01 6.71357152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59071405699999 meters Centerline goodness : 0.991799 Centerline is valid? [True, True] Translation: X:154.57, Y:114.79, Z:6.72 [[-3.02962997e-01 -9.52976167e-01 7.06032861e-03 1.54572566e+02] [ 9.52536385e-01 -3.03038201e-01 -2.90221352e-02 1.14794266e+02] [ 2.97969525e-02 -2.06741317e-03 9.99553834e-01 6.71598150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.620714057 meters Centerline goodness : 0.991617 Centerline is valid? [True, True] Translation: X:154.57, Y:114.80, Z:6.72 [[-3.03245629e-01 -9.52884063e-01 7.35196086e-03 1.54572586e+02] [ 9.52446013e-01 -3.03329545e-01 -2.89444348e-02 1.14795015e+02] [ 2.98107576e-02 -1.77492754e-03 9.99553985e-01 6.71742692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.650714057 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:154.57, Y:114.80, Z:6.71 [[-2.99754769e-01 -9.53987157e-01 7.45534476e-03 1.54572535e+02] [ 9.53550071e-01 -2.99843415e-01 -2.89169094e-02 1.14795704e+02] [ 2.98217962e-02 -1.55893699e-03 9.99554016e-01 6.71238463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.680714057 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:154.58, Y:114.78, Z:6.72 [[-2.94576929e-01 -9.55602645e-01 6.92950627e-03 1.54577662e+02] [ 9.55162766e-01 -2.94652031e-01 -2.90563577e-02 1.14784443e+02] [ 2.98081254e-02 -1.94052625e-03 9.99553755e-01 6.71574240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.710714057 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:154.57, Y:114.80, Z:6.71 [[-2.93563833e-01 -9.55912574e-01 7.17133404e-03 1.54574314e+02] [ 9.55474256e-01 -2.93646726e-01 -2.89921955e-02 1.14798798e+02] [ 2.98198429e-02 -1.65903496e-03 9.99553913e-01 6.71112800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.740714057 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:154.57, Y:114.81, Z:6.71 [[-2.86917608e-01 -9.57927268e-01 7.32368861e-03 1.54573773e+02] [ 9.57490533e-01 -2.87008144e-01 -2.89517620e-02 1.14806018e+02] [ 2.98356405e-02 -1.29440778e-03 9.99553980e-01 6.71059932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.770714057 meters Centerline goodness : 0.993007 Centerline is valid? [True, True] Translation: X:154.57, Y:114.80, Z:6.71 [[-2.84518232e-01 -9.58644063e-01 7.13694440e-03 1.54574035e+02] [ 9.58206326e-01 -2.84604225e-01 -2.90012339e-02 1.14801951e+02] [ 2.98330652e-02 -1.41271454e-03 9.99553897e-01 6.71372630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.800714057 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:154.57, Y:114.81, Z:6.71 [[-2.82967555e-01 -9.59104511e-01 6.92100984e-03 1.54572827e+02] [ 9.58665530e-01 -2.83047729e-01 -2.90583014e-02 1.14805978e+02] [ 2.98289240e-02 -1.58762291e-03 9.99553758e-01 6.71413515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.830714057 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:154.57, Y:114.81, Z:6.71 [[-2.74972914e-01 -9.61426741e-01 6.96549422e-03 1.54574028e+02] [ 9.60988735e-01 -2.75058084e-01 -2.90465611e-02 1.14807609e+02] [ 2.98420561e-02 -1.29325608e-03 9.99553790e-01 6.70615122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.860714057 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:154.57, Y:114.83, Z:6.71 [[-2.75492862e-01 -9.61282694e-01 6.26613522e-03 1.54567778e+02] [ 9.60840325e-01 -2.75556623e-01 -2.92304122e-02 1.14832001e+02] [ 2.98253645e-02 -2.03201451e-03 9.99553059e-01 6.70652175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.890714057 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:154.57, Y:114.81, Z:6.71 [[-2.81895694e-01 -9.59424180e-01 6.32934190e-03 1.54570391e+02] [ 9.58981752e-01 -2.81958425e-01 -2.92137954e-02 1.14811915e+02] [ 2.98130329e-02 -2.16551975e-03 9.99553147e-01 6.70719990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92071405699997 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:154.57, Y:114.82, Z:6.71 [[-2.85289128e-01 -9.58418764e-01 6.60190542e-03 1.54567362e+02] [ 9.57977674e-01 -2.85358571e-01 -2.91420941e-02 1.14822241e+02] [ 2.98142402e-02 -1.98944464e-03 9.99553477e-01 6.70735137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95071405699997 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:154.57, Y:114.81, Z:6.71 [[-2.86164523e-01 -9.58157691e-01 6.61093326e-03 1.54570134e+02] [ 9.57716590e-01 -2.86233836e-01 -2.91397207e-02 1.14814418e+02] [ 2.98127203e-02 -2.00735381e-03 9.99553486e-01 6.70699212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98071405699997 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:154.57, Y:114.83, Z:6.71 [[-2.88369148e-01 -9.57496752e-01 6.57299803e-03 1.54565997e+02] [ 9.57055275e-01 -2.88436294e-01 -2.91496884e-02 1.14832034e+02] [ 2.98066232e-02 -2.11514837e-03 9.99553446e-01 6.70778415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01071405699997 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:154.57, Y:114.82, Z:6.71 [[-2.95449149e-01 -9.55335884e-01 6.56878277e-03 1.54569241e+02] [ 9.54893899e-01 -2.95512897e-01 -2.91507949e-02 1.14819713e+02] [ 2.97899605e-02 -2.34008694e-03 9.99553441e-01 6.70798698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04071405699997 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:154.57, Y:114.83, Z:6.71 [[-2.99432026e-01 -9.54094435e-01 6.65364039e-03 1.54567067e+02] [ 9.53652646e-01 -2.99496512e-01 -2.91285255e-02 1.14827793e+02] [ 2.97841062e-02 -2.37675166e-03 9.99553529e-01 6.70903860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07071405699998 meters Centerline goodness : 0.991513 Centerline is valid? [True, True] Translation: X:154.57, Y:114.82, Z:6.71 [[-3.07844289e-01 -9.51413078e-01 6.71189078e-03 1.54570100e+02] [ 9.50971039e-01 -3.07906644e-01 -2.91132436e-02 1.14822095e+02] [ 2.97653564e-02 -2.57953200e-03 9.99553585e-01 6.70947296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10071405699998 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:154.56, Y:114.84, Z:6.71 [[-3.13793165e-01 -9.49463611e-01 7.25952440e-03 1.54564782e+02] [ 9.49024117e-01 -3.13869411e-01 -2.89692564e-02 1.14837543e+02] [ 2.97837974e-02 -2.20089091e-03 9.99553941e-01 6.70832455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13071405699998 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:154.57, Y:114.84, Z:6.71 [[-3.16246725e-01 -9.48652084e-01 6.87258451e-03 1.54565256e+02] [ 9.48210332e-01 -3.16310066e-01 -2.90707416e-02 1.14835529e+02] [ 2.97518873e-02 -2.67687119e-03 9.99553730e-01 6.70736635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16071405699998 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:154.56, Y:114.84, Z:6.71 [[-3.18306738e-01 -9.47962611e-01 6.90712950e-03 1.54564544e+02] [ 9.47520898e-01 -3.18370172e-01 -2.90616884e-02 1.14836466e+02] [ 2.97484181e-02 -2.70588171e-03 9.99553755e-01 6.70675462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19071405699998 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:154.55, Y:114.85, Z:6.70 [[-3.33505172e-01 -9.42722589e-01 6.95842654e-03 1.54550938e+02] [ 9.42280151e-01 -3.33563062e-01 -2.90482414e-02 1.14850166e+02] [ 2.97055075e-02 -3.13095155e-03 9.99553790e-01 6.70484310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22071405699998 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:154.56, Y:114.85, Z:6.71 [[-3.18730249e-01 -9.47815103e-01 7.58677743e-03 1.54557039e+02] [ 9.47377065e-01 -3.18814141e-01 -2.88831984e-02 1.14848469e+02] [ 2.97947036e-02 -2.01841008e-03 9.99554001e-01 6.70560371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25071405699998 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:154.56, Y:114.85, Z:6.71 [[-3.19133596e-01 -9.47684334e-01 6.93903443e-03 1.54555211e+02] [ 9.47242752e-01 -3.19197618e-01 -2.90525323e-02 1.14849855e+02] [ 2.97475530e-02 -2.69868903e-03 9.99553801e-01 6.70559031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28071405699998 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:154.55, Y:114.84, Z:6.71 [[-3.19284289e-01 -9.47633318e-01 6.97400989e-03 1.54553670e+02] [ 9.47191904e-01 -3.19349305e-01 -2.90433965e-02 1.14844081e+02] [ 2.97496354e-02 -2.66737448e-03 9.99553823e-01 6.70598356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31071405699998 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:154.55, Y:114.86, Z:6.71 [[-3.19035967e-01 -9.47716535e-01 7.02998323e-03 1.54549577e+02] [ 9.47275425e-01 -3.19102803e-01 -2.90287898e-02 1.14855051e+02] [ 2.97543515e-02 -2.60189769e-03 9.99553855e-01 6.70676896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34071405699999 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:154.55, Y:114.85, Z:6.71 [[-3.18696880e-01 -9.47830660e-01 7.02413603e-03 1.54550431e+02] [ 9.47389544e-01 -3.18763696e-01 -2.90303132e-02 1.14846104e+02] [ 2.97548605e-02 -2.59727720e-03 9.99553852e-01 6.70647792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.370714057 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:154.55, Y:114.85, Z:6.71 [[-3.15472050e-01 -9.48908836e-01 7.02895012e-03 1.54550674e+02] [ 9.48467975e-01 -3.15540512e-01 -2.90290600e-02 1.14848597e+02] [ 2.97638501e-02 -2.49112299e-03 9.99553854e-01 6.70741574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.400714057 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:154.54, Y:114.88, Z:6.70 [[-3.23124286e-01 -9.46331161e-01 6.93028206e-03 1.54537815e+02] [ 9.45889272e-01 -3.23186181e-01 -2.90547470e-02 1.14882127e+02] [ 2.97351839e-02 -2.83301495e-03 9.99553797e-01 6.70459420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.430714057 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:154.54, Y:114.89, Z:6.70 [[-3.24227571e-01 -9.45952312e-01 7.12077783e-03 1.54535812e+02] [ 9.45511300e-01 -3.24294752e-01 -2.90051019e-02 1.14886934e+02] [ 2.97466741e-02 -2.67147783e-03 9.99553900e-01 6.70382008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.460714057 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:154.54, Y:114.89, Z:6.70 [[-3.23875988e-01 -9.46072772e-01 7.11724442e-03 1.54535063e+02] [ 9.45631766e-01 -3.23943226e-01 -2.90060215e-02 1.14889496e+02] [ 2.97473903e-02 -2.66406147e-03 9.99553898e-01 6.70389829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.490714057 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:154.52, Y:114.92, Z:6.70 [[-3.35932276e-01 -9.41859241e-01 7.11875047e-03 1.54521272e+02] [ 9.41417420e-01 -3.35993922e-01 -2.90056298e-02 1.14919121e+02] [ 2.97110773e-02 -3.04221152e-03 9.99553899e-01 6.70200402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.520714057 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:154.53, Y:114.90, Z:6.70 [[-3.26664536e-01 -9.45110362e-01 7.52892000e-03 1.54532476e+02] [ 9.44671306e-01 -3.26742995e-01 -2.88987722e-02 1.14898037e+02] [ 2.97725509e-02 -2.32784931e-03 9.99553989e-01 6.70094885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.550714057 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:154.54, Y:114.87, Z:6.70 [[-3.27847930e-01 -9.44702925e-01 7.21927906e-03 1.54537078e+02] [ 9.44262161e-01 -3.27916422e-01 -2.89791383e-02 1.14874661e+02] [ 2.97439968e-02 -2.68385845e-03 9.99553946e-01 6.69902488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.580714057 meters Centerline goodness : 0.992976 Centerline is valid? [True, True] Translation: X:154.53, Y:114.88, Z:6.70 [[-3.29494580e-01 -9.44131963e-01 6.93956810e-03 1.54533949e+02] [ 9.43689736e-01 -3.29553781e-01 -2.90514739e-02 1.14883704e+02] [ 2.97153860e-02 -3.02350402e-03 9.99553828e-01 6.69872528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.610714057 meters Centerline goodness : 0.992339 Centerline is valid? [True, True] Translation: X:154.53, Y:114.88, Z:6.70 [[-3.29846673e-01 -9.44008658e-01 6.98751401e-03 1.54533546e+02] [ 9.43566633e-01 -3.29907170e-01 -2.90390818e-02 1.14881013e+02] [ 2.97183757e-02 -2.98525945e-03 9.99553854e-01 6.69827038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.640714057 meters Centerline goodness : 0.993221 Centerline is valid? [True, True] Translation: X:154.53, Y:114.90, Z:6.70 [[-3.28002418e-01 -9.44648968e-01 7.26234280e-03 1.54527908e+02] [ 9.44208410e-01 -3.28072149e-01 -2.89679877e-02 1.14899296e+02] [ 2.97471521e-02 -2.64440486e-03 9.99553958e-01 6.69861007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67071405699997 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:154.53, Y:114.89, Z:6.70 [[-3.25802625e-01 -9.45411770e-01 7.01679575e-03 1.54529196e+02] [ 9.44970153e-01 -3.25865907e-01 -2.90313687e-02 1.14888828e+02] [ 2.97331322e-02 -2.82783357e-03 9.99553873e-01 6.69812196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70071405699997 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:154.53, Y:114.88, Z:6.70 [[-3.23078176e-01 -9.46345985e-01 7.05467877e-03 1.54531426e+02] [ 9.45904740e-01 -3.23143883e-01 -2.90216056e-02 1.14877033e+02] [ 2.97441562e-02 -2.70319331e-03 9.99553889e-01 6.69820238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73071405699997 meters Centerline goodness : 0.992409 Centerline is valid? [True, True] Translation: X:154.53, Y:114.88, Z:6.70 [[-3.20691106e-01 -9.47158271e-01 6.95868154e-03 1.54528465e+02] [ 9.46716716e-01 -3.20755004e-01 -2.90462987e-02 1.14880497e+02] [ 2.97434740e-02 -2.72698952e-03 9.99553845e-01 6.69967237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76071405699997 meters Centerline goodness : 0.992375 Centerline is valid? [True, True] Translation: X:154.53, Y:114.89, Z:6.70 [[-3.17688774e-01 -9.48169049e-01 7.02118654e-03 1.54526555e+02] [ 9.47728014e-01 -3.17755971e-01 -2.90302370e-02 1.14886180e+02] [ 2.97565961e-02 -2.56840521e-03 9.99553875e-01 6.69992709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79071405699997 meters Centerline goodness : 0.992810 Centerline is valid? [True, True] Translation: X:154.52, Y:114.90, Z:6.70 [[-3.16270034e-01 -9.48643692e-01 6.95775502e-03 1.54521523e+02] [ 9.48202436e-01 -3.16335962e-01 -2.90465158e-02 1.14904522e+02] [ 2.97557821e-02 -2.58918228e-03 9.99553845e-01 6.70072446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82071405699998 meters Centerline goodness : 0.992475 Centerline is valid? [True, True] Translation: X:154.53, Y:114.88, Z:6.70 [[-3.11286342e-01 -9.50290659e-01 6.96256074e-03 1.54528430e+02] [ 9.49849779e-01 -3.11354731e-01 -2.90452835e-02 1.14877148e+02] [ 2.97692878e-02 -2.42801326e-03 9.99553848e-01 6.69937936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85071405699998 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:154.53, Y:114.89, Z:6.70 [[-2.94294868e-01 -9.55689743e-01 6.90257656e-03 1.54528148e+02] [ 9.55249811e-01 -2.94369289e-01 -2.90606350e-02 1.14894176e+02] [ 2.98048574e-02 -1.95871080e-03 9.99553817e-01 6.69518483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88071405699998 meters Centerline goodness : 0.993490 Centerline is valid? [True, True] Translation: X:154.52, Y:114.92, Z:6.70 [[-2.93449432e-01 -9.55953546e-01 6.34414847e-03 1.54520996e+02] [ 9.55510671e-01 -2.93507289e-01 -2.92032277e-02 1.14918837e+02] [ 2.97789829e-02 -2.50776903e-03 9.99553362e-01 6.69536416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91071405699998 meters Centerline goodness : 0.992476 Centerline is valid? [True, True] Translation: X:154.54, Y:114.85, Z:6.70 [[-2.84291944e-01 -9.58716776e-01 6.34299397e-03 1.54537710e+02] [ 9.58274469e-01 -2.84354000e-01 -2.92035215e-02 1.14850980e+02] [ 2.98015617e-02 -2.22399674e-03 9.99553361e-01 6.70430504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94071405699998 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:154.53, Y:114.86, Z:6.69 [[-2.83267838e-01 -9.59019641e-01 6.37658968e-03 1.54533990e+02] [ 9.58577580e-01 -2.83331386e-01 -2.91950051e-02 1.14859656e+02] [ 2.98052712e-02 -2.15755007e-03 9.99553396e-01 6.69283152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97071405699998 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:154.52, Y:114.88, Z:6.70 [[-3.02957363e-01 -9.52983544e-01 6.26100700e-03 1.54517875e+02] [ 9.52539723e-01 -3.03008272e-01 -2.92243489e-02 1.14877135e+02] [ 2.97474605e-02 -2.88987382e-03 9.99553269e-01 6.69728876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00071405699998 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:154.53, Y:114.86, Z:6.69 [[-2.80277081e-01 -9.59890706e-01 7.38848030e-03 1.54531562e+02] [ 9.59454997e-01 -2.80372589e-01 -2.89364871e-02 1.14858311e+02] [ 2.98473924e-02 -1.02131980e-03 9.99553946e-01 6.69466102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03071405699998 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:154.52, Y:114.88, Z:6.70 [[-2.78909389e-01 -9.60296150e-01 6.39196924e-03 1.54524760e+02] [ 9.59854528e-01 -2.78975414e-01 -2.91890882e-02 1.14880075e+02] [ 2.98133713e-02 -2.00575013e-03 9.99553470e-01 6.69549020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06071405699998 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:154.53, Y:114.86, Z:6.69 [[-2.75737167e-01 -9.61211253e-01 6.47621509e-03 1.54531113e+02] [ 9.60770331e-01 -2.75807202e-01 -2.91677605e-02 1.14856447e+02] [ 2.98225664e-02 -1.82048033e-03 9.99553551e-01 6.69433764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09071405699999 meters Centerline goodness : 0.992558 Centerline is valid? [True, True] Translation: X:154.53, Y:114.87, Z:6.69 [[-2.73737774e-01 -9.61782560e-01 6.47596071e-03 1.54526812e+02] [ 9.61341783e-01 -2.73808718e-01 -2.91678248e-02 1.14873038e+02] [ 2.98262797e-02 -1.75872382e-03 9.99553550e-01 6.69477584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.120714057 meters Centerline goodness : 0.991995 Centerline is valid? [True, True] Translation: X:154.53, Y:114.86, Z:6.70 [[-2.72486142e-01 -9.62138476e-01 6.39188318e-03 1.54530939e+02] [ 9.61697306e-01 -2.72555113e-01 -2.91890568e-02 1.14858786e+02] [ 2.98260551e-02 -1.80655664e-03 9.99553472e-01 6.69909433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.150714057 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:154.53, Y:114.86, Z:6.70 [[-2.73640075e-01 -9.61810169e-01 6.50441411e-03 1.54531221e+02] [ 9.61369563e-01 -2.73711925e-01 -2.91606733e-02 1.14859360e+02] [ 2.98273679e-02 -1.72638310e-03 9.99553574e-01 6.69912216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.180714057 meters Centerline goodness : 0.993060 Centerline is valid? [True, True] Translation: X:154.53, Y:114.88, Z:6.69 [[-2.68708698e-01 -9.63199157e-01 6.55887041e-03 1.54528868e+02] [ 9.62759251e-01 -2.68784450e-01 -2.91469463e-02 1.14879930e+02] [ 2.98372365e-02 -1.51742482e-03 9.99553619e-01 6.69296701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.210714057 meters Centerline goodness : 0.993331 Centerline is valid? [True, True] Translation: X:154.52, Y:114.90, Z:6.69 [[-2.70847673e-01 -9.62602949e-01 6.09112214e-03 1.54524030e+02] [ 9.62160216e-01 -2.70908281e-01 -2.92647052e-02 1.14903732e+02] [ 2.98204270e-02 -2.06564191e-03 9.99553138e-01 6.69363574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.240714057 meters Centerline goodness : 0.991185 Centerline is valid? [True, True] Translation: X:154.53, Y:114.88, Z:6.70 [[-2.72572696e-01 -9.62115411e-01 6.16934112e-03 1.54530227e+02] [ 9.61672995e-01 -2.72634883e-01 -2.92450305e-02 1.14878338e+02] [ 2.98190721e-02 -2.03850804e-03 9.99553234e-01 6.70249382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.270714057 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:154.53, Y:114.88, Z:6.70 [[-2.75399888e-01 -9.61308675e-01 6.36649739e-03 1.54531998e+02] [ 9.60867156e-01 -2.75466754e-01 -2.91954682e-02 1.14875510e+02] [ 2.98196152e-02 -1.92307042e-03 9.99553446e-01 6.70230411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.300714057 meters Centerline goodness : 0.990926 Centerline is valid? [True, True] Translation: X:154.53, Y:114.88, Z:6.70 [[-2.74762116e-01 -9.61489573e-01 6.60163025e-03 1.54530863e+02] [ 9.61049442e-01 -2.74836393e-01 -2.91363446e-02 1.14879527e+02] [ 2.98286598e-02 -1.66107063e-03 9.99553646e-01 6.70342450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.330714057 meters Centerline goodness : 0.989952 Centerline is valid? [True, True] Translation: X:154.53, Y:114.88, Z:6.71 [[-2.74813657e-01 -9.61475395e-01 6.52069999e-03 1.54533811e+02] [ 9.61034793e-01 -2.74885461e-01 -2.91566563e-02 1.14878108e+02] [ 2.98258532e-02 -1.74602777e-03 9.99553585e-01 6.70535887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.360714057 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:154.52, Y:114.91, Z:6.70 [[-2.88995919e-01 -9.57308357e-01 6.48599868e-03 1.54523092e+02] [ 9.56866559e-01 -2.89060150e-01 -2.91653729e-02 1.14905644e+02] [ 2.97950990e-02 -2.22243852e-03 9.99553557e-01 6.69958084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.390714057 meters Centerline goodness : 0.990221 Centerline is valid? [True, True] Translation: X:154.52, Y:114.91, Z:6.70 [[-2.90742168e-01 -9.56775034e-01 7.10816622e-03 1.54523656e+02] [ 9.56336576e-01 -2.90824443e-01 -2.90085670e-02 1.14905745e+02] [ 2.98219011e-02 -1.63621429e-03 9.99553889e-01 6.69966624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42071405699997 meters Centerline goodness : 0.990457 Centerline is valid? [True, True] Translation: X:154.52, Y:114.92, Z:6.70 [[-2.93254854e-01 -9.56007853e-01 7.11161753e-03 1.54520368e+02] [ 9.55569200e-01 -2.93336082e-01 -2.90076977e-02 1.14924035e+02] [ 2.98176808e-02 -1.71100545e-03 9.99553890e-01 6.70006851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45071405699997 meters Centerline goodness : 0.990610 Centerline is valid? [True, True] Translation: X:154.52, Y:114.92, Z:6.70 [[-2.93576229e-01 -9.55908939e-01 7.14823035e-03 1.54520893e+02] [ 9.55470472e-01 -2.93658417e-01 -2.89984831e-02 1.14924045e+02] [ 2.98190473e-02 -1.68334231e-03 9.99553896e-01 6.69929323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48071405699997 meters Centerline goodness : 0.990378 Centerline is valid? [True, True] Translation: X:154.52, Y:114.93, Z:6.70 [[-2.98918625e-01 -9.54252237e-01 7.09397444e-03 1.54520308e+02] [ 9.53813011e-01 -2.98996716e-01 -2.90121248e-02 1.14929138e+02] [ 2.98059601e-02 -1.90593933e-03 9.99553887e-01 6.69988806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51071405699997 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:154.52, Y:114.94, Z:6.70 [[-2.99443976e-01 -9.54086381e-01 7.24448253e-03 1.54518980e+02] [ 9.53647963e-01 -2.99526382e-01 -2.89742848e-02 1.14937102e+02] [ 2.98138842e-02 -1.76748905e-03 9.99553905e-01 6.69947459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54071405699997 meters Centerline goodness : 0.989814 Centerline is valid? [True, True] Translation: X:154.52, Y:114.95, Z:6.70 [[-3.01035528e-01 -9.53585302e-01 7.25826220e-03 1.54516022e+02] [ 9.53146825e-01 -3.01117619e-01 -2.89708226e-02 1.14953585e+02] [ 2.98117412e-02 -1.80305730e-03 9.99553905e-01 6.69925920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57071405699998 meters Centerline goodness : 0.990980 Centerline is valid? [True, True] Translation: X:154.52, Y:114.93, Z:6.70 [[-3.03305967e-01 -9.52865774e-01 7.23236811e-03 1.54520959e+02] [ 9.52426958e-01 -3.03386229e-01 -2.89773190e-02 1.14930556e+02] [ 2.98056964e-02 -1.90069142e-03 9.99553904e-01 6.69963972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60071405699998 meters Centerline goodness : 0.991504 Centerline is valid? [True, True] Translation: X:154.52, Y:114.93, Z:6.70 [[-3.05745266e-01 -9.52085630e-01 7.26536065e-03 1.54521168e+02] [ 9.51646792e-01 -3.05825404e-01 -2.89690493e-02 1.14933414e+02] [ 2.98029474e-02 -1.94309253e-03 9.99553905e-01 6.69988406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63071405699998 meters Centerline goodness : 0.990862 Centerline is valid? [True, True] Translation: X:154.52, Y:114.94, Z:6.70 [[-3.07267114e-01 -9.51595384e-01 7.29007918e-03 1.54518894e+02] [ 9.51156554e-01 -3.07347299e-01 -2.89628588e-02 1.14942968e+02] [ 2.98015089e-02 -1.96532743e-03 9.99553904e-01 6.70027226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66071405699998 meters Centerline goodness : 0.991590 Centerline is valid? [True, True] Translation: X:154.53, Y:114.90, Z:6.70 [[-3.06009474e-01 -9.52000201e-01 7.33618141e-03 1.54531399e+02] [ 9.51561733e-01 -3.06091634e-01 -2.89513233e-02 1.14901776e+02] [ 2.98072093e-02 -1.87854970e-03 9.99553901e-01 6.69845137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69071405699998 meters Centerline goodness : 0.985620 Centerline is valid? [True, True] Translation: X:154.31, Y:115.75, Z:6.73 [[-3.24914633e-01 -9.45715643e-01 7.23904248e-03 1.54306351e+02] [ 9.45275149e-01 -3.24985090e-01 -2.89755919e-02 1.15753074e+02] [ 2.97552514e-02 -2.57170685e-03 9.99553906e-01 6.72628875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72071405699998 meters Centerline goodness : 0.986063 Centerline is valid? [True, True] Translation: X:154.31, Y:115.76, Z:6.73 [[-3.23847936e-01 -9.46081163e-01 7.27650544e-03 1.54305829e+02] [ 9.45640920e-01 -3.23920027e-01 -2.89666400e-02 1.15755739e+02] [ 2.97617983e-02 -2.49982526e-03 9.99553894e-01 6.72644684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75071405699998 meters Centerline goodness : 0.986128 Centerline is valid? [True, True] Translation: X:154.31, Y:115.76, Z:6.73 [[-3.23007746e-01 -9.46368895e-01 7.20493048e-03 1.54305466e+02] [ 9.45928390e-01 -3.23078056e-01 -2.89836197e-02 1.15760248e+02] [ 2.97569511e-02 -2.54658538e-03 9.99553920e-01 6.72579437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78071405699998 meters Centerline goodness : 0.986571 Centerline is valid? [True, True] Translation: X:154.30, Y:115.77, Z:6.73 [[-3.22926932e-01 -9.46396791e-01 7.16310379e-03 1.54304120e+02] [ 9.45956108e-01 -3.22996009e-01 -2.89934608e-02 1.15766523e+02] [ 2.97529722e-02 -2.58678756e-03 9.99553935e-01 6.72554886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81071405699998 meters Centerline goodness : 0.986927 Centerline is valid? [True, True] Translation: X:154.30, Y:115.77, Z:6.72 [[-3.22301738e-01 -9.46610210e-01 7.12047005e-03 1.54304323e+02] [ 9.46169386e-01 -3.22369812e-01 -2.90034162e-02 1.15767580e+02] [ 2.97503545e-02 -2.61068069e-03 9.99553951e-01 6.72446709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84071405699999 meters Centerline goodness : 0.986824 Centerline is valid? [True, True] Translation: X:154.30, Y:115.77, Z:6.72 [[-3.22460325e-01 -9.46556485e-01 7.08228700e-03 1.54304197e+02] [ 9.46115488e-01 -3.22527166e-01 -2.90122645e-02 1.15769658e+02] [ 2.97459770e-02 -2.65464280e-03 9.99553965e-01 6.72395242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.870714057 meters Centerline goodness : 0.987101 Centerline is valid? [True, True] Translation: X:154.30, Y:115.78, Z:6.72 [[-3.21852435e-01 -9.46763548e-01 7.05652615e-03 1.54303462e+02] [ 9.46322485e-01 -3.21918777e-01 -2.90181863e-02 1.15775499e+02] [ 2.97449893e-02 -2.66182456e-03 9.99553976e-01 6.72166090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.900714057 meters Centerline goodness : 0.987567 Centerline is valid? [True, True] Translation: X:154.30, Y:115.79, Z:6.72 [[-3.22713743e-01 -9.46470881e-01 6.97940278e-03 1.54300758e+02] [ 9.46029445e-01 -3.22777342e-01 -2.90357754e-02 1.15786519e+02] [ 2.97343090e-02 -2.76752321e-03 9.99554006e-01 6.72186702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.930714057 meters Centerline goodness : 0.987051 Centerline is valid? [True, True] Translation: X:154.30, Y:115.80, Z:6.72 [[-3.20469799e-01 -9.47233295e-01 6.94207070e-03 1.54299366e+02] [ 9.46791862e-01 -3.20533311e-01 -2.90442174e-02 1.15795385e+02] [ 2.97368146e-02 -2.73509845e-03 9.99554021e-01 6.72056996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.960714057 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:154.48, Y:115.02, Z:6.70 [[-3.10924121e-01 -9.50405825e-01 7.41345125e-03 1.54482528e+02] [ 9.49967308e-01 -3.11006353e-01 -2.89337582e-02 1.15019324e+02] [ 2.98044428e-02 -1.95366700e-03 9.99553840e-01 6.69864549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.990714057 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:154.50, Y:114.99, Z:6.70 [[-2.93738569e-01 -9.55862324e-01 6.69849439e-03 1.54499868e+02] [ 9.55421729e-01 -2.93807089e-01 -2.90983508e-02 1.14986202e+02] [ 2.97820824e-02 -2.14742085e-03 9.99554109e-01 6.69666202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.020714057 meters Centerline goodness : 0.987548 Centerline is valid? [True, True] Translation: X:154.29, Y:115.82, Z:6.72 [[-3.23097359e-01 -9.46343145e-01 6.53820256e-03 1.54293076e+02] [ 9.45900036e-01 -3.23147372e-01 -2.91358607e-02 1.15824587e+02] [ 2.96853251e-02 -3.22923363e-03 9.99554077e-01 6.72252132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.050714057 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:154.50, Y:114.99, Z:6.70 [[-2.84742158e-01 -9.58575186e-01 7.45093217e-03 1.54498298e+02] [ 9.58139425e-01 -2.84837518e-01 -2.89210997e-02 1.14985446e+02] [ 2.98453536e-02 -1.09602448e-03 9.99553927e-01 6.70030332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.080714057 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:154.47, Y:115.04, Z:6.70 [[-3.09155611e-01 -9.50992976e-01 5.93016771e-03 1.54474528e+02] [ 9.50548804e-01 -3.09193685e-01 -2.92615129e-02 1.15038837e+02] [ 2.96610636e-02 -3.40944708e-03 9.99554199e-01 6.70275090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.110714057 meters Centerline goodness : 0.992580 Centerline is valid? [True, True] Translation: X:154.50, Y:114.98, Z:6.70 [[-2.77293648e-01 -9.60760102e-01 6.94686774e-03 1.54502416e+02] [ 9.60322329e-01 -2.77377223e-01 -2.90327678e-02 1.14980058e+02] [ 2.98204278e-02 -1.37936988e-03 9.99554320e-01 6.69743967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.140714057 meters Centerline goodness : 0.992354 Centerline is valid? [True, True] Translation: X:154.50, Y:114.98, Z:6.70 [[-2.75561572e-01 -9.61267119e-01 5.59878538e-03 1.54503434e+02] [ 9.60823306e-01 -2.75605186e-01 -2.93318139e-02 1.14981550e+02] [ 2.97387626e-02 -2.70327728e-03 9.99554050e-01 6.69545329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17071405699997 meters Centerline goodness : 0.990784 Centerline is valid? [True, True] Translation: X:154.50, Y:114.99, Z:6.70 [[-2.85022677e-01 -9.58504760e-01 5.54058709e-03 1.54500125e+02] [ 9.58060332e-01 -2.85060146e-01 -2.93447187e-02 1.14989818e+02] [ 2.97064532e-02 -3.05569357e-03 9.99553995e-01 6.69761766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20071405699997 meters Centerline goodness : 0.992392 Centerline is valid? [True, True] Translation: X:154.47, Y:115.04, Z:6.70 [[-3.08336243e-01 -9.51257970e-01 6.08567855e-03 1.54473001e+02] [ 9.50814453e-01 -3.08379439e-01 -2.92232341e-02 1.15042237e+02] [ 2.96755325e-02 -3.22423109e-03 9.99554384e-01 6.69740171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23071405699997 meters Centerline goodness : 0.992460 Centerline is valid? [True, True] Translation: X:154.47, Y:115.05, Z:6.70 [[-3.07852855e-01 -9.51409359e-01 6.84475654e-03 1.54471508e+02] [ 9.50968759e-01 -3.07919309e-01 -2.90537285e-02 1.15045950e+02] [ 2.97496219e-02 -2.43512363e-03 9.99554416e-01 6.69719311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26071405699997 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:154.47, Y:115.04, Z:6.70 [[-3.04462323e-01 -9.52499761e-01 6.84833061e-03 1.54472288e+02] [ 9.52059415e-01 -3.04530455e-01 -2.90529317e-02 1.15043195e+02] [ 2.97584357e-02 -2.32550544e-03 9.99554414e-01 6.69651901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29071405699997 meters Centerline goodness : 0.991608 Centerline is valid? [True, True] Translation: X:154.47, Y:115.05, Z:6.70 [[-3.06362326e-01 -9.51892961e-01 6.47420527e-03 1.54470704e+02] [ 9.51450972e-01 -3.06418240e-01 -2.91360668e-02 1.15047281e+02] [ 2.97182315e-02 -2.76630428e-03 9.99554488e-01 6.69621413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32071405699998 meters Centerline goodness : 0.992559 Centerline is valid? [True, True] Translation: X:154.47, Y:115.05, Z:6.70 [[-3.03160235e-01 -9.52915188e-01 6.82029842e-03 1.54470222e+02] [ 9.52474817e-01 -3.03228120e-01 -2.90590900e-02 1.15046637e+02] [ 2.97589545e-02 -2.31339807e-03 9.99554427e-01 6.69674262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35071405699998 meters Centerline goodness : 0.992559 Centerline is valid? [True, True] Translation: X:154.47, Y:115.05, Z:6.70 [[-3.02786461e-01 -9.53036535e-01 6.45919735e-03 1.54469717e+02] [ 9.52594708e-01 -3.02843579e-01 -2.91391365e-02 1.15049273e+02] [ 2.97267881e-02 -2.66993878e-03 9.99554496e-01 6.69667099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38071405699998 meters Centerline goodness : 0.992005 Centerline is valid? [True, True] Translation: X:154.47, Y:115.05, Z:6.70 [[-3.01184331e-01 -9.53544139e-01 6.44775563e-03 1.54468738e+02] [ 9.53102363e-01 -3.01241845e-01 -2.91416680e-02 1.15047424e+02] [ 2.97302005e-02 -2.63164265e-03 9.99554496e-01 6.69735166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41071405699998 meters Centerline goodness : 0.990446 Centerline is valid? [True, True] Translation: X:154.49, Y:115.04, Z:6.70 [[-2.76553644e-01 -9.60976928e-01 6.43633042e-03 1.54485280e+02] [ 9.60536724e-01 -2.76622159e-01 -2.91441912e-02 1.15035305e+02] [ 2.97873269e-02 -1.87760053e-03 9.99554496e-01 6.69636746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44071405699998 meters Centerline goodness : 0.989552 Centerline is valid? [True, True] Translation: X:154.48, Y:115.04, Z:6.70 [[-2.77667934e-01 -9.60660482e-01 5.65300372e-03 1.54481577e+02] [ 9.60216898e-01 -2.77712231e-01 -2.93159588e-02 1.15044398e+02] [ 2.97325914e-02 -2.71199204e-03 9.99554210e-01 6.69769269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47071405699998 meters Centerline goodness : 0.991262 Centerline is valid? [True, True] Translation: X:154.46, Y:115.08, Z:6.70 [[-3.01079198e-01 -9.53581370e-01 5.82131777e-03 1.54458837e+02] [ 9.53137368e-01 -3.01117750e-01 -2.92789708e-02 1.15082466e+02] [ 2.96727832e-02 -3.26677354e-03 9.99554328e-01 6.69956700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50071405699998 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:154.48, Y:115.06, Z:6.70 [[-2.79686894e-01 -9.60068071e-01 6.67384218e-03 1.54476909e+02] [ 9.59628794e-01 -2.79761147e-01 -2.90908566e-02 1.15059450e+02] [ 2.97962844e-02 -1.73192021e-03 9.99554492e-01 6.69806670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53071405699998 meters Centerline goodness : 0.990131 Centerline is valid? [True, True] Translation: X:154.48, Y:115.05, Z:6.70 [[-2.79753889e-01 -9.60054011e-01 5.83595939e-03 1.54478731e+02] [ 9.59611083e-01 -2.79802774e-01 -2.92741639e-02 1.15049087e+02] [ 2.97376961e-02 -2.58930989e-03 9.99554383e-01 6.69537141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56071405699998 meters Centerline goodness : 0.990335 Centerline is valid? [True, True] Translation: X:154.48, Y:115.06, Z:6.69 [[-2.83418829e-01 -9.58978991e-01 5.74999218e-03 1.54476393e+02] [ 9.58535558e-01 -2.83463415e-01 -2.92929366e-02 1.15057962e+02] [ 2.97212232e-02 -2.79059783e-03 9.99554331e-01 6.69498654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59071405699999 meters Centerline goodness : 0.990216 Centerline is valid? [True, True] Translation: X:154.47, Y:115.07, Z:6.69 [[-2.84885363e-01 -9.58543420e-01 5.90277954e-03 1.54472767e+02] [ 9.58100490e-01 -2.84933904e-01 -2.92595402e-02 1.15072418e+02] [ 2.97284417e-02 -2.68015875e-03 9.99554419e-01 6.69445374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.620714057 meters Centerline goodness : 0.991151 Centerline is valid? [True, True] Translation: X:154.47, Y:115.06, Z:6.69 [[-2.86483369e-01 -9.58066772e-01 5.94471852e-03 1.54473847e+02] [ 9.57623921e-01 -2.86532443e-01 -2.92503847e-02 1.15059516e+02] [ 2.97271763e-02 -2.68694410e-03 9.99554438e-01 6.69369106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.650714057 meters Centerline goodness : 0.990215 Centerline is valid? [True, True] Translation: X:154.47, Y:115.07, Z:6.69 [[-2.85582026e-01 -9.58336913e-01 5.76784546e-03 1.54472019e+02] [ 9.57893449e-01 -2.85626153e-01 -2.92889125e-02 1.15074535e+02] [ 2.97160935e-02 -2.83940557e-03 9.99554346e-01 6.69474838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.680714057 meters Centerline goodness : 0.990387 Centerline is valid? [True, True] Translation: X:154.47, Y:115.08, Z:6.70 [[-2.88651973e-01 -9.57416431e-01 5.81508681e-03 1.54470704e+02] [ 9.56972997e-01 -2.88696112e-01 -2.92786240e-02 1.15075852e+02] [ 2.97106287e-02 -2.88645154e-03 9.99554374e-01 6.69620129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.710714057 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:154.47, Y:115.08, Z:6.70 [[-2.88842090e-01 -9.57357955e-01 5.99934286e-03 1.54469218e+02] [ 9.56915189e-01 -2.88891729e-01 -2.92385117e-02 1.15080911e+02] [ 2.97248823e-02 -2.70445053e-03 9.99554459e-01 6.69722535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.740714057 meters Centerline goodness : 0.990719 Centerline is valid? [True, True] Translation: X:154.46, Y:115.11, Z:6.70 [[-2.92117717e-01 -9.56364017e-01 5.92512417e-03 1.54461397e+02] [ 9.55920814e-01 -2.92163588e-01 -2.92546530e-02 1.15111648e+02] [ 2.97092030e-02 -2.88185290e-03 9.99554430e-01 6.69930161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.770714057 meters Centerline goodness : 0.990786 Centerline is valid? [True, True] Translation: X:154.46, Y:115.13, Z:6.70 [[-2.92329791e-01 -9.56298973e-01 5.96391617e-03 1.54457004e+02] [ 9.55855899e-01 -2.92376741e-01 -2.92462123e-02 1.15130508e+02] [ 2.97118331e-02 -2.84889465e-03 9.99554446e-01 6.70110949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.800714057 meters Centerline goodness : 0.990018 Centerline is valid? [True, True] Translation: X:154.45, Y:115.16, Z:6.70 [[-2.93775919e-01 -9.55855700e-01 5.96568869e-03 1.54449741e+02] [ 9.55412563e-01 -2.93822253e-01 -2.92458269e-02 1.15157666e+02] [ 2.97076424e-02 -2.89202574e-03 9.99554447e-01 6.70168921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.830714057 meters Centerline goodness : 0.991024 Centerline is valid? [True, True] Translation: X:154.44, Y:115.18, Z:6.70 [[-2.94654401e-01 -9.55584936e-01 6.01780164e-03 1.54443065e+02] [ 9.55141942e-01 -2.94701908e-01 -2.92344924e-02 1.15184770e+02] [ 2.97094982e-02 -2.86621712e-03 9.99554466e-01 6.70170113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.860714057 meters Centerline goodness : 0.989814 Centerline is valid? [True, True] Translation: X:154.44, Y:115.21, Z:6.70 [[-2.93004856e-01 -9.56091520e-01 6.09589412e-03 1.54437272e+02] [ 9.55648896e-01 -2.93055496e-01 -2.92175190e-02 1.15208274e+02] [ 2.97210575e-02 -2.73534047e-03 9.99554489e-01 6.70173119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.890714057 meters Centerline goodness : 0.990434 Centerline is valid? [True, True] Translation: X:154.44, Y:115.20, Z:6.70 [[-2.92124940e-01 -9.56360586e-01 6.11948943e-03 1.54438117e+02] [ 9.55918098e-01 -2.92176702e-01 -2.92123939e-02 1.15199620e+02] [ 2.97255544e-02 -2.68393812e-03 9.99554495e-01 6.70101669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92071405699997 meters Centerline goodness : 0.992381 Centerline is valid? [True, True] Translation: X:154.45, Y:115.14, Z:6.70 [[-2.86479601e-01 -9.58066821e-01 6.11586961e-03 1.54448106e+02] [ 9.57624632e-01 -2.86533862e-01 -2.92131787e-02 1.15143025e+02] [ 2.97405810e-02 -2.51227241e-03 9.99554494e-01 6.69748257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95071405699997 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:154.45, Y:115.13, Z:6.70 [[-2.83262538e-01 -9.59024938e-01 5.78826101e-03 1.54452321e+02] [ 9.58581679e-01 -2.83308359e-01 -2.92837600e-02 1.15125676e+02] [ 2.97237188e-02 -2.74647122e-03 9.99554379e-01 6.69841715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98071405699997 meters Centerline goodness : 0.991846 Centerline is valid? [True, True] Translation: X:154.46, Y:115.09, Z:6.70 [[-2.74990602e-01 -9.61428427e-01 5.96230744e-03 1.54460173e+02] [ 9.60986275e-01 -2.75045508e-01 -2.92463285e-02 1.15086471e+02] [ 2.97581575e-02 -2.31276987e-03 9.99554452e-01 6.69734036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01071405699997 meters Centerline goodness : 0.990769 Centerline is valid? [True, True] Translation: X:154.46, Y:115.08, Z:6.70 [[-2.71921854e-01 -9.62301517e-01 5.85623067e-03 1.54460347e+02] [ 9.61859107e-01 -2.71974961e-01 -2.92690683e-02 1.15081567e+02] [ 2.97584169e-02 -2.32603049e-03 9.99554414e-01 6.69873972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04071405699997 meters Centerline goodness : 0.991602 Centerline is valid? [True, True] Translation: X:154.46, Y:115.08, Z:6.70 [[-2.64222237e-01 -9.64443957e-01 5.87052705e-03 1.54459018e+02] [ 9.64002047e-01 -2.64279311e-01 -2.92660066e-02 1.15081340e+02] [ 2.97768820e-02 -2.07352964e-03 9.99554420e-01 6.69997978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07071405699998 meters Centerline goodness : 0.992687 Centerline is valid? [True, True] Translation: X:154.46, Y:115.08, Z:6.70 [[-2.60887018e-01 -9.65352159e-01 5.75963154e-03 1.54458437e+02] [ 9.64909968e-01 -2.60942268e-01 -2.92897108e-02 1.15083431e+02] [ 2.97778169e-02 -2.08377942e-03 9.99554370e-01 6.69704952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10071405699998 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:154.46, Y:115.07, Z:6.70 [[-2.56239164e-01 -9.66596946e-01 5.64216509e-03 1.54462912e+02] [ 9.66154515e-01 -2.56292992e-01 -2.93147610e-02 1.15065346e+02] [ 2.97816058e-02 -2.06038656e-03 9.99554306e-01 6.70034993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13071405699998 meters Centerline goodness : 0.991585 Centerline is valid? [True, True] Translation: X:154.46, Y:115.06, Z:6.70 [[-2.54746174e-01 -9.66991403e-01 5.65805538e-03 1.54463787e+02] [ 9.66549124e-01 -2.54801166e-01 -2.93113780e-02 1.15062331e+02] [ 2.97855297e-02 -1.99817295e-03 9.99554315e-01 6.69709159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16071405699998 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:154.47, Y:115.04, Z:6.69 [[-2.39139947e-01 -9.70968674e-01 5.64968196e-03 1.54470555e+02] [ 9.70527298e-01 -2.39201802e-01 -2.93131564e-02 1.15043341e+02] [ 2.98135707e-02 -1.52677610e-03 9.99554311e-01 6.69053156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19071405699998 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:154.45, Y:115.09, Z:6.70 [[-2.69118749e-01 -9.63095972e-01 4.60947159e-03 1.54448776e+02] [ 9.62649454e-01 -2.69135326e-01 -2.95331335e-02 1.15085808e+02] [ 2.96838135e-02 -3.51061462e-03 9.99553174e-01 6.70076175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22071405699998 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:154.47, Y:115.03, Z:6.69 [[-2.33697888e-01 -9.72288666e-01 6.32830253e-03 1.54474016e+02] [ 9.71851349e-01 -2.33782606e-01 -2.91658702e-02 1.15032435e+02] [ 2.98370921e-02 -6.65832908e-04 9.99554553e-01 6.69061014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25071405699998 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:154.47, Y:115.05, Z:6.69 [[-2.39081507e-01 -9.70987901e-01 4.74644238e-03 1.54468620e+02] [ 9.70542822e-01 -2.39116110e-01 -2.94977458e-02 1.15050646e+02] [ 2.97769052e-02 -2.44573996e-03 9.99553577e-01 6.69130158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28071405699998 meters Centerline goodness : 0.992374 Centerline is valid? [True, True] Translation: X:154.47, Y:115.07, Z:6.69 [[-2.42416608e-01 -9.70160030e-01 4.86869405e-03 1.54465224e+02] [ 9.69715297e-01 -2.42453385e-01 -2.94719877e-02 1.15070328e+02] [ 2.97729758e-02 -2.42325219e-03 9.99553749e-01 6.69386821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31071405699998 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:154.46, Y:115.08, Z:6.70 [[-2.40554797e-01 -9.70619718e-01 5.54554176e-03 1.54464464e+02] [ 9.70177958e-01 -2.40612880e-01 -2.93286924e-02 1.15075008e+02] [ 2.98013359e-02 -1.67499527e-03 9.99554438e-01 6.69703860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34071405699999 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:154.47, Y:115.07, Z:6.70 [[-2.40418854e-01 -9.70655202e-01 5.22047110e-03 1.54466904e+02] [ 9.70212004e-01 -2.40467187e-01 -2.93972848e-02 1.15067125e+02] [ 2.97899794e-02 -2.00269779e-03 9.99554174e-01 6.69646935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.370714057 meters Centerline goodness : 0.992418 Centerline is valid? [True, True] Translation: X:154.47, Y:115.08, Z:6.70 [[-2.40557078e-01 -9.70620642e-01 5.27839556e-03 1.54466202e+02] [ 9.70177686e-01 -2.40607097e-01 -2.93850717e-02 1.15077560e+02] [ 2.97917766e-02 -1.94780537e-03 9.99554229e-01 6.69743185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.400714057 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:154.47, Y:115.08, Z:6.70 [[-2.32162044e-01 -9.72661217e-01 5.56258988e-03 1.54470349e+02] [ 9.72220058e-01 -2.32224454e-01 -2.93250999e-02 1.15078293e+02] [ 2.98151567e-02 -1.40011368e-03 9.99554449e-01 6.69531195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.430714057 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:154.47, Y:115.09, Z:6.70 [[-2.37193373e-01 -9.71449756e-01 4.96748485e-03 1.54467432e+02] [ 9.71005663e-01 -2.37235533e-01 -2.94500316e-02 1.15085195e+02] [ 2.97876899e-02 -2.16189640e-03 9.99553910e-01 6.69742885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.460714057 meters Centerline goodness : 0.992434 Centerline is valid? [True, True] Translation: X:154.46, Y:115.11, Z:6.70 [[-2.40713820e-01 -9.70581562e-01 5.31874638e-03 1.54461068e+02] [ 9.70138789e-01 -2.40764988e-01 -2.93760402e-02 1.15113608e+02] [ 2.97924109e-02 -1.91129669e-03 9.99554280e-01 6.69945046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.490714057 meters Centerline goodness : 0.992054 Centerline is valid? [True, True] Translation: X:154.46, Y:115.10, Z:6.70 [[-2.39651685e-01 -9.70843200e-01 5.52733896e-03 1.54464837e+02] [ 9.70401424e-01 -2.39709630e-01 -2.93320417e-02 1.15099415e+02] [ 2.98017696e-02 -1.66573562e-03 9.99554441e-01 6.69940744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.520714057 meters Centerline goodness : 0.993159 Centerline is valid? [True, True] Translation: X:154.46, Y:115.12, Z:6.70 [[-2.38184156e-01 -9.71204484e-01 5.49161073e-03 1.54461304e+02] [ 9.70762631e-01 -2.38241692e-01 -2.93395647e-02 1.15117493e+02] [ 2.98030475e-02 -1.65716899e-03 9.99554417e-01 6.69558582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.550714057 meters Centerline goodness : 0.991292 Centerline is valid? [True, True] Translation: X:154.47, Y:115.11, Z:6.70 [[-2.40248539e-01 -9.70696761e-01 5.33275882e-03 1.54465919e+02] [ 9.70254078e-01 -2.40300342e-01 -2.93729513e-02 1.15105459e+02] [ 2.97936925e-02 -1.88267764e-03 9.99554296e-01 6.70109608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.580714057 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:154.46, Y:115.11, Z:6.70 [[-2.58470054e-01 -9.66002525e-01 5.68798940e-03 1.54455194e+02] [ 9.65560368e-01 -2.58524260e-01 -2.92981611e-02 1.15113929e+02] [ 2.97725809e-02 -2.08060015e-03 9.99554533e-01 6.69999266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.610714057 meters Centerline goodness : 0.992179 Centerline is valid? [True, True] Translation: X:154.47, Y:115.11, Z:6.70 [[-2.43822056e-01 -9.69800427e-01 6.15936476e-03 1.54466995e+02] [ 9.69361450e-01 -2.43897137e-01 -2.91987298e-02 1.15112236e+02] [ 2.98191920e-02 -1.14864356e-03 9.99554649e-01 6.70103769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.640714057 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:154.46, Y:115.14, Z:6.70 [[-2.46995734e-01 -9.69000004e-01 5.66569587e-03 1.54462086e+02] [ 9.68558432e-01 -2.47054508e-01 -2.93024379e-02 1.15137407e+02] [ 2.97937982e-02 -1.75001965e-03 9.99554534e-01 6.69675706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67071405699997 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:154.47, Y:115.12, Z:6.70 [[-2.48570656e-01 -9.68597965e-01 5.53273340e-03 1.54466891e+02] [ 9.68155717e-01 -2.48624700e-01 -2.93302993e-02 1.15115715e+02] [ 2.97848424e-02 -1.93410426e-03 9.99554462e-01 6.69778820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70071405699997 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:154.47, Y:115.12, Z:6.69 [[-2.47049224e-01 -9.68986099e-01 5.71141476e-03 1.54466241e+02] [ 9.68544730e-01 -2.47109352e-01 -2.92928972e-02 1.15123075e+02] [ 2.97957542e-02 -1.70502684e-03 9.99554554e-01 6.69496737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73071405699997 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:154.46, Y:115.17, Z:6.70 [[-2.49670503e-01 -9.68315588e-01 5.43709507e-03 1.54456444e+02] [ 9.67872877e-01 -2.49721156e-01 -2.93502774e-02 1.15168550e+02] [ 2.97780887e-02 -2.06548166e-03 9.99554400e-01 6.69720101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76071405699997 meters Centerline goodness : 0.992120 Centerline is valid? [True, True] Translation: X:154.47, Y:115.12, Z:6.70 [[-2.48091749e-01 -9.68720313e-01 5.60702806e-03 1.54467613e+02] [ 9.68278416e-01 -2.48148254e-01 -2.93147322e-02 1.15122799e+02] [ 2.97891507e-02 -1.84357892e-03 9.99554505e-01 6.69903759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79071405699997 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:154.47, Y:115.12, Z:6.69 [[-2.45440742e-01 -9.69394115e-01 5.82174088e-03 1.54466713e+02] [ 9.68953356e-01 -2.45504928e-01 -2.92698518e-02 1.15123894e+02] [ 2.98032881e-02 -1.54301877e-03 9.99554592e-01 6.69495193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82071405699998 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:154.46, Y:115.14, Z:6.70 [[-2.43183568e-01 -9.69964937e-01 5.45659162e-03 1.54463746e+02] [ 9.69522668e-01 -2.43237772e-01 -2.93459287e-02 1.15138656e+02] [ 2.97917710e-02 -1.84615837e-03 9.99554422e-01 6.69511212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85071405699998 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:154.47, Y:115.12, Z:6.69 [[-2.42455141e-01 -9.70147314e-01 5.44910567e-03 1.54466815e+02] [ 9.69705054e-01 -2.42509452e-01 -2.93474853e-02 1.15123119e+02] [ 2.97928437e-02 -1.83142339e-03 9.99554417e-01 6.69478418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88071405699998 meters Centerline goodness : 0.992466 Centerline is valid? [True, True] Translation: X:154.47, Y:115.12, Z:6.70 [[-2.40632260e-01 -9.70600921e-01 5.47434725e-03 1.54468431e+02] [ 9.70158874e-01 -2.40688163e-01 -2.93422453e-02 1.15120072e+02] [ 2.97972209e-02 -1.74970425e-03 9.99554433e-01 6.70015692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91071405699998 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:154.47, Y:115.12, Z:6.69 [[-2.37486282e-01 -9.71374223e-01 5.69077082e-03 1.54468183e+02] [ 9.70933366e-01 -2.37550136e-01 -2.92973039e-02 1.15124534e+02] [ 2.98104892e-02 -1.43234851e-03 9.99554542e-01 6.69423280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94071405699998 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:154.47, Y:115.13, Z:6.69 [[-2.38772632e-01 -9.71061026e-01 5.30235783e-03 1.54467457e+02] [ 9.70618337e-01 -2.38824193e-01 -2.93777056e-02 1.15131203e+02] [ 2.97938763e-02 -1.86802635e-03 9.99554318e-01 6.69461130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97071405699998 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:154.46, Y:115.14, Z:6.70 [[-2.57441841e-01 -9.66279246e-01 5.30265065e-03 1.54455584e+02] [ 9.65835646e-01 -2.57484870e-01 -2.93776450e-02 1.15142616e+02] [ 2.97523609e-02 -2.44154599e-03 9.99554319e-01 6.70056184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00071405699998 meters Centerline goodness : 0.993999 Centerline is valid? [True, True] Translation: X:154.47, Y:115.14, Z:6.70 [[-2.45432969e-01 -9.69394540e-01 6.07324344e-03 1.54466226e+02] [ 9.68954987e-01 -2.45504730e-01 -2.92174764e-02 1.15135927e+02] [ 2.98142721e-02 -1.28623248e-03 9.99554628e-01 6.69596938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03071405699998 meters Centerline goodness : 0.993977 Centerline is valid? [True, True] Translation: X:154.46, Y:115.14, Z:6.70 [[-2.50502568e-01 -9.68101355e-01 5.31310957e-03 1.54464975e+02] [ 9.67658149e-01 -2.50549097e-01 -2.93744043e-02 1.15140126e+02] [ 2.97685954e-02 -2.21708992e-03 9.99554358e-01 6.69794194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06071405699998 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:154.46, Y:115.17, Z:6.70 [[-2.56442764e-01 -9.66544655e-01 5.34221107e-03 1.54460429e+02] [ 9.66101281e-01 -2.56487452e-01 -2.93683960e-02 1.15170715e+02] [ 2.97560763e-02 -2.37019571e-03 9.99554380e-01 6.69801098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09071405699999 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:154.47, Y:115.14, Z:6.70 [[-2.58077346e-01 -9.66108943e-01 5.43995093e-03 1.54468162e+02] [ 9.65665863e-01 -2.58124239e-01 -2.93482291e-02 1.15138239e+02] [ 2.97577698e-02 -2.32093816e-03 9.99554445e-01 6.69739835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.120714057 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:154.47, Y:115.15, Z:6.70 [[-2.63871383e-01 -9.64542772e-01 5.39768708e-03 1.54468094e+02] [ 9.64099266e-01 -2.63914337e-01 -2.93569240e-02 1.15145476e+02] [ 2.97405358e-02 -2.54254598e-03 9.99554419e-01 6.69938222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.150714057 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:154.47, Y:115.16, Z:6.70 [[-2.66352571e-01 -9.63860978e-01 5.32197944e-03 1.54466421e+02] [ 9.63417101e-01 -2.66392092e-01 -2.93724797e-02 1.15156319e+02] [ 2.97287203e-02 -2.69614950e-03 9.99554368e-01 6.70002132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.180714057 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:154.46, Y:115.17, Z:6.70 [[-2.82030911e-01 -9.59390375e-01 5.35487250e-03 1.54457098e+02] [ 9.58946010e-01 -2.82064187e-01 -2.93657117e-02 1.15173196e+02] [ 2.96835989e-02 -3.14700478e-03 9.99554391e-01 6.69902535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.210714057 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:154.46, Y:115.17, Z:6.70 [[-2.82509908e-01 -9.59245408e-01 6.03314830e-03 1.54457232e+02] [ 9.58803276e-01 -2.82563508e-01 -2.92257005e-02 1.15173154e+02] [ 2.97393665e-02 -2.47194759e-03 9.99554631e-01 6.69888699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.240714057 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:154.47, Y:115.16, Z:6.69 [[-2.63792018e-01 -9.64560786e-01 6.02170770e-03 1.54469368e+02] [ 9.64119732e-01 -2.63853866e-01 -2.92280575e-02 1.15160841e+02] [ 2.97810890e-02 -1.90448105e-03 9.99554631e-01 6.69405024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.270714057 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:154.47, Y:115.16, Z:6.69 [[-2.63476986e-01 -9.64652580e-01 5.02769430e-03 1.54469165e+02] [ 9.64207901e-01 -2.63508921e-01 -2.94307922e-02 1.15163512e+02] [ 2.97153319e-02 -2.90659385e-03 9.99554176e-01 6.69373949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.300714057 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:154.46, Y:115.18, Z:6.70 [[-2.82181670e-01 -9.59347598e-01 5.06871864e-03 1.54457111e+02] [ 9.58902488e-01 -2.82206199e-01 -2.94224202e-02 1.15177356e+02] [ 2.96567520e-02 -3.44206074e-03 9.99554215e-01 6.69873535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.330714057 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:154.46, Y:115.18, Z:6.70 [[-2.79889691e-01 -9.60013440e-01 5.99636307e-03 1.54455401e+02] [ 9.59571352e-01 -2.79943390e-01 -2.92321470e-02 1.15181151e+02] [ 2.97418962e-02 -2.42783839e-03 9.99554663e-01 6.70141181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.360714057 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:154.45, Y:115.18, Z:6.70 [[-2.78153663e-01 -9.60517944e-01 5.98494908e-03 1.54453933e+02] [ 9.60075912e-01 -2.78207816e-01 -2.92344837e-02 1.15184103e+02] [ 2.97453058e-02 -2.38567330e-03 9.99554664e-01 6.70175926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.390714057 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:154.46, Y:115.18, Z:6.70 [[-2.61674089e-01 -9.65137808e-01 5.97352639e-03 1.54459828e+02] [ 9.64696719e-01 -2.61735454e-01 -2.92368176e-02 1.15181533e+02] [ 2.97810417e-02 -1.88787630e-03 9.99554664e-01 6.70090236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42071405699997 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:154.46, Y:115.18, Z:6.70 [[-2.62714768e-01 -9.64859287e-01 5.24474087e-03 1.54458877e+02] [ 9.64415401e-01 -2.62753634e-01 -2.93847365e-02 1.15179665e+02] [ 2.97302106e-02 -2.66169535e-03 9.99554416e-01 6.70225694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45071405699997 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:154.46, Y:115.18, Z:6.70 [[-2.57463686e-01 -9.66273179e-01 5.34737529e-03 1.54458979e+02] [ 9.65829879e-01 -2.57508070e-01 -2.93639154e-02 1.15182611e+02] [ 2.97505562e-02 -2.39548708e-03 9.99554484e-01 6.70044614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48071405699997 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:154.46, Y:115.17, Z:6.70 [[-2.57862392e-01 -9.66168124e-01 5.11300543e-03 1.54458784e+02] [ 9.65723989e-01 -2.57899502e-01 -2.94113001e-02 1.15174385e+02] [ 2.97349022e-02 -2.64631620e-03 9.99554317e-01 6.69976404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51071405699997 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:154.45, Y:115.20, Z:6.70 [[-2.63662445e-01 -9.64600671e-01 5.25938551e-03 1.54451553e+02] [ 9.64156797e-01 -2.63701319e-01 -2.93817037e-02 1.15196013e+02] [ 2.97285180e-02 -2.67597956e-03 9.99554428e-01 6.70222410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54071405699997 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:154.45, Y:115.19, Z:6.70 [[-2.62277638e-01 -9.64976425e-01 5.56226365e-03 1.54453628e+02] [ 9.64533681e-01 -2.62326309e-01 -2.93203997e-02 1.15185548e+02] [ 2.97526226e-02 -2.32509455e-03 9.99554588e-01 6.70240573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57071405699998 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:154.45, Y:115.20, Z:6.70 [[-2.64227378e-01 -9.64445011e-01 5.45092410e-03 1.54450448e+02] [ 9.64001772e-01 -2.64271787e-01 -2.93428954e-02 1.15195176e+02] [ 2.97401346e-02 -2.49849583e-03 9.99554542e-01 6.70132229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60071405699998 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:154.45, Y:115.20, Z:6.70 [[-2.63284838e-01 -9.64702313e-01 5.52650919e-03 1.54449227e+02] [ 9.64259388e-01 -2.63331965e-01 -2.93276220e-02 1.15204454e+02] [ 2.97477313e-02 -2.39252984e-03 9.99554575e-01 6.70086035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63071405699998 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:154.46, Y:115.19, Z:6.70 [[-2.54746517e-01 -9.66992323e-01 5.48270394e-03 1.54456319e+02] [ 9.66549663e-01 -2.54796235e-01 -2.93364544e-02 1.15185081e+02] [ 2.97650985e-02 -2.17405395e-03 9.99554557e-01 6.69546613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66071405699998 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:154.45, Y:115.20, Z:6.70 [[-2.68717185e-01 -9.63204917e-01 5.23084489e-03 1.54446204e+02] [ 9.62760767e-01 -2.68752867e-01 -2.93871077e-02 1.15197799e+02] [ 2.97116112e-02 -2.86076862e-03 9.99554419e-01 6.69867458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69071405699998 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:154.46, Y:115.18, Z:6.70 [[-2.49782927e-01 -9.68283860e-01 5.90391726e-03 1.54457269e+02] [ 9.67843238e-01 -2.49847616e-01 -2.92512655e-02 1.15180231e+02] [ 2.97986080e-02 -1.59240033e-03 9.99554654e-01 6.69541656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72071405699998 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:154.44, Y:115.21, Z:6.70 [[-2.65406478e-01 -9.64123623e-01 5.00412911e-03 1.54442595e+02] [ 9.63678924e-01 -2.65436821e-01 -2.94316953e-02 1.15208010e+02] [ 2.97040728e-02 -2.98898883e-03 9.99554268e-01 6.70181729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75071405699998 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:154.45, Y:115.20, Z:6.70 [[-2.43361645e-01 -9.69917713e-01 5.89398202e-03 1.54452169e+02] [ 9.69477509e-01 -2.43428955e-01 -2.92524140e-02 1.15200941e+02] [ 2.98072004e-02 -1.40483260e-03 9.99554679e-01 6.69774538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78071405699998 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:154.45, Y:115.19, Z:6.70 [[-2.44762804e-01 -9.69570962e-01 4.82898680e-03 1.54453861e+02] [ 9.69126463e-01 -2.44797342e-01 -2.94645517e-02 1.15187807e+02] [ 2.97500969e-02 -2.53192739e-03 9.99554161e-01 6.69803761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81071405699998 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:154.44, Y:115.21, Z:6.70 [[-2.59005600e-01 -9.65862314e-01 5.10786272e-03 1.54441474e+02] [ 9.65418220e-01 -2.59042038e-01 -2.94089014e-02 1.15206002e+02] [ 2.97281007e-02 -2.68584641e-03 9.99554414e-01 6.70386981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84071405699999 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:154.44, Y:115.20, Z:6.70 [[-2.57593774e-01 -9.66235535e-01 5.85995624e-03 1.54441619e+02] [ 9.65794277e-01 -2.57653580e-01 -2.92582782e-02 1.15200965e+02] [ 2.97802268e-02 -1.87723810e-03 9.99554708e-01 6.70424021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.870714057 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:154.44, Y:115.23, Z:6.70 [[-2.54606029e-01 -9.67027179e-01 5.84859173e-03 1.54435372e+02] [ 9.66586061e-01 -2.54666856e-01 -2.92605498e-02 1.15227815e+02] [ 2.97851894e-02 -1.79674515e-03 9.99554708e-01 6.70472497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.900714057 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:154.45, Y:115.21, Z:6.70 [[-2.35042375e-01 -9.71967597e-01 5.83715315e-03 1.54446781e+02] [ 9.71527742e-01 -2.35111747e-01 -2.92628315e-02 1.15210337e+02] [ 2.98149073e-02 -1.20704920e-03 9.99554708e-01 6.70032532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.930714057 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:154.45, Y:115.19, Z:6.70 [[-2.33886248e-01 -9.72251302e-01 4.96264635e-03 1.54448510e+02] [ 9.71807799e-01 -2.33929806e-01 -2.94354986e-02 1.15192963e+02] [ 2.97796127e-02 -2.06181992e-03 9.99554362e-01 6.69964799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.960714057 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:154.45, Y:115.20, Z:6.70 [[-2.32037394e-01 -9.72693689e-01 5.06308451e-03 1.54447231e+02] [ 9.72250663e-01 -2.32084825e-01 -2.94156945e-02 1.15196213e+02] [ 2.97875255e-02 -1.90295382e-03 9.99554442e-01 6.69965340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.990714057 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:154.45, Y:115.19, Z:6.70 [[-2.27360691e-01 -9.73797475e-01 5.05911135e-03 1.54447149e+02] [ 9.73354665e-01 -2.27410130e-01 -2.94164764e-02 1.15194560e+02] [ 2.97961836e-02 -1.76384077e-03 9.99554439e-01 6.69962071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.020714057 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:154.45, Y:115.20, Z:6.70 [[-2.24860794e-01 -9.74378568e-01 4.90198479e-03 1.54445548e+02] [ 9.73935245e-01 -2.24906633e-01 -2.94473174e-02 1.15202143e+02] [ 2.97953238e-02 -1.84733141e-03 9.99554314e-01 6.70040517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.050714057 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:154.44, Y:115.21, Z:6.71 [[-2.37675013e-01 -9.71332643e-01 4.84604720e-03 1.54435450e+02] [ 9.70888555e-01 -2.37713319e-01 -2.94582993e-02 1.15210219e+02] [ 2.97657777e-02 -2.29652990e-03 9.99554263e-01 6.70542426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.080714057 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:154.44, Y:115.21, Z:6.71 [[-2.35535657e-01 -9.71848539e-01 5.77685262e-03 1.54435287e+02] [ 9.71408372e-01 -2.35602993e-01 -2.92746343e-02 1.15208460e+02] [ 2.98115544e-02 -1.28353722e-03 9.99554713e-01 6.70620146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.110714057 meters Centerline goodness : 0.993224 Centerline is valid? [True, True] Translation: X:154.44, Y:115.21, Z:6.70 [[-2.13641891e-01 -9.76895030e-01 5.76558241e-03 1.54443791e+02] [ 9.76456429e-01 -2.13718761e-01 -2.92768538e-02 1.15211931e+02] [ 2.98326261e-02 -6.24922394e-04 9.99554713e-01 6.70166972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.140714057 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:154.44, Y:115.21, Z:6.70 [[-2.13941761e-01 -9.76834228e-01 4.87998784e-03 1.54444163e+02] [ 9.76391409e-01 -2.13991899e-01 -2.94496708e-02 1.15208633e+02] [ 2.98117243e-02 -1.53573623e-03 9.99554352e-01 6.70291427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17071405699997 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:154.44, Y:115.21, Z:6.70 [[-2.12263621e-01 -9.77200179e-01 4.89551557e-03 1.54444499e+02] [ 9.76757514e-01 -2.12314987e-01 -2.94466466e-02 1.15210879e+02] [ 2.98146596e-02 -1.46872020e-03 9.99554365e-01 6.70323309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20071405699997 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:154.44, Y:115.21, Z:6.71 [[-2.13509733e-01 -9.76928841e-01 4.86145773e-03 1.54444074e+02] [ 9.76485965e-01 -2.13559509e-01 -2.94532742e-02 1.15214456e+02] [ 2.98119635e-02 -1.54141547e-03 9.99554336e-01 6.70795373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23071405699997 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:154.45, Y:115.22, Z:6.70 [[-2.07653574e-01 -9.78188903e-01 5.14424555e-03 1.54446364e+02] [ 9.77747632e-01 -2.07714503e-01 -2.93981846e-02 1.15221090e+02] [ 2.98255123e-02 -1.07486419e-03 9.99554543e-01 6.70065926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26071405699997 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:154.44, Y:115.22, Z:6.70 [[-2.31471089e-01 -9.72831073e-01 4.56490147e-03 1.54437620e+02] [ 9.72386311e-01 -2.31503740e-01 -2.95106751e-02 1.15221060e+02] [ 2.97656935e-02 -2.39202041e-03 9.99554041e-01 6.70429706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29071405699997 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:154.44, Y:115.23, Z:6.70 [[-2.32337639e-01 -9.72618339e-01 5.72608210e-03 1.54437359e+02] [ 9.72178189e-01 -2.32404898e-01 -2.92836407e-02 1.15225106e+02] [ 2.98125755e-02 -1.23691982e-03 9.99554741e-01 6.70376184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32071405699998 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:154.44, Y:115.24, Z:6.70 [[-2.34199757e-01 -9.72171700e-01 5.71481600e-03 1.54436628e+02] [ 9.71731372e-01 -2.34265834e-01 -2.92858392e-02 1.15238703e+02] [ 2.98096502e-02 -1.30547043e-03 9.99554741e-01 6.70170688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35071405699998 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:154.44, Y:115.23, Z:6.70 [[-2.34475304e-01 -9.72105337e-01 5.70492975e-03 1.54439089e+02] [ 9.71664945e-01 -2.34540959e-01 -2.92877649e-02 1.15229904e+02] [ 2.98088323e-02 -1.32397734e-03 9.99554741e-01 6.70187649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38071405699998 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:154.44, Y:115.23, Z:6.70 [[-2.33944394e-01 -9.72233307e-01 5.69360731e-03 1.54440180e+02] [ 9.71792900e-01 -2.34009950e-01 -2.92899659e-02 1.15230091e+02] [ 2.98090411e-02 -1.31921616e-03 9.99554741e-01 6.70129208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41071405699998 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:154.45, Y:115.23, Z:6.70 [[-2.10711166e-01 -9.77531848e-01 5.68249080e-03 1.54450870e+02] [ 9.77093071e-01 -2.10786864e-01 -2.92921224e-02 1.15228886e+02] [ 2.98317770e-02 -6.19854897e-04 9.99554741e-01 6.69638421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44071405699998 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:154.45, Y:115.22, Z:6.70 [[-2.16258273e-01 -9.76326078e-01 4.44386981e-03 1.54450320e+02] [ 9.75881562e-01 -2.16294219e-01 -2.95294320e-02 1.15223025e+02] [ 2.97915379e-02 -2.04929336e-03 9.99554033e-01 6.69970096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47071405699998 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:154.45, Y:115.23, Z:6.70 [[-2.08463968e-01 -9.78017839e-01 4.88686864e-03 1.54451235e+02] [ 9.77575455e-01 -2.08516799e-01 -2.94444315e-02 1.15229412e+02] [ 2.98161735e-02 -1.36082020e-03 9.99554473e-01 6.69765550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50071405699998 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:154.45, Y:115.23, Z:6.71 [[-2.13445280e-01 -9.76944605e-01 4.51128939e-03 1.54449805e+02] [ 9.76500455e-01 -2.13484541e-01 -2.95163146e-02 1.15229873e+02] [ 2.97988948e-02 -1.89484190e-03 9.99554118e-01 6.70589858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53071405699998 meters Centerline goodness : 0.992989 Centerline is valid? [True, True] Translation: X:154.45, Y:115.23, Z:6.71 [[-2.13950940e-01 -9.76830528e-01 5.20718317e-03 1.54449869e+02] [ 9.76389262e-01 -2.14010921e-01 -2.93825674e-02 1.15230389e+02] [ 2.98161829e-02 -1.20219019e-03 9.99554676e-01 6.70884925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56071405699998 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:154.45, Y:115.25, Z:6.70 [[-2.12445493e-01 -9.77158967e-01 5.22172331e-03 1.54445831e+02] [ 9.76717860e-01 -2.12506591e-01 -2.93797744e-02 1.15250353e+02] [ 2.98183607e-02 -1.14145026e-03 9.99554682e-01 6.70423185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59071405699999 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:154.45, Y:115.24, Z:6.70 [[-2.06351914e-01 -9.78466126e-01 4.78839394e-03 1.54451727e+02] [ 9.78023447e-01 -2.06402740e-01 -2.94626164e-02 1.15236625e+02] [ 2.98165098e-02 -1.39650574e-03 9.99554413e-01 6.70245741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.620714057 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:154.45, Y:115.24, Z:6.70 [[-2.10011490e-01 -9.77688024e-01 4.61542211e-03 1.54451891e+02] [ 9.77244452e-01 -2.10055451e-01 -2.94955673e-02 1.15237284e+02] [ 2.98069575e-02 -1.68401240e-03 9.99554255e-01 6.70244084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.650714057 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:154.45, Y:115.25, Z:6.70 [[-2.13687678e-01 -9.76890610e-01 4.72363794e-03 1.54450894e+02] [ 9.76447302e-01 -2.13733230e-01 -2.94749463e-02 1.15250794e+02] [ 2.98033967e-02 -1.68604932e-03 9.99554358e-01 6.70080808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.680714057 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:154.46, Y:115.23, Z:6.70 [[-2.16177312e-01 -9.76343531e-01 4.54735872e-03 1.54455206e+02] [ 9.75899437e-01 -2.16216419e-01 -2.95084531e-02 1.15233230e+02] [ 2.97936010e-02 -1.94129326e-03 9.99554187e-01 6.70434202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.710714057 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:154.45, Y:115.25, Z:6.71 [[-2.26020044e-01 -9.74110603e-01 4.84491276e-03 1.54450601e+02] [ 9.73667201e-01 -2.26063646e-01 -2.94518254e-02 1.15245484e+02] [ 2.97845940e-02 -1.93937022e-03 9.99554459e-01 6.70518800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.740714057 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:154.44, Y:115.26, Z:6.70 [[-2.45606386e-01 -9.69355724e-01 5.19453203e-03 1.54440542e+02] [ 9.68912693e-01 -2.45651602e-01 -2.93851040e-02 1.15264083e+02] [ 2.97606639e-02 -2.18412118e-03 9.99554667e-01 6.70393054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.770714057 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:154.45, Y:115.25, Z:6.70 [[-2.36028250e-01 -9.71730037e-01 5.60363962e-03 1.54449565e+02] [ 9.71289115e-01 -2.36090155e-01 -2.93068830e-02 1.15253001e+02] [ 2.98013426e-02 -1.47449813e-03 9.99554754e-01 6.70398212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.800714057 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:154.44, Y:115.27, Z:6.70 [[-2.51976074e-01 -9.67719301e-01 5.23579608e-03 1.54439387e+02] [ 9.67276126e-01 -2.52019622e-01 -2.93769656e-02 1.15272071e+02] [ 2.97481800e-02 -2.33783192e-03 9.99554691e-01 6.70406296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.830714057 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:154.45, Y:115.26, Z:6.70 [[-2.41105162e-01 -9.70482889e-01 5.59129257e-03 1.54448503e+02] [ 9.70041603e-01 -2.41164390e-01 -2.93091497e-02 1.15261218e+02] [ 2.97924490e-02 -1.64280089e-03 9.99554756e-01 6.70378786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.860714057 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:154.45, Y:115.27, Z:6.70 [[-2.42200236e-01 -9.70211581e-01 5.34165963e-03 1.54446745e+02] [ 9.69769264e-01 -2.42251445e-01 -2.93566328e-02 1.15269058e+02] [ 2.97761699e-02 -1.93000605e-03 9.99554728e-01 6.70487621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.890714057 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:154.44, Y:115.28, Z:6.71 [[-2.42495040e-01 -9.70137658e-01 5.39262677e-03 1.54442545e+02] [ 9.69695516e-01 -2.42547651e-01 -2.93469493e-02 1.15281497e+02] [ 2.97785496e-02 -1.88728365e-03 9.99554739e-01 6.70663489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92071405699997 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:154.44, Y:115.27, Z:6.71 [[-2.41507825e-01 -9.70383998e-01 5.37284141e-03 1.54443854e+02] [ 9.69941835e-01 -2.41560290e-01 -2.93507010e-02 1.15268344e+02] [ 2.97793157e-02 -1.87708031e-03 9.99554735e-01 6.70663654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95071405699997 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:154.43, Y:115.29, Z:6.71 [[-2.52809682e-01 -9.67501132e-01 5.36880542e-03 1.54431592e+02] [ 9.67058373e-01 -2.52856864e-01 -2.93514649e-02 1.15286380e+02] [ 2.97551148e-02 -2.22838628e-03 9.99554735e-01 6.70829028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98071405699997 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:154.43, Y:115.30, Z:6.71 [[-2.56427372e-01 -9.66547583e-01 5.54728063e-03 1.54427215e+02] [ 9.66105255e-01 -2.56478283e-01 -2.93176956e-02 1.15298114e+02] [ 2.97597049e-02 -2.15860266e-03 9.99554751e-01 6.71174095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.010714057 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:154.43, Y:115.29, Z:6.71 [[-2.54062431e-01 -9.67169763e-01 5.91016222e-03 1.54428203e+02] [ 9.66728916e-01 -2.54125361e-01 -2.92489903e-02 1.15293679e+02] [ 2.97906612e-02 -1.71754488e-03 9.99554684e-01 6.70939902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.040714057 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:154.44, Y:115.28, Z:6.71 [[-2.32363314e-01 -9.72613333e-01 5.53130468e-03 1.54441591e+02] [ 9.72172344e-01 -2.32424706e-01 -2.93204641e-02 1.15283287e+02] [ 2.98030861e-02 -1.43561877e-03 9.99554758e-01 6.70684294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07071405700003 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:154.43, Y:115.30, Z:6.71 [[-2.56306164e-01 -9.66584517e-01 4.63913234e-03 1.54426529e+02] [ 9.66139525e-01 -2.56329692e-01 -2.94874156e-02 1.15295062e+02] [ 2.96912267e-02 -3.07575726e-03 9.99554386e-01 6.70870649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.100714057 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:154.42, Y:115.31, Z:6.71 [[-2.58867533e-01 -9.65897097e-01 5.51341918e-03 1.54422128e+02] [ 9.65454559e-01 -2.58916308e-01 -2.93230412e-02 1.15310337e+02] [ 2.97505545e-02 -2.26782765e-03 9.99554782e-01 6.70775659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13071405700003 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:154.44, Y:115.27, Z:6.70 [[-2.40687799e-01 -9.70586994e-01 5.50193087e-03 1.54441293e+02] [ 9.70145404e-01 -2.40744527e-01 -2.93251966e-02 1.15269619e+02] [ 2.97872141e-02 -1.72054406e-03 9.99554782e-01 6.70088272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.160714057 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:154.44, Y:115.27, Z:6.70 [[-2.40344238e-01 -9.70674542e-01 5.05782066e-03 1.54440910e+02] [ 9.70231366e-01 -2.40387739e-01 -2.94080063e-02 1.15272255e+02] [ 2.97614411e-02 -2.16078862e-03 9.99554695e-01 6.70078649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19071405700004 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:154.44, Y:115.27, Z:6.70 [[-2.40379605e-01 -9.70665813e-01 5.05219915e-03 1.54438982e+02] [ 9.70222617e-01 -2.40422921e-01 -2.94090521e-02 1.15272748e+02] [ 2.97610259e-02 -2.16757844e-03 9.99554692e-01 6.69998331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.220714057 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:154.44, Y:115.28, Z:6.70 [[-2.41485611e-01 -9.70393173e-01 4.66787025e-03 1.54435543e+02] [ 9.69948730e-01 -2.41516818e-01 -2.94802820e-02 1.15284073e+02] [ 2.97348336e-02 -2.59146910e-03 9.99554463e-01 6.69776703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25071405700004 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:154.43, Y:115.28, Z:6.70 [[-2.41099161e-01 -9.70490662e-01 4.36686303e-03 1.54434315e+02] [ 9.70045402e-01 -2.41121445e-01 -2.95358532e-02 1.15275443e+02] [ 2.97172140e-02 -2.88501401e-03 9.99554183e-01 6.69659501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.280714057 meters Centerline goodness : 0.992520 Centerline is valid? [True, True] Translation: X:154.42, Y:115.33, Z:6.70 [[-2.51698417e-01 -9.67795731e-01 4.39650268e-03 1.54420090e+02] [ 9.67350322e-01 -2.51716729e-01 -2.95303605e-02 1.15332693e+02] [ 2.96860301e-02 -3.17978672e-03 9.99554215e-01 6.70423409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.310714057 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:154.42, Y:115.30, Z:6.70 [[-2.42885976e-01 -9.70040943e-01 5.19340894e-03 1.54424727e+02] [ 9.69598140e-01 -2.42932408e-01 -2.93818180e-02 1.15298713e+02] [ 2.97632138e-02 -2.10091190e-03 9.99554770e-01 6.70395733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.340714057 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:154.43, Y:115.28, Z:6.70 [[-2.39350497e-01 -9.70921552e-01 4.76236563e-03 1.54428280e+02] [ 9.70477500e-01 -2.39385539e-01 -2.94616086e-02 1.15279178e+02] [ 2.97449522e-02 -2.42988200e-03 9.99554568e-01 6.70262755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.370714057 meters Centerline goodness : 0.992683 Centerline is valid? [True, True] Translation: X:154.42, Y:115.29, Z:6.70 [[-2.43321220e-01 -9.69934309e-01 4.71382715e-03 1.54422975e+02] [ 9.69489976e-01 -2.43352978e-01 -2.94705781e-02 1.15290811e+02] [ 2.97316486e-02 -2.60080883e-03 9.99554533e-01 6.70474094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.400714057 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:154.41, Y:115.32, Z:6.71 [[-2.46657738e-01 -9.69089965e-01 4.95994170e-03 1.54413299e+02] [ 9.68646245e-01 -2.46695401e-01 -2.94250134e-02 1.15318014e+02] [ 2.97390800e-02 -2.45347833e-03 9.99554685e-01 6.70656909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.430714057 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:154.40, Y:115.35, Z:6.71 [[-2.50610632e-01 -9.68075684e-01 4.87662231e-03 1.54404490e+02] [ 9.67631573e-01 -2.50643967e-01 -2.94404621e-02 1.15354979e+02] [ 2.97228915e-02 -2.65931909e-03 9.99554640e-01 6.70996719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.460714057 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:154.40, Y:115.36, Z:6.71 [[-2.49133327e-01 -9.68454254e-01 5.37993929e-03 1.54403753e+02] [ 9.68011790e-01 -2.49182531e-01 -2.93469018e-02 1.15357514e+02] [ 2.97617188e-02 -2.10344660e-03 9.99554809e-01 6.71005295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.490714057 meters Centerline goodness : 0.991683 Centerline is valid? [True, True] Translation: X:154.40, Y:115.36, Z:6.71 [[-2.50811729e-01 -9.68021342e-01 5.30639873e-03 1.54402663e+02] [ 9.67578549e-01 -2.50857948e-01 -2.93605369e-02 1.15358937e+02] [ 2.97527786e-02 -2.22960943e-03 9.99554801e-01 6.70990652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.520714057 meters Centerline goodness : 0.992456 Centerline is valid? [True, True] Translation: X:154.41, Y:115.34, Z:6.71 [[-2.51274624e-01 -9.67901179e-01 5.32641406e-03 1.54405319e+02] [ 9.67458430e-01 -2.51321235e-01 -2.93568306e-02 1.15335981e+02] [ 2.97531519e-02 -2.22354239e-03 9.99554804e-01 6.70781757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.550714057 meters Centerline goodness : 0.991746 Centerline is valid? [True, True] Translation: X:154.40, Y:115.36, Z:6.71 [[-2.52883424e-01 -9.67484129e-01 4.94304026e-03 1.54401123e+02] [ 9.67040147e-01 -2.52917725e-01 -2.94275076e-02 1.15357301e+02] [ 2.97208291e-02 -2.66161050e-03 9.99554695e-01 6.70884721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.580714057 meters Centerline goodness : 0.991686 Centerline is valid? [True, True] Translation: X:154.40, Y:115.34, Z:6.71 [[-2.53448240e-01 -9.67336176e-01 4.97104875e-03 1.54403863e+02] [ 9.66892253e-01 -2.53483128e-01 -2.94223494e-02 1.15336662e+02] [ 2.97213800e-02 -2.65057415e-03 9.99554708e-01 6.70792333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.610714057 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:154.40, Y:115.36, Z:6.71 [[-2.53870067e-01 -9.67225657e-01 4.95150724e-03 1.54399571e+02] [ 9.66781664e-01 -2.53904171e-01 -2.94259401e-02 1.15355303e+02] [ 2.97187326e-02 -2.68333898e-03 9.99554699e-01 6.70763056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.640714057 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:154.40, Y:115.35, Z:6.71 [[-2.52996023e-01 -9.67455061e-01 4.86999481e-03 1.54400372e+02] [ 9.67010875e-01 -2.53028065e-01 -2.94408870e-02 1.15345681e+02] [ 2.97149805e-02 -2.73908938e-03 9.99554659e-01 6.70830096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.670714057 meters Centerline goodness : 0.991569 Centerline is valid? [True, True] Translation: X:154.40, Y:115.35, Z:6.71 [[-2.50470742e-01 -9.68111941e-01 4.86580725e-03 1.54397419e+02] [ 9.67667829e-01 -2.50503817e-01 -2.94416532e-02 1.15349353e+02] [ 2.97217193e-02 -2.66578759e-03 9.99554657e-01 6.70650883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.700714057 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:154.40, Y:115.32, Z:6.71 [[-2.46209569e-01 -9.69203173e-01 5.10471722e-03 1.54400465e+02] [ 9.68759933e-01 -2.46251808e-01 -2.93979577e-02 1.15323203e+02] [ 2.97496398e-02 -2.29281300e-03 9.99554752e-01 6.70675313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.730714057 meters Centerline goodness : 0.991413 Centerline is valid? [True, True] Translation: X:154.39, Y:115.36, Z:6.71 [[-2.41334452e-01 -9.70428951e-01 5.03320933e-03 1.54390243e+02] [ 9.69985697e-01 -2.41376762e-01 -2.94110046e-02 1.15356931e+02] [ 2.97561901e-02 -2.21574761e-03 9.99554731e-01 6.70826014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76071405700003 meters Centerline goodness : 0.991541 Centerline is valid? [True, True] Translation: X:154.39, Y:115.34, Z:6.71 [[-2.36758266e-01 -9.71555628e-01 5.01840848e-03 1.54391604e+02] [ 9.71112529e-01 -2.36802218e-01 -2.94137002e-02 1.15338278e+02] [ 2.97654162e-02 -2.09049729e-03 9.99554726e-01 6.70774636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.790714057 meters Centerline goodness : 0.990913 Centerline is valid? [True, True] Translation: X:154.39, Y:115.34, Z:6.71 [[-2.29063645e-01 -9.73399415e-01 4.84007739e-03 1.54386686e+02] [ 9.72956060e-01 -2.29105729e-01 -2.94460683e-02 1.15343886e+02] [ 2.97716751e-02 -2.03584112e-03 9.99554652e-01 6.70860705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82071405700003 meters Centerline goodness : 0.993057 Centerline is valid? [True, True] Translation: X:154.39, Y:115.32, Z:6.70 [[-2.14785852e-01 -9.76649393e-01 4.79593687e-03 1.54392657e+02] [ 9.76206535e-01 -2.14833095e-01 -2.94540534e-02 1.15315025e+02] [ 2.97966093e-02 -1.64448903e-03 9.99554630e-01 6.70375710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.850714057 meters Centerline goodness : 0.990926 Centerline is valid? [True, True] Translation: X:154.39, Y:115.31, Z:6.70 [[-2.10388487e-01 -9.77609057e-01 4.14936589e-03 1.54393918e+02] [ 9.77164156e-01 -2.10418247e-01 -2.95698197e-02 1.15305836e+02] [ 2.97808258e-02 -2.16653802e-03 9.99554105e-01 6.70316640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88071405700003 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:154.38, Y:115.33, Z:6.71 [[-2.11793687e-01 -9.77303393e-01 4.63815279e-03 1.54383322e+02] [ 9.76860105e-01 -2.11837539e-01 -2.94820783e-02 1.15328488e+02] [ 2.97954701e-02 -1.71329166e-03 9.99554548e-01 6.70755408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.910714057 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:154.39, Y:115.31, Z:6.71 [[-1.99990873e-01 -9.79786752e-01 4.64440802e-03 1.54388021e+02] [ 9.79344050e-01 -2.00040256e-01 -2.94809568e-02 1.15312519e+02] [ 2.98141195e-02 -1.34744893e-03 9.99554552e-01 6.70511813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94071405700004 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:154.39, Y:115.32, Z:6.70 [[-2.00766750e-01 -9.79630917e-01 3.99725247e-03 1.54385054e+02] [ 9.79185844e-01 -2.00796299e-01 -2.95961185e-02 1.15321133e+02] [ 2.97959062e-02 -2.02786348e-03 9.99553946e-01 6.70435388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.970714057 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:154.38, Y:115.34, Z:6.70 [[-2.01622089e-01 -9.79453942e-01 4.30220520e-03 1.54381544e+02] [ 9.79009884e-01 -2.01660439e-01 -2.95417413e-02 1.15339089e+02] [ 2.98023596e-02 -1.74436618e-03 9.99554289e-01 6.70391753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00071405700004 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:154.38, Y:115.35, Z:6.70 [[-2.06514092e-01 -9.78434122e-01 4.31251758e-03 1.54378679e+02] [ 9.77989914e-01 -2.06550534e-01 -2.95399022e-02 1.15348423e+02] [ 2.97936011e-02 -1.88280741e-03 9.99554299e-01 6.70405349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.030714057 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:154.38, Y:115.33, Z:6.70 [[-2.06993540e-01 -9.78332156e-01 4.45721400e-03 1.54382966e+02] [ 9.77888434e-01 -2.07034122e-01 -2.95141081e-02 1.15332988e+02] [ 2.97973964e-02 -1.75057170e-03 9.99554426e-01 6.70010531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.060714057 meters Centerline goodness : 0.992717 Centerline is valid? [True, True] Translation: X:154.38, Y:115.32, Z:6.70 [[-2.09910749e-01 -9.77710950e-01 4.33298079e-03 1.54384082e+02] [ 9.77266689e-01 -2.09946265e-01 -2.95361627e-02 1.15322969e+02] [ 2.97875229e-02 -1.96548026e-03 9.99554321e-01 6.70025683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.090714057 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:154.38, Y:115.34, Z:6.70 [[-2.18144218e-01 -9.75906798e-01 4.36139683e-03 1.54379386e+02] [ 9.75462340e-01 -2.18176845e-01 -2.95311186e-02 1.15339087e+02] [ 2.97711752e-02 -2.18766441e-03 9.99554346e-01 6.70468976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.120714057 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:154.37, Y:115.38, Z:6.71 [[-2.20127727e-01 -9.75460166e-01 4.60958747e-03 1.54372305e+02] [ 9.75016432e-01 -2.20166934e-01 -2.94869115e-02 1.15375685e+02] [ 2.97781863e-02 -1.99646328e-03 9.99554538e-01 6.70653326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.150714057 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:154.37, Y:115.38, Z:6.71 [[-2.23164688e-01 -9.74769933e-01 4.59349478e-03 1.54369779e+02] [ 9.74326028e-01 -2.23202027e-01 -2.94897790e-02 1.15379352e+02] [ 2.97710272e-02 -2.10551579e-03 9.99554527e-01 6.71004256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.180714057 meters Centerline goodness : 0.993089 Centerline is valid? [True, True] Translation: X:154.37, Y:115.35, Z:6.71 [[-2.22721307e-01 -9.74870855e-01 4.69426868e-03 1.54373908e+02] [ 9.74427294e-01 -2.22761885e-01 -2.94718622e-02 1.15346454e+02] [ 2.97769636e-02 -1.98978811e-03 9.99554587e-01 6.70931927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.210714057 meters Centerline goodness : 0.993001 Centerline is valid? [True, True] Translation: X:154.37, Y:115.35, Z:6.71 [[-2.22681654e-01 -9.74880089e-01 4.65752038e-03 1.54372120e+02] [ 9.74436410e-01 -2.22721143e-01 -2.94783751e-02 1.15353222e+02] [ 2.97752092e-02 -2.02583589e-03 9.99554567e-01 6.70899206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.240714057 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:154.38, Y:115.33, Z:6.71 [[-2.22106582e-01 -9.75010905e-01 4.73298717e-03 1.54375712e+02] [ 9.74567499e-01 -2.22148606e-01 -2.94650154e-02 1.15332876e+02] [ 2.97801378e-02 -1.93175838e-03 9.99554607e-01 6.70819362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.270714057 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:154.38, Y:115.34, Z:6.71 [[-2.18286758e-01 -9.75873378e-01 4.69478193e-03 1.54377287e+02] [ 9.75430009e-01 -2.18329368e-01 -2.94717593e-02 1.15335350e+02] [ 2.97857141e-02 -1.85386362e-03 9.99554588e-01 6.70765681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.300714057 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:154.38, Y:115.34, Z:6.71 [[-2.18408503e-01 -9.75847564e-01 4.38837711e-03 1.54378583e+02] [ 9.75403201e-01 -2.18441825e-01 -2.95256469e-02 1.15336412e+02] [ 2.97711357e-02 -2.16821526e-03 9.99554390e-01 6.70596282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.330714057 meters Centerline goodness : 0.992620 Centerline is valid? [True, True] Translation: X:154.38, Y:115.35, Z:6.71 [[-2.19769003e-01 -9.75541615e-01 4.48806794e-03 1.54376309e+02] [ 9.75097513e-01 -2.19804711e-01 -2.95081129e-02 1.15348958e+02] [ 2.97728906e-02 -2.10866467e-03 9.99554465e-01 6.70637493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.360714057 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:154.37, Y:115.37, Z:6.70 [[-2.19316808e-01 -9.75643151e-01 4.53644973e-03 1.54373619e+02] [ 9.75199219e-01 -2.19354180e-01 -2.94996004e-02 1.15371260e+02] [ 2.97761723e-02 -2.04581596e-03 9.99554498e-01 6.70498701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.390714057 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:154.38, Y:115.35, Z:6.70 [[-2.16948912e-01 -9.76173164e-01 4.37303159e-03 1.54379198e+02] [ 9.75728807e-01 -2.16982436e-01 -2.95282570e-02 1.15349117e+02] [ 2.97735631e-02 -2.13923032e-03 9.99554380e-01 6.70273219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.420714057 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:154.38, Y:115.35, Z:6.71 [[-2.21642366e-01 -9.75119092e-01 4.17343818e-03 1.54377474e+02] [ 9.74674017e-01 -2.21667729e-01 -2.95631240e-02 1.15354682e+02] [ 2.97526832e-02 -2.48469898e-03 9.99554203e-01 6.70648716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.450714057 meters Centerline goodness : 0.992686 Centerline is valid? [True, True] Translation: X:154.38, Y:115.37, Z:6.71 [[-2.23445034e-01 -9.74706264e-01 4.47394133e-03 1.54376282e+02] [ 9.74261990e-01 -2.23478642e-01 -2.95105246e-02 1.15365039e+02] [ 2.97639235e-02 -2.23518920e-03 9.99554457e-01 6.70680667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.480714057 meters Centerline goodness : 0.992456 Centerline is valid? [True, True] Translation: X:154.37, Y:115.38, Z:6.71 [[-2.23184548e-01 -9.74765992e-01 4.46293798e-03 1.54374035e+02] [ 9.74321695e-01 -2.23217942e-01 -2.95124490e-02 1.15378540e+02] [ 2.97639395e-02 -2.23838529e-03 9.99554450e-01 6.70774224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51071405700003 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:154.38, Y:115.37, Z:6.71 [[-2.24351922e-01 -9.74497897e-01 4.47922751e-03 1.54377373e+02] [ 9.74053608e-01 -2.24385276e-01 -2.95096004e-02 1.15368870e+02] [ 2.97621162e-02 -2.25752786e-03 9.99554461e-01 6.70661303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.540714057 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:154.37, Y:115.40, Z:6.71 [[-2.22708100e-01 -9.74872576e-01 4.95605205e-03 1.54370862e+02] [ 9.74429896e-01 -2.22756566e-01 -2.94260027e-02 1.15397693e+02] [ 2.97905962e-02 -1.72408386e-03 9.99554675e-01 6.70955549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57071405700003 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:154.38, Y:115.37, Z:6.71 [[-2.20980029e-01 -9.75268070e-01 4.47418229e-03 1.54375801e+02] [ 9.74823898e-01 -2.21014768e-01 -2.95099851e-02 1.15371795e+02] [ 2.97690066e-02 -2.15957755e-03 9.99554472e-01 6.70883293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.600714057 meters Centerline goodness : 0.993072 Centerline is valid? [True, True] Translation: X:154.37, Y:115.38, Z:6.71 [[-2.21256603e-01 -9.75205075e-01 4.53621340e-03 1.54372857e+02] [ 9.74761082e-01 -2.21293086e-01 -2.94992001e-02 1.15384656e+02] [ 2.97716024e-02 -2.10516852e-03 9.99554511e-01 6.71085840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63071405700003 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:154.37, Y:115.40, Z:6.71 [[-2.23209386e-01 -9.74760120e-01 4.50316789e-03 1.54370248e+02] [ 9.74315956e-01 -2.23243983e-01 -2.95049460e-02 1.15397555e+02] [ 2.97655499e-02 -2.19827256e-03 9.99554491e-01 6.71226435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.660714057 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:154.37, Y:115.40, Z:6.71 [[-2.21799793e-01 -9.75080017e-01 4.87987361e-03 1.54368823e+02] [ 9.74637116e-01 -2.21846379e-01 -2.94393620e-02 1.15401509e+02] [ 2.97883159e-02 -1.77353846e-03 9.99554656e-01 6.71206170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69071405700004 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:154.37, Y:115.40, Z:6.71 [[-2.23135262e-01 -9.74776627e-01 4.60237907e-03 1.54369684e+02] [ 9.74332773e-01 -2.23172884e-01 -2.94874594e-02 1.15395981e+02] [ 2.97708124e-02 -2.09544323e-03 9.99554555e-01 6.71111257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.720714057 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:154.37, Y:115.41, Z:6.71 [[-2.23560759e-01 -9.74678834e-01 4.66456227e-03 1.54366823e+02] [ 9.74235155e-01 -2.23600061e-01 -2.94766941e-02 1.15414257e+02] [ 2.97733062e-02 -2.04545158e-03 9.99554584e-01 6.71176084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75071405700004 meters Centerline goodness : 0.992810 Centerline is valid? [True, True] Translation: X:154.37, Y:115.42, Z:6.71 [[-2.26184474e-01 -9.74073393e-01 4.64861972e-03 1.54365848e+02] [ 9.73629562e-01 -2.26222100e-01 -2.94794509e-02 1.15419622e+02] [ 2.97667693e-02 -2.14176051e-03 9.99554577e-01 6.71005779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.780714057 meters Centerline goodness : 0.992939 Centerline is valid? [True, True] Translation: X:154.36, Y:115.43, Z:6.71 [[-2.27934658e-01 -9.73664717e-01 4.77606761e-03 1.54363806e+02] [ 9.73221203e-01 -2.27975328e-01 -2.94574285e-02 1.15427127e+02] [ 2.97704843e-02 -2.06619863e-03 9.99554625e-01 6.70840362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.810714057 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:154.36, Y:115.44, Z:6.71 [[-2.26796968e-01 -9.73930064e-01 4.83376339e-03 1.54364231e+02] [ 9.73486779e-01 -2.26839894e-01 -2.94474725e-02 1.15435001e+02] [ 2.97762692e-02 -1.97299274e-03 9.99554641e-01 6.70931190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.840714057 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:154.36, Y:115.45, Z:6.71 [[-2.28698683e-01 -9.73485615e-01 4.76136582e-03 1.54361901e+02] [ 9.73042025e-01 -2.28738561e-01 -2.94599395e-02 1.15452681e+02] [ 2.97679353e-02 -2.10444033e-03 9.99554621e-01 6.71023904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.870714057 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:154.36, Y:115.48, Z:6.71 [[-2.29162674e-01 -9.73376363e-01 4.78799987e-03 1.54358557e+02] [ 9.72932835e-01 -2.29203144e-01 -2.94553531e-02 1.15475624e+02] [ 2.97685691e-02 -2.09166521e-03 9.99554629e-01 6.71049221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.900714057 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:154.36, Y:115.49, Z:6.71 [[-2.29059001e-01 -9.73400633e-01 4.81467518e-03 1.54357904e+02] [ 9.72957191e-01 -2.29100322e-01 -2.94507610e-02 1.15486541e+02] [ 2.97704331e-02 -2.06148907e-03 9.99554637e-01 6.71198039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.930714057 meters Centerline goodness : 0.992963 Centerline is valid? [True, True] Translation: X:154.36, Y:115.48, Z:6.71 [[-2.32394244e-01 -9.72609751e-01 4.81526218e-03 1.54357333e+02] [ 9.72166172e-01 -2.32434062e-01 -2.94506602e-02 1.15484021e+02] [ 2.97632302e-02 -2.16292892e-03 9.99554637e-01 6.71185355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.960714057 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:154.35, Y:115.51, Z:6.71 [[-2.31307716e-01 -9.72867520e-01 5.05265130e-03 1.54353653e+02] [ 9.72424722e-01 -2.31355180e-01 -2.94098773e-02 1.15509149e+02] [ 2.97808715e-02 -1.88940854e-03 9.99554666e-01 6.71309816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.990714057 meters Centerline goodness : 0.993693 Centerline is valid? [True, True] Translation: X:154.37, Y:115.43, Z:6.71 [[-2.15508526e-01 -9.76488949e-01 5.04055097e-03 1.54374477e+02] [ 9.76046934e-01 -2.15562797e-01 -2.94119511e-02 1.15425985e+02] [ 2.98070005e-02 -1.41871191e-03 9.99554666e-01 6.71142854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.020714057 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:154.38, Y:115.41, Z:6.71 [[-2.08161999e-01 -9.78084939e-01 4.29355415e-03 1.54380570e+02] [ 9.77640763e-01 -2.08197131e-01 -2.95379841e-02 1.15409986e+02] [ 2.97845630e-02 -1.95113225e-03 9.99554437e-01 6.70943569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.050714057 meters Centerline goodness : 0.994361 Centerline is valid? [True, True] Translation: X:154.38, Y:115.42, Z:6.71 [[-2.06948268e-01 -9.78343811e-01 3.97523195e-03 1.54380268e+02] [ 9.77898749e-01 -2.06974361e-01 -2.95914092e-02 1.15419553e+02] [ 2.97733431e-02 -2.23651652e-03 9.99554174e-01 6.70966292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.080714057 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:154.37, Y:115.44, Z:6.71 [[-2.17197215e-01 -9.76119540e-01 4.00169450e-03 1.54374015e+02] [ 9.75674294e-01 -2.17219437e-01 -2.95869628e-02 1.15435954e+02] [ 2.97496583e-02 -2.52185545e-03 9.99554200e-01 6.71463047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.110714057 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:154.37, Y:115.44, Z:6.71 [[-2.16842554e-01 -9.76195826e-01 4.58430437e-03 1.54373256e+02] [ 9.75752222e-01 -2.16882497e-01 -2.94887155e-02 1.15438528e+02] [ 2.97810163e-02 -1.92126319e-03 9.99554601e-01 6.71495973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.140714057 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:154.39, Y:115.40, Z:6.71 [[-2.02541140e-01 -9.79263181e-01 4.55060687e-03 1.54385403e+02] [ 9.78820090e-01 -2.02586555e-01 -2.94943757e-02 1.15401617e+02] [ 2.98046480e-02 -1.51959905e-03 9.99554588e-01 6.70773788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.170714057 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:154.39, Y:115.40, Z:6.71 [[-2.01051545e-01 -9.79572554e-01 3.98596619e-03 1.54387493e+02] [ 9.79127730e-01 -2.01080644e-01 -2.95882152e-02 1.15403360e+02] [ 2.97853042e-02 -2.04598634e-03 9.99554225e-01 6.70633301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.200714057 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:154.39, Y:115.42, Z:6.71 [[-1.97657305e-01 -9.80263378e-01 3.91142183e-03 1.54387422e+02] [ 9.79818437e-01 -1.97685700e-01 -2.96005837e-02 1.15416140e+02] [ 2.97896003e-02 -2.01828837e-03 9.99554154e-01 6.70550479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.230714057 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:154.39, Y:115.42, Z:6.70 [[-1.94182374e-01 -9.80958293e-01 3.74612613e-03 1.54389355e+02] [ 9.80512969e-01 -1.94207365e-01 -2.96279719e-02 1.15418254e+02] [ 2.97913300e-02 -2.08010465e-03 9.99553975e-01 6.70380594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26071405700003 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:154.39, Y:115.42, Z:6.71 [[-2.02848155e-01 -9.79202350e-01 3.92232708e-03 1.54385964e+02] [ 9.78757295e-01 -2.02874521e-01 -2.95987471e-02 1.15420133e+02] [ 2.97789029e-02 -2.16504499e-03 9.99554165e-01 6.71087659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.290714057 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:154.39, Y:115.42, Z:6.70 [[-1.89040388e-01 -9.81959624e-01 4.36218876e-03 1.54390348e+02] [ 9.81516494e-01 -1.89086242e-01 -2.95256753e-02 1.15424578e+02] [ 2.98178509e-02 -1.29998489e-03 9.99554504e-01 6.70374865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32071405700003 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:154.38, Y:115.45, Z:6.71 [[-2.09077716e-01 -9.77891490e-01 3.83954714e-03 1.54378693e+02] [ 9.77446072e-01 -2.09098752e-01 -2.96123084e-02 1.15452941e+02] [ 2.97604689e-02 -2.43832353e-03 9.99554085e-01 6.71066320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.350714057 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:154.39, Y:115.42, Z:6.70 [[-1.82916626e-01 -9.83116150e-01 4.91367566e-03 1.54394148e+02] [ 9.82675618e-01 -1.82981770e-01 -2.94330066e-02 1.15423204e+02] [ 2.98351772e-02 -5.55237014e-04 9.99554678e-01 6.70485860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38071405700003 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:154.40, Y:115.43, Z:6.70 [[-1.79166933e-01 -9.83812137e-01 3.59027908e-03 1.54396298e+02] [ 9.83366859e-01 -1.79194044e-01 -2.96498845e-02 1.15426100e+02] [ 2.98132729e-02 -1.78171742e-03 9.99553898e-01 6.70439985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.410714057 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:154.40, Y:115.44, Z:6.71 [[-1.80889273e-01 -9.83497207e-01 3.50932894e-03 1.54395730e+02] [ 9.83051639e-01 -1.80913167e-01 -2.96631375e-02 1.15440517e+02] [ 2.98084967e-02 -1.91589183e-03 9.99553792e-01 6.70624348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44071405700004 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:154.40, Y:115.44, Z:6.71 [[-1.78189927e-01 -9.83988470e-01 3.87829384e-03 1.54397513e+02] [ 9.83544169e-01 -1.78226144e-01 -2.96025304e-02 1.15442567e+02] [ 2.98197620e-02 -1.46039944e-03 9.99554225e-01 6.70650364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.470714057 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:154.39, Y:115.45, Z:6.71 [[-2.01659354e-01 -9.79448396e-01 3.78750450e-03 1.54389813e+02] [ 9.79003113e-01 -2.01682205e-01 -2.96174590e-02 1.15450239e+02] [ 2.97726449e-02 -2.26465897e-03 9.99554131e-01 6.71147314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50071405700004 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:154.40, Y:115.46, Z:6.71 [[-1.79661285e-01 -9.83716445e-01 4.87635931e-03 1.54401042e+02] [ 9.83276027e-01 -1.79726771e-01 -2.94371048e-02 1.15456991e+02] [ 2.98341764e-02 -4.93900871e-04 9.99554740e-01 6.70740577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.530714057 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:154.40, Y:115.46, Z:6.71 [[-1.81261592e-01 -9.83428010e-01 3.68574843e-03 1.54402888e+02] [ 9.82983043e-01 -1.81290633e-01 -2.96317994e-02 1.15460229e+02] [ 2.98089331e-02 -1.74807891e-03 9.99554086e-01 6.70680304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.560714057 meters Centerline goodness : 0.994423 Centerline is valid? [True, True] Translation: X:154.41, Y:115.46, Z:6.70 [[-1.84146963e-01 -9.82891272e-01 3.82660899e-03 1.54408494e+02] [ 9.82446660e-01 -1.84178938e-01 -2.96087601e-02 1.15456140e+02] [ 2.98069727e-02 -1.69292405e-03 9.99554240e-01 6.70375291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.590714057 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:154.41, Y:115.46, Z:6.71 [[-1.78463941e-01 -9.83936946e-01 4.32527348e-03 1.54409833e+02] [ 9.83494331e-01 -1.78513458e-01 -2.95270361e-02 1.15464528e+02] [ 2.98248613e-02 -1.01562928e-03 9.99554624e-01 6.70505676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.620714057 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:154.41, Y:115.45, Z:6.70 [[-1.83632603e-01 -9.82988935e-01 3.43811578e-03 1.54414604e+02] [ 9.82543216e-01 -1.83653115e-01 -2.96708969e-02 1.15451643e+02] [ 2.97975841e-02 -2.07044670e-03 9.99553809e-01 6.70479717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.650714057 meters Centerline goodness : 0.995886 Centerline is valid? [True, True] Translation: X:154.42, Y:115.45, Z:6.70 [[-1.83475995e-01 -9.83017371e-01 3.66172373e-03 1.54417006e+02] [ 9.82572297e-01 -1.83503312e-01 -2.96346902e-02 1.15451496e+02] [ 2.98033536e-02 -1.83934596e-03 9.99554089e-01 6.70377606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.680714057 meters Centerline goodness : 0.996213 Centerline is valid? [True, True] Translation: X:154.42, Y:115.46, Z:6.70 [[-1.84580728e-01 -9.82810010e-01 3.79979514e-03 1.54417663e+02] [ 9.82365324e-01 -1.84611701e-01 -2.96123142e-02 1.15459491e+02] [ 2.98047654e-02 -1.73307553e-03 9.99554237e-01 6.70405771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.710714057 meters Centerline goodness : 0.995603 Centerline is valid? [True, True] Translation: X:154.42, Y:115.46, Z:6.71 [[-1.84390381e-01 -9.82845651e-01 3.82290044e-03 1.54420288e+02] [ 9.82401043e-01 -1.84422135e-01 -2.96085731e-02 1.15458338e+02] [ 2.98056848e-02 -1.70391470e-03 9.99554260e-01 6.70568333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.740714057 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:154.41, Y:115.48, Z:6.71 [[-2.07410755e-01 -9.78247186e-01 3.63628347e-03 1.54408816e+02] [ 9.77801521e-01 -2.07426435e-01 -2.96388263e-02 1.15482517e+02] [ 2.97483597e-02 -2.59184782e-03 9.99554059e-01 6.71318442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.770714057 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:154.41, Y:115.49, Z:6.71 [[-2.07067788e-01 -9.78314747e-01 4.81520315e-03 1.54409609e+02] [ 9.77872488e-01 -2.07119112e-01 -2.94460636e-02 1.15486378e+02] [ 2.98048388e-02 -1.38867656e-03 9.99554772e-01 6.71380296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.800714057 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:154.43, Y:115.46, Z:6.70 [[-1.79573565e-01 -9.83732819e-01 4.80380426e-03 1.54429169e+02] [ 9.83292122e-01 -1.79636920e-01 -2.94479231e-02 1.15461384e+02] [ 2.98318290e-02 -5.64525639e-04 9.99554773e-01 6.70462979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.830714057 meters Centerline goodness : 0.995909 Centerline is valid? [True, True] Translation: X:154.43, Y:115.46, Z:6.71 [[-1.81750522e-01 -9.83338598e-01 3.45666197e-03 1.54431129e+02] [ 9.82893102e-01 -1.81772455e-01 -2.96635297e-02 1.15459206e+02] [ 2.97976196e-02 -1.99383280e-03 9.99553964e-01 6.70521895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.860714057 meters Centerline goodness : 0.996665 Centerline is valid? [True, True] Translation: X:154.43, Y:115.47, Z:6.71 [[-1.81441840e-01 -9.83395084e-01 3.60108305e-03 1.54433484e+02] [ 9.82950006e-01 -1.81468261e-01 -2.96404312e-02 1.15467160e+02] [ 2.98017366e-02 -1.83832978e-03 9.99554139e-01 6.70667692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.890714057 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:154.44, Y:115.46, Z:6.71 [[-1.84605476e-01 -9.82807398e-01 3.23067227e-03 1.54435319e+02] [ 9.82361267e-01 -1.84619304e-01 -2.96993903e-02 1.15462844e+02] [ 2.97852249e-02 -2.30898277e-03 9.99553655e-01 6.70655542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.920714057 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:154.42, Y:115.50, Z:6.71 [[-2.12228239e-01 -9.77214202e-01 3.40259181e-03 1.54421729e+02] [ 9.76768152e-01 -2.12234683e-01 -2.96718323e-02 1.15495848e+02] [ 2.97178839e-02 -2.97365741e-03 9.99553903e-01 6.71382609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.950714057 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:154.42, Y:115.50, Z:6.71 [[-2.15258784e-01 -9.76545387e-01 4.77116249e-03 1.54424875e+02] [ 9.76102664e-01 -2.15305081e-01 -2.94501417e-02 1.15499875e+02] [ 2.97866556e-02 -1.68225728e-03 9.99554864e-01 6.71400160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.980714057 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:154.44, Y:115.48, Z:6.71 [[-1.94006242e-01 -9.80988748e-01 4.75976588e-03 1.54439595e+02] [ 9.80547092e-01 -1.94061798e-01 -2.94519835e-02 1.15481270e+02] [ 2.98157532e-02 -1.04669405e-03 9.99554864e-01 6.70594206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01071405700003 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:154.43, Y:115.50, Z:6.71 [[-2.18761928e-01 -9.75771247e-01 3.70041298e-03 1.54430086e+02] [ 9.75325757e-01 -2.18774386e-01 -2.96215532e-02 1.15504682e+02] [ 2.97134155e-02 -2.87096000e-03 9.99554336e-01 6.71210688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.040714057 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:154.44, Y:115.48, Z:6.71 [[-1.98334477e-01 -9.80122905e-01 4.74621773e-03 1.54442839e+02] [ 9.79680993e-01 -1.98387679e-01 -2.94530437e-02 1.15483660e+02] [ 2.98091939e-02 -1.19177472e-03 9.99554897e-01 6.70647334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07071405700003 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:154.44, Y:115.51, Z:6.71 [[-2.11725787e-01 -9.77322295e-01 3.64992417e-03 1.54435141e+02] [ 9.76876861e-01 -2.11739936e-01 -2.96276669e-02 1.15512301e+02] [ 2.97286141e-02 -2.70741462e-03 9.99554340e-01 6.71384841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.100714057 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:154.44, Y:115.51, Z:6.71 [[-2.12871979e-01 -9.77070452e-01 4.34184582e-03 1.54436198e+02] [ 9.76626639e-01 -2.12906452e-01 -2.95169499e-02 1.15505950e+02] [ 2.97645466e-02 -2.04296926e-03 9.99554850e-01 6.71370778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13071405700003 meters Centerline goodness : 0.995947 Centerline is valid? [True, True] Translation: X:154.45, Y:115.49, Z:6.71 [[-1.97515506e-01 -9.80290027e-01 4.36901918e-03 1.54445536e+02] [ 9.79846896e-01 -1.97557754e-01 -2.95126136e-02 1.15490949e+02] [ 2.97940544e-02 -1.54822891e-03 9.99554860e-01 6.70696201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.160714057 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:154.45, Y:115.49, Z:6.71 [[-1.93809398e-01 -9.81032661e-01 3.58270132e-03 1.54447237e+02] [ 9.80587438e-01 -1.93829674e-01 -2.96367118e-02 1.15494038e+02] [ 2.97690161e-02 -2.23072137e-03 9.99554315e-01 6.70610656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19071405700004 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:154.45, Y:115.50, Z:6.71 [[-1.91958969e-01 -9.81396370e-01 3.59424865e-03 1.54446584e+02] [ 9.80951215e-01 -1.91980432e-01 -2.96348922e-02 1.15501549e+02] [ 2.97736010e-02 -2.16290077e-03 9.99554328e-01 6.70750042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.220714057 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:154.45, Y:115.49, Z:6.71 [[-1.94078510e-01 -9.80980232e-01 3.36407157e-03 1.54446874e+02] [ 9.80534494e-01 -1.94092076e-01 -2.96710602e-02 1.15494403e+02] [ 2.97596632e-02 -2.45992695e-03 9.99554056e-01 6.71103853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25071405700004 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:154.45, Y:115.50, Z:6.71 [[-1.91221325e-01 -9.81539926e-01 3.71193148e-03 1.54447032e+02] [ 9.81095097e-01 -1.91246665e-01 -2.96162791e-02 1.15499420e+02] [ 2.97794549e-02 -2.02150634e-03 9.99554450e-01 6.71064058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.280714057 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:154.45, Y:115.51, Z:6.71 [[-1.86409433e-01 -9.82465274e-01 3.67551281e-03 1.54447790e+02] [ 9.82020472e-01 -1.86435857e-01 -2.96220077e-02 1.15507927e+02] [ 2.97878413e-02 -1.91239284e-03 9.99554414e-01 6.70754815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.310714057 meters Centerline goodness : 0.995349 Centerline is valid? [True, True] Translation: X:154.44, Y:115.52, Z:6.71 [[-1.99005247e-01 -9.79993472e-01 3.11563128e-03 1.54441574e+02] [ 9.79547197e-01 -1.99009078e-01 -2.97098608e-02 1.15523584e+02] [ 2.97355085e-02 -2.86051030e-03 9.99553709e-01 6.70995499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.340714057 meters Centerline goodness : 0.995266 Centerline is valid? [True, True] Translation: X:154.44, Y:115.52, Z:6.71 [[-2.00277157e-01 -9.79731602e-01 3.87934996e-03 1.54441773e+02] [ 9.79286995e-01 -2.00303432e-01 -2.95891322e-02 1.15521395e+02] [ 2.97664550e-02 -2.12703031e-03 9.99554618e-01 6.71215368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.370714057 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:154.44, Y:115.52, Z:6.71 [[-2.07516345e-01 -9.78223497e-01 3.96952844e-03 1.54441118e+02] [ 9.77778925e-01 -2.07542047e-01 -2.95748714e-02 1.15523860e+02] [ 2.97546782e-02 -2.25594797e-03 9.99554686e-01 6.71481843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.400714057 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:154.45, Y:115.51, Z:6.71 [[-1.91752941e-01 -9.81432083e-01 4.67714968e-03 1.54445751e+02] [ 9.80990325e-01 -1.91807038e-01 -2.94625450e-02 1.15510995e+02] [ 2.98125971e-02 -1.06129106e-03 9.99554942e-01 6.71065918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.430714057 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:154.44, Y:115.53, Z:6.71 [[-2.01839177e-01 -9.79412348e-01 3.52118563e-03 1.54440016e+02] [ 9.78966915e-01 -2.01853957e-01 -2.96438689e-02 1.15528091e+02] [ 2.97443365e-02 -2.53616987e-03 9.99554322e-01 6.71332920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.460714057 meters Centerline goodness : 0.996153 Centerline is valid? [True, True] Translation: X:154.44, Y:115.52, Z:6.71 [[-1.87414231e-01 -9.82272223e-01 4.14570790e-03 1.54444929e+02] [ 9.81828869e-01 -1.87454339e-01 -2.95455995e-02 1.15520619e+02] [ 2.97989526e-02 -1.46689010e-03 9.99554836e-01 6.70951518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.490714057 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:154.43, Y:115.53, Z:6.71 [[-2.06499169e-01 -9.78440852e-01 3.40486277e-03 1.54434746e+02] [ 9.77995148e-01 -2.06508322e-01 -2.96614707e-02 1.15526611e+02] [ 2.97251271e-02 -2.79512978e-03 9.99554203e-01 6.70920977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.520714057 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:154.44, Y:115.54, Z:6.71 [[-1.99536704e-01 -9.79879312e-01 4.65173304e-03 1.54436776e+02] [ 9.79437109e-01 -1.99586532e-01 -2.94646450e-02 1.15537330e+02] [ 2.98002193e-02 -1.32319819e-03 9.99554999e-01 6.71398659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.550714057 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:154.44, Y:115.53, Z:6.71 [[-1.81556972e-01 -9.83371202e-01 4.25969613e-03 1.54444963e+02] [ 9.82928532e-01 -1.81603143e-01 -2.95262324e-02 1.15528823e+02] [ 2.98088209e-02 -1.17371650e-03 9.99554929e-01 6.71040589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.580714057 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:154.44, Y:115.54, Z:6.71 [[-1.80448116e-01 -9.83577702e-01 3.65811469e-03 1.54443220e+02] [ 9.83133160e-01 -1.80476723e-01 -2.96199731e-02 1.15538057e+02] [ 2.97937497e-02 -1.74845451e-03 9.99554538e-01 6.70970557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.610714057 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:154.43, Y:115.56, Z:6.72 [[-2.07709025e-01 -9.78185108e-01 3.29477511e-03 1.54428549e+02] [ 9.77739260e-01 -2.07714312e-01 -2.96766736e-02 1.15558641e+02] [ 2.97136521e-02 -2.94268197e-03 9.99554120e-01 6.71641644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.640714057 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:154.44, Y:115.55, Z:6.71 [[-1.74537554e-01 -9.84638958e-01 4.77127189e-03 1.54443685e+02] [ 9.84198726e-01 -1.74602194e-01 -2.94438729e-02 1.15552157e+02] [ 2.98246589e-02 -4.43181828e-04 9.99555048e-01 6.70719617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.670714057 meters Centerline goodness : 0.995629 Centerline is valid? [True, True] Translation: X:154.44, Y:115.59, Z:6.71 [[-1.70404083e-01 -9.85368571e-01 3.35069405e-03 1.54440430e+02] [ 9.84923517e-01 -1.70427989e-01 -2.96642300e-02 1.15585072e+02] [ 2.98012520e-02 -1.75472853e-03 9.99554304e-01 6.70833707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.700714057 meters Centerline goodness : 0.996097 Centerline is valid? [True, True] Translation: X:154.43, Y:115.54, Z:6.71 [[-2.09475165e-01 -9.77810599e-01 2.56664913e-03 1.54431460e+02] [ 9.77363965e-01 -2.09457667e-01 -2.97853248e-02 1.15543863e+02] [ 2.96620107e-02 -3.73073548e-03 9.99553023e-01 6.71379923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.730714057 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:154.45, Y:115.56, Z:6.71 [[-1.71003591e-01 -9.85259533e-01 4.62856543e-03 1.54445067e+02] [ 9.84819070e-01 -1.71065548e-01 -2.94614516e-02 1.15559335e+02] [ 2.98189641e-02 -4.79714515e-04 9.99555201e-01 6.70656215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76071405700003 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:154.45, Y:115.56, Z:6.71 [[-1.68771104e-01 -9.85651951e-01 2.55842271e-03 1.54446267e+02] [ 9.85205203e-01 -1.68771903e-01 -2.97784082e-02 1.15563308e+02] [ 2.97829361e-02 -2.50516346e-03 9.99553251e-01 6.70576561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.790714057 meters Centerline goodness : 0.993672 Centerline is valid? [True, True] Translation: X:154.45, Y:115.55, Z:6.71 [[-1.66988243e-01 -9.85955617e-01 2.53941808e-03 1.54449941e+02] [ 9.85508830e-01 -1.66989277e-01 -2.97813123e-02 1.15552017e+02] [ 2.97871077e-02 -2.47051008e-03 9.99553213e-01 6.70500692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82071405700003 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:154.45, Y:115.55, Z:6.71 [[-1.71427260e-01 -9.85191834e-01 3.12164454e-03 1.54446104e+02] [ 9.84746360e-01 -1.71443827e-01 -2.96921109e-02 1.15547077e+02] [ 2.97876119e-02 -2.01600911e-03 9.99554218e-01 6.71069370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.850714057 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:154.44, Y:115.54, Z:6.71 [[-1.82826558e-01 -9.83140794e-01 2.93740848e-03 1.54443149e+02] [ 9.82694772e-01 -1.82832413e-01 -2.97202743e-02 1.15540258e+02] [ 2.97562675e-02 -2.54707950e-03 9.99553939e-01 6.70901897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88071405700003 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:154.44, Y:115.53, Z:6.71 [[-1.80020916e-01 -9.83655646e-01 3.74706223e-03 1.54443345e+02] [ 9.83211687e-01 -1.80052406e-01 -2.95957524e-02 1.15532569e+02] [ 2.97866965e-02 -1.64369908e-03 9.99554926e-01 6.70968313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.910714057 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:154.44, Y:115.54, Z:6.71 [[-1.82473856e-01 -9.83204346e-01 3.53641770e-03 1.54440404e+02] [ 9.82759734e-01 -1.82497907e-01 -2.96280234e-02 1.15538291e+02] [ 2.97757902e-02 -1.93089076e-03 9.99554738e-01 6.71049083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94071405700004 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:154.44, Y:115.54, Z:6.71 [[-1.83002681e-01 -9.83106825e-01 3.31510769e-03 1.54439595e+02] [ 9.82661649e-01 -1.83019835e-01 -2.96618092e-02 1.15536270e+02] [ 2.97674575e-02 -2.17056142e-03 9.99554494e-01 6.71165529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.970714057 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:154.44, Y:115.54, Z:6.71 [[-1.82700221e-01 -9.83162958e-01 3.35084604e-03 1.54439091e+02] [ 9.82717873e-01 -1.82718587e-01 -2.96563601e-02 1.15538848e+02] [ 2.97692966e-02 -2.12528726e-03 9.99554537e-01 6.71174576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00071405700004 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:154.44, Y:115.53, Z:6.71 [[-1.88732632e-01 -9.82022830e-01 3.34004200e-03 1.54438125e+02] [ 9.81577617e-01 -1.88747940e-01 -2.96580050e-02 1.15532271e+02] [ 2.97552641e-02 -2.31892288e-03 9.99554524e-01 6.71492428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.030714057 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:154.44, Y:115.53, Z:6.71 [[-1.85611418e-01 -9.82615208e-01 3.96925559e-03 1.54438150e+02] [ 9.82171709e-01 -1.85647058e-01 -2.95618592e-02 1.15534165e+02] [ 2.97848130e-02 -1.58852805e-03 9.99555072e-01 6.71373324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.060714057 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:154.44, Y:115.54, Z:6.71 [[-1.90297808e-01 -9.81719609e-01 3.65434449e-03 1.54436054e+02] [ 9.81275114e-01 -1.90321865e-01 -2.96097636e-02 1.15535910e+02] [ 2.97639872e-02 -2.04875580e-03 9.99554855e-01 6.71326913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.090714057 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:154.43, Y:115.55, Z:6.71 [[-1.94768818e-01 -9.80842905e-01 3.50748988e-03 1.54432613e+02] [ 9.80397974e-01 -1.94786431e-01 -2.96320608e-02 1.15552075e+02] [ 2.97476081e-02 -2.33266550e-03 9.99554720e-01 6.71270662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.120714057 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:154.43, Y:115.54, Z:6.71 [[-1.98723939e-01 -9.80049312e-01 3.48460276e-03 1.54432426e+02] [ 9.79604266e-01 -1.98739068e-01 -2.96355343e-02 1.15542069e+02] [ 2.97368117e-02 -2.47575838e-03 9.99554697e-01 6.71220897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.150714057 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:154.43, Y:115.53, Z:6.71 [[-1.98192405e-01 -9.80156081e-01 3.71851132e-03 1.54434762e+02] [ 9.79711551e-01 -1.98214815e-01 -2.96000589e-02 1.15534164e+02] [ 2.97497418e-02 -2.22343836e-03 9.99554906e-01 6.71147885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.180714057 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:154.43, Y:115.56, Z:6.71 [[-2.06879139e-01 -9.78358671e-01 3.91579842e-03 1.54426494e+02] [ 9.77914379e-01 -2.06903543e-01 -2.95701074e-02 1.15562613e+02] [ 2.97403635e-02 -2.28812277e-03 9.99555039e-01 6.71295120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.210714057 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:154.42, Y:115.57, Z:6.71 [[-2.07375013e-01 -9.78253780e-01 3.89175034e-03 1.54423376e+02] [ 9.77809423e-01 -2.07398469e-01 -2.95737608e-02 1.15574071e+02] [ 2.97377864e-02 -2.32746889e-03 9.99555024e-01 6.71334786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.240714057 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:154.42, Y:115.57, Z:6.71 [[-2.01794223e-01 -9.79420017e-01 3.93991033e-03 1.54424057e+02] [ 9.78975915e-01 -2.01821659e-01 -2.95664553e-02 1.15571017e+02] [ 2.97531374e-02 -2.10926255e-03 9.99555052e-01 6.71261020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.270714057 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:154.42, Y:115.57, Z:6.71 [[-1.99226488e-01 -9.79946454e-01 3.70860413e-03 1.54422663e+02] [ 9.79501883e-01 -1.99248132e-01 -2.96013938e-02 1.15574481e+02] [ 2.97467134e-02 -2.26479701e-03 9.99554903e-01 6.71328764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.300714057 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:154.42, Y:115.59, Z:6.71 [[-1.99422738e-01 -9.79906660e-01 3.67546866e-03 1.54419118e+02] [ 9.79462012e-01 -1.99443296e-01 -2.96063941e-02 1.15587092e+02] [ 2.97445503e-02 -2.30420624e-03 9.99554877e-01 6.71405497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.330714057 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:154.42, Y:115.59, Z:6.71 [[-2.00266513e-01 -9.79734550e-01 3.67892817e-03 1.54418322e+02] [ 9.79289892e-01 -2.00286792e-01 -2.96058724e-02 1.15587568e+02] [ 2.97427368e-02 -2.32632766e-03 9.99554880e-01 6.71344177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.360714057 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:154.41, Y:115.59, Z:6.71 [[-2.10566206e-01 -9.77570922e-01 4.11881438e-03 1.54409285e+02] [ 9.77126990e-01 -2.10595043e-01 -2.95393682e-02 1.15588910e+02] [ 2.97442293e-02 -2.19538799e-03 9.99555132e-01 6.71499652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.390714057 meters Centerline goodness : 0.995127 Centerline is valid? [True, True] Translation: X:154.41, Y:115.59, Z:6.71 [[-1.97242408e-01 -9.80344582e-01 4.46470487e-03 1.54414249e+02] [ 9.79902083e-01 -1.97287669e-01 -2.94869978e-02 1.15588635e+02] [ 2.97882498e-02 -1.44111287e-03 9.99555193e-01 6.71482720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.420714057 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:154.41, Y:115.59, Z:6.71 [[-1.97127275e-01 -9.80370685e-01 3.76272204e-03 1.54411189e+02] [ 9.79926313e-01 -1.97151501e-01 -2.95923379e-02 1.15587746e+02] [ 2.97532869e-02 -2.14626659e-03 9.99554969e-01 6.71476283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.450714057 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:154.41, Y:115.59, Z:6.71 [[-1.96851116e-01 -9.80425891e-01 3.83542318e-03 1.54410271e+02] [ 9.79981698e-01 -1.96877653e-01 -2.95814513e-02 1.15585699e+02] [ 2.97575298e-02 -2.06449717e-03 9.99555015e-01 6.71432653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.480714057 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:154.41, Y:115.57, Z:6.71 [[-1.84875563e-01 -9.82754437e-01 3.83960748e-03 1.54414947e+02] [ 9.82310612e-01 -1.84907642e-01 -2.95808264e-02 1.15572542e+02] [ 2.97806611e-02 -1.69708474e-03 9.99555017e-01 6.71057946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51071405700003 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:154.41, Y:115.59, Z:6.71 [[-1.98090949e-01 -9.80178345e-01 3.22317358e-03 1.54405134e+02] [ 9.79732891e-01 -1.98098497e-01 -2.96723275e-02 1.15593245e+02] [ 2.97226787e-02 -2.71997033e-03 9.99554483e-01 6.71388484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.540714057 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:154.41, Y:115.59, Z:6.71 [[-1.92365294e-01 -9.81314930e-01 4.07444519e-03 1.54405297e+02] [ 9.80871513e-01 -1.92401044e-01 -2.95451073e-02 1.15592978e+02] [ 2.97769824e-02 -1.68694604e-03 9.99555144e-01 6.71249363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57071405700003 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:154.40, Y:115.60, Z:6.71 [[-1.93263423e-01 -9.81139582e-01 3.79068769e-03 1.54402697e+02] [ 9.80695403e-01 -1.93290242e-01 -2.95873083e-02 1.15595406e+02] [ 2.97619822e-02 -2.00063449e-03 9.99555012e-01 6.71487243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.600714057 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:154.39, Y:115.60, Z:6.71 [[-2.00133759e-01 -9.79760822e-01 3.90005377e-03 1.54394370e+02] [ 9.79316714e-01 -2.00160753e-01 -2.95710406e-02 1.15597805e+02] [ 2.97531848e-02 -2.09877566e-03 9.99555073e-01 6.71422865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63071405700003 meters Centerline goodness : 0.995946 Centerline is valid? [True, True] Translation: X:154.40, Y:115.58, Z:6.71 [[-1.75958146e-01 -9.84387823e-01 4.39836442e-03 1.54404901e+02] [ 9.83946173e-01 -1.76010997e-01 -2.94967396e-02 1.15579710e+02] [ 2.98103917e-02 -8.62437778e-04 9.99555199e-01 6.71048980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.660714057 meters Centerline goodness : 0.996085 Centerline is valid? [True, True] Translation: X:154.39, Y:115.59, Z:6.71 [[-1.96510592e-01 -9.80496761e-01 3.11277644e-03 1.54391500e+02] [ 9.80051219e-01 -1.96515540e-01 -2.96858687e-02 1.15592858e+02] [ 2.97186071e-02 -2.78290730e-03 9.99554431e-01 6.71487411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69071405700004 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:154.40, Y:115.59, Z:6.71 [[-1.75761060e-01 -9.84423104e-01 4.38213109e-03 1.54400344e+02] [ 9.83981461e-01 -1.75813515e-01 -2.94973178e-02 1.15585713e+02] [ 2.98082790e-02 -8.72544086e-04 9.99555254e-01 6.71168101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.720714057 meters Centerline goodness : 0.995357 Centerline is valid? [True, True] Translation: X:154.40, Y:115.58, Z:6.71 [[-1.76218829e-01 -9.84345505e-01 3.29411736e-03 1.54399753e+02] [ 9.83900651e-01 -1.76238437e-01 -2.96567292e-02 1.15582646e+02] [ 2.97730182e-02 -1.98498988e-03 9.99554714e-01 6.71174380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75071405700004 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:154.39, Y:115.60, Z:6.71 [[-1.81672217e-01 -9.83353166e-01 3.42880285e-03 1.54392903e+02] [ 9.82908518e-01 -1.81693409e-01 -2.96369597e-02 1.15603901e+02] [ 2.97665890e-02 -2.01401266e-03 9.99554848e-01 6.71463360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.780714057 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:154.39, Y:115.60, Z:6.71 [[-1.80526639e-01 -9.83563254e-01 3.66850691e-03 1.54392947e+02] [ 9.83119236e-01 -1.80555551e-01 -2.96017121e-02 1.15600568e+02] [ 2.97775256e-02 -1.73731789e-03 9.99555041e-01 6.71421914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.810714057 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:154.39, Y:115.61, Z:6.71 [[-1.80493852e-01 -9.83569232e-01 3.67905453e-03 1.54391060e+02] [ 9.83125242e-01 -1.80523096e-01 -2.96001626e-02 1.15606930e+02] [ 2.97779635e-02 -1.72567600e-03 9.99555048e-01 6.71318807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.840714057 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:154.39, Y:115.59, Z:6.71 [[-1.80818367e-01 -9.83509745e-01 3.64699139e-03 1.54392550e+02] [ 9.83065662e-01 -1.80846501e-01 -2.96048589e-02 1.15592417e+02] [ 2.97762129e-02 -1.76787024e-03 9.99555027e-01 6.71190248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.870714057 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:154.38, Y:115.62, Z:6.72 [[-1.96450803e-01 -9.80506834e-01 3.66475074e-03 1.54381046e+02] [ 9.80062398e-01 -1.96472399e-01 -2.96022557e-02 1.15615482e+02] [ 2.97452363e-02 -2.22370249e-03 9.99555039e-01 6.71541918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.900714057 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:154.38, Y:115.62, Z:6.72 [[-1.97124204e-01 -9.80368897e-01 4.34443476e-03 1.54379128e+02] [ 9.79926132e-01 -1.97165914e-01 -2.95021738e-02 1.15624005e+02] [ 2.97795880e-02 -1.55836738e-03 9.99555275e-01 6.71609025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.930714057 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:154.39, Y:115.60, Z:6.71 [[-1.70472016e-01 -9.85352991e-01 4.33295057e-03 1.54394552e+02] [ 9.84911478e-01 -1.70525371e-01 -2.95038604e-02 1.15597484e+02] [ 2.98105951e-02 -7.62009806e-04 9.99555275e-01 6.70996321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.960714057 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:154.39, Y:115.61, Z:6.71 [[-1.82024152e-01 -9.83289760e-01 2.90809082e-03 1.54388891e+02] [ 9.82844148e-01 -1.82029527e-01 -2.97091338e-02 1.15607632e+02] [ 2.97420455e-02 -2.54957984e-03 9.99554356e-01 6.71225138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.990714057 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:154.39, Y:115.60, Z:6.72 [[-1.81822001e-01 -9.83324925e-01 3.58504149e-03 1.54389456e+02] [ 9.82880744e-01 -1.81847826e-01 -2.96109961e-02 1.15604246e+02] [ 2.97691625e-02 -1.86026230e-03 9.99555069e-01 6.71654943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.020714057 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:154.39, Y:115.60, Z:6.72 [[-1.81106313e-01 -9.83455841e-01 3.88743377e-03 1.54389430e+02] [ 9.83012475e-01 -1.81141540e-01 -2.95671404e-02 1.15600326e+02] [ 2.97821527e-02 -1.53339989e-03 9.99555237e-01 6.71514228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.050714057 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:154.39, Y:115.62, Z:6.71 [[-1.81133489e-01 -9.83451518e-01 3.71102152e-03 1.54385560e+02] [ 9.83007677e-01 -1.81163409e-01 -2.95926601e-02 1.15623066e+02] [ 2.97752478e-02 -1.71225913e-03 9.99555152e-01 6.71171394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.080714057 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:154.39, Y:115.61, Z:6.72 [[-1.80079185e-01 -9.83646240e-01 3.40017419e-03 1.54389867e+02] [ 9.83201669e-01 -1.80100244e-01 -2.96374760e-02 1.15605314e+02] [ 2.97651640e-02 -1.99403560e-03 9.99554930e-01 6.71706056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.110714057 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:154.39, Y:115.62, Z:6.72 [[-1.76707637e-01 -9.84255637e-01 3.90547452e-03 1.54388568e+02] [ 9.83812488e-01 -1.76745387e-01 -2.95644413e-02 1.15623366e+02] [ 2.97892426e-02 -1.38200795e-03 9.99555247e-01 6.71693271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.140714057 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:154.39, Y:115.62, Z:6.71 [[-1.71601467e-01 -9.85159830e-01 3.61202583e-03 1.54389513e+02] [ 9.84716027e-01 -1.71632714e-01 -2.96067060e-02 1.15623354e+02] [ 2.97872792e-02 -1.52373445e-03 9.99555099e-01 6.71359960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.170714057 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:154.39, Y:115.63, Z:6.72 [[-1.81551037e-01 -9.83376356e-01 3.18808981e-03 1.54385299e+02] [ 9.82931317e-01 -1.81565055e-01 -2.96674447e-02 1.15627118e+02] [ 2.97531093e-02 -2.25248202e-03 9.99554740e-01 6.71503490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.200714057 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:154.38, Y:115.63, Z:6.71 [[-1.75774301e-01 -9.84423460e-01 3.72112558e-03 1.54384568e+02] [ 9.83979827e-01 -1.75806942e-01 -2.95908594e-02 1.15631607e+02] [ 2.97841359e-02 -1.53980013e-03 9.99555168e-01 6.70639624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.230714057 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:154.38, Y:115.63, Z:6.71 [[-1.82152097e-01 -9.83264961e-01 3.26046862e-03 1.54382011e+02] [ 9.82820071e-01 -1.82168020e-01 -2.96567110e-02 1.15632443e+02] [ 2.97543579e-02 -2.19757808e-03 9.99554825e-01 6.71354979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26071405700003 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:154.38, Y:115.63, Z:6.71 [[-1.82144926e-01 -9.83264555e-01 3.74712166e-03 1.54378210e+02] [ 9.82820793e-01 -1.82175474e-01 -2.95869069e-02 1.15634191e+02] [ 2.97743905e-02 -1.70635588e-03 9.99555188e-01 6.70858265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.290714057 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:154.38, Y:115.66, Z:6.71 [[-1.77033320e-01 -9.84198804e-01 3.45215150e-03 1.54375487e+02] [ 9.83754453e-01 -1.77057318e-01 -2.96290652e-02 1.15657556e+02] [ 2.97721193e-02 -1.84926237e-03 9.99555002e-01 6.70693081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32071405700003 meters Centerline goodness : 0.992312 Centerline is valid? [True, True] Translation: X:154.37, Y:115.64, Z:6.71 [[-1.82628756e-01 -9.83176610e-01 3.23890076e-03 1.54374621e+02] [ 9.82731678e-01 -1.82643816e-01 -2.96594819e-02 1.15643613e+02] [ 2.97520740e-02 -2.23370390e-03 9.99554813e-01 6.71335715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.350714057 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:154.37, Y:115.65, Z:6.71 [[-1.82574325e-01 -9.83184534e-01 3.84544949e-03 1.54369689e+02] [ 9.82741019e-01 -1.82607631e-01 -2.95726524e-02 1.15649231e+02] [ 2.97775829e-02 -1.62012612e-03 9.99555236e-01 6.71315991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38071405700003 meters Centerline goodness : 0.992421 Centerline is valid? [True, True] Translation: X:154.37, Y:115.66, Z:6.71 [[-1.82337598e-01 -9.83228346e-01 3.87565707e-03 1.54365774e+02] [ 9.82784919e-01 -1.82371917e-01 -2.95683315e-02 1.15662904e+02] [ 2.97792327e-02 -1.58248121e-03 9.99555248e-01 6.71285820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.410714057 meters Centerline goodness : 0.991181 Centerline is valid? [True, True] Translation: X:154.36, Y:115.67, Z:6.71 [[-1.83531896e-01 -9.83006205e-01 3.85292371e-03 1.54360845e+02] [ 9.82562677e-01 -1.83564994e-01 -2.95715782e-02 1.15669616e+02] [ 2.97763068e-02 -1.64158878e-03 9.99555239e-01 6.71396581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44071405700004 meters Centerline goodness : 0.992493 Centerline is valid? [True, True] Translation: X:154.36, Y:115.66, Z:6.71 [[-1.83017595e-01 -9.83101516e-01 3.99613538e-03 1.54361516e+02] [ 9.82658393e-01 -1.83055222e-01 -2.95511259e-02 1.15656231e+02] [ 2.97832701e-02 -1.48154001e-03 9.99555282e-01 6.71398756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.470714057 meters Centerline goodness : 0.985504 Centerline is valid? [True, True] Translation: X:154.22, Y:116.52, Z:6.74 [[-2.07208013e-01 -9.78288207e-01 4.12598042e-03 1.54222548e+02] [ 9.77844574e-01 -2.07238602e-01 -2.95322027e-02 1.16524594e+02] [ 2.97460680e-02 -2.08474147e-03 9.99555314e-01 6.73921284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50071405700004 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:154.34, Y:115.68, Z:6.71 [[-1.98753307e-01 -9.80037676e-01 4.82463842e-03 1.54344264e+02] [ 9.79596342e-01 -1.98808684e-01 -2.94298240e-02 1.15678150e+02] [ 2.98015163e-02 -1.12307670e-03 9.99555205e-01 6.71492542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.530714057 meters Centerline goodness : 0.993737 Centerline is valid? [True, True] Translation: X:154.34, Y:115.69, Z:6.72 [[-1.99277341e-01 -9.79934087e-01 4.21018399e-03 1.54341325e+02] [ 9.79491004e-01 -1.99314055e-01 -2.95174717e-02 1.15692344e+02] [ 2.97643255e-02 -1.75832591e-03 9.99555398e-01 6.71523349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.560714057 meters Centerline goodness : 0.991167 Centerline is valid? [True, True] Translation: X:154.35, Y:115.67, Z:6.72 [[-1.78562089e-01 -9.83919688e-01 4.19860203e-03 1.54353621e+02] [ 9.83477441e-01 -1.78607794e-01 -2.95191190e-02 1.15669100e+02] [ 2.97943454e-02 -1.14176517e-03 9.99555398e-01 6.71553802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.590714057 meters Centerline goodness : 0.982510 Centerline is valid? [True, True] Translation: X:154.19, Y:116.69, Z:6.75 [[-2.14429585e-01 -9.76731034e-01 4.05471929e-03 1.54189894e+02] [ 9.76287107e-01 -2.14454758e-01 -2.95405239e-02 1.16692999e+02] [ 2.97227003e-02 -2.37579210e-03 9.99555359e-01 6.74526266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.620714057 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:154.34, Y:115.69, Z:6.72 [[-2.04442965e-01 -9.78865918e-01 4.95873951e-03 1.54338760e+02] [ 9.78424837e-01 -2.04499803e-01 -2.94052696e-02 1.15691506e+02] [ 2.97978775e-02 -1.15994659e-03 9.99555272e-01 6.71610108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.650714057 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:154.34, Y:115.70, Z:6.72 [[-2.07999918e-01 -9.78119450e-01 4.28677424e-03 1.54335857e+02] [ 9.77676337e-01 -2.08034991e-01 -2.95029131e-02 1.15696169e+02] [ 2.97491722e-02 -1.94552577e-03 9.99555502e-01 6.71818757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.680714057 meters Centerline goodness : 0.985951 Centerline is valid? [True, True] Translation: X:154.21, Y:116.57, Z:6.74 [[-2.05114893e-01 -9.78727911e-01 4.42239823e-03 1.54207880e+02] [ 9.78285228e-01 -2.05155342e-01 -2.94838720e-02 1.16567977e+02] [ 2.97639670e-02 -1.72121438e-03 9.99555473e-01 6.74083603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.710714057 meters Centerline goodness : 0.985849 Centerline is valid? [True, True] Translation: X:154.21, Y:116.57, Z:6.74 [[-2.03646023e-01 -9.79035750e-01 4.15910002e-03 1.54206629e+02] [ 9.78592578e-01 -2.03679239e-01 -2.95183798e-02 1.16569821e+02] [ 2.97466714e-02 -1.94123623e-03 9.99555585e-01 6.74088045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.740714057 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:154.32, Y:115.72, Z:6.72 [[-1.93200827e-01 -9.81148013e-01 4.69223179e-03 1.54324664e+02] [ 9.80706707e-01 -1.93254742e-01 -2.94441649e-02 1.15717431e+02] [ 2.97958799e-02 -1.08693382e-03 9.99555413e-01 6.71527730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.770714057 meters Centerline goodness : 0.993271 Centerline is valid? [True, True] Translation: X:154.32, Y:115.72, Z:6.71 [[-1.90992270e-01 -9.81583421e-01 3.99249319e-03 1.54323729e+02] [ 9.81140382e-01 -1.91026212e-01 -2.95387499e-02 1.15719909e+02] [ 2.97574180e-02 -1.72447661e-03 9.99555662e-01 6.71474912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.800714057 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:154.32, Y:115.73, Z:6.71 [[-1.89458737e-01 -9.81880613e-01 3.98106628e-03 1.54322466e+02] [ 9.81437601e-01 -1.89493028e-01 -2.95402899e-02 1.15726212e+02] [ 2.97594222e-02 -1.68949787e-03 9.99555662e-01 6.71464970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.830714057 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:154.34, Y:115.68, Z:6.71 [[-1.52799388e-01 -9.88249255e-01 3.96962151e-03 1.54342499e+02] [ 9.87807785e-01 -1.52849794e-01 -2.95418277e-02 1.15677488e+02] [ 2.98014451e-02 -5.92750169e-04 9.99555663e-01 6.71065492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.860714057 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:154.34, Y:115.69, Z:6.71 [[-1.52580916e-01 -9.88287455e-01 2.64008078e-03 1.54340331e+02] [ 9.87842471e-01 -1.52591598e-01 -2.97162666e-02 1.15694957e+02] [ 2.97710676e-02 -1.92615125e-03 9.99554888e-01 6.71132352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.890714057 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:154.34, Y:115.70, Z:6.71 [[-1.44544085e-01 -9.89494569e-01 2.73980232e-03 1.54342336e+02] [ 9.89049913e-01 -1.44561375e-01 -2.97031802e-02 1.15700321e+02] [ 2.97872050e-02 -1.58361774e-03 9.99555008e-01 6.70999928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.920714057 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:154.34, Y:115.70, Z:6.71 [[-1.44257676e-01 -9.89537067e-01 2.47291055e-03 1.54342010e+02] [ 9.89091834e-01 -1.44267085e-01 -2.97380638e-02 1.15702903e+02] [ 2.97836761e-02 -1.84400833e-03 9.99554667e-01 6.70996725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.950714057 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:154.32, Y:115.73, Z:6.71 [[-1.83225558e-01 -9.83067640e-01 2.53190285e-03 1.54321168e+02] [ 9.82622436e-01 -1.83219151e-01 -2.97302971e-02 1.15731818e+02] [ 2.96907861e-02 -2.95944574e-03 9.99554750e-01 6.71414689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.980714057 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:154.34, Y:115.70, Z:6.71 [[-1.46695239e-01 -9.89173893e-01 3.93899493e-03 1.54340879e+02] [ 9.88732730e-01 -1.46747457e-01 -2.95427168e-02 1.15700848e+02] [ 2.98009217e-02 -4.39162697e-04 9.99555757e-01 6.71008720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01071405700003 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:154.34, Y:115.70, Z:6.71 [[-1.51503276e-01 -9.88453485e-01 2.54270368e-03 1.54338999e+02] [ 9.88008464e-01 -1.51511529e-01 -2.97242603e-02 1.15700012e+02] [ 2.97662976e-02 -1.99111004e-03 9.99554902e-01 6.70733267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.040714057 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:154.34, Y:115.69, Z:6.71 [[-1.48420852e-01 -9.88921419e-01 2.38262977e-03 1.54342414e+02] [ 9.88476127e-01 -1.48425686e-01 -2.97449532e-02 1.15690982e+02] [ 2.97690648e-02 -2.05959865e-03 9.99554681e-01 6.70865371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07071405700003 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:154.34, Y:115.71, Z:6.71 [[-1.49744817e-01 -9.88720872e-01 2.74368531e-03 1.54339082e+02] [ 9.88276274e-01 -1.49759893e-01 -2.96981610e-02 1.15708788e+02] [ 2.97740856e-02 -1.73562657e-03 9.99555147e-01 6.70722712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.100714057 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:154.32, Y:115.75, Z:6.71 [[-1.80910968e-01 -9.83496342e-01 2.48341815e-03 1.54319752e+02] [ 9.83051211e-01 -1.80904164e-01 -2.97321369e-02 1.15751688e+02] [ 2.96907086e-02 -2.93754244e-03 9.99554817e-01 6.71421652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13071405700003 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:154.34, Y:115.74, Z:6.71 [[-1.49144530e-01 -9.88807686e-01 3.90772081e-03 1.54335149e+02] [ 9.88366380e-01 -1.49194722e-01 -2.95437771e-02 1.15741802e+02] [ 2.97961252e-02 -5.44032878e-04 9.99555849e-01 6.70890458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.160714057 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:154.34, Y:115.74, Z:6.71 [[-1.50984055e-01 -9.88533231e-01 2.42218484e-03 1.54335416e+02] [ 9.88088124e-01 -1.50988931e-01 -2.97355339e-02 1.15741406e+02] [ 2.97602865e-02 -2.09625940e-03 9.99554866e-01 6.70845134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19071405700004 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:154.34, Y:115.73, Z:6.71 [[-1.50298029e-01 -9.88637547e-01 2.51080007e-03 1.54338097e+02] [ 9.88192603e-01 -1.50305875e-01 -2.97241291e-02 1.15727906e+02] [ 2.97637780e-02 -1.98632395e-03 9.99554987e-01 6.70912864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.220714057 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:154.34, Y:115.73, Z:6.71 [[-1.54900620e-01 -9.87926295e-01 2.72656648e-03 1.54336465e+02] [ 9.87481711e-01 -1.54912871e-01 -2.96963331e-02 1.15730844e+02] [ 2.97601685e-02 -1.90754589e-03 9.99555248e-01 6.70899385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25071405700004 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:154.32, Y:115.75, Z:6.71 [[-1.79995409e-01 -9.83662667e-01 3.06763386e-03 1.54319877e+02] [ 9.83218378e-01 -1.80006584e-01 -2.96521734e-02 1.15754178e+02] [ 2.97199303e-02 -2.32110109e-03 9.99555570e-01 6.71296913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.280714057 meters Centerline goodness : 0.993370 Centerline is valid? [True, True] Translation: X:154.33, Y:115.75, Z:6.71 [[-1.54172025e-01 -9.88036519e-01 3.85026230e-03 1.54332785e+02] [ 9.87594813e-01 -1.54218256e-01 -2.95502097e-02 1.15745159e+02] [ 2.97904671e-02 -7.53316598e-04 9.99555882e-01 6.70785372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.310714057 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:154.33, Y:115.74, Z:6.71 [[-1.55215596e-01 -9.87877701e-01 2.40141742e-03 1.54334533e+02] [ 9.87432648e-01 -1.55217951e-01 -2.97347052e-02 1.15739253e+02] [ 2.97469953e-02 -2.24405201e-03 9.99554941e-01 6.70692247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.340714057 meters Centerline goodness : 0.992426 Centerline is valid? [True, True] Translation: X:154.34, Y:115.73, Z:6.71 [[-1.54289046e-01 -9.88022148e-01 2.66918673e-03 1.54337064e+02] [ 9.87577555e-01 -1.54299856e-01 -2.97006159e-02 1.15730789e+02] [ 2.97567214e-02 -1.94645078e-03 9.99555276e-01 6.70828732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.370714057 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:154.33, Y:115.75, Z:6.71 [[-1.56678881e-01 -9.87645363e-01 2.89242914e-03 1.54334173e+02] [ 9.87201165e-01 -1.56695312e-01 -2.96721900e-02 1.15746942e+02] [ 2.97588309e-02 -1.79359610e-03 9.99555499e-01 6.70770159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.400714057 meters Centerline goodness : 0.992895 Centerline is valid? [True, True] Translation: X:154.34, Y:115.73, Z:6.71 [[-1.56142843e-01 -9.87731752e-01 2.32335795e-03 1.54337231e+02] [ 9.87286602e-01 -1.56142437e-01 -2.97439748e-02 1.15732238e+02] [ 2.97418432e-02 -2.35048862e-03 9.99554850e-01 6.70699737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.430714057 meters Centerline goodness : 0.992355 Centerline is valid? [True, True] Translation: X:154.33, Y:115.76, Z:6.71 [[-1.67812115e-01 -9.85815752e-01 2.52913451e-03 1.54329848e+02] [ 9.85370877e-01 -1.67812628e-01 -2.97179481e-02 1.15758527e+02] [ 2.97208420e-02 -2.49489623e-03 9.99555125e-01 6.71167111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.460714057 meters Centerline goodness : 0.992024 Centerline is valid? [True, True] Translation: X:154.33, Y:115.77, Z:6.71 [[-1.68728254e-01 -9.85658338e-01 2.90109541e-03 1.54328688e+02] [ 9.85214001e-01 -1.68739521e-01 -2.96706188e-02 1.15766770e+02] [ 2.97346222e-02 -2.14807189e-03 9.99555520e-01 6.71222465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.490714057 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:154.32, Y:115.78, Z:6.72 [[-1.86824678e-01 -9.82388884e-01 2.93610160e-03 1.54318551e+02] [ 9.81944454e-01 -1.86828823e-01 -2.96661529e-02 1.15778778e+02] [ 2.96922472e-02 -2.65928079e-03 9.99555551e-01 6.71501574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.520714057 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:154.33, Y:115.78, Z:6.71 [[-1.71493489e-01 -9.85177932e-01 3.79809072e-03 1.54327220e+02] [ 9.84735397e-01 -1.71530399e-01 -2.95553921e-02 1.15780624e+02] [ 2.97688081e-02 -1.32844296e-03 9.99555928e-01 6.71387018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.550714057 meters Centerline goodness : 0.992593 Centerline is valid? [True, True] Translation: X:154.33, Y:115.76, Z:6.71 [[-1.72808323e-01 -9.84951371e-01 2.84253579e-03 1.54329705e+02] [ 9.84506955e-01 -1.72815995e-01 -2.96763653e-02 1.15759617e+02] [ 2.97210124e-02 -2.32982665e-03 9.99555518e-01 6.71281215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.580714057 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:154.33, Y:115.76, Z:6.71 [[-1.72581393e-01 -9.84990822e-01 2.95703622e-03 1.54330970e+02] [ 9.84546578e-01 -1.72592605e-01 -2.96619156e-02 1.15758172e+02] [ 2.97270773e-02 -2.20775483e-03 9.99555615e-01 6.71225411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.610714057 meters Centerline goodness : 0.992690 Centerline is valid? [True, True] Translation: X:154.33, Y:115.76, Z:6.71 [[-1.73294675e-01 -9.84865704e-01 2.91563379e-03 1.54330886e+02] [ 9.84421390e-01 -1.73304323e-01 -2.96671298e-02 1.15761990e+02] [ 2.97234306e-02 -2.27094335e-03 9.99555581e-01 6.71143135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.640714057 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:154.33, Y:115.78, Z:6.71 [[-1.73722829e-01 -9.84789876e-01 3.04603576e-03 1.54329187e+02] [ 9.84345757e-01 -1.73736196e-01 -2.96507101e-02 1.15775622e+02] [ 2.97289257e-02 -2.15265287e-03 9.99555680e-01 6.71270327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.670714057 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:154.33, Y:115.78, Z:6.71 [[-1.75396803e-01 -9.84493626e-01 2.87428735e-03 1.54329249e+02] [ 9.84049236e-01 -1.75404261e-01 -2.96723117e-02 1.15781943e+02] [ 2.97163640e-02 -2.37598834e-03 9.99555547e-01 6.71361690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.700714057 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:154.33, Y:115.77, Z:6.71 [[-1.74185504e-01 -9.84707474e-01 3.25579673e-03 1.54331227e+02] [ 9.84263702e-01 -1.74204954e-01 -2.96242882e-02 1.15768733e+02] [ 2.97384339e-02 -1.95555903e-03 9.99555802e-01 6.71128350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.730714057 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:154.34, Y:115.76, Z:6.71 [[-1.69032306e-01 -9.85606153e-01 2.93102453e-03 1.54336194e+02] [ 9.85161920e-01 -1.69044338e-01 -2.96648491e-02 1.15756964e+02] [ 2.97333309e-02 -2.12678409e-03 9.99555604e-01 6.70618787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76071405700003 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:154.33, Y:115.78, Z:6.71 [[-1.64716029e-01 -9.86336597e-01 2.95761242e-03 1.54334671e+02] [ 9.85892467e-01 -1.64730803e-01 -2.96615351e-02 1.15775957e+02] [ 2.97434675e-02 -1.96984246e-03 9.99555624e-01 6.70566924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.790714057 meters Centerline goodness : 0.993208 Centerline is valid? [True, True] Translation: X:154.33, Y:115.78, Z:6.71 [[-1.72383419e-01 -9.85027235e-01 2.30292372e-03 1.54331757e+02] [ 9.84582251e-01 -1.72375082e-01 -2.97425893e-02 1.15780290e+02] [ 2.96942271e-02 -2.85971143e-03 9.99554938e-01 6.70862747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82071405700003 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:154.32, Y:115.80, Z:6.71 [[-1.88322590e-01 -9.82102840e-01 2.93495936e-03 1.54319497e+02] [ 9.81658482e-01 -1.88326030e-01 -2.96636439e-02 1.15803042e+02] [ 2.96854781e-02 -2.70520648e-03 9.99555628e-01 6.71052018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.850714057 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:154.33, Y:115.79, Z:6.71 [[-1.72096062e-01 -9.85073156e-01 3.71799557e-03 1.54328562e+02] [ 9.84630417e-01 -1.72130302e-01 -2.95651818e-02 1.15787349e+02] [ 2.97638467e-02 -1.42719982e-03 9.99555940e-01 6.71156386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88071405700003 meters Centerline goodness : 0.992711 Centerline is valid? [True, True] Translation: X:154.33, Y:115.79, Z:6.71 [[-1.70859697e-01 -9.85291076e-01 2.90850975e-03 1.54326811e+02] [ 9.84846844e-01 -1.70870234e-01 -2.96657724e-02 1.15793221e+02] [ 2.97263985e-02 -2.20424824e-03 9.99555643e-01 6.71278058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.910714057 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:154.32, Y:115.81, Z:6.71 [[-1.69102779e-01 -9.85593620e-01 3.07669672e-03 1.54323992e+02] [ 9.85149682e-01 -1.69119151e-01 -2.96448533e-02 1.15811965e+02] [ 2.97381067e-02 -1.98202028e-03 9.99555760e-01 6.71154162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94071405700004 meters Centerline goodness : 0.992471 Centerline is valid? [True, True] Translation: X:154.33, Y:115.80, Z:6.72 [[-1.67384916e-01 -9.85887543e-01 2.83607196e-03 1.54325548e+02] [ 9.85443240e-01 -1.67394846e-01 -2.96746681e-02 1.15803469e+02] [ 2.97306294e-02 -2.17230388e-03 9.99555587e-01 6.71504892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.970714057 meters Centerline goodness : 0.992254 Centerline is valid? [True, True] Translation: X:154.32, Y:115.82, Z:6.71 [[-1.69771100e-01 -9.85479020e-01 2.97901589e-03 1.54321892e+02] [ 9.85034911e-01 -1.69784243e-01 -2.96569610e-02 1.15823267e+02] [ 2.97321028e-02 -2.10046024e-03 9.99555696e-01 6.71468172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00071405700004 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:154.32, Y:115.84, Z:6.71 [[-1.69660704e-01 -9.85497522e-01 3.14320327e-03 1.54319172e+02] [ 9.85053689e-01 -1.69678820e-01 -2.96365827e-02 1.15838840e+02] [ 2.97401139e-02 -1.93193953e-03 9.99555798e-01 6.71256959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.030714057 meters Centerline goodness : 0.991933 Centerline is valid? [True, True] Translation: X:154.32, Y:115.85, Z:6.71 [[-1.56759426e-01 -9.87632409e-01 2.95092499e-03 1.54323650e+02] [ 9.87188457e-01 -1.56777583e-01 -2.96603966e-02 1.15850979e+02] [ 2.97562078e-02 -1.73642766e-03 9.99555678e-01 6.71493607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.060714057 meters Centerline goodness : 0.989270 Centerline is valid? [True, True] Translation: X:154.33, Y:115.83, Z:6.72 [[-1.60073378e-01 -9.87101817e-01 2.55272628e-03 1.54327320e+02] [ 9.86657161e-01 -1.60078102e-01 -2.97093830e-02 1.15830210e+02] [ 2.97348216e-02 -2.23701565e-03 9.99555319e-01 6.71552669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.090714057 meters Centerline goodness : 0.993179 Centerline is valid? [True, True] Translation: X:154.33, Y:115.83, Z:6.71 [[-1.55140625e-01 -9.87887284e-01 3.17804545e-03 1.54325299e+02] [ 9.87443845e-01 -1.55166313e-01 -2.96322290e-02 1.15827576e+02] [ 2.97664278e-02 -1.45902109e-03 9.99555817e-01 6.70702319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.120714057 meters Centerline goodness : 0.992040 Centerline is valid? [True, True] Translation: X:154.31, Y:115.88, Z:6.72 [[-1.84650967e-01 -9.82801125e-01 2.44326258e-03 1.54305396e+02] [ 9.82356422e-01 -1.84641307e-01 -2.97228461e-02 1.15879416e+02] [ 2.96627738e-02 -3.08819761e-03 9.99555193e-01 6.71895923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.150714057 meters Centerline goodness : 0.992527 Centerline is valid? [True, True] Translation: X:154.32, Y:115.85, Z:6.71 [[-1.51941145e-01 -9.88382156e-01 3.82124154e-03 1.54322293e+02] [ 9.87940559e-01 -1.51987508e-01 -2.95507873e-02 1.15854269e+02] [ 2.97882519e-02 -7.14820970e-04 9.99555976e-01 6.70618869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.180714057 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:154.33, Y:115.83, Z:6.70 [[-1.50848179e-01 -9.88554509e-01 2.19328012e-03 1.54326144e+02] [ 9.88109548e-01 -1.50846281e-01 -2.97476316e-02 1.15834781e+02] [ 2.97380035e-02 -2.32017503e-03 9.99555035e-01 6.70349107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.210714057 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:154.33, Y:115.82, Z:6.71 [[-1.47343942e-01 -9.89082428e-01 2.39036148e-03 1.54327713e+02] [ 9.88637751e-01 -1.47349533e-01 -2.97239345e-02 1.15816667e+02] [ 2.97516400e-02 -2.01644008e-03 9.99555288e-01 6.70960962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.240714057 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:154.33, Y:115.82, Z:6.70 [[-1.45136141e-01 -9.89409349e-01 2.15409163e-03 1.54327909e+02] [ 9.88964337e-01 -1.45135637e-01 -2.97521007e-02 1.15818945e+02] [ 2.97496420e-02 -2.18778528e-03 9.99554987e-01 6.70242852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.270714057 meters Centerline goodness : 0.992629 Centerline is valid? [True, True] Translation: X:154.31, Y:115.82, Z:6.71 [[-1.73059304e-01 -9.84908757e-01 2.28417274e-03 1.54312265e+02] [ 9.84464014e-01 -1.73050122e-01 -2.97365066e-02 1.15823726e+02] [ 2.96830222e-02 -2.89749326e-03 9.99555162e-01 6.71126895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.300714057 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:154.33, Y:115.81, Z:6.70 [[-1.40620735e-01 -9.90057034e-01 3.58871914e-03 1.54326488e+02] [ 9.89615292e-01 -1.40665208e-01 -2.95782524e-02 1.15813168e+02] [ 2.97889647e-02 -6.07864266e-04 9.99556025e-01 6.70356434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.330714057 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:154.33, Y:115.82, Z:6.70 [[-1.37591132e-01 -9.90487004e-01 2.04319848e-03 1.54326174e+02] [ 9.90041965e-01 -1.37590702e-01 -2.97608098e-02 1.15822448e+02] [ 2.97588205e-02 -2.07197128e-03 9.99554961e-01 6.70297947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.360714057 meters Centerline goodness : 0.994588 Centerline is valid? [True, True] Translation: X:154.33, Y:115.81, Z:6.70 [[-1.38257150e-01 -9.90394656e-01 1.83994447e-03 1.54326548e+02] [ 9.89949354e-01 -1.38250320e-01 -2.97846612e-02 1.15805523e+02] [ 2.97529422e-02 -2.29649052e-03 9.99554645e-01 6.70262175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.390714057 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:154.33, Y:115.80, Z:6.71 [[-1.37166241e-01 -9.90545981e-01 2.02052627e-03 1.54327521e+02] [ 9.90100906e-01 -1.37165321e-01 -2.97635722e-02 1.15795310e+02] [ 2.97593330e-02 -2.08203241e-03 9.99554925e-01 6.70718812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.420714057 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:154.32, Y:115.82, Z:6.70 [[-1.40244929e-01 -9.90114699e-01 2.05963530e-03 1.54323499e+02] [ 9.89669682e-01 -1.40243799e-01 -2.97590004e-02 1.15819031e+02] [ 2.97536748e-02 -2.13519030e-03 9.99554981e-01 6.70354431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.450714057 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:154.32, Y:115.81, Z:6.70 [[-1.43070567e-01 -9.89710108e-01 2.17119250e-03 1.54324208e+02] [ 9.89265243e-01 -1.43071514e-01 -2.97459255e-02 1.15811347e+02] [ 2.97504790e-02 -2.10788116e-03 9.99555134e-01 6.70284648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.480714057 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:154.32, Y:115.81, Z:6.70 [[-1.44955437e-01 -9.89435122e-01 2.46170093e-03 1.54323690e+02] [ 9.88990684e-01 -1.44964248e-01 -2.97118542e-02 1.15809003e+02] [ 2.97548108e-02 -1.87229554e-03 9.99555474e-01 6.70375572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51071405700003 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:154.32, Y:115.81, Z:6.70 [[-1.44627400e-01 -9.89483229e-01 2.41973890e-03 1.54323585e+02] [ 9.89038726e-01 -1.44635100e-01 -2.97167601e-02 1.15810428e+02] [ 2.97542150e-02 -1.90464227e-03 9.99555431e-01 6.70307615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.540714057 meters Centerline goodness : 0.993590 Centerline is valid? [True, True] Translation: X:154.32, Y:115.82, Z:6.71 [[-1.56779503e-01 -9.87630854e-01 2.34181388e-03 1.54319453e+02] [ 9.87186199e-01 -1.56779401e-01 -2.97258649e-02 1.15819855e+02] [ 2.97253295e-02 -2.34859996e-03 9.99555346e-01 6.71030175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57071405700003 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:154.32, Y:115.83, Z:6.71 [[-1.57931647e-01 -9.87445921e-01 2.85437445e-03 1.54318870e+02] [ 9.87001968e-01 -1.57946395e-01 -2.96656658e-02 1.15826683e+02] [ 2.97440788e-02 -1.86787426e-03 9.99555802e-01 6.71054092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.600714057 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:154.32, Y:115.83, Z:6.71 [[-1.60314691e-01 -9.87061853e-01 2.84581782e-03 1.54317689e+02] [ 9.86617852e-01 -1.60328111e-01 -2.96666682e-02 1.15832638e+02] [ 2.97391011e-02 -1.94826808e-03 9.99555796e-01 6.71189858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63071405700003 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:154.31, Y:115.86, Z:6.71 [[-1.66985515e-01 -9.85955368e-01 2.80190489e-03 1.54313046e+02] [ 9.85511229e-01 -1.66994615e-01 -2.96718152e-02 1.15860639e+02] [ 2.97229885e-02 -2.19345460e-03 9.99555768e-01 6.71277073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.660714057 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:154.31, Y:115.89, Z:6.71 [[-1.69983546e-01 -9.85442333e-01 3.00037505e-03 1.54309292e+02] [ 9.84998428e-01 -1.69997245e-01 -2.96484831e-02 1.15888135e+02] [ 2.97269259e-02 -2.08438958e-03 9.99555884e-01 6.71253907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69071405700004 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:154.31, Y:115.87, Z:6.72 [[-1.73204451e-01 -9.84880986e-01 3.10845747e-03 1.54310157e+02] [ 9.84437186e-01 -1.73219938e-01 -2.96357826e-02 1.15874620e+02] [ 2.97261656e-02 -2.07296833e-03 9.99555930e-01 6.71525443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.720714057 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:154.31, Y:115.86, Z:6.72 [[-1.73201630e-01 -9.84881632e-01 3.06041256e-03 1.54312776e+02] [ 9.84437766e-01 -1.73215679e-01 -2.96414038e-02 1.15855691e+02] [ 2.97233856e-02 -2.12115374e-03 9.99555912e-01 6.71591254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75071405700004 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:154.31, Y:115.87, Z:6.72 [[-1.75809816e-01 -9.84419566e-01 3.00429416e-03 1.54310300e+02] [ 9.83975595e-01 -1.75821007e-01 -2.96479520e-02 1.15867754e+02] [ 2.97142420e-02 -2.25624884e-03 9.99555888e-01 6.71593435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.780714057 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:154.31, Y:115.87, Z:6.72 [[-1.79245371e-01 -9.83799649e-01 3.05746248e-03 1.54309506e+02] [ 9.83355701e-01 -1.79256606e-01 -2.96417569e-02 1.15869790e+02] [ 2.97096204e-02 -2.30657454e-03 9.99555910e-01 6.71509138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.810714057 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:154.31, Y:115.87, Z:6.72 [[-1.78884551e-01 -9.83865078e-01 3.13462008e-03 1.54309086e+02] [ 9.83421228e-01 -1.78898261e-01 -2.96327719e-02 1.15872430e+02] [ 2.97154275e-02 -2.21819316e-03 9.99555938e-01 6.71520339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.840714057 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:154.30, Y:115.89, Z:6.72 [[-1.85330027e-01 -9.82671359e-01 3.12762604e-03 1.54303827e+02] [ 9.82227421e-01 -1.85340618e-01 -2.96335844e-02 1.15890280e+02] [ 2.96997508e-02 -2.41995294e-03 9.99555936e-01 6.71542699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.870714057 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:154.31, Y:115.89, Z:6.72 [[-1.82252331e-01 -9.83245776e-01 3.43973406e-03 1.54305673e+02] [ 9.82802274e-01 -1.82273666e-01 -2.95973134e-02 1.15894561e+02] [ 2.97284063e-02 -2.01360089e-03 9.99555985e-01 6.71636178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.900714057 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:154.30, Y:115.88, Z:6.71 [[-1.86186407e-01 -9.82508628e-01 3.37913526e-03 1.54303284e+02] [ 9.82064966e-01 -1.86204151e-01 -2.96043416e-02 1.15881953e+02] [ 2.97157301e-02 -2.19339565e-03 9.99555984e-01 6.71364050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.930714057 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:154.30, Y:115.92, Z:6.72 [[-1.80017778e-01 -9.83657395e-01 3.42481825e-03 1.54298851e+02] [ 9.83213920e-01 -1.80039674e-01 -2.95990558e-02 1.15923109e+02] [ 2.97319333e-02 -1.96102730e-03 9.99555985e-01 6.71571795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.960714057 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:154.30, Y:115.91, Z:6.72 [[-1.77711095e-01 -9.84077746e-01 3.12350901e-03 1.54299742e+02] [ 9.83633908e-01 -1.77725003e-01 -2.96337524e-02 1.15910231e+02] [ 2.97170419e-02 -2.19385722e-03 9.99555944e-01 6.71601128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.990714057 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:154.29, Y:115.92, Z:6.71 [[-1.82662490e-01 -9.83171009e-01 3.03027350e-03 1.54293718e+02] [ 9.82727011e-01 -1.82671368e-01 -2.96444530e-02 1.15924242e+02] [ 2.96991110e-02 -2.43699797e-03 9.99555913e-01 6.71407873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.020714057 meters Centerline goodness : 0.992334 Centerline is valid? [True, True] Translation: X:154.30, Y:115.87, Z:6.71 [[-1.72672039e-01 -9.84973495e-01 3.40298038e-03 1.54300569e+02] [ 9.84530158e-01 -1.72696590e-01 -2.96016090e-02 1.15871894e+02] [ 2.97444834e-02 -1.76103338e-03 9.99555984e-01 6.71360596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.050714057 meters Centerline goodness : 0.992476 Centerline is valid? [True, True] Translation: X:154.30, Y:115.89, Z:6.72 [[-1.70759961e-01 -9.85307492e-01 3.19089691e-03 1.54297283e+02] [ 9.84863867e-01 -1.70779020e-01 -2.96258253e-02 1.15889166e+02] [ 2.97354859e-02 -1.91630571e-03 9.99555966e-01 6.71504353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.080714057 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:154.29, Y:115.91, Z:6.72 [[-1.67420921e-01 -9.85880352e-01 3.18852858e-03 1.54292734e+02] [ 9.85436790e-01 -1.67441413e-01 -2.96260951e-02 1.15913631e+02] [ 2.97416768e-02 -1.81793475e-03 9.99555965e-01 6.71971715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.110714057 meters Centerline goodness : 0.992774 Centerline is valid? [True, True] Translation: X:154.29, Y:115.93, Z:6.72 [[-1.67880520e-01 -9.85803012e-01 2.92442314e-03 1.54287319e+02] [ 9.85359069e-01 -1.67892893e-01 -2.96560444e-02 1.15929675e+02] [ 2.97260078e-02 -2.09706530e-03 9.99555885e-01 6.71882405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.140714057 meters Centerline goodness : 0.992007 Centerline is valid? [True, True] Translation: X:154.29, Y:115.90, Z:6.72 [[-1.65617257e-01 -9.86185385e-01 3.05116426e-03 1.54290275e+02] [ 9.85741650e-01 -1.65634446e-01 -2.96417039e-02 1.15898193e+02] [ 2.97375931e-02 -1.90151801e-03 9.99555931e-01 6.71847827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.170714057 meters Centerline goodness : 0.990922 Centerline is valid? [True, True] Translation: X:154.29, Y:115.92, Z:6.72 [[-1.64241128e-01 -9.86415665e-01 2.99780798e-03 1.54287330e+02] [ 9.85971876e-01 -1.64257338e-01 -2.96477222e-02 1.15918282e+02] [ 2.97373896e-02 -1.91362098e-03 9.99555914e-01 6.71640626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.200714057 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:154.28, Y:115.94, Z:6.72 [[-1.63644787e-01 -9.86513629e-01 3.35329038e-03 1.54282337e+02] [ 9.86070433e-01 -1.63671909e-01 -2.96075507e-02 1.15938080e+02] [ 2.97570917e-02 -1.53854082e-03 9.99555976e-01 6.72017402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.230714057 meters Centerline goodness : 0.990578 Centerline is valid? [True, True] Translation: X:154.28, Y:115.92, Z:6.72 [[-1.62817176e-01 -9.86651658e-01 3.01196227e-03 1.54284833e+02] [ 9.86207922e-01 -1.62834451e-01 -2.96458394e-02 1.15923077e+02] [ 2.97405679e-02 -1.85643082e-03 9.99555928e-01 6.71791992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26071405700003 meters Centerline goodness : 0.991233 Centerline is valid? [True, True] Translation: X:154.28, Y:115.92, Z:6.72 [[-1.61064537e-01 -9.86938197e-01 3.34826019e-03 1.54283919e+02] [ 9.86495064e-01 -1.61092667e-01 -2.96081152e-02 1.15923635e+02] [ 2.97607600e-02 -1.46577522e-03 9.99555976e-01 6.71877281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.290714057 meters Centerline goodness : 0.991889 Centerline is valid? [True, True] Translation: X:154.28, Y:115.97, Z:6.72 [[-1.59181122e-01 -9.87243946e-01 3.28062686e-03 1.54277643e+02] [ 9.86800740e-01 -1.59208073e-01 -2.96156710e-02 1.15973123e+02] [ 2.97601942e-02 -1.47693072e-03 9.99555976e-01 6.71916796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32071405700003 meters Centerline goodness : 0.991315 Centerline is valid? [True, True] Translation: X:154.28, Y:115.96, Z:6.72 [[-1.55867749e-01 -9.87773627e-01 2.91671454e-03 1.54281259e+02] [ 9.87329879e-01 -1.55885296e-01 -2.96561100e-02 1.15963799e+02] [ 2.97481962e-02 -1.74267171e-03 9.99555905e-01 6.71643825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.350714057 meters Centerline goodness : 0.991150 Centerline is valid? [True, True] Translation: X:154.28, Y:115.94, Z:6.72 [[-1.59192727e-01 -9.87242952e-01 3.00496577e-03 1.54282190e+02] [ 9.86799280e-01 -1.59211422e-01 -2.96463265e-02 1.15937733e+02] [ 2.97465517e-02 -1.75418150e-03 9.99555934e-01 6.71666675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38071405700003 meters Centerline goodness : 0.991645 Centerline is valid? [True, True] Translation: X:154.28, Y:115.97, Z:6.71 [[-1.57876344e-01 -9.87454078e-01 3.08281526e-03 1.54277595e+02] [ 9.87010557e-01 -1.57897961e-01 -2.96377121e-02 1.15973292e+02] [ 2.97526499e-02 -1.63632243e-03 9.99555953e-01 6.71323569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.410714057 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:154.28, Y:115.97, Z:6.72 [[-1.59515401e-01 -9.87191470e-01 2.79974347e-03 1.54278927e+02] [ 9.86747504e-01 -1.59527806e-01 -2.96688898e-02 1.15966624e+02] [ 2.97355119e-02 -1.97000499e-03 9.99555861e-01 6.71651127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44071405700004 meters Centerline goodness : 0.991007 Centerline is valid? [True, True] Translation: X:154.27, Y:115.99, Z:6.72 [[-1.60512840e-01 -9.87028744e-01 3.14418668e-03 1.54275000e+02] [ 9.86585266e-01 -1.60535110e-01 -2.96309325e-02 1.15994554e+02] [ 2.97513345e-02 -1.65413688e-03 9.99555962e-01 6.71788602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.470714057 meters Centerline goodness : 0.990192 Centerline is valid? [True, True] Translation: X:154.28, Y:115.94, Z:6.72 [[-1.58571908e-01 -9.87342561e-01 3.10113565e-03 1.54282535e+02] [ 9.86899056e-01 -1.58593761e-01 -2.96356604e-02 1.15938954e+02] [ 2.97523696e-02 -1.63887536e-03 9.99555957e-01 6.71613034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50071405700004 meters Centerline goodness : 0.990320 Centerline is valid? [True, True] Translation: X:154.28, Y:115.93, Z:6.72 [[-1.57439140e-01 -9.87523877e-01 3.08364601e-03 1.54283869e+02] [ 9.87080369e-01 -1.57460978e-01 -2.96375704e-02 1.15931209e+02] [ 2.97533623e-02 -1.62230714e-03 9.99555954e-01 6.71567784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.530714057 meters Centerline goodness : 0.991698 Centerline is valid? [True, True] Translation: X:154.28, Y:115.96, Z:6.71 [[-1.57472277e-01 -9.87518803e-01 3.01599387e-03 1.54280433e+02] [ 9.87075187e-01 -1.57492076e-01 -2.96449283e-02 1.15957201e+02] [ 2.97499192e-02 -1.69124165e-03 9.99555942e-01 6.71352299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.560714057 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:154.28, Y:115.94, Z:6.71 [[-1.57059125e-01 -9.87585616e-01 2.66122756e-03 1.54282508e+02] [ 9.87141528e-01 -1.57068487e-01 -2.96832283e-02 1.15939685e+02] [ 2.97327243e-02 -2.03501364e-03 9.99555813e-01 6.71197594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.590714057 meters Centerline goodness : 0.990605 Centerline is valid? [True, True] Translation: X:154.28, Y:115.93, Z:6.71 [[-1.56370602e-01 -9.87694722e-01 2.71481109e-03 1.54284961e+02] [ 9.87250706e-01 -1.56381879e-01 -2.96774663e-02 1.15929232e+02] [ 2.97368241e-02 -1.96048412e-03 9.99555840e-01 6.71492606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.620714057 meters Centerline goodness : 0.990447 Centerline is valid? [True, True] Translation: X:154.29, Y:115.93, Z:6.71 [[-1.55318022e-01 -9.87859904e-01 3.02036495e-03 1.54288246e+02] [ 9.87416335e-01 -1.55338919e-01 -2.96445974e-02 1.15927346e+02] [ 2.97538894e-02 -1.62198256e-03 9.99555939e-01 6.71398744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.650714057 meters Centerline goodness : 0.990662 Centerline is valid? [True, True] Translation: X:154.29, Y:115.94, Z:6.71 [[-1.56287548e-01 -9.87706892e-01 3.04918922e-03 1.54287789e+02] [ 9.87263348e-01 -1.56308872e-01 -2.96415021e-02 1.15937978e+02] [ 2.97537313e-02 -1.62224491e-03 9.99555943e-01 6.71333638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.680714057 meters Centerline goodness : 0.989919 Centerline is valid? [True, True] Translation: X:154.29, Y:115.93, Z:6.71 [[-1.57795171e-01 -9.87467041e-01 3.08645589e-03 1.54291041e+02] [ 9.87023522e-01 -1.57816934e-01 -2.96375087e-02 1.15932579e+02] [ 2.97531580e-02 -1.63025120e-03 9.99555947e-01 6.71292763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.710714057 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:154.29, Y:115.94, Z:6.71 [[-1.57506972e-01 -9.87513354e-01 2.98831944e-03 1.54292447e+02] [ 9.87069693e-01 -1.57525927e-01 -2.96479814e-02 1.15937770e+02] [ 2.97485154e-02 -1.72008424e-03 9.99555935e-01 6.71223753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.740714057 meters Centerline goodness : 0.991293 Centerline is valid? [True, True] Translation: X:154.29, Y:115.95, Z:6.71 [[-1.58545269e-01 -9.87347520e-01 2.87627782e-03 1.54293361e+02] [ 9.86903688e-01 -1.58560403e-01 -2.96599011e-02 1.15946723e+02] [ 2.97406935e-02 -1.86382781e-03 9.99555910e-01 6.71110540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.770714057 meters Centerline goodness : 0.991249 Centerline is valid? [True, True] Translation: X:154.30, Y:115.94, Z:6.71 [[-1.58634121e-01 -9.87333175e-01 2.90131754e-03 1.54298559e+02] [ 9.86889374e-01 -1.58649964e-01 -2.96572422e-02 1.15937419e+02] [ 2.97418730e-02 -1.84137108e-03 9.99555917e-01 6.70991854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.800714057 meters Centerline goodness : 0.990860 Centerline is valid? [True, True] Translation: X:154.30, Y:115.94, Z:6.71 [[-1.59491449e-01 -9.87195239e-01 2.83513552e-03 1.54301535e+02] [ 9.86751342e-01 -1.59504926e-01 -2.96642349e-02 1.15940586e+02] [ 2.97366095e-02 -1.93361803e-03 9.99555899e-01 6.71331354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.830714057 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:154.30, Y:115.95, Z:6.71 [[-1.60309636e-01 -9.87063051e-01 2.71172812e-03 1.54301183e+02] [ 9.86619007e-01 -1.60319050e-01 -2.96772300e-02 1.15946749e+02] [ 2.97280389e-02 -2.08210344e-03 9.99555856e-01 6.70946690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.860714057 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:154.30, Y:115.95, Z:6.71 [[-1.58899890e-01 -9.87291897e-01 2.35251273e-03 1.54303436e+02] [ 9.86847548e-01 -1.58899179e-01 -2.97147736e-02 1.15948004e+02] [ 2.97109675e-02 -2.40010285e-03 9.99555650e-01 6.70837568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.890714057 meters Centerline goodness : 0.992232 Centerline is valid? [True, True] Translation: X:154.31, Y:115.92, Z:6.71 [[-1.51206174e-01 -9.88499541e-01 2.31332333e-03 1.54313137e+02] [ 9.88055164e-01 -1.51207749e-01 -2.97188443e-02 1.15920192e+02] [ 2.97268563e-02 -2.20798168e-03 9.99555621e-01 6.70720912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.920714057 meters Centerline goodness : 0.991931 Centerline is valid? [True, True] Translation: X:154.31, Y:115.96, Z:6.71 [[-1.60651225e-01 -9.87008626e-01 2.27063014e-03 1.54307429e+02] [ 9.86564231e-01 -1.60647271e-01 -2.97232726e-02 1.15956879e+02] [ 2.97018970e-02 -2.53495767e-03 9.99555587e-01 6.71107761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.950714057 meters Centerline goodness : 0.990841 Centerline is valid? [True, True] Translation: X:154.31, Y:115.97, Z:6.72 [[-1.61474126e-01 -9.86873860e-01 2.46796126e-03 1.54309660e+02] [ 9.86429594e-01 -1.61475715e-01 -2.97027033e-02 1.15972011e+02] [ 2.97113373e-02 -2.36174805e-03 9.99555731e-01 6.71560301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.980714057 meters Centerline goodness : 0.990974 Centerline is valid? [True, True] Translation: X:154.31, Y:115.98, Z:6.71 [[-1.61575951e-01 -9.86855852e-01 2.95623000e-03 1.54310851e+02] [ 9.86412070e-01 -1.61592116e-01 -2.96515655e-02 1.15981046e+02] [ 2.97395244e-02 -1.87491894e-03 9.99555924e-01 6.71348355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01071405700003 meters Centerline goodness : 0.992767 Centerline is valid? [True, True] Translation: X:154.31, Y:115.99, Z:6.72 [[-1.60391785e-01 -9.87048829e-01 3.01409012e-03 1.54309838e+02] [ 9.86605142e-01 -1.60410215e-01 -2.96455223e-02 1.15993280e+02] [ 2.97450689e-02 -1.78118145e-03 9.99555931e-01 6.71564272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.040714057 meters Centerline goodness : 0.992556 Centerline is valid? [True, True] Translation: X:154.32, Y:115.97, Z:6.71 [[-1.59605713e-01 -9.87177750e-01 2.47099231e-03 1.54316786e+02] [ 9.86733511e-01 -1.59608235e-01 -2.97016768e-02 1.15968978e+02] [ 2.97152252e-02 -2.30234638e-03 9.99555754e-01 6.71419881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07071405700003 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:154.32, Y:115.97, Z:6.72 [[-1.58561704e-01 -9.87345827e-01 2.53080067e-03 1.54318750e+02] [ 9.86901639e-01 -1.58566487e-01 -2.96955221e-02 1.15971004e+02] [ 2.97210500e-02 -2.21092125e-03 9.99555787e-01 6.71533129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.100714057 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:154.32, Y:115.97, Z:6.72 [[-1.57200263e-01 -9.87563791e-01 2.41586041e-03 1.54323464e+02] [ 9.87119516e-01 -1.57202215e-01 -2.97073070e-02 1.15972653e+02] [ 2.97176393e-02 -2.28525350e-03 9.99555721e-01 6.71563880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13071405700003 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:154.33, Y:115.97, Z:6.71 [[-1.58513312e-01 -9.87354003e-01 2.36689555e-03 1.54325973e+02] [ 9.86909693e-01 -1.58513207e-01 -2.97123156e-02 1.15966237e+02] [ 2.97117579e-02 -2.37388539e-03 9.99555689e-01 6.71450246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.160714057 meters Centerline goodness : 0.991614 Centerline is valid? [True, True] Translation: X:154.33, Y:115.98, Z:6.72 [[-1.58167175e-01 -9.87408442e-01 2.77739506e-03 1.54326767e+02] [ 9.86964499e-01 -1.58179519e-01 -2.96701517e-02 1.15979597e+02] [ 2.97358853e-02 -1.95165375e-03 9.99555885e-01 6.71521933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19071405700004 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:154.32, Y:116.00, Z:6.71 [[-1.69727726e-01 -9.85486953e-01 2.82211585e-03 1.54319765e+02] [ 9.85042930e-01 -1.69736206e-01 -2.96655639e-02 1.15998666e+02] [ 2.97140414e-02 -2.25516343e-03 9.99555896e-01 6.71440294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.220714057 meters Centerline goodness : 0.993449 Centerline is valid? [True, True] Translation: X:154.33, Y:116.03, Z:6.71 [[-1.56798439e-01 -9.87625933e-01 3.04405944e-03 1.54327229e+02] [ 9.87182348e-01 -1.56819379e-01 -2.96427729e-02 1.16029748e+02] [ 2.97533388e-02 -1.64289877e-03 9.99555921e-01 6.71431580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25071405700004 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:154.33, Y:116.04, Z:6.72 [[-1.56244175e-01 -9.87715252e-01 2.51759469e-03 1.54328714e+02] [ 9.87271076e-01 -1.56249605e-01 -2.96965225e-02 1.16041330e+02] [ 2.97250814e-02 -2.15436023e-03 9.99555790e-01 6.71538905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.280714057 meters Centerline goodness : 0.992550 Centerline is valid? [True, True] Translation: X:154.33, Y:116.05, Z:6.72 [[-1.55296988e-01 -9.87863708e-01 2.85317774e-03 1.54329262e+02] [ 9.87419900e-01 -1.55312891e-01 -2.96622112e-02 1.16045583e+02] [ 2.97453572e-02 -1.78916759e-03 9.99555908e-01 6.71523862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.310714057 meters Centerline goodness : 0.993097 Centerline is valid? [True, True] Translation: X:154.33, Y:116.06, Z:6.72 [[-1.51839206e-01 -9.88401109e-01 2.84656017e-03 1.54330635e+02] [ 9.87957351e-01 -1.51856463e-01 -2.96628852e-02 1.16057686e+02] [ 2.97510972e-02 -1.69170889e-03 9.99555907e-01 6.71518495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.340714057 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:154.33, Y:116.03, Z:6.71 [[-1.49134721e-01 -9.88813048e-01 2.75514463e-03 1.54333398e+02] [ 9.88369215e-01 -1.49150457e-01 -2.96721484e-02 1.16034402e+02] [ 2.97511386e-02 -1.70204745e-03 9.99555888e-01 6.71076783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.370714057 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:154.33, Y:116.11, Z:6.71 [[-1.47017524e-01 -9.89131050e-01 2.36935058e-03 1.54327783e+02] [ 9.88686798e-01 -1.47022663e-01 -2.97111288e-02 1.16112666e+02] [ 2.97365483e-02 -2.02551097e-03 9.99555719e-01 6.71176634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.400714057 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:154.34, Y:116.04, Z:6.71 [[-1.41784501e-01 -9.89894776e-01 2.34246042e-03 1.54336372e+02] [ 9.89450528e-01 -1.41791184e-01 -2.97138369e-02 1.16039340e+02] [ 2.97457122e-02 -1.89521283e-03 9.99555702e-01 6.70887254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.430714057 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:154.34, Y:116.00, Z:6.71 [[-1.39256066e-01 -9.90254066e-01 2.15220487e-03 1.54340833e+02] [ 9.89809640e-01 -1.39258188e-01 -2.97326981e-02 1.16004979e+02] [ 2.97426373e-02 -2.01018543e-03 9.99555569e-01 6.71230491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.460714057 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:154.33, Y:116.01, Z:6.72 [[-1.57050903e-01 -9.87587818e-01 2.30573611e-03 1.54330225e+02] [ 9.87143497e-01 -1.57049627e-01 -2.97175031e-02 1.16006470e+02] [ 2.97107590e-02 -2.39106829e-03 9.99555678e-01 6.71564061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.490714057 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:154.33, Y:116.01, Z:6.72 [[-1.55243273e-01 -9.87871870e-01 2.94875547e-03 1.54330213e+02] [ 9.87428154e-01 -1.55262059e-01 -2.96535674e-02 1.16006529e+02] [ 2.97517549e-02 -1.69183270e-03 9.99555887e-01 6.71604789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.520714057 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:154.33, Y:116.01, Z:6.72 [[-1.51874337e-01 -9.88395446e-01 2.93728043e-03 1.54330677e+02] [ 9.87951782e-01 -1.51894291e-01 -2.96547040e-02 1.16009736e+02] [ 2.97567305e-02 -1.60189706e-03 9.99555887e-01 6.71621149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.550714057 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:154.33, Y:116.01, Z:6.72 [[-1.50017976e-01 -9.88678940e-01 2.92581270e-03 1.54330465e+02] [ 9.88235298e-01 -1.50038421e-01 -2.96558354e-02 1.16012086e+02] [ 2.97590842e-02 -1.55751702e-03 9.99555887e-01 6.71635128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.580714057 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:154.33, Y:116.01, Z:6.72 [[-1.46572391e-01 -9.89195653e-01 2.91434066e-03 1.54330542e+02] [ 9.88752068e-01 -1.46594038e-01 -2.96569627e-02 1.16008894e+02] [ 2.97637636e-02 -1.46533159e-03 9.99555887e-01 6.71655176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.610714057 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:154.28, Y:116.57, Z:6.73 [[-1.44693812e-01 -9.89472220e-01 2.90289705e-03 1.54275722e+02] [ 9.89028660e-01 -1.44715959e-01 -2.96580828e-02 1.16566853e+02] [ 2.97659445e-02 -1.42029267e-03 9.99555887e-01 6.73186927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.640714057 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:155.11, Y:116.22, Z:7.56 [[-1.19492721e-01 9.92830833e-01 -2.90289705e-03 1.55111335e+02] [ 9.92387979e-01 1.19526137e-01 2.96580828e-02 1.16216503e+02] [ 2.97924311e-02 6.63124878e-04 -9.99555887e-01 7.56081199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.670714057 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:154.38, Y:116.11, Z:6.71 [[-1.76038233e-01 -9.84371069e-01 4.91316470e-03 1.54377810e+02] [ 9.83934332e-01 -1.76106478e-01 -2.93212989e-02 1.16107709e+02] [ 2.97282785e-02 -3.27438225e-04 9.99557963e-01 6.71199925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.700714057 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:154.36, Y:116.13, Z:6.72 [[-2.06570207e-01 -9.78426159e-01 3.31674183e-03 1.54361230e+02] [ 9.77982979e-01 -2.06576930e-01 -2.95848903e-02 1.16125004e+02] [ 2.96317929e-02 -2.86763986e-03 9.99556769e-01 6.71951647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.730714057 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:154.36, Y:116.13, Z:6.72 [[-2.06193687e-01 -9.78498947e-01 4.89629126e-03 1.54360055e+02] [ 9.78060345e-01 -2.06247982e-01 -2.93211626e-02 1.16127490e+02] [ 2.97005769e-02 -1.25697030e-03 9.99558050e-01 6.72020108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76071405700003 meters Centerline goodness : 0.994400 Centerline is valid? [True, True] Translation: X:154.36, Y:116.13, Z:6.72 [[-2.04345160e-01 -9.78886711e-01 4.88501089e-03 1.54359982e+02] [ 9.78448170e-01 -2.04399946e-01 -2.93230419e-02 1.16128181e+02] [ 2.97024319e-02 -1.21229171e-03 9.99558050e-01 6.72168855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.790714057 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:154.36, Y:116.13, Z:6.72 [[-2.03520643e-01 -9.79058525e-01 4.87373737e-03 1.54359418e+02] [ 9.78619988e-01 -2.03575461e-01 -2.93249155e-02 1.16130193e+02] [ 2.97029818e-02 -1.19868883e-03 9.99558050e-01 6.72243795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82071405700003 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:154.30, Y:116.52, Z:6.73 [[-1.97035363e-01 -9.80384324e-01 4.86247624e-03 1.54297460e+02] [ 9.79946115e-01 -1.97092747e-01 -2.93267826e-02 1.16524833e+02] [ 2.97098767e-02 -1.01344856e-03 9.99558050e-01 6.73292721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.850714057 meters Centerline goodness : 0.991532 Centerline is valid? [True, True] Translation: X:155.10, Y:116.39, Z:7.57 [[-2.20687143e-01 9.75332528e-01 -4.86247624e-03 1.55104568e+02] [ 9.74893061e-01 2.20733913e-01 2.93267826e-02 1.16389173e+02] [ 2.96766785e-02 1.73164954e-03 -9.99558050e-01 7.56765513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88071405700003 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:154.38, Y:116.26, Z:6.73 [[-2.69948026e-01 -9.62845825e-01 7.48207470e-03 1.54375047e+02] [ 9.62418122e-01 -2.70051141e-01 -2.87008787e-02 1.16259749e+02] [ 2.96550640e-02 -5.46861257e-04 9.99560042e-01 6.72826393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.910714057 meters Centerline goodness : 0.994046 Centerline is valid? [True, True] Translation: X:154.38, Y:116.26, Z:6.73 [[-2.71046269e-01 -9.62541888e-01 6.85806454e-03 1.54377091e+02] [ 9.62110233e-01 -2.71130267e-01 -2.88492253e-02 1.16256574e+02] [ 2.96280166e-02 -1.22126081e-03 9.99560248e-01 6.72771422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94071405700004 meters Centerline goodness : 0.994490 Centerline is valid? [True, True] Translation: X:154.38, Y:116.26, Z:6.73 [[-2.71861707e-01 -9.62311972e-01 6.84697837e-03 1.54376714e+02] [ 9.61880182e-01 -2.71945007e-01 -2.88518562e-02 1.16260863e+02] [ 2.96264882e-02 -1.25774207e-03 9.99560248e-01 6.72820315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.970714057 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:154.38, Y:116.27, Z:6.73 [[-2.73853868e-01 -9.61747019e-01 6.83591148e-03 1.54375995e+02] [ 9.61314994e-01 -2.73935942e-01 -2.88544780e-02 1.16269268e+02] [ 2.96233101e-02 -1.33044620e-03 9.99560248e-01 6.72683862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00071405700004 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:154.38, Y:116.27, Z:6.73 [[-2.74432530e-01 -9.61582138e-01 6.82481038e-03 1.54376271e+02] [ 9.61150001e-01 -2.74514013e-01 -2.88571035e-02 1.16270767e+02] [ 2.96219813e-02 -1.35966142e-03 9.99560248e-01 6.72684430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.030714057 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:154.38, Y:116.27, Z:6.73 [[-2.74738990e-01 -9.61494702e-01 6.81369159e-03 1.54376394e+02] [ 9.61062476e-01 -2.74820001e-01 -2.88597286e-02 1.16274058e+02] [ 2.96210149e-02 -1.38050936e-03 9.99560248e-01 6.72611114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.060714057 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:154.38, Y:116.28, Z:6.73 [[-2.75273187e-01 -9.61341977e-01 6.80257554e-03 1.54376845e+02] [ 9.60909645e-01 -2.75353625e-01 -2.88623485e-02 1.16278641e+02] [ 2.96197011e-02 -1.40837023e-03 9.99560248e-01 6.72606503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.090714057 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:154.38, Y:116.28, Z:6.73 [[-2.74902655e-01 -9.61448078e-01 6.79144724e-03 1.54376420e+02] [ 9.61015715e-01 -2.74982926e-01 -2.88649668e-02 1.16283578e+02] [ 2.96196989e-02 -1.40836849e-03 9.99560248e-01 6.72665024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.120714057 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:154.28, Y:116.72, Z:6.74 [[-2.65845744e-01 -9.63991736e-01 6.78030494e-03 1.54279454e+02] [ 9.63560082e-01 -2.65929746e-01 -2.88675839e-02 1.16724635e+02] [ 2.96311971e-02 -1.14109314e-03 9.99560248e-01 6.73972255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.150714057 meters Centerline goodness : 0.993364 Centerline is valid? [True, True] Translation: X:155.10, Y:116.57, Z:7.57 [[-2.75220715e-01 9.61357158e-01 -6.78030494e-03 1.55098257e+02] [ 9.60924707e-01 2.75300510e-01 2.88675839e-02 1.16569640e+02] [ 2.96186798e-02 1.42959456e-03 -9.99560248e-01 7.57284835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.180714057 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:154.41, Y:116.40, Z:6.73 [[-3.12037135e-01 -9.50020716e-01 9.66774734e-03 1.54406429e+02] [ 9.49609147e-01 -3.12186534e-01 -2.79649179e-02 1.16403197e+02] [ 2.95853919e-02 4.54488454e-04 9.99562153e-01 6.72793678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.210714057 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:154.41, Y:116.40, Z:6.73 [[-3.11075062e-01 -9.50354701e-01 7.63201621e-03 1.54407344e+02] [ 9.49925888e-01 -3.11164324e-01 -2.85931924e-02 1.16403548e+02] [ 2.95484860e-02 -1.64477930e-03 9.99561995e-01 6.72782836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.240714057 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:154.41, Y:116.40, Z:6.73 [[-3.12056423e-01 -9.50033091e-01 7.61019479e-03 1.54407370e+02] [ 9.49604024e-01 -3.12144586e-01 -2.85999197e-02 1.16403051e+02] [ 2.95463512e-02 -1.69811703e-03 9.99561969e-01 6.72863926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.270714057 meters Centerline goodness : 0.994423 Centerline is valid? [True, True] Translation: X:154.41, Y:116.42, Z:6.73 [[-3.07747958e-01 -9.51435218e-01 7.88802114e-03 1.54405409e+02] [ 9.51008695e-01 -3.07846398e-01 -2.85141500e-02 1.16416671e+02] [ 2.95576654e-02 -1.27359474e-03 9.99562265e-01 6.73034946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.300714057 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:154.41, Y:116.40, Z:6.73 [[-3.11445532e-01 -9.50232328e-01 7.75907743e-03 1.54408191e+02] [ 9.49804439e-01 -3.11538444e-01 -2.85539245e-02 1.16403429e+02] [ 2.95501131e-02 -1.52338603e-03 9.99562139e-01 6.73219609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.330714057 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:154.41, Y:116.43, Z:6.73 [[-3.03716408e-01 -9.52728746e-01 8.01749992e-03 1.54405847e+02] [ 9.52303687e-01 -3.03820524e-01 -2.84741397e-02 1.16430356e+02] [ 2.95640124e-02 -1.01296868e-03 9.99562376e-01 6.73309453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.360714057 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:154.41, Y:116.42, Z:6.73 [[-3.13460425e-01 -9.49570022e-01 7.70294767e-03 1.54407111e+02] [ 9.49141518e-01 -3.13550742e-01 -2.85711634e-02 1.16417853e+02] [ 2.95455853e-02 -1.64474158e-03 9.99562081e-01 6.73442421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.390714057 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:154.41, Y:116.42, Z:6.73 [[-3.14383006e-01 -9.49260990e-01 8.17912130e-03 1.54408910e+02] [ 9.48836066e-01 -3.14487187e-01 -2.84240928e-02 1.16416088e+02] [ 2.95541113e-02 -1.17540643e-03 9.99562491e-01 6.73481339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.420714057 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:154.41, Y:116.42, Z:6.74 [[-3.17289153e-01 -9.48293302e-01 8.21011313e-03 1.54410519e+02] [ 9.47868305e-01 -3.17392960e-01 -2.84145256e-02 1.16423011e+02] [ 2.95511364e-02 -1.23351474e-03 9.99562509e-01 6.73507497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.450714057 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:154.40, Y:116.43, Z:6.73 [[-3.27724539e-01 -9.44735294e-01 8.47648984e-03 1.54404573e+02] [ 9.44311231e-01 -3.27831640e-01 -2.83322092e-02 1.16428484e+02] [ 2.95452995e-02 -1.28071565e-03 9.99562622e-01 6.73389432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.480714057 meters Centerline goodness : 0.994621 Centerline is valid? [True, True] Translation: X:154.40, Y:116.44, Z:6.73 [[-3.28928091e-01 -9.44314570e-01 8.73515743e-03 1.54404647e+02] [ 9.43892429e-01 -3.29042389e-01 -2.82522343e-02 1.16436344e+02] [ 2.95532336e-02 -1.04790453e-03 9.99562659e-01 6.73354470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51071405700003 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:154.41, Y:116.44, Z:6.73 [[-3.32788467e-01 -9.42961146e-01 8.72430039e-03 1.54407832e+02] [ 9.42538454e-01 -3.32900712e-01 -2.82555865e-02 1.16444362e+02] [ 2.95482461e-02 -1.18014471e-03 9.99562659e-01 6.73299987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.540714057 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:154.41, Y:116.44, Z:6.73 [[-3.34900192e-01 -9.42213319e-01 8.71340577e-03 1.54410672e+02] [ 9.41790291e-01 -3.35011164e-01 -2.82589458e-02 1.16444684e+02] [ 2.95450433e-02 -1.25772542e-03 9.99562659e-01 6.73257864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57071405700003 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:154.41, Y:116.45, Z:6.73 [[-3.40234233e-01 -9.40300448e-01 8.70250617e-03 1.54413432e+02] [ 9.39876715e-01 -3.40342480e-01 -2.82623020e-02 1.16453143e+02] [ 2.95368878e-02 -1.43651974e-03 9.99562659e-01 6.73274913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.600714057 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:154.43, Y:116.43, Z:6.73 [[-3.23940390e-01 -9.46037568e-01 8.69159990e-03 1.54431473e+02] [ 9.45615679e-01 -3.24055614e-01 -2.82656557e-02 1.16431677e+02] [ 2.95569339e-02 -9.37474360e-04 9.99562659e-01 6.73020024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63071405700003 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:154.44, Y:116.44, Z:6.73 [[-3.30075921e-01 -9.43922242e-01 7.79019754e-03 1.54435098e+02] [ 9.43492925e-01 -3.30161344e-01 -2.85409942e-02 1.16437560e+02] [ 2.95125013e-02 -2.07069869e-03 9.99562266e-01 6.72942015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.660714057 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:154.42, Y:116.47, Z:6.73 [[-3.52337644e-01 -9.35839948e-01 7.85980564e-03 1.54418689e+02] [ 9.35409165e-01 -3.52414984e-01 -2.85196916e-02 1.16468942e+02] [ 2.94597800e-02 -2.69642670e-03 9.99562330e-01 6.73162183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69071405700004 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:154.43, Y:116.46, Z:6.73 [[-3.48609425e-01 -9.37227888e-01 8.68072227e-03 1.54431158e+02] [ 9.36803086e-01 -3.48713235e-01 -2.82676070e-02 1.16456277e+02] [ 2.95202724e-02 -1.72222682e-03 9.99562698e-01 6.73056652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.720714057 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:154.43, Y:116.46, Z:6.73 [[-3.49638233e-01 -9.36848820e-01 8.20942924e-03 1.54433782e+02] [ 9.36420594e-01 -3.49727383e-01 -2.84117599e-02 1.16455319e+02] [ 2.94885859e-02 -2.24635893e-03 9.99562593e-01 6.73025691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75071405700004 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:154.42, Y:116.48, Z:6.73 [[-3.64739073e-01 -9.31074213e-01 8.13750744e-03 1.54419347e+02] [ 9.30644153e-01 -3.64819110e-01 -2.84337523e-02 1.16484760e+02] [ 2.94426518e-02 -2.79777674e-03 9.99562556e-01 6.73044051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.780714057 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:154.42, Y:116.49, Z:6.73 [[-3.69277429e-01 -9.29278834e-01 8.66193881e-03 1.54419246e+02] [ 9.28851721e-01 -3.69371240e-01 -2.82730885e-02 1.16489833e+02] [ 2.94730538e-02 -2.39495668e-03 9.99562706e-01 6.73044038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.810714057 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:154.43, Y:116.47, Z:6.73 [[-3.60741735e-01 -9.32625629e-01 8.65085385e-03 1.54430930e+02] [ 9.32199317e-01 -3.60839124e-01 -2.82764799e-02 1.16471009e+02] [ 2.94929363e-02 -2.13618635e-03 9.99562706e-01 6.73010528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.840714057 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:154.43, Y:116.47, Z:6.73 [[-3.59456352e-01 -9.33125919e-01 8.19451918e-03 1.54431262e+02] [ 9.32696706e-01 -3.59540551e-01 -2.84156004e-02 1.16469733e+02] [ 2.94615952e-02 -2.57116702e-03 9.99562606e-01 6.73019780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.870714057 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:154.43, Y:116.47, Z:6.73 [[-3.59817122e-01 -9.32989232e-01 7.92032072e-03 1.54430200e+02] [ 9.32558278e-01 -3.59892853e-01 -2.84989980e-02 1.16473124e+02] [ 2.94397251e-02 -2.86826678e-03 9.99562442e-01 6.72939165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.900714057 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:154.43, Y:116.47, Z:6.73 [[-3.57752125e-01 -9.33781201e-01 8.12931607e-03 1.54429477e+02] [ 9.33351725e-01 -3.57835137e-01 -2.84354117e-02 1.16469481e+02] [ 2.94614078e-02 -2.58531779e-03 9.99562575e-01 6.72987939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.930714057 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:154.43, Y:116.47, Z:6.73 [[-3.56803472e-01 -9.34146437e-01 7.85599968e-03 1.54425257e+02] [ 9.33715339e-01 -3.56878646e-01 -2.85183644e-02 1.16474796e+02] [ 2.94439671e-02 -2.84018404e-03 9.99562397e-01 6.72819681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.960714057 meters Centerline goodness : 0.994618 Centerline is valid? [True, True] Translation: X:154.43, Y:116.48, Z:6.73 [[-3.43260902e-01 -9.39206329e-01 7.96394546e-03 1.54427171e+02] [ 9.38777075e-01 -3.43345560e-01 -2.84856215e-02 1.16479463e+02] [ 2.94882613e-02 -2.30163072e-03 9.99562477e-01 6.72616597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.990714057 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:154.42, Y:116.47, Z:6.73 [[-3.44536868e-01 -9.38744746e-01 7.25586715e-03 1.54423913e+02] [ 9.38310999e-01 -3.44599502e-01 -2.86993431e-02 1.16474047e+02] [ 2.94417257e-02 -3.07972182e-03 9.99561754e-01 6.72837272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.020714057 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:154.42, Y:116.48, Z:6.73 [[-3.50852434e-01 -9.36400635e-01 7.51128337e-03 1.54417958e+02] [ 9.35967944e-01 -3.50919904e-01 -2.86221641e-02 1.16475577e+02] [ 2.94376715e-02 -3.01183551e-03 9.99562080e-01 6.73116948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.050714057 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:154.42, Y:116.47, Z:6.73 [[-3.49289275e-01 -9.36981163e-01 7.95625692e-03 1.54417086e+02] [ 9.36551340e-01 -3.49370942e-01 -2.84874079e-02 1.16472335e+02] [ 2.94718495e-02 -2.49890295e-03 9.99562487e-01 6.73195093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.080714057 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:154.41, Y:116.48, Z:6.73 [[-3.46727422e-01 -9.37930681e-01 8.13221417e-03 1.54410778e+02] [ 9.37502244e-01 -3.46815575e-01 -2.84341293e-02 1.16481239e+02] [ 2.94896208e-02 -2.23492332e-03 9.99562588e-01 6.73233788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.110714057 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:154.41, Y:116.49, Z:6.73 [[-3.46539329e-01 -9.38001769e-01 7.94829785e-03 1.54407269e+02] [ 9.37572137e-01 -3.46622016e-01 -2.84897610e-02 1.16486968e+02] [ 2.94785013e-02 -2.42072007e-03 9.99562483e-01 6.73290686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.140714057 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:154.40, Y:116.49, Z:6.73 [[-3.46664052e-01 -9.37956317e-01 7.87286902e-03 1.54402775e+02] [ 9.37526188e-01 -3.46744403e-01 -2.85125541e-02 1.16492545e+02] [ 2.94734035e-02 -2.50325667e-03 9.99562430e-01 6.73239770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.170714057 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:154.40, Y:116.49, Z:6.73 [[-3.46352083e-01 -9.38071147e-01 7.92199891e-03 1.54402796e+02] [ 9.37641360e-01 -3.46434062e-01 -2.84977219e-02 1.16488336e+02] [ 2.94773409e-02 -2.44225150e-03 9.99562465e-01 6.73134069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.200714057 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:154.40, Y:116.50, Z:6.73 [[-3.45994542e-01 -9.38203915e-01 7.82247101e-03 1.54399375e+02] [ 9.37773522e-01 -3.46073676e-01 -2.85277312e-02 1.16497119e+02] [ 2.94719804e-02 -2.53473311e-03 9.99562393e-01 6.73007275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.230714057 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:154.40, Y:116.49, Z:6.73 [[-3.46257184e-01 -9.38107595e-01 7.75261939e-03 1.54400105e+02] [ 9.37676741e-01 -3.46334085e-01 -2.85487538e-02 1.16487679e+02] [ 2.94667991e-02 -2.61576022e-03 9.99562337e-01 6.72601952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26071405700003 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:154.40, Y:116.49, Z:6.73 [[-3.48139314e-01 -9.37411784e-01 7.62656131e-03 1.54397901e+02] [ 9.36980006e-01 -3.48211533e-01 -2.85866362e-02 1.16489508e+02] [ 2.94531062e-02 -2.80619645e-03 9.99562224e-01 6.72501110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.290714057 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:154.39, Y:116.52, Z:6.72 [[-3.37757711e-01 -9.41201814e-01 7.67289204e-03 1.54392300e+02] [ 9.40771158e-01 -3.37836098e-01 -2.85727168e-02 1.16517658e+02] [ 2.94848728e-02 -2.43221991e-03 9.99562267e-01 6.72114078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32071405700003 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:154.39, Y:116.49, Z:6.72 [[-3.54049245e-01 -9.35201932e-01 6.81757461e-03 1.54394758e+02] [ 9.34765351e-01 -3.54094123e-01 -2.88286293e-02 1.16486923e+02] [ 2.93746529e-02 -3.83392190e-03 9.99561119e-01 6.72317273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.350714057 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:154.39, Y:116.50, Z:6.72 [[-3.46667331e-01 -9.37954060e-01 7.99638040e-03 1.54389148e+02] [ 9.37524761e-01 -3.46751415e-01 -2.84741793e-02 1.16503434e+02] [ 2.94802283e-02 -2.37426313e-03 9.99562544e-01 6.72225942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38071405700003 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:154.38, Y:116.51, Z:6.73 [[-3.57493932e-01 -9.33888267e-01 7.12700954e-03 1.54380410e+02] [ 9.33453115e-01 -3.57546645e-01 -2.87346431e-02 1.16512669e+02] [ 2.93831844e-02 -3.61973131e-03 9.99561667e-01 6.72552816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.410714057 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:154.38, Y:116.50, Z:6.73 [[-3.56647539e-01 -9.34206989e-01 7.73531377e-03 1.54382185e+02] [ 9.33775267e-01 -3.56719134e-01 -2.85518945e-02 1.16501579e+02] [ 2.94327138e-02 -2.95991823e-03 9.99562381e-01 6.72602328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44071405700004 meters Centerline goodness : 0.995011 Centerline is valid? [True, True] Translation: X:154.37, Y:116.51, Z:6.73 [[-3.57062650e-01 -9.34048707e-01 7.69908631e-03 1.54374013e+02] [ 9.33616742e-01 -3.57132955e-01 -2.85627638e-02 1.16511959e+02] [ 2.94286101e-02 -3.01070027e-03 9.99562351e-01 6.72947981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.470714057 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:154.37, Y:116.51, Z:6.73 [[-3.54731135e-01 -9.34936989e-01 7.65818418e-03 1.54372390e+02] [ 9.34504961e-01 -3.54801278e-01 -2.85750266e-02 1.16505571e+02] [ 2.94329829e-02 -2.97984051e-03 9.99562314e-01 6.73114565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50071405700004 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:154.37, Y:116.51, Z:6.73 [[-3.55362917e-01 -9.34696937e-01 7.67032480e-03 1.54369147e+02] [ 9.34264931e-01 -3.55433136e-01 -2.85713877e-02 1.16510380e+02] [ 2.94318761e-02 -2.98709620e-03 9.99562325e-01 6.73392855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.530714057 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:154.37, Y:116.51, Z:6.73 [[-3.54561196e-01 -9.34999071e-01 7.94329751e-03 1.54365518e+02] [ 9.34568768e-01 -3.54640054e-01 -2.84894832e-02 1.16513919e+02] [ 2.94546517e-02 -2.67770747e-03 9.99562531e-01 6.73117856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.560714057 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:154.36, Y:116.51, Z:6.73 [[-3.53556882e-01 -9.35381886e-01 7.63276403e-03 1.54364039e+02] [ 9.34949802e-01 -3.53626797e-01 -2.85824436e-02 1.16507268e+02] [ 2.94346499e-02 -2.96926843e-03 9.99562297e-01 6.73231849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.590714057 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:154.36, Y:116.51, Z:6.73 [[-3.52846002e-01 -9.35648090e-01 7.89624975e-03 1.54359313e+02] [ 9.35217642e-01 -3.52924226e-01 -2.85035650e-02 1.16508424e+02] [ 2.94560840e-02 -2.67265690e-03 9.99562502e-01 6.72961782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.620714057 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:154.36, Y:116.51, Z:6.73 [[-3.52520087e-01 -9.35771057e-01 7.88146490e-03 1.54358480e+02] [ 9.35340546e-01 -3.52598013e-01 -2.85079865e-02 1.16510938e+02] [ 2.94559375e-02 -2.67778419e-03 9.99562493e-01 6.72969042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.650714057 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:154.35, Y:116.52, Z:6.73 [[-3.53265902e-01 -9.35489800e-01 7.87634456e-03 1.54352399e+02] [ 9.35059195e-01 -3.53343330e-01 -2.85095163e-02 1.16521231e+02] [ 2.94534155e-02 -2.70659159e-03 9.99562490e-01 6.72847301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.680714057 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:154.35, Y:116.51, Z:6.72 [[-3.50632598e-01 -9.36479451e-01 7.93841994e-03 1.54352865e+02] [ 9.36049451e-01 -3.50713114e-01 -2.84909934e-02 1.16511590e+02] [ 2.94653378e-02 -2.55911740e-03 9.99562527e-01 6.72478527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.710714057 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:154.35, Y:116.52, Z:6.72 [[-3.47508445e-01 -9.37645706e-01 7.64272658e-03 1.54349676e+02] [ 9.37214157e-01 -3.47581452e-01 -2.85789665e-02 1.16516693e+02] [ 2.94534152e-02 -2.76856065e-03 9.99562320e-01 6.72336942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.740714057 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:154.34, Y:116.53, Z:6.72 [[-3.48149749e-01 -9.37408690e-01 7.52996716e-03 1.54342712e+02] [ 9.36976426e-01 -3.48219045e-01 -2.86124723e-02 1.16528540e+02] [ 2.94436582e-02 -2.90602335e-03 9.99562217e-01 6.72454965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.770714057 meters Centerline goodness : 0.992825 Centerline is valid? [True, True] Translation: X:154.34, Y:116.52, Z:6.73 [[-3.45244436e-01 -9.38481918e-01 7.61373136e-03 1.54341321e+02] [ 9.38050372e-01 -3.45317607e-01 -2.85875791e-02 1.16516909e+02] [ 2.94580816e-02 -2.72763910e-03 9.99562295e-01 6.72740543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.800714057 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:154.34, Y:116.51, Z:6.73 [[-3.40940882e-01 -9.40051034e-01 7.96042053e-03 1.54337323e+02] [ 9.39622031e-01 -3.41026499e-01 -2.84844779e-02 1.16512061e+02] [ 2.94915772e-02 -2.23173650e-03 9.99562537e-01 6.73008067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.830714057 meters Centerline goodness : 0.992213 Centerline is valid? [True, True] Translation: X:154.33, Y:116.52, Z:6.73 [[-3.39873740e-01 -9.40438640e-01 7.81064555e-03 1.54331493e+02] [ 9.40008764e-01 -3.39955325e-01 -2.85289420e-02 1.16522890e+02] [ 2.94849900e-02 -2.35416295e-03 9.99562451e-01 6.73164000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.860714057 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:154.33, Y:116.52, Z:6.73 [[-3.37785541e-01 -9.41190746e-01 7.80438014e-03 1.54331014e+02] [ 9.40761012e-01 -3.37867891e-01 -2.85307997e-02 1.16516052e+02] [ 2.94897741e-02 -2.29523505e-03 9.99562447e-01 6.72761685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.890714057 meters Centerline goodness : 0.992915 Centerline is valid? [True, True] Translation: X:154.33, Y:116.51, Z:6.73 [[-3.38996454e-01 -9.40757596e-01 7.51993630e-03 1.54329179e+02] [ 9.40325984e-01 -3.39069658e-01 -2.86148679e-02 1.16513066e+02] [ 2.94694366e-02 -2.62914725e-03 9.99562224e-01 6.72800408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.920714057 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:154.33, Y:116.52, Z:6.73 [[-3.38795240e-01 -9.40829255e-01 7.62219709e-03 1.54325311e+02] [ 9.40398287e-01 -3.38871628e-01 -2.85846450e-02 1.16517915e+02] [ 2.94762166e-02 -2.51644059e-03 9.99562314e-01 6.72703761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.950714057 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:154.32, Y:116.52, Z:6.73 [[-3.41485938e-01 -9.39856102e-01 7.60673162e-03 1.54322129e+02] [ 9.39424822e-01 -3.41560625e-01 -2.85892119e-02 1.16524924e+02] [ 2.94679052e-02 -2.61686134e-03 9.99562302e-01 6.72620437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.980714057 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:154.32, Y:116.53, Z:6.73 [[-3.44066687e-01 -9.38914305e-01 7.61854288e-03 1.54320206e+02] [ 9.38482893e-01 -3.44140546e-01 -2.85857241e-02 1.16527996e+02] [ 2.94613948e-02 -2.68552321e-03 9.99562311e-01 6.72553236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01071405700003 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:154.32, Y:116.53, Z:6.73 [[-3.47557719e-01 -9.37627445e-01 7.64245498e-03 1.54318362e+02] [ 9.37195902e-01 -3.47630696e-01 -2.85786652e-02 1.16530947e+02] [ 2.94528927e-02 -2.77025819e-03 9.99562331e-01 6.72516629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.040714057 meters Centerline goodness : 0.992536 Centerline is valid? [True, True] Translation: X:154.32, Y:116.53, Z:6.73 [[-3.53195814e-01 -9.35517817e-01 7.68971356e-03 1.54318107e+02] [ 9.35086115e-01 -3.53267624e-01 -2.85647265e-02 1.16527251e+02] [ 2.94393374e-02 -2.89839745e-03 9.99562367e-01 6.72698888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07071405700003 meters Centerline goodness : 0.992228 Centerline is valid? [True, True] Translation: X:154.31, Y:116.57, Z:6.73 [[-3.56318569e-01 -9.34331982e-01 7.79905385e-03 1.54306634e+02] [ 9.33900672e-01 -3.56392249e-01 -2.85324418e-02 1.16566956e+02] [ 2.94382952e-02 -2.88309719e-03 9.99562442e-01 6.72639433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.100714057 meters Centerline goodness : 0.991609 Centerline is valid? [True, True] Translation: X:154.31, Y:116.56, Z:6.73 [[-3.57757532e-01 -9.33779543e-01 8.08160130e-03 1.54307187e+02] [ 9.33349795e-01 -3.57839101e-01 -2.84488880e-02 1.16562165e+02] [ 2.94569026e-02 -2.63484305e-03 9.99562579e-01 6.72753349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13071405700003 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:154.31, Y:116.55, Z:6.73 [[-3.55132013e-01 -9.34780635e-01 8.14974045e-03 1.54308538e+02] [ 9.34351539e-01 -3.55216847e-01 -2.84287497e-02 1.16553745e+02] [ 2.94695698e-02 -2.48123659e-03 9.99562598e-01 6.72783117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.160714057 meters Centerline goodness : 0.992420 Centerline is valid? [True, True] Translation: X:154.31, Y:116.56, Z:6.73 [[-3.54852023e-01 -9.34889819e-01 7.81466055e-03 1.54305941e+02] [ 9.34458727e-01 -3.54926853e-01 -2.85274788e-02 1.16559549e+02] [ 2.94436823e-02 -2.82055579e-03 9.99562461e-01 6.72830527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19071405700004 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:154.30, Y:116.56, Z:6.73 [[-3.48998437e-01 -9.37088894e-01 8.03091105e-03 1.54304066e+02] [ 9.36659611e-01 -3.49082496e-01 -2.84637332e-02 1.16557014e+02] [ 2.94764987e-02 -2.41156836e-03 9.99562565e-01 6.72898345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.220714057 meters Centerline goodness : 0.991889 Centerline is valid? [True, True] Translation: X:154.31, Y:116.55, Z:6.73 [[-3.45751271e-01 -9.38293389e-01 7.84698297e-03 1.54306084e+02] [ 9.37863247e-01 -3.45831264e-01 -2.85178362e-02 1.16546342e+02] [ 2.94718292e-02 -2.50068119e-03 9.99562483e-01 6.72893531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25071405700004 meters Centerline goodness : 0.991299 Centerline is valid? [True, True] Translation: X:154.31, Y:116.54, Z:6.73 [[-3.37931786e-01 -9.41137845e-01 7.85267587e-03 1.54306349e+02] [ 9.40708420e-01 -3.38015527e-01 -2.85161631e-02 1.16540427e+02] [ 2.94919666e-02 -2.24943961e-03 9.99562486e-01 6.73127300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.280714057 meters Centerline goodness : 0.990716 Centerline is valid? [True, True] Translation: X:154.30, Y:116.55, Z:6.73 [[-3.33515348e-01 -9.42711340e-01 7.92733026e-03 1.54303682e+02] [ 9.42282805e-01 -3.33603350e-01 -2.84942218e-02 1.16548959e+02] [ 2.95064100e-02 -2.03347331e-03 9.99562523e-01 6.73425761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.310714057 meters Centerline goodness : 0.991198 Centerline is valid? [True, True] Translation: X:154.30, Y:116.56, Z:6.74 [[-3.26971285e-01 -9.45000262e-01 8.01768866e-03 1.54299011e+02] [ 9.44572971e-01 -3.27064970e-01 -2.84676661e-02 1.16556507e+02] [ 2.95242570e-02 -1.73481736e-03 9.99562559e-01 6.73667667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.340714057 meters Centerline goodness : 0.990921 Centerline is valid? [True, True] Translation: X:154.30, Y:116.54, Z:6.74 [[-3.26063062e-01 -9.45315620e-01 7.82680975e-03 1.54302231e+02] [ 9.44887110e-01 -3.26151422e-01 -2.85236756e-02 1.16542352e+02] [ 2.95166012e-02 -1.90506537e-03 9.99562475e-01 6.73677137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.370714057 meters Centerline goodness : 0.991308 Centerline is valid? [True, True] Translation: X:154.30, Y:116.54, Z:6.74 [[-3.23502561e-01 -9.46193089e-01 8.04559439e-03 1.54301162e+02] [ 9.45766341e-01 -3.23598651e-01 -2.84594737e-02 1.16543724e+02] [ 2.95317008e-02 -1.59746025e-03 9.99562568e-01 6.73507305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.400714057 meters Centerline goodness : 0.990789 Centerline is valid? [True, True] Translation: X:154.30, Y:116.54, Z:6.74 [[-3.18452550e-01 -9.47904996e-01 8.00578090e-03 1.54303225e+02] [ 9.47478480e-01 -3.18549721e-01 -2.84711426e-02 1.16539270e+02] [ 2.95381776e-02 -1.48140283e-03 9.99562555e-01 6.73515219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.430714057 meters Centerline goodness : 0.991060 Centerline is valid? [True, True] Translation: X:154.30, Y:116.54, Z:6.73 [[-3.21801863e-01 -9.46773818e-01 7.93090910e-03 1.54299863e+02] [ 9.46346435e-01 -3.21895279e-01 -2.84930533e-02 1.16544842e+02] [ 2.95293990e-02 -1.66373007e-03 9.99562528e-01 6.73150642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.460714057 meters Centerline goodness : 0.991252 Centerline is valid? [True, True] Translation: X:154.31, Y:116.54, Z:6.73 [[-3.05708379e-01 -9.52090517e-01 8.12620793e-03 1.54308864e+02] [ 9.51666261e-01 -3.05814858e-01 -2.84358844e-02 1.16536435e+02] [ 2.95586510e-02 -9.59650198e-04 9.99562587e-01 6.73003367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.490714057 meters Centerline goodness : 0.991252 Centerline is valid? [True, True] Translation: X:154.31, Y:116.54, Z:6.73 [[-3.05392555e-01 -9.52197123e-01 7.48506587e-03 1.54308308e+02] [ 9.51768207e-01 -3.05479989e-01 -2.86226597e-02 1.16539044e+02] [ 2.95409521e-02 -1.61709945e-03 9.99562263e-01 6.72984135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.520714057 meters Centerline goodness : 0.991315 Centerline is valid? [True, True] Translation: X:154.31, Y:116.54, Z:6.73 [[-3.05419229e-01 -9.52188505e-01 7.49297315e-03 1.54307694e+02] [ 9.51759642e-01 -3.05506889e-01 -2.86203593e-02 1.16539207e+02] [ 2.95411321e-02 -1.60969862e-03 9.99562269e-01 6.72870924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.550714057 meters Centerline goodness : 0.990922 Centerline is valid? [True, True] Translation: X:154.31, Y:116.54, Z:6.73 [[-3.04263393e-01 -9.52558436e-01 7.49756881e-03 1.54307570e+02] [ 9.52129712e-01 -3.04351710e-01 -2.86190228e-02 1.16541801e+02] [ 2.95431895e-02 -1.56906296e-03 9.99562273e-01 6.72848169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.580714057 meters Centerline goodness : 0.991165 Centerline is valid? [True, True] Translation: X:154.31, Y:116.53, Z:6.73 [[-3.02842244e-01 -9.53010166e-01 7.62884699e-03 1.54310686e+02] [ 9.52582510e-01 -3.02935135e-01 -2.85808446e-02 1.16534890e+02] [ 2.95488813e-02 -1.38838089e-03 9.99562372e-01 6.72891226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.610714057 meters Centerline goodness : 0.991848 Centerline is valid? [True, True] Translation: X:154.31, Y:116.54, Z:6.73 [[-2.99931952e-01 -9.53929667e-01 7.68213456e-03 1.54309812e+02] [ 9.53502687e-01 -3.00027743e-01 -2.85653638e-02 1.16544056e+02] [ 2.95542014e-02 -1.24272937e-03 9.99562407e-01 6.73082368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.640714057 meters Centerline goodness : 0.991684 Centerline is valid? [True, True] Translation: X:154.31, Y:116.55, Z:6.73 [[-2.97963678e-01 -9.54546723e-01 7.62885502e-03 1.54310860e+02] [ 9.54119549e-01 -2.98058756e-01 -2.85808343e-02 1.16546859e+02] [ 2.95555888e-02 -1.23721081e-03 9.99562372e-01 6.72978171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.670714057 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:154.31, Y:116.55, Z:6.73 [[-2.99413982e-01 -9.54092914e-01 7.61433976e-03 1.54311164e+02] [ 9.53665490e-01 -2.99507977e-01 -2.85850450e-02 1.16547134e+02] [ 2.95533443e-02 -1.29722909e-03 9.99562363e-01 6.73105053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.700714057 meters Centerline goodness : 0.991258 Centerline is valid? [True, True] Translation: X:154.31, Y:116.54, Z:6.73 [[-2.98173590e-01 -9.54480209e-01 7.74856623e-03 1.54314178e+02] [ 9.54053899e-01 -2.98272153e-01 -2.85461034e-02 1.16543187e+02] [ 2.95578723e-02 -1.11914429e-03 9.99562444e-01 6.73016556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.730714057 meters Centerline goodness : 0.991705 Centerline is valid? [True, True] Translation: X:154.31, Y:116.55, Z:6.73 [[-3.02002016e-01 -9.53275565e-01 7.77683773e-03 1.54312217e+02] [ 9.52849071e-01 -3.02099713e-01 -2.85379048e-02 1.16553779e+02] [ 2.95538678e-02 -1.20835217e-03 9.99562459e-01 6.72979308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76071405700003 meters Centerline goodness : 0.991063 Centerline is valid? [True, True] Translation: X:154.32, Y:116.54, Z:6.73 [[-3.03565507e-01 -9.52776876e-01 8.01299708e-03 1.54318092e+02] [ 9.52351978e-01 -3.03669561e-01 -2.84694259e-02 1.16543452e+02] [ 2.95583140e-02 -1.01114209e-03 9.99562546e-01 6.73142788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.790714057 meters Centerline goodness : 0.991035 Centerline is valid? [True, True] Translation: X:154.32, Y:116.55, Z:6.73 [[-3.03622555e-01 -9.52759569e-01 7.90876489e-03 1.54318326e+02] [ 9.52333883e-01 -3.03723471e-01 -2.84996132e-02 1.16551262e+02] [ 2.95553567e-02 -1.12134057e-03 9.99562516e-01 6.73189480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82071405700003 meters Centerline goodness : 0.990729 Centerline is valid? [True, True] Translation: X:154.33, Y:116.54, Z:6.73 [[-3.12255643e-01 -9.49965394e-01 7.88439890e-03 1.54325423e+02] [ 9.49538636e-01 -3.12351963e-01 -2.85066624e-02 1.16541944e+02] [ 2.95430503e-02 -1.41482484e-03 9.99562508e-01 6.72982510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.850714057 meters Centerline goodness : 0.991770 Centerline is valid? [True, True] Translation: X:154.32, Y:116.55, Z:6.73 [[-3.15020792e-01 -9.49049136e-01 8.22423406e-03 1.54323593e+02] [ 9.48624556e-01 -3.15126039e-01 -2.84082816e-02 1.16552556e+02] [ 2.95525254e-02 -1.14748898e-03 9.99562570e-01 6.73001184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88071405700003 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:154.33, Y:116.55, Z:6.73 [[-3.19252582e-01 -9.47634068e-01 8.21347856e-03 1.54327622e+02] [ 9.47208945e-01 -3.19355612e-01 -2.84113909e-02 1.16554421e+02] [ 2.95466225e-02 -1.29052955e-03 9.99562570e-01 6.73057368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.910714057 meters Centerline goodness : 0.992548 Centerline is valid? [True, True] Translation: X:154.32, Y:116.57, Z:6.73 [[-3.19465676e-01 -9.47562345e-01 8.20269885e-03 1.54324017e+02] [ 9.47137121e-01 -3.19568288e-01 -2.84145028e-02 1.16570630e+02] [ 2.95458354e-02 -1.30837779e-03 9.99562570e-01 6.73119875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94071405700004 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:154.32, Y:116.58, Z:6.73 [[-3.20680850e-01 -9.47152950e-01 8.06732648e-03 1.54323169e+02] [ 9.46726634e-01 -3.20778862e-01 -2.84535073e-02 1.16575985e+02] [ 2.95376512e-02 -1.48694204e-03 9.99562562e-01 6.73224443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.970714057 meters Centerline goodness : 0.992571 Centerline is valid? [True, True] Translation: X:154.32, Y:116.59, Z:6.73 [[-3.23783805e-01 -9.46099612e-01 7.71825885e-03 1.54321116e+02] [ 9.45670630e-01 -3.23869937e-01 -2.85538668e-02 1.16590313e+02] [ 2.95145143e-02 -1.94634895e-03 9.99562457e-01 6.73365502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00071405700004 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:154.33, Y:116.58, Z:6.73 [[-3.25083866e-01 -9.45650124e-01 8.14390410e-03 1.54327434e+02] [ 9.45223889e-01 -3.25182190e-01 -2.84313731e-02 1.16576241e+02] [ 2.95343841e-02 -1.54476799e-03 9.99562571e-01 6.73396362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.030714057 meters Centerline goodness : 0.992949 Centerline is valid? [True, True] Translation: X:154.33, Y:116.58, Z:6.73 [[-3.24985490e-01 -9.45684538e-01 8.07378886e-03 1.54330977e+02] [ 9.45257829e-01 -3.25081756e-01 -2.84515159e-02 1.16575503e+02] [ 2.95308002e-02 -1.61451770e-03 9.99562567e-01 6.73431960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.060714057 meters Centerline goodness : 0.994180 Centerline is valid? [True, True] Translation: X:154.33, Y:116.58, Z:6.73 [[-3.23366579e-01 -9.46238530e-01 8.16696767e-03 1.54329876e+02] [ 9.45812635e-01 -3.23466368e-01 -2.84247642e-02 1.16581170e+02] [ 2.95383465e-02 -1.46719755e-03 9.99562571e-01 6.73463791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.090714057 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:154.33, Y:116.57, Z:6.73 [[-3.23934562e-01 -9.46048708e-01 7.63156666e-03 1.54334197e+02] [ 9.45619176e-01 -3.24018019e-01 -2.85779236e-02 1.16574353e+02] [ 2.95088728e-02 -2.04082138e-03 9.99562435e-01 6.73460641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.120714057 meters Centerline goodness : 0.993203 Centerline is valid? [True, True] Translation: X:154.33, Y:116.58, Z:6.74 [[-3.23677808e-01 -9.46132599e-01 8.11059883e-03 1.54333235e+02] [ 9.45706286e-01 -3.23775768e-01 -2.84406975e-02 1.16579322e+02] [ 2.95346864e-02 -1.53537835e-03 9.99562577e-01 6.73540941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.150714057 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:154.34, Y:116.58, Z:6.74 [[-3.20220732e-01 -9.47308600e-01 8.06846176e-03 1.54337700e+02] [ 9.46882352e-01 -3.20318986e-01 -2.84527559e-02 1.16575749e+02] [ 2.95380218e-02 -1.47127825e-03 9.99562575e-01 6.73526818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.180714057 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:154.34, Y:116.58, Z:6.73 [[-3.13990727e-01 -9.49393515e-01 7.85980351e-03 1.54342571e+02] [ 9.48966451e-01 -3.14085532e-01 -2.85123359e-02 1.16575206e+02] [ 2.95380774e-02 -1.49391922e-03 9.99562539e-01 6.73247956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.210714057 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:154.34, Y:116.58, Z:6.73 [[-3.18426099e-01 -9.47916897e-01 7.64044981e-03 1.54339318e+02] [ 9.47487931e-01 -3.18512321e-01 -2.85748321e-02 1.16582745e+02] [ 2.95201436e-02 -1.85973836e-03 9.99562456e-01 6.73313492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.240714057 meters Centerline goodness : 0.993013 Centerline is valid? [True, True] Translation: X:154.35, Y:116.58, Z:6.73 [[-3.10063283e-01 -9.50686109e-01 7.52872430e-03 1.54345580e+02] [ 9.50257167e-01 -3.10149928e-01 -2.86066341e-02 1.16584905e+02] [ 2.95309630e-02 -1.71564266e-03 9.99562394e-01 6.73133148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.270714057 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:154.35, Y:116.59, Z:6.73 [[-3.10257339e-01 -9.50622693e-01 7.54186316e-03 1.54345624e+02] [ 9.50193820e-01 -3.10344290e-01 -2.86028967e-02 1.16587220e+02] [ 2.95311368e-02 -1.70802683e-03 9.99562402e-01 6.72813466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.300714057 meters Centerline goodness : 0.993647 Centerline is valid? [True, True] Translation: X:154.34, Y:116.60, Z:6.73 [[-3.17378754e-01 -9.48271616e-01 7.18813019e-03 1.54342178e+02] [ 9.47839885e-01 -3.17451836e-01 -2.87033737e-02 1.16596436e+02] [ 2.95004797e-02 -2.29664451e-03 9.99562128e-01 6.73254879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.330714057 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:154.35, Y:116.58, Z:6.73 [[-3.18819329e-01 -9.47783061e-01 7.84256735e-03 1.54348791e+02] [ 9.47355412e-01 -3.18911442e-01 -2.85169429e-02 1.16583985e+02] [ 2.95289599e-02 -1.66205398e-03 9.99562543e-01 6.73137182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.360714057 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:154.35, Y:116.59, Z:6.73 [[-3.14261892e-01 -9.49301720e-01 8.10600736e-03 1.54347267e+02] [ 9.48876372e-01 -3.14363946e-01 -2.84418630e-02 1.16588500e+02] [ 2.95481459e-02 -1.24659482e-03 9.99562581e-01 6.73288895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.390714057 meters Centerline goodness : 0.992264 Centerline is valid? [True, True] Translation: X:154.35, Y:116.59, Z:6.73 [[-3.15960747e-01 -9.48740763e-01 7.73121859e-03 1.54349050e+02] [ 9.48312645e-01 -3.16050809e-01 -2.85484475e-02 1.16592223e+02] [ 2.95285338e-02 -1.68857644e-03 9.99562512e-01 6.72956343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.420714057 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:154.35, Y:116.59, Z:6.73 [[-3.02644885e-01 -9.53069018e-01 8.09446235e-03 1.54351652e+02] [ 9.52644864e-01 -3.02751781e-01 -2.84450834e-02 1.16594451e+02] [ 2.95607406e-02 -8.97611013e-04 9.99562583e-01 6.72777914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.450714057 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:154.33, Y:116.62, Z:6.73 [[-3.26595586e-01 -9.45138339e-01 6.98879240e-03 1.54333033e+02] [ 9.44704836e-01 -3.26658440e-01 -2.87582445e-02 1.16622081e+02] [ 2.94634675e-02 -2.78996975e-03 9.99561964e-01 6.73360740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.480714057 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:154.33, Y:116.63, Z:6.74 [[-3.27717431e-01 -9.44741099e-01 8.09573981e-03 1.54331558e+02] [ 9.44314322e-01 -3.27813126e-01 -2.84431963e-02 1.16632120e+02] [ 2.95253463e-02 -1.67640816e-03 9.99562626e-01 6.73601709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51071405700003 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:154.33, Y:116.63, Z:6.74 [[-3.28978327e-01 -9.44302864e-01 8.08469162e-03 1.54333783e+02] [ 9.43875886e-01 -3.29073120e-01 -2.84463362e-02 1.16627598e+02] [ 2.95224115e-02 -1.72728265e-03 9.99562626e-01 6.73624063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.540714057 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:154.33, Y:116.63, Z:6.74 [[-3.28612639e-01 -9.44430278e-01 8.07364221e-03 1.54332991e+02] [ 9.44003263e-01 -3.28707266e-01 -2.84494720e-02 1.16630134e+02] [ 2.95224076e-02 -1.72731146e-03 9.99562626e-01 6.73631511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57071405700003 meters Centerline goodness : 0.994269 Centerline is valid? [True, True] Translation: X:154.33, Y:116.63, Z:6.74 [[-3.29985196e-01 -9.43951675e-01 8.06261950e-03 1.54333524e+02] [ 9.43524451e-01 -3.30078871e-01 -2.84525955e-02 1.16633051e+02] [ 2.95191755e-02 -1.78165666e-03 9.99562626e-01 6.73663041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.600714057 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:154.33, Y:116.64, Z:6.74 [[-3.34325388e-01 -9.42423316e-01 8.05159558e-03 1.54333271e+02] [ 9.41995594e-01 -3.34416765e-01 -2.84557147e-02 1.16643183e+02] [ 2.95099176e-02 -1.92890031e-03 9.99562626e-01 6.73708287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63071405700003 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:154.34, Y:116.64, Z:6.74 [[-3.35977243e-01 -9.41835783e-01 8.04054253e-03 1.54335426e+02] [ 9.41407831e-01 -3.36067537e-01 -2.84588375e-02 1.16640824e+02] [ 2.95057169e-02 -1.99209206e-03 9.99562626e-01 6.73802537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.660714057 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:154.24, Y:117.01, Z:6.75 [[-3.32643556e-01 -9.43018448e-01 8.02947902e-03 1.54236216e+02] [ 9.42590747e-01 -3.32735031e-01 -2.84619587e-02 1.17007403e+02] [ 2.95118411e-02 -1.89917452e-03 9.99562627e-01 6.74701600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69071405700004 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:155.00, Y:116.98, Z:7.58 [[-2.66237845e-01 9.63873922e-01 -8.02947902e-03 1.55004668e+02] [ 9.63453621e-01 2.66358851e-01 2.84619587e-02 1.16975450e+02] [ 2.95724626e-02 -1.58380083e-04 -9.99562627e-01 7.58283243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.720714057 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:154.36, Y:116.77, Z:6.73 [[-3.73597863e-01 -9.27537610e-01 9.93071812e-03 1.54358549e+02] [ 9.27122176e-01 -3.73727986e-01 -2.77824323e-02 1.16766465e+02] [ 2.94806382e-02 -1.17246834e-03 9.99564664e-01 6.73438829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75071405700004 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:154.36, Y:116.75, Z:6.74 [[-3.85201844e-01 -9.22794116e-01 8.39992504e-03 1.54361268e+02] [ 9.22364747e-01 -3.85280439e-01 -2.83241505e-02 1.16752354e+02] [ 2.93736862e-02 -3.16272025e-03 9.99563497e-01 6.73656420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.780714057 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:154.35, Y:116.77, Z:6.74 [[-3.94626745e-01 -9.18795111e-01 9.23446486e-03 1.54349927e+02] [ 9.18371143e-01 -3.94726346e-01 -2.80277703e-02 1.16765322e+02] [ 2.93968649e-02 -2.57984172e-03 9.99564490e-01 6.74220982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.810714057 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:154.35, Y:116.76, Z:6.74 [[-3.93108819e-01 -9.19446140e-01 9.17889510e-03 1.54354694e+02] [ 9.19021899e-01 -3.93207435e-01 -2.80474955e-02 1.16756530e+02] [ 2.93973713e-02 -2.59011223e-03 9.99564448e-01 6.74144442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.840714057 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:154.35, Y:116.76, Z:6.74 [[-3.93323766e-01 -9.19351246e-01 9.47104266e-03 1.54350692e+02] [ 9.18929319e-01 -3.93431127e-01 -2.79437651e-02 1.16763092e+02] [ 2.94163382e-02 -2.28772813e-03 9.99564628e-01 6.74158626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.870714057 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:154.35, Y:116.77, Z:6.74 [[-3.92748471e-01 -9.19599904e-01 9.20079806e-03 1.54349573e+02] [ 9.19175880e-01 -3.92847918e-01 -2.80395262e-02 1.16766346e+02] [ 2.93996600e-02 -2.55532940e-03 9.99564470e-01 6.74187096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.900714057 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:154.35, Y:116.77, Z:6.74 [[-3.92525318e-01 -9.19695035e-01 9.21504961e-03 1.54345687e+02] [ 9.19271148e-01 -3.92625299e-01 -2.80344767e-02 1.16771584e+02] [ 2.94012307e-02 -2.53311265e-03 9.99564481e-01 6.74277579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.930714057 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:154.35, Y:116.77, Z:6.74 [[-3.90811967e-01 -9.20424891e-01 9.16660612e-03 1.54348373e+02] [ 9.20000807e-01 -3.90911270e-01 -2.80516299e-02 1.16766787e+02] [ 2.94027480e-02 -2.52962764e-03 9.99564445e-01 6.73975104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.960714057 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:154.35, Y:116.77, Z:6.74 [[-3.90858608e-01 -9.20402192e-01 9.45269996e-03 1.54345940e+02] [ 9.19980403e-01 -3.90966546e-01 -2.79502921e-02 1.16769577e+02] [ 2.94211996e-02 -2.22831356e-03 9.99564619e-01 6.74094638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.990714057 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:154.34, Y:116.78, Z:6.74 [[-3.88593133e-01 -9.21363472e-01 9.20486613e-03 1.54344042e+02] [ 9.20939938e-01 -3.88694617e-01 -2.80379449e-02 1.16777847e+02] [ 2.94110202e-02 -2.41822402e-03 9.99564477e-01 6.73701237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.020714057 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:154.34, Y:116.78, Z:6.74 [[-3.89924921e-01 -9.20803004e-01 8.96564898e-03 1.54342678e+02] [ 9.20377459e-01 -3.90018541e-01 -2.81224420e-02 1.16779487e+02] [ 2.93919984e-02 -2.71385975e-03 9.99564278e-01 6.73813123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.050714057 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:154.34, Y:116.78, Z:6.74 [[-3.89086999e-01 -9.21155642e-01 9.14274775e-03 1.54342675e+02] [ 9.20731561e-01 -3.89186375e-01 -2.80598952e-02 1.16777523e+02] [ 2.94057636e-02 -2.49972400e-03 9.99564431e-01 6.73750781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.080714057 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:154.34, Y:116.78, Z:6.74 [[-3.87804676e-01 -9.21697839e-01 8.97926665e-03 1.54342407e+02] [ 9.21272618e-01 -3.87899688e-01 -2.81175293e-02 1.16778030e+02] [ 2.93989208e-02 -2.63175687e-03 9.99564294e-01 6.73598821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.110714057 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:154.34, Y:116.79, Z:6.73 [[-3.82128817e-01 -9.24066077e-01 8.91355634e-03 1.54338511e+02] [ 9.23640932e-01 -3.82224452e-01 -2.81406726e-02 1.16794899e+02] [ 2.94108201e-02 -2.52043645e-03 9.99564231e-01 6.73377709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.140714057 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:154.33, Y:116.79, Z:6.74 [[-4.06369767e-01 -9.13667639e-01 8.66366150e-03 1.54325398e+02] [ 9.13238394e-01 -4.06446525e-01 -2.82286927e-02 1.16793268e+02] [ 2.93129581e-02 -3.55929896e-03 9.99563946e-01 6.73889875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.170714057 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:154.32, Y:116.80, Z:6.74 [[-4.06558132e-01 -9.13571877e-01 9.84430781e-03 1.54323012e+02] [ 9.13151414e-01 -4.06670696e-01 -2.78107988e-02 1.16796550e+02] [ 2.94105552e-02 -2.31736282e-03 9.99564730e-01 6.73812989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.200714057 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:154.33, Y:116.80, Z:6.74 [[-3.94492703e-01 -9.18846457e-01 9.83344828e-03 1.54327948e+02] [ 9.18427420e-01 -3.94610466e-01 -2.78146381e-02 1.16801317e+02] [ 2.94377632e-02 -1.94136321e-03 9.99564730e-01 6.73737300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.230714057 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:154.33, Y:116.79, Z:6.74 [[-3.94499950e-01 -9.18848269e-01 9.36203366e-03 1.54327965e+02] [ 9.18425377e-01 -3.94603478e-01 -2.79807479e-02 1.16794846e+02] [ 2.94043528e-02 -2.44007435e-03 9.99564620e-01 6.74022208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26071405700003 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:154.32, Y:116.80, Z:6.74 [[-3.96146192e-01 -9.18141643e-01 9.17157330e-03 1.54323307e+02] [ 9.17717091e-01 -3.96243190e-01 -2.80477208e-02 1.16802074e+02] [ 2.93859539e-02 -2.69408821e-03 9.99564509e-01 6.74136412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.290714057 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:154.32, Y:116.80, Z:6.74 [[-3.98973565e-01 -9.16917284e-01 9.09879834e-03 1.54321537e+02] [ 9.16491890e-01 -3.99067044e-01 -2.80732806e-02 1.16797095e+02] [ 2.93719068e-02 -2.86152196e-03 9.99564457e-01 6.73986167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32071405700003 meters Centerline goodness : 0.995357 Centerline is valid? [True, True] Translation: X:154.32, Y:116.80, Z:6.74 [[-3.98709395e-01 -9.17030742e-01 9.24322426e-03 1.54318142e+02] [ 9.16606464e-01 -3.98807380e-01 -2.80225471e-02 1.16797557e+02] [ 2.93838032e-02 -2.70045369e-03 9.99564555e-01 6.74105658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.350714057 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:154.31, Y:116.80, Z:6.74 [[-3.98576330e-01 -9.17088412e-01 9.26033071e-03 1.54314417e+02] [ 9.16664280e-01 -3.98674895e-01 -2.80165401e-02 1.16803193e+02] [ 2.93855057e-02 -2.67811536e-03 9.99564565e-01 6.74300835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38071405700003 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:154.31, Y:116.80, Z:6.74 [[-3.97628838e-01 -9.17500201e-01 9.20265924e-03 1.54312961e+02] [ 9.17075730e-01 -3.97726093e-01 -2.80367786e-02 1.16803010e+02] [ 2.93838877e-02 -2.70869625e-03 9.99564530e-01 6.74450756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.410714057 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:154.31, Y:116.80, Z:6.74 [[-3.97998713e-01 -9.17340611e-01 9.12297656e-03 1.54310096e+02] [ 9.16915500e-01 -3.98093378e-01 -2.80647019e-02 1.16801609e+02] [ 2.93766873e-02 -2.80471660e-03 9.99564477e-01 6.74465714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44071405700004 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:154.31, Y:116.80, Z:6.74 [[-3.92609831e-01 -9.19659662e-01 9.14470651e-03 1.54311758e+02] [ 9.19235282e-01 -3.92707648e-01 -2.80570936e-02 1.16798340e+02] [ 2.93941734e-02 -2.60935391e-03 9.99564492e-01 6.73852268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.470714057 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:154.31, Y:116.79, Z:6.74 [[-3.95621331e-01 -9.18369907e-01 8.97083548e-03 1.54308725e+02] [ 9.17943909e-01 -3.95712478e-01 -2.81178608e-02 1.16793928e+02] [ 2.93724688e-02 -2.88930176e-03 9.99564360e-01 6.74025954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50071405700004 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:154.31, Y:116.79, Z:6.74 [[-3.95112832e-01 -9.18588476e-01 9.00343236e-03 1.54307820e+02] [ 9.18162770e-01 -3.95205205e-01 -2.81064773e-02 1.16792507e+02] [ 2.93764894e-02 -2.83861342e-03 9.99564387e-01 6.73961170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.530714057 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:154.30, Y:116.81, Z:6.74 [[-3.99690172e-01 -9.16606415e-01 8.96922924e-03 1.54298446e+02] [ 9.16180005e-01 -3.99779381e-01 -2.81184190e-02 1.16806799e+02] [ 2.93592361e-02 -3.02122723e-03 9.99564359e-01 6.74392584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.560714057 meters Centerline goodness : 0.994250 Centerline is valid? [True, True] Translation: X:154.30, Y:116.80, Z:6.74 [[-3.99082887e-01 -9.16868893e-01 9.18058580e-03 1.54298263e+02] [ 9.16444100e-01 -3.99178799e-01 -2.80445628e-02 1.16802524e+02] [ 2.93778824e-02 -2.77861137e-03 9.99564515e-01 6.74204758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.590714057 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:154.30, Y:116.80, Z:6.74 [[-3.99326640e-01 -9.16761826e-01 9.27306311e-03 1.54296623e+02] [ 9.16337704e-01 -3.99425244e-01 -2.80122645e-02 1.16800183e+02] [ 2.93844702e-02 -2.68878609e-03 9.99564567e-01 6.74353295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.620714057 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:154.28, Y:116.81, Z:6.74 [[-4.09579707e-01 -9.12228203e-01 9.17435874e-03 1.54282556e+02] [ 9.11802294e-01 -4.09670547e-01 -2.80467226e-02 1.16811087e+02] [ 2.93434759e-02 -3.12216708e-03 9.99564511e-01 6.74253699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.650714057 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:154.28, Y:116.82, Z:6.74 [[-3.98880133e-01 -9.16951328e-01 9.74173653e-03 1.54282629e+02] [ 9.16530940e-01 -3.98993122e-01 -2.78482510e-02 1.16822921e+02] [ 2.94223766e-02 -2.17951110e-03 9.99564692e-01 6.74377966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.680714057 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:154.28, Y:116.81, Z:6.74 [[-3.95023381e-01 -9.18625147e-01 9.18525416e-03 1.54283995e+02] [ 9.18200838e-01 -3.95121313e-01 -2.80422582e-02 1.16814548e+02] [ 2.93896132e-02 -2.64343956e-03 9.99564537e-01 6.74175754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.710714057 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:154.29, Y:116.80, Z:6.74 [[-3.93419027e-01 -9.19313506e-01 9.17312158e-03 1.54287452e+02] [ 9.18889277e-01 -3.93517333e-01 -2.80464807e-02 1.16799269e+02] [ 2.93932909e-02 -2.60493612e-03 9.99564530e-01 6.74139725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.740714057 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:154.28, Y:116.81, Z:6.74 [[-3.90604848e-01 -9.20513169e-01 9.13009219e-03 1.54283762e+02] [ 9.20088912e-01 -3.90703149e-01 -2.80614368e-02 1.16805215e+02] [ 2.93980779e-02 -2.56043667e-03 9.99564504e-01 6.74338319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.770714057 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:154.28, Y:116.82, Z:6.74 [[-3.87378132e-01 -9.21877064e-01 8.99229240e-03 1.54276230e+02] [ 9.21452096e-01 -3.87473745e-01 -2.81092750e-02 1.16816543e+02] [ 2.93975732e-02 -2.60295177e-03 9.99564409e-01 6.74371470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.800714057 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:154.27, Y:116.83, Z:6.74 [[-3.83265824e-01 -9.23595133e-01 8.90716530e-03 1.54271330e+02] [ 9.23169941e-01 -3.83360753e-01 -2.81388181e-02 1.16829302e+02] [ 2.94035330e-02 -2.56182003e-03 9.99564340e-01 6.74154340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.830714057 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:154.28, Y:116.80, Z:6.74 [[-3.80992770e-01 -9.24536196e-01 8.79383827e-03 1.54278467e+02] [ 9.24110373e-01 -3.81085312e-01 -2.81780727e-02 1.16799607e+02] [ 2.94028507e-02 -2.60916481e-03 9.99564237e-01 6.74191427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.860714057 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:154.28, Y:116.81, Z:6.74 [[-3.78274521e-01 -9.25651540e-01 8.80980502e-03 1.54276302e+02] [ 9.25226114e-01 -3.78368797e-01 -2.81725510e-02 1.16805651e+02] [ 2.94113205e-02 -2.50589655e-03 9.99564252e-01 6.74016592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.890714057 meters Centerline goodness : 0.993360 Centerline is valid? [True, True] Translation: X:154.27, Y:116.81, Z:6.74 [[-3.82051200e-01 -9.24098986e-01 8.82867737e-03 1.54272467e+02] [ 9.23673320e-01 -3.82144310e-01 -2.81660243e-02 1.16807300e+02] [ 2.94020233e-02 -2.60604966e-03 9.99564270e-01 6.74433801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.920714057 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:154.26, Y:116.83, Z:6.75 [[-3.82136157e-01 -9.24062085e-01 9.01226822e-03 1.54263890e+02] [ 9.23637818e-01 -3.82234786e-01 -2.81024766e-02 1.16829174e+02] [ 2.94132356e-02 -2.41490068e-03 9.99564420e-01 6.74684028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.950714057 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:154.27, Y:116.81, Z:6.74 [[-3.80841874e-01 -9.24595007e-01 9.14001141e-03 1.54271923e+02] [ 9.24171886e-01 -3.80944957e-01 -2.80582524e-02 1.16805330e+02] [ 2.94243613e-02 -2.23881584e-03 9.99564503e-01 6.74496038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.980714057 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:154.27, Y:116.81, Z:6.75 [[-3.78735902e-01 -9.25459687e-01 9.13697066e-03 1.54267316e+02] [ 9.25036777e-01 -3.78839856e-01 -2.80593041e-02 1.16812357e+02] [ 2.94292035e-02 -2.17503195e-03 9.99564501e-01 6.74544960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01071405700003 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:154.26, Y:116.83, Z:6.75 [[-3.79218898e-01 -9.25263579e-01 8.96308348e-03 1.54261213e+02] [ 9.24839243e-01 -3.79317378e-01 -2.81194093e-02 1.16825473e+02] [ 2.94177186e-02 -2.37400008e-03 9.99564386e-01 6.74868878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.040714057 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:154.25, Y:116.85, Z:6.75 [[-3.80032805e-01 -9.24928763e-01 9.04714731e-03 1.54252438e+02] [ 9.24504997e-01 -3.80133454e-01 -2.80903395e-02 1.16847269e+02] [ 2.94206863e-02 -2.31111763e-03 9.99564446e-01 6.74675166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07071405700003 meters Centerline goodness : 0.993089 Centerline is valid? [True, True] Translation: X:154.26, Y:116.81, Z:6.75 [[-3.77274876e-01 -9.26055091e-01 9.25397407e-03 1.54262454e+02] [ 9.25633296e-01 -3.77383026e-01 -2.80188115e-02 1.16813948e+02] [ 2.94392557e-02 -2.00500712e-03 9.99564560e-01 6.74545060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.100714057 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:154.26, Y:116.81, Z:6.75 [[-3.73366766e-01 -9.27637647e-01 9.25492888e-03 1.54263578e+02] [ 9.27216319e-01 -3.73476722e-01 -2.80184817e-02 1.16809405e+02] [ 2.94474989e-02 -1.87984881e-03 9.99564561e-01 6.74829920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13071405700003 meters Centerline goodness : 0.992914 Centerline is valid? [True, True] Translation: X:154.26, Y:116.82, Z:6.74 [[-3.68481810e-01 -9.29591866e-01 8.95090593e-03 1.54259786e+02] [ 9.29168609e-01 -3.68584830e-01 -2.81232870e-02 1.16821341e+02] [ 2.94423470e-02 -2.04601891e-03 9.99564386e-01 6.74375015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.160714057 meters Centerline goodness : 0.993042 Centerline is valid? [True, True] Translation: X:154.26, Y:116.83, Z:6.74 [[-3.67061263e-01 -9.30154019e-01 8.91794817e-03 1.54256641e+02] [ 9.29730652e-01 -3.67163936e-01 -2.81346463e-02 1.16829743e+02] [ 2.94439033e-02 -2.03584906e-03 9.99564361e-01 6.74397280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19071405700004 meters Centerline goodness : 0.992987 Centerline is valid? [True, True] Translation: X:154.26, Y:116.83, Z:6.74 [[-3.63557106e-01 -9.31529425e-01 8.89724488e-03 1.54255199e+02] [ 9.31106278e-01 -3.63660748e-01 -2.81417761e-02 1.16830437e+02] [ 2.94504712e-02 -1.94686209e-03 9.99564345e-01 6.74412042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.220714057 meters Centerline goodness : 0.993173 Centerline is valid? [True, True] Translation: X:154.26, Y:116.83, Z:6.74 [[-3.56120432e-01 -9.34398019e-01 8.86456762e-03 1.54256626e+02] [ 9.33975436e-01 -3.56226462e-01 -2.81530146e-02 1.16830736e+02] [ 2.94639147e-02 -1.74657531e-03 9.99564319e-01 6.74166559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25071405700004 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:154.26, Y:116.82, Z:6.74 [[-3.57457696e-01 -9.33889892e-01 8.58285468e-03 1.54258771e+02] [ 9.33464858e-01 -3.57554635e-01 -2.82496141e-02 1.16819218e+02] [ 2.94508685e-02 -2.08624873e-03 9.99564052e-01 6.74295056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.280714057 meters Centerline goodness : 0.991995 Centerline is valid? [True, True] Translation: X:154.26, Y:116.82, Z:6.75 [[-3.58857426e-01 -9.33351913e-01 8.69217692e-03 1.54256328e+02] [ 9.32927612e-01 -3.58957025e-01 -2.82121385e-02 1.16822895e+02] [ 2.94519714e-02 -2.01496354e-03 9.99564166e-01 6.74798932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.310714057 meters Centerline goodness : 0.992389 Centerline is valid? [True, True] Translation: X:154.25, Y:116.83, Z:6.75 [[-3.57779119e-01 -9.33762546e-01 9.03381730e-03 1.54252589e+02] [ 9.33341200e-01 -3.57889485e-01 -2.80948482e-02 1.16834988e+02] [ 2.94670252e-02 -1.62011617e-03 9.99564440e-01 6.74868569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.340714057 meters Centerline goodness : 0.992834 Centerline is valid? [True, True] Translation: X:154.25, Y:116.84, Z:6.74 [[-3.55905344e-01 -9.34478394e-01 9.02871596e-03 1.54250070e+02] [ 9.34057227e-01 -3.56016401e-01 -2.80965983e-02 1.16842036e+02] [ 2.94700350e-02 -1.56639206e-03 9.99564437e-01 6.74375604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.370714057 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:154.26, Y:116.82, Z:6.75 [[-3.56041114e-01 -9.34428898e-01 8.79545921e-03 1.54256567e+02] [ 9.34005757e-01 -3.56145102e-01 -2.81764486e-02 1.16823885e+02] [ 2.94613475e-02 -1.81696460e-03 9.99564269e-01 6.74703076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.400714057 meters Centerline goodness : 0.992800 Centerline is valid? [True, True] Translation: X:154.25, Y:116.84, Z:6.75 [[-3.56402695e-01 -9.34288936e-01 9.01684774e-03 1.54251273e+02] [ 9.33867610e-01 -3.56513172e-01 -2.81006423e-02 1.16838204e+02] [ 2.94687442e-02 -1.59460258e-03 9.99564430e-01 6.74755656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.430714057 meters Centerline goodness : 0.992800 Centerline is valid? [True, True] Translation: X:154.25, Y:116.84, Z:6.75 [[-3.56075917e-01 -9.34413340e-01 9.03605249e-03 1.54250324e+02] [ 9.33992216e-01 -3.56187118e-01 -2.80940668e-02 1.16840691e+02] [ 2.94699963e-02 -1.56401790e-03 9.99564442e-01 6.74764331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.460714057 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:154.25, Y:116.83, Z:6.75 [[-3.55412568e-01 -9.34666004e-01 9.02042024e-03 1.54253999e+02] [ 9.34244825e-01 -3.55523599e-01 -2.80994112e-02 1.16830679e+02] [ 2.94705367e-02 -1.55960298e-03 9.99564433e-01 6.74802860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.490714057 meters Centerline goodness : 0.992629 Centerline is valid? [True, True] Translation: X:154.25, Y:116.83, Z:6.75 [[-3.55484041e-01 -9.34638505e-01 9.05323477e-03 1.54252615e+02] [ 9.34217598e-01 -3.55596024e-01 -2.80882015e-02 1.16834522e+02] [ 2.94716090e-02 -1.52721614e-03 9.99564451e-01 6.74778801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.520714057 meters Centerline goodness : 0.992315 Centerline is valid? [True, True] Translation: X:154.25, Y:116.83, Z:6.75 [[-3.54931361e-01 -9.34847946e-01 9.11303930e-03 1.54252173e+02] [ 9.34427618e-01 -3.55045385e-01 -2.80677910e-02 1.16833509e+02] [ 2.94746593e-02 -1.44666366e-03 9.99564481e-01 6.74780068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.550714057 meters Centerline goodness : 0.992105 Centerline is valid? [True, True] Translation: X:154.25, Y:116.84, Z:6.75 [[-3.56184052e-01 -9.34371679e-01 9.08220302e-03 1.54249486e+02] [ 9.33950936e-01 -3.56296588e-01 -2.80783057e-02 1.16839380e+02] [ 2.94715316e-02 -1.51871268e-03 9.99564466e-01 6.74817230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.580714057 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:154.25, Y:116.84, Z:6.75 [[-3.51607083e-01 -9.36102526e-01 9.19343653e-03 1.54249702e+02] [ 9.35683310e-01 -3.51725006e-01 -2.80403948e-02 1.16842984e+02] [ 2.94822459e-02 -1.25705629e-03 9.99564514e-01 6.74649652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.610714057 meters Centerline goodness : 0.990894 Centerline is valid? [True, True] Translation: X:154.25, Y:116.85, Z:6.75 [[-3.55945172e-01 -9.34464695e-01 8.87518187e-03 1.54245691e+02] [ 9.34042241e-01 -3.56051602e-01 -2.81486950e-02 1.16851673e+02] [ 2.94639844e-02 -1.72959734e-03 9.99564346e-01 6.74771248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.640714057 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:154.24, Y:116.86, Z:6.75 [[-3.51027814e-01 -9.36319393e-01 9.24490022e-03 1.54243715e+02] [ 9.35900706e-01 -3.51147535e-01 -2.80228008e-02 1.16861199e+02] [ 2.94846157e-02 -1.18447385e-03 9.99564532e-01 6.74641355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.670714057 meters Centerline goodness : 0.991718 Centerline is valid? [True, True] Translation: X:154.24, Y:116.86, Z:6.75 [[-3.56603723e-01 -9.34212007e-01 9.03940898e-03 1.54240539e+02] [ 9.33790856e-01 -3.56714787e-01 -2.80926615e-02 1.16863613e+02] [ 2.94689926e-02 -1.57703024e-03 9.99564451e-01 6.74830847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.700714057 meters Centerline goodness : 0.991658 Centerline is valid? [True, True] Translation: X:154.24, Y:116.86, Z:6.75 [[-3.56466880e-01 -9.34262808e-01 9.18530225e-03 1.54241484e+02] [ 9.33842917e-01 -3.56582379e-01 -2.80430629e-02 1.16862951e+02] [ 2.94749076e-02 -1.41879370e-03 9.99564514e-01 6.74776284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.730714057 meters Centerline goodness : 0.991648 Centerline is valid? [True, True] Translation: X:154.24, Y:116.87, Z:6.75 [[-3.55978600e-01 -9.34449875e-01 9.09220106e-03 1.54238554e+02] [ 9.34029248e-01 -3.56091528e-01 -2.80746804e-02 1.16873337e+02] [ 2.94720374e-02 -1.50160371e-03 9.99564477e-01 6.74770837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76071405700003 meters Centerline goodness : 0.992204 Centerline is valid? [True, True] Translation: X:154.24, Y:116.86, Z:6.75 [[-3.57959699e-01 -9.33693339e-01 9.03337733e-03 1.54241049e+02] [ 9.33271979e-01 -3.58069970e-01 -2.80946405e-02 1.16864310e+02] [ 2.94663598e-02 -1.62615110e-03 9.99564450e-01 6.74714222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.790714057 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:154.24, Y:116.88, Z:6.75 [[-3.60361394e-01 -9.32767519e-01 9.18812666e-03 1.54237234e+02] [ 9.32347172e-01 -3.60475226e-01 -2.80421391e-02 1.16875001e+02] [ 2.94688885e-02 -1.53878044e-03 9.99564514e-01 6.74837149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82071405700003 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:154.23, Y:116.89, Z:6.75 [[-3.63253626e-01 -9.31645274e-01 9.15897755e-03 1.54231072e+02] [ 9.31224333e-01 -3.63365277e-01 -2.80520252e-02 1.16892395e+02] [ 2.94625911e-02 -1.66093711e-03 9.99564504e-01 6.74907481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.850714057 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:154.22, Y:116.91, Z:6.75 [[-3.66990108e-01 -9.30178908e-01 9.24444326e-03 1.54223109e+02] [ 9.29758229e-01 -3.67102637e-01 -2.80230368e-02 1.16913849e+02] [ 2.94600972e-02 -1.68908009e-03 9.99564530e-01 6.74946847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88071405700003 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:154.23, Y:116.89, Z:6.75 [[-3.68041354e-01 -9.29764969e-01 9.09201520e-03 1.54232226e+02] [ 9.29342917e-01 -3.68148825e-01 -2.80746423e-02 1.16889247e+02] [ 2.94500337e-02 -1.88302946e-03 9.99564480e-01 6.74902554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.910714057 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:154.23, Y:116.90, Z:6.75 [[-3.70390740e-01 -9.28831761e-01 9.06976330e-03 1.54232557e+02] [ 9.28409261e-01 -3.70496473e-01 -2.80821645e-02 1.16895324e+02] [ 2.94439216e-02 -1.98092144e-03 9.99564471e-01 6.74971861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94071405700004 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:154.22, Y:116.94, Z:6.75 [[-3.72599746e-01 -9.27945360e-01 9.31871820e-03 1.54217034e+02] [ 9.27524611e-01 -3.72711966e-01 -2.79979764e-02 1.16936055e+02] [ 2.94537901e-02 -1.78869841e-03 9.99564543e-01 6.74950849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.970714057 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:154.22, Y:116.92, Z:6.75 [[-3.72777288e-01 -9.27876263e-01 9.09579632e-03 1.54223381e+02] [ 9.27453702e-01 -3.72882719e-01 -2.80732695e-02 1.16921560e+02] [ 2.94401857e-02 -2.02914729e-03 9.99564484e-01 6.74933566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00071405700004 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:154.23, Y:116.90, Z:6.75 [[-3.72627147e-01 -9.27934202e-01 9.33414841e-03 1.54231109e+02] [ 9.27513575e-01 -3.72739818e-01 -2.79927852e-02 1.16897577e+02] [ 2.94546715e-02 -1.77332231e-03 9.99564544e-01 6.74763588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.030714057 meters Centerline goodness : 0.993364 Centerline is valid? [True, True] Translation: X:154.23, Y:116.90, Z:6.75 [[-3.71760742e-01 -9.28283437e-01 9.15484614e-03 1.54233152e+02] [ 9.27861465e-01 -3.71868415e-01 -2.80532215e-02 1.16896266e+02] [ 2.94457389e-02 -1.93465748e-03 9.99564508e-01 6.74609470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.060714057 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:154.22, Y:116.92, Z:6.75 [[-3.70659172e-01 -9.28722761e-01 9.26345739e-03 1.54223400e+02] [ 9.28301795e-01 -3.70770611e-01 -2.80166252e-02 1.16919417e+02] [ 2.94542952e-02 -1.78533496e-03 9.99564534e-01 6.74556371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.090714057 meters Centerline goodness : 0.993242 Centerline is valid? [True, True] Translation: X:154.23, Y:116.90, Z:6.75 [[-3.70886179e-01 -9.28633982e-01 9.07574868e-03 1.54227839e+02] [ 9.28211484e-01 -3.70991868e-01 -2.80798046e-02 1.16903989e+02] [ 2.94428897e-02 -1.99019727e-03 9.99564483e-01 6.74531167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.120714057 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:154.23, Y:116.91, Z:6.74 [[-3.69941221e-01 -9.29009192e-01 9.24193670e-03 1.54226241e+02] [ 9.28588137e-01 -3.70052339e-01 -2.80238911e-02 1.16906396e+02] [ 2.94544527e-02 -1.78523973e-03 9.99564529e-01 6.74487842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.150714057 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:154.23, Y:116.89, Z:6.75 [[-3.67507301e-01 -9.29975058e-01 9.20734598e-03 1.54230971e+02] [ 9.29554012e-01 -3.67618482e-01 -2.80355144e-02 1.16886491e+02] [ 2.94571197e-02 -1.74453085e-03 9.99564523e-01 6.74522010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.180714057 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:154.23, Y:116.90, Z:6.74 [[-3.65715153e-01 -9.30682002e-01 9.13446328e-03 1.54225738e+02] [ 9.30260577e-01 -3.65824955e-01 -2.80599635e-02 1.16897058e+02] [ 2.94565176e-02 -1.76452276e-03 9.99564505e-01 6.74393875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.210714057 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:154.23, Y:116.89, Z:6.74 [[-3.63742831e-01 -9.31457411e-01 8.84556933e-03 1.54228270e+02] [ 9.31033907e-01 -3.63844838e-01 -2.81566792e-02 1.16885341e+02] [ 2.94451622e-02 -2.00626523e-03 9.99564384e-01 6.74438907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.240714057 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:154.23, Y:116.88, Z:6.74 [[-3.62588596e-01 -9.31904503e-01 9.13825254e-03 1.54229230e+02] [ 9.31483480e-01 -3.62699927e-01 -2.80586748e-02 1.16878350e+02] [ 2.94624490e-02 -1.66162424e-03 9.99564507e-01 6.74422311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.270714057 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:154.22, Y:116.90, Z:6.74 [[-3.61613421e-01 -9.32283036e-01 9.16922979e-03 1.54220083e+02] [ 9.31862386e-01 -3.61726121e-01 -2.80483081e-02 1.16901370e+02] [ 2.94657117e-02 -1.59818428e-03 9.99564514e-01 6.74418300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.300714057 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:154.22, Y:116.89, Z:6.75 [[-3.59949842e-01 -9.32927957e-01 9.02980627e-03 1.54222323e+02] [ 9.32506362e-01 -3.60059109e-01 -2.80948870e-02 1.16887834e+02] [ 2.94617695e-02 -1.69239833e-03 9.99564475e-01 6.74514876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.330714057 meters Centerline goodness : 0.993318 Centerline is valid? [True, True] Translation: X:154.23, Y:116.88, Z:6.75 [[-3.60008088e-01 -9.32908825e-01 8.67758308e-03 1.54225555e+02] [ 9.32484430e-01 -3.60106734e-01 -2.82121887e-02 1.16879305e+02] [ 2.94442559e-02 -2.06490499e-03 9.99564291e-01 6.74698100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.360714057 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:154.22, Y:116.90, Z:6.75 [[-3.59239513e-01 -9.33201287e-01 9.07363692e-03 1.54218761e+02] [ 9.32780137e-01 -3.59350417e-01 -2.80801287e-02 1.16895056e+02] [ 2.94650275e-02 -1.62378350e-03 9.99564493e-01 6.74620874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.390714057 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:154.22, Y:116.90, Z:6.75 [[-3.58941574e-01 -9.33318486e-01 8.80628996e-03 1.54215270e+02] [ 9.32895219e-01 -3.59044580e-01 -2.81691256e-02 1.16902039e+02] [ 2.94526164e-02 -1.89572450e-03 9.99564380e-01 6.74688510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.420714057 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:154.22, Y:116.89, Z:6.75 [[-3.59340940e-01 -9.33163715e-01 8.92019735e-03 1.54219217e+02] [ 9.32741310e-01 -3.59447191e-01 -2.81312364e-02 1.16887023e+02] [ 2.94573889e-02 -1.78846837e-03 9.99564437e-01 6.74528420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.450714057 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:154.22, Y:116.90, Z:6.75 [[-3.58638553e-01 -9.33435800e-01 8.71754280e-03 1.54216031e+02] [ 9.33011873e-01 -3.58739026e-01 -2.81984952e-02 1.16896490e+02] [ 2.94488077e-02 -1.97949657e-03 9.99564330e-01 6.74568218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.480714057 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:154.22, Y:116.90, Z:6.75 [[-3.59956163e-01 -9.32928630e-01 8.70243322e-03 1.54215580e+02] [ 9.32504445e-01 -3.60055583e-01 -2.82035055e-02 1.16895414e+02] [ 2.94452174e-02 -2.03696797e-03 9.99564320e-01 6.74661804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51071405700003 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:154.21, Y:116.90, Z:6.75 [[-3.58850387e-01 -9.33353696e-01 8.79080766e-03 1.54213401e+02] [ 9.32930319e-01 -3.58952969e-01 -2.81742035e-02 1.16902381e+02] [ 2.94519835e-02 -1.90911283e-03 9.99564373e-01 6.74642391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.540714057 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:154.21, Y:116.92, Z:6.75 [[-3.56164215e-01 -9.34382280e-01 8.76400910e-03 1.54209043e+02] [ 9.33958987e-01 -3.56267208e-01 -2.81830839e-02 1.16916970e+02] [ 2.94561033e-02 -1.85258089e-03 9.99564358e-01 6.74595359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57071405700003 meters Centerline goodness : 0.992567 Centerline is valid? [True, True] Translation: X:154.22, Y:116.89, Z:6.74 [[-3.46695746e-01 -9.37937441e-01 8.68421971e-03 1.54221216e+02] [ 9.37514562e-01 -3.46800622e-01 -2.82094776e-02 1.16893683e+02] [ 2.94704180e-02 -1.63852344e-03 9.99564310e-01 6.74445385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.600714057 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] Translation: X:154.22, Y:116.90, Z:6.74 [[-3.39521119e-01 -9.40557852e-01 8.73702936e-03 1.54220896e+02] [ 9.40136228e-01 -3.39630803e-01 -2.81920358e-02 1.16903082e+02] [ 2.94836050e-02 -1.35779374e-03 9.99564342e-01 6.74353950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63071405700003 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:154.21, Y:116.91, Z:6.75 [[-3.51849134e-01 -9.36018781e-01 8.42782303e-03 1.54212306e+02] [ 9.35593339e-01 -3.51943966e-01 -2.82939595e-02 1.16910159e+02] [ 2.94497989e-02 -2.07019004e-03 9.99564117e-01 6.74609703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.660714057 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:154.21, Y:116.91, Z:6.75 [[-3.51649330e-01 -9.36091408e-01 8.69621973e-03 1.54212928e+02] [ 9.35668079e-01 -3.51752329e-01 -2.82054001e-02 1.16909367e+02] [ 2.94617482e-02 -1.78163481e-03 9.99564321e-01 6.74654121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69071405700004 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:154.21, Y:116.93, Z:6.75 [[-3.50394007e-01 -9.36558715e-01 9.04510462e-03 1.54205464e+02] [ 9.36138376e-01 -3.50508036e-01 -2.80901790e-02 1.16932070e+02] [ 2.94784838e-02 -1.37516084e-03 9.99564469e-01 6.74583847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.720714057 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:154.21, Y:116.92, Z:6.75 [[-3.47945458e-01 -9.37471670e-01 8.99029850e-03 1.54212046e+02] [ 9.37051170e-01 -3.48058945e-01 -2.81082651e-02 1.16915412e+02] [ 2.94798561e-02 -1.35577346e-03 9.99564455e-01 6.74673636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75071405700004 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:154.21, Y:116.92, Z:6.75 [[-3.46132516e-01 -9.38143637e-01 8.87675767e-03 1.54212873e+02] [ 9.37722409e-01 -3.46243418e-01 -2.81456823e-02 1.16917887e+02] [ 2.94782117e-02 -1.41820125e-03 9.99564417e-01 6.74640362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.780714057 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:154.21, Y:116.92, Z:6.74 [[-3.44992691e-01 -9.38563074e-01 8.91064591e-03 1.54211775e+02] [ 9.38142263e-01 -3.45105118e-01 -2.81345218e-02 1.16922694e+02] [ 2.94811328e-02 -1.34675084e-03 9.99564430e-01 6.74437714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.810714057 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:154.21, Y:116.92, Z:6.74 [[-3.44571939e-01 -9.38718541e-01 8.81355944e-03 1.54212523e+02] [ 9.38296974e-01 -3.44681649e-01 -2.81664569e-02 1.16923167e+02] [ 2.94782475e-02 -1.43563452e-03 9.99564391e-01 6.74432259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.840714057 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:154.22, Y:116.91, Z:6.74 [[-3.34442822e-01 -9.42376626e-01 8.61938448e-03 1.54221624e+02] [ 9.41954622e-01 -3.34551261e-01 -2.82301975e-02 1.16911878e+02] [ 2.94871042e-02 -1.32231788e-03 9.99564286e-01 6.74077978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.870714057 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:154.23, Y:116.91, Z:6.74 [[-3.30675222e-01 -9.43708764e-01 8.22597359e-03 1.54225547e+02] [ 9.43283959e-01 -3.30773565e-01 -2.83588096e-02 1.16906971e+02] [ 2.94833918e-02 -1.61812674e-03 9.99563961e-01 6.73906200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.900714057 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:154.22, Y:116.91, Z:6.74 [[-3.36030251e-01 -9.41816130e-01 8.12697376e-03 1.54224740e+02] [ 9.41390002e-01 -3.36123202e-01 -2.83911503e-02 1.16906796e+02] [ 2.94709077e-02 -1.88963351e-03 9.99563852e-01 6.74221281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.930714057 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:154.23, Y:116.91, Z:6.74 [[-3.26721831e-01 -9.45079993e-01 8.75513516e-03 1.54226580e+02] [ 9.44660073e-01 -3.26837769e-01 -2.81854557e-02 1.16912208e+02] [ 2.94990191e-02 -9.38177078e-04 9.99564369e-01 6.73685551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.960714057 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:154.22, Y:116.93, Z:6.74 [[-3.31164340e-01 -9.43539040e-01 8.01621007e-03 1.54221789e+02] [ 9.43112552e-01 -3.31256160e-01 -2.84265711e-02 1.16927863e+02] [ 2.94769986e-02 -1.85367832e-03 9.99563740e-01 6.73802640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.990714057 meters Centerline goodness : 0.993019 Centerline is valid? [True, True] Translation: X:154.23, Y:116.91, Z:6.74 [[-3.23095294e-01 -9.46330262e-01 8.27443073e-03 1.54232948e+02] [ 9.45906681e-01 -3.23198492e-01 -2.83423050e-02 1.16909585e+02] [ 2.94954645e-02 -1.33042607e-03 9.99564029e-01 6.74324624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.020714057 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:154.23, Y:116.91, Z:6.74 [[-3.27501213e-01 -9.44814500e-01 8.27741641e-03 1.54232798e+02] [ 9.44390467e-01 -3.27602526e-01 -2.83413318e-02 1.16907592e+02] [ 2.94890037e-02 -1.46470738e-03 9.99564032e-01 6.74265480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.050714057 meters Centerline goodness : 0.995466 Centerline is valid? [True, True] Translation: X:154.23, Y:116.92, Z:6.74 [[-3.20679625e-01 -9.47148564e-01 8.61252968e-03 1.54231216e+02] [ 9.46728138e-01 -3.20793996e-01 -2.82319832e-02 1.16921641e+02] [ 2.95027301e-02 -8.99697575e-04 9.99564295e-01 6.73856920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.080714057 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:154.24, Y:116.91, Z:6.74 [[-3.19354274e-01 -9.47601919e-01 7.96565010e-03 1.54236592e+02] [ 9.47176232e-01 -3.19449899e-01 -2.84420132e-02 1.16909388e+02] [ 2.94963324e-02 -1.53820403e-03 9.99563705e-01 6.73801718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.110714057 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:154.23, Y:116.94, Z:6.74 [[-3.24189361e-01 -9.45958107e-01 8.03232981e-03 1.54227796e+02] [ 9.45532466e-01 -3.24284813e-01 -2.84203341e-02 1.16939507e+02] [ 2.94892080e-02 -1.61874133e-03 9.99563788e-01 6.74316417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.140714057 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:154.24, Y:116.93, Z:6.74 [[-3.14547007e-01 -9.49202253e-01 8.67541993e-03 1.54235663e+02] [ 9.48783162e-01 -3.14665965e-01 -2.82106817e-02 1.16931621e+02] [ 2.95075020e-02 -6.42493130e-04 9.99564352e-01 6.73778719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.170714057 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:154.24, Y:116.92, Z:6.74 [[-3.24241139e-01 -9.45941398e-01 7.90915707e-03 1.54235591e+02] [ 9.45514817e-01 -3.24332870e-01 -2.84591036e-02 1.16923928e+02] [ 2.94858438e-02 -1.74938695e-03 9.99563667e-01 6.73986198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.200714057 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:154.24, Y:116.93, Z:6.74 [[-3.26799095e-01 -9.45056932e-01 8.35146429e-03 1.54238200e+02] [ 9.44633633e-01 -3.26902942e-01 -2.83154773e-02 1.16925703e+02] [ 2.94898563e-02 -1.36439827e-03 9.99564148e-01 6.74156286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.230714057 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:154.24, Y:116.93, Z:6.74 [[-3.27402472e-01 -9.44844035e-01 8.79607898e-03 1.54237237e+02] [ 9.44424423e-01 -3.27519329e-01 -2.81708792e-02 1.16931277e+02] [ 2.94979730e-02 -9.15983671e-04 9.99564420e-01 6.74139468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26071405700003 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:154.23, Y:116.95, Z:6.74 [[-3.43907011e-01 -9.38965545e-01 8.46599243e-03 1.54225529e+02] [ 9.38541321e-01 -3.44006598e-01 -2.82780880e-02 1.16950827e+02] [ 2.94645076e-02 -1.77934902e-03 9.99564243e-01 6.74069357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.290714057 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:154.24, Y:116.96, Z:6.74 [[-3.22326293e-01 -9.46584578e-01 9.13219587e-03 1.54238597e+02] [ 9.46168638e-01 -3.22455381e-01 -2.80612880e-02 1.16955787e+02] [ 2.95071082e-02 -4.04293625e-04 9.99564489e-01 6.73570461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32071405700003 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:154.24, Y:116.96, Z:6.73 [[-3.22738408e-01 -9.46453653e-01 8.08713794e-03 1.54238750e+02] [ 9.46028704e-01 -3.22836162e-01 -2.83990225e-02 1.16962861e+02] [ 2.94891792e-02 -1.51479071e-03 9.99563952e-01 6.73493904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.350714057 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:154.24, Y:116.97, Z:6.73 [[-3.22441358e-01 -9.46555348e-01 8.03388571e-03 1.54237874e+02] [ 9.46130004e-01 -3.22537648e-01 -2.84162160e-02 1.16965351e+02] [ 2.94887519e-02 -1.56146296e-03 9.99563893e-01 6.73499583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38071405700003 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:154.24, Y:116.96, Z:6.73 [[-3.21564232e-01 -9.46853816e-01 8.01853506e-03 1.54243299e+02] [ 9.46428438e-01 -3.21660456e-01 -2.84211634e-02 1.16960957e+02] [ 2.94899326e-02 -1.55025996e-03 9.99563875e-01 6.73337774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.410714057 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:154.23, Y:116.97, Z:6.74 [[-3.47870883e-01 -9.37509795e-01 7.82516247e-03 1.54229147e+02] [ 9.37080541e-01 -3.47949350e-01 -2.84834900e-02 1.16967802e+02] [ 2.94263111e-02 -2.57576935e-03 9.99563634e-01 6.73852063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44071405700004 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:154.24, Y:116.98, Z:6.73 [[-3.25387723e-01 -9.45536924e-01 9.09700528e-03 1.54243967e+02] [ 9.45120289e-01 -3.25514421e-01 -2.80713552e-02 1.16975067e+02] [ 2.95037093e-02 -5.36310118e-04 9.99564527e-01 6.73344245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.470714057 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:154.24, Y:116.99, Z:6.73 [[-3.28009168e-01 -9.44641136e-01 7.94416314e-03 1.54240259e+02] [ 9.44214613e-01 -3.28100261e-01 -2.84426206e-02 1.16992842e+02] [ 2.94745514e-02 -1.82844539e-03 9.99563859e-01 6.73402472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50071405700004 meters Centerline goodness : 0.996358 Centerline is valid? [True, True] Translation: X:154.23, Y:116.98, Z:6.74 [[-3.52887011e-01 -9.35631316e-01 8.04974965e-03 1.54233380e+02] [ 9.35203264e-01 -3.52969980e-01 -2.84085906e-02 1.16978145e+02] [ 2.94212870e-02 -2.49687048e-03 9.99563982e-01 6.73880223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.530714057 meters Centerline goodness : 0.996939 Centerline is valid? [True, True] Translation: X:154.23, Y:116.98, Z:6.74 [[-3.54072421e-01 -9.35173880e-01 9.08490469e-03 1.54232830e+02] [ 9.34753526e-01 -3.54185994e-01 -2.80736224e-02 1.16982520e+02] [ 2.94714644e-02 -1.44794877e-03 9.99564573e-01 6.73976957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.560714057 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:154.23, Y:117.00, Z:6.74 [[-3.57118601e-01 -9.34014971e-01 9.07409110e-03 1.54230629e+02] [ 9.33594162e-01 -3.57230480e-01 -2.80771172e-02 1.16996288e+02] [ 2.94659897e-02 -1.55534235e-03 9.99564573e-01 6.74160012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.590714057 meters Centerline goodness : 0.996152 Centerline is valid? [True, True] Translation: X:154.23, Y:117.00, Z:6.74 [[-3.60533882e-01 -9.32702084e-01 9.06322525e-03 1.54232287e+02] [ 9.32280784e-01 -3.60643894e-01 -2.80806243e-02 1.17000618e+02] [ 2.94594536e-02 -1.67454573e-03 9.99564573e-01 6.74311742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.620714057 meters Centerline goodness : 0.996198 Centerline is valid? [True, True] Translation: X:154.24, Y:117.03, Z:6.74 [[-3.43050697e-01 -9.39273270e-01 9.05230863e-03 1.54236874e+02] [ 9.38854006e-01 -3.43168232e-01 -2.80841430e-02 1.17029551e+02] [ 2.94851496e-02 -1.13548860e-03 9.99564574e-01 6.73990616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.650714057 meters Centerline goodness : 0.995795 Centerline is valid? [True, True] Translation: X:154.23, Y:117.00, Z:6.74 [[-3.64780805e-01 -9.31057623e-01 8.16492679e-03 1.54234553e+02] [ 9.30629393e-01 -3.64861810e-01 -2.83688567e-02 1.17004891e+02] [ 2.93921103e-02 -2.74989353e-03 9.99564176e-01 6.74228848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.680714057 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:154.24, Y:117.03, Z:6.74 [[-3.48497443e-01 -9.37266131e-01 9.04062392e-03 1.54239531e+02] [ 9.36846123e-01 -3.48612194e-01 -2.80870011e-02 1.17034098e+02] [ 2.94766665e-02 -1.31857458e-03 9.99564599e-01 6.73782900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.710714057 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:154.24, Y:117.04, Z:6.74 [[-3.50310660e-01 -9.36599655e-01 7.97048726e-03 1.54239942e+02] [ 9.36171412e-01 -3.50392423e-01 -2.84295187e-02 1.17036726e+02] [ 2.94198757e-02 -2.49742115e-03 9.99564022e-01 6.73613814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.740714057 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:154.24, Y:117.04, Z:6.73 [[-3.52109643e-01 -9.35924302e-01 8.03124974e-03 1.54241234e+02] [ 9.35496321e-01 -3.52192419e-01 -2.84100826e-02 1.17037159e+02] [ 2.94182319e-02 -2.49025942e-03 9.99564088e-01 6.73411077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.770714057 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:154.24, Y:117.04, Z:6.73 [[-3.51178203e-01 -9.36274479e-01 7.99806208e-03 1.54242052e+02] [ 9.35846352e-01 -3.51260403e-01 -2.84206875e-02 1.17038163e+02] [ 2.94189669e-02 -2.49576873e-03 9.99564053e-01 6.73311741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.800714057 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:154.24, Y:117.04, Z:6.73 [[-3.53320450e-01 -9.35468537e-01 7.95460522e-03 1.54240640e+02] [ 9.35039927e-01 -3.53400355e-01 -2.84345626e-02 1.17038599e+02] [ 2.94107990e-02 -2.60863896e-03 9.99564005e-01 6.73351032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.830714057 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:154.24, Y:117.04, Z:6.73 [[-3.51667190e-01 -9.36090608e-01 8.03503657e-03 1.54240344e+02] [ 9.35662692e-01 -3.51750283e-01 -2.84088827e-02 1.17037149e+02] [ 2.94196147e-02 -2.47238802e-03 9.99564092e-01 6.73325657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.860714057 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:154.24, Y:117.04, Z:6.73 [[-3.46447664e-01 -9.38034539e-01 8.07593588e-03 1.54239248e+02] [ 9.37607383e-01 -3.46534373e-01 -2.83958366e-02 1.17041912e+02] [ 2.94348649e-02 -2.26561415e-03 9.99564133e-01 6.73305249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.890714057 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:154.24, Y:117.03, Z:6.73 [[-3.45396338e-01 -9.38423685e-01 7.89666830e-03 1.54238218e+02] [ 9.37995364e-01 -3.45478116e-01 -2.84529215e-02 1.17030668e+02] [ 2.94290215e-02 -2.42049663e-03 9.99563942e-01 6.73417625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.920714057 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:154.23, Y:117.05, Z:6.73 [[-3.41785262e-01 -9.39743327e-01 8.08175489e-03 1.54232726e+02] [ 9.39316650e-01 -3.41874267e-01 -2.83939659e-02 1.17046112e+02] [ 2.94459840e-02 -2.11331217e-03 9.99564139e-01 6.73482178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.950714057 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:154.23, Y:117.04, Z:6.73 [[-3.39343886e-01 -9.40628145e-01 8.02620941e-03 1.54233614e+02] [ 9.40201295e-01 -3.39432326e-01 -2.84116541e-02 1.17038252e+02] [ 2.94491564e-02 -2.09506864e-03 9.99564084e-01 6.73459600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.980714057 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:154.24, Y:117.02, Z:6.73 [[-3.23195028e-01 -9.46298400e-01 8.01944663e-03 1.54242194e+02] [ 9.45873074e-01 -3.23290557e-01 -2.84138023e-02 1.17016768e+02] [ 2.94805470e-02 -1.59782097e-03 9.99564077e-01 6.73212851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01071405700003 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:154.23, Y:117.01, Z:6.74 [[-3.53263207e-01 -9.35493191e-01 7.58923999e-03 1.54225009e+02] [ 9.35062211e-01 -3.53332073e-01 -2.85500859e-02 1.17012421e+02] [ 2.93899328e-02 -2.98928337e-03 9.99563553e-01 6.74034680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.040714057 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:154.24, Y:117.01, Z:6.73 [[-3.19294425e-01 -9.47613205e-01 8.96017868e-03 1.54239726e+02] [ 9.47196218e-01 -3.19419747e-01 -2.81131749e-02 1.17008044e+02] [ 2.95024738e-02 -4.89332660e-04 9.99564588e-01 6.73300958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07071405700003 meters Centerline goodness : 0.994162 Centerline is valid? [True, True] Translation: X:154.23, Y:117.02, Z:6.73 [[-3.18419830e-01 -9.47918374e-01 7.71804425e-03 1.54234402e+02] [ 9.47491300e-01 -3.18508469e-01 -2.85059989e-02 1.17022307e+02] [ 2.94796226e-02 -1.76409556e-03 9.99563825e-01 6.73312755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.100714057 meters Centerline goodness : 0.994803 Centerline is valid? [True, True] Translation: X:154.24, Y:117.02, Z:6.73 [[-3.13854037e-01 -9.49439147e-01 7.80702321e-03 1.54236447e+02] [ 9.49013194e-01 -3.13947397e-01 -2.84778714e-02 1.17017295e+02] [ 2.94890005e-02 -1.52892685e-03 9.99563936e-01 6.73284232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13071405700003 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:154.23, Y:117.02, Z:6.73 [[-3.13973871e-01 -9.49400444e-01 7.69444048e-03 1.54232890e+02] [ 9.48973610e-01 -3.14063802e-01 -2.85134187e-02 1.17020714e+02] [ 2.94871976e-02 -1.65064748e-03 9.99563795e-01 6.73383277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.160714057 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:154.23, Y:117.02, Z:6.74 [[-3.10789036e-01 -9.50446266e-01 7.87853469e-03 1.54233135e+02] [ 9.50021183e-01 -3.10885912e-01 -2.84552751e-02 1.17020215e+02] [ 2.94945354e-02 -1.35881268e-03 9.99564018e-01 6.73755297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19071405700004 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:154.23, Y:117.01, Z:6.74 [[-3.16151667e-01 -9.48675661e-01 7.91289466e-03 1.54232581e+02] [ 9.48250306e-01 -3.16247169e-01 -2.84444343e-02 1.17005313e+02] [ 2.94869730e-02 -1.48935052e-03 9.99564055e-01 6.73960780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.220714057 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:154.23, Y:117.01, Z:6.74 [[-3.15804007e-01 -9.48788501e-01 8.25887610e-03 1.54229909e+02] [ 9.48365953e-01 -3.15910011e-01 -2.83352042e-02 1.17006273e+02] [ 2.94931775e-02 -1.11593412e-03 9.99564359e-01 6.74012949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25071405700004 meters Centerline goodness : 0.992351 Centerline is valid? [True, True] Translation: X:154.23, Y:117.01, Z:6.74 [[-3.15610602e-01 -9.48854373e-01 8.08256856e-03 1.54229255e+02] [ 9.48430419e-01 -3.15711424e-01 -2.83907922e-02 1.17005692e+02] [ 2.94904865e-02 -1.29468110e-03 9.99564223e-01 6.73916896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.280714057 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:154.23, Y:117.01, Z:6.74 [[-3.14967493e-01 -9.49065738e-01 8.34888894e-03 1.54225752e+02] [ 9.48644028e-01 -3.15076553e-01 -2.83067667e-02 1.17011050e+02] [ 2.94955216e-02 -9.95587699e-04 9.99564417e-01 6.74049753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.310714057 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:154.22, Y:117.02, Z:6.74 [[-3.17721934e-01 -9.48149288e-01 8.10559832e-03 1.54222410e+02] [ 9.47725297e-01 -3.17822502e-01 -2.83834243e-02 1.17016645e+02] [ 2.94878651e-02 -1.33615588e-03 9.99564245e-01 6.73926692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.340714057 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:154.22, Y:117.02, Z:6.74 [[-3.20549947e-01 -9.47196045e-01 8.20872990e-03 1.54220712e+02] [ 9.46772573e-01 -3.20652334e-01 -2.83509302e-02 1.17016901e+02] [ 2.94860373e-02 -1.31608883e-03 9.99564326e-01 6.73872537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.370714057 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:154.22, Y:117.02, Z:6.74 [[-3.21005228e-01 -9.47041445e-01 8.25506944e-03 1.54219661e+02] [ 9.46618293e-01 -3.21108797e-01 -2.83363413e-02 1.17020704e+02] [ 2.94864650e-02 -1.28171395e-03 9.99564358e-01 6.74025179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.400714057 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:154.22, Y:117.02, Z:6.74 [[-3.23024158e-01 -9.46354816e-01 8.24351257e-03 1.54219273e+02] [ 9.45931353e-01 -3.23126479e-01 -2.83399762e-02 1.17024842e+02] [ 2.94833701e-02 -1.35669996e-03 9.99564350e-01 6.73899328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.430714057 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:154.22, Y:117.03, Z:6.74 [[-3.26480036e-01 -9.45168950e-01 8.15114581e-03 1.54219568e+02] [ 9.44744400e-01 -3.26578043e-01 -2.83689994e-02 1.17025963e+02] [ 2.94754826e-02 -1.56116260e-03 9.99564284e-01 6.74079230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.460714057 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:154.22, Y:117.02, Z:6.74 [[-3.29043950e-01 -9.44277545e-01 8.36641737e-03 1.54219905e+02] [ 9.43854396e-01 -3.29147252e-01 -2.83013411e-02 1.17024121e+02] [ 2.94781041e-02 -1.41570522e-03 9.99564424e-01 6.73847588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.490714057 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:154.22, Y:117.02, Z:6.74 [[-3.30323906e-01 -9.43831366e-01 8.27469061e-03 1.54219861e+02] [ 9.43407366e-01 -3.30423888e-01 -2.83301282e-02 1.17024254e+02] [ 2.94730190e-02 -1.55171453e-03 9.99564372e-01 6.73812963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.520714057 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:154.22, Y:117.03, Z:6.74 [[-3.35909254e-01 -9.41857698e-01 8.30967584e-03 1.54216172e+02] [ 9.41433377e-01 -3.36007772e-01 -2.83191537e-02 1.17034034e+02] [ 2.94647286e-02 -1.68965961e-03 9.99564393e-01 6.73702138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.550714057 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:154.21, Y:117.04, Z:6.74 [[-3.40121213e-01 -9.40345159e-01 8.27905960e-03 1.54214705e+02] [ 9.39920175e-01 -3.40216911e-01 -2.83287519e-02 1.17036979e+02] [ 2.94554808e-02 -1.85355429e-03 9.99564375e-01 6.73660396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.580714057 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:154.21, Y:117.04, Z:6.74 [[-3.45754113e-01 -9.38287769e-01 8.37591391e-03 1.54213497e+02] [ 9.37862921e-01 -3.45850173e-01 -2.82983905e-02 1.17042330e+02] [ 2.94488450e-02 -1.92882582e-03 9.99564428e-01 6.73540001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.610714057 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:154.21, Y:117.04, Z:6.74 [[-3.47300948e-01 -9.37715619e-01 8.45395245e-03 1.54213355e+02] [ 9.37291182e-01 -3.47398653e-01 -2.82739334e-02 1.17044078e+02] [ 2.94498007e-02 -1.89574880e-03 9.99564463e-01 6.73572906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.640714057 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:154.21, Y:117.05, Z:6.74 [[-3.50079522e-01 -9.36682189e-01 8.41459421e-03 1.54211328e+02] [ 9.36257181e-01 -3.50174784e-01 -2.82862575e-02 1.17049343e+02] [ 2.94418123e-02 -2.02421526e-03 9.99564446e-01 6.73512265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.670714057 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:154.21, Y:117.06, Z:6.73 [[-3.51996551e-01 -9.35963207e-01 8.44417482e-03 1.54208937e+02] [ 9.35538215e-01 -3.52091833e-01 -2.82769985e-02 1.17059894e+02] [ 2.94393552e-02 -2.05355770e-03 9.99564459e-01 6.73467263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.700714057 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:154.21, Y:117.06, Z:6.73 [[-3.53678346e-01 -9.35329308e-01 8.40909661e-03 1.54207286e+02] [ 9.34903898e-01 -3.53771808e-01 -2.82879703e-02 1.17063729e+02] [ 2.94334690e-02 -2.14314532e-03 9.99564444e-01 6.73391533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.730714057 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:154.21, Y:117.06, Z:6.73 [[-3.54448682e-01 -9.35037159e-01 8.46422540e-03 1.54208973e+02] [ 9.34612061e-01 -3.54543453e-01 -2.82707446e-02 1.17058129e+02] [ 2.94351324e-02 -2.10976103e-03 9.99564466e-01 6.73395591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76071405700003 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:154.20, Y:117.07, Z:6.73 [[-3.57546924e-01 -9.33856002e-01 8.55359310e-03 1.54201391e+02] [ 9.33431221e-01 -3.57642976e-01 -2.82428299e-02 1.17072952e+02] [ 2.94338687e-02 -2.11394612e-03 9.99564494e-01 6.73473035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.790714057 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:154.20, Y:117.07, Z:6.73 [[-3.59808052e-01 -9.32986612e-01 8.61086422e-03 1.54201746e+02] [ 9.32562002e-01 -3.59904799e-01 -2.82249565e-02 1.17069043e+02] [ 2.94325979e-02 -2.12540186e-03 9.99564508e-01 6.73328413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82071405700003 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:154.20, Y:117.07, Z:6.73 [[-3.60675656e-01 -9.32649911e-01 8.78720138e-03 1.54200460e+02] [ 9.32226467e-01 -3.60777311e-01 -2.81699513e-02 1.17065029e+02] [ 2.94429254e-02 -1.96855395e-03 9.99564525e-01 6.73395320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.850714057 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:154.20, Y:117.08, Z:6.74 [[-3.60137384e-01 -9.32857996e-01 8.77629597e-03 1.54195021e+02] [ 9.32434532e-01 -3.60238956e-01 -2.81733484e-02 1.17080303e+02] [ 2.94432971e-02 -1.96295458e-03 9.99564525e-01 6.73555844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88071405700003 meters Centerline goodness : 0.992467 Centerline is valid? [True, True] Translation: X:154.19, Y:117.10, Z:6.73 [[-3.60053221e-01 -9.32890586e-01 8.76535992e-03 1.54188211e+02] [ 9.32467053e-01 -3.60154503e-01 -2.81767505e-02 1.17101144e+02] [ 2.94427091e-02 -1.97172045e-03 9.99564525e-01 6.73480514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.910714057 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:154.20, Y:117.07, Z:6.73 [[-3.58867674e-01 -9.33347393e-01 8.75428822e-03 1.54196018e+02] [ 9.32923908e-01 -3.58969161e-01 -2.81801899e-02 1.17070752e+02] [ 2.94444263e-02 -1.94587443e-03 9.99564525e-01 6.73433125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94071405700004 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:154.19, Y:117.08, Z:6.73 [[-3.56885698e-01 -9.34107142e-01 8.74327712e-03 1.54192677e+02] [ 9.33683795e-01 -3.56987753e-01 -2.81836059e-02 1.17076075e+02] [ 2.94477504e-02 -1.89486969e-03 9.99564525e-01 6.73353233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.970714057 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:154.19, Y:117.08, Z:6.73 [[-3.54687438e-01 -9.34945692e-01 8.56590739e-03 1.54190767e+02] [ 9.34521307e-01 -3.54785160e-01 -2.82385525e-02 1.17075385e+02] [ 2.94405698e-02 -2.01083688e-03 9.99564510e-01 6.73321085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00071405700004 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:154.19, Y:117.09, Z:6.73 [[-3.53701462e-01 -9.35320161e-01 8.45414238e-03 1.54186099e+02] [ 9.34895089e-01 -3.53796271e-01 -2.82731374e-02 1.17087318e+02] [ 2.94354795e-02 -2.09651386e-03 9.99564484e-01 6.73347587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.030714057 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:154.18, Y:117.10, Z:6.73 [[-3.52648005e-01 -9.35717974e-01 8.44143272e-03 1.54180051e+02] [ 9.35292920e-01 -3.52742911e-01 -2.82770671e-02 1.17104776e+02] [ 2.94370154e-02 -2.07663904e-03 9.99564480e-01 6.73337029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.060714057 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:154.19, Y:117.08, Z:6.73 [[-3.49941213e-01 -9.36733391e-01 8.46770389e-03 1.54187318e+02] [ 9.36308800e-01 -3.50038136e-01 -2.82689515e-02 1.17075137e+02] [ 2.94444901e-02 -1.96408551e-03 9.99564487e-01 6.73335485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.090714057 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:154.18, Y:117.08, Z:6.73 [[-3.45756943e-01 -9.38285766e-01 8.48277884e-03 1.54184488e+02] [ 9.37861722e-01 -3.45856213e-01 -2.82642987e-02 1.17083737e+02] [ 2.94538110e-02 -1.81690395e-03 9.99564491e-01 6.73193132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.120714057 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:154.18, Y:117.08, Z:6.73 [[-3.35898250e-01 -9.41861124e-01 8.36598961e-03 1.54184114e+02] [ 9.41437266e-01 -3.35998463e-01 -2.83003020e-02 1.17082086e+02] [ 2.94659139e-02 -1.62996751e-03 9.99564457e-01 6.73229062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.150714057 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:154.19, Y:117.07, Z:6.73 [[-3.28309064e-01 -9.44534209e-01 8.26357390e-03 1.54188111e+02] [ 9.44110391e-01 -3.28409620e-01 -2.83318144e-02 1.17068190e+02] [ 2.94742050e-02 -1.49986546e-03 9.99564416e-01 6.72916912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.180714057 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:154.19, Y:117.07, Z:6.73 [[-3.27572853e-01 -9.44793854e-01 7.78452660e-03 1.54187351e+02] [ 9.44366616e-01 -3.27659370e-01 -2.84786306e-02 1.17066117e+02] [ 2.94571083e-02 -1.97737924e-03 9.99564089e-01 6.73065537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.210714057 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:154.18, Y:117.08, Z:6.73 [[-3.25245703e-01 -9.45593368e-01 8.27134293e-03 1.54178003e+02] [ 9.45169944e-01 -3.25347865e-01 -2.83291931e-02 1.17076471e+02] [ 2.94789609e-02 -1.39612358e-03 9.99564426e-01 6.73114235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.240714057 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:154.18, Y:117.08, Z:6.73 [[-3.24924944e-01 -9.45706091e-01 7.98561205e-03 1.54177268e+02] [ 9.45280560e-01 -3.25018694e-01 -2.84167478e-02 1.17079025e+02] [ 2.94693647e-02 -1.68466636e-03 9.99564264e-01 6.73110214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.270714057 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:154.18, Y:117.06, Z:6.73 [[-3.12425267e-01 -9.49908908e-01 7.96988152e-03 1.54182622e+02] [ 9.49484529e-01 -3.12524150e-01 -2.84215575e-02 1.17061125e+02] [ 2.94886711e-02 -1.31233348e-03 9.99564253e-01 6.72901919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.300714057 meters Centerline goodness : 0.991772 Centerline is valid? [True, True] Translation: X:154.18, Y:117.06, Z:6.73 [[-3.08831233e-01 -9.51085757e-01 7.69109538e-03 1.54182235e+02] [ 9.50659624e-01 -3.08923384e-01 -2.85065435e-02 1.17063823e+02] [ 2.94881267e-02 -1.49209713e-03 9.99564017e-01 6.73340587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.330714057 meters Centerline goodness : 0.991577 Centerline is valid? [True, True] Translation: X:154.18, Y:117.07, Z:6.73 [[-3.05350296e-01 -9.52205759e-01 8.08640179e-03 1.54180025e+02] [ 9.51783061e-01 -3.05455807e-01 -2.83858305e-02 1.17067302e+02] [ 2.94991897e-02 -9.71121507e-04 9.99564332e-01 6.73465538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.360714057 meters Centerline goodness : 0.993205 Centerline is valid? [True, True] Translation: X:154.18, Y:117.07, Z:6.73 [[-3.00200053e-01 -9.53842392e-01 8.03866907e-03 1.54178389e+02] [ 9.53419880e-01 -3.00306427e-01 -2.84003886e-02 1.17069681e+02] [ 2.95035586e-02 -8.61571280e-04 9.99564304e-01 6.72994536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.390714057 meters Centerline goodness : 0.991116 Centerline is valid? [True, True] Translation: X:154.19, Y:117.05, Z:6.73 [[-2.86912717e-01 -9.57927583e-01 7.47248288e-03 1.54186361e+02] [ 9.57501942e-01 -2.87008114e-01 -2.85722372e-02 1.17054694e+02] [ 2.95147974e-02 -1.04282134e-03 9.99563799e-01 6.73374648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.420714057 meters Centerline goodness : 0.990372 Centerline is valid? [True, True] Translation: X:154.18, Y:117.06, Z:6.74 [[-2.97657004e-01 -9.54642882e-01 7.56808784e-03 1.54181182e+02] [ 9.54216925e-01 -2.97750472e-01 -2.85432215e-02 1.17062803e+02] [ 2.95019849e-02 -1.27449229e-03 9.99563909e-01 6.73664540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.450714057 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:154.18, Y:117.07, Z:6.73 [[-2.86964719e-01 -9.57907858e-01 7.98659338e-03 1.54184483e+02] [ 9.57486421e-01 -2.87075388e-01 -2.84160924e-02 1.17066241e+02] [ 2.95127526e-02 -5.07361271e-04 9.99564275e-01 6.72907441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.480714057 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:154.18, Y:117.09, Z:6.73 [[-2.91283411e-01 -9.56610632e-01 7.07618843e-03 1.54179248e+02] [ 9.56181599e-01 -2.91365005e-01 -2.86911744e-02 1.17086649e+02] [ 2.95080362e-02 -1.59114199e-03 9.99563277e-01 6.72916174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51071405700003 meters Centerline goodness : 0.991770 Centerline is valid? [True, True] Translation: X:154.18, Y:117.08, Z:6.73 [[-2.97539703e-01 -9.54682399e-01 7.18630576e-03 1.54184484e+02] [ 9.54253632e-01 -2.97621793e-01 -2.86578831e-02 1.17076837e+02] [ 2.94979777e-02 -1.66929965e-03 9.99563446e-01 6.73284271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.540714057 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:154.17, Y:117.10, Z:6.74 [[-3.33201400e-01 -9.42824551e-01 7.66117674e-03 1.54165743e+02] [ 9.42396044e-01 -3.33281658e-01 -2.85137099e-02 1.17095300e+02] [ 2.94367555e-02 -2.28094541e-03 9.99564042e-01 6.73721013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57071405700003 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:154.19, Y:117.08, Z:6.73 [[-3.07557991e-01 -9.51487949e-01 8.87501360e-03 1.54187227e+02] [ 9.51071670e-01 -3.07685940e-01 -2.81432176e-02 1.17079255e+02] [ 2.95086493e-02 -2.14897460e-04 9.99564502e-01 6.73247705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.600714057 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:154.17, Y:117.11, Z:6.73 [[-3.36821226e-01 -9.41537350e-01 7.67334771e-03 1.54167485e+02] [ 9.41108690e-01 -3.36900210e-01 -2.85075928e-02 1.17107164e+02] [ 2.94261159e-02 -2.38050815e-03 9.99564123e-01 6.73475315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63071405700003 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:154.17, Y:117.11, Z:6.74 [[-3.39803087e-01 -9.40457379e-01 8.58956040e-03 1.54166791e+02] [ 9.40034850e-01 -3.39908245e-01 -2.82288187e-02 1.17113899e+02] [ 2.94676632e-02 -1.51775360e-03 9.99564582e-01 6.73542006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.660714057 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:154.18, Y:117.13, Z:6.73 [[-3.22138805e-01 -9.46653578e-01 8.57867614e-03 1.54178087e+02] [ 9.46233004e-01 -3.22251530e-01 -2.82321260e-02 1.17130216e+02] [ 2.94905346e-02 -9.77236855e-04 9.99564582e-01 6.72930784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69071405700004 meters Centerline goodness : 0.995414 Centerline is valid? [True, True] Translation: X:154.19, Y:117.11, Z:6.73 [[-3.24998708e-01 -9.45684879e-01 7.47994137e-03 1.54185054e+02] [ 9.45256009e-01 -3.25077244e-01 -2.85633273e-02 1.17111386e+02] [ 2.94434654e-02 -2.21258494e-03 9.99563998e-01 6.72978817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.720714057 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:154.16, Y:117.15, Z:6.74 [[-3.53069344e-01 -9.35567364e-01 7.46634323e-03 1.54164741e+02] [ 9.35136263e-01 -3.53134637e-01 -2.85674304e-02 1.17146645e+02] [ 2.93633800e-02 -3.10423560e-03 9.99563983e-01 6.73820496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75071405700004 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:154.19, Y:117.11, Z:6.73 [[-3.31747701e-01 -9.43329309e-01 8.56022820e-03 1.54188579e+02] [ 9.42907526e-01 -3.31855595e-01 -2.82358184e-02 1.17108810e+02] [ 2.94764347e-02 -1.29566424e-03 9.99564636e-01 6.73197579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.780714057 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:154.18, Y:117.13, Z:6.74 [[-3.39208861e-01 -9.40681730e-01 7.43180534e-03 1.54182847e+02] [ 9.40251508e-01 -3.39279479e-01 -2.85750987e-02 1.17125223e+02] [ 2.94015323e-02 -2.70516050e-03 9.99564021e-01 6.73544475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.810714057 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:154.18, Y:117.13, Z:6.74 [[-3.40566003e-01 -9.40188359e-01 7.78764757e-03 1.54183881e+02] [ 9.39760275e-01 -3.40646739e-01 -2.84679645e-02 1.17127287e+02] [ 2.94180856e-02 -2.37669905e-03 9.99564369e-01 6.73552733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.840714057 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:154.19, Y:117.13, Z:6.74 [[-3.41195856e-01 -9.39958861e-01 7.92007087e-03 1.54185102e+02] [ 9.39531588e-01 -3.41280294e-01 -2.84280823e-02 1.17126089e+02] [ 2.94241920e-02 -2.25838711e-03 9.99564463e-01 6.73796848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.870714057 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:154.18, Y:117.13, Z:6.74 [[-3.40159236e-01 -9.40332180e-01 8.19051057e-03 1.54184040e+02] [ 9.39906836e-01 -3.40252276e-01 -2.83465723e-02 1.17132490e+02] [ 2.94420340e-02 -1.94403151e-03 9.99564599e-01 6.73601201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.900714057 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:154.17, Y:117.14, Z:6.74 [[-3.53246277e-01 -9.35496453e-01 7.96584428e-03 1.54174480e+02] [ 9.35068418e-01 -3.53326600e-01 -2.84142017e-02 1.17135747e+02] [ 2.93959296e-02 -2.58860157e-03 9.99564494e-01 6.73993437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.930714057 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:154.17, Y:117.14, Z:6.74 [[-3.51796439e-01 -9.36037783e-01 8.51676164e-03 1.54173713e+02] [ 9.35613517e-01 -3.51894007e-01 -2.82481061e-02 1.17139069e+02] [ 2.94382919e-02 -1.96918582e-03 9.99564660e-01 6.73906877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.960714057 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:154.17, Y:117.15, Z:6.74 [[-3.48900311e-01 -9.37121243e-01 8.50582601e-03 1.54171220e+02] [ 9.36697204e-01 -3.48998862e-01 -2.82513985e-02 1.17147155e+02] [ 2.94435093e-02 -1.88953828e-03 9.99564660e-01 6.74029863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.990714057 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:154.17, Y:117.15, Z:6.74 [[-3.46598433e-01 -9.37975128e-01 8.49625053e-03 1.54170306e+02] [ 9.37551265e-01 -3.46697738e-01 -2.82542779e-02 1.17149895e+02] [ 2.94474408e-02 -1.82721803e-03 9.99564660e-01 6.73962342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.020714057 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:154.18, Y:117.14, Z:6.73 [[-3.22335828e-01 -9.46587352e-01 8.48525529e-03 1.54184308e+02] [ 9.46166101e-01 -3.22445684e-01 -2.82575796e-02 1.17140766e+02] [ 2.94843014e-02 -1.07996941e-03 9.99564660e-01 6.73310789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.050714057 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:154.18, Y:117.14, Z:6.73 [[-3.13974835e-01 -9.49401892e-01 7.47327606e-03 1.54184766e+02] [ 9.48974104e-01 -3.14058166e-01 -2.85590374e-02 1.17140881e+02] [ 2.94610475e-02 -1.87487358e-03 9.99564171e-01 6.73180761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.080714057 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:154.17, Y:117.14, Z:6.74 [[-3.36037299e-01 -9.41819342e-01 7.43378663e-03 1.54170451e+02] [ 9.41389482e-01 -3.36109436e-01 -2.85708006e-02 1.17142279e+02] [ 2.94070984e-02 -2.60276610e-03 9.99564129e-01 6.74007120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.110714057 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:154.18, Y:117.14, Z:6.73 [[-3.08775972e-01 -9.51097202e-01 8.45641816e-03 1.54183212e+02] [ 9.50677369e-01 -3.08890981e-01 -2.82648623e-02 1.17136359e+02] [ 2.94947427e-02 -6.88184941e-04 9.99564699e-01 6.73204976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.140714057 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:154.18, Y:117.15, Z:6.74 [[-3.14618064e-01 -9.49189006e-01 7.46354825e-03 1.54177676e+02] [ 9.48761150e-01 -3.14700817e-01 -2.85600305e-02 1.17148095e+02] [ 2.94576517e-02 -1.90437687e-03 9.99564215e-01 6.73659776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.170714057 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:154.18, Y:117.14, Z:6.73 [[-3.05537502e-01 -9.52146608e-01 7.97951248e-03 1.54180994e+02] [ 9.51723393e-01 -3.05639756e-01 -2.84064017e-02 1.17144039e+02] [ 2.94859153e-02 -1.08493232e-03 9.99564607e-01 6.73158308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.200714057 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:154.17, Y:117.14, Z:6.74 [[-3.25823746e-01 -9.45400343e-01 7.55507413e-03 1.54169687e+02] [ 9.44972148e-01 -3.25904187e-01 -2.85324532e-02 1.17141829e+02] [ 2.94368213e-02 -2.15721613e-03 9.99564315e-01 6.73875300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.230714057 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:154.18, Y:117.14, Z:6.73 [[-3.01286524e-01 -9.53496441e-01 8.42416777e-03 1.54182488e+02] [ 9.53077285e-01 -3.01403876e-01 -2.82735171e-02 1.17144371e+02] [ 2.94977748e-02 -4.89546741e-04 9.99564726e-01 6.73003792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26071405700003 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:154.18, Y:117.16, Z:6.73 [[-3.01302322e-01 -9.53499290e-01 7.48434688e-03 1.54178769e+02] [ 9.53072845e-01 -3.01391681e-01 -2.85518298e-02 1.17159885e+02] [ 2.94798693e-02 -1.46960484e-03 9.99564294e-01 6.73378418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.290714057 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:154.18, Y:117.17, Z:6.73 [[-3.00309139e-01 -9.53814838e-01 7.18859826e-03 1.54179696e+02] [ 9.53386380e-01 -3.00390084e-01 -2.86392606e-02 1.17165994e+02] [ 2.94759353e-02 -1.74712002e-03 9.99563963e-01 6.73141938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32071405700003 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:154.18, Y:117.18, Z:6.73 [[-2.98927430e-01 -9.54247327e-01 7.37766243e-03 1.54179288e+02] [ 9.53820333e-01 -2.99014659e-01 -2.85833363e-02 1.17175187e+02] [ 2.94816015e-02 -1.50737882e-03 9.99564187e-01 6.73073396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.350714057 meters Centerline goodness : 0.996000 Centerline is valid? [True, True] Translation: X:154.18, Y:117.17, Z:6.73 [[-3.10775593e-01 -9.50455661e-01 7.25027751e-03 1.54181299e+02] [ 9.50026752e-01 -3.10853678e-01 -2.86209844e-02 1.17165754e+02] [ 2.94567521e-02 -2.00674582e-03 9.99564041e-01 6.73167039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38071405700003 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:154.18, Y:117.17, Z:6.73 [[-3.11969090e-01 -9.50062219e-01 7.55420877e-03 1.54181795e+02] [ 9.49635287e-01 -3.12055759e-01 -2.85311185e-02 1.17168999e+02] [ 2.94636721e-02 -1.72708387e-03 9.99564360e-01 6.73105591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.410714057 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:154.18, Y:117.20, Z:6.74 [[-3.16017357e-01 -9.48723661e-01 7.51297520e-03 1.54175282e+02] [ 9.48296081e-01 -3.16100967e-01 -2.85433137e-02 1.17195769e+02] [ 2.94545758e-02 -1.89565763e-03 9.99564322e-01 6.73605534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44071405700004 meters Centerline goodness : 0.996396 Centerline is valid? [True, True] Translation: X:154.17, Y:117.17, Z:6.74 [[-3.45575474e-01 -9.38361928e-01 7.38128424e-03 1.54167993e+02] [ 9.37931175e-01 -3.45641671e-01 -2.85822616e-02 1.17172219e+02] [ 2.93717855e-02 -2.95419202e-03 9.99564191e-01 6.74372869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.470714057 meters Centerline goodness : 0.996168 Centerline is valid? [True, True] Translation: X:154.18, Y:117.17, Z:6.73 [[-3.22243897e-01 -9.46619396e-01 8.40174044e-03 1.54184360e+02] [ 9.46197615e-01 -3.22351308e-01 -2.82791008e-02 1.17168415e+02] [ 2.94778574e-02 -1.16306089e-03 9.99564757e-01 6.73391810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50071405700004 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:154.18, Y:117.17, Z:6.73 [[-3.27631793e-01 -9.44774420e-01 7.66182348e-03 1.54183933e+02] [ 9.44346862e-01 -3.27714631e-01 -2.84977853e-02 1.17172800e+02] [ 2.94348702e-02 -2.10136152e-03 9.99564492e-01 6.73385922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.530714057 meters Centerline goodness : 0.995560 Centerline is valid? [True, True] Translation: X:154.18, Y:117.18, Z:6.73 [[-3.28371393e-01 -9.44516755e-01 7.76704960e-03 1.54182024e+02] [ 9.44089830e-01 -3.28457059e-01 -2.84666961e-02 1.17181636e+02] [ 2.94384137e-02 -2.01485613e-03 9.99564565e-01 6.73177997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.560714057 meters Centerline goodness : 0.996296 Centerline is valid? [True, True] Translation: X:154.17, Y:117.19, Z:6.74 [[-3.56870699e-01 -9.34123811e-01 7.48398760e-03 1.54165307e+02] [ 9.33692895e-01 -3.56934811e-01 -2.85502778e-02 1.17187409e+02] [ 2.93407900e-02 -3.20101155e-03 9.99564341e-01 6.73929405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.590714057 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:154.18, Y:117.18, Z:6.73 [[-3.36427882e-01 -9.41671916e-01 8.38355100e-03 1.54180612e+02] [ 9.41248464e-01 -3.36528401e-01 -2.82836520e-02 1.17177661e+02] [ 2.94552238e-02 -1.62440463e-03 9.99564781e-01 6.73157767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.620714057 meters Centerline goodness : 0.995810 Centerline is valid? [True, True] Translation: X:154.16, Y:117.19, Z:6.74 [[-3.59923541e-01 -9.32950609e-01 7.62923116e-03 1.54163858e+02] [ 9.32520309e-01 -3.59990646e-01 -2.85062734e-02 1.17190843e+02] [ 2.93413970e-02 -3.14566588e-03 9.99564499e-01 6.74154091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.650714057 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:154.18, Y:117.18, Z:6.73 [[-3.36846109e-01 -9.41522501e-01 8.37128156e-03 1.54180642e+02] [ 9.41098936e-01 -3.36946074e-01 -2.82866770e-02 1.17175291e+02] [ 2.94532134e-02 -1.65005293e-03 9.99564798e-01 6.73316903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.680714057 meters Centerline goodness : 0.996220 Centerline is valid? [True, True] Translation: X:154.18, Y:117.18, Z:6.73 [[-3.38259572e-01 -9.41023212e-01 7.46834467e-03 1.54178508e+02] [ 9.40593643e-01 -3.38331761e-01 -2.85520329e-02 1.17179005e+02] [ 2.93949039e-02 -2.63332092e-03 9.99564408e-01 6.73425754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.710714057 meters Centerline goodness : 0.995799 Centerline is valid? [True, True] Translation: X:154.18, Y:117.18, Z:6.73 [[-3.37784051e-01 -9.41195048e-01 7.33591529e-03 1.54178825e+02] [ 9.40764730e-01 -3.37852459e-01 -2.85908811e-02 1.17176002e+02] [ 2.93880528e-02 -2.75617328e-03 9.99564278e-01 6.73376195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.740714057 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:154.16, Y:117.20, Z:6.74 [[-3.62474674e-01 -9.31963586e-01 7.48239547e-03 1.54157475e+02] [ 9.31532370e-01 -3.62536158e-01 -2.85478278e-02 1.17202329e+02] [ 2.93181749e-02 -3.37777100e-03 9.99564423e-01 6.74334521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.770714057 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:154.18, Y:117.17, Z:6.74 [[-3.37156428e-01 -9.41410049e-01 8.52425594e-03 1.54176786e+02] [ 9.40987577e-01 -3.37260833e-01 -2.82402413e-02 1.17171579e+02] [ 2.94605446e-02 -1.50015995e-03 9.99564818e-01 6.73576277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.800714057 meters Centerline goodness : 0.996201 Centerline is valid? [True, True] Translation: X:154.17, Y:117.19, Z:6.74 [[-3.35310642e-01 -9.42077719e-01 7.50631555e-03 1.54169266e+02] [ 9.41648678e-01 -3.35385325e-01 -2.85385944e-02 1.17190628e+02] [ 2.94030820e-02 -2.50098231e-03 9.99564507e-01 6.73618297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.830714057 meters Centerline goodness : 0.996389 Centerline is valid? [True, True] Translation: X:154.17, Y:117.18, Z:6.74 [[-3.31852343e-01 -9.43300812e-01 7.58955916e-03 1.54170057e+02] [ 9.42872569e-01 -3.31931106e-01 -2.85142170e-02 1.17183817e+02] [ 2.94166948e-02 -2.30652256e-03 9.99564574e-01 6.73592611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.860714057 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:154.15, Y:117.20, Z:6.74 [[-3.53079230e-01 -9.35565155e-01 7.27307831e-03 1.54151465e+02] [ 9.35133517e-01 -3.53138720e-01 -2.86067988e-02 1.17203090e+02] [ 2.93319297e-02 -3.29916717e-03 9.99564282e-01 6.74271952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.890714057 meters Centerline goodness : 0.995846 Centerline is valid? [True, True] Translation: X:154.17, Y:117.18, Z:6.73 [[-3.31340024e-01 -9.43474772e-01 8.31516032e-03 1.54167008e+02] [ 9.43051472e-01 -3.31440788e-01 -2.83006373e-02 1.17182693e+02] [ 2.94569206e-02 -1.53550967e-03 9.99564871e-01 6.73482694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.920714057 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:154.16, Y:117.18, Z:6.74 [[-3.39312763e-01 -9.40644189e-01 7.44034617e-03 1.54162984e+02] [ 9.40214498e-01 -3.39383637e-01 -2.85559927e-02 1.17183480e+02] [ 2.93861604e-02 -2.69389146e-03 9.99564503e-01 6.73931365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.950714057 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:154.16, Y:117.19, Z:6.74 [[-3.38479873e-01 -9.40939569e-01 8.00640759e-03 1.54157848e+02] [ 9.40513467e-01 -3.38568166e-01 -2.83904065e-02 1.17194710e+02] [ 2.94243716e-02 -2.07944704e-03 9.99564846e-01 6.73992407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.980714057 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:154.16, Y:117.19, Z:6.74 [[-3.38284223e-01 -9.41012245e-01 7.72917191e-03 1.54157398e+02] [ 9.40584396e-01 -3.38364270e-01 -2.84713155e-02 1.17192916e+02] [ 2.94071321e-02 -2.36145834e-03 9.99564727e-01 6.73993662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01071405700003 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:154.14, Y:117.21, Z:6.74 [[-3.52162301e-01 -9.35906934e-01 7.74111248e-03 1.54142809e+02] [ 9.35478017e-01 -3.52236373e-01 -2.84678328e-02 1.17210475e+02] [ 2.93699435e-02 -2.78365694e-03 9.99564734e-01 6.74221123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.040714057 meters Centerline goodness : 0.996191 Centerline is valid? [True, True] Translation: X:154.16, Y:117.18, Z:6.74 [[-3.32687879e-01 -9.42999693e-01 8.38770301e-03 1.54160126e+02] [ 9.42576782e-01 -3.32790208e-01 -2.82787414e-02 1.17180825e+02] [ 2.94581899e-02 -1.50194038e-03 9.99564885e-01 6.73589025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07071405700003 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:154.16, Y:117.17, Z:6.74 [[-3.33497705e-01 -9.42721419e-01 7.45702915e-03 1.54159815e+02] [ 9.42292340e-01 -3.33571739e-01 -2.85489179e-02 1.17174807e+02] [ 2.94011305e-02 -2.49429716e-03 9.99564581e-01 6.73595464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.100714057 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:154.16, Y:117.18, Z:6.74 [[-3.34033100e-01 -9.42531273e-01 7.52916493e-03 1.54157953e+02] [ 9.42102589e-01 -3.34109063e-01 -2.85279949e-02 1.17178236e+02] [ 2.94040896e-02 -2.43604881e-03 9.99564638e-01 6.73681780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13071405700003 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:154.15, Y:117.18, Z:6.74 [[-3.33865052e-01 -9.42589127e-01 7.73723786e-03 1.54154458e+02] [ 9.42161749e-01 -3.33947351e-01 -2.84676060e-02 1.17184840e+02] [ 2.94170860e-02 -2.21460919e-03 9.99564771e-01 6.73755803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.160714057 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:154.15, Y:117.19, Z:6.74 [[-3.33545976e-01 -9.42703375e-01 7.57815170e-03 1.54153708e+02] [ 9.42275033e-01 -3.33623635e-01 -2.85137079e-02 1.17187383e+02] [ 2.94082192e-02 -2.36992937e-03 9.99564675e-01 6.73757217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19071405700004 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:154.13, Y:117.22, Z:6.74 [[-3.49732027e-01 -9.36819010e-01 7.59282765e-03 1.54135000e+02] [ 9.36389478e-01 -3.49802741e-01 -2.85094535e-02 1.17217881e+02] [ 2.93641900e-02 -2.86082505e-03 9.99564685e-01 6.74195411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.220714057 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:154.15, Y:117.18, Z:6.74 [[-3.33864030e-01 -9.42585297e-01 8.23215202e-03 1.54151869e+02] [ 9.42161188e-01 -3.33961177e-01 -2.83236433e-02 1.17179505e+02] [ 2.94466689e-02 -1.70023157e-03 9.99564907e-01 6.74045502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.250714057 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:154.15, Y:117.19, Z:6.74 [[-3.31940174e-01 -9.43268254e-01 7.79245181e-03 1.54147904e+02] [ 9.42841418e-01 -3.32025006e-01 -2.84509324e-02 1.17186568e+02] [ 2.94241502e-02 -2.09696114e-03 9.99564816e-01 6.74267554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.280714057 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:154.13, Y:117.22, Z:6.75 [[-3.49232440e-01 -9.37007101e-01 7.37527931e-03 1.54128387e+02] [ 9.36576425e-01 -3.49296813e-01 -2.85716145e-02 1.17222227e+02] [ 2.93479672e-02 -3.07062191e-03 9.99564539e-01 6.74949706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.310714057 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:154.15, Y:117.19, Z:6.74 [[-3.29546031e-01 -9.44101989e-01 8.41708830e-03 1.54145589e+02] [ 9.43679668e-01 -3.29650647e-01 -2.82689716e-02 1.17187920e+02] [ 2.94634909e-02 -1.37289231e-03 9.99564914e-01 6.74486463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.340714057 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:154.12, Y:117.23, Z:6.75 [[-3.48691054e-01 -9.37209348e-01 7.29293232e-03 1.54124142e+02] [ 9.36778323e-01 -3.48753191e-01 -2.85934469e-02 1.17230775e+02] [ 2.93414791e-02 -3.13841824e-03 9.99564519e-01 6.74824865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.370714057 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:154.14, Y:117.20, Z:6.74 [[-3.33721282e-01 -9.42636055e-01 8.20814341e-03 1.54140063e+02] [ 9.42211865e-01 -3.33817779e-01 -2.83282776e-02 1.17196244e+02] [ 2.94432801e-02 -1.71993900e-03 9.99564973e-01 6.74358450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.400714057 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:154.12, Y:117.24, Z:6.75 [[-3.50781742e-01 -9.36428472e-01 7.34068231e-03 1.54120041e+02] [ 9.35997598e-01 -3.50844365e-01 -2.85784558e-02 1.17240660e+02] [ 2.93371167e-02 -3.15393949e-03 9.99564598e-01 6.74697844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.430714057 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:154.13, Y:117.23, Z:6.74 [[-3.37954989e-01 -9.41124831e-01 8.39504574e-03 1.54126410e+02] [ 9.40701505e-01 -3.38055178e-01 -2.82732346e-02 1.17232988e+02] [ 2.94466318e-02 -1.65784853e-03 9.99564979e-01 6.74477296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.460714057 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:154.14, Y:117.20, Z:6.74 [[-3.38921864e-01 -9.40785155e-01 7.43385333e-03 1.54135840e+02] [ 9.40355709e-01 -3.38992744e-01 -2.85492523e-02 1.17199198e+02] [ 2.93787351e-02 -2.68549939e-03 9.99564744e-01 6.74453738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.490714057 meters Centerline goodness : 0.994280 Centerline is valid? [True, True] Translation: X:154.13, Y:117.21, Z:6.74 [[-3.40742987e-01 -9.40126323e-01 7.53085379e-03 1.54132874e+02] [ 9.39697297e-01 -3.40815959e-01 -2.85214223e-02 1.17207847e+02] [ 2.93803750e-02 -2.64175165e-03 9.99564813e-01 6.74169119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.520714057 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:154.11, Y:117.28, Z:6.75 [[-3.54200939e-01 -9.35136696e-01 7.81378504e-03 1.54105308e+02] [ 9.34708231e-01 -3.54276288e-01 -2.84400226e-02 1.17283079e+02] [ 2.93635475e-02 -2.76987351e-03 9.99564960e-01 6.74581311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.550714057 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:154.13, Y:117.20, Z:6.74 [[-3.42463838e-01 -9.39493848e-01 8.35641163e-03 1.54133974e+02] [ 9.39069809e-01 -3.42560839e-01 -2.82836582e-02 1.17202889e+02] [ 2.94349023e-02 -1.83887627e-03 9.99565008e-01 6.74304919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.580714057 meters Centerline goodness : 0.995748 Centerline is valid? [True, True] Translation: X:154.13, Y:117.21, Z:6.74 [[-3.44584336e-01 -9.38722636e-01 7.83888308e-03 1.54128455e+02] [ 9.38295139e-01 -3.44664836e-01 -2.84320924e-02 1.17210730e+02] [ 2.93916361e-02 -2.44206781e-03 9.99564989e-01 6.74333804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.610714057 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:154.12, Y:117.23, Z:6.74 [[-3.45052857e-01 -9.38551588e-01 7.70983855e-03 1.54123734e+02] [ 9.38123290e-01 -3.45129258e-01 -2.84690548e-02 1.17228196e+02] [ 2.93805675e-02 -2.59054959e-03 9.99564941e-01 6.74490247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.640714057 meters Centerline goodness : 0.995674 Centerline is valid? [True, True] Translation: X:154.13, Y:117.21, Z:6.74 [[-3.43431819e-01 -9.39145538e-01 7.76166724e-03 1.54128137e+02] [ 9.38717678e-01 -3.43510520e-01 -2.84542254e-02 1.17209775e+02] [ 2.93888732e-02 -2.48607216e-03 9.99564962e-01 6.74410272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.670714057 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:154.13, Y:117.21, Z:6.75 [[-3.40659804e-01 -9.40155108e-01 7.69880703e-03 1.54128596e+02] [ 9.39727107e-01 -3.40737875e-01 -2.84721909e-02 1.17214474e+02] [ 2.93915508e-02 -2.46455331e-03 9.99564937e-01 6.74615393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.700714057 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:154.12, Y:117.24, Z:6.75 [[-3.39700292e-01 -9.40500974e-01 7.85040603e-03 1.54122290e+02] [ 9.40073970e-01 -3.39783359e-01 -2.84288559e-02 1.17235032e+02] [ 2.94048040e-02 -2.27732830e-03 9.99564991e-01 6.74597909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.730714057 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:154.12, Y:117.23, Z:6.74 [[-3.38263561e-01 -9.41020501e-01 7.62753541e-03 1.54124414e+02] [ 9.40592278e-01 -3.38340579e-01 -2.84924520e-02 1.17231379e+02] [ 2.93926862e-02 -2.46355737e-03 9.99564906e-01 6.74390280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76071405700003 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:154.12, Y:117.23, Z:6.75 [[-3.39093976e-01 -9.40720773e-01 7.72672034e-03 1.54122999e+02] [ 9.40293072e-01 -3.39173599e-01 -2.84641627e-02 1.17234543e+02] [ 2.93975287e-02 -2.38664450e-03 9.99564950e-01 6.74516476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.790714057 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:154.12, Y:117.24, Z:6.74 [[-3.38489165e-01 -9.40939503e-01 7.61158447e-03 1.54123135e+02] [ 9.40511168e-01 -3.38565600e-01 -2.84969605e-02 1.17240299e+02] [ 2.93909365e-02 -2.48713218e-03 9.99564899e-01 6.74245437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82071405700003 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:154.11, Y:117.26, Z:6.74 [[-3.51531164e-01 -9.36145910e-01 7.52835313e-03 1.54110708e+02] [ 9.35716103e-01 -3.51599127e-01 -2.85206696e-02 1.17263757e+02] [ 2.93464706e-02 -2.98150292e-03 9.99564853e-01 6.74496143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.850714057 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:154.12, Y:117.25, Z:6.74 [[-3.41323613e-01 -9.39911013e-01 8.09190315e-03 1.54122551e+02] [ 9.39485362e-01 -3.41413197e-01 -2.83598775e-02 1.17248396e+02] [ 2.94184437e-02 -2.07767131e-03 9.99565025e-01 6.74309579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88071405700003 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:154.12, Y:117.25, Z:6.74 [[-3.42252047e-01 -9.39578820e-01 7.42807994e-03 1.54122506e+02] [ 9.39149171e-01 -3.42321239e-01 -2.85482858e-02 1.17254386e+02] [ 2.93661542e-02 -2.79463414e-03 9.99564815e-01 6.74213717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.910714057 meters Centerline goodness : 0.996296 Centerline is valid? [True, True] Translation: X:154.13, Y:117.24, Z:6.74 [[-3.44023193e-01 -9.38931529e-01 7.45836184e-03 1.54126081e+02] [ 9.38501916e-01 -3.44092488e-01 -2.85396980e-02 1.17244271e+02] [ 2.93631886e-02 -2.81863118e-03 9.99564835e-01 6.74284911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94071405700004 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:154.12, Y:117.27, Z:6.74 [[-3.57562560e-01 -9.33859194e-01 7.48477134e-03 1.54115735e+02] [ 9.33428758e-01 -3.57626434e-01 -2.85322065e-02 1.17267659e+02] [ 2.93218154e-02 -3.21554796e-03 9.99564851e-01 6.74353669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.970714057 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:154.11, Y:117.28, Z:6.74 [[-3.57496513e-01 -9.33879645e-01 8.06551562e-03 1.54111767e+02] [ 9.33452368e-01 -3.57577942e-01 -2.83670911e-02 1.17284936e+02] [ 2.93754994e-02 -2.61236149e-03 9.99565033e-01 6.74231307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.000714057 meters Centerline goodness : 0.996059 Centerline is valid? [True, True] Translation: X:154.12, Y:117.27, Z:6.74 [[-3.54978069e-01 -9.34839932e-01 8.05435981e-03 1.54116105e+02] [ 9.34412811e-01 -3.55060314e-01 -2.83702582e-02 1.17273406e+02] [ 2.93814338e-02 -2.54472249e-03 9.99565033e-01 6.73644283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.030714057 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:154.11, Y:117.28, Z:6.74 [[-3.55601912e-01 -9.34602891e-01 8.04458800e-03 1.54114717e+02] [ 9.34175660e-01 -3.55683578e-01 -2.83730288e-02 1.17278037e+02] [ 2.93788426e-02 -2.57444500e-03 9.99565033e-01 6.74395419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.060714057 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:154.13, Y:117.24, Z:6.74 [[-3.43044063e-01 -9.39284947e-01 8.03488163e-03 1.54130012e+02] [ 9.38858789e-01 -3.43131156e-01 -2.83757773e-02 1.17244367e+02] [ 2.94099587e-02 -2.19052270e-03 9.99565033e-01 6.74275984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.090714057 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:154.13, Y:117.24, Z:6.74 [[-3.38806073e-01 -9.40826531e-01 7.47555726e-03 1.54131534e+02] [ 9.40397451e-01 -3.38878273e-01 -2.85333162e-02 1.17241538e+02] [ 2.93782048e-02 -2.63726583e-03 9.99564888e-01 6.74347111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.120714057 meters Centerline goodness : 0.996294 Centerline is valid? [True, True] Translation: X:154.13, Y:117.25, Z:6.74 [[-3.36231225e-01 -9.41749936e-01 7.45793345e-03 1.54131275e+02] [ 9.41320955e-01 -3.36304068e-01 -2.85382740e-02 1.17246820e+02] [ 2.93840510e-02 -2.57514978e-03 9.99564878e-01 6.74403008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.150714057 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:154.13, Y:117.27, Z:6.74 [[-3.35245796e-01 -9.42101308e-01 7.44193151e-03 1.54125435e+02] [ 9.41672312e-01 -3.35318606e-01 -2.85427740e-02 1.17272124e+02] [ 2.93856028e-02 -2.56098414e-03 9.99564869e-01 6.74401957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.180714057 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:154.14, Y:117.24, Z:6.74 [[-3.29298525e-01 -9.44196164e-01 7.48898737e-03 1.54135346e+02] [ 9.43767914e-01 -3.29375453e-01 -2.85295601e-02 1.17238514e+02] [ 2.94041898e-02 -2.32687608e-03 9.99564895e-01 6.74318653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.210714057 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:154.13, Y:117.25, Z:6.74 [[-3.26982094e-01 -9.45003049e-01 7.20748070e-03 1.54133190e+02] [ 9.44573349e-01 -3.27051606e-01 -2.86083153e-02 1.17250492e+02] [ 2.93921633e-02 -2.54641265e-03 9.99564714e-01 6.74289246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.240714057 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:154.13, Y:117.25, Z:6.74 [[-3.26862313e-01 -9.45044047e-01 7.26483254e-03 1.54133597e+02] [ 9.44614683e-01 -3.26933606e-01 -2.85922775e-02 1.17251455e+02] [ 2.93960795e-02 -2.48327048e-03 9.99564757e-01 6.74175253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.270714057 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:154.13, Y:117.26, Z:6.74 [[-3.29092465e-01 -9.44269486e-01 7.29978561e-03 1.54132958e+02] [ 9.43840154e-01 -3.29163797e-01 -2.85825006e-02 1.17264098e+02] [ 2.93924083e-02 -2.51645483e-03 9.99564782e-01 6.74266931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.300714057 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:154.13, Y:117.26, Z:6.74 [[-3.27185799e-01 -9.44926817e-01 7.92237661e-03 1.54133289e+02] [ 9.44501436e-01 -3.27276684e-01 -2.84078961e-02 1.17261635e+02] [ 2.94361920e-02 -1.81196410e-03 9.99565019e-01 6.74198653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.330714057 meters Centerline goodness : 0.995810 Centerline is valid? [True, True] Translation: X:154.13, Y:117.28, Z:6.74 [[-3.27576573e-01 -9.44794851e-01 7.50190090e-03 1.54128925e+02] [ 9.44366832e-01 -3.27654671e-01 -2.85254915e-02 1.17284922e+02] [ 2.94087703e-02 -2.25973634e-03 9.99564914e-01 6.73963503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.360714057 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:154.13, Y:117.27, Z:6.74 [[-3.27619934e-01 -9.44780943e-01 7.35857645e-03 1.54134389e+02] [ 9.44352079e-01 -3.27693704e-01 -2.85654934e-02 1.17265775e+02] [ 2.93994930e-02 -2.40953810e-03 9.99564837e-01 6.73834187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.390714057 meters Centerline goodness : 0.995214 Centerline is valid? [True, True] Translation: X:154.14, Y:117.26, Z:6.74 [[-3.27179575e-01 -9.44933283e-01 7.39025535e-03 1.54137087e+02] [ 9.44504638e-01 -3.27254497e-01 -2.85566679e-02 1.17256858e+02] [ 2.94026402e-02 -2.36302800e-03 9.99564856e-01 6.73772617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.420714057 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:154.13, Y:117.27, Z:6.74 [[-3.28566829e-01 -9.44452396e-01 7.31503979e-03 1.54134506e+02] [ 9.44023210e-01 -3.28638860e-01 -2.85775970e-02 1.17274284e+02] [ 2.93941864e-02 -2.48408310e-03 9.99564811e-01 6.73939514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.450714057 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:154.14, Y:117.27, Z:6.74 [[-3.27752565e-01 -9.44733913e-01 7.48934552e-03 1.54136281e+02] [ 9.44305802e-01 -3.27830206e-01 -2.85290934e-02 1.17273161e+02] [ 2.94076357e-02 -2.27825112e-03 9.99564906e-01 6.73861616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.480714057 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:154.14, Y:117.28, Z:6.74 [[-3.28270922e-01 -9.44554131e-01 7.46291987e-03 1.54135131e+02] [ 9.44125823e-01 -3.28347533e-01 -2.85364369e-02 1.17277444e+02] [ 2.94046407e-02 -2.32174708e-03 9.99564894e-01 6.73911027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51071405700003 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:154.14, Y:117.28, Z:6.74 [[-3.26731334e-01 -9.45089044e-01 7.30306671e-03 1.54137386e+02] [ 9.44659933e-01 -3.26803839e-01 -2.85807778e-02 1.17276650e+02] [ 2.93980502e-02 -2.43932116e-03 9.99564807e-01 6.73916769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.540714057 meters Centerline goodness : 0.995494 Centerline is valid? [True, True] Translation: X:154.13, Y:117.29, Z:6.74 [[-3.31417736e-01 -9.43456073e-01 7.27486887e-03 1.54132953e+02] [ 9.43026451e-01 -3.31487261e-01 -2.85885949e-02 1.17291445e+02] [ 2.93836098e-02 -2.61437360e-03 9.99564790e-01 6.73922538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57071405700003 meters Centerline goodness : 0.994251 Centerline is valid? [True, True] Translation: X:154.13, Y:117.30, Z:6.75 [[-3.30476968e-01 -9.43784226e-01 7.50394374e-03 1.54134871e+02] [ 9.43355977e-01 -3.30553812e-01 -2.85250343e-02 1.17298538e+02] [ 2.94019346e-02 -2.34797666e-03 9.99564912e-01 6.74560321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.600714057 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:154.14, Y:117.30, Z:6.74 [[-3.27959604e-01 -9.44660901e-01 7.63418268e-03 1.54137768e+02] [ 9.44233635e-01 -3.28041500e-01 -2.84888918e-02 1.17295330e+02] [ 2.94166710e-02 -2.13475363e-03 9.99564957e-01 6.74498504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63071405700003 meters Centerline goodness : 0.994470 Centerline is valid? [True, True] Translation: X:154.13, Y:117.32, Z:6.75 [[-3.27318083e-01 -9.44883451e-01 7.62477672e-03 1.54133046e+02] [ 9.44456184e-01 -3.27399986e-01 -2.84914986e-02 1.17318122e+02] [ 2.94174973e-02 -2.12451517e-03 9.99564954e-01 6.74753879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.660714057 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:154.12, Y:117.33, Z:6.75 [[-3.37668787e-01 -9.41235941e-01 7.39551538e-03 1.54124799e+02] [ 9.40806524e-01 -3.37739097e-01 -2.85549821e-02 1.17329490e+02] [ 2.93747302e-02 -2.68437707e-03 9.99564865e-01 6.74854777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69071405700004 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:154.13, Y:117.33, Z:6.75 [[-3.37442106e-01 -9.41313291e-01 7.88122809e-03 1.54126331e+02] [ 9.40886671e-01 -3.37527123e-01 -2.84202931e-02 1.17328717e+02] [ 2.94125279e-02 -2.17486111e-03 9.99564992e-01 6.74856606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.720714057 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:154.13, Y:117.33, Z:6.75 [[-3.36984608e-01 -9.41477262e-01 7.87010637e-03 1.54128225e+02] [ 9.41050618e-01 -3.37069498e-01 -2.84233726e-02 1.17333307e+02] [ 2.94127318e-02 -2.17207061e-03 9.99564992e-01 6.74770161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.750714057 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:154.13, Y:117.34, Z:6.75 [[-3.36404701e-01 -9.41684721e-01 7.85899485e-03 1.54127741e+02] [ 9.41258062e-01 -3.36489521e-01 -2.84264446e-02 1.17337392e+02] [ 2.94132179e-02 -2.16544733e-03 9.99564992e-01 6.74901082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.780714057 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:154.13, Y:117.34, Z:6.75 [[-3.35271467e-01 -9.42088878e-01 7.84787073e-03 1.54126997e+02] [ 9.41662255e-01 -3.35356466e-01 -2.84295153e-02 1.17339630e+02] [ 2.94149644e-02 -2.14156165e-03 9.99564992e-01 6.75145741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.810714057 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:154.13, Y:117.34, Z:6.76 [[-3.32027682e-01 -9.43237088e-01 7.83674162e-03 1.54127735e+02] [ 9.42810693e-01 -3.32113815e-01 -2.84325828e-02 1.17342872e+02] [ 2.94213568e-02 -2.05184078e-03 9.99564992e-01 6.75537883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.840714057 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:154.13, Y:117.35, Z:6.76 [[-3.29513645e-01 -9.44118370e-01 7.82701790e-03 1.54126978e+02] [ 9.43692146e-01 -3.29600622e-01 -2.84352593e-02 1.17347866e+02] [ 2.94260406e-02 -1.98351062e-03 9.99564992e-01 6.75650202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.870714057 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:154.13, Y:117.34, Z:6.75 [[-3.24312162e-01 -9.45917826e-01 7.81586571e-03 1.54130689e+02] [ 9.45492018e-01 -3.24401150e-01 -2.84383244e-02 1.17340811e+02] [ 2.94357938e-02 -1.83305582e-03 9.99564992e-01 6.75363618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.900714057 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:154.13, Y:117.34, Z:6.75 [[-3.21109407e-01 -9.47009944e-01 7.80474455e-03 1.54131452e+02] [ 9.46584369e-01 -3.21199502e-01 -2.84413762e-02 1.17340182e+02] [ 2.94411461e-02 -1.74494423e-03 9.99564992e-01 6.75219833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.930714057 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:154.13, Y:117.34, Z:6.75 [[-3.17277653e-01 -9.48300664e-01 7.79368038e-03 1.54131262e+02] [ 9.47875385e-01 -3.17369138e-01 -2.84444077e-02 1.17341226e+02] [ 2.94473244e-02 -1.63733713e-03 9.99564992e-01 6.75090016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.960714057 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:154.13, Y:117.34, Z:6.75 [[-3.10270488e-01 -9.50616460e-01 7.78263553e-03 1.54131579e+02] [ 9.50191795e-01 -3.10364780e-01 -2.84474294e-02 1.17338685e+02] [ 2.94580506e-02 -1.43140138e-03 9.99564993e-01 6.74952475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.990714057 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:154.13, Y:117.34, Z:6.75 [[-3.06823257e-01 -9.51734780e-01 7.77161741e-03 1.54131147e+02] [ 9.51310385e-01 -3.06918758e-01 -2.84504391e-02 1.17339772e+02] [ 2.94625276e-02 -1.33603604e-03 9.99564993e-01 6.75137224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.020714057 meters Centerline goodness : 0.992958 Centerline is valid? [True, True] Translation: X:154.14, Y:117.31, Z:6.76 [[-2.93209995e-01 -9.56016565e-01 7.76062760e-03 1.54143142e+02] [ 9.55593498e-01 -2.93311216e-01 -2.84534366e-02 1.17308530e+02] [ 2.94782358e-02 -9.26826718e-04 9.99564993e-01 6.75592897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.050714057 meters Centerline goodness : 0.992958 Centerline is valid? [True, True] Translation: X:154.14, Y:117.31, Z:6.76 [[-2.92877633e-01 -9.56122174e-01 7.28567610e-03 1.54142569e+02] [ 9.55695894e-01 -2.92964854e-01 -2.85823876e-02 1.17311120e+02] [ 2.94627016e-02 -1.40825130e-03 9.99564888e-01 6.75582924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.080714057 meters Centerline goodness : 0.992052 Centerline is valid? [True, True] Translation: X:154.13, Y:117.36, Z:6.75 [[-2.98455109e-01 -9.54395737e-01 7.30234037e-03 1.54125669e+02] [ 9.53969063e-01 -2.98540338e-01 -2.85778629e-02 1.17362012e+02] [ 2.94546337e-02 -1.56300240e-03 9.99564896e-01 6.75299347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.110714057 meters Centerline goodness : 0.990743 Centerline is valid? [True, True] Translation: X:154.14, Y:117.33, Z:6.75 [[-2.83735752e-01 -9.58871322e-01 7.73375193e-03 1.54142429e+02] [ 9.58449082e-01 -2.83840358e-01 -2.84606363e-02 1.17325065e+02] [ 2.94852389e-02 -6.62892631e-04 9.99564996e-01 6.75217180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.140714057 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:154.02, Y:117.75, Z:6.76 [[-2.99062656e-01 -9.54204889e-01 7.38636097e-03 1.54022062e+02] [ 9.53778684e-01 -2.99150122e-01 -2.85556729e-02 1.17751327e+02] [ 2.94575935e-02 -1.49498175e-03 9.99564913e-01 6.76117268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.170714057 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:154.09, Y:117.52, Z:6.75 [[-2.98458250e-01 -9.54390773e-01 7.80553413e-03 1.54086264e+02] [ 9.53967485e-01 -2.98558482e-01 -2.84406337e-02 1.17522480e+02] [ 2.94738868e-02 -1.04211600e-03 9.99565007e-01 6.75233730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.200714057 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:154.13, Y:117.37, Z:6.75 [[-2.98397401e-01 -9.54409989e-01 7.78226320e-03 1.54132723e+02] [ 9.53986545e-01 -2.98496968e-01 -2.84470000e-02 1.17365103e+02] [ 2.94730829e-02 -1.06433648e-03 9.99565008e-01 6.74629575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.230714057 meters Centerline goodness : 0.989706 Centerline is valid? [True, True] Translation: X:153.99, Y:117.92, Z:6.76 [[-3.05091934e-01 -9.52291213e-01 7.76900004e-03 1.53985803e+02] [ 9.51866990e-01 -3.05188130e-01 -2.84506217e-02 1.17921050e+02] [ 2.94642837e-02 -1.28500054e-03 9.99565008e-01 6.76064904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26071405700003 meters Centerline goodness : 0.989767 Centerline is valid? [True, True] Translation: X:154.08, Y:117.59, Z:6.75 [[-3.01772201e-01 -9.53346752e-01 7.96929975e-03 1.54079450e+02] [ 9.52924261e-01 -3.01875837e-01 -2.83959812e-02 1.17592443e+02] [ 2.94769554e-02 -9.74978669e-04 9.99564985e-01 6.74867506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.290714057 meters Centerline goodness : 0.989274 Centerline is valid? [True, True] Translation: X:154.09, Y:117.59, Z:6.75 [[-3.08023031e-01 -9.51347670e-01 7.70864423e-03 1.54085649e+02] [ 9.50922769e-01 -3.08116119e-01 -2.84665669e-02 1.17593052e+02] [ 2.94567596e-02 -1.43803288e-03 9.99565021e-01 6.74832781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32071405700003 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:154.09, Y:117.59, Z:6.75 [[-3.09778408e-01 -9.50777157e-01 7.75478323e-03 1.54090186e+02] [ 9.50352384e-01 -3.09872089e-01 -2.84540864e-02 1.17588697e+02] [ 2.94564863e-02 -1.44468486e-03 9.99565020e-01 6.74543128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.350714057 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:154.13, Y:117.45, Z:6.74 [[-3.12263286e-01 -9.49964155e-01 7.72941781e-03 1.54133292e+02] [ 9.49538976e-01 -3.12355098e-01 -2.84609392e-02 1.17448582e+02] [ 2.94511951e-02 -1.54792292e-03 9.99565021e-01 6.73909658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38071405700003 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:154.11, Y:117.59, Z:6.74 [[-3.12402386e-01 -9.49918228e-01 7.75301810e-03 1.54106209e+02] [ 9.49493187e-01 -3.12494842e-01 -2.84545697e-02 1.17587196e+02] [ 2.94522926e-02 -1.52783761e-03 9.99565019e-01 6.74457247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.410714057 meters Centerline goodness : 0.990105 Centerline is valid? [True, True] Translation: X:154.03, Y:117.88, Z:6.75 [[-3.13408405e-01 -9.49587453e-01 7.67082569e-03 1.54031805e+02] [ 9.49161793e-01 -3.13497954e-01 -2.84767101e-02 1.17881465e+02] [ 2.94459148e-02 -1.64398564e-03 9.99565023e-01 6.75248555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44071405700004 meters Centerline goodness : 0.987051 Centerline is valid? [True, True] Translation: X:154.16, Y:117.41, Z:6.74 [[-3.08613832e-01 -9.51156365e-01 7.68580951e-03 1.54163743e+02] [ 9.50731260e-01 -3.08705974e-01 -2.84726655e-02 1.17409567e+02] [ 2.94546123e-02 -1.47991903e-03 9.99565023e-01 6.73822134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.470714057 meters Centerline goodness : 0.991786 Centerline is valid? [True, True] Translation: X:154.17, Y:117.41, Z:6.74 [[-3.09454021e-01 -9.50886278e-01 7.31405881e-03 1.54170380e+02] [ 9.50458813e-01 -3.09534675e-01 -2.85714745e-02 1.17414765e+02] [ 2.94321778e-02 -1.88984601e-03 9.99564993e-01 6.74335763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.500714057 meters Centerline goodness : 0.991865 Centerline is valid? [True, True] Translation: X:154.17, Y:117.41, Z:6.74 [[-3.08234294e-01 -9.51280264e-01 7.58143822e-03 1.54172491e+02] [ 9.50854539e-01 -3.08323491e-01 -2.85003495e-02 1.17414082e+02] [ 2.94493555e-02 -1.57594015e-03 9.99565031e-01 6.74280065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.530714057 meters Centerline goodness : 0.989799 Centerline is valid? [True, True] Translation: X:154.18, Y:117.41, Z:6.74 [[-3.07403105e-01 -9.51549274e-01 7.57035867e-03 1.54177736e+02] [ 9.51123557e-01 -3.07492343e-01 -2.85032921e-02 1.17413276e+02] [ 2.94501143e-02 -1.56165405e-03 9.99565031e-01 6.74070194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.560714057 meters Centerline goodness : 0.986626 Centerline is valid? [True, True] Translation: X:154.18, Y:117.41, Z:6.74 [[-3.04441877e-01 -9.52500919e-01 7.55931521e-03 1.54182504e+02] [ 9.52075412e-01 -3.04532108e-01 -2.85062207e-02 1.17407492e+02] [ 2.94542556e-02 -1.48144918e-03 9.99565031e-01 6.73539481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.590714057 meters Centerline goodness : 0.987527 Centerline is valid? [True, True] Translation: X:154.15, Y:117.52, Z:6.73 [[-3.09871801e-01 -9.50748479e-01 7.53639569e-03 1.54152507e+02] [ 9.50322324e-01 -3.09958918e-01 -2.85122921e-02 1.17519618e+02] [ 2.94439914e-02 -1.67315024e-03 9.99565031e-01 6.73310586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.620714057 meters Centerline goodness : 0.985343 Centerline is valid? [True, True] Translation: X:154.19, Y:117.42, Z:6.73 [[-3.07522915e-01 -9.51509957e-01 7.64577335e-03 1.54186395e+02] [ 9.51084702e-01 -3.07614350e-01 -2.84833391e-02 1.17422545e+02] [ 2.94541304e-02 -1.48750139e-03 9.99565026e-01 6.73396972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.650714057 meters Centerline goodness : 0.990502 Centerline is valid? [True, True] Translation: X:154.07, Y:117.87, Z:6.74 [[-3.09487642e-01 -9.50873596e-01 7.53686287e-03 1.54071507e+02] [ 9.50447480e-01 -3.09574945e-01 -2.85121286e-02 1.17868520e+02] [ 2.94446541e-02 -1.66075911e-03 9.99565033e-01 6.74493384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.680714057 meters Centerline goodness : 0.990471 Centerline is valid? [True, True] Translation: X:154.18, Y:117.44, Z:6.73 [[-3.13170230e-01 -9.49666022e-01 7.67155715e-03 1.54183215e+02] [ 9.49240391e-01 -3.13259908e-01 -2.84764697e-02 1.17437346e+02] [ 2.94463270e-02 -1.63583066e-03 9.99565024e-01 6.72912026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.710714057 meters Centerline goodness : 0.987935 Centerline is valid? [True, True] Translation: X:154.19, Y:117.49, Z:6.72 [[-2.84265583e-01 -9.58716239e-01 7.50001901e-03 1.54190636e+02] [ 9.58292333e-01 -2.84363016e-01 -2.85215778e-02 1.17488400e+02] [ 2.94768278e-02 -9.20492228e-04 9.99565040e-01 6.72370589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.740714057 meters Centerline goodness : 0.991621 Centerline is valid? [True, True] Translation: X:154.18, Y:117.46, Z:6.73 [[-3.18306762e-01 -9.47967358e-01 6.22037920e-03 1.54182680e+02] [ 9.47533781e-01 -3.18350525e-01 -2.88561515e-02 1.17461546e+02] [ 2.93349507e-02 -3.29108872e-03 9.99564220e-01 6.72731403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.770714057 meters Centerline goodness : 0.989086 Centerline is valid? [True, True] Translation: X:154.19, Y:117.52, Z:6.72 [[-2.83124805e-01 -9.59052662e-01 7.63782588e-03 1.54192638e+02] [ 9.58629889e-01 -2.83226835e-01 -2.84832512e-02 1.17517933e+02] [ 2.94801752e-02 -7.42466752e-04 9.99565089e-01 6.71712143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.800714057 meters Centerline goodness : 0.988891 Centerline is valid? [True, True] Translation: X:154.20, Y:117.51, Z:6.72 [[-2.87455934e-01 -9.57771331e-01 6.56984651e-03 1.54196521e+02] [ 9.57341387e-01 -2.87524195e-01 -2.87629433e-02 1.17513035e+02] [ 2.94373123e-02 -1.97849277e-03 9.99564670e-01 6.71857065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.830714057 meters Centerline goodness : 0.983644 Centerline is valid? [True, True] Translation: X:154.20, Y:117.51, Z:6.73 [[-2.90057612e-01 -9.56985047e-01 6.79721889e-03 1.54201292e+02] [ 9.56556228e-01 -2.90131513e-01 -2.87034430e-02 1.17505129e+02] [ 2.94408531e-02 -1.82373008e-03 9.99564860e-01 6.72589395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.860714057 meters Centerline goodness : 0.981317 Centerline is valid? [True, True] Translation: X:153.93, Y:118.42, Z:6.76 [[-3.34862795e-01 -9.42238188e-01 7.35568039e-03 1.53930843e+02] [ 9.41809154e-01 -3.34933220e-01 -2.85526904e-02 1.18419680e+02] [ 2.93670970e-02 -2.63358660e-03 9.99565224e-01 6.76193394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.890714057 meters Centerline goodness : 0.983518 Centerline is valid? [True, True] Translation: X:154.19, Y:117.54, Z:6.72 [[-2.95282992e-01 -9.55374801e-01 8.18199374e-03 1.54189855e+02] [ 9.54954863e-01 -2.95395812e-01 -2.83288566e-02 1.17535894e+02] [ 2.94816025e-02 -5.51594825e-04 9.99565171e-01 6.72381867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.920714057 meters Centerline goodness : 0.990340 Centerline is valid? [True, True] Translation: X:154.19, Y:117.47, Z:6.72 [[-3.13815420e-01 -9.49457750e-01 7.06134287e-03 1.54191725e+02] [ 9.49029004e-01 -3.13886572e-01 -2.86211514e-02 1.17471277e+02] [ 2.93910347e-02 -2.28033945e-03 9.99565389e-01 6.72123550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.950714057 meters Centerline goodness : 0.977288 Centerline is valid? [True, True] Translation: X:153.92, Y:118.50, Z:6.77 [[-3.19388930e-01 -9.47594155e-01 7.48524195e-03 1.53921345e+02] [ 9.47167271e-01 -3.19470266e-01 -2.85115647e-02 1.18504955e+02] [ 2.94087043e-02 -2.01650194e-03 9.99565436e-01 6.76672751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.980714057 meters Centerline goodness : 0.986358 Centerline is valid? [True, True] Translation: X:154.20, Y:117.52, Z:6.73 [[-2.90091087e-01 -9.56967650e-01 7.75105088e-03 1.54195269e+02] [ 9.56545238e-01 -2.90193414e-01 -2.84427589e-02 1.17519915e+02] [ 2.94681041e-02 -8.36760058e-04 9.99565371e-01 6.72658043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01071405700003 meters Centerline goodness : 0.977319 Centerline is valid? [True, True] Translation: X:153.96, Y:118.39, Z:6.75 [[-3.13481840e-01 -9.49567954e-01 7.05952414e-03 1.53964249e+02] [ 9.49139324e-01 -3.13553096e-01 -2.86181656e-02 1.18387872e+02] [ 2.93884286e-02 -2.27080324e-03 9.99565487e-01 6.75130028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.040714057 meters Centerline goodness : 0.972623 Centerline is valid? [True, True] Translation: X:153.96, Y:118.40, Z:6.77 [[-3.26457152e-01 -9.45184199e-01 7.24968233e-03 1.53963043e+02] [ 9.44755538e-01 -3.26528238e-01 -2.85706683e-02 1.18399974e+02] [ 2.93717702e-02 -2.47792147e-03 9.99565485e-01 6.76946809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07071405700003 meters Centerline goodness : 0.978590 Centerline is valid? [True, True] Translation: X:154.10, Y:117.91, Z:6.74 [[-3.21134824e-01 -9.47002338e-01 7.68091578e-03 1.54101165e+02] [ 9.46576415e-01 -3.21221229e-01 -2.84607122e-02 1.17914403e+02] [ 2.94196342e-02 -1.86915210e-03 9.99565401e-01 6.74368921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.100714057 meters Centerline goodness : 0.980003 Centerline is valid? [True, True] Translation: X:154.11, Y:117.90, Z:6.74 [[-3.26934902e-01 -9.45016579e-01 7.56533914e-03 1.54107395e+02] [ 9.44589512e-01 -3.27015234e-01 -2.84901878e-02 1.17896827e+02] [ 2.93976810e-02 -2.16829674e-03 9.99565443e-01 6.74404440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13071405700003 meters Centerline goodness : 0.979323 Centerline is valid? [True, True] Translation: X:154.12, Y:117.90, Z:6.74 [[-3.24950841e-01 -9.45700214e-01 7.61948084e-03 1.54116678e+02] [ 9.45273609e-01 -3.25033689e-01 -2.84763911e-02 1.17899227e+02] [ 2.94067171e-02 -2.05093307e-03 9.99565425e-01 6.74364815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.160714057 meters Centerline goodness : 0.971616 Centerline is valid? [True, True] Translation: X:153.97, Y:118.48, Z:6.77 [[-3.30734018e-01 -9.43695316e-01 7.35930101e-03 1.53966787e+02] [ 9.43266908e-01 -3.30806454e-01 -2.85417382e-02 1.18476828e+02] [ 2.93692089e-02 -2.49793864e-03 9.99565511e-01 6.76897123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19071405700004 meters Centerline goodness : 0.981987 Centerline is valid? [True, True] Translation: X:154.12, Y:117.90, Z:6.74 [[-3.28211611e-01 -9.44574091e-01 7.54488797e-03 1.54118067e+02] [ 9.44146819e-01 -3.28290754e-01 -2.84949857e-02 1.17897381e+02] [ 2.93925422e-02 -2.22890321e-03 9.99565461e-01 6.74279792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.220714057 meters Centerline goodness : 0.975291 Centerline is valid? [True, True] Translation: X:153.99, Y:118.40, Z:6.77 [[-3.30765734e-01 -9.43684107e-01 7.37122216e-03 1.53991949e+02] [ 9.43255770e-01 -3.30838515e-01 -2.85382071e-02 1.18401279e+02] [ 2.93697367e-02 -2.48651317e-03 9.99565524e-01 6.76727785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.250714057 meters Centerline goodness : 0.981018 Centerline is valid? [True, True] Translation: X:154.13, Y:117.89, Z:6.74 [[-3.25553028e-01 -9.45493404e-01 7.57950179e-03 1.54126479e+02] [ 9.45066541e-01 -3.25634408e-01 -2.84862393e-02 1.17891120e+02] [ 2.94016979e-02 -2.11064791e-03 9.99565448e-01 6.74289016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.280714057 meters Centerline goodness : 0.980709 Centerline is valid? [True, True] Translation: X:154.12, Y:117.93, Z:6.74 [[-3.23335507e-01 -9.46253995e-01 7.58466352e-03 1.54118655e+02] [ 9.45827351e-01 -3.23418043e-01 -2.84849451e-02 1.17926114e+02] [ 2.94070102e-02 -2.03641198e-03 9.99565446e-01 6.74189353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.310714057 meters Centerline goodness : 0.981790 Centerline is valid? [True, True] Translation: X:154.13, Y:117.89, Z:6.74 [[-3.23362969e-01 -9.46244808e-01 7.55994987e-03 1.54128524e+02] [ 9.45818031e-01 -3.23444753e-01 -2.84911313e-02 1.17885475e+02] [ 2.94048112e-02 -2.06263992e-03 9.99565457e-01 6.74100810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.340714057 meters Centerline goodness : 0.973795 Centerline is valid? [True, True] Translation: X:153.98, Y:118.49, Z:6.77 [[-3.23480296e-01 -9.46206610e-01 7.31769557e-03 1.53975967e+02] [ 9.45778612e-01 -3.23554777e-01 -2.85503632e-02 1.18489553e+02] [ 2.93822177e-02 -2.31455998e-03 9.99565570e-01 6.77225729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.370714057 meters Centerline goodness : 0.979865 Centerline is valid? [True, True] Translation: X:154.11, Y:117.97, Z:6.75 [[-3.26358603e-01 -9.45216520e-01 7.46947952e-03 1.54105501e+02] [ 9.44789030e-01 -3.26436326e-01 -2.85134053e-02 1.17974045e+02] [ 2.93896512e-02 -2.24851282e-03 9.99565502e-01 6.74888567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.400714057 meters Centerline goodness : 0.979812 Centerline is valid? [True, True] Translation: X:154.13, Y:117.89, Z:6.74 [[-3.20459578e-01 -9.47230810e-01 7.71049453e-03 1.54131393e+02] [ 9.46805106e-01 -3.20547170e-01 -2.84535341e-02 1.17893386e+02] [ 2.94236414e-02 -1.81787197e-03 9.99565378e-01 6.74300110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.430714057 meters Centerline goodness : 0.978448 Centerline is valid? [True, True] Translation: X:154.14, Y:117.87, Z:6.74 [[-3.21946022e-01 -9.46727380e-01 7.61755917e-03 1.54140040e+02] [ 9.46301036e-01 -3.22030167e-01 -2.84766817e-02 1.17868374e+02] [ 2.94127382e-02 -1.95945027e-03 9.99565431e-01 6.74241908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.460714057 meters Centerline goodness : 0.978438 Centerline is valid? [True, True] Translation: X:154.14, Y:117.89, Z:6.74 [[-3.23055684e-01 -9.46349479e-01 7.59530223e-03 1.54136884e+02] [ 9.45922918e-01 -3.23138664e-01 -2.84822153e-02 1.17888232e+02] [ 2.94084654e-02 -2.01677109e-03 9.99565443e-01 6.74122607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.490714057 meters Centerline goodness : 0.977841 Centerline is valid? [True, True] Translation: X:154.12, Y:117.96, Z:6.74 [[-3.28350245e-01 -9.44525705e-01 7.57027062e-03 1.54115787e+02] [ 9.44098559e-01 -3.28430086e-01 -2.84884077e-02 1.17962645e+02] [ 2.93943380e-02 -2.20709408e-03 9.99565456e-01 6.74227441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.520714057 meters Centerline goodness : 0.970580 Centerline is valid? [True, True] Translation: X:153.99, Y:118.49, Z:6.77 [[-3.18636290e-01 -9.47849134e-01 7.27555655e-03 1.53991558e+02] [ 9.47421363e-01 -3.18711701e-01 -2.85589469e-02 1.18494522e+02] [ 2.93883781e-02 -2.20689917e-03 9.99565632e-01 6.76991338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.550714057 meters Centerline goodness : 0.970011 Centerline is valid? [True, True] Translation: X:153.99, Y:118.49, Z:6.77 [[-3.18221623e-01 -9.47990971e-01 6.93671831e-03 1.53994573e+02] [ 9.47561720e-01 -3.18287083e-01 -2.86377392e-02 1.18493842e+02] [ 2.93561860e-02 -2.54017911e-03 9.99565787e-01 6.76915094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.580714057 meters Centerline goodness : 0.979396 Centerline is valid? [True, True] Translation: X:154.14, Y:117.90, Z:6.74 [[-3.24138021e-01 -9.45981489e-01 7.31885333e-03 1.54136756e+02] [ 9.45553558e-01 -3.24212248e-01 -2.85462191e-02 1.17902497e+02] [ 2.93770568e-02 -2.33254717e-03 9.99565680e-01 6.74157969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.610714057 meters Centerline goodness : 0.970712 Centerline is valid? [True, True] Translation: X:154.00, Y:118.49, Z:6.77 [[-3.12656435e-01 -9.49839164e-01 7.17752700e-03 1.53998629e+02] [ 9.49411470e-01 -3.12731616e-01 -2.85796605e-02 1.18485161e+02] [ 2.93907205e-02 -2.12118832e-03 9.99565749e-01 6.77029089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.640714057 meters Centerline goodness : 0.969622 Centerline is valid? [True, True] Translation: X:153.99, Y:118.51, Z:6.77 [[-3.06509272e-01 -9.51843115e-01 6.83743589e-03 1.53993471e+02] [ 9.51414335e-01 -3.06577057e-01 -2.86578391e-02 1.18507229e+02] [ 2.93739679e-02 -2.27865889e-03 9.99565895e-01 6.77086240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.670714057 meters Centerline goodness : 0.974253 Centerline is valid? [True, True] Translation: X:153.99, Y:118.49, Z:6.77 [[-3.15857055e-01 -9.48782792e-01 6.74800539e-03 1.53991304e+02] [ 9.48352999e-01 -3.15917941e-01 -2.86782850e-02 1.18491045e+02] [ 2.93412793e-02 -2.65874748e-03 9.99565916e-01 6.77062660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.700714057 meters Centerline goodness : 0.970747 Centerline is valid? [True, True] Translation: X:153.99, Y:118.52, Z:6.77 [[-3.03208063e-01 -9.52899874e-01 6.83382856e-03 1.53989400e+02] [ 9.52471312e-01 -3.03277227e-01 -2.86587340e-02 1.18517162e+02] [ 2.93814486e-02 -2.18053358e-03 9.99565894e-01 6.77263682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.730714057 meters Centerline goodness : 0.972165 Centerline is valid? [True, True] Translation: X:154.00, Y:118.46, Z:6.77 [[-3.00041265e-01 -9.53902174e-01 6.77355363e-03 1.54002024e+02] [ 9.53473570e-01 -3.00110051e-01 -2.86724290e-02 1.18462325e+02] [ 2.93835039e-02 -2.14450751e-03 9.99565911e-01 6.77066140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76071405700003 meters Centerline goodness : 0.980525 Centerline is valid? [True, True] Translation: X:154.20, Y:117.61, Z:6.73 [[-2.91143296e-01 -9.56652170e-01 7.22545870e-03 1.54203771e+02] [ 9.56226618e-01 -2.91229539e-01 -2.85659124e-02 1.17609321e+02] [ 2.94319091e-02 -1.40759793e-03 9.99565796e-01 6.73176518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.790714057 meters Centerline goodness : 0.979573 Centerline is valid? [True, True] Translation: X:154.20, Y:117.61, Z:6.73 [[-2.91855992e-01 -9.56439077e-01 6.66126106e-03 1.54203609e+02] [ 9.56010578e-01 -2.91925100e-01 -2.86968818e-02 1.17613181e+02] [ 2.93914084e-02 -2.00712085e-03 9.99565964e-01 6.73323985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82071405700003 meters Centerline goodness : 0.980031 Centerline is valid? [True, True] Translation: X:154.20, Y:117.62, Z:6.73 [[-2.93760552e-01 -9.55855898e-01 6.65136409e-03 1.54202440e+02] [ 9.55427215e-01 -2.93828511e-01 -2.86991755e-02 1.17616680e+02] [ 2.93866366e-02 -2.07579137e-03 9.99565964e-01 6.73249278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.850714057 meters Centerline goodness : 0.979489 Centerline is valid? [True, True] Translation: X:154.20, Y:117.62, Z:6.73 [[-2.94214113e-01 -9.55716457e-01 6.64145077e-03 1.54202084e+02] [ 9.55287696e-01 -2.94281572e-01 -2.87014694e-02 1.17620093e+02] [ 2.93849232e-02 -2.09988117e-03 9.99565964e-01 6.73298511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88071405700003 meters Centerline goodness : 0.980665 Centerline is valid? [True, True] Translation: X:154.20, Y:117.63, Z:6.73 [[-2.96618906e-01 -9.54972914e-01 6.63008225e-03 1.54200465e+02] [ 9.54543932e-01 -2.96684945e-01 -2.87040953e-02 1.17626318e+02] [ 2.93786791e-02 -2.18547256e-03 9.99565964e-01 6.73157089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.910714057 meters Centerline goodness : 0.980068 Centerline is valid? [True, True] Translation: X:154.20, Y:117.63, Z:6.73 [[-2.99725876e-01 -9.54002402e-01 6.61939316e-03 1.54201677e+02] [ 9.53573159e-01 -2.99790200e-01 -2.87065601e-02 1.17629182e+02] [ 2.93705565e-02 -2.29202323e-03 9.99565964e-01 6.73237394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94071405700004 meters Centerline goodness : 0.978883 Centerline is valid? [True, True] Translation: X:154.14, Y:117.89, Z:6.75 [[-3.08691476e-01 -9.51139258e-01 6.60942406e-03 1.54137332e+02] [ 9.50709387e-01 -3.08751458e-01 -2.87088552e-02 1.17892467e+02] [ 2.93467886e-02 -2.57853739e-03 9.99565964e-01 6.74570185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.970714057 meters Centerline goodness : 0.978883 Centerline is valid? [True, True] Translation: X:154.14, Y:117.89, Z:6.75 [[-3.08196312e-01 -9.51298416e-01 6.80856941e-03 1.54136588e+02] [ 9.50869429e-01 -3.08262477e-01 -2.86631255e-02 1.17894989e+02] [ 2.93660123e-02 -2.35980905e-03 9.99565940e-01 6.74582180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.000714057 meters Centerline goodness : 0.980734 Centerline is valid? [True, True] Translation: X:154.20, Y:117.64, Z:6.73 [[-3.02748517e-01 -9.53045832e-01 6.85403305e-03 1.54202282e+02] [ 9.52617439e-01 -3.02818494e-01 -2.86526593e-02 1.17635707e+02] [ 2.93828255e-02 -2.14527872e-03 9.99565929e-01 6.73301142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.030714057 meters Centerline goodness : 0.982873 Centerline is valid? [True, True] Translation: X:154.20, Y:117.64, Z:6.73 [[-3.03947054e-01 -9.52666141e-01 6.58875627e-03 1.54199560e+02] [ 9.52236488e-01 -3.04008560e-01 -2.87135322e-02 1.17641215e+02] [ 2.93574482e-02 -2.45333941e-03 9.99565966e-01 6.73293051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.060714057 meters Centerline goodness : 0.980694 Centerline is valid? [True, True] Translation: X:154.20, Y:117.64, Z:6.74 [[-3.03426968e-01 -9.52831997e-01 6.57731015e-03 1.54197798e+02] [ 9.52402328e-01 -3.03488366e-01 -2.87161539e-02 1.17642114e+02] [ 2.93578074e-02 -2.44901000e-03 9.99565967e-01 6.73684720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.090714057 meters Centerline goodness : 0.983036 Centerline is valid? [True, True] Translation: X:154.19, Y:117.65, Z:6.73 [[-3.02040655e-01 -9.53272434e-01 6.56584917e-03 1.54193473e+02] [ 9.52842805e-01 -3.02102335e-01 -2.87187742e-02 1.17645631e+02] [ 2.93603741e-02 -2.41801522e-03 9.99565967e-01 6.73346656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.120714057 meters Centerline goodness : 0.980633 Centerline is valid? [True, True] Translation: X:154.19, Y:117.64, Z:6.73 [[-3.00719423e-01 -9.53690123e-01 6.55583790e-03 1.54192887e+02] [ 9.53260537e-01 -3.00781399e-01 -2.87210593e-02 1.17643313e+02] [ 2.93628647e-02 -2.38755883e-03 9.99565967e-01 6.73445047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.150714057 meters Centerline goodness : 0.981047 Centerline is valid? [True, True] Translation: X:154.19, Y:117.65, Z:6.74 [[-2.99642892e-01 -9.54028987e-01 6.54438082e-03 1.54190672e+02] [ 9.53599422e-01 -2.99705010e-01 -2.87236697e-02 1.17645910e+02] [ 2.93645972e-02 -2.36612570e-03 9.99565967e-01 6.73536477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.180714057 meters Centerline goodness : 0.981342 Centerline is valid? [True, True] Translation: X:154.19, Y:117.65, Z:6.73 [[-3.00416032e-01 -9.53785892e-01 6.53294447e-03 1.54189087e+02] [ 9.53356228e-01 -3.00477460e-01 -2.87262706e-02 1.17647362e+02] [ 2.93617142e-02 -2.40160891e-03 9.99565967e-01 6.73457355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.210714057 meters Centerline goodness : 0.980240 Centerline is valid? [True, True] Translation: X:154.11, Y:117.95, Z:6.75 [[-3.10144162e-01 -9.50667161e-01 6.52295274e-03 1.54112612e+02] [ 9.50236852e-01 -3.10200898e-01 -2.87285393e-02 1.17945397e+02] [ 2.93347046e-02 -2.71163864e-03 9.99565967e-01 6.75440615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.240714057 meters Centerline goodness : 0.973639 Centerline is valid? [True, True] Translation: X:153.97, Y:118.59, Z:6.77 [[-3.11136245e-01 -9.50342697e-01 6.55710916e-03 1.53966315e+02] [ 9.49912461e-01 -3.11193555e-01 -2.87208618e-02 1.18587051e+02] [ 2.93351913e-02 -2.70742139e-03 9.99565964e-01 6.77209684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.270714057 meters Centerline goodness : 0.977970 Centerline is valid? [True, True] Translation: X:154.19, Y:117.61, Z:6.74 [[-2.90482335e-01 -9.56854991e-01 6.96705099e-03 1.54192356e+02] [ 9.56428088e-01 -2.90561176e-01 -2.86271715e-02 1.17607494e+02] [ 2.94164064e-02 -1.65220437e-03 9.99565878e-01 6.73990355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.300714057 meters Centerline goodness : 0.981685 Centerline is valid? [True, True] Translation: X:154.19, Y:117.61, Z:6.73 [[-2.91285788e-01 -9.56617009e-01 6.04054518e-03 1.54190140e+02] [ 9.56186036e-01 -2.91336613e-01 -2.88312896e-02 1.17605205e+02] [ 2.93403340e-02 -2.62225995e-03 9.99566040e-01 6.73493548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.330714057 meters Centerline goodness : 0.981416 Centerline is valid? [True, True] Translation: X:154.19, Y:117.61, Z:6.73 [[-2.91527746e-01 -9.56543005e-01 6.08712708e-03 1.54187576e+02] [ 9.56112198e-01 -2.91579856e-01 -2.88210366e-02 1.17607008e+02] [ 2.93434446e-02 -2.58215540e-03 9.99566053e-01 6.73279621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.360714057 meters Centerline goodness : 0.981607 Centerline is valid? [True, True] Translation: X:154.19, Y:117.61, Z:6.73 [[-2.91929101e-01 -9.56421739e-01 5.90393090e-03 1.54185762e+02] [ 9.55990223e-01 -2.91975548e-01 -2.88612861e-02 1.17608582e+02] [ 2.93273649e-02 -2.78134909e-03 9.99565991e-01 6.73357272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.390714057 meters Centerline goodness : 0.979314 Centerline is valid? [True, True] Translation: X:154.18, Y:117.61, Z:6.73 [[-2.91893866e-01 -9.56432370e-01 5.92390348e-03 1.54182269e+02] [ 9.56000928e-01 -2.91940927e-01 -2.88569008e-02 1.17609323e+02] [ 2.93291039e-02 -2.75989513e-03 9.99565999e-01 6.73484601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.420714057 meters Centerline goodness : 0.979279 Centerline is valid? [True, True] Translation: X:154.18, Y:117.61, Z:6.73 [[-2.89782772e-01 -9.57073527e-01 6.01738280e-03 1.54180143e+02] [ 9.56642545e-01 -2.89833581e-01 -2.88363815e-02 1.17614860e+02] [ 2.93425769e-02 -2.59980216e-03 9.99566033e-01 6.73452774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.450714057 meters Centerline goodness : 0.983498 Centerline is valid? [True, True] Translation: X:154.18, Y:117.61, Z:6.73 [[-2.87271672e-01 -9.57829873e-01 6.07621949e-03 1.54178051e+02] [ 9.57399258e-01 -2.87325370e-01 -2.88234852e-02 1.17611572e+02] [ 2.93538472e-02 -2.46280274e-03 9.99566049e-01 6.73358695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.480714057 meters Centerline goodness : 0.981346 Centerline is valid? [True, True] Translation: X:154.18, Y:117.61, Z:6.74 [[-2.84556555e-01 -9.58641513e-01 5.83235293e-03 1.54175038e+02] [ 9.58210097e-01 -2.84604182e-01 -2.88767969e-02 1.17611495e+02] [ 2.93424083e-02 -2.62846238e-03 9.99565963e-01 6.73514669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51071405700003 meters Centerline goodness : 0.981726 Centerline is valid? [True, True] Translation: X:154.18, Y:117.61, Z:6.73 [[-2.82453973e-01 -9.59262733e-01 5.89603757e-03 1.54175881e+02] [ 9.58831669e-01 -2.82504450e-01 -2.88628982e-02 1.17605160e+02] [ 2.93527594e-02 -2.49913272e-03 9.99565991e-01 6.73373510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.540714057 meters Centerline goodness : 0.981353 Centerline is valid? [True, True] Translation: X:154.17, Y:117.62, Z:6.74 [[-2.81893860e-01 -9.59428165e-01 5.78337282e-03 1.54170829e+02] [ 9.58996696e-01 -2.81941220e-01 -2.88874521e-02 1.17615692e+02] [ 2.93460063e-02 -2.59695995e-03 9.99565940e-01 6.73661942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57071405700003 meters Centerline goodness : 0.979389 Centerline is valid? [True, True] Translation: X:154.17, Y:117.62, Z:6.74 [[-2.81008685e-01 -9.59685633e-01 6.13223337e-03 1.54166842e+02] [ 9.59255609e-01 -2.81066868e-01 -2.88113129e-02 1.17623458e+02] [ 2.93733707e-02 -2.21384988e-03 9.99566058e-01 6.73883091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.600714057 meters Centerline goodness : 0.981179 Centerline is valid? [True, True] Translation: X:154.17, Y:117.62, Z:6.74 [[-2.79225638e-01 -9.60206129e-01 6.10194610e-03 1.54166516e+02] [ 9.59776085e-01 -2.79283715e-01 -2.88179129e-02 1.17617024e+02] [ 2.93753108e-02 -2.19019817e-03 9.99566053e-01 6.73868364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63071405700003 meters Centerline goodness : 0.979066 Centerline is valid? [True, True] Translation: X:154.16, Y:117.63, Z:6.74 [[-2.78263205e-01 -9.60485987e-01 6.02136002e-03 1.54162560e+02] [ 9.60055665e-01 -2.78319308e-01 -2.88354409e-02 1.17626843e+02] [ 2.93718977e-02 -2.24300142e-03 9.99566036e-01 6.74085285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.660714057 meters Centerline goodness : 0.980062 Centerline is valid? [True, True] Translation: X:154.16, Y:117.63, Z:6.74 [[-2.77521620e-01 -9.60699795e-01 6.13623199e-03 1.54161679e+02] [ 9.60270002e-01 -2.77581484e-01 -2.88104741e-02 1.17625650e+02] [ 2.93815209e-02 -2.10308994e-03 9.99566057e-01 6.74055102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69071405700004 meters Centerline goodness : 0.981555 Centerline is valid? [True, True] Translation: X:154.16, Y:117.62, Z:6.74 [[-2.75724032e-01 -9.61217322e-01 6.12527903e-03 1.54163239e+02] [ 9.60787594e-01 -2.75784372e-01 -2.88128501e-02 1.17620567e+02] [ 2.93846668e-02 -2.05930308e-03 9.99566056e-01 6.74136345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.720714057 meters Centerline goodness : 0.983861 Centerline is valid? [True, True] Translation: X:154.16, Y:117.63, Z:6.74 [[-2.75547214e-01 -9.61267956e-01 6.13587223e-03 1.54159798e+02] [ 9.60838285e-01 -2.75607950e-01 -2.88105538e-02 1.17630069e+02] [ 2.93857573e-02 -2.04308688e-03 9.99566057e-01 6.74001879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.750714057 meters Centerline goodness : 0.981919 Centerline is valid? [True, True] Translation: X:154.16, Y:117.63, Z:6.74 [[-2.76584030e-01 -9.60972660e-01 5.72887272e-03 1.54162177e+02] [ 9.60541271e-01 -2.76632149e-01 -2.88984592e-02 1.17626820e+02] [ 2.93554196e-02 -2.49003364e-03 9.99565935e-01 6.73930470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.780714057 meters Centerline goodness : 0.981258 Centerline is valid? [True, True] Translation: X:154.16, Y:117.63, Z:6.74 [[-2.80041670e-01 -9.59968642e-01 6.07208052e-03 1.54158539e+02] [ 9.59538430e-01 -2.80098491e-01 -2.88242439e-02 1.17632936e+02] [ 2.93711509e-02 -2.24559481e-03 9.99566052e-01 6.73986205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.810714057 meters Centerline goodness : 0.982742 Centerline is valid? [True, True] Translation: X:154.16, Y:117.64, Z:6.74 [[-2.80374349e-01 -9.59870965e-01 6.16078131e-03 1.54155563e+02] [ 9.59441101e-01 -2.80433669e-01 -2.88050704e-02 1.17641832e+02] [ 2.93768412e-02 -2.16529608e-03 9.99566062e-01 6.74034742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.840714057 meters Centerline goodness : 0.984518 Centerline is valid? [True, True] Translation: X:154.15, Y:117.64, Z:6.74 [[-2.78881137e-01 -9.60306603e-01 6.04487352e-03 1.54154876e+02] [ 9.59876349e-01 -2.78937665e-01 -2.88300830e-02 1.17643414e+02] [ 2.93718619e-02 -2.23783520e-03 9.99566049e-01 6.74069091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.870714057 meters Centerline goodness : 0.984010 Centerline is valid? [True, True] Translation: X:154.16, Y:117.63, Z:6.74 [[-2.76806503e-01 -9.60908953e-01 5.66955461e-03 1.54158897e+02] [ 9.60477341e-01 -2.76852749e-01 -2.89107737e-02 1.17634685e+02] [ 2.93502531e-02 -2.55721143e-03 9.99565917e-01 6.73849155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.900714057 meters Centerline goodness : 0.981952 Centerline is valid? [True, True] Translation: X:154.15, Y:117.65, Z:6.74 [[-2.81647468e-01 -9.59500291e-01 5.82196684e-03 1.54154800e+02] [ 9.59069013e-01 -2.81696096e-01 -2.88779948e-02 1.17649370e+02] [ 2.93484698e-02 -2.54974614e-03 9.99565989e-01 6.74190151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.930714057 meters Centerline goodness : 0.984961 Centerline is valid? [True, True] Translation: X:154.16, Y:117.64, Z:6.74 [[-2.76140523e-01 -9.61097628e-01 6.14503947e-03 1.54158099e+02] [ 9.60667963e-01 -2.76201267e-01 -2.88084241e-02 1.17637525e+02] [ 2.93849757e-02 -2.05183074e-03 9.99566062e-01 6.73625237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.960714057 meters Centerline goodness : 0.982174 Centerline is valid? [True, True] Translation: X:154.15, Y:117.64, Z:6.74 [[-2.80376363e-01 -9.59872764e-01 5.77683822e-03 1.54154999e+02] [ 9.59441388e-01 -2.80424214e-01 -2.88874340e-02 1.17642021e+02] [ 2.93482264e-02 -2.55681600e-03 9.99565978e-01 6.74245297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.990714057 meters Centerline goodness : 0.983940 Centerline is valid? [True, True] Translation: X:154.15, Y:117.65, Z:6.74 [[-2.77535695e-01 -9.60696240e-01 6.05583516e-03 1.54152687e+02] [ 9.60266116e-01 -2.77593154e-01 -2.88275303e-02 1.17647256e+02] [ 2.93755583e-02 -2.18545535e-03 9.99566056e-01 6.74329463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.020714057 meters Centerline goodness : 0.982261 Centerline is valid? [True, True] Translation: X:154.15, Y:117.65, Z:6.75 [[-2.83542060e-01 -9.58943576e-01 5.57845632e-03 1.54150372e+02] [ 9.58511352e-01 -2.83582552e-01 -2.89296343e-02 1.17652823e+02] [ 2.93238398e-02 -2.85575439e-03 9.99565884e-01 6.74500602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.050714057 meters Centerline goodness : 0.983715 Centerline is valid? [True, True] Translation: X:154.15, Y:117.64, Z:6.74 [[-2.80330751e-01 -9.59884314e-01 6.06418299e-03 1.54154190e+02] [ 9.59454064e-01 -2.80387207e-01 -2.88255525e-02 1.17643331e+02] [ 2.93695150e-02 -2.26238375e-03 9.99566062e-01 6.74136919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.080714057 meters Centerline goodness : 0.981062 Centerline is valid? [True, True] Translation: X:154.15, Y:117.66, Z:6.74 [[-2.84732033e-01 -9.58589434e-01 5.82805909e-03 1.54150141e+02] [ 9.58158043e-01 -2.84779457e-01 -2.88760334e-02 1.17663208e+02] [ 2.93399720e-02 -2.63772999e-03 9.99566010e-01 6.74307563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.110714057 meters Centerline goodness : 0.979990 Centerline is valid? [True, True] Translation: X:154.15, Y:117.67, Z:6.75 [[-2.85750783e-01 -9.58284789e-01 6.06236101e-03 1.54149177e+02] [ 9.57854221e-01 -2.85804753e-01 -2.88259291e-02 1.17671580e+02] [ 2.93561010e-02 -2.43017373e-03 9.99566063e-01 6.74531520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.140714057 meters Centerline goodness : 0.982499 Centerline is valid? [True, True] Translation: X:154.14, Y:117.67, Z:6.74 [[-2.86954117e-01 -9.57925167e-01 6.05878010e-03 1.54144820e+02] [ 9.57494518e-01 -2.87007439e-01 -2.88266934e-02 1.17674599e+02] [ 2.93527300e-02 -2.47068961e-03 9.99566062e-01 6.74408488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.170714057 meters Centerline goodness : 0.980563 Centerline is valid? [True, True] Translation: X:154.14, Y:117.67, Z:6.74 [[-2.89341242e-01 -9.57208871e-01 5.72918389e-03 1.54144784e+02] [ 9.56776928e-01 -2.89383632e-01 -2.88967615e-02 1.17672359e+02] [ 2.93181684e-02 -2.87947388e-03 9.99565983e-01 6.74392200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.200714057 meters Centerline goodness : 0.978949 Centerline is valid? [True, True] Translation: X:154.14, Y:117.68, Z:6.75 [[-2.91905744e-01 -9.56427678e-01 6.09374563e-03 1.54144035e+02] [ 9.55996888e-01 -2.91957883e-01 -2.88191805e-02 1.17675679e+02] [ 2.93425789e-02 -2.58688247e-03 9.99566066e-01 6.74560643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.230714057 meters Centerline goodness : 0.983781 Centerline is valid? [True, True] Translation: X:154.14, Y:117.68, Z:6.74 [[-2.90154441e-01 -9.56960244e-01 6.12299154e-03 1.54140884e+02] [ 9.56529660e-01 -2.90208242e-01 -2.88129629e-02 1.17683786e+02] [ 2.93498027e-02 -2.50338614e-03 9.99566067e-01 6.74403222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26071405700003 meters Centerline goodness : 0.981035 Centerline is valid? [True, True] Translation: X:154.14, Y:117.69, Z:6.75 [[-2.92390140e-01 -9.56282248e-01 5.68057662e-03 1.54140223e+02] [ 9.55850027e-01 -2.92429699e-01 -2.89066968e-02 1.17688437e+02] [ 2.93041303e-02 -3.02225381e-03 9.99565973e-01 6.74529214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.290714057 meters Centerline goodness : 0.978683 Centerline is valid? [True, True] Translation: X:154.14, Y:117.69, Z:6.74 [[-2.94997038e-01 -9.55479313e-01 6.00253553e-03 1.54139265e+02] [ 9.55048040e-01 -2.95045055e-01 -2.88384592e-02 1.17691523e+02] [ 2.93255696e-02 -2.77455025e-03 9.99566062e-01 6.74467236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32071405700003 meters Centerline goodness : 0.983146 Centerline is valid? [True, True] Translation: X:154.13, Y:117.69, Z:6.74 [[-2.94905172e-01 -9.55506987e-01 6.11046752e-03 1.54134838e+02] [ 9.55076096e-01 -2.94956458e-01 -2.88156009e-02 1.17693851e+02] [ 2.93358298e-02 -2.66190826e-03 9.99566068e-01 6.74186970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.350714057 meters Centerline goodness : 0.980476 Centerline is valid? [True, True] Translation: X:154.13, Y:117.70, Z:6.75 [[-2.98895147e-01 -9.54268746e-01 5.73164286e-03 1.54131270e+02] [ 9.53836428e-01 -2.98933293e-01 -2.88955801e-02 1.17698751e+02] [ 2.92875278e-02 -3.16969890e-03 9.99566003e-01 6.74672307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38071405700003 meters Centerline goodness : 0.979650 Centerline is valid? [True, True] Translation: X:154.13, Y:117.69, Z:6.75 [[-2.97739503e-01 -9.54628462e-01 5.97388397e-03 1.54133323e+02] [ 9.54196960e-01 -2.97785425e-01 -2.88444379e-02 1.17690471e+02] [ 2.93146570e-02 -2.88786670e-03 9.99566061e-01 6.74547320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.410714057 meters Centerline goodness : 0.983749 Centerline is valid? [True, True] Translation: X:154.13, Y:117.70, Z:6.74 [[-2.98077274e-01 -9.54522936e-01 5.99184751e-03 1.54129413e+02] [ 9.54091478e-01 -2.98123581e-01 -2.88406486e-02 1.17704915e+02] [ 2.93153716e-02 -2.87997127e-03 9.99566063e-01 6.74080275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44071405700004 meters Centerline goodness : 0.981847 Centerline is valid? [True, True] Translation: X:154.13, Y:117.70, Z:6.74 [[-2.96964467e-01 -9.54871009e-01 5.78452144e-03 1.54129828e+02] [ 9.54438938e-01 -2.97005072e-01 -2.88842652e-02 1.17701425e+02] [ 2.92987797e-02 -3.05662793e-03 9.99566025e-01 6.74332818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.470714057 meters Centerline goodness : 0.979631 Centerline is valid? [True, True] Translation: X:154.13, Y:117.71, Z:6.74 [[-2.97777118e-01 -9.54617589e-01 5.83499738e-03 1.54128588e+02] [ 9.54185640e-01 -2.97818866e-01 -2.88736594e-02 1.17706443e+02] [ 2.93010754e-02 -3.03024437e-03 9.99566038e-01 6.74404921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.500714057 meters Centerline goodness : 0.979650 Centerline is valid? [True, True] Translation: X:154.12, Y:117.70, Z:6.75 [[-2.95861935e-01 -9.55211527e-01 6.05426757e-03 1.54123510e+02] [ 9.54780386e-01 -2.95911109e-01 -2.88275750e-02 1.17703476e+02] [ 2.93279569e-02 -2.74848619e-03 9.99566064e-01 6.74673514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.530714057 meters Centerline goodness : 0.979115 Centerline is valid? [True, True] Translation: X:154.12, Y:117.71, Z:6.75 [[-2.95668109e-01 -9.55272256e-01 5.94014536e-03 1.54122784e+02] [ 9.54840743e-01 -2.95713957e-01 -2.88515238e-02 1.17705867e+02] [ 2.93176442e-02 -2.85858269e-03 9.99566058e-01 6.74565353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.560714057 meters Centerline goodness : 0.981047 Centerline is valid? [True, True] Translation: X:154.12, Y:117.72, Z:6.74 [[-2.94036747e-01 -9.55774677e-01 6.09574067e-03 1.54119535e+02] [ 9.55343776e-01 -2.94087984e-01 -2.88188727e-02 1.17717570e+02] [ 2.93370328e-02 -2.65027966e-03 9.99566063e-01 6.74480292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.590714057 meters Centerline goodness : 0.979671 Centerline is valid? [True, True] Translation: X:154.12, Y:117.71, Z:6.75 [[-2.94555359e-01 -9.55616400e-01 5.86827666e-03 1.54119864e+02] [ 9.55184708e-01 -2.94599560e-01 -2.88664733e-02 1.17712642e+02] [ 2.93140670e-02 -2.89748628e-03 9.99566051e-01 6.74530070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.620714057 meters Centerline goodness : 0.980298 Centerline is valid? [True, True] Translation: X:154.12, Y:117.72, Z:6.74 [[-2.94589047e-01 -9.55604593e-01 6.09547067e-03 1.54116718e+02] [ 9.55173662e-01 -2.94640027e-01 -2.88189250e-02 1.17724560e+02] [ 2.93354667e-02 -2.66750659e-03 9.99566063e-01 6.74380281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.650714057 meters Centerline goodness : 0.984500 Centerline is valid? [True, True] Translation: X:154.11, Y:117.72, Z:6.74 [[-2.92412729e-01 -9.56273142e-01 6.03934158e-03 1.54111592e+02] [ 9.55842131e-01 -2.92463013e-01 -2.88306569e-02 1.17720633e+02] [ 2.93362669e-02 -2.65779394e-03 9.99566066e-01 6.74227750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.680714057 meters Centerline goodness : 0.985412 Centerline is valid? [True, True] Translation: X:154.11, Y:117.72, Z:6.74 [[-2.91450442e-01 -9.56568040e-01 5.85026360e-03 1.54109882e+02] [ 9.56136438e-01 -2.91495506e-01 -2.88700942e-02 1.17718046e+02] [ 2.93215349e-02 -2.82055149e-03 9.99566052e-01 6.74090249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.710714057 meters Centerline goodness : 0.984927 Centerline is valid? [True, True] Translation: X:154.11, Y:117.72, Z:6.74 [[-2.91454774e-01 -9.56567331e-01 5.74938168e-03 1.54105855e+02] [ 9.56135403e-01 -2.91496819e-01 -2.88911003e-02 1.17724429e+02] [ 2.93122092e-02 -2.92326175e-03 9.99566030e-01 6.74262202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.740714057 meters Centerline goodness : 0.982672 Centerline is valid? [True, True] Translation: X:154.11, Y:117.72, Z:6.74 [[-2.91959645e-01 -9.56412814e-01 5.83907489e-03 1.54105548e+02] [ 9.55981152e-01 -2.92004144e-01 -2.88724343e-02 1.17723833e+02] [ 2.93190003e-02 -2.84754013e-03 9.99566050e-01 6.74397810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.770714057 meters Centerline goodness : 0.984389 Centerline is valid? [True, True] Translation: X:154.10, Y:117.73, Z:6.74 [[-2.90151685e-01 -9.56961861e-01 5.99971117e-03 1.54100850e+02] [ 9.56530828e-01 -2.90201803e-01 -2.88390157e-02 1.17729042e+02] [ 2.93389652e-02 -2.62878034e-03 9.99566063e-01 6.74371514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.800714057 meters Centerline goodness : 0.983975 Centerline is valid? [True, True] Translation: X:154.10, Y:117.73, Z:6.74 [[-2.88557186e-01 -9.57444850e-01 5.84044065e-03 1.54096117e+02] [ 9.57013355e-01 -2.88603261e-01 -2.88720715e-02 1.17728203e+02] [ 2.93289864e-02 -2.74186400e-03 9.99566052e-01 6.74407582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.830714057 meters Centerline goodness : 0.984868 Centerline is valid? [True, True] Translation: X:154.09, Y:117.74, Z:6.74 [[-2.86367827e-01 -9.58101758e-01 5.87267093e-03 1.54092502e+02] [ 9.57670480e-01 -2.86415852e-01 -2.88653892e-02 1.17736470e+02] [ 2.93380062e-02 -2.64203518e-03 9.99566056e-01 6.74339197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.860714057 meters Centerline goodness : 0.984868 Centerline is valid? [True, True] Translation: X:154.09, Y:117.74, Z:6.74 [[-2.86005025e-01 -9.58210874e-01 5.74860613e-03 1.54091948e+02] [ 9.57779195e-01 -2.86049505e-01 -2.88910717e-02 1.17739038e+02] [ 2.93281250e-02 -2.75709635e-03 9.99566036e-01 6.74343337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.890714057 meters Centerline goodness : 0.983649 Centerline is valid? [True, True] Translation: X:154.09, Y:117.73, Z:6.74 [[-2.87061596e-01 -9.57894940e-01 5.73790901e-03 1.54088590e+02] [ 9.57463178e-01 -2.87105280e-01 -2.88932818e-02 1.17732881e+02] [ 2.93241124e-02 -2.80031499e-03 9.99566033e-01 6.74403678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.920714057 meters Centerline goodness : 0.982303 Centerline is valid? [True, True] Translation: X:154.08, Y:117.74, Z:6.74 [[-2.86147777e-01 -9.58166954e-01 5.96139949e-03 1.54084831e+02] [ 9.57735994e-01 -2.86198551e-01 -2.88470971e-02 1.17736230e+02] [ 2.93464791e-02 -2.54508585e-03 9.99566059e-01 6.74429309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.950714057 meters Centerline goodness : 0.983698 Centerline is valid? [True, True] Translation: X:154.08, Y:117.74, Z:6.74 [[-2.83316671e-01 -9.59007956e-01 5.95009383e-03 1.54082566e+02] [ 9.58577107e-01 -2.83368381e-01 -2.88494289e-02 1.17736088e+02] [ 2.93529003e-02 -2.46990044e-03 9.99566059e-01 6.74331925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.980714057 meters Centerline goodness : 0.983597 Centerline is valid? [True, True] Translation: X:154.08, Y:117.73, Z:6.74 [[-2.81615993e-01 -9.59509497e-01 5.82737411e-03 1.54079141e+02] [ 9.59078303e-01 -2.81664802e-01 -2.88746946e-02 1.17733253e+02] [ 2.93469099e-02 -2.54266773e-03 9.99566053e-01 6.74265958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01071405700003 meters Centerline goodness : 0.982348 Centerline is valid? [True, True] Translation: X:154.08, Y:117.73, Z:6.74 [[-2.80735184e-01 -9.59767451e-01 5.84783864e-03 1.54079925e+02] [ 9.59336374e-01 -2.80785000e-01 -2.88704853e-02 1.17728750e+02] [ 2.93509374e-02 -2.49491668e-03 9.99566055e-01 6.74235156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.040714057 meters Centerline goodness : 0.984074 Centerline is valid? [True, True] Translation: X:154.07, Y:117.73, Z:6.74 [[-2.78491402e-01 -9.60420408e-01 5.93118257e-03 1.54072971e+02] [ 9.59989754e-01 -2.78544713e-01 -2.88533529e-02 1.17734287e+02] [ 2.93634485e-02 -2.34153621e-03 9.99566058e-01 6.74137782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07071405700003 meters Centerline goodness : 0.983907 Centerline is valid? [True, True] Translation: X:154.07, Y:117.74, Z:6.74 [[-2.79134282e-01 -9.60234273e-01 5.84756700e-03 1.54070378e+02] [ 9.59803280e-01 -2.79184809e-01 -2.88705064e-02 1.17736981e+02] [ 2.93550016e-02 -2.44623410e-03 9.99566056e-01 6.74282769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.100714057 meters Centerline goodness : 0.983556 Centerline is valid? [True, True] Translation: X:154.07, Y:117.74, Z:6.74 [[-2.76987634e-01 -9.60855305e-01 5.91041829e-03 1.54066767e+02] [ 9.60424657e-01 -2.77040999e-01 -2.88576337e-02 1.17743120e+02] [ 2.93654386e-02 -2.31669621e-03 9.99566058e-01 6.74190288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13071405700003 meters Centerline goodness : 0.983471 Centerline is valid? [True, True] Translation: X:154.06, Y:117.75, Z:6.74 [[-2.77867087e-01 -9.60601825e-01 5.83225450e-03 1.54062682e+02] [ 9.60170846e-01 -2.77917725e-01 -2.88736082e-02 1.17745631e+02] [ 2.93569277e-02 -2.42306468e-03 9.99566056e-01 6.74260915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.160714057 meters Centerline goodness : 0.983916 Centerline is valid? [True, True] Translation: X:154.06, Y:117.75, Z:6.74 [[-2.77339234e-01 -9.60754274e-01 5.84590551e-03 1.54061006e+02] [ 9.60323371e-01 -2.77390517e-01 -2.88708205e-02 1.17747611e+02] [ 2.93593629e-02 -2.39305155e-03 9.99566056e-01 6.74319112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19071405700004 meters Centerline goodness : 0.984251 Centerline is valid? [True, True] Translation: X:154.06, Y:117.75, Z:6.74 [[-2.77958735e-01 -9.60574977e-01 5.88681181e-03 1.54059937e+02] [ 9.60144189e-01 -2.78010961e-01 -2.88624772e-02 1.17748307e+02] [ 2.93611716e-02 -2.37038951e-03 9.99566057e-01 6.74269608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.220714057 meters Centerline goodness : 0.986209 Centerline is valid? [True, True] Translation: X:154.06, Y:117.75, Z:6.74 [[-2.77757448e-01 -9.60633341e-01 5.86384771e-03 1.54057849e+02] [ 9.60202481e-01 -2.77809078e-01 -2.88671526e-02 1.17753945e+02] [ 2.93597794e-02 -2.38758551e-03 9.99566057e-01 6.74260931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.250714057 meters Centerline goodness : 0.986386 Centerline is valid? [True, True] Translation: X:154.06, Y:117.75, Z:6.74 [[-2.78489247e-01 -9.60421667e-01 5.82762505e-03 1.54055906e+02] [ 9.59990639e-01 -2.78539468e-01 -2.88745159e-02 1.17752645e+02] [ 2.93549342e-02 -2.44677668e-03 9.99566056e-01 6.74228627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.280714057 meters Centerline goodness : 0.985311 Centerline is valid? [True, True] Translation: X:154.05, Y:117.76, Z:6.74 [[-2.78706564e-01 -9.60358629e-01 5.82715610e-03 1.54054566e+02] [ 9.59927588e-01 -2.78756673e-01 -2.88746110e-02 1.17761134e+02] [ 2.93543405e-02 -2.45389570e-03 9.99566056e-01 6.74445092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.310714057 meters Centerline goodness : 0.986654 Centerline is valid? [True, True] Translation: X:154.05, Y:117.76, Z:6.74 [[-2.79219400e-01 -9.60209509e-01 5.85024592e-03 1.54052562e+02] [ 9.59778522e-01 -2.79269968e-01 -2.88699320e-02 1.17760644e+02] [ 2.93549813e-02 -2.44610471e-03 9.99566057e-01 6.74356917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.340714057 meters Centerline goodness : 0.987178 Centerline is valid? [True, True] Translation: X:154.05, Y:117.76, Z:6.74 [[-2.78770009e-01 -9.60340138e-01 5.83960565e-03 1.54051558e+02] [ 9.59909138e-01 -2.78820461e-01 -2.88720841e-02 1.17764380e+02] [ 2.93552228e-02 -2.44318031e-03 9.99566057e-01 6.74465915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.370714057 meters Centerline goodness : 0.987054 Centerline is valid? [True, True] Translation: X:154.05, Y:117.76, Z:6.74 [[-2.78042724e-01 -9.60551027e-01 5.82826512e-03 1.54051805e+02] [ 9.60120025e-01 -2.78093165e-01 -2.88743732e-02 1.17759790e+02] [ 2.93561095e-02 -2.43247532e-03 9.99566057e-01 6.74433604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.400714057 meters Centerline goodness : 0.986499 Centerline is valid? [True, True] Translation: X:154.05, Y:117.76, Z:6.74 [[-2.78584243e-01 -9.60394336e-01 5.79123615e-03 1.54051451e+02] [ 9.59963179e-01 -2.78633335e-01 -2.88818356e-02 1.17758890e+02] [ 2.93515828e-02 -2.48665084e-03 9.99566056e-01 6.74426001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.430714057 meters Centerline goodness : 0.987390 Centerline is valid? [True, True] Translation: X:154.05, Y:117.75, Z:6.74 [[-2.77385564e-01 -9.60740684e-01 5.88103591e-03 1.54052356e+02] [ 9.60309903e-01 -2.77437874e-01 -2.88637514e-02 1.17751817e+02] [ 2.93622024e-02 -2.35877094e-03 9.99566054e-01 6.74274201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.460714057 meters Centerline goodness : 0.986504 Centerline is valid? [True, True] Translation: X:154.05, Y:117.75, Z:6.75 [[-2.74928641e-01 -9.61446718e-01 5.86939432e-03 1.54052808e+02] [ 9.61016030e-01 -2.74981705e-01 -2.88660913e-02 1.17752413e+02] [ 2.93671848e-02 -2.29553323e-03 9.99566055e-01 6.74523994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.490714057 meters Centerline goodness : 0.987054 Centerline is valid? [True, True] Translation: X:154.05, Y:117.76, Z:6.75 [[-2.74945570e-01 -9.61442603e-01 5.74930822e-03 1.54050433e+02] [ 9.61011490e-01 -2.74995044e-01 -2.88901863e-02 1.17762152e+02] [ 2.93572872e-02 -2.41807749e-03 9.99566057e-01 6.74623596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.520714057 meters Centerline goodness : 0.984572 Centerline is valid? [True, True] Translation: X:154.05, Y:117.77, Z:6.75 [[-2.72738611e-01 -9.62070773e-01 5.78605284e-03 1.54050491e+02] [ 9.61639904e-01 -2.72790170e-01 -2.88828224e-02 1.17768203e+02] [ 2.93656976e-02 -2.31336157e-03 9.99566058e-01 6.74904103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.550714057 meters Centerline goodness : 0.986018 Centerline is valid? [True, True] Translation: X:154.05, Y:117.76, Z:6.75 [[-2.69724827e-01 -9.62919497e-01 5.87876141e-03 1.54051633e+02] [ 9.62489136e-01 -2.69780499e-01 -2.88642577e-02 1.17759693e+02] [ 2.93799317e-02 -2.12716294e-03 9.99566053e-01 6.75019147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.580714057 meters Centerline goodness : 0.987970 Centerline is valid? [True, True] Translation: X:154.05, Y:117.76, Z:6.75 [[-2.65955233e-01 -9.63967873e-01 5.80972760e-03 1.54050358e+02] [ 9.63537470e-01 -2.66010531e-01 -2.88780493e-02 1.17763920e+02] [ 2.93829605e-02 -2.08237811e-03 9.99566059e-01 6.74842743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.610714057 meters Centerline goodness : 0.986521 Centerline is valid? [True, True] Translation: X:154.05, Y:117.76, Z:6.75 [[-2.60163612e-01 -9.65547630e-01 5.71577185e-03 1.54051174e+02] [ 9.65117199e-01 -2.60218694e-01 -2.88967835e-02 1.17763240e+02] [ 2.93885715e-02 -2.00150184e-03 9.99566059e-01 6.74915673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.640714057 meters Centerline goodness : 0.985839 Centerline is valid? [True, True] Translation: X:154.05, Y:117.76, Z:6.75 [[-2.59265422e-01 -9.65789099e-01 5.73208766e-03 1.54050625e+02] [ 9.65358783e-01 -2.59321391e-01 -2.88935330e-02 1.17756743e+02] [ 2.93915122e-02 -1.95757286e-03 9.99566059e-01 6.75272317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.670714057 meters Centerline goodness : 0.986824 Centerline is valid? [True, True] Translation: X:154.05, Y:117.75, Z:6.75 [[-2.50378288e-01 -9.68130627e-01 5.81396651e-03 1.54052468e+02] [ 9.67701188e-01 -2.50440644e-01 -2.88772303e-02 1.17751898e+02] [ 2.94129846e-02 -1.60404918e-03 9.99566058e-01 6.75049611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.700714057 meters Centerline goodness : 0.986125 Centerline is valid? [True, True] Translation: X:154.05, Y:117.75, Z:6.75 [[-2.46267116e-01 -9.69184851e-01 5.76476839e-03 1.54054377e+02] [ 9.68755467e-01 -2.46329832e-01 -2.88870133e-02 1.17751356e+02] [ 2.94168901e-02 -1.52927055e-03 9.99566060e-01 6.74987182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.730714057 meters Centerline goodness : 0.983211 Centerline is valid? [True, True] Translation: X:154.06, Y:117.76, Z:6.75 [[-2.42172997e-01 -9.70215919e-01 5.77154357e-03 1.54056351e+02] [ 9.69786833e-01 -2.42237727e-01 -2.88856670e-02 1.17757637e+02] [ 2.94234195e-02 -1.39816158e-03 9.99566060e-01 6.74930389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76071405700003 meters Centerline goodness : 0.984244 Centerline is valid? [True, True] Translation: X:154.06, Y:117.75, Z:6.75 [[-2.33751555e-01 -9.72278948e-01 5.81884083e-03 1.54055284e+02] [ 9.71850663e-01 -2.33821405e-01 -2.88762816e-02 1.17753316e+02] [ 2.94363702e-02 -1.09483140e-03 9.99566057e-01 6.75047952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.790714057 meters Centerline goodness : 0.983920 Centerline is valid? [True, True] Translation: X:154.06, Y:117.74, Z:6.75 [[-2.26059132e-01 -9.74096645e-01 5.74407880e-03 1.54058111e+02] [ 9.73668557e-01 -2.26130152e-01 -2.88910844e-02 1.17744252e+02] [ 2.94416178e-02 -9.38264561e-04 9.99566061e-01 6.75150699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82071405700003 meters Centerline goodness : 0.983512 Centerline is valid? [True, True] Translation: X:154.06, Y:117.74, Z:6.75 [[-2.19636310e-01 -9.75564858e-01 5.75325249e-03 1.54063471e+02] [ 9.75137294e-01 -2.19710419e-01 -2.88892692e-02 1.17738466e+02] [ 2.94474054e-02 -7.34921423e-04 9.99566061e-01 6.74884583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.850714057 meters Centerline goodness : 0.984367 Centerline is valid? [True, True] Translation: X:154.06, Y:117.74, Z:6.75 [[-2.16177538e-01 -9.76337374e-01 5.70992648e-03 1.54063154e+02] [ 9.75909852e-01 -2.16251881e-01 -2.88978301e-02 1.17739240e+02] [ 2.94488139e-02 -6.74688249e-04 9.99566062e-01 6.75056921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88071405700003 meters Centerline goodness : 0.982032 Centerline is valid? [True, True] Translation: X:154.07, Y:117.73, Z:6.75 [[-2.09242518e-01 -9.77847442e-01 5.65228756e-03 1.54071243e+02] [ 9.77420152e-01 -2.09318191e-01 -2.89092055e-02 1.17734803e+02] [ 2.94519193e-02 -5.24375210e-04 9.99566061e-01 6.75087584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.910714057 meters Centerline goodness : 0.983938 Centerline is valid? [True, True] Translation: X:154.07, Y:117.75, Z:6.75 [[-2.09729940e-01 -9.77742905e-01 5.67141817e-03 1.54066886e+02] [ 9.77315677e-01 -2.09805964e-01 -2.89054332e-02 1.17753754e+02] [ 2.94519795e-02 -5.19568860e-04 9.99566061e-01 6.74928526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94071405700004 meters Centerline goodness : 0.982509 Centerline is valid? [True, True] Translation: X:154.07, Y:117.75, Z:6.75 [[-2.09991453e-01 -9.77687010e-01 5.63037234e-03 1.54073617e+02] [ 9.77259546e-01 -2.10066150e-01 -2.89135159e-02 1.17748247e+02] [ 2.94511195e-02 -5.69256094e-04 9.99566060e-01 6.75142971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.970714057 meters Centerline goodness : 0.983555 Centerline is valid? [True, True] Translation: X:154.07, Y:117.75, Z:6.75 [[-2.11079915e-01 -9.77452111e-01 5.71321353e-03 1.54074534e+02] [ 9.77024999e-01 -2.11156585e-01 -2.88972138e-02 1.17749980e+02] [ 2.94520252e-02 -5.17668969e-04 9.99566061e-01 6.75181359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.000714057 meters Centerline goodness : 0.982478 Centerline is valid? [True, True] Translation: X:154.08, Y:117.75, Z:6.75 [[-2.12952571e-01 -9.77046063e-01 5.67391969e-03 1.54076309e+02] [ 9.76618601e-01 -2.13027261e-01 -2.89049351e-02 1.17753797e+02] [ 2.94501526e-02 -6.14124741e-04 9.99566062e-01 6.75221486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.030714057 meters Centerline goodness : 0.980967 Centerline is valid? [True, True] Translation: X:154.08, Y:117.76, Z:6.75 [[-2.17445196e-01 -9.76056244e-01 5.63871936e-03 1.54081684e+02] [ 9.75628266e-01 -2.17516877e-01 -2.89118414e-02 1.17760586e+02] [ 2.94460999e-02 -7.85447037e-04 9.99566061e-01 6.75225086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.060714057 meters Centerline goodness : 0.981909 Centerline is valid? [True, True] Translation: X:154.09, Y:117.76, Z:6.75 [[-2.17888953e-01 -9.75957228e-01 5.64743292e-03 1.54086565e+02] [ 9.75529261e-01 -2.17960697e-01 -2.89101330e-02 1.17755496e+02] [ 2.94459717e-02 -7.89962553e-04 9.99566061e-01 6.75072639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.090714057 meters Centerline goodness : 0.982402 Centerline is valid? [True, True] Translation: X:154.09, Y:117.77, Z:6.75 [[-2.24925449e-01 -9.74359790e-01 5.61629661e-03 1.54088124e+02] [ 9.73931168e-01 -2.24993180e-01 -2.89162279e-02 1.17773497e+02] [ 2.94384382e-02 -1.03410923e-03 9.99566060e-01 6.75221392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.120714057 meters Centerline goodness : 0.980526 Centerline is valid? [True, True] Translation: X:154.09, Y:117.77, Z:6.75 [[-2.25557539e-01 -9.74214165e-01 5.52790755e-03 1.54093738e+02] [ 9.73785088e-01 -2.25622371e-01 -2.89334971e-02 1.17765275e+02] [ 2.94346424e-02 -1.14317448e-03 9.99566053e-01 6.75264016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.150714057 meters Centerline goodness : 0.979772 Centerline is valid? [True, True] Translation: X:154.09, Y:117.78, Z:6.75 [[-2.33172994e-01 -9.72419407e-01 5.55441780e-03 1.54093301e+02] [ 9.71989953e-01 -2.33235254e-01 -2.89283225e-02 1.17784339e+02] [ 2.94259483e-02 -1.34646530e-03 9.99566056e-01 6.75316059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.180714057 meters Centerline goodness : 0.981278 Centerline is valid? [True, True] Translation: X:154.10, Y:117.77, Z:6.75 [[-2.33126796e-01 -9.72430014e-01 5.63600666e-03 1.54097896e+02] [ 9.72000925e-01 -2.33191498e-01 -2.89124075e-02 1.17773539e+02] [ 2.94295616e-02 -1.26205323e-03 9.99566060e-01 6.75115924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.210714057 meters Centerline goodness : 0.979200 Centerline is valid? [True, True] Translation: X:154.09, Y:117.85, Z:6.75 [[-2.40707090e-01 -9.70582256e-01 5.49372503e-03 1.54086914e+02] [ 9.70152083e-01 -2.40764213e-01 -2.89401091e-02 1.17851252e+02] [ 2.94114488e-02 -1.63634066e-03 9.99566050e-01 6.75237048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.240714057 meters Centerline goodness : 0.981813 Centerline is valid? [True, True] Translation: X:154.11, Y:117.79, Z:6.74 [[-2.34675210e-01 -9.72057384e-01 5.65579215e-03 1.54105192e+02] [ 9.71628280e-01 -2.34739815e-01 -2.89085589e-02 1.17786037e+02] [ 2.94284178e-02 -1.28879453e-03 9.99566059e-01 6.74341574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.270714057 meters Centerline goodness : 0.980910 Centerline is valid? [True, True] Translation: X:153.97, Y:118.45, Z:6.77 [[-2.58088691e-01 -9.66105929e-01 5.43697249e-03 1.53965155e+02] [ 9.65674586e-01 -2.58136392e-01 -2.89516187e-02 1.18445065e+02] [ 2.93738109e-02 -2.22173921e-03 9.99566027e-01 6.77130489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.300714057 meters Centerline goodness : 0.980055 Centerline is valid? [True, True] Translation: X:154.10, Y:117.81, Z:6.75 [[-2.43816851e-01 -9.69803280e-01 5.91115667e-03 1.54102406e+02] [ 9.69374708e-01 -2.43885000e-01 -2.88579687e-02 1.17812353e+02] [ 2.94281951e-02 -1.30593328e-03 9.99566044e-01 6.74921397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.330714057 meters Centerline goodness : 0.980865 Centerline is valid? [True, True] Translation: X:154.10, Y:117.82, Z:6.75 [[-2.44223776e-01 -9.69703764e-01 5.41822835e-03 1.54102230e+02] [ 9.69273135e-01 -2.44277096e-01 -2.89532301e-02 1.17817907e+02] [ 2.93996053e-02 -1.81932400e-03 9.99566082e-01 6.74842189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.360714057 meters Centerline goodness : 0.980048 Centerline is valid? [True, True] Translation: X:154.10, Y:117.82, Z:6.75 [[-2.45359438e-01 -9.69417350e-01 5.36175794e-03 1.54104447e+02] [ 9.68986444e-01 -2.45410574e-01 -2.89641308e-02 1.17815877e+02] [ 2.93941630e-02 -1.91115210e-03 9.99566071e-01 6.74804142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.390714057 meters Centerline goodness : 0.979757 Centerline is valid? [True, True] Translation: X:154.11, Y:117.82, Z:6.75 [[-2.44215425e-01 -9.69705740e-01 5.44085055e-03 1.54105344e+02] [ 9.69275199e-01 -2.44269423e-01 -2.89488720e-02 1.17819555e+02] [ 2.94009208e-02 -1.79607959e-03 9.99566086e-01 6.74688726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.420714057 meters Centerline goodness : 0.979010 Centerline is valid? [True, True] Translation: X:154.11, Y:117.83, Z:6.75 [[-2.42984646e-01 -9.70014987e-01 5.42101175e-03 1.54105864e+02] [ 9.69584437e-01 -2.43038600e-01 -2.89526926e-02 1.17825558e+02] [ 2.94020608e-02 -1.77893114e-03 9.99566083e-01 6.74683557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.450714057 meters Centerline goodness : 0.980272 Centerline is valid? [True, True] Translation: X:154.10, Y:117.83, Z:6.74 [[-2.40634245e-01 -9.70600417e-01 5.47633814e-03 1.54104469e+02] [ 9.70170219e-01 -2.40690887e-01 -2.89420539e-02 1.17827778e+02] [ 2.94092743e-02 -1.65146913e-03 9.99566089e-01 6.74486216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.480714057 meters Centerline goodness : 0.980530 Centerline is valid? [True, True] Translation: X:154.10, Y:117.83, Z:6.75 [[-2.40441828e-01 -9.70649031e-01 5.30898484e-03 1.54104616e+02] [ 9.70218191e-01 -2.40493578e-01 -2.89741565e-02 1.17826643e+02] [ 2.94005137e-02 -1.81572550e-03 9.99566062e-01 6.74559933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51071405700003 meters Centerline goodness : 0.981388 Centerline is valid? [True, True] Translation: X:154.11, Y:117.83, Z:6.74 [[-2.38259386e-01 -9.71187295e-01 5.26346642e-03 1.54105016e+02] [ 9.70756395e-01 -2.38310750e-01 -2.89828736e-02 1.17827989e+02] [ 2.94021393e-02 -1.79589798e-03 9.99566050e-01 6.74370575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.540714057 meters Centerline goodness : 0.979388 Centerline is valid? [True, True] Translation: X:154.10, Y:117.83, Z:6.75 [[-2.40102349e-01 -9.70733963e-01 5.14153256e-03 1.54104938e+02] [ 9.70302515e-01 -2.40149267e-01 -2.90061878e-02 1.17829551e+02] [ 2.93920269e-02 -1.97561186e-03 9.99566009e-01 6.74695954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57071405700003 meters Centerline goodness : 0.980904 Centerline is valid? [True, True] Translation: X:154.10, Y:117.83, Z:6.75 [[-2.36286621e-01 -9.71668194e-01 5.43634756e-03 1.54104346e+02] [ 9.71238088e-01 -2.36343999e-01 -2.89497818e-02 1.17832931e+02] [ 2.94144303e-02 -1.56045829e-03 9.99566084e-01 6.74572185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.600714057 meters Centerline goodness : 0.981046 Centerline is valid? [True, True] Translation: X:154.10, Y:117.82, Z:6.75 [[-2.35101261e-01 -9.71956711e-01 5.24870262e-03 1.54104098e+02] [ 9.71525926e-01 -2.35153587e-01 -2.89856030e-02 1.17824770e+02] [ 2.94070026e-02 -1.71530115e-03 9.99566049e-01 6.74749753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63071405700003 meters Centerline goodness : 0.981010 Centerline is valid? [True, True] Translation: X:154.10, Y:117.84, Z:6.75 [[-2.29191636e-01 -9.73367278e-01 5.22840630e-03 1.54101490e+02] [ 9.72936737e-01 -2.29245975e-01 -2.89894719e-02 1.17835653e+02] [ 2.94159944e-02 -1.55723592e-03 9.99566043e-01 6.74757508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.660714057 meters Centerline goodness : 0.982562 Centerline is valid? [True, True] Translation: X:154.10, Y:117.82, Z:6.75 [[-2.21978016e-01 -9.75037326e-01 5.28896943e-03 1.54102564e+02] [ 9.74607459e-01 -2.22037339e-01 -2.89779471e-02 1.17823693e+02] [ 2.94289288e-02 -1.27779815e-03 9.99566059e-01 6.74704756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69071405700004 meters Centerline goodness : 0.980757 Centerline is valid? [True, True] Translation: X:154.10, Y:117.84, Z:6.75 [[-2.19119577e-01 -9.75684086e-01 5.21308318e-03 1.54101804e+02] [ 9.75254063e-01 -2.19177908e-01 -2.89923541e-02 1.17835434e+02] [ 2.94299711e-02 -1.26871179e-03 9.99566039e-01 6.74664542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.720714057 meters Centerline goodness : 0.981167 Centerline is valid? [True, True] Translation: X:154.10, Y:117.83, Z:6.75 [[-2.16524943e-01 -9.76262976e-01 5.24887871e-03 1.54102869e+02] [ 9.75833268e-01 -2.16585479e-01 -2.89855661e-02 1.17826849e+02] [ 2.94343660e-02 -1.15406759e-03 9.99566049e-01 6.74685362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.750714057 meters Centerline goodness : 0.981167 Centerline is valid? [True, True] Translation: X:154.10, Y:117.83, Z:6.75 [[-2.16172504e-01 -9.76341144e-01 5.23639067e-03 1.54102311e+02] [ 9.75911402e-01 -2.16232825e-01 -2.89879298e-02 1.17829399e+02] [ 2.94343881e-02 -1.15614003e-03 9.99566046e-01 6.74692728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.780714057 meters Centerline goodness : 0.979942 Centerline is valid? [True, True] Translation: X:154.10, Y:117.83, Z:6.75 [[-2.12159074e-01 -9.77221176e-01 5.22504323e-03 1.54103950e+02] [ 9.76791635e-01 -2.12220824e-01 -2.89900732e-02 1.17826520e+02] [ 2.94385764e-02 -1.04672858e-03 9.99566043e-01 6.74630314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.810714057 meters Centerline goodness : 0.982488 Centerline is valid? [True, True] Translation: X:154.10, Y:117.82, Z:6.75 [[-2.06374661e-01 -9.78458714e-01 5.29561466e-03 1.54103791e+02] [ 9.78029879e-01 -2.06441040e-01 -2.89767516e-02 1.17822811e+02] [ 2.94457873e-02 -8.00797924e-04 9.99566058e-01 6.74630132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.840714057 meters Centerline goodness : 0.982087 Centerline is valid? [True, True] Translation: X:154.10, Y:117.82, Z:6.75 [[-2.03422304e-01 -9.79077901e-01 5.08240986e-03 1.54104986e+02] [ 9.78648261e-01 -2.03483665e-01 -2.90168706e-02 1.17822435e+02] [ 2.94439641e-02 -9.28787088e-04 9.99566001e-01 6.74642794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.870714057 meters Centerline goodness : 0.981077 Centerline is valid? [True, True] Translation: X:154.11, Y:117.82, Z:6.75 [[-1.99770903e-01 -9.79829627e-01 5.04866819e-03 1.54107362e+02] [ 9.79400061e-01 -1.99832866e-01 -2.90232076e-02 1.17815574e+02] [ 2.94466885e-02 -8.53326460e-04 9.99565988e-01 6.74702006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.900714057 meters Centerline goodness : 0.981201 Centerline is valid? [True, True] Translation: X:154.11, Y:117.82, Z:6.75 [[-1.98557820e-01 -9.80076292e-01 5.02538593e-03 1.54107281e+02] [ 9.79646694e-01 -1.98619626e-01 -2.90275719e-02 1.17821137e+02] [ 2.94473753e-02 -8.40548692e-04 9.99565979e-01 6.74582579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.930714057 meters Centerline goodness : 0.980665 Centerline is valid? [True, True] Translation: X:154.11, Y:117.82, Z:6.75 [[-1.96722145e-01 -9.80446505e-01 5.00473385e-03 1.54111625e+02] [ 9.80016926e-01 -1.96784145e-01 -2.90314356e-02 1.17815532e+02] [ 2.94486219e-02 -8.06402424e-04 9.99565970e-01 6.74606784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.960714057 meters Centerline goodness : 0.981475 Centerline is valid? [True, True] Translation: X:154.12, Y:117.82, Z:6.74 [[-1.95125788e-01 -9.80765516e-01 4.99292810e-03 1.54115448e+02] [ 9.80335983e-01 -1.95188137e-01 -2.90336395e-02 1.17821646e+02] [ 2.94497527e-02 -7.70464716e-04 9.99565965e-01 6.74168169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.990714057 meters Centerline goodness : 0.974483 Centerline is valid? [True, True] Translation: X:154.12, Y:117.80, Z:6.75 [[-2.00965485e-01 -9.79586328e-01 4.84756545e-03 1.54120364e+02] [ 9.79155783e-01 -2.01020966e-01 -2.90606978e-02 1.17804230e+02] [ 2.94419246e-02 -1.09367549e-03 9.99565894e-01 6.74684468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.020714057 meters Centerline goodness : 0.982243 Centerline is valid? [True, True] Translation: X:154.12, Y:117.82, Z:6.74 [[-1.96876933e-01 -9.80413295e-01 5.40772337e-03 1.54116717e+02] [ 9.79985681e-01 -1.96950779e-01 -2.89560898e-02 1.17824738e+02] [ 2.94539908e-02 -4.01294689e-04 9.99566057e-01 6.74316067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.050714057 meters Centerline goodness : 0.982741 Centerline is valid? [True, True] Translation: X:154.12, Y:117.82, Z:6.74 [[-1.95270544e-01 -9.80737722e-01 4.78919418e-03 1.54120663e+02] [ 9.80307258e-01 -1.95326797e-01 -2.90710015e-02 1.17819907e+02] [ 2.94464858e-02 -9.81828457e-04 9.99565876e-01 6.74288275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.080714057 meters Centerline goodness : 0.982128 Centerline is valid? [True, True] Translation: X:154.12, Y:117.83, Z:6.74 [[-2.02310585e-01 -9.79310652e-01 4.59057354e-03 1.54122909e+02] [ 9.78878969e-01 -2.02357850e-01 -2.91078118e-02 1.17833261e+02] [ 2.94345287e-02 -1.39520254e-03 9.99565737e-01 6.74200593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.110714057 meters Centerline goodness : 0.980577 Centerline is valid? [True, True] Translation: X:154.13, Y:117.84, Z:6.74 [[-2.02714950e-01 -9.79225828e-01 4.84008402e-03 1.54126145e+02] [ 9.78795168e-01 -2.02769441e-01 -2.90615310e-02 1.17839135e+02] [ 2.94392228e-02 -1.15375594e-03 9.99565906e-01 6.74309409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.140714057 meters Centerline goodness : 0.978204 Centerline is valid? [True, True] Translation: X:154.12, Y:117.87, Z:6.75 [[-2.13148462e-01 -9.77007702e-01 4.86648029e-03 1.54122717e+02] [ 9.76576592e-01 -2.13199140e-01 -2.90566304e-02 1.17870988e+02] [ 2.94260811e-02 -1.44088535e-03 9.99565921e-01 6.74575949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.170714057 meters Centerline goodness : 0.979058 Centerline is valid? [True, True] Translation: X:154.13, Y:117.85, Z:6.75 [[-2.14859423e-01 -9.76631785e-01 5.07792256e-03 1.54126697e+02] [ 9.76201449e-01 -2.14915622e-01 -2.90173468e-02 1.17851554e+02] [ 2.94305881e-02 -1.27757503e-03 9.99566010e-01 6.74778520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.200714057 meters Centerline goodness : 0.977039 Centerline is valid? [True, True] Translation: X:154.13, Y:117.86, Z:6.75 [[-2.17465663e-01 -9.76055302e-01 4.97324706e-03 1.54126163e+02] [ 9.75624394e-01 -2.17517606e-01 -2.90367517e-02 1.17860365e+02] [ 2.94232443e-02 -1.46247533e-03 9.99565973e-01 6.74915712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.230714057 meters Centerline goodness : 0.979530 Centerline is valid? [True, True] Translation: X:154.13, Y:117.87, Z:6.75 [[-2.18731097e-01 -9.75771872e-01 5.09522517e-03 1.54129885e+02] [ 9.75341386e-01 -2.18786103e-01 -2.90141553e-02 1.17868349e+02] [ 2.94259611e-02 -1.37671404e-03 9.99566015e-01 6.74696375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26071405700003 meters Centerline goodness : 0.979071 Centerline is valid? [True, True] Translation: X:154.13, Y:117.88, Z:6.75 [[-2.23435087e-01 -9.74705993e-01 4.99884569e-03 1.54126532e+02] [ 9.74274874e-01 -2.23485152e-01 -2.90319865e-02 1.17882033e+02] [ 2.94148191e-02 -1.61651467e-03 9.99565983e-01 6.75134168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.290714057 meters Centerline goodness : 0.978915 Centerline is valid? [True, True] Translation: X:154.13, Y:117.90, Z:6.75 [[-2.24624838e-01 -9.74432059e-01 5.08381592e-03 1.54127757e+02] [ 9.74001204e-01 -2.24676902e-01 -2.90162654e-02 1.17898178e+02] [ 2.94165952e-02 -1.56613108e-03 9.99566011e-01 6.74857010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32071405700003 meters Centerline goodness : 0.980481 Centerline is valid? [True, True] Translation: X:154.13, Y:117.89, Z:6.75 [[-2.24631709e-01 -9.74430693e-01 5.04187400e-03 1.54129236e+02] [ 9.73999677e-01 -2.24682524e-01 -2.90240142e-02 1.17892229e+02] [ 2.94147112e-02 -1.60893025e-03 9.99565999e-01 6.74797599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.350714057 meters Centerline goodness : 0.975602 Centerline is valid? [True, True] Translation: X:154.13, Y:117.89, Z:6.75 [[-2.31246921e-01 -9.72882812e-01 4.88830269e-03 1.54130994e+02] [ 9.72450918e-01 -2.31290239e-01 -2.90523109e-02 1.17893473e+02] [ 2.93951106e-02 -1.96462301e-03 9.99565940e-01 6.75078951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38071405700003 meters Centerline goodness : 0.980351 Centerline is valid? [True, True] Translation: X:154.13, Y:117.90, Z:6.75 [[-2.28756271e-01 -9.73469024e-01 5.35051026e-03 1.54132253e+02] [ 9.73038989e-01 -2.28814429e-01 -2.89669394e-02 1.17898634e+02] [ 2.94226922e-02 -1.42011394e-03 9.99566050e-01 6.74684210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.410714057 meters Centerline goodness : 0.981660 Centerline is valid? [True, True] Translation: X:154.13, Y:117.90, Z:6.75 [[-2.30374960e-01 -9.73089061e-01 5.00561416e-03 1.54134063e+02] [ 9.72657632e-01 -2.30422155e-01 -2.90303671e-02 1.17895953e+02] [ 2.94025371e-02 -1.81912086e-03 9.99565997e-01 6.74510590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44071405700004 meters Centerline goodness : 0.980514 Centerline is valid? [True, True] Translation: X:154.13, Y:117.89, Z:6.75 [[-2.32128389e-01 -9.72672978e-01 4.86717208e-03 1.54134898e+02] [ 9.72240987e-01 -2.32170686e-01 -2.90557427e-02 1.17893033e+02] [ 2.93917505e-02 -2.01259854e-03 9.99565943e-01 6.74696587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.470714057 meters Centerline goodness : 0.982537 Centerline is valid? [True, True] Translation: X:154.13, Y:117.90, Z:6.74 [[-2.32457875e-01 -9.72594006e-01 4.92291317e-03 1.54134326e+02] [ 9.72162190e-01 -2.32501686e-01 -2.90455428e-02 1.17895786e+02] [ 2.93941064e-02 -1.96599512e-03 9.99565966e-01 6.74489121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.500714057 meters Centerline goodness : 0.984894 Centerline is valid? [True, True] Translation: X:154.06, Y:118.24, Z:6.76 [[-2.56703864e-01 -9.66477433e-01 4.94945646e-03 1.54058887e+02] [ 9.66044729e-01 -2.56737655e-01 -2.90406304e-02 1.18239170e+02] [ 2.93378257e-02 -2.67344569e-03 9.99565978e-01 6.75695401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.530714057 meters Centerline goodness : 0.981020 Centerline is valid? [True, True] Translation: X:154.13, Y:117.91, Z:6.75 [[-2.36785357e-01 -9.71545679e-01 5.62922187e-03 1.54130187e+02] [ 9.71116309e-01 -2.36848242e-01 -2.89140822e-02 1.17912068e+02] [ 2.94246229e-02 -1.37980210e-03 9.99566050e-01 6.74918386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.560714057 meters Centerline goodness : 0.980618 Centerline is valid? [True, True] Translation: X:154.13, Y:117.92, Z:6.75 [[-2.39022216e-01 -9.71001972e-01 4.85290394e-03 1.54127898e+02] [ 9.70569721e-01 -2.39061029e-01 -2.90558340e-02 1.17920193e+02] [ 2.93734123e-02 -2.23490821e-03 9.99566010e-01 6.75003589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.590714057 meters Centerline goodness : 0.981139 Centerline is valid? [True, True] Translation: X:154.13, Y:117.91, Z:6.75 [[-2.39084383e-01 -9.70986164e-01 4.95242419e-03 1.54127657e+02] [ 9.70554227e-01 -2.39126131e-01 -2.90376702e-02 1.17912525e+02] [ 2.93794301e-02 -2.13585724e-03 9.99566049e-01 6.75064257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.620714057 meters Centerline goodness : 0.981993 Centerline is valid? [True, True] Translation: X:154.12, Y:117.93, Z:6.75 [[-2.40833541e-01 -9.70553984e-01 4.91618178e-03 1.54123080e+02] [ 9.70121858e-01 -2.40873432e-01 -2.90442766e-02 1.17933010e+02] [ 2.93732160e-02 -2.22554058e-03 9.99566036e-01 6.75052777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.650714057 meters Centerline goodness : 0.981773 Centerline is valid? [True, True] Translation: X:154.12, Y:117.92, Z:6.75 [[-2.41536237e-01 -9.70378948e-01 4.99430399e-03 1.54123719e+02] [ 9.69947039e-01 -2.41578141e-01 -2.90300399e-02 1.17922912e+02] [ 2.93766543e-02 -2.16759622e-03 9.99566063e-01 6.75148035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.680714057 meters Centerline goodness : 0.981738 Centerline is valid? [True, True] Translation: X:154.12, Y:117.93, Z:6.75 [[-2.41949397e-01 -9.70275994e-01 4.99843785e-03 1.54120893e+02] [ 9.69844080e-01 -2.41991240e-01 -2.90292871e-02 1.17933888e+02] [ 2.93759986e-02 -2.17591314e-03 9.99566064e-01 6.75246665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.710714057 meters Centerline goodness : 0.980484 Centerline is valid? [True, True] Translation: X:154.12, Y:117.94, Z:6.75 [[-2.43322978e-01 -9.69932906e-01 4.90777602e-03 1.54119500e+02] [ 9.69500654e-01 -2.43361510e-01 -2.90457720e-02 1.17940429e+02] [ 2.93668138e-02 -2.30941168e-03 9.99566034e-01 6.75325049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.740714057 meters Centerline goodness : 0.978326 Centerline is valid? [True, True] Translation: X:154.12, Y:117.95, Z:6.75 [[-2.48137448e-01 -9.68711593e-01 5.06529803e-03 1.54117512e+02] [ 9.68279622e-01 -2.48178526e-01 -2.90171246e-02 1.17950979e+02] [ 2.93663232e-02 -2.29561040e-03 9.99566080e-01 6.75400047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.770714057 meters Centerline goodness : 0.982582 Centerline is valid? [True, True] Translation: X:154.12, Y:117.94, Z:6.75 [[-2.45787423e-01 -9.69309412e-01 5.27311972e-03 1.54118003e+02] [ 9.68878213e-01 -2.45835734e-01 -2.89793098e-02 1.17938967e+02] [ 2.93862390e-02 -2.01373906e-03 9.99566103e-01 6.75324654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.800714057 meters Centerline goodness : 0.979037 Centerline is valid? [True, True] Translation: X:154.12, Y:117.95, Z:6.76 [[-2.50947859e-01 -9.67987727e-01 4.99325043e-03 1.54115117e+02] [ 9.67555434e-01 -2.50985537e-01 -2.90300404e-02 1.17948356e+02] [ 2.93539565e-02 -2.45377991e-03 9.99566068e-01 6.75579458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.830714057 meters Centerline goodness : 0.981995 Centerline is valid? [True, True] Translation: X:154.11, Y:117.95, Z:6.75 [[-2.46306683e-01 -9.69177713e-01 5.25149303e-03 1.54113510e+02] [ 9.68746416e-01 -2.46354119e-01 -2.89832503e-02 1.17953673e+02] [ 2.93836472e-02 -2.05140319e-03 9.99566102e-01 6.75236841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.860714057 meters Centerline goodness : 0.982731 Centerline is valid? [True, True] Translation: X:154.11, Y:117.96, Z:6.75 [[-2.48901294e-01 -9.68516476e-01 4.89698935e-03 1.54111164e+02] [ 9.68083994e-01 -2.48937018e-01 -2.90472178e-02 1.17958011e+02] [ 2.93517510e-02 -2.48919310e-03 9.99566045e-01 6.75187571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.890714057 meters Centerline goodness : 0.982285 Centerline is valid? [True, True] Translation: X:154.11, Y:117.96, Z:6.75 [[-2.50775928e-01 -9.68032237e-01 5.00219752e-03 1.54108323e+02] [ 9.67599981e-01 -2.50813950e-01 -2.90282437e-02 1.17961265e+02] [ 2.93548966e-02 -2.43945854e-03 9.99566075e-01 6.75128290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.920714057 meters Centerline goodness : 0.982793 Centerline is valid? [True, True] Translation: X:154.11, Y:117.95, Z:6.75 [[-2.48986813e-01 -9.68493951e-01 5.00330800e-03 1.54108474e+02] [ 9.68061770e-01 -2.49025666e-01 -2.90280436e-02 1.17952829e+02] [ 2.93594368e-02 -2.38408886e-03 9.99566076e-01 6.75253585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.950714057 meters Centerline goodness : 0.980109 Centerline is valid? [True, True] Translation: X:154.11, Y:117.95, Z:6.76 [[-2.52451797e-01 -9.67596848e-01 4.94273487e-03 1.54105960e+02] [ 9.67164363e-01 -2.52487298e-01 -2.90389441e-02 1.17952366e+02] [ 2.93459686e-02 -2.55049662e-03 9.99566060e-01 6.75567119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.980714057 meters Centerline goodness : 0.980844 Centerline is valid? [True, True] Translation: X:154.10, Y:117.95, Z:6.76 [[-2.51768369e-01 -9.67773442e-01 5.22049107e-03 1.54104586e+02] [ 9.67341787e-01 -2.51812449e-01 -2.89889254e-02 1.17949237e+02] [ 2.93692968e-02 -2.24849531e-03 9.99566100e-01 6.75505125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01071405700003 meters Centerline goodness : 0.984275 Centerline is valid? [True, True] Translation: X:154.10, Y:117.96, Z:6.75 [[-2.48946396e-01 -9.68503255e-01 5.20928989e-03 1.54099185e+02] [ 9.68071696e-01 -2.48991401e-01 -2.89909381e-02 1.17959389e+02] [ 2.93748863e-02 -2.17422347e-03 9.99566100e-01 6.75422383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.040714057 meters Centerline goodness : 0.981857 Centerline is valid? [True, True] Translation: X:154.10, Y:117.95, Z:6.75 [[-2.47952425e-01 -9.68759641e-01 4.93485119e-03 1.54099523e+02] [ 9.68327312e-01 -2.47989701e-01 -2.90400569e-02 1.17947195e+02] [ 2.93566274e-02 -2.42200135e-03 9.99566067e-01 6.75469824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07071405700003 meters Centerline goodness : 0.983361 Centerline is valid? [True, True] Translation: X:154.10, Y:117.95, Z:6.75 [[-2.42345991e-01 -9.70176019e-01 5.18774825e-03 1.54098595e+02] [ 9.69744705e-01 -2.42393293e-01 -2.89948096e-02 1.17948968e+02] [ 2.93875443e-02 -1.99598448e-03 9.99566100e-01 6.75404158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.100714057 meters Centerline goodness : 0.983343 Centerline is valid? [True, True] Translation: X:154.10, Y:117.95, Z:6.75 [[-2.38463690e-01 -9.71139038e-01 4.90285733e-03 1.54096127e+02] [ 9.70707000e-01 -2.38504242e-01 -2.90455864e-02 1.17950500e+02] [ 2.93766551e-02 -2.16707978e-03 9.99566064e-01 6.75486561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13071405700003 meters Centerline goodness : 0.984077 Centerline is valid? [True, True] Translation: X:154.09, Y:117.95, Z:6.76 [[-2.36850407e-01 -9.71534749e-01 4.70282446e-03 1.54094932e+02] [ 9.71102180e-01 -2.36885721e-01 -2.90811079e-02 1.17946356e+02] [ 2.93673388e-02 -2.32094915e-03 9.99565992e-01 6.75557826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.160714057 meters Centerline goodness : 0.983082 Centerline is valid? [True, True] Translation: X:154.09, Y:117.96, Z:6.75 [[-2.37797137e-01 -9.71303337e-01 4.72756517e-03 1.54090283e+02] [ 9.70870805e-01 -2.37832767e-01 -2.90767172e-02 1.17956787e+02] [ 2.93666823e-02 -2.32450511e-03 9.99566003e-01 6.75476211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19071405700004 meters Centerline goodness : 0.984136 Centerline is valid? [True, True] Translation: X:154.09, Y:117.95, Z:6.75 [[-2.35290669e-01 -9.71912612e-01 4.91680252e-03 1.54086705e+02] [ 9.71480753e-01 -2.35333046e-01 -2.90431504e-02 1.17948052e+02] [ 2.93844903e-02 -2.05700326e-03 9.99566066e-01 6.75418779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.220714057 meters Centerline goodness : 0.985193 Centerline is valid? [True, True] Translation: X:154.08, Y:117.95, Z:6.75 [[-2.34326053e-01 -9.72146026e-01 4.83781665e-03 1.54084371e+02] [ 9.71713962e-01 -2.34366509e-01 -2.90571226e-02 1.17948134e+02] [ 2.93815885e-02 -2.10786687e-03 9.99566045e-01 6.75406740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.250714057 meters Centerline goodness : 0.986609 Centerline is valid? [True, True] Translation: X:154.00, Y:118.34, Z:6.77 [[-2.51156574e-01 -9.67934045e-01 4.90512152e-03 1.54003754e+02] [ 9.67501522e-01 -2.51191534e-01 -2.90451150e-02 1.18339339e+02] [ 2.93458807e-02 -2.54915904e-03 9.99566066e-01 6.76660065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.280714057 meters Centerline goodness : 0.985743 Centerline is valid? [True, True] Translation: X:154.08, Y:117.96, Z:6.75 [[-2.30848483e-01 -9.72973900e-01 5.54685942e-03 1.54076999e+02] [ 9.72544556e-01 -2.30911545e-01 -2.89300007e-02 1.17960504e+02] [ 2.94289695e-02 -1.28387885e-03 9.99566050e-01 6.75374377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.310714057 meters Centerline goodness : 0.985835 Centerline is valid? [True, True] Translation: X:154.08, Y:117.96, Z:6.75 [[-2.28936803e-01 -9.73430312e-01 4.62255389e-03 1.54077452e+02] [ 9.72997909e-01 -2.28973256e-01 -2.90915349e-02 1.17957147e+02] [ 2.93770231e-02 -2.16238773e-03 9.99566063e-01 6.75284253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.340714057 meters Centerline goodness : 0.983288 Centerline is valid? [True, True] Translation: X:154.08, Y:117.96, Z:6.75 [[-2.30035761e-01 -9.73171173e-01 4.62774637e-03 1.54077275e+02] [ 9.72738745e-01 -2.30071880e-01 -2.90906296e-02 1.17955120e+02] [ 2.93748765e-02 -2.19029692e-03 9.99566065e-01 6.75432081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.370714057 meters Centerline goodness : 0.981831 Centerline is valid? [True, True] Translation: X:153.87, Y:118.99, Z:6.79 [[-2.57324694e-01 -9.66311813e-01 5.04793826e-03 1.53873101e+02] [ 9.65879530e-01 -2.57361160e-01 -2.90166655e-02 1.18994661e+02] [ 2.93382899e-02 -2.59100435e-03 9.99566182e-01 6.78829762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.400714057 meters Centerline goodness : 0.986252 Centerline is valid? [True, True] Translation: X:153.99, Y:118.36, Z:6.77 [[-2.43253939e-01 -9.69947068e-01 5.49598087e-03 1.53988250e+02] [ 9.69516735e-01 -2.43309999e-01 -2.89403699e-02 1.18359413e+02] [ 2.94078540e-02 -1.71141355e-03 9.99566030e-01 6.76747655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.430714057 meters Centerline goodness : 0.986266 Centerline is valid? [True, True] Translation: X:153.98, Y:118.37, Z:6.77 [[-2.43215069e-01 -9.69958261e-01 5.23479185e-03 1.53984514e+02] [ 9.69527105e-01 -2.43263386e-01 -2.89847864e-02 1.18366436e+02] [ 2.93874662e-02 -1.97426424e-03 9.99566145e-01 6.77016261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.460714057 meters Centerline goodness : 0.986705 Centerline is valid? [True, True] Translation: X:153.98, Y:118.38, Z:6.77 [[-2.41560135e-01 -9.70371845e-01 5.21381841e-03 1.53982212e+02] [ 9.69940708e-01 -2.41608565e-01 -2.89883389e-02 1.18378014e+02] [ 2.93891711e-02 -1.94533234e-03 9.99566152e-01 6.76845867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.490714057 meters Centerline goodness : 0.986427 Centerline is valid? [True, True] Translation: X:153.98, Y:118.39, Z:6.77 [[-2.41747411e-01 -9.70325317e-01 5.19313850e-03 1.53979714e+02] [ 9.69894109e-01 -2.41795143e-01 -2.89918293e-02 1.18385665e+02] [ 2.93871816e-02 -1.97190522e-03 9.99566158e-01 6.76659981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.520714057 meters Centerline goodness : 0.986811 Centerline is valid? [True, True] Translation: X:153.98, Y:118.38, Z:6.77 [[-2.40874214e-01 -9.70542383e-01 5.20527946e-03 1.53978926e+02] [ 9.70111255e-01 -2.40922695e-01 -2.89897829e-02 1.18382075e+02] [ 2.93898830e-02 -1.93319099e-03 9.99566155e-01 6.76805042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.550714057 meters Centerline goodness : 0.986802 Centerline is valid? [True, True] Translation: X:153.98, Y:118.38, Z:6.77 [[-2.40907298e-01 -9.70534483e-01 5.14703127e-03 1.53978404e+02] [ 9.70103179e-01 -2.40954033e-01 -2.89995795e-02 1.18378066e+02] [ 2.93852899e-02 -1.99305896e-03 9.99566172e-01 6.76756642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.580714057 meters Centerline goodness : 0.985329 Centerline is valid? [True, True] Translation: X:153.97, Y:118.40, Z:6.77 [[-2.41545023e-01 -9.70375805e-01 5.17668810e-03 1.53971175e+02] [ 9.69944559e-01 -2.41592356e-01 -2.89946043e-02 1.18402353e+02] [ 2.93863108e-02 -1.98240191e-03 9.99566163e-01 6.77017583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.610714057 meters Centerline goodness : 0.985127 Centerline is valid? [True, True] Translation: X:153.97, Y:118.41, Z:6.77 [[-2.43169621e-01 -9.69969843e-01 5.19992895e-03 1.53967726e+02] [ 9.69538585e-01 -2.43216922e-01 -2.89907178e-02 1.18410987e+02] [ 2.93848327e-02 -2.00813010e-03 9.99566155e-01 6.76713420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.640714057 meters Centerline goodness : 0.985174 Centerline is valid? [True, True] Translation: X:153.97, Y:118.38, Z:6.77 [[-2.41147892e-01 -9.70474026e-01 5.27825458e-03 1.53971406e+02] [ 9.70043102e-01 -2.41198418e-01 -2.89776367e-02 1.18380590e+02] [ 2.93951504e-02 -1.86776155e-03 9.99566124e-01 6.76905713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.670714057 meters Centerline goodness : 0.985174 Centerline is valid? [True, True] Translation: X:153.97, Y:118.38, Z:6.77 [[-2.40589119e-01 -9.70613051e-01 5.21360394e-03 1.53970927e+02] [ 9.70181961e-01 -2.40637973e-01 -2.89884256e-02 1.18383228e+02] [ 2.93911353e-02 -1.91615528e-03 9.99566151e-01 6.76911762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.700714057 meters Centerline goodness : 0.985547 Centerline is valid? [True, True] Translation: X:153.97, Y:118.39, Z:6.77 [[-2.37480968e-01 -9.71378304e-01 5.19425082e-03 1.53968392e+02] [ 9.70947314e-01 -2.37530627e-01 -2.89916433e-02 1.18391809e+02] [ 2.93956470e-02 -1.84161962e-03 9.99566158e-01 6.77127126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.730714057 meters Centerline goodness : 0.985720 Centerline is valid? [True, True] Translation: X:153.97, Y:118.39, Z:6.77 [[-2.37051512e-01 -9.71483807e-01 5.07877046e-03 1.53967439e+02] [ 9.71052494e-01 -2.37097931e-01 -2.90107682e-02 1.18393016e+02] [ 2.93876575e-02 -1.94529374e-03 9.99566197e-01 6.76847801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76071405700003 meters Centerline goodness : 0.986948 Centerline is valid? [True, True] Translation: X:153.97, Y:118.33, Z:6.77 [[-2.32806023e-01 -9.72509386e-01 5.18173899e-03 1.53972929e+02] [ 9.72078599e-01 -2.32857383e-01 -2.89937178e-02 1.18334411e+02] [ 2.94032689e-02 -1.71285456e-03 9.99566163e-01 6.76817223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.790714057 meters Centerline goodness : 0.986768 Centerline is valid? [True, True] Translation: X:153.96, Y:118.39, Z:6.77 [[-2.32278213e-01 -9.72636375e-01 5.03132330e-03 1.53960256e+02] [ 9.72205153e-01 -2.32325341e-01 -2.90185617e-02 1.18392230e+02] [ 2.93934126e-02 -1.84890121e-03 9.99566210e-01 6.77008998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82071405700003 meters Centerline goodness : 0.990291 Centerline is valid? [True, True] Translation: X:154.02, Y:118.03, Z:6.76 [[-2.31499241e-01 -9.72821803e-01 5.08341041e-03 1.54016372e+02] [ 9.72390779e-01 -2.31548261e-01 -2.90099170e-02 1.18031958e+02] [ 2.93985346e-02 -1.77271235e-03 9.99566198e-01 6.75783770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.850714057 meters Centerline goodness : 0.986914 Centerline is valid? [True, True] Translation: X:153.95, Y:118.41, Z:6.77 [[-2.32527742e-01 -9.72578001e-01 4.78333913e-03 1.53953963e+02] [ 9.72146061e-01 -2.32567392e-01 -2.90593119e-02 1.18408465e+02] [ 2.93748962e-02 -2.10699190e-03 9.99566244e-01 6.77098208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88071405700003 meters Centerline goodness : 0.990217 Centerline is valid? [True, True] Translation: X:154.01, Y:118.04, Z:6.76 [[-2.31425157e-01 -9.72839330e-01 5.10242591e-03 1.54012856e+02] [ 9.72408375e-01 -2.31474775e-01 -2.90065538e-02 1.18038392e+02] [ 2.93997992e-02 -1.75120458e-03 9.99566198e-01 6.75892554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.910714057 meters Centerline goodness : 0.989418 Centerline is valid? [True, True] Translation: X:154.01, Y:118.05, Z:6.76 [[-2.33398003e-01 -9.72369644e-01 4.75888080e-03 1.54009383e+02] [ 9.71937619e-01 -2.33436540e-01 -2.90628093e-02 1.18046196e+02] [ 2.93706902e-02 -2.15786636e-03 9.99566259e-01 6.75940906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94071405700004 meters Centerline goodness : 0.985596 Centerline is valid? [True, True] Translation: X:153.95, Y:118.43, Z:6.77 [[-2.35847457e-01 -9.71778492e-01 4.74749079e-03 1.53945808e+02] [ 9.71346342e-01 -2.35884567e-01 -2.90646697e-02 1.18432802e+02] [ 2.93642807e-02 -2.24337064e-03 9.99566259e-01 6.77338672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.970714057 meters Centerline goodness : 0.985782 Centerline is valid? [True, True] Translation: X:154.02, Y:118.02, Z:6.76 [[-2.11016783e-01 -9.77469124e-01 5.10192130e-03 1.54022996e+02] [ 9.77039305e-01 -2.11075394e-01 -2.90064486e-02 1.18017134e+02] [ 2.94297979e-02 -1.13606983e-03 9.99566204e-01 6.75967159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.000714057 meters Centerline goodness : 0.986515 Centerline is valid? [True, True] Translation: X:153.95, Y:118.38, Z:6.77 [[-2.36236916e-01 -9.71686086e-01 4.27438930e-03 1.53952564e+02] [ 9.71252886e-01 -2.36259782e-01 -2.91401420e-02 1.18382136e+02] [ 2.93249368e-02 -2.73246434e-03 9.99566197e-01 6.77179903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.030714057 meters Centerline goodness : 0.987524 Centerline is valid? [True, True] Translation: X:153.95, Y:118.39, Z:6.77 [[-2.37475606e-01 -9.71381320e-01 4.86484799e-03 1.53951890e+02] [ 9.70949426e-01 -2.37515482e-01 -2.90449166e-02 1.18386287e+02] [ 2.93691662e-02 -2.17393782e-03 9.99566269e-01 6.77081432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.060714057 meters Centerline goodness : 0.987481 Centerline is valid? [True, True] Translation: X:153.95, Y:118.40, Z:6.77 [[-2.40560836e-01 -9.70621754e-01 4.88816939e-03 1.53948342e+02] [ 9.70189793e-01 -2.40600033e-01 -2.90411613e-02 1.18399202e+02] [ 2.93640767e-02 -2.24371399e-03 9.99566264e-01 6.77099789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.090714057 meters Centerline goodness : 0.987044 Centerline is valid? [True, True] Translation: X:153.94, Y:118.42, Z:6.77 [[-2.41980897e-01 -9.70268682e-01 4.89187805e-03 1.53943655e+02] [ 9.69836673e-01 -2.42019572e-01 -2.90405652e-02 1.18415136e+02] [ 2.93610811e-02 -2.28293928e-03 9.99566263e-01 6.76972722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.120714057 meters Centerline goodness : 0.988689 Centerline is valid? [True, True] Translation: X:154.01, Y:118.05, Z:6.76 [[-2.27362733e-01 -9.73797685e-01 4.92504023e-03 1.54005266e+02] [ 9.73366404e-01 -2.27408885e-01 -2.90352052e-02 1.18053432e+02] [ 2.93944135e-02 -1.80765492e-03 9.99566256e-01 6.75831212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.150714057 meters Centerline goodness : 0.987866 Centerline is valid? [True, True] Translation: X:153.93, Y:118.44, Z:6.77 [[-2.45397435e-01 -9.69413576e-01 4.17347219e-03 1.53934844e+02] [ 9.68980043e-01 -2.45413209e-01 -2.91553350e-02 1.18440862e+02] [ 2.92878027e-02 -3.11063317e-03 9.99566180e-01 6.77460189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.180714057 meters Centerline goodness : 0.988192 Centerline is valid? [True, True] Translation: X:153.94, Y:118.44, Z:6.77 [[-2.46193555e-01 -9.69208613e-01 4.83718062e-03 1.53935477e+02] [ 9.68776308e-01 -2.46228725e-01 -2.90496291e-02 1.18435144e+02] [ 2.93462035e-02 -2.46568546e-03 9.99566266e-01 6.76873649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.210714057 meters Centerline goodness : 0.987584 Centerline is valid? [True, True] Translation: X:153.93, Y:118.44, Z:6.78 [[-2.46905559e-01 -9.69027227e-01 4.88651421e-03 1.53933566e+02] [ 9.68595005e-01 -2.46941879e-01 -2.90417870e-02 1.18438887e+02] [ 2.93489673e-02 -2.43752540e-03 9.99566254e-01 6.77521187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.240714057 meters Centerline goodness : 0.986709 Centerline is valid? [True, True] Translation: X:153.93, Y:118.43, Z:6.78 [[-2.45918136e-01 -9.69278172e-01 4.90874579e-03 1.53933844e+02] [ 9.68846037e-01 -2.45955557e-01 -2.90382572e-02 1.18429511e+02] [ 2.93534821e-02 -2.38521518e-03 9.99566248e-01 6.77842831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.270714057 meters Centerline goodness : 0.990373 Centerline is valid? [True, True] Translation: X:153.93, Y:118.44, Z:6.77 [[-2.39865412e-01 -9.70794111e-01 4.83518438e-03 1.53928352e+02] [ 9.70362040e-01 -2.39903343e-01 -2.90499137e-02 1.18444967e+02] [ 2.93614621e-02 -2.27619015e-03 9.99566268e-01 6.77232327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.300714057 meters Centerline goodness : 0.990510 Centerline is valid? [True, True] Translation: X:154.62, Y:118.29, Z:7.64 [[-1.42399029e-01 9.89797524e-01 -4.83518438e-03 1.54623381e+02] [ 9.89371345e-01 1.42479625e-01 2.90499137e-02 1.18293311e+02] [ 2.94424479e-02 -6.47113377e-04 -9.99566268e-01 7.63930118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.330714057 meters Centerline goodness : 0.987599 Centerline is valid? [True, True] Translation: X:154.01, Y:118.19, Z:6.77 [[-2.99468854e-01 -9.54079746e-01 7.08822919e-03 1.54005883e+02] [ 9.53654564e-01 -2.99547405e-01 -2.85363730e-02 1.18188809e+02] [ 2.93492362e-02 -1.78603282e-03 9.99567623e-01 6.77173344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.360714057 meters Centerline goodness : 0.990580 Centerline is valid? [True, True] Translation: X:154.00, Y:118.19, Z:6.77 [[-2.99762309e-01 -9.53993320e-01 6.26930504e-03 1.54002035e+02] [ 9.53564490e-01 -2.99816313e-01 -2.87218025e-02 1.18190042e+02] [ 2.92800476e-02 -2.63152717e-03 9.99567784e-01 6.76882330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.390714057 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:154.00, Y:118.19, Z:6.77 [[-3.01124267e-01 -9.53567015e-01 5.84151964e-03 1.54003248e+02] [ 9.53136522e-01 -3.01164862e-01 -2.88183260e-02 1.18187238e+02] [ 2.92394655e-02 -3.11013156e-03 9.99567597e-01 6.77066413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.420714057 meters Centerline goodness : 0.989997 Centerline is valid? [True, True] Translation: X:154.00, Y:118.20, Z:6.77 [[-2.99828551e-01 -9.53971395e-01 6.43566358e-03 1.53997919e+02] [ 9.53543249e-01 -2.99887493e-01 -2.86838707e-02 1.18196436e+02] [ 2.92935672e-02 -2.46355985e-03 9.99567816e-01 6.76881491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.450714057 meters Centerline goodness : 0.986674 Centerline is valid? [True, True] Translation: X:153.99, Y:118.20, Z:6.77 [[-3.01950236e-01 -9.53305596e-01 5.87330974e-03 1.53993975e+02] [ 9.52875194e-01 -3.01991413e-01 -2.88106041e-02 1.18196035e+02] [ 2.92389992e-02 -3.10283753e-03 9.99567633e-01 6.77156734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.480714057 meters Centerline goodness : 0.989965 Centerline is valid? [True, True] Translation: X:153.99, Y:118.19, Z:6.77 [[-2.99663320e-01 -9.54023286e-01 6.43924385e-03 1.53991334e+02] [ 9.53595173e-01 -2.99722444e-01 -2.86827865e-02 1.18193624e+02] [ 2.92940322e-02 -2.45474717e-03 9.99567824e-01 6.77033957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51071405700003 meters Centerline goodness : 0.988251 Centerline is valid? [True, True] Translation: X:153.99, Y:118.19, Z:6.77 [[-3.01616895e-01 -9.53411561e-01 5.80032550e-03 1.53990433e+02] [ 9.52980942e-01 -3.01656038e-01 -2.88263700e-02 1.18193273e+02] [ 2.92330976e-02 -3.16692054e-03 9.99567605e-01 6.77322338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.540714057 meters Centerline goodness : 0.989070 Centerline is valid? [True, True] Translation: X:153.90, Y:118.54, Z:6.78 [[-3.13913538e-01 -9.49430281e-01 6.35857559e-03 1.53903000e+02] [ 9.49001056e-01 -3.13963835e-01 -2.87002905e-02 1.18542672e+02] [ 2.92452877e-02 -2.97511478e-03 9.99567838e-01 6.78144328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57071405700003 meters Centerline goodness : 0.988267 Centerline is valid? [True, True] Translation: X:153.99, Y:118.20, Z:6.77 [[-3.01346910e-01 -9.53490419e-01 6.78688221e-03 1.53985946e+02] [ 9.53063723e-01 -3.01415650e-01 -2.86032544e-02 1.18197390e+02] [ 2.93186015e-02 -2.15117108e-03 9.99567803e-01 6.77227878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.600714057 meters Centerline goodness : 0.987390 Centerline is valid? [True, True] Translation: X:153.98, Y:118.19, Z:6.77 [[-3.01508866e-01 -9.53442140e-01 6.36312473e-03 1.53983528e+02] [ 9.53013652e-01 -3.01564893e-01 -2.86983448e-02 1.18194096e+02] [ 2.92811063e-02 -2.58866067e-03 9.99567864e-01 6.77456740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63071405700003 meters Centerline goodness : 0.988616 Centerline is valid? [True, True] Translation: X:153.98, Y:118.20, Z:6.77 [[-2.99400357e-01 -9.54106241e-01 6.38026162e-03 1.53979762e+02] [ 9.53677947e-01 -2.99457842e-01 -2.86945023e-02 1.18203566e+02] [ 2.92882231e-02 -2.50642941e-03 9.99567866e-01 6.77480732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.660714057 meters Centerline goodness : 0.987272 Centerline is valid? [True, True] Translation: X:153.98, Y:118.20, Z:6.77 [[-3.00547144e-01 -9.53746645e-01 6.22507793e-03 1.53979412e+02] [ 9.53317672e-01 -3.00599480e-01 -2.87292241e-02 1.18203256e+02] [ 2.92716563e-02 -2.70000948e-03 9.99567847e-01 6.77416847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69071405700004 meters Centerline goodness : 0.991979 Centerline is valid? [True, True] Translation: X:153.97, Y:118.21, Z:6.77 [[-2.95154190e-01 -9.55427986e-01 6.43178883e-03 1.53974700e+02] [ 9.55000169e-01 -2.95215116e-01 -2.86829529e-02 1.18209336e+02] [ 2.93032572e-02 -2.32353431e-03 9.99567867e-01 6.77307058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.720714057 meters Centerline goodness : 0.992341 Centerline is valid? [True, True] Translation: X:153.98, Y:118.20, Z:6.77 [[-2.93602529e-01 -9.55911222e-01 5.59383181e-03 1.53977504e+02] [ 9.55480320e-01 -2.93639117e-01 -2.88691317e-02 1.18198125e+02] [ 2.92388948e-02 -3.13125385e-03 9.99567548e-01 6.76957275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.750714057 meters Centerline goodness : 0.990689 Centerline is valid? [True, True] Translation: X:153.97, Y:118.22, Z:6.77 [[-2.96018285e-01 -9.55165911e-01 5.59086777e-03 1.53972639e+02] [ 9.54734908e-01 -2.96053695e-01 -2.88697897e-02 1.18218346e+02] [ 2.92306361e-02 -3.20818901e-03 9.99567545e-01 6.77145417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.780714057 meters Centerline goodness : 0.989166 Centerline is valid? [True, True] Translation: X:153.98, Y:118.20, Z:6.77 [[-2.96933146e-01 -9.54879681e-01 5.95836152e-03 1.53976769e+02] [ 9.54449913e-01 -2.96979139e-01 -2.87880936e-02 1.18199268e+02] [ 2.92586747e-02 -2.86118156e-03 9.99567778e-01 6.77025323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.810714057 meters Centerline goodness : 0.989650 Centerline is valid? [True, True] Translation: X:153.97, Y:118.21, Z:6.77 [[-2.99438440e-01 -9.54096298e-01 6.07248474e-03 1.53972097e+02] [ 9.53666824e-01 -2.99486717e-01 -2.87627483e-02 1.18208766e+02] [ 2.92610602e-02 -2.82154526e-03 9.99567821e-01 6.77217584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.840714057 meters Centerline goodness : 0.988853 Centerline is valid? [True, True] Translation: X:153.97, Y:118.22, Z:6.77 [[-3.01201272e-01 -9.53540551e-01 6.18148483e-03 1.53968115e+02] [ 9.53111390e-01 -3.01252012e-01 -2.87385494e-02 1.18220219e+02] [ 2.92655570e-02 -2.76444403e-03 9.99567849e-01 6.77172507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.870714057 meters Centerline goodness : 0.989904 Centerline is valid? [True, True] Translation: X:153.97, Y:118.21, Z:6.77 [[-2.99740728e-01 -9.54000319e-01 6.23603030e-03 1.53967081e+02] [ 9.53571442e-01 -2.99793755e-01 -2.87264564e-02 1.18213726e+02] [ 2.92745715e-02 -2.66398854e-03 9.99567858e-01 6.77264544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.900714057 meters Centerline goodness : 0.990024 Centerline is valid? [True, True] Translation: X:153.96, Y:118.22, Z:6.77 [[-2.99216113e-01 -9.54166427e-01 6.01231435e-03 1.53963917e+02] [ 9.53736750e-01 -2.99262692e-01 -2.87759165e-02 1.18223880e+02] [ 2.92562748e-02 -2.87605275e-03 9.99567806e-01 6.77324342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.930714057 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:153.96, Y:118.23, Z:6.77 [[-2.97248267e-01 -9.54781151e-01 6.03494376e-03 1.53960973e+02] [ 9.54351654e-01 -2.97296408e-01 -2.87709166e-02 1.18230189e+02] [ 2.92640959e-02 -2.79264654e-03 9.99567814e-01 6.77225449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.960714057 meters Centerline goodness : 0.989333 Centerline is valid? [True, True] Translation: X:153.96, Y:118.22, Z:6.77 [[-2.97561992e-01 -9.54685310e-01 5.72891507e-03 1.53960938e+02] [ 9.54254730e-01 -2.97600841e-01 -2.88383526e-02 1.18224337e+02] [ 2.92364816e-02 -3.11435335e-03 9.99567671e-01 6.77290221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.990714057 meters Centerline goodness : 0.991368 Centerline is valid? [True, True] Translation: X:153.96, Y:118.22, Z:6.78 [[-2.89419291e-01 -9.57182176e-01 6.22537394e-03 1.53957232e+02] [ 9.56753855e-01 -2.89476629e-01 -2.87287661e-02 1.18221421e+02] [ 2.93007631e-02 -2.35850859e-03 9.99567858e-01 6.77506349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.020714057 meters Centerline goodness : 0.989647 Centerline is valid? [True, True] Translation: X:153.96, Y:118.21, Z:6.77 [[-2.90461239e-01 -9.56870608e-01 5.55941692e-03 1.53957912e+02] [ 9.56439762e-01 -2.90498218e-01 -2.88750360e-02 1.18214126e+02] [ 2.92446740e-02 -3.06983134e-03 9.99567569e-01 6.77422456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.050714057 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:153.96, Y:118.22, Z:6.78 [[-2.85165348e-01 -9.58458105e-01 6.22787418e-03 1.53956357e+02] [ 9.58030067e-01 -2.85224663e-01 -2.87277319e-02 1.18215100e+02] [ 2.93106708e-02 -2.22566293e-03 9.99567872e-01 6.77701917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.080714057 meters Centerline goodness : 0.988950 Centerline is valid? [True, True] Translation: X:153.96, Y:118.22, Z:6.78 [[-2.83730418e-01 -9.58884740e-01 6.09141453e-03 1.53955316e+02] [ 9.58456220e-01 -2.83786306e-01 -2.87577259e-02 1.18216535e+02] [ 2.93040045e-02 -2.32108742e-03 9.99567851e-01 6.77780524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.110714057 meters Centerline goodness : 0.991767 Centerline is valid? [True, True] Translation: X:153.95, Y:118.22, Z:6.78 [[-2.78860508e-01 -9.60311155e-01 6.26920370e-03 1.53953425e+02] [ 9.59883699e-01 -2.78923865e-01 -2.87186683e-02 1.18216041e+02] [ 2.93274880e-02 -1.99079598e-03 9.99567874e-01 6.77771940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.140714057 meters Centerline goodness : 0.991072 Centerline is valid? [True, True] Translation: X:153.95, Y:118.21, Z:6.78 [[-2.73767032e-01 -9.61780405e-01 5.48319232e-03 1.53953092e+02] [ 9.61350021e-01 -2.73809231e-01 -2.88901681e-02 1.18208329e+02] [ 2.92873462e-02 -2.63790852e-03 9.99567553e-01 6.77616235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.170714057 meters Centerline goodness : 0.989669 Centerline is valid? [True, True] Translation: X:153.95, Y:118.20, Z:6.78 [[-2.72498422e-01 -9.62139136e-01 5.73520778e-03 1.53953687e+02] [ 9.61709797e-01 -2.72548708e-01 -2.88351844e-02 1.18203918e+02] [ 2.93065829e-02 -2.34193676e-03 9.99567726e-01 6.77654420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.200714057 meters Centerline goodness : 0.991437 Centerline is valid? [True, True] Translation: X:153.95, Y:118.21, Z:6.78 [[-2.69924058e-01 -9.62863291e-01 5.94023214e-03 1.53949904e+02] [ 9.62434957e-01 -2.69981599e-01 -2.87904333e-02 1.18214963e+02] [ 2.93250047e-02 -2.05414351e-03 9.99567819e-01 6.77678349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.230714057 meters Centerline goodness : 0.991728 Centerline is valid? [True, True] Translation: X:153.95, Y:118.21, Z:6.78 [[-2.68408637e-01 -9.63289862e-01 5.42640081e-03 1.53950754e+02] [ 9.62859511e-01 -2.68451536e-01 -2.89021558e-02 1.18214726e+02] [ 2.92978793e-02 -2.53272660e-03 9.99567516e-01 6.77565976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26071405700003 meters Centerline goodness : 0.990588 Centerline is valid? [True, True] Translation: X:153.95, Y:118.22, Z:6.77 [[-2.66119206e-01 -9.63924577e-01 5.47527695e-03 1.53949513e+02] [ 9.63494521e-01 -2.66164586e-01 -2.88915342e-02 1.18222163e+02] [ 2.93065847e-02 -2.41319280e-03 9.99567557e-01 6.77455478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.290714057 meters Centerline goodness : 0.991180 Centerline is valid? [True, True] Translation: X:153.95, Y:118.21, Z:6.77 [[-2.51098263e-01 -9.67945618e-01 5.56265949e-03 1.53951300e+02] [ 9.67516710e-01 -2.51152925e-01 -2.88725655e-02 1.18211329e+02] [ 2.93441515e-02 -1.86788504e-03 9.99567622e-01 6.77071683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32071405700003 meters Centerline goodness : 0.990494 Centerline is valid? [True, True] Translation: X:153.95, Y:118.20, Z:6.77 [[-2.48024317e-01 -9.68740590e-01 5.06027524e-03 1.53950309e+02] [ 9.68309699e-01 -2.48065381e-01 -2.89809109e-02 1.18204034e+02] [ 2.93302639e-02 -2.28805706e-03 9.99567157e-01 6.77147135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.350714057 meters Centerline goodness : 0.991155 Centerline is valid? [True, True] Translation: X:153.95, Y:118.21, Z:6.77 [[-2.39285377e-01 -9.70935343e-01 5.20264893e-03 1.53947768e+02] [ 9.70505462e-01 -2.39334560e-01 -2.89502409e-02 1.18208183e+02] [ 2.93539858e-02 -1.87817012e-03 9.99567314e-01 6.77243889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38071405700003 meters Centerline goodness : 0.990550 Centerline is valid? [True, True] Translation: X:153.95, Y:118.21, Z:6.77 [[-2.40310495e-01 -9.70682537e-01 5.12634379e-03 1.53945432e+02] [ 9.70252271e-01 -2.40356952e-01 -2.89666495e-02 1.18208564e+02] [ 2.93495731e-02 -1.98714316e-03 9.99567233e-01 6.77404462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.410714057 meters Centerline goodness : 0.990474 Centerline is valid? [True, True] Translation: X:153.94, Y:118.21, Z:6.77 [[-2.39007208e-01 -9.71004298e-01 5.11936738e-03 1.53944612e+02] [ 9.70574064e-01 -2.39054035e-01 -2.89681478e-02 1.18212346e+02] [ 2.93520015e-02 -1.95487093e-03 9.99567226e-01 6.77435142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44071405700004 meters Centerline goodness : 0.988721 Centerline is valid? [True, True] Translation: X:153.94, Y:118.22, Z:6.78 [[-2.42687287e-01 -9.70091057e-01 5.12073509e-03 1.53943078e+02] [ 9.69660655e-01 -2.42732523e-01 -2.89678541e-02 1.18216008e+02] [ 2.93444252e-02 -2.06475458e-03 9.99567227e-01 6.77758310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.470714057 meters Centerline goodness : 0.988344 Centerline is valid? [True, True] Translation: X:153.94, Y:118.22, Z:6.78 [[-2.44226860e-01 -9.69701800e-01 5.62673753e-03 1.53941057e+02] [ 9.69273585e-01 -2.44286466e-01 -2.88589480e-02 1.18217135e+02] [ 2.93591096e-02 -1.59428220e-03 9.99567657e-01 6.78060401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.500714057 meters Centerline goodness : 0.989815 Centerline is valid? [True, True] Translation: X:153.94, Y:118.22, Z:6.78 [[-2.44532987e-01 -9.69624641e-01 5.62794198e-03 1.53940663e+02] [ 9.69196414e-01 -2.44592494e-01 -2.88586890e-02 1.18216595e+02] [ 2.93586483e-02 -1.60232025e-03 9.99567658e-01 6.77808093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.530714057 meters Centerline goodness : 0.988745 Centerline is valid? [True, True] Translation: X:153.94, Y:118.22, Z:6.78 [[-2.47145053e-01 -9.68964062e-01 5.28855151e-03 1.53941058e+02] [ 9.68534172e-01 -2.47193311e-01 -2.89313906e-02 1.18218985e+02] [ 2.93407723e-02 -2.02810720e-03 9.99567409e-01 6.77918752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.560714057 meters Centerline goodness : 0.988745 Centerline is valid? [True, True] Translation: X:153.94, Y:118.22, Z:6.78 [[-2.46812463e-01 -9.69047079e-01 5.60055934e-03 1.53940288e+02] [ 9.68618589e-01 -2.46870149e-01 -2.88644907e-02 1.18221522e+02] [ 2.93536613e-02 -1.69931013e-03 9.99567644e-01 6.77938260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.590714057 meters Centerline goodness : 0.987307 Centerline is valid? [True, True] Translation: X:153.94, Y:118.23, Z:6.78 [[-2.52283913e-01 -9.67637115e-01 5.58933690e-03 1.53941775e+02] [ 9.67208256e-01 -2.52338843e-01 -2.88668942e-02 1.18232224e+02] [ 2.93430850e-02 -1.87660021e-03 9.99567637e-01 6.78076318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.620714057 meters Centerline goodness : 0.988888 Centerline is valid? [True, True] Translation: X:153.94, Y:118.25, Z:6.78 [[-2.54019269e-01 -9.67181641e-01 5.82108758e-03 1.53939657e+02] [ 9.66753722e-01 -2.54080320e-01 -2.88172242e-02 1.18245548e+02] [ 2.93505139e-02 -1.69257212e-03 9.99567748e-01 6.77997381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.650714057 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:153.94, Y:118.25, Z:6.78 [[-2.57923496e-01 -9.66149214e-01 5.58264684e-03 1.53940038e+02] [ 9.65720018e-01 -2.57975725e-01 -2.88681993e-02 1.18246880e+02] [ 2.93311755e-02 -2.05451308e-03 9.99567637e-01 6.77736246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.680714057 meters Centerline goodness : 0.991080 Centerline is valid? [True, True] Translation: X:153.94, Y:118.25, Z:6.78 [[-2.58360816e-01 -9.66033849e-01 5.31888613e-03 1.53939907e+02] [ 9.65603562e-01 -2.58404993e-01 -2.89243849e-02 1.18253197e+02] [ 2.93163616e-02 -2.33699230e-03 9.99567451e-01 6.77672568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.710714057 meters Centerline goodness : 0.989814 Centerline is valid? [True, True] Translation: X:153.94, Y:118.26, Z:6.78 [[-2.59951534e-01 -9.65607584e-01 5.21477693e-03 1.53939870e+02] [ 9.65176829e-01 -2.59991897e-01 -2.89465425e-02 1.18257749e+02] [ 2.93068007e-02 -2.49151626e-03 9.99567358e-01 6.77541055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.740714057 meters Centerline goodness : 0.990029 Centerline is valid? [True, True] Translation: X:153.94, Y:118.27, Z:6.78 [[-2.62678604e-01 -9.64868667e-01 5.32972578e-03 1.53939192e+02] [ 9.64438228e-01 -2.62721179e-01 -2.89220670e-02 1.18265520e+02] [ 2.93062281e-02 -2.45701689e-03 9.99567460e-01 6.77652905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.770714057 meters Centerline goodness : 0.988618 Centerline is valid? [True, True] Translation: X:153.94, Y:118.25, Z:6.78 [[-2.63475295e-01 -9.64650358e-01 5.51869073e-03 1.53943504e+02] [ 9.64220612e-01 -2.63523149e-01 -2.88818385e-02 1.18247058e+02] [ 2.93151786e-02 -2.28841556e-03 9.99567598e-01 6.77673250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.800714057 meters Centerline goodness : 0.988525 Centerline is valid? [True, True] Translation: X:153.94, Y:118.26, Z:6.78 [[-2.66071869e-01 -9.63936550e-01 5.66455684e-03 1.53939398e+02] [ 9.63507253e-01 -2.66122913e-01 -2.88507902e-02 1.18262989e+02] [ 2.93177995e-02 -2.21854207e-03 9.99567679e-01 6.77967476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.830714057 meters Centerline goodness : 0.990372 Centerline is valid? [True, True] Translation: X:153.94, Y:118.27, Z:6.78 [[-2.67083124e-01 -9.63657056e-01 5.62878438e-03 1.53935890e+02] [ 9.63227564e-01 -2.67132652e-01 -2.88583988e-02 1.18272517e+02] [ 2.93132318e-02 -2.28579106e-03 9.99567661e-01 6.78096753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.860714057 meters Centerline goodness : 0.988022 Centerline is valid? [True, True] Translation: X:153.93, Y:118.28, Z:6.78 [[-2.69789790e-01 -9.62904343e-01 5.35682301e-03 1.53933998e+02] [ 9.62473703e-01 -2.69829998e-01 -2.89161386e-02 1.18282452e+02] [ 2.92889070e-02 -2.64547768e-03 9.99567487e-01 6.78264877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.890714057 meters Centerline goodness : 0.988820 Centerline is valid? [True, True] Translation: X:153.94, Y:118.26, Z:6.78 [[-2.68857183e-01 -9.63161501e-01 5.97817694e-03 1.53938351e+02] [ 9.62733348e-01 -2.68916325e-01 -2.87838659e-02 1.18259503e+02] [ 2.93311409e-02 -1.98335881e-03 9.99567782e-01 6.78234800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.920714057 meters Centerline goodness : 0.991274 Centerline is valid? [True, True] Translation: X:153.94, Y:118.27, Z:6.78 [[-2.66977936e-01 -9.63685250e-01 5.78973518e-03 1.53936334e+02] [ 9.63256421e-01 -2.67032305e-01 -2.88238809e-02 1.18273893e+02] [ 2.93231952e-02 -2.11834066e-03 9.99567738e-01 6.78048503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.950714057 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:153.94, Y:118.27, Z:6.78 [[-2.70407546e-01 -9.62731194e-01 5.32992357e-03 1.53935747e+02] [ 9.62300456e-01 -2.70446676e-01 -2.89210752e-02 1.18274624e+02] [ 2.92846814e-02 -2.69148907e-03 9.99567488e-01 6.78255323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.980714057 meters Centerline goodness : 0.989907 Centerline is valid? [True, True] Translation: X:153.94, Y:118.27, Z:6.78 [[-2.70174878e-01 -9.62796360e-01 5.35762594e-03 1.53939319e+02] [ 9.62365729e-01 -2.70214940e-01 -2.89152249e-02 1.18267024e+02] [ 2.92871839e-02 -2.65617178e-03 9.99567509e-01 6.78218143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01071405700003 meters Centerline goodness : 0.990120 Centerline is valid? [True, True] Translation: X:153.94, Y:118.28, Z:6.78 [[-2.72029597e-01 -9.62272760e-01 5.57070406e-03 1.53935879e+02] [ 9.61842817e-01 -2.72075187e-01 -2.88701900e-02 1.18277801e+02] [ 2.92966478e-02 -2.49540448e-03 9.99567646e-01 6.78233301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.040714057 meters Centerline goodness : 0.991999 Centerline is valid? [True, True] Translation: X:153.94, Y:118.27, Z:6.78 [[-2.56313497e-01 -9.66577374e-01 5.61888891e-03 1.53944056e+02] [ 9.66148432e-01 -2.56367521e-01 -2.88600270e-02 1.18271840e+02] [ 2.93359497e-02 -1.96853374e-03 9.99567670e-01 6.77605871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07071405700003 meters Centerline goodness : 0.990289 Centerline is valid? [True, True] Translation: X:153.94, Y:118.28, Z:6.78 [[-2.74289351e-01 -9.61636455e-01 4.54749675e-03 1.53937753e+02] [ 9.61203305e-01 -2.74303339e-01 -2.90841124e-02 1.18280197e+02] [ 2.92157363e-02 -3.60639341e-03 9.99566623e-01 6.77848723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.100714057 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:153.94, Y:118.28, Z:6.78 [[-2.68474642e-01 -9.63270419e-01 5.60954907e-03 1.53939355e+02] [ 9.62840837e-01 -2.68522980e-01 -2.88605694e-02 1.18278323e+02] [ 2.93068256e-02 -2.34722811e-03 9.99567707e-01 6.77538487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13071405700003 meters Centerline goodness : 0.991656 Centerline is valid? [True, True] Translation: X:153.94, Y:118.28, Z:6.77 [[-2.66669978e-01 -9.63775976e-01 4.79492495e-03 1.53940677e+02] [ 9.63343708e-01 -2.66694805e-01 -2.90307073e-02 1.18278083e+02] [ 2.92578798e-02 -3.12245730e-03 9.99567020e-01 6.77302355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.160714057 meters Centerline goodness : 0.989636 Centerline is valid? [True, True] Translation: X:153.94, Y:118.29, Z:6.78 [[-2.71832202e-01 -9.62332213e-01 4.89545851e-03 1.53936931e+02] [ 9.61900108e-01 -2.71857719e-01 -2.90097048e-02 1.18285042e+02] [ 2.92478416e-02 -3.17682988e-03 9.99567142e-01 6.77975721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19071405700004 meters Centerline goodness : 0.990697 Centerline is valid? [True, True] Translation: X:153.92, Y:118.30, Z:6.78 [[-2.86369447e-01 -9.58103502e-01 5.49727357e-03 1.53922678e+02] [ 9.57672760e-01 -2.86406424e-01 -2.88832992e-02 1.18303393e+02] [ 2.92476446e-02 -3.00670528e-03 9.99567674e-01 6.77986395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.220714057 meters Centerline goodness : 0.988181 Centerline is valid? [True, True] Translation: X:153.93, Y:118.29, Z:6.78 [[-2.64226813e-01 -9.64441562e-01 6.05516851e-03 1.53934098e+02] [ 9.64014087e-01 -2.64290303e-01 -2.87658681e-02 1.18290358e+02] [ 2.93433211e-02 -1.76344592e-03 9.99567837e-01 6.78213407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.250714057 meters Centerline goodness : 0.989333 Centerline is valid? [True, True] Translation: X:153.94, Y:118.28, Z:6.78 [[-2.60762555e-01 -9.65387515e-01 5.46217755e-03 1.53935552e+02] [ 9.64957795e-01 -2.60809942e-01 -2.88899399e-02 1.18283317e+02] [ 2.93145775e-02 -2.26264376e-03 9.99567675e-01 6.77534610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.280714057 meters Centerline goodness : 0.991582 Centerline is valid? [True, True] Translation: X:153.93, Y:118.29, Z:6.78 [[-2.53772993e-01 -9.67248256e-01 5.48443709e-03 1.53930280e+02] [ 9.66818981e-01 -2.53824150e-01 -2.88852890e-02 1.18288554e+02] [ 2.93313280e-02 -2.02784838e-03 9.99567687e-01 6.77726430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.310714057 meters Centerline goodness : 0.989281 Centerline is valid? [True, True] Translation: X:153.93, Y:118.28, Z:6.78 [[-2.50199282e-01 -9.68182321e-01 4.82823062e-03 1.53932158e+02] [ 9.67750721e-01 -2.50232475e-01 -2.90215374e-02 1.18278025e+02] [ 2.93063195e-02 -2.58864414e-03 9.99567126e-01 6.78227612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.340714057 meters Centerline goodness : 0.988544 Centerline is valid? [True, True] Translation: X:153.93, Y:118.29, Z:6.78 [[-2.48179846e-01 -9.68700185e-01 5.16869464e-03 1.53927863e+02] [ 9.68269929e-01 -2.48224088e-01 -2.89507706e-02 1.18287419e+02] [ 2.93276113e-02 -2.18030619e-03 9.99567475e-01 6.78107810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.370714057 meters Centerline goodness : 0.986622 Centerline is valid? [True, True] Translation: X:153.93, Y:118.29, Z:6.78 [[-2.46227140e-01 -9.69197624e-01 5.30676243e-03 1.53925960e+02] [ 9.68768017e-01 -2.46276358e-01 -2.89220490e-02 1.18287890e+02] [ 2.93381113e-02 -1.98037169e-03 9.99567583e-01 6.78349113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.400714057 meters Centerline goodness : 0.989627 Centerline is valid? [True, True] Translation: X:153.92, Y:118.30, Z:6.78 [[-2.44035706e-01 -9.69750864e-01 5.46233380e-03 1.53920709e+02] [ 9.69322034e-01 -2.44090519e-01 -2.88896799e-02 1.18299602e+02] [ 2.93490959e-02 -1.75535290e-03 9.99567681e-01 6.78074758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.430714057 meters Centerline goodness : 0.990239 Centerline is valid? [True, True] Translation: X:153.92, Y:118.29, Z:6.78 [[-2.43381473e-01 -9.69917258e-01 5.09615590e-03 1.53918356e+02] [ 9.69486942e-01 -2.43425685e-01 -2.89655806e-02 1.18293056e+02] [ 2.93347518e-02 -2.10902906e-03 9.99567419e-01 6.77970569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.460714057 meters Centerline goodness : 0.990261 Centerline is valid? [True, True] Translation: X:153.92, Y:118.30, Z:6.78 [[-2.41769727e-01 -9.70320431e-01 5.06551088e-03 1.53916718e+02] [ 9.69890067e-01 -2.41813742e-01 -2.89719210e-02 1.18295807e+02] [ 2.93369570e-02 -2.09154474e-03 9.99567391e-01 6.77841245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.490714057 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:153.92, Y:118.29, Z:6.78 [[-2.38055664e-01 -9.71238504e-01 5.02685206e-03 1.53917676e+02] [ 9.70808154e-01 -2.38100175e-01 -2.89799042e-02 1.18291412e+02] [ 2.93432931e-02 -2.01872137e-03 9.99567354e-01 6.77654398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.520714057 meters Centerline goodness : 0.990590 Centerline is valid? [True, True] Translation: X:153.91, Y:118.30, Z:6.78 [[-2.36717870e-01 -9.71565780e-01 4.95828619e-03 1.53914936e+02] [ 9.71135215e-01 -2.36760933e-01 -2.89940340e-02 1.18300202e+02] [ 2.93435398e-02 -2.04823965e-03 9.99567287e-01 6.77690340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.550714057 meters Centerline goodness : 0.987662 Centerline is valid? [True, True] Translation: X:153.92, Y:118.29, Z:6.78 [[-2.39390509e-01 -9.70910937e-01 4.91298692e-03 1.53915677e+02] [ 9.70480079e-01 -2.39431037e-01 -2.90033647e-02 1.18287476e+02] [ 2.93360055e-02 -2.17517428e-03 9.99567240e-01 6.78125333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.580714057 meters Centerline goodness : 0.990546 Centerline is valid? [True, True] Translation: X:153.91, Y:118.29, Z:6.78 [[-2.31411115e-01 -9.72839768e-01 5.62861740e-03 1.53912624e+02] [ 9.72412479e-01 -2.31476426e-01 -2.88554303e-02 1.18292094e+02] [ 2.93746024e-02 -1.20412951e-03 9.99567748e-01 6.77864583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.610714057 meters Centerline goodness : 0.988301 Centerline is valid? [True, True] Translation: X:153.91, Y:118.29, Z:6.78 [[-2.30614397e-01 -9.73033355e-01 4.80510267e-03 1.53914406e+02] [ 9.72602475e-01 -2.30655607e-01 -2.90244026e-02 1.18286198e+02] [ 2.93500357e-02 -2.01999037e-03 9.99567154e-01 6.78472509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.640714057 meters Centerline goodness : 0.987669 Centerline is valid? [True, True] Translation: X:153.91, Y:118.30, Z:6.78 [[-2.31428937e-01 -9.72837602e-01 5.25799809e-03 1.53911763e+02] [ 9.72408601e-01 -2.31483249e-01 -2.89312553e-02 1.18298002e+02] [ 2.93625515e-02 -1.58260709e-03 9.99567574e-01 6.78450811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.670714057 meters Centerline goodness : 0.989270 Centerline is valid? [True, True] Translation: X:153.91, Y:118.31, Z:6.78 [[-2.29086213e-01 -9.73391526e-01 5.33334005e-03 1.53910836e+02] [ 9.72963001e-01 -2.29143793e-01 -2.89157615e-02 1.18305604e+02] [ 2.93684590e-02 -1.43505976e-03 9.99567624e-01 6.78056307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.700714057 meters Centerline goodness : 0.986937 Centerline is valid? [True, True] Translation: X:153.91, Y:118.31, Z:6.78 [[-2.31738895e-01 -9.72765829e-01 4.87105004e-03 1.53909479e+02] [ 9.72335177e-01 -2.31781570e-01 -2.90104623e-02 1.18309961e+02] [ 2.93494061e-02 -1.98655918e-03 9.99567239e-01 6.78412551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.730714057 meters Centerline goodness : 0.987633 Centerline is valid? [True, True] Translation: X:153.91, Y:118.31, Z:6.78 [[-2.34284783e-01 -9.72153033e-01 5.39630957e-03 1.53907342e+02] [ 9.71724495e-01 -2.34341942e-01 -2.89025995e-02 1.18311520e+02] [ 2.93623314e-02 -1.52771304e-03 9.99567666e-01 6.78445282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76071405700003 meters Centerline goodness : 0.986813 Centerline is valid? [True, True] Translation: X:153.91, Y:118.33, Z:6.79 [[-2.31520825e-01 -9.72814539e-01 5.47544532e-03 1.53905299e+02] [ 9.72386531e-01 -2.31581548e-01 -2.88863467e-02 1.18331987e+02] [ 2.93690701e-02 -1.36354153e-03 9.99567706e-01 6.78661502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.790714057 meters Centerline goodness : 0.989019 Centerline is valid? [True, True] Translation: X:153.90, Y:118.35, Z:6.78 [[-2.33596206e-01 -9.72318477e-01 5.43989954e-03 1.53901812e+02] [ 9.71890177e-01 -2.33654962e-01 -2.88936473e-02 1.18346719e+02] [ 2.93648866e-02 -1.46246146e-03 9.99567689e-01 6.78467636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82071405700003 meters Centerline goodness : 0.988994 Centerline is valid? [True, True] Translation: X:153.91, Y:118.31, Z:6.78 [[-2.29221426e-01 -9.73359743e-01 5.32440369e-03 1.53911468e+02] [ 9.72931177e-01 -2.29278682e-01 -2.89172939e-02 1.18309348e+02] [ 2.93677020e-02 -1.44818500e-03 9.99567627e-01 6.78498815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.850714057 meters Centerline goodness : 0.989600 Centerline is valid? [True, True] Translation: X:153.91, Y:118.31, Z:6.78 [[-2.29977633e-01 -9.73182957e-01 5.02208868e-03 1.53909942e+02] [ 9.72753032e-01 -2.30025580e-01 -2.89788258e-02 1.18313666e+02] [ 2.93569082e-02 -1.77922977e-03 9.99567410e-01 6.78494249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88071405700003 meters Centerline goodness : 0.988612 Centerline is valid? [True, True] Translation: X:153.91, Y:118.31, Z:6.78 [[-2.31691367e-01 -9.72776530e-01 4.99333418e-03 1.53911097e+02] [ 9.72346403e-01 -2.31737702e-01 -2.89846699e-02 1.18311126e+02] [ 2.93527504e-02 -1.86024727e-03 9.99567384e-01 6.78407957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.910714057 meters Centerline goodness : 0.989986 Centerline is valid? [True, True] Translation: X:153.91, Y:118.30, Z:6.78 [[-2.31217254e-01 -9.72888878e-01 5.08057417e-03 1.53912467e+02] [ 9.72459136e-01 -2.31266391e-01 -2.89669585e-02 1.18303421e+02] [ 2.93565978e-02 -1.75700983e-03 9.99567458e-01 6.78310018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94071405700004 meters Centerline goodness : 0.989099 Centerline is valid? [True, True] Translation: X:153.91, Y:118.32, Z:6.78 [[-2.33534264e-01 -9.72335734e-01 4.99682260e-03 1.53909488e+02] [ 9.71905534e-01 -2.33579888e-01 -2.89839369e-02 1.18316182e+02] [ 2.93492748e-02 -1.91230283e-03 9.99567388e-01 6.78325037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.970714057 meters Centerline goodness : 0.989303 Centerline is valid? [True, True] Translation: X:153.91, Y:118.31, Z:6.78 [[-2.32490118e-01 -9.72584460e-01 5.27383181e-03 1.53912326e+02] [ 9.72155478e-01 -2.32544433e-01 -2.89277278e-02 1.18306654e+02] [ 2.93610588e-02 -1.59842638e-03 9.99567593e-01 6.77881046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.000714057 meters Centerline goodness : 0.989917 Centerline is valid? [True, True] Translation: X:153.90, Y:118.34, Z:6.78 [[-2.51600854e-01 -9.67817100e-01 5.20306032e-03 1.53896109e+02] [ 9.67386867e-01 -2.51644602e-01 -2.89420818e-02 1.18335569e+02] [ 2.93199637e-02 -2.24848028e-03 9.99567549e-01 6.78260410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.030714057 meters Centerline goodness : 0.988668 Centerline is valid? [True, True] Translation: X:153.90, Y:118.33, Z:6.78 [[-2.50524377e-01 -9.68092540e-01 5.86259286e-03 1.53896136e+02] [ 9.67665054e-01 -2.50588207e-01 -2.88078694e-02 1.18332382e+02] [ 2.93577801e-02 -1.54404729e-03 9.99567775e-01 6.78359671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.060714057 meters Centerline goodness : 0.989997 Centerline is valid? [True, True] Translation: X:153.95, Y:118.23, Z:6.76 [[-1.67028417e-01 -9.85934718e-01 5.85146157e-03 1.53945364e+02] [ 9.85514158e-01 -1.67128156e-01 -2.88101302e-02 1.18233354e+02] [ 2.93828516e-02 9.54587772e-04 9.99567775e-01 6.76275035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.090714057 meters Centerline goodness : 0.989532 Centerline is valid? [True, True] Translation: X:153.90, Y:118.34, Z:6.78 [[-2.50063013e-01 -9.68228658e-01 1.32472018e-03 1.53902247e+02] [ 9.67792690e-01 -2.49991044e-01 -2.96948911e-02 1.18336643e+02] [ 2.90826128e-02 -6.14353942e-03 9.99558132e-01 6.78204775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.120714057 meters Centerline goodness : 0.992418 Centerline is valid? [True, True] Translation: X:153.94, Y:118.25, Z:6.77 [[-1.94785643e-01 -9.80828624e-01 5.81071207e-03 1.53936370e+02] [ 9.80406010e-01 -1.94872274e-01 -2.87897863e-02 1.18251562e+02] [ 2.93701931e-02 8.90200102e-05 9.99568599e-01 6.77029909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.150714057 meters Centerline goodness : 0.990232 Centerline is valid? [True, True] Translation: X:153.92, Y:118.33, Z:6.78 [[-2.31010249e-01 -9.72947350e-01 2.77829614e-03 1.53918467e+02] [ 9.72512190e-01 -2.30990828e-01 -2.93815863e-02 1.18326134e+02] [ 2.92284974e-02 -4.08552070e-03 9.99564407e-01 6.77867411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.180714057 meters Centerline goodness : 0.987714 Centerline is valid? [True, True] Translation: X:153.92, Y:118.33, Z:6.78 [[-2.36932105e-01 -9.71515088e-01 4.64871671e-03 1.53918336e+02] [ 9.71084782e-01 -2.36965967e-01 -2.90082079e-02 1.18326546e+02] [ 2.92834993e-02 -2.35867770e-03 9.99568364e-01 6.78442556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.210714057 meters Centerline goodness : 0.989384 Centerline is valid? [True, True] Translation: X:153.92, Y:118.33, Z:6.78 [[-2.37387216e-01 -9.71400590e-01 5.31074387e-03 1.53917509e+02] [ 9.70972809e-01 -2.37440541e-01 -2.88754814e-02 1.18331378e+02] [ 2.93106456e-02 -1.69808223e-03 9.99568908e-01 6.78023275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.240714057 meters Centerline goodness : 0.987030 Centerline is valid? [True, True] Translation: X:153.92, Y:118.35, Z:6.78 [[-2.44656593e-01 -9.69597669e-01 4.84884113e-03 1.53915641e+02] [ 9.69167792e-01 -2.44692988e-01 -2.89677767e-02 1.18347556e+02] [ 2.92735662e-02 -2.38781691e-03 9.99568585e-01 6.78349250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.270714057 meters Centerline goodness : 0.986865 Centerline is valid? [True, True] Translation: X:153.92, Y:118.35, Z:6.78 [[-2.44979888e-01 -9.69513038e-01 5.41515297e-03 1.53915411e+02] [ 9.69085280e-01 -2.45032964e-01 -2.88542450e-02 1.18348974e+02] [ 2.93014577e-02 -1.82096468e-03 9.99568961e-01 6.78471856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.300714057 meters Centerline goodness : 0.987101 Centerline is valid? [True, True] Translation: X:153.91, Y:118.35, Z:6.79 [[-2.49977710e-01 -9.68236866e-01 5.34006249e-03 1.53914232e+02] [ 9.67808550e-01 -2.50026349e-01 -2.88692679e-02 1.18353554e+02] [ 2.92874458e-02 -2.04851533e-03 9.99568932e-01 6.78662832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.330714057 meters Centerline goodness : 0.988395 Centerline is valid? [True, True] Translation: X:153.91, Y:118.36, Z:6.79 [[-2.48548509e-01 -9.68603754e-01 5.51423444e-03 1.53914727e+02] [ 9.68176197e-01 -2.48602949e-01 -2.88344377e-02 1.18355077e+02] [ 2.92999996e-02 -1.82800597e-03 9.99568991e-01 6.78612826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.360714057 meters Centerline goodness : 0.988042 Centerline is valid? [True, True] Translation: X:153.91, Y:118.37, Z:6.79 [[-2.51230831e-01 -9.67912235e-01 5.38289357e-03 1.53912226e+02] [ 9.67484021e-01 -2.51280188e-01 -2.88606366e-02 1.18368539e+02] [ 2.92871777e-02 -2.04281819e-03 9.99568951e-01 6.78802275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.390714057 meters Centerline goodness : 0.988576 Centerline is valid? [True, True] Translation: X:153.91, Y:118.36, Z:6.79 [[-2.52937423e-01 -9.67467097e-01 5.48413496e-03 1.53914354e+02] [ 9.67039182e-01 -2.52989031e-01 -2.88404527e-02 1.18358085e+02] [ 2.92896151e-02 -1.99145639e-03 9.99568983e-01 6.78797911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.420714057 meters Centerline goodness : 0.988025 Centerline is valid? [True, True] Translation: X:153.91, Y:118.36, Z:6.79 [[-2.54216049e-01 -9.67131932e-01 5.47963325e-03 1.53914631e+02] [ 9.66703931e-01 -2.54266958e-01 -2.88413483e-02 1.18359389e+02] [ 2.92866786e-02 -2.03475062e-03 9.99568982e-01 6.78826274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.450714057 meters Centerline goodness : 0.988425 Centerline is valid? [True, True] Translation: X:153.91, Y:118.37, Z:6.79 [[-2.55715592e-01 -9.66736414e-01 5.49932009e-03 1.53913976e+02] [ 9.66308408e-01 -2.55766422e-01 -2.88374346e-02 1.18367008e+02] [ 2.92847395e-02 -2.06014241e-03 9.99568987e-01 6.78735337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.480714057 meters Centerline goodness : 0.988425 Centerline is valid? [True, True] Translation: X:153.91, Y:118.37, Z:6.79 [[-2.55359507e-01 -9.66830931e-01 5.42892044e-03 1.53913412e+02] [ 9.66402682e-01 -2.55408404e-01 -2.88514000e-02 1.18369601e+02] [ 2.92810178e-02 -2.12095601e-03 9.99568969e-01 6.78740507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51071405700003 meters Centerline goodness : 0.988011 Centerline is valid? [True, True] Translation: X:153.91, Y:118.37, Z:6.79 [[-2.56002681e-01 -9.66660880e-01 5.41937270e-03 1.53913962e+02] [ 9.66232564e-01 -2.56051009e-01 -2.88532904e-02 1.18374936e+02] [ 2.92789829e-02 -2.15014533e-03 9.99568966e-01 6.78703674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.540714057 meters Centerline goodness : 0.990242 Centerline is valid? [True, True] Translation: X:153.91, Y:118.38, Z:6.79 [[-2.55943668e-01 -9.66676632e-01 5.39698400e-03 1.53913556e+02] [ 9.66248238e-01 -2.55991357e-01 -2.88577152e-02 1.18379482e+02] [ 2.92776602e-02 -2.17112321e-03 9.99568960e-01 6.78685979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57071405700003 meters Centerline goodness : 0.987566 Centerline is valid? [True, True] Translation: X:153.91, Y:118.38, Z:6.79 [[-2.60255724e-01 -9.65526634e-01 5.02762913e-03 1.53914514e+02] [ 9.65096822e-01 -2.60290514e-01 -2.89304819e-02 1.18383383e+02] [ 2.92417950e-02 -2.67717460e-03 9.99568782e-01 6.78844142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.600714057 meters Centerline goodness : 0.990269 Centerline is valid? [True, True] Translation: X:153.91, Y:118.39, Z:6.79 [[-2.59175646e-01 -9.65814472e-01 5.51280702e-03 1.53913536e+02] [ 9.65386339e-01 -2.59225343e-01 -2.88346722e-02 1.18386779e+02] [ 2.92780030e-02 -2.15125621e-03 9.99568992e-01 6.78722407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63071405700003 meters Centerline goodness : 0.989943 Centerline is valid? [True, True] Translation: X:153.91, Y:118.40, Z:6.79 [[-2.64269373e-01 -9.64434997e-01 5.18015920e-03 1.53911541e+02] [ 9.64005517e-01 -2.64306917e-01 -2.89001209e-02 1.18402403e+02] [ 2.92414399e-02 -2.64371478e-03 9.99568882e-01 6.78830993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.660714057 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:153.91, Y:118.41, Z:6.79 [[-2.65334126e-01 -9.64141525e-01 5.37789880e-03 1.53911353e+02] [ 9.63712631e-01 -2.65377079e-01 -2.88612219e-02 1.18406588e+02] [ 2.92534736e-02 -2.47511807e-03 9.99568961e-01 6.78946316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69071405700004 meters Centerline goodness : 0.990641 Centerline is valid? [True, True] Translation: X:153.91, Y:118.40, Z:6.79 [[-2.66038635e-01 -9.63949140e-01 5.04975557e-03 1.53914437e+02] [ 9.63519208e-01 -2.66071509e-01 -2.89255637e-02 1.18399599e+02] [ 2.92263684e-02 -2.82978101e-03 9.99568813e-01 6.78800502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.720714057 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:153.92, Y:118.38, Z:6.79 [[-2.68155230e-01 -9.63361463e-01 5.24058119e-03 1.53918222e+02] [ 9.62932019e-01 -2.68192841e-01 -2.88881834e-02 1.18383706e+02] [ 2.92352490e-02 -2.70019405e-03 9.99568912e-01 6.78700454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.750714057 meters Centerline goodness : 0.989379 Centerline is valid? [True, True] Translation: X:153.92, Y:118.39, Z:6.79 [[-2.69491404e-01 -9.62987615e-01 5.40716821e-03 1.53916338e+02] [ 9.62558630e-01 -2.69533377e-01 -2.88555666e-02 1.18390600e+02] [ 2.92449655e-02 -2.57161073e-03 9.99568967e-01 6.78814050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.780714057 meters Centerline goodness : 0.990157 Centerline is valid? [True, True] Translation: X:153.91, Y:118.40, Z:6.79 [[-2.73570908e-01 -9.61836480e-01 5.43540266e-03 1.53913729e+02] [ 9.61407407e-01 -2.73611903e-01 -2.88500432e-02 1.18395850e+02] [ 2.92362148e-02 -2.66689614e-03 9.99568973e-01 6.78792036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.810714057 meters Centerline goodness : 0.990990 Centerline is valid? [True, True] Translation: X:153.91, Y:118.40, Z:6.79 [[-2.74945619e-01 -9.61444528e-01 5.41537771e-03 1.53913700e+02] [ 9.61015337e-01 -2.74985404e-01 -2.88539541e-02 1.18401618e+02] [ 2.92306261e-02 -2.72900722e-03 9.99568969e-01 6.78729325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.840714057 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:153.92, Y:118.40, Z:6.78 [[-2.74706837e-01 -9.61512293e-01 5.50134407e-03 1.53915683e+02] [ 9.61083371e-01 -2.74749286e-01 -2.88371772e-02 1.18396397e+02] [ 2.92387907e-02 -2.63451943e-03 9.99568983e-01 6.78447976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.870714057 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:153.91, Y:118.40, Z:6.79 [[-2.77981236e-01 -9.60571842e-01 5.30738844e-03 1.53914720e+02] [ 9.60142224e-01 -2.78016450e-01 -2.88749532e-02 1.18402672e+02] [ 2.92120083e-02 -2.93084744e-03 9.99568941e-01 6.78619722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.900714057 meters Centerline goodness : 0.990249 Centerline is valid? [True, True] Translation: X:153.91, Y:118.42, Z:6.79 [[-2.79289608e-01 -9.60191751e-01 5.39599850e-03 1.53910286e+02] [ 9.59762330e-01 -2.79326875e-01 -2.88576980e-02 1.18421143e+02] [ 2.92161709e-02 -2.88077908e-03 9.99568965e-01 6.78715855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.930714057 meters Centerline goodness : 0.990581 Centerline is valid? [True, True] Translation: X:153.91, Y:118.43, Z:6.79 [[-2.79433134e-01 -9.60149548e-01 5.47445448e-03 1.53906742e+02] [ 9.59720345e-01 -2.79472673e-01 -2.88424229e-02 1.18432968e+02] [ 2.92229997e-02 -2.80558328e-03 9.99568980e-01 6.78775137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.960714057 meters Centerline goodness : 0.989361 Centerline is valid? [True, True] Translation: X:153.91, Y:118.41, Z:6.79 [[-2.78576837e-01 -9.60398429e-01 5.45934536e-03 1.53912247e+02] [ 9.59969217e-01 -2.78616309e-01 -2.88453583e-02 1.18411998e+02] [ 2.92240994e-02 -2.79484519e-03 9.99568978e-01 6.78701193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.990714057 meters Centerline goodness : 0.990621 Centerline is valid? [True, True] Translation: X:153.91, Y:118.41, Z:6.79 [[-2.77632106e-01 -9.60671152e-01 5.59915218e-03 1.53910549e+02] [ 9.60242397e-01 -2.77676160e-01 -2.88181952e-02 1.18414770e+02] [ 2.92395599e-02 -2.62431293e-03 9.99568988e-01 6.78751965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.020714057 meters Centerline goodness : 0.991567 Centerline is valid? [True, True] Translation: X:153.91, Y:118.42, Z:6.78 [[-2.72904559e-01 -9.62025389e-01 5.50020148e-03 1.53907298e+02] [ 9.61596545e-01 -2.72947778e-01 -2.88373823e-02 1.18417775e+02] [ 2.92435617e-02 -2.58087837e-03 9.99568984e-01 6.78482099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.050714057 meters Centerline goodness : 0.989464 Centerline is valid? [True, True] Translation: X:153.90, Y:118.43, Z:6.79 [[-2.73464580e-01 -9.61869222e-01 4.97230556e-03 1.53904690e+02] [ 9.61438889e-01 -2.73491833e-01 -2.89392593e-02 1.18432162e+02] [ 2.91956678e-02 -3.13329447e-03 9.99568805e-01 6.78878812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.080714057 meters Centerline goodness : 0.991818 Centerline is valid? [True, True] Translation: X:153.90, Y:118.42, Z:6.79 [[-2.69260245e-01 -9.63051964e-01 5.46206965e-03 1.53903677e+02] [ 9.62623173e-01 -2.69303954e-01 -2.88445252e-02 1.18422126e+02] [ 2.92497336e-02 -2.50876909e-03 9.99568987e-01 6.78651281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.110714057 meters Centerline goodness : 0.991092 Centerline is valid? [True, True] Translation: X:153.90, Y:118.43, Z:6.79 [[-2.68923296e-01 -9.63148509e-01 5.02093611e-03 1.53900403e+02] [ 9.62718451e-01 -2.68954029e-01 -2.89294739e-02 1.18434004e+02] [ 2.92137806e-02 -2.94606164e-03 9.99568845e-01 6.78672426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.140714057 meters Centerline goodness : 0.991467 Centerline is valid? [True, True] Translation: X:153.90, Y:118.45, Z:6.79 [[-2.66596849e-01 -9.63794831e-01 5.06406449e-03 1.53896211e+02] [ 9.63364967e-01 -2.66629904e-01 -2.89211676e-02 1.18452585e+02] [ 2.92243028e-02 -2.83174982e-03 9.99568868e-01 6.78575823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.170714057 meters Centerline goodness : 0.990573 Centerline is valid? [True, True] Translation: X:153.90, Y:118.41, Z:6.78 [[-2.61936014e-01 -9.65072283e-01 5.00119852e-03 1.53902742e+02] [ 9.64642403e-01 -2.61969276e-01 -2.89332471e-02 1.18408286e+02] [ 2.92328352e-02 -2.75429126e-03 9.99568835e-01 6.78480722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.200714057 meters Centerline goodness : 0.990326 Centerline is valid? [True, True] Translation: X:153.90, Y:118.42, Z:6.78 [[-2.58660130e-01 -9.65954371e-01 5.20485472e-03 1.53898325e+02] [ 9.65525230e-01 -2.58700907e-01 -2.88941307e-02 1.18419795e+02] [ 2.92569125e-02 -2.44834106e-03 9.99568926e-01 6.78257056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.230714057 meters Centerline goodness : 0.990838 Centerline is valid? [True, True] Translation: X:153.89, Y:118.42, Z:6.78 [[-2.53548820e-01 -9.67310052e-01 4.92535463e-03 1.53892201e+02] [ 9.66880248e-01 -2.53583557e-01 -2.89476410e-02 1.18422920e+02] [ 2.92503331e-02 -2.57741214e-03 9.99568795e-01 6.78246693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26071405700003 meters Centerline goodness : 0.989467 Centerline is valid? [True, True] Translation: X:153.89, Y:118.42, Z:6.78 [[-2.49675686e-01 -9.68317268e-01 4.87032376e-03 1.53890662e+02] [ 9.67887436e-01 -2.49710506e-01 -2.89581631e-02 1.18418260e+02] [ 2.92568604e-02 -2.51622406e-03 9.99568759e-01 6.78208534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.290714057 meters Centerline goodness : 0.989001 Centerline is valid? [True, True] Translation: X:153.89, Y:118.42, Z:6.78 [[-2.46765580e-01 -9.69062812e-01 4.90060540e-03 1.53888713e+02] [ 9.68633182e-01 -2.46802591e-01 -2.89523806e-02 1.18418790e+02] [ 2.92661574e-02 -2.39756198e-03 9.99568779e-01 6.78333898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32071405700003 meters Centerline goodness : 0.989231 Centerline is valid? [True, True] Translation: X:153.88, Y:118.43, Z:6.78 [[-2.39369566e-01 -9.70916076e-01 4.91783140e-03 1.53882583e+02] [ 9.70486799e-01 -2.39410363e-01 -2.89490928e-02 1.18426390e+02] [ 2.92845194e-02 -2.15684132e-03 9.99568790e-01 6.78292969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.350714057 meters Centerline goodness : 0.987815 Centerline is valid? [True, True] Translation: X:153.88, Y:118.41, Z:6.78 [[-2.36542915e-01 -9.71609115e-01 4.81415469e-03 1.53883804e+02] [ 9.71179602e-01 -2.36581884e-01 -2.89688399e-02 1.18411117e+02] [ 2.92853307e-02 -2.17696500e-03 9.99568722e-01 6.78452370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38071405700003 meters Centerline goodness : 0.987248 Centerline is valid? [True, True] Translation: X:153.88, Y:118.41, Z:6.79 [[-2.32350667e-01 -9.72618791e-01 5.08482709e-03 1.53880660e+02] [ 9.72190443e-01 -2.32399517e-01 -2.89172516e-02 1.18407424e+02] [ 2.93071737e-02 -1.77552241e-03 9.99568876e-01 6.78738245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.410714057 meters Centerline goodness : 0.986632 Centerline is valid? [True, True] Translation: X:153.88, Y:118.43, Z:6.79 [[-2.32960187e-01 -9.72473181e-01 5.04603311e-03 1.53875369e+02] [ 9.72044657e-01 -2.33007618e-01 -2.89246408e-02 1.18426436e+02] [ 2.93042016e-02 -1.83332022e-03 9.99568858e-01 6.78778508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44071405700004 meters Centerline goodness : 0.987695 Centerline is valid? [True, True] Translation: X:153.88, Y:118.41, Z:6.79 [[-2.32041617e-01 -9.72692299e-01 5.13611773e-03 1.53876147e+02] [ 9.72264163e-01 -2.32092124e-01 -2.89074939e-02 1.18412566e+02] [ 2.93101491e-02 -1.71407842e-03 9.99568896e-01 6.78550998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.470714057 meters Centerline goodness : 0.988357 Centerline is valid? [True, True] Translation: X:153.88, Y:118.41, Z:6.78 [[-2.32449407e-01 -9.72596136e-01 4.90187283e-03 1.53875079e+02] [ 9.72167111e-01 -2.32492788e-01 -2.89518974e-02 1.18409666e+02] [ 2.92981536e-02 -1.96441184e-03 9.99568787e-01 6.78398848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.500714057 meters Centerline goodness : 0.988031 Centerline is valid? [True, True] Translation: X:153.87, Y:118.42, Z:6.78 [[-2.36842008e-01 -9.71535662e-01 4.93160968e-03 1.53870164e+02] [ 9.71106548e-01 -2.36884332e-01 -2.89462626e-02 1.18423121e+02] [ 2.92905474e-02 -2.06657250e-03 9.99568804e-01 6.78265914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.530714057 meters Centerline goodness : 0.987482 Centerline is valid? [True, True] Translation: X:153.87, Y:118.42, Z:6.78 [[-2.38389707e-01 -9.71156666e-01 5.00770210e-03 1.53869432e+02] [ 9.70727750e-01 -2.38433606e-01 -2.89318418e-02 1.18423117e+02] [ 2.92913555e-02 -2.03593792e-03 9.99568843e-01 6.78141684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.560714057 meters Centerline goodness : 0.989059 Centerline is valid? [True, True] Translation: X:153.87, Y:118.42, Z:6.78 [[-2.39622491e-01 -9.70852815e-01 5.08658998e-03 1.53867154e+02] [ 9.70424120e-01 -2.39668186e-01 -2.89169040e-02 1.18424389e+02] [ 2.92931515e-02 -1.99299097e-03 9.99568877e-01 6.78116832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.590714057 meters Centerline goodness : 0.987421 Centerline is valid? [True, True] Translation: X:153.87, Y:118.43, Z:6.78 [[-2.45262448e-01 -9.69445375e-01 4.69012648e-03 1.53865914e+02] [ 9.69015169e-01 -2.45293870e-01 -2.89917209e-02 1.18430344e+02] [ 2.92563490e-02 -2.56577674e-03 9.99568648e-01 6.77935902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.620714057 meters Centerline goodness : 0.987894 Centerline is valid? [True, True] Translation: X:153.86, Y:118.45, Z:6.78 [[-2.46395506e-01 -9.69156071e-01 5.07592521e-03 1.53862569e+02] [ 9.68727036e-01 -2.46437891e-01 -2.89187751e-02 1.18445292e+02] [ 2.92777067e-02 -2.20827024e-03 9.99568877e-01 6.78045750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.650714057 meters Centerline goodness : 0.988490 Centerline is valid? [True, True] Translation: X:153.85, Y:118.45, Z:6.78 [[-2.61625947e-01 -9.65156019e-01 5.07171436e-03 1.53853866e+02] [ 9.64726358e-01 -2.61661446e-01 -2.89195703e-02 1.18452828e+02] [ 2.92389694e-02 -2.67329345e-03 9.99568875e-01 6.78287189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.680714057 meters Centerline goodness : 0.988125 Centerline is valid? [True, True] Translation: X:153.85, Y:118.46, Z:6.78 [[-2.61862458e-01 -9.65089802e-01 5.45234348e-03 1.53851547e+02] [ 9.64661290e-01 -2.61909164e-01 -2.88476318e-02 1.18463245e+02] [ 2.92685739e-02 -2.29444707e-03 9.99568950e-01 6.78438293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.710714057 meters Centerline goodness : 0.989136 Centerline is valid? [True, True] Translation: X:153.87, Y:118.42, Z:6.78 [[-2.44219726e-01 -9.69704656e-01 5.44102429e-03 1.53866269e+02] [ 9.69277025e-01 -2.44273904e-01 -2.88497665e-02 1.18423036e+02] [ 2.93048532e-02 -1.77182225e-03 9.99568950e-01 6.78035389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.740714057 meters Centerline goodness : 0.989224 Centerline is valid? [True, True] Translation: X:153.86, Y:118.44, Z:6.78 [[-2.48836284e-01 -9.68535284e-01 4.46173045e-03 1.53862122e+02] [ 9.68104414e-01 -2.48859328e-01 -2.90323576e-02 1.18438029e+02] [ 2.92292059e-02 -2.90488303e-03 9.99568514e-01 6.78359435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.770714057 meters Centerline goodness : 0.990135 Centerline is valid? [True, True] Translation: X:153.86, Y:118.44, Z:6.78 [[-2.48626685e-01 -9.68587312e-01 4.83639064e-03 1.53862199e+02] [ 9.68157480e-01 -2.48660967e-01 -2.89623578e-02 1.18435534e+02] [ 2.92551938e-02 -2.51842723e-03 9.99568803e-01 6.78473493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.800714057 meters Centerline goodness : 0.990351 Centerline is valid? [True, True] Translation: X:153.86, Y:118.45, Z:6.79 [[-2.48204655e-01 -9.68696285e-01 4.68578506e-03 1.53861403e+02] [ 9.68266036e-01 -2.48234647e-01 -2.89904186e-02 1.18447412e+02] [ 2.92460850e-02 -2.65847034e-03 9.99568707e-01 6.78610034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.830714057 meters Centerline goodness : 0.988672 Centerline is valid? [True, True] Translation: X:153.86, Y:118.45, Z:6.79 [[-2.49674261e-01 -9.68319164e-01 4.55636843e-03 1.53861770e+02] [ 9.67888524e-01 -2.49699749e-01 -2.90144990e-02 1.18452404e+02] [ 2.92330195e-02 -2.83411688e-03 9.99568606e-01 6.78505881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.860714057 meters Centerline goodness : 0.988148 Centerline is valid? [True, True] Translation: X:153.86, Y:118.46, Z:6.79 [[-2.49226640e-01 -9.68432238e-01 5.00812820e-03 1.53862206e+02] [ 9.68002903e-01 -2.49265760e-01 -2.89302805e-02 1.18459374e+02] [ 2.92653712e-02 -2.36231398e-03 9.99568886e-01 6.78753832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.890714057 meters Centerline goodness : 0.989989 Centerline is valid? [True, True] Translation: X:153.86, Y:118.46, Z:6.78 [[-2.49495589e-01 -9.68362502e-01 5.10064204e-03 1.53861416e+02] [ 9.67933445e-01 -2.49537337e-01 -2.89130443e-02 1.18455528e+02] [ 2.92711085e-02 -2.27659501e-03 9.99568917e-01 6.78450512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.920714057 meters Centerline goodness : 0.990700 Centerline is valid? [True, True] Translation: X:153.86, Y:118.48, Z:6.78 [[-2.49112497e-01 -9.68462247e-01 4.88268764e-03 1.53858702e+02] [ 9.68032539e-01 -2.49147940e-01 -2.89535531e-02 1.18478620e+02] [ 2.92569346e-02 -2.48609138e-03 9.99568833e-01 6.78429298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.950714057 meters Centerline goodness : 0.990543 Centerline is valid? [True, True] Translation: X:153.86, Y:118.46, Z:6.78 [[-2.48957868e-01 -9.68502008e-01 4.88270194e-03 1.53862782e+02] [ 9.68072305e-01 -2.48993380e-01 -2.89535504e-02 1.18462928e+02] [ 2.92573322e-02 -2.48140566e-03 9.99568833e-01 6.78317861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.980714057 meters Centerline goodness : 0.989008 Centerline is valid? [True, True] Translation: X:153.86, Y:118.47, Z:6.78 [[-2.49458972e-01 -9.68373211e-01 4.85238526e-03 1.53862483e+02] [ 9.67943402e-01 -2.49493361e-01 -2.89591633e-02 1.18471178e+02] [ 2.92539159e-02 -2.52728882e-03 9.99568818e-01 6.78434853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01071405700003 meters Centerline goodness : 0.987606 Centerline is valid? [True, True] Translation: X:153.87, Y:118.45, Z:6.79 [[-2.49729275e-01 -9.68302814e-01 4.99488687e-03 1.53867851e+02] [ 9.67873417e-01 -2.49767779e-01 -2.89327810e-02 1.18454794e+02] [ 2.92632550e-02 -2.39094420e-03 9.99568880e-01 6.78636617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.040714057 meters Centerline goodness : 0.990274 Centerline is valid? [True, True] Translation: X:153.87, Y:118.47, Z:6.79 [[-2.49244920e-01 -9.68426375e-01 5.22740357e-03 1.53866078e+02] [ 9.67997732e-01 -2.49290542e-01 -2.88897378e-02 1.18467850e+02] [ 2.92807264e-02 -2.14050561e-03 9.99568936e-01 6.78543046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07071405700003 meters Centerline goodness : 0.988787 Centerline is valid? [True, True] Translation: X:153.87, Y:118.46, Z:6.79 [[-2.48342796e-01 -9.68661359e-01 4.58551166e-03 1.53868506e+02] [ 9.68230866e-01 -2.48369747e-01 -2.90078987e-02 1.18464020e+02] [ 2.92377330e-02 -2.76406875e-03 9.99568664e-01 6.78501628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.100714057 meters Centerline goodness : 0.989926 Centerline is valid? [True, True] Translation: X:153.87, Y:118.47, Z:6.78 [[-2.46071296e-01 -9.69239405e-01 4.88808876e-03 1.53867162e+02] [ 9.68809838e-01 -2.46108250e-01 -2.89521496e-02 1.18471383e+02] [ 2.92645632e-02 -2.38866451e-03 9.99568847e-01 6.78394054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13071405700003 meters Centerline goodness : 0.989833 Centerline is valid? [True, True] Translation: X:153.87, Y:118.47, Z:6.78 [[-2.46226851e-01 -9.69201394e-01 4.58207617e-03 1.53868481e+02] [ 9.68770958e-01 -2.46254640e-01 -2.90083421e-02 1.18468892e+02] [ 2.92432831e-02 -2.70365040e-03 9.99568667e-01 6.78393823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.160714057 meters Centerline goodness : 0.988621 Centerline is valid? [True, True] Translation: X:153.87, Y:118.47, Z:6.78 [[-2.46318767e-01 -9.69177390e-01 4.71718091e-03 1.53867721e+02] [ 9.68747320e-01 -2.46350532e-01 -2.89835509e-02 1.18472947e+02] [ 2.92522823e-02 -2.56943615e-03 9.99568758e-01 6.78465103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19071405700004 meters Centerline goodness : 0.989953 Centerline is valid? [True, True] Translation: X:153.87, Y:118.49, Z:6.78 [[-2.42798204e-01 -9.70064197e-01 4.94835369e-03 1.53868101e+02] [ 9.69634945e-01 -2.42838396e-01 -2.89410990e-02 1.18487515e+02] [ 2.92763742e-02 -2.22875019e-03 9.99568870e-01 6.78499794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.220714057 meters Centerline goodness : 0.986580 Centerline is valid? [True, True] Translation: X:153.87, Y:118.49, Z:6.79 [[-2.43418330e-01 -9.69910431e-01 4.61214496e-03 1.53871160e+02] [ 9.69480166e-01 -2.43448260e-01 -2.90026212e-02 1.18488128e+02] [ 2.92527635e-02 -2.58838656e-03 9.99568695e-01 6.78512387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.250714057 meters Centerline goodness : 0.990177 Centerline is valid? [True, True] Translation: X:153.87, Y:118.51, Z:6.79 [[-2.41376305e-01 -9.70418463e-01 5.04834985e-03 1.53867399e+02] [ 9.69989597e-01 -2.41420094e-01 -2.89226588e-02 1.18505934e+02] [ 2.92858552e-02 -2.08439767e-03 9.99568904e-01 6.78632214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.280714057 meters Centerline goodness : 0.990265 Centerline is valid? [True, True] Translation: X:153.87, Y:118.50, Z:6.79 [[-2.40867756e-01 -9.70547039e-01 4.60088223e-03 1.53868945e+02] [ 9.70116833e-01 -2.40898484e-01 -2.90043226e-02 1.18500198e+02] [ 2.92584050e-02 -2.52281281e-03 9.99568698e-01 6.78629878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.310714057 meters Centerline goodness : 0.990606 Centerline is valid? [True, True] Translation: X:153.87, Y:118.49, Z:6.78 [[-2.35921952e-01 -9.71761263e-01 4.56954072e-03 1.53874676e+02] [ 9.71331126e-01 -2.35953940e-01 -2.90100235e-02 1.18485279e+02] [ 2.92690182e-02 -2.40556425e-03 9.99568676e-01 6.78269820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.340714057 meters Centerline goodness : 0.989559 Centerline is valid? [True, True] Translation: X:153.87, Y:118.50, Z:6.78 [[-2.49823847e-01 -9.68281111e-01 4.44245235e-03 1.53865723e+02] [ 9.67850253e-01 -2.49845886e-01 -2.90330976e-02 1.18504872e+02] [ 2.92221285e-02 -2.95353151e-03 9.99568579e-01 6.78434823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.370714057 meters Centerline goodness : 0.989559 Centerline is valid? [True, True] Translation: X:153.86, Y:118.51, Z:6.78 [[-2.49445083e-01 -9.68374624e-01 5.26666456e-03 1.53864819e+02] [ 9.67946091e-01 -2.49491781e-01 -2.88828163e-02 1.18507410e+02] [ 2.92833759e-02 -2.10682916e-03 9.99568930e-01 6.78474882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.400714057 meters Centerline goodness : 0.990253 Centerline is valid? [True, True] Translation: X:153.88, Y:118.49, Z:6.78 [[-2.31106080e-01 -9.72914365e-01 5.25537004e-03 1.53878040e+02] [ 9.72486747e-01 -2.31160530e-01 -2.88848713e-02 1.18488776e+02] [ 2.93173403e-02 -1.56469166e-03 9.99568930e-01 6.78094057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.430714057 meters Centerline goodness : 0.988494 Centerline is valid? [True, True] Translation: X:153.88, Y:118.49, Z:6.78 [[-2.30393742e-01 -9.73087403e-01 4.43061858e-03 1.53879957e+02] [ 9.72657088e-01 -2.30424052e-01 -2.90335300e-02 1.18494447e+02] [ 2.92730834e-02 -2.37967107e-03 9.99568619e-01 6.78132694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.460714057 meters Centerline goodness : 0.987511 Centerline is valid? [True, True] Translation: X:153.88, Y:118.49, Z:6.78 [[-2.28516696e-01 -9.73528067e-01 4.81901372e-03 1.53882719e+02] [ 9.73099039e-01 -2.28559360e-01 -2.89634232e-02 1.18486899e+02] [ 2.92981361e-02 -1.92924816e-03 9.99568856e-01 6.78219366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.490714057 meters Centerline goodness : 0.990312 Centerline is valid? [True, True] Translation: X:153.88, Y:118.50, Z:6.78 [[-2.23187925e-01 -9.74763183e-01 4.88751970e-03 1.53881211e+02] [ 9.74334638e-01 -2.23234965e-01 -2.89510642e-02 1.18504021e+02] [ 2.93114968e-02 -1.69944822e-03 9.99568881e-01 6.78179251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.520714057 meters Centerline goodness : 0.988457 Centerline is valid? [True, True] Translation: X:153.89, Y:118.49, Z:6.78 [[-2.20084407e-01 -9.75470898e-01 4.40249602e-03 1.53887063e+02] [ 9.75040852e-01 -2.20118435e-01 -2.90380889e-02 1.18487087e+02] [ 2.92948812e-02 -2.09821708e-03 9.99568611e-01 6.78329598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.550714057 meters Centerline goodness : 0.987702 Centerline is valid? [True, True] Translation: X:153.88, Y:118.51, Z:6.78 [[-2.20163062e-01 -9.75451489e-01 4.75601777e-03 1.53884212e+02] [ 9.75022624e-01 -2.20207537e-01 -2.89745424e-02 1.18506029e+02] [ 2.93105715e-02 -1.74189904e-03 9.99568835e-01 6.78182154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.580714057 meters Centerline goodness : 0.988135 Centerline is valid? [True, True] Translation: X:153.89, Y:118.50, Z:6.78 [[-2.16046709e-01 -9.76371001e-01 4.84651890e-03 1.53888198e+02] [ 9.75942662e-01 -2.16095672e-01 -2.89582770e-02 1.18500380e+02] [ 2.93213336e-02 -1.52641590e-03 9.99568872e-01 6.78340354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.610714057 meters Centerline goodness : 0.987279 Centerline is valid? [True, True] Translation: X:153.89, Y:118.50, Z:6.78 [[-2.14187509e-01 -9.76780804e-01 4.79280673e-03 1.53889178e+02] [ 9.76352357e-01 -2.14235697e-01 -2.89679148e-02 1.18503977e+02] [ 2.93220935e-02 -1.52509738e-03 9.99568852e-01 6.78311458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.640714057 meters Centerline goodness : 0.987916 Centerline is valid? [True, True] Translation: X:153.89, Y:118.51, Z:6.78 [[-2.12229941e-01 -9.77208006e-01 4.79226401e-03 1.53892116e+02] [ 9.76779654e-01 -2.12278972e-01 -2.89680120e-02 1.18505612e+02] [ 2.93250702e-02 -1.46689351e-03 9.99568851e-01 6.78350514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.670714057 meters Centerline goodness : 0.988113 Centerline is valid? [True, True] Translation: X:153.89, Y:118.50, Z:6.78 [[-2.12078613e-01 -9.77240981e-01 4.76732695e-03 1.53894080e+02] [ 9.76812543e-01 -2.12126973e-01 -2.89724690e-02 1.18503817e+02] [ 2.93243627e-02 -1.48765630e-03 9.99568841e-01 6.78402811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.700714057 meters Centerline goodness : 0.987715 Centerline is valid? [True, True] Translation: X:153.90, Y:118.51, Z:6.79 [[-2.11590483e-01 -9.77346664e-01 4.79219088e-03 1.53895524e+02] [ 9.76918345e-01 -2.11639792e-01 -2.89680289e-02 1.18511128e+02] [ 2.93260247e-02 -1.44778004e-03 9.99568851e-01 6.78650802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.730714057 meters Centerline goodness : 0.987308 Centerline is valid? [True, True] Translation: X:153.90, Y:118.52, Z:6.78 [[-2.10804106e-01 -9.77516328e-01 4.84333978e-03 1.53898423e+02] [ 9.77088244e-01 -2.10855272e-01 -2.89589071e-02 1.18515253e+02] [ 2.93290482e-02 -1.37228615e-03 9.99568869e-01 6.78406670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76071405700003 meters Centerline goodness : 0.988343 Centerline is valid? [True, True] Translation: X:153.90, Y:118.52, Z:6.78 [[-2.10662762e-01 -9.77547256e-01 4.75007991e-03 1.53899926e+02] [ 9.77118824e-01 -2.10711232e-01 -2.89755035e-02 1.18516246e+02] [ 2.93258191e-02 -1.46266710e-03 9.99568836e-01 6.78315891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.790714057 meters Centerline goodness : 0.988120 Centerline is valid? [True, True] Translation: X:153.90, Y:118.52, Z:6.78 [[-2.08468278e-01 -9.78017749e-01 4.71797979e-03 1.53902635e+02] [ 9.77589306e-01 -2.08516760e-01 -2.89812053e-02 1.18516361e+02] [ 2.93279111e-02 -1.42941538e-03 9.99568822e-01 6.78311341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82071405700003 meters Centerline goodness : 0.987681 Centerline is valid? [True, True] Translation: X:153.91, Y:118.51, Z:6.79 [[-2.06559401e-01 -9.78422825e-01 4.68930044e-03 1.53905492e+02] [ 9.77994368e-01 -2.06607871e-01 -2.89862890e-02 1.18513001e+02] [ 2.93296931e-02 -1.40128108e-03 9.99568810e-01 6.78500210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.850714057 meters Centerline goodness : 0.987367 Centerline is valid? [True, True] Translation: X:153.91, Y:118.51, Z:6.79 [[-2.06448312e-01 -9.78446145e-01 4.71546473e-03 1.53906833e+02] [ 9.78017793e-01 -2.06497604e-01 -2.89816577e-02 1.18511463e+02] [ 2.93307234e-02 -1.37140590e-03 9.99568821e-01 6.78536442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88071405700003 meters Centerline goodness : 0.988782 Centerline is valid? [True, True] Translation: X:153.91, Y:118.52, Z:6.78 [[-2.03548046e-01 -9.79053317e-01 4.77456379e-03 1.53908671e+02] [ 9.78625344e-01 -2.03600354e-01 -2.89712143e-02 1.18522017e+02] [ 2.93364663e-02 -1.22452492e-03 9.99568843e-01 6.78213779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.910714057 meters Centerline goodness : 0.987368 Centerline is valid? [True, True] Translation: X:153.91, Y:118.53, Z:6.79 [[-2.03694435e-01 -9.79024164e-01 4.50153260e-03 1.53909584e+02] [ 9.78595146e-01 -2.03738604e-01 -2.90193209e-02 1.18529625e+02] [ 2.93277524e-02 -1.50589621e-03 9.99568715e-01 6.78528659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94071405700004 meters Centerline goodness : 0.988780 Centerline is valid? [True, True] Translation: X:153.91, Y:118.53, Z:6.78 [[-2.02473554e-01 -9.79276026e-01 4.78806354e-03 1.53911692e+02] [ 9.78848167e-01 -2.02526730e-01 -2.89687779e-02 1.18528130e+02] [ 2.93381405e-02 -1.17862419e-03 9.99568849e-01 6.78217456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.970714057 meters Centerline goodness : 0.988439 Centerline is valid? [True, True] Translation: X:153.91, Y:118.53, Z:6.78 [[-2.02131839e-01 -9.79347597e-01 4.58300249e-03 1.53913118e+02] [ 9.78918960e-01 -2.02179103e-01 -2.90048138e-02 1.18529106e+02] [ 2.93323820e-02 -1.37640832e-03 9.99568765e-01 6.78237302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.000714057 meters Centerline goodness : 0.986700 Centerline is valid? [True, True] Translation: X:153.92, Y:118.52, Z:6.78 [[-2.02962562e-01 -9.79176040e-01 4.52567455e-03 1.53915746e+02] [ 9.78747150e-01 -2.03007766e-01 -2.90148745e-02 1.18524413e+02] [ 2.93294169e-02 -1.45944217e-03 9.99568735e-01 6.78494570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.030714057 meters Centerline goodness : 0.987362 Centerline is valid? [True, True] Translation: X:153.92, Y:118.54, Z:6.78 [[-2.04374979e-01 -9.78881005e-01 4.77966585e-03 1.53917030e+02] [ 9.78453010e-01 -2.04427076e-01 -2.89702984e-02 1.18536118e+02] [ 2.93355680e-02 -1.24412571e-03 9.99568845e-01 6.78094298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.060714057 meters Centerline goodness : 0.988299 Centerline is valid? [True, True] Translation: X:153.92, Y:118.54, Z:6.78 [[-2.05238045e-01 -9.78701113e-01 4.63416178e-03 1.53917545e+02] [ 9.78272520e-01 -2.05285463e-01 -2.89957679e-02 1.18541988e+02] [ 2.93295163e-02 -1.41756159e-03 9.99568792e-01 6.77813669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.090714057 meters Centerline goodness : 0.985862 Centerline is valid? [True, True] Translation: X:153.92, Y:118.54, Z:6.78 [[-2.11755470e-01 -9.77312371e-01 4.48889394e-03 1.53920665e+02] [ 9.76882973e-01 -2.11795729e-01 -2.90211272e-02 1.18538582e+02] [ 2.93134352e-02 -1.76025838e-03 9.99568719e-01 6.77890252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.120714057 meters Centerline goodness : 0.988463 Centerline is valid? [True, True] Translation: X:153.92, Y:118.55, Z:6.77 [[-2.11749049e-01 -9.77311667e-01 4.92394844e-03 1.53918807e+02] [ 9.76883830e-01 -2.11802184e-01 -2.89450600e-02 1.18545725e+02] [ 2.93312479e-02 -1.31896332e-03 9.99568876e-01 6.77486315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.150714057 meters Centerline goodness : 0.988648 Centerline is valid? [True, True] Translation: X:153.92, Y:118.55, Z:6.78 [[-2.12859650e-01 -9.77071261e-01 4.74550018e-03 1.53917815e+02] [ 9.76642709e-01 -2.12907021e-01 -2.89761892e-02 1.18549451e+02] [ 2.93221521e-02 -1.53320335e-03 9.99568837e-01 6.77778406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.180714057 meters Centerline goodness : 0.986403 Centerline is valid? [True, True] Translation: X:153.92, Y:118.56, Z:6.78 [[-2.17447372e-01 -9.76061334e-01 4.57308016e-03 1.53917350e+02] [ 9.75631987e-01 -2.17487623e-01 -2.90062111e-02 1.18559632e+02] [ 2.93064295e-02 -1.84568110e-03 9.99568770e-01 6.77958116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.210714057 meters Centerline goodness : 0.988882 Centerline is valid? [True, True] Translation: X:153.92, Y:118.56, Z:6.78 [[-2.18847564e-01 -9.75747138e-01 4.82359671e-03 1.53917752e+02] [ 9.75318571e-01 -2.18894618e-01 -2.89625944e-02 1.18555098e+02] [ 2.93160279e-02 -1.63384978e-03 9.99568858e-01 6.77723889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.240714057 meters Centerline goodness : 0.988127 Centerline is valid? [True, True] Translation: X:153.92, Y:118.56, Z:6.78 [[-2.23191642e-01 -9.74763411e-01 4.66729357e-03 1.53917699e+02] [ 9.74334132e-01 -2.23232157e-01 -2.89897233e-02 1.18555386e+02] [ 2.93000116e-02 -1.92276052e-03 9.99568813e-01 6.77696350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.270714057 meters Centerline goodness : 0.988449 Centerline is valid? [True, True] Translation: X:153.92, Y:118.56, Z:6.78 [[-2.24513167e-01 -9.74459435e-01 4.75898222e-03 1.53916853e+02] [ 9.74030391e-01 -2.24555816e-01 -2.89738202e-02 1.18560676e+02] [ 2.93024696e-02 -1.86961082e-03 9.99568842e-01 6.77706473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.300714057 meters Centerline goodness : 0.987881 Centerline is valid? [True, True] Translation: X:153.92, Y:118.57, Z:6.78 [[-2.24972188e-01 -9.74353527e-01 4.76638129e-03 1.53915811e+02] [ 9.73924487e-01 -2.25014855e-01 -2.89725376e-02 1.18565415e+02] [ 2.93020008e-02 -1.87591973e-03 9.99568844e-01 6.77889685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.330714057 meters Centerline goodness : 0.991402 Centerline is valid? [True, True] Translation: X:153.91, Y:118.57, Z:6.78 [[-2.23375281e-01 -9.74720805e-01 4.77871798e-03 1.53913490e+02] [ 9.74291876e-01 -2.23419015e-01 -2.89704011e-02 1.18568080e+02] [ 2.93057091e-02 -1.81540535e-03 9.99568847e-01 6.77780900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.360714057 meters Centerline goodness : 0.987761 Centerline is valid? [True, True] Translation: X:153.91, Y:118.57, Z:6.78 [[-2.24744515e-01 -9.74408354e-01 4.27337932e-03 1.53914235e+02] [ 9.73977881e-01 -2.24772663e-01 -2.90574886e-02 1.18568540e+02] [ 2.92743985e-02 -2.36833425e-03 9.99568607e-01 6.77855704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.390714057 meters Centerline goodness : 0.987397 Centerline is valid? [True, True] Translation: X:153.91, Y:118.57, Z:6.78 [[-2.25261787e-01 -9.74286645e-01 4.76027954e-03 1.53913707e+02] [ 9.73857581e-01 -2.25304146e-01 -2.89733394e-02 1.18570550e+02] [ 2.93008484e-02 -1.89075189e-03 9.99568850e-01 6.78095736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.420714057 meters Centerline goodness : 0.986875 Centerline is valid? [True, True] Translation: X:153.91, Y:118.58, Z:6.78 [[-2.27234695e-01 -9.73828604e-01 4.71632523e-03 1.53911997e+02] [ 9.73399319e-01 -2.27274882e-01 -2.89809256e-02 1.18580200e+02] [ 2.92943566e-02 -1.99460402e-03 9.99568838e-01 6.78017110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.450714057 meters Centerline goodness : 0.987941 Centerline is valid? [True, True] Translation: X:153.91, Y:118.58, Z:6.78 [[-2.28948927e-01 -9.73426538e-01 4.81298382e-03 1.53912525e+02] [ 9.72997478e-01 -2.28991222e-01 -2.89642573e-02 1.18576003e+02] [ 2.92967078e-02 -1.94831451e-03 9.99568861e-01 6.77977608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.480714057 meters Centerline goodness : 0.986580 Centerline is valid? [True, True] Translation: X:153.91, Y:118.58, Z:6.78 [[-2.32191489e-01 -9.72658043e-01 4.84190970e-03 1.53911237e+02] [ 9.72228932e-01 -2.32233212e-01 -2.89592752e-02 1.18580210e+02] [ 2.92919242e-02 -2.01665256e-03 9.99568865e-01 6.77938063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51071405700003 meters Centerline goodness : 0.987424 Centerline is valid? [True, True] Translation: X:153.91, Y:118.59, Z:6.78 [[-2.36666778e-01 -9.71578648e-01 4.87519842e-03 1.53908476e+02] [ 9.71149446e-01 -2.36707512e-01 -2.89535483e-02 1.18588655e+02] [ 2.92846454e-02 -2.11779674e-03 9.99568869e-01 6.77870496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.540714057 meters Centerline goodness : 0.987163 Centerline is valid? [True, True] Translation: X:153.91, Y:118.59, Z:6.78 [[-2.38813240e-01 -9.71052924e-01 4.94520685e-03 1.53907251e+02] [ 9.70623835e-01 -2.38855101e-01 -2.89415096e-02 1.18586799e+02] [ 2.92849254e-02 -2.11168002e-03 9.99568874e-01 6.78072611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57071405700003 meters Centerline goodness : 0.987944 Centerline is valid? [True, True] Translation: X:153.91, Y:118.59, Z:6.78 [[-2.38882706e-01 -9.71035683e-01 4.97541063e-03 1.53906642e+02] [ 9.70606680e-01 -2.38925433e-01 -2.89363222e-02 1.18588806e+02] [ 2.92869535e-02 -2.08322016e-03 9.99568874e-01 6.77982847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.600714057 meters Centerline goodness : 0.990525 Centerline is valid? [True, True] Translation: X:153.90, Y:118.60, Z:6.78 [[-2.38893387e-01 -9.71033149e-01 4.95722496e-03 1.53902387e+02] [ 9.70604092e-01 -2.38935569e-01 -2.89394387e-02 1.18596189e+02] [ 2.92856116e-02 -2.10193769e-03 9.99568874e-01 6.77781830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63071405700003 meters Centerline goodness : 0.987548 Centerline is valid? [True, True] Translation: X:153.90, Y:118.60, Z:6.78 [[-2.40175451e-01 -9.70718964e-01 4.52166448e-03 1.53903028e+02] [ 9.70288705e-01 -2.40204144e-01 -2.90137448e-02 1.18595419e+02] [ 2.92503149e-02 -2.58106926e-03 9.99568786e-01 6.78059418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.660714057 meters Centerline goodness : 0.987900 Centerline is valid? [True, True] Translation: X:153.90, Y:118.59, Z:6.78 [[-2.40076096e-01 -9.70741241e-01 4.99101193e-03 1.53900836e+02] [ 9.70312236e-01 -2.40118758e-01 -2.89334763e-02 1.18593788e+02] [ 2.92853543e-02 -2.10339611e-03 9.99568879e-01 6.78216289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69071405700004 meters Centerline goodness : 0.988235 Centerline is valid? [True, True] Translation: X:153.90, Y:118.60, Z:6.78 [[-2.39560805e-01 -9.70868736e-01 4.95150929e-03 1.53900250e+02] [ 9.70439640e-01 -2.39602523e-01 -2.89402206e-02 1.18597281e+02] [ 2.92835495e-02 -2.12780165e-03 9.99568880e-01 6.78135720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.720714057 meters Centerline goodness : 0.989945 Centerline is valid? [True, True] Translation: X:153.90, Y:118.60, Z:6.78 [[-2.36789724e-01 -9.71548054e-01 5.00046436e-03 1.53898235e+02] [ 9.71119224e-01 -2.36834118e-01 -2.89318762e-02 1.18603189e+02] [ 2.92929886e-02 -1.99472392e-03 9.99568878e-01 6.77986692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.750714057 meters Centerline goodness : 0.989760 Centerline is valid? [True, True] Translation: X:153.90, Y:118.61, Z:6.78 [[-2.36475494e-01 -9.71627077e-01 4.49042206e-03 1.53897994e+02] [ 9.71196872e-01 -2.36504901e-01 -2.90183951e-02 1.18607918e+02] [ 2.92570652e-02 -2.50105547e-03 9.99568791e-01 6.77907503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.780714057 meters Centerline goodness : 0.986110 Centerline is valid? [True, True] Translation: X:153.90, Y:118.60, Z:6.79 [[-2.37825744e-01 -9.71296380e-01 4.71773937e-03 1.53899872e+02] [ 9.70866712e-01 -2.37861298e-01 -2.89798178e-02 1.18598913e+02] [ 2.92701597e-02 -2.31185063e-03 9.99568864e-01 6.78552680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.810714057 meters Centerline goodness : 0.989700 Centerline is valid? [True, True] Translation: X:153.90, Y:118.61, Z:6.78 [[-2.37636862e-01 -9.71341632e-01 4.91483460e-03 1.53896858e+02] [ 9.70912516e-01 -2.37678343e-01 -2.89463534e-02 1.18609592e+02] [ 2.92849479e-02 -2.10684615e-03 9.99568884e-01 6.78037942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.840714057 meters Centerline goodness : 0.988352 Centerline is valid? [True, True] Translation: X:153.90, Y:118.61, Z:6.78 [[-2.37478278e-01 -9.71381825e-01 4.62783757e-03 1.53897386e+02] [ 9.70951940e-01 -2.37511319e-01 -2.89948969e-02 1.18607857e+02] [ 2.92642797e-02 -2.39225034e-03 9.99568847e-01 6.77992323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.870714057 meters Centerline goodness : 0.988749 Centerline is valid? [True, True] Translation: X:153.90, Y:118.61, Z:6.78 [[-2.37832361e-01 -9.71295112e-01 4.64476030e-03 1.53897101e+02] [ 9.70865257e-01 -2.37865747e-01 -2.89920374e-02 1.18607713e+02] [ 2.92646536e-02 -2.38580832e-03 9.99568851e-01 6.77986335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.900714057 meters Centerline goodness : 0.987757 Centerline is valid? [True, True] Translation: X:153.90, Y:118.62, Z:6.78 [[-2.37966226e-01 -9.71262458e-01 4.61658744e-03 1.53895690e+02] [ 9.70832528e-01 -2.37998717e-01 -2.89967901e-02 1.18622209e+02] [ 2.92622355e-02 -2.41832345e-03 9.99568844e-01 6.77954709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.930714057 meters Centerline goodness : 0.989076 Centerline is valid? [True, True] Translation: X:153.89, Y:118.64, Z:6.78 [[-2.37327287e-01 -9.71418338e-01 4.70855468e-03 1.53892272e+02] [ 9.70988667e-01 -2.37362789e-01 -2.89812787e-02 1.18635058e+02] [ 2.92705812e-02 -2.30609501e-03 9.99568865e-01 6.77828641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.960714057 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:153.89, Y:118.62, Z:6.78 [[-2.37329676e-01 -9.71419545e-01 4.32341227e-03 1.53893324e+02] [ 9.70988946e-01 -2.37353747e-01 -2.90459262e-02 1.18618088e+02] [ 2.92419585e-02 -2.69547473e-03 9.99568728e-01 6.77847418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.990714057 meters Centerline goodness : 0.988157 Centerline is valid? [True, True] Translation: X:153.89, Y:118.62, Z:6.78 [[-2.36290708e-01 -9.71672809e-01 4.31908740e-03 1.53894537e+02] [ 9.71242225e-01 -2.36315111e-01 -2.90466503e-02 1.18617455e+02] [ 2.92445059e-02 -2.66857351e-03 9.99568726e-01 6.78127653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.020714057 meters Centerline goodness : 0.987833 Centerline is valid? [True, True] Translation: X:153.89, Y:118.62, Z:6.78 [[-2.34466611e-01 -9.72112375e-01 4.78940060e-03 1.53892088e+02] [ 9.71683032e-01 -2.34505775e-01 -2.89676976e-02 1.18624661e+02] [ 2.92829994e-02 -2.13817859e-03 9.99568874e-01 6.78241335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.050714057 meters Centerline goodness : 0.988962 Centerline is valid? [True, True] Translation: X:153.89, Y:118.62, Z:6.78 [[-2.30009742e-01 -9.73176958e-01 4.70388301e-03 1.53891961e+02] [ 9.72747554e-01 -2.30048338e-01 -2.89820181e-02 1.18620753e+02] [ 2.92867527e-02 -2.09045582e-03 9.99568865e-01 6.78121141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.080714057 meters Centerline goodness : 0.991413 Centerline is valid? [True, True] Translation: X:153.89, Y:118.63, Z:6.78 [[-2.27841648e-01 -9.73687191e-01 4.63016509e-03 1.53889388e+02] [ 9.73257665e-01 -2.27879016e-01 -2.89943270e-02 1.18628092e+02] [ 2.92865223e-02 -2.09977158e-03 9.99568852e-01 6.77980080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.110714057 meters Centerline goodness : 0.988485 Centerline is valid? [True, True] Translation: X:153.89, Y:118.64, Z:6.78 [[-2.24626671e-01 -9.74435539e-01 4.27059628e-03 1.53888162e+02] [ 9.74005174e-01 -2.24654797e-01 -2.90541487e-02 1.18637774e+02] [ 2.92708050e-02 -2.36675383e-03 9.99568716e-01 6.78091703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.140714057 meters Centerline goodness : 0.988531 Centerline is valid? [True, True] Translation: X:153.89, Y:118.63, Z:6.78 [[-2.22616446e-01 -9.74894964e-01 4.66132755e-03 1.53888658e+02] [ 9.74465739e-01 -2.22657040e-01 -2.89890715e-02 1.18629820e+02] [ 2.92991772e-02 -1.91114006e-03 9.99568860e-01 6.77932026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.170714057 meters Centerline goodness : 0.989539 Centerline is valid? [True, True] Translation: X:153.89, Y:118.62, Z:6.78 [[-2.19497655e-01 -9.75602253e-01 4.58524187e-03 1.53887809e+02] [ 9.75172931e-01 -2.19537368e-01 -2.90017044e-02 1.18624590e+02] [ 2.93007601e-02 -1.89440235e-03 9.99568845e-01 6.77947894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.200714057 meters Centerline goodness : 0.989317 Centerline is valid? [True, True] Translation: X:153.89, Y:118.63, Z:6.78 [[-2.16985973e-01 -9.76164159e-01 4.54108320e-03 1.53885508e+02] [ 9.75734808e-01 -2.17025484e-01 -2.90090233e-02 1.18629264e+02] [ 2.93030997e-02 -1.86365821e-03 9.99568835e-01 6.78110282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.230714057 meters Centerline goodness : 0.990292 Centerline is valid? [True, True] Translation: X:153.89, Y:118.63, Z:6.78 [[-2.14037101e-01 -9.76815037e-01 4.52800497e-03 1.53885408e+02] [ 9.76385767e-01 -2.14077522e-01 -2.90111864e-02 1.18626954e+02] [ 2.93079072e-02 -1.78839064e-03 9.99568831e-01 6.78038397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26071405700003 meters Centerline goodness : 0.987988 Centerline is valid? [True, True] Translation: X:153.89, Y:118.62, Z:6.78 [[-2.12023337e-01 -9.77255288e-01 4.26684003e-03 1.53887232e+02] [ 9.76825326e-01 -2.12056909e-01 -2.90542506e-02 1.18624871e+02] [ 2.92982329e-02 -1.99222177e-03 9.99568729e-01 6.78120256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.290714057 meters Centerline goodness : 0.987988 Centerline is valid? [True, True] Translation: X:153.89, Y:118.63, Z:6.78 [[-2.11656285e-01 -9.77333194e-01 4.63079604e-03 1.53886567e+02] [ 9.76904352e-01 -2.11700793e-01 -2.89941696e-02 1.18627440e+02] [ 2.93173075e-02 -1.61295340e-03 9.99568854e-01 6.78140580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32071405700003 meters Centerline goodness : 0.987584 Centerline is valid? [True, True] Translation: X:153.89, Y:118.63, Z:6.78 [[-2.12518619e-01 -9.77146105e-01 4.61800221e-03 1.53885559e+02] [ 9.76717183e-01 -2.12562370e-01 -2.89962767e-02 1.18629192e+02] [ 2.93152123e-02 -1.65176657e-03 9.99568852e-01 6.78392421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.350714057 meters Centerline goodness : 0.988411 Centerline is valid? [True, True] Translation: X:153.88, Y:118.63, Z:6.78 [[-2.09925992e-01 -9.77705908e-01 4.71553879e-03 1.53884710e+02] [ 9.77277425e-01 -2.09973765e-01 -2.89802239e-02 1.18632151e+02] [ 2.93242755e-02 -1.47531264e-03 9.99568862e-01 6.78165357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38071405700003 meters Centerline goodness : 0.988275 Centerline is valid? [True, True] Translation: X:153.88, Y:118.64, Z:6.78 [[-2.07816323e-01 -9.78157237e-01 4.56014935e-03 1.53884335e+02] [ 9.77728342e-01 -2.07860425e-01 -2.90057226e-02 1.18636229e+02] [ 2.93200321e-02 -1.56927535e-03 9.99568844e-01 6.78309952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.410714057 meters Centerline goodness : 0.990234 Centerline is valid? [True, True] Translation: X:153.88, Y:118.64, Z:6.78 [[-2.04365940e-01 -9.78883787e-01 4.59283918e-03 1.53883990e+02] [ 9.78455160e-01 -2.04412521e-01 -2.90003657e-02 1.18637404e+02] [ 2.93268216e-02 -1.43279980e-03 9.99568849e-01 6.78013771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44071405700004 meters Centerline goodness : 0.991080 Centerline is valid? [True, True] Translation: X:153.89, Y:118.63, Z:6.78 [[-2.00005531e-01 -9.79785746e-01 4.20482562e-03 1.53885448e+02] [ 9.79356056e-01 -2.00042546e-01 -2.90636255e-02 1.18627786e+02] [ 2.93172700e-02 -1.69486440e-03 9.99568720e-01 6.77856302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.470714057 meters Centerline goodness : 0.989113 Centerline is valid? [True, True] Translation: X:153.89, Y:118.63, Z:6.78 [[-1.98881629e-01 -9.80015193e-01 4.03959372e-03 1.53885859e+02] [ 9.79585048e-01 -1.98914247e-01 -2.90904825e-02 1.18628583e+02] [ 2.93126476e-02 -1.82843695e-03 9.99568620e-01 6.77971922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.500714057 meters Centerline goodness : 0.989363 Centerline is valid? [True, True] Translation: X:153.89, Y:118.62, Z:6.78 [[-1.89650818e-01 -9.81841412e-01 4.47306170e-03 1.53889763e+02] [ 9.81413085e-01 -1.89700292e-01 -2.90199230e-02 1.18624255e+02] [ 2.93415033e-02 -1.11373087e-03 9.99568825e-01 6.77960134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.530714057 meters Centerline goodness : 0.989865 Centerline is valid? [True, True] Translation: X:153.89, Y:118.63, Z:6.78 [[-1.91947995e-01 -9.81396361e-01 4.14122985e-03 1.53888276e+02] [ 9.80966788e-01 -1.91986660e-01 -2.90737443e-02 1.18630537e+02] [ 2.93279278e-02 -1.51823800e-03 9.99568691e-01 6.77756664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.560714057 meters Centerline goodness : 0.991292 Centerline is valid? [True, True] Translation: X:153.89, Y:118.64, Z:6.78 [[-1.92401163e-01 -9.81307544e-01 4.15880391e-03 1.53886023e+02] [ 9.80878011e-01 -1.92440150e-01 -2.90708946e-02 1.18639653e+02] [ 2.93278090e-02 -1.51399463e-03 9.99568701e-01 6.77699355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.590714057 meters Centerline goodness : 0.989044 Centerline is valid? [True, True] Translation: X:153.89, Y:118.64, Z:6.78 [[-1.93068054e-01 -9.81177663e-01 3.88853690e-03 1.53887610e+02] [ 9.80747274e-01 -1.93098750e-01 -2.91145564e-02 1.18636487e+02] [ 2.93174240e-02 -1.80741878e-03 9.99568518e-01 6.77861371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.620714057 meters Centerline goodness : 0.990709 Centerline is valid? [True, True] Translation: X:153.89, Y:118.64, Z:6.78 [[-1.93821237e-01 -9.81027421e-01 4.30431942e-03 1.53886248e+02] [ 9.80598309e-01 -1.93863904e-01 -2.90472399e-02 1.18640869e+02] [ 2.93305911e-02 -1.40916363e-03 9.99568772e-01 6.77692727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.650714057 meters Centerline goodness : 0.991385 Centerline is valid? [True, True] Translation: X:153.89, Y:118.65, Z:6.78 [[-1.95717083e-01 -9.80652591e-01 3.91389607e-03 1.53886135e+02] [ 9.80222202e-01 -1.95747368e-01 -2.91101913e-02 1.18645815e+02] [ 2.93131194e-02 -1.86087389e-03 9.99568546e-01 6.77667758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.680714057 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:153.89, Y:118.64, Z:6.78 [[-1.98797864e-01 -9.80032789e-01 3.89125766e-03 1.53886887e+02] [ 9.79602244e-01 -1.98826126e-01 -2.91138360e-02 1.18640682e+02] [ 2.93061976e-02 -1.97588367e-03 9.99568528e-01 6.77602328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.710714057 meters Centerline goodness : 0.989680 Centerline is valid? [True, True] Translation: X:153.89, Y:118.64, Z:6.78 [[-2.01456260e-01 -9.79488328e-01 4.24148060e-03 1.53886987e+02] [ 9.79058706e-01 -2.01493725e-01 -2.90573345e-02 1.18644210e+02] [ 2.93159517e-02 -1.70112342e-03 9.99568748e-01 6.77811510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.740714057 meters Centerline goodness : 0.989316 Centerline is valid? [True, True] Translation: X:153.88, Y:118.66, Z:6.78 [[-2.02590957e-01 -9.79253609e-01 4.39025287e-03 1.53884500e+02] [ 9.78824400e-01 -2.02632325e-01 -2.90333240e-02 1.18659595e+02] [ 2.93205944e-02 -1.58460227e-03 9.99568803e-01 6.77854142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.770714057 meters Centerline goodness : 0.989606 Centerline is valid? [True, True] Translation: X:153.89, Y:118.66, Z:6.78 [[-2.01700749e-01 -9.79437523e-01 4.35277561e-03 1.53886822e+02] [ 9.79008235e-01 -2.01741399e-01 -2.90393621e-02 1.18656613e+02] [ 2.93203759e-02 -1.59585792e-03 9.99568791e-01 6.77936329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.800714057 meters Centerline goodness : 0.989196 Centerline is valid? [True, True] Translation: X:153.89, Y:118.65, Z:6.78 [[-2.02570634e-01 -9.79258901e-01 4.14039136e-03 1.53888060e+02] [ 9.78828945e-01 -2.02604618e-01 -2.90734394e-02 1.18652635e+02] [ 2.93092867e-02 -1.83669013e-03 9.99568703e-01 6.78023211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.830714057 meters Centerline goodness : 0.990972 Centerline is valid? [True, True] Translation: X:153.88, Y:118.66, Z:6.78 [[-2.03182787e-01 -9.79131599e-01 4.25060850e-03 1.53884160e+02] [ 9.78701941e-01 -2.03219764e-01 -2.90557719e-02 1.18664552e+02] [ 2.93132320e-02 -1.74355391e-03 9.99568754e-01 6.77897070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.860714057 meters Centerline goodness : 0.988697 Centerline is valid? [True, True] Translation: X:153.89, Y:118.65, Z:6.78 [[-2.02799645e-01 -9.79212997e-01 3.76964344e-03 1.53886422e+02] [ 9.78782058e-01 -2.02822545e-01 -2.91324210e-02 1.18653367e+02] [ 2.92914139e-02 -2.21838525e-03 9.99568453e-01 6.77969843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.890714057 meters Centerline goodness : 0.989025 Centerline is valid? [True, True] Translation: X:153.88, Y:118.66, Z:6.78 [[-2.01876774e-01 -9.79401879e-01 4.21041636e-03 1.53884568e+02] [ 9.78972156e-01 -2.01913136e-01 -2.90620507e-02 1.18656857e+02] [ 2.93135654e-02 -1.74507267e-03 9.99568742e-01 6.77811057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.920714057 meters Centerline goodness : 0.988660 Centerline is valid? [True, True] Translation: X:153.88, Y:118.66, Z:6.78 [[-2.01623535e-01 -9.79454479e-01 4.10767581e-03 1.53884955e+02] [ 9.79024470e-01 -2.01656967e-01 -2.90784203e-02 1.18657596e+02] [ 2.93093304e-02 -1.84137876e-03 9.99568693e-01 6.77830072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.950714057 meters Centerline goodness : 0.989062 Centerline is valid? [True, True] Translation: X:153.88, Y:118.66, Z:6.78 [[-2.03367936e-01 -9.79093009e-01 4.28514192e-03 1.53882179e+02] [ 9.78663450e-01 -2.03405854e-01 -2.90501462e-02 1.18663441e+02] [ 2.93144180e-02 -1.71415650e-03 9.99568770e-01 6.77837777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.980714057 meters Centerline goodness : 0.989559 Centerline is valid? [True, True] Translation: X:153.88, Y:118.67, Z:6.78 [[-2.02487579e-01 -9.79275426e-01 4.29198291e-03 1.53881112e+02] [ 9.78845921e-01 -2.02526086e-01 -2.90490570e-02 1.18666168e+02] [ 2.93162662e-02 -1.68088328e-03 9.99568773e-01 6.77800957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01071405700003 meters Centerline goodness : 0.991790 Centerline is valid? [True, True] Translation: X:153.88, Y:118.68, Z:6.78 [[-2.02276715e-01 -9.79319941e-01 4.07232849e-03 1.53878849e+02] [ 9.78889816e-01 -2.02308814e-01 -2.90838930e-02 1.18677064e+02] [ 2.93063044e-02 -1.89663346e-03 9.99568679e-01 6.77651897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.040714057 meters Centerline goodness : 0.989819 Centerline is valid? [True, True] Translation: X:153.88, Y:118.68, Z:6.78 [[-2.04700185e-01 -9.78817749e-01 3.69431731e-03 1.53877377e+02] [ 9.78386612e-01 -2.04720018e-01 -2.91436448e-02 1.18678394e+02] [ 2.92826175e-02 -2.35123890e-03 9.99568407e-01 6.77887856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07071405700003 meters Centerline goodness : 0.985992 Centerline is valid? [True, True] Translation: X:153.88, Y:118.68, Z:6.78 [[-2.10723156e-01 -9.77537251e-01 4.08339631e-03 1.53877969e+02] [ 9.77106896e-01 -2.10751869e-01 -2.90820016e-02 1.18676719e+02] [ 2.92893233e-02 -2.13833648e-03 9.99568689e-01 6.78049185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.100714057 meters Centerline goodness : 0.987818 Centerline is valid? [True, True] Translation: X:153.87, Y:118.70, Z:6.78 [[-2.11699525e-01 -9.77324092e-01 4.57509188e-03 1.53871769e+02] [ 9.76895052e-01 -2.11742364e-01 -2.90039249e-02 1.18698351e+02] [ 2.93149753e-02 -1.67073249e-03 9.99568827e-01 6.77839181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13071405700003 meters Centerline goodness : 0.989902 Centerline is valid? [True, True] Translation: X:153.87, Y:118.70, Z:6.78 [[-2.16428909e-01 -9.76289098e-01 4.25720591e-03 1.53870141e+02] [ 9.75859010e-01 -2.16460259e-01 -2.90542492e-02 1.18699351e+02] [ 2.92868627e-02 -2.13374672e-03 9.99568770e-01 6.77808533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.160714057 meters Centerline goodness : 0.989244 Centerline is valid? [True, True] Translation: X:153.87, Y:118.71, Z:6.78 [[-2.19598222e-01 -9.75581546e-01 4.15541466e-03 1.53867981e+02] [ 9.75151119e-01 -2.19625158e-01 -2.90703320e-02 1.18705558e+02] [ 2.92731131e-02 -2.33163597e-03 9.99568731e-01 6.77753536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19071405700004 meters Centerline goodness : 0.989160 Centerline is valid? [True, True] Translation: X:153.87, Y:118.71, Z:6.78 [[-2.21770119e-01 -9.75089927e-01 4.20098438e-03 1.53866557e+02] [ 9.74659544e-01 -2.21797447e-01 -2.90631416e-02 1.18705998e+02] [ 2.92709443e-02 -2.35080685e-03 9.99568750e-01 6.77821459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.220714057 meters Centerline goodness : 0.991536 Centerline is valid? [True, True] Translation: X:153.86, Y:118.71, Z:6.78 [[-2.23228800e-01 -9.74756922e-01 4.22448264e-03 1.53861274e+02] [ 9.74326550e-01 -2.23256181e-01 -2.90594386e-02 1.18712120e+02] [ 2.92690308e-02 -2.37087802e-03 9.99568758e-01 6.77988238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.250714057 meters Centerline goodness : 0.991704 Centerline is valid? [True, True] Translation: X:153.86, Y:118.72, Z:6.78 [[-2.26935844e-01 -9.73902384e-01 3.77758968e-03 1.53857639e+02] [ 9.73471072e-01 -2.26948329e-01 -2.91295182e-02 1.18716288e+02] [ 2.92266248e-02 -2.93315751e-03 9.99568507e-01 6.78378016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.280714057 meters Centerline goodness : 0.988560 Centerline is valid? [True, True] Translation: X:153.86, Y:118.71, Z:6.78 [[-2.27835921e-01 -9.73691773e-01 3.88902827e-03 1.53859005e+02] [ 9.73260637e-01 -2.27851315e-01 -2.91120415e-02 1.18712700e+02] [ 2.92322755e-02 -2.84773066e-03 9.99568589e-01 6.78241435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.310714057 meters Centerline goodness : 0.988827 Centerline is valid? [True, True] Translation: X:153.86, Y:118.71, Z:6.78 [[-2.27189784e-01 -9.73840983e-01 4.30597570e-03 1.53858992e+02] [ 9.73410683e-01 -2.27217832e-01 -2.90465036e-02 1.18711547e+02] [ 2.92650701e-02 -2.40758614e-03 9.99568787e-01 6.78232570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.340714057 meters Centerline goodness : 0.991134 Centerline is valid? [True, True] Translation: X:153.85, Y:118.72, Z:6.78 [[-2.27187425e-01 -9.73841503e-01 4.31281005e-03 1.53853935e+02] [ 9.73411218e-01 -2.27215676e-01 -2.90454305e-02 1.18715228e+02] [ 2.92655838e-02 -2.40061888e-03 9.99568788e-01 6.78245590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.370714057 meters Centerline goodness : 0.991411 Centerline is valid? [True, True] Translation: X:153.85, Y:118.72, Z:6.78 [[-2.27798811e-01 -9.73700722e-01 3.82178926e-03 1.53850825e+02] [ 9.73269487e-01 -2.27812228e-01 -2.91220651e-02 1.18722849e+02] [ 2.92268261e-02 -2.91434094e-03 9.99568557e-01 6.78224931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.400714057 meters Centerline goodness : 0.989619 Centerline is valid? [True, True] Translation: X:153.85, Y:118.71, Z:6.78 [[-2.29307005e-01 -9.73346749e-01 3.79514273e-03 1.53851974e+02] [ 9.72915452e-01 -2.29318962e-01 -2.91262159e-02 1.18709295e+02] [ 2.92202057e-02 -2.98649232e-03 9.99568537e-01 6.78148755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.430714057 meters Centerline goodness : 0.989539 Centerline is valid? [True, True] Translation: X:153.85, Y:118.72, Z:6.78 [[-2.30895048e-01 -9.72969523e-01 4.21708478e-03 1.53849343e+02] [ 9.72538942e-01 -2.30918821e-01 -2.90603442e-02 1.18716233e+02] [ 2.92486335e-02 -2.60861039e-03 9.99568763e-01 6.78313239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.460714057 meters Centerline goodness : 0.988199 Centerline is valid? [True, True] Translation: X:153.85, Y:118.73, Z:6.78 [[-2.32515008e-01 -9.72583486e-01 4.25831952e-03 1.53847498e+02] [ 9.72152946e-01 -2.32539288e-01 -2.90539139e-02 1.18726316e+02] [ 2.92475835e-02 -2.61573318e-03 9.99568775e-01 6.78278485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.490714057 meters Centerline goodness : 0.989459 Centerline is valid? [True, True] Translation: X:153.84, Y:118.74, Z:6.78 [[-2.34372509e-01 -9.72137076e-01 4.36259905e-03 1.53842893e+02] [ 9.71706692e-01 -2.34399058e-01 -2.90376607e-02 1.18737245e+02] [ 2.92511757e-02 -2.56646270e-03 9.99568798e-01 6.78067664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.520714057 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:153.84, Y:118.72, Z:6.78 [[-2.32515606e-01 -9.72583348e-01 4.25736435e-03 1.53843048e+02] [ 9.72152807e-01 -2.32539857e-01 -2.90540165e-02 1.18720863e+02] [ 2.92474595e-02 -2.61670354e-03 9.99568777e-01 6.78014452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.550714057 meters Centerline goodness : 0.990779 Centerline is valid? [True, True] Translation: X:153.84, Y:118.71, Z:6.78 [[-2.32506289e-01 -9.72587739e-01 3.73045184e-03 1.53841182e+02] [ 9.72156343e-01 -2.32514911e-01 -2.91352367e-02 1.18707905e+02] [ 2.92039597e-02 -3.14754335e-03 9.99568518e-01 6.77799258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.580714057 meters Centerline goodness : 0.991991 Centerline is valid? [True, True] Translation: X:153.83, Y:118.74, Z:6.78 [[-2.32755207e-01 -9.72527010e-01 4.02856163e-03 1.53833701e+02] [ 9.72096061e-01 -2.32772566e-01 -2.90891847e-02 1.18740351e+02] [ 2.92277565e-02 -2.85451030e-03 9.99568702e-01 6.78120954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.610714057 meters Centerline goodness : 0.990512 Centerline is valid? [True, True] Translation: X:153.83, Y:118.73, Z:6.78 [[-2.33646875e-01 -9.72314264e-01 3.75629516e-03 1.53833484e+02] [ 9.71882896e-01 -2.33655759e-01 -2.91311309e-02 1.18731740e+02] [ 2.92022941e-02 -3.15571869e-03 9.99568541e-01 6.78055964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.640714057 meters Centerline goodness : 0.990205 Centerline is valid? [True, True] Translation: X:153.84, Y:118.71, Z:6.78 [[-2.30410398e-01 -9.73084425e-01 4.21308877e-03 1.53836755e+02] [ 9.72653856e-01 -2.30434269e-01 -2.90607005e-02 1.18706424e+02] [ 2.92493550e-02 -2.59801053e-03 9.99568770e-01 6.77989158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.670714057 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:153.84, Y:118.69, Z:6.77 [[-2.21742814e-01 -9.75096568e-01 4.09960444e-03 1.53840149e+02] [ 9.74665991e-01 -2.21767151e-01 -2.90781201e-02 1.18689923e+02] [ 2.92631327e-02 -2.45211914e-03 9.99568735e-01 6.77442902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.700714057 meters Centerline goodness : 0.992399 Centerline is valid? [True, True] Translation: X:153.84, Y:118.69, Z:6.78 [[-2.20999227e-01 -9.75267849e-01 3.45885685e-03 1.53836476e+02] [ 9.74836206e-01 -2.21004888e-01 -2.91755117e-02 1.18694936e+02] [ 2.92183628e-02 -3.07594666e-03 9.99568320e-01 6.77664942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.730714057 meters Centerline goodness : 0.990618 Centerline is valid? [True, True] Translation: X:153.83, Y:118.72, Z:6.78 [[-2.27718431e-01 -9.73720854e-01 3.46633421e-03 1.53829659e+02] [ 9.73289190e-01 -2.27721338e-01 -2.91743738e-02 1.18719334e+02] [ 2.91970544e-02 -3.26979701e-03 9.99568327e-01 6.78114494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76071405700003 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:153.83, Y:118.73, Z:6.78 [[-2.29059791e-01 -9.73404981e-01 3.78876406e-03 1.53827406e+02] [ 9.72973738e-01 -2.29071675e-01 -2.91251120e-02 1.18729850e+02] [ 2.92184277e-02 -2.98502416e-03 9.99568594e-01 6.78323233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.790714057 meters Centerline goodness : 0.991497 Centerline is valid? [True, True] Translation: X:153.83, Y:118.73, Z:6.78 [[-2.28721453e-01 -9.73483596e-01 4.02315723e-03 1.53826678e+02] [ 9.73052735e-01 -2.28740440e-01 -2.90892786e-02 1.18730104e+02] [ 2.92381942e-02 -2.73859790e-03 9.99568721e-01 6.78409180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82071405700003 meters Centerline goodness : 0.992499 Centerline is valid? [True, True] Translation: X:153.82, Y:118.76, Z:6.78 [[-2.28133978e-01 -9.73622458e-01 3.76782062e-03 1.53822834e+02] [ 9.73191198e-01 -2.28145651e-01 -2.91282337e-02 1.18756292e+02] [ 2.92195144e-02 -2.97832998e-03 9.99568582e-01 6.78281146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.850714057 meters Centerline goodness : 0.990684 Centerline is valid? [True, True] Translation: X:153.83, Y:118.73, Z:6.78 [[-2.30220135e-01 -9.73131469e-01 3.71941511e-03 1.53826835e+02] [ 9.72700117e-01 -2.30229447e-01 -2.91356099e-02 1.18728724e+02] [ 2.92090978e-02 -3.08972853e-03 9.99568548e-01 6.78241597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88071405700003 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:153.82, Y:118.74, Z:6.78 [[-2.32832391e-01 -9.72507843e-01 4.19191640e-03 1.53822736e+02] [ 9.72077194e-01 -2.32854563e-01 -2.90634175e-02 1.18738395e+02] [ 2.92405084e-02 -2.69203865e-03 9.99568780e-01 6.78414603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.910714057 meters Centerline goodness : 0.991693 Centerline is valid? [True, True] Translation: X:153.82, Y:118.76, Z:6.78 [[-2.31591501e-01 -9.72804245e-01 4.15661597e-03 1.53819779e+02] [ 9.72373561e-01 -2.31613176e-01 -2.90688030e-02 1.18758904e+02] [ 2.92409820e-02 -2.69030425e-03 9.99568771e-01 6.78458157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94071405700004 meters Centerline goodness : 0.991885 Centerline is valid? [True, True] Translation: X:153.82, Y:118.78, Z:6.78 [[-2.33184787e-01 -9.72425067e-01 3.78747241e-03 1.53817073e+02] [ 9.71993785e-01 -2.33194805e-01 -2.91249764e-02 1.18778173e+02] [ 2.92050760e-02 -3.11010175e-03 9.99568602e-01 6.78373401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.970714057 meters Centerline goodness : 0.990220 Centerline is valid? [True, True] Translation: X:153.82, Y:118.74, Z:6.78 [[-2.33816280e-01 -9.72272910e-01 3.91608946e-03 1.53823029e+02] [ 9.71841799e-01 -2.33829835e-01 -2.91054391e-02 1.18743374e+02] [ 2.92141285e-02 -2.99950608e-03 9.99568676e-01 6.78160508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.000714057 meters Centerline goodness : 0.991190 Centerline is valid? [True, True] Translation: X:153.82, Y:118.74, Z:6.78 [[-2.33347891e-01 -9.72384727e-01 4.08701351e-03 1.53822597e+02] [ 9.71953885e-01 -2.33366723e-01 -2.90795217e-02 1.18742177e+02] [ 2.92302557e-02 -2.81325639e-03 9.99568746e-01 6.78400044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.030714057 meters Centerline goodness : 0.990766 Centerline is valid? [True, True] Translation: X:153.82, Y:118.74, Z:6.78 [[-2.31759186e-01 -9.72765103e-01 3.96658188e-03 1.53822936e+02] [ 9.72334100e-01 -2.31775150e-01 -2.90977365e-02 1.18735463e+02] [ 2.92246178e-02 -2.88682491e-03 9.99568701e-01 6.78327663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.060714057 meters Centerline goodness : 0.992355 Centerline is valid? [True, True] Translation: X:153.82, Y:118.75, Z:6.78 [[-2.30236346e-01 -9.73126614e-01 3.97724012e-03 1.53819352e+02] [ 9.72695653e-01 -2.30253301e-01 -2.90961256e-02 1.18754256e+02] [ 2.92299868e-02 -2.83034148e-03 9.99568706e-01 6.78493656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.090714057 meters Centerline goodness : 0.991091 Centerline is valid? [True, True] Translation: X:153.82, Y:118.75, Z:6.78 [[-2.29094343e-01 -9.73397362e-01 3.65488962e-03 1.53820117e+02] [ 9.72965956e-01 -2.29102241e-01 -2.91446727e-02 1.18745457e+02] [ 2.92066909e-02 -3.12079648e-03 9.99568522e-01 6.78482336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.120714057 meters Centerline goodness : 0.991641 Centerline is valid? [True, True] Translation: X:153.82, Y:118.75, Z:6.78 [[-2.24865828e-01 -9.74382716e-01 3.69892983e-03 1.53819438e+02] [ 9.73951411e-01 -2.24876906e-01 -2.91380546e-02 1.18745802e+02] [ 2.92234207e-02 -2.94957487e-03 9.99568553e-01 6.78235346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.150714057 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:153.82, Y:118.76, Z:6.78 [[-2.23044484e-01 -9.74801083e-01 3.74263958e-03 1.53817117e+02] [ 9.74369865e-01 -2.23057664e-01 -2.91314916e-02 1.18758366e+02] [ 2.92322340e-02 -2.85090330e-03 9.99568581e-01 6.78301810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.180714057 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:153.82, Y:118.76, Z:6.78 [[-2.22702831e-01 -9.74879135e-01 3.75793248e-03 1.53816633e+02] [ 9.74447946e-01 -2.22716615e-01 -2.91291955e-02 1.18760978e+02] [ 2.92343989e-02 -2.82524471e-03 9.99568591e-01 6.78310202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.210714057 meters Centerline goodness : 0.991942 Centerline is valid? [True, True] Translation: X:153.82, Y:118.76, Z:6.78 [[-2.16999752e-01 -9.76164474e-01 3.74529766e-03 1.53815487e+02] [ 9.75733351e-01 -2.17015683e-01 -2.91310872e-02 1.18760028e+02] [ 2.92495207e-02 -2.66702687e-03 9.99568583e-01 6.78278349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.240714057 meters Centerline goodness : 0.990543 Centerline is valid? [True, True] Translation: X:153.81, Y:118.77, Z:6.78 [[-2.15956827e-01 -9.76396547e-01 3.52581763e-03 1.53813838e+02] [ 9.75965086e-01 -2.15966710e-01 -2.91638632e-02 1.18772496e+02] [ 2.92369546e-02 -2.85706045e-03 9.99568426e-01 6.78315008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.270714057 meters Centerline goodness : 0.991108 Centerline is valid? [True, True] Translation: X:153.82, Y:118.74, Z:6.78 [[-2.11551278e-01 -9.77359050e-01 3.91703667e-03 1.53819193e+02] [ 9.76928360e-01 -2.11574702e-01 -2.91054134e-02 1.18740001e+02] [ 2.92751851e-02 -2.33062319e-03 9.99568673e-01 6.78125649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.300714057 meters Centerline goodness : 0.992230 Centerline is valid? [True, True] Translation: X:153.82, Y:118.75, Z:6.78 [[-2.09013618e-01 -9.77905320e-01 3.80685727e-03 1.53816848e+02] [ 9.77474467e-01 -2.09034896e-01 -2.91218014e-02 1.18747957e+02] [ 2.92741306e-02 -2.36574729e-03 9.99568621e-01 6.78157925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.330714057 meters Centerline goodness : 0.989562 Centerline is valid? [True, True] Translation: X:153.82, Y:118.75, Z:6.78 [[-2.10105884e-01 -9.77672807e-01 3.37630560e-03 1.53816564e+02] [ 9.77241190e-01 -2.10113918e-01 -2.91855689e-02 1.18753275e+02] [ 2.92433459e-02 -2.83259486e-03 9.99568308e-01 6.78329737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.360714057 meters Centerline goodness : 0.991209 Centerline is valid? [True, True] Translation: X:153.81, Y:118.76, Z:6.78 [[-2.09005414e-01 -9.77906766e-01 3.88521853e-03 1.53814513e+02] [ 9.77476076e-01 -2.09029018e-01 -2.91099753e-02 1.18755305e+02] [ 2.92789652e-02 -2.28643428e-03 9.99568664e-01 6.78210053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.390714057 meters Centerline goodness : 0.990593 Centerline is valid? [True, True] Translation: X:153.81, Y:118.76, Z:6.78 [[-2.08752808e-01 -9.77962359e-01 3.44816600e-03 1.53814191e+02] [ 9.77530878e-01 -2.08763571e-01 -2.91745409e-02 1.18757163e+02] [ 2.92514543e-02 -2.71957862e-03 9.99568385e-01 6.78321557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.420714057 meters Centerline goodness : 0.990602 Centerline is valid? [True, True] Translation: X:153.81, Y:118.76, Z:6.78 [[-2.07264050e-01 -9.78278032e-01 3.70211070e-03 1.53811568e+02] [ 9.77847020e-01 -2.07282997e-01 -2.91370108e-02 1.18758999e+02] [ 2.92714822e-02 -2.41895695e-03 9.99568571e-01 6.78411636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.450714057 meters Centerline goodness : 0.990235 Centerline is valid? [True, True] Translation: X:153.81, Y:118.76, Z:6.78 [[-2.05059324e-01 -9.78742968e-01 3.58824284e-03 1.53811350e+02] [ 9.78311783e-01 -2.05075868e-01 -2.91537935e-02 1.18757793e+02] [ 2.92699324e-02 -2.46783695e-03 9.99568497e-01 6.78330255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.480714057 meters Centerline goodness : 0.988077 Centerline is valid? [True, True] Translation: X:153.81, Y:118.78, Z:6.78 [[-2.06775941e-01 -9.78382349e-01 3.41903612e-03 1.53809224e+02] [ 9.77950847e-01 -2.06786713e-01 -2.91787106e-02 1.18775638e+02] [ 2.92549467e-02 -2.68980609e-03 9.99568363e-01 6.78409154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51071405700003 meters Centerline goodness : 0.990656 Centerline is valid? [True, True] Translation: X:153.81, Y:118.76, Z:6.78 [[-2.01298741e-01 -9.79522054e-01 3.91956253e-03 1.53810020e+02] [ 9.79091645e-01 -2.01326752e-01 -2.91048048e-02 1.18761006e+02] [ 2.92979110e-02 -2.02114964e-03 9.99568681e-01 6.78312735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.540714057 meters Centerline goodness : 0.989954 Centerline is valid? [True, True] Translation: X:153.81, Y:118.76, Z:6.78 [[-2.00165416e-01 -9.79756118e-01 3.42855174e-03 1.53808675e+02] [ 9.79324734e-01 -2.00179385e-01 -2.91766942e-02 1.18763489e+02] [ 2.92723701e-02 -2.48249963e-03 9.99568390e-01 6.78337130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57071405700003 meters Centerline goodness : 0.990157 Centerline is valid? [True, True] Translation: X:153.81, Y:118.77, Z:6.78 [[-1.99550339e-01 -9.79881662e-01 3.40464961e-03 1.53807956e+02] [ 9.79450243e-01 -1.99563869e-01 -2.91801875e-02 1.18766660e+02] [ 2.92725757e-02 -2.48823140e-03 9.99568369e-01 6.78339554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.600714057 meters Centerline goodness : 0.989023 Centerline is valid? [True, True] Translation: X:153.81, Y:118.78, Z:6.78 [[-1.98707922e-01 -9.80052801e-01 3.41596689e-03 1.53805407e+02] [ 9.79621415e-01 -1.98722159e-01 -2.91785350e-02 1.18783182e+02] [ 2.92753332e-02 -2.45165172e-03 9.99568379e-01 6.78359653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63071405700003 meters Centerline goodness : 0.989921 Centerline is valid? [True, True] Translation: X:153.80, Y:118.79, Z:6.78 [[-1.97144234e-01 -9.80368586e-01 3.40399198e-03 1.53804124e+02] [ 9.79937201e-01 -1.97158804e-01 -2.91802827e-02 1.18789061e+02] [ 2.92785595e-02 -2.41702611e-03 9.99568369e-01 6.78268199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.660714057 meters Centerline goodness : 0.988467 Centerline is valid? [True, True] Translation: X:153.81, Y:118.78, Z:6.78 [[-1.93789584e-01 -9.81036962e-01 3.47495054e-03 1.53806206e+02] [ 9.80605771e-01 -1.93807732e-01 -2.91699390e-02 1.18777250e+02] [ 2.92902607e-02 -2.24527381e-03 9.99568427e-01 6.78333184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69071405700004 meters Centerline goodness : 0.989536 Centerline is valid? [True, True] Translation: X:153.81, Y:118.77, Z:6.78 [[-1.90833607e-01 -9.81616641e-01 3.36214440e-03 1.53808322e+02] [ 9.81185277e-01 -1.90849713e-01 -2.91863021e-02 1.18766258e+02] [ 2.92914241e-02 -2.27084072e-03 9.99568335e-01 6.78330471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.720714057 meters Centerline goodness : 0.989494 Centerline is valid? [True, True] Translation: X:153.81, Y:118.76, Z:6.78 [[-1.88475613e-01 -9.82072485e-01 3.25245922e-03 1.53808080e+02] [ 9.81640943e-01 -1.88489505e-01 -2.92021435e-02 1.18763861e+02] [ 2.92916760e-02 -2.31114475e-03 9.99568235e-01 6.78431524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.750714057 meters Centerline goodness : 0.988691 Centerline is valid? [True, True] Translation: X:153.80, Y:118.78, Z:6.79 [[-1.87265150e-01 -9.82304012e-01 3.25442772e-03 1.53804506e+02] [ 9.81872492e-01 -1.87279633e-01 -2.92018594e-02 1.18779248e+02] [ 2.92945917e-02 -2.27305752e-03 9.99568237e-01 6.78694673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.780714057 meters Centerline goodness : 0.989583 Centerline is valid? [True, True] Translation: X:153.80, Y:118.79, Z:6.79 [[-1.85157996e-01 -9.82702554e-01 3.49393928e-03 1.53803056e+02] [ 9.82271580e-01 -1.85180495e-01 -2.91672251e-02 1.18787676e+02] [ 2.93097160e-02 -1.96854770e-03 9.99568440e-01 6.78732974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.810714057 meters Centerline goodness : 0.988930 Centerline is valid? [True, True] Translation: X:153.80, Y:118.79, Z:6.79 [[-1.82422843e-01 -9.83214232e-01 3.41754711e-03 1.53803087e+02] [ 9.82783147e-01 -1.82444281e-01 -2.91782437e-02 1.18785589e+02] [ 2.93119764e-02 -1.96407046e-03 9.99568382e-01 6.78907498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.840714057 meters Centerline goodness : 0.989308 Centerline is valid? [True, True] Translation: X:153.80, Y:118.78, Z:6.79 [[-1.79267930e-01 -9.83794093e-01 3.49178410e-03 1.53804065e+02] [ 9.83363256e-01 -1.79292947e-01 -2.91675502e-02 1.18779170e+02] [ 2.93209158e-02 -1.79511416e-03 9.99568438e-01 6.78691413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.870714057 meters Centerline goodness : 0.987586 Centerline is valid? [True, True] Translation: X:153.80, Y:118.78, Z:6.79 [[-1.80602677e-01 -9.83550295e-01 3.38977504e-03 1.53804868e+02] [ 9.83119187e-01 -1.80624091e-01 -2.91822096e-02 1.18780145e+02] [ 2.93144459e-02 -1.93783228e-03 9.99568361e-01 6.78646279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.900714057 meters Centerline goodness : 0.989192 Centerline is valid? [True, True] Translation: X:153.81, Y:118.78, Z:6.79 [[-1.78062452e-01 -9.84011363e-01 3.92434260e-03 1.53805259e+02] [ 9.83581722e-01 -1.78100780e-01 -2.91051165e-02 1.18779033e+02] [ 2.93386938e-02 -1.32261675e-03 9.99568653e-01 6.78829935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.930714057 meters Centerline goodness : 0.990365 Centerline is valid? [True, True] Translation: X:153.81, Y:118.78, Z:6.79 [[-1.77751650e-01 -9.84069243e-01 3.47494734e-03 1.53806741e+02] [ 9.83638417e-01 -1.77776834e-01 -2.91695422e-02 1.18784087e+02] [ 2.93226144e-02 -1.76684256e-03 9.99568438e-01 6.78719915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.960714057 meters Centerline goodness : 0.988215 Centerline is valid? [True, True] Translation: X:153.81, Y:118.78, Z:6.79 [[-1.78825970e-01 -9.83874669e-01 3.45095113e-03 1.53808812e+02] [ 9.83443758e-01 -1.78849973e-01 -2.91729763e-02 1.18778946e+02] [ 2.93197549e-02 -1.82306944e-03 9.99568421e-01 6.78640989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.990714057 meters Centerline goodness : 0.989541 Centerline is valid? [True, True] Translation: X:153.81, Y:118.79, Z:6.79 [[-1.77341197e-01 -9.84142009e-01 3.82175538e-03 1.53807496e+02] [ 9.83712103e-01 -1.77376810e-01 -2.91198396e-02 1.18787371e+02] [ 2.93359482e-02 -1.40464018e-03 9.99568622e-01 6.78579309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.020714057 meters Centerline goodness : 0.988957 Centerline is valid? [True, True] Translation: X:153.81, Y:118.79, Z:6.79 [[-1.77888414e-01 -9.84044897e-01 3.36930390e-03 1.53807487e+02] [ 9.83613826e-01 -1.77910414e-01 -2.91843331e-02 1.18788779e+02] [ 2.93181283e-02 -1.87746084e-03 9.99568368e-01 6.78693403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.050714057 meters Centerline goodness : 0.989849 Centerline is valid? [True, True] Translation: X:153.81, Y:118.79, Z:6.79 [[-1.76295772e-01 -9.84331237e-01 3.43740895e-03 1.53807868e+02] [ 9.83900364e-01 -1.76320484e-01 -2.91746439e-02 1.18789791e+02] [ 2.93235989e-02 -1.76129845e-03 9.99568419e-01 6.78570958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.080714057 meters Centerline goodness : 0.988514 Centerline is valid? [True, True] Translation: X:153.81, Y:118.79, Z:6.79 [[-1.75942292e-01 -9.84394637e-01 3.39242968e-03 1.53807765e+02] [ 9.83963665e-01 -1.75965828e-01 -2.91810309e-02 1.18790115e+02] [ 2.93226021e-02 -1.79614993e-03 9.99568386e-01 6.78738194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.110714057 meters Centerline goodness : 0.988997 Centerline is valid? [True, True] Translation: X:153.81, Y:118.80, Z:6.79 [[-1.76775237e-01 -9.84245290e-01 3.42412546e-03 1.53806182e+02] [ 9.83814373e-01 -1.76799345e-01 -2.91765328e-02 1.18799742e+02] [ 2.93222481e-02 -1.78898464e-03 9.99568410e-01 6.78801013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.140714057 meters Centerline goodness : 0.988554 Centerline is valid? [True, True] Translation: X:153.81, Y:118.79, Z:6.79 [[-1.79410496e-01 -9.83768277e-01 3.44248261e-03 1.53807627e+02] [ 9.83337340e-01 -1.79433994e-01 -2.91739280e-02 1.18794673e+02] [ 2.93180833e-02 -1.84898721e-03 9.99568422e-01 6.78779382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.170714057 meters Centerline goodness : 0.990351 Centerline is valid? [True, True] Translation: X:153.81, Y:118.80, Z:6.79 [[-1.77636684e-01 -9.84088823e-01 3.79421723e-03 1.53808355e+02] [ 9.83658825e-01 -1.77671355e-01 -2.91239538e-02 1.18796678e+02] [ 2.93346812e-02 -1.44126732e-03 9.99568607e-01 6.78762490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.200714057 meters Centerline goodness : 0.987880 Centerline is valid? [True, True] Translation: X:153.81, Y:118.81, Z:6.79 [[-1.83150976e-01 -9.83078807e-01 3.43212158e-03 1.53808417e+02] [ 9.82647767e-01 -1.83172528e-01 -2.91751824e-02 1.18805804e+02] [ 2.93101739e-02 -1.97089653e-03 9.99568422e-01 6.79227651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.230714057 meters Centerline goodness : 0.986718 Centerline is valid? [True, True] Translation: X:153.81, Y:118.81, Z:6.79 [[-1.86983362e-01 -9.82355433e-01 3.87630426e-03 1.53807589e+02] [ 9.81925332e-01 -1.87016370e-01 -2.91121822e-02 1.18811983e+02] [ 2.93234427e-02 -1.63725236e-03 9.99568635e-01 6.79421767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26071405700003 meters Centerline goodness : 0.988986 Centerline is valid? [True, True] Translation: X:153.81, Y:118.83, Z:6.79 [[-1.89633239e-01 -9.81846717e-01 4.03220285e-03 1.53806756e+02] [ 9.81416922e-01 -1.89669695e-01 -2.90900751e-02 1.18832088e+02] [ 2.93267814e-02 -1.55917306e-03 9.99568661e-01 6.78914080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.290714057 meters Centerline goodness : 0.989941 Centerline is valid? [True, True] Translation: X:153.81, Y:118.83, Z:6.79 [[-1.92859040e-01 -9.81219784e-01 3.62292841e-03 1.53807879e+02] [ 9.80788940e-01 -1.92881980e-01 -2.91478489e-02 1.18832030e+02] [ 2.92992436e-02 -2.06809805e-03 9.99568546e-01 6.78818339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32071405700003 meters Centerline goodness : 0.987075 Centerline is valid? [True, True] Translation: X:153.81, Y:118.84, Z:6.79 [[-1.98931361e-01 -9.80006396e-01 3.71176870e-03 1.53809677e+02] [ 9.79575590e-01 -1.98954261e-01 -2.91353036e-02 1.18837145e+02] [ 2.92912561e-02 -2.15996758e-03 9.99568585e-01 6.79288323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.350714057 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:153.80, Y:118.88, Z:6.79 [[-1.97806554e-01 -9.80232251e-01 4.15939538e-03 1.53804288e+02] [ 9.79802475e-01 -1.97843188e-01 -2.90720237e-02 1.18875933e+02] [ 2.93202433e-02 -1.67525094e-03 9.99568665e-01 6.79020912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38071405700003 meters Centerline goodness : 0.989279 Centerline is valid? [True, True] Translation: X:153.81, Y:118.84, Z:6.79 [[-1.99144504e-01 -9.79963292e-01 3.66247801e-03 1.53810753e+02] [ 9.79532399e-01 -1.99165853e-01 -2.91417762e-02 1.18838063e+02] [ 2.92873115e-02 -2.21590869e-03 9.99568579e-01 6.78949571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.410714057 meters Centerline goodness : 0.989217 Centerline is valid? [True, True] Translation: X:153.81, Y:118.84, Z:6.79 [[-2.03223741e-01 -9.79125351e-01 3.69573095e-03 1.53812838e+02] [ 9.78694432e-01 -2.03244280e-01 -2.91371224e-02 1.18836741e+02] [ 2.92800314e-02 -2.30436372e-03 9.99568592e-01 6.79447679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44071405700004 meters Centerline goodness : 0.990513 Centerline is valid? [True, True] Translation: X:153.81, Y:118.84, Z:6.79 [[-2.01858756e-01 -9.79406726e-01 3.93798035e-03 1.53813672e+02] [ 9.78976310e-01 -2.01887064e-01 -2.91032234e-02 1.18841837e+02] [ 2.92989200e-02 -2.01955101e-03 9.99568654e-01 6.79009274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.470714057 meters Centerline goodness : 0.991391 Centerline is valid? [True, True] Translation: X:153.82, Y:118.85, Z:6.79 [[-2.02833686e-01 -9.79206711e-01 3.56543489e-03 1.53815585e+02] [ 9.78775582e-01 -2.02850540e-01 -2.91550843e-02 1.18847167e+02] [ 2.92721046e-02 -2.42387262e-03 9.99568541e-01 6.79160441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.500714057 meters Centerline goodness : 0.991153 Centerline is valid? [True, True] Translation: X:153.82, Y:118.84, Z:6.79 [[-2.02398451e-01 -9.79297308e-01 3.41321683e-03 1.53816914e+02] [ 9.78865947e-01 -2.02410988e-01 -2.91761945e-02 1.18844499e+02] [ 2.92630413e-02 -2.56413484e-03 9.99568457e-01 6.79047399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.530714057 meters Centerline goodness : 0.990883 Centerline is valid? [True, True] Translation: X:153.82, Y:118.85, Z:6.79 [[-2.03165876e-01 -9.79138246e-01 3.45271687e-03 1.53816407e+02] [ 9.78706934e-01 -2.03179246e-01 -2.91707248e-02 1.18850027e+02] [ 2.92636928e-02 -2.54729794e-03 9.99568481e-01 6.79049897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.560714057 meters Centerline goodness : 0.990749 Centerline is valid? [True, True] Translation: X:153.82, Y:118.85, Z:6.79 [[-2.00027655e-01 -9.79784206e-01 3.44194815e-03 1.53817092e+02] [ 9.79352922e-01 -2.00042087e-01 -2.91722130e-02 1.18853025e+02] [ 2.92710080e-02 -2.46436737e-03 9.99568474e-01 6.78854039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.590714057 meters Centerline goodness : 0.991469 Centerline is valid? [True, True] Translation: X:153.82, Y:118.86, Z:6.79 [[-2.00173516e-01 -9.79754689e-01 3.36343316e-03 1.53816791e+02] [ 9.79323283e-01 -2.00185559e-01 -2.91830313e-02 1.18855450e+02] [ 2.92655225e-02 -2.54778157e-03 9.99568426e-01 6.78971903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.620714057 meters Centerline goodness : 0.991665 Centerline is valid? [True, True] Translation: X:153.82, Y:118.85, Z:6.79 [[-1.96162052e-01 -9.80565578e-01 3.40534804e-03 1.53818424e+02] [ 9.80134293e-01 -1.96177101e-01 -2.91772689e-02 1.18848149e+02] [ 2.92782768e-02 -2.38577454e-03 9.99568452e-01 6.78741676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.650714057 meters Centerline goodness : 0.990763 Centerline is valid? [True, True] Translation: X:153.82, Y:118.86, Z:6.79 [[-1.96403401e-01 -9.80517635e-01 3.29725976e-03 1.53816789e+02] [ 9.80086176e-01 -1.96415144e-01 -2.91920897e-02 1.18855492e+02] [ 2.92709905e-02 -2.50182700e-03 9.99568382e-01 6.78905783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.680714057 meters Centerline goodness : 0.990264 Centerline is valid? [True, True] Translation: X:153.82, Y:118.85, Z:6.79 [[-1.93618548e-01 -9.81071025e-01 3.39155283e-03 1.53816060e+02] [ 9.80639756e-01 -1.93634307e-01 -2.91791618e-02 1.18852728e+02] [ 2.92835511e-02 -2.32373539e-03 9.99568444e-01 6.78890550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.710714057 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:153.81, Y:118.87, Z:6.79 [[-1.91630147e-01 -9.81461204e-01 3.43383491e-03 1.53812897e+02] [ 9.81030044e-01 -1.91648032e-01 -2.91733717e-02 1.18865848e+02] [ 2.92906202e-02 -2.22180229e-03 9.99568468e-01 6.79115687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.740714057 meters Centerline goodness : 0.991627 Centerline is valid? [True, True] Translation: X:153.81, Y:118.85, Z:6.79 [[-1.85412243e-01 -9.82655185e-01 3.32987843e-03 1.53814141e+02] [ 9.82223947e-01 -1.85429781e-01 -2.91875657e-02 1.18849805e+02] [ 2.92987714e-02 -2.14104567e-03 9.99568406e-01 6.79036828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.770714057 meters Centerline goodness : 0.991568 Centerline is valid? [True, True] Translation: X:153.81, Y:118.86, Z:6.79 [[-1.81057378e-01 -9.83466747e-01 3.37390088e-03 1.53812387e+02] [ 9.83035680e-01 -1.81078129e-01 -2.91815694e-02 1.18861601e+02] [ 2.93100428e-02 -1.96687350e-03 9.99568433e-01 6.78768218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.800714057 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:153.82, Y:118.86, Z:6.78 [[-1.67355281e-01 -9.85891411e-01 3.21488040e-03 1.53815851e+02] [ 9.85460302e-01 -1.67377328e-01 -2.92031348e-02 1.18855852e+02] [ 2.93292179e-02 -1.71916183e-03 9.99568328e-01 6.78498070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.830714057 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:153.81, Y:118.86, Z:6.79 [[-1.67889890e-01 -9.85802025e-01 2.71167903e-03 1.53813750e+02] [ 9.85369919e-01 -1.67896815e-01 -2.92708328e-02 1.18861302e+02] [ 2.93105285e-02 -2.24226995e-03 9.99567839e-01 6.78540590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.860714057 meters Centerline goodness : 0.991790 Centerline is valid? [True, True] Translation: X:153.81, Y:118.86, Z:6.79 [[-1.66822158e-01 -9.85982568e-01 2.95682733e-03 1.53812820e+02] [ 9.85550928e-01 -1.66836807e-01 -2.92378023e-02 1.18859646e+02] [ 2.93212710e-02 -1.96340936e-03 9.99568111e-01 6.78568412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.890714057 meters Centerline goodness : 0.991331 Centerline is valid? [True, True] Translation: X:153.81, Y:118.87, Z:6.79 [[-1.65740438e-01 -9.86164845e-01 3.00093604e-03 1.53811442e+02] [ 9.85733311e-01 -1.65756866e-01 -2.92318677e-02 1.18868295e+02] [ 2.93248661e-02 -1.88677995e-03 9.99568153e-01 6.78525527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.920714057 meters Centerline goodness : 0.989178 Centerline is valid? [True, True] Translation: X:153.81, Y:118.86, Z:6.79 [[-1.70130637e-01 -9.85417173e-01 2.92589928e-03 1.53812215e+02] [ 9.84985429e-01 -1.70142922e-01 -2.92419407e-02 1.18861642e+02] [ 2.93133316e-02 -2.09298185e-03 9.99568081e-01 6.78771808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.950714057 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:153.81, Y:118.88, Z:6.79 [[-1.71241166e-01 -9.85223482e-01 3.33972140e-03 1.53808539e+02] [ 9.84792565e-01 -1.71265205e-01 -2.91861957e-02 1.18880606e+02] [ 2.93269034e-02 -1.70894538e-03 9.99568413e-01 6.78692388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.980714057 meters Centerline goodness : 0.990863 Centerline is valid? [True, True] Translation: X:153.81, Y:118.89, Z:6.79 [[-1.73825731e-01 -9.84772278e-01 2.85920698e-03 1.53806583e+02] [ 9.84340385e-01 -1.73834423e-01 -2.92506523e-02 1.18894836e+02] [ 2.93022601e-02 -2.27008311e-03 9.99568019e-01 6.78685425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01071405700003 meters Centerline goodness : 0.990672 Centerline is valid? [True, True] Translation: X:153.81, Y:118.87, Z:6.79 [[-1.76179365e-01 -9.84353520e-01 2.99653179e-03 1.53810034e+02] [ 9.83921833e-01 -1.76191089e-01 -2.92322795e-02 1.18868370e+02] [ 2.93028594e-02 -2.20177138e-03 9.99568154e-01 6.78739332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.040714057 meters Centerline goodness : 0.990877 Centerline is valid? [True, True] Translation: X:153.81, Y:118.88, Z:6.79 [[-1.80216186e-01 -9.83622598e-01 2.95133324e-03 1.53807786e+02] [ 9.83190797e-01 -1.80224801e-01 -2.92383019e-02 1.18877357e+02] [ 2.92913579e-02 -2.36749156e-03 9.99568112e-01 6.78877918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07071405700003 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:153.80, Y:118.91, Z:6.79 [[-1.86200155e-01 -9.82507078e-01 3.05667800e-03 1.53802806e+02] [ 9.82075382e-01 -1.86209261e-01 -2.92242219e-02 1.18906664e+02] [ 2.92821866e-02 -2.43966642e-03 9.99568208e-01 6.79019012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.100714057 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:153.80, Y:118.91, Z:6.79 [[-1.85859012e-01 -9.82571220e-01 3.19781069e-03 1.53802308e+02] [ 9.82139747e-01 -1.85872446e-01 -2.92053354e-02 1.18909269e+02] [ 2.92907070e-02 -2.28737781e-03 9.99568318e-01 6.79032160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13071405700003 meters Centerline goodness : 0.988236 Centerline is valid? [True, True] Translation: X:153.81, Y:118.87, Z:6.79 [[-1.93029383e-01 -9.81187860e-01 3.16873772e-03 1.53808411e+02] [ 9.80756260e-01 -1.93038805e-01 -2.92092099e-02 1.18873691e+02] [ 2.92714115e-02 -2.53047640e-03 9.99568297e-01 6.79004731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.160714057 meters Centerline goodness : 0.990917 Centerline is valid? [True, True] Translation: X:153.80, Y:118.88, Z:6.79 [[-1.92688738e-01 -9.81252174e-01 3.90153960e-03 1.53803503e+02] [ 9.80821878e-01 -1.92719988e-01 -2.91110058e-02 1.18883198e+02] [ 2.93171424e-02 -1.78264757e-03 9.99568571e-01 6.79243332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19071405700004 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:153.81, Y:118.88, Z:6.79 [[-1.93304770e-01 -9.81133272e-01 3.28141970e-03 1.53805551e+02] [ 9.80701852e-01 -1.93317409e-01 -2.91934475e-02 1.18876486e+02] [ 2.92770183e-02 -2.42513829e-03 9.99568394e-01 6.79140582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.220714057 meters Centerline goodness : 0.990997 Centerline is valid? [True, True] Translation: X:153.80, Y:118.88, Z:6.79 [[-1.91695133e-01 -9.81447472e-01 3.71961738e-03 1.53803153e+02] [ 9.81016838e-01 -1.91721442e-01 -2.91350747e-02 1.18884464e+02] [ 2.93076758e-02 -1.93604474e-03 9.99568563e-01 6.79348301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.250714057 meters Centerline goodness : 0.991435 Centerline is valid? [True, True] Translation: X:153.80, Y:118.88, Z:6.79 [[-1.89392319e-01 -9.81896159e-01 3.23773623e-03 1.53803874e+02] [ 9.81464738e-01 -1.89405386e-01 -2.91987792e-02 1.18880139e+02] [ 2.92834138e-02 -2.35230055e-03 9.99568381e-01 6.79122856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.280714057 meters Centerline goodness : 0.990294 Centerline is valid? [True, True] Translation: X:153.80, Y:118.90, Z:6.80 [[-1.88922888e-01 -9.81986694e-01 3.20544624e-03 1.53800126e+02] [ 9.81555230e-01 -1.88935206e-01 -2.92030419e-02 1.18897165e+02] [ 2.92826202e-02 -2.37080049e-03 9.99568361e-01 6.79517610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.310714057 meters Centerline goodness : 0.989131 Centerline is valid? [True, True] Translation: X:153.80, Y:118.89, Z:6.79 [[-1.88894999e-01 -9.81992094e-01 3.19486983e-03 1.53801219e+02] [ 9.81560615e-01 -1.88907015e-01 -2.92044362e-02 1.18887542e+02] [ 2.92820588e-02 -2.38061355e-03 9.99568354e-01 6.79202221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.340714057 meters Centerline goodness : 0.989460 Centerline is valid? [True, True] Translation: X:153.80, Y:118.88, Z:6.79 [[-1.85844708e-01 -9.82572906e-01 3.49696275e-03 1.53801669e+02] [ 9.82141988e-01 -1.85867001e-01 -2.91645956e-02 1.18877229e+02] [ 2.93063115e-02 -1.98557183e-03 9.99568506e-01 6.79410756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.370714057 meters Centerline goodness : 0.989462 Centerline is valid? [True, True] Translation: X:153.80, Y:118.89, Z:6.80 [[-1.86564317e-01 -9.82436245e-01 3.57503187e-03 1.53799360e+02] [ 9.82005458e-01 -1.86588602e-01 -2.91543067e-02 1.18892303e+02] [ 2.93093077e-02 -1.92845252e-03 9.99568530e-01 6.79552270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.400714057 meters Centerline goodness : 0.990456 Centerline is valid? [True, True] Translation: X:153.80, Y:118.89, Z:6.80 [[-1.85220013e-01 -9.82690540e-01 3.58475235e-03 1.53799153e+02] [ 9.82259806e-01 -1.85245174e-01 -2.91530269e-02 1.18886708e+02] [ 2.93124618e-02 -1.87856586e-03 9.99568532e-01 6.79556670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.430714057 meters Centerline goodness : 0.988476 Centerline is valid? [True, True] Translation: X:153.80, Y:118.90, Z:6.79 [[-1.86081371e-01 -9.82529105e-01 3.20641350e-03 1.53797659e+02] [ 9.82097690e-01 -1.86094965e-01 -2.92025922e-02 1.18895792e+02] [ 2.92890942e-02 -2.28504709e-03 9.99568371e-01 6.79429676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.460714057 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:153.80, Y:118.89, Z:6.80 [[-1.83938020e-01 -9.82931285e-01 3.59080491e-03 1.53796806e+02] [ 9.82500599e-01 -1.83963922e-01 -2.91521683e-02 1.18890717e+02] [ 2.93151568e-02 -1.83422413e-03 9.99568536e-01 6.79662413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.490714057 meters Centerline goodness : 0.989162 Centerline is valid? [True, True] Translation: X:153.80, Y:118.90, Z:6.79 [[-1.85926252e-01 -9.82558959e-01 3.05308532e-03 1.53797174e+02] [ 9.82127337e-01 -1.85935379e-01 -2.92220696e-02 1.18895700e+02] [ 2.92800829e-02 -2.43463131e-03 9.99568281e-01 6.79452194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.520714057 meters Centerline goodness : 0.988211 Centerline is valid? [True, True] Translation: X:153.80, Y:118.90, Z:6.79 [[-1.88853286e-01 -9.82000055e-01 3.21375525e-03 1.53796606e+02] [ 9.81568628e-01 -1.88865881e-01 -2.92011618e-02 1.18902658e+02] [ 2.92825112e-02 -2.36021403e-03 9.99568389e-01 6.79408381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.550714057 meters Centerline goodness : 0.989165 Centerline is valid? [True, True] Translation: X:153.80, Y:118.91, Z:6.79 [[-1.89923078e-01 -9.81793554e-01 3.26201611e-03 1.53795195e+02] [ 9.81362183e-01 -1.89936632e-01 -2.91948875e-02 1.18908466e+02] [ 2.92829287e-02 -2.34356365e-03 9.99568416e-01 6.79474993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.580714057 meters Centerline goodness : 0.989151 Centerline is valid? [True, True] Translation: X:153.79, Y:118.93, Z:6.80 [[-1.91103466e-01 -9.81564504e-01 3.25431211e-03 1.53792849e+02] [ 9.81133105e-01 -1.91116272e-01 -2.91958888e-02 1.18925511e+02] [ 2.92796001e-02 -2.38652218e-03 9.99568412e-01 6.79527795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.610714057 meters Centerline goodness : 0.988448 Centerline is valid? [True, True] Translation: X:153.79, Y:118.92, Z:6.79 [[-1.92834334e-01 -9.81225703e-01 3.32250958e-03 1.53792902e+02] [ 9.80794378e-01 -1.92848398e-01 -2.91870346e-02 1.18922853e+02] [ 2.92798092e-02 -2.36956365e-03 9.99568446e-01 6.79489979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.640714057 meters Centerline goodness : 0.987867 Centerline is valid? [True, True] Translation: X:153.79, Y:118.93, Z:6.79 [[-1.93212888e-01 -9.81150964e-01 3.40081167e-03 1.53792733e+02] [ 9.80719748e-01 -1.93229102e-01 -2.91768704e-02 1.18927668e+02] [ 2.92840503e-02 -2.30210423e-03 9.99568479e-01 6.79442441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.670714057 meters Centerline goodness : 0.988641 Centerline is valid? [True, True] Translation: X:153.79, Y:118.92, Z:6.79 [[-1.92183536e-01 -9.81353074e-01 3.41068592e-03 1.53794472e+02] [ 9.80921890e-01 -1.92200495e-01 -2.91755904e-02 1.18917971e+02] [ 2.92870909e-02 -2.26145167e-03 9.99568483e-01 6.79340731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.700714057 meters Centerline goodness : 0.985859 Centerline is valid? [True, True] Translation: X:153.80, Y:118.92, Z:6.79 [[-1.94059095e-01 -9.80984059e-01 3.36792357e-03 1.53795565e+02] [ 9.80552782e-01 -1.94073964e-01 -2.91811212e-02 1.18920707e+02] [ 2.92798410e-02 -2.36043513e-03 9.99568467e-01 6.79310594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.730714057 meters Centerline goodness : 0.988521 Centerline is valid? [True, True] Translation: X:153.79, Y:118.94, Z:6.79 [[-1.95014601e-01 -9.80792965e-01 3.80325335e-03 1.53792172e+02] [ 9.80362381e-01 -1.95041925e-01 -2.91247176e-02 1.18935482e+02] [ 2.93071120e-02 -1.95117868e-03 9.99568550e-01 6.79329864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76071405700003 meters Centerline goodness : 0.988345 Centerline is valid? [True, True] Translation: X:153.79, Y:118.93, Z:6.79 [[-1.95299877e-01 -9.80737731e-01 3.38541000e-03 1.53792824e+02] [ 9.80306470e-01 -1.95314719e-01 -2.91785077e-02 1.18925551e+02] [ 2.92776839e-02 -2.37981964e-03 9.99568484e-01 6.79333419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.790714057 meters Centerline goodness : 0.985758 Centerline is valid? [True, True] Translation: X:153.79, Y:118.93, Z:6.79 [[-1.98251267e-01 -9.80145455e-01 3.36484586e-03 1.53792863e+02] [ 9.79714125e-01 -1.98264203e-01 -2.91811479e-02 1.18927669e+02] [ 2.92688980e-02 -2.48861255e-03 9.99568476e-01 6.79474715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82071405700003 meters Centerline goodness : 0.988446 Centerline is valid? [True, True] Translation: X:153.79, Y:118.94, Z:6.79 [[-1.97575365e-01 -9.80280287e-01 3.81246785e-03 1.53791205e+02] [ 9.79849647e-01 -1.97601836e-01 -2.91235988e-02 1.18936706e+02] [ 2.93026404e-02 -2.01846037e-03 9.99568547e-01 6.79420124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.850714057 meters Centerline goodness : 0.987052 Centerline is valid? [True, True] Translation: X:153.79, Y:118.96, Z:6.80 [[-2.00367522e-01 -9.79715095e-01 3.34480988e-03 1.53788808e+02] [ 9.79283725e-01 -2.00378934e-01 -2.91833532e-02 1.18958072e+02] [ 2.92616011e-02 -2.57187829e-03 9.99568479e-01 6.80020447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88071405700003 meters Centerline goodness : 0.987114 Centerline is valid? [True, True] Translation: X:153.79, Y:118.93, Z:6.80 [[-2.00102077e-01 -9.79767944e-01 3.73288039e-03 1.53792499e+02] [ 9.79337111e-01 -2.00125085e-01 -2.91337278e-02 1.18928622e+02] [ 2.92913356e-02 -2.17397114e-03 9.99568553e-01 6.79973293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.910714057 meters Centerline goodness : 0.989410 Centerline is valid? [True, True] Translation: X:153.79, Y:118.93, Z:6.79 [[-2.02263427e-01 -9.79324605e-01 3.58117786e-03 1.53791662e+02] [ 9.78893507e-01 -2.02280997e-01 -2.91530382e-02 1.18928233e+02] [ 2.92746919e-02 -2.39100166e-03 9.99568545e-01 6.79265809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94071405700004 meters Centerline goodness : 0.987411 Centerline is valid? [True, True] Translation: X:153.79, Y:118.94, Z:6.80 [[-2.03730810e-01 -9.79021521e-01 3.25853956e-03 1.53791316e+02] [ 9.78590039e-01 -2.03738188e-01 -2.91939508e-02 1.18938075e+02] [ 2.92453951e-02 -2.75893289e-03 9.99568454e-01 6.79573134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.970714057 meters Centerline goodness : 0.989635 Centerline is valid? [True, True] Translation: X:153.79, Y:118.95, Z:6.79 [[-2.03315706e-01 -9.79106308e-01 3.68252375e-03 1.53787929e+02] [ 9.78675332e-01 -2.03335811e-01 -2.91400653e-02 1.18948737e+02] [ 2.92800107e-02 -2.32063780e-03 9.99568555e-01 6.79367594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.000714057 meters Centerline goodness : 0.990367 Centerline is valid? [True, True] Translation: X:153.79, Y:118.94, Z:6.80 [[-2.03116067e-01 -9.79149451e-01 3.19615528e-03 1.53789532e+02] [ 9.78717929e-01 -2.03121871e-01 -2.92014009e-02 1.18943846e+02] [ 2.92417447e-02 -2.80313924e-03 9.99568438e-01 6.79624291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.030714057 meters Centerline goodness : 0.989745 Centerline is valid? [True, True] Translation: X:153.79, Y:118.94, Z:6.79 [[-2.01990792e-01 -9.79382535e-01 3.09366490e-03 1.53790291e+02] [ 9.78950931e-01 -2.01994058e-01 -2.92142806e-02 1.18941622e+02] [ 2.92368581e-02 -2.87246953e-03 9.99568384e-01 6.79488485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.060714057 meters Centerline goodness : 0.988407 Centerline is valid? [True, True] Translation: X:153.79, Y:118.94, Z:6.80 [[-2.00676256e-01 -9.79652853e-01 3.05399231e-03 1.53791965e+02] [ 9.79221223e-01 -2.00678928e-01 -2.92192549e-02 1.18936678e+02] [ 2.92375984e-02 -2.87307660e-03 9.99568361e-01 6.79676750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.090714057 meters Centerline goodness : 0.988239 Centerline is valid? [True, True] Translation: X:153.79, Y:118.94, Z:6.80 [[-1.99693162e-01 -9.79852486e-01 3.42743919e-03 1.53791423e+02] [ 9.79421238e-01 -1.99707316e-01 -2.91723670e-02 1.18942719e+02] [ 2.92691010e-02 -2.46861548e-03 9.99568520e-01 6.80205658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.120714057 meters Centerline goodness : 0.988477 Centerline is valid? [True, True] Translation: X:153.79, Y:118.95, Z:6.80 [[-1.98103419e-01 -9.80175455e-01 3.33347158e-03 1.53790897e+02] [ 9.79744119e-01 -1.98115493e-01 -2.91841314e-02 1.18946010e+02] [ 2.92659816e-02 -2.51552702e-03 9.99568494e-01 6.80156604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.150714057 meters Centerline goodness : 0.988525 Centerline is valid? [True, True] Translation: X:153.79, Y:118.95, Z:6.80 [[-1.97801639e-01 -9.80236780e-01 3.21984981e-03 1.53790483e+02] [ 9.79805322e-01 -1.97810485e-01 -2.91983250e-02 1.18951149e+02] [ 2.92581922e-02 -2.62065056e-03 9.99568452e-01 6.80081490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.180714057 meters Centerline goodness : 0.989807 Centerline is valid? [True, True] Translation: X:153.79, Y:118.96, Z:6.80 [[-1.95780507e-01 -9.80642303e-01 3.26601472e-03 1.53789431e+02] [ 9.80210916e-01 -1.95791608e-01 -2.91925697e-02 1.18957053e+02] [ 2.92669271e-02 -2.51395281e-03 9.99568470e-01 6.79812927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.210714057 meters Centerline goodness : 0.989323 Centerline is valid? [True, True] Translation: X:153.79, Y:118.95, Z:6.80 [[-1.94388589e-01 -9.80920644e-01 2.78696565e-03 1.53789176e+02] [ 9.80488841e-01 -1.94386129e-01 -2.92517628e-02 1.18951525e+02] [ 2.92354055e-02 -2.95362019e-03 9.99568190e-01 6.79674019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.240714057 meters Centerline goodness : 0.988405 Centerline is valid? [True, True] Translation: X:153.79, Y:118.96, Z:6.80 [[-1.95106851e-01 -9.80777913e-01 2.82869880e-03 1.53788511e+02] [ 9.80346140e-01 -1.95105309e-01 -2.92466087e-02 1.18958058e+02] [ 2.92363220e-02 -2.93310978e-03 9.99568224e-01 6.79746076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.270714057 meters Centerline goodness : 0.988902 Centerline is valid? [True, True] Translation: X:153.79, Y:118.97, Z:6.80 [[-1.92387298e-01 -9.81313673e-01 3.25618074e-03 1.53786562e+02] [ 9.80882319e-01 -1.92399601e-01 -2.91936561e-02 1.18967899e+02] [ 2.92746218e-02 -2.42255850e-03 9.99568471e-01 6.79698193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.300714057 meters Centerline goodness : 0.988301 Centerline is valid? [True, True] Translation: X:153.78, Y:119.01, Z:6.80 [[-1.94614947e-01 -9.80875857e-01 2.75233399e-03 1.53781120e+02] [ 9.80444038e-01 -1.94611362e-01 -2.92558647e-02 1.19006176e+02] [ 2.92320068e-02 -2.99511911e-03 9.99568166e-01 6.79804337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.330714057 meters Centerline goodness : 0.988498 Centerline is valid? [True, True] Translation: X:153.79, Y:118.97, Z:6.80 [[-1.94167136e-01 -9.80964460e-01 2.80194527e-03 1.53785741e+02] [ 9.80532672e-01 -1.94165216e-01 -2.92497444e-02 1.18967018e+02] [ 2.92370000e-02 -2.93194019e-03 9.99568208e-01 6.79637801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.360714057 meters Centerline goodness : 0.988594 Centerline is valid? [True, True] Translation: X:153.78, Y:118.97, Z:6.80 [[-1.93227017e-01 -9.81149163e-01 3.10478597e-03 1.53782677e+02] [ 9.80717632e-01 -1.93234473e-01 -2.92124147e-02 1.18974722e+02] [ 2.92616879e-02 -2.59970942e-03 9.99568404e-01 6.79901595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.390714057 meters Centerline goodness : 0.987726 Centerline is valid? [True, True] Translation: X:153.78, Y:118.97, Z:6.80 [[-1.94072446e-01 -9.80982208e-01 3.12937360e-03 1.53782127e+02] [ 9.80550695e-01 -1.94080257e-01 -2.92093868e-02 1.18971639e+02] [ 2.92612384e-02 -2.60022771e-03 9.99568416e-01 6.80117704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.420714057 meters Centerline goodness : 0.987672 Centerline is valid? [True, True] Translation: X:153.78, Y:118.98, Z:6.80 [[-1.93960497e-01 -9.81003550e-01 3.37044179e-03 1.53780686e+02] [ 9.80572311e-01 -1.93975486e-01 -2.91796946e-02 1.18977711e+02] [ 2.92791671e-02 -2.35474617e-03 9.99568500e-01 6.80289156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.450714057 meters Centerline goodness : 0.988394 Centerline is valid? [True, True] Translation: X:153.78, Y:118.99, Z:6.80 [[-1.92736244e-01 -9.81244763e-01 3.38469409e-03 1.53778490e+02] [ 9.80813560e-01 -1.92752193e-01 -2.91779406e-02 1.18989750e+02] [ 2.92831086e-02 -2.30389283e-03 9.99568503e-01 6.80320616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.480714057 meters Centerline goodness : 0.987040 Centerline is valid? [True, True] Translation: X:153.78, Y:118.98, Z:6.80 [[-1.92023270e-01 -9.81384826e-01 3.29969122e-03 1.53779511e+02] [ 9.80953527e-01 -1.92037019e-01 -2.91883676e-02 1.18981974e+02] [ 2.92786839e-02 -2.36800205e-03 9.99568483e-01 6.80369174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51071405700003 meters Centerline goodness : 0.988813 Centerline is valid? [True, True] Translation: X:153.78, Y:118.99, Z:6.80 [[-1.92794614e-01 -9.81233311e-01 3.38024196e-03 1.53778066e+02] [ 9.80802102e-01 -1.92810406e-01 -2.91784957e-02 1.18990850e+02] [ 2.92826577e-02 -2.31010838e-03 9.99568502e-01 6.80405207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.540714057 meters Centerline goodness : 0.991251 Centerline is valid? [True, True] Translation: X:153.78, Y:118.99, Z:6.80 [[-1.92062960e-01 -9.81377039e-01 3.30556157e-03 1.53778017e+02] [ 9.80945748e-01 -1.92076866e-01 -2.91876249e-02 1.18991967e+02] [ 2.92789868e-02 -2.36328508e-03 9.99568485e-01 6.80302326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57071405700003 meters Centerline goodness : 0.989501 Centerline is valid? [True, True] Translation: X:153.78, Y:119.00, Z:6.80 [[-1.92991811e-01 -9.81196033e-01 2.91656874e-03 1.53777520e+02] [ 9.80764349e-01 -1.92993803e-01 -2.92349678e-02 1.19004751e+02] [ 2.92481141e-02 -2.78164275e-03 9.99568312e-01 6.80080017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.600714057 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:153.77, Y:119.02, Z:6.80 [[-1.91644555e-01 -9.81458602e-01 3.37295993e-03 1.53774537e+02] [ 9.81027405e-01 -1.91660637e-01 -2.91792779e-02 1.19015089e+02] [ 2.92847170e-02 -2.28308360e-03 9.99568503e-01 6.80079805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63071405700003 meters Centerline goodness : 0.991112 Centerline is valid? [True, True] Translation: X:153.77, Y:119.02, Z:6.80 [[-1.91020753e-01 -9.81580922e-01 3.15675357e-03 1.53773325e+02] [ 9.81149480e-01 -1.91030716e-01 -2.92055378e-02 1.19020814e+02] [ 2.92706356e-02 -2.48161668e-03 9.99568443e-01 6.80292410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.660714057 meters Centerline goodness : 0.991136 Centerline is valid? [True, True] Translation: X:153.77, Y:119.02, Z:6.80 [[-1.91861705e-01 -9.81417809e-01 2.85852765e-03 1.53773356e+02] [ 9.80986096e-01 -1.91862478e-01 -2.92415586e-02 1.19019640e+02] [ 2.92466305e-02 -2.80615941e-03 9.99568287e-01 6.80110540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69071405700004 meters Centerline goodness : 0.990369 Centerline is valid? [True, True] Translation: X:153.78, Y:119.00, Z:6.80 [[-1.91177897e-01 -9.81550923e-01 2.96604318e-03 1.53776373e+02] [ 9.81119297e-01 -1.91182151e-01 -2.92285966e-02 1.19003094e+02] [ 2.92564105e-02 -2.67781942e-03 9.99568353e-01 6.79967551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.720714057 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:153.78, Y:119.00, Z:6.80 [[-1.92821228e-01 -9.81228642e-01 3.21354278e-03 1.53775163e+02] [ 9.80797237e-01 -1.92832080e-01 -2.91987774e-02 1.18998618e+02] [ 2.92703508e-02 -2.47831024e-03 9.99568459e-01 6.79867239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.750714057 meters Centerline goodness : 0.991283 Centerline is valid? [True, True] Translation: X:153.77, Y:119.01, Z:6.80 [[-1.92140755e-01 -9.81361631e-01 3.35835899e-03 1.53772765e+02] [ 9.80930400e-01 -1.92156187e-01 -2.91813277e-02 1.19008041e+02] [ 2.92827648e-02 -2.31260591e-03 9.99568493e-01 6.80007300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.780714057 meters Centerline goodness : 0.991368 Centerline is valid? [True, True] Translation: X:153.77, Y:119.00, Z:6.80 [[-1.91550496e-01 -9.81477274e-01 3.28132621e-03 1.53772390e+02] [ 9.81045961e-01 -1.91563911e-01 -2.91905753e-02 1.18999121e+02] [ 2.92784699e-02 -2.37233736e-03 9.99568479e-01 6.80029366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.810714057 meters Centerline goodness : 0.991804 Centerline is valid? [True, True] Translation: X:153.78, Y:118.97, Z:6.80 [[-1.82266728e-01 -9.83243567e-01 3.30576378e-03 1.53778235e+02] [ 9.82812435e-01 -1.82284939e-01 -2.91876501e-02 1.18965115e+02] [ 2.93011602e-02 -2.07099173e-03 9.99568483e-01 6.79631412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.840714057 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:153.77, Y:118.99, Z:6.80 [[-1.90935608e-01 -9.81598272e-01 2.90265426e-03 1.53774191e+02] [ 9.81166615e-01 -1.90938096e-01 -2.92355414e-02 1.18992080e+02] [ 2.92517842e-02 -2.73411843e-03 9.99568336e-01 6.79849368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.870714057 meters Centerline goodness : 0.991120 Centerline is valid? [True, True] Translation: X:153.77, Y:118.99, Z:6.80 [[-1.84771899e-01 -9.82775283e-01 3.47691112e-03 1.53772394e+02] [ 9.82344356e-01 -1.84794069e-01 -2.91670911e-02 1.18993996e+02] [ 2.93072088e-02 -1.97373479e-03 9.99568503e-01 6.80050750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.900714057 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:153.77, Y:119.02, Z:6.81 [[-1.87377233e-01 -9.82283385e-01 3.02070509e-03 1.53766854e+02] [ 9.81851858e-01 -1.87384777e-01 -2.92211115e-02 1.19021594e+02] [ 2.92694465e-02 -2.50948613e-03 9.99568408e-01 6.80516582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.930714057 meters Centerline goodness : 0.992425 Centerline is valid? [True, True] Translation: X:153.77, Y:119.01, Z:6.81 [[-1.86033219e-01 -9.82538285e-01 3.18741886e-03 1.53768951e+02] [ 9.82106950e-01 -1.86046281e-01 -2.92013705e-02 1.19006782e+02] [ 2.92844719e-02 -2.30203873e-03 9.99568467e-01 6.80528510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.960714057 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:153.77, Y:119.02, Z:6.80 [[-1.86471223e-01 -9.82455646e-01 3.06363355e-03 1.53767813e+02] [ 9.82024172e-01 -1.86480435e-01 -2.92159791e-02 1.19016853e+02] [ 2.92747114e-02 -2.43937717e-03 9.99568427e-01 6.80452620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.990714057 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:153.77, Y:119.02, Z:6.80 [[-1.86112127e-01 -9.82523678e-01 3.08210817e-03 1.53767414e+02] [ 9.82092226e-01 -1.86122042e-01 -2.92138004e-02 1.19019487e+02] [ 2.92768989e-02 -2.41012805e-03 9.99568434e-01 6.80461178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.020714057 meters Centerline goodness : 0.992545 Centerline is valid? [True, True] Translation: X:153.77, Y:119.04, Z:6.81 [[-1.87290853e-01 -9.82299690e-01 3.07498601e-03 1.53765044e+02] [ 9.81868219e-01 -1.87300039e-01 -2.92146382e-02 1.19035116e+02] [ 2.92734750e-02 -2.45240345e-03 9.99568432e-01 6.80518518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.050714057 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:153.77, Y:119.02, Z:6.81 [[-1.85725493e-01 -9.82596812e-01 3.08971221e-03 1.53766608e+02] [ 9.82165372e-01 -1.85735803e-01 -2.92129091e-02 1.19015223e+02] [ 2.92783815e-02 -2.39097361e-03 9.99568437e-01 6.80641912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.080714057 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:153.77, Y:119.01, Z:6.80 [[-1.82936447e-01 -9.83120748e-01 2.80190403e-03 1.53767782e+02] [ 9.82689064e-01 -1.82939473e-01 -2.92464104e-02 1.19008634e+02] [ 2.92653317e-02 -2.59683397e-03 9.99568305e-01 6.80288415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.110714057 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:153.77, Y:119.02, Z:6.80 [[-1.83289874e-01 -9.83054966e-01 2.78506745e-03 1.53765509e+02] [ 9.82623267e-01 -1.83292247e-01 -2.92483646e-02 1.19019129e+02] [ 2.92632313e-02 -2.62425699e-03 9.99568295e-01 6.80460737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.140714057 meters Centerline goodness : 0.992545 Centerline is valid? [True, True] Translation: X:153.77, Y:119.02, Z:6.80 [[-1.82633600e-01 -9.83176996e-01 2.82174964e-03 1.53765053e+02] [ 9.82745329e-01 -1.82637346e-01 -2.92441093e-02 1.19024403e+02] [ 2.92674924e-02 -2.56789568e-03 9.99568317e-01 6.80265971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.170714057 meters Centerline goodness : 0.992512 Centerline is valid? [True, True] Translation: X:153.77, Y:119.03, Z:6.80 [[-1.82538943e-01 -9.83194425e-01 2.87336125e-03 1.53765626e+02] [ 9.82762803e-01 -1.82544256e-01 -2.92381341e-02 1.19025147e+02] [ 2.92712861e-02 -2.51326552e-03 9.99568344e-01 6.80148515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.200714057 meters Centerline goodness : 0.991686 Centerline is valid? [True, True] Translation: X:153.77, Y:119.02, Z:6.80 [[-1.84817433e-01 -9.82768796e-01 2.83009911e-03 1.53765908e+02] [ 9.82337129e-01 -1.84820467e-01 -2.92431311e-02 1.19023762e+02] [ 2.92622970e-02 -2.62452899e-03 9.99568322e-01 6.80371562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.230714057 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:153.77, Y:119.03, Z:6.80 [[-1.85402691e-01 -9.82657897e-01 3.04945257e-03 1.53765469e+02] [ 9.82226415e-01 -1.85411952e-01 -2.92177671e-02 1.19029357e+02] [ 2.92764746e-02 -2.42179979e-03 9.99568418e-01 6.80427341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26071405700003 meters Centerline goodness : 0.991097 Centerline is valid? [True, True] Translation: X:153.76, Y:119.04, Z:6.81 [[-1.86181524e-01 -9.82510490e-01 3.09477665e-03 1.53762960e+02] [ 9.82079044e-01 -1.86191782e-01 -2.92125355e-02 1.19039197e+02] [ 2.92778446e-02 -2.39951908e-03 9.99568432e-01 6.80655845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.290714057 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:153.76, Y:119.04, Z:6.81 [[-1.86902848e-01 -9.82374093e-01 2.90992978e-03 1.53764292e+02] [ 9.81942481e-01 -1.86907325e-01 -2.92338033e-02 1.19035914e+02] [ 2.92624182e-02 -2.60649741e-03 9.99568365e-01 6.80681423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32071405700003 meters Centerline goodness : 0.990980 Centerline is valid? [True, True] Translation: X:153.76, Y:119.04, Z:6.81 [[-1.88514657e-01 -9.82065535e-01 3.08376964e-03 1.53762897e+02] [ 9.81634055e-01 -1.88523566e-01 -2.92138128e-02 1.19041578e+02] [ 2.92712419e-02 -2.48009861e-03 9.99568429e-01 6.80607979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.350714057 meters Centerline goodness : 0.990230 Centerline is valid? [True, True] Translation: X:153.76, Y:119.04, Z:6.81 [[-1.89138675e-01 -9.81945395e-01 3.13107234e-03 1.53762723e+02] [ 9.81513951e-01 -1.89148707e-01 -2.92083860e-02 1.19044334e+02] [ 2.92732784e-02 -2.45124423e-03 9.99568440e-01 6.80771722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38071405700003 meters Centerline goodness : 0.990795 Centerline is valid? [True, True] Translation: X:153.76, Y:119.05, Z:6.81 [[-1.89024136e-01 -9.81967624e-01 3.07581611e-03 1.53761600e+02] [ 9.81536134e-01 -1.89032586e-01 -2.92147134e-02 1.19049187e+02] [ 2.92693322e-02 -2.50326131e-03 9.99568427e-01 6.80859625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.410714057 meters Centerline goodness : 0.990930 Centerline is valid? [True, True] Translation: X:153.76, Y:119.04, Z:6.81 [[-1.87707201e-01 -9.82220040e-01 3.13035341e-03 1.53761523e+02] [ 9.81788611e-01 -1.87717841e-01 -2.92084848e-02 1.19041701e+02] [ 2.92767823e-02 -2.40929760e-03 9.99568440e-01 6.80895046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44071405700004 meters Centerline goodness : 0.990476 Centerline is valid? [True, True] Translation: X:153.76, Y:119.04, Z:6.81 [[-1.86113149e-01 -9.82523567e-01 3.05538376e-03 1.53762363e+02] [ 9.82092086e-01 -1.86122273e-01 -2.92170087e-02 1.19036171e+02] [ 2.92750745e-02 -2.43700126e-03 9.99568422e-01 6.80877789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.470714057 meters Centerline goodness : 0.990685 Centerline is valid? [True, True] Translation: X:153.76, Y:119.04, Z:6.81 [[-1.83605097e-01 -9.82995228e-01 3.09032926e-03 1.53761995e+02] [ 9.82563806e-01 -1.83616355e-01 -2.92130441e-02 1.19038521e+02] [ 2.92837179e-02 -2.32721812e-03 9.99568431e-01 6.80903456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.500714057 meters Centerline goodness : 0.990194 Centerline is valid? [True, True] Translation: X:153.76, Y:119.03, Z:6.81 [[-1.81355924e-01 -9.83413178e-01 2.92392805e-03 1.53763088e+02] [ 9.82981623e-01 -1.81363252e-01 -2.92318387e-02 1.19034279e+02] [ 2.92772685e-02 -2.42719958e-03 9.99568382e-01 6.80701517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.530714057 meters Centerline goodness : 0.991612 Centerline is valid? [True, True] Translation: X:153.76, Y:119.04, Z:6.81 [[-1.79269653e-01 -9.83795566e-01 2.94549568e-03 1.53761903e+02] [ 9.83364047e-01 -1.79278533e-01 -2.92294071e-02 1.19039051e+02] [ 2.92838253e-02 -2.34345112e-03 9.99568390e-01 6.80767963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.560714057 meters Centerline goodness : 0.990720 Centerline is valid? [True, True] Translation: X:153.76, Y:119.04, Z:6.81 [[-1.78691809e-01 -9.83901497e-01 2.66107757e-03 1.53762945e+02] [ 9.83469752e-01 -1.78692538e-01 -2.92612884e-02 1.19037952e+02] [ 2.92657401e-02 -2.61166326e-03 9.99568255e-01 6.80809426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.590714057 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:153.76, Y:119.05, Z:6.81 [[-1.79250918e-01 -9.83799215e-01 2.86579725e-03 1.53761189e+02] [ 9.83367625e-01 -1.79257452e-01 -2.92383423e-02 1.19053731e+02] [ 2.92783737e-02 -2.42286746e-03 9.99568360e-01 6.80823192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.620714057 meters Centerline goodness : 0.990384 Centerline is valid? [True, True] Translation: X:153.76, Y:119.06, Z:6.81 [[-1.80305256e-01 -9.83606605e-01 2.83936383e-03 1.53760808e+02] [ 9.83174986e-01 -1.80310546e-01 -2.92412990e-02 1.19057699e+02] [ 2.92739020e-02 -2.48076839e-03 9.99568349e-01 6.80878576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.650714057 meters Centerline goodness : 0.989564 Centerline is valid? [True, True] Translation: X:153.76, Y:119.07, Z:6.81 [[-1.80820651e-01 -9.83512199e-01 2.76526350e-03 1.53760018e+02] [ 9.83080523e-01 -1.80823526e-01 -2.92495652e-02 1.19070596e+02] [ 2.92673288e-02 -2.57044874e-03 9.99568315e-01 6.80815507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.680714057 meters Centerline goodness : 0.989262 Centerline is valid? [True, True] Translation: X:153.76, Y:119.07, Z:6.81 [[-1.81340451e-01 -9.83415976e-01 2.94257576e-03 1.53759799e+02] [ 9.82984436e-01 -1.81348336e-01 -2.92297859e-02 1.19070325e+02] [ 2.92786696e-02 -2.40803636e-03 9.99568387e-01 6.80898170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.710714057 meters Centerline goodness : 0.989212 Centerline is valid? [True, True] Translation: X:153.76, Y:119.07, Z:6.81 [[-1.81898805e-01 -9.83312879e-01 2.93356110e-03 1.53760535e+02] [ 9.82881327e-01 -1.81906180e-01 -2.92307879e-02 1.19073307e+02] [ 2.92766431e-02 -2.43370297e-03 9.99568384e-01 6.80765346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.740714057 meters Centerline goodness : 0.990277 Centerline is valid? [True, True] Translation: X:153.76, Y:119.09, Z:6.81 [[-1.82040669e-01 -9.83286602e-01 2.94177911e-03 1.53759390e+02] [ 9.82855055e-01 -1.82048224e-01 -2.92298762e-02 1.19086281e+02] [ 2.92768913e-02 -2.42968375e-03 9.99568387e-01 6.80772476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.770714057 meters Centerline goodness : 0.989351 Centerline is valid? [True, True] Translation: X:153.76, Y:119.06, Z:6.81 [[-1.80835295e-01 -9.83509014e-01 2.93515399e-03 1.53763035e+02] [ 9.83077471e-01 -1.80843183e-01 -2.92306080e-02 1.19059066e+02] [ 2.92793690e-02 -2.40044184e-03 9.99568385e-01 6.80621695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.800714057 meters Centerline goodness : 0.989463 Centerline is valid? [True, True] Translation: X:153.76, Y:119.07, Z:6.81 [[-1.80068939e-01 -9.83649842e-01 2.85749461e-03 1.53762450e+02] [ 9.83218243e-01 -1.80074869e-01 -2.92391412e-02 1.19070244e+02] [ 2.92756396e-02 -2.45552032e-03 9.99568361e-01 6.80536393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.830714057 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:153.76, Y:119.07, Z:6.81 [[-1.79161284e-01 -9.83815877e-01 2.74850766e-03 1.53761984e+02] [ 9.83384205e-01 -1.79164393e-01 -2.92510781e-02 1.19068748e+02] [ 2.92701097e-02 -2.53782170e-03 9.99568317e-01 6.80650777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.860714057 meters Centerline goodness : 0.990017 Centerline is valid? [True, True] Translation: X:153.76, Y:119.07, Z:6.81 [[-1.80184236e-01 -9.83630251e-01 2.27372344e-03 1.53763182e+02] [ 9.83198401e-01 -1.80172864e-01 -2.93026057e-02 1.19071036e+02] [ 2.92325927e-02 -3.04434637e-03 9.99568000e-01 6.80538341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.890714057 meters Centerline goodness : 0.988794 Centerline is valid? [True, True] Translation: X:153.76, Y:119.10, Z:6.81 [[-1.82890657e-01 -9.83129815e-01 2.60290505e-03 1.53761276e+02] [ 9.82698073e-01 -1.82887827e-01 -2.92667243e-02 1.19097910e+02] [ 2.92490289e-02 -2.79474067e-03 9.99568249e-01 6.80785094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.920714057 meters Centerline goodness : 0.988795 Centerline is valid? [True, True] Translation: X:153.76, Y:119.08, Z:6.81 [[-1.81464977e-01 -9.83393401e-01 2.80714587e-03 1.53763374e+02] [ 9.82961767e-01 -1.81468807e-01 -2.92444261e-02 1.19078447e+02] [ 2.92681851e-02 -2.54752204e-03 9.99568349e-01 6.80653231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.950714057 meters Centerline goodness : 0.988788 Centerline is valid? [True, True] Translation: X:153.76, Y:119.09, Z:6.81 [[-1.79170309e-01 -9.83814417e-01 2.68187793e-03 1.53763407e+02] [ 9.83382713e-01 -1.79171445e-01 -2.92580405e-02 1.19085512e+02] [ 2.92649980e-02 -2.60485977e-03 9.99568294e-01 6.80541262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.980714057 meters Centerline goodness : 0.988044 Centerline is valid? [True, True] Translation: X:153.76, Y:119.08, Z:6.81 [[-1.80266550e-01 -9.83614438e-01 2.57079880e-03 1.53761515e+02] [ 9.83182679e-01 -1.80263923e-01 -2.92700743e-02 1.19079283e+02] [ 2.92538900e-02 -2.74885048e-03 9.99568234e-01 6.80770514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01071405700003 meters Centerline goodness : 0.990317 Centerline is valid? [True, True] Translation: X:153.76, Y:119.09, Z:6.81 [[-1.77486448e-01 -9.84119092e-01 2.85880118e-03 1.53759551e+02] [ 9.83687516e-01 -1.77493550e-01 -2.92388417e-02 1.19091491e+02] [ 2.92819212e-02 -2.37733113e-03 9.99568366e-01 6.80720407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.040714057 meters Centerline goodness : 0.989032 Centerline is valid? [True, True] Translation: X:153.76, Y:119.11, Z:6.81 [[-1.78183127e-01 -9.83994772e-01 2.25007879e-03 1.53757206e+02] [ 9.83562919e-01 -1.78171936e-01 -2.93043680e-02 1.19105197e+02] [ 2.92362458e-02 -3.00844986e-03 9.99568002e-01 6.80656736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07071405700003 meters Centerline goodness : 0.990000 Centerline is valid? [True, True] Translation: X:153.76, Y:119.10, Z:6.81 [[-1.75613687e-01 -9.84455135e-01 2.81422240e-03 1.53756186e+02] [ 9.84023547e-01 -1.75620295e-01 -2.92433157e-02 1.19103218e+02] [ 2.92829669e-02 -2.36626540e-03 9.99568361e-01 6.80640805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.100714057 meters Centerline goodness : 0.988569 Centerline is valid? [True, True] Translation: X:153.76, Y:119.09, Z:6.81 [[-1.76239257e-01 -9.84344733e-01 2.27382147e-03 1.53758692e+02] [ 9.83912881e-01 -1.76229623e-01 -2.93012506e-02 1.19092145e+02] [ 2.92432464e-02 -2.92678841e-03 9.99568040e-01 6.80665222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13071405700003 meters Centerline goodness : 0.990118 Centerline is valid? [True, True] Translation: X:153.76, Y:119.10, Z:6.81 [[-1.76188267e-01 -9.84352549e-01 2.78443157e-03 1.53755683e+02] [ 9.83920940e-01 -1.76193743e-01 -2.92463383e-02 1.19099538e+02] [ 2.92793071e-02 -2.41320115e-03 9.99568356e-01 6.80836566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.160714057 meters Centerline goodness : 0.989578 Centerline is valid? [True, True] Translation: X:153.75, Y:119.11, Z:6.81 [[-1.75617603e-01 -9.84455607e-01 2.36952023e-03 1.53752411e+02] [ 9.84023785e-01 -1.75611070e-01 -2.92906670e-02 1.19114335e+02] [ 2.92514753e-02 -2.81229245e-03 9.99568128e-01 6.80900003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19071405700004 meters Centerline goodness : 0.987457 Centerline is valid? [True, True] Translation: X:153.75, Y:119.13, Z:6.81 [[-1.79144454e-01 -9.83819770e-01 2.43410785e-03 1.53749730e+02] [ 9.83387989e-01 -1.79138283e-01 -2.92837483e-02 1.19133884e+02] [ 2.92459724e-02 -2.85234866e-03 9.99568175e-01 6.81144884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.220714057 meters Centerline goodness : 0.989550 Centerline is valid? [True, True] Translation: X:153.75, Y:119.12, Z:6.81 [[-1.75986147e-01 -9.84388060e-01 3.00395212e-03 1.53748825e+02] [ 9.83956647e-01 -1.75998195e-01 -2.92224451e-02 1.19118137e+02] [ 2.92949162e-02 -2.18698684e-03 9.99568419e-01 6.81289565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.250714057 meters Centerline goodness : 0.990754 Centerline is valid? [True, True] Translation: X:153.75, Y:119.12, Z:6.81 [[-1.73129339e-01 -9.84895820e-01 2.54087759e-03 1.53748992e+02] [ 9.84464080e-01 -1.73128963e-01 -2.92717758e-02 1.19117280e+02] [ 2.92695491e-02 -2.56640049e-03 9.99568260e-01 6.81186375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.280714057 meters Centerline goodness : 0.987852 Centerline is valid? [True, True] Translation: X:153.75, Y:119.10, Z:6.81 [[-1.73126311e-01 -9.84896352e-01 2.54092783e-03 1.53751058e+02] [ 9.84464613e-01 -1.73125937e-01 -2.92717705e-02 1.19096006e+02] [ 2.92695605e-02 -2.56626011e-03 9.99568260e-01 6.80912960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.310714057 meters Centerline goodness : 0.989807 Centerline is valid? [True, True] Translation: X:153.75, Y:119.10, Z:6.81 [[-1.68614467e-01 -9.85677881e-01 2.87691123e-03 1.53748568e+02] [ 9.85246429e-01 -1.68625993e-01 -2.92360913e-02 1.19098504e+02] [ 2.93024905e-02 -2.09516143e-03 9.99568394e-01 6.81363179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.340714057 meters Centerline goodness : 0.990349 Centerline is valid? [True, True] Translation: X:153.75, Y:119.11, Z:6.81 [[-1.68007925e-01 -9.85782916e-01 2.31937713e-03 1.53745485e+02] [ 9.85351066e-01 -1.68003250e-01 -2.92947919e-02 1.19113076e+02] [ 2.92679683e-02 -2.63635646e-03 9.99568125e-01 6.81343035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.370714057 meters Centerline goodness : 0.989414 Centerline is valid? [True, True] Translation: X:153.75, Y:119.10, Z:6.81 [[-1.64704465e-01 -9.86339673e-01 2.54725399e-03 1.53745943e+02] [ 9.85907961e-01 -1.64707968e-01 -2.92707621e-02 1.19103811e+02] [ 2.92904669e-02 -2.30966723e-03 9.99568274e-01 6.81334982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.400714057 meters Centerline goodness : 0.990037 Centerline is valid? [True, True] Translation: X:153.75, Y:119.10, Z:6.81 [[-1.60419948e-01 -9.87045842e-01 2.43830933e-03 1.53746597e+02] [ 9.86614059e-01 -1.60422108e-01 -2.92821887e-02 1.19098334e+02] [ 2.92940213e-02 -2.29177691e-03 9.99568211e-01 6.81263376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.430714057 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:153.74, Y:119.13, Z:6.81 [[-1.56840441e-01 -9.87621083e-01 2.38169403e-03 1.53741947e+02] [ 9.87189262e-01 -1.56842494e-01 -2.92881173e-02 1.19126677e+02] [ 2.92991129e-02 -2.24237845e-03 9.99568174e-01 6.81153225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.460714057 meters Centerline goodness : 0.990681 Centerline is valid? [True, True] Translation: X:153.74, Y:119.11, Z:6.81 [[-1.49609696e-01 -9.88741249e-01 2.77154954e-03 1.53741284e+02] [ 9.88309939e-01 -1.49626416e-01 -2.92472251e-02 1.19105026e+02] [ 2.93326349e-02 -1.63651849e-03 9.99568366e-01 6.81473838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.490714057 meters Centerline goodness : 0.989425 Centerline is valid? [True, True] Translation: X:153.74, Y:119.09, Z:6.81 [[-1.46750110e-01 -9.89171098e-01 2.22367920e-03 1.53742608e+02] [ 9.88739175e-01 -1.46751907e-01 -2.93039637e-02 1.19093100e+02] [ 2.93129631e-02 -2.10172116e-03 9.99568073e-01 6.81123466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.520714057 meters Centerline goodness : 0.991158 Centerline is valid? [True, True] Translation: X:153.74, Y:119.09, Z:6.81 [[-1.43357280e-01 -9.89668045e-01 2.41887317e-03 1.53742823e+02] [ 9.89236351e-01 -1.43366320e-01 -2.92838022e-02 1.19091198e+02] [ 2.93280282e-02 -1.80520896e-03 9.99568211e-01 6.81112687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.550714057 meters Centerline goodness : 0.990768 Centerline is valid? [True, True] Translation: X:153.74, Y:119.09, Z:6.81 [[-1.38257911e-01 -9.90393866e-01 2.17700278e-03 1.53744166e+02] [ 9.89961926e-01 -1.38262037e-01 -2.93086028e-02 1.19086026e+02] [ 2.93280573e-02 -1.89699636e-03 9.99568040e-01 6.80800515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.580714057 meters Centerline goodness : 0.990447 Centerline is valid? [True, True] Translation: X:153.74, Y:119.08, Z:6.81 [[-1.35942194e-01 -9.90714583e-01 2.08188636e-03 1.53744248e+02] [ 9.90282548e-01 -1.35944521e-01 -2.93183060e-02 1.19082411e+02] [ 2.93290943e-02 -1.92393910e-03 9.99567958e-01 6.80851873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.610714057 meters Centerline goodness : 0.987938 Centerline is valid? [True, True] Translation: X:153.74, Y:119.08, Z:6.81 [[-1.33089302e-01 -9.91101777e-01 2.12262940e-03 1.53742639e+02] [ 9.90669797e-01 -1.33094076e-01 -2.93141555e-02 1.19084521e+02] [ 2.93358210e-02 -1.79857568e-03 9.99567994e-01 6.80928943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.640714057 meters Centerline goodness : 0.987950 Centerline is valid? [True, True] Translation: X:153.74, Y:119.09, Z:6.81 [[-1.32091256e-01 -9.91234456e-01 2.48041040e-03 1.53741048e+02] [ 9.90802986e-01 -1.32107022e-01 -2.92775878e-02 1.19093464e+02] [ 2.93486335e-02 -1.40971533e-03 9.99568242e-01 6.81092665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.670714057 meters Centerline goodness : 0.988490 Centerline is valid? [True, True] Translation: X:153.74, Y:119.10, Z:6.81 [[-1.30692465e-01 -9.91419795e-01 2.50387191e-03 1.53741064e+02] [ 9.90988386e-01 -1.30709531e-01 -2.92751927e-02 1.19097949e+02] [ 2.93512855e-02 -1.34473913e-03 9.99568254e-01 6.81246392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.700714057 meters Centerline goodness : 0.987153 Centerline is valid? [True, True] Translation: X:153.74, Y:119.10, Z:6.82 [[-1.31896079e-01 -9.91260872e-01 2.30408242e-03 1.53743393e+02] [ 9.90829143e-01 -1.31906728e-01 -2.92954838e-02 1.19099364e+02] [ 2.93433908e-02 -1.58100743e-03 9.99568140e-01 6.81554060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.730714057 meters Centerline goodness : 0.988389 Centerline is valid? [True, True] Translation: X:153.74, Y:119.11, Z:6.81 [[-1.30742771e-01 -9.91412861e-01 2.62033829e-03 1.53743132e+02] [ 9.90981650e-01 -1.30763248e-01 -2.92633388e-02 1.19105935e+02] [ 2.93546944e-02 -1.22926283e-03 9.99568302e-01 6.81486095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76071405700003 meters Centerline goodness : 0.983529 Centerline is valid? [True, True] Translation: X:153.74, Y:119.11, Z:6.82 [[-1.38278079e-01 -9.90390519e-01 2.40689340e-03 1.53744449e+02] [ 9.89958863e-01 -1.38288981e-01 -2.92849411e-02 1.19111941e+02] [ 2.93363748e-02 -1.66673994e-03 9.99568206e-01 6.82015374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.790714057 meters Centerline goodness : 0.986004 Centerline is valid? [True, True] Translation: X:153.74, Y:119.12, Z:6.82 [[-1.37689083e-01 -9.90471050e-01 2.96903447e-03 1.53744042e+02] [ 9.90040308e-01 -1.37716817e-01 -2.92278422e-02 1.19121618e+02] [ 2.93582175e-02 -1.08489098e-03 9.99568366e-01 6.81744878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82071405700003 meters Centerline goodness : 0.987388 Centerline is valid? [True, True] Translation: X:153.75, Y:119.13, Z:6.82 [[-1.38014168e-01 -9.90427051e-01 2.51915868e-03 1.53745356e+02] [ 9.89995562e-01 -1.38028497e-01 -2.92732124e-02 1.19129818e+02] [ 2.93406972e-02 -1.54616214e-03 9.99568273e-01 6.81577687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.850714057 meters Centerline goodness : 0.987360 Centerline is valid? [True, True] Translation: X:153.75, Y:119.12, Z:6.81 [[-1.42073353e-01 -9.89853019e-01 2.48257831e-03 1.53749678e+02] [ 9.89421429e-01 -1.42084834e-01 -2.92768906e-02 1.19122718e+02] [ 2.93325552e-02 -1.70314983e-03 9.99568257e-01 6.81347303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88071405700003 meters Centerline goodness : 0.987189 Centerline is valid? [True, True] Translation: X:153.75, Y:119.13, Z:6.81 [[-1.47082420e-01 -9.89121114e-01 2.48685266e-03 1.53751798e+02] [ 9.88689475e-01 -1.47091842e-01 -2.92764621e-02 1.19129962e+02] [ 2.93237626e-02 -1.84732784e-03 9.99568259e-01 6.81447458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.910714057 meters Centerline goodness : 0.987189 Centerline is valid? [True, True] Translation: X:153.75, Y:119.13, Z:6.81 [[-1.46725178e-01 -9.89173852e-01 2.61027340e-03 1.53751403e+02] [ 9.88742360e-01 -1.46738397e-01 -2.92641083e-02 1.19132596e+02] [ 2.93303180e-02 -1.71289360e-03 9.99568306e-01 6.81460190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94071405700004 meters Centerline goodness : 0.987074 Centerline is valid? [True, True] Translation: X:153.75, Y:119.14, Z:6.82 [[-1.49071584e-01 -9.88822990e-01 2.59937777e-03 1.53750683e+02] [ 9.88391456e-01 -1.49083458e-01 -2.92651952e-02 1.19138955e+02] [ 2.93256220e-02 -1.79340620e-03 9.99568303e-01 6.81851551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.970714057 meters Centerline goodness : 0.987844 Centerline is valid? [True, True] Translation: X:153.75, Y:119.17, Z:6.82 [[-1.55567715e-01 -9.87821637e-01 2.66436198e-03 1.53748272e+02] [ 9.87390097e-01 -1.55578671e-01 -2.92587242e-02 1.19166840e+02] [ 2.93169188e-02 -1.92094824e-03 9.99568321e-01 6.82114301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.000714057 meters Centerline goodness : 0.987878 Centerline is valid? [True, True] Translation: X:153.75, Y:119.17, Z:6.82 [[-1.57501602e-01 -9.87515146e-01 2.66117323e-03 1.53750539e+02] [ 9.87083582e-01 -1.57511619e-01 -2.92590410e-02 1.19165849e+02] [ 2.93129118e-02 -1.98154542e-03 9.99568320e-01 6.81772481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.030714057 meters Centerline goodness : 0.987734 Centerline is valid? [True, True] Translation: X:153.75, Y:119.17, Z:6.82 [[-1.59626488e-01 -9.87173967e-01 2.63507394e-03 1.53752150e+02] [ 9.86742361e-01 -1.59634806e-01 -2.92616245e-02 1.19167566e+02] [ 2.93069635e-02 -2.07079128e-03 9.99568314e-01 6.81649200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.060714057 meters Centerline goodness : 0.989130 Centerline is valid? [True, True] Translation: X:153.75, Y:119.19, Z:6.82 [[-1.63457435e-01 -9.86546359e-01 2.81934712e-03 1.53750802e+02] [ 9.86114872e-01 -1.63469515e-01 -2.92434047e-02 1.19186155e+02] [ 2.93108517e-02 -1.99985180e-03 9.99568344e-01 6.81633792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.090714057 meters Centerline goodness : 0.989217 Centerline is valid? [True, True] Translation: X:153.75, Y:119.20, Z:6.82 [[-1.64983293e-01 -9.86292655e-01 2.70415764e-03 1.53749991e+02] [ 9.85861059e-01 -1.64991307e-01 -2.92547624e-02 1.19198601e+02] [ 2.92999198e-02 -2.16062334e-03 9.99568330e-01 6.81575537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.120714057 meters Centerline goodness : 0.990380 Centerline is valid? [True, True] Translation: X:153.75, Y:119.18, Z:6.82 [[-1.63001771e-01 -9.86621970e-01 2.74047119e-03 1.53753788e+02] [ 9.86190421e-01 -1.63011723e-01 -2.92511914e-02 1.19179839e+02] [ 2.93065970e-02 -2.06536956e-03 9.99568336e-01 6.81723560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.150714057 meters Centerline goodness : 0.990976 Centerline is valid? [True, True] Translation: X:153.76, Y:119.18, Z:6.82 [[-1.62663892e-01 -9.86678671e-01 2.37858549e-03 1.53755538e+02] [ 9.86246903e-01 -1.62663312e-01 -2.92864155e-02 1.19175084e+02] [ 2.92831902e-02 -2.41796977e-03 9.99568231e-01 6.81666521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.180714057 meters Centerline goodness : 0.991067 Centerline is valid? [True, True] Translation: X:153.75, Y:119.18, Z:6.82 [[-1.61419241e-01 -9.86882695e-01 2.52487485e-03 1.53754908e+02] [ 9.86451005e-01 -1.61423522e-01 -2.92721766e-02 1.19180510e+02] [ 2.92957787e-02 -2.23442718e-03 9.99568289e-01 6.81788893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.210714057 meters Centerline goodness : 0.991199 Centerline is valid? [True, True] Translation: X:153.75, Y:119.19, Z:6.82 [[-1.61666308e-01 -9.86842825e-01 2.28970715e-03 1.53754042e+02] [ 9.86411023e-01 -1.61663541e-01 -2.92949534e-02 1.19190329e+02] [ 2.92796768e-02 -2.47741460e-03 9.99568188e-01 6.81848930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.240714057 meters Centerline goodness : 0.991802 Centerline is valid? [True, True] Translation: X:153.76, Y:119.19, Z:6.82 [[-1.60084542e-01 -9.87100574e-01 2.32296670e-03 1.53755300e+02] [ 9.86668781e-01 -1.60083448e-01 -2.92917372e-02 1.19186116e+02] [ 2.92857592e-02 -2.39715561e-03 9.99568206e-01 6.81722555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.270714057 meters Centerline goodness : 0.992121 Centerline is valid? [True, True] Translation: X:153.76, Y:119.18, Z:6.82 [[-1.57377878e-01 -9.87535725e-01 2.32271647e-03 1.53757234e+02] [ 9.87103931e-01 -1.57377961e-01 -2.92917613e-02 1.19181863e+02] [ 2.92922052e-02 -2.31711270e-03 9.99568206e-01 6.81540811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.300714057 meters Centerline goodness : 0.991850 Centerline is valid? [True, True] Translation: X:153.76, Y:119.20, Z:6.82 [[-1.60241235e-01 -9.87075378e-01 2.22374966e-03 1.53755382e+02] [ 9.86643549e-01 -1.60237144e-01 -2.93012694e-02 1.19199343e+02] [ 2.92788889e-02 -2.50122335e-03 9.99568152e-01 6.81836028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.330714057 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:153.75, Y:119.21, Z:6.82 [[-1.60678833e-01 -9.87003839e-01 2.39465766e-03 1.53754134e+02] [ 9.86572079e-01 -1.60679595e-01 -2.92848249e-02 1.19209093e+02] [ 2.92890072e-02 -2.34294911e-03 9.99568239e-01 6.81903626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.360714057 meters Centerline goodness : 0.990528 Centerline is valid? [True, True] Translation: X:153.75, Y:119.22, Z:6.82 [[-1.60589913e-01 -9.87018356e-01 2.37603304e-03 1.53752940e+02] [ 9.86586587e-01 -1.60590164e-01 -2.92866135e-02 1.19224166e+02] [ 2.92879926e-02 -2.35897237e-03 9.99568231e-01 6.81657021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.390714057 meters Centerline goodness : 0.992789 Centerline is valid? [True, True] Translation: X:153.76, Y:119.17, Z:6.81 [[-1.52560874e-01 -9.88290887e-01 2.51040182e-03 1.53759884e+02] [ 9.87859236e-01 -1.52568600e-01 -2.92737331e-02 1.19171123e+02] [ 2.93139721e-02 -1.98610268e-03 9.99568280e-01 6.81048918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.420714057 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:153.72, Y:119.49, Z:6.82 [[-1.72629667e-01 -9.84984208e-01 2.26030440e-03 1.53720510e+02] [ 9.84552451e-01 -1.72621229e-01 -2.92981722e-02 1.19491896e+02] [ 2.92484134e-02 -2.83234548e-03 9.99568161e-01 6.82124639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.450714057 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:153.76, Y:119.17, Z:6.81 [[-1.42644804e-01 -9.89769520e-01 2.95919320e-03 1.53761305e+02] [ 9.89338610e-01 -1.42670091e-01 -2.92294191e-02 1.19167993e+02] [ 2.93525764e-02 -1.24178067e-03 9.99568349e-01 6.81005222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.480714057 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:153.74, Y:119.21, Z:6.81 [[-1.64499984e-01 -9.86375211e-01 1.92313131e-03 1.53743401e+02] [ 9.85943520e-01 -1.64485167e-01 -2.93258482e-02 1.19212887e+02] [ 2.92426163e-02 -2.92800272e-03 9.99568055e-01 6.81498372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51071405700003 meters Centerline goodness : 0.993109 Centerline is valid? [True, True] Translation: X:153.75, Y:119.18, Z:6.81 [[-1.41493235e-01 -9.89935413e-01 2.74629481e-03 1.53751160e+02] [ 9.89504251e-01 -1.41512750e-01 -2.92485674e-02 1.19183692e+02] [ 2.93428283e-02 -1.42100402e-03 9.99568396e-01 6.81007888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.540714057 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:153.75, Y:119.18, Z:6.81 [[-1.40023618e-01 -9.90146649e-01 1.73223527e-03 1.53749814e+02] [ 9.89714703e-01 -1.40013866e-01 -2.93415180e-02 1.19182747e+02] [ 2.92949427e-02 -2.39408680e-03 9.99567944e-01 6.80975380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57071405700003 meters Centerline goodness : 0.992231 Centerline is valid? [True, True] Translation: X:153.75, Y:119.18, Z:6.81 [[-1.38691977e-01 -9.90333899e-01 1.81755780e-03 1.53747700e+02] [ 9.89901972e-01 -1.38685323e-01 -2.93337167e-02 1.19177982e+02] [ 2.93022426e-02 -2.26914711e-03 9.99568021e-01 6.81214052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.600714057 meters Centerline goodness : 0.992493 Centerline is valid? [True, True] Translation: X:153.74, Y:119.19, Z:6.81 [[-1.35313022e-01 -9.90800409e-01 2.22179367e-03 1.53744884e+02] [ 9.90368754e-01 -1.35319767e-01 -2.92966132e-02 1.19186713e+02] [ 2.93277489e-02 -1.76381825e-03 9.99568293e-01 6.81282674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63071405700003 meters Centerline goodness : 0.990614 Centerline is valid? [True, True] Translation: X:153.74, Y:119.19, Z:6.82 [[-1.33463841e-01 -9.91052166e-01 1.73410147e-03 1.53742709e+02] [ 9.90620176e-01 -1.33457005e-01 -2.93410114e-02 1.19186887e+02] [ 2.93099009e-02 -2.19812816e-03 9.99567956e-01 6.81922383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.660714057 meters Centerline goodness : 0.990495 Centerline is valid? [True, True] Translation: X:153.74, Y:119.19, Z:6.82 [[-1.32081302e-01 -9.91236325e-01 2.25320594e-03 1.53740362e+02] [ 9.90804733e-01 -1.32090381e-01 -2.92935534e-02 1.19188807e+02] [ 2.93344611e-02 -1.63664357e-03 9.99568312e-01 6.81623209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69071405700004 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:153.74, Y:119.20, Z:6.82 [[-1.23389845e-01 -9.92355563e-01 2.32008555e-03 1.53735466e+02] [ 9.91924156e-01 -1.23404677e-01 -2.92874456e-02 1.19195154e+02] [ 2.93498690e-02 -1.31242448e-03 9.99568338e-01 6.81633367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.720714057 meters Centerline goodness : 0.992996 Centerline is valid? [True, True] Translation: X:153.73, Y:119.19, Z:6.82 [[-1.19958129e-01 -9.92777332e-01 1.79320046e-03 1.53734473e+02] [ 9.92345359e-01 -1.19958920e-01 -2.93350490e-02 1.19188367e+02] [ 2.93382821e-02 -1.73950344e-03 9.99568026e-01 6.81546423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.750714057 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:153.73, Y:119.18, Z:6.81 [[-1.10289448e-01 -9.93897723e-01 1.88535061e-03 1.53733908e+02] [ 9.93465892e-01 -1.10297160e-01 -2.93267514e-02 1.19183983e+02] [ 2.93557403e-02 -1.36139971e-03 9.99568100e-01 6.81439750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.780714057 meters Centerline goodness : 0.990822 Centerline is valid? [True, True] Translation: X:153.73, Y:119.19, Z:6.82 [[-1.08730511e-01 -9.94069976e-01 1.59992909e-03 1.53733911e+02] [ 9.93637824e-01 -1.08730484e-01 -2.93522798e-02 1.19187522e+02] [ 2.93521811e-02 -1.60173832e-03 9.99567849e-01 6.81558074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.810714057 meters Centerline goodness : 0.991343 Centerline is valid? [True, True] Translation: X:153.73, Y:119.18, Z:6.81 [[-1.03782669e-01 -9.94597848e-01 2.06837629e-03 1.53732681e+02] [ 9.94166365e-01 -1.03798599e-01 -2.93102212e-02 1.19182864e+02] [ 2.93665775e-02 -9.85582844e-04 9.99568223e-01 6.81477316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.840714057 meters Centerline goodness : 0.987325 Centerline is valid? [True, True] Translation: X:153.73, Y:119.18, Z:6.82 [[-1.05769987e-01 -9.94389199e-01 1.68254083e-03 1.53734662e+02] [ 9.93957153e-01 -1.05773684e-01 -2.93446200e-02 1.19179664e+02] [ 2.93579417e-02 -1.43140659e-03 9.99567938e-01 6.81703310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.870714057 meters Centerline goodness : 0.991006 Centerline is valid? [True, True] Translation: X:153.73, Y:119.19, Z:6.82 [[-1.02257704e-01 -9.94754772e-01 2.51105182e-03 1.53730689e+02] [ 9.94324173e-01 -1.02287326e-01 -2.92701500e-02 1.19191032e+02] [ 2.93734701e-02 -4.96298810e-04 9.99568383e-01 6.81668116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.900714057 meters Centerline goodness : 0.991189 Centerline is valid? [True, True] Translation: X:153.73, Y:119.19, Z:6.82 [[-1.00010412e-01 -9.94984823e-01 1.76644658e-03 1.53731979e+02] [ 9.94552953e-01 -1.00019085e-01 -2.93361041e-02 1.19193167e+02] [ 2.93656567e-02 -1.17709120e-03 9.99568043e-01 6.81509909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.930714057 meters Centerline goodness : 0.990609 Centerline is valid? [True, True] Translation: X:153.73, Y:119.20, Z:6.82 [[-1.02053243e-01 -9.94777488e-01 1.69829571e-03 1.53733168e+02] [ 9.94345512e-01 -1.02059020e-01 -2.93421190e-02 1.19199010e+02] [ 2.93622058e-02 -1.30576567e-03 9.99567985e-01 6.81582613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.960714057 meters Centerline goodness : 0.990312 Centerline is valid? [True, True] Translation: X:153.73, Y:119.20, Z:6.82 [[-1.02689727e-01 -9.94711914e-01 1.74037444e-03 1.53734601e+02] [ 9.94279987e-01 -1.02696468e-01 -2.93384121e-02 1.19196632e+02] [ 2.93619984e-02 -1.28233406e-03 9.99568021e-01 6.81624670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.990714057 meters Centerline goodness : 0.989748 Centerline is valid? [True, True] Translation: X:153.73, Y:119.21, Z:6.82 [[-1.08605016e-01 -9.94083265e-01 1.84726763e-03 1.53733884e+02] [ 9.93651433e-01 -1.08612338e-01 -2.93289894e-02 1.19214254e+02] [ 2.93560936e-02 -1.34973521e-03 9.99568106e-01 6.81960288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.020714057 meters Centerline goodness : 0.986843 Centerline is valid? [True, True] Translation: X:153.73, Y:119.23, Z:6.82 [[-1.09425700e-01 -9.93993057e-01 1.95441084e-03 1.53734807e+02] [ 9.93561355e-01 -1.09435824e-01 -2.93195179e-02 1.19229116e+02] [ 2.93572797e-02 -1.26648168e-03 9.99568180e-01 6.82176950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.050714057 meters Centerline goodness : 0.985132 Centerline is valid? [True, True] Translation: X:153.74, Y:119.22, Z:6.82 [[-1.16024116e-01 -9.93243698e-01 2.31536511e-03 1.53739396e+02] [ 9.92812416e-01 -1.16042009e-01 -2.92875119e-02 1.19222135e+02] [ 2.93583162e-02 -1.09933443e-03 9.99568347e-01 6.81840097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.080714057 meters Centerline goodness : 0.989364 Centerline is valid? [True, True] Translation: X:153.74, Y:119.21, Z:6.81 [[-1.05831265e-01 -9.94380710e-01 2.59762760e-03 1.53743457e+02] [ 9.93950185e-01 -1.05861887e-01 -2.92624566e-02 1.19213748e+02] [ 2.93730122e-02 -5.14970376e-04 9.99568387e-01 6.81492469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.110714057 meters Centerline goodness : 0.988797 Centerline is valid? [True, True] Translation: X:153.74, Y:119.23, Z:6.82 [[-1.18385446e-01 -9.92966646e-01 1.45799021e-03 1.53744438e+02] [ 9.92534528e-01 -1.18377039e-01 -2.93613134e-02 1.19227587e+02] [ 2.93273974e-02 -2.02884655e-03 9.99567800e-01 6.81692352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.140714057 meters Centerline goodness : 0.986668 Centerline is valid? [True, True] Translation: X:153.75, Y:119.22, Z:6.82 [[-1.22781362e-01 -9.92432058e-01 1.82971373e-03 1.53747207e+02] [ 9.92000197e-01 -1.22782006e-01 -2.93289560e-02 1.19223550e+02] [ 2.93316520e-02 -1.78597278e-03 9.99568139e-01 6.82023489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.170714057 meters Centerline goodness : 0.985349 Centerline is valid? [True, True] Translation: X:153.75, Y:119.23, Z:6.82 [[-1.33035052e-01 -9.91108846e-01 2.22038556e-03 1.53749998e+02] [ 9.90677265e-01 -1.33042751e-01 -2.92947679e-02 1.19229351e+02] [ 2.93297098e-02 -1.69754547e-03 9.99568350e-01 6.82026797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.200714057 meters Centerline goodness : 0.989460 Centerline is valid? [True, True] Translation: X:153.75, Y:119.25, Z:6.82 [[-1.32781722e-01 -9.91141982e-01 2.56645798e-03 1.53748823e+02] [ 9.90710768e-01 -1.32799730e-01 -2.92644195e-02 1.19248228e+02] [ 2.93460196e-02 -1.34316245e-03 9.99568410e-01 6.81988641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.230714057 meters Centerline goodness : 0.987817 Centerline is valid? [True, True] Translation: X:153.75, Y:119.24, Z:6.82 [[-1.36682902e-01 -9.90613025e-01 1.90214844e-03 1.53753393e+02] [ 9.90181249e-01 -1.36679629e-01 -2.93218749e-02 1.19243527e+02] [ 2.93066162e-02 -2.12432724e-03 9.99568212e-01 6.82066855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26071405700003 meters Centerline goodness : 0.989045 Centerline is valid? [True, True] Translation: X:153.75, Y:119.26, Z:6.82 [[-1.39134154e-01 -9.90271477e-01 2.02206492e-03 1.53753617e+02] [ 9.89839758e-01 -1.39133349e-01 -2.93115109e-02 1.19257651e+02] [ 2.93076899e-02 -2.07671201e-03 9.99568280e-01 6.81909655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.290714057 meters Centerline goodness : 0.989875 Centerline is valid? [True, True] Translation: X:153.76, Y:119.25, Z:6.82 [[-1.37935903e-01 -9.90439250e-01 1.94393663e-03 1.53757581e+02] [ 9.90007496e-01 -1.37933316e-01 -2.93182245e-02 1.19246782e+02] [ 2.93060540e-02 -2.11952394e-03 9.99568238e-01 6.81823684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32071405700003 meters Centerline goodness : 0.989787 Centerline is valid? [True, True] Translation: X:153.76, Y:119.26, Z:6.82 [[-1.39937381e-01 -9.90158922e-01 1.68498096e-03 1.53757231e+02] [ 9.89727124e-01 -1.39926285e-01 -2.93403301e-02 1.19255892e+02] [ 2.92873627e-02 -2.43813758e-03 9.99568060e-01 6.81933986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.350714057 meters Centerline goodness : 0.988762 Centerline is valid? [True, True] Translation: X:153.76, Y:119.26, Z:6.82 [[-1.39382627e-01 -9.90237043e-01 1.75553602e-03 1.53759023e+02] [ 9.89805247e-01 -1.39373854e-01 -2.93343151e-02 1.19262013e+02] [ 2.92926012e-02 -2.35105514e-03 9.99568115e-01 6.81806670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38071405700003 meters Centerline goodness : 0.990840 Centerline is valid? [True, True] Translation: X:153.76, Y:119.26, Z:6.82 [[-1.38331679e-01 -9.90384337e-01 1.79212880e-03 1.53760423e+02] [ 9.89952539e-01 -1.38324444e-01 -2.93312036e-02 1.19259411e+02] [ 2.92970599e-02 -2.28331220e-03 9.99568141e-01 6.81719041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.410714057 meters Centerline goodness : 0.990187 Centerline is valid? [True, True] Translation: X:153.76, Y:119.25, Z:6.82 [[-1.35533251e-01 -9.90771401e-01 1.66415736e-03 1.53763007e+02] [ 9.90339557e-01 -1.35523461e-01 -2.93420192e-02 1.19251842e+02] [ 2.92967658e-02 -2.32873840e-03 9.99568045e-01 6.81588385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44071405700004 meters Centerline goodness : 0.988558 Centerline is valid? [True, True] Translation: X:153.76, Y:119.28, Z:6.82 [[-1.41588358e-01 -9.89924475e-01 1.50705886e-03 1.53761003e+02] [ 9.89492717e-01 -1.41571294e-01 -2.93552728e-02 1.19278473e+02] [ 2.92728592e-02 -2.66514110e-03 9.99567905e-01 6.81829709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.470714057 meters Centerline goodness : 0.987995 Centerline is valid? [True, True] Translation: X:153.76, Y:119.27, Z:6.82 [[-1.41947478e-01 -9.89872486e-01 1.83724757e-03 1.53761886e+02] [ 9.89440725e-01 -1.41939996e-01 -2.93272795e-02 1.19272257e+02] [ 2.92910460e-02 -2.34508578e-03 9.99568174e-01 6.81855578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.500714057 meters Centerline goodness : 0.989673 Centerline is valid? [True, True] Translation: X:153.76, Y:119.27, Z:6.82 [[-1.39343585e-01 -9.90241725e-01 2.16607387e-03 1.53762504e+02] [ 9.89810073e-01 -1.39346934e-01 -2.92993388e-02 1.19266636e+02] [ 2.93152635e-02 -1.93867316e-03 9.99568335e-01 6.81629848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.530714057 meters Centerline goodness : 0.988554 Centerline is valid? [True, True] Translation: X:153.76, Y:119.28, Z:6.82 [[-1.43014239e-01 -9.89719329e-01 1.60534553e-03 1.53761083e+02] [ 9.89287594e-01 -1.42999454e-01 -2.93464308e-02 1.19281041e+02] [ 2.92742933e-02 -2.60880907e-03 9.99568012e-01 6.81803198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.560714057 meters Centerline goodness : 0.985701 Centerline is valid? [True, True] Translation: X:153.76, Y:119.28, Z:6.82 [[-1.42817715e-01 -9.89747156e-01 1.91496907e-03 1.53762758e+02] [ 9.89315425e-01 -1.42812146e-01 -2.93203169e-02 1.19275986e+02] [ 2.92931811e-02 -2.29295220e-03 9.99568233e-01 6.81983088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.590714057 meters Centerline goodness : 0.989046 Centerline is valid? [True, True] Translation: X:153.76, Y:119.31, Z:6.82 [[-1.44237582e-01 -9.89540512e-01 2.25741003e-03 1.53757650e+02] [ 9.89108898e-01 -1.44241490e-01 -2.92913191e-02 1.19311423e+02] [ 2.93105591e-02 -1.99208469e-03 9.99568368e-01 6.82080079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.620714057 meters Centerline goodness : 0.987715 Centerline is valid? [True, True] Translation: X:153.76, Y:119.29, Z:6.82 [[-1.43181146e-01 -9.89694668e-01 1.90352249e-03 1.53758873e+02] [ 9.89262944e-01 -1.43175082e-01 -2.93210388e-02 1.19291330e+02] [ 2.92914127e-02 -2.31513567e-03 9.99568233e-01 6.81898774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.650714057 meters Centerline goodness : 0.986610 Centerline is valid? [True, True] Translation: X:153.76, Y:119.29, Z:6.82 [[-1.42248411e-01 -9.89828954e-01 2.00777336e-03 1.53759699e+02] [ 9.89397247e-01 -1.42245828e-01 -2.93123072e-02 1.19289917e+02] [ 2.92997678e-02 -2.18314370e-03 9.99568286e-01 6.82395087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.680714057 meters Centerline goodness : 0.986357 Centerline is valid? [True, True] Translation: X:153.76, Y:119.30, Z:6.82 [[-1.42589897e-01 -9.89779559e-01 2.13217801e-03 1.53759362e+02] [ 9.89347893e-01 -1.42590832e-01 -2.93019086e-02 1.19296277e+02] [ 2.93064592e-02 -2.06869032e-03 9.99568333e-01 6.82230737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.710714057 meters Centerline goodness : 0.985814 Centerline is valid? [True, True] Translation: X:153.76, Y:119.30, Z:6.82 [[-1.43192188e-01 -9.89692763e-01 2.05724330e-03 1.53760198e+02] [ 9.89261073e-01 -1.43190651e-01 -2.93081411e-02 1.19298292e+02] [ 2.93006331e-02 -2.16154612e-03 9.99568307e-01 6.82225891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.740714057 meters Centerline goodness : 0.985601 Centerline is valid? [True, True] Translation: X:153.76, Y:119.31, Z:6.82 [[-1.45875284e-01 -9.89300792e-01 2.08448628e-03 1.53760677e+02] [ 9.88869113e-01 -1.45873380e-01 -2.93058785e-02 1.19306018e+02] [ 2.92963998e-02 -2.21371925e-03 9.99568317e-01 6.82265605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.770714057 meters Centerline goodness : 0.986618 Centerline is valid? [True, True] Translation: X:153.76, Y:119.32, Z:6.82 [[-1.45895466e-01 -9.89297475e-01 2.24043575e-03 1.53759852e+02] [ 9.88865842e-01 -1.45898151e-01 -2.92929233e-02 1.19315633e+02] [ 2.93062905e-02 -2.05821432e-03 9.99568359e-01 6.82212893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.800714057 meters Centerline goodness : 0.986618 Centerline is valid? [True, True] Translation: X:153.76, Y:119.32, Z:6.82 [[-1.45525864e-01 -9.89352152e-01 2.13102677e-03 1.53759599e+02] [ 9.88920486e-01 -1.45525485e-01 -2.93019797e-02 1.19318278e+02] [ 2.93000954e-02 -2.15677988e-03 9.99568333e-01 6.82216652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.830714057 meters Centerline goodness : 0.988082 Centerline is valid? [True, True] Translation: X:153.76, Y:119.31, Z:6.82 [[-1.45616536e-01 -9.89338839e-01 2.11791277e-03 1.53759685e+02] [ 9.88907169e-01 -1.45615730e-01 -2.93030595e-02 1.19307016e+02] [ 2.92990563e-02 -2.17259088e-03 9.99568329e-01 6.82013135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.860714057 meters Centerline goodness : 0.987472 Centerline is valid? [True, True] Translation: X:153.76, Y:119.31, Z:6.82 [[-1.44970370e-01 -9.89433768e-01 2.10004088e-03 1.53758696e+02] [ 9.89002094e-01 -1.44969320e-01 -2.93045235e-02 1.19308747e+02] [ 2.92993266e-02 -2.17134279e-03 9.99568324e-01 6.81968521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.890714057 meters Centerline goodness : 0.989703 Centerline is valid? [True, True] Translation: X:153.76, Y:119.31, Z:6.82 [[-1.44431123e-01 -9.89512608e-01 2.10924477e-03 1.53757110e+02] [ 9.89080935e-01 -1.44430579e-01 -2.93037708e-02 1.19310016e+02] [ 2.93010902e-02 -2.14616275e-03 9.99568327e-01 6.81692076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.920714057 meters Centerline goodness : 0.988667 Centerline is valid? [True, True] Translation: X:153.76, Y:119.32, Z:6.82 [[-1.45605966e-01 -9.89340777e-01 1.93122381e-03 1.53756182e+02] [ 9.88909085e-01 -1.45599662e-01 -2.93182610e-02 1.19316308e+02] [ 2.92869367e-02 -2.35910894e-03 9.99568262e-01 6.81810531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.950714057 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:153.75, Y:119.32, Z:6.82 [[-1.44426527e-01 -9.89513272e-01 2.11259052e-03 1.53754321e+02] [ 9.89081599e-01 -1.44426084e-01 -2.93035152e-02 1.19320374e+02] [ 2.93013304e-02 -2.14268052e-03 9.99568327e-01 6.81991254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.980714057 meters Centerline goodness : 0.989621 Centerline is valid? [True, True] Translation: X:153.75, Y:119.31, Z:6.82 [[-1.42703183e-01 -9.89764130e-01 1.66395249e-03 1.53754137e+02] [ 9.89332441e-01 -1.42690267e-01 -2.93395274e-02 1.19305398e+02] [ 2.92766417e-02 -2.54064178e-03 9.99568118e-01 6.81753499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01071405700003 meters Centerline goodness : 0.987924 Centerline is valid? [True, True] Translation: X:153.75, Y:119.30, Z:6.82 [[-1.41937365e-01 -9.89874313e-01 1.62162250e-03 1.53754441e+02] [ 9.89442623e-01 -1.41923535e-01 -2.93429061e-02 1.19298246e+02] [ 2.92759354e-02 -2.56035236e-03 9.99568089e-01 6.81856020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.040714057 meters Centerline goodness : 0.990337 Centerline is valid? [True, True] Translation: X:153.75, Y:119.31, Z:6.82 [[-1.42340009e-01 -9.89815862e-01 1.97004431e-03 1.53751181e+02] [ 9.89384160e-01 -1.42336274e-01 -2.93150106e-02 1.19310479e+02] [ 2.92968712e-02 -2.22356824e-03 9.99568281e-01 6.81768298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07071405700003 meters Centerline goodness : 0.987998 Centerline is valid? [True, True] Translation: X:153.75, Y:119.32, Z:6.82 [[-1.44560892e-01 -9.89494811e-01 1.47197858e-03 1.53750049e+02] [ 9.89063224e-01 -1.44541507e-01 -2.93545946e-02 1.19320513e+02] [ 2.92589810e-02 -2.78764651e-03 9.99567977e-01 6.82026218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.100714057 meters Centerline goodness : 0.989914 Centerline is valid? [True, True] Translation: X:153.75, Y:119.32, Z:6.82 [[-1.44294720e-01 -9.89532619e-01 2.05641327e-03 1.53748785e+02] [ 9.89100941e-01 -1.44292679e-01 -2.93078753e-02 1.19320722e+02] [ 2.92978240e-02 -2.19497136e-03 9.99568317e-01 6.81688105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13071405700003 meters Centerline goodness : 0.990014 Centerline is valid? [True, True] Translation: X:153.75, Y:119.31, Z:6.82 [[-1.46755693e-01 -9.89171609e-01 1.51462304e-03 1.53748362e+02] [ 9.88740062e-01 -1.46736609e-01 -2.93505951e-02 1.19306239e+02] [ 2.92550261e-02 -2.80979845e-03 9.99568031e-01 6.81875288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.160714057 meters Centerline goodness : 0.988821 Centerline is valid? [True, True] Translation: X:153.75, Y:119.31, Z:6.82 [[-1.49829290e-01 -9.88710178e-01 1.83535130e-03 1.53747695e+02] [ 9.88278554e-01 -1.49818318e-01 -2.93252760e-02 1.19311135e+02] [ 2.92691681e-02 -2.57994694e-03 9.99568237e-01 6.81908025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19071405700004 meters Centerline goodness : 0.989427 Centerline is valid? [True, True] Translation: X:153.75, Y:119.32, Z:6.82 [[-1.50146763e-01 -9.88661910e-01 1.89159702e-03 1.53747179e+02] [ 9.88230275e-01 -1.50137310e-01 -2.93208503e-02 1.19317288e+02] [ 2.92724072e-02 -2.53309731e-03 9.99568262e-01 6.81898967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.220714057 meters Centerline goodness : 0.988941 Centerline is valid? [True, True] Translation: X:153.75, Y:119.33, Z:6.82 [[-1.50350399e-01 -9.88631333e-01 1.68655922e-03 1.53746423e+02] [ 9.88199773e-01 -1.50334814e-01 -2.93368871e-02 1.19328917e+02] [ 2.92569144e-02 -2.74415523e-03 9.99568158e-01 6.81893908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.250714057 meters Centerline goodness : 0.989551 Centerline is valid? [True, True] Translation: X:153.74, Y:119.34, Z:6.82 [[-1.53254064e-01 -9.88185380e-01 1.68739445e-03 1.53742857e+02] [ 9.87753866e-01 -1.53237237e-01 -2.93368220e-02 1.19336003e+02] [ 2.92487903e-02 -2.82925680e-03 9.99568159e-01 6.81958239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.280714057 meters Centerline goodness : 0.988880 Centerline is valid? [True, True] Translation: X:153.74, Y:119.34, Z:6.82 [[-1.53726176e-01 -9.88112338e-01 1.50654393e-03 1.53741180e+02] [ 9.87680953e-01 -1.53703814e-01 -2.93508697e-02 1.19340358e+02] [ 2.92335180e-02 -3.02401223e-03 9.99568035e-01 6.81799955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.310714057 meters Centerline goodness : 0.987605 Centerline is valid? [True, True] Translation: X:153.74, Y:119.33, Z:6.82 [[-1.52351478e-01 -9.88324712e-01 1.81385912e-03 1.53741662e+02] [ 9.87893126e-01 -1.52338771e-01 -2.93269636e-02 1.19328808e+02] [ 2.92608839e-02 -2.67610728e-03 9.99568226e-01 6.81765764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.340714057 meters Centerline goodness : 0.982472 Centerline is valid? [True, True] Translation: X:153.74, Y:119.33, Z:6.82 [[-1.57626327e-01 -9.87497179e-01 1.80632957e-03 1.53741382e+02] [ 9.87065670e-01 -1.57611095e-01 -2.93275464e-02 1.19331859e+02] [ 2.92455669e-02 -2.83982752e-03 9.99568223e-01 6.82025405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.370714057 meters Centerline goodness : 0.988990 Centerline is valid? [True, True] Translation: X:153.74, Y:119.34, Z:6.82 [[-1.52576636e-01 -9.88289015e-01 2.27885140e-03 1.53737294e+02] [ 9.87857351e-01 -1.52577534e-01 -2.92907871e-02 1.19341017e+02] [ 2.92954646e-02 -2.21790966e-03 9.99568335e-01 6.81771951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.400714057 meters Centerline goodness : 0.988071 Centerline is valid? [True, True] Translation: X:153.74, Y:119.34, Z:6.82 [[-1.48855470e-01 -9.88857500e-01 1.70100044e-03 1.53736459e+02] [ 9.88425928e-01 -1.48840965e-01 -2.93351790e-02 1.19341102e+02] [ 2.92614903e-02 -2.68538891e-03 9.99568184e-01 6.81822732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.430714057 meters Centerline goodness : 0.986917 Centerline is valid? [True, True] Translation: X:153.74, Y:119.33, Z:6.81 [[-1.48595438e-01 -9.88896532e-01 1.74470056e-03 1.53738132e+02] [ 9.88464938e-01 -1.48582334e-01 -2.93318330e-02 1.19333378e+02] [ 2.92653796e-02 -2.63400123e-03 9.99568207e-01 6.81280686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.460714057 meters Centerline goodness : 0.989477 Centerline is valid? [True, True] Translation: X:153.73, Y:119.35, Z:6.82 [[-1.48510833e-01 -9.88908712e-01 2.02273668e-03 1.53731811e+02] [ 9.88477048e-01 -1.48505960e-01 -2.93105093e-02 1.19349892e+02] [ 2.92858065e-02 -2.35349938e-03 9.99568308e-01 6.81768733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.490714057 meters Centerline goodness : 0.986423 Centerline is valid? [True, True] Translation: X:153.73, Y:119.34, Z:6.82 [[-1.47826390e-01 -9.89012451e-01 1.31523096e-03 1.53732094e+02] [ 9.88581120e-01 -1.47800968e-01 -2.93639829e-02 1.19341398e+02] [ 2.92357371e-02 -3.04055908e-03 9.99567920e-01 6.81865926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.520714057 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:153.73, Y:119.35, Z:6.82 [[-1.45744768e-01 -9.89320608e-01 1.78824574e-03 1.53728174e+02] [ 9.88888975e-01 -1.45734192e-01 -2.93281386e-02 1.19349385e+02] [ 2.92755404e-02 -2.50604624e-03 9.99568238e-01 6.81654606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.550714057 meters Centerline goodness : 0.986653 Centerline is valid? [True, True] Translation: X:153.73, Y:119.35, Z:6.82 [[-1.46316420e-01 -9.89237035e-01 1.26213435e-03 1.53728949e+02] [ 9.88805721e-01 -1.46290094e-01 -2.93675679e-02 1.19346892e+02] [ 2.92361236e-02 -3.04895175e-03 9.99567883e-01 6.81918067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.580714057 meters Centerline goodness : 0.987599 Centerline is valid? [True, True] Translation: X:153.73, Y:119.36, Z:6.82 [[-1.46683843e-01 -9.89181835e-01 1.77444402e-03 1.53725255e+02] [ 9.88750226e-01 -1.46672452e-01 -2.93288849e-02 1.19362817e+02] [ 2.92718622e-02 -2.54759161e-03 9.99568241e-01 6.81997554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.610714057 meters Centerline goodness : 0.986712 Centerline is valid? [True, True] Translation: X:153.72, Y:119.36, Z:6.82 [[-1.45816339e-01 -9.89310102e-01 1.76564636e-03 1.53724478e+02] [ 9.88878486e-01 -1.45805068e-01 -2.93295463e-02 1.19357303e+02] [ 2.92734566e-02 -2.53071738e-03 9.99568237e-01 6.81995124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.640714057 meters Centerline goodness : 0.987071 Centerline is valid? [True, True] Translation: X:153.72, Y:119.37, Z:6.82 [[-1.44713700e-01 -9.89471991e-01 1.76739677e-03 1.53722075e+02] [ 9.89040362e-01 -1.44702961e-01 -2.93294153e-02 1.19373095e+02] [ 2.92763825e-02 -2.49634146e-03 9.99568238e-01 6.82057142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.670714057 meters Centerline goodness : 0.986954 Centerline is valid? [True, True] Translation: X:153.72, Y:119.37, Z:6.82 [[-1.43432516e-01 -9.89658470e-01 1.79618890e-03 1.53721574e+02] [ 9.89226820e-01 -1.43423184e-01 -2.93272650e-02 1.19365770e+02] [ 2.92815913e-02 -2.42964516e-03 9.99568249e-01 6.81982354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.700714057 meters Centerline goodness : 0.986900 Centerline is valid? [True, True] Translation: X:153.72, Y:119.37, Z:6.82 [[-1.43323548e-01 -9.89674392e-01 1.72002603e-03 1.53720059e+02] [ 9.89242763e-01 -1.43312020e-01 -2.93329179e-02 1.19372288e+02] [ 2.92765381e-02 -2.50257456e-03 9.99568218e-01 6.81889084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.730714057 meters Centerline goodness : 0.986412 Centerline is valid? [True, True] Translation: X:153.72, Y:119.38, Z:6.82 [[-1.41568343e-01 -9.89926880e-01 1.78249869e-03 1.53717694e+02] [ 9.89495216e-01 -1.41559421e-01 -2.93282918e-02 1.19384432e+02] [ 2.92851939e-02 -2.38818375e-03 9.99568244e-01 6.81943660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76071405700003 meters Centerline goodness : 0.987463 Centerline is valid? [True, True] Translation: X:153.72, Y:119.38, Z:6.82 [[-1.38300413e-01 -9.90388578e-01 1.86022856e-03 1.53716124e+02] [ 9.89956880e-01 -1.38295206e-01 -2.93225430e-02 1.19375799e+02] [ 2.92979724e-02 -2.21377374e-03 9.99568271e-01 6.81912156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.790714057 meters Centerline goodness : 0.991391 Centerline is valid? [True, True] Translation: X:153.71, Y:119.38, Z:6.82 [[-1.37113304e-01 -9.90553908e-01 1.70212683e-03 1.53713393e+02] [ 9.90122222e-01 -1.37103956e-01 -2.93341303e-02 1.19378955e+02] [ 2.92904057e-02 -2.33678592e-03 9.99568213e-01 6.81575014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82071405700003 meters Centerline goodness : 0.987266 Centerline is valid? [True, True] Translation: X:153.71, Y:119.38, Z:6.82 [[-1.37069101e-01 -9.90560669e-01 1.27354852e-03 1.53712159e+02] [ 9.90129166e-01 -1.37047146e-01 -2.93651744e-02 1.19376915e+02] [ 2.92625230e-02 -2.76408052e-03 9.99567939e-01 6.81794412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.850714057 meters Centerline goodness : 0.986528 Centerline is valid? [True, True] Translation: X:153.71, Y:119.38, Z:6.82 [[-1.36167099e-01 -9.90684274e-01 1.78602302e-03 1.53710843e+02] [ 9.90252573e-01 -1.36160635e-01 -2.93278450e-02 1.19380636e+02] [ 2.92978209e-02 -2.22487367e-03 9.99568251e-01 6.81888210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88071405700003 meters Centerline goodness : 0.987143 Centerline is valid? [True, True] Translation: X:153.71, Y:119.39, Z:6.82 [[-1.35032158e-01 -9.90839666e-01 1.75297695e-03 1.53709417e+02] [ 9.90407960e-01 -1.35025216e-01 -2.93302432e-02 1.19389814e+02] [ 2.92982645e-02 -2.22436371e-03 9.99568239e-01 6.81889765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.910714057 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:153.71, Y:119.38, Z:6.81 [[-1.32242135e-01 -9.91216109e-01 1.62606180e-03 1.53707694e+02] [ 9.90784397e-01 -1.32232669e-01 -2.93393972e-02 1.19379623e+02] [ 2.92967016e-02 -2.26882785e-03 9.99568185e-01 6.81380087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94071405700004 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:153.70, Y:119.41, Z:6.81 [[-1.32031328e-01 -9.91244825e-01 1.19364372e-03 1.53703090e+02] [ 9.90813278e-01 -1.32009214e-01 -2.93703004e-02 1.19413576e+02] [ 2.92707302e-02 -2.69512172e-03 9.99567887e-01 6.81425422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.970714057 meters Centerline goodness : 0.991626 Centerline is valid? [True, True] Translation: X:153.70, Y:119.38, Z:6.81 [[-1.29788212e-01 -9.91540858e-01 1.32178458e-03 1.53704553e+02] [ 9.91109201e-01 -1.29770850e-01 -2.93611700e-02 1.19375346e+02] [ 2.92843288e-02 -2.50070090e-03 9.99567994e-01 6.81365779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.000714057 meters Centerline goodness : 0.990269 Centerline is valid? [True, True] Translation: X:153.70, Y:119.37, Z:6.82 [[-1.27859147e-01 -9.91791578e-01 1.22625108e-03 1.53703289e+02] [ 9.91359930e-01 -1.27839810e-01 -2.93678872e-02 1.19369902e+02] [ 2.92835869e-02 -2.53929682e-03 9.99567918e-01 6.81857807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.030714057 meters Centerline goodness : 0.986506 Centerline is valid? [True, True] Translation: X:153.71, Y:119.33, Z:6.82 [[-1.18978534e-01 -9.92895842e-01 1.39836158e-03 1.53711697e+02] [ 9.92464013e-01 -1.18968132e-01 -2.93558575e-02 1.19331467e+02] [ 2.93136693e-02 -2.10489335e-03 9.99568046e-01 6.82082888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.060714057 meters Centerline goodness : 0.989988 Centerline is valid? [True, True] Translation: X:153.72, Y:119.32, Z:6.82 [[-9.06238666e-02 -9.95883739e-01 1.70095420e-03 1.53719506e+02] [ 9.95452069e-01 -9.06346887e-02 -2.93348127e-02 1.19322887e+02] [ 2.93682284e-02 -9.65215776e-04 9.99568195e-01 6.81550697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.090714057 meters Centerline goodness : 0.993179 Centerline is valid? [True, True] Translation: X:153.72, Y:119.33, Z:6.81 [[-8.67483656e-02 -9.96230244e-01 1.48414468e-04 1.53718135e+02] [ 9.95798148e-01 -8.67151255e-02 -2.94369832e-02 1.19333910e+02] [ 2.93388827e-02 -2.40581933e-03 9.99566627e-01 6.80838379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.120714057 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:153.72, Y:119.35, Z:6.81 [[-8.38561567e-02 -9.96477715e-01 -5.54813559e-04 1.53719469e+02] [ 9.96046060e-01 -8.38034166e-02 -2.94827581e-02 1.19354563e+02] [ 2.93324161e-02 -3.02493064e-03 9.99565135e-01 6.81448813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.150714057 meters Centerline goodness : 0.992192 Centerline is valid? [True, True] Translation: X:153.72, Y:119.36, Z:6.81 [[-8.37427411e-02 -9.96487400e-01 -1.21012472e-04 1.53717988e+02] [ 9.96055362e-01 -8.37028566e-02 -2.94541665e-02 1.19357220e+02] [ 2.93405767e-02 -2.58710776e-03 9.99566125e-01 6.80825954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.180714057 meters Centerline goodness : 0.989225 Centerline is valid? [True, True] Translation: X:153.72, Y:119.34, Z:6.81 [[-7.39481068e-02 -9.97261873e-01 -6.59326971e-04 1.53723377e+02] [ 9.96829830e-01 -7.38965743e-02 -2.94887331e-02 1.19342237e+02] [ 2.93592672e-02 -2.83787278e-03 9.99564895e-01 6.81099594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.210714057 meters Centerline goodness : 0.992884 Centerline is valid? [True, True] Translation: X:153.72, Y:119.35, Z:6.81 [[-7.09577266e-02 -9.97479171e-01 -5.51343415e-04 1.53721309e+02] [ 9.97046886e-01 -7.09106794e-02 -2.94818971e-02 1.19353060e+02] [ 2.93684822e-02 -2.64168363e-03 9.99565162e-01 6.80508405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.240714057 meters Centerline goodness : 0.992650 Centerline is valid? [True, True] Translation: X:153.70, Y:119.37, Z:6.81 [[-1.17440093e-01 -9.93079219e-01 -1.22022226e-03 1.53703823e+02] [ 9.92651234e-01 -1.17353202e-01 -2.95254674e-02 1.19372371e+02] [ 2.91779311e-02 -4.67872878e-03 9.99563284e-01 6.81480954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.270714057 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:153.72, Y:119.37, Z:6.81 [[-7.98762047e-02 -9.96804173e-01 1.11063496e-03 1.53718980e+02] [ 9.96372302e-01 -7.98743168e-02 -2.93654375e-02 1.19367369e+02] [ 2.93603018e-02 -1.23899378e-03 9.99568126e-01 6.80939356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.300714057 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:153.70, Y:119.44, Z:6.82 [[-1.23449945e-01 -9.92350528e-01 -7.35350113e-04 1.53700809e+02] [ 9.91921841e-01 -1.23374763e-01 -2.94911894e-02 1.19438979e+02] [ 2.91748737e-02 -4.37009556e-03 9.99564770e-01 6.81582572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.330714057 meters Centerline goodness : 0.989229 Centerline is valid? [True, True] Translation: X:153.70, Y:119.40, Z:6.82 [[-1.23780072e-01 -9.92308823e-01 1.30142497e-03 1.53704249e+02] [ 9.91877584e-01 -1.23764766e-01 -2.93451897e-02 1.19403319e+02] [ 2.92805613e-02 -2.34149544e-03 9.99568490e-01 6.81774409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.360714057 meters Centerline goodness : 0.990389 Centerline is valid? [True, True] Translation: X:153.70, Y:119.42, Z:6.82 [[-1.24569689e-01 -9.92209588e-01 1.58934630e-03 1.53703284e+02] [ 9.91778328e-01 -1.24562518e-01 -2.93245282e-02 1.19415730e+02] [ 2.92940510e-02 -2.07666813e-03 9.99568680e-01 6.81638007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.390714057 meters Centerline goodness : 0.989285 Centerline is valid? [True, True] Translation: X:153.71, Y:119.40, Z:6.82 [[-1.25272832e-01 -9.92121464e-01 1.31048070e-03 1.53705686e+02] [ 9.91690253e-01 -1.25257144e-01 -2.93443394e-02 1.19404682e+02] [ 2.92772961e-02 -2.37645756e-03 9.99568503e-01 6.82157861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.420714057 meters Centerline goodness : 0.988486 Centerline is valid? [True, True] Translation: X:153.70, Y:119.42, Z:6.82 [[-1.28292081e-01 -9.91735354e-01 1.45916368e-03 1.53703896e+02] [ 9.91304146e-01 -1.28279459e-01 -2.93337943e-02 1.19424230e+02] [ 2.92785416e-02 -2.31681850e-03 9.99568607e-01 6.82231498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.450714057 meters Centerline goodness : 0.990034 Centerline is valid? [True, True] Translation: X:153.70, Y:119.42, Z:6.82 [[-1.30177632e-01 -9.91489520e-01 1.52162441e-03 1.53704089e+02] [ 9.91058320e-01 -1.30166029e-01 -2.93293768e-02 1.19423905e+02] [ 2.92778335e-02 -2.31001028e-03 9.99568643e-01 6.81987346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.480714057 meters Centerline goodness : 0.988358 Centerline is valid? [True, True] Translation: X:153.71, Y:119.42, Z:6.82 [[-1.33804925e-01 -9.91006930e-01 1.22777768e-03 1.53705075e+02] [ 9.90575926e-01 -1.33783093e-01 -2.93499534e-02 1.19419790e+02] [ 2.92502631e-02 -2.71096129e-03 9.99568443e-01 6.82433896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51071405700003 meters Centerline goodness : 0.988818 Centerline is valid? [True, True] Translation: X:153.70, Y:119.43, Z:6.82 [[-1.35776443e-01 -9.90738029e-01 1.70745560e-03 1.53704317e+02] [ 9.90306845e-01 -1.35767875e-01 -2.93161572e-02 1.19431574e+02] [ 2.92764494e-02 -2.28953858e-03 9.99568731e-01 6.82218202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.540714057 meters Centerline goodness : 0.990151 Centerline is valid? [True, True] Translation: X:153.71, Y:119.43, Z:6.82 [[-1.37537057e-01 -9.90495444e-01 1.52747827e-03 1.53705038e+02] [ 9.90064345e-01 -1.37522425e-01 -2.93287610e-02 1.19432908e+02] [ 2.92600666e-02 -2.52148970e-03 9.99568652e-01 6.81917074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57071405700003 meters Centerline goodness : 0.990457 Centerline is valid? [True, True] Translation: X:153.71, Y:119.42, Z:6.82 [[-1.38482620e-01 -9.90364129e-01 1.20658778e-03 1.53706105e+02] [ 9.89933264e-01 -1.38458132e-01 -2.93509676e-02 1.19422749e+02] [ 2.92352073e-02 -2.87015752e-03 9.99568439e-01 6.81793733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.600714057 meters Centerline goodness : 0.990443 Centerline is valid? [True, True] Translation: X:153.71, Y:119.43, Z:6.82 [[-1.37581026e-01 -9.90489720e-01 1.25562058e-03 1.53706146e+02] [ 9.90058793e-01 -1.37558373e-01 -2.93475863e-02 1.19434694e+02] [ 2.92412036e-02 -2.79453282e-03 9.99568478e-01 6.81810157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63071405700003 meters Centerline goodness : 0.988571 Centerline is valid? [True, True] Translation: X:153.71, Y:119.44, Z:6.82 [[-1.38286601e-01 -9.90391548e-01 1.18251022e-03 1.53706311e+02] [ 9.89960699e-01 -1.38261489e-01 -2.93526146e-02 1.19438980e+02] [ 2.92340771e-02 -2.88843467e-03 9.99568420e-01 6.82164588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.660714057 meters Centerline goodness : 0.988388 Centerline is valid? [True, True] Translation: X:153.71, Y:119.45, Z:6.82 [[-1.39868815e-01 -9.90168989e-01 1.44498201e-03 1.53705346e+02] [ 9.89737973e-01 -1.39850740e-01 -2.93345288e-02 1.19445302e+02] [ 2.92482225e-02 -2.67283222e-03 9.99568606e-01 6.82358186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69071405700004 meters Centerline goodness : 0.991166 Centerline is valid? [True, True] Translation: X:153.71, Y:119.44, Z:6.82 [[-1.37297881e-01 -9.90528631e-01 1.52397480e-03 1.53705704e+02] [ 9.90097527e-01 -1.37283250e-01 -2.93290994e-02 1.19439184e+02] [ 2.92605289e-02 -2.51793953e-03 9.99568648e-01 6.81903078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.720714057 meters Centerline goodness : 0.991166 Centerline is valid? [True, True] Translation: X:153.71, Y:119.44, Z:6.82 [[-1.36972120e-01 -9.90574316e-01 1.07844600e-03 1.53705622e+02] [ 9.90143542e-01 -1.36944518e-01 -2.93592550e-02 1.19441845e+02] [ 2.92302112e-02 -2.95358304e-03 9.99568342e-01 6.81892481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.750714057 meters Centerline goodness : 0.987713 Centerline is valid? [True, True] Translation: X:153.71, Y:119.44, Z:6.83 [[-1.37146590e-01 -9.90550168e-01 1.08561280e-03 1.53706283e+02] [ 9.90119391e-01 -1.37119123e-01 -2.93587715e-02 1.19442382e+02] [ 2.92301943e-02 -2.95156910e-03 9.99568349e-01 6.82550963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.780714057 meters Centerline goodness : 0.987397 Centerline is valid? [True, True] Translation: X:153.71, Y:119.44, Z:6.82 [[-1.37260967e-01 -9.90533718e-01 1.54262134e-03 1.53706417e+02] [ 9.90102604e-01 -1.37246900e-01 -2.93278219e-02 1.19436401e+02] [ 2.92619165e-02 -2.49821178e-03 9.99568657e-01 6.82478511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.810714057 meters Centerline goodness : 0.987875 Centerline is valid? [True, True] Translation: X:153.71, Y:119.43, Z:6.82 [[-1.35773905e-01 -9.90738455e-01 1.66141054e-03 1.53705635e+02] [ 9.90307271e-01 -1.35763981e-01 -2.93198075e-02 1.19433842e+02] [ 2.92738205e-02 -2.33555780e-03 9.99568701e-01 6.82302609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.840714057 meters Centerline goodness : 0.988984 Centerline is valid? [True, True] Translation: X:153.70, Y:119.44, Z:6.82 [[-1.34939643e-01 -9.90852784e-01 1.43307436e-03 1.53704310e+02] [ 9.90421698e-01 -1.34923363e-01 -2.93350696e-02 1.19437116e+02] [ 2.92600906e-02 -2.53911589e-03 9.99568607e-01 6.82258374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.870714057 meters Centerline goodness : 0.987496 Centerline is valid? [True, True] Translation: X:153.70, Y:119.44, Z:6.82 [[-1.35447545e-01 -9.90783570e-01 1.37097091e-03 1.53703737e+02] [ 9.90352533e-01 -1.35429216e-01 -2.93391958e-02 1.19438945e+02] [ 2.92544627e-02 -2.61617752e-03 9.99568573e-01 6.82421562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.900714057 meters Centerline goodness : 0.987833 Centerline is valid? [True, True] Translation: X:153.70, Y:119.44, Z:6.82 [[-1.34585426e-01 -9.90900722e-01 1.58796032e-03 1.53702687e+02] [ 9.90469553e-01 -1.34573858e-01 -2.93247509e-02 1.19444539e+02] [ 2.92716148e-02 -2.37385774e-03 9.99568676e-01 6.82309156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.930714057 meters Centerline goodness : 0.986759 Centerline is valid? [True, True] Translation: X:153.70, Y:119.44, Z:6.82 [[-1.34756595e-01 -9.90877624e-01 1.48115409e-03 1.53703064e+02] [ 9.90446510e-01 -1.34741810e-01 -2.93318263e-02 1.19444143e+02] [ 2.92638238e-02 -2.48565314e-03 9.99568632e-01 6.82327316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.960714057 meters Centerline goodness : 0.988240 Centerline is valid? [True, True] Translation: X:153.70, Y:119.46, Z:6.82 [[-1.34601356e-01 -9.90898561e-01 1.58638936e-03 1.53700140e+02] [ 9.90467393e-01 -1.34589735e-01 -2.93248615e-02 1.19464736e+02] [ 2.92714748e-02 -2.37589919e-03 9.99568675e-01 6.82293244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.990714057 meters Centerline goodness : 0.987703 Centerline is valid? [True, True] Translation: X:153.70, Y:119.45, Z:6.82 [[-1.32839918e-01 -9.91136321e-01 1.53289439e-03 1.53700962e+02] [ 9.90705155e-01 -1.32827489e-01 -2.93283903e-02 1.19450787e+02] [ 2.92720434e-02 -2.37733459e-03 9.99568655e-01 6.82231702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.020714057 meters Centerline goodness : 0.987816 Centerline is valid? [True, True] Translation: X:153.70, Y:119.45, Z:6.82 [[-1.29576226e-01 -9.91568323e-01 1.50413595e-03 1.53700892e+02] [ 9.91137129e-01 -1.29564370e-01 -2.93302750e-02 1.19452520e+02] [ 2.92778540e-02 -2.30970136e-03 9.99568643e-01 6.82284254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.050714057 meters Centerline goodness : 0.986111 Centerline is valid? [True, True] Translation: X:153.70, Y:119.45, Z:6.82 [[-1.29425698e-01 -9.91588051e-01 1.45789368e-03 1.53701117e+02] [ 9.91156875e-01 -1.29412547e-01 -2.93332932e-02 1.19450178e+02] [ 2.92752128e-02 -2.35148062e-03 9.99568623e-01 6.82289061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.080714057 meters Centerline goodness : 0.987785 Centerline is valid? [True, True] Translation: X:153.70, Y:119.46, Z:6.82 [[-1.27519532e-01 -9.91834727e-01 1.62596910e-03 1.53700324e+02] [ 9.91403475e-01 -1.27512156e-01 -2.93223309e-02 1.19458930e+02] [ 2.92902368e-02 -2.12717849e-03 9.99568686e-01 6.82016689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.110714057 meters Centerline goodness : 0.986377 Centerline is valid? [True, True] Translation: X:153.70, Y:119.46, Z:6.82 [[-1.26107706e-01 -9.92015364e-01 1.53733808e-03 1.53700734e+02] [ 9.91584123e-01 -1.26098336e-01 -2.93280804e-02 1.19461839e+02] [ 2.92877621e-02 -2.17409691e-03 9.99568657e-01 6.82011417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.140714057 meters Centerline goodness : 0.987498 Centerline is valid? [True, True] Translation: X:153.70, Y:119.45, Z:6.82 [[-1.21418324e-01 -9.92600252e-01 1.52687622e-03 1.53702496e+02] [ 9.92168973e-01 -1.21410683e-01 -2.93287539e-02 1.19447804e+02] [ 2.92971076e-02 -2.04612893e-03 9.99568653e-01 6.81902604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.170714057 meters Centerline goodness : 0.987262 Centerline is valid? [True, True] Translation: X:153.71, Y:119.40, Z:6.82 [[-1.02101195e-01 -9.94773224e-01 1.25610634e-03 1.53711670e+02] [ 9.94341813e-01 -1.02093972e-01 -2.93458568e-02 1.19400630e+02] [ 2.93207135e-02 -1.74724800e-03 9.99568528e-01 6.82089528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.200714057 meters Centerline goodness : 0.987560 Centerline is valid? [True, True] Translation: X:153.71, Y:119.42, Z:6.82 [[-1.05604288e-01 -9.94408071e-01 5.68070129e-04 1.53708453e+02] [ 9.93976964e-01 -1.05575294e-01 -2.93879509e-02 1.19415932e+02] [ 2.92835897e-02 -2.53884502e-03 9.99567919e-01 6.82250589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.230714057 meters Centerline goodness : 0.987643 Centerline is valid? [True, True] Translation: X:153.70, Y:119.45, Z:6.82 [[-1.15438814e-01 -9.93314194e-01 8.90008521e-04 1.53699930e+02] [ 9.92883121e-01 -1.15415030e-01 -2.93679787e-02 1.19454136e+02] [ 2.92743505e-02 -2.50653019e-03 9.99568272e-01 6.82354064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26071405700003 meters Centerline goodness : 0.986523 Centerline is valid? [True, True] Translation: X:153.70, Y:119.46, Z:6.82 [[-1.14438536e-01 -9.93429432e-01 1.33635705e-03 1.53700406e+02] [ 9.92998148e-01 -1.14428322e-01 -2.93400265e-02 1.19457466e+02] [ 2.93001630e-02 -2.03062960e-03 9.99568595e-01 6.82136795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.290714057 meters Centerline goodness : 0.990491 Centerline is valid? [True, True] Translation: X:153.70, Y:119.45, Z:6.81 [[-1.03063809e-01 -9.94673847e-01 1.33800523e-03 1.53703161e+02] [ 9.94242475e-01 -1.03058579e-01 -2.93399240e-02 1.19445296e+02] [ 2.93215480e-02 -1.69358270e-03 9.99568596e-01 6.81404945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32071405700003 meters Centerline goodness : 0.989103 Centerline is valid? [True, True] Translation: X:153.70, Y:119.47, Z:6.82 [[-1.12286657e-01 -9.93675841e-01 1.71077279e-04 1.53699325e+02] [ 9.93245447e-01 -1.12243085e-01 -2.94103962e-02 1.19471291e+02] [ 2.92436024e-02 -3.13247333e-03 9.99567406e-01 6.81626173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.350714057 meters Centerline goodness : 0.987658 Centerline is valid? [True, True] Translation: X:153.70, Y:119.47, Z:6.82 [[-1.11354201e-01 -9.93780433e-01 8.31971961e-04 1.53700146e+02] [ 9.93349354e-01 -1.11330486e-01 -2.93697667e-02 1.19471633e+02] [ 2.92797233e-02 -2.44400808e-03 9.99568269e-01 6.82134521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38071405700003 meters Centerline goodness : 0.987375 Centerline is valid? [True, True] Translation: X:153.70, Y:119.47, Z:6.82 [[-1.13378349e-01 -9.93551207e-01 1.16153866e-03 1.53699559e+02] [ 9.93120003e-01 -1.13363454e-01 -2.93493799e-02 1.19474802e+02] [ 2.92917879e-02 -2.17403696e-03 9.99568539e-01 6.82109944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.410714057 meters Centerline goodness : 0.988352 Centerline is valid? [True, True] Translation: X:153.70, Y:119.48, Z:6.82 [[-1.12789390e-01 -9.93618049e-01 1.31364637e-03 1.53698957e+02] [ 9.93186796e-01 -1.12779227e-01 -2.93399705e-02 1.19479620e+02] [ 2.93008762e-02 -2.00454114e-03 9.99568627e-01 6.82061218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44071405700004 meters Centerline goodness : 0.987974 Centerline is valid? [True, True] Translation: X:153.70, Y:119.49, Z:6.82 [[-1.13700642e-01 -9.93514448e-01 1.09790847e-03 1.53700792e+02] [ 9.93083278e-01 -1.13683735e-01 -2.93532071e-02 1.19487740e+02] [ 2.92876497e-02 -2.24716394e-03 9.99568499e-01 6.82213696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.470714057 meters Centerline goodness : 0.986635 Centerline is valid? [True, True] Translation: X:153.70, Y:119.50, Z:6.82 [[-1.15740932e-01 -9.93278701e-01 1.20779479e-03 1.53701878e+02] [ 9.92847517e-01 -1.15726373e-01 -2.93464553e-02 1.19504191e+02] [ 2.92889827e-02 -2.19743003e-03 9.99568570e-01 6.82274141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.500714057 meters Centerline goodness : 0.986529 Centerline is valid? [True, True] Translation: X:153.70, Y:119.49, Z:6.82 [[-1.17328446e-01 -9.93092399e-01 1.23374370e-03 1.53703253e+02] [ 9.92661228e-01 -1.17313961e-01 -2.93448652e-02 1.19489472e+02] [ 2.92868979e-02 -2.21829788e-03 9.99568585e-01 6.82216157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.530714057 meters Centerline goodness : 0.987076 Centerline is valid? [True, True] Translation: X:153.70, Y:119.50, Z:6.82 [[-1.18992516e-01 -9.92894281e-01 1.31482828e-03 1.53703243e+02] [ 9.92463099e-01 -1.18979694e-01 -2.93399082e-02 1.19500380e+02] [ 2.92878649e-02 -2.18631094e-03 9.99568627e-01 6.82137644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.560714057 meters Centerline goodness : 0.988949 Centerline is valid? [True, True] Translation: X:153.70, Y:119.50, Z:6.82 [[-1.20744238e-01 -9.92682856e-01 1.25555728e-03 1.53704600e+02] [ 9.92251726e-01 -1.20728912e-01 -2.93435199e-02 1.19503489e+02] [ 2.92803912e-02 -2.29723207e-03 9.99568598e-01 6.81556171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.590714057 meters Centerline goodness : 0.990219 Centerline is valid? [True, True] Translation: X:153.70, Y:119.53, Z:6.82 [[-1.22353637e-01 -9.92486144e-01 9.17587385e-04 1.53704537e+02] [ 9.92055292e-01 -1.22327670e-01 -2.93639200e-02 1.19527143e+02] [ 2.92555301e-02 -2.68248500e-03 9.99568366e-01 6.81647841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.620714057 meters Centerline goodness : 0.988025 Centerline is valid? [True, True] Translation: X:153.71, Y:119.48, Z:6.82 [[-1.21237536e-01 -9.92623114e-01 9.01343693e-04 1.53711374e+02] [ 9.92192248e-01 -1.21211575e-01 -2.93648908e-02 1.19480681e+02] [ 2.92575226e-02 -2.66582078e-03 9.99568352e-01 6.81519580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.650714057 meters Centerline goodness : 0.989356 Centerline is valid? [True, True] Translation: X:153.70, Y:119.53, Z:6.82 [[-1.42140614e-01 -9.89845754e-01 1.19580884e-03 1.53698580e+02] [ 9.89415124e-01 -1.42114230e-01 -2.93471983e-02 1.19527368e+02] [ 2.92191410e-02 -2.98827742e-03 9.99568563e-01 6.81703225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.680714057 meters Centerline goodness : 0.988002 Centerline is valid? [True, True] Translation: X:153.71, Y:119.50, Z:6.82 [[-1.25598621e-01 -9.92079237e-01 1.94278562e-03 1.53709077e+02] [ 9.91647965e-01 -1.25601404e-01 -2.93018892e-02 1.19503731e+02] [ 2.93138125e-02 -1.75371748e-03 9.99568719e-01 6.81554285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.710714057 meters Centerline goodness : 0.990651 Centerline is valid? [True, True] Translation: X:153.70, Y:119.53, Z:6.82 [[-1.41289780e-01 -9.89967327e-01 1.37457421e-03 1.53699076e+02] [ 9.89536495e-01 -1.41269024e-01 -2.93357924e-02 1.19526065e+02] [ 2.92356608e-02 -2.78465630e-03 9.99568668e-01 6.81792855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.740714057 meters Centerline goodness : 0.990202 Centerline is valid? [True, True] Translation: X:153.70, Y:119.55, Z:6.82 [[-1.40523044e-01 -9.90075856e-01 1.75299074e-03 1.53699889e+02] [ 9.89644696e-01 -1.40513750e-01 -2.93131644e-02 1.19547627e+02] [ 2.92685757e-02 -2.38433711e-03 9.99568740e-01 6.81844514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.770714057 meters Centerline goodness : 0.989906 Centerline is valid? [True, True] Translation: X:153.72, Y:119.48, Z:6.81 [[-1.11357466e-01 -9.93778890e-01 1.74149525e-03 1.53717438e+02] [ 9.93347640e-01 -1.11360512e-01 -2.93138473e-02 1.19479596e+02] [ 2.93254165e-02 -1.53440555e-03 9.99568740e-01 6.81488278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.800714057 meters Centerline goodness : 0.989347 Centerline is valid? [True, True] Translation: X:153.72, Y:119.49, Z:6.81 [[-1.03224844e-01 -9.94657952e-01 4.35463034e-04 1.53723425e+02] [ 9.94227145e-01 -1.03193000e-01 -2.93868706e-02 1.19487744e+02] [ 2.92748213e-02 -2.60050595e-03 9.99568018e-01 6.81138780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.830714057 meters Centerline goodness : 0.990242 Centerline is valid? [True, True] Translation: X:153.72, Y:119.50, Z:6.81 [[-1.06085459e-01 -9.94356937e-01 3.95607648e-04 1.53720737e+02] [ 9.93926267e-01 -1.06051204e-01 -2.93890893e-02 1.19503292e+02] [ 2.92651995e-02 -2.72455019e-03 9.99567969e-01 6.81153083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.860714057 meters Centerline goodness : 0.988900 Centerline is valid? [True, True] Translation: X:153.71, Y:119.58, Z:6.82 [[-1.29294806e-01 -9.91606197e-01 5.14906926e-05 1.53711479e+02] [ 9.91177102e-01 -1.29240383e-01 -2.94087675e-02 1.19582340e+02] [ 2.91685708e-02 -3.75136449e-03 9.99567467e-01 6.82093045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.890714057 meters Centerline goodness : 0.987631 Centerline is valid? [True, True] Translation: X:153.72, Y:119.54, Z:6.82 [[-1.29473097e-01 -9.91582395e-01 1.03525286e-03 1.53716083e+02] [ 9.91151791e-01 -1.29447516e-01 -2.93507623e-02 1.19539758e+02] [ 2.92377101e-02 -2.77404137e-03 9.99568637e-01 6.81887863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.920714057 meters Centerline goodness : 0.987749 Centerline is valid? [True, True] Translation: X:153.72, Y:119.54, Z:6.82 [[-1.31491418e-01 -9.91316536e-01 1.23774817e-03 1.53720128e+02] [ 9.90885780e-01 -1.31470914e-01 -2.93388684e-02 1.19539141e+02] [ 2.92468333e-02 -2.63134236e-03 9.99568756e-01 6.81929228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.950714057 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:153.72, Y:119.56, Z:6.82 [[-1.32083855e-01 -9.91237727e-01 1.27467820e-03 1.53720465e+02] [ 9.90806949e-01 -1.32064178e-01 -2.93367062e-02 1.19556879e+02] [ 2.92479893e-02 -2.61194523e-03 9.99568773e-01 6.81766109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.980714057 meters Centerline goodness : 0.989608 Centerline is valid? [True, True] Translation: X:153.73, Y:119.55, Z:6.82 [[-1.33111923e-01 -9.91100755e-01 7.14268478e-04 1.53725127e+02] [ 9.90670695e-01 -1.33075329e-01 -2.93688924e-02 1.19548232e+02] [ 2.92025829e-02 -3.20174490e-03 9.99568386e-01 6.81556765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01071405700003 meters Centerline goodness : 0.989861 Centerline is valid? [True, True] Translation: X:153.73, Y:119.55, Z:6.82 [[-1.34856300e-01 -9.90864863e-01 7.76032206e-04 1.53727469e+02] [ 9.90434772e-01 -1.34820764e-01 -2.93653700e-02 1.19549910e+02] [ 2.92017386e-02 -3.19149588e-03 9.99568443e-01 6.81517663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.040714057 meters Centerline goodness : 0.989398 Centerline is valid? [True, True] Translation: X:153.73, Y:119.55, Z:6.81 [[-1.36308263e-01 -9.90666276e-01 6.22121963e-04 1.53729266e+02] [ 9.90236493e-01 -1.36267575e-01 -2.93740771e-02 1.19548911e+02] [ 2.91846826e-02 -3.38788156e-03 9.99568295e-01 6.81494932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07071405700003 meters Centerline goodness : 0.989213 Centerline is valid? [True, True] Translation: X:153.73, Y:119.55, Z:6.81 [[-1.36509671e-01 -9.90638286e-01 9.46616187e-04 1.53730926e+02] [ 9.90208000e-01 -1.36478429e-01 -2.93556726e-02 1.19549880e+02] [ 2.92100459e-02 -3.06998629e-03 9.99568581e-01 6.81471061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.100714057 meters Centerline goodness : 0.989318 Centerline is valid? [True, True] Translation: X:153.73, Y:119.55, Z:6.81 [[-1.37260498e-01 -9.90534507e-01 9.72309055e-04 1.53734322e+02] [ 9.90104208e-01 -1.37229684e-01 -2.93542200e-02 1.19552963e+02] [ 2.92097975e-02 -3.06648757e-03 9.99568599e-01 6.81445256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13071405700003 meters Centerline goodness : 0.989485 Centerline is valid? [True, True] Translation: X:153.74, Y:119.56, Z:6.81 [[-1.37731473e-01 -9.90469170e-01 9.29560487e-04 1.53735283e+02] [ 9.90038948e-01 -1.37699199e-01 -2.93566266e-02 1.19561160e+02] [ 2.92048333e-02 -3.12303033e-03 9.99568569e-01 6.81440621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.160714057 meters Centerline goodness : 0.989616 Centerline is valid? [True, True] Translation: X:153.74, Y:119.56, Z:6.81 [[-1.38193048e-01 -9.90405062e-01 7.04011870e-04 1.53736641e+02] [ 9.89975219e-01 -1.38153948e-01 -2.93692311e-02 1.19563972e+02] [ 2.91846971e-02 -3.36166926e-03 9.99568383e-01 6.81409117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19071405700004 meters Centerline goodness : 0.988796 Centerline is valid? [True, True] Translation: X:153.74, Y:119.57, Z:6.82 [[-1.36195088e-01 -9.90681545e-01 9.87263386e-04 1.53737020e+02] [ 9.90251194e-01 -1.36165177e-01 -2.93533349e-02 1.19571942e+02] [ 2.92142381e-02 -3.02014128e-03 9.99568610e-01 6.81721904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.220714057 meters Centerline goodness : 0.987985 Centerline is valid? [True, True] Translation: X:153.74, Y:119.56, Z:6.82 [[-1.34556711e-01 -9.90905261e-01 1.12050331e-03 1.53737326e+02] [ 9.90474692e-01 -1.34531427e-01 -2.93458497e-02 1.19564471e+02] [ 2.92296997e-02 -2.83885084e-03 9.99568690e-01 6.81709849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.250714057 meters Centerline goodness : 0.989983 Centerline is valid? [True, True] Translation: X:153.73, Y:119.58, Z:6.82 [[-1.49238311e-01 -9.88800597e-01 1.14285041e-03 1.53726658e+02] [ 9.88370415e-01 -1.49207300e-01 -2.93445948e-02 1.19579477e+02] [ 2.91864744e-02 -3.24977822e-03 9.99568701e-01 6.81764498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.280714057 meters Centerline goodness : 0.987875 Centerline is valid? [True, True] Translation: X:153.74, Y:119.56, Z:6.82 [[-1.25292797e-01 -9.92118427e-01 1.65573117e-03 1.53737302e+02] [ 9.91687296e-01 -1.25287274e-01 -2.93156314e-02 1.19563990e+02] [ 2.92920202e-02 -2.03106988e-03 9.99568833e-01 6.81890488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.310714057 meters Centerline goodness : 0.986394 Centerline is valid? [True, True] Translation: X:153.74, Y:119.57, Z:6.82 [[-1.21666263e-01 -9.92570517e-01 1.04369403e-03 1.53737288e+02] [ 9.92139742e-01 -1.21644321e-01 -2.93494831e-02 1.19567556e+02] [ 2.92583911e-02 -2.53535161e-03 9.99568666e-01 6.81965464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.340714057 meters Centerline goodness : 0.985650 Centerline is valid? [True, True] Translation: X:153.74, Y:119.58, Z:6.82 [[-1.17332937e-01 -9.93092015e-01 1.10963310e-03 1.53736040e+02] [ 9.92661098e-01 -1.17314814e-01 -2.93458478e-02 1.19577469e+02] [ 2.92733035e-02 -2.34174490e-03 9.99568702e-01 6.82062438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.370714057 meters Centerline goodness : 0.984904 Centerline is valid? [True, True] Translation: X:153.74, Y:119.57, Z:6.82 [[-1.15415020e-01 -9.93316767e-01 1.08295753e-03 1.53735759e+02] [ 9.92885834e-01 -1.15396945e-01 -2.93473117e-02 1.19574676e+02] [ 2.92761467e-02 -2.31186739e-03 9.99568688e-01 6.82196198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.400714057 meters Centerline goodness : 0.986298 Centerline is valid? [True, True] Translation: X:153.73, Y:119.57, Z:6.82 [[-1.11427053e-01 -9.93771800e-01 1.27328640e-03 1.53734111e+02] [ 9.93340704e-01 -1.11416305e-01 -2.93368885e-02 1.19574687e+02] [ 2.92960373e-02 -2.00411583e-03 9.99568770e-01 6.81525155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.430714057 meters Centerline goodness : 0.988028 Centerline is valid? [True, True] Translation: X:153.73, Y:119.59, Z:6.81 [[-1.06499716e-01 -9.94312155e-01 1.07181579e-03 1.53731984e+02] [ 9.93881086e-01 -1.06485180e-01 -2.93478169e-02 1.19586449e+02] [ 2.92950235e-02 -2.06027671e-03 9.99568685e-01 6.81341919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.460714057 meters Centerline goodness : 0.989612 Centerline is valid? [True, True] Translation: X:153.73, Y:119.58, Z:6.81 [[-1.04899436e-01 -9.94482612e-01 6.65676714e-04 1.53730836e+02] [ 9.94051785e-01 -1.04873650e-01 -2.93694778e-02 1.19579470e+02] [ 2.92772469e-02 -2.41912452e-03 9.99568402e-01 6.81362090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.490714057 meters Centerline goodness : 0.988200 Centerline is valid? [True, True] Translation: X:153.73, Y:119.59, Z:6.81 [[-1.03726808e-01 -9.94605686e-01 5.27181014e-04 1.53729626e+02] [ 9.94174955e-01 -1.03697458e-01 -2.93767867e-02 1.19586083e+02] [ 2.92729865e-02 -2.52305015e-03 9.99568270e-01 6.81401835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.520714057 meters Centerline goodness : 0.988990 Centerline is valid? [True, True] Translation: X:153.71, Y:119.60, Z:6.82 [[-1.22845842e-01 -9.92425520e-01 6.96738236e-04 1.53714683e+02] [ 9.91995189e-01 -1.22813192e-01 -2.93677482e-02 1.19596180e+02] [ 2.92308714e-02 -2.91654479e-03 9.99568432e-01 6.81938026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.550714057 meters Centerline goodness : 0.989012 Centerline is valid? [True, True] Translation: X:153.73, Y:119.57, Z:6.81 [[-9.50494190e-02 -9.95471287e-01 1.58872196e-03 1.53728236e+02] [ 9.95040155e-01 -9.50550460e-02 -2.93194263e-02 1.19573903e+02] [ 2.93376631e-02 -1.20595228e-03 9.99568831e-01 6.81022797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.580714057 meters Centerline goodness : 0.989018 Centerline is valid? [True, True] Translation: X:153.73, Y:119.56, Z:6.81 [[-9.02668435e-02 -9.95917582e-01 2.60302138e-04 1.53730388e+02] [ 9.95486789e-01 -9.02354787e-02 -2.93872811e-02 1.19561840e+02] [ 2.92907984e-02 -2.39356977e-03 9.99568067e-01 6.80798282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.610714057 meters Centerline goodness : 0.989018 Centerline is valid? [True, True] Translation: X:153.73, Y:119.56, Z:6.81 [[-8.99979635e-02 -9.95941949e-01 7.04520312e-06 1.53730306e+02] [ 9.95511413e-01 -8.99592662e-02 -2.93999483e-02 1.19563630e+02] [ 2.92812756e-02 -2.63892189e-03 9.99567728e-01 6.80793977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.640714057 meters Centerline goodness : 0.989670 Centerline is valid? [True, True] Translation: X:153.71, Y:119.59, Z:6.82 [[-1.23805117e-01 -9.92306550e-01 6.80469873e-05 1.53712666e+02] [ 9.91877449e-01 -1.23753596e-01 -2.93968326e-02 1.19592408e+02] [ 2.91790906e-02 -3.57198404e-03 9.99567817e-01 6.81760867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.670714057 meters Centerline goodness : 0.981840 Centerline is valid? [True, True] Translation: X:153.65, Y:120.56, Z:6.84 [[-1.31955364e-01 -9.91254450e-01 1.54832498e-03 1.53654360e+02] [ 9.90823521e-01 -1.31943795e-01 -2.93186912e-02 1.20564980e+02] [ 2.92665750e-02 -2.33464177e-03 9.99568916e-01 6.84214584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.700714057 meters Centerline goodness : 0.990165 Centerline is valid? [True, True] Translation: X:153.71, Y:119.54, Z:6.81 [[-4.68716290e-02 -9.98899156e-01 1.87815484e-03 1.53713222e+02] [ 9.98469444e-01 -4.69065579e-02 -2.93009280e-02 1.19543340e+02] [ 2.93567700e-02 5.01897994e-04 9.99568871e-01 6.80712300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.730714057 meters Centerline goodness : 0.989270 Centerline is valid? [True, True] Translation: X:153.69, Y:119.53, Z:6.82 [[-6.65011118e-02 -9.97780397e-01 -3.44698950e-03 1.53688795e+02] [ 9.97366027e-01 -6.63724371e-02 -2.92524800e-02 1.19529424e+02] [ 2.89587660e-02 -5.38323267e-03 9.99566111e-01 6.81638361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76071405700003 meters Centerline goodness : 0.989587 Centerline is valid? [True, True] Translation: X:153.71, Y:119.59, Z:6.81 [[-5.10846115e-02 -9.98694319e-01 -1.38906900e-04 1.53709070e+02] [ 9.98266686e-01 -5.10586666e-02 -2.92683402e-02 1.19588884e+02] [ 2.92230327e-02 -1.63382792e-03 9.99571581e-01 6.81113511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.790714057 meters Centerline goodness : 0.989411 Centerline is valid? [True, True] Translation: X:153.69, Y:119.58, Z:6.82 [[-6.86986303e-02 -9.97633765e-01 -2.71469616e-03 1.53685046e+02] [ 9.97216015e-01 -6.85902687e-02 -2.92505559e-02 1.19580906e+02] [ 2.89951405e-02 -4.71661161e-03 9.99568425e-01 6.81903901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82071405700003 meters Centerline goodness : 0.988525 Centerline is valid? [True, True] Translation: X:153.69, Y:119.62, Z:6.82 [[-6.23925462e-02 -9.98051683e-01 -9.43564200e-05 1.53693376e+02] [ 9.97624554e-01 -6.23630784e-02 -2.92591066e-02 1.19623202e+02] [ 2.91962162e-02 -1.91968244e-03 9.99571856e-01 6.81751489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.850714057 meters Centerline goodness : 0.988822 Centerline is valid? [True, True] Translation: X:153.68, Y:119.64, Z:6.82 [[-6.96699625e-02 -9.97569344e-01 -1.22469247e-03 1.53681015e+02] [ 9.97145626e-01 -6.96044552e-02 -2.92544186e-02 1.19635828e+02] [ 2.90980671e-02 -3.25935099e-03 9.99571248e-01 6.82109035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88071405700003 meters Centerline goodness : 0.987663 Centerline is valid? [True, True] Translation: X:153.69, Y:119.67, Z:6.82 [[-5.97006965e-02 -9.98216320e-01 -7.48261712e-05 1.53687198e+02] [ 9.97789128e-01 -5.96729542e-02 -2.92573787e-02 1.19671136e+02] [ 2.92007278e-02 -1.82134663e-03 9.99571908e-01 6.81972503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.910714057 meters Centerline goodness : 0.989144 Centerline is valid? [True, True] Translation: X:153.69, Y:119.71, Z:6.82 [[-5.92636062e-02 -9.98242171e-01 -6.27701205e-04 1.53692541e+02] [ 9.97816164e-01 -5.92199189e-02 -2.92558236e-02 1.19714879e+02] [ 2.91672245e-02 -2.36013602e-03 9.99571760e-01 6.81501082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94071405700004 meters Centerline goodness : 0.989390 Centerline is valid? [True, True] Translation: X:153.69, Y:119.75, Z:6.81 [[-5.63617796e-02 -9.98408837e-01 -1.77320051e-03 1.53693568e+02] [ 9.97986074e-01 -5.62859613e-02 -2.92521330e-02 1.19749577e+02] [ 2.91057818e-02 -3.41833169e-03 9.99570492e-01 6.81359254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.970714057 meters Centerline goodness : 0.989734 Centerline is valid? [True, True] Translation: X:153.69, Y:119.76, Z:6.81 [[-5.44994393e-02 -9.98513298e-01 -1.00288876e-03 1.53691989e+02] [ 9.98088504e-01 -5.44468874e-02 -2.92382450e-02 1.19759403e+02] [ 2.91401722e-02 -2.59443970e-03 9.99571968e-01 6.81458881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.000714057 meters Centerline goodness : 0.989968 Centerline is valid? [True, True] Translation: X:153.69, Y:119.77, Z:6.82 [[-5.62687851e-02 -9.98415042e-01 -1.10794135e-03 1.53688043e+02] [ 9.97990570e-01 -5.62124149e-02 -2.92401525e-02 1.19769442e+02] [ 2.91315280e-02 -2.75102287e-03 9.99571801e-01 6.81664720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.030714057 meters Centerline goodness : 0.989871 Centerline is valid? [True, True] Translation: X:153.69, Y:119.79, Z:6.82 [[-6.01882451e-02 -9.98186628e-01 -9.11679334e-04 1.53685000e+02] [ 9.97761947e-01 -6.01359352e-02 -2.92364056e-02 1.19792868e+02] [ 2.91285645e-02 -2.66932689e-03 9.99572109e-01 6.81868228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.060714057 meters Centerline goodness : 0.986442 Centerline is valid? [True, True] Translation: X:153.68, Y:119.76, Z:6.82 [[-5.61921516e-02 -9.98419726e-01 -7.01936042e-04 1.53683917e+02] [ 9.97994443e-01 -5.61476644e-02 -2.92323728e-02 1.19757815e+02] [ 2.91467656e-02 -2.34315819e-03 9.99572396e-01 6.82206115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.090714057 meters Centerline goodness : 0.987967 Centerline is valid? [True, True] Translation: X:153.67, Y:119.80, Z:6.83 [[-8.29357270e-02 -9.96554850e-01 -3.10530551e-04 1.53667015e+02] [ 9.96129992e-01 -8.28912628e-02 -2.92245959e-02 1.19802874e+02] [ 2.90981725e-02 -2.73309190e-03 9.99572822e-01 6.82657495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.120714057 meters Centerline goodness : 0.986390 Centerline is valid? [True, True] Translation: X:153.69, Y:119.75, Z:6.82 [[-3.63313788e-02 -9.99339613e-01 6.08025186e-04 1.53685982e+02] [ 9.98912862e-01 -3.63336335e-02 -2.92054849e-02 1.19747196e+02] [ 2.92082897e-02 -4.53711355e-04 9.99573244e-01 6.82481938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.150714057 meters Centerline goodness : 0.988669 Centerline is valid? [True, True] Translation: X:153.66, Y:119.82, Z:6.83 [[-7.97549441e-02 -9.96813920e-01 -1.07628051e-03 1.53663930e+02] [ 9.96390886e-01 -7.96895298e-02 -2.92366416e-02 1.19820487e+02] [ 2.90577230e-02 -3.40416281e-03 9.99571939e-01 6.82761728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.180714057 meters Centerline goodness : 0.988649 Centerline is valid? [True, True] Translation: X:153.66, Y:119.81, Z:6.83 [[-7.78646758e-02 -9.96963758e-01 5.97302420e-04 1.53662676e+02] [ 9.96537390e-01 -7.78488715e-02 -2.92024513e-02 1.19807940e+02] [ 2.91602849e-02 -1.67860521e-03 9.99573339e-01 6.82714437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.210714057 meters Centerline goodness : 0.986141 Centerline is valid? [True, True] Translation: X:153.69, Y:119.74, Z:6.82 [[-2.47064520e-02 -9.99694577e-01 5.85910395e-04 1.53687263e+02] [ 9.99267967e-01 -2.47130241e-02 -2.92026799e-02 1.19742727e+02] [ 2.92082403e-02 -1.36013119e-04 9.99573339e-01 6.82317626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.240714057 meters Centerline goodness : 0.986926 Centerline is valid? [True, True] Translation: X:153.66, Y:119.73, Z:6.82 [[-5.26822760e-02 -9.98606436e-01 -3.12474842e-03 1.53660444e+02] [ 9.98191365e-01 -5.25691240e-02 -2.91630994e-02 1.19733128e+02] [ 2.89581935e-02 -4.65547534e-03 9.99569782e-01 6.82047966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.270714057 meters Centerline goodness : 0.985455 Centerline is valid? [True, True] Translation: X:153.68, Y:119.78, Z:6.82 [[-3.80092603e-02 -9.99277368e-01 -1.94422419e-04 1.53677282e+02] [ 9.98852003e-01 -3.79874029e-02 -2.91827472e-02 1.19775195e+02] [ 2.91542732e-02 -1.30341386e-03 9.99574074e-01 6.82021399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.300714057 meters Centerline goodness : 0.986831 Centerline is valid? [True, True] Translation: X:153.69, Y:119.82, Z:6.82 [[-3.53380674e-02 -9.99374679e-01 -1.21313633e-03 1.53686345e+02] [ 9.98951184e-01 -3.52876744e-02 -2.91772466e-02 1.19818678e+02] [ 2.91161927e-02 -2.24293149e-03 9.99573517e-01 6.82298565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.330714057 meters Centerline goodness : 0.984398 Centerline is valid? [True, True] Translation: X:153.68, Y:119.84, Z:6.82 [[-3.97577265e-02 -9.99206441e-01 -2.41075570e-03 1.53684996e+02] [ 9.98786935e-01 -3.96706567e-02 -2.91701554e-02 1.19842414e+02] [ 2.90513709e-02 -3.56757036e-03 9.99571553e-01 6.82327357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.360714057 meters Centerline goodness : 0.985673 Centerline is valid? [True, True] Translation: X:153.69, Y:119.87, Z:6.82 [[-4.09971368e-02 -9.99157201e-01 -2.03042577e-03 1.53685096e+02] [ 9.98736441e-01 -4.09205900e-02 -2.91723614e-02 1.19869736e+02] [ 2.90646888e-02 -3.22384350e-03 9.99572334e-01 6.82341993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.390714057 meters Centerline goodness : 0.982915 Centerline is valid? [True, True] Translation: X:153.68, Y:119.88, Z:6.83 [[-4.95605020e-02 -9.98768925e-01 -2.09532622e-03 1.53677069e+02] [ 9.98349074e-01 -4.94784681e-02 -2.91720223e-02 1.19883929e+02] [ 2.90324359e-02 -3.53764707e-03 9.99572210e-01 6.82521054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.420714057 meters Centerline goodness : 0.984936 Centerline is valid? [True, True] Translation: X:153.68, Y:119.93, Z:6.83 [[-4.76667563e-02 -9.98862781e-01 -1.01235200e-03 1.53684158e+02] [ 9.98439528e-01 -4.76169901e-02 -2.91741374e-02 1.19925098e+02] [ 2.90927549e-02 -2.40140875e-03 9.99573832e-01 6.82868291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.450714057 meters Centerline goodness : 0.984046 Centerline is valid? [True, True] Translation: X:153.68, Y:119.95, Z:6.83 [[-6.49979495e-02 -9.97884890e-01 -1.00662420e-03 1.53680010e+02] [ 9.97462551e-01 -6.49410106e-02 -2.91740421e-02 1.19948504e+02] [ 2.90469646e-02 -2.90032286e-03 9.99573840e-01 6.82722071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.480714057 meters Centerline goodness : 0.987237 Centerline is valid? [True, True] Translation: X:153.66, Y:120.00, Z:6.83 [[-9.52836953e-02 -9.95450116e-01 -2.90721514e-04 1.53664680e+02] [ 9.95027637e-01 -9.52347396e-02 -2.91606947e-02 1.20003063e+02] [ 2.90003301e-02 -3.06781469e-03 9.99574694e-01 6.82905351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51071405700003 meters Centerline goodness : 0.983731 Centerline is valid? [True, True] Translation: X:153.68, Y:119.93, Z:6.83 [[-7.03063191e-02 -9.97525285e-01 5.72409085e-04 1.53682218e+02] [ 9.97100557e-01 -7.02931075e-02 -2.91437529e-02 1.19934451e+02] [ 2.91118668e-02 -1.47824058e-03 9.99575067e-01 6.82783082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.540714057 meters Centerline goodness : 0.984525 Centerline is valid? [True, True] Translation: X:153.68, Y:119.97, Z:6.83 [[-7.19192774e-02 -9.97410453e-01 -7.38561497e-05 1.53681114e+02] [ 9.96986601e-01 -7.18865562e-02 -2.91554540e-02 1.19968799e+02] [ 2.90746453e-02 -2.17047277e-03 9.99574887e-01 6.82620770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57071405700003 meters Centerline goodness : 0.985417 Centerline is valid? [True, True] Translation: X:153.67, Y:120.03, Z:6.83 [[-1.02809192e-01 -9.94701085e-01 -1.48110382e-04 1.53666758e+02] [ 9.94278641e-01 -1.02761189e-01 -2.91568436e-02 1.20025514e+02] [ 2.89871239e-02 -3.14485453e-03 9.99574838e-01 6.82982987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.600714057 meters Centerline goodness : 0.986090 Centerline is valid? [True, True] Translation: X:153.68, Y:119.96, Z:6.82 [[-7.40927555e-02 -9.97250946e-01 9.02593830e-04 1.53681396e+02] [ 9.96826030e-01 -7.40875559e-02 -2.91358927e-02 1.19958013e+02] [ 2.91226675e-02 -1.25902955e-03 9.99575052e-01 6.82409253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63071405700003 meters Centerline goodness : 0.984050 Centerline is valid? [True, True] Translation: X:153.68, Y:119.97, Z:6.83 [[-7.48326830e-02 -9.97196058e-01 -3.03847163e-04 1.53683677e+02] [ 9.96772817e-01 -7.47920377e-02 -2.91564996e-02 1.19965497e+02] [ 2.90520211e-02 -2.48472568e-03 9.99574813e-01 6.82595614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.660714057 meters Centerline goodness : 0.984321 Centerline is valid? [True, True] Translation: X:153.69, Y:119.95, Z:6.83 [[-5.94842562e-02 -9.98229232e-01 -1.54992192e-04 1.53690331e+02] [ 9.97805197e-01 -5.94544614e-02 -2.91540115e-02 1.19954841e+02] [ 2.90931716e-02 -1.88885671e-03 9.99574919e-01 6.82544390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69071405700004 meters Centerline goodness : 0.982887 Centerline is valid? [True, True] Translation: X:153.69, Y:119.96, Z:6.83 [[-5.96324700e-02 -9.98219948e-01 -9.50984831e-04 1.53689843e+02] [ 9.97797392e-01 -5.95794411e-02 -2.91659850e-02 1.19959637e+02] [ 2.90574089e-02 -2.68812991e-03 9.99574130e-01 6.82667487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.720714057 meters Centerline goodness : 0.987042 Centerline is valid? [True, True] Translation: X:153.69, Y:119.97, Z:6.81 [[-5.02960736e-02 -9.98734085e-01 -7.29518189e-04 1.53693450e+02] [ 9.98310637e-01 -5.02534472e-02 -2.91626987e-02 1.19965595e+02] [ 2.90891204e-02 -2.19505501e-03 9.99574412e-01 6.81358194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.750714057 meters Centerline goodness : 0.983903 Centerline is valid? [True, True] Translation: X:153.69, Y:119.97, Z:6.82 [[-4.97853811e-02 -9.98755022e-01 -3.13402633e-03 1.53687171e+02] [ 9.98340587e-01 -4.96733104e-02 -2.91313360e-02 1.19974374e+02] [ 2.89393907e-02 -4.57914035e-03 9.99570679e-01 6.82484803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.780714057 meters Centerline goodness : 0.984200 Centerline is valid? [True, True] Translation: X:153.69, Y:120.01, Z:6.83 [[-4.93334502e-02 -9.98781158e-01 -1.55237530e-03 1.53690670e+02] [ 9.98360238e-01 -4.92673568e-02 -2.91472570e-02 1.20009563e+02] [ 2.90352496e-02 -2.98776452e-03 9.99573923e-01 6.82731616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.810714057 meters Centerline goodness : 0.987680 Centerline is valid? [True, True] Translation: X:153.68, Y:120.04, Z:6.82 [[-6.05122071e-02 -9.98165276e-01 -2.08693340e-03 1.53684206e+02] [ 9.97747179e-01 -6.04259307e-02 -2.91423126e-02 1.20037642e+02] [ 2.89627396e-02 -3.84569757e-03 9.99573094e-01 6.82025360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.840714057 meters Centerline goodness : 0.984204 Centerline is valid? [True, True] Translation: X:153.68, Y:120.06, Z:6.83 [[-5.45897766e-02 -9.98506860e-01 -2.00149443e-03 1.53684405e+02] [ 9.98087928e-01 -5.45084560e-02 -2.91430426e-02 1.20059241e+02] [ 2.89904296e-02 -3.58857962e-03 9.99573247e-01 6.82883860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.870714057 meters Centerline goodness : 0.975677 Centerline is valid? [True, True] Translation: X:153.68, Y:120.07, Z:6.84 [[-5.96191888e-02 -9.98219940e-01 -1.58245653e-03 1.53678556e+02] [ 9.97799687e-01 -5.95478750e-02 -2.91519323e-02 1.20067534e+02] [ 2.90058081e-02 -3.31698919e-03 9.99573739e-01 6.83558827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.900714057 meters Centerline goodness : 0.984527 Centerline is valid? [True, True] Translation: X:153.69, Y:120.11, Z:6.83 [[-5.31861912e-02 -9.98584524e-01 4.21473395e-04 1.53686933e+02] [ 9.98158347e-01 -5.31758140e-02 -2.91932818e-02 1.20107891e+02] [ 2.91743716e-02 -1.13198228e-03 9.99573696e-01 6.82889757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.930714057 meters Centerline goodness : 0.985795 Centerline is valid? [True, True] Translation: X:153.70, Y:120.15, Z:6.83 [[-4.37996781e-02 -9.99039688e-01 -1.13586230e-03 1.53698050e+02] [ 9.98616683e-01 -4.37479689e-02 -2.91691048e-02 1.20153986e+02] [ 2.90914017e-02 -2.41188844e-03 9.99573846e-01 6.82928678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.960714057 meters Centerline goodness : 0.984934 Centerline is valid? [True, True] Translation: X:153.69, Y:120.17, Z:6.83 [[-5.32280443e-02 -9.98578971e-01 -2.61044308e-03 1.53686426e+02] [ 9.98162193e-01 -5.31296366e-02 -2.91458188e-02 1.20165163e+02] [ 2.89657098e-02 -4.15702052e-03 9.99571762e-01 6.82860016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.990714057 meters Centerline goodness : 0.983041 Centerline is valid? [True, True] Translation: X:153.70, Y:120.21, Z:6.83 [[-3.98486040e-02 -9.99204937e-01 -1.25772238e-03 1.53697582e+02] [ 9.98782143e-01 -3.97950324e-02 -2.91647957e-02 1.20205202e+02] [ 2.90915568e-02 -2.41836705e-03 9.99573826e-01 6.82952707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.020714057 meters Centerline goodness : 0.985628 Centerline is valid? [True, True] Translation: X:153.69, Y:120.23, Z:6.83 [[-4.93426436e-02 -9.98779397e-01 -2.24041790e-03 1.53688551e+02] [ 9.98360680e-01 -4.92565690e-02 -2.91503400e-02 1.20226330e+02] [ 2.90044037e-02 -3.67509998e-03 9.99572528e-01 6.83240851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.050714057 meters Centerline goodness : 0.984970 Centerline is valid? [True, True] Translation: X:153.70, Y:120.27, Z:6.83 [[-4.11104754e-02 -9.99153348e-01 -1.58618329e-03 1.53701217e+02] [ 9.98731684e-01 -4.10468370e-02 -2.91578576e-02 1.20274678e+02] [ 2.90680633e-02 -2.78286490e-03 9.99573561e-01 6.83106154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.080714057 meters Centerline goodness : 0.986063 Centerline is valid? [True, True] Translation: X:153.70, Y:120.30, Z:6.83 [[-4.16579829e-02 -9.99126893e-01 -3.17240383e-03 1.53699340e+02] [ 9.98711560e-01 -4.15481504e-02 -2.91371081e-02 1.20302096e+02] [ 2.89798608e-02 -4.38210953e-03 9.99570390e-01 6.83061401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.110714057 meters Centerline goodness : 0.983653 Centerline is valid? [True, True] Translation: X:153.69, Y:120.32, Z:6.83 [[-3.99111597e-02 -9.99198941e-01 -2.92833593e-03 1.53694505e+02] [ 9.98782308e-01 -3.98091181e-02 -2.91399411e-02 1.20318556e+02] [ 2.90000238e-02 -4.08777896e-03 9.99571052e-01 6.83381169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.140714057 meters Centerline goodness : 0.987285 Centerline is valid? [True, True] Translation: X:153.69, Y:120.36, Z:6.83 [[-4.56038159e-02 -9.98957992e-01 -1.79496561e-03 1.53692491e+02] [ 9.98537606e-01 -4.55322549e-02 -2.91455383e-02 1.20357899e+02] [ 2.90334396e-02 -3.12148843e-03 9.99573567e-01 6.83427002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.170714057 meters Centerline goodness : 0.985344 Centerline is valid? [True, True] Translation: X:153.69, Y:120.37, Z:6.84 [[-5.04236560e-02 -9.98726590e-01 -1.62911666e-03 1.53687610e+02] [ 9.98306104e-01 -5.03548888e-02 -2.91428990e-02 1.20366288e+02] [ 2.90237542e-02 -3.09584862e-03 9.99573928e-01 6.83637242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.200714057 meters Centerline goodness : 0.986805 Centerline is valid? [True, True] Translation: X:153.68, Y:120.37, Z:6.83 [[-5.91794640e-02 -9.98246972e-01 -8.80248003e-04 1.53680090e+02] [ 9.97825254e-01 -5.91287766e-02 -2.91298832e-02 1.20367431e+02] [ 2.90267697e-02 -2.60222456e-03 9.99575247e-01 6.83294051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.230714057 meters Centerline goodness : 0.984893 Centerline is valid? [True, True] Translation: X:153.68, Y:120.37, Z:6.84 [[-5.27121562e-02 -9.98609613e-01 -5.19249075e-04 1.53678763e+02] [ 9.98186958e-01 -5.26747028e-02 -2.91234051e-02 1.20374268e+02] [ 2.90555610e-02 -2.05346514e-03 9.99575689e-01 6.83698298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26071405700003 meters Centerline goodness : 0.984383 Centerline is valid? [True, True] Translation: X:153.68, Y:120.36, Z:6.84 [[-5.10226167e-02 -9.98697457e-01 -2.87798562e-04 1.53677922e+02] [ 9.98274422e-01 -5.09926128e-02 -2.91192659e-02 1.20358961e+02] [ 2.90666612e-02 -1.77304309e-03 9.99575903e-01 6.83652332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.290714057 meters Centerline goodness : 0.986777 Centerline is valid? [True, True] Translation: X:153.66, Y:120.42, Z:6.84 [[-7.43055004e-02 -9.97235496e-01 -2.40587993e-04 1.53659538e+02] [ 9.96813187e-01 -7.42670086e-02 -2.91183945e-02 1.20421191e+02] [ 2.90200288e-02 -2.40347816e-03 9.99575941e-01 6.83799192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32071405700003 meters Centerline goodness : 0.986114 Centerline is valid? [True, True] Translation: X:153.68, Y:120.35, Z:6.83 [[-3.43985620e-02 -9.99408038e-01 5.58303228e-04 1.53675811e+02] [ 9.98984302e-01 -3.44002354e-02 -2.91030781e-02 1.20348670e+02] [ 2.91050560e-02 -4.43367878e-04 9.99576260e-01 6.83432459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.350714057 meters Centerline goodness : 0.985068 Centerline is valid? [True, True] Translation: X:153.67, Y:120.37, Z:6.84 [[-3.35595938e-02 -9.99436145e-01 -1.07001258e-03 1.53672867e+02] [ 9.99013699e-01 -3.35142241e-02 -2.91277413e-02 1.20372689e+02] [ 2.90754568e-02 -2.04647240e-03 9.99575125e-01 6.83652449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38071405700003 meters Centerline goodness : 0.983764 Centerline is valid? [True, True] Translation: X:153.67, Y:120.39, Z:6.84 [[-3.60899845e-02 -9.99348292e-01 -7.10391928e-04 1.53670568e+02] [ 9.98925432e-01 -3.60540121e-02 -2.91219722e-02 1.20394947e+02] [ 2.90773807e-02 -1.76064009e-03 9.99575613e-01 6.83850409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.410714057 meters Centerline goodness : 0.985845 Centerline is valid? [True, True] Translation: X:153.66, Y:120.43, Z:6.85 [[-6.07525123e-02 -9.98152737e-01 -4.96004318e-04 1.53656126e+02] [ 9.97730494e-01 -6.07123429e-02 -2.91182647e-02 1.20434479e+02] [ 2.90343620e-02 -2.26388637e-03 9.99575850e-01 6.84681721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44071405700004 meters Centerline goodness : 0.985962 Centerline is valid? [True, True] Translation: X:153.66, Y:120.43, Z:6.85 [[-6.00693551e-02 -9.98194062e-01 5.35759222e-04 1.53657219e+02] [ 9.97770560e-01 -6.00594880e-02 -2.90992840e-02 1.20430492e+02] [ 2.90789099e-02 -1.21341044e-03 9.99576383e-01 6.84831623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.470714057 meters Centerline goodness : 0.984761 Centerline is valid? [True, True] Translation: X:153.66, Y:120.43, Z:6.85 [[-6.05642341e-02 -9.98164164e-01 5.24512188e-04 1.53658450e+02] [ 9.97740675e-01 -6.05538297e-02 -2.90994867e-02 1.20430681e+02] [ 2.90778261e-02 -1.23906098e-03 9.99576383e-01 6.84865853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.500714057 meters Centerline goodness : 0.984761 Centerline is valid? [True, True] Translation: X:153.66, Y:120.43, Z:6.85 [[-6.01802092e-02 -9.98187397e-01 5.13302667e-04 1.53658332e+02] [ 9.97763911e-01 -6.01696416e-02 -2.90996844e-02 1.20433365e+02] [ 2.90778235e-02 -1.23907022e-03 9.99576383e-01 6.84873185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.530714057 meters Centerline goodness : 0.976013 Centerline is valid? [True, True] Translation: X:153.63, Y:121.55, Z:6.89 [[-8.11018667e-02 -9.96705691e-01 5.02102414e-04 1.53629479e+02] [ 9.96282536e-01 -8.10820940e-02 -2.90998777e-02 1.21548407e+02] [ 2.90447252e-02 -1.85981854e-03 9.99576383e-01 6.88593732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.560714057 meters Centerline goodness : 0.975663 Centerline is valid? [True, True] Translation: X:153.63, Y:121.58, Z:6.89 [[-7.73683816e-02 -9.97002561e-01 1.61828309e-04 1.53631303e+02] [ 9.96580011e-01 -7.73403145e-02 -2.90990926e-02 1.21577656e+02] [ 2.90243857e-02 -2.09007484e-03 9.99576519e-01 6.88598380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.590714057 meters Centerline goodness : 0.977401 Centerline is valid? [True, True] Translation: X:153.64, Y:121.54, Z:6.87 [[-7.73630038e-02 -9.97002990e-01 6.38160365e-05 1.53636797e+02] [ 9.96580666e-01 -7.73320959e-02 -2.90985217e-02 1.21535397e+02] [ 2.90162481e-02 -2.18755121e-03 9.99576546e-01 6.87330673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.620714057 meters Centerline goodness : 0.975898 Centerline is valid? [True, True] Translation: X:153.64, Y:121.58, Z:6.88 [[-6.94481181e-02 -9.97585564e-01 -3.44432618e-05 1.53638942e+02] [ 9.97163232e-01 -6.94177124e-02 -2.90975830e-02 1.21576728e+02] [ 2.90249378e-02 -2.05511794e-03 9.99576575e-01 6.88072683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.650714057 meters Centerline goodness : 0.983528 Centerline is valid? [True, True] Translation: X:153.65, Y:120.49, Z:6.84 [[-4.84088034e-02 -9.98827337e-01 7.33545899e-04 1.53654132e+02] [ 9.98403692e-01 -4.84096394e-02 -2.90959476e-02 1.20485024e+02] [ 2.90973386e-02 -6.76125074e-04 9.99576354e-01 6.84273621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.680714057 meters Centerline goodness : 0.980025 Centerline is valid? [True, True] Translation: X:153.66, Y:120.51, Z:6.84 [[-4.43352170e-02 -9.99016709e-01 -6.85686878e-05 1.53658768e+02] [ 9.98593894e-01 -4.43144561e-02 -2.90940666e-02 1.20511981e+02] [ 2.90624200e-02 -1.35836403e-03 9.99576676e-01 6.84228805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.710714057 meters Centerline goodness : 0.978729 Centerline is valid? [True, True] Translation: X:153.66, Y:120.54, Z:6.85 [[-4.21300185e-02 -9.99112136e-01 2.18502978e-05 1.53662181e+02] [ 9.98689158e-01 -4.21128188e-02 -2.90942512e-02 1.20538573e+02] [ 2.90693397e-02 -1.20391969e-03 9.99576672e-01 6.84546235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.740714057 meters Centerline goodness : 0.980392 Centerline is valid? [True, True] Translation: X:153.67, Y:120.57, Z:6.84 [[-3.98545571e-02 -9.99205490e-01 5.28574529e-05 1.53667257e+02] [ 9.98782438e-01 -3.98392222e-02 -2.90942968e-02 1.20569220e+02] [ 2.90732869e-02 -1.10674722e-03 9.99576670e-01 6.84308739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.770714057 meters Centerline goodness : 0.976749 Centerline is valid? [True, True] Translation: X:153.66, Y:120.58, Z:6.85 [[-4.67494511e-02 -9.98906610e-01 -2.69747427e-04 1.53659775e+02] [ 9.98484170e-01 -4.67218241e-02 -2.90935445e-02 1.20582106e+02] [ 2.90491308e-02 -1.62944577e-03 9.99576657e-01 6.84946863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.800714057 meters Centerline goodness : 0.975915 Centerline is valid? [True, True] Translation: X:153.66, Y:120.61, Z:6.85 [[-4.60988346e-02 -9.98936432e-01 9.50410062e-04 1.53660592e+02] [ 9.98512675e-01 -4.61069619e-02 -2.90961338e-02 1.20608970e+02] [ 2.91090086e-02 -3.92301365e-04 9.99576166e-01 6.85226165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.830714057 meters Centerline goodness : 0.980566 Centerline is valid? [True, True] Translation: X:153.67, Y:120.64, Z:6.85 [[-4.46231471e-02 -9.99003144e-01 1.22184463e-03 1.53667227e+02] [ 9.98579332e-01 -4.46398033e-02 -2.90964865e-02 1.20641286e+02] [ 2.91220244e-02 -7.82680012e-05 9.99575861e-01 6.85170971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.860714057 meters Centerline goodness : 0.977016 Centerline is valid? [True, True] Translation: X:153.67, Y:120.66, Z:6.86 [[-5.16544100e-02 -9.98664814e-01 6.41785855e-04 1.53666560e+02] [ 9.98241260e-01 -5.16512003e-02 -2.90953793e-02 1.20661282e+02] [ 2.90896805e-02 -8.62247530e-04 9.99576434e-01 6.85597466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.890714057 meters Centerline goodness : 0.980845 Centerline is valid? [True, True] Translation: X:153.67, Y:119.55, Z:6.82 [[ 9.44075960e-03 -9.99955422e-01 1.60686048e-04 1.53669968e+02] [ 9.99532355e-01 9.43209111e-03 -2.90879260e-02 1.19554393e+02] [ 2.90851137e-02 4.35223020e-04 9.99576844e-01 6.81892323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.920714057 meters Centerline goodness : 0.976909 Centerline is valid? [True, True] Translation: X:153.67, Y:119.56, Z:6.82 [[ 3.00324475e-03 -9.99991648e-01 -2.77199114e-03 1.53668941e+02] [ 9.99577283e-01 3.08213765e-03 -2.89094287e-02 1.19564154e+02] [ 2.89177309e-02 -2.68399728e-03 9.99578192e-01 6.82206266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.950714057 meters Centerline goodness : 0.982352 Centerline is valid? [True, True] Translation: X:153.68, Y:119.60, Z:6.82 [[ 7.34833967e-04 -9.99999467e-01 -7.24825952e-04 1.53678584e+02] [ 9.99578204e-01 7.55567402e-04 -2.90317736e-02 1.19604131e+02] [ 2.90323058e-02 -7.03186689e-04 9.99578226e-01 6.81703740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.980714057 meters Centerline goodness : 0.978145 Centerline is valid? [True, True] Translation: X:153.68, Y:119.61, Z:6.82 [[-5.95865445e-03 -9.99978758e-01 -2.64159921e-03 1.53676251e+02] [ 9.99564603e-01 -5.87980520e-03 -2.89142174e-02 1.19614560e+02] [ 2.88980711e-02 -2.81273889e-03 9.99578406e-01 6.81940907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01071405700003 meters Centerline goodness : 0.985381 Centerline is valid? [True, True] Translation: X:153.68, Y:119.65, Z:6.82 [[-7.17258670e-03 -9.99973878e-01 -8.93337639e-04 1.53684589e+02] [ 9.99553161e-01 -7.14363926e-03 -2.90249242e-02 1.19654547e+02] [ 2.90177843e-02 -1.10112225e-03 9.99578289e-01 6.81665463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.040714057 meters Centerline goodness : 0.983989 Centerline is valid? [True, True] Translation: X:153.69, Y:119.68, Z:6.82 [[-8.66409128e-03 -9.99957719e-01 -3.08133045e-03 1.53685218e+02] [ 9.99545018e-01 -8.57140375e-03 -2.89186540e-02 1.19675442e+02] [ 2.88910199e-02 -3.33048235e-03 9.99577019e-01 6.81573779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07071405700003 meters Centerline goodness : 0.981197 Centerline is valid? [True, True] Translation: X:153.67, Y:119.69, Z:6.82 [[-2.24286139e-02 -9.99745684e-01 -2.35051179e-03 1.53674481e+02] [ 9.99330652e-01 -2.23512152e-02 -2.89598313e-02 1.19687595e+02] [ 2.88999295e-02 -2.99846735e-03 9.99577813e-01 6.81794835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.100714057 meters Centerline goodness : 0.984475 Centerline is valid? [True, True] Translation: X:153.69, Y:119.73, Z:6.82 [[-1.53567233e-02 -9.99881866e-01 -6.52757507e-04 1.53685738e+02] [ 9.99460360e-01 -1.53312843e-02 -2.90506447e-02 1.19725842e+02] [ 2.90372052e-02 -1.09852797e-03 9.99577728e-01 6.82052198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13071405700003 meters Centerline goodness : 0.986079 Centerline is valid? [True, True] Translation: X:153.69, Y:119.77, Z:6.82 [[-1.31196474e-02 -9.99911743e-01 -2.09321473e-03 1.53693313e+02] [ 9.99494670e-01 -1.30535022e-02 -2.89829376e-02 1.19765592e+02] [ 2.89530559e-02 -2.47240289e-03 9.99577715e-01 6.81989696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.160714057 meters Centerline goodness : 0.985067 Centerline is valid? [True, True] Translation: X:153.69, Y:119.79, Z:6.82 [[-1.15679226e-02 -9.99928472e-01 -3.03876776e-03 1.53693366e+02] [ 9.99515346e-01 -1.14752019e-02 -2.89377360e-02 1.19790250e+02] [ 2.89007956e-02 -3.37204450e-03 9.99576597e-01 6.81660558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19071405700004 meters Centerline goodness : 0.988326 Centerline is valid? [True, True] Translation: X:153.67, Y:119.80, Z:6.82 [[-3.02772343e-02 -9.99537901e-01 -2.69692756e-03 1.53670961e+02] [ 9.99124821e-01 -3.01865974e-02 -2.89544752e-02 1.19800243e+02] [ 2.88596843e-02 -3.57122870e-03 9.99577093e-01 6.82301199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.220714057 meters Centerline goodness : 0.988134 Centerline is valid? [True, True] Translation: X:153.67, Y:119.83, Z:6.82 [[-3.03531495e-02 -9.99538308e-01 -1.36309842e-03 1.53670960e+02] [ 9.99119544e-01 -3.03008613e-02 -2.90171586e-02 1.19828453e+02] [ 2.89624585e-02 -2.24266042e-03 9.99577984e-01 6.82469589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.250714057 meters Centerline goodness : 0.978945 Centerline is valid? [True, True] Translation: X:153.67, Y:119.85, Z:6.82 [[-3.22827300e-02 -9.99477859e-01 -1.35487306e-03 1.53666288e+02] [ 9.99059166e-01 -3.22298708e-02 -2.90175426e-02 1.19846204e+02] [ 2.89587240e-02 -2.29036384e-03 9.99577984e-01 6.82197283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.280714057 meters Centerline goodness : 0.985601 Centerline is valid? [True, True] Translation: X:153.67, Y:119.89, Z:6.82 [[-3.05595640e-02 -9.99532815e-01 -5.15178267e-04 1.53667207e+02] [ 9.99111394e-01 -3.05317037e-02 -2.90557512e-02 1.19886285e+02] [ 2.90264475e-02 -1.40265156e-03 9.99577660e-01 6.82241805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.310714057 meters Centerline goodness : 0.987176 Centerline is valid? [True, True] Translation: X:153.67, Y:119.92, Z:6.82 [[-3.13895508e-02 -9.99503144e-01 -2.85696541e-03 1.53667708e+02] [ 9.99089776e-01 -3.12937091e-02 -2.89883214e-02 1.19917792e+02] [ 2.88845134e-02 -3.76429532e-03 9.99575667e-01 6.81687915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.340714057 meters Centerline goodness : 0.986630 Centerline is valid? [True, True] Translation: X:153.67, Y:119.94, Z:6.82 [[-3.15877907e-02 -9.99496540e-01 -2.97965711e-03 1.53666381e+02] [ 9.99083762e-01 -3.14883371e-02 -2.89848337e-02 1.19943860e+02] [ 2.88764166e-02 -3.89249390e-03 9.99575410e-01 6.81690506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.370714057 meters Centerline goodness : 0.985490 Centerline is valid? [True, True] Translation: X:153.66, Y:119.97, Z:6.82 [[-3.12739916e-02 -9.99506832e-01 -2.83371683e-03 1.53663556e+02] [ 9.99093350e-01 -3.11788672e-02 -2.89888900e-02 1.19973622e+02] [ 2.88862415e-02 -3.73774595e-03 9.99575717e-01 6.82268397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.400714057 meters Centerline goodness : 0.987388 Centerline is valid? [True, True] Translation: X:153.64, Y:119.97, Z:6.83 [[-5.13043096e-02 -9.98678737e-01 -2.94074299e-03 1.53636706e+02] [ 9.98267798e-01 -5.11978458e-02 -2.89859261e-02 1.19968581e+02] [ 2.87970683e-02 -4.42275195e-03 9.99575494e-01 6.82643075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.430714057 meters Centerline goodness : 0.986856 Centerline is valid? [True, True] Translation: X:153.66, Y:120.03, Z:6.83 [[-2.62508459e-02 -9.99655139e-01 -7.04352652e-04 1.53659996e+02] [ 9.99234312e-01 -2.62193334e-02 -2.90402410e-02 1.20025858e+02] [ 2.90117585e-02 -1.46614423e-03 9.99577995e-01 6.82521749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.460714057 meters Centerline goodness : 0.986857 Centerline is valid? [True, True] Translation: X:153.65, Y:120.05, Z:6.83 [[-3.58916085e-02 -9.99351771e-01 -2.79835222e-03 1.53652959e+02] [ 9.98938286e-01 -3.57955544e-02 -2.89996424e-02 1.20049281e+02] [ 2.88806754e-02 -3.83622498e-03 9.99575505e-01 6.83086977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.490714057 meters Centerline goodness : 0.984216 Centerline is valid? [True, True] Translation: X:153.65, Y:120.07, Z:6.83 [[-3.12666279e-02 -9.99508369e-01 -2.32778024e-03 1.53648193e+02] [ 9.99092564e-01 -3.11860627e-02 -2.90082505e-02 1.20069414e+02] [ 2.89213948e-02 -3.23265810e-03 9.99576462e-01 6.83494159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.520714057 meters Centerline goodness : 0.986308 Centerline is valid? [True, True] Translation: X:153.65, Y:120.10, Z:6.83 [[-3.06366400e-02 -9.99529134e-01 -1.70463054e-03 1.53646481e+02] [ 9.99111139e-01 -3.05743369e-02 -2.90196815e-02 1.20100530e+02] [ 2.89538991e-02 -2.59218089e-03 9.99577387e-01 6.83446436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.550714057 meters Centerline goodness : 0.985004 Centerline is valid? [True, True] Translation: X:153.64, Y:120.12, Z:6.84 [[-3.67277512e-02 -9.99323682e-01 -1.80317371e-03 1.53639240e+02] [ 9.98906396e-01 -3.66600547e-02 -2.90181405e-02 1.20120949e+02] [ 2.89324106e-02 -2.86697280e-03 9.99577259e-01 6.83631514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.580714057 meters Centerline goodness : 0.978178 Centerline is valid? [True, True] Translation: X:153.63, Y:120.14, Z:6.84 [[-3.93428717e-02 -9.99225059e-01 -1.19157932e-03 1.53629551e+02] [ 9.98805940e-01 -3.92917489e-02 -2.90319149e-02 1.20137343e+02] [ 2.89625976e-02 -2.33235541e-03 9.99577775e-01 6.83514881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.610714057 meters Centerline goodness : 0.987380 Centerline is valid? [True, True] Translation: X:153.63, Y:120.17, Z:6.84 [[-3.83089943e-02 -9.99265872e-01 3.72026932e-04 1.53629187e+02] [ 9.98843539e-01 -3.83036218e-02 -2.90588732e-02 1.20171857e+02] [ 2.90517902e-02 -7.41619509e-04 9.99577633e-01 6.83908835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.640714057 meters Centerline goodness : 0.983049 Centerline is valid? [True, True] Translation: X:153.64, Y:120.21, Z:6.84 [[-2.72074514e-02 -9.99629673e-01 -5.21340204e-04 1.53641088e+02] [ 9.99208544e-01 -2.71808425e-02 -2.90428482e-02 1.20205882e+02] [ 2.90179224e-02 -1.31110947e-03 9.99578032e-01 6.83950474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.670714057 meters Centerline goodness : 0.977603 Centerline is valid? [True, True] Translation: X:153.63, Y:120.22, Z:6.84 [[-3.51458597e-02 -9.99381647e-01 -1.04537364e-03 1.53631654e+02] [ 9.98962041e-01 -3.51007365e-02 -2.90306426e-02 1.20221647e+02] [ 2.89759980e-02 -2.06459548e-03 9.99577975e-01 6.84397972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.700714057 meters Centerline goodness : 0.977867 Centerline is valid? [True, True] Translation: X:153.63, Y:120.25, Z:6.84 [[-3.55108869e-02 -9.99369222e-01 3.67920177e-04 1.53630850e+02] [ 9.98946915e-01 -3.55065785e-02 -2.90575846e-02 1.20248816e+02] [ 2.90523193e-02 -6.64327874e-04 9.99577672e-01 6.84433941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.730714057 meters Centerline goodness : 0.987570 Centerline is valid? [True, True] Translation: X:153.64, Y:120.28, Z:6.84 [[-3.66251741e-02 -9.99329055e-01 1.89261854e-04 1.53635956e+02] [ 9.98907003e-01 -3.66152084e-02 -2.90538406e-02 1.20284465e+02] [ 2.90412769e-02 -8.75046976e-04 9.99577830e-01 6.83981079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76071405700003 meters Centerline goodness : 0.986179 Centerline is valid? [True, True] Translation: X:153.64, Y:120.31, Z:6.84 [[-3.73298277e-02 -9.99302801e-01 -6.28503702e-04 1.53637474e+02] [ 9.98882336e-01 -3.72958588e-02 -2.90361493e-02 1.20311024e+02] [ 2.89924647e-02 -1.71171570e-03 9.99578165e-01 6.83974365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.790714057 meters Centerline goodness : 0.985277 Centerline is valid? [True, True] Translation: X:153.63, Y:120.34, Z:6.84 [[-4.41815732e-02 -9.99023323e-01 -6.23961561e-04 1.53634073e+02] [ 9.98603088e-01 -4.41448532e-02 -2.90362469e-02 1.20341731e+02] [ 2.89803431e-02 -1.90595701e-03 9.99578165e-01 6.83868042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82071405700003 meters Centerline goodness : 0.978293 Centerline is valid? [True, True] Translation: X:153.64, Y:120.35, Z:6.84 [[-4.15700544e-02 -9.99135247e-01 -8.29664569e-04 1.53635972e+02] [ 9.98715450e-01 -4.15284810e-02 -2.90316301e-02 1.20353898e+02] [ 2.89720702e-02 -2.03544527e-03 9.99578149e-01 6.84486173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.850714057 meters Centerline goodness : 0.986839 Centerline is valid? [True, True] Translation: X:153.64, Y:120.39, Z:6.84 [[-4.43985273e-02 -9.99013652e-01 7.02326507e-04 1.53638622e+02] [ 9.98591140e-01 -4.44001781e-02 -2.90578553e-02 1.20392088e+02] [ 2.90603775e-02 -5.88788953e-04 9.99577485e-01 6.84409252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88071405700003 meters Centerline goodness : 0.984575 Centerline is valid? [True, True] Translation: X:153.66, Y:120.44, Z:6.84 [[-2.80917988e-02 -9.99605205e-01 -5.34751440e-04 1.53663500e+02] [ 9.99184343e-01 -2.80644387e-02 -2.90350937e-02 1.20441329e+02] [ 2.90086233e-02 -1.34996328e-03 9.99578250e-01 6.84019754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.910714057 meters Centerline goodness : 0.985024 Centerline is valid? [True, True] Translation: X:153.67, Y:120.47, Z:6.84 [[-2.78457039e-02 -9.99609518e-01 -2.32986553e-03 1.53665170e+02] [ 9.99193669e-01 -2.77665261e-02 -2.90005442e-02 1.20466567e+02] [ 2.89245278e-02 -3.13552746e-03 9.99576680e-01 6.83500216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94071405700004 meters Centerline goodness : 0.989118 Centerline is valid? [True, True] Translation: X:153.67, Y:120.51, Z:6.84 [[-3.81378558e-02 -9.99271010e-01 -1.71829608e-03 1.53665301e+02] [ 9.98853823e-01 -3.80720501e-02 -2.90096291e-02 1.20507643e+02] [ 2.89230624e-02 -2.82269166e-03 9.99577655e-01 6.83579751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.970714057 meters Centerline goodness : 0.988586 Centerline is valid? [True, True] Translation: X:153.66, Y:120.53, Z:6.84 [[-4.06038698e-02 -9.99171013e-01 -2.93458687e-03 1.53664848e+02] [ 9.98758805e-01 -4.05019735e-02 -2.89903201e-02 1.20533200e+02] [ 2.88474310e-02 -4.10806366e-03 9.99575385e-01 6.83611729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.000714057 meters Centerline goodness : 0.988535 Centerline is valid? [True, True] Translation: X:153.66, Y:120.56, Z:6.84 [[-4.47022747e-02 -9.98997031e-01 -2.57651057e-03 1.53663931e+02] [ 9.98583653e-01 -4.46089956e-02 -2.89952668e-02 1.20560619e+02] [ 2.88512499e-02 -3.86901572e-03 9.99576228e-01 6.83683508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.030714057 meters Centerline goodness : 0.988544 Centerline is valid? [True, True] Translation: X:153.66, Y:120.59, Z:6.84 [[-4.99858352e-02 -9.98746762e-01 -2.51414513e-03 1.53662167e+02] [ 9.98333612e-01 -4.98921658e-02 -2.89960517e-02 1.20585080e+02] [ 2.88342766e-02 -3.95934745e-03 9.99576364e-01 6.83885472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.060714057 meters Centerline goodness : 0.987646 Centerline is valid? [True, True] Translation: X:153.66, Y:120.61, Z:6.84 [[-5.17464497e-02 -9.98657922e-01 -2.15887516e-03 1.53661069e+02] [ 9.98243461e-01 -5.16622825e-02 -2.90000133e-02 1.20609324e+02] [ 2.88495605e-02 -3.65573074e-03 9.99577080e-01 6.84076732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.090714057 meters Centerline goodness : 0.987434 Centerline is valid? [True, True] Translation: X:153.65, Y:120.61, Z:6.85 [[-6.29377437e-02 -9.98015565e-01 -1.94252407e-03 1.53645058e+02] [ 9.97601157e-01 -6.28551595e-02 -2.90027548e-02 1.20614220e+02] [ 2.88231031e-02 -3.76323221e-03 9.99577444e-01 6.84719134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.120714057 meters Centerline goodness : 0.986956 Centerline is valid? [True, True] Translation: X:153.65, Y:120.64, Z:6.85 [[-6.31513045e-02 -9.98003920e-01 -2.96121247e-04 1.53645020e+02] [ 9.97584190e-01 -6.31161345e-02 -2.90195944e-02 1.20642030e+02] [ 2.89429789e-02 -2.12803111e-03 9.99578799e-01 6.84959503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.150714057 meters Centerline goodness : 0.986948 Centerline is valid? [True, True] Translation: X:153.64, Y:120.67, Z:6.85 [[-6.43718826e-02 -9.97925938e-01 -2.87924492e-04 1.53644797e+02] [ 9.97506231e-01 -6.43364363e-02 -2.90196757e-02 1.20668634e+02] [ 2.89409630e-02 -2.15525763e-03 9.99578799e-01 6.85048827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.180714057 meters Centerline goodness : 0.987461 Centerline is valid? [True, True] Translation: X:153.67, Y:120.72, Z:6.85 [[-4.49973792e-02 -9.98987065e-01 -2.83263113e-04 1.53666586e+02] [ 9.98566741e-01 -4.49702180e-02 -2.90197212e-02 1.20723719e+02] [ 2.89775877e-02 -1.58866852e-03 9.99578799e-01 6.85101483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.210714057 meters Centerline goodness : 0.988271 Centerline is valid? [True, True] Translation: X:153.67, Y:120.75, Z:6.84 [[-5.20777207e-02 -9.98639791e-01 -2.54527610e-03 1.53667742e+02] [ 9.98227007e-01 -5.19822950e-02 -2.89945391e-02 1.20754067e+02] [ 2.88227912e-02 -4.05073286e-03 9.99576329e-01 6.84450753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.240714057 meters Centerline goodness : 0.987932 Centerline is valid? [True, True] Translation: X:153.67, Y:120.78, Z:6.85 [[-5.57677153e-02 -9.98440639e-01 -2.50064601e-03 1.53666757e+02] [ 9.98028011e-01 -5.56720485e-02 -2.89950385e-02 1.20780725e+02] [ 2.88106087e-02 -4.11270182e-03 9.99576428e-01 6.84600640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.270714057 meters Centerline goodness : 0.989052 Centerline is valid? [True, True] Translation: X:153.67, Y:120.81, Z:6.85 [[-6.03586050e-02 -9.98174215e-01 -2.25298390e-03 1.53665716e+02] [ 9.97760951e-01 -6.02681658e-02 -2.89971347e-02 1.20807724e+02] [ 2.88084090e-02 -3.99816596e-03 9.99576956e-01 6.84727926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.300714057 meters Centerline goodness : 0.986266 Centerline is valid? [True, True] Translation: X:153.66, Y:120.83, Z:6.85 [[-5.82021103e-02 -9.98302303e-01 -2.24192487e-03 1.53662524e+02] [ 9.97888799e-01 -5.81128824e-02 -2.89972167e-02 1.20826184e+02] [ 2.88177035e-02 -3.92489092e-03 9.99576978e-01 6.85281837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.330714057 meters Centerline goodness : 0.985528 Centerline is valid? [True, True] Translation: X:153.66, Y:120.85, Z:6.85 [[-6.07064071e-02 -9.98154409e-01 -1.58362428e-03 1.53664057e+02] [ 9.97738544e-01 -6.06350997e-02 -2.90031449e-02 1.20851876e+02] [ 2.88535937e-02 -3.34071971e-03 9.99578066e-01 6.84649916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.360714057 meters Centerline goodness : 0.986546 Centerline is valid? [True, True] Translation: X:153.66, Y:120.88, Z:6.85 [[-6.52120272e-02 -9.97870550e-01 -1.32531760e-03 1.53660941e+02] [ 9.97454110e-01 -6.51462901e-02 -2.90044868e-02 1.20876791e+02] [ 2.88563837e-02 -3.21338487e-03 9.99578403e-01 6.85294625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.390714057 meters Centerline goodness : 0.985672 Centerline is valid? [True, True] Translation: X:153.67, Y:120.91, Z:6.85 [[-6.37787467e-02 -9.97963381e-01 -1.16703489e-03 1.53667082e+02] [ 9.97546335e-01 -6.37181746e-02 -2.90052249e-02 1.20907740e+02] [ 2.88717910e-02 -3.01408827e-03 9.99578579e-01 6.85289752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.420714057 meters Centerline goodness : 0.985672 Centerline is valid? [True, True] Translation: X:153.67, Y:120.93, Z:6.85 [[-6.46825841e-02 -9.97904723e-01 -1.52566440e-03 1.53666886e+02] [ 9.97488965e-01 -6.46112944e-02 -2.90025035e-02 1.20934867e+02] [ 2.88431601e-02 -3.39779028e-03 9.99578175e-01 6.85354560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.450714057 meters Centerline goodness : 0.985763 Centerline is valid? [True, True] Translation: X:153.67, Y:120.96, Z:6.86 [[-6.69313691e-02 -9.97756765e-01 -1.27689619e-03 1.53667275e+02] [ 9.97340317e-01 -6.68663156e-02 -2.90032561e-02 1.20963820e+02] [ 2.88528136e-02 -3.21472768e-03 9.99578502e-01 6.85583392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.480714057 meters Centerline goodness : 0.988347 Centerline is valid? [True, True] Translation: X:153.65, Y:120.97, Z:6.86 [[-8.54638871e-02 -9.96340250e-01 -1.42468284e-03 1.53649487e+02] [ 9.95925661e-01 -8.53868529e-02 -2.90028218e-02 1.20972204e+02] [ 2.87750295e-02 -3.89757209e-03 9.99578314e-01 6.85628162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51071405700003 meters Centerline goodness : 0.988601 Centerline is valid? [True, True] Translation: X:153.67, Y:121.03, Z:6.85 [[-7.37812829e-02 -9.97274447e-01 -2.54001001e-05 1.53667499e+02] [ 9.96854941e-01 -7.37495079e-02 -2.90040756e-02 1.21025727e+02] [ 2.89231502e-02 -2.16527812e-03 9.99579293e-01 6.85157825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.540714057 meters Centerline goodness : 0.987356 Centerline is valid? [True, True] Translation: X:153.66, Y:121.06, Z:6.86 [[-8.55475933e-02 -9.96333626e-01 -9.56464628e-04 1.53663429e+02] [ 9.95916830e-01 -8.54839474e-02 -2.90200347e-02 1.21056532e+02] [ 2.88318740e-02 -3.43515334e-03 9.99578372e-01 6.85609401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57071405700003 meters Centerline goodness : 0.988329 Centerline is valid? [True, True] Translation: X:153.66, Y:121.06, Z:6.86 [[-8.52415029e-02 -9.96360256e-01 -3.56370062e-04 1.53664830e+02] [ 9.95941879e-01 -8.51953339e-02 -2.90091119e-02 1.21064032e+02] [ 2.88731650e-02 -2.82770416e-03 9.99579084e-01 6.85583818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.600714057 meters Centerline goodness : 0.989687 Centerline is valid? [True, True] Translation: X:153.67, Y:121.03, Z:6.85 [[-6.70288802e-02 -9.97750940e-01 -4.37064825e-04 1.53673145e+02] [ 9.97331939e-01 -6.69880237e-02 -2.90105010e-02 1.21028750e+02] [ 2.89159765e-02 -2.38044011e-03 9.99579011e-01 6.84826817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63071405700003 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:153.67, Y:121.05, Z:6.86 [[-7.50264764e-02 -9.97180528e-01 -1.42209672e-03 1.53671067e+02] [ 9.96764496e-01 -7.49537811e-02 -2.90253520e-02 1.21050211e+02] [ 2.88369243e-02 -3.59516540e-03 9.99577664e-01 6.85721801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.660714057 meters Centerline goodness : 0.986512 Centerline is valid? [True, True] Translation: X:153.67, Y:121.04, Z:6.86 [[-7.65173002e-02 -9.97068121e-01 -5.14221870e-04 1.53670028e+02] [ 9.96649735e-01 -7.64702306e-02 -2.90105200e-02 1.21035210e+02] [ 2.88861420e-02 -2.73230576e-03 9.99578974e-01 6.85566269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69071405700004 meters Centerline goodness : 0.987540 Centerline is valid? [True, True] Translation: X:153.67, Y:121.05, Z:6.86 [[-7.79728155e-02 -9.96955439e-01 -3.05814544e-04 1.53669435e+02] [ 9.96536663e-01 -7.79311648e-02 -2.90071104e-02 1.21048005e+02] [ 2.88949640e-02 -2.56652147e-03 9.99579158e-01 6.85891336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.720714057 meters Centerline goodness : 0.988671 Centerline is valid? [True, True] Translation: X:153.67, Y:121.05, Z:6.85 [[-7.59409711e-02 -9.97112232e-01 -4.06871587e-04 1.53670835e+02] [ 9.96693585e-01 -7.58972495e-02 -2.90087239e-02 1.21045083e+02] [ 2.88940730e-02 -2.60847696e-03 9.99579076e-01 6.85312694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.750714057 meters Centerline goodness : 0.988374 Centerline is valid? [True, True] Translation: X:153.67, Y:121.05, Z:6.86 [[-7.59203892e-02 -9.97113603e-01 -7.47099094e-04 1.53672995e+02] [ 9.96695751e-01 -7.58668350e-02 -2.90138513e-02 1.21049073e+02] [ 2.88734257e-02 -2.94737337e-03 9.99578730e-01 6.85689698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.780714057 meters Centerline goodness : 0.987380 Centerline is valid? [True, True] Translation: X:153.67, Y:121.05, Z:6.86 [[-8.11393340e-02 -9.96702560e-01 -6.44519918e-04 1.53672846e+02] [ 9.96284727e-01 -8.10865583e-02 -2.90122980e-02 1.21045006e+02] [ 2.88643698e-02 -2.99616389e-03 9.99578847e-01 6.85639017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.810714057 meters Centerline goodness : 0.987523 Centerline is valid? [True, True] Translation: X:153.67, Y:121.05, Z:6.86 [[-8.41004161e-02 -9.96457248e-01 -2.69496342e-04 1.53674194e+02] [ 9.96038655e-01 -8.40572421e-02 -2.90065174e-02 1.21053197e+02] [ 2.88811014e-02 -2.70788896e-03 9.99579186e-01 6.85718386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.840714057 meters Centerline goodness : 0.986554 Centerline is valid? [True, True] Translation: X:153.68, Y:121.03, Z:6.86 [[-7.30388831e-02 -9.97329047e-01 -3.06145200e-04 1.53681363e+02] [ 9.96910073e-01 -7.29992956e-02 -2.90070580e-02 1.21028100e+02] [ 2.89072332e-02 -2.42384236e-03 9.99579160e-01 6.85757193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.870714057 meters Centerline goodness : 0.989553 Centerline is valid? [True, True] Translation: X:153.68, Y:121.03, Z:6.86 [[-7.35081250e-02 -9.97294314e-01 -7.79148557e-04 1.53680629e+02] [ 9.96876441e-01 -7.34546576e-02 -2.90133418e-02 1.21030971e+02] [ 2.88776087e-02 -2.90943120e-03 9.99578721e-01 6.85715902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.900714057 meters Centerline goodness : 0.990258 Centerline is valid? [True, True] Translation: X:153.68, Y:121.02, Z:6.85 [[-7.56606702e-02 -9.97132956e-01 -1.15395346e-03 1.53683468e+02] [ 9.96716249e-01 -7.55954695e-02 -2.90179915e-02 1.21023509e+02] [ 2.88475620e-02 -3.34568485e-03 9.99578223e-01 6.84880954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.930714057 meters Centerline goodness : 0.988936 Centerline is valid? [True, True] Translation: X:153.68, Y:121.05, Z:6.86 [[-8.07534630e-02 -9.96732524e-01 -1.77564264e-03 1.53683005e+02] [ 9.96318551e-01 -8.06682311e-02 -2.90169006e-02 1.21048994e+02] [ 2.87788507e-02 -4.11232091e-03 9.99577344e-01 6.85734163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.960714057 meters Centerline goodness : 0.989923 Centerline is valid? [True, True] Translation: X:153.68, Y:121.08, Z:6.86 [[-8.72098975e-02 -9.96189630e-01 -8.08843816e-04 1.53681763e+02] [ 9.95772900e-01 -8.71498660e-02 -2.90040149e-02 1.21081497e+02] [ 2.88230083e-02 -3.33486192e-03 9.99578968e-01 6.85789365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.990714057 meters Centerline goodness : 0.988741 Centerline is valid? [True, True] Translation: X:153.69, Y:121.05, Z:6.86 [[-8.17506692e-02 -9.96652560e-01 -7.09438470e-04 1.53685491e+02] [ 9.96235234e-01 -8.16957933e-02 -2.90026769e-02 1.21052109e+02] [ 2.88476340e-02 -3.07775584e-03 9.99579082e-01 6.86032776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.020714057 meters Centerline goodness : 0.988812 Centerline is valid? [True, True] Translation: X:153.68, Y:121.06, Z:6.86 [[-8.83459151e-02 -9.96089615e-01 -6.91717725e-04 1.53683741e+02] [ 9.95672611e-01 -8.82887896e-02 -2.90024437e-02 1.21064231e+02] [ 2.88279621e-02 -3.25097183e-03 9.99579101e-01 6.85908447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.050714057 meters Centerline goodness : 0.989430 Centerline is valid? [True, True] Translation: X:153.69, Y:121.05, Z:6.86 [[-7.89725557e-02 -9.96876697e-01 -4.31877547e-04 1.53689862e+02] [ 9.96458533e-01 -7.89268655e-02 -2.89990080e-02 1.21049877e+02] [ 2.88743486e-02 -2.72047384e-03 9.99579347e-01 6.85892769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.080714057 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:153.69, Y:121.08, Z:6.86 [[-8.93917188e-02 -9.95995098e-01 -1.69890740e-03 1.53687886e+02] [ 9.95582094e-01 -8.93051884e-02 -2.89978835e-02 1.21075902e+02] [ 2.87300286e-02 -4.28357244e-03 9.99578029e-01 6.85715731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.110714057 meters Centerline goodness : 0.989136 Centerline is valid? [True, True] Translation: X:153.69, Y:121.07, Z:6.86 [[-8.52435133e-02 -9.96359834e-01 -7.90618781e-04 1.53692456e+02] [ 9.95943426e-01 -8.51848863e-02 -2.89866879e-02 1.21074400e+02] [ 2.88138227e-02 -3.25833869e-03 9.99579485e-01 6.85920360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.140714057 meters Centerline goodness : 0.990539 Centerline is valid? [True, True] Translation: X:153.69, Y:121.07, Z:6.86 [[-8.32862560e-02 -9.96525397e-01 -7.30541571e-04 1.53693544e+02] [ 9.96108704e-01 -8.32301809e-02 -2.89859665e-02 1.21068979e+02] [ 2.88244487e-02 -3.14183145e-03 9.99579552e-01 6.85723809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.170714057 meters Centerline goodness : 0.990121 Centerline is valid? [True, True] Translation: X:153.69, Y:121.08, Z:6.86 [[-8.83485625e-02 -9.96087716e-01 -1.94766567e-03 1.53686414e+02] [ 9.95676193e-01 -8.82553951e-02 -2.89810917e-02 1.21082808e+02] [ 2.86958175e-02 -4.49968213e-03 9.99578062e-01 6.85708105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.200714057 meters Centerline goodness : 0.989403 Centerline is valid? [True, True] Translation: X:153.69, Y:121.11, Z:6.86 [[-8.96536839e-02 -9.95972717e-01 -7.51173452e-04 1.53685459e+02] [ 9.95556503e-01 -8.95943575e-02 -2.89844788e-02 1.21108566e+02] [ 2.88004492e-02 -3.34640092e-03 9.99579579e-01 6.85702936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.230714057 meters Centerline goodness : 0.987542 Centerline is valid? [True, True] Translation: X:153.68, Y:121.13, Z:6.86 [[-9.07000101e-02 -9.95878062e-01 -6.27383626e-04 1.53684200e+02] [ 9.95461492e-01 -9.06438110e-02 -2.89847710e-02 1.21130643e+02] [ 2.88084291e-02 -3.25345526e-03 9.99579656e-01 6.86261520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26071405700003 meters Centerline goodness : 0.989683 Centerline is valid? [True, True] Translation: X:153.68, Y:121.15, Z:6.86 [[-9.48194139e-02 -9.95494473e-01 -1.81269281e-04 1.53677580e+02] [ 9.95076706e-01 -9.47743441e-02 -2.89857456e-02 1.21152408e+02] [ 2.88379699e-02 -2.92878825e-03 9.99579809e-01 6.85998880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.290714057 meters Centerline goodness : 0.986947 Centerline is valid? [True, True] Translation: X:153.69, Y:121.19, Z:6.86 [[-8.86287576e-02 -9.96064664e-01 3.58308005e-04 1.53685074e+02] [ 9.95645267e-01 -8.86018672e-02 -2.89863936e-02 1.21186065e+02] [ 2.89040692e-02 -2.21228038e-03 9.99579742e-01 6.86326263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32071405700003 meters Centerline goodness : 0.989340 Centerline is valid? [True, True] Translation: X:153.69, Y:121.22, Z:6.86 [[-8.50889846e-02 -9.96373336e-01 -2.00311265e-04 1.53687177e+02] [ 9.95955191e-01 -8.50474482e-02 -2.89860201e-02 1.21217177e+02] [ 2.88638615e-02 -2.66589206e-03 9.99579797e-01 6.86138623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.350714057 meters Centerline goodness : 0.988894 Centerline is valid? [True, True] Translation: X:153.69, Y:121.25, Z:6.86 [[-8.55705345e-02 -9.96332054e-01 -3.48837385e-04 1.53687179e+02] [ 9.95914340e-01 -8.55245103e-02 -2.89859536e-02 1.21246022e+02] [ 2.88498005e-02 -2.82775569e-03 9.99579758e-01 6.86246197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38071405700003 meters Centerline goodness : 0.989610 Centerline is valid? [True, True] Translation: X:153.69, Y:121.24, Z:6.86 [[-8.36382688e-02 -9.96496167e-01 -1.69881711e-04 1.53687826e+02] [ 9.96077905e-01 -8.35982217e-02 -2.89852491e-02 1.21244691e+02] [ 2.88694878e-02 -2.59349148e-03 9.99579825e-01 6.86184209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.410714057 meters Centerline goodness : 0.990372 Centerline is valid? [True, True] Translation: X:153.68, Y:121.27, Z:6.86 [[-8.59436946e-02 -9.96299895e-01 -4.47206249e-04 1.53684380e+02] [ 9.95882523e-01 -8.58946807e-02 -2.89845451e-02 1.21267373e+02] [ 2.88388867e-02 -2.93640378e-03 9.99579760e-01 6.86363163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44071405700004 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:153.68, Y:121.30, Z:6.86 [[-8.84726697e-02 -9.96078600e-01 9.58398603e-05 1.53680488e+02] [ 9.95659841e-01 -8.84382641e-02 -2.89854039e-02 1.21295279e+02] [ 2.88802165e-02 -2.46899217e-03 9.99579830e-01 6.86218449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.470714057 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:153.68, Y:121.32, Z:6.86 [[-8.70161276e-02 -9.96206902e-01 -4.14463542e-05 1.53680081e+02] [ 9.95788442e-01 -8.69783703e-02 -2.89852079e-02 1.21323635e+02] [ 2.88716592e-02 -2.56345235e-03 9.99579840e-01 6.86328282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.500714057 meters Centerline goodness : 0.991175 Centerline is valid? [True, True] Translation: X:153.70, Y:121.37, Z:6.87 [[-6.87465337e-02 -9.97634158e-01 -3.34216171e-05 1.53697425e+02] [ 9.97215059e-01 -6.87166828e-02 -2.89852172e-02 1.21373461e+02] [ 2.89143461e-02 -2.02596175e-03 9.99579840e-01 6.86572681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.530714057 meters Centerline goodness : 0.984235 Centerline is valid? [True, True] Translation: X:153.65, Y:122.45, Z:6.90 [[-1.29668206e-01 -9.91557430e-01 1.36303367e-04 1.53649710e+02] [ 9.91140471e-01 -1.29617663e-01 -2.89797813e-02 1.22451512e+02] [ 2.87527848e-02 -3.62266047e-03 9.99579989e-01 6.89510532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.560714057 meters Centerline goodness : 0.989577 Centerline is valid? [True, True] Translation: X:153.70, Y:121.36, Z:6.87 [[-4.73128028e-02 -9.98878498e-01 1.80119528e-03 1.53700334e+02] [ 9.98459782e-01 -4.73451233e-02 -2.89223688e-02 1.21362896e+02] [ 2.89752102e-02 4.30022718e-04 9.99580038e-01 6.86534813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.590714057 meters Centerline goodness : 0.988610 Centerline is valid? [True, True] Translation: X:153.70, Y:121.39, Z:6.86 [[-4.78343393e-02 -9.98852418e-01 -2.39237047e-03 1.53699627e+02] [ 9.98442040e-01 -4.77455237e-02 -2.88766001e-02 1.21390894e+02] [ 2.87292368e-02 -3.76993634e-03 9.99580121e-01 6.86305999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.620714057 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:153.68, Y:121.39, Z:6.86 [[-6.75631413e-02 -9.97712701e-01 -2.14189972e-03 1.53675080e+02] [ 9.97303025e-01 -6.74734004e-02 -2.88793552e-02 1.21390945e+02] [ 2.86687782e-02 -4.08730303e-03 9.99580610e-01 6.86485847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.650714057 meters Centerline goodness : 0.991965 Centerline is valid? [True, True] Translation: X:153.67, Y:121.42, Z:6.87 [[-6.57487500e-02 -9.97836183e-01 -2.32243015e-04 1.53671954e+02] [ 9.97420014e-01 -6.57146030e-02 -2.88947568e-02 1.21419178e+02] [ 2.88169721e-02 -2.13143797e-03 9.99582432e-01 6.86693360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.680714057 meters Centerline goodness : 0.989924 Centerline is valid? [True, True] Translation: X:153.68, Y:121.46, Z:6.87 [[-5.49536102e-02 -9.98488883e-01 -2.24592606e-04 1.53680969e+02] [ 9.98072354e-01 -5.49241864e-02 -2.88948163e-02 1.21456693e+02] [ 2.88388173e-02 -1.81203414e-03 9.99582432e-01 6.87095357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.710714057 meters Centerline goodness : 0.988752 Centerline is valid? [True, True] Translation: X:153.68, Y:121.48, Z:6.87 [[-5.24096984e-02 -9.98625208e-01 -9.58092678e-04 1.53679663e+02] [ 9.98210322e-01 -5.23602082e-02 -2.88887709e-02 1.21483183e+02] [ 2.87988889e-02 -2.47042977e-03 9.99582173e-01 6.87112307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.740714057 meters Centerline goodness : 0.987912 Centerline is valid? [True, True] Translation: X:153.68, Y:121.51, Z:6.87 [[-5.29453930e-02 -9.98597077e-01 -8.14873821e-04 1.53677447e+02] [ 9.98181837e-01 -5.28998023e-02 -2.88899888e-02 1.21508246e+02] [ 2.88063517e-02 -2.34298406e-03 9.99582265e-01 6.87368176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.770714057 meters Centerline goodness : 0.987513 Centerline is valid? [True, True] Translation: X:153.68, Y:121.54, Z:6.87 [[-5.32544382e-02 -9.98580802e-01 -5.88590747e-04 1.53675311e+02] [ 9.98165018e-01 -5.32152347e-02 -2.88918083e-02 1.21536571e+02] [ 2.88194831e-02 -2.12612771e-03 9.99582371e-01 6.87355462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.800714057 meters Centerline goodness : 0.987928 Centerline is valid? [True, True] Translation: X:153.67, Y:121.56, Z:6.87 [[-5.45527852e-02 -9.98510732e-01 -5.59229443e-04 1.53673377e+02] [ 9.98094929e-01 -5.45138868e-02 -2.88920315e-02 1.21563729e+02] [ 2.88185178e-02 -2.13430486e-03 9.99582382e-01 6.87442002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.830714057 meters Centerline goodness : 0.987415 Centerline is valid? [True, True] Translation: X:153.67, Y:121.60, Z:6.88 [[-5.52191397e-02 -9.98474188e-01 -3.77712443e-04 1.53672299e+02] [ 9.98058002e-01 -5.51851931e-02 -2.88932319e-02 1.21595028e+02] [ 2.88283021e-02 -1.97243833e-03 9.99582432e-01 6.87589071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.860714057 meters Centerline goodness : 0.986617 Centerline is valid? [True, True] Translation: X:153.67, Y:121.62, Z:6.88 [[-5.55269385e-02 -9.98457002e-01 -6.12583795e-04 1.53671084e+02] [ 9.98041364e-01 -5.54860978e-02 -2.88916876e-02 1.21619516e+02] [ 2.88131179e-02 -2.21565093e-03 9.99582360e-01 6.87752772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.890714057 meters Centerline goodness : 0.987053 Centerline is valid? [True, True] Translation: X:153.67, Y:121.65, Z:6.88 [[-5.69164651e-02 -9.98378860e-01 -4.08681119e-04 1.53670316e+02] [ 9.97962803e-01 -5.68809189e-02 -2.88929965e-02 1.21650572e+02] [ 2.88229107e-02 -2.05233578e-03 9.99582427e-01 6.87580785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.920714057 meters Centerline goodness : 0.986419 Centerline is valid? [True, True] Translation: X:153.67, Y:121.68, Z:6.88 [[-6.05892754e-02 -9.98162644e-01 -5.26111373e-04 1.53667754e+02] [ 9.97746998e-01 -6.05488168e-02 -2.88923794e-02 1.21677193e+02] [ 2.88074384e-02 -2.27549438e-03 9.99582390e-01 6.87948783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.950714057 meters Centerline goodness : 0.986480 Centerline is valid? [True, True] Translation: X:153.67, Y:121.70, Z:6.88 [[-6.08152858e-02 -9.98148974e-01 -3.56026405e-04 1.53666080e+02] [ 9.97732940e-01 -6.07796318e-02 -2.88932045e-02 1.21703815e+02] [ 2.88180832e-02 -2.11236776e-03 9.99582441e-01 6.88165531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.980714057 meters Centerline goodness : 0.986335 Centerline is valid? [True, True] Translation: X:153.67, Y:121.73, Z:6.88 [[-6.08962619e-02 -9.98144048e-01 -3.23390043e-04 1.53666275e+02] [ 9.97727944e-01 -6.08615144e-02 -2.88933614e-02 1.21731364e+02] [ 2.88200547e-02 -2.08215298e-03 9.99582447e-01 6.88300738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01071405700003 meters Centerline goodness : 0.987869 Centerline is valid? [True, True] Translation: X:153.67, Y:121.76, Z:6.88 [[-6.10615409e-02 -9.98133944e-01 -3.43195583e-04 1.53666538e+02] [ 9.97717889e-01 -6.10261538e-02 -2.88932789e-02 1.21764159e+02] [ 2.88184185e-02 -2.10668050e-03 9.99582443e-01 6.88249065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.040714057 meters Centerline goodness : 0.986423 Centerline is valid? [True, True] Translation: X:153.67, Y:121.79, Z:6.88 [[-6.00297964e-02 -9.98196329e-01 -7.15758476e-04 1.53665509e+02] [ 9.97781126e-01 -5.99841099e-02 -2.88917184e-02 1.21791265e+02] [ 2.87966731e-02 -2.44853427e-03 9.99582291e-01 6.88256054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07071405700003 meters Centerline goodness : 0.986443 Centerline is valid? [True, True] Translation: X:153.66, Y:121.82, Z:6.88 [[-5.72859012e-02 -9.98357602e-01 -6.50978287e-04 1.53664564e+02] [ 9.97942116e-01 -5.72432215e-02 -2.88919812e-02 1.21818298e+02] [ 2.88072649e-02 -2.30474183e-03 9.99582328e-01 6.88304762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.100714057 meters Centerline goodness : 0.986439 Centerline is valid? [True, True] Translation: X:153.66, Y:121.85, Z:6.88 [[-5.68823380e-02 -9.98380676e-01 -6.52341423e-04 1.53664162e+02] [ 9.97965176e-01 -5.68397870e-02 -2.88919756e-02 1.21848183e+02] [ 2.88081111e-02 -2.29445714e-03 9.99582327e-01 6.88372864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13071405700003 meters Centerline goodness : 0.988177 Centerline is valid? [True, True] Translation: X:153.66, Y:121.88, Z:6.88 [[-5.67138285e-02 -9.98390247e-01 -6.75560979e-04 1.53663617e+02] [ 9.97974795e-01 -5.66706789e-02 -2.88919059e-02 1.21878741e+02] [ 2.88071126e-02 -2.31276343e-03 9.99582313e-01 6.88389506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.160714057 meters Centerline goodness : 0.986402 Centerline is valid? [True, True] Translation: X:153.66, Y:121.91, Z:6.88 [[-5.67826861e-02 -9.98386201e-01 -8.48216191e-04 1.53662899e+02] [ 9.97971179e-01 -5.67345361e-02 -2.88914844e-02 1.21905593e+02] [ 2.87967362e-02 -2.48703140e-03 9.99582194e-01 6.88475267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19071405700004 meters Centerline goodness : 0.985776 Centerline is valid? [True, True] Translation: X:153.66, Y:121.93, Z:6.88 [[-5.60542784e-02 -9.98427469e-01 -7.11554159e-04 1.53663074e+02] [ 9.98012077e-01 -5.60103668e-02 -2.88917556e-02 1.21932441e+02] [ 2.88064680e-02 -2.32964615e-03 9.99582293e-01 6.88493045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.220714057 meters Centerline goodness : 0.988417 Centerline is valid? [True, True] Translation: X:153.66, Y:121.97, Z:6.88 [[-6.12305723e-02 -9.98123462e-01 -6.09184011e-04 1.53663754e+02] [ 9.97708052e-01 -6.11874551e-02 -2.88918378e-02 1.21968607e+02] [ 2.88003468e-02 -2.37685156e-03 9.99582358e-01 6.88447264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.250714057 meters Centerline goodness : 0.985142 Centerline is valid? [True, True] Translation: X:153.66, Y:121.98, Z:6.89 [[-6.36121468e-02 -9.97974497e-01 -6.31739984e-04 1.53662860e+02] [ 9.97559240e-01 -6.35673885e-02 -2.88920503e-02 1.21977212e+02] [ 2.87933712e-02 -2.46808340e-03 9.99582338e-01 6.88551181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.280714057 meters Centerline goodness : 0.986525 Centerline is valid? [True, True] Translation: X:153.66, Y:121.96, Z:6.89 [[-6.07118051e-02 -9.98155334e-01 -7.77022048e-05 1.53662471e+02] [ 9.97738938e-01 -6.06842296e-02 -2.88865951e-02 1.21958084e+02] [ 2.88285937e-02 -1.83128385e-03 9.99582692e-01 6.88503749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.310714057 meters Centerline goodness : 0.986525 Centerline is valid? [True, True] Translation: X:153.66, Y:121.96, Z:6.89 [[-6.03632218e-02 -9.98176449e-01 -2.40902566e-04 1.53662433e+02] [ 9.97760311e-01 -6.03310846e-02 -2.88880967e-02 1.21960740e+02] [ 2.88208839e-02 -1.98414161e-03 9.99582623e-01 6.88505100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.340714057 meters Centerline goodness : 0.986083 Centerline is valid? [True, True] Translation: X:153.66, Y:121.97, Z:6.88 [[-6.21635527e-02 -9.98065946e-01 -2.46652691e-04 1.53663144e+02] [ 9.97649876e-01 -6.21304991e-02 -2.88881478e-02 1.21967379e+02] [ 2.88169519e-02 -2.04186293e-03 9.99582620e-01 6.88227866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.370714057 meters Centerline goodness : 0.985759 Centerline is valid? [True, True] Translation: X:153.66, Y:121.96, Z:6.88 [[-6.13673978e-02 -9.98115232e-01 -1.63454501e-04 1.53662021e+02] [ 9.97698993e-01 -6.13370754e-02 -2.88874192e-02 1.21956846e+02] [ 2.88229473e-02 -1.93582413e-03 9.99582658e-01 6.88410762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.400714057 meters Centerline goodness : 0.984316 Centerline is valid? [True, True] Translation: X:153.66, Y:121.96, Z:6.88 [[-6.27966176e-02 -9.98026343e-01 -6.28923356e-05 1.53661718e+02] [ 9.97609979e-01 -6.27685993e-02 -2.88865557e-02 1.21963308e+02] [ 2.88255959e-02 -1.87672002e-03 9.99582694e-01 6.88449297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.430714057 meters Centerline goodness : 0.986700 Centerline is valid? [True, True] Translation: X:153.66, Y:121.98, Z:6.89 [[-6.35304905e-02 -9.97979898e-01 -2.92251463e-05 1.53660107e+02] [ 9.97563499e-01 -6.35031370e-02 -2.88862718e-02 1.21983647e+02] [ 2.88260627e-02 -1.86431295e-03 9.99582704e-01 6.88568999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.460714057 meters Centerline goodness : 0.984345 Centerline is valid? [True, True] Translation: X:153.66, Y:122.00, Z:6.89 [[-5.88493515e-02 -9.98266145e-01 -1.20726291e-03 1.53659181e+02] [ 9.97852459e-01 -5.87900346e-02 -2.88825638e-02 1.22001143e+02] [ 2.87615106e-02 -2.90439042e-03 9.99582083e-01 6.88582035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.490714057 meters Centerline goodness : 0.985044 Centerline is valid? [True, True] Translation: X:153.66, Y:122.03, Z:6.89 [[-6.11213301e-02 -9.98130247e-01 -4.39306855e-04 1.53658963e+02] [ 9.97714653e-01 -6.10831679e-02 -2.88845655e-02 1.22029934e+02] [ 2.88037242e-02 -2.20376595e-03 9.99582657e-01 6.88645072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.520714057 meters Centerline goodness : 0.986001 Centerline is valid? [True, True] Translation: X:153.66, Y:122.06, Z:6.89 [[-6.37384668e-02 -9.97966550e-01 -4.15459802e-04 1.53658990e+02] [ 9.97551003e-01 -6.36999016e-02 -2.88845770e-02 1.22060780e+02] [ 2.87993769e-02 -2.25550099e-03 9.99582667e-01 6.88694233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.550714057 meters Centerline goodness : 0.985055 Centerline is valid? [True, True] Translation: X:153.66, Y:122.07, Z:6.89 [[-6.43547605e-02 -9.97927014e-01 -3.73903772e-04 1.53658543e+02] [ 9.97511404e-01 -6.43171361e-02 -2.88843407e-02 1.22066075e+02] [ 2.88004155e-02 -2.23181811e-03 9.99582690e-01 6.88832120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.580714057 meters Centerline goodness : 0.985127 Centerline is valid? [True, True] Translation: X:153.66, Y:122.07, Z:6.89 [[-6.18970668e-02 -9.98082536e-01 -6.18675938e-05 1.53656553e+02] [ 9.97666261e-01 -6.18694608e-02 -2.88825411e-02 1.22074182e+02] [ 2.88233321e-02 -1.84946779e-03 9.99582810e-01 6.89104130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.610714057 meters Centerline goodness : 0.986000 Centerline is valid? [True, True] Translation: X:153.65, Y:122.09, Z:6.89 [[-6.00655243e-02 -9.98194433e-01 -7.66317657e-05 1.53654947e+02] [ 9.97778133e-01 -6.00382564e-02 -2.88826214e-02 1.22087273e+02] [ 2.88258711e-02 -1.81131130e-03 9.99582807e-01 6.88764353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.640714057 meters Centerline goodness : 0.985971 Centerline is valid? [True, True] Translation: X:153.65, Y:122.11, Z:6.89 [[-5.85921924e-02 -9.98281684e-01 -7.96237932e-04 1.53654279e+02] [ 9.97866909e-01 -5.85448119e-02 -2.88814256e-02 1.22112863e+02] [ 2.87851826e-02 -2.48676553e-03 9.99582527e-01 6.88907901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.670714057 meters Centerline goodness : 0.985127 Centerline is valid? [True, True] Translation: X:153.65, Y:122.14, Z:6.89 [[-5.89764144e-02 -9.98259191e-01 -6.08261286e-04 1.53653925e+02] [ 9.97843973e-01 -5.89342853e-02 -2.88817545e-02 1.22141650e+02] [ 2.87956294e-02 -2.31029218e-03 9.99582650e-01 6.88917024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.700714057 meters Centerline goodness : 0.987076 Centerline is valid? [True, True] Translation: X:153.65, Y:122.17, Z:6.89 [[-6.13170914e-02 -9.98118170e-01 -5.77564611e-04 1.53653280e+02] [ 9.97702979e-01 -6.12748726e-02 -2.88817595e-02 1.22171449e+02] [ 2.87920187e-02 -2.34718342e-03 9.99582668e-01 6.88800507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.730714057 meters Centerline goodness : 0.985345 Centerline is valid? [True, True] Translation: X:153.65, Y:122.16, Z:6.89 [[-6.05237938e-02 -9.98166687e-01 -3.68865264e-04 1.53653913e+02] [ 9.97751036e-01 -6.04879183e-02 -2.88804713e-02 1.22157884e+02] [ 2.88052124e-02 -2.11599139e-03 9.99582804e-01 6.88884636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76071405700003 meters Centerline goodness : 0.986096 Centerline is valid? [True, True] Translation: X:153.65, Y:122.18, Z:6.89 [[-6.57041745e-02 -9.97839095e-01 -3.18616195e-04 1.53651421e+02] [ 9.97423533e-01 -6.56675896e-02 -2.88801686e-02 1.22184847e+02] [ 2.87968386e-02 -2.21534293e-03 9.99582830e-01 6.88905662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.790714057 meters Centerline goodness : 0.985493 Centerline is valid? [True, True] Translation: X:153.65, Y:122.17, Z:6.89 [[-6.60337964e-02 -9.97817371e-01 -1.79173758e-04 1.53651903e+02] [ 9.97401544e-01 -6.60010920e-02 -2.88793191e-02 1.22168112e+02] [ 2.88044606e-02 -2.08571926e-03 9.99582889e-01 6.88842315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82071405700003 meters Centerline goodness : 0.984817 Centerline is valid? [True, True] Translation: X:153.65, Y:122.18, Z:6.89 [[-6.81943239e-02 -9.97671996e-01 -3.51420891e-04 1.53651859e+02] [ 9.97256598e-01 -6.81557572e-02 -2.88802774e-02 1.22176464e+02] [ 2.87890926e-02 -2.31992780e-03 9.99582816e-01 6.88947237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.850714057 meters Centerline goodness : 0.984720 Centerline is valid? [True, True] Translation: X:153.65, Y:122.18, Z:6.89 [[-6.92297504e-02 -9.97600724e-01 -1.94514761e-04 1.53651338e+02] [ 9.97185035e-01 -6.91952722e-02 -2.88794015e-02 1.22175572e+02] [ 2.87966523e-02 -2.19328097e-03 9.99582884e-01 6.88816099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88071405700003 meters Centerline goodness : 0.982883 Centerline is valid? [True, True] Translation: X:153.65, Y:122.18, Z:6.89 [[-7.03582276e-02 -9.97521772e-01 -1.86910122e-04 1.53652210e+02] [ 9.97106107e-01 -7.03234982e-02 -2.88793599e-02 1.22178508e+02] [ 2.87946461e-02 -2.21826980e-03 9.99582887e-01 6.88892328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.910714057 meters Centerline goodness : 0.985146 Centerline is valid? [True, True] Translation: X:153.65, Y:122.18, Z:6.89 [[-6.84082983e-02 -9.97657405e-01 8.46277445e-05 1.53650801e+02] [ 9.97241167e-01 -6.83822069e-02 -2.88778378e-02 1.22175776e+02] [ 2.88159758e-02 -1.89108947e-03 9.99582945e-01 6.88733731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94071405700004 meters Centerline goodness : 0.985630 Centerline is valid? [True, True] Translation: X:153.65, Y:122.20, Z:6.89 [[-7.07236702e-02 -9.97495788e-01 -5.60963293e-04 1.53649842e+02] [ 9.97081082e-01 -7.06780270e-02 -2.88778856e-02 1.22204560e+02] [ 2.87659214e-02 -2.60167594e-03 9.99582789e-01 6.88712850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.970714057 meters Centerline goodness : 0.984722 Centerline is valid? [True, True] Translation: X:153.65, Y:122.21, Z:6.89 [[-7.13967782e-02 -9.97447944e-01 -3.15667303e-04 1.53648689e+02] [ 9.97032699e-01 -7.13579166e-02 -2.88763569e-02 1.22212683e+02] [ 2.87801375e-02 -2.37640947e-03 9.99582941e-01 6.88672562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.000714057 meters Centerline goodness : 0.985259 Centerline is valid? [True, True] Translation: X:153.65, Y:122.21, Z:6.89 [[-7.18155341e-02 -9.97417872e-01 -3.44313079e-04 1.53648689e+02] [ 9.97002708e-01 -7.17756734e-02 -2.88765265e-02 1.22208935e+02] [ 2.87772503e-02 -2.41706425e-03 9.99582927e-01 6.88722003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.030714057 meters Centerline goodness : 0.986867 Centerline is valid? [True, True] Translation: X:153.64, Y:122.25, Z:6.89 [[-9.07079235e-02 -9.95877494e-01 -2.99837981e-04 1.53639111e+02] [ 9.95463037e-01 -9.06614794e-02 -2.88762580e-02 1.22247598e+02] [ 2.87300317e-02 -2.91778303e-03 9.99582949e-01 6.88890364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.060714057 meters Centerline goodness : 0.985652 Centerline is valid? [True, True] Translation: X:153.65, Y:122.22, Z:6.89 [[-7.52950765e-02 -9.97161279e-01 1.85638469e-04 1.53647712e+02] [ 9.96745160e-01 -7.52690309e-02 -2.88731400e-02 1.22224832e+02] [ 2.88051501e-02 -1.98897104e-03 9.99583067e-01 6.88779665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.090714057 meters Centerline goodness : 0.984583 Centerline is valid? [True, True] Translation: X:153.65, Y:122.22, Z:6.89 [[-7.60670721e-02 -9.97102671e-01 -2.52775796e-04 1.53647641e+02] [ 9.96687483e-01 -7.60280780e-02 -2.88754781e-02 1.22215835e+02] [ 2.87725983e-02 -2.44841155e-03 9.99582984e-01 6.88848116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.120714057 meters Centerline goodness : 0.985601 Centerline is valid? [True, True] Translation: X:153.65, Y:122.21, Z:6.89 [[-7.41831236e-02 -9.97244616e-01 -1.98565083e-04 1.53647489e+02] [ 9.96829234e-01 -7.41464747e-02 -2.88752087e-02 1.22212054e+02] [ 2.87809235e-02 -2.33998866e-03 9.99583005e-01 6.88754379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.150714057 meters Centerline goodness : 0.984608 Centerline is valid? [True, True] Translation: X:153.65, Y:122.24, Z:6.89 [[-7.35066594e-02 -9.97294423e-01 -7.77522498e-04 1.53646825e+02] [ 9.96880572e-01 -7.34536453e-02 -2.88736429e-02 1.22236649e+02] [ 2.87384112e-02 -2.89750211e-03 9.99582767e-01 6.88949898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.180714057 meters Centerline goodness : 0.986466 Centerline is valid? [True, True] Translation: X:153.65, Y:122.27, Z:6.89 [[-7.52715173e-02 -9.97162966e-01 -4.66477240e-04 1.53645281e+02] [ 9.96748327e-01 -7.52267106e-02 -2.88741013e-02 1.22268372e+02] [ 2.87570929e-02 -2.63835782e-03 9.99582947e-01 6.88739420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.210714057 meters Centerline goodness : 0.984181 Centerline is valid? [True, True] Translation: X:153.64, Y:122.29, Z:6.89 [[-7.29038047e-02 -9.97338669e-01 -7.83834702e-04 1.53644795e+02] [ 9.96924805e-01 -7.28508594e-02 -2.88735988e-02 1.22292568e+02] [ 2.87396536e-02 -2.88641947e-03 9.99582763e-01 6.89198891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.240714057 meters Centerline goodness : 0.984366 Centerline is valid? [True, True] Translation: X:153.64, Y:122.32, Z:6.89 [[-7.23120442e-02 -9.97381901e-01 -5.58963724e-04 1.53641926e+02] [ 9.96967370e-01 -7.22658080e-02 -2.88741340e-02 1.22320667e+02] [ 2.87581447e-02 -2.64521625e-03 9.99582899e-01 6.89204685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.270714057 meters Centerline goodness : 0.985662 Centerline is valid? [True, True] Translation: X:153.64, Y:122.35, Z:6.89 [[-7.24459638e-02 -9.97372221e-01 -4.85855684e-04 1.53639875e+02] [ 9.96957504e-01 -7.24017744e-02 -2.88741780e-02 1.22349766e+02] [ 2.87631262e-02 -2.57619512e-03 9.99582936e-01 6.89204870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.300714057 meters Centerline goodness : 0.983880 Centerline is valid? [True, True] Translation: X:153.64, Y:122.35, Z:6.89 [[-7.25614408e-02 -9.97363915e-01 -2.42376414e-04 1.53638922e+02] [ 9.96948645e-01 -7.25242120e-02 -2.88727905e-02 1.22351521e+02] [ 2.87791012e-02 -2.33668812e-03 9.99583065e-01 6.89360475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.330714057 meters Centerline goodness : 0.985179 Centerline is valid? [True, True] Translation: X:153.64, Y:122.36, Z:6.89 [[-7.10072571e-02 -9.97475794e-01 -9.60524092e-05 1.53635794e+02] [ 9.97060166e-01 -7.09748896e-02 -2.88719546e-02 1.22359514e+02] [ 2.87922585e-02 -2.14588833e-03 9.99583114e-01 6.89273754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.360714057 meters Centerline goodness : 0.984604 Centerline is valid? [True, True] Translation: X:153.63, Y:122.37, Z:6.89 [[-7.01693125e-02 -9.97535067e-01 -2.40487404e-04 1.53634304e+02] [ 9.97119707e-01 -7.01331342e-02 -2.88727145e-02 1.22367188e+02] [ 2.87846791e-02 -2.26577326e-03 9.99583067e-01 6.89233670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.390714057 meters Centerline goodness : 0.984651 Centerline is valid? [True, True] Translation: X:153.63, Y:122.36, Z:6.89 [[-6.98268368e-02 -9.97559092e-01 -2.64382123e-04 1.53631871e+02] [ 9.97143771e-01 -6.97901131e-02 -2.88728319e-02 1.22358693e+02] [ 2.87839047e-02 -2.27972551e-03 9.99583058e-01 6.89297001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.420714057 meters Centerline goodness : 0.984664 Centerline is valid? [True, True] Translation: X:153.63, Y:122.39, Z:6.89 [[-7.02669423e-02 -9.97528077e-01 -5.41376828e-04 1.53629866e+02] [ 9.97113449e-01 -7.02220657e-02 -2.88726756e-02 1.22387460e+02] [ 2.87632880e-02 -2.56860875e-03 9.99582951e-01 6.89286001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.450714057 meters Centerline goodness : 0.986502 Centerline is valid? [True, True] Translation: X:153.63, Y:122.38, Z:6.89 [[-7.00720391e-02 -9.97541906e-01 -2.36736667e-04 1.53627993e+02] [ 9.97126580e-01 -7.00360130e-02 -2.88711145e-02 1.22384894e+02] [ 2.87835665e-02 -2.25911429e-03 9.99583114e-01 6.89231051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.480714057 meters Centerline goodness : 0.985249 Centerline is valid? [True, True] Translation: X:153.63, Y:122.40, Z:6.89 [[-7.13491249e-02 -9.97451334e-01 -3.73212041e-04 1.53626266e+02] [ 9.97036358e-01 -7.13086383e-02 -2.88717536e-02 1.22401812e+02] [ 2.87715559e-02 -2.43208033e-03 9.99583054e-01 6.89413537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51071405700003 meters Centerline goodness : 0.985953 Centerline is valid? [True, True] Translation: X:153.62, Y:122.43, Z:6.89 [[-7.21039714e-02 -9.97396990e-01 -5.11062961e-04 1.53624094e+02] [ 9.96982396e-01 -7.20592057e-02 -2.88716527e-02 1.22429120e+02] [ 2.87596728e-02 -2.59128160e-03 9.99582996e-01 6.89488761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.540714057 meters Centerline goodness : 0.986077 Centerline is valid? [True, True] Translation: X:153.62, Y:122.43, Z:6.90 [[-7.14939548e-02 -9.97441019e-01 -1.67577871e-04 1.53624566e+02] [ 9.97025618e-01 -7.14593295e-02 -2.88700934e-02 1.22431915e+02] [ 2.87842404e-02 -2.23111658e-03 9.99583158e-01 6.89521072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57071405700003 meters Centerline goodness : 0.984948 Centerline is valid? [True, True] Translation: X:153.62, Y:122.43, Z:6.90 [[-6.77224179e-02 -9.97704194e-01 -1.23642492e-04 1.53623630e+02] [ 9.97288578e-01 -6.76906288e-02 -2.88699046e-02 1.22433526e+02] [ 2.87952554e-02 -2.07844699e-03 9.99583170e-01 6.89733330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.600714057 meters Centerline goodness : 0.984638 Centerline is valid? [True, True] Translation: X:153.62, Y:122.42, Z:6.90 [[-6.43503067e-02 -9.97927363e-01 -1.29794077e-04 1.53623590e+02] [ 9.97511653e-01 -6.43197452e-02 -2.88699283e-02 1.22422692e+02] [ 2.88017431e-02 -1.98725984e-03 9.99583168e-01 6.89698772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63071405700003 meters Centerline goodness : 0.985641 Centerline is valid? [True, True] Translation: X:153.62, Y:122.42, Z:6.90 [[-6.08784043e-02 -9.98145183e-01 -1.14656430e-04 1.53623263e+02] [ 9.97729343e-01 -6.08497252e-02 -2.88698740e-02 1.22418971e+02] [ 2.88093489e-02 -1.87194795e-03 9.99583172e-01 6.89634267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.660714057 meters Centerline goodness : 0.984203 Centerline is valid? [True, True] Translation: X:153.62, Y:122.45, Z:6.90 [[-6.03435289e-02 -9.98177576e-01 -4.29803301e-04 1.53623638e+02] [ 9.97762364e-01 -6.03059969e-02 -2.88695515e-02 1.22445977e+02] [ 2.87910192e-02 -2.17093217e-03 9.99583095e-01 6.89586316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69071405700004 meters Centerline goodness : 0.983976 Centerline is valid? [True, True] Translation: X:153.63, Y:122.47, Z:6.89 [[-5.60653203e-02 -9.98427022e-01 -4.02461794e-04 1.53626559e+02] [ 9.98011597e-01 -5.60303554e-02 -2.88695710e-02 1.22474407e+02] [ 2.88016097e-02 -2.02024328e-03 9.99583106e-01 6.89388574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.720714057 meters Centerline goodness : 0.984854 Centerline is valid? [True, True] Translation: X:153.63, Y:122.49, Z:6.89 [[-5.49639068e-02 -9.98488327e-01 -1.73061997e-04 1.53627652e+02] [ 9.98072460e-01 -5.49360109e-02 -2.88686501e-02 1.22486437e+02] [ 2.88155028e-02 -1.75946221e-03 9.99583199e-01 6.89274124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.750714057 meters Centerline goodness : 0.985397 Centerline is valid? [True, True] Translation: X:153.63, Y:122.51, Z:6.89 [[-5.12390690e-02 -9.98686322e-01 -4.34141483e-04 1.53626392e+02] [ 9.98270825e-01 -5.12052018e-02 -2.88684588e-02 1.22514433e+02] [ 2.88083047e-02 -1.91258373e-03 9.99583125e-01 6.89415458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.780714057 meters Centerline goodness : 0.985282 Centerline is valid? [True, True] Translation: X:153.63, Y:122.54, Z:6.90 [[-5.10092426e-02 -9.98698088e-01 -4.32174887e-04 1.53625674e+02] [ 9.98282579e-01 -5.09755277e-02 -2.88684597e-02 1.22543496e+02] [ 2.88088451e-02 -1.90399092e-03 9.99583126e-01 6.89572391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.810714057 meters Centerline goodness : 0.984963 Centerline is valid? [True, True] Translation: X:153.63, Y:122.55, Z:6.90 [[-4.94800084e-02 -9.98775089e-01 -2.22509290e-04 1.53625379e+02] [ 9.98359196e-01 -4.94529737e-02 -2.88672579e-02 1.22554399e+02] [ 2.88208943e-02 -1.65049636e-03 9.99583229e-01 6.89692857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.840714057 meters Centerline goodness : 0.984204 Centerline is valid? [True, True] Translation: X:153.63, Y:122.56, Z:6.90 [[-4.98357261e-02 -9.98757394e-01 -2.61325679e-04 1.53626671e+02] [ 9.98341570e-01 -4.98074242e-02 -2.88674729e-02 1.22557671e+02] [ 2.88185861e-02 -1.69952376e-03 9.99583214e-01 6.89861457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.870714057 meters Centerline goodness : 0.983154 Centerline is valid? [True, True] Translation: X:153.63, Y:122.56, Z:6.90 [[-5.08830787e-02 -9.98704608e-01 -1.38152949e-04 1.53628281e+02] [ 9.98288627e-01 -5.08578917e-02 -2.88668128e-02 1.22556097e+02] [ 2.88223928e-02 -1.60674883e-03 9.99583257e-01 6.89970441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.900714057 meters Centerline goodness : 0.983798 Centerline is valid? [True, True] Translation: X:153.63, Y:122.57, Z:6.90 [[-5.30620128e-02 -9.98591212e-01 -1.16900194e-04 1.53627105e+02] [ 9.98175255e-01 -5.30365308e-02 -2.88667020e-02 1.22568230e+02] [ 2.88198350e-02 -1.64841219e-03 9.99583263e-01 6.89899491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.930714057 meters Centerline goodness : 0.983521 Centerline is valid? [True, True] Translation: X:153.63, Y:122.57, Z:6.90 [[-5.73366238e-02 -9.98354863e-01 -2.80359554e-04 1.53628669e+02] [ 9.97939299e-01 -5.73046508e-02 -2.88674970e-02 1.22572156e+02] [ 2.88039401e-02 -1.93494663e-03 9.99583208e-01 6.90263974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.960714057 meters Centerline goodness : 0.983100 Centerline is valid? [True, True] Translation: X:153.63, Y:122.60, Z:6.90 [[-6.00195158e-02 -9.98197200e-01 -8.50977703e-05 1.53630008e+02] [ 9.97781377e-01 -5.99920522e-02 -2.88665559e-02 1.22597618e+02] [ 2.88094100e-02 -1.81746567e-03 9.99583271e-01 6.90427391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.990714057 meters Centerline goodness : 0.983559 Centerline is valid? [True, True] Translation: X:153.63, Y:122.58, Z:6.90 [[-6.40640701e-02 -9.97945785e-01 -7.54153159e-05 1.53632865e+02] [ 9.97530059e-01 -6.40352007e-02 -2.88665106e-02 1.22579943e+02] [ 2.88023834e-02 -1.92453521e-03 9.99583273e-01 6.90226020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.020714057 meters Centerline goodness : 0.985539 Centerline is valid? [True, True] Translation: X:153.64, Y:122.61, Z:6.90 [[-6.85909842e-02 -9.97644781e-01 -4.10885922e-04 1.53635342e+02] [ 9.97229932e-01 -6.85505732e-02 -2.88666270e-02 1.22611129e+02] [ 2.87704733e-02 -2.38973810e-03 9.99583188e-01 6.90028239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.050714057 meters Centerline goodness : 0.984716 Centerline is valid? [True, True] Translation: X:153.64, Y:122.64, Z:6.90 [[-7.56504440e-02 -9.97134342e-01 -3.39078046e-04 1.53638889e+02] [ 9.96719620e-01 -7.56091640e-02 -2.88661205e-02 1.22635428e+02] [ 2.87577626e-02 -2.52170057e-03 9.99583229e-01 6.90424027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.080714057 meters Centerline goodness : 0.984644 Centerline is valid? [True, True] Translation: X:153.64, Y:122.66, Z:6.91 [[-7.83937782e-02 -9.96922472e-01 -2.29126741e-05 1.53639913e+02] [ 9.96507159e-01 -7.83604564e-02 -2.88638205e-02 1.22661379e+02] [ 2.87731958e-02 -2.28557658e-03 9.99583353e-01 6.90556765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.110714057 meters Centerline goodness : 0.986344 Centerline is valid? [True, True] Translation: X:153.64, Y:122.67, Z:6.90 [[-8.36981025e-02 -9.96491153e-01 -9.32153692e-05 1.53643592e+02] [ 9.96076184e-01 -8.36605480e-02 -2.88643086e-02 1.22666189e+02] [ 2.87552297e-02 -2.50873747e-03 9.99583335e-01 6.90173079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.140714057 meters Centerline goodness : 0.986294 Centerline is valid? [True, True] Translation: X:153.65, Y:122.69, Z:6.90 [[-8.64456189e-02 -9.96256560e-01 -1.45478290e-04 1.53646665e+02] [ 9.95841822e-01 -8.64054170e-02 -2.88646671e-02 1.22691640e+02] [ 2.87440438e-02 -2.64009737e-03 9.99583318e-01 6.90079432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.170714057 meters Centerline goodness : 0.987185 Centerline is valid? [True, True] Translation: X:153.65, Y:122.65, Z:6.90 [[-8.77656756e-02 -9.96141147e-01 -2.64328642e-05 1.53650384e+02] [ 9.95726174e-01 -8.77283482e-02 -2.88638778e-02 1.22654461e+02] [ 2.87501774e-02 -2.55957763e-03 9.99583351e-01 6.89648001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.200714057 meters Centerline goodness : 0.987707 Centerline is valid? [True, True] Translation: X:153.65, Y:122.68, Z:6.90 [[-8.82446422e-02 -9.96098675e-01 -5.59304397e-04 1.53651210e+02] [ 9.95685231e-01 -8.81918082e-02 -2.88639061e-02 1.22680778e+02] [ 2.87019725e-02 -3.10397619e-03 9.99583194e-01 6.89999654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.230714057 meters Centerline goodness : 0.987707 Centerline is valid? [True, True] Translation: X:153.65, Y:122.68, Z:6.90 [[-8.78768619e-02 -9.96131331e-01 -1.68128726e-04 1.53650946e+02] [ 9.95716799e-01 -8.78354213e-02 -2.88616639e-02 1.22683435e+02] [ 2.87352400e-02 -2.70368105e-03 9.99583401e-01 6.90022647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26071405700003 meters Centerline goodness : 0.987749 Centerline is valid? [True, True] Translation: X:153.65, Y:122.68, Z:6.90 [[-8.76139651e-02 -9.96154485e-01 -1.85394401e-04 1.53653166e+02] [ 9.95739986e-01 -8.75721375e-02 -2.88617560e-02 1.22680043e+02] [ 2.87345323e-02 -2.71329750e-03 9.99583396e-01 6.90021792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.290714057 meters Centerline goodness : 0.988939 Centerline is valid? [True, True] Translation: X:153.65, Y:122.70, Z:6.90 [[-8.77858356e-02 -9.96139347e-01 -2.19213410e-04 1.53653814e+02] [ 9.95724943e-01 -8.77429643e-02 -2.88619275e-02 1.22695006e+02] [ 2.87312671e-02 -2.75194468e-03 9.99583384e-01 6.89934461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32071405700003 meters Centerline goodness : 0.988840 Centerline is valid? [True, True] Translation: X:153.65, Y:122.69, Z:6.90 [[-8.69557514e-02 -9.96212117e-01 -3.38969537e-04 1.53654829e+02] [ 9.95797994e-01 -8.69097834e-02 -2.88625024e-02 1.22694130e+02] [ 2.87237148e-02 -2.84730577e-03 9.99583334e-01 6.89879685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.350714057 meters Centerline goodness : 0.989624 Centerline is valid? [True, True] Translation: X:153.66, Y:122.72, Z:6.90 [[-8.33824176e-02 -9.96517397e-01 -6.71025409e-04 1.53658043e+02] [ 9.96104090e-01 -8.33283998e-02 -2.88620665e-02 1.22723378e+02] [ 2.87056359e-02 -3.07500004e-03 9.99583179e-01 6.89907289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38071405700003 meters Centerline goodness : 0.991491 Centerline is valid? [True, True] Translation: X:153.66, Y:122.76, Z:6.90 [[-8.59953340e-02 -9.96295294e-01 -7.00103834e-04 1.53659463e+02] [ 9.95882223e-01 -8.59393982e-02 -2.88620531e-02 1.22758900e+02] [ 2.86949612e-02 -3.17922286e-03 9.99583159e-01 6.89767934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.410714057 meters Centerline goodness : 0.988436 Centerline is valid? [True, True] Translation: X:153.66, Y:122.79, Z:6.90 [[-8.47988265e-02 -9.96397904e-01 -6.12518762e-04 1.53659166e+02] [ 9.95984521e-01 -8.47459034e-02 -2.88611385e-02 1.22792095e+02] [ 2.87052695e-02 -3.05744989e-03 9.99583243e-01 6.90169039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44071405700004 meters Centerline goodness : 0.990305 Centerline is valid? [True, True] Translation: X:153.65, Y:122.77, Z:6.90 [[-9.75604870e-02 -9.95229595e-01 -6.13676839e-05 1.53650336e+02] [ 9.94815364e-01 -9.75181014e-02 -2.88549983e-02 1.22770534e+02] [ 2.87113638e-02 -2.87615720e-03 9.99583606e-01 6.90210882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.470714057 meters Centerline goodness : 0.989239 Centerline is valid? [True, True] Translation: X:153.66, Y:122.76, Z:6.90 [[-7.66316585e-02 -9.97059418e-01 3.24008087e-04 1.53659858e+02] [ 9.96643711e-01 -7.66090836e-02 -2.88506725e-02 1.22764478e+02] [ 2.87906567e-02 -1.88795426e-03 9.99583680e-01 6.90201104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.500714057 meters Centerline goodness : 0.987902 Centerline is valid? [True, True] Translation: X:153.66, Y:122.78, Z:6.90 [[-7.49035873e-02 -9.97190766e-01 -1.71064964e-04 1.53661154e+02] [ 9.96775905e-01 -7.48674751e-02 -2.88557719e-02 1.22775407e+02] [ 2.87619021e-02 -2.33191426e-03 9.99583571e-01 6.90274288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.530714057 meters Centerline goodness : 0.988193 Centerline is valid? [True, True] Translation: X:153.66, Y:122.76, Z:6.90 [[-7.37334762e-02 -9.97277980e-01 -7.79900160e-05 1.53662468e+02] [ 9.96862895e-01 -7.37005305e-02 -2.88548255e-02 1.22760255e+02] [ 2.87705342e-02 -2.20531194e-03 9.99583610e-01 6.90191092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.560714057 meters Centerline goodness : 0.987539 Centerline is valid? [True, True] Translation: X:153.66, Y:122.76, Z:6.90 [[-7.23148933e-02 -9.97381851e-01 8.00335893e-06 1.53663526e+02] [ 9.96966562e-01 -7.22850145e-02 -2.88539665e-02 1.22757484e+02] [ 2.87790011e-02 -2.07859243e-03 9.99583638e-01 6.90239875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.590714057 meters Centerline goodness : 0.987390 Centerline is valid? [True, True] Translation: X:153.66, Y:122.76, Z:6.90 [[-6.76585996e-02 -9.97708531e-01 2.60176526e-05 1.53664088e+02] [ 9.97293078e-01 -6.76311785e-02 -2.88537896e-02 1.22763071e+02] [ 2.87894317e-02 -1.92625977e-03 9.99583642e-01 6.90237006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.620714057 meters Centerline goodness : 0.989058 Centerline is valid? [True, True] Translation: X:153.66, Y:122.76, Z:6.90 [[-6.59252165e-02 -9.97824563e-01 -8.79152154e-05 1.53663790e+02] [ 9.97409251e-01 -6.58952350e-02 -2.88548665e-02 1.22761205e+02] [ 2.87863013e-02 -1.98995077e-03 9.99583608e-01 6.90193401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.650714057 meters Centerline goodness : 0.988458 Centerline is valid? [True, True] Translation: X:153.66, Y:122.76, Z:6.90 [[-6.27688193e-02 -9.98028080e-01 -1.64871508e-04 1.53664809e+02] [ 9.97612805e-01 -6.27379346e-02 -2.88555593e-02 1.22763533e+02] [ 2.87883147e-02 -1.97570731e-03 9.99583578e-01 6.90137733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.680714057 meters Centerline goodness : 0.988103 Centerline is valid? [True, True] Translation: X:153.66, Y:122.76, Z:6.90 [[-6.16156583e-02 -9.98099926e-01 -2.19333851e-04 1.53664698e+02] [ 9.97684709e-01 -6.15836846e-02 -2.88560360e-02 1.22758866e+02] [ 2.87877000e-02 -1.99680968e-03 9.99583554e-01 6.90128087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.710714057 meters Centerline goodness : 0.990657 Centerline is valid? [True, True] Translation: X:153.66, Y:122.78, Z:6.90 [[-7.74015050e-02 -9.96999988e-01 -1.73799948e-04 1.53655015e+02] [ 9.96585230e-01 -7.73642753e-02 -2.88556393e-02 1.22783871e+02] [ 2.87556261e-02 -2.40667637e-03 9.99583574e-01 6.90467877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.740714057 meters Centerline goodness : 0.990605 Centerline is valid? [True, True] Translation: X:153.65, Y:122.79, Z:6.91 [[-7.65888566e-02 -9.97062726e-01 2.58150368e-04 1.53654983e+02] [ 9.96647113e-01 -7.65644014e-02 -2.88517771e-02 1.22792909e+02] [ 2.87867967e-02 -1.95243980e-03 9.99583667e-01 6.90514562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.770714057 meters Centerline goodness : 0.988087 Centerline is valid? [True, True] Translation: X:153.67, Y:122.79, Z:6.91 [[-6.11773159e-02 -9.98126883e-01 2.46857342e-04 1.53665102e+02] [ 9.97710956e-01 -6.11589585e-02 -2.88518737e-02 1.22788141e+02] [ 2.88129283e-02 -1.51878792e-03 9.99583668e-01 6.90542502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.800714057 meters Centerline goodness : 0.989409 Centerline is valid? [True, True] Translation: X:153.67, Y:122.79, Z:6.90 [[-6.10641558e-02 -9.98133841e-01 6.20232144e-05 1.53665247e+02] [ 9.97718165e-01 -6.10405184e-02 -2.88533779e-02 1.22793280e+02] [ 2.88033189e-02 -1.70002548e-03 9.99583653e-01 6.90234132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.830714057 meters Centerline goodness : 0.988284 Centerline is valid? [True, True] Translation: X:153.67, Y:122.80, Z:6.90 [[-6.04587346e-02 -9.98170697e-01 2.24044471e-05 1.53665372e+02] [ 9.97755066e-01 -6.04342076e-02 -2.88536900e-02 1.22797831e+02] [ 2.88022618e-02 -1.72210343e-03 9.99583645e-01 6.90233305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.860714057 meters Centerline goodness : 0.987301 Centerline is valid? [True, True] Translation: X:153.65, Y:123.29, Z:6.92 [[-7.28394579e-02 -9.97343671e-01 1.26153701e-04 1.53654942e+02] [ 9.96928191e-01 -7.28127635e-02 -2.88527848e-02 1.23288755e+02] [ 2.87853279e-02 -1.97585502e-03 9.99583664e-01 6.91998334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.890714057 meters Centerline goodness : 0.985990 Centerline is valid? [True, True] Translation: X:153.67, Y:122.78, Z:6.90 [[-5.80181213e-02 -9.98315366e-01 5.72410135e-04 1.53667514e+02] [ 9.97899068e-01 -5.80104688e-02 -2.88485093e-02 1.22782221e+02] [ 2.88331159e-02 -1.10252877e-03 9.99583631e-01 6.90372807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.920714057 meters Centerline goodness : 0.986984 Centerline is valid? [True, True] Translation: X:153.67, Y:122.78, Z:6.90 [[-5.44495270e-02 -9.98516495e-01 2.42620552e-04 1.53667572e+02] [ 9.98100483e-01 -5.44338519e-02 -2.88510244e-02 1.22781522e+02] [ 2.88214305e-02 -1.32876494e-03 9.99583693e-01 6.90314852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.950714057 meters Centerline goodness : 0.988668 Centerline is valid? [True, True] Translation: X:153.66, Y:123.18, Z:6.92 [[-6.40373015e-02 -9.97947503e-01 6.77540080e-05 1.53660237e+02] [ 9.97531916e-01 -6.40125926e-02 -2.88524518e-02 1.23181499e+02] [ 2.87975693e-02 -1.78004637e-03 9.99583679e-01 6.91777053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.980714057 meters Centerline goodness : 0.991530 Centerline is valid? [True, True] Translation: X:153.66, Y:123.20, Z:6.92 [[-5.99614473e-02 -9.98200657e-01 2.69258316e-04 1.53657511e+02] [ 9.97784704e-01 -5.99442435e-02 -2.88508520e-02 1.23201682e+02] [ 2.88150799e-02 -1.46127701e-03 9.99583691e-01 6.91702331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01071405700003 meters Centerline goodness : 0.989618 Centerline is valid? [True, True] Translation: X:154.45, Y:122.92, Z:7.77 [[-3.87798226e-02 9.99247744e-01 -2.69258316e-04 1.54449791e+02] [ 9.98831519e-01 3.87714435e-02 2.88508520e-02 1.22915892e+02] [ 2.88395883e-02 8.49887230e-04 -9.99583691e-01 7.76937449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.040714057 meters Centerline goodness : 0.990319 Centerline is valid? [True, True] Translation: X:153.66, Y:123.45, Z:6.92 [[-1.24482945e-01 -9.92218496e-01 2.54025321e-03 1.53656134e+02] [ 9.91804157e-01 -1.24504416e-01 -2.86908312e-02 1.23446942e+02] [ 2.87838462e-02 -1.05208546e-03 9.99585106e-01 6.92489384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07071405700003 meters Centerline goodness : 0.984526 Centerline is valid? [True, True] Translation: X:153.61, Y:123.95, Z:6.94 [[-1.49161225e-01 -9.88810902e-01 1.98196397e-03 1.53614487e+02] [ 9.88396111e-01 -1.49156245e-01 -2.87322377e-02 1.23948045e+02] [ 2.87063722e-02 -2.32677030e-03 9.99585179e-01 6.94133729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.100714057 meters Centerline goodness : 0.990615 Centerline is valid? [True, True] Translation: X:153.70, Y:122.95, Z:6.91 [[-1.32559341e-01 -9.91170431e-01 3.03271869e-03 1.53702133e+02] [ 9.90756735e-01 -1.32591660e-01 -2.86451358e-02 1.22946103e+02] [ 2.87943248e-02 -7.92493851e-04 9.99585043e-01 6.91452871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13071405700003 meters Centerline goodness : 0.984035 Centerline is valid? [True, True] Translation: X:153.62, Y:123.96, Z:6.94 [[-1.42568462e-01 -9.89782382e-01 2.25158148e-03 1.53617497e+02] [ 9.89367770e-01 -1.42574043e-01 -2.87064130e-02 1.23962078e+02] [ 2.87341189e-02 -1.86498701e-03 9.99585350e-01 6.94223387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.160714057 meters Centerline goodness : 0.988439 Centerline is valid? [True, True] Translation: X:153.71, Y:122.93, Z:6.91 [[-8.76592450e-02 -9.96146107e-01 2.96475482e-03 1.53711411e+02] [ 9.95734134e-01 -8.77082594e-02 -2.86495200e-02 1.22930195e+02] [ 2.87991413e-02 4.40712282e-04 9.99585122e-01 6.91379165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19071405700004 meters Centerline goodness : 0.987633 Centerline is valid? [True, True] Translation: X:153.71, Y:122.94, Z:6.91 [[-9.06666249e-02 -9.95880832e-01 9.65066209e-04 1.53711760e+02] [ 9.95466375e-01 -9.06567775e-02 -2.87757542e-02 1.22937314e+02] [ 2.87447118e-02 -1.64830955e-03 9.99585426e-01 6.91316590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.220714057 meters Centerline goodness : 0.987547 Centerline is valid? [True, True] Translation: X:153.71, Y:122.95, Z:6.91 [[-9.07615785e-02 -9.95871768e-01 1.32583965e-03 1.53710801e+02] [ 9.95457439e-01 -9.07620972e-02 -2.87528894e-02 1.22945793e+02] [ 2.87545268e-02 -1.28984068e-03 9.99585671e-01 6.91365346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.250714057 meters Centerline goodness : 0.990205 Centerline is valid? [True, True] Translation: X:153.70, Y:122.96, Z:6.91 [[-1.03723446e-01 -9.94605143e-01 1.43394233e-03 1.53700913e+02] [ 9.94190866e-01 -1.03721687e-01 -2.87460348e-02 1.22956840e+02] [ 2.87396850e-02 -1.55602543e-03 9.99585719e-01 6.91222375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.280714057 meters Centerline goodness : 0.987330 Centerline is valid? [True, True] Translation: X:153.71, Y:122.95, Z:6.92 [[-8.55627113e-02 -9.96331106e-01 1.83044683e-03 1.53711978e+02] [ 9.95917262e-01 -8.55799367e-02 -2.87207668e-02 1.22954548e+02] [ 2.87720429e-02 -6.34453089e-04 9.99585798e-01 6.91578793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.310714057 meters Centerline goodness : 0.989971 Centerline is valid? [True, True] Translation: X:153.71, Y:122.95, Z:6.91 [[-7.94398972e-02 -9.96838744e-01 1.34982155e-03 1.53713086e+02] [ 9.96424483e-01 -7.94458157e-02 -2.87508585e-02 1.22949273e+02] [ 2.87672074e-02 -9.38970002e-04 9.99585697e-01 6.91095931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.340714057 meters Centerline goodness : 0.985872 Centerline is valid? [True, True] Translation: X:153.71, Y:122.95, Z:6.91 [[-8.48316935e-02 -9.96395078e-01 6.57387768e-04 1.53714139e+02] [ 9.95980567e-01 -8.48153994e-02 -2.87933878e-02 1.22947129e+02] [ 2.87453465e-02 -1.78784641e-03 9.99585168e-01 6.91473436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.370714057 meters Centerline goodness : 0.989415 Centerline is valid? [True, True] Translation: X:153.71, Y:122.96, Z:6.92 [[-8.13345303e-02 -9.96685435e-01 1.68461357e-03 1.53714170e+02] [ 9.96271512e-01 -8.13493106e-02 -2.87291339e-02 1.22962390e+02] [ 2.87709515e-02 -6.58338101e-04 9.99585814e-01 6.91524859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.400714057 meters Centerline goodness : 0.987909 Centerline is valid? [True, True] Translation: X:153.72, Y:122.96, Z:6.92 [[-8.11355632e-02 -9.96702586e-01 9.87360246e-04 1.53716917e+02] [ 9.96288130e-01 -8.11303272e-02 -2.87720844e-02 1.22964683e+02] [ 2.87573158e-02 -1.35074398e-03 9.99585510e-01 6.91606933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.430714057 meters Centerline goodness : 0.989433 Centerline is valid? [True, True] Translation: X:153.72, Y:122.97, Z:6.92 [[-8.12314715e-02 -9.96694241e-01 1.42781572e-03 1.53719004e+02] [ 9.96280070e-01 -8.12388947e-02 -2.87448010e-02 1.22968306e+02] [ 2.87657718e-02 -9.12478144e-04 9.99585763e-01 6.91672274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.460714057 meters Centerline goodness : 0.986529 Centerline is valid? [True, True] Translation: X:153.72, Y:122.96, Z:6.92 [[-8.21505773e-02 -9.96619038e-01 1.33290147e-03 1.53721559e+02] [ 9.96204786e-01 -8.21548827e-02 -2.87506416e-02 1.22961155e+02] [ 2.87629411e-02 -1.03403898e-03 9.99585726e-01 6.91733254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.490714057 meters Centerline goodness : 0.986751 Centerline is valid? [True, True] Translation: X:153.72, Y:122.97, Z:6.92 [[-8.22578342e-02 -9.96610000e-01 1.46828964e-03 1.53723044e+02] [ 9.96195857e-01 -8.22659974e-02 -2.87423094e-02 1.22965239e+02] [ 2.87656633e-02 -9.01576065e-04 9.99585776e-01 6.91880908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.520714057 meters Centerline goodness : 0.988094 Centerline is valid? [True, True] Translation: X:153.73, Y:122.97, Z:6.92 [[-8.54240981e-02 -9.96343640e-01 1.43997916e-03 1.53727235e+02] [ 9.95929452e-01 -8.54301293e-02 -2.87440446e-02 1.22972560e+02] [ 2.87619637e-02 -1.02131644e-03 9.99585767e-01 6.91652563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.550714057 meters Centerline goodness : 0.988992 Centerline is valid? [True, True] Translation: X:153.73, Y:122.98, Z:6.91 [[-8.67716943e-02 -9.96227249e-01 1.39363091e-03 1.53731310e+02] [ 9.95813021e-01 -8.67758292e-02 -2.87468755e-02 1.22980805e+02] [ 2.87593542e-02 -1.10661929e-03 9.99585752e-01 6.91483116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.580714057 meters Centerline goodness : 0.986342 Centerline is valid? [True, True] Translation: X:153.73, Y:122.97, Z:6.92 [[-9.08857936e-02 -9.95860627e-01 1.17636861e-03 1.53734014e+02] [ 9.95446298e-01 -9.08819534e-02 -2.87600269e-02 1.22974702e+02] [ 2.87478891e-02 -1.44286609e-03 9.99585653e-01 6.91789882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.610714057 meters Centerline goodness : 0.988154 Centerline is valid? [True, True] Translation: X:153.74, Y:122.97, Z:6.91 [[-8.97287943e-02 -9.95964938e-01 1.60793399e-03 1.53736019e+02] [ 9.95550843e-01 -8.97378768e-02 -2.87338088e-02 1.22974730e+02] [ 2.87621587e-02 -9.77469980e-04 9.99585806e-01 6.91400564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.640714057 meters Centerline goodness : 0.986798 Centerline is valid? [True, True] Translation: X:153.74, Y:122.99, Z:6.92 [[-9.43166384e-02 -9.95541488e-01 1.23169096e-03 1.53739842e+02] [ 9.95127193e-01 -9.43129662e-02 -2.87564466e-02 1.22989165e+02] [ 2.87444000e-02 -1.48652221e-03 9.99585689e-01 6.91700482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.670714057 meters Centerline goodness : 0.987772 Centerline is valid? [True, True] Translation: X:153.74, Y:122.99, Z:6.91 [[-9.96374793e-02 -9.95022906e-01 1.33758596e-03 1.53741845e+02] [ 9.94608652e-01 -9.96346457e-02 -2.87500759e-02 1.22990266e+02] [ 2.87402540e-02 -1.53421053e-03 9.99585736e-01 6.91463230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.700714057 meters Centerline goodness : 0.988050 Centerline is valid? [True, True] Translation: X:153.74, Y:122.99, Z:6.91 [[-1.00315390e-01 -9.94954774e-01 1.34909809e-03 1.53742620e+02] [ 9.94540524e-01 -1.00312606e-01 -2.87493852e-02 1.22991517e+02] [ 2.87396696e-02 -1.54227306e-03 9.99585741e-01 6.91289594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.730714057 meters Centerline goodness : 0.989000 Centerline is valid? [True, True] Translation: X:153.74, Y:123.01, Z:6.92 [[-1.05341825e-01 -9.94435288e-01 1.24811716e-03 1.53743705e+02] [ 9.94021059e-01 -1.05334037e-01 -2.87554210e-02 1.23006583e+02] [ 2.87268746e-02 -1.78849380e-03 9.99585698e-01 6.91524764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76071405700003 meters Centerline goodness : 0.989587 Centerline is valid? [True, True] Translation: X:153.75, Y:123.00, Z:6.91 [[-1.05571889e-01 -9.94410820e-01 1.30264554e-03 1.53745742e+02] [ 9.93996590e-01 -1.05565577e-01 -2.87521762e-02 1.22996161e+02] [ 2.87289896e-02 -1.74059633e-03 9.99585722e-01 6.91261475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.790714057 meters Centerline goodness : 0.989279 Centerline is valid? [True, True] Translation: X:153.75, Y:123.00, Z:6.91 [[-1.08086909e-01 -9.94140720e-01 1.20418143e-03 1.53746147e+02] [ 9.93726523e-01 -1.08076709e-01 -2.87579905e-02 1.22997389e+02] [ 2.87196333e-02 -1.91173526e-03 9.99585678e-01 6.91218881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82071405700003 meters Centerline goodness : 0.988622 Centerline is valid? [True, True] Translation: X:153.75, Y:123.01, Z:6.92 [[-1.14711195e-01 -9.93398135e-01 1.21960363e-03 1.53747084e+02] [ 9.92984010e-01 -1.14698680e-01 -2.87570798e-02 1.23014102e+02] [ 2.87071164e-02 -2.08771208e-03 9.99585686e-01 6.91507020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.850714057 meters Centerline goodness : 0.987684 Centerline is valid? [True, True] Translation: X:153.75, Y:123.01, Z:6.92 [[-1.17284461e-01 -9.93097534e-01 1.28155179e-03 1.53748031e+02] [ 9.92683416e-01 -1.17272659e-01 -2.87534354e-02 1.23011201e+02] [ 2.87052567e-02 -2.10015597e-03 9.99585713e-01 6.91526211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88071405700003 meters Centerline goodness : 0.988469 Centerline is valid? [True, True] Translation: X:153.75, Y:123.01, Z:6.92 [[-1.22446585e-01 -9.92474306e-01 1.25952621e-03 1.53748306e+02] [ 9.92060267e-01 -1.22431995e-01 -2.87547234e-02 1.23013788e+02] [ 2.86925305e-02 -2.27139179e-03 9.99585704e-01 6.91569257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.910714057 meters Centerline goodness : 0.989273 Centerline is valid? [True, True] Translation: X:153.75, Y:123.02, Z:6.91 [[-1.23482554e-01 -9.92345849e-01 1.33251980e-03 1.53748828e+02] [ 9.91931782e-01 -1.23469635e-01 -2.87504595e-02 1.23017929e+02] [ 2.86949248e-02 -2.22841142e-03 9.99585732e-01 6.91454652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94071405700004 meters Centerline goodness : 0.986105 Centerline is valid? [True, True] Translation: X:153.75, Y:123.02, Z:6.92 [[-1.29712124e-01 -9.91551001e-01 1.17343543e-03 1.53749099e+02] [ 9.91137155e-01 -1.29692020e-01 -2.87596841e-02 1.23015201e+02] [ 2.86688788e-02 -2.56744424e-03 9.99585666e-01 6.91727975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.970714057 meters Centerline goodness : 0.987925 Centerline is valid? [True, True] Translation: X:153.75, Y:123.02, Z:6.92 [[-1.29753800e-01 -9.91544978e-01 1.58371518e-03 1.53746767e+02] [ 9.91130849e-01 -1.29745505e-01 -2.87357609e-02 1.23023931e+02] [ 2.86982794e-02 -2.15890522e-03 9.99585788e-01 6.91603241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.000714057 meters Centerline goodness : 0.988489 Centerline is valid? [True, True] Translation: X:153.75, Y:123.02, Z:6.92 [[-1.30822908e-01 -9.91404914e-01 1.28973706e-03 1.53745442e+02] [ 9.90990994e-01 -1.30805694e-01 -2.87527288e-02 1.23023425e+02] [ 2.86743016e-02 -2.48339780e-03 9.99585723e-01 6.91750646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.030714057 meters Centerline goodness : 0.989038 Centerline is valid? [True, True] Translation: X:153.74, Y:123.02, Z:6.91 [[-1.28223670e-01 -9.91744381e-01 1.33169431e-03 1.53743196e+02] [ 9.91330387e-01 -1.28208750e-01 -2.87503181e-02 1.23022053e+02] [ 2.86837013e-02 -2.36632227e-03 9.99585737e-01 6.91461938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.060714057 meters Centerline goodness : 0.987174 Centerline is valid? [True, True] Translation: X:153.74, Y:123.02, Z:6.92 [[-1.26782686e-01 -9.91929833e-01 1.16443489e-03 1.53742576e+02] [ 9.91515947e-01 -1.26763547e-01 -2.87598517e-02 1.23023917e+02] [ 2.86753628e-02 -2.49169550e-03 9.99585672e-01 6.91721611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.090714057 meters Centerline goodness : 0.988508 Centerline is valid? [True, True] Translation: X:153.74, Y:123.03, Z:6.92 [[-1.22481964e-01 -9.92469852e-01 1.32719790e-03 1.53739190e+02] [ 9.92055781e-01 -1.22469310e-01 -2.87505826e-02 1.23026292e+02] [ 2.86966275e-02 -2.20477347e-03 9.99585735e-01 6.91560701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.120714057 meters Centerline goodness : 0.988508 Centerline is valid? [True, True] Translation: X:153.74, Y:123.03, Z:6.92 [[-1.22131230e-01 -9.92513333e-01 1.11656476e-03 1.53739049e+02] [ 9.92099401e-01 -1.22112652e-01 -2.87624573e-02 1.23028925e+02] [ 2.86834691e-02 -2.40505105e-03 9.99585651e-01 6.91561367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.150714057 meters Centerline goodness : 0.987864 Centerline is valid? [True, True] Translation: X:153.74, Y:123.04, Z:6.92 [[-1.19937232e-01 -9.92780852e-01 1.11394517e-03 1.53736895e+02] [ 9.92366882e-01 -1.19919494e-01 -2.87626043e-02 1.23038199e+02] [ 2.86885465e-02 -2.34426486e-03 9.99585650e-01 6.91615939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.180714057 meters Centerline goodness : 0.987576 Centerline is valid? [True, True] Translation: X:153.74, Y:123.03, Z:6.92 [[-1.14128763e-01 -9.93465123e-01 1.29416859e-03 1.53736088e+02] [ 9.93050970e-01 -1.14118641e-01 -2.87525111e-02 1.23026900e+02] [ 2.87123057e-02 -1.99631314e-03 9.99585723e-01 6.91698984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.210714057 meters Centerline goodness : 0.987566 Centerline is valid? [True, True] Translation: X:153.73, Y:123.03, Z:6.92 [[-1.09286089e-01 -9.94009776e-01 1.05682456e-03 1.53731223e+02] [ 9.93595669e-01 -1.09271143e-01 -2.87656582e-02 1.23032826e+02] [ 2.87088258e-02 -2.09362996e-03 9.99585624e-01 6.92001793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.240714057 meters Centerline goodness : 0.987532 Centerline is valid? [True, True] Translation: X:153.73, Y:123.03, Z:6.92 [[-9.41040891e-02 -9.95561580e-01 1.24967330e-03 1.53729681e+02] [ 9.95147299e-01 -9.41010244e-02 -2.87549997e-02 1.23028184e+02] [ 2.87449685e-02 -1.46235405e-03 9.99585708e-01 6.92395318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.270714057 meters Centerline goodness : 0.987744 Centerline is valid? [True, True] Translation: X:153.73, Y:123.03, Z:6.92 [[-9.01749245e-02 -9.95925646e-01 7.67999332e-04 1.53729479e+02] [ 9.95511371e-01 -9.01596087e-02 -2.87811597e-02 1.23028407e+02] [ 2.87331376e-02 -1.83078684e-03 9.99585442e-01 6.92308191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.300714057 meters Centerline goodness : 0.989161 Centerline is valid? [True, True] Translation: X:153.73, Y:123.02, Z:6.92 [[-8.70766202e-02 -9.96201287e-01 8.11309414e-04 1.53728757e+02] [ 9.95786959e-01 -8.70638418e-02 -2.87788191e-02 1.23024219e+02] [ 2.87401324e-02 -1.69807097e-03 9.99585475e-01 6.92161641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.330714057 meters Centerline goodness : 0.989182 Centerline is valid? [True, True] Translation: X:153.72, Y:123.02, Z:6.92 [[-8.56401734e-02 -9.96325871e-01 7.21091043e-04 1.53724799e+02] [ 9.95911539e-01 -8.56253913e-02 -2.87836507e-02 1.23020086e+02] [ 2.87396395e-02 -1.74689395e-03 9.99585405e-01 6.91901643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.360714057 meters Centerline goodness : 0.985308 Centerline is valid? [True, True] Translation: X:153.72, Y:123.02, Z:6.92 [[-8.40039697e-02 -9.96465071e-01 8.33503987e-04 1.53723501e+02] [ 9.96050704e-01 -8.39931091e-02 -2.87776369e-02 1.23024838e+02] [ 2.87459186e-02 -1.58722350e-03 9.99585491e-01 6.92105959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.390714057 meters Centerline goodness : 0.987141 Centerline is valid? [True, True] Translation: X:153.72, Y:123.03, Z:6.92 [[-7.54769066e-02 -9.97146900e-01 1.13842992e-03 1.53720570e+02] [ 9.96732563e-01 -7.54783806e-02 -2.87612946e-02 1.23025696e+02] [ 2.87651626e-02 -1.03610337e-03 9.99585660e-01 6.92137014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.420714057 meters Centerline goodness : 0.986597 Centerline is valid? [True, True] Translation: X:153.72, Y:123.03, Z:6.92 [[-7.49889950e-02 -9.97184033e-01 8.09647668e-04 1.53720140e+02] [ 9.96769586e-01 -7.49811947e-02 -2.87786791e-02 1.23030338e+02] [ 2.87583476e-02 -1.35105205e-03 9.99585480e-01 6.92150040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.450714057 meters Centerline goodness : 0.986611 Centerline is valid? [True, True] Translation: X:153.72, Y:123.02, Z:6.92 [[-7.21761765e-02 -9.97391431e-01 9.66117268e-04 1.53720289e+02] [ 9.96977016e-01 -7.21740557e-02 -2.87704051e-02 1.23023745e+02] [ 2.87650841e-02 -1.11334112e-03 9.99585579e-01 6.91822236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.480714057 meters Centerline goodness : 0.986871 Centerline is valid? [True, True] Translation: X:153.72, Y:123.03, Z:6.92 [[-7.00159368e-02 -9.97545241e-01 1.12255763e-03 1.53720234e+02] [ 9.97130908e-01 -7.00192221e-02 -2.87621403e-02 1.23033987e+02] [ 2.87701368e-02 -8.94471288e-04 9.99585654e-01 6.92078343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51071405700003 meters Centerline goodness : 0.986536 Centerline is valid? [True, True] Translation: X:153.72, Y:123.03, Z:6.92 [[-7.09396122e-02 -9.97480147e-01 9.63270175e-04 1.53719008e+02] [ 9.97065730e-01 -7.09379232e-02 -2.87704913e-02 1.23034419e+02] [ 2.87663263e-02 -1.08052382e-03 9.99585580e-01 6.92069865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.540714057 meters Centerline goodness : 0.985024 Centerline is valid? [True, True] Translation: X:153.72, Y:123.03, Z:6.92 [[-7.31038805e-02 -9.97323904e-01 9.23152631e-04 1.53719819e+02] [ 9.96909479e-01 -7.31001359e-02 -2.87725816e-02 1.23028890e+02] [ 2.87630661e-02 -1.18308776e-03 9.99585557e-01 6.92130359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57071405700003 meters Centerline goodness : 0.985706 Centerline is valid? [True, True] Translation: X:153.72, Y:123.04, Z:6.92 [[-7.80251883e-02 -9.96950821e-01 1.06368393e-03 1.53720341e+02] [ 9.96536453e-01 -7.80234490e-02 -2.87652475e-02 1.23044471e+02] [ 2.87605294e-02 -1.18441404e-03 9.99585629e-01 6.92132660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.600714057 meters Centerline goodness : 0.986367 Centerline is valid? [True, True] Translation: X:153.72, Y:123.05, Z:6.92 [[-8.31792985e-02 -9.96534038e-01 1.05651636e-03 1.53719465e+02] [ 9.96119683e-01 -8.31752100e-02 -2.87656203e-02 1.23051836e+02] [ 2.87537958e-02 -1.34028738e-03 9.99585626e-01 6.92175910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63071405700003 meters Centerline goodness : 0.985708 Centerline is valid? [True, True] Translation: X:153.72, Y:123.06, Z:6.92 [[-9.10908317e-02 -9.95841923e-01 1.15069394e-03 1.53720218e+02] [ 9.95427612e-01 -9.10861671e-02 -2.87607227e-02 1.23057477e+02] [ 2.87459457e-02 -1.47440563e-03 9.99585663e-01 6.92002034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.660714057 meters Centerline goodness : 0.986891 Centerline is valid? [True, True] Translation: X:153.72, Y:123.07, Z:6.92 [[-9.43598768e-02 -9.95537433e-01 1.19754953e-03 1.53720116e+02] [ 9.95123136e-01 -9.43552025e-02 -2.87582947e-02 1.23067516e+02] [ 2.87429539e-02 -1.52191991e-03 9.99585677e-01 6.92004376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69071405700004 meters Centerline goodness : 0.986943 Centerline is valid? [True, True] Translation: X:153.72, Y:123.07, Z:6.92 [[-1.00092732e-01 -9.94977406e-01 1.18562338e-03 1.53720236e+02] [ 9.94563147e-01 -1.00085327e-01 -2.87589088e-02 1.23068041e+02] [ 2.87331280e-02 -1.69938042e-03 9.99585674e-01 6.91834193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.720714057 meters Centerline goodness : 0.987833 Centerline is valid? [True, True] Translation: X:153.72, Y:123.07, Z:6.92 [[-1.01894330e-01 -9.94794420e-01 1.26777191e-03 1.53719542e+02] [ 9.94380155e-01 -1.01888543e-01 -2.87546902e-02 1.23065040e+02] [ 2.87341768e-02 -1.66929265e-03 9.99585694e-01 6.91717817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.750714057 meters Centerline goodness : 0.987444 Centerline is valid? [True, True] Translation: X:153.72, Y:123.07, Z:6.92 [[-1.04875303e-01 -9.94484695e-01 1.16716377e-03 1.53718441e+02] [ 9.94070483e-01 -1.04865375e-01 -2.87598282e-02 1.23069208e+02] [ 2.87236041e-02 -1.85595264e-03 9.99585669e-01 6.91872543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.780714057 meters Centerline goodness : 0.987614 Centerline is valid? [True, True] Translation: X:153.72, Y:123.08, Z:6.92 [[-1.06089930e-01 -9.94355763e-01 1.24233592e-03 1.53717910e+02] [ 9.93941534e-01 -1.06081662e-01 -2.87559932e-02 1.23075503e+02] [ 2.87254766e-02 -1.81591202e-03 9.99585689e-01 6.91870790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.810714057 meters Centerline goodness : 0.988780 Centerline is valid? [True, True] Translation: X:153.72, Y:123.08, Z:6.92 [[-1.05750134e-01 -9.94392007e-01 1.20206997e-03 1.53716222e+02] [ 9.93977791e-01 -1.05740847e-01 -2.87580364e-02 1.23076110e+02] [ 2.87238694e-02 -1.84633534e-03 9.99585679e-01 6.91805626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.840714057 meters Centerline goodness : 0.987482 Centerline is valid? [True, True] Translation: X:153.72, Y:123.07, Z:6.92 [[-1.06191327e-01 -9.94345056e-01 1.14491444e-03 1.53716813e+02] [ 9.93930869e-01 -1.06180210e-01 -2.87609223e-02 1.23071645e+02] [ 2.87198481e-02 -1.91619470e-03 9.99585663e-01 6.91947045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.870714057 meters Centerline goodness : 0.988494 Centerline is valid? [True, True] Translation: X:153.72, Y:123.07, Z:6.92 [[-1.02205455e-01 -9.94762531e-01 1.24610963e-03 1.53715358e+02] [ 9.94348271e-01 -1.02198914e-01 -2.87558291e-02 1.23066733e+02] [ 2.87325724e-02 -1.69993564e-03 9.99585689e-01 6.91602938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.900714057 meters Centerline goodness : 0.987170 Centerline is valid? [True, True] Translation: X:153.71, Y:123.07, Z:6.92 [[-1.00203987e-01 -9.94966242e-01 1.15690352e-03 1.53714345e+02] [ 9.94551993e-01 -1.00195709e-01 -2.87602848e-02 1.23069060e+02] [ 2.87314293e-02 -1.73129452e-03 9.99585668e-01 6.91748936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.930714057 meters Centerline goodness : 0.988747 Centerline is valid? [True, True] Translation: X:153.71, Y:123.07, Z:6.92 [[-9.41781345e-02 -9.95554707e-01 1.14247090e-03 1.53712096e+02] [ 9.95140417e-01 -9.41719485e-02 -2.87610002e-02 1.23066809e+02] [ 2.87407378e-02 -1.57173837e-03 9.99585664e-01 6.91724408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.960714057 meters Centerline goodness : 0.988846 Centerline is valid? [True, True] Translation: X:153.71, Y:123.07, Z:6.92 [[-9.20841343e-02 -9.95750675e-01 1.05175835e-03 1.53711173e+02] [ 9.95336386e-01 -9.20762055e-02 -2.87654600e-02 1.23066353e+02] [ 2.87400681e-02 -1.60198913e-03 9.99585635e-01 6.91803632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.990714057 meters Centerline goodness : 0.988660 Centerline is valid? [True, True] Translation: X:153.71, Y:123.06, Z:6.92 [[-8.63301218e-02 -9.96265996e-01 1.08449804e-03 1.53710222e+02] [ 9.95851667e-01 -8.63255300e-02 -2.87638579e-02 1.23063944e+02] [ 2.87500734e-02 -1.40318817e-03 9.99585646e-01 6.91931295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.020714057 meters Centerline goodness : 0.987866 Centerline is valid? [True, True] Translation: X:153.71, Y:123.07, Z:6.92 [[-8.40406704e-02 -9.96461790e-01 1.03317926e-03 1.53709394e+02] [ 9.96047450e-01 -8.40355517e-02 -2.87663565e-02 1.23070815e+02] [ 2.87513989e-02 -1.38844832e-03 9.99585629e-01 6.91928080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.050714057 meters Centerline goodness : 0.987321 Centerline is valid? [True, True] Translation: X:153.71, Y:123.07, Z:6.92 [[-8.30739495e-02 -9.96542919e-01 9.64177468e-04 1.53709450e+02] [ 9.96128575e-01 -8.30672442e-02 -2.87696881e-02 1.23071210e+02] [ 2.87503205e-02 -1.42956689e-03 9.99585602e-01 6.91943763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.080714057 meters Centerline goodness : 0.988415 Centerline is valid? [True, True] Translation: X:153.71, Y:123.08, Z:6.92 [[-8.37182224e-02 -9.96488992e-01 9.73776632e-04 1.53708411e+02] [ 9.96074652e-01 -8.37115259e-02 -2.87692258e-02 1.23075600e+02] [ 2.87497331e-02 -1.43855422e-03 9.99585606e-01 6.91893834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.110714057 meters Centerline goodness : 0.987713 Centerline is valid? [True, True] Translation: X:153.71, Y:123.08, Z:6.92 [[-8.72685865e-02 -9.96184420e-01 8.92006928e-04 1.53707372e+02] [ 9.95770123e-01 -8.72580571e-02 -2.87731389e-02 1.23080938e+02] [ 2.87411875e-02 -1.62275732e-03 9.99585570e-01 6.91958554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.140714057 meters Centerline goodness : 0.986390 Centerline is valid? [True, True] Translation: X:153.71, Y:123.09, Z:6.92 [[-9.04235848e-02 -9.95902772e-01 1.11519534e-03 1.53708491e+02] [ 9.95488461e-01 -9.04181749e-02 -2.87624351e-02 1.23086836e+02] [ 2.87454227e-02 -1.49063839e-03 9.99585653e-01 6.91967929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.170714057 meters Centerline goodness : 0.987203 Centerline is valid? [True, True] Translation: X:153.71, Y:123.10, Z:6.92 [[-9.80341464e-02 -9.95182470e-01 1.07636124e-03 1.53706710e+02] [ 9.94768226e-01 -9.80244505e-02 -2.87642908e-02 1.23104950e+02] [ 2.87312277e-02 -1.74915274e-03 9.99585643e-01 6.91970849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.200714057 meters Centerline goodness : 0.986232 Centerline is valid? [True, True] Translation: X:153.71, Y:123.10, Z:6.92 [[-1.01164492e-01 -9.94869028e-01 1.16728742e-03 1.53706875e+02] [ 9.94454778e-01 -1.01156113e-01 -2.87599536e-02 1.23103882e+02] [ 2.87304653e-02 -1.74867154e-03 9.99585665e-01 6.92100163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.230714057 meters Centerline goodness : 0.987997 Centerline is valid? [True, True] Translation: X:153.71, Y:123.11, Z:6.92 [[-1.00598308e-01 -9.94926387e-01 1.21001744e-03 1.53706402e+02] [ 9.94512118e-01 -1.00591396e-01 -2.87579264e-02 1.23106781e+02] [ 2.87337372e-02 -1.68962172e-03 9.99585673e-01 6.92014262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26071405700003 meters Centerline goodness : 0.988171 Centerline is valid? [True, True] Translation: X:153.71, Y:123.11, Z:6.92 [[-1.03692669e-01 -9.94608881e-01 1.00177944e-03 1.53706368e+02] [ 9.94194747e-01 -1.03678468e-01 -2.87676878e-02 1.23112112e+02] [ 2.87164607e-02 -1.98703446e-03 9.99585622e-01 6.91859922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.290714057 meters Centerline goodness : 0.985863 Centerline is valid? [True, True] Translation: X:153.71, Y:123.10, Z:6.92 [[-1.04628431e-01 -9.94510896e-01 9.84513698e-04 1.53707961e+02] [ 9.94096787e-01 -1.04613343e-01 -2.87684910e-02 1.23103796e+02] [ 2.87135710e-02 -2.03130015e-03 9.99585616e-01 6.92124849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32071405700003 meters Centerline goodness : 0.985084 Centerline is valid? [True, True] Translation: X:153.71, Y:123.11, Z:6.92 [[-1.08639325e-01 -9.94080528e-01 1.18345500e-03 1.53709198e+02] [ 9.93666342e-01 -1.08628298e-01 -2.87592369e-02 1.23113762e+02] [ 2.87175541e-02 -1.94842467e-03 9.99585667e-01 6.91667134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.350714057 meters Centerline goodness : 0.986745 Centerline is valid? [True, True] Translation: X:153.71, Y:123.11, Z:6.92 [[-1.08906044e-01 -9.94051192e-01 1.30449064e-03 1.53707643e+02] [ 9.93636940e-01 -1.08898393e-01 -2.87536307e-02 1.23114438e+02] [ 2.87246378e-02 -1.83525408e-03 9.99585678e-01 6.91822133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38071405700003 meters Centerline goodness : 0.988237 Centerline is valid? [True, True] Translation: X:153.71, Y:123.12, Z:6.92 [[-1.08714345e-01 -9.94072283e-01 1.21963860e-03 1.53705374e+02] [ 9.93658077e-01 -1.08704329e-01 -2.87575266e-02 1.23120077e+02] [ 2.87196402e-02 -1.91445192e-03 9.99585673e-01 6.91878071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.410714057 meters Centerline goodness : 0.986911 Centerline is valid? [True, True] Translation: X:153.71, Y:123.12, Z:6.92 [[-1.08737866e-01 -9.94069984e-01 9.71652407e-04 1.53705912e+02] [ 9.93655960e-01 -1.08720697e-01 -2.87687905e-02 1.23120935e+02] [ 2.87038298e-02 -2.16276868e-03 9.99585620e-01 6.91908599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44071405700004 meters Centerline goodness : 0.987537 Centerline is valid? [True, True] Translation: X:153.70, Y:123.13, Z:6.92 [[-1.09370297e-01 -9.94000517e-01 1.05421699e-03 1.53704137e+02] [ 9.93586435e-01 -1.09355243e-01 -2.87650465e-02 1.23129041e+02] [ 2.87077552e-02 -2.09858597e-03 9.99585645e-01 6.91639116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.470714057 meters Centerline goodness : 0.986780 Centerline is valid? [True, True] Translation: X:153.70, Y:123.16, Z:6.92 [[-1.07808443e-01 -9.94171157e-01 1.02517372e-03 1.53703257e+02] [ 9.93757074e-01 -1.07793203e-01 -2.87663591e-02 1.23161098e+02] [ 2.87091913e-02 -2.08248275e-03 9.99585637e-01 6.91852229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.500714057 meters Centerline goodness : 0.986422 Centerline is valid? [True, True] Translation: X:153.70, Y:123.13, Z:6.92 [[-1.06859145e-01 -9.94273666e-01 1.00043454e-03 1.53702161e+02] [ 9.93859588e-01 -1.06843588e-01 -2.87674683e-02 1.23126170e+02] [ 2.87096262e-02 -2.07977561e-03 9.99585630e-01 6.91716265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.530714057 meters Centerline goodness : 0.987154 Centerline is valid? [True, True] Translation: X:153.70, Y:123.12, Z:6.92 [[-1.04890656e-01 -9.94483171e-01 1.08300282e-03 1.53700617e+02] [ 9.94069005e-01 -1.04878297e-01 -2.87637873e-02 1.23119721e+02] [ 2.87186859e-02 -1.94047299e-03 9.99585650e-01 6.91763640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.560714057 meters Centerline goodness : 0.985504 Centerline is valid? [True, True] Translation: X:153.70, Y:123.11, Z:6.92 [[-1.03626473e-01 -9.94615775e-01 1.00738117e-03 1.53699236e+02] [ 9.94201645e-01 -1.03612462e-01 -2.87671223e-02 1.23113815e+02] [ 2.87166109e-02 -1.97949540e-03 9.99585633e-01 6.91708642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.590714057 meters Centerline goodness : 0.988843 Centerline is valid? [True, True] Translation: X:153.70, Y:123.12, Z:6.92 [[-9.97322065e-02 -9.95013651e-01 1.14926665e-03 1.53695275e+02] [ 9.94599394e-01 -9.97239043e-02 -2.87608681e-02 1.23119925e+02] [ 2.87320657e-02 -1.72532492e-03 9.99585660e-01 6.91838263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.620714057 meters Centerline goodness : 0.988068 Centerline is valid? [True, True] Translation: X:153.69, Y:123.13, Z:6.92 [[-9.95972657e-02 -9.95027593e-01 6.88006702e-04 1.53692058e+02] [ 9.94613663e-01 -9.95757337e-02 -2.87808038e-02 1.23127343e+02] [ 2.87062027e-02 -2.18218850e-03 9.99585510e-01 6.92056414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.650714057 meters Centerline goodness : 0.989219 Centerline is valid? [True, True] Translation: X:153.69, Y:123.13, Z:6.92 [[-9.71830854e-02 -9.95266001e-01 1.01752756e-03 1.53690860e+02] [ 9.94851788e-01 -9.71720494e-02 -2.87665278e-02 1.23127474e+02] [ 2.87292224e-02 -1.78333082e-03 9.99585640e-01 6.91880375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.680714057 meters Centerline goodness : 0.986064 Centerline is valid? [True, True] Translation: X:153.69, Y:123.12, Z:6.92 [[-9.93518568e-02 -9.95052100e-01 7.25344110e-04 1.53690778e+02] [ 9.94638136e-01 -9.93315026e-02 -2.87790010e-02 1.23122909e+02] [ 2.87086550e-02 -2.13779228e-03 9.99585536e-01 6.92318967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.710714057 meters Centerline goodness : 0.987987 Centerline is valid? [True, True] Translation: X:153.69, Y:123.13, Z:6.92 [[-9.84536767e-02 -9.95140958e-01 1.16103714e-03 1.53687823e+02] [ 9.94726687e-01 -9.84462459e-02 -2.87603000e-02 1.23132907e+02] [ 2.87348522e-02 -1.67664265e-03 9.99585663e-01 6.92078902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.740714057 meters Centerline goodness : 0.988554 Centerline is valid? [True, True] Translation: X:153.69, Y:123.14, Z:6.92 [[-9.76051878e-02 -9.95224867e-01 8.31296666e-04 1.53685545e+02] [ 9.94810790e-01 -9.75886125e-02 -2.87742091e-02 1.23143560e+02] [ 2.87179335e-02 -1.98152919e-03 9.99585591e-01 6.92054287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.770714057 meters Centerline goodness : 0.985779 Centerline is valid? [True, True] Translation: X:153.68, Y:123.16, Z:6.93 [[-1.01137762e-01 -9.94872199e-01 6.78694615e-04 1.53684750e+02] [ 9.94458329e-01 -1.01115322e-01 -2.87806063e-02 1.23156896e+02] [ 2.87016515e-02 -2.23587259e-03 9.99585522e-01 6.92563668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.800714057 meters Centerline goodness : 0.986969 Centerline is valid? [True, True] Translation: X:153.68, Y:123.17, Z:6.92 [[-9.88226138e-02 -9.95104572e-01 9.91271687e-04 1.53682778e+02] [ 9.94690399e-01 -9.88101395e-02 -2.87674521e-02 1.23165651e+02] [ 2.87245708e-02 -1.85686638e-03 9.99585640e-01 6.92366936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.830714057 meters Centerline goodness : 0.986767 Centerline is valid? [True, True] Translation: X:153.68, Y:123.14, Z:6.92 [[-9.86657571e-02 -9.95120322e-01 7.83515011e-04 1.53683771e+02] [ 9.94706307e-01 -9.86473647e-02 -2.87760494e-02 1.23142118e+02] [ 2.87129232e-02 -2.05984338e-03 9.99585577e-01 6.92453338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.860714057 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:153.68, Y:123.15, Z:6.92 [[-9.62485860e-02 -9.95356821e-01 1.00408972e-03 1.53682458e+02] [ 9.94942610e-01 -9.62375522e-02 -2.87669252e-02 1.23147715e+02] [ 2.87299864e-02 -1.76976423e-03 9.99585642e-01 6.92295868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.890714057 meters Centerline goodness : 0.986769 Centerline is valid? [True, True] Translation: X:153.68, Y:123.15, Z:6.92 [[-9.53317986e-02 -9.95445164e-01 8.80094088e-04 1.53683029e+02] [ 9.95031020e-01 -9.53175748e-02 -2.87720153e-02 1.23148965e+02] [ 2.87248519e-02 -1.86716705e-03 9.99585612e-01 6.92129237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.920714057 meters Centerline goodness : 0.987420 Centerline is valid? [True, True] Translation: X:153.68, Y:123.15, Z:6.92 [[-9.31600114e-02 -9.95650743e-01 8.99762679e-04 1.53682374e+02] [ 9.95236558e-01 -9.31472576e-02 -2.87712108e-02 1.23151810e+02] [ 2.87298879e-02 -1.78484962e-03 9.99585618e-01 6.92101134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.950714057 meters Centerline goodness : 0.988244 Centerline is valid? [True, True] Translation: X:153.68, Y:123.15, Z:6.92 [[-9.30140113e-02 -9.95664435e-01 8.52264337e-04 1.53681493e+02] [ 9.95250278e-01 -9.29999503e-02 -2.87731407e-02 1.23151936e+02] [ 2.87276534e-02 -1.82808892e-03 9.99585604e-01 6.92130611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.980714057 meters Centerline goodness : 0.987234 Centerline is valid? [True, True] Translation: X:153.68, Y:123.15, Z:6.92 [[-9.21312062e-02 -9.95746567e-01 7.83713744e-04 1.53682533e+02] [ 9.95332445e-01 -9.21155380e-02 -2.87758964e-02 1.23154873e+02] [ 2.87256923e-02 -1.87110232e-03 9.99585581e-01 6.92097221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01071405700003 meters Centerline goodness : 0.988731 Centerline is valid? [True, True] Translation: X:153.68, Y:123.17, Z:6.92 [[-9.06130797e-02 -9.95885744e-01 9.24369824e-04 1.53682595e+02] [ 9.95471514e-01 -9.06020942e-02 -2.87702330e-02 1.23169736e+02] [ 2.87356147e-02 -1.68677559e-03 9.99585624e-01 6.91697109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.040714057 meters Centerline goodness : 0.988731 Centerline is valid? [True, True] Translation: X:153.68, Y:123.17, Z:6.92 [[-9.02513553e-02 -9.95918733e-01 7.55650447e-04 1.53682482e+02] [ 9.95504602e-01 -9.02356607e-02 -2.87769646e-02 1.23172390e+02] [ 2.87277047e-02 -1.84490656e-03 9.99585572e-01 6.91698420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07071405700003 meters Centerline goodness : 0.988323 Centerline is valid? [True, True] Translation: X:153.68, Y:123.16, Z:6.92 [[-8.78806208e-02 -9.96130736e-01 7.43493166e-04 1.53683452e+02] [ 9.95716577e-01 -8.78655618e-02 -2.87774442e-02 1.23162185e+02] [ 2.87314242e-02 -1.78867119e-03 9.99585567e-01 6.91684311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.100714057 meters Centerline goodness : 0.990648 Centerline is valid? [True, True] Translation: X:153.68, Y:123.17, Z:6.92 [[-8.51458620e-02 -9.96368252e-01 6.98749761e-04 1.53684235e+02] [ 9.95954080e-01 -8.51306512e-02 -2.87791941e-02 1.23173253e+02] [ 2.87341603e-02 -1.75450661e-03 9.99585549e-01 6.91642697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13071405700003 meters Centerline goodness : 0.987896 Centerline is valid? [True, True] Translation: X:153.69, Y:123.17, Z:6.92 [[-8.54260424e-02 -9.96344470e-01 2.98593332e-04 1.53686250e+02] [ 9.95930646e-01 -8.53991909e-02 -2.87945424e-02 1.23172086e+02] [ 2.87147827e-02 -2.16242555e-03 9.99585307e-01 6.91683229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.160714057 meters Centerline goodness : 0.989364 Centerline is valid? [True, True] Translation: X:153.69, Y:123.17, Z:6.92 [[-8.45986692e-02 -9.96414872e-01 6.84518122e-04 1.53686599e+02] [ 9.96000703e-01 -8.45832761e-02 -2.87796676e-02 1.23167301e+02] [ 2.87343875e-02 -1.75294105e-03 9.99585545e-01 6.91551819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19071405700004 meters Centerline goodness : 0.990931 Centerline is valid? [True, True] Translation: X:153.69, Y:123.18, Z:6.92 [[-8.37972040e-02 -9.96482629e-01 6.31998345e-04 1.53685918e+02] [ 9.96068482e-01 -8.37806314e-02 -2.87816766e-02 1.23180058e+02] [ 2.87333900e-02 -1.78231039e-03 9.99585522e-01 6.91587259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.220714057 meters Centerline goodness : 0.988905 Centerline is valid? [True, True] Translation: X:153.69, Y:123.18, Z:6.92 [[-8.41315523e-02 -9.96454637e-01 1.96318311e-04 1.53688298e+02] [ 9.96040902e-01 -8.41022939e-02 -2.87980273e-02 1.23176201e+02] [ 2.87124387e-02 -2.22728167e-03 9.99585232e-01 6.91863351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.250714057 meters Centerline goodness : 0.989002 Centerline is valid? [True, True] Translation: X:153.69, Y:123.17, Z:6.92 [[-8.48689016e-02 -9.96391965e-01 5.66610197e-04 1.53688842e+02] [ 9.95977889e-01 -8.48500005e-02 -2.87840705e-02 1.23165683e+02] [ 2.87282935e-02 -1.87854122e-03 9.99585492e-01 6.91855387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.280714057 meters Centerline goodness : 0.989091 Centerline is valid? [True, True] Translation: X:153.69, Y:123.20, Z:6.92 [[-8.93181682e-02 -9.96002953e-01 6.17891029e-04 1.53686804e+02] [ 9.95588919e-01 -8.92988947e-02 -2.87821431e-02 1.23198143e+02] [ 2.87222765e-02 -1.95560284e-03 9.99585517e-01 6.91993915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.310714057 meters Centerline goodness : 0.987944 Centerline is valid? [True, True] Translation: X:153.69, Y:123.20, Z:6.92 [[-9.49539898e-02 -9.95481402e-01 7.19875387e-04 1.53687506e+02] [ 9.95067383e-01 -9.49353094e-02 -2.87783023e-02 1.23195418e+02] [ 2.87166063e-02 -2.01629010e-03 9.99585560e-01 6.91971889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.340714057 meters Centerline goodness : 0.989181 Centerline is valid? [True, True] Translation: X:153.69, Y:123.19, Z:6.92 [[-9.65951674e-02 -9.95323427e-01 8.05386214e-04 1.53687566e+02] [ 9.94909359e-01 -9.65782664e-02 -2.87750961e-02 1.23188781e+02] [ 2.87183101e-02 -1.97824894e-03 9.99585587e-01 6.92098472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.370714057 meters Centerline goodness : 0.988540 Centerline is valid? [True, True] Translation: X:153.69, Y:123.20, Z:6.92 [[-9.92536691e-02 -9.95061820e-01 8.26823643e-04 1.53686454e+02] [ 9.94647777e-01 -9.92362793e-02 -2.87742957e-02 1.23201210e+02] [ 2.87142539e-02 -2.03355612e-03 9.99585592e-01 6.92271507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.400714057 meters Centerline goodness : 0.988966 Centerline is valid? [True, True] Translation: X:153.69, Y:123.19, Z:6.92 [[-1.02046179e-01 -9.94779302e-01 8.46790079e-04 1.53686908e+02] [ 9.94365289e-01 -1.02028202e-01 -2.87735531e-02 1.23193597e+02] [ 2.87097316e-02 -2.09421249e-03 9.99585597e-01 6.92224816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.430714057 meters Centerline goodness : 0.988660 Centerline is valid? [True, True] Translation: X:153.69, Y:123.19, Z:6.92 [[-1.06191783e-01 -9.94345264e-01 8.95524937e-04 1.53685896e+02] [ 9.93931274e-01 -1.06173483e-01 -2.87717556e-02 1.23189466e+02] [ 2.87041399e-02 -2.16523378e-03 9.99585606e-01 6.92109661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.460714057 meters Centerline goodness : 0.989029 Centerline is valid? [True, True] Translation: X:153.69, Y:123.20, Z:6.92 [[-1.07448331e-01 -9.94210256e-01 9.06941582e-04 1.53685121e+02] [ 9.93796277e-01 -1.07429837e-01 -2.87713363e-02 1.23201126e+02] [ 2.87021902e-02 -2.19011690e-03 9.99585608e-01 6.92032748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.490714057 meters Centerline goodness : 0.989992 Centerline is valid? [True, True] Translation: X:153.70, Y:123.14, Z:6.91 [[-8.21220067e-02 -9.96621897e-01 8.77502674e-04 1.53698804e+02] [ 9.96207594e-01 -8.21132014e-02 -2.87724020e-02 1.23138448e+02] [ 2.87472604e-02 -1.48867256e-03 9.99585604e-01 6.91346618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.520714057 meters Centerline goodness : 0.989620 Centerline is valid? [True, True] Translation: X:153.68, Y:123.20, Z:6.92 [[-1.09921631e-01 -9.93940247e-01 -1.41233024e-04 1.53684381e+02] [ 9.93528195e-01 -1.09871968e-01 -2.88075586e-02 1.23197166e+02] [ 2.86174744e-02 -3.30689283e-03 9.99584966e-01 6.91947062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.550714057 meters Centerline goodness : 0.992327 Centerline is valid? [True, True] Translation: X:153.68, Y:123.21, Z:6.92 [[-1.20838461e-01 -9.92671778e-01 8.98811994e-04 1.53675789e+02] [ 9.92258136e-01 -1.20814159e-01 -2.87703000e-02 1.23214264e+02] [ 2.86680540e-02 -2.58470526e-03 9.99585645e-01 6.91503960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.580714057 meters Centerline goodness : 0.989312 Centerline is valid? [True, True] Translation: X:153.68, Y:123.21, Z:6.92 [[-1.07640729e-01 -9.94189323e-01 1.03119045e-03 1.53679683e+02] [ 9.93775248e-01 -1.07625734e-01 -2.87655547e-02 1.23205112e+02] [ 2.87093900e-02 -2.07157375e-03 9.99585654e-01 6.92131745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.610714057 meters Centerline goodness : 0.989695 Centerline is valid? [True, True] Translation: X:153.68, Y:123.19, Z:6.92 [[-1.04403861e-01 -9.94534551e-01 9.27294019e-04 1.53676088e+02] [ 9.94120535e-01 -1.04387222e-01 -2.87692379e-02 1.23188269e+02] [ 2.87087988e-02 -2.08177748e-03 9.99585650e-01 6.91977447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.640714057 meters Centerline goodness : 0.989109 Centerline is valid? [True, True] Translation: X:153.67, Y:123.19, Z:6.92 [[-1.03091144e-01 -9.94671555e-01 8.45030626e-04 1.53674999e+02] [ 9.94257606e-01 -1.03072684e-01 -2.87721173e-02 1.23193616e+02] [ 2.87059062e-02 -2.12597234e-03 9.99585640e-01 6.92043785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.670714057 meters Centerline goodness : 0.989175 Centerline is valid? [True, True] Translation: X:153.67, Y:123.19, Z:6.92 [[-1.02525220e-01 -9.94730079e-01 8.05348650e-04 1.53672592e+02] [ 9.94316165e-01 -1.02505854e-01 -2.87734945e-02 1.23186406e+02] [ 2.87044134e-02 -2.14923767e-03 9.99585633e-01 6.91801639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.700714057 meters Centerline goodness : 0.990208 Centerline is valid? [True, True] Translation: X:153.67, Y:123.20, Z:6.91 [[-1.01658028e-01 -9.94819051e-01 8.37528050e-04 1.53670934e+02] [ 9.94405084e-01 -1.01639949e-01 -2.87723842e-02 1.23201845e+02] [ 2.87084422e-02 -2.09210167e-03 9.99585638e-01 6.91373168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.730714057 meters Centerline goodness : 0.990505 Centerline is valid? [True, True] Translation: X:153.67, Y:123.20, Z:6.92 [[-1.03105990e-01 -9.94670173e-01 6.34167946e-04 1.53668015e+02] [ 9.94256489e-01 -1.03081457e-01 -2.87792826e-02 1.23196023e+02] [ 2.86912650e-02 -2.33679084e-03 9.99585589e-01 6.91547874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76071405700003 meters Centerline goodness : 0.989080 Centerline is valid? [True, True] Translation: X:153.67, Y:123.20, Z:6.92 [[-1.05493222e-01 -9.94419851e-01 5.83056134e-04 1.53666838e+02] [ 9.94006302e-01 -1.05466225e-01 -2.87810048e-02 1.23201481e+02] [ 2.86818952e-02 -2.45663944e-03 9.99585571e-01 6.91898824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.790714057 meters Centerline goodness : 0.990039 Centerline is valid? [True, True] Translation: X:153.66, Y:123.23, Z:6.92 [[-1.08234405e-01 -9.94125080e-01 7.99559667e-04 1.53664724e+02] [ 9.93711292e-01 -1.08212497e-01 -2.87736786e-02 1.23225706e+02] [ 2.86911579e-02 -2.31977052e-03 9.99585632e-01 6.92086346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82071405700003 meters Centerline goodness : 0.989621 Centerline is valid? [True, True] Translation: X:153.67, Y:123.23, Z:6.92 [[-1.11978727e-01 -9.93710386e-01 6.58916220e-04 1.53665068e+02] [ 9.93296899e-01 -1.11951215e-01 -2.87783770e-02 1.23226313e+02] [ 2.86711386e-02 -2.56806660e-03 9.99585600e-01 6.92141642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.850714057 meters Centerline goodness : 0.990223 Centerline is valid? [True, True] Translation: X:153.67, Y:123.22, Z:6.92 [[-1.15080404e-01 -9.93355974e-01 6.39884755e-04 1.53665531e+02] [ 9.92942609e-01 -1.15051054e-01 -2.87790057e-02 1.23223432e+02] [ 2.86614166e-02 -2.67653076e-03 9.99585594e-01 6.92211216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88071405700003 meters Centerline goodness : 0.989916 Centerline is valid? [True, True] Translation: X:153.66, Y:123.24, Z:6.92 [[-1.17495845e-01 -9.93073158e-01 6.54767490e-04 1.53663892e+02] [ 9.92659839e-01 -1.17465918e-01 -2.87785153e-02 1.23244242e+02] [ 2.86560839e-02 -2.73139458e-03 9.99585598e-01 6.92431419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.910714057 meters Centerline goodness : 0.989916 Centerline is valid? [True, True] Translation: X:153.66, Y:123.25, Z:6.92 [[-1.17123946e-01 -9.93117079e-01 6.70168745e-04 1.53663719e+02] [ 9.92703721e-01 -1.17094616e-01 -2.87780086e-02 1.23246902e+02] [ 2.86584050e-02 -2.70531493e-03 9.99585603e-01 6.92439690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94071405700004 meters Centerline goodness : 0.989113 Centerline is valid? [True, True] Translation: X:153.66, Y:123.24, Z:6.92 [[-1.16342295e-01 -9.93208960e-01 6.57596064e-04 1.53663783e+02] [ 9.92795601e-01 -1.16312929e-01 -2.87784171e-02 1.23242316e+02] [ 2.86594687e-02 -2.69528861e-03 9.99585599e-01 6.92373904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.970714057 meters Centerline goodness : 0.990489 Centerline is valid? [True, True] Translation: X:153.66, Y:123.24, Z:6.92 [[-1.13316869e-01 -9.93558718e-01 6.00243760e-04 1.53664722e+02] [ 9.93145370e-01 -1.13287113e-01 -2.87802612e-02 1.23241341e+02] [ 2.86628793e-02 -2.66515977e-03 9.99585582e-01 6.92000128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.000714057 meters Centerline goodness : 0.990380 Centerline is valid? [True, True] Translation: X:153.67, Y:123.23, Z:6.92 [[-1.09373118e-01 -9.94000749e-01 1.79254748e-04 1.53665862e+02] [ 9.93588073e-01 -1.09332902e-01 -2.87933546e-02 1.23234427e+02] [ 2.86402145e-02 -2.97111358e-03 9.99585369e-01 6.91943827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.030714057 meters Centerline goodness : 0.989764 Centerline is valid? [True, True] Translation: X:153.67, Y:123.24, Z:6.92 [[-1.08741258e-01 -9.94070084e-01 8.10000873e-05 1.53665696e+02] [ 9.93657591e-01 -1.08698482e-01 -2.87963759e-02 1.23237001e+02] [ 2.86344204e-02 -3.05086779e-03 9.99585295e-01 6.91948488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.060714057 meters Centerline goodness : 0.989368 Centerline is valid? [True, True] Translation: X:153.66, Y:123.23, Z:6.92 [[-1.05067016e-01 -9.94465037e-01 4.61144270e-04 1.53664943e+02] [ 9.94051678e-01 -1.05036691e-01 -2.87846340e-02 1.23226523e+02] [ 2.86737492e-02 -2.56591435e-03 9.99585530e-01 6.92059339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.090714057 meters Centerline goodness : 0.989868 Centerline is valid? [True, True] Translation: X:153.67, Y:123.23, Z:6.92 [[-1.02801047e-01 -9.94701829e-01 4.64020547e-04 1.53665032e+02] [ 9.94288398e-01 -1.02771747e-01 -2.87845456e-02 1.23231572e+02] [ 2.86797284e-02 -2.49771119e-03 9.99585531e-01 6.92044762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.120714057 meters Centerline goodness : 0.989507 Centerline is valid? [True, True] Translation: X:153.67, Y:123.22, Z:6.92 [[-9.59812617e-02 -9.95383030e-01 4.69468642e-04 1.53667444e+02] [ 9.94969400e-01 -9.59549528e-02 -2.87843795e-02 1.23219341e+02] [ 2.86965307e-02 -2.29565413e-03 9.99585534e-01 6.91704735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.150714057 meters Centerline goodness : 0.989899 Centerline is valid? [True, True] Translation: X:153.66, Y:123.23, Z:6.92 [[-9.55403609e-02 -9.95425510e-01 3.06274359e-04 1.53664178e+02] [ 9.95012113e-01 -9.55095412e-02 -2.87892729e-02 1.23233914e+02] [ 2.86868287e-02 -2.44579082e-03 9.99585456e-01 6.91882539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.180714057 meters Centerline goodness : 0.989221 Centerline is valid? [True, True] Translation: X:153.66, Y:123.24, Z:6.92 [[-9.41621120e-02 -9.95556863e-01 1.68691012e-04 1.53664187e+02] [ 9.95143648e-01 -9.41279080e-02 -2.87933640e-02 1.23240614e+02] [ 2.86813097e-02 -2.54337218e-03 9.99585371e-01 6.92134483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.210714057 meters Centerline goodness : 0.990055 Centerline is valid? [True, True] Translation: X:153.66, Y:123.25, Z:6.92 [[-8.65735471e-02 -9.96245328e-01 5.17673020e-04 1.53662534e+02] [ 9.95831413e-01 -8.65525343e-02 -2.87828912e-02 1.23246353e+02] [ 2.87196268e-02 -1.97632194e-03 9.99585553e-01 6.92159839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.240714057 meters Centerline goodness : 0.988102 Centerline is valid? [True, True] Translation: X:153.66, Y:123.24, Z:6.92 [[-8.34023266e-02 -9.96515953e-01 8.52482657e-05 1.53662333e+02] [ 9.96102520e-01 -8.33701881e-02 -2.87955105e-02 1.23243037e+02] [ 2.87022928e-02 -2.31669656e-03 9.99585320e-01 6.92101464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.270714057 meters Centerline goodness : 0.987237 Centerline is valid? [True, True] Translation: X:153.66, Y:123.26, Z:6.92 [[-7.86262146e-02 -9.96904074e-01 4.30617230e-04 1.53661529e+02] [ 9.96490091e-01 -7.86059975e-02 -2.87853515e-02 1.23259781e+02] [ 2.87300833e-02 -1.83417742e-03 9.99585523e-01 6.92233808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.300714057 meters Centerline goodness : 0.985843 Centerline is valid? [True, True] Translation: X:153.66, Y:123.25, Z:6.92 [[-7.66989454e-02 -9.97054218e-01 3.97514876e-04 1.53662127e+02] [ 9.96640228e-01 -7.66785758e-02 -2.87863163e-02 1.23249796e+02] [ 2.87319989e-02 -1.81170078e-03 9.99585509e-01 6.92355697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.330714057 meters Centerline goodness : 0.986920 Centerline is valid? [True, True] Translation: X:153.66, Y:123.24, Z:6.92 [[-7.07890008e-02 -9.97491174e-01 5.25166644e-04 1.53664197e+02] [ 9.97076975e-01 -7.07747600e-02 -2.87826171e-02 1.23236487e+02] [ 2.87475750e-02 -1.51386113e-03 9.99585557e-01 6.92158710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.360714057 meters Centerline goodness : 0.986185 Centerline is valid? [True, True] Translation: X:153.66, Y:123.25, Z:6.92 [[-6.87910495e-02 -9.97631020e-01 3.74079465e-04 1.53664835e+02] [ 9.97216901e-01 -6.87732884e-02 -2.87869200e-02 1.23253965e+02] [ 2.87444510e-02 -1.60724408e-03 9.99585501e-01 6.92339571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.390714057 meters Centerline goodness : 0.986276 Centerline is valid? [True, True] Translation: X:153.66, Y:123.26, Z:6.92 [[-6.91775042e-02 -9.97604287e-01 4.00552316e-04 1.53663102e+02] [ 9.97190154e-01 -6.91603448e-02 -2.87861672e-02 1.23257257e+02] [ 2.87449062e-02 -1.59192838e-03 9.99585512e-01 6.92067989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.420714057 meters Centerline goodness : 0.985024 Centerline is valid? [True, True] Translation: X:153.66, Y:123.27, Z:6.92 [[-6.93968049e-02 -9.97589059e-01 3.90945466e-04 1.53663142e+02] [ 9.97174938e-01 -6.93792778e-02 -2.87864377e-02 1.23266170e+02] [ 2.87441588e-02 -1.60784578e-03 9.99585508e-01 6.91979957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.450714057 meters Centerline goodness : 0.985986 Centerline is valid? [True, True] Translation: X:153.66, Y:123.28, Z:6.92 [[-6.84251424e-02 -9.97656135e-01 4.85196709e-04 1.53663434e+02] [ 9.97241929e-01 -6.84107323e-02 -2.87837860e-02 1.23282606e+02] [ 2.87495134e-02 -1.48567616e-03 9.99585543e-01 6.91847717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.480714057 meters Centerline goodness : 0.986365 Centerline is valid? [True, True] Translation: X:153.67, Y:123.26, Z:6.92 [[-6.75846207e-02 -9.97713490e-01 3.34121526e-04 1.53665473e+02] [ 9.97299384e-01 -6.75662101e-02 -2.87879446e-02 1.23255863e+02] [ 2.87446960e-02 -1.61240312e-03 9.99585485e-01 6.91760327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51071405700003 meters Centerline goodness : 0.986485 Centerline is valid? [True, True] Translation: X:153.67, Y:123.26, Z:6.92 [[-6.97861692e-02 -9.97561904e-01 3.71338151e-04 1.53665920e+02] [ 9.97147808e-01 -6.97679162e-02 -2.87869343e-02 1.23259930e+02] [ 2.87426565e-02 -1.63865085e-03 9.99585501e-01 6.91999019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.540714057 meters Centerline goodness : 0.986322 Centerline is valid? [True, True] Translation: X:153.67, Y:123.25, Z:6.92 [[-6.66776331e-02 -9.97774516e-01 3.27933723e-04 1.53668264e+02] [ 9.97360400e-01 -6.66594209e-02 -2.87880983e-02 1.23253531e+02] [ 2.87458907e-02 -1.59245415e-03 9.99585483e-01 6.91781995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57071405700003 meters Centerline goodness : 0.987364 Centerline is valid? [True, True] Translation: X:153.67, Y:123.26, Z:6.92 [[-6.95458763e-02 -9.97578738e-01 1.78178029e-04 1.53667206e+02] [ 9.97164824e-01 -6.95221630e-02 -2.87920446e-02 1.23263964e+02] [ 2.87347189e-02 -1.82469511e-03 9.99585407e-01 6.92063732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.600714057 meters Centerline goodness : 0.985638 Centerline is valid? [True, True] Translation: X:153.67, Y:123.28, Z:6.92 [[-7.34832093e-02 -9.97296376e-01 3.94990638e-04 1.53667340e+02] [ 9.96882328e-01 -7.34641024e-02 -2.87862768e-02 1.23281512e+02] [ 2.87374671e-02 -1.72154881e-03 9.99585511e-01 6.92482844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63071405700003 meters Centerline goodness : 0.985312 Centerline is valid? [True, True] Translation: X:153.67, Y:123.27, Z:6.92 [[-7.28528958e-02 -9.97342494e-01 6.36342929e-04 1.53669116e+02] [ 9.96928237e-01 -7.28409981e-02 -2.87798574e-02 1.23273116e+02] [ 2.87497266e-02 -1.46230772e-03 9.99585572e-01 6.92378312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.660714057 meters Centerline goodness : 0.985222 Centerline is valid? [True, True] Translation: X:153.67, Y:123.28, Z:6.92 [[-7.40422413e-02 -9.97254935e-01 5.83687700e-04 1.53670684e+02] [ 9.96840732e-01 -7.40283339e-02 -2.87812450e-02 1.23284782e+02] [ 2.87454481e-02 -1.54918421e-03 9.99585564e-01 6.92453595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69071405700004 meters Centerline goodness : 0.986477 Centerline is valid? [True, True] Translation: X:153.67, Y:123.28, Z:6.93 [[-7.56158620e-02 -9.97136874e-01 5.44147354e-04 1.53671504e+02] [ 9.96722728e-01 -7.56001628e-02 -2.87822757e-02 1.23279883e+02] [ 2.87410061e-02 -1.63403255e-03 9.99585556e-01 6.92551242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.720714057 meters Centerline goodness : 0.985588 Centerline is valid? [True, True] Translation: X:153.67, Y:123.27, Z:6.93 [[-7.68963661e-02 -9.97039028e-01 3.53615686e-04 1.53671916e+02] [ 9.96625099e-01 -7.68746518e-02 -2.87871551e-02 1.23273585e+02] [ 2.87291012e-02 -1.86120535e-03 9.99585501e-01 6.92588103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.750714057 meters Centerline goodness : 0.987023 Centerline is valid? [True, True] Translation: X:153.67, Y:123.27, Z:6.92 [[-7.91064225e-02 -9.96866064e-01 4.72819427e-04 1.53674615e+02] [ 9.96452049e-01 -7.90872207e-02 -2.87841292e-02 1.23267274e+02] [ 2.87313156e-02 -1.80586760e-03 9.99585539e-01 6.92399257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.780714057 meters Centerline goodness : 0.987638 Centerline is valid? [True, True] Translation: X:153.68, Y:123.28, Z:6.92 [[-8.34845562e-02 -9.96508943e-01 5.05391003e-04 1.53675545e+02] [ 9.96094977e-01 -8.34644731e-02 -2.87833082e-02 1.23283852e+02] [ 2.87250063e-02 -1.89954428e-03 9.99585547e-01 6.92488928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.810714057 meters Centerline goodness : 0.987394 Centerline is valid? [True, True] Translation: X:153.68, Y:123.28, Z:6.93 [[-8.53627349e-02 -9.96349807e-01 5.16136783e-04 1.53675328e+02] [ 9.95935866e-01 -8.53421807e-02 -2.87830382e-02 1.23284160e+02] [ 2.87220228e-02 -1.94295973e-03 9.99585549e-01 6.92563180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.840714057 meters Centerline goodness : 0.988233 Centerline is valid? [True, True] Translation: X:153.68, Y:123.27, Z:6.92 [[-8.13871959e-02 -9.96682380e-01 5.97674083e-04 1.53675650e+02] [ 9.96268274e-01 -8.13706397e-02 -2.87810037e-02 1.23267532e+02] [ 2.87341524e-02 -1.74696146e-03 9.99585562e-01 6.92470816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.870714057 meters Centerline goodness : 0.988310 Centerline is valid? [True, True] Translation: X:153.67, Y:123.27, Z:6.92 [[-8.28726985e-02 -9.96560102e-01 2.80713416e-04 1.53673913e+02] [ 9.96146417e-01 -8.28464062e-02 -2.87887026e-02 1.23273543e+02] [ 2.87129285e-02 -2.10616580e-03 9.99585480e-01 6.92324624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.900714057 meters Centerline goodness : 0.987046 Centerline is valid? [True, True] Translation: X:153.67, Y:123.29, Z:6.93 [[-8.30195873e-02 -9.96547788e-01 5.04293948e-04 1.53673487e+02] [ 9.96133816e-01 -8.29996660e-02 -2.87832505e-02 1.23287981e+02] [ 2.87257408e-02 -1.88722932e-03 9.99585549e-01 6.92583280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.930714057 meters Centerline goodness : 0.987046 Centerline is valid? [True, True] Translation: X:153.67, Y:123.29, Z:6.93 [[-8.26443561e-02 -9.96578926e-01 5.94851756e-04 1.53673308e+02] [ 9.96164845e-01 -8.26271963e-02 -2.87810506e-02 1.23290637e+02] [ 2.87317394e-02 -1.78602099e-03 9.99585563e-01 6.92594365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.960714057 meters Centerline goodness : 0.986924 Centerline is valid? [True, True] Translation: X:153.67, Y:123.29, Z:6.92 [[-7.96260527e-02 -9.96824634e-01 5.83131475e-04 1.53673631e+02] [ 9.96410514e-01 -7.96098097e-02 -2.87813308e-02 1.23286063e+02] [ 2.87363625e-02 -1.71070543e-03 9.99585562e-01 6.92450209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.990714057 meters Centerline goodness : 0.987530 Centerline is valid? [True, True] Translation: X:153.67, Y:123.29, Z:6.93 [[-7.75003201e-02 -9.96992142e-01 6.07980279e-04 1.53673192e+02] [ 9.96577964e-01 -7.74856753e-02 -2.87807417e-02 1.23285789e+02] [ 2.87412831e-02 -1.62461694e-03 9.99585564e-01 6.92619953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.020714057 meters Centerline goodness : 0.987082 Centerline is valid? [True, True] Translation: X:153.67, Y:123.29, Z:6.93 [[-7.40970879e-02 -9.97250943e-01 4.22236032e-04 1.53672626e+02] [ 9.96836894e-01 -7.40785111e-02 -2.87850693e-02 1.23290317e+02] [ 2.87372161e-02 -1.71198935e-03 9.99585535e-01 6.92669840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.050714057 meters Centerline goodness : 0.986569 Centerline is valid? [True, True] Translation: X:153.65, Y:123.85, Z:6.94 [[-8.86579326e-02 -9.96061973e-01 5.62854134e-04 1.53648791e+02] [ 9.95648049e-01 -8.86373538e-02 -2.87816364e-02 1.23847094e+02] [ 2.87181835e-02 -1.99131576e-03 9.99585564e-01 6.93780582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.080714057 meters Centerline goodness : 0.987406 Centerline is valid? [True, True] Translation: X:153.67, Y:123.30, Z:6.93 [[-6.59681506e-02 -9.97821213e-01 1.01521223e-03 1.53669991e+02] [ 9.97406750e-01 -6.59700214e-02 -2.87703192e-02 1.23299015e+02] [ 2.87746084e-02 -8.85345223e-04 9.99585533e-01 6.92556550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.110714057 meters Centerline goodness : 0.986183 Centerline is valid? [True, True] Translation: X:153.67, Y:123.31, Z:6.93 [[-6.90838065e-02 -9.97610819e-01 2.84465937e-04 1.53670903e+02] [ 9.97196912e-01 -6.90633516e-02 -2.87849397e-02 1.23309822e+02] [ 2.87358134e-02 -1.70490465e-03 9.99585587e-01 6.92684830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.140714057 meters Centerline goodness : 0.985554 Centerline is valid? [True, True] Translation: X:153.67, Y:123.32, Z:6.93 [[-6.95595643e-02 -9.97577703e-01 4.40159289e-04 1.53670286e+02] [ 9.97163639e-01 -6.95433916e-02 -2.87818235e-02 1.23315311e+02] [ 2.87427155e-02 -1.56314026e-03 9.99585621e-01 6.92873893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.170714057 meters Centerline goodness : 0.985974 Centerline is valid? [True, True] Translation: X:153.67, Y:123.32, Z:6.93 [[-7.29468578e-02 -9.97335776e-01 3.25953177e-04 1.53671064e+02] [ 9.96921901e-01 -7.29259936e-02 -2.87840728e-02 1.23318524e+02] [ 2.87311561e-02 -1.77475781e-03 9.99585600e-01 6.92946044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.200714057 meters Centerline goodness : 0.987010 Centerline is valid? [True, True] Translation: X:153.67, Y:123.33, Z:6.93 [[-7.44997043e-02 -9.97220937e-01 4.43984243e-04 1.53671153e+02] [ 9.96806954e-01 -7.44815909e-02 -2.87817666e-02 1.23331514e+02] [ 2.87348489e-02 -1.70166652e-03 9.99585621e-01 6.92804765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.230714057 meters Centerline goodness : 0.987396 Centerline is valid? [True, True] Translation: X:153.67, Y:123.33, Z:6.93 [[-7.70791621e-02 -9.97024900e-01 3.88951194e-04 1.53672332e+02] [ 9.96611034e-01 -7.70583950e-02 -2.87828290e-02 1.23327144e+02] [ 2.87271692e-02 -1.83092329e-03 9.99585613e-01 6.92895449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26071405700003 meters Centerline goodness : 0.987533 Centerline is valid? [True, True] Translation: X:153.67, Y:123.33, Z:6.93 [[-7.96941026e-02 -9.96819349e-01 1.88742517e-04 1.53673424e+02] [ 9.96405833e-01 -7.96664932e-02 -2.87865730e-02 1.23326972e+02] [ 2.87100494e-02 -2.10605596e-03 9.99585563e-01 6.92839942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.290714057 meters Centerline goodness : 0.988273 Centerline is valid? [True, True] Translation: X:153.68, Y:123.31, Z:6.92 [[-7.34469836e-02 -9.97299098e-01 2.21149564e-04 1.53678785e+02] [ 9.96885372e-01 -7.34228977e-02 -2.87859781e-02 1.23308025e+02] [ 2.87244674e-02 -1.89378249e-03 9.99585573e-01 6.92214213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32071405700003 meters Centerline goodness : 0.988253 Centerline is valid? [True, True] Translation: X:153.68, Y:123.34, Z:6.93 [[-8.45218644e-02 -9.96421623e-01 -6.55213909e-05 1.53675195e+02] [ 9.96008719e-01 -8.44849464e-02 -2.87910802e-02 1.23336624e+02] [ 2.86825193e-02 -2.49873565e-03 9.99585449e-01 6.92681636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.350714057 meters Centerline goodness : 0.988231 Centerline is valid? [True, True] Translation: X:153.68, Y:123.37, Z:6.93 [[-8.73273780e-02 -9.96179650e-01 1.82856074e-04 1.53675162e+02] [ 9.95766371e-01 -8.72964330e-02 -2.87865701e-02 1.23367822e+02] [ 2.86925580e-02 -2.33177376e-03 9.99585564e-01 6.92587153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38071405700003 meters Centerline goodness : 0.987554 Centerline is valid? [True, True] Translation: X:153.68, Y:123.35, Z:6.92 [[-8.87633509e-02 -9.96052725e-01 1.89524973e-04 1.53675855e+02] [ 9.95639479e-01 -8.87320017e-02 -2.87864494e-02 1.23348539e+02] [ 2.86896384e-02 -2.36648317e-03 9.99585566e-01 6.92288909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.410714057 meters Centerline goodness : 0.987090 Centerline is valid? [True, True] Translation: X:153.67, Y:123.36, Z:6.93 [[-9.24591660e-02 -9.95716440e-01 2.72459354e-04 1.53674604e+02] [ 9.95303154e-01 -9.24286660e-02 -2.87849603e-02 1.23362242e+02] [ 2.86868413e-02 -2.39025377e-03 9.99585590e-01 6.92573535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44071405700004 meters Centerline goodness : 0.987289 Centerline is valid? [True, True] Translation: X:153.67, Y:123.36, Z:6.93 [[-9.15255824e-02 -9.95802679e-01 3.03861508e-04 1.53674644e+02] [ 9.95389307e-01 -9.14963722e-02 -2.87844019e-02 1.23360742e+02] [ 2.86913868e-02 -2.33204866e-03 9.99585597e-01 6.92669197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.470714057 meters Centerline goodness : 0.986796 Centerline is valid? [True, True] Translation: X:153.67, Y:123.36, Z:6.93 [[-9.13872068e-02 -9.95815414e-01 1.98909884e-04 1.53674351e+02] [ 9.95402235e-01 -9.13550388e-02 -2.87862296e-02 1.23360376e+02] [ 2.86839426e-02 -2.43269778e-03 9.99585571e-01 6.92762169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.500714057 meters Centerline goodness : 0.987395 Centerline is valid? [True, True] Translation: X:153.67, Y:123.37, Z:6.93 [[-9.24178038e-02 -9.95720295e-01 2.07879089e-04 1.53674333e+02] [ 9.95307132e-01 -9.23854659e-02 -2.87860753e-02 1.23372070e+02] [ 2.86820844e-02 -2.45344232e-03 9.99585573e-01 6.92819589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.530714057 meters Centerline goodness : 0.987198 Centerline is valid? [True, True] Translation: X:153.67, Y:123.37, Z:6.93 [[-9.11757880e-02 -9.95834776e-01 2.72880534e-04 1.53673590e+02] [ 9.95421450e-01 -9.11458327e-02 -2.87849756e-02 1.23371242e+02] [ 2.86899516e-02 -2.35286169e-03 9.99585589e-01 6.92660544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.560714057 meters Centerline goodness : 0.987546 Centerline is valid? [True, True] Translation: X:153.67, Y:123.37, Z:6.93 [[-9.09725873e-02 -9.95853378e-01 1.95542480e-04 1.53672778e+02] [ 9.95440193e-01 -9.09404947e-02 -2.87862499e-02 1.23372972e+02] [ 2.86846670e-02 -2.42410879e-03 9.99585571e-01 6.92646954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.590714057 meters Centerline goodness : 0.986721 Centerline is valid? [True, True] Translation: X:153.67, Y:123.38, Z:6.92 [[-9.04144219e-02 -9.95904209e-01 1.95337510e-04 1.53671771e+02] [ 9.95491007e-01 -9.03825549e-02 -2.87862532e-02 1.23375792e+02] [ 2.86860059e-02 -2.40823571e-03 9.99585571e-01 6.92492014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.620714057 meters Centerline goodness : 0.987773 Centerline is valid? [True, True] Translation: X:153.67, Y:123.37, Z:6.93 [[-8.96002789e-02 -9.95977778e-01 2.35347769e-04 1.53671192e+02] [ 9.95564474e-01 -8.95698991e-02 -2.87856197e-02 1.23372531e+02] [ 2.86909177e-02 -2.34489568e-03 9.99585580e-01 6.92791534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.650714057 meters Centerline goodness : 0.986963 Centerline is valid? [True, True] Translation: X:153.67, Y:123.37, Z:6.93 [[-8.78016277e-02 -9.96137970e-01 1.34198388e-04 1.53670781e+02] [ 9.95724804e-01 -8.77690886e-02 -2.87871806e-02 1.23373794e+02] [ 2.86877822e-02 -2.39393665e-03 9.99585554e-01 6.92740244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.680714057 meters Centerline goodness : 0.987846 Centerline is valid? [True, True] Translation: X:153.67, Y:123.38, Z:6.93 [[-8.58802461e-02 -9.96305460e-01 1.13038392e-04 1.53670740e+02] [ 9.95892273e-01 -8.58478960e-02 -2.87875002e-02 1.23380480e+02] [ 2.86908477e-02 -2.35970354e-03 9.99585548e-01 6.92695108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.710714057 meters Centerline goodness : 0.987771 Centerline is valid? [True, True] Translation: X:153.67, Y:123.39, Z:6.93 [[-8.34055047e-02 -9.96515690e-01 2.28215887e-05 1.53670310e+02] [ 9.96102596e-01 -8.33715892e-02 -2.87888368e-02 1.23391735e+02] [ 2.86904302e-02 -2.37841482e-03 9.99585515e-01 6.92712454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.740714057 meters Centerline goodness : 0.988114 Centerline is valid? [True, True] Translation: X:153.67, Y:123.39, Z:6.93 [[-8.00728405e-02 -9.96789009e-01 1.05038304e-04 1.53668535e+02] [ 9.96375654e-01 -8.00426689e-02 -2.87876234e-02 1.23391858e+02] [ 2.87035941e-02 -2.20044917e-03 9.99585545e-01 6.92637859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.770714057 meters Centerline goodness : 0.987699 Centerline is valid? [True, True] Translation: X:153.67, Y:123.37, Z:6.93 [[-7.36882379e-02 -9.97281326e-01 -4.42657710e-06 1.53665409e+02] [ 9.96867968e-01 -7.36575674e-02 -2.87891830e-02 1.23372338e+02] [ 2.87105886e-02 -2.12583688e-03 9.99585506e-01 6.92587250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.800714057 meters Centerline goodness : 0.988693 Centerline is valid? [True, True] Translation: X:153.66, Y:123.37, Z:6.92 [[-6.92829512e-02 -9.97597048e-01 -4.83217345e-05 1.53664822e+02] [ 9.97183630e-01 -6.92528449e-02 -2.87897886e-02 1.23374899e+02] [ 2.87172617e-02 -2.04282716e-03 9.99585487e-01 6.92391469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.830714057 meters Centerline goodness : 0.987287 Centerline is valid? [True, True] Translation: X:153.66, Y:123.38, Z:6.92 [[-6.44825633e-02 -9.97918793e-01 -2.85001669e-04 1.53664724e+02] [ 9.97505623e-01 -6.44476423e-02 -2.87929339e-02 1.23376855e+02] [ 2.87146421e-02 -2.14093295e-03 9.99585357e-01 6.92397921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.860714057 meters Centerline goodness : 0.986702 Centerline is valid? [True, True] Translation: X:153.66, Y:123.38, Z:6.92 [[-6.40527375e-02 -9.97946514e-01 -4.59261680e-05 1.53662627e+02] [ 9.97532941e-01 -6.40248676e-02 -2.87897293e-02 1.23384872e+02] [ 2.87276696e-02 -1.88987384e-03 9.99585489e-01 6.92454376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.890714057 meters Centerline goodness : 0.986787 Centerline is valid? [True, True] Translation: X:153.66, Y:123.37, Z:6.92 [[-5.72351330e-02 -9.98360725e-01 -3.97006369e-05 1.53661293e+02] [ 9.97946963e-01 -5.72102675e-02 -2.87896470e-02 1.23374826e+02] [ 2.87401816e-02 -1.68739840e-03 9.99585491e-01 6.92346425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.920714057 meters Centerline goodness : 0.989598 Centerline is valid? [True, True] Translation: X:153.66, Y:123.35, Z:6.92 [[-4.61086933e-02 -9.98936383e-01 -3.03012338e-04 1.53662683e+02] [ 9.98522671e-01 -4.60808635e-02 -2.87928654e-02 1.23354159e+02] [ 2.87482777e-02 -1.63016609e-03 9.99585354e-01 6.91618188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.950714057 meters Centerline goodness : 0.988663 Centerline is valid? [True, True] Translation: X:153.64, Y:123.36, Z:6.92 [[-5.38846691e-02 -9.98545485e-01 -1.83232111e-03 1.53644191e+02] [ 9.98136253e-01 -5.38097669e-02 -2.87841866e-02 1.23357653e+02] [ 2.86437228e-02 -3.37993250e-03 9.99583970e-01 6.92006135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.980714057 meters Centerline goodness : 0.985616 Centerline is valid? [True, True] Translation: X:153.66, Y:123.40, Z:6.92 [[-3.38830948e-02 -9.99425799e-01 -9.21860237e-05 1.53658966e+02] [ 9.99011619e-01 -3.38663975e-02 -2.87898022e-02 1.23402990e+02] [ 2.87701490e-02 -1.06758250e-03 9.99585483e-01 6.92129950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01071405700003 meters Centerline goodness : 0.985547 Centerline is valid? [True, True] Translation: X:153.66, Y:123.43, Z:6.92 [[-3.48906610e-02 -9.99390319e-01 -1.27763094e-03 1.53658188e+02] [ 9.98978225e-01 -3.48394718e-02 -2.87874494e-02 1.23431932e+02] [ 2.87253863e-02 -2.28073863e-03 9.99584739e-01 6.92189653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.040714057 meters Centerline goodness : 0.980359 Centerline is valid? [True, True] Translation: X:153.62, Y:124.38, Z:6.95 [[-8.32472848e-02 -9.96528919e-01 6.17741448e-05 1.53621072e+02] [ 9.96116641e-01 -8.32146269e-02 -2.87569720e-02 1.24383747e+02] [ 2.86622947e-02 -2.33240558e-03 9.99586431e-01 6.94944111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07071405700003 meters Centerline goodness : 0.980060 Centerline is valid? [True, True] Translation: X:153.62, Y:124.36, Z:6.95 [[-8.15905275e-02 -9.96665717e-01 6.58491586e-04 1.53620531e+02] [ 9.96252459e-01 -8.15756904e-02 -2.87479445e-02 1.24358859e+02] [ 2.87058077e-02 -1.68953610e-03 9.99586476e-01 6.94980229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.100714057 meters Centerline goodness : 0.980140 Centerline is valid? [True, True] Translation: X:153.62, Y:124.52, Z:6.95 [[-8.20334376e-02 -9.96629432e-01 5.39555117e-04 1.53615436e+02] [ 9.96216355e-01 -8.20150011e-02 -2.87491650e-02 1.24517011e+02] [ 2.86965156e-02 -1.82087920e-03 9.99586512e-01 6.95464838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13071405700003 meters Centerline goodness : 0.984044 Centerline is valid? [True, True] Translation: X:153.64, Y:123.92, Z:6.94 [[-5.14912681e-02 -9.98673034e-01 9.06321002e-04 1.53638845e+02] [ 9.98259462e-01 -5.14960301e-02 -2.87437980e-02 1.23922219e+02] [ 2.87523279e-02 -5.75311093e-04 9.99586401e-01 6.94269491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.160714057 meters Centerline goodness : 0.987272 Centerline is valid? [True, True] Translation: X:154.48, Y:123.63, Z:7.79 [[-2.97112479e-02 9.99558113e-01 -9.06321002e-04 1.54479713e+02] [ 9.99144743e-01 2.97250234e-02 2.87437980e-02 1.23631716e+02] [ 2.87580369e-02 -5.15317547e-05 -9.99586401e-01 7.78701165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19071405700004 meters Centerline goodness : 0.984279 Centerline is valid? [True, True] Translation: X:154.44, Y:124.19, Z:7.80 [[-1.06503442e-01 9.94309809e-01 -2.24053201e-03 1.54438949e+02] [ 9.93897609e-01 1.06523825e-01 2.86394453e-02 1.24188456e+02] [ 2.87151515e-02 8.23340085e-04 -9.99587296e-01 7.80406942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.220714057 meters Centerline goodness : 0.987306 Centerline is valid? [True, True] Translation: X:154.54, Y:123.84, Z:7.79 [[-1.70667195e-01 9.85326184e-01 -2.24053201e-03 1.54536079e+02] [ 9.84913529e-01 1.70660843e-01 2.86394453e-02 1.23837469e+02] [ 2.86015664e-02 2.68108352e-03 -9.99587296e-01 7.79285940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.250714057 meters Centerline goodness : 0.988657 Centerline is valid? [True, True] Translation: X:153.76, Y:123.69, Z:6.94 [[-2.76892304e-01 -9.60880111e-01 6.32969108e-03 1.53756408e+02] [ 9.60481925e-01 -2.76960067e-01 -2.77054781e-02 1.23691289e+02] [ 2.83747145e-02 -1.59187977e-03 9.99596089e-01 6.93782983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.280714057 meters Centerline goodness : 0.980614 Centerline is valid? [True, True] Translation: X:153.51, Y:124.74, Z:6.97 [[-2.92986378e-01 -9.56095761e-01 6.31484439e-03 1.53508918e+02] [ 9.55696429e-01 -2.93047019e-01 -2.77088616e-02 1.24735659e+02] [ 2.83428715e-02 -2.08324478e-03 9.99596089e-01 6.97079290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.310714057 meters Centerline goodness : 0.989968 Centerline is valid? [True, True] Translation: X:153.75, Y:123.72, Z:6.94 [[-2.78998128e-01 -9.60267102e-01 6.86570351e-03 1.53750910e+02] [ 9.59871504e-01 -2.79080403e-01 -2.75830390e-02 1.23719909e+02] [ 2.84031682e-02 -1.10542309e-03 9.99595937e-01 6.93870531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.340714057 meters Centerline goodness : 0.982034 Centerline is valid? [True, True] Translation: X:153.51, Y:124.74, Z:6.97 [[-2.94327058e-01 -9.55684664e-01 6.19724910e-03 1.53514002e+02] [ 9.55284836e-01 -2.94383755e-01 -2.77324225e-02 1.24744600e+02] [ 2.83278204e-02 -2.24226425e-03 9.99596172e-01 6.97024579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.370714057 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:153.75, Y:123.74, Z:6.94 [[-2.80338899e-01 -9.59877242e-01 6.76622749e-03 1.53748909e+02] [ 9.59481028e-01 -2.80417770e-01 -2.76049156e-02 1.23735748e+02] [ 2.83947006e-02 -1.24666472e-03 9.99596012e-01 6.93921943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.400714057 meters Centerline goodness : 0.981867 Centerline is valid? [True, True] Translation: X:153.51, Y:124.78, Z:6.97 [[-2.94228512e-01 -9.55715723e-01 6.08602634e-03 1.53511664e+02] [ 9.55315542e-01 -2.94282051e-01 -2.77540799e-02 1.24778695e+02] [ 2.83160188e-02 -2.35196607e-03 9.99596254e-01 6.97313771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.430714057 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:153.75, Y:123.76, Z:6.94 [[-2.79784866e-01 -9.60039986e-01 6.60713324e-03 1.53745348e+02] [ 9.59643047e-01 -2.79859404e-01 -2.76394108e-02 1.23757431e+02] [ 2.83840079e-02 -1.39259936e-03 9.99596123e-01 6.94012220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.460714057 meters Centerline goodness : 0.991283 Centerline is valid? [True, True] Translation: X:153.74, Y:123.77, Z:6.94 [[-2.80802085e-01 -9.59747067e-01 5.97967034e-03 1.53743943e+02] [ 9.59347311e-01 -2.80858172e-01 -2.77745054e-02 1.23768640e+02] [ 2.83359394e-02 -2.06255836e-03 9.99596329e-01 6.93990489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.490714057 meters Centerline goodness : 0.990483 Centerline is valid? [True, True] Translation: X:153.75, Y:123.78, Z:6.94 [[-2.64652789e-01 -9.64325295e-01 5.96884977e-03 1.53750670e+02] [ 9.63926488e-01 -2.64715269e-01 -2.77768306e-02 1.23783163e+02] [ 2.83659461e-02 -1.59768331e-03 9.99596329e-01 6.93870799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.520714057 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:153.75, Y:123.77, Z:6.94 [[-2.82773454e-01 -9.59171002e-01 5.49216334e-03 1.53745269e+02] [ 9.58769333e-01 -2.82814670e-01 -2.78788186e-02 1.23770336e+02] [ 2.82938187e-02 -2.61767204e-03 9.99596222e-01 6.94082052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.550714057 meters Centerline goodness : 0.991458 Centerline is valid? [True, True] Translation: X:153.63, Y:124.29, Z:6.95 [[-2.88390947e-01 -9.57494229e-01 5.95504185e-03 1.53630986e+02] [ 9.57093955e-01 -2.88443159e-01 -2.77795958e-02 1.24289834e+02] [ 2.83164937e-02 -2.31184938e-03 9.99596334e-01 6.95126144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.580714057 meters Centerline goodness : 0.991407 Centerline is valid? [True, True] Translation: X:153.63, Y:124.30, Z:6.95 [[-2.89317711e-01 -9.57214735e-01 5.93404940e-03 1.53628989e+02] [ 9.56814332e-01 -2.89368931e-01 -2.77841165e-02 1.24298810e+02] [ 2.83124953e-02 -2.36065349e-03 9.99596333e-01 6.95123510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.610714057 meters Centerline goodness : 0.991257 Centerline is valid? [True, True] Translation: X:153.62, Y:124.34, Z:6.95 [[-2.94727217e-01 -9.55563028e-01 5.93020553e-03 1.53618227e+02] [ 9.55162327e-01 -2.94776060e-01 -2.77849417e-02 1.24341551e+02] [ 2.82983457e-02 -2.52466963e-03 9.99596333e-01 6.95151813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.640714057 meters Centerline goodness : 0.990502 Centerline is valid? [True, True] Translation: X:153.63, Y:124.31, Z:6.95 [[-2.93707259e-01 -9.55876440e-01 6.02307860e-03 1.53631769e+02] [ 9.55476127e-01 -2.93759207e-01 -2.77650573e-02 1.24305718e+02] [ 2.83092990e-02 -2.39989106e-03 9.99596331e-01 6.95458574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.670714057 meters Centerline goodness : 0.989368 Centerline is valid? [True, True] Translation: X:153.75, Y:123.80, Z:6.94 [[-2.80213571e-01 -9.59916129e-01 6.43270605e-03 1.53749191e+02] [ 9.59518382e-01 -2.80282928e-01 -2.76758748e-02 1.23799908e+02] [ 2.83694962e-02 -1.58285599e-03 9.99596252e-01 6.94059866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.700714057 meters Centerline goodness : 0.988443 Centerline is valid? [True, True] Translation: X:153.75, Y:123.80, Z:6.94 [[-2.79955605e-01 -9.59994368e-01 5.97275289e-03 1.53749085e+02] [ 9.59594669e-01 -2.80011849e-01 -2.77747479e-02 1.23803013e+02] [ 2.83360431e-02 -2.04427452e-03 9.99596363e-01 6.93949765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.730714057 meters Centerline goodness : 0.988906 Centerline is valid? [True, True] Translation: X:153.75, Y:123.79, Z:6.94 [[-2.76005217e-01 -9.61137382e-01 6.00438905e-03 1.53751577e+02] [ 9.60738050e-01 -2.76064014e-01 -2.77679546e-02 1.23793473e+02] [ 2.83464150e-02 -1.89545531e-03 9.99596363e-01 6.93987791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76071405700003 meters Centerline goodness : 0.988461 Centerline is valid? [True, True] Translation: X:153.75, Y:123.79, Z:6.94 [[-2.72013839e-01 -9.62275189e-01 5.91041136e-03 1.53751714e+02] [ 9.61875704e-01 -2.72071591e-01 -2.77880978e-02 1.23793576e+02] [ 2.83478521e-02 -1.87366607e-03 9.99596363e-01 6.93976437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.790714057 meters Centerline goodness : 0.988482 Centerline is valid? [True, True] Translation: X:153.75, Y:123.80, Z:6.94 [[-2.64175258e-01 -9.64457057e-01 5.83243937e-03 1.53750902e+02] [ 9.64057715e-01 -2.64234020e-01 -2.78047756e-02 1.23795713e+02] [ 2.83576410e-02 -1.72252560e-03 9.99596357e-01 6.94213430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82071405700003 meters Centerline goodness : 0.989868 Centerline is valid? [True, True] Translation: X:153.75, Y:123.79, Z:6.94 [[-2.60681476e-01 -9.65408083e-01 5.69222639e-03 1.53750784e+02] [ 9.65008344e-01 -2.60737657e-01 -2.78346898e-02 1.23794877e+02] [ 2.83560122e-02 -1.76294205e-03 9.99596333e-01 6.94318457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.850714057 meters Centerline goodness : 0.989868 Centerline is valid? [True, True] Translation: X:153.75, Y:123.80, Z:6.94 [[-2.60317218e-01 -9.65505792e-01 5.78888684e-03 1.53750114e+02] [ 9.65106495e-01 -2.60376325e-01 -2.78140849e-02 1.23797451e+02] [ 2.83619491e-02 -1.65359289e-03 9.99596351e-01 6.94329695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88071405700003 meters Centerline goodness : 0.991829 Centerline is valid? [True, True] Translation: X:153.75, Y:123.79, Z:6.94 [[-2.51218483e-01 -9.67913171e-01 5.77649009e-03 1.53749861e+02] [ 9.67514390e-01 -2.51280990e-01 -2.78167221e-02 1.23794400e+02] [ 2.83756938e-02 -1.39923743e-03 9.99596350e-01 6.94006882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.910714057 meters Centerline goodness : 0.989802 Centerline is valid? [True, True] Translation: X:153.75, Y:123.78, Z:6.94 [[-2.46679006e-01 -9.69083140e-01 5.22841455e-03 1.53754732e+02] [ 9.68682214e-01 -2.46727653e-01 -2.79326436e-02 1.23779920e+02] [ 2.83590484e-02 -1.82572455e-03 9.99596134e-01 6.93764504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94071405700004 meters Centerline goodness : 0.989721 Centerline is valid? [True, True] Translation: X:153.76, Y:123.78, Z:6.94 [[-2.40620259e-01 -9.70602729e-01 5.67747890e-03 1.53755446e+02] [ 9.70204178e-01 -2.40684289e-01 -2.78374783e-02 1.23780551e+02] [ 2.83856124e-02 -1.18994750e-03 9.99596339e-01 6.94005029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.970714057 meters Centerline goodness : 0.991676 Centerline is valid? [True, True] Translation: X:153.76, Y:123.76, Z:6.94 [[-2.27490243e-01 -9.73764062e-01 5.63394089e-03 1.53762693e+02] [ 9.73366187e-01 -2.27558405e-01 -2.78466859e-02 1.23761601e+02] [ 2.83981526e-02 -8.50961779e-04 9.99596329e-01 6.93918964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.000714057 meters Centerline goodness : 0.989309 Centerline is valid? [True, True] Translation: X:153.76, Y:123.78, Z:6.94 [[-2.32289592e-01 -9.72633812e-01 5.00137558e-03 1.53760008e+02] [ 9.72232663e-01 -2.32337661e-01 -2.79796278e-02 1.23777870e+02] [ 2.83759400e-02 -1.63687563e-03 9.99595982e-01 6.94057430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.030714057 meters Centerline goodness : 0.990334 Centerline is valid? [True, True] Translation: X:153.76, Y:123.78, Z:6.94 [[-2.28348759e-01 -9.73563412e-01 5.57916464e-03 1.53761649e+02] [ 9.73165212e-01 -2.28415005e-01 -2.78577635e-02 1.23782229e+02] [ 2.83956642e-02 -9.31836794e-04 9.99596327e-01 6.94113611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.060714057 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:153.77, Y:123.78, Z:6.94 [[-2.20816522e-01 -9.75300266e-01 5.42714819e-03 1.53766811e+02] [ 9.74901803e-01 -2.20881501e-01 -2.78897379e-02 1.23779162e+02] [ 2.83996254e-02 -8.67578368e-04 9.99596273e-01 6.94359441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.090714057 meters Centerline goodness : 0.991359 Centerline is valid? [True, True] Translation: X:153.77, Y:123.79, Z:6.94 [[-2.27001762e-01 -9.73881029e-01 5.09330302e-03 1.53765730e+02] [ 9.73480580e-01 -2.27054649e-01 -2.79597320e-02 1.23791194e+02] [ 2.83859107e-02 -1.38867685e-03 9.99596074e-01 6.94070710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.120714057 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:153.77, Y:123.79, Z:6.94 [[-2.16980246e-01 -9.76160928e-01 5.42356450e-03 1.53770873e+02] [ 9.75762707e-01 -2.17046689e-01 -2.78904016e-02 1.23793496e+02] [ 2.84026871e-02 -7.59554236e-04 9.99596274e-01 6.93800273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.150714057 meters Centerline goodness : 0.991173 Centerline is valid? [True, True] Translation: X:153.77, Y:123.80, Z:6.94 [[-2.28405158e-01 -9.73555401e-01 4.57865355e-03 1.53773422e+02] [ 9.73152713e-01 -2.28442682e-01 -2.80666641e-02 1.23800067e+02] [ 2.83704124e-02 -1.95484173e-03 9.99595567e-01 6.94136198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.180714057 meters Centerline goodness : 0.990421 Centerline is valid? [True, True] Translation: X:153.77, Y:123.81, Z:6.94 [[-2.31134273e-01 -9.72906251e-01 5.51138050e-03 1.53774646e+02] [ 9.72507558e-01 -2.31197441e-01 -2.78709979e-02 1.23805987e+02] [ 2.83900851e-02 -1.08208363e-03 9.99596335e-01 6.93983559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.210714057 meters Centerline goodness : 0.989816 Centerline is valid? [True, True] Translation: X:153.78, Y:123.81, Z:6.94 [[-2.33731310e-01 -9.72285702e-01 5.49440396e-03 1.53778956e+02] [ 9.71886761e-01 -2.33792927e-01 -2.78745538e-02 1.23809169e+02] [ 2.83865829e-02 -1.17521751e-03 9.99596329e-01 6.94033243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.240714057 meters Centerline goodness : 0.989723 Centerline is valid? [True, True] Translation: X:153.78, Y:123.81, Z:6.94 [[-2.35828900e-01 -9.71779453e-01 5.42438097e-03 1.53782088e+02] [ 9.71380054e-01 -2.35887650e-01 -2.78891909e-02 1.23813726e+02] [ 2.83816872e-02 -1.30794175e-03 9.99596303e-01 6.94041556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.270714057 meters Centerline goodness : 0.988268 Centerline is valid? [True, True] Translation: X:153.78, Y:123.81, Z:6.94 [[-2.36415228e-01 -9.71637340e-01 5.35899460e-03 1.53784543e+02] [ 9.71237608e-01 -2.36471862e-01 -2.79028307e-02 1.23813611e+02] [ 2.83786836e-02 -1.39179697e-03 9.99596275e-01 6.94146790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.300714057 meters Centerline goodness : 0.988172 Centerline is valid? [True, True] Translation: X:153.79, Y:123.82, Z:6.94 [[-2.37824490e-01 -9.71292424e-01 5.52621796e-03 1.53786831e+02] [ 9.70893374e-01 -2.37885337e-01 -2.78679610e-02 1.23818762e+02] [ 2.83825456e-02 -1.26231520e-03 9.99596337e-01 6.94332386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.330714057 meters Centerline goodness : 0.988530 Centerline is valid? [True, True] Translation: X:153.79, Y:123.82, Z:6.94 [[-2.34913958e-01 -9.72000438e-01 5.53009314e-03 1.53789403e+02] [ 9.71601590e-01 -2.34976111e-01 -2.78671534e-02 1.23819685e+02] [ 2.83863250e-02 -1.17333600e-03 9.99596338e-01 6.94212886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.360714057 meters Centerline goodness : 0.986987 Centerline is valid? [True, True] Translation: X:153.79, Y:123.82, Z:6.94 [[-2.34282720e-01 -9.72153273e-01 5.44258019e-03 1.53790944e+02] [ 9.71754054e-01 -2.34342626e-01 -2.78853556e-02 1.23818587e+02] [ 2.83842682e-02 -1.24420759e-03 9.99596311e-01 6.94292772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.390714057 meters Centerline goodness : 0.984836 Centerline is valid? [True, True] Translation: X:153.80, Y:123.82, Z:6.95 [[-2.36748169e-01 -9.71555839e-01 5.43659208e-03 1.53795341e+02] [ 9.71156442e-01 -2.36806890e-01 -2.78865989e-02 1.23820237e+02] [ 2.83808104e-02 -1.32231980e-03 9.99596309e-01 6.94540150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.420714057 meters Centerline goodness : 0.986196 Centerline is valid? [True, True] Translation: X:153.79, Y:123.84, Z:6.95 [[-2.36877487e-01 -9.71522338e-01 5.77948435e-03 1.53793856e+02] [ 9.71124561e-01 -2.36945971e-01 -2.78153544e-02 1.23835134e+02] [ 2.83926637e-02 -9.76232055e-04 9.99596370e-01 6.94815031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.450714057 meters Centerline goodness : 0.984986 Centerline is valid? [True, True] Translation: X:153.80, Y:123.83, Z:6.95 [[-2.35280320e-01 -9.71911643e-01 5.56135447e-03 1.53797902e+02] [ 9.71512922e-01 -2.35343218e-01 -2.78605639e-02 1.23832780e+02] [ 2.83868335e-02 -1.15211468e-03 9.99596349e-01 6.94706732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.480714057 meters Centerline goodness : 0.984292 Centerline is valid? [True, True] Translation: X:153.80, Y:123.84, Z:6.95 [[-2.37778300e-01 -9.71303761e-01 5.52124670e-03 1.53801697e+02] [ 9.70904694e-01 -2.37839024e-01 -2.78688649e-02 1.23837755e+02] [ 2.83823012e-02 -1.26600697e-03 9.99596340e-01 6.94712177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51071405700003 meters Centerline goodness : 0.984315 Centerline is valid? [True, True] Translation: X:153.80, Y:123.84, Z:6.95 [[-2.38809570e-01 -9.71050300e-01 5.59499604e-03 1.53803280e+02] [ 9.70651509e-01 -2.38871983e-01 -2.78536031e-02 1.23840682e+02] [ 2.83837374e-02 -1.22091563e-03 9.99596355e-01 6.94735593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.540714057 meters Centerline goodness : 0.983819 Centerline is valid? [True, True] Translation: X:153.81, Y:123.84, Z:6.95 [[-2.41250910e-01 -9.70446762e-01 5.57502253e-03 1.53805805e+02] [ 9.70047724e-01 -2.41311748e-01 -2.78577294e-02 1.23844250e+02] [ 2.83797617e-02 -1.31266465e-03 9.99596352e-01 6.94687624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57071405700003 meters Centerline goodness : 0.983634 Centerline is valid? [True, True] Translation: X:153.81, Y:123.84, Z:6.95 [[-2.42040150e-01 -9.70250402e-01 5.54293994e-03 1.53807881e+02] [ 9.69851170e-01 -2.42099743e-01 -2.78643464e-02 1.23842632e+02] [ 2.83773376e-02 -1.36846378e-03 9.99596346e-01 6.94635203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.600714057 meters Centerline goodness : 0.982946 Centerline is valid? [True, True] Translation: X:153.81, Y:123.85, Z:6.95 [[-2.44149912e-01 -9.69722836e-01 5.33305569e-03 1.53811876e+02] [ 9.69322574e-01 -2.44202616e-01 -2.79075166e-02 1.23847394e+02] [ 2.83649023e-02 -1.64416644e-03 9.99596283e-01 6.94572401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63071405700003 meters Centerline goodness : 0.984524 Centerline is valid? [True, True] Translation: X:153.81, Y:123.85, Z:6.95 [[-2.44910549e-01 -9.69530560e-01 5.41452311e-03 1.53812191e+02] [ 9.69130599e-01 -2.44965277e-01 -2.78907597e-02 1.23853769e+02] [ 2.83673140e-02 -1.58336122e-03 9.99596313e-01 6.94514509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.660714057 meters Centerline goodness : 0.984139 Centerline is valid? [True, True] Translation: X:153.82, Y:123.85, Z:6.94 [[-2.45380574e-01 -9.69411407e-01 5.46788461e-03 1.53815949e+02] [ 9.69011648e-01 -2.45436639e-01 -2.78797993e-02 1.23853785e+02] [ 2.83690147e-02 -1.54271727e-03 9.99596328e-01 6.94399408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69071405700004 meters Centerline goodness : 0.983223 Centerline is valid? [True, True] Translation: X:153.82, Y:123.85, Z:6.94 [[-2.44200504e-01 -9.69709967e-01 5.35660600e-03 1.53819469e+02] [ 9.69309803e-01 -2.44253863e-01 -2.79026139e-02 1.23847541e+02] [ 2.83658145e-02 -1.62162167e-03 9.99596294e-01 6.94168616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.720714057 meters Centerline goodness : 0.983680 Centerline is valid? [True, True] Translation: X:153.82, Y:123.86, Z:6.94 [[-2.47633699e-01 -9.68838842e-01 5.37120693e-03 1.53818369e+02] [ 9.68438551e-01 -2.47686060e-01 -2.78996226e-02 1.23857621e+02] [ 2.83606111e-02 -1.70720290e-03 9.99596299e-01 6.94356344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.750714057 meters Centerline goodness : 0.984050 Centerline is valid? [True, True] Translation: X:153.82, Y:123.86, Z:6.94 [[-2.51053349e-01 -9.67958543e-01 5.33622262e-03 1.53819784e+02] [ 9.67557930e-01 -2.51103291e-01 -2.79067848e-02 1.23864478e+02] [ 2.83525538e-02 -1.84298727e-03 9.99596287e-01 6.94199060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.780714057 meters Centerline goodness : 0.982279 Centerline is valid? [True, True] Translation: X:153.82, Y:123.87, Z:6.94 [[-2.54065821e-01 -9.67172381e-01 5.30501789e-03 1.53820596e+02] [ 9.66771495e-01 -2.54113619e-01 -2.79131660e-02 1.23870826e+02] [ 2.83449205e-02 -1.96304136e-03 9.99596274e-01 6.94269322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.810714057 meters Centerline goodness : 0.983393 Centerline is valid? [True, True] Translation: X:153.82, Y:123.87, Z:6.94 [[-2.56861260e-01 -9.66432885e-01 5.45637773e-03 1.53823229e+02] [ 9.66032442e-01 -2.56912249e-01 -2.78822189e-02 1.23870805e+02] [ 2.83481035e-02 -1.89082396e-03 9.99596323e-01 6.94182768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.840714057 meters Centerline goodness : 0.984003 Centerline is valid? [True, True] Translation: X:153.82, Y:123.88, Z:6.94 [[-2.59643250e-01 -9.65689917e-01 5.32614174e-03 1.53822561e+02] [ 9.65288841e-01 -2.59689341e-01 -2.79087753e-02 1.23876724e+02] [ 2.83343652e-02 -2.10505995e-03 9.99596285e-01 6.94316531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.870714057 meters Centerline goodness : 0.983766 Centerline is valid? [True, True] Translation: X:153.82, Y:123.88, Z:6.94 [[-2.61198127e-01 -9.65270016e-01 5.41617433e-03 1.53822459e+02] [ 9.64869197e-01 -2.61246162e-01 -2.78904275e-02 1.23878592e+02] [ 2.83367482e-02 -2.05902765e-03 9.99596313e-01 6.94371317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.900714057 meters Centerline goodness : 0.983983 Centerline is valid? [True, True] Translation: X:153.82, Y:123.88, Z:6.94 [[-2.63043348e-01 -9.64768800e-01 5.41838323e-03 1.53823590e+02] [ 9.64367898e-01 -2.63090680e-01 -2.78899776e-02 1.23880714e+02] [ 2.83329063e-02 -2.11095824e-03 9.99596314e-01 6.94347412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.930714057 meters Centerline goodness : 0.984024 Centerline is valid? [True, True] Translation: X:153.82, Y:123.88, Z:6.94 [[-2.64327117e-01 -9.64417657e-01 5.45519064e-03 1.53823306e+02] [ 9.64016826e-01 -2.64374973e-01 -2.78824889e-02 1.23881872e+02] [ 2.83325805e-02 -2.11120233e-03 9.99596322e-01 6.94349546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.960714057 meters Centerline goodness : 0.984198 Centerline is valid? [True, True] Translation: X:153.82, Y:123.89, Z:6.94 [[-2.65869213e-01 -9.63993623e-01 5.46407072e-03 1.53820532e+02] [ 9.63592748e-01 -2.65916684e-01 -2.78806831e-02 1.23890139e+02] [ 2.83297883e-02 -2.14747634e-03 9.99596324e-01 6.94211803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.990714057 meters Centerline goodness : 0.984781 Centerline is valid? [True, True] Translation: X:153.82, Y:123.89, Z:6.95 [[-2.66096528e-01 -9.63930563e-01 5.52333864e-03 1.53820267e+02] [ 9.63529892e-01 -2.66145609e-01 -2.78686492e-02 1.23888274e+02] [ 2.83334550e-02 -2.09384891e-03 9.99596334e-01 6.94509475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.020714057 meters Centerline goodness : 0.985115 Centerline is valid? [True, True] Translation: X:153.82, Y:123.89, Z:6.95 [[-2.64782821e-01 -9.64292563e-01 5.46901716e-03 1.53815986e+02] [ 9.63891760e-01 -2.64830886e-01 -2.78796656e-02 1.23892547e+02] [ 2.83325189e-02 -2.11051595e-03 9.99596326e-01 6.94523141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.050714057 meters Centerline goodness : 0.985063 Centerline is valid? [True, True] Translation: X:153.81, Y:123.89, Z:6.95 [[-2.65306946e-01 -9.64148669e-01 5.43771315e-03 1.53814755e+02] [ 9.63747728e-01 -2.65353892e-01 -2.78860038e-02 1.23888763e+02] [ 2.83291718e-02 -2.15776680e-03 9.99596320e-01 6.94596793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.080714057 meters Centerline goodness : 0.985244 Centerline is valid? [True, True] Translation: X:153.81, Y:123.89, Z:6.95 [[-2.65554884e-01 -9.64080571e-01 5.40887870e-03 1.53811720e+02] [ 9.63679516e-01 -2.65600898e-01 -2.78918322e-02 1.23889863e+02] [ 2.83265766e-02 -2.19438666e-03 9.99596313e-01 6.94569318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.110714057 meters Centerline goodness : 0.985108 Centerline is valid? [True, True] Translation: X:153.81, Y:123.89, Z:6.94 [[-2.63395607e-01 -9.64672453e-01 5.46001483e-03 1.53810163e+02] [ 9.64271687e-01 -2.63443990e-01 -2.78815107e-02 1.23891528e+02] [ 2.83349335e-02 -2.07892974e-03 9.99596323e-01 6.94428535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.140714057 meters Centerline goodness : 0.985589 Centerline is valid? [True, True] Translation: X:153.81, Y:123.89, Z:6.94 [[-2.65425332e-01 -9.64116737e-01 5.32079890e-03 1.53806482e+02] [ 9.63715383e-01 -2.65468866e-01 -2.79095367e-02 1.23892931e+02] [ 2.83205579e-02 -2.28016229e-03 9.99596292e-01 6.94247624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.170714057 meters Centerline goodness : 0.986195 Centerline is valid? [True, True] Translation: X:153.80, Y:123.89, Z:6.94 [[-2.67166617e-01 -9.63635141e-01 5.41422431e-03 1.53804841e+02] [ 9.63234028e-01 -2.67212114e-01 -2.78907391e-02 1.23890001e+02] [ 2.83232426e-02 -2.23630932e-03 9.99596315e-01 6.94375928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.200714057 meters Centerline goodness : 0.986696 Centerline is valid? [True, True] Translation: X:153.80, Y:123.90, Z:6.94 [[-2.69094216e-01 -9.63098611e-01 5.41927796e-03 1.53800213e+02] [ 9.62697425e-01 -2.69139056e-01 -2.78897229e-02 1.23896516e+02] [ 2.83190927e-02 -2.28783819e-03 9.99596316e-01 6.94385348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.230714057 meters Centerline goodness : 0.986624 Centerline is valid? [True, True] Translation: X:153.80, Y:123.90, Z:6.94 [[-2.71522851e-01 -9.62416633e-01 5.43749494e-03 1.53795673e+02] [ 9.62015396e-01 -2.71567203e-01 -2.78860621e-02 1.23901469e+02] [ 2.83146553e-02 -2.34074923e-03 9.99596319e-01 6.94354004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26071405700003 meters Centerline goodness : 0.987475 Centerline is valid? [True, True] Translation: X:153.80, Y:123.90, Z:6.94 [[-2.70423993e-01 -9.62725797e-01 5.46843088e-03 1.53795503e+02] [ 9.62324716e-01 -2.70469693e-01 -2.78798519e-02 1.23900223e+02] [ 2.83196975e-02 -2.27697469e-03 9.99596324e-01 6.94195106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.290714057 meters Centerline goodness : 0.987021 Centerline is valid? [True, True] Translation: X:153.79, Y:123.90, Z:6.94 [[-2.73286436e-01 -9.61917381e-01 5.42922144e-03 1.53790954e+02] [ 9.61516036e-01 -2.73329814e-01 -2.78877111e-02 1.23901650e+02] [ 2.83096421e-02 -2.40104970e-03 9.99596318e-01 6.94341897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32071405700003 meters Centerline goodness : 0.987794 Centerline is valid? [True, True] Translation: X:153.79, Y:123.91, Z:6.94 [[-2.74413882e-01 -9.61596217e-01 5.45318556e-03 1.53787389e+02] [ 9.61194900e-01 -2.74457480e-01 -2.78829121e-02 1.23907276e+02] [ 2.83087703e-02 -2.40988399e-03 9.99596322e-01 6.94405531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.350714057 meters Centerline goodness : 0.987390 Centerline is valid? [True, True] Translation: X:153.78, Y:123.91, Z:6.94 [[-2.77426027e-01 -9.60731912e-01 5.38450694e-03 1.53782931e+02] [ 9.60330246e-01 -2.77466389e-01 -2.78966368e-02 1.23913303e+02] [ 2.82952089e-02 -2.56834826e-03 9.99596311e-01 6.94389265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38071405700003 meters Centerline goodness : 0.987147 Centerline is valid? [True, True] Translation: X:153.78, Y:123.92, Z:6.94 [[-2.76644708e-01 -9.60956599e-01 5.48815163e-03 1.53780141e+02] [ 9.60555293e-01 -2.76688381e-01 -2.78759386e-02 1.23922482e+02] [ 2.83060749e-02 -2.44005777e-03 9.99596325e-01 6.94423187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.410714057 meters Centerline goodness : 0.985984 Centerline is valid? [True, True] Translation: X:153.78, Y:123.93, Z:6.94 [[-2.77212099e-01 -9.60793566e-01 5.40141588e-03 1.53775667e+02] [ 9.60391962e-01 -2.77253038e-01 -2.78932415e-02 1.23932191e+02] [ 2.82972060e-02 -2.54486764e-03 9.99596314e-01 6.94412978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44071405700004 meters Centerline goodness : 0.986109 Centerline is valid? [True, True] Translation: X:153.77, Y:123.94, Z:6.95 [[-2.80112281e-01 -9.59952174e-01 5.37909732e-03 1.53774404e+02] [ 9.59550381e-01 -2.80151363e-01 -2.78976871e-02 1.23938713e+02] [ 2.82874068e-02 -2.65296987e-03 9.99596311e-01 6.94632468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.470714057 meters Centerline goodness : 0.988104 Centerline is valid? [True, True] Translation: X:153.77, Y:123.95, Z:6.95 [[-2.81483290e-01 -9.59550097e-01 5.54704725e-03 1.53768560e+02] [ 9.59148756e-01 -2.81526637e-01 -2.78642530e-02 1.23946147e+02] [ 2.82987882e-02 -2.52287815e-03 9.99596325e-01 6.94589337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.500714057 meters Centerline goodness : 0.987231 Centerline is valid? [True, True] Translation: X:153.77, Y:123.94, Z:6.95 [[-2.85817663e-01 -9.58268455e-01 5.46188618e-03 1.53769230e+02] [ 9.57866673e-01 -2.85856742e-01 -2.78811711e-02 1.23942031e+02] [ 2.82789637e-02 -2.73717242e-03 9.99596323e-01 6.94582481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.530714057 meters Centerline goodness : 0.986026 Centerline is valid? [True, True] Translation: X:153.77, Y:123.96, Z:6.94 [[-2.86096747e-01 -9.58184759e-01 5.53341757e-03 1.53767363e+02] [ 9.57783174e-01 -2.86137770e-01 -2.78669675e-02 1.23956488e+02] [ 2.82850233e-02 -2.67283450e-03 9.99596325e-01 6.94366843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.560714057 meters Centerline goodness : 0.985582 Centerline is valid? [True, True] Translation: X:153.77, Y:123.96, Z:6.94 [[-2.88664633e-01 -9.57414347e-01 5.52241028e-03 1.53766969e+02] [ 9.57012622e-01 -2.88704262e-01 -2.78691486e-02 1.23958157e+02] [ 2.82766661e-02 -2.75982123e-03 9.99596325e-01 6.94196795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.590714057 meters Centerline goodness : 0.985901 Centerline is valid? [True, True] Translation: X:153.77, Y:123.96, Z:6.94 [[-2.89066054e-01 -9.57293289e-01 5.51135664e-03 1.53766256e+02] [ 9.56891517e-01 -2.89105196e-01 -2.78713344e-02 1.23956519e+02] [ 2.82744032e-02 -2.78288626e-03 9.99596325e-01 6.94246150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.620714057 meters Centerline goodness : 0.984930 Centerline is valid? [True, True] Translation: X:153.76, Y:123.96, Z:6.94 [[-2.90178812e-01 -9.56956751e-01 5.48035586e-03 1.53763734e+02] [ 9.56554848e-01 -2.90216592e-01 -2.78774542e-02 1.23964987e+02] [ 2.82680082e-02 -2.84718556e-03 9.99596325e-01 6.94232200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.650714057 meters Centerline goodness : 0.986870 Centerline is valid? [True, True] Translation: X:153.76, Y:123.97, Z:6.94 [[-2.88380460e-01 -9.57500124e-01 5.49761948e-03 1.53760196e+02] [ 9.57098340e-01 -2.88419493e-01 -2.78740493e-02 1.23972152e+02] [ 2.82750263e-02 -2.77656867e-03 9.99596325e-01 6.94132911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.680714057 meters Centerline goodness : 0.987622 Centerline is valid? [True, True] Translation: X:153.76, Y:123.96, Z:6.94 [[-2.83652313e-01 -9.58911683e-01 5.45432217e-03 1.53759849e+02] [ 9.58509971e-01 -2.83692081e-01 -2.78825759e-02 1.23962671e+02] [ 2.82842758e-02 -2.68093494e-03 9.99596325e-01 6.94083913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.710714057 meters Centerline goodness : 0.986666 Centerline is valid? [True, True] Translation: X:153.76, Y:123.97, Z:6.94 [[-2.82654151e-01 -9.59207206e-01 5.30717680e-03 1.53756982e+02] [ 9.58805120e-01 -2.82690097e-01 -2.79114720e-02 1.23971720e+02] [ 2.82731714e-02 -2.80074513e-03 9.99596310e-01 6.94152654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.740714057 meters Centerline goodness : 0.986666 Centerline is valid? [True, True] Translation: X:153.76, Y:123.97, Z:6.94 [[-2.82281072e-01 -9.59316840e-01 5.34751731e-03 1.53756381e+02] [ 9.58914880e-01 -2.82318337e-01 -2.79035593e-02 1.23974298e+02] [ 2.82780565e-02 -2.74883271e-03 9.99596316e-01 6.94161527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.770714057 meters Centerline goodness : 0.986975 Centerline is valid? [True, True] Translation: X:153.75, Y:123.98, Z:6.94 [[-2.79753910e-01 -9.60056906e-01 5.33738928e-03 1.53752600e+02] [ 9.59655016e-01 -2.79791942e-01 -2.79055420e-02 1.23983611e+02] [ 2.82842668e-02 -2.68463209e-03 9.99596315e-01 6.94397912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.800714057 meters Centerline goodness : 0.987261 Centerline is valid? [True, True] Translation: X:153.75, Y:123.98, Z:6.94 [[-2.74917502e-01 -9.61452355e-01 5.45301199e-03 1.53751857e+02] [ 9.61051015e-01 -2.74960885e-01 -2.78829301e-02 1.23977087e+02] [ 2.83074738e-02 -2.42488278e-03 9.99596322e-01 6.94234112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.830714057 meters Centerline goodness : 0.984696 Centerline is valid? [True, True] Translation: X:153.75, Y:123.96, Z:6.94 [[-2.72469602e-01 -9.62149786e-01 5.30140167e-03 1.53753445e+02] [ 9.61748089e-01 -2.72509643e-01 -2.79124917e-02 1.23963305e+02] [ 2.83006810e-02 -2.50669258e-03 9.99596312e-01 6.94276440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.860714057 meters Centerline goodness : 0.986877 Centerline is valid? [True, True] Translation: X:153.75, Y:123.96, Z:6.94 [[-2.65226826e-01 -9.64170713e-01 5.43761511e-03 1.53750089e+02] [ 9.63769777e-01 -2.65273804e-01 -2.78859310e-02 1.23962269e+02] [ 2.83292548e-02 -2.15548788e-03 9.99596322e-01 6.94149312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.890714057 meters Centerline goodness : 0.984003 Centerline is valid? [True, True] Translation: X:153.75, Y:123.96, Z:6.94 [[-2.64676701e-01 -9.64322769e-01 5.27654495e-03 1.53750471e+02] [ 9.63921331e-01 -2.64719275e-01 -2.79172614e-02 1.23963373e+02] [ 2.83180539e-02 -2.30287441e-03 9.99596311e-01 6.94357929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.920714057 meters Centerline goodness : 0.987201 Centerline is valid? [True, True] Translation: X:153.75, Y:123.96, Z:6.94 [[-2.60315086e-01 -9.65508487e-01 5.42379179e-03 1.53746555e+02] [ 9.65107748e-01 -2.60363707e-01 -2.78886250e-02 1.23963227e+02] [ 2.83388627e-02 -2.02528635e-03 9.99596322e-01 6.93781202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.950714057 meters Centerline goodness : 0.986629 Centerline is valid? [True, True] Translation: X:153.74, Y:123.97, Z:6.94 [[-2.61701895e-01 -9.65135634e-01 5.03247553e-03 1.53744014e+02] [ 9.64733566e-01 -2.61738686e-01 -2.79643868e-02 1.23969940e+02] [ 2.83066197e-02 -2.46333496e-03 9.99596252e-01 6.94118606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.980714057 meters Centerline goodness : 0.985522 Centerline is valid? [True, True] Translation: X:153.74, Y:123.97, Z:6.94 [[-2.60111816e-01 -9.65564560e-01 5.18880166e-03 1.53744221e+02] [ 9.65163045e-01 -2.60153766e-01 -2.79341254e-02 1.23966597e+02] [ 2.83220878e-02 -2.25795647e-03 9.99596299e-01 6.93957884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01071405700003 meters Centerline goodness : 0.985525 Centerline is valid? [True, True] Translation: X:153.74, Y:123.97, Z:6.94 [[-2.59485655e-01 -9.65733170e-01 5.16130083e-03 1.53743608e+02] [ 9.65331594e-01 -2.59527074e-01 -2.79394393e-02 1.23968031e+02] [ 2.83215406e-02 -2.26751693e-03 9.99596293e-01 6.93943531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.040714057 meters Centerline goodness : 0.986820 Centerline is valid? [True, True] Translation: X:153.74, Y:123.97, Z:6.94 [[-2.58331848e-01 -9.66041973e-01 5.25004720e-03 1.53741575e+02] [ 9.65640737e-01 -2.58376299e-01 -2.79223043e-02 1.23972047e+02] [ 2.83306057e-02 -2.14356102e-03 9.99596309e-01 6.93984024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07071405700003 meters Centerline goodness : 0.986181 Centerline is valid? [True, True] Translation: X:153.74, Y:123.97, Z:6.94 [[-2.58914448e-01 -9.65886797e-01 5.09942664e-03 1.53739871e+02] [ 9.65485050e-01 -2.58954326e-01 -2.79513090e-02 1.23971593e+02] [ 2.83183190e-02 -2.31357757e-03 9.99596279e-01 6.94025620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.100714057 meters Centerline goodness : 0.986936 Centerline is valid? [True, True] Translation: X:153.74, Y:123.96, Z:6.94 [[-2.57625825e-01 -9.66231228e-01 5.11352915e-03 1.53740202e+02] [ 9.65829579e-01 -2.57666645e-01 -2.79485962e-02 1.23959902e+02] [ 2.83223924e-02 -2.26148247e-03 9.99596282e-01 6.94086101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13071405700003 meters Centerline goodness : 0.987001 Centerline is valid? [True, True] Translation: X:153.74, Y:123.96, Z:6.94 [[-2.56760248e-01 -9.66461122e-01 5.20333563e-03 1.53737792e+02] [ 9.66059802e-01 -2.56804009e-01 -2.79313330e-02 1.23960508e+02] [ 2.83307849e-02 -2.14492259e-03 9.99596301e-01 6.94042835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.160714057 meters Centerline goodness : 0.988329 Centerline is valid? [True, True] Translation: X:153.74, Y:123.96, Z:6.94 [[-2.54145580e-01 -9.67152673e-01 5.07266577e-03 1.53735300e+02] [ 9.66751042e-01 -2.54186671e-01 -2.79563746e-02 1.23960776e+02] [ 2.83274864e-02 -2.20098413e-03 9.99596273e-01 6.94067790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19071405700004 meters Centerline goodness : 0.986785 Centerline is valid? [True, True] Translation: X:153.73, Y:123.96, Z:6.94 [[-2.53786086e-01 -9.67247274e-01 5.03331128e-03 1.53734523e+02] [ 9.66845532e-01 -2.53826194e-01 -2.79639051e-02 1.23957950e+02] [ 2.83255972e-02 -2.23041550e-03 9.99596261e-01 6.94205496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.220714057 meters Centerline goodness : 0.990021 Centerline is valid? [True, True] Translation: X:153.73, Y:123.96, Z:6.94 [[-2.47439376e-01 -9.68889186e-01 5.24408436e-03 1.53730594e+02] [ 9.68488451e-01 -2.47488170e-01 -2.79235610e-02 1.23963083e+02] [ 2.83526852e-02 -1.83055338e-03 9.99596306e-01 6.93966793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.250714057 meters Centerline goodness : 0.991089 Centerline is valid? [True, True] Translation: X:153.73, Y:123.96, Z:6.94 [[-2.43506420e-01 -9.69886526e-01 4.97488960e-03 1.53728001e+02] [ 9.69485036e-01 -2.43549112e-01 -2.79748925e-02 1.23964944e+02] [ 2.83441013e-02 -1.98898488e-03 9.99596246e-01 6.93689016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.280714057 meters Centerline goodness : 0.990199 Centerline is valid? [True, True] Translation: X:153.73, Y:123.96, Z:6.94 [[-2.41948241e-01 -9.70278190e-01 4.61331885e-03 1.53726485e+02] [ 9.69875592e-01 -2.41981186e-01 -2.80435800e-02 1.23960008e+02] [ 2.83264105e-02 -2.31074951e-03 9.99596056e-01 6.93814999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.310714057 meters Centerline goodness : 0.990583 Centerline is valid? [True, True] Translation: X:153.72, Y:123.96, Z:6.94 [[-2.39926399e-01 -9.70777736e-01 5.09016633e-03 1.53723467e+02] [ 9.70376822e-01 -2.39973881e-01 -2.79528004e-02 1.23961962e+02] [ 2.83574633e-02 -1.76723532e-03 9.99596284e-01 6.93805739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.340714057 meters Centerline goodness : 0.990979 Centerline is valid? [True, True] Translation: X:153.72, Y:123.96, Z:6.94 [[-2.33639531e-01 -9.72311393e-01 4.80872299e-03 1.53723576e+02] [ 9.71909767e-01 -2.33681533e-01 -2.80061733e-02 1.23956713e+02] [ 2.83544311e-02 -1.86970436e-03 9.99596184e-01 6.93568452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.370714057 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:153.72, Y:123.96, Z:6.94 [[-2.34204915e-01 -9.72175591e-01 4.76211307e-03 1.53721702e+02] [ 9.71773780e-01 -2.34245344e-01 -2.80149986e-02 1.23957914e+02] [ 2.83510006e-02 -1.93355374e-03 9.99596160e-01 6.93711166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.400714057 meters Centerline goodness : 0.990824 Centerline is valid? [True, True] Translation: X:153.72, Y:123.96, Z:6.94 [[-2.22910401e-01 -9.74826748e-01 4.87495444e-03 1.53721850e+02] [ 9.74425863e-01 -2.22958724e-01 -2.79936609e-02 1.23956472e+02] [ 2.83758831e-02 -1.48979651e-03 9.99596213e-01 6.93875688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.430714057 meters Centerline goodness : 0.989273 Centerline is valid? [True, True] Translation: X:153.72, Y:123.96, Z:6.94 [[-2.25386511e-01 -9.74259745e-01 4.34401358e-03 1.53717618e+02] [ 9.73856879e-01 -2.25418575e-01 -2.80935186e-02 1.23962580e+02] [ 2.83496057e-02 -2.10145266e-03 9.99595860e-01 6.93711444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.460714057 meters Centerline goodness : 0.989385 Centerline is valid? [True, True] Translation: X:153.71, Y:123.97, Z:6.94 [[-2.22845573e-01 -9.74843199e-01 4.53731561e-03 1.53713507e+02] [ 9.74441078e-01 -2.22884238e-01 -2.80571226e-02 1.23970502e+02] [ 2.83625913e-02 -1.83105885e-03 9.99596024e-01 6.93751577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.490714057 meters Centerline goodness : 0.991081 Centerline is valid? [True, True] Translation: X:153.71, Y:123.97, Z:6.94 [[-2.18906171e-01 -9.75734322e-01 4.75619358e-03 1.53711664e+02] [ 9.75333178e-01 -2.18952737e-01 -2.80158889e-02 1.23970863e+02] [ 2.83774460e-02 -1.49397757e-03 9.99596163e-01 6.93922398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.520714057 meters Centerline goodness : 0.989921 Centerline is valid? [True, True] Translation: X:153.71, Y:123.97, Z:6.94 [[-2.18852917e-01 -9.75747284e-01 4.54291715e-03 1.53706094e+02] [ 9.75345348e-01 -2.18893390e-01 -2.80559454e-02 1.23969291e+02] [ 2.83699270e-02 -1.70921238e-03 9.99596031e-01 6.93758111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.550714057 meters Centerline goodness : 0.988527 Centerline is valid? [True, True] Translation: X:153.70, Y:123.98, Z:6.94 [[-2.16739838e-01 -9.76218016e-01 4.71457921e-03 1.53700568e+02] [ 9.75816816e-01 -2.16786102e-01 -2.80236916e-02 1.23984646e+02] [ 2.83792879e-02 -1.47328471e-03 9.99596141e-01 6.94045648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.580714057 meters Centerline goodness : 0.988557 Centerline is valid? [True, True] Translation: X:153.70, Y:123.98, Z:6.94 [[-2.15862298e-01 -9.76412262e-01 4.75007120e-03 1.53700565e+02] [ 9.76011242e-01 -2.15909940e-01 -2.80170277e-02 1.23978932e+02] [ 2.83817569e-02 -1.41169709e-03 9.99596160e-01 6.94116113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.610714057 meters Centerline goodness : 0.986895 Centerline is valid? [True, True] Translation: X:153.70, Y:123.99, Z:6.94 [[-2.15693060e-01 -9.76449310e-01 4.82166666e-03 1.53697537e+02] [ 9.76048582e-01 -2.15742822e-01 -2.80035897e-02 1.23986398e+02] [ 2.83843259e-02 -1.33399907e-03 9.99596194e-01 6.94146724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.640714057 meters Centerline goodness : 0.987892 Centerline is valid? [True, True] Translation: X:153.69, Y:123.99, Z:6.94 [[-2.14512075e-01 -9.76709596e-01 4.78902937e-03 1.53694705e+02] [ 9.76308797e-01 -2.14561386e-01 -2.80097076e-02 1.23989060e+02] [ 2.83848910e-02 -1.33284898e-03 9.99596179e-01 6.94265551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.670714057 meters Centerline goodness : 0.988523 Centerline is valid? [True, True] Translation: X:153.70, Y:123.96, Z:6.94 [[-2.08742460e-01 -9.77958857e-01 4.80197382e-03 1.53697959e+02] [ 9.77558410e-01 -2.08794507e-01 -2.80072861e-02 1.23959511e+02] [ 2.83925993e-02 -1.15209992e-03 9.99596185e-01 6.94325987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.700714057 meters Centerline goodness : 0.990193 Centerline is valid? [True, True] Translation: X:153.70, Y:123.96, Z:6.94 [[-2.07029757e-01 -9.78323922e-01 4.58081649e-03 1.53696120e+02] [ 9.77922666e-01 -2.07076177e-01 -2.80484515e-02 1.23962378e+02] [ 2.83890491e-02 -1.32717984e-03 9.99596069e-01 6.94123653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.730714057 meters Centerline goodness : 0.988222 Centerline is valid? [True, True] Translation: X:153.69, Y:123.98, Z:6.94 [[-2.09653387e-01 -9.77765647e-01 4.44942801e-03 1.53690076e+02] [ 9.77363768e-01 -2.09694965e-01 -2.80728940e-02 1.23984048e+02] [ 2.83817340e-02 -1.53686759e-03 9.99595976e-01 6.94176738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76071405700003 meters Centerline goodness : 0.985984 Centerline is valid? [True, True] Translation: X:153.69, Y:123.98, Z:6.94 [[-2.10559710e-01 -9.77568393e-01 4.96434303e-03 1.53690037e+02] [ 9.77168535e-01 -2.10615657e-01 -2.79767673e-02 1.23982174e+02] [ 2.83947718e-02 -1.03978021e-03 9.99596246e-01 6.94370515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.790714057 meters Centerline goodness : 0.985651 Centerline is valid? [True, True] Translation: X:153.69, Y:123.98, Z:6.94 [[-2.06315010e-01 -9.78471710e-01 5.21825165e-03 1.53688716e+02] [ 9.78073245e-01 -2.06379941e-01 -2.79293286e-02 1.23980302e+02] [ 2.84050003e-02 -6.58407379e-04 9.99596280e-01 6.94368472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82071405700003 meters Centerline goodness : 0.986884 Centerline is valid? [True, True] Translation: X:153.69, Y:123.98, Z:6.94 [[-2.02777785e-01 -9.79210933e-01 5.20758542e-03 1.53687191e+02] [ 9.78812655e-01 -2.02843851e-01 -2.79313172e-02 1.23983472e+02] [ 2.84069779e-02 -5.66600130e-04 9.99596280e-01 6.94406224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.850714057 meters Centerline goodness : 0.985609 Centerline is valid? [True, True] Translation: X:153.69, Y:123.97, Z:6.94 [[-1.97027785e-01 -9.80384543e-01 5.11857225e-03 1.53690264e+02] [ 9.79986229e-01 -1.97093652e-01 -2.79478777e-02 1.23973535e+02] [ 2.84085054e-02 -4.90378127e-04 9.99596277e-01 6.94254336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88071405700003 meters Centerline goodness : 0.986220 Centerline is valid? [True, True] Translation: X:153.69, Y:123.97, Z:6.94 [[-1.95445215e-01 -9.80701829e-01 5.00898793e-03 1.53691907e+02] [ 9.80303099e-01 -1.95508601e-01 -2.79682205e-02 1.23972173e+02] [ 2.84077852e-02 -5.55928470e-04 9.99596263e-01 6.94311657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.910714057 meters Centerline goodness : 0.985601 Centerline is valid? [True, True] Translation: X:153.70, Y:123.98, Z:6.94 [[-1.92921001e-01 -9.81201439e-01 5.02233824e-03 1.53695611e+02] [ 9.80802937e-01 -1.92985793e-01 -2.79657443e-02 1.23975737e+02] [ 2.84092685e-02 -4.69255290e-04 9.99596265e-01 6.94250103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94071405700004 meters Centerline goodness : 0.985735 Centerline is valid? [True, True] Translation: X:153.70, Y:123.97, Z:6.94 [[-1.93405327e-01 -9.81106505e-01 4.94017835e-03 1.53702043e+02] [ 9.80707582e-01 -1.93467580e-01 -2.79809475e-02 1.23965990e+02] [ 2.84080540e-02 -5.66793949e-04 9.99596249e-01 6.93944988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.970714057 meters Centerline goodness : 0.985576 Centerline is valid? [True, True] Translation: X:153.71, Y:123.97, Z:6.94 [[-1.91289080e-01 -9.81521079e-01 4.98590843e-03 1.53706223e+02] [ 9.81122510e-01 -1.91353496e-01 -2.79724991e-02 1.23969395e+02] [ 2.84096685e-02 -4.59046615e-04 9.99596259e-01 6.94329062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.000714057 meters Centerline goodness : 0.986259 Centerline is valid? [True, True] Translation: X:153.71, Y:123.97, Z:6.94 [[-1.93869662e-01 -9.81014982e-01 4.91519325e-03 1.53708053e+02] [ 9.80615915e-01 -1.93931014e-01 -2.79855337e-02 1.23972369e+02] [ 2.84074363e-02 -6.05629230e-04 9.99596244e-01 6.94180033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.030714057 meters Centerline goodness : 0.988033 Centerline is valid? [True, True] Translation: X:153.72, Y:123.95, Z:6.94 [[-1.85894201e-01 -9.82557241e-01 4.96134375e-03 1.53715585e+02] [ 9.82158910e-01 -1.85960107e-01 -2.79770424e-02 1.23953635e+02] [ 2.84116576e-02 -3.27941969e-04 9.99596254e-01 6.94036182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.060714057 meters Centerline goodness : 0.983101 Centerline is valid? [True, True] Translation: X:153.72, Y:123.95, Z:6.94 [[-1.90574428e-01 -9.81661801e-01 4.63633837e-03 1.53724699e+02] [ 9.81261674e-01 -1.90629165e-01 -2.80365477e-02 1.23953408e+02] [ 2.84062292e-02 -7.93587900e-04 9.99596147e-01 6.94077990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.090714057 meters Centerline goodness : 0.985644 Centerline is valid? [True, True] Translation: X:153.72, Y:123.98, Z:6.94 [[-1.90820315e-01 -9.81611578e-01 5.13002058e-03 1.53719344e+02] [ 9.81213741e-01 -1.90889026e-01 -2.79459263e-02 1.23982024e+02] [ 2.84113095e-02 -2.99003776e-04 9.99596273e-01 6.94334858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.120714057 meters Centerline goodness : 0.985270 Centerline is valid? [True, True] Translation: X:153.73, Y:123.97, Z:6.94 [[-1.84922473e-01 -9.82740716e-01 4.93600167e-03 1.53730139e+02] [ 9.82342334e-01 -1.84988051e-01 -2.79814237e-02 1.23970551e+02] [ 2.84115857e-02 -3.25550676e-04 9.99596256e-01 6.94120836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.150714057 meters Centerline goodness : 0.985750 Centerline is valid? [True, True] Translation: X:153.73, Y:123.99, Z:6.94 [[-1.96364844e-01 -9.80520049e-01 4.61315243e-03 1.53730986e+02] [ 9.80119523e-01 -1.96416557e-01 -2.80402580e-02 1.23988376e+02] [ 2.84001347e-02 -9.84680144e-04 9.99596150e-01 6.94319224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.180714057 meters Centerline goodness : 0.985398 Centerline is valid? [True, True] Translation: X:153.73, Y:124.00, Z:6.94 [[-1.98815078e-01 -9.80024358e-01 4.98212635e-03 1.53732491e+02] [ 9.79625297e-01 -1.98876327e-01 -2.79729115e-02 1.24000231e+02] [ 2.84049616e-02 -6.80819588e-04 9.99596266e-01 6.94312122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.210714057 meters Centerline goodness : 0.985033 Centerline is valid? [True, True] Translation: X:153.74, Y:124.02, Z:6.94 [[-2.05168040e-01 -9.78714257e-01 4.94764446e-03 1.53736333e+02] [ 9.78314658e-01 -2.05225714e-01 -2.79791970e-02 1.24015851e+02] [ 2.83990229e-02 -9.00083910e-04 9.99596261e-01 6.94370761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.240714057 meters Centerline goodness : 0.985184 Centerline is valid? [True, True] Translation: X:153.74, Y:124.02, Z:6.94 [[-2.07418770e-01 -9.78239670e-01 4.96000099e-03 1.53739191e+02] [ 9.77839992e-01 -2.07475878e-01 -2.79769461e-02 1.24016977e+02] [ 2.83972391e-02 -9.52856429e-04 9.99596263e-01 6.94359766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.270714057 meters Centerline goodness : 0.985615 Centerline is valid? [True, True] Translation: X:153.74, Y:124.02, Z:6.94 [[-2.11407233e-01 -9.77385875e-01 4.88198711e-03 1.53744626e+02] [ 9.76985651e-01 -2.11460479e-01 -2.79911238e-02 1.24020471e+02] [ 2.83904764e-02 -1.14789467e-03 9.99596250e-01 6.94114250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.300714057 meters Centerline goodness : 0.984765 Centerline is valid? [True, True] Translation: X:153.75, Y:124.03, Z:6.94 [[-2.14344822e-01 -9.76746656e-01 4.71889699e-03 1.53746170e+02] [ 9.76345649e-01 -2.14392197e-01 -2.80206990e-02 1.24029936e+02] [ 2.83808187e-02 -1.39881718e-03 9.99596205e-01 6.94080836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.330714057 meters Centerline goodness : 0.983995 Centerline is valid? [True, True] Translation: X:153.75, Y:124.03, Z:6.94 [[-2.15894476e-01 -9.76405048e-01 4.77059503e-03 1.53751917e+02] [ 9.76004159e-01 -2.15942694e-01 -2.80113364e-02 1.24032888e+02] [ 2.83805854e-02 -1.39137220e-03 9.99596222e-01 6.94055135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.360714057 meters Centerline goodness : 0.980620 Centerline is valid? [True, True] Translation: X:153.76, Y:124.03, Z:6.94 [[-2.23415427e-01 -9.74712095e-01 4.67740102e-03 1.53756516e+02] [ 9.74310523e-01 -2.23457882e-01 -2.80281828e-02 1.24030420e+02] [ 2.83646109e-02 -1.70468739e-03 9.99596190e-01 6.94123470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.390714057 meters Centerline goodness : 0.979785 Centerline is valid? [True, True] Translation: X:153.76, Y:124.03, Z:6.94 [[-2.29046813e-01 -9.73402239e-01 5.06336590e-03 1.53759048e+02] [ 9.73001766e-01 -2.29098011e-01 -2.79582851e-02 1.24033593e+02] [ 2.83746644e-02 -1.47709215e-03 9.99596267e-01 6.94099846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.420714057 meters Centerline goodness : 0.979715 Centerline is valid? [True, True] Translation: X:153.76, Y:124.04, Z:6.94 [[-2.31743906e-01 -9.72763708e-01 5.05273095e-03 1.53759442e+02] [ 9.72363056e-01 -2.31793689e-01 -2.79602070e-02 1.24039679e+02] [ 2.83698658e-02 -1.56651869e-03 9.99596267e-01 6.94056751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.450714057 meters Centerline goodness : 0.981140 Centerline is valid? [True, True] Translation: X:153.76, Y:124.05, Z:6.94 [[-2.28267029e-01 -9.73585508e-01 5.04207946e-03 1.53757984e+02] [ 9.73184997e-01 -2.28317937e-01 -2.79621276e-02 1.24049241e+02] [ 2.83747194e-02 -1.47595570e-03 9.99596267e-01 6.94163072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.480714057 meters Centerline goodness : 0.983992 Centerline is valid? [True, True] Translation: X:153.76, Y:124.06, Z:6.94 [[-2.32593137e-01 -9.72563040e-01 4.64397619e-03 1.53757091e+02] [ 9.72160998e-01 -2.32630847e-01 -2.80336109e-02 1.24062749e+02] [ 2.83447859e-02 -2.00573297e-03 9.99596194e-01 6.93949052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51071405700003 meters Centerline goodness : 0.981846 Centerline is valid? [True, True] Translation: X:153.76, Y:124.06, Z:6.94 [[-2.36016396e-01 -9.71739015e-01 4.42123960e-03 1.53758945e+02] [ 9.71336207e-01 -2.36046291e-01 -2.80735043e-02 1.24064151e+02] [ 2.83237366e-02 -2.33129721e-03 9.99596084e-01 6.94058351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.540714057 meters Centerline goodness : 0.982579 Centerline is valid? [True, True] Translation: X:153.76, Y:124.07, Z:6.94 [[-2.41660792e-01 -9.70350141e-01 4.54602348e-03 1.53757793e+02] [ 9.69947494e-01 -2.41691933e-01 -2.80511711e-02 1.24065641e+02] [ 2.83181950e-02 -2.36946414e-03 9.99596151e-01 6.94010287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57071405700003 meters Centerline goodness : 0.983077 Centerline is valid? [True, True] Translation: X:153.75, Y:124.08, Z:6.94 [[-2.42655604e-01 -9.70101111e-01 4.70030599e-03 1.53754463e+02] [ 9.69698857e-01 -2.42690766e-01 -2.80235559e-02 1.24080082e+02] [ 2.83264035e-02 -2.24219153e-03 9.99596212e-01 6.93854028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.600714057 meters Centerline goodness : 0.982712 Centerline is valid? [True, True] Translation: X:153.75, Y:124.07, Z:6.94 [[-2.43464290e-01 -9.69899252e-01 4.53656528e-03 1.53754372e+02] [ 9.69496526e-01 -2.43494410e-01 -2.80527949e-02 1.24073706e+02] [ 2.83130131e-02 -2.43166950e-03 9.99596149e-01 6.93770448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63071405700003 meters Centerline goodness : 0.982766 Centerline is valid? [True, True] Translation: X:153.75, Y:124.08, Z:6.94 [[-2.43077341e-01 -9.69996085e-01 4.58272612e-03 1.53751742e+02] [ 9.69593493e-01 -2.43108949e-01 -2.80445641e-02 1.24078403e+02] [ 2.83172191e-02 -2.37361665e-03 9.99596169e-01 6.94222496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.660714057 meters Centerline goodness : 0.982766 Centerline is valid? [True, True] Translation: X:153.75, Y:124.08, Z:6.94 [[-2.42720423e-01 -9.70084935e-01 4.69198506e-03 1.53751155e+02] [ 9.69682654e-01 -2.42755318e-01 -2.80250953e-02 1.24080972e+02] [ 2.83257271e-02 -2.25252646e-03 9.99596208e-01 6.94233443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69071405700004 meters Centerline goodness : 0.983166 Centerline is valid? [True, True] Translation: X:153.75, Y:124.09, Z:6.94 [[-2.42786612e-01 -9.70068414e-01 4.68332531e-03 1.53746579e+02] [ 9.69666106e-01 -2.42821231e-01 -2.80266356e-02 1.24094891e+02] [ 2.83249647e-02 -2.26323008e-03 9.99596206e-01 6.94287401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.720714057 meters Centerline goodness : 0.983744 Centerline is valid? [True, True] Translation: X:153.75, Y:124.09, Z:6.94 [[-2.36196716e-01 -9.71693905e-01 4.69758967e-03 1.53747198e+02] [ 9.71291884e-01 -2.36234474e-01 -2.80241005e-02 1.24089393e+02] [ 2.83405803e-02 -2.05646979e-03 9.99596210e-01 6.94208610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.750714057 meters Centerline goodness : 0.983809 Centerline is valid? [True, True] Translation: X:153.74, Y:124.09, Z:6.94 [[-2.37849115e-01 -9.71291951e-01 4.44347382e-03 1.53744129e+02] [ 9.70889158e-01 -2.37878890e-01 -2.80691293e-02 1.24086423e+02] [ 2.83203280e-02 -2.36209699e-03 9.99596108e-01 6.94318085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.780714057 meters Centerline goodness : 0.984001 Centerline is valid? [True, True] Translation: X:153.74, Y:124.10, Z:6.94 [[-2.37250101e-01 -9.71437567e-01 4.63062212e-03 1.53738090e+02] [ 9.71035311e-01 -2.37285500e-01 -2.80359687e-02 1.24095133e+02] [ 2.83339727e-02 -2.15503879e-03 9.99596189e-01 6.94398274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.810714057 meters Centerline goodness : 0.985262 Centerline is valid? [True, True] Translation: X:153.74, Y:124.09, Z:6.94 [[-2.36842026e-01 -9.71537131e-01 4.63234189e-03 1.53736685e+02] [ 9.71134894e-01 -2.36877644e-01 -2.80356641e-02 1.24090422e+02] [ 2.83349869e-02 -2.14139463e-03 9.99596190e-01 6.94135807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.840714057 meters Centerline goodness : 0.986350 Centerline is valid? [True, True] Translation: X:153.73, Y:124.09, Z:6.94 [[-2.35601760e-01 -9.71838481e-01 4.66666818e-03 1.53733678e+02] [ 9.71436391e-01 -2.35638877e-01 -2.80295932e-02 1.24091450e+02] [ 2.83398857e-02 -2.07045020e-03 9.99596201e-01 6.94103624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.870714057 meters Centerline goodness : 0.986775 Centerline is valid? [True, True] Translation: X:153.73, Y:124.09, Z:6.94 [[-2.33973500e-01 -9.72231571e-01 4.70891287e-03 1.53733602e+02] [ 9.71829671e-01 -2.34012502e-01 -2.80221334e-02 1.24086979e+02] [ 2.83459473e-02 -1.98017538e-03 9.99596212e-01 6.94150554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.900714057 meters Centerline goodness : 0.986933 Centerline is valid? [True, True] Translation: X:153.73, Y:124.09, Z:6.94 [[-2.33935113e-01 -9.72240899e-01 4.69007395e-03 1.53727781e+02] [ 9.71838944e-01 -2.33973591e-01 -2.80254531e-02 1.24092343e+02] [ 2.83448452e-02 -1.99814101e-03 9.99596207e-01 6.94208099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.930714057 meters Centerline goodness : 0.986115 Centerline is valid? [True, True] Translation: X:153.73, Y:124.09, Z:6.94 [[-2.32253402e-01 -9.72643968e-01 4.69779446e-03 1.53727018e+02] [ 9.72242103e-01 -2.32292797e-01 -2.80240936e-02 1.24088728e+02] [ 2.83487294e-02 -1.94129751e-03 9.99596209e-01 6.94444017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.960714057 meters Centerline goodness : 0.986176 Centerline is valid? [True, True] Translation: X:153.72, Y:124.10, Z:6.95 [[-2.31707971e-01 -9.72773946e-01 4.71868774e-03 1.53721126e+02] [ 9.72372168e-01 -2.31748191e-01 -2.80204177e-02 1.24097054e+02] [ 2.83510797e-02 -1.90423352e-03 9.99596214e-01 6.94664434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.990714057 meters Centerline goodness : 0.985966 Centerline is valid? [True, True] Translation: X:153.72, Y:124.09, Z:6.95 [[-2.30253417e-01 -9.73118890e-01 4.79481344e-03 1.53719120e+02] [ 9.72717413e-01 -2.30296420e-01 -2.80070272e-02 1.24094559e+02] [ 2.83583956e-02 -1.78471521e-03 9.99596227e-01 6.94790143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.020714057 meters Centerline goodness : 0.986386 Centerline is valid? [True, True] Translation: X:153.72, Y:124.09, Z:6.95 [[-2.27055652e-01 -9.73870035e-01 4.78385408e-03 1.53715744e+02] [ 9.73468666e-01 -2.27099660e-01 -2.80089505e-02 1.24094155e+02] [ 2.83634893e-02 -1.70265848e-03 9.99596225e-01 6.94679494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.050714057 meters Centerline goodness : 0.987318 Centerline is valid? [True, True] Translation: X:153.71, Y:124.09, Z:6.95 [[-2.19219787e-01 -9.75663707e-01 4.79748609e-03 1.53713501e+02] [ 9.75262752e-01 -2.19267410e-01 -2.80065606e-02 1.24088360e+02] [ 2.83769171e-02 -1.46078277e-03 9.99596227e-01 6.94636925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.080714057 meters Centerline goodness : 0.985468 Centerline is valid? [True, True] Translation: X:153.71, Y:124.08, Z:6.95 [[-2.20739279e-01 -9.75321751e-01 4.65319596e-03 1.53713258e+02] [ 9.74920235e-01 -2.20782144e-01 -2.80317775e-02 1.24084589e+02] [ 2.83673449e-02 -1.65121946e-03 9.99596202e-01 6.94938977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.110714057 meters Centerline goodness : 0.988030 Centerline is valid? [True, True] Translation: X:153.71, Y:124.08, Z:6.95 [[-2.12792052e-01 -9.77085270e-01 4.89062365e-03 1.53708176e+02] [ 9.76684985e-01 -2.12844978e-01 -2.79902936e-02 1.24084913e+02] [ 2.83898482e-02 -1.17951333e-03 9.99596231e-01 6.94563290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.140714057 meters Centerline goodness : 0.987311 Centerline is valid? [True, True] Translation: X:153.71, Y:124.08, Z:6.95 [[-2.11568693e-01 -9.77352704e-01 4.51449040e-03 1.53708940e+02] [ 9.76951129e-01 -2.11611356e-01 -2.80557577e-02 1.24083690e+02] [ 2.83756881e-02 -1.52528349e-03 9.99596165e-01 6.94802867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.170714057 meters Centerline goodness : 0.988230 Centerline is valid? [True, True] Translation: X:153.71, Y:124.09, Z:6.95 [[-2.13441874e-01 -9.76945030e-01 4.57983924e-03 1.53705942e+02] [ 9.76543595e-01 -2.13485639e-01 -2.80444038e-02 1.24088283e+02] [ 2.83755708e-02 -1.51343742e-03 9.99596187e-01 6.94876547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.200714057 meters Centerline goodness : 0.990207 Centerline is valid? [True, True] Translation: X:153.70, Y:124.09, Z:6.95 [[-2.14358366e-01 -9.76744296e-01 4.59042063e-03 1.53703302e+02] [ 9.76342856e-01 -2.14402057e-01 -2.80425665e-02 1.24093316e+02] [ 2.83746125e-02 -1.52933433e-03 9.99596190e-01 6.94907281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.230714057 meters Centerline goodness : 0.989289 Centerline is valid? [True, True] Translation: X:153.70, Y:124.11, Z:6.95 [[-2.19916560e-01 -9.75508302e-01 4.50111348e-03 1.53697160e+02] [ 9.75106336e-01 -2.19955405e-01 -2.80580498e-02 1.24110046e+02] [ 2.83609048e-02 -1.78136552e-03 9.99596161e-01 6.95014733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26071405700003 meters Centerline goodness : 0.988025 Centerline is valid? [True, True] Translation: X:153.70, Y:124.10, Z:6.95 [[-2.23344011e-01 -9.74729320e-01 4.49508083e-03 1.53698426e+02] [ 9.74327202e-01 -2.23381270e-01 -2.80590937e-02 1.24101682e+02] [ 2.83541382e-02 -1.88715101e-03 9.99596159e-01 6.94988912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.290714057 meters Centerline goodness : 0.989337 Centerline is valid? [True, True] Translation: X:153.70, Y:124.10, Z:6.95 [[-2.28269110e-01 -9.73586884e-01 4.66823262e-03 1.53698331e+02] [ 9.73185095e-01 -2.28309302e-01 -2.80291510e-02 1.24098854e+02] [ 2.83546147e-02 -1.85513495e-03 9.99596206e-01 6.94940642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32071405700003 meters Centerline goodness : 0.988428 Centerline is valid? [True, True] Translation: X:153.70, Y:124.11, Z:6.95 [[-2.34782803e-01 -9.72037488e-01 4.48973460e-03 1.53695025e+02] [ 9.71634947e-01 -2.34815180e-01 -2.80599515e-02 1.24110626e+02] [ 2.83295826e-02 -2.22561101e-03 9.99596159e-01 6.94816822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.350714057 meters Centerline goodness : 0.988980 Centerline is valid? [True, True] Translation: X:153.69, Y:124.13, Z:6.95 [[-2.37554981e-01 -9.71363515e-01 4.53359979e-03 1.53690617e+02] [ 9.70960997e-01 -2.37587470e-01 -2.80523871e-02 1.24126552e+02] [ 2.83261918e-02 -2.26203572e-03 9.99596173e-01 6.94890653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38071405700003 meters Centerline goodness : 0.989045 Centerline is valid? [True, True] Translation: X:153.69, Y:124.12, Z:6.95 [[-2.41002307e-01 -9.70514130e-01 4.49577542e-03 1.53691078e+02] [ 9.70111405e-01 -2.41032280e-01 -2.80588991e-02 1.24115084e+02] [ 2.83151851e-02 -2.40085642e-03 9.99596162e-01 6.94912293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.410714057 meters Centerline goodness : 0.989769 Centerline is valid? [True, True] Translation: X:153.69, Y:124.12, Z:6.95 [[-2.41849872e-01 -9.70303144e-01 4.52188473e-03 1.53687123e+02] [ 9.69900458e-01 -2.41880243e-01 -2.80544104e-02 1.24118257e+02] [ 2.83150372e-02 -2.39917748e-03 9.99596170e-01 6.94869122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44071405700004 meters Centerline goodness : 0.989101 Centerline is valid? [True, True] Translation: X:153.69, Y:124.10, Z:6.95 [[-2.39331406e-01 -9.70927610e-01 4.47821216e-03 1.53688510e+02] [ 9.70524894e-01 -2.39361568e-01 -2.80619016e-02 1.24099009e+02] [ 2.83179869e-02 -2.36987798e-03 9.99596156e-01 6.94656373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.470714057 meters Centerline goodness : 0.988827 Centerline is valid? [True, True] Translation: X:153.68, Y:124.11, Z:6.95 [[-2.39411808e-01 -9.70908030e-01 4.42538185e-03 1.53682517e+02] [ 9.70505182e-01 -2.39440418e-01 -2.80709470e-02 1.24106094e+02] [ 2.83139231e-02 -2.42566014e-03 9.99596137e-01 6.95084419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.500714057 meters Centerline goodness : 0.988906 Centerline is valid? [True, True] Translation: X:153.68, Y:124.12, Z:6.95 [[-2.38627343e-01 -9.71100649e-01 4.52997136e-03 1.53675347e+02] [ 9.70698086e-01 -2.38659282e-01 -2.80530432e-02 1.24122085e+02] [ 2.83234482e-02 -2.29698863e-03 9.99596172e-01 6.95256233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.530714057 meters Centerline goodness : 0.989332 Centerline is valid? [True, True] Translation: X:153.67, Y:124.12, Z:6.95 [[-2.37394115e-01 -9.71403160e-01 4.46495681e-03 1.53672741e+02] [ 9.71000472e-01 -2.37424699e-01 -2.80641476e-02 1.24122464e+02] [ 2.83216927e-02 -2.32678831e-03 9.99596152e-01 6.95346341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.560714057 meters Centerline goodness : 0.988073 Centerline is valid? [True, True] Translation: X:153.67, Y:124.12, Z:6.96 [[-2.35337096e-01 -9.71903303e-01 4.51890361e-03 1.53667368e+02] [ 9.71500821e-01 -2.35370082e-01 -2.80549494e-02 1.24120394e+02] [ 2.83303127e-02 -2.21225176e-03 9.99596168e-01 6.95526435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.590714057 meters Centerline goodness : 0.984934 Centerline is valid? [True, True] Translation: X:153.67, Y:124.13, Z:6.96 [[-2.37042740e-01 -9.71488596e-01 4.54399366e-03 1.53665728e+02] [ 9.71086121e-01 -2.37075739e-01 -2.80506755e-02 1.24125697e+02] [ 2.83281820e-02 -2.23659980e-03 9.99596174e-01 6.95559036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.620714057 meters Centerline goodness : 0.989992 Centerline is valid? [True, True] Translation: X:153.66, Y:124.13, Z:6.95 [[-2.30726910e-01 -9.73006847e-01 4.77161688e-03 1.53658332e+02] [ 9.72605253e-01 -2.30769051e-01 -2.80119023e-02 1.24129788e+02] [ 2.83569143e-02 -1.82220002e-03 9.99596201e-01 6.95139242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.650714057 meters Centerline goodness : 0.988754 Centerline is valid? [True, True] Translation: X:153.66, Y:124.12, Z:6.95 [[-2.29725912e-01 -9.73245857e-01 4.30202086e-03 1.53658518e+02] [ 9.72843006e-01 -2.29754995e-01 -2.80914252e-02 1.24123091e+02] [ 2.83282739e-02 -2.26813737e-03 9.99596101e-01 6.94945564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.680714057 meters Centerline goodness : 0.988069 Centerline is valid? [True, True] Translation: X:153.65, Y:124.14, Z:6.95 [[-2.28670238e-01 -9.73493564e-01 4.49479110e-03 1.53649854e+02] [ 9.73091257e-01 -2.28705290e-01 -2.80587954e-02 1.24138958e+02] [ 2.83430393e-02 -2.04236951e-03 9.99596169e-01 6.95086861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.710714057 meters Centerline goodness : 0.987151 Centerline is valid? [True, True] Translation: X:153.65, Y:124.13, Z:6.95 [[-2.25652972e-01 -9.74198191e-01 4.31509760e-03 1.53647719e+02] [ 9.73795502e-01 -2.25684115e-01 -2.80891441e-02 1.24129548e+02] [ 2.83382424e-02 -2.13637622e-03 9.99596108e-01 6.95151882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.740714057 meters Centerline goodness : 0.988575 Centerline is valid? [True, True] Translation: X:153.64, Y:124.14, Z:6.95 [[-2.23757137e-01 -9.74635358e-01 4.31994761e-03 1.53643160e+02] [ 9.74232744e-01 -2.23789203e-01 -2.80883268e-02 1.24143580e+02] [ 2.83426341e-02 -2.07632920e-03 9.99596110e-01 6.95129054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.770714057 meters Centerline goodness : 0.987850 Centerline is valid? [True, True] Translation: X:153.64, Y:124.13, Z:6.95 [[-2.21157301e-01 -9.75228730e-01 4.28624511e-03 1.53642238e+02] [ 9.74826110e-01 -2.21189474e-01 -2.80939962e-02 1.24128781e+02] [ 2.83461446e-02 -2.03484875e-03 9.99596096e-01 6.95186789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.800714057 meters Centerline goodness : 0.988198 Centerline is valid? [True, True] Translation: X:153.64, Y:124.13, Z:6.95 [[-2.17403236e-01 -9.76071489e-01 4.50341673e-03 1.53639483e+02] [ 9.75669637e-01 -2.17443182e-01 -2.80574602e-02 1.24133736e+02] [ 2.83653242e-02 -1.70593567e-03 9.99596168e-01 6.95304643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.830714057 meters Centerline goodness : 0.989647 Centerline is valid? [True, True] Translation: X:153.63, Y:124.14, Z:6.95 [[-2.27266772e-01 -9.73822716e-01 4.37403861e-03 1.53628057e+02] [ 9.73420132e-01 -2.27298939e-01 -2.80791704e-02 1.24139843e+02] [ 2.83383483e-02 -2.12368517e-03 9.99596132e-01 6.94988235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.860714057 meters Centerline goodness : 0.986356 Centerline is valid? [True, True] Translation: X:153.64, Y:124.13, Z:6.95 [[-2.11334311e-01 -9.77401756e-01 4.85961886e-03 1.53636791e+02] [ 9.77001381e-01 -2.11386944e-01 -2.79975288e-02 1.24127731e+02] [ 2.83920938e-02 -1.16898411e-03 9.99596180e-01 6.95310643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.890714057 meters Centerline goodness : 0.987528 Centerline is valid? [True, True] Translation: X:153.63, Y:124.13, Z:6.95 [[-2.07576541e-01 -9.78209027e-01 4.36792465e-03 1.53634519e+02] [ 9.77807167e-01 -2.07616649e-01 -2.80797213e-02 1.24129997e+02] [ 2.83746907e-02 -1.55770340e-03 9.99596144e-01 6.95303273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.920714057 meters Centerline goodness : 0.988379 Centerline is valid? [True, True] Translation: X:153.63, Y:124.14, Z:6.95 [[-2.07369349e-01 -9.78253178e-01 4.32126876e-03 1.53631847e+02] [ 9.77851179e-01 -2.07408205e-01 -2.80875105e-02 1.24137054e+02] [ 2.83729630e-02 -1.59893100e-03 9.99596128e-01 6.95434254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.950714057 meters Centerline goodness : 0.986371 Centerline is valid? [True, True] Translation: X:153.63, Y:124.12, Z:6.95 [[-2.05151880e-01 -9.78720630e-01 4.31680115e-03 1.53633155e+02] [ 9.78318706e-01 -2.05191519e-01 -2.80882542e-02 1.24117733e+02] [ 2.83763249e-02 -1.53915084e-03 9.99596126e-01 6.95237070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.980714057 meters Centerline goodness : 0.986364 Centerline is valid? [True, True] Translation: X:153.63, Y:124.12, Z:6.95 [[-2.04102134e-01 -9.78940243e-01 4.28004192e-03 1.53633214e+02] [ 9.78538245e-01 -2.04141152e-01 -2.80943577e-02 1.24119106e+02] [ 2.83764300e-02 -1.54593365e-03 9.99596113e-01 6.95311599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01071405700003 meters Centerline goodness : 0.987705 Centerline is valid? [True, True] Translation: X:153.63, Y:124.15, Z:6.95 [[-2.09384468e-01 -9.77824034e-01 4.27813885e-03 1.53627300e+02] [ 9.77421826e-01 -2.09421260e-01 -2.80946733e-02 1.24148465e+02] [ 2.83675800e-02 -1.70104192e-03 9.99596112e-01 6.95298331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.040714057 meters Centerline goodness : 0.988114 Centerline is valid? [True, True] Translation: X:153.63, Y:124.15, Z:6.95 [[-2.10091189e-01 -9.77671987e-01 4.37924684e-03 1.53626152e+02] [ 9.77270059e-01 -2.10130587e-01 -2.80779047e-02 1.24152398e+02] [ 2.83711946e-02 -1.61921355e-03 9.99596145e-01 6.95054472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07071405700003 meters Centerline goodness : 0.988936 Centerline is valid? [True, True] Translation: X:153.63, Y:124.15, Z:6.95 [[-2.11114811e-01 -9.77452327e-01 4.18151560e-03 1.53626558e+02] [ 9.77049777e-01 -2.11148123e-01 -2.81105649e-02 1.24147883e+02] [ 2.83596562e-02 -1.84900771e-03 9.99596074e-01 6.94922763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.100714057 meters Centerline goodness : 0.987221 Centerline is valid? [True, True] Translation: X:153.63, Y:124.15, Z:6.95 [[-2.13218547e-01 -9.76995763e-01 4.13885209e-03 1.53626319e+02] [ 9.76593025e-01 -2.13249768e-01 -2.81175991e-02 1.24149346e+02] [ 2.83533844e-02 -1.95321953e-03 9.99596054e-01 6.95003172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13071405700003 meters Centerline goodness : 0.987018 Centerline is valid? [True, True] Translation: X:153.62, Y:124.18, Z:6.95 [[-2.16568423e-01 -9.76257956e-01 4.30361516e-03 1.53620071e+02] [ 9.75855560e-01 -2.16602987e-01 -2.80904115e-02 1.24180528e+02] [ 2.83556636e-02 -1.88378932e-03 9.99596122e-01 6.95029640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.160714057 meters Centerline goodness : 0.988670 Centerline is valid? [True, True] Translation: X:153.63, Y:124.14, Z:6.95 [[-2.13975074e-01 -9.76829239e-01 4.39386976e-03 1.53626878e+02] [ 9.76427199e-01 -2.14013293e-01 -2.80755339e-02 1.24137963e+02] [ 2.83653489e-02 -1.71717047e-03 9.99596148e-01 6.94812012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19071405700004 meters Centerline goodness : 0.984745 Centerline is valid? [True, True] Translation: X:153.63, Y:124.15, Z:6.95 [[-2.20446823e-01 -9.75390353e-01 4.10589328e-03 1.53625513e+02] [ 9.74987320e-01 -2.20474117e-01 -2.81227509e-02 1.24147168e+02] [ 2.83359031e-02 -2.19637721e-03 9.99596045e-01 6.95302572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.220714057 meters Centerline goodness : 0.987383 Centerline is valid? [True, True] Translation: X:153.62, Y:124.15, Z:6.95 [[-2.17837317e-01 -9.75974217e-01 4.60765040e-03 1.53623101e+02] [ 9.75572661e-01 -2.17880070e-01 -2.80403047e-02 1.24148961e+02] [ 2.83705296e-02 -1.61312697e-03 9.99596174e-01 6.95285502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.250714057 meters Centerline goodness : 0.988706 Centerline is valid? [True, True] Translation: X:153.62, Y:124.15, Z:6.95 [[-2.17852992e-01 -9.75971910e-01 4.34796757e-03 1.53620901e+02] [ 9.75569601e-01 -2.17888299e-01 -2.80827906e-02 1.24150868e+02] [ 2.83553861e-02 -1.87617498e-03 9.99596144e-01 6.95300274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.280714057 meters Centerline goodness : 0.987820 Centerline is valid? [True, True] Translation: X:153.62, Y:124.15, Z:6.95 [[-2.18613905e-01 -9.75801974e-01 4.29749800e-03 1.53620992e+02] [ 9.75399500e-01 -2.18647452e-01 -2.80910365e-02 1.24152075e+02] [ 2.83509259e-02 -1.94931380e-03 9.99596131e-01 6.95493977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.310714057 meters Centerline goodness : 0.988852 Centerline is valid? [True, True] Translation: X:153.62, Y:124.15, Z:6.95 [[-2.18051116e-01 -9.75927230e-01 4.44446961e-03 1.53619721e+02] [ 9.75525183e-01 -2.18089107e-01 -2.80670299e-02 1.24148467e+02] [ 2.83606691e-02 -1.78435517e-03 9.99596163e-01 6.95490288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.340714057 meters Centerline goodness : 0.988317 Centerline is valid? [True, True] Translation: X:153.62, Y:124.15, Z:6.96 [[-2.18481927e-01 -9.75831106e-01 4.39314959e-03 1.53618583e+02] [ 9.75428899e-01 -2.18518270e-01 -2.80753998e-02 1.24151901e+02] [ 2.83568319e-02 -1.84876238e-03 9.99596155e-01 6.95504792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.370714057 meters Centerline goodness : 0.987909 Centerline is valid? [True, True] Translation: X:153.62, Y:124.15, Z:6.95 [[-2.17233905e-01 -9.76109267e-01 4.48652591e-03 1.53618160e+02] [ 9.75707374e-01 -2.17273437e-01 -2.80601857e-02 1.24153440e+02] [ 2.83646103e-02 -1.71808731e-03 9.99596167e-01 6.95287103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.400714057 meters Centerline goodness : 0.987355 Centerline is valid? [True, True] Translation: X:153.61, Y:124.18, Z:6.95 [[-2.21594666e-01 -9.75129137e-01 4.35540346e-03 1.53613739e+02] [ 9.74726718e-01 -2.21628643e-01 -2.80814905e-02 1.24179743e+02] [ 2.83483618e-02 -1.97738039e-03 9.99596149e-01 6.95269935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.430714057 meters Centerline goodness : 0.987147 Centerline is valid? [True, True] Translation: X:153.62, Y:124.16, Z:6.95 [[-2.21159167e-01 -9.75227068e-01 4.55953275e-03 1.53617633e+02] [ 9.74825224e-01 -2.21199174e-01 -2.80483079e-02 1.24156428e+02] [ 2.83620339e-02 -1.75839287e-03 9.99596170e-01 6.95053695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.460714057 meters Centerline goodness : 0.988437 Centerline is valid? [True, True] Translation: X:153.62, Y:124.15, Z:6.95 [[-2.17452792e-01 -9.76060240e-01 4.54870787e-03 1.53617690e+02] [ 9.75658520e-01 -2.17494015e-01 -2.80500633e-02 1.24150584e+02] [ 2.83678682e-02 -1.66157898e-03 9.99596170e-01 6.94669993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.490714057 meters Centerline goodness : 0.986553 Centerline is valid? [True, True] Translation: X:153.62, Y:124.15, Z:6.95 [[-2.22295580e-01 -9.74970041e-01 4.25370725e-03 1.53619153e+02] [ 9.74567346e-01 -2.22326352e-01 -2.80977199e-02 1.24148730e+02] [ 2.83401464e-02 -2.10047476e-03 9.99596131e-01 6.94602739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.520714057 meters Centerline goodness : 0.987401 Centerline is valid? [True, True] Translation: X:153.62, Y:124.16, Z:6.95 [[-2.21769531e-01 -9.75088570e-01 4.53383569e-03 1.53616142e+02] [ 9.74686630e-01 -2.21808550e-01 -2.80524467e-02 1.24157108e+02] [ 2.83592637e-02 -1.80210891e-03 9.99596171e-01 6.94666137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.550714057 meters Centerline goodness : 0.987401 Centerline is valid? [True, True] Translation: X:153.62, Y:124.16, Z:6.95 [[-2.21400002e-01 -9.75172590e-01 4.52322280e-03 1.53615646e+02] [ 9.74770635e-01 -2.21438869e-01 -2.80541579e-02 1.24159743e+02] [ 2.83592631e-02 -1.80208583e-03 9.99596171e-01 6.94673295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.580714057 meters Centerline goodness : 0.988033 Centerline is valid? [True, True] Translation: X:153.62, Y:124.12, Z:6.95 [[-2.07661839e-01 -9.78190266e-01 4.51258655e-03 1.53623554e+02] [ 9.77788865e-01 -2.07706052e-01 -2.80558686e-02 1.24118270e+02] [ 2.83812691e-02 -1.41377640e-03 9.99596171e-01 6.94547884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.610714057 meters Centerline goodness : 0.987980 Centerline is valid? [True, True] Translation: X:153.61, Y:124.17, Z:6.95 [[-2.15270784e-01 -9.76546661e-01 3.88698607e-03 1.53610810e+02] [ 9.76143317e-01 -2.15293940e-01 -2.81557182e-02 1.24171373e+02] [ 2.83322172e-02 -2.26684807e-03 9.99595992e-01 6.94939615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.640714057 meters Centerline goodness : 0.985156 Centerline is valid? [True, True] Translation: X:153.61, Y:124.17, Z:6.95 [[-2.19617965e-01 -9.75576984e-01 4.18294985e-03 1.53612978e+02] [ 9.75174219e-01 -2.19647815e-01 -2.81083480e-02 1.24167314e+02] [ 2.83406332e-02 -2.09399334e-03 9.99596130e-01 6.95042285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.670714057 meters Centerline goodness : 0.984961 Centerline is valid? [True, True] Translation: X:153.61, Y:124.16, Z:6.95 [[-2.19002414e-01 -9.75713950e-01 4.49787170e-03 1.53613950e+02] [ 9.75312031e-01 -2.19041544e-01 -2.80578653e-02 1.24159496e+02] [ 2.83616713e-02 -1.75791186e-03 9.99596181e-01 6.95095234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.700714057 meters Centerline goodness : 0.984272 Centerline is valid? [True, True] Translation: X:153.61, Y:124.16, Z:6.95 [[-2.18833146e-01 -9.75751976e-01 4.48726541e-03 1.53612596e+02] [ 9.75350035e-01 -2.18872042e-01 -2.80595614e-02 1.24164261e+02] [ 2.83613095e-02 -1.76370764e-03 9.99596181e-01 6.95140442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.730714057 meters Centerline goodness : 0.984652 Centerline is valid? [True, True] Translation: X:153.61, Y:124.20, Z:6.95 [[-2.22026155e-01 -9.75030433e-01 4.47669152e-03 1.53607316e+02] [ 9.74628339e-01 -2.22063432e-01 -2.80612483e-02 1.24202647e+02] [ 2.83546806e-02 -1.86722064e-03 9.99596181e-01 6.95069225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76071405700003 meters Centerline goodness : 0.987302 Centerline is valid? [True, True] Translation: X:153.61, Y:124.18, Z:6.95 [[-2.19981747e-01 -9.75493765e-01 4.46596787e-03 1.53611125e+02] [ 9.75091721e-01 -2.20019559e-01 -2.80629549e-02 1.24176365e+02] [ 2.83578378e-02 -1.81860954e-03 9.99596181e-01 6.94870814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.790714057 meters Centerline goodness : 0.989395 Centerline is valid? [True, True] Translation: X:153.61, Y:124.20, Z:6.95 [[-2.21199529e-01 -9.75219572e-01 4.18988899e-03 1.53606791e+02] [ 9.74816791e-01 -2.21228927e-01 -2.81067016e-02 1.24203215e+02] [ 2.83371301e-02 -2.13281502e-03 9.99596148e-01 6.94938773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82071405700003 meters Centerline goodness : 0.987418 Centerline is valid? [True, True] Translation: X:153.60, Y:124.22, Z:6.95 [[-2.26705537e-01 -9.73954655e-01 4.11447884e-03 1.53604873e+02] [ 9.73551552e-01 -2.26730495e-01 -2.81186388e-02 1.24221507e+02] [ 2.83191570e-02 -2.36899386e-03 9.99596125e-01 6.95077268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.850714057 meters Centerline goodness : 0.989589 Centerline is valid? [True, True] Translation: X:153.60, Y:124.27, Z:6.95 [[-2.27316030e-01 -9.73811653e-01 4.27639812e-03 1.53597952e+02] [ 9.73408887e-01 -2.27345381e-01 -2.80929915e-02 1.24265108e+02] [ 2.83295018e-02 -2.22330336e-03 9.99596167e-01 6.95205438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88071405700003 meters Centerline goodness : 0.987736 Centerline is valid? [True, True] Translation: X:153.61, Y:124.22, Z:6.95 [[-2.29647047e-01 -9.73265686e-01 4.01732569e-03 1.53606716e+02] [ 9.72862320e-01 -2.29667998e-01 -2.81338959e-02 1.24220826e+02] [ 2.83044067e-02 -2.55256132e-03 9.99596091e-01 6.95160078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.910714057 meters Centerline goodness : 0.988816 Centerline is valid? [True, True] Translation: X:153.60, Y:124.24, Z:6.95 [[-2.30266976e-01 -9.73118377e-01 4.21248043e-03 1.53602730e+02] [ 9.72715386e-01 -2.30293272e-01 -2.81031369e-02 1.24241189e+02] [ 2.83177848e-02 -2.37367983e-03 9.99596153e-01 6.95231229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94071405700004 meters Centerline goodness : 0.986100 Centerline is valid? [True, True] Translation: X:153.61, Y:124.23, Z:6.95 [[-2.34385018e-01 -9.72135330e-01 4.06992683e-03 1.53607830e+02] [ 9.71731964e-01 -2.34405515e-01 -2.81255372e-02 1.24227310e+02] [ 2.82958417e-02 -2.63732655e-03 9.99596113e-01 6.95370291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.970714057 meters Centerline goodness : 0.985797 Centerline is valid? [True, True] Translation: X:153.61, Y:124.24, Z:6.95 [[-2.34415146e-01 -9.72126552e-01 4.41650869e-03 1.53606815e+02] [ 9.71723875e-01 -2.34445577e-01 -2.80710101e-02 1.24235611e+02] [ 2.83240052e-02 -2.28864299e-03 9.99596175e-01 6.95424880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.000714057 meters Centerline goodness : 0.987773 Centerline is valid? [True, True] Translation: X:153.60, Y:124.26, Z:6.95 [[-2.30662211e-01 -9.73023913e-01 4.40554873e-03 1.53604091e+02] [ 9.72621332e-01 -2.30693881e-01 -2.80727300e-02 1.24257434e+02] [ 2.83317708e-02 -2.19038731e-03 9.99596175e-01 6.95489284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.030714057 meters Centerline goodness : 0.986421 Centerline is valid? [True, True] Translation: X:153.60, Y:124.26, Z:6.96 [[-2.30593504e-01 -9.73041345e-01 4.14454446e-03 1.53604118e+02] [ 9.72638216e-01 -2.30617715e-01 -2.81135182e-02 1.24261369e+02] [ 2.83114209e-02 -2.45165233e-03 9.99596145e-01 6.95541363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.060714057 meters Centerline goodness : 0.986746 Centerline is valid? [True, True] Translation: X:153.61, Y:124.23, Z:6.95 [[-2.29988587e-01 -9.73184632e-01 4.11360882e-03 1.53610961e+02] [ 9.72781458e-01 -2.30012162e-01 -2.81183388e-02 1.24231278e+02] [ 2.83105153e-02 -2.46525462e-03 9.99596137e-01 6.95372115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.090714057 meters Centerline goodness : 0.988139 Centerline is valid? [True, True] Translation: X:153.61, Y:124.25, Z:6.95 [[-2.29156884e-01 -9.73380285e-01 4.23590562e-03 1.53609056e+02] [ 9.72977379e-01 -2.29184311e-01 -2.80993126e-02 1.24247334e+02] [ 2.83221201e-02 -2.31771057e-03 9.99596161e-01 6.95414263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.120714057 meters Centerline goodness : 0.987593 Centerline is valid? [True, True] Translation: X:153.61, Y:124.27, Z:6.95 [[-2.29637129e-01 -9.73267819e-01 4.06723549e-03 1.53607477e+02] [ 9.72864565e-01 -2.29659518e-01 -2.81255101e-02 1.24271872e+02] [ 2.83077332e-02 -2.50179210e-03 9.99596125e-01 6.95358123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.150714057 meters Centerline goodness : 0.988232 Centerline is valid? [True, True] Translation: X:153.61, Y:124.26, Z:6.95 [[-2.28862176e-01 -9.73450228e-01 4.09368313e-03 1.53610679e+02] [ 9.73047043e-01 -2.28885646e-01 -2.81214068e-02 1.24256269e+02] [ 2.83117752e-02 -2.45258010e-03 9.99596133e-01 6.95316218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.180714057 meters Centerline goodness : 0.987822 Centerline is valid? [True, True] Translation: X:153.61, Y:124.26, Z:6.95 [[-2.28396898e-01 -9.73559990e-01 3.97538992e-03 1.53611662e+02] [ 9.73156593e-01 -2.28417166e-01 -2.81397050e-02 1.24257011e+02] [ 2.83037382e-02 -2.55834443e-03 9.99596095e-01 6.95059152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.210714057 meters Centerline goodness : 0.988176 Centerline is valid? [True, True] Translation: X:153.61, Y:124.26, Z:6.95 [[-2.26961508e-01 -9.73895016e-01 4.11976333e-03 1.53612561e+02] [ 9.73491929e-01 -2.26986512e-01 -2.81173785e-02 1.24256276e+02] [ 2.83185054e-02 -2.37100625e-03 9.99596139e-01 6.95165394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.240714057 meters Centerline goodness : 0.987999 Centerline is valid? [True, True] Translation: X:153.62, Y:124.24, Z:6.95 [[-2.24532584e-01 -9.74458191e-01 4.04381830e-03 1.53616439e+02] [ 9.74055014e-01 -2.24556415e-01 -2.81290823e-02 1.24242384e+02] [ 2.83186800e-02 -2.37699404e-03 9.99596120e-01 6.95155024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.270714057 meters Centerline goodness : 0.986169 Centerline is valid? [True, True] Translation: X:153.62, Y:124.24, Z:6.95 [[-2.23692891e-01 -9.74651397e-01 4.01803064e-03 1.53616899e+02] [ 9.74248190e-01 -2.23716330e-01 -2.81330459e-02 1.24244551e+02] [ 2.83188115e-02 -2.37860330e-03 9.99596112e-01 6.95302087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.300714057 meters Centerline goodness : 0.987476 Centerline is valid? [True, True] Translation: X:153.62, Y:124.23, Z:6.95 [[-2.19043613e-01 -9.75706504e-01 4.08812305e-03 1.53619658e+02] [ 9.75303564e-01 -2.19070984e-01 -2.81222813e-02 1.24234586e+02] [ 2.83346819e-02 -2.17284513e-03 9.99596131e-01 6.95282401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.330714057 meters Centerline goodness : 0.986085 Centerline is valid? [True, True] Translation: X:153.62, Y:124.23, Z:6.95 [[-2.15255593e-01 -9.76549637e-01 3.97942710e-03 1.53619656e+02] [ 9.76146564e-01 -2.15281411e-01 -2.81389258e-02 1.24232366e+02] [ 2.83357544e-02 -2.17255705e-03 9.99596101e-01 6.95180826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.360714057 meters Centerline goodness : 0.987947 Centerline is valid? [True, True] Translation: X:153.62, Y:124.24, Z:6.96 [[-2.11837024e-01 -9.77296768e-01 4.01277563e-03 1.53618432e+02] [ 9.76893864e-01 -2.11865209e-01 -2.81338267e-02 1.24236491e+02] [ 2.83452654e-02 -2.03973023e-03 9.99596111e-01 6.95529787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.390714057 meters Centerline goodness : 0.987525 Centerline is valid? [True, True] Translation: X:153.62, Y:124.23, Z:6.96 [[-2.07616308e-01 -9.78202649e-01 3.87886376e-03 1.53619832e+02] [ 9.77799558e-01 -2.07642394e-01 -2.81542197e-02 1.24226086e+02] [ 2.83459489e-02 -2.05252388e-03 9.99596066e-01 6.95697072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.420714057 meters Centerline goodness : 0.989416 Centerline is valid? [True, True] Translation: X:153.62, Y:124.23, Z:6.95 [[-2.05198702e-01 -9.78712609e-01 3.88875360e-03 1.53618809e+02] [ 9.78309606e-01 -2.05226068e-01 -2.81527159e-02 1.24230313e+02] [ 2.83514916e-02 -1.97249574e-03 9.99596070e-01 6.95497013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.450714057 meters Centerline goodness : 0.987231 Centerline is valid? [True, True] Translation: X:153.62, Y:124.23, Z:6.96 [[-2.05029292e-01 -9.78749386e-01 3.55357342e-03 1.53620631e+02] [ 9.78345668e-01 -2.05047120e-01 -2.82034292e-02 1.24228358e+02] [ 2.83327390e-02 -2.30590597e-03 9.99595888e-01 6.95775990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.480714057 meters Centerline goodness : 0.988019 Centerline is valid? [True, True] Translation: X:153.62, Y:124.23, Z:6.96 [[-2.04689162e-01 -9.78819554e-01 3.82454658e-03 1.53619487e+02] [ 9.78416420e-01 -2.04714898e-01 -2.81623871e-02 1.24234667e+02] [ 2.83488368e-02 -2.02253623e-03 9.99596045e-01 6.95612616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51071405700003 meters Centerline goodness : 0.986477 Centerline is valid? [True, True] Translation: X:153.62, Y:124.25, Z:6.96 [[-2.08062589e-01 -9.78109212e-01 3.51108018e-03 1.53621380e+02] [ 9.77705366e-01 -2.08077946e-01 -2.82096734e-02 1.24248031e+02] [ 2.83227198e-02 -2.43657575e-03 9.99595862e-01 6.95895954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.540714057 meters Centerline goodness : 0.988623 Centerline is valid? [True, True] Translation: X:153.62, Y:124.28, Z:6.96 [[-2.10292414e-01 -9.77630907e-01 3.86153016e-03 1.53616650e+02] [ 9.77227714e-01 -2.10316901e-01 -2.81566306e-02 1.24278467e+02] [ 2.83389374e-02 -2.14753152e-03 9.99596065e-01 6.95732024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57071405700003 meters Centerline goodness : 0.987234 Centerline is valid? [True, True] Translation: X:153.62, Y:124.26, Z:6.96 [[-2.14041049e-01 -9.76817913e-01 3.63246217e-03 1.53623234e+02] [ 9.76414194e-01 -2.14057419e-01 -2.81911973e-02 1.24259323e+02] [ 2.83152220e-02 -2.48728582e-03 9.99595949e-01 6.95816905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.600714057 meters Centerline goodness : 0.986853 Centerline is valid? [True, True] Translation: X:153.62, Y:124.29, Z:6.96 [[-2.17328097e-01 -9.76090632e-01 3.94661451e-03 1.53620923e+02] [ 9.75687442e-01 -2.17352120e-01 -2.81437658e-02 1.24287070e+02] [ 2.83286712e-02 -2.26576886e-03 9.99596095e-01 6.95532370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63071405700003 meters Centerline goodness : 0.988044 Centerline is valid? [True, True] Translation: X:153.62, Y:124.27, Z:6.96 [[-2.17748136e-01 -9.75997186e-01 3.90407365e-03 1.53623030e+02] [ 9.75593902e-01 -2.17770765e-01 -2.81501792e-02 1.24273800e+02] [ 2.83246888e-02 -2.32085860e-03 9.99596081e-01 6.95558348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.660714057 meters Centerline goodness : 0.986745 Centerline is valid? [True, True] Translation: X:153.62, Y:124.29, Z:6.96 [[-2.19524850e-01 -9.75599296e-01 3.85404190e-03 1.53623454e+02] [ 9.75195878e-01 -2.19545310e-01 -2.81577087e-02 1.24286172e+02] [ 2.83167776e-02 -2.42287099e-03 9.99596063e-01 6.95675231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69071405700004 meters Centerline goodness : 0.987483 Centerline is valid? [True, True] Translation: X:153.63, Y:124.27, Z:6.96 [[-2.18700391e-01 -9.75784135e-01 3.93196493e-03 1.53626356e+02] [ 9.75380883e-01 -2.18723426e-01 -2.81459909e-02 1.24271513e+02] [ 2.83244242e-02 -2.32037577e-03 9.99596090e-01 6.95720085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.720714057 meters Centerline goodness : 0.987308 Centerline is valid? [True, True] Translation: X:153.62, Y:124.28, Z:6.96 [[-2.16570759e-01 -9.76258869e-01 3.96580360e-03 1.53624011e+02] [ 9.75855735e-01 -2.16595645e-01 -2.81409105e-02 1.24284462e+02] [ 2.83317892e-02 -2.22444617e-03 9.99596099e-01 6.95843444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.750714057 meters Centerline goodness : 0.984186 Centerline is valid? [True, True] Translation: X:153.63, Y:124.28, Z:6.96 [[-2.17193189e-01 -9.76120868e-01 3.89473078e-03 1.53626085e+02] [ 9.75717580e-01 -2.17215780e-01 -2.81515526e-02 1.24275770e+02] [ 2.83253149e-02 -2.31416818e-03 9.99596079e-01 6.95785997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.780714057 meters Centerline goodness : 0.987551 Centerline is valid? [True, True] Translation: X:153.62, Y:124.28, Z:6.96 [[-2.10746431e-01 -9.77531688e-01 4.21190455e-03 1.53624149e+02] [ 9.77129281e-01 -2.10780768e-01 -2.81040197e-02 1.24280952e+02] [ 2.83603583e-02 -1.80724657e-03 9.99596130e-01 6.95858970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.810714057 meters Centerline goodness : 0.987736 Centerline is valid? [True, True] Translation: X:153.63, Y:124.27, Z:6.96 [[-2.02617261e-01 -9.79250290e-01 3.88771415e-03 1.53626435e+02] [ 9.78847375e-01 -2.02645661e-01 -2.81523183e-02 1.24272145e+02] [ 2.83559943e-02 -1.89866686e-03 9.99596085e-01 6.95753214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.840714057 meters Centerline goodness : 0.988240 Centerline is valid? [True, True] Translation: X:153.63, Y:124.28, Z:6.96 [[-1.94519488e-01 -9.80891585e-01 3.72379045e-03 1.53626961e+02] [ 9.80488514e-01 -1.94546524e-01 -2.81766560e-02 1.24276434e+02] [ 2.83626953e-02 -1.82977494e-03 9.99596023e-01 6.95716827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.870714057 meters Centerline goodness : 0.986660 Centerline is valid? [True, True] Translation: X:153.63, Y:124.27, Z:6.96 [[-1.90407526e-01 -9.81697967e-01 3.75162451e-03 1.53627261e+02] [ 9.81295083e-01 -1.90437047e-01 -2.81725280e-02 1.24274859e+02] [ 2.83713617e-02 -1.68281068e-03 9.99596035e-01 6.95908215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.900714057 meters Centerline goodness : 0.985913 Centerline is valid? [True, True] Translation: X:153.63, Y:124.26, Z:6.96 [[-1.75778220e-01 -9.84422109e-01 3.88947824e-03 1.53628959e+02] [ 9.84020125e-01 -1.75817672e-01 -2.81520945e-02 1.24262536e+02] [ 2.83973832e-02 -1.12120020e-03 9.99596084e-01 6.96212306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.930714057 meters Centerline goodness : 0.985623 Centerline is valid? [True, True] Translation: X:153.63, Y:124.26, Z:6.96 [[-1.68673937e-01 -9.85664997e-01 3.68997843e-03 1.53628082e+02] [ 9.85262675e-01 -1.68710590e-01 -2.81815133e-02 1.24258410e+02] [ 2.84000697e-02 -1.11788878e-03 9.99596012e-01 6.96149862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.960714057 meters Centerline goodness : 0.988920 Centerline is valid? [True, True] Translation: X:153.63, Y:124.26, Z:6.96 [[-1.55879960e-01 -9.87769553e-01 3.57060995e-03 1.53626970e+02] [ 9.87367338e-01 -1.55918421e-01 -2.81990589e-02 1.24259755e+02] [ 2.84108957e-02 -8.70164533e-04 9.99595950e-01 6.95930443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.990714057 meters Centerline goodness : 0.984582 Centerline is valid? [True, True] Translation: X:153.63, Y:124.26, Z:6.96 [[-1.52524579e-01 -9.88294972e-01 3.04984333e-03 1.53628544e+02] [ 9.87891268e-01 -1.52549531e-01 -2.82751261e-02 1.24262825e+02] [ 2.84094171e-02 -1.29973810e-03 9.99595526e-01 6.96303241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.020714057 meters Centerline goodness : 0.986050 Centerline is valid? [True, True] Translation: X:153.63, Y:124.27, Z:6.96 [[-1.49655519e-01 -9.88732104e-01 3.47176360e-03 1.53628651e+02] [ 9.88329807e-01 -1.49693693e-01 -2.82133227e-02 1.24266189e+02] [ 2.84151191e-02 -7.91032009e-04 9.99595896e-01 6.96111468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.050714057 meters Centerline goodness : 0.986193 Centerline is valid? [True, True] Translation: X:153.63, Y:124.27, Z:6.96 [[-1.49671183e-01 -9.88730048e-01 3.38069959e-03 1.53628197e+02] [ 9.88327449e-01 -1.49706752e-01 -2.82266331e-02 1.24274556e+02] [ 2.84146338e-02 -8.83475357e-04 9.99595832e-01 6.95830540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.080714057 meters Centerline goodness : 0.988048 Centerline is valid? [True, True] Translation: X:153.64, Y:124.28, Z:6.96 [[-1.41015189e-01 -9.90002142e-01 3.23668774e-03 1.53635136e+02] [ 9.89599375e-01 -1.41050172e-01 -2.82475926e-02 1.24276238e+02] [ 2.84217125e-02 -7.80315454e-04 9.99595717e-01 6.95648911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.110714057 meters Centerline goodness : 0.986786 Centerline is valid? [True, True] Translation: X:153.63, Y:124.28, Z:6.96 [[-1.52868146e-01 -9.88242999e-01 2.66560479e-03 1.53632205e+02] [ 9.87838302e-01 -1.52881960e-01 -2.83301260e-02 1.24284697e+02] [ 2.84045716e-02 -1.69758734e-03 9.99595067e-01 6.95807149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.140714057 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:153.64, Y:124.28, Z:6.95 [[-1.52795358e-01 -9.88252759e-01 3.17211202e-03 1.53639225e+02] [ 9.87849422e-01 -1.52823696e-01 -2.82566424e-02 1.24284004e+02] [ 2.84094787e-02 -1.18391477e-03 9.99595668e-01 6.95389168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.170714057 meters Centerline goodness : 0.991026 Centerline is valid? [True, True] Translation: X:153.64, Y:124.28, Z:6.95 [[-1.55698956e-01 -9.87800483e-01 2.83580071e-03 1.53640651e+02] [ 9.87396170e-01 -1.55716486e-01 -2.83051284e-02 1.24280827e+02] [ 2.84014004e-02 -1.60702018e-03 9.99595307e-01 6.94768116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.200714057 meters Centerline goodness : 0.989385 Centerline is valid? [True, True] Translation: X:153.64, Y:124.30, Z:6.95 [[-1.72566180e-01 -9.84994148e-01 2.72791246e-03 1.53637212e+02] [ 9.84589384e-01 -1.72573701e-01 -2.83206973e-02 1.24302939e+02] [ 2.83664871e-02 -2.20132090e-03 9.99595166e-01 6.95314967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.230714057 meters Centerline goodness : 0.989061 Centerline is valid? [True, True] Translation: X:153.64, Y:124.30, Z:6.96 [[-1.78146009e-01 -9.83997965e-01 3.46478365e-03 1.53639572e+02] [ 9.83594739e-01 -1.78172351e-01 -2.82135216e-02 1.24302606e+02] [ 2.83793764e-02 -1.61818328e-03 9.99595915e-01 6.95726574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26071405700003 meters Centerline goodness : 0.989637 Centerline is valid? [True, True] Translation: X:153.64, Y:124.31, Z:6.96 [[-1.80377703e-01 -9.83591192e-01 3.50014474e-03 1.53639539e+02] [ 9.83187994e-01 -1.80404142e-01 -2.82083854e-02 1.24311243e+02] [ 2.83769600e-02 -1.64686347e-03 9.99595936e-01 6.96024428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.290714057 meters Centerline goodness : 0.989461 Centerline is valid? [True, True] Translation: X:153.64, Y:124.32, Z:6.96 [[-1.85216827e-01 -9.82691771e-01 3.40728098e-03 1.53642545e+02] [ 9.82288237e-01 -1.85238622e-01 -2.82218578e-02 1.24316543e+02] [ 2.83645475e-02 -1.88023092e-03 9.99595877e-01 6.96265375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32071405700003 meters Centerline goodness : 0.989597 Centerline is valid? [True, True] Translation: X:153.64, Y:124.33, Z:6.96 [[-1.86296659e-01 -9.82486624e-01 3.68611351e-03 1.53641078e+02] [ 9.82083722e-01 -1.86325993e-01 -2.81813234e-02 1.24330256e+02] [ 2.83745921e-02 -1.63001433e-03 9.99596031e-01 6.96222064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.350714057 meters Centerline goodness : 0.989819 Centerline is valid? [True, True] Translation: X:153.64, Y:124.33, Z:6.96 [[-1.88341294e-01 -9.82097112e-01 3.58047858e-03 1.53641666e+02] [ 9.81693898e-01 -1.88366766e-01 -2.81966594e-02 1.24334783e+02] [ 2.83663009e-02 -1.79566133e-03 9.99595983e-01 6.96172304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38071405700003 meters Centerline goodness : 0.990387 Centerline is valid? [True, True] Translation: X:153.64, Y:124.33, Z:6.96 [[-1.89332491e-01 -9.81906230e-01 3.65560944e-03 1.53644028e+02] [ 9.81503166e-01 -1.89359707e-01 -2.81857616e-02 1.24326084e+02] [ 2.83680000e-02 -1.74848822e-03 9.99596018e-01 6.96023395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.410714057 meters Centerline goodness : 0.989605 Centerline is valid? [True, True] Translation: X:153.64, Y:124.34, Z:6.96 [[-1.90070506e-01 -9.81763712e-01 3.63548394e-03 1.53642687e+02] [ 9.81360581e-01 -1.90096842e-01 -2.81886743e-02 1.24342245e+02] [ 2.83657115e-02 -1.79011496e-03 9.99596009e-01 6.96064473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44071405700004 meters Centerline goodness : 0.989547 Centerline is valid? [True, True] Translation: X:153.64, Y:124.34, Z:6.96 [[-1.90568155e-01 -9.81667352e-01 3.60392932e-03 1.53644201e+02] [ 9.81264136e-01 -1.90593383e-01 -2.81932339e-02 1.24338522e+02] [ 2.83632624e-02 -1.83632598e-03 9.99595995e-01 6.96055204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.470714057 meters Centerline goodness : 0.989547 Centerline is valid? [True, True] Translation: X:153.64, Y:124.34, Z:6.96 [[-1.90218841e-01 -9.81735138e-01 3.59323174e-03 1.53643745e+02] [ 9.81331906e-01 -1.90243907e-01 -2.81947753e-02 1.24341135e+02] [ 2.83633920e-02 -1.83702452e-03 9.99595990e-01 6.96062336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.500714057 meters Centerline goodness : 0.988401 Centerline is valid? [True, True] Translation: X:153.65, Y:124.33, Z:6.96 [[-1.91058220e-01 -9.81572174e-01 3.58106889e-03 1.53646141e+02] [ 9.81168894e-01 -1.91082593e-01 -2.81965230e-02 1.24333831e+02] [ 2.83612023e-02 -1.87354410e-03 9.99595984e-01 6.96224346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.530714057 meters Centerline goodness : 0.989145 Centerline is valid? [True, True] Translation: X:153.65, Y:124.33, Z:6.96 [[-1.88471678e-01 -9.82071109e-01 3.84238180e-03 1.53647245e+02] [ 9.81668525e-01 -1.88504590e-01 -2.81589370e-02 1.24332315e+02] [ 2.83783851e-02 -1.53521685e-03 9.99596074e-01 6.96123844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.560714057 meters Centerline goodness : 0.988015 Centerline is valid? [True, True] Translation: X:153.65, Y:124.34, Z:6.96 [[-1.87951839e-01 -9.82171167e-01 3.72887614e-03 1.53646734e+02] [ 9.81768318e-01 -1.87981718e-01 -2.81752216e-02 1.24335298e+02] [ 2.83738508e-02 -1.63469228e-03 9.99596045e-01 6.96128711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.590714057 meters Centerline goodness : 0.988272 Centerline is valid? [True, True] Translation: X:153.65, Y:124.33, Z:6.96 [[-1.86788999e-01 -9.82392854e-01 3.76158936e-03 1.53646741e+02] [ 9.81990122e-01 -1.86820290e-01 -2.81705358e-02 1.24330688e+02] [ 2.83772743e-02 -1.56810260e-03 9.99596054e-01 6.96098193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.620714057 meters Centerline goodness : 0.989132 Centerline is valid? [True, True] Translation: X:153.64, Y:124.34, Z:6.96 [[-1.86490508e-01 -9.82449747e-01 3.71275502e-03 1.53644427e+02] [ 9.82046904e-01 -1.86520524e-01 -2.81775197e-02 1.24344674e+02] [ 2.83755021e-02 -1.60874038e-03 9.99596040e-01 6.96096346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.650714057 meters Centerline goodness : 0.988892 Centerline is valid? [True, True] Translation: X:153.65, Y:124.34, Z:6.96 [[-1.86290984e-01 -9.82488005e-01 3.60413072e-03 1.53645918e+02] [ 9.82084908e-01 -1.86317975e-01 -2.81930190e-02 1.24340061e+02] [ 2.83708173e-02 -1.71254287e-03 9.99596000e-01 6.96289661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.680714057 meters Centerline goodness : 0.989155 Centerline is valid? [True, True] Translation: X:153.65, Y:124.34, Z:6.96 [[-1.86930452e-01 -9.82366439e-01 3.63114104e-03 1.53647692e+02] [ 9.81963387e-01 -1.86957953e-01 -2.81891710e-02 1.24342040e+02] [ 2.83709662e-02 -1.70376692e-03 9.99596011e-01 6.96215700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.710714057 meters Centerline goodness : 0.989572 Centerline is valid? [True, True] Translation: X:153.59, Y:124.69, Z:6.97 [[-2.00092332e-01 -9.79769974e-01 3.72239196e-03 1.53593130e+02] [ 9.79366777e-01 -2.00117037e-01 -2.81760256e-02 1.24690148e+02] [ 2.83509379e-02 -1.99221966e-03 9.99596046e-01 6.97424969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.740714057 meters Centerline goodness : 0.989578 Centerline is valid? [True, True] Translation: X:154.40, Y:124.56, Z:7.81 [[-1.70134433e-01 9.85413831e-01 -3.72239196e-03 1.54396683e+02] [ 9.85011574e-01 1.70171417e-01 2.81760256e-02 1.24562186e+02] [ 2.83984901e-02 1.12711299e-03 -9.99596046e-01 7.80865855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.770714057 meters Centerline goodness : 0.988512 Centerline is valid? [True, True] Translation: X:153.67, Y:124.45, Z:6.97 [[-2.52074575e-01 -9.67685435e-01 6.58087684e-03 1.53672517e+02] [ 9.67293174e-01 -2.52159795e-01 -2.75563807e-02 1.24452386e+02] [ 2.83253408e-02 -5.80625700e-04 9.99598588e-01 6.96531744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.800714057 meters Centerline goodness : 0.990769 Centerline is valid? [True, True] Translation: X:153.67, Y:124.48, Z:6.96 [[-2.56038486e-01 -9.66652546e-01 5.21055218e-03 1.53665079e+02] [ 9.66253532e-01 -2.56082922e-01 -2.78504660e-02 1.24477203e+02] [ 2.82560573e-02 -2.09607670e-03 9.99598520e-01 6.96417559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.830714057 meters Centerline goodness : 0.990408 Centerline is valid? [True, True] Translation: X:153.67, Y:124.47, Z:6.96 [[-2.55524969e-01 -9.66788283e-01 5.23511433e-03 1.53666746e+02] [ 9.66389391e-01 -2.55570321e-01 -2.78452011e-02 1.24466524e+02] [ 2.82583540e-02 -2.05598518e-03 9.99598539e-01 6.96360438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.860714057 meters Centerline goodness : 0.988810 Centerline is valid? [True, True] Translation: X:153.67, Y:124.47, Z:6.96 [[-2.56620424e-01 -9.66498497e-01 5.15889091e-03 1.53666489e+02] [ 9.66099256e-01 -2.56663136e-01 -2.78615016e-02 1.24470749e+02] [ 2.82521965e-02 -2.16582968e-03 9.99598481e-01 6.96465892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.890714057 meters Centerline goodness : 0.989630 Centerline is valid? [True, True] Translation: X:153.66, Y:124.47, Z:6.96 [[-2.58409751e-01 -9.66020142e-01 5.43012688e-03 1.53664304e+02] [ 9.65621899e-01 -2.58459508e-01 -2.78034180e-02 1.24473472e+02] [ 2.82621297e-02 -1.94122490e-03 9.99598661e-01 6.96328475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.920714057 meters Centerline goodness : 0.990643 Centerline is valid? [True, True] Translation: X:153.66, Y:124.48, Z:6.96 [[-2.59518185e-01 -9.65723084e-01 5.40709818e-03 1.53661233e+02] [ 9.65324691e-01 -2.59566824e-01 -2.78083423e-02 1.24478375e+02] [ 2.82586614e-02 -1.99716513e-03 9.99598649e-01 6.96474030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.950714057 meters Centerline goodness : 0.990016 Centerline is valid? [True, True] Translation: X:153.66, Y:124.48, Z:6.97 [[-2.54118547e-01 -9.67158590e-01 5.29401549e-03 1.53662685e+02] [ 9.66760007e-01 -2.54166169e-01 -2.78324754e-02 1.24477268e+02] [ 2.82639773e-02 -1.95470577e-03 9.99598583e-01 6.96568949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.980714057 meters Centerline goodness : 0.989331 Centerline is valid? [True, True] Translation: X:153.66, Y:124.49, Z:6.97 [[-2.62185429e-01 -9.65004383e-01 5.03411773e-03 1.53655271e+02] [ 9.64604457e-01 -2.62222254e-01 -2.78878386e-02 1.24493317e+02] [ 2.82319442e-02 -2.45585254e-03 9.99598382e-01 6.96767204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01071405700003 meters Centerline goodness : 0.988434 Centerline is valid? [True, True] Translation: X:153.65, Y:124.50, Z:6.97 [[-2.62442039e-01 -9.64931637e-01 5.57785290e-03 1.53652605e+02] [ 9.64533795e-01 -2.62494370e-01 -2.77716461e-02 1.24502177e+02] [ 2.82618949e-02 -1.90841980e-03 9.99598731e-01 6.96766406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.040714057 meters Centerline goodness : 0.989155 Centerline is valid? [True, True] Translation: X:153.65, Y:124.50, Z:6.97 [[-2.61958243e-01 -9.65062876e-01 5.61459365e-03 1.53650809e+02] [ 9.64665214e-01 -2.62011826e-01 -2.77638032e-02 1.24499272e+02] [ 2.82649057e-02 -1.85675393e-03 9.99598743e-01 6.96547819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07071405700003 meters Centerline goodness : 0.990242 Centerline is valid? [True, True] Translation: X:153.65, Y:124.49, Z:6.97 [[-2.60604908e-01 -9.65429694e-01 5.53057374e-03 1.53650387e+02] [ 9.65031757e-01 -2.60656641e-01 -2.77816965e-02 1.24491685e+02] [ 2.82628555e-02 -1.90286717e-03 9.99598715e-01 6.96586120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.100714057 meters Centerline goodness : 0.989569 Centerline is valid? [True, True] Translation: X:153.65, Y:124.50, Z:6.97 [[-2.61536231e-01 -9.65177838e-01 5.52649156e-03 1.53646707e+02] [ 9.64779834e-01 -2.61587462e-01 -2.77825645e-02 1.24502129e+02] [ 2.82607764e-02 -1.93429957e-03 9.99598713e-01 6.96778111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13071405700003 meters Centerline goodness : 0.989532 Centerline is valid? [True, True] Translation: X:153.64, Y:124.51, Z:6.97 [[-2.62553748e-01 -9.64901594e-01 5.51760189e-03 1.53643736e+02] [ 9.64503501e-01 -2.62604305e-01 -2.77844521e-02 1.24509128e+02] [ 2.82582081e-02 -1.97316569e-03 9.99598710e-01 6.96803190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.160714057 meters Centerline goodness : 0.989882 Centerline is valid? [True, True] Translation: X:153.64, Y:124.50, Z:6.97 [[-2.62224646e-01 -9.64990766e-01 5.57283044e-03 1.53644475e+02] [ 9.64592914e-01 -2.62276923e-01 -2.77727408e-02 1.24504997e+02] [ 2.82620632e-02 -1.90718437e-03 9.99598729e-01 6.96503241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19071405700004 meters Centerline goodness : 0.990667 Centerline is valid? [True, True] Translation: X:153.64, Y:124.51, Z:6.97 [[-2.63040780e-01 -9.64768454e-01 5.60170760e-03 1.53643215e+02] [ 9.64370676e-01 -2.63093548e-01 -2.77666243e-02 1.24507323e+02] [ 2.82621363e-02 -1.90163195e-03 9.99598737e-01 6.96507637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.220714057 meters Centerline goodness : 0.990250 Centerline is valid? [True, True] Translation: X:153.64, Y:124.52, Z:6.96 [[-2.65186851e-01 -9.64181291e-01 5.51109295e-03 1.53640443e+02] [ 9.63783037e-01 -2.65236134e-01 -2.77857872e-02 1.24515147e+02] [ 2.82522772e-02 -2.05692751e-03 9.99598708e-01 6.96449902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.250714057 meters Centerline goodness : 0.990592 Centerline is valid? [True, True] Translation: X:153.64, Y:124.52, Z:6.96 [[-2.65765138e-01 -9.64021958e-01 5.52769463e-03 1.53639073e+02] [ 9.63623740e-01 -2.65814659e-01 -2.77822780e-02 1.24520028e+02] [ 2.82520683e-02 -2.05694318e-03 9.99598714e-01 6.96420101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.280714057 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:153.64, Y:124.51, Z:6.96 [[-2.66773075e-01 -9.63743939e-01 5.45409566e-03 1.53639083e+02] [ 9.63345387e-01 -2.66820067e-01 -2.77977996e-02 1.24514824e+02] [ 2.82452230e-02 -2.16152656e-03 9.99598687e-01 6.96346336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.310714057 meters Centerline goodness : 0.989899 Centerline is valid? [True, True] Translation: X:153.64, Y:124.52, Z:6.96 [[-2.68383221e-01 -9.63297338e-01 5.35585144e-03 1.53636035e+02] [ 9.62898346e-01 -2.68426727e-01 -2.78184859e-02 1.24520934e+02] [ 2.82351271e-02 -2.30887436e-03 9.99598643e-01 6.96497836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.340714057 meters Centerline goodness : 0.991887 Centerline is valid? [True, True] Translation: X:153.63, Y:124.53, Z:6.97 [[-2.66771561e-01 -9.63743678e-01 5.57298106e-03 1.53633700e+02] [ 9.63345584e-01 -2.66821965e-01 -2.77727425e-02 1.24528776e+02] [ 2.82527988e-02 -2.04027117e-03 9.99598728e-01 6.96576051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.370714057 meters Centerline goodness : 0.990821 Centerline is valid? [True, True] Translation: X:153.63, Y:124.53, Z:6.96 [[-2.68259324e-01 -9.63331953e-01 5.33689817e-03 1.53631768e+02] [ 9.62932901e-01 -2.68302337e-01 -2.78223644e-02 1.24529869e+02] [ 2.82340749e-02 -2.32453384e-03 9.99598636e-01 6.96491316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.400714057 meters Centerline goodness : 0.991259 Centerline is valid? [True, True] Translation: X:153.63, Y:124.52, Z:6.96 [[-2.66682229e-01 -9.63768846e-01 5.49547976e-03 1.53634127e+02] [ 9.63370457e-01 -2.66730447e-01 -2.77890544e-02 1.24518094e+02] [ 2.82480367e-02 -2.11666413e-03 9.99598704e-01 6.96402981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.430714057 meters Centerline goodness : 0.991551 Centerline is valid? [True, True] Translation: X:153.63, Y:124.52, Z:6.96 [[-2.66165297e-01 -9.63912918e-01 5.28410137e-03 1.53632699e+02] [ 9.63513772e-01 -2.66207661e-01 -2.78333033e-02 1.24520256e+02] [ 2.82355489e-02 -2.31695501e-03 9.99598612e-01 6.96287160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.460714057 meters Centerline goodness : 0.989198 Centerline is valid? [True, True] Translation: X:153.63, Y:124.52, Z:6.96 [[-2.66110251e-01 -9.63928305e-01 5.24956067e-03 1.53632902e+02] [ 9.63529038e-01 -2.66151646e-01 -2.78405247e-02 1.24519229e+02] [ 2.82334490e-02 -2.35054488e-03 9.99598593e-01 6.96446557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.490714057 meters Centerline goodness : 0.990826 Centerline is valid? [True, True] Translation: X:153.63, Y:124.51, Z:6.96 [[-2.61670905e-01 -9.65141643e-01 5.47231102e-03 1.53630311e+02] [ 9.64743417e-01 -2.61720528e-01 -2.77939601e-02 1.24513451e+02] [ 2.82573244e-02 -1.99349465e-03 9.99598694e-01 6.96191046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.520714057 meters Centerline goodness : 0.990643 Centerline is valid? [True, True] Translation: X:153.63, Y:124.51, Z:6.96 [[-2.59070273e-01 -9.65844537e-01 5.18887760e-03 1.53627950e+02] [ 9.65445362e-01 -2.59112839e-01 -2.78529911e-02 1.24512967e+02] [ 2.82461641e-02 -2.20630420e-03 9.99598563e-01 6.96374492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.550714057 meters Centerline goodness : 0.988467 Centerline is valid? [True, True] Translation: X:153.62, Y:124.52, Z:6.96 [[-2.56231710e-01 -9.66601650e-01 5.15376936e-03 1.53624825e+02] [ 9.66202471e-01 -2.56274441e-01 -2.78602983e-02 1.24523559e+02] [ 2.82505896e-02 -2.15910718e-03 9.99598541e-01 6.96259861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.580714057 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:153.62, Y:124.52, Z:6.96 [[-2.45740458e-01 -9.69320642e-01 5.39624020e-03 1.53623170e+02] [ 9.68922957e-01 -2.45794456e-01 -2.78098583e-02 1.24515335e+02] [ 2.82830356e-02 -1.60546631e-03 9.99598666e-01 6.96110627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.610714057 meters Centerline goodness : 0.991307 Centerline is valid? [True, True] Translation: X:153.62, Y:124.52, Z:6.96 [[-2.42607878e-01 -9.70113287e-01 4.65049531e-03 1.53620849e+02] [ 9.69712839e-01 -2.42641785e-01 -2.79637833e-02 1.24520839e+02] [ 2.82564422e-02 -2.27458913e-03 9.99598119e-01 6.96164266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.640714057 meters Centerline goodness : 0.988341 Centerline is valid? [True, True] Translation: X:153.62, Y:124.51, Z:6.97 [[-2.35062462e-01 -9.71968967e-01 4.68685061e-03 1.53620623e+02] [ 9.71568932e-01 -2.35100523e-01 -2.79562834e-02 1.24508907e+02] [ 2.82745209e-02 -2.01787436e-03 9.99598159e-01 6.96891333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.670714057 meters Centerline goodness : 0.990667 Centerline is valid? [True, True] Translation: X:153.61, Y:124.54, Z:6.96 [[-2.31560718e-01 -9.72807542e-01 5.01190346e-03 1.53609071e+02] [ 9.72408980e-01 -2.31609531e-01 -2.78890743e-02 1.24544942e+02] [ 2.82915064e-02 -1.58439413e-03 9.99598460e-01 6.96366014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.700714057 meters Centerline goodness : 0.990211 Centerline is valid? [True, True] Translation: X:153.61, Y:124.52, Z:6.96 [[-2.28652226e-01 -9.73497277e-01 4.60560401e-03 1.53614337e+02] [ 9.73097189e-01 -2.28690593e-01 -2.79727200e-02 1.24515437e+02] [ 2.82846250e-02 -1.91432436e-03 9.99598077e-01 6.96227090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.730714057 meters Centerline goodness : 0.987746 Centerline is valid? [True, True] Translation: X:153.61, Y:124.51, Z:6.96 [[-2.28090771e-01 -9.73628855e-01 4.63165393e-03 1.53614690e+02] [ 9.73228892e-01 -2.28130116e-01 -2.79673746e-02 1.24506879e+02] [ 2.82864627e-02 -1.87144061e-03 9.99598106e-01 6.95997639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76071405700003 meters Centerline goodness : 0.988038 Centerline is valid? [True, True] Translation: X:153.61, Y:124.52, Z:6.97 [[-2.32403754e-01 -9.72605726e-01 5.15727244e-03 1.53610268e+02] [ 9.72207743e-01 -2.32456381e-01 -2.78592132e-02 1.24515040e+02] [ 2.82948712e-02 -1.46064554e-03 9.99598553e-01 6.96613691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.790714057 meters Centerline goodness : 0.987673 Centerline is valid? [True, True] Translation: X:153.61, Y:124.52, Z:6.97 [[-2.33128769e-01 -9.72431833e-01 5.22560040e-03 1.53607490e+02] [ 9.72034111e-01 -2.33183052e-01 -2.78451464e-02 1.24518757e+02] [ 2.82960282e-02 -1.41204286e-03 9.99598590e-01 6.96644493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82071405700003 meters Centerline goodness : 0.987391 Centerline is valid? [True, True] Translation: X:153.61, Y:124.52, Z:6.97 [[-2.35224252e-01 -9.71927172e-01 5.20806742e-03 1.53606119e+02] [ 9.71529257e-01 -2.35277177e-01 -2.78487509e-02 1.24522960e+02] [ 2.82922971e-02 -1.49091173e-03 9.99598581e-01 6.96788030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.850714057 meters Centerline goodness : 0.987335 Centerline is valid? [True, True] Translation: X:153.60, Y:124.53, Z:6.97 [[-2.38749764e-01 -9.71066504e-01 5.32876873e-03 1.53602974e+02] [ 9.70668916e-01 -2.38804697e-01 -2.78239510e-02 1.24530493e+02] [ 2.82914418e-02 -1.47049157e-03 9.99598635e-01 6.96998960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88071405700003 meters Centerline goodness : 0.989122 Centerline is valid? [True, True] Translation: X:153.61, Y:124.52, Z:6.97 [[-2.33847853e-01 -9.72258583e-01 5.33195903e-03 1.53606906e+02] [ 9.71861292e-01 -2.33904882e-01 -2.78232962e-02 1.24517298e+02] [ 2.82986098e-02 -1.32449349e-03 9.99598637e-01 6.96710096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.910714057 meters Centerline goodness : 0.990172 Centerline is valid? [True, True] Translation: X:153.60, Y:124.56, Z:6.97 [[-2.41422408e-01 -9.70407629e-01 4.92493709e-03 1.53595996e+02] [ 9.70008263e-01 -2.41464681e-01 -2.79065953e-02 1.24559905e+02] [ 2.82699713e-02 -1.96004776e-03 9.99598403e-01 6.97127518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94071405700004 meters Centerline goodness : 0.988419 Centerline is valid? [True, True] Translation: X:153.60, Y:124.55, Z:6.97 [[-2.41487884e-01 -9.70391447e-01 4.90324484e-03 1.53598541e+02] [ 9.69991995e-01 -2.41529508e-01 -2.79110402e-02 1.24553112e+02] [ 2.82689130e-02 -1.98406980e-03 9.99598385e-01 6.96690735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.970714057 meters Centerline goodness : 0.987566 Centerline is valid? [True, True] Translation: X:153.60, Y:124.56, Z:6.97 [[-2.42778538e-01 -9.70067752e-01 5.20939597e-03 1.53596951e+02] [ 9.69669449e-01 -2.42828404e-01 -2.78482534e-02 1.24562687e+02] [ 2.82796819e-02 -1.70956613e-03 9.99598588e-01 6.96891306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.000714057 meters Centerline goodness : 0.989542 Centerline is valid? [True, True] Translation: X:153.59, Y:124.60, Z:6.97 [[-2.45178028e-01 -9.69463010e-01 5.40430413e-03 1.53588492e+02] [ 9.69065389e-01 -2.45232487e-01 -2.78082546e-02 1.24601499e+02] [ 2.82843851e-02 -1.58084893e-03 9.99598667e-01 6.96874676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.030714057 meters Centerline goodness : 0.987717 Centerline is valid? [True, True] Translation: X:153.59, Y:124.60, Z:6.97 [[-2.45354616e-01 -9.69419194e-01 5.24768378e-03 1.53589562e+02] [ 9.69020916e-01 -2.45404520e-01 -2.78403595e-02 1.24599722e+02] [ 2.82767842e-02 -1.74564537e-03 9.99598608e-01 6.96866554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.060714057 meters Centerline goodness : 0.988756 Centerline is valid? [True, True] Translation: X:153.60, Y:124.56, Z:6.97 [[-2.44532053e-01 -9.69626951e-01 5.25846666e-03 1.53598549e+02] [ 9.69228759e-01 -2.44582604e-01 -2.78381544e-02 1.24558310e+02] [ 2.82787542e-02 -1.71066394e-03 9.99598612e-01 6.96760784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.090714057 meters Centerline goodness : 0.987326 Centerline is valid? [True, True] Translation: X:153.60, Y:124.55, Z:6.97 [[-2.41874674e-01 -9.70293484e-01 5.21506121e-03 1.53601926e+02] [ 9.69895254e-01 -2.41925073e-01 -2.78469985e-02 1.24545941e+02] [ 2.82814153e-02 -1.67742055e-03 9.99598593e-01 6.96682863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.120714057 meters Centerline goodness : 0.986046 Centerline is valid? [True, True] Translation: X:153.60, Y:124.55, Z:6.97 [[-2.43261261e-01 -9.69947087e-01 5.15820545e-03 1.53601207e+02] [ 9.69548558e-01 -2.43309463e-01 -2.78585639e-02 1.24545085e+02] [ 2.82763732e-02 -1.77577873e-03 9.99598566e-01 6.96780067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.150714057 meters Centerline goodness : 0.988211 Centerline is valid? [True, True] Translation: X:153.60, Y:124.54, Z:6.97 [[-2.39211308e-01 -9.70953215e-01 5.27306216e-03 1.53603993e+02] [ 9.70555366e-01 -2.39264459e-01 -2.78352313e-02 1.24535769e+02] [ 2.82883636e-02 -1.54070332e-03 9.99598617e-01 6.96534853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.180714057 meters Centerline goodness : 0.987651 Centerline is valid? [True, True] Translation: X:153.60, Y:124.54, Z:6.97 [[-2.41187628e-01 -9.70465118e-01 5.09740523e-03 1.53602202e+02] [ 9.70066451e-01 -2.41234941e-01 -2.78708362e-02 1.24541531e+02] [ 2.82773466e-02 -1.77727907e-03 9.99598536e-01 6.96759847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.210714057 meters Centerline goodness : 0.987911 Centerline is valid? [True, True] Translation: X:153.60, Y:124.55, Z:6.97 [[-2.40402790e-01 -9.70658928e-01 5.26723089e-03 1.53599834e+02] [ 9.70260991e-01 -2.40455285e-01 -2.78364153e-02 1.24549621e+02] [ 2.82861986e-02 -1.58136323e-03 9.99598615e-01 6.96754510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.240714057 meters Centerline goodness : 0.988775 Centerline is valid? [True, True] Translation: X:153.60, Y:124.56, Z:6.97 [[-2.40414511e-01 -9.70657183e-01 5.04945096e-03 1.53598252e+02] [ 9.70258367e-01 -2.40460768e-01 -2.78804531e-02 1.24556625e+02] [ 2.82765569e-02 -1.80359345e-03 9.99598511e-01 6.96773773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.270714057 meters Centerline goodness : 0.987903 Centerline is valid? [True, True] Translation: X:153.60, Y:124.56, Z:6.97 [[-2.41690248e-01 -9.70340015e-01 5.10684039e-03 1.53597137e+02] [ 9.69941363e-01 -2.41737625e-01 -2.78688588e-02 1.24561262e+02] [ 2.82767843e-02 -1.78229569e-03 9.99598543e-01 6.96997927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.300714057 meters Centerline goodness : 0.987168 Centerline is valid? [True, True] Translation: X:153.60, Y:124.57, Z:6.97 [[-2.41579617e-01 -9.70367226e-01 5.17063891e-03 1.53595956e+02] [ 9.69968832e-01 -2.41628866e-01 -2.78559843e-02 1.24569375e+02] [ 2.82799098e-02 -1.71407943e-03 9.99598574e-01 6.97154135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.330714057 meters Centerline goodness : 0.987772 Centerline is valid? [True, True] Translation: X:153.60, Y:124.57, Z:6.97 [[-2.41646354e-01 -9.70350450e-01 5.20028988e-03 1.53596652e+02] [ 9.69952172e-01 -2.41696424e-01 -2.78500066e-02 1.24567069e+02] [ 2.82811579e-02 -1.68582011e-03 9.99598586e-01 6.97164147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.360714057 meters Centerline goodness : 0.987772 Centerline is valid? [True, True] Translation: X:153.60, Y:124.57, Z:6.97 [[-2.41310148e-01 -9.70434864e-01 5.05837633e-03 1.53596104e+02] [ 9.70036044e-01 -2.41356293e-01 -2.78785375e-02 1.24569676e+02] [ 2.82751758e-02 -1.82056665e-03 9.99598519e-01 6.97165696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.390714057 meters Centerline goodness : 0.988550 Centerline is valid? [True, True] Translation: X:153.60, Y:124.56, Z:6.97 [[-2.39581345e-01 -9.70863183e-01 5.04567996e-03 1.53598584e+02] [ 9.70464396e-01 -2.39627837e-01 -2.78810840e-02 1.24560993e+02] [ 2.82778034e-02 -1.78313487e-03 9.99598513e-01 6.97155843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.420714057 meters Centerline goodness : 0.989152 Centerline is valid? [True, True] Translation: X:153.60, Y:124.57, Z:6.97 [[-2.37938258e-01 -9.71267787e-01 4.92662650e-03 1.53596105e+02] [ 9.70868620e-01 -2.37982015e-01 -2.79049113e-02 1.24573752e+02] [ 2.82755900e-02 -1.85653891e-03 9.99598442e-01 6.97068128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.450714057 meters Centerline goodness : 0.988464 Centerline is valid? [True, True] Translation: X:153.60, Y:124.56, Z:6.97 [[-2.37341936e-01 -9.71414921e-01 4.67504816e-03 1.53598696e+02] [ 9.71014858e-01 -2.37378727e-01 -2.79550739e-02 1.24562939e+02] [ 2.82657329e-02 -2.09537013e-03 9.99598248e-01 6.96948706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.480714057 meters Centerline goodness : 0.987582 Centerline is valid? [True, True] Translation: X:153.59, Y:124.58, Z:6.97 [[-2.38506962e-01 -9.71128796e-01 4.82606207e-03 1.53594308e+02] [ 9.70729231e-01 -2.38547603e-01 -2.79249341e-02 1.24584876e+02] [ 2.82699531e-02 -1.97549166e-03 9.99598373e-01 6.96919162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51071405700003 meters Centerline goodness : 0.986593 Centerline is valid? [True, True] Translation: X:153.60, Y:124.57, Z:6.97 [[-2.36668933e-01 -9.71577520e-01 4.99389436e-03 1.53596938e+02] [ 9.71178671e-01 -2.36715138e-01 -2.78914317e-02 1.24572370e+02] [ 2.82808184e-02 -1.75107168e-03 9.99598484e-01 6.97066590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.540714057 meters Centerline goodness : 0.986611 Centerline is valid? [True, True] Translation: X:153.59, Y:124.58, Z:6.97 [[-2.34614610e-01 -9.72075363e-01 5.04721921e-03 1.53592048e+02] [ 9.71676824e-01 -2.34663184e-01 -2.78808038e-02 1.24584701e+02] [ 2.82866390e-02 -1.63697798e-03 9.99598513e-01 6.96851671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57071405700003 meters Centerline goodness : 0.987005 Centerline is valid? [True, True] Translation: X:153.59, Y:124.58, Z:6.97 [[-2.33530934e-01 -9.72336665e-01 4.97109841e-03 1.53591079e+02] [ 9.71937878e-01 -2.33577774e-01 -2.78959470e-02 1.24579562e+02] [ 2.82853902e-02 -1.68296772e-03 9.99598472e-01 6.96904092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.600714057 meters Centerline goodness : 0.985836 Centerline is valid? [True, True] Translation: X:153.59, Y:124.58, Z:6.97 [[-2.29317537e-01 -9.73338856e-01 4.99389522e-03 1.53587784e+02] [ 9.72940368e-01 -2.29366756e-01 -2.78914153e-02 1.24584322e+02] [ 2.82932318e-02 -1.53722843e-03 9.99598484e-01 6.97062492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63071405700003 meters Centerline goodness : 0.987235 Centerline is valid? [True, True] Translation: X:153.59, Y:124.59, Z:6.97 [[-2.27268973e-01 -9.73818598e-01 5.11394743e-03 1.53585941e+02] [ 9.73420720e-01 -2.27322461e-01 -2.78675689e-02 1.24587578e+02] [ 2.83004720e-02 -1.35541137e-03 9.99598542e-01 6.97078484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.660714057 meters Centerline goodness : 0.986772 Centerline is valid? [True, True] Translation: X:153.59, Y:124.59, Z:6.97 [[-2.23798837e-01 -9.74622337e-01 5.03794284e-03 1.53585634e+02] [ 9.74224324e-01 -2.23851571e-01 -2.78826340e-02 1.24586936e+02] [ 2.83027893e-02 -1.33201460e-03 9.99598508e-01 6.97298757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69071405700004 meters Centerline goodness : 0.984780 Centerline is valid? [True, True] Translation: X:153.58, Y:124.60, Z:6.97 [[-2.24894620e-01 -9.74369914e-01 5.06767333e-03 1.53583010e+02] [ 9.73971968e-01 -2.24947757e-01 -2.78767450e-02 1.24595192e+02] [ 2.83022233e-02 -1.33355821e-03 9.99598522e-01 6.97375066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.720714057 meters Centerline goodness : 0.984857 Centerline is valid? [True, True] Translation: X:153.58, Y:124.58, Z:6.97 [[-2.25232529e-01 -9.74291426e-01 5.15020017e-03 1.53584938e+02] [ 9.73893817e-01 -2.25287885e-01 -2.78604103e-02 1.24584153e+02] [ 2.83044366e-02 -1.25932258e-03 9.99598556e-01 6.97208314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.750714057 meters Centerline goodness : 0.986737 Centerline is valid? [True, True] Translation: X:153.58, Y:124.59, Z:6.97 [[-2.26433770e-01 -9.74013101e-01 5.12116510e-03 1.53583824e+02] [ 9.73615300e-01 -2.26487806e-01 -2.78661463e-02 1.24590921e+02] [ 2.83018731e-02 -1.32379188e-03 9.99598545e-01 6.97011808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.780714057 meters Centerline goodness : 0.985008 Centerline is valid? [True, True] Translation: X:153.58, Y:124.61, Z:6.97 [[-2.31712960e-01 -9.72771210e-01 5.02757098e-03 1.53580515e+02] [ 9.72372742e-01 -2.31762161e-01 -2.78846203e-02 1.24614019e+02] [ 2.82905566e-02 -1.57255494e-03 9.99598505e-01 6.96951214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.810714057 meters Centerline goodness : 0.987032 Centerline is valid? [True, True] Translation: X:153.58, Y:124.61, Z:6.97 [[-2.33493019e-01 -9.72344911e-01 5.13651914e-03 1.53582180e+02] [ 9.71946790e-01 -2.33544607e-01 -2.78631231e-02 1.24608607e+02] [ 2.82921723e-02 -1.51342145e-03 9.99598551e-01 6.96997697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.840714057 meters Centerline goodness : 0.985763 Centerline is valid? [True, True] Translation: X:153.58, Y:124.61, Z:6.97 [[-2.37814850e-01 -9.71297738e-01 4.98013436e-03 1.53581919e+02] [ 9.70898790e-01 -2.37860191e-01 -2.78939050e-02 1.24613750e+02] [ 2.82778626e-02 -1.79837842e-03 9.99598484e-01 6.96958533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.870714057 meters Centerline goodness : 0.986653 Centerline is valid? [True, True] Translation: X:153.58, Y:124.62, Z:6.97 [[-2.39289095e-01 -9.70934464e-01 5.19575022e-03 1.53580051e+02] [ 9.70536275e-01 -2.39340001e-01 -2.78514475e-02 1.24621100e+02] [ 2.82854812e-02 -1.62188361e-03 9.99598570e-01 6.97012005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.900714057 meters Centerline goodness : 0.986454 Centerline is valid? [True, True] Translation: X:153.58, Y:124.64, Z:6.97 [[-2.42809308e-01 -9.70061348e-01 4.96194208e-03 1.53576116e+02] [ 9.69662108e-01 -2.42852075e-01 -2.78974113e-02 1.24642567e+02] [ 2.82672183e-02 -1.96234391e-03 9.99598476e-01 6.97076415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.930714057 meters Centerline goodness : 0.986401 Centerline is valid? [True, True] Translation: X:153.57, Y:124.66, Z:6.97 [[-2.44435774e-01 -9.69652485e-01 5.02105707e-03 1.53573468e+02] [ 9.69253385e-01 -2.44479565e-01 -2.78857892e-02 1.24660468e+02] [ 2.82670707e-02 -1.94960790e-03 9.99598505e-01 6.97140862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.960714057 meters Centerline goodness : 0.986443 Centerline is valid? [True, True] Translation: X:153.58, Y:124.63, Z:6.97 [[-2.46099200e-01 -9.69231599e-01 5.02908733e-03 1.53579287e+02] [ 9.68832453e-01 -2.46142536e-01 -2.78842125e-02 1.24630233e+02] [ 2.82641322e-02 -1.98993937e-03 9.99598509e-01 6.97086133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.990714057 meters Centerline goodness : 0.985340 Centerline is valid? [True, True] Translation: X:153.58, Y:124.63, Z:6.97 [[-2.47218016e-01 -9.68947151e-01 4.96695588e-03 1.53580570e+02] [ 9.68547740e-01 -2.47259110e-01 -2.78963813e-02 1.24626083e+02] [ 2.82582443e-02 -2.08575415e-03 9.99598480e-01 6.97205502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.020714057 meters Centerline goodness : 0.986626 Centerline is valid? [True, True] Translation: X:153.58, Y:124.63, Z:6.97 [[-2.46825566e-01 -9.69045921e-01 5.20994844e-03 1.53578853e+02] [ 9.68647397e-01 -2.46873784e-01 -2.78488060e-02 1.24626683e+02] [ 2.82729715e-02 -1.82719431e-03 9.99598570e-01 6.97172240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.050714057 meters Centerline goodness : 0.987079 Centerline is valid? [True, True] Translation: X:153.58, Y:124.64, Z:6.97 [[-2.48031331e-01 -9.68739153e-01 4.99126881e-03 1.53577096e+02] [ 9.68339794e-01 -2.48072788e-01 -2.78915068e-02 1.24635509e+02] [ 2.82577926e-02 -2.08472336e-03 9.99598495e-01 6.97288761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.080714057 meters Centerline goodness : 0.984262 Centerline is valid? [True, True] Translation: X:153.58, Y:124.62, Z:6.97 [[-2.48307660e-01 -9.68667267e-01 5.19926893e-03 1.53580549e+02] [ 9.68268631e-01 -2.48354962e-01 -2.78508700e-02 1.24623039e+02] [ 2.82694903e-02 -1.88129536e-03 9.99598568e-01 6.97232763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.110714057 meters Centerline goodness : 0.988507 Centerline is valid? [True, True] Translation: X:153.58, Y:124.64, Z:6.97 [[-2.45013054e-01 -9.69504658e-01 5.41486999e-03 1.53575229e+02] [ 9.69107016e-01 -2.45067879e-01 -2.78087426e-02 1.24638676e+02] [ 2.82877162e-02 -1.56591646e-03 9.99598596e-01 6.97131113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.140714057 meters Centerline goodness : 0.987398 Centerline is valid? [True, True] Translation: X:153.58, Y:124.63, Z:6.97 [[-2.44118126e-01 -9.69732454e-01 5.03079217e-03 1.53577681e+02] [ 9.69333416e-01 -2.44162327e-01 -2.78834502e-02 1.24630433e+02] [ 2.82678165e-02 -1.93034064e-03 9.99598522e-01 6.96967507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.170714057 meters Centerline goodness : 0.988154 Centerline is valid? [True, True] Translation: X:153.58, Y:124.62, Z:6.97 [[-2.42330015e-01 -9.70180606e-01 5.07494330e-03 1.53578030e+02] [ 9.69781811e-01 -2.42376216e-01 -2.78748782e-02 1.24624508e+02] [ 2.82737118e-02 -1.83333194e-03 9.99598537e-01 6.96895846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.200714057 meters Centerline goodness : 0.987194 Centerline is valid? [True, True] Translation: X:153.58, Y:124.63, Z:6.97 [[-2.43190882e-01 -9.69966156e-01 4.88370094e-03 1.53576622e+02] [ 9.69566648e-01 -2.43231251e-01 -2.79118807e-02 1.24629127e+02] [ 2.82614483e-02 -2.05284134e-03 9.99598458e-01 6.96829780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.230714057 meters Centerline goodness : 0.990079 Centerline is valid? [True, True] Translation: X:153.57, Y:124.65, Z:6.97 [[-2.42672372e-01 -9.70095602e-01 4.96417738e-03 1.53570982e+02] [ 9.69696395e-01 -2.42715260e-01 -2.78963088e-02 1.24651901e+02] [ 2.82669681e-02 -1.95591852e-03 9.99598496e-01 6.96922431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26071405700003 meters Centerline goodness : 0.987970 Centerline is valid? [True, True] Translation: X:153.58, Y:124.63, Z:6.97 [[-2.43358080e-01 -9.69926435e-01 4.42222779e-03 1.53575521e+02] [ 9.69525471e-01 -2.43385141e-01 -2.80006220e-02 1.24630457e+02] [ 2.82348480e-02 -2.52671511e-03 9.99598124e-01 6.96868966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.290714057 meters Centerline goodness : 0.989439 Centerline is valid? [True, True] Translation: X:153.57, Y:124.65, Z:6.97 [[-2.43995032e-01 -9.69763714e-01 4.97628287e-03 1.53569778e+02] [ 9.69364497e-01 -2.44037723e-01 -2.78937424e-02 1.24648738e+02] [ 2.82647400e-02 -1.98210263e-03 9.99598507e-01 6.96924125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32071405700003 meters Centerline goodness : 0.987100 Centerline is valid? [True, True] Translation: X:153.57, Y:124.64, Z:6.97 [[-2.43956534e-01 -9.69775241e-01 4.60336157e-03 1.53571698e+02] [ 9.69374809e-01 -2.43988549e-01 -2.79654770e-02 1.24641392e+02] [ 2.82433947e-02 -2.35997811e-03 9.99598290e-01 6.96708084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.350714057 meters Centerline goodness : 0.989084 Centerline is valid? [True, True] Translation: X:153.57, Y:124.66, Z:6.97 [[-2.43902064e-01 -9.69787246e-01 4.94789112e-03 1.53565169e+02] [ 9.69387939e-01 -2.43943980e-01 -2.78990888e-02 1.24660491e+02] [ 2.82631887e-02 -2.00821936e-03 9.99598499e-01 6.97004891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38071405700003 meters Centerline goodness : 0.988095 Centerline is valid? [True, True] Translation: X:153.57, Y:124.64, Z:6.97 [[-2.41798306e-01 -9.70314834e-01 4.76476599e-03 1.53568587e+02] [ 9.69914997e-01 -2.41835840e-01 -2.79342987e-02 1.24639676e+02] [ 2.82573556e-02 -2.13304811e-03 9.99598405e-01 6.96918037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.410714057 meters Centerline goodness : 0.987332 Centerline is valid? [True, True] Translation: X:153.57, Y:124.65, Z:6.97 [[-2.43151007e-01 -9.69975954e-01 4.92302464e-03 1.53565354e+02] [ 9.69576594e-01 -2.43192520e-01 -2.79038939e-02 1.24646794e+02] [ 2.82633489e-02 -2.01161043e-03 9.99598488e-01 6.97203267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44071405700004 meters Centerline goodness : 0.987498 Centerline is valid? [True, True] Translation: X:153.57, Y:124.65, Z:6.97 [[-2.42200176e-01 -9.70213936e-01 4.89826257e-03 1.53565574e+02] [ 9.69814532e-01 -2.42241371e-01 -2.79086437e-02 1.24645351e+02] [ 2.82639169e-02 -2.00907219e-03 9.99598477e-01 6.97179087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.470714057 meters Centerline goodness : 0.987934 Centerline is valid? [True, True] Translation: X:153.57, Y:124.65, Z:6.97 [[-2.42381560e-01 -9.70168564e-01 4.91291321e-03 1.53565134e+02] [ 9.69769202e-01 -2.42423101e-01 -2.79058361e-02 1.24645060e+02] [ 2.82643686e-02 -1.99946818e-03 9.99598483e-01 6.97129902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.500714057 meters Centerline goodness : 0.987030 Centerline is valid? [True, True] Translation: X:153.56, Y:124.65, Z:6.97 [[-2.42427457e-01 -9.70157082e-01 4.91565379e-03 1.53563391e+02] [ 9.69757727e-01 -2.42469057e-01 -2.79053119e-02 1.24650752e+02] [ 2.82644299e-02 -1.99802056e-03 9.99598484e-01 6.97122723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.530714057 meters Centerline goodness : 0.986795 Centerline is valid? [True, True] Translation: X:153.56, Y:124.65, Z:6.97 [[-2.44525995e-01 -9.69630464e-01 4.87864133e-03 1.53562742e+02] [ 9.69230897e-01 -2.44565670e-01 -2.79123814e-02 1.24648854e+02] [ 2.82578435e-02 -2.09677292e-03 9.99598468e-01 6.97236297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.560714057 meters Centerline goodness : 0.984928 Centerline is valid? [True, True] Translation: X:153.56, Y:124.66, Z:6.97 [[-2.46470818e-01 -9.69137848e-01 4.89567183e-03 1.53559891e+02] [ 9.68738258e-01 -2.46510180e-01 -2.79091302e-02 1.24660275e+02] [ 2.82546273e-02 -2.13616156e-03 9.99598476e-01 6.97180204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.590714057 meters Centerline goodness : 0.986557 Centerline is valid? [True, True] Translation: X:153.56, Y:124.65, Z:6.97 [[-2.46790276e-01 -9.69056087e-01 4.98602407e-03 1.53560483e+02] [ 9.68656781e-01 -2.46832095e-01 -2.78918936e-02 1.24653546e+02] [ 2.82595200e-02 -2.05370210e-03 9.99598510e-01 6.96953238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.620714057 meters Centerline goodness : 0.986536 Centerline is valid? [True, True] Translation: X:153.56, Y:124.67, Z:6.97 [[-2.47443619e-01 -9.68890057e-01 4.86962793e-03 1.53557953e+02] [ 9.68490345e-01 -2.47481833e-01 -2.79140618e-02 1.24668348e+02] [ 2.82508013e-02 -2.19096885e-03 9.99598465e-01 6.97029147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.650714057 meters Centerline goodness : 0.987064 Centerline is valid? [True, True] Translation: X:153.56, Y:124.67, Z:6.97 [[-2.49005365e-01 -9.68489755e-01 4.89100572e-03 1.53557432e+02] [ 9.68090050e-01 -2.49043547e-01 -2.79099921e-02 1.24666181e+02] [ 2.82486149e-02 -2.21480381e-03 9.99598475e-01 6.96898873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.680714057 meters Centerline goodness : 0.987300 Centerline is valid? [True, True] Translation: X:153.56, Y:124.66, Z:6.97 [[-2.48959762e-01 -9.68501591e-01 4.86877690e-03 1.53557985e+02] [ 9.68101817e-01 -2.48997326e-01 -2.79142143e-02 1.24660458e+02] [ 2.82472733e-02 -2.23604437e-03 9.99598465e-01 6.96891007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.710714057 meters Centerline goodness : 0.987389 Centerline is valid? [True, True] Translation: X:153.56, Y:124.67, Z:6.97 [[-2.45866615e-01 -9.69291469e-01 4.86375670e-03 1.53556212e+02] [ 9.68891801e-01 -2.45905310e-01 -2.79151657e-02 1.24666726e+02] [ 2.82539556e-02 -2.15095329e-03 9.99598463e-01 6.96553830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.740714057 meters Centerline goodness : 0.987282 Centerline is valid? [True, True] Translation: X:153.55, Y:124.68, Z:6.97 [[-2.45938548e-01 -9.69272899e-01 4.92719688e-03 1.53551889e+02] [ 9.68873433e-01 -2.45979033e-01 -2.79031564e-02 1.24679310e+02] [ 2.82577604e-02 -2.08863163e-03 9.99598488e-01 6.97059374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.770714057 meters Centerline goodness : 0.987141 Centerline is valid? [True, True] Translation: X:153.54, Y:124.71, Z:6.97 [[-2.41735695e-01 -9.70329641e-01 4.92353939e-03 1.53544098e+02] [ 9.69930342e-01 -2.41777805e-01 -2.79038482e-02 1.24707138e+02] [ 2.82663336e-02 -1.96986589e-03 9.99598486e-01 6.97066852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.800714057 meters Centerline goodness : 0.988007 Centerline is valid? [True, True] Translation: X:153.55, Y:124.67, Z:6.97 [[-2.38171614e-01 -9.71210795e-01 4.88617791e-03 1.53549458e+02] [ 9.70811524e-01 -2.38214120e-01 -2.79109021e-02 1.24674961e+02] [ 2.82713260e-02 -1.90402677e-03 9.99598473e-01 6.96932730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.830714057 meters Centerline goodness : 0.988043 Centerline is valid? [True, True] Translation: X:153.55, Y:124.68, Z:6.97 [[-2.32613943e-01 -9.72557386e-01 4.78381868e-03 1.53546315e+02] [ 9.72158003e-01 -2.32655803e-01 -2.79301635e-02 1.24680665e+02] [ 2.82766699e-02 -1.84631784e-03 9.99598430e-01 6.97019877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.860714057 meters Centerline goodness : 0.986574 Centerline is valid? [True, True] Translation: X:153.54, Y:124.71, Z:6.97 [[-2.31471101e-01 -9.72829399e-01 4.90807047e-03 1.53540590e+02] [ 9.72430510e-01 -2.31516985e-01 -2.79067834e-02 1.24706537e+02] [ 2.82848410e-02 -1.68685640e-03 9.99598481e-01 6.97219937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.890714057 meters Centerline goodness : 0.986918 Centerline is valid? [True, True] Translation: X:153.54, Y:124.69, Z:6.97 [[-2.27811643e-01 -9.73692560e-01 4.96533854e-03 1.53541438e+02] [ 9.73294061e-01 -2.27860663e-01 -2.78960222e-02 1.24691938e+02] [ 2.82935546e-02 -1.52230413e-03 9.99598498e-01 6.97294727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.920714057 meters Centerline goodness : 0.987044 Centerline is valid? [True, True] Translation: X:153.54, Y:124.68, Z:6.97 [[-2.25479457e-01 -9.74235339e-01 4.95169046e-03 1.53543554e+02] [ 9.73836907e-01 -2.25529041e-01 -2.78985793e-02 1.24676410e+02] [ 2.82965318e-02 -1.46841759e-03 9.99598494e-01 6.97158751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.950714057 meters Centerline goodness : 0.987986 Centerline is valid? [True, True] Translation: X:153.54, Y:124.70, Z:6.97 [[-2.25030312e-01 -9.74339711e-01 4.84615656e-03 1.53537486e+02] [ 9.73940903e-01 -2.25077065e-01 -2.79183161e-02 1.24701429e+02] [ 2.82926827e-02 -1.56259729e-03 9.99598461e-01 6.97198894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.980714057 meters Centerline goodness : 0.987869 Centerline is valid? [True, True] Translation: X:153.53, Y:124.73, Z:6.97 [[-2.23674672e-01 -9.74651756e-01 4.85750487e-03 1.53530714e+02] [ 9.74253056e-01 -2.23722303e-01 -2.79161951e-02 1.24731435e+02] [ 2.82953008e-02 -1.51170681e-03 9.99598465e-01 6.97229460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01071405700003 meters Centerline goodness : 0.985751 Centerline is valid? [True, True] Translation: X:153.54, Y:124.68, Z:6.97 [[-2.22288854e-01 -9.74968936e-01 4.82064369e-03 1.53541120e+02] [ 9.74570165e-01 -2.22335999e-01 -2.79230672e-02 1.24676084e+02] [ 2.82959257e-02 -1.50893108e-03 9.99598451e-01 6.97187259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.040714057 meters Centerline goodness : 0.987567 Centerline is valid? [True, True] Translation: X:153.54, Y:124.70, Z:6.97 [[-2.19663725e-01 -9.75563142e-01 4.93995529e-03 1.53536189e+02] [ 9.75164964e-01 -2.19715350e-01 -2.79008747e-02 1.24695028e+02] [ 2.83044490e-02 -1.31153874e-03 9.99598488e-01 6.97206517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07071405700003 meters Centerline goodness : 0.987623 Centerline is valid? [True, True] Translation: X:153.54, Y:124.69, Z:6.97 [[-2.17999214e-01 -9.75937165e-01 4.79509276e-03 1.53535996e+02] [ 9.75538508e-01 -2.18047382e-01 -2.79277544e-02 1.24688580e+02] [ 2.83012908e-02 -1.41043087e-03 9.99598443e-01 6.97290562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.100714057 meters Centerline goodness : 0.983842 Centerline is valid? [True, True] Translation: X:153.54, Y:124.68, Z:6.97 [[-2.19203777e-01 -9.75667298e-01 4.79865023e-03 1.53539109e+02] [ 9.75268595e-01 -2.19251555e-01 -2.79270960e-02 1.24681647e+02] [ 2.82996658e-02 -1.44175205e-03 9.99598445e-01 6.97480023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13071405700003 meters Centerline goodness : 0.987279 Centerline is valid? [True, True] Translation: X:153.54, Y:124.69, Z:6.97 [[-2.14398155e-01 -9.76732725e-01 5.15891178e-03 1.53536116e+02] [ 9.76335748e-01 -2.14458169e-01 -2.78603882e-02 1.24686312e+02] [ 2.83185237e-02 -9.36385829e-04 9.99598512e-01 6.97465629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.160714057 meters Centerline goodness : 0.989250 Centerline is valid? [True, True] Translation: X:153.54, Y:124.68, Z:6.97 [[-2.07157299e-01 -9.78295558e-01 4.86369986e-03 1.53537245e+02] [ 9.77897752e-01 -2.07211844e-01 -2.79148544e-02 1.24683925e+02] [ 2.83167943e-02 -1.02656470e-03 9.99598472e-01 6.97223071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19071405700004 meters Centerline goodness : 0.985827 Centerline is valid? [True, True] Translation: X:153.54, Y:124.68, Z:6.97 [[-2.06243966e-01 -9.78489791e-01 4.59943962e-03 1.53540007e+02] [ 9.78090961e-01 -2.06291344e-01 -2.79634205e-02 1.24681932e+02] [ 2.83107461e-02 -1.26861642e-03 9.99598365e-01 6.97379108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.220714057 meters Centerline goodness : 0.988484 Centerline is valid? [True, True] Translation: X:153.54, Y:124.69, Z:6.97 [[-1.98708127e-01 -9.80046467e-01 4.89930071e-03 1.53537904e+02] [ 9.79649305e-01 -1.98767116e-01 -2.79083053e-02 1.24689284e+02] [ 2.83252559e-02 -7.46010542e-04 9.99598481e-01 6.97349577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.250714057 meters Centerline goodness : 0.988012 Centerline is valid? [True, True] Translation: X:153.54, Y:124.70, Z:6.98 [[-1.95862713e-01 -9.80620941e-01 4.51301989e-03 1.53536996e+02] [ 9.80222282e-01 -1.95911853e-01 -2.79789918e-02 1.24699084e+02] [ 2.83209394e-02 -1.05627859e-03 9.99598324e-01 6.97531683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.280714057 meters Centerline goodness : 0.987896 Centerline is valid? [True, True] Translation: X:153.54, Y:124.68, Z:6.97 [[-1.88279349e-01 -9.82105034e-01 4.53761798e-03 1.53542178e+02] [ 9.81706873e-01 -1.88332268e-01 -2.79744972e-02 1.24682509e+02] [ 2.83284744e-02 -8.12409357e-04 9.99598338e-01 6.97447742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.310714057 meters Centerline goodness : 0.987896 Centerline is valid? [True, True] Translation: X:153.54, Y:124.69, Z:6.97 [[-1.87957019e-01 -9.82167493e-01 4.37901316e-03 1.53541682e+02] [ 9.81768672e-01 -1.88005550e-01 -2.80033686e-02 1.24685128e+02] [ 2.83272771e-02 -9.64251745e-04 9.99598237e-01 6.97448167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.340714057 meters Centerline goodness : 0.988547 Centerline is valid? [True, True] Translation: X:153.54, Y:124.70, Z:6.97 [[-1.86031220e-01 -9.82534076e-01 4.37890165e-03 1.53540663e+02] [ 9.82135350e-01 -1.86080530e-01 -2.80033888e-02 1.24696386e+02] [ 2.83291121e-02 -9.08830488e-04 9.99598237e-01 6.97425042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.370714057 meters Centerline goodness : 0.987685 Centerline is valid? [True, True] Translation: X:153.55, Y:124.68, Z:6.97 [[-1.80679931e-01 -9.83532033e-01 4.41619610e-03 1.53546428e+02] [ 9.83133746e-01 -1.80732473e-01 -2.79966221e-02 1.24675151e+02] [ 2.83337247e-02 -7.16716339e-04 9.99598262e-01 6.97159112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.400714057 meters Centerline goodness : 0.985149 Centerline is valid? [True, True] Translation: X:153.55, Y:124.68, Z:6.97 [[-1.81091887e-01 -9.83456216e-01 4.42712842e-03 1.53548571e+02] [ 9.83057956e-01 -1.81144572e-01 -2.79946413e-02 1.24679788e+02] [ 2.83334543e-02 -7.17478589e-04 9.99598270e-01 6.96977423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.430714057 meters Centerline goodness : 0.985264 Centerline is valid? [True, True] Translation: X:153.55, Y:124.67, Z:6.97 [[-1.74688811e-01 -9.84611860e-01 4.82741597e-03 1.53552773e+02] [ 9.84215877e-01 -1.74755454e-01 -2.79220170e-02 1.24668238e+02] [ 2.83359663e-02 -1.26444503e-04 9.99598448e-01 6.97133548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.460714057 meters Centerline goodness : 0.986978 Centerline is valid? [True, True] Translation: X:153.55, Y:124.68, Z:6.97 [[-1.71431440e-01 -9.85184417e-01 4.78813174e-03 1.53550209e+02] [ 9.84788457e-01 -1.71498278e-01 -2.79291310e-02 1.24675559e+02] [ 2.83365009e-02 -7.26342545e-05 9.99598438e-01 6.97277568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.490714057 meters Centerline goodness : 0.986657 Centerline is valid? [True, True] Translation: X:153.55, Y:124.68, Z:6.97 [[-1.63767181e-01 -9.86488885e-01 4.47116261e-03 1.53551160e+02] [ 9.86091839e-01 -1.63828112e-01 -2.79863147e-02 1.24684419e+02] [ 2.83406905e-02 -1.74262888e-04 9.99598307e-01 6.97336515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.520714057 meters Centerline goodness : 0.981465 Centerline is valid? [True, True] Translation: X:153.56, Y:124.67, Z:6.97 [[-1.64591623e-01 -9.86351685e-01 4.46659053e-03 1.53557507e+02] [ 9.85954567e-01 -1.64652093e-01 -2.79871381e-02 1.24671980e+02] [ 2.83405943e-02 -2.02593154e-04 9.99598304e-01 6.97398041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.550714057 meters Centerline goodness : 0.985274 Centerline is valid? [True, True] Translation: X:153.56, Y:124.69, Z:6.97 [[-1.52065320e-01 -9.88357622e-01 5.03479386e-03 1.53556919e+02] [ 9.87964463e-01 -1.52146876e-01 -2.78845489e-02 1.24687412e+02] [ 2.83259346e-02 7.33924562e-04 9.99598471e-01 6.97478711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.580714057 meters Centerline goodness : 0.985716 Centerline is valid? [True, True] Translation: X:153.56, Y:124.69, Z:6.98 [[-1.48471233e-01 -9.88906153e-01 4.57324820e-03 1.53559237e+02] [ 9.88510664e-01 -1.48541192e-01 -2.79675195e-02 1.24690881e+02] [ 2.83365678e-02 3.68332520e-04 9.99598371e-01 6.97514861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.610714057 meters Centerline goodness : 0.986901 Centerline is valid? [True, True] Translation: X:153.56, Y:124.70, Z:6.97 [[-1.46548831e-01 -9.89192944e-01 4.55620739e-03 1.53563944e+02] [ 9.88797498e-01 -1.46619078e-01 -2.79705777e-02 1.24696764e+02] [ 2.83363251e-02 4.06111004e-04 9.99598363e-01 6.97283946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.640714057 meters Centerline goodness : 0.985788 Centerline is valid? [True, True] Translation: X:153.57, Y:124.71, Z:6.97 [[-1.49467333e-01 -9.88756603e-01 4.46055465e-03 1.53565611e+02] [ 9.88360439e-01 -1.49533707e-01 -2.79877209e-02 1.24707059e+02] [ 2.83400471e-02 2.25385748e-04 9.99598315e-01 6.97448473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.670714057 meters Centerline goodness : 0.984964 Centerline is valid? [True, True] Translation: X:153.57, Y:124.71, Z:6.97 [[-1.56213153e-01 -9.87712739e-01 4.58211757e-03 1.53572949e+02] [ 9.87316760e-01 -1.56280264e-01 -2.79659468e-02 1.24711623e+02] [ 2.83384165e-02 1.55352738e-04 9.99598374e-01 6.97418386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.700714057 meters Centerline goodness : 0.985254 Centerline is valid? [True, True] Translation: X:153.58, Y:124.72, Z:6.97 [[-1.60673722e-01 -9.86996849e-01 4.60161664e-03 1.53575339e+02] [ 9.86600671e-01 -1.60739595e-01 -2.79624555e-02 1.24724559e+02] [ 2.83385175e-02 4.71262660e-05 9.99598382e-01 6.97390843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.730714057 meters Centerline goodness : 0.985804 Centerline is valid? [True, True] Translation: X:153.50, Y:125.11, Z:6.99 [[-1.78413131e-01 -9.83944293e-01 4.73102121e-03 1.53504714e+02] [ 9.83547606e-01 -1.78475539e-01 -2.79390129e-02 1.25114756e+02] [ 2.83348039e-02 -3.31502198e-04 9.99598434e-01 6.98586236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76071405700003 meters Centerline goodness : 0.986000 Centerline is valid? [True, True] Translation: X:153.59, Y:124.75, Z:6.97 [[-1.76387665e-01 -9.84307678e-01 5.07813368e-03 1.53586508e+02] [ 9.83912873e-01 -1.76460730e-01 -2.78759466e-02 1.24745905e+02] [ 2.83345995e-02 7.94679825e-05 9.99598491e-01 6.97451764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.790714057 meters Centerline goodness : 0.987333 Centerline is valid? [True, True] Translation: X:153.59, Y:124.76, Z:6.98 [[-1.82809635e-01 -9.83137241e-01 4.66935227e-03 1.53588057e+02] [ 9.82740031e-01 -1.82868517e-01 -2.79488226e-02 1.24760326e+02] [ 2.83314059e-02 -5.20554666e-04 9.99598450e-01 6.97590805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82071405700003 meters Centerline goodness : 0.988875 Centerline is valid? [True, True] Translation: X:153.60, Y:124.76, Z:6.97 [[-1.93002619e-01 -9.81187249e-01 4.64447288e-03 1.53596959e+02] [ 9.80789345e-01 -1.93056668e-01 -2.79532511e-02 1.24760816e+02] [ 2.83240200e-02 -8.39801167e-04 9.99598442e-01 6.97392898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.850714057 meters Centerline goodness : 0.984378 Centerline is valid? [True, True] Translation: X:153.40, Y:125.79, Z:7.00 [[-2.31856204e-01 -9.72737831e-01 4.87976985e-03 1.53396034e+02] [ 9.72338881e-01 -2.31901124e-01 -2.79100379e-02 1.25790707e+02] [ 2.82807738e-02 -1.72632548e-03 9.99598528e-01 7.00138706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88071405700003 meters Centerline goodness : 0.989537 Centerline is valid? [True, True] Translation: X:153.60, Y:124.79, Z:6.98 [[-2.00246475e-01 -9.79729250e-01 5.65206981e-03 1.53597062e+02] [ 9.79335681e-01 -2.00326224e-01 -2.77673894e-02 1.24790926e+02] [ 2.83367814e-02 -2.50482081e-05 9.99598432e-01 6.97608287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.910714057 meters Centerline goodness : 0.988983 Centerline is valid? [True, True] Translation: X:153.60, Y:124.80, Z:6.98 [[-2.08866110e-01 -9.77933849e-01 4.50935143e-03 1.53602074e+02] [ 9.77534922e-01 -2.08909865e-01 -2.79668392e-02 1.24799659e+02] [ 2.82917668e-02 -1.43327643e-03 9.99598680e-01 6.97778149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94071405700004 meters Centerline goodness : 0.988747 Centerline is valid? [True, True] Translation: X:153.61, Y:124.81, Z:6.98 [[-2.14606367e-01 -9.76690094e-01 4.53520772e-03 1.53606434e+02] [ 9.76291003e-01 -2.14648517e-01 -2.79623281e-02 1.24805834e+02] [ 2.82840044e-02 -1.57321114e-03 9.99598690e-01 6.97897529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.970714057 meters Centerline goodness : 0.988647 Centerline is valid? [True, True] Translation: X:153.61, Y:124.81, Z:6.98 [[-2.16402558e-01 -9.76293115e-01 4.65684849e-03 1.53607952e+02] [ 9.75894357e-01 -2.16447448e-01 -2.79411289e-02 1.24806321e+02] [ 2.82866947e-02 -1.50193961e-03 9.99598723e-01 6.98055589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.000714057 meters Centerline goodness : 0.989392 Centerline is valid? [True, True] Translation: X:153.61, Y:124.81, Z:6.98 [[-2.16536319e-01 -9.76263621e-01 4.62217029e-03 1.53608645e+02] [ 9.75864739e-01 -2.16580164e-01 -2.79471620e-02 1.24811738e+02] [ 2.82848680e-02 -1.54096258e-03 9.99598715e-01 6.97918724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.030714057 meters Centerline goodness : 0.989295 Centerline is valid? [True, True] Translation: X:153.61, Y:124.82, Z:6.98 [[-2.17175224e-01 -9.76122047e-01 4.54654289e-03 1.53611012e+02] [ 9.75722886e-01 -2.17216648e-01 -2.79602887e-02 1.24815599e+02] [ 2.82802391e-02 -1.63611601e-03 9.99598695e-01 6.97926330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.060714057 meters Centerline goodness : 0.989198 Centerline is valid? [True, True] Translation: X:153.61, Y:124.82, Z:6.98 [[-2.18753016e-01 -9.75769723e-01 4.53501165e-03 1.53610826e+02] [ 9.75370458e-01 -2.18793465e-01 -2.79622859e-02 1.24817194e+02] [ 2.82769829e-02 -1.69351798e-03 9.99598692e-01 6.97958261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.090714057 meters Centerline goodness : 0.988313 Centerline is valid? [True, True] Translation: X:153.61, Y:124.82, Z:6.98 [[-2.18598288e-01 -9.75804665e-01 4.47715772e-03 1.53612639e+02] [ 9.75405223e-01 -2.18637147e-01 -2.79722933e-02 1.24816916e+02] [ 2.82743673e-02 -1.74765240e-03 9.99598672e-01 6.97972662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.120714057 meters Centerline goodness : 0.988307 Centerline is valid? [True, True] Translation: X:153.61, Y:124.82, Z:6.98 [[-2.18522512e-01 -9.75821093e-01 4.59409214e-03 1.53612967e+02] [ 9.75422029e-01 -2.18564743e-01 -2.79520881e-02 1.24819730e+02] [ 2.82803438e-02 -1.62698183e-03 9.99598707e-01 6.98018654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.150714057 meters Centerline goodness : 0.988224 Centerline is valid? [True, True] Translation: X:153.61, Y:124.82, Z:6.98 [[-2.18202643e-01 -9.75892792e-01 4.56795677e-03 1.53612021e+02] [ 9.75493656e-01 -2.18244258e-01 -2.79565953e-02 1.24821849e+02] [ 2.82795701e-02 -1.64419012e-03 9.99598701e-01 6.97989778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.180714057 meters Centerline goodness : 0.988505 Centerline is valid? [True, True] Translation: X:153.61, Y:124.83, Z:6.98 [[-2.19085673e-01 -9.75695520e-01 4.44073574e-03 1.53609281e+02] [ 9.75295949e-01 -2.19123292e-01 -2.79784737e-02 1.24834052e+02] [ 2.82715401e-02 -1.79865115e-03 9.99598662e-01 6.98001248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.210714057 meters Centerline goodness : 0.988730 Centerline is valid? [True, True] Translation: X:153.61, Y:124.82, Z:6.98 [[-2.17961614e-01 -9.75946441e-01 4.61304056e-03 1.53611963e+02] [ 9.75547461e-01 -2.18004615e-01 -2.79488534e-02 1.24820196e+02] [ 2.82822481e-02 -1.59153719e-03 9.99598710e-01 6.97905145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.240714057 meters Centerline goodness : 0.988738 Centerline is valid? [True, True] Translation: X:153.61, Y:124.83, Z:6.98 [[-2.18833192e-01 -9.75751536e-01 4.57982844e-03 1.53609155e+02] [ 9.75352411e-01 -2.18874888e-01 -2.79545499e-02 1.24827329e+02] [ 2.82791044e-02 -1.65043666e-03 9.99598704e-01 6.98029337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.270714057 meters Centerline goodness : 0.989635 Centerline is valid? [True, True] Translation: X:153.61, Y:124.82, Z:6.98 [[-2.15374314e-01 -9.76521494e-01 4.43592571e-03 1.53610452e+02] [ 9.76122057e-01 -2.15413315e-01 -2.79791573e-02 1.24819447e+02] [ 2.82778059e-02 -1.69598688e-03 9.99598664e-01 6.97954406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.300714057 meters Centerline goodness : 0.988457 Centerline is valid? [True, True] Translation: X:153.61, Y:124.82, Z:6.98 [[-2.13851974e-01 -9.76856498e-01 4.32615969e-03 1.53608883e+02] [ 9.76456781e-01 -2.13888462e-01 -2.79978816e-02 1.24820969e+02] [ 2.82752282e-02 -1.76309429e-03 9.99598621e-01 6.97917184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.330714057 meters Centerline goodness : 0.988300 Centerline is valid? [True, True] Translation: X:153.61, Y:124.82, Z:6.98 [[-2.12765014e-01 -9.77093991e-01 4.28746382e-03 1.53608452e+02] [ 9.76694196e-01 -2.12800840e-01 -2.80044727e-02 1.24823359e+02] [ 2.82753779e-02 -1.77083099e-03 9.99598603e-01 6.97868844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.360714057 meters Centerline goodness : 0.989795 Centerline is valid? [True, True] Translation: X:153.61, Y:124.83, Z:6.98 [[-2.10817312e-01 -9.77515646e-01 4.38435104e-03 1.53606899e+02] [ 9.77116229e-01 -2.10856702e-01 -2.79879784e-02 1.24830472e+02] [ 2.82831566e-02 -1.61632980e-03 9.99598645e-01 6.97833071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.390714057 meters Centerline goodness : 0.989446 Centerline is valid? [True, True] Translation: X:153.54, Y:125.20, Z:6.99 [[-2.22368872e-01 -9.74952900e-01 4.35051524e-03 1.53537861e+02] [ 9.74552946e-01 -2.22402567e-01 -2.79938233e-02 1.25200067e+02] [ 2.82602250e-02 -1.98514748e-03 9.99598629e-01 6.98992122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.420714057 meters Centerline goodness : 0.988985 Centerline is valid? [True, True] Translation: X:154.31, Y:125.09, Z:7.82 [[-1.99018732e-01 9.79986029e-01 -4.35051524e-03 1.54313815e+02] [ 9.79586994e-01 1.99061969e-01 2.79938233e-02 1.25086157e+02] [ 2.82995779e-02 1.30958707e-03 -9.99598629e-01 7.81983474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.450714057 meters Centerline goodness : 0.989321 Centerline is valid? [True, True] Translation: X:153.62, Y:124.95, Z:6.98 [[-2.77284842e-01 -9.60760614e-01 7.22210752e-03 1.53620386e+02] [ 9.60373279e-01 -2.77378164e-01 -2.72858673e-02 1.24953657e+02] [ 2.82184415e-02 -6.30038320e-04 9.99601582e-01 6.98273596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.480714057 meters Centerline goodness : 0.989601 Centerline is valid? [True, True] Translation: X:153.62, Y:124.96, Z:6.98 [[-2.77951574e-01 -9.60575516e-01 6.13198551e-03 1.53618349e+02] [ 9.60181919e-01 -2.78013569e-01 -2.75524537e-02 1.24958242e+02] [ 2.81709876e-02 -1.77042624e-03 9.99601551e-01 6.98103470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51071405700003 meters Centerline goodness : 0.989303 Centerline is valid? [True, True] Translation: X:153.62, Y:124.96, Z:6.98 [[-2.79733994e-01 -9.60058021e-01 6.12283480e-03 1.53616687e+02] [ 9.59664264e-01 -2.79794996e-01 -2.75546894e-02 1.24959503e+02] [ 2.81672391e-02 -1.83211756e-03 9.99601546e-01 6.98314421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.540714057 meters Centerline goodness : 0.988920 Centerline is valid? [True, True] Translation: X:153.61, Y:124.97, Z:6.98 [[-2.81833818e-01 -9.59442506e-01 6.30680388e-03 1.53613333e+02] [ 9.59049552e-01 -2.81899222e-01 -2.75097403e-02 1.24968763e+02] [ 2.81718973e-02 -1.70463771e-03 9.99601640e-01 6.98485646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57071405700003 meters Centerline goodness : 0.989139 Centerline is valid? [True, True] Translation: X:153.61, Y:124.96, Z:6.98 [[-2.84253655e-01 -9.58727729e-01 6.40322920e-03 1.53612577e+02] [ 9.58335108e-01 -2.84320823e-01 -2.74861909e-02 1.24964707e+02] [ 2.81723447e-02 -1.67661086e-03 9.99601675e-01 6.98407674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.600714057 meters Centerline goodness : 0.988507 Centerline is valid? [True, True] Translation: X:153.61, Y:124.98, Z:6.99 [[-2.88506090e-01 -9.57456751e-01 6.38789319e-03 1.53606605e+02] [ 9.57063758e-01 -2.88571077e-01 -2.74899314e-02 1.24979917e+02] [ 2.81637816e-02 -1.81739157e-03 9.99601670e-01 6.98733222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63071405700003 meters Centerline goodness : 0.988176 Centerline is valid? [True, True] Translation: X:153.60, Y:124.98, Z:6.99 [[-2.92158299e-01 -9.56348162e-01 6.45914681e-03 1.53604598e+02] [ 9.55955279e-01 -2.92223824e-01 -2.74725532e-02 1.24981763e+02] [ 2.81608423e-02 -1.85167891e-03 9.99601690e-01 6.98756525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.660714057 meters Centerline goodness : 0.987997 Centerline is valid? [True, True] Translation: X:153.60, Y:124.98, Z:6.99 [[-2.96199074e-01 -9.55104197e-01 6.48697482e-03 1.53604102e+02] [ 9.54711177e-01 -2.96263734e-01 -2.74657716e-02 1.24980999e+02] [ 2.81545291e-02 -1.94214875e-03 9.99601696e-01 6.98715874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69071405700004 meters Centerline goodness : 0.987049 Centerline is valid? [True, True] Translation: X:153.60, Y:124.98, Z:6.99 [[-2.98045616e-01 -9.54528597e-01 6.63082507e-03 1.53602678e+02] [ 9.54136163e-01 -2.98113634e-01 -2.74307210e-02 1.24983080e+02] [ 2.81601470e-02 -1.84889616e-03 9.99601715e-01 6.98543179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.720714057 meters Centerline goodness : 0.988966 Centerline is valid? [True, True] Translation: X:153.60, Y:124.99, Z:6.99 [[-2.97564489e-01 -9.54678455e-01 6.66497337e-03 1.53598896e+02] [ 9.54286227e-01 -2.97633682e-01 -2.74224086e-02 1.24991662e+02] [ 2.81633033e-02 -1.79964273e-03 9.99601716e-01 6.98626244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.750714057 meters Centerline goodness : 0.988163 Centerline is valid? [True, True] Translation: X:153.60, Y:124.99, Z:6.98 [[-3.01624973e-01 -9.53405493e-01 6.35149936e-03 1.53596510e+02] [ 9.53011486e-01 -3.01683515e-01 -2.74984621e-02 1.24992339e+02] [ 2.81333275e-02 -2.24117104e-03 9.99601667e-01 6.98358971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.780714057 meters Centerline goodness : 0.989335 Centerline is valid? [True, True] Translation: X:153.59, Y:124.99, Z:6.99 [[-3.00468935e-01 -9.53767976e-01 6.71321703e-03 1.53593669e+02] [ 9.53375780e-01 -3.00538314e-01 -2.74106475e-02 1.24994291e+02] [ 2.81609767e-02 -1.83582955e-03 9.99601715e-01 6.98584168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.810714057 meters Centerline goodness : 0.989915 Centerline is valid? [True, True] Translation: X:153.59, Y:125.00, Z:6.98 [[-2.99737628e-01 -9.54000358e-01 6.37745438e-03 1.53590625e+02] [ 9.53606595e-01 -2.99797694e-01 -2.74919003e-02 1.24999339e+02] [ 2.81392288e-02 -2.15877443e-03 9.99601682e-01 6.98453479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.840714057 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:153.59, Y:125.00, Z:6.98 [[-2.98952824e-01 -9.54246676e-01 6.36319332e-03 1.53588696e+02] [ 9.53852897e-01 -2.99012805e-01 -2.74953459e-02 1.24999411e+02] [ 2.81400187e-02 -2.15026091e-03 9.99601679e-01 6.98379425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.870714057 meters Centerline goodness : 0.989310 Centerline is valid? [True, True] Translation: X:153.59, Y:125.00, Z:6.98 [[-2.97114371e-01 -9.54821543e-01 6.23463253e-03 1.53587828e+02] [ 9.54427286e-01 -2.97171426e-01 -2.75263267e-02 1.24997041e+02] [ 2.81354844e-02 -2.22796384e-03 9.99601636e-01 6.98418002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.900714057 meters Centerline goodness : 0.989233 Centerline is valid? [True, True] Translation: X:153.59, Y:124.99, Z:6.98 [[-2.97093912e-01 -9.54827382e-01 6.31488328e-03 1.53587870e+02] [ 9.54433495e-01 -2.97153276e-01 -2.75069964e-02 1.24990875e+02] [ 2.81409216e-02 -2.14502507e-03 9.99601664e-01 6.98492035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.930714057 meters Centerline goodness : 0.990224 Centerline is valid? [True, True] Translation: X:153.58, Y:125.01, Z:6.98 [[-2.98085260e-01 -9.54518379e-01 6.31205770e-03 1.53582591e+02] [ 9.54124417e-01 -2.98144134e-01 -2.75076761e-02 1.25006905e+02] [ 2.81384854e-02 -2.17714441e-03 9.99601664e-01 6.98450176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.960714057 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:153.58, Y:125.01, Z:6.98 [[-2.96784507e-01 -9.54923717e-01 6.29685622e-03 1.53581723e+02] [ 9.54529766e-01 -2.96843482e-01 -2.75113275e-02 1.25007029e+02] [ 2.81403998e-02 -2.15439908e-03 9.99601659e-01 6.98051796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.990714057 meters Centerline goodness : 0.991857 Centerline is valid? [True, True] Translation: X:153.58, Y:124.99, Z:6.98 [[-2.95494479e-01 -9.55325891e-01 5.95446921e-03 1.53584375e+02] [ 9.54930501e-01 -2.95544166e-01 -2.75932096e-02 1.24993011e+02] [ 2.81203162e-02 -2.46753684e-03 9.99601500e-01 6.98082134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.020714057 meters Centerline goodness : 0.992286 Centerline is valid? [True, True] Translation: X:153.58, Y:125.00, Z:6.98 [[-2.94194703e-01 -9.55727274e-01 5.90385013e-03 1.53582097e+02] [ 9.55331736e-01 -2.94243475e-01 -2.76052940e-02 1.24999032e+02] [ 2.81203018e-02 -2.48119588e-03 9.99601467e-01 6.97743779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.050714057 meters Centerline goodness : 0.988762 Centerline is valid? [True, True] Translation: X:153.59, Y:124.99, Z:6.97 [[-2.96071167e-01 -9.55149053e-01 5.67016819e-03 1.53586260e+02] [ 9.54752477e-01 -2.96112446e-01 -2.76609436e-02 1.24985353e+02] [ 2.80993314e-02 -2.77600071e-03 9.99601281e-01 6.97406191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.080714057 meters Centerline goodness : 0.991165 Centerline is valid? [True, True] Translation: X:153.58, Y:125.00, Z:6.98 [[-2.93065567e-01 -9.56072180e-01 6.20962644e-03 1.53577520e+02] [ 9.55678056e-01 -2.93123576e-01 -2.75322183e-02 1.25002150e+02] [ 2.81429759e-02 -2.13434143e-03 9.99601629e-01 6.97705441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.110714057 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:153.58, Y:125.00, Z:6.98 [[-2.92743505e-01 -9.56174637e-01 5.59496942e-03 1.53576460e+02] [ 9.55777922e-01 -2.92784004e-01 -2.76783383e-02 1.25002149e+02] [ 2.81034427e-02 -2.75510553e-03 9.99601223e-01 6.97748614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.140714057 meters Centerline goodness : 0.990250 Centerline is valid? [True, True] Translation: X:153.57, Y:125.00, Z:6.98 [[-2.90367143e-01 -9.56897926e-01 5.76898300e-03 1.53574307e+02] [ 9.56502024e-01 -2.90413627e-01 -2.76369877e-02 1.24998345e+02] [ 2.81211675e-02 -2.50682925e-03 9.99601378e-01 6.97849922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.170714057 meters Centerline goodness : 0.990250 Centerline is valid? [True, True] Translation: X:153.57, Y:125.00, Z:6.98 [[-2.90057714e-01 -9.56992635e-01 5.62308009e-03 1.53573671e+02] [ 9.56596151e-01 -2.90100134e-01 -2.76715694e-02 1.25000914e+02] [ 2.81127444e-02 -2.64733538e-03 9.99601253e-01 6.97851595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.200714057 meters Centerline goodness : 0.988768 Centerline is valid? [True, True] Translation: X:153.56, Y:125.03, Z:6.98 [[-2.91100590e-01 -9.56675810e-01 5.64284291e-03 1.53563901e+02] [ 9.56279359e-01 -2.91143147e-01 -2.76668820e-02 1.25033182e+02] [ 2.81111118e-02 -2.65771148e-03 9.99601271e-01 6.98080364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.230714057 meters Centerline goodness : 0.990109 Centerline is valid? [True, True] Translation: X:153.57, Y:125.00, Z:6.98 [[-2.88978983e-01 -9.57317441e-01 5.87070890e-03 1.53567137e+02] [ 9.56922040e-01 -2.89028961e-01 -2.76128284e-02 1.25001237e+02] [ 2.81310471e-02 -2.36171634e-03 9.99601454e-01 6.97901806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26071405700003 meters Centerline goodness : 0.988172 Centerline is valid? [True, True] Translation: X:153.56, Y:125.02, Z:6.98 [[-2.89236424e-01 -9.57240692e-01 5.70520622e-03 1.53562306e+02] [ 9.56844583e-01 -2.89281545e-01 -2.76519756e-02 1.25019508e+02] [ 2.81200071e-02 -2.53896286e-03 9.99601330e-01 6.97956538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.290714057 meters Centerline goodness : 0.989512 Centerline is valid? [True, True] Translation: X:153.56, Y:125.04, Z:6.98 [[-2.91071284e-01 -9.56683407e-01 5.86227188e-03 1.53555565e+02] [ 9.56287865e-01 -2.91120155e-01 -2.76147530e-02 1.25037429e+02] [ 2.81252015e-02 -2.43184214e-03 9.99601450e-01 6.97914258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32071405700003 meters Centerline goodness : 0.990828 Centerline is valid? [True, True] Translation: X:153.56, Y:125.03, Z:6.98 [[-2.90697605e-01 -9.56796536e-01 5.94068500e-03 1.53555682e+02] [ 9.56401348e-01 -2.90748881e-01 -2.75961764e-02 1.25030017e+02] [ 2.81311735e-02 -2.34046326e-03 9.99601500e-01 6.97501211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.350714057 meters Centerline goodness : 0.989176 Centerline is valid? [True, True] Translation: X:153.56, Y:125.02, Z:6.98 [[-2.92150556e-01 -9.56355984e-01 5.59331982e-03 1.53555807e+02] [ 9.55959305e-01 -2.92191255e-01 -2.76781060e-02 1.25024666e+02] [ 2.81044414e-02 -2.73918793e-03 9.99601239e-01 6.97755784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38071405700003 meters Centerline goodness : 0.989342 Centerline is valid? [True, True] Translation: X:153.55, Y:125.03, Z:6.98 [[-2.92704225e-01 -9.56185588e-01 5.77558867e-03 1.53554266e+02] [ 9.55789609e-01 -2.92749932e-01 -2.76351233e-02 1.25027151e+02] [ 2.81151098e-02 -2.56866971e-03 9.99601392e-01 6.97733848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.410714057 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:153.55, Y:125.02, Z:6.98 [[-2.96870771e-01 -9.54900346e-01 5.75100907e-03 1.53553263e+02] [ 9.54504076e-01 -2.96914044e-01 -2.76409105e-02 1.25023447e+02] [ 2.81018704e-02 -2.71641681e-03 9.99601374e-01 6.97531790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44071405700004 meters Centerline goodness : 0.990328 Centerline is valid? [True, True] Translation: X:153.55, Y:125.04, Z:6.97 [[-2.98509670e-01 -9.54388661e-01 5.85325715e-03 1.53548597e+02] [ 9.53992716e-01 -2.98555202e-01 -2.76168333e-02 1.25036799e+02] [ 2.81047129e-02 -2.65992711e-03 9.99601446e-01 6.97333017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.470714057 meters Centerline goodness : 0.989155 Centerline is valid? [True, True] Translation: X:153.55, Y:125.04, Z:6.97 [[-3.00915118e-01 -9.53634551e-01 5.58889243e-03 1.53548194e+02] [ 9.53237505e-01 -3.00952047e-01 -2.76789484e-02 1.25036689e+02] [ 2.80775901e-02 -3.00147213e-03 9.99601241e-01 6.97402155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.500714057 meters Centerline goodness : 0.988523 Centerline is valid? [True, True] Translation: X:153.54, Y:125.05, Z:6.98 [[-3.02665046e-01 -9.53078792e-01 5.88958001e-03 1.53543939e+02] [ 9.52682794e-01 -3.02709896e-01 -2.76081914e-02 1.25048437e+02] [ 2.80956158e-02 -2.74513296e-03 9.99601471e-01 6.97625600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.530714057 meters Centerline goodness : 0.988687 Centerline is valid? [True, True] Translation: X:153.54, Y:125.06, Z:6.97 [[-3.03307259e-01 -9.52873380e-01 6.08518511e-03 1.53541510e+02] [ 9.52478126e-01 -3.03357462e-01 -2.75621088e-02 1.25056493e+02] [ 2.81091861e-02 -2.56378195e-03 9.99601571e-01 6.97416269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.560714057 meters Centerline goodness : 0.988471 Centerline is valid? [True, True] Translation: X:153.54, Y:125.05, Z:6.98 [[-3.02270240e-01 -9.53203108e-01 6.04452617e-03 1.53543272e+02] [ 9.52807745e-01 -3.02319706e-01 -2.75716749e-02 1.25047442e+02] [ 2.81087856e-02 -2.57482544e-03 9.99601554e-01 6.97652302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.590714057 meters Centerline goodness : 0.988518 Centerline is valid? [True, True] Translation: X:153.54, Y:125.05, Z:6.98 [[-3.01587206e-01 -9.53419133e-01 6.09214932e-03 1.53542096e+02] [ 9.53023999e-01 -3.01638322e-01 -2.75604866e-02 1.25047448e+02] [ 2.81143209e-02 -2.50592563e-03 9.99601573e-01 6.97679493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.620714057 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:153.54, Y:125.05, Z:6.98 [[-3.00002076e-01 -9.53919178e-01 6.07912048e-03 1.53540384e+02] [ 9.53524076e-01 -3.00053475e-01 -2.75635421e-02 1.25046854e+02] [ 2.81174527e-02 -2.47253211e-03 9.99601568e-01 6.97618702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.650714057 meters Centerline goodness : 0.988718 Centerline is valid? [True, True] Translation: X:153.54, Y:125.06, Z:6.98 [[-2.99515709e-01 -9.54071736e-01 6.12067556e-03 1.53535950e+02] [ 9.53676832e-01 -2.99568502e-01 -2.75538042e-02 1.25060373e+02] [ 2.81218674e-02 -2.41565072e-03 9.99601583e-01 6.97724848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.680714057 meters Centerline goodness : 0.989133 Centerline is valid? [True, True] Translation: X:153.54, Y:125.04, Z:6.97 [[-2.90735551e-01 -9.56784153e-01 6.07654028e-03 1.53539643e+02] [ 9.56389557e-01 -2.90790706e-01 -2.75641286e-02 1.25039706e+02] [ 2.81399229e-02 -2.20233247e-03 9.99601568e-01 6.97446795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.710714057 meters Centerline goodness : 0.989654 Centerline is valid? [True, True] Translation: X:153.54, Y:125.03, Z:6.97 [[-2.90400578e-01 -9.56888615e-01 5.62871737e-03 1.53539753e+02] [ 9.56492193e-01 -2.90443024e-01 -2.76683013e-02 1.25031163e+02] [ 2.81103042e-02 -2.65106646e-03 9.99601312e-01 6.97401497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.740714057 meters Centerline goodness : 0.988387 Centerline is valid? [True, True] Translation: X:153.53, Y:125.05, Z:6.98 [[-2.90454331e-01 -9.56872284e-01 5.63159621e-03 1.53532646e+02] [ 9.56475870e-01 -2.90496837e-01 -2.76676320e-02 1.25052070e+02] [ 2.81103511e-02 -2.64969765e-03 9.99601314e-01 6.97613872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.770714057 meters Centerline goodness : 0.987465 Centerline is valid? [True, True] Translation: X:153.53, Y:125.06, Z:6.98 [[-2.90384043e-01 -9.56891684e-01 5.95081280e-03 1.53528670e+02] [ 9.56496571e-01 -2.90435740e-01 -2.75933079e-02 1.25062098e+02] [ 2.81321356e-02 -2.32072427e-03 9.99601519e-01 6.97740260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.800714057 meters Centerline goodness : 0.989225 Centerline is valid? [True, True] Translation: X:153.53, Y:125.04, Z:6.97 [[-2.90146959e-01 -9.56963413e-01 5.98070279e-03 1.53530071e+02] [ 9.56568439e-01 -2.90199610e-01 -2.75863582e-02 1.25042055e+02] [ 2.81347331e-02 -2.28314639e-03 9.99601533e-01 6.97220172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.830714057 meters Centerline goodness : 0.991194 Centerline is valid? [True, True] Translation: X:153.52, Y:125.07, Z:6.97 [[-2.87693744e-01 -9.57704728e-01 5.82785323e-03 1.53523788e+02] [ 9.57309243e-01 -2.87743026e-01 -2.76218102e-02 1.25066538e+02] [ 2.81304624e-02 -2.36756424e-03 9.99601456e-01 6.97129551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.860714057 meters Centerline goodness : 0.988279 Centerline is valid? [True, True] Translation: X:153.52, Y:125.08, Z:6.97 [[-2.89367058e-01 -9.57202266e-01 5.52524271e-03 1.53518308e+02] [ 9.56805502e-01 -2.89406960e-01 -2.76919284e-02 1.25082318e+02] [ 2.81058203e-02 -2.72654922e-03 9.99601235e-01 6.97282640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.890714057 meters Centerline goodness : 0.988731 Centerline is valid? [True, True] Translation: X:153.52, Y:125.07, Z:6.97 [[-2.87628571e-01 -9.57723256e-01 5.99750359e-03 1.53519676e+02] [ 9.57328501e-01 -2.87682743e-01 -2.75822443e-02 1.25068942e+02] [ 2.81415351e-02 -2.19186040e-03 9.99601545e-01 6.97271922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.920714057 meters Centerline goodness : 0.988020 Centerline is valid? [True, True] Translation: X:153.51, Y:125.09, Z:6.97 [[-2.88780976e-01 -9.57376614e-01 5.96380544e-03 1.53514535e+02] [ 9.56981650e-01 -2.88833708e-01 -2.75900607e-02 1.25086734e+02] [ 2.81366270e-02 -2.26023231e-03 9.99601531e-01 6.97338167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.950714057 meters Centerline goodness : 0.988623 Centerline is valid? [True, True] Translation: X:153.52, Y:125.07, Z:6.97 [[-2.87202838e-01 -9.57850364e-01 6.10005980e-03 1.53517892e+02] [ 9.57456084e-01 -2.87260123e-01 -2.75584555e-02 1.25067719e+02] [ 2.81491806e-02 -2.07432726e-03 9.99601581e-01 6.97320122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.980714057 meters Centerline goodness : 0.988850 Centerline is valid? [True, True] Translation: X:153.52, Y:125.06, Z:6.97 [[-2.87771460e-01 -9.57680278e-01 6.00596031e-03 1.53517691e+02] [ 9.57285554e-01 -2.87825815e-01 -2.75802299e-02 1.25063779e+02] [ 2.81417126e-02 -2.18738398e-03 9.99601550e-01 6.97355116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01071405700003 meters Centerline goodness : 0.987999 Centerline is valid? [True, True] Translation: X:153.51, Y:125.07, Z:6.97 [[-2.88232707e-01 -9.57541418e-01 6.02822152e-03 1.53514731e+02] [ 9.57146763e-01 -2.88287510e-01 -2.75750821e-02 1.25073115e+02] [ 2.81421442e-02 -2.17814782e-03 9.99601558e-01 6.97436227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.040714057 meters Centerline goodness : 0.988709 Centerline is valid? [True, True] Translation: X:153.51, Y:125.08, Z:6.97 [[-2.88867229e-01 -9.57350057e-01 6.04921334e-03 1.53510696e+02] [ 9.56955456e-01 -2.88922372e-01 -2.75702297e-02 1.25082876e+02] [ 2.81421140e-02 -2.17530814e-03 9.99601565e-01 6.97490433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07071405700003 meters Centerline goodness : 0.988057 Centerline is valid? [True, True] Translation: X:153.52, Y:125.06, Z:6.97 [[-2.89271294e-01 -9.57228497e-01 5.97693488e-03 1.53516777e+02] [ 9.56833565e-01 -2.89324200e-01 -2.75868971e-02 1.25060527e+02] [ 2.81362359e-02 -2.26116552e-03 9.99601540e-01 6.97311030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.100714057 meters Centerline goodness : 0.987568 Centerline is valid? [True, True] Translation: X:153.52, Y:125.08, Z:6.97 [[-2.87456772e-01 -9.57774607e-01 6.03368691e-03 1.53517536e+02] [ 9.57380021e-01 -2.87512052e-01 -2.75738301e-02 1.25078168e+02] [ 2.81442720e-02 -2.14975291e-03 9.99601560e-01 6.96939211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13071405700003 meters Centerline goodness : 0.988989 Centerline is valid? [True, True] Translation: X:153.53, Y:125.06, Z:6.97 [[-2.85964686e-01 -9.58221186e-01 6.02968419e-03 1.53526066e+02] [ 9.57826668e-01 -2.86020465e-01 -2.75747502e-02 1.25060948e+02] [ 2.81473229e-02 -2.11001246e-03 9.99601559e-01 6.96801825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.160714057 meters Centerline goodness : 0.988173 Centerline is valid? [True, True] Translation: X:153.52, Y:125.07, Z:6.97 [[-2.83057198e-01 -9.59084318e-01 5.99116471e-03 1.53524580e+02] [ 9.58689801e-01 -2.83113071e-01 -2.75835884e-02 1.25065638e+02] [ 2.81511641e-02 -2.06406475e-03 9.99601546e-01 6.97334264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19071405700004 meters Centerline goodness : 0.987799 Centerline is valid? [True, True] Translation: X:153.53, Y:125.06, Z:6.97 [[-2.80953877e-01 -9.59703532e-01 5.83517015e-03 1.53527883e+02] [ 9.59308459e-01 -2.81006149e-01 -2.76193014e-02 1.25058761e+02] [ 2.81460598e-02 -2.16202171e-03 9.99601483e-01 6.97269200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.220714057 meters Centerline goodness : 0.988240 Centerline is valid? [True, True] Translation: X:153.53, Y:125.06, Z:6.97 [[-2.77001588e-01 -9.60850832e-01 5.98327493e-03 1.53530807e+02] [ 9.60456639e-01 -2.77059723e-01 -2.75854064e-02 1.25058209e+02] [ 2.81631852e-02 -1.89452526e-03 9.99601544e-01 6.97350932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.250714057 meters Centerline goodness : 0.987868 Centerline is valid? [True, True] Translation: X:153.54, Y:125.06, Z:6.97 [[-2.75209482e-01 -9.61365664e-01 5.98346504e-03 1.53535027e+02] [ 9.60971581e-01 -2.75268357e-01 -2.75853630e-02 1.25056926e+02] [ 2.81666794e-02 -1.84181360e-03 9.99601544e-01 6.97057017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.280714057 meters Centerline goodness : 0.986960 Centerline is valid? [True, True] Translation: X:153.54, Y:125.09, Z:6.97 [[-2.72189385e-01 -9.62224893e-01 6.01613436e-03 1.53536358e+02] [ 9.61831151e-01 -2.72250430e-01 -2.75778992e-02 1.25086756e+02] [ 2.81740363e-02 -1.71990599e-03 9.99601553e-01 6.96764983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.310714057 meters Centerline goodness : 0.988378 Centerline is valid? [True, True] Translation: X:153.54, Y:125.07, Z:6.97 [[-2.70047561e-01 -9.62828271e-01 6.00294599e-03 1.53541728e+02] [ 9.62434603e-01 -2.70109106e-01 -2.75809077e-02 1.25070656e+02] [ 2.81771281e-02 -1.67071392e-03 9.99601550e-01 6.97011686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.340714057 meters Centerline goodness : 0.988616 Centerline is valid? [True, True] Translation: X:153.54, Y:125.08, Z:6.97 [[-2.69969258e-01 -9.62850453e-01 5.96695194e-03 1.53540481e+02] [ 9.62456619e-01 -2.70029807e-01 -2.75891054e-02 1.25078260e+02] [ 2.81754375e-02 -1.70527792e-03 9.99601539e-01 6.97201437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.370714057 meters Centerline goodness : 0.988628 Centerline is valid? [True, True] Translation: X:153.54, Y:125.08, Z:6.97 [[-2.67547966e-01 -9.63526131e-01 5.95651289e-03 1.53539208e+02] [ 9.63132401e-01 -2.67609207e-01 -2.75914794e-02 1.25084397e+02] [ 2.81791291e-02 -1.64513363e-03 9.99601536e-01 6.97489373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.400714057 meters Centerline goodness : 0.988800 Centerline is valid? [True, True] Translation: X:153.54, Y:125.09, Z:6.97 [[-2.66993379e-01 -9.63680087e-01 5.93511590e-03 1.53538791e+02] [ 9.63286290e-01 -2.67054236e-01 -2.75963392e-02 1.25092738e+02] [ 2.81790404e-02 -1.65082407e-03 9.99601529e-01 6.97479128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.430714057 meters Centerline goodness : 0.988457 Centerline is valid? [True, True] Translation: X:153.54, Y:125.09, Z:6.98 [[-2.67255607e-01 -9.63607804e-01 5.86865585e-03 1.53544300e+02] [ 9.63213679e-01 -2.67314458e-01 -2.76114067e-02 1.25093241e+02] [ 2.81753435e-02 -1.72653367e-03 9.99601505e-01 6.97578996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.460714057 meters Centerline goodness : 0.988195 Centerline is valid? [True, True] Translation: X:153.55, Y:125.10, Z:6.97 [[-2.66264796e-01 -9.63880891e-01 6.05689905e-03 1.53547237e+02] [ 9.63487727e-01 -2.66329426e-01 -2.75687485e-02 1.25097953e+02] [ 2.81861203e-02 -1.50483929e-03 9.99601560e-01 6.97337109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.490714057 meters Centerline goodness : 0.988393 Centerline is valid? [True, True] Translation: X:153.55, Y:125.11, Z:6.98 [[-2.67718998e-01 -9.63479351e-01 5.83772714e-03 1.53546205e+02] [ 9.63085057e-01 -2.67776777e-01 -2.76182997e-02 1.25106556e+02] [ 2.81728692e-02 -1.77171576e-03 9.99601496e-01 6.97553039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.520714057 meters Centerline goodness : 0.986903 Centerline is valid? [True, True] Translation: X:153.55, Y:125.10, Z:6.98 [[-2.68307373e-01 -9.63315176e-01 5.91827985e-03 1.53547980e+02] [ 9.62921219e-01 -2.68367211e-01 -2.76000952e-02 1.25102772e+02] [ 2.81758628e-02 -1.70647176e-03 9.99601525e-01 6.97602763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.550714057 meters Centerline goodness : 0.989103 Centerline is valid? [True, True] Translation: X:153.55, Y:125.12, Z:6.98 [[-2.70599803e-01 -9.62673362e-01 5.97867208e-03 1.53547222e+02] [ 9.62279543e-01 -2.70660429e-01 -2.75864648e-02 1.25115965e+02] [ 2.81749447e-02 -1.71173809e-03 9.99601542e-01 6.97699656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.580714057 meters Centerline goodness : 0.989020 Centerline is valid? [True, True] Translation: X:153.55, Y:125.11, Z:6.98 [[-2.70864825e-01 -9.62599131e-01 5.92957421e-03 1.53553044e+02] [ 9.62205069e-01 -2.70923940e-01 -2.75975345e-02 1.25112533e+02] [ 2.81718263e-02 -1.76973498e-03 9.99601529e-01 6.97640077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.610714057 meters Centerline goodness : 0.988391 Centerline is valid? [True, True] Translation: X:153.55, Y:125.11, Z:6.98 [[-2.70190581e-01 -9.62788739e-01 5.90716900e-03 1.53554745e+02] [ 9.62394616e-01 -2.70249332e-01 -2.76025771e-02 1.25113262e+02] [ 2.81718589e-02 -1.77292872e-03 9.99601522e-01 6.97553203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.640714057 meters Centerline goodness : 0.990761 Centerline is valid? [True, True] Translation: X:153.55, Y:125.12, Z:6.98 [[-2.67762666e-01 -9.63467032e-01 5.86800573e-03 1.53552866e+02] [ 9.63072877e-01 -2.67821292e-01 -2.76113782e-02 1.25118733e+02] [ 2.81742295e-02 -1.74197909e-03 9.99601510e-01 6.97823922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.670714057 meters Centerline goodness : 0.987598 Centerline is valid? [True, True] Translation: X:153.56, Y:125.11, Z:6.98 [[-2.66121876e-01 -9.63924226e-01 5.40681368e-03 1.53556525e+02] [ 9.63528156e-01 -2.66167984e-01 -2.77145547e-02 1.25107700e+02] [ 2.81538514e-02 -2.16583207e-03 9.99601255e-01 6.97830206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.700714057 meters Centerline goodness : 0.991351 Centerline is valid? [True, True] Translation: X:153.47, Y:125.47, Z:6.99 [[-2.73648091e-01 -9.61810867e-01 6.04795969e-03 1.53468168e+02] [ 9.61417198e-01 -2.73709450e-01 -2.75700753e-02 1.25472043e+02] [ 2.81725818e-02 -1.72988601e-03 9.99601577e-01 6.98565177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.730714057 meters Centerline goodness : 0.991262 Centerline is valid? [True, True] Translation: X:154.30, Y:125.43, Z:7.84 [[-2.30060674e-01 9.73157494e-01 -6.04795969e-03 1.54303907e+02] [ 9.72766987e-01 2.30139698e-01 2.75700753e-02 1.25426049e+02] [ 2.82219010e-02 4.59534587e-04 -9.99601577e-01 7.83846881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76071405700003 meters Centerline goodness : 0.987996 Centerline is valid? [True, True] Translation: X:153.42, Y:125.70, Z:7.00 [[-3.39889892e-01 -9.40430724e-01 8.05694328e-03 1.53418093e+02] [ 9.40045267e-01 -3.39981640e-01 -2.69699813e-02 1.25703523e+02] [ 2.81026118e-02 -1.59293263e-03 9.99603774e-01 6.99807188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.790714057 meters Centerline goodness : 0.991621 Centerline is valid? [True, True] Translation: X:153.55, Y:125.25, Z:6.98 [[-3.34049629e-01 -9.42518429e-01 8.35799931e-03 1.53553116e+02] [ 9.42135698e-01 -3.34152345e-01 -2.68800538e-02 1.25251001e+02] [ 2.81277912e-02 -1.10490249e-03 9.99603725e-01 6.98251114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82071405700003 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:153.56, Y:125.25, Z:6.98 [[-3.29740905e-01 -9.44037644e-01 7.99137587e-03 1.53555010e+02] [ 9.43652761e-01 -3.29834931e-01 -2.69886138e-02 1.25246874e+02] [ 2.81141023e-02 -1.35816603e-03 9.99603798e-01 6.98465802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.850714057 meters Centerline goodness : 0.989023 Centerline is valid? [True, True] Translation: X:153.37, Y:125.88, Z:7.00 [[-3.29942439e-01 -9.43967315e-01 7.98095808e-03 1.53366568e+02] [ 9.43582339e-01 -3.30036086e-01 -2.69916942e-02 1.25876160e+02] [ 2.81132813e-02 -1.37501433e-03 9.99603798e-01 7.00072649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88071405700003 meters Centerline goodness : 0.991753 Centerline is valid? [True, True] Translation: X:154.29, Y:125.60, Z:7.84 [[-3.05111644e-01 9.52283145e-01 -7.98095808e-03 1.54293005e+02] [ 9.51900754e-01 3.05215339e-01 2.69916942e-02 1.25604914e+02] [ 2.81396463e-02 6.38400174e-04 -9.99603798e-01 7.83888886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.910714057 meters Centerline goodness : 0.991384 Centerline is valid? [True, True] Translation: X:153.57, Y:125.37, Z:6.99 [[-3.89705054e-01 -9.20887716e-01 9.78695284e-03 1.53566154e+02] [ 9.20512352e-01 -3.89825930e-01 -2.63202054e-02 1.25369225e+02] [ 2.80531619e-02 -1.24810611e-03 9.99605653e-01 6.98869584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.940714057 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:153.57, Y:125.37, Z:6.99 [[-3.89355174e-01 -9.21035838e-01 9.77418635e-03 1.53568169e+02] [ 9.20660402e-01 -3.89475828e-01 -2.63249455e-02 1.25366381e+02] [ 2.80530276e-02 -1.25104739e-03 9.99605654e-01 6.98830392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.970714057 meters Centerline goodness : 0.989862 Centerline is valid? [True, True] Translation: X:153.44, Y:125.74, Z:7.00 [[-3.86450341e-01 -9.22258531e-01 9.76403632e-03 1.53437618e+02] [ 9.21883384e-01 -3.86571889e-01 -2.63287097e-02 1.25737377e+02] [ 2.80563791e-02 -1.17343598e-03 9.99605654e-01 7.00188276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.000714057 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:153.57, Y:125.38, Z:6.99 [[-3.92873324e-01 -9.19539841e-01 9.85045172e-03 1.53566344e+02] [ 9.19164642e-01 -3.92994720e-01 -2.62966189e-02 1.25381844e+02] [ 2.80519642e-02 -1.27705315e-03 9.99605650e-01 6.98843220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.030714057 meters Centerline goodness : 0.991588 Centerline is valid? [True, True] Translation: X:153.56, Y:125.39, Z:6.99 [[-3.94259974e-01 -9.18947353e-01 9.73836906e-03 1.53564822e+02] [ 9.18570963e-01 -3.94377602e-01 -2.63380611e-02 1.25388100e+02] [ 2.80438861e-02 -1.43866023e-03 9.99605658e-01 6.98938137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.060714057 meters Centerline goodness : 0.990874 Centerline is valid? [True, True] Translation: X:153.58, Y:125.39, Z:6.98 [[-3.75203817e-01 -9.26891287e-01 9.72817991e-03 1.53579450e+02] [ 9.26517309e-01 -3.75328902e-01 -2.63418240e-02 1.25385701e+02] [ 2.80672742e-02 -8.70225834e-04 9.99605658e-01 6.98406905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.090714057 meters Centerline goodness : 0.992434 Centerline is valid? [True, True] Translation: X:153.57, Y:125.39, Z:6.99 [[-3.98889406e-01 -9.16957158e-01 8.76427810e-03 1.53567404e+02] [ 9.16572194e-01 -3.98977103e-01 -2.66961455e-02 1.25388758e+02] [ 2.79759680e-02 -2.61571602e-03 9.99605174e-01 6.98722124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.120714057 meters Centerline goodness : 0.992434 Centerline is valid? [True, True] Translation: X:153.57, Y:125.39, Z:6.99 [[-3.98534715e-01 -9.17101758e-01 9.71832256e-03 1.53566009e+02] [ 9.16724684e-01 -3.98650018e-01 -2.63442161e-02 1.25391069e+02] [ 2.80345364e-02 -1.59005847e-03 9.99605691e-01 6.98767522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.150714057 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:153.45, Y:125.72, Z:7.00 [[-3.92201522e-01 -9.19828092e-01 9.70814295e-03 1.53450508e+02] [ 9.19451730e-01 -3.92319131e-01 -2.63479668e-02 1.25720513e+02] [ 2.80442903e-02 -1.40754386e-03 9.99605691e-01 6.99544654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.180714057 meters Centerline goodness : 0.992280 Centerline is valid? [True, True] Translation: X:154.25, Y:125.79, Z:7.84 [[-3.52713656e-01 9.35680944e-01 -9.70814295e-03 1.54252648e+02] [ 9.35309927e-01 3.52847170e-01 2.63479668e-02 1.25790806e+02] [ 2.80787813e-02 2.13165237e-04 -9.99605691e-01 7.84499575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.210714057 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:153.56, Y:125.51, Z:6.99 [[-4.64151807e-01 -8.85681561e-01 1.14574585e-02 1.53558222e+02] [ 8.85314223e-01 -4.64290004e-01 -2.55640024e-02 1.25511832e+02] [ 2.79611490e-02 -1.72212695e-03 9.99607527e-01 6.99270500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.240714057 meters Centerline goodness : 0.990761 Centerline is valid? [True, True] Translation: X:153.41, Y:125.85, Z:7.00 [[-4.58605503e-01 -8.88566247e-01 1.14463028e-02 1.53412356e+02] [ 8.88199658e-01 -4.58745674e-01 -2.55689964e-02 1.25848900e+02] [ 2.79706891e-02 -1.55948028e-03 9.99607527e-01 7.00116557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.270714057 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:153.42, Y:125.84, Z:7.00 [[-4.59445221e-01 -8.88136055e-01 1.11550990e-02 1.53417881e+02] [ 8.87766177e-01 -4.59576674e-01 -2.57001204e-02 1.25836942e+02] [ 2.79518268e-02 -1.90467789e-03 9.99607457e-01 7.00034589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.300714057 meters Centerline goodness : 0.991699 Centerline is valid? [True, True] Translation: X:153.55, Y:125.52, Z:6.99 [[-4.66452719e-01 -8.84477162e-01 1.10458259e-02 1.53551998e+02] [ 8.84105130e-01 -4.66578085e-01 -2.57489906e-02 1.25520969e+02] [ 2.79281345e-02 -2.24501538e-03 9.99607413e-01 6.99349839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.330714057 meters Centerline goodness : 0.992026 Centerline is valid? [True, True] Translation: X:153.55, Y:125.52, Z:6.99 [[-4.66696737e-01 -8.84343652e-01 1.14219134e-02 1.53550531e+02] [ 8.83975507e-01 -4.66832852e-01 -2.55810707e-02 1.25520706e+02] [ 2.79545819e-02 -1.84191052e-03 9.99607497e-01 6.99375003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.360714057 meters Centerline goodness : 0.990491 Centerline is valid? [True, True] Translation: X:153.41, Y:125.85, Z:7.00 [[-4.63311608e-01 -8.86121955e-01 1.14120019e-02 1.53407409e+02] [ 8.85754227e-01 -4.63448845e-01 -2.55854916e-02 1.25848657e+02] [ 2.79607449e-02 -1.74582635e-03 9.99607497e-01 7.00302851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.390714057 meters Centerline goodness : 0.988320 Centerline is valid? [True, True] Translation: X:153.29, Y:126.09, Z:7.01 [[-4.80160636e-01 -8.77105566e-01 1.14712429e-02 1.53286449e+02] [ 8.76735885e-01 -4.80292534e-01 -2.55591422e-02 1.26087391e+02] [ 2.79276182e-02 -2.21524363e-03 9.99607493e-01 7.01321386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.420714057 meters Centerline goodness : 0.992702 Centerline is valid? [True, True] Translation: X:153.54, Y:125.54, Z:7.00 [[-4.68188450e-01 -8.83546210e-01 1.20693586e-02 1.53538083e+02] [ 8.83184990e-01 -4.68342503e-01 -2.52898108e-02 1.25539282e+02] [ 2.79973101e-02 -1.18092096e-03 9.99607301e-01 6.99857823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.450714057 meters Centerline goodness : 0.988057 Centerline is valid? [True, True] Translation: X:153.28, Y:126.11, Z:7.02 [[-4.77489150e-01 -8.78563448e-01 1.14183791e-02 1.53276090e+02] [ 8.78193691e-01 -4.77620650e-01 -2.55803978e-02 1.26112164e+02] [ 2.79276561e-02 -2.18681395e-03 9.99607555e-01 7.01628458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.480714057 meters Centerline goodness : 0.988490 Centerline is valid? [True, True] Translation: X:153.26, Y:126.14, Z:7.02 [[-4.74854397e-01 -8.79987734e-01 1.16142191e-02 1.53262873e+02] [ 8.79620383e-01 -4.74992648e-01 -2.54944208e-02 1.26143400e+02] [ 2.79514463e-02 -1.89003395e-03 9.99607495e-01 7.01836165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51071405700003 meters Centerline goodness : 0.990821 Centerline is valid? [True, True] Translation: X:153.55, Y:125.52, Z:7.00 [[-4.36437643e-01 -8.99657210e-01 1.17935856e-02 1.53550897e+02] [ 8.99298298e-01 -4.36596689e-01 -2.54146156e-02 1.25522986e+02] [ 2.80134826e-02 -4.85943449e-04 9.99607427e-01 6.99809477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.540714057 meters Centerline goodness : 0.988611 Centerline is valid? [True, True] Translation: X:153.26, Y:126.16, Z:7.01 [[-4.76748299e-01 -8.78975167e-01 1.06637591e-02 1.53256597e+02] [ 8.78598228e-01 -4.76858209e-01 -2.59114221e-02 1.26155241e+02] [ 2.78605977e-02 -2.98406655e-03 9.99607364e-01 7.01475360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57071405700003 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:153.35, Y:125.97, Z:7.01 [[-4.59581815e-01 -8.88060480e-01 1.15386408e-02 1.53347683e+02] [ 8.87694694e-01 -4.59724226e-01 -2.55297311e-02 1.25967491e+02] [ 2.79765380e-02 -1.49020995e-03 9.99607469e-01 7.00896312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.600714057 meters Centerline goodness : 0.989746 Centerline is valid? [True, True] Translation: X:153.53, Y:125.56, Z:6.99 [[-4.44557619e-01 -8.95680374e-01 1.11888887e-02 1.53526924e+02] [ 8.95313209e-01 -4.44696199e-01 -2.56816594e-02 1.25562294e+02] [ 2.79782146e-02 -1.39941751e-03 9.99607554e-01 6.99374646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63071405700003 meters Centerline goodness : 0.990745 Centerline is valid? [True, True] Translation: X:153.52, Y:125.57, Z:7.00 [[-4.44253031e-01 -8.95837698e-01 1.06800740e-02 1.53521537e+02] [ 8.95465325e-01 -4.44377144e-01 -2.58998990e-02 1.25567550e+02] [ 2.79480867e-02 -1.94247267e-03 9.99607489e-01 6.99697236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.660714057 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:153.50, Y:125.58, Z:7.00 [[-4.59222164e-01 -8.88257835e-01 1.06311775e-02 1.53502361e+02] [ 8.87882967e-01 -4.59338596e-01 -2.59208593e-02 1.25581300e+02] [ 2.79077165e-02 -2.46419172e-03 9.99607467e-01 6.99775631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.690714057 meters Centerline goodness : 0.985037 Centerline is valid? [True, True] Translation: X:153.16, Y:126.36, Z:7.02 [[-4.67985912e-01 -8.83666861e-01 1.10483316e-02 1.53158214e+02] [ 8.83294805e-01 -4.68110719e-01 -2.57418208e-02 1.26358984e+02] [ 2.79190364e-02 -2.28787562e-03 9.99607570e-01 7.02098712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.720714057 meters Centerline goodness : 0.991442 Centerline is valid? [True, True] Translation: X:153.51, Y:125.57, Z:7.00 [[-4.19083255e-01 -9.07872682e-01 1.16798303e-02 1.53510112e+02] [ 9.07515345e-01 -4.19245975e-01 -2.54697932e-02 1.25569678e+02] [ 2.80200513e-02 -7.43386100e-05 9.99607359e-01 6.99577376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.750714057 meters Centerline goodness : 0.990701 Centerline is valid? [True, True] Translation: X:153.51, Y:125.56, Z:7.00 [[-4.19888618e-01 -9.07521495e-01 9.91382799e-03 1.53512247e+02] [ 9.07145476e-01 -4.20000841e-01 -2.61988282e-02 1.25563379e+02] [ 2.79398158e-02 -2.00730553e-03 9.99607592e-01 6.99635868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.780714057 meters Centerline goodness : 0.990758 Centerline is valid? [True, True] Translation: X:153.50, Y:125.58, Z:7.00 [[-4.16093826e-01 -9.09264747e-01 1.01758592e-02 1.53504687e+02] [ 9.08891766e-01 -4.16215132e-01 -2.60906514e-02 1.25576010e+02] [ 2.79586561e-02 -1.60740428e-03 9.99607788e-01 7.00175720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.810714057 meters Centerline goodness : 0.990875 Centerline is valid? [True, True] Translation: X:153.50, Y:125.57, Z:7.00 [[-4.17364363e-01 -9.08685665e-01 9.86668351e-03 1.53504088e+02] [ 9.08309514e-01 -4.17476276e-01 -2.62180395e-02 1.25570979e+02] [ 2.79430629e-02 -1.98047284e-03 9.99607554e-01 7.00080009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.840714057 meters Centerline goodness : 0.989223 Centerline is valid? [True, True] Translation: X:153.50, Y:125.57, Z:7.00 [[-4.20097845e-01 -9.07425041e-01 9.87907784e-03 1.53502785e+02] [ 9.07048672e-01 -4.20208981e-01 -2.62129333e-02 1.25573582e+02] [ 2.79375493e-02 -2.05119235e-03 9.99607566e-01 7.00468705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.870714057 meters Centerline goodness : 0.990668 Centerline is valid? [True, True] Translation: X:153.50, Y:125.58, Z:7.00 [[-4.18116833e-01 -9.08335955e-01 1.02032920e-02 1.53500921e+02] [ 9.07962978e-01 -4.18238094e-01 -2.60792591e-02 1.25580033e+02] [ 2.79561341e-02 -1.63996583e-03 9.99607806e-01 7.00245769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.900714057 meters Centerline goodness : 0.991406 Centerline is valid? [True, True] Translation: X:153.49, Y:125.59, Z:7.00 [[-4.23237882e-01 -9.05965773e-01 9.78337093e-03 1.53494720e+02] [ 9.05588140e-01 -4.23344955e-01 -2.62520421e-02 1.25592857e+02] [ 2.79251923e-02 -2.25115401e-03 9.99607481e-01 7.00357675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.930714057 meters Centerline goodness : 0.991937 Centerline is valid? [True, True] Translation: X:153.50, Y:125.59, Z:7.00 [[-4.26888790e-01 -9.04247924e-01 1.00822778e-02 1.53495304e+02] [ 9.03872641e-01 -4.27002958e-01 -2.61289797e-02 1.25589567e+02] [ 2.79322381e-02 -2.04107347e-03 9.99607735e-01 7.00261073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.960714057 meters Centerline goodness : 0.991283 Centerline is valid? [True, True] Translation: X:153.50, Y:125.59, Z:7.00 [[-4.28150196e-01 -9.03652495e-01 9.97891673e-03 1.53497106e+02] [ 9.03276086e-01 -4.28260862e-01 -2.61714847e-02 1.25585603e+02] [ 2.79235069e-02 -2.19160943e-03 9.99607660e-01 7.00132702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.990714057 meters Centerline goodness : 0.991367 Centerline is valid? [True, True] Translation: X:153.49, Y:125.59, Z:7.00 [[-4.30137234e-01 -9.02706820e-01 1.01171702e-02 1.53492538e+02] [ 9.02331455e-01 -4.30251056e-01 -2.61146292e-02 1.25593879e+02] [ 2.79267770e-02 -2.10383352e-03 9.99607758e-01 7.00012710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.020714057 meters Centerline goodness : 0.991648 Centerline is valid? [True, True] Translation: X:153.49, Y:125.60, Z:7.00 [[-4.32255506e-01 -9.01695461e-01 1.00236107e-02 1.53490619e+02] [ 9.01318965e-01 -4.32365748e-01 -2.61530794e-02 1.25596111e+02] [ 2.79159789e-02 -2.27034210e-03 9.99607695e-01 6.99942433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.050714057 meters Centerline goodness : 0.991691 Centerline is valid? [True, True] Translation: X:153.49, Y:125.60, Z:7.00 [[-4.32236786e-01 -9.01704331e-01 1.00329120e-02 1.53489755e+02] [ 9.01327923e-01 -4.32347305e-01 -2.61492573e-02 1.25599738e+02] [ 2.79166010e-02 -2.25972723e-03 9.99607702e-01 6.99826133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.080714057 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:153.49, Y:125.61, Z:6.99 [[-4.32205171e-01 -9.01718850e-01 1.00898868e-02 1.53486891e+02] [ 9.01342971e-01 -4.32317346e-01 -2.61258636e-02 1.25606178e+02] [ 2.79202167e-02 -2.19728478e-03 9.99607740e-01 6.99409173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.110714057 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:153.48, Y:125.61, Z:7.00 [[-4.32090531e-01 -9.01776566e-01 9.83861490e-03 1.53484964e+02] [ 9.01398411e-01 -4.32195501e-01 -2.62288732e-02 1.25611200e+02] [ 2.79047883e-02 -2.46473594e-03 9.99607547e-01 6.99577022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.140714057 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:153.49, Y:125.60, Z:7.00 [[-4.30416694e-01 -9.02574915e-01 9.99961187e-03 1.53485319e+02] [ 9.02198423e-01 -4.30527013e-01 -2.61628794e-02 1.25604222e+02] [ 2.79190616e-02 -2.23930598e-03 9.99607679e-01 6.99561396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.170714057 meters Centerline goodness : 0.992642 Centerline is valid? [True, True] Translation: X:153.48, Y:125.61, Z:7.00 [[-4.30339571e-01 -9.02613439e-01 9.84037677e-03 1.53482124e+02] [ 9.02235508e-01 -4.30445325e-01 -2.62280547e-02 1.25608290e+02] [ 2.79095388e-02 -2.40863247e-03 9.99607551e-01 6.99692508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.200714057 meters Centerline goodness : 0.992804 Centerline is valid? [True, True] Translation: X:153.48, Y:125.61, Z:7.00 [[-4.27851805e-01 -9.03794799e-01 9.88911756e-03 1.53480584e+02] [ 9.03417604e-01 -4.27960006e-01 -2.62081158e-02 1.25610121e+02] [ 2.79189055e-02 -2.27918674e-03 9.99607593e-01 6.99710460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.230714057 meters Centerline goodness : 0.992997 Centerline is valid? [True, True] Translation: X:153.48, Y:125.60, Z:7.00 [[-4.24769992e-01 -9.05248231e-01 9.80270362e-03 1.53482617e+02] [ 9.04870615e-01 -4.24876986e-01 -2.62434204e-02 1.25604610e+02] [ 2.79217531e-02 -2.27723905e-03 9.99607518e-01 6.99650641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26071405700003 meters Centerline goodness : 0.991843 Centerline is valid? [True, True] Translation: X:153.48, Y:125.61, Z:7.00 [[-4.24567963e-01 -9.05342782e-01 9.82303181e-03 1.53479040e+02] [ 9.04965375e-01 -4.24675628e-01 -2.62351155e-02 1.25614104e+02] [ 2.79233747e-02 -2.24908589e-03 9.99607536e-01 7.00095392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.290714057 meters Centerline goodness : 0.991699 Centerline is valid? [True, True] Translation: X:153.48, Y:125.61, Z:7.00 [[-4.22512377e-01 -9.06300664e-01 1.01191923e-02 1.53481229e+02] [ 9.05926286e-01 -4.22629417e-01 -2.61139737e-02 1.25607188e+02] [ 2.79437800e-02 -1.86623478e-03 9.99607754e-01 6.99938376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32071405700003 meters Centerline goodness : 0.990763 Centerline is valid? [True, True] Translation: X:153.48, Y:125.61, Z:7.00 [[-4.22574817e-01 -9.06271421e-01 1.01309817e-02 1.53479690e+02] [ 9.05897148e-01 -4.22692169e-01 -2.61091544e-02 1.25606076e+02] [ 2.79442671e-02 -1.85544373e-03 9.99607761e-01 7.00134288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.350714057 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:153.48, Y:125.61, Z:7.00 [[-4.21104600e-01 -9.06955281e-01 1.01505294e-02 1.53477777e+02] [ 9.06581387e-01 -4.21223120e-01 -2.61011684e-02 1.25610915e+02] [ 2.79482302e-02 -1.78904108e-03 9.99607771e-01 6.99636831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38071405700003 meters Centerline goodness : 0.990772 Centerline is valid? [True, True] Translation: X:153.48, Y:125.61, Z:7.00 [[-4.23428858e-01 -9.05875601e-01 9.86898935e-03 1.53475065e+02] [ 9.05498763e-01 -4.23538323e-01 -2.62160201e-02 1.25613878e+02] [ 2.79283482e-02 -2.16426183e-03 9.99607585e-01 6.99678693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.410714057 meters Centerline goodness : 0.992476 Centerline is valid? [True, True] Translation: X:153.48, Y:125.61, Z:7.00 [[-4.22342332e-01 -9.06381500e-01 9.97651917e-03 1.53475642e+02] [ 9.06005795e-01 -4.22455343e-01 -2.61721713e-02 1.25612827e+02] [ 2.79366057e-02 -2.01483168e-03 9.99607666e-01 6.99695771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.440714057 meters Centerline goodness : 0.992286 Centerline is valid? [True, True] Translation: X:153.47, Y:125.61, Z:7.00 [[-4.22398999e-01 -9.06356663e-01 9.83281768e-03 1.53473466e+02] [ 9.05979618e-01 -4.22507850e-01 -2.62306860e-02 1.25614162e+02] [ 2.79287997e-02 -2.17148309e-03 9.99607556e-01 6.99709498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.470714057 meters Centerline goodness : 0.991885 Centerline is valid? [True, True] Translation: X:153.47, Y:125.63, Z:7.00 [[-4.23717017e-01 -9.05740860e-01 9.86835635e-03 1.53465567e+02] [ 9.05363983e-01 -4.23826343e-01 -2.62162124e-02 1.25629550e+02] [ 2.79275641e-02 -2.17380088e-03 9.99607586e-01 6.99850103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.500714057 meters Centerline goodness : 0.990980 Centerline is valid? [True, True] Translation: X:153.46, Y:125.62, Z:7.00 [[-4.23014978e-01 -9.06068017e-01 9.95373417e-03 1.53464780e+02] [ 9.05692016e-01 -4.23127055e-01 -2.61814379e-02 1.25621988e+02] [ 2.79338578e-02 -2.06012283e-03 9.99607651e-01 6.99908414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.530714057 meters Centerline goodness : 0.990112 Centerline is valid? [True, True] Translation: X:153.46, Y:125.62, Z:7.00 [[-4.24069756e-01 -9.05575004e-01 9.93752663e-03 1.53462775e+02] [ 9.05198722e-01 -4.24180928e-01 -2.61880310e-02 1.25620354e+02] [ 2.79305355e-02 -2.11011550e-03 9.99607639e-01 7.00191478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.560714057 meters Centerline goodness : 0.989090 Centerline is valid? [True, True] Translation: X:153.46, Y:125.62, Z:7.00 [[-4.24360169e-01 -9.05438026e-01 1.00214251e-02 1.53461264e+02] [ 9.05062488e-01 -4.24473635e-01 -2.61539021e-02 1.25621705e+02] [ 2.79345682e-02 -2.02865843e-03 9.99607695e-01 7.00167052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.590714057 meters Centerline goodness : 0.989766 Centerline is valid? [True, True] Translation: X:153.46, Y:125.62, Z:7.00 [[-4.23083514e-01 -9.06031971e-01 1.03154302e-02 1.53458890e+02] [ 9.05659400e-01 -4.23205945e-01 -2.60342073e-02 1.25619974e+02] [ 2.79533756e-02 -1.67237766e-03 9.99607829e-01 7.00234542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.620714057 meters Centerline goodness : 0.990609 Centerline is valid? [True, True] Translation: X:153.45, Y:125.63, Z:7.00 [[-4.23748627e-01 -9.05723500e-01 1.01015804e-02 1.53452679e+02] [ 9.05348797e-01 -4.23864650e-01 -2.61211474e-02 1.25630750e+02] [ 2.79402399e-02 -1.92334669e-03 9.99607745e-01 7.00351905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.650714057 meters Centerline goodness : 0.989902 Centerline is valid? [True, True] Translation: X:153.45, Y:125.63, Z:7.01 [[-4.24679067e-01 -9.05287118e-01 1.01451609e-02 1.53451167e+02] [ 9.04912706e-01 -4.24795957e-01 -2.61034392e-02 1.25626103e+02] [ 2.79407305e-02 -1.90509918e-03 9.99607766e-01 7.00560807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.680714057 meters Centerline goodness : 0.990076 Centerline is valid? [True, True] Translation: X:153.45, Y:125.63, Z:7.01 [[-4.24258645e-01 -9.05484041e-01 1.01613255e-02 1.53449145e+02] [ 9.05109837e-01 -4.24376173e-01 -2.60968743e-02 1.25628622e+02] [ 2.79425276e-02 -1.87470887e-03 9.99607773e-01 7.00531924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.710714057 meters Centerline goodness : 0.991050 Centerline is valid? [True, True] Translation: X:153.45, Y:125.64, Z:7.00 [[-4.21801368e-01 -9.06631741e-01 1.01238768e-02 1.53445931e+02] [ 9.06257500e-01 -4.21918836e-01 -2.61120736e-02 1.25637892e+02] [ 2.79454891e-02 -1.83926909e-03 9.99607756e-01 7.00211658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.740714057 meters Centerline goodness : 0.991527 Centerline is valid? [True, True] Translation: X:153.44, Y:125.65, Z:7.00 [[-4.24872329e-01 -9.05197807e-01 1.00216828e-02 1.53439197e+02] [ 9.04822215e-01 -4.24985590e-01 -2.61535300e-02 1.25649850e+02] [ 2.79331888e-02 -2.04406994e-03 9.99607702e-01 7.00190122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.770714057 meters Centerline goodness : 0.992028 Centerline is valid? [True, True] Translation: X:153.44, Y:125.64, Z:7.00 [[-4.26534160e-01 -9.04415424e-01 1.00673578e-02 1.53442981e+02] [ 9.04040047e-01 -4.26648046e-01 -2.61350140e-02 1.25638640e+02] [ 2.79321283e-02 -2.04618167e-03 9.99607728e-01 7.00304774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.800714057 meters Centerline goodness : 0.990607 Centerline is valid? [True, True] Translation: X:153.45, Y:125.63, Z:7.00 [[-4.25429117e-01 -9.04935406e-01 1.00983302e-02 1.53445634e+02] [ 9.04560458e-01 -4.25544351e-01 -2.61224724e-02 1.25631971e+02] [ 2.79364375e-02 -1.97871017e-03 9.99607743e-01 6.99985841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.830714057 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:153.44, Y:125.63, Z:7.00 [[-4.25578198e-01 -9.04867426e-01 9.90652646e-03 1.53444203e+02] [ 9.04490693e-01 -4.25687851e-01 -2.61999885e-02 1.25632732e+02] [ 2.79246041e-02 -2.18978287e-03 9.99607634e-01 6.99958094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.860714057 meters Centerline goodness : 0.991072 Centerline is valid? [True, True] Translation: X:153.44, Y:125.64, Z:7.00 [[-4.25339441e-01 -9.04979654e-01 9.90886235e-03 1.53439480e+02] [ 9.04602972e-01 -4.25449261e-01 -2.61990453e-02 1.25641112e+02] [ 2.79253211e-02 -2.17990095e-03 9.99607635e-01 6.99995692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.890714057 meters Centerline goodness : 0.991444 Centerline is valid? [True, True] Translation: X:153.44, Y:125.63, Z:7.00 [[-4.23172678e-01 -9.05994567e-01 9.93628276e-03 1.53441020e+02] [ 9.05618400e-01 -4.23284188e-01 -2.61879815e-02 1.25630333e+02] [ 2.79320403e-02 -2.08355778e-03 9.99607653e-01 6.99923758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.920714057 meters Centerline goodness : 0.991530 Centerline is valid? [True, True] Translation: X:153.44, Y:125.62, Z:7.00 [[-4.21199726e-01 -9.06915365e-01 9.76273906e-03 1.53443120e+02] [ 9.06537857e-01 -4.21307059e-01 -2.62578656e-02 1.25621028e+02] [ 2.79267726e-02 -2.20951323e-03 9.99607530e-01 6.99797730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.950714057 meters Centerline goodness : 0.992426 Centerline is valid? [True, True] Translation: X:153.44, Y:125.64, Z:7.00 [[-4.21977169e-01 -9.06553544e-01 9.79494765e-03 1.53435246e+02] [ 9.06176234e-01 -4.22085107e-01 -2.62448991e-02 1.25637647e+02] [ 2.79267078e-02 -2.19879945e-03 9.99607555e-01 6.99911013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.980714057 meters Centerline goodness : 0.992426 Centerline is valid? [True, True] Translation: X:153.43, Y:125.64, Z:7.00 [[-4.21674043e-01 -9.06694671e-01 9.78649912e-03 1.53434175e+02] [ 9.06317321e-01 -4.21781864e-01 -2.62482989e-02 1.25640085e+02] [ 2.79269606e-02 -2.19855266e-03 9.99607549e-01 6.99918076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01071405700003 meters Centerline goodness : 0.991550 Centerline is valid? [True, True] Translation: X:153.43, Y:125.64, Z:7.00 [[-4.22527748e-01 -9.06297245e-01 9.77779499e-03 1.53432996e+02] [ 9.05919716e-01 -4.22634963e-01 -2.62517982e-02 1.25641756e+02] [ 2.79243704e-02 -2.23421592e-03 9.99607542e-01 6.99971268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.040714057 meters Centerline goodness : 0.991895 Centerline is valid? [True, True] Translation: X:153.44, Y:125.63, Z:7.00 [[-4.24235893e-01 -9.05498455e-01 9.82113150e-03 1.53435944e+02] [ 9.05121112e-01 -4.24343645e-01 -2.62343933e-02 1.25633661e+02] [ 2.79227373e-02 -2.24025780e-03 9.99607574e-01 6.99932274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07071405700003 meters Centerline goodness : 0.991315 Centerline is valid? [True, True] Translation: X:153.44, Y:125.64, Z:7.00 [[-4.24831788e-01 -9.05219350e-01 9.79184614e-03 1.53435301e+02] [ 9.04841675e-01 -4.24938447e-01 -2.62461435e-02 1.25636694e+02] [ 2.79194488e-02 -2.29012558e-03 9.99607553e-01 6.99816141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.100714057 meters Centerline goodness : 0.991783 Centerline is valid? [True, True] Translation: X:153.43, Y:125.65, Z:7.00 [[-4.28843712e-01 -9.03322953e-01 1.00355717e-02 1.53429369e+02] [ 9.02946984e-01 -4.28955722e-01 -2.61482706e-02 1.25646984e+02] [ 2.79251489e-02 -2.15193223e-03 9.99607701e-01 7.00110019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13071405700003 meters Centerline goodness : 0.992450 Centerline is valid? [True, True] Translation: X:153.43, Y:125.65, Z:7.00 [[-4.29895783e-01 -9.02826290e-01 9.71112540e-03 1.53428027e+02] [ 9.02447326e-01 -4.29997993e-01 -2.62783220e-02 1.25649166e+02] [ 2.79005244e-02 -2.53316069e-03 9.99607495e-01 7.00122862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.160714057 meters Centerline goodness : 0.991709 Centerline is valid? [True, True] Translation: X:153.43, Y:125.65, Z:7.00 [[-4.30030740e-01 -9.02762403e-01 9.67505106e-03 1.53428840e+02] [ 9.02383113e-01 -4.30131850e-01 -2.62927709e-02 1.25647966e+02] [ 2.78976726e-02 -2.57609703e-03 9.99607465e-01 7.00112995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.190714057 meters Centerline goodness : 0.991447 Centerline is valid? [True, True] Translation: X:153.43, Y:125.65, Z:7.00 [[-4.30135461e-01 -9.02712095e-01 9.71384683e-03 1.53427619e+02] [ 9.02333127e-01 -4.30237648e-01 -2.62772431e-02 1.25650908e+02] [ 2.79000478e-02 -2.53764828e-03 9.99607497e-01 7.00159244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.220714057 meters Centerline goodness : 0.991158 Centerline is valid? [True, True] Translation: X:153.41, Y:125.68, Z:7.01 [[-4.44873988e-01 -8.95541178e-01 9.65056037e-03 1.53409662e+02] [ 8.95160072e-01 -4.44968110e-01 -2.63025937e-02 1.25676846e+02] [ 2.78492474e-02 -3.06254345e-03 9.99607443e-01 7.00659170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.250714057 meters Centerline goodness : 0.990874 Centerline is valid? [True, True] Translation: X:153.43, Y:125.65, Z:7.00 [[-4.25304784e-01 -9.04990013e-01 1.04363229e-02 1.53430383e+02] [ 9.04618259e-01 -4.25429758e-01 -2.59870446e-02 1.25646252e+02] [ 2.79579381e-02 -1.61152615e-03 9.99607801e-01 7.00035113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.280714057 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:153.41, Y:125.70, Z:7.00 [[-4.25742921e-01 -9.04792982e-01 9.62420535e-03 1.53406471e+02] [ 9.04413770e-01 -4.25844363e-01 -2.63118225e-02 1.25703108e+02] [ 2.79051659e-02 -2.49780833e-03 9.99607454e-01 7.00171372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.310714057 meters Centerline goodness : 0.990238 Centerline is valid? [True, True] Translation: X:153.42, Y:125.66, Z:7.00 [[-4.23639118e-01 -9.05781074e-01 9.51547279e-03 1.53421336e+02] [ 9.05401157e-01 -4.23738298e-01 -2.63552793e-02 1.25664159e+02] [ 2.79041834e-02 -2.54980721e-03 9.99607350e-01 7.00074452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.340714057 meters Centerline goodness : 0.989962 Centerline is valid? [True, True] Translation: X:153.42, Y:125.66, Z:7.00 [[-4.21067553e-01 -9.06977805e-01 9.66315882e-03 1.53420177e+02] [ 9.06599463e-01 -4.21172074e-01 -2.62963501e-02 1.25658004e+02] [ 2.79200586e-02 -2.31192521e-03 9.99607486e-01 7.00191106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.370714057 meters Centerline goodness : 0.990403 Centerline is valid? [True, True] Translation: X:153.42, Y:125.65, Z:7.00 [[-4.16716601e-01 -9.08984766e-01 9.69385234e-03 1.53421349e+02] [ 9.08607204e-01 -4.16823817e-01 -2.62841154e-02 1.25654685e+02] [ 2.79324890e-02 -2.14512317e-03 9.99607510e-01 7.00064902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.400714057 meters Centerline goodness : 0.989572 Centerline is valid? [True, True] Translation: X:153.42, Y:125.65, Z:7.00 [[-4.12166239e-01 -9.11057988e-01 9.60910223e-03 1.53422097e+02] [ 9.10680198e-01 -4.12272905e-01 -2.63178424e-02 1.25649153e+02] [ 2.79386530e-02 -2.09650699e-03 9.99607441e-01 7.00209380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.430714057 meters Centerline goodness : 0.989239 Centerline is valid? [True, True] Translation: X:153.41, Y:125.67, Z:7.00 [[-4.10486368e-01 -9.11817257e-01 9.49899701e-03 1.53414020e+02] [ 9.11438674e-01 -4.10590562e-01 -2.63616086e-02 1.25667490e+02] [ 2.79371681e-02 -2.16332773e-03 9.99607340e-01 7.00274234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.460714057 meters Centerline goodness : 0.989615 Centerline is valid? [True, True] Translation: X:153.42, Y:125.65, Z:7.00 [[-4.07826074e-01 -9.13010213e-01 9.49972907e-03 1.53418459e+02] [ 9.12631942e-01 -4.07931392e-01 -2.63613178e-02 1.25654967e+02] [ 2.79433901e-02 -2.08107654e-03 9.99607341e-01 7.00305011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.490714057 meters Centerline goodness : 0.989427 Centerline is valid? [True, True] Translation: X:153.42, Y:125.66, Z:7.00 [[-4.04713407e-01 -9.14394499e-01 9.47405154e-03 1.53416374e+02] [ 9.14016356e-01 -4.04819275e-01 -2.63715015e-02 1.25656565e+02] [ 2.79492346e-02 -2.01346216e-03 9.99607316e-01 7.00368278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.520714057 meters Centerline goodness : 0.988193 Centerline is valid? [True, True] Translation: X:153.42, Y:125.65, Z:7.00 [[-4.04568878e-01 -9.14458678e-01 9.45242935e-03 1.53418484e+02] [ 9.14080356e-01 -4.04674184e-01 -2.63800686e-02 1.25651332e+02] [ 2.79486368e-02 -2.03227478e-03 9.99607295e-01 7.00479643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.550714057 meters Centerline goodness : 0.987051 Centerline is valid? [True, True] Translation: X:153.41, Y:125.67, Z:7.01 [[-4.03139615e-01 -9.15086974e-01 9.70979024e-03 1.53413310e+02] [ 9.14711195e-01 -4.03252896e-01 -2.62779794e-02 1.25665736e+02] [ 2.79621377e-02 -1.71204069e-03 9.99607517e-01 7.00509838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.580714057 meters Centerline goodness : 0.989296 Centerline is valid? [True, True] Translation: X:153.41, Y:125.67, Z:7.00 [[-4.01994917e-01 -9.15587623e-01 9.96949450e-03 1.53410047e+02] [ 9.15214470e-01 -4.02116090e-01 -2.61748844e-02 1.25672362e+02] [ 2.79742943e-02 -1.39794483e-03 9.99607665e-01 7.00405619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.610714057 meters Centerline goodness : 0.987309 Centerline is valid? [True, True] Translation: X:153.41, Y:125.68, Z:7.01 [[-4.02795404e-01 -9.15239986e-01 9.57240010e-03 1.53406646e+02] [ 9.14862975e-01 -4.02904888e-01 -2.63322656e-02 1.25683449e+02] [ 2.79571092e-02 -1.84908112e-03 9.99607413e-01 7.00584824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.640714057 meters Centerline goodness : 0.989340 Centerline is valid? [True, True] Translation: X:153.41, Y:125.68, Z:7.00 [[-4.02137063e-01 -9.15525405e-01 9.95067479e-03 1.53409555e+02] [ 9.15152055e-01 -4.02257641e-01 -2.61821830e-02 1.25679073e+02] [ 2.79731887e-02 -1.42244570e-03 9.99607662e-01 7.00275303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.670714057 meters Centerline goodness : 0.990146 Centerline is valid? [True, True] Translation: X:153.42, Y:125.67, Z:7.00 [[-4.03208275e-01 -9.15059219e-01 9.47168430e-03 1.53415226e+02] [ 9.14681253e-01 -4.03314699e-01 -2.63715723e-02 1.25668667e+02] [ 2.79516199e-02 -1.96966412e-03 9.99607337e-01 7.00118356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.700714057 meters Centerline goodness : 0.990196 Centerline is valid? [True, True] Translation: X:153.42, Y:125.67, Z:7.00 [[-4.04825588e-01 -9.14344442e-01 9.51234842e-03 1.53415386e+02] [ 9.13966656e-01 -4.04932512e-01 -2.63555108e-02 1.25670141e+02] [ 2.79498739e-02 -1.97541588e-03 9.99607374e-01 7.00059637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.730714057 meters Centerline goodness : 0.990405 Centerline is valid? [True, True] Translation: X:153.42, Y:125.67, Z:7.00 [[-4.01374640e-01 -9.15864316e-01 9.53698663e-03 1.53419544e+02] [ 9.15487161e-01 -4.01483694e-01 -2.63457874e-02 1.25668482e+02] [ 2.79581112e-02 -1.84354210e-03 9.99607396e-01 6.99744547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76071405700003 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:153.40, Y:125.70, Z:7.00 [[-4.26729001e-01 -9.04330922e-01 9.37780308e-03 1.53398480e+02] [ 9.03949554e-01 -4.26822898e-01 -2.64086536e-02 1.25701724e+02] [ 2.78848232e-02 -2.79227745e-03 9.99607243e-01 7.00413029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.790714057 meters Centerline goodness : 0.989223 Centerline is valid? [True, True] Translation: X:153.41, Y:125.69, Z:7.00 [[-4.12628925e-01 -9.10840774e-01 1.03177189e-02 1.53413895e+02] [ 9.10469578e-01 -4.12755696e-01 -2.60361958e-02 1.25689607e+02] [ 2.79735259e-02 -1.34931831e-03 9.99607754e-01 6.99891083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82071405700003 meters Centerline goodness : 0.990465 Centerline is valid? [True, True] Translation: X:153.41, Y:125.69, Z:7.00 [[-4.18595937e-01 -9.08122373e-01 9.54974094e-03 1.53414673e+02] [ 9.07743384e-01 -4.18698223e-01 -2.63390875e-02 1.25693407e+02] [ 2.79175742e-02 -2.35672086e-03 9.99607450e-01 7.00020030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.850714057 meters Centerline goodness : 0.990384 Centerline is valid? [True, True] Translation: X:153.41, Y:125.71, Z:7.00 [[-4.20997588e-01 -9.07010442e-01 9.64831345e-03 1.53409121e+02] [ 9.06632034e-01 -4.21101715e-01 -2.63001915e-02 1.25710265e+02] [ 2.79174697e-02 -2.32484714e-03 9.99607528e-01 7.00083693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88071405700003 meters Centerline goodness : 0.990350 Centerline is valid? [True, True] Translation: X:153.40, Y:125.73, Z:7.00 [[-4.24241156e-01 -9.05497480e-01 9.68269363e-03 1.53400349e+02] [ 9.05118999e-01 -4.24344920e-01 -2.62866150e-02 1.25733235e+02] [ 2.79112655e-02 -2.38787397e-03 9.99607553e-01 7.00215162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.910714057 meters Centerline goodness : 0.991007 Centerline is valid? [True, True] Translation: X:153.40, Y:125.73, Z:7.00 [[-4.27331223e-01 -9.04042695e-01 9.73818507e-03 1.53404196e+02] [ 9.03664337e-01 -4.27435296e-01 -2.62647092e-02 1.25728866e+02] [ 2.79068625e-02 -2.42367973e-03 9.99607589e-01 7.00306900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.940714057 meters Centerline goodness : 0.991528 Centerline is valid? [True, True] Translation: X:153.41, Y:125.72, Z:7.00 [[-4.27024449e-01 -9.04188121e-01 9.69338772e-03 1.53407692e+02] [ 9.03809414e-01 -4.27127357e-01 -2.62823716e-02 1.25723814e+02] [ 2.79045193e-02 -2.46224018e-03 9.99607561e-01 7.00234743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.970714057 meters Centerline goodness : 0.992522 Centerline is valid? [True, True] Translation: X:153.41, Y:125.72, Z:7.00 [[-4.29758460e-01 -9.02892811e-01 9.60406632e-03 1.53411898e+02] [ 9.02513046e-01 -4.29857639e-01 -2.63175329e-02 1.25717345e+02] [ 2.78902926e-02 -2.64238727e-03 9.99607498e-01 7.00276692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.000714057 meters Centerline goodness : 0.992138 Centerline is valid? [True, True] Translation: X:153.40, Y:125.74, Z:7.00 [[-4.30190940e-01 -9.02685607e-01 9.71853782e-03 1.53404820e+02] [ 9.02306754e-01 -4.30293247e-01 -2.62724756e-02 1.25737912e+02] [ 2.78976068e-02 -2.53307868e-03 9.99607577e-01 7.00312565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.030714057 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:153.41, Y:125.73, Z:7.00 [[-4.29386406e-01 -9.03068458e-01 9.73004293e-03 1.53406840e+02] [ 9.02689794e-01 -4.29489383e-01 -2.62679473e-02 1.25732963e+02] [ 2.79007048e-02 -2.49588905e-03 9.99607584e-01 7.00296485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.060714057 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:153.41, Y:125.72, Z:7.00 [[-4.27567607e-01 -9.03931972e-01 9.64009082e-03 1.53414044e+02] [ 9.03552754e-01 -4.27668748e-01 -2.63032885e-02 1.25719282e+02] [ 2.78991490e-02 -2.53610351e-03 9.99607526e-01 7.00228343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.090714057 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:153.41, Y:125.74, Z:7.00 [[-4.28681938e-01 -9.03403626e-01 9.67912741e-03 1.53406245e+02] [ 9.03024611e-01 -4.28783739e-01 -2.62879559e-02 1.25740957e+02] [ 2.78988871e-02 -2.52868160e-03 9.99607552e-01 7.00357393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.120714057 meters Centerline goodness : 0.993127 Centerline is valid? [True, True] Translation: X:153.41, Y:125.72, Z:7.00 [[-4.27416377e-01 -9.04000232e-01 9.94087411e-03 1.53414687e+02] [ 9.03623617e-01 -4.27526257e-01 -2.61850971e-02 1.25723224e+02] [ 2.79213185e-02 -2.20913071e-03 9.99607683e-01 7.00351219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.150714057 meters Centerline goodness : 0.992364 Centerline is valid? [True, True] Translation: X:153.41, Y:125.73, Z:7.01 [[-4.28239100e-01 -9.03613447e-01 9.69591321e-03 1.53414781e+02] [ 9.03234630e-01 -4.28341573e-01 -2.62811875e-02 1.25727259e+02] [ 2.79011971e-02 -2.49694750e-03 9.99607567e-01 7.00710584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.180714057 meters Centerline goodness : 0.992371 Centerline is valid? [True, True] Translation: X:153.41, Y:125.73, Z:7.00 [[-4.28769226e-01 -9.03359738e-01 9.90625798e-03 1.53413981e+02] [ 9.02982659e-01 -4.28877544e-01 -2.61986495e-02 1.25734774e+02] [ 2.79153767e-02 -2.28799547e-03 9.99607671e-01 7.00270928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.210714057 meters Centerline goodness : 0.992569 Centerline is valid? [True, True] Translation: X:153.42, Y:125.73, Z:7.00 [[-4.27670053e-01 -9.03882626e-01 9.72238477e-03 1.53418949e+02] [ 9.03504100e-01 -4.27773529e-01 -2.62707091e-02 1.25726338e+02] [ 2.79046164e-02 -2.45098107e-03 9.99607586e-01 7.00117957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.240714057 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:153.42, Y:125.74, Z:7.00 [[-4.26828740e-01 -9.04280401e-01 9.70478736e-03 1.53417363e+02] [ 9.03901822e-01 -4.26932060e-01 -2.62775978e-02 1.25735662e+02] [ 2.79056015e-02 -2.44385898e-03 9.99607575e-01 7.00084201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.270714057 meters Centerline goodness : 0.992303 Centerline is valid? [True, True] Translation: X:153.42, Y:125.74, Z:7.00 [[-4.26494509e-01 -9.04439438e-01 9.57791706e-03 1.53417525e+02] [ 9.04059831e-01 -4.26594305e-01 -2.63271981e-02 1.25737705e+02] [ 2.78972412e-02 -2.56939536e-03 9.99607494e-01 6.99908153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.300714057 meters Centerline goodness : 0.992551 Centerline is valid? [True, True] Translation: X:153.42, Y:125.74, Z:7.00 [[-4.26867055e-01 -9.04262603e-01 9.67792702e-03 1.53418229e+02] [ 9.03883792e-01 -4.26969583e-01 -2.62881138e-02 1.25736439e+02] [ 2.79035387e-02 -2.47380834e-03 9.99607559e-01 7.00079195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.330714057 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:153.42, Y:125.75, Z:7.00 [[-4.26176930e-01 -9.04588376e-01 9.64852969e-03 1.53415491e+02] [ 9.04209396e-01 -4.26278899e-01 -2.62995944e-02 1.25746988e+02] [ 2.79032720e-02 -2.48398922e-03 9.99607542e-01 7.00079959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.360714057 meters Centerline goodness : 0.992686 Centerline is valid? [True, True] Translation: X:153.42, Y:125.74, Z:7.00 [[-4.24818905e-01 -9.05226604e-01 9.67951239e-03 1.53419948e+02] [ 9.04848040e-01 -4.24922337e-01 -2.62875016e-02 1.25735973e+02] [ 2.79091868e-02 -2.40893984e-03 9.99607560e-01 7.00114634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.390714057 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:153.42, Y:125.74, Z:7.00 [[-4.20603576e-01 -9.07191791e-01 9.78197087e-03 1.53419561e+02] [ 9.06814599e-01 -4.20711717e-01 -2.62475425e-02 1.25737141e+02] [ 2.79269448e-02 -2.16937623e-03 9.99607613e-01 6.99899627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.420714057 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:153.42, Y:125.74, Z:7.00 [[-4.17940181e-01 -9.08424191e-01 9.56523839e-03 1.53417917e+02] [ 9.08045439e-01 -4.18043190e-01 -2.63319436e-02 1.25742115e+02] [ 2.79192573e-02 -2.31950618e-03 9.99607490e-01 6.99921028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.450714057 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:153.42, Y:125.74, Z:7.00 [[-4.14960707e-01 -9.09789712e-01 9.50223773e-03 1.53417181e+02] [ 9.09410758e-01 -4.15063142e-01 -2.63564508e-02 1.25744811e+02] [ 2.79228564e-02 -2.29545425e-03 9.99607445e-01 6.99980038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.480714057 meters Centerline goodness : 0.992609 Centerline is valid? [True, True] Translation: X:153.42, Y:125.74, Z:7.00 [[-4.08216454e-01 -9.12836234e-01 9.45175308e-03 1.53418865e+02] [ 9.12457607e-01 -4.08320239e-01 -2.63760716e-02 1.25741149e+02] [ 2.79363760e-02 -2.14282243e-03 9.99607407e-01 7.00051645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51071405700003 meters Centerline goodness : 0.991207 Centerline is valid? [True, True] Translation: X:153.42, Y:125.73, Z:7.01 [[-4.04997216e-01 -9.14270014e-01 9.35930467e-03 1.53421458e+02] [ 9.13890946e-01 -4.05099676e-01 -2.64119488e-02 1.25733983e+02] [ 2.79391041e-02 -2.14338192e-03 9.99607329e-01 7.00742656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.540714057 meters Centerline goodness : 0.992016 Centerline is valid? [True, True] Translation: X:153.42, Y:125.73, Z:7.00 [[-3.97623158e-01 -9.17498719e-01 9.58774432e-03 1.53422065e+02] [ 9.17122556e-01 -3.97735213e-01 -2.63233171e-02 1.25730423e+02] [ 2.79649932e-02 -1.67362389e-03 9.99607502e-01 7.00060439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57071405700003 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:153.42, Y:125.74, Z:7.00 [[-3.95445457e-01 -9.18442392e-01 9.29852811e-03 1.53418967e+02] [ 9.18063874e-01 -3.95550119e-01 -2.64353305e-02 1.25736904e+02] [ 2.79573621e-02 -1.91708862e-03 9.99607278e-01 7.00063295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.600714057 meters Centerline goodness : 0.991326 Centerline is valid? [True, True] Translation: X:153.42, Y:125.73, Z:7.00 [[-3.91068706e-01 -9.20314378e-01 9.31200971e-03 1.53422039e+02] [ 9.19936484e-01 -3.91175555e-01 -2.64301111e-02 1.25730903e+02] [ 2.79666418e-02 -1.76953186e-03 9.99607291e-01 6.99971162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63071405700003 meters Centerline goodness : 0.991241 Centerline is valid? [True, True] Translation: X:153.43, Y:125.72, Z:7.00 [[-3.84185455e-01 -9.23209318e-01 9.27850618e-03 1.53427055e+02] [ 9.22831923e-01 -3.84294166e-01 -2.64430575e-02 1.25719720e+02] [ 2.79781529e-02 -1.59653639e-03 9.99607260e-01 7.00014961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.660714057 meters Centerline goodness : 0.991416 Centerline is valid? [True, True] Translation: X:153.43, Y:125.72, Z:7.00 [[-3.80071354e-01 -9.24911953e-01 9.14577650e-03 1.53427849e+02] [ 9.24533819e-01 -3.80177950e-01 -2.64942239e-02 1.25719095e+02] [ 2.79818469e-02 -1.61411588e-03 9.99607128e-01 6.99988068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.690714057 meters Centerline goodness : 0.990294 Centerline is valid? [True, True] Translation: X:153.42, Y:125.73, Z:7.00 [[-3.82406261e-01 -9.23949638e-01 9.08397333e-03 1.53418991e+02] [ 9.23570675e-01 -3.82510132e-01 -2.65180431e-02 1.25732890e+02] [ 2.79760482e-02 -1.75097434e-03 9.99607060e-01 7.00372864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.720714057 meters Centerline goodness : 0.990750 Centerline is valid? [True, True] Translation: X:153.42, Y:125.74, Z:7.00 [[-3.81246944e-01 -9.24425954e-01 9.35006530e-03 1.53417001e+02] [ 9.24049577e-01 -3.81358897e-01 -2.64153431e-02 1.25737111e+02] [ 2.79847594e-02 -1.43084496e-03 9.99607326e-01 7.00474153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.750714057 meters Centerline goodness : 0.990473 Centerline is valid? [True, True] Translation: X:153.42, Y:125.74, Z:7.00 [[-3.79561120e-01 -9.25119384e-01 9.35311562e-03 1.53415824e+02] [ 9.24743241e-01 -3.79673846e-01 -2.64141658e-02 1.25744202e+02] [ 2.79873902e-02 -1.37655989e-03 9.99607328e-01 7.00384340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.780714057 meters Centerline goodness : 0.989522 Centerline is valid? [True, True] Translation: X:153.42, Y:125.74, Z:7.01 [[-3.80956462e-01 -9.24544830e-01 9.43563463e-03 1.53416212e+02] [ 9.24169296e-01 -3.81070973e-01 -2.63823126e-02 1.25744106e+02] [ 2.79872772e-02 -1.33038864e-03 9.99607394e-01 7.00508394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.810714057 meters Centerline goodness : 0.989654 Centerline is valid? [True, True] Translation: X:153.42, Y:125.75, Z:7.00 [[-3.81689815e-01 -9.24241982e-01 9.46802384e-03 1.53416070e+02] [ 9.23866663e-01 -3.81804952e-01 -2.63698169e-02 1.25746586e+02] [ 2.79870302e-02 -1.31789896e-03 9.99607418e-01 7.00490934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.840714057 meters Centerline goodness : 0.989737 Centerline is valid? [True, True] Translation: X:153.42, Y:125.74, Z:7.01 [[-3.82461579e-01 -9.23922776e-01 9.47870094e-03 1.53418960e+02] [ 9.23547461e-01 -3.82576706e-01 -2.63656997e-02 1.25743744e+02] [ 2.79862006e-02 -1.32983694e-03 9.99607425e-01 7.00558340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.870714057 meters Centerline goodness : 0.990861 Centerline is valid? [True, True] Translation: X:153.42, Y:125.74, Z:7.00 [[-3.83481445e-01 -9.23500051e-01 9.46770454e-03 1.53421622e+02] [ 9.23124506e-01 -3.83595845e-01 -2.63699347e-02 1.25741296e+02] [ 2.79844082e-02 -1.37251058e-03 9.99607417e-01 7.00460976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.900714057 meters Centerline goodness : 0.991411 Centerline is valid? [True, True] Translation: X:153.40, Y:125.78, Z:7.01 [[-3.98911406e-01 -9.16939172e-01 9.60440871e-03 1.53401609e+02] [ 9.16562995e-01 -3.99023409e-01 -2.63172218e-02 1.25776176e+02] [ 2.79636755e-02 -1.69519433e-03 9.99607503e-01 7.00539877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.930714057 meters Centerline goodness : 0.991411 Centerline is valid? [True, True] Translation: X:153.40, Y:125.78, Z:7.01 [[-3.98557160e-01 -9.17087992e-01 1.00898422e-02 1.53400375e+02] [ 9.16716410e-01 -3.98683155e-01 -2.61297789e-02 1.25778558e+02] [ 2.79859566e-02 -1.16468652e-03 9.99607638e-01 7.00568236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.960714057 meters Centerline goodness : 0.991257 Centerline is valid? [True, True] Translation: X:153.42, Y:125.76, Z:7.01 [[-3.87629239e-01 -9.21760257e-01 1.00797488e-02 1.53416936e+02] [ 9.21390098e-01 -3.87759356e-01 -2.61336719e-02 1.25756649e+02] [ 2.79974971e-02 -8.42794588e-04 9.99607638e-01 7.00686681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.990714057 meters Centerline goodness : 0.990880 Centerline is valid? [True, True] Translation: X:153.42, Y:125.75, Z:7.00 [[-3.90234998e-01 -9.20667336e-01 9.39700147e-03 1.53422818e+02] [ 9.20290359e-01 -3.90344625e-01 -2.63956333e-02 1.25749994e+02] [ 2.79696664e-02 -1.65253005e-03 9.99607406e-01 7.00404302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.020714057 meters Centerline goodness : 0.991124 Centerline is valid? [True, True] Translation: X:153.42, Y:125.76, Z:7.00 [[-3.95172661e-01 -9.18558244e-01 9.45091295e-03 1.53416780e+02] [ 9.18181167e-01 -3.95281806e-01 -2.63749578e-02 1.25764362e+02] [ 2.79627089e-02 -1.74501198e-03 9.99607444e-01 7.00382590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.050714057 meters Centerline goodness : 0.990208 Centerline is valid? [True, True] Translation: X:153.42, Y:125.75, Z:7.00 [[-3.95352414e-01 -9.18480184e-01 9.51951279e-03 1.53424677e+02] [ 9.18103703e-01 -3.95463449e-01 -2.63486462e-02 1.25754718e+02] [ 2.79653287e-02 -1.67710093e-03 9.99607487e-01 7.00470648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.080714057 meters Centerline goodness : 0.991999 Centerline is valid? [True, True] Translation: X:153.40, Y:125.80, Z:7.01 [[-4.09294283e-01 -9.12350439e-01 9.73990832e-03 1.53401661e+02] [ 9.11974238e-01 -4.09405898e-01 -2.62640515e-02 1.25796889e+02] [ 2.79495948e-02 -1.86718066e-03 9.99607590e-01 7.00715628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.110714057 meters Centerline goodness : 0.989677 Centerline is valid? [True, True] Translation: X:153.42, Y:125.78, Z:7.01 [[-4.00793668e-01 -9.16113285e-01 1.00441900e-02 1.53417103e+02] [ 9.15740967e-01 -4.00917456e-01 -2.61471661e-02 1.25780214e+02] [ 2.79806573e-02 -1.28174235e-03 9.99607643e-01 7.00823982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.140714057 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:153.40, Y:125.80, Z:7.01 [[-4.12997028e-01 -9.10679846e-01 9.78128624e-03 1.53402848e+02] [ 9.10303562e-01 -4.13108301e-01 -2.62479774e-02 1.25801657e+02] [ 2.79442346e-02 -1.93639694e-03 9.99607608e-01 7.00664116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.170714057 meters Centerline goodness : 0.992818 Centerline is valid? [True, True] Translation: X:153.41, Y:125.79, Z:7.01 [[-4.02343965e-01 -9.15433598e-01 1.00330263e-02 1.53414122e+02] [ 9.15060968e-01 -4.02466805e-01 -2.61513980e-02 1.25791609e+02] [ 2.79778284e-02 -1.34102642e-03 9.99607644e-01 7.00787433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.200714057 meters Centerline goodness : 0.991417 Centerline is valid? [True, True] Translation: X:153.42, Y:125.79, Z:7.01 [[-4.04326796e-01 -9.14565711e-01 9.45530435e-03 1.53418354e+02] [ 9.14187629e-01 -4.04432298e-01 -2.63722263e-02 1.25788798e+02] [ 2.79431643e-02 -2.01907549e-03 9.99607474e-01 7.00890711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.230714057 meters Centerline goodness : 0.992770 Centerline is valid? [True, True] Translation: X:153.42, Y:125.80, Z:7.01 [[-4.03488151e-01 -9.14933145e-01 9.72891232e-03 1.53415790e+02] [ 9.14557580e-01 -4.03601841e-01 -2.62676019e-02 1.25795410e+02] [ 2.79597065e-02 -1.70101561e-03 9.99607604e-01 7.00781677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26071405700003 meters Centerline goodness : 0.992519 Centerline is valid? [True, True] Translation: X:153.42, Y:125.80, Z:7.01 [[-4.03653683e-01 -9.14864375e-01 9.32086719e-03 1.53417439e+02] [ 9.14485224e-01 -4.03755602e-01 -2.64232551e-02 1.25795499e+02] [ 2.79370471e-02 -2.14204892e-03 9.99607389e-01 7.00684110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.290714057 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:153.42, Y:125.80, Z:7.01 [[-4.05078503e-01 -9.14234318e-01 9.32829757e-03 1.53415988e+02] [ 9.13855072e-01 -4.05180045e-01 -2.64204234e-02 1.25799271e+02] [ 2.79340978e-02 -2.17763354e-03 9.99607395e-01 7.00674858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32071405700003 meters Centerline goodness : 0.990972 Centerline is valid? [True, True] Translation: X:153.41, Y:125.81, Z:7.01 [[-4.06259905e-01 -9.13709831e-01 9.33992532e-03 1.53414596e+02] [ 9.13330552e-01 -4.06361291e-01 -2.64159913e-02 1.25805979e+02] [ 2.79319350e-02 -2.20131896e-03 9.99607404e-01 7.00687312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.350714057 meters Centerline goodness : 0.991598 Centerline is valid? [True, True] Translation: X:153.41, Y:125.80, Z:7.01 [[-4.06842218e-01 -9.13447243e-01 9.67177294e-03 1.53414561e+02] [ 9.13070758e-01 -4.06952893e-01 -2.62894158e-02 1.25803157e+02] [ 2.79499504e-02 -1.86463120e-03 9.99607585e-01 7.00806681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38071405700003 meters Centerline goodness : 0.991372 Centerline is valid? [True, True] Translation: X:153.40, Y:125.82, Z:7.01 [[-4.20220022e-01 -9.07374599e-01 9.29897807e-03 1.53402198e+02] [ 9.06993489e-01 -4.20314399e-01 -2.64313619e-02 1.25816245e+02] [ 2.78916408e-02 -2.67287493e-03 9.99607379e-01 7.00639456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.410714057 meters Centerline goodness : 0.991730 Centerline is valid? [True, True] Translation: X:153.40, Y:125.82, Z:7.01 [[-4.20763999e-01 -9.07115177e-01 9.98560644e-03 1.53399866e+02] [ 9.06739730e-01 -4.20877923e-01 -2.61693690e-02 1.25819300e+02] [ 2.79413531e-02 -1.95678228e-03 9.99607649e-01 7.00541001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.440714057 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:153.42, Y:125.80, Z:7.00 [[-4.01316408e-01 -9.15885149e-01 9.97672035e-03 1.53416656e+02] [ 9.15512135e-01 -4.01438062e-01 -2.61727563e-02 1.25800086e+02] [ 2.79762741e-02 -1.36974799e-03 9.99607649e-01 7.00117546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.470714057 meters Centerline goodness : 0.990437 Centerline is valid? [True, True] Translation: X:153.42, Y:125.79, Z:7.01 [[-4.04881938e-01 -9.14324557e-01 9.01223941e-03 1.53418316e+02] [ 9.13942789e-01 -4.04974461e-01 -2.65379931e-02 1.25790156e+02] [ 2.79140656e-02 -2.50808289e-03 9.99607180e-01 7.00645934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.500714057 meters Centerline goodness : 0.991792 Centerline is valid? [True, True] Translation: X:153.41, Y:125.80, Z:7.01 [[-4.04535640e-01 -9.14472872e-01 9.50175383e-03 1.53413663e+02] [ 9.14095227e-01 -4.04642393e-01 -2.63524213e-02 1.25798814e+02] [ 2.79433868e-02 -1.97498577e-03 9.99607556e-01 7.00617397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.530714057 meters Centerline goodness : 0.992857 Centerline is valid? [True, True] Translation: X:153.41, Y:125.81, Z:7.01 [[-4.05098087e-01 -9.14227278e-01 9.16648661e-03 1.53408349e+02] [ 9.13846750e-01 -4.05194968e-01 -2.64793258e-02 1.25810846e+02] [ 2.79223362e-02 -2.34996022e-03 9.99607333e-01 7.00670610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.560714057 meters Centerline goodness : 0.992772 Centerline is valid? [True, True] Translation: X:153.41, Y:125.80, Z:7.00 [[-4.01174218e-01 -9.15955454e-01 9.21162107e-03 1.53411808e+02] [ 9.15575722e-01 -4.01274028e-01 -2.64622544e-02 1.25800284e+02] [ 2.79346306e-02 -2.18203761e-03 9.99607370e-01 7.00436317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.590714057 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:153.41, Y:125.79, Z:7.00 [[-3.99422419e-01 -9.16722135e-01 9.06968083e-03 1.53414176e+02] [ 9.16341412e-01 -3.99518872e-01 -2.65158064e-02 1.25794100e+02] [ 2.79311353e-02 -2.28008338e-03 9.99607249e-01 7.00364975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.620714057 meters Centerline goodness : 0.992182 Centerline is valid? [True, True] Translation: X:153.41, Y:125.80, Z:7.01 [[-4.03589065e-01 -9.14896016e-01 9.00816105e-03 1.53409454e+02] [ 9.14514361e-01 -4.03682010e-01 -2.65389868e-02 1.25799070e+02] [ 2.79168458e-02 -2.47275221e-03 9.99607190e-01 7.00650466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.650714057 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:153.41, Y:125.81, Z:7.01 [[-4.05197551e-01 -9.14183168e-01 9.16955828e-03 1.53405045e+02] [ 9.13802656e-01 -4.05294479e-01 -2.64781286e-02 1.25809859e+02] [ 2.79222308e-02 -2.34970612e-03 9.99607337e-01 7.00800196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.680714057 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:153.40, Y:125.82, Z:7.01 [[-4.07872247e-01 -9.12992709e-01 9.19474497e-03 1.53401693e+02] [ 9.12612119e-01 -4.07968787e-01 -2.64686303e-02 1.25815734e+02] [ 2.79168354e-02 -2.40458403e-03 9.99607357e-01 7.00896819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.710714057 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:153.39, Y:125.83, Z:7.01 [[-4.11595211e-01 -9.11320020e-01 9.23058240e-03 1.53393935e+02] [ 9.10939327e-01 -4.11691230e-01 -2.64551109e-02 1.25833115e+02] [ 2.79092220e-02 -2.48029643e-03 9.99607385e-01 7.00684339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.740714057 meters Centerline goodness : 0.992213 Centerline is valid? [True, True] Translation: X:153.39, Y:125.84, Z:7.01 [[-4.22450660e-01 -9.06337447e-01 9.37395596e-03 1.53386345e+02] [ 9.05956753e-01 -4.22546272e-01 -2.64009555e-02 1.25837903e+02] [ 2.78891048e-02 -2.66070240e-03 9.99607482e-01 7.00703658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.770714057 meters Centerline goodness : 0.990823 Centerline is valid? [True, True] Translation: X:153.38, Y:125.84, Z:7.01 [[-4.22253999e-01 -9.06423350e-01 9.91316599e-03 1.53383500e+02] [ 9.06047095e-01 -4.22365226e-01 -2.61969182e-02 1.25838575e+02] [ 2.79324750e-02 -2.07995824e-03 9.99607648e-01 7.00733607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.800714057 meters Centerline goodness : 0.992780 Centerline is valid? [True, True] Translation: X:153.40, Y:125.83, Z:7.01 [[-4.01510715e-01 -9.15800771e-01 9.90425130e-03 1.53395184e+02] [ 9.15427063e-01 -4.01630224e-01 -2.62002882e-02 1.25827992e+02] [ 2.79720908e-02 -1.45307676e-03 9.99607648e-01 7.00508792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.830714057 meters Centerline goodness : 0.991541 Centerline is valid? [True, True] Translation: X:153.40, Y:125.81, Z:7.01 [[-4.06566056e-01 -9.13578982e-01 8.80259540e-03 1.53395921e+02] [ 9.13195494e-01 -4.06651823e-01 -2.66135956e-02 1.25811075e+02] [ 2.78932130e-02 -2.78169412e-03 9.99607038e-01 7.00828325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.860714057 meters Centerline goodness : 0.991337 Centerline is valid? [True, True] Translation: X:153.39, Y:125.82, Z:7.01 [[-4.06973427e-01 -9.13392956e-01 9.27022457e-03 1.53390349e+02] [ 9.13013144e-01 -4.07072521e-01 -2.64378925e-02 1.25818511e+02] [ 2.79218384e-02 -2.29568281e-03 9.99607473e-01 7.00892423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.890714057 meters Centerline goodness : 0.991245 Centerline is valid? [True, True] Translation: X:153.39, Y:125.82, Z:7.01 [[-4.05245161e-01 -9.14160240e-01 9.34963400e-03 1.53387247e+02] [ 9.13781274e-01 -4.05347256e-01 -2.64080546e-02 1.25821629e+02] [ 2.79310420e-02 -2.15821587e-03 9.99607522e-01 7.01130740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.920714057 meters Centerline goodness : 0.989965 Centerline is valid? [True, True] Translation: X:153.38, Y:125.83, Z:7.01 [[-3.99515386e-01 -9.16679444e-01 9.28724870e-03 1.53382461e+02] [ 9.16300596e-01 -3.99618061e-01 -2.64314693e-02 1.25827760e+02] [ 2.79405369e-02 -2.04986714e-03 9.99607485e-01 7.01152011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.950714057 meters Centerline goodness : 0.989462 Centerline is valid? [True, True] Translation: X:153.38, Y:125.83, Z:7.01 [[-3.97502582e-01 -9.17554071e-01 9.28564878e-03 1.53380609e+02] [ 9.17175436e-01 -3.97606043e-01 -2.64320695e-02 1.25831570e+02] [ 2.79448830e-02 -1.99024691e-03 9.99607484e-01 7.01172041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.980714057 meters Centerline goodness : 0.989355 Centerline is valid? [True, True] Translation: X:153.38, Y:125.84, Z:7.01 [[-3.93814423e-01 -9.19141352e-01 9.45387164e-03 1.53375379e+02] [ 9.18764599e-01 -3.93924219e-01 -2.63689556e-02 1.25840591e+02] [ 2.79609065e-02 -1.69859247e-03 9.99607574e-01 7.01163186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01071405700003 meters Centerline goodness : 0.989159 Centerline is valid? [True, True] Translation: X:153.37, Y:125.86, Z:7.01 [[-3.94131216e-01 -9.19005635e-01 9.44601128e-03 1.53365318e+02] [ 9.18628775e-01 -3.94240658e-01 -2.63719036e-02 1.25864525e+02] [ 2.79599297e-02 -1.71661268e-03 9.99607571e-01 7.01438743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.040714057 meters Centerline goodness : 0.989050 Centerline is valid? [True, True] Translation: X:153.36, Y:125.87, Z:7.01 [[-3.93232217e-01 -9.19388537e-01 9.65093149e-03 1.53360612e+02] [ 9.19013612e-01 -3.93347879e-01 -2.62950065e-02 1.25873970e+02] [ 2.79715010e-02 -1.47070630e-03 9.99607639e-01 7.01225553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07071405700003 meters Centerline goodness : 0.988622 Centerline is valid? [True, True] Translation: X:153.37, Y:125.85, Z:7.01 [[-3.91538264e-01 -9.20111822e-01 9.59289049e-03 1.53367578e+02] [ 9.19736585e-01 -3.91652961e-01 -2.63167671e-02 1.25850856e+02] [ 2.79714525e-02 -1.48108898e-03 9.99607625e-01 7.01132538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.100714057 meters Centerline goodness : 0.990474 Centerline is valid? [True, True] Translation: X:153.37, Y:125.83, Z:7.01 [[-3.90890352e-01 -9.20387848e-01 9.53637584e-03 1.53372709e+02] [ 9.20012184e-01 -3.91003701e-01 -2.63379246e-02 1.25832770e+02] [ 2.79698640e-02 -1.52165865e-03 9.99607609e-01 7.01223756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13071405700003 meters Centerline goodness : 0.990109 Centerline is valid? [True, True] Translation: X:153.36, Y:125.84, Z:7.01 [[-3.97485721e-01 -9.17560688e-01 9.35337907e-03 1.53364094e+02] [ 9.17182642e-01 -3.97591132e-01 -2.64063053e-02 1.25840413e+02] [ 2.79482082e-02 -1.91737240e-03 9.99607534e-01 7.01045594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.160714057 meters Centerline goodness : 0.989023 Centerline is valid? [True, True] Translation: X:153.38, Y:125.82, Z:7.01 [[-3.86276992e-01 -9.22330636e-01 9.81242605e-03 1.53375324e+02] [ 9.21958095e-01 -3.86400073e-01 -2.62346134e-02 1.25824395e+02] [ 2.79885098e-02 -1.08718193e-03 9.99607654e-01 7.01155476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.190714057 meters Centerline goodness : 0.991207 Centerline is valid? [True, True] Translation: X:153.38, Y:125.82, Z:7.01 [[-3.77589738e-01 -9.25923707e-01 9.55399198e-03 1.53377381e+02] [ 9.25549889e-01 -3.77708988e-01 -2.63310440e-02 1.25822678e+02] [ 2.79891665e-02 -1.09963581e-03 9.99607622e-01 7.00676583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.220714057 meters Centerline goodness : 0.989946 Centerline is valid? [True, True] Translation: X:153.36, Y:125.84, Z:7.01 [[-3.91623166e-01 -9.20082922e-01 8.87199667e-03 1.53360330e+02] [ 9.19701526e-01 -3.91717176e-01 -2.65848960e-02 1.25841028e+02] [ 2.79356223e-02 -2.25167225e-03 9.99607188e-01 7.01034397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.250714057 meters Centerline goodness : 0.989150 Centerline is valid? [True, True] Translation: X:153.38, Y:125.81, Z:7.01 [[-3.75915520e-01 -9.26602122e-01 9.79945455e-03 1.53375961e+02] [ 9.26230885e-01 -3.76042402e-01 -2.62385276e-02 1.25814551e+02] [ 2.79976858e-02 -7.86912282e-04 9.99607678e-01 7.00983137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.280714057 meters Centerline goodness : 0.989330 Centerline is valid? [True, True] Translation: X:153.37, Y:125.82, Z:7.01 [[-3.74876570e-01 -9.27027423e-01 9.36561425e-03 1.53370946e+02] [ 9.26652236e-01 -3.74991564e-01 -2.64000049e-02 1.25820069e+02] [ 2.79855549e-02 -1.21807590e-03 9.99607586e-01 7.01069673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.310714057 meters Centerline goodness : 0.988807 Centerline is valid? [True, True] Translation: X:153.37, Y:125.83, Z:7.01 [[-3.73345392e-01 -9.27644691e-01 9.40984450e-03 1.53368153e+02] [ 9.27270104e-01 -3.73462263e-01 -2.63835498e-02 1.25825093e+02] [ 2.79887817e-02 -1.12470926e-03 9.99607605e-01 7.01145304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.340714057 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:153.37, Y:125.82, Z:7.01 [[-3.69304024e-01 -9.29260451e-01 9.46321297e-03 1.53369256e+02] [ 9.28886879e-01 -3.69424038e-01 -2.63637168e-02 1.25819021e+02] [ 2.79946977e-02 -9.45972348e-04 9.99607624e-01 7.01038058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.370714057 meters Centerline goodness : 0.990359 Centerline is valid? [True, True] Translation: X:153.37, Y:125.82, Z:7.01 [[-3.66476452e-01 -9.30383875e-01 8.99197215e-03 1.53370960e+02] [ 9.30006307e-01 -3.66584216e-01 -2.65382808e-02 1.25815666e+02] [ 2.79871036e-02 -1.36306420e-03 9.99607355e-01 7.00997151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.400714057 meters Centerline goodness : 0.989726 Centerline is valid? [True, True] Translation: X:153.37, Y:125.81, Z:7.01 [[-3.65326655e-01 -9.30835733e-01 9.01519311e-03 1.53372831e+02] [ 9.30458509e-01 -3.65435547e-01 -2.65296852e-02 1.25812938e+02] [ 2.79892510e-02 -1.30373802e-03 9.99607374e-01 7.00975616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.430714057 meters Centerline goodness : 0.991219 Centerline is valid? [True, True] Translation: X:153.37, Y:125.81, Z:7.01 [[-3.66372254e-01 -9.30425218e-01 8.96021346e-03 1.53374530e+02] [ 9.30047378e-01 -3.66479155e-01 -2.65500087e-02 1.25807874e+02] [ 2.79865291e-02 -1.39376350e-03 9.99607329e-01 7.00653373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.460714057 meters Centerline goodness : 0.988985 Centerline is valid? [True, True] Translation: X:153.37, Y:125.82, Z:7.01 [[-3.70490285e-01 -9.28795380e-01 8.72303187e-03 1.53370438e+02] [ 9.28415011e-01 -3.70588732e-01 -2.66375531e-02 1.25820985e+02] [ 2.79734936e-02 -1.77036093e-03 9.99607098e-01 7.00948895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.490714057 meters Centerline goodness : 0.990439 Centerline is valid? [True, True] Translation: X:153.37, Y:125.82, Z:7.01 [[-3.70111433e-01 -9.28941994e-01 9.18142126e-03 1.53370183e+02] [ 9.28565712e-01 -3.70223117e-01 -2.64681177e-02 1.25822372e+02] [ 2.79865205e-02 -1.27060000e-03 9.99607493e-01 7.00686154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.520714057 meters Centerline goodness : 0.989682 Centerline is valid? [True, True] Translation: X:153.37, Y:125.83, Z:7.01 [[-3.77664432e-01 -9.25901145e-01 8.75478949e-03 1.53367822e+02] [ 9.25520301e-01 -3.77760846e-01 -2.66254628e-02 1.25834408e+02] [ 2.79597632e-02 -1.95275489e-03 9.99607142e-01 7.01014477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.550714057 meters Centerline goodness : 0.988857 Centerline is valid? [True, True] Translation: X:153.36, Y:125.85, Z:7.01 [[-3.85645653e-01 -9.22601438e-01 9.16604980e-03 1.53362989e+02] [ 9.22223212e-01 -3.85750570e-01 -2.64734797e-02 1.25850592e+02] [ 2.79602794e-02 -1.75623849e-03 9.99607492e-01 7.00977856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.580714057 meters Centerline goodness : 0.990080 Centerline is valid? [True, True] Translation: X:153.36, Y:125.86, Z:7.01 [[-3.87490416e-01 -9.21826128e-01 9.36835555e-03 1.53360227e+02] [ 9.21449440e-01 -3.87600360e-01 -2.63986803e-02 1.25858345e+02] [ 2.79661713e-02 -1.59676966e-03 9.99607595e-01 7.01303992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.610714057 meters Centerline goodness : 0.988249 Centerline is valid? [True, True] Translation: X:153.36, Y:125.87, Z:7.01 [[-3.91333120e-01 -9.20204014e-01 9.10837648e-03 1.53358240e+02] [ 9.19824668e-01 -3.91434046e-01 -2.64946670e-02 1.25866363e+02] [ 2.79458276e-02 -1.99013132e-03 9.99607458e-01 7.00920269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.640714057 meters Centerline goodness : 0.988863 Centerline is valid? [True, True] Translation: X:153.36, Y:125.87, Z:7.01 [[-3.96341134e-01 -9.18054694e-01 9.44904285e-03 1.53356685e+02] [ 9.17677654e-01 -3.96449759e-01 -2.63687851e-02 1.25871422e+02] [ 2.79540577e-02 -1.77985872e-03 9.99607624e-01 7.01093143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.670714057 meters Centerline goodness : 0.988354 Centerline is valid? [True, True] Translation: X:153.36, Y:125.87, Z:7.01 [[-3.98520653e-01 -9.17113084e-01 9.21303628e-03 1.53360413e+02] [ 9.16733819e-01 -3.98621615e-01 -2.64558644e-02 1.25865245e+02] [ 2.79355348e-02 -2.09730642e-03 9.99607527e-01 7.00886057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.700714057 meters Centerline goodness : 0.989557 Centerline is valid? [True, True] Translation: X:153.35, Y:125.89, Z:7.01 [[-4.03311685e-01 -9.15012870e-01 9.54638990e-03 1.53349064e+02] [ 9.14635832e-01 -4.03420229e-01 -2.63327692e-02 1.25894914e+02] [ 2.79460295e-02 -1.88884326e-03 9.99607649e-01 7.01254662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.730714057 meters Centerline goodness : 0.988291 Centerline is valid? [True, True] Translation: X:153.35, Y:125.89, Z:7.01 [[-4.03359971e-01 -9.14994517e-01 9.26112202e-03 1.53352600e+02] [ 9.14615117e-01 -4.03460311e-01 -2.64379597e-02 1.25885449e+02] [ 2.79270833e-02 -2.19365244e-03 9.99607556e-01 7.01239418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76071405700003 meters Centerline goodness : 0.989038 Centerline is valid? [True, True] Translation: X:153.35, Y:125.88, Z:7.01 [[-4.04452655e-01 -9.14512567e-01 9.20945322e-03 1.53352610e+02] [ 9.14132633e-01 -4.04551056e-01 -2.64569916e-02 1.25882944e+02] [ 2.79209454e-02 -2.28193880e-03 9.99607530e-01 7.01158611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.790714057 meters Centerline goodness : 0.989038 Centerline is valid? [True, True] Translation: X:153.35, Y:125.89, Z:7.01 [[-4.04126923e-01 -9.14656044e-01 9.26021398e-03 1.53351591e+02] [ 9.14276553e-01 -4.04226918e-01 -2.64383007e-02 1.25885406e+02] [ 2.79251793e-02 -2.21803257e-03 9.99607555e-01 7.01168269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82071405700003 meters Centerline goodness : 0.989549 Centerline is valid? [True, True] Translation: X:153.35, Y:125.89, Z:7.01 [[-4.04412725e-01 -9.14529802e-01 9.25147602e-03 1.53348095e+02] [ 9.14150209e-01 -4.04512351e-01 -2.64415148e-02 1.25891148e+02] [ 2.79238896e-02 -2.23604634e-03 9.99607551e-01 7.01287898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.850714057 meters Centerline goodness : 0.990428 Centerline is valid? [True, True] Translation: X:153.34, Y:125.89, Z:7.01 [[-4.13208537e-01 -9.10589314e-01 9.26323320e-03 1.53341189e+02] [ 9.10208869e-01 -4.13304838e-01 -2.64371900e-02 1.25891993e+02] [ 2.79019618e-02 -2.49259557e-03 9.99607557e-01 7.01277601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88071405700003 meters Centerline goodness : 0.990808 Centerline is valid? [True, True] Translation: X:153.35, Y:125.88, Z:7.01 [[-4.01803154e-01 -9.15674881e-01 9.68185861e-03 1.53351540e+02] [ 9.15299174e-01 -4.01916194e-01 -2.62829840e-02 1.25875053e+02] [ 2.79579640e-02 -1.69878868e-03 9.99607656e-01 7.01259970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.910714057 meters Centerline goodness : 0.989800 Centerline is valid? [True, True] Translation: X:153.35, Y:125.87, Z:7.01 [[-3.98574263e-01 -9.17090425e-01 9.14926553e-03 1.53354593e+02] [ 9.16710660e-01 -3.98673374e-01 -2.64784170e-02 1.25870720e+02] [ 2.79306712e-02 -2.16638628e-03 9.99607515e-01 7.01384522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.940714057 meters Centerline goodness : 0.990412 Centerline is valid? [True, True] Translation: X:153.35, Y:125.88, Z:7.01 [[-4.01437999e-01 -9.15841903e-01 9.00786871e-03 1.53352003e+02] [ 9.15460713e-01 -4.01531854e-01 -2.65302287e-02 1.25876020e+02] [ 2.79144414e-02 -2.40389201e-03 9.99607426e-01 7.01392261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.970714057 meters Centerline goodness : 0.989989 Centerline is valid? [True, True] Translation: X:153.35, Y:125.87, Z:7.01 [[-4.02484682e-01 -9.15381074e-01 9.14164170e-03 1.53352145e+02] [ 9.15000830e-01 -4.02581952e-01 -2.64811959e-02 1.25873989e+02] [ 2.79206455e-02 -2.29366600e-03 9.99607511e-01 7.01468552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.000714057 meters Centerline goodness : 0.989552 Centerline is valid? [True, True] Translation: X:153.35, Y:125.88, Z:7.01 [[-4.04837404e-01 -9.14343859e-01 9.05445119e-03 1.53348848e+02] [ 9.13962685e-01 -4.04931185e-01 -2.65131240e-02 1.25881757e+02] [ 2.79085417e-02 -2.45807376e-03 9.99607459e-01 7.01381305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.030714057 meters Centerline goodness : 0.990153 Centerline is valid? [True, True] Translation: X:153.35, Y:125.88, Z:7.01 [[-4.07262375e-01 -9.13265371e-01 9.14989291e-03 1.53348736e+02] [ 9.12884687e-01 -4.07357894e-01 -2.64781790e-02 1.25881971e+02] [ 2.79088851e-02 -2.43076895e-03 9.99607516e-01 7.01412200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.060714057 meters Centerline goodness : 0.991147 Centerline is valid? [True, True] Translation: X:153.35, Y:125.89, Z:7.01 [[-4.07120423e-01 -9.13328972e-01 9.11863407e-03 1.53347341e+02] [ 9.12948061e-01 -4.07215101e-01 -2.64896161e-02 1.25887122e+02] [ 2.79069793e-02 -2.45962443e-03 9.99607498e-01 7.01486895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.090714057 meters Centerline goodness : 0.989335 Centerline is valid? [True, True] Translation: X:153.35, Y:125.89, Z:7.01 [[-4.08217245e-01 -9.12839935e-01 9.05171885e-03 1.53349303e+02] [ 9.12458397e-01 -4.08309536e-01 -2.65140741e-02 1.25885166e+02] [ 2.78990088e-02 -2.56418539e-03 9.99607458e-01 7.01186719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.120714057 meters Centerline goodness : 0.991373 Centerline is valid? [True, True] Translation: X:153.34, Y:125.90, Z:7.01 [[-4.09894354e-01 -9.12084188e-01 9.43673152e-03 1.53340544e+02] [ 9.11705484e-01 -4.09997029e-01 -2.63732105e-02 1.25903194e+02] [ 2.79236202e-02 -2.20671018e-03 9.99607624e-01 7.01479708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.150714057 meters Centerline goodness : 0.991444 Centerline is valid? [True, True] Translation: X:153.34, Y:125.90, Z:7.01 [[-4.10300324e-01 -9.11905641e-01 9.04137736e-03 1.53339899e+02] [ 9.11523822e-01 -4.10391447e-01 -2.65175799e-02 1.25904397e+02] [ 2.78920346e-02 -2.63874077e-03 9.99607459e-01 7.01354217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.180714057 meters Centerline goodness : 0.991013 Centerline is valid? [True, True] Translation: X:153.34, Y:125.90, Z:7.01 [[-4.09804177e-01 -9.12128147e-01 9.09832999e-03 1.53339900e+02] [ 9.11746810e-01 -4.09897149e-01 -2.64968024e-02 1.25901443e+02] [ 2.78978588e-02 -2.56312692e-03 9.99607493e-01 7.01297335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.210714057 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:153.34, Y:125.90, Z:7.01 [[-4.08970254e-01 -9.12502732e-01 9.06064802e-03 1.53339331e+02] [ 9.12121193e-01 -4.09062489e-01 -2.65105352e-02 1.25901300e+02] [ 2.78973071e-02 -2.57761124e-03 9.99607471e-01 7.01428857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.240714057 meters Centerline goodness : 0.990865 Centerline is valid? [True, True] Translation: X:153.34, Y:125.90, Z:7.01 [[-4.07599865e-01 -9.13116103e-01 9.01847215e-03 1.53336505e+02] [ 9.12734383e-01 -4.07691456e-01 -2.65258953e-02 1.25904703e+02] [ 2.78979762e-02 -2.58048173e-03 9.99607445e-01 7.01443231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.270714057 meters Centerline goodness : 0.989964 Centerline is valid? [True, True] Translation: X:153.33, Y:125.91, Z:7.02 [[-4.02555571e-01 -9.15351252e-01 9.00541686e-03 1.53334170e+02] [ 9.14969942e-01 -4.02648892e-01 -2.65306458e-02 1.25905001e+02] [ 2.79108809e-02 -2.44037351e-03 9.99607437e-01 7.01738151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.300714057 meters Centerline goodness : 0.990268 Centerline is valid? [True, True] Translation: X:153.33, Y:125.91, Z:7.02 [[-4.01660235e-01 -9.15745242e-01 8.92786670e-03 1.53329496e+02] [ 9.15363427e-01 -4.01751695e-01 -2.65588373e-02 1.25912229e+02] [ 2.79079145e-02 -2.49538620e-03 9.99607384e-01 7.01781818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.330714057 meters Centerline goodness : 0.989141 Centerline is valid? [True, True] Translation: X:153.32, Y:125.92, Z:7.02 [[-3.97375198e-01 -9.17612000e-01 9.00946752e-03 1.53324960e+02] [ 9.17231255e-01 -3.97470788e-01 -2.65291646e-02 1.25917407e+02] [ 2.79244800e-02 -2.27826684e-03 9.99607439e-01 7.01917559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.360714057 meters Centerline goodness : 0.988762 Centerline is valid? [True, True] Translation: X:153.33, Y:125.91, Z:7.02 [[-3.96453104e-01 -9.18010468e-01 9.03970557e-03 1.53327438e+02] [ 9.17630060e-01 -3.96549946e-01 -2.65181780e-02 1.25905481e+02] [ 2.79286597e-02 -2.21810841e-03 9.99607458e-01 7.01789378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.390714057 meters Centerline goodness : 0.987412 Centerline is valid? [True, True] Translation: X:153.32, Y:125.92, Z:7.02 [[-3.94181496e-01 -9.18987333e-01 9.12305469e-03 1.53323669e+02] [ 9.18607835e-01 -3.94281671e-01 -2.64878951e-02 1.25917539e+02] [ 2.79390933e-02 -2.06052859e-03 9.99607504e-01 7.01627587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.420714057 meters Centerline goodness : 0.989171 Centerline is valid? [True, True] Translation: X:153.32, Y:125.91, Z:7.02 [[-3.90339591e-01 -9.20622679e-01 9.42799592e-03 1.53323287e+02] [ 9.20246159e-01 -3.90450072e-01 -2.63770156e-02 1.25910221e+02] [ 2.79644405e-02 -1.61991645e-03 9.99607606e-01 7.02050711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.450714057 meters Centerline goodness : 0.989159 Centerline is valid? [True, True] Translation: X:153.31, Y:125.93, Z:7.02 [[-4.02428351e-01 -9.15408246e-01 8.89746159e-03 1.53309385e+02] [ 9.15026135e-01 -4.02518615e-01 -2.65694800e-02 1.25925853e+02] [ 2.79033150e-02 -2.55090212e-03 9.99607372e-01 7.01938949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.480714057 meters Centerline goodness : 0.987844 Centerline is valid? [True, True] Translation: X:153.32, Y:125.92, Z:7.02 [[-3.92673162e-01 -9.19628274e-01 9.57211681e-03 1.53316508e+02] [ 9.19252721e-01 -3.92786804e-01 -2.63241664e-02 1.25920071e+02] [ 2.79682488e-02 -1.53759922e-03 9.99607629e-01 7.01801160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51071405700003 meters Centerline goodness : 0.987907 Centerline is valid? [True, True] Translation: X:153.32, Y:125.91, Z:7.02 [[-3.91824393e-01 -9.19991676e-01 9.43188082e-03 1.53319127e+02] [ 9.19615027e-01 -3.91934379e-01 -2.63750732e-02 1.25908978e+02] [ 2.79615261e-02 -1.66069771e-03 9.99607621e-01 7.01722686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.540714057 meters Centerline goodness : 0.989026 Centerline is valid? [True, True] Translation: X:153.31, Y:125.92, Z:7.02 [[-3.91353274e-01 -9.20192874e-01 9.36429542e-03 1.53313906e+02] [ 9.19815709e-01 -3.91461522e-01 -2.63995722e-02 1.25921703e+02] [ 2.79584596e-02 -1.71813299e-03 9.99607609e-01 7.01873853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57071405700003 meters Centerline goodness : 0.987550 Centerline is valid? [True, True] Translation: X:153.31, Y:125.94, Z:7.02 [[-3.92580817e-01 -9.19672390e-01 9.11028336e-03 1.53305929e+02] [ 9.19292991e-01 -3.92681289e-01 -2.64915350e-02 1.25941905e+02] [ 2.79409711e-02 -2.02504880e-03 9.99607524e-01 7.01913487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.600714057 meters Centerline goodness : 0.986894 Centerline is valid? [True, True] Translation: X:153.30, Y:125.94, Z:7.02 [[-3.94107705e-01 -9.19016281e-01 9.39105020e-03 1.53304929e+02] [ 9.18639019e-01 -3.94215588e-01 -2.63898263e-02 1.25942779e+02] [ 2.79547784e-02 -1.77344872e-03 9.99607616e-01 7.01867806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63071405700003 meters Centerline goodness : 0.988967 Centerline is valid? [True, True] Translation: X:153.30, Y:125.95, Z:7.02 [[-3.93616444e-01 -9.19225878e-01 9.48058186e-03 1.53303239e+02] [ 9.18849426e-01 -3.93727087e-01 -2.63574058e-02 1.25945239e+02] [ 2.79611714e-02 -1.66348112e-03 9.99607626e-01 7.01850159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.660714057 meters Centerline goodness : 0.988334 Centerline is valid? [True, True] Translation: X:153.30, Y:125.95, Z:7.02 [[-3.95089978e-01 -9.18597387e-01 9.09669646e-03 1.53301963e+02] [ 9.18217618e-01 -3.95189024e-01 -2.64960615e-02 1.25949107e+02] [ 2.79341274e-02 -2.11558140e-03 9.99607527e-01 7.01673807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.690714057 meters Centerline goodness : 0.989867 Centerline is valid? [True, True] Translation: X:153.30, Y:125.96, Z:7.02 [[-3.93946483e-01 -9.19085349e-01 9.39625503e-03 1.53296324e+02] [ 9.18708153e-01 -3.94054581e-01 -2.63878263e-02 1.25961415e+02] [ 2.79553019e-02 -1.76297528e-03 9.99607620e-01 7.01803856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.720714057 meters Centerline goodness : 0.989726 Centerline is valid? [True, True] Translation: X:153.31, Y:125.91, Z:7.02 [[-3.90714342e-01 -9.20467325e-01 9.06674926e-03 1.53312418e+02] [ 9.20087800e-01 -3.90814337e-01 -2.65064825e-02 1.25914255e+02] [ 2.79417667e-02 -2.01425749e-03 9.99607523e-01 7.01770764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.750714057 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:153.31, Y:125.92, Z:7.02 [[-3.91451534e-01 -9.20155513e-01 8.91783817e-03 1.53308125e+02] [ 9.19774730e-01 -3.91546952e-01 -2.65599515e-02 1.25921379e+02] [ 2.79310381e-02 -2.19453156e-03 9.99607444e-01 7.01926728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.780714057 meters Centerline goodness : 0.989409 Centerline is valid? [True, True] Translation: X:153.29, Y:125.96, Z:7.02 [[-3.90021021e-01 -9.20762737e-01 8.92103630e-03 1.53292037e+02] [ 9.20382128e-01 -3.90117122e-01 -2.65588027e-02 1.25959908e+02] [ 2.79346049e-02 -2.14772896e-03 9.99607446e-01 7.02023038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.810714057 meters Centerline goodness : 0.990605 Centerline is valid? [True, True] Translation: X:153.31, Y:125.92, Z:7.02 [[-3.86076099e-01 -9.22423877e-01 8.91273246e-03 1.53305778e+02] [ 9.22043616e-01 -3.86173591e-01 -2.65617818e-02 1.25920132e+02] [ 2.79430836e-02 -2.03694103e-03 9.99607440e-01 7.01771930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.840714057 meters Centerline goodness : 0.989189 Centerline is valid? [True, True] Translation: X:153.31, Y:125.91, Z:7.02 [[-3.84065455e-01 -9.23264945e-01 8.69298226e-03 1.53307803e+02] [ 9.22883162e-01 -3.84157470e-01 -2.66403344e-02 1.25913313e+02] [ 2.79355609e-02 -2.20902519e-03 9.99607285e-01 7.01851567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.870714057 meters Centerline goodness : 0.989536 Centerline is valid? [True, True] Translation: X:153.31, Y:125.92, Z:7.02 [[-3.79571453e-01 -9.25119686e-01 8.89265217e-03 1.53305732e+02] [ 9.24739958e-01 -3.79671045e-01 -2.65689375e-02 1.25916666e+02] [ 2.79557297e-02 -1.86141942e-03 9.99607429e-01 7.01959351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.900714057 meters Centerline goodness : 0.989143 Centerline is valid? [True, True] Translation: X:153.30, Y:125.93, Z:7.02 [[-3.77912557e-01 -9.25798673e-01 8.88350752e-03 1.53302169e+02] [ 9.25419049e-01 -3.78012567e-01 -2.65722047e-02 1.25925518e+02] [ 2.79585894e-02 -1.82100274e-03 9.99607424e-01 7.02019834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.930714057 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:153.30, Y:125.91, Z:7.02 [[-3.72939766e-01 -9.27812171e-01 8.97256027e-03 1.53304907e+02] [ 9.27433834e-01 -3.73044355e-01 -2.65404076e-02 1.25912923e+02] [ 2.79716761e-02 -1.57651741e-03 9.99607473e-01 7.01772216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.960714057 meters Centerline goodness : 0.990325 Centerline is valid? [True, True] Translation: X:153.30, Y:125.92, Z:7.02 [[-3.70268754e-01 -9.28884828e-01 8.60380265e-03 1.53301179e+02] [ 9.28503746e-01 -3.70363895e-01 -2.66716732e-02 1.25922625e+02] [ 2.79614505e-02 -1.88702421e-03 9.99607221e-01 7.01691233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.990714057 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:153.30, Y:125.92, Z:7.02 [[-3.66737911e-01 -9.30284621e-01 8.59232747e-03 1.53302539e+02] [ 9.29903810e-01 -3.66834171e-01 -2.66757543e-02 1.25917341e+02] [ 2.79680033e-02 -1.79297235e-03 9.99607211e-01 7.01696828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.020714057 meters Centerline goodness : 0.990011 Centerline is valid? [True, True] Translation: X:153.31, Y:125.91, Z:7.01 [[-3.64097979e-01 -9.31321331e-01 8.55802707e-03 1.53305750e+02] [ 9.30940513e-01 -3.64194338e-01 -2.66879334e-02 1.25910572e+02] [ 2.79718266e-02 -1.75000850e-03 9.99607180e-01 7.01459644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.050714057 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:153.31, Y:125.90, Z:7.01 [[-3.59136162e-01 -9.33245556e-01 8.59941428e-03 1.53311651e+02] [ 9.32865601e-01 -3.59235727e-01 -2.66732641e-02 1.25900411e+02] [ 2.79819220e-02 -1.55723593e-03 9.99607216e-01 7.01357577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.080714057 meters Centerline goodness : 0.991845 Centerline is valid? [True, True] Translation: X:153.31, Y:125.89, Z:7.02 [[-3.59682939e-01 -9.33036575e-01 8.42217324e-03 1.53313199e+02] [ 9.32655104e-01 -3.59777219e-01 -2.67359349e-02 1.25894218e+02] [ 2.79757112e-02 -1.76147678e-03 9.99607051e-01 7.01515090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.110714057 meters Centerline goodness : 0.991440 Centerline is valid? [True, True] Translation: X:153.28, Y:125.95, Z:7.02 [[-3.82775190e-01 -9.23803735e-01 8.35542287e-03 1.53282003e+02] [ 9.23419543e-01 -3.82858031e-01 -2.67595965e-02 1.25952521e+02] [ 2.79195560e-02 -2.52734889e-03 9.99606978e-01 7.02102230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.140714057 meters Centerline goodness : 0.989649 Centerline is valid? [True, True] Translation: X:153.28, Y:125.96, Z:7.02 [[-3.83751201e-01 -9.23388725e-01 9.39561795e-03 1.53281280e+02] [ 9.23012709e-01 -3.83863447e-01 -2.63892642e-02 1.25956094e+02] [ 2.79741833e-02 -1.45463706e-03 9.99607588e-01 7.02298975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.170714057 meters Centerline goodness : 0.992012 Centerline is valid? [True, True] Translation: X:153.31, Y:125.92, Z:7.02 [[-3.62353034e-01 -9.31993666e-01 9.38538325e-03 1.53305153e+02] [ 9.31620245e-01 -3.62473632e-01 -2.63929037e-02 1.25921302e+02] [ 2.79999730e-02 -8.19935683e-04 9.99607588e-01 7.01564948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.200714057 meters Centerline goodness : 0.991198 Centerline is valid? [True, True] Translation: X:153.28, Y:125.97, Z:7.02 [[-3.85498340e-01 -9.22670411e-01 8.38703319e-03 1.53279341e+02] [ 9.22286267e-01 -3.85580964e-01 -2.67462476e-02 1.25969200e+02] [ 2.79118516e-02 -2.57538852e-03 9.99607071e-01 7.01992816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.230714057 meters Centerline goodness : 0.990158 Centerline is valid? [True, True] Translation: X:153.28, Y:125.97, Z:7.02 [[-3.85357965e-01 -9.22719531e-01 9.37586769e-03 1.53280919e+02] [ 9.22343188e-01 -3.85468995e-01 -2.63950165e-02 1.25965938e+02] [ 2.79693036e-02 -1.52376216e-03 9.99607621e-01 7.02085515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26071405700003 meters Centerline goodness : 0.990161 Centerline is valid? [True, True] Translation: X:153.29, Y:125.96, Z:7.02 [[-3.72902354e-01 -9.27823324e-01 9.36558060e-03 1.53292702e+02] [ 9.27448420e-01 -3.73018148e-01 -2.63986662e-02 1.25955296e+02] [ 2.79868297e-02 -1.15803181e-03 9.99607621e-01 7.02098061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.290714057 meters Centerline goodness : 0.989846 Centerline is valid? [True, True] Translation: X:153.30, Y:125.95, Z:7.02 [[-3.73525391e-01 -9.27578618e-01 8.75728033e-03 1.53295287e+02] [ 9.27198536e-01 -3.73623596e-01 -2.66136010e-02 1.25953062e+02] [ 2.79581338e-02 -1.82111822e-03 9.99607436e-01 7.02038564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32071405700003 meters Centerline goodness : 0.988698 Centerline is valid? [True, True] Translation: X:153.30, Y:125.95, Z:7.02 [[-3.72610106e-01 -9.27946176e-01 8.80925942e-03 1.53297583e+02] [ 9.27566613e-01 -3.72710171e-01 -2.65952504e-02 1.25950501e+02] [ 2.79622615e-02 -1.73848415e-03 9.99607468e-01 7.02080136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.350714057 meters Centerline goodness : 0.990697 Centerline is valid? [True, True] Translation: X:153.30, Y:125.95, Z:7.02 [[-3.71175880e-01 -9.28519007e-01 8.99552590e-03 1.53296313e+02] [ 9.28141141e-01 -3.71281847e-01 -2.65294752e-02 1.25952319e+02] [ 2.79729974e-02 -1.49798363e-03 9.99607557e-01 7.02194900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38071405700003 meters Centerline goodness : 0.991049 Centerline is valid? [True, True] Translation: X:153.30, Y:125.95, Z:7.02 [[-3.67829083e-01 -9.29853100e-01 8.65894832e-03 1.53298150e+02] [ 9.29472833e-01 -3.67926809e-01 -2.66480003e-02 1.25948009e+02] [ 2.79645850e-02 -1.75365231e-03 9.99607376e-01 7.02295469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.410714057 meters Centerline goodness : 0.988450 Centerline is valid? [True, True] Translation: X:153.29, Y:125.98, Z:7.02 [[-3.72406165e-01 -9.28030901e-01 8.50262577e-03 1.53287944e+02] [ 9.27648928e-01 -3.72497537e-01 -2.67030257e-02 1.25979846e+02] [ 2.79484401e-02 -2.05691970e-03 9.99607250e-01 7.02233774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.440714057 meters Centerline goodness : 0.990541 Centerline is valid? [True, True] Translation: X:153.30, Y:125.95, Z:7.02 [[-3.68800261e-01 -9.29464605e-01 9.05076256e-03 1.53297167e+02] [ 9.29087487e-01 -3.68908766e-01 -2.65097009e-02 1.25953374e+02] [ 2.79787343e-02 -1.36783435e-03 9.99607583e-01 7.02254033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.470714057 meters Centerline goodness : 0.991134 Centerline is valid? [True, True] Translation: X:153.30, Y:125.96, Z:7.02 [[-3.72925427e-01 -9.27822322e-01 8.50677470e-03 1.53295313e+02] [ 9.27440351e-01 -3.73016707e-01 -2.67007679e-02 1.25961054e+02] [ 2.79467375e-02 -2.06786915e-03 9.99607275e-01 7.02116204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.500714057 meters Centerline goodness : 0.991442 Centerline is valid? [True, True] Translation: X:153.30, Y:125.94, Z:7.02 [[-3.66951635e-01 -9.30199552e-01 8.67702346e-03 1.53303324e+02] [ 9.29819542e-01 -3.67050237e-01 -2.66410080e-02 1.25944383e+02] [ 2.79663573e-02 -1.70789548e-03 9.99607406e-01 7.01703477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.530714057 meters Centerline goodness : 0.991699 Centerline is valid? [True, True] Translation: X:153.30, Y:125.95, Z:7.02 [[-3.68438668e-01 -9.29614494e-01 8.35699753e-03 1.53303122e+02] [ 9.29231813e-01 -3.68527500e-01 -2.67529368e-02 1.25945678e+02] [ 2.79497012e-02 -2.09122844e-03 9.99607143e-01 7.01669998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.560714057 meters Centerline goodness : 0.989321 Centerline is valid? [True, True] Translation: X:153.29, Y:125.97, Z:7.02 [[-3.74928862e-01 -9.27015723e-01 8.37846278e-03 1.53294635e+02] [ 9.26632590e-01 -3.75015633e-01 -2.67454292e-02 1.25967520e+02] [ 2.79354879e-02 -2.26387665e-03 9.99607165e-01 7.01987751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.590714057 meters Centerline goodness : 0.989426 Centerline is valid? [True, True] Translation: X:153.28, Y:125.99, Z:7.02 [[-3.75622236e-01 -9.26732280e-01 8.67277227e-03 1.53284612e+02] [ 9.26351339e-01 -3.75717164e-01 -2.66422669e-02 1.25994949e+02] [ 2.79487582e-02 -1.97339367e-03 9.99607409e-01 7.02006709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.620714057 meters Centerline goodness : 0.988292 Centerline is valid? [True, True] Translation: X:153.30, Y:125.96, Z:7.02 [[-3.74490674e-01 -9.27190120e-01 8.67276904e-03 1.53296133e+02] [ 9.26809295e-01 -3.74586066e-01 -2.66422680e-02 1.25961745e+02] [ 2.79511461e-02 -1.93927797e-03 9.99607409e-01 7.01790704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.650714057 meters Centerline goodness : 0.990010 Centerline is valid? [True, True] Translation: X:153.28, Y:125.99, Z:7.02 [[-3.87755338e-01 -9.21718945e-01 8.94340024e-03 1.53276407e+02] [ 9.21338846e-01 -3.87853023e-01 -2.65473877e-02 1.25989121e+02] [ 2.79379550e-02 -2.05398924e-03 9.99607549e-01 7.01993001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.680714057 meters Centerline goodness : 0.990563 Centerline is valid? [True, True] Translation: X:153.29, Y:125.97, Z:7.02 [[-3.69244036e-01 -9.29286213e-01 9.27236490e-03 1.53292522e+02] [ 9.28910938e-01 -3.69358661e-01 -2.64319884e-02 1.25966121e+02] [ 2.79877107e-02 -1.14665292e-03 9.99607610e-01 7.01718545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.710714057 meters Centerline goodness : 0.988632 Centerline is valid? [True, True] Translation: X:153.29, Y:125.98, Z:7.02 [[-3.69470336e-01 -9.29205100e-01 8.33988202e-03 1.53286902e+02] [ 9.28822242e-01 -3.69558256e-01 -2.67570265e-02 1.25978510e+02] [ 2.79448377e-02 -2.13965965e-03 9.99607177e-01 7.01891365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.740714057 meters Centerline goodness : 0.988632 Centerline is valid? [True, True] Translation: X:153.29, Y:125.98, Z:7.02 [[-3.69144213e-01 -9.29330455e-01 8.80081981e-03 1.53285754e+02] [ 9.28951260e-01 -3.69245457e-01 -2.65960321e-02 1.25980932e+02] [ 2.79661654e-02 -1.64223870e-03 9.99607521e-01 7.01919997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.770714057 meters Centerline goodness : 0.989548 Centerline is valid? [True, True] Translation: X:153.29, Y:125.97, Z:7.02 [[-3.66963435e-01 -9.30193961e-01 8.77677602e-03 1.53289106e+02] [ 9.29814808e-01 -3.67064883e-01 -2.66044170e-02 1.25967036e+02] [ 2.79689143e-02 -1.60207194e-03 9.99607510e-01 7.02241197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.800714057 meters Centerline goodness : 0.988645 Centerline is valid? [True, True] Translation: X:153.29, Y:125.98, Z:7.02 [[-3.68643254e-01 -9.29531005e-01 8.61751584e-03 1.53285091e+02] [ 9.29150395e-01 -3.68739467e-01 -2.66598698e-02 1.25976400e+02] [ 2.79587938e-02 -1.82101289e-03 9.99607418e-01 7.02133855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.830714057 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:153.28, Y:125.98, Z:7.02 [[-3.67687806e-01 -9.29907409e-01 8.82548872e-03 1.53283295e+02] [ 9.29528574e-01 -3.67790347e-01 -2.65874256e-02 1.25978321e+02] [ 2.79697736e-02 -1.57232822e-03 9.99607533e-01 7.02081046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.860714057 meters Centerline goodness : 0.989063 Centerline is valid? [True, True] Translation: X:153.27, Y:126.00, Z:7.02 [[-3.68155500e-01 -9.29723705e-01 8.68100605e-03 1.53272765e+02] [ 9.29343652e-01 -3.68253727e-01 -2.66377186e-02 1.26004491e+02] [ 2.79625313e-02 -1.73918476e-03 9.99607459e-01 7.02202586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.890714057 meters Centerline goodness : 0.988717 Centerline is valid? [True, True] Translation: X:153.27, Y:126.00, Z:7.02 [[-3.68722035e-01 -9.29498635e-01 8.73772852e-03 1.53273926e+02] [ 9.29118977e-01 -3.68821651e-01 -2.66179807e-02 1.25998696e+02] [ 2.79640402e-02 -1.69624663e-03 9.99607491e-01 7.02235675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.920714057 meters Centerline goodness : 0.989678 Centerline is valid? [True, True] Translation: X:153.28, Y:125.98, Z:7.02 [[-3.68900565e-01 -9.29427619e-01 8.75631770e-03 1.53277765e+02] [ 9.29048091e-01 -3.69000639e-01 -2.66115200e-02 1.25984940e+02] [ 2.79645685e-02 -1.68196452e-03 9.99607500e-01 7.02358507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.950714057 meters Centerline goodness : 0.988674 Centerline is valid? [True, True] Translation: X:153.28, Y:125.98, Z:7.02 [[-3.71303787e-01 -9.28472543e-01 8.49909407e-03 1.53278647e+02] [ 9.28090751e-01 -3.71395519e-01 -2.67006789e-02 1.25982969e+02] [ 2.79473726e-02 -2.02613257e-03 9.99607342e-01 7.02139070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.980714057 meters Centerline goodness : 0.990030 Centerline is valid? [True, True] Translation: X:153.28, Y:125.99, Z:7.02 [[-3.70675489e-01 -9.28719939e-01 8.88578503e-03 1.53275825e+02] [ 9.28341263e-01 -3.70778532e-01 -2.65665085e-02 1.25989455e+02] [ 2.79675045e-02 -1.59851263e-03 9.99607555e-01 7.02360091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01071405700003 meters Centerline goodness : 0.988241 Centerline is valid? [True, True] Translation: X:153.27, Y:125.99, Z:7.02 [[-3.73023970e-01 -9.27782386e-01 8.54180431e-03 1.53274796e+02] [ 9.27400757e-01 -3.73116218e-01 -2.66856563e-02 1.25994517e+02] [ 2.79455676e-02 -2.03271367e-03 9.99607380e-01 7.02168016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.040714057 meters Centerline goodness : 0.988580 Centerline is valid? [True, True] Translation: X:153.27, Y:126.00, Z:7.02 [[-3.74006342e-01 -9.27383244e-01 8.92049015e-03 1.53271465e+02] [ 9.27004484e-01 -3.74109016e-01 -2.65543089e-02 1.26003621e+02] [ 2.79632569e-02 -1.66214557e-03 9.99607570e-01 7.02035329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07071405700003 meters Centerline goodness : 0.988628 Centerline is valid? [True, True] Translation: X:153.27, Y:126.00, Z:7.02 [[-3.75991244e-01 -9.26580358e-01 8.91201445e-03 1.53274319e+02] [ 9.26201311e-01 -3.76092866e-01 -2.65572454e-02 1.25996202e+02] [ 2.79591670e-02 -1.73097228e-03 9.99607567e-01 7.02296681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.100714057 meters Centerline goodness : 0.988345 Centerline is valid? [True, True] Translation: X:153.28, Y:126.00, Z:7.02 [[-3.77111515e-01 -9.26125872e-01 8.81895207e-03 1.53275026e+02] [ 9.25745972e-01 -3.77210017e-01 -2.65894466e-02 1.25996116e+02] [ 2.79517715e-02 -1.86307711e-03 9.99607537e-01 7.02195804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13071405700003 meters Centerline goodness : 0.989886 Centerline is valid? [True, True] Translation: X:153.28, Y:125.99, Z:7.02 [[-3.75952699e-01 -9.26596062e-01 8.90535030e-03 1.53276871e+02] [ 9.26216966e-01 -3.76054146e-01 -2.65595647e-02 1.25992545e+02] [ 2.79588820e-02 -1.73685350e-03 9.99607565e-01 7.02296321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.160714057 meters Centerline goodness : 0.988996 Centerline is valid? [True, True] Translation: X:153.28, Y:125.98, Z:7.02 [[-3.73613771e-01 -9.27543827e-01 8.67169085e-03 1.53281859e+02] [ 9.27163152e-01 -3.73709497e-01 -2.66402066e-02 1.25981423e+02] [ 2.79506524e-02 -1.91307582e-03 9.99607474e-01 7.01977665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.190714057 meters Centerline goodness : 0.990776 Centerline is valid? [True, True] Translation: X:153.27, Y:126.00, Z:7.02 [[-3.76221386e-01 -9.26489544e-01 8.63674798e-03 1.53271454e+02] [ 9.26108335e-01 -3.76315040e-01 -2.66522572e-02 1.26004767e+02] [ 2.79431758e-02 -2.02858486e-03 9.99607455e-01 7.02442468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.220714057 meters Centerline goodness : 0.988820 Centerline is valid? [True, True] Translation: X:153.27, Y:126.02, Z:7.03 [[-3.77761844e-01 -9.25864676e-01 8.40190499e-03 1.53265352e+02] [ 9.25481566e-01 -3.77848126e-01 -2.67332118e-02 1.26020613e+02] [ 2.79259805e-02 -2.32297920e-03 9.99607295e-01 7.02544425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.250714057 meters Centerline goodness : 0.989787 Centerline is valid? [True, True] Translation: X:153.27, Y:126.01, Z:7.03 [[-3.77523711e-01 -9.25958070e-01 8.80342871e-03 1.53268915e+02] [ 9.25578009e-01 -3.77621601e-01 -2.65946442e-02 1.26011466e+02] [ 2.79498903e-02 -1.89184877e-03 9.99607535e-01 7.02527181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.280714057 meters Centerline goodness : 0.989325 Centerline is valid? [True, True] Translation: X:153.27, Y:126.00, Z:7.02 [[-3.75034660e-01 -9.26969549e-01 8.74413630e-03 1.53274122e+02] [ 9.26589291e-01 -3.75131876e-01 -2.66150806e-02 1.26001594e+02] [ 2.79515735e-02 -1.87935465e-03 9.99607512e-01 7.02030169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.310714057 meters Centerline goodness : 0.989494 Centerline is valid? [True, True] Translation: X:153.26, Y:126.03, Z:7.02 [[-3.75355004e-01 -9.26840394e-01 8.68935198e-03 1.53262530e+02] [ 9.26459681e-01 -3.75450521e-01 -2.66339435e-02 1.26034993e+02] [ 2.79478364e-02 -1.94684969e-03 9.99607487e-01 7.02367171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.340714057 meters Centerline goodness : 0.990811 Centerline is valid? [True, True] Translation: X:153.26, Y:126.04, Z:7.02 [[-3.72519741e-01 -9.27984076e-01 8.63693345e-03 1.53260093e+02] [ 9.27603251e-01 -3.72614922e-01 -2.66519800e-02 1.26039908e+02] [ 2.79508633e-02 -1.91674115e-03 9.99607461e-01 7.02424510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.370714057 meters Centerline goodness : 0.990532 Centerline is valid? [True, True] Translation: X:153.27, Y:126.01, Z:7.02 [[-3.70429530e-01 -9.28823406e-01 8.30930267e-03 1.53271117e+02] [ 9.28440322e-01 -3.70516185e-01 -2.67642683e-02 1.26008991e+02] [ 2.79380100e-02 -2.19958370e-03 9.99607238e-01 7.02309571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.400714057 meters Centerline goodness : 0.989514 Centerline is valid? [True, True] Translation: X:153.27, Y:126.01, Z:7.02 [[-3.69261912e-01 -9.29287769e-01 8.35952078e-03 1.53272520e+02] [ 9.28905167e-01 -3.69350488e-01 -2.67470883e-02 1.26007568e+02] [ 2.79433352e-02 -2.11147895e-03 9.99607279e-01 7.02301593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.430714057 meters Centerline goodness : 0.989134 Centerline is valid? [True, True] Translation: X:153.27, Y:126.01, Z:7.02 [[-3.67646904e-01 -9.29924196e-01 8.76032736e-03 1.53272211e+02] [ 9.29544843e-01 -3.67747604e-01 -2.66098509e-02 1.26010493e+02] [ 2.79667336e-02 -1.63991219e-03 9.99607509e-01 7.02102958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.460714057 meters Centerline goodness : 0.989099 Centerline is valid? [True, True] Translation: X:153.27, Y:126.01, Z:7.02 [[-3.65944118e-01 -9.30595559e-01 8.76408732e-03 1.53270860e+02] [ 9.30216421e-01 -3.66045619e-01 -2.66085640e-02 1.26012927e+02] [ 2.79698673e-02 -1.58474955e-03 9.99607511e-01 7.02177004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.490714057 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:153.26, Y:126.03, Z:7.02 [[-3.62958347e-01 -9.31764800e-01 8.69462024e-03 1.53264555e+02] [ 9.31385431e-01 -3.63059084e-01 -2.66323122e-02 1.26028698e+02] [ 2.79717119e-02 -1.56837740e-03 9.99607485e-01 7.02159966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.520714057 meters Centerline goodness : 0.991245 Centerline is valid? [True, True] Translation: X:153.27, Y:126.02, Z:7.02 [[-3.62341630e-01 -9.32008470e-01 8.29193846e-03 1.53267398e+02] [ 9.31626038e-01 -3.62431115e-01 -2.67696165e-02 1.26020510e+02] [ 2.79547658e-02 -1.97476071e-03 9.99607239e-01 7.02186163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.550714057 meters Centerline goodness : 0.990785 Centerline is valid? [True, True] Translation: X:153.26, Y:126.04, Z:7.02 [[-3.60321146e-01 -9.32791661e-01 8.26979299e-03 1.53263285e+02] [ 9.32409255e-01 -3.60410827e-01 -2.67771621e-02 1.26036383e+02] [ 2.79580365e-02 -1.93754624e-03 9.99607220e-01 7.02147090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.580714057 meters Centerline goodness : 0.989945 Centerline is valid? [True, True] Translation: X:153.26, Y:126.04, Z:7.02 [[-3.60256044e-01 -9.32816509e-01 8.30318515e-03 1.53260698e+02] [ 9.32434365e-01 -3.60346706e-01 -2.67657807e-02 1.26044070e+02] [ 2.79595875e-02 -1.90035908e-03 9.99607248e-01 7.02079403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.610714057 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:153.26, Y:126.05, Z:7.02 [[-3.57261163e-01 -9.33967630e-01 8.30218667e-03 1.53259669e+02] [ 9.33585771e-01 -3.57353023e-01 -2.67661207e-02 1.26053664e+02] [ 2.79655019e-02 -1.81169209e-03 9.99607247e-01 7.01818184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.640714057 meters Centerline goodness : 0.990715 Centerline is valid? [True, True] Translation: X:153.26, Y:126.05, Z:7.02 [[-3.56856634e-01 -9.34123490e-01 8.16383622e-03 1.53259834e+02] [ 9.33740613e-01 -3.56944702e-01 -2.68131742e-02 1.26053795e+02] [ 2.79608539e-02 -1.94555366e-03 9.99607126e-01 7.01731242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.670714057 meters Centerline goodness : 0.989823 Centerline is valid? [True, True] Translation: X:153.26, Y:126.05, Z:7.02 [[-3.54260696e-01 -9.35110154e-01 8.26799290e-03 1.53260307e+02] [ 9.34728325e-01 -3.54352805e-01 -2.67777681e-02 1.26054910e+02] [ 2.79699493e-02 -1.75798360e-03 9.99607219e-01 7.01711819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.700714057 meters Centerline goodness : 0.989417 Centerline is valid? [True, True] Translation: X:153.25, Y:126.05, Z:7.02 [[-3.72697962e-01 -9.27916896e-01 8.15245220e-03 1.53250978e+02] [ 9.27532497e-01 -3.72779176e-01 -2.68170188e-02 1.26049652e+02] [ 2.79230293e-02 -2.43298393e-03 9.99607115e-01 7.02261759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.730714057 meters Centerline goodness : 0.989830 Centerline is valid? [True, True] Translation: X:153.25, Y:126.06, Z:7.02 [[-3.71374551e-01 -9.28439127e-01 9.04048473e-03 1.53247993e+02] [ 9.28061598e-01 -3.71481716e-01 -2.65142420e-02 1.26058812e+02] [ 2.79752345e-02 -1.45658799e-03 9.99607555e-01 7.02339067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76071405700003 meters Centerline goodness : 0.990481 Centerline is valid? [True, True] Translation: X:153.27, Y:126.02, Z:7.02 [[-3.49957003e-01 -9.36722238e-01 9.03024991e-03 1.53274366e+02] [ 9.36347180e-01 -3.50072520e-01 -2.65177273e-02 1.26016350e+02] [ 2.80009872e-02 -8.24615326e-04 9.99607555e-01 7.01762727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.790714057 meters Centerline goodness : 0.990557 Centerline is valid? [True, True] Translation: X:153.25, Y:126.06, Z:7.02 [[-3.68703594e-01 -9.29509705e-01 8.32870458e-03 1.53249949e+02] [ 9.29126981e-01 -3.68791520e-01 -2.67557089e-02 1.26061298e+02] [ 2.79412468e-02 -2.12650191e-03 9.99607305e-01 7.02426837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82071405700003 meters Centerline goodness : 0.991683 Centerline is valid? [True, True] Translation: X:153.27, Y:126.04, Z:7.02 [[-3.51144817e-01 -9.36277732e-01 9.01805133e-03 1.53265438e+02] [ 9.35902438e-01 -3.51259514e-01 -2.65213180e-02 1.26041540e+02] [ 2.79989958e-02 -8.72807128e-04 9.99607570e-01 7.02142212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.850714057 meters Centerline goodness : 0.990001 Centerline is valid? [True, True] Translation: X:153.27, Y:126.03, Z:7.02 [[-3.53034035e-01 -9.35574461e-01 8.20959862e-03 1.53269329e+02] [ 9.35192388e-01 -3.53124981e-01 -2.67945005e-02 1.26031796e+02] [ 2.79672647e-02 -1.78181646e-03 9.99607251e-01 7.02216479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88071405700003 meters Centerline goodness : 0.992214 Centerline is valid? [True, True] Translation: X:153.26, Y:126.06, Z:7.02 [[-3.56088397e-01 -9.34412640e-01 8.60648134e-03 1.53261217e+02] [ 9.34033367e-01 -3.56189419e-01 -2.66602055e-02 1.26055267e+02] [ 2.79771706e-02 -1.45464911e-03 9.99607504e-01 7.02345383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.910714057 meters Centerline goodness : 0.991001 Centerline is valid? [True, True] Translation: X:153.26, Y:126.07, Z:7.02 [[-3.57366484e-01 -9.33925729e-01 8.48105582e-03 1.53256693e+02] [ 9.33545328e-01 -3.57463412e-01 -2.67026155e-02 1.26070076e+02] [ 2.79699268e-02 -1.62516977e-03 9.99607444e-01 7.02382728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.940714057 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:153.26, Y:126.05, Z:7.02 [[-3.57644239e-01 -9.33819107e-01 8.51311784e-03 1.53263912e+02] [ 9.33438928e-01 -3.57741969e-01 -2.66917837e-02 1.26050653e+02] [ 2.79707972e-02 -1.59968709e-03 9.99607461e-01 7.02269345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.970714057 meters Centerline goodness : 0.989079 Centerline is valid? [True, True] Translation: X:153.05, Y:126.67, Z:7.04 [[-3.76193745e-01 -9.26500224e-01 8.69493366e-03 1.53052106e+02] [ 9.26119538e-01 -3.76289082e-01 -2.66294497e-02 1.26665020e+02] [ 2.79439997e-02 -1.96528444e-03 9.99607558e-01 7.03963104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.000714057 meters Centerline goodness : 0.991523 Centerline is valid? [True, True] Translation: X:153.25, Y:126.09, Z:7.02 [[-3.63489809e-01 -9.31552143e-01 9.26088749e-03 1.53252772e+02] [ 9.31177515e-01 -3.63606428e-01 -2.64348503e-02 1.26092742e+02] [ 2.79927596e-02 -9.85268489e-04 9.99607640e-01 7.02226839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.030714057 meters Centerline goodness : 0.991077 Centerline is valid? [True, True] Translation: X:153.26, Y:126.08, Z:7.02 [[-3.65378515e-01 -9.30820177e-01 8.50523380e-03 1.53260832e+02] [ 9.30439305e-01 -3.65472873e-01 -2.66885585e-02 1.26077257e+02] [ 2.79506809e-02 -1.83782202e-03 9.99607614e-01 7.02049847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.060714057 meters Centerline goodness : 0.991584 Centerline is valid? [True, True] Translation: X:153.26, Y:126.08, Z:7.02 [[-3.64223234e-01 -9.31270238e-01 8.78519524e-03 1.53261263e+02] [ 9.30891649e-01 -3.64326048e-01 -2.65945422e-02 1.26080366e+02] [ 2.79673811e-02 -1.50828531e-03 9.99607698e-01 7.01874933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.090714057 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:153.26, Y:126.09, Z:7.02 [[-3.68245858e-01 -9.29690326e-01 8.41940670e-03 1.53257304e+02] [ 9.29308537e-01 -3.68336587e-01 -2.67170782e-02 1.26094323e+02] [ 2.79397847e-02 -2.01422688e-03 9.99607579e-01 7.01977252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.120714057 meters Centerline goodness : 0.991006 Centerline is valid? [True, True] Translation: X:153.25, Y:126.11, Z:7.02 [[-3.70754822e-01 -9.28691606e-01 8.53017913e-03 1.53253604e+02] [ 9.28310385e-01 -3.70847689e-01 -2.66799608e-02 1.26110481e+02] [ 2.79408529e-02 -1.97307025e-03 9.99607631e-01 7.02011580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.150714057 meters Centerline goodness : 0.993300 Centerline is valid? [True, True] Translation: X:153.26, Y:126.10, Z:7.02 [[-3.71257146e-01 -9.28489465e-01 8.68586300e-03 1.53258935e+02] [ 9.28109355e-01 -3.71354257e-01 -2.66278109e-02 1.26097876e+02] [ 2.79491741e-02 -1.82433436e-03 9.99607681e-01 7.01932529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.180714057 meters Centerline goodness : 0.992095 Centerline is valid? [True, True] Translation: X:153.26, Y:126.11, Z:7.02 [[-3.72280211e-01 -9.28081371e-01 8.50965266e-03 1.53255830e+02] [ 9.27699850e-01 -3.72371865e-01 -2.66867566e-02 1.26109925e+02] [ 2.79362369e-02 -2.04054789e-03 9.99607624e-01 7.02043776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.210714057 meters Centerline goodness : 0.992401 Centerline is valid? [True, True] Translation: X:153.25, Y:126.12, Z:7.02 [[-3.73697023e-01 -9.27511443e-01 8.54736933e-03 1.53254084e+02] [ 9.27130058e-01 -3.73789174e-01 -2.66741442e-02 1.26117477e+02] [ 2.79354881e-02 -2.04352527e-03 9.99607639e-01 7.02153478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.240714057 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:153.26, Y:126.11, Z:7.02 [[-3.74128463e-01 -9.27337257e-01 8.57351850e-03 1.53257968e+02] [ 9.26956019e-01 -3.74221185e-01 -2.66654059e-02 1.26112428e+02] [ 2.79362166e-02 -2.02901275e-03 9.99607648e-01 7.02174513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.270714057 meters Centerline goodness : 0.992502 Centerline is valid? [True, True] Translation: X:153.26, Y:126.10, Z:7.02 [[-3.73538018e-01 -9.27576032e-01 8.48853506e-03 1.53263046e+02] [ 9.27194235e-01 -3.73628550e-01 -2.66937588e-02 1.26101645e+02] [ 2.79320499e-02 -2.10061297e-03 9.99607617e-01 7.02140314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.300714057 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:153.26, Y:126.11, Z:7.02 [[-3.73748369e-01 -9.27489570e-01 8.67490808e-03 1.53262634e+02] [ 9.27109117e-01 -3.73844147e-01 -2.66315597e-02 1.26105184e+02] [ 2.79435575e-02 -1.91091565e-03 9.99607676e-01 7.01984078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.330714057 meters Centerline goodness : 0.992895 Centerline is valid? [True, True] Translation: X:153.26, Y:126.10, Z:7.02 [[-3.71871107e-01 -9.28243799e-01 8.67921978e-03 1.53263981e+02] [ 9.27863573e-01 -3.71967777e-01 -2.66301214e-02 1.26103732e+02] [ 2.79476352e-02 -1.84984086e-03 9.99607677e-01 7.01949658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.360714057 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:153.26, Y:126.11, Z:7.02 [[-3.69819651e-01 -9.29065011e-01 8.46356908e-03 1.53262939e+02] [ 9.28683402e-01 -3.69910998e-01 -2.67019326e-02 1.26113504e+02] [ 2.79385985e-02 -2.01492325e-03 9.99607610e-01 7.01716849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.390714057 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:153.26, Y:126.12, Z:7.02 [[-3.69750191e-01 -9.29092659e-01 8.46325374e-03 1.53260365e+02] [ 9.28711055e-01 -3.69841558e-01 -2.67020375e-02 1.26122630e+02] [ 2.79387299e-02 -2.01316615e-03 9.99607610e-01 7.01763739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.420714057 meters Centerline goodness : 0.992241 Centerline is valid? [True, True] Translation: X:153.27, Y:126.10, Z:7.02 [[-3.63094465e-01 -9.31713266e-01 8.53228943e-03 1.53269299e+02] [ 9.31332844e-01 -3.63190530e-01 -2.66790851e-02 1.26101049e+02] [ 2.79561042e-02 -1.74062677e-03 9.99607636e-01 7.01551386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.450714057 meters Centerline goodness : 0.991769 Centerline is valid? [True, True] Translation: X:153.26, Y:126.11, Z:7.02 [[-3.64727290e-01 -9.31077714e-01 8.26401791e-03 1.53264436e+02] [ 9.30695156e-01 -3.64815019e-01 -2.67680697e-02 1.26111181e+02] [ 2.79379910e-02 -2.07176410e-03 9.99607511e-01 7.01880912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.480714057 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:153.27, Y:126.09, Z:7.02 [[-3.55319121e-01 -9.34704456e-01 8.71221302e-03 1.53273437e+02] [ 9.34326267e-01 -3.55423470e-01 -2.66192428e-02 1.26087114e+02] [ 2.79776499e-02 -1.31827651e-03 9.99607680e-01 7.01766835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51071405700003 meters Centerline goodness : 0.991365 Centerline is valid? [True, True] Translation: X:153.26, Y:126.11, Z:7.02 [[-3.60358671e-01 -9.32778230e-01 8.14870179e-03 1.53263742e+02] [ 9.32395266e-01 -3.60444894e-01 -2.68057059e-02 1.26111973e+02] [ 2.79409369e-02 -2.06185758e-03 9.99607449e-01 7.02011070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.540714057 meters Centerline goodness : 0.991061 Centerline is valid? [True, True] Translation: X:153.26, Y:126.11, Z:7.02 [[-3.57439977e-01 -9.33895960e-01 8.66024465e-03 1.53264420e+02] [ 9.33517136e-01 -3.57541989e-01 -2.66361284e-02 1.26109507e+02] [ 2.79717738e-02 -1.43633034e-03 9.99607681e-01 7.02048453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57071405700003 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:153.27, Y:126.10, Z:7.02 [[-3.50582522e-01 -9.36490981e-01 8.74855399e-03 1.53269180e+02] [ 9.36113630e-01 -3.50689815e-01 -2.66068687e-02 1.26098861e+02] [ 2.79851213e-02 -1.13826251e-03 9.99607692e-01 7.01839545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.600714057 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:153.27, Y:126.10, Z:7.02 [[-3.50276123e-01 -9.36611842e-01 8.05576928e-03 1.53268552e+02] [ 9.36229172e-01 -3.50363820e-01 -2.68352538e-02 1.26101457e+02] [ 2.79566665e-02 -1.85770243e-03 9.99607410e-01 7.01817270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63071405700003 meters Centerline goodness : 0.993403 Centerline is valid? [True, True] Translation: X:153.26, Y:126.11, Z:7.02 [[-3.53042631e-01 -9.35572409e-01 8.07267400e-03 1.53263399e+02] [ 9.35189605e-01 -3.53129680e-01 -2.68296845e-02 1.26113547e+02] [ 2.79518133e-02 -1.92254158e-03 9.99607423e-01 7.01876190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.660714057 meters Centerline goodness : 0.993278 Centerline is valid? [True, True] Translation: X:153.26, Y:126.12, Z:7.02 [[-3.52769829e-01 -9.35673814e-01 8.24392521e-03 1.53263160e+02] [ 9.35292300e-01 -3.52861880e-01 -2.67732494e-02 1.26115015e+02] [ 2.79599953e-02 -1.73431483e-03 9.99607538e-01 7.01925561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.690714057 meters Centerline goodness : 0.992319 Centerline is valid? [True, True] Translation: X:153.26, Y:126.12, Z:7.02 [[-3.55339876e-01 -9.34700058e-01 8.32916615e-03 1.53263611e+02] [ 9.34318927e-01 -3.55433311e-01 -2.67451633e-02 1.26115635e+02] [ 2.79591688e-02 -1.72152542e-03 9.99607584e-01 7.01804255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.720714057 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:153.26, Y:126.12, Z:7.02 [[-3.55058402e-01 -9.34805275e-01 8.52224752e-03 1.53261566e+02] [ 9.34425641e-01 -3.55157454e-01 -2.66815260e-02 1.26121788e+02] [ 2.79687710e-02 -1.51009336e-03 9.99607657e-01 7.01853276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.750714057 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:153.26, Y:126.14, Z:7.02 [[-3.57875048e-01 -9.33733547e-01 8.19227927e-03 1.53256271e+02] [ 9.33351165e-01 -3.57963538e-01 -2.67900757e-02 1.26136182e+02] [ 2.79473297e-02 -1.94122621e-03 9.99607512e-01 7.01898747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.780714057 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:153.25, Y:126.14, Z:7.02 [[-3.61012809e-01 -9.32524518e-01 8.23256690e-03 1.53254161e+02] [ 9.32142130e-01 -3.61101166e-01 -2.67768227e-02 1.26143461e+02] [ 2.79428332e-02 -1.99285353e-03 9.99607536e-01 7.01891643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.810714057 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:153.27, Y:126.11, Z:7.02 [[-3.58426943e-01 -9.33521730e-01 8.20398547e-03 1.53267585e+02] [ 9.33139381e-01 -3.58515543e-01 -2.67862039e-02 1.26108078e+02] [ 2.79467597e-02 -1.94543525e-03 9.99607520e-01 7.01764376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.840714057 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:153.26, Y:126.14, Z:7.02 [[-3.66978874e-01 -9.30194594e-01 8.03263697e-03 1.53256070e+02] [ 9.29810272e-01 -3.67059048e-01 -2.68423727e-02 1.26144014e+02] [ 2.79170821e-02 -2.38175536e-03 9.99607405e-01 7.01844604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.870714057 meters Centerline goodness : 0.992738 Centerline is valid? [True, True] Translation: X:153.26, Y:126.14, Z:7.02 [[-3.70346351e-01 -9.28857238e-01 8.23477271e-03 1.53257969e+02] [ 9.28474001e-01 -3.70430932e-01 -2.67759881e-02 1.26144297e+02] [ 2.79214849e-02 -2.27061712e-03 9.99607540e-01 7.01778614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.900714057 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:153.25, Y:126.15, Z:7.02 [[-3.71182803e-01 -9.28518714e-01 8.73634870e-03 1.53254712e+02] [ 9.28138991e-01 -3.71281386e-01 -2.66110266e-02 1.26151593e+02] [ 2.79524799e-02 -1.76900958e-03 9.99607688e-01 7.01820627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.930714057 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:153.25, Y:126.17, Z:7.02 [[-3.71517672e-01 -9.28389989e-01 8.16381668e-03 1.53251141e+02] [ 9.28006177e-01 -3.71599736e-01 -2.67987197e-02 1.26165336e+02] [ 2.79133352e-02 -2.38012564e-03 9.99607513e-01 7.01751272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.960714057 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:153.25, Y:126.16, Z:7.02 [[-3.71500584e-01 -9.28397365e-01 8.10239543e-03 1.53252974e+02] [ 9.28013142e-01 -3.71580892e-01 -2.68188316e-02 1.26160256e+02] [ 2.79092279e-02 -2.44408216e-03 9.99607474e-01 7.01675257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.990714057 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:153.26, Y:126.15, Z:7.02 [[-3.69251822e-01 -9.29293708e-01 8.14223704e-03 1.53256402e+02] [ 9.28909950e-01 -3.69334202e-01 -2.68058033e-02 1.26151816e+02] [ 2.79176710e-02 -2.33468670e-03 9.99607499e-01 7.01680679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.020714057 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:153.24, Y:126.17, Z:7.02 [[-3.79618362e-01 -9.25107404e-01 8.13574127e-03 1.53242542e+02] [ 9.24722707e-01 -3.79696260e-01 -2.68079267e-02 1.26173585e+02] [ 2.78893220e-02 -2.65347653e-03 9.99607495e-01 7.01705369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.050714057 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:153.24, Y:126.17, Z:7.02 [[-3.74415362e-01 -9.27220129e-01 8.71605850e-03 1.53239252e+02] [ 9.26839909e-01 -3.74512042e-01 -2.66179068e-02 1.26173618e+02] [ 2.79449278e-02 -1.88776234e-03 9.99607682e-01 7.01843770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.080714057 meters Centerline goodness : 0.992937 Centerline is valid? [True, True] Translation: X:153.24, Y:126.17, Z:7.02 [[-3.71051812e-01 -9.28571356e-01 8.70569170e-03 1.53237062e+02] [ 9.28191414e-01 -3.71149573e-01 -2.66212969e-02 1.26174553e+02] [ 2.79508875e-02 -1.79733216e-03 9.99607682e-01 7.01938211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.110714057 meters Centerline goodness : 0.991260 Centerline is valid? [True, True] Translation: X:153.23, Y:126.17, Z:7.03 [[-3.71710627e-01 -9.28307924e-01 8.69533580e-03 1.53231190e+02] [ 9.27927836e-01 -3.71807823e-01 -2.66246790e-02 1.26172814e+02] [ 2.79488944e-02 -1.82803199e-03 9.99607682e-01 7.02782401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.140714057 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:153.26, Y:126.12, Z:7.02 [[-3.40004403e-01 -9.40379201e-01 9.16321431e-03 1.53261200e+02] [ 9.40006626e-01 -3.40127636e-01 -2.64714079e-02 1.26119366e+02] [ 2.80098238e-02 -3.86913056e-04 9.99607573e-01 7.01521296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.170714057 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:153.23, Y:126.17, Z:7.02 [[-3.59430714e-01 -9.33141851e-01 7.47322006e-03 1.53233214e+02] [ 9.32754615e-01 -3.59497947e-01 -2.70195070e-02 1.26171967e+02] [ 2.78996400e-02 -2.74096019e-03 9.99606971e-01 7.01921502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.200714057 meters Centerline goodness : 0.991520 Centerline is valid? [True, True] Translation: X:153.23, Y:126.17, Z:7.02 [[-3.57561195e-01 -9.33849377e-01 8.67942762e-03 1.53231010e+02] [ 9.33470787e-01 -3.57663708e-01 -2.66263415e-02 1.26174874e+02] [ 2.79693087e-02 -1.41855434e-03 9.99607776e-01 7.02012364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.230714057 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:153.23, Y:126.17, Z:7.02 [[-3.55049847e-01 -9.34807174e-01 8.66913062e-03 1.53230047e+02] [ 9.34428780e-01 -3.55153085e-01 -2.66296936e-02 1.26172682e+02] [ 2.79724971e-02 -1.35418350e-03 9.99607776e-01 7.02011432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26071405700003 meters Centerline goodness : 0.990122 Centerline is valid? [True, True] Translation: X:153.25, Y:126.15, Z:7.02 [[-3.33780625e-01 -9.42611011e-01 8.65884783e-03 1.53248942e+02] [ 9.42234968e-01 -3.33892119e-01 -2.66330367e-02 1.26145672e+02] [ 2.79957147e-02 -7.30922446e-04 9.99607776e-01 7.01796100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.290714057 meters Centerline goodness : 0.988762 Centerline is valid? [True, True] Translation: X:153.24, Y:126.16, Z:7.02 [[-3.37938082e-01 -9.41134403e-01 7.99302892e-03 1.53242791e+02] [ 9.40752642e-01 -3.38029025e-01 -2.68485575e-02 1.26160552e+02] [ 2.79699769e-02 -1.55368694e-03 9.99607556e-01 7.01778456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32071405700003 meters Centerline goodness : 0.988125 Centerline is valid? [True, True] Translation: X:153.24, Y:126.16, Z:7.02 [[-3.39801085e-01 -9.40461523e-01 8.20654507e-03 1.53241406e+02] [ 9.40081198e-01 -3.39897348e-01 -2.67793791e-02 1.26163963e+02] [ 2.79743585e-02 -1.38484336e-03 9.99607682e-01 7.02009460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.350714057 meters Centerline goodness : 0.989296 Centerline is valid? [True, True] Translation: X:153.23, Y:126.18, Z:7.02 [[-3.38143763e-01 -9.41056910e-01 8.40760672e-03 1.53234550e+02] [ 9.40678331e-01 -3.38246402e-01 -2.67142123e-02 1.26180849e+02] [ 2.79834368e-02 -1.12439081e-03 9.99607755e-01 7.01766743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38071405700003 meters Centerline goodness : 0.986079 Centerline is valid? [True, True] Translation: X:153.24, Y:126.17, Z:7.02 [[-3.38551477e-01 -9.40914038e-01 7.97935547e-03 1.53239392e+02] [ 9.40532127e-01 -3.38641782e-01 -2.68525862e-02 1.26169779e+02] [ 2.79681185e-02 -1.58614254e-03 9.99607557e-01 7.01792325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.410714057 meters Centerline goodness : 0.987932 Centerline is valid? [True, True] Translation: X:153.24, Y:126.17, Z:7.02 [[-3.36921024e-01 -9.41495515e-01 8.39163227e-03 1.53240804e+02] [ 9.41116945e-01 -3.37023701e-01 -2.67192927e-02 1.26165179e+02] [ 2.79842732e-02 -1.10478414e-03 9.99607753e-01 7.01615045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.440714057 meters Centerline goodness : 0.989296 Centerline is valid? [True, True] Translation: X:153.23, Y:126.20, Z:7.02 [[-3.39586910e-01 -9.40538169e-01 8.28750762e-03 1.53230104e+02] [ 9.40158498e-01 -3.39685560e-01 -2.67529268e-02 1.26195356e+02] [ 2.79772955e-02 -1.29337304e-03 9.99607722e-01 7.01529185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.470714057 meters Centerline goodness : 0.987879 Centerline is valid? [True, True] Translation: X:153.24, Y:126.17, Z:7.01 [[-3.36866713e-01 -9.41518368e-01 7.99872829e-03 1.53242012e+02] [ 9.41136774e-01 -3.36958254e-01 -2.68460132e-02 1.26166092e+02] [ 2.79712520e-02 -1.51563088e-03 9.99607579e-01 7.01431082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.500714057 meters Centerline goodness : 0.988065 Centerline is valid? [True, True] Translation: X:153.24, Y:126.17, Z:7.01 [[-3.37481876e-01 -9.41296834e-01 8.13959579e-03 1.53240843e+02] [ 9.40916244e-01 -3.37577174e-01 -2.68006416e-02 1.26169916e+02] [ 2.79751008e-02 -1.38605289e-03 9.99607659e-01 7.01490403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.530714057 meters Centerline goodness : 0.990038 Centerline is valid? [True, True] Translation: X:153.24, Y:126.17, Z:7.01 [[-3.37726581e-01 -9.41209825e-01 8.05122898e-03 1.53239599e+02] [ 9.40828541e-01 -3.37819267e-01 -2.68290695e-02 1.26174623e+02] [ 2.79716441e-02 -1.48606389e-03 9.99607612e-01 7.01472990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.560714057 meters Centerline goodness : 0.989299 Centerline is valid? [True, True] Translation: X:153.23, Y:126.20, Z:7.02 [[-3.38958845e-01 -9.40768463e-01 7.84860562e-03 1.53229873e+02] [ 9.40385567e-01 -3.39045259e-01 -2.68942031e-02 1.26203585e+02] [ 2.79622507e-02 -1.73531257e-03 9.99607474e-01 7.01608468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.590714057 meters Centerline goodness : 0.988276 Centerline is valid? [True, True] Translation: X:153.24, Y:126.18, Z:7.02 [[-3.36178686e-01 -9.41765242e-01 7.88164698e-03 1.53237399e+02] [ 9.41382845e-01 -3.36267173e-01 -2.68835837e-02 1.26181162e+02] [ 2.79683638e-02 -1.61804058e-03 9.99607499e-01 7.01673535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.620714057 meters Centerline goodness : 0.987712 Centerline is valid? [True, True] Translation: X:153.24, Y:126.17, Z:7.02 [[-3.36858777e-01 -9.41520286e-01 8.10652691e-03 1.53239486e+02] [ 9.41139504e-01 -3.36953387e-01 -2.68113596e-02 1.26172453e+02] [ 2.79749606e-02 -1.40226907e-03 9.99607641e-01 7.01939370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.650714057 meters Centerline goodness : 0.990221 Centerline is valid? [True, True] Translation: X:153.24, Y:126.17, Z:7.02 [[-3.33866689e-01 -9.42584367e-01 8.23075163e-03 1.53239561e+02] [ 9.42204848e-01 -3.33966034e-01 -2.67714758e-02 1.26174675e+02] [ 2.79831661e-02 -1.18304992e-03 9.99607694e-01 7.01604926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.680714057 meters Centerline goodness : 0.990441 Centerline is valid? [True, True] Translation: X:153.24, Y:126.18, Z:7.02 [[-3.34894967e-01 -9.42223871e-01 7.71605334e-03 1.53237985e+02] [ 9.41840401e-01 -3.34979255e-01 -2.69361788e-02 1.26184329e+02] [ 2.79646284e-02 -1.75349992e-03 9.99607375e-01 7.01636967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.710714057 meters Centerline goodness : 0.990081 Centerline is valid? [True, True] Translation: X:153.24, Y:126.17, Z:7.01 [[-3.31033072e-01 -9.43587879e-01 7.68243891e-03 1.53244789e+02] [ 9.43204512e-01 -3.31117973e-01 -2.69469200e-02 1.26171415e+02] [ 2.79705807e-02 -1.67421068e-03 9.99607345e-01 7.01362955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.740714057 meters Centerline goodness : 0.990305 Centerline is valid? [True, True] Translation: X:153.24, Y:126.18, Z:7.01 [[-3.33653454e-01 -9.42666146e-01 7.47721499e-03 1.53240776e+02] [ 9.42281097e-01 -3.33731429e-01 -2.70123618e-02 1.26183939e+02] [ 2.79590206e-02 -1.96712947e-03 9.99607135e-01 7.01418265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.770714057 meters Centerline goodness : 0.987771 Centerline is valid? [True, True] Translation: X:153.24, Y:126.19, Z:7.02 [[-3.38991366e-01 -9.40758440e-01 7.64270355e-03 1.53237904e+02] [ 9.40374095e-01 -3.39071890e-01 -2.69595018e-02 1.26192968e+02] [ 2.79538048e-02 -1.95203790e-03 9.99607310e-01 7.01671742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.800714057 meters Centerline goodness : 0.989740 Centerline is valid? [True, True] Translation: X:153.23, Y:126.20, Z:7.02 [[-3.40291921e-01 -9.40284675e-01 8.13251212e-03 1.53233927e+02] [ 9.39903754e-01 -3.40385881e-01 -2.68026975e-02 1.26202739e+02] [ 2.79703580e-02 -1.47696275e-03 9.99607662e-01 7.01619293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.830714057 meters Centerline goodness : 0.988057 Centerline is valid? [True, True] Translation: X:153.24, Y:126.20, Z:7.02 [[-3.41548296e-01 -9.39831335e-01 7.86277442e-03 1.53237656e+02] [ 9.39448326e-01 -3.41634061e-01 -2.68888719e-02 1.26199252e+02] [ 2.79571959e-02 -1.79717811e-03 9.99607506e-01 7.01567771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.860714057 meters Centerline goodness : 0.990955 Centerline is valid? [True, True] Translation: X:153.23, Y:126.21, Z:7.01 [[-3.43318981e-01 -9.39184723e-01 8.00837254e-03 1.53233894e+02] [ 9.38802595e-01 -3.43408177e-01 -2.68423513e-02 1.26211488e+02] [ 2.79600669e-02 -1.69720778e-03 9.99607600e-01 7.01344197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.890714057 meters Centerline goodness : 0.988674 Centerline is valid? [True, True] Translation: X:153.23, Y:126.21, Z:7.02 [[-3.44628960e-01 -9.38706884e-01 7.76315300e-03 1.53234462e+02] [ 9.38322903e-01 -3.44710623e-01 -2.69205409e-02 1.26207930e+02] [ 2.79465383e-02 -1.99325374e-03 9.99607432e-01 7.01615788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.920714057 meters Centerline goodness : 0.989898 Centerline is valid? [True, True] Translation: X:153.23, Y:126.22, Z:7.01 [[-3.44592194e-01 -9.38718294e-01 8.01154176e-03 1.53230208e+02] [ 9.38336069e-01 -3.44680963e-01 -2.68412987e-02 1.26217844e+02] [ 2.79578440e-02 -1.73178342e-03 9.99607603e-01 7.01498617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.950714057 meters Centerline goodness : 0.989372 Centerline is valid? [True, True] Translation: X:153.23, Y:126.22, Z:7.02 [[-3.43841448e-01 -9.38995224e-01 7.81196435e-03 1.53228671e+02] [ 9.38611656e-01 -3.43924828e-01 -2.69048721e-02 1.26218398e+02] [ 2.79502749e-02 -1.91860940e-03 9.99607473e-01 7.01685181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.980714057 meters Centerline goodness : 0.988491 Centerline is valid? [True, True] Translation: X:153.23, Y:126.19, Z:7.02 [[-3.46338369e-01 -9.38075761e-01 7.97505075e-03 1.53234362e+02] [ 9.37693112e-01 -3.46425385e-01 -2.68529540e-02 1.26193819e+02] [ 2.79528653e-02 -1.82205816e-03 9.99607582e-01 7.01557638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01071405700003 meters Centerline goodness : 0.989386 Centerline is valid? [True, True] Translation: X:153.22, Y:126.23, Z:7.02 [[-3.43076682e-01 -9.39271942e-01 8.16144387e-03 1.53223219e+02] [ 9.38890954e-01 -3.43170336e-01 -2.67935951e-02 1.26226075e+02] [ 2.79672375e-02 -1.52955189e-03 9.99607670e-01 7.01695146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.040714057 meters Centerline goodness : 0.989916 Centerline is valid? [True, True] Translation: X:153.21, Y:126.23, Z:7.02 [[-3.56493671e-01 -9.34264716e-01 7.85511621e-03 1.53211869e+02] [ 9.33880342e-01 -3.56573098e-01 -2.68911133e-02 1.26233129e+02] [ 2.79243414e-02 -2.25077307e-03 9.99607506e-01 7.02022592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07071405700003 meters Centerline goodness : 0.990093 Centerline is valid? [True, True] Translation: X:153.21, Y:126.24, Z:7.02 [[-3.52808159e-01 -9.35656940e-01 8.51426241e-03 1.53207626e+02] [ 9.35277579e-01 -3.52907902e-01 -2.66807762e-02 1.26239584e+02] [ 2.79688039e-02 -1.44999681e-03 9.99607745e-01 7.02060935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.100714057 meters Centerline goodness : 0.989266 Centerline is valid? [True, True] Translation: X:153.21, Y:126.23, Z:7.02 [[-3.50955935e-01 -9.36353360e-01 8.50390615e-03 1.53210111e+02] [ 9.35974119e-01 -3.51056135e-01 -2.66840766e-02 1.26228639e+02] [ 2.79710732e-02 -1.40549901e-03 9.99607745e-01 7.02026177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13071405700003 meters Centerline goodness : 0.990269 Centerline is valid? [True, True] Translation: X:153.23, Y:126.21, Z:7.02 [[-3.24926733e-01 -9.45701051e-01 8.49358336e-03 1.53227163e+02] [ 9.45324640e-01 -3.25037090e-01 -2.66873620e-02 1.26209747e+02] [ 2.79989959e-02 -6.42243700e-04 9.99607745e-01 7.01503114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.160714057 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:153.21, Y:126.23, Z:7.02 [[-3.44823996e-01 -9.38636402e-01 7.62343459e-03 1.53208882e+02] [ 9.38251512e-01 -3.44901588e-01 -2.69628492e-02 1.26229515e+02] [ 2.79376464e-02 -2.14473837e-03 9.99607367e-01 7.01819349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.190714057 meters Centerline goodness : 0.989641 Centerline is valid? [True, True] Translation: X:153.23, Y:126.20, Z:7.01 [[-3.18781830e-01 -9.47790190e-01 8.47942933e-03 1.53229514e+02] [ 9.47414410e-01 -3.18894231e-01 -2.66909203e-02 1.26203575e+02] [ 2.80014335e-02 -4.75046895e-04 9.99607770e-01 7.01255539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.220714057 meters Centerline goodness : 0.989626 Centerline is valid? [True, True] Translation: X:153.21, Y:126.23, Z:7.02 [[-3.38084493e-01 -9.41085373e-01 7.56281161e-03 1.53208188e+02] [ 9.40700676e-01 -3.38163113e-01 -2.69804864e-02 1.26229654e+02] [ 2.79484050e-02 -2.00734207e-03 9.99607352e-01 7.01781999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.250714057 meters Centerline goodness : 0.991024 Centerline is valid? [True, True] Translation: X:153.23, Y:126.20, Z:7.01 [[-3.07187187e-01 -9.51611458e-01 8.46552860e-03 1.53231729e+02] [ 9.51236988e-01 -3.07303777e-01 -2.66942212e-02 1.26197802e+02] [ 2.80040157e-02 -1.47398795e-04 9.99607800e-01 7.00784351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.280714057 meters Centerline goodness : 0.990607 Centerline is valid? [True, True] Translation: X:153.23, Y:126.20, Z:7.01 [[-3.04647237e-01 -9.52439642e-01 6.98487905e-03 1.53230091e+02] [ 9.52053761e-01 -3.04722976e-01 -2.71577818e-02 1.26200934e+02] [ 2.79946011e-02 -1.62356282e-03 9.99606756e-01 7.00686265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.310714057 meters Centerline goodness : 0.990600 Centerline is valid? [True, True] Translation: X:153.23, Y:126.21, Z:7.01 [[-3.01501579e-01 -9.53437993e-01 7.26581105e-03 1.53228041e+02] [ 9.53054440e-01 -3.01586579e-01 -2.70697418e-02 1.26208144e+02] [ 2.80005914e-02 -1.23685643e-03 9.99607141e-01 7.00714633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.340714057 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:153.21, Y:126.23, Z:7.02 [[-3.25309770e-01 -9.45579638e-01 7.25958984e-03 1.53207035e+02] [ 9.45194032e-01 -3.25384950e-01 -2.70716974e-02 1.26226777e+02] [ 2.79606071e-02 -1.94496668e-03 9.99607134e-01 7.01768251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.370714057 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:153.22, Y:126.23, Z:7.01 [[-3.03377873e-01 -9.52832980e-01 8.43676711e-03 1.53218179e+02] [ 9.52458826e-01 -3.03495155e-01 -2.66997474e-02 1.26228117e+02] [ 2.80009178e-02 -6.44392728e-05 9.99607895e-01 7.01108788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.400714057 meters Centerline goodness : 0.989928 Centerline is valid? [True, True] Translation: X:153.22, Y:126.22, Z:7.01 [[-2.99918149e-01 -9.53935639e-01 7.47671553e-03 1.53221749e+02] [ 9.53553926e-01 -3.00009765e-01 -2.70009312e-02 1.26218563e+02] [ 2.80002382e-02 -9.68617837e-04 9.99607447e-01 7.00974642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.430714057 meters Centerline goodness : 0.989262 Centerline is valid? [True, True] Translation: X:153.22, Y:126.22, Z:7.01 [[-3.00161470e-01 -9.53859147e-01 7.47125362e-03 1.53220641e+02] [ 9.53477369e-01 -3.00252834e-01 -2.70026414e-02 1.26218386e+02] [ 2.79999816e-02 -9.81481286e-04 9.99607442e-01 7.01085568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.460714057 meters Centerline goodness : 0.989878 Centerline is valid? [True, True] Translation: X:153.22, Y:126.21, Z:7.01 [[-3.05060128e-01 -9.52304611e-01 7.36522859e-03 1.53221359e+02] [ 9.51921565e-01 -3.05146521e-01 -2.70357944e-02 1.26212063e+02] [ 2.79937856e-02 -1.23642297e-03 9.99607333e-01 7.01284776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.490714057 meters Centerline goodness : 0.990836 Centerline is valid? [True, True] Translation: X:153.22, Y:126.23, Z:7.01 [[-3.06208412e-01 -9.51935058e-01 7.48697516e-03 1.53216699e+02] [ 9.51552827e-01 -3.06297797e-01 -2.69977331e-02 1.26229375e+02] [ 2.79933326e-02 -1.14268059e-03 9.99607457e-01 7.01337368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.520714057 meters Centerline goodness : 0.990361 Centerline is valid? [True, True] Translation: X:153.22, Y:126.22, Z:7.01 [[-3.10715272e-01 -9.50475046e-01 7.29431655e-03 1.53220163e+02] [ 9.50090978e-01 -3.10797371e-01 -2.70578613e-02 1.26216646e+02] [ 2.79848764e-02 -1.47702640e-03 9.99607255e-01 7.01395965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.550714057 meters Centerline goodness : 0.990361 Centerline is valid? [True, True] Translation: X:153.22, Y:126.22, Z:7.01 [[-3.10418256e-01 -9.50570804e-01 7.46012034e-03 1.53219217e+02] [ 9.50187980e-01 -3.10505187e-01 -2.70061401e-02 1.26219125e+02] [ 2.79876544e-02 -1.29468224e-03 9.99607430e-01 7.01410595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.580714057 meters Centerline goodness : 0.991405 Centerline is valid? [True, True] Translation: X:153.21, Y:126.25, Z:7.01 [[-3.21693143e-01 -9.46814546e-01 7.46566574e-03 1.53210273e+02] [ 9.46430756e-01 -3.21775676e-01 -2.70044098e-02 1.26247356e+02] [ 2.79704377e-02 -1.62139780e-03 9.99607436e-01 7.01451832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.610714057 meters Centerline goodness : 0.990643 Centerline is valid? [True, True] Translation: X:153.21, Y:126.25, Z:7.01 [[-3.26136821e-01 -9.45292066e-01 7.59500691e-03 1.53209394e+02] [ 9.44908804e-01 -3.26221235e-01 -2.69640177e-02 1.26250885e+02] [ 2.79665246e-02 -1.61737013e-03 9.99607552e-01 7.01392571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.640714057 meters Centerline goodness : 0.990130 Centerline is valid? [True, True] Translation: X:153.21, Y:126.25, Z:7.01 [[-3.35029811e-01 -9.42176307e-01 7.67015729e-03 1.53209735e+02] [ 9.41792785e-01 -3.35112754e-01 -2.69405476e-02 1.26254157e+02] [ 2.79531132e-02 -1.80218777e-03 9.99607611e-01 7.01438301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.670714057 meters Centerline goodness : 0.989600 Centerline is valid? [True, True] Translation: X:153.21, Y:126.26, Z:7.02 [[-3.39533636e-01 -9.40561095e-01 7.85722063e-03 1.53207574e+02] [ 9.40178470e-01 -3.39620079e-01 -2.68820791e-02 1.26261251e+02] [ 2.79527076e-02 -1.74018038e-03 9.99607732e-01 7.01538406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.700714057 meters Centerline goodness : 0.989804 Centerline is valid? [True, True] Translation: X:153.21, Y:126.26, Z:7.02 [[-3.44651403e-01 -9.38697969e-01 7.84428994e-03 1.53209273e+02] [ 9.38314791e-01 -3.44735391e-01 -2.68861160e-02 1.26259729e+02] [ 2.79421469e-02 -1.90592433e-03 9.99607725e-01 7.01539679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.730714057 meters Centerline goodness : 0.990144 Centerline is valid? [True, True] Translation: X:153.21, Y:126.26, Z:7.02 [[-3.47396741e-01 -9.37684957e-01 7.90103764e-03 1.53208007e+02] [ 9.37301917e-01 -3.47481228e-01 -2.68684168e-02 1.26262665e+02] [ 2.79395725e-02 -1.92834273e-03 9.99607754e-01 7.01542041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76071405700003 meters Centerline goodness : 0.990958 Centerline is valid? [True, True] Translation: X:153.21, Y:126.24, Z:7.02 [[-3.45460057e-01 -9.38399906e-01 7.93505895e-03 1.53214214e+02] [ 9.38017275e-01 -3.45546305e-01 -2.68578195e-02 1.26244688e+02] [ 2.79453056e-02 -1.83508149e-03 9.99607769e-01 7.01588813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.790714057 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:153.19, Y:126.30, Z:7.02 [[-3.63331772e-01 -9.31627269e-01 7.78807848e-03 1.53189526e+02] [ 9.31242142e-01 -3.63406479e-01 -2.69036085e-02 1.26299827e+02] [ 2.78943735e-02 -2.52234887e-03 9.99607694e-01 7.02092972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82071405700003 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:153.19, Y:126.29, Z:7.02 [[-3.64217851e-01 -9.31275963e-01 8.39270725e-03 1.53192273e+02] [ 9.30894685e-01 -3.64309490e-01 -2.67148264e-02 1.26290162e+02] [ 2.79364186e-02 -1.91729010e-03 9.99607863e-01 7.01940903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.850714057 meters Centerline goodness : 0.990570 Centerline is valid? [True, True] Translation: X:153.19, Y:126.30, Z:7.02 [[-3.65773340e-01 -9.30666596e-01 8.33972368e-03 1.53190066e+02] [ 9.30284808e-01 -3.65862829e-01 -2.67313564e-02 1.26297561e+02] [ 2.79291754e-02 -2.01929929e-03 9.99607865e-01 7.01992531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88071405700003 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:153.19, Y:126.31, Z:7.02 [[-3.66565954e-01 -9.30354784e-01 8.32930214e-03 1.53187487e+02] [ 9.29972851e-01 -3.66654821e-01 -2.67346033e-02 1.26305976e+02] [ 2.79266449e-02 -2.05397054e-03 9.99607865e-01 7.01763979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.910714057 meters Centerline goodness : 0.990544 Centerline is valid? [True, True] Translation: X:153.18, Y:126.32, Z:7.02 [[-3.67234373e-01 -9.30091239e-01 8.31883682e-03 1.53183977e+02] [ 9.29709173e-01 -3.67322666e-01 -2.67378594e-02 1.26316853e+02] [ 2.79243461e-02 -2.08496212e-03 9.99607865e-01 7.01811590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.940714057 meters Centerline goodness : 0.990286 Centerline is valid? [True, True] Translation: X:153.19, Y:126.30, Z:7.02 [[-3.68266938e-01 -9.29682975e-01 8.30831123e-03 1.53188305e+02] [ 9.29300742e-01 -3.68354506e-01 -2.67411296e-02 1.26301350e+02] [ 2.79211768e-02 -2.12695414e-03 9.99607865e-01 7.01552240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.970714057 meters Centerline goodness : 0.991236 Centerline is valid? [True, True] Translation: X:153.19, Y:126.31, Z:7.02 [[-3.68514424e-01 -9.29584985e-01 8.29912382e-03 1.53185700e+02] [ 9.29202669e-01 -3.68601627e-01 -2.67439806e-02 1.26309647e+02] [ 2.79198734e-02 -2.14397461e-03 9.99607865e-01 7.01537617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.000714057 meters Centerline goodness : 0.989985 Centerline is valid? [True, True] Translation: X:153.21, Y:126.26, Z:7.01 [[-3.48429937e-01 -9.37298179e-01 8.28867793e-03 1.53209795e+02] [ 9.36917754e-01 -3.48525049e-01 -2.67472177e-02 1.26264414e+02] [ 2.79589303e-02 -1.55372188e-03 9.99607865e-01 7.00934499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.030714057 meters Centerline goodness : 0.990117 Centerline is valid? [True, True] Translation: X:153.20, Y:126.28, Z:7.01 [[-3.49651702e-01 -9.36849387e-01 7.54409764e-03 1.53202770e+02] [ 9.36463907e-01 -3.49725064e-01 -2.69764818e-02 1.26275852e+02] [ 2.79112605e-02 -2.36759762e-03 9.99607601e-01 7.01123400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.060714057 meters Centerline goodness : 0.989984 Centerline is valid? [True, True] Translation: X:153.20, Y:126.28, Z:7.01 [[-3.46103990e-01 -9.38166743e-01 7.42904373e-03 1.53200191e+02] [ 9.37780822e-01 -3.46175517e-01 -2.70118688e-02 1.26282902e+02] [ 2.79133900e-02 -2.38210085e-03 9.99607507e-01 7.01092462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.090714057 meters Centerline goodness : 0.990046 Centerline is valid? [True, True] Translation: X:153.20, Y:126.28, Z:7.01 [[-3.44998017e-01 -9.38574603e-01 7.35407520e-03 1.53195952e+02] [ 9.38188303e-01 -3.45067851e-01 -2.70349054e-02 1.26284530e+02] [ 2.79119305e-02 -2.42748143e-03 9.99607439e-01 7.01385959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.120714057 meters Centerline goodness : 0.989100 Centerline is valid? [True, True] Translation: X:153.19, Y:126.29, Z:7.01 [[-3.43285659e-01 -9.39201882e-01 7.40144470e-03 1.53192397e+02] [ 9.38816005e-01 -3.43357554e-01 -2.70203527e-02 1.26291809e+02] [ 2.79189081e-02 -2.32710484e-03 9.99607483e-01 7.01466785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.150714057 meters Centerline goodness : 0.989721 Centerline is valid? [True, True] Translation: X:153.19, Y:126.29, Z:7.01 [[-3.39635747e-01 -9.40527115e-01 7.50371685e-03 1.53191470e+02] [ 9.40142176e-01 -3.39712064e-01 -2.69889443e-02 1.26286433e+02] [ 2.79329371e-02 -2.11184957e-03 9.99607569e-01 7.01482932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.180714057 meters Centerline goodness : 0.986974 Centerline is valid? [True, True] Translation: X:153.19, Y:126.28, Z:7.02 [[-3.39625050e-01 -9.40531407e-01 7.44973564e-03 1.53191306e+02] [ 9.40146121e-01 -3.39699828e-01 -2.70055082e-02 1.26284561e+02] [ 2.79302025e-02 -2.16790700e-03 9.99607525e-01 7.01713991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.210714057 meters Centerline goodness : 0.989194 Centerline is valid? [True, True] Translation: X:153.19, Y:126.30, Z:7.02 [[-3.37437524e-01 -9.41315756e-01 7.78235077e-03 1.53186553e+02] [ 9.40932858e-01 -3.37522690e-01 -2.69033527e-02 1.26295088e+02] [ 2.79512697e-02 -1.75553116e-03 9.99607745e-01 7.01568959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.240714057 meters Centerline goodness : 0.989810 Centerline is valid? [True, True] Translation: X:153.18, Y:126.30, Z:7.02 [[-3.35033052e-01 -9.42176968e-01 7.44414817e-03 1.53184742e+02] [ 9.41792022e-01 -3.35109549e-01 -2.70069822e-02 1.26295224e+02] [ 2.79399617e-02 -2.03739229e-03 9.99607527e-01 7.01654026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.270714057 meters Centerline goodness : 0.989951 Centerline is valid? [True, True] Translation: X:153.18, Y:126.29, Z:7.02 [[-3.32109136e-01 -9.43211404e-01 7.46784502e-03 1.53182829e+02] [ 9.42826854e-01 -3.32187503e-01 -2.69997253e-02 1.26293790e+02] [ 2.79471736e-02 -1.92597059e-03 9.99607546e-01 7.01580683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.300714057 meters Centerline goodness : 0.989267 Centerline is valid? [True, True] Translation: X:153.18, Y:126.30, Z:7.02 [[-3.31015185e-01 -9.43595118e-01 7.56307231e-03 1.53179139e+02] [ 9.43211299e-01 -3.31096714e-01 -2.69705663e-02 1.26301313e+02] [ 2.79534031e-02 -1.79409173e-03 9.99607617e-01 7.01608097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.330714057 meters Centerline goodness : 0.989694 Centerline is valid? [True, True] Translation: X:153.18, Y:126.30, Z:7.01 [[-3.27650191e-01 -9.44769048e-01 7.53646696e-03 1.53180218e+02] [ 9.44385340e-01 -3.27732329e-01 -2.69787038e-02 1.26295725e+02] [ 2.79585882e-02 -1.72224854e-03 9.99607599e-01 7.01366908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.360714057 meters Centerline goodness : 0.990138 Centerline is valid? [True, True] Translation: X:153.18, Y:126.29, Z:7.01 [[-3.25943895e-01 -9.45358954e-01 7.55153515e-03 1.53179881e+02] [ 9.44975498e-01 -3.26027155e-01 -2.69741000e-02 1.26292741e+02] [ 2.79622125e-02 -1.65602751e-03 9.99607609e-01 7.01424008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.390714057 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:153.18, Y:126.30, Z:7.01 [[-3.22419441e-01 -9.46568288e-01 7.36069679e-03 1.53176661e+02] [ 9.46183833e-01 -3.22498697e-01 -2.70322895e-02 1.26302432e+02] [ 2.79617231e-02 -1.75116336e-03 9.99607461e-01 7.01270605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.420714057 meters Centerline goodness : 0.990400 Centerline is valid? [True, True] Translation: X:153.16, Y:126.32, Z:7.02 [[-3.36957458e-01 -9.41491719e-01 7.28112473e-03 1.53160339e+02] [ 9.41105587e-01 -3.37028507e-01 -2.70565832e-02 1.26317571e+02] [ 2.79274957e-02 -2.26461034e-03 9.99607386e-01 7.01665460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.450714057 meters Centerline goodness : 0.991859 Centerline is valid? [True, True] Translation: X:153.18, Y:126.29, Z:7.01 [[-3.01875591e-01 -9.53312030e-01 8.20370589e-03 1.53179797e+02] [ 9.52936018e-01 -3.01986926e-01 -2.67739118e-02 1.26293431e+02] [ 2.80013042e-02 -2.64783643e-04 9.99607852e-01 7.00920064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.480714057 meters Centerline goodness : 0.990151 Centerline is valid? [True, True] Translation: X:153.16, Y:126.32, Z:7.02 [[-3.29894723e-01 -9.43994205e-01 6.66430468e-03 1.53156508e+02] [ 9.43604916e-01 -3.29950996e-01 -2.72415484e-02 1.26322004e+02] [ 2.79147578e-02 -2.69837241e-03 9.99606665e-01 7.01819746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51071405700003 meters Centerline goodness : 0.992335 Centerline is valid? [True, True] Translation: X:153.18, Y:126.29, Z:7.01 [[-2.99983507e-01 -9.53909221e-01 8.19100829e-03 1.53177634e+02] [ 9.53533417e-01 -3.00095232e-01 -2.67745283e-02 1.26293211e+02] [ 2.79985520e-02 -2.21516790e-04 9.99607939e-01 7.01120599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.540714057 meters Centerline goodness : 0.990576 Centerline is valid? [True, True] Translation: X:153.17, Y:126.30, Z:7.01 [[-2.97609646e-01 -9.54663411e-01 6.80219780e-03 1.53174025e+02] [ 9.54277348e-01 -2.97683060e-01 -2.71944579e-02 1.26300258e+02] [ 2.79864530e-02 -1.60214969e-03 9.99607019e-01 7.01149845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57071405700003 meters Centerline goodness : 0.988022 Centerline is valid? [True, True] Translation: X:153.18, Y:126.30, Z:7.02 [[-2.94848997e-01 -9.55517606e-01 7.08329522e-03 1.53175549e+02] [ 9.55133752e-01 -2.94931512e-01 -2.71093963e-02 1.26295087e+02] [ 2.79925924e-02 -1.22768396e-03 9.99607377e-01 7.02297033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.600714057 meters Centerline goodness : 0.989979 Centerline is valid? [True, True] Translation: X:153.17, Y:126.30, Z:7.01 [[-2.97091471e-01 -9.54821606e-01 7.23595890e-03 1.53171751e+02] [ 9.54438666e-01 -2.97177414e-01 -2.70632124e-02 1.26299029e+02] [ 2.79909035e-02 -1.13397061e-03 9.99607535e-01 7.01132553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63071405700003 meters Centerline goodness : 0.991083 Centerline is valid? [True, True] Translation: X:153.17, Y:126.30, Z:7.01 [[-3.01533479e-01 -9.53428694e-01 7.16141933e-03 1.53169619e+02] [ 9.53044825e-01 -3.01615523e-01 -2.70857368e-02 1.26299112e+02] [ 2.79843139e-02 -1.34210283e-03 9.99607461e-01 7.01283996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.660714057 meters Centerline goodness : 0.989020 Centerline is valid? [True, True] Translation: X:153.17, Y:126.29, Z:7.02 [[-3.05042711e-01 -9.52310394e-01 7.33884182e-03 1.53171595e+02] [ 9.51927485e-01 -3.05128378e-01 -2.70321223e-02 1.26290860e+02] [ 2.79822599e-02 -1.25990663e-03 9.99607626e-01 7.01697814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.690714057 meters Centerline goodness : 0.990302 Centerline is valid? [True, True] Translation: X:153.16, Y:126.32, Z:7.02 [[-3.09807765e-01 -9.50768283e-01 7.66945494e-03 1.53161760e+02] [ 9.50387344e-01 -3.09900886e-01 -2.69320854e-02 1.26317661e+02] [ 2.79829435e-02 -1.05481627e-03 9.99607844e-01 7.01710467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.720714057 meters Centerline goodness : 0.989667 Centerline is valid? [True, True] Translation: X:153.17, Y:126.31, Z:7.01 [[-3.13252032e-01 -9.49640149e-01 7.53344058e-03 1.53165907e+02] [ 9.49257891e-01 -3.13339916e-01 -2.69731892e-02 1.26309997e+02] [ 2.79753511e-02 -1.29822841e-03 9.99607770e-01 7.01492496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.750714057 meters Centerline goodness : 0.990042 Centerline is valid? [True, True] Translation: X:153.16, Y:126.32, Z:7.01 [[-3.15519645e-01 -9.48888495e-01 7.61432248e-03 1.53163731e+02] [ 9.48506605e-01 -3.15608910e-01 -2.69487531e-02 1.26320642e+02] [ 2.79745098e-02 -1.28062583e-03 9.99607816e-01 7.01465417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.780714057 meters Centerline goodness : 0.988447 Centerline is valid? [True, True] Translation: X:153.17, Y:126.32, Z:7.02 [[-3.16873706e-01 -9.48436785e-01 7.66283056e-03 1.53165258e+02] [ 9.48055116e-01 -3.16963802e-01 -2.69341061e-02 1.26320950e+02] [ 2.79741369e-02 -1.26992430e-03 9.99607841e-01 7.01719173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.810714057 meters Centerline goodness : 0.988678 Centerline is valid? [True, True] Translation: X:153.17, Y:126.32, Z:7.02 [[-3.16501246e-01 -9.48559473e-01 7.86689894e-03 1.53168831e+02] [ 9.48179328e-01 -3.16597272e-01 -2.68724745e-02 1.26315744e+02] [ 2.79807789e-02 -1.04594070e-03 9.99607914e-01 7.01539963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.840714057 meters Centerline goodness : 0.990642 Centerline is valid? [True, True] Translation: X:153.17, Y:126.32, Z:7.02 [[-3.15705088e-01 -9.48825096e-01 7.82525750e-03 1.53166649e+02] [ 9.48444724e-01 -3.15800255e-01 -2.68850364e-02 1.26322488e+02] [ 2.79804155e-02 -1.06591859e-03 9.99607903e-01 7.01521765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.870714057 meters Centerline goodness : 0.990104 Centerline is valid? [True, True] Translation: X:153.16, Y:126.34, Z:7.02 [[-3.29164692e-01 -9.44243250e-01 7.43570832e-03 1.53156348e+02] [ 9.43858933e-01 -3.29243356e-01 -2.70023533e-02 1.26338665e+02] [ 2.79449474e-02 -1.86996159e-03 9.99607715e-01 7.01650020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.900714057 meters Centerline goodness : 0.991630 Centerline is valid? [True, True] Translation: X:153.17, Y:126.32, Z:7.02 [[-3.18206194e-01 -9.47986989e-01 8.09237291e-03 1.53167350e+02] [ 9.47608365e-01 -3.18307913e-01 -2.68041079e-02 1.26322148e+02] [ 2.79858119e-02 -8.60832898e-04 9.99607950e-01 7.01600336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.930714057 meters Centerline goodness : 0.990750 Centerline is valid? [True, True] Translation: X:153.17, Y:126.33, Z:7.01 [[-3.17723566e-01 -9.48153819e-01 7.48803385e-03 1.53168066e+02] [ 9.47770867e-01 -3.17808360e-01 -2.69857276e-02 1.26326047e+02] [ 2.79663804e-02 -1.47706128e-03 9.99607773e-01 7.01378508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.960714057 meters Centerline goodness : 0.990423 Centerline is valid? [True, True] Translation: X:153.17, Y:126.32, Z:7.01 [[-3.17326206e-01 -9.48286824e-01 7.49520573e-03 1.53169148e+02] [ 9.47903958e-01 -3.17411364e-01 -2.69835751e-02 1.26324077e+02] [ 2.79672322e-02 -1.45786033e-03 9.99607777e-01 7.01272005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.990714057 meters Centerline goodness : 0.991141 Centerline is valid? [True, True] Translation: X:153.17, Y:126.33, Z:7.01 [[-3.17011434e-01 -9.48392705e-01 7.41805243e-03 1.53169764e+02] [ 9.48009335e-01 -3.17094527e-01 -2.70066966e-02 1.26328825e+02] [ 2.79651778e-02 -1.52904865e-03 9.99607728e-01 7.01197277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.020714057 meters Centerline goodness : 0.990796 Centerline is valid? [True, True] Translation: X:153.17, Y:126.33, Z:7.01 [[-3.16689724e-01 -9.48500474e-01 7.38037594e-03 1.53169445e+02] [ 9.48116874e-01 -3.16771876e-01 -2.70179795e-02 1.26332585e+02] [ 2.79644619e-02 -1.55885751e-03 9.99607702e-01 7.01088905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.050714057 meters Centerline goodness : 0.990717 Centerline is valid? [True, True] Translation: X:153.17, Y:126.34, Z:7.01 [[-3.17458740e-01 -9.48243190e-01 7.40276078e-03 1.53168531e+02] [ 9.47859676e-01 -3.17541217e-01 -2.70112795e-02 1.26335075e+02] [ 2.79639435e-02 -1.55818831e-03 9.99607718e-01 7.01088818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.080714057 meters Centerline goodness : 0.990319 Centerline is valid? [True, True] Translation: X:153.17, Y:126.33, Z:7.01 [[-3.18419337e-01 -9.47921890e-01 7.29492109e-03 1.53171741e+02] [ 9.47537569e-01 -3.18498358e-01 -2.70435109e-02 1.26327118e+02] [ 2.79585564e-02 -1.69896504e-03 9.99607639e-01 7.00981116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.110714057 meters Centerline goodness : 0.991555 Centerline is valid? [True, True] Translation: X:153.17, Y:126.34, Z:7.01 [[-3.20774906e-01 -9.47127161e-01 7.32124204e-03 1.53168191e+02] [ 9.46742818e-01 -3.20853720e-01 -2.70356482e-02 1.26337837e+02] [ 2.79552445e-02 -1.74102418e-03 9.99607660e-01 7.01208437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.140714057 meters Centerline goodness : 0.990499 Centerline is valid? [True, True] Translation: X:153.17, Y:126.34, Z:7.01 [[-3.22323774e-01 -9.46600691e-01 7.38356911e-03 1.53167084e+02] [ 9.46216631e-01 -3.22403734e-01 -2.70170392e-02 1.26343457e+02] [ 2.79548383e-02 -1.72177815e-03 9.99607704e-01 7.01216793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.170714057 meters Centerline goodness : 0.991665 Centerline is valid? [True, True] Translation: X:153.18, Y:126.31, Z:7.01 [[-3.17349428e-01 -9.48280638e-01 7.29188520e-03 1.53180513e+02] [ 9.47896389e-01 -3.17428795e-01 -2.70443264e-02 1.26305305e+02] [ 2.79602655e-02 -1.67054987e-03 9.99607639e-01 7.00980098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.200714057 meters Centerline goodness : 0.990947 Centerline is valid? [True, True] Translation: X:153.17, Y:126.35, Z:7.01 [[-3.26265626e-01 -9.45251885e-01 7.04383934e-03 1.53166105e+02] [ 9.44865358e-01 -3.26334289e-01 -2.71180260e-02 1.26347758e+02] [ 2.79320114e-02 -2.19219993e-03 9.99607421e-01 7.01114560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.230714057 meters Centerline goodness : 0.991093 Centerline is valid? [True, True] Translation: X:153.15, Y:126.37, Z:7.01 [[-3.40038268e-01 -9.40379926e-01 7.71821059e-03 1.53151363e+02] [ 9.39996539e-01 -3.40120557e-01 -2.69167719e-02 1.26373291e+02] [ 2.79371141e-02 -1.89764126e-03 9.99607881e-01 7.01324584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26071405700003 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:153.17, Y:126.34, Z:7.01 [[-3.29097026e-01 -9.44262104e-01 8.01413992e-03 1.53165920e+02] [ 9.43881751e-01 -3.29192162e-01 -2.68283737e-02 1.26339489e+02] [ 2.79712086e-02 -1.26473757e-03 9.99607929e-01 7.01276618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.290714057 meters Centerline goodness : 0.992039 Centerline is valid? [True, True] Translation: X:153.16, Y:126.35, Z:7.01 [[-3.29434975e-01 -9.44148816e-01 7.45729385e-03 1.53163717e+02] [ 9.43764673e-01 -3.29514148e-01 -2.69938648e-02 1.26345311e+02] [ 2.79435093e-02 -1.85479267e-03 9.99607783e-01 7.01461905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32071405700003 meters Centerline goodness : 0.989986 Centerline is valid? [True, True] Translation: X:153.16, Y:126.35, Z:7.02 [[-3.30314423e-01 -9.43841477e-01 7.45977837e-03 1.53163718e+02] [ 9.43457277e-01 -3.30393309e-01 -2.69931271e-02 1.26346219e+02] [ 2.79418938e-02 -1.87823701e-03 9.99607784e-01 7.01717421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.350714057 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:153.16, Y:126.35, Z:7.02 [[-3.29895450e-01 -9.43985427e-01 7.77856404e-03 1.53159956e+02] [ 9.43603367e-01 -3.29983577e-01 -2.68983981e-02 1.26354990e+02] [ 2.79584942e-02 -1.53377991e-03 9.99607908e-01 7.01544004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38071405700003 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:153.16, Y:126.36, Z:7.02 [[-3.27411574e-01 -9.44852300e-01 7.46938581e-03 1.53159746e+02] [ 9.44468414e-01 -3.27491914e-01 -2.69900118e-02 1.26358033e+02] [ 2.79477382e-02 -1.78224328e-03 9.99607797e-01 7.01605816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.410714057 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:153.16, Y:126.36, Z:7.02 [[-3.27095685e-01 -9.44963000e-01 7.30356702e-03 1.53158978e+02] [ 9.44578078e-01 -3.27171429e-01 -2.70390788e-02 1.26360586e+02] [ 2.79404474e-02 -1.94557668e-03 9.99607696e-01 7.01605839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.440714057 meters Centerline goodness : 0.990981 Centerline is valid? [True, True] Translation: X:153.16, Y:126.36, Z:7.01 [[-3.26985576e-01 -9.45001150e-01 7.29790175e-03 1.53158322e+02] [ 9.44616201e-01 -3.27061203e-01 -2.70407530e-02 1.26360560e+02] [ 2.79404032e-02 -1.94821997e-03 9.99607692e-01 7.01487994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.470714057 meters Centerline goodness : 0.991133 Centerline is valid? [True, True] Translation: X:153.15, Y:126.38, Z:7.02 [[-3.28043654e-01 -9.44633680e-01 7.38729984e-03 1.53150470e+02] [ 9.44249212e-01 -3.28121399e-01 -2.70143226e-02 1.26380726e+02] [ 2.79425701e-02 -1.88642503e-03 9.99607750e-01 7.01576918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.500714057 meters Centerline goodness : 0.990978 Centerline is valid? [True, True] Translation: X:153.15, Y:126.38, Z:7.02 [[-3.27560088e-01 -9.44801211e-01 7.42024537e-03 1.53151067e+02] [ 9.44416994e-01 -3.27638969e-01 -2.70045848e-02 1.26376351e+02] [ 2.79451259e-02 -1.83781834e-03 9.99607769e-01 7.01554943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.530714057 meters Centerline goodness : 0.990018 Centerline is valid? [True, True] Translation: X:153.15, Y:126.37, Z:7.01 [[-3.27031682e-01 -9.44984442e-01 7.39486620e-03 1.53154387e+02] [ 9.44600106e-01 -3.27110055e-01 -2.70120745e-02 1.26366747e+02] [ 2.79449252e-02 -1.84861277e-03 9.99607755e-01 7.01440136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.560714057 meters Centerline goodness : 0.990896 Centerline is valid? [True, True] Translation: X:153.15, Y:126.37, Z:7.02 [[-3.24808714e-01 -9.45748781e-01 7.65129435e-03 1.53152537e+02] [ 9.45366325e-01 -3.24895283e-01 -2.69363594e-02 1.26372548e+02] [ 2.79608985e-02 -1.51588823e-03 9.99607868e-01 7.01729240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.590714057 meters Centerline goodness : 0.990200 Centerline is valid? [True, True] Translation: X:153.15, Y:126.38, Z:7.02 [[-3.25428561e-01 -9.45538765e-01 7.25914969e-03 1.53149473e+02] [ 9.45153707e-01 -3.25503718e-01 -2.70518163e-02 1.26379232e+02] [ 2.79414212e-02 -1.94242141e-03 9.99607675e-01 7.01782496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.620714057 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:153.15, Y:126.37, Z:7.02 [[-3.25590771e-01 -9.45482388e-01 7.32835157e-03 1.53150966e+02] [ 9.45097752e-01 -3.25667835e-01 -2.70314625e-02 1.26372121e+02] [ 2.79443801e-02 -1.87518610e-03 9.99607721e-01 7.01755429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.650714057 meters Centerline goodness : 0.990467 Centerline is valid? [True, True] Translation: X:153.15, Y:126.39, Z:7.02 [[-3.24756278e-01 -9.45769260e-01 7.33944857e-03 1.53146714e+02] [ 9.45384763e-01 -3.24833998e-01 -2.70281995e-02 1.26386908e+02] [ 2.79465426e-02 -1.83897462e-03 9.99607728e-01 7.01771849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.680714057 meters Centerline goodness : 0.990792 Centerline is valid? [True, True] Translation: X:153.15, Y:126.38, Z:7.02 [[-3.25014955e-01 -9.45680635e-01 7.30857276e-03 1.53149203e+02] [ 9.45295922e-01 -3.25091690e-01 -2.70372721e-02 1.26380186e+02] [ 2.79445809e-02 -1.87875376e-03 9.99607708e-01 7.01652976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.710714057 meters Centerline goodness : 0.990194 Centerline is valid? [True, True] Translation: X:153.15, Y:126.38, Z:7.02 [[-3.23775871e-01 -9.46103821e-01 7.53294224e-03 1.53150451e+02] [ 9.45720664e-01 -3.23859495e-01 -2.69713557e-02 1.26376383e+02] [ 2.79573175e-02 -1.60861504e-03 9.99607823e-01 7.01915559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.740714057 meters Centerline goodness : 0.990129 Centerline is valid? [True, True] Translation: X:153.15, Y:126.37, Z:7.02 [[-3.23309730e-01 -9.46263782e-01 7.46145516e-03 1.53153035e+02] [ 9.45880197e-01 -3.23391509e-01 -2.69923154e-02 1.26366657e+02] [ 2.79548217e-02 -1.66923553e-03 9.99607794e-01 7.01733018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.770714057 meters Centerline goodness : 0.991682 Centerline is valid? [True, True] Translation: X:153.15, Y:126.38, Z:7.02 [[-3.22518642e-01 -9.46533787e-01 7.45086937e-03 1.53148328e+02] [ 9.46150201e-01 -3.22600441e-01 -2.69954151e-02 1.26384577e+02] [ 2.79557263e-02 -1.65688308e-03 9.99607789e-01 7.01852520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.800714057 meters Centerline goodness : 0.991094 Centerline is valid? [True, True] Translation: X:153.15, Y:126.39, Z:7.02 [[-3.23156547e-01 -9.46318144e-01 7.19831609e-03 1.53145942e+02] [ 9.45932896e-01 -3.23230896e-01 -2.70692515e-02 1.26391956e+02] [ 2.79428420e-02 -1.93848187e-03 9.99607643e-01 7.01781937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.830714057 meters Centerline goodness : 0.991555 Centerline is valid? [True, True] Translation: X:153.14, Y:126.41, Z:7.02 [[-3.24450673e-01 -9.45874578e-01 7.28313373e-03 1.53143387e+02] [ 9.45489757e-01 -3.24526912e-01 -2.70444431e-02 1.26406898e+02] [ 2.79442241e-02 -1.88845942e-03 9.99607700e-01 7.01691945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.860714057 meters Centerline goodness : 0.990621 Centerline is valid? [True, True] Translation: X:153.14, Y:126.42, Z:7.02 [[-3.26125693e-01 -9.45298193e-01 7.30473498e-03 1.53139919e+02] [ 9.44913373e-01 -3.26201867e-01 -2.70381223e-02 1.26421323e+02] [ 2.79419064e-02 -1.91548463e-03 9.99607713e-01 7.01588634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.890714057 meters Centerline goodness : 0.990892 Centerline is valid? [True, True] Translation: X:153.15, Y:126.41, Z:7.02 [[-3.25628259e-01 -9.45469407e-01 7.33734338e-03 1.53146754e+02] [ 9.45084833e-01 -3.25705564e-01 -2.70285899e-02 1.26405658e+02] [ 2.79445184e-02 -1.86686072e-03 9.99607732e-01 7.01506040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.920714057 meters Centerline goodness : 0.990544 Centerline is valid? [True, True] Translation: X:153.14, Y:126.42, Z:7.01 [[-3.37699611e-01 -9.41226250e-01 7.21940615e-03 1.53137270e+02] [ 9.40840026e-01 -3.37768618e-01 -2.70630217e-02 1.26419804e+02] [ 2.79109152e-02 -2.34686561e-03 9.99607660e-01 7.01360237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.950714057 meters Centerline goodness : 0.992397 Centerline is valid? [True, True] Translation: X:153.16, Y:126.38, Z:7.01 [[-3.13833125e-01 -9.49445598e-01 7.86288665e-03 1.53158480e+02] [ 9.49065665e-01 -3.13930106e-01 -2.68747618e-02 1.26381644e+02] [ 2.79845212e-02 -9.71794753e-04 9.99607884e-01 7.00844440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.980714057 meters Centerline goodness : 0.991676 Centerline is valid? [True, True] Translation: X:153.15, Y:126.40, Z:7.01 [[-3.18018279e-01 -9.48061225e-01 6.65491604e-03 1.53154839e+02] [ 9.47673174e-01 -3.18079213e-01 -2.72244221e-02 1.26396161e+02] [ 2.79272094e-02 -2.35117845e-03 9.99607194e-01 7.01014804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01071405700003 meters Centerline goodness : 0.991758 Centerline is valid? [True, True] Translation: X:153.15, Y:126.41, Z:7.01 [[-3.22205431e-01 -9.46643615e-01 7.03756270e-03 1.53150918e+02] [ 9.46257529e-01 -3.22275587e-01 -2.71133762e-02 1.26406144e+02] [ 2.79347391e-02 -2.07673038e-03 9.99607592e-01 7.01417156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.040714057 meters Centerline goodness : 0.991040 Centerline is valid? [True, True] Translation: X:153.15, Y:126.42, Z:7.02 [[-3.22642503e-01 -9.46493567e-01 7.19322704e-03 1.53148110e+02] [ 9.46108400e-01 -3.22716921e-01 -2.70681532e-02 1.26423843e+02] [ 2.79412089e-02 -1.92776416e-03 9.99607709e-01 7.01601364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07071405700003 meters Centerline goodness : 0.989892 Centerline is valid? [True, True] Translation: X:153.15, Y:126.42, Z:7.02 [[-3.21822506e-01 -9.46772708e-01 7.19121124e-03 1.53151406e+02] [ 9.46387593e-01 -3.21897200e-01 -2.70687384e-02 1.26419158e+02] [ 2.79427735e-02 -1.90565612e-03 9.99607708e-01 7.01823650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.100714057 meters Centerline goodness : 0.991421 Centerline is valid? [True, True] Translation: X:153.15, Y:126.44, Z:7.02 [[-3.21625926e-01 -9.46838255e-01 7.35410435e-03 1.53147540e+02] [ 9.46454181e-01 -3.21705338e-01 -2.70214410e-02 1.26438152e+02] [ 2.79507887e-02 -1.73047320e-03 9.99607803e-01 7.01660518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13071405700003 meters Centerline goodness : 0.990247 Centerline is valid? [True, True] Translation: X:153.15, Y:126.43, Z:7.02 [[-3.21307579e-01 -9.46948510e-01 7.06814874e-03 1.53153236e+02] [ 9.46562682e-01 -3.21378974e-01 -2.71043140e-02 1.26426122e+02] [ 2.79379441e-02 -2.01837567e-03 9.99607622e-01 7.01568215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.160714057 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:153.16, Y:126.43, Z:7.01 [[-3.17047367e-01 -9.48381063e-01 7.37062398e-03 1.53156686e+02] [ 9.47997485e-01 -3.17129104e-01 -2.70166621e-02 1.26425727e+02] [ 2.79595301e-02 -1.57822860e-03 9.99607810e-01 7.01436559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.190714057 meters Centerline goodness : 0.992090 Centerline is valid? [True, True] Translation: X:153.15, Y:126.44, Z:7.02 [[-3.19294842e-01 -9.47630488e-01 6.87478769e-03 1.53153356e+02] [ 9.47243658e-01 -3.19361541e-01 -2.71598829e-02 1.26440255e+02] [ 2.79330759e-02 -2.15991148e-03 9.99607462e-01 7.01534563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.220714057 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:153.16, Y:126.43, Z:7.01 [[-3.18104606e-01 -9.48029852e-01 6.98993946e-03 1.53157844e+02] [ 9.47643798e-01 -3.18175076e-01 -2.71266276e-02 1.26430797e+02] [ 2.79408773e-02 -2.00513240e-03 9.99607566e-01 7.01416098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.250714057 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:153.16, Y:126.44, Z:7.01 [[-3.18074101e-01 -9.48039904e-01 7.01470134e-03 1.53158242e+02] [ 9.47654002e-01 -3.18145290e-01 -2.71194835e-02 1.26438607e+02] [ 2.79420467e-02 -1.97849553e-03 9.99607587e-01 7.01340936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.280714057 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:153.16, Y:126.43, Z:7.01 [[-3.18681887e-01 -9.47836439e-01 6.92383962e-03 1.53160721e+02] [ 9.47449946e-01 -3.18750236e-01 -2.71456611e-02 1.26432554e+02] [ 2.79366223e-02 -2.09083903e-03 9.99607510e-01 7.01375980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.310714057 meters Centerline goodness : 0.991794 Centerline is valid? [True, True] Translation: X:153.16, Y:126.44, Z:7.01 [[-3.18465828e-01 -9.47908736e-01 6.96732936e-03 1.53160320e+02] [ 9.47522519e-01 -3.18535506e-01 -2.71331427e-02 1.26439393e+02] [ 2.79390848e-02 -2.03927729e-03 9.99607547e-01 7.01401241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.340714057 meters Centerline goodness : 0.991156 Centerline is valid? [True, True] Translation: X:153.16, Y:126.43, Z:7.01 [[-3.16677312e-01 -9.48507841e-01 6.95385104e-03 1.53163812e+02] [ 9.48121674e-01 -3.16747334e-01 -2.71370165e-02 1.26432219e+02] [ 2.79422867e-02 -2.00058054e-03 9.99607536e-01 7.01189281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.370714057 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:153.16, Y:126.44, Z:7.02 [[-3.15848588e-01 -9.48783871e-01 6.98830990e-03 1.53162570e+02] [ 9.48397974e-01 -3.15919930e-01 -2.71271223e-02 1.26436271e+02] [ 2.79455225e-02 -1.94036433e-03 9.99607564e-01 7.01569713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.400714057 meters Centerline goodness : 0.990584 Centerline is valid? [True, True] Translation: X:153.16, Y:126.44, Z:7.02 [[-3.13847193e-01 -9.49447587e-01 7.01568350e-03 1.53162497e+02] [ 9.49062010e-01 -3.13920128e-01 -2.71192664e-02 1.26438484e+02] [ 2.79506863e-02 -1.85298693e-03 9.99607586e-01 7.01512524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.430714057 meters Centerline goodness : 0.990615 Centerline is valid? [True, True] Translation: X:153.15, Y:126.47, Z:7.02 [[-3.11773092e-01 -9.50130756e-01 7.00615809e-03 1.53153617e+02] [ 9.49745280e-01 -3.11846598e-01 -2.71220005e-02 1.26469312e+02] [ 2.79542934e-02 -1.80184438e-03 9.99607578e-01 7.01687612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.460714057 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:153.16, Y:126.45, Z:7.02 [[-3.08245055e-01 -9.51280915e-01 7.04316453e-03 1.53160043e+02] [ 9.50895950e-01 -3.08321043e-01 -2.71113833e-02 1.26449714e+02] [ 2.79620974e-02 -1.65963322e-03 9.99607606e-01 7.01540023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.490714057 meters Centerline goodness : 0.989674 Centerline is valid? [True, True] Translation: X:153.16, Y:126.46, Z:7.01 [[-3.05782974e-01 -9.52076282e-01 6.89384881e-03 1.53160647e+02] [ 9.51690568e-01 -3.05855712e-01 -2.71541195e-02 1.26455432e+02] [ 2.79613162e-02 -1.74245653e-03 9.99607487e-01 7.01487952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.520714057 meters Centerline goodness : 0.990715 Centerline is valid? [True, True] Translation: X:153.16, Y:126.47, Z:7.01 [[-3.03541851e-01 -9.52790316e-01 7.27720489e-03 1.53158051e+02] [ 9.52407282e-01 -3.03626381e-01 -2.70442146e-02 1.26465169e+02] [ 2.79770171e-02 -1.27818802e-03 9.99607749e-01 7.01479951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.550714057 meters Centerline goodness : 0.990911 Centerline is valid? [True, True] Translation: X:153.16, Y:126.47, Z:7.02 [[-3.04093286e-01 -9.52617454e-01 6.87453996e-03 1.53157909e+02] [ 9.52231757e-01 -3.04166158e-01 -2.71593298e-02 1.26467926e+02] [ 2.79634540e-02 -1.71281457e-03 9.99607479e-01 7.01533501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.580714057 meters Centerline goodness : 0.990155 Centerline is valid? [True, True] Translation: X:153.16, Y:126.47, Z:7.01 [[-3.03055835e-01 -9.52948122e-01 6.85835849e-03 1.53159572e+02] [ 9.52562402e-01 -3.03128668e-01 -2.71639498e-02 1.26465402e+02] [ 2.79648000e-02 -1.69917906e-03 9.99607464e-01 7.01359421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.610714057 meters Centerline goodness : 0.989803 Centerline is valid? [True, True] Translation: X:153.16, Y:126.47, Z:7.01 [[-3.02296062e-01 -9.53189136e-01 6.89655062e-03 1.53160418e+02] [ 9.52803716e-01 -3.02370288e-01 -2.71530563e-02 1.26467078e+02] [ 2.79673103e-02 -1.63720295e-03 9.99607498e-01 7.01282350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.640714057 meters Centerline goodness : 0.989407 Centerline is valid? [True, True] Translation: X:153.16, Y:126.47, Z:7.01 [[-3.05184836e-01 -9.52268355e-01 6.86994274e-03 1.53160002e+02] [ 9.51882546e-01 -3.05257136e-01 -2.71606388e-02 1.26471806e+02] [ 2.79613159e-02 -1.74963651e-03 9.99607475e-01 7.01462235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.670714057 meters Centerline goodness : 0.990634 Centerline is valid? [True, True] Translation: X:153.16, Y:126.48, Z:7.02 [[-3.06320391e-01 -9.51903038e-01 6.95871344e-03 1.53159130e+02] [ 9.51517696e-01 -3.06394757e-01 -2.71353364e-02 1.26476734e+02] [ 2.79623224e-02 -1.69076786e-03 9.99607548e-01 7.01618766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.700714057 meters Centerline goodness : 0.988807 Centerline is valid? [True, True] Translation: X:153.16, Y:126.48, Z:7.02 [[-3.10125099e-01 -9.50670089e-01 6.98603707e-03 1.53159350e+02] [ 9.50284622e-01 -3.10198701e-01 -2.71275480e-02 1.26479928e+02] [ 2.79564081e-02 -1.77420993e-03 9.99607569e-01 7.01944360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.730714057 meters Centerline goodness : 0.990183 Centerline is valid? [True, True] Translation: X:153.16, Y:126.48, Z:7.02 [[-3.09870410e-01 -9.50750310e-01 7.36047432e-03 1.53159715e+02] [ 9.50367263e-01 -3.09954753e-01 -2.70206694e-02 1.26478865e+02] [ 2.79713238e-02 -1.37775207e-03 9.99607777e-01 7.02051250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76071405700003 meters Centerline goodness : 0.990507 Centerline is valid? [True, True] Translation: X:153.16, Y:126.48, Z:7.02 [[-3.09716289e-01 -9.50803489e-01 6.96744717e-03 1.53161100e+02] [ 9.50417949e-01 -3.09789528e-01 -2.71324571e-02 1.26478230e+02] [ 2.79560771e-02 -1.78137707e-03 9.99607565e-01 7.01893941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.790714057 meters Centerline goodness : 0.990558 Centerline is valid? [True, True] Translation: X:153.16, Y:126.48, Z:7.02 [[-3.11802560e-01 -9.50120861e-01 7.03656081e-03 1.53160831e+02] [ 9.49735585e-01 -3.11876920e-01 -2.71128240e-02 1.26479224e+02] [ 2.79550006e-02 -1.77097572e-03 9.99607614e-01 7.02033809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82071405700003 meters Centerline goodness : 0.990378 Centerline is valid? [True, True] Translation: X:153.16, Y:126.47, Z:7.02 [[-3.11962396e-01 -9.50069143e-01 6.93454516e-03 1.53163174e+02] [ 9.49683232e-01 -3.12033786e-01 -2.71417568e-02 1.26471556e+02] [ 2.79503580e-02 -1.88158623e-03 9.99607542e-01 7.01905103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.850714057 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:153.16, Y:126.47, Z:7.02 [[-3.12164964e-01 -9.50002301e-01 6.97597208e-03 1.53163988e+02] [ 9.49616625e-01 -3.12237452e-01 -2.71300240e-02 1.26471605e+02] [ 2.79517450e-02 -1.84454392e-03 9.99607572e-01 7.02050378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88071405700003 meters Centerline goodness : 0.990873 Centerline is valid? [True, True] Translation: X:153.16, Y:126.48, Z:7.02 [[-3.12589734e-01 -9.49863546e-01 6.84849345e-03 1.53162034e+02] [ 9.49477077e-01 -3.12658418e-01 -2.71660592e-02 1.26478816e+02] [ 2.79452885e-02 -1.98934368e-03 9.99607475e-01 7.02044809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.910714057 meters Centerline goodness : 0.991407 Centerline is valid? [True, True] Translation: X:153.16, Y:126.48, Z:7.02 [[-3.14257231e-01 -9.49313419e-01 6.81361899e-03 1.53164411e+02] [ 9.48926626e-01 -3.14324241e-01 -2.71759081e-02 1.26475774e+02] [ 2.79401399e-02 -2.07460116e-03 9.99607445e-01 7.01771103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.940714057 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:153.16, Y:126.48, Z:7.02 [[-3.14440366e-01 -9.49252185e-01 6.89537541e-03 1.53163515e+02] [ 9.48865857e-01 -3.14509633e-01 -2.71528321e-02 1.26481537e+02] [ 2.79435472e-02 -1.99516019e-03 9.99607512e-01 7.01689417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.970714057 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:153.16, Y:126.49, Z:7.02 [[-3.17729578e-01 -9.48157636e-01 6.70909006e-03 1.53163306e+02] [ 9.47770012e-01 -3.17792187e-01 -2.72053446e-02 1.26486433e+02] [ 2.79270516e-02 -2.28526828e-03 9.99607352e-01 7.01793550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.000714057 meters Centerline goodness : 0.988374 Centerline is valid? [True, True] Translation: X:152.97, Y:127.14, Z:7.03 [[-3.44279050e-01 -9.38838110e-01 7.41204173e-03 1.52965842e+02] [ 9.38452604e-01 -3.44350871e-01 -2.70034842e-02 1.27142303e+02] [ 2.79042431e-02 -2.34088401e-03 9.99607860e-01 7.02969324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.030714057 meters Centerline goodness : 0.990999 Centerline is valid? [True, True] Translation: X:153.92, Y:126.85, Z:7.88 [[-2.95414858e-01 9.55340318e-01 -7.41204173e-03 1.53916304e+02] [ 9.54959027e-01 2.95506461e-01 2.70034842e-02 1.26850118e+02] [ 2.79878234e-02 8.99034285e-04 -9.99607860e-01 7.87908865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.060714057 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:153.17, Y:126.63, Z:7.02 [[-3.96407935e-01 -9.18016328e-01 1.03329803e-02 1.53174448e+02] [ 9.17650598e-01 -3.96541790e-01 -2.59227377e-02 1.26630559e+02] [ 2.78949549e-02 -7.93913370e-04 9.99610545e-01 7.01904148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.090714057 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:153.17, Y:126.64, Z:7.02 [[-3.97903144e-01 -9.17384597e-01 8.86509137e-03 1.53172125e+02] [ 9.17006022e-01 -3.97994652e-01 -2.64615405e-02 1.26639556e+02] [ 2.78036686e-02 -2.39978800e-03 9.99610523e-01 7.01888613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.120714057 meters Centerline goodness : 0.991074 Centerline is valid? [True, True] Translation: X:153.17, Y:126.64, Z:7.02 [[-3.97995929e-01 -9.17343776e-01 8.92398838e-03 1.53172629e+02] [ 9.16965653e-01 -3.98089087e-01 -2.64399303e-02 1.26637684e+02] [ 2.78070478e-02 -2.33999376e-03 9.99610570e-01 7.01858349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.150714057 meters Centerline goodness : 0.991129 Centerline is valid? [True, True] Translation: X:153.17, Y:126.64, Z:7.02 [[-3.99791184e-01 -9.16563642e-01 8.83737735e-03 1.53169984e+02] [ 9.16184666e-01 -3.99881117e-01 -2.64716759e-02 1.26641779e+02] [ 2.77968760e-02 -2.48647304e-03 9.99610500e-01 7.01948723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.180714057 meters Centerline goodness : 0.991460 Centerline is valid? [True, True] Translation: X:153.16, Y:126.65, Z:7.02 [[-4.00467489e-01 -9.16267346e-01 8.94100485e-03 1.53164738e+02] [ 9.15889106e-01 -4.00560115e-01 -2.64336839e-02 1.26653642e+02] [ 2.78017313e-02 -2.39686208e-03 9.99610584e-01 7.01997525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.210714057 meters Centerline goodness : 0.991495 Centerline is valid? [True, True] Translation: X:153.17, Y:126.65, Z:7.02 [[-4.01333061e-01 -9.15888713e-01 8.92409711e-03 1.53165314e+02] [ 9.15510255e-01 -4.01424845e-01 -2.64398775e-02 1.26649247e+02] [ 2.77983396e-02 -2.44109453e-03 9.99610571e-01 7.02095837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.240714057 meters Centerline goodness : 0.991585 Centerline is valid? [True, True] Translation: X:153.16, Y:126.65, Z:7.02 [[-4.02374113e-01 -9.15431760e-01 8.93119650e-03 1.53164344e+02] [ 9.15053252e-01 -4.02465671e-01 -2.64372786e-02 1.26645200e+02] [ 2.77960244e-02 -2.46515611e-03 9.99610576e-01 7.02227905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.270714057 meters Centerline goodness : 0.991167 Centerline is valid? [True, True] Translation: X:153.16, Y:126.65, Z:7.02 [[-4.01810762e-01 -9.15678666e-01 8.98293707e-03 1.53163508e+02] [ 9.15300615e-01 -4.01904036e-01 -2.64183563e-02 1.26646441e+02] [ 2.78010039e-02 -2.39309204e-03 9.99610613e-01 7.02183616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.300714057 meters Centerline goodness : 0.991635 Centerline is valid? [True, True] Translation: X:153.16, Y:126.65, Z:7.02 [[-4.02763450e-01 -9.15260515e-01 8.93271473e-03 1.53160368e+02] [ 9.14881980e-01 -4.02854891e-01 -2.64367137e-02 1.26652222e+02] [ 2.77950680e-02 -2.47536228e-03 9.99610578e-01 7.02199315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.330714057 meters Centerline goodness : 0.991572 Centerline is valid? [True, True] Translation: X:153.16, Y:126.65, Z:7.02 [[-4.02090270e-01 -9.15555981e-01 8.98105979e-03 1.53159681e+02] [ 9.15177888e-01 -4.02183376e-01 -2.64190548e-02 1.26650677e+02] [ 2.78001566e-02 -2.40357756e-03 9.99610611e-01 7.02176815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.360714057 meters Centerline goodness : 0.991572 Centerline is valid? [True, True] Translation: X:153.16, Y:126.65, Z:7.02 [[-4.01777149e-01 -9.15693922e-01 8.93109860e-03 1.53158712e+02] [ 9.15315474e-01 -4.01868951e-01 -2.64372896e-02 1.26653148e+02] [ 2.77975966e-02 -2.44712609e-03 9.99610577e-01 7.02182131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.390714057 meters Centerline goodness : 0.991672 Centerline is valid? [True, True] Translation: X:153.15, Y:126.66, Z:7.02 [[-4.04333958e-01 -9.14567858e-01 8.92663356e-03 1.53154219e+02] [ 9.14189121e-01 -4.04424573e-01 -2.64389179e-02 1.26660505e+02] [ 2.77903344e-02 -2.52952101e-03 9.99610574e-01 7.02243293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.420714057 meters Centerline goodness : 0.991829 Centerline is valid? [True, True] Translation: X:153.16, Y:126.65, Z:7.02 [[-4.04218890e-01 -9.14618236e-01 8.97619151e-03 1.53155132e+02] [ 9.14239888e-01 -4.04310976e-01 -2.64208595e-02 1.26654845e+02] [ 2.77941726e-02 -2.47341817e-03 9.99610607e-01 7.02245661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.450714057 meters Centerline goodness : 0.991224 Centerline is valid? [True, True] Translation: X:153.15, Y:126.67, Z:7.02 [[-4.05892367e-01 -9.13877011e-01 8.95521168e-03 1.53149780e+02] [ 9.13498336e-01 -4.05983158e-01 -2.64284984e-02 1.26666364e+02] [ 2.77880623e-02 -2.54655482e-03 9.99610594e-01 7.02103329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.480714057 meters Centerline goodness : 0.991345 Centerline is valid? [True, True] Translation: X:153.15, Y:126.66, Z:7.03 [[-4.04491560e-01 -9.14495766e-01 9.16904556e-03 1.53151443e+02] [ 9.14118885e-01 -4.04589061e-01 -2.63506269e-02 1.26656951e+02] [ 2.78072323e-02 -2.27700848e-03 9.99610711e-01 7.02507927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51071405700003 meters Centerline goodness : 0.991322 Centerline is valid? [True, True] Translation: X:153.14, Y:126.67, Z:7.03 [[-4.04586687e-01 -9.14456215e-01 8.91313078e-03 1.53143508e+02] [ 9.14077357e-01 -4.04676811e-01 -2.64436200e-02 1.26667223e+02] [ 2.77884700e-02 -2.55144558e-03 9.99610570e-01 7.02562732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.540714057 meters Centerline goodness : 0.991465 Centerline is valid? [True, True] Translation: X:153.14, Y:126.66, Z:7.03 [[-4.01965915e-01 -9.15610758e-01 8.96345455e-03 1.53143768e+02] [ 9.15232544e-01 -4.02058567e-01 -2.64253458e-02 1.26660142e+02] [ 2.77991645e-02 -2.41844296e-03 9.99610603e-01 7.02649170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57071405700003 meters Centerline goodness : 0.991465 Centerline is valid? [True, True] Translation: X:153.14, Y:126.66, Z:7.03 [[-4.01649825e-01 -9.15749812e-01 8.92746217e-03 1.53142796e+02] [ 9.15371355e-01 -4.01741575e-01 -2.64384009e-02 1.26662618e+02] [ 2.77974934e-02 -2.44703595e-03 9.99610580e-01 7.02655042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.600714057 meters Centerline goodness : 0.991608 Centerline is valid? [True, True] Translation: X:153.14, Y:126.66, Z:7.03 [[-3.99891301e-01 -9.16519207e-01 8.91579341e-03 1.53142208e+02] [ 9.16140837e-01 -3.99983443e-01 -2.64426280e-02 1.26655896e+02] [ 2.78013461e-02 -2.40605445e-03 9.99610572e-01 7.02695827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63071405700003 meters Centerline goodness : 0.991298 Centerline is valid? [True, True] Translation: X:153.14, Y:126.66, Z:7.03 [[-3.99331739e-01 -9.16762932e-01 8.93798156e-03 1.53140578e+02] [ 9.16384789e-01 -3.99424749e-01 -2.64345959e-02 1.26656482e+02] [ 2.78043087e-02 -2.36554283e-03 9.99610586e-01 7.02779511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.660714057 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:153.14, Y:126.66, Z:7.03 [[-3.96575567e-01 -9.17958310e-01 8.96443905e-03 1.53138050e+02] [ 9.17580654e-01 -3.96670469e-01 -2.64250243e-02 1.26655241e+02] [ 2.78129989e-02 -2.25392314e-03 9.99610603e-01 7.02828998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.690714057 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:153.14, Y:126.66, Z:7.03 [[-3.95299043e-01 -9.18508561e-01 8.98277008e-03 1.53136379e+02] [ 9.18131182e-01 -3.95394995e-01 -2.64183961e-02 1.26656461e+02] [ 2.78172653e-02 -2.19580539e-03 9.99610613e-01 7.02817392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.720714057 meters Centerline goodness : 0.992128 Centerline is valid? [True, True] Translation: X:153.14, Y:126.65, Z:7.03 [[-3.92252584e-01 -9.19813916e-01 8.95935395e-03 1.53137465e+02] [ 9.19436671e-01 -3.92349117e-01 -2.64268522e-02 1.26650527e+02] [ 2.78229810e-02 -2.12844249e-03 9.99610600e-01 7.02522693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.750714057 meters Centerline goodness : 0.991845 Centerline is valid? [True, True] Translation: X:153.13, Y:126.67, Z:7.03 [[-3.91729131e-01 -9.20037594e-01 8.89460095e-03 1.53130995e+02] [ 9.19659893e-01 -3.91824027e-01 -2.64502081e-02 1.26665827e+02] [ 2.78203042e-02 -2.18130929e-03 9.99610560e-01 7.02556154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.780714057 meters Centerline goodness : 0.991197 Centerline is valid? [True, True] Translation: X:153.13, Y:126.66, Z:7.03 [[-3.91355830e-01 -9.20197456e-01 8.78960465e-03 1.53133567e+02] [ 9.19818975e-01 -3.91447873e-01 -2.64880422e-02 1.26655102e+02] [ 2.78149011e-02 -2.28140460e-03 9.99610487e-01 7.02572168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.810714057 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:153.13, Y:126.66, Z:7.03 [[-3.89517331e-01 -9.20976697e-01 8.84154728e-03 1.53131848e+02] [ 9.20598806e-01 -3.89611617e-01 -2.64693461e-02 1.26655883e+02] [ 2.78224205e-02 -2.17075118e-03 9.99610525e-01 7.02564078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.840714057 meters Centerline goodness : 0.992195 Centerline is valid? [True, True] Translation: X:153.13, Y:126.65, Z:7.02 [[-3.87747362e-01 -9.21722453e-01 8.92761679e-03 1.53133186e+02] [ 9.21345428e-01 -3.87844833e-01 -2.64383834e-02 1.26649646e+02] [ 2.78313817e-02 -2.02599452e-03 9.99610579e-01 7.02481286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.870714057 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:153.13, Y:126.66, Z:7.03 [[-3.88412908e-01 -9.21443825e-01 8.75728253e-03 1.53127964e+02] [ 9.21065390e-01 -3.88505236e-01 -2.64995913e-02 1.26661821e+02] [ 2.78201349e-02 -2.22675347e-03 9.99610465e-01 7.02759700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.900714057 meters Centerline goodness : 0.992086 Centerline is valid? [True, True] Translation: X:153.13, Y:126.65, Z:7.02 [[-3.84855098e-01 -9.22935203e-01 8.78428991e-03 1.53131583e+02] [ 9.22557341e-01 -3.84949658e-01 -2.64898907e-02 1.26653801e+02] [ 2.78299621e-02 -2.09075836e-03 9.99610485e-01 7.02446543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.930714057 meters Centerline goodness : 0.991615 Centerline is valid? [True, True] Translation: X:153.13, Y:126.66, Z:7.03 [[-3.83671637e-01 -9.23427917e-01 8.77256374e-03 1.53129869e+02] [ 9.23050083e-01 -3.83766346e-01 -2.64940971e-02 1.26656991e+02] [ 2.78320036e-02 -2.06751792e-03 9.99610477e-01 7.02504363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.960714057 meters Centerline goodness : 0.991706 Centerline is valid? [True, True] Translation: X:153.13, Y:126.67, Z:7.02 [[-3.81162854e-01 -9.24467007e-01 8.69659625e-03 1.53126299e+02] [ 9.24088828e-01 -3.81256419e-01 -2.65213262e-02 1.26665711e+02] [ 2.78337242e-02 -2.07251696e-03 9.99610418e-01 7.02474195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.990714057 meters Centerline goodness : 0.992061 Centerline is valid? [True, True] Translation: X:153.12, Y:126.68, Z:7.03 [[-3.80107534e-01 -9.24900787e-01 8.76340291e-03 1.53120680e+02] [ 9.24523247e-01 -3.80203438e-01 -2.64973838e-02 1.26679396e+02] [ 2.78393270e-02 -1.96988549e-03 9.99610470e-01 7.02586095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.020714057 meters Centerline goodness : 0.991755 Centerline is valid? [True, True] Translation: X:153.12, Y:126.67, Z:7.03 [[-3.78782020e-01 -9.25444291e-01 8.77754435e-03 1.53122340e+02] [ 9.25067003e-01 -3.78878868e-01 -2.64923167e-02 1.26672630e+02] [ 2.78427893e-02 -1.91499659e-03 9.99610480e-01 7.02631112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.050714057 meters Centerline goodness : 0.990165 Centerline is valid? [True, True] Translation: X:153.12, Y:126.67, Z:7.03 [[-3.76055253e-01 -9.26555537e-01 8.79112379e-03 1.53124535e+02] [ 9.26178646e-01 -3.76153598e-01 -2.64874556e-02 1.26665493e+02] [ 2.78489115e-02 -1.81859567e-03 9.99610490e-01 7.02689838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.080714057 meters Centerline goodness : 0.990395 Centerline is valid? [True, True] Translation: X:153.12, Y:126.67, Z:7.03 [[-3.73207618e-01 -9.27705449e-01 8.86985442e-03 1.53124198e+02] [ 9.27329514e-01 -3.73309361e-01 -2.64592837e-02 1.26667647e+02] [ 2.78576213e-02 -1.64952843e-03 9.99610540e-01 7.02724971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.110714057 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:153.12, Y:126.67, Z:7.03 [[-3.70922373e-01 -9.28622752e-01 8.73942901e-03 1.53122736e+02] [ 9.28245986e-01 -3.71021332e-01 -2.65058845e-02 1.26672153e+02] [ 2.78564820e-02 -1.71928567e-03 9.99610454e-01 7.02736550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.140714057 meters Centerline goodness : 0.991382 Centerline is valid? [True, True] Translation: X:153.12, Y:126.68, Z:7.03 [[-3.69688963e-01 -9.29114027e-01 8.78608836e-03 1.53118544e+02] [ 9.28737779e-01 -3.69789749e-01 -2.64892164e-02 1.26684641e+02] [ 2.78605080e-02 -1.63279875e-03 9.99610487e-01 7.02700376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.170714057 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:153.10, Y:126.74, Z:7.03 [[-3.69551810e-01 -9.29167947e-01 8.85364858e-03 1.53099476e+02] [ 9.28792279e-01 -3.69654572e-01 -2.64650547e-02 1.26738706e+02] [ 2.78632722e-02 -1.55700842e-03 9.99610531e-01 7.02787198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.200714057 meters Centerline goodness : 0.991628 Centerline is valid? [True, True] Translation: X:153.10, Y:126.74, Z:7.03 [[-3.70048330e-01 -9.28970597e-01 8.82405358e-03 1.53100325e+02] [ 9.28594626e-01 -3.70150050e-01 -2.64756476e-02 1.26737139e+02] [ 2.78613220e-02 -1.60330043e-03 9.99610512e-01 7.02737387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.230714057 meters Centerline goodness : 0.991627 Centerline is valid? [True, True] Translation: X:153.12, Y:126.69, Z:7.02 [[-3.69364038e-01 -9.29242855e-01 8.82743660e-03 1.53119138e+02] [ 9.28866988e-01 -3.69466132e-01 -2.64744392e-02 1.26690196e+02] [ 2.78626224e-02 -1.57919133e-03 9.99610514e-01 7.02422877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26071405700003 meters Centerline goodness : 0.991105 Centerline is valid? [True, True] Translation: X:153.11, Y:126.72, Z:7.02 [[-3.70169314e-01 -9.28922746e-01 8.78699084e-03 1.53108419e+02] [ 9.28546455e-01 -3.70269931e-01 -2.64888635e-02 1.26722404e+02] [ 2.78596663e-02 -1.64623523e-03 9.99610489e-01 7.02496799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.290714057 meters Centerline goodness : 0.991370 Centerline is valid? [True, True] Translation: X:153.13, Y:126.68, Z:7.02 [[-3.66008424e-01 -9.30570397e-01 8.75045259e-03 1.53126998e+02] [ 9.30194253e-01 -3.66109686e-01 -2.65018716e-02 1.26675130e+02] [ 2.78654826e-02 -1.56028753e-03 9.99610464e-01 7.02175071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32071405700003 meters Centerline goodness : 0.989597 Centerline is valid? [True, True] Translation: X:153.12, Y:126.69, Z:7.02 [[-3.71088572e-01 -9.28558245e-01 8.53567558e-03 1.53123321e+02] [ 9.28179822e-01 -3.71181656e-01 -2.65780983e-02 1.26686391e+02] [ 2.78475985e-02 -1.94018669e-03 9.99610298e-01 7.02299363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.350714057 meters Centerline goodness : 0.989924 Centerline is valid? [True, True] Translation: X:153.12, Y:126.69, Z:7.03 [[-3.71609368e-01 -9.28344935e-01 9.06413605e-03 1.53121578e+02] [ 9.27970810e-01 -3.71717276e-01 -2.63902031e-02 1.26688439e+02] [ 2.78685073e-02 -1.39559302e-03 9.99610624e-01 7.02527241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38071405700003 meters Centerline goodness : 0.991713 Centerline is valid? [True, True] Translation: X:153.12, Y:126.69, Z:7.03 [[-3.70762216e-01 -9.28683484e-01 9.07561446e-03 1.53117927e+02] [ 9.28309555e-01 -3.70870791e-01 -2.63861239e-02 1.26694269e+02] [ 2.78702378e-02 -1.35799815e-03 9.99610627e-01 7.02638450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.410714057 meters Centerline goodness : 0.990588 Centerline is valid? [True, True] Translation: X:153.11, Y:126.70, Z:7.03 [[-3.71431233e-01 -9.28419266e-01 8.74673217e-03 1.53114672e+02] [ 9.28042520e-01 -3.71530193e-01 -2.65027524e-02 1.26700630e+02] [ 2.78553410e-02 -1.72661062e-03 9.99610474e-01 7.02811901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.440714057 meters Centerline goodness : 0.990999 Centerline is valid? [True, True] Translation: X:153.12, Y:126.69, Z:7.03 [[-3.71243597e-01 -9.28494982e-01 8.67526523e-03 1.53117326e+02] [ 9.28117676e-01 -3.71340599e-01 -2.65280634e-02 1.26693881e+02] [ 2.78526519e-02 -1.79670668e-03 9.99610425e-01 7.02749803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.470714057 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:153.12, Y:126.70, Z:7.03 [[-3.70874153e-01 -9.28642150e-01 8.72466044e-03 1.53115435e+02] [ 9.28265283e-01 -3.70972712e-01 -2.65105843e-02 1.26700451e+02] [ 2.78554569e-02 -1.73329109e-03 9.99610459e-01 7.02942748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.500714057 meters Centerline goodness : 0.991529 Centerline is valid? [True, True] Translation: X:153.12, Y:126.70, Z:7.03 [[-3.71045872e-01 -9.28573247e-01 8.75709956e-03 1.53116206e+02] [ 9.28196625e-01 -3.71145284e-01 -2.64991137e-02 1.26695146e+02] [ 2.78565242e-02 -1.70407648e-03 9.99610479e-01 7.02739564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.530714057 meters Centerline goodness : 0.991491 Centerline is valid? [True, True] Translation: X:153.11, Y:126.70, Z:7.03 [[-3.73661857e-01 -9.27525974e-01 8.50790764e-03 1.53112272e+02] [ 9.27147103e-01 -3.73753100e-01 -2.65870358e-02 1.26703534e+02] [ 2.78400231e-02 -2.04647925e-03 9.99610297e-01 7.02784836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.560714057 meters Centerline goodness : 0.991502 Centerline is valid? [True, True] Translation: X:153.10, Y:126.72, Z:7.03 [[-3.90570231e-01 -9.20532718e-01 8.62610343e-03 1.53099221e+02] [ 9.20153107e-01 -3.90657917e-01 -2.65452881e-02 1.26715368e+02] [ 2.78056618e-02 -2.43046343e-03 9.99610393e-01 7.03367830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.590714057 meters Centerline goodness : 0.989942 Centerline is valid? [True, True] Translation: X:153.11, Y:126.70, Z:7.03 [[-3.78142882e-01 -9.25700423e-01 9.31064925e-03 1.53112663e+02] [ 9.25327616e-01 -3.78255147e-01 -2.63029824e-02 1.26700184e+02] [ 2.78704830e-02 -1.33088471e-03 9.99610657e-01 7.03048813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.620714057 meters Centerline goodness : 0.991434 Centerline is valid? [True, True] Translation: X:153.11, Y:126.70, Z:7.03 [[-3.79801815e-01 -9.25024794e-01 8.92816277e-03 1.53112760e+02] [ 9.24648632e-01 -3.79902542e-01 -2.64379458e-02 1.26697238e+02] [ 2.78475871e-02 -1.78576629e-03 9.99610586e-01 7.03097934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.650714057 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:153.11, Y:126.71, Z:7.03 [[-3.83152074e-01 -9.23644091e-01 8.72251028e-03 1.53105348e+02] [ 9.23265960e-01 -3.83245568e-01 -2.65104070e-02 1.26713432e+02] [ 2.78290441e-02 -2.10432057e-03 9.99610482e-01 7.03206185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.680714057 meters Centerline goodness : 0.991673 Centerline is valid? [True, True] Translation: X:153.10, Y:126.73, Z:7.03 [[-3.83882154e-01 -9.23340205e-01 8.79527414e-03 1.53098744e+02] [ 9.22962562e-01 -3.83977429e-01 -2.64847683e-02 1.26727978e+02] [ 2.78316382e-02 -2.04932116e-03 9.99610524e-01 7.03248730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.710714057 meters Centerline goodness : 0.991241 Centerline is valid? [True, True] Translation: X:153.09, Y:126.76, Z:7.03 [[-3.86345965e-01 -9.22312204e-01 8.77457929e-03 1.53085435e+02] [ 9.21934149e-01 -3.86439639e-01 -2.64920627e-02 1.26758103e+02] [ 2.78247980e-02 -2.14551723e-03 9.99610513e-01 7.03098311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.740714057 meters Centerline goodness : 0.990988 Centerline is valid? [True, True] Translation: X:153.10, Y:126.71, Z:7.03 [[-3.84278069e-01 -9.23174630e-01 8.88638267e-03 1.53100782e+02] [ 9.22797656e-01 -3.84375782e-01 -2.64526897e-02 1.26713835e+02] [ 2.78361623e-02 -1.96485541e-03 9.99610568e-01 7.03054626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.770714057 meters Centerline goodness : 0.991352 Centerline is valid? [True, True] Translation: X:153.10, Y:126.71, Z:7.03 [[-3.84807267e-01 -9.22955051e-01 8.79441835e-03 1.53099662e+02] [ 9.22577308e-01 -3.84902138e-01 -2.64849972e-02 1.26713399e+02] [ 2.78294524e-02 -2.07808858e-03 9.99610526e-01 7.03088206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.800714057 meters Centerline goodness : 0.990632 Centerline is valid? [True, True] Translation: X:153.09, Y:126.73, Z:7.03 [[-3.86193854e-01 -9.22376018e-01 8.76295357e-03 1.53091014e+02] [ 9.21997893e-01 -3.86287258e-01 -2.64960458e-02 1.26730976e+02] [ 2.78243345e-02 -2.15318532e-03 9.99610509e-01 7.03167185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.830714057 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:153.08, Y:126.74, Z:7.03 [[-3.86978406e-01 -9.22046922e-01 8.78563167e-03 1.53084409e+02] [ 9.21668890e-01 -3.87072137e-01 -2.64880800e-02 1.26744274e+02] [ 2.78239259e-02 -2.15287161e-03 9.99610521e-01 7.03302848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.860714057 meters Centerline goodness : 0.991031 Centerline is valid? [True, True] Translation: X:153.09, Y:126.73, Z:7.03 [[-3.88513466e-01 -9.21401225e-01 8.77888511e-03 1.53088401e+02] [ 9.21022987e-01 -3.88606375e-01 -2.64904470e-02 1.26726072e+02] [ 2.78198610e-02 -2.20634042e-03 9.99610518e-01 7.03282372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.890714057 meters Centerline goodness : 0.990781 Centerline is valid? [True, True] Translation: X:153.09, Y:126.73, Z:7.03 [[-3.89059153e-01 -9.21170446e-01 8.83092096e-03 1.53085239e+02] [ 9.20792546e-01 -3.89153325e-01 -2.64722122e-02 1.26733604e+02] [ 2.78220018e-02 -2.16781028e-03 9.99610543e-01 7.03368714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.920714057 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:153.09, Y:126.72, Z:7.03 [[-3.89223427e-01 -9.21101160e-01 8.81908296e-03 1.53090301e+02] [ 9.20723154e-01 -3.89317193e-01 -2.64763553e-02 1.26717603e+02] [ 2.78208222e-02 -2.18528386e-03 9.99610537e-01 7.03242069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.950714057 meters Centerline goodness : 0.989297 Centerline is valid? [True, True] Translation: X:153.08, Y:126.75, Z:7.04 [[-3.94233151e-01 -9.18968406e-01 8.79155059e-03 1.53077436e+02] [ 9.18589691e-01 -3.94324069e-01 -2.64859879e-02 1.26752559e+02] [ 2.78065061e-02 -2.36582673e-03 9.99610525e-01 7.03594301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.980714057 meters Centerline goodness : 0.990721 Centerline is valid? [True, True] Translation: X:153.08, Y:126.76, Z:7.03 [[-3.93577374e-01 -9.19245555e-01 9.19017249e-03 1.53075036e+02] [ 9.18869938e-01 -3.93679951e-01 -2.63464016e-02 1.26758949e+02] [ 2.78367993e-02 -1.92477436e-03 9.99610628e-01 7.03172944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01071405700003 meters Centerline goodness : 0.989970 Centerline is valid? [True, True] Translation: X:153.08, Y:126.76, Z:7.03 [[-3.95522967e-01 -9.18411675e-01 9.03207131e-03 1.53075355e+02] [ 9.18034629e-01 -3.95620235e-01 -2.64017001e-02 1.26756289e+02] [ 2.78208998e-02 -2.15072452e-03 9.99610610e-01 7.03416023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.040714057 meters Centerline goodness : 0.990868 Centerline is valid? [True, True] Translation: X:153.07, Y:126.76, Z:7.03 [[-3.96293920e-01 -9.18078478e-01 9.11252591e-03 1.53073824e+02] [ 9.17701961e-01 -3.96393169e-01 -2.63735705e-02 1.26755175e+02] [ 2.78251505e-02 -2.08910275e-03 9.99610623e-01 7.03256187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07071405700003 meters Centerline goodness : 0.988867 Centerline is valid? [True, True] Translation: X:153.07, Y:126.76, Z:7.03 [[-3.96929581e-01 -9.17806355e-01 8.85453228e-03 1.53073409e+02] [ 9.17427846e-01 -3.97021192e-01 -2.64635843e-02 1.26755728e+02] [ 2.78038828e-02 -2.38078493e-03 9.99610562e-01 7.03146876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.100714057 meters Centerline goodness : 0.990755 Centerline is valid? [True, True] Translation: X:153.07, Y:126.75, Z:7.03 [[-3.95911168e-01 -9.18243230e-01 9.14975007e-03 1.53073180e+02] [ 9.17867040e-01 -3.96011637e-01 -2.63605724e-02 1.26751501e+02] [ 2.78288247e-02 -2.03819101e-03 9.99610625e-01 7.03088474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13071405700003 meters Centerline goodness : 0.991306 Centerline is valid? [True, True] Translation: X:153.07, Y:126.76, Z:7.03 [[-3.95681215e-01 -9.18345204e-01 8.85790273e-03 1.53070422e+02] [ 9.17966850e-01 -3.95773437e-01 -2.64622236e-02 1.26757502e+02] [ 2.78071788e-02 -2.33934373e-03 9.99610568e-01 7.03084976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.160714057 meters Centerline goodness : 0.991790 Centerline is valid? [True, True] Translation: X:153.08, Y:126.74, Z:7.03 [[-3.93603069e-01 -9.19237850e-01 8.85436111e-03 1.53075580e+02] [ 9.18859679e-01 -3.93696045e-01 -2.64634555e-02 1.26739828e+02] [ 2.78121369e-02 -2.28018190e-03 9.99610567e-01 7.02944661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.190714057 meters Centerline goodness : 0.990443 Centerline is valid? [True, True] Translation: X:153.08, Y:126.74, Z:7.03 [[-3.91888903e-01 -9.19970128e-01 8.83464284e-03 1.53076005e+02] [ 9.19591985e-01 -3.91982021e-01 -2.64703047e-02 1.26739102e+02] [ 2.78149107e-02 -2.24915192e-03 9.99610560e-01 7.03150426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.220714057 meters Centerline goodness : 0.990443 Centerline is valid? [True, True] Translation: X:153.07, Y:126.74, Z:7.03 [[-3.91539346e-01 -9.20116223e-01 9.11464698e-03 1.53074937e+02] [ 9.19740236e-01 -3.91640602e-01 -2.63730229e-02 1.26741567e+02] [ 2.78359120e-02 -1.94296856e-03 9.99610618e-01 7.03170900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.250714057 meters Centerline goodness : 0.991226 Centerline is valid? [True, True] Translation: X:153.07, Y:126.75, Z:7.03 [[-3.87834919e-01 -9.21683889e-01 9.10411077e-03 1.53070583e+02] [ 9.21308230e-01 -3.87937386e-01 -2.63766790e-02 1.26748782e+02] [ 2.78427850e-02 -1.84210498e-03 9.99610617e-01 7.03074240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.280714057 meters Centerline goodness : 0.990094 Centerline is valid? [True, True] Translation: X:153.07, Y:126.73, Z:7.03 [[-3.84118320e-01 -9.23242751e-01 8.71432118e-03 1.53074432e+02] [ 9.22864507e-01 -3.84211189e-01 -2.65115714e-02 1.26730357e+02] [ 2.78247558e-02 -2.14144255e-03 9.99610523e-01 7.03064896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.310714057 meters Centerline goodness : 0.989996 Centerline is valid? [True, True] Translation: X:153.07, Y:126.75, Z:7.03 [[-3.80057351e-01 -9.24918606e-01 9.05440363e-03 1.53066420e+02] [ 9.24543427e-01 -3.80161567e-01 -2.63938268e-02 1.26749199e+02] [ 2.78542777e-02 -1.65997854e-03 9.99610616e-01 7.03268908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.340714057 meters Centerline goodness : 0.991730 Centerline is valid? [True, True] Translation: X:153.07, Y:126.74, Z:7.04 [[-3.73088484e-01 -9.27753335e-01 8.87312432e-03 1.53067525e+02] [ 9.27377486e-01 -3.73190372e-01 -2.64564657e-02 1.26738137e+02] [ 2.78564389e-02 -1.64186696e-03 9.99610586e-01 7.03655429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.370714057 meters Centerline goodness : 0.990609 Centerline is valid? [True, True] Translation: X:153.06, Y:126.76, Z:7.04 [[-3.68632685e-01 -9.29536819e-01 8.44074167e-03 1.53060105e+02] [ 9.29158066e-01 -3.68724073e-01 -2.66054032e-02 1.26755956e+02] [ 2.78430065e-02 -1.96483802e-03 9.99610377e-01 7.03734438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.400714057 meters Centerline goodness : 0.991945 Centerline is valid? [True, True] Translation: X:153.07, Y:126.74, Z:7.04 [[-3.66000236e-01 -9.30576351e-01 8.45476413e-03 1.53065695e+02] [ 9.30197966e-01 -3.66093095e-01 -2.66005750e-02 1.26739798e+02] [ 2.78490968e-02 -1.87121232e-03 9.99610387e-01 7.03580314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.430714057 meters Centerline goodness : 0.990119 Centerline is valid? [True, True] Translation: X:153.05, Y:126.77, Z:7.03 [[-3.67378922e-01 -9.30033192e-01 8.42552889e-03 1.53053596e+02] [ 9.29654446e-01 -3.67470387e-01 -2.66106415e-02 1.26773862e+02] [ 2.78449122e-02 -1.94335839e-03 9.99610366e-01 7.03355821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.460714057 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:153.03, Y:126.83, Z:7.04 [[-3.66239469e-01 -9.30478908e-01 8.81204836e-03 1.53034171e+02] [ 9.30103332e-01 -3.66342392e-01 -2.64772096e-02 1.26825603e+02] [ 2.78647119e-02 -1.50088364e-03 9.99610577e-01 7.03833595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.490714057 meters Centerline goodness : 0.990681 Centerline is valid? [True, True] Translation: X:153.07, Y:126.73, Z:7.04 [[-3.61589083e-01 -9.32299148e-01 8.46363938e-03 1.53065842e+02] [ 9.31921291e-01 -3.61683987e-01 -2.65970120e-02 1.26733747e+02] [ 2.78575345e-02 -1.72974346e-03 9.99610407e-01 7.03508030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.520714057 meters Centerline goodness : 0.990729 Centerline is valid? [True, True] Translation: X:153.06, Y:126.75, Z:7.03 [[-3.62524102e-01 -9.31936341e-01 8.42211235e-03 1.53057990e+02] [ 9.31558067e-01 -3.62617444e-01 -2.66112366e-02 1.26751031e+02] [ 2.78539834e-02 -1.80152796e-03 9.99610379e-01 7.03491687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.550714057 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:153.06, Y:126.75, Z:7.04 [[-3.60447308e-01 -9.32740596e-01 8.52757804e-03 1.53058223e+02] [ 9.32363359e-01 -3.60544492e-01 -2.65751099e-02 1.26750902e+02] [ 2.78622551e-02 -1.62812551e-03 9.99610446e-01 7.03655470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.580714057 meters Centerline goodness : 0.989389 Centerline is valid? [True, True] Translation: X:153.06, Y:126.76, Z:7.04 [[-3.61032535e-01 -9.32514852e-01 8.45927255e-03 1.53055991e+02] [ 9.32137018e-01 -3.61127540e-01 -2.65984849e-02 1.26758394e+02] [ 2.78583585e-02 -1.71771734e-03 9.99610405e-01 7.03654545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.610714057 meters Centerline goodness : 0.989142 Centerline is valid? [True, True] Translation: X:153.06, Y:126.74, Z:7.03 [[-3.60529446e-01 -9.32706501e-01 8.78076956e-03 1.53061970e+02] [ 9.32331293e-01 -3.60633782e-01 -2.64883947e-02 1.26742379e+02] [ 2.78725401e-02 -1.36326001e-03 9.99610556e-01 7.03393657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.640714057 meters Centerline goodness : 0.991006 Centerline is valid? [True, True] Translation: X:153.06, Y:126.75, Z:7.03 [[-3.58744695e-01 -9.33394350e-01 8.78815645e-03 1.53060484e+02] [ 9.33019403e-01 -3.58849958e-01 -2.64858671e-02 1.26749174e+02] [ 2.78753882e-02 -1.30214382e-03 9.99610558e-01 7.03467313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.670714057 meters Centerline goodness : 0.990566 Centerline is valid? [True, True] Translation: X:153.06, Y:126.76, Z:7.03 [[-3.59285039e-01 -9.33189634e-01 8.44791118e-03 1.53057193e+02] [ 9.32811898e-01 -3.59380429e-01 -2.66020831e-02 1.26761275e+02] [ 2.78608021e-02 -1.67741838e-03 9.99610405e-01 7.03427851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.700714057 meters Centerline goodness : 0.990835 Centerline is valid? [True, True] Translation: X:153.06, Y:126.76, Z:7.03 [[-3.59301638e-01 -9.33183019e-01 8.47268862e-03 1.53059451e+02] [ 9.32805475e-01 -3.59397725e-01 -2.65936231e-02 1.26756680e+02] [ 2.78617825e-02 -1.65176200e-03 9.99610420e-01 7.03360334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.730714057 meters Centerline goodness : 0.991219 Centerline is valid? [True, True] Translation: X:153.06, Y:126.75, Z:7.03 [[-3.53775414e-01 -9.35292685e-01 8.39937554e-03 1.53062900e+02] [ 9.34915132e-01 -3.53871652e-01 -2.66186066e-02 1.26754540e+02] [ 2.78684889e-02 -1.56430526e-03 9.99610374e-01 7.02945761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76071405700003 meters Centerline goodness : 0.991071 Centerline is valid? [True, True] Translation: X:153.06, Y:126.78, Z:7.03 [[-3.56877978e-01 -9.34115387e-01 8.15799277e-03 1.53055600e+02] [ 9.33735659e-01 -3.56966091e-01 -2.67007393e-02 1.26777975e+02] [ 2.78536982e-02 -1.91149712e-03 9.99610183e-01 7.02954388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.790714057 meters Centerline goodness : 0.991306 Centerline is valid? [True, True] Translation: X:153.04, Y:126.82, Z:7.03 [[-3.63747173e-01 -9.31461201e-01 8.24775625e-03 1.53039147e+02] [ 9.31081501e-01 -3.63835049e-01 -2.66701300e-02 1.26821333e+02] [ 2.78430142e-02 -2.02185113e-03 9.99610263e-01 7.03393891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82071405700003 meters Centerline goodness : 0.990580 Centerline is valid? [True, True] Translation: X:153.06, Y:126.77, Z:7.03 [[-3.63448354e-01 -9.31576654e-01 8.38044144e-03 1.53057381e+02] [ 9.31197984e-01 -3.63540136e-01 -2.66248802e-02 1.26774840e+02] [ 2.78497436e-02 -1.87291872e-03 9.99610366e-01 7.02997528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.850714057 meters Centerline goodness : 0.991153 Centerline is valid? [True, True] Translation: X:153.06, Y:126.77, Z:7.03 [[-3.64450291e-01 -9.31186184e-01 8.26290357e-03 1.53058387e+02] [ 9.30806534e-01 -3.64538314e-01 -2.66648389e-02 1.26774810e+02] [ 2.78420745e-02 -2.02684365e-03 9.99610279e-01 7.02892649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88071405700003 meters Centerline goodness : 0.992084 Centerline is valid? [True, True] Translation: X:153.06, Y:126.78, Z:7.03 [[-3.63548690e-01 -9.31537598e-01 8.36977908e-03 1.53057864e+02] [ 9.31158837e-01 -3.63640126e-01 -2.66285219e-02 1.26779502e+02] [ 2.78490569e-02 -1.88717050e-03 9.99610358e-01 7.02807092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.910714057 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:153.06, Y:126.79, Z:7.03 [[-3.65299921e-01 -9.30853557e-01 8.22335687e-03 1.53056867e+02] [ 9.30473536e-01 -3.65386468e-01 -2.66782110e-02 1.26785954e+02] [ 2.78382109e-02 -2.09393241e-03 9.99610249e-01 7.02915516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.940714057 meters Centerline goodness : 0.991735 Centerline is valid? [True, True] Translation: X:153.06, Y:126.78, Z:7.03 [[-3.64522770e-01 -9.31159002e-01 8.12789051e-03 1.53059955e+02] [ 9.30778356e-01 -3.64606909e-01 -2.67105703e-02 1.26780035e+02] [ 2.78352730e-02 -2.17134651e-03 9.99610165e-01 7.02858762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.970714057 meters Centerline goodness : 0.992048 Centerline is valid? [True, True] Translation: X:153.05, Y:126.81, Z:7.03 [[-3.66365111e-01 -9.30435068e-01 8.19697224e-03 1.53049739e+02] [ 9.30054756e-01 -3.66450470e-01 -2.66871500e-02 1.26812639e+02] [ 2.78344446e-02 -2.15360766e-03 9.99610227e-01 7.03044181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.000714057 meters Centerline goodness : 0.991380 Centerline is valid? [True, True] Translation: X:153.05, Y:126.81, Z:7.03 [[-3.65791101e-01 -9.30660417e-01 8.24980352e-03 1.53050949e+02] [ 9.30280545e-01 -3.65878203e-01 -2.66692312e-02 1.26812158e+02] [ 2.78384211e-02 -2.08073575e-03 9.99610270e-01 7.03013455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.030714057 meters Centerline goodness : 0.991950 Centerline is valid? [True, True] Translation: X:153.06, Y:126.79, Z:7.03 [[-3.67443534e-01 -9.30009709e-01 8.19694287e-03 1.53058889e+02] [ 9.29629300e-01 -3.67528451e-01 -2.66871255e-02 1.26791343e+02] [ 2.78318955e-02 -2.18589345e-03 9.99610228e-01 7.03160814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.060714057 meters Centerline goodness : 0.992040 Centerline is valid? [True, True] Translation: X:153.06, Y:126.79, Z:7.03 [[-3.68141768e-01 -9.29734122e-01 8.13024210e-03 1.53058238e+02] [ 9.29353171e-01 -3.68224492e-01 -2.67096693e-02 1.26794763e+02] [ 2.78266452e-02 -2.27707860e-03 9.99610170e-01 7.03137044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.090714057 meters Centerline goodness : 0.991676 Centerline is valid? [True, True] Translation: X:153.06, Y:126.80, Z:7.03 [[-3.68572473e-01 -9.29563511e-01 8.12472996e-03 1.53057081e+02] [ 9.29182482e-01 -3.68654864e-01 -2.67115307e-02 1.26800559e+02] [ 2.78252855e-02 -2.29577818e-03 9.99610165e-01 7.03109990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.120714057 meters Centerline goodness : 0.991316 Centerline is valid? [True, True] Translation: X:153.05, Y:126.83, Z:7.03 [[-3.72589775e-01 -9.27960240e-01 8.16408708e-03 1.53048174e+02] [ 9.27579135e-01 -3.72671643e-01 -2.66982270e-02 1.26829563e+02] [ 2.78174168e-02 -2.37464955e-03 9.99610200e-01 7.03374330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.150714057 meters Centerline goodness : 0.991197 Centerline is valid? [True, True] Translation: X:153.05, Y:126.83, Z:7.03 [[-3.73113369e-01 -9.27748493e-01 8.31554920e-03 1.53048036e+02] [ 9.27368417e-01 -3.73199355e-01 -2.66469707e-02 1.26832535e+02] [ 2.78250445e-02 -2.23076333e-03 9.99610319e-01 7.03414415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.180714057 meters Centerline goodness : 0.992193 Centerline is valid? [True, True] Translation: X:153.06, Y:126.80, Z:7.03 [[-3.70778052e-01 -9.28684839e-01 8.25263097e-03 1.53059688e+02] [ 9.28304528e-01 -3.70863196e-01 -2.66682180e-02 1.26803887e+02] [ 2.78269669e-02 -2.22703524e-03 9.99610274e-01 7.03113827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.210714057 meters Centerline goodness : 0.992252 Centerline is valid? [True, True] Translation: X:153.05, Y:126.82, Z:7.03 [[-3.72949374e-01 -9.27816809e-01 8.04564967e-03 1.53054856e+02] [ 9.27434858e-01 -3.73027704e-01 -2.67379280e-02 1.26818718e+02] [ 2.78091493e-02 -2.51007758e-03 9.99610099e-01 7.03161691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.240714057 meters Centerline goodness : 0.992119 Centerline is valid? [True, True] Translation: X:153.05, Y:126.85, Z:7.03 [[-3.72524687e-01 -9.27985424e-01 8.27107549e-03 1.53046162e+02] [ 9.27605088e-01 -3.72609643e-01 -2.66618629e-02 1.26846129e+02] [ 2.78237026e-02 -2.25991042e-03 9.99610291e-01 7.03187132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.270714057 meters Centerline goodness : 0.990915 Centerline is valid? [True, True] Translation: X:153.06, Y:126.82, Z:7.04 [[-3.71068209e-01 -9.28569037e-01 8.24183240e-03 1.53055129e+02] [ 9.28188626e-01 -3.71152925e-01 -2.66717224e-02 1.26823279e+02] [ 2.78255158e-02 -2.24705316e-03 9.99610270e-01 7.03580679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.300714057 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:153.06, Y:126.81, Z:7.03 [[-3.70432255e-01 -9.28821699e-01 8.37831971e-03 1.53060013e+02] [ 9.28442331e-01 -3.70521130e-01 -2.66257628e-02 1.26808542e+02] [ 2.78349307e-02 -2.08425466e-03 9.99610360e-01 7.03230871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.330714057 meters Centerline goodness : 0.991103 Centerline is valid? [True, True] Translation: X:153.05, Y:126.85, Z:7.03 [[-3.71036739e-01 -9.28582451e-01 8.14675067e-03 1.53046829e+02] [ 9.28201374e-01 -3.71118749e-01 -2.67036326e-02 1.26848655e+02] [ 2.78199365e-02 -2.34620358e-03 9.99610197e-01 7.03430653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.360714057 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:153.06, Y:126.82, Z:7.03 [[-3.69033953e-01 -9.29380261e-01 8.14079941e-03 1.53056190e+02] [ 9.28999318e-01 -3.69116615e-01 -2.67056329e-02 1.26823479e+02] [ 2.78245924e-02 -2.29248816e-03 9.99610192e-01 7.03471890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.390714057 meters Centerline goodness : 0.991303 Centerline is valid? [True, True] Translation: X:153.05, Y:126.84, Z:7.04 [[-3.67411071e-01 -9.30022100e-01 8.24608289e-03 1.53051688e+02] [ 9.29642056e-01 -3.67497406e-01 -2.66702809e-02 1.26836984e+02] [ 2.78343647e-02 -2.13305103e-03 9.99610273e-01 7.03550448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.420714057 meters Centerline goodness : 0.990849 Centerline is valid? [True, True] Translation: X:153.05, Y:126.83, Z:7.04 [[-3.65323937e-01 -9.30844102e-01 8.22665365e-03 1.53054447e+02] [ 9.30464112e-01 -3.65410570e-01 -2.66767981e-02 1.26828985e+02] [ 2.78380464e-02 -2.09106696e-03 9.99610259e-01 7.03555950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.450714057 meters Centerline goodness : 0.990355 Centerline is valid? [True, True] Translation: X:153.04, Y:126.85, Z:7.04 [[-3.77109814e-01 -9.26132290e-01 8.19576618e-03 1.53040185e+02] [ 9.25751018e-01 -3.77190731e-01 -2.66871623e-02 1.26850108e+02] [ 2.78072098e-02 -2.47675192e-03 9.99610236e-01 7.03898496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.480714057 meters Centerline goodness : 0.990859 Centerline is valid? [True, True] Translation: X:153.04, Y:126.85, Z:7.04 [[-3.75535182e-01 -9.26765430e-01 8.89749971e-03 1.53040596e+02] [ 9.26389421e-01 -3.75636765e-01 -2.64511247e-02 1.26848576e+02] [ 2.78562160e-02 -1.69077832e-03 9.99610510e-01 7.03891444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51071405700003 meters Centerline goodness : 0.991649 Centerline is valid? [True, True] Translation: X:153.06, Y:126.82, Z:7.03 [[-3.52369272e-01 -9.35818847e-01 8.88717868e-03 1.53063215e+02] [ 9.35445394e-01 -3.52479884e-01 -2.64545920e-02 1.26815367e+02] [ 2.78892575e-02 -1.00831494e-03 9.99610510e-01 7.03277933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.540714057 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:153.06, Y:126.82, Z:7.03 [[-3.51244995e-01 -9.36251216e-01 7.78544644e-03 1.53062324e+02] [ 9.35869387e-01 -3.51324782e-01 -2.68213960e-02 1.26822847e+02] [ 2.78467849e-02 -2.13472013e-03 9.99609924e-01 7.03226507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57071405700003 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:153.06, Y:126.82, Z:7.03 [[-3.53262049e-01 -9.35491829e-01 7.80783795e-03 1.53061665e+02] [ 9.35109988e-01 -3.53341653e-01 -2.68139454e-02 1.26824363e+02] [ 2.78430612e-02 -2.17116205e-03 9.99609949e-01 7.03320241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.600714057 meters Centerline goodness : 0.991323 Centerline is valid? [True, True] Translation: X:153.06, Y:126.83, Z:7.03 [[-3.53489947e-01 -9.35404588e-01 7.94443877e-03 1.53061225e+02] [ 9.35023706e-01 -3.53573357e-01 -2.67684659e-02 1.26831952e+02] [ 2.78482877e-02 -2.03414499e-03 9.99610092e-01 7.03270074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63071405700003 meters Centerline goodness : 0.990773 Centerline is valid? [True, True] Translation: X:153.05, Y:126.86, Z:7.03 [[-3.52822905e-01 -9.35656132e-01 7.97495971e-03 1.53053779e+02] [ 9.35275532e-01 -3.52907457e-01 -2.67582938e-02 1.26858237e+02] [ 2.78509845e-02 -1.98215427e-03 9.99610121e-01 7.03245115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.660714057 meters Centerline goodness : 0.990974 Centerline is valid? [True, True] Translation: X:153.06, Y:126.85, Z:7.03 [[-3.54181232e-01 -9.35142464e-01 8.01415403e-03 1.53058410e+02] [ 9.34762027e-01 -3.54266349e-01 -2.67452310e-02 1.26848412e+02] [ 2.78497463e-02 -1.98133199e-03 9.99610157e-01 7.03312228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.690714057 meters Centerline goodness : 0.991735 Centerline is valid? [True, True] Translation: X:153.06, Y:126.85, Z:7.03 [[-3.53797398e-01 -9.35287098e-01 8.08984521e-03 1.53059327e+02] [ 9.34907252e-01 -3.53884828e-01 -2.67200247e-02 1.26847052e+02] [ 2.78537678e-02 -1.89022026e-03 9.99610221e-01 7.03359536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.720714057 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:153.06, Y:126.84, Z:7.03 [[-3.52098428e-01 -9.35929588e-01 7.90593196e-03 1.53064514e+02] [ 9.35548554e-01 -3.52181307e-01 -2.67811366e-02 1.26837805e+02] [ 2.78495796e-02 -2.03321290e-03 9.99610057e-01 7.03205933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.750714057 meters Centerline goodness : 0.991398 Centerline is valid? [True, True] Translation: X:153.07, Y:126.84, Z:7.03 [[-3.55704463e-01 -9.34565878e-01 7.80738513e-03 1.53065095e+02] [ 9.34183833e-01 -3.55783057e-01 -2.68138395e-02 1.26842115e+02] [ 2.78370348e-02 -2.24426943e-03 9.99609955e-01 7.03195203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.780714057 meters Centerline goodness : 0.990954 Centerline is valid? [True, True] Translation: X:153.06, Y:126.85, Z:7.03 [[-3.56782945e-01 -9.34152892e-01 8.01899327e-03 1.53062945e+02] [ 9.33772256e-01 -3.56867141e-01 -2.67435458e-02 1.26852185e+02] [ 2.78442759e-02 -2.05372759e-03 9.99610163e-01 7.03199540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.810714057 meters Centerline goodness : 0.992074 Centerline is valid? [True, True] Translation: X:153.06, Y:126.86, Z:7.03 [[-3.60013516e-01 -9.32912249e-01 8.06247508e-03 1.53062140e+02] [ 9.32531634e-01 -3.60097636e-01 -2.67291053e-02 1.26858338e+02] [ 2.78391879e-02 -2.10432613e-03 9.99610200e-01 7.03338536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.840714057 meters Centerline goodness : 0.991215 Centerline is valid? [True, True] Translation: X:153.06, Y:126.87, Z:7.04 [[-3.63714678e-01 -9.31475977e-01 8.00855182e-03 1.53058975e+02] [ 9.31094654e-01 -3.63795745e-01 -2.67470005e-02 1.26868464e+02] [ 2.78276655e-02 -2.27155687e-03 9.99610155e-01 7.03579824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.870714057 meters Centerline goodness : 0.991112 Centerline is valid? [True, True] Translation: X:153.06, Y:126.88, Z:7.04 [[-3.65639064e-01 -9.30721050e-01 8.14874922e-03 1.53056055e+02] [ 9.30340539e-01 -3.65723349e-01 -2.67004278e-02 1.26879498e+02] [ 2.78308380e-02 -2.18160768e-03 9.99610267e-01 7.03637673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.900714057 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:153.06, Y:126.87, Z:7.03 [[-3.64727593e-01 -9.31077445e-01 8.28098962e-03 1.53061624e+02] [ 9.30697964e-01 -3.64816022e-01 -2.66564985e-02 1.26870928e+02] [ 2.78403022e-02 -2.01526034e-03 9.99610352e-01 7.03424814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.930714057 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:153.05, Y:126.89, Z:7.04 [[-3.66394022e-01 -9.30423920e-01 8.17006517e-03 1.53054683e+02] [ 9.30043492e-01 -3.66478606e-01 -2.66933186e-02 1.26892380e+02] [ 2.78302562e-02 -2.18175641e-03 9.99610282e-01 7.03661819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.960714057 meters Centerline goodness : 0.990421 Centerline is valid? [True, True] Translation: X:153.06, Y:126.88, Z:7.04 [[-3.66905573e-01 -9.30221866e-01 8.22072921e-03 1.53058707e+02] [ 9.29841750e-01 -3.66991395e-01 -2.66765075e-02 1.26884369e+02] [ 2.78320075e-02 -2.14378203e-03 9.99610316e-01 7.03667376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.990714057 meters Centerline goodness : 0.990903 Centerline is valid? [True, True] Translation: X:153.06, Y:126.89, Z:7.04 [[-3.67867297e-01 -9.29841403e-01 8.28356710e-03 1.53059188e+02] [ 9.29461644e-01 -3.67954519e-01 -2.66556663e-02 1.26885857e+02] [ 2.78335181e-02 -2.10649001e-03 9.99610353e-01 7.03854138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.020714057 meters Centerline goodness : 0.990826 Centerline is valid? [True, True] Translation: X:153.05, Y:126.89, Z:7.04 [[-3.78063253e-01 -9.25742507e-01 8.30591494e-03 1.53053789e+02] [ 9.25361964e-01 -3.78146936e-01 -2.66482553e-02 1.26887072e+02] [ 2.78102790e-02 -2.38874833e-03 9.99610365e-01 7.03948905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.050714057 meters Centerline goodness : 0.990961 Centerline is valid? [True, True] Translation: X:153.06, Y:126.88, Z:7.04 [[-3.67725008e-01 -9.29892964e-01 8.79735914e-03 1.53060822e+02] [ 9.29517030e-01 -3.67826910e-01 -2.64850194e-02 1.26882736e+02] [ 2.78641386e-02 -1.56190884e-03 9.99610499e-01 7.03957873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.080714057 meters Centerline goodness : 0.990893 Centerline is valid? [True, True] Translation: X:153.06, Y:126.88, Z:7.04 [[-3.66558024e-01 -9.30358594e-01 8.25244156e-03 1.53062439e+02] [ 9.29978752e-01 -3.66644894e-01 -2.66653902e-02 1.26884754e+02] [ 2.78340904e-02 -2.09981741e-03 9.99610351e-01 7.03742853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.110714057 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:153.06, Y:126.90, Z:7.04 [[-3.65021963e-01 -9.30962565e-01 8.22616945e-03 1.53059442e+02] [ 9.30582679e-01 -3.65108711e-01 -2.66740803e-02 1.26897576e+02] [ 2.78360163e-02 -2.08149434e-03 9.99610336e-01 7.03603693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.140714057 meters Centerline goodness : 0.989854 Centerline is valid? [True, True] Translation: X:153.06, Y:126.90, Z:7.04 [[-3.68228865e-01 -9.29699885e-01 8.10106559e-03 1.53060936e+02] [ 9.29318833e-01 -3.68310730e-01 -2.67154147e-02 1.26896999e+02] [ 2.78210274e-02 -2.30891405e-03 9.99610254e-01 7.03916845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.170714057 meters Centerline goodness : 0.989854 Centerline is valid? [True, True] Translation: X:153.06, Y:126.90, Z:7.04 [[-3.67885056e-01 -9.29832171e-01 8.52756877e-03 1.53059846e+02] [ 9.29454194e-01 -3.67979225e-01 -2.65742513e-02 1.26899441e+02] [ 2.78475619e-02 -1.85028536e-03 9.99610469e-01 7.03942217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.200714057 meters Centerline goodness : 0.991011 Centerline is valid? [True, True] Translation: X:153.05, Y:126.92, Z:7.04 [[-3.68596715e-01 -9.29550381e-01 8.51764683e-03 1.53052304e+02] [ 9.29172260e-01 -3.68690312e-01 -2.65775321e-02 1.26924134e+02] [ 2.78455290e-02 -1.88202987e-03 9.99610466e-01 7.03859660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.230714057 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:153.06, Y:126.90, Z:7.04 [[-3.68969614e-01 -9.29403456e-01 8.40475738e-03 1.53062488e+02] [ 9.29024479e-01 -3.69059844e-01 -2.66148131e-02 1.26897125e+02] [ 2.78377577e-02 -2.01183197e-03 9.99610430e-01 7.03662833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26071405700003 meters Centerline goodness : 0.992185 Centerline is valid? [True, True] Translation: X:153.06, Y:126.90, Z:7.03 [[-3.70802003e-01 -9.28674015e-01 8.39336088e-03 1.53064581e+02] [ 9.28294780e-01 -3.70891161e-01 -2.66185697e-02 1.26897763e+02] [ 2.78329973e-02 -2.07870586e-03 9.99610426e-01 7.03405943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.290714057 meters Centerline goodness : 0.992424 Centerline is valid? [True, True] Translation: X:153.06, Y:126.91, Z:7.03 [[-3.70733768e-01 -9.28700277e-01 8.50114105e-03 1.53062506e+02] [ 9.28321819e-01 -3.70826025e-01 -2.65830628e-02 1.26907652e+02] [ 2.78401422e-02 -1.96344432e-03 9.99610460e-01 7.03181106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32071405700003 meters Centerline goodness : 0.990691 Centerline is valid? [True, True] Translation: X:153.06, Y:126.91, Z:7.03 [[-3.71406477e-01 -9.28434541e-01 8.15674642e-03 1.53064014e+02] [ 9.28053611e-01 -3.71488631e-01 -2.66962779e-02 1.26905639e+02] [ 2.78158851e-02 -2.34527254e-03 9.99610312e-01 7.03319387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.350714057 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:153.05, Y:126.94, Z:7.03 [[-3.70759079e-01 -9.28690803e-01 8.43200978e-03 1.53053976e+02] [ 9.28311851e-01 -3.70849356e-01 -2.66057027e-02 1.26935350e+02] [ 2.78354768e-02 -2.03677123e-03 9.99610443e-01 7.03265365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38071405700003 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:153.06, Y:126.93, Z:7.03 [[-3.71232473e-01 -9.28504805e-01 8.07954309e-03 1.53056787e+02] [ 9.28123373e-01 -3.71312491e-01 -2.67214953e-02 1.26929090e+02] [ 2.78110720e-02 -2.42107399e-03 9.99610265e-01 7.03206887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.410714057 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:153.07, Y:126.90, Z:7.03 [[-3.66284891e-01 -9.30466834e-01 8.17619570e-03 1.53069557e+02] [ 9.30086501e-01 -3.66369698e-01 -2.66897998e-02 1.26896132e+02] [ 2.78294838e-02 -2.17150114e-03 9.99610326e-01 7.02781925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.440714057 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:153.06, Y:126.92, Z:7.03 [[-3.70418378e-01 -9.28830544e-01 8.00286075e-03 1.53061796e+02] [ 9.28448674e-01 -3.70496537e-01 -2.67465259e-02 1.26915071e+02] [ 2.78080224e-02 -2.47715929e-03 9.99610213e-01 7.03351415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.470714057 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:153.06, Y:126.91, Z:7.03 [[-3.69242640e-01 -9.29297895e-01 8.08050622e-03 1.53062390e+02] [ 9.28916645e-01 -3.69323504e-01 -2.67211000e-02 1.26913880e+02] [ 2.78161829e-02 -2.36045280e-03 9.99610268e-01 7.03371742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.500714057 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:153.06, Y:126.92, Z:7.03 [[-3.69145695e-01 -9.29336696e-01 8.04742124e-03 1.53060887e+02] [ 9.28955232e-01 -3.69225652e-01 -2.67319240e-02 1.26917631e+02] [ 2.78142723e-02 -2.39228061e-03 9.99610246e-01 7.03470430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.530714057 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:153.07, Y:126.91, Z:7.03 [[-3.64372482e-01 -9.31217591e-01 8.15432509e-03 1.53065678e+02] [ 9.30837279e-01 -3.64457447e-01 -2.66969805e-02 1.26908962e+02] [ 2.78326024e-02 -2.13729526e-03 9.99610313e-01 7.03133564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.560714057 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:153.06, Y:126.93, Z:7.03 [[-3.68435544e-01 -9.29619168e-01 7.96568283e-03 1.53058371e+02] [ 9.29237222e-01 -3.68513455e-01 -2.67585364e-02 1.26927151e+02] [ 2.78107097e-02 -2.45678694e-03 9.99610188e-01 7.03445555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.590714057 meters Centerline goodness : 0.992724 Centerline is valid? [True, True] Translation: X:153.06, Y:126.93, Z:7.03 [[-3.67909756e-01 -9.29826845e-01 8.02801699e-03 1.53056964e+02] [ 9.29445359e-01 -3.67989666e-01 -2.67381976e-02 1.26931973e+02] [ 2.78161212e-02 -2.37564061e-03 9.99610234e-01 7.03436657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.620714057 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:153.06, Y:126.94, Z:7.03 [[-3.67816928e-01 -9.29863729e-01 8.00957911e-03 1.53056014e+02] [ 9.29482127e-01 -3.67896348e-01 -2.67442102e-02 1.26938115e+02] [ 2.78151659e-02 -2.39221259e-03 9.99610221e-01 7.03418247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.650714057 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:153.06, Y:126.93, Z:7.03 [[-3.66044442e-01 -9.30560485e-01 8.28556457e-03 1.53058997e+02] [ 9.30180935e-01 -3.66132467e-01 -2.66541891e-02 1.26926948e+02] [ 2.78369493e-02 -2.04954357e-03 9.99610376e-01 7.03383883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.680714057 meters Centerline goodness : 0.992119 Centerline is valid? [True, True] Translation: X:153.06, Y:126.92, Z:7.03 [[-3.64591457e-01 -9.31133918e-01 7.91803924e-03 1.53060947e+02] [ 9.30751988e-01 -3.64669584e-01 -2.67736944e-02 1.26923394e+02] [ 2.78173630e-02 -2.39172947e-03 9.99610161e-01 7.03295944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.710714057 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:153.06, Y:126.93, Z:7.03 [[-3.61498118e-01 -9.32338395e-01 8.01422602e-03 1.53060435e+02] [ 9.31957380e-01 -3.61580260e-01 -2.67424332e-02 1.26925346e+02] [ 2.78307832e-02 -2.19842219e-03 9.99610231e-01 7.03304557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.740714057 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:153.06, Y:126.93, Z:7.03 [[-3.61293463e-01 -9.32418787e-01 7.88915433e-03 1.53060445e+02] [ 9.32036944e-01 -3.61372116e-01 -2.67830060e-02 1.26925414e+02] [ 2.78238984e-02 -2.32354171e-03 9.99610140e-01 7.03306582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.770714057 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:153.06, Y:126.93, Z:7.03 [[-3.60675606e-01 -9.32657263e-01 7.97097440e-03 1.53059539e+02] [ 9.32276025e-01 -3.60756849e-01 -2.67564659e-02 1.26927468e+02] [ 2.78301959e-02 -2.21925622e-03 9.99610202e-01 7.03385220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.800714057 meters Centerline goodness : 0.991889 Centerline is valid? [True, True] Translation: X:153.06, Y:126.92, Z:7.03 [[-3.56999544e-01 -9.34070402e-01 7.98810215e-03 1.53063321e+02] [ 9.33689605e-01 -3.57082777e-01 -2.67509136e-02 1.26920926e+02] [ 2.78396503e-02 -2.09165602e-03 9.99610213e-01 7.03111902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.830714057 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:153.06, Y:126.94, Z:7.04 [[-3.58060791e-01 -9.33662143e-01 8.21419104e-03 1.53055221e+02] [ 9.33282840e-01 -3.58150033e-01 -2.66776162e-02 1.26936807e+02] [ 2.78497931e-02 -1.88604484e-03 9.99610340e-01 7.03595501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.860714057 meters Centerline goodness : 0.993634 Centerline is valid? [True, True] Translation: X:153.06, Y:126.93, Z:7.03 [[-3.54362997e-01 -9.35074513e-01 7.90709992e-03 1.53056572e+02] [ 9.34693395e-01 -3.54444994e-01 -2.67769245e-02 1.26933170e+02] [ 2.78410516e-02 -2.09803715e-03 9.99610161e-01 7.03468354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.890714057 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:153.06, Y:126.93, Z:7.03 [[-3.52325381e-01 -9.35844516e-01 7.86560045e-03 1.53057861e+02] [ 9.35463290e-01 -3.52407026e-01 -2.67903255e-02 1.26929992e+02] [ 2.78434720e-02 -2.08093116e-03 9.99610129e-01 7.03423056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.920714057 meters Centerline goodness : 0.993335 Centerline is valid? [True, True] Translation: X:153.06, Y:126.93, Z:7.03 [[-3.50558713e-01 -9.36509313e-01 7.67436150e-03 1.53057997e+02] [ 9.36126933e-01 -3.50635620e-01 -2.68519443e-02 1.26932990e+02] [ 2.78380004e-02 -2.22900653e-03 9.99609963e-01 7.03259704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.950714057 meters Centerline goodness : 0.992905 Centerline is valid? [True, True] Translation: X:153.06, Y:126.95, Z:7.03 [[-3.44672429e-01 -9.38691416e-01 7.70343638e-03 1.53056793e+02] [ 9.38309728e-01 -3.44752565e-01 -2.68425784e-02 1.26945817e+02] [ 2.78526774e-02 -2.02368741e-03 9.99609990e-01 7.02917397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.980714057 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:153.04, Y:126.96, Z:7.04 [[-3.70276465e-01 -9.28891497e-01 7.47837478e-03 1.53039310e+02] [ 9.28506394e-01 -3.70339645e-01 -2.69151416e-02 1.26959814e+02] [ 2.77707849e-02 -3.02232470e-03 9.99609748e-01 7.03647995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01071405700003 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:153.05, Y:126.94, Z:7.03 [[-3.48227160e-01 -9.37370693e-01 8.60405352e-03 1.53054957e+02] [ 9.36995355e-01 -3.48331428e-01 -2.65503687e-02 1.26944937e+02] [ 2.78845998e-02 -1.18360131e-03 9.99610448e-01 7.02914831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.040714057 meters Centerline goodness : 0.992014 Centerline is valid? [True, True] Translation: X:153.04, Y:126.96, Z:7.04 [[-3.70001587e-01 -9.28999977e-01 7.60710118e-03 1.53039253e+02] [ 9.28615725e-01 -3.70068585e-01 -2.68714936e-02 1.26957854e+02] [ 2.77787661e-02 -2.87842152e-03 9.99609951e-01 7.03639273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07071405700003 meters Centerline goodness : 0.992981 Centerline is valid? [True, True] Translation: X:153.05, Y:126.95, Z:7.03 [[-3.46224142e-01 -9.38112502e-01 8.58938211e-03 1.53052955e+02] [ 9.37737309e-01 -3.46328798e-01 -2.65537696e-02 1.26947224e+02] [ 2.78851736e-02 -1.13897202e-03 9.99610484e-01 7.03112053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.100714057 meters Centerline goodness : 0.992837 Centerline is valid? [True, True] Translation: X:153.05, Y:126.95, Z:7.03 [[-3.45855725e-01 -9.38258047e-01 7.46024172e-03 1.53053570e+02] [ 9.37874745e-01 -3.45928448e-01 -2.69160096e-02 1.26945542e+02] [ 2.78348725e-02 -2.31228373e-03 9.99609861e-01 7.03118026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13071405700003 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:153.05, Y:126.95, Z:7.03 [[-3.46261200e-01 -9.38108020e-01 7.51830892e-03 1.53050558e+02] [ 9.37725072e-01 -3.46335416e-01 -2.68973840e-02 1.26951026e+02] [ 2.78365082e-02 -2.26341366e-03 9.99609927e-01 7.03148165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.160714057 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:153.03, Y:126.97, Z:7.04 [[-3.66559195e-01 -9.30363047e-01 7.67843603e-03 1.53031386e+02] [ 9.29979562e-01 -3.66629667e-01 -2.68458870e-02 1.26969739e+02] [ 2.77915637e-02 -2.69981815e-03 9.99610094e-01 7.04040929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.190714057 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:153.05, Y:126.94, Z:7.03 [[-3.42835281e-01 -9.39356411e-01 8.57347198e-03 1.53051662e+02] [ 9.38981526e-01 -3.42940844e-01 -2.65569525e-02 1.26937697e+02] [ 2.78866372e-02 -1.05432844e-03 9.99610536e-01 7.03299336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.220714057 meters Centerline goodness : 0.991635 Centerline is valid? [True, True] Translation: X:153.03, Y:126.98, Z:7.04 [[-3.65399537e-01 -9.30821106e-01 7.43285108e-03 1.53025528e+02] [ 9.30436250e-01 -3.65463447e-01 -2.69230858e-02 1.26979672e+02] [ 2.77770118e-02 -2.92188898e-03 9.99609874e-01 7.03999821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.250714057 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:153.04, Y:126.95, Z:7.03 [[-3.45806815e-01 -9.38266644e-01 8.56454655e-03 1.53042536e+02] [ 9.37891404e-01 -3.45910941e-01 -2.65581542e-02 1.26951966e+02] [ 2.78812006e-02 -1.15137615e-03 9.99610581e-01 7.03358214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.280714057 meters Centerline goodness : 0.989657 Centerline is valid? [True, True] Translation: X:153.05, Y:126.94, Z:7.03 [[-3.47482172e-01 -9.37656031e-01 7.57015898e-03 1.53045946e+02] [ 9.37273459e-01 -3.47557381e-01 -2.68761832e-02 1.26938387e+02] [ 2.78316799e-02 -2.24368544e-03 9.99610106e-01 7.03308206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.310714057 meters Centerline goodness : 0.991108 Centerline is valid? [True, True] Translation: X:153.03, Y:126.96, Z:7.04 [[-3.65162552e-01 -9.30908609e-01 8.09155390e-03 1.53027614e+02] [ 9.30528028e-01 -3.65245421e-01 -2.67089997e-02 1.26960163e+02] [ 2.78190407e-02 -2.22370878e-03 9.99610502e-01 7.03854366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.340714057 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:153.03, Y:126.97, Z:7.04 [[-3.50729332e-01 -9.36438028e-01 8.52966072e-03 1.53031362e+02] [ 9.36062008e-01 -3.50830500e-01 -2.65683504e-02 1.26968860e+02] [ 2.78720788e-02 -1.33400843e-03 9.99610608e-01 7.03513270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.370714057 meters Centerline goodness : 0.991259 Centerline is valid? [True, True] Translation: X:153.04, Y:126.95, Z:7.03 [[-3.49042433e-01 -9.37074534e-01 7.79089617e-03 1.53036591e+02] [ 9.36693358e-01 -3.49123305e-01 -2.68043082e-02 1.26952484e+02] [ 2.78376180e-02 -2.05816025e-03 9.99610340e-01 7.03421957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.400714057 meters Centerline goodness : 0.991165 Centerline is valid? [True, True] Translation: X:153.03, Y:126.95, Z:7.03 [[-3.50746247e-01 -9.36439649e-01 7.60616960e-03 1.53034468e+02] [ 9.36057097e-01 -3.50821155e-01 -2.68631408e-02 1.26953009e+02] [ 2.78241153e-02 -2.30233677e-03 9.99610183e-01 7.03443729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.430714057 meters Centerline goodness : 0.991317 Centerline is valid? [True, True] Translation: X:153.03, Y:126.95, Z:7.03 [[-3.49175447e-01 -9.37025401e-01 7.73988314e-03 1.53033808e+02] [ 9.36643868e-01 -3.49254811e-01 -2.68205494e-02 1.26954003e+02] [ 2.78347275e-02 -2.11556324e-03 9.99610300e-01 7.03400632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.460714057 meters Centerline goodness : 0.991668 Centerline is valid? [True, True] Translation: X:153.03, Y:126.96, Z:7.04 [[-3.49475442e-01 -9.36914401e-01 7.63686562e-03 1.53027708e+02] [ 9.36532154e-01 -3.49551745e-01 -2.68533452e-02 1.26964412e+02] [ 2.78287655e-02 -2.23241447e-03 9.99610212e-01 7.03548009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.490714057 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:153.01, Y:127.01, Z:7.04 [[-3.50424365e-01 -9.36559006e-01 7.74550913e-03 1.53010757e+02] [ 9.36177407e-01 -3.50503381e-01 -2.68186813e-02 1.27012338e+02] [ 2.78321046e-02 -2.14674871e-03 9.99610307e-01 7.03824639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.520714057 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:153.02, Y:126.97, Z:7.04 [[-3.46352092e-01 -9.38072962e-01 7.70364934e-03 1.53022063e+02] [ 9.37691425e-01 -3.46431572e-01 -2.68320261e-02 1.26970806e+02] [ 2.78391855e-02 -2.06968245e-03 9.99610272e-01 7.03627296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.550714057 meters Centerline goodness : 0.991920 Centerline is valid? [True, True] Translation: X:153.02, Y:126.97, Z:7.04 [[-3.44641753e-01 -9.38703813e-01 7.56398362e-03 1.53022164e+02] [ 9.38321478e-01 -3.44717948e-01 -2.68763923e-02 1.26968324e+02] [ 2.78364128e-02 -2.16527867e-03 9.99610147e-01 7.03574346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.580714057 meters Centerline goodness : 0.992194 Centerline is valid? [True, True] Translation: X:153.01, Y:126.98, Z:7.04 [[-3.44596729e-01 -9.38720561e-01 7.53680298e-03 1.53014125e+02] [ 9.38338048e-01 -3.44672167e-01 -2.68850236e-02 1.26983560e+02] [ 2.78352506e-02 -2.19242220e-03 9.99610120e-01 7.03646753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.610714057 meters Centerline goodness : 0.990901 Centerline is valid? [True, True] Translation: X:153.01, Y:126.98, Z:7.04 [[-3.43510810e-01 -9.39118265e-01 7.56355638e-03 1.53014343e+02] [ 9.38736020e-01 -3.43587453e-01 -2.68765269e-02 1.26979589e+02] [ 2.78389804e-02 -2.13219471e-03 9.99610146e-01 7.03562249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.640714057 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:153.01, Y:127.00, Z:7.04 [[-3.43038605e-01 -9.39289846e-01 7.68774777e-03 1.53006233e+02] [ 9.38908482e-01 -3.43118979e-01 -2.68370776e-02 1.27000537e+02] [ 2.78456066e-02 -1.98806207e-03 9.99610259e-01 7.03604486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.670714057 meters Centerline goodness : 0.992053 Centerline is valid? [True, True] Translation: X:153.01, Y:126.97, Z:7.03 [[-3.38437131e-01 -9.40957842e-01 7.65822362e-03 1.53013603e+02] [ 9.40576671e-01 -3.38518530e-01 -2.68464382e-02 1.26969851e+02] [ 2.78538172e-02 -1.88268504e-03 9.99610234e-01 7.03464496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.700714057 meters Centerline goodness : 0.991211 Centerline is valid? [True, True] Translation: X:153.02, Y:126.96, Z:7.03 [[-3.35977051e-01 -9.41841014e-01 7.41120710e-03 1.53015816e+02] [ 9.41458364e-01 -3.36052415e-01 -2.69244213e-02 1.26962275e+02] [ 2.78490783e-02 -2.06864474e-03 9.99609999e-01 7.03319958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.730714057 meters Centerline goodness : 0.991356 Centerline is valid? [True, True] Translation: X:153.01, Y:126.97, Z:7.03 [[-3.34070108e-01 -9.42518465e-01 7.49036093e-03 1.53010626e+02] [ 9.42136508e-01 -3.34148500e-01 -2.68994433e-02 1.26969308e+02] [ 2.78561149e-02 -1.92935744e-03 9.99610081e-01 7.03422709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76071405700003 meters Centerline goodness : 0.990565 Centerline is valid? [True, True] Translation: X:153.01, Y:126.96, Z:7.03 [[-3.32443167e-01 -9.43094532e-01 7.36509693e-03 1.53014311e+02] [ 9.42711855e-01 -3.32518652e-01 -2.69388970e-02 1.26956545e+02] [ 2.78549586e-02 -2.01248807e-03 9.99609950e-01 7.03494401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.790714057 meters Centerline goodness : 0.991262 Centerline is valid? [True, True] Translation: X:153.01, Y:126.98, Z:7.04 [[-3.31963415e-01 -9.43260783e-01 7.70622371e-03 1.53005817e+02] [ 9.42880521e-01 -3.32048795e-01 -2.68313421e-02 1.26976865e+02] [ 2.78677951e-02 -1.64097574e-03 9.99610271e-01 7.03525018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82071405700003 meters Centerline goodness : 0.991788 Centerline is valid? [True, True] Translation: X:153.01, Y:126.96, Z:7.03 [[-3.25848611e-01 -9.45393227e-01 7.37083231e-03 1.53010839e+02] [ 9.45011136e-01 -3.25926930e-01 -2.69367622e-02 1.26962445e+02] [ 2.78681853e-02 -1.81178793e-03 9.99609965e-01 7.03415155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.850714057 meters Centerline goodness : 0.991100 Centerline is valid? [True, True] Translation: X:153.00, Y:126.97, Z:7.04 [[-3.33334229e-01 -9.42782204e-01 7.07168406e-03 1.53003590e+02] [ 9.42397547e-01 -3.33400980e-01 -2.70305385e-02 1.26974373e+02] [ 2.78416171e-02 -2.34586600e-03 9.99609594e-01 7.03724414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88071405700003 meters Centerline goodness : 0.990963 Centerline is valid? [True, True] Translation: X:153.00, Y:126.98, Z:7.04 [[-3.31188435e-01 -9.43534950e-01 7.48461410e-03 1.53002278e+02] [ 9.43153207e-01 -3.31267831e-01 -2.69007990e-02 1.26979469e+02] [ 2.78612559e-02 -1.85009573e-03 9.99610088e-01 7.03709647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.910714057 meters Centerline goodness : 0.991964 Centerline is valid? [True, True] Translation: X:153.00, Y:126.98, Z:7.04 [[-3.34112072e-01 -9.42504244e-01 7.40765646e-03 1.52999769e+02] [ 9.42121736e-01 -3.34188093e-01 -2.69249551e-02 1.26984451e+02] [ 2.78524351e-02 -2.01703838e-03 9.99610011e-01 7.03806636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.940714057 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:153.00, Y:126.99, Z:7.04 [[-3.36942812e-01 -9.41495295e-01 7.49335346e-03 1.52997808e+02] [ 9.41113134e-01 -3.37020125e-01 -2.68980483e-02 1.26987078e+02] [ 2.78497969e-02 -2.01101069e-03 9.99610096e-01 7.03898661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.970714057 meters Centerline goodness : 0.989597 Centerline is valid? [True, True] Translation: X:152.99, Y:127.00, Z:7.04 [[-3.40315598e-01 -9.40281395e-01 7.49615756e-03 1.52994495e+02] [ 9.39898977e-01 -3.40391621e-01 -2.68971679e-02 1.27001694e+02] [ 2.78425358e-02 -2.10789495e-03 9.99610099e-01 7.04007854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.000714057 meters Centerline goodness : 0.990876 Centerline is valid? [True, True] Translation: X:152.99, Y:127.02, Z:7.04 [[-3.42332152e-01 -9.39546695e-01 7.79135543e-03 1.52989899e+02] [ 9.39166106e-01 -3.42415761e-01 -2.68043456e-02 1.27018277e+02] [ 2.78518172e-02 -1.85861239e-03 9.99610335e-01 7.03681571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.030714057 meters Centerline goodness : 0.991096 Centerline is valid? [True, True] Translation: X:152.99, Y:127.00, Z:7.04 [[-3.45677904e-01 -9.38322161e-01 7.63598210e-03 1.52994695e+02] [ 9.37940235e-01 -3.45755731e-01 -2.68531145e-02 1.27004207e+02] [ 2.78370570e-02 -2.12043350e-03 9.99610225e-01 7.03550470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.060714057 meters Centerline goodness : 0.991096 Centerline is valid? [True, True] Translation: X:152.99, Y:127.01, Z:7.04 [[-3.45368379e-01 -9.38436793e-01 7.55429309e-03 1.52993850e+02] [ 9.38054357e-01 -3.45444003e-01 -2.68787019e-02 1.27006731e+02] [ 2.78335481e-02 -2.19671618e-03 9.99610158e-01 7.03554241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.090714057 meters Centerline goodness : 0.991071 Centerline is valid? [True, True] Translation: X:152.99, Y:127.01, Z:7.03 [[-3.46902515e-01 -9.37870832e-01 7.54641436e-03 1.52994951e+02] [ 9.37488221e-01 -3.46977288e-01 -2.68811667e-02 1.27006232e+02] [ 2.78294965e-02 -2.25046974e-03 9.99610151e-01 7.03384890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.120714057 meters Centerline goodness : 0.991540 Centerline is valid? [True, True] Translation: X:152.99, Y:127.01, Z:7.03 [[-3.49567238e-01 -9.36880146e-01 7.63794088e-03 1.52994721e+02] [ 9.36497912e-01 -3.49643536e-01 -2.68525404e-02 1.27011110e+02] [ 2.78281686e-02 -2.23385270e-03 9.99610226e-01 7.03292836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.150714057 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:152.99, Y:127.02, Z:7.03 [[-3.52532360e-01 -9.35768858e-01 7.58818314e-03 1.52991015e+02] [ 9.35386068e-01 -3.52606026e-01 -2.68680994e-02 1.27020777e+02] [ 2.78179697e-02 -2.37399368e-03 9.99610186e-01 7.03491172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.180714057 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:152.99, Y:127.03, Z:7.04 [[-3.53587587e-01 -9.35370574e-01 7.59658032e-03 1.52988155e+02] [ 9.34987754e-01 -3.53661061e-01 -2.68654748e-02 1.27030058e+02] [ 2.78157893e-02 -2.39658884e-03 9.99610193e-01 7.03549406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.210714057 meters Centerline goodness : 0.991010 Centerline is valid? [True, True] Translation: X:152.98, Y:127.05, Z:7.04 [[-3.56936969e-01 -9.34097697e-01 7.58232655e-03 1.52981895e+02] [ 9.33714529e-01 -3.57008663e-01 -2.68699303e-02 1.27047502e+02] [ 2.78060963e-02 -2.51114302e-03 9.99610182e-01 7.03742371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.240714057 meters Centerline goodness : 0.991941 Centerline is valid? [True, True] Translation: X:152.99, Y:127.03, Z:7.04 [[-3.55748492e-01 -9.34549784e-01 7.72729462e-03 1.52985739e+02] [ 9.34167620e-01 -3.55824814e-01 -2.68246155e-02 1.27034393e+02] [ 2.78185018e-02 -2.32422810e-03 9.99610289e-01 7.03831986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.270714057 meters Centerline goodness : 0.990565 Centerline is valid? [True, True] Translation: X:152.98, Y:127.06, Z:7.04 [[-3.59376246e-01 -9.33162372e-01 7.53005568e-03 1.52977393e+02] [ 9.32778701e-01 -3.59445443e-01 -2.68862056e-02 1.27061227e+02] [ 2.77958396e-02 -2.63838806e-03 9.99610139e-01 7.04076679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.300714057 meters Centerline goodness : 0.991159 Centerline is valid? [True, True] Translation: X:152.98, Y:127.04, Z:7.04 [[-3.56913665e-01 -9.34102969e-01 8.01746341e-03 1.52983112e+02] [ 9.33722596e-01 -3.56997785e-01 -2.67337904e-02 1.27042632e+02] [ 2.78343296e-02 -2.05556834e-03 9.99610436e-01 7.04094300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.330714057 meters Centerline goodness : 0.991678 Centerline is valid? [True, True] Translation: X:152.98, Y:127.05, Z:7.04 [[-3.57224730e-01 -9.33985941e-01 7.79449647e-03 1.52980041e+02] [ 9.33604092e-01 -3.57302367e-01 -2.68033272e-02 1.27051604e+02] [ 2.78189228e-02 -2.29783752e-03 9.99610338e-01 7.04229042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.360714057 meters Centerline goodness : 0.989791 Centerline is valid? [True, True] Translation: X:152.99, Y:127.03, Z:7.05 [[-3.56799492e-01 -9.34149945e-01 7.61597201e-03 1.52987334e+02] [ 9.33767009e-01 -3.56872206e-01 -2.68589017e-02 1.27030165e+02] [ 2.78081703e-02 -2.47169910e-03 9.99610222e-01 7.04615459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.390714057 meters Centerline goodness : 0.991267 Centerline is valid? [True, True] Translation: X:152.99, Y:127.03, Z:7.04 [[-3.58283521e-01 -9.33580015e-01 7.82775725e-03 1.52987097e+02] [ 9.33198289e-01 -3.58361674e-01 -2.67929889e-02 1.27033039e+02] [ 2.78185672e-02 -2.29463671e-03 9.99610355e-01 7.04454281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.420714057 meters Centerline goodness : 0.992037 Centerline is valid? [True, True] Translation: X:152.99, Y:127.03, Z:7.04 [[-3.52794673e-01 -9.35666762e-01 7.97682184e-03 1.52988995e+02] [ 9.35286486e-01 -3.52879311e-01 -2.67466178e-02 1.27031895e+02] [ 2.78407767e-02 -1.97545063e-03 9.99610418e-01 7.03910545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.450714057 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:152.99, Y:127.03, Z:7.04 [[-3.54414058e-01 -9.35059038e-01 7.43445659e-03 1.52990340e+02] [ 9.34675193e-01 -3.54482562e-01 -2.69146220e-02 1.27025443e+02] [ 2.78021458e-02 -2.59011826e-03 9.99610090e-01 7.03894750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.480714057 meters Centerline goodness : 0.991311 Centerline is valid? [True, True] Translation: X:152.98, Y:127.05, Z:7.04 [[-3.55405178e-01 -9.34681673e-01 7.57169095e-03 1.52981601e+02] [ 9.34298588e-01 -3.55477199e-01 -2.68721031e-02 1.27049873e+02] [ 2.78084258e-02 -2.47626442e-03 9.99610204e-01 7.04067360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51071405700003 meters Centerline goodness : 0.991106 Centerline is valid? [True, True] Translation: X:152.98, Y:127.05, Z:7.04 [[-3.52684499e-01 -9.35711374e-01 7.60714761e-03 1.52979470e+02] [ 9.35328722e-01 -3.52758647e-01 -2.68611126e-02 1.27054161e+02] [ 2.78177357e-02 -2.35831440e-03 9.99610230e-01 7.04061919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.540714057 meters Centerline goodness : 0.991162 Centerline is valid? [True, True] Translation: X:152.98, Y:127.06, Z:7.04 [[-3.51769200e-01 -9.36055928e-01 7.59803305e-03 1.52975225e+02] [ 9.35673291e-01 -3.51843462e-01 -2.68639356e-02 1.27063160e+02] [ 2.78194644e-02 -2.34062856e-03 9.99610223e-01 7.04150593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57071405700003 meters Centerline goodness : 0.991325 Centerline is valid? [True, True] Translation: X:152.98, Y:127.05, Z:7.04 [[-3.48047814e-01 -9.37445542e-01 7.65337844e-03 1.52978942e+02] [ 9.37063558e-01 -3.48125173e-01 -2.68468167e-02 1.27048879e+02] [ 2.78317624e-02 -2.17227384e-03 9.99610261e-01 7.04041510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.600714057 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:152.98, Y:127.04, Z:7.04 [[-3.45831929e-01 -9.38266270e-01 7.52876585e-03 1.52979729e+02] [ 9.37883670e-01 -3.45906639e-01 -2.68852822e-02 1.27042309e+02] [ 2.78298035e-02 -2.23668246e-03 9.99610174e-01 7.04059099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63071405700003 meters Centerline goodness : 0.990585 Centerline is valid? [True, True] Translation: X:152.98, Y:127.04, Z:7.04 [[-3.41900859e-01 -9.39706076e-01 7.50289824e-03 1.52981017e+02] [ 9.39323625e-01 -3.41976432e-01 -2.68932525e-02 1.27035710e+02] [ 2.78375672e-02 -2.14717656e-03 9.99610154e-01 7.03995912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.660714057 meters Centerline goodness : 0.991783 Centerline is valid? [True, True] Translation: X:152.98, Y:127.03, Z:7.04 [[-3.40061258e-01 -9.40373304e-01 7.50935047e-03 1.52982540e+02] [ 9.39991043e-01 -3.40137763e-01 -2.68912667e-02 1.27028966e+02] [ 2.78420430e-02 -2.08595578e-03 9.99610159e-01 7.04142786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.690714057 meters Centerline goodness : 0.991164 Centerline is valid? [True, True] Translation: X:152.98, Y:127.03, Z:7.04 [[-3.37926950e-01 -9.41142979e-01 7.43438236e-03 1.52981314e+02] [ 9.40760406e-01 -3.38002188e-01 -2.69143008e-02 1.27031946e+02] [ 2.78430427e-02 -2.10109501e-03 9.99610099e-01 7.04312819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.720714057 meters Centerline goodness : 0.990414 Centerline is valid? [True, True] Translation: X:152.98, Y:127.03, Z:7.04 [[-3.37208345e-01 -9.41400438e-01 7.46646807e-03 1.52981992e+02] [ 9.41018131e-01 -3.37284788e-01 -2.69044487e-02 1.27029719e+02] [ 2.78461859e-02 -2.04632279e-03 9.99610125e-01 7.04365349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.750714057 meters Centerline goodness : 0.990477 Centerline is valid? [True, True] Translation: X:152.98, Y:127.03, Z:7.04 [[-3.35028074e-01 -9.42177915e-01 7.54765792e-03 1.52983301e+02] [ 9.41796322e-01 -3.35107712e-01 -2.68795314e-02 1.27027246e+02] [ 2.78545793e-02 -1.89704117e-03 9.99610186e-01 7.04323561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.780714057 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:152.99, Y:127.04, Z:7.04 [[-3.32084991e-01 -9.43219602e-01 7.50613020e-03 1.52985725e+02] [ 9.42837981e-01 -3.32164640e-01 -2.68922673e-02 1.27040686e+02] [ 2.78585847e-02 -1.85345371e-03 9.99610156e-01 7.03976532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.810714057 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:152.99, Y:127.04, Z:7.04 [[-3.26133751e-01 -9.45294786e-01 7.38541514e-03 1.52990717e+02] [ 9.44912855e-01 -3.26212375e-01 -2.69292157e-02 1.27037249e+02] [ 2.78652610e-02 -1.80395243e-03 9.99610060e-01 7.04058305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.840714057 meters Centerline goodness : 0.990668 Centerline is valid? [True, True] Translation: X:152.99, Y:127.05, Z:7.04 [[-3.24296986e-01 -9.45927499e-01 7.25480966e-03 1.52988667e+02] [ 9.45544847e-01 -3.24372640e-01 -2.69691149e-02 1.27045211e+02] [ 2.78640891e-02 -1.88625478e-03 9.99609941e-01 7.04245234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.870714057 meters Centerline goodness : 0.990952 Centerline is valid? [True, True] Translation: X:152.99, Y:127.05, Z:7.04 [[-3.21597919e-01 -9.46848655e-01 7.23894177e-03 1.52989487e+02] [ 9.46466115e-01 -3.21674213e-01 -2.69739585e-02 1.27046988e+02] [ 2.78688372e-02 -1.82335584e-03 9.99609926e-01 7.04298036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.900714057 meters Centerline goodness : 0.990871 Centerline is valid? [True, True] Translation: X:152.99, Y:127.06, Z:7.04 [[-3.17540050e-01 -9.48218028e-01 7.13365642e-03 1.52991153e+02] [ 9.47835107e-01 -3.17614990e-01 -2.70060713e-02 1.27055434e+02] [ 2.78733999e-02 -1.81397922e-03 9.99609815e-01 7.04167655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.930714057 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:152.99, Y:127.06, Z:7.04 [[-3.14042487e-01 -9.49382305e-01 7.11018324e-03 1.52994527e+02] [ 9.48999505e-01 -3.14118171e-01 -2.70132251e-02 1.27056088e+02] [ 2.78793157e-02 -1.73574004e-03 9.99609789e-01 7.03902705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.960714057 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:153.00, Y:127.06, Z:7.04 [[-3.07561322e-01 -9.51501871e-01 7.08677107e-03 1.52999232e+02] [ 9.51119433e-01 -3.07638951e-01 -2.70203513e-02 1.27058268e+02] [ 2.78900816e-02 -1.57004928e-03 9.99609763e-01 7.03616086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.990714057 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:153.00, Y:127.07, Z:7.04 [[-3.01811111e-01 -9.53341385e-01 7.08918167e-03 1.52998723e+02] [ 9.52959440e-01 -3.01891115e-01 -2.70196183e-02 1.27065773e+02] [ 2.78990813e-02 -1.39911842e-03 9.99609766e-01 7.03595965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.020714057 meters Centerline goodness : 0.989694 Centerline is valid? [True, True] Translation: X:152.98, Y:127.07, Z:7.05 [[-3.24687654e-01 -9.45795584e-01 6.97431643e-03 1.52982578e+02] [ 9.45411093e-01 -3.24755161e-01 -2.70545830e-02 1.27071156e+02] [ 2.78530504e-02 -2.19069297e-03 9.99609628e-01 7.04645996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.050714057 meters Centerline goodness : 0.990475 Centerline is valid? [True, True] Translation: X:153.00, Y:127.05, Z:7.04 [[-2.88668799e-01 -9.57394172e-01 8.16847810e-03 1.53004998e+02] [ 9.57022102e-01 -2.88784326e-01 -2.66891204e-02 1.27051372e+02] [ 2.79109367e-02 1.13097752e-04 9.99610408e-01 7.03857775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.080714057 meters Centerline goodness : 0.991490 Centerline is valid? [True, True] Translation: X:153.01, Y:127.06, Z:7.04 [[-2.89237093e-01 -9.57233272e-01 6.80927965e-03 1.53007228e+02] [ 9.56850484e-01 -2.89314210e-01 -2.71005519e-02 1.27056332e+02] [ 2.79115714e-02 -1.32302234e-03 9.99609521e-01 7.04056717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.110714057 meters Centerline goodness : 0.990566 Centerline is valid? [True, True] Translation: X:153.00, Y:127.06, Z:7.05 [[-3.09857510e-01 -9.50756545e-01 7.09335394e-03 1.52995409e+02] [ 9.50374078e-01 -3.09934409e-01 -2.70143312e-02 1.27059779e+02] [ 2.78825266e-02 -1.62925368e-03 9.99609879e-01 7.04847495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.140714057 meters Centerline goodness : 0.987997 Centerline is valid? [True, True] Translation: X:153.01, Y:127.06, Z:7.05 [[-2.85920946e-01 -9.58218625e-01 8.14124386e-03 1.53012318e+02] [ 9.57846725e-01 -2.86036781e-01 -2.66947682e-02 1.27057667e+02] [ 2.79081192e-02 1.65470399e-04 9.99610479e-01 7.04789904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.170714057 meters Centerline goodness : 0.989358 Centerline is valid? [True, True] Translation: X:153.01, Y:127.06, Z:7.05 [[-2.86264861e-01 -9.58121080e-01 7.51175364e-03 1.53011691e+02] [ 9.57743915e-01 -2.86362960e-01 -2.68858572e-02 1.27064006e+02] [ 2.79109945e-02 -5.02139836e-04 9.99610286e-01 7.04941708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.200714057 meters Centerline goodness : 0.991257 Centerline is valid? [True, True] Translation: X:153.00, Y:127.07, Z:7.05 [[-3.09390148e-01 -9.50906514e-01 7.38491527e-03 1.53000474e+02] [ 9.50526168e-01 -3.09475497e-01 -2.69243471e-02 1.27071259e+02] [ 2.78879874e-02 -1.31057255e-03 9.99610195e-01 7.05140317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.230714057 meters Centerline goodness : 0.991388 Centerline is valid? [True, True] Translation: X:153.01, Y:127.08, Z:7.05 [[-3.14053317e-01 -9.49370586e-01 8.12432027e-03 1.53005552e+02] [ 9.48995316e-01 -3.14157659e-01 -2.66993631e-02 1.27079967e+02] [ 2.78999074e-02 -6.75081673e-04 9.99610494e-01 7.05002438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26071405700003 meters Centerline goodness : 0.992394 Centerline is valid? [True, True] Translation: X:153.01, Y:127.08, Z:7.05 [[-3.16585391e-01 -9.48529310e-01 8.11414200e-03 1.53010123e+02] [ 9.48153684e-01 -3.16688445e-01 -2.67024560e-02 1.27081970e+02] [ 2.78977172e-02 -7.60153836e-04 9.99610494e-01 7.04932885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.290714057 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:153.01, Y:127.09, Z:7.05 [[-3.19299816e-01 -9.47619097e-01 8.10395578e-03 1.53012339e+02] [ 9.47243100e-01 -3.19401507e-01 -2.67055471e-02 1.27091081e+02] [ 2.78951021e-02 -8.50660068e-04 9.99610494e-01 7.04817196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32071405700003 meters Centerline goodness : 0.993246 Centerline is valid? [True, True] Translation: X:153.02, Y:127.10, Z:7.05 [[-3.25827197e-01 -9.45394695e-01 8.09375660e-03 1.53017374e+02] [ 9.45017930e-01 -3.25926005e-01 -2.67086378e-02 1.27099242e+02] [ 2.78881703e-02 -1.05365549e-03 9.99610494e-01 7.04610768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.350714057 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:153.03, Y:127.11, Z:7.04 [[-3.10624227e-01 -9.50498420e-01 8.08352234e-03 1.53029618e+02] [ 9.50123208e-01 -3.10728778e-01 -2.67117349e-02 1.27106676e+02] [ 2.79012449e-02 -6.16969847e-04 9.99610494e-01 7.04254827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38071405700003 meters Centerline goodness : 0.992193 Centerline is valid? [True, True] Translation: X:153.03, Y:127.11, Z:7.05 [[-3.19426459e-01 -9.47583002e-01 7.29323841e-03 1.53034153e+02] [ 9.47201218e-01 -3.19505185e-01 -2.69497474e-02 1.27108115e+02] [ 2.78673500e-02 -1.70029807e-03 9.99610184e-01 7.04596374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.410714057 meters Centerline goodness : 0.992450 Centerline is valid? [True, True] Translation: X:153.03, Y:127.12, Z:7.04 [[-3.19790300e-01 -9.47458425e-01 7.52976045e-03 1.53034881e+02] [ 9.47078222e-01 -3.19875584e-01 -2.68784762e-02 1.27119943e+02] [ 2.78748253e-02 -1.46420384e-03 9.99610349e-01 7.04286803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.440714057 meters Centerline goodness : 0.990923 Centerline is valid? [True, True] Translation: X:153.04, Y:127.12, Z:7.04 [[-3.22169992e-01 -9.46652297e-01 7.47834197e-03 1.53037746e+02] [ 9.46271529e-01 -3.22252864e-01 -2.68939645e-02 1.27121198e+02] [ 2.78691504e-02 -1.58788625e-03 9.99610319e-01 7.04403160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.470714057 meters Centerline goodness : 0.992474 Centerline is valid? [True, True] Translation: X:153.04, Y:127.12, Z:7.04 [[-3.21590532e-01 -9.46847506e-01 7.70259923e-03 1.53042767e+02] [ 9.46468346e-01 -3.21679985e-01 -2.68264111e-02 1.27121558e+02] [ 2.78782924e-02 -1.33685344e-03 9.99610431e-01 7.04225001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.500714057 meters Centerline goodness : 0.992275 Centerline is valid? [True, True] Translation: X:153.05, Y:127.12, Z:7.04 [[-3.21085489e-01 -9.47022379e-01 7.26103436e-03 1.53046565e+02] [ 9.46640260e-01 -3.21162633e-01 -2.69588773e-02 1.27119115e+02] [ 2.78626330e-02 -1.78251685e-03 9.99610172e-01 7.04109261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.530714057 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:153.04, Y:127.13, Z:7.05 [[-3.39866649e-01 -9.40445100e-01 7.32628622e-03 1.53037044e+02] [ 9.40061917e-01 -3.39938034e-01 -2.69392987e-02 1.27130870e+02] [ 2.78254148e-02 -2.26860654e-03 9.99610224e-01 7.04589367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.560714057 meters Centerline goodness : 0.993112 Centerline is valid? [True, True] Translation: X:153.04, Y:127.14, Z:7.05 [[-3.40206803e-01 -9.40316240e-01 8.04360091e-03 1.53037158e+02] [ 9.39937677e-01 -3.40298434e-01 -2.67233990e-02 1.27135669e+02] [ 2.78656709e-02 -1.53099859e-03 9.99610504e-01 7.04719998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.590714057 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:153.04, Y:127.14, Z:7.05 [[-3.40337281e-01 -9.40269112e-01 8.03325089e-03 1.53039749e+02] [ 9.39890464e-01 -3.40428566e-01 -2.67265099e-02 1.27139517e+02] [ 2.78648598e-02 -1.54565180e-03 9.99610504e-01 7.04759763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.620714057 meters Centerline goodness : 0.992968 Centerline is valid? [True, True] Translation: X:153.06, Y:127.11, Z:7.04 [[-3.20254436e-01 -9.47297593e-01 8.02289266e-03 1.53060489e+02] [ 9.46920897e-01 -3.20353465e-01 -2.67296190e-02 1.27111014e+02] [ 2.78910652e-02 -9.63234323e-04 9.99610504e-01 7.04239877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.650714057 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:153.06, Y:127.11, Z:7.04 [[-3.17362685e-01 -9.48277794e-01 7.08172106e-03 1.53064836e+02] [ 9.47894878e-01 -3.17436243e-01 -2.70098474e-02 1.27113306e+02] [ 2.78608334e-02 -1.85919058e-03 9.99610083e-01 7.04048052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.680714057 meters Centerline goodness : 0.992928 Centerline is valid? [True, True] Translation: X:153.04, Y:127.15, Z:7.05 [[-3.41300024e-01 -9.39929199e-01 6.88437814e-03 1.53044690e+02] [ 9.39543432e-01 -3.41358207e-01 -2.70686897e-02 1.27146866e+02] [ 2.77926908e-02 -2.77037217e-03 9.99609870e-01 7.04524395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.710714057 meters Centerline goodness : 0.992996 Centerline is valid? [True, True] Translation: X:152.95, Y:127.48, Z:7.05 [[-3.37403811e-01 -9.41325900e-01 8.01357253e-03 1.52947961e+02] [ 9.40947466e-01 -3.37495723e-01 -2.67301832e-02 1.27480499e+02] [ 2.78663603e-02 -1.47851493e-03 9.99610564e-01 7.05207247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.740714057 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:152.95, Y:127.49, Z:7.05 [[-3.36035942e-01 -9.41816862e-01 7.80024323e-03 1.52950157e+02] [ 9.41437099e-01 -3.36122360e-01 -2.67945294e-02 1.27485057e+02] [ 2.78573757e-02 -1.66048656e-03 9.99610529e-01 7.05114787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.770714057 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:153.05, Y:127.15, Z:7.04 [[-3.42040701e-01 -9.39654235e-01 7.62090841e-03 1.53045889e+02] [ 9.39272782e-01 -3.42119597e-01 -2.68481468e-02 1.27154755e+02] [ 2.78352369e-02 -2.02504709e-03 9.99610474e-01 7.04455554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.800714057 meters Centerline goodness : 0.991542 Centerline is valid? [True, True] Translation: X:153.06, Y:127.14, Z:7.04 [[-3.28031715e-01 -9.44632986e-01 7.98227124e-03 1.53060933e+02] [ 9.44255240e-01 -3.28126499e-01 -2.67402780e-02 1.27135792e+02] [ 2.78789433e-02 -1.23435780e-03 9.99610545e-01 7.04347698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.830714057 meters Centerline goodness : 0.991440 Centerline is valid? [True, True] Translation: X:153.06, Y:127.15, Z:7.04 [[-3.28527252e-01 -9.44466605e-01 7.25789841e-03 1.53057467e+02] [ 9.44083996e-01 -3.28601306e-01 -2.69553552e-02 1.27150291e+02] [ 2.78433877e-02 -2.00350305e-03 9.99610290e-01 7.04425148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.860714057 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:153.06, Y:127.14, Z:7.04 [[-3.28443992e-01 -9.44495664e-01 7.24469711e-03 1.53059455e+02] [ 9.44112978e-01 -3.28517704e-01 -2.69592714e-02 1.27143310e+02] [ 2.78429262e-02 -2.01479814e-03 9.99610280e-01 7.04464028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.890714057 meters Centerline goodness : 0.991691 Centerline is valid? [True, True] Translation: X:153.05, Y:127.15, Z:7.04 [[-3.32762868e-01 -9.42983085e-01 7.19553785e-03 1.53054009e+02] [ 9.42599767e-01 -3.32833429e-01 -2.69738465e-02 1.27154816e+02] [ 2.78307965e-02 -2.19338224e-03 9.99610242e-01 7.04451150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.920714057 meters Centerline goodness : 0.991345 Centerline is valid? [True, True] Translation: X:153.05, Y:127.15, Z:7.05 [[-3.30925676e-01 -9.43627614e-01 7.42455315e-03 1.53054200e+02] [ 9.43245863e-01 -3.31003496e-01 -2.69059043e-02 1.27154100e+02] [ 2.78467073e-02 -1.90067552e-03 9.99610398e-01 7.04652043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.950714057 meters Centerline goodness : 0.990564 Centerline is valid? [True, True] Translation: X:153.05, Y:127.17, Z:7.05 [[-3.28734087e-01 -9.44393909e-01 7.35150799e-03 1.53050017e+02] [ 9.44011874e-01 -3.28810719e-01 -2.69275521e-02 1.27167521e+02] [ 2.78474708e-02 -1.91209342e-03 9.99610355e-01 7.04674246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.980714057 meters Centerline goodness : 0.990564 Centerline is valid? [True, True] Translation: X:153.05, Y:127.17, Z:7.05 [[-3.28396316e-01 -9.44510103e-01 7.51829041e-03 1.53049120e+02] [ 9.44129170e-01 -3.28477819e-01 -2.68781196e-02 1.27170001e+02] [ 2.78562471e-02 -1.72843816e-03 9.99610445e-01 7.04687224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01071405700003 meters Centerline goodness : 0.991829 Centerline is valid? [True, True] Translation: X:153.05, Y:127.16, Z:7.05 [[-3.30673051e-01 -9.43715553e-01 7.50260818e-03 1.53048697e+02] [ 9.43334323e-01 -3.30753190e-01 -2.68827602e-02 1.27163125e+02] [ 2.78511905e-02 -1.81193653e-03 9.99610438e-01 7.04838867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.040714057 meters Centerline goodness : 0.991604 Centerline is valid? [True, True] Translation: X:153.04, Y:127.17, Z:7.05 [[-3.35055788e-01 -9.42169249e-01 7.39765088e-03 1.53043886e+02] [ 9.41786997e-01 -3.35131170e-01 -2.69137829e-02 1.27167913e+02] [ 2.78365220e-02 -2.05060733e-03 9.99610386e-01 7.04792021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07071405700003 meters Centerline goodness : 0.991861 Centerline is valid? [True, True] Translation: X:153.04, Y:127.17, Z:7.05 [[-3.33856350e-01 -9.42594025e-01 7.51274449e-03 1.53042234e+02] [ 9.42212591e-01 -3.33935490e-01 -2.68797702e-02 1.27173994e+02] [ 2.78454828e-02 -1.89537951e-03 9.99610442e-01 7.05028243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.100714057 meters Centerline goodness : 0.991664 Centerline is valid? [True, True] Translation: X:153.04, Y:127.18, Z:7.05 [[-3.35209756e-01 -9.42114657e-01 7.37506411e-03 1.53040455e+02] [ 9.41732256e-01 -3.35284434e-01 -2.69203883e-02 1.27176583e+02] [ 2.78348366e-02 -2.07864104e-03 9.99610375e-01 7.04942657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13071405700003 meters Centerline goodness : 0.992170 Centerline is valid? [True, True] Translation: X:153.04, Y:127.18, Z:7.05 [[-3.38393153e-01 -9.40975639e-01 7.41085403e-03 1.53035732e+02] [ 9.40593203e-01 -3.38467556e-01 -2.69098343e-02 1.27184285e+02] [ 2.78298322e-02 -2.13550476e-03 9.99610394e-01 7.04901349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.160714057 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:153.03, Y:127.19, Z:7.05 [[-3.38416944e-01 -9.40966839e-01 7.44181237e-03 1.53034012e+02] [ 9.40584590e-01 -3.38492218e-01 -2.69007098e-02 1.27186422e+02] [ 2.78316714e-02 -2.10400196e-03 9.99610410e-01 7.04940392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.190714057 meters Centerline goodness : 0.992694 Centerline is valid? [True, True] Translation: X:153.03, Y:127.18, Z:7.05 [[-3.40373767e-01 -9.40261319e-01 7.37222390e-03 1.53033115e+02] [ 9.39878498e-01 -3.40446265e-01 -2.69211845e-02 1.27182857e+02] [ 2.78227945e-02 -2.23427026e-03 9.99610374e-01 7.04889091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.220714057 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:153.02, Y:127.19, Z:7.05 [[-3.50716924e-01 -9.36452522e-01 7.36981092e-03 1.53024974e+02] [ 9.36068911e-01 -3.50785129e-01 -2.69218938e-02 1.27186059e+02] [ 2.77962954e-02 -2.54331290e-03 9.99610373e-01 7.04796429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.250714057 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:153.03, Y:127.18, Z:7.05 [[-3.38448872e-01 -9.40951759e-01 7.88338343e-03 1.53030698e+02] [ 9.40572301e-01 -3.38536673e-01 -2.67706619e-02 1.27182905e+02] [ 2.78587158e-02 -1.64560825e-03 9.99610516e-01 7.04875085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.280714057 meters Centerline goodness : 0.991770 Centerline is valid? [True, True] Translation: X:153.03, Y:127.18, Z:7.05 [[-3.42471874e-01 -9.39500648e-01 7.17973525e-03 1.53027901e+02] [ 9.39116579e-01 -3.42538030e-01 -2.69768082e-02 1.27184350e+02] [ 2.78040612e-02 -2.49618967e-03 9.99610276e-01 7.04939483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.310714057 meters Centerline goodness : 0.992592 Centerline is valid? [True, True] Translation: X:153.03, Y:127.19, Z:7.05 [[-3.41516703e-01 -9.39846609e-01 7.39546284e-03 1.53026264e+02] [ 9.39463859e-01 -3.41589398e-01 -2.69135688e-02 1.27186589e+02] [ 2.78208381e-02 -2.24366322e-03 9.99610408e-01 7.04967739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.340714057 meters Centerline goodness : 0.992755 Centerline is valid? [True, True] Translation: X:153.02, Y:127.19, Z:7.05 [[-3.39720165e-01 -9.40497592e-01 7.38171353e-03 1.53023826e+02] [ 9.40114899e-01 -3.39793201e-01 -2.69175943e-02 1.27187100e+02] [ 2.78241887e-02 -2.20479070e-03 9.99610401e-01 7.04970464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.370714057 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:153.02, Y:127.19, Z:7.05 [[-3.42759621e-01 -9.39395287e-01 7.23439676e-03 1.53020593e+02] [ 9.39011513e-01 -3.42827219e-01 -2.69606545e-02 1.27190232e+02] [ 2.78068599e-02 -2.44784185e-03 9.99610317e-01 7.05140129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.400714057 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:153.02, Y:127.19, Z:7.05 [[-3.39934364e-01 -9.40420216e-01 7.37873999e-03 1.53018729e+02] [ 9.40037490e-01 -3.40007228e-01 -2.69184492e-02 1.27191643e+02] [ 2.78234788e-02 -2.21421370e-03 9.99610400e-01 7.05164783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.430714057 meters Centerline goodness : 0.992888 Centerline is valid? [True, True] Translation: X:153.01, Y:127.21, Z:7.05 [[-3.41991890e-01 -9.39674510e-01 7.30500066e-03 1.53012232e+02] [ 9.39291196e-01 -3.42061815e-01 -2.69399886e-02 1.27207013e+02] [ 2.78135824e-02 -2.35173482e-03 9.99610361e-01 7.05284020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.460714057 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:153.01, Y:127.20, Z:7.05 [[-3.41455728e-01 -9.39868853e-01 7.38408722e-03 1.53013123e+02] [ 9.39486041e-01 -3.41528125e-01 -2.69168873e-02 1.27196260e+02] [ 2.78202174e-02 -2.25367847e-03 9.99610402e-01 7.05378223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.490714057 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:153.01, Y:127.19, Z:7.05 [[-3.37010725e-01 -9.41471764e-01 7.39518345e-03 1.53014009e+02] [ 9.41089365e-01 -3.37085245e-01 -2.69136493e-02 1.27193932e+02] [ 2.78312481e-02 -2.11065997e-03 9.99610407e-01 7.05150077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.520714057 meters Centerline goodness : 0.992916 Centerline is valid? [True, True] Translation: X:153.01, Y:127.20, Z:7.05 [[-3.37323289e-01 -9.41360846e-01 7.26339382e-03 1.53010721e+02] [ 9.40977642e-01 -3.37393932e-01 -2.69520262e-02 1.27196476e+02] [ 2.78222072e-02 -2.25685494e-03 9.99610340e-01 7.05287921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.550714057 meters Centerline goodness : 0.992855 Centerline is valid? [True, True] Translation: X:153.01, Y:127.21, Z:7.05 [[-3.36408877e-01 -9.41687392e-01 7.34322683e-03 1.53006874e+02] [ 9.41304730e-01 -3.36482164e-01 -2.69287726e-02 1.27207191e+02] [ 2.78293505e-02 -2.14686402e-03 9.99610383e-01 7.05264339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.580714057 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:153.01, Y:127.19, Z:7.05 [[-3.32260720e-01 -9.43158999e-01 7.34274136e-03 1.53011552e+02] [ 9.42776660e-01 -3.32335677e-01 -2.69289139e-02 1.27191595e+02] [ 2.78385025e-02 -2.02485517e-03 9.99610383e-01 7.04984152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.610714057 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:153.00, Y:127.21, Z:7.05 [[-3.33315722e-01 -9.42787355e-01 7.25484271e-03 1.53004259e+02] [ 9.42404406e-01 -3.33387750e-01 -2.69544639e-02 1.27207030e+02] [ 2.78310034e-02 -2.14735085e-03 9.99610336e-01 7.05244202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.640714057 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:153.00, Y:127.20, Z:7.05 [[-3.31735044e-01 -9.43344262e-01 7.31183989e-03 1.53004475e+02] [ 9.42961778e-01 -3.31809335e-01 -2.69379073e-02 1.27203382e+02] [ 2.78378571e-02 -2.04146235e-03 9.99610367e-01 7.05202525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.670714057 meters Centerline goodness : 0.993039 Centerline is valid? [True, True] Translation: X:153.00, Y:127.21, Z:7.05 [[-3.31030215e-01 -9.43592021e-01 7.28658858e-03 1.53001333e+02] [ 9.43209439e-01 -3.31104074e-01 -2.69452331e-02 1.27207520e+02] [ 2.78379261e-02 -2.04690719e-03 9.99610354e-01 7.05188306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.700714057 meters Centerline goodness : 0.993315 Centerline is valid? [True, True] Translation: X:153.00, Y:127.21, Z:7.05 [[-3.30989460e-01 -9.43605848e-01 7.34712006e-03 1.52998545e+02] [ 9.43223636e-01 -3.31065056e-01 -2.69276872e-02 1.27212828e+02] [ 2.78414979e-02 -1.98280336e-03 9.99610384e-01 7.05213561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.730714057 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:153.00, Y:127.20, Z:7.05 [[-3.29480364e-01 -9.44133974e-01 7.32998870e-03 1.53000634e+02] [ 9.43751779e-01 -3.29556085e-01 -2.69326452e-02 1.27203865e+02] [ 2.78436677e-02 -1.95608789e-03 9.99610376e-01 7.05108544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76071405700003 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:153.00, Y:127.21, Z:7.05 [[-3.30805992e-01 -9.43670966e-01 7.24591072e-03 1.52996866e+02] [ 9.43288160e-01 -3.30878785e-01 -2.69569386e-02 1.27211612e+02] [ 2.78359985e-02 -2.08253503e-03 9.99610334e-01 7.05173502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.790714057 meters Centerline goodness : 0.993364 Centerline is valid? [True, True] Translation: X:152.99, Y:127.22, Z:7.05 [[-3.33690401e-01 -9.42655365e-01 7.18191855e-03 1.52993341e+02] [ 9.42271965e-01 -3.33760202e-01 -2.69754060e-02 1.27216856e+02] [ 2.78255498e-02 -2.23411354e-03 9.99610298e-01 7.05189784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82071405700003 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:153.00, Y:127.21, Z:7.05 [[-3.34580904e-01 -9.42339881e-01 7.15308617e-03 1.52995089e+02] [ 9.41956250e-01 -3.34649522e-01 -2.69837153e-02 1.27207500e+02] [ 2.78216079e-02 -2.29034164e-03 9.99610280e-01 7.05173802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.850714057 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:152.99, Y:127.21, Z:7.05 [[-3.35866956e-01 -9.41882035e-01 7.18464278e-03 1.52993595e+02] [ 9.41498490e-01 -3.35935949e-01 -2.69746315e-02 1.27208079e+02] [ 2.78205006e-02 -2.29555706e-03 9.99610299e-01 7.05154623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88071405700003 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:152.99, Y:127.23, Z:7.05 [[-3.42117299e-01 -9.39629989e-01 7.15808001e-03 1.52985723e+02] [ 9.39245848e-01 -3.42182984e-01 -2.69822747e-02 1.27227439e+02] [ 2.78027276e-02 -2.50790600e-03 9.99610283e-01 7.05390009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.910714057 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:152.99, Y:127.21, Z:7.05 [[-3.42742243e-01 -9.39401531e-01 7.24696283e-03 1.52989717e+02] [ 9.39017837e-01 -3.42810207e-01 -2.69567041e-02 1.27212002e+02] [ 2.78075019e-02 -2.43417386e-03 9.99610333e-01 7.05283484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.940714057 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:152.98, Y:127.23, Z:7.05 [[-3.47696693e-01 -9.37579310e-01 7.21437777e-03 1.52982057e+02] [ 9.37195087e-01 -3.47761701e-01 -2.69660690e-02 1.27231807e+02] [ 2.77917126e-02 -2.61473362e-03 9.99610316e-01 7.05370899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.970714057 meters Centerline goodness : 0.993879 Centerline is valid? [True, True] Translation: X:152.98, Y:127.23, Z:7.05 [[-3.48284845e-01 -9.37360497e-01 7.27776257e-03 1.52982170e+02] [ 9.36976574e-01 -3.48351421e-01 -2.69478651e-02 1.27228770e+02] [ 2.77950831e-02 -2.56643999e-03 9.99610347e-01 7.05375531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.000714057 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:152.98, Y:127.23, Z:7.05 [[-3.49433538e-01 -9.36933036e-01 7.25873913e-03 1.52979347e+02] [ 9.36548930e-01 -3.49499100e-01 -2.69533210e-02 1.27232454e+02] [ 2.77903797e-02 -2.62022996e-03 9.99610339e-01 7.05413684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.030714057 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:152.98, Y:127.24, Z:7.05 [[-3.49689632e-01 -9.36837674e-01 7.23423451e-03 1.52975018e+02] [ 9.36453420e-01 -3.49754390e-01 -2.69603417e-02 1.27236337e+02] [ 2.77876691e-02 -2.65322833e-03 9.99610327e-01 7.05424101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.060714057 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:152.97, Y:127.25, Z:7.05 [[-3.49808046e-01 -9.36793501e-01 7.22963707e-03 1.52970759e+02] [ 9.36409214e-01 -3.49872624e-01 -2.69616575e-02 1.27245045e+02] [ 2.77869576e-02 -2.66150594e-03 9.99610325e-01 7.05469987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.090714057 meters Centerline goodness : 0.993019 Centerline is valid? [True, True] Translation: X:152.97, Y:127.24, Z:7.05 [[-3.47627580e-01 -9.37604860e-01 7.22440458e-03 1.52972728e+02] [ 9.37220697e-01 -3.47692902e-01 -2.69631527e-02 1.27235190e+02] [ 2.77926572e-02 -2.60227403e-03 9.99610322e-01 7.05147548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.120714057 meters Centerline goodness : 0.993274 Centerline is valid? [True, True] Translation: X:152.97, Y:127.25, Z:7.05 [[-3.48026491e-01 -9.37455270e-01 7.42827245e-03 1.52965469e+02] [ 9.37072187e-01 -3.48097464e-01 -2.69048739e-02 1.27250126e+02] [ 2.78078786e-02 -2.40278132e-03 9.99610398e-01 7.05365441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.150714057 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:152.97, Y:127.24, Z:7.05 [[-3.44440657e-01 -9.38780129e-01 7.24589376e-03 1.52966563e+02] [ 9.38396309e-01 -3.44507897e-01 -2.69569350e-02 1.27242754e+02] [ 2.78029026e-02 -2.48554444e-03 9.99610334e-01 7.05275229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.180714057 meters Centerline goodness : 0.993838 Centerline is valid? [True, True] Translation: X:152.96, Y:127.24, Z:7.05 [[-3.43002244e-01 -9.39308125e-01 7.05039307e-03 1.52964850e+02] [ 9.38923358e-01 -3.43064495e-01 -2.70125788e-02 1.27236139e+02] [ 2.77918743e-02 -2.64559641e-03 9.99610230e-01 7.05290339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.210714057 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:152.96, Y:127.24, Z:7.05 [[-3.41777396e-01 -9.39754368e-01 7.06680816e-03 1.52960082e+02] [ 9.39369770e-01 -3.41840618e-01 -2.70079093e-02 1.27240299e+02] [ 2.77965228e-02 -2.59234695e-03 9.99610241e-01 7.05340871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.240714057 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:152.95, Y:127.27, Z:7.05 [[-3.41796662e-01 -9.39747047e-01 7.10838730e-03 1.52950190e+02] [ 9.39362670e-01 -3.41861062e-01 -2.69960777e-02 1.27267940e+02] [ 2.77995652e-02 -2.54981560e-03 9.99610265e-01 7.05427347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.270714057 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:152.95, Y:127.25, Z:7.05 [[-3.41041948e-01 -9.40020995e-01 7.13578042e-03 1.52954022e+02] [ 9.39636817e-01 -3.41107438e-01 -2.69882862e-02 1.27249237e+02] [ 2.78036234e-02 -2.49909570e-03 9.99610281e-01 7.05406408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.300714057 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:152.95, Y:127.25, Z:7.05 [[-3.40488121e-01 -9.40221659e-01 7.14638983e-03 1.52949885e+02] [ 9.39837578e-01 -3.40554139e-01 -2.69852716e-02 1.27252765e+02] [ 2.78058695e-02 -2.47171870e-03 9.99610286e-01 7.05405550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.330714057 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:152.95, Y:127.24, Z:7.05 [[-3.39113288e-01 -9.40718083e-01 7.18790764e-03 1.52951267e+02] [ 9.40334327e-01 -3.39181051e-01 -2.69734877e-02 1.27244283e+02] [ 2.78124497e-02 -2.38803179e-03 9.99610307e-01 7.05313018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.360714057 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:152.95, Y:127.24, Z:7.05 [[-3.37944604e-01 -9.41138890e-01 7.14383919e-03 1.52950839e+02] [ 9.40754975e-01 -3.38011589e-01 -2.69859750e-02 1.27238840e+02] [ 2.78122510e-02 -2.39916238e-03 9.99610285e-01 7.05172048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.390714057 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:152.95, Y:127.25, Z:7.05 [[-3.38703824e-01 -9.40866988e-01 7.00219235e-03 1.52948072e+02] [ 9.40482259e-01 -3.38766460e-01 -2.70260344e-02 1.27245030e+02] [ 2.78000115e-02 -2.56838352e-03 9.99610205e-01 7.05108401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.420714057 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:152.95, Y:127.24, Z:7.05 [[-3.37601069e-01 -9.41262656e-01 7.08033897e-03 1.52947562e+02] [ 9.40878420e-01 -3.37666384e-01 -2.70039388e-02 1.27244696e+02] [ 2.78085916e-02 -2.45482045e-03 9.99610252e-01 7.05118469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.450714057 meters Centerline goodness : 0.992435 Centerline is valid? [True, True] Translation: X:152.94, Y:127.26, Z:7.05 [[-3.38410929e-01 -9.40972700e-01 6.95856214e-03 1.52942035e+02] [ 9.40587762e-01 -3.38472440e-01 -2.70383070e-02 1.27255623e+02] [ 2.77975903e-02 -2.60492021e-03 9.99610178e-01 7.05212739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.480714057 meters Centerline goodness : 0.992810 Centerline is valid? [True, True] Translation: X:152.94, Y:127.25, Z:7.05 [[-3.38347265e-01 -9.40995313e-01 6.99633682e-03 1.52941373e+02] [ 9.40610578e-01 -3.38409880e-01 -2.70276507e-02 1.27253764e+02] [ 2.78005221e-02 -2.56390327e-03 9.99610203e-01 7.05154181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51071405700003 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:152.94, Y:127.25, Z:7.05 [[-3.37533147e-01 -9.41287346e-01 7.03609440e-03 1.52940753e+02] [ 9.40902877e-01 -3.37597228e-01 -2.70164479e-02 1.27250245e+02] [ 2.78056065e-02 -2.49866522e-03 9.99610226e-01 7.05068062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.540714057 meters Centerline goodness : 0.992631 Centerline is valid? [True, True] Translation: X:152.94, Y:127.25, Z:7.05 [[-3.37670212e-01 -9.41238197e-01 7.03456246e-03 1.52938196e+02] [ 9.40853710e-01 -3.37734193e-01 -2.70168790e-02 1.27254614e+02] [ 2.78051307e-02 -2.50430106e-03 9.99610226e-01 7.05158486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57071405700003 meters Centerline goodness : 0.992554 Centerline is valid? [True, True] Translation: X:152.94, Y:127.25, Z:7.05 [[-3.38538129e-01 -9.40927192e-01 6.92494288e-03 1.52938501e+02] [ 9.40542073e-01 -3.38598629e-01 -2.70476768e-02 1.27247813e+02] [ 2.77946707e-02 -2.64346976e-03 9.99610158e-01 7.05161176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.600714057 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:152.93, Y:127.26, Z:7.05 [[-3.38557559e-01 -9.40919390e-01 7.03430517e-03 1.52933579e+02] [ 9.40534841e-01 -3.38621171e-01 -2.70169582e-02 1.27264090e+02] [ 2.78027444e-02 -2.53078632e-03 9.99610225e-01 7.05079695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63071405700003 meters Centerline goodness : 0.991366 Centerline is valid? [True, True] Translation: X:152.93, Y:127.26, Z:7.05 [[-3.40824210e-01 -9.40100828e-01 7.02072574e-03 1.52931579e+02] [ 9.39716057e-01 -3.40886507e-01 -2.70207691e-02 1.27263814e+02] [ 2.77955181e-02 -2.61184356e-03 9.99610218e-01 7.05203533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.660714057 meters Centerline goodness : 0.991190 Centerline is valid? [True, True] Translation: X:152.93, Y:127.26, Z:7.05 [[-3.41207546e-01 -9.39961904e-01 7.00211968e-03 1.52933213e+02] [ 9.39577011e-01 -3.41269156e-01 -2.70259819e-02 1.27256538e+02] [ 2.77930009e-02 -2.64243828e-03 9.99610207e-01 7.05215974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.690714057 meters Centerline goodness : 0.991469 Centerline is valid? [True, True] Translation: X:152.93, Y:127.27, Z:7.05 [[-3.41421318e-01 -9.39884436e-01 6.98075608e-03 1.52928774e+02] [ 9.39499419e-01 -3.41482231e-01 -2.70319602e-02 1.27270150e+02] [ 2.77907228e-02 -2.67087121e-03 9.99610195e-01 7.05108827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.720714057 meters Centerline goodness : 0.992026 Centerline is valid? [True, True] Translation: X:152.92, Y:127.30, Z:7.05 [[-3.43573948e-01 -9.39099872e-01 6.95510517e-03 1.52919188e+02] [ 9.38714588e-01 -3.43633246e-01 -2.70391402e-02 1.27297030e+02] [ 2.77824585e-02 -2.76108547e-03 9.99610180e-01 7.05263820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.750714057 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:152.92, Y:127.29, Z:7.05 [[-3.43170675e-01 -9.39247809e-01 6.88769857e-03 1.52920917e+02] [ 9.38862215e-01 -3.43228213e-01 -2.70579920e-02 1.27291342e+02] [ 2.77782121e-02 -2.81890943e-03 9.99610136e-01 7.05152779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.780714057 meters Centerline goodness : 0.991503 Centerline is valid? [True, True] Translation: X:152.93, Y:127.27, Z:7.05 [[-3.43687875e-01 -9.39059148e-01 6.82360501e-03 1.52928674e+02] [ 9.38673209e-01 -3.43743369e-01 -2.70758790e-02 1.27267076e+02] [ 2.77714208e-02 -2.90051608e-03 9.99610092e-01 7.04853958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.810714057 meters Centerline goodness : 0.991817 Centerline is valid? [True, True] Translation: X:152.92, Y:127.29, Z:7.05 [[-3.45894921e-01 -9.38246278e-01 7.11512665e-03 1.52923636e+02] [ 9.37861649e-01 -3.45957834e-01 -2.69945093e-02 1.27285570e+02] [ 2.77890317e-02 -2.66425925e-03 9.99610260e-01 7.04972198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.840714057 meters Centerline goodness : 0.991536 Centerline is valid? [True, True] Translation: X:152.92, Y:127.31, Z:7.05 [[-3.47961006e-01 -9.37483946e-01 6.85486589e-03 1.52917182e+02] [ 9.37097908e-01 -3.48015636e-01 -2.70670862e-02 1.27310084e+02] [ 2.77605593e-02 -2.99461005e-03 9.99610116e-01 7.05025832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.870714057 meters Centerline goodness : 0.991536 Centerline is valid? [True, True] Translation: X:152.92, Y:127.31, Z:7.05 [[-3.47626500e-01 -9.37607524e-01 6.92442410e-03 1.52916356e+02] [ 9.37221839e-01 -3.47683256e-01 -2.70476914e-02 1.27312620e+02] [ 2.77676252e-02 -2.91277278e-03 9.99610161e-01 7.05036222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.900714057 meters Centerline goodness : 0.992519 Centerline is valid? [True, True] Translation: X:152.92, Y:127.30, Z:7.05 [[-3.48669104e-01 -9.37220441e-01 6.90657402e-03 1.52920457e+02] [ 9.36834608e-01 -3.48724921e-01 -2.70526591e-02 1.27302437e+02] [ 2.77627995e-02 -2.96210882e-03 9.99610150e-01 7.04924755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.930714057 meters Centerline goodness : 0.989528 Centerline is valid? [True, True] Translation: X:152.92, Y:127.30, Z:7.05 [[-3.54048301e-01 -9.35202002e-01 6.85678561e-03 1.52922320e+02] [ 9.34815628e-01 -3.54100475e-01 -2.70665033e-02 1.27302141e+02] [ 2.77406391e-02 -3.17301914e-03 9.99610118e-01 7.04944900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.960714057 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:152.92, Y:127.32, Z:7.05 [[-3.50866099e-01 -9.36395639e-01 7.49581795e-03 1.52916152e+02] [ 9.36012637e-01 -3.50937829e-01 -2.68883631e-02 1.27321013e+02] [ 2.78087120e-02 -2.41803474e-03 9.99610338e-01 7.05124204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.990714057 meters Centerline goodness : 0.990703 Centerline is valid? [True, True] Translation: X:152.92, Y:127.33, Z:7.05 [[-3.51403283e-01 -9.36198664e-01 6.91329109e-03 1.52915268e+02] [ 9.35812718e-01 -3.51458168e-01 -2.70501951e-02 1.27329577e+02] [ 2.77540891e-02 -3.03598162e-03 9.99610171e-01 7.05232969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.020714057 meters Centerline goodness : 0.991952 Centerline is valid? [True, True] Translation: X:152.92, Y:127.31, Z:7.05 [[-3.49308608e-01 -9.36979656e-01 7.25394663e-03 1.52921095e+02] [ 9.36595511e-01 -3.49374083e-01 -2.69554884e-02 1.27307716e+02] [ 2.77910852e-02 -2.62177029e-03 9.99610315e-01 7.05099802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.050714057 meters Centerline goodness : 0.990900 Centerline is valid? [True, True] Translation: X:152.92, Y:127.30, Z:7.05 [[-3.48354371e-01 -9.37337911e-01 6.84638240e-03 1.52924876e+02] [ 9.36951842e-01 -3.48408601e-01 -2.70682901e-02 1.27298585e+02] [ 2.77574730e-02 -3.01462657e-03 9.99610141e-01 7.05060253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.080714057 meters Centerline goodness : 0.991493 Centerline is valid? [True, True] Translation: X:152.92, Y:127.30, Z:7.05 [[-3.46131957e-01 -9.38157489e-01 7.29345796e-03 1.52923380e+02] [ 9.37773778e-01 -3.46199859e-01 -2.69443583e-02 1.27302779e+02] [ 2.78030457e-02 -2.48668984e-03 9.99610328e-01 7.05085272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.110714057 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:152.92, Y:127.33, Z:7.05 [[-3.42913008e-01 -9.39341916e-01 6.88719341e-03 1.52917684e+02] [ 9.38956375e-01 -3.42970642e-01 -2.70566932e-02 1.27325462e+02] [ 2.77775912e-02 -2.81131791e-03 9.99610175e-01 7.05078670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.140714057 meters Centerline goodness : 0.991565 Centerline is valid? [True, True] Translation: X:152.92, Y:127.32, Z:7.05 [[-3.40715474e-01 -9.40141664e-01 6.82771883e-03 1.52920113e+02] [ 9.39755967e-01 -3.40772311e-01 -2.70731187e-02 1.27318911e+02] [ 2.77792644e-02 -2.80784098e-03 9.99610138e-01 7.04965512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.170714057 meters Centerline goodness : 0.991946 Centerline is valid? [True, True] Translation: X:152.92, Y:127.32, Z:7.05 [[-3.39297874e-01 -9.40654149e-01 6.83551108e-03 1.52919089e+02] [ 9.40268577e-01 -3.39355515e-01 -2.70709682e-02 1.27322663e+02] [ 2.77840869e-02 -2.75790569e-03 9.99610143e-01 7.05004373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.200714057 meters Centerline goodness : 0.990268 Centerline is valid? [True, True] Translation: X:152.93, Y:127.30, Z:7.05 [[-3.36854026e-01 -9.41532270e-01 6.80808157e-03 1.52925244e+02] [ 9.41146713e-01 -3.36911885e-01 -2.70785248e-02 1.27302317e+02] [ 2.77890285e-02 -2.71410648e-03 9.99610126e-01 7.04989103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.230714057 meters Centerline goodness : 0.991511 Centerline is valid? [True, True] Translation: X:152.92, Y:127.31, Z:7.05 [[-3.35140725e-01 -9.42141408e-01 7.08957043e-03 1.52923378e+02] [ 9.41757404e-01 -3.35207307e-01 -2.70009736e-02 1.27305748e+02] [ 2.78152111e-02 -2.37247041e-03 9.99610267e-01 7.05062233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26071405700003 meters Centerline goodness : 0.991211 Centerline is valid? [True, True] Translation: X:152.93, Y:127.30, Z:7.05 [[-3.33351443e-01 -9.42778544e-01 6.74040602e-03 1.52925528e+02] [ 9.42392874e-01 -3.33408806e-01 -2.70968610e-02 1.27299369e+02] [ 2.77936498e-02 -2.68066710e-03 9.99610088e-01 7.04849734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.290714057 meters Centerline goodness : 0.989958 Centerline is valid? [True, True] Translation: X:152.93, Y:127.30, Z:7.05 [[-3.33734038e-01 -9.42642279e-01 6.86475745e-03 1.52925798e+02] [ 9.42257208e-01 -3.33794790e-01 -2.70627370e-02 1.27299354e+02] [ 2.78019003e-02 -2.56338930e-03 9.99610166e-01 7.04934366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32071405700003 meters Centerline goodness : 0.990661 Centerline is valid? [True, True] Translation: X:152.92, Y:127.30, Z:7.05 [[-3.31365402e-01 -9.43475576e-01 7.12795194e-03 1.52924678e+02] [ 9.43092048e-01 -3.31434614e-01 -2.69904646e-02 1.27302641e+02] [ 2.78272942e-02 -2.22139138e-03 9.99610278e-01 7.04955874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.350714057 meters Centerline goodness : 0.991043 Centerline is valid? [True, True] Translation: X:152.92, Y:127.31, Z:7.05 [[-3.29679293e-01 -9.44068916e-01 6.74129261e-03 1.52923480e+02] [ 9.43683486e-01 -3.29738182e-01 -2.70962835e-02 1.27306194e+02] [ 2.78036206e-02 -2.57143708e-03 9.99610097e-01 7.04919350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38071405700003 meters Centerline goodness : 0.992150 Centerline is valid? [True, True] Translation: X:152.91, Y:127.34, Z:7.05 [[-3.28906640e-01 -9.44338490e-01 6.72588817e-03 1.52914906e+02] [ 9.43953031e-01 -3.28965406e-01 -2.71005003e-02 1.27338067e+02] [ 2.78046301e-02 -2.56461197e-03 9.99610087e-01 7.04858628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.410714057 meters Centerline goodness : 0.991755 Centerline is valid? [True, True] Translation: X:152.92, Y:127.32, Z:7.05 [[-3.26275794e-01 -9.45250763e-01 6.71580202e-03 1.52920457e+02] [ 9.44865417e-01 -3.26335346e-01 -2.71032582e-02 1.27317605e+02] [ 2.78109791e-02 -2.49760802e-03 9.99610080e-01 7.04784342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.440714057 meters Centerline goodness : 0.990442 Centerline is valid? [True, True] Translation: X:152.92, Y:127.32, Z:7.05 [[-3.26294078e-01 -9.45244774e-01 6.67025363e-03 1.52919868e+02] [ 9.44859196e-01 -3.26352324e-01 -2.71156906e-02 1.27320087e+02] [ 2.78078176e-02 -2.54523877e-03 9.99610047e-01 7.05168821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.470714057 meters Centerline goodness : 0.991670 Centerline is valid? [True, True] Translation: X:152.92, Y:127.31, Z:7.05 [[-3.24037435e-01 -9.46019132e-01 6.89517428e-03 1.52921684e+02] [ 9.45634870e-01 -3.24103003e-01 -2.70543059e-02 1.27314343e+02] [ 2.78286377e-02 -2.24629064e-03 9.99610185e-01 7.04891343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.500714057 meters Centerline goodness : 0.991180 Centerline is valid? [True, True] Translation: X:152.92, Y:127.33, Z:7.05 [[-3.26717840e-01 -9.45099158e-01 6.56007718e-03 1.52916339e+02] [ 9.44713012e-01 -3.26772772e-01 -2.71455430e-02 1.27334835e+02] [ 2.77988845e-02 -2.67154291e-03 9.99609966e-01 7.04977529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.530714057 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:152.92, Y:127.32, Z:7.05 [[-3.24188957e-01 -9.45967543e-01 6.85031145e-03 1.52921825e+02] [ 9.45583035e-01 -3.24253188e-01 -2.70664814e-02 1.27315376e+02] [ 2.78252482e-02 -2.29711609e-03 9.99610163e-01 7.04953023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.560714057 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:152.92, Y:127.32, Z:7.05 [[-3.27342194e-01 -9.44883277e-01 6.53307568e-03 1.52920537e+02] [ 9.44496971e-01 -3.27396101e-01 -2.71526279e-02 1.27324417e+02] [ 2.77949676e-02 -2.71773061e-03 9.99609951e-01 7.05085489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.590714057 meters Centerline goodness : 0.991702 Centerline is valid? [True, True] Translation: X:152.92, Y:127.32, Z:7.05 [[-3.28423078e-01 -9.44507739e-01 6.58876224e-03 1.52922704e+02] [ 9.44121640e-01 -3.28478132e-01 -2.71375173e-02 1.27320695e+02] [ 2.77958594e-02 -2.69199396e-03 9.99609996e-01 7.05016090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.620714057 meters Centerline goodness : 0.990843 Centerline is valid? [True, True] Translation: X:152.92, Y:127.33, Z:7.05 [[-3.33913896e-01 -9.42579851e-01 6.68832251e-03 1.52922011e+02] [ 9.42193910e-01 -3.33969544e-01 -2.71104990e-02 1.27332374e+02] [ 2.77875061e-02 -2.75087561e-03 9.99610068e-01 7.05395621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.650714057 meters Centerline goodness : 0.992106 Centerline is valid? [True, True] Translation: X:152.92, Y:127.34, Z:7.05 [[-3.35536412e-01 -9.42001650e-01 6.94323122e-03 1.52922585e+02] [ 9.41616859e-01 -3.35598664e-01 -2.70412249e-02 1.27335488e+02] [ 2.78030176e-02 -2.53545202e-03 9.99610206e-01 7.05052515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.680714057 meters Centerline goodness : 0.992102 Centerline is valid? [True, True] Translation: X:152.92, Y:127.34, Z:7.05 [[-3.37179203e-01 -9.41414363e-01 7.01297769e-03 1.52922242e+02] [ 9.41029813e-01 -3.37242772e-01 -2.70222796e-02 1.27337064e+02] [ 2.78042382e-02 -2.51192963e-03 9.99610231e-01 7.05162222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.710714057 meters Centerline goodness : 0.991763 Centerline is valid? [True, True] Translation: X:152.92, Y:127.36, Z:7.05 [[-3.40467028e-01 -9.40232859e-01 6.66139013e-03 1.52919564e+02] [ 9.39846423e-01 -3.40519219e-01 -2.71175874e-02 1.27359113e+02] [ 2.77651780e-02 -2.97196068e-03 9.99610055e-01 7.04958496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.740714057 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:152.91, Y:127.36, Z:7.05 [[-3.56013660e-01 -9.34456558e-01 6.72421782e-03 1.52913775e+02] [ 9.34069568e-01 -3.56061234e-01 -2.71005519e-02 1.27356088e+02] [ 2.77185217e-02 -3.36727941e-03 9.99610096e-01 7.05137255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.770714057 meters Centerline goodness : 0.993155 Centerline is valid? [True, True] Translation: X:152.92, Y:127.36, Z:7.05 [[-3.58873073e-01 -9.33357674e-01 7.31916347e-03 1.52916299e+02] [ 9.32973152e-01 -3.58936474e-01 -2.69389137e-02 1.27357461e+02] [ 2.77707566e-02 -2.83906774e-03 9.99610286e-01 7.05129163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.800714057 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:152.91, Y:127.37, Z:7.05 [[-3.60105305e-01 -9.32883034e-01 7.30854992e-03 1.52914528e+02] [ 9.32498379e-01 -3.60167895e-01 -2.69417929e-02 1.27368116e+02] [ 2.77658465e-02 -2.88667159e-03 9.99610287e-01 7.05221678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.830714057 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:152.91, Y:127.38, Z:7.05 [[-3.60721559e-01 -9.32645001e-01 7.29791158e-03 1.52912654e+02] [ 9.32260256e-01 -3.60783592e-01 -2.69446742e-02 1.27380334e+02] [ 2.77627825e-02 -2.91597199e-03 9.99610287e-01 7.05229771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.860714057 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:152.93, Y:127.37, Z:7.05 [[-3.46033828e-01 -9.38193736e-01 7.28719873e-03 1.52926322e+02] [ 9.37809959e-01 -3.46101589e-01 -2.69475712e-02 1.27369467e+02] [ 2.78041536e-02 -2.49076370e-03 9.99610287e-01 7.04833311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.890714057 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:152.91, Y:127.39, Z:7.05 [[-3.60623881e-01 -9.32687824e-01 6.62115598e-03 1.52914328e+02] [ 9.32300240e-01 -3.60666596e-01 -2.71268973e-02 1.27386871e+02] [ 2.76889566e-02 -3.60970168e-03 9.99610070e-01 7.05132684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.920714057 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:152.92, Y:127.39, Z:7.05 [[-3.46891570e-01 -9.37877011e-01 7.27678253e-03 1.52921778e+02] [ 9.37493134e-01 -3.46958684e-01 -2.69498771e-02 1.27391635e+02] [ 2.78004131e-02 -2.52675152e-03 9.99610300e-01 7.04927031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.950714057 meters Centerline goodness : 0.992692 Centerline is valid? [True, True] Translation: X:152.93, Y:127.38, Z:7.05 [[-3.44536180e-01 -9.38749032e-01 6.71389427e-03 1.52925875e+02] [ 9.38362667e-01 -3.44588204e-01 -2.71011832e-02 1.27383631e+02] [ 2.77547383e-02 -3.03727039e-03 9.99610149e-01 7.04957646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.980714057 meters Centerline goodness : 0.992034 Centerline is valid? [True, True] Translation: X:152.93, Y:127.37, Z:7.05 [[-3.44181978e-01 -9.38879079e-01 6.69640341e-03 1.52930941e+02] [ 9.38492657e-01 -3.44233648e-01 -2.71058749e-02 1.27369283e+02] [ 2.77542662e-02 -3.04482820e-03 9.99610139e-01 7.05002868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01071405700003 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:152.93, Y:127.37, Z:7.05 [[-3.41778525e-01 -9.39754971e-01 6.93063493e-03 1.52930842e+02] [ 9.39369759e-01 -3.41837869e-01 -2.70430570e-02 1.27371709e+02] [ 2.77830008e-02 -2.73230729e-03 9.99610244e-01 7.05078608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.040714057 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:152.93, Y:127.38, Z:7.05 [[-3.41840022e-01 -9.39734596e-01 6.65502993e-03 1.52930036e+02] [ 9.39348125e-01 -3.41891475e-01 -2.71167781e-02 1.27376385e+02] [ 2.77578724e-02 -3.01821012e-03 9.99610119e-01 7.05135281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07071405700003 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:152.93, Y:127.39, Z:7.05 [[-3.41364274e-01 -9.39907947e-01 6.59416684e-03 1.52928464e+02] [ 9.39521236e-01 -3.41414184e-01 -2.71330377e-02 1.27386172e+02] [ 2.77538998e-02 -3.06688993e-03 9.99610082e-01 7.05080847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.100714057 meters Centerline goodness : 0.993380 Centerline is valid? [True, True] Translation: X:152.93, Y:127.38, Z:7.05 [[-3.39170858e-01 -9.40701347e-01 6.64117567e-03 1.52932348e+02] [ 9.40314962e-01 -3.39223012e-01 -2.71204916e-02 1.27381677e+02] [ 2.77651226e-02 -2.95368358e-03 9.99610111e-01 7.04829285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13071405700003 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:152.93, Y:127.38, Z:7.05 [[-3.37536106e-01 -9.41289672e-01 6.56742787e-03 1.52932973e+02] [ 9.40903049e-01 -3.37586826e-01 -2.71401341e-02 1.27384263e+02] [ 2.77638050e-02 -2.98146227e-03 9.99610065e-01 7.04731726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.160714057 meters Centerline goodness : 0.992905 Centerline is valid? [True, True] Translation: X:152.93, Y:127.39, Z:7.05 [[-3.35469229e-01 -9.42028437e-01 6.54367306e-03 1.52933137e+02] [ 9.41641822e-01 -3.35520119e-01 -2.71464526e-02 1.27386919e+02] [ 2.77682643e-02 -2.94500328e-03 9.99610049e-01 7.04847863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.190714057 meters Centerline goodness : 0.992264 Centerline is valid? [True, True] Translation: X:152.94, Y:127.38, Z:7.05 [[-3.34230677e-01 -9.42469547e-01 6.40380764e-03 1.52935220e+02] [ 9.42082384e-01 -3.34278081e-01 -2.71835669e-02 1.27381739e+02] [ 2.77603365e-02 -3.05266759e-03 9.99609946e-01 7.04793343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.220714057 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:152.93, Y:127.38, Z:7.05 [[-3.32186828e-01 -9.43191385e-01 6.47476823e-03 1.52934476e+02] [ 9.42804639e-01 -3.32237098e-01 -2.71647479e-02 1.27383527e+02] [ 2.77727144e-02 -2.91932991e-03 9.99610001e-01 7.04927073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.250714057 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:152.93, Y:127.40, Z:7.05 [[-3.32863118e-01 -9.42953497e-01 6.39126731e-03 1.52929243e+02] [ 9.42566349e-01 -3.32910725e-01 -2.71868862e-02 1.27403384e+02] [ 2.77636909e-02 -3.02531822e-03 9.99609936e-01 7.05055943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.280714057 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:152.93, Y:127.40, Z:7.05 [[-3.31561893e-01 -9.43410720e-01 6.55166170e-03 1.52930805e+02] [ 9.43024354e-01 -3.31614613e-01 -2.71443506e-02 1.27395665e+02] [ 2.77808981e-02 -2.82165572e-03 9.99610054e-01 7.05087570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.310714057 meters Centerline goodness : 0.991749 Centerline is valid? [True, True] Translation: X:152.93, Y:127.40, Z:7.05 [[-3.29487281e-01 -9.44138006e-01 6.44656935e-03 1.52932008e+02] [ 9.43751279e-01 -3.29537852e-01 -2.71721692e-02 1.27395446e+02] [ 2.77786663e-02 -2.86892608e-03 9.99609981e-01 7.05093346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.340714057 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:152.93, Y:127.40, Z:7.05 [[-3.27854783e-01 -9.44705528e-01 6.53508477e-03 1.52931205e+02] [ 9.44319295e-01 -3.27908546e-01 -2.71487457e-02 1.27397409e+02] [ 2.77904803e-02 -2.72963949e-03 9.99610043e-01 7.05129951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.370714057 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:152.92, Y:127.40, Z:7.05 [[-3.40289976e-01 -9.40298757e-01 6.40147532e-03 1.52921414e+02] [ 9.39911292e-01 -3.40334821e-01 -2.71840596e-02 1.27398353e+02] [ 2.77397824e-02 -3.23364405e-03 9.99609948e-01 7.05296299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.400714057 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:152.93, Y:127.39, Z:7.05 [[-3.23662404e-01 -9.46145569e-01 7.15617100e-03 1.52930864e+02] [ 9.45762745e-01 -3.23735538e-01 -2.69839221e-02 1.27392112e+02] [ 2.78474252e-02 -1.96564117e-03 9.99610253e-01 7.05114058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.430714057 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:152.92, Y:127.40, Z:7.05 [[-3.36827436e-01 -9.41544097e-01 6.48007080e-03 1.52918698e+02] [ 9.41157156e-01 -3.36875954e-01 -2.71624620e-02 1.27400796e+02] [ 2.77576358e-02 -3.05029742e-03 9.99610029e-01 7.05488213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.460714057 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:152.93, Y:127.39, Z:7.05 [[-3.13099562e-01 -9.49693439e-01 7.14403608e-03 1.52931249e+02] [ 9.49311396e-01 -3.13176614e-01 -2.69867010e-02 1.27389922e+02] [ 2.78664379e-02 -1.66760940e-03 9.99610264e-01 7.04880580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.490714057 meters Centerline goodness : 0.992383 Centerline is valid? [True, True] Translation: X:152.92, Y:127.40, Z:7.05 [[-3.30056884e-01 -9.43941404e-01 6.08933577e-03 1.52916194e+02] [ 9.43553194e-01 -3.30097022e-01 -2.72640046e-02 1.27399307e+02] [ 2.77456944e-02 -3.25306019e-03 9.99609721e-01 7.05385756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.520714057 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:152.93, Y:127.38, Z:7.05 [[-3.06699212e-01 -9.51779789e-01 7.12927315e-03 1.52930952e+02] [ 9.51398222e-01 -3.06778420e-01 -2.69893202e-02 1.27377528e+02] [ 2.78749966e-02 -1.49482544e-03 9.99610299e-01 7.04807937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.550714057 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:152.93, Y:127.38, Z:7.05 [[-2.99603825e-01 -9.54044348e-01 6.07708663e-03 1.52928197e+02] [ 9.53657639e-01 -2.99656055e-01 -2.72645497e-02 1.27381335e+02] [ 2.78326254e-02 -2.37310329e-03 9.99609781e-01 7.04625013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.580714057 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:152.92, Y:127.39, Z:7.05 [[-2.97502910e-01 -9.54701687e-01 6.05868178e-03 1.52924323e+02] [ 9.54315004e-01 -2.97555467e-01 -2.72693591e-02 1.27389397e+02] [ 2.78368971e-02 -2.33082276e-03 9.99609761e-01 7.04664621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.610714057 meters Centerline goodness : 0.991094 Centerline is valid? [True, True] Translation: X:152.92, Y:127.39, Z:7.05 [[-2.95728799e-01 -9.55251534e-01 6.24368353e-03 1.52922015e+02] [ 9.54865892e-01 -2.95787332e-01 -2.72209817e-02 1.27392144e+02] [ 2.78496870e-02 -2.08814778e-03 9.99609941e-01 7.04778909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.640714057 meters Centerline goodness : 0.989463 Centerline is valid? [True, True] Translation: X:152.93, Y:127.37, Z:7.05 [[-2.85120752e-01 -9.58470749e-01 6.32304378e-03 1.52926962e+02] [ 9.58086219e-01 -2.85185804e-01 -2.72002596e-02 1.27366428e+02] [ 2.78738955e-02 -1.69733735e-03 9.99610006e-01 7.04796221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.670714057 meters Centerline goodness : 0.991576 Centerline is valid? [True, True] Translation: X:152.92, Y:127.37, Z:7.05 [[-2.81170832e-01 -9.59637119e-01 6.28996940e-03 1.52923524e+02] [ 9.59252673e-01 -2.81236532e-01 -2.72088754e-02 1.27374273e+02] [ 2.78796160e-02 -1.61667220e-03 9.99609981e-01 7.04852035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.700714057 meters Centerline goodness : 0.989988 Centerline is valid? [True, True] Translation: X:152.92, Y:127.37, Z:7.05 [[-2.76446282e-01 -9.61010852e-01 5.96617905e-03 1.52921246e+02] [ 9.60624922e-01 -2.76504705e-01 -2.72929951e-02 1.27374832e+02] [ 2.78785410e-02 -1.81378672e-03 9.99609672e-01 7.05079696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.730714057 meters Centerline goodness : 0.989966 Centerline is valid? [True, True] Translation: X:152.92, Y:127.38, Z:7.05 [[-2.75646669e-01 -9.61239314e-01 6.15590081e-03 1.52918695e+02] [ 9.60854486e-01 -2.75710788e-01 -2.72437005e-02 1.27378480e+02] [ 2.78849642e-02 -1.59471039e-03 9.99609867e-01 7.05272138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76071405700003 meters Centerline goodness : 0.989581 Centerline is valid? [True, True] Translation: X:152.91, Y:127.40, Z:7.05 [[-2.73006943e-01 -9.61992526e-01 6.13101217e-03 1.52913678e+02] [ 9.61607733e-01 -2.73071413e-01 -2.72501672e-02 1.27398456e+02] [ 2.78886613e-02 -1.54385611e-03 9.99609843e-01 7.05379639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.790714057 meters Centerline goodness : 0.989581 Centerline is valid? [True, True] Translation: X:152.91, Y:127.40, Z:7.05 [[-2.72700177e-01 -9.62079933e-01 6.06762192e-03 1.52912950e+02] [ 9.61694801e-01 -2.72762976e-01 -2.72666312e-02 1.27400999e+02] [ 2.78877013e-02 -1.60041468e-03 9.99609781e-01 7.05384486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82071405700003 meters Centerline goodness : 0.989642 Centerline is valid? [True, True] Translation: X:152.92, Y:127.39, Z:7.05 [[-2.69586019e-01 -9.62957333e-01 6.04587593e-03 1.52917409e+02] [ 9.62572282e-01 -2.69649449e-01 -2.72722646e-02 1.27385338e+02] [ 2.78922943e-02 -1.53262866e-03 9.99609759e-01 7.05307850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.850714057 meters Centerline goodness : 0.990026 Centerline is valid? [True, True] Translation: X:152.92, Y:127.38, Z:7.05 [[-2.64660928e-01 -9.64323244e-01 5.93914867e-03 1.52920618e+02] [ 9.63937908e-01 -2.64723307e-01 -2.72998268e-02 1.27381085e+02] [ 2.78980886e-02 -1.50022694e-03 9.99609647e-01 7.05073506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88071405700003 meters Centerline goodness : 0.989752 Centerline is valid? [True, True] Translation: X:152.92, Y:127.39, Z:7.05 [[-2.71347376e-01 -9.62464542e-01 5.71020108e-03 1.52919386e+02] [ 9.62077551e-01 -2.71400589e-01 -2.73588341e-02 1.27385405e+02] [ 2.78816597e-02 -1.93009158e-03 9.99609368e-01 7.05103913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.910714057 meters Centerline goodness : 0.990786 Centerline is valid? [True, True] Translation: X:152.92, Y:127.38, Z:7.05 [[-2.70994810e-01 -9.62561885e-01 6.03573917e-03 1.52921622e+02] [ 9.62176687e-01 -2.71057390e-01 -2.72748057e-02 1.27381108e+02] [ 2.78897201e-02 -1.58388329e-03 9.99609751e-01 7.04952061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.940714057 meters Centerline goodness : 0.990548 Centerline is valid? [True, True] Translation: X:152.82, Y:127.74, Z:7.06 [[-2.90546749e-01 -9.56840869e-01 6.17559070e-03 1.52824012e+02] [ 9.56455214e-01 -2.90605441e-01 -2.72378565e-02 1.27739495e+02] [ 2.78569545e-02 -2.00719472e-03 9.99609905e-01 7.06208074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.970714057 meters Centerline goodness : 0.991211 Centerline is valid? [True, True] Translation: X:153.66, Y:127.72, Z:7.90 [[-2.99065127e-01 9.54212718e-01 -6.17559070e-03 1.53663846e+02] [ 9.53826556e-01 2.99120379e-01 2.72378565e-02 1.27721057e+02] [ 2.78379541e-02 2.25545060e-03 -9.99609905e-01 7.89921620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.000714057 meters Centerline goodness : 0.991539 Centerline is valid? [True, True] Translation: X:152.90, Y:127.54, Z:7.06 [[-3.71418601e-01 -9.28412799e-01 9.89432381e-03 1.52904362e+02] [ 9.28049858e-01 -3.71550081e-01 -2.59614618e-02 1.27542532e+02] [ 2.77791902e-02 -4.60144000e-04 9.99613978e-01 7.05967818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.030714057 meters Centerline goodness : 0.990438 Centerline is valid? [True, True] Translation: X:152.75, Y:128.02, Z:7.07 [[-3.68889035e-01 -9.29430193e-01 8.96640910e-03 1.52746976e+02] [ 9.29059634e-01 -3.68995471e-01 -2.62780918e-02 1.28023666e+02] [ 2.77322163e-02 -1.36337118e-03 9.99614458e-01 7.07141803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.060714057 meters Centerline goodness : 0.991996 Centerline is valid? [True, True] Translation: X:153.64, Y:127.95, Z:7.90 [[-3.32061516e-01 9.43215115e-01 -8.96640910e-03 1.53637962e+02] [ 9.42849028e-01 3.32182440e-01 2.62780918e-02 1.27947729e+02] [ 2.77643771e-02 2.71972922e-04 -9.99614458e-01 7.89958559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.090714057 meters Centerline goodness : 0.992484 Centerline is valid? [True, True] Translation: X:152.90, Y:127.69, Z:7.06 [[-4.43761280e-01 -8.96080929e-01 1.07189246e-02 1.52899103e+02] [ 8.95718487e-01 -4.43887331e-01 -2.55427080e-02 1.27688981e+02] [ 2.76463283e-02 -1.73372587e-03 9.99616264e-01 7.06407047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.120714057 meters Centerline goodness : 0.992040 Centerline is valid? [True, True] Translation: X:152.90, Y:127.70, Z:7.06 [[-4.45420072e-01 -8.95257675e-01 1.07076660e-02 1.52895055e+02] [ 8.94894890e-01 -4.45545133e-01 -2.55474268e-02 1.27699379e+02] [ 2.76422784e-02 -1.79710111e-03 9.99616264e-01 7.06431126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.150714057 meters Centerline goodness : 0.992188 Centerline is valid? [True, True] Translation: X:152.90, Y:127.68, Z:7.06 [[-4.46813387e-01 -8.94563223e-01 1.06975742e-02 1.52903211e+02] [ 8.94200145e-01 -4.46937596e-01 -2.55516518e-02 1.27680067e+02] [ 2.76387161e-02 -1.85104769e-03 9.99616264e-01 7.06333300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.180714057 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:152.92, Y:127.68, Z:7.06 [[-4.28391431e-01 -9.03530054e-01 1.06875376e-02 1.52916456e+02] [ 9.03169494e-01 -4.28522769e-01 -2.55558492e-02 1.27682049e+02] [ 2.76703310e-02 -1.29524891e-03 9.99616264e-01 7.05753120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.210714057 meters Centerline goodness : 0.992799 Centerline is valid? [True, True] Translation: X:152.90, Y:127.68, Z:7.06 [[-4.50754918e-01 -8.92595816e-01 9.62877192e-03 1.52903508e+02] [ 8.92222647e-01 -4.50846904e-01 -2.59964754e-02 1.27683144e+02] [ 2.75454472e-02 -3.12703076e-03 9.99615661e-01 7.06184117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.240714057 meters Centerline goodness : 0.992086 Centerline is valid? [True, True] Translation: X:152.90, Y:127.69, Z:7.06 [[-4.52150810e-01 -8.91877590e-01 1.06775394e-02 1.52902572e+02] [ 8.91513632e-01 -4.52272280e-01 -2.55583500e-02 1.27685215e+02] [ 2.76240747e-02 -2.03705676e-03 9.99616307e-01 7.06230861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.270714057 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:152.92, Y:127.67, Z:7.06 [[-4.35522996e-01 -9.00114394e-01 1.06675934e-02 1.52922053e+02] [ 8.99752653e-01 -4.35650917e-01 -2.55625007e-02 1.27665797e+02] [ 2.76565216e-02 -1.53486146e-03 9.99616307e-01 7.05797907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.300714057 meters Centerline goodness : 0.991802 Centerline is valid? [True, True] Translation: X:152.91, Y:127.68, Z:7.06 [[-4.36896199e-01 -8.99457424e-01 9.90220200e-03 1.52913638e+02] [ 8.99088224e-01 -4.37001788e-01 -2.58805527e-02 1.27683640e+02] [ 2.76057353e-02 -2.40416192e-03 9.99615998e-01 7.05876461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.330714057 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:152.91, Y:127.69, Z:7.06 [[-4.36398521e-01 -8.99698939e-01 9.90707704e-03 1.52910719e+02] [ 8.99329842e-01 -4.36504453e-01 -2.58785271e-02 1.27687593e+02] [ 2.76073666e-02 -2.38362093e-03 9.99616002e-01 7.05780651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.360714057 meters Centerline goodness : 0.992071 Centerline is valid? [True, True] Translation: X:152.90, Y:127.70, Z:7.06 [[-4.37109607e-01 -8.99352809e-01 9.98579505e-03 1.52904281e+02] [ 8.98984345e-01 -4.37217498e-01 -2.58458093e-02 1.27699370e+02] [ 2.76104656e-02 -2.32037815e-03 9.99616065e-01 7.05975325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.390714057 meters Centerline goodness : 0.991148 Centerline is valid? [True, True] Translation: X:152.90, Y:127.70, Z:7.06 [[-4.35013543e-01 -9.00368175e-01 1.00182742e-02 1.52901205e+02] [ 9.00000264e-01 -4.35123220e-01 -2.58323104e-02 1.27702744e+02] [ 2.76177739e-02 -2.22095545e-03 9.99616089e-01 7.05968736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.420714057 meters Centerline goodness : 0.991269 Centerline is valid? [True, True] Translation: X:152.90, Y:127.70, Z:7.06 [[-4.34381184e-01 -9.00673111e-01 1.00465649e-02 1.52901535e+02] [ 9.00305540e-01 -4.34491925e-01 -2.58205593e-02 1.27698050e+02] [ 2.76210348e-02 -2.17098710e-03 9.99616109e-01 7.06090338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.450714057 meters Centerline goodness : 0.991538 Centerline is valid? [True, True] Translation: X:152.90, Y:127.70, Z:7.06 [[-4.33186930e-01 -9.01247819e-01 1.00723213e-02 1.52900317e+02] [ 9.00880636e-01 -4.33298893e-01 -2.58098683e-02 1.27696869e+02] [ 2.76254132e-02 -2.10653842e-03 9.99616126e-01 7.06176707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.480714057 meters Centerline goodness : 0.991073 Centerline is valid? [True, True] Translation: X:152.90, Y:127.69, Z:7.06 [[-4.28334517e-01 -9.03564049e-01 1.00772653e-02 1.52899630e+02] [ 9.03197519e-01 -4.28448594e-01 -2.58078172e-02 1.27691249e+02] [ 2.76366060e-02 -1.95261790e-03 9.99616129e-01 7.06123441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51071405700003 meters Centerline goodness : 0.990884 Centerline is valid? [True, True] Translation: X:152.90, Y:127.70, Z:7.06 [[-4.25359689e-01 -9.04968521e-01 1.00553828e-02 1.52896500e+02] [ 9.04602160e-01 -4.25474348e-01 -2.58168857e-02 1.27695048e+02] [ 2.76417763e-02 -1.88534147e-03 9.99616115e-01 7.06170024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.540714057 meters Centerline goodness : 0.991175 Centerline is valid? [True, True] Translation: X:152.88, Y:127.70, Z:7.07 [[-4.35515073e-01 -9.00126468e-01 9.94800520e-03 1.52883211e+02] [ 8.99757854e-01 -4.35622538e-01 -2.58613497e-02 1.27698530e+02] [ 2.76120606e-02 -2.31221178e-03 9.99616040e-01 7.06540648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57071405700003 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:152.89, Y:127.70, Z:7.06 [[-4.19522930e-01 -9.07682673e-01 1.06148692e-02 1.52893009e+02] [ 9.07322696e-01 -4.19655751e-01 -2.55846812e-02 1.27695689e+02] [ 2.76773627e-02 -1.10224868e-03 9.99616301e-01 7.06251701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.600714057 meters Centerline goodness : 0.990865 Centerline is valid? [True, True] Translation: X:152.89, Y:127.70, Z:7.06 [[-4.14936770e-01 -9.09796232e-01 9.91434879e-03 1.52890725e+02] [ 9.09429859e-01 -4.15051635e-01 -2.58741649e-02 1.27700072e+02] [ 2.76551844e-02 -1.71973757e-03 9.99616043e-01 7.06129164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63071405700003 meters Centerline goodness : 0.990709 Centerline is valid? [True, True] Translation: X:152.88, Y:127.70, Z:7.06 [[-4.29139417e-01 -9.03184485e-01 9.85632933e-03 1.52881493e+02] [ 9.02815822e-01 -4.29246873e-01 -2.58981319e-02 1.27696059e+02] [ 2.76215895e-02 -2.21545917e-03 9.99615996e-01 7.06416965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.660714057 meters Centerline goodness : 0.990803 Centerline is valid? [True, True] Translation: X:152.90, Y:127.68, Z:7.06 [[-4.09261049e-01 -9.12355757e-01 1.06002850e-02 1.52897488e+02] [ 9.11997166e-01 -4.09397513e-01 -2.55899685e-02 1.27681484e+02] [ 2.76868854e-02 -8.05547477e-04 9.99616320e-01 7.05873160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.690714057 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:152.88, Y:127.69, Z:7.06 [[-4.26050031e-01 -9.04647911e-01 9.67096089e-03 1.52880389e+02] [ 9.04277955e-01 -4.26153460e-01 -2.59732386e-02 1.27694339e+02] [ 2.76179495e-02 -2.32066239e-03 9.99615858e-01 7.06239991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.720714057 meters Centerline goodness : 0.991021 Centerline is valid? [True, True] Translation: X:152.90, Y:127.68, Z:7.06 [[-4.05121647e-01 -9.14201475e-01 1.05884053e-02 1.52898465e+02] [ 9.13843411e-01 -4.05259403e-01 -2.55936961e-02 1.27678294e+02] [ 2.76888456e-02 -6.92415882e-04 9.99616351e-01 7.05743317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.750714057 meters Centerline goodness : 0.990570 Centerline is valid? [True, True] Translation: X:152.88, Y:127.70, Z:7.06 [[-4.24062674e-01 -9.05581873e-01 9.60834508e-03 1.52880195e+02] [ 9.05211623e-01 -4.24165130e-01 -2.59973142e-02 1.27695888e+02] [ 2.76182214e-02 -2.32690493e-03 9.99615836e-01 7.06341489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.780714057 meters Centerline goodness : 0.991955 Centerline is valid? [True, True] Translation: X:152.89, Y:127.69, Z:7.06 [[-4.04835796e-01 -9.14328232e-01 1.05764795e-02 1.52894744e+02] [ 9.13970119e-01 -4.04973331e-01 -2.55973099e-02 1.27686345e+02] [ 2.76875353e-02 -6.96121069e-04 9.99616384e-01 7.05944812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.810714057 meters Centerline goodness : 0.991500 Centerline is valid? [True, True] Translation: X:152.89, Y:127.70, Z:7.06 [[-4.07379704e-01 -9.13206880e-01 9.74532327e-03 1.52887277e+02] [ 9.12839943e-01 -4.07492825e-01 -2.59390879e-02 1.27702584e+02] [ 2.76589029e-02 -1.67113764e-03 9.99616022e-01 7.06178510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.840714057 meters Centerline goodness : 0.990741 Centerline is valid? [True, True] Translation: X:152.89, Y:127.69, Z:7.06 [[-4.01823924e-01 -9.15662432e-01 9.99229199e-03 1.52891288e+02] [ 9.15298662e-01 -4.01946244e-01 -2.58375030e-02 1.27694988e+02] [ 2.76747951e-02 -1.23619537e-03 9.99616215e-01 7.06046374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.870714057 meters Centerline goodness : 0.992038 Centerline is valid? [True, True] Translation: X:152.88, Y:127.70, Z:7.06 [[-4.16735417e-01 -9.08974896e-01 9.80974614e-03 1.52878831e+02] [ 9.08607428e-01 -4.16846595e-01 -2.59125007e-02 1.27698813e+02] [ 2.76429719e-02 -1.88544858e-03 9.99616082e-01 7.06490322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.900714057 meters Centerline goodness : 0.991467 Centerline is valid? [True, True] Translation: X:152.88, Y:127.71, Z:7.06 [[-4.02146334e-01 -9.15514624e-01 1.05498580e-02 1.52882721e+02] [ 9.15156649e-01 -4.02284177e-01 -2.56075979e-02 1.27712701e+02] [ 2.76881713e-02 -6.43228892e-04 9.99616402e-01 7.06288817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.930714057 meters Centerline goodness : 0.990842 Centerline is valid? [True, True] Translation: X:152.89, Y:127.69, Z:7.06 [[-3.96454977e-01 -9.18000087e-01 9.96451852e-03 1.52894812e+02] [ 9.17636783e-01 -3.96578645e-01 -2.58478808e-02 1.27687817e+02] [ 2.76800721e-02 -1.10371226e-03 9.99616224e-01 7.06028333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.960714057 meters Centerline goodness : 0.991546 Centerline is valid? [True, True] Translation: X:152.89, Y:127.70, Z:7.06 [[-3.96716690e-01 -9.17889051e-01 9.77531747e-03 1.52892517e+02] [ 9.17523797e-01 -3.96834925e-01 -2.59253658e-02 1.27695421e+02] [ 2.76757968e-02 -1.31593892e-03 9.99616086e-01 7.06037495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.990714057 meters Centerline goodness : 0.991574 Centerline is valid? [True, True] Translation: X:152.88, Y:127.71, Z:7.07 [[-4.13455274e-01 -9.10470820e-01 9.88034603e-03 1.52877380e+02] [ 9.10104468e-01 -4.13569782e-01 -2.58823070e-02 1.27710197e+02] [ 2.76512978e-02 -1.70902927e-03 9.99616169e-01 7.06521368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.020714057 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:152.88, Y:127.71, Z:7.07 [[-4.14054465e-01 -9.10191262e-01 1.05245409e-02 1.52879133e+02] [ 9.09831267e-01 -4.14186916e-01 -2.56176587e-02 1.27707060e+02] [ 2.76760962e-02 -1.03154961e-03 9.99616411e-01 7.06514628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.050714057 meters Centerline goodness : 0.990833 Centerline is valid? [True, True] Translation: X:152.88, Y:127.71, Z:7.06 [[-4.14678622e-01 -9.09907183e-01 1.05146997e-02 1.52877429e+02] [ 9.09546995e-01 -4.14810550e-01 -2.56216973e-02 1.27713201e+02] [ 2.76749748e-02 -1.06115661e-03 9.99616411e-01 7.06498854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.080714057 meters Centerline goodness : 0.991386 Centerline is valid? [True, True] Translation: X:152.88, Y:127.72, Z:7.06 [[-4.16468440e-01 -9.09089482e-01 1.05048636e-02 1.52878053e+02] [ 9.08728935e-01 -4.16599383e-01 -2.56257295e-02 1.27717270e+02] [ 2.76724009e-02 -1.12623406e-03 9.99616411e-01 7.06439983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.110714057 meters Centerline goodness : 0.991138 Centerline is valid? [True, True] Translation: X:152.88, Y:127.72, Z:7.06 [[-4.17214242e-01 -9.08747562e-01 1.04950112e-02 1.52878177e+02] [ 9.08386807e-01 -4.17344611e-01 -2.56297639e-02 1.27719540e+02] [ 2.76710218e-02 -1.15957278e-03 9.99616411e-01 7.06431537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.140714057 meters Centerline goodness : 0.991260 Centerline is valid? [True, True] Translation: X:152.75, Y:128.05, Z:7.07 [[-4.12716444e-01 -9.10799209e-01 1.04851573e-02 1.52749801e+02] [ 9.10439001e-01 -4.12848318e-01 -2.56337945e-02 1.28048748e+02] [ 2.76760193e-02 -1.03339239e-03 9.99616411e-01 7.07300055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.170714057 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:153.59, Y:128.17, Z:7.91 [[-3.99394984e-01 9.16718991e-01 -1.04851573e-02 1.53589674e+02] [ 9.16360744e-01 3.99532095e-01 2.56337945e-02 1.28166429e+02] [ 2.76881431e-02 6.29822424e-04 -9.99616411e-01 7.90527244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.200714057 meters Centerline goodness : 0.991434 Centerline is valid? [True, True] Translation: X:152.87, Y:127.84, Z:7.07 [[-4.81250899e-01 -8.76498237e-01 1.21824810e-02 1.52869796e+02] [ 8.76148222e-01 -4.81403416e-01 -2.48000774e-02 1.27842766e+02] [ 2.76019121e-02 -1.26140048e-03 9.99618199e-01 7.06980741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.230714057 meters Centerline goodness : 0.991014 Centerline is valid? [True, True] Translation: X:152.87, Y:127.84, Z:7.07 [[-4.81495864e-01 -8.76363842e-01 1.21716907e-02 1.52871819e+02] [ 8.76013651e-01 -4.81647979e-01 -2.48053721e-02 1.27842645e+02] [ 2.76010014e-02 -1.28111690e-03 9.99618199e-01 7.06959983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26071405700003 meters Centerline goodness : 0.988771 Centerline is valid? [True, True] Translation: X:152.65, Y:128.30, Z:7.08 [[-4.81639722e-01 -8.76284920e-01 1.21621326e-02 1.52650307e+02] [ 8.75934588e-01 -4.81791510e-01 -2.48100575e-02 1.28300570e+02] [ 2.76002915e-02 -1.29627658e-03 9.99618199e-01 7.08286063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.290714057 meters Centerline goodness : 0.991820 Centerline is valid? [True, True] Translation: X:152.88, Y:127.85, Z:7.07 [[-4.64111745e-01 -8.85690969e-01 1.23205700e-02 1.52876321e+02] [ 8.85345770e-01 -4.64274900e-01 -2.47322758e-02 1.27853754e+02] [ 2.76252847e-02 -5.70575134e-04 9.99618186e-01 7.06613046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32071405700003 meters Centerline goodness : 0.991675 Centerline is valid? [True, True] Translation: X:152.86, Y:127.86, Z:7.07 [[-4.76131322e-01 -8.79300594e-01 1.13767083e-02 1.52863658e+02] [ 8.78942060e-01 -4.76263052e-01 -2.51865217e-02 1.27864896e+02] [ 2.75648293e-02 -1.99262447e-03 9.99618032e-01 7.06716492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.350714057 meters Centerline goodness : 0.992428 Centerline is valid? [True, True] Translation: X:152.71, Y:128.19, Z:7.07 [[-4.70937637e-01 -8.82084939e-01 1.19959541e-02 1.52712826e+02] [ 8.81734502e-01 -4.71089008e-01 -2.48880547e-02 1.28187428e+02] [ 2.76045403e-02 -1.14347504e-03 9.99618268e-01 7.07436969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38071405700003 meters Centerline goodness : 0.991838 Centerline is valid? [True, True] Translation: X:153.53, Y:128.32, Z:7.91 [[-4.65671585e-01 8.84876303e-01 -1.19959541e-02 1.53534554e+02] [ 8.84526774e-01 4.65825042e-01 2.48880547e-02 1.28321329e+02] [ 2.76108656e-02 9.78917283e-04 -9.99618268e-01 7.91434982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.410714057 meters Centerline goodness : 0.992372 Centerline is valid? [True, True] Translation: X:152.85, Y:127.98, Z:7.07 [[-5.32888873e-01 -8.46068249e-01 1.40700791e-02 1.52849531e+02] [ 8.45736442e-01 -5.33074087e-01 -2.37041725e-02 1.27980466e+02] [ 2.75557422e-02 -7.32111144e-04 9.99620000e-01 7.06983986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.440714057 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:152.87, Y:127.97, Z:7.07 [[-5.14752239e-01 -8.57230485e-01 1.36391972e-02 1.52866828e+02] [ 8.56896104e-01 -5.14932505e-01 -2.39495622e-02 1.27970122e+02] [ 2.75535608e-02 -6.40715826e-04 9.99620123e-01 7.06671006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.470714057 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:152.85, Y:127.98, Z:7.07 [[-5.29365124e-01 -8.48297100e-01 1.28295324e-02 1.52850993e+02] [ 8.47948308e-01 -5.29516628e-01 -2.44091692e-02 1.27980522e+02] [ 2.74996782e-02 -2.04258256e-03 9.99619725e-01 7.06963516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.500714057 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:152.85, Y:127.99, Z:7.07 [[-5.27688213e-01 -8.49328773e-01 1.36302679e-02 1.52848582e+02] [ 8.48991598e-01 -5.27863140e-01 -2.39535407e-02 1.27985094e+02] [ 2.75393474e-02 -1.06801823e-03 9.99620150e-01 7.07000614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.530714057 meters Centerline goodness : 0.993010 Centerline is valid? [True, True] Translation: X:152.85, Y:127.99, Z:7.07 [[-5.27484257e-01 -8.49455605e-01 1.36210655e-02 1.52846847e+02] [ 8.49118338e-01 -5.27659005e-01 -2.39587725e-02 1.27987632e+02] [ 2.75391914e-02 -1.07197885e-03 9.99620150e-01 7.07010770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.560714057 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:152.87, Y:127.97, Z:7.07 [[-5.08552778e-01 -8.60923219e-01 1.36118503e-02 1.52870514e+02] [ 8.60589762e-01 -5.08734692e-01 -2.39640068e-02 1.27969937e+02] [ 2.75559904e-02 -4.72743176e-04 9.99620150e-01 7.06520538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.590714057 meters Centerline goodness : 0.992052 Centerline is valid? [True, True] Translation: X:152.64, Y:128.36, Z:7.08 [[-5.30816119e-01 -8.47388468e-01 1.29240542e-02 1.52638237e+02] [ 8.47040612e-01 -5.30969728e-01 -2.43587764e-02 1.28364791e+02] [ 2.75036277e-02 -1.98283238e-03 9.99619737e-01 7.07939302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.620714057 meters Centerline goodness : 0.992603 Centerline is valid? [True, True] Translation: X:153.48, Y:128.52, Z:7.92 [[-5.18779481e-01 8.54810399e-01 -1.29240542e-02 1.53475534e+02] [ 8.54464750e-01 5.18937994e-01 2.43587764e-02 1.28515521e+02] [ 2.75289181e-02 1.59368464e-03 -9.99619737e-01 7.91832436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.650714057 meters Centerline goodness : 0.991857 Centerline is valid? [True, True] Translation: X:153.18, Y:128.96, Z:7.93 [[-5.81798659e-01 8.13189208e-01 -1.52850396e-02 1.53180451e+02] [ 8.12870653e-01 5.81998824e-01 2.27743295e-02 1.28963795e+02] [ 2.74157141e-02 8.25314241e-04 -9.99623778e-01 7.93481418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.680714057 meters Centerline goodness : 0.991857 Centerline is valid? [True, True] Translation: X:152.56, Y:128.52, Z:7.09 [[-6.51358507e-01 -7.58577767e-01 1.70840893e-02 1.52563811e+02] [ 7.58277567e-01 -6.51581807e-01 -2.13607327e-02 1.28517545e+02] [ 2.73354587e-02 -9.59013327e-04 9.99625857e-01 7.08500289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.710714057 meters Centerline goodness : 0.993115 Centerline is valid? [True, True] Translation: X:153.42, Y:128.72, Z:7.92 [[-6.25185322e-01 7.80289336e-01 -1.70840893e-02 1.53419090e+02] [ 7.79996902e-01 6.25418701e-01 2.13607327e-02 1.28723609e+02] [ 2.73522608e-02 2.88798482e-05 -9.99625857e-01 7.92294058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.740714057 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:152.83, Y:128.24, Z:7.08 [[-7.10837701e-01 -7.03119999e-01 1.82216883e-02 1.52830574e+02] [ 7.02827631e-01 -7.11069290e-01 -2.03417389e-02 1.28237220e+02] [ 2.72595664e-02 -1.65296886e-03 9.99627022e-01 7.07642091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.770714057 meters Centerline goodness : 0.992756 Centerline is valid? [True, True] Translation: X:152.84, Y:128.24, Z:7.07 [[-6.98298357e-01 -7.15575109e-01 1.82117789e-02 1.52842516e+02] [ 7.15286650e-01 -6.98534796e-01 -2.03506069e-02 1.28239700e+02] [ 2.72839490e-02 -1.18415301e-03 9.99627022e-01 7.07345577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.800714057 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:152.49, Y:128.62, Z:7.09 [[-7.17328077e-01 -6.96508143e-01 1.77999125e-02 1.52485417e+02] [ 6.96204191e-01 -7.17544628e-01 -2.07227078e-02 1.28624444e+02] [ 2.72057664e-02 -2.47260646e-03 9.99626797e-01 7.08964962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.830714057 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:153.33, Y:128.88, Z:7.93 [[-6.70302967e-01 7.41874043e-01 -1.77999125e-02 1.53331424e+02] [ 7.41584884e-01 6.70538909e-01 2.07227078e-02 1.28882047e+02] [ 2.73091730e-02 6.90346481e-04 -9.99626797e-01 7.92708890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.860714057 meters Centerline goodness : 0.990382 Centerline is valid? [True, True] Translation: X:152.86, Y:129.35, Z:7.95 [[-7.19304290e-01 6.94419004e-01 -1.95853192e-02 1.52859848e+02] [ 6.94162580e-01 7.19570876e-01 1.88697229e-02 1.29347642e+02] [ 2.71965195e-02 -2.23230599e-05 -9.99630106e-01 7.94558545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.890714057 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:153.25, Y:129.07, Z:7.93 [[-7.69461552e-01 6.38392776e-01 -1.95853192e-02 1.53248427e+02] [ 6.38117040e-01 7.69708111e-01 1.88697229e-02 1.29073478e+02] [ 2.71212739e-02 2.02180036e-03 -9.99630106e-01 7.93131346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.920714057 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:152.79, Y:128.47, Z:7.08 [[-8.53567366e-01 -5.20522069e-01 2.18980892e-02 1.52787368e+02] [ 5.20291003e-01 -8.53845994e-01 -1.56297870e-02 1.28470609e+02] [ 2.68332448e-02 -1.94769728e-03 9.99638026e-01 7.08380558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.950714057 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:152.78, Y:128.48, Z:7.08 [[-8.53407447e-01 -5.20784476e-01 2.18919955e-02 1.52780550e+02] [ 5.20553278e-01 -8.53685965e-01 -1.56383176e-02 1.28475151e+02] [ 2.68330823e-02 -1.94990672e-03 9.99638026e-01 7.08489846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.980714057 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:152.83, Y:128.45, Z:7.08 [[-8.41364151e-01 -5.40025192e-01 2.18896893e-02 1.52827557e+02] [ 5.39800293e-01 -8.41647780e-01 -1.56415450e-02 1.28450702e+02] [ 2.68702367e-02 -1.34417448e-03 9.99638026e-01 7.08093333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01071405700003 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:152.81, Y:128.46, Z:7.08 [[-8.42272287e-01 -5.38629864e-01 2.13369133e-02 1.52812391e+02] [ 5.38384845e-01 -8.42539266e-01 -1.64117178e-02 1.28459488e+02] [ 2.68170286e-02 -2.33566438e-03 9.99637630e-01 7.08327211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.040714057 meters Centerline goodness : 0.992600 Centerline is valid? [True, True] Translation: X:152.78, Y:128.47, Z:7.09 [[-8.50789922e-01 -5.25069271e-01 2.14189169e-02 1.52783197e+02] [ 5.24822851e-01 -8.51055447e-01 -1.62972850e-02 1.28469190e+02] [ 2.67858894e-02 -2.62442875e-03 9.99637749e-01 7.08572733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07071405700003 meters Centerline goodness : 0.991928 Centerline is valid? [True, True] Translation: X:152.81, Y:128.46, Z:7.09 [[-8.41710364e-01 -5.39485493e-01 2.18875800e-02 1.52805082e+02] [ 5.39260417e-01 -8.41993792e-01 -1.56414863e-02 1.28458067e+02] [ 2.68675614e-02 -1.36249558e-03 9.99638073e-01 7.08698845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.100714057 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:152.80, Y:128.46, Z:7.09 [[-8.40894426e-01 -5.40770912e-01 2.15263729e-02 1.52801227e+02] [ 5.40533316e-01 -8.41167673e-01 -1.61456019e-02 1.28459607e+02] [ 2.68383608e-02 -1.94102494e-03 9.99637902e-01 7.08732139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13071405700003 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:152.78, Y:128.47, Z:7.09 [[-8.40662633e-01 -5.41130511e-01 2.15431610e-02 1.52781764e+02] [ 5.40893629e-01 -8.40936477e-01 -1.61221665e-02 1.28471275e+02] [ 2.68406261e-02 -1.90074439e-03 9.99637918e-01 7.08772216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.160714057 meters Centerline goodness : 0.992755 Centerline is valid? [True, True] Translation: X:152.80, Y:128.46, Z:7.09 [[-8.39469185e-01 -5.42979918e-01 2.15475270e-02 1.52797225e+02] [ 5.42743795e-01 -8.39743678e-01 -1.61160733e-02 1.28460302e+02] [ 2.68451038e-02 -1.83416037e-03 9.99637923e-01 7.08607851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.190714057 meters Centerline goodness : 0.992426 Centerline is valid? [True, True] Translation: X:152.78, Y:128.47, Z:7.09 [[-8.42607165e-01 -5.38098737e-01 2.15154609e-02 1.52780585e+02] [ 5.37859889e-01 -8.42879332e-01 -1.61608044e-02 1.28468593e+02] [ 2.68310458e-02 -2.04490613e-03 9.99637891e-01 7.08881585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.220714057 meters Centerline goodness : 0.992625 Centerline is valid? [True, True] Translation: X:152.78, Y:128.47, Z:7.09 [[-8.42426372e-01 -5.38378290e-01 2.16014914e-02 1.52781992e+02] [ 5.38142587e-01 -8.42701163e-01 -1.60407411e-02 1.28467107e+02] [ 2.68395887e-02 -1.88846086e-03 9.99637970e-01 7.08621758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.250714057 meters Centerline goodness : 0.992895 Centerline is valid? [True, True] Translation: X:152.78, Y:128.47, Z:7.09 [[-8.44275002e-01 -5.35467925e-01 2.17674711e-02 1.52777920e+02] [ 5.35237190e-01 -8.44553861e-01 -1.58090601e-02 1.28468175e+02] [ 2.68490464e-02 -1.69643419e-03 9.99638060e-01 7.08758931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.280714057 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:152.77, Y:128.47, Z:7.09 [[-8.43901217e-01 -5.36062242e-01 2.16335203e-02 1.52774194e+02] [ 5.35826928e-01 -8.44176306e-01 -1.59958387e-02 1.28471210e+02] [ 2.68372704e-02 -1.90708504e-03 9.99637996e-01 7.08790129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.310714057 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:152.77, Y:128.47, Z:7.09 [[-8.43662502e-01 -5.36439138e-01 2.16017135e-02 1.52774337e+02] [ 5.36202818e-01 -8.43936758e-01 -1.60401692e-02 1.28470956e+02] [ 2.68350546e-02 -1.94958963e-03 9.99637974e-01 7.08725307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.340714057 meters Centerline goodness : 0.992126 Centerline is valid? [True, True] Translation: X:152.77, Y:128.47, Z:7.09 [[-8.44174992e-01 -5.35633236e-01 2.15782282e-02 1.52773980e+02] [ 5.35395824e-01 -8.44448325e-01 -1.60728847e-02 1.28470755e+02] [ 2.68308699e-02 -2.01543408e-03 9.99637956e-01 7.08783565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.370714057 meters Centerline goodness : 0.993448 Centerline is valid? [True, True] Translation: X:152.78, Y:128.47, Z:7.09 [[-8.44775757e-01 -5.34680193e-01 2.17028120e-02 1.52775628e+02] [ 5.34446889e-01 -8.45052504e-01 -1.58993346e-02 1.28467482e+02] [ 2.68410749e-02 -1.83237203e-03 9.99638034e-01 7.08855617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.400714057 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:152.78, Y:128.46, Z:7.09 [[-8.45117391e-01 -5.34147189e-01 2.15261620e-02 1.52777818e+02] [ 5.33907469e-01 -8.45388758e-01 -1.61450722e-02 1.28464613e+02] [ 2.68218203e-02 -2.15150266e-03 9.99637915e-01 7.08758174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.430714057 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:152.77, Y:128.47, Z:7.09 [[-8.45929504e-01 -5.32859463e-01 2.15422383e-02 1.52769236e+02] [ 5.32619894e-01 -8.46200985e-01 -1.61227147e-02 1.28470215e+02] [ 2.68202044e-02 -2.16485533e-03 9.99637929e-01 7.08948536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.460714057 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:152.77, Y:128.47, Z:7.09 [[-8.45918919e-01 -5.32877713e-01 2.15064107e-02 1.52771488e+02] [ 5.32636893e-01 -8.46189335e-01 -1.61725239e-02 1.28468669e+02] [ 2.68164729e-02 -2.22553610e-03 9.99637896e-01 7.08836554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.490714057 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:152.77, Y:128.47, Z:7.09 [[-8.46586343e-01 -5.31817893e-01 2.14777361e-02 1.52768984e+02] [ 5.31575731e-01 -8.46855596e-01 -1.62123661e-02 1.28470930e+02] [ 2.68105674e-02 -2.30812446e-03 9.99637867e-01 7.08735072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.520714057 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:152.77, Y:128.47, Z:7.09 [[-8.47184099e-01 -5.30864679e-01 2.14894240e-02 1.52768906e+02] [ 5.30622623e-01 -8.47453431e-01 -1.61961308e-02 1.28470443e+02] [ 2.68092399e-02 -2.31832995e-03 9.99637879e-01 7.08792541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.550714057 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:152.78, Y:128.46, Z:7.08 [[-8.42838901e-01 -5.37736555e-01 2.14938395e-02 1.52784389e+02] [ 5.37496852e-01 -8.43110324e-01 -1.61900026e-02 1.28461375e+02] [ 2.68276342e-02 -2.09269290e-03 9.99637884e-01 7.08287734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.580714057 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:152.78, Y:128.46, Z:7.08 [[-8.41973799e-01 -5.39098350e-01 2.12859070e-02 1.52782845e+02] [ 5.38851825e-01 -8.42239389e-01 -1.64779227e-02 1.28462846e+02] [ 2.68110503e-02 -2.40402932e-03 9.99637628e-01 7.08250879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.610714057 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:152.74, Y:128.48, Z:7.09 [[-8.54761637e-01 -5.18584224e-01 2.12825314e-02 1.52739738e+02] [ 5.18331235e-01 -8.55021085e-01 -1.64826046e-02 1.28480161e+02] [ 2.67446318e-02 -3.05729737e-03 9.99637623e-01 7.09018794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.640714057 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:152.77, Y:128.47, Z:7.09 [[-8.43680388e-01 -5.36401103e-01 2.18462692e-02 1.52770092e+02] [ 5.36173532e-01 -8.43961796e-01 -1.56981000e-02 1.28467663e+02] [ 2.68578948e-02 -1.53078781e-03 9.99638090e-01 7.09128319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.670714057 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:152.74, Y:128.48, Z:7.09 [[-8.53787679e-01 -5.20178590e-01 2.14670394e-02 1.52737651e+02] [ 5.19932465e-01 -8.54053273e-01 -1.62246116e-02 1.28479798e+02] [ 2.67736909e-02 -2.69096280e-03 9.99637899e-01 7.09160859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.700714057 meters Centerline goodness : 0.992884 Centerline is valid? [True, True] Translation: X:152.76, Y:128.48, Z:7.09 [[-8.43222395e-01 -5.37120814e-01 2.18454713e-02 1.52757337e+02] [ 5.36893487e-01 -8.43503976e-01 -1.56979920e-02 1.28476012e+02] [ 2.68584601e-02 -1.50820718e-03 9.99638109e-01 7.09189229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.730714057 meters Centerline goodness : 0.993908 Centerline is valid? [True, True] Translation: X:152.76, Y:128.48, Z:7.09 [[-8.42901128e-01 -5.37637407e-01 2.15338646e-02 1.52755957e+02] [ 5.37399187e-01 -8.43173720e-01 -1.61304614e-02 1.28476363e+02] [ 2.68291281e-02 -2.02410274e-03 9.99637985e-01 7.08675371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76071405700003 meters Centerline goodness : 0.993451 Centerline is valid? [True, True] Translation: X:152.75, Y:128.48, Z:7.09 [[-8.43710570e-01 -5.36374023e-01 2.13396831e-02 1.52749478e+02] [ 5.36128609e-01 -8.43976995e-01 -1.63995870e-02 1.28479636e+02] [ 2.68065141e-02 -2.39569023e-03 9.99637770e-01 7.08686108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.790714057 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:152.73, Y:128.49, Z:7.09 [[-8.44865847e-01 -5.34546842e-01 2.14796466e-02 1.52733280e+02] [ 5.34305731e-01 -8.45135947e-01 -1.62054725e-02 1.28489953e+02] [ 2.68158057e-02 -2.21475198e-03 9.99637938e-01 7.08966150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82071405700003 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:152.74, Y:128.48, Z:7.09 [[-8.43653200e-01 -5.36456474e-01 2.15343852e-02 1.52742085e+02] [ 5.36217897e-01 -8.43925474e-01 -1.61295241e-02 1.28482522e+02] [ 2.68262039e-02 -2.06060195e-03 9.99637989e-01 7.08770497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.850714057 meters Centerline goodness : 0.992625 Centerline is valid? [True, True] Translation: X:152.74, Y:128.48, Z:7.09 [[-8.43673912e-01 -5.36425071e-01 2.15051805e-02 1.52739575e+02] [ 5.36185459e-01 -8.43945309e-01 -1.61700144e-02 1.28482664e+02] [ 2.68231973e-02 -2.11145423e-03 9.99637963e-01 7.08923359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88071405700003 meters Centerline goodness : 0.992209 Centerline is valid? [True, True] Translation: X:152.74, Y:128.48, Z:7.09 [[-8.42524177e-01 -5.38229375e-01 2.14976978e-02 1.52742193e+02] [ 5.37990081e-01 -8.42795864e-01 -1.61803809e-02 1.28479396e+02] [ 2.68269271e-02 -2.06681389e-03 9.99637957e-01 7.08720096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.910714057 meters Centerline goodness : 0.993009 Centerline is valid? [True, True] Translation: X:152.74, Y:128.48, Z:7.09 [[-8.41518134e-01 -5.39801573e-01 2.14823541e-02 1.52743034e+02] [ 5.39562248e-01 -8.41789812e-01 -1.62016191e-02 1.28478799e+02] [ 2.68292863e-02 -2.04288902e-03 9.99637942e-01 7.08566494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.940714057 meters Centerline goodness : 0.992061 Centerline is valid? [True, True] Translation: X:152.74, Y:128.48, Z:7.09 [[-8.42570968e-01 -5.38159273e-01 2.14187249e-02 1.52744031e+02] [ 5.37917193e-01 -8.42840282e-01 -1.62896408e-02 1.28476941e+02] [ 2.68189854e-02 -2.20367804e-03 9.99637877e-01 7.08823129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.970714057 meters Centerline goodness : 0.992527 Centerline is valid? [True, True] Translation: X:152.72, Y:128.49, Z:7.09 [[-8.43144481e-01 -5.37252714e-01 2.16079879e-02 1.52718909e+02] [ 5.37016985e-01 -8.43419157e-01 -1.60275798e-02 1.28493134e+02] [ 2.68354517e-02 -1.90970896e-03 9.99638040e-01 7.08724595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.000714057 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:152.72, Y:128.49, Z:7.09 [[-8.44187259e-01 -5.35620743e-01 2.14077452e-02 1.52721918e+02] [ 5.35377473e-01 -8.44455514e-01 -1.63047798e-02 1.28490835e+02] [ 2.68110667e-02 -2.30306283e-03 9.99637866e-01 7.08774999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.030714057 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:152.74, Y:128.48, Z:7.09 [[-8.43557845e-01 -5.36608446e-01 2.14834192e-02 1.52735746e+02] [ 5.36368132e-01 -8.43828647e-01 -1.62000582e-02 1.28481296e+02] [ 2.68214126e-02 -2.14266471e-03 9.99637945e-01 7.08660077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.060714057 meters Centerline goodness : 0.992123 Centerline is valid? [True, True] Translation: X:152.75, Y:128.47, Z:7.09 [[-8.43725153e-01 -5.36349034e-01 2.13911173e-02 1.52747641e+02] [ 5.36105423e-01 -8.43993120e-01 -1.63275714e-02 1.28474360e+02] [ 2.68112330e-02 -2.30808864e-03 9.99637850e-01 7.08507602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.090714057 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:152.73, Y:128.48, Z:7.09 [[-8.45502434e-01 -5.33537651e-01 2.15222974e-02 1.52733436e+02] [ 5.33297710e-01 -8.45773521e-01 -1.61463161e-02 1.28482360e+02] [ 2.68176568e-02 -2.17395767e-03 9.99637978e-01 7.08778079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.120714057 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:152.74, Y:128.48, Z:7.09 [[-8.46467292e-01 -5.32009399e-01 2.14271477e-02 1.52736422e+02] [ 5.31765665e-01 -8.46735091e-01 -1.62776885e-02 1.28480694e+02] [ 2.68030012e-02 -2.38430946e-03 9.99637892e-01 7.08739583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.150714057 meters Centerline goodness : 0.993807 Centerline is valid? [True, True] Translation: X:152.74, Y:128.48, Z:7.09 [[-8.46259846e-01 -5.32340313e-01 2.14024575e-02 1.52737080e+02] [ 5.32095829e-01 -8.46526996e-01 -1.63117521e-02 1.28479977e+02] [ 2.68011613e-02 -2.41582242e-03 9.99637865e-01 7.08784280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.180714057 meters Centerline goodness : 0.992834 Centerline is valid? [True, True] Translation: X:152.73, Y:128.49, Z:7.09 [[-8.46452508e-01 -5.32036915e-01 2.13277606e-02 1.52727908e+02] [ 5.31789762e-01 -8.46717312e-01 -1.64147149e-02 1.28486288e+02] [ 2.67918184e-02 -2.55239185e-03 9.99637776e-01 7.08803571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.210714057 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:152.74, Y:128.48, Z:7.09 [[-8.46268760e-01 -5.32326544e-01 2.13924686e-02 1.52735083e+02] [ 5.32081711e-01 -8.46535605e-01 -1.63254984e-02 1.28480184e+02] [ 2.67999825e-02 -2.43321794e-03 9.99637855e-01 7.08820960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.240714057 meters Centerline goodness : 0.992869 Centerline is valid? [True, True] Translation: X:152.73, Y:128.48, Z:7.09 [[-8.45833288e-01 -5.33019352e-01 2.13639716e-02 1.52732677e+02] [ 5.32773755e-01 -8.46099475e-01 -1.63647594e-02 1.28482084e+02] [ 2.67987786e-02 -2.45969493e-03 9.99637822e-01 7.08758970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.270714057 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:152.72, Y:128.49, Z:7.09 [[-8.46379064e-01 -5.32151654e-01 2.13798447e-02 1.52722424e+02] [ 5.31906332e-01 -8.46645477e-01 -1.63428864e-02 1.28488595e+02] [ 2.67980429e-02 -2.46020213e-03 9.99637841e-01 7.08923810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.300714057 meters Centerline goodness : 0.992832 Centerline is valid? [True, True] Translation: X:152.71, Y:128.50, Z:7.09 [[-8.45704958e-01 -5.33213397e-01 2.16008401e-02 1.52707465e+02] [ 5.32976091e-01 -8.45978290e-01 -1.60380378e-02 1.28498095e+02] [ 2.68255384e-02 -2.05071683e-03 9.99638027e-01 7.08918259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.330714057 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:152.73, Y:128.48, Z:7.09 [[-8.45788258e-01 -5.33092137e-01 2.13306504e-02 1.52728884e+02] [ 5.32845430e-01 -8.46053459e-01 -1.64101187e-02 1.28483388e+02] [ 2.67949758e-02 -2.51354613e-03 9.99637790e-01 7.08921519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.360714057 meters Centerline goodness : 0.991413 Centerline is valid? [True, True] Translation: X:152.71, Y:128.50, Z:7.09 [[-8.45935077e-01 -5.32851112e-01 2.15299206e-02 1.52710725e+02] [ 5.32611223e-01 -8.46206198e-01 -1.61355598e-02 1.28495485e+02] [ 2.68166033e-02 -2.18255864e-03 9.99637988e-01 7.08893729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.390714057 meters Centerline goodness : 0.992041 Centerline is valid? [True, True] Translation: X:152.70, Y:128.49, Z:7.09 [[-8.53589482e-01 -5.20506446e-01 2.14017508e-02 1.52702507e+02] [ 5.20258259e-01 -8.53853183e-01 -1.63121253e-02 1.28492725e+02] [ 2.67645195e-02 -2.78942097e-03 9.99637874e-01 7.08840775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.420714057 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:152.75, Y:128.47, Z:7.08 [[-8.40605305e-01 -5.41209884e-01 2.17849092e-02 1.52747535e+02] [ 5.40981722e-01 -8.40886238e-01 -1.57832799e-02 1.28472482e+02] [ 2.68606974e-02 -1.48227116e-03 9.99638087e-01 7.08046983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.450714057 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:152.69, Y:128.50, Z:7.09 [[-8.54066629e-01 -5.19731875e-01 2.11889570e-02 1.52693990e+02] [ 5.19476295e-01 -8.54323539e-01 -1.66032794e-02 1.28498533e+02] [ 2.67314783e-02 -3.17314595e-03 9.99637614e-01 7.08656575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.480714057 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:152.70, Y:128.49, Z:7.09 [[-8.54071736e-01 -5.19698833e-01 2.17851387e-02 1.52698229e+02] [ 5.19463694e-01 -8.54346799e-01 -1.57802555e-02 1.28494222e+02] [ 2.68130439e-02 -2.16088161e-03 9.99638130e-01 7.08844574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51071405700003 meters Centerline goodness : 0.992126 Centerline is valid? [True, True] Translation: X:152.70, Y:128.49, Z:7.09 [[-8.54044802e-01 -5.19743354e-01 2.17789539e-02 1.52698118e+02] [ 5.19508014e-01 -8.54319693e-01 -1.57887869e-02 1.28494166e+02] [ 2.68123062e-02 -2.16999026e-03 9.99638130e-01 7.08884310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.540714057 meters Centerline goodness : 0.990690 Centerline is valid? [True, True] Translation: X:152.50, Y:128.64, Z:7.09 [[-8.55005644e-01 -5.18161294e-01 2.17766296e-02 1.52500808e+02] [ 5.17925365e-01 -8.55280030e-01 -1.57919920e-02 1.28637271e+02] [ 2.68079154e-02 -2.22357352e-03 9.99638130e-01 7.09342616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57071405700003 meters Centerline goodness : 0.991442 Centerline is valid? [True, True] Translation: X:152.70, Y:128.50, Z:7.09 [[-8.54806204e-01 -5.18484382e-01 2.19157557e-02 1.52696168e+02] [ 5.18253417e-01 -8.55084813e-01 -1.55999432e-02 1.28496579e+02] [ 2.68281567e-02 -1.97701299e-03 9.99638105e-01 7.09000818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.600714057 meters Centerline goodness : 0.991442 Centerline is valid? [True, True] Translation: X:152.69, Y:128.50, Z:7.09 [[-8.54721374e-01 -5.18623569e-01 2.19309564e-02 1.52694099e+02] [ 5.18393184e-01 -8.55000470e-01 -1.55789402e-02 1.28498110e+02] [ 2.68305836e-02 -1.94679483e-03 9.99638099e-01 7.09008815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63071405700003 meters Centerline goodness : 0.991310 Centerline is valid? [True, True] Translation: X:152.69, Y:128.50, Z:7.09 [[-8.53855636e-01 -5.20047764e-01 2.19288723e-02 1.52691502e+02] [ 5.19817771e-01 -8.54135055e-01 -1.55818190e-02 1.28500313e+02] [ 2.68335087e-02 -1.90560646e-03 9.99638100e-01 7.09057093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.660714057 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:152.69, Y:128.50, Z:7.09 [[-8.53610691e-01 -5.20456016e-01 2.17789590e-02 1.52693477e+02] [ 5.20220911e-01 -8.53885779e-01 -1.57886123e-02 1.28499583e+02] [ 2.68140216e-02 -2.14745834e-03 9.99638133e-01 7.09098504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.690714057 meters Centerline goodness : 0.991693 Centerline is valid? [True, True] Translation: X:152.71, Y:128.50, Z:7.09 [[-8.42620246e-01 -5.38067902e-01 2.17727940e-02 1.52708403e+02] [ 5.37838341e-01 -8.42899977e-01 -1.57971094e-02 1.28501590e+02] [ 2.68522051e-02 -1.60072082e-03 9.99638133e-01 7.08524466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.720714057 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:152.72, Y:128.50, Z:7.08 [[-8.41097443e-01 -5.40465459e-01 2.12645106e-02 1.52718265e+02] [ 5.40218962e-01 -8.41362819e-01 -1.64948566e-02 1.28495698e+02] [ 2.68060688e-02 -2.38628988e-03 9.99637805e-01 7.08372091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.750714057 meters Centerline goodness : 0.992430 Centerline is valid? [True, True] Translation: X:152.70, Y:128.51, Z:7.08 [[-8.41900830e-01 -5.39218460e-01 2.11292162e-02 1.52699023e+02] [ 5.38966942e-01 -8.42161743e-01 -1.66803550e-02 1.28509825e+02] [ 2.67885729e-02 -2.65525569e-03 9.99637595e-01 7.08357681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.780714057 meters Centerline goodness : 0.992179 Centerline is valid? [True, True] Translation: X:152.70, Y:128.51, Z:7.08 [[-8.44811498e-01 -5.34645305e-01 2.11643842e-02 1.52700837e+02] [ 5.34393570e-01 -8.45072119e-01 -1.66320855e-02 1.28507603e+02] [ 2.67776974e-02 -2.74086625e-03 9.99637656e-01 7.08499189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.810714057 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:152.71, Y:128.51, Z:7.08 [[-8.44357197e-01 -5.35358028e-01 2.12768859e-02 1.52705975e+02] [ 5.35110357e-01 -8.44621450e-01 -1.64776336e-02 1.28505860e+02] [ 2.67923477e-02 -2.52752651e-03 9.99637825e-01 7.08423714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.840714057 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:152.70, Y:128.51, Z:7.09 [[-8.46094218e-01 -5.32604565e-01 2.13764379e-02 1.52696115e+02] [ 5.32359445e-01 -8.46360676e-01 -1.63409610e-02 1.28513538e+02] [ 2.67954469e-02 -2.44604403e-03 9.99637945e-01 7.08567864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.870714057 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:152.70, Y:128.51, Z:7.09 [[-8.45967501e-01 -5.32810448e-01 2.12606377e-02 1.52700641e+02] [ 5.32561429e-01 -8.46230512e-01 -1.64998344e-02 1.28510900e+02] [ 2.67826845e-02 -2.63572801e-03 9.99637805e-01 7.08536891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.900714057 meters Centerline goodness : 0.992435 Centerline is valid? [True, True] Translation: X:152.69, Y:128.52, Z:7.09 [[-8.46754213e-01 -5.31559974e-01 2.12437496e-02 1.52687924e+02] [ 5.31309992e-01 -8.47016341e-01 -1.65229971e-02 1.28520530e+02] [ 2.67767670e-02 -2.70390094e-03 9.99637781e-01 7.08632024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.930714057 meters Centerline goodness : 0.992153 Centerline is valid? [True, True] Translation: X:152.70, Y:128.52, Z:7.09 [[-8.46344833e-01 -5.32209264e-01 2.13007676e-02 1.52695652e+02] [ 5.31961429e-01 -8.46608887e-01 -1.64447558e-02 1.28515319e+02] [ 2.67854706e-02 -2.58674736e-03 9.99637858e-01 7.08600458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.960714057 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:152.68, Y:128.52, Z:7.09 [[-8.46705274e-01 -5.31636205e-01 2.12867047e-02 1.52684867e+02] [ 5.31387712e-01 -8.46968733e-01 -1.64640397e-02 1.28522831e+02] [ 2.67820529e-02 -2.62869591e-03 9.99637840e-01 7.08677197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.990714057 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:152.68, Y:128.53, Z:7.09 [[-8.47423317e-01 -5.30492604e-01 2.12442900e-02 1.52679238e+02] [ 5.30242311e-01 -8.47685147e-01 -1.65222195e-02 1.28527384e+02] [ 2.67733844e-02 -2.73669262e-03 9.99637783e-01 7.08741709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.020714057 meters Centerline goodness : 0.991668 Centerline is valid? [True, True] Translation: X:152.69, Y:128.52, Z:7.09 [[-8.47082782e-01 -5.31032097e-01 2.13464998e-02 1.52690146e+02] [ 5.30785459e-01 -8.47347879e-01 -1.63819708e-02 1.28520096e+02] [ 2.67872636e-02 -2.54647365e-03 9.99637913e-01 7.08779344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.050714057 meters Centerline goodness : 0.991268 Centerline is valid? [True, True] Translation: X:152.69, Y:128.52, Z:7.09 [[-8.47395387e-01 -5.30533310e-01 2.13416320e-02 1.52690638e+02] [ 5.30286349e-01 -8.47660191e-01 -1.63886467e-02 1.28519830e+02] [ 2.67851748e-02 -2.57048754e-03 9.99637908e-01 7.08866701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.080714057 meters Centerline goodness : 0.991938 Centerline is valid? [True, True] Translation: X:152.70, Y:128.52, Z:7.09 [[-8.47079832e-01 -5.31036579e-01 2.13520272e-02 1.52695341e+02] [ 5.30790132e-01 -8.47345098e-01 -1.63743972e-02 1.28517405e+02] [ 2.67879395e-02 -2.53697630e-03 9.99637919e-01 7.08986831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.110714057 meters Centerline goodness : 0.992376 Centerline is valid? [True, True] Translation: X:152.68, Y:128.53, Z:7.09 [[-8.48159979e-01 -5.29309255e-01 2.13626359e-02 1.52676420e+02] [ 5.29062630e-01 -8.48425064e-01 -1.63598538e-02 1.28531028e+02] [ 2.67840178e-02 -2.57360096e-03 9.99637931e-01 7.09207719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.140714057 meters Centerline goodness : 0.992144 Centerline is valid? [True, True] Translation: X:152.69, Y:128.53, Z:7.09 [[-8.46932558e-01 -5.31269180e-01 2.14079451e-02 1.52685840e+02] [ 5.31024721e-01 -8.47199581e-01 -1.62977225e-02 1.28525920e+02] [ 2.67952798e-02 -2.43492369e-03 9.99637977e-01 7.09173732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.170714057 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:152.69, Y:128.52, Z:7.09 [[-8.46832431e-01 -5.31430081e-01 2.13752952e-02 1.52688676e+02] [ 5.31184555e-01 -8.47098514e-01 -1.63424575e-02 1.28523918e+02] [ 2.67918543e-02 -2.48509638e-03 9.99637945e-01 7.09084473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.200714057 meters Centerline goodness : 0.992416 Centerline is valid? [True, True] Translation: X:152.69, Y:128.53, Z:7.09 [[-8.46434229e-01 -5.32063350e-01 2.13936430e-02 1.52685402e+02] [ 5.31818651e-01 -8.46701050e-01 -1.63173297e-02 1.28526613e+02] [ 2.67958731e-02 -2.43400803e-03 9.99637963e-01 7.09174154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.230714057 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:152.69, Y:128.53, Z:7.09 [[-8.44660378e-01 -5.34876864e-01 2.13444521e-02 1.52686625e+02] [ 5.34631367e-01 -8.44926532e-01 -1.63846422e-02 1.28526904e+02] [ 2.67982599e-02 -2.42804446e-03 9.99637913e-01 7.09204950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26071405700003 meters Centerline goodness : 0.992203 Centerline is valid? [True, True] Translation: X:152.69, Y:128.53, Z:7.09 [[-8.44024303e-01 -5.35881740e-01 2.13011051e-02 1.52688547e+02] [ 5.35635077e-01 -8.44289443e-01 -1.64438965e-02 1.28525732e+02] [ 2.67962820e-02 -2.46942921e-03 9.99637865e-01 7.09189813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.290714057 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:152.68, Y:128.53, Z:7.09 [[-8.42332661e-01 -5.38536792e-01 2.13028694e-02 1.52680991e+02] [ 5.38291025e-01 -8.42598629e-01 -1.64414850e-02 1.28532110e+02] [ 2.68041131e-02 -2.38205636e-03 9.99637867e-01 7.09042735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32071405700003 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:152.69, Y:128.53, Z:7.09 [[-8.41638065e-01 -5.39623658e-01 2.12526324e-02 1.52688099e+02] [ 5.39376516e-01 -8.41902839e-01 -1.65100909e-02 1.28527423e+02] [ 2.68018872e-02 -2.43235013e-03 9.99637806e-01 7.08918410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.350714057 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:152.67, Y:128.54, Z:7.09 [[-8.41314885e-01 -5.40127998e-01 2.12369804e-02 1.52671966e+02] [ 5.39880480e-01 -8.41579336e-01 -1.65314579e-02 1.28539876e+02] [ 2.68017071e-02 -2.44273048e-03 9.99637785e-01 7.08779410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38071405700003 meters Centerline goodness : 0.992788 Centerline is valid? [True, True] Translation: X:152.68, Y:128.54, Z:7.09 [[-8.40503166e-01 -5.41390685e-01 2.12262559e-02 1.52676108e+02] [ 5.41143197e-01 -8.40767665e-01 -1.65461008e-02 1.28537638e+02] [ 2.68042545e-02 -2.42060610e-03 9.99637771e-01 7.08612902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.410714057 meters Centerline goodness : 0.992609 Centerline is valid? [True, True] Translation: X:152.67, Y:128.54, Z:7.09 [[-8.42116797e-01 -5.38878920e-01 2.11851043e-02 1.52669864e+02] [ 5.38629244e-01 -8.42379311e-01 -1.66022386e-02 1.28542007e+02] [ 2.67924900e-02 -2.57010727e-03 9.99637713e-01 7.08778833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.440714057 meters Centerline goodness : 0.992964 Centerline is valid? [True, True] Translation: X:152.67, Y:128.54, Z:7.09 [[-8.42471148e-01 -5.38323069e-01 2.12282301e-02 1.52673111e+02] [ 5.38074686e-01 -8.42734803e-01 -1.65434022e-02 1.28539555e+02] [ 2.67954633e-02 -2.51496579e-03 9.99637773e-01 7.08806071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.470714057 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:152.67, Y:128.54, Z:7.09 [[-8.43336977e-01 -5.36966063e-01 2.12177103e-02 1.52673547e+02] [ 5.36716898e-01 -8.43599913e-01 -1.65577412e-02 1.28539516e+02] [ 2.67902037e-02 -2.57585175e-03 9.99637759e-01 7.08882034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.500714057 meters Centerline goodness : 0.992787 Centerline is valid? [True, True] Translation: X:152.67, Y:128.54, Z:7.09 [[-8.43292357e-01 -5.37034443e-01 2.12604751e-02 1.52671505e+02] [ 5.36786754e-01 -8.43556607e-01 -1.64994508e-02 1.28541282e+02] [ 2.67951876e-02 -2.50151934e-03 9.99637815e-01 7.08843878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.530714057 meters Centerline goodness : 0.992436 Centerline is valid? [True, True] Translation: X:152.65, Y:128.56, Z:7.09 [[-8.44733721e-01 -5.34765204e-01 2.12395188e-02 1.52652600e+02] [ 5.34516094e-01 -8.44996669e-01 -1.65280181e-02 1.28555044e+02] [ 2.67859316e-02 -2.60890961e-03 9.99637788e-01 7.08974569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.560714057 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:152.64, Y:128.55, Z:7.09 [[-8.53999208e-01 -5.19837139e-01 2.13237382e-02 1.52641600e+02] [ 5.19586268e-01 -8.54260336e-01 -1.64130612e-02 1.28553367e+02] [ 2.67481425e-02 -2.93721975e-03 9.99637889e-01 7.09295863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.590714057 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:152.66, Y:128.55, Z:7.09 [[-8.47879304e-01 -5.29744431e-01 2.17145972e-02 1.52664353e+02] [ 5.29510052e-01 -8.48155043e-01 -1.58785550e-02 1.28548495e+02] [ 2.68289212e-02 -1.96500066e-03 9.99638108e-01 7.09088122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.620714057 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:152.66, Y:128.55, Z:7.09 [[-8.47929015e-01 -5.29679191e-01 2.13621013e-02 1.52660425e+02] [ 5.29432699e-01 -8.48194195e-01 -1.63592473e-02 1.28553535e+02] [ 2.67843632e-02 -2.56168556e-03 9.99637952e-01 7.09029023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.650714057 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:152.65, Y:128.56, Z:7.09 [[-8.50696903e-01 -5.25225534e-01 2.12818475e-02 1.52654204e+02] [ 5.24974949e-01 -8.50958335e-01 -1.64686141e-02 1.28559747e+02] [ 2.67597022e-02 -2.83736220e-03 9.99637868e-01 7.09191072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.680714057 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:152.66, Y:128.56, Z:7.09 [[-8.51328043e-01 -5.24198338e-01 2.13697356e-02 1.52655653e+02] [ 5.23950399e-01 -8.51591860e-01 -1.63488290e-02 1.28559645e+02] [ 2.67683219e-02 -2.72153514e-03 9.99637960e-01 7.09086714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.710714057 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:152.65, Y:128.56, Z:7.09 [[-8.52343691e-01 -5.22545204e-01 2.13715321e-02 1.52649497e+02] [ 5.22296813e-01 -8.52607081e-01 -1.63463809e-02 1.28564848e+02] [ 2.67632425e-02 -2.77045156e-03 9.99637961e-01 7.09209109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.740714057 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:152.65, Y:128.57, Z:7.09 [[-8.53707945e-01 -5.20314586e-01 2.13418764e-02 1.52650881e+02] [ 5.20064511e-01 -8.53969776e-01 -1.63867792e-02 1.28567037e+02] [ 2.67515977e-02 -2.89037109e-03 9.99637933e-01 7.09154532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.770714057 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:152.64, Y:128.58, Z:7.09 [[-8.54783103e-01 -5.18544743e-01 2.13821652e-02 1.52639596e+02] [ 5.18295478e-01 -8.55045652e-01 -1.63318876e-02 1.28576574e+02] [ 2.67515419e-02 -2.87794203e-03 9.99637971e-01 7.09184344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.800714057 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:152.65, Y:128.57, Z:7.09 [[-8.54822863e-01 -5.18478540e-01 2.13980353e-02 1.52651854e+02] [ 5.18229788e-01 -8.55085880e-01 -1.63102629e-02 1.28570224e+02] [ 2.67536791e-02 -2.85328629e-03 9.99637984e-01 7.09214216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.830714057 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:152.65, Y:128.57, Z:7.09 [[-8.54600158e-01 -5.18847646e-01 2.13468989e-02 1.52650374e+02] [ 5.18597292e-01 -8.54861713e-01 -1.63798637e-02 1.28572384e+02] [ 2.67473002e-02 -2.92779013e-03 9.99637939e-01 7.09065370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.860714057 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:152.65, Y:128.58, Z:7.09 [[-8.54569891e-01 -5.18898150e-01 2.13309900e-02 1.52646075e+02] [ 5.18647279e-01 -8.54830972e-01 -1.64015095e-02 1.28578934e+02] [ 2.67451038e-02 -2.95297626e-03 9.99637924e-01 7.08979018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.890714057 meters Centerline goodness : 0.994219 Centerline is valid? [True, True] Translation: X:152.64, Y:128.57, Z:7.09 [[-8.60062080e-01 -5.09734497e-01 2.15397610e-02 1.52641013e+02] [ 5.09487814e-01 -8.60326918e-01 -1.61171258e-02 1.28573882e+02] [ 2.67466912e-02 -2.88748296e-03 9.99638073e-01 7.09007807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.920714057 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:152.64, Y:128.58, Z:7.09 [[-8.52867872e-01 -5.21676120e-01 2.16891349e-02 1.52638161e+02] [ 5.21438254e-01 -8.53140613e-01 -1.59135403e-02 1.28584670e+02] [ 2.68055958e-02 -2.26260259e-03 9.99638105e-01 7.09175425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.950714057 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:152.62, Y:128.59, Z:7.09 [[-8.58320830e-01 -5.12670425e-01 2.13163752e-02 1.52621741e+02] [ 5.12417191e-01 -8.58579628e-01 -1.64208734e-02 1.28590374e+02] [ 2.67203016e-02 -3.17150054e-03 9.99637918e-01 7.09253696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.980714057 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:152.67, Y:128.57, Z:7.09 [[-8.45537957e-01 -5.33474487e-01 2.16918174e-02 1.52671570e+02] [ 5.33240551e-01 -8.45814057e-01 -1.59089686e-02 1.28567050e+02] [ 2.68342729e-02 -1.88468016e-03 9.99638119e-01 7.08585228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01071405700003 meters Centerline goodness : 0.994941 Centerline is valid? [True, True] Translation: X:152.67, Y:128.57, Z:7.09 [[-8.44670901e-01 -5.34867231e-01 2.11686893e-02 1.52665621e+02] [ 5.34615909e-01 -8.44931740e-01 -1.66188020e-02 1.28574507e+02] [ 2.67749501e-02 -2.72030039e-03 9.99637785e-01 7.08572005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.040714057 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:152.65, Y:128.59, Z:7.09 [[-8.51014902e-01 -5.24719518e-01 2.10490915e-02 1.52645343e+02] [ 5.24461127e-01 -8.51269005e-01 -1.67811425e-02 1.28586935e+02] [ 2.67238322e-02 -3.24157203e-03 9.99637599e-01 7.09164388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07071405700003 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:152.64, Y:128.60, Z:7.09 [[-8.50009385e-01 -5.26332429e-01 2.14060512e-02 1.52637856e+02] [ 5.26086494e-01 -8.50274937e-01 -1.62952006e-02 1.28596174e+02] [ 2.67777214e-02 -2.58963899e-03 9.99638058e-01 7.08920497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.100714057 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:152.65, Y:128.59, Z:7.09 [[-8.50498061e-01 -5.25548001e-01 2.12684605e-02 1.52652535e+02] [ 5.25297185e-01 -8.50759190e-01 -1.64823635e-02 1.28586806e+02] [ 2.67566114e-02 -2.84595576e-03 9.99637927e-01 7.08908220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13071405700003 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:152.65, Y:128.59, Z:7.09 [[-8.50495747e-01 -5.25550333e-01 2.13033476e-02 1.52646387e+02] [ 5.25300689e-01 -8.50757944e-01 -1.64349469e-02 1.28593001e+02] [ 2.67613840e-02 -2.78718932e-03 9.99637964e-01 7.08867010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.160714057 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:152.64, Y:128.60, Z:7.09 [[-8.51762292e-01 -5.23496745e-01 2.12639568e-02 1.52644304e+02] [ 5.23245150e-01 -8.52022678e-01 -1.64884780e-02 1.28596124e+02] [ 2.67490380e-02 -2.91800152e-03 9.99637922e-01 7.09035704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.190714057 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:152.64, Y:128.60, Z:7.09 [[-8.52836803e-01 -5.21742420e-01 2.13127768e-02 1.52640848e+02] [ 5.21491922e-01 -8.53098171e-01 -1.64221246e-02 1.28599356e+02] [ 2.67500099e-02 -2.89095132e-03 9.99637974e-01 7.09228035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.220714057 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:152.64, Y:128.60, Z:7.09 [[-8.53322252e-01 -5.20946331e-01 2.13554335e-02 1.52644622e+02] [ 5.20697018e-01 -8.53584694e-01 -1.63641499e-02 1.28597476e+02] [ 2.67535151e-02 -2.84418273e-03 9.99638015e-01 7.09140343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.250714057 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:152.64, Y:128.60, Z:7.09 [[-8.53102847e-01 -5.21303881e-01 2.13961549e-02 1.52639791e+02] [ 5.21056045e-01 -8.53366639e-01 -1.63088046e-02 1.28601660e+02] [ 2.67606079e-02 -2.76449181e-03 9.99638048e-01 7.09053334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.280714057 meters Centerline goodness : 0.991821 Centerline is valid? [True, True] Translation: X:152.64, Y:128.60, Z:7.09 [[-8.53296334e-01 -5.20985477e-01 2.14359373e-02 1.52641529e+02] [ 5.20738881e-01 -8.53561247e-01 -1.62547362e-02 1.28600269e+02] [ 2.67653669e-02 -2.70758079e-03 9.99638077e-01 7.09254461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.310714057 meters Centerline goodness : 0.992249 Centerline is valid? [True, True] Translation: X:152.64, Y:128.60, Z:7.09 [[-8.52047333e-01 -5.23019230e-01 2.15922827e-02 1.52643400e+02] [ 5.22778569e-01 -8.52317556e-01 -1.60421659e-02 1.28597635e+02] [ 2.67938429e-02 -2.38070200e-03 9.99638146e-01 7.09447908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.340714057 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:152.63, Y:128.60, Z:7.09 [[-8.50551524e-01 -5.25446429e-01 2.16368914e-02 1.52633772e+02] [ 5.25208064e-01 -8.50823766e-01 -1.59815222e-02 1.28603755e+02] [ 2.68066151e-02 -2.22923820e-03 9.99638152e-01 7.09313789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.370714057 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:152.63, Y:128.60, Z:7.09 [[-8.47549074e-01 -5.30281698e-01 2.14915829e-02 1.52633327e+02] [ 5.30039914e-01 -8.47818338e-01 -1.61788808e-02 1.28602900e+02] [ 2.68003225e-02 -2.32099870e-03 9.99638112e-01 7.09247892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.400714057 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:152.63, Y:128.61, Z:7.09 [[-8.44494727e-01 -5.35131429e-01 2.15176806e-02 1.52629866e+02] [ 5.34892086e-01 -8.44766148e-01 -1.61434515e-02 1.28605832e+02] [ 2.68162764e-02 -2.12342263e-03 9.99638124e-01 7.09448847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.430714057 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:152.64, Y:128.60, Z:7.10 [[-8.42795217e-01 -5.37800471e-01 2.16072855e-02 1.52635983e+02] [ 5.37565077e-01 -8.43070038e-01 -1.60218198e-02 1.28599324e+02] [ 2.68329972e-02 -1.88779105e-03 9.99638148e-01 7.09502004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.460714057 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:152.64, Y:128.60, Z:7.09 [[-8.37951343e-01 -5.45322757e-01 2.14624621e-02 1.52635790e+02] [ 5.45084816e-01 -8.38224024e-01 -1.62181743e-02 1.28597445e+02] [ 2.68344908e-02 -1.89117870e-03 9.99638101e-01 7.09456203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.490714057 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:152.63, Y:128.60, Z:7.09 [[-8.37882878e-01 -5.45428285e-01 2.14538623e-02 1.52633758e+02] [ 5.45190082e-01 -8.38155336e-01 -1.62298251e-02 1.28598987e+02] [ 2.68338748e-02 -1.90225957e-03 9.99638097e-01 7.09462536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.520714057 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:152.64, Y:128.59, Z:7.10 [[-8.34302025e-01 -5.50890191e-01 2.14506107e-02 1.52637947e+02] [ 5.50653660e-01 -8.34575938e-01 -1.62342286e-02 1.28593338e+02] [ 2.68454409e-02 -1.73239253e-03 9.99638095e-01 7.09540229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.550714057 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:152.64, Y:128.59, Z:7.09 [[-8.32002244e-01 -5.54358062e-01 2.14337303e-02 1.52642625e+02] [ 5.54122087e-01 -8.32276649e-01 -1.62570728e-02 1.28590222e+02] [ 2.68510325e-02 -1.64901767e-03 9.99638086e-01 7.09440999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.580714057 meters Centerline goodness : 0.993476 Centerline is valid? [True, True] Translation: X:152.64, Y:128.59, Z:7.09 [[-8.30828237e-01 -5.56116532e-01 2.14206555e-02 1.52642486e+02] [ 5.55880684e-01 -8.31102760e-01 -1.62747533e-02 1.28589629e+02] [ 2.68534252e-02 -1.61419597e-03 9.99638078e-01 7.09398601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.610714057 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:152.65, Y:128.58, Z:7.09 [[-8.28905016e-01 -5.58979666e-01 2.14057826e-02 1.52650944e+02] [ 5.58744250e-01 -8.29179921e-01 -1.62948474e-02 1.28583881e+02] [ 2.68577335e-02 -1.54652278e-03 9.99638070e-01 7.09435058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.640714057 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:152.65, Y:128.58, Z:7.09 [[-8.26820255e-01 -5.62061284e-01 2.13396107e-02 1.52653447e+02] [ 5.61824592e-01 -8.27094122e-01 -1.63841740e-02 1.28581903e+02] [ 2.68587764e-02 -1.55764889e-03 9.99638024e-01 7.09489410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.670714057 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:152.65, Y:128.58, Z:7.10 [[-8.25949937e-01 -5.63341179e-01 2.12936116e-02 1.52650100e+02] [ 5.63103316e-01 -8.26222838e-01 -1.64462153e-02 1.28584748e+02] [ 2.68580985e-02 -1.59324714e-03 9.99637987e-01 7.09542623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.700714057 meters Centerline goodness : 0.992733 Centerline is valid? [True, True] Translation: X:152.65, Y:128.59, Z:7.10 [[-8.26447108e-01 -5.62611876e-01 2.12850832e-02 1.52649870e+02] [ 5.62373477e-01 -8.26719551e-01 -1.64577116e-02 1.28585350e+02] [ 2.68560984e-02 -1.63126191e-03 9.99637979e-01 7.09524176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.730714057 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:152.65, Y:128.59, Z:7.10 [[-8.26777449e-01 -5.62120001e-01 2.14511979e-02 1.52647196e+02] [ 5.61887207e-01 -8.27054552e-01 -1.62337387e-02 1.28586272e+02] [ 2.68666201e-02 -1.36853535e-03 9.99638090e-01 7.09645993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76071405700003 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:152.64, Y:128.59, Z:7.10 [[-8.27225809e-01 -5.61467561e-01 2.12517808e-02 1.52642253e+02] [ 5.61227646e-01 -8.27496952e-01 -1.65022324e-02 1.28592366e+02] [ 2.68512520e-02 -1.72398569e-03 9.99637954e-01 7.09615380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.790714057 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:152.64, Y:128.60, Z:7.09 [[-8.25756541e-01 -5.63625298e-01 2.12757727e-02 1.52640925e+02] [ 5.63386920e-01 -8.26029007e-01 -1.64699422e-02 1.28595679e+02] [ 2.68572814e-02 -1.61367049e-03 9.99637976e-01 7.09378910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82071405700003 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:152.63, Y:128.60, Z:7.10 [[-8.28400004e-01 -5.59737503e-01 2.11509387e-02 1.52634033e+02] [ 5.59493569e-01 -8.28667684e-01 -1.66378064e-02 1.28600882e+02] [ 2.68399036e-02 -1.94894468e-03 9.99637845e-01 7.09768338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.850714057 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:152.62, Y:128.60, Z:7.10 [[-8.36959432e-01 -5.46854084e-01 2.12018685e-02 1.52619603e+02] [ 5.46607758e-01 -8.37224831e-01 -1.65692649e-02 1.28603700e+02] [ 2.68117010e-02 -2.27869677e-03 9.99637905e-01 7.09571879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88071405700003 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:152.63, Y:128.61, Z:7.10 [[-8.29013534e-01 -5.58811075e-01 2.16042300e-02 1.52630545e+02] [ 5.58582529e-01 -8.29294096e-01 -1.60268925e-02 1.28605479e+02] [ 2.68722654e-02 -1.21876535e-03 9.99638133e-01 7.09509171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.910714057 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:152.62, Y:128.61, Z:7.10 [[-8.30334593e-01 -5.56862856e-01 2.11712545e-02 1.52624408e+02] [ 5.56618730e-01 -8.30602030e-01 -1.66089428e-02 1.28611137e+02] [ 2.68337903e-02 -2.00666298e-03 9.99637895e-01 7.09617465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.940714057 meters Centerline goodness : 0.994010 Centerline is valid? [True, True] Translation: X:152.63, Y:128.61, Z:7.09 [[-8.28886496e-01 -5.59013766e-01 2.12317174e-02 1.52629560e+02] [ 5.58772402e-01 -8.29156342e-01 -1.65276755e-02 1.28608346e+02] [ 2.68436112e-02 -1.83586929e-03 9.99637960e-01 7.09402563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.970714057 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:152.63, Y:128.61, Z:7.10 [[-8.29281093e-01 -5.58431504e-01 2.11453075e-02 1.52632942e+02] [ 5.58187003e-01 -8.29548225e-01 -1.66436547e-02 1.28606053e+02] [ 2.68353934e-02 -1.99923230e-03 9.99637867e-01 7.09779460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.000714057 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:152.63, Y:128.61, Z:7.10 [[-8.28512788e-01 -5.59570247e-01 2.11588867e-02 1.52630988e+02] [ 5.59326576e-01 -8.28780657e-01 -1.66254358e-02 1.28608406e+02] [ 2.68391752e-02 -1.93965850e-03 9.99637883e-01 7.09619390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.030714057 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:152.63, Y:128.61, Z:7.10 [[-8.28433559e-01 -5.59688350e-01 2.11373749e-02 1.52628996e+02] [ 5.59443985e-01 -8.28700828e-01 -1.66542839e-02 1.28610180e+02] [ 2.68377688e-02 -1.97179042e-03 9.99637858e-01 7.09877744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.060714057 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:152.63, Y:128.61, Z:7.10 [[-8.27055262e-01 -5.61721019e-01 2.11917506e-02 1.52632714e+02] [ 5.61479167e-01 -8.27324726e-01 -1.65813828e-02 1.28608093e+02] [ 2.68465705e-02 -1.81499342e-03 9.99637918e-01 7.09869483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.090714057 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:152.63, Y:128.61, Z:7.10 [[-8.26575314e-01 -5.62428776e-01 2.11452380e-02 1.52634525e+02] [ 5.62185568e-01 -8.26843622e-01 -1.66436755e-02 1.28606990e+02] [ 2.68446872e-02 -1.86970368e-03 9.99637868e-01 7.09868582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.120714057 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:152.63, Y:128.61, Z:7.10 [[-8.26910741e-01 -5.61935643e-01 2.11414284e-02 1.52632420e+02] [ 5.61692145e-01 -8.27178791e-01 -1.66487732e-02 1.28609065e+02] [ 2.68432803e-02 -1.89207511e-03 9.99637864e-01 7.09962079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.150714057 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:152.61, Y:128.62, Z:7.10 [[-8.35630282e-01 -5.48884621e-01 2.11590318e-02 1.52606049e+02] [ 5.48637536e-01 -8.35895003e-01 -1.66251999e-02 1.28620448e+02] [ 2.68120455e-02 -2.28388144e-03 9.99637883e-01 7.09975493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.180714057 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:152.61, Y:128.62, Z:7.10 [[-8.36700647e-01 -5.47235538e-01 2.15706500e-02 1.52605725e+02] [ 5.47001936e-01 -8.36977029e-01 -1.60727943e-02 1.28621437e+02] [ 2.68497428e-02 -1.64893008e-03 9.99638121e-01 7.09955092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.210714057 meters Centerline goodness : 0.992553 Centerline is valid? [True, True] Translation: X:152.62, Y:128.62, Z:7.10 [[-8.25867311e-01 -5.63452005e-01 2.15644069e-02 1.52624044e+02] [ 5.63223620e-01 -8.26148019e-01 -1.60811662e-02 1.28620238e+02] [ 2.68763574e-02 -1.13532614e-03 9.99638121e-01 7.09582156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.240714057 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:152.61, Y:128.63, Z:7.10 [[-8.26563384e-01 -5.62450599e-01 2.10308324e-02 1.52611125e+02] [ 5.62203584e-01 -8.26828332e-01 -1.67940415e-02 1.28631069e+02] [ 2.68347068e-02 -2.05773045e-03 9.99637767e-01 7.09576482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.270714057 meters Centerline goodness : 0.993647 Centerline is valid? [True, True] Translation: X:152.59, Y:128.64, Z:7.10 [[-8.39604391e-01 -5.42790433e-01 2.10478483e-02 1.52589293e+02] [ 5.42537800e-01 -8.39863953e-01 -1.67712875e-02 1.28636293e+02] [ 2.67806235e-02 -2.66199327e-03 9.99637790e-01 7.09909244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.300714057 meters Centerline goodness : 0.992402 Centerline is valid? [True, True] Translation: X:152.60, Y:128.63, Z:7.10 [[-8.32755616e-01 -5.53220830e-01 2.15591769e-02 1.52604174e+02] [ 5.52988878e-01 -8.33033338e-01 -1.60859984e-02 1.28634276e+02] [ 2.68586225e-02 -1.47372043e-03 9.99638156e-01 7.09984156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.330714057 meters Centerline goodness : 0.992018 Centerline is valid? [True, True] Translation: X:152.61, Y:128.63, Z:7.10 [[-8.34733400e-01 -5.50248259e-01 2.11424750e-02 1.52606113e+02] [ 5.50001169e-01 -8.34998041e-01 -1.66429062e-02 1.28633756e+02] [ 2.68116554e-02 -2.26400370e-03 9.99637939e-01 7.09933094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.360714057 meters Centerline goodness : 0.992320 Centerline is valid? [True, True] Translation: X:152.60, Y:128.64, Z:7.10 [[-8.35417878e-01 -5.49207115e-01 2.11781453e-02 1.52601571e+02] [ 5.48960893e-01 -8.35683275e-01 -1.65952556e-02 1.28637153e+02] [ 2.68124543e-02 -2.23799962e-03 9.99637976e-01 7.09916032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.390714057 meters Centerline goodness : 0.991238 Centerline is valid? [True, True] Translation: X:152.60, Y:128.64, Z:7.10 [[-8.36385762e-01 -5.47732307e-01 2.11701869e-02 1.52596668e+02] [ 5.47485350e-01 -8.36650487e-01 -1.66058813e-02 1.28641000e+02] [ 2.68076248e-02 -2.29855557e-03 9.99637968e-01 7.09917564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.420714057 meters Centerline goodness : 0.991515 Centerline is valid? [True, True] Translation: X:152.60, Y:128.64, Z:7.10 [[-8.36386709e-01 -5.47730174e-01 2.11879817e-02 1.52598351e+02] [ 5.47483812e-01 -8.36651964e-01 -1.65821318e-02 1.28640927e+02] [ 2.68095004e-02 -2.26899760e-03 9.99637986e-01 7.09601427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.450714057 meters Centerline goodness : 0.992457 Centerline is valid? [True, True] Translation: X:152.59, Y:128.65, Z:7.10 [[-8.39305147e-01 -5.43249766e-01 2.11320266e-02 1.52587239e+02] [ 5.43000126e-01 -8.39567398e-01 -1.66567764e-02 1.28648534e+02] [ 2.67905504e-02 -2.50542504e-03 9.99637929e-01 7.09921780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.480714057 meters Centerline goodness : 0.992227 Centerline is valid? [True, True] Translation: X:152.59, Y:128.65, Z:7.10 [[-8.38924397e-01 -5.43833639e-01 2.12327260e-02 1.52590389e+02] [ 5.43587544e-01 -8.39189844e-01 -1.65223552e-02 1.28646296e+02] [ 2.68037006e-02 -2.31916153e-03 9.99638026e-01 7.09962453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51071405700003 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:152.58, Y:128.65, Z:7.10 [[-8.39787098e-01 -5.42501704e-01 2.12021572e-02 1.52584217e+02] [ 5.42254167e-01 -8.40051237e-01 -1.65631455e-02 1.28650733e+02] [ 2.67964331e-02 -2.41255776e-03 9.99638000e-01 7.10042687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.540714057 meters Centerline goodness : 0.991060 Centerline is valid? [True, True] Translation: X:152.59, Y:128.65, Z:7.10 [[-8.40263592e-01 -5.41757570e-01 2.13501820e-02 1.52585624e+02] [ 5.41514756e-01 -8.40531938e-01 -1.63654925e-02 1.28649062e+02] [ 2.68116393e-02 -2.18988889e-03 9.99638105e-01 7.10114451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57071405700003 meters Centerline goodness : 0.990400 Centerline is valid? [True, True] Translation: X:152.58, Y:128.65, Z:7.10 [[-8.40750596e-01 -5.40999773e-01 2.13934611e-02 1.52584304e+02] [ 5.40758173e-01 -8.41020010e-01 -1.63077162e-02 1.28649711e+02] [ 2.68147997e-02 -2.14203321e-03 9.99638124e-01 7.10258870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.600714057 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:152.58, Y:128.65, Z:7.10 [[-8.39517284e-01 -5.42911358e-01 2.14006407e-02 1.52584115e+02] [ 5.42670613e-01 -8.39787459e-01 -1.62981347e-02 1.28649613e+02] [ 2.68204321e-02 -2.06906702e-03 9.99638126e-01 7.10067996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63071405700003 meters Centerline goodness : 0.992667 Centerline is valid? [True, True] Translation: X:152.58, Y:128.65, Z:7.10 [[-8.38129872e-01 -5.45051791e-01 2.13743757e-02 1.52577979e+02] [ 5.44810849e-01 -8.38399884e-01 -1.63331661e-02 1.28653705e+02] [ 2.68226956e-02 -2.04432260e-03 9.99638116e-01 7.09883422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.660714057 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:152.58, Y:128.65, Z:7.10 [[-8.34405142e-01 -5.50744266e-01 2.11852118e-02 1.52583993e+02] [ 5.50498789e-01 -8.34671203e-01 -1.65851265e-02 1.28650308e+02] [ 2.68168496e-02 -2.17628135e-03 9.99637995e-01 7.10151859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.690714057 meters Centerline goodness : 0.992099 Centerline is valid? [True, True] Translation: X:152.58, Y:128.65, Z:7.10 [[-8.31954221e-01 -5.54442323e-01 2.11159793e-02 1.52582149e+02] [ 5.54195702e-01 -8.32219317e-01 -1.66772793e-02 1.28651414e+02] [ 2.68197154e-02 -2.17234793e-03 9.99637926e-01 7.10086402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.720714057 meters Centerline goodness : 0.991817 Centerline is valid? [True, True] Translation: X:152.59, Y:128.65, Z:7.09 [[-8.28634552e-01 -5.59392473e-01 2.10912581e-02 1.52590857e+02] [ 5.59146605e-01 -8.28900383e-01 -1.67101538e-02 1.28645224e+02] [ 2.68300862e-02 -2.05350546e-03 9.99637899e-01 7.09250951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.750714057 meters Centerline goodness : 0.992427 Centerline is valid? [True, True] Translation: X:152.59, Y:128.65, Z:7.09 [[-8.27880100e-01 -5.60512702e-01 2.09774119e-02 1.52585339e+02] [ 5.60263376e-01 -8.28142888e-01 -1.68613936e-02 1.28648392e+02] [ 2.68233197e-02 -2.20633663e-03 9.99637755e-01 7.09255820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.780714057 meters Centerline goodness : 0.992441 Centerline is valid? [True, True] Translation: X:152.59, Y:128.65, Z:7.09 [[-8.26962038e-01 -5.61864518e-01 2.10250341e-02 1.52585706e+02] [ 5.61617218e-01 -8.27226646e-01 -1.67981310e-02 1.28646388e+02] [ 2.68307422e-02 -2.08339550e-03 9.99637820e-01 7.09263458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.810714057 meters Centerline goodness : 0.992156 Centerline is valid? [True, True] Translation: X:152.58, Y:128.65, Z:7.10 [[-8.27287481e-01 -5.61384397e-01 2.10471639e-02 1.52578039e+02] [ 5.61137686e-01 -8.27552600e-01 -1.67687399e-02 1.28647958e+02] [ 2.68313442e-02 -2.06221174e-03 9.99637848e-01 7.09581375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.840714057 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:152.57, Y:128.65, Z:7.09 [[-8.23869438e-01 -5.66384873e-01 2.11500385e-02 1.52574098e+02] [ 5.66143255e-01 -8.24139058e-01 -1.66321164e-02 1.28651515e+02] [ 2.68507519e-02 -1.72874076e-03 9.99637959e-01 7.09384231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.870714057 meters Centerline goodness : 0.992354 Centerline is valid? [True, True] Translation: X:152.57, Y:128.65, Z:7.09 [[-8.22934459e-01 -5.67747931e-01 2.10038910e-02 1.52573515e+02] [ 5.67501816e-01 -8.23200203e-01 -1.68260221e-02 1.28648290e+02] [ 2.68433466e-02 -1.92696709e-03 9.99637795e-01 7.09424977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.900714057 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:152.57, Y:128.65, Z:7.09 [[-8.20991938e-01 -5.70550155e-01 2.10893234e-02 1.52574469e+02] [ 5.70307841e-01 -8.21261014e-01 -1.67126821e-02 1.28647387e+02] [ 2.68552625e-02 -1.69357074e-03 9.99637898e-01 7.09313407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.930714057 meters Centerline goodness : 0.990857 Centerline is valid? [True, True] Translation: X:152.58, Y:128.64, Z:7.10 [[-8.20239460e-01 -5.71633337e-01 2.10370061e-02 1.52581762e+02] [ 5.71389605e-01 -8.20507333e-01 -1.67820193e-02 1.28640332e+02] [ 2.68541795e-02 -1.74494784e-03 9.99637839e-01 7.09870146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.960714057 meters Centerline goodness : 0.991381 Centerline is valid? [True, True] Translation: X:152.58, Y:128.64, Z:7.10 [[-8.20402164e-01 -5.71393586e-01 2.12051878e-02 1.52580406e+02] [ 5.71155494e-01 -8.20674844e-01 -1.65590726e-02 1.28640179e+02] [ 2.68643120e-02 -1.47363945e-03 9.99638003e-01 7.09912087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.990714057 meters Centerline goodness : 0.992593 Centerline is valid? [True, True] Translation: X:152.57, Y:128.64, Z:7.10 [[-8.19624485e-01 -5.72508216e-01 2.12142810e-02 1.52573920e+02] [ 5.72270806e-01 -8.19897750e-01 -1.65470226e-02 1.28644351e+02] [ 2.68668477e-02 -1.42203116e-03 9.99638010e-01 7.09550939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.020714057 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:152.57, Y:128.65, Z:7.10 [[-8.19340649e-01 -5.72921432e-01 2.10222167e-02 1.52573961e+02] [ 5.72677632e-01 -8.19608474e-01 -1.68011888e-02 1.28645827e+02] [ 2.68557481e-02 -1.72694366e-03 9.99637828e-01 7.09898758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.050714057 meters Centerline goodness : 0.993056 Centerline is valid? [True, True] Translation: X:152.56, Y:128.65, Z:7.09 [[-8.20633204e-01 -5.71064695e-01 2.11248149e-02 1.52560809e+02] [ 5.70823763e-01 -8.20903464e-01 -1.66653854e-02 1.28653272e+02] [ 2.68584470e-02 -1.61762231e-03 9.99637938e-01 7.09444178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.080714057 meters Centerline goodness : 0.991880 Centerline is valid? [True, True] Translation: X:152.56, Y:128.65, Z:7.10 [[-8.22661218e-01 -5.68143161e-01 2.10206923e-02 1.52561793e+02] [ 5.67897756e-01 -8.22927575e-01 -1.68031557e-02 1.28652738e+02] [ 2.68451053e-02 -1.88570055e-03 9.99637827e-01 7.09758418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.110714057 meters Centerline goodness : 0.992329 Centerline is valid? [True, True] Translation: X:152.57, Y:128.65, Z:7.09 [[-8.20679838e-01 -5.70992532e-01 2.12634176e-02 1.52571626e+02] [ 5.70756299e-01 -8.20954077e-01 -1.64818181e-02 1.28645163e+02] [ 2.68672844e-02 -1.39006630e-03 9.99638043e-01 7.09459104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.140714057 meters Centerline goodness : 0.993800 Centerline is valid? [True, True] Translation: X:152.55, Y:128.64, Z:7.09 [[-8.32195423e-01 -5.54080909e-01 2.10979646e-02 1.52553326e+02] [ 5.53833587e-01 -8.32459877e-01 -1.67006228e-02 1.28644858e+02] [ 2.68167053e-02 -2.21342043e-03 9.99637917e-01 7.09484082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.170714057 meters Centerline goodness : 0.993091 Centerline is valid? [True, True] Translation: X:152.55, Y:128.65, Z:7.10 [[-8.31857107e-01 -5.54574496e-01 2.14681721e-02 1.52548738e+02] [ 5.54339792e-01 -8.32132573e-01 -1.62103470e-02 1.28646309e+02] [ 2.68542103e-02 -1.58403029e-03 9.99638106e-01 7.09527685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.200714057 meters Centerline goodness : 0.993138 Centerline is valid? [True, True] Translation: X:152.54, Y:128.65, Z:7.10 [[-8.32458034e-01 -5.53672293e-01 2.14619010e-02 1.52542686e+02] [ 5.53437079e-01 -8.32733064e-01 -1.62186455e-02 1.28648426e+02] [ 2.68518492e-02 -1.62352997e-03 9.99638106e-01 7.09637691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.230714057 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:152.57, Y:128.64, Z:7.09 [[-8.16910000e-01 -5.76361709e-01 2.15692743e-02 1.52566933e+02] [ 5.76137884e-01 -8.17194397e-01 -1.60765653e-02 1.28641468e+02] [ 2.68922068e-02 -7.06230918e-04 9.99638090e-01 7.09084667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26071405700003 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:152.57, Y:128.64, Z:7.09 [[-8.16330267e-01 -5.77209823e-01 2.08258391e-02 1.52566176e+02] [ 5.76960957e-01 -8.16593648e-01 -1.70548963e-02 1.28639878e+02] [ 2.68505016e-02 -1.90673200e-03 9.99637642e-01 7.09160848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.290714057 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:152.57, Y:128.64, Z:7.10 [[-8.15482769e-01 -5.78404953e-01 2.08701426e-02 1.52571244e+02] [ 5.78157958e-01 -8.15747811e-01 -1.69966227e-02 1.28635101e+02] [ 2.68557039e-02 -1.79421390e-03 9.99637710e-01 7.09741203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32071405700003 meters Centerline goodness : 0.990964 Centerline is valid? [True, True] Translation: X:152.56, Y:128.64, Z:7.10 [[-8.14944700e-01 -5.79155859e-01 2.10624624e-02 1.52562073e+02] [ 5.78915601e-01 -8.15215545e-01 -1.67434473e-02 1.28638725e+02] [ 2.68675124e-02 -1.45159561e-03 9.99637949e-01 7.09867002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.350714057 meters Centerline goodness : 0.991461 Centerline is valid? [True, True] Translation: X:152.55, Y:128.65, Z:7.10 [[-8.15368997e-01 -5.78556197e-01 2.11217005e-02 1.52547812e+02] [ 5.78317752e-01 -8.15641368e-01 -1.66654586e-02 1.28646639e+02] [ 2.68696370e-02 -1.37344390e-03 9.99638003e-01 7.09624623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38071405700003 meters Centerline goodness : 0.990452 Centerline is valid? [True, True] Translation: X:152.55, Y:128.65, Z:7.10 [[-8.14309943e-01 -5.80050201e-01 2.10019396e-02 1.52550045e+02] [ 5.79808192e-01 -8.14579307e-01 -1.68229922e-02 1.28646316e+02] [ 2.68659255e-02 -1.52203321e-03 9.99637887e-01 7.09827242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.410714057 meters Centerline goodness : 0.990452 Centerline is valid? [True, True] Translation: X:152.55, Y:128.65, Z:7.10 [[-8.14109517e-01 -5.80328248e-01 2.10907599e-02 1.52547849e+02] [ 5.80089343e-01 -8.14381519e-01 -1.67061443e-02 1.28647803e+02] [ 2.68709725e-02 -1.36610596e-03 9.99637977e-01 7.09839895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.440714057 meters Centerline goodness : 0.991902 Centerline is valid? [True, True] Translation: X:152.54, Y:128.65, Z:7.10 [[-8.15611637e-01 -5.78215485e-01 2.10834206e-02 1.52544925e+02] [ 5.77975627e-01 -8.15882808e-01 -1.67157930e-02 1.28648350e+02] [ 2.68669307e-02 -1.44789205e-03 9.99637970e-01 7.09798612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.470714057 meters Centerline goodness : 0.991369 Centerline is valid? [True, True] Translation: X:152.52, Y:128.66, Z:7.10 [[-8.18296958e-01 -5.74407061e-01 2.11333065e-02 1.52523642e+02] [ 5.74167628e-01 -8.18568449e-01 -1.66501927e-02 1.28664706e+02] [ 2.68630462e-02 -1.49074153e-03 9.99638012e-01 7.09789722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.500714057 meters Centerline goodness : 0.990850 Centerline is valid? [True, True] Translation: X:152.52, Y:128.67, Z:7.10 [[-8.19592684e-01 -5.72555036e-01 2.11793047e-02 1.52520929e+02] [ 5.72316546e-01 -8.19864961e-01 -1.65896928e-02 1.28667482e+02] [ 2.68626820e-02 -1.47552434e-03 9.99638044e-01 7.09783824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.530714057 meters Centerline goodness : 0.992778 Centerline is valid? [True, True] Translation: X:152.53, Y:128.66, Z:7.09 [[-8.22288053e-01 -5.68677671e-01 2.11675155e-02 1.52528907e+02] [ 5.68437500e-01 -8.22558859e-01 -1.66051843e-02 1.28661044e+02] [ 2.68545250e-02 -1.62183510e-03 9.99638037e-01 7.09336696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.560714057 meters Centerline goodness : 0.991802 Centerline is valid? [True, True] Translation: X:152.53, Y:128.66, Z:7.09 [[-8.23816816e-01 -5.66465948e-01 2.10281760e-02 1.52525317e+02] [ 5.66220392e-01 -8.24082902e-01 -1.67880329e-02 1.28663275e+02] [ 2.68388093e-02 -1.92368173e-03 9.99637923e-01 7.09403076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.590714057 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:152.53, Y:128.66, Z:7.09 [[-8.25755238e-01 -5.63637255e-01 2.10078950e-02 1.52530763e+02] [ 5.63390115e-01 -8.26019883e-01 -1.68146330e-02 1.28659614e+02] [ 2.68302925e-02 -2.04913096e-03 9.99637903e-01 7.09429220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.620714057 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:152.53, Y:128.66, Z:7.09 [[-8.23829086e-01 -5.66440955e-01 2.12198294e-02 1.52532012e+02] [ 5.66201805e-01 -8.24100756e-01 -1.65365977e-02 1.28657901e+02] [ 2.68542836e-02 -1.60862451e-03 9.99638064e-01 7.09260567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.650714057 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:152.52, Y:128.66, Z:7.09 [[-8.24436362e-01 -5.65568637e-01 2.08998276e-02 1.52523901e+02] [ 5.65318561e-01 -8.24698391e-01 -1.69555149e-02 1.28663235e+02] [ 2.68255617e-02 -2.16368250e-03 9.99637788e-01 7.09379887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.680714057 meters Centerline goodness : 0.988991 Centerline is valid? [True, True] Translation: X:152.54, Y:128.66, Z:7.09 [[-8.27744354e-01 -5.60714545e-01 2.09400017e-02 1.52535400e+02] [ 5.60464252e-01 -8.28006107e-01 -1.69029340e-02 1.28655699e+02] [ 2.68161702e-02 -2.25518582e-03 9.99637838e-01 7.09361278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.710714057 meters Centerline goodness : 0.992788 Centerline is valid? [True, True] Translation: X:152.52, Y:128.66, Z:7.09 [[-8.22988853e-01 -5.67654717e-01 2.13885672e-02 1.52521358e+02] [ 5.67421684e-01 -8.23265727e-01 -1.63148835e-02 1.28662029e+02] [ 2.68696949e-02 -1.29063049e-03 9.99638111e-01 7.09449953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.740714057 meters Centerline goodness : 0.992751 Centerline is valid? [True, True] Translation: X:152.52, Y:128.66, Z:7.09 [[-8.19386750e-01 -5.72856780e-01 2.09872350e-02 1.52520840e+02] [ 5.72611982e-01 -8.19653548e-01 -1.68398381e-02 1.28660061e+02] [ 2.68490771e-02 -1.78079803e-03 9.99637912e-01 7.09468335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.770714057 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:152.51, Y:128.67, Z:7.10 [[-8.17499684e-01 -5.75549093e-01 2.09167003e-02 1.52510399e+02] [ 5.75302821e-01 -8.17765230e-01 -1.69320190e-02 1.28666004e+02] [ 2.68501584e-02 -1.80848349e-03 9.99637834e-01 7.09556058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.800714057 meters Centerline goodness : 0.989886 Centerline is valid? [True, True] Translation: X:152.53, Y:128.65, Z:7.10 [[-8.14530864e-01 -5.79742262e-01 2.09375413e-02 1.52528689e+02] [ 5.79498055e-01 -8.14798277e-01 -1.69047988e-02 1.28650558e+02] [ 2.68602989e-02 -1.63621586e-03 9.99637858e-01 7.09993216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.830714057 meters Centerline goodness : 0.990079 Centerline is valid? [True, True] Translation: X:152.53, Y:128.65, Z:7.10 [[-8.07647455e-01 -5.89288215e-01 2.10947571e-02 1.52529191e+02] [ 5.89052506e-01 -8.07922195e-01 -1.66994581e-02 1.28646974e+02] [ 2.68837163e-02 -1.06135529e-03 9.99638004e-01 7.09563141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.860714057 meters Centerline goodness : 0.989898 Centerline is valid? [True, True] Translation: X:152.53, Y:128.65, Z:7.10 [[-8.00413937e-01 -5.99078714e-01 2.10291095e-02 1.52526374e+02] [ 5.98844114e-01 -8.00689694e-01 -1.67851412e-02 1.28648187e+02] [ 2.68934120e-02 -8.41902491e-04 9.99637952e-01 7.09932478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.890714057 meters Centerline goodness : 0.990891 Centerline is valid? [True, True] Translation: X:152.53, Y:128.65, Z:7.09 [[-7.94437185e-01 -6.06982281e-01 2.10254755e-02 1.52528794e+02] [ 6.06750300e-01 -7.94715152e-01 -1.67898798e-02 1.28646673e+02] [ 2.69004235e-02 -5.81291276e-04 9.99637949e-01 7.09497182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.920714057 meters Centerline goodness : 0.987721 Centerline is valid? [True, True] Translation: X:152.52, Y:128.65, Z:7.10 [[-7.92658313e-01 -6.09314440e-01 2.07053691e-02 1.52523547e+02] [ 6.09072309e-01 -7.92928027e-01 -1.72065428e-02 1.28652111e+02] [ 2.69020624e-02 -1.02784221e-03 9.99637546e-01 7.10068384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.950714057 meters Centerline goodness : 0.990658 Centerline is valid? [True, True] Translation: X:152.53, Y:128.65, Z:7.09 [[-7.87888876e-01 -6.15460667e-01 2.09591590e-02 1.52527142e+02] [ 6.15229385e-01 -7.88167499e-01 -1.68759720e-02 1.28651290e+02] [ 2.69058249e-02 -4.01700175e-04 9.99637892e-01 7.09367427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.980714057 meters Centerline goodness : 0.990392 Centerline is valid? [True, True] Translation: X:152.53, Y:128.65, Z:7.09 [[-7.89355696e-01 -6.13589028e-01 2.06419673e-02 1.52527043e+02] [ 6.13346222e-01 -7.89624932e-01 -1.72881201e-02 1.28651603e+02] [ 2.69072128e-02 -9.85803380e-04 9.99637449e-01 7.09327882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.01071405700003 meters Centerline goodness : 0.988507 Centerline is valid? [True, True] Translation: X:152.53, Y:128.65, Z:7.10 [[-7.92503402e-01 -6.09515397e-01 2.07204823e-02 1.52528713e+02] [ 6.09273871e-01 -7.92773605e-01 -1.71860780e-02 1.28652803e+02] [ 2.69018306e-02 -9.95576789e-04 9.99637584e-01 7.10066754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.040714057 meters Centerline goodness : 0.990557 Centerline is valid? [True, True] Translation: X:152.52, Y:128.66, Z:7.09 [[-7.95593552e-01 -6.05465487e-01 2.10343824e-02 1.52516246e+02] [ 6.05233301e-01 -7.95871323e-01 -1.67776001e-02 1.28661409e+02] [ 2.68989196e-02 -6.17441779e-04 9.99637968e-01 7.09362869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.07071405700003 meters Centerline goodness : 0.988782 Centerline is valid? [True, True] Translation: X:152.53, Y:128.65, Z:7.10 [[-7.97348317e-01 -6.03159260e-01 2.08462996e-02 1.52527444e+02] [ 6.02919852e-01 -7.97620147e-01 -1.70221080e-02 1.28654904e+02] [ 2.68944706e-02 -1.00390128e-03 9.99637774e-01 7.09821615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.100714057 meters Centerline goodness : 0.991251 Centerline is valid? [True, True] Translation: X:152.52, Y:128.66, Z:7.09 [[-8.02406542e-01 -5.96405980e-01 2.10629623e-02 1.52522859e+02] [ 5.96171636e-01 -8.02682465e-01 -1.67403601e-02 1.28662243e+02] [ 2.68909214e-02 -8.75433730e-04 9.99637990e-01 7.09270879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.13071405700003 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:152.52, Y:128.67, Z:7.09 [[-8.07093493e-01 -5.90054129e-01 2.08858632e-02 1.52521282e+02] [ 5.89811647e-01 -8.07362512e-01 -1.69704208e-02 1.28668897e+02] [ 2.68759299e-02 -1.37799082e-03 9.99637827e-01 7.09285766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.160714057 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:152.53, Y:128.67, Z:7.09 [[-8.07929460e-01 -5.88909475e-01 2.08714574e-02 1.52525610e+02] [ 5.88666129e-01 -8.08197722e-01 -1.69891216e-02 1.28669140e+02] [ 2.68733190e-02 -1.43969186e-03 9.99637810e-01 7.09156241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.190714057 meters Centerline goodness : 0.991899 Centerline is valid? [True, True] Translation: X:152.52, Y:128.68, Z:7.09 [[-8.11938143e-01 -5.83372241e-01 2.08153653e-02 1.52517558e+02] [ 5.83125206e-01 -8.12203106e-01 -1.70618992e-02 1.28676245e+02] [ 2.68597427e-02 -1.71524262e-03 9.99637740e-01 7.09360148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.220714057 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:152.51, Y:128.68, Z:7.09 [[-8.16228359e-01 -5.77351883e-01 2.08822864e-02 1.52511893e+02] [ 5.77105103e-01 -8.16493447e-01 -1.69750510e-02 1.28684696e+02] [ 2.68508277e-02 -1.80424399e-03 9.99637823e-01 7.09411833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.250714057 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:152.51, Y:128.69, Z:7.09 [[-8.18232046e-01 -5.74508866e-01 2.08777911e-02 1.52506062e+02] [ 5.74261017e-01 -8.18496142e-01 -1.69808835e-02 1.28690558e+02] [ 2.68440596e-02 -1.90500146e-03 9.99637818e-01 7.09447022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.280714057 meters Centerline goodness : 0.990836 Centerline is valid? [True, True] Translation: X:152.51, Y:128.69, Z:7.10 [[-8.20873264e-01 -5.70727319e-01 2.09143927e-02 1.52510227e+02] [ 5.70479455e-01 -8.21137291e-01 -1.69334111e-02 1.28689778e+02] [ 2.68379481e-02 -1.96895307e-03 9.99637858e-01 7.09821246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.310714057 meters Centerline goodness : 0.990909 Centerline is valid? [True, True] Translation: X:152.51, Y:128.69, Z:7.10 [[-8.20761336e-01 -5.70880952e-01 2.11132115e-02 1.52506866e+02] [ 5.70639709e-01 -8.21031214e-01 -1.66753783e-02 1.28694621e+02] [ 2.68542615e-02 -1.63846897e-03 9.99638017e-01 7.09772342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.340714057 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:152.48, Y:128.71, Z:7.09 [[-8.22017407e-01 -5.69072428e-01 2.10702164e-02 1.52484610e+02] [ 5.68829169e-01 -8.22285501e-01 -1.67311461e-02 1.28710861e+02] [ 2.68469674e-02 -1.76793960e-03 9.99637992e-01 7.09364775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.370714057 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:152.50, Y:128.70, Z:7.09 [[-8.21395682e-01 -5.69976032e-01 2.08915569e-02 1.52501269e+02] [ 5.69727189e-01 -8.21658810e-01 -1.69625977e-02 1.28699278e+02] [ 2.68340059e-02 -2.03051650e-03 9.99637841e-01 7.09200098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.400714057 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:152.50, Y:128.70, Z:7.09 [[-8.21130104e-01 -5.70359890e-01 2.08554332e-02 1.52496765e+02] [ 5.70109989e-01 -8.21392283e-01 -1.70093528e-02 1.28701768e+02] [ 2.68319445e-02 -2.07700078e-03 9.99637801e-01 7.09231900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.430714057 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:152.50, Y:128.70, Z:7.09 [[-8.19647899e-01 -5.72489722e-01 2.08048093e-02 1.52497737e+02] [ 5.72238849e-01 -8.19909233e-01 -1.70748287e-02 1.28698847e+02] [ 2.68332191e-02 -2.09002734e-03 9.99637739e-01 7.09248576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.460714057 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:152.50, Y:128.70, Z:7.10 [[-8.19066499e-01 -5.73318261e-01 2.08863982e-02 1.52495620e+02] [ 5.73070323e-01 -8.19330488e-01 -1.69692765e-02 1.28699045e+02] [ 2.68416589e-02 -1.92959092e-03 9.99637835e-01 7.09781944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.490714057 meters Centerline goodness : 0.989994 Centerline is valid? [True, True] Translation: X:152.50, Y:128.70, Z:7.10 [[-8.11881010e-01 -5.83441591e-01 2.10982342e-02 1.52495246e+02] [ 5.83204017e-01 -8.12154140e-01 -1.66951055e-02 1.28699443e+02] [ 2.68756372e-02 -1.24986414e-03 9.99638003e-01 7.09783456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.520714057 meters Centerline goodness : 0.992878 Centerline is valid? [True, True] Translation: X:152.50, Y:128.69, Z:7.09 [[-8.09012459e-01 -5.87419004e-01 2.09225810e-02 1.52497657e+02] [ 5.87176892e-01 -8.09281743e-01 -1.69220887e-02 1.28694219e+02] [ 2.68726194e-02 -1.40492449e-03 9.99637879e-01 7.09225527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.550714057 meters Centerline goodness : 0.993472 Centerline is valid? [True, True] Translation: X:152.48, Y:128.69, Z:7.10 [[-8.22506777e-01 -5.68381880e-01 2.06068204e-02 1.52481177e+02] [ 5.68123340e-01 -8.22760934e-01 -1.73296261e-02 1.28690065e+02] [ 2.68043322e-02 -2.54651930e-03 9.99637456e-01 7.09948237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.580714057 meters Centerline goodness : 0.990913 Centerline is valid? [True, True] Translation: X:152.50, Y:128.69, Z:7.10 [[-8.06706224e-01 -5.90569066e-01 2.12895645e-02 1.52500873e+02] [ 5.90340449e-01 -8.06986796e-01 -1.64458228e-02 1.28688580e+02] [ 2.68927916e-02 -6.98856536e-04 9.99638079e-01 7.09890468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.610714057 meters Centerline goodness : 0.992099 Centerline is valid? [True, True] Translation: X:152.49, Y:128.70, Z:7.09 [[-8.06207612e-01 -5.91265705e-01 2.08363331e-02 1.52485799e+02] [ 5.91022067e-01 -8.06475580e-01 -1.70309913e-02 1.28696272e+02] [ 2.68738349e-02 -1.41578215e-03 9.99637831e-01 7.09444835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.640714057 meters Centerline goodness : 0.990039 Centerline is valid? [True, True] Translation: X:152.50, Y:128.68, Z:7.10 [[-8.05919663e-01 -5.91661654e-01 2.07360723e-02 1.52498960e+02] [ 5.91414819e-01 -8.06184864e-01 -1.71603532e-02 1.28684803e+02] [ 2.68702306e-02 -1.56624561e-03 9.99637703e-01 7.10030093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.670714057 meters Centerline goodness : 0.992048 Centerline is valid? [True, True] Translation: X:152.49, Y:128.69, Z:7.09 [[-8.03650397e-01 -5.94730708e-01 2.10100853e-02 1.52491873e+02] [ 5.94494060e-01 -8.03924345e-01 -1.68065586e-02 1.28688007e+02] [ 2.68858956e-02 -1.01622659e-03 9.99637992e-01 7.09447745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.700714057 meters Centerline goodness : 0.989613 Centerline is valid? [True, True] Translation: X:152.49, Y:128.68, Z:7.10 [[-8.04138298e-01 -5.94081691e-01 2.07012730e-02 1.52494525e+02] [ 5.93834522e-01 -8.04403237e-01 -1.72044497e-02 1.28683450e+02] [ 2.68730196e-02 -1.54162636e-03 9.99637666e-01 7.09924075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.730714057 meters Centerline goodness : 0.989788 Centerline is valid? [True, True] Translation: X:152.49, Y:128.69, Z:7.10 [[-8.05773010e-01 -5.91855635e-01 2.08988791e-02 1.52487739e+02] [ 5.91614298e-01 -8.06042948e-01 -1.69495931e-02 1.28687483e+02] [ 2.68771063e-02 -1.29344893e-03 9.99637909e-01 7.10237930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76071405700003 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:152.49, Y:128.69, Z:7.10 [[-8.05431774e-01 -5.92316511e-01 2.09954395e-02 1.52488493e+02] [ 5.92078560e-01 -8.05704596e-01 -1.68250700e-02 1.28688692e+02] [ 2.68818888e-02 -1.12049641e-03 9.99637989e-01 7.10216869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.790714057 meters Centerline goodness : 0.990560 Centerline is valid? [True, True] Translation: X:152.49, Y:128.69, Z:7.10 [[-8.06693856e-01 -5.90598566e-01 2.09369710e-02 1.52488017e+02] [ 5.90358080e-01 -8.06964506e-01 -1.69004130e-02 1.28689710e+02] [ 2.68767521e-02 -1.27314931e-03 9.99637944e-01 7.10113916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82071405700003 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:152.48, Y:128.69, Z:7.10 [[-8.10712482e-01 -5.85070767e-01 2.09157654e-02 1.52484466e+02] [ 5.84827735e-01 -8.10980871e-01 -1.69277247e-02 1.28693522e+02] [ 2.68662025e-02 -1.49139801e-03 9.99637926e-01 7.10019747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.850714057 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:152.49, Y:128.69, Z:7.10 [[-8.11029075e-01 -5.84632051e-01 2.09094347e-02 1.52487480e+02] [ 5.84388664e-01 -8.11297150e-01 -1.69358732e-02 1.28693950e+02] [ 2.68650191e-02 -1.51624901e-03 9.99637920e-01 7.09868611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88071405700003 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:152.46, Y:128.71, Z:7.10 [[-8.15519429e-01 -5.78351407e-01 2.09215443e-02 1.52463903e+02] [ 5.78106355e-01 -8.15785969e-01 -1.69202856e-02 1.28710206e+02] [ 2.68533733e-02 -1.70394394e-03 9.99637931e-01 7.09545459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.910714057 meters Centerline goodness : 0.991820 Centerline is valid? [True, True] Translation: X:152.47, Y:128.71, Z:7.09 [[-8.15829690e-01 -5.77917586e-01 2.08130079e-02 1.52469962e+02] [ 5.77668837e-01 -8.16092931e-01 -1.70599405e-02 1.28705436e+02] [ 2.68445883e-02 -1.89497993e-03 9.99637823e-01 7.09471579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.940714057 meters Centerline goodness : 0.991379 Centerline is valid? [True, True] Translation: X:152.46, Y:128.71, Z:7.10 [[-8.17040224e-01 -5.76204982e-01 2.08108359e-02 1.52460018e+02] [ 5.75955611e-01 -8.17302880e-01 -1.70627336e-02 1.28712122e+02] [ 2.68403882e-02 -1.95482199e-03 9.99637821e-01 7.09791245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.970714057 meters Centerline goodness : 0.992455 Centerline is valid? [True, True] Translation: X:152.45, Y:128.71, Z:7.10 [[-8.17015701e-01 -5.76233799e-01 2.09750654e-02 1.52454442e+02] [ 5.75989814e-01 -8.17283160e-01 -1.68514111e-02 1.28713929e+02] [ 2.68529204e-02 -1.68644342e-03 9.99637973e-01 7.09814506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.000714057 meters Centerline goodness : 0.992215 Centerline is valid? [True, True] Translation: X:152.46, Y:128.71, Z:7.10 [[-8.17462737e-01 -5.75606923e-01 2.07688481e-02 1.52460089e+02] [ 5.75356005e-01 -8.17723975e-01 -1.71163112e-02 1.28708426e+02] [ 2.68354523e-02 -2.04246513e-03 9.99637778e-01 7.09833699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.030714057 meters Centerline goodness : 0.991919 Centerline is valid? [True, True] Translation: X:152.44, Y:128.72, Z:7.10 [[-8.18934112e-01 -5.73508902e-01 2.08437025e-02 1.52441626e+02] [ 5.73259744e-01 -8.19196912e-01 -1.70201534e-02 1.28722366e+02] [ 2.68363062e-02 -1.98952863e-03 9.99637862e-01 7.09978902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.060714057 meters Centerline goodness : 0.989544 Centerline is valid? [True, True] Translation: X:152.45, Y:128.72, Z:7.10 [[-8.20329594e-01 -5.71510396e-01 2.08620382e-02 1.52449961e+02] [ 5.71261192e-01 -8.20592327e-01 -1.69965984e-02 1.28716763e+02] [ 2.68329612e-02 -2.02513988e-03 9.99637880e-01 7.10249267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.090714057 meters Centerline goodness : 0.992185 Centerline is valid? [True, True] Translation: X:152.44, Y:128.73, Z:7.10 [[-8.21385298e-01 -5.69984334e-01 2.10725225e-02 1.52438885e+02] [ 5.69741505e-01 -8.21653733e-01 -1.67260699e-02 1.28725205e+02] [ 2.68479146e-02 -1.73265722e-03 9.99638028e-01 7.09930443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.120714057 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:152.45, Y:128.72, Z:7.10 [[-8.18578326e-01 -5.74016722e-01 2.08405269e-02 1.52453148e+02] [ 5.73767636e-01 -8.18841189e-01 -1.70237477e-02 1.28716036e+02] [ 2.68369976e-02 -1.97765102e-03 9.99637867e-01 7.09570894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.150714057 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:152.44, Y:128.72, Z:7.09 [[-8.19071228e-01 -5.73317978e-01 2.07079517e-02 1.52444776e+02] [ 5.73064389e-01 -8.19329962e-01 -1.71936071e-02 1.28722335e+02] [ 2.68240493e-02 -2.21579913e-03 9.99637715e-01 7.09441812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.180714057 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:152.43, Y:128.73, Z:7.10 [[-8.24068371e-01 -5.66113765e-01 2.06524899e-02 1.52434205e+02] [ 5.65856149e-01 -8.24323207e-01 -1.72646834e-02 1.28727429e+02] [ 2.67981016e-02 -2.54094109e-03 9.99637637e-01 7.09768662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.210714057 meters Centerline goodness : 0.992506 Centerline is valid? [True, True] Translation: X:152.43, Y:128.73, Z:7.10 [[-8.24034457e-01 -5.66154067e-01 2.08994211e-02 1.52430619e+02] [ 5.65904383e-01 -8.24296669e-01 -1.69478903e-02 1.28729157e+02] [ 2.68224402e-02 -2.13857158e-03 9.99637926e-01 7.09806055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.240714057 meters Centerline goodness : 0.992593 Centerline is valid? [True, True] Translation: X:152.42, Y:128.73, Z:7.10 [[-8.23544053e-01 -5.66867500e-01 2.08909014e-02 1.52423732e+02] [ 5.66617768e-01 -8.23806230e-01 -1.69588135e-02 1.28732555e+02] [ 2.68234550e-02 -2.12917412e-03 9.99637919e-01 7.09711128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.270714057 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:152.41, Y:128.74, Z:7.10 [[-8.23357247e-01 -5.67137840e-01 2.09168522e-02 1.52406450e+02] [ 5.66889032e-01 -8.23620271e-01 -1.69255417e-02 1.28743805e+02] [ 2.68266586e-02 -2.07823326e-03 9.99637940e-01 7.09757169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.300714057 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:152.40, Y:128.75, Z:7.10 [[-8.23147607e-01 -5.67440599e-01 2.09567085e-02 1.52404285e+02] [ 5.67193179e-01 -8.23411897e-01 -1.68744297e-02 1.28745356e+02] [ 2.68312396e-02 -2.00364436e-03 9.99637969e-01 7.09766827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.330714057 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:152.41, Y:128.74, Z:7.10 [[-8.23872242e-01 -5.66388251e-01 2.09494145e-02 1.52406138e+02] [ 5.66140257e-01 -8.24136001e-01 -1.68837763e-02 1.28741814e+02] [ 2.68279392e-02 -2.04976776e-03 9.99637965e-01 7.10012890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.360714057 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:152.43, Y:128.72, Z:7.10 [[-8.22700463e-01 -5.68085174e-01 2.10519252e-02 1.52431652e+02] [ 5.67841053e-01 -8.22967735e-01 -1.67524795e-02 1.28720008e+02] [ 2.68418904e-02 -1.82812531e-03 9.99638020e-01 7.09776905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.390714057 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:152.44, Y:128.71, Z:7.10 [[-8.20355035e-01 -5.71472540e-01 2.08986315e-02 1.52443718e+02] [ 5.71224545e-01 -8.20618834e-01 -1.69484066e-02 1.28709267e+02] [ 2.68353596e-02 -1.96589936e-03 9.99637934e-01 7.09692544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.420714057 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:152.42, Y:128.73, Z:7.10 [[-8.26026618e-01 -5.63253863e-01 2.06182552e-02 1.52419832e+02] [ 5.62994345e-01 -8.26279531e-01 -1.73062129e-02 1.28726193e+02] [ 2.67842335e-02 -2.68743143e-03 9.99637626e-01 7.09851702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.450714057 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:152.42, Y:128.72, Z:7.10 [[-8.26764067e-01 -5.62161822e-01 2.08629836e-02 1.52422778e+02] [ 5.61909733e-01 -8.27023986e-01 -1.69934881e-02 1.28722970e+02] [ 2.68072781e-02 -2.32649179e-03 9.99637913e-01 7.09875675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.480714057 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:152.42, Y:128.72, Z:7.10 [[-8.28484352e-01 -5.59625458e-01 2.08092696e-02 1.52424363e+02] [ 5.59370867e-01 -8.28741889e-01 -1.70620621e-02 1.28721071e+02] [ 2.67938777e-02 -2.49555231e-03 9.99637865e-01 7.09804185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.51071405700003 meters Centerline goodness : 0.994655 Centerline is valid? [True, True] Translation: X:152.41, Y:128.72, Z:7.10 [[-8.37064773e-01 -5.46702731e-01 2.09449407e-02 1.52405297e+02] [ 5.46448433e-01 -8.37322446e-01 -1.68887807e-02 1.28724016e+02] [ 2.67708115e-02 -2.69167335e-03 9.99637974e-01 7.10225552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.540714057 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:152.42, Y:128.72, Z:7.10 [[-8.30046165e-01 -5.57291920e-01 2.11915195e-02 1.52416681e+02] [ 5.57048843e-01 -8.30314341e-01 -1.65734989e-02 1.28724076e+02] [ 2.68318996e-02 -1.95205780e-03 9.99638054e-01 7.09928171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.57071405700003 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:152.43, Y:128.71, Z:7.10 [[-8.30369301e-01 -5.56822858e-01 2.08597341e-02 1.52429647e+02] [ 5.56569022e-01 -8.30627496e-01 -1.69966888e-02 1.28713507e+02] [ 2.67908135e-02 -2.50364678e-03 9.99637926e-01 7.09846308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.600714057 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:152.42, Y:128.72, Z:7.10 [[-8.31005741e-01 -5.55868595e-01 2.09657716e-02 1.52418876e+02] [ 5.55617827e-01 -8.31266817e-01 -1.68614501e-02 1.28721530e+02] [ 2.68009008e-02 -2.36300542e-03 9.99637998e-01 7.09888000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.63071405700003 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:152.42, Y:128.72, Z:7.10 [[-8.29961564e-01 -5.57424726e-01 2.10113595e-02 1.52419204e+02] [ 5.57175903e-01 -8.30224464e-01 -1.68033194e-02 1.28718501e+02] [ 2.68107304e-02 -2.23908599e-03 9.99638020e-01 7.10067814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.660714057 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:152.41, Y:128.72, Z:7.10 [[-8.29867893e-01 -5.57571968e-01 2.08033942e-02 1.52411189e+02] [ 5.57316593e-01 -8.30124626e-01 -1.70681087e-02 1.28723484e+02] [ 2.67861088e-02 -2.57019861e-03 9.99637884e-01 7.10091815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.690714057 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:152.42, Y:128.72, Z:7.10 [[-8.29487795e-01 -5.58137013e-01 2.08103974e-02 1.52416216e+02] [ 5.57882034e-01 -8.29744913e-01 -1.70591931e-02 1.28717023e+02] [ 2.67886884e-02 -2.54064564e-03 9.99637890e-01 7.09909812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.720714057 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:152.39, Y:128.73, Z:7.10 [[-8.29046801e-01 -5.58785670e-01 2.09756475e-02 1.52391357e+02] [ 5.58536141e-01 -8.29309050e-01 -1.68486981e-02 1.28733699e+02] [ 2.68101054e-02 -2.25270208e-03 9.99638006e-01 7.10128039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.750714057 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:152.42, Y:128.71, Z:7.10 [[-8.27092830e-01 -5.61679168e-01 2.08317680e-02 1.52415437e+02] [ 5.61425976e-01 -8.27351675e-01 -1.70317386e-02 1.28712486e+02] [ 2.68015709e-02 -2.39133316e-03 9.99637913e-01 7.10069539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.780714057 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:152.40, Y:128.72, Z:7.10 [[-8.27145083e-01 -5.61604299e-01 2.07755229e-02 1.52401567e+02] [ 5.61349305e-01 -8.27402223e-01 -1.71032140e-02 1.28721307e+02] [ 2.67949523e-02 -2.48451407e-03 9.99637863e-01 7.10067489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.810714057 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:152.39, Y:128.73, Z:7.10 [[-8.25996937e-01 -5.63290482e-01 2.08060821e-02 1.52387718e+02] [ 5.63036980e-01 -8.26255509e-01 -1.70643763e-02 1.28728665e+02] [ 2.68033407e-02 -2.38052896e-03 9.99637891e-01 7.10141649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.840714057 meters Centerline goodness : 0.992717 Centerline is valid? [True, True] Translation: X:152.38, Y:128.72, Z:7.10 [[-8.31975837e-01 -5.54421264e-01 2.08151145e-02 1.52382462e+02] [ 5.54165294e-01 -8.32231954e-01 -1.70528941e-02 1.28723708e+02] [ 2.67774905e-02 -2.65258177e-03 9.99637899e-01 7.10077173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.870714057 meters Centerline goodness : 0.992423 Centerline is valid? [True, True] Translation: X:152.40, Y:128.71, Z:7.10 [[-8.24553274e-01 -5.65388675e-01 2.11552377e-02 1.52398732e+02] [ 5.65147049e-01 -8.24822763e-01 -1.66199643e-02 1.28714213e+02] [ 2.68460612e-02 -1.74822583e-03 9.99638051e-01 7.10334581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.900714057 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:152.40, Y:128.72, Z:7.10 [[-8.23995278e-01 -5.66214910e-01 2.07956256e-02 1.52396077e+02] [ 5.65962027e-01 -8.24254438e-01 -1.70764568e-02 1.28715513e+02] [ 2.68098312e-02 -2.30138530e-03 9.99637903e-01 7.10400998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.930714057 meters Centerline goodness : 0.992284 Centerline is valid? [True, True] Translation: X:152.41, Y:128.71, Z:7.10 [[-8.22568430e-01 -5.68286406e-01 2.07782923e-02 1.52407671e+02] [ 5.68033625e-01 -8.22827712e-01 -1.70984393e-02 1.28706406e+02] [ 2.68137654e-02 -2.26186770e-03 9.99637887e-01 7.10466738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.960714057 meters Centerline goodness : 0.991866 Centerline is valid? [True, True] Translation: X:152.40, Y:128.71, Z:7.10 [[-8.23362516e-01 -5.67137622e-01 2.07143920e-02 1.52401477e+02] [ 5.66882457e-01 -8.23619540e-01 -1.71794103e-02 1.28709639e+02] [ 2.68038679e-02 -2.40225702e-03 9.99637825e-01 7.10352018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.990714057 meters Centerline goodness : 0.992259 Centerline is valid? [True, True] Translation: X:152.39, Y:128.72, Z:7.10 [[-8.24040606e-01 -5.66149134e-01 2.07903525e-02 1.52394108e+02] [ 5.65896062e-01 -8.24299589e-01 -1.70831682e-02 1.28715375e+02] [ 2.68090999e-02 -2.31204571e-03 9.99637898e-01 7.10439757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.020714057 meters Centerline goodness : 0.992491 Centerline is valid? [True, True] Translation: X:152.39, Y:128.72, Z:7.11 [[-8.23688283e-01 -5.66662739e-01 2.07594026e-02 1.52389490e+02] [ 5.66408848e-01 -8.23946504e-01 -1.71223728e-02 1.28720066e+02] [ 2.68072478e-02 -2.34518853e-03 9.99637870e-01 7.10513898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.050714057 meters Centerline goodness : 0.992624 Centerline is valid? [True, True] Translation: X:152.38, Y:128.73, Z:7.10 [[-8.23689664e-01 -5.66661870e-01 2.07282947e-02 1.52384381e+02] [ 5.66406997e-01 -8.23946957e-01 -1.71617689e-02 1.28725172e+02] [ 2.68039354e-02 -2.39532054e-03 9.99637840e-01 7.10249202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.080714057 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:152.38, Y:128.73, Z:7.10 [[-8.24158182e-01 -5.65978955e-01 2.07632754e-02 1.52383606e+02] [ 5.65724973e-01 -8.24416307e-01 -1.71174904e-02 1.28725413e+02] [ 2.68057221e-02 -2.36121638e-03 9.99637873e-01 7.10399513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.110714057 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:152.37, Y:128.73, Z:7.10 [[-8.24421396e-01 -5.65597628e-01 2.07046823e-02 1.52372116e+02] [ 5.65341681e-01 -8.24677653e-01 -1.71916272e-02 1.28734925e+02] [ 2.67982324e-02 -2.46792539e-03 9.99637816e-01 7.10396160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.140714057 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:152.38, Y:128.73, Z:7.10 [[-8.23161531e-01 -5.67430139e-01 2.06913351e-02 1.52378344e+02] [ 5.67174341e-01 -8.23417958e-01 -1.72085052e-02 1.28731463e+02] [ 2.68022414e-02 -2.42978514e-03 9.99637802e-01 7.10125842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.170714057 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:152.39, Y:128.73, Z:7.10 [[-8.21920202e-01 -5.69228540e-01 2.06409916e-02 1.52387761e+02] [ 5.68971721e-01 -8.22175684e-01 -1.72720819e-02 1.28726305e+02] [ 2.68022834e-02 -2.45213251e-03 9.99637747e-01 7.09859715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.200714057 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:152.39, Y:128.73, Z:7.10 [[-8.21807708e-01 -5.69389382e-01 2.06838824e-02 1.52386749e+02] [ 5.69133961e-01 -8.22064522e-01 -1.72179404e-02 1.28726927e+02] [ 2.68071983e-02 -2.37793618e-03 9.99637794e-01 7.09986341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.230714057 meters Centerline goodness : 0.992143 Centerline is valid? [True, True] Translation: X:152.38, Y:128.73, Z:7.10 [[-8.19739113e-01 -5.72365410e-01 2.06306722e-02 1.52377672e+02] [ 5.72109244e-01 -8.19995267e-01 -1.72850849e-02 1.28734972e+02] [ 2.68104383e-02 -2.36626191e-03 9.99637735e-01 7.10151092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26071405700003 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:152.39, Y:128.73, Z:7.10 [[-8.17531299e-01 -5.75509222e-01 2.07776389e-02 1.52385584e+02] [ 5.75258704e-01 -8.17792778e-01 -1.70996173e-02 1.28728910e+02] [ 2.68327905e-02 -2.02695473e-03 9.99637881e-01 7.09831711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.290714057 meters Centerline goodness : 0.993138 Centerline is valid? [True, True] Translation: X:152.38, Y:128.73, Z:7.10 [[-8.15484530e-01 -5.78410411e-01 2.06489042e-02 1.52384536e+02] [ 5.78156731e-01 -8.15743111e-01 -1.72618236e-02 1.28729435e+02] [ 2.68286199e-02 -2.13844717e-03 9.99637760e-01 7.09937252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32071405700003 meters Centerline goodness : 0.992109 Centerline is valid? [True, True] Translation: X:152.38, Y:128.73, Z:7.10 [[-8.09665691e-01 -5.86530240e-01 2.05850980e-02 1.52380770e+02] [ 5.86277121e-01 -8.09924926e-01 -1.73421760e-02 1.28732399e+02] [ 2.68440946e-02 -1.97279294e-03 9.99637686e-01 7.09900267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.350714057 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:152.39, Y:128.73, Z:7.10 [[-8.02249016e-01 -5.96635675e-01 2.05520818e-02 1.52388760e+02] [ 5.96384765e-01 -8.02510447e-01 -1.73837245e-02 1.28725565e+02] [ 2.68650106e-02 -1.68912738e-03 9.99637643e-01 7.09972139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38071405700003 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:152.38, Y:128.73, Z:7.10 [[-7.99689227e-01 -6.00063231e-01 2.05246003e-02 1.52382914e+02] [ 5.99812557e-01 -7.99950936e-01 -1.74182863e-02 1.28728677e+02] [ 2.68707463e-02 -1.61830290e-03 9.99637606e-01 7.10123748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.410714057 meters Centerline goodness : 0.992153 Centerline is valid? [True, True] Translation: X:152.39, Y:128.72, Z:7.10 [[-7.90368086e-01 -6.12285542e-01 2.06083637e-02 1.52392099e+02] [ 6.12041659e-01 -7.90635991e-01 -1.73129641e-02 1.28721971e+02] [ 2.68941917e-02 -1.07043723e-03 9.99637713e-01 7.10145524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.440714057 meters Centerline goodness : 0.991292 Centerline is valid? [True, True] Translation: X:152.40, Y:128.72, Z:7.10 [[-7.86802348e-01 -6.16866513e-01 2.04394326e-02 1.52398895e+02] [ 6.16618664e-01 -7.87066897e-01 -1.75249244e-02 1.28717732e+02] [ 2.68977398e-02 -1.18531607e-03 9.99637488e-01 7.10085283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.470714057 meters Centerline goodness : 0.991500 Centerline is valid? [True, True] Translation: X:152.40, Y:128.72, Z:7.10 [[-7.83172960e-01 -6.21465823e-01 2.05023385e-02 1.52398883e+02] [ 6.21221590e-01 -7.83440727e-01 -1.74460330e-02 1.28718962e+02] [ 2.69044802e-02 -9.26765955e-04 9.99637579e-01 7.10077139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.500714057 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:152.40, Y:128.72, Z:7.10 [[-7.78598783e-01 -6.27188925e-01 2.04447618e-02 1.52403326e+02] [ 6.26944764e-01 -7.78866726e-01 -1.75181710e-02 1.28719722e+02] [ 2.69109475e-02 -8.21890281e-04 9.99637497e-01 7.09990552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.530714057 meters Centerline goodness : 0.992280 Centerline is valid? [True, True] Translation: X:152.40, Y:128.72, Z:7.10 [[-7.78520527e-01 -6.27288113e-01 2.03816566e-02 1.52403540e+02] [ 6.27041914e-01 -7.78786734e-01 -1.75971750e-02 1.28723799e+02] [ 2.69114624e-02 -9.19608982e-04 9.99637398e-01 7.09961194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.560714057 meters Centerline goodness : 0.991460 Centerline is valid? [True, True] Translation: X:152.40, Y:128.73, Z:7.10 [[-7.80676800e-01 -6.24601229e-01 2.04215353e-02 1.52397515e+02] [ 6.24355418e-01 -7.80943279e-01 -1.75472563e-02 1.28730479e+02] [ 2.69080986e-02 -9.48439654e-04 9.99637462e-01 7.10065349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.590714057 meters Centerline goodness : 0.992238 Centerline is valid? [True, True] Translation: X:152.39, Y:128.74, Z:7.10 [[-7.84056661e-01 -6.20351603e-01 2.04705055e-02 1.52392879e+02] [ 6.20105947e-01 -7.84323184e-01 -1.74859331e-02 1.28741057e+02] [ 2.69029186e-02 -1.01608011e-03 9.99637535e-01 7.10001206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.620714057 meters Centerline goodness : 0.993092 Centerline is valid? [True, True] Translation: X:152.40, Y:128.75, Z:7.10 [[-7.81206807e-01 -6.23935710e-01 2.04976955e-02 1.52396971e+02] [ 6.23692169e-01 -7.81475213e-01 -1.74519013e-02 1.28745679e+02] [ 2.69073054e-02 -8.49291926e-04 9.99637572e-01 7.09700691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.650714057 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:152.39, Y:128.75, Z:7.10 [[-7.88579434e-01 -6.14598529e-01 2.02762172e-02 1.52388179e+02] [ 6.14344660e-01 -7.88838593e-01 -1.77288771e-02 1.28753347e+02] [ 2.68908045e-02 -1.52404209e-03 9.99637215e-01 7.09951121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.680714057 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:152.40, Y:128.76, Z:7.10 [[-7.89695944e-01 -6.13157314e-01 2.04554269e-02 1.52395444e+02] [ 6.12908748e-01 -7.89959780e-01 -1.75046436e-02 1.28756891e+02] [ 2.68920648e-02 -1.28603592e-03 9.99637516e-01 7.09741667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.710714057 meters Centerline goodness : 0.992828 Centerline is valid? [True, True] Translation: X:152.39, Y:128.76, Z:7.10 [[-7.94422765e-01 -6.07026944e-01 2.02672330e-02 1.52387412e+02] [ 6.06770327e-01 -7.94679222e-01 -1.77398974e-02 1.28764888e+02] [ 2.68745447e-02 -1.79542272e-03 9.99637202e-01 7.09911783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.740714057 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:152.37, Y:128.77, Z:7.11 [[-8.13409169e-01 -5.81332015e-01 2.04600052e-02 1.52368056e+02] [ 5.81073330e-01 -8.13663070e-01 -1.74984103e-02 1.28772115e+02] [ 2.68199367e-02 -2.34460399e-03 9.99637531e-01 7.10895556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.770714057 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:152.38, Y:128.78, Z:7.10 [[-8.05708910e-01 -5.91937605e-01 2.10481346e-02 1.52383230e+02] [ 5.91701223e-01 -8.05983108e-01 -1.67598160e-02 1.28779051e+02] [ 2.68852063e-02 -1.04932613e-03 9.99637977e-01 7.10492831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.800714057 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:152.36, Y:128.79, Z:7.11 [[-8.19566952e-01 -5.72618497e-01 2.04467342e-02 1.52364277e+02] [ 5.72356761e-01 -8.19817683e-01 -1.75129921e-02 1.28785664e+02] [ 2.67908575e-02 -2.65024299e-03 9.99637547e-01 7.11036156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.830714057 meters Centerline goodness : 0.994160 Centerline is valid? [True, True] Translation: X:152.38, Y:128.78, Z:7.11 [[-8.11428528e-01 -5.84072752e-01 2.10419748e-02 1.52382820e+02] [ 5.83833558e-01 -8.11700240e-01 -1.67659602e-02 1.28783357e+02] [ 2.68723166e-02 -1.31936738e-03 9.99638003e-01 7.10662173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.860714057 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:152.38, Y:128.79, Z:7.11 [[-8.14822764e-01 -5.79346757e-01 2.05231252e-02 1.52378534e+02] [ 5.79089547e-01 -8.15077924e-01 -1.74148021e-02 1.28791994e+02] [ 2.68171554e-02 -2.30524989e-03 9.99637697e-01 7.10608514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.890714057 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:152.37, Y:128.80, Z:7.10 [[-8.16387225e-01 -5.77138154e-01 2.05778848e-02 1.52370668e+02] [ 5.76881963e-01 -8.16643316e-01 -1.73463370e-02 1.28802665e+02] [ 2.68160250e-02 -2.29031741e-03 9.99637762e-01 7.10498851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.920714057 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:152.38, Y:128.80, Z:7.10 [[-8.16497906e-01 -5.76983936e-01 2.05111302e-02 1.52377141e+02] [ 5.76725616e-01 -8.16751962e-01 -1.74297522e-02 1.28799786e+02] [ 2.68091929e-02 -2.40206203e-03 9.99637683e-01 7.10386664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.950714057 meters Centerline goodness : 0.992183 Centerline is valid? [True, True] Translation: X:152.39, Y:128.80, Z:7.10 [[-8.18244362e-01 -5.74505882e-01 2.04732996e-02 1.52386049e+02] [ 5.74245622e-01 -8.18496500e-01 -1.74769886e-02 1.28795515e+02] [ 2.67979568e-02 -2.54374475e-03 9.99637634e-01 7.10072520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.980714057 meters Centerline goodness : 0.994179 Centerline is valid? [True, True] Translation: X:152.38, Y:128.80, Z:7.10 [[-8.19824523e-01 -5.72239764e-01 2.07220550e-02 1.52375423e+02] [ 5.71986539e-01 -8.20083362e-01 -1.71661970e-02 1.28803089e+02] [ 2.68169931e-02 -2.22053279e-03 9.99637893e-01 7.10327719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.01071405700003 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:152.38, Y:128.80, Z:7.10 [[-8.18226272e-01 -5.74530739e-01 2.04987274e-02 1.52383810e+02] [ 5.74271285e-01 -8.18479181e-01 -1.74447944e-02 1.28799132e+02] [ 2.68003523e-02 -2.50195853e-03 9.99637675e-01 7.10133805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.040714057 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:152.34, Y:128.82, Z:7.11 [[-8.31298982e-01 -5.55448127e-01 2.04787639e-02 1.52344788e+02] [ 5.55182289e-01 -8.31545210e-01 -1.74697100e-02 1.28818730e+02] [ 2.67325357e-02 -3.15310510e-03 9.99637649e-01 7.10667665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.07071405700003 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:152.37, Y:128.81, Z:7.10 [[-8.20504032e-01 -5.71254135e-01 2.10201572e-02 1.52371749e+02] [ 5.71010040e-01 -8.20771322e-01 -1.67920128e-02 1.28807035e+02] [ 2.68452489e-02 -1.77519343e-03 9.99638025e-01 7.10366176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.100714057 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:152.37, Y:128.81, Z:7.10 [[-8.20901191e-01 -5.70704681e-01 2.04304042e-02 1.52368061e+02] [ 5.70442024e-01 -8.21150835e-01 -1.75271990e-02 1.28808437e+02] [ 2.67792980e-02 -2.73373744e-03 9.99637632e-01 7.10482944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.13071405700003 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:152.37, Y:128.81, Z:7.10 [[-8.17621319e-01 -5.75391917e-01 2.04822045e-02 1.52368021e+02] [ 5.75132292e-01 -8.17874014e-01 -1.74626605e-02 1.28807974e+02] [ 2.67997365e-02 -2.49786630e-03 9.99637702e-01 7.10320623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.160714057 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:152.38, Y:128.80, Z:7.11 [[-8.16758587e-01 -5.76617145e-01 2.04469620e-02 1.52381092e+02] [ 5.76356811e-01 -8.17010617e-01 -1.75065235e-02 1.28795726e+02] [ 2.67999467e-02 -2.51385759e-03 9.99637656e-01 7.10720465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.190714057 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:152.38, Y:128.80, Z:7.11 [[-8.16570229e-01 -5.76882343e-01 2.04896212e-02 1.52378964e+02] [ 5.76623408e-01 -8.16823618e-01 -1.74534466e-02 1.28797286e+02] [ 2.68049917e-02 -2.43716966e-03 9.99637711e-01 7.10729992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.220714057 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:152.34, Y:128.82, Z:7.11 [[-8.28920885e-01 -5.58989950e-01 2.05036995e-02 1.52338959e+02] [ 5.58725993e-01 -8.29169014e-01 -1.74359180e-02 1.28816465e+02] [ 2.67475353e-02 -2.99704672e-03 9.99637728e-01 7.10854528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.250714057 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:152.37, Y:128.80, Z:7.11 [[-8.17496380e-01 -5.75550797e-01 2.09988001e-02 1.52367133e+02] [ 5.75307452e-01 -8.17764330e-01 -1.68177441e-02 1.28803318e+02] [ 2.68515357e-02 -1.66767879e-03 9.99638041e-01 7.10962512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.280714057 meters Centerline goodness : 0.991484 Centerline is valid? [True, True] Translation: X:152.35, Y:128.82, Z:7.11 [[-8.21752938e-01 -5.69473225e-01 2.05512890e-02 1.52349264e+02] [ 5.69213951e-01 -8.22005834e-01 -1.73749033e-02 1.28815501e+02] [ 2.67878217e-02 -2.57979739e-03 9.99637813e-01 7.11002602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.310714057 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:152.35, Y:128.81, Z:7.11 [[-8.21105202e-01 -5.70395890e-01 2.08512904e-02 1.52348980e+02] [ 5.70146232e-01 -8.21367298e-01 -1.70010544e-02 1.28814042e+02] [ 2.68238996e-02 -2.07136955e-03 9.99638028e-01 7.11068619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.340714057 meters Centerline goodness : 0.993285 Centerline is valid? [True, True] Translation: X:152.34, Y:128.82, Z:7.11 [[-8.20545720e-01 -5.71203042e-01 2.07799429e-02 1.52340813e+02] [ 5.70951408e-01 -8.20805961e-01 -1.70898999e-02 1.28817501e+02] [ 2.68181037e-02 -2.15870655e-03 9.99637999e-01 7.11053962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.370714057 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:152.34, Y:128.82, Z:7.11 [[-8.19855327e-01 -5.72199962e-01 2.06021127e-02 1.52340531e+02] [ 5.71943116e-01 -8.20110602e-01 -1.73110762e-02 1.28817054e+02] [ 2.68014082e-02 -2.40934152e-03 9.99637874e-01 7.11050091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.400714057 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:152.34, Y:128.81, Z:7.11 [[-8.19400523e-01 -5.72851656e-01 2.05855249e-02 1.52340122e+02] [ 5.72594500e-01 -8.19655507e-01 -1.73316930e-02 1.28814657e+02] [ 2.68015279e-02 -2.41443998e-03 9.99637859e-01 7.11030385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.430714057 meters Centerline goodness : 0.992670 Centerline is valid? [True, True] Translation: X:152.34, Y:128.82, Z:7.11 [[-8.19701260e-01 -5.72420119e-01 2.06167678e-02 1.52338127e+02] [ 5.72163795e-01 -8.19957041e-01 -1.72928785e-02 1.28816043e+02] [ 2.68036555e-02 -2.37882619e-03 9.99637887e-01 7.11099064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.460714057 meters Centerline goodness : 0.992979 Centerline is valid? [True, True] Translation: X:152.33, Y:128.82, Z:7.11 [[-8.19379356e-01 -5.72874986e-01 2.07778918e-02 1.52331133e+02] [ 5.72623815e-01 -8.19640048e-01 -1.70926093e-02 1.28819663e+02] [ 2.68223206e-02 -2.10741549e-03 9.99637995e-01 7.10907624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.490714057 meters Centerline goodness : 0.992698 Centerline is valid? [True, True] Translation: X:152.34, Y:128.82, Z:7.11 [[-8.18760935e-01 -5.73766207e-01 2.05638562e-02 1.52337323e+02] [ 5.73508676e-01 -8.19015562e-01 -1.73582294e-02 1.28815243e+02] [ 2.68016837e-02 -2.41869014e-03 9.99637844e-01 7.11081203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.520714057 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:152.33, Y:128.82, Z:7.11 [[-8.18376968e-01 -5.74309098e-01 2.06929759e-02 1.52327665e+02] [ 5.74055738e-01 -8.18635597e-01 -1.71979571e-02 1.28820937e+02] [ 2.68169499e-02 -2.19549041e-03 9.99637950e-01 7.10793038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.550714057 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:152.33, Y:128.82, Z:7.11 [[-8.17635844e-01 -5.75369640e-01 2.05281369e-02 1.52329349e+02] [ 5.75111514e-01 -8.17889912e-01 -1.74022719e-02 1.28816810e+02] [ 2.68024950e-02 -2.42275339e-03 9.99637813e-01 7.10708047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.580714057 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:152.33, Y:128.81, Z:7.11 [[-8.16951354e-01 -5.76342622e-01 2.04857834e-02 1.52332743e+02] [ 5.76083495e-01 -8.17204466e-01 -1.74547105e-02 1.28811631e+02] [ 2.68009673e-02 -2.45812768e-03 9.99637767e-01 7.10659340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.610714057 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:152.34, Y:128.81, Z:7.11 [[-8.16922142e-01 -5.76380433e-01 2.05866262e-02 1.52338651e+02] [ 5.76124426e-01 -8.17178268e-01 -1.73298929e-02 1.28805141e+02] [ 2.68115547e-02 -2.29671505e-03 9.99637867e-01 7.11156783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.640714057 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:152.33, Y:128.81, Z:7.11 [[-8.17709978e-01 -5.75262838e-01 2.05683997e-02 1.52329711e+02] [ 5.75005919e-01 -8.17965211e-01 -1.73524415e-02 1.28810702e+02] [ 2.68064501e-02 -2.36231303e-03 9.99637851e-01 7.11101425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.670714057 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:152.33, Y:128.81, Z:7.11 [[-8.17764153e-01 -5.75184491e-01 2.06056008e-02 1.52326658e+02] [ 5.74928694e-01 -8.18020467e-01 -1.73064376e-02 1.28811138e+02] [ 2.68101977e-02 -2.30583315e-03 9.99637883e-01 7.11087848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.700714057 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:152.32, Y:128.81, Z:7.10 [[-8.18867322e-01 -5.73614147e-01 2.05698690e-02 1.52323378e+02] [ 5.73356759e-01 -8.19122081e-01 -1.73506034e-02 1.28810762e+02] [ 2.68017854e-02 -2.41396874e-03 9.99637853e-01 7.10461198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.730714057 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:152.31, Y:128.82, Z:7.10 [[-8.19152595e-01 -5.73209005e-01 2.05051801e-02 1.52307837e+02] [ 5.72949509e-01 -8.19405294e-01 -1.74305415e-02 1.28823146e+02] [ 2.67933965e-02 -2.52984042e-03 9.99637791e-01 7.10422458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76071405700003 meters Centerline goodness : 0.992284 Centerline is valid? [True, True] Translation: X:152.32, Y:128.81, Z:7.11 [[-8.20231195e-01 -5.71664430e-01 2.05077373e-02 1.52315126e+02] [ 5.71404536e-01 -8.20483481e-01 -1.74273812e-02 1.28814464e+02] [ 2.67888736e-02 -2.57626757e-03 9.99637794e-01 7.10921825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.790714057 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:152.31, Y:128.82, Z:7.11 [[-8.20056870e-01 -5.71910799e-01 2.06099095e-02 1.52311158e+02] [ 5.71654111e-01 -8.20312287e-01 -1.73011284e-02 1.28815966e+02] [ 2.68012642e-02 -2.40616973e-03 9.99637886e-01 7.10935265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82071405700003 meters Centerline goodness : 0.991647 Centerline is valid? [True, True] Translation: X:152.31, Y:128.82, Z:7.11 [[-8.19880031e-01 -5.72163606e-01 2.06286739e-02 1.52308628e+02] [ 5.71907573e-01 -8.20136086e-01 -1.72779481e-02 1.28816501e+02] [ 2.68041330e-02 -2.36814975e-03 9.99637900e-01 7.10791851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.850714057 meters Centerline goodness : 0.992355 Centerline is valid? [True, True] Translation: X:152.32, Y:128.80, Z:7.11 [[-8.17103880e-01 -5.76117038e-01 2.07462655e-02 1.52324331e+02] [ 5.75865891e-01 -8.17364636e-01 -1.71326766e-02 1.28799679e+02] [ 2.68276906e-02 -2.05210984e-03 9.99637966e-01 7.10993919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88071405700003 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:152.29, Y:128.82, Z:7.11 [[-8.18210365e-01 -5.74549275e-01 2.06138162e-02 1.52289891e+02] [ 5.74293536e-01 -8.18466724e-01 -1.72961365e-02 1.28822878e+02] [ 2.68092053e-02 -2.31349678e-03 9.99637892e-01 7.10725936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.910714057 meters Centerline goodness : 0.991678 Centerline is valid? [True, True] Translation: X:152.30, Y:128.81, Z:7.11 [[-8.18170291e-01 -5.74608780e-01 2.05456937e-02 1.52298128e+02] [ 5.74350966e-01 -8.18424643e-01 -1.73802147e-02 1.28814958e+02] [ 2.68019260e-02 -2.41953629e-03 9.99637836e-01 7.10828819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.940714057 meters Centerline goodness : 0.990950 Centerline is valid? [True, True] Translation: X:152.29, Y:128.82, Z:7.11 [[-8.19999537e-01 -5.71990792e-01 2.06710696e-02 1.52291744e+02] [ 5.71736014e-01 -8.20256798e-01 -1.72254367e-02 1.28817185e+02] [ 2.68083766e-02 -2.30645514e-03 9.99637930e-01 7.11004371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.970714057 meters Centerline goodness : 0.991850 Centerline is valid? [True, True] Translation: X:152.29, Y:128.81, Z:7.11 [[-8.20066301e-01 -5.71892124e-01 2.07523400e-02 1.52293137e+02] [ 5.71639825e-01 -8.20325936e-01 -1.71251002e-02 1.28814599e+02] [ 2.68173927e-02 -2.18085356e-03 9.99637970e-01 7.10905927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.000714057 meters Centerline goodness : 0.991268 Centerline is valid? [True, True] Translation: X:152.29, Y:128.82, Z:7.11 [[-8.20492661e-01 -5.71279621e-01 2.07698861e-02 1.52291171e+02] [ 5.71027670e-01 -8.20752626e-01 -1.71034474e-02 1.28815102e+02] [ 2.68177895e-02 -2.17307342e-03 9.99637976e-01 7.10905195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.030714057 meters Centerline goodness : 0.990570 Centerline is valid? [True, True] Translation: X:152.29, Y:128.81, Z:7.10 [[-8.21875883e-01 -5.69288318e-01 2.07567837e-02 1.52289618e+02] [ 5.69035334e-01 -8.22134848e-01 -1.71196054e-02 1.28814972e+02] [ 2.68108666e-02 -2.25884752e-03 9.99637972e-01 7.10348907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.060714057 meters Centerline goodness : 0.992622 Centerline is valid? [True, True] Translation: X:152.28, Y:128.82, Z:7.11 [[-8.21084300e-01 -5.70426737e-01 2.08305177e-02 1.52279228e+02] [ 5.70176390e-01 -8.21345790e-01 -1.70287144e-02 1.28819302e+02] [ 2.68226920e-02 -2.10494064e-03 9.99637991e-01 7.10763505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.090714057 meters Centerline goodness : 0.991553 Centerline is valid? [True, True] Translation: X:152.28, Y:128.82, Z:7.11 [[-8.21003205e-01 -5.70555272e-01 2.05040999e-02 1.52282094e+02] [ 5.70294970e-01 -8.21255035e-01 -1.74302588e-02 1.28816091e+02] [ 2.67840214e-02 -2.61691331e-03 9.99637818e-01 7.10701446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.120714057 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:152.26, Y:128.82, Z:7.11 [[-8.28540231e-01 -5.59552494e-01 2.05448779e-02 1.52259884e+02] [ 5.59290078e-01 -8.28789805e-01 -1.73800974e-02 1.28822190e+02] [ 2.67524622e-02 -2.90956357e-03 9.99637855e-01 7.10653249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.150714057 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:152.29, Y:128.81, Z:7.11 [[-8.21065983e-01 -5.70451002e-01 2.08879363e-02 1.52285816e+02] [ 5.70202455e-01 -8.21329168e-01 -1.69575315e-02 1.28809291e+02] [ 2.68293122e-02 -2.01289964e-03 9.99638003e-01 7.10553788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.180714057 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:152.28, Y:128.81, Z:7.11 [[-8.20362836e-01 -5.71470064e-01 2.06587216e-02 1.52281117e+02] [ 5.71214778e-01 -8.20619571e-01 -1.72393788e-02 1.28811061e+02] [ 2.68047402e-02 -2.34197856e-03 9.99637945e-01 7.10720027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.210714057 meters Centerline goodness : 0.991988 Centerline is valid? [True, True] Translation: X:152.28, Y:128.81, Z:7.11 [[-8.19453665e-01 -5.72777606e-01 2.05305815e-02 1.52277601e+02] [ 5.72518818e-01 -8.19706994e-01 -1.73967752e-02 1.28810949e+02] [ 2.67935445e-02 -2.50170696e-03 9.99637858e-01 7.10760380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.240714057 meters Centerline goodness : 0.992561 Centerline is valid? [True, True] Translation: X:152.27, Y:128.81, Z:7.11 [[-8.17505714e-01 -5.75554048e-01 2.05413088e-02 1.52270803e+02] [ 5.75296448e-01 -8.17760238e-01 -1.73836022e-02 1.28812315e+02] [ 2.68030682e-02 -2.39385214e-03 9.99637867e-01 7.10827233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.270714057 meters Centerline goodness : 0.991698 Centerline is valid? [True, True] Translation: X:152.27, Y:128.81, Z:7.11 [[-8.17898408e-01 -5.74999257e-01 2.04462362e-02 1.52274339e+02] [ 5.74738594e-01 -8.18149919e-01 -1.75002403e-02 1.28808822e+02] [ 2.67907117e-02 -2.56217760e-03 9.99637781e-01 7.10802973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.300714057 meters Centerline goodness : 0.991758 Centerline is valid? [True, True] Translation: X:152.27, Y:128.81, Z:7.11 [[-8.16541187e-01 -5.76920602e-01 2.05696260e-02 1.52266999e+02] [ 5.76664295e-01 -8.16796982e-01 -1.73488141e-02 1.28813852e+02] [ 2.68100967e-02 -2.30425238e-03 9.99637889e-01 7.11019096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.330714057 meters Centerline goodness : 0.989435 Centerline is valid? [True, True] Translation: X:152.27, Y:128.81, Z:7.11 [[-8.15671599e-01 -5.78151665e-01 2.05059908e-02 1.52273088e+02] [ 5.77893798e-01 -8.15925893e-01 -1.74268614e-02 1.28809666e+02] [ 2.68067378e-02 -2.36431103e-03 9.99637839e-01 7.11048149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.360714057 meters Centerline goodness : 0.989984 Centerline is valid? [True, True] Translation: X:152.27, Y:128.81, Z:7.11 [[-8.15172888e-01 -5.78849378e-01 2.06533343e-02 1.52269159e+02] [ 5.78596249e-01 -8.15431758e-01 -1.72461519e-02 1.28811656e+02] [ 2.68243090e-02 -2.10865370e-03 9.99637939e-01 7.11171911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.390714057 meters Centerline goodness : 0.989899 Centerline is valid? [True, True] Translation: X:152.26, Y:128.82, Z:7.11 [[-8.14795862e-01 -5.79378303e-01 2.06998922e-02 1.52259960e+02] [ 5.79126778e-01 -8.15056263e-01 -1.71890568e-02 1.28817749e+02] [ 2.68305433e-02 -2.01771045e-03 9.99637960e-01 7.11155208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.420714057 meters Centerline goodness : 0.991087 Centerline is valid? [True, True] Translation: X:152.26, Y:128.81, Z:7.11 [[-8.15028290e-01 -5.79051818e-01 2.06852411e-02 1.52262506e+02] [ 5.78799737e-01 -8.15288160e-01 -1.72070123e-02 1.28814092e+02] [ 2.68281839e-02 -2.05158968e-03 9.99637954e-01 7.11131073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.450714057 meters Centerline goodness : 0.988981 Centerline is valid? [True, True] Translation: X:152.26, Y:128.81, Z:7.11 [[-8.14405679e-01 -5.79926895e-01 2.06926717e-02 1.52264240e+02] [ 5.79675323e-01 -8.14666037e-01 -1.71979090e-02 1.28811590e+02] [ 2.68311468e-02 -2.01104359e-03 9.99637957e-01 7.11139052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.480714057 meters Centerline goodness : 0.989668 Centerline is valid? [True, True] Translation: X:152.24, Y:128.83, Z:7.11 [[-8.14358212e-01 -5.79992559e-01 2.07203833e-02 1.52244702e+02] [ 5.79741864e-01 -8.14619402e-01 -1.71639719e-02 1.28826999e+02] [ 2.68342022e-02 -1.96514786e-03 9.99637966e-01 7.10963827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.51071405700003 meters Centerline goodness : 0.989763 Centerline is valid? [True, True] Translation: X:152.25, Y:128.82, Z:7.11 [[-8.14482358e-01 -5.79817700e-01 2.07345921e-02 1.52253110e+02] [ 5.79567388e-01 -8.14743910e-01 -1.71465763e-02 1.28819658e+02] [ 2.68352710e-02 -1.94849053e-03 9.99637970e-01 7.10696775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.540714057 meters Centerline goodness : 0.990005 Centerline is valid? [True, True] Translation: X:152.24, Y:128.83, Z:7.11 [[-8.14931399e-01 -5.79185286e-01 2.07658313e-02 1.52241576e+02] [ 5.78935736e-01 -8.15193669e-01 -1.71083525e-02 1.28827326e+02] [ 2.68370803e-02 -1.92005179e-03 9.99637977e-01 7.10758997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.57071405700003 meters Centerline goodness : 0.990248 Centerline is valid? [True, True] Translation: X:152.26, Y:128.81, Z:7.11 [[-8.13962287e-01 -5.80547065e-01 2.07485038e-02 1.52258860e+02] [ 5.80297418e-01 -8.14224469e-01 -1.71295413e-02 1.28812955e+02] [ 2.68384444e-02 -1.90249747e-03 9.99637974e-01 7.10558815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.600714057 meters Centerline goodness : 0.991264 Centerline is valid? [True, True] Translation: X:152.25, Y:128.82, Z:7.11 [[-8.13272652e-01 -5.81515497e-01 2.06717556e-02 1.52251580e+02] [ 5.81263792e-01 -8.13532889e-01 -1.72233128e-02 1.28816555e+02] [ 2.68327763e-02 -1.99150627e-03 9.99637952e-01 7.10805181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.63071405700003 meters Centerline goodness : 0.990180 Centerline is valid? [True, True] Translation: X:152.25, Y:128.82, Z:7.11 [[-8.13613577e-01 -5.81044447e-01 2.05011928e-02 1.52251384e+02] [ 5.80787372e-01 -8.13868646e-01 -1.74314735e-02 1.28816925e+02] [ 2.68137389e-02 -2.27564963e-03 9.99637857e-01 7.10838049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.660714057 meters Centerline goodness : 0.989355 Centerline is valid? [True, True] Translation: X:152.25, Y:128.82, Z:7.11 [[-8.12389480e-01 -5.82747164e-01 2.07141690e-02 1.52251413e+02] [ 5.82497165e-01 -8.12651336e-01 -1.71714492e-02 1.28815764e+02] [ 2.68400104e-02 -1.88395996e-03 9.99637967e-01 7.10753172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.690714057 meters Centerline goodness : 0.989883 Centerline is valid? [True, True] Translation: X:152.24, Y:128.82, Z:7.11 [[-8.11521665e-01 -5.83955005e-01 2.07156939e-02 1.52240759e+02] [ 5.83705443e-01 -8.11783937e-01 -1.71695877e-02 1.28823023e+02] [ 2.68429342e-02 -1.84162906e-03 9.99637967e-01 7.11110043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.720714057 meters Centerline goodness : 0.990528 Centerline is valid? [True, True] Translation: X:152.24, Y:128.82, Z:7.11 [[-8.11093584e-01 -5.84552032e-01 2.06426818e-02 1.52241517e+02] [ 5.84300409e-01 -8.11353912e-01 -1.72586604e-02 1.28819814e+02] [ 2.68371056e-02 -1.93686129e-03 9.99637944e-01 7.11357065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.750714057 meters Centerline goodness : 0.990106 Centerline is valid? [True, True] Translation: X:152.24, Y:128.82, Z:7.11 [[-8.10379503e-01 -5.85543779e-01 2.05801988e-02 1.52239602e+02] [ 5.85290552e-01 -8.10638312e-01 -1.73348337e-02 1.28821599e+02] [ 2.68334017e-02 -2.00239801e-03 9.99637914e-01 7.11263276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.780714057 meters Centerline goodness : 0.991223 Centerline is valid? [True, True] Translation: X:152.23, Y:128.83, Z:7.11 [[-8.10534100e-01 -5.85330272e-01 2.05656567e-02 1.52231927e+02] [ 5.85076530e-01 -8.10792417e-01 -1.73525493e-02 1.28827234e+02] [ 2.68314509e-02 -2.03234984e-03 9.99637906e-01 7.10894390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.810714057 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:152.22, Y:128.84, Z:7.11 [[-8.10880012e-01 -5.84857901e-01 2.03676399e-02 1.52221049e+02] [ 5.84597982e-01 -8.11132337e-01 -1.75934948e-02 1.28838154e+02] [ 2.68105458e-02 -2.35933205e-03 9.99637748e-01 7.11177886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.840714057 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:152.23, Y:128.83, Z:7.11 [[-8.12826745e-01 -5.82145344e-01 2.04812230e-02 1.52231216e+02] [ 5.81888021e-01 -8.13081573e-01 -1.74552911e-02 1.28829511e+02] [ 2.68144214e-02 -2.27034915e-03 9.99637851e-01 7.10948230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.870714057 meters Centerline goodness : 0.989700 Centerline is valid? [True, True] Translation: X:152.23, Y:128.83, Z:7.11 [[-8.13483367e-01 -5.81227444e-01 2.04809798e-02 1.52231608e+02] [ 5.80969826e-01 -8.13737896e-01 -1.74555869e-02 1.28829231e+02] [ 2.68118155e-02 -2.30099837e-03 9.99637850e-01 7.10961622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.900714057 meters Centerline goodness : 0.990533 Centerline is valid? [True, True] Translation: X:152.22, Y:128.84, Z:7.11 [[-8.14255754e-01 -5.80144212e-01 2.05002772e-02 1.52215511e+02] [ 5.79886840e-01 -8.14510512e-01 -1.74321204e-02 1.28841355e+02] [ 2.68108351e-02 -2.30636333e-03 9.99637864e-01 7.10943825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.930714057 meters Centerline goodness : 0.990656 Centerline is valid? [True, True] Translation: X:152.20, Y:128.85, Z:7.11 [[-8.12636138e-01 -5.82411045e-01 2.04910047e-02 1.52200343e+02] [ 5.82154102e-01 -8.12891339e-01 -1.74433950e-02 1.28854228e+02] [ 2.68161861e-02 -2.24621069e-03 9.99637858e-01 7.10890638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.960714057 meters Centerline goodness : 0.991975 Centerline is valid? [True, True] Translation: X:152.21, Y:128.85, Z:7.11 [[-8.11374565e-01 -5.84167156e-01 2.04950890e-02 1.52209753e+02] [ 5.83910890e-01 -8.11630441e-01 -1.74384302e-02 1.28845814e+02] [ 2.68213963e-02 -2.18179310e-03 9.99637861e-01 7.10624961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.990714057 meters Centerline goodness : 0.990512 Centerline is valid? [True, True] Translation: X:152.23, Y:128.83, Z:7.10 [[-8.08829556e-01 -5.87693356e-01 2.02797329e-02 1.52229129e+02] [ 5.87431680e-01 -8.09080184e-01 -1.76996428e-02 1.28829205e+02] [ 2.68098925e-02 -2.40303671e-03 9.99637662e-01 7.10481974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.020714057 meters Centerline goodness : 0.990946 Centerline is valid? [True, True] Translation: X:152.23, Y:128.83, Z:7.11 [[-8.08355610e-01 -5.88344133e-01 2.03073544e-02 1.52226015e+02] [ 5.88083491e-01 -8.08607268e-01 -1.76661729e-02 1.28831102e+02] [ 2.68144635e-02 -2.33813007e-03 9.99637693e-01 7.10592277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.050714057 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:152.21, Y:128.84, Z:7.11 [[-8.07441525e-01 -5.89596959e-01 2.03374099e-02 1.52214512e+02] [ 5.89337615e-01 -8.07694476e-01 -1.76297599e-02 1.28840927e+02] [ 2.68208664e-02 -2.24939953e-03 9.99637725e-01 7.10600639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.080714057 meters Centerline goodness : 0.991047 Centerline is valid? [True, True] Translation: X:152.22, Y:128.83, Z:7.11 [[-8.06901766e-01 -5.90336679e-01 2.03013867e-02 1.52222430e+02] [ 5.90076478e-01 -8.07153889e-01 -1.76733856e-02 1.28833900e+02] [ 2.68195910e-02 -2.28131524e-03 9.99637687e-01 7.10646846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.110714057 meters Centerline goodness : 0.991047 Centerline is valid? [True, True] Translation: X:152.22, Y:128.84, Z:7.11 [[-8.06703020e-01 -5.90608024e-01 2.03076293e-02 1.52220319e+02] [ 5.90348097e-01 -8.06955416e-01 -1.76658291e-02 1.28835525e+02] [ 2.68209318e-02 -2.26250734e-03 9.99637694e-01 7.10654426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.140714057 meters Centerline goodness : 0.990821 Centerline is valid? [True, True] Translation: X:152.22, Y:128.83, Z:7.11 [[-8.07185340e-01 -5.89948898e-01 2.03008561e-02 1.52221008e+02] [ 5.89688561e-01 -8.07437323e-01 -1.76740217e-02 1.28834501e+02] [ 2.68184385e-02 -2.29502858e-03 9.99637686e-01 7.10806614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.170714057 meters Centerline goodness : 0.989689 Centerline is valid? [True, True] Translation: X:152.22, Y:128.84, Z:7.11 [[-8.07127343e-01 -5.90027995e-01 2.03080361e-02 1.52218719e+02] [ 5.89767899e-01 -8.07379564e-01 -1.76653381e-02 1.28837035e+02] [ 2.68193374e-02 -2.28114964e-03 9.99637694e-01 7.10781309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.200714057 meters Centerline goodness : 0.990664 Centerline is valid? [True, True] Translation: X:152.20, Y:128.85, Z:7.11 [[-8.08689612e-01 -5.87879662e-01 2.04600717e-02 1.52196091e+02] [ 5.87623492e-01 -8.08945631e-01 -1.74813653e-02 1.28854770e+02] [ 2.68280248e-02 -2.11417973e-03 9.99637828e-01 7.11042834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.230714057 meters Centerline goodness : 0.991249 Centerline is valid? [True, True] Translation: X:152.20, Y:128.85, Z:7.11 [[-8.09687093e-01 -5.86506990e-01 2.04049365e-02 1.52202677e+02] [ 5.86248719e-01 -8.09941051e-01 -1.75480530e-02 1.28850948e+02] [ 2.68188515e-02 -2.24606414e-03 9.99637787e-01 7.11015825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26071405700003 meters Centerline goodness : 0.990914 Centerline is valid? [True, True] Translation: X:152.20, Y:128.86, Z:7.11 [[-8.10131987e-01 -5.85892702e-01 2.03937729e-02 1.52197878e+02] [ 5.85633902e-01 -8.10385418e-01 -1.75615452e-02 1.28855995e+02] [ 2.68159974e-02 -2.28388472e-03 9.99637777e-01 7.10924422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.290714057 meters Centerline goodness : 0.991619 Centerline is valid? [True, True] Translation: X:152.21, Y:128.85, Z:7.11 [[-8.10171285e-01 -5.85838711e-01 2.03836631e-02 1.52206996e+02] [ 5.85579589e-01 -8.10424400e-01 -1.75737532e-02 1.28850416e+02] [ 2.68148028e-02 -2.30149320e-03 9.99637769e-01 7.10787521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32071405700003 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:152.20, Y:128.86, Z:7.11 [[-8.10316952e-01 -5.85638103e-01 2.03580198e-02 1.52199982e+02] [ 5.85378148e-01 -8.10569243e-01 -1.76046991e-02 1.28856731e+02] [ 2.68115673e-02 -2.34824619e-03 9.99637747e-01 7.10872728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.350714057 meters Centerline goodness : 0.992624 Centerline is valid? [True, True] Translation: X:152.20, Y:128.85, Z:7.11 [[-8.18841029e-01 -5.73659327e-01 2.03554884e-02 1.52195757e+02] [ 5.73395616e-01 -8.19089394e-01 -1.76077528e-02 1.28850883e+02] [ 2.67738162e-02 -2.74620259e-03 9.99637745e-01 7.10863696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38071405700003 meters Centerline goodness : 0.991519 Centerline is valid? [True, True] Translation: X:152.19, Y:128.86, Z:7.11 [[-8.18806764e-01 -5.73694997e-01 2.07251985e-02 1.52188600e+02] [ 5.73442357e-01 -8.19066148e-01 -1.71612710e-02 1.28856725e+02] [ 2.68206438e-02 -2.16705811e-03 9.99637913e-01 7.11031565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.410714057 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:152.18, Y:128.86, Z:7.11 [[-8.18740405e-01 -5.73789937e-01 2.07185127e-02 1.52183660e+02] [ 5.73537125e-01 -8.18999622e-01 -1.71693389e-02 1.28862260e+02] [ 2.68200479e-02 -2.17439532e-03 9.99637913e-01 7.11079829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.440714057 meters Centerline goodness : 0.991500 Centerline is valid? [True, True] Translation: X:152.20, Y:128.86, Z:7.11 [[-8.09804731e-01 -5.86333765e-01 2.07126450e-02 1.52201773e+02] [ 5.86084796e-01 -8.10067641e-01 -1.71764147e-02 1.28858483e+02] [ 2.68497553e-02 -1.77017556e-03 9.99637913e-01 7.10934178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.470714057 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:152.19, Y:128.86, Z:7.11 [[-8.18970178e-01 -5.73476999e-01 2.02972579e-02 1.52189988e+02] [ 5.73211565e-01 -8.19216734e-01 -1.76760851e-02 1.28861273e+02] [ 2.67646816e-02 -2.84156361e-03 9.99637723e-01 7.11116715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.500714057 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:152.18, Y:128.87, Z:7.11 [[-8.19078112e-01 -5.73308318e-01 2.07031238e-02 1.52184143e+02] [ 5.73054908e-01 -8.19336727e-01 -1.71872013e-02 1.28866743e+02] [ 2.68163951e-02 -2.21363367e-03 9.99637925e-01 7.11018632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.530714057 meters Centerline goodness : 0.992062 Centerline is valid? [True, True] Translation: X:152.20, Y:128.87, Z:7.11 [[-8.10726172e-01 -5.85059597e-01 2.06964131e-02 1.52199794e+02] [ 5.84809738e-01 -8.10988220e-01 -1.71952783e-02 1.28865283e+02] [ 2.68448098e-02 -1.83719825e-03 9.99637925e-01 7.10922424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.560714057 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:152.19, Y:128.87, Z:7.11 [[-8.11089101e-01 -5.84570949e-01 2.02799615e-02 1.52191846e+02] [ 5.84308427e-01 -8.11338735e-01 -1.76951737e-02 1.28872618e+02] [ 2.67980028e-02 -2.50261015e-03 9.99637736e-01 7.11072105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.590714057 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:152.19, Y:128.87, Z:7.11 [[-8.17615233e-01 -5.75406487e-01 2.03151653e-02 1.52186875e+02] [ 5.75142207e-01 -8.17862957e-01 -1.76529147e-02 1.28869375e+02] [ 2.67726228e-02 -2.74918296e-03 9.99637769e-01 7.10911305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.620714057 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:152.20, Y:128.87, Z:7.11 [[-8.07694132e-01 -5.89238825e-01 2.06832242e-02 1.52204120e+02] [ 5.88989934e-01 -8.07957086e-01 -1.72105986e-02 1.28865155e+02] [ 2.68523104e-02 -1.71868868e-03 9.99637934e-01 7.10939493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.650714057 meters Centerline goodness : 0.992858 Centerline is valid? [True, True] Translation: X:152.21, Y:128.86, Z:7.11 [[-8.02319004e-01 -5.96554086e-01 2.01850813e-02 1.52213779e+02] [ 5.96292503e-01 -8.02569720e-01 -1.78071414e-02 1.28858161e+02] [ 2.68228580e-02 -2.25079531e-03 9.99637668e-01 7.10677253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.680714057 meters Centerline goodness : 0.990730 Centerline is valid? [True, True] Translation: X:152.21, Y:128.86, Z:7.11 [[-8.00305251e-01 -5.99255489e-01 2.01087855e-02 1.52213783e+02] [ 5.98992474e-01 -8.00554598e-01 -1.78983888e-02 1.28858302e+02] [ 2.68238884e-02 -2.27916339e-03 9.99637577e-01 7.10727372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.710714057 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:152.21, Y:128.86, Z:7.11 [[-7.95257856e-01 -6.05930679e-01 2.03212929e-02 1.52209143e+02] [ 6.05676188e-01 -7.95515582e-01 -1.76440898e-02 1.28859063e+02] [ 2.68570004e-02 -1.72347780e-03 9.99637800e-01 7.10895129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.740714057 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:152.21, Y:128.86, Z:7.11 [[-7.92915846e-01 -6.08999593e-01 2.00986735e-02 1.52208862e+02] [ 6.08739353e-01 -7.93168097e-01 -1.79100877e-02 1.28858490e+02] [ 2.68488627e-02 -1.96633889e-03 9.99637570e-01 7.10933379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.770714057 meters Centerline goodness : 0.992158 Centerline is valid? [True, True] Translation: X:152.21, Y:128.86, Z:7.11 [[-7.90164658e-01 -6.12563198e-01 2.01529576e-02 1.52206603e+02] [ 6.12305740e-01 -7.90419653e-01 -1.78452316e-02 1.28859910e+02] [ 2.68606259e-02 -1.76089966e-03 9.99637637e-01 7.11089213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.800714057 meters Centerline goodness : 0.990871 Centerline is valid? [True, True] Translation: X:152.20, Y:128.86, Z:7.11 [[-7.87154959e-01 -6.16428775e-01 2.00657813e-02 1.52203969e+02] [ 6.16169922e-01 -7.87408693e-01 -1.79492920e-02 1.28861374e+02] [ 2.68644307e-02 -1.76494326e-03 9.99637528e-01 7.11170324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.830714057 meters Centerline goodness : 0.988996 Centerline is valid? [True, True] Translation: X:152.19, Y:128.87, Z:7.12 [[-7.85291461e-01 -6.18797731e-01 2.01665454e-02 1.52194940e+02] [ 6.18542716e-01 -7.85548876e-01 -1.78289634e-02 1.28870420e+02] [ 2.68743292e-02 -1.52706294e-03 9.99637654e-01 7.11601050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.860714057 meters Centerline goodness : 0.991163 Centerline is valid? [True, True] Translation: X:152.18, Y:128.88, Z:7.11 [[-7.84015972e-01 -6.20410578e-01 2.02403160e-02 1.52183887e+02] [ 6.20158358e-01 -7.84276019e-01 -1.77408492e-02 1.28879786e+02] [ 2.68806050e-02 -1.35690794e-03 9.99637730e-01 7.11061194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.890714057 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:152.20, Y:128.86, Z:7.11 [[-7.85931064e-01 -6.17987795e-01 2.00859954e-02 1.52201744e+02] [ 6.17730066e-01 -7.86185896e-01 -1.79249438e-02 1.28864709e+02] [ 2.68687228e-02 -1.68004687e-03 9.99637559e-01 7.10943009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.920714057 meters Centerline goodness : 0.990599 Centerline is valid? [True, True] Translation: X:152.20, Y:128.87, Z:7.11 [[-7.86221685e-01 -6.17616463e-01 2.01337028e-02 1.52197275e+02] [ 6.17360063e-01 -7.86477771e-01 -1.78680653e-02 1.28869825e+02] [ 2.68703210e-02 -1.61851637e-03 9.99637617e-01 7.10846323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.950714057 meters Centerline goodness : 0.990565 Centerline is valid? [True, True] Translation: X:152.19, Y:128.88, Z:7.11 [[-7.89799228e-01 -6.13034223e-01 2.01549262e-02 1.52188578e+02] [ 6.12776980e-01 -7.90054434e-01 -1.78427604e-02 1.28877519e+02] [ 2.68617116e-02 -1.74172351e-03 9.99637642e-01 7.10969171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.980714057 meters Centerline goodness : 0.988264 Centerline is valid? [True, True] Translation: X:151.70, Y:129.28, Z:7.13 [[-8.06191576e-01 -5.91302750e-01 2.04009911e-02 1.51696448e+02] [ 5.91046066e-01 -8.06446961e-01 -1.75455438e-02 1.29275245e+02] [ 2.68270456e-02 -2.08714407e-03 9.99637911e-01 7.13077698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.01071405700003 meters Centerline goodness : 0.992169 Centerline is valid? [True, True] Translation: X:152.17, Y:128.89, Z:7.11 [[-8.03252731e-01 -5.95271221e-01 2.09099004e-02 1.52167850e+02] [ 5.95031561e-01 -8.03524011e-01 -1.69294052e-02 1.28889409e+02] [ 2.68791947e-02 -1.15654025e-03 9.99638020e-01 7.11287055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.040714057 meters Centerline goodness : 0.991354 Centerline is valid? [True, True] Translation: X:152.17, Y:128.90, Z:7.11 [[-7.94099015e-01 -6.07436069e-01 2.06924056e-02 1.52173183e+02] [ 6.07193728e-01 -7.94367824e-01 -1.71911980e-02 1.28897056e+02] [ 2.68799350e-02 -1.08721447e-03 9.99638078e-01 7.11019960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.07071405700003 meters Centerline goodness : 0.991961 Centerline is valid? [True, True] Translation: X:152.17, Y:128.90, Z:7.11 [[-7.95279273e-01 -6.05906804e-01 2.01946366e-02 1.52172743e+02] [ 6.05648654e-01 -7.95533327e-01 -1.77885728e-02 1.28898928e+02] [ 2.68437237e-02 -1.91602875e-03 9.99637806e-01 7.11106845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.100714057 meters Centerline goodness : 0.990647 Centerline is valid? [True, True] Translation: X:152.17, Y:128.90, Z:7.11 [[-7.95755735e-01 -6.05279614e-01 2.02336018e-02 1.52170523e+02] [ 6.05022446e-01 -7.96010721e-01 -1.77418228e-02 1.28901369e+02] [ 2.68449276e-02 -1.87637403e-03 9.99637849e-01 7.11448284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.13071405700003 meters Centerline goodness : 0.991765 Centerline is valid? [True, True] Translation: X:152.17, Y:128.90, Z:7.11 [[-7.96265334e-01 -6.04604417e-01 2.03719523e-02 1.52168552e+02] [ 6.04351244e-01 -7.96524115e-01 -1.75758007e-02 1.28903770e+02] [ 2.68531580e-02 -1.68318610e-03 9.99637972e-01 7.11269140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.160714057 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:152.17, Y:128.90, Z:7.11 [[-7.97292231e-01 -6.03254274e-01 2.02331468e-02 1.52167616e+02] [ 6.02996449e-01 -7.97546549e-01 -1.77421964e-02 1.28904658e+02] [ 2.68399322e-02 -1.94519965e-03 9.99637852e-01 7.11326008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.190714057 meters Centerline goodness : 0.990212 Centerline is valid? [True, True] Translation: X:152.17, Y:128.91, Z:7.11 [[-7.97731738e-01 -6.02671027e-01 2.02905713e-02 1.52165075e+02] [ 6.02414754e-01 -7.97987542e-01 -1.76733495e-02 1.28909596e+02] [ 2.68428388e-02 -1.87525228e-03 9.99637907e-01 7.11431270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.220714057 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:152.16, Y:128.91, Z:7.11 [[-7.97761559e-01 -6.02626261e-01 2.04471052e-02 1.52162332e+02] [ 6.02374743e-01 -7.98021882e-01 -1.74855722e-02 1.28911935e+02] [ 2.68545024e-02 -1.63249761e-03 9.99638020e-01 7.11343453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.250714057 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:152.16, Y:128.92, Z:7.11 [[-7.97883071e-01 -6.02469611e-01 2.03217320e-02 1.52158657e+02] [ 6.02214223e-01 -7.98139717e-01 -1.76358072e-02 1.28917854e+02] [ 2.68446194e-02 -1.83327594e-03 9.99637937e-01 7.11273990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.280714057 meters Centerline goodness : 0.991663 Centerline is valid? [True, True] Translation: X:152.16, Y:128.92, Z:7.11 [[-7.97975510e-01 -6.02348967e-01 2.02684002e-02 1.52160605e+02] [ 6.02091926e-01 -7.98230564e-01 -1.76996718e-02 1.28918394e+02] [ 2.68402356e-02 -1.92046453e-03 9.99637891e-01 7.11189820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.310714057 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:152.16, Y:128.92, Z:7.11 [[-7.96940397e-01 -6.03716340e-01 2.03121623e-02 1.52163565e+02] [ 6.03461064e-01 -7.97197164e-01 -1.76472800e-02 1.28919094e+02] [ 2.68467495e-02 -1.80623125e-03 9.99637929e-01 7.11000135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.340714057 meters Centerline goodness : 0.991760 Centerline is valid? [True, True] Translation: X:152.16, Y:128.92, Z:7.11 [[-7.96012224e-01 -6.04942447e-01 2.02281099e-02 1.52164288e+02] [ 6.04685021e-01 -7.96266942e-01 -1.77477812e-02 1.28920410e+02] [ 2.68433614e-02 -1.89581574e-03 9.99637854e-01 7.10912383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.370714057 meters Centerline goodness : 0.991292 Centerline is valid? [True, True] Translation: X:152.17, Y:128.92, Z:7.11 [[-7.94331919e-01 -6.07148294e-01 2.01928505e-02 1.52166234e+02] [ 6.06890509e-01 -7.94586325e-01 -1.77899192e-02 1.28920358e+02] [ 2.68460820e-02 -1.87625137e-03 9.99637818e-01 7.10899347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.400714057 meters Centerline goodness : 0.992052 Centerline is valid? [True, True] Translation: X:152.17, Y:128.92, Z:7.11 [[-7.92768964e-01 -6.09186692e-01 2.02223674e-02 1.52165067e+02] [ 6.08930456e-01 -7.93024887e-01 -1.77546625e-02 1.28922529e+02] [ 2.68527447e-02 -1.76132999e-03 9.99637848e-01 7.10914408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.430714057 meters Centerline goodness : 0.992287 Centerline is valid? [True, True] Translation: X:152.18, Y:128.91, Z:7.11 [[-7.87950799e-01 -6.15406696e-01 2.02023740e-02 1.52177760e+02] [ 6.15151872e-01 -7.88208157e-01 -1.77785177e-02 1.28912358e+02] [ 2.68646948e-02 -1.58106902e-03 9.99637829e-01 7.10916511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.460714057 meters Centerline goodness : 0.990328 Centerline is valid? [True, True] Translation: X:152.17, Y:128.92, Z:7.11 [[-7.87195950e-01 -6.16375686e-01 2.00885401e-02 1.52173706e+02] [ 6.16117719e-01 -7.87450340e-01 -1.79142060e-02 1.28915874e+02] [ 2.68606087e-02 -1.72508487e-03 9.99637700e-01 7.11493451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.490714057 meters Centerline goodness : 0.990218 Centerline is valid? [True, True] Translation: X:152.18, Y:128.91, Z:7.12 [[-7.83843784e-01 -6.20626378e-01 2.02933709e-02 1.52175667e+02] [ 6.20376069e-01 -7.84105420e-01 -1.76698481e-02 1.28914240e+02] [ 2.68785159e-02 -1.26087899e-03 9.99637912e-01 7.11605335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.520714057 meters Centerline goodness : 0.991512 Centerline is valid? [True, True] Translation: X:152.17, Y:128.92, Z:7.12 [[-7.81742867e-01 -6.23269792e-01 2.03188613e-02 1.52174033e+02] [ 6.23021157e-01 -7.82006067e-01 -1.76394564e-02 1.28915761e+02] [ 2.68836131e-02 -1.13043871e-03 9.99637931e-01 7.11625068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.550714057 meters Centerline goodness : 0.990008 Centerline is valid? [True, True] Translation: X:152.17, Y:128.92, Z:7.12 [[-7.80230713e-01 -6.25164476e-01 2.02339469e-02 1.52172140e+02] [ 6.24913856e-01 -7.80492117e-01 -1.77405959e-02 1.28919224e+02] [ 2.68832263e-02 -1.19728402e-03 9.99637864e-01 7.11748808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.580714057 meters Centerline goodness : 0.991592 Centerline is valid? [True, True] Translation: X:152.15, Y:128.94, Z:7.12 [[-7.81354511e-01 -6.23758613e-01 2.02564002e-02 1.52149695e+02] [ 6.23508214e-01 -7.81616100e-01 -1.77138470e-02 1.28940364e+02] [ 2.68818931e-02 -1.21076231e-03 9.99637883e-01 7.11680185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.610714057 meters Centerline goodness : 0.990412 Centerline is valid? [True, True] Translation: X:152.16, Y:128.93, Z:7.12 [[-7.81313680e-01 -6.23811205e-01 2.02117473e-02 1.52162608e+02] [ 6.23559449e-01 -7.81574019e-01 -1.77670116e-02 1.28932658e+02] [ 2.68802375e-02 -1.27838322e-03 9.99637844e-01 7.11655277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.640714057 meters Centerline goodness : 0.989974 Centerline is valid? [True, True] Translation: X:152.17, Y:128.93, Z:7.12 [[-7.82969755e-01 -6.21730759e-01 2.02293462e-02 1.52168412e+02] [ 6.21478851e-01 -7.83229924e-01 -1.77460748e-02 1.28928896e+02] [ 2.68775098e-02 -1.32252901e-03 9.99637860e-01 7.11560115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.670714057 meters Centerline goodness : 0.991008 Centerline is valid? [True, True] Translation: X:152.17, Y:128.93, Z:7.12 [[-7.86043532e-01 -6.17838495e-01 2.02770975e-02 1.52167690e+02] [ 6.17586758e-01 -7.86303812e-01 -1.76892850e-02 1.28931933e+02] [ 2.68730803e-02 -1.38168110e-03 9.99637899e-01 7.11507418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.700714057 meters Centerline goodness : 0.993634 Centerline is valid? [True, True] Translation: X:152.16, Y:128.94, Z:7.11 [[-7.90099720e-01 -6.12645756e-01 2.01893462e-02 1.52158592e+02] [ 6.12389651e-01 -7.90355809e-01 -1.77935544e-02 1.28941248e+02] [ 2.68579126e-02 -1.69493566e-03 9.99637824e-01 7.10805262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.730714057 meters Centerline goodness : 0.993366 Centerline is valid? [True, True] Translation: X:152.17, Y:128.94, Z:7.10 [[-7.88991423e-01 -6.14075869e-01 2.00838701e-02 1.52165192e+02] [ 6.13817047e-01 -7.89244924e-01 -1.79187756e-02 1.28938985e+02] [ 2.68545802e-02 -1.80993842e-03 9.99637712e-01 7.10468762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76071405700003 meters Centerline goodness : 0.991478 Centerline is valid? [True, True] Translation: X:152.16, Y:128.94, Z:7.11 [[-7.93776733e-01 -6.07878765e-01 2.00475572e-02 1.52158559e+02] [ 6.07616883e-01 -7.94027137e-01 -1.79618565e-02 1.28943121e+02] [ 2.68369356e-02 -2.07646955e-03 9.99637668e-01 7.11249164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.790714057 meters Centerline goodness : 0.993599 Centerline is valid? [True, True] Translation: X:152.16, Y:128.95, Z:7.11 [[-7.96460326e-01 -6.04349031e-01 2.03272383e-02 1.52156380e+02] [ 6.04094405e-01 -7.96717732e-01 -1.76296690e-02 1.28945978e+02] [ 2.68495445e-02 -1.76176099e-03 9.99637934e-01 7.10769934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82071405700003 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:152.14, Y:128.95, Z:7.11 [[-8.06181103e-01 -5.91325898e-01 2.01422900e-02 1.52139375e+02] [ 5.91061667e-01 -8.06428863e-01 -1.78492321e-02 1.28951627e+02] [ 2.67980372e-02 -2.48437808e-03 9.99637781e-01 7.10684721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.850714057 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:152.13, Y:128.97, Z:7.11 [[-7.99601829e-01 -6.00177462e-01 2.05895451e-02 1.52134126e+02] [ 5.99929434e-01 -7.99865476e-01 -1.73174801e-02 1.28965379e+02] [ 2.68624275e-02 -1.49481467e-03 9.99638022e-01 7.10849748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88071405700003 meters Centerline goodness : 0.992275 Centerline is valid? [True, True] Translation: X:152.13, Y:128.97, Z:7.11 [[-7.99964805e-01 -5.99709841e-01 2.01101129e-02 1.52134046e+02] [ 5.99447292e-01 -8.00214364e-01 -1.78861589e-02 1.28967142e+02] [ 2.68189067e-02 -2.25334485e-03 9.99637769e-01 7.11416313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.910714057 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:152.14, Y:128.96, Z:7.11 [[-8.00934945e-01 -5.98409338e-01 2.02355444e-02 1.52143424e+02] [ 5.98150101e-01 -8.01187770e-01 -1.77373640e-02 1.28959638e+02] [ 2.68266750e-02 -2.10258169e-03 9.99637889e-01 7.10668502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.940714057 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:152.15, Y:128.95, Z:7.11 [[-8.01763952e-01 -5.97304803e-01 2.00384258e-02 1.52148452e+02] [ 5.97039408e-01 -8.02010596e-01 -1.79707674e-02 1.28954996e+02] [ 2.68050554e-02 -2.44458361e-03 9.99637691e-01 7.10551458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.970714057 meters Centerline goodness : 0.992756 Centerline is valid? [True, True] Translation: X:152.13, Y:128.96, Z:7.11 [[-8.05991775e-01 -5.91585087e-01 2.01083114e-02 1.52134704e+02] [ 5.91319981e-01 -8.06238612e-01 -1.78880094e-02 1.28962677e+02] [ 2.67943767e-02 -2.52714215e-03 9.99637772e-01 7.11133447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.000714057 meters Centerline goodness : 0.992756 Centerline is valid? [True, True] Translation: X:152.13, Y:128.96, Z:7.11 [[-8.05781933e-01 -5.91865948e-01 2.02528153e-02 1.52132563e+02] [ 5.91605170e-01 -8.06033149e-01 -1.77168237e-02 1.28964254e+02] [ 2.68104252e-02 -2.29422621e-03 9.99637903e-01 7.11149179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.030714057 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:152.13, Y:128.97, Z:7.11 [[-8.06005995e-01 -5.91561064e-01 2.02445960e-02 1.52127446e+02] [ 5.91299950e-01 -8.06256869e-01 -1.77265540e-02 1.28967337e+02] [ 2.68086837e-02 -2.31708016e-03 9.99637897e-01 7.11097785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.060714057 meters Centerline goodness : 0.991581 Centerline is valid? [True, True] Translation: X:152.13, Y:128.97, Z:7.11 [[-8.06338735e-01 -5.91109951e-01 2.01710255e-02 1.52129934e+02] [ 5.90846538e-01 -8.06587282e-01 -1.78136027e-02 1.28966305e+02] [ 2.67994905e-02 -2.44581731e-03 9.99637837e-01 7.11262709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.090714057 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:152.14, Y:128.96, Z:7.11 [[-8.07063094e-01 -5.90112331e-01 2.04107867e-02 1.52135598e+02] [ 5.89855674e-01 -8.07318396e-01 -1.75297047e-02 1.28959351e+02] [ 2.68224985e-02 -2.10815936e-03 9.99637989e-01 7.11140226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.120714057 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:152.12, Y:128.97, Z:7.11 [[-8.07001845e-01 -5.90196535e-01 2.03978488e-02 1.52117118e+02] [ 5.89939522e-01 -8.07256795e-01 -1.75450139e-02 1.28973594e+02] [ 2.68213085e-02 -2.12536141e-03 9.99637985e-01 7.11083158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.150714057 meters Centerline goodness : 0.992575 Centerline is valid? [True, True] Translation: X:152.13, Y:128.96, Z:7.11 [[-8.07515784e-01 -5.89500393e-01 2.01877529e-02 1.52127994e+02] [ 5.89236988e-01 -8.07764304e-01 -1.77932676e-02 1.28963107e+02] [ 2.67960844e-02 -2.47297371e-03 9.99637862e-01 7.11250519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.180714057 meters Centerline goodness : 0.992941 Centerline is valid? [True, True] Translation: X:152.12, Y:128.97, Z:7.11 [[-8.07117368e-01 -5.90037934e-01 2.04154748e-02 1.52122828e+02] [ 5.89781394e-01 -8.07372784e-01 -1.75241024e-02 1.28965195e+02] [ 2.68227839e-02 -2.10334025e-03 9.99637992e-01 7.11226191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.210714057 meters Centerline goodness : 0.993802 Centerline is valid? [True, True] Translation: X:152.11, Y:128.97, Z:7.11 [[-8.06494056e-01 -5.90897037e-01 2.01997535e-02 1.52112737e+02] [ 5.90634422e-01 -8.06743388e-01 -1.77787933e-02 1.28972134e+02] [ 2.68014539e-02 -2.40782134e-03 9.99637877e-01 7.11296710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.240714057 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:152.12, Y:128.96, Z:7.11 [[-8.05797353e-01 -5.91847030e-01 2.01920518e-02 1.52120982e+02] [ 5.91584483e-01 -8.06046767e-01 -1.77878795e-02 1.28963443e+02] [ 2.68034417e-02 -2.38812170e-03 9.99637871e-01 7.11236218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.270714057 meters Centerline goodness : 0.992802 Centerline is valid? [True, True] Translation: X:152.12, Y:128.97, Z:7.11 [[-8.04383765e-01 -5.93767240e-01 2.01798039e-02 1.52115560e+02] [ 5.93504930e-01 -8.04633442e-01 -1.78023165e-02 1.28965047e+02] [ 2.68077774e-02 -2.34308127e-03 9.99637861e-01 7.11172686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.300714057 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:152.12, Y:128.96, Z:7.11 [[-8.03510526e-01 -5.94947967e-01 2.01928714e-02 1.52119821e+02] [ 5.94686408e-01 -8.03760973e-01 -1.77869193e-02 1.28959829e+02] [ 2.68125334e-02 -2.28355071e-03 9.99637871e-01 7.11110357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.330714057 meters Centerline goodness : 0.993034 Centerline is valid? [True, True] Translation: X:152.10, Y:128.96, Z:7.11 [[-8.08228845e-01 -5.88521950e-01 2.02002128e-02 1.52102195e+02] [ 5.88258616e-01 -8.08477417e-01 -1.77782682e-02 1.28964395e+02] [ 2.67943170e-02 -2.48595995e-03 9.99637877e-01 7.11187641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.360714057 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:152.14, Y:128.94, Z:7.11 [[-7.95012051e-01 -6.06246364e-01 2.05227971e-02 1.52143950e+02] [ 6.05998281e-01 -7.95275676e-01 -1.73977453e-02 1.28938236e+02] [ 2.68686012e-02 -1.39463740e-03 9.99638001e-01 7.10862099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.390714057 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:152.10, Y:128.96, Z:7.11 [[-8.04886216e-01 -5.93095612e-01 1.98940961e-02 1.52099214e+02] [ 5.92824859e-01 -8.05127151e-01 -1.81371799e-02 1.28963365e+02] [ 2.67743587e-02 -2.80465139e-03 9.99637568e-01 7.11246669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.420714057 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:152.11, Y:128.96, Z:7.11 [[-7.90879051e-01 -6.11628421e-01 2.05183227e-02 1.52112297e+02] [ 6.11382047e-01 -7.91144230e-01 -1.74011511e-02 1.28960915e+02] [ 2.68759912e-02 -1.21767172e-03 9.99638034e-01 7.10830786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.450714057 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:152.12, Y:128.96, Z:7.11 [[-7.89998577e-01 -6.12788160e-01 1.98222101e-02 1.52115049e+02] [ 6.12521420e-01 -7.90244016e-01 -1.82182522e-02 1.28955554e+02] [ 2.68283121e-02 -2.25086500e-03 9.99637522e-01 7.10841403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.480714057 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:152.13, Y:128.94, Z:7.11 [[-7.89878192e-01 -6.12940404e-01 1.99123891e-02 1.52126548e+02] [ 6.12676354e-01 -7.90126333e-01 -1.81124931e-02 1.28944017e+02] [ 2.68351818e-02 -2.10681340e-03 9.99637652e-01 7.10834046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.51071405700003 meters Centerline goodness : 0.992154 Centerline is valid? [True, True] Translation: X:152.11, Y:128.95, Z:7.11 [[-7.89148782e-01 -6.13878397e-01 1.99377347e-02 1.52114092e+02] [ 6.13615388e-01 -7.89397978e-01 -1.80827831e-02 1.28954663e+02] [ 2.68394373e-02 -2.03590543e-03 9.99637684e-01 7.10767675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.540714057 meters Centerline goodness : 0.992713 Centerline is valid? [True, True] Translation: X:152.09, Y:128.97, Z:7.11 [[-8.01360438e-01 -5.97848389e-01 1.99687947e-02 1.52086632e+02] [ 5.97581309e-01 -8.01605208e-01 -1.80463284e-02 1.28965125e+02] [ 2.67960582e-02 -2.52863517e-03 9.99637723e-01 7.11169763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.57071405700003 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:152.12, Y:128.95, Z:7.11 [[-7.92498240e-01 -6.09529792e-01 2.04932069e-02 1.52116636e+02] [ 6.09281981e-01 -7.92762052e-01 -1.74297593e-02 1.28947549e+02] [ 2.68701943e-02 -1.32691183e-03 9.99638050e-01 7.11025579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.600714057 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:152.11, Y:128.95, Z:7.11 [[-7.92209922e-01 -6.09920236e-01 2.00186444e-02 1.52114691e+02] [ 6.09658414e-01 -7.92460175e-01 -1.79858106e-02 1.28949238e+02] [ 2.68338882e-02 -2.04400257e-03 9.99637817e-01 7.10980538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.63071405700003 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:152.10, Y:128.95, Z:7.11 [[-7.96570954e-01 -6.04217707e-01 1.98916511e-02 1.52104328e+02] [ 6.03950404e-01 -7.96815568e-01 -1.81345088e-02 1.28954989e+02] [ 2.68071686e-02 -2.43185225e-03 9.99637665e-01 7.11193818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.660714057 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:152.10, Y:128.96, Z:7.11 [[-7.96936008e-01 -6.03729866e-01 2.00810433e-02 1.52096785e+02] [ 6.03467930e-01 -7.97186049e-01 -1.79125966e-02 1.28961881e+02] [ 2.68226971e-02 -2.15692760e-03 9.99637880e-01 7.11329687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.690714057 meters Centerline goodness : 0.991833 Centerline is valid? [True, True] Translation: X:152.09, Y:128.96, Z:7.11 [[-8.01482983e-01 -5.97681521e-01 2.00456496e-02 1.52094674e+02] [ 5.97416673e-01 -8.01729986e-01 -1.79540595e-02 1.28961845e+02] [ 2.68020079e-02 -2.41426786e-03 9.99637846e-01 7.11131130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.720714057 meters Centerline goodness : 0.992579 Centerline is valid? [True, True] Translation: X:152.10, Y:128.96, Z:7.11 [[-8.00845831e-01 -5.98531381e-01 2.01529415e-02 1.52097118e+02] [ 5.98269919e-01 -8.01096282e-01 -1.78283862e-02 1.28960799e+02] [ 2.68152951e-02 -2.22089007e-03 9.99637938e-01 7.11278187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.750714057 meters Centerline goodness : 0.991398 Centerline is valid? [True, True] Translation: X:152.09, Y:128.96, Z:7.11 [[-8.03232617e-01 -5.95329214e-01 2.00122514e-02 1.52093661e+02] [ 5.95062682e-01 -8.03477849e-01 -1.79930415e-02 1.28964953e+02] [ 2.67911840e-02 -2.54405378e-03 9.99637815e-01 7.11307121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.780714057 meters Centerline goodness : 0.992795 Centerline is valid? [True, True] Translation: X:152.07, Y:128.99, Z:7.11 [[-8.04776018e-01 -5.93232374e-01 2.02709681e-02 1.52067405e+02] [ 5.92972703e-01 -8.05028222e-01 -1.76899632e-02 1.28985087e+02] [ 2.68129602e-02 -2.21632739e-03 9.99638011e-01 7.11438391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.810714057 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:152.08, Y:128.98, Z:7.11 [[-8.05177501e-01 -5.92694106e-01 2.00721116e-02 1.52080115e+02] [ 5.92428501e-01 -8.05423645e-01 -1.79227144e-02 1.28975377e+02] [ 2.67892405e-02 -2.53967539e-03 9.99637878e-01 7.11313244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.840714057 meters Centerline goodness : 0.992384 Centerline is valid? [True, True] Translation: X:152.08, Y:128.98, Z:7.11 [[-8.05909196e-01 -5.91698586e-01 2.00786056e-02 1.52077480e+02] [ 5.91432865e-01 -8.06155205e-01 -1.79151176e-02 1.28977594e+02] [ 2.67868222e-02 -2.56281074e-03 9.99637884e-01 7.11334823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.870714057 meters Centerline goodness : 0.992648 Centerline is valid? [True, True] Translation: X:152.06, Y:128.99, Z:7.11 [[-8.06567745e-01 -5.90801524e-01 2.00507372e-02 1.52059417e+02] [ 5.90534728e-01 -8.06812627e-01 -1.79477193e-02 1.28993426e+02] [ 2.67807279e-02 -2.63539481e-03 9.99637858e-01 7.11449375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.900714057 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:152.07, Y:128.99, Z:7.11 [[-8.06623358e-01 -5.90725368e-01 2.00573764e-02 1.52066256e+02] [ 5.90458739e-01 -8.06868413e-01 -1.79399515e-02 1.28987743e+02] [ 2.67812479e-02 -2.62773078e-03 9.99637864e-01 7.11405380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.930714057 meters Centerline goodness : 0.993057 Centerline is valid? [True, True] Translation: X:152.05, Y:129.00, Z:7.11 [[-8.06892118e-01 -5.90357316e-01 2.00835645e-02 1.52052562e+02] [ 5.90091328e-01 -8.07137832e-01 -1.79093220e-02 1.29000345e+02] [ 2.67831040e-02 -2.59975347e-03 9.99637888e-01 7.11493742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.960714057 meters Centerline goodness : 0.993191 Centerline is valid? [True, True] Translation: X:152.06, Y:129.00, Z:7.11 [[-8.04571892e-01 -5.93516790e-01 2.00472043e-02 1.52060684e+02] [ 5.93250720e-01 -8.04817566e-01 -1.79518331e-02 1.28996135e+02] [ 2.67890565e-02 -2.55052195e-03 9.99637855e-01 7.11156369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.990714057 meters Centerline goodness : 0.992383 Centerline is valid? [True, True] Translation: X:152.06, Y:128.99, Z:7.11 [[-8.06780869e-01 -5.90513252e-01 1.99682076e-02 1.52062482e+02] [ 5.90244010e-01 -8.07023183e-01 -1.80441138e-02 1.28994549e+02] [ 2.67700948e-02 -2.77153090e-03 9.99637775e-01 7.11385034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.020714057 meters Centerline goodness : 0.991959 Centerline is valid? [True, True] Translation: X:152.04, Y:129.01, Z:7.11 [[-8.07122418e-01 -5.90042239e-01 2.00887768e-02 1.52040511e+02] [ 5.89776305e-01 -8.07368184e-01 -1.79032105e-02 1.29013666e+02] [ 2.67826897e-02 -2.60219805e-03 9.99637892e-01 7.11457096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.050714057 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:152.07, Y:128.99, Z:7.11 [[-8.05502011e-01 -5.92252319e-01 2.00923059e-02 1.52066032e+02] [ 5.91987161e-01 -8.05748611e-01 -1.78990877e-02 1.28992985e+02] [ 2.67901238e-02 -2.52336405e-03 9.99637895e-01 7.11383569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.080714057 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:152.06, Y:129.00, Z:7.11 [[-8.04091937e-01 -5.94166002e-01 2.00728144e-02 1.52063541e+02] [ 5.93900871e-01 -8.04338588e-01 -1.79218286e-02 1.28995955e+02] [ 2.67938805e-02 -2.48953592e-03 9.99637880e-01 7.11234414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.110714057 meters Centerline goodness : 0.991913 Centerline is valid? [True, True] Translation: X:152.06, Y:129.00, Z:7.11 [[-8.03390339e-01 -5.95116141e-01 2.00185554e-02 1.52059262e+02] [ 5.94849741e-01 -8.03635690e-01 -1.79850943e-02 1.29000067e+02] [ 2.67908455e-02 -2.54101849e-03 9.99637831e-01 7.11404206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.140714057 meters Centerline goodness : 0.991421 Centerline is valid? [True, True] Translation: X:152.06, Y:129.00, Z:7.11 [[-8.01181868e-01 -5.98086390e-01 2.00071064e-02 1.52063135e+02] [ 5.97820570e-01 -8.01427864e-01 -1.79984342e-02 1.28997176e+02] [ 2.67988711e-02 -2.45935936e-03 9.99637820e-01 7.11336124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.170714057 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:152.06, Y:129.00, Z:7.12 [[-8.00847311e-01 -5.98533816e-01 2.00213527e-02 1.52059137e+02] [ 5.98268545e-01 -8.01093878e-01 -1.79818387e-02 1.29000160e+02] [ 2.68017216e-02 -2.42256162e-03 9.99637834e-01 7.11551152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.200714057 meters Centerline goodness : 0.991304 Centerline is valid? [True, True] Translation: X:152.05, Y:129.00, Z:7.11 [[-7.97785298e-01 -6.02603115e-01 2.02015843e-02 1.52053193e+02] [ 6.02344350e-01 -7.98038500e-01 -1.77718061e-02 1.29004059e+02] [ 2.68309877e-02 -2.00977546e-03 9.99637964e-01 7.11333781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.230714057 meters Centerline goodness : 0.990603 Centerline is valid? [True, True] Translation: X:152.05, Y:129.00, Z:7.11 [[-7.96892684e-01 -6.03790005e-01 1.99920180e-02 1.52053700e+02] [ 6.03525522e-01 -7.97140127e-01 -1.80156211e-02 1.29002953e+02] [ 2.68140917e-02 -2.29082358e-03 9.99637813e-01 7.11378230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26071405700003 meters Centerline goodness : 0.990367 Centerline is valid? [True, True] Translation: X:152.06, Y:129.00, Z:7.11 [[-7.95267005e-01 -6.05929073e-01 2.00087116e-02 1.52055557e+02] [ 6.05665740e-01 -7.95515649e-01 -1.79962080e-02 1.29001231e+02] [ 2.68216688e-02 -2.19319932e-03 9.99637828e-01 7.11315144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.290714057 meters Centerline goodness : 0.990579 Centerline is valid? [True, True] Translation: X:152.05, Y:129.00, Z:7.11 [[-7.93465915e-01 -6.08286615e-01 1.99808924e-02 1.52054988e+02] [ 6.08023212e-01 -7.93714523e-01 -1.80285421e-02 1.29000828e+02] [ 2.68256454e-02 -2.15618730e-03 9.99637802e-01 7.11403151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32071405700003 meters Centerline goodness : 0.991103 Centerline is valid? [True, True] Translation: X:152.05, Y:129.00, Z:7.11 [[-7.89833840e-01 -6.12989945e-01 2.01452817e-02 1.52054906e+02] [ 6.12732850e-01 -7.90088781e-01 -1.78373933e-02 1.28999327e+02] [ 2.68507038e-02 -1.74490095e-03 9.99637932e-01 7.11241988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.350714057 meters Centerline goodness : 0.990787 Centerline is valid? [True, True] Translation: X:152.05, Y:129.00, Z:7.12 [[-7.88971511e-01 -6.14105227e-01 1.99681199e-02 1.52054507e+02] [ 6.13843294e-01 -7.89221678e-01 -1.80431113e-02 1.28999101e+02] [ 2.68396420e-02 -1.97820434e-03 9.99637795e-01 7.11516132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38071405700003 meters Centerline goodness : 0.991289 Centerline is valid? [True, True] Translation: X:152.06, Y:129.00, Z:7.12 [[-7.84952979e-01 -6.19228900e-01 2.01094611e-02 1.52056541e+02] [ 6.18972771e-01 -7.85208922e-01 -1.78789557e-02 1.28995951e+02] [ 2.68612943e-02 -1.58693066e-03 9.99637911e-01 7.11615891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.410714057 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:152.04, Y:129.01, Z:7.11 [[-7.84500368e-01 -6.19804869e-01 2.00274121e-02 1.52040182e+02] [ 6.19546505e-01 -7.84754139e-01 -1.79741558e-02 1.29008309e+02] [ 2.68570638e-02 -1.69281868e-03 9.99637851e-01 7.11442771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.440714057 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:152.05, Y:129.00, Z:7.11 [[-7.82793600e-01 -6.21962183e-01 1.99304447e-02 1.52050507e+02] [ 6.21701662e-01 -7.83045286e-01 -1.80865642e-02 1.28999135e+02] [ 2.68555997e-02 -1.76725614e-03 9.99637761e-01 7.11407757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.470714057 meters Centerline goodness : 0.990613 Centerline is valid? [True, True] Translation: X:152.05, Y:129.00, Z:7.12 [[-7.81047978e-01 -6.24151828e-01 1.99637736e-02 1.52051625e+02] [ 6.23892994e-01 -7.81301352e-01 -1.80479629e-02 1.28997216e+02] [ 2.68623924e-02 -1.64106643e-03 9.99637794e-01 7.11515374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.500714057 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:152.05, Y:128.99, Z:7.11 [[-7.79226185e-01 -6.26425725e-01 1.99339902e-02 1.52054968e+02] [ 6.26166752e-01 -7.79479457e-01 -1.80824332e-02 1.28994942e+02] [ 2.68654372e-02 -1.60830360e-03 9.99637765e-01 7.11405337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.530714057 meters Centerline goodness : 0.990836 Centerline is valid? [True, True] Translation: X:152.05, Y:129.00, Z:7.11 [[-7.78066616e-01 -6.27866154e-01 1.99106451e-02 1.52049436e+02] [ 6.27606961e-01 -7.78319697e-01 -1.81094376e-02 1.28999324e+02] [ 2.68671502e-02 -1.59428932e-03 9.99637742e-01 7.11491168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.560714057 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:152.06, Y:128.99, Z:7.12 [[-7.77191233e-01 -6.28947671e-01 1.99653551e-02 1.52057568e+02] [ 6.28690448e-01 -7.77446241e-01 -1.80461645e-02 1.28992196e+02] [ 2.68720834e-02 -1.47329282e-03 9.99637795e-01 7.11665380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.590714057 meters Centerline goodness : 0.991219 Centerline is valid? [True, True] Translation: X:152.06, Y:129.00, Z:7.12 [[-7.75963464e-01 -6.30461381e-01 1.99787395e-02 1.52055313e+02] [ 6.30205052e-01 -7.76219354e-01 -1.80306934e-02 1.28995040e+02] [ 2.68755401e-02 -1.40045668e-03 9.99637806e-01 7.11540316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.620714057 meters Centerline goodness : 0.991222 Centerline is valid? [True, True] Translation: X:152.07, Y:128.99, Z:7.11 [[-7.72018681e-01 -6.35286638e-01 1.99510573e-02 1.52066740e+02] [ 6.35031084e-01 -7.72275380e-01 -1.80626621e-02 1.28987045e+02] [ 2.68826782e-02 -1.27517101e-03 9.99637782e-01 7.11252521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.650714057 meters Centerline goodness : 0.991530 Centerline is valid? [True, True] Translation: X:152.05, Y:129.00, Z:7.11 [[-7.73331102e-01 -6.33693859e-01 1.97762518e-02 1.52052941e+02] [ 6.33432612e-01 -7.73582279e-01 -1.82642893e-02 1.28999202e+02] [ 2.68725259e-02 -1.59742012e-03 9.99637592e-01 7.11405879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.680714057 meters Centerline goodness : 0.991094 Centerline is valid? [True, True] Translation: X:152.05, Y:129.01, Z:7.11 [[-7.72394741e-01 -6.34831719e-01 1.98759250e-02 1.52047131e+02] [ 6.34573788e-01 -7.72649152e-01 -1.81492445e-02 1.29005087e+02] [ 2.68788327e-02 -1.40563997e-03 9.99637711e-01 7.11327449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.710714057 meters Centerline goodness : 0.991581 Centerline is valid? [True, True] Translation: X:152.04, Y:129.01, Z:7.11 [[-7.71244976e-01 -6.36226895e-01 1.99129222e-02 1.52039410e+02] [ 6.35970523e-01 -7.71500905e-01 -1.81065507e-02 1.29013221e+02] [ 2.68827120e-02 -1.30055473e-03 9.99637749e-01 7.11399155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.740714057 meters Centerline goodness : 0.992038 Centerline is valid? [True, True] Translation: X:152.07, Y:128.99, Z:7.11 [[-7.66029826e-01 -6.42498292e-01 1.98557450e-02 1.52069912e+02] [ 6.42242309e-01 -7.66286226e-01 -1.81724222e-02 1.28991847e+02] [ 2.68909341e-02 -1.16841793e-03 9.99637691e-01 7.10949995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.770714057 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:152.07, Y:129.00, Z:7.11 [[-7.64698838e-01 -6.44088464e-01 1.96402107e-02 1.52068184e+02] [ 6.43826625e-01 -7.64949655e-01 -1.84201706e-02 1.28995744e+02] [ 2.68879918e-02 -1.44099251e-03 9.99637414e-01 7.10829604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.800714057 meters Centerline goodness : 0.991928 Centerline is valid? [True, True] Translation: X:152.03, Y:129.02, Z:7.12 [[-7.80278542e-01 -6.25121918e-01 1.96973212e-02 1.52030982e+02] [ 6.24855649e-01 -7.80524525e-01 -1.83544194e-02 1.29015641e+02] [ 2.68479921e-02 -2.01357718e-03 9.99637500e-01 7.11661020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.830714057 meters Centerline goodness : 0.991769 Centerline is valid? [True, True] Translation: X:152.06, Y:129.01, Z:7.11 [[-7.68485190e-01 -6.39544409e-01 2.03337446e-02 1.52058782e+02] [ 6.39301869e-01 -7.68753963e-01 -1.76199964e-02 1.29005470e+02] [ 2.69004169e-02 -5.41305305e-04 9.99637972e-01 7.11097002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.860714057 meters Centerline goodness : 0.992417 Centerline is valid? [True, True] Translation: X:152.06, Y:129.01, Z:7.11 [[-7.68673999e-01 -6.39334625e-01 1.97868785e-02 1.52063927e+02] [ 6.39075630e-01 -7.68927388e-01 -1.82485807e-02 1.29005452e+02] [ 2.68816223e-02 -1.38189765e-03 9.99637669e-01 7.11009884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.890714057 meters Centerline goodness : 0.991913 Centerline is valid? [True, True] Translation: X:152.04, Y:129.02, Z:7.11 [[-7.81124353e-01 -6.24063807e-01 1.97258606e-02 1.52035604e+02] [ 6.23798106e-01 -7.81370813e-01 -1.83187314e-02 1.29018399e+02] [ 2.68452690e-02 -2.00425272e-03 9.99637592e-01 7.11158496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.920714057 meters Centerline goodness : 0.991913 Centerline is valid? [True, True] Translation: X:152.03, Y:129.02, Z:7.11 [[-7.80883873e-01 -6.24345668e-01 2.03190341e-02 1.52033295e+02] [ 6.24097506e-01 -7.81147424e-01 -1.76353061e-02 1.29019801e+02] [ 2.68826881e-02 -1.09006760e-03 9.99638001e-01 7.11202241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.950714057 meters Centerline goodness : 0.991319 Centerline is valid? [True, True] Translation: X:152.05, Y:129.02, Z:7.12 [[-7.73073911e-01 -6.33990647e-01 2.03122553e-02 1.52052677e+02] [ 6.33745571e-01 -7.73340334e-01 -1.76431103e-02 1.29016986e+02] [ 2.68938533e-02 -7.66626435e-04 9.99638001e-01 7.11780262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.980714057 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:152.05, Y:129.03, Z:7.11 [[-7.75407484e-01 -6.31146355e-01 1.99377258e-02 1.52046981e+02] [ 6.30889168e-01 -7.75662438e-01 -1.80731915e-02 1.29025178e+02] [ 2.68717739e-02 -1.43559271e-03 9.99637858e-01 7.11297972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.01071405700003 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:152.04, Y:129.03, Z:7.12 [[-7.78507312e-01 -6.27322829e-01 1.98099357e-02 1.52036954e+02] [ 6.27060662e-01 -7.78757320e-01 -1.82198496e-02 1.29033687e+02] [ 2.68568600e-02 -1.76225473e-03 9.99637736e-01 7.11745622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.040714057 meters Centerline goodness : 0.990563 Centerline is valid? [True, True] Translation: X:151.64, Y:129.37, Z:7.13 [[-7.93756379e-01 -6.07906532e-01 2.00114595e-02 1.51635452e+02] [ 6.07644088e-01 -7.94005773e-01 -1.79859501e-02 1.29374206e+02] [ 2.68229909e-02 -2.11661760e-03 9.99637958e-01 7.13262167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.07071405700003 meters Centerline goodness : 0.991526 Centerline is valid? [True, True] Translation: X:152.03, Y:129.04, Z:7.12 [[-7.83634441e-01 -6.20883482e-01 2.05125520e-02 1.52030689e+02] [ 6.20640202e-01 -7.83902341e-01 -1.74028584e-02 1.29044454e+02] [ 2.68849849e-02 -9.06564815e-04 9.99638122e-01 7.12083668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.100714057 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:152.02, Y:129.05, Z:7.12 [[-7.85725435e-01 -6.18252406e-01 1.99875953e-02 1.52021717e+02] [ 6.17992748e-01 -7.85977568e-01 -1.80062645e-02 1.29052878e+02] [ 2.68422179e-02 -1.79579106e-03 9.99638070e-01 7.12130257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.13071405700003 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:152.02, Y:129.05, Z:7.12 [[-7.85633110e-01 -6.18366224e-01 2.00955161e-02 1.52022659e+02] [ 6.18109749e-01 -7.85888391e-01 -1.78822280e-02 1.29054336e+02] [ 2.68505986e-02 -1.62763592e-03 9.99638133e-01 7.11720883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.160714057 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:152.04, Y:129.04, Z:7.11 [[-7.81405353e-01 -6.23709103e-01 1.98148790e-02 1.52042825e+02] [ 6.23446198e-01 -7.81654306e-01 -1.82039626e-02 1.29039538e+02] [ 2.68423627e-02 -1.87116281e-03 9.99637928e-01 7.11290324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.190714057 meters Centerline goodness : 0.993090 Centerline is valid? [True, True] Translation: X:152.02, Y:129.06, Z:7.11 [[-7.85676115e-01 -6.18329807e-01 1.95266749e-02 1.52020743e+02] [ 6.18057008e-01 -7.85914776e-01 -1.85337630e-02 1.29057997e+02] [ 2.68062804e-02 -2.49293666e-03 9.99637539e-01 7.11486752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.220714057 meters Centerline goodness : 0.992477 Centerline is valid? [True, True] Translation: X:152.02, Y:129.06, Z:7.12 [[-7.87491921e-01 -6.16008796e-01 1.97392701e-02 1.52022093e+02] [ 6.15741311e-01 -7.87736063e-01 -1.82902277e-02 1.29056164e+02] [ 2.68162761e-02 -2.24912245e-03 9.99637849e-01 7.11552517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.250714057 meters Centerline goodness : 0.992645 Centerline is valid? [True, True] Translation: X:152.02, Y:129.05, Z:7.12 [[-7.87858217e-01 -6.15538392e-01 1.97969044e-02 1.52023645e+02] [ 6.15272405e-01 -7.88103893e-01 -1.82242229e-02 1.29053996e+02] [ 2.68197263e-02 -2.17761479e-03 9.99637915e-01 7.11567803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.280714057 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:152.00, Y:129.06, Z:7.12 [[-7.99569365e-01 -6.00246620e-01 1.98198531e-02 1.52004048e+02] [ 5.99976591e-01 -7.99810556e-01 -1.81979330e-02 1.29057805e+02] [ 2.67753755e-02 -2.65906177e-03 9.99637939e-01 7.11658897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.310714057 meters Centerline goodness : 0.992378 Centerline is valid? [True, True] Translation: X:152.02, Y:129.05, Z:7.12 [[-7.88628433e-01 -6.14535647e-01 2.02764199e-02 1.52022507e+02] [ 6.14283228e-01 -7.88887660e-01 -1.76741532e-02 1.29053250e+02] [ 2.68572146e-02 -1.48287505e-03 9.99638180e-01 7.11534363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.340714057 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:152.02, Y:129.05, Z:7.12 [[-7.89847745e-01 -6.12983542e-01 1.97918458e-02 1.52017229e+02] [ 6.12716657e-01 -7.90092412e-01 -1.82284963e-02 1.29054400e+02] [ 2.68111555e-02 -2.27094307e-03 9.99637937e-01 7.11865546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.370714057 meters Centerline goodness : 0.992413 Centerline is valid? [True, True] Translation: X:152.01, Y:129.06, Z:7.12 [[-7.89847600e-01 -6.12981762e-01 1.98526621e-02 1.52005087e+02] [ 6.12716608e-01 -7.90094053e-01 -1.81588981e-02 1.29064532e+02] [ 2.68165436e-02 -2.17870630e-03 9.99637998e-01 7.11976699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.400714057 meters Centerline goodness : 0.991137 Centerline is valid? [True, True] Translation: X:152.01, Y:129.06, Z:7.12 [[-7.89652645e-01 -6.13233626e-01 1.98297835e-02 1.52005892e+02] [ 6.12967898e-01 -7.89898512e-01 -1.81850757e-02 1.29061639e+02] [ 2.68152164e-02 -2.20487237e-03 9.99637976e-01 7.12038065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.430714057 meters Centerline goodness : 0.991142 Centerline is valid? [True, True] Translation: X:152.00, Y:129.06, Z:7.12 [[-7.88123565e-01 -6.15190411e-01 2.00500218e-02 1.52003644e+02] [ 6.14931627e-01 -7.88376498e-01 -1.79329540e-02 1.29062749e+02] [ 2.68391473e-02 -1.80399113e-03 9.99638137e-01 7.11957912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.460714057 meters Centerline goodness : 0.990534 Centerline is valid? [True, True] Translation: X:151.98, Y:129.08, Z:7.12 [[-7.87455258e-01 -6.16051329e-01 1.98740163e-02 1.51982202e+02] [ 6.15787753e-01 -7.87703365e-01 -1.81342626e-02 1.29079358e+02] [ 2.68264661e-02 -2.04174457e-03 9.99638020e-01 7.12072784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.490714057 meters Centerline goodness : 0.990472 Centerline is valid? [True, True] Translation: X:152.01, Y:129.05, Z:7.12 [[-7.85744778e-01 -6.18231386e-01 1.98770390e-02 1.52011256e+02] [ 6.17968586e-01 -7.85993703e-01 -1.81308066e-02 1.29053353e+02] [ 2.68322612e-02 -1.96280091e-03 9.99638023e-01 7.12201736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.520714057 meters Centerline goodness : 0.990172 Centerline is valid? [True, True] Translation: X:152.01, Y:129.06, Z:7.12 [[-7.83717124e-01 -6.20797918e-01 1.99352490e-02 1.52005939e+02] [ 6.20537612e-01 -7.83968592e-01 -1.80643026e-02 1.29055982e+02] [ 2.68428905e-02 -1.78673147e-03 9.99638068e-01 7.12244751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.550714057 meters Centerline goodness : 0.990759 Centerline is valid? [True, True] Translation: X:152.00, Y:129.06, Z:7.12 [[-7.83189787e-01 -6.21463888e-01 1.99096491e-02 1.52002998e+02] [ 6.21203057e-01 -7.83440736e-01 -1.80935343e-02 1.29056641e+02] [ 2.68425083e-02 -1.80273643e-03 9.99638049e-01 7.12135688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.580714057 meters Centerline goodness : 0.990290 Centerline is valid? [True, True] Translation: X:152.01, Y:129.05, Z:7.12 [[-7.80891746e-01 -6.24352827e-01 1.97896073e-02 1.52008273e+02] [ 6.24089463e-01 -7.81140187e-01 -1.82304923e-02 1.29050559e+02] [ 2.68407170e-02 -1.88555551e-03 9.99637945e-01 7.12088519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.610714057 meters Centerline goodness : 0.990412 Centerline is valid? [True, True] Translation: X:152.00, Y:129.05, Z:7.12 [[-7.77797841e-01 -6.28197800e-01 1.99509907e-02 1.52004214e+02] [ 6.27940349e-01 -7.78052215e-01 -1.80462849e-02 1.29051486e+02] [ 2.68595490e-02 -1.50832940e-03 9.99638079e-01 7.11990841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.640714057 meters Centerline goodness : 0.990445 Centerline is valid? [True, True] Translation: X:152.00, Y:129.05, Z:7.12 [[-7.75366838e-01 -6.31199655e-01 1.98308342e-02 1.52002797e+02] [ 6.30939688e-01 -7.75618771e-01 -1.81833254e-02 1.29051563e+02] [ 2.68584760e-02 -1.58668716e-03 9.99637987e-01 7.11904312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.670714057 meters Centerline goodness : 0.990455 Centerline is valid? [True, True] Translation: X:151.99, Y:129.06, Z:7.12 [[-7.73434384e-01 -6.33567686e-01 1.97798181e-02 1.51992073e+02] [ 6.33307006e-01 -7.73685650e-01 -1.82414816e-02 1.29057511e+02] [ 2.68605747e-02 -1.58189167e-03 9.99637938e-01 7.12093109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.700714057 meters Centerline goodness : 0.989726 Centerline is valid? [True, True] Translation: X:152.00, Y:129.05, Z:7.12 [[-7.72664389e-01 -6.34503608e-01 1.98724217e-02 1.51995649e+02] [ 6.34245932e-01 -7.72918616e-01 -1.81358895e-02 1.29052916e+02] [ 2.68670520e-02 -1.40895331e-03 9.99638023e-01 7.12027853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.730714057 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:152.01, Y:129.04, Z:7.12 [[-7.66496285e-01 -6.41935914e-01 2.00431309e-02 1.52006270e+02] [ 6.41685766e-01 -7.66757778e-01 -1.79412249e-02 1.29043064e+02] [ 2.68853431e-02 -8.90490368e-04 9.99638127e-01 7.11587422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76071405700003 meters Centerline goodness : 0.991319 Centerline is valid? [True, True] Translation: X:152.00, Y:129.05, Z:7.11 [[-7.64884088e-01 -6.43868325e-01 1.96446585e-02 1.51999983e+02] [ 6.43607098e-01 -7.65134986e-01 -1.83944634e-02 1.29049152e+02] [ 2.68744278e-02 -1.42619069e-03 9.99637800e-01 7.11478500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.790714057 meters Centerline goodness : 0.989083 Centerline is valid? [True, True] Translation: X:151.99, Y:129.05, Z:7.12 [[-7.67047180e-01 -6.41291125e-01 1.96039974e-02 1.51994390e+02] [ 6.41027876e-01 -7.67296033e-01 -1.84407078e-02 1.29051094e+02] [ 2.68679317e-02 -1.57818410e-03 9.99637746e-01 7.12075147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82071405700003 meters Centerline goodness : 0.988822 Centerline is valid? [True, True] Translation: X:151.98, Y:129.06, Z:7.12 [[-7.69626278e-01 -6.38184450e-01 1.98997364e-02 1.51979927e+02] [ 6.37928818e-01 -7.69882506e-01 -1.81038733e-02 1.29060455e+02] [ 2.68740694e-02 -1.23860134e-03 9.99638060e-01 7.12196244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.850714057 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:151.97, Y:129.07, Z:7.12 [[-7.70095518e-01 -6.37615111e-01 1.99965766e-02 1.51971144e+02] [ 6.37362140e-01 -7.70354292e-01 -1.79935612e-02 1.29067001e+02] [ 2.68774151e-02 -1.11170003e-03 9.99638119e-01 7.12188230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88071405700003 meters Centerline goodness : 0.990786 Centerline is valid? [True, True] Translation: X:151.98, Y:129.06, Z:7.12 [[-7.71764223e-01 -6.35599052e-01 1.98451301e-02 1.51984516e+02] [ 6.35340970e-01 -7.72018039e-01 -1.81658485e-02 1.29056118e+02] [ 2.68669945e-02 -1.41132770e-03 9.99638021e-01 7.12060380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.910714057 meters Centerline goodness : 0.990302 Centerline is valid? [True, True] Translation: X:151.98, Y:129.06, Z:7.12 [[-7.73383069e-01 -6.33630265e-01 1.97816998e-02 1.51983451e+02] [ 6.33369698e-01 -7.73634412e-01 -1.82379316e-02 1.29057700e+02] [ 2.68599091e-02 -1.57577825e-03 9.99637966e-01 7.12140448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.940714057 meters Centerline goodness : 0.991228 Centerline is valid? [True, True] Translation: X:151.98, Y:129.06, Z:7.12 [[-7.73604685e-01 -6.33359080e-01 1.98006671e-02 1.51980126e+02] [ 6.33098974e-01 -7.73856481e-01 -1.82163824e-02 1.29062272e+02] [ 2.68603857e-02 -1.55649676e-03 9.99637983e-01 7.11900991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.970714057 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:151.98, Y:129.06, Z:7.12 [[-7.76837544e-01 -6.29390067e-01 1.97882537e-02 1.51979493e+02] [ 6.29128317e-01 -7.77087647e-01 -1.82304788e-02 1.29064938e+02] [ 2.68512898e-02 -1.71276968e-03 9.99637972e-01 7.12290856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.000714057 meters Centerline goodness : 0.992158 Centerline is valid? [True, True] Translation: X:151.98, Y:129.06, Z:7.12 [[-7.77276728e-01 -6.28843144e-01 1.99295661e-02 1.51982504e+02] [ 6.28585300e-01 -7.77530704e-01 -1.80699879e-02 1.29062931e+02] [ 2.68590376e-02 -1.51794875e-03 9.99638078e-01 7.11821757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.030714057 meters Centerline goodness : 0.992483 Centerline is valid? [True, True] Translation: X:151.98, Y:129.06, Z:7.12 [[-7.78732151e-01 -6.27047038e-01 1.97040494e-02 1.51984813e+02] [ 6.26782136e-01 -7.78979026e-01 -1.83256817e-02 1.29063273e+02] [ 2.68401057e-02 -1.92065131e-03 9.99637894e-01 7.12002650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.060714057 meters Centerline goodness : 0.992775 Centerline is valid? [True, True] Translation: X:151.98, Y:129.07, Z:7.12 [[-7.79452198e-01 -6.26148016e-01 1.98225287e-02 1.51979449e+02] [ 6.25886215e-01 -7.79702199e-01 -1.81913635e-02 1.29067626e+02] [ 2.68461554e-02 -1.77265080e-03 9.99638005e-01 7.11649961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.090714057 meters Centerline goodness : 0.991427 Centerline is valid? [True, True] Translation: X:151.98, Y:129.07, Z:7.12 [[-7.79899290e-01 -6.25596498e-01 1.96498890e-02 1.51979572e+02] [ 6.25329604e-01 -7.80144095e-01 -1.83868539e-02 1.29068128e+02] [ 2.68324963e-02 -2.05223699e-03 9.99637837e-01 7.11970634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.120714057 meters Centerline goodness : 0.991916 Centerline is valid? [True, True] Translation: X:151.98, Y:129.07, Z:7.12 [[-7.80234021e-01 -6.25173281e-01 1.98303310e-02 1.51978073e+02] [ 6.24911393e-01 -7.80483920e-01 -1.81824317e-02 1.29068134e+02] [ 2.68444249e-02 -1.79435208e-03 9.99638013e-01 7.12014969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.150714057 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:151.97, Y:129.07, Z:7.12 [[-7.79744470e-01 -6.25783424e-01 1.98410536e-02 1.51974481e+02] [ 6.25522039e-01 -7.79994884e-01 -1.81702884e-02 1.29070623e+02] [ 2.68465856e-02 -1.75716563e-03 9.99638021e-01 7.11735865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.180714057 meters Centerline goodness : 0.993150 Centerline is valid? [True, True] Translation: X:151.99, Y:129.06, Z:7.11 [[-7.73705444e-01 -6.33239088e-01 1.97013431e-02 1.51992133e+02] [ 6.32976101e-01 -7.73954348e-01 -1.83282146e-02 1.29058931e+02] [ 2.68540820e-02 -1.71016013e-03 9.99637901e-01 7.11241394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.210714057 meters Centerline goodness : 0.992678 Centerline is valid? [True, True] Translation: X:151.99, Y:129.06, Z:7.11 [[-7.73789977e-01 -6.33146579e-01 1.93515314e-02 1.51987621e+02] [ 6.32873665e-01 -7.74028676e-01 -1.87225224e-02 1.29062953e+02] [ 2.68327412e-02 -2.24022559e-03 9.99637427e-01 7.11206989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.240714057 meters Centerline goodness : 0.992473 Centerline is valid? [True, True] Translation: X:151.98, Y:129.07, Z:7.11 [[-7.75465873e-01 -6.31089840e-01 1.94497538e-02 1.51975108e+02] [ 6.30819047e-01 -7.75706731e-01 -1.86117642e-02 1.29071203e+02] [ 2.68330003e-02 -2.16351287e-03 9.99637589e-01 7.11413736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.270714057 meters Centerline goodness : 0.991202 Centerline is valid? [True, True] Translation: X:151.95, Y:129.08, Z:7.12 [[-7.89607812e-01 -6.13302486e-01 1.94824150e-02 1.51949571e+02] [ 6.13027186e-01 -7.89843429e-01 -1.85748709e-02 1.29078852e+02] [ 2.67800720e-02 -2.72361309e-03 9.99637639e-01 7.11889789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.300714057 meters Centerline goodness : 0.991473 Centerline is valid? [True, True] Translation: X:151.97, Y:129.07, Z:7.11 [[-7.75528223e-01 -6.30990836e-01 2.01628497e-02 1.51974953e+02] [ 6.30740540e-01 -7.75789518e-01 -1.78043209e-02 1.29068583e+02] [ 2.68764908e-02 -1.09022666e-03 9.99638167e-01 7.11424801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.330714057 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:151.95, Y:129.08, Z:7.12 [[-7.89894894e-01 -6.12931596e-01 1.95170555e-02 1.51946200e+02] [ 6.12657199e-01 -7.90131422e-01 -1.85335313e-02 1.29080917e+02] [ 2.67808257e-02 -2.68227716e-03 9.99637731e-01 7.12044096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.360714057 meters Centerline goodness : 0.991709 Centerline is valid? [True, True] Translation: X:151.97, Y:129.07, Z:7.12 [[-7.78208856e-01 -6.27681949e-01 2.01580600e-02 1.51973977e+02] [ 6.27430452e-01 -7.78468949e-01 -1.78079528e-02 1.29066230e+02] [ 2.68701543e-02 -1.21052587e-03 9.99638199e-01 7.11770291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.390714057 meters Centerline goodness : 0.990964 Centerline is valid? [True, True] Translation: X:151.97, Y:129.07, Z:7.12 [[-7.79151100e-01 -6.26532926e-01 1.94949999e-02 1.51973501e+02] [ 6.26262140e-01 -7.79391710e-01 -1.85551925e-02 1.29066421e+02] [ 2.68196804e-02 -2.24831831e-03 9.99637759e-01 7.11820892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.420714057 meters Centerline goodness : 0.989166 Centerline is valid? [True, True] Translation: X:151.95, Y:129.09, Z:7.12 [[-7.81507939e-01 -6.23587925e-01 1.95816871e-02 1.51945065e+02] [ 6.23318657e-01 -7.81750073e-01 -1.84573833e-02 1.29091214e+02] [ 2.68177867e-02 -2.21896067e-03 9.99637876e-01 7.12069705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.450714057 meters Centerline goodness : 0.989351 Centerline is valid? [True, True] Translation: X:151.95, Y:129.09, Z:7.12 [[-7.82513745e-01 -6.22316129e-01 1.98714286e-02 1.51947041e+02] [ 6.22054662e-01 -7.82763886e-01 -1.81299703e-02 1.29086072e+02] [ 2.68372096e-02 -1.82583614e-03 9.99638150e-01 7.12213768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.480714057 meters Centerline goodness : 0.988327 Centerline is valid? [True, True] Translation: X:151.95, Y:129.08, Z:7.12 [[-7.82135700e-01 -6.22791692e-01 1.98558454e-02 1.51954984e+02] [ 6.22529933e-01 -7.82385550e-01 -1.81475624e-02 1.29078672e+02] [ 2.68370777e-02 -1.83299832e-03 9.99638140e-01 7.12117373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.51071405700003 meters Centerline goodness : 0.989158 Centerline is valid? [True, True] Translation: X:151.95, Y:129.08, Z:7.12 [[-7.81813771e-01 -6.23195614e-01 1.98608844e-02 1.51953745e+02] [ 6.22934127e-01 -7.82063901e-01 -1.81418762e-02 1.29078420e+02] [ 2.68384184e-02 -1.81154590e-03 9.99638143e-01 7.12291847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.540714057 meters Centerline goodness : 0.987380 Centerline is valid? [True, True] Translation: X:151.95, Y:129.08, Z:7.12 [[-7.82186493e-01 -6.22728559e-01 1.98350933e-02 1.51945307e+02] [ 6.22466190e-01 -7.82435721e-01 -1.81709690e-02 1.29082710e+02] [ 2.68352669e-02 -1.86641156e-03 9.99638127e-01 7.12494890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.57071405700003 meters Centerline goodness : 0.989752 Centerline is valid? [True, True] Translation: X:151.95, Y:129.08, Z:7.12 [[-7.80700066e-01 -6.24587498e-01 1.99465349e-02 1.51945416e+02] [ 6.24328906e-01 -7.80953126e-01 -1.80452797e-02 1.29080333e+02] [ 2.68481649e-02 -1.63475273e-03 9.99638186e-01 7.12312637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.600714057 meters Centerline goodness : 0.987559 Centerline is valid? [True, True] Translation: X:151.94, Y:129.08, Z:7.13 [[-7.80707131e-01 -6.24587001e-01 1.96838519e-02 1.51944176e+02] [ 6.24320949e-01 -7.80952596e-01 -1.83410664e-02 1.29079048e+02] [ 2.68277469e-02 -2.02996023e-03 9.99638010e-01 7.12513886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.63071405700003 meters Centerline goodness : 0.987808 Centerline is valid? [True, True] Translation: X:151.95, Y:129.07, Z:7.12 [[-7.79586141e-01 -6.25977867e-01 1.99288471e-02 1.51948618e+02] [ 6.25719226e-01 -7.79839154e-01 -1.80649744e-02 1.29074404e+02] [ 2.68495694e-02 -1.61334090e-03 9.99638183e-01 7.12344630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.660714057 meters Centerline goodness : 0.989220 Centerline is valid? [True, True] Translation: X:151.94, Y:129.08, Z:7.12 [[-7.78291501e-01 -6.27587713e-01 1.98997692e-02 1.51939628e+02] [ 6.27328762e-01 -7.78544216e-01 -1.80977226e-02 1.29079710e+02] [ 2.68507586e-02 -1.60160606e-03 9.99638170e-01 7.12392149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.690714057 meters Centerline goodness : 0.989134 Centerline is valid? [True, True] Translation: X:151.94, Y:129.08, Z:7.12 [[-7.77860045e-01 -6.28130016e-01 1.96578998e-02 1.51935367e+02] [ 6.27864365e-01 -7.78105965e-01 -1.83696909e-02 1.29082553e+02] [ 2.68344834e-02 -1.94655382e-03 9.99637995e-01 7.12455310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.720714057 meters Centerline goodness : 0.988254 Centerline is valid? [True, True] Translation: X:151.94, Y:129.08, Z:7.12 [[-7.77286865e-01 -6.28838847e-01 1.96681216e-02 1.51936020e+02] [ 6.28573709e-01 -7.77533324e-01 -1.83581980e-02 1.29079719e+02] [ 2.68369680e-02 -1.90672207e-03 9.99638005e-01 7.12373950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.750714057 meters Centerline goodness : 0.988023 Centerline is valid? [True, True] Translation: X:151.94, Y:129.08, Z:7.12 [[-7.76540195e-01 -6.29755208e-01 1.98419723e-02 1.51935965e+02] [ 6.29495309e-01 -7.76791976e-01 -1.81626565e-02 1.29078081e+02] [ 2.68511124e-02 -1.61360434e-03 9.99638142e-01 7.12351783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.780714057 meters Centerline goodness : 0.987142 Centerline is valid? [True, True] Translation: X:151.93, Y:129.08, Z:7.12 [[-7.76593378e-01 -6.29689196e-01 1.98555200e-02 1.51934096e+02] [ 6.29429662e-01 -7.76845526e-01 -1.81474239e-02 1.29078536e+02] [ 2.68519087e-02 -1.59551599e-03 9.99638149e-01 7.12401740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.810714057 meters Centerline goodness : 0.987142 Centerline is valid? [True, True] Translation: X:151.93, Y:129.08, Z:7.12 [[-7.76368124e-01 -6.29966597e-01 1.98650846e-02 1.51932044e+02] [ 6.29707428e-01 -7.76620639e-01 -1.81366726e-02 1.29080246e+02] [ 2.68531326e-02 -1.57154314e-03 9.99638154e-01 7.12409533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.840714057 meters Centerline goodness : 0.987184 Centerline is valid? [True, True] Translation: X:151.92, Y:129.09, Z:7.12 [[-7.76156856e-01 -6.30227028e-01 1.98602413e-02 1.51923620e+02] [ 6.29967804e-01 -7.76409318e-01 -1.81421135e-02 1.29087808e+02] [ 2.68533267e-02 -1.56981313e-03 9.99638152e-01 7.12417887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.870714057 meters Centerline goodness : 0.988229 Centerline is valid? [True, True] Translation: X:151.93, Y:129.08, Z:7.12 [[-7.75413125e-01 -6.31139232e-01 1.99437907e-02 1.51930933e+02] [ 6.30882704e-01 -7.75668276e-01 -1.80482527e-02 1.29078446e+02] [ 2.68607261e-02 -1.41265938e-03 9.99638187e-01 7.12363055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.900714057 meters Centerline goodness : 0.988255 Centerline is valid? [True, True] Translation: X:151.92, Y:129.09, Z:7.12 [[-7.76160934e-01 -6.30222875e-01 1.98325994e-02 1.51919279e+02] [ 6.29962863e-01 -7.76412604e-01 -1.81730630e-02 1.29087508e+02] [ 2.68513601e-02 -1.61142048e-03 9.99638138e-01 7.12156182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.930714057 meters Centerline goodness : 0.987815 Centerline is valid? [True, True] Translation: X:151.92, Y:129.09, Z:7.12 [[-7.76329133e-01 -6.30015836e-01 1.98273538e-02 1.51920956e+02] [ 6.29755607e-01 -7.76580583e-01 -1.81789472e-02 1.29085006e+02] [ 2.68505626e-02 -1.62645910e-03 9.99638135e-01 7.12461595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.960714057 meters Centerline goodness : 0.987878 Centerline is valid? [True, True] Translation: X:151.91, Y:129.10, Z:7.13 [[-7.77158929e-01 -6.28991239e-01 1.98499340e-02 1.51905590e+02] [ 6.28731322e-01 -7.77410683e-01 -1.81536231e-02 1.29098321e+02] [ 2.68500206e-02 -1.62797506e-03 9.99638148e-01 7.12516711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.990714057 meters Centerline goodness : 0.988119 Centerline is valid? [True, True] Translation: X:151.92, Y:129.09, Z:7.13 [[-7.79099045e-01 -6.26586100e-01 1.98629560e-02 1.51915659e+02] [ 6.26325776e-01 -7.79350369e-01 -1.81390226e-02 1.29087715e+02] [ 2.68458616e-02 -1.69141387e-03 9.99638154e-01 7.12583490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.020714057 meters Centerline goodness : 0.987932 Centerline is valid? [True, True] Translation: X:151.91, Y:129.09, Z:7.13 [[-7.79862012e-01 -6.25635825e-01 1.98760225e-02 1.51911864e+02] [ 6.25375566e-01 -7.80113395e-01 -1.81243786e-02 1.29091655e+02] [ 2.68448119e-02 -1.70453556e-03 9.99638160e-01 7.12690588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.050714057 meters Centerline goodness : 0.987428 Centerline is valid? [True, True] Translation: X:151.91, Y:129.09, Z:7.13 [[-7.79569006e-01 -6.25999181e-01 1.99296457e-02 1.51911386e+02] [ 6.25740564e-01 -7.79822049e-01 -1.80642953e-02 1.29092443e+02] [ 2.68498112e-02 -1.61157698e-03 9.99638180e-01 7.12782614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.080714057 meters Centerline goodness : 0.987963 Centerline is valid? [True, True] Translation: X:151.90, Y:129.10, Z:7.13 [[-7.79726852e-01 -6.25803723e-01 1.98931247e-02 1.51904267e+02] [ 6.25544003e-01 -7.79978783e-01 -1.81052004e-02 1.29098627e+02] [ 2.68465170e-02 -1.67308601e-03 9.99638167e-01 7.12732611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.110714057 meters Centerline goodness : 0.988474 Centerline is valid? [True, True] Translation: X:151.89, Y:129.11, Z:7.12 [[-7.79601494e-01 -6.25959715e-01 1.98983870e-02 1.51893438e+02] [ 6.25700196e-01 -7.79853627e-01 -1.80993067e-02 1.29107712e+02] [ 2.68472661e-02 -1.65982194e-03 9.99638169e-01 7.12479173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.140714057 meters Centerline goodness : 0.987978 Centerline is valid? [True, True] Translation: X:151.91, Y:129.10, Z:7.13 [[-7.78158504e-01 -6.27752393e-01 1.99066623e-02 1.51906074e+02] [ 6.27493691e-01 -7.78411471e-01 -1.80900417e-02 1.29097205e+02] [ 2.68516413e-02 -1.58561475e-03 9.99638172e-01 7.12564453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.170714057 meters Centerline goodness : 0.987359 Centerline is valid? [True, True] Translation: X:151.91, Y:129.09, Z:7.12 [[-7.77611132e-01 -6.28431810e-01 1.98591830e-02 1.51908609e+02] [ 6.28171978e-01 -7.77862965e-01 -1.81431402e-02 1.29093555e+02] [ 2.68494494e-02 -1.63332556e-03 9.99638154e-01 7.12447879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.200714057 meters Centerline goodness : 0.988933 Centerline is valid? [True, True] Translation: X:151.90, Y:129.10, Z:7.12 [[-7.76253914e-01 -6.30109386e-01 1.97995634e-02 1.51902172e+02] [ 6.29848405e-01 -7.76504598e-01 -1.82097632e-02 1.29097503e+02] [ 2.68485947e-02 -1.66467655e-03 9.99638125e-01 7.12370178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.230714057 meters Centerline goodness : 0.988347 Centerline is valid? [True, True] Translation: X:151.90, Y:129.10, Z:7.12 [[-7.76017817e-01 -6.30404250e-01 1.96679798e-02 1.51895780e+02] [ 6.30139650e-01 -7.76264809e-01 -1.83566788e-02 1.29103020e+02] [ 2.68396889e-02 -1.85153586e-03 9.99638036e-01 7.12376288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26071405700003 meters Centerline goodness : 0.988995 Centerline is valid? [True, True] Translation: X:151.88, Y:129.11, Z:7.12 [[-7.75622947e-01 -6.30886412e-01 1.97833308e-02 1.51882602e+02] [ 6.30625223e-01 -7.75873426e-01 -1.82278671e-02 1.29112721e+02] [ 2.68490743e-02 -1.66208462e-03 9.99638117e-01 7.12394864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.290714057 meters Centerline goodness : 0.988856 Centerline is valid? [True, True] Translation: X:151.90, Y:129.10, Z:7.12 [[-7.73585391e-01 -6.33388719e-01 1.96054487e-02 1.51901616e+02] [ 6.33123319e-01 -7.73831596e-01 -1.84261726e-02 1.29097461e+02] [ 2.68422455e-02 -1.84155120e-03 9.99637986e-01 7.12009276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32071405700003 meters Centerline goodness : 0.987582 Centerline is valid? [True, True] Translation: X:151.90, Y:129.10, Z:7.12 [[-7.76530955e-01 -6.29774979e-01 1.95742605e-02 1.51896210e+02] [ 6.29507563e-01 -7.76775014e-01 -1.84609161e-02 1.29101448e+02] [ 2.68310195e-02 -2.01332778e-03 9.99637956e-01 7.12437043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.350714057 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:151.90, Y:129.10, Z:7.12 [[-7.75074632e-01 -6.31557923e-01 1.98470586e-02 1.51897502e+02] [ 6.31298758e-01 -7.75327162e-01 -1.81568407e-02 1.29099231e+02] [ 2.68550602e-02 -1.54348319e-03 9.99638146e-01 7.12300682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38071405700003 meters Centerline goodness : 0.989105 Centerline is valid? [True, True] Translation: X:151.90, Y:129.10, Z:7.12 [[-7.74347205e-01 -6.32458091e-01 1.95747052e-02 1.51896301e+02] [ 6.32191547e-01 -7.74592202e-01 -1.84598991e-02 1.29099720e+02] [ 2.68375265e-02 -1.91940813e-03 9.99637966e-01 7.12299744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.410714057 meters Centerline goodness : 0.989052 Centerline is valid? [True, True] Translation: X:151.89, Y:129.10, Z:7.12 [[-7.75645779e-01 -6.30864940e-01 1.95717438e-02 1.51891662e+02] [ 6.30597811e-01 -7.75890141e-01 -1.84631924e-02 1.29100961e+02] [ 2.68333038e-02 -1.97899843e-03 9.99637963e-01 7.12140332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.440714057 meters Centerline goodness : 0.988683 Centerline is valid? [True, True] Translation: X:151.90, Y:129.09, Z:7.12 [[-7.75423062e-01 -6.31134837e-01 1.96949940e-02 1.51898098e+02] [ 6.30871242e-01 -7.75671084e-01 -1.83260785e-02 1.29094612e+02] [ 2.68430638e-02 -1.78545856e-03 9.99638066e-01 7.12231047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.470714057 meters Centerline goodness : 0.988301 Centerline is valid? [True, True] Translation: X:151.88, Y:129.11, Z:7.12 [[-7.76082082e-01 -6.30325872e-01 1.96442574e-02 1.51884334e+02] [ 6.30060599e-01 -7.76328362e-01 -1.83824929e-02 1.29109042e+02] [ 2.68373550e-02 -1.88925074e-03 9.99638028e-01 7.12487179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.500714057 meters Centerline goodness : 0.988904 Centerline is valid? [True, True] Translation: X:151.89, Y:129.10, Z:7.12 [[-7.74397513e-01 -6.32386640e-01 1.98904432e-02 1.51893383e+02] [ 6.32128978e-01 -7.74651558e-01 -1.81085311e-02 1.29101063e+02] [ 2.68597559e-02 -1.44987587e-03 9.99638160e-01 7.12422285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.530714057 meters Centerline goodness : 0.986717 Centerline is valid? [True, True] Translation: X:151.88, Y:129.12, Z:7.13 [[-7.77877765e-01 -6.28106103e-01 1.97207088e-02 1.51876527e+02] [ 6.27842271e-01 -7.78125501e-01 -1.82971895e-02 1.29115395e+02] [ 2.68377628e-02 -1.85148228e-03 9.99638088e-01 7.12863981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.560714057 meters Centerline goodness : 0.987872 Centerline is valid? [True, True] Translation: X:151.88, Y:129.11, Z:7.13 [[-7.78850759e-01 -6.26892820e-01 1.99220332e-02 1.51881466e+02] [ 6.26634261e-01 -7.79103880e-01 -1.80733612e-02 1.29110463e+02] [ 2.68513937e-02 -1.59262253e-03 9.99638168e-01 7.12836824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.590714057 meters Centerline goodness : 0.988543 Centerline is valid? [True, True] Translation: X:151.88, Y:129.12, Z:7.13 [[-7.81241064e-01 -6.23912930e-01 1.98760062e-02 1.51875943e+02] [ 6.23652114e-01 -7.81491871e-01 -1.81244882e-02 1.29116456e+02] [ 2.68410398e-02 -1.76388115e-03 9.99638158e-01 7.12655308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.620714057 meters Centerline goodness : 0.989097 Centerline is valid? [True, True] Translation: X:151.87, Y:129.12, Z:7.12 [[-7.80956906e-01 -6.24266909e-01 1.99283068e-02 1.51871189e+02] [ 6.24007676e-01 -7.81209335e-01 -1.80663992e-02 1.29121360e+02] [ 2.68464345e-02 -1.67366280e-03 9.99638168e-01 7.12396331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.650714057 meters Centerline goodness : 0.989580 Centerline is valid? [True, True] Translation: X:151.87, Y:129.12, Z:7.12 [[-7.82022250e-01 -6.22939897e-01 1.96745016e-02 1.51874897e+02] [ 6.22673167e-01 -7.82266889e-01 -1.83478230e-02 1.29121221e+02] [ 2.68203021e-02 -2.09762164e-03 9.99638070e-01 7.12404037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.680714057 meters Centerline goodness : 0.989998 Centerline is valid? [True, True] Translation: X:151.88, Y:129.12, Z:7.12 [[-7.84793438e-01 -6.19440149e-01 1.98283139e-02 1.51880265e+02] [ 6.19176580e-01 -7.85041368e-01 -1.81772922e-02 1.29118709e+02] [ 2.68257913e-02 -1.98819209e-03 9.99638147e-01 7.12077181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.710714057 meters Centerline goodness : 0.990436 Centerline is valid? [True, True] Translation: X:151.86, Y:129.14, Z:7.12 [[-7.85942403e-01 -6.17987060e-01 1.96604647e-02 1.51864432e+02] [ 6.17718410e-01 -7.86184940e-01 -1.83631522e-02 1.29135523e+02] [ 2.68049517e-02 -2.28774899e-03 9.99638065e-01 7.12134608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.740714057 meters Centerline goodness : 0.989991 Centerline is valid? [True, True] Translation: X:151.87, Y:129.13, Z:7.12 [[-7.89036870e-01 -6.14031702e-01 1.96440099e-02 1.51870868e+02] [ 6.13761389e-01 -7.89277570e-01 -1.83813667e-02 1.29132810e+02] [ 2.67913183e-02 -2.44684126e-03 9.99638054e-01 7.12182030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.770714057 meters Centerline goodness : 0.991028 Centerline is valid? [True, True] Translation: X:151.84, Y:129.16, Z:7.12 [[-7.91823377e-01 -6.10433507e-01 1.96640044e-02 1.51841577e+02] [ 6.10162644e-01 -7.92063436e-01 -1.83592310e-02 1.29161258e+02] [ 2.67822287e-02 -2.53902736e-03 9.99638067e-01 7.12296081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.800714057 meters Centerline goodness : 0.990342 Centerline is valid? [True, True] Translation: X:151.83, Y:129.17, Z:7.12 [[-7.91364029e-01 -6.11028037e-01 1.96903984e-02 1.51833696e+02] [ 6.10758071e-01 -7.91605072e-01 -1.83300028e-02 1.29170115e+02] [ 2.67871649e-02 -2.47963511e-03 9.99638084e-01 7.12441695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.830714057 meters Centerline goodness : 0.990677 Centerline is valid? [True, True] Translation: X:151.84, Y:129.17, Z:7.12 [[-7.91833450e-01 -6.10421407e-01 1.96340024e-02 1.51840597e+02] [ 6.10149728e-01 -7.92072616e-01 -1.83924041e-02 1.29165175e+02] [ 2.67786728e-02 -2.58403962e-03 9.99638047e-01 7.12498375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.860714057 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:151.83, Y:129.17, Z:7.13 [[-7.93254381e-01 -6.08573525e-01 1.96405493e-02 1.51834977e+02] [ 6.08301466e-01 -7.93493108e-01 -1.83851611e-02 1.29173342e+02] [ 2.67733628e-02 -2.63673464e-03 9.99638052e-01 7.12627697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.890714057 meters Centerline goodness : 0.989259 Centerline is valid? [True, True] Translation: X:151.82, Y:129.19, Z:7.13 [[-7.92968856e-01 -6.08938065e-01 1.98702471e-02 1.51819148e+02] [ 6.08672367e-01 -7.93214487e-01 -1.81308608e-02 1.29189130e+02] [ 2.68019391e-02 -2.28273761e-03 9.99638157e-01 7.12705084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.920714057 meters Centerline goodness : 0.992138 Centerline is valid? [True, True] Translation: X:151.84, Y:129.17, Z:7.12 [[-7.91810225e-01 -6.10444368e-01 1.98555116e-02 1.51841487e+02] [ 6.10178732e-01 -7.92055929e-01 -1.81471611e-02 1.29170470e+02] [ 2.68045079e-02 -2.25369681e-03 9.99638154e-01 7.12481859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.950714057 meters Centerline goodness : 0.991678 Centerline is valid? [True, True] Translation: X:151.87, Y:129.14, Z:7.12 [[-7.90087229e-01 -6.12681214e-01 1.95933934e-02 1.51873043e+02] [ 6.12409145e-01 -7.90325971e-01 -1.84363419e-02 1.29144649e+02] [ 2.67807679e-02 -2.56714499e-03 9.99638035e-01 7.12164134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.980714057 meters Centerline goodness : 0.991663 Centerline is valid? [True, True] Translation: X:151.84, Y:129.18, Z:7.12 [[-7.91466390e-01 -6.10898613e-01 1.95918079e-02 1.51838394e+02] [ 6.10625964e-01 -7.91704471e-01 -1.84380901e-02 1.29176150e+02] [ 2.67747255e-02 -2.62986199e-03 9.99638033e-01 7.12254481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.01071405700003 meters Centerline goodness : 0.990552 Centerline is valid? [True, True] Translation: X:151.87, Y:129.15, Z:7.12 [[-7.90782016e-01 -6.11782085e-01 1.96591923e-02 1.51869662e+02] [ 6.11511521e-01 -7.91022396e-01 -1.83637948e-02 1.29149069e+02] [ 2.67855021e-02 -2.49993606e-03 9.99638078e-01 7.12370630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.040714057 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:151.86, Y:129.16, Z:7.12 [[-7.88203423e-01 -6.15094370e-01 1.98564776e-02 1.51863490e+02] [ 6.14830208e-01 -7.88450714e-01 -1.81462749e-02 1.29155098e+02] [ 2.68175255e-02 -2.09459375e-03 9.99638151e-01 7.12254449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.07071405700003 meters Centerline goodness : 0.991027 Centerline is valid? [True, True] Translation: X:151.86, Y:129.16, Z:7.12 [[-7.86757762e-01 -6.16949852e-01 1.96240585e-02 1.51857867e+02] [ 6.16679922e-01 -7.86998877e-01 -1.84022029e-02 1.29160732e+02] [ 2.67973484e-02 -2.37631315e-03 9.99638062e-01 7.12301406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.100714057 meters Centerline goodness : 0.989100 Centerline is valid? [True, True] Translation: X:151.86, Y:129.15, Z:7.13 [[-7.86235466e-01 -6.17615819e-01 1.96084948e-02 1.51864796e+02] [ 6.17345670e-01 -7.86476352e-01 -1.84193317e-02 1.29154670e+02] [ 2.67976881e-02 -2.37671249e-03 9.99638052e-01 7.12668659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.13071405700003 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:151.86, Y:129.16, Z:7.12 [[-7.84027153e-01 -6.20407972e-01 1.98839669e-02 1.51856879e+02] [ 6.20146248e-01 -7.84277019e-01 -1.81159905e-02 1.29161476e+02] [ 2.68338432e-02 -1.87246098e-03 9.99638154e-01 7.12252960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.160714057 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:151.86, Y:129.16, Z:7.12 [[-7.82701735e-01 -6.22086503e-01 1.96564542e-02 1.51858344e+02] [ 6.21819052e-01 -7.82945560e-01 -1.83661914e-02 1.29160997e+02] [ 2.68152933e-02 -2.15249217e-03 9.99638088e-01 7.12264294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.190714057 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:151.85, Y:129.17, Z:7.12 [[-7.81684020e-01 -6.23365771e-01 1.96267359e-02 1.51851298e+02] [ 6.23097906e-01 -7.81927414e-01 -1.83988592e-02 1.29167354e+02] [ 2.68159019e-02 -2.15271617e-03 9.99638071e-01 7.12205206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.220714057 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:151.84, Y:129.17, Z:7.12 [[-7.80070717e-01 -6.25382737e-01 1.96496295e-02 1.51843629e+02] [ 6.25116130e-01 -7.80315469e-01 -1.83736974e-02 1.29174915e+02] [ 2.68235031e-02 -2.04948296e-03 9.99638084e-01 7.12228895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.250714057 meters Centerline goodness : 0.990142 Centerline is valid? [True, True] Translation: X:151.86, Y:129.16, Z:7.12 [[-7.77376228e-01 -6.28727507e-01 1.96957135e-02 1.51859088e+02] [ 6.28463225e-01 -7.77623457e-01 -1.83230629e-02 1.29162052e+02] [ 2.68360625e-02 -1.86588195e-03 9.99638107e-01 7.12448506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.280714057 meters Centerline goodness : 0.990895 Centerline is valid? [True, True] Translation: X:151.86, Y:129.16, Z:7.13 [[-7.73391283e-01 -6.33626060e-01 1.95943658e-02 1.51864810e+02] [ 6.33360539e-01 -7.73637257e-01 -1.84342614e-02 1.29159206e+02] [ 2.68393598e-02 -1.84659897e-03 9.99638054e-01 7.12671787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.310714057 meters Centerline goodness : 0.989847 Centerline is valid? [True, True] Translation: X:151.87, Y:129.16, Z:7.13 [[-7.72140345e-01 -6.35152322e-01 1.95144922e-02 1.51867361e+02] [ 6.34885084e-01 -7.72384536e-01 -1.85218325e-02 1.29157704e+02] [ 2.68368769e-02 -1.91199411e-03 9.99637998e-01 7.12721364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.340714057 meters Centerline goodness : 0.989552 Centerline is valid? [True, True] Translation: X:151.86, Y:129.17, Z:7.13 [[-7.69790159e-01 -6.37998529e-01 1.95189024e-02 1.51860191e+02] [ 6.37732316e-01 -7.70035462e-01 -1.85169981e-02 1.29166202e+02] [ 2.68440646e-02 -1.80636804e-03 9.99638001e-01 7.12862351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.370714057 meters Centerline goodness : 0.989666 Centerline is valid? [True, True] Translation: X:151.86, Y:129.17, Z:7.13 [[-7.69105662e-01 -6.38825999e-01 1.94377019e-02 1.51860230e+02] [ 6.38557811e-01 -7.69348908e-01 -1.86059291e-02 1.29167491e+02] [ 2.68403260e-02 -1.89782907e-03 9.99637932e-01 7.12684440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.400714057 meters Centerline goodness : 0.989419 Centerline is valid? [True, True] Translation: X:151.87, Y:129.16, Z:7.13 [[-7.66477220e-01 -6.41975350e-01 1.95018207e-02 1.51873166e+02] [ 6.41709935e-01 -7.66723408e-01 -1.85357469e-02 1.29157738e+02] [ 2.68519951e-02 -1.69271567e-03 9.99637987e-01 7.12657765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.430714057 meters Centerline goodness : 0.989312 Centerline is valid? [True, True] Translation: X:151.87, Y:129.17, Z:7.12 [[-7.66150631e-01 -6.42368704e-01 1.93818966e-02 1.51865447e+02] [ 6.42100106e-01 -7.66393503e-01 -1.86668932e-02 1.29166083e+02] [ 2.68451876e-02 -1.85653411e-03 9.99637879e-01 7.12462316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.460714057 meters Centerline goodness : 0.988203 Centerline is valid? [True, True] Translation: X:151.85, Y:129.18, Z:7.12 [[-7.64573753e-01 -6.44241812e-01 1.94798414e-02 1.51852884e+02] [ 6.43976520e-01 -7.64820096e-01 -1.85597100e-02 1.29180096e+02] [ 2.68555154e-02 -1.64570665e-03 9.99637971e-01 7.12305988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.490714057 meters Centerline goodness : 0.989491 Centerline is valid? [True, True] Translation: X:151.87, Y:129.17, Z:7.13 [[-7.62627232e-01 -6.46540796e-01 1.96138764e-02 1.51868954e+02] [ 6.46279992e-01 -7.62878190e-01 -1.84130232e-02 1.29165677e+02] [ 2.68677692e-02 -1.36621701e-03 9.99638063e-01 7.12526261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.520714057 meters Centerline goodness : 0.989087 Centerline is valid? [True, True] Translation: X:151.87, Y:129.16, Z:7.12 [[-7.61472859e-01 -6.47906952e-01 1.93821220e-02 1.51871860e+02] [ 6.47640143e-01 -7.61717679e-01 -1.86661110e-02 1.29163966e+02] [ 2.68576081e-02 -1.66109659e-03 9.99637889e-01 7.12437030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.550714057 meters Centerline goodness : 0.989530 Centerline is valid? [True, True] Translation: X:151.87, Y:129.17, Z:7.13 [[-7.60695035e-01 -6.48821467e-01 1.93330816e-02 1.51865110e+02] [ 6.48553596e-01 -7.60938768e-01 -1.87196319e-02 1.29171100e+02] [ 2.68569903e-02 -1.70139146e-03 9.99637838e-01 7.12597319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.580714057 meters Centerline goodness : 0.989926 Centerline is valid? [True, True] Translation: X:151.87, Y:129.17, Z:7.13 [[-7.59813666e-01 -6.49852322e-01 1.93688420e-02 1.51871893e+02] [ 6.49585771e-01 -7.60058788e-01 -1.86806168e-02 1.29165104e+02] [ 2.68611008e-02 -1.61206377e-03 9.99637876e-01 7.12570851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.610714057 meters Centerline goodness : 0.989884 Centerline is valid? [True, True] Translation: X:151.87, Y:129.17, Z:7.13 [[-7.59621823e-01 -6.50077636e-01 1.93326985e-02 1.51872317e+02] [ 6.49810158e-01 -7.59865988e-01 -1.87200202e-02 1.29165197e+02] [ 2.68597265e-02 -1.65755199e-03 9.99637838e-01 7.12657171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.640714057 meters Centerline goodness : 0.989733 Centerline is valid? [True, True] Translation: X:151.87, Y:129.17, Z:7.13 [[-7.59530237e-01 -6.50184382e-01 1.93413599e-02 1.51868684e+02] [ 6.49917177e-01 -7.59774688e-01 -1.87105791e-02 1.29169200e+02] [ 2.68604020e-02 -1.64096857e-03 9.99637847e-01 7.12714040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.670714057 meters Centerline goodness : 0.988420 Centerline is valid? [True, True] Translation: X:151.87, Y:129.17, Z:7.13 [[-7.59178796e-01 -6.50594307e-01 1.93546656e-02 1.51870900e+02] [ 6.50327603e-01 -7.59423772e-01 -1.86960760e-02 1.29170796e+02] [ 2.68619538e-02 -1.60679119e-03 9.99637861e-01 7.12917648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.700714057 meters Centerline goodness : 0.991478 Centerline is valid? [True, True] Translation: X:151.87, Y:129.18, Z:7.13 [[-7.58852208e-01 -6.50968596e-01 1.95758461e-02 1.51865653e+02] [ 6.50708179e-01 -7.59103605e-01 -1.84548633e-02 1.29176058e+02] [ 2.68736318e-02 -1.26635055e-03 9.99638037e-01 7.12876929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.730714057 meters Centerline goodness : 0.991478 Centerline is valid? [True, True] Translation: X:151.86, Y:129.18, Z:7.13 [[-7.58639400e-01 -6.51224908e-01 1.92971594e-02 1.51863753e+02] [ 6.50956827e-01 -7.58882951e-01 -1.87583599e-02 1.29177912e+02] [ 2.68601965e-02 -1.66921326e-03 9.99637806e-01 7.12867809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76071405700003 meters Centerline goodness : 0.989462 Centerline is valid? [True, True] Translation: X:151.86, Y:129.18, Z:7.13 [[-7.60732938e-01 -6.48777925e-01 1.93028683e-02 1.51860471e+02] [ 6.48509218e-01 -7.60975789e-01 -1.87521453e-02 1.29183943e+02] [ 2.68549934e-02 -1.74728658e-03 9.99637813e-01 7.12951453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.790714057 meters Centerline goodness : 0.989036 Centerline is valid? [True, True] Translation: X:151.86, Y:129.19, Z:7.13 [[-7.61478486e-01 -6.47895657e-01 1.95380010e-02 1.51857377e+02] [ 6.47633173e-01 -7.61727753e-01 -1.84960155e-02 1.29188262e+02] [ 2.68661257e-02 -1.43086026e-03 9.99638016e-01 7.12975510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82071405700003 meters Centerline goodness : 0.988667 Centerline is valid? [True, True] Translation: X:151.86, Y:129.19, Z:7.13 [[-7.61993055e-01 -6.47290341e-01 1.95396836e-02 1.51862401e+02] [ 6.47027706e-01 -7.62242162e-01 -1.84941831e-02 1.29186882e+02] [ 2.68650767e-02 -1.44972240e-03 9.99638017e-01 7.12948336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.850714057 meters Centerline goodness : 0.989435 Centerline is valid? [True, True] Translation: X:151.86, Y:129.20, Z:7.13 [[-7.63930995e-01 -6.45001422e-01 1.95601741e-02 1.51856138e+02] [ 6.44738609e-01 -7.64179898e-01 -1.84718759e-02 1.29195852e+02] [ 2.68618780e-02 -1.50003912e-03 9.99638029e-01 7.12995077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88071405700003 meters Centerline goodness : 0.989199 Centerline is valid? [True, True] Translation: X:151.86, Y:129.19, Z:7.13 [[-7.61447442e-01 -6.47931025e-01 1.95749799e-02 1.51864850e+02] [ 6.47669583e-01 -7.61697772e-01 -1.84557640e-02 1.29192151e+02] [ 2.68682806e-02 -1.37497525e-03 9.99638037e-01 7.13038020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.910714057 meters Centerline goodness : 0.989432 Centerline is valid? [True, True] Translation: X:151.85, Y:129.20, Z:7.13 [[-7.63823914e-01 -6.45132329e-01 1.94243768e-02 1.51850177e+02] [ 6.44865810e-01 -7.64068977e-01 -1.86194886e-02 1.29204896e+02] [ 2.68535978e-02 -1.69589419e-03 9.99637939e-01 7.12981488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.940714057 meters Centerline goodness : 0.988133 Centerline is valid? [True, True] Translation: X:151.85, Y:129.21, Z:7.13 [[-7.64913629e-01 -6.43838705e-01 1.94644071e-02 1.51847488e+02] [ 6.43572871e-01 -7.65159390e-01 -1.85759731e-02 1.29209984e+02] [ 2.68533043e-02 -1.68225063e-03 9.99637970e-01 7.12981250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.970714057 meters Centerline goodness : 0.990423 Centerline is valid? [True, True] Translation: X:151.85, Y:129.20, Z:7.13 [[-7.62551362e-01 -6.46630368e-01 1.96108915e-02 1.51854462e+02] [ 6.46369497e-01 -7.62802266e-01 -1.84167517e-02 1.29203701e+02] [ 2.68680634e-02 -1.36783701e-03 9.99638053e-01 7.12699541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.000714057 meters Centerline goodness : 0.986876 Centerline is valid? [True, True] Translation: X:151.86, Y:129.20, Z:7.13 [[-7.67958247e-01 -6.40210469e-01 1.92532241e-02 1.51859804e+02] [ 6.39937749e-01 -7.68196628e-01 -1.88047246e-02 1.29201653e+02] [ 2.68292434e-02 -2.12037839e-03 9.99637782e-01 7.12895933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.030714057 meters Centerline goodness : 0.989815 Centerline is valid? [True, True] Translation: X:151.84, Y:129.22, Z:7.13 [[-7.63698696e-01 -6.45269278e-01 1.97954707e-02 1.51843388e+02] [ 6.45013135e-01 -7.63954352e-01 -1.82154561e-02 1.29216931e+02] [ 2.68767102e-02 -1.14278140e-03 9.99638103e-01 7.12739928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.060714057 meters Centerline goodness : 0.989284 Centerline is valid? [True, True] Translation: X:151.85, Y:129.21, Z:7.13 [[-7.64899485e-01 -6.43861324e-01 1.92710423e-02 1.51853582e+02] [ 6.43590267e-01 -7.65139683e-01 -1.87838949e-02 1.29209087e+02] [ 2.68392626e-02 -1.96513625e-03 9.99637831e-01 7.12855577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.090714057 meters Centerline goodness : 0.990706 Centerline is valid? [True, True] Translation: X:151.84, Y:129.22, Z:7.13 [[-7.66269349e-01 -6.42224501e-01 1.94672613e-02 1.51843263e+02] [ 6.41958276e-01 -7.66514635e-01 -1.85711320e-02 1.29217414e+02] [ 2.68487766e-02 -1.73331977e-03 9.99638004e-01 7.12892557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.120714057 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:151.83, Y:129.22, Z:7.13 [[-7.75312492e-01 -6.31280646e-01 1.93722884e-02 1.51829251e+02] [ 6.31008410e-01 -7.75551201e-01 -1.86740834e-02 1.29221230e+02] [ 2.68127889e-02 -2.25417324e-03 9.99637931e-01 7.12957892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.150714057 meters Centerline goodness : 0.988769 Centerline is valid? [True, True] Translation: X:151.84, Y:129.22, Z:7.13 [[-7.68612069e-01 -6.39409122e-01 1.97853996e-02 1.51837688e+02] [ 6.39150771e-01 -7.68865475e-01 -1.82256249e-02 1.29222513e+02] [ 2.68659415e-02 -1.36258186e-03 9.99638117e-01 7.13049490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.180714057 meters Centerline goodness : 0.989437 Centerline is valid? [True, True] Translation: X:151.83, Y:129.23, Z:7.13 [[-7.70808496e-01 -6.36767664e-01 1.95244475e-02 1.51830165e+02] [ 6.36501278e-01 -7.71053539e-01 -1.85084687e-02 1.29231617e+02] [ 2.68399887e-02 -1.83914913e-03 9.99638051e-01 7.12937841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.210714057 meters Centerline goodness : 0.990563 Centerline is valid? [True, True] Translation: X:151.83, Y:129.23, Z:7.13 [[-7.71768026e-01 -6.35601173e-01 1.96281086e-02 1.51831652e+02] [ 6.35337247e-01 -7.72015651e-01 -1.83961027e-02 1.29230913e+02] [ 2.68457915e-02 -1.72705535e-03 9.99638095e-01 7.13016241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.240714057 meters Centerline goodness : 0.991863 Centerline is valid? [True, True] Translation: X:151.82, Y:129.24, Z:7.13 [[-7.72833538e-01 -6.34307328e-01 1.95585445e-02 1.51824825e+02] [ 6.34041091e-01 -7.73078715e-01 -1.84714599e-02 1.29237577e+02] [ 2.68368768e-02 -1.87444283e-03 9.99638069e-01 7.12988201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.270714057 meters Centerline goodness : 0.991591 Centerline is valid? [True, True] Translation: X:151.83, Y:129.23, Z:7.13 [[-7.73687355e-01 -6.33268687e-01 1.94588438e-02 1.51832592e+02] [ 6.32999423e-01 -7.73929285e-01 -1.85793471e-02 1.29231990e+02] [ 2.68254878e-02 -2.05716901e-03 9.99638015e-01 7.13081562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.300714057 meters Centerline goodness : 0.992444 Centerline is valid? [True, True] Translation: X:151.82, Y:129.24, Z:7.13 [[-7.74667463e-01 -6.32070200e-01 1.94315421e-02 1.51823842e+02] [ 6.31799827e-01 -7.74908181e-01 -1.86088760e-02 1.29239475e+02] [ 2.68197769e-02 -2.13884578e-03 9.99637997e-01 7.13127609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.330714057 meters Centerline goodness : 0.991164 Centerline is valid? [True, True] Translation: X:151.83, Y:129.24, Z:7.13 [[-7.75243230e-01 -6.31363559e-01 1.94419730e-02 1.51830548e+02] [ 6.31093247e-01 -7.75484005e-01 -1.85975958e-02 1.29235289e+02] [ 2.68187834e-02 -2.14796237e-03 9.99638004e-01 7.12979322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.360714057 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:151.83, Y:129.23, Z:7.13 [[-7.74802955e-01 -6.31898573e-01 1.96105860e-02 1.51829474e+02] [ 6.31632984e-01 -7.75048807e-01 -1.84152070e-02 1.29234800e+02] [ 2.68357043e-02 -1.88146383e-03 9.99638087e-01 7.13262966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.390714057 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:151.82, Y:129.24, Z:7.13 [[-7.75127755e-01 -6.31507550e-01 1.93695248e-02 1.51824501e+02] [ 6.31235350e-01 -7.75366465e-01 -1.86756087e-02 1.29239879e+02] [ 2.68122679e-02 -2.24925385e-03 9.99637956e-01 7.13272921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.420714057 meters Centerline goodness : 0.991819 Centerline is valid? [True, True] Translation: X:151.83, Y:129.23, Z:7.13 [[-7.75271771e-01 -6.31330501e-01 1.93772694e-02 1.51832649e+02] [ 6.31058453e-01 -7.75510646e-01 -1.86672448e-02 1.29232839e+02] [ 2.68124797e-02 -2.24399829e-03 9.99637962e-01 7.13038328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.450714057 meters Centerline goodness : 0.992427 Centerline is valid? [True, True] Translation: X:151.83, Y:129.23, Z:7.13 [[-7.74567349e-01 -6.32190678e-01 1.95030257e-02 1.51830316e+02] [ 6.31922273e-01 -7.74810188e-01 -1.85314114e-02 1.29234039e+02] [ 2.68265286e-02 -2.02942988e-03 9.99638044e-01 7.13247296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.480714057 meters Centerline goodness : 0.991868 Centerline is valid? [True, True] Translation: X:151.82, Y:129.24, Z:7.13 [[-7.75274569e-01 -6.31327663e-01 1.93578211e-02 1.51821552e+02] [ 6.31055097e-01 -7.75512874e-01 -1.86881288e-02 1.29241682e+02] [ 2.68105721e-02 -2.27257936e-03 9.99637949e-01 7.13023783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.51071405700003 meters Centerline goodness : 0.991743 Centerline is valid? [True, True] Translation: X:151.83, Y:129.23, Z:7.13 [[-7.73598392e-01 -6.33376470e-01 1.94878121e-02 1.51831648e+02] [ 6.33108028e-01 -7.73841201e-01 -1.85477925e-02 1.29232966e+02] [ 2.68282073e-02 -2.01065221e-03 9.99638037e-01 7.12869561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.540714057 meters Centerline goodness : 0.992150 Centerline is valid? [True, True] Translation: X:151.83, Y:129.24, Z:7.13 [[-7.73246830e-01 -6.33806268e-01 1.94667534e-02 1.51825762e+02] [ 6.33537394e-01 -7.73489177e-01 -1.85705104e-02 1.29238018e+02] [ 2.68274289e-02 -2.02667213e-03 9.99638025e-01 7.12963090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.57071405700003 meters Centerline goodness : 0.992303 Centerline is valid? [True, True] Translation: X:151.82, Y:129.24, Z:7.13 [[-7.73087827e-01 -6.34000328e-01 1.94626759e-02 1.51818641e+02] [ 6.33731404e-01 -7.73330124e-01 -1.85749065e-02 1.29243910e+02] [ 2.68275703e-02 -2.02592522e-03 9.99638023e-01 7.12998662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.600714057 meters Centerline goodness : 0.991880 Centerline is valid? [True, True] Translation: X:151.81, Y:129.25, Z:7.13 [[-7.71273627e-01 -6.36208558e-01 1.93820382e-02 1.51810008e+02] [ 6.35938159e-01 -7.71514353e-01 -1.86617641e-02 1.29249166e+02] [ 2.68262947e-02 -2.06754879e-03 9.99637972e-01 7.13164687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.63071405700003 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:151.81, Y:129.25, Z:7.13 [[-7.70706004e-01 -6.36897307e-01 1.93410685e-02 1.51808985e+02] [ 6.36626025e-01 -7.70945780e-01 -1.87058609e-02 1.29249380e+02] [ 2.68246276e-02 -2.10369173e-03 9.99637941e-01 7.12972094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.660714057 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:151.82, Y:129.24, Z:7.13 [[-7.69364358e-01 -6.38515985e-01 1.93861369e-02 1.51817590e+02] [ 6.38246418e-01 -7.69606011e-01 -1.86573722e-02 1.29240614e+02] [ 2.68327179e-02 -1.98118478e-03 9.99637975e-01 7.12927873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.690714057 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:151.81, Y:129.24, Z:7.13 [[-7.69481701e-01 -6.38379213e-01 1.92325963e-02 1.51812946e+02] [ 6.38105499e-01 -7.69718840e-01 -1.88223438e-02 1.29244520e+02] [ 2.68194847e-02 -2.21102363e-03 9.99637848e-01 7.13134430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.720714057 meters Centerline goodness : 0.991233 Centerline is valid? [True, True] Translation: X:151.81, Y:129.25, Z:7.13 [[-7.69329295e-01 -6.38562084e-01 1.92587987e-02 1.51811051e+02] [ 6.38289124e-01 -7.69567263e-01 -1.87941970e-02 1.29245317e+02] [ 2.68222026e-02 -2.16624459e-03 9.99637873e-01 7.13196770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.750714057 meters Centerline goodness : 0.991234 Centerline is valid? [True, True] Translation: X:151.80, Y:129.26, Z:7.13 [[-7.69904563e-01 -6.37867129e-01 1.92999889e-02 1.51799358e+02] [ 6.37595052e-01 -7.70143486e-01 -1.87499622e-02 1.29256254e+02] [ 2.68237453e-02 -2.13010406e-03 9.99637909e-01 7.13250612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.780714057 meters Centerline goodness : 0.990115 Centerline is valid? [True, True] Translation: X:151.80, Y:129.26, Z:7.13 [[-7.71538840e-01 -6.35888717e-01 1.93224956e-02 1.51796060e+02] [ 6.35616627e-01 -7.71777720e-01 -1.87257937e-02 1.29257177e+02] [ 2.68201925e-02 -2.16597770e-03 9.99637927e-01 7.13065774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.810714057 meters Centerline goodness : 0.990454 Centerline is valid? [True, True] Translation: X:151.80, Y:129.25, Z:7.13 [[-7.71328541e-01 -6.36143495e-01 1.93322493e-02 1.51799365e+02] [ 6.35871744e-01 -7.71567795e-01 -1.87153240e-02 1.29253841e+02] [ 2.68217726e-02 -2.14283249e-03 9.99637935e-01 7.12918287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.840714057 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:151.79, Y:129.26, Z:7.13 [[-7.74584598e-01 -6.32177797e-01 1.92336498e-02 1.51794953e+02] [ 6.31902219e-01 -7.74819562e-01 -1.88210574e-02 1.29255497e+02] [ 2.68008627e-02 -2.42471523e-03 9.99637852e-01 7.13016105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.870714057 meters Centerline goodness : 0.990968 Centerline is valid? [True, True] Translation: X:151.79, Y:129.26, Z:7.13 [[-7.74953618e-01 -6.31720909e-01 1.93799569e-02 1.51793159e+02] [ 6.31449059e-01 -7.75192709e-01 -1.86641322e-02 1.29255505e+02] [ 2.68137239e-02 -2.22638122e-03 9.99637968e-01 7.12980602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.900714057 meters Centerline goodness : 0.990887 Centerline is valid? [True, True] Translation: X:151.78, Y:129.27, Z:7.13 [[-7.77620373e-01 -6.28437669e-01 1.93042131e-02 1.51775326e+02] [ 6.28162814e-01 -7.77856087e-01 -1.87453522e-02 1.29270028e+02] [ 2.67961851e-02 -2.45057900e-03 9.99637914e-01 7.13122386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.930714057 meters Centerline goodness : 0.990840 Centerline is valid? [True, True] Translation: X:151.78, Y:129.26, Z:7.13 [[-7.77345315e-01 -6.28774565e-01 1.94115207e-02 1.51782701e+02] [ 6.28502644e-01 -7.77584297e-01 -1.86302801e-02 1.29261807e+02] [ 2.68083399e-02 -2.28196886e-03 9.99637987e-01 7.13040798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.960714057 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:151.77, Y:129.27, Z:7.13 [[-7.78833259e-01 -6.26930741e-01 1.94061948e-02 1.51767693e+02] [ 6.26658114e-01 -7.79071439e-01 -1.86359871e-02 1.29272173e+02] [ 2.68022853e-02 -2.35327715e-03 9.99637984e-01 7.13202383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.990714057 meters Centerline goodness : 0.990851 Centerline is valid? [True, True] Translation: X:151.78, Y:129.26, Z:7.13 [[-7.79182087e-01 -6.26497597e-01 1.93916314e-02 1.51776713e+02] [ 6.26224455e-01 -7.79419689e-01 -1.86515829e-02 1.29262389e+02] [ 2.67993912e-02 -2.38946548e-03 9.99637976e-01 7.13150116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.020714057 meters Centerline goodness : 0.990759 Centerline is valid? [True, True] Translation: X:151.77, Y:129.27, Z:7.13 [[-7.79719602e-01 -6.25826451e-01 1.94575260e-02 1.51770445e+02] [ 6.25554839e-01 -7.79958902e-01 -1.85810381e-02 1.29265170e+02] [ 2.68045757e-02 -2.31625012e-03 9.99638009e-01 7.13304719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.050714057 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:151.77, Y:129.26, Z:7.13 [[-7.79585054e-01 -6.25991884e-01 1.95270241e-02 1.51770031e+02] [ 6.25722161e-01 -7.79826443e-01 -1.85066555e-02 1.29263515e+02] [ 2.68127059e-02 -2.20902029e-03 9.99638034e-01 7.13391945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.080714057 meters Centerline goodness : 0.988745 Centerline is valid? [True, True] Translation: X:151.77, Y:129.26, Z:7.13 [[-7.79865545e-01 -6.25644100e-01 1.94728623e-02 1.51767772e+02] [ 6.25372838e-01 -7.80105230e-01 -1.85645759e-02 1.29263842e+02] [ 2.68056992e-02 -2.30007392e-03 9.99638017e-01 7.13463057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.110714057 meters Centerline goodness : 0.990254 Centerline is valid? [True, True] Translation: X:151.76, Y:129.27, Z:7.13 [[-7.80300746e-01 -6.25100808e-01 1.94865754e-02 1.51759885e+02] [ 6.24829740e-01 -7.80540644e-01 -1.85499152e-02 1.29269401e+02] [ 2.68056310e-02 -2.29872082e-03 9.99638022e-01 7.13463193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.140714057 meters Centerline goodness : 0.990547 Centerline is valid? [True, True] Translation: X:151.76, Y:129.27, Z:7.13 [[-7.80071549e-01 -6.25387664e-01 1.94588953e-02 1.51757277e+02] [ 6.25115955e-01 -7.80310736e-01 -1.85794945e-02 1.29270544e+02] [ 2.68033716e-02 -2.32926910e-03 9.99638011e-01 7.13399725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.170714057 meters Centerline goodness : 0.990247 Centerline is valid? [True, True] Translation: X:151.75, Y:129.27, Z:7.13 [[-7.80022801e-01 -6.25448305e-01 1.94640172e-02 1.51753391e+02] [ 6.25176750e-01 -7.80262159e-01 -1.85740223e-02 1.29272523e+02] [ 2.68041269e-02 -2.31970989e-03 9.99638013e-01 7.13312355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.200714057 meters Centerline goodness : 0.991660 Centerline is valid? [True, True] Translation: X:151.76, Y:129.27, Z:7.13 [[-7.79691193e-01 -6.25862121e-01 1.94486266e-02 1.51757728e+02] [ 6.25590288e-01 -7.79930245e-01 -1.85904521e-02 1.29266354e+02] [ 2.68036319e-02 -2.32793990e-03 9.99638007e-01 7.13346042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.230714057 meters Centerline goodness : 0.990296 Centerline is valid? [True, True] Translation: X:151.75, Y:129.28, Z:7.13 [[-7.80911961e-01 -6.24344035e-01 1.92622537e-02 1.51745021e+02] [ 6.24066881e-01 -7.81144989e-01 -1.87891869e-02 1.29277978e+02] [ 2.67775297e-02 -2.65176621e-03 9.99637900e-01 7.13302498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26071405700003 meters Centerline goodness : 0.991253 Centerline is valid? [True, True] Translation: X:151.75, Y:129.27, Z:7.13 [[-7.81021089e-01 -6.24201266e-01 1.94637640e-02 1.51753681e+02] [ 6.23929324e-01 -7.81260006e-01 -1.85742565e-02 1.29268181e+02] [ 2.68003347e-02 -2.36287294e-03 9.99638014e-01 7.13225253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.290714057 meters Centerline goodness : 0.990165 Centerline is valid? [True, True] Translation: X:151.74, Y:129.28, Z:7.13 [[-7.81495326e-01 -6.23609071e-01 1.94108669e-02 1.51741357e+02] [ 6.23335564e-01 -7.81732482e-01 -1.86306310e-02 1.29279523e+02] [ 2.67923356e-02 -2.46026738e-03 9.99637993e-01 7.13380172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32071405700003 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:151.75, Y:129.27, Z:7.13 [[-7.81203570e-01 -6.23971906e-01 1.94947024e-02 1.51746573e+02] [ 6.23700704e-01 -7.81443313e-01 -1.85413170e-02 1.29274546e+02] [ 2.68032658e-02 -2.32568342e-03 9.99638023e-01 7.13233379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.350714057 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:151.74, Y:129.27, Z:7.13 [[-7.81070076e-01 -6.24138656e-01 1.95057456e-02 1.51744686e+02] [ 6.23867795e-01 -7.81310201e-01 -1.85295568e-02 1.29274030e+02] [ 2.68050507e-02 -2.30387586e-03 9.99638025e-01 7.13131121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38071405700003 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:151.77, Y:129.25, Z:7.13 [[-7.78420651e-01 -6.27441938e-01 1.94397831e-02 1.51769581e+02] [ 6.27170362e-01 -7.78659995e-01 -1.85997255e-02 1.29249600e+02] [ 2.68072292e-02 -2.28635465e-03 9.99638007e-01 7.12837738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.410714057 meters Centerline goodness : 0.990384 Centerline is valid? [True, True] Translation: X:151.74, Y:129.28, Z:7.13 [[-7.80453408e-01 -6.24914849e-01 1.93367412e-02 1.51736295e+02] [ 6.24639815e-01 -7.80688840e-01 -1.87092517e-02 1.29280154e+02] [ 2.67876672e-02 -2.52320085e-03 9.99637962e-01 7.12998575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.440714057 meters Centerline goodness : 0.989260 Centerline is valid? [True, True] Translation: X:151.74, Y:129.27, Z:7.13 [[-7.79562071e-01 -6.26021369e-01 1.94992825e-02 1.51741938e+02] [ 6.25750917e-01 -7.79802660e-01 -1.85364631e-02 1.29274407e+02] [ 2.68098144e-02 -2.24862969e-03 9.99638023e-01 7.13229439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.470714057 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:151.74, Y:129.28, Z:7.13 [[-7.78604586e-01 -6.27211464e-01 1.95109920e-02 1.51736668e+02] [ 6.26941688e-01 -7.78845929e-01 -1.85240195e-02 1.29275555e+02] [ 2.68145341e-02 -2.19063227e-03 9.99638025e-01 7.13389603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.500714057 meters Centerline goodness : 0.989227 Centerline is valid? [True, True] Translation: X:151.74, Y:129.27, Z:7.13 [[-7.78994464e-01 -6.26734206e-01 1.92836686e-02 1.51744323e+02] [ 6.26458355e-01 -7.79228975e-01 -1.87652045e-02 1.29268181e+02] [ 2.67871888e-02 -2.53757509e-03 9.99637938e-01 7.13274019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.530714057 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:151.74, Y:129.27, Z:7.13 [[-7.78327422e-01 -6.27555026e-01 1.95221511e-02 1.51737667e+02] [ 6.27285652e-01 -7.78569209e-01 -1.85120812e-02 1.29272261e+02] [ 2.68166953e-02 -2.16249512e-03 9.99638029e-01 7.13361921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.560714057 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:151.73, Y:129.28, Z:7.13 [[-7.78793100e-01 -6.26983850e-01 1.93017823e-02 1.51731309e+02] [ 6.26708554e-01 -7.79028234e-01 -1.87456403e-02 1.29277590e+02] [ 2.67898471e-02 -2.50238328e-03 9.99637956e-01 7.13385425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.590714057 meters Centerline goodness : 0.989281 Centerline is valid? [True, True] Translation: X:151.74, Y:129.27, Z:7.13 [[-7.79352554e-01 -6.26288045e-01 1.93101447e-02 1.51735171e+02] [ 6.26012755e-01 -7.79587688e-01 -1.87367789e-02 1.29274372e+02] [ 2.67885717e-02 -2.51415965e-03 9.99637960e-01 7.13153102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.620714057 meters Centerline goodness : 0.989281 Centerline is valid? [True, True] Translation: X:151.73, Y:129.28, Z:7.13 [[-7.79113943e-01 -6.26579532e-01 1.94821201e-02 1.51733105e+02] [ 6.26308809e-01 -7.79354225e-01 -1.85544573e-02 1.29276074e+02] [ 2.68093157e-02 -2.25421296e-03 9.99638024e-01 7.13170557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.650714057 meters Centerline goodness : 0.990159 Centerline is valid? [True, True] Translation: X:151.73, Y:129.28, Z:7.13 [[-7.78926972e-01 -6.26812208e-01 1.94738044e-02 1.51731006e+02] [ 6.26541338e-01 -7.79167091e-01 -1.85632663e-02 1.29276043e+02] [ 2.68090295e-02 -2.25828531e-03 9.99638023e-01 7.13246469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.680714057 meters Centerline goodness : 0.989549 Centerline is valid? [True, True] Translation: X:151.73, Y:129.28, Z:7.13 [[-7.79603796e-01 -6.25975141e-01 1.93143663e-02 1.51730192e+02] [ 6.25699874e-01 -7.79838945e-01 -1.87319857e-02 1.29276036e+02] [ 2.67878524e-02 -2.51853054e-03 9.99637968e-01 7.13085902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.710714057 meters Centerline goodness : 0.991518 Centerline is valid? [True, True] Translation: X:151.72, Y:129.28, Z:7.13 [[-7.78941183e-01 -6.26793846e-01 1.94963304e-02 1.51722728e+02] [ 6.26523562e-01 -7.79181955e-01 -1.85393591e-02 1.29281310e+02] [ 2.68115450e-02 -2.22615997e-03 9.99638027e-01 7.13335161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.740714057 meters Centerline goodness : 0.989705 Centerline is valid? [True, True] Translation: X:151.73, Y:129.27, Z:7.14 [[-7.79551193e-01 -6.26041865e-01 1.92749033e-02 1.51731827e+02] [ 6.25765609e-01 -7.79785202e-01 -1.87734149e-02 1.29272857e+02] [ 2.67832281e-02 -2.57326641e-03 9.99637953e-01 7.13580566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.770714057 meters Centerline goodness : 0.989462 Centerline is valid? [True, True] Translation: X:151.73, Y:129.27, Z:7.14 [[-7.79333678e-01 -6.26305288e-01 1.95116534e-02 1.51732257e+02] [ 6.26035255e-01 -7.79574727e-01 -1.85230925e-02 1.29272016e+02] [ 2.68119026e-02 -2.22068693e-03 9.99638030e-01 7.13768162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.800714057 meters Centerline goodness : 0.989339 Centerline is valid? [True, True] Translation: X:151.74, Y:129.27, Z:7.13 [[-7.79697833e-01 -6.25852631e-01 1.94877465e-02 1.51735948e+02] [ 6.25581835e-01 -7.79938027e-01 -1.85483555e-02 1.29267396e+02] [ 2.68077717e-02 -2.27093239e-03 9.99638028e-01 7.13490818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.830714057 meters Centerline goodness : 0.988683 Centerline is valid? [True, True] Translation: X:151.74, Y:129.27, Z:7.14 [[-7.79819960e-01 -6.25701380e-01 1.94579840e-02 1.51737155e+02] [ 6.25429762e-01 -7.80059231e-01 -1.85797922e-02 1.29266295e+02] [ 2.68037816e-02 -2.31929048e-03 9.99638024e-01 7.13787313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.860714057 meters Centerline goodness : 0.989099 Centerline is valid? [True, True] Translation: X:151.72, Y:129.29, Z:7.14 [[-7.79981257e-01 -6.25499964e-01 1.94687825e-02 1.51717976e+02] [ 6.25228565e-01 -7.80220774e-01 -1.85683891e-02 1.29285694e+02] [ 2.68044753e-02 -2.31055656e-03 9.99638025e-01 7.13719437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.890714057 meters Centerline goodness : 0.991433 Centerline is valid? [True, True] Translation: X:151.71, Y:129.29, Z:7.13 [[-7.80369725e-01 -6.25016640e-01 1.94239967e-02 1.51712788e+02] [ 6.24743932e-01 -7.80607761e-01 -1.86156450e-02 1.29290758e+02] [ 2.67976105e-02 -2.39206171e-03 9.99638018e-01 7.13308639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.920714057 meters Centerline goodness : 0.988281 Centerline is valid? [True, True] Translation: X:151.74, Y:129.27, Z:7.13 [[-7.82009839e-01 -6.22970393e-01 1.91963704e-02 1.51735292e+02] [ 6.22691238e-01 -7.82240433e-01 -1.88554201e-02 1.29272949e+02] [ 2.67625456e-02 -2.79171241e-03 9.99637921e-01 7.13496529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.950714057 meters Centerline goodness : 0.992486 Centerline is valid? [True, True] Translation: X:151.73, Y:129.28, Z:7.13 [[-7.79823144e-01 -6.25695545e-01 1.95179064e-02 1.51730177e+02] [ 6.25425486e-01 -7.80064164e-01 -1.85164992e-02 1.29279728e+02] [ 2.68109104e-02 -2.23259848e-03 9.99638030e-01 7.13471211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.980714057 meters Centerline goodness : 0.992283 Centerline is valid? [True, True] Translation: X:151.72, Y:129.29, Z:7.13 [[-7.82564103e-01 -6.22278997e-01 1.90335170e-02 1.51722410e+02] [ 6.21995554e-01 -7.82789593e-01 -1.90258841e-02 1.29289660e+02] [ 2.67386471e-02 -3.05021097e-03 9.99637805e-01 7.13428142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.01071405700003 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:151.71, Y:129.31, Z:7.14 [[-7.84245714e-01 -6.20158081e-01 1.90424359e-02 1.51707803e+02] [ 6.19874252e-01 -7.84470703e-01 -1.90165022e-02 1.29306984e+02] [ 2.67314706e-02 -3.10969467e-03 9.99637814e-01 7.13705684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.040714057 meters Centerline goodness : 0.992231 Centerline is valid? [True, True] Translation: X:151.71, Y:129.31, Z:7.14 [[-7.85054980e-01 -6.19126501e-01 1.92627634e-02 1.51706803e+02] [ 6.18847924e-01 -7.85286182e-01 -1.87845448e-02 1.29311195e+02] [ 2.67567914e-02 -2.82617932e-03 9.99637978e-01 7.13605493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.07071405700003 meters Centerline goodness : 0.991602 Centerline is valid? [True, True] Translation: X:151.72, Y:129.30, Z:7.14 [[-7.85593600e-01 -6.18449407e-01 1.90532595e-02 1.51721744e+02] [ 6.18165368e-01 -7.85818297e-01 -1.90047906e-02 1.29299872e+02] [ 2.67259014e-02 -3.15197667e-03 9.99637830e-01 7.13601591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.100714057 meters Centerline goodness : 0.992818 Centerline is valid? [True, True] Translation: X:151.71, Y:129.31, Z:7.13 [[-7.85228114e-01 -6.18905326e-01 1.93133601e-02 1.51710195e+02] [ 6.18627971e-01 -7.85460742e-01 -1.87311424e-02 1.29312991e+02] [ 2.67626900e-02 -2.76043483e-03 9.99638004e-01 7.13482947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.13071405700003 meters Centerline goodness : 0.991196 Centerline is valid? [True, True] Translation: X:151.72, Y:129.30, Z:7.14 [[-7.84719937e-01 -6.19555224e-01 1.91296763e-02 1.51723884e+02] [ 6.19273425e-01 -7.84947325e-01 -1.89241423e-02 1.29303206e+02] [ 2.67403395e-02 -3.00365155e-03 9.99637901e-01 7.13771142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.160714057 meters Centerline goodness : 0.992298 Centerline is valid? [True, True] Translation: X:151.71, Y:129.31, Z:7.14 [[-7.83064274e-01 -6.21638850e-01 1.93773878e-02 1.51714511e+02] [ 6.21363944e-01 -7.83299759e-01 -1.86637898e-02 1.29311528e+02] [ 2.67804401e-02 -2.57453688e-03 9.99638024e-01 7.13658621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.190714057 meters Centerline goodness : 0.990152 Centerline is valid? [True, True] Translation: X:151.73, Y:129.31, Z:7.14 [[-7.82375986e-01 -6.22513715e-01 1.90916532e-02 1.51725208e+02] [ 6.22231830e-01 -7.82603303e-01 -1.89636695e-02 1.29305390e+02] [ 2.67463352e-02 -2.95728536e-03 9.99637878e-01 7.13882616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.220714057 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:151.71, Y:129.32, Z:7.14 [[-7.80302348e-01 -6.25101609e-01 1.93964970e-02 1.51706239e+02] [ 6.24828248e-01 -7.80539611e-01 -1.86434189e-02 1.29322981e+02] [ 2.67937654e-02 -2.42802430e-03 9.99638034e-01 7.13529196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.250714057 meters Centerline goodness : 0.992040 Centerline is valid? [True, True] Translation: X:151.71, Y:129.32, Z:7.14 [[-7.78192710e-01 -6.27732210e-01 1.91931786e-02 1.51713505e+02] [ 6.27454439e-01 -7.78424915e-01 -1.88567912e-02 1.29316909e+02] [ 2.67774636e-02 -2.63137239e-03 9.99637956e-01 7.13701615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.280714057 meters Centerline goodness : 0.990577 Centerline is valid? [True, True] Translation: X:151.71, Y:129.32, Z:7.14 [[-7.74585539e-01 -6.32180725e-01 1.90990571e-02 1.51709285e+02] [ 6.31901886e-01 -7.74816558e-01 -1.89554472e-02 1.29323311e+02] [ 2.67815341e-02 -2.61388511e-03 9.99637893e-01 7.13866879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.310714057 meters Centerline goodness : 0.990442 Centerline is valid? [True, True] Translation: X:151.72, Y:129.32, Z:7.14 [[-7.72668610e-01 -6.34525035e-01 1.90052605e-02 1.51718675e+02] [ 6.34244509e-01 -7.72897704e-01 -1.90536463e-02 1.29315987e+02] [ 2.67791378e-02 -2.66817227e-03 9.99637814e-01 7.13675588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.340714057 meters Centerline goodness : 0.991467 Centerline is valid? [True, True] Translation: X:151.70, Y:129.33, Z:7.13 [[-7.69522855e-01 -6.38335628e-01 1.90316295e-02 1.51704835e+02] [ 6.38056911e-01 -7.69754109e-01 -1.90260476e-02 1.29331862e+02] [ 2.67946791e-02 -2.49771573e-03 9.99637838e-01 7.13368944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.370714057 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:151.71, Y:129.32, Z:7.13 [[-7.67350327e-01 -6.40946283e-01 1.90088887e-02 1.51713717e+02] [ 6.40667771e-01 -7.67581859e-01 -1.90498379e-02 1.29323814e+02] [ 2.68008010e-02 -2.43951695e-03 9.99637817e-01 7.13353870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.400714057 meters Centerline goodness : 0.991266 Centerline is valid? [True, True] Translation: X:151.71, Y:129.33, Z:7.13 [[-7.66715099e-01 -6.41706712e-01 1.89855993e-02 1.51710056e+02] [ 6.41427833e-01 -7.66946224e-01 -1.90741823e-02 1.29326688e+02] [ 2.68009645e-02 -2.44657170e-03 9.99637796e-01 7.13425961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.430714057 meters Centerline goodness : 0.989428 Centerline is valid? [True, True] Translation: X:151.69, Y:129.35, Z:7.14 [[-7.65740944e-01 -6.42867738e-01 1.90230881e-02 1.51686173e+02] [ 6.42590172e-01 -7.65973590e-01 -1.90349790e-02 1.29350990e+02] [ 2.68081570e-02 -2.35181337e-03 9.99637830e-01 7.13646217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.460714057 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:151.70, Y:129.33, Z:7.13 [[-7.63845948e-01 -6.45112855e-01 1.92034552e-02 1.51703558e+02] [ 6.44840650e-01 -7.64084651e-01 -1.88462669e-02 1.29333714e+02] [ 2.68310344e-02 -2.01247612e-03 9.99637957e-01 7.13386324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.490714057 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:151.70, Y:129.34, Z:7.13 [[-7.62450466e-01 -6.46768882e-01 1.89552403e-02 1.51699613e+02] [ 6.46490771e-01 -7.62682546e-01 -1.91054280e-02 1.29338727e+02] [ 2.68136272e-02 -2.31255454e-03 9.99637775e-01 7.13335213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.520714057 meters Centerline goodness : 0.989967 Centerline is valid? [True, True] Translation: X:151.70, Y:129.34, Z:7.13 [[-7.59697471e-01 -6.50000027e-01 1.89662113e-02 1.51699865e+02] [ 6.49723188e-01 -7.59931049e-01 -1.90939747e-02 1.29338920e+02] [ 2.68240969e-02 -2.18285702e-03 9.99637786e-01 7.13223926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.550714057 meters Centerline goodness : 0.989880 Centerline is valid? [True, True] Translation: X:151.70, Y:129.34, Z:7.14 [[-7.59286109e-01 -6.50480413e-01 1.89693804e-02 1.51697393e+02] [ 6.50203803e-01 -7.59519954e-01 -1.90906673e-02 1.29337286e+02] [ 2.68257280e-02 -2.16131521e-03 9.99637789e-01 7.13581392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.580714057 meters Centerline goodness : 0.990305 Centerline is valid? [True, True] Translation: X:151.70, Y:129.33, Z:7.14 [[-7.59264067e-01 -6.50506561e-01 1.89549553e-02 1.51703494e+02] [ 6.50229587e-01 -7.59497502e-01 -1.91057090e-02 1.29330222e+02] [ 2.68246303e-02 -2.18120554e-03 9.99637775e-01 7.13583407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.610714057 meters Centerline goodness : 0.990955 Centerline is valid? [True, True] Translation: X:151.70, Y:129.33, Z:7.14 [[-7.58050012e-01 -6.51918346e-01 1.90433516e-02 1.51701303e+02] [ 6.51644098e-01 -7.58286526e-01 -1.90135408e-02 1.29331774e+02] [ 2.68355931e-02 -2.00372715e-03 9.99637852e-01 7.13772030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.640714057 meters Centerline goodness : 0.989077 Centerline is valid? [True, True] Translation: X:151.71, Y:129.33, Z:7.14 [[-7.58458003e-01 -6.51444811e-01 1.90030708e-02 1.51707678e+02] [ 6.51169370e-01 -7.58693178e-01 -1.90555237e-02 1.29326316e+02] [ 2.68311222e-02 -2.07859682e-03 9.99637820e-01 7.13983597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.670714057 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:151.71, Y:129.33, Z:7.14 [[-7.56940442e-01 -6.53199678e-01 1.92703777e-02 1.51705560e+02] [ 6.52931782e-01 -7.57183942e-01 -1.87767585e-02 1.29328149e+02] [ 2.68561931e-02 -1.63064586e-03 9.99637977e-01 7.13764948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.700714057 meters Centerline goodness : 0.992428 Centerline is valid? [True, True] Translation: X:151.72, Y:129.32, Z:7.13 [[-7.49399022e-01 -6.61846053e-01 1.89975843e-02 1.51716336e+02] [ 6.61573753e-01 -7.49637818e-01 -1.90607210e-02 1.29323188e+02] [ 2.68565706e-02 -1.71578252e-03 9.99637825e-01 7.13296875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.730714057 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:151.72, Y:129.32, Z:7.13 [[-7.51062264e-01 -6.59966619e-01 1.86959044e-02 1.51720201e+02] [ 6.59685912e-01 -7.51291650e-01 -1.93740532e-02 1.29317353e+02] [ 2.68323052e-02 -2.21769550e-03 9.99637489e-01 7.13487793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76071405700003 meters Centerline goodness : 0.991284 Centerline is valid? [True, True] Translation: X:151.72, Y:129.32, Z:7.14 [[-7.50237886e-01 -6.60899388e-01 1.88444701e-02 1.51715005e+02] [ 6.60622802e-01 -7.50471930e-01 -1.92196953e-02 1.29321967e+02] [ 2.68445307e-02 -1.97025692e-03 9.99637679e-01 7.13660089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.790714057 meters Centerline goodness : 0.991788 Centerline is valid? [True, True] Translation: X:151.72, Y:129.32, Z:7.14 [[-7.49905914e-01 -6.61276062e-01 1.88438095e-02 1.51717600e+02] [ 6.60999577e-01 -7.50140078e-01 -1.92203815e-02 1.29318861e+02] [ 2.68454749e-02 -1.95772766e-03 9.99637678e-01 7.13753280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82071405700003 meters Centerline goodness : 0.990649 Centerline is valid? [True, True] Translation: X:151.72, Y:129.32, Z:7.14 [[-7.46924214e-01 -6.64643750e-01 1.87857658e-02 1.51721267e+02] [ 6.64366811e-01 -7.47157947e-01 -1.92806245e-02 1.29319405e+02] [ 2.68506808e-02 -1.92052593e-03 9.99637611e-01 7.14076135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.850714057 meters Centerline goodness : 0.990150 Centerline is valid? [True, True] Translation: X:151.72, Y:129.32, Z:7.14 [[-7.47576036e-01 -6.63906283e-01 1.89345610e-02 1.51718939e+02] [ 6.63632991e-01 -7.47813777e-01 -1.91261250e-02 1.29321702e+02] [ 2.68574802e-02 -1.73263335e-03 9.99637771e-01 7.13932652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88071405700003 meters Centerline goodness : 0.988679 Centerline is valid? [True, True] Translation: X:151.71, Y:129.33, Z:7.14 [[-7.47900198e-01 -6.63537806e-01 1.90492705e-02 1.51713817e+02] [ 6.63267405e-01 -7.48141084e-01 -1.90070174e-02 1.29327128e+02] [ 2.68634165e-02 -1.58059188e-03 9.99637864e-01 7.14150672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.910714057 meters Centerline goodness : 0.990690 Centerline is valid? [True, True] Translation: X:151.71, Y:129.33, Z:7.14 [[-7.47997124e-01 -6.63425706e-01 1.91477182e-02 1.51709751e+02] [ 6.63157868e-01 -7.48240771e-01 -1.89047955e-02 1.29332449e+02] [ 2.68690307e-02 -1.44277269e-03 9.99637921e-01 7.14039368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.940714057 meters Centerline goodness : 0.988986 Centerline is valid? [True, True] Translation: X:151.71, Y:129.34, Z:7.14 [[-7.43486090e-01 -6.68484287e-01 1.88995135e-02 1.51710108e+02] [ 6.68211546e-01 -7.43724505e-01 -1.91622036e-02 1.29339378e+02] [ 2.68656634e-02 -1.61795869e-03 9.99637744e-01 7.14440435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.970714057 meters Centerline goodness : 0.988949 Centerline is valid? [True, True] Translation: X:151.70, Y:129.35, Z:7.15 [[-7.43360424e-01 -6.68621843e-01 1.89765764e-02 1.51702107e+02] [ 6.68351174e-01 -7.43601086e-01 -1.90822729e-02 1.29347268e+02] [ 2.68698273e-02 -1.50198936e-03 9.99637813e-01 7.14597112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.000714057 meters Centerline goodness : 0.990558 Centerline is valid? [True, True] Translation: X:151.70, Y:129.35, Z:7.14 [[-7.43468068e-01 -6.68503851e-01 1.89164791e-02 1.51703756e+02] [ 6.68231563e-01 -7.43706975e-01 -1.91445622e-02 1.29346629e+02] [ 2.68665310e-02 -1.59278228e-03 9.99637761e-01 7.14441882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.030714057 meters Centerline goodness : 0.992245 Centerline is valid? [True, True] Translation: X:151.70, Y:129.35, Z:7.14 [[-7.45287199e-01 -6.66479325e-01 1.87696971e-02 1.51695472e+02] [ 6.66202564e-01 -7.45521151e-01 -1.92965391e-02 1.29353109e+02] [ 2.68539506e-02 -1.87704325e-03 9.99637605e-01 7.13558764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.060714057 meters Centerline goodness : 0.990378 Centerline is valid? [True, True] Translation: X:151.69, Y:129.36, Z:7.14 [[-7.51361337e-01 -6.59626648e-01 1.86768825e-02 1.51685643e+02] [ 6.59345380e-01 -7.51590044e-01 -1.93926655e-02 1.29361632e+02] [ 2.68292779e-02 -2.25638285e-03 9.99637484e-01 7.14239400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.090714057 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:151.69, Y:129.36, Z:7.14 [[-7.48740586e-01 -6.62588835e-01 1.90675374e-02 1.51688491e+02] [ 6.62318626e-01 -7.48981651e-01 -1.89874644e-02 1.29360156e+02] [ 2.68621176e-02 -1.58790007e-03 9.99637887e-01 7.14333661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.120714057 meters Centerline goodness : 0.988735 Centerline is valid? [True, True] Translation: X:151.69, Y:129.36, Z:7.14 [[-7.55536510e-01 -6.54833560e-01 1.89100775e-02 1.51689215e+02] [ 6.54556810e-01 -7.55770226e-01 -1.91506440e-02 1.29360213e+02] [ 2.68321579e-02 -2.09129071e-03 9.99637765e-01 7.14396410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.150714057 meters Centerline goodness : 0.990347 Centerline is valid? [True, True] Translation: X:151.69, Y:129.36, Z:7.14 [[-7.54855408e-01 -6.55610635e-01 1.91835343e-02 1.51687076e+02] [ 6.55341231e-01 -7.55097282e-01 -1.88670473e-02 1.29362819e+02] [ 2.68548715e-02 -1.67013164e-03 9.99637948e-01 7.14373190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.180714057 meters Centerline goodness : 0.989088 Centerline is valid? [True, True] Translation: X:151.68, Y:129.37, Z:7.14 [[-7.57267109e-01 -6.52827625e-01 1.90425214e-02 1.51678847e+02] [ 6.52553673e-01 -7.57503930e-01 -1.90131504e-02 1.29369739e+02] [ 2.68370946e-02 -1.97176612e-03 9.99637876e-01 7.14342456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.210714057 meters Centerline goodness : 0.990017 Centerline is valid? [True, True] Translation: X:151.68, Y:129.37, Z:7.14 [[-7.57113734e-01 -6.53003083e-01 1.91250289e-02 1.51675393e+02] [ 6.52731323e-01 -7.57352997e-01 -1.89276812e-02 1.29374037e+02] [ 2.68442322e-02 -1.84690196e-03 9.99637923e-01 7.14281302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.240714057 meters Centerline goodness : 0.988480 Centerline is valid? [True, True] Translation: X:151.68, Y:129.37, Z:7.14 [[-7.58778864e-01 -6.51068422e-01 1.90930816e-02 1.51680464e+02] [ 6.50795226e-01 -7.59016511e-01 -1.89607601e-02 1.29371528e+02] [ 2.68367163e-02 -1.96133761e-03 9.99637906e-01 7.13951885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.270714057 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:151.67, Y:129.38, Z:7.14 [[-7.57994645e-01 -6.51974883e-01 1.93098448e-02 1.51672774e+02] [ 6.51707618e-01 -7.58238838e-01 -1.87362006e-02 1.29377057e+02] [ 2.68570065e-02 -1.61756673e-03 9.99637977e-01 7.13743040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.300714057 meters Centerline goodness : 0.992780 Centerline is valid? [True, True] Translation: X:151.67, Y:129.38, Z:7.14 [[-7.56956230e-01 -6.53187905e-01 1.90480366e-02 1.51667137e+02] [ 6.52914220e-01 -7.57193341e-01 -1.90069676e-02 1.29382642e+02] [ 2.68381678e-02 -1.95070855e-03 9.99637888e-01 7.13542679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.330714057 meters Centerline goodness : 0.990924 Centerline is valid? [True, True] Translation: X:151.66, Y:129.39, Z:7.14 [[-7.57219529e-01 -6.52887735e-01 1.88730150e-02 1.51655201e+02] [ 6.52609468e-01 -7.57451457e-01 -1.91878262e-02 1.29394844e+02] [ 2.68228891e-02 -2.21268840e-03 9.99637753e-01 7.13551909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.360714057 meters Centerline goodness : 0.991421 Centerline is valid? [True, True] Translation: X:151.65, Y:129.39, Z:7.14 [[-7.57610464e-01 -6.52427191e-01 1.91088086e-02 1.51654880e+02] [ 6.52154842e-01 -7.57849054e-01 -1.89439612e-02 1.29392686e+02] [ 2.68411479e-02 -1.89024121e-03 9.99637924e-01 7.14266819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.390714057 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:151.68, Y:129.37, Z:7.14 [[-7.55757325e-01 -6.54573069e-01 1.91040234e-02 1.51675016e+02] [ 6.54301274e-01 -7.55996549e-01 -1.89489074e-02 1.29372974e+02] [ 2.68460202e-02 -1.82098871e-03 9.99637922e-01 7.14247440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.420714057 meters Centerline goodness : 0.992627 Centerline is valid? [True, True] Translation: X:151.67, Y:129.38, Z:7.13 [[-7.55578937e-01 -6.54780771e-01 1.90423892e-02 1.51666556e+02] [ 6.54507447e-01 -7.55816462e-01 -1.90125403e-02 1.29377717e+02] [ 2.68415970e-02 -1.90208943e-03 9.99637890e-01 7.13361783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.450714057 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:151.67, Y:129.37, Z:7.13 [[-7.54312017e-01 -6.56244644e-01 1.88771809e-02 1.51669143e+02] [ 6.55967532e-01 -7.54545301e-01 -1.91829473e-02 1.29374546e+02] [ 2.68323945e-02 -2.08710990e-03 9.99637768e-01 7.13195432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.480714057 meters Centerline goodness : 0.989058 Centerline is valid? [True, True] Translation: X:151.67, Y:129.38, Z:7.14 [[-7.54576972e-01 -6.55939776e-01 1.88839516e-02 1.51667428e+02] [ 6.55662743e-01 -7.54810340e-01 -1.91759648e-02 1.29375261e+02] [ 2.68320800e-02 -2.08823792e-03 9.99637774e-01 7.13981851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.51071405700003 meters Centerline goodness : 0.992021 Centerline is valid? [True, True] Translation: X:151.67, Y:129.37, Z:7.13 [[-7.50651034e-01 -6.60424379e-01 1.90437707e-02 1.51671048e+02] [ 6.60152878e-01 -7.50890640e-01 -1.90111509e-02 1.29369903e+02] [ 2.68552167e-02 -1.69894004e-03 9.99637890e-01 7.13191535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.540714057 meters Centerline goodness : 0.992021 Centerline is valid? [True, True] Translation: X:151.67, Y:129.37, Z:7.13 [[-7.50428986e-01 -6.60683949e-01 1.87898006e-02 1.51669189e+02] [ 6.60405985e-01 -7.50661376e-01 -1.92726255e-02 1.29371796e+02] [ 2.68378919e-02 -2.05384007e-03 9.99637689e-01 7.13184734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.57071405700003 meters Centerline goodness : 0.991799 Centerline is valid? [True, True] Translation: X:151.67, Y:129.37, Z:7.13 [[-7.50295891e-01 -6.60835114e-01 1.87890365e-02 1.51672735e+02] [ 6.60557177e-01 -7.50528315e-01 -1.92734116e-02 1.29367437e+02] [ 2.68382510e-02 -2.04952860e-03 9.99637688e-01 7.13264792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.600714057 meters Centerline goodness : 0.991937 Centerline is valid? [True, True] Translation: X:151.65, Y:129.37, Z:7.14 [[-7.60304461e-01 -6.49289389e-01 1.89846133e-02 1.51654234e+02] [ 6.49012879e-01 -7.60538322e-01 -1.90720611e-02 1.29367101e+02] [ 2.68218128e-02 -2.17931458e-03 9.99637855e-01 7.13873940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.63071405700003 meters Centerline goodness : 0.991760 Centerline is valid? [True, True] Translation: X:151.63, Y:129.38, Z:7.14 [[-7.59827085e-01 -6.49838492e-01 1.93063520e-02 1.51634885e+02] [ 6.49570428e-01 -7.60070423e-01 -1.87406139e-02 1.29384482e+02] [ 2.68525594e-02 -1.69879071e-03 9.99637962e-01 7.13995686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.660714057 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:151.62, Y:129.40, Z:7.14 [[-7.60320132e-01 -6.49258063e-01 1.94233018e-02 1.51615263e+02] [ 6.48992857e-01 -7.60566604e-01 -1.86202120e-02 1.29400527e+02] [ 2.68620374e-02 -1.55173789e-03 9.99637946e-01 7.14439659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.690714057 meters Centerline goodness : 0.986884 Centerline is valid? [True, True] Translation: X:151.15, Y:129.84, Z:7.16 [[-7.57749019e-01 -6.52257602e-01 1.94021975e-02 1.51154574e+02] [ 6.51992822e-01 -7.57995939e-01 -1.86418008e-02 1.29843509e+02] [ 2.68660432e-02 -1.47571274e-03 9.99637953e-01 7.15949261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.720714057 meters Centerline goodness : 0.988136 Centerline is valid? [True, True] Translation: X:151.67, Y:129.35, Z:7.14 [[-7.32365820e-01 -6.80631473e-01 1.95218568e-02 1.51667170e+02] [ 6.80379542e-01 -7.32625907e-01 -1.85191594e-02 1.29354077e+02] [ 2.69069408e-02 -2.80527358e-04 9.99637903e-01 7.14248901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.750714057 meters Centerline goodness : 0.989707 Centerline is valid? [True, True] Translation: X:151.65, Y:129.36, Z:7.14 [[-7.31529980e-01 -6.81550567e-01 1.87806671e-02 1.51654316e+02] [ 6.81279448e-01 -7.31769867e-01 -1.92659118e-02 1.29363779e+02] [ 2.68738194e-02 -1.29870955e-03 9.99637990e-01 7.13824096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.780714057 meters Centerline goodness : 0.988593 Centerline is valid? [True, True] Translation: X:151.66, Y:129.36, Z:7.14 [[-7.30321828e-01 -6.82846063e-01 1.87425081e-02 1.51656051e+02] [ 6.82574386e-01 -7.30561120e-01 -1.93043333e-02 1.29359842e+02] [ 2.68744357e-02 -1.30522002e-03 9.99637965e-01 7.13716128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.810714057 meters Centerline goodness : 0.988359 Centerline is valid? [True, True] Translation: X:151.64, Y:129.37, Z:7.14 [[-7.28330396e-01 -6.84968586e-01 1.87848518e-02 1.51640938e+02] [ 6.84698701e-01 -7.28571668e-01 -1.92617158e-02 1.29370133e+02] [ 2.68797810e-02 -1.16692954e-03 9.99637992e-01 7.13993446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.840714057 meters Centerline goodness : 0.989931 Centerline is valid? [True, True] Translation: X:151.64, Y:129.37, Z:7.13 [[-7.26563902e-01 -6.86842654e-01 1.87633774e-02 1.51639580e+02] [ 6.86572835e-01 -7.26805266e-01 -1.92833214e-02 1.29369544e+02] [ 2.68819291e-02 -1.12814004e-03 9.99637979e-01 7.13441942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.870714057 meters Centerline goodness : 0.989390 Centerline is valid? [True, True] Translation: X:151.63, Y:129.37, Z:7.14 [[-7.26565063e-01 -6.86847469e-01 1.85408576e-02 1.51632640e+02] [ 6.86571926e-01 -7.26800159e-01 -1.95069042e-02 1.29373653e+02] [ 2.68737660e-02 -1.44340279e-03 9.99637793e-01 7.13677459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.900714057 meters Centerline goodness : 0.990688 Centerline is valid? [True, True] Translation: X:151.65, Y:129.36, Z:7.14 [[-7.21972650e-01 -6.91669520e-01 1.86753118e-02 1.51647064e+02] [ 6.91399025e-01 -7.22213349e-01 -1.93718039e-02 1.29359566e+02] [ 2.68864458e-02 -1.07382026e-03 9.99637917e-01 7.13550097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.930714057 meters Centerline goodness : 0.987017 Centerline is valid? [True, True] Translation: X:151.64, Y:129.36, Z:7.14 [[-7.21863375e-01 -6.91786337e-01 1.85723411e-02 1.51642827e+02] [ 6.91513219e-01 -7.22101230e-01 -1.94751451e-02 1.29363047e+02] [ 2.68837496e-02 -1.21537460e-03 9.99637828e-01 7.14340292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.960714057 meters Centerline goodness : 0.987413 Centerline is valid? [True, True] Translation: X:151.65, Y:129.36, Z:7.14 [[-7.20079726e-01 -6.93634694e-01 1.88706066e-02 1.51646550e+02] [ 6.93369969e-01 -7.20326584e-01 -1.91754879e-02 1.29360933e+02] [ 2.68937832e-02 -7.23568179e-04 9.99638035e-01 7.14382485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.990714057 meters Centerline goodness : 0.988366 Centerline is valid? [True, True] Translation: X:151.64, Y:129.36, Z:7.14 [[-7.19553187e-01 -6.94180951e-01 1.88684636e-02 1.51642790e+02] [ 6.93916356e-01 -7.19800187e-01 -1.91776404e-02 1.29363817e+02] [ 2.68942763e-02 -7.06196804e-04 9.99638034e-01 7.13994883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.020714057 meters Centerline goodness : 0.987696 Centerline is valid? [True, True] Translation: X:151.64, Y:129.36, Z:7.14 [[-7.19422208e-01 -6.94320592e-01 1.87243845e-02 1.51644527e+02] [ 6.94052271e-01 -7.19665267e-01 -1.93222218e-02 1.29363456e+02] [ 2.68911057e-02 -9.05133901e-04 9.99637959e-01 7.14097042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.050714057 meters Centerline goodness : 0.990111 Centerline is valid? [True, True] Translation: X:151.63, Y:129.38, Z:7.14 [[-7.18643437e-01 -6.95123597e-01 1.88360137e-02 1.51632928e+02] [ 6.94858473e-01 -7.18889888e-01 -1.92101992e-02 1.29378386e+02] [ 2.68944826e-02 -7.16919892e-04 9.99638021e-01 7.13528667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.080714057 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:151.64, Y:129.38, Z:7.13 [[-7.20560340e-01 -6.93145537e-01 1.84948855e-02 1.51635963e+02] [ 6.92870894e-01 -7.20796533e-01 -1.95520438e-02 1.29376536e+02] [ 2.68834612e-02 -1.27385947e-03 9.99637763e-01 7.13441847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.110714057 meters Centerline goodness : 0.988667 Centerline is valid? [True, True] Translation: X:151.64, Y:129.37, Z:7.14 [[-7.22094808e-01 -6.91544501e-01 1.85820350e-02 1.51643802e+02] [ 6.91271571e-01 -7.22332845e-01 -1.94647443e-02 1.29373931e+02] [ 2.68831511e-02 -1.21015826e-03 9.99637850e-01 7.13699855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.140714057 meters Centerline goodness : 0.987903 Centerline is valid? [True, True] Translation: X:151.64, Y:129.38, Z:7.14 [[-7.24508202e-01 -6.89009338e-01 1.88148232e-02 1.51640533e+02] [ 6.88741585e-01 -7.24751807e-01 -1.92313847e-02 1.29380812e+02] [ 2.68866808e-02 -9.74744797e-04 9.99638013e-01 7.13682138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.170714057 meters Centerline goodness : 0.987303 Centerline is valid? [True, True] Translation: X:151.63, Y:129.39, Z:7.13 [[-7.28652938e-01 -6.84625176e-01 1.87953169e-02 1.51632612e+02] [ 6.84355456e-01 -7.28894376e-01 -1.92509329e-02 1.29391305e+02] [ 2.68794741e-02 -1.16457115e-03 9.99638003e-01 7.13421919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.200714057 meters Centerline goodness : 0.988498 Centerline is valid? [True, True] Translation: X:151.64, Y:129.39, Z:7.14 [[-7.27192637e-01 -6.86169198e-01 1.90446723e-02 1.51639680e+02] [ 6.85906480e-01 -7.27441587e-01 -1.90010068e-02 1.29385346e+02] [ 2.68917923e-02 -7.54528115e-04 9.99638066e-01 7.13669184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.230714057 meters Centerline goodness : 0.990577 Centerline is valid? [True, True] Translation: X:151.63, Y:129.40, Z:7.13 [[-7.27844783e-01 -6.85482865e-01 1.88471094e-02 1.51632295e+02] [ 6.85214774e-01 -7.28087989e-01 -1.91987983e-02 1.29396093e+02] [ 2.68828012e-02 -1.05942735e-03 9.99638031e-01 7.13379273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26071405700003 meters Centerline goodness : 0.990876 Centerline is valid? [True, True] Translation: X:151.63, Y:129.40, Z:7.14 [[-7.30463174e-01 -6.82700785e-01 1.85253895e-02 1.51632459e+02] [ 6.82423569e-01 -7.30696260e-01 -1.95204294e-02 1.29398624e+02] [ 2.68630453e-02 -1.61679239e-03 9.99637816e-01 7.13708817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.290714057 meters Centerline goodness : 0.989323 Centerline is valid? [True, True] Translation: X:151.63, Y:129.40, Z:7.14 [[-7.31012967e-01 -6.82103800e-01 1.88267963e-02 1.51629055e+02] [ 6.81834070e-01 -7.31254358e-01 -1.92188785e-02 1.29402460e+02] [ 2.68764469e-02 -1.21249820e-03 9.99638028e-01 7.13702163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32071405700003 meters Centerline goodness : 0.988575 Centerline is valid? [True, True] Translation: X:151.64, Y:129.40, Z:7.14 [[-7.29989667e-01 -6.83197852e-01 1.88621582e-02 1.51635969e+02] [ 6.82929394e-01 -7.30232453e-01 -1.91835216e-02 1.29397711e+02] [ 2.68799009e-02 -1.12225026e-03 9.99638040e-01 7.13717706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.350714057 meters Centerline goodness : 0.990062 Centerline is valid? [True, True] Translation: X:151.64, Y:129.39, Z:7.14 [[-7.30171209e-01 -6.83005115e-01 1.88153728e-02 1.51640536e+02] [ 6.82735390e-01 -7.30412612e-01 -1.92302717e-02 1.29391492e+02] [ 2.68773595e-02 -1.19546985e-03 9.99638024e-01 7.13620366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38071405700003 meters Centerline goodness : 0.989169 Centerline is valid? [True, True] Translation: X:151.64, Y:129.39, Z:7.14 [[-7.29100956e-01 -6.84148531e-01 1.87772134e-02 1.51639023e+02] [ 6.83878205e-01 -7.29341710e-01 -1.92683809e-02 1.29394559e+02] [ 2.68774394e-02 -1.20726792e-03 9.99638007e-01 7.13834248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.410714057 meters Centerline goodness : 0.989412 Centerline is valid? [True, True] Translation: X:151.64, Y:129.40, Z:7.14 [[-7.29266682e-01 -6.83973955e-01 1.87012428e-02 1.51638162e+02] [ 6.83701629e-01 -7.29505233e-01 -1.93442111e-02 1.29397091e+02] [ 2.68735911e-02 -1.32101843e-03 9.99637967e-01 7.13898509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.440714057 meters Centerline goodness : 0.989008 Centerline is valid? [True, True] Translation: X:151.63, Y:129.40, Z:7.14 [[-7.28791958e-01 -6.84478915e-01 1.87322480e-02 1.51631789e+02] [ 6.84207547e-01 -7.29031570e-01 -1.93132712e-02 1.29403534e+02] [ 2.68759271e-02 -1.25861128e-03 9.99637985e-01 7.14052431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.470714057 meters Centerline goodness : 0.988062 Centerline is valid? [True, True] Translation: X:151.62, Y:129.41, Z:7.14 [[-7.33002236e-01 -6.79969763e-01 1.86773457e-02 1.51619494e+02] [ 6.79695530e-01 -7.33238614e-01 -1.93680388e-02 1.29414478e+02] [ 2.68646319e-02 -1.50190735e-03 9.99637952e-01 7.13854081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.500714057 meters Centerline goodness : 0.988681 Centerline is valid? [True, True] Translation: X:151.64, Y:129.40, Z:7.14 [[-7.30155473e-01 -6.83020931e-01 1.88518688e-02 1.51636801e+02] [ 6.82752147e-01 -7.30397906e-01 -1.91938690e-02 1.29399131e+02] [ 2.68791797e-02 -1.14335459e-03 9.99638036e-01 7.13750576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.530714057 meters Centerline goodness : 0.989518 Centerline is valid? [True, True] Translation: X:151.63, Y:129.41, Z:7.13 [[-7.33378002e-01 -6.79564351e-01 1.86815195e-02 1.51628015e+02] [ 6.79290097e-01 -7.33614348e-01 -1.93636895e-02 1.29406738e+02] [ 2.68639038e-02 -1.51073275e-03 9.99637959e-01 7.13389845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.560714057 meters Centerline goodness : 0.988348 Centerline is valid? [True, True] Translation: X:151.62, Y:129.41, Z:7.13 [[-7.34660871e-01 -6.78177674e-01 1.86667469e-02 1.51623894e+02] [ 6.77902602e-01 -7.34896278e-01 -1.93784134e-02 1.29410607e+02] [ 2.68601301e-02 -1.58232575e-03 9.99637949e-01 7.13426686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.590714057 meters Centerline goodness : 0.988741 Centerline is valid? [True, True] Translation: X:151.62, Y:129.41, Z:7.13 [[-7.35885869e-01 -6.76846293e-01 1.87372220e-02 1.51621244e+02] [ 6.76572571e-01 -7.36122782e-01 -1.93081788e-02 1.29413973e+02] [ 2.68615652e-02 -1.53152543e-03 9.99637990e-01 7.13361463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.620714057 meters Centerline goodness : 0.988671 Centerline is valid? [True, True] Translation: X:151.62, Y:129.41, Z:7.14 [[-7.36781441e-01 -6.75869832e-01 1.87903709e-02 1.51621200e+02] [ 6.75597138e-01 -7.37019500e-01 -1.92552218e-02 1.29412286e+02] [ 2.68628933e-02 -1.49216923e-03 9.99638014e-01 7.13551734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.650714057 meters Centerline goodness : 0.989369 Centerline is valid? [True, True] Translation: X:151.62, Y:129.42, Z:7.13 [[-7.38093195e-01 -6.74437448e-01 1.87767038e-02 1.51615705e+02] [ 6.74163948e-01 -7.38330335e-01 -1.92688304e-02 1.29416669e+02] [ 2.68590308e-02 -1.56361582e-03 9.99638008e-01 7.13477916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.680714057 meters Centerline goodness : 0.989193 Centerline is valid? [True, True] Translation: X:151.61, Y:129.42, Z:7.14 [[-7.40514472e-01 -6.71778690e-01 1.87538780e-02 1.51609041e+02] [ 6.71503767e-01 -7.40749976e-01 -1.92915482e-02 1.29422292e+02] [ 2.68515857e-02 -1.69237092e-03 9.99637999e-01 7.13502110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.710714057 meters Centerline goodness : 0.989215 Centerline is valid? [True, True] Translation: X:151.60, Y:129.43, Z:7.14 [[-7.42330121e-01 -6.69771341e-01 1.87707704e-02 1.51598851e+02] [ 6.69496203e-01 -7.42565363e-01 -1.92747380e-02 1.29431999e+02] [ 2.68481910e-02 -1.74125906e-03 9.99638006e-01 7.13507334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.740714057 meters Centerline goodness : 0.989274 Centerline is valid? [True, True] Translation: X:151.60, Y:129.43, Z:7.14 [[-7.44263788e-01 -6.67620933e-01 1.88070056e-02 1.51604422e+02] [ 6.67346018e-01 -7.44499271e-01 -1.92386969e-02 1.29427318e+02] [ 2.68459588e-02 -1.76788516e-03 9.99638019e-01 7.13511560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.770714057 meters Centerline goodness : 0.991311 Centerline is valid? [True, True] Translation: X:151.60, Y:129.43, Z:7.13 [[-7.43410642e-01 -6.68569696e-01 1.88461855e-02 1.51603935e+02] [ 6.68296061e-01 -7.43647594e-01 -1.91997542e-02 1.29426280e+02] [ 2.68512943e-02 -1.67847009e-03 9.99638030e-01 7.13337841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.800714057 meters Centerline goodness : 0.990470 Centerline is valid? [True, True] Translation: X:151.59, Y:129.43, Z:7.13 [[-7.45403624e-01 -6.66352746e-01 1.86401353e-02 1.51593320e+02] [ 6.66073306e-01 -7.45633839e-01 -1.94043544e-02 1.29434239e+02] [ 2.68288605e-02 -2.04837958e-03 9.99637943e-01 7.13378794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.830714057 meters Centerline goodness : 0.991077 Centerline is valid? [True, True] Translation: X:151.59, Y:129.43, Z:7.13 [[-7.44191216e-01 -6.67704241e-01 1.87211407e-02 1.51593913e+02] [ 6.67427220e-01 -7.44424268e-01 -1.93239358e-02 1.29432804e+02] [ 2.68391454e-02 -1.88570442e-03 9.99637987e-01 7.13346446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.860714057 meters Centerline goodness : 0.990099 Centerline is valid? [True, True] Translation: X:151.60, Y:129.43, Z:7.13 [[-7.43286404e-01 -6.68712478e-01 1.86800088e-02 1.51597010e+02] [ 6.68434756e-01 -7.43518651e-01 -1.93647478e-02 1.29429149e+02] [ 2.68383834e-02 -1.90718664e-03 9.99637966e-01 7.13347085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.890714057 meters Centerline goodness : 0.990123 Centerline is valid? [True, True] Translation: X:151.60, Y:129.43, Z:7.13 [[-7.39570712e-01 -6.72818289e-01 1.87273004e-02 1.51596452e+02] [ 6.72543036e-01 -7.39805844e-01 -1.93178361e-02 1.29428702e+02] [ 2.68519597e-02 -1.69199035e-03 9.99637989e-01 7.13298862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.920714057 meters Centerline goodness : 0.990077 Centerline is valid? [True, True] Translation: X:151.60, Y:129.42, Z:7.13 [[-7.37737085e-01 -6.74831946e-01 1.85967170e-02 1.51600681e+02] [ 6.74554081e-01 -7.37969238e-01 -1.94472619e-02 1.29423023e+02] [ 2.68474387e-02 -1.80247499e-03 9.99637918e-01 7.13325618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.950714057 meters Centerline goodness : 0.988221 Centerline is valid? [True, True] Translation: X:151.60, Y:129.42, Z:7.14 [[-7.33117705e-01 -6.79844376e-01 1.87097528e-02 1.51603268e+02] [ 6.79570935e-01 -7.33354956e-01 -1.93352590e-02 1.29416683e+02] [ 2.68658570e-02 -1.46041652e-03 9.99637981e-01 7.13729911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.980714057 meters Centerline goodness : 0.989496 Centerline is valid? [True, True] Translation: X:151.60, Y:129.41, Z:7.14 [[-7.29994686e-01 -6.83195338e-01 1.87586776e-02 1.51603314e+02] [ 6.82924226e-01 -7.30234566e-01 -1.92867906e-02 1.29413608e+02] [ 2.68748803e-02 -1.26849925e-03 9.99638000e-01 7.13528855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.01071405700003 meters Centerline goodness : 0.989737 Centerline is valid? [True, True] Translation: X:151.60, Y:129.42, Z:7.14 [[-7.25120007e-01 -6.88370713e-01 1.86208845e-02 1.51595274e+02] [ 6.88097810e-01 -7.25357943e-01 -1.94231414e-02 1.29419211e+02] [ 2.68771282e-02 -1.27111860e-03 9.99637937e-01 7.13788676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.040714057 meters Centerline goodness : 0.990342 Centerline is valid? [True, True] Translation: X:151.59, Y:129.42, Z:7.13 [[-7.23782980e-01 -6.89779877e-01 1.84910574e-02 1.51587481e+02] [ 6.89504157e-01 -7.24017788e-01 -1.95514854e-02 1.29424907e+02] [ 2.68740757e-02 -1.40137146e-03 9.99637845e-01 7.13380035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.07071405700003 meters Centerline goodness : 0.988065 Centerline is valid? [True, True] Translation: X:151.59, Y:129.43, Z:7.14 [[-7.24273436e-01 -6.89267788e-01 1.83822245e-02 1.51585702e+02] [ 6.88989174e-01 -7.24504963e-01 -1.96590192e-02 1.29427295e+02] [ 2.68683416e-02 -1.57335169e-03 9.99637743e-01 7.13782530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.100714057 meters Centerline goodness : 0.990185 Centerline is valid? [True, True] Translation: X:151.58, Y:129.43, Z:7.13 [[-7.23194479e-01 -6.90393510e-01 1.86157557e-02 1.51576362e+02] [ 6.90121146e-01 -7.23433033e-01 -1.94281002e-02 1.29434370e+02] [ 2.68802869e-02 -1.20316818e-03 9.99637936e-01 7.13315280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.13071405700003 meters Centerline goodness : 0.987697 Centerline is valid? [True, True] Translation: X:151.58, Y:129.43, Z:7.14 [[-7.24294059e-01 -6.89245726e-01 1.83968897e-02 1.51577546e+02] [ 6.88967476e-01 -7.24525995e-01 -1.96443500e-02 1.29432533e+02] [ 2.68688091e-02 -1.55342736e-03 9.99637761e-01 7.13706291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.160714057 meters Centerline goodness : 0.987576 Centerline is valid? [True, True] Translation: X:151.58, Y:129.42, Z:7.14 [[-7.25144980e-01 -6.88343394e-01 1.86582349e-02 1.51583108e+02] [ 6.88071435e-01 -7.25383957e-01 -1.93859405e-02 1.29424969e+02] [ 2.68785683e-02 -1.21941894e-03 9.99637962e-01 7.13632792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.190714057 meters Centerline goodness : 0.988536 Centerline is valid? [True, True] Translation: X:151.58, Y:129.43, Z:7.14 [[-7.26916425e-01 -6.86471946e-01 1.86756127e-02 1.51576128e+02] [ 6.86199812e-01 -7.27155189e-01 -1.93687650e-02 1.29431096e+02] [ 2.68761825e-02 -1.26427143e-03 9.99637971e-01 7.13508107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.220714057 meters Centerline goodness : 0.988230 Centerline is valid? [True, True] Translation: X:151.58, Y:129.43, Z:7.13 [[-7.26973709e-01 -6.86411902e-01 1.86528138e-02 1.51580181e+02] [ 6.86139172e-01 -7.27211809e-01 -1.93912854e-02 1.29427985e+02] [ 2.68749555e-02 -1.29852848e-03 9.99637960e-01 7.13387280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.250714057 meters Centerline goodness : 0.987652 Centerline is valid? [True, True] Translation: X:151.58, Y:129.43, Z:7.13 [[-7.29019933e-01 -6.84238502e-01 1.86442865e-02 1.51579117e+02] [ 6.83964848e-01 -7.29256977e-01 -1.93997020e-02 1.29430147e+02] [ 2.68704990e-02 -1.39073293e-03 9.99637956e-01 7.13430139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.280714057 meters Centerline goodness : 0.988123 Centerline is valid? [True, True] Translation: X:151.58, Y:129.43, Z:7.13 [[-7.30902083e-01 -6.82225477e-01 1.87227797e-02 1.51575482e+02] [ 6.81953142e-01 -7.31140591e-01 -1.93222521e-02 1.29432857e+02] [ 2.68711168e-02 -1.35461590e-03 9.99637989e-01 7.13455366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.310714057 meters Centerline goodness : 0.988550 Centerline is valid? [True, True] Translation: X:151.58, Y:129.43, Z:7.13 [[-7.32855074e-01 -6.80128705e-01 1.86650637e-02 1.51577801e+02] [ 6.79854243e-01 -7.33091165e-01 -1.93791536e-02 1.29429178e+02] [ 2.68635119e-02 -1.51258827e-03 9.99637966e-01 7.13491932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.340714057 meters Centerline goodness : 0.989214 Centerline is valid? [True, True] Translation: X:151.57, Y:129.44, Z:7.14 [[-7.34153613e-01 -6.78728240e-01 1.86131491e-02 1.51569998e+02] [ 6.78452036e-01 -7.34387703e-01 -1.94302950e-02 1.29435551e+02] [ 2.68571577e-02 -1.63669234e-03 9.99637942e-01 7.13723141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.370714057 meters Centerline goodness : 0.988836 Centerline is valid? [True, True] Translation: X:151.57, Y:129.44, Z:7.14 [[-7.34306056e-01 -6.78563302e-01 1.86134681e-02 1.51566948e+02] [ 6.78287054e-01 -7.34540093e-01 -1.94299809e-02 1.29437674e+02] [ 2.68568106e-02 -1.64227820e-03 9.99637942e-01 7.13710442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.400714057 meters Centerline goodness : 0.988864 Centerline is valid? [True, True] Translation: X:151.57, Y:129.44, Z:7.14 [[-7.34992270e-01 -6.77819321e-01 1.86368176e-02 1.51567197e+02] [ 6.77543415e-01 -7.35226692e-01 -1.94070010e-02 1.29436004e+02] [ 2.68567260e-02 -1.63674269e-03 9.99637953e-01 7.13732079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.430714057 meters Centerline goodness : 0.988864 Centerline is valid? [True, True] Translation: X:151.57, Y:129.44, Z:7.14 [[-7.34747147e-01 -6.78084703e-01 1.86484966e-02 1.51565268e+02] [ 6.77809171e-01 -7.34982001e-01 -1.93955104e-02 1.29437842e+02] [ 2.68581083e-02 -1.61067390e-03 9.99637958e-01 7.13739905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.460714057 meters Centerline goodness : 0.988504 Centerline is valid? [True, True] Translation: X:151.56, Y:129.44, Z:7.14 [[-7.33583258e-01 -6.79343873e-01 1.86414998e-02 1.51561549e+02] [ 6.79068571e-01 -7.33818386e-01 -1.94023892e-02 1.29439993e+02] [ 2.68603696e-02 -1.57441127e-03 9.99637955e-01 7.13963565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.490714057 meters Centerline goodness : 0.988435 Centerline is valid? [True, True] Translation: X:151.56, Y:129.44, Z:7.14 [[-7.33388350e-01 -6.79555674e-01 1.85907007e-02 1.51561159e+02] [ 6.79279180e-01 -7.33622112e-01 -1.94522912e-02 1.29439212e+02] [ 2.68574640e-02 -1.63780780e-03 9.99637932e-01 7.13873557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.520714057 meters Centerline goodness : 0.987656 Centerline is valid? [True, True] Translation: X:151.56, Y:129.44, Z:7.14 [[-7.32134957e-01 -6.80904875e-01 1.86267382e-02 1.51560725e+02] [ 6.80629707e-01 -7.32370252e-01 -1.94169113e-02 1.29435593e+02] [ 2.68627385e-02 -1.53788820e-03 9.99637949e-01 7.13797685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.550714057 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:151.56, Y:129.44, Z:7.14 [[-7.31383881e-01 -6.81712214e-01 1.86031038e-02 1.51556518e+02] [ 6.81436719e-01 -7.31618809e-01 -1.94401005e-02 1.29438697e+02] [ 2.68629346e-02 -1.54133819e-03 9.99637938e-01 7.13684176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.580714057 meters Centerline goodness : 0.988029 Centerline is valid? [True, True] Translation: X:151.55, Y:129.44, Z:7.14 [[-7.31927263e-01 -6.81129198e-01 1.85875695e-02 1.51553762e+02] [ 6.80853130e-01 -7.32161529e-01 -1.94553337e-02 1.29440207e+02] [ 2.68606992e-02 -1.58448426e-03 9.99637931e-01 7.13575749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.610714057 meters Centerline goodness : 0.986752 Centerline is valid? [True, True] Translation: X:151.54, Y:129.45, Z:7.14 [[-7.31536876e-01 -6.81545939e-01 1.86797306e-02 1.51544445e+02] [ 6.81272295e-01 -7.31773912e-01 -1.93649406e-02 1.29448923e+02] [ 2.68674362e-02 -1.44018518e-03 9.99637968e-01 7.13569118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.640714057 meters Centerline goodness : 0.989834 Centerline is valid? [True, True] Translation: X:151.54, Y:129.44, Z:7.13 [[-7.29336613e-01 -6.83900873e-01 1.86467450e-02 1.51544754e+02] [ 6.83627171e-01 -7.29573600e-01 -1.93972749e-02 1.29442988e+02] [ 2.68699861e-02 -1.39972125e-03 9.99637957e-01 7.13077618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.670714057 meters Centerline goodness : 0.988625 Centerline is valid? [True, True] Translation: X:151.55, Y:129.44, Z:7.13 [[-7.28623140e-01 -6.84671126e-01 1.82693618e-02 1.51549331e+02] [ 6.84388374e-01 -7.28849672e-01 -1.97663591e-02 1.29437636e+02] [ 2.68490737e-02 -1.89888781e-03 9.99637695e-01 7.13434197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.700714057 meters Centerline goodness : 0.988533 Centerline is valid? [True, True] Translation: X:151.54, Y:129.44, Z:7.14 [[-7.27781140e-01 -6.85561677e-01 1.84336545e-02 1.51541484e+02] [ 6.85283233e-01 -7.28012713e-01 -1.96056402e-02 1.29441664e+02] [ 2.68608104e-02 -1.63634086e-03 9.99637844e-01 7.13682157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.730714057 meters Centerline goodness : 0.988390 Centerline is valid? [True, True] Translation: X:151.55, Y:129.43, Z:7.14 [[-7.27033951e-01 -6.86352472e-01 1.84910140e-02 1.51549122e+02] [ 6.86075698e-01 -7.27267456e-01 -1.95495398e-02 1.29432096e+02] [ 2.68657876e-02 -1.52694382e-03 9.99637883e-01 7.13622173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76071405700003 meters Centerline goodness : 0.989231 Centerline is valid? [True, True] Translation: X:151.54, Y:129.44, Z:7.13 [[-7.27226571e-01 -6.86147919e-01 1.85080506e-02 1.51540866e+02] [ 6.85871500e-01 -7.27460481e-01 -1.95328863e-02 1.29438645e+02] [ 2.68663246e-02 -1.51068949e-03 9.99637894e-01 7.13328758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.790714057 meters Centerline goodness : 0.988616 Centerline is valid? [True, True] Translation: X:151.53, Y:129.44, Z:7.14 [[-7.29701606e-01 -6.83521807e-01 1.82621402e-02 1.51533950e+02] [ 6.83238533e-01 -7.29927485e-01 -1.97730562e-02 1.29444871e+02] [ 2.68453531e-02 -1.95103303e-03 9.99637695e-01 7.13717967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82071405700003 meters Centerline goodness : 0.990001 Centerline is valid? [True, True] Translation: X:151.53, Y:129.45, Z:7.13 [[-7.31733758e-01 -6.81339543e-01 1.84968673e-02 1.51528909e+02] [ 6.81061320e-01 -7.31965522e-01 -1.95436155e-02 1.29448734e+02] [ 2.68549072e-02 -1.70322236e-03 9.99637891e-01 7.13483907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.850714057 meters Centerline goodness : 0.989430 Centerline is valid? [True, True] Translation: X:151.52, Y:129.45, Z:7.14 [[-7.33730500e-01 -6.79192574e-01 1.83576091e-02 1.51521954e+02] [ 6.78910282e-01 -7.33957453e-01 -1.96796112e-02 1.29454381e+02] [ 2.68399498e-02 -1.97636138e-03 9.99637790e-01 7.13607430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88071405700003 meters Centerline goodness : 0.988634 Centerline is valid? [True, True] Translation: X:151.52, Y:129.45, Z:7.14 [[-7.36325878e-01 -6.76376480e-01 1.84135617e-02 1.51520353e+02] [ 6.76094674e-01 -7.36553361e-01 -1.96249651e-02 1.29454469e+02] [ 2.68364356e-02 -2.00105860e-03 9.99637835e-01 7.13668533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.910714057 meters Centerline goodness : 0.988936 Centerline is valid? [True, True] Translation: X:151.52, Y:129.46, Z:7.14 [[-7.36788340e-01 -6.75869917e-01 1.85148087e-02 1.51515569e+02] [ 6.75590412e-01 -7.37018540e-01 -1.95260577e-02 1.29459308e+02] [ 2.68428323e-02 -1.87814438e-03 9.99637902e-01 7.13593594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.940714057 meters Centerline goodness : 0.990521 Centerline is valid? [True, True] Translation: X:151.52, Y:129.46, Z:7.14 [[-7.37942588e-01 -6.74608012e-01 1.85678946e-02 1.51515295e+02] [ 6.74329406e-01 -7.38173833e-01 -1.94742116e-02 1.29456635e+02] [ 2.68437931e-02 -1.84997276e-03 9.99637929e-01 7.13672037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.970714057 meters Centerline goodness : 0.989856 Centerline is valid? [True, True] Translation: X:151.51, Y:129.46, Z:7.14 [[-7.38342394e-01 -6.74176146e-01 1.83584489e-02 1.51513326e+02] [ 6.73892343e-01 -7.38567443e-01 -1.96784983e-02 1.29455092e+02] [ 2.68257268e-02 -2.15785142e-03 9.99637796e-01 7.13581077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.000714057 meters Centerline goodness : 0.988868 Centerline is valid? [True, True] Translation: X:151.51, Y:129.46, Z:7.13 [[-7.39097557e-01 -6.73347387e-01 1.83874310e-02 1.51509010e+02] [ 6.73064026e-01 -7.39323126e-01 -1.96502374e-02 1.29457390e+02] [ 2.68256890e-02 -2.14752412e-03 9.99637820e-01 7.13449785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.030714057 meters Centerline goodness : 0.988784 Centerline is valid? [True, True] Translation: X:151.52, Y:129.45, Z:7.13 [[-7.37543937e-01 -6.75045025e-01 1.85244468e-02 1.51515072e+02] [ 6.74765498e-01 -7.37774102e-01 -1.95166028e-02 1.29446135e+02] [ 2.68414428e-02 -1.89469450e-03 9.99637908e-01 7.13470171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.060714057 meters Centerline goodness : 0.990203 Centerline is valid? [True, True] Translation: X:151.50, Y:129.45, Z:7.14 [[-7.36827943e-01 -6.75824940e-01 1.85804548e-02 1.51503904e+02] [ 6.75547021e-01 -7.37060007e-01 -1.94619939e-02 1.29453187e+02] [ 2.68478110e-02 -1.78817003e-03 9.99637933e-01 7.13690885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.090714057 meters Centerline goodness : 0.989365 Centerline is valid? [True, True] Translation: X:151.51, Y:129.45, Z:7.14 [[-7.35576590e-01 -6.77190955e-01 1.84252498e-02 1.51509616e+02] [ 6.76909694e-01 -7.35804722e-01 -1.96131769e-02 1.29445524e+02] [ 2.68392518e-02 -1.95476362e-03 9.99637851e-01 7.13795180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.120714057 meters Centerline goodness : 0.988864 Centerline is valid? [True, True] Translation: X:151.51, Y:129.44, Z:7.14 [[-7.32921602e-01 -6.80059810e-01 1.85628637e-02 1.51507207e+02] [ 6.79782802e-01 -7.33154763e-01 -1.94791068e-02 1.29441100e+02] [ 2.68564096e-02 -1.65794267e-03 9.99637927e-01 7.13953697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.150714057 meters Centerline goodness : 0.989449 Centerline is valid? [True, True] Translation: X:151.50, Y:129.45, Z:7.14 [[-7.30741133e-01 -6.82402361e-01 1.85584170e-02 1.51495082e+02] [ 6.82125992e-01 -7.30975052e-01 -1.94834360e-02 1.29447605e+02] [ 2.68612826e-02 -1.57816951e-03 9.99637925e-01 7.14123313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.180714057 meters Centerline goodness : 0.989157 Centerline is valid? [True, True] Translation: X:151.50, Y:129.44, Z:7.14 [[-7.29734532e-01 -6.83478750e-01 1.85556195e-02 1.51497931e+02] [ 6.83202657e-01 -7.29968780e-01 -1.94861576e-02 1.29441860e+02] [ 2.68633975e-02 -1.54247353e-03 9.99637924e-01 7.14181528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.210714057 meters Centerline goodness : 0.990704 Centerline is valid? [True, True] Translation: X:151.49, Y:129.44, Z:7.14 [[-7.28703687e-01 -6.84577856e-01 1.85498089e-02 1.51492687e+02] [ 6.84301974e-01 -7.28938186e-01 -1.94918058e-02 1.29443612e+02] [ 2.68653227e-02 -1.51007996e-03 9.99637921e-01 7.14212387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.240714057 meters Centerline goodness : 0.990136 Centerline is valid? [True, True] Translation: X:151.48, Y:129.45, Z:7.14 [[-7.28612567e-01 -6.84675511e-01 1.85249014e-02 1.51483243e+02] [ 6.84399047e-01 -7.28846396e-01 -1.95160065e-02 1.29450342e+02] [ 2.68639393e-02 -1.54118274e-03 9.99637911e-01 7.14259503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.270714057 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:151.46, Y:129.47, Z:7.14 [[-7.29793573e-01 -6.83416911e-01 1.85112372e-02 1.51464663e+02] [ 6.83139710e-01 -7.30026537e-01 -1.95292791e-02 1.29468521e+02] [ 2.68603340e-02 -1.60658113e-03 9.99637905e-01 7.14360342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.300714057 meters Centerline goodness : 0.989984 Centerline is valid? [True, True] Translation: X:151.48, Y:129.45, Z:7.14 [[-7.32298468e-01 -6.80732730e-01 1.84906321e-02 1.51479423e+02] [ 6.80454173e-01 -7.32529825e-01 -1.95492822e-02 1.29452531e+02] [ 2.68527757e-02 -1.73388163e-03 9.99637895e-01 7.14349804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.330714057 meters Centerline goodness : 0.991087 Centerline is valid? [True, True] Translation: X:151.48, Y:129.45, Z:7.14 [[-7.32251401e-01 -6.80781423e-01 1.85617883e-02 1.51476559e+02] [ 6.80504616e-01 -7.32484804e-01 -1.94802356e-02 1.29454064e+02] [ 2.68580104e-02 -1.63304723e-03 9.99637925e-01 7.14104897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.360714057 meters Centerline goodness : 0.991149 Centerline is valid? [True, True] Translation: X:151.49, Y:129.45, Z:7.14 [[-7.32515776e-01 -6.80498543e-01 1.85032837e-02 1.51485970e+02] [ 6.80220221e-01 -7.32747404e-01 -1.95369528e-02 1.29445124e+02] [ 2.68531010e-02 -1.72481836e-03 9.99637902e-01 7.13763504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.390714057 meters Centerline goodness : 0.991276 Centerline is valid? [True, True] Translation: X:151.48, Y:129.45, Z:7.14 [[-7.31931996e-01 -6.81126168e-01 1.85120710e-02 1.51476151e+02] [ 6.80848259e-01 -7.32164113e-01 -1.95284370e-02 1.29453869e+02] [ 2.68552035e-02 -1.68957656e-03 9.99637906e-01 7.13829591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.420714057 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:151.49, Y:129.44, Z:7.14 [[-7.29152530e-01 -6.84105242e-01 1.83468179e-02 1.51485486e+02] [ 6.83824264e-01 -7.29381068e-01 -1.96884395e-02 1.29444824e+02] [ 2.68507863e-02 -1.80987618e-03 9.99637814e-01 7.13548342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.450714057 meters Centerline goodness : 0.991267 Centerline is valid? [True, True] Translation: X:151.48, Y:129.45, Z:7.13 [[-7.27913203e-01 -6.85418604e-01 1.85393154e-02 1.51475291e+02] [ 6.85142734e-01 -7.28147723e-01 -1.95019879e-02 1.29453088e+02] [ 2.68663856e-02 -1.49367722e-03 9.99637918e-01 7.13484584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.480714057 meters Centerline goodness : 0.991260 Centerline is valid? [True, True] Translation: X:151.48, Y:129.44, Z:7.14 [[-7.22750843e-01 -6.90859250e-01 1.85664938e-02 1.51480958e+02] [ 6.90585820e-01 -7.22988190e-01 -1.94756762e-02 1.29442864e+02] [ 2.68783068e-02 -1.25430410e-03 9.99637926e-01 7.13865357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.51071405700003 meters Centerline goodness : 0.992045 Centerline is valid? [True, True] Translation: X:151.48, Y:129.44, Z:7.14 [[-7.20412360e-01 -6.93299402e-01 1.84924402e-02 1.51480987e+02] [ 6.93024940e-01 -7.20648552e-01 -1.95473062e-02 1.29441484e+02] [ 2.68786859e-02 -1.26639874e-03 9.99637901e-01 7.13955918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.540714057 meters Centerline goodness : 0.990308 Centerline is valid? [True, True] Translation: X:151.49, Y:129.43, Z:7.14 [[-7.18302543e-01 -6.95490727e-01 1.82785746e-02 1.51488462e+02] [ 6.95211716e-01 -7.18533544e-01 -1.97539029e-02 1.29434101e+02] [ 2.68724253e-02 -1.48179953e-03 9.99637773e-01 7.14006677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.57071405700003 meters Centerline goodness : 0.990508 Centerline is valid? [True, True] Translation: X:151.48, Y:129.44, Z:7.14 [[-7.18813810e-01 -6.94957837e-01 1.84475396e-02 1.51484542e+02] [ 6.94682810e-01 -7.19049372e-01 -1.95906690e-02 1.29439002e+02] [ 2.68793807e-02 -1.26685476e-03 9.99637881e-01 7.13666700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.600714057 meters Centerline goodness : 0.989857 Centerline is valid? [True, True] Translation: X:151.48, Y:129.45, Z:7.14 [[-7.17638035e-01 -6.96170279e-01 1.85092840e-02 1.51476948e+02] [ 6.95897181e-01 -7.17875792e-01 -1.95310252e-02 1.29445835e+02] [ 2.68842862e-02 -1.13564801e-03 9.99637907e-01 7.14122459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.63071405700003 meters Centerline goodness : 0.990640 Centerline is valid? [True, True] Translation: X:151.48, Y:129.44, Z:7.14 [[-7.17576455e-01 -6.96233279e-01 1.85270615e-02 1.51478591e+02] [ 6.95960644e-01 -7.17814734e-01 -1.95138593e-02 1.29442552e+02] [ 2.68851960e-02 -1.10858031e-03 9.99637913e-01 7.14164979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.660714057 meters Centerline goodness : 0.989872 Centerline is valid? [True, True] Translation: X:151.48, Y:129.44, Z:7.14 [[-7.19355447e-01 -6.94400707e-01 1.83139002e-02 1.51480615e+02] [ 6.94122219e-01 -7.19587026e-01 -1.97194552e-02 1.29444052e+02] [ 2.68716486e-02 -1.47321245e-03 9.99637806e-01 7.14434905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.690714057 meters Centerline goodness : 0.988944 Centerline is valid? [True, True] Translation: X:151.46, Y:129.47, Z:7.15 [[-7.21463260e-01 -6.92205222e-01 1.85120156e-02 1.51461131e+02] [ 6.91930889e-01 -7.21699586e-01 -1.95282650e-02 1.29465957e+02] [ 2.68776810e-02 -1.27989031e-03 9.99637911e-01 7.14525321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.720714057 meters Centerline goodness : 0.989002 Centerline is valid? [True, True] Translation: X:151.46, Y:129.47, Z:7.14 [[-7.23564452e-01 -6.90006895e-01 1.85733377e-02 1.51462508e+02] [ 6.89733353e-01 -7.23801669e-01 -1.94690898e-02 1.29468977e+02] [ 2.68772190e-02 -1.27649084e-03 9.99637927e-01 7.14456791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.750714057 meters Centerline goodness : 0.989996 Centerline is valid? [True, True] Translation: X:151.48, Y:129.46, Z:7.14 [[-7.25451310e-01 -6.88026325e-01 1.84437790e-02 1.51475170e+02] [ 6.87748965e-01 -7.25684116e-01 -1.95939989e-02 1.29458624e+02] [ 2.68655445e-02 -1.52980221e-03 9.99637886e-01 7.14436401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.780714057 meters Centerline goodness : 0.989468 Centerline is valid? [True, True] Translation: X:151.46, Y:129.48, Z:7.14 [[-7.28048495e-01 -6.85274622e-01 1.85494083e-02 1.51458292e+02] [ 6.84998955e-01 -7.28283246e-01 -1.94921646e-02 1.29479958e+02] [ 2.68667090e-02 -1.48491575e-03 9.99637922e-01 7.14456307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.810714057 meters Centerline goodness : 0.989222 Centerline is valid? [True, True] Translation: X:151.46, Y:129.48, Z:7.14 [[-7.29648893e-01 -6.83572894e-01 1.84551430e-02 1.51457349e+02] [ 6.83294391e-01 -7.29880320e-01 -1.95829739e-02 1.29483758e+02] [ 2.68564358e-02 -1.67839955e-03 9.99637892e-01 7.14382197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.840714057 meters Centerline goodness : 0.990746 Centerline is valid? [True, True] Translation: X:151.47, Y:129.47, Z:7.14 [[-7.32858713e-01 -6.80128452e-01 1.85309127e-02 1.51472472e+02] [ 6.79850690e-01 -7.33090990e-01 -1.95100133e-02 1.29472173e+02] [ 2.68541603e-02 -1.69982949e-03 9.99637917e-01 7.14206461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.870714057 meters Centerline goodness : 0.990251 Centerline is valid? [True, True] Translation: X:151.48, Y:129.47, Z:7.14 [[-7.34330575e-01 -6.78540525e-01 1.84759722e-02 1.51475968e+02] [ 6.78260940e-01 -7.34560679e-01 -1.95628631e-02 1.29473743e+02] [ 2.68459181e-02 -1.83407827e-03 9.99637901e-01 7.14074247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.900714057 meters Centerline goodness : 0.990566 Centerline is valid? [True, True] Translation: X:151.47, Y:129.48, Z:7.14 [[-7.35895703e-01 -6.76843523e-01 1.84488375e-02 1.51468871e+02] [ 6.76562759e-01 -7.36124383e-01 -1.95889509e-02 1.29480220e+02] [ 2.68392936e-02 -1.93362845e-03 9.99637891e-01 7.13997514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.930714057 meters Centerline goodness : 0.990173 Centerline is valid? [True, True] Translation: X:151.46, Y:129.49, Z:7.14 [[-7.36330901e-01 -6.76373776e-01 1.83117434e-02 1.51458602e+02] [ 6.76089611e-01 -7.36555452e-01 -1.97206602e-02 1.29492921e+02] [ 2.68261518e-02 -2.14055201e-03 9.99637822e-01 7.14096146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.960714057 meters Centerline goodness : 0.991069 Centerline is valid? [True, True] Translation: X:151.46, Y:129.49, Z:7.14 [[-7.34960262e-01 -6.77858346e-01 1.84790891e-02 1.51462562e+02] [ 6.77578621e-01 -7.35190195e-01 -1.95598854e-02 1.29489743e+02] [ 2.68444767e-02 -1.85470277e-03 9.99637902e-01 7.14200124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.990714057 meters Centerline goodness : 0.988903 Centerline is valid? [True, True] Translation: X:151.47, Y:129.48, Z:7.15 [[-7.34490757e-01 -6.78371289e-01 1.83227108e-02 1.51470985e+02] [ 6.78088000e-01 -7.34716396e-01 -1.97099386e-02 1.29483340e+02] [ 2.68326525e-02 -2.05235738e-03 9.99637833e-01 7.14646741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.020714057 meters Centerline goodness : 0.989817 Centerline is valid? [True, True] Translation: X:151.47, Y:129.48, Z:7.15 [[-7.33210452e-01 -6.79750225e-01 1.84949940e-02 1.51471966e+02] [ 6.79471477e-01 -7.33441559e-01 -1.95445987e-02 1.29483282e+02] [ 2.68504426e-02 -1.76348320e-03 9.99637906e-01 7.14564556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.050714057 meters Centerline goodness : 0.990348 Centerline is valid? [True, True] Translation: X:151.47, Y:129.49, Z:7.15 [[-7.33305130e-01 -6.79648195e-01 1.84910154e-02 1.51467633e+02] [ 6.79369319e-01 -7.33536085e-01 -1.95484144e-02 1.29489864e+02] [ 2.68498717e-02 -1.77272403e-03 9.99637905e-01 7.14564824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.080714057 meters Centerline goodness : 0.990338 Centerline is valid? [True, True] Translation: X:151.45, Y:129.51, Z:7.14 [[-7.33145779e-01 -6.79820533e-01 1.84745854e-02 1.51445681e+02] [ 6.79541317e-01 -7.33376331e-01 -1.95641652e-02 1.29514644e+02] [ 2.68489448e-02 -1.78914108e-03 9.99637901e-01 7.14220114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.110714057 meters Centerline goodness : 0.989750 Centerline is valid? [True, True] Translation: X:151.46, Y:129.51, Z:7.14 [[-7.31873992e-01 -6.81193953e-01 1.83100821e-02 1.51455368e+02] [ 6.80911243e-01 -7.32100357e-01 -1.97217460e-02 1.29507156e+02] [ 2.68391518e-02 -1.96629221e-03 9.99637831e-01 7.14476660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.140714057 meters Centerline goodness : 0.990659 Centerline is valid? [True, True] Translation: X:151.47, Y:129.50, Z:7.14 [[-7.30233628e-01 -6.82948892e-01 1.84298709e-02 1.51465300e+02] [ 6.82669589e-01 -7.30464097e-01 -1.96070406e-02 1.29497385e+02] [ 2.68529657e-02 -1.73620798e-03 9.99637886e-01 7.14400701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.170714057 meters Centerline goodness : 0.990674 Centerline is valid? [True, True] Translation: X:151.46, Y:129.50, Z:7.14 [[-7.29961551e-01 -6.83246342e-01 1.81816128e-02 1.51458992e+02] [ 6.82961230e-01 -7.30185017e-01 -1.98443709e-02 1.29504752e+02] [ 2.68345350e-02 -2.06829110e-03 9.99637749e-01 7.14489385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.200714057 meters Centerline goodness : 0.991233 Centerline is valid? [True, True] Translation: X:151.46, Y:129.51, Z:7.15 [[-7.27840223e-01 -6.85505733e-01 1.81796330e-02 1.51458116e+02] [ 6.85221269e-01 -7.28064515e-01 -1.98462624e-02 1.29507465e+02] [ 2.68406724e-02 -1.98783681e-03 9.99637748e-01 7.14591893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.230714057 meters Centerline goodness : 0.989026 Centerline is valid? [True, True] Translation: X:151.47, Y:129.50, Z:7.15 [[-7.24138952e-01 -6.89415921e-01 1.81236231e-02 1.51468425e+02] [ 6.89131339e-01 -7.24363168e-01 -1.98997207e-02 1.29499307e+02] [ 2.68472693e-02 -1.92060624e-03 9.99637702e-01 7.14517073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26071405700003 meters Centerline goodness : 0.990091 Centerline is valid? [True, True] Translation: X:151.44, Y:129.52, Z:7.15 [[-7.21354666e-01 -6.92325241e-01 1.82539528e-02 1.51443055e+02] [ 6.92044682e-01 -7.21583741e-01 -1.97753100e-02 1.29524696e+02] [ 2.68627018e-02 -1.63246117e-03 9.99637800e-01 7.14878659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.290714057 meters Centerline goodness : 0.989595 Centerline is valid? [True, True] Translation: X:151.46, Y:129.51, Z:7.15 [[-7.18301827e-01 -6.95495779e-01 1.81137402e-02 1.51461573e+02] [ 6.95212864e-01 -7.18528152e-01 -1.99090103e-02 1.29506354e+02] [ 2.68618648e-02 -1.70777326e-03 9.99637696e-01 7.14619915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32071405700003 meters Centerline goodness : 0.988127 Centerline is valid? [True, True] Translation: X:151.47, Y:129.50, Z:7.15 [[-7.13912708e-01 -7.00000169e-01 1.81220371e-02 1.51467121e+02] [ 6.99718884e-01 -7.14141044e-01 -1.99011055e-02 1.29503147e+02] [ 2.68724677e-02 -1.52732061e-03 9.99637703e-01 7.14617517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.350714057 meters Centerline goodness : 0.988127 Centerline is valid? [True, True] Translation: X:151.47, Y:129.50, Z:7.15 [[-7.13666943e-01 -7.00247116e-01 1.82611978e-02 1.51465166e+02] [ 6.99969276e-01 -7.13899306e-01 -1.97684946e-02 1.29504966e+02] [ 2.68794877e-02 -1.32584372e-03 9.99637802e-01 7.14632851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38071405700003 meters Centerline goodness : 0.988601 Centerline is valid? [True, True] Translation: X:151.46, Y:129.51, Z:7.15 [[-7.11320722e-01 -7.02630549e-01 1.82521936e-02 1.51463261e+02] [ 7.02353269e-01 -7.11553760e-01 -1.97770689e-02 1.29508493e+02] [ 2.68833898e-02 -1.24835103e-03 9.99637797e-01 7.14591503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.410714057 meters Centerline goodness : 0.989760 Centerline is valid? [True, True] Translation: X:151.46, Y:129.51, Z:7.14 [[-7.08051354e-01 -7.05926310e-01 1.82023382e-02 1.51461993e+02] [ 7.05648897e-01 -7.08284281e-01 -1.98245028e-02 1.29511911e+02] [ 2.68870681e-02 -1.19230620e-03 9.99637766e-01 7.14422131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.440714057 meters Centerline goodness : 0.990778 Centerline is valid? [True, True] Translation: X:151.46, Y:129.51, Z:7.14 [[-7.06580840e-01 -7.07401875e-01 1.80583335e-02 1.51460875e+02] [ 7.07121446e-01 -7.06810303e-01 -1.99613564e-02 1.29514708e+02] [ 2.68845171e-02 -1.33487713e-03 9.99637655e-01 7.14494246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.470714057 meters Centerline goodness : 0.989263 Centerline is valid? [True, True] Translation: X:151.47, Y:129.51, Z:7.15 [[-7.03311056e-01 -7.10654399e-01 1.79967646e-02 1.51466505e+02] [ 7.10373536e-01 -7.03540081e-01 -2.00198266e-02 1.29511932e+02] [ 2.68886231e-02 -1.29574002e-03 9.99637596e-01 7.14714314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.500714057 meters Centerline goodness : 0.989528 Centerline is valid? [True, True] Translation: X:151.47, Y:129.51, Z:7.15 [[-6.99929833e-01 -7.13980423e-01 1.81709871e-02 1.51468610e+02] [ 7.13704920e-01 -7.00165048e-01 -1.98542975e-02 1.29512454e+02] [ 2.68982698e-02 -9.27892300e-04 9.99637745e-01 7.14600708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.530714057 meters Centerline goodness : 0.988280 Centerline is valid? [True, True] Translation: X:151.48, Y:129.50, Z:7.15 [[-6.95610922e-01 -7.18190102e-01 1.81224074e-02 1.51482082e+02] [ 7.17914820e-01 -6.95846451e-01 -1.99004199e-02 1.29503950e+02] [ 2.69026975e-02 -8.32604568e-04 9.99637710e-01 7.14760235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.560714057 meters Centerline goodness : 0.988752 Centerline is valid? [True, True] Translation: X:151.47, Y:129.51, Z:7.15 [[-6.94712176e-01 -7.19058281e-01 1.81708833e-02 1.51473202e+02] [ 7.18784495e-01 -6.94949388e-01 -1.98543979e-02 1.29514485e+02] [ 2.69043134e-02 -7.32142778e-04 9.99637745e-01 7.14790179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.590714057 meters Centerline goodness : 0.989981 Centerline is valid? [True, True] Translation: X:151.47, Y:129.52, Z:7.14 [[-6.92053897e-01 -7.21616086e-01 1.82106801e-02 1.51468523e+02] [ 7.21344169e-01 -6.92293211e-01 -1.98166306e-02 1.29521020e+02] [ 2.69071296e-02 -5.78008486e-04 9.99637771e-01 7.14244141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.620714057 meters Centerline goodness : 0.987475 Centerline is valid? [True, True] Translation: X:151.47, Y:129.52, Z:7.15 [[-6.89097772e-01 -7.24446460e-01 1.79328643e-02 1.51471340e+02] [ 7.24168623e-01 -6.89330547e-01 -2.00798978e-02 1.29524236e+02] [ 2.69084820e-02 -8.50595256e-04 9.99637539e-01 7.14704859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.650714057 meters Centerline goodness : 0.986718 Centerline is valid? [True, True] Translation: X:151.48, Y:129.53, Z:7.14 [[-6.87255885e-01 -7.26188842e-01 1.81415120e-02 1.51477272e+02] [ 7.25916786e-01 -6.87495106e-01 -1.98821039e-02 1.29526966e+02] [ 2.69103627e-02 -4.94864877e-04 9.99637728e-01 7.14487922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.680714057 meters Centerline goodness : 0.987629 Centerline is valid? [True, True] Translation: X:151.48, Y:129.53, Z:7.15 [[-6.83983584e-01 -7.29269557e-01 1.82309984e-02 1.51476905e+02] [ 7.29000835e-01 -6.84226461e-01 -1.97972710e-02 1.29532393e+02] [ 2.69116785e-02 -2.50595330e-04 9.99637784e-01 7.14741887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.710714057 meters Centerline goodness : 0.987576 Centerline is valid? [True, True] Translation: X:151.48, Y:129.53, Z:7.15 [[-6.83341110e-01 -7.29874978e-01 1.80954226e-02 1.51484557e+02] [ 7.29603059e-01 -6.83580533e-01 -1.99256368e-02 1.29532839e+02] [ 2.69129023e-02 -4.13531050e-04 9.99637697e-01 7.14607493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.740714057 meters Centerline goodness : 0.987991 Centerline is valid? [True, True] Translation: X:151.50, Y:129.53, Z:7.14 [[-6.80821708e-01 -7.32224164e-01 1.81542170e-02 1.51496678e+02] [ 7.31954553e-01 -6.81063665e-01 -1.98699937e-02 1.29527640e+02] [ 2.69134671e-02 -2.39861256e-04 9.99637738e-01 7.14324202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.770714057 meters Centerline goodness : 0.988749 Centerline is valid? [True, True] Translation: X:151.50, Y:129.53, Z:7.15 [[-6.79973385e-01 -7.33015005e-01 1.80332471e-02 1.51498685e+02] [ 7.32742631e-01 -6.80212365e-01 -1.99843549e-02 1.29531197e+02] [ 2.69152697e-02 -3.75100497e-04 9.99637648e-01 7.14663761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.800714057 meters Centerline goodness : 0.988856 Centerline is valid? [True, True] Translation: X:151.50, Y:129.54, Z:7.14 [[-6.79702359e-01 -7.33264920e-01 1.80903571e-02 1.51501631e+02] [ 7.32994069e-01 -6.79942994e-01 -1.99303622e-02 1.29542004e+02] [ 2.69146470e-02 -2.86589734e-04 9.99637694e-01 7.14407540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.830714057 meters Centerline goodness : 0.989490 Centerline is valid? [True, True] Translation: X:151.51, Y:129.54, Z:7.15 [[-6.79086950e-01 -7.33834409e-01 1.81100456e-02 1.51506076e+02] [ 7.33564256e-01 -6.79328348e-01 -1.99117555e-02 1.29543674e+02] [ 2.69145987e-02 -2.36931184e-04 9.99637708e-01 7.14620057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.860714057 meters Centerline goodness : 0.990527 Centerline is valid? [True, True] Translation: X:151.51, Y:129.55, Z:7.15 [[-6.79383976e-01 -7.33561655e-01 1.80197235e-02 1.51511766e+02] [ 7.33289138e-01 -6.79622807e-01 -1.99970170e-02 1.29554486e+02] [ 2.69156600e-02 -3.71985436e-04 9.99637639e-01 7.14641371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.890714057 meters Centerline goodness : 0.992195 Centerline is valid? [True, True] Translation: X:151.26, Y:129.82, Z:7.15 [[-6.96541778e-01 -7.17288188e-01 1.80888447e-02 1.51259055e+02] [ 7.17011801e-01 -6.96776020e-01 -1.99312903e-02 1.29816826e+02] [ 2.69003523e-02 -9.13061223e-04 9.99637703e-01 7.15128908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.920714057 meters Centerline goodness : 0.992767 Centerline is valid? [True, True] Translation: X:151.27, Y:129.82, Z:7.15 [[-6.99517920e-01 -7.14376959e-01 1.84456256e-02 1.51267775e+02] [ 7.14108491e-01 -6.99760872e-01 -1.95904141e-02 1.29823898e+02] [ 2.69024675e-02 -5.31667845e-04 9.99637922e-01 7.15089000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.950714057 meters Centerline goodness : 0.991807 Centerline is valid? [True, True] Translation: X:151.50, Y:129.59, Z:7.14 [[-7.03849583e-01 -7.10111924e-01 1.83526643e-02 1.51496690e+02] [ 7.09839675e-01 -7.04088330e-01 -1.96789029e-02 1.29588164e+02] [ 2.68961203e-02 -8.23538361e-04 9.99637895e-01 7.14388940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.980714057 meters Centerline goodness : 0.983832 Centerline is valid? [True, True] Translation: X:150.83, Y:130.29, Z:7.17 [[-7.12770253e-01 -7.01152333e-01 1.85464890e-02 1.50834945e+02] [ 7.00881845e-01 -7.13010942e-01 -1.94945052e-02 1.30293988e+02] [ 2.68924674e-02 -8.96205980e-04 9.99637930e-01 7.17284820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.01071405700003 meters Centerline goodness : 0.989246 Centerline is valid? [True, True] Translation: X:151.51, Y:129.61, Z:7.14 [[-6.91711435e-01 -7.21927960e-01 1.88497025e-02 1.51507742e+02] [ 7.21672520e-01 -6.91968149e-01 -1.92056022e-02 1.29605511e+02] [ 2.69084549e-02 3.18577657e-04 9.99637851e-01 7.14306870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.040714057 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:151.49, Y:129.62, Z:7.14 [[-7.05946796e-01 -7.08036205e-01 1.79959583e-02 1.51490154e+02] [ 7.07754987e-01 -7.06174780e-01 -2.00014720e-02 1.29624463e+02] [ 2.68700582e-02 -1.38324580e-03 9.99637978e-01 7.14243738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.07071405700003 meters Centerline goodness : 0.989753 Centerline is valid? [True, True] Translation: X:151.51, Y:129.62, Z:7.14 [[-6.96680583e-01 -7.17146760e-01 1.83491131e-02 1.51508579e+02] [ 7.16877109e-01 -6.96921961e-01 -1.96720714e-02 1.29622009e+02] [ 2.68956621e-02 -5.51090973e-04 9.99638094e-01 7.14488975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.100714057 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:151.49, Y:129.64, Z:7.14 [[-7.09996741e-01 -7.03979778e-01 1.78073206e-02 1.51491515e+02] [ 7.03692879e-01 -7.10217751e-01 -2.01762049e-02 1.29642489e+02] [ 2.68507154e-02 -1.79415505e-03 9.99637844e-01 7.14350713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.13071405700003 meters Centerline goodness : 0.988781 Centerline is valid? [True, True] Translation: X:151.23, Y:129.93, Z:7.16 [[-7.11390869e-01 -7.02557198e-01 1.83416206e-02 1.51233015e+02] [ 7.02282447e-01 -7.11626400e-01 -1.96782055e-02 1.29927326e+02] [ 2.68774463e-02 -1.11789749e-03 9.99638111e-01 7.16119958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.160714057 meters Centerline goodness : 0.989868 Centerline is valid? [True, True] Translation: X:151.50, Y:129.65, Z:7.14 [[-7.12464453e-01 -7.01465595e-01 1.84505328e-02 1.51495569e+02] [ 7.01193097e-01 -7.12702602e-01 -1.95765692e-02 1.29654816e+02] [ 2.68820325e-02 -1.01022347e-03 9.99638102e-01 7.14413181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.190714057 meters Centerline goodness : 0.990609 Centerline is valid? [True, True] Translation: X:151.52, Y:129.65, Z:7.15 [[-7.03353302e-01 -7.10603936e-01 1.83351892e-02 1.51520298e+02] [ 7.10331731e-01 -7.03591765e-01 -1.96840094e-02 1.29648754e+02] [ 2.68880228e-02 -8.20746335e-04 9.99638115e-01 7.14511158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.220714057 meters Centerline goodness : 0.988522 Centerline is valid? [True, True] Translation: X:151.52, Y:129.66, Z:7.15 [[-7.04621684e-01 -7.09359331e-01 1.78219449e-02 1.51515310e+02] [ 7.09074513e-01 -7.04845287e-01 -2.01607583e-02 1.29659779e+02] [ 2.68629359e-02 -1.56862057e-03 9.99637895e-01 7.14890305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.250714057 meters Centerline goodness : 0.989780 Centerline is valid? [True, True] Translation: X:151.51, Y:129.67, Z:7.14 [[-7.05104386e-01 -7.08873077e-01 1.80766710e-02 1.51507403e+02] [ 7.08594109e-01 -7.05334973e-01 -1.99239587e-02 1.29672432e+02] [ 2.68736661e-02 -1.23944812e-03 9.99638069e-01 7.14485264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.280714057 meters Centerline goodness : 0.989743 Centerline is valid? [True, True] Translation: X:151.53, Y:129.66, Z:7.14 [[-7.03145600e-01 -7.10819661e-01 1.79352928e-02 1.51528003e+02] [ 7.10537980e-01 -7.03372992e-01 -2.00552524e-02 1.29657999e+02] [ 2.68708683e-02 -1.35805578e-03 9.99637991e-01 7.14332726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.310714057 meters Centerline goodness : 0.988551 Centerline is valid? [True, True] Translation: X:151.52, Y:129.67, Z:7.15 [[-7.02777325e-01 -7.11186131e-01 1.78414660e-02 1.51523545e+02] [ 7.10902363e-01 -7.03002219e-01 -2.01422716e-02 1.29667623e+02] [ 2.68674944e-02 -1.47199149e-03 9.99637920e-01 7.14664753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.340714057 meters Centerline goodness : 0.987773 Centerline is valid? [True, True] Translation: X:151.52, Y:129.68, Z:7.15 [[-7.03532375e-01 -7.10434355e-01 1.80340044e-02 1.51518468e+02] [ 7.10154885e-01 -7.03762385e-01 -1.99635755e-02 1.29679762e+02] [ 2.68744638e-02 -1.23808542e-03 9.99638050e-01 7.14791677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.370714057 meters Centerline goodness : 0.988332 Centerline is valid? [True, True] Translation: X:151.52, Y:129.68, Z:7.15 [[-7.02674618e-01 -7.11280782e-01 1.81116155e-02 1.51521923e+02] [ 7.11003436e-01 -7.02907134e-01 -1.98915629e-02 1.29678612e+02] [ 2.68792702e-02 -1.09987552e-03 9.99638082e-01 7.14755773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.400714057 meters Centerline goodness : 0.986862 Centerline is valid? [True, True] Translation: X:151.53, Y:129.68, Z:7.15 [[-7.01276530e-01 -7.12659491e-01 1.81018971e-02 1.51527930e+02] [ 7.12382370e-01 -7.01509320e-01 -1.99005726e-02 1.29677639e+02] [ 2.68809815e-02 -1.06033210e-03 9.99638079e-01 7.14592971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.430714057 meters Centerline goodness : 0.987118 Centerline is valid? [True, True] Translation: X:151.53, Y:129.68, Z:7.15 [[-7.00824140e-01 -7.13105716e-01 1.80489125e-02 1.51526478e+02] [ 7.12827481e-01 -7.01055629e-01 -1.99496520e-02 1.29683289e+02] [ 2.68795026e-02 -1.11543689e-03 9.99638059e-01 7.14705410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.460714057 meters Centerline goodness : 0.987056 Centerline is valid? [True, True] Translation: X:151.53, Y:129.68, Z:7.15 [[-6.98284465e-01 -7.15591704e-01 1.80919322e-02 1.51530816e+02] [ 7.15315322e-01 -6.98518138e-01 -1.99098277e-02 1.29682569e+02] [ 2.68848503e-02 -9.61287049e-04 9.99638075e-01 7.14594544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.490714057 meters Centerline goodness : 0.986670 Centerline is valid? [True, True] Translation: X:151.53, Y:129.69, Z:7.14 [[-6.97168704e-01 -7.16680827e-01 1.80108592e-02 1.51528707e+02] [ 7.16402872e-01 -6.97400554e-01 -1.99848247e-02 1.29686746e+02] [ 2.68835238e-02 -1.02976306e-03 9.99638042e-01 7.14460225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.520714057 meters Centerline goodness : 0.989832 Centerline is valid? [True, True] Translation: X:151.51, Y:129.70, Z:7.14 [[-7.06094664e-01 -7.07889068e-01 1.79831203e-02 1.51508978e+02] [ 7.07607579e-01 -7.06322232e-01 -2.00104821e-02 1.29698380e+02] [ 2.68670791e-02 -1.40430243e-03 9.99638028e-01 7.14181088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.550714057 meters Centerline goodness : 0.986386 Centerline is valid? [True, True] Translation: X:151.53, Y:129.69, Z:7.15 [[-6.94736950e-01 -7.19031798e-01 1.82714039e-02 1.51533248e+02] [ 7.18760915e-01 -6.94976930e-01 -1.97436986e-02 1.29686329e+02] [ 2.68945513e-02 -5.83905952e-04 9.99638106e-01 7.14615881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.580714057 meters Centerline goodness : 0.987380 Centerline is valid? [True, True] Translation: X:151.54, Y:129.68, Z:7.15 [[-6.94232467e-01 -7.19525909e-01 1.79930265e-02 1.51538004e+02] [ 7.19248491e-01 -6.94464957e-01 -2.00007884e-02 1.29681876e+02] [ 2.68866118e-02 -9.43739557e-04 9.99638044e-01 7.14754376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.610714057 meters Centerline goodness : 0.986201 Centerline is valid? [True, True] Translation: X:151.54, Y:129.69, Z:7.15 [[-6.93627240e-01 -7.20107852e-01 1.80536434e-02 1.51535829e+02] [ 7.19832082e-01 -6.93861642e-01 -1.99448162e-02 1.29685542e+02] [ 2.68891494e-02 -8.38676118e-04 9.99638070e-01 7.14747844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.640714057 meters Centerline goodness : 0.986375 Centerline is valid? [True, True] Translation: X:151.53, Y:129.69, Z:7.15 [[-6.92126261e-01 -7.21551138e-01 1.80331180e-02 1.51532456e+02] [ 7.21275364e-01 -6.92360670e-01 -1.99637591e-02 1.29694471e+02] [ 2.68902947e-02 -8.10598165e-04 9.99638062e-01 7.14547854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.670714057 meters Centerline goodness : 0.987904 Centerline is valid? [True, True] Translation: X:151.53, Y:129.69, Z:7.15 [[-6.92078226e-01 -7.21598086e-01 1.79980955e-02 1.51533127e+02] [ 7.21321487e-01 -6.92311685e-01 -1.99960677e-02 1.29694986e+02] [ 2.68894160e-02 -8.56430066e-04 9.99638047e-01 7.14575428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.700714057 meters Centerline goodness : 0.987150 Centerline is valid? [True, True] Translation: X:151.54, Y:129.69, Z:7.14 [[-6.90353668e-01 -7.23248421e-01 1.79870699e-02 1.51539479e+02] [ 7.22972116e-01 -6.90587482e-01 -2.00062318e-02 1.29693777e+02] [ 2.68911208e-02 -8.07225485e-04 9.99638042e-01 7.14260991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.730714057 meters Centerline goodness : 0.986224 Centerline is valid? [True, True] Translation: X:151.54, Y:129.70, Z:7.15 [[-6.91966243e-01 -7.21707125e-01 1.79316265e-02 1.51536216e+02] [ 7.21428976e-01 -6.92197903e-01 -2.00573014e-02 1.29696855e+02] [ 2.68877316e-02 -9.42580549e-04 9.99638015e-01 7.14617336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76071405700003 meters Centerline goodness : 0.989614 Centerline is valid? [True, True] Translation: X:151.51, Y:129.72, Z:7.14 [[-7.01370565e-01 -7.12569381e-01 1.80057643e-02 1.51506678e+02] [ 7.12289962e-01 -7.01600635e-01 -1.99889936e-02 1.29720401e+02] [ 2.68764005e-02 -1.19436656e-03 9.99638051e-01 7.14178055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.790714057 meters Centerline goodness : 0.986891 Centerline is valid? [True, True] Translation: X:151.54, Y:129.70, Z:7.15 [[-6.90250181e-01 -7.23338489e-01 1.83335484e-02 1.51537340e+02] [ 7.23070612e-01 -6.90493534e-01 -1.96867796e-02 1.29700070e+02] [ 2.68994020e-02 -3.32353068e-04 9.99638090e-01 7.14627952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82071405700003 meters Centerline goodness : 0.985999 Centerline is valid? [True, True] Translation: X:151.54, Y:129.70, Z:7.14 [[-6.87982187e-01 -7.25504716e-01 1.79838316e-02 1.51543443e+02] [ 7.25229118e-01 -6.88216815e-01 -2.00085538e-02 1.29697789e+02] [ 2.68930754e-02 -7.23130268e-04 9.99638054e-01 7.14372840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.850714057 meters Centerline goodness : 0.986521 Centerline is valid? [True, True] Translation: X:151.54, Y:129.70, Z:7.14 [[-6.84013090e-01 -7.29248303e-01 1.79723548e-02 1.51543512e+02] [ 7.28973713e-01 -6.84248903e-01 -2.00191055e-02 1.29699914e+02] [ 2.68964628e-02 -5.91956010e-04 9.99638049e-01 7.14095511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88071405700003 meters Centerline goodness : 0.987785 Centerline is valid? [True, True] Translation: X:151.51, Y:129.72, Z:7.14 [[-6.95569689e-01 -7.18234390e-01 1.79490856e-02 1.51509253e+02] [ 7.17955518e-01 -6.95800440e-01 -2.00405005e-02 1.29720661e+02] [ 2.68827583e-02 -1.05291964e-03 9.99638039e-01 7.14262618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.910714057 meters Centerline goodness : 0.986141 Centerline is valid? [True, True] Translation: X:151.54, Y:129.71, Z:7.15 [[-6.80637312e-01 -7.32388449e-01 1.84393407e-02 1.51540213e+02] [ 7.32126445e-01 -6.80887019e-01 -1.95891851e-02 1.29705477e+02] [ 2.69020006e-02 1.66798621e-04 9.99638062e-01 7.14524849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.940714057 meters Centerline goodness : 0.985638 Centerline is valid? [True, True] Translation: X:151.55, Y:129.70, Z:7.14 [[-6.78075198e-01 -7.34773170e-01 1.79559094e-02 1.51546650e+02] [ 7.34500131e-01 -6.78312783e-01 -2.00331071e-02 1.29704590e+02] [ 2.68995126e-02 -3.95335260e-04 9.99638064e-01 7.13912691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.970714057 meters Centerline goodness : 0.985994 Centerline is valid? [True, True] Translation: X:151.55, Y:129.70, Z:7.14 [[-6.78188239e-01 -7.34669994e-01 1.79084626e-02 1.51548416e+02] [ 7.34395768e-01 -6.78424488e-01 -2.00766350e-02 1.29701460e+02] [ 2.68992409e-02 -4.63838571e-04 9.99638042e-01 7.14474354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.000714057 meters Centerline goodness : 0.985267 Centerline is valid? [True, True] Translation: X:151.54, Y:129.71, Z:7.15 [[-6.78986933e-01 -7.33930825e-01 1.79523970e-02 1.51541320e+02] [ 7.33657406e-01 -6.79224084e-01 -2.00363500e-02 1.29713329e+02] [ 2.68989953e-02 -4.33510847e-04 9.99638063e-01 7.14669127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.030714057 meters Centerline goodness : 0.986758 Centerline is valid? [True, True] Translation: X:151.51, Y:129.73, Z:7.15 [[-6.89119297e-01 -7.24425164e-01 1.79659677e-02 1.51513350e+02] [ 7.24148800e-01 -6.89353000e-01 -2.00239030e-02 1.29734160e+02] [ 2.68907129e-02 -7.88823997e-04 9.99638068e-01 7.14802450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.060714057 meters Centerline goodness : 0.986284 Centerline is valid? [True, True] Translation: X:151.55, Y:129.72, Z:7.14 [[-6.76785358e-01 -7.35951079e-01 1.83735733e-02 1.51546285e+02] [ 7.35688745e-01 -6.77034682e-01 -1.96496637e-02 1.29719677e+02] [ 2.69007376e-02 2.18626415e-04 9.99638086e-01 7.14143359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.090714057 meters Centerline goodness : 0.988980 Centerline is valid? [True, True] Translation: X:151.52, Y:129.74, Z:7.14 [[-6.90188342e-01 -7.23410959e-01 1.77943195e-02 1.51515928e+02] [ 7.23130216e-01 -6.90416874e-01 -2.01799659e-02 1.29741920e+02] [ 2.68839069e-02 -1.06036712e-03 9.99638000e-01 7.14085103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.120714057 meters Centerline goodness : 0.983472 Centerline is valid? [True, True] Translation: X:151.55, Y:129.73, Z:7.14 [[-6.81765752e-01 -7.31344806e-01 1.81723773e-02 1.51546440e+02] [ 7.31075858e-01 -6.82007859e-01 -1.98335778e-02 1.29730691e+02] [ 2.68988882e-02 -2.36467754e-04 9.99638131e-01 7.14305031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.150714057 meters Centerline goodness : 0.988035 Centerline is valid? [True, True] Translation: X:151.52, Y:129.76, Z:7.14 [[-6.97432838e-01 -7.16424682e-01 1.79753054e-02 1.51515342e+02] [ 7.16145896e-01 -6.97663599e-01 -2.00139437e-02 1.29757731e+02] [ 2.68791995e-02 -1.08544039e-03 9.99638100e-01 7.13964511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.180714057 meters Centerline goodness : 0.987016 Centerline is valid? [True, True] Translation: X:151.51, Y:129.76, Z:7.14 [[-6.99773803e-01 -7.14133534e-01 1.81636893e-02 1.51512988e+02] [ 7.13858434e-01 -7.00008894e-01 -1.98414908e-02 1.29763750e+02] [ 2.68842180e-02 -9.18252708e-04 9.99638132e-01 7.14002610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.210714057 meters Centerline goodness : 0.986712 Centerline is valid? [True, True] Translation: X:151.51, Y:129.77, Z:7.14 [[-7.04351507e-01 -7.09619132e-01 1.81560518e-02 1.51512696e+02] [ 7.09342346e-01 -7.04584611e-01 -1.98484771e-02 1.29770277e+02] [ 2.68773338e-02 -1.10144840e-03 9.99638132e-01 7.14015253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.240714057 meters Centerline goodness : 0.986712 Centerline is valid? [True, True] Translation: X:151.51, Y:129.77, Z:7.14 [[-7.04077684e-01 -7.09891014e-01 1.81483949e-02 1.51510893e+02] [ 7.09614138e-01 -7.04310681e-01 -1.98554757e-02 1.29772146e+02] [ 2.68773321e-02 -1.10143970e-03 9.99638132e-01 7.14022029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.270714057 meters Centerline goodness : 0.987861 Centerline is valid? [True, True] Translation: X:151.51, Y:129.78, Z:7.14 [[-7.06068855e-01 -7.07910790e-01 1.81407290e-02 1.51505637e+02] [ 7.07633082e-01 -7.06300859e-01 -1.98624771e-02 1.29780809e+02] [ 2.68736743e-02 -1.18729648e-03 9.99638133e-01 7.14055423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.300714057 meters Centerline goodness : 0.986979 Centerline is valid? [True, True] Translation: X:151.50, Y:129.78, Z:7.14 [[-7.07691943e-01 -7.06288402e-01 1.81330384e-02 1.51504561e+02] [ 7.06009983e-01 -7.07923094e-01 -1.98694955e-02 1.29784581e+02] [ 2.68703909e-02 -1.25937575e-03 9.99638133e-01 7.14063220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.330714057 meters Centerline goodness : 0.986036 Centerline is valid? [True, True] Translation: X:151.50, Y:129.79, Z:7.14 [[-7.10447328e-01 -7.03516928e-01 1.81253218e-02 1.51501403e+02] [ 7.03237429e-01 -7.10677172e-01 -1.98765323e-02 1.29792215e+02] [ 2.68647294e-02 -1.37482451e-03 9.99638133e-01 7.14053526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.360714057 meters Centerline goodness : 0.985472 Centerline is valid? [True, True] Translation: X:151.52, Y:129.79, Z:7.14 [[-7.00437429e-01 -7.13483819e-01 1.81175856e-02 1.51521212e+02] [ 7.13207414e-01 -7.00670984e-01 -1.98835814e-02 1.29786774e+02] [ 2.68810801e-02 -1.00560834e-03 9.99638133e-01 7.14243494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.390714057 meters Centerline goodness : 0.983851 Centerline is valid? [True, True] Translation: X:151.53, Y:129.79, Z:7.14 [[-6.98498015e-01 -7.15397271e-01 1.75290480e-02 1.51526206e+02] [ 7.15107923e-01 -6.98715795e-01 -2.04180212e-02 1.29785832e+02] [ 2.68548194e-02 -1.72678613e-03 9.99637853e-01 7.14437975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.420714057 meters Centerline goodness : 0.984582 Centerline is valid? [True, True] Translation: X:151.52, Y:129.79, Z:7.14 [[-7.02871036e-01 -7.11098676e-01 1.76346136e-02 1.51522232e+02] [ 7.10810381e-01 -7.03090047e-01 -2.03221269e-02 1.29789336e+02] [ 2.68497588e-02 -1.74896792e-03 9.99637950e-01 7.14289807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.450714057 meters Centerline goodness : 0.983690 Centerline is valid? [True, True] Translation: X:151.52, Y:129.79, Z:7.15 [[-7.02643650e-01 -7.11323601e-01 1.76248704e-02 1.51522732e+02] [ 7.11035155e-01 -7.02862475e-01 -2.03309739e-02 1.29790878e+02] [ 2.68497616e-02 -1.75352725e-03 9.99637942e-01 7.14552869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.480714057 meters Centerline goodness : 0.984597 Centerline is valid? [True, True] Translation: X:151.51, Y:129.80, Z:7.15 [[-7.04250515e-01 -7.09728633e-01 1.77899024e-02 1.51513140e+02] [ 7.09443437e-01 -7.04473374e-01 -2.01810585e-02 1.29801181e+02] [ 2.68555876e-02 -1.59159135e-03 9.99638057e-01 7.14539193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.51071405700003 meters Centerline goodness : 0.986176 Centerline is valid? [True, True] Translation: X:151.50, Y:129.81, Z:7.14 [[-7.15725825e-01 -6.98153682e-01 1.78319719e-02 1.51495458e+02] [ 6.97865833e-01 -7.15945211e-01 -2.01428475e-02 1.29810156e+02] [ 2.68295181e-02 -1.97243219e-03 9.99638078e-01 7.14196675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.540714057 meters Centerline goodness : 0.985687 Centerline is valid? [True, True] Translation: X:151.51, Y:129.80, Z:7.14 [[-7.07791661e-01 -7.06189545e-01 1.80912001e-02 1.51513702e+02] [ 7.05910132e-01 -7.08021600e-01 -1.99072700e-02 1.29799058e+02] [ 2.68672664e-02 -1.31943827e-03 9.99638139e-01 7.14236006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.57071405700003 meters Centerline goodness : 0.982741 Centerline is valid? [True, True] Translation: X:151.52, Y:129.80, Z:7.14 [[-7.09129480e-01 -7.04856592e-01 1.76795106e-02 1.51516270e+02] [ 7.04567400e-01 -7.09347220e-01 -2.02805458e-02 1.29798383e+02] [ 2.68357881e-02 -1.92512602e-03 9.99638002e-01 7.14200218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.600714057 meters Centerline goodness : 0.985005 Centerline is valid? [True, True] Translation: X:151.51, Y:129.81, Z:7.14 [[-7.10979757e-01 -7.02984470e-01 1.79058684e-02 1.51508860e+02] [ 7.02699798e-01 -7.11203189e-01 -2.00752796e-02 1.29805160e+02] [ 2.68473205e-02 -1.69066734e-03 9.99638116e-01 7.14006015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.63071405700003 meters Centerline goodness : 0.984247 Centerline is valid? [True, True] Translation: X:151.52, Y:129.80, Z:7.14 [[-7.12304657e-01 -7.01647460e-01 1.76894712e-02 1.51516669e+02] [ 7.01357516e-01 -7.12521375e-01 -2.02712914e-02 1.29796376e+02] [ 2.68274265e-02 -2.03269165e-03 9.99638013e-01 7.13994856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.660714057 meters Centerline goodness : 0.985760 Centerline is valid? [True, True] Translation: X:151.51, Y:129.80, Z:7.14 [[-7.13778688e-01 -7.00143721e-01 1.78536811e-02 1.51510166e+02] [ 6.99856987e-01 -7.13999496e-01 -2.01225563e-02 1.29801061e+02] [ 2.68362008e-02 -1.86802839e-03 9.99638099e-01 7.13841553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.690714057 meters Centerline goodness : 0.985583 Centerline is valid? [True, True] Translation: X:151.51, Y:129.80, Z:7.14 [[-7.14822080e-01 -6.99084343e-01 1.76203256e-02 1.51506312e+02] [ 6.98792101e-01 -7.15035765e-01 -2.03336047e-02 1.29802538e+02] [ 2.68140677e-02 -2.22196529e-03 9.99637969e-01 7.13931115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.720714057 meters Centerline goodness : 0.984286 Centerline is valid? [True, True] Translation: X:151.51, Y:129.79, Z:7.14 [[-7.16204587e-01 -6.97667649e-01 1.76306657e-02 1.51509156e+02] [ 6.97375212e-01 -7.16417991e-01 -2.03242558e-02 1.29794112e+02] [ 2.68105018e-02 -2.26113602e-03 9.99637977e-01 7.14384034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.750714057 meters Centerline goodness : 0.985436 Centerline is valid? [True, True] Translation: X:151.50, Y:129.81, Z:7.14 [[-7.16729969e-01 -6.97124118e-01 1.77796664e-02 1.51495638e+02] [ 6.96834808e-01 -7.16947442e-01 -2.01894998e-02 1.29806509e+02] [ 2.68216736e-02 -2.08092919e-03 9.99638068e-01 7.14266242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.780714057 meters Centerline goodness : 0.985589 Centerline is valid? [True, True] Translation: X:151.49, Y:129.81, Z:7.14 [[-7.17426776e-01 -6.96409660e-01 1.76750118e-02 1.51490674e+02] [ 6.96117825e-01 -7.17640948e-01 -2.02840791e-02 1.29805838e+02] [ 2.68103409e-02 -2.24845073e-03 9.99638010e-01 7.14453781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.810714057 meters Centerline goodness : 0.983286 Centerline is valid? [True, True] Translation: X:151.49, Y:129.81, Z:7.15 [[-7.17481183e-01 -6.96354095e-01 1.76557484e-02 1.51485133e+02] [ 6.96061821e-01 -7.17694776e-01 -2.03014812e-02 1.29810191e+02] [ 2.68084580e-02 -2.27643836e-03 9.99637997e-01 7.14586198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.840714057 meters Centerline goodness : 0.987678 Centerline is valid? [True, True] Translation: X:151.46, Y:129.82, Z:7.14 [[-7.27338180e-01 -6.86047558e-01 1.78303376e-02 1.51459192e+02] [ 6.85756049e-01 -7.27552660e-01 -2.01437071e-02 1.29822187e+02] [ 2.67920506e-02 -2.42402538e-03 9.99638090e-01 7.14444939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.870714057 meters Centerline goodness : 0.984800 Centerline is valid? [True, True] Translation: X:151.48, Y:129.81, Z:7.15 [[-7.18748936e-01 -6.95035683e-01 1.80379204e-02 1.51476783e+02] [ 6.94751493e-01 -7.18972961e-01 -1.99560784e-02 1.29809935e+02] [ 2.68389636e-02 -1.81153800e-03 9.99638129e-01 7.14664779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.900714057 meters Centerline goodness : 0.985969 Centerline is valid? [True, True] Translation: X:151.47, Y:129.82, Z:7.14 [[-7.20223826e-01 -6.93512921e-01 1.78176576e-02 1.51466480e+02] [ 6.93223367e-01 -7.20440937e-01 -2.01549073e-02 1.29816335e+02] [ 2.68142586e-02 -2.16442784e-03 9.99638090e-01 7.14453842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.930714057 meters Centerline goodness : 0.983949 Centerline is valid? [True, True] Translation: X:151.47, Y:129.80, Z:7.15 [[-7.22672391e-01 -6.90965023e-01 1.76621666e-02 1.51469689e+02] [ 6.90671313e-01 -7.22883978e-01 -2.02951036e-02 1.29803668e+02] [ 2.67909040e-02 -2.46795930e-03 9.99638013e-01 7.15036809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.960714057 meters Centerline goodness : 0.984917 Centerline is valid? [True, True] Translation: X:151.46, Y:129.81, Z:7.15 [[-7.23162686e-01 -6.90446573e-01 1.78678436e-02 1.51458269e+02] [ 6.90157201e-01 -7.23380012e-01 -2.01095973e-02 1.29810946e+02] [ 2.68098435e-02 -2.21088945e-03 9.99638107e-01 7.14976144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.990714057 meters Centerline goodness : 0.987324 Centerline is valid? [True, True] Translation: X:151.45, Y:129.81, Z:7.15 [[-7.24099506e-01 -6.89464322e-01 1.78564661e-02 1.51454986e+02] [ 6.89174406e-01 -7.24316111e-01 -2.01198518e-02 1.29809190e+02] [ 2.68056461e-02 -2.26255534e-03 9.99638104e-01 7.14505111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.020714057 meters Centerline goodness : 0.985423 Centerline is valid? [True, True] Translation: X:151.45, Y:129.81, Z:7.15 [[-7.24105008e-01 -6.89462738e-01 1.76937775e-02 1.51448949e+02] [ 6.89169281e-01 -7.24316904e-01 -2.02663482e-02 1.29807821e+02] [ 2.67887940e-02 -2.48095631e-03 9.99638037e-01 7.15272109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.050714057 meters Centerline goodness : 0.986817 Centerline is valid? [True, True] Translation: X:151.45, Y:129.81, Z:7.15 [[-7.22490821e-01 -6.91147784e-01 1.79374946e-02 1.51445323e+02] [ 6.90860159e-01 -7.22710431e-01 -2.00467893e-02 1.29806162e+02] [ 2.68189084e-02 -2.09132093e-03 9.99638121e-01 7.15107654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.080714057 meters Centerline goodness : 0.988982 Centerline is valid? [True, True] Translation: X:151.43, Y:129.81, Z:7.15 [[-7.28199335e-01 -6.85132646e-01 1.78601927e-02 1.51427571e+02] [ 6.84841527e-01 -7.28414315e-01 -2.01163843e-02 1.29812515e+02] [ 2.67920116e-02 -2.41733606e-03 9.99638107e-01 7.14599713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.110714057 meters Centerline goodness : 0.989102 Centerline is valid? [True, True] Translation: X:151.44, Y:129.80, Z:7.14 [[-7.15531171e-01 -6.98348845e-01 1.80009733e-02 1.51441825e+02] [ 6.98064856e-01 -7.15755456e-01 -1.99896097e-02 1.29796678e+02] [ 2.68440157e-02 -1.73734199e-03 9.99638125e-01 7.14497444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.140714057 meters Centerline goodness : 0.988212 Centerline is valid? [True, True] Translation: X:151.44, Y:129.78, Z:7.15 [[-7.12071780e-01 -7.01887662e-01 1.75353861e-02 1.51443798e+02] [ 7.01594457e-01 -7.12284172e-01 -2.04077630e-02 1.29783845e+02] [ 2.68141351e-02 -2.22906247e-03 9.99637951e-01 7.14772635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.170714057 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:151.44, Y:129.78, Z:7.15 [[-7.08646466e-01 -7.05339145e-01 1.78010222e-02 1.51441962e+02] [ 7.05052871e-01 -7.08867869e-01 -2.01691137e-02 1.29780144e+02] [ 2.68446380e-02 -1.74210932e-03 9.99638100e-01 7.14678538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.200714057 meters Centerline goodness : 0.991067 Centerline is valid? [True, True] Translation: X:151.41, Y:129.79, Z:7.15 [[-7.14943512e-01 -6.98958022e-01 1.77047498e-02 1.51413852e+02] [ 6.98667653e-01 -7.15159579e-01 -2.02555425e-02 1.29789935e+02] [ 2.68194953e-02 -2.11183267e-03 9.99638062e-01 7.14625155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.230714057 meters Centerline goodness : 0.992109 Centerline is valid? [True, True] Translation: X:151.41, Y:129.79, Z:7.15 [[-7.13162335e-01 -7.00768354e-01 1.79777294e-02 1.51411610e+02] [ 7.00484609e-01 -7.13386922e-01 -2.00102935e-02 1.29786805e+02] [ 2.68476575e-02 -1.67746488e-03 9.99638129e-01 7.14706944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26071405700003 meters Centerline goodness : 0.992207 Centerline is valid? [True, True] Translation: X:151.41, Y:129.78, Z:7.15 [[-7.10059507e-01 -7.03912337e-01 1.79699120e-02 1.51409555e+02] [ 7.03629412e-01 -7.10285125e-01 -2.00173113e-02 1.29780651e+02] [ 2.68541936e-02 -1.56932354e-03 9.99638129e-01 7.14749610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.290714057 meters Centerline goodness : 0.992502 Centerline is valid? [True, True] Translation: X:151.41, Y:129.78, Z:7.15 [[-7.08571563e-01 -7.05410308e-01 1.79621184e-02 1.51405497e+02] [ 7.05127683e-01 -7.08797557e-01 -2.00243023e-02 1.29781407e+02] [ 2.68568549e-02 -1.52306430e-03 9.99638129e-01 7.14739493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32071405700003 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:151.40, Y:129.78, Z:7.15 [[-7.05489193e-01 -7.08493219e-01 1.79543364e-02 1.51402273e+02] [ 7.08211405e-01 -7.05716199e-01 -2.00312774e-02 1.29779014e+02] [ 2.68626902e-02 -1.41638391e-03 9.99638129e-01 7.14624244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.350714057 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:151.40, Y:129.78, Z:7.15 [[-7.02829388e-01 -7.11132036e-01 1.79465570e-02 1.51395244e+02] [ 7.10850899e-01 -7.03057230e-01 -2.00382447e-02 1.29782066e+02] [ 2.68672945e-02 -1.32614107e-03 9.99638129e-01 7.14500179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38071405700003 meters Centerline goodness : 0.990426 Centerline is valid? [True, True] Translation: X:151.16, Y:130.05, Z:7.16 [[-7.02957749e-01 -7.11005347e-01 1.79387697e-02 1.51157537e+02] [ 7.10723992e-01 -7.03185322e-01 -2.00452138e-02 1.30047253e+02] [ 2.68665337e-02 -1.34142435e-03 9.99638129e-01 7.16000490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.410714057 meters Centerline goodness : 0.991802 Centerline is valid? [True, True] Translation: X:151.40, Y:129.77, Z:7.14 [[-7.00717935e-01 -7.13205745e-01 1.82192670e-02 1.51398799e+02] [ 7.12931566e-01 -7.00954200e-01 -1.97937479e-02 1.29774117e+02] [ 2.68878865e-02 -8.80743594e-04 9.99638067e-01 7.14488995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.440714057 meters Centerline goodness : 0.989113 Centerline is valid? [True, True] Translation: X:151.15, Y:130.05, Z:7.16 [[-7.00277973e-01 -7.13644996e-01 1.79326464e-02 1.51147743e+02] [ 7.13364375e-01 -7.00506432e-01 -2.00501018e-02 1.30054190e+02] [ 2.68705889e-02 -1.24813358e-03 9.99638141e-01 7.15954545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.470714057 meters Centerline goodness : 0.989343 Centerline is valid? [True, True] Translation: X:151.14, Y:130.06, Z:7.16 [[-6.98473775e-01 -7.15406338e-01 1.81151181e-02 1.51143256e+02] [ 7.15130476e-01 -6.98708018e-01 -1.98873558e-02 1.30057585e+02] [ 2.68847187e-02 -9.36123440e-04 9.99638102e-01 7.16038906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.500714057 meters Centerline goodness : 0.989429 Centerline is valid? [True, True] Translation: X:151.14, Y:130.06, Z:7.16 [[-6.98880341e-01 -7.15010540e-01 1.80609017e-02 1.51139056e+02] [ 7.14733299e-01 -6.99112923e-01 -1.99356774e-02 1.30058022e+02] [ 2.68808292e-02 -1.02392517e-03 9.99638121e-01 7.16162873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.530714057 meters Centerline goodness : 0.992332 Centerline is valid? [True, True] Translation: X:151.39, Y:129.78, Z:7.15 [[-6.97157732e-01 -7.16687106e-01 1.81848493e-02 1.51386121e+02] [ 7.16413298e-01 -6.97394410e-01 -1.98248022e-02 1.29776715e+02] [ 2.68901924e-02 -7.93146231e-04 9.99638079e-01 7.14772376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.560714057 meters Centerline goodness : 0.989351 Centerline is valid? [True, True] Translation: X:151.14, Y:130.05, Z:7.16 [[-6.97023424e-01 -7.16824651e-01 1.79099398e-02 1.51141568e+02] [ 7.16544561e-01 -6.97252524e-01 -2.00701251e-02 1.30053012e+02] [ 2.68745112e-02 -1.15607738e-03 9.99638147e-01 7.16289788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.590714057 meters Centerline goodness : 0.992062 Centerline is valid? [True, True] Translation: X:151.38, Y:129.78, Z:7.15 [[-6.96396836e-01 -7.17426986e-01 1.81649737e-02 1.51383276e+02] [ 7.17152975e-01 -6.96633257e-01 -1.98422988e-02 1.29777295e+02] [ 2.68897254e-02 -7.91049197e-04 9.99638093e-01 7.14893640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.620714057 meters Centerline goodness : 0.989448 Centerline is valid? [True, True] Translation: X:151.13, Y:130.06, Z:7.16 [[-6.97445705e-01 -7.16414128e-01 1.78965328e-02 1.51133935e+02] [ 7.16133612e-01 -6.97674266e-01 -2.00815340e-02 1.30059432e+02] [ 2.68726450e-02 -1.18947096e-03 9.99638158e-01 7.16415472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.650714057 meters Centerline goodness : 0.985443 Centerline is valid? [True, True] Translation: X:150.75, Y:130.48, Z:7.18 [[-7.00633941e-01 -7.13294826e-01 1.79603150e-02 1.50754189e+02] [ 7.13014722e-01 -7.00863034e-01 -2.00253353e-02 1.30479943e+02] [ 2.68716889e-02 -1.22446062e-03 9.99638141e-01 7.18153219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.680714057 meters Centerline goodness : 0.985159 Centerline is valid? [True, True] Translation: X:150.76, Y:130.48, Z:7.18 [[-7.00533231e-01 -7.13396548e-01 1.78481577e-02 1.50758197e+02] [ 7.13114004e-01 -7.00759225e-01 -2.01227605e-02 1.30475181e+02] [ 2.68627690e-02 -1.36889124e-03 9.99638193e-01 7.18085539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.710714057 meters Centerline goodness : 0.986310 Centerline is valid? [True, True] Translation: X:150.77, Y:130.46, Z:7.17 [[-7.01100520e-01 -7.12838979e-01 1.78507891e-02 1.50773903e+02] [ 7.12556314e-01 -7.01326362e-01 -2.01204788e-02 1.30457309e+02] [ 2.68618905e-02 -1.38678568e-03 9.99638192e-01 7.17294087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.740714057 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:151.37, Y:129.79, Z:7.15 [[-6.93572957e-01 -7.20152509e-01 1.83553067e-02 1.51367546e+02] [ 7.19883908e-01 -6.93815666e-01 -1.96717981e-02 1.29790680e+02] [ 2.69018942e-02 -4.30137246e-04 9.99637986e-01 7.15106334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.770714057 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:151.37, Y:129.80, Z:7.15 [[-6.95627256e-01 -7.18182632e-01 1.77884172e-02 1.51365324e+02] [ 7.17900402e-01 -6.95853515e-01 -2.01717195e-02 1.29795823e+02] [ 2.68651113e-02 -1.26168598e-03 9.99638272e-01 7.15059337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.800714057 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:151.36, Y:129.80, Z:7.15 [[-6.97040363e-01 -7.16811399e-01 1.77806293e-02 1.51361543e+02] [ 7.16528549e-01 -6.97265848e-01 -2.01785819e-02 1.29801097e+02] [ 2.68620631e-02 -1.32495753e-03 9.99638272e-01 7.14991229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.830714057 meters Centerline goodness : 0.992191 Centerline is valid? [True, True] Translation: X:151.36, Y:129.81, Z:7.15 [[-7.00294885e-01 -7.13632399e-01 1.77728191e-02 1.51359316e+02] [ 7.13348353e-01 -7.00518861e-01 -2.01854586e-02 1.29806200e+02] [ 2.68551923e-02 -1.45756220e-03 9.99638272e-01 7.14855568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.860714057 meters Centerline goodness : 0.990780 Centerline is valid? [True, True] Translation: X:151.13, Y:130.06, Z:7.16 [[-7.03734818e-01 -7.10240601e-01 1.77649891e-02 1.51132441e+02] [ 7.09955304e-01 -7.03957198e-01 -2.01923474e-02 1.30064526e+02] [ 2.68472169e-02 -1.59770967e-03 9.99638272e-01 7.16316638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.890714057 meters Centerline goodness : 0.985962 Centerline is valid? [True, True] Translation: X:150.73, Y:130.52, Z:7.18 [[-7.09230510e-01 -7.04751359e-01 1.78215077e-02 1.50729839e+02] [ 7.04465563e-01 -7.09452270e-01 -2.01431442e-02 1.30518336e+02] [ 2.68394174e-02 -1.73149395e-03 9.99638258e-01 7.18049624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.920714057 meters Centerline goodness : 0.985973 Centerline is valid? [True, True] Translation: X:150.76, Y:130.48, Z:7.18 [[-7.10317457e-01 -7.03658350e-01 1.77210909e-02 1.50759484e+02] [ 7.03370081e-01 -7.10535923e-01 -2.02294496e-02 1.30484418e+02] [ 2.68260928e-02 -1.90484604e-03 9.99638301e-01 7.17938336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.950714057 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:151.34, Y:129.83, Z:7.15 [[-7.03508870e-01 -7.10454395e-01 1.81610341e-02 1.51338979e+02] [ 7.10178017e-01 -7.03742442e-01 -1.98433818e-02 1.29826430e+02] [ 2.68785083e-02 -1.06242788e-03 9.99638143e-01 7.15108308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.980714057 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:151.34, Y:129.83, Z:7.15 [[-7.03537081e-01 -7.10439238e-01 1.76540261e-02 1.51339112e+02] [ 7.10151709e-01 -7.03756409e-01 -2.02846464e-02 1.29827277e+02] [ 2.68351427e-02 -1.73396414e-03 9.99638369e-01 7.15032540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.01071405700003 meters Centerline goodness : 0.990482 Centerline is valid? [True, True] Translation: X:151.08, Y:130.12, Z:7.16 [[-7.01613554e-01 -7.12339130e-01 1.76461043e-02 1.51084610e+02] [ 7.12052024e-01 -7.01833434e-01 -2.02915354e-02 1.30124827e+02] [ 2.68390806e-02 -1.67187195e-03 9.99638369e-01 7.16372912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.040714057 meters Centerline goodness : 0.985442 Centerline is valid? [True, True] Translation: X:150.69, Y:130.56, Z:7.18 [[-7.12835693e-01 -7.01108467e-01 1.76689718e-02 1.50690597e+02] [ 7.00818390e-01 -7.13051640e-01 -2.02717136e-02 1.30564740e+02] [ 2.68115594e-02 -2.06766065e-03 9.99638367e-01 7.17958529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.07071405700003 meters Centerline goodness : 0.989515 Centerline is valid? [True, True] Translation: X:151.08, Y:130.13, Z:7.17 [[-7.00663120e-01 -7.13266173e-01 1.79599408e-02 1.51078884e+02] [ 7.12986230e-01 -7.00892199e-01 -2.00190186e-02 1.30129120e+02] [ 2.68668712e-02 -1.22139751e-03 9.99638274e-01 7.16629246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.100714057 meters Centerline goodness : 0.992113 Centerline is valid? [True, True] Translation: X:151.32, Y:129.84, Z:7.15 [[-7.02440677e-01 -7.11520880e-01 1.77519712e-02 1.51323411e+02] [ 7.11235822e-01 -7.02663215e-01 -2.01993086e-02 1.29839618e+02] [ 2.68458870e-02 -1.56297820e-03 9.99638362e-01 7.15251457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.13071405700003 meters Centerline goodness : 0.990376 Centerline is valid? [True, True] Translation: X:151.07, Y:130.13, Z:7.17 [[-7.01190712e-01 -7.12756697e-01 1.75919633e-02 1.51073694e+02] [ 7.12468573e-01 -7.01409231e-01 -2.03377150e-02 1.30131553e+02] [ 2.68350080e-02 -1.72689587e-03 9.99638385e-01 7.16581014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.160714057 meters Centerline goodness : 0.990376 Centerline is valid? [True, True] Translation: X:151.07, Y:130.13, Z:7.17 [[-7.00791169e-01 -7.13147664e-01 1.76676901e-02 1.51071859e+02] [ 7.12861294e-01 -7.01011991e-01 -2.02722404e-02 1.30133506e+02] [ 2.68423635e-02 -1.61199461e-03 9.99638379e-01 7.16591085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.190714057 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:151.32, Y:129.84, Z:7.15 [[-7.02107379e-01 -7.11851303e-01 1.76903877e-02 1.51315635e+02] [ 7.11565016e-01 -7.02328313e-01 -2.02526042e-02 1.29843364e+02] [ 2.68413028e-02 -1.63164189e-03 9.99638376e-01 7.15186839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.220714057 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:151.31, Y:129.84, Z:7.15 [[-7.02256210e-01 -7.11707366e-01 1.75738760e-02 1.51314403e+02] [ 7.11418533e-01 -7.02473785e-01 -2.03532060e-02 1.29843119e+02] [ 2.68307139e-02 -1.79078423e-03 9.99638388e-01 7.15150438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.250714057 meters Centerline goodness : 0.990361 Centerline is valid? [True, True] Translation: X:151.06, Y:130.14, Z:7.16 [[-7.04262640e-01 -7.09722180e-01 1.75659181e-02 1.51060496e+02] [ 7.09432564e-01 -7.04479172e-01 -2.03600718e-02 1.30136518e+02] [ 2.68248180e-02 -1.87700359e-03 9.99638388e-01 7.16276833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.280714057 meters Centerline goodness : 0.990509 Centerline is valid? [True, True] Translation: X:151.05, Y:130.15, Z:7.16 [[-7.03587409e-01 -7.10388587e-01 1.76865350e-02 1.51051979e+02] [ 7.10101750e-01 -7.03807637e-01 -2.02562178e-02 1.30146132e+02] [ 2.68377044e-02 -1.69278036e-03 9.99638371e-01 7.16444570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.310714057 meters Centerline goodness : 0.984487 Centerline is valid? [True, True] Translation: X:150.63, Y:130.63, Z:7.18 [[-7.13512612e-01 -7.00422120e-01 1.75672147e-02 1.50627938e+02] [ 7.00129729e-01 -7.13725364e-01 -2.03584714e-02 1.30625160e+02] [ 2.67976904e-02 -2.22669683e-03 9.99638397e-01 7.18124373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.340714057 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:151.02, Y:130.16, Z:7.16 [[-6.99835937e-01 -7.14083193e-01 1.77441445e-02 1.51024904e+02] [ 7.13798761e-01 -7.00059294e-01 -2.02067777e-02 1.30164886e+02] [ 2.68512736e-02 -1.47568086e-03 9.99638350e-01 7.15965437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.370714057 meters Centerline goodness : 0.984528 Centerline is valid? [True, True] Translation: X:150.64, Y:130.60, Z:7.18 [[-7.18886157e-01 -6.94912204e-01 1.73124793e-02 1.50640622e+02] [ 6.94613083e-01 -7.19089275e-01 -2.05737552e-02 1.30604631e+02] [ 2.67461717e-02 -2.76471319e-03 9.99638434e-01 7.17930538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.400714057 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:151.28, Y:129.87, Z:7.15 [[-7.11370942e-01 -7.02588324e-01 1.79173306e-02 1.51275097e+02] [ 7.02304095e-01 -7.11594560e-01 -2.00534227e-02 1.29867671e+02] [ 2.68391756e-02 -1.68200756e-03 9.99638349e-01 7.15309927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.430714057 meters Centerline goodness : 0.989785 Centerline is valid? [True, True] Translation: X:150.99, Y:130.20, Z:7.17 [[-7.13812506e-01 -7.00119681e-01 1.74395636e-02 1.50992095e+02] [ 6.99824758e-01 -7.14021477e-01 -2.04606527e-02 1.30201140e+02] [ 2.67771286e-02 -2.40043143e-03 9.99638546e-01 7.16709159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.460714057 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:151.26, Y:129.87, Z:7.15 [[-7.16241417e-01 -6.97631679e-01 1.75576922e-02 1.51263064e+02] [ 6.97338445e-01 -7.16452769e-01 -2.03598433e-02 1.29874486e+02] [ 2.67829289e-02 -2.33890926e-03 9.99638537e-01 7.15465982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.490714057 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:151.25, Y:129.88, Z:7.15 [[-7.17754366e-01 -6.96078438e-01 1.74206090e-02 1.51254011e+02] [ 6.95781965e-01 -7.17961121e-01 -2.04764691e-02 1.29878963e+02] [ 2.67605486e-02 -2.57612952e-03 9.99638553e-01 7.15430257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.520714057 meters Centerline goodness : 0.990725 Centerline is valid? [True, True] Translation: X:151.02, Y:130.15, Z:7.17 [[-7.14502616e-01 -6.99416054e-01 1.74124942e-02 1.51023648e+02] [ 6.99120383e-01 -7.14710516e-01 -2.04833673e-02 1.30154172e+02] [ 2.67712887e-02 -2.46198995e-03 9.99638553e-01 7.16503310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.550714057 meters Centerline goodness : 0.991849 Centerline is valid? [True, True] Translation: X:150.97, Y:130.21, Z:7.16 [[-7.11025394e-01 -7.02950208e-01 1.74325445e-02 1.50966209e+02] [ 7.02655982e-01 -7.11235334e-01 -2.04663175e-02 1.30211691e+02] [ 2.67854437e-02 -2.30298977e-03 9.99638553e-01 7.16358195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.580714057 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:150.97, Y:130.20, Z:7.17 [[-7.10621803e-01 -7.03363868e-01 1.72023886e-02 1.50966940e+02] [ 7.03065082e-01 -7.10825273e-01 -2.06620842e-02 1.30203930e+02] [ 2.67608560e-02 -2.58852880e-03 9.99638513e-01 7.16698966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.610714057 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:150.99, Y:130.17, Z:7.17 [[-7.08928012e-01 -7.05067263e-01 1.73559424e-02 1.50991410e+02] [ 7.04772092e-01 -7.09136627e-01 -2.05314966e-02 1.30172568e+02] [ 2.67838205e-02 -2.32336925e-03 9.99638549e-01 7.16663411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.640714057 meters Centerline goodness : 0.990451 Centerline is valid? [True, True] Translation: X:151.00, Y:130.15, Z:7.17 [[-7.08334178e-01 -7.05663119e-01 1.73854694e-02 1.51004755e+02] [ 7.05368728e-01 -7.08543891e-01 -2.05064035e-02 1.30152786e+02] [ 2.67889808e-02 -2.26222002e-03 9.99638551e-01 7.16654065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.670714057 meters Centerline goodness : 0.991818 Centerline is valid? [True, True] Translation: X:151.24, Y:129.87, Z:7.15 [[-6.91120169e-01 -7.22529479e-01 1.74374575e-02 1.51243848e+02] [ 7.22241331e-01 -6.91338381e-01 -2.04622290e-02 1.29868347e+02] [ 2.68397473e-02 -1.54780668e-03 9.99638551e-01 7.15083757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.700714057 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:151.23, Y:129.86, Z:7.15 [[-7.03220312e-01 -7.10778571e-01 1.65836045e-02 1.51233158e+02] [ 7.10469819e-01 -7.03408949e-01 -2.11774978e-02 1.29861386e+02] [ 2.67175675e-02 -3.11029612e-03 9.99638183e-01 7.15392719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.730714057 meters Centerline goodness : 0.991252 Centerline is valid? [True, True] Translation: X:151.22, Y:129.88, Z:7.15 [[-6.85420036e-01 -7.27942752e-01 1.72836271e-02 1.51222510e+02] [ 7.27653122e-01 -6.85636193e-01 -2.05898977e-02 1.29882420e+02] [ 2.68385470e-02 -1.53624320e-03 9.99638601e-01 7.15235667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76071405700003 meters Centerline goodness : 0.989275 Centerline is valid? [True, True] Translation: X:151.24, Y:129.86, Z:7.15 [[-6.80669176e-01 -7.32397001e-01 1.68554459e-02 1.51239007e+02] [ 7.32099863e-01 -6.80875135e-01 -2.09485183e-02 1.29860902e+02] [ 2.68190859e-02 -1.91914103e-03 9.99638461e-01 7.15437796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.790714057 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:151.22, Y:129.85, Z:7.16 [[-6.88672625e-01 -7.24875713e-01 1.68883752e-02 1.51222859e+02] [ 7.24576997e-01 -6.88876251e-01 -2.09209548e-02 1.29852145e+02] [ 2.67990926e-02 -2.17076068e-03 9.99638483e-01 7.15552487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82071405700003 meters Centerline goodness : 0.990150 Centerline is valid? [True, True] Translation: X:151.24, Y:129.85, Z:7.16 [[-6.70743566e-01 -7.41488342e-01 1.72657618e-02 1.51237728e+02] [ 7.41202708e-01 -6.70964970e-01 -2.06047274e-02 1.29846801e+02] [ 2.68628865e-02 -1.02305892e-03 9.99638604e-01 7.15649903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.850714057 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:151.22, Y:129.84, Z:7.16 [[-6.79982768e-01 -7.33037739e-01 1.67065030e-02 1.51224864e+02] [ 7.32737775e-01 -6.80184766e-01 -2.10722031e-02 1.29840962e+02] [ 2.68102290e-02 -2.08724917e-03 9.99638362e-01 7.15500844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88071405700003 meters Centerline goodness : 0.984529 Centerline is valid? [True, True] Translation: X:150.63, Y:130.54, Z:7.18 [[-6.82152763e-01 -7.31006072e-01 1.72548696e-02 1.50630834e+02] [ 7.30716830e-01 -6.82369410e-01 -2.06131858e-02 1.30542788e+02] [ 2.68425592e-02 -1.45291803e-03 9.99638618e-01 7.17901933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.910714057 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:151.21, Y:129.85, Z:7.15 [[-6.72977198e-01 -7.39458035e-01 1.74214225e-02 1.51211678e+02] [ 7.39175100e-01 -6.73202052e-01 -2.04735993e-02 1.29848089e+02] [ 2.68675049e-02 -9.00783780e-04 9.99638598e-01 7.15457330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.940714057 meters Centerline goodness : 0.984560 Centerline is valid? [True, True] Translation: X:150.60, Y:130.58, Z:7.18 [[-6.77311737e-01 -7.35495406e-01 1.71848324e-02 1.50601418e+02] [ 7.35206159e-01 -6.77528333e-01 -2.06702967e-02 1.30576492e+02] [ 2.68461192e-02 -1.36583991e-03 9.99638645e-01 7.17749487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.970714057 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:151.20, Y:129.86, Z:7.15 [[-6.70227490e-01 -7.41951323e-01 1.74168487e-02 1.51199212e+02] [ 7.41669133e-01 -6.70453267e-01 -2.04771439e-02 1.29860007e+02] [ 2.68702271e-02 -8.06805662e-04 9.99638605e-01 7.15319136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.000714057 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:151.23, Y:129.84, Z:7.15 [[-6.52613396e-01 -7.57497669e-01 1.71183047e-02 1.51233257e+02] [ 7.57214343e-01 -6.52837625e-01 -2.07237508e-02 1.29839103e+02] [ 2.68736663e-02 -5.62371546e-04 9.99638680e-01 7.15045841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.030714057 meters Centerline goodness : 0.992727 Centerline is valid? [True, True] Translation: X:151.20, Y:129.86, Z:7.15 [[-6.72093104e-01 -7.40286483e-01 1.63334782e-02 1.51198082e+02] [ 7.39981475e-01 -6.72287693e-01 -2.13699260e-02 1.29864863e+02] [ 2.68006637e-02 -2.27610858e-03 9.99638206e-01 7.15265952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.060714057 meters Centerline goodness : 0.985026 Centerline is valid? [True, True] Translation: X:150.53, Y:130.67, Z:7.18 [[-6.81520344e-01 -7.31599157e-01 1.71083020e-02 1.50531765e+02] [ 7.31307177e-01 -6.81733129e-01 -2.07305033e-02 1.30665638e+02] [ 2.68297150e-02 -1.61683573e-03 9.99638711e-01 7.18023637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.090714057 meters Centerline goodness : 0.992435 Centerline is valid? [True, True] Translation: X:151.18, Y:129.89, Z:7.15 [[-6.73076162e-01 -7.39367237e-01 1.74519033e-02 1.51180292e+02] [ 7.39084968e-01 -6.73301822e-01 -2.04466876e-02 1.29885262e+02] [ 2.68680092e-02 -8.63738673e-04 9.99638617e-01 7.15354275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.120714057 meters Centerline goodness : 0.985638 Centerline is valid? [True, True] Translation: X:150.53, Y:130.68, Z:7.18 [[-6.83727948e-01 -7.29538432e-01 1.70226312e-02 1.50526047e+02] [ 7.29244149e-01 -6.83937434e-01 -2.07980405e-02 1.30679523e+02] [ 2.68153845e-02 -1.80654742e-03 9.99638771e-01 7.17993895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.150714057 meters Centerline goodness : 0.991104 Centerline is valid? [True, True] Translation: X:150.93, Y:130.19, Z:7.17 [[-6.71073833e-01 -7.41190787e-01 1.72083657e-02 1.50933006e+02] [ 7.40903981e-01 -6.71293524e-01 -2.06469497e-02 1.30191436e+02] [ 2.68551934e-02 -1.10588100e-03 9.99638723e-01 7.16504174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.180714057 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:150.91, Y:130.22, Z:7.17 [[-6.74533819e-01 -7.38051495e-01 1.68558128e-02 1.50912710e+02] [ 7.37756551e-01 -6.74742290e-01 -2.09311643e-02 1.30220811e+02] [ 2.68216068e-02 -1.68329191e-03 9.99638819e-01 7.16804201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.210714057 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:151.16, Y:129.91, Z:7.15 [[-6.81279724e-01 -7.31829128e-01 1.68542342e-02 1.51156800e+02] [ 7.31532252e-01 -6.81485434e-01 -2.09324353e-02 1.29913144e+02] [ 2.68048810e-02 -1.93142782e-03 9.99638819e-01 7.15411107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.240714057 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:151.16, Y:129.92, Z:7.15 [[-6.82803931e-01 -7.30407799e-01 1.68297169e-02 1.51155320e+02] [ 7.30110016e-01 -6.83008326e-01 -2.09521288e-02 1.29916307e+02] [ 2.67984350e-02 -2.01865105e-03 9.99638819e-01 7.15429705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.270714057 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:151.15, Y:129.92, Z:7.15 [[-6.84415644e-01 -7.28897978e-01 1.68215291e-02 1.51152042e+02] [ 7.28599586e-01 -6.84619147e-01 -2.09587004e-02 1.29920904e+02] [ 2.67930952e-02 -2.08830326e-03 9.99638819e-01 7.15445474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.300714057 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:150.82, Y:130.34, Z:7.17 [[-6.86548174e-01 -7.26889893e-01 1.68133291e-02 1.50815394e+02] [ 7.26590748e-01 -6.86750568e-01 -2.09652765e-02 1.30341803e+02] [ 2.67860109e-02 -2.17726294e-03 9.99638819e-01 7.16744985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.330714057 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:151.64, Y:130.49, Z:7.98 [[-6.13482345e-01 7.89529432e-01 -1.68133291e-02 1.51641815e+02] [ 7.89251131e-01 6.13712562e-01 2.09652765e-02 1.30489106e+02] [ 2.68712541e-02 -4.08112015e-04 -9.99638819e-01 7.97699458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.360714057 meters Centerline goodness : 0.992853 Centerline is valid? [True, True] Translation: X:151.11, Y:130.03, Z:7.16 [[-7.37531692e-01 -6.75068111e-01 1.81672256e-02 1.51112777e+02] [ 6.74783946e-01 -7.37751876e-01 -1.97179172e-02 1.30034017e+02] [ 2.67138419e-02 -2.28363666e-03 9.99640513e-01 7.15762596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.390714057 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:150.78, Y:130.40, Z:7.17 [[-7.37313824e-01 -6.75306270e-01 1.81594844e-02 1.50779731e+02] [ 6.75022003e-01 -7.37533876e-01 -1.97250440e-02 1.30396116e+02] [ 2.67136808e-02 -2.28549608e-03 9.99640513e-01 7.17005371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.420714057 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:150.78, Y:130.40, Z:7.17 [[-7.32403998e-01 -6.80628576e-01 1.81418035e-02 1.50780100e+02] [ 6.80345512e-01 -7.32625596e-01 -1.97413504e-02 1.30396229e+02] [ 2.67276768e-02 -2.11594934e-03 9.99640512e-01 7.16803041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.450714057 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:151.57, Y:130.63, Z:7.98 [[-6.62727789e-01 7.48640603e-01 -1.81418035e-02 1.51565939e+02] [ 7.48380435e-01 6.62975870e-01 1.97413504e-02 1.30632130e+02] [ 2.68067544e-02 -4.93829316e-04 -9.99640512e-01 7.98139129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.480714057 meters Centerline goodness : 0.992521 Centerline is valid? [True, True] Translation: X:151.06, Y:130.14, Z:7.16 [[-7.79614902e-01 -6.25959560e-01 1.93709543e-02 1.51056652e+02] [ 6.25691665e-01 -7.79852231e-01 -1.84509748e-02 1.30142441e+02] [ 2.66560460e-02 -2.26441031e-03 9.99642100e-01 7.16198640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.51071405700003 meters Centerline goodness : 0.991022 Centerline is valid? [True, True] Translation: X:151.07, Y:130.14, Z:7.16 [[-7.67874721e-01 -6.40307317e-01 1.93636965e-02 1.51071122e+02] [ 6.40043678e-01 -7.68116769e-01 -1.84585885e-02 1.30140763e+02] [ 2.66927493e-02 -1.78027194e-03 9.99642100e-01 7.15948440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.540714057 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:151.05, Y:130.15, Z:7.16 [[-7.79788904e-01 -6.25761825e-01 1.87457529e-02 1.51049266e+02] [ 6.25478159e-01 -7.80007738e-01 -1.91050030e-02 1.30147552e+02] [ 2.65770139e-02 -3.17281035e-03 9.99641734e-01 7.16130344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.57071405700003 meters Centerline goodness : 0.982423 Centerline is valid? [True, True] Translation: X:150.30, Y:130.85, Z:7.19 [[-7.86670014e-01 -6.17070172e-01 1.93569516e-02 1.50303210e+02] [ 6.16799283e-01 -7.86903880e-01 -1.84642703e-02 1.30847517e+02] [ 2.66258108e-02 -2.58593389e-03 9.99642126e-01 7.19476016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.600714057 meters Centerline goodness : 0.991270 Centerline is valid? [True, True] Translation: X:151.05, Y:130.15, Z:7.16 [[-7.60948889e-01 -6.48513997e-01 1.96566480e-02 1.51046723e+02] [ 6.48260859e-01 -7.61201981e-01 -1.81494723e-02 1.30150277e+02] [ 2.67328662e-02 -1.06818527e-03 9.99642042e-01 7.15907968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.63071405700003 meters Centerline goodness : 0.990400 Centerline is valid? [True, True] Translation: X:151.04, Y:130.15, Z:7.16 [[-7.61940923e-01 -6.47377294e-01 1.86726974e-02 1.51044129e+02] [ 6.47098755e-01 -7.62165556e-01 -1.91537771e-02 1.30151095e+02] [ 2.66314072e-02 -2.51096738e-03 9.99642168e-01 7.16333437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.660714057 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:151.04, Y:130.15, Z:7.16 [[-7.62296596e-01 -6.46958236e-01 1.86799664e-02 1.51043146e+02] [ 6.46679752e-01 -7.62521288e-01 -1.91463618e-02 1.30151065e+02] [ 2.66307685e-02 -2.51525043e-03 9.99642174e-01 7.16242664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.690714057 meters Centerline goodness : 0.990546 Centerline is valid? [True, True] Translation: X:151.04, Y:130.15, Z:7.16 [[-7.62566369e-01 -6.46639622e-01 1.87011114e-02 1.51039227e+02] [ 6.46361566e-01 -7.62791562e-01 -1.91247984e-02 1.30153424e+02] [ 2.66319024e-02 -2.49624841e-03 9.99642191e-01 7.16151292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.720714057 meters Centerline goodness : 0.990379 Centerline is valid? [True, True] Translation: X:151.04, Y:130.15, Z:7.16 [[-7.63297900e-01 -6.45776575e-01 1.86797011e-02 1.51035966e+02] [ 6.45497738e-01 -7.63522153e-01 -1.91466193e-02 1.30150999e+02] [ 2.66268038e-02 -2.55686949e-03 9.99642174e-01 7.15950495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.750714057 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:151.03, Y:130.15, Z:7.16 [[-7.62204724e-01 -6.47067364e-01 1.86490231e-02 1.51033435e+02] [ 6.46788152e-01 -7.62428551e-01 -1.91778667e-02 1.30150807e+02] [ 2.66279193e-02 -2.55549337e-03 9.99642148e-01 7.16042653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.780714057 meters Centerline goodness : 0.991444 Centerline is valid? [True, True] Translation: X:151.01, Y:130.17, Z:7.16 [[-7.59586400e-01 -6.50140718e-01 1.85889196e-02 1.51013166e+02] [ 6.49860931e-01 -7.59809600e-01 -1.92390861e-02 1.30166404e+02] [ 2.66321528e-02 -2.53353555e-03 9.99642091e-01 7.16133764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.810714057 meters Centerline goodness : 0.992677 Centerline is valid? [True, True] Translation: X:151.02, Y:130.15, Z:7.16 [[-7.67738543e-01 -6.40488535e-01 1.87607564e-02 1.51018191e+02] [ 6.40210137e-01 -7.67963244e-01 -1.90639821e-02 1.30147167e+02] [ 2.66178333e-02 -2.62532745e-03 9.99642235e-01 7.16093971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.840714057 meters Centerline goodness : 0.990278 Centerline is valid? [True, True] Translation: X:151.03, Y:130.14, Z:7.16 [[-7.53671183e-01 -6.56974120e-01 1.90985248e-02 1.51032753e+02] [ 6.56709245e-01 -7.53911502e-01 -1.87193770e-02 1.30142783e+02] [ 2.66967437e-02 -1.56607721e-03 9.99642352e-01 7.16460461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.870714057 meters Centerline goodness : 0.991043 Centerline is valid? [True, True] Translation: X:151.03, Y:130.14, Z:7.17 [[-7.49130010e-01 -6.62156650e-01 1.87829538e-02 1.51030726e+02] [ 6.61885367e-01 -7.49363207e-01 -1.90406342e-02 1.30139321e+02] [ 2.66831370e-02 -1.83174820e-03 9.99642263e-01 7.16631669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.900714057 meters Centerline goodness : 0.990002 Centerline is valid? [True, True] Translation: X:151.02, Y:130.14, Z:7.17 [[-7.47644578e-01 -6.63833410e-01 1.87826650e-02 1.51024821e+02] [ 6.63562642e-01 -7.47878374e-01 -1.90409279e-02 1.30143342e+02] [ 2.66871531e-02 -1.77237171e-03 9.99642263e-01 7.16772429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.930714057 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:151.02, Y:130.14, Z:7.17 [[-7.45501869e-01 -6.66237042e-01 1.88458751e-02 1.51023688e+02] [ 6.65968642e-01 -7.45738329e-01 -1.89766324e-02 1.30142641e+02] [ 2.66970269e-02 -1.59635308e-03 9.99642296e-01 7.16797164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.960714057 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:151.02, Y:130.14, Z:7.16 [[-7.41411713e-01 -6.70785967e-01 1.88376708e-02 1.51018091e+02] [ 6.70518808e-01 -7.41649580e-01 -1.89849718e-02 1.30143806e+02] [ 2.67058033e-02 -1.44466787e-03 9.99642293e-01 7.16275752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.990714057 meters Centerline goodness : 0.991558 Centerline is valid? [True, True] Translation: X:151.02, Y:130.14, Z:7.16 [[-7.40657620e-01 -6.71625361e-01 1.85920602e-02 1.51022411e+02] [ 6.71352205e-01 -7.40888833e-01 -1.92342104e-02 1.30136639e+02] [ 2.66928332e-02 -1.76414389e-03 9.99642126e-01 7.16267079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.020714057 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:151.02, Y:130.13, Z:7.16 [[-7.39660717e-01 -6.72723807e-01 1.85661989e-02 1.51022962e+02] [ 6.72450339e-01 -7.39891598e-01 -1.92604319e-02 1.30134998e+02] [ 2.66939256e-02 -1.76133811e-03 9.99642102e-01 7.16056184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.050714057 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:151.02, Y:130.14, Z:7.16 [[-7.39436220e-01 -6.72971582e-01 1.85290771e-02 1.51021032e+02] [ 6.72697253e-01 -7.39666135e-01 -1.92980526e-02 1.30136809e+02] [ 2.66923718e-02 -1.80521978e-03 9.99642065e-01 7.16061274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.080714057 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:151.02, Y:130.13, Z:7.16 [[-7.39539223e-01 -6.72858582e-01 1.85220503e-02 1.51022475e+02] [ 6.72584041e-01 -7.39768895e-01 -1.93051685e-02 1.30134510e+02] [ 2.66916850e-02 -1.81929392e-03 9.99642058e-01 7.15913757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.110714057 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:151.01, Y:130.14, Z:7.16 [[-7.38518313e-01 -6.73976683e-01 1.86046116e-02 1.51012521e+02] [ 6.73704580e-01 -7.38750750e-01 -1.92215750e-02 1.30144038e+02] [ 2.66990642e-02 -1.66147312e-03 9.99642136e-01 7.15684670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.140714057 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:151.01, Y:130.14, Z:7.16 [[-7.50170859e-01 -6.60983539e-01 1.85591987e-02 1.51005421e+02] [ 6.60706292e-01 -7.50397200e-01 -1.92675445e-02 1.30137499e+02] [ 2.66623005e-02 -2.19177103e-03 9.99642095e-01 7.16201566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.170714057 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:151.01, Y:130.14, Z:7.16 [[-7.38583989e-01 -6.73892565e-01 1.90395178e-02 1.51013048e+02] [ 6.73631628e-01 -7.38828612e-01 -1.87806128e-02 1.30140687e+02] [ 2.67230558e-02 -1.04543859e-03 9.99642329e-01 7.15882539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.200714057 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:151.01, Y:130.14, Z:7.16 [[-7.37746725e-01 -6.74823340e-01 1.85264311e-02 1.51009949e+02] [ 6.74549556e-01 -7.37977254e-01 -1.92994542e-02 1.30143876e+02] [ 2.66958069e-02 -1.74111331e-03 9.99642087e-01 7.15872009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.230714057 meters Centerline goodness : 0.991431 Centerline is valid? [True, True] Translation: X:151.00, Y:130.15, Z:7.17 [[-7.37065187e-01 -6.75567631e-01 1.85279852e-02 1.51000949e+02] [ 6.75294119e-01 -7.37296036e-01 -1.92978831e-02 1.30150990e+02] [ 2.66976352e-02 -1.71195837e-03 9.99642089e-01 7.16698562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26071405700003 meters Centerline goodness : 0.992926 Centerline is valid? [True, True] Translation: X:151.01, Y:130.14, Z:7.16 [[-7.35057464e-01 -6.77746131e-01 1.87271499e-02 1.51011090e+02] [ 6.77478387e-01 -7.35294744e-01 -1.90964795e-02 1.30140498e+02] [ 2.67125400e-02 -1.34977052e-03 9.99642245e-01 7.15921910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.290714057 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:151.00, Y:130.14, Z:7.16 [[-7.46254466e-01 -6.65403966e-01 1.84887748e-02 1.51001141e+02] [ 6.65126348e-01 -7.46480417e-01 -1.93372235e-02 1.30137081e+02] [ 2.66685735e-02 -2.13311814e-03 9.99642054e-01 7.16216691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32071405700003 meters Centerline goodness : 0.992189 Centerline is valid? [True, True] Translation: X:151.01, Y:130.14, Z:7.16 [[-7.34726735e-01 -6.78096549e-01 1.90182837e-02 1.51007742e+02] [ 6.77836470e-01 -7.34972257e-01 -1.88016235e-02 1.30142689e+02] [ 2.67272269e-02 -9.22769118e-04 9.99642338e-01 7.15844774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.350714057 meters Centerline goodness : 0.992401 Centerline is valid? [True, True] Translation: X:151.01, Y:130.14, Z:7.16 [[-7.36466809e-01 -6.76219992e-01 1.85246349e-02 1.51008371e+02] [ 6.75946645e-01 -7.36697808e-01 -1.92995709e-02 1.30142397e+02] [ 2.66978136e-02 -1.69182861e-03 9.99642118e-01 7.15860117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38071405700003 meters Centerline goodness : 0.990687 Centerline is valid? [True, True] Translation: X:151.02, Y:130.14, Z:7.16 [[-7.37387808e-01 -6.75214521e-01 1.85626375e-02 1.51015178e+02] [ 6.74941817e-01 -7.37619514e-01 -1.92612589e-02 1.30136568e+02] [ 2.66976453e-02 -1.67431721e-03 9.99642152e-01 7.16250237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.410714057 meters Centerline goodness : 0.992159 Centerline is valid? [True, True] Translation: X:151.01, Y:130.14, Z:7.16 [[-7.37778493e-01 -6.74783434e-01 1.87139834e-02 1.51014186e+02] [ 6.74514431e-01 -7.38014324e-01 -1.91086676e-02 1.30140507e+02] [ 2.67054001e-02 -1.47511217e-03 9.99642259e-01 7.16419344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.440714057 meters Centerline goodness : 0.992266 Centerline is valid? [True, True] Translation: X:151.02, Y:130.14, Z:7.16 [[-7.41283152e-01 -6.70934946e-01 1.85899603e-02 1.51015780e+02] [ 6.70661594e-01 -7.41514056e-01 -1.92336158e-02 1.30140404e+02] [ 2.66892218e-02 -1.78998296e-03 9.99642177e-01 7.16105266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.470714057 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:151.01, Y:130.14, Z:7.16 [[-7.41562236e-01 -6.70624621e-01 1.86565842e-02 1.51013211e+02] [ 6.70352848e-01 -7.41794921e-01 -1.91665033e-02 1.30144820e+02] [ 2.66928884e-02 -1.70666069e-03 9.99642225e-01 7.15970686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.500714057 meters Centerline goodness : 0.992354 Centerline is valid? [True, True] Translation: X:151.01, Y:130.15, Z:7.16 [[-7.44122242e-01 -6.67784644e-01 1.85945547e-02 1.51008353e+02] [ 6.67510431e-01 -7.44352115e-01 -1.92289542e-02 1.30149690e+02] [ 2.66816965e-02 -1.89663334e-03 9.99642181e-01 7.16191952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.530714057 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:151.00, Y:130.15, Z:7.16 [[-7.45530150e-01 -6.66210855e-01 1.86518562e-02 1.51002396e+02] [ 6.65937587e-01 -7.45761083e-01 -1.91712619e-02 1.30154327e+02] [ 2.66819313e-02 -1.87178164e-03 9.99642221e-01 7.15938261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.560714057 meters Centerline goodness : 0.993242 Centerline is valid? [True, True] Translation: X:151.00, Y:130.16, Z:7.16 [[-7.46018517e-01 -6.65667716e-01 1.85165790e-02 1.50996065e+02] [ 6.65390917e-01 -7.46245371e-01 -1.93073442e-02 1.30161486e+02] [ 2.66701871e-02 -2.08287285e-03 9.99642117e-01 7.16033559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.590714057 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:151.00, Y:130.16, Z:7.16 [[-7.46971434e-01 -6.64598761e-01 1.84976667e-02 1.51000328e+02] [ 6.64321171e-01 -7.47197346e-01 -1.93263592e-02 1.30158016e+02] [ 2.66656818e-02 -2.14784670e-03 9.99642100e-01 7.16067400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.620714057 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:150.99, Y:130.17, Z:7.16 [[-7.46610164e-01 -6.65002685e-01 1.85658741e-02 1.50994261e+02] [ 6.64726904e-01 -7.46838189e-01 -1.92577937e-02 1.30165622e+02] [ 2.66721883e-02 -2.03682851e-03 9.99642159e-01 7.16005042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.650714057 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:150.98, Y:130.18, Z:7.16 [[-7.47875406e-01 -6.63580290e-01 1.85357864e-02 1.50982991e+02] [ 6.63303332e-01 -7.48102039e-01 -1.92880385e-02 1.30177580e+02] [ 2.66658217e-02 -2.13020074e-03 9.99642134e-01 7.16037176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.680714057 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:150.98, Y:130.18, Z:7.16 [[-7.47933620e-01 -6.63514903e-01 1.85276596e-02 1.50983598e+02] [ 6.63237725e-01 -7.48159994e-01 -1.92962041e-02 1.30178130e+02] [ 2.66649726e-02 -2.14403698e-03 9.99642127e-01 7.15943858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.710714057 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:150.99, Y:130.17, Z:7.16 [[-7.50455309e-01 -6.60662381e-01 1.84945259e-02 1.50988101e+02] [ 6.60383531e-01 -7.50679668e-01 -1.93294720e-02 1.30174167e+02] [ 2.66537195e-02 -2.29242453e-03 9.99642098e-01 7.15875056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.740714057 meters Centerline goodness : 0.993437 Centerline is valid? [True, True] Translation: X:150.98, Y:130.18, Z:7.16 [[-7.51335599e-01 -6.59660942e-01 1.85002671e-02 1.50979897e+02] [ 6.59381934e-01 -7.51559751e-01 -1.93237083e-02 1.30183463e+02] [ 2.66511518e-02 -2.31984806e-03 9.99642103e-01 7.15871518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.770714057 meters Centerline goodness : 0.992590 Centerline is valid? [True, True] Translation: X:150.98, Y:130.18, Z:7.16 [[-7.52417982e-01 -6.58427636e-01 1.84452648e-02 1.50982650e+02] [ 6.58146922e-01 -7.52640078e-01 -1.93788919e-02 1.30183469e+02] [ 2.66422435e-02 -2.44133253e-03 9.99642051e-01 7.15725763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.800714057 meters Centerline goodness : 0.993124 Centerline is valid? [True, True] Translation: X:150.96, Y:130.20, Z:7.16 [[-7.53611494e-01 -6.57060572e-01 1.84694341e-02 1.50962058e+02] [ 6.56780042e-01 -7.53833785e-01 -1.93546378e-02 1.30204082e+02] [ 2.66400528e-02 -2.45552180e-03 9.99642075e-01 7.15884069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.830714057 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:150.98, Y:130.19, Z:7.16 [[-7.53952317e-01 -6.56670384e-01 1.84366828e-02 1.50980691e+02] [ 6.56388944e-01 -7.54173507e-01 -1.93874870e-02 1.30185857e+02] [ 2.66356463e-02 -2.51560600e-03 9.99642043e-01 7.15734542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.860714057 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:150.97, Y:130.19, Z:7.16 [[-7.66480780e-01 -6.42003426e-01 1.84069145e-02 1.50969638e+02] [ 6.41717070e-01 -7.66695618e-01 -1.94173260e-02 1.30186001e+02] [ 2.65784905e-02 -3.07097598e-03 9.99642012e-01 7.16143170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.890714057 meters Centerline goodness : 0.992281 Centerline is valid? [True, True] Translation: X:150.97, Y:130.20, Z:7.16 [[-7.58780532e-01 -6.51070566e-01 1.89531735e-02 1.50969611e+02] [ 6.50800113e-01 -7.59014617e-01 -1.88686308e-02 1.30196351e+02] [ 2.66705458e-02 -1.98242233e-03 9.99642312e-01 7.15906724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.920714057 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:150.97, Y:130.19, Z:7.16 [[-7.68570338e-01 -6.39495926e-01 1.85633145e-02 1.50969023e+02] [ 6.39212587e-01 -7.68788878e-01 -1.92595427e-02 1.30189624e+02] [ 2.65876688e-02 -2.93640896e-03 9.99642173e-01 7.16118507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.950714057 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:150.98, Y:130.19, Z:7.16 [[-7.60846939e-01 -6.48654792e-01 1.89445475e-02 1.50979058e+02] [ 6.48383392e-01 -7.61079915e-01 -1.88769501e-02 1.30189501e+02] [ 2.66629387e-02 -2.07913973e-03 9.99642318e-01 7.15852769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.980714057 meters Centerline goodness : 0.991887 Centerline is valid? [True, True] Translation: X:150.97, Y:130.20, Z:7.16 [[-7.62548926e-01 -6.46663913e-01 1.85719931e-02 1.50967926e+02] [ 6.46382862e-01 -7.62770365e-01 -1.92500843e-02 1.30201150e+02] [ 2.66145008e-02 -2.67451304e-03 9.99642194e-01 7.16183801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.01071405700003 meters Centerline goodness : 0.992686 Centerline is valid? [True, True] Translation: X:150.98, Y:130.19, Z:7.16 [[-7.61273205e-01 -6.48164594e-01 1.85948128e-02 1.50982324e+02] [ 6.47884528e-01 -7.61495865e-01 -1.92272402e-02 1.30188653e+02] [ 2.66222894e-02 -2.58989130e-03 9.99642209e-01 7.15887938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.040714057 meters Centerline goodness : 0.992293 Centerline is valid? [True, True] Translation: X:150.98, Y:130.19, Z:7.16 [[-7.60990493e-01 -6.48500137e-01 1.84673309e-02 1.50980306e+02] [ 6.48217116e-01 -7.61209542e-01 -1.93547047e-02 1.30192027e+02] [ 2.66090371e-02 -2.75790633e-03 9.99642113e-01 7.15760842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.07071405700003 meters Centerline goodness : 0.992413 Centerline is valid? [True, True] Translation: X:150.97, Y:130.20, Z:7.16 [[-7.64074096e-01 -6.44864394e-01 1.84577381e-02 1.50969857e+02] [ 6.44580105e-01 -7.64291510e-01 -1.93642939e-02 1.30202618e+02] [ 2.65944362e-02 -2.89826459e-03 9.99642104e-01 7.15986153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.100714057 meters Centerline goodness : 0.992390 Centerline is valid? [True, True] Translation: X:150.97, Y:130.20, Z:7.16 [[-7.62861801e-01 -6.46293966e-01 1.86005803e-02 1.50972720e+02] [ 6.46013494e-01 -7.63083942e-01 -1.92214301e-02 1.30201588e+02] [ 2.66164984e-02 -2.64706888e-03 9.99642214e-01 7.16003946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.130714057 meters Centerline goodness : 0.991147 Centerline is valid? [True, True] Translation: X:150.97, Y:130.20, Z:7.16 [[-7.63165994e-01 -6.45935952e-01 1.85583479e-02 1.50971435e+02] [ 6.45654365e-01 -7.63386765e-01 -1.92636552e-02 1.30203645e+02] [ 2.66102846e-02 -2.71908824e-03 9.99642186e-01 7.16052519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.160714057 meters Centerline goodness : 0.992209 Centerline is valid? [True, True] Translation: X:150.95, Y:130.22, Z:7.16 [[-7.60310871e-01 -6.49285999e-01 1.88433264e-02 1.50952217e+02] [ 6.49012298e-01 -7.60541157e-01 -1.89785551e-02 1.30222215e+02] [ 2.66536354e-02 -2.20005116e-03 9.99642308e-01 7.16123807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.190714057 meters Centerline goodness : 0.991642 Centerline is valid? [True, True] Translation: X:150.97, Y:130.21, Z:7.16 [[-7.58703914e-01 -6.51171296e-01 1.85557354e-02 1.50967095e+02] [ 6.50891184e-01 -7.58926542e-01 -1.92658073e-02 1.30207527e+02] [ 2.66277808e-02 -2.53927877e-03 9.99642193e-01 7.16087171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.220714057 meters Centerline goodness : 0.992118 Centerline is valid? [True, True] Translation: X:150.96, Y:130.21, Z:7.16 [[-7.56197781e-01 -6.54080445e-01 1.85388125e-02 1.50964086e+02] [ 6.53800782e-01 -7.56420991e-01 -1.92826936e-02 1.30210149e+02] [ 2.66355797e-02 -2.46084004e-03 9.99642181e-01 7.16170165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.250714057 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:150.96, Y:130.21, Z:7.16 [[-7.54968917e-01 -6.55499238e-01 1.85117197e-02 1.50963474e+02] [ 6.55219340e-01 -7.55191864e-01 -1.93097133e-02 1.30210112e+02] [ 2.66374025e-02 -2.44899657e-03 9.99642162e-01 7.16176722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.280714057 meters Centerline goodness : 0.992345 Centerline is valid? [True, True] Translation: X:150.96, Y:130.21, Z:7.16 [[-7.54133059e-01 -6.56461045e-01 1.84993803e-02 1.50959420e+02] [ 6.56181133e-01 -7.54356004e-01 -1.93220118e-02 1.30212744e+02] [ 2.66392666e-02 -2.43242358e-03 9.99642152e-01 7.16288691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.310714057 meters Centerline goodness : 0.992417 Centerline is valid? [True, True] Translation: X:150.96, Y:130.21, Z:7.16 [[-7.52835508e-01 -6.57947286e-01 1.85490308e-02 1.50962102e+02] [ 6.57669017e-01 -7.53060445e-01 -1.92725286e-02 1.30209629e+02] [ 2.66488493e-02 -2.30992097e-03 9.99642188e-01 7.16247625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.340714057 meters Centerline goodness : 0.992298 Centerline is valid? [True, True] Translation: X:150.95, Y:130.23, Z:7.16 [[-7.53285295e-01 -6.57432867e-01 1.85280917e-02 1.50945171e+02] [ 6.57153938e-01 -7.53509434e-01 -1.92933907e-02 1.30226451e+02] [ 2.66452010e-02 -2.35761906e-03 9.99642173e-01 7.16266645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.370714057 meters Centerline goodness : 0.993016 Centerline is valid? [True, True] Translation: X:150.95, Y:130.22, Z:7.16 [[-7.54315637e-01 -6.56249906e-01 1.85467101e-02 1.50951005e+02] [ 6.55971076e-01 -7.54539879e-01 -1.92748430e-02 1.30220201e+02] [ 2.66433463e-02 -2.37321012e-03 9.99642186e-01 7.16248483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.400714057 meters Centerline goodness : 0.991634 Centerline is valid? [True, True] Translation: X:150.95, Y:130.22, Z:7.16 [[-7.55574483e-01 -6.54799185e-01 1.85803262e-02 1.50949381e+02] [ 6.54520735e-01 -7.55799164e-01 -1.92413728e-02 1.30221852e+02] [ 2.66422303e-02 -2.37708158e-03 9.99642207e-01 7.16490921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.430714057 meters Centerline goodness : 0.990999 Centerline is valid? [True, True] Translation: X:150.95, Y:130.23, Z:7.17 [[-7.57233769e-01 -6.52873847e-01 1.87818786e-02 1.50946411e+02] [ 6.52599712e-01 -7.57463576e-01 -1.90406428e-02 1.30225991e+02] [ 2.66577267e-02 -2.16116915e-03 9.99642283e-01 7.16534667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.460714057 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:150.95, Y:130.22, Z:7.16 [[-7.58019142e-01 -6.51959283e-01 1.88699208e-02 1.50950594e+02] [ 6.51687022e-01 -7.58251153e-01 -1.89529554e-02 1.30222439e+02] [ 2.66646944e-02 -2.06942050e-03 9.99642292e-01 7.16044576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.490714057 meters Centerline goodness : 0.992686 Centerline is valid? [True, True] Translation: X:150.95, Y:130.22, Z:7.16 [[-7.58491406e-01 -6.51417344e-01 1.86073190e-02 1.50951908e+02] [ 6.51138552e-01 -7.58715628e-01 -1.92140994e-02 1.30222686e+02] [ 2.66340613e-02 -2.45778651e-03 9.99642229e-01 7.15998891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.520714057 meters Centerline goodness : 0.991473 Centerline is valid? [True, True] Translation: X:150.95, Y:130.22, Z:7.16 [[-7.59502256e-01 -6.50238884e-01 1.85934369e-02 1.50951685e+02] [ 6.49959413e-01 -7.59725641e-01 -1.92278961e-02 1.30224772e+02] [ 2.66286365e-02 -2.51865109e-03 9.99642222e-01 7.16310690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.550714057 meters Centerline goodness : 0.992498 Centerline is valid? [True, True] Translation: X:150.94, Y:130.24, Z:7.16 [[-7.61022677e-01 -6.48452806e-01 1.88000705e-02 1.50941328e+02] [ 6.48177780e-01 -7.61251411e-01 -1.90224997e-02 1.30236500e+02] [ 2.66467735e-02 -2.29076570e-03 9.99642287e-01 7.15985615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.580714057 meters Centerline goodness : 0.992360 Centerline is valid? [True, True] Translation: X:150.94, Y:130.24, Z:7.16 [[-7.62498581e-01 -6.46722728e-01 1.85910506e-02 1.50942166e+02] [ 6.46442176e-01 -7.62720603e-01 -1.92300588e-02 1.30238175e+02] [ 2.66162934e-02 -2.64485336e-03 9.99642225e-01 7.15856443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.610714057 meters Centerline goodness : 0.991297 Centerline is valid? [True, True] Translation: X:150.94, Y:130.24, Z:7.16 [[-7.63886439e-01 -6.45082419e-01 1.86059175e-02 1.50937262e+02] [ 6.44801744e-01 -7.64108293e-01 -1.92152980e-02 1.30244609e+02] [ 2.66123867e-02 -2.68117749e-03 9.99642232e-01 7.16317346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.640714057 meters Centerline goodness : 0.990887 Centerline is valid? [True, True] Translation: X:150.94, Y:130.24, Z:7.16 [[-7.63027930e-01 -6.46091318e-01 1.88251673e-02 1.50944642e+02] [ 6.45816191e-01 -7.63256538e-01 -1.89974916e-02 1.30237057e+02] [ 2.66425465e-02 -2.33801887e-03 9.99642290e-01 7.16272735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.670714057 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:150.95, Y:130.24, Z:7.16 [[-7.61617479e-01 -6.47754854e-01 1.87740636e-02 1.50946905e+02] [ 6.47478993e-01 -7.61845207e-01 -1.90482119e-02 1.30235310e+02] [ 2.66415021e-02 -2.35163929e-03 9.99642286e-01 7.16204776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.700714057 meters Centerline goodness : 0.991545 Centerline is valid? [True, True] Translation: X:150.95, Y:130.23, Z:7.16 [[-7.60157857e-01 -6.49467884e-01 1.87483370e-02 1.50946504e+02] [ 6.49191916e-01 -7.60385460e-01 -1.90737298e-02 1.30233514e+02] [ 2.66437378e-02 -2.32777678e-03 9.99642282e-01 7.16113634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.730714057 meters Centerline goodness : 0.991367 Centerline is valid? [True, True] Translation: X:150.93, Y:130.25, Z:7.16 [[-7.58540667e-01 -6.51354374e-01 1.88025440e-02 1.50933739e+02] [ 6.51080285e-01 -7.58770521e-01 -1.90199680e-02 1.30245341e+02] [ 2.66555555e-02 -2.18545350e-03 9.99642289e-01 7.16258728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76071405700003 meters Centerline goodness : 0.991835 Centerline is valid? [True, True] Translation: X:150.94, Y:130.24, Z:7.16 [[-7.53336399e-01 -6.57366908e-01 1.87888096e-02 1.50941105e+02] [ 6.57094320e-01 -7.53568031e-01 -1.90335799e-02 1.30237140e+02] [ 2.66706918e-02 -1.99266846e-03 9.99642288e-01 7.16335198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.790714057 meters Centerline goodness : 0.992069 Centerline is valid? [True, True] Translation: X:150.94, Y:130.24, Z:7.16 [[-7.50998461e-01 -6.60038491e-01 1.87217089e-02 1.50939944e+02] [ 6.59765085e-01 -7.51229141e-01 -1.91000301e-02 1.30237276e+02] [ 2.66710483e-02 -1.99216341e-03 9.99642279e-01 7.16396110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82071405700003 meters Centerline goodness : 0.991402 Centerline is valid? [True, True] Translation: X:150.94, Y:130.23, Z:7.17 [[-7.46720117e-01 -6.64875334e-01 1.87044953e-02 1.50942849e+02] [ 6.64603000e-01 -7.46952067e-01 -1.91170647e-02 1.30231668e+02] [ 2.66818262e-02 -1.84403314e-03 9.99642276e-01 7.16503791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.850714057 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:150.94, Y:130.23, Z:7.17 [[-7.42097256e-01 -6.70030584e-01 1.87264256e-02 1.50937636e+02] [ 6.69760407e-01 -7.42331708e-01 -1.90953721e-02 1.30234572e+02] [ 2.66957028e-02 -1.62840483e-03 9.99642280e-01 7.16693653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.880714057 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:150.96, Y:130.21, Z:7.16 [[-7.38162504e-01 -6.74364126e-01 1.86853841e-02 1.50957416e+02] [ 6.74094304e-01 -7.38397376e-01 -1.91359445e-02 1.30214938e+02] [ 2.67018331e-02 -1.52972576e-03 9.99642272e-01 7.16393698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.910714057 meters Centerline goodness : 0.991433 Centerline is valid? [True, True] Translation: X:150.94, Y:130.22, Z:7.17 [[-7.36844581e-01 -6.75806707e-01 1.85838352e-02 1.50943943e+02] [ 6.75534823e-01 -7.37077113e-01 -1.92362214e-02 1.30224841e+02] [ 2.66976871e-02 -1.62007765e-03 9.99642240e-01 7.16578418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.940714057 meters Centerline goodness : 0.991433 Centerline is valid? [True, True] Translation: X:150.94, Y:130.23, Z:7.17 [[-7.36594763e-01 -6.76077361e-01 1.86428799e-02 1.50942000e+02] [ 6.75807027e-01 -7.36829064e-01 -1.91779238e-02 1.30226650e+02] [ 2.67023758e-02 -1.52736900e-03 9.99642261e-01 7.16588545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.970714057 meters Centerline goodness : 0.990381 Centerline is valid? [True, True] Translation: X:150.94, Y:130.23, Z:7.17 [[-7.38183810e-01 -6.74342183e-01 1.86355176e-02 1.50939622e+02] [ 6.74071117e-01 -7.38417266e-01 -1.91851876e-02 1.30227772e+02] [ 2.66981693e-02 -1.60053076e-03 9.99642259e-01 7.16860351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.000714057 meters Centerline goodness : 0.990587 Centerline is valid? [True, True] Translation: X:150.93, Y:130.24, Z:7.17 [[-7.38888453e-01 -6.73568397e-01 1.86940766e-02 1.50931273e+02] [ 6.73298536e-01 -7.39123280e-01 -1.91274178e-02 1.30236251e+02] [ 2.67008514e-02 -1.54633376e-03 9.99642273e-01 7.16857490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.030714057 meters Centerline goodness : 0.990366 Centerline is valid? [True, True] Translation: X:150.93, Y:130.24, Z:7.17 [[-7.41500217e-01 -6.70692769e-01 1.86718512e-02 1.50930506e+02] [ 6.70421449e-01 -7.41733364e-01 -1.91493318e-02 1.30238107e+02] [ 2.66928534e-02 -1.68122420e-03 9.99642269e-01 7.16788561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.060714057 meters Centerline goodness : 0.990783 Centerline is valid? [True, True] Translation: X:150.93, Y:130.24, Z:7.17 [[-7.42230207e-01 -6.69883424e-01 1.87221090e-02 1.50932894e+02] [ 6.69613089e-01 -7.42464483e-01 -1.90997883e-02 1.30236697e+02] [ 2.66951326e-02 -1.63987058e-03 9.99642276e-01 7.16668516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.090714057 meters Centerline goodness : 0.991192 Centerline is valid? [True, True] Translation: X:150.92, Y:130.25, Z:7.17 [[-7.46036303e-01 -6.65643865e-01 1.86569073e-02 1.50920029e+02] [ 6.65370605e-01 -7.46267176e-01 -1.91640231e-02 1.30250926e+02] [ 2.66794520e-02 -1.88329922e-03 9.99642266e-01 7.16560052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.120714057 meters Centerline goodness : 0.991172 Centerline is valid? [True, True] Translation: X:150.92, Y:130.25, Z:7.16 [[-7.47387158e-01 -6.64125703e-01 1.86945916e-02 1.50924207e+02] [ 6.63852892e-01 -7.47618552e-01 -1.91269181e-02 1.30247459e+02] [ 2.66791014e-02 -1.88475429e-03 9.99642273e-01 7.16486216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.150714057 meters Centerline goodness : 0.990640 Centerline is valid? [True, True] Translation: X:150.92, Y:130.25, Z:7.16 [[-7.49828711e-01 -6.61368804e-01 1.86603902e-02 1.50921011e+02] [ 6.61094314e-01 -7.50058118e-01 -1.91605766e-02 1.30252595e+02] [ 2.66685847e-02 -2.03087259e-03 9.99642267e-01 7.16376216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.180714057 meters Centerline goodness : 0.991607 Centerline is valid? [True, True] Translation: X:150.91, Y:130.26, Z:7.16 [[-7.51778813e-01 -6.59151378e-01 1.86568211e-02 1.50914591e+02] [ 6.58876125e-01 -7.52007307e-01 -1.91640863e-02 1.30258873e+02] [ 2.66620997e-02 -2.11461999e-03 9.99642266e-01 7.16413164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.210714057 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:150.91, Y:130.26, Z:7.16 [[-7.53441452e-01 -6.57250683e-01 1.86418577e-02 1.50911848e+02] [ 6.56974495e-01 -7.53668818e-01 -1.91787910e-02 1.30261271e+02] [ 2.66550603e-02 -2.20287103e-03 9.99642264e-01 7.16363955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.240714057 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:150.92, Y:130.26, Z:7.16 [[-7.54492121e-01 -6.56051649e-01 1.83813342e-02 1.50915142e+02] [ 6.55768920e-01 -7.54711485e-01 -1.94344749e-02 1.30258378e+02] [ 2.66226233e-02 -2.60925051e-03 9.99642150e-01 7.16445319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.270714057 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:150.91, Y:130.26, Z:7.16 [[-7.54230257e-01 -6.56344865e-01 1.86584399e-02 1.50910130e+02] [ 6.56068806e-01 -7.54457770e-01 -1.91623419e-02 1.30259589e+02] [ 2.66541097e-02 -2.21159768e-03 9.99642270e-01 7.16494529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.300714057 meters Centerline goodness : 0.990876 Centerline is valid? [True, True] Translation: X:150.90, Y:130.27, Z:7.17 [[-7.54727155e-01 -6.55780642e-01 1.84030210e-02 1.50900703e+02] [ 6.55498352e-01 -7.54947051e-01 -1.94129170e-02 1.30267297e+02] [ 2.66239216e-02 -2.58830569e-03 9.99642170e-01 7.16746437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.330714057 meters Centerline goodness : 0.991598 Centerline is valid? [True, True] Translation: X:150.91, Y:130.26, Z:7.17 [[-7.52448151e-01 -6.58386092e-01 1.86958337e-02 1.50910366e+02] [ 6.58111553e-01 -7.52677486e-01 -1.91255009e-02 1.30256008e+02] [ 2.66638969e-02 -2.08700362e-03 9.99642277e-01 7.16719293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.360714057 meters Centerline goodness : 0.991862 Centerline is valid? [True, True] Translation: X:150.90, Y:130.26, Z:7.17 [[-7.49685127e-01 -6.61534016e-01 1.85729710e-02 1.50904535e+02] [ 6.61257481e-01 -7.49912085e-01 -1.92459924e-02 1.30260003e+02] [ 2.66599741e-02 -2.14691821e-03 9.99642254e-01 7.16768971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.390714057 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:150.90, Y:130.26, Z:7.17 [[-7.45923127e-01 -6.65773081e-01 1.85713169e-02 1.50904957e+02] [ 6.65497796e-01 -7.46151602e-01 -1.92476132e-02 1.30255940e+02] [ 2.66715606e-02 -1.99806934e-03 9.99642254e-01 7.16751238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.420714057 meters Centerline goodness : 0.992424 Centerline is valid? [True, True] Translation: X:150.90, Y:130.26, Z:7.17 [[-7.43262291e-01 -6.68741668e-01 1.85942832e-02 1.50898499e+02] [ 6.68467854e-01 -7.43492517e-01 -1.92251188e-02 1.30259842e+02] [ 2.66813485e-02 -1.85962528e-03 9.99642260e-01 7.16788510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.450714057 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:150.90, Y:130.25, Z:7.17 [[-7.37605713e-01 -6.74982025e-01 1.83597146e-02 1.50901107e+02] [ 6.74704459e-01 -7.37831563e-01 -1.94544816e-02 1.30253926e+02] [ 2.66778022e-02 -1.96235547e-03 9.99642158e-01 7.16865212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.480714057 meters Centerline goodness : 0.992317 Centerline is valid? [True, True] Translation: X:150.90, Y:130.25, Z:7.17 [[-7.34609790e-01 -6.78243338e-01 1.82874562e-02 1.50899531e+02] [ 6.77965028e-01 -7.34834806e-01 -1.95250810e-02 1.30253864e+02] [ 2.66810154e-02 -1.94505995e-03 9.99642106e-01 7.16811225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.51071405700003 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:150.90, Y:130.25, Z:7.17 [[-7.29401310e-01 -6.83841066e-01 1.83064244e-02 1.50901489e+02] [ 6.83564947e-01 -7.29628986e-01 -1.95065570e-02 1.30246349e+02] [ 2.66962826e-02 -1.71447822e-03 9.99642120e-01 7.16751083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.540714057 meters Centerline goodness : 0.992204 Centerline is valid? [True, True] Translation: X:150.90, Y:130.24, Z:7.17 [[-7.25845112e-01 -6.87613496e-01 1.83454181e-02 1.50901832e+02] [ 6.87339517e-01 -7.26075317e-01 -1.94685050e-02 1.30244358e+02] [ 2.67069621e-02 -1.52158840e-03 9.99642147e-01 7.16774301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.57071405700003 meters Centerline goodness : 0.992580 Centerline is valid? [True, True] Translation: X:150.90, Y:130.24, Z:7.17 [[-7.20084986e-01 -6.93644503e-01 1.83007543e-02 1.50904245e+02] [ 6.93371349e-01 -7.20316216e-01 -1.95120619e-02 1.30237691e+02] [ 2.67167646e-02 -1.36112409e-03 9.99642117e-01 7.16652505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.600714057 meters Centerline goodness : 0.992020 Centerline is valid? [True, True] Translation: X:150.91, Y:130.23, Z:7.16 [[-7.15427844e-01 -6.98449561e-01 1.81991933e-02 1.50907158e+02] [ 6.98175445e-01 -7.15658059e-01 -1.96109674e-02 1.30234091e+02] [ 2.67216709e-02 -1.32400220e-03 9.99642036e-01 7.16281481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.630714057 meters Centerline goodness : 0.990886 Centerline is valid? [True, True] Translation: X:150.91, Y:130.23, Z:7.17 [[-7.15594670e-01 -6.98280634e-01 1.81224847e-02 1.50907241e+02] [ 6.98004575e-01 -7.15822667e-01 -1.96856299e-02 1.30234291e+02] [ 2.67185795e-02 -1.43735464e-03 9.99641962e-01 7.16521375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.660714057 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:150.88, Y:130.24, Z:7.16 [[-7.28106730e-01 -6.85216355e-01 1.84156552e-02 1.50884999e+02] [ 6.84943340e-01 -7.28338014e-01 -1.93999822e-02 1.30243398e+02] [ 2.67060068e-02 -1.51157725e-03 9.99642188e-01 7.16498081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.690714057 meters Centerline goodness : 0.992334 Centerline is valid? [True, True] Translation: X:150.89, Y:130.24, Z:7.16 [[-7.29217989e-01 -6.84026644e-01 1.86728305e-02 1.50885829e+02] [ 6.83759598e-01 -7.29456044e-01 -1.91492070e-02 1.30242234e+02] [ 2.67195769e-02 -1.19621914e-03 9.99642253e-01 7.16448570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.720714057 meters Centerline goodness : 0.983767 Centerline is valid? [True, True] Translation: X:150.26, Y:130.88, Z:7.19 [[-7.39457882e-01 -6.72943985e-01 1.86663928e-02 1.50258809e+02] [ 6.72673220e-01 -7.39691697e-01 -1.91554804e-02 1.30879942e+02] [ 2.66979411e-02 -1.60828847e-03 9.99642253e-01 7.18653777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.750714057 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:150.87, Y:130.26, Z:7.17 [[-7.32669741e-01 -6.80318026e-01 1.90377129e-02 1.50866760e+02] [ 6.80058899e-01 -7.32916576e-01 -1.87932539e-02 1.30261317e+02] [ 2.67384447e-02 -8.22482422e-04 9.99642126e-01 7.16543838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.780714057 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:150.86, Y:130.27, Z:7.17 [[-7.37169242e-01 -6.75452263e-01 1.85943337e-02 1.50863987e+02] [ 6.75180626e-01 -7.37401947e-01 -1.92221587e-02 1.30266443e+02] [ 2.66951485e-02 -1.61545026e-03 9.99642316e-01 7.16615360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.810714057 meters Centerline goodness : 0.989564 Centerline is valid? [True, True] Translation: X:150.47, Y:130.67, Z:7.18 [[-7.42143379e-01 -6.69983382e-01 1.85868985e-02 1.50474052e+02] [ 6.69709854e-01 -7.42373857e-01 -1.92293455e-02 1.30668965e+02] [ 2.66817695e-02 -1.82310234e-03 9.99642316e-01 7.18070285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.840714057 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:150.63, Y:130.52, Z:7.18 [[-7.37884789e-01 -6.74666327e-01 1.87452554e-02 1.50625525e+02] [ 6.74398097e-01 -7.38121460e-01 -1.90766404e-02 1.30520351e+02] [ 2.67066421e-02 -1.43459821e-03 9.99642285e-01 7.17617392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.870714057 meters Centerline goodness : 0.988994 Centerline is valid? [True, True] Translation: X:150.42, Y:130.72, Z:7.18 [[-7.53878277e-01 -6.56752664e-01 1.85332657e-02 1.50417966e+02] [ 6.56473859e-01 -7.54102333e-01 -1.92806882e-02 1.30721765e+02] [ 2.66386222e-02 -2.36868753e-03 9.99642323e-01 7.18392643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.900714057 meters Centerline goodness : 0.992698 Centerline is valid? [True, True] Translation: X:150.84, Y:130.29, Z:7.17 [[-7.46590866e-01 -6.65013210e-01 1.89607339e-02 1.50843827e+02] [ 6.64747193e-01 -7.46830126e-01 -1.88661591e-02 1.30287973e+02] [ 2.67066923e-02 -1.48120739e-03 9.99642215e-01 7.16839519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.930714057 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:150.87, Y:130.28, Z:7.16 [[-7.33818138e-01 -6.79092586e-01 1.85526210e-02 1.50865946e+02] [ 6.78821175e-01 -7.34051014e-01 -1.92593031e-02 1.30279048e+02] [ 2.66974202e-02 -1.53891395e-03 9.99642376e-01 7.16473967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.960714057 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:150.84, Y:130.29, Z:7.17 [[-7.46963714e-01 -6.64623584e-01 1.79081558e-02 1.50844138e+02] [ 6.64332798e-01 -7.47172524e-01 -1.98784560e-02 1.30286933e+02] [ 2.65921727e-02 -2.95151005e-03 9.99642008e-01 7.16697898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.990714057 meters Centerline goodness : 0.992878 Centerline is valid? [True, True] Translation: X:150.86, Y:130.28, Z:7.16 [[-7.31823197e-01 -6.81242146e-01 1.85458358e-02 1.50861993e+02] [ 6.80971288e-01 -7.32056679e-01 -1.92645819e-02 1.30278622e+02] [ 2.67004481e-02 -1.46908623e-03 9.99642400e-01 7.16412574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.020714057 meters Centerline goodness : 0.992014 Centerline is valid? [True, True] Translation: X:150.86, Y:130.28, Z:7.17 [[-7.31953999e-01 -6.81121137e-01 1.78140257e-02 1.50859389e+02] [ 6.80832970e-01 -7.32166522e-01 -1.99662466e-02 1.30279462e+02] [ 2.66422658e-02 -2.48599806e-03 9.99641941e-01 7.16568318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.050714057 meters Centerline goodness : 0.990038 Centerline is valid? [True, True] Translation: X:150.85, Y:130.29, Z:7.17 [[-7.29906116e-01 -6.83313091e-01 1.78964296e-02 1.50848210e+02] [ 6.83027476e-01 -7.30121885e-01 -1.98871848e-02 1.30289990e+02] [ 2.66557486e-02 -2.29202469e-03 9.99642045e-01 7.16562393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.080714057 meters Centerline goodness : 0.991951 Centerline is valid? [True, True] Translation: X:150.86, Y:130.28, Z:7.16 [[-7.27902200e-01 -6.85441125e-01 1.81342571e-02 1.50855617e+02] [ 6.85161745e-01 -7.28125615e-01 -1.96588949e-02 1.30280293e+02] [ 2.66790321e-02 -1.88485357e-03 9.99642274e-01 7.16285648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.110714057 meters Centerline goodness : 0.991802 Centerline is valid? [True, True] Translation: X:150.85, Y:130.28, Z:7.16 [[-7.25321956e-01 -6.88177328e-01 1.78892680e-02 1.50854913e+02] [ 6.87893007e-01 -7.25539425e-01 -1.98935935e-02 1.30278857e+02] [ 2.66696893e-02 -2.12335779e-03 9.99642045e-01 7.16205605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.140714057 meters Centerline goodness : 0.992381 Centerline is valid? [True, True] Translation: X:150.85, Y:130.28, Z:7.16 [[-7.23704951e-01 -6.89877179e-01 1.79058990e-02 1.50850593e+02] [ 6.89593760e-01 -7.23923563e-01 -1.98776657e-02 1.30281461e+02] [ 2.66756501e-02 -2.03776885e-03 9.99642065e-01 7.16324161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.170714057 meters Centerline goodness : 0.990450 Centerline is valid? [True, True] Translation: X:150.84, Y:130.29, Z:7.17 [[-7.23407525e-01 -6.90191911e-01 1.77954824e-02 1.50839335e+02] [ 6.89905998e-01 -7.23623092e-01 -1.99833783e-02 1.30288368e+02] [ 2.66695880e-02 -2.17891622e-03 9.99641929e-01 7.16509307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.200714057 meters Centerline goodness : 0.991315 Centerline is valid? [True, True] Translation: X:150.84, Y:130.29, Z:7.16 [[-7.21148807e-01 -6.92549667e-01 1.78705688e-02 1.50836182e+02] [ 6.92266225e-01 -7.21367456e-01 -1.99114673e-02 1.30292245e+02] [ 2.66809268e-02 -1.98793972e-03 9.99642024e-01 7.16395004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.230714057 meters Centerline goodness : 0.989949 Centerline is valid? [True, True] Translation: X:150.84, Y:130.29, Z:7.17 [[-7.21745483e-01 -6.91927782e-01 1.78718236e-02 1.50841855e+02] [ 6.91644182e-01 -7.21963924e-01 -1.99102658e-02 1.30285426e+02] [ 2.66792779e-02 -2.00920156e-03 9.99642026e-01 7.16658546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26071405700003 meters Centerline goodness : 0.990664 Centerline is valid? [True, True] Translation: X:150.84, Y:130.28, Z:7.17 [[-7.22177832e-01 -6.91470316e-01 1.81102599e-02 1.50844151e+02] [ 6.91192230e-01 -7.22402883e-01 -1.96818834e-02 1.30281114e+02] [ 2.66923421e-02 -1.69614900e-03 9.99642257e-01 7.16500866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.290714057 meters Centerline goodness : 0.991353 Centerline is valid? [True, True] Translation: X:150.84, Y:130.29, Z:7.16 [[-7.16293236e-01 -6.97569259e-01 1.79200584e-02 1.50844353e+02] [ 6.97288538e-01 -7.16515266e-01 -1.98637355e-02 1.30285232e+02] [ 2.66963267e-02 -1.73280808e-03 9.99642088e-01 7.16189379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32071405700003 meters Centerline goodness : 0.989003 Centerline is valid? [True, True] Translation: X:150.83, Y:130.29, Z:7.17 [[-7.25745293e-01 -6.87737611e-01 1.76280652e-02 1.50834108e+02] [ 6.87447119e-01 -7.25955045e-01 -2.01427668e-02 1.30291697e+02] [ 2.66501212e-02 -2.50015551e-03 9.99641696e-01 7.17002195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.350714057 meters Centerline goodness : 0.990755 Centerline is valid? [True, True] Translation: X:150.84, Y:130.28, Z:7.17 [[-7.22035985e-01 -6.91615518e-01 1.82211823e-02 1.50844681e+02] [ 6.91340156e-01 -7.22264227e-01 -1.95748553e-02 1.30282947e+02] [ 2.66987818e-02 -1.53671488e-03 9.99642343e-01 7.16872133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.380714057 meters Centerline goodness : 0.991698 Centerline is valid? [True, True] Translation: X:150.82, Y:130.29, Z:7.17 [[-7.36624632e-01 -6.76061811e-01 1.80160776e-02 1.50819134e+02] [ 6.75776874e-01 -7.36841042e-01 -1.97711022e-02 1.30294476e+02] [ 2.66414726e-02 -2.38903225e-03 9.99642198e-01 7.16752017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.410714057 meters Centerline goodness : 0.992846 Centerline is valid? [True, True] Translation: X:150.84, Y:130.29, Z:7.16 [[-7.20357221e-01 -6.93356450e-01 1.85015461e-02 1.50835254e+02] [ 6.93088468e-01 -7.20593962e-01 -1.93058677e-02 1.30293944e+02] [ 2.67179503e-02 -1.08391302e-03 9.99642424e-01 7.16289643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.440714057 meters Centerline goodness : 0.992033 Centerline is valid? [True, True] Translation: X:150.84, Y:130.29, Z:7.16 [[-7.17689993e-01 -6.96137537e-01 1.77088474e-02 1.50839059e+02] [ 6.95851491e-01 -7.17905441e-01 -2.00618957e-02 1.30292143e+02] [ 2.66791166e-02 -2.07549393e-03 9.99641894e-01 7.16109576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.470714057 meters Centerline goodness : 0.992694 Centerline is valid? [True, True] Translation: X:150.83, Y:130.30, Z:7.16 [[-7.17113355e-01 -6.96729787e-01 1.77775055e-02 1.50827095e+02] [ 6.96445529e-01 -7.17331003e-01 -1.99964344e-02 1.30303243e+02] [ 2.66844673e-02 -1.95864593e-03 9.99641987e-01 7.16307035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.500714057 meters Centerline goodness : 0.991037 Centerline is valid? [True, True] Translation: X:150.83, Y:130.30, Z:7.17 [[-7.20670402e-01 -6.93052725e-01 1.76661250e-02 1.50827923e+02] [ 6.92764767e-01 -7.20883391e-01 -2.01026105e-02 1.30298133e+02] [ 2.66673851e-02 -2.24888740e-03 9.99641832e-01 7.16705464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.530714057 meters Centerline goodness : 0.990211 Centerline is valid? [True, True] Translation: X:150.83, Y:130.29, Z:7.17 [[-7.19192323e-01 -6.94577152e-01 1.80272432e-02 1.50832106e+02] [ 6.94298142e-01 -7.19416230e-01 -1.97579929e-02 1.30293447e+02] [ 2.66925418e-02 -1.69351536e-03 9.99642256e-01 7.17006015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.560714057 meters Centerline goodness : 0.989965 Centerline is valid? [True, True] Translation: X:150.82, Y:130.30, Z:7.17 [[-7.15872451e-01 -6.97996635e-01 1.80922844e-02 1.50824834e+02] [ 6.97720254e-01 -7.16099516e-01 -1.96959245e-02 1.30301721e+02] [ 2.67035651e-02 -1.47641646e-03 9.99642306e-01 7.17169590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.590714057 meters Centerline goodness : 0.990758 Centerline is valid? [True, True] Translation: X:150.84, Y:130.29, Z:7.17 [[-7.12466804e-01 -7.01473078e-01 1.80713580e-02 1.50835545e+02] [ 7.01197301e-01 -7.12694626e-01 -1.97158759e-02 1.30290707e+02] [ 2.67095159e-02 -1.37531963e-03 9.99642291e-01 7.16637767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.620714057 meters Centerline goodness : 0.990622 Centerline is valid? [True, True] Translation: X:150.83, Y:130.30, Z:7.16 [[-7.05470450e-01 -7.08515315e-01 1.78183039e-02 1.50834531e+02] [ 7.08235705e-01 -7.05693927e-01 -1.99566601e-02 1.30297732e+02] [ 2.67138682e-02 -1.45927498e-03 9.99642056e-01 7.16355198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.650714057 meters Centerline goodness : 0.990859 Centerline is valid? [True, True] Translation: X:150.83, Y:130.30, Z:7.17 [[-7.05584548e-01 -7.08402690e-01 1.77784868e-02 1.50827468e+02] [ 7.08122091e-01 -7.05806860e-01 -1.99945223e-02 1.30304087e+02] [ 2.67123513e-02 -1.51848671e-03 9.99642008e-01 7.16645182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.680714057 meters Centerline goodness : 0.990199 Centerline is valid? [True, True] Translation: X:150.83, Y:130.30, Z:7.17 [[-7.06162346e-01 -7.07830151e-01 1.76413862e-02 1.50831603e+02] [ 7.07546116e-01 -7.06380554e-01 -2.01247725e-02 1.30300815e+02] [ 2.67064530e-02 -1.72926226e-03 9.99641823e-01 7.16794358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.710714057 meters Centerline goodness : 0.991705 Centerline is valid? [True, True] Translation: X:150.83, Y:130.30, Z:7.17 [[-7.06496281e-01 -7.07492449e-01 1.78168562e-02 1.50830493e+02] [ 7.07212480e-01 -7.06719311e-01 -1.99580345e-02 1.30304624e+02] [ 2.67116751e-02 -1.49997404e-03 9.99642054e-01 7.16904772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.740714057 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:150.83, Y:130.31, Z:7.17 [[-7.07732491e-01 -7.06253432e-01 1.79112047e-02 1.50826202e+02] [ 7.05975330e-01 -7.07957684e-01 -1.98683498e-02 1.30309689e+02] [ 2.67124652e-02 -1.41660802e-03 9.99642155e-01 7.17071847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.770714057 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:150.82, Y:130.30, Z:7.17 [[-7.18938142e-01 -6.94841908e-01 1.79630064e-02 1.50823061e+02] [ 6.94561460e-01 -7.19160331e-01 -1.98190950e-02 1.30304346e+02] [ 2.66894194e-02 -1.77229138e-03 9.99642203e-01 7.17383325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.800714057 meters Centerline goodness : 0.991878 Centerline is valid? [True, True] Translation: X:150.83, Y:130.32, Z:7.17 [[-7.08639517e-01 -7.05329678e-01 1.84412715e-02 1.50829399e+02] [ 7.05064198e-01 -7.08879064e-01 -1.93636191e-02 1.30315554e+02] [ 2.67303665e-02 -7.19545375e-04 9.99642421e-01 7.17275893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.830714057 meters Centerline goodness : 0.992329 Centerline is valid? [True, True] Translation: X:150.83, Y:130.32, Z:7.17 [[-7.09685119e-01 -7.04289609e-01 1.79771431e-02 1.50828329e+02] [ 7.04012492e-01 -7.09911396e-01 -1.98045793e-02 1.30319790e+02] [ 2.67103381e-02 -1.39888189e-03 9.99642236e-01 7.17250232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.860714057 meters Centerline goodness : 0.992329 Centerline is valid? [True, True] Translation: X:150.83, Y:130.32, Z:7.17 [[-7.09442251e-01 -7.04533449e-01 1.80086502e-02 1.50826430e+02] [ 7.04257166e-01 -7.09669505e-01 -1.97746534e-02 1.30321641e+02] [ 2.67120946e-02 -1.34625367e-03 9.99642262e-01 7.17258957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.890714057 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:150.82, Y:130.32, Z:7.17 [[-7.20704718e-01 -6.93008362e-01 1.80033492e-02 1.50824464e+02] [ 6.92728328e-01 -7.20927339e-01 -1.97796857e-02 1.30318908e+02] [ 2.66865942e-02 -1.78388277e-03 9.99642258e-01 7.17263755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.920714057 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:150.82, Y:130.32, Z:7.17 [[-7.21426309e-01 -6.92246166e-01 1.84208351e-02 1.50823075e+02] [ 6.91975856e-01 -7.21660389e-01 -1.93829283e-02 1.30323240e+02] [ 2.67113448e-02 -1.23658126e-03 9.99642424e-01 7.17197321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.950714057 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:150.83, Y:130.33, Z:7.17 [[-7.15047405e-01 -6.98833425e-01 1.84133791e-02 1.50832133e+02] [ 6.98565092e-01 -7.15283748e-01 -1.93900088e-02 1.30331131e+02] [ 2.67211771e-02 -1.00183163e-03 9.99642424e-01 7.17291127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.980714057 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:150.82, Y:130.33, Z:7.17 [[-7.26061423e-01 -6.87394557e-01 1.79870410e-02 1.50823970e+02] [ 6.87112451e-01 -7.26281400e-01 -1.97941191e-02 1.30333211e+02] [ 2.66700230e-02 -2.01262643e-03 9.99642266e-01 7.17246189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.01071405700003 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:150.82, Y:130.34, Z:7.17 [[-7.29028639e-01 -6.84235670e-01 1.84062866e-02 1.50820761e+02] [ 6.83962457e-01 -7.29259311e-01 -1.93962780e-02 1.30342409e+02] [ 2.66945812e-02 -1.55123312e-03 9.99642433e-01 7.17257562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.040714057 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:150.82, Y:130.35, Z:7.17 [[-7.29909181e-01 -6.83296474e-01 1.83987841e-02 1.50815766e+02] [ 6.83022787e-01 -7.30139289e-01 -1.94033921e-02 1.30350756e+02] [ 2.66919445e-02 -1.59592523e-03 9.99642433e-01 7.17289256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.07071405700003 meters Centerline goodness : 0.992988 Centerline is valid? [True, True] Translation: X:150.81, Y:130.36, Z:7.17 [[-7.31937484e-01 -6.81123544e-01 1.83912396e-02 1.50814773e+02] [ 6.80848995e-01 -7.32166563e-01 -1.94105404e-02 1.30356886e+02] [ 2.66864268e-02 -1.68564510e-03 9.99642433e-01 7.17176032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.100714057 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:150.83, Y:130.36, Z:7.18 [[-7.25868930e-01 -6.87587331e-01 1.83836680e-02 1.50827434e+02] [ 6.87314644e-01 -7.26100222e-01 -1.94177088e-02 1.30356119e+02] [ 2.66997560e-02 -1.45934730e-03 9.99642433e-01 7.17587228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.130714057 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:150.82, Y:130.37, Z:7.17 [[-7.25778122e-01 -6.87688346e-01 1.81894489e-02 1.50823886e+02] [ 6.87411097e-01 -7.26003975e-01 -1.96013450e-02 1.30366301e+02] [ 2.66852287e-02 -1.72259833e-03 9.99642402e-01 7.17380809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.160714057 meters Centerline goodness : 0.991755 Centerline is valid? [True, True] Translation: X:150.49, Y:130.71, Z:7.18 [[-7.35396913e-01 -6.77393285e-01 1.81581079e-02 1.50494611e+02] [ 6.77112153e-01 -7.35617938e-01 -1.96311369e-02 1.30708339e+02] [ 2.66554302e-02 -2.14160197e-03 9.99642387e-01 7.18378437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.190714057 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:151.27, Y:130.96, Z:7.99 [[-6.98477828e-01 7.15401291e-01 -1.81581079e-02 1.51271530e+02] [ 7.15132262e-01 6.98713436e-01 1.96311369e-02 1.30962545e+02] [ 2.67314547e-02 7.26465111e-04 -9.99642387e-01 7.98768387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.220714057 meters Centerline goodness : 0.992342 Centerline is valid? [True, True] Translation: X:150.79, Y:130.47, Z:7.18 [[-7.75104412e-01 -6.31517974e-01 1.99549278e-02 1.50790807e+02] [ 6.31271912e-01 -7.75360469e-01 -1.76611604e-02 1.30471739e+02] [ 2.66256024e-02 -1.09225789e-03 9.99644879e-01 7.17806627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.250714057 meters Centerline goodness : 0.992393 Centerline is valid? [True, True] Translation: X:150.79, Y:130.48, Z:7.18 [[-7.74488140e-01 -6.32292551e-01 1.93455464e-02 1.50789895e+02] [ 6.32029947e-01 -7.74727216e-01 -1.83272095e-02 1.30475621e+02] [ 2.65756793e-02 -1.96724177e-03 9.99644869e-01 7.17750059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.280714057 meters Centerline goodness : 0.991195 Centerline is valid? [True, True] Translation: X:150.79, Y:130.48, Z:7.18 [[-7.73892126e-01 -6.33022063e-01 1.93402580e-02 1.50793090e+02] [ 6.32759541e-01 -7.74131297e-01 -1.83329860e-02 1.30477349e+02] [ 2.65770836e-02 -1.95002076e-03 9.99644865e-01 7.17624987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.310714057 meters Centerline goodness : 0.992099 Centerline is valid? [True, True] Translation: X:150.79, Y:130.48, Z:7.18 [[-7.72538914e-01 -6.34669518e-01 1.94481119e-02 1.50794384e+02] [ 6.34410443e-01 -7.72781726e-01 -1.82151934e-02 1.30477697e+02] [ 2.65897736e-02 -1.73386045e-03 9.99644926e-01 7.17663717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.340714057 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:150.79, Y:130.48, Z:7.18 [[-7.70963423e-01 -6.36586481e-01 1.93145683e-02 1.50794825e+02] [ 6.36324371e-01 -7.71203068e-01 -1.83608790e-02 1.30480135e+02] [ 2.65837417e-02 -1.86523557e-03 9.99644850e-01 7.17526395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.370714057 meters Centerline goodness : 0.992062 Centerline is valid? [True, True] Translation: X:150.79, Y:130.48, Z:7.18 [[-7.70905913e-01 -6.36652155e-01 1.94449788e-02 1.50790624e+02] [ 6.36393620e-01 -7.71149301e-01 -1.82185733e-02 1.30483379e+02] [ 2.65938757e-02 -1.67014542e-03 9.99644925e-01 7.17540596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.400714057 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:150.79, Y:130.48, Z:7.18 [[-7.67220339e-01 -6.41091453e-01 1.93571561e-02 1.50793237e+02] [ 6.40831919e-01 -7.67462727e-01 -1.83143113e-02 1.30484863e+02] [ 2.65970443e-02 -1.64642863e-03 9.99644880e-01 7.17642896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.430714057 meters Centerline goodness : 0.991767 Centerline is valid? [True, True] Translation: X:150.80, Y:130.48, Z:7.18 [[-7.64832925e-01 -6.43941073e-01 1.92481423e-02 1.50796737e+02] [ 6.43679461e-01 -7.65073183e-01 -1.84330308e-02 1.30483190e+02] [ 2.65960231e-02 -1.70855506e-03 9.99644803e-01 7.17841529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.460714057 meters Centerline goodness : 0.992451 Centerline is valid? [True, True] Translation: X:150.80, Y:130.48, Z:7.18 [[-7.62788322e-01 -6.46363762e-01 1.91797727e-02 1.50798419e+02] [ 6.46101048e-01 -7.63027465e-01 -1.85074258e-02 1.30483193e+02] [ 2.65972227e-02 -1.72517704e-03 9.99644743e-01 7.17853510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.490714057 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:150.79, Y:130.49, Z:7.18 [[-7.61694185e-01 -6.47653205e-01 1.91649502e-02 1.50790396e+02] [ 6.47390492e-01 -7.61933350e-01 -1.85235484e-02 1.30491081e+02] [ 2.65992502e-02 -1.70207261e-03 9.99644728e-01 7.17990649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.520714057 meters Centerline goodness : 0.992214 Centerline is valid? [True, True] Translation: X:150.79, Y:130.49, Z:7.18 [[-7.60497325e-01 -6.49055063e-01 1.92702927e-02 1.50791208e+02] [ 6.48795675e-01 -7.60739957e-01 -1.84089485e-02 1.30490292e+02] [ 2.66081029e-02 -1.49747350e-03 9.99644820e-01 7.18070483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.550714057 meters Centerline goodness : 0.992802 Centerline is valid? [True, True] Translation: X:150.79, Y:130.49, Z:7.18 [[-7.57307410e-01 -6.52776021e-01 1.92081534e-02 1.50794438e+02] [ 6.52516116e-01 -7.57549562e-01 -1.84764859e-02 1.30489983e+02] [ 2.66121351e-02 -1.45875001e-03 9.99644770e-01 7.17698684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.580714057 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:150.79, Y:130.49, Z:7.18 [[-7.60547516e-01 -6.49000645e-01 1.91217004e-02 1.50791701e+02] [ 6.48737182e-01 -7.60785916e-01 -1.85703700e-02 1.30491965e+02] [ 2.65997024e-02 -1.71869074e-03 9.99644688e-01 7.18200041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.610714057 meters Centerline goodness : 0.992121 Centerline is valid? [True, True] Translation: X:150.79, Y:130.49, Z:7.18 [[-7.59200885e-01 -6.50564699e-01 1.94830251e-02 1.50794345e+02] [ 6.50311683e-01 -7.59449995e-01 -1.81774685e-02 1.30490724e+02] [ 2.66220026e-02 -1.13031139e-03 9.99644933e-01 7.18059024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.640714057 meters Centerline goodness : 0.991493 Centerline is valid? [True, True] Translation: X:150.80, Y:130.49, Z:7.18 [[-7.59694695e-01 -6.49996481e-01 1.91975383e-02 1.50797363e+02] [ 6.49735415e-01 -7.59935593e-01 -1.84874324e-02 1.30489155e+02] [ 2.66056586e-02 -1.57148378e-03 9.99644772e-01 7.18129568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.670714057 meters Centerline goodness : 0.991606 Centerline is valid? [True, True] Translation: X:150.80, Y:130.49, Z:7.18 [[-7.60492605e-01 -6.49056868e-01 1.93953579e-02 1.50795151e+02] [ 6.48800934e-01 -7.60738759e-01 -1.82726190e-02 1.30492586e+02] [ 2.66147693e-02 -1.31246533e-03 9.99644903e-01 7.17917394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.700714057 meters Centerline goodness : 0.991411 Centerline is valid? [True, True] Translation: X:150.79, Y:130.50, Z:7.18 [[-7.63713105e-01 -6.45268382e-01 1.92615891e-02 1.50787044e+02] [ 6.45007572e-01 -7.63954199e-01 -1.84177603e-02 1.30501690e+02] [ 2.65993703e-02 -1.64201404e-03 9.99644826e-01 7.18072547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.730714057 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:150.77, Y:130.51, Z:7.18 [[-7.73273211e-01 -6.33775599e-01 1.94173071e-02 1.50770702e+02] [ 6.33515406e-01 -7.73514844e-01 -1.82487545e-02 1.30507614e+02] [ 2.65851906e-02 -1.81010979e-03 9.99644913e-01 7.17853616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76071405700003 meters Centerline goodness : 0.991531 Centerline is valid? [True, True] Translation: X:150.78, Y:130.51, Z:7.18 [[-7.66727160e-01 -6.41673891e-01 1.95979520e-02 1.50781731e+02] [ 6.41421156e-01 -7.66976533e-01 -1.80526478e-02 1.30510211e+02] [ 2.66150820e-02 -1.27091439e-03 9.99644948e-01 7.17638258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.790714057 meters Centerline goodness : 0.991214 Centerline is valid? [True, True] Translation: X:150.78, Y:130.51, Z:7.18 [[-7.67337861e-01 -6.40951854e-01 1.93216836e-02 1.50779812e+02] [ 6.40691330e-01 -7.67579195e-01 -1.83520806e-02 1.30512880e+02] [ 2.65937224e-02 -1.70301108e-03 9.99644874e-01 7.17963457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82071405700003 meters Centerline goodness : 0.992318 Centerline is valid? [True, True] Translation: X:150.78, Y:130.52, Z:7.18 [[-7.69956777e-01 -6.37803444e-01 1.93217001e-02 1.50776092e+02] [ 6.37541934e-01 -7.70197042e-01 -1.83520628e-02 1.30516203e+02] [ 2.65865251e-02 -1.81190104e-03 9.99644874e-01 7.17838572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.850714057 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:150.77, Y:130.52, Z:7.18 [[-7.72236042e-01 -6.35046467e-01 1.91697939e-02 1.50767066e+02] [ 6.34780036e-01 -7.72471000e-01 -1.85164705e-02 1.30523920e+02] [ 2.65669291e-02 -2.13048342e-03 9.99644767e-01 7.18012669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.880714057 meters Centerline goodness : 0.991591 Centerline is valid? [True, True] Translation: X:150.76, Y:130.53, Z:7.18 [[-7.73380896e-01 -6.33649675e-01 1.92374323e-02 1.50757366e+02] [ 6.33384622e-01 -7.73617326e-01 -1.84432488e-02 1.30533193e+02] [ 2.65689696e-02 -2.07896253e-03 9.99644821e-01 7.18109291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.910714057 meters Centerline goodness : 0.991319 Centerline is valid? [True, True] Translation: X:150.76, Y:130.53, Z:7.18 [[-7.73839696e-01 -6.33089475e-01 1.92312353e-02 1.50762794e+02] [ 6.32824086e-01 -7.74075756e-01 -1.84499535e-02 1.30530034e+02] [ 2.65669044e-02 -2.10731754e-03 9.99644816e-01 7.18092717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.940714057 meters Centerline goodness : 0.992119 Centerline is valid? [True, True] Translation: X:150.76, Y:130.53, Z:7.18 [[-7.74884857e-01 -6.31803412e-01 1.94398281e-02 1.50757622e+02] [ 6.31543217e-01 -7.75126471e-01 -1.82241477e-02 1.30534521e+02] [ 2.65824040e-02 -1.84452450e-03 9.99644924e-01 7.17899349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.970714057 meters Centerline goodness : 0.991116 Centerline is valid? [True, True] Translation: X:150.76, Y:130.53, Z:7.18 [[-7.76289048e-01 -6.30085231e-01 1.91811454e-02 1.50762870e+02] [ 6.29817614e-01 -7.76522625e-01 -1.85036873e-02 1.30531354e+02] [ 2.65534935e-02 -2.28358661e-03 9.99644786e-01 7.17970830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.000714057 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:150.76, Y:130.53, Z:7.18 [[-7.77933159e-01 -6.28049210e-01 1.93439794e-02 1.50763212e+02] [ 6.27785293e-01 -7.78170753e-01 -1.83277175e-02 1.30530628e+02] [ 2.65636275e-02 -2.11387343e-03 9.99644890e-01 7.17914914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.030714057 meters Centerline goodness : 0.990660 Centerline is valid? [True, True] Translation: X:150.77, Y:130.53, Z:7.18 [[-7.78261930e-01 -6.27640422e-01 1.93873453e-02 1.50767864e+02] [ 6.27377534e-01 -7.78500636e-01 -1.82808646e-02 1.30527455e+02] [ 2.65668702e-02 -2.06411607e-03 9.99644907e-01 7.17560886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.060714057 meters Centerline goodness : 0.992190 Centerline is valid? [True, True] Translation: X:150.76, Y:130.53, Z:7.18 [[-7.78190777e-01 -6.27730934e-01 1.93129398e-02 1.50759785e+02] [ 6.27466097e-01 -7.78427366e-01 -1.83611968e-02 1.30534661e+02] [ 2.65596121e-02 -2.17029903e-03 9.99644875e-01 7.17508975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.090714057 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:150.76, Y:130.53, Z:7.17 [[-7.72937860e-01 -6.34192619e-01 1.91517011e-02 1.50764563e+02] [ 6.33925473e-01 -7.73172002e-01 -1.85350795e-02 1.30531719e+02] [ 2.65623697e-02 -2.18571352e-03 9.99644768e-01 7.17318764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.120714057 meters Centerline goodness : 0.992156 Centerline is valid? [True, True] Translation: X:150.76, Y:130.53, Z:7.17 [[-7.70517326e-01 -6.37137621e-01 1.89394376e-02 1.50759873e+02] [ 6.36865775e-01 -7.70746334e-01 -1.87635873e-02 1.30532427e+02] [ 2.65524895e-02 -2.39578948e-03 9.99644550e-01 7.17385724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.150714057 meters Centerline goodness : 0.992560 Centerline is valid? [True, True] Translation: X:150.77, Y:130.53, Z:7.17 [[-7.66602420e-01 -6.41843473e-01 1.89125655e-02 1.50767223e+02] [ 6.41572327e-01 -7.66832310e-01 -1.87924905e-02 1.30525188e+02] [ 2.65646037e-02 -2.27259008e-03 9.99644515e-01 7.17283098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.180714057 meters Centerline goodness : 0.992149 Centerline is valid? [True, True] Translation: X:150.74, Y:130.53, Z:7.18 [[-7.79597444e-01 -6.25998164e-01 1.88181818e-02 1.50743852e+02] [ 6.25719944e-01 -7.79818933e-01 -1.88940191e-02 1.30529914e+02] [ 2.65023957e-02 -2.95481732e-03 9.99644383e-01 7.17916499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.210714057 meters Centerline goodness : 0.991572 Centerline is valid? [True, True] Translation: X:150.77, Y:130.52, Z:7.17 [[-7.60156293e-01 -6.49446347e-01 1.95410488e-02 1.50771508e+02] [ 6.49194582e-01 -7.60406647e-01 -1.81142359e-02 1.30516909e+02] [ 2.66233677e-02 -1.08370740e-03 9.99644948e-01 7.17278743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.240714057 meters Centerline goodness : 0.990893 Centerline is valid? [True, True] Translation: X:150.76, Y:130.52, Z:7.18 [[-7.62419506e-01 -6.46803509e-01 1.90188807e-02 1.50760913e+02] [ 6.46536746e-01 -7.62654212e-01 -1.86758749e-02 1.30519645e+02] [ 2.65844509e-02 -1.94244604e-03 9.99644684e-01 7.18126738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.270714057 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:150.75, Y:130.52, Z:7.18 [[-7.62028820e-01 -6.47257777e-01 1.92210292e-02 1.50752227e+02] [ 6.46996581e-01 -7.62269450e-01 -1.84583383e-02 1.30524434e+02] [ 2.65989063e-02 -1.62984558e-03 9.99644858e-01 7.17833642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.300714057 meters Centerline goodness : 0.990673 Centerline is valid? [True, True] Translation: X:150.76, Y:130.52, Z:7.18 [[-7.59950149e-01 -6.49702896e-01 1.90241434e-02 1.50755336e+02] [ 6.49437176e-01 -7.60186021e-01 -1.86699899e-02 1.30521418e+02] [ 2.65918344e-02 -1.83327564e-03 9.99644694e-01 7.18075518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.330714057 meters Centerline goodness : 0.990820 Centerline is valid? [True, True] Translation: X:150.75, Y:130.52, Z:7.18 [[-7.62740833e-01 -6.46417646e-01 1.92522046e-02 1.50751186e+02] [ 6.46157031e-01 -7.62982060e-01 -1.84246536e-02 1.30523135e+02] [ 2.65991080e-02 -1.61328833e-03 9.99644879e-01 7.18186780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.360714057 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:150.75, Y:130.52, Z:7.18 [[-7.56376959e-01 -6.53847602e-01 1.94218851e-02 1.50750756e+02] [ 6.53594011e-01 -7.56625465e-01 -1.82420906e-02 1.30523350e+02] [ 2.66226401e-02 -1.10386917e-03 9.99644945e-01 7.17536349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.390714057 meters Centerline goodness : 0.991812 Centerline is valid? [True, True] Translation: X:150.75, Y:130.52, Z:7.17 [[-7.56930242e-01 -6.53224576e-01 1.88218582e-02 1.50750892e+02] [ 6.52954598e-01 -7.57161564e-01 -1.88854324e-02 1.30520284e+02] [ 2.65876161e-02 -2.00513610e-03 9.99644476e-01 7.17428056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.420714057 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:150.75, Y:130.52, Z:7.18 [[-7.59426961e-01 -6.50313209e-01 1.90636376e-02 1.50746398e+02] [ 6.50048776e-01 -7.59664175e-01 -1.86260670e-02 1.30519165e+02] [ 2.65947399e-02 -1.75284318e-03 9.99644761e-01 7.17624678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.450714057 meters Centerline goodness : 0.992189 Centerline is valid? [True, True] Translation: X:150.74, Y:130.53, Z:7.18 [[-7.58199422e-01 -6.51745849e-01 1.89995964e-02 1.50736824e+02] [ 6.51480150e-01 -7.58435311e-01 -1.86947465e-02 1.30526237e+02] [ 2.65941882e-02 -1.79648609e-03 9.99644698e-01 7.18077097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.480714057 meters Centerline goodness : 0.991564 Centerline is valid? [True, True] Translation: X:150.74, Y:130.52, Z:7.18 [[-7.60250059e-01 -6.49347646e-01 1.91698372e-02 1.50738789e+02] [ 6.49085764e-01 -7.60489957e-01 -1.85120515e-02 1.30520762e+02] [ 2.65992258e-02 -1.63091977e-03 9.99644848e-01 7.17966947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.51071405700003 meters Centerline goodness : 0.991877 Centerline is valid? [True, True] Translation: X:150.73, Y:130.52, Z:7.18 [[-7.59046497e-01 -6.50750500e-01 1.92925108e-02 1.50732000e+02] [ 6.50492384e-01 -7.59290340e-01 -1.83803700e-02 1.30523189e+02] [ 2.66096521e-02 -1.40192416e-03 9.99644917e-01 7.18192634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.540714057 meters Centerline goodness : 0.991367 Centerline is valid? [True, True] Translation: X:150.74, Y:130.52, Z:7.18 [[-7.56512186e-01 -6.53698504e-01 1.91723125e-02 1.50738191e+02] [ 6.53438073e-01 -7.56753653e-01 -1.85092839e-02 1.30517508e+02] [ 2.66082088e-02 -1.47457992e-03 9.99644851e-01 7.18116281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.57071405700003 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:150.74, Y:130.52, Z:7.18 [[-7.54992756e-01 -6.55452526e-01 1.91813325e-02 1.50737271e+02] [ 6.55192901e-01 -7.55235081e-01 -1.84996140e-02 1.30518741e+02] [ 2.66120339e-02 -1.39960170e-03 9.99644857e-01 7.18158822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.600714057 meters Centerline goodness : 0.992949 Centerline is valid? [True, True] Translation: X:150.73, Y:130.53, Z:7.18 [[-7.54778815e-01 -6.55700281e-01 1.91332412e-02 1.50725967e+02] [ 6.55439433e-01 -7.55019871e-01 -1.85511352e-02 1.30527305e+02] [ 2.66099619e-02 -1.46132306e-03 9.99644824e-01 7.18205162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.630714057 meters Centerline goodness : 0.990522 Centerline is valid? [True, True] Translation: X:150.73, Y:130.52, Z:7.19 [[-7.52377887e-01 -6.58458191e-01 1.89822697e-02 1.50732597e+02] [ 6.58194147e-01 -7.52615638e-01 -1.87127159e-02 1.30522730e+02] [ 2.66078941e-02 -1.58501477e-03 9.99644691e-01 7.18700394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.660714057 meters Centerline goodness : 0.990724 Centerline is valid? [True, True] Translation: X:150.73, Y:130.52, Z:7.18 [[-7.51774872e-01 -6.59143107e-01 1.91025310e-02 1.50730287e+02] [ 6.58882530e-01 -7.52016255e-01 -1.85839704e-02 1.30523819e+02] [ 2.66149098e-02 -1.38463800e-03 9.99644802e-01 7.18243232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.690714057 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:150.74, Y:130.52, Z:7.18 [[-7.52141959e-01 -6.58726093e-01 1.90370141e-02 1.50737547e+02] [ 6.58463612e-01 -7.52381352e-01 -1.86540520e-02 1.30518049e+02] [ 2.66110052e-02 -1.49531410e-03 9.99644746e-01 7.18264090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.720714057 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:150.72, Y:130.53, Z:7.18 [[-7.54686225e-01 -6.55806403e-01 1.91484486e-02 1.50724903e+02] [ 6.55545999e-01 -7.54927746e-01 -1.85348780e-02 1.30528407e+02] [ 2.66109868e-02 -1.43532819e-03 9.99644835e-01 7.17864839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.750714057 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:150.72, Y:130.53, Z:7.18 [[-7.54471608e-01 -6.56060301e-01 1.89069685e-02 1.50723016e+02] [ 6.55793500e-01 -7.54706376e-01 -1.87928707e-02 1.30530247e+02] [ 2.65984661e-02 -1.77962032e-03 9.99644614e-01 7.17859732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.780714057 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:150.72, Y:130.53, Z:7.18 [[-7.57464976e-01 -6.52601908e-01 1.89092791e-02 1.50720822e+02] [ 6.52334096e-01 -7.57698587e-01 -1.87904035e-02 1.30531960e+02] [ 2.65901872e-02 -1.89790500e-03 9.99644617e-01 7.17911310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.810714057 meters Centerline goodness : 0.992944 Centerline is valid? [True, True] Translation: X:150.72, Y:130.54, Z:7.18 [[-7.58690489e-01 -6.51174490e-01 1.89875435e-02 1.50718075e+02] [ 6.50908313e-01 -7.58925835e-01 -1.87068522e-02 1.30537006e+02] [ 2.65915622e-02 -1.83356095e-03 9.99644700e-01 7.17731563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.840714057 meters Centerline goodness : 0.992402 Centerline is valid? [True, True] Translation: X:150.72, Y:130.53, Z:7.18 [[-7.59982464e-01 -6.49667644e-01 1.89369457e-02 1.50721458e+02] [ 6.49399662e-01 -7.60215831e-01 -1.87608260e-02 1.30534554e+02] [ 2.65844676e-02 -1.96025257e-03 9.99644649e-01 7.17757722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.870714057 meters Centerline goodness : 0.991770 Centerline is valid? [True, True] Translation: X:150.71, Y:130.54, Z:7.18 [[-7.64023028e-01 -6.44907366e-01 1.90604731e-02 1.50713207e+02] [ 6.44641184e-01 -7.64258270e-01 -1.86290495e-02 1.30541578e+02] [ 2.65811355e-02 -1.94585687e-03 9.99644765e-01 7.17917311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.900714057 meters Centerline goodness : 0.991317 Centerline is valid? [True, True] Translation: X:150.71, Y:130.54, Z:7.18 [[-7.65344393e-01 -6.43335968e-01 1.91518328e-02 1.50709219e+02] [ 6.43071718e-01 -7.65581705e-01 -1.85315665e-02 1.30544574e+02] [ 2.65843161e-02 -1.86702850e-03 9.99644831e-01 7.18026666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.930714057 meters Centerline goodness : 0.991814 Centerline is valid? [True, True] Translation: X:150.70, Y:130.55, Z:7.18 [[-7.65893917e-01 -6.42682185e-01 1.91341956e-02 1.50699793e+02] [ 6.42417266e-01 -7.66130498e-01 -1.85503771e-02 1.30552618e+02] [ 2.65812877e-02 -1.91548339e-03 9.99644820e-01 7.18094222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.960714057 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:150.71, Y:130.55, Z:7.18 [[-7.65631728e-01 -6.42997203e-01 1.90434943e-02 1.50707857e+02] [ 6.42729990e-01 -7.65865816e-01 -1.86470142e-02 1.30546110e+02] [ 2.65747393e-02 -2.03692075e-03 9.99644754e-01 7.18191934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.990714057 meters Centerline goodness : 0.991316 Centerline is valid? [True, True] Translation: X:150.70, Y:130.55, Z:7.18 [[-7.64489850e-01 -6.44349676e-01 1.92032604e-02 1.50703462e+02] [ 6.44087105e-01 -7.64728978e-01 -1.84767839e-02 1.30551611e+02] [ 2.65907994e-02 -1.75674136e-03 9.99644859e-01 7.18200362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.020714057 meters Centerline goodness : 0.991292 Centerline is valid? [True, True] Translation: X:150.70, Y:130.55, Z:7.18 [[-7.64149918e-01 -6.44753086e-01 1.91927244e-02 1.50704468e+02] [ 6.44490362e-01 -7.64388885e-01 -1.84880033e-02 1.30549691e+02] [ 2.65909024e-02 -1.75808025e-03 9.99644853e-01 7.18234983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.050714057 meters Centerline goodness : 0.990745 Centerline is valid? [True, True] Translation: X:150.70, Y:130.55, Z:7.18 [[-7.63102613e-01 -6.45992136e-01 1.91979969e-02 1.50703812e+02] [ 6.45729940e-01 -7.63342155e-01 -1.84823903e-02 1.30550645e+02] [ 2.65941191e-02 -1.70723893e-03 9.99644856e-01 7.18196046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.080714057 meters Centerline goodness : 0.992554 Centerline is valid? [True, True] Translation: X:150.68, Y:130.56, Z:7.18 [[-7.70390711e-01 -6.37281780e-01 1.92376027e-02 1.50682107e+02] [ 6.37017922e-01 -7.70628396e-01 -1.84402393e-02 1.30561706e+02] [ 2.65766714e-02 -1.95149136e-03 9.99644873e-01 7.18238797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.110714057 meters Centerline goodness : 0.992338 Centerline is valid? [True, True] Translation: X:150.70, Y:130.56, Z:7.18 [[-7.58767786e-01 -6.51068997e-01 1.95091896e-02 1.50701931e+02] [ 6.50816821e-01 -7.59017789e-01 -1.81510579e-02 1.30555441e+02] [ 2.66254130e-02 -1.07552920e-03 9.99644902e-01 7.17810566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.140714057 meters Centerline goodness : 0.992450 Centerline is valid? [True, True] Translation: X:150.69, Y:130.56, Z:7.18 [[-7.68738484e-01 -6.39283158e-01 1.89258265e-02 1.50685492e+02] [ 6.39011800e-01 -7.68967872e-01 -1.87704697e-02 1.30561380e+02] [ 2.65529977e-02 -2.33575591e-03 9.99644678e-01 7.17967153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.170714057 meters Centerline goodness : 0.991679 Centerline is valid? [True, True] Translation: X:150.70, Y:130.56, Z:7.18 [[-7.56778775e-01 -6.53382815e-01 1.94108948e-02 1.50695922e+02] [ 6.53128749e-01 -7.57026819e-01 -1.82546881e-02 1.30563371e+02] [ 2.66218675e-02 -1.13694705e-03 9.99644929e-01 7.17664281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.200714057 meters Centerline goodness : 0.991745 Centerline is valid? [True, True] Translation: X:150.69, Y:130.56, Z:7.18 [[-7.57006579e-01 -6.53134276e-01 1.88853605e-02 1.50694392e+02] [ 6.52866107e-01 -7.57239701e-01 -1.88117399e-02 1.30564329e+02] [ 2.65873369e-02 -1.91099906e-03 9.99644668e-01 7.17711081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.230714057 meters Centerline goodness : 0.991348 Centerline is valid? [True, True] Translation: X:150.69, Y:130.56, Z:7.18 [[-7.55890100e-01 -6.54425422e-01 1.89083010e-02 1.50693798e+02] [ 6.54158255e-01 -7.56124335e-01 -1.87874298e-02 1.30563998e+02] [ 2.65919982e-02 -1.83221098e-03 9.99644691e-01 7.17874095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26071405700003 meters Centerline goodness : 0.989088 Centerline is valid? [True, True] Translation: X:150.71, Y:130.55, Z:7.18 [[-7.54927242e-01 -6.55535472e-01 1.89236478e-02 1.50706862e+02] [ 6.55269054e-01 -7.55162307e-01 -1.87711759e-02 1.30553807e+02] [ 2.65955972e-02 -1.77079129e-03 9.99644706e-01 7.17714226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.290714057 meters Centerline goodness : 0.988122 Centerline is valid? [True, True] Translation: X:150.71, Y:130.56, Z:7.18 [[-7.53787041e-01 -6.56838567e-01 1.91883535e-02 1.50706330e+02] [ 6.56579616e-01 -7.54030041e-01 -1.84906741e-02 1.30555499e+02] [ 2.66139829e-02 -1.33934871e-03 9.99644888e-01 7.17853229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32071405700003 meters Centerline goodness : 0.990534 Centerline is valid? [True, True] Translation: X:150.70, Y:130.56, Z:7.18 [[-7.50720706e-01 -6.60339604e-01 1.92361281e-02 1.50701796e+02] [ 6.60083078e-01 -7.50966241e-01 -1.84400582e-02 1.30560752e+02] [ 2.66223836e-02 -1.14589090e-03 9.99644905e-01 7.18198631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.350714057 meters Centerline goodness : 0.992113 Centerline is valid? [True, True] Translation: X:150.71, Y:130.56, Z:7.18 [[-7.49297554e-01 -6.61958792e-01 1.90717890e-02 1.50705999e+02] [ 6.61698364e-01 -7.49539055e-01 -1.86139946e-02 1.30557424e+02] [ 2.66167481e-02 -1.32764900e-03 9.99644830e-01 7.17973237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.380714057 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:150.71, Y:130.56, Z:7.18 [[-7.49036113e-01 -6.62263129e-01 1.87736288e-02 1.50705226e+02] [ 6.61994875e-01 -7.49269300e-01 -1.89288616e-02 1.30559715e+02] [ 2.66023908e-02 -1.75035484e-03 9.99644561e-01 7.17912475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.410714057 meters Centerline goodness : 0.990004 Centerline is valid? [True, True] Translation: X:150.71, Y:130.56, Z:7.18 [[-7.48908648e-01 -6.62407348e-01 1.87707871e-02 1.50710775e+02] [ 6.62139064e-01 -7.49141806e-01 -1.89318606e-02 1.30562054e+02] [ 2.66025849e-02 -1.74936274e-03 9.99644558e-01 7.18094359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.440714057 meters Centerline goodness : 0.987762 Centerline is valid? [True, True] Translation: X:150.72, Y:130.56, Z:7.19 [[-7.50028940e-01 -6.61134345e-01 1.89200163e-02 1.50717869e+02] [ 6.60869604e-01 -7.50265879e-01 -1.87743592e-02 1.30558216e+02] [ 2.66074163e-02 -1.57764901e-03 9.99644715e-01 7.18546254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.470714057 meters Centerline goodness : 0.989453 Centerline is valid? [True, True] Translation: X:150.69, Y:130.58, Z:7.18 [[-7.55105994e-01 -6.55323697e-01 1.91256587e-02 1.50692951e+02] [ 6.55062580e-01 -7.55346709e-01 -1.85570949e-02 1.30579266e+02] [ 2.66074074e-02 -1.48407029e-03 9.99644859e-01 7.18065785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.500714057 meters Centerline goodness : 0.989056 Centerline is valid? [True, True] Translation: X:150.70, Y:130.57, Z:7.18 [[-7.54801984e-01 -6.55672764e-01 1.91622491e-02 1.50702391e+02] [ 6.55412735e-01 -7.55043849e-01 -1.85184284e-02 1.30572785e+02] [ 2.66103674e-02 -1.41856439e-03 9.99644875e-01 7.18082108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.530714057 meters Centerline goodness : 0.989445 Centerline is valid? [True, True] Translation: X:150.70, Y:130.58, Z:7.18 [[-7.55715329e-01 -6.54620758e-01 1.91312659e-02 1.50700355e+02] [ 6.54359568e-01 -7.55955959e-01 -1.85511495e-02 1.30577637e+02] [ 2.66063620e-02 -1.50066119e-03 9.99644862e-01 7.18157935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.560714057 meters Centerline goodness : 0.989100 Centerline is valid? [True, True] Translation: X:150.70, Y:130.58, Z:7.18 [[-7.57014069e-01 -6.53118671e-01 1.91233131e-02 1.50696310e+02] [ 6.52856793e-01 -7.57253955e-01 -1.85595430e-02 1.30583847e+02] [ 2.66027886e-02 -1.56505030e-03 9.99644858e-01 7.18054245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.590714057 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:150.70, Y:130.58, Z:7.18 [[-7.51667596e-01 -6.59265752e-01 1.90917337e-02 1.50701499e+02] [ 6.59004993e-01 -7.51908721e-01 -1.85928511e-02 1.30583250e+02] [ 2.66128710e-02 -1.39409580e-03 9.99644843e-01 7.18235434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.620714057 meters Centerline goodness : 0.991061 Centerline is valid? [True, True] Translation: X:150.70, Y:130.59, Z:7.18 [[-7.58960283e-01 -6.50865560e-01 1.87965679e-02 1.50696705e+02] [ 6.50594429e-01 -7.59190052e-01 -1.89037998e-02 1.30587426e+02] [ 2.65739996e-02 -2.11829094e-03 9.99644605e-01 7.17741375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.650714057 meters Centerline goodness : 0.990046 Centerline is valid? [True, True] Translation: X:150.70, Y:130.59, Z:7.18 [[-7.60017261e-01 -6.49624289e-01 1.90274964e-02 1.50698716e+02] [ 6.49358795e-01 -7.60253212e-01 -1.86603441e-02 1.30586491e+02] [ 2.65879281e-02 -1.82651148e-03 9.99644810e-01 7.17707036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.680714057 meters Centerline goodness : 0.990112 Centerline is valid? [True, True] Translation: X:150.70, Y:130.59, Z:7.18 [[-7.62080355e-01 -6.47202616e-01 1.90343507e-02 1.50696531e+02] [ 6.46936552e-01 -7.62315656e-01 -1.86531199e-02 1.30590828e+02] [ 2.65825316e-02 -1.90115902e-03 9.99644814e-01 7.17724883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.710714057 meters Centerline goodness : 0.989139 Centerline is valid? [True, True] Translation: X:150.69, Y:130.60, Z:7.18 [[-7.63573375e-01 -6.45440289e-01 1.90403436e-02 1.50690348e+02] [ 6.45173838e-01 -7.63808232e-01 -1.86468039e-02 1.30597121e+02] [ 2.65785697e-02 -1.95387138e-03 9.99644818e-01 7.17895479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.740714057 meters Centerline goodness : 0.989790 Centerline is valid? [True, True] Translation: X:150.68, Y:130.60, Z:7.18 [[-7.65202886e-01 -6.43504787e-01 1.91345898e-02 1.50684710e+02] [ 6.43240199e-01 -7.65439767e-01 -1.85474605e-02 1.30602509e+02] [ 2.65817556e-02 -1.88443297e-03 9.99644867e-01 7.17773243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.770714057 meters Centerline goodness : 0.989602 Centerline is valid? [True, True] Translation: X:150.68, Y:130.61, Z:7.18 [[-7.67293831e-01 -6.41010963e-01 1.91081509e-02 1.50681070e+02] [ 6.40744918e-01 -7.67529092e-01 -1.85753169e-02 1.30606197e+02] [ 2.65730435e-02 -2.00927548e-03 9.99644855e-01 7.17913135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.800714057 meters Centerline goodness : 0.990372 Centerline is valid? [True, True] Translation: X:150.68, Y:130.61, Z:7.18 [[-7.69277361e-01 -6.38628343e-01 1.91358695e-02 1.50681082e+02] [ 6.38362287e-01 -7.69512593e-01 -1.85461259e-02 1.30606019e+02] [ 2.65693742e-02 -2.05149734e-03 9.99644867e-01 7.17839743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.830714057 meters Centerline goodness : 0.989861 Centerline is valid? [True, True] Translation: X:150.67, Y:130.62, Z:7.18 [[-7.70183740e-01 -6.37536919e-01 1.90704607e-02 1.50671852e+02] [ 6.37268841e-01 -7.70416710e-01 -1.86149707e-02 1.30615070e+02] [ 2.65599327e-02 -2.18393739e-03 9.99644837e-01 7.17855128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.860714057 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:150.67, Y:130.61, Z:7.18 [[-7.71316102e-01 -6.36165619e-01 1.90991029e-02 1.50672127e+02] [ 6.35897864e-01 -7.71549422e-01 -1.85848345e-02 1.30614202e+02] [ 2.65589345e-02 -2.18970339e-03 9.99644851e-01 7.17894429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.890714057 meters Centerline goodness : 0.989824 Centerline is valid? [True, True] Translation: X:150.67, Y:130.62, Z:7.18 [[-7.71251182e-01 -6.36243217e-01 1.91359092e-02 1.50665665e+02] [ 6.35976434e-01 -7.71485591e-01 -1.85461288e-02 1.30619484e+02] [ 2.65629269e-02 -2.13373642e-03 9.99644866e-01 7.17933816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.920714057 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:150.67, Y:130.61, Z:7.18 [[-7.72843900e-01 -6.34308518e-01 1.91052500e-02 1.50669611e+02] [ 6.34040360e-01 -7.73076753e-01 -1.85783554e-02 1.30614783e+02] [ 2.65542337e-02 -2.24466906e-03 9.99644854e-01 7.18281724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.950714057 meters Centerline goodness : 0.989820 Centerline is valid? [True, True] Translation: X:150.66, Y:130.62, Z:7.18 [[-7.70788207e-01 -6.36798851e-01 1.93070662e-02 1.50664051e+02] [ 6.36536680e-01 -7.71027715e-01 -1.83662022e-02 1.30616658e+02] [ 2.65818596e-02 -1.86679623e-03 9.99644897e-01 7.17993292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.980714057 meters Centerline goodness : 0.988930 Centerline is valid? [True, True] Translation: X:150.66, Y:130.62, Z:7.18 [[-7.69363160e-01 -6.38526313e-01 1.90912296e-02 1.50663126e+02] [ 6.38259081e-01 -7.69597073e-01 -1.85927324e-02 1.30615405e+02] [ 2.65645033e-02 -2.11941269e-03 9.99644855e-01 7.18116907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.01071405700003 meters Centerline goodness : 0.989828 Centerline is valid? [True, True] Translation: X:150.66, Y:130.61, Z:7.18 [[-7.67147094e-01 -6.41185194e-01 1.91541863e-02 1.50659961e+02] [ 6.40920405e-01 -7.67383735e-01 -1.85266707e-02 1.30614032e+02] [ 2.65776380e-02 -1.93637272e-03 9.99644877e-01 7.18071137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.040714057 meters Centerline goodness : 0.986763 Centerline is valid? [True, True] Translation: X:150.65, Y:130.62, Z:7.19 [[-7.68521041e-01 -6.39540318e-01 1.90680500e-02 1.50654525e+02] [ 6.39272800e-01 -7.68754640e-01 -1.86169645e-02 1.30617630e+02] [ 2.65649513e-02 -2.11784322e-03 9.99644846e-01 7.18515507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.07071405700003 meters Centerline goodness : 0.986783 Centerline is valid? [True, True] Translation: X:150.66, Y:130.61, Z:7.18 [[-7.66683012e-01 -6.41736104e-01 1.92855494e-02 1.50657816e+02] [ 6.41474910e-01 -7.66923588e-01 -1.83888611e-02 1.30613093e+02] [ 2.65913388e-02 -1.72723132e-03 9.99644896e-01 7.18455655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.100714057 meters Centerline goodness : 0.989167 Centerline is valid? [True, True] Translation: X:150.67, Y:130.60, Z:7.18 [[-7.59370110e-01 -6.50373262e-01 1.92783810e-02 1.50666052e+02] [ 6.50114618e-01 -7.59613426e-01 -1.83963733e-02 1.30601965e+02] [ 2.66086263e-02 -1.43649872e-03 9.99644896e-01 7.18162867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.130714057 meters Centerline goodness : 0.989493 Centerline is valid? [True, True] Translation: X:150.66, Y:130.61, Z:7.18 [[-7.60001370e-01 -6.49646529e-01 1.89025128e-02 1.50657409e+02] [ 6.49377847e-01 -7.60233758e-01 -1.87894697e-02 1.30605881e+02] [ 2.65768421e-02 -2.00514963e-03 9.99644762e-01 7.17978677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.160714057 meters Centerline goodness : 0.988300 Centerline is valid? [True, True] Translation: X:150.67, Y:130.59, Z:7.18 [[-7.54470942e-01 -6.56057873e-01 1.90175055e-02 1.50668005e+02] [ 6.55794172e-01 -7.54708860e-01 -1.86692394e-02 1.30594781e+02] [ 2.66007814e-02 -1.61382940e-03 9.99644834e-01 7.18418694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.190714057 meters Centerline goodness : 0.989400 Centerline is valid? [True, True] Translation: X:150.67, Y:130.59, Z:7.18 [[-7.49852015e-01 -6.61334252e-01 1.89463190e-02 1.50669492e+02] [ 6.61070353e-01 -7.50089772e-01 -1.87435903e-02 1.30590398e+02] [ 2.66072184e-02 -1.53006920e-03 9.99644794e-01 7.18289814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.220714057 meters Centerline goodness : 0.991820 Centerline is valid? [True, True] Translation: X:150.67, Y:130.59, Z:7.17 [[-7.46940633e-01 -6.64625823e-01 1.87671599e-02 1.50669361e+02] [ 6.64358277e-01 -7.47174491e-01 -1.89303875e-02 1.30587575e+02] [ 2.66039675e-02 -1.67175757e-03 9.99644654e-01 7.17442512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.250714057 meters Centerline goodness : 0.991459 Centerline is valid? [True, True] Translation: X:150.67, Y:130.59, Z:7.18 [[-7.45920223e-01 -6.65775718e-01 1.85934134e-02 1.50667388e+02] [ 6.65504023e-01 -7.46149552e-01 -1.91113007e-02 1.30587582e+02] [ 2.65973070e-02 -1.88151430e-03 9.99644458e-01 7.18313831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.280714057 meters Centerline goodness : 0.990225 Centerline is valid? [True, True] Translation: X:150.68, Y:130.58, Z:7.18 [[-7.40715311e-01 -6.71558195e-01 1.87194771e-02 1.50675861e+02] [ 6.71291588e-01 -7.40950311e-01 -1.89800036e-02 1.30577884e+02] [ 2.66163794e-02 -1.49255180e-03 9.99644607e-01 7.18226982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.310714057 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:150.68, Y:130.58, Z:7.18 [[-7.39540584e-01 -6.72852416e-01 1.86908971e-02 1.50676947e+02] [ 6.72585471e-01 -7.39775245e-01 -1.90097431e-02 1.30577715e+02] [ 2.66178146e-02 -1.48725067e-03 9.99644577e-01 7.18110457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.340714057 meters Centerline goodness : 0.990585 Centerline is valid? [True, True] Translation: X:150.67, Y:130.58, Z:7.18 [[-7.37299279e-01 -6.75310242e-01 1.85970477e-02 1.50667744e+02] [ 6.75041619e-01 -7.37532185e-01 -1.91073301e-02 1.30583022e+02] [ 2.66192970e-02 -1.53403955e-03 9.99644467e-01 7.18424992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.370714057 meters Centerline goodness : 0.989004 Centerline is valid? [True, True] Translation: X:150.67, Y:130.58, Z:7.18 [[-7.38441185e-01 -6.74058158e-01 1.87140843e-02 1.50666460e+02] [ 6.73792206e-01 -7.38676933e-01 -1.89855933e-02 1.30583215e+02] [ 2.66210564e-02 -1.41033987e-03 9.99644602e-01 7.18343484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.400714057 meters Centerline goodness : 0.989621 Centerline is valid? [True, True] Translation: X:150.66, Y:130.59, Z:7.18 [[-7.38778357e-01 -6.73685815e-01 1.88138729e-02 1.50661145e+02] [ 6.73422374e-01 -7.39016769e-01 -1.88817782e-02 1.30587804e+02] [ 2.66241537e-02 -1.27976616e-03 9.99644695e-01 7.18253105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.430714057 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:150.65, Y:130.60, Z:7.18 [[-7.39086125e-01 -6.73346632e-01 1.88683125e-02 1.50649550e+02] [ 6.73084522e-01 -7.39325936e-01 -1.88251355e-02 1.30600138e+02] [ 2.66256744e-02 -1.21342735e-03 9.99644737e-01 7.18499319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.460714057 meters Centerline goodness : 0.989582 Centerline is valid? [True, True] Translation: X:150.66, Y:130.60, Z:7.19 [[-7.39072030e-01 -6.73364569e-01 1.87801037e-02 1.50655794e+02] [ 6.73100135e-01 -7.39309382e-01 -1.89168311e-02 1.30595491e+02] [ 2.66222307e-02 -1.34001040e-03 9.99644667e-01 7.18508555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.490714057 meters Centerline goodness : 0.990331 Centerline is valid? [True, True] Translation: X:150.65, Y:130.60, Z:7.18 [[-7.38932302e-01 -6.73516340e-01 1.88359487e-02 1.50650058e+02] [ 6.73253429e-01 -7.39171270e-01 -1.88587959e-02 1.30602884e+02] [ 2.66246993e-02 -1.25400642e-03 9.99644713e-01 7.18477508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.520714057 meters Centerline goodness : 0.990206 Centerline is valid? [True, True] Translation: X:150.64, Y:130.61, Z:7.18 [[-7.42712211e-01 -6.69349522e-01 1.87026689e-02 1.50643376e+02] [ 6.69081785e-01 -7.42945941e-01 -1.89971979e-02 1.30610821e+02] [ 2.66108372e-02 -1.59583577e-03 9.99644595e-01 7.18490109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.550714057 meters Centerline goodness : 0.988750 Centerline is valid? [True, True] Translation: X:150.64, Y:130.61, Z:7.18 [[-7.45400431e-01 -6.66352781e-01 1.87661750e-02 1.50642547e+02] [ 6.66085755e-01 -7.45634880e-01 -1.89312470e-02 1.30612766e+02] [ 2.66076037e-02 -1.61147783e-03 9.99644656e-01 7.18487474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.580714057 meters Centerline goodness : 0.988581 Centerline is valid? [True, True] Translation: X:150.64, Y:130.62, Z:7.18 [[-7.48987250e-01 -6.62314801e-01 1.88998162e-02 1.50641712e+02] [ 6.62049985e-01 -7.49224040e-01 -1.87924153e-02 1.30615780e+02] [ 2.66066915e-02 -1.56265645e-03 9.99644758e-01 7.18428087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.610714057 meters Centerline goodness : 0.988591 Centerline is valid? [True, True] Translation: X:150.64, Y:130.62, Z:7.18 [[-7.51739466e-01 -6.59188017e-01 1.89455458e-02 1.50635101e+02] [ 6.58923406e-01 -7.51976445e-01 -1.87449090e-02 1.30624889e+02] [ 2.66030236e-02 -1.60762428e-03 9.99644784e-01 7.18389474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.640714057 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:150.63, Y:130.63, Z:7.18 [[-7.52764403e-01 -6.58016802e-01 1.89642489e-02 1.50629339e+02] [ 6.57752308e-01 -7.53001499e-01 -1.87254832e-02 1.30630072e+02] [ 2.66017905e-02 -1.62209868e-03 9.99644794e-01 7.18286442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.670714057 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:150.63, Y:130.63, Z:7.18 [[-7.52531121e-01 -6.58286127e-01 1.88755687e-02 1.50627419e+02] [ 6.58019419e-01 -7.52765798e-01 -1.88174994e-02 1.30631881e+02] [ 2.65961814e-02 -1.74026320e-03 9.99644744e-01 7.18289216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.700714057 meters Centerline goodness : 0.989913 Centerline is valid? [True, True] Translation: X:150.63, Y:130.64, Z:7.18 [[-7.54889348e-01 -6.55580635e-01 1.88706943e-02 1.50626135e+02] [ 6.55312961e-01 -7.55122927e-01 -1.88225536e-02 1.30635439e+02] [ 2.65893956e-02 -1.84273467e-03 9.99644741e-01 7.18343113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.730714057 meters Centerline goodness : 0.989161 Centerline is valid? [True, True] Translation: X:150.63, Y:130.63, Z:7.18 [[-7.56298462e-01 -6.53954134e-01 1.88846052e-02 1.50628848e+02] [ 6.53686314e-01 -7.56531861e-01 -1.88081341e-02 1.30633009e+02] [ 2.65864626e-02 -1.87995490e-03 9.99644750e-01 7.18340714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76071405700003 meters Centerline goodness : 0.989632 Centerline is valid? [True, True] Translation: X:150.63, Y:130.63, Z:7.18 [[-7.57839065e-01 -6.52165488e-01 1.89770485e-02 1.50627351e+02] [ 6.51899492e-01 -7.58074470e-01 -1.87123122e-02 1.30634049e+02] [ 2.65895402e-02 -1.80979286e-03 9.99644797e-01 7.18331752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.790714057 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:150.62, Y:130.64, Z:7.18 [[-7.57817334e-01 -6.52190927e-01 1.89706152e-02 1.50623251e+02] [ 6.51924773e-01 -7.58052564e-01 -1.87189752e-02 1.30636449e+02] [ 2.65890693e-02 -1.81814983e-03 9.99644795e-01 7.18321473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82071405700003 meters Centerline goodness : 0.989439 Centerline is valid? [True, True] Translation: X:150.62, Y:130.64, Z:7.18 [[-7.60847806e-01 -6.48659966e-01 1.87314016e-02 1.50617490e+02] [ 6.48386650e-01 -7.61074915e-01 -1.89664592e-02 1.30640502e+02] [ 2.65587827e-02 -2.28539815e-03 9.99644641e-01 7.18456054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.850714057 meters Centerline goodness : 0.989934 Centerline is valid? [True, True] Translation: X:150.61, Y:130.64, Z:7.19 [[-7.62650350e-01 -6.46531279e-01 1.90196874e-02 1.50614134e+02] [ 6.46264640e-01 -7.62884998e-01 -1.86680010e-02 1.30640830e+02] [ 2.65792807e-02 -1.94540605e-03 9.99644816e-01 7.18557594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.880714057 meters Centerline goodness : 0.989913 Centerline is valid? [True, True] Translation: X:150.60, Y:130.65, Z:7.19 [[-7.65268750e-01 -6.43429720e-01 1.90245997e-02 1.50604481e+02] [ 6.43162256e-01 -7.65502455e-01 -1.86629161e-02 1.30648025e+02] [ 2.65716527e-02 -2.04624207e-03 9.99644817e-01 7.18538970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.910714057 meters Centerline goodness : 0.989151 Centerline is valid? [True, True] Translation: X:150.61, Y:130.65, Z:7.19 [[-7.66381684e-01 -6.42102263e-01 1.90734846e-02 1.50607400e+02] [ 6.41835638e-01 -7.66616328e-01 -1.86123155e-02 1.30645465e+02] [ 2.65730546e-02 -2.02209559e-03 9.99644829e-01 7.18661346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.940714057 meters Centerline goodness : 0.991545 Centerline is valid? [True, True] Translation: X:150.60, Y:130.65, Z:7.18 [[-7.67020646e-01 -6.41336087e-01 1.91664192e-02 1.50597198e+02] [ 6.41071601e-01 -7.67257685e-01 -1.85161173e-02 1.30651244e+02] [ 2.65806366e-02 -1.91519724e-03 9.99644838e-01 7.18322749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.970714057 meters Centerline goodness : 0.989975 Centerline is valid? [True, True] Translation: X:150.59, Y:130.65, Z:7.19 [[-7.68531796e-01 -6.39527339e-01 1.90698975e-02 1.50591721e+02] [ 6.39259840e-01 -7.68765441e-01 -1.86159447e-02 1.30653246e+02] [ 2.65656837e-02 -2.11632583e-03 9.99644830e-01 7.18664706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.000714057 meters Centerline goodness : 0.991132 Centerline is valid? [True, True] Translation: X:150.59, Y:130.65, Z:7.18 [[-7.70914459e-01 -6.36652897e-01 1.90784071e-02 1.50586888e+02] [ 6.36384742e-01 -7.71147349e-01 -1.86071460e-02 1.30651139e+02] [ 2.65585565e-02 -2.20331070e-03 9.99644831e-01 7.18325938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.030714057 meters Centerline goodness : 0.990648 Centerline is valid? [True, True] Translation: X:150.59, Y:130.65, Z:7.19 [[-7.70192011e-01 -6.37523549e-01 1.91830720e-02 1.50592148e+02] [ 6.37258313e-01 -7.70428213e-01 -1.84989279e-02 1.30645596e+02] [ 2.65726820e-02 -2.02315442e-03 9.99644837e-01 7.18758527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.060714057 meters Centerline goodness : 0.990880 Centerline is valid? [True, True] Translation: X:150.58, Y:130.65, Z:7.19 [[-7.69847675e-01 -6.37940274e-01 1.91510828e-02 1.50582267e+02] [ 6.37674353e-01 -7.70083103e-01 -1.85319858e-02 1.30650942e+02] [ 2.65702254e-02 -2.05465182e-03 9.99644838e-01 7.18510446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.090714057 meters Centerline goodness : 0.990768 Centerline is valid? [True, True] Translation: X:150.59, Y:130.64, Z:7.19 [[-7.69107640e-01 -6.38835143e-01 1.90551579e-02 1.50586946e+02] [ 6.38567064e-01 -7.69340620e-01 -1.86310111e-02 1.30642222e+02] [ 2.65620516e-02 -2.16125672e-03 9.99644830e-01 7.18916985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.120714057 meters Centerline goodness : 0.991549 Centerline is valid? [True, True] Translation: X:150.57, Y:130.65, Z:7.19 [[-7.69274123e-01 -6.38635411e-01 1.90298669e-02 1.50572838e+02] [ 6.38366634e-01 -7.69506305e-01 -1.86571049e-02 1.30651923e+02] [ 2.65586904e-02 -2.20439590e-03 9.99644825e-01 7.19108350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.150714057 meters Centerline goodness : 0.990887 Centerline is valid? [True, True] Translation: X:150.58, Y:130.64, Z:7.19 [[-7.67600796e-01 -6.40645351e-01 1.90408095e-02 1.50584394e+02] [ 6.40377459e-01 -7.67833995e-01 -1.86458188e-02 1.30636456e+02] [ 2.65655379e-02 -2.11924019e-03 9.99644827e-01 7.18987967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.180714057 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:150.58, Y:130.64, Z:7.19 [[-7.67370081e-01 -6.40921136e-01 1.90593071e-02 1.50576831e+02] [ 6.40653796e-01 -7.67603907e-01 -1.86267492e-02 1.30639946e+02] [ 2.65682758e-02 -2.08319255e-03 9.99644830e-01 7.18960826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.210714057 meters Centerline goodness : 0.991827 Centerline is valid? [True, True] Translation: X:150.58, Y:130.64, Z:7.19 [[-7.67094930e-01 -6.41253523e-01 1.89548507e-02 1.50579079e+02] [ 6.40983650e-01 -7.67325866e-01 -1.87343374e-02 1.30635917e+02] [ 2.65580071e-02 -2.22126583e-03 9.99644806e-01 7.18775567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.240714057 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:150.56, Y:130.65, Z:7.19 [[-7.66185859e-01 -6.42336095e-01 1.90675101e-02 1.50558250e+02] [ 6.42069394e-01 -7.66420414e-01 -1.86183203e-02 1.30650633e+02] [ 2.65729481e-02 -2.02242908e-03 9.99644831e-01 7.18988568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.270714057 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:150.57, Y:130.63, Z:7.19 [[-7.64695060e-01 -6.44113479e-01 1.89549895e-02 1.50572145e+02] [ 6.43844477e-01 -7.64927005e-01 -1.87340914e-02 1.30634725e+02] [ 2.65660642e-02 -2.12180184e-03 9.99644808e-01 7.18519450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.300714057 meters Centerline goodness : 0.991955 Centerline is valid? [True, True] Translation: X:150.57, Y:130.63, Z:7.19 [[-7.63978381e-01 -6.44964393e-01 1.89199816e-02 1.50570090e+02] [ 6.44694766e-01 -7.64209619e-01 -1.87700853e-02 1.30633084e+02] [ 2.65648686e-02 -2.14232627e-03 9.99644796e-01 7.18639096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.330714057 meters Centerline goodness : 0.992016 Centerline is valid? [True, True] Translation: X:150.56, Y:130.64, Z:7.19 [[-7.64236543e-01 -6.44659112e-01 1.88980281e-02 1.50559075e+02] [ 6.44388841e-01 -7.64467042e-01 -1.87926464e-02 1.30640788e+02] [ 2.65617703e-02 -2.18434869e-03 9.99644787e-01 7.18668581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.360714057 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:150.56, Y:130.63, Z:7.19 [[-7.62107906e-01 -6.47174415e-01 1.88895703e-02 1.50558881e+02] [ 6.46904692e-01 -7.62339051e-01 -1.88013316e-02 1.30634985e+02] [ 2.65679979e-02 -2.10889181e-03 9.99644784e-01 7.18574674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.390714057 meters Centerline goodness : 0.992610 Centerline is valid? [True, True] Translation: X:150.56, Y:130.63, Z:7.19 [[-7.61291200e-01 -6.48141664e-01 1.86572397e-02 1.50563561e+02] [ 6.47866429e-01 -7.61515981e-01 -1.90394773e-02 1.30628185e+02] [ 2.65480647e-02 -2.40718723e-03 9.99644640e-01 7.18708699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.420714057 meters Centerline goodness : 0.992283 Centerline is valid? [True, True] Translation: X:150.56, Y:130.62, Z:7.19 [[-7.59984133e-01 -6.49669328e-01 1.88117611e-02 1.50563076e+02] [ 6.49398406e-01 -7.60213927e-01 -1.88810749e-02 1.30624100e+02] [ 2.65674181e-02 -2.13298966e-03 9.99644748e-01 7.18610693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.450714057 meters Centerline goodness : 0.990375 Centerline is valid? [True, True] Translation: X:150.56, Y:130.63, Z:7.19 [[-7.60847272e-01 -6.48658712e-01 1.87963673e-02 1.50555391e+02] [ 6.48387100e-01 -7.61076263e-01 -1.88968462e-02 1.30630217e+02] [ 2.65630728e-02 -2.19029177e-03 9.99644740e-01 7.18684457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.480714057 meters Centerline goodness : 0.991326 Centerline is valid? [True, True] Translation: X:150.55, Y:130.63, Z:7.19 [[-7.61203162e-01 -6.48238802e-01 1.88732941e-02 1.50551156e+02] [ 6.47968992e-01 -7.61434217e-01 -1.88180528e-02 1.30627482e+02] [ 2.65693640e-02 -2.09505195e-03 9.99644777e-01 7.18636688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.51071405700003 meters Centerline goodness : 0.991915 Centerline is valid? [True, True] Translation: X:150.55, Y:130.62, Z:7.19 [[-7.61407360e-01 -6.47999106e-01 1.88677188e-02 1.50550074e+02] [ 6.47729084e-01 -7.61638169e-01 -1.88237595e-02 1.30623374e+02] [ 2.65681541e-02 -2.11137880e-03 9.99644775e-01 7.18894890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.540714057 meters Centerline goodness : 0.991029 Centerline is valid? [True, True] Translation: X:150.55, Y:130.63, Z:7.19 [[-7.61657507e-01 -6.47703594e-01 1.89181740e-02 1.50545670e+02] [ 6.47434749e-01 -7.61889660e-01 -1.87721191e-02 1.30625291e+02] [ 2.65723301e-02 -2.04964220e-03 9.99644792e-01 7.18955006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.57071405700003 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:150.52, Y:130.63, Z:7.19 [[-7.70322058e-01 -6.37373619e-01 1.89419394e-02 1.50523112e+02] [ 6.37102256e-01 -7.70551254e-01 -1.87478024e-02 1.30631274e+02] [ 2.65450898e-02 -2.37389343e-03 9.99644798e-01 7.19088932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.600714057 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:150.54, Y:130.62, Z:7.19 [[-7.59582580e-01 -6.50131597e-01 1.90580772e-02 1.50540792e+02] [ 6.49867040e-01 -7.59819578e-01 -1.86289901e-02 1.30623142e+02] [ 2.65919953e-02 -1.76504016e-03 9.99644812e-01 7.18606853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.630714057 meters Centerline goodness : 0.992507 Centerline is valid? [True, True] Translation: X:150.52, Y:130.63, Z:7.19 [[-7.72591392e-01 -6.34635123e-01 1.84608057e-02 1.50517411e+02] [ 6.34351292e-01 -7.72805487e-01 -1.92384597e-02 1.30631866e+02] [ 2.64760141e-02 -3.15283241e-03 9.99644477e-01 7.18887248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.660714057 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:150.54, Y:130.62, Z:7.18 [[-7.62491675e-01 -6.46717444e-01 1.90523909e-02 1.50541591e+02] [ 6.46451714e-01 -7.62727324e-01 -1.86335919e-02 1.30618121e+02] [ 2.65824481e-02 -1.89150789e-03 9.99644835e-01 7.18370937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.690714057 meters Centerline goodness : 0.991510 Centerline is valid? [True, True] Translation: X:150.54, Y:130.62, Z:7.18 [[-7.64412157e-01 -6.44461065e-01 1.85469720e-02 1.50536343e+02] [ 6.44182136e-01 -7.64632395e-01 -1.91487943e-02 1.30621426e+02] [ 2.65222679e-02 -2.68994311e-03 9.99644604e-01 7.18412115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.720714057 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:150.53, Y:130.62, Z:7.18 [[-7.66369938e-01 -6.42130521e-01 1.85879739e-02 1.50531703e+02] [ 6.41851918e-01 -7.66590528e-01 -1.91070104e-02 1.30623740e+02] [ 2.65185593e-02 -2.71231169e-03 9.99644642e-01 7.18432535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.750714057 meters Centerline goodness : 0.990973 Centerline is valid? [True, True] Translation: X:150.53, Y:130.62, Z:7.18 [[-7.67630498e-01 -6.40624122e-01 1.85513669e-02 1.50532473e+02] [ 6.40344199e-01 -7.67849466e-01 -1.91443058e-02 1.30622211e+02] [ 2.65089612e-02 -2.81649279e-03 9.99644608e-01 7.18352735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.780714057 meters Centerline goodness : 0.992370 Centerline is valid? [True, True] Translation: X:150.50, Y:130.64, Z:7.19 [[-7.77758319e-01 -6.28282249e-01 1.87992700e-02 1.50496253e+02] [ 6.28004801e-01 -7.77980129e-01 -1.88914963e-02 1.30642885e+02] [ 2.64946503e-02 -2.88698656e-03 9.99644786e-01 7.18672208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.810714057 meters Centerline goodness : 0.989975 Centerline is valid? [True, True] Translation: X:150.52, Y:130.63, Z:7.19 [[-7.68653878e-01 -6.39381756e-01 1.90312143e-02 1.50518196e+02] [ 6.39113261e-01 -7.68886361e-01 -1.86548749e-02 1.30630901e+02] [ 2.65604278e-02 -2.17604049e-03 9.99644841e-01 7.18774841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.840714057 meters Centerline goodness : 0.990173 Centerline is valid? [True, True] Translation: X:150.50, Y:130.64, Z:7.19 [[-7.68505253e-01 -6.39567195e-01 1.88010617e-02 1.50503394e+02] [ 6.39293067e-01 -7.68731141e-01 -1.88893242e-02 1.30642119e+02] [ 2.65339537e-02 -2.49715652e-03 9.99644794e-01 7.18870807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.870714057 meters Centerline goodness : 0.990468 Centerline is valid? [True, True] Translation: X:150.50, Y:130.64, Z:7.19 [[-7.67946217e-01 -6.40237926e-01 1.88150465e-02 1.50498389e+02] [ 6.39964340e-01 -7.68172751e-01 -1.88750795e-02 1.30644721e+02] [ 2.65377478e-02 -2.45408710e-03 9.99644800e-01 7.18831995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.900714057 meters Centerline goodness : 0.991634 Centerline is valid? [True, True] Translation: X:150.48, Y:130.66, Z:7.19 [[-7.66647558e-01 -6.41792404e-01 1.88157367e-02 1.50476388e+02] [ 6.41519294e-01 -7.66874666e-01 -1.88743769e-02 1.30661258e+02] [ 2.65427435e-02 -2.39933680e-03 9.99644800e-01 7.19054309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.930714057 meters Centerline goodness : 0.991448 Centerline is valid? [True, True] Translation: X:150.50, Y:130.64, Z:7.19 [[-7.66237186e-01 -6.42287810e-01 1.86264111e-02 1.50498843e+02] [ 6.42010217e-01 -7.66458961e-01 -1.90668002e-02 1.30637367e+02] [ 2.65227531e-02 -2.65134508e-03 9.99644694e-01 7.18932195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.960714057 meters Centerline goodness : 0.991063 Centerline is valid? [True, True] Translation: X:150.49, Y:130.64, Z:7.19 [[-7.65280002e-01 -6.43427692e-01 1.86366226e-02 1.50488937e+02] [ 6.43150677e-01 -7.65502488e-01 -1.90564275e-02 1.30643778e+02] [ 2.65278141e-02 -2.59734647e-03 9.99644701e-01 7.19153217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.990714057 meters Centerline goodness : 0.990962 Centerline is valid? [True, True] Translation: X:150.48, Y:130.65, Z:7.19 [[-7.64812264e-01 -6.43978214e-01 1.88218325e-02 1.50478963e+02] [ 6.43705904e-01 -7.65040327e-01 -1.88681865e-02 1.30653073e+02] [ 2.65501619e-02 -2.31489568e-03 9.99644802e-01 7.18949418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.020714057 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:150.50, Y:130.63, Z:7.19 [[-7.63905535e-01 -6.45058938e-01 1.86360032e-02 1.50503144e+02] [ 6.44782393e-01 -7.64128594e-01 -1.90567057e-02 1.30627463e+02] [ 2.65330013e-02 -2.54135624e-03 9.99644708e-01 7.18666605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.050714057 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:150.49, Y:130.64, Z:7.19 [[-7.64914770e-01 -6.43861670e-01 1.86425674e-02 1.50489395e+02] [ 6.43584935e-01 -7.65137587e-01 -1.90500499e-02 1.30640909e+02] [ 2.65297259e-02 -2.57358898e-03 9.99644712e-01 7.18529210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.080714057 meters Centerline goodness : 0.990982 Centerline is valid? [True, True] Translation: X:150.48, Y:130.65, Z:7.18 [[-7.65096401e-01 -6.43643740e-01 1.87145247e-02 1.50480777e+02] [ 6.43368697e-01 -7.65321233e-01 -1.89770820e-02 1.30649690e+02] [ 2.65371031e-02 -2.47895776e-03 9.99644755e-01 7.18479822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.110714057 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:150.48, Y:130.65, Z:7.18 [[-7.64705088e-01 -6.44109489e-01 1.86840972e-02 1.50479795e+02] [ 6.43833839e-01 -7.64929204e-01 -1.90079255e-02 1.30650884e+02] [ 2.65351968e-02 -2.50600334e-03 9.99644739e-01 7.18434513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.140714057 meters Centerline goodness : 0.989548 Centerline is valid? [True, True] Translation: X:150.46, Y:130.67, Z:7.19 [[-7.64312350e-01 -6.44575560e-01 1.86810011e-02 1.50461962e+02] [ 6.44299971e-01 -7.64536543e-01 -1.90110629e-02 1.30669495e+02] [ 2.65363745e-02 -2.49422164e-03 9.99644737e-01 7.18641301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.170714057 meters Centerline goodness : 0.990443 Centerline is valid? [True, True] Translation: X:150.45, Y:130.68, Z:7.19 [[-7.62936794e-01 -6.46197674e-01 1.88683459e-02 1.50452515e+02] [ 6.45927176e-01 -7.63166986e-01 -1.88211179e-02 1.30676838e+02] [ 2.65618613e-02 -2.17174591e-03 9.99644812e-01 7.18631758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.200714057 meters Centerline goodness : 0.991235 Centerline is valid? [True, True] Translation: X:150.46, Y:130.67, Z:7.19 [[-7.60441727e-01 -6.49138277e-01 1.86514709e-02 1.50457795e+02] [ 6.48863317e-01 -7.60666712e-01 -1.90407362e-02 1.30671127e+02] [ 2.65476237e-02 -2.37711504e-03 9.99644723e-01 7.18801937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.230714057 meters Centerline goodness : 0.990959 Centerline is valid? [True, True] Translation: X:150.49, Y:130.64, Z:7.19 [[-7.57826542e-01 -6.52191812e-01 1.85680495e-02 1.50492643e+02] [ 6.51915713e-01 -7.58050219e-01 -1.91250786e-02 1.30636256e+02] [ 2.65487337e-02 -2.38868898e-03 9.99644666e-01 7.18785764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26071405700003 meters Centerline goodness : 0.990634 Centerline is valid? [True, True] Translation: X:150.48, Y:130.65, Z:7.19 [[-7.57798509e-01 -6.52225952e-01 1.85128759e-02 1.50475921e+02] [ 6.51948518e-01 -7.58020598e-01 -1.91807827e-02 1.30652464e+02] [ 2.65433456e-02 -2.46572650e-03 9.99644622e-01 7.18851137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.290714057 meters Centerline goodness : 0.989579 Centerline is valid? [True, True] Translation: X:150.48, Y:130.65, Z:7.19 [[-7.58055646e-01 -6.51926501e-01 1.85330599e-02 1.50476085e+02] [ 6.51649471e-01 -7.58278211e-01 -1.91604001e-02 1.30652996e+02] [ 2.65443881e-02 -2.44759081e-03 9.99644639e-01 7.18640151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32071405700003 meters Centerline goodness : 0.990398 Centerline is valid? [True, True] Translation: X:150.47, Y:130.65, Z:7.19 [[-7.57787512e-01 -6.52231297e-01 1.87729048e-02 1.50474640e+02] [ 6.51960249e-01 -7.58017110e-01 -1.89180755e-02 1.30652270e+02] [ 2.65691440e-02 -2.09669364e-03 9.99644779e-01 7.18846736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.350714057 meters Centerline goodness : 0.990641 Centerline is valid? [True, True] Translation: X:150.47, Y:130.66, Z:7.19 [[-7.58567754e-01 -6.51330437e-01 1.85370967e-02 1.50468555e+02] [ 6.51053339e-01 -7.58790220e-01 -1.91559949e-02 1.30658330e+02] [ 2.65426502e-02 -2.46248133e-03 9.99644649e-01 7.18621536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.380714057 meters Centerline goodness : 0.990185 Centerline is valid? [True, True] Translation: X:150.47, Y:130.65, Z:7.19 [[-7.57812170e-01 -6.52203742e-01 1.87348147e-02 1.50474922e+02] [ 6.51931748e-01 -7.58040664e-01 -1.89564566e-02 1.30651806e+02] [ 2.65652233e-02 -2.15161301e-03 9.99644767e-01 7.18711696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.410714057 meters Centerline goodness : 0.989046 Centerline is valid? [True, True] Translation: X:150.48, Y:130.65, Z:7.19 [[-7.59526745e-01 -6.50213063e-01 1.84958280e-02 1.50479389e+02] [ 6.49934648e-01 -7.59747603e-01 -1.91972133e-02 1.30647184e+02] [ 2.65344399e-02 -2.55971746e-03 9.99644623e-01 7.18889803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.440714057 meters Centerline goodness : 0.990670 Centerline is valid? [True, True] Translation: X:150.44, Y:130.68, Z:7.18 [[-7.60714440e-01 -6.48815210e-01 1.87713419e-02 1.50444375e+02] [ 6.48543101e-01 -7.60942772e-01 -1.89193858e-02 1.30680982e+02] [ 2.65591022e-02 -2.21822564e-03 9.99644784e-01 7.18383513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.470714057 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:150.43, Y:130.70, Z:7.19 [[-7.60401556e-01 -6.49185764e-01 1.86364671e-02 1.50430628e+02] [ 6.48910465e-01 -7.60626125e-01 -1.90553513e-02 1.30696124e+02] [ 2.65458465e-02 -2.39632031e-03 9.99644725e-01 7.18511723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.500714057 meters Centerline goodness : 0.989775 Centerline is valid? [True, True] Translation: X:150.46, Y:130.66, Z:7.19 [[-7.60409678e-01 -6.49178009e-01 1.85750975e-02 1.50463297e+02] [ 6.48901217e-01 -7.60632464e-01 -1.91171412e-02 1.30662922e+02] [ 2.65392499e-02 -2.48345581e-03 9.99644687e-01 7.18689325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.530714057 meters Centerline goodness : 0.988166 Centerline is valid? [True, True] Translation: X:150.46, Y:130.66, Z:7.19 [[-7.60311755e-01 -6.49289492e-01 1.86866562e-02 1.50462775e+02] [ 6.49015447e-01 -7.60537813e-01 -1.90048733e-02 1.30663632e+02] [ 2.65515732e-02 -2.32170001e-03 9.99644749e-01 7.18726015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.560714057 meters Centerline goodness : 0.988166 Centerline is valid? [True, True] Translation: X:150.46, Y:130.67, Z:7.19 [[-7.60068525e-01 -6.49573130e-01 1.87239290e-02 1.50460807e+02] [ 6.49300080e-01 -7.60295761e-01 -1.89673847e-02 1.30665448e+02] [ 2.65564273e-02 -2.25906356e-03 9.99644763e-01 7.18735385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.590714057 meters Centerline goodness : 0.988231 Centerline is valid? [True, True] Translation: X:150.46, Y:130.66, Z:7.19 [[-7.59223786e-01 -6.50560512e-01 1.87153352e-02 1.50463944e+02] [ 6.50287546e-01 -7.59451129e-01 -1.89760212e-02 1.30660503e+02] [ 2.65584325e-02 -2.23669721e-03 9.99644760e-01 7.18718839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.620714057 meters Centerline goodness : 0.988542 Centerline is valid? [True, True] Translation: X:150.47, Y:130.66, Z:7.19 [[-7.58990523e-01 -6.50832210e-01 1.87302245e-02 1.50467074e+02] [ 6.50559690e-01 -7.59218393e-01 -1.89610647e-02 1.30656983e+02] [ 2.65608025e-02 -2.20613934e-03 9.99644765e-01 7.18744271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.650714057 meters Centerline goodness : 0.988265 Centerline is valid? [True, True] Translation: X:150.45, Y:130.67, Z:7.19 [[-7.57786863e-01 -6.52232822e-01 1.87460935e-02 1.50449183e+02] [ 6.51961113e-01 -7.58015692e-01 -1.89451278e-02 1.30674452e+02] [ 2.65664672e-02 -2.13464496e-03 9.99644770e-01 7.18872736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.680714057 meters Centerline goodness : 0.988453 Centerline is valid? [True, True] Translation: X:150.45, Y:130.67, Z:7.19 [[-7.56550699e-01 -6.53667389e-01 1.87078821e-02 1.50449310e+02] [ 6.53395175e-01 -7.56778946e-01 -1.89834918e-02 1.30674991e+02] [ 2.65666208e-02 -2.13833406e-03 9.99644758e-01 7.18853070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.710714057 meters Centerline goodness : 0.989162 Centerline is valid? [True, True] Translation: X:150.45, Y:130.67, Z:7.19 [[-7.56387299e-01 -6.53858068e-01 1.86515374e-02 1.50454645e+02] [ 6.53584533e-01 -7.56613995e-01 -1.90400069e-02 1.30668370e+02] [ 2.65614764e-02 -2.21126304e-03 9.99644736e-01 7.18790260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.740714057 meters Centerline goodness : 0.989228 Centerline is valid? [True, True] Translation: X:150.46, Y:130.66, Z:7.19 [[-7.56115413e-01 -6.54174736e-01 1.85713830e-02 1.50463051e+02] [ 6.53899343e-01 -7.56339912e-01 -1.91203221e-02 1.30660728e+02] [ 2.65543099e-02 -2.31335513e-03 9.99644695e-01 7.18722100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.770714057 meters Centerline goodness : 0.989253 Centerline is valid? [True, True] Translation: X:150.44, Y:130.69, Z:7.19 [[-7.56110052e-01 -6.54179935e-01 1.86065047e-02 1.50437121e+02] [ 6.53905397e-01 -7.56335567e-01 -1.90851387e-02 1.30686030e+02] [ 2.65578760e-02 -2.26357135e-03 9.99644715e-01 7.18620781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.800714057 meters Centerline goodness : 0.989204 Centerline is valid? [True, True] Translation: X:150.44, Y:130.68, Z:7.18 [[-7.57101586e-01 -6.53032885e-01 1.85806063e-02 1.50440367e+02] [ 6.52757377e-01 -7.57325936e-01 -1.91110779e-02 1.30683692e+02] [ 2.65517374e-02 -2.34039958e-03 9.99644701e-01 7.18488769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.830714057 meters Centerline goodness : 0.989842 Centerline is valid? [True, True] Translation: X:150.44, Y:130.68, Z:7.19 [[-7.58946024e-01 -6.50890365e-01 1.85112270e-02 1.50443892e+02] [ 6.50612551e-01 -7.59167581e-01 -1.91805072e-02 1.30681257e+02] [ 2.65375307e-02 -2.51333305e-03 9.99644658e-01 7.18527078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.860714057 meters Centerline goodness : 0.989811 Centerline is valid? [True, True] Translation: X:150.43, Y:130.69, Z:7.18 [[-7.59379584e-01 -6.50382073e-01 1.85958688e-02 1.50432108e+02] [ 6.50106150e-01 -7.59603412e-01 -1.90958261e-02 1.30693504e+02] [ 2.65450684e-02 -2.41169180e-03 9.99644708e-01 7.18479520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.890714057 meters Centerline goodness : 0.989336 Centerline is valid? [True, True] Translation: X:150.45, Y:130.67, Z:7.18 [[-7.59746969e-01 -6.49954939e-01 1.85234990e-02 1.50453396e+02] [ 6.49677149e-01 -7.59968541e-01 -1.91681617e-02 1.30671301e+02] [ 2.65357179e-02 -2.52865876e-03 9.99644668e-01 7.18364691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.920714057 meters Centerline goodness : 0.989859 Centerline is valid? [True, True] Translation: X:150.43, Y:130.69, Z:7.18 [[-7.62802548e-01 -6.46365740e-01 1.85365477e-02 1.50434444e+02] [ 6.46087220e-01 -7.63023188e-01 -1.91551246e-02 1.30690025e+02] [ 2.65250320e-02 -2.63535127e-03 9.99644676e-01 7.18477139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.950714057 meters Centerline goodness : 0.989437 Centerline is valid? [True, True] Translation: X:150.42, Y:130.70, Z:7.19 [[-7.63599976e-01 -6.45423100e-01 1.85498987e-02 1.50421287e+02] [ 6.45144626e-01 -7.63820662e-01 -1.91417802e-02 1.30703958e+02] [ 2.65233431e-02 -2.64929546e-03 9.99644684e-01 7.18593543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.980714057 meters Centerline goodness : 0.990492 Centerline is valid? [True, True] Translation: X:150.43, Y:130.70, Z:7.19 [[-7.63536000e-01 -6.45497780e-01 1.85847341e-02 1.50427363e+02] [ 6.45220160e-01 -7.63757729e-01 -1.91069775e-02 1.30699986e+02] [ 2.65277458e-02 -2.59762011e-03 9.99644702e-01 7.18608120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.01071405700003 meters Centerline goodness : 0.989892 Centerline is valid? [True, True] Translation: X:150.42, Y:130.71, Z:7.19 [[-7.63837019e-01 -6.45142707e-01 1.85444528e-02 1.50418097e+02] [ 6.44864023e-01 -7.64057443e-01 -1.91472048e-02 1.30709725e+02] [ 2.65217068e-02 -2.66669339e-03 9.99644681e-01 7.18647961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.040714057 meters Centerline goodness : 0.990498 Centerline is valid? [True, True] Translation: X:150.42, Y:130.70, Z:7.18 [[-7.62612639e-01 -6.46589281e-01 1.85543546e-02 1.50424575e+02] [ 6.46311252e-01 -7.62833880e-01 -1.91373196e-02 1.30703709e+02] [ 2.65278760e-02 -2.60247361e-03 9.99644686e-01 7.18444122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.07071405700003 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:150.42, Y:130.70, Z:7.18 [[-7.62127138e-01 -6.47165861e-01 1.84003580e-02 1.50424103e+02] [ 6.46884341e-01 -7.62344091e-01 -1.92908466e-02 1.30704962e+02] [ 2.65117815e-02 -2.79917425e-03 9.99644582e-01 7.18454326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.100714057 meters Centerline goodness : 0.989250 Centerline is valid? [True, True] Translation: X:150.43, Y:130.70, Z:7.19 [[-7.62335694e-01 -6.46920447e-01 1.83908880e-02 1.50425804e+02] [ 6.46638634e-01 -7.62552278e-01 -1.93002815e-02 1.30704625e+02] [ 2.65097602e-02 -2.82103480e-03 9.99644574e-01 7.18670060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.130714057 meters Centerline goodness : 0.990978 Centerline is valid? [True, True] Translation: X:150.42, Y:130.70, Z:7.18 [[-7.69660764e-01 -6.38183982e-01 1.85341507e-02 1.50416127e+02] [ 6.37903066e-01 -7.69878347e-01 -1.91574851e-02 1.30703122e+02] [ 2.64950414e-02 -2.92177306e-03 9.99644675e-01 7.18445003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.160714057 meters Centerline goodness : 0.990509 Centerline is valid? [True, True] Translation: X:150.41, Y:130.72, Z:7.18 [[-7.59954971e-01 -6.49703166e-01 1.88212385e-02 1.50411534e+02] [ 6.49432498e-01 -7.60185050e-01 -1.88711598e-02 1.30717384e+02] [ 2.65682764e-02 -2.11810776e-03 9.99644757e-01 7.18250849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.190714057 meters Centerline goodness : 0.989697 Centerline is valid? [True, True] Translation: X:150.45, Y:130.68, Z:7.18 [[-7.57870885e-01 -6.52143883e-01 1.84412190e-02 1.50450104e+02] [ 6.51864791e-01 -7.58090869e-01 -1.92490925e-02 1.30678832e+02] [ 2.65332976e-02 -2.56714541e-03 9.99644634e-01 7.18046903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.220714057 meters Centerline goodness : 0.989149 Centerline is valid? [True, True] Translation: X:150.42, Y:130.71, Z:7.18 [[-7.55932997e-01 -6.54389674e-01 1.84243907e-02 1.50416318e+02] [ 6.54110835e-01 -7.56153320e-01 -1.92658145e-02 1.30710804e+02] [ 2.65390143e-02 -2.51207132e-03 9.99644622e-01 7.18190091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.250714057 meters Centerline goodness : 0.990007 Centerline is valid? [True, True] Translation: X:150.44, Y:130.69, Z:7.18 [[-7.54187483e-01 -6.56401884e-01 1.83795414e-02 1.50436557e+02] [ 6.56122561e-01 -7.54407247e-01 -1.93103557e-02 1.30690310e+02] [ 2.65410131e-02 -2.50439681e-03 9.99644588e-01 7.18006495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.280714057 meters Centerline goodness : 0.988659 Centerline is valid? [True, True] Translation: X:150.45, Y:130.68, Z:7.19 [[-7.50857220e-01 -6.60207695e-01 1.84183222e-02 1.50447901e+02] [ 6.59930418e-01 -7.51079515e-01 -1.92718728e-02 1.30677486e+02] [ 2.65570633e-02 -2.31561377e-03 9.99644617e-01 7.18509131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.310714057 meters Centerline goodness : 0.990379 Centerline is valid? [True, True] Translation: X:150.43, Y:130.69, Z:7.18 [[-7.56592192e-01 -6.53624415e-01 1.85304901e-02 1.50426507e+02] [ 6.53347886e-01 -7.56815309e-01 -1.91605628e-02 1.30689640e+02] [ 2.65479702e-02 -2.38987568e-03 9.99644684e-01 7.18267087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.340714057 meters Centerline goodness : 0.988698 Centerline is valid? [True, True] Translation: X:150.44, Y:130.68, Z:7.19 [[-7.44783690e-01 -6.67041741e-01 1.87769012e-02 1.50443482e+02] [ 6.66775322e-01 -7.45018696e-01 -1.89159655e-02 1.30679926e+02] [ 2.66068810e-02 -1.56832827e-03 9.99644744e-01 7.18681076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.370714057 meters Centerline goodness : 0.989301 Centerline is valid? [True, True] Translation: X:150.45, Y:130.67, Z:7.18 [[-7.42659394e-01 -6.69415744e-01 1.84278853e-02 1.50448961e+02] [ 6.69141482e-01 -7.42885365e-01 -1.92616724e-02 1.30673850e+02] [ 2.65838731e-02 -1.97399951e-03 9.99644637e-01 7.18155462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.400714057 meters Centerline goodness : 0.988648 Centerline is valid? [True, True] Translation: X:150.45, Y:130.67, Z:7.18 [[-7.40737549e-01 -6.71543466e-01 1.83645671e-02 1.50451194e+02] [ 6.71268310e-01 -7.40962500e-01 -1.93243287e-02 1.30671362e+02] [ 2.65845823e-02 -1.98670391e-03 9.99644593e-01 7.18188994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.430714057 meters Centerline goodness : 0.989999 Centerline is valid? [True, True] Translation: X:150.42, Y:130.69, Z:7.18 [[-7.47009175e-01 -6.64560204e-01 1.83583139e-02 1.50423943e+02] [ 6.64282798e-01 -7.47231353e-01 -1.93305169e-02 1.30688018e+02] [ 2.65642000e-02 -2.24496138e-03 9.99644589e-01 7.18467548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.460714057 meters Centerline goodness : 0.988975 Centerline is valid? [True, True] Translation: X:150.42, Y:130.69, Z:7.18 [[-7.45688043e-01 -6.66031153e-01 1.87575619e-02 1.50422947e+02] [ 6.65763940e-01 -7.45922142e-01 -1.89350164e-02 1.30687996e+02] [ 2.66029916e-02 -1.63150703e-03 9.99644746e-01 7.18458243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.490714057 meters Centerline goodness : 0.989690 Centerline is valid? [True, True] Translation: X:150.42, Y:130.69, Z:7.18 [[-7.43780169e-01 -6.68161275e-01 1.87502242e-02 1.50420321e+02] [ 6.67894551e-01 -7.44014824e-01 -1.89422798e-02 1.30690459e+02] [ 2.66069426e-02 -1.56571953e-03 9.99644746e-01 7.18396222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.520714057 meters Centerline goodness : 0.988232 Centerline is valid? [True, True] Translation: X:150.44, Y:130.68, Z:7.18 [[-7.35322083e-01 -6.77458588e-01 1.87428861e-02 1.50435497e+02] [ 6.77194651e-01 -7.35559869e-01 -1.89495379e-02 1.30684719e+02] [ 2.66240420e-02 -1.24143147e-03 9.99644747e-01 7.18218195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.550714057 meters Centerline goodness : 0.987510 Centerline is valid? [True, True] Translation: X:150.04, Y:131.08, Z:7.19 [[-7.45230573e-01 -6.66549689e-01 1.85177211e-02 1.50036579e+02] [ 6.66276719e-01 -7.45458052e-01 -1.91736169e-02 1.31079943e+02] [ 2.65843527e-02 -1.95083909e-03 9.99644670e-01 7.19405871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.580714057 meters Centerline goodness : 0.988097 Centerline is valid? [True, True] Translation: X:150.96, Y:131.42, Z:8.01 [[-7.22757226e-01 6.90853882e-01 -1.85177211e-02 1.50959350e+02] [ 6.90588592e-01 7.22993616e-01 1.91736169e-02 1.31424938e+02] [ 2.66343618e-02 1.06974327e-03 -9.99644670e-01 8.00833837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.610714057 meters Centerline goodness : 0.987103 Centerline is valid? [True, True] Translation: X:150.39, Y:130.80, Z:7.19 [[-7.85307388e-01 -6.18771883e-01 2.03386812e-02 1.50388198e+02] [ 6.18536703e-01 -7.85570280e-01 -1.70787348e-02 1.30797841e+02] [ 2.65453044e-02 -8.31835833e-04 9.99647265e-01 7.19020541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.640714057 meters Centerline goodness : 0.987758 Centerline is valid? [True, True] Translation: X:150.39, Y:130.80, Z:7.19 [[-7.84296507e-01 -6.20068433e-01 1.98526434e-02 1.50389042e+02] [ 6.19819453e-01 -7.84546243e-01 -1.76362904e-02 1.30799522e+02] [ 2.65110237e-02 -1.52702634e-03 9.99647355e-01 7.18871449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.670714057 meters Centerline goodness : 0.988464 Centerline is valid? [True, True] Translation: X:150.38, Y:130.81, Z:7.19 [[-7.84727967e-01 -6.19524757e-01 1.97760776e-02 1.50375659e+02] [ 6.19273401e-01 -7.84975359e-01 -1.77240356e-02 1.30811085e+02] [ 2.65042124e-02 -1.66174756e-03 9.99647320e-01 7.18590245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.700714057 meters Centerline goodness : 0.987352 Centerline is valid? [True, True] Translation: X:150.37, Y:130.82, Z:7.19 [[-7.85878339e-01 -6.18067877e-01 1.96808342e-02 1.50373460e+02] [ 6.17813340e-01 -7.86122545e-01 -1.78331255e-02 1.30815131e+02] [ 2.64936295e-02 -1.85558519e-03 9.99647260e-01 7.18994229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.730714057 meters Centerline goodness : 0.988686 Centerline is valid? [True, True] Translation: X:150.38, Y:130.81, Z:7.19 [[-7.85120523e-01 -6.19025458e-01 1.98304463e-02 1.50376689e+02] [ 6.18775505e-01 -7.85369299e-01 -1.76617754e-02 1.30812628e+02] [ 2.65073123e-02 -1.59602792e-03 9.99647345e-01 7.18623509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76071405700003 meters Centerline goodness : 0.989276 Centerline is valid? [True, True] Translation: X:150.38, Y:130.81, Z:7.19 [[-7.86120443e-01 -6.17760871e-01 1.96508253e-02 1.50376089e+02] [ 6.17505392e-01 -7.86363690e-01 -1.78672053e-02 1.30814917e+02] [ 2.64903558e-02 -1.91128473e-03 9.99647242e-01 7.18697781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.790714057 meters Centerline goodness : 0.989291 Centerline is valid? [True, True] Translation: X:150.38, Y:130.81, Z:7.19 [[-7.85660645e-01 -6.18346061e-01 1.96341233e-02 1.50380735e+02] [ 6.18090290e-01 -7.85903603e-01 -1.78862930e-02 1.30812785e+02] [ 2.64904471e-02 -1.91689553e-03 9.99647229e-01 7.18676188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82071405700003 meters Centerline goodness : 0.988265 Centerline is valid? [True, True] Translation: X:150.38, Y:130.82, Z:7.19 [[-7.87199395e-01 -6.16386027e-01 1.96310414e-02 1.50378560e+02] [ 6.16129564e-01 -7.87441627e-01 -1.78898130e-02 1.30815336e+02] [ 2.64853299e-02 -1.98758503e-03 9.99647226e-01 7.19113792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.850714057 meters Centerline goodness : 0.990221 Centerline is valid? [True, True] Translation: X:150.36, Y:130.83, Z:7.19 [[-7.94862638e-01 -6.06465901e-01 1.98115767e-02 1.50357199e+02] [ 6.06211489e-01 -7.95106864e-01 -1.76834919e-02 1.30827805e+02] [ 2.64767555e-02 -2.04594160e-03 9.99647336e-01 7.18801416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.880714057 meters Centerline goodness : 0.981573 Centerline is valid? [True, True] Translation: X:149.56, Y:131.52, Z:7.22 [[-8.01619100e-01 -5.97500936e-01 1.99862453e-02 1.49557030e+02] [ 5.97248696e-01 -8.01865519e-01 -1.74838248e-02 1.31524572e+02] [ 2.64728826e-02 -2.07860893e-03 9.99647371e-01 7.21962774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.910714057 meters Centerline goodness : 0.989737 Centerline is valid? [True, True] Translation: X:150.37, Y:130.83, Z:7.19 [[-7.86618919e-01 -6.17107123e-01 2.02354820e-02 1.50367405e+02] [ 6.16868308e-01 -7.86878456e-01 -1.71984224e-02 1.30825947e+02] [ 2.65361338e-02 -1.04597689e-03 9.99647308e-01 7.18996350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.940714057 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:150.32, Y:130.86, Z:7.18 [[-7.94451572e-01 -6.07009042e-01 1.96652935e-02 1.50322835e+02] [ 6.06750969e-01 -7.94691765e-01 -1.78398396e-02 1.30862288e+02] [ 2.64567908e-02 -2.24095272e-03 9.99647446e-01 7.18446702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.970714057 meters Centerline goodness : 0.990282 Centerline is valid? [True, True] Translation: X:149.88, Y:131.26, Z:7.20 [[-7.96204089e-01 -6.04702461e-01 1.98489935e-02 1.49875766e+02] [ 6.04448766e-01 -7.96448846e-01 -1.76330557e-02 1.31258547e+02] [ 2.64714602e-02 -2.04181146e-03 9.99647484e-01 7.19655387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.000714057 meters Centerline goodness : 0.989416 Centerline is valid? [True, True] Translation: X:149.88, Y:131.26, Z:7.20 [[-8.00442688e-01 -5.99081259e-01 1.98279776e-02 1.49876676e+02] [ 5.98825266e-01 -8.00685044e-01 -1.76567696e-02 1.31259256e+02] [ 2.64538049e-02 -2.25973812e-03 9.99647483e-01 7.20085039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.030714057 meters Centerline goodness : 0.990263 Centerline is valid? [True, True] Translation: X:149.92, Y:131.22, Z:7.20 [[-7.99974387e-01 -5.99702069e-01 1.99601458e-02 1.49920722e+02] [ 5.99449929e-01 -8.00220760e-01 -1.75076662e-02 1.31221252e+02] [ 2.64719067e-02 -2.04057654e-03 9.99647475e-01 7.19981016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.060714057 meters Centerline goodness : 0.992680 Centerline is valid? [True, True] Translation: X:150.35, Y:130.85, Z:7.18 [[-7.87486180e-01 -6.16007194e-01 2.00163350e-02 1.50348396e+02] [ 6.15761772e-01 -7.87739261e-01 -1.74440842e-02 1.30851790e+02] [ 2.65133343e-02 -1.41168131e-03 9.99647463e-01 7.18256524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.090714057 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:150.33, Y:130.86, Z:7.18 [[-7.94442688e-01 -6.07028181e-01 1.94320177e-02 1.50329088e+02] [ 6.06763908e-01 -7.94676100e-01 -1.80957711e-02 1.30862734e+02] [ 2.64268031e-02 -2.58540609e-03 9.99647408e-01 7.18429182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.120714057 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:150.36, Y:130.85, Z:7.18 [[-7.82680051e-01 -6.22110044e-01 1.97744910e-02 1.50360846e+02] [ 6.21859788e-01 -7.82928246e-01 -1.77134548e-02 1.30848940e+02] [ 2.65017257e-02 -1.56700699e-03 9.99647539e-01 7.18295236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.150714057 meters Centerline goodness : 0.992038 Centerline is valid? [True, True] Translation: X:150.33, Y:130.87, Z:7.18 [[-7.94597964e-01 -6.06832429e-01 1.91957991e-02 1.50329191e+02] [ 6.06561836e-01 -7.94824345e-01 -1.83575428e-02 1.30866291e+02] [ 2.63972408e-02 -2.94342701e-03 9.99647199e-01 7.18460462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.180714057 meters Centerline goodness : 0.990788 Centerline is valid? [True, True] Translation: X:149.89, Y:131.26, Z:7.20 [[-7.96119371e-01 -6.04816716e-01 1.97657966e-02 1.49886257e+02] [ 6.04560881e-01 -7.96361776e-01 -1.77218182e-02 1.31262551e+02] [ 2.64591767e-02 -2.15905534e-03 9.99647563e-01 7.19748544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.210714057 meters Centerline goodness : 0.992481 Centerline is valid? [True, True] Translation: X:150.81, Y:131.57, Z:8.02 [[-7.52975917e-01 6.57751154e-01 -1.97657966e-02 1.50808691e+02] [ 6.57512463e-01 7.53235221e-01 1.77218182e-02 1.31569237e+02] [ 2.65448405e-02 3.47844699e-04 -9.99647563e-01 8.01971441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.240714057 meters Centerline goodness : 0.991811 Centerline is valid? [True, True] Translation: X:150.30, Y:130.97, Z:7.19 [[-8.26175602e-01 -5.63005894e-01 2.14064828e-02 1.50301332e+02] [ 5.62790536e-01 -8.26452458e-01 -1.55931909e-02 1.30971554e+02] [ 2.64704987e-02 -8.35347980e-04 9.99649246e-01 7.18922236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.270714057 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:150.29, Y:130.98, Z:7.18 [[-8.27666417e-01 -5.60847528e-01 2.04536979e-02 1.50290196e+02] [ 5.60600553e-01 -8.27915462e-01 -1.68228352e-02 1.30982360e+02] [ 2.63689783e-02 -2.45734138e-03 9.99649258e-01 7.18299129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.300714057 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:150.28, Y:130.99, Z:7.18 [[-8.26055613e-01 -5.63218478e-01 2.04222859e-02 1.50280070e+02] [ 5.62971225e-01 -8.26304439e-01 -1.68633704e-02 1.30991754e+02] [ 2.63727873e-02 -2.43292246e-03 9.99649217e-01 7.18194233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.330714057 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:150.27, Y:130.99, Z:7.19 [[-8.38707268e-01 -5.44203524e-01 2.03136455e-02 1.50271907e+02] [ 5.43947302e-01 -8.38947085e-01 -1.70035726e-02 1.30985406e+02] [ 2.62954778e-02 -3.21146728e-03 9.99649056e-01 7.18631937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.360714057 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:150.29, Y:130.99, Z:7.18 [[-8.22677421e-01 -5.68122468e-01 2.09457099e-02 1.50286804e+02] [ 5.67893636e-01 -8.22942795e-01 -1.61856465e-02 1.30989548e+02] [ 2.64325504e-02 -1.42063058e-03 9.99649590e-01 7.18111994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.390714057 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:150.27, Y:130.98, Z:7.19 [[-8.38139351e-01 -5.45084576e-01 2.01304268e-02 1.50273926e+02] [ 5.44823108e-01 -8.38373845e-01 -1.72359113e-02 1.30984108e+02] [ 2.62718527e-02 -3.47857375e-03 9.99648783e-01 7.18629267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.420714057 meters Centerline goodness : 0.991686 Centerline is valid? [True, True] Translation: X:150.28, Y:130.99, Z:7.19 [[-8.28553835e-01 -5.59517855e-01 2.09359184e-02 1.50281852e+02] [ 5.59286049e-01 -8.28816536e-01 -1.61946344e-02 1.30989888e+02] [ 2.64132224e-02 -1.70895936e-03 9.99649649e-01 7.18939634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.450714057 meters Centerline goodness : 0.991292 Centerline is valid? [True, True] Translation: X:150.28, Y:130.99, Z:7.19 [[-8.29103838e-01 -5.58712585e-01 2.06657657e-02 1.50280469e+02] [ 5.58471849e-01 -8.29358498e-01 -1.65431514e-02 1.30990437e+02] [ 2.63821953e-02 -2.17474197e-03 9.99649564e-01 7.18828829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.480714057 meters Centerline goodness : 0.991292 Centerline is valid? [True, True] Translation: X:150.28, Y:130.99, Z:7.19 [[-8.28901041e-01 -5.59012209e-01 2.06981797e-02 1.50278305e+02] [ 5.58772599e-01 -8.29156733e-01 -1.65013563e-02 1.30991985e+02] [ 2.63864947e-02 -2.11241573e-03 9.99649584e-01 7.18837922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.51071405700003 meters Centerline goodness : 0.992592 Centerline is valid? [True, True] Translation: X:150.28, Y:130.99, Z:7.18 [[-8.24966818e-01 -5.64802341e-01 2.06897040e-02 1.50281443e+02] [ 5.64564255e-01 -8.25223937e-01 -1.65122745e-02 1.30991642e+02] [ 2.63998103e-02 -1.94141125e-03 9.99649579e-01 7.18203911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.540714057 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:150.26, Y:131.01, Z:7.19 [[-8.28534413e-01 -5.59566144e-01 2.04072937e-02 1.50259291e+02] [ 5.59317509e-01 -8.28781718e-01 -1.68756401e-02 1.31007100e+02] [ 2.63562288e-02 -2.56789181e-03 9.99649316e-01 7.18842985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.57071405700003 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:150.27, Y:131.00, Z:7.18 [[-8.25851043e-01 -5.63510909e-01 2.06279005e-02 1.50267629e+02] [ 5.63270456e-01 -8.26105996e-01 -1.65914469e-02 1.31000955e+02] [ 2.63902936e-02 -2.08297681e-03 9.99649545e-01 7.18350219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.600714057 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:150.27, Y:131.00, Z:7.19 [[-8.25972374e-01 -5.63342695e-01 2.03628589e-02 1.50273667e+02] [ 5.63093813e-01 -8.26219499e-01 -1.69321221e-02 1.30995865e+02] [ 2.63627784e-02 -2.51926524e-03 9.99649267e-01 7.18838807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.630714057 meters Centerline goodness : 0.992288 Centerline is valid? [True, True] Translation: X:150.26, Y:131.00, Z:7.19 [[-8.28009597e-01 -5.60339082e-01 2.04993036e-02 1.50261144e+02] [ 5.60093589e-01 -8.28259854e-01 -1.67566516e-02 1.31004345e+02] [ 2.63681570e-02 -2.39313976e-03 9.99649435e-01 7.18586248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.660714057 meters Centerline goodness : 0.991358 Centerline is valid? [True, True] Translation: X:150.27, Y:131.00, Z:7.19 [[-8.29331582e-01 -5.58381369e-01 2.04786421e-02 1.50271280e+02] [ 5.58134636e-01 -8.29580648e-01 -1.67832169e-02 1.30995934e+02] [ 2.63601209e-02 -2.48901240e-03 9.99649413e-01 7.18920581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.690714057 meters Centerline goodness : 0.990699 Centerline is valid? [True, True] Translation: X:150.26, Y:131.00, Z:7.19 [[-8.27754674e-01 -5.60706049e-01 2.07587555e-02 1.50261564e+02] [ 5.60468915e-01 -8.28012613e-01 -1.64227635e-02 1.31004153e+02] [ 2.63968542e-02 -1.95938210e-03 9.99649622e-01 7.18918564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.720714057 meters Centerline goodness : 0.992743 Centerline is valid? [True, True] Translation: X:150.28, Y:131.00, Z:7.18 [[-8.22670654e-01 -5.68142994e-01 2.06526904e-02 1.50275358e+02] [ 5.67904785e-01 -8.22927671e-01 -1.65590875e-02 1.30996012e+02] [ 2.64035999e-02 -1.89391362e-03 9.99649570e-01 7.18135168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.750714057 meters Centerline goodness : 0.991470 Centerline is valid? [True, True] Translation: X:150.26, Y:131.00, Z:7.19 [[-8.27203703e-01 -5.61538860e-01 2.02025338e-02 1.50262601e+02] [ 5.61284495e-01 -8.27445508e-01 -1.71361616e-02 1.31004838e+02] [ 2.63391165e-02 -2.83572742e-03 9.99649043e-01 7.18891277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.780714057 meters Centerline goodness : 0.990906 Centerline is valid? [True, True] Translation: X:150.27, Y:131.00, Z:7.19 [[-8.27462431e-01 -5.61143122e-01 2.05990643e-02 1.50267067e+02] [ 5.60901068e-01 -8.27715856e-01 -1.66268797e-02 1.31000358e+02] [ 2.63802313e-02 -2.20408112e-03 9.99649551e-01 7.18938937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.810714057 meters Centerline goodness : 0.991558 Centerline is valid? [True, True] Translation: X:150.26, Y:131.01, Z:7.19 [[-8.26609807e-01 -5.62398272e-01 2.06012364e-02 1.50255154e+02] [ 5.62156672e-01 -8.26863662e-01 -1.66240905e-02 1.31008555e+02] [ 2.63837735e-02 -2.16051374e-03 9.99649553e-01 7.19017351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.840714057 meters Centerline goodness : 0.991942 Centerline is valid? [True, True] Translation: X:150.27, Y:131.00, Z:7.19 [[-8.25396840e-01 -5.64178795e-01 2.05510144e-02 1.50266508e+02] [ 5.63936150e-01 -8.25649752e-01 -1.66885214e-02 1.30999435e+02] [ 2.63832498e-02 -2.18519287e-03 9.99649513e-01 7.19027097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.870714057 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:150.26, Y:131.00, Z:7.19 [[-8.23966576e-01 -5.66267138e-01 2.05087604e-02 1.50261866e+02] [ 5.66023796e-01 -8.24218870e-01 -1.67426665e-02 1.31002523e+02] [ 2.63845291e-02 -2.18695117e-03 9.99649476e-01 7.19123349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.900714057 meters Centerline goodness : 0.991484 Centerline is valid? [True, True] Translation: X:150.26, Y:131.01, Z:7.19 [[-8.24053262e-01 -5.66141989e-01 2.04809311e-02 1.50256527e+02] [ 5.65897730e-01 -8.24304706e-01 -1.67783179e-02 1.31005794e+02] [ 2.63814382e-02 -2.23611520e-03 9.99649448e-01 7.18991898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.930714057 meters Centerline goodness : 0.990864 Centerline is valid? [True, True] Translation: X:150.26, Y:131.00, Z:7.19 [[-8.23198704e-01 -5.67383048e-01 2.05029689e-02 1.50261090e+02] [ 5.67139864e-01 -8.23451158e-01 -1.67500974e-02 1.31002014e+02] [ 2.63869148e-02 -2.16060752e-03 9.99649470e-01 7.19128286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.960714057 meters Centerline goodness : 0.990821 Centerline is valid? [True, True] Translation: X:150.25, Y:131.01, Z:7.19 [[-8.23080073e-01 -5.67551857e-01 2.05933005e-02 1.50246158e+02] [ 5.67311591e-01 -8.23335202e-01 -1.66343975e-02 1.31012056e+02] [ 2.63960724e-02 -2.00862300e-03 9.99649545e-01 7.19115974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.990714057 meters Centerline goodness : 0.991459 Centerline is valid? [True, True] Translation: X:150.25, Y:131.01, Z:7.19 [[-8.21543640e-01 -5.69774739e-01 2.05619825e-02 1.50249629e+02] [ 5.69534166e-01 -8.21798512e-01 -1.66744981e-02 1.31007943e+02] [ 2.63985144e-02 -1.98807630e-03 9.99649522e-01 7.19084180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.020714057 meters Centerline goodness : 0.991148 Centerline is valid? [True, True] Translation: X:150.25, Y:131.00, Z:7.19 [[-8.21025626e-01 -5.70521812e-01 2.05373650e-02 1.50253098e+02] [ 5.70280689e-01 -8.21280004e-01 -1.67059944e-02 1.31004517e+02] [ 2.63980614e-02 -2.00398682e-03 9.99649502e-01 7.19120048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.050714057 meters Centerline goodness : 0.989695 Centerline is valid? [True, True] Translation: X:150.25, Y:131.00, Z:7.19 [[-8.19299025e-01 -5.72996967e-01 2.05811702e-02 1.50253890e+02] [ 5.72758009e-01 -8.19555393e-01 -1.66499656e-02 1.31003885e+02] [ 2.64077888e-02 -1.85327053e-03 9.99649536e-01 7.19130762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.080714057 meters Centerline goodness : 0.990487 Centerline is valid? [True, True] Translation: X:150.26, Y:131.00, Z:7.19 [[-8.14554600e-01 -5.79722924e-01 2.05459099e-02 1.50256954e+02] [ 5.79484953e-01 -8.14811920e-01 -1.66950332e-02 1.31003864e+02] [ 2.64195458e-02 -1.69297049e-03 9.99649509e-01 7.19233177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.110714057 meters Centerline goodness : 0.990347 Centerline is valid? [True, True] Translation: X:150.25, Y:131.00, Z:7.19 [[-8.17156157e-01 -5.76056875e-01 2.03541420e-02 1.50251860e+02] [ 5.75811660e-01 -8.17406858e-01 -1.69398898e-02 1.31004747e+02] [ 2.63959553e-02 -2.12238297e-03 9.99649313e-01 7.19061341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.140714057 meters Centerline goodness : 0.990218 Centerline is valid? [True, True] Translation: X:150.26, Y:131.00, Z:7.19 [[-8.15033681e-01 -5.79048833e-01 2.05559460e-02 1.50256734e+02] [ 5.78810976e-01 -8.15291092e-01 -1.66820196e-02 1.30998452e+02] [ 2.64187836e-02 -1.69840071e-03 9.99649520e-01 7.19001116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.170714057 meters Centerline goodness : 0.990009 Centerline is valid? [True, True] Translation: X:150.26, Y:131.00, Z:7.19 [[-8.13564341e-01 -5.81114393e-01 2.04725627e-02 1.50257357e+02] [ 5.80874519e-01 -8.13819969e-01 -1.67884290e-02 1.30998573e+02] [ 2.64169780e-02 -1.76647716e-03 9.99649450e-01 7.19114793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.200714057 meters Centerline goodness : 0.989700 Centerline is valid? [True, True] Translation: X:150.25, Y:131.00, Z:7.19 [[-8.12707047e-01 -5.82310638e-01 2.05323088e-02 1.50251366e+02] [ 5.82073055e-01 -8.12964735e-01 -1.67121940e-02 1.31001669e+02] [ 2.64237314e-02 -1.63081407e-03 9.99649502e-01 7.19034272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.230714057 meters Centerline goodness : 0.989864 Centerline is valid? [True, True] Translation: X:150.24, Y:131.01, Z:7.19 [[-8.11263982e-01 -5.84319507e-01 2.05296360e-02 1.50242242e+02] [ 5.84082476e-01 -8.11522181e-01 -1.67156029e-02 1.31009140e+02] [ 2.64275078e-02 -1.56976598e-03 9.99649500e-01 7.18958454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26071405700003 meters Centerline goodness : 0.988899 Centerline is valid? [True, True] Translation: X:150.25, Y:131.01, Z:7.19 [[-8.10602399e-01 -5.85239710e-01 2.04507561e-02 1.50247804e+02] [ 5.85000442e-01 -8.10858620e-01 -1.68161031e-02 1.31005317e+02] [ 2.64241232e-02 -1.66747220e-03 9.99649431e-01 7.19056725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.290714057 meters Centerline goodness : 0.989302 Centerline is valid? [True, True] Translation: X:150.25, Y:131.00, Z:7.19 [[-8.10429903e-01 -5.85475692e-01 2.05325568e-02 1.50250117e+02] [ 5.85239124e-01 -8.10688523e-01 -1.67118951e-02 1.31002917e+02] [ 2.64299165e-02 -1.52736400e-03 9.99649502e-01 7.18965471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32071405700003 meters Centerline goodness : 0.990970 Centerline is valid? [True, True] Translation: X:150.25, Y:131.00, Z:7.18 [[-8.09468148e-01 -5.86804954e-01 2.05247180e-02 1.50250650e+02] [ 5.86568558e-01 -8.09726933e-01 -1.67218728e-02 1.31002265e+02] [ 2.64318947e-02 -1.49666918e-03 9.99649496e-01 7.18478787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.350714057 meters Centerline goodness : 0.990925 Centerline is valid? [True, True] Translation: X:150.25, Y:131.00, Z:7.19 [[-8.07063712e-01 -5.90111697e-01 2.04046791e-02 1.50254374e+02] [ 5.89872505e-01 -8.07320061e-01 -1.68744449e-02 1.31001684e+02] [ 2.64309141e-02 -1.58259292e-03 9.99649390e-01 7.18860719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.380714057 meters Centerline goodness : 0.991229 Centerline is valid? [True, True] Translation: X:150.24, Y:131.01, Z:7.19 [[-8.09513791e-01 -5.86748607e-01 2.03345372e-02 1.50242844e+02] [ 5.86506118e-01 -8.09767133e-01 -1.69635682e-02 1.31009579e+02] [ 2.64195899e-02 -1.80591193e-03 9.99649310e-01 7.18557072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.410714057 meters Centerline goodness : 0.992707 Centerline is valid? [True, True] Translation: X:150.24, Y:131.01, Z:7.19 [[-8.10924038e-01 -5.84796019e-01 2.03916908e-02 1.50242713e+02] [ 5.84554735e-01 -8.11178438e-01 -1.68909354e-02 1.31009396e+02] [ 2.64190516e-02 -1.77720615e-03 9.99649376e-01 7.18790898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.440714057 meters Centerline goodness : 0.990219 Centerline is valid? [True, True] Translation: X:150.24, Y:131.01, Z:7.19 [[-8.11034752e-01 -5.84640532e-01 2.04469994e-02 1.50242528e+02] [ 5.84400961e-01 -8.11290689e-01 -1.68206523e-02 1.31010328e+02] [ 2.64224954e-02 -1.69288747e-03 9.99649431e-01 7.18899614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.470714057 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:150.24, Y:131.01, Z:7.19 [[-8.11273172e-01 -5.84304964e-01 2.05803011e-02 1.50239676e+02] [ 5.84069553e-01 -8.11532805e-01 -1.66512216e-02 1.31011980e+02] [ 2.64309810e-02 -1.48836211e-03 9.99649533e-01 7.18983063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.500714057 meters Centerline goodness : 0.990813 Centerline is valid? [True, True] Translation: X:150.24, Y:131.01, Z:7.19 [[-8.10027317e-01 -5.86032494e-01 2.05344081e-02 1.50239119e+02] [ 5.85796163e-01 -8.10286152e-01 -1.67095040e-02 1.31013498e+02] [ 2.64310588e-02 -1.50617726e-03 9.99649504e-01 7.19240339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.530714057 meters Centerline goodness : 0.992410 Centerline is valid? [True, True] Translation: X:150.23, Y:131.02, Z:7.19 [[-8.09854109e-01 -5.86272916e-01 2.05034301e-02 1.50231541e+02] [ 5.86035670e-01 -8.10112134e-01 -1.67488275e-02 1.31019425e+02] [ 2.64294615e-02 -1.54836536e-03 9.99649482e-01 7.18924793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.560714057 meters Centerline goodness : 0.991034 Centerline is valid? [True, True] Translation: X:150.23, Y:131.02, Z:7.19 [[-8.10365768e-01 -5.85570540e-01 2.03584112e-02 1.50233768e+02] [ 5.85328453e-01 -8.10619444e-01 -1.69327603e-02 1.31018785e+02] [ 2.64182495e-02 -1.80537199e-03 9.99649347e-01 7.19277779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.590714057 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:150.23, Y:131.02, Z:7.19 [[-8.10153597e-01 -5.85859021e-01 2.05025865e-02 1.50232522e+02] [ 5.85621617e-01 -8.10411478e-01 -1.67498782e-02 1.31020459e+02] [ 2.64285987e-02 -1.56321622e-03 9.99649481e-01 7.19211680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.620714057 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:150.23, Y:131.03, Z:7.19 [[-8.11050225e-01 -5.84619289e-01 2.04406327e-02 1.50225439e+02] [ 5.84379516e-01 -8.11305975e-01 -1.68284277e-02 1.31025907e+02] [ 2.64218309e-02 -1.70361308e-03 9.99649431e-01 7.19293807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.650714057 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:150.23, Y:131.02, Z:7.19 [[-8.10911713e-01 -5.84809780e-01 2.04869599e-02 1.50227376e+02] [ 5.84571543e-01 -8.11168841e-01 -1.67697026e-02 1.31024018e+02] [ 2.64254696e-02 -1.62265446e-03 9.99649469e-01 7.18920959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.680714057 meters Centerline goodness : 0.991682 Centerline is valid? [True, True] Translation: X:150.22, Y:131.03, Z:7.19 [[-8.11163891e-01 -5.84465053e-01 2.03406691e-02 1.50218858e+02] [ 5.84222067e-01 -8.11416727e-01 -1.69549701e-02 1.31031041e+02] [ 2.64143467e-02 -1.86979172e-03 9.99649332e-01 7.18821749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.710714057 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:150.23, Y:131.02, Z:7.19 [[-8.10829381e-01 -5.84928027e-01 2.03695634e-02 1.50230617e+02] [ 5.84686098e-01 -8.11083186e-01 -1.69184015e-02 1.31020699e+02] [ 2.64174576e-02 -1.80813645e-03 9.99649363e-01 7.18772510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.740714057 meters Centerline goodness : 0.991175 Centerline is valid? [True, True] Translation: X:150.22, Y:131.03, Z:7.19 [[-8.11495577e-01 -5.84005027e-01 2.03238354e-02 1.50222747e+02] [ 5.83761367e-01 -8.11747790e-01 -1.69762235e-02 1.31026521e+02] [ 2.64120283e-02 -1.91186031e-03 9.99649313e-01 7.18807843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.770714057 meters Centerline goodness : 0.991281 Centerline is valid? [True, True] Translation: X:150.23, Y:131.02, Z:7.19 [[-8.10470976e-01 -5.85418709e-01 2.05361441e-02 1.50225545e+02] [ 5.85182229e-01 -8.10729680e-01 -1.67076326e-02 1.31023072e+02] [ 2.64302222e-02 -1.52366473e-03 9.99649499e-01 7.18678139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.800714057 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:150.21, Y:131.03, Z:7.19 [[-8.19960161e-01 -5.72056987e-01 2.03994525e-02 1.50207883e+02] [ 5.71812018e-01 -8.20210989e-01 -1.68804555e-02 1.31025113e+02] [ 2.63884376e-02 -2.17664888e-03 9.99649395e-01 7.18780213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.830714057 meters Centerline goodness : 0.991839 Centerline is valid? [True, True] Translation: X:150.23, Y:131.02, Z:7.19 [[-8.08489680e-01 -5.88140220e-01 2.08691049e-02 1.50231164e+02] [ 5.87915393e-01 -8.08758479e-01 -1.62854007e-02 1.31017752e+02] [ 2.64561647e-02 -8.97310362e-04 9.99649572e-01 7.18638754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.860714057 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:150.21, Y:131.02, Z:7.19 [[-8.19015882e-01 -5.73409719e-01 2.03538559e-02 1.50206946e+02] [ 5.73163786e-01 -8.19265788e-01 -1.69364156e-02 1.31024800e+02] [ 2.63867231e-02 -2.20510027e-03 9.99649378e-01 7.18939925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.890714057 meters Centerline goodness : 0.991876 Centerline is valid? [True, True] Translation: X:150.22, Y:131.02, Z:7.19 [[-8.10594913e-01 -5.85238862e-01 2.07692533e-02 1.50222796e+02] [ 5.85009865e-01 -8.10860128e-01 -1.64107015e-02 1.31020660e+02] [ 2.64451396e-02 -1.15221309e-03 9.99649602e-01 7.18772426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.920714057 meters Centerline goodness : 0.992617 Centerline is valid? [True, True] Translation: X:150.20, Y:131.03, Z:7.19 [[-8.21220106e-01 -5.70248974e-01 2.03382874e-02 1.50201432e+02] [ 5.70001629e-01 -8.21468609e-01 -1.69548881e-02 1.31028188e+02] [ 2.63757722e-02 -2.33083805e-03 9.99649381e-01 7.19169857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.950714057 meters Centerline goodness : 0.992463 Centerline is valid? [True, True] Translation: X:150.21, Y:131.03, Z:7.19 [[-8.13172654e-01 -5.81652067e-01 2.07631256e-02 1.50207717e+02] [ 5.81421726e-01 -8.13436684e-01 -1.64176112e-02 1.31032706e+02] [ 2.64388255e-02 -1.27822017e-03 9.99649616e-01 7.18863108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.980714057 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:150.21, Y:131.03, Z:7.19 [[-8.15942324e-01 -5.77776119e-01 2.03194718e-02 1.50210248e+02] [ 5.77530520e-01 -8.16192547e-01 -1.69771939e-02 1.31030696e+02] [ 2.63936186e-02 -2.11729593e-03 9.99649386e-01 7.18887158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.01071405700003 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:150.20, Y:131.04, Z:7.19 [[-8.18309189e-01 -5.74418335e-01 2.03383178e-02 1.50197711e+02] [ 5.74172295e-01 -8.18558951e-01 -1.69534232e-02 1.31039859e+02] [ 2.63864692e-02 -2.19544333e-03 9.99649406e-01 7.19078842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.040714057 meters Centerline goodness : 0.991037 Centerline is valid? [True, True] Translation: X:150.20, Y:131.04, Z:7.19 [[-8.21504118e-01 -5.69838038e-01 2.03861444e-02 1.50197153e+02] [ 5.69592089e-01 -8.21753902e-01 -1.68930799e-02 1.31041769e+02] [ 2.63787132e-02 -2.26594812e-03 9.99649453e-01 7.19385909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.07071405700003 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:150.19, Y:131.04, Z:7.19 [[-8.22289800e-01 -5.68696520e-01 2.05852754e-02 1.50193055e+02] [ 5.68456433e-01 -8.22545037e-01 -1.66416799e-02 1.31044680e+02] [ 2.63963815e-02 -1.98245141e-03 9.99649589e-01 7.19069523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.100714057 meters Centerline goodness : 0.991600 Centerline is valid? [True, True] Translation: X:150.20, Y:131.04, Z:7.19 [[-8.22910526e-01 -5.67804997e-01 2.03899904e-02 1.50195492e+02] [ 5.67558562e-01 -8.23159815e-01 -1.68877872e-02 1.31043858e+02] [ 2.63731907e-02 -2.32462419e-03 9.99649464e-01 7.18892322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.130714057 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:150.19, Y:131.05, Z:7.19 [[-8.25129337e-01 -5.64575242e-01 2.04052173e-02 1.50187065e+02] [ 5.64328301e-01 -8.25378107e-01 -1.68686018e-02 1.31051089e+02] [ 2.63656146e-02 -2.40353664e-03 9.99649477e-01 7.18828546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.160714057 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:150.20, Y:131.05, Z:7.19 [[-8.26615320e-01 -5.62399012e-01 2.03583811e-02 1.50195353e+02] [ 5.62149979e-01 -8.26862055e-01 -1.69275710e-02 1.31045793e+02] [ 2.63536220e-02 -2.54812598e-03 9.99649435e-01 7.18818779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.190714057 meters Centerline goodness : 0.991013 Centerline is valid? [True, True] Translation: X:150.19, Y:131.05, Z:7.19 [[-8.27809250e-01 -5.60633970e-01 2.05279574e-02 1.50192794e+02] [ 5.60389624e-01 -8.28060452e-01 -1.67139992e-02 1.31046664e+02] [ 2.63688254e-02 -2.33234880e-03 9.99649561e-01 7.18932759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.220714057 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:150.19, Y:131.05, Z:7.19 [[-8.26124892e-01 -5.63109846e-01 2.06146429e-02 1.50191404e+02] [ 5.62868945e-01 -8.26379350e-01 -1.66048317e-02 1.31047067e+02] [ 2.63858595e-02 -2.11432248e-03 9.99649597e-01 7.18833239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.250714057 meters Centerline goodness : 0.991331 Centerline is valid? [True, True] Translation: X:150.19, Y:131.05, Z:7.19 [[-8.25491318e-01 -5.64041535e-01 2.05239010e-02 1.50190470e+02] [ 5.63798103e-01 -8.25743407e-01 -1.67189927e-02 1.31046698e+02] [ 2.63776822e-02 -2.23004691e-03 9.99649561e-01 7.18973247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.280714057 meters Centerline goodness : 0.990929 Centerline is valid? [True, True] Translation: X:150.18, Y:131.05, Z:7.19 [[-8.22303606e-01 -5.68677972e-01 2.05461484e-02 1.50179967e+02] [ 5.68436656e-01 -8.22557705e-01 -1.66910143e-02 1.31052462e+02] [ 2.63922049e-02 -2.04589731e-03 9.99649572e-01 7.19218957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.310714057 meters Centerline goodness : 0.992230 Centerline is valid? [True, True] Translation: X:150.19, Y:131.05, Z:7.19 [[-8.19693139e-01 -5.72438227e-01 2.04360975e-02 1.50186695e+02] [ 5.72194647e-01 -8.19945157e-01 -1.68292863e-02 1.31046086e+02] [ 2.63902060e-02 -2.10142491e-03 9.99649509e-01 7.18680281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.340714057 meters Centerline goodness : 0.990618 Centerline is valid? [True, True] Translation: X:150.16, Y:131.06, Z:7.19 [[-8.16903208e-01 -5.76418687e-01 2.02643945e-02 1.50164199e+02] [ 5.76171008e-01 -8.17151420e-01 -1.70448452e-02 1.31062684e+02] [ 2.63840460e-02 -2.24823212e-03 9.99649352e-01 7.19147542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.370714057 meters Centerline goodness : 0.990618 Centerline is valid? [True, True] Translation: X:150.16, Y:131.06, Z:7.19 [[-8.16695221e-01 -5.76707694e-01 2.04242854e-02 1.50161999e+02] [ 5.76465071e-01 -8.16948165e-01 -1.68438921e-02 1.31064192e+02] [ 2.63995847e-02 -1.98243906e-03 9.99649505e-01 7.19164917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.400714057 meters Centerline goodness : 0.991266 Centerline is valid? [True, True] Translation: X:150.00, Y:131.18, Z:7.20 [[-8.27421000e-01 -5.61209133e-01 2.04645632e-02 1.49998409e+02] [ 5.60963023e-01 -8.27670512e-01 -1.67931475e-02 1.31179394e+02] [ 2.63623832e-02 -2.41513971e-03 9.99649535e-01 7.20121095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.430714057 meters Centerline goodness : 0.991013 Centerline is valid? [True, True] Translation: X:150.16, Y:131.05, Z:7.19 [[-8.22147999e-01 -5.68890276e-01 2.08931004e-02 1.50158788e+02] [ 5.68660013e-01 -8.22412100e-01 -1.62519698e-02 1.31051180e+02] [ 2.64283262e-02 -1.48045373e-03 9.99649615e-01 7.19065413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.460714057 meters Centerline goodness : 0.988669 Centerline is valid? [True, True] Translation: X:150.17, Y:131.05, Z:7.19 [[-8.09219995e-01 -5.87139484e-01 2.07419038e-02 1.50168935e+02] [ 5.86910294e-01 -8.09484987e-01 -1.64427005e-02 1.31052540e+02] [ 2.64444184e-02 -1.13212514e-03 9.99649644e-01 7.19252234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.490714057 meters Centerline goodness : 0.990842 Centerline is valid? [True, True] Translation: X:150.15, Y:131.05, Z:7.20 [[-8.20163957e-01 -5.71766858e-01 2.03407220e-02 1.50152729e+02] [ 5.71520157e-01 -8.20412997e-01 -1.69476769e-02 1.31051761e+02] [ 2.63779127e-02 -2.27474112e-03 9.99649454e-01 7.19707708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.520714057 meters Centerline goodness : 0.989607 Centerline is valid? [True, True] Translation: X:150.19, Y:131.04, Z:7.19 [[-8.06113533e-01 -5.91394103e-01 2.08323528e-02 1.50185700e+02] [ 5.91169274e-01 -8.06382229e-01 -1.63276056e-02 1.31039025e+02] [ 2.64548887e-02 -8.46456974e-04 9.99649650e-01 7.19139571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.550714057 meters Centerline goodness : 0.988865 Centerline is valid? [True, True] Translation: X:150.19, Y:131.04, Z:7.19 [[-8.04426726e-01 -5.93704360e-01 2.03168940e-02 1.50187276e+02] [ 5.93463780e-01 -8.04681663e-01 -1.69753514e-02 1.31038841e+02] [ 2.64269722e-02 -1.59808560e-03 9.99649469e-01 7.19092125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.580714057 meters Centerline goodness : 0.990266 Centerline is valid? [True, True] Translation: X:150.18, Y:131.04, Z:7.18 [[-8.04414739e-01 -5.93721707e-01 2.02845246e-02 1.50176261e+02] [ 5.93480111e-01 -8.04668760e-01 -1.70159967e-02 1.31044744e+02] [ 2.64250899e-02 -1.64945661e-03 9.99649436e-01 7.18493301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.610714057 meters Centerline goodness : 0.990095 Centerline is valid? [True, True] Translation: X:150.18, Y:131.04, Z:7.18 [[-8.02670140e-01 -5.96080858e-01 2.02053859e-02 1.50183046e+02] [ 5.95837514e-01 -8.02922615e-01 -1.71152694e-02 1.31039013e+02] [ 2.64254457e-02 -1.69878880e-03 9.99649343e-01 7.18404181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.640714057 meters Centerline goodness : 0.990634 Centerline is valid? [True, True] Translation: X:150.17, Y:131.04, Z:7.19 [[-8.02309796e-01 -5.96567251e-01 2.01619938e-02 1.50172913e+02] [ 5.96322697e-01 -8.02561178e-01 -1.71696591e-02 1.31044796e+02] [ 2.64240898e-02 -1.75233119e-03 9.99649287e-01 7.18520711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.670714057 meters Centerline goodness : 0.989579 Centerline is valid? [True, True] Translation: X:150.17, Y:131.05, Z:7.19 [[-8.02956445e-01 -5.95693661e-01 2.02487028e-02 1.50165542e+02] [ 5.95451559e-01 -8.03210039e-01 -1.70609045e-02 1.31048678e+02] [ 2.64270341e-02 -1.64204159e-03 9.99649396e-01 7.18644220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.700714057 meters Centerline goodness : 0.989629 Centerline is valid? [True, True] Translation: X:150.17, Y:131.04, Z:7.19 [[-8.02848967e-01 -5.95835585e-01 2.03345105e-02 1.50171809e+02] [ 5.95596239e-01 -8.03105041e-01 -1.69532894e-02 1.31041696e+02] [ 2.64321210e-02 -1.49977290e-03 9.99649485e-01 7.18798305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.730714057 meters Centerline goodness : 0.988973 Centerline is valid? [True, True] Translation: X:150.15, Y:131.06, Z:7.19 [[-8.04172519e-01 -5.94049878e-01 2.02805870e-02 1.50152022e+02] [ 5.93808262e-01 -8.04426527e-01 -1.70208915e-02 1.31055990e+02] [ 2.64255007e-02 -1.64495311e-03 9.99649432e-01 7.18943016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76071405700003 meters Centerline goodness : 0.989075 Centerline is valid? [True, True] Translation: X:150.17, Y:131.04, Z:7.19 [[-8.04907137e-01 -5.93050851e-01 2.03761787e-02 1.50169385e+02] [ 5.92811935e-01 -8.05163564e-01 -1.69010507e-02 1.31041168e+02] [ 2.64293391e-02 -1.52453441e-03 9.99649521e-01 7.19023827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.790714057 meters Centerline goodness : 0.989454 Centerline is valid? [True, True] Translation: X:150.17, Y:131.04, Z:7.19 [[-8.06750470e-01 -5.90537958e-01 2.04596785e-02 1.50170128e+02] [ 5.90300882e-01 -8.07008519e-01 -1.67963886e-02 1.31039598e+02] [ 2.64300399e-02 -1.47312816e-03 9.99649580e-01 7.19184206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82071405700003 meters Centerline goodness : 0.988623 Centerline is valid? [True, True] Translation: X:150.16, Y:131.04, Z:7.20 [[-8.11389133e-01 -5.84147447e-01 2.04801000e-02 1.50163290e+02] [ 5.83908982e-01 -8.11645884e-01 -1.67708000e-02 1.31042637e+02] [ 2.64192089e-02 -1.64913052e-03 9.99649591e-01 7.19519794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.850714057 meters Centerline goodness : 0.989288 Centerline is valid? [True, True] Translation: X:150.16, Y:131.04, Z:7.20 [[-8.12086950e-01 -5.83171636e-01 2.06307685e-02 1.50160528e+02] [ 5.82937620e-01 -8.12347691e-01 -1.65819174e-02 1.31044315e+02] [ 2.64294611e-02 -1.43950764e-03 9.99649644e-01 7.19532062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.880714057 meters Centerline goodness : 0.989129 Centerline is valid? [True, True] Translation: X:150.16, Y:131.05, Z:7.19 [[-8.14059492e-01 -5.80416668e-01 2.05824008e-02 1.50156630e+02] [ 5.80180244e-01 -8.14318065e-01 -1.66425051e-02 1.31047225e+02] [ 2.64202082e-02 -1.60648692e-03 9.99649635e-01 7.19473857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.910714057 meters Centerline goodness : 0.988947 Centerline is valid? [True, True] Translation: X:150.16, Y:131.05, Z:7.19 [[-8.14328743e-01 -5.80038279e-01 2.05983722e-02 1.50159189e+02] [ 5.79802238e-01 -8.14587660e-01 -1.66225066e-02 1.31046403e+02] [ 2.64208699e-02 -1.59320254e-03 9.99649638e-01 7.19436103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.940714057 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:150.15, Y:131.05, Z:7.19 [[-8.15442581e-01 -5.78472489e-01 2.05664022e-02 1.50152789e+02] [ 5.78234947e-01 -8.15700133e-01 -1.66625196e-02 1.31051282e+02] [ 2.64148262e-02 -1.69511552e-03 9.99649630e-01 7.19466312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.970714057 meters Centerline goodness : 0.989633 Centerline is valid? [True, True] Translation: X:150.15, Y:131.05, Z:7.19 [[-8.15782773e-01 -5.77991964e-01 2.05853797e-02 1.50154768e+02] [ 5.77754865e-01 -8.16040726e-01 -1.66387778e-02 1.31048251e+02] [ 2.64155881e-02 -1.68032505e-03 9.99649635e-01 7.19498663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.000714057 meters Centerline goodness : 0.989733 Centerline is valid? [True, True] Translation: X:150.15, Y:131.05, Z:7.20 [[-8.15774598e-01 -5.78004449e-01 2.05587586e-02 1.50154018e+02] [ 5.77766520e-01 -8.16031795e-01 -1.66720635e-02 1.31047687e+02] [ 2.64131275e-02 -1.72248348e-03 9.99649628e-01 7.19617681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.030714057 meters Centerline goodness : 0.988729 Centerline is valid? [True, True] Translation: X:150.15, Y:131.05, Z:7.20 [[-8.15950594e-01 -5.77754916e-01 2.05884759e-02 1.50150644e+02] [ 5.77517839e-01 -8.16208567e-01 -1.66349269e-02 1.31049704e+02] [ 2.64154012e-02 -1.68306640e-03 9.99649636e-01 7.19782702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.060714057 meters Centerline goodness : 0.988542 Centerline is valid? [True, True] Translation: X:150.14, Y:131.05, Z:7.20 [[-8.15406239e-01 -5.78522012e-01 2.06142390e-02 1.50142371e+02] [ 5.78285986e-01 -8.15665168e-01 -1.66027474e-02 1.31054905e+02] [ 2.64193716e-02 -1.61705829e-03 9.99649640e-01 7.19891259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.090714057 meters Centerline goodness : 0.988441 Centerline is valid? [True, True] Translation: X:150.12, Y:131.07, Z:7.20 [[-8.15271253e-01 -5.78712709e-01 2.06006162e-02 1.50121370e+02] [ 5.78476316e-01 -8.15529849e-01 -1.66197541e-02 1.31071063e+02] [ 2.64184803e-02 -1.63263915e-03 9.99649638e-01 7.19905694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.120714057 meters Centerline goodness : 0.988068 Centerline is valid? [True, True] Translation: X:150.12, Y:131.07, Z:7.20 [[-8.15653270e-01 -5.78173946e-01 2.06065978e-02 1.50117022e+02] [ 5.77937570e-01 -8.15911881e-01 -1.66122881e-02 1.31074095e+02] [ 2.64179602e-02 -1.64054002e-03 9.99649639e-01 7.19968853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.150714057 meters Centerline goodness : 0.988375 Centerline is valid? [True, True] Translation: X:150.10, Y:131.09, Z:7.20 [[-8.15029181e-01 -5.79053520e-01 2.06023299e-02 1.50103669e+02] [ 5.78817290e-01 -8.15287925e-01 -1.66176116e-02 1.31085109e+02] [ 2.64193173e-02 -1.61885359e-03 9.99649638e-01 7.19799319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.180714057 meters Centerline goodness : 0.988753 Centerline is valid? [True, True] Translation: X:150.14, Y:131.06, Z:7.20 [[-8.14996922e-01 -5.79099752e-01 2.05789725e-02 1.50140574e+02] [ 5.78862805e-01 -8.15255015e-01 -1.66467243e-02 1.31056191e+02] [ 2.64172245e-02 -1.65462729e-03 9.99649635e-01 7.19510805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.210714057 meters Centerline goodness : 0.988777 Centerline is valid? [True, True] Translation: X:150.12, Y:131.07, Z:7.19 [[-8.15283172e-01 -5.78699276e-01 2.05060308e-02 1.50124149e+02] [ 5.78459929e-01 -8.15539064e-01 -1.67375589e-02 1.31068810e+02] [ 2.64094824e-02 -1.78393299e-03 9.99649617e-01 7.19335135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.240714057 meters Centerline goodness : 0.988068 Centerline is valid? [True, True] Translation: X:150.12, Y:131.07, Z:7.19 [[-8.15619072e-01 -5.78223811e-01 2.05609729e-02 1.50120182e+02] [ 5.77986024e-01 -8.15876397e-01 -1.66691542e-02 1.31071159e+02] [ 2.64137144e-02 -1.71172509e-03 9.99649631e-01 7.19146440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.270714057 meters Centerline goodness : 0.988204 Centerline is valid? [True, True] Translation: X:150.13, Y:131.06, Z:7.19 [[-8.15830849e-01 -5.77924742e-01 2.05674110e-02 1.50133624e+02] [ 5.77687062e-01 -8.16088270e-01 -1.66611414e-02 1.31059810e+02] [ 2.64137087e-02 -1.71114590e-03 9.99649633e-01 7.19094441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.300714057 meters Centerline goodness : 0.988698 Centerline is valid? [True, True] Translation: X:150.13, Y:131.06, Z:7.19 [[-8.16292292e-01 -5.77272050e-01 2.05882362e-02 1.50126857e+02] [ 5.77034813e-01 -8.16550117e-01 -1.66352351e-02 1.31063161e+02] [ 2.64143829e-02 -1.69908518e-03 9.99649635e-01 7.19036614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.330714057 meters Centerline goodness : 0.988557 Centerline is valid? [True, True] Translation: X:150.12, Y:131.06, Z:7.19 [[-8.15570188e-01 -5.78292327e-01 2.05731127e-02 1.50124297e+02] [ 5.78054941e-01 -8.15827879e-01 -1.66540384e-02 1.31064912e+02] [ 2.64150215e-02 -1.69014785e-03 9.99649634e-01 7.19215708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.360714057 meters Centerline goodness : 0.988466 Centerline is valid? [True, True] Translation: X:150.13, Y:131.06, Z:7.19 [[-8.14771010e-01 -5.79417420e-01 2.05828466e-02 1.50126353e+02] [ 5.79180694e-01 -8.15029306e-01 -1.66419401e-02 1.31063346e+02] [ 2.64182532e-02 -1.63818298e-03 9.99649635e-01 7.19188764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.390714057 meters Centerline goodness : 0.988648 Centerline is valid? [True, True] Translation: X:150.12, Y:131.07, Z:7.19 [[-8.13651796e-01 -5.80989190e-01 2.05503230e-02 1.50117823e+02] [ 5.80751948e-01 -8.13909623e-01 -1.66823451e-02 1.31070383e+02] [ 2.64183678e-02 -1.63897989e-03 9.99649630e-01 7.19389096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.420714057 meters Centerline goodness : 0.988165 Centerline is valid? [True, True] Translation: X:150.12, Y:131.07, Z:7.20 [[-8.12876442e-01 -5.82075796e-01 2.04855544e-02 1.50122947e+02] [ 5.81836881e-01 -8.13132741e-01 -1.67627498e-02 1.31066988e+02] [ 2.64146660e-02 -1.70679333e-03 9.99649615e-01 7.19500045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.450714057 meters Centerline goodness : 0.988057 Centerline is valid? [True, True] Translation: X:150.12, Y:131.07, Z:7.20 [[-8.11505030e-01 -5.83985639e-01 2.05026959e-02 1.50123316e+02] [ 5.83747861e-01 -8.11762378e-01 -1.67414800e-02 1.31067655e+02] [ 2.64201010e-02 -1.61739037e-03 9.99649620e-01 7.19507590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.480714057 meters Centerline goodness : 0.989532 Centerline is valid? [True, True] Translation: X:150.12, Y:131.07, Z:7.19 [[-8.11236389e-01 -5.84359610e-01 2.04784831e-02 1.50123566e+02] [ 5.84121196e-01 -8.11493157e-01 -1.67715062e-02 1.31067539e+02] [ 2.64187397e-02 -1.64374005e-03 9.99649613e-01 7.19284817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.51071405700003 meters Centerline goodness : 0.989041 Centerline is valid? [True, True] Translation: X:150.11, Y:131.08, Z:7.19 [[-8.10357262e-01 -5.85579456e-01 2.04403486e-02 1.50108543e+02] [ 5.85340243e-01 -8.10613305e-01 -1.68187586e-02 1.31079977e+02] [ 2.64179381e-02 -1.66464454e-03 9.99649599e-01 7.19180064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.540714057 meters Centerline goodness : 0.988507 Centerline is valid? [True, True] Translation: X:150.12, Y:131.07, Z:7.19 [[-8.09690557e-01 -5.86504243e-01 2.03463564e-02 1.50116942e+02] [ 5.86262408e-01 -8.09944190e-01 -1.69351247e-02 1.31074928e+02] [ 2.64119357e-02 -1.78390666e-03 9.99649552e-01 7.19104900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.57071405700003 meters Centerline goodness : 0.989376 Centerline is valid? [True, True] Translation: X:150.12, Y:131.07, Z:7.19 [[-8.09777500e-01 -5.86383580e-01 2.03641032e-02 1.50121511e+02] [ 5.86142256e-01 -8.10031605e-01 -1.69131674e-02 1.31070954e+02] [ 2.64131709e-02 -1.75964103e-03 9.99649563e-01 7.18773549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.600714057 meters Centerline goodness : 0.989313 Centerline is valid? [True, True] Translation: X:150.12, Y:131.08, Z:7.19 [[-8.10208132e-01 -5.85789300e-01 2.03391054e-02 1.50115813e+02] [ 5.85547017e-01 -8.10461343e-01 -1.69440786e-02 1.31075642e+02] [ 2.64097186e-02 -1.81872774e-03 9.99649548e-01 7.18686745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.630714057 meters Centerline goodness : 0.989572 Centerline is valid? [True, True] Translation: X:150.11, Y:131.08, Z:7.19 [[-8.11179480e-01 -5.84442997e-01 2.03527461e-02 1.50111872e+02] [ 5.84200714e-01 -8.11432680e-01 -1.69272149e-02 1.31077424e+02] [ 2.64078755e-02 -1.84092063e-03 9.99649556e-01 7.18666790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.660714057 meters Centerline goodness : 0.988459 Centerline is valid? [True, True] Translation: X:150.11, Y:131.08, Z:7.19 [[-8.11737032e-01 -5.83668496e-01 2.03489318e-02 1.50109095e+02] [ 5.83425854e-01 -8.11989891e-01 -1.69319273e-02 1.31078739e+02] [ 2.64057594e-02 -1.87217954e-03 9.99649554e-01 7.18607253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.690714057 meters Centerline goodness : 0.987889 Centerline is valid? [True, True] Translation: X:150.11, Y:131.08, Z:7.19 [[-8.10798771e-01 -5.84966606e-01 2.04798302e-02 1.50113246e+02] [ 5.84728417e-01 -8.11055756e-01 -1.67701980e-02 1.31075185e+02] [ 2.64202899e-02 -1.62211724e-03 9.99649607e-01 7.18675942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.720714057 meters Centerline goodness : 0.988233 Centerline is valid? [True, True] Translation: X:150.11, Y:131.08, Z:7.19 [[-8.10347456e-01 -5.85591479e-01 2.04846422e-02 1.50108008e+02] [ 5.85353638e-01 -8.10604761e-01 -1.67642542e-02 1.31075280e+02] [ 2.64219529e-02 -1.59411093e-03 9.99649608e-01 7.19043417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.750714057 meters Centerline goodness : 0.987525 Centerline is valid? [True, True] Translation: X:150.10, Y:131.08, Z:7.19 [[-8.09883586e-01 -5.86231865e-01 2.05128605e-02 1.50100306e+02] [ 5.85995104e-01 -8.10141879e-01 -1.67294168e-02 1.31079795e+02] [ 2.64256445e-02 -1.52844426e-03 9.99649613e-01 7.19064432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.780714057 meters Centerline goodness : 0.988145 Centerline is valid? [True, True] Translation: X:150.09, Y:131.09, Z:7.20 [[-8.08959472e-01 -5.87506215e-01 2.05187591e-02 1.50086782e+02] [ 5.87270045e-01 -8.09218304e-01 -1.67221360e-02 1.31088799e+02] [ 2.64285143e-02 -1.47747773e-03 9.99649614e-01 7.19540085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.810714057 meters Centerline goodness : 0.987856 Centerline is valid? [True, True] Translation: X:150.08, Y:131.10, Z:7.20 [[-8.08465645e-01 -5.88183925e-01 2.05662512e-02 1.50075545e+02] [ 5.87949455e-01 -8.08726014e-01 -1.66635307e-02 1.31096671e+02] [ 2.64336832e-02 -1.37997591e-03 9.99649617e-01 7.19551286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.840714057 meters Centerline goodness : 0.987808 Centerline is valid? [True, True] Translation: X:150.10, Y:131.07, Z:7.19 [[-8.05326322e-01 -5.92473982e-01 2.05936047e-02 1.50104848e+02] [ 5.92241758e-01 -8.05588698e-01 -1.66297930e-02 1.31072488e+02] [ 2.64426949e-02 -1.19601741e-03 9.99649615e-01 7.19479309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.870714057 meters Centerline goodness : 0.988295 Centerline is valid? [True, True] Translation: X:150.10, Y:131.07, Z:7.20 [[-8.05173132e-01 -5.92685667e-01 2.04921125e-02 1.50101543e+02] [ 5.92450334e-01 -8.05432727e-01 -1.67548497e-02 1.31074220e+02] [ 2.64353773e-02 -1.34999591e-03 9.99649613e-01 7.19674860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.900714057 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:150.10, Y:131.07, Z:7.19 [[-8.04155000e-01 -5.94065664e-01 2.05115536e-02 1.50101288e+02] [ 5.93831384e-01 -8.04415542e-01 -1.67309059e-02 1.31073456e+02] [ 2.64390692e-02 -1.27383737e-03 9.99649615e-01 7.19007881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.930714057 meters Centerline goodness : 0.989938 Centerline is valid? [True, True] Translation: X:150.11, Y:131.07, Z:7.19 [[-8.03065594e-01 -5.95546365e-01 2.02528899e-02 1.50105930e+02] [ 5.95304526e-01 -8.03319273e-01 -1.70489382e-02 1.31070464e+02] [ 2.64229700e-02 -1.63477867e-03 9.99649516e-01 7.18843750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.960714057 meters Centerline goodness : 0.989864 Centerline is valid? [True, True] Translation: X:150.10, Y:131.08, Z:7.19 [[-8.02477052e-01 -5.96340608e-01 2.02103983e-02 1.50098386e+02] [ 5.96097710e-01 -8.02729762e-01 -1.71011411e-02 1.31077576e+02] [ 2.64215931e-02 -1.67590115e-03 9.99649484e-01 7.18703273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.990714057 meters Centerline goodness : 0.990066 Centerline is valid? [True, True] Translation: X:150.10, Y:131.08, Z:7.19 [[-8.01145362e-01 -5.98128177e-01 2.02186494e-02 1.50096115e+02] [ 5.97886098e-01 -8.01398847e-01 -1.70910055e-02 1.31080367e+02] [ 2.64258142e-02 -1.60393039e-03 9.99649490e-01 7.18780752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.020714057 meters Centerline goodness : 0.990302 Centerline is valid? [True, True] Translation: X:150.10, Y:131.08, Z:7.19 [[-7.99514516e-01 -6.00309227e-01 2.01338144e-02 1.50102725e+02] [ 6.00065223e-01 -7.99766251e-01 -1.71950947e-02 1.31075504e+02] [ 2.64247193e-02 -1.66612603e-03 9.99649418e-01 7.18545700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.050714057 meters Centerline goodness : 0.988673 Centerline is valid? [True, True] Translation: X:150.10, Y:131.08, Z:7.19 [[-7.98538204e-01 -6.01605005e-01 2.02028390e-02 1.50099718e+02] [ 6.01363540e-01 -7.98792292e-01 -1.71104356e-02 1.31077451e+02] [ 2.64315957e-02 -1.51408573e-03 9.99649478e-01 7.18636225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.080714057 meters Centerline goodness : 0.990194 Centerline is valid? [True, True] Translation: X:150.12, Y:131.07, Z:7.18 [[-7.86191230e-01 -6.17651408e-01 2.02506437e-02 1.50115717e+02] [ 6.17416643e-01 -7.86451475e-01 -1.70518456e-02 1.31070856e+02] [ 2.64582450e-02 -9.02927004e-04 9.99649512e-01 7.18200408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.110714057 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:150.07, Y:131.09, Z:7.19 [[-8.04447511e-01 -5.93693456e-01 1.98061139e-02 1.50074420e+02] [ 5.93437499e-01 -8.04687712e-01 -1.75960712e-02 1.31086972e+02] [ 2.63844088e-02 -2.40142494e-03 9.99648986e-01 7.18680718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.140714057 meters Centerline goodness : 0.991079 Centerline is valid? [True, True] Translation: X:150.11, Y:131.07, Z:7.18 [[-7.85487482e-01 -6.18537146e-01 2.05235194e-02 1.50113006e+02] [ 6.18311406e-01 -7.85755436e-01 -1.67152446e-02 1.31067815e+02] [ 2.64654666e-02 -4.39689253e-04 9.99649631e-01 7.18187394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.170714057 meters Centerline goodness : 0.990698 Centerline is valid? [True, True] Translation: X:150.11, Y:131.07, Z:7.18 [[-7.86166878e-01 -6.17700200e-01 1.97003271e-02 1.50112213e+02] [ 6.17448525e-01 -7.86411688e-01 -1.77193697e-02 1.31067039e+02] [ 2.64378257e-02 -1.76644361e-03 9.99648899e-01 7.18226219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.200714057 meters Centerline goodness : 0.991198 Centerline is valid? [True, True] Translation: X:150.10, Y:131.07, Z:7.19 [[-7.87542985e-01 -6.15941386e-01 1.98054820e-02 1.50104708e+02] [ 6.15692374e-01 -7.87790235e-01 -1.75910787e-02 1.31070184e+02] [ 2.64376388e-02 -1.65964642e-03 9.99649087e-01 7.18523846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.230714057 meters Centerline goodness : 0.990897 Centerline is valid? [True, True] Translation: X:150.10, Y:131.07, Z:7.19 [[-7.87872354e-01 -6.15514825e-01 1.99663035e-02 1.50099751e+02] [ 6.15270624e-01 -7.88124028e-01 -1.73946993e-02 1.31073618e+02] [ 2.64426189e-02 -1.42012270e-03 9.99649324e-01 7.18610720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26071405700003 meters Centerline goodness : 0.989853 Centerline is valid? [True, True] Translation: X:150.10, Y:131.07, Z:7.19 [[-7.91807419e-01 -6.10444816e-01 1.99534010e-02 1.50099024e+02] [ 6.10198609e-01 -7.92057153e-01 -1.74104504e-02 1.31071808e+02] [ 2.64323532e-02 -1.61018632e-03 9.99649308e-01 7.18921511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.290714057 meters Centerline goodness : 0.989853 Centerline is valid? [True, True] Translation: X:150.10, Y:131.07, Z:7.19 [[-7.91601351e-01 -6.10705643e-01 2.01474247e-02 1.50096829e+02] [ 6.10465506e-01 -7.91856641e-01 -1.71734066e-02 1.31073330e+02] [ 2.64417684e-02 -1.29518404e-03 9.99649516e-01 7.18941867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32071405700003 meters Centerline goodness : 0.989706 Centerline is valid? [True, True] Translation: X:150.09, Y:131.08, Z:7.19 [[-7.91715491e-01 -6.10557973e-01 2.01381032e-02 1.50093168e+02] [ 6.10317499e-01 -7.91970475e-01 -1.71847875e-02 1.31077095e+02] [ 2.64410921e-02 -1.31482567e-03 9.99649509e-01 7.18980323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.350714057 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:150.08, Y:131.09, Z:7.19 [[-7.94844522e-01 -6.06479360e-01 2.01239365e-02 1.50082134e+02] [ 6.06237142e-01 -7.95097866e-01 -1.72020796e-02 1.31086862e+02] [ 2.64332052e-02 -1.47310101e-03 9.99649496e-01 7.18875186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.380714057 meters Centerline goodness : 0.989965 Centerline is valid? [True, True] Translation: X:150.09, Y:131.08, Z:7.19 [[-7.95387234e-01 -6.05765626e-01 2.01780461e-02 1.50087080e+02] [ 6.05524849e-01 -7.95641888e-01 -1.71360342e-02 1.31083788e+02] [ 2.64349191e-02 -1.41147450e-03 9.99649540e-01 7.18831236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.410714057 meters Centerline goodness : 0.989955 Centerline is valid? [True, True] Translation: X:150.08, Y:131.09, Z:7.19 [[-7.98919023e-01 -6.01100804e-01 2.01548688e-02 1.50075769e+02] [ 6.00857830e-01 -7.99171605e-01 -1.71643120e-02 1.31092793e+02] [ 2.64246806e-02 -1.60268466e-03 9.99649522e-01 7.18930569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.440714057 meters Centerline goodness : 0.989193 Centerline is valid? [True, True] Translation: X:150.06, Y:131.10, Z:7.19 [[-8.01995463e-01 -5.96987678e-01 2.02234985e-02 1.50064510e+02] [ 5.96745507e-01 -8.02248748e-01 -1.70805664e-02 1.31102734e+02] [ 2.64211640e-02 -1.63025487e-03 9.99649571e-01 7.19358094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.470714057 meters Centerline goodness : 0.990377 Centerline is valid? [True, True] Translation: X:150.08, Y:131.09, Z:7.19 [[-8.03256449e-01 -5.95286096e-01 2.03357006e-02 1.50075192e+02] [ 5.95046829e-01 -8.03512405e-01 -1.69436114e-02 1.31093654e+02] [ 2.64262840e-02 -1.50937096e-03 9.99649625e-01 7.18894791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.500714057 meters Centerline goodness : 0.990579 Centerline is valid? [True, True] Translation: X:150.07, Y:131.10, Z:7.19 [[-8.07395265e-01 -5.89662240e-01 2.02812344e-02 1.50067598e+02] [ 5.89419531e-01 -8.07647990e-01 -1.70100386e-02 1.31098345e+02] [ 2.64102757e-02 -1.77966899e-03 9.99649604e-01 7.18901514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.530714057 meters Centerline goodness : 0.990995 Centerline is valid? [True, True] Translation: X:150.06, Y:131.11, Z:7.19 [[-8.08864248e-01 -5.87643726e-01 2.03342017e-02 1.50056795e+02] [ 5.87401998e-01 -8.09117881e-01 -1.69454309e-02 1.31107132e+02] [ 2.64106423e-02 -1.76220255e-03 9.99649625e-01 7.18873042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.560714057 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:150.07, Y:131.10, Z:7.19 [[-8.09050566e-01 -5.87386186e-01 2.03629867e-02 1.50068441e+02] [ 5.87145253e-01 -8.09304944e-01 -1.69103396e-02 1.31097855e+02] [ 2.64127657e-02 -1.72528886e-03 9.99649633e-01 7.18680779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.590714057 meters Centerline goodness : 0.991167 Centerline is valid? [True, True] Translation: X:150.07, Y:131.10, Z:7.19 [[-8.11499452e-01 -5.83999319e-01 2.03330844e-02 1.50067505e+02] [ 5.83756418e-01 -8.11751964e-01 -1.69467714e-02 1.31098347e+02] [ 2.64023241e-02 -1.88272714e-03 9.99649625e-01 7.19145711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.620714057 meters Centerline goodness : 0.991483 Centerline is valid? [True, True] Translation: X:150.06, Y:131.11, Z:7.19 [[-8.11967255e-01 -5.83345590e-01 2.04230227e-02 1.50057456e+02] [ 5.83105215e-01 -8.12222148e-01 -1.68371971e-02 1.31106352e+02] [ 2.64099360e-02 -1.76248161e-03 9.99649643e-01 7.18723386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.650714057 meters Centerline goodness : 0.992969 Centerline is valid? [True, True] Translation: X:150.01, Y:131.15, Z:7.19 [[-8.14901430e-01 -5.79242819e-01 2.03326244e-02 1.50008636e+02] [ 5.78998433e-01 -8.15152503e-01 -1.69472812e-02 1.31145091e+02] [ 2.63907806e-02 -2.03780601e-03 9.99649626e-01 7.18917038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.680714057 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:150.05, Y:131.11, Z:7.19 [[-8.14357802e-01 -5.80004909e-01 2.03881526e-02 1.50052438e+02] [ 5.79762435e-01 -8.14610703e-01 -1.68796058e-02 1.31108876e+02] [ 2.63986615e-02 -1.92575368e-03 9.99649640e-01 7.18949428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.710714057 meters Centerline goodness : 0.992054 Centerline is valid? [True, True] Translation: X:150.03, Y:131.13, Z:7.19 [[-8.15112693e-01 -5.78945271e-01 2.03389014e-02 1.50029811e+02] [ 5.78700984e-01 -8.15363859e-01 -1.69395711e-02 1.31126560e+02] [ 2.63906897e-02 -2.03751716e-03 9.99649629e-01 7.18976873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.740714057 meters Centerline goodness : 0.991807 Centerline is valid? [True, True] Translation: X:150.03, Y:131.13, Z:7.20 [[-8.15469714e-01 -5.78441824e-01 2.03519452e-02 1.50028710e+02] [ 5.78197775e-01 -8.15721106e-01 -1.69236916e-02 1.31127513e+02] [ 2.63908823e-02 -2.03330859e-03 9.99649632e-01 7.19626003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.770714057 meters Centerline goodness : 0.990955 Centerline is valid? [True, True] Translation: X:150.03, Y:131.13, Z:7.19 [[-8.13758076e-01 -5.80843198e-01 2.04688286e-02 1.50026923e+02] [ 5.80603432e-01 -8.14013538e-01 -1.67813637e-02 1.31129794e+02] [ 2.64092445e-02 -1.77169814e-03 9.99649645e-01 7.19467977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.800714057 meters Centerline goodness : 0.991709 Centerline is valid? [True, True] Translation: X:150.01, Y:131.14, Z:7.20 [[-8.13089458e-01 -5.81780521e-01 2.04195680e-02 1.50010028e+02] [ 5.81539554e-01 -8.13343788e-01 -1.68412994e-02 1.31142178e+02] [ 2.64060688e-02 -1.81869653e-03 9.99649645e-01 7.19616899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.830714057 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:150.04, Y:131.12, Z:7.20 [[-8.12042317e-01 -5.83242476e-01 2.03835559e-02 1.50037882e+02] [ 5.83000875e-01 -8.12296050e-01 -1.68850928e-02 1.31119135e+02] [ 2.64055853e-02 -1.82777892e-03 9.99649641e-01 7.19522559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.860714057 meters Centerline goodness : 0.990945 Centerline is valid? [True, True] Translation: X:150.02, Y:131.13, Z:7.20 [[-8.11265699e-01 -5.84322942e-01 2.03633369e-02 1.50016475e+02] [ 5.84081067e-01 -8.11519175e-01 -1.69096635e-02 1.31134687e+02] [ 2.64059427e-02 -1.82439047e-03 9.99649638e-01 7.19514115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.890714057 meters Centerline goodness : 0.990849 Centerline is valid? [True, True] Translation: X:150.00, Y:131.15, Z:7.20 [[-8.12349521e-01 -5.82815521e-01 2.03549739e-02 1.49996539e+02] [ 5.82572923e-01 -8.12602307e-01 -1.69198210e-02 1.31149007e+02] [ 2.64016330e-02 -1.88655185e-03 9.99649636e-01 7.19642577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.920714057 meters Centerline goodness : 0.992468 Centerline is valid? [True, True] Translation: X:149.99, Y:131.15, Z:7.20 [[-8.11308645e-01 -5.84262897e-01 2.03752281e-02 1.49991020e+02] [ 5.84021362e-01 -8.11562444e-01 -1.68952266e-02 1.31151709e+02] [ 2.64070239e-02 -1.80767493e-03 9.99649639e-01 7.19642417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.950714057 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:150.00, Y:131.14, Z:7.19 [[-8.14418256e-01 -5.79921629e-01 2.03422916e-02 1.50004523e+02] [ 5.79677752e-01 -8.14669812e-01 -1.69351976e-02 1.31137170e+02] [ 2.63933383e-02 -2.00036026e-03 9.99649634e-01 7.19310764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.980714057 meters Centerline goodness : 0.992432 Centerline is valid? [True, True] Translation: X:150.03, Y:131.12, Z:7.19 [[-8.09713645e-01 -5.86469562e-01 2.04270990e-02 1.50025386e+02] [ 5.86230295e-01 -8.09969577e-01 -1.68322785e-02 1.31122324e+02] [ 2.64169478e-02 -1.65434129e-03 9.99649643e-01 7.19304339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.01071405700003 meters Centerline goodness : 0.991158 Centerline is valid? [True, True] Translation: X:150.03, Y:131.11, Z:7.19 [[-8.09394964e-01 -5.86913148e-01 2.03162465e-02 1.50032799e+02] [ 5.86670661e-01 -8.09647866e-01 -1.69666784e-02 1.31114849e+02] [ 2.64069722e-02 -1.81379832e-03 9.99649630e-01 7.19118888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.040714057 meters Centerline goodness : 0.992061 Centerline is valid? [True, True] Translation: X:150.01, Y:131.13, Z:7.19 [[-8.13024556e-01 -5.81872737e-01 2.03761921e-02 1.50013087e+02] [ 5.81630487e-01 -8.13277670e-01 -1.68940167e-02 1.31125032e+02] [ 2.64016698e-02 -1.88383588e-03 9.99649640e-01 7.19219673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.07071405700003 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:150.01, Y:131.13, Z:7.20 [[-8.05562048e-01 -5.92159555e-01 2.04168586e-02 1.50012110e+02] [ 5.91921782e-01 -8.05819371e-01 -1.68447266e-02 1.31129796e+02] [ 2.64270659e-02 -1.48428912e-03 9.99649642e-01 7.19741845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.100714057 meters Centerline goodness : 0.991752 Centerline is valid? [True, True] Translation: X:150.02, Y:131.12, Z:7.20 [[-8.05939281e-01 -5.91656380e-01 2.01147341e-02 1.50016913e+02] [ 5.91409315e-01 -8.06187838e-01 -1.72102582e-02 1.31124419e+02] [ 2.63988131e-02 -1.97438201e-03 9.99649541e-01 7.19502194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.130714057 meters Centerline goodness : 0.991232 Centerline is valid? [True, True] Translation: X:150.03, Y:131.11, Z:7.20 [[-8.06496962e-01 -5.90890289e-01 2.02809321e-02 1.50025925e+02] [ 5.90647989e-01 -8.06750050e-01 -1.70091212e-02 1.31113350e+02] [ 2.64121675e-02 -1.73891277e-03 9.99649625e-01 7.19800064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.160714057 meters Centerline goodness : 0.989581 Centerline is valid? [True, True] Translation: X:150.01, Y:131.12, Z:7.20 [[-8.05864903e-01 -5.91750375e-01 2.03286009e-02 1.50012169e+02] [ 5.91509790e-01 -8.06119605e-01 -1.69514375e-02 1.31123904e+02] [ 2.64183032e-02 -1.63600211e-03 9.99649637e-01 7.19944138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.190714057 meters Centerline goodness : 0.989586 Centerline is valid? [True, True] Translation: X:150.00, Y:131.13, Z:7.20 [[-8.04827188e-01 -5.93161287e-01 2.03195777e-02 1.49999949e+02] [ 5.92920874e-01 -8.05082055e-01 -1.69623497e-02 1.31134692e+02] [ 2.64203365e-02 -1.60385843e-03 9.99649635e-01 7.19974257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.220714057 meters Centerline goodness : 0.990239 Centerline is valid? [True, True] Translation: X:149.98, Y:131.15, Z:7.20 [[-8.04153408e-01 -5.94075770e-01 2.02799461e-02 1.49979994e+02] [ 5.93834445e-01 -8.04407424e-01 -1.70102432e-02 1.31150377e+02] [ 2.64187126e-02 -1.63591450e-03 9.99649626e-01 7.19903780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.250714057 meters Centerline goodness : 0.990329 Centerline is valid? [True, True] Translation: X:149.98, Y:131.15, Z:7.20 [[-8.04239885e-01 -5.93962366e-01 2.01721250e-02 1.49980190e+02] [ 5.93717751e-01 -8.04490794e-01 -1.71404630e-02 1.31149587e+02] [ 2.64090788e-02 -1.80849532e-03 9.99649584e-01 7.19856537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.280714057 meters Centerline goodness : 0.989779 Centerline is valid? [True, True] Translation: X:149.99, Y:131.14, Z:7.20 [[-8.04646448e-01 -5.93411353e-01 2.01757031e-02 1.49994043e+02] [ 5.93166674e-01 -8.04897291e-01 -1.71361433e-02 1.31138170e+02] [ 2.64081508e-02 -1.82098211e-03 9.99649585e-01 7.19724123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.310714057 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:150.02, Y:131.12, Z:7.19 [[-8.04183462e-01 -5.94034135e-01 2.03077907e-02 1.50015593e+02] [ 5.93793639e-01 -8.04438255e-01 -1.69766923e-02 1.31121633e+02] [ 2.64210984e-02 -1.59373823e-03 9.99649631e-01 7.19332378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.340714057 meters Centerline goodness : 0.990971 Centerline is valid? [True, True] Translation: X:149.99, Y:131.14, Z:7.19 [[-8.04494657e-01 -5.93612955e-01 2.02979614e-02 1.49991695e+02] [ 5.93372028e-01 -8.04749045e-01 -1.69885489e-02 1.31141857e+02] [ 2.64193878e-02 -1.62295430e-03 9.99649630e-01 7.19350114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.370714057 meters Centerline goodness : 0.989494 Centerline is valid? [True, True] Translation: X:150.02, Y:131.12, Z:7.19 [[-8.03683972e-01 -5.94709723e-01 2.03081120e-02 1.50020451e+02] [ 5.94469450e-01 -8.03938976e-01 -1.69763091e-02 1.31117978e+02] [ 2.64224588e-02 -1.57103537e-03 9.99649631e-01 7.19233555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.400714057 meters Centerline goodness : 0.989464 Centerline is valid? [True, True] Translation: X:150.01, Y:131.12, Z:7.19 [[-8.02096501e-01 -5.96849296e-01 2.03007541e-02 1.50013012e+02] [ 5.96609481e-01 -8.02351937e-01 -1.69851745e-02 1.31123717e+02] [ 2.64259388e-02 -1.51212661e-03 9.99649630e-01 7.19276958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.430714057 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:150.01, Y:131.12, Z:7.19 [[-8.00236522e-01 -5.99342375e-01 2.02540482e-02 1.50014519e+02] [ 5.99101938e-01 -8.00491386e-01 -1.70414044e-02 1.31122724e+02] [ 2.64268269e-02 -1.50291469e-03 9.99649621e-01 7.19351167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.460714057 meters Centerline goodness : 0.990150 Centerline is valid? [True, True] Translation: X:150.01, Y:131.13, Z:7.19 [[-7.99875962e-01 -5.99824032e-01 2.02379679e-02 1.50011004e+02] [ 5.99583261e-01 -8.00130517e-01 -1.70607509e-02 1.31125041e+02] [ 2.64264641e-02 -1.51213777e-03 9.99649616e-01 7.19424973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.490714057 meters Centerline goodness : 0.990963 Centerline is valid? [True, True] Translation: X:150.01, Y:131.13, Z:7.19 [[-7.97067250e-01 -6.03551088e-01 2.02455406e-02 1.50006463e+02] [ 6.03311739e-01 -7.97323139e-01 -1.70516423e-02 1.31127679e+02] [ 2.64337753e-02 -1.37693329e-03 9.99649618e-01 7.19481750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.520714057 meters Centerline goodness : 0.989628 Centerline is valid? [True, True] Translation: X:150.01, Y:131.13, Z:7.20 [[-7.94974865e-01 -6.06305496e-01 2.02140872e-02 1.50005701e+02] [ 6.06066074e-01 -7.95230699e-01 -1.70894579e-02 1.31128523e+02] [ 2.64362949e-02 -1.33461702e-03 9.99649609e-01 7.19821548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.550714057 meters Centerline goodness : 0.987443 Centerline is valid? [True, True] Translation: X:150.02, Y:131.12, Z:7.20 [[-7.93728344e-01 -6.07937147e-01 2.01925862e-02 1.50016067e+02] [ 6.07697596e-01 -7.93984067e-01 -1.71152906e-02 1.31120673e+02] [ 2.64376127e-02 -1.31390518e-03 9.99649602e-01 7.19940819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.580714057 meters Centerline goodness : 0.990210 Centerline is valid? [True, True] Translation: X:150.01, Y:131.12, Z:7.20 [[-7.90545048e-01 -6.12065790e-01 2.03468797e-02 1.50011291e+02] [ 6.11832318e-01 -7.90806294e-01 -1.69298566e-02 1.31122718e+02] [ 2.64526266e-02 -9.34935733e-04 9.99649631e-01 7.19922953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.610714057 meters Centerline goodness : 0.991261 Centerline is valid? [True, True] Translation: X:150.01, Y:131.13, Z:7.20 [[-7.88272470e-01 -6.14995690e-01 2.01696458e-02 1.50007634e+02] [ 6.14757732e-01 -7.88529683e-01 -1.71426127e-02 1.31126805e+02] [ 2.64469974e-02 -1.11360394e-03 9.99649597e-01 7.20000663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.640714057 meters Centerline goodness : 0.989140 Centerline is valid? [True, True] Translation: X:150.01, Y:131.13, Z:7.20 [[-7.89511257e-01 -6.13410499e-01 1.99883518e-02 1.50009487e+02] [ 6.13166511e-01 -7.89762912e-01 -1.73600520e-02 1.31129083e+02] [ 2.64348971e-02 -1.44976851e-03 9.99649486e-01 7.19755175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.670714057 meters Centerline goodness : 0.989934 Centerline is valid? [True, True] Translation: X:150.00, Y:131.14, Z:7.20 [[-7.87040784e-01 -6.16565585e-01 2.03391946e-02 1.50000807e+02] [ 6.16333377e-01 -7.87303147e-01 -1.69387848e-02 1.31138120e+02] [ 2.64569837e-02 -7.95789930e-04 9.99649636e-01 7.19755879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.700714057 meters Centerline goodness : 0.988814 Centerline is valid? [True, True] Translation: X:150.01, Y:131.13, Z:7.20 [[-7.88678737e-01 -6.14473046e-01 2.02169708e-02 1.50009047e+02] [ 6.14236381e-01 -7.88937107e-01 -1.70853817e-02 1.31134963e+02] [ 2.64484250e-02 -1.05687826e-03 9.99649621e-01 7.19516139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.730714057 meters Centerline goodness : 0.989976 Centerline is valid? [True, True] Translation: X:150.01, Y:131.13, Z:7.20 [[-7.88776992e-01 -6.14343119e-01 2.03319770e-02 1.50011359e+02] [ 6.14109950e-01 -7.89038501e-01 -1.69474083e-02 1.31134539e+02] [ 2.64542363e-02 -8.81656402e-04 9.99649637e-01 7.19512147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76071405700003 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:150.01, Y:131.14, Z:7.19 [[-7.89038263e-01 -6.14007729e-01 2.03255421e-02 1.50009299e+02] [ 6.13774250e-01 -7.89299495e-01 -1.69551224e-02 1.31138410e+02] [ 2.64535163e-02 -9.02945952e-04 9.99649637e-01 7.19395167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.790714057 meters Centerline goodness : 0.990728 Centerline is valid? [True, True] Translation: X:150.01, Y:131.14, Z:7.20 [[-7.88652635e-01 -6.14503178e-01 2.03191138e-02 1.50011173e+02] [ 6.14269665e-01 -7.88913836e-01 -1.69628226e-02 1.31140503e+02] [ 2.64537384e-02 -8.96359497e-04 9.99649637e-01 7.19765802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82071405700003 meters Centerline goodness : 0.991958 Centerline is valid? [True, True] Translation: X:150.01, Y:131.15, Z:7.20 [[-7.89924144e-01 -6.12870626e-01 2.02346945e-02 1.50007908e+02] [ 6.12633986e-01 -7.90182526e-01 -1.70638411e-02 1.31145863e+02] [ 2.64470290e-02 -1.08267856e-03 9.99649630e-01 7.20090896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.850714057 meters Centerline goodness : 0.991693 Centerline is valid? [True, True] Translation: X:150.01, Y:131.15, Z:7.20 [[-7.90176138e-01 -6.12548670e-01 2.01444259e-02 1.50007746e+02] [ 6.12309176e-01 -7.90431910e-01 -1.71717585e-02 1.31147866e+02] [ 2.64413349e-02 -1.23409695e-03 9.99649605e-01 7.20056243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.880714057 meters Centerline goodness : 0.990809 Centerline is valid? [True, True] Translation: X:150.00, Y:131.15, Z:7.20 [[-7.92055571e-01 -6.10117232e-01 2.01230192e-02 1.50004935e+02] [ 6.09876305e-01 -7.92310005e-01 -1.71973376e-02 1.31154177e+02] [ 2.64360615e-02 -1.34869440e-03 9.99649596e-01 7.20164308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.910714057 meters Centerline goodness : 0.990495 Centerline is valid? [True, True] Translation: X:150.01, Y:131.15, Z:7.20 [[-7.93300024e-01 -6.08495113e-01 2.02180622e-02 1.50008525e+02] [ 6.08256542e-01 -7.93556629e-01 -1.70837823e-02 1.31153551e+02] [ 2.64395753e-02 -1.25479633e-03 9.99649626e-01 7.20117985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.940714057 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:150.03, Y:131.14, Z:7.20 [[-7.90191888e-01 -6.12523062e-01 2.03046465e-02 1.50030141e+02] [ 6.12288445e-01 -7.90452103e-01 -1.69803391e-02 1.31139905e+02] [ 2.64506998e-02 -9.85425825e-04 9.99649633e-01 7.20168979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.970714057 meters Centerline goodness : 0.990298 Centerline is valid? [True, True] Translation: X:150.00, Y:131.17, Z:7.20 [[-7.93205852e-01 -6.08623425e-01 2.00500051e-02 1.50000243e+02] [ 6.08379830e-01 -7.93457775e-01 -1.72841354e-02 1.31165748e+02] [ 2.64283622e-02 -1.51185864e-03 9.99649567e-01 7.20031682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.000714057 meters Centerline goodness : 0.990237 Centerline is valid? [True, True] Translation: X:150.01, Y:131.16, Z:7.20 [[-7.92396769e-01 -6.09673013e-01 2.01538546e-02 1.50005344e+02] [ 6.09432884e-01 -7.92651933e-01 -1.71602209e-02 1.31163020e+02] [ 2.64371154e-02 -1.31528187e-03 9.99649613e-01 7.20049717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.030714057 meters Centerline goodness : 0.988392 Centerline is valid? [True, True] Translation: X:150.00, Y:131.17, Z:7.20 [[-7.93827566e-01 -6.07810644e-01 2.01001471e-02 1.50004399e+02] [ 6.07568299e-01 -7.94080655e-01 -1.72242571e-02 1.31168245e+02] [ 2.64302248e-02 -1.46087792e-03 9.99649593e-01 7.19819305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.060714057 meters Centerline goodness : 0.989310 Centerline is valid? [True, True] Translation: X:150.01, Y:131.17, Z:7.20 [[-7.90606354e-01 -6.11990439e-01 2.02310718e-02 1.50009460e+02] [ 6.11753402e-01 -7.90864371e-01 -1.70681510e-02 1.31170277e+02] [ 2.64455791e-02 -1.11776166e-03 9.99649630e-01 7.20209763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.090714057 meters Centerline goodness : 0.988896 Centerline is valid? [True, True] Translation: X:150.01, Y:131.17, Z:7.20 [[-7.89635015e-01 -6.13248143e-01 2.00813089e-02 1.50009581e+02] [ 6.13006977e-01 -7.89889235e-01 -1.72465372e-02 1.31172135e+02] [ 2.64384166e-02 -1.30848721e-03 9.99649588e-01 7.20431445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.120714057 meters Centerline goodness : 0.989634 Centerline is valid? [True, True] Translation: X:150.01, Y:131.18, Z:7.21 [[-7.88202111e-01 -6.15088909e-01 2.00765118e-02 1.50007672e+02] [ 6.14848192e-01 -7.88456759e-01 -1.72522478e-02 1.31179370e+02] [ 2.64411277e-02 -1.25425112e-03 9.99649585e-01 7.20505253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.150714057 meters Centerline goodness : 0.989004 Centerline is valid? [True, True] Translation: X:150.01, Y:131.18, Z:7.21 [[-7.86952732e-01 -6.16686377e-01 2.00825940e-02 1.50013708e+02] [ 6.16446361e-01 -7.87208037e-01 -1.72450095e-02 1.31177433e+02] [ 2.64439418e-02 -1.19116530e-03 9.99649588e-01 7.20544962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.180714057 meters Centerline goodness : 0.989004 Centerline is valid? [True, True] Translation: X:150.01, Y:131.18, Z:7.21 [[-7.86733358e-01 -6.16966859e-01 2.00628782e-02 1.50011626e+02] [ 6.16726337e-01 -7.86988199e-01 -1.72684573e-02 1.31179095e+02] [ 2.64433142e-02 -1.21236603e-03 9.99649579e-01 7.20550768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.210714057 meters Centerline goodness : 0.989349 Centerline is valid? [True, True] Translation: X:150.01, Y:131.19, Z:7.21 [[-7.85037002e-01 -6.19124053e-01 2.00577248e-02 1.50009089e+02] [ 6.18884076e-01 -7.85292359e-01 -1.72745819e-02 1.31186071e+02] [ 2.64462872e-02 -1.14777950e-03 9.99649577e-01 7.20622711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.240714057 meters Centerline goodness : 0.989280 Centerline is valid? [True, True] Translation: X:150.01, Y:131.19, Z:7.21 [[-7.83709507e-01 -6.20803314e-01 2.00662248e-02 1.50006254e+02] [ 6.20564142e-01 -7.83965613e-01 -1.72644822e-02 1.31190612e+02] [ 2.64490780e-02 -1.07795927e-03 9.99649581e-01 7.20635137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.270714057 meters Centerline goodness : 0.990995 Centerline is valid? [True, True] Translation: X:150.00, Y:131.20, Z:7.20 [[-7.82927434e-01 -6.21793447e-01 1.99384606e-02 1.50004991e+02] [ 6.21550733e-01 -7.83180289e-01 -1.74161288e-02 1.31197153e+02] [ 2.64446441e-02 -1.24280025e-03 9.99649507e-01 7.20495805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.300714057 meters Centerline goodness : 0.989409 Centerline is valid? [True, True] Translation: X:150.02, Y:131.19, Z:7.20 [[-7.81344591e-01 -6.23778741e-01 2.00177878e-02 1.50018773e+02] [ 6.23539073e-01 -7.81600265e-01 -1.73219746e-02 1.31192014e+02] [ 2.64509877e-02 -1.05255834e-03 9.99649557e-01 7.20386305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.330714057 meters Centerline goodness : 0.990228 Centerline is valid? [True, True] Translation: X:150.00, Y:131.21, Z:7.21 [[-7.82748542e-01 -6.22015167e-01 2.00462380e-02 1.50003177e+02] [ 6.21775785e-01 -7.83004464e-01 -1.72882219e-02 1.31207229e+02] [ 2.64498301e-02 -1.06806510e-03 9.99649571e-01 7.20671140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.360714057 meters Centerline goodness : 0.990948 Centerline is valid? [True, True] Translation: X:150.01, Y:131.20, Z:7.20 [[-7.80737436e-01 -6.24537257e-01 2.00567004e-02 1.50012889e+02] [ 6.24299019e-01 -7.80994418e-01 -1.72758125e-02 1.31202453e+02] [ 2.64535596e-02 -9.66495128e-04 9.99649576e-01 7.20495160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.390714057 meters Centerline goodness : 0.991446 Centerline is valid? [True, True] Translation: X:150.01, Y:131.21, Z:7.21 [[-7.79480618e-01 -6.26107088e-01 1.99970287e-02 1.50013501e+02] [ 6.25867554e-01 -7.79736432e-01 -1.73465252e-02 1.31206810e+02] [ 2.64531942e-02 -1.00578876e-03 9.99649547e-01 7.20502221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.420714057 meters Centerline goodness : 0.989260 Centerline is valid? [True, True] Translation: X:150.01, Y:131.21, Z:7.21 [[-7.80873043e-01 -6.24373596e-01 1.98721763e-02 1.50010715e+02] [ 6.24129729e-01 -7.81124849e-01 -1.74943483e-02 1.31213178e+02] [ 2.64456599e-02 -1.25804895e-03 9.99649461e-01 7.20727704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.450714057 meters Centerline goodness : 0.988895 Centerline is valid? [True, True] Translation: X:150.01, Y:131.22, Z:7.21 [[-7.80697867e-01 -6.24586170e-01 2.00737582e-02 1.50009057e+02] [ 6.24348470e-01 -7.80955335e-01 -1.72555048e-02 1.31218322e+02] [ 2.64542582e-02 -9.38315582e-04 9.99649584e-01 7.20772595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.480714057 meters Centerline goodness : 0.989731 Centerline is valid? [True, True] Translation: X:150.01, Y:131.22, Z:7.21 [[-7.78415665e-01 -6.27427141e-01 2.01056196e-02 1.50014835e+02] [ 6.27191353e-01 -7.78674871e-01 -1.72177767e-02 1.31220237e+02] [ 2.64586412e-02 -7.92516310e-04 9.99649595e-01 7.20617029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.51071405700003 meters Centerline goodness : 0.990975 Centerline is valid? [True, True] Translation: X:150.02, Y:131.22, Z:7.20 [[-7.77524822e-01 -6.28533358e-01 2.00242157e-02 1.50015147e+02] [ 6.28295457e-01 -7.77782130e-01 -1.73140566e-02 1.31223268e+02] [ 2.64569393e-02 -8.80985023e-04 9.99649566e-01 7.20497385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.540714057 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:150.02, Y:131.22, Z:7.21 [[-7.78377100e-01 -6.27481376e-01 1.99051116e-02 1.50020202e+02] [ 6.27239525e-01 -7.78630792e-01 -1.74547483e-02 1.31221211e+02] [ 2.64512623e-02 -1.10110365e-03 9.99649498e-01 7.20793246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.57071405700003 meters Centerline goodness : 0.991465 Centerline is valid? [True, True] Translation: X:150.02, Y:131.23, Z:7.21 [[-7.81713868e-01 -6.23318317e-01 1.99425449e-02 1.50018710e+02] [ 6.23076239e-01 -7.81967310e-01 -1.74105547e-02 1.31227444e+02] [ 2.64467359e-02 -1.18434623e-03 9.99649522e-01 7.20995073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.600714057 meters Centerline goodness : 0.989907 Centerline is valid? [True, True] Translation: X:150.01, Y:131.24, Z:7.21 [[-7.83249649e-01 -6.21383876e-01 2.00515818e-02 1.50010373e+02] [ 6.21144451e-01 -7.83505526e-01 -1.72818289e-02 1.31238103e+02] [ 2.64491749e-02 -1.08105767e-03 9.99649575e-01 7.21033071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.630714057 meters Centerline goodness : 0.992537 Centerline is valid? [True, True] Translation: X:150.02, Y:131.23, Z:7.21 [[-7.84085417e-01 -6.20328292e-01 2.00716056e-02 1.50023474e+02] [ 6.20089125e-01 -7.84341527e-01 -1.72582015e-02 1.31231152e+02] [ 2.64487445e-02 -1.08571979e-03 9.99649581e-01 7.20800600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.660714057 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:150.01, Y:131.25, Z:7.21 [[-7.87156213e-01 -6.16435675e-01 1.98029044e-02 1.50009203e+02] [ 6.16187251e-01 -7.87403578e-01 -1.75748659e-02 1.31246875e+02] [ 2.64266521e-02 -1.63186766e-03 9.99649423e-01 7.21030166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.690714057 meters Centerline goodness : 0.990773 Centerline is valid? [True, True] Translation: X:150.01, Y:131.25, Z:7.21 [[-7.90172547e-01 -6.12556056e-01 2.00605361e-02 1.50009497e+02] [ 6.12314047e-01 -7.90425973e-01 -1.72710245e-02 1.31250428e+02] [ 2.64358394e-02 -1.36374134e-03 9.99649582e-01 7.20778998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.720714057 meters Centerline goodness : 0.990234 Centerline is valid? [True, True] Translation: X:150.01, Y:131.25, Z:7.21 [[-7.90813773e-01 -6.11724976e-01 2.01526796e-02 1.50008566e+02] [ 6.11485453e-01 -7.91069525e-01 -1.71623549e-02 1.31253480e+02] [ 2.64408118e-02 -1.24915624e-03 9.99649600e-01 7.20834176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.750714057 meters Centerline goodness : 0.990632 Centerline is valid? [True, True] Translation: X:150.01, Y:131.25, Z:7.21 [[-7.92234264e-01 -6.09885299e-01 2.01194774e-02 1.50012116e+02] [ 6.09644192e-01 -7.92488529e-01 -1.72014936e-02 1.31254234e+02] [ 2.64353931e-02 -1.36189009e-03 9.99649596e-01 7.20905240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.780714057 meters Centerline goodness : 0.990208 Centerline is valid? [True, True] Translation: X:150.00, Y:131.26, Z:7.21 [[-7.93166101e-01 -6.08673108e-01 2.01142645e-02 1.50004324e+02] [ 6.08431458e-01 -7.93419850e-01 -1.72076347e-02 1.31262451e+02] [ 2.64328812e-02 -1.41036125e-03 9.99649595e-01 7.20852068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.810714057 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:150.00, Y:131.27, Z:7.21 [[-7.94862285e-01 -6.06456186e-01 2.01207051e-02 1.50001037e+02] [ 6.06214020e-01 -7.95115539e-01 -1.72000491e-02 1.31267984e+02] [ 2.64293615e-02 -1.47421678e-03 9.99649596e-01 7.20850956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.840714057 meters Centerline goodness : 0.989799 Centerline is valid? [True, True] Translation: X:150.00, Y:131.27, Z:7.21 [[-7.94548248e-01 -6.06865910e-01 2.01705011e-02 1.50003049e+02] [ 6.06625354e-01 -7.94803027e-01 -1.71414093e-02 1.31269388e+02] [ 2.64341122e-02 -1.38373935e-03 9.99649600e-01 7.20995738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.870714057 meters Centerline goodness : 0.991487 Centerline is valid? [True, True] Translation: X:150.00, Y:131.28, Z:7.21 [[-7.92114738e-01 -6.10038760e-01 2.01730816e-02 1.49995304e+02] [ 6.09799302e-01 -7.92370550e-01 -1.71383710e-02 1.31277373e+02] [ 2.64396264e-02 -1.27402513e-03 9.99649600e-01 7.21263063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.900714057 meters Centerline goodness : 0.989360 Centerline is valid? [True, True] Translation: X:150.00, Y:131.27, Z:7.21 [[-7.93169863e-01 -6.08677642e-01 1.98266652e-02 1.50002271e+02] [ 6.08427531e-01 -7.93415460e-01 -1.75455920e-02 1.31274793e+02] [ 2.64103923e-02 -1.85354587e-03 9.99649466e-01 7.21405370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.930714057 meters Centerline goodness : 0.990797 Centerline is valid? [True, True] Translation: X:149.99, Y:131.29, Z:7.21 [[-7.92638413e-01 -6.09358321e-01 2.01688666e-02 1.49988304e+02] [ 6.09118526e-01 -7.92893902e-01 -1.71429952e-02 1.31285463e+02] [ 2.64379981e-02 -1.30296620e-03 9.99649606e-01 7.21122039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.960714057 meters Centerline goodness : 0.989943 Centerline is valid? [True, True] Translation: X:150.00, Y:131.28, Z:7.21 [[-7.90876269e-01 -6.11651854e-01 1.99182498e-02 1.50000080e+02] [ 6.11405372e-01 -7.91125406e-01 -1.74373794e-02 1.31279497e+02] [ 2.64234389e-02 -1.61268464e-03 9.99649539e-01 7.21183506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.990714057 meters Centerline goodness : 0.988863 Centerline is valid? [True, True] Translation: X:149.99, Y:131.29, Z:7.21 [[-7.93701026e-01 -6.07978976e-01 2.00061434e-02 1.49988917e+02] [ 6.07733924e-01 -7.93951513e-01 -1.73341277e-02 1.31290268e+02] [ 2.64226930e-02 -1.59970291e-03 9.99649580e-01 7.21455972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.020714057 meters Centerline goodness : 0.989591 Centerline is valid? [True, True] Translation: X:150.00, Y:131.28, Z:7.21 [[-7.91994995e-01 -6.10194806e-01 2.01550687e-02 1.49998100e+02] [ 6.09954870e-01 -7.92250351e-01 -1.71592021e-02 1.31284481e+02] [ 2.64383163e-02 -1.29631985e-03 9.99649606e-01 7.21203228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.050714057 meters Centerline goodness : 0.990215 Centerline is valid? [True, True] Translation: X:149.99, Y:131.29, Z:7.21 [[-7.92634318e-01 -6.09366859e-01 2.00716104e-02 1.49988938e+02] [ 6.09124183e-01 -7.92887080e-01 -1.72571251e-02 1.31292505e+02] [ 2.64304407e-02 -1.45248632e-03 9.99649600e-01 7.21328269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.080714057 meters Centerline goodness : 0.990750 Centerline is valid? [True, True] Translation: X:150.01, Y:131.28, Z:7.21 [[-7.91311896e-01 -6.11082957e-01 2.00774462e-02 1.50007976e+02] [ 6.10841002e-01 -7.91565347e-01 -1.72502802e-02 1.31277082e+02] [ 2.64339629e-02 -1.38622454e-03 9.99649601e-01 7.20809339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.110714057 meters Centerline goodness : 0.989746 Centerline is valid? [True, True] Translation: X:149.99, Y:131.29, Z:7.21 [[-7.93069674e-01 -6.08801797e-01 2.00216098e-02 1.49991071e+02] [ 6.08557467e-01 -7.93320852e-01 -1.73157212e-02 1.31290448e+02] [ 2.64254027e-02 -1.54827322e-03 9.99649589e-01 7.20865580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.140714057 meters Centerline goodness : 0.990558 Centerline is valid? [True, True] Translation: X:149.99, Y:131.29, Z:7.21 [[-7.92803013e-01 -6.09148543e-01 2.00358410e-02 1.49993392e+02] [ 6.08904742e-01 -7.93054700e-01 -1.72990465e-02 1.31287679e+02] [ 2.64272069e-02 -1.51481755e-03 9.99649593e-01 7.21466907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.170714057 meters Centerline goodness : 0.990716 Centerline is valid? [True, True] Translation: X:149.99, Y:131.29, Z:7.22 [[-7.92529852e-01 -6.09504169e-01 2.00275112e-02 1.49991966e+02] [ 6.09260236e-01 -7.92781414e-01 -1.73088002e-02 1.31288564e+02] [ 2.64272245e-02 -1.51577463e-03 9.99649591e-01 7.21559251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.200714057 meters Centerline goodness : 0.990387 Centerline is valid? [True, True] Translation: X:149.99, Y:131.29, Z:7.22 [[-7.91688003e-01 -6.10596598e-01 2.00474636e-02 1.49994640e+02] [ 6.10353600e-01 -7.91940462e-01 -1.72854476e-02 1.31285727e+02] [ 2.64308331e-02 -1.44863991e-03 9.99649595e-01 7.21562553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.230714057 meters Centerline goodness : 0.991816 Centerline is valid? [True, True] Translation: X:150.00, Y:131.28, Z:7.21 [[-7.90437739e-01 -6.12214463e-01 2.00407567e-02 1.49995860e+02] [ 6.11971784e-01 -7.90690507e-01 -1.72932909e-02 1.31282468e+02] [ 2.64332389e-02 -1.40489211e-03 9.99649594e-01 7.21045968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26071405700003 meters Centerline goodness : 0.991359 Centerline is valid? [True, True] Translation: X:149.99, Y:131.29, Z:7.21 [[-7.88341745e-01 -6.14917148e-01 1.98543435e-02 1.49989657e+02] [ 6.14669850e-01 -7.88590095e-01 -1.75110707e-02 1.31287458e+02] [ 2.64247963e-02 -1.60084168e-03 9.99649522e-01 7.21025067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.290714057 meters Centerline goodness : 0.991828 Centerline is valid? [True, True] Translation: X:150.01, Y:131.27, Z:7.21 [[-7.83260740e-01 -6.21376592e-01 1.98429871e-02 1.50007585e+02] [ 6.21131008e-01 -7.83510797e-01 -1.75243244e-02 1.31274858e+02] [ 2.64363996e-02 -1.40102074e-03 9.99649516e-01 7.21385480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32071405700003 meters Centerline goodness : 0.991763 Centerline is valid? [True, True] Translation: X:149.97, Y:131.30, Z:7.21 [[-7.91643638e-01 -6.10666244e-01 1.96745565e-02 1.49970380e+02] [ 6.10412410e-01 -7.91885511e-01 -1.77208097e-02 1.31297330e+02] [ 2.64014965e-02 -2.01897280e-03 9.99649381e-01 7.21292180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.350714057 meters Centerline goodness : 0.991937 Centerline is valid? [True, True] Translation: X:149.97, Y:131.30, Z:7.22 [[-7.93062827e-01 -6.08807807e-01 2.01098873e-02 1.49968338e+02] [ 6.08566085e-01 -7.93316494e-01 -1.72121997e-02 1.31297306e+02] [ 2.64324268e-02 -1.41216033e-03 9.99649605e-01 7.21848211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.380714057 meters Centerline goodness : 0.992497 Centerline is valid? [True, True] Translation: X:149.97, Y:131.30, Z:7.21 [[-7.90517230e-01 -6.12102721e-01 2.03167151e-02 1.49971700e+02] [ 6.11868215e-01 -7.90777649e-01 -1.69704568e-02 1.31296273e+02] [ 2.64536670e-02 -9.84286275e-04 9.99649556e-01 7.21372916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.410714057 meters Centerline goodness : 0.990751 Centerline is valid? [True, True] Translation: X:150.00, Y:131.28, Z:7.21 [[-7.82431443e-01 -6.22412219e-01 2.01013950e-02 1.49998474e+02] [ 6.22174668e-01 -7.82689014e-01 -1.72217824e-02 1.31284001e+02] [ 2.64521888e-02 -9.68285287e-04 9.99649611e-01 7.21475147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.440714057 meters Centerline goodness : 0.991812 Centerline is valid? [True, True] Translation: X:149.98, Y:131.30, Z:7.21 [[-7.84540281e-01 -6.19761178e-01 1.98148953e-02 1.49983993e+02] [ 6.19514297e-01 -7.84789042e-01 -1.75554881e-02 1.31297516e+02] [ 2.64307227e-02 -1.49737667e-03 9.99649526e-01 7.21480956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.470714057 meters Centerline goodness : 0.991679 Centerline is valid? [True, True] Translation: X:149.97, Y:131.31, Z:7.21 [[-7.87206087e-01 -6.16373834e-01 1.97452159e-02 1.49974836e+02] [ 6.16123855e-01 -7.87451805e-01 -1.76365967e-02 1.31305062e+02] [ 2.64191426e-02 -1.71813775e-03 9.99649477e-01 7.21363513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.500714057 meters Centerline goodness : 0.991342 Centerline is valid? [True, True] Translation: X:149.99, Y:131.29, Z:7.22 [[-7.85606393e-01 -6.18409474e-01 1.98070291e-02 1.49994872e+02] [ 6.18161935e-01 -7.85854506e-01 -1.75646633e-02 1.31290171e+02] [ 2.64275972e-02 -1.55496031e-03 9.99649521e-01 7.21588296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.530714057 meters Centerline goodness : 0.992064 Centerline is valid? [True, True] Translation: X:149.99, Y:131.30, Z:7.21 [[-7.86759433e-01 -6.16940172e-01 1.98599909e-02 1.49988592e+02] [ 6.16693715e-01 -7.87008580e-01 -1.75030554e-02 1.31298891e+02] [ 2.64283213e-02 -1.52316239e-03 9.99649550e-01 7.21446655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.560714057 meters Centerline goodness : 0.991433 Centerline is valid? [True, True] Translation: X:149.98, Y:131.31, Z:7.22 [[-7.89682508e-01 -6.13198680e-01 1.97209660e-02 1.49976013e+02] [ 6.12947017e-01 -7.89926524e-01 -1.76646687e-02 1.31310034e+02] [ 2.64100656e-02 -1.86157261e-03 9.99649460e-01 7.21539995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.590714057 meters Centerline goodness : 0.990821 Centerline is valid? [True, True] Translation: X:150.00, Y:131.29, Z:7.22 [[-7.88681880e-01 -6.14483888e-01 1.97596559e-02 1.49996456e+02] [ 6.14233742e-01 -7.88927409e-01 -1.76196972e-02 1.31294189e+02] [ 2.64159542e-02 -1.75928852e-03 9.99649490e-01 7.21772268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.620714057 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:150.00, Y:131.30, Z:7.21 [[-7.89739423e-01 -6.13121409e-01 1.98439092e-02 1.49995570e+02] [ 6.12873281e-01 -7.89986917e-01 -1.75217859e-02 1.31296959e+02] [ 2.64194107e-02 -1.67584332e-03 9.99649542e-01 7.21399673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.650714057 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:149.99, Y:131.30, Z:7.22 [[-7.88705049e-01 -6.14447330e-01 1.99706003e-02 1.49993925e+02] [ 6.14203315e-01 -7.88956534e-01 -1.73745461e-02 1.31296036e+02] [ 2.64316791e-02 -1.43738326e-03 9.99649589e-01 7.21729137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.680714057 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:149.99, Y:131.30, Z:7.22 [[-7.88414032e-01 -6.14832537e-01 1.96027186e-02 1.49990589e+02] [ 6.14577999e-01 -7.88655186e-01 -1.78011276e-02 1.31299100e+02] [ 2.64044981e-02 -1.98725921e-03 9.99649365e-01 7.21891195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.710714057 meters Centerline goodness : 0.991832 Centerline is valid? [True, True] Translation: X:149.99, Y:131.30, Z:7.22 [[-7.89756787e-01 -6.13108451e-01 1.95510874e-02 1.49989600e+02] [ 6.12851914e-01 -7.89995897e-01 -1.78609641e-02 1.31298603e+02] [ 2.63959868e-02 -2.12389629e-03 9.99649309e-01 7.21835175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.740714057 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:149.99, Y:131.30, Z:7.22 [[-7.90249485e-01 -6.12470362e-01 1.96419632e-02 1.49986196e+02] [ 6.12216226e-01 -7.90491006e-01 -1.77556062e-02 1.31302243e+02] [ 2.64015778e-02 -2.00623006e-03 9.99649404e-01 7.22043515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.770714057 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:149.96, Y:131.32, Z:7.22 [[-7.93736894e-01 -6.07938314e-01 1.98178943e-02 1.49961309e+02] [ 6.07687834e-01 -7.93982016e-01 -1.75514923e-02 1.31320815e+02] [ 2.64052763e-02 -1.88817375e-03 9.99649537e-01 7.21845335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.800714057 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:149.97, Y:131.31, Z:7.22 [[-7.93279494e-01 -6.08536115e-01 1.97848729e-02 1.49971504e+02] [ 6.08284870e-01 -7.93523859e-01 -1.75898060e-02 1.31312464e+02] [ 2.64038009e-02 -1.91879355e-03 9.99649517e-01 7.21647960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.830714057 meters Centerline goodness : 0.990926 Centerline is valid? [True, True] Translation: X:149.96, Y:131.32, Z:7.22 [[-7.92234271e-01 -6.09891570e-01 1.99281741e-02 1.49960502e+02] [ 6.09644884e-01 -7.92483145e-01 -1.74235461e-02 1.31320647e+02] [ 2.64192160e-02 -1.65442090e-03 9.99649583e-01 7.21902615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.860714057 meters Centerline goodness : 0.989917 Centerline is valid? [True, True] Translation: X:149.96, Y:131.32, Z:7.22 [[-7.91778130e-01 -6.10489455e-01 1.97489023e-02 1.49958232e+02] [ 6.10237783e-01 -7.92022085e-01 -1.76313521e-02 1.31323102e+02] [ 2.64053213e-02 -1.90859256e-03 9.99649497e-01 7.21790886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.890714057 meters Centerline goodness : 0.991390 Centerline is valid? [True, True] Translation: X:149.95, Y:131.32, Z:7.22 [[-7.91671213e-01 -6.10623640e-01 1.98862043e-02 1.49954169e+02] [ 6.10375969e-01 -7.91919125e-01 -1.74721752e-02 1.31323875e+02] [ 2.64171887e-02 -1.69415686e-03 9.99649570e-01 7.21942597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.920714057 meters Centerline goodness : 0.991181 Centerline is valid? [True, True] Translation: X:149.95, Y:131.33, Z:7.22 [[-7.91217335e-01 -6.11216810e-01 1.97266374e-02 1.49946165e+02] [ 6.10964730e-01 -7.91460885e-01 -1.76569165e-02 1.31328849e+02] [ 2.64050660e-02 -1.91817870e-03 9.99649485e-01 7.21966216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.950714057 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:149.96, Y:131.32, Z:7.22 [[-7.88228265e-01 -6.15066609e-01 1.97299065e-02 1.49956549e+02] [ 6.14815814e-01 -7.88473133e-01 -1.76531329e-02 1.31317887e+02] [ 2.64143538e-02 -1.78443982e-03 9.99649487e-01 7.21865476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.980714057 meters Centerline goodness : 0.992291 Centerline is valid? [True, True] Translation: X:149.95, Y:131.32, Z:7.22 [[-7.87672652e-01 -6.15782051e-01 1.96025139e-02 1.49952027e+02] [ 6.15527825e-01 -7.87914109e-01 -1.78003545e-02 1.31320394e+02] [ 2.64062361e-02 -1.95495967e-03 9.99649383e-01 7.21920934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.01071405700003 meters Centerline goodness : 0.991159 Centerline is valid? [True, True] Translation: X:149.96, Y:131.32, Z:7.22 [[-7.87521691e-01 -6.15976167e-01 1.95690593e-02 1.49955391e+02] [ 6.15721046e-01 -7.87762251e-01 -1.78389973e-02 1.31315362e+02] [ 2.64041634e-02 -1.99951562e-03 9.99649350e-01 7.22014050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.040714057 meters Centerline goodness : 0.992686 Centerline is valid? [True, True] Translation: X:149.95, Y:131.31, Z:7.22 [[-7.87384974e-01 -6.16149980e-01 1.95986203e-02 1.49950646e+02] [ 6.15895755e-01 -7.87626438e-01 -1.78048720e-02 1.31314989e+02] [ 2.64068630e-02 -1.94858163e-03 9.99649379e-01 7.22205485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.07071405700003 meters Centerline goodness : 0.992088 Centerline is valid? [True, True] Translation: X:149.96, Y:131.31, Z:7.22 [[-7.86357823e-01 -6.17460957e-01 1.95790886e-02 1.49959754e+02] [ 6.17206577e-01 -7.86599151e-01 -1.78273987e-02 1.31305207e+02] [ 2.64086171e-02 -1.93437216e-03 9.99649360e-01 7.22257858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.100714057 meters Centerline goodness : 0.992088 Centerline is valid? [True, True] Translation: X:149.96, Y:131.31, Z:7.22 [[-7.86154173e-01 -6.17721741e-01 1.95311763e-02 1.49957727e+02] [ 6.17466077e-01 -7.86394212e-01 -1.78825944e-02 1.31306888e+02] [ 2.64056713e-02 -1.99863740e-03 9.99649311e-01 7.22262335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.130714057 meters Centerline goodness : 0.991570 Centerline is valid? [True, True] Translation: X:149.96, Y:131.30, Z:7.22 [[-7.86083506e-01 -6.17811857e-01 1.95251546e-02 1.49958349e+02] [ 6.17556049e-01 -7.86323401e-01 -1.78895263e-02 1.31302101e+02] [ 2.64054474e-02 -2.00478418e-03 9.99649305e-01 7.22106581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.160714057 meters Centerline goodness : 0.991073 Centerline is valid? [True, True] Translation: X:149.96, Y:131.30, Z:7.22 [[-7.85885893e-01 -6.18059798e-01 1.96328711e-02 1.49956135e+02] [ 6.17807135e-01 -7.86128952e-01 -1.77655400e-02 1.31301211e+02] [ 2.64141345e-02 -1.83235940e-03 9.99649407e-01 7.22193535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.190714057 meters Centerline goodness : 0.990893 Centerline is valid? [True, True] Translation: X:149.94, Y:131.31, Z:7.22 [[-7.86754579e-01 -6.16952602e-01 1.96651746e-02 1.49940080e+02] [ 6.16700520e-01 -7.86998204e-01 -1.77283569e-02 1.31311277e+02] [ 2.64140130e-02 -1.82034253e-03 9.99649432e-01 7.22271100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.220714057 meters Centerline goodness : 0.991366 Centerline is valid? [True, True] Translation: X:149.94, Y:131.31, Z:7.22 [[-7.85318982e-01 -6.18773682e-01 1.98299473e-02 1.49938023e+02] [ 6.18526912e-01 -7.85567856e-01 -1.75385960e-02 1.31309873e+02] [ 2.64301908e-02 -1.50803629e-03 9.99649524e-01 7.22155586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.250714057 meters Centerline goodness : 0.991922 Centerline is valid? [True, True] Translation: X:149.94, Y:131.30, Z:7.23 [[-7.81484169e-01 -6.23613904e-01 1.97026101e-02 1.49940619e+02] [ 6.23364988e-01 -7.81730984e-01 -1.76850446e-02 1.31303938e+02] [ 2.64307805e-02 -1.53866507e-03 9.99649462e-01 7.22563731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.280714057 meters Centerline goodness : 0.991972 Centerline is valid? [True, True] Translation: X:149.93, Y:131.31, Z:7.22 [[-7.81326363e-01 -6.23816137e-01 1.95586648e-02 1.49934787e+02] [ 6.23563149e-01 -7.81569166e-01 -1.78504334e-02 1.31306499e+02] [ 2.64218377e-02 -1.75095163e-03 9.99649349e-01 7.22282902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.310714057 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:149.93, Y:131.31, Z:7.22 [[-7.81590099e-01 -6.23482164e-01 1.96699943e-02 1.49926737e+02] [ 6.23232267e-01 -7.81835951e-01 -1.77225045e-02 1.31311450e+02] [ 2.64283741e-02 -1.59275886e-03 9.99649441e-01 7.22466889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.340714057 meters Centerline goodness : 0.992497 Centerline is valid? [True, True] Translation: X:149.93, Y:131.31, Z:7.23 [[-7.76634440e-01 -6.29644237e-01 1.96743827e-02 1.49932521e+02] [ 6.29396419e-01 -7.76882384e-01 -1.77174634e-02 1.31305115e+02] [ 2.64403801e-02 -1.37700624e-03 9.99649444e-01 7.22819584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.370714057 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:149.93, Y:131.31, Z:7.23 [[-7.75025709e-01 -6.31627485e-01 1.95415288e-02 1.49932277e+02] [ 6.31376458e-01 -7.75270557e-01 -1.78698752e-02 1.31305333e+02] [ 2.64370762e-02 -1.51155143e-03 9.99649337e-01 7.22700821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.400714057 meters Centerline goodness : 0.991499 Centerline is valid? [True, True] Translation: X:149.94, Y:131.30, Z:7.23 [[-7.73916413e-01 -6.32983314e-01 1.96343921e-02 1.49937850e+02] [ 6.32735405e-01 -7.74164305e-01 -1.77633428e-02 1.31299890e+02] [ 2.64441451e-02 -1.32396757e-03 9.99649416e-01 7.22730332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.430714057 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:149.93, Y:131.31, Z:7.23 [[-7.73036694e-01 -6.34057235e-01 1.96390750e-02 1.49930234e+02] [ 6.33809806e-01 -7.73285060e-01 -1.77579725e-02 1.31306796e+02] [ 2.64461743e-02 -1.28012602e-03 9.99649419e-01 7.22617709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.460714057 meters Centerline goodness : 0.992688 Centerline is valid? [True, True] Translation: X:149.94, Y:131.30, Z:7.22 [[-7.71958517e-01 -6.35376660e-01 1.94048669e-02 1.49935901e+02] [ 6.35122892e-01 -7.72200731e-01 -1.80261740e-02 1.31303326e+02] [ 2.64378626e-02 -1.59098339e-03 9.99649193e-01 7.22406455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.490714057 meters Centerline goodness : 0.992166 Centerline is valid? [True, True] Translation: X:149.93, Y:131.31, Z:7.23 [[-7.72585796e-01 -6.34614581e-01 1.93783626e-02 1.49933778e+02] [ 6.34359816e-01 -7.72827010e-01 -1.80565064e-02 1.31305231e+02] [ 2.64350442e-02 -1.65734582e-03 9.99649159e-01 7.22737683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.520714057 meters Centerline goodness : 0.991158 Centerline is valid? [True, True] Translation: X:149.93, Y:131.31, Z:7.23 [[-7.75125000e-01 -6.31509595e-01 1.94130315e-02 1.49931353e+02] [ 6.31254853e-01 -7.75366174e-01 -1.80168312e-02 1.31307088e+02] [ 2.64300097e-02 -1.71072592e-03 9.99649202e-01 7.22533998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.550714057 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:149.93, Y:131.31, Z:7.22 [[-7.72163155e-01 -6.35116986e-01 1.97604744e-02 1.49932989e+02] [ 6.34873442e-01 -7.72415233e-01 -1.76187431e-02 1.31308386e+02] [ 2.64532544e-02 -1.05914385e-03 9.99649490e-01 7.22423814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.580714057 meters Centerline goodness : 0.991848 Centerline is valid? [True, True] Translation: X:149.92, Y:131.32, Z:7.23 [[-7.74585270e-01 -6.32173193e-01 1.93575416e-02 1.49924713e+02] [ 6.31917099e-01 -7.74825087e-01 -1.80793862e-02 1.31315459e+02] [ 2.64280121e-02 -1.77166468e-03 9.99649149e-01 7.22769321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.610714057 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:149.93, Y:131.31, Z:7.22 [[-7.71378770e-01 -6.36078566e-01 1.94641048e-02 1.49932156e+02] [ 6.35826744e-01 -7.71622886e-01 -1.79575512e-02 1.31312833e+02] [ 2.64413622e-02 -1.47627537e-03 9.99649276e-01 7.22051354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.640714057 meters Centerline goodness : 0.992464 Centerline is valid? [True, True] Translation: X:149.93, Y:131.32, Z:7.22 [[-7.70512826e-01 -6.37131096e-01 1.93378143e-02 1.49930995e+02] [ 6.36875987e-01 -7.70753724e-01 -1.81017794e-02 1.31316693e+02] [ 2.64378989e-02 -1.63186367e-03 9.99649126e-01 7.21951169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.670714057 meters Centerline goodness : 0.992188 Centerline is valid? [True, True] Translation: X:149.90, Y:131.33, Z:7.23 [[-7.85633248e-01 -6.18393611e-01 1.92286685e-02 1.49900014e+02] [ 6.18129738e-01 -7.85864759e-01 -1.82265439e-02 1.31330754e+02] [ 2.63823112e-02 -2.43356703e-03 9.99648964e-01 7.22631735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.700714057 meters Centerline goodness : 0.992305 Centerline is valid? [True, True] Translation: X:149.90, Y:131.33, Z:7.23 [[-7.84780182e-01 -6.19453023e-01 1.99503992e-02 1.49904257e+02] [ 6.19209993e-01 -7.85032649e-01 -1.73990026e-02 1.31329236e+02] [ 2.64395795e-02 -1.30090588e-03 9.99649567e-01 7.22712464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.730714057 meters Centerline goodness : 0.992729 Centerline is valid? [True, True] Translation: X:149.90, Y:131.33, Z:7.23 [[-7.83832228e-01 -6.20652282e-01 1.99445352e-02 1.49904498e+02] [ 6.20409467e-01 -7.84084902e-01 -1.74057220e-02 1.31330045e+02] [ 2.64411100e-02 -1.26938741e-03 9.99649567e-01 7.22582819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76071405700003 meters Centerline goodness : 0.991632 Centerline is valid? [True, True] Translation: X:149.90, Y:131.33, Z:7.23 [[-7.82208971e-01 -6.22697044e-01 1.99378370e-02 1.49903058e+02] [ 6.22454696e-01 -7.82462092e-01 -1.74133912e-02 1.31333553e+02] [ 2.64438689e-02 -1.21051059e-03 9.99649567e-01 7.22665931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.790714057 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:149.90, Y:131.34, Z:7.23 [[-7.81567319e-01 -6.23502426e-01 1.99311403e-02 1.49899527e+02] [ 6.23260143e-01 -7.81820504e-01 -1.74210528e-02 1.31337791e+02] [ 2.64446428e-02 -1.19344012e-03 9.99649567e-01 7.22672121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82071405700003 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:149.90, Y:131.34, Z:7.23 [[-7.81026863e-01 -6.24179507e-01 1.99244317e-02 1.49899387e+02] [ 6.23937249e-01 -7.81280071e-01 -1.74287220e-02 1.31339219e+02] [ 2.64452125e-02 -1.18070495e-03 9.99649567e-01 7.22600210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.850714057 meters Centerline goodness : 0.991217 Centerline is valid? [True, True] Translation: X:149.92, Y:131.34, Z:7.23 [[-7.69009057e-01 -6.38927503e-01 1.99177169e-02 1.49921865e+02] [ 6.38689908e-01 -7.69266646e-01 -1.74363924e-02 1.31335368e+02] [ 2.64626259e-02 -6.87498946e-04 9.99649567e-01 7.22511693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.880714057 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:149.88, Y:131.36, Z:7.23 [[-7.82618378e-01 -6.22197239e-01 1.94697235e-02 1.49883264e+02] [ 6.21941356e-01 -7.82858126e-01 -1.79472746e-02 1.31358107e+02] [ 2.64087760e-02 -1.93684073e-03 9.99649351e-01 7.22682503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.910714057 meters Centerline goodness : 0.990698 Centerline is valid? [True, True] Translation: X:149.91, Y:131.35, Z:7.23 [[-7.76207719e-01 -6.30158712e-01 2.00392966e-02 1.49911731e+02] [ 6.29921800e-01 -7.76465938e-01 -1.72965984e-02 1.31346457e+02] [ 2.64594333e-02 -8.02563391e-04 9.99649566e-01 7.22593025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.940714057 meters Centerline goodness : 0.990735 Centerline is valid? [True, True] Translation: X:149.91, Y:131.35, Z:7.22 [[-7.75907999e-01 -6.30536169e-01 1.97716203e-02 1.49911212e+02] [ 6.30291569e-01 -7.76158947e-01 -1.76018985e-02 1.31349743e+02] [ 2.64445536e-02 -1.19556827e-03 9.99649567e-01 7.22464046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.970714057 meters Centerline goodness : 0.989989 Centerline is valid? [True, True] Translation: X:149.88, Y:131.37, Z:7.23 [[-7.85447448e-01 -6.18614206e-01 1.97172822e-02 1.49882795e+02] [ 6.18364254e-01 -7.85693093e-01 -1.76638537e-02 1.31365516e+02] [ 2.64188433e-02 -1.68156631e-03 9.99649547e-01 7.22729505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.000714057 meters Centerline goodness : 0.989662 Centerline is valid? [True, True] Translation: X:149.91, Y:131.36, Z:7.22 [[-7.75182261e-01 -6.31420894e-01 2.00029176e-02 1.49911118e+02] [ 6.31183337e-01 -7.75439870e-01 -1.73379215e-02 1.31356221e+02] [ 2.64585857e-02 -8.14540906e-04 9.99649578e-01 7.22485247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.030714057 meters Centerline goodness : 0.988677 Centerline is valid? [True, True] Translation: X:149.90, Y:131.37, Z:7.23 [[-7.80550709e-01 -6.24790020e-01 1.94427802e-02 1.49898390e+02] [ 6.24534247e-01 -7.80790540e-01 -1.79751698e-02 1.31367287e+02] [ 2.64114456e-02 -1.88784947e-03 9.99649374e-01 7.22665387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.060714057 meters Centerline goodness : 0.989551 Centerline is valid? [True, True] Translation: X:149.90, Y:131.37, Z:7.23 [[-7.81841807e-01 -6.23163105e-01 1.97770891e-02 1.49898025e+02] [ 6.22916332e-01 -7.82090583e-01 -1.75943986e-02 1.31368619e+02] [ 2.64316552e-02 -1.43656462e-03 9.99649591e-01 7.22947705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.090714057 meters Centerline goodness : 0.990710 Centerline is valid? [True, True] Translation: X:149.91, Y:131.36, Z:7.22 [[-7.76300009e-01 -6.30054447e-01 1.97405388e-02 1.49910651e+02] [ 6.29808829e-01 -7.76549941e-01 -1.76359997e-02 1.31359949e+02] [ 2.64411542e-02 -1.25806110e-03 9.99649580e-01 7.22288566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.120714057 meters Centerline goodness : 0.990181 Centerline is valid? [True, True] Translation: X:149.91, Y:131.36, Z:7.23 [[-7.74366958e-01 -6.32441928e-01 1.93137611e-02 1.49913365e+02] [ 6.32184917e-01 -7.74605634e-01 -1.81202259e-02 1.31359308e+02] [ 2.64205388e-02 -1.82183580e-03 9.99649257e-01 7.22840644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.150714057 meters Centerline goodness : 0.990178 Centerline is valid? [True, True] Translation: X:149.91, Y:131.36, Z:7.23 [[-7.74368566e-01 -6.32437467e-01 1.93952275e-02 1.49911894e+02] [ 6.32182754e-01 -7.74609556e-01 -1.80278030e-02 1.31360587e+02] [ 2.64251866e-02 -1.69883561e-03 9.99649350e-01 7.22964277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.180714057 meters Centerline goodness : 0.989142 Centerline is valid? [True, True] Translation: X:149.92, Y:131.36, Z:7.23 [[-7.76694221e-01 -6.29578908e-01 1.94032421e-02 1.49917696e+02] [ 6.29323534e-01 -7.76934499e-01 -1.80187130e-02 1.31356658e+02] [ 2.64192499e-02 -1.78411337e-03 9.99649359e-01 7.23090906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.210714057 meters Centerline goodness : 0.990036 Centerline is valid? [True, True] Translation: X:149.91, Y:131.36, Z:7.23 [[-7.76747943e-01 -6.29506507e-01 1.96007760e-02 1.49910010e+02] [ 6.29256713e-01 -7.76993786e-01 -1.77945394e-02 1.31360610e+02] [ 2.64314595e-02 -1.48795203e-03 9.99649521e-01 7.23250778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.240714057 meters Centerline goodness : 0.990319 Centerline is valid? [True, True] Translation: X:149.91, Y:131.36, Z:7.23 [[-7.77495215e-01 -6.28586011e-01 1.95145671e-02 1.49909869e+02] [ 6.28333478e-01 -7.77738327e-01 -1.78922836e-02 1.31360465e+02] [ 2.64240659e-02 -1.64950901e-03 9.99649462e-01 7.23208680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.270714057 meters Centerline goodness : 0.990542 Centerline is valid? [True, True] Translation: X:149.90, Y:131.37, Z:7.23 [[-7.80917960e-01 -6.24325915e-01 1.96033435e-02 1.49902488e+02] [ 6.24074564e-01 -7.81162209e-01 -1.77916105e-02 1.31365321e+02] [ 2.64211546e-02 -1.65984019e-03 9.99649522e-01 7.23249608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.300714057 meters Centerline goodness : 0.990780 Centerline is valid? [True, True] Translation: X:149.90, Y:131.37, Z:7.23 [[-7.81758744e-01 -6.23269316e-01 1.97136037e-02 1.49901344e+02] [ 6.23020761e-01 -7.82005769e-01 -1.76665994e-02 1.31366101e+02] [ 2.64272011e-02 -1.52903411e-03 9.99649571e-01 7.23269140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.330714057 meters Centerline goodness : 0.991375 Centerline is valid? [True, True] Translation: X:149.89, Y:131.38, Z:7.23 [[-7.86341167e-01 -6.17478538e-01 1.96932538e-02 1.49885076e+02] [ 6.17227592e-01 -7.86585771e-01 -1.76896622e-02 1.31378645e+02] [ 2.64134200e-02 -1.75489003e-03 9.99649564e-01 7.23021680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.360714057 meters Centerline goodness : 0.989625 Centerline is valid? [True, True] Translation: X:149.89, Y:131.38, Z:7.23 [[-7.86457060e-01 -6.17326207e-01 1.98405380e-02 1.49885801e+02] [ 6.17079383e-01 -7.86705783e-01 -1.75227327e-02 1.31377514e+02] [ 2.64259081e-02 -1.53768984e-03 9.99649592e-01 7.23192225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.390714057 meters Centerline goodness : 0.990809 Centerline is valid? [True, True] Translation: X:149.90, Y:131.37, Z:7.23 [[-7.83795761e-01 -6.20702025e-01 1.98292943e-02 1.49900434e+02] [ 6.20455952e-01 -7.84045228e-01 -1.75354679e-02 1.31365044e+02] [ 2.64313640e-02 -1.44102172e-03 9.99649592e-01 7.23252366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.420714057 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:149.88, Y:131.38, Z:7.23 [[-7.87070314e-01 -6.16549976e-01 1.96582754e-02 1.49882395e+02] [ 6.16297767e-01 -7.87313627e-01 -1.77289363e-02 1.31376948e+02] [ 2.64080033e-02 -1.83856820e-03 9.99649557e-01 7.23331441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.450714057 meters Centerline goodness : 0.991132 Centerline is valid? [True, True] Translation: X:149.88, Y:131.38, Z:7.23 [[-7.86617606e-01 -6.17122692e-01 1.98072064e-02 1.49878110e+02] [ 6.16874859e-01 -7.86865325e-01 -1.75604406e-02 1.31379797e+02] [ 2.64225503e-02 -1.59478409e-03 9.99649591e-01 7.23307473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.480714057 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:149.89, Y:131.37, Z:7.23 [[-7.83449408e-01 -6.21139500e-01 1.98178615e-02 1.49889900e+02] [ 6.20893240e-01 -7.83698691e-01 -1.75483898e-02 1.31368671e+02] [ 2.64312302e-02 -1.44349936e-03 9.99649592e-01 7.23293513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.51071405700003 meters Centerline goodness : 0.991014 Centerline is valid? [True, True] Translation: X:149.89, Y:131.37, Z:7.23 [[-7.82996098e-01 -6.21713817e-01 1.97241265e-02 1.49886370e+02] [ 6.21465080e-01 -7.83242925e-01 -1.76542906e-02 1.31370720e+02] [ 2.64246989e-02 -1.56538474e-03 9.99649581e-01 7.23188830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.540714057 meters Centerline goodness : 0.991491 Centerline is valid? [True, True] Translation: X:149.88, Y:131.37, Z:7.23 [[-7.81471641e-01 -6.23628274e-01 1.97446056e-02 1.49879820e+02] [ 6.23380724e-01 -7.81719652e-01 -1.76311629e-02 1.31373350e+02] [ 2.64300379e-02 -1.46984731e-03 9.99649585e-01 7.23405860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.57071405700003 meters Centerline goodness : 0.990833 Centerline is valid? [True, True] Translation: X:149.89, Y:131.37, Z:7.23 [[-7.78707373e-01 -6.27078843e-01 1.96710992e-02 1.49887057e+02] [ 6.26830302e-01 -7.78954416e-01 -1.77141177e-02 1.31367602e+02] [ 2.64310380e-02 -1.46367304e-03 9.99649568e-01 7.23329176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.600714057 meters Centerline goodness : 0.991492 Centerline is valid? [True, True] Translation: X:149.88, Y:131.37, Z:7.23 [[-7.75544452e-01 -6.30985847e-01 1.96891560e-02 1.49878161e+02] [ 6.30739067e-01 -7.75793246e-01 -1.76937487e-02 1.31370841e+02] [ 2.64392193e-02 -1.30356872e-03 9.99649573e-01 7.22747514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.630714057 meters Centerline goodness : 0.990923 Centerline is valid? [True, True] Translation: X:149.87, Y:131.37, Z:7.23 [[-7.73732162e-01 -6.33208688e-01 1.96290313e-02 1.49872850e+02] [ 6.32960906e-01 -7.73979986e-01 -1.77615329e-02 1.31374700e+02] [ 2.64392343e-02 -1.31825979e-03 9.99649553e-01 7.23015347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.660714057 meters Centerline goodness : 0.990462 Centerline is valid? [True, True] Translation: X:149.88, Y:131.37, Z:7.23 [[-7.71905778e-01 -6.35433497e-01 1.96402599e-02 1.49875530e+02] [ 6.35186751e-01 -7.72154628e-01 -1.77488778e-02 1.31370690e+02] [ 2.64435491e-02 -1.22522847e-03 9.99649557e-01 7.22920549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.690714057 meters Centerline goodness : 0.989888 Centerline is valid? [True, True] Translation: X:149.88, Y:131.36, Z:7.23 [[-7.68089384e-01 -6.40041987e-01 1.96202170e-02 1.49881053e+02] [ 6.39796159e-01 -7.68339151e-01 -1.77714492e-02 1.31364805e+02] [ 2.64494546e-02 -1.09712203e-03 9.99649550e-01 7.23025343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.720714057 meters Centerline goodness : 0.989535 Centerline is valid? [True, True] Translation: X:149.86, Y:131.38, Z:7.23 [[-7.68898783e-01 -6.39071205e-01 1.95616106e-02 1.49863267e+02] [ 6.38823385e-01 -7.69146611e-01 -1.78374128e-02 1.31377946e+02] [ 2.64451234e-02 -1.21875063e-03 9.99649524e-01 7.22749592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.750714057 meters Centerline goodness : 0.990796 Centerline is valid? [True, True] Translation: X:149.88, Y:131.36, Z:7.23 [[-7.60734462e-01 -6.48766619e-01 1.96202168e-02 1.49880483e+02] [ 6.48523657e-01 -7.60987018e-01 -1.77714677e-02 1.31363638e+02] [ 2.64602653e-02 -7.95193180e-04 9.99649550e-01 7.23032040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.780714057 meters Centerline goodness : 0.990262 Centerline is valid? [True, True] Translation: X:149.87, Y:131.37, Z:7.23 [[-7.64935020e-01 -6.43820303e-01 1.92310126e-02 1.49872456e+02] [ 6.43564641e-01 -7.65175149e-01 -1.82083620e-02 1.31367283e+02] [ 2.64380061e-02 -1.55181403e-03 9.99649250e-01 7.22788548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.810714057 meters Centerline goodness : 0.991691 Centerline is valid? [True, True] Translation: X:149.87, Y:131.36, Z:7.23 [[-7.61855660e-01 -6.47453328e-01 1.94972294e-02 1.49874729e+02] [ 6.47206396e-01 -7.62104413e-01 -1.79093183e-02 1.31364978e+02] [ 2.64543723e-02 -1.02558397e-03 9.99649496e-01 7.22758813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.840714057 meters Centerline goodness : 0.990897 Centerline is valid? [True, True] Translation: X:149.87, Y:131.36, Z:7.23 [[-7.61326053e-01 -6.48081692e-01 1.93070360e-02 1.49873749e+02] [ 6.47829539e-01 -7.61569733e-01 -1.81226765e-02 1.31364812e+02] [ 2.64486291e-02 -1.28959760e-03 9.99649342e-01 7.22807802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.870714057 meters Centerline goodness : 0.990013 Centerline is valid? [True, True] Translation: X:149.86, Y:131.37, Z:7.23 [[-7.63605333e-01 -6.45394080e-01 1.93229589e-02 1.49864643e+02] [ 6.45141520e-01 -7.63848568e-01 -1.81048134e-02 1.31373179e+02] [ 2.64445539e-02 -1.35888897e-03 9.99649358e-01 7.22729869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.900714057 meters Centerline goodness : 0.988296 Centerline is valid? [True, True] Translation: X:149.87, Y:131.37, Z:7.22 [[-7.63534638e-01 -6.45474879e-01 1.94174363e-02 1.49873280e+02] [ 6.45225027e-01 -7.63780536e-01 -1.79988188e-02 1.31366059e+02] [ 2.64484453e-02 -1.21410577e-03 9.99649441e-01 7.22447191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.930714057 meters Centerline goodness : 0.991953 Centerline is valid? [True, True] Translation: X:149.86, Y:131.38, Z:7.23 [[-7.60498688e-01 -6.49044740e-01 1.95619889e-02 1.49860961e+02] [ 6.48800193e-01 -7.60749738e-01 -1.78366403e-02 1.31375259e+02] [ 2.64585555e-02 -8.72919328e-04 9.99649530e-01 7.22848371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.960714057 meters Centerline goodness : 0.988623 Centerline is valid? [True, True] Translation: X:149.87, Y:131.37, Z:7.23 [[-7.62009315e-01 -6.47281690e-01 1.91889936e-02 1.49867613e+02] [ 6.47025967e-01 -7.62249422e-01 -1.82542291e-02 1.31370063e+02] [ 2.64424275e-02 -1.49411547e-03 9.99649221e-01 7.22845951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.990714057 meters Centerline goodness : 0.988623 Centerline is valid? [True, True] Translation: X:149.87, Y:131.37, Z:7.23 [[-7.61790239e-01 -6.47534096e-01 1.93707446e-02 1.49865520e+02] [ 6.47283592e-01 -7.62035514e-01 -1.80506838e-02 1.31371675e+02] [ 2.64496285e-02 -1.21246954e-03 9.99649412e-01 7.22862484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.020714057 meters Centerline goodness : 0.991769 Centerline is valid? [True, True] Translation: X:149.86, Y:131.37, Z:7.23 [[-7.61948428e-01 -6.47348235e-01 1.93612001e-02 1.49859643e+02] [ 6.47097400e-01 -7.62193376e-01 -1.80613653e-02 1.31374050e+02] [ 2.64489714e-02 -1.23324662e-03 9.99649404e-01 7.23047683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.050714057 meters Centerline goodness : 0.990027 Centerline is valid? [True, True] Translation: X:149.85, Y:131.38, Z:7.23 [[-7.68298466e-01 -6.39802409e-01 1.92443252e-02 1.49850894e+02] [ 6.39545900e-01 -7.68537631e-01 -1.81920852e-02 1.31380808e+02] [ 2.64293280e-02 -1.66932188e-03 9.99649290e-01 7.22751293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.080714057 meters Centerline goodness : 0.991697 Centerline is valid? [True, True] Translation: X:149.85, Y:131.38, Z:7.23 [[-7.68540083e-01 -6.39502534e-01 1.95614213e-02 1.49852226e+02] [ 6.39254865e-01 -7.68788046e-01 -1.78369820e-02 1.31377108e+02] [ 2.64453820e-02 -1.20370192e-03 9.99649535e-01 7.22829586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.110714057 meters Centerline goodness : 0.990606 Centerline is valid? [True, True] Translation: X:149.85, Y:131.38, Z:7.23 [[-7.68700331e-01 -6.39312677e-01 1.94705601e-02 1.49848779e+02] [ 6.39062374e-01 -7.68945699e-01 -1.79386262e-02 1.31380336e+02] [ 2.64401946e-02 -1.34652559e-03 9.99649490e-01 7.22992347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.140714057 meters Centerline goodness : 0.990135 Centerline is valid? [True, True] Translation: X:149.85, Y:131.38, Z:7.23 [[-7.69490560e-01 -6.38359802e-01 1.95202963e-02 1.49846268e+02] [ 6.38110600e-01 -7.69737008e-01 -1.78829864e-02 1.31381982e+02] [ 2.64412741e-02 -1.30468120e-03 9.99649517e-01 7.23153868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.170714057 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:149.84, Y:131.38, Z:7.23 [[-7.69074961e-01 -6.38858536e-01 1.95825216e-02 1.49843595e+02] [ 6.38611258e-01 -7.69323303e-01 -1.78133914e-02 1.31382876e+02] [ 2.64455273e-02 -1.19421457e-03 9.99649543e-01 7.23136876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.200714057 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:149.83, Y:131.39, Z:7.23 [[-7.69358084e-01 -6.38519951e-01 1.95041143e-02 1.49832110e+02] [ 6.38270345e-01 -7.69604133e-01 -1.79010019e-02 1.31393811e+02] [ 2.64405938e-02 -1.32338279e-03 9.99649510e-01 7.23215740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.230714057 meters Centerline goodness : 0.991854 Centerline is valid? [True, True] Translation: X:149.82, Y:131.40, Z:7.22 [[-7.70708518e-01 -6.36888184e-01 1.95402505e-02 1.49824684e+02] [ 6.36639076e-01 -7.70955047e-01 -1.78606380e-02 1.31401430e+02] [ 2.64398840e-02 -1.32525879e-03 9.99649527e-01 7.22496836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26071405700003 meters Centerline goodness : 0.989906 Centerline is valid? [True, True] Translation: X:149.83, Y:131.39, Z:7.23 [[-7.71007847e-01 -6.36526892e-01 1.95042574e-02 1.49834735e+02] [ 6.36276655e-01 -7.71253252e-01 -1.79008216e-02 1.31393022e+02] [ 2.64370763e-02 -1.39157026e-03 9.99649511e-01 7.22999833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.290714057 meters Centerline goodness : 0.991960 Centerline is valid? [True, True] Translation: X:149.83, Y:131.40, Z:7.22 [[-7.72539033e-01 -6.34666627e-01 1.95375352e-02 1.49830990e+02] [ 6.34416733e-01 -7.72784768e-01 -1.78636919e-02 1.31395866e+02] [ 2.64357987e-02 -1.40546005e-03 9.99649525e-01 7.22463460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32071405700003 meters Centerline goodness : 0.988816 Centerline is valid? [True, True] Translation: X:149.83, Y:131.39, Z:7.23 [[-7.76116636e-01 -6.30293543e-01 1.93136578e-02 1.49833709e+02] [ 6.30036058e-01 -7.76354609e-01 -1.81131642e-02 1.31394506e+02] [ 2.64108577e-02 -1.88962725e-03 9.99649386e-01 7.22839307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.350714057 meters Centerline goodness : 0.992175 Centerline is valid? [True, True] Translation: X:149.82, Y:131.40, Z:7.23 [[-7.75323670e-01 -6.31256334e-01 1.97141455e-02 1.49821498e+02] [ 6.31010336e-01 -7.75573246e-01 -1.76662588e-02 1.31403152e+02] [ 2.64417016e-02 -1.25723907e-03 9.99649566e-01 7.22599421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.380714057 meters Centerline goodness : 0.989912 Centerline is valid? [True, True] Translation: X:149.81, Y:131.41, Z:7.23 [[-7.77387578e-01 -6.28724077e-01 1.93542853e-02 1.49814432e+02] [ 6.28467252e-01 -7.77626192e-01 -1.80670685e-02 1.31410016e+02] [ 2.64096002e-02 -1.88158014e-03 9.99649435e-01 7.22685977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.410714057 meters Centerline goodness : 0.989661 Centerline is valid? [True, True] Translation: X:149.82, Y:131.40, Z:7.23 [[-7.80056385e-01 -6.25403250e-01 1.95655416e-02 1.49821189e+02] [ 6.25151242e-01 -7.80299916e-01 -1.78315990e-02 1.31403431e+02] [ 2.64189304e-02 -1.67823004e-03 9.99649550e-01 7.22714817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.440714057 meters Centerline goodness : 0.989830 Centerline is valid? [True, True] Translation: X:149.82, Y:131.41, Z:7.23 [[-7.79852747e-01 -6.25652812e-01 1.97041099e-02 1.49815408e+02] [ 6.25404748e-01 -7.80100263e-01 -1.76771425e-02 1.31407861e+02] [ 2.64309352e-02 -1.46252426e-03 9.99649572e-01 7.22585335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.470714057 meters Centerline goodness : 0.988764 Centerline is valid? [True, True] Translation: X:149.81, Y:131.41, Z:7.23 [[-7.80426967e-01 -6.24936611e-01 1.96972650e-02 1.49813631e+02] [ 6.24688128e-01 -7.80674062e-01 -1.76847663e-02 1.31408778e+02] [ 2.64290018e-02 -1.49702093e-03 9.99649572e-01 7.22736111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.500714057 meters Centerline goodness : 0.989522 Centerline is valid? [True, True] Translation: X:149.80, Y:131.41, Z:7.23 [[-7.81434367e-01 -6.23676694e-01 1.96904068e-02 1.49804336e+02] [ 6.23427622e-01 -7.81680868e-01 -1.76923990e-02 1.31414271e+02] [ 2.64259512e-02 -1.54990512e-03 9.99649572e-01 7.22945998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.530714057 meters Centerline goodness : 0.990033 Centerline is valid? [True, True] Translation: X:149.79, Y:131.42, Z:7.23 [[-7.82389432e-01 -6.22478772e-01 1.96711779e-02 1.49794540e+02] [ 6.22228788e-01 -7.82635009e-01 -1.77137861e-02 1.31421552e+02] [ 2.64218083e-02 -1.61910588e-03 9.99649572e-01 7.23042106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.560714057 meters Centerline goodness : 0.989864 Centerline is valid? [True, True] Translation: X:149.80, Y:131.41, Z:7.23 [[-7.83397364e-01 -6.21209091e-01 1.96935374e-02 1.49799435e+02] [ 6.20959329e-01 -7.83643167e-01 -1.76889287e-02 1.31414792e+02] [ 2.64212293e-02 -1.62857439e-03 9.99649572e-01 7.23215148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.590714057 meters Centerline goodness : 0.990343 Centerline is valid? [True, True] Translation: X:149.79, Y:131.42, Z:7.23 [[-7.84051656e-01 -6.20384872e-01 1.96369998e-02 1.49787386e+02] [ 6.20133288e-01 -7.84295595e-01 -1.77517343e-02 1.31423748e+02] [ 2.64141198e-02 -1.74071942e-03 9.99649571e-01 7.23223433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.620714057 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:149.79, Y:131.42, Z:7.23 [[-7.84773134e-01 -6.19471236e-01 1.96600172e-02 1.49788084e+02] [ 6.19220003e-01 -7.85017433e-01 -1.77261769e-02 1.31421236e+02] [ 2.64143130e-02 -1.73715152e-03 9.99649572e-01 7.23341638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.650714057 meters Centerline goodness : 0.990581 Centerline is valid? [True, True] Translation: X:149.79, Y:131.41, Z:7.23 [[-7.85761971e-01 -6.18215780e-01 1.96818517e-02 1.49794571e+02] [ 6.17964759e-01 -7.86006487e-01 -1.77019440e-02 1.31412311e+02] [ 2.64136842e-02 -1.74682370e-03 9.99649572e-01 7.23346383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.680714057 meters Centerline goodness : 0.990717 Centerline is valid? [True, True] Translation: X:149.79, Y:131.42, Z:7.23 [[-7.85680146e-01 -6.18320428e-01 1.96610456e-02 1.49790339e+02] [ 6.18068866e-01 -7.85924106e-01 -1.77250211e-02 1.31415803e+02] [ 2.64118323e-02 -1.77431697e-03 9.99649572e-01 7.23339459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.710714057 meters Centerline goodness : 0.990507 Centerline is valid? [True, True] Translation: X:149.78, Y:131.42, Z:7.23 [[-7.86182780e-01 -6.17679828e-01 1.97044810e-02 1.49784366e+02] [ 6.17429264e-01 -7.86427767e-01 -1.76768541e-02 1.31417140e+02] [ 2.64147872e-02 -1.73111513e-03 9.99649570e-01 7.23421363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.740714057 meters Centerline goodness : 0.990063 Centerline is valid? [True, True] Translation: X:149.78, Y:131.42, Z:7.23 [[-7.85864760e-01 -6.18084657e-01 1.96961046e-02 1.49784986e+02] [ 6.17833988e-01 -7.86109639e-01 -1.76861358e-02 1.31415146e+02] [ 2.64148269e-02 -1.72998800e-03 9.99649571e-01 7.23377559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.770714057 meters Centerline goodness : 0.991290 Centerline is valid? [True, True] Translation: X:149.78, Y:131.42, Z:7.23 [[-7.84826969e-01 -6.19402127e-01 1.96884531e-02 1.49779683e+02] [ 6.19151658e-01 -7.85072051e-01 -1.76946077e-02 1.31416956e+02] [ 2.64169319e-02 -1.69706694e-03 9.99649571e-01 7.23154659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.800714057 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:149.78, Y:131.42, Z:7.23 [[-7.84771023e-01 -6.19474536e-01 1.96402673e-02 1.49780087e+02] [ 6.19222765e-01 -7.85014764e-01 -1.77479141e-02 1.31415603e+02] [ 2.64122807e-02 -1.76634812e-03 9.99649574e-01 7.23104705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.830714057 meters Centerline goodness : 0.991533 Centerline is valid? [True, True] Translation: X:149.79, Y:131.41, Z:7.23 [[-7.83867362e-01 -6.20617117e-01 1.96558764e-02 1.49790022e+02] [ 6.20366130e-01 -7.84111911e-01 -1.77306527e-02 1.31406070e+02] [ 2.64163534e-02 -1.70463994e-03 9.99649574e-01 7.22887119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.860714057 meters Centerline goodness : 0.990729 Centerline is valid? [True, True] Translation: X:149.78, Y:131.41, Z:7.23 [[-7.83881912e-01 -6.20600149e-01 1.96112962e-02 1.49782706e+02] [ 6.20347933e-01 -7.84125192e-01 -1.77799079e-02 1.31409042e+02] [ 2.64119249e-02 -1.77152115e-03 9.99649575e-01 7.22904188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.890714057 meters Centerline goodness : 0.991035 Centerline is valid? [True, True] Translation: X:149.78, Y:131.41, Z:7.23 [[-7.82642459e-01 -6.22161781e-01 1.96341672e-02 1.49783438e+02] [ 6.21910679e-01 -7.82886889e-01 -1.77546504e-02 1.31406562e+02] [ 2.64175969e-02 -1.68484496e-03 9.99649575e-01 7.22817005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.920714057 meters Centerline goodness : 0.991256 Centerline is valid? [True, True] Translation: X:149.80, Y:131.39, Z:7.23 [[-7.79313690e-01 -6.26328470e-01 1.95657947e-02 1.49801271e+02] [ 6.26076790e-01 -7.79557529e-01 -1.78300954e-02 1.31388596e+02] [ 2.64201590e-02 -1.64554751e-03 9.99649572e-01 7.22752726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.950714057 meters Centerline goodness : 0.991283 Centerline is valid? [True, True] Translation: X:149.79, Y:131.40, Z:7.23 [[-7.78628269e-01 -6.27183770e-01 1.94560105e-02 1.49791171e+02] [ 6.26929347e-01 -7.78869277e-01 -1.79511232e-02 1.31396066e+02] [ 2.64123419e-02 -1.77970804e-03 9.99649549e-01 7.22770225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.980714057 meters Centerline goodness : 0.991593 Centerline is valid? [True, True] Translation: X:149.79, Y:131.39, Z:7.23 [[-7.77345579e-01 -6.28773150e-01 1.94467756e-02 1.49791664e+02] [ 6.28518966e-01 -7.77586844e-01 -1.79612971e-02 1.31391025e+02] [ 2.64151382e-02 -1.73946765e-03 9.99649546e-01 7.22833857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.01071405700003 meters Centerline goodness : 0.990736 Centerline is valid? [True, True] Translation: X:149.79, Y:131.39, Z:7.23 [[-7.75347303e-01 -6.31236442e-01 1.94194321e-02 1.49790528e+02] [ 6.30982276e-01 -7.75588600e-01 -1.79914031e-02 1.31388051e+02] [ 2.64183194e-02 -1.69626837e-03 9.99649536e-01 7.23105709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.040714057 meters Centerline goodness : 0.990736 Centerline is valid? [True, True] Translation: X:149.79, Y:131.39, Z:7.23 [[-7.75118501e-01 -6.31516383e-01 1.94516607e-02 1.49788496e+02] [ 6.31263187e-01 -7.75360802e-01 -1.79559376e-02 1.31389767e+02] [ 2.64215240e-02 -1.63886214e-03 9.99649547e-01 7.23114603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.07071405700003 meters Centerline goodness : 0.990846 Centerline is valid? [True, True] Translation: X:149.78, Y:131.39, Z:7.23 [[-7.74047583e-01 -6.32828745e-01 1.94453012e-02 1.49782109e+02] [ 6.32575786e-01 -7.74290132e-01 -1.79629309e-02 1.31391648e+02] [ 2.64237638e-02 -1.60353654e-03 9.99649545e-01 7.23236633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.100714057 meters Centerline goodness : 0.990692 Centerline is valid? [True, True] Translation: X:149.78, Y:131.39, Z:7.23 [[-7.73336682e-01 -6.33696383e-01 1.94748713e-02 1.49782378e+02] [ 6.33444510e-01 -7.73580347e-01 -1.79304301e-02 1.31390473e+02] [ 2.64278264e-02 -1.53000903e-03 9.99649553e-01 7.23278917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.130714057 meters Centerline goodness : 0.990248 Centerline is valid? [True, True] Translation: X:149.77, Y:131.40, Z:7.23 [[-7.73469825e-01 -6.33534803e-01 1.94443420e-02 1.49769290e+02] [ 6.33282040e-01 -7.73712578e-01 -1.79639707e-02 1.31400586e+02] [ 2.64251327e-02 -1.58083672e-03 9.99649545e-01 7.23220028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.160714057 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:149.77, Y:131.40, Z:7.23 [[-7.73273752e-01 -6.33776021e-01 1.93819157e-02 1.49772452e+02] [ 6.33521623e-01 -7.73514823e-01 -1.80325148e-02 1.31395746e+02] [ 2.64207746e-02 -1.66520767e-03 9.99649523e-01 7.23260786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.190714057 meters Centerline goodness : 0.990483 Centerline is valid? [True, True] Translation: X:149.76, Y:131.41, Z:7.23 [[-7.73354015e-01 -6.33678457e-01 1.93695728e-02 1.49758049e+02] [ 6.33423691e-01 -7.73594705e-01 -1.80460593e-02 1.31407538e+02] [ 2.64195980e-02 -1.68684614e-03 9.99649518e-01 7.23271685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.220714057 meters Centerline goodness : 0.990823 Centerline is valid? [True, True] Translation: X:149.76, Y:131.41, Z:7.23 [[-7.73260044e-01 -6.33793860e-01 1.93454660e-02 1.49759550e+02] [ 6.33538472e-01 -7.73500090e-01 -1.80725020e-02 1.31405565e+02] [ 2.64179605e-02 -1.71864675e-03 9.99649507e-01 7.23295400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.250714057 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:149.76, Y:131.40, Z:7.23 [[-7.70503343e-01 -6.37142990e-01 1.93237999e-02 1.49763628e+02] [ 6.36888053e-01 -7.70743883e-01 -1.80962489e-02 1.31403396e+02] [ 2.64235987e-02 -1.63612299e-03 9.99649497e-01 7.23250708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.280714057 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:149.74, Y:131.42, Z:7.24 [[-7.74128974e-01 -6.32736745e-01 1.91974706e-02 1.49741907e+02] [ 6.32477024e-01 -7.74364459e-01 -1.82345843e-02 1.31419181e+02] [ 2.64035305e-02 -1.97396098e-03 9.99649417e-01 7.23516284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.310714057 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:149.76, Y:131.41, Z:7.23 [[-7.74502474e-01 -6.32283325e-01 1.90713045e-02 1.49756425e+02] [ 6.32020083e-01 -7.74734188e-01 -1.83726162e-02 1.31406067e+02] [ 2.63918904e-02 -2.17618922e-03 9.99649305e-01 7.23496630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.340714057 meters Centerline goodness : 0.992012 Centerline is valid? [True, True] Translation: X:149.75, Y:131.41, Z:7.24 [[-7.75541814e-01 -6.31000714e-01 1.93130157e-02 1.49748498e+02] [ 6.30743583e-01 -7.75780015e-01 -1.81080196e-02 1.31412120e+02] [ 2.64088249e-02 -1.86196559e-03 9.99649492e-01 7.23570755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.370714057 meters Centerline goodness : 0.990850 Centerline is valid? [True, True] Translation: X:149.76, Y:131.41, Z:7.23 [[-7.70653703e-01 -6.36962465e-01 1.92792245e-02 1.49755488e+02] [ 6.36706259e-01 -7.70892924e-01 -1.81449895e-02 1.31410635e+02] [ 2.64198950e-02 -1.70830043e-03 9.99649474e-01 7.23170626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.400714057 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:149.75, Y:131.41, Z:7.23 [[-7.75025735e-01 -6.31640246e-01 1.91235423e-02 1.49748718e+02] [ 6.31378217e-01 -7.75258733e-01 -1.83151331e-02 1.31412104e+02] [ 2.63942683e-02 -2.12051146e-03 9.99649362e-01 7.23367100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.430714057 meters Centerline goodness : 0.991945 Centerline is valid? [True, True] Translation: X:149.75, Y:131.41, Z:7.23 [[-7.72210590e-01 -6.35077662e-01 1.91616325e-02 1.49750451e+02] [ 6.34817695e-01 -7.72445838e-01 -1.82735302e-02 1.31411639e+02] [ 2.64064341e-02 -1.94687021e-03 9.99649394e-01 7.22751586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.460714057 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:149.73, Y:131.43, Z:7.23 [[-7.73672707e-01 -6.33300738e-01 1.89925567e-02 1.49732387e+02] [ 6.33035720e-01 -7.73902499e-01 -1.84580472e-02 1.31426055e+02] [ 2.63878820e-02 -2.25752052e-03 9.99649230e-01 7.23059461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.490714057 meters Centerline goodness : 0.992332 Centerline is valid? [True, True] Translation: X:149.72, Y:131.42, Z:7.23 [[-7.84836789e-01 -6.19404560e-01 1.92147149e-02 1.49721168e+02] [ 6.19141317e-01 -7.85068299e-01 -1.82152598e-02 1.31423176e+02] [ 2.63674785e-02 -2.39938211e-03 9.99649438e-01 7.23185451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.520714057 meters Centerline goodness : 0.992365 Centerline is valid? [True, True] Translation: X:149.72, Y:131.42, Z:7.23 [[-7.84588579e-01 -6.19708763e-01 1.95399758e-02 1.49719639e+02] [ 6.19454304e-01 -7.84829540e-01 -1.78593961e-02 1.31423405e+02] [ 2.64031745e-02 -1.90815612e-03 9.99649554e-01 7.23245954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.550714057 meters Centerline goodness : 0.992217 Centerline is valid? [True, True] Translation: X:149.74, Y:131.42, Z:7.23 [[-7.72556974e-01 -6.34644927e-01 1.95330313e-02 1.49737940e+02] [ 6.34394945e-01 -7.72802578e-01 -1.78669882e-02 1.31416430e+02] [ 2.64343704e-02 -1.41161002e-03 9.99649554e-01 7.23231567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.580714057 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:149.73, Y:131.42, Z:7.23 [[-7.74050690e-01 -6.32836866e-01 1.90533786e-02 1.49732466e+02] [ 6.32573373e-01 -7.74282081e-01 -1.83898749e-02 1.31420677e+02] [ 2.63904804e-02 -2.18203536e-03 9.99649329e-01 7.23348408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.610714057 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:149.73, Y:131.42, Z:7.23 [[-7.75181072e-01 -6.31448723e-01 1.91524452e-02 1.49731845e+02] [ 6.31187454e-01 -7.75414838e-01 -1.82818488e-02 1.31421251e+02] [ 2.63951403e-02 -2.08296001e-03 9.99649417e-01 7.23430189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.640714057 meters Centerline goodness : 0.990171 Centerline is valid? [True, True] Translation: X:149.73, Y:131.42, Z:7.23 [[-7.76585930e-01 -6.29715790e-01 1.92955309e-02 1.49731233e+02] [ 6.29457829e-01 -7.76823208e-01 -1.81258043e-02 1.31421278e+02] [ 2.64033214e-02 -1.93052160e-03 9.99649507e-01 7.23455602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.670714057 meters Centerline goodness : 0.991627 Centerline is valid? [True, True] Translation: X:149.71, Y:131.44, Z:7.24 [[-7.77632545e-01 -6.28420004e-01 1.93887338e-02 1.49706621e+02] [ 6.28164155e-01 -7.77872049e-01 -1.80241524e-02 1.31440500e+02] [ 2.64086920e-02 -1.83685992e-03 9.99649542e-01 7.23569224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.700714057 meters Centerline goodness : 0.991757 Centerline is valid? [True, True] Translation: X:149.71, Y:131.44, Z:7.23 [[-7.77748503e-01 -6.28285794e-01 1.90847069e-02 1.49711577e+02] [ 6.28021791e-01 -7.77979251e-01 -1.83552425e-02 1.31435600e+02] [ 2.63798441e-02 -2.29015061e-03 9.99649368e-01 7.23440005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.730714057 meters Centerline goodness : 0.991510 Centerline is valid? [True, True] Translation: X:149.71, Y:131.44, Z:7.24 [[-7.78877257e-01 -6.26884759e-01 1.91237526e-02 1.49706524e+02] [ 6.26621371e-01 -7.79108658e-01 -1.83127411e-02 1.31439270e+02] [ 2.63794596e-02 -2.28002549e-03 9.99649401e-01 7.23549049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76071405700003 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:149.70, Y:131.44, Z:7.23 [[-7.79382978e-01 -6.26251334e-01 1.92728061e-02 1.49703381e+02] [ 6.25991715e-01 -7.79618454e-01 -1.81504480e-02 1.31439803e+02] [ 2.63921776e-02 -2.08153329e-03 9.99649499e-01 7.23473579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.790714057 meters Centerline goodness : 0.991289 Centerline is valid? [True, True] Translation: X:149.70, Y:131.44, Z:7.23 [[-7.79971022e-01 -6.25518432e-01 1.92845869e-02 1.49698407e+02] [ 6.25258906e-01 -7.80206593e-01 -1.81376243e-02 1.31441326e+02] [ 2.63913801e-02 -2.08896163e-03 9.99649504e-01 7.23299681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82071405700003 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:149.67, Y:131.46, Z:7.23 [[-7.81625481e-01 -6.23448908e-01 1.93149287e-02 1.49672843e+02] [ 6.23189565e-01 -7.81861234e-01 -1.81046026e-02 1.31461326e+02] [ 2.63888887e-02 -2.11415672e-03 9.99649517e-01 7.23081951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.850714057 meters Centerline goodness : 0.991603 Centerline is valid? [True, True] Translation: X:149.70, Y:131.43, Z:7.23 [[-7.79208305e-01 -6.26468415e-01 1.92806292e-02 1.49703717e+02] [ 6.26209071e-01 -7.79444078e-01 -1.81419102e-02 1.31433689e+02] [ 2.63935060e-02 -2.06262216e-03 9.99649503e-01 7.23282384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.880714057 meters Centerline goodness : 0.990888 Centerline is valid? [True, True] Translation: X:149.69, Y:131.44, Z:7.23 [[-7.80547657e-01 -6.24803293e-01 1.91363343e-02 1.49691646e+02] [ 6.24539632e-01 -7.80778719e-01 -1.82986267e-02 1.31441808e+02] [ 2.63742849e-02 -2.33155102e-03 9.99649419e-01 7.23388235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.910714057 meters Centerline goodness : 0.990888 Centerline is valid? [True, True] Translation: X:149.69, Y:131.44, Z:7.23 [[-7.80308742e-01 -6.25093797e-01 1.93910145e-02 1.49689529e+02] [ 6.24836986e-01 -7.80547216e-01 -1.80217959e-02 1.31443453e+02] [ 2.64009153e-02 -1.94634183e-03 9.99649540e-01 7.23410864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.940714057 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:149.70, Y:131.43, Z:7.23 [[-7.78956677e-01 -6.26778167e-01 1.93810538e-02 1.49704307e+02] [ 6.26521604e-01 -7.79195421e-01 -1.80326137e-02 1.31429357e+02] [ 2.64040769e-02 -1.90397587e-03 9.99649538e-01 7.23410358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.970714057 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:149.68, Y:131.45, Z:7.24 [[-7.78322018e-01 -6.27567088e-01 1.93490342e-02 1.49678249e+02] [ 6.27309910e-01 -7.78560111e-01 -1.80673748e-02 1.31450251e+02] [ 2.64028760e-02 -1.92439474e-03 9.99649531e-01 7.23659606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.000714057 meters Centerline goodness : 0.989952 Centerline is valid? [True, True] Translation: X:149.68, Y:131.44, Z:7.23 [[-7.78146511e-01 -6.27785331e-01 1.93283487e-02 1.49683505e+02] [ 6.27527667e-01 -7.78384086e-01 -1.80898214e-02 1.31444070e+02] [ 2.64014036e-02 -1.94745787e-03 9.99649525e-01 7.23468079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.030714057 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:149.69, Y:131.44, Z:7.24 [[-7.74883654e-01 -6.31806520e-01 1.93867055e-02 1.49689806e+02] [ 6.31551659e-01 -7.75124214e-01 -1.80265169e-02 1.31435873e+02] [ 2.64163758e-02 -1.72474726e-03 9.99649539e-01 7.23864113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.060714057 meters Centerline goodness : 0.991359 Centerline is valid? [True, True] Translation: X:149.69, Y:131.43, Z:7.24 [[-7.73796718e-01 -6.33147942e-01 1.90347706e-02 1.49693211e+02] [ 6.32884121e-01 -7.74027685e-01 -1.84073769e-02 1.31432270e+02] [ 2.63880322e-02 -2.19676371e-03 9.99649362e-01 7.23703249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.090714057 meters Centerline goodness : 0.991022 Centerline is valid? [True, True] Translation: X:149.70, Y:131.43, Z:7.24 [[-7.73459792e-01 -6.33559805e-01 1.90242870e-02 1.49695309e+02] [ 6.33295831e-01 -7.73690598e-01 -1.84187137e-02 1.31430032e+02] [ 2.63882686e-02 -2.19813286e-03 9.99649352e-01 7.23533942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.120714057 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:149.68, Y:131.44, Z:7.23 [[-7.72483561e-01 -6.34743951e-01 1.92162890e-02 1.49682936e+02] [ 6.34485428e-01 -7.72720260e-01 -1.82110223e-02 1.31439883e+02] [ 2.64081521e-02 -1.87526002e-03 9.99649485e-01 7.23400024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.150714057 meters Centerline goodness : 0.991153 Centerline is valid? [True, True] Translation: X:149.68, Y:131.44, Z:7.24 [[-7.73067568e-01 -6.34039096e-01 1.89989303e-02 1.49683618e+02] [ 6.33774605e-01 -7.73297809e-01 -1.84458306e-02 1.31438506e+02] [ 2.63872089e-02 -2.21883391e-03 9.99649335e-01 7.23627580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.180714057 meters Centerline goodness : 0.990245 Centerline is valid? [True, True] Translation: X:149.68, Y:131.44, Z:7.23 [[-7.74179831e-01 -6.32675741e-01 1.91571508e-02 1.49676295e+02] [ 6.32415018e-01 -7.74414149e-01 -1.82748597e-02 1.31443883e+02] [ 2.63976291e-02 -2.03275793e-03 9.99649455e-01 7.23478169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.210714057 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:149.69, Y:131.43, Z:7.23 [[-7.72964858e-01 -6.34158530e-01 1.91908012e-02 1.49686481e+02] [ 6.33899150e-01 -7.73200636e-01 -1.82385258e-02 1.31432866e+02] [ 2.64044565e-02 -1.93270694e-03 9.99649473e-01 7.23040491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.240714057 meters Centerline goodness : 0.990677 Centerline is valid? [True, True] Translation: X:149.68, Y:131.44, Z:7.23 [[-7.73924847e-01 -6.32994395e-01 1.89321745e-02 1.49683891e+02] [ 6.32727863e-01 -7.74152804e-01 -1.85172132e-02 1.31435762e+02] [ 2.63776882e-02 -2.35201708e-03 9.99649281e-01 7.23072937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.270714057 meters Centerline goodness : 0.991629 Centerline is valid? [True, True] Translation: X:149.69, Y:131.43, Z:7.23 [[-7.74477855e-01 -6.32312220e-01 1.91130288e-02 1.49686478e+02] [ 6.32050227e-01 -7.74710788e-01 -1.83222543e-02 1.31431010e+02] [ 2.63924550e-02 -2.10978601e-03 9.99649432e-01 7.23275223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.300714057 meters Centerline goodness : 0.992141 Centerline is valid? [True, True] Translation: X:149.68, Y:131.44, Z:7.23 [[-7.75268592e-01 -6.31345899e-01 1.89991336e-02 1.49676204e+02] [ 6.31080632e-01 -7.75497918e-01 -1.84449226e-02 1.31437203e+02] [ 2.63789148e-02 -2.30978398e-03 9.99649347e-01 7.23148464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.330714057 meters Centerline goodness : 0.991404 Centerline is valid? [True, True] Translation: X:149.56, Y:131.53, Z:7.23 [[-7.89004185e-01 -6.14096436e-01 1.89199129e-02 1.49561552e+02] [ 6.13824157e-01 -7.89225268e-01 -1.85305303e-02 1.31531212e+02] [ 2.63116059e-02 -3.00716634e-03 9.99649267e-01 7.23338394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.360714057 meters Centerline goodness : 0.991056 Centerline is valid? [True, True] Translation: X:149.71, Y:131.41, Z:7.23 [[-7.67442938e-01 -6.40817024e-01 1.96183196e-02 1.49708207e+02] [ 6.40571407e-01 -7.67692901e-01 -1.77730617e-02 1.31412424e+02] [ 2.64501252e-02 -1.07287612e-03 9.99649559e-01 7.23084815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.390714057 meters Centerline goodness : 0.991238 Centerline is valid? [True, True] Translation: X:149.52, Y:131.56, Z:7.24 [[-7.89740578e-01 -6.13149531e-01 1.89069388e-02 1.49524431e+02] [ 6.12876707e-01 -7.89960956e-01 -1.85426588e-02 1.31559942e+02] [ 2.63051659e-02 -3.05626770e-03 9.99649287e-01 7.24474658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.420714057 meters Centerline goodness : 0.991057 Centerline is valid? [True, True] Translation: X:149.63, Y:131.46, Z:7.24 [[-7.87310830e-01 -6.16246367e-01 1.95466594e-02 1.49629290e+02] [ 6.15991109e-01 -7.87550866e-01 -1.78490060e-02 1.31462805e+02] [ 2.63933737e-02 -2.01214734e-03 9.99649609e-01 7.23601421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.450714057 meters Centerline goodness : 0.991343 Centerline is valid? [True, True] Translation: X:149.64, Y:131.45, Z:7.24 [[-7.86987684e-01 -6.16662105e-01 1.94482202e-02 1.49638722e+02] [ 6.16404364e-01 -7.87225035e-01 -1.79556286e-02 1.31452885e+02] [ 2.63826816e-02 -2.14289083e-03 9.99649620e-01 7.23653786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.480714057 meters Centerline goodness : 0.991402 Centerline is valid? [True, True] Translation: X:149.63, Y:131.46, Z:7.24 [[-7.86709699e-01 -6.17016932e-01 1.94410693e-02 1.49626513e+02] [ 6.16759108e-01 -7.86946961e-01 -1.79633678e-02 1.31463551e+02] [ 2.63827925e-02 -2.14149910e-03 9.99649620e-01 7.23705772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.51071405700003 meters Centerline goodness : 0.990029 Centerline is valid? [True, True] Translation: X:149.67, Y:131.43, Z:7.24 [[-7.76536421e-01 -6.29772585e-01 1.94339228e-02 1.49673257e+02] [ 6.29518476e-01 -7.76777657e-01 -1.79710960e-02 1.31430521e+02] [ 2.64135406e-02 -1.72119713e-03 9.99649620e-01 7.23720044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.540714057 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:149.67, Y:131.43, Z:7.23 [[-7.75697354e-01 -6.30816972e-01 1.90673362e-02 1.49667690e+02] [ 6.30553466e-01 -7.75928478e-01 -1.83663619e-02 1.31434374e+02] [ 2.63807020e-02 -2.22376338e-03 9.99649495e-01 7.23270944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.57071405700003 meters Centerline goodness : 0.989727 Centerline is valid? [True, True] Translation: X:149.63, Y:131.46, Z:7.24 [[-7.79195458e-01 -6.26494597e-01 1.89461895e-02 1.49632990e+02] [ 6.26226663e-01 -7.79421598e-01 -1.84970028e-02 1.31462794e+02] [ 2.63553416e-02 -2.54817157e-03 9.99649390e-01 7.23660576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.600714057 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:149.64, Y:131.46, Z:7.23 [[-7.77495553e-01 -6.28595949e-01 1.91780727e-02 1.49639673e+02] [ 6.28334695e-01 -7.77729110e-01 -1.82467096e-02 1.31456383e+02] [ 2.63851531e-02 -2.13648707e-03 9.99649568e-01 7.23402493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.630714057 meters Centerline goodness : 0.989397 Centerline is valid? [True, True] Translation: X:149.65, Y:131.44, Z:7.23 [[-7.74795127e-01 -6.31923809e-01 1.91000396e-02 1.49654222e+02] [ 6.31661500e-01 -7.75027567e-01 -1.83308448e-02 1.31440737e+02] [ 2.63867545e-02 -2.13788958e-03 9.99649523e-01 7.23441611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.660714057 meters Centerline goodness : 0.990496 Centerline is valid? [True, True] Translation: X:149.65, Y:131.44, Z:7.24 [[-7.72534641e-01 -6.34683196e-01 1.91694924e-02 1.49653121e+02] [ 6.34423556e-01 -7.72769998e-01 -1.82560059e-02 1.31439887e+02] [ 2.64003888e-02 -1.94181942e-03 9.99649563e-01 7.23610934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.690714057 meters Centerline goodness : 0.988366 Centerline is valid? [True, True] Translation: X:149.65, Y:131.44, Z:7.24 [[-7.68065913e-01 -6.40088095e-01 1.90258701e-02 1.49654800e+02] [ 6.39826297e-01 -7.68299004e-01 -1.84105965e-02 1.31436768e+02] [ 2.64019608e-02 -1.96729961e-03 9.99649472e-01 7.23549223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.720714057 meters Centerline goodness : 0.989243 Centerline is valid? [True, True] Translation: X:149.66, Y:131.43, Z:7.24 [[-7.66091949e-01 -6.42445329e-01 1.91604959e-02 1.49656199e+02] [ 6.42187837e-01 -7.66329660e-01 -1.82656711e-02 1.31433787e+02] [ 2.64179514e-02 -1.68854621e-03 9.99649559e-01 7.23610723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.750714057 meters Centerline goodness : 0.988286 Centerline is valid? [True, True] Translation: X:149.65, Y:131.44, Z:7.24 [[-7.63120674e-01 -6.45973731e-01 1.90990837e-02 1.49652361e+02] [ 6.45715691e-01 -7.63357841e-01 -1.83317287e-02 1.31435913e+02] [ 2.64212505e-02 -1.65674316e-03 9.99649525e-01 7.23744577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.780714057 meters Centerline goodness : 0.988716 Centerline is valid? [True, True] Translation: X:149.66, Y:131.43, Z:7.24 [[-7.61471179e-01 -6.47920622e-01 1.89871199e-02 1.49657080e+02] [ 6.47660195e-01 -7.61705844e-01 -1.84520526e-02 1.31432750e+02] [ 2.64180656e-02 -1.75350447e-03 9.99649444e-01 7.23564253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.810714057 meters Centerline goodness : 0.988932 Centerline is valid? [True, True] Translation: X:149.65, Y:131.44, Z:7.24 [[-7.61254083e-01 -6.48173422e-01 1.90639988e-02 1.49649484e+02] [ 6.47915126e-01 -7.61491006e-01 -1.83694547e-02 1.31438531e+02] [ 2.64236559e-02 -1.63196925e-03 9.99649502e-01 7.23829584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.840714057 meters Centerline goodness : 0.988004 Centerline is valid? [True, True] Translation: X:149.66, Y:131.43, Z:7.24 [[-7.60895168e-01 -6.48597820e-01 1.89581499e-02 1.49657366e+02] [ 6.48336833e-01 -7.61129244e-01 -1.84830802e-02 1.31430245e+02] [ 2.64176878e-02 -1.77241956e-03 9.99649421e-01 7.23763843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.870714057 meters Centerline goodness : 0.988204 Centerline is valid? [True, True] Translation: X:149.65, Y:131.44, Z:7.24 [[-7.60078827e-01 -6.49547902e-01 1.91755359e-02 1.49648800e+02] [ 6.49293036e-01 -7.60319344e-01 -1.82496140e-02 1.31436784e+02] [ 2.64335294e-02 -1.42060323e-03 9.99649564e-01 7.24003283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.900714057 meters Centerline goodness : 0.988379 Centerline is valid? [True, True] Translation: X:149.65, Y:131.44, Z:7.24 [[-7.61549268e-01 -6.47824876e-01 1.91217704e-02 1.49650287e+02] [ 6.47568022e-01 -7.61787699e-01 -1.83073171e-02 1.31435746e+02] [ 2.64266649e-02 -1.55927686e-03 9.99649539e-01 7.24002108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.930714057 meters Centerline goodness : 0.989816 Centerline is valid? [True, True] Translation: X:149.64, Y:131.44, Z:7.24 [[-7.61071746e-01 -6.48383677e-01 1.91938841e-02 1.49640252e+02] [ 6.48128937e-01 -7.61312387e-01 -1.82299454e-02 1.31443535e+02] [ 2.64325407e-02 -1.43418469e-03 9.99649571e-01 7.24397355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.960714057 meters Centerline goodness : 0.988862 Centerline is valid? [True, True] Translation: X:149.63, Y:131.46, Z:7.24 [[-7.62576089e-01 -6.46620322e-01 1.89701743e-02 1.49630130e+02] [ 6.46359058e-01 -7.62809830e-01 -1.84697472e-02 1.31455209e+02] [ 2.64135493e-02 -1.82304360e-03 9.99649439e-01 7.24337869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.990714057 meters Centerline goodness : 0.990423 Centerline is valid? [True, True] Translation: X:149.65, Y:131.44, Z:7.24 [[-7.60731671e-01 -6.48783602e-01 1.91614875e-02 1.49650589e+02] [ 6.48528118e-01 -7.60971539e-01 -1.82646575e-02 1.31436911e+02] [ 2.64311569e-02 -1.46773993e-03 9.99649558e-01 7.24146328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.020714057 meters Centerline goodness : 0.988916 Centerline is valid? [True, True] Translation: X:149.64, Y:131.45, Z:7.24 [[-7.63141396e-01 -6.45955409e-01 1.88896564e-02 1.49643708e+02] [ 6.45691830e-01 -7.63372618e-01 -1.85555021e-02 1.31445066e+02] [ 2.64058734e-02 -1.96357499e-03 9.99649376e-01 7.24211136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.050714057 meters Centerline goodness : 0.988173 Centerline is valid? [True, True] Translation: X:149.64, Y:131.45, Z:7.24 [[-7.65684118e-01 -6.42931530e-01 1.91540792e-02 1.49638571e+02] [ 6.42674023e-01 -7.65921812e-01 -1.82723320e-02 1.31451492e+02] [ 2.64183854e-02 -1.68100527e-03 9.99649560e-01 7.24244571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.080714057 meters Centerline goodness : 0.987970 Centerline is valid? [True, True] Translation: X:149.64, Y:131.45, Z:7.24 [[-7.67183567e-01 -6.41139698e-01 1.92161965e-02 1.49639200e+02] [ 6.40883288e-01 -7.67422413e-01 -1.82058229e-02 1.31454893e+02] [ 2.64194157e-02 -1.65186901e-03 9.99649582e-01 7.24296534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.110714057 meters Centerline goodness : 0.988211 Centerline is valid? [True, True] Translation: X:149.64, Y:131.45, Z:7.24 [[-7.68159279e-01 -6.39971332e-01 1.91837647e-02 1.49644411e+02] [ 6.39713698e-01 -7.68396817e-01 -1.82405273e-02 1.31451762e+02] [ 2.64141583e-02 -1.73951322e-03 9.99649572e-01 7.24154251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.140714057 meters Centerline goodness : 0.988248 Centerline is valid? [True, True] Translation: X:149.64, Y:131.46, Z:7.24 [[-7.68650190e-01 -6.39379839e-01 1.92433837e-02 1.49640976e+02] [ 6.39123605e-01 -7.68889214e-01 -1.81767444e-02 1.31456779e+02] [ 2.64178741e-02 -1.67265728e-03 9.99649588e-01 7.23957712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.170714057 meters Centerline goodness : 0.987869 Centerline is valid? [True, True] Translation: X:149.64, Y:131.46, Z:7.24 [[-7.70569345e-01 -6.37065745e-01 1.92385079e-02 1.49644617e+02] [ 6.36808664e-01 -7.70807461e-01 -1.81819574e-02 1.31457152e+02] [ 2.64122876e-02 -1.75921052e-03 9.99649587e-01 7.24220494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.200714057 meters Centerline goodness : 0.988579 Centerline is valid? [True, True] Translation: X:149.64, Y:131.46, Z:7.24 [[-7.69619813e-01 -6.38210514e-01 1.93049972e-02 1.49644205e+02] [ 6.37955554e-01 -7.69860186e-01 -1.81108932e-02 1.31458618e+02] [ 2.64207113e-02 -1.62277205e-03 9.99649595e-01 7.24459709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.230714057 meters Centerline goodness : 0.988938 Centerline is valid? [True, True] Translation: X:149.64, Y:131.47, Z:7.24 [[-7.70845369e-01 -6.36734384e-01 1.91504865e-02 1.49637964e+02] [ 6.36474881e-01 -7.71080876e-01 -1.82758879e-02 1.31466817e+02] [ 2.64034601e-02 -1.89907994e-03 9.99649564e-01 7.24280718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26071405700003 meters Centerline goodness : 0.987969 Centerline is valid? [True, True] Translation: X:149.63, Y:131.48, Z:7.24 [[-7.70028302e-01 -6.37719481e-01 1.92426034e-02 1.49626489e+02] [ 6.37462713e-01 -7.70266751e-01 -1.81775012e-02 1.31480675e+02] [ 2.64140842e-02 -1.73074817e-03 9.99649589e-01 7.24244344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.290714057 meters Centerline goodness : 0.988448 Centerline is valid? [True, True] Translation: X:149.65, Y:131.47, Z:7.24 [[-7.66373884e-01 -6.42107193e-01 1.92203682e-02 1.49646084e+02] [ 6.41851199e-01 -7.66613171e-01 -1.82012370e-02 1.31467492e+02] [ 2.64217326e-02 -1.61233627e-03 9.99649585e-01 7.24184142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32071405700003 meters Centerline goodness : 0.988218 Centerline is valid? [True, True] Translation: X:149.64, Y:131.47, Z:7.24 [[-7.65310069e-01 -6.43376268e-01 1.91696428e-02 1.49640854e+02] [ 6.43119323e-01 -7.65548352e-01 -1.82553343e-02 1.31472255e+02] [ 2.64203374e-02 -1.64262344e-03 9.99649572e-01 7.24265102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.350714057 meters Centerline goodness : 0.987039 Centerline is valid? [True, True] Translation: X:149.65, Y:131.47, Z:7.24 [[-7.60891370e-01 -6.48594088e-01 1.92362188e-02 1.49647854e+02] [ 6.48340560e-01 -7.61133265e-01 -1.81843545e-02 1.31467611e+02] [ 2.64355909e-02 -1.36469753e-03 9.99649587e-01 7.24383917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.380714057 meters Centerline goodness : 0.986392 Centerline is valid? [True, True] Translation: X:149.64, Y:131.48, Z:7.25 [[-7.60498722e-01 -6.49056645e-01 1.91615511e-02 1.49637889e+02] [ 6.48801266e-01 -7.60738685e-01 -1.82639176e-02 1.31477559e+02] [ 2.64312503e-02 -1.45764740e-03 9.99649571e-01 7.24554258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.410714057 meters Centerline goodness : 0.987225 Centerline is valid? [True, True] Translation: X:149.63, Y:131.48, Z:7.25 [[-7.58712193e-01 -6.51143910e-01 1.91681225e-02 1.49634899e+02] [ 6.50889367e-01 -7.58953040e-01 -1.82569164e-02 1.31482973e+02] [ 2.64355847e-02 -1.37541795e-03 9.99649573e-01 7.24514663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.440714057 meters Centerline goodness : 0.988208 Centerline is valid? [True, True] Translation: X:149.64, Y:131.48, Z:7.24 [[-7.55182203e-01 -6.55234224e-01 1.91820738e-02 1.49643216e+02] [ 6.54981362e-01 -7.55424810e-01 -1.82420587e-02 1.31480242e+02] [ 2.64434356e-02 -1.21217727e-03 9.99649576e-01 7.24311158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.470714057 meters Centerline goodness : 0.986988 Centerline is valid? [True, True] Translation: X:149.65, Y:131.48, Z:7.24 [[-7.53882665e-01 -6.56736767e-01 1.89141870e-02 1.49649078e+02] [ 6.56477221e-01 -7.54118304e-01 -1.85268016e-02 1.31478074e+02] [ 2.64307664e-02 -1.55030164e-03 9.99649444e-01 7.24237588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.500714057 meters Centerline goodness : 0.986792 Centerline is valid? [True, True] Translation: X:149.65, Y:131.48, Z:7.24 [[-7.50762846e-01 -6.60295939e-01 1.90898268e-02 1.49650319e+02] [ 6.60042223e-01 -7.51004598e-01 -1.83400484e-02 1.31482539e+02] [ 2.64464072e-02 -1.16893521e-03 9.99649549e-01 7.24482071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.530714057 meters Centerline goodness : 0.987287 Centerline is valid? [True, True] Translation: X:149.66, Y:131.48, Z:7.24 [[-7.49576516e-01 -6.61647402e-01 1.89145932e-02 1.49655604e+02] [ 6.61389419e-01 -7.49813857e-01 -1.85260872e-02 1.31480749e+02] [ 2.64401615e-02 -1.37680810e-03 9.99649450e-01 7.24246999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.560714057 meters Centerline goodness : 0.987870 Centerline is valid? [True, True] Translation: X:149.65, Y:131.50, Z:7.24 [[-7.43939902e-01 -6.67980138e-01 1.88668231e-02 1.49649569e+02] [ 6.67722894e-01 -7.44178098e-01 -1.85767610e-02 1.31500851e+02] [ 2.64491839e-02 -1.22218399e-03 9.99649412e-01 7.23866408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.590714057 meters Centerline goodness : 0.988869 Centerline is valid? [True, True] Translation: X:149.64, Y:131.51, Z:7.24 [[-7.44453199e-01 -6.67414135e-01 1.86495631e-02 1.49643276e+02] [ 6.67150923e-01 -7.44685129e-01 -1.88070340e-02 1.31510763e+02] [ 2.64401326e-02 -1.55888342e-03 9.99649183e-01 7.23740430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.620714057 meters Centerline goodness : 0.986898 Centerline is valid? [True, True] Translation: X:149.65, Y:131.51, Z:7.23 [[-7.44850735e-01 -6.66976400e-01 1.84353892e-02 1.49648135e+02] [ 6.66707426e-01 -7.45076455e-01 -1.90337818e-02 1.31514886e+02] [ 2.64308577e-02 -1.88631545e-03 9.99648864e-01 7.23362842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.650714057 meters Centerline goodness : 0.988105 Centerline is valid? [True, True] Translation: X:149.65, Y:131.51, Z:7.24 [[-7.56909011e-01 -6.53254575e-01 1.86335380e-02 1.49646362e+02] [ 6.52986623e-01 -7.57135478e-01 -1.88238865e-02 1.31508831e+02] [ 2.64049026e-02 -2.08051826e-03 9.99649165e-01 7.23606816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.680714057 meters Centerline goodness : 0.988760 Centerline is valid? [True, True] Translation: X:149.63, Y:131.54, Z:7.23 [[-7.46806564e-01 -6.64775742e-01 1.87928164e-02 1.49627393e+02] [ 6.64515508e-01 -7.47041585e-01 -1.86550112e-02 1.31538686e+02] [ 2.64404142e-02 -1.44356686e-03 9.99649349e-01 7.23317174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.710714057 meters Centerline goodness : 0.989154 Centerline is valid? [True, True] Translation: X:149.62, Y:131.54, Z:7.23 [[-7.48728737e-01 -6.62617654e-01 1.85235745e-02 1.49624795e+02] [ 6.62349664e-01 -7.48955398e-01 -1.89402666e-02 1.31543977e+02] [ 2.64234861e-02 -1.91203857e-03 9.99649010e-01 7.23431758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.740714057 meters Centerline goodness : 0.988100 Centerline is valid? [True, True] Translation: X:149.63, Y:131.55, Z:7.23 [[-7.52475441e-01 -6.58365273e-01 1.83269474e-02 1.49627106e+02] [ 6.58090939e-01 -7.52694928e-01 -1.91484271e-02 1.31545994e+02] [ 2.64012598e-02 -2.34792310e-03 9.99648669e-01 7.23159137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.770714057 meters Centerline goodness : 0.990206 Centerline is valid? [True, True] Translation: X:149.62, Y:131.55, Z:7.24 [[-7.55660385e-01 -6.54702642e-01 1.84887324e-02 1.49620672e+02] [ 6.54431387e-01 -7.55883212e-01 -1.89770642e-02 1.31546662e+02] [ 2.63996565e-02 -2.24060885e-03 9.99648957e-01 7.23636628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.800714057 meters Centerline goodness : 0.990206 Centerline is valid? [True, True] Translation: X:149.62, Y:131.55, Z:7.24 [[-7.55453385e-01 -6.54940645e-01 1.85184929e-02 1.49618678e+02] [ 6.54670228e-01 -7.55677153e-01 -1.89455432e-02 1.31548390e+02] [ 2.64022083e-02 -2.18896882e-03 9.99649004e-01 7.23645259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.830714057 meters Centerline goodness : 0.989395 Centerline is valid? [True, True] Translation: X:149.61, Y:131.56, Z:7.24 [[-7.55366814e-01 -6.55040539e-01 1.85166979e-02 1.49612447e+02] [ 6.54770105e-01 -7.55590566e-01 -1.89474436e-02 1.31556042e+02] [ 2.64023860e-02 -2.18808985e-03 9.99649002e-01 7.23837182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.860714057 meters Centerline goodness : 0.988997 Centerline is valid? [True, True] Translation: X:149.62, Y:131.55, Z:7.24 [[-7.57022197e-01 -6.53125556e-01 1.85580485e-02 1.49620210e+02] [ 6.52855620e-01 -7.57246453e-01 -1.89036616e-02 1.31546347e+02] [ 2.63994809e-02 -2.19476514e-03 9.99649064e-01 7.23835567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.890714057 meters Centerline goodness : 0.988997 Centerline is valid? [True, True] Translation: X:149.59, Y:131.57, Z:7.24 [[-7.59786890e-01 -6.49906225e-01 1.85951748e-02 1.49594062e+02] [ 6.49636292e-01 -7.60011069e-01 -1.88643389e-02 1.31567852e+02] [ 2.63925900e-02 -2.25277695e-03 9.99649117e-01 7.24008026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.920714057 meters Centerline goodness : 0.988428 Centerline is valid? [True, True] Translation: X:149.62, Y:131.55, Z:7.24 [[-7.60049191e-01 -6.49597714e-01 1.86557597e-02 1.49616769e+02] [ 6.49329250e-01 -7.60275002e-01 -1.88001709e-02 1.31545383e+02] [ 2.63960558e-02 -2.17532424e-03 9.99649197e-01 7.23874659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.950714057 meters Centerline goodness : 0.988443 Centerline is valid? [True, True] Translation: X:149.62, Y:131.54, Z:7.24 [[-7.61576924e-01 -6.47804433e-01 1.87084210e-02 1.49615042e+02] [ 6.47536794e-01 -7.61803614e-01 -1.87444481e-02 1.31543655e+02] [ 2.63948793e-02 -2.16094819e-03 9.99649259e-01 7.23820386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.980714057 meters Centerline goodness : 0.988978 Centerline is valid? [True, True] Translation: X:149.60, Y:131.55, Z:7.24 [[-7.63927762e-01 -6.45029277e-01 1.87511629e-02 1.49604895e+02] [ 6.44761913e-01 -7.64154706e-01 -1.86992356e-02 1.31549967e+02] [ 2.63903438e-02 -2.19482954e-03 9.99649305e-01 7.23882947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.01071405700003 meters Centerline goodness : 0.988323 Centerline is valid? [True, True] Translation: X:149.60, Y:131.55, Z:7.24 [[-7.68257250e-01 -6.39865671e-01 1.87808895e-02 1.49604720e+02] [ 6.39597543e-01 -7.68483244e-01 -1.86677958e-02 1.31547157e+02] [ 2.63776805e-02 -2.32945868e-03 9.99649334e-01 7.23923510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.040714057 meters Centerline goodness : 0.988426 Centerline is valid? [True, True] Translation: X:149.60, Y:131.55, Z:7.24 [[-7.69217302e-01 -6.38707158e-01 1.89185049e-02 1.49602162e+02] [ 6.38442218e-01 -7.69446854e-01 -1.85222119e-02 1.31548101e+02] [ 2.63870534e-02 -2.16923364e-03 9.99649447e-01 7.23844022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.07071405700003 meters Centerline goodness : 0.987400 Centerline is valid? [True, True] Translation: X:149.58, Y:131.57, Z:7.24 [[-7.73221629e-01 -6.33852363e-01 1.89603163e-02 1.49580526e+02] [ 6.33587055e-01 -7.73450715e-01 -1.84779870e-02 1.31566670e+02] [ 2.63771859e-02 -2.27456824e-03 9.99649474e-01 7.23882931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.100714057 meters Centerline goodness : 0.988014 Centerline is valid? [True, True] Translation: X:149.57, Y:131.58, Z:7.24 [[-7.74827851e-01 -6.31885359e-01 1.90445097e-02 1.49566339e+02] [ 6.31621628e-01 -7.75058686e-01 -1.83888991e-02 1.31577609e+02] [ 2.63802888e-02 -2.21930691e-03 9.99649516e-01 7.23860888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.130714057 meters Centerline goodness : 0.987352 Centerline is valid? [True, True] Translation: X:149.58, Y:131.57, Z:7.24 [[-7.78252160e-01 -6.27662769e-01 1.90531759e-02 1.49575168e+02] [ 6.27398008e-01 -7.78481808e-01 -1.83797315e-02 1.31565809e+02] [ 2.63688240e-02 -2.35014115e-03 9.99649520e-01 7.23852690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.160714057 meters Centerline goodness : 0.988168 Centerline is valid? [True, True] Translation: X:149.57, Y:131.57, Z:7.24 [[-7.78176812e-01 -6.27753698e-01 1.91348837e-02 1.49570487e+02] [ 6.27491056e-01 -7.78408844e-01 -1.82933369e-02 1.31569859e+02] [ 2.63784726e-02 -2.22848221e-03 9.99649544e-01 7.23850960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.190714057 meters Centerline goodness : 0.988506 Centerline is valid? [True, True] Translation: X:149.56, Y:131.58, Z:7.24 [[-7.81256228e-01 -6.23918028e-01 1.91049890e-02 1.49559786e+02] [ 6.23653486e-01 -7.81486101e-01 -1.83249325e-02 1.31576157e+02] [ 2.63635391e-02 -2.40157468e-03 9.99649537e-01 7.24072630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.220714057 meters Centerline goodness : 0.987716 Centerline is valid? [True, True] Translation: X:149.57, Y:131.57, Z:7.24 [[-7.80314026e-01 -6.25093724e-01 1.91795882e-02 1.49567090e+02] [ 6.24831435e-01 -7.80546448e-01 -1.82461169e-02 1.31569223e+02] [ 2.63760926e-02 -2.25369132e-03 9.99649550e-01 7.23939473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.250714057 meters Centerline goodness : 0.988917 Centerline is valid? [True, True] Translation: X:149.58, Y:131.55, Z:7.24 [[-7.81612304e-01 -6.23471350e-01 1.91227924e-02 1.49583504e+02] [ 6.23207132e-01 -7.81842541e-01 -1.83060617e-02 1.31550790e+02] [ 2.63643177e-02 -2.39078245e-03 9.99649542e-01 7.24025826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.280714057 meters Centerline goodness : 0.988682 Centerline is valid? [True, True] Translation: X:149.58, Y:131.55, Z:7.24 [[-7.80434630e-01 -6.24944426e-01 1.91377399e-02 1.49580911e+02] [ 6.24681022e-01 -7.80665796e-01 -1.82902918e-02 1.31554668e+02] [ 2.63705949e-02 -2.31939418e-03 9.99649545e-01 7.23951597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.310714057 meters Centerline goodness : 0.988748 Centerline is valid? [True, True] Translation: X:149.58, Y:131.56, Z:7.24 [[-7.81580564e-01 -6.23511620e-01 1.91071035e-02 1.49575461e+02] [ 6.23247014e-01 -7.81810362e-01 -1.83225982e-02 1.31557261e+02] [ 2.63624844e-02 -2.41214149e-03 9.99649539e-01 7.24086310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.340714057 meters Centerline goodness : 0.988030 Centerline is valid? [True, True] Translation: X:149.58, Y:131.55, Z:7.24 [[-7.78478525e-01 -6.27378610e-01 1.91641600e-02 1.49583139e+02] [ 6.27116607e-01 -7.78711272e-01 -1.82624502e-02 1.31549192e+02] [ 2.63808180e-02 -2.19876231e-03 9.99649548e-01 7.23971537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.370714057 meters Centerline goodness : 0.988068 Centerline is valid? [True, True] Translation: X:149.58, Y:131.55, Z:7.24 [[-7.77782090e-01 -6.28244635e-01 1.90709207e-02 1.49578926e+02] [ 6.27980508e-01 -7.78012448e-01 -1.83606304e-02 1.31550978e+02] [ 2.63723812e-02 -2.30440303e-03 9.99649532e-01 7.24005173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.400714057 meters Centerline goodness : 0.986184 Centerline is valid? [True, True] Translation: X:149.58, Y:131.54, Z:7.24 [[-7.75599389e-01 -6.30937631e-01 1.90602927e-02 1.49582464e+02] [ 6.30674033e-01 -7.75830356e-01 -1.83718129e-02 1.31544593e+02] [ 2.63790218e-02 -2.22833514e-03 9.99649529e-01 7.23985213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.430714057 meters Centerline goodness : 0.985954 Centerline is valid? [True, True] Translation: X:149.57, Y:131.55, Z:7.24 [[-7.74204645e-01 -6.32648809e-01 1.90434214e-02 1.49573266e+02] [ 6.32385290e-01 -7.74435710e-01 -1.83895531e-02 1.31553115e+02] [ 2.63820344e-02 -2.19449785e-03 9.99649525e-01 7.23995328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.460714057 meters Centerline goodness : 0.986388 Centerline is valid? [True, True] Translation: X:149.58, Y:131.55, Z:7.24 [[-7.72657907e-01 -6.34535981e-01 1.90747835e-02 1.49577374e+02] [ 6.34273831e-01 -7.72890512e-01 -1.83565932e-02 1.31546962e+02] [ 2.63906381e-02 -2.08473082e-03 9.99649533e-01 7.23989926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.490714057 meters Centerline goodness : 0.985781 Centerline is valid? [True, True] Translation: X:149.23, Y:131.87, Z:7.25 [[-7.77541888e-01 -6.28541976e-01 1.90682141e-02 1.49228248e+02] [ 6.28277867e-01 -7.77772269e-01 -1.83635164e-02 1.31869648e+02] [ 2.63729690e-02 -2.29826637e-03 9.99649531e-01 7.25376051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.520714057 meters Centerline goodness : 0.985837 Centerline is valid? [True, True] Translation: X:149.21, Y:131.89, Z:7.25 [[-7.77126683e-01 -6.29050171e-01 1.92354057e-02 1.49206101e+02] [ 6.28790503e-01 -7.77362030e-01 -1.81872989e-02 1.31886125e+02] [ 2.63935975e-02 -2.03879480e-03 9.99649549e-01 7.25406934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.550714057 meters Centerline goodness : 0.984771 Centerline is valid? [True, True] Translation: X:149.20, Y:131.89, Z:7.26 [[-7.75373183e-01 -6.31210611e-01 1.92247767e-02 1.49199827e+02] [ 6.30951325e-01 -7.75608949e-01 -1.81984870e-02 1.31886292e+02] [ 2.63979869e-02 -1.98072051e-03 9.99649550e-01 7.25545040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.580714057 meters Centerline goodness : 0.984250 Centerline is valid? [True, True] Translation: X:149.15, Y:131.92, Z:7.26 [[-7.77923160e-01 -6.28065174e-01 1.92274410e-02 1.49154241e+02] [ 6.27805003e-01 -7.78157950e-01 -1.81956842e-02 1.31923163e+02] [ 2.63900617e-02 -2.08376050e-03 9.99649550e-01 7.25871421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.610714057 meters Centerline goodness : 0.983904 Centerline is valid? [True, True] Translation: X:149.15, Y:131.92, Z:7.26 [[-7.76237261e-01 -6.30145148e-01 1.93082067e-02 1.49153910e+02] [ 6.29887690e-01 -7.76475046e-01 -1.81108133e-02 1.31919050e+02] [ 2.64047818e-02 -1.89628642e-03 9.99649534e-01 7.25822104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.640714057 meters Centerline goodness : 0.984051 Centerline is valid? [True, True] Translation: X:149.19, Y:131.88, Z:7.26 [[-7.72491812e-01 -6.34730540e-01 1.93272484e-02 1.49193072e+02] [ 6.34474991e-01 -7.72731654e-01 -1.80907993e-02 1.31880884e+02] [ 2.64175594e-02 -1.71233852e-03 9.99649529e-01 7.25874550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.670714057 meters Centerline goodness : 0.984079 Centerline is valid? [True, True] Translation: X:149.19, Y:131.88, Z:7.26 [[-7.73157460e-01 -6.33922508e-01 1.92300868e-02 1.49191558e+02] [ 6.33664189e-01 -7.73394283e-01 -1.81928240e-02 1.31879845e+02] [ 2.64052798e-02 -1.88050019e-03 9.99649551e-01 7.25835125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.700714057 meters Centerline goodness : 0.984057 Centerline is valid? [True, True] Translation: X:149.18, Y:131.89, Z:7.26 [[-7.72922544e-01 -6.34207521e-01 1.92758983e-02 1.49180233e+02] [ 6.33950474e-01 -7.73160762e-01 -1.81447666e-02 1.31886088e+02] [ 2.64109156e-02 -1.80453429e-03 9.99649542e-01 7.25801787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.730714057 meters Centerline goodness : 0.983554 Centerline is valid? [True, True] Translation: X:149.14, Y:131.92, Z:7.26 [[-7.74371420e-01 -6.32438753e-01 1.92386862e-02 1.49144281e+02] [ 6.32180203e-01 -7.74607993e-01 -1.81837469e-02 1.31918325e+02] [ 2.64025463e-02 -1.91865730e-03 9.99649551e-01 7.25896965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76071405700003 meters Centerline goodness : 0.984520 Centerline is valid? [True, True] Translation: X:149.13, Y:131.93, Z:7.26 [[-7.76903475e-01 -6.29325146e-01 1.92575134e-02 1.49130089e+02] [ 6.29066130e-01 -7.77139544e-01 -1.81640515e-02 1.31929694e+02] [ 2.63968696e-02 -1.99746531e-03 9.99649546e-01 7.25826549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.790714057 meters Centerline goodness : 0.984428 Centerline is valid? [True, True] Translation: X:149.13, Y:131.93, Z:7.26 [[-7.76162100e-01 -6.30237502e-01 1.93154116e-02 1.49130863e+02] [ 6.29980250e-01 -7.76400119e-01 -1.81035651e-02 1.31930115e+02] [ 2.64060335e-02 -1.88297326e-03 9.99649526e-01 7.25860084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82071405700003 meters Centerline goodness : 0.984681 Centerline is valid? [True, True] Translation: X:149.13, Y:131.93, Z:7.25 [[-7.76460280e-01 -6.29870702e-01 1.92959168e-02 1.49126183e+02] [ 6.29612838e-01 -7.76697623e-01 -1.81239076e-02 1.31933912e+02] [ 2.64028111e-02 -1.92353743e-03 9.99649534e-01 7.25497703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.850714057 meters Centerline goodness : 0.984752 Centerline is valid? [True, True] Translation: X:149.08, Y:131.97, Z:7.26 [[-7.77685309e-01 -6.28358009e-01 1.92813926e-02 1.49081372e+02] [ 6.28099312e-01 -7.77921737e-01 -1.81390426e-02 1.31972979e+02] [ 2.63972271e-02 -1.99583753e-03 9.99649540e-01 7.25914044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.880714057 meters Centerline goodness : 0.979701 Centerline is valid? [True, True] Translation: X:148.92, Y:132.12, Z:7.26 [[-7.80208997e-01 -6.25223335e-01 1.92276157e-02 1.48924279e+02] [ 6.24962334e-01 -7.80442844e-01 -1.81947702e-02 1.32119389e+02] [ 2.63818499e-02 -2.17918783e-03 9.99649563e-01 7.26011035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.910714057 meters Centerline goodness : 0.979375 Centerline is valid? [True, True] Translation: X:148.91, Y:132.14, Z:7.26 [[-7.79129611e-01 -6.26568573e-01 1.92060515e-02 1.48906239e+02] [ 6.26307435e-01 -7.79363290e-01 -1.82169949e-02 1.32136514e+02] [ 2.63826880e-02 -2.16450730e-03 9.99649573e-01 7.26088744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.940714057 meters Centerline goodness : 0.978532 Centerline is valid? [True, True] Translation: X:148.86, Y:132.18, Z:7.27 [[-7.78325364e-01 -6.27569030e-01 1.91504544e-02 1.48856538e+02] [ 6.27306808e-01 -7.78557788e-01 -1.82740335e-02 1.32183769e+02] [ 2.63779529e-02 -2.20993332e-03 9.99649599e-01 7.27085756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.970714057 meters Centerline goodness : 0.978928 Centerline is valid? [True, True] Translation: X:148.86, Y:132.18, Z:7.27 [[-7.76523985e-01 -6.29797282e-01 1.91280887e-02 1.48857433e+02] [ 6.29535171e-01 -7.76756520e-01 -1.82969211e-02 1.32183335e+02] [ 2.63812188e-02 -2.16619353e-03 9.99649608e-01 7.27303159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.000714057 meters Centerline goodness : 0.985844 Centerline is valid? [True, True] Translation: X:149.18, Y:131.89, Z:7.26 [[-7.63801516e-01 -6.45162012e-01 1.93189447e-02 1.49175092e+02] [ 6.44909519e-01 -7.64044575e-01 -1.80997033e-02 1.31889371e+02] [ 2.64377759e-02 -1.36560951e-03 9.99649528e-01 7.25736418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.030714057 meters Centerline goodness : 0.984793 Centerline is valid? [True, True] Translation: X:149.14, Y:131.92, Z:7.26 [[-7.62946831e-01 -6.46178395e-01 1.91210407e-02 1.49140833e+02] [ 6.45921131e-01 -7.63184694e-01 -1.83034302e-02 1.31921606e+02] [ 2.64201668e-02 -1.61385983e-03 9.99649624e-01 7.25700457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.060714057 meters Centerline goodness : 0.984140 Centerline is valid? [True, True] Translation: X:149.13, Y:131.93, Z:7.26 [[-7.63707207e-01 -6.45280072e-01 1.91031528e-02 1.49131772e+02] [ 6.45022072e-01 -7.63944264e-01 -1.83218096e-02 1.31929251e+02] [ 2.64164426e-02 -1.67054282e-03 9.99649629e-01 7.25875200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.090714057 meters Centerline goodness : 0.984120 Centerline is valid? [True, True] Translation: X:149.15, Y:131.92, Z:7.26 [[-7.59584829e-01 -6.50126595e-01 1.91389129e-02 1.49146116e+02] [ 6.49871027e-01 -7.59824522e-01 -1.82850912e-02 1.31918488e+02] [ 2.64298394e-02 -1.45125286e-03 9.99649617e-01 7.25670299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.120714057 meters Centerline goodness : 0.983930 Centerline is valid? [True, True] Translation: X:149.15, Y:131.92, Z:7.26 [[-7.57021564e-01 -6.53110484e-01 1.91062173e-02 1.49145314e+02] [ 6.52855019e-01 -7.57261350e-01 -1.83186354e-02 1.31921411e+02] [ 2.64324927e-02 -1.39401213e-03 9.99649629e-01 7.25731220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.150714057 meters Centerline goodness : 0.977535 Centerline is valid? [True, True] Translation: X:148.78, Y:132.27, Z:7.27 [[-7.65288824e-01 -6.43406975e-01 1.89863235e-02 1.48776474e+02] [ 6.43145459e-01 -7.65521945e-01 -1.84410049e-02 1.32270776e+02] [ 2.63995185e-02 -1.90172716e-03 9.99649663e-01 7.27480311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.180714057 meters Centerline goodness : 0.985002 Centerline is valid? [True, True] Translation: X:149.15, Y:131.92, Z:7.25 [[-7.47511115e-01 -6.63971451e-01 1.92105611e-02 1.49148600e+02] [ 6.63722208e-01 -7.47757426e-01 -1.82116103e-02 1.31922337e+02] [ 2.64568290e-02 -8.62905085e-04 9.99649584e-01 7.25269287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.210714057 meters Centerline goodness : 0.983597 Centerline is valid? [True, True] Translation: X:149.15, Y:131.92, Z:7.25 [[-7.46606809e-01 -6.64997986e-01 1.88666642e-02 1.49150087e+02] [ 6.64740220e-01 -7.46843991e-01 -1.85605353e-02 1.31924295e+02] [ 2.64331734e-02 -1.31599157e-03 9.99649716e-01 7.25479273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.240714057 meters Centerline goodness : 0.985222 Centerline is valid? [True, True] Translation: X:149.20, Y:131.88, Z:7.25 [[-7.42057042e-01 -6.70069493e-01 1.89267479e-02 1.49199725e+02] [ 6.69814894e-01 -7.42297630e-01 -1.84996066e-02 1.31878778e+02] [ 2.64453021e-02 -1.05034570e-03 9.99649710e-01 7.25071488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.270714057 meters Centerline goodness : 0.984935 Centerline is valid? [True, True] Translation: X:149.19, Y:131.89, Z:7.25 [[-7.41319347e-01 -6.70888963e-01 1.88049320e-02 1.49193790e+02] [ 6.70631502e-01 -7.41556857e-01 -1.86229939e-02 1.31886130e+02] [ 2.64388874e-02 -1.19440590e-03 9.99649718e-01 7.25088434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.300714057 meters Centerline goodness : 0.984716 Centerline is valid? [True, True] Translation: X:150.05, Y:132.28, Z:8.02 [[-7.41373585e-01 6.70829026e-01 -1.88049320e-02 1.50052288e+02] [ 6.70571546e-01 7.41611075e-01 1.86229939e-02 1.32276296e+02] [ 2.64387907e-02 1.19654346e-03 -9.99649718e-01 8.01963122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.330714057 meters Centerline goodness : 0.978423 Centerline is valid? [True, True] Translation: X:149.33, Y:132.91, Z:8.04 [[-7.67808769e-01 6.40340233e-01 -2.08345825e-02 1.49330502e+02] [ 6.40133813e-01 7.68090935e-01 1.62793266e-02 1.32906054e+02] [ 2.64271617e-02 -8.37511015e-04 -9.99650391e-01 8.04227107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.360714057 meters Centerline goodness : 0.977884 Centerline is valid? [True, True] Translation: X:149.26, Y:132.96, Z:8.04 [[-8.11036215e-01 5.84624819e-01 -2.08345825e-02 1.49258539e+02] [ 5.84399023e-01 8.11303128e-01 1.62793266e-02 1.32964869e+02] [ 2.64204603e-02 1.02741377e-03 -9.99650391e-01 8.04413480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.390714057 meters Centerline goodness : 0.978594 Centerline is valid? [True, True] Translation: X:149.20, Y:133.01, Z:8.05 [[-8.49312250e-01 5.27479499e-01 -2.08345825e-02 1.49197620e+02] [ 5.27235886e-01 8.49563008e-01 1.62793266e-02 1.33011196e+02] [ 2.62873016e-02 2.84149195e-03 -9.99650391e-01 8.04804531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.420714057 meters Centerline goodness : 0.978474 Centerline is valid? [True, True] Translation: X:149.14, Y:133.05, Z:8.05 [[-8.84113018e-01 4.66808410e-01 -2.08345825e-02 1.49136111e+02] [ 4.66547861e-01 8.84346130e-01 1.62793266e-02 1.33051159e+02] [ 2.60243089e-02 4.67243467e-03 -9.99650391e-01 8.04753138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.450714057 meters Centerline goodness : 0.978959 Centerline is valid? [True, True] Translation: X:149.06, Y:133.09, Z:8.05 [[-9.14157779e-01 4.04822770e-01 -2.08345825e-02 1.49055414e+02] [ 4.04546788e-01 9.14372397e-01 1.62793266e-02 1.33092593e+02] [ 2.56408092e-02 6.45330961e-03 -9.99650391e-01 8.05105288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.480714057 meters Centerline goodness : 0.978685 Centerline is valid? [True, True] Translation: X:148.99, Y:133.12, Z:8.05 [[-9.38730223e-01 3.44022513e-01 -2.08345825e-02 1.48990543e+02] [ 3.43733055e-01 9.38926286e-01 1.62793266e-02 1.33121049e+02] [ 2.51625920e-02 8.12036118e-03 -9.99650391e-01 8.05107418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.51071405700003 meters Centerline goodness : 0.985165 Centerline is valid? [True, True] Translation: X:149.33, Y:133.04, Z:8.04 [[-9.65265238e-01 2.60439899e-01 -2.08345825e-02 1.49328842e+02] [ 2.60134374e-01 9.65435182e-01 1.62793266e-02 1.33038181e+02] [ 2.43542251e-02 1.02940770e-02 -9.99650391e-01 8.04197614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.540714057 meters Centerline goodness : 0.985993 Centerline is valid? [True, True] Translation: X:149.09, Y:132.26, Z:7.27 [[-9.86396731e-01 -1.62721284e-01 2.33082104e-02 1.49087286e+02] [ 1.62646555e-01 -9.86671322e-01 -5.07947792e-03 1.32260195e+02] [ 2.38240819e-02 -1.21938029e-03 9.99715423e-01 7.26641668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.57071405700003 meters Centerline goodness : 0.980571 Centerline is valid? [True, True] Translation: X:148.58, Y:132.37, Z:7.27 [[-9.90271783e-01 -1.37183400e-01 2.32918749e-02 1.48578695e+02] [ 1.37099869e-01 -9.90543823e-01 -5.15366867e-03 1.32366859e+02] [ 2.37786206e-02 -1.91021967e-03 9.99715424e-01 7.27481496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.600714057 meters Centerline goodness : 0.979914 Centerline is valid? [True, True] Translation: X:148.57, Y:132.37, Z:7.28 [[-9.91219026e-01 -1.30160340e-01 2.33051176e-02 1.48566735e+02] [ 1.30076260e-01 -9.91490904e-01 -5.09457930e-03 1.32373383e+02] [ 2.37699243e-02 -2.01840140e-03 9.99715418e-01 7.27781564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.630714057 meters Centerline goodness : 0.988110 Centerline is valid? [True, True] Translation: X:149.06, Y:132.27, Z:7.27 [[-9.88757741e-01 -1.47690482e-01 2.33591718e-02 1.49060266e+02] [ 1.47617061e-01 -9.89032717e-01 -4.84635917e-03 1.32274622e+02] [ 2.38187463e-02 -1.34366287e-03 9.99715390e-01 7.26702950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.660714057 meters Centerline goodness : 0.986413 Centerline is valid? [True, True] Translation: X:148.98, Y:132.29, Z:7.27 [[-9.90413887e-01 -1.36155311e-01 2.32822545e-02 1.48977969e+02] [ 1.36070557e-01 -9.90685533e-01 -5.19397377e-03 1.32290655e+02] [ 2.37725798e-02 -1.97615441e-03 9.99715439e-01 7.27006516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.690714057 meters Centerline goodness : 0.980801 Centerline is valid? [True, True] Translation: X:148.55, Y:132.38, Z:7.28 [[-9.91615842e-01 -1.27102025e-01 2.33044363e-02 1.48553059e+02] [ 1.27017116e-01 -9.91887444e-01 -5.09423239e-03 1.32383686e+02] [ 2.37628650e-02 -2.09145926e-03 9.99715436e-01 7.27727927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.720714057 meters Centerline goodness : 0.980801 Centerline is valid? [True, True] Translation: X:148.56, Y:132.38, Z:7.28 [[-9.91848488e-01 -1.25275680e-01 2.32933721e-02 1.48556249e+02] [ 1.25189129e-01 -9.92119564e-01 -5.14330069e-03 1.32383053e+02] [ 2.37541407e-02 -2.18529805e-03 9.99715442e-01 7.27718137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.750714057 meters Centerline goodness : 0.980682 Centerline is valid? [True, True] Translation: X:148.56, Y:132.38, Z:7.28 [[-9.91613792e-01 -1.27118279e-01 2.33030310e-02 1.48559350e+02] [ 1.27033238e-01 -9.91885349e-01 -5.10009292e-03 1.32384811e+02] [ 2.37622500e-02 -2.09706300e-03 9.99715438e-01 7.27975523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.780714057 meters Centerline goodness : 0.988958 Centerline is valid? [True, True] Translation: X:149.07, Y:132.28, Z:7.27 [[-9.89432083e-01 -1.43107003e-01 2.33353575e-02 1.49066002e+02] [ 1.43029809e-01 -9.89705988e-01 -4.95278990e-03 1.32282679e+02] [ 2.38039220e-02 -1.56279749e-03 9.99715425e-01 7.26659492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.810714057 meters Centerline goodness : 0.989820 Centerline is valid? [True, True] Translation: X:149.14, Y:132.27, Z:7.26 [[-9.88554401e-01 -1.49056159e-01 2.32907280e-02 1.49138385e+02] [ 1.48975898e-01 -9.88827397e-01 -5.15371706e-03 1.32269634e+02] [ 2.37987032e-02 -1.62497256e-03 9.99715450e-01 7.26387159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.840714057 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:149.07, Y:132.28, Z:7.27 [[-9.89186823e-01 -1.44803015e-01 2.32705038e-02 1.49065084e+02] [ 1.44719449e-01 -9.89458828e-01 -5.24482760e-03 1.32284589e+02] [ 2.37846723e-02 -1.82041987e-03 9.99715447e-01 7.26896743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.870714057 meters Centerline goodness : 0.987684 Centerline is valid? [True, True] Translation: X:149.03, Y:132.29, Z:7.27 [[-9.89441147e-01 -1.43050139e-01 2.32996571e-02 1.49027506e+02] [ 1.42969168e-01 -9.89713934e-01 -5.11328237e-03 1.32291433e+02] [ 2.37914510e-02 -1.72815937e-03 9.99715450e-01 7.27031275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.900714057 meters Centerline goodness : 0.989830 Centerline is valid? [True, True] Translation: X:149.16, Y:132.27, Z:7.27 [[-9.88433372e-01 -1.49854007e-01 2.33076288e-02 1.49156105e+02] [ 1.49775763e-01 -9.88706955e-01 -5.07718121e-03 1.32268001e+02] [ 2.38052507e-02 -1.52753746e-03 9.99715448e-01 7.26779583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.930714057 meters Centerline goodness : 0.990542 Centerline is valid? [True, True] Translation: X:149.09, Y:132.28, Z:7.27 [[-9.88864386e-01 -1.46984930e-01 2.32950051e-02 1.49088508e+02] [ 1.46904550e-01 -9.89137347e-01 -5.13439499e-03 1.32281899e+02] [ 2.37966382e-02 -1.65507810e-03 9.99715450e-01 7.26934760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.960714057 meters Centerline goodness : 0.990762 Centerline is valid? [True, True] Translation: X:149.08, Y:132.29, Z:7.27 [[-9.88256939e-01 -1.51013710e-01 2.33041121e-02 1.49075896e+02] [ 1.50935414e-01 -9.88530506e-01 -5.09304430e-03 1.32285166e+02] [ 2.38059452e-02 -1.51582058e-03 9.99715449e-01 7.26633694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.990714057 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:149.10, Y:132.28, Z:7.27 [[-9.87841625e-01 -1.53713205e-01 2.32631746e-02 1.49103069e+02] [ 1.53631296e-01 -9.88114143e-01 -5.27883788e-03 1.32281631e+02] [ 2.37980989e-02 -1.64070412e-03 9.99715439e-01 7.26625272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.020714057 meters Centerline goodness : 0.991733 Centerline is valid? [True, True] Translation: X:149.15, Y:132.27, Z:7.27 [[-9.87994501e-01 -1.52728262e-01 2.32582086e-02 1.49154811e+02] [ 1.52645554e-01 -9.88266781e-01 -5.30136192e-03 1.32271864e+02] [ 2.37949827e-02 -1.68745430e-03 9.99715435e-01 7.26782687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.050714057 meters Centerline goodness : 0.984921 Centerline is valid? [True, True] Translation: X:148.73, Y:132.36, Z:7.28 [[-9.89492209e-01 -1.42697913e-01 2.32910670e-02 1.48732213e+02] [ 1.42615950e-01 -9.89764696e-01 -5.15155208e-03 1.32361833e+02] [ 2.37877915e-02 -1.77574302e-03 9.99715453e-01 7.27551121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.080714057 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:149.60, Y:132.18, Z:7.25 [[-9.83070060e-01 -1.81737195e-01 2.33420156e-02 1.49598040e+02] [ 1.81671642e-01 -9.83346958e-01 -4.91668472e-03 1.32181306e+02] [ 2.38468445e-02 -5.92863236e-04 9.99715448e-01 7.25460552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.110714057 meters Centerline goodness : 0.991289 Centerline is valid? [True, True] Translation: X:149.59, Y:132.18, Z:7.25 [[-9.84138998e-01 -1.75892394e-01 2.30716091e-02 1.49590881e+02] [ 1.75797830e-01 -9.84407511e-01 -6.08080154e-03 1.32182931e+02] [ 2.37814320e-02 -1.92841512e-03 9.99715322e-01 7.25387596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.140714057 meters Centerline goodness : 0.992285 Centerline is valid? [True, True] Translation: X:149.61, Y:132.18, Z:7.25 [[-9.83125825e-01 -1.81463391e-01 2.31225166e-02 1.49605113e+02] [ 1.81375491e-01 -9.83396450e-01 -5.86118454e-03 1.32183196e+02] [ 2.38021912e-02 -1.56842409e-03 9.99715457e-01 7.25285782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.170714057 meters Centerline goodness : 0.992284 Centerline is valid? [True, True] Translation: X:149.60, Y:132.19, Z:7.25 [[-9.83567782e-01 -1.79057926e-01 2.30798190e-02 1.49596433e+02] [ 1.78965058e-01 -9.83836858e-01 -6.04522761e-03 1.32185752e+02] [ 2.37892225e-02 -1.81540997e-03 9.99715348e-01 7.25153923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.200714057 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:149.59, Y:132.19, Z:7.25 [[-9.84288426e-01 -1.75052414e-01 2.30856236e-02 1.49592282e+02] [ 1.74959037e-01 -9.84557308e-01 -6.02014481e-03 1.32186567e+02] [ 2.37829603e-02 -1.88652040e-03 9.99715365e-01 7.25423936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.230714057 meters Centerline goodness : 0.990937 Centerline is valid? [True, True] Translation: X:149.61, Y:132.19, Z:7.25 [[-9.84089076e-01 -1.76162806e-01 2.31377615e-02 1.49605459e+02] [ 1.76075018e-01 -9.84359698e-01 -5.79418870e-03 1.32185571e+02] [ 2.37966004e-02 -1.62801604e-03 9.99715495e-01 7.25484597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26071405700003 meters Centerline goodness : 0.991798 Centerline is valid? [True, True] Translation: X:149.60, Y:132.19, Z:7.25 [[-9.84226200e-01 -1.75395918e-01 2.31313354e-02 1.49597492e+02] [ 1.75307267e-01 -9.84496555e-01 -5.82205584e-03 1.32187752e+02] [ 2.37938848e-02 -1.67512872e-03 9.99715482e-01 7.25296385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.290714057 meters Centerline goodness : 0.991728 Centerline is valid? [True, True] Translation: X:149.60, Y:132.19, Z:7.25 [[-9.84157792e-01 -1.75781328e-01 2.31163455e-02 1.49603390e+02] [ 1.75691261e-01 -9.84427714e-01 -5.88707578e-03 1.32187312e+02] [ 2.37912092e-02 -1.73247160e-03 9.99715448e-01 7.25182769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32071405700003 meters Centerline goodness : 0.991632 Centerline is valid? [True, True] Translation: X:149.61, Y:132.19, Z:7.25 [[-9.84077072e-01 -1.76233309e-01 2.31114056e-02 1.49609182e+02] [ 1.76142864e-01 -9.84346880e-01 -5.90850917e-03 1.32186430e+02] [ 2.37909161e-02 -1.74351923e-03 9.99715436e-01 7.25094488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.350714057 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:149.61, Y:132.19, Z:7.26 [[-9.84280659e-01 -1.75093468e-01 2.31054716e-02 1.49607304e+02] [ 1.75002108e-01 -9.84550175e-01 -5.93428013e-03 1.32187176e+02] [ 2.37875498e-02 -1.79749093e-03 9.99715420e-01 7.25611895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.380714057 meters Centerline goodness : 0.992244 Centerline is valid? [True, True] Translation: X:149.60, Y:132.19, Z:7.25 [[-9.84415832e-01 -1.74327664e-01 2.31373166e-02 1.49599510e+02] [ 1.74239338e-01 -9.84686277e-01 -5.79562895e-03 1.32188706e+02] [ 2.37933366e-02 -1.67387815e-03 9.99715497e-01 7.25030691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.410714057 meters Centerline goodness : 0.992087 Centerline is valid? [True, True] Translation: X:149.60, Y:132.19, Z:7.25 [[-9.84503514e-01 -1.73835329e-01 2.31107988e-02 1.49604888e+02] [ 1.73744168e-01 -9.84773082e-01 -5.91104640e-03 1.32187312e+02] [ 2.37864412e-02 -1.80407945e-03 9.99715435e-01 7.24940248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.440714057 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:149.61, Y:132.18, Z:7.25 [[-9.84534183e-01 -1.73660204e-01 2.31208847e-02 1.49613177e+02] [ 1.73570022e-01 -9.84804054e-01 -5.86711405e-03 1.32183880e+02] [ 2.37884252e-02 -1.76328186e-03 9.99715460e-01 7.25240832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.470714057 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:149.59, Y:132.19, Z:7.25 [[-9.83832458e-01 -1.77587147e-01 2.31624511e-02 1.49593483e+02] [ 1.77502299e-01 -9.84103962e-01 -5.68558060e-03 1.32188208e+02] [ 2.38039460e-02 -1.48227042e-03 9.99715547e-01 7.24826497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.500714057 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:149.58, Y:132.18, Z:7.25 [[-9.86986877e-01 -1.59135178e-01 2.30846064e-02 1.49582056e+02] [ 1.59037334e-01 -9.87254179e-01 -6.02599769e-03 1.32180744e+02] [ 2.37493223e-02 -2.27626639e-03 9.99715354e-01 7.25152382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.530714057 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:149.61, Y:132.18, Z:7.25 [[-9.83873297e-01 -1.77349146e-01 2.32511627e-02 1.49606027e+02] [ 1.77273461e-01 -9.84147398e-01 -5.29334037e-03 1.32182761e+02] [ 2.38213407e-02 -1.08616216e-03 9.99715642e-01 7.24750297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.560714057 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:149.60, Y:132.18, Z:7.25 [[-9.84285119e-01 -1.75068503e-01 2.31046101e-02 1.49597417e+02] [ 1.74977120e-01 -9.84554612e-01 -5.93502869e-03 1.32183648e+02] [ 2.37867870e-02 -1.79898230e-03 9.99715436e-01 7.24786217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.590714057 meters Centerline goodness : 0.992750 Centerline is valid? [True, True] Translation: X:149.61, Y:132.18, Z:7.25 [[-9.84482125e-01 -1.73954872e-01 2.31224723e-02 1.49606003e+02] [ 1.73865017e-01 -9.84752078e-01 -5.85665564e-03 1.32180092e+02] [ 2.37886964e-02 -1.74558375e-03 9.99715485e-01 7.24748667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.620714057 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:149.61, Y:132.18, Z:7.25 [[-9.84328303e-01 -1.74823050e-01 2.31234425e-02 1.49609293e+02] [ 1.74733533e-01 -9.84598366e-01 -5.85239372e-03 1.32179347e+02] [ 2.37904371e-02 -1.72023598e-03 9.99715487e-01 7.24676532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.650714057 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:149.62, Y:132.17, Z:7.25 [[-9.85369087e-01 -1.68860905e-01 2.31031781e-02 1.49620641e+02] [ 1.68767676e-01 -9.85637951e-01 -5.94139164e-03 1.32174361e+02] [ 2.37746380e-02 -1.95539396e-03 9.99715431e-01 7.24773012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.680714057 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:149.62, Y:132.17, Z:7.25 [[-9.86145083e-01 -1.64262832e-01 2.31429725e-02 1.49619553e+02] [ 1.64172437e-01 -9.86414802e-01 -5.76620441e-03 1.32172775e+02] [ 2.37757437e-02 -1.88687592e-03 9.99715536e-01 7.24804499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.710714057 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:149.60, Y:132.17, Z:7.25 [[-9.88890322e-01 -1.46831893e-01 2.31587288e-02 1.49596398e+02] [ 1.46738369e-01 -9.89158936e-01 -5.69660256e-03 1.32169269e+02] [ 2.37441064e-02 -2.23504104e-03 9.99715571e-01 7.25031969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.740714057 meters Centerline goodness : 0.992434 Centerline is valid? [True, True] Translation: X:149.62, Y:132.17, Z:7.25 [[-9.87351838e-01 -1.56829388e-01 2.32570810e-02 1.49622135e+02] [ 1.56748792e-01 -9.87624497e-01 -5.26020658e-03 1.32169407e+02] [ 2.37942179e-02 -1.54815527e-03 9.99715679e-01 7.25318500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.770714057 meters Centerline goodness : 0.993150 Centerline is valid? [True, True] Translation: X:149.62, Y:132.17, Z:7.25 [[-9.87660872e-01 -1.54882619e-01 2.31813793e-02 1.49620078e+02] [ 1.54793651e-01 -9.87930979e-01 -5.59522746e-03 1.32167968e+02] [ 2.37682062e-02 -1.93785689e-03 9.99715618e-01 7.25063140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.800714057 meters Centerline goodness : 0.992562 Centerline is valid? [True, True] Translation: X:149.62, Y:132.17, Z:7.25 [[-9.87911697e-01 -1.53275462e-01 2.31756615e-02 1.49623817e+02] [ 1.53185463e-01 -9.88181473e-01 -5.62055606e-03 1.32165196e+02] [ 2.37632527e-02 -2.00243862e-03 9.99715609e-01 7.25102079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.830714057 meters Centerline goodness : 0.992364 Centerline is valid? [True, True] Translation: X:149.62, Y:132.17, Z:7.25 [[-9.87977968e-01 -1.52846817e-01 2.31815560e-02 1.49616292e+02] [ 1.52757312e-01 -9.88247897e-01 -5.59440251e-03 1.32165259e+02] [ 2.37642106e-02 -1.98599424e-03 9.99715619e-01 7.24793937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.860714057 meters Centerline goodness : 0.992477 Centerline is valid? [True, True] Translation: X:149.63, Y:132.16, Z:7.25 [[-9.87956037e-01 -1.52989800e-01 2.31730352e-02 1.49625902e+02] [ 1.52899451e-01 -9.88225701e-01 -5.63224121e-03 1.32161155e+02] [ 2.37618644e-02 -2.02126233e-03 9.99715604e-01 7.24923497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.890714057 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:149.63, Y:132.16, Z:7.25 [[-9.87688025e-01 -1.54707868e-01 2.31914167e-02 1.49629641e+02] [ 1.54619896e-01 -9.87958440e-01 -5.55051240e-03 1.32158939e+02] [ 2.37708638e-02 -1.89632021e-03 9.99715635e-01 7.24889062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.920714057 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:149.64, Y:132.15, Z:7.25 [[-9.86844257e-01 -1.60005927e-01 2.31628096e-02 1.49641275e+02] [ 1.59916438e-01 -9.87114227e-01 -5.67761549e-03 1.32153388e+02] [ 2.37727910e-02 -1.89880825e-03 9.99715584e-01 7.24939599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.950714057 meters Centerline goodness : 0.990414 Centerline is valid? [True, True] Translation: X:149.64, Y:132.15, Z:7.25 [[-9.86793622e-01 -1.60321778e-01 2.31360100e-02 1.49635198e+02] [ 1.60229596e-01 -9.87062751e-01 -5.79667436e-03 1.32150225e+02] [ 2.37660269e-02 -2.01304774e-03 9.99715521e-01 7.24802082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.980714057 meters Centerline goodness : 0.990571 Centerline is valid? [True, True] Translation: X:149.65, Y:132.14, Z:7.25 [[-9.86716818e-01 -1.60783242e-01 2.32092591e-02 1.49650550e+02] [ 1.60698821e-01 -9.86988332e-01 -5.47001547e-03 1.32143566e+02] [ 2.37867548e-02 -1.66765569e-03 9.99715664e-01 7.24883774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.01071405700003 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:149.65, Y:132.14, Z:7.25 [[-9.86320377e-01 -1.63196937e-01 2.32136588e-02 1.49648088e+02] [ 1.63113640e-01 -9.86592233e-01 -5.45037663e-03 1.32142977e+02] [ 2.37919002e-02 -1.58935314e-03 9.99715669e-01 7.24890918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.040714057 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:149.65, Y:132.14, Z:7.25 [[-9.86089751e-01 -1.64586764e-01 2.31991508e-02 1.49648508e+02] [ 1.64502331e-01 -9.86361276e-01 -5.51516119e-03 1.32138754e+02] [ 2.37904665e-02 -1.62212953e-03 9.99715651e-01 7.25156346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.07071405700003 meters Centerline goodness : 0.990080 Centerline is valid? [True, True] Translation: X:149.65, Y:132.14, Z:7.25 [[-9.86219058e-01 -1.63816045e-01 2.31575906e-02 1.49646543e+02] [ 1.63727058e-01 -9.86489205e-01 -5.70072970e-03 1.32138811e+02] [ 2.37785841e-02 -1.83064411e-03 9.99715573e-01 7.25363920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.100714057 meters Centerline goodness : 0.989979 Centerline is valid? [True, True] Translation: X:149.64, Y:132.14, Z:7.25 [[-9.86144608e-01 -1.64258149e-01 2.31963840e-02 1.49643069e+02] [ 1.64173348e-01 -9.86416020e-01 -5.52702955e-03 1.32137314e+02] [ 2.37891444e-02 -1.64222236e-03 9.99715649e-01 7.25264114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.130714057 meters Centerline goodness : 0.990160 Centerline is valid? [True, True] Translation: X:149.62, Y:132.14, Z:7.25 [[-9.86637061e-01 -1.61277910e-01 2.31677630e-02 1.49618242e+02] [ 1.61189288e-01 -9.86907306e-01 -5.65536958e-03 1.32141058e+02] [ 2.37765207e-02 -1.84540201e-03 9.99715595e-01 7.24734392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.160714057 meters Centerline goodness : 0.989611 Centerline is valid? [True, True] Translation: X:149.61, Y:132.14, Z:7.25 [[-9.86752684e-01 -1.60565752e-01 2.31900916e-02 1.49610172e+02] [ 1.60479282e-01 -9.87023577e-01 -5.55500951e-03 1.32141138e+02] [ 2.37811114e-02 -1.75989129e-03 9.99715640e-01 7.24551941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.190714057 meters Centerline goodness : 0.989127 Centerline is valid? [True, True] Translation: X:149.61, Y:132.14, Z:7.25 [[-9.87146931e-01 -1.58123873e-01 2.31900205e-02 1.49608876e+02] [ 1.58036725e-01 -9.87417608e-01 -5.55532927e-03 1.32139411e+02] [ 2.37766647e-02 -1.81905136e-03 9.99715640e-01 7.25112986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.220714057 meters Centerline goodness : 0.990994 Centerline is valid? [True, True] Translation: X:149.64, Y:132.13, Z:7.24 [[-9.87096364e-01 -1.58438447e-01 2.31953880e-02 1.49635639e+02] [ 1.58351950e-01 -9.87367240e-01 -5.53117140e-03 1.32131726e+02] [ 2.37787164e-02 -1.78676426e-03 9.99715650e-01 7.24468330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.250714057 meters Centerline goodness : 0.989594 Centerline is valid? [True, True] Translation: X:149.65, Y:132.13, Z:7.25 [[-9.87110035e-01 -1.58363282e-01 2.31268175e-02 1.49654052e+02] [ 1.58269590e-01 -9.87378675e-01 -5.83856217e-03 1.32125049e+02] [ 2.37595403e-02 -2.10303138e-03 9.99715490e-01 7.24962124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.280714057 meters Centerline goodness : 0.989365 Centerline is valid? [True, True] Translation: X:149.65, Y:132.12, Z:7.25 [[-9.87528758e-01 -1.55724869e-01 2.31671770e-02 1.49647500e+02] [ 1.55634686e-01 -9.87798482e-01 -5.65722167e-03 1.32124552e+02] [ 2.37654724e-02 -1.98105277e-03 9.99715598e-01 7.24976813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.310714057 meters Centerline goodness : 0.991198 Centerline is valid? [True, True] Translation: X:149.64, Y:132.12, Z:7.25 [[-9.88018062e-01 -1.52588833e-01 2.31723304e-02 1.49642175e+02] [ 1.52498334e-01 -9.88287669e-01 -5.63402039e-03 1.32122025e+02] [ 2.37606170e-02 -2.03277212e-03 9.99715610e-01 7.24743285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.340714057 meters Centerline goodness : 0.988064 Centerline is valid? [True, True] Translation: X:149.64, Y:132.12, Z:7.25 [[-9.88210663e-01 -1.51338808e-01 2.31570718e-02 1.49641794e+02] [ 1.51246366e-01 -9.88479648e-01 -5.70278346e-03 1.32121981e+02] [ 2.37533467e-02 -2.13312846e-03 9.99715574e-01 7.25030672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.370714057 meters Centerline goodness : 0.988974 Centerline is valid? [True, True] Translation: X:149.65, Y:132.12, Z:7.25 [[-9.88517356e-01 -1.49310046e-01 2.32367494e-02 1.49649154e+02] [ 1.49225457e-01 -9.88788765e-01 -5.34248240e-03 1.32117705e+02] [ 2.37739230e-02 -1.81362204e-03 9.99715715e-01 7.25076224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.400714057 meters Centerline goodness : 0.987773 Centerline is valid? [True, True] Translation: X:149.64, Y:132.12, Z:7.25 [[-9.88291727e-01 -1.50792678e-01 2.32600743e-02 1.49642170e+02] [ 1.50710971e-01 -9.88563999e-01 -5.23672235e-03 1.32116547e+02] [ 2.37837314e-02 -1.66986099e-03 9.99715732e-01 7.25029512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.430714057 meters Centerline goodness : 0.988790 Centerline is valid? [True, True] Translation: X:149.65, Y:132.11, Z:7.25 [[-9.88112031e-01 -1.51965551e-01 2.32612391e-02 1.49646720e+02] [ 1.51884292e-01 -9.88384436e-01 -5.23143075e-03 1.32114108e+02] [ 2.37860439e-02 -1.63622284e-03 9.99715733e-01 7.25057624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.460714057 meters Centerline goodness : 0.989098 Centerline is valid? [True, True] Translation: X:149.65, Y:132.11, Z:7.25 [[-9.87817988e-01 -1.53867750e-01 2.32451603e-02 1.49650509e+02] [ 1.53785303e-01 -9.88090048e-01 -5.30450957e-03 1.32110593e+02] [ 2.37845045e-02 -1.66512596e-03 9.99715722e-01 7.24986566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.490714057 meters Centerline goodness : 0.990312 Centerline is valid? [True, True] Translation: X:149.63, Y:132.11, Z:7.25 [[-9.87607491e-01 -1.55214170e-01 2.32380245e-02 1.49629865e+02] [ 1.55131333e-01 -9.87879439e-01 -5.33698708e-03 1.32113585e+02] [ 2.37847426e-02 -1.66590271e-03 9.99715715e-01 7.24994306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.520714057 meters Centerline goodness : 0.987912 Centerline is valid? [True, True] Translation: X:149.66, Y:132.11, Z:7.25 [[-9.87578740e-01 -1.55403966e-01 2.31913860e-02 1.49657094e+02] [ 1.55316215e-01 -9.87849219e-01 -5.54926645e-03 1.32106786e+02] [ 2.37719705e-02 -1.87833928e-03 9.99715642e-01 7.25029261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.550714057 meters Centerline goodness : 0.988193 Centerline is valid? [True, True] Translation: X:149.65, Y:132.11, Z:7.25 [[-9.87097260e-01 -1.58425044e-01 2.32487584e-02 1.49648806e+02] [ 1.58344252e-01 -9.87369809e-01 -5.28751670e-03 1.32106804e+02] [ 2.37927972e-02 -1.53798598e-03 9.99715728e-01 7.24961240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.580714057 meters Centerline goodness : 0.988199 Centerline is valid? [True, True] Translation: X:149.66, Y:132.10, Z:7.25 [[-9.87166858e-01 -1.57991840e-01 2.32416129e-02 1.49663454e+02] [ 1.57910163e-01 -9.87439151e-01 -5.32014867e-03 1.32101213e+02] [ 2.37902186e-02 -1.58178757e-03 9.99715721e-01 7.24874221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.610714057 meters Centerline goodness : 0.988199 Centerline is valid? [True, True] Translation: X:149.67, Y:132.10, Z:7.25 [[-9.87225451e-01 -1.57624061e-01 2.32500377e-02 1.49666084e+02] [ 1.57543186e-01 -9.87497974e-01 -5.28163701e-03 1.32100701e+02] [ 2.37918782e-02 -1.55128147e-03 9.99715730e-01 7.24869557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.640714057 meters Centerline goodness : 0.988296 Centerline is valid? [True, True] Translation: X:149.64, Y:132.11, Z:7.25 [[-9.87223340e-01 -1.57636882e-01 2.32527595e-02 1.49641443e+02] [ 1.57556303e-01 -9.87495948e-01 -5.26916751e-03 1.32105268e+02] [ 2.37926209e-02 -1.53822634e-03 9.99715732e-01 7.24870606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.670714057 meters Centerline goodness : 0.988133 Centerline is valid? [True, True] Translation: X:149.66, Y:132.10, Z:7.25 [[-9.87112047e-01 -1.58332022e-01 2.32546415e-02 1.49657319e+02] [ 1.58251837e-01 -9.87384769e-01 -5.26052734e-03 1.32100968e+02] [ 2.37941888e-02 -1.51264016e-03 9.99715734e-01 7.24813577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.700714057 meters Centerline goodness : 0.989530 Centerline is valid? [True, True] Translation: X:149.67, Y:132.10, Z:7.25 [[-9.87229612e-01 -1.57597013e-01 2.32566956e-02 1.49665442e+02] [ 1.57516847e-01 -9.87502339e-01 -5.25108415e-03 1.32097239e+02] [ 2.37935964e-02 -1.52070441e-03 9.99715736e-01 7.24610764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.730714057 meters Centerline goodness : 0.988607 Centerline is valid? [True, True] Translation: X:149.65, Y:132.10, Z:7.25 [[-9.87515020e-01 -1.55800943e-01 2.32411458e-02 1.49651050e+02] [ 1.55718605e-01 -9.87787116e-01 -5.32261193e-03 1.32100120e+02] [ 2.37865724e-02 -1.63708043e-03 9.99715719e-01 7.24739142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76071405700003 meters Centerline goodness : 0.988737 Centerline is valid? [True, True] Translation: X:149.65, Y:132.10, Z:7.25 [[-9.87795182e-01 -1.54010831e-01 2.32667825e-02 1.49654926e+02] [ 1.53930771e-01 -9.88067929e-01 -5.20435914e-03 1.32098150e+02] [ 2.37906893e-02 -1.55936712e-03 9.99715745e-01 7.24649118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.790714057 meters Centerline goodness : 0.988872 Centerline is valid? [True, True] Translation: X:149.68, Y:132.09, Z:7.25 [[-9.87954094e-01 -1.52990310e-01 2.32523723e-02 1.49680272e+02] [ 1.52908411e-01 -9.88226308e-01 -5.27081915e-03 1.32092371e+02] [ 2.37849903e-02 -1.65184406e-03 9.99715732e-01 7.24767613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82071405700003 meters Centerline goodness : 0.988439 Centerline is valid? [True, True] Translation: X:149.67, Y:132.10, Z:7.25 [[-9.88284279e-01 -1.50843280e-01 2.32484107e-02 1.49665860e+02] [ 1.50760361e-01 -9.88556189e-01 -5.28910203e-03 1.32096107e+02] [ 2.37801858e-02 -1.72219760e-03 9.99715728e-01 7.24784971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.850714057 meters Centerline goodness : 0.987985 Centerline is valid? [True, True] Translation: X:149.67, Y:132.09, Z:7.25 [[-9.88500509e-01 -1.49416740e-01 2.32676110e-02 1.49670717e+02] [ 1.49335507e-01 -9.88772908e-01 -5.20033245e-03 1.32094237e+02] [ 2.37834001e-02 -1.66585079e-03 9.99715747e-01 7.24820975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.880714057 meters Centerline goodness : 0.990558 Centerline is valid? [True, True] Translation: X:149.64, Y:132.10, Z:7.25 [[-9.88454264e-01 -1.49720807e-01 2.32776081e-02 1.49642326e+02] [ 1.49640743e-01 -9.88727002e-01 -5.15404993e-03 1.32099257e+02] [ 2.37868682e-02 -1.61126406e-03 9.99715754e-01 7.24653988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.910714057 meters Centerline goodness : 0.988536 Centerline is valid? [True, True] Translation: X:149.65, Y:132.10, Z:7.25 [[-9.88704308e-01 -1.48070720e-01 2.32132109e-02 1.49648994e+02] [ 1.47983227e-01 -9.88974842e-01 -5.45217015e-03 1.32098556e+02] [ 2.37645884e-02 -1.95541824e-03 9.99715670e-01 7.24733862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.940714057 meters Centerline goodness : 0.989445 Centerline is valid? [True, True] Translation: X:149.66, Y:132.10, Z:7.25 [[-9.88805696e-01 -1.47383858e-01 2.32657108e-02 1.49662154e+02] [ 1.47301877e-01 -9.89077868e-01 -5.20841365e-03 1.32095718e+02] [ 2.37792357e-02 -1.72302623e-03 9.99715749e-01 7.24647927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.970714057 meters Centerline goodness : 0.989008 Centerline is valid? [True, True] Translation: X:149.67, Y:132.10, Z:7.25 [[-9.88778258e-01 -1.47567050e-01 2.32706412e-02 1.49666415e+02] [ 1.47485656e-01 -9.89050601e-01 -5.18549095e-03 1.32095249e+02] [ 2.37810492e-02 -1.69521494e-03 9.99715754e-01 7.24628689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.000714057 meters Centerline goodness : 0.989238 Centerline is valid? [True, True] Translation: X:149.67, Y:132.10, Z:7.25 [[-9.88467351e-01 -1.49634947e-01 2.32739926e-02 1.49668351e+02] [ 1.49554489e-01 -9.88739969e-01 -5.16988260e-03 1.32096101e+02] [ 2.37855219e-02 -1.62953009e-03 9.99715756e-01 7.24528641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.030714057 meters Centerline goodness : 0.988961 Centerline is valid? [True, True] Translation: X:149.67, Y:132.09, Z:7.25 [[-9.88366923e-01 -1.50297725e-01 2.32684365e-02 1.49673705e+02] [ 1.50216842e-01 -9.88639421e-01 -5.19578177e-03 1.32094591e+02] [ 2.37850078e-02 -1.64002779e-03 9.99715751e-01 7.24513095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.060714057 meters Centerline goodness : 0.989412 Centerline is valid? [True, True] Translation: X:149.69, Y:132.09, Z:7.24 [[-9.87560028e-01 -1.55510538e-01 2.32736682e-02 1.49690174e+02] [ 1.55431667e-01 -9.87833110e-01 -5.17136644e-03 1.32090974e+02] [ 2.37947021e-02 -1.48956973e-03 9.99715756e-01 7.24236047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.090714057 meters Centerline goodness : 0.988834 Centerline is valid? [True, True] Translation: X:149.70, Y:132.09, Z:7.24 [[-9.87074371e-01 -1.58568836e-01 2.32402794e-02 1.49702280e+02] [ 1.58487154e-01 -9.87346668e-01 -5.32714365e-03 1.32089362e+02] [ 2.37909314e-02 -1.57500123e-03 9.99715715e-01 7.24363941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.120714057 meters Centerline goodness : 0.989211 Centerline is valid? [True, True] Translation: X:149.68, Y:132.09, Z:7.24 [[-9.86928778e-01 -1.59471161e-01 2.32494097e-02 1.49677061e+02] [ 1.59390729e-01 -9.87201433e-01 -5.28447330e-03 1.32094272e+02] [ 2.37945717e-02 -1.50965841e-03 9.99715729e-01 7.24454692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.150714057 meters Centerline goodness : 0.989111 Centerline is valid? [True, True] Translation: X:149.72, Y:132.09, Z:7.24 [[-9.85768609e-01 -1.66491875e-01 2.32530467e-02 1.49715192e+02] [ 1.66413787e-01 -9.86041939e-01 -5.26745369e-03 1.32086579e+02] [ 2.38054675e-02 -1.32286293e-03 9.99715734e-01 7.24326286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.180714057 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:149.72, Y:132.08, Z:7.24 [[-9.85270724e-01 -1.69417535e-01 2.32228035e-02 1.49721804e+02] [ 1.69336934e-01 -9.85543377e-01 -5.40873882e-03 1.32084940e+02] [ 2.38034153e-02 -1.39659367e-03 9.99715683e-01 7.24166710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.210714057 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:149.67, Y:132.10, Z:7.24 [[-9.84663923e-01 -1.72913684e-01 2.31908762e-02 1.49669323e+02] [ 1.72830540e-01 -9.84935893e-01 -5.55807708e-03 1.32095930e+02] [ 2.38025940e-02 -1.46474633e-03 9.99715605e-01 7.23855529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.240714057 meters Centerline goodness : 0.990036 Centerline is valid? [True, True] Translation: X:149.71, Y:132.09, Z:7.24 [[-9.84171624e-01 -1.75697554e-01 2.31642992e-02 1.49711370e+02] [ 1.75612257e-01 -9.84443013e-01 -5.68242514e-03 1.32086616e+02] [ 2.38023207e-02 -1.52454673e-03 9.99715522e-01 7.23840365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.270714057 meters Centerline goodness : 0.989039 Centerline is valid? [True, True] Translation: X:149.71, Y:132.09, Z:7.25 [[-9.84146459e-01 -1.75841316e-01 2.31425907e-02 1.49714258e+02] [ 1.75753680e-01 -9.84417184e-01 -5.78376837e-03 1.32086643e+02] [ 2.37989894e-02 -1.62467969e-03 9.99715444e-01 7.24571788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.300714057 meters Centerline goodness : 0.988306 Centerline is valid? [True, True] Translation: X:149.72, Y:132.09, Z:7.24 [[-9.84244117e-01 -1.75285309e-01 2.32073142e-02 1.49719972e+02] [ 1.75204640e-01 -9.84516783e-01 -5.48067683e-03 1.32085731e+02] [ 2.38086724e-02 -1.32829479e-03 9.99715651e-01 7.24439582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.330714057 meters Centerline goodness : 0.990207 Centerline is valid? [True, True] Translation: X:149.72, Y:132.09, Z:7.24 [[-9.84313811e-01 -1.74892654e-01 2.32138241e-02 1.49721399e+02] [ 1.74812595e-01 -9.84586640e-01 -5.45017430e-03 1.32085533e+02] [ 2.38092165e-02 -1.30661302e-03 9.99715667e-01 7.23526209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.360714057 meters Centerline goodness : 0.989059 Centerline is valid? [True, True] Translation: X:149.72, Y:132.09, Z:7.24 [[-9.84233815e-01 -1.75346926e-01 2.31787025e-02 1.49722056e+02] [ 1.75263127e-01 -9.84505619e-01 -5.61453925e-03 1.32086814e+02] [ 2.38040550e-02 -1.46364752e-03 9.99715572e-01 7.23740498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.390714057 meters Centerline goodness : 0.989226 Centerline is valid? [True, True] Translation: X:149.73, Y:132.08, Z:7.24 [[-9.84339213e-01 -1.74752035e-01 2.31957050e-02 1.49734877e+02] [ 1.74669944e-01 -9.84611485e-01 -5.53486840e-03 1.32084917e+02] [ 2.38059871e-02 -1.39659550e-03 9.99715622e-01 7.23727878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.420714057 meters Centerline goodness : 0.987960 Centerline is valid? [True, True] Translation: X:149.73, Y:132.09, Z:7.24 [[-9.84503106e-01 -1.73824175e-01 2.32118520e-02 1.49734402e+02] [ 1.73743609e-01 -9.84775790e-01 -5.45909676e-03 1.32085916e+02] [ 2.38073929e-02 -1.34158677e-03 9.99715664e-01 7.23683338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.450714057 meters Centerline goodness : 0.988133 Centerline is valid? [True, True] Translation: X:149.73, Y:132.09, Z:7.23 [[-9.84990713e-01 -1.71036848e-01 2.32312611e-02 1.49731219e+02] [ 1.70957657e-01 -9.85263754e-01 -5.36784256e-03 1.32086423e+02] [ 2.38070184e-02 -1.31571310e-03 9.99715707e-01 7.23494532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.480714057 meters Centerline goodness : 0.989878 Centerline is valid? [True, True] Translation: X:149.73, Y:132.09, Z:7.23 [[-9.84425529e-01 -1.74255849e-01 2.32653506e-02 1.49732366e+02] [ 1.74181340e-01 -9.84699826e-01 -5.20712713e-03 1.32087849e+02] [ 2.38167590e-02 -1.07363894e-03 9.99715764e-01 7.23021154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.51071405700003 meters Centerline goodness : 0.988337 Centerline is valid? [True, True] Translation: X:149.74, Y:132.09, Z:7.24 [[-9.84249794e-01 -1.75258924e-01 2.31657431e-02 1.49744723e+02] [ 1.75173680e-01 -9.84521191e-01 -5.67501616e-03 1.32086409e+02] [ 2.38017622e-02 -1.52760501e-03 9.99715531e-01 7.23531066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.540714057 meters Centerline goodness : 0.990522 Centerline is valid? [True, True] Translation: X:149.74, Y:132.09, Z:7.23 [[-9.84526678e-01 -1.73692044e-01 2.32011858e-02 1.49737978e+02] [ 1.73610284e-01 -9.84799029e-01 -5.50832225e-03 1.32088475e+02] [ 2.38052570e-02 -1.39512574e-03 9.99715641e-01 7.22948526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.57071405700003 meters Centerline goodness : 0.989310 Centerline is valid? [True, True] Translation: X:149.73, Y:132.09, Z:7.23 [[-9.85113592e-01 -1.70336622e-01 2.31656335e-02 1.49733553e+02] [ 1.70250010e-01 -9.85384556e-01 -5.67556035e-03 1.32089533e+02] [ 2.37938132e-02 -1.64712232e-03 9.99715530e-01 7.23449101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.600714057 meters Centerline goodness : 0.989198 Centerline is valid? [True, True] Translation: X:149.74, Y:132.09, Z:7.23 [[-9.85305335e-01 -1.69215847e-01 2.32248429e-02 1.49739734e+02] [ 1.69135492e-01 -9.85578038e-01 -5.39595377e-03 1.32088336e+02] [ 2.38029760e-02 -1.38851681e-03 9.99715705e-01 7.23473496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.630714057 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:149.73, Y:132.09, Z:7.23 [[-9.85499848e-01 -1.68078458e-01 2.32310499e-02 1.49732675e+02] [ 1.67998478e-01 -9.85772647e-01 -5.36659923e-03 1.32090840e+02] [ 2.38025432e-02 -1.38600171e-03 9.99715719e-01 7.23350372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.660714057 meters Centerline goodness : 0.988469 Centerline is valid? [True, True] Translation: X:149.75, Y:132.09, Z:7.23 [[-9.86049445e-01 -1.64825434e-01 2.32178495e-02 1.49746607e+02] [ 1.64743088e-01 -9.86321571e-01 -5.42902916e-03 1.32088834e+02] [ 2.37951078e-02 -1.52831098e-03 9.99715688e-01 7.23430261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.690714057 meters Centerline goodness : 0.988839 Centerline is valid? [True, True] Translation: X:149.74, Y:132.09, Z:7.23 [[-9.86255330e-01 -1.63584080e-01 2.32523800e-02 1.49738558e+02] [ 1.63505239e-01 -9.86528415e-01 -5.26527660e-03 1.32090752e+02] [ 2.38004490e-02 -1.39102117e-03 9.99715761e-01 7.23307619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.720714057 meters Centerline goodness : 0.988665 Centerline is valid? [True, True] Translation: X:149.75, Y:132.09, Z:7.23 [[-9.86271561e-01 -1.63491654e-01 2.32139479e-02 1.49745312e+02] [ 1.63408506e-01 -9.86543453e-01 -5.44750040e-03 1.32090834e+02] [ 2.37921891e-02 -1.57935817e-03 9.99715678e-01 7.23483127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.750714057 meters Centerline goodness : 0.987839 Centerline is valid? [True, True] Translation: X:149.75, Y:132.09, Z:7.24 [[-9.86517414e-01 -1.61995985e-01 2.32528138e-02 1.49746171e+02] [ 1.61916763e-01 -9.86790386e-01 -5.26274269e-03 1.32092518e+02] [ 2.37981963e-02 -1.42676695e-03 9.99715765e-01 7.23527353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.780714057 meters Centerline goodness : 0.987042 Centerline is valid? [True, True] Translation: X:149.75, Y:132.09, Z:7.23 [[-9.86596347e-01 -1.61513276e-01 2.32617452e-02 1.49749483e+02] [ 1.61434921e-01 -9.86869553e-01 -5.22023764e-03 1.32092901e+02] [ 2.37994458e-02 -1.39500939e-03 9.99715780e-01 7.23461206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.810714057 meters Centerline goodness : 0.987525 Centerline is valid? [True, True] Translation: X:149.75, Y:132.09, Z:7.23 [[-9.86891137e-01 -1.59702400e-01 2.32599863e-02 1.49750743e+02] [ 1.59623346e-01 -9.87164145e-01 -5.22861302e-03 1.32094327e+02] [ 2.37964466e-02 -1.44723501e-03 9.99715777e-01 7.23260553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.840714057 meters Centerline goodness : 0.988985 Centerline is valid? [True, True] Translation: X:149.76, Y:132.09, Z:7.23 [[-9.86860242e-01 -1.59892845e-01 2.32624557e-02 1.49759138e+02] [ 1.59814120e-01 -9.87133340e-01 -5.21683980e-03 1.32093826e+02] [ 2.37972809e-02 -1.43062290e-03 9.99715781e-01 7.23267247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.870714057 meters Centerline goodness : 0.988687 Centerline is valid? [True, True] Translation: X:149.76, Y:132.10, Z:7.23 [[-9.87046940e-01 -1.58737335e-01 2.32550379e-02 1.49756399e+02] [ 1.58657459e-01 -9.87319718e-01 -5.25224054e-03 1.32095212e+02] [ 2.37938841e-02 -1.49462273e-03 9.99715768e-01 7.23146796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.900714057 meters Centerline goodness : 0.988939 Centerline is valid? [True, True] Translation: X:149.76, Y:132.09, Z:7.23 [[-9.86594745e-01 -1.61526099e-01 2.32406755e-02 1.49764836e+02] [ 1.61445384e-01 -9.86867305e-01 -5.32077932e-03 1.32094091e+02] [ 2.37949075e-02 -1.49735313e-03 9.99715740e-01 7.23285278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.930714057 meters Centerline goodness : 0.989023 Centerline is valid? [True, True] Translation: X:149.77, Y:132.09, Z:7.23 [[-9.86882140e-01 -1.59763148e-01 2.32245230e-02 1.49769015e+02] [ 1.59680137e-01 -9.87154049e-01 -5.39787599e-03 1.32094030e+02] [ 2.37885636e-02 -1.61857239e-03 9.99715702e-01 7.23340047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.960714057 meters Centerline goodness : 0.988205 Centerline is valid? [True, True] Translation: X:149.73, Y:132.10, Z:7.23 [[-9.87561006e-01 -1.55507769e-01 2.32506784e-02 1.49725858e+02] [ 1.55426527e-01 -9.87833385e-01 -5.27247642e-03 1.32103227e+02] [ 2.37877073e-02 -1.59311992e-03 9.99715763e-01 7.23393162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.990714057 meters Centerline goodness : 0.988929 Centerline is valid? [True, True] Translation: X:149.74, Y:132.10, Z:7.23 [[-9.87412943e-01 -1.56440409e-01 2.32825787e-02 1.49739789e+02] [ 1.56363027e-01 -9.87686387e-01 -5.11911436e-03 1.32100345e+02] [ 2.37967224e-02 -1.41414530e-03 9.99715818e-01 7.23277806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.020714057 meters Centerline goodness : 0.988682 Centerline is valid? [True, True] Translation: X:149.77, Y:132.09, Z:7.23 [[-9.87730729e-01 -1.54425968e-01 2.32514044e-02 1.49774008e+02] [ 1.54344514e-01 -9.88003042e-01 -5.26877623e-03 1.32092929e+02] [ 2.37860941e-02 -1.61540547e-03 9.99715766e-01 7.23495094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.050714057 meters Centerline goodness : 0.988649 Centerline is valid? [True, True] Translation: X:149.78, Y:132.09, Z:7.23 [[-9.87459774e-01 -1.56145813e-01 2.32740132e-02 1.49775361e+02] [ 1.56067387e-01 -9.87732932e-01 -5.16003628e-03 1.32093921e+02] [ 2.37942273e-02 -1.46301384e-03 9.99715807e-01 7.23497667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.080714057 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:149.75, Y:132.10, Z:7.24 [[-9.87612817e-01 -1.55174585e-01 2.32760093e-02 1.49754703e+02] [ 1.55096117e-01 -9.87885959e-01 -5.15041445e-03 1.32097542e+02] [ 2.37932562e-02 -1.47659667e-03 9.99715810e-01 7.23581327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.110714057 meters Centerline goodness : 0.989239 Centerline is valid? [True, True] Translation: X:149.77, Y:132.09, Z:7.24 [[-9.87904902e-01 -1.53304353e-01 2.32740387e-02 1.49774571e+02] [ 1.53225144e-01 -9.88177833e-01 -5.15992108e-03 1.32094242e+02] [ 2.37899275e-02 -1.53134339e-03 9.99715807e-01 7.23532070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.140714057 meters Centerline goodness : 0.988786 Centerline is valid? [True, True] Translation: X:149.79, Y:132.09, Z:7.23 [[-9.88172110e-01 -1.51570622e-01 2.32857851e-02 1.49785103e+02] [ 1.51492267e-01 -9.88445270e-01 -5.10316303e-03 1.32093470e+02] [ 2.37902137e-02 -1.51518701e-03 9.99715825e-01 7.23181822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.170714057 meters Centerline goodness : 0.988231 Centerline is valid? [True, True] Translation: X:149.79, Y:132.09, Z:7.23 [[-9.88832590e-01 -1.47196541e-01 2.33085199e-02 1.49789964e+02] [ 1.47119563e-01 -9.89106114e-01 -4.99303125e-03 1.32093186e+02] [ 2.37895564e-02 -1.50813276e-03 9.99715851e-01 7.23310699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.200714057 meters Centerline goodness : 0.988106 Centerline is valid? [True, True] Translation: X:149.80, Y:132.09, Z:7.23 [[-9.89149415e-01 -1.45051973e-01 2.33100841e-02 1.49795067e+02] [ 1.44974580e-01 -9.89422820e-01 -4.98544231e-03 1.32092733e+02] [ 2.37866774e-02 -1.55197768e-03 9.99715852e-01 7.23334891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.230714057 meters Centerline goodness : 0.988597 Centerline is valid? [True, True] Translation: X:149.78, Y:132.10, Z:7.23 [[-9.89738035e-01 -1.40978806e-01 2.33152063e-02 1.49783721e+02] [ 1.40900872e-01 -9.90011281e-01 -4.96054848e-03 1.32096841e+02] [ 2.37816494e-02 -1.62451060e-03 9.99715857e-01 7.23299765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26071405700003 meters Centerline goodness : 0.988301 Centerline is valid? [True, True] Translation: X:149.78, Y:132.10, Z:7.23 [[-9.90064404e-01 -1.38667367e-01 2.33203257e-02 1.49776500e+02] [ 1.38589380e-01 -9.90337631e-01 -4.93562006e-03 1.32099190e+02] [ 2.37794055e-02 -1.65463225e-03 9.99715861e-01 7.23325099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.290714057 meters Centerline goodness : 0.989090 Centerline is valid? [True, True] Translation: X:149.79, Y:132.10, Z:7.23 [[-9.90168751e-01 -1.37919125e-01 2.33272253e-02 1.49790315e+02] [ 1.37841720e-01 -9.90442139e-01 -4.90198238e-03 1.32097472e+02] [ 2.37803440e-02 -1.63832491e-03 9.99715865e-01 7.23367393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32071405700003 meters Centerline goodness : 0.988016 Centerline is valid? [True, True] Translation: X:149.80, Y:132.10, Z:7.23 [[-9.90614068e-01 -1.34685698e-01 2.33137715e-02 1.49796335e+02] [ 1.34605864e-01 -9.90886767e-01 -4.96759091e-03 1.32098129e+02] [ 2.37703711e-02 -1.78279508e-03 9.99715855e-01 7.23488411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.350714057 meters Centerline goodness : 0.989430 Centerline is valid? [True, True] Translation: X:149.80, Y:132.10, Z:7.23 [[-9.90575323e-01 -1.34965964e-01 2.33391742e-02 1.49799468e+02] [ 1.34889117e-01 -9.90848862e-01 -4.84341473e-03 1.32097860e+02] [ 2.37792903e-02 -1.64956652e-03 9.99715872e-01 7.23478840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.380714057 meters Centerline goodness : 0.989571 Centerline is valid? [True, True] Translation: X:149.80, Y:132.10, Z:7.24 [[-9.90130597e-01 -1.38193252e-01 2.33243601e-02 1.49796771e+02] [ 1.38115596e-01 -9.90403916e-01 -4.91587866e-03 1.32100720e+02] [ 2.37798788e-02 -1.64590397e-03 9.99715864e-01 7.23539360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.410714057 meters Centerline goodness : 0.989325 Centerline is valid? [True, True] Translation: X:149.80, Y:132.10, Z:7.24 [[-9.90215749e-01 -1.37587671e-01 2.32895657e-02 1.49800849e+02] [ 1.37505865e-01 -9.90487895e-01 -5.08595396e-03 1.32100378e+02] [ 2.37677975e-02 -1.83373983e-03 9.99715824e-01 7.23532046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.440714057 meters Centerline goodness : 0.988299 Centerline is valid? [True, True] Translation: X:149.79, Y:132.10, Z:7.24 [[-9.90184416e-01 -1.37811406e-01 2.32989005e-02 1.49793203e+02] [ 1.37730731e-01 -9.90456885e-01 -5.04025894e-03 1.32104093e+02] [ 2.37711616e-02 -1.78181124e-03 9.99715838e-01 7.23772778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.470714057 meters Centerline goodness : 0.989386 Centerline is valid? [True, True] Translation: X:149.81, Y:132.10, Z:7.24 [[-9.89805061e-01 -1.40507018e-01 2.33177951e-02 1.49813323e+02] [ 1.40429257e-01 -9.90078353e-01 -4.94763696e-03 1.32101690e+02] [ 2.37816219e-02 -1.62269547e-03 9.99715860e-01 7.23769235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.500714057 meters Centerline goodness : 0.988963 Centerline is valid? [True, True] Translation: X:149.81, Y:132.10, Z:7.24 [[-9.89984777e-01 -1.39238712e-01 2.32963941e-02 1.49813120e+02] [ 1.39158144e-01 -9.90257282e-01 -5.05246206e-03 1.32101441e+02] [ 2.37729222e-02 -1.75997757e-03 9.99715835e-01 7.23832431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.530714057 meters Centerline goodness : 0.989640 Centerline is valid? [True, True] Translation: X:149.82, Y:132.10, Z:7.24 [[-9.90203008e-01 -1.37681476e-01 2.32768938e-02 1.49816179e+02] [ 1.37598242e-01 -9.90474745e-01 -5.14806246e-03 1.32101369e+02] [ 2.37639683e-02 -1.89476726e-03 9.99715801e-01 7.23881001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.560714057 meters Centerline goodness : 0.989640 Centerline is valid? [True, True] Translation: X:149.82, Y:132.10, Z:7.24 [[-9.90252344e-01 -1.37321554e-01 2.33041908e-02 1.49818794e+02] [ 1.37241361e-01 -9.90524946e-01 -5.01393797e-03 1.32100862e+02] [ 2.37719041e-02 -1.76676498e-03 9.99715847e-01 7.23880236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.590714057 meters Centerline goodness : 0.988778 Centerline is valid? [True, True] Translation: X:149.82, Y:132.10, Z:7.24 [[-9.90423416e-01 -1.36081933e-01 2.33058866e-02 1.49815099e+02] [ 1.36001594e-01 -9.90695973e-01 -5.00558807e-03 1.32102200e+02] [ 2.37702181e-02 -1.78801391e-03 9.99715849e-01 7.23723932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.620714057 meters Centerline goodness : 0.989820 Centerline is valid? [True, True] Translation: X:149.82, Y:132.10, Z:7.23 [[-9.90509873e-01 -1.35448780e-01 2.33199212e-02 1.49816997e+02] [ 1.35369888e-01 -9.90782835e-01 -4.93635155e-03 1.32101353e+02] [ 2.37736004e-02 -1.73268983e-03 9.99715866e-01 7.23456155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.650714057 meters Centerline goodness : 0.990070 Centerline is valid? [True, True] Translation: X:149.82, Y:132.10, Z:7.24 [[-9.90737513e-01 -1.33783112e-01 2.32649977e-02 1.49816272e+02] [ 1.33697437e-01 -9.91008519e-01 -5.20682075e-03 1.32101428e+02] [ 2.37523956e-02 -2.04812207e-03 9.99715774e-01 7.23595196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.680714057 meters Centerline goodness : 0.988894 Centerline is valid? [True, True] Translation: X:149.82, Y:132.10, Z:7.24 [[-9.90845783e-01 -1.32979522e-01 2.32611509e-02 1.49818821e+02] [ 1.32893186e-01 -9.91116589e-01 -5.22578836e-03 1.32101539e+02] [ 2.37494354e-02 -2.08670191e-03 9.99715765e-01 7.23623810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.710714057 meters Centerline goodness : 0.989179 Centerline is valid? [True, True] Translation: X:149.82, Y:132.10, Z:7.24 [[-9.90973235e-01 -1.32018351e-01 2.33067133e-02 1.49819645e+02] [ 1.31937017e-01 -9.91245489e-01 -5.00034045e-03 1.32100634e+02] [ 2.37628112e-02 -1.88018530e-03 9.99715856e-01 7.23597726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.740714057 meters Centerline goodness : 0.987687 Centerline is valid? [True, True] Translation: X:149.81, Y:132.10, Z:7.24 [[-9.90657963e-01 -1.34362190e-01 2.33152777e-02 1.49812613e+02] [ 1.34282494e-01 -9.90930689e-01 -4.95790184e-03 1.32103774e+02] [ 2.37699787e-02 -1.78075130e-03 9.99715868e-01 7.23588976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.770714057 meters Centerline goodness : 0.987320 Centerline is valid? [True, True] Translation: X:149.81, Y:132.10, Z:7.24 [[-9.91096605e-01 -1.31087131e-01 2.33170050e-02 1.49805390e+02] [ 1.31006735e-01 -9.91369124e-01 -4.94932485e-03 1.32100957e+02] [ 2.37645516e-02 -1.85057436e-03 9.99715870e-01 7.23753044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.800714057 meters Centerline goodness : 0.987820 Centerline is valid? [True, True] Translation: X:149.82, Y:132.10, Z:7.24 [[-9.91169598e-01 -1.30533539e-01 2.33200186e-02 1.49818456e+02] [ 1.30453341e-01 -9.91442171e-01 -4.93433746e-03 1.32097824e+02] [ 2.37645464e-02 -1.84859093e-03 9.99715874e-01 7.23642257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.830714057 meters Centerline goodness : 0.987549 Centerline is valid? [True, True] Translation: X:149.81, Y:132.10, Z:7.24 [[-9.91222813e-01 -1.30124780e-01 2.33426034e-02 1.49806392e+02] [ 1.30047107e-01 -9.91496092e-01 -4.82169626e-03 1.32099227e+02] [ 2.37715222e-02 -1.74373728e-03 9.99715897e-01 7.23885006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.860714057 meters Centerline goodness : 0.988595 Centerline is valid? [True, True] Translation: X:149.81, Y:132.10, Z:7.24 [[-9.91261799e-01 -1.29826957e-01 2.33453936e-02 1.49806842e+02] [ 1.29749530e-01 -9.91535146e-01 -4.80775573e-03 1.32097681e+02] [ 2.37719545e-02 -1.73669076e-03 9.99715899e-01 7.23887485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.890714057 meters Centerline goodness : 0.987705 Centerline is valid? [True, True] Translation: X:149.81, Y:132.10, Z:7.24 [[-9.91137687e-01 -1.30772015e-01 2.33402289e-02 1.49811151e+02] [ 1.30694243e-01 -9.91410940e-01 -4.83358567e-03 1.32095660e+02] [ 2.37718560e-02 -1.74031538e-03 9.99715895e-01 7.23907595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.920714057 meters Centerline goodness : 0.985828 Centerline is valid? [True, True] Translation: X:149.82, Y:132.09, Z:7.24 [[-9.91586046e-01 -1.27328610e-01 2.33353299e-02 1.49819395e+02] [ 1.27249315e-01 -9.91858866e-01 -4.85810982e-03 1.32094027e+02] [ 2.37639303e-02 -1.84782917e-03 9.99715890e-01 7.23999439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.950714057 meters Centerline goodness : 0.989193 Centerline is valid? [True, True] Translation: X:149.83, Y:132.09, Z:7.24 [[-9.91361497e-01 -1.29058031e-01 2.33753318e-02 1.49827527e+02] [ 1.28983918e-01 -9.91635749e-01 -4.65734206e-03 1.32088185e+02] [ 2.37808820e-02 -1.60206772e-03 9.99715911e-01 7.23761498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.980714057 meters Centerline goodness : 0.989493 Centerline is valid? [True, True] Translation: X:149.81, Y:132.09, Z:7.24 [[-9.91234579e-01 -1.30039498e-01 2.33182114e-02 1.49813274e+02] [ 1.29958946e-01 -9.91507051e-01 -4.94370979e-03 1.32091337e+02] [ 2.37630485e-02 -1.86996592e-03 9.99715870e-01 7.23905208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.01071405700003 meters Centerline goodness : 0.988513 Centerline is valid? [True, True] Translation: X:149.80, Y:132.09, Z:7.24 [[-9.91269763e-01 -1.29770785e-01 2.33195419e-02 1.49800595e+02] [ 1.29690315e-01 -9.91542257e-01 -4.93703096e-03 1.32091715e+02] [ 2.37629936e-02 -1.86961077e-03 9.99715872e-01 7.23941070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.040714057 meters Centerline goodness : 0.986599 Centerline is valid? [True, True] Translation: X:149.82, Y:132.09, Z:7.24 [[-9.91969062e-01 -1.24313184e-01 2.33154893e-02 1.49824860e+02] [ 1.24230739e-01 -9.92240973e-01 -4.95739316e-03 1.32087086e+02] [ 2.37508531e-02 -2.02108017e-03 9.99715866e-01 7.23866753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.07071405700003 meters Centerline goodness : 0.989055 Centerline is valid? [True, True] Translation: X:149.83, Y:132.08, Z:7.24 [[-9.91463852e-01 -1.28268519e-01 2.33798694e-02 1.49828116e+02] [ 1.28194772e-01 -9.91738192e-01 -4.63247650e-03 1.32083642e+02] [ 2.37809103e-02 -1.59575596e-03 9.99715921e-01 7.23865806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.100714057 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:149.80, Y:132.09, Z:7.24 [[-9.91849423e-01 -1.25263094e-01 2.33212146e-02 1.49804675e+02] [ 1.25181588e-01 -9.92121606e-01 -4.92837227e-03 1.32085361e+02] [ 2.37548240e-02 -1.96881651e-03 9.99715876e-01 7.23803213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.130714057 meters Centerline goodness : 0.989239 Centerline is valid? [True, True] Translation: X:149.83, Y:132.08, Z:7.24 [[-9.91878458e-01 -1.25030446e-01 2.33347883e-02 1.49827794e+02] [ 1.24950482e-01 -9.92151077e-01 -4.85974128e-03 1.32079869e+02] [ 2.37592510e-02 -1.90457965e-03 9.99715895e-01 7.23653626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.160714057 meters Centerline goodness : 0.989780 Centerline is valid? [True, True] Translation: X:149.79, Y:132.09, Z:7.24 [[-9.92067802e-01 -1.23519433e-01 2.33329253e-02 1.49787151e+02] [ 1.23438832e-01 -9.92340237e-01 -4.86917296e-03 1.32086009e+02] [ 2.37556381e-02 -1.95036067e-03 9.99715893e-01 7.23692308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.190714057 meters Centerline goodness : 0.989227 Centerline is valid? [True, True] Translation: X:149.81, Y:132.08, Z:7.24 [[-9.92041878e-01 -1.23726294e-01 2.33391626e-02 1.49810749e+02] [ 1.23646490e-01 -9.92314539e-01 -4.83753109e-03 1.32080155e+02] [ 2.37583202e-02 -1.91322789e-03 9.99715901e-01 7.23523992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.220714057 meters Centerline goodness : 0.990915 Centerline is valid? [True, True] Translation: X:149.82, Y:132.08, Z:7.24 [[-9.91568281e-01 -1.27465604e-01 2.33423141e-02 1.49816140e+02] [ 1.27387204e-01 -9.91841345e-01 -4.82152581e-03 1.32076369e+02] [ 2.37664510e-02 -1.80735994e-03 9.99715904e-01 7.23799937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.250714057 meters Centerline goodness : 0.989601 Centerline is valid? [True, True] Translation: X:149.82, Y:132.08, Z:7.24 [[-9.91411332e-01 -1.28690567e-01 2.32875137e-02 1.49817927e+02] [ 1.28606010e-01 -9.91682657e-01 -5.09919772e-03 1.32076013e+02] [ 2.37500421e-02 -2.06048819e-03 9.99715805e-01 7.23730267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.280714057 meters Centerline goodness : 0.989694 Centerline is valid? [True, True] Translation: X:149.85, Y:132.07, Z:7.24 [[-9.91217710e-01 -1.30165097e-01 2.33345030e-02 1.49845406e+02] [ 1.30086529e-01 -9.91490732e-01 -4.86041209e-03 1.32069512e+02] [ 2.37685994e-02 -1.78222204e-03 9.99715898e-01 7.23562456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.310714057 meters Centerline goodness : 0.988775 Centerline is valid? [True, True] Translation: X:149.85, Y:132.07, Z:7.24 [[-9.90728408e-01 -1.33836612e-01 2.33448490e-02 1.49849394e+02] [ 1.33760292e-01 -9.91002053e-01 -4.80774306e-03 1.32066734e+02] [ 2.37782453e-02 -1.64055381e-03 9.99715911e-01 7.23680274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.340714057 meters Centerline goodness : 0.989494 Centerline is valid? [True, True] Translation: X:149.85, Y:132.07, Z:7.24 [[-9.90519497e-01 -1.35373156e-01 2.33502710e-02 1.49845727e+02] [ 1.35297910e-01 -9.90793433e-01 -4.78009615e-03 1.32066635e+02] [ 2.37823919e-02 -1.57553557e-03 9.99715917e-01 7.23785642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.370714057 meters Centerline goodness : 0.989396 Centerline is valid? [True, True] Translation: X:149.82, Y:132.07, Z:7.24 [[-9.90095570e-01 -1.38440789e-01 2.33433147e-02 1.49820896e+02] [ 1.38365557e-01 -9.90369518e-01 -4.81563920e-03 1.32070148e+02] [ 2.37851882e-02 -1.53803231e-03 9.99715909e-01 7.23717593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.400714057 meters Centerline goodness : 0.989619 Centerline is valid? [True, True] Translation: X:149.83, Y:132.07, Z:7.24 [[-9.89635416e-01 -1.41693365e-01 2.33395390e-02 1.49829216e+02] [ 1.41618579e-01 -9.89909492e-01 -4.83495938e-03 1.32068092e+02] [ 2.37891128e-02 -1.47953470e-03 9.99715904e-01 7.23500724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.430714057 meters Centerline goodness : 0.989497 Centerline is valid? [True, True] Translation: X:149.85, Y:132.06, Z:7.23 [[-9.89508917e-01 -1.42574364e-01 2.33378245e-02 1.49851222e+02] [ 1.42499616e-01 -9.89783005e-01 -4.84373109e-03 1.32064500e+02] [ 2.37899740e-02 -1.46728408e-03 9.99715902e-01 7.23245995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.460714057 meters Centerline goodness : 0.989021 Centerline is valid? [True, True] Translation: X:149.84, Y:132.07, Z:7.23 [[-9.89121839e-01 -1.45233693e-01 2.33486942e-02 1.49838971e+02] [ 1.45160993e-01 -9.89396463e-01 -4.78799244e-03 1.32068100e+02] [ 2.37964933e-02 -1.34658825e-03 9.99715916e-01 7.23103012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.490714057 meters Centerline goodness : 0.989662 Centerline is valid? [True, True] Translation: X:149.85, Y:132.07, Z:7.23 [[-9.89031386e-01 -1.45849941e-01 2.33390815e-02 1.49850084e+02] [ 1.45776251e-01 -9.89305759e-01 -4.83735812e-03 1.32065367e+02] [ 2.37950161e-02 -1.38201521e-03 9.99715903e-01 7.22995095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.520714057 meters Centerline goodness : 0.990303 Centerline is valid? [True, True] Translation: X:149.83, Y:132.07, Z:7.23 [[-9.88949972e-01 -1.46399986e-01 2.33451744e-02 1.49833809e+02] [ 1.46327186e-01 -9.89224574e-01 -4.80601782e-03 1.32065781e+02] [ 2.37972211e-02 -1.33687752e-03 9.99715912e-01 7.23103470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.550714057 meters Centerline goodness : 0.991133 Centerline is valid? [True, True] Translation: X:149.85, Y:132.06, Z:7.23 [[-9.88745519e-01 -1.47781766e-01 2.32991150e-02 1.49847533e+02] [ 1.47703781e-01 -9.89018788e-01 -5.04275309e-03 1.32063259e+02] [ 2.37884894e-02 -1.54463214e-03 9.99715821e-01 7.22934000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.580714057 meters Centerline goodness : 0.991033 Centerline is valid? [True, True] Translation: X:149.84, Y:132.06, Z:7.23 [[-9.88601672e-01 -1.48740237e-01 2.33039992e-02 1.49842302e+02] [ 1.48663108e-01 -9.88875171e-01 -5.01761525e-03 1.32064749e+02] [ 2.37910675e-02 -1.49597788e-03 9.99715833e-01 7.22909384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.610714057 meters Centerline goodness : 0.990035 Centerline is valid? [True, True] Translation: X:149.86, Y:132.06, Z:7.23 [[-9.88583970e-01 -1.48861097e-01 2.32832060e-02 1.49859137e+02] [ 1.48781485e-01 -9.88856818e-01 -5.12469221e-03 1.32062185e+02] [ 2.37866243e-02 -1.60207860e-03 9.99715775e-01 7.22749760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.640714057 meters Centerline goodness : 0.990860 Centerline is valid? [True, True] Translation: X:149.86, Y:132.06, Z:7.23 [[-9.88398882e-01 -1.50080244e-01 2.33146093e-02 1.49857991e+02] [ 1.50004781e-01 -9.88672817e-01 -4.96253619e-03 1.32062226e+02] [ 2.37952991e-02 -1.40766235e-03 9.99715861e-01 7.22870997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.670714057 meters Centerline goodness : 0.990632 Centerline is valid? [True, True] Translation: X:149.86, Y:132.06, Z:7.23 [[-9.88545724e-01 -1.49111226e-01 2.33065157e-02 1.49858287e+02] [ 1.49034510e-01 -9.88819332e-01 -5.00439371e-03 1.32061242e+02] [ 2.37921446e-02 -1.47359685e-03 9.99715841e-01 7.23065366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.700714057 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:149.85, Y:132.06, Z:7.23 [[-9.88848807e-01 -1.47086188e-01 2.33171590e-02 1.49846125e+02] [ 1.47010208e-01 -9.89122593e-01 -4.94926165e-03 1.32062513e+02] [ 2.37914968e-02 -1.46621108e-03 9.99715867e-01 7.23316000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.730714057 meters Centerline goodness : 0.989778 Centerline is valid? [True, True] Translation: X:149.86, Y:132.06, Z:7.23 [[-9.89317971e-01 -1.43897026e-01 2.33151768e-02 1.49862296e+02] [ 1.43819922e-01 -9.89591448e-01 -4.95953753e-03 1.32059571e+02] [ 2.37861622e-02 -1.55337271e-03 9.99715862e-01 7.23273383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76071405700003 meters Centerline goodness : 0.989362 Centerline is valid? [True, True] Translation: X:149.85, Y:132.06, Z:7.23 [[-9.90237041e-01 -1.37426189e-01 2.33376217e-02 1.49846329e+02] [ 1.37350037e-01 -9.90510734e-01 -4.84285680e-03 1.32063422e+02] [ 2.37817001e-02 -1.59015299e-03 9.99715911e-01 7.23271368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.790714057 meters Centerline goodness : 0.990442 Centerline is valid? [True, True] Translation: X:149.86, Y:132.06, Z:7.23 [[-9.90671320e-01 -1.34257244e-01 2.33522645e-02 1.49860286e+02] [ 1.34182008e-01 -9.90945240e-01 -4.76656629e-03 1.32061272e+02] [ 2.37807614e-02 -1.58864678e-03 9.99715935e-01 7.23280319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82071405700003 meters Centerline goodness : 0.988529 Centerline is valid? [True, True] Translation: X:149.85, Y:132.06, Z:7.24 [[-9.90971466e-01 -1.32022951e-01 2.33558361e-02 1.49848438e+02] [ 1.31947534e-01 -9.91245331e-01 -4.74792742e-03 1.32064570e+02] [ 2.37781989e-02 -1.62331560e-03 9.99715941e-01 7.23593852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.850714057 meters Centerline goodness : 0.989570 Centerline is valid? [True, True] Translation: X:149.87, Y:132.06, Z:7.24 [[-9.91517804e-01 -1.27852861e-01 2.33685964e-02 1.49871749e+02] [ 1.27777858e-01 -9.91791765e-01 -4.68119850e-03 1.32060877e+02] [ 2.37752861e-02 -1.65550246e-03 9.99715957e-01 7.23543384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.880714057 meters Centerline goodness : 0.988746 Centerline is valid? [True, True] Translation: X:149.88, Y:132.06, Z:7.24 [[-9.91724871e-01 -1.26239048e-01 2.33555907e-02 1.49883389e+02] [ 1.26162006e-01 -9.91998283e-01 -4.74916672e-03 1.32060361e+02] [ 2.37682361e-02 -1.76327858e-03 9.99715941e-01 7.23515041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.910714057 meters Centerline goodness : 0.989721 Centerline is valid? [True, True] Translation: X:149.86, Y:132.07, Z:7.24 [[-9.92286283e-01 -1.21742972e-01 2.33790662e-02 1.49862778e+02] [ 1.21667574e-01 -9.92560124e-01 -4.62611705e-03 1.32065160e+02] [ 2.37683260e-02 -1.74595822e-03 9.99715969e-01 7.23689950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.940714057 meters Centerline goodness : 0.987927 Centerline is valid? [True, True] Translation: X:149.84, Y:132.07, Z:7.24 [[-9.92595314e-01 -1.19195921e-01 2.33853651e-02 1.49841328e+02] [ 1.19120596e-01 -9.92869170e-01 -4.59302344e-03 1.32071267e+02] [ 2.37660777e-02 -1.77333490e-03 9.99715974e-01 7.23895242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.970714057 meters Centerline goodness : 0.990296 Centerline is valid? [True, True] Translation: X:149.83, Y:132.07, Z:7.24 [[-9.92677116e-01 -1.18509485e-01 2.34018469e-02 1.49828201e+02] [ 1.18436005e-01 -9.92951462e-01 -4.50624986e-03 1.32074169e+02] [ 2.37709315e-02 -1.70162986e-03 9.99715983e-01 7.23652191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.000714057 meters Centerline goodness : 0.988245 Centerline is valid? [True, True] Translation: X:149.87, Y:132.07, Z:7.24 [[-9.92866918e-01 -1.16919221e-01 2.33490633e-02 1.49873208e+02] [ 1.16838805e-01 -9.93139370e-01 -4.78377599e-03 1.32067790e+02] [ 2.37481894e-02 -2.02157626e-03 9.99715928e-01 7.23573801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.030714057 meters Centerline goodness : 0.987334 Centerline is valid? [True, True] Translation: X:149.20, Y:132.19, Z:7.25 [[-9.94871351e-01 -9.84017542e-02 2.34112988e-02 1.49202598e+02] [ 9.83239474e-02 -9.95144492e-01 -4.45448460e-03 1.32185517e+02] [ 2.37359542e-02 -2.12974780e-03 9.99715994e-01 7.24915690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.060714057 meters Centerline goodness : 0.989593 Centerline is valid? [True, True] Translation: X:149.88, Y:132.07, Z:7.23 [[-9.92966765e-01 -1.16037548e-01 2.35008616e-02 1.49883658e+02] [ 1.15975805e-01 -9.93244073e-01 -3.97800595e-03 1.32065952e+02] [ 2.38036896e-02 -1.22449635e-03 9.99715902e-01 7.23490674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.090714057 meters Centerline goodness : 0.988895 Centerline is valid? [True, True] Translation: X:149.86, Y:132.07, Z:7.23 [[-9.93160327e-01 -1.14389977e-01 2.33986585e-02 1.49856158e+02] [ 1.14315209e-01 -9.93434279e-01 -4.51282987e-03 1.32073330e+02] [ 2.37612520e-02 -1.80714105e-03 9.99716028e-01 7.23489135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.120714057 meters Centerline goodness : 0.989877 Centerline is valid? [True, True] Translation: X:149.86, Y:132.07, Z:7.23 [[-9.92972365e-01 -1.16004517e-01 2.34272182e-02 1.49861058e+02] [ 1.15933706e-01 -9.93247371e-01 -4.36309512e-03 1.32073734e+02] [ 2.37751616e-02 -1.61642865e-03 9.99716024e-01 7.23473943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.150714057 meters Centerline goodness : 0.988643 Centerline is valid? [True, True] Translation: X:149.88, Y:132.07, Z:7.23 [[-9.93215143e-01 -1.13921377e-01 2.33580539e-02 1.49875709e+02] [ 1.13841516e-01 -9.93487687e-01 -4.72503600e-03 1.32072718e+02] [ 2.37442216e-02 -2.03386103e-03 9.99715997e-01 7.23477028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.180714057 meters Centerline goodness : 0.989019 Centerline is valid? [True, True] Translation: X:149.88, Y:132.07, Z:7.24 [[-9.93263774e-01 -1.13485568e-01 2.34115522e-02 1.49879620e+02] [ 1.13412164e-01 -9.93538088e-01 -4.44396607e-03 1.32074843e+02] [ 2.37645948e-02 -1.75887571e-03 9.99716035e-01 7.23582403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.210714057 meters Centerline goodness : 0.989980 Centerline is valid? [True, True] Translation: X:149.88, Y:132.08, Z:7.24 [[-9.93330086e-01 -1.12904137e-01 2.34093104e-02 1.49876659e+02] [ 1.12830296e-01 -9.93604283e-01 -4.45575449e-03 1.32077082e+02] [ 2.37626641e-02 -1.78475556e-03 9.99716035e-01 7.23662323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.240714057 meters Centerline goodness : 0.990797 Centerline is valid? [True, True] Translation: X:149.87, Y:132.08, Z:7.24 [[-9.93515391e-01 -1.11261271e-01 2.34114774e-02 1.49870533e+02] [ 1.11187244e-01 -9.93789537e-01 -4.44433907e-03 1.32081072e+02] [ 2.37605641e-02 -1.81246161e-03 9.99716035e-01 7.23552747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.270714057 meters Centerline goodness : 0.990305 Centerline is valid? [True, True] Translation: X:149.89, Y:132.08, Z:7.23 [[-9.93653312e-01 -1.10036488e-01 2.33466600e-02 1.49893548e+02] [ 1.09954164e-01 -9.93925141e-01 -4.78493566e-03 1.32079540e+02] [ 2.37313499e-02 -2.18750467e-03 9.99715979e-01 7.23387755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.300714057 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:149.88, Y:132.09, Z:7.23 [[-9.93653339e-01 -1.10026978e-01 2.33903029e-02 1.49877052e+02] [ 1.09950026e-01 -9.93926680e-01 -4.55478283e-03 1.32085693e+02] [ 2.37493951e-02 -1.95411074e-03 9.99716034e-01 7.23463381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.330714057 meters Centerline goodness : 0.991269 Centerline is valid? [True, True] Translation: X:149.89, Y:132.08, Z:7.23 [[-9.93735269e-01 -1.09296346e-01 2.33350558e-02 1.49891358e+02] [ 1.09212402e-01 -9.94006625e-01 -4.84575004e-03 1.32084366e+02] [ 2.37248229e-02 -2.26691522e-03 9.99715957e-01 7.23238408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.360714057 meters Centerline goodness : 0.990769 Centerline is valid? [True, True] Translation: X:149.89, Y:132.09, Z:7.23 [[-9.93680252e-01 -1.09793050e-01 2.33461476e-02 1.49894814e+02] [ 1.09710606e-01 -9.93952044e-01 -4.78722410e-03 1.32085018e+02] [ 2.37305551e-02 -2.19565004e-03 9.99715980e-01 7.23367311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.390714057 meters Centerline goodness : 0.991040 Centerline is valid? [True, True] Translation: X:149.90, Y:132.09, Z:7.23 [[-9.93609783e-01 -1.10432053e-01 2.33315539e-02 1.49902883e+02] [ 1.10347989e-01 -9.93881110e-01 -4.86424487e-03 1.32086312e+02] [ 2.37259592e-02 -2.25857125e-03 9.99715949e-01 7.23377520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.420714057 meters Centerline goodness : 0.991040 Centerline is valid? [True, True] Translation: X:149.91, Y:132.09, Z:7.23 [[-9.93649945e-01 -1.10062157e-01 2.33689823e-02 1.49905505e+02] [ 1.09982613e-01 -9.93922558e-01 -4.66616179e-03 1.32085815e+02] [ 2.37405265e-02 -2.06634967e-03 9.99716018e-01 7.23379405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.450714057 meters Centerline goodness : 0.990868 Centerline is valid? [True, True] Translation: X:149.90, Y:132.09, Z:7.23 [[-9.93496353e-01 -1.11439769e-01 2.33703578e-02 1.49899449e+02] [ 1.11360774e-01 -9.93769125e-01 -4.65886699e-03 1.32088274e+02] [ 2.37439230e-02 -2.02602625e-03 9.99716020e-01 7.23379026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.480714057 meters Centerline goodness : 0.989463 Centerline is valid? [True, True] Translation: X:149.88, Y:132.10, Z:7.23 [[-9.93556727e-01 -1.10908358e-01 2.33316688e-02 1.49881180e+02] [ 1.10824429e-01 -9.93828097e-01 -4.86403353e-03 1.32095454e+02] [ 2.37271299e-02 -2.24697436e-03 9.99715947e-01 7.23432041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.51071405700003 meters Centerline goodness : 0.990251 Centerline is valid? [True, True] Translation: X:149.90, Y:132.09, Z:7.23 [[-9.93396557e-01 -1.12320995e-01 2.33938915e-02 1.49897338e+02] [ 1.12245199e-01 -9.93670203e-01 -4.53244577e-03 1.32093092e+02] [ 2.37549017e-02 -1.87666402e-03 9.99716051e-01 7.23346899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.540714057 meters Centerline goodness : 0.990714 Centerline is valid? [True, True] Translation: X:149.91, Y:132.09, Z:7.23 [[-9.93252533e-01 -1.13589235e-01 2.33857099e-02 1.49906816e+02] [ 1.13512767e-01 -9.93525999e-01 -4.57608725e-03 1.32093925e+02] [ 2.37541051e-02 -1.89063362e-03 9.99716044e-01 7.23449995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.57071405700003 meters Centerline goodness : 0.989602 Centerline is valid? [True, True] Translation: X:149.91, Y:132.09, Z:7.23 [[-9.93239047e-01 -1.13710860e-01 2.33674251e-02 1.49912357e+02] [ 1.13632142e-01 -9.93511899e-01 -4.67368070e-03 1.32094391e+02] [ 2.37472631e-02 -1.98679160e-03 9.99716020e-01 7.23370668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.600714057 meters Centerline goodness : 0.990636 Centerline is valid? [True, True] Translation: X:149.91, Y:132.10, Z:7.23 [[-9.93134261e-01 -1.14617241e-01 2.33929196e-02 1.49914399e+02] [ 1.14541965e-01 -9.93408049e-01 -4.53727503e-03 1.32095460e+02] [ 2.37587646e-02 -1.82665231e-03 9.99716052e-01 7.23426004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.630714057 meters Centerline goodness : 0.990016 Centerline is valid? [True, True] Translation: X:149.91, Y:132.10, Z:7.23 [[-9.92991473e-01 -1.15851219e-01 2.33758516e-02 1.49912895e+02] [ 1.15774143e-01 -9.93264780e-01 -4.62868185e-03 1.32098205e+02] [ 2.37546485e-02 -1.88992244e-03 9.99716032e-01 7.23429342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.660714057 meters Centerline goodness : 0.991073 Centerline is valid? [True, True] Translation: X:149.91, Y:132.10, Z:7.23 [[-9.92724257e-01 -1.18113842e-01 2.34023369e-02 1.49911464e+02] [ 1.18040721e-01 -9.92998620e-01 -4.48650582e-03 1.32100452e+02] [ 2.37684067e-02 -1.69143443e-03 9.99716061e-01 7.23357890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.690714057 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:149.90, Y:132.10, Z:7.23 [[-9.92773185e-01 -1.17714840e-01 2.33370700e-02 1.49898669e+02] [ 1.17633416e-01 -9.93045310e-01 -4.83642388e-03 1.32104210e+02] [ 2.37440868e-02 -2.05625266e-03 9.99715955e-01 7.23391179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.720714057 meters Centerline goodness : 0.989377 Centerline is valid? [True, True] Translation: X:149.91, Y:132.11, Z:7.23 [[-9.92765355e-01 -1.17777880e-01 2.33521162e-02 1.49910833e+02] [ 1.17698365e-01 -9.93038005e-01 -4.75552216e-03 1.32105362e+02] [ 2.37496342e-02 -1.97261174e-03 9.99715992e-01 7.23299792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.750714057 meters Centerline goodness : 0.990401 Centerline is valid? [True, True] Translation: X:149.91, Y:132.11, Z:7.23 [[-9.92507830e-01 -1.19913747e-01 2.34286299e-02 1.49913236e+02] [ 1.19844514e-01 -9.92783178e-01 -4.34222750e-03 1.32105719e+02] [ 2.37802424e-02 -1.50190203e-03 9.99716082e-01 7.23207180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.780714057 meters Centerline goodness : 0.989848 Centerline is valid? [True, True] Translation: X:149.93, Y:132.11, Z:7.23 [[-9.92386771e-01 -1.20915257e-01 2.34093357e-02 1.49930547e+02] [ 1.20843850e-01 -9.92661570e-01 -4.44654826e-03 1.32105286e+02] [ 2.37752034e-02 -1.58382143e-03 9.99716075e-01 7.22978213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.810714057 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:149.92, Y:132.11, Z:7.23 [[-9.92313893e-01 -1.21510289e-01 2.34176819e-02 1.49924266e+02] [ 1.21440108e-01 -9.92589003e-01 -4.40136396e-03 1.32107144e+02] [ 2.37789445e-02 -1.52368878e-03 9.99716080e-01 7.23191700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.840714057 meters Centerline goodness : 0.990393 Centerline is valid? [True, True] Translation: X:149.93, Y:132.11, Z:7.23 [[-9.92328770e-01 -1.21389302e-01 2.34147256e-02 1.49927327e+02] [ 1.21318712e-01 -9.92603776e-01 -4.41738434e-03 1.32107244e+02] [ 2.37777683e-02 -1.54285323e-03 9.99716078e-01 7.23305954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.870714057 meters Centerline goodness : 0.992832 Centerline is valid? [True, True] Translation: X:149.93, Y:132.10, Z:7.23 [[-9.93979401e-01 -1.07037542e-01 2.34076054e-02 1.49930357e+02] [ 1.06962080e-01 -9.94253115e-01 -4.45602583e-03 1.32100182e+02] [ 2.37500466e-02 -1.92547172e-03 9.99716074e-01 7.23399024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.900714057 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:149.93, Y:132.10, Z:7.23 [[-9.94049893e-01 -1.06374920e-01 2.34347419e-02 1.49933047e+02] [ 1.06302733e-01 -9.94324477e-01 -4.30842415e-03 1.32101303e+02] [ 2.37600457e-02 -1.79161146e-03 9.99716085e-01 7.23438887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.930714057 meters Centerline goodness : 0.991290 Centerline is valid? [True, True] Translation: X:149.96, Y:132.11, Z:7.24 [[-9.91954347e-01 -1.24407825e-01 2.34364192e-02 1.49964798e+02] [ 1.24340851e-01 -9.92230250e-01 -4.29928060e-03 1.32109476e+02] [ 2.37891882e-02 -1.35058577e-03 9.99716085e-01 7.23669263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.960714057 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:149.93, Y:132.11, Z:7.24 [[-9.94239621e-01 -1.04600968e-01 2.33711982e-02 1.49932183e+02] [ 1.04520202e-01 -9.94511872e-01 -4.65436541e-03 1.32106311e+02] [ 2.37297852e-02 -2.18479215e-03 9.99716022e-01 7.23580983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.990714057 meters Centerline goodness : 0.991425 Centerline is valid? [True, True] Translation: X:149.43, Y:132.20, Z:7.25 [[-9.93985506e-01 -1.06974150e-01 2.34381030e-02 1.49432040e+02] [ 1.06902590e-01 -9.94260249e-01 -4.28873779e-03 1.32204380e+02] [ 2.37623582e-02 -1.75734930e-03 9.99716091e-01 7.24873844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.020714057 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:149.96, Y:132.11, Z:7.23 [[-9.91662191e-01 -1.26710548e-01 2.34635107e-02 1.49956517e+02] [ 1.26647752e-01 -9.91939076e-01 -4.14927848e-03 1.32113793e+02] [ 2.38001305e-02 -1.14308170e-03 9.99716083e-01 7.23178700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.050714057 meters Centerline goodness : 0.992884 Centerline is valid? [True, True] Translation: X:149.97, Y:132.11, Z:7.23 [[-9.90992023e-01 -1.31878169e-01 2.33014890e-02 1.49973925e+02] [ 1.31796710e-01 -9.91264134e-01 -5.00442595e-03 1.32114779e+02] [ 2.37579048e-02 -1.88828662e-03 9.99715958e-01 7.23473823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.080714057 meters Centerline goodness : 0.991970 Centerline is valid? [True, True] Translation: X:149.98, Y:132.12, Z:7.23 [[-9.91006893e-01 -1.31769278e-01 2.32850895e-02 1.49975867e+02] [ 1.31685765e-01 -9.91278438e-01 -5.09096032e-03 1.32117953e+02] [ 2.37528393e-02 -1.97886195e-03 9.99715903e-01 7.23443808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.110714057 meters Centerline goodness : 0.989693 Centerline is valid? [True, True] Translation: X:149.36, Y:132.22, Z:7.25 [[-9.94970046e-01 -9.74119843e-02 2.33562389e-02 1.49364406e+02] [ 9.73281705e-02 -9.95241239e-01 -4.70151273e-03 1.32220909e+02] [ 2.37030758e-02 -2.40464433e-03 9.99716151e-01 7.24762676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.140714057 meters Centerline goodness : 0.988666 Centerline is valid? [True, True] Translation: X:149.32, Y:132.23, Z:7.25 [[-9.95701743e-01 -8.95959111e-02 2.34651379e-02 1.49324505e+02] [ 8.95235611e-02 -9.95976192e-01 -4.11795921e-03 1.32225511e+02] [ 2.37396710e-02 -1.99957646e-03 9.99716175e-01 7.24978735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.170714057 meters Centerline goodness : 0.992090 Centerline is valid? [True, True] Translation: X:149.98, Y:132.13, Z:7.23 [[-9.90218164e-01 -1.37526231e-01 2.35483322e-02 1.49975489e+02] [ 1.37478272e-01 -9.90498053e-01 -3.65128078e-03 1.32126184e+02] [ 2.38267241e-02 -3.78180531e-04 9.99716032e-01 7.23133153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.200714057 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:149.93, Y:132.12, Z:7.23 [[-9.93402677e-01 -1.12296965e-01 2.32489394e-02 1.49931229e+02] [ 1.12205068e-01 -9.93671338e-01 -5.22438581e-03 1.32124168e+02] [ 2.36884874e-02 -2.58127003e-03 9.99716056e-01 7.23296043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.230714057 meters Centerline goodness : 0.991417 Centerline is valid? [True, True] Translation: X:149.93, Y:132.13, Z:7.23 [[-9.91461412e-01 -1.28283535e-01 2.34009383e-02 1.49933573e+02] [ 1.28214823e-01 -9.91736571e-01 -4.41962898e-03 1.32133844e+02] [ 2.37745320e-02 -1.38154441e-03 9.99716391e-01 7.23429403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26071405700003 meters Centerline goodness : 0.990003 Centerline is valid? [True, True] Translation: X:149.96, Y:132.13, Z:7.24 [[-9.90810444e-01 -1.33231872e-01 2.33223409e-02 1.49956948e+02] [ 1.33154785e-01 -9.91083463e-01 -4.83457216e-03 1.32130904e+02] [ 2.37585055e-02 -1.68466332e-03 9.99716307e-01 7.23813084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.290714057 meters Centerline goodness : 0.990519 Centerline is valid? [True, True] Translation: X:149.95, Y:132.13, Z:7.24 [[-9.90828342e-01 -1.33092499e-01 2.33577164e-02 1.49951947e+02] [ 1.33019767e-01 -9.91102489e-01 -4.64733595e-03 1.32130679e+02] [ 2.37684164e-02 -1.49767418e-03 9.99716369e-01 7.23743463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32071405700003 meters Centerline goodness : 0.993097 Centerline is valid? [True, True] Translation: X:149.94, Y:132.12, Z:7.24 [[-9.92210202e-01 -1.22366575e-01 2.33524360e-02 1.49943482e+02] [ 1.22290227e-01 -9.92483371e-01 -4.67532402e-03 1.32122238e+02] [ 2.37490078e-02 -1.78312950e-03 9.99716362e-01 7.23730043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.350714057 meters Centerline goodness : 0.991310 Centerline is valid? [True, True] Translation: X:149.96, Y:132.13, Z:7.24 [[-9.90079379e-01 -1.38546176e-01 2.34047017e-02 1.49962629e+02] [ 1.38480849e-01 -9.90355350e-01 -4.39713335e-03 1.32127560e+02] [ 2.37881776e-02 -1.11240811e-03 9.99716402e-01 7.23631386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.380714057 meters Centerline goodness : 0.990579 Centerline is valid? [True, True] Translation: X:149.97, Y:132.13, Z:7.24 [[-9.89704894e-01 -1.41208552e-01 2.33316686e-02 1.49973930e+02] [ 1.41134845e-01 -9.89978820e-01 -4.78445248e-03 1.32125614e+02] [ 2.37734634e-02 -1.44228461e-03 9.99716331e-01 7.23660515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.410714057 meters Centerline goodness : 0.991078 Centerline is valid? [True, True] Translation: X:149.97, Y:132.13, Z:7.24 [[-9.89392584e-01 -1.43378230e-01 2.33451909e-02 1.49974109e+02] [ 1.43306814e-01 -9.89667090e-01 -4.71260931e-03 1.32126150e+02] [ 2.37796528e-02 -1.31709577e-03 9.99716356e-01 7.23599638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.440714057 meters Centerline goodness : 0.990650 Centerline is valid? [True, True] Translation: X:149.99, Y:132.13, Z:7.24 [[-9.89054302e-01 -1.45697750e-01 2.33185355e-02 1.49985600e+02] [ 1.45623645e-01 -9.89328151e-01 -4.85422248e-03 1.32125205e+02] [ 2.37769329e-02 -1.40535949e-03 9.99716301e-01 7.23715963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.470714057 meters Centerline goodness : 0.990591 Centerline is valid? [True, True] Translation: X:149.98, Y:132.13, Z:7.24 [[-9.88828156e-01 -1.47220952e-01 2.33424373e-02 1.49981689e+02] [ 1.47150265e-01 -9.89102854e-01 -4.72693072e-03 1.32125761e+02] [ 2.37839746e-02 -1.23927634e-03 9.99716353e-01 7.23510127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.500714057 meters Centerline goodness : 0.991131 Centerline is valid? [True, True] Translation: X:149.99, Y:132.13, Z:7.24 [[-9.87831557e-01 -1.53769588e-01 2.33179742e-02 1.49989886e+02] [ 1.53697653e-01 -9.88105986e-01 -4.85715611e-03 1.32126264e+02] [ 2.37875128e-02 -1.21413419e-03 9.99716300e-01 7.23615550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.530714057 meters Centerline goodness : 0.990743 Centerline is valid? [True, True] Translation: X:149.99, Y:132.13, Z:7.23 [[-9.88271271e-01 -1.50926121e-01 2.32637143e-02 1.49992674e+02] [ 1.50846619e-01 -9.88543789e-01 -5.14534078e-03 1.32125098e+02] [ 2.37737666e-02 -1.57573982e-03 9.99716122e-01 7.23408924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.560714057 meters Centerline goodness : 0.992804 Centerline is valid? [True, True] Translation: X:150.00, Y:132.13, Z:7.23 [[-9.87360183e-01 -1.56767958e-01 2.33168615e-02 1.49997319e+02] [ 1.56696740e-01 -9.87634797e-01 -4.86207444e-03 1.32125325e+02] [ 2.37907613e-02 -1.14694252e-03 9.99716302e-01 7.23074958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.590714057 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:149.99, Y:132.12, Z:7.23 [[-9.88055728e-01 -1.52332823e-01 2.32505804e-02 1.49989828e+02] [ 1.52252080e-01 -9.88327937e-01 -5.21471917e-03 1.32124782e+02] [ 2.37735710e-02 -1.61248392e-03 9.99716068e-01 7.23297486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.620714057 meters Centerline goodness : 0.992172 Centerline is valid? [True, True] Translation: X:149.99, Y:132.12, Z:7.23 [[-9.87252666e-01 -1.57446876e-01 2.32949419e-02 1.49994885e+02] [ 1.57373121e-01 -9.87526670e-01 -4.97772254e-03 1.32123839e+02] [ 2.37881032e-02 -1.24827215e-03 9.99716244e-01 7.23324483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.650714057 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:149.99, Y:132.13, Z:7.23 [[-9.85545197e-01 -1.67804222e-01 2.32896665e-02 1.49992969e+02] [ 1.67732682e-01 -9.85819805e-01 -5.00591096e-03 1.32126427e+02] [ 2.37994275e-02 -1.02711327e-03 9.99716226e-01 7.23149753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.680714057 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:149.98, Y:132.12, Z:7.24 [[-9.89331579e-01 -1.43819001e-01 2.32189838e-02 1.49984220e+02] [ 1.43731958e-01 -9.89602010e-01 -5.38385250e-03 1.32115625e+02] [ 2.37518533e-02 -1.98910529e-03 9.99715906e-01 7.23642486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.710714057 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:149.98, Y:132.12, Z:7.24 [[-9.89099739e-01 -1.45373752e-01 2.34131989e-02 1.49983124e+02] [ 1.45311803e-01 -9.89376414e-01 -4.33497011e-03 1.32115906e+02] [ 2.37946576e-02 -8.85503669e-04 9.99716475e-01 7.23696066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.740714057 meters Centerline goodness : 0.992366 Centerline is valid? [True, True] Translation: X:150.03, Y:132.12, Z:7.24 [[-9.84844740e-01 -1.71850463e-01 2.34148638e-02 1.50031275e+02] [ 1.71796170e-01 -9.85123019e-01 -4.32595859e-03 1.32118670e+02] [ 2.38099393e-02 -2.37813638e-04 9.99716475e-01 7.23509029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.770714057 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:149.98, Y:132.12, Z:7.24 [[-9.88387165e-01 -1.50165038e-01 2.32652863e-02 1.49984524e+02] [ 1.50085665e-01 -9.88659682e-01 -5.13099087e-03 1.32116729e+02] [ 2.37719460e-02 -1.57961954e-03 9.99716159e-01 7.23964950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.800714057 meters Centerline goodness : 0.992255 Centerline is valid? [True, True] Translation: X:150.00, Y:132.12, Z:7.24 [[-9.87907760e-01 -1.53261526e-01 2.34342191e-02 1.50000670e+02] [ 1.53204653e-01 -9.88185497e-01 -4.21399380e-03 1.32115324e+02] [ 2.38031985e-02 -5.72805774e-04 9.99716500e-01 7.23744141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.830714057 meters Centerline goodness : 0.992315 Centerline is valid? [True, True] Translation: X:150.00, Y:132.12, Z:7.24 [[-9.87828398e-01 -1.53774867e-01 2.34167813e-02 1.50003200e+02] [ 1.53715893e-01 -9.88105692e-01 -4.30876328e-03 1.32115764e+02] [ 2.38008344e-02 -6.56787294e-04 9.99716504e-01 7.23725835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.860714057 meters Centerline goodness : 0.992899 Centerline is valid? [True, True] Translation: X:150.00, Y:132.12, Z:7.24 [[-9.87748016e-01 -1.54290101e-01 2.34184251e-02 1.49998512e+02] [ 1.54231483e-01 -9.88025385e-01 -4.29981017e-03 1.32118340e+02] [ 2.38014167e-02 -6.35270514e-04 9.99716504e-01 7.23538397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.890714057 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:150.05, Y:132.12, Z:7.23 [[-9.85251967e-01 -1.69499224e-01 2.34216510e-02 1.50050181e+02] [ 1.69445308e-01 -9.85530289e-01 -4.28220520e-03 1.32119621e+02] [ 2.38085770e-02 -2.50362236e-04 9.99716504e-01 7.23447528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.920714057 meters Centerline goodness : 0.991866 Centerline is valid? [True, True] Translation: X:150.01, Y:132.12, Z:7.24 [[-9.87804030e-01 -1.53947299e-01 2.33115166e-02 1.50011584e+02] [ 1.53874867e-01 -9.88078290e-01 -4.88043886e-03 1.32124058e+02] [ 2.37849338e-02 -1.23386067e-03 9.99716337e-01 7.23518426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.950714057 meters Centerline goodness : 0.990976 Centerline is valid? [True, True] Translation: X:150.01, Y:132.13, Z:7.24 [[-9.88032306e-01 -1.52458639e-01 2.34206216e-02 1.50011007e+02] [ 1.52399883e-01 -9.88309629e-01 -4.28398427e-03 1.32126120e+02] [ 2.37999562e-02 -6.63414874e-04 9.99716521e-01 7.23636682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.980714057 meters Centerline goodness : 0.992018 Centerline is valid? [True, True] Translation: X:150.02, Y:132.13, Z:7.23 [[-9.88244510e-01 -1.51076758e-01 2.34222578e-02 1.50018532e+02] [ 1.51017826e-01 -9.88521796e-01 -4.27501932e-03 1.32127062e+02] [ 2.37992684e-02 -6.87585921e-04 9.99716521e-01 7.23494198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.01071405700003 meters Centerline goodness : 0.991415 Centerline is valid? [True, True] Translation: X:150.02, Y:132.13, Z:7.24 [[-9.88741569e-01 -1.47788466e-01 2.34238901e-02 1.50018590e+02] [ 1.47728824e-01 -9.89018703e-01 -4.26605674e-03 1.32131440e+02] [ 2.37971394e-02 -7.57643891e-04 9.99716521e-01 7.23622532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.040714057 meters Centerline goodness : 0.992037 Centerline is valid? [True, True] Translation: X:150.03, Y:132.14, Z:7.24 [[-9.86546352e-01 -1.61794748e-01 2.34255177e-02 1.50027548e+02] [ 1.61739255e-01 -9.86824346e-01 -4.25710091e-03 1.32140088e+02] [ 2.38056477e-02 -4.11001604e-04 9.99716521e-01 7.23547163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.07071405700003 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:149.79, Y:132.18, Z:7.25 [[-9.90499486e-01 -1.35524218e-01 2.33228428e-02 1.49789229e+02] [ 1.35447932e-01 -9.90772706e-01 -4.82738831e-03 1.32178780e+02] [ 2.37618641e-02 -1.62249480e-03 9.99716330e-01 7.24512479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.100714057 meters Centerline goodness : 0.990970 Centerline is valid? [True, True] Translation: X:150.03, Y:132.14, Z:7.24 [[-9.88102869e-01 -1.51992698e-01 2.34721266e-02 1.50033117e+02] [ 1.51940755e-01 -9.88381545e-01 -3.99116177e-03 1.32144477e+02] [ 2.38060442e-02 -3.77305742e-04 9.99716525e-01 7.23969813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.130714057 meters Centerline goodness : 0.990383 Centerline is valid? [True, True] Translation: X:150.04, Y:132.15, Z:7.24 [[-9.88741703e-01 -1.47799076e-01 2.33511973e-02 1.50039301e+02] [ 1.47730205e-01 -9.89016734e-01 -4.65691204e-03 1.32147209e+02] [ 2.37830122e-02 -1.15480598e-03 9.99716477e-01 7.23860271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.160714057 meters Centerline goodness : 0.990477 Centerline is valid? [True, True] Translation: X:150.02, Y:132.15, Z:7.24 [[-9.89770034e-01 -1.40747745e-01 2.33527659e-02 1.50023130e+02] [ 1.40677120e-01 -9.90044616e-01 -4.64826497e-03 1.32150821e+02] [ 2.37745129e-02 -1.31551354e-03 9.99716481e-01 7.23966187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.190714057 meters Centerline goodness : 0.990330 Centerline is valid? [True, True] Translation: X:150.02, Y:132.15, Z:7.24 [[-9.90605594e-01 -1.34734877e-01 2.33895375e-02 1.50017964e+02] [ 1.34667372e-01 -9.90880892e-01 -4.44485277e-03 1.32154256e+02] [ 2.37751225e-02 -1.25328847e-03 9.99716546e-01 7.23931662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.220714057 meters Centerline goodness : 0.991105 Centerline is valid? [True, True] Translation: X:150.02, Y:132.15, Z:7.24 [[-9.90656906e-01 -1.34355342e-01 2.33995124e-02 1.50023516e+02] [ 1.34289035e-01 -9.90932484e-01 -4.38953550e-03 1.32153683e+02] [ 2.37770945e-02 -1.20622572e-03 9.99716557e-01 7.23791349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.250714057 meters Centerline goodness : 0.990284 Centerline is valid? [True, True] Translation: X:150.02, Y:132.16, Z:7.24 [[-9.91251760e-01 -1.29902282e-01 2.33526355e-02 1.50021664e+02] [ 1.29828628e-01 -9.91525547e-01 -4.64937651e-03 1.32155319e+02] [ 2.37586993e-02 -1.57686202e-03 9.99716479e-01 7.23902945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.280714057 meters Centerline goodness : 0.991379 Centerline is valid? [True, True] Translation: X:150.01, Y:132.16, Z:7.24 [[-9.91947783e-01 -1.24466508e-01 2.34026527e-02 1.50006299e+02] [ 1.24397895e-01 -9.92222787e-01 -4.37085449e-03 1.32156424e+02] [ 2.37646703e-02 -1.42441869e-03 9.99716566e-01 7.23703098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.310714057 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:150.01, Y:132.16, Z:7.24 [[-9.92159449e-01 -1.22771831e-01 2.33817132e-02 1.50008982e+02] [ 1.22700009e-01 -9.92433660e-01 -4.48746776e-03 1.32156766e+02] [ 2.37557339e-02 -1.58334712e-03 9.99716539e-01 7.23543686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.340714057 meters Centerline goodness : 0.991569 Centerline is valid? [True, True] Translation: X:150.01, Y:132.15, Z:7.24 [[-9.93396722e-01 -1.12316641e-01 2.34078112e-02 1.50014880e+02] [ 1.12245349e-01 -9.93671037e-01 -4.34177569e-03 1.32150376e+02] [ 2.37473177e-02 -1.68568781e-03 9.99716572e-01 7.23563459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.370714057 meters Centerline goodness : 0.991569 Centerline is valid? [True, True] Translation: X:150.02, Y:132.15, Z:7.24 [[-9.93440107e-01 -1.11926529e-01 2.34351361e-02 1.50017485e+02] [ 1.11858717e-01 -9.93715291e-01 -4.18890621e-03 1.32149923e+02] [ 2.37567028e-02 -1.54000317e-03 9.99716584e-01 7.23562248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.400714057 meters Centerline goodness : 0.991097 Centerline is valid? [True, True] Translation: X:150.02, Y:132.15, Z:7.24 [[-9.93677747e-01 -1.09796415e-01 2.34367627e-02 1.50018174e+02] [ 1.09728228e-01 -9.93952839e-01 -4.17978573e-03 1.32149408e+02] [ 2.37539623e-02 -1.58168564e-03 9.99716584e-01 7.23566060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.430714057 meters Centerline goodness : 0.991015 Centerline is valid? [True, True] Translation: X:150.02, Y:132.16, Z:7.24 [[-9.92312408e-01 -1.21518424e-01 2.34383868e-02 1.50015396e+02] [ 1.21453704e-01 -9.92588335e-01 -4.17065841e-03 1.32155589e+02] [ 2.37714812e-02 -1.29191720e-03 9.99716584e-01 7.23504416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.460714057 meters Centerline goodness : 0.990976 Centerline is valid? [True, True] Translation: X:150.02, Y:132.15, Z:7.24 [[-9.92468548e-01 -1.20255583e-01 2.33404436e-02 1.50016043e+02] [ 1.20177655e-01 -9.92741189e-01 -4.71832915e-03 1.32154172e+02] [ 2.37384252e-02 -1.87779351e-03 9.99716440e-01 7.23507168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.490714057 meters Centerline goodness : 0.991066 Centerline is valid? [True, True] Translation: X:150.03, Y:132.15, Z:7.23 [[-9.91984115e-01 -1.24187548e-01 2.33445784e-02 1.50025826e+02] [ 1.24111244e-01 -9.92257202e-01 -4.69517697e-03 1.32151722e+02] [ 2.37469085e-02 -1.76021631e-03 9.99716453e-01 7.23238399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.520714057 meters Centerline goodness : 0.989917 Centerline is valid? [True, True] Translation: X:150.02, Y:132.15, Z:7.24 [[-9.92237051e-01 -1.22154715e-01 2.33208210e-02 1.50015741e+02] [ 1.22074736e-01 -9.92509167e-01 -4.82826756e-03 1.32152190e+02] [ 2.37359243e-02 -1.94390291e-03 9.99716373e-01 7.24164591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.550714057 meters Centerline goodness : 0.990277 Centerline is valid? [True, True] Translation: X:150.03, Y:132.15, Z:7.24 [[-9.92508349e-01 -1.19925032e-01 2.33487531e-02 1.50030387e+02] [ 1.19848110e-01 -9.92781249e-01 -4.67147176e-03 1.32146485e+02] [ 2.37404307e-02 -1.83817079e-03 9.99716466e-01 7.23901603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.580714057 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:150.03, Y:132.14, Z:7.23 [[-9.92452800e-01 -1.20378245e-01 2.33777028e-02 1.50032289e+02] [ 1.20305268e-01 -9.92726707e-01 -4.50853436e-03 1.32143492e+02] [ 2.37503994e-02 -1.66204675e-03 9.99716538e-01 7.23479507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.610714057 meters Centerline goodness : 0.992022 Centerline is valid? [True, True] Translation: X:150.03, Y:132.14, Z:7.24 [[-9.92934337e-01 -1.16348984e-01 2.33306122e-02 1.50025688e+02] [ 1.16268706e-01 -9.93206326e-01 -4.77295227e-03 1.32140808e+02] [ 2.37274398e-02 -2.02660809e-03 9.99716411e-01 7.23590998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.640714057 meters Centerline goodness : 0.992266 Centerline is valid? [True, True] Translation: X:150.03, Y:132.14, Z:7.24 [[-9.93268744e-01 -1.13460393e-01 2.33225596e-02 1.50032345e+02] [ 1.13378267e-01 -9.93540212e-01 -4.81825030e-03 1.32137247e+02] [ 2.37185814e-02 -2.14154603e-03 9.99716381e-01 7.23556313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.670714057 meters Centerline goodness : 0.990589 Centerline is valid? [True, True] Translation: X:150.04, Y:132.14, Z:7.23 [[-9.93857722e-01 -1.08179098e-01 2.33262094e-02 1.50035156e+02] [ 1.08096010e-01 -9.94128882e-01 -4.79768432e-03 1.32135128e+02] [ 2.37082676e-02 -2.24674544e-03 9.99716395e-01 7.23479681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.700714057 meters Centerline goodness : 0.989851 Centerline is valid? [True, True] Translation: X:150.04, Y:132.13, Z:7.24 [[-9.94027319e-01 -1.06595169e-01 2.33914237e-02 1.50041754e+02] [ 1.06520264e-01 -9.94300669e-01 -4.42877595e-03 1.32132165e+02] [ 2.37301943e-02 -1.91066366e-03 9.99716573e-01 7.24063446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.730714057 meters Centerline goodness : 0.992065 Centerline is valid? [True, True] Translation: X:150.04, Y:132.13, Z:7.24 [[-9.94342221e-01 -1.03615814e-01 2.33946599e-02 1.50041490e+02] [ 1.03540518e-01 -9.94615458e-01 -4.41044559e-03 1.32128535e+02] [ 2.37256823e-02 -1.96319706e-03 9.99716579e-01 7.23752659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76071405700003 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:150.03, Y:132.12, Z:7.23 [[-9.94631173e-01 -1.00811658e-01 2.33632192e-02 1.50034615e+02] [ 1.00731437e-01 -9.94903073e-01 -4.58843577e-03 1.32124436e+02] [ 2.37067064e-02 -2.21039061e-03 9.99716513e-01 7.23101463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.790714057 meters Centerline goodness : 0.991129 Centerline is valid? [True, True] Translation: X:150.04, Y:132.12, Z:7.24 [[-9.94760011e-01 -9.95388694e-02 2.33352605e-02 1.50042357e+02] [ 9.94546180e-02 -9.95030778e-01 -4.74654382e-03 1.32120555e+02] [ 2.36917681e-02 -2.40087255e-03 9.99716428e-01 7.23554044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82071405700003 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:150.04, Y:132.12, Z:7.24 [[-9.95028040e-01 -9.68134243e-02 2.33743658e-02 1.50041435e+02] [ 9.67336024e-02 -9.95300025e-01 -4.52448198e-03 1.32115043e+02] [ 2.37025375e-02 -2.24089982e-03 9.99716544e-01 7.23600152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.850714057 meters Centerline goodness : 0.991705 Centerline is valid? [True, True] Translation: X:150.05, Y:132.11, Z:7.23 [[-9.95081296e-01 -9.62621615e-02 2.33839974e-02 1.50046467e+02] [ 9.61834676e-02 -9.95353587e-01 -4.46964702e-03 1.32111899e+02] [ 2.37056036e-02 -2.19850819e-03 9.99716565e-01 7.23386250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.880714057 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:150.05, Y:132.11, Z:7.24 [[-9.95053691e-01 -9.65439469e-02 2.33969949e-02 1.50050307e+02] [ 9.64670604e-02 -9.95326472e-01 -4.39550190e-03 1.32109069e+02] [ 2.37120075e-02 -2.11672107e-03 9.99716590e-01 7.23572872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.910714057 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:150.05, Y:132.11, Z:7.24 [[-9.95038601e-01 -9.66995882e-02 2.33959740e-02 1.50047109e+02] [ 9.66226083e-02 -9.95311358e-01 -4.40132992e-03 1.32106119e+02] [ 2.37118855e-02 -2.11891313e-03 9.99716588e-01 7.23577263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.940714057 meters Centerline goodness : 0.992724 Centerline is valid? [True, True] Translation: X:150.05, Y:132.10, Z:7.24 [[-9.94926340e-01 -9.78452832e-02 2.34067890e-02 1.50046447e+02] [ 9.77700638e-02 -9.95199570e-01 -4.33942333e-03 1.32101429e+02] [ 2.37190185e-02 -2.02892331e-03 9.99716606e-01 7.23660061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.970714057 meters Centerline goodness : 0.992147 Centerline is valid? [True, True] Translation: X:150.05, Y:132.10, Z:7.24 [[-9.94975989e-01 -9.73411361e-02 2.33983697e-02 1.50050899e+02] [ 9.72646505e-02 -9.95248881e-01 -4.38769757e-03 1.32099082e+02] [ 2.37143047e-02 -2.08981948e-03 9.99716592e-01 7.23792897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.000714057 meters Centerline goodness : 0.991670 Centerline is valid? [True, True] Translation: X:150.07, Y:132.10, Z:7.24 [[-9.94299048e-01 -1.04024695e-01 2.34151020e-02 1.50070686e+02] [ 1.03952293e-01 -9.94573025e-01 -4.29163274e-03 1.32095179e+02] [ 2.37344646e-02 -1.83311279e-03 9.99716617e-01 7.23816413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.030714057 meters Centerline goodness : 0.992525 Centerline is valid? [True, True] Translation: X:150.06, Y:132.09, Z:7.24 [[-9.94895032e-01 -9.81756699e-02 2.33540735e-02 1.50057540e+02] [ 9.80934982e-02 -9.95166380e-01 -4.64124428e-03 1.32094082e+02] [ 2.36968461e-02 -2.32666811e-03 9.99716483e-01 7.23748234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.060714057 meters Centerline goodness : 0.991572 Centerline is valid? [True, True] Translation: X:150.07, Y:132.09, Z:7.24 [[-9.94901944e-01 -9.80930613e-02 2.34067102e-02 1.50066018e+02] [ 9.80179365e-02 -9.95175192e-01 -4.33831427e-03 1.32092726e+02] [ 2.37193359e-02 -2.02191987e-03 9.99716612e-01 7.23870500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.090714057 meters Centerline goodness : 0.991610 Centerline is valid? [True, True] Translation: X:150.06, Y:132.09, Z:7.24 [[-9.94825141e-01 -9.88632471e-02 2.34306739e-02 1.50063978e+02] [ 9.87915685e-02 -9.95099284e-01 -4.20006380e-03 1.32091533e+02] [ 2.37310788e-02 -1.86357603e-03 9.99716641e-01 7.23601991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.120714057 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:150.07, Y:132.09, Z:7.24 [[-9.94672011e-01 -1.00396333e-01 2.34129753e-02 1.50066153e+02] [ 1.00322684e-01 -9.94945652e-01 -4.30228620e-03 1.32089386e+02] [ 2.37265718e-02 -1.93051114e-03 9.99716621e-01 7.23659138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.150714057 meters Centerline goodness : 0.991697 Centerline is valid? [True, True] Translation: X:150.07, Y:132.09, Z:7.23 [[-9.94406874e-01 -1.02988061e-01 2.34185677e-02 1.50067502e+02] [ 1.02915883e-01 -9.94680898e-01 -4.26993413e-03 1.32085823e+02] [ 2.37337542e-02 -1.83590929e-03 9.99716629e-01 7.23401018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.180714057 meters Centerline goodness : 0.991076 Centerline is valid? [True, True] Translation: X:150.06, Y:132.09, Z:7.24 [[-9.94490958e-01 -1.02175145e-01 2.34088300e-02 1.50059283e+02] [ 1.02101423e-01 -9.94764586e-01 -4.32630744e-03 1.32085690e+02] [ 2.37283162e-02 -1.91239878e-03 9.99716615e-01 7.23546413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.210714057 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:150.08, Y:132.08, Z:7.24 [[-9.94331178e-01 -1.03714181e-01 2.34281176e-02 1.50077880e+02] [ 1.03643507e-01 -9.94605582e-01 -4.21429701e-03 1.32081867e+02] [ 2.37388189e-02 -1.76223464e-03 9.99716641e-01 7.23503508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.240714057 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:150.07, Y:132.08, Z:7.23 [[-9.94305776e-01 -1.03957403e-01 2.34282381e-02 1.50066258e+02] [ 1.03886812e-01 -9.94580201e-01 -4.21359547e-03 1.32079841e+02] [ 2.37392962e-02 -1.75571734e-03 9.99716641e-01 7.23496273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.270714057 meters Centerline goodness : 0.990183 Centerline is valid? [True, True] Translation: X:150.07, Y:132.08, Z:7.24 [[-9.94307328e-01 -1.03954178e-01 2.33766377e-02 1.50070330e+02] [ 1.03876560e-01 -9.94579955e-01 -4.51377775e-03 1.32079246e+02] [ 2.37191614e-02 -2.05979758e-03 9.99716539e-01 7.23586710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.300714057 meters Centerline goodness : 0.990502 Centerline is valid? [True, True] Translation: X:150.08, Y:132.08, Z:7.24 [[-9.94057435e-01 -1.06304026e-01 2.34365285e-02 1.50075981e+02] [ 1.06235253e-01 -9.94332306e-01 -4.16377050e-03 1.32077488e+02] [ 2.37463230e-02 -1.64924149e-03 9.99716656e-01 7.23510105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.330714057 meters Centerline goodness : 0.991530 Centerline is valid? [True, True] Translation: X:150.08, Y:132.08, Z:7.24 [[-9.94107630e-01 -1.05834697e-01 2.34315298e-02 1.50076831e+02] [ 1.05765108e-01 -9.94382301e-01 -4.19301649e-03 1.32075675e+02] [ 2.37436651e-02 -1.69007140e-03 9.99716651e-01 7.23503331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.360714057 meters Centerline goodness : 0.990831 Centerline is valid? [True, True] Translation: X:150.08, Y:132.07, Z:7.23 [[-9.93949827e-01 -1.07309813e-01 2.34167814e-02 1.50082581e+02] [ 1.07238606e-01 -9.94224104e-01 -4.27934612e-03 1.32073625e+02] [ 2.37407443e-02 -1.74227233e-03 9.99716631e-01 7.23353803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.390714057 meters Centerline goodness : 0.992295 Centerline is valid? [True, True] Translation: X:150.08, Y:132.07, Z:7.23 [[-9.93738784e-01 -1.09249607e-01 2.34041136e-02 1.50084649e+02] [ 1.09177197e-01 -9.94012770e-01 -4.35351446e-03 1.32072144e+02] [ 2.37396076e-02 -1.77106065e-03 9.99716607e-01 7.23223498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.420714057 meters Centerline goodness : 0.991200 Centerline is valid? [True, True] Translation: X:150.09, Y:132.07, Z:7.23 [[-9.93837703e-01 -1.08353104e-01 2.33714500e-02 1.50086025e+02] [ 1.08275971e-01 -9.94110487e-01 -4.54462534e-03 1.32071938e+02] [ 2.37262278e-02 -1.98605357e-03 9.99716521e-01 7.23076212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.450714057 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:150.09, Y:132.07, Z:7.23 [[-9.94159442e-01 -1.05358622e-01 2.33787198e-02 1.50085924e+02] [ 1.05281665e-01 -9.94432252e-01 -4.50199868e-03 1.32071201e+02] [ 2.37228773e-02 -2.01435395e-03 9.99716544e-01 7.23090349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.480714057 meters Centerline goodness : 0.990249 Centerline is valid? [True, True] Translation: X:150.08, Y:132.07, Z:7.23 [[-9.94355137e-01 -1.03484665e-01 2.34261803e-02 1.50081930e+02] [ 1.03413740e-01 -9.94629464e-01 -4.22233876e-03 1.32070392e+02] [ 2.37373164e-02 -1.77591533e-03 9.99716653e-01 7.22905366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.51071405700003 meters Centerline goodness : 0.991096 Centerline is valid? [True, True] Translation: X:150.09, Y:132.07, Z:7.23 [[-9.94531690e-01 -1.01775827e-01 2.34179232e-02 1.50091138e+02] [ 1.01703289e-01 -9.94805609e-01 -4.27106587e-03 1.32067902e+02] [ 2.37309726e-02 -1.86603054e-03 9.99716639e-01 7.22675211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.540714057 meters Centerline goodness : 0.991561 Centerline is valid? [True, True] Translation: X:150.08, Y:132.07, Z:7.23 [[-9.94752857e-01 -9.95918387e-02 2.34140897e-02 1.50084992e+02] [ 9.95181695e-02 -9.95026481e-01 -4.29371176e-03 1.32066686e+02] [ 2.37252579e-02 -1.94105470e-03 9.99716632e-01 7.22766914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.57071405700003 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:150.10, Y:132.06, Z:7.23 [[-9.94696113e-01 -1.00159059e-01 2.34052589e-02 1.50098835e+02] [ 1.00084324e-01 -9.94969467e-01 -4.34595965e-03 1.32064216e+02] [ 2.37228052e-02 -1.98040967e-03 9.99716613e-01 7.22810274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.600714057 meters Centerline goodness : 0.990527 Centerline is valid? [True, True] Translation: X:150.09, Y:132.06, Z:7.23 [[-9.94815521e-01 -9.89641492e-02 2.34131771e-02 1.50093357e+02] [ 9.88901824e-02 -9.95089066e-01 -4.29905649e-03 1.32063510e+02] [ 2.37236490e-02 -1.96143477e-03 9.99716630e-01 7.22756603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.630714057 meters Centerline goodness : 0.991961 Centerline is valid? [True, True] Translation: X:150.10, Y:132.06, Z:7.23 [[-9.94888249e-01 -9.82305082e-02 2.34123655e-02 1.50095906e+02] [ 9.81562271e-02 -9.95161711e-01 -4.30386810e-03 1.32060768e+02] [ 2.37218608e-02 -1.98379834e-03 9.99716629e-01 7.22641398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.660714057 meters Centerline goodness : 0.991129 Centerline is valid? [True, True] Translation: X:150.10, Y:132.06, Z:7.22 [[-9.94829101e-01 -9.88275972e-02 2.34129602e-02 1.50100215e+02] [ 9.87535629e-02 -9.95102628e-01 -4.30033457e-03 1.32058460e+02] [ 2.37232900e-02 -1.96598474e-03 9.99716630e-01 7.22493031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.690714057 meters Centerline goodness : 0.989933 Centerline is valid? [True, True] Translation: X:150.11, Y:132.05, Z:7.22 [[-9.94904216e-01 -9.80723806e-02 2.33967731e-02 1.50110199e+02] [ 9.79958891e-02 -9.95177108e-01 -4.39653913e-03 1.32053987e+02] [ 2.37151121e-02 -2.08134773e-03 9.99716591e-01 7.22459061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.720714057 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:150.11, Y:132.05, Z:7.22 [[-9.94863509e-01 -9.84762544e-02 2.34312994e-02 1.50105627e+02] [ 9.84046885e-02 -9.95137656e-01 -4.19077301e-03 1.32051683e+02] [ 2.37300600e-02 -1.86349742e-03 9.99716666e-01 7.22434494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.750714057 meters Centerline goodness : 0.991413 Centerline is valid? [True, True] Translation: X:150.09, Y:132.05, Z:7.23 [[-9.94967445e-01 -9.74299774e-02 2.33919356e-02 1.50093333e+02] [ 9.73526403e-02 -9.95240112e-01 -4.42519283e-03 1.32049745e+02] [ 2.37117391e-02 -2.12565611e-03 9.99716577e-01 7.22581705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.780714057 meters Centerline goodness : 0.989277 Centerline is valid? [True, True] Translation: X:150.11, Y:132.05, Z:7.22 [[-9.94796952e-01 -9.91632408e-02 2.33597054e-02 1.50111330e+02] [ 9.90818976e-02 -9.95068570e-01 -4.61712173e-03 1.32047488e+02] [ 2.37023574e-02 -2.27857468e-03 9.99716463e-01 7.22417299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.810714057 meters Centerline goodness : 0.989984 Centerline is valid? [True, True] Translation: X:150.11, Y:132.04, Z:7.23 [[-9.94940303e-01 -9.77000711e-02 2.34198381e-02 1.50112353e+02] [ 9.76267263e-02 -9.95213995e-01 -4.25764190e-03 1.32044553e+02] [ 2.37237225e-02 -1.94969740e-03 9.99716652e-01 7.22642016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.840714057 meters Centerline goodness : 0.987507 Centerline is valid? [True, True] Translation: X:150.10, Y:132.05, Z:7.23 [[-9.95027392e-01 -9.68158511e-02 2.33918993e-02 1.50100995e+02] [ 9.67383582e-02 -9.95300011e-01 -4.42467072e-03 1.32045703e+02] [ 2.37103359e-02 -2.13977464e-03 9.99716581e-01 7.22953297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.870714057 meters Centerline goodness : 0.988338 Centerline is valid? [True, True] Translation: X:150.11, Y:132.04, Z:7.23 [[-9.95092265e-01 -9.61346601e-02 2.34416717e-02 1.50114486e+02] [ 9.60639718e-02 -9.95366611e-01 -4.12579956e-03 1.32041368e+02] [ 2.37296897e-02 -1.85365113e-03 9.99716693e-01 7.22637316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.900714057 meters Centerline goodness : 0.988489 Centerline is valid? [True, True] Translation: X:150.12, Y:132.04, Z:7.23 [[-9.95123510e-01 -9.58149285e-02 2.34243225e-02 1.50119469e+02] [ 9.57417120e-02 -9.95397223e-01 -4.23001166e-03 1.32039584e+02] [ 2.37218039e-02 -1.96669931e-03 9.99716664e-01 7.22667899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.930714057 meters Centerline goodness : 0.988373 Centerline is valid? [True, True] Translation: X:150.10, Y:132.04, Z:7.23 [[-9.95035506e-01 -9.67272794e-02 2.34131612e-02 1.50103424e+02] [ 9.66527434e-02 -9.95308888e-01 -4.29713272e-03 1.32041231e+02] [ 2.37189774e-02 -2.01285337e-03 9.99716639e-01 7.22745968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.960714057 meters Centerline goodness : 0.989119 Centerline is valid? [True, True] Translation: X:150.09, Y:132.04, Z:7.23 [[-9.94974841e-01 -9.73509518e-02 2.34063836e-02 1.50090833e+02] [ 9.72756309e-02 -9.95248026e-01 -4.33801659e-03 1.32039612e+02] [ 2.37174671e-02 -2.03934664e-03 9.99716621e-01 7.22608754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.990714057 meters Centerline goodness : 0.989533 Centerline is valid? [True, True] Translation: X:150.11, Y:132.04, Z:7.23 [[-9.94902921e-01 -9.80887632e-02 2.33831840e-02 1.50107566e+02] [ 9.80103754e-02 -9.95175319e-01 -4.47789736e-03 1.32035578e+02] [ 2.37095990e-02 -2.16327852e-03 9.99716547e-01 7.22617068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.020714057 meters Centerline goodness : 0.988824 Centerline is valid? [True, True] Translation: X:150.09, Y:132.04, Z:7.23 [[-9.94736905e-01 -9.97570591e-02 2.33884500e-02 1.50085389e+02] [ 9.96798722e-02 -9.95009626e-01 -4.44606407e-03 1.32037652e+02] [ 2.37152592e-02 -2.09130631e-03 9.99716566e-01 7.22809373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.050714057 meters Centerline goodness : 0.989490 Centerline is valid? [True, True] Translation: X:150.11, Y:132.03, Z:7.23 [[-9.94357611e-01 -1.03466729e-01 2.34003651e-02 1.50110685e+02] [ 1.03392249e-01 -9.94631043e-01 -4.37387371e-03 1.32031694e+02] [ 2.37272799e-02 -1.92977823e-03 9.99716606e-01 7.22736531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.080714057 meters Centerline goodness : 0.989180 Centerline is valid? [True, True] Translation: X:150.11, Y:132.03, Z:7.23 [[-9.93917972e-01 -1.07611448e-01 2.33846300e-02 1.50114503e+02] [ 1.07535878e-01 -9.94191160e-01 -4.46907404e-03 1.32029244e+02] [ 2.37297160e-02 -1.92720627e-03 9.99716553e-01 7.22817263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.110714057 meters Centerline goodness : 0.989151 Centerline is valid? [True, True] Translation: X:150.11, Y:132.03, Z:7.23 [[-9.93820437e-01 -1.08508545e-01 2.33844930e-02 1.50109191e+02] [ 1.08433203e-01 -9.94093688e-01 -4.46990389e-03 1.32028999e+02] [ 2.37313996e-02 -1.90662637e-03 9.99716553e-01 7.22864829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.140714057 meters Centerline goodness : 0.987897 Centerline is valid? [True, True] Translation: X:150.11, Y:132.03, Z:7.23 [[-9.93569470e-01 -1.10782407e-01 2.33873235e-02 1.50110285e+02] [ 1.10708093e-01 -9.93842991e-01 -4.45272453e-03 1.32028658e+02] [ 2.37366111e-02 -1.83492516e-03 9.99716563e-01 7.23056595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.170714057 meters Centerline goodness : 0.988630 Centerline is valid? [True, True] Translation: X:150.14, Y:132.02, Z:7.23 [[-9.93562789e-01 -1.10841986e-01 2.33888744e-02 1.50135669e+02] [ 1.10767909e-01 -9.93836368e-01 -4.44330992e-03 1.32024153e+02] [ 2.37372193e-02 -1.82397068e-03 9.99716569e-01 7.22655963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.200714057 meters Centerline goodness : 0.988410 Centerline is valid? [True, True] Translation: X:150.10, Y:132.03, Z:7.23 [[-9.93576592e-01 -1.10717459e-01 2.33923262e-02 1.50098231e+02] [ 1.10643840e-01 -9.93850282e-01 -4.42229950e-03 1.32029689e+02] [ 2.37380958e-02 -1.80567646e-03 9.99716581e-01 7.22992848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.230714057 meters Centerline goodness : 0.988410 Centerline is valid? [True, True] Translation: X:150.10, Y:132.03, Z:7.23 [[-9.93615137e-01 -1.10370560e-01 2.33944124e-02 1.50100877e+02] [ 1.10297145e-01 -9.93888875e-01 -4.40956336e-03 1.32029338e+02] [ 2.37381322e-02 -1.80107202e-03 9.99716588e-01 7.22987062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26071405700003 meters Centerline goodness : 0.989898 Centerline is valid? [True, True] Translation: X:150.12, Y:132.03, Z:7.23 [[-9.93169297e-01 -1.14312943e-01 2.33943994e-02 1.50117823e+02] [ 1.14240613e-01 -9.93443324e-01 -4.40964282e-03 1.32026973e+02] [ 2.37450891e-02 -1.70693133e-03 9.99716588e-01 7.23093963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.290714057 meters Centerline goodness : 0.990526 Centerline is valid? [True, True] Translation: X:150.13, Y:132.02, Z:7.23 [[-9.93096821e-01 -1.14944522e-01 2.33765214e-02 1.50132552e+02] [ 1.14869807e-01 -9.93370278e-01 -4.51870982e-03 1.32023189e+02] [ 2.37409425e-02 -1.80225985e-03 9.99716520e-01 7.22837377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32071405700003 meters Centerline goodness : 0.989952 Centerline is valid? [True, True] Translation: X:150.11, Y:132.03, Z:7.23 [[-9.93190045e-01 -1.14136592e-01 2.33746003e-02 1.50107368e+02] [ 1.14061379e-01 -9.93463375e-01 -4.53045532e-03 1.32026004e+02] [ 2.37389000e-02 -1.83346398e-03 9.99716511e-01 7.23016112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.350714057 meters Centerline goodness : 0.989091 Centerline is valid? [True, True] Translation: X:150.13, Y:132.02, Z:7.23 [[-9.93004079e-01 -1.15739571e-01 2.33934075e-02 1.50127508e+02] [ 1.15667509e-01 -9.93278176e-01 -4.41499735e-03 1.32022529e+02] [ 2.37471510e-02 -1.67825320e-03 9.99716588e-01 7.22828366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.380714057 meters Centerline goodness : 0.990134 Centerline is valid? [True, True] Translation: X:150.13, Y:132.02, Z:7.23 [[-9.92874311e-01 -1.16848254e-01 2.33899343e-02 1.50127064e+02] [ 1.16775997e-01 -9.93148370e-01 -4.43631004e-03 1.32020458e+02] [ 2.37480502e-02 -1.67331537e-03 9.99716575e-01 7.22754489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.410714057 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:150.13, Y:132.02, Z:7.23 [[-9.92569470e-01 -1.19410140e-01 2.33894479e-02 1.50133989e+02] [ 1.19338521e-01 -9.92843699e-01 -4.43929651e-03 1.32017069e+02] [ 2.37521630e-02 -1.61504807e-03 9.99716573e-01 7.22556579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.440714057 meters Centerline goodness : 0.990615 Centerline is valid? [True, True] Translation: X:150.15, Y:132.01, Z:7.22 [[-9.92061505e-01 -1.23558145e-01 2.33956380e-02 1.50146343e+02] [ 1.23488567e-01 -9.92336235e-01 -4.40127808e-03 1.32014612e+02] [ 2.37601530e-02 -1.47724475e-03 9.99716596e-01 7.22181065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.470714057 meters Centerline goodness : 0.989626 Centerline is valid? [True, True] Translation: X:150.16, Y:132.01, Z:7.22 [[-9.91984588e-01 -1.24174597e-01 2.33932991e-02 1.50157716e+02] [ 1.24104852e-01 -9.92259285e-01 -4.41563683e-03 1.32012418e+02] [ 2.37605281e-02 -1.47702176e-03 9.99716588e-01 7.21891505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.500714057 meters Centerline goodness : 0.990285 Centerline is valid? [True, True] Translation: X:150.13, Y:132.01, Z:7.22 [[-9.92190618e-01 -1.22515086e-01 2.34058049e-02 1.50134848e+02] [ 1.22446694e-01 -9.92465608e-01 -4.33860139e-03 1.32014227e+02] [ 2.37610006e-02 -1.43875616e-03 9.99716632e-01 7.22127567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.530714057 meters Centerline goodness : 0.992010 Centerline is valid? [True, True] Translation: X:150.18, Y:132.00, Z:7.22 [[-9.92120058e-01 -1.23083554e-01 2.34143159e-02 1.50184696e+02] [ 1.23016556e-01 -9.92395363e-01 -4.28609990e-03 1.32003317e+02] [ 2.37638070e-02 -1.37197718e-03 9.99716659e-01 7.22186234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.560714057 meters Centerline goodness : 0.991075 Centerline is valid? [True, True] Translation: X:150.19, Y:132.00, Z:7.22 [[-9.92151144e-01 -1.22833180e-01 2.34119173e-02 1.50185056e+02] [ 1.22765764e-01 -9.92426355e-01 -4.30088814e-03 1.32004154e+02] [ 2.37628955e-02 -1.39294917e-03 9.99716652e-01 7.22140001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.590714057 meters Centerline goodness : 0.990549 Centerline is valid? [True, True] Translation: X:150.19, Y:132.01, Z:7.22 [[-9.91970487e-01 -1.24284559e-01 2.34072822e-02 1.50188915e+02] [ 1.24216871e-01 -9.92245647e-01 -4.32951095e-03 1.32006733e+02] [ 2.37638652e-02 -1.38716773e-03 9.99716637e-01 7.22016808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.620714057 meters Centerline goodness : 0.990214 Centerline is valid? [True, True] Translation: X:150.18, Y:132.01, Z:7.22 [[-9.92088388e-01 -1.23335511e-01 2.34303544e-02 1.50175360e+02] [ 1.23270927e-01 -9.92364223e-01 -4.18655075e-03 1.32010261e+02] [ 2.37677959e-02 -1.26514686e-03 9.99716706e-01 7.22067436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.650714057 meters Centerline goodness : 0.990141 Centerline is valid? [True, True] Translation: X:150.17, Y:132.01, Z:7.22 [[-9.91873085e-01 -1.25053036e-01 2.34418812e-02 1.50168107e+02] [ 1.24990620e-01 -9.92149390e-01 -4.11489323e-03 1.32010806e+02] [ 2.37724280e-02 -1.15143657e-03 9.99716733e-01 7.22108687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.680714057 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:150.18, Y:132.01, Z:7.22 [[-9.91751090e-01 -1.26020441e-01 2.34227178e-02 1.50184228e+02] [ 1.25955487e-01 -9.92026859e-01 -4.23394818e-03 1.32008318e+02] [ 2.37695292e-02 -1.24880288e-03 9.99716685e-01 7.22072410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.710714057 meters Centerline goodness : 0.989741 Centerline is valid? [True, True] Translation: X:150.18, Y:132.01, Z:7.22 [[-9.92148905e-01 -1.22849706e-01 2.34200985e-02 1.50182520e+02] [ 1.22783487e-01 -9.92424380e-01 -4.25022920e-03 1.32010962e+02] [ 2.37648161e-02 -1.34125888e-03 9.99716677e-01 7.22247423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.740714057 meters Centerline goodness : 0.989673 Centerline is valid? [True, True] Translation: X:150.15, Y:132.02, Z:7.22 [[-9.92497435e-01 -1.19997543e-01 2.34399388e-02 1.50147396e+02] [ 1.19933453e-01 -9.92773358e-01 -4.12626118e-03 1.32018341e+02] [ 2.37656880e-02 -1.28407082e-03 9.99716731e-01 7.22267533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.770714057 meters Centerline goodness : 0.990203 Centerline is valid? [True, True] Translation: X:150.20, Y:132.01, Z:7.22 [[-9.92807587e-01 -1.17401880e-01 2.34497994e-02 1.50202495e+02] [ 1.17338524e-01 -9.93083657e-01 -4.06452542e-03 1.32011642e+02] [ 2.37647955e-02 -1.28372684e-03 9.99716753e-01 7.22072229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.800714057 meters Centerline goodness : 0.989450 Centerline is valid? [True, True] Translation: X:150.19, Y:132.02, Z:7.22 [[-9.92841117e-01 -1.17119599e-01 2.34417361e-02 1.50192838e+02] [ 1.17054975e-01 -9.93116911e-01 -4.11500348e-03 1.32016083e+02] [ 2.37623322e-02 -1.34157282e-03 9.99716736e-01 7.22105532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.830714057 meters Centerline goodness : 0.990000 Centerline is valid? [True, True] Translation: X:150.18, Y:132.02, Z:7.22 [[-9.92989416e-01 -1.15854759e-01 2.34455752e-02 1.50184753e+02] [ 1.15790350e-01 -9.93265251e-01 -4.09090856e-03 1.32018062e+02] [ 2.37616264e-02 -1.34745754e-03 9.99716745e-01 7.22111258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.860714057 meters Centerline goodness : 0.988967 Centerline is valid? [True, True] Translation: X:150.17, Y:132.02, Z:7.22 [[-9.93655346e-01 -1.09997106e-01 2.34454873e-02 1.50172074e+02] [ 1.09931059e-01 -9.93930794e-01 -4.09146129e-03 1.32021342e+02] [ 2.37532407e-02 -1.48811514e-03 9.99716744e-01 7.22336976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.890714057 meters Centerline goodness : 0.989033 Centerline is valid? [True, True] Translation: X:150.18, Y:132.02, Z:7.22 [[-9.93861867e-01 -1.08111090e-01 2.34644713e-02 1.50178832e+02] [ 1.08047339e-01 -9.94137817e-01 -3.97165452e-03 1.32024810e+02] [ 2.37562982e-02 -1.41200229e-03 9.99716782e-01 7.22147635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.920714057 meters Centerline goodness : 0.988954 Centerline is valid? [True, True] Translation: X:150.16, Y:132.03, Z:7.22 [[-9.94031988e-01 -1.06535649e-01 2.34640564e-02 1.50160919e+02] [ 1.06471399e-01 -9.94307823e-01 -3.97427648e-03 1.32029966e+02] [ 2.37538969e-02 -1.45230704e-03 9.99716781e-01 7.22149229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.950714057 meters Centerline goodness : 0.988241 Centerline is valid? [True, True] Translation: X:150.18, Y:132.03, Z:7.22 [[-9.94443427e-01 -1.02625379e-01 2.34585150e-02 1.50184888e+02] [ 1.02559221e-01 -9.94718820e-01 -4.00933645e-03 1.32029424e+02] [ 2.37460860e-02 -1.58117127e-03 9.99716772e-01 7.22103781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.980714057 meters Centerline goodness : 0.989620 Centerline is valid? [True, True] Translation: X:150.20, Y:132.03, Z:7.22 [[-9.94368894e-01 -1.03344845e-01 2.34594624e-02 1.50202871e+02] [ 1.03279027e-01 -9.94644367e-01 -4.00333625e-03 1.32028803e+02] [ 2.37475463e-02 -1.55792259e-03 9.99716773e-01 7.21878953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.01071405700003 meters Centerline goodness : 0.989201 Centerline is valid? [True, True] Translation: X:150.19, Y:132.03, Z:7.22 [[-9.94754679e-01 -9.95651650e-02 2.34501019e-02 1.50192454e+02] [ 9.94969083e-02 -9.95029578e-01 -4.06263170e-03 1.32030223e+02] [ 2.37380416e-02 -1.70810925e-03 9.99716754e-01 7.22022957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.040714057 meters Centerline goodness : 0.989667 Centerline is valid? [True, True] Translation: X:150.20, Y:132.03, Z:7.22 [[-9.94731682e-01 -9.97928102e-02 2.34579508e-02 1.50198928e+02] [ 9.97257857e-02 -9.95006867e-01 -4.01283026e-03 1.32033055e+02] [ 2.37412737e-02 -1.65232682e-03 9.99716771e-01 7.21789453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.07071405700003 meters Centerline goodness : 0.989543 Centerline is valid? [True, True] Translation: X:150.19, Y:132.04, Z:7.22 [[-9.94853275e-01 -9.85760827e-02 2.34460536e-02 1.50193053e+02] [ 9.85069486e-02 -9.95127965e-01 -4.08836740e-03 1.32036226e+02] [ 2.37348388e-02 -1.75772651e-03 9.99716744e-01 7.21675248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.100714057 meters Centerline goodness : 0.989512 Centerline is valid? [True, True] Translation: X:150.19, Y:132.04, Z:7.22 [[-9.94868330e-01 -9.84212103e-02 2.34578838e-02 1.50192001e+02] [ 9.83538018e-02 -9.95143419e-01 -4.01303336e-03 1.32037904e+02] [ 2.37389263e-02 -1.68526774e-03 9.99716772e-01 7.21665561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.130714057 meters Centerline goodness : 0.989346 Centerline is valid? [True, True] Translation: X:150.19, Y:132.04, Z:7.22 [[-9.94712408e-01 -9.99831266e-02 2.34648686e-02 1.50193927e+02] [ 9.99171967e-02 -9.94987842e-01 -3.96848762e-03 1.32038149e+02] [ 2.37440408e-02 -1.60295998e-03 9.99716785e-01 7.21623846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.160714057 meters Centerline goodness : 0.989263 Centerline is valid? [True, True] Translation: X:150.20, Y:132.04, Z:7.22 [[-9.94745779e-01 -9.96542112e-02 2.34493818e-02 1.50202988e+02] [ 9.95858690e-02 -9.95020659e-01 -4.06731654e-03 1.32037428e+02] [ 2.37379445e-02 -1.71071890e-03 9.99716752e-01 7.21699762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.190714057 meters Centerline goodness : 0.989411 Centerline is valid? [True, True] Translation: X:150.21, Y:132.04, Z:7.22 [[-9.94635502e-01 -1.00747752e-01 2.34543973e-02 1.50211600e+02] [ 1.00680465e-01 -9.94910629e-01 -4.03527122e-03 1.32036111e+02] [ 2.37415737e-02 -1.65222438e-03 9.99716764e-01 7.21891858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.220714057 meters Centerline goodness : 0.988016 Centerline is valid? [True, True] Translation: X:150.21, Y:132.04, Z:7.22 [[-9.94608615e-01 -1.01011245e-01 2.34612836e-02 1.50211216e+02] [ 1.00945066e-01 -9.94883995e-01 -3.99121009e-03 1.32036271e+02] [ 2.37444126e-02 -1.60139112e-03 9.99716779e-01 7.21848187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.250714057 meters Centerline goodness : 0.988801 Centerline is valid? [True, True] Translation: X:150.21, Y:132.04, Z:7.22 [[-9.94599671e-01 -1.01095983e-01 2.34754565e-02 1.50214401e+02] [ 1.01031964e-01 -9.94875535e-01 -3.90034412e-03 1.32036089e+02] [ 2.37494665e-02 -1.50750951e-03 9.99716805e-01 7.22057723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.280714057 meters Centerline goodness : 0.989626 Centerline is valid? [True, True] Translation: X:150.22, Y:132.03, Z:7.22 [[-9.94982324e-01 -9.72595274e-02 2.34682466e-02 1.50224190e+02] [ 9.71933569e-02 -9.95257693e-01 -3.94663761e-03 1.32032664e+02] [ 2.37408010e-02 -1.64587700e-03 9.99716793e-01 7.22157501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.310714057 meters Centerline goodness : 0.990770 Centerline is valid? [True, True] Translation: X:150.19, Y:132.03, Z:7.22 [[-9.96015973e-01 -8.60264831e-02 2.34867178e-02 1.50189649e+02] [ 8.59600019e-02 -9.96291237e-01 -3.82753565e-03 1.32033204e+02] [ 2.37288806e-02 -1.79336833e-03 9.99716822e-01 7.21832496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.340714057 meters Centerline goodness : 0.990210 Centerline is valid? [True, True] Translation: X:150.22, Y:132.04, Z:7.22 [[-9.94905784e-01 -9.80278582e-02 2.35163909e-02 1.50216219e+02] [ 9.79692190e-02 -9.95182805e-01 -3.63560286e-03 1.32037218e+02] [ 2.37594982e-02 -1.31319986e-03 9.99716841e-01 7.21810072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.370714057 meters Centerline goodness : 0.989379 Centerline is valid? [True, True] Translation: X:150.22, Y:132.04, Z:7.22 [[-9.95008216e-01 -9.69939046e-02 2.34698193e-02 1.50222142e+02] [ 9.69279110e-02 -9.95283622e-01 -3.93598489e-03 1.32039622e+02] [ 2.37408933e-02 -1.64145675e-03 9.99716798e-01 7.21585789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.400714057 meters Centerline goodness : 0.989477 Centerline is valid? [True, True] Translation: X:150.22, Y:132.04, Z:7.22 [[-9.95117126e-01 -9.58671769e-02 2.34816802e-02 1.50219778e+02] [ 9.58026734e-02 -9.95392864e-01 -3.85929687e-03 1.32040560e+02] [ 2.37434768e-02 -1.59084467e-03 9.99716818e-01 7.21680375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.430714057 meters Centerline goodness : 0.990377 Centerline is valid? [True, True] Translation: X:150.23, Y:132.04, Z:7.22 [[-9.95120368e-01 -9.58371719e-02 2.34667958e-02 1.50225317e+02] [ 9.57703967e-02 -9.95395592e-01 -3.95563733e-03 1.32042133e+02] [ 2.37378422e-02 -1.68891092e-03 9.99716791e-01 7.21598879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.460714057 meters Centerline goodness : 0.990665 Centerline is valid? [True, True] Translation: X:150.21, Y:132.04, Z:7.22 [[-9.95045974e-01 -9.66027472e-02 2.34823243e-02 1.50212567e+02] [ 9.65385512e-02 -9.95321781e-01 -3.85488933e-03 1.32044295e+02] [ 2.37448617e-02 -1.56884254e-03 9.99716820e-01 7.21659859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.490714057 meters Centerline goodness : 0.990129 Centerline is valid? [True, True] Translation: X:150.21, Y:132.04, Z:7.21 [[-9.95154082e-01 -9.54907108e-02 2.34494435e-02 1.50214428e+02] [ 9.54212020e-02 -9.95428674e-01 -4.06802330e-03 1.32044247e+02] [ 2.37307069e-02 -1.81073591e-03 9.99716747e-01 7.21497718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.520714057 meters Centerline goodness : 0.989983 Centerline is valid? [True, True] Translation: X:150.22, Y:132.04, Z:7.22 [[-9.94685978e-01 -1.00238533e-01 2.34955753e-02 1.50215403e+02] [ 1.00177402e-01 -9.94962458e-01 -3.76755558e-03 1.32044463e+02] [ 2.37548696e-02 -1.39380902e-03 9.99716842e-01 7.21702683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.550714057 meters Centerline goodness : 0.988935 Centerline is valid? [True, True] Translation: X:150.23, Y:132.04, Z:7.22 [[-9.94211765e-01 -1.04841178e-01 2.34796454e-02 1.50231258e+02] [ 1.04778880e-01 -9.94488008e-01 -3.87139020e-03 1.32043311e+02] [ 2.37561069e-02 -1.38881073e-03 9.99716819e-01 7.21821405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.580714057 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:150.24, Y:132.04, Z:7.22 [[-9.93862546e-01 -1.08099557e-01 2.34888507e-02 1.50237862e+02] [ 1.08039582e-01 -9.94139288e-01 -3.81126051e-03 1.32042577e+02] [ 2.37631848e-02 -1.25014347e-03 9.99716834e-01 7.21869533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.610714057 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:150.25, Y:132.04, Z:7.22 [[-9.93714122e-01 -1.09466995e-01 2.34354582e-02 1.50246570e+02] [ 1.09399215e-01 -9.93989193e-01 -4.15889662e-03 1.32042773e+02] [ 2.37498541e-02 -1.56893358e-03 9.99716701e-01 7.21704311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.640714057 meters Centerline goodness : 0.989878 Centerline is valid? [True, True] Translation: X:150.26, Y:132.04, Z:7.22 [[-9.93165057e-01 -1.14333608e-01 2.34732822e-02 1.50261841e+02] [ 1.14272998e-01 -9.93441684e-01 -3.91181380e-03 1.32040834e+02] [ 2.37665888e-02 -1.20271444e-03 9.99716811e-01 7.21914963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.670714057 meters Centerline goodness : 0.989465 Centerline is valid? [True, True] Translation: X:150.26, Y:132.04, Z:7.22 [[-9.93161164e-01 -1.14369040e-01 2.34654046e-02 1.50256639e+02] [ 1.14307224e-01 -9.93437542e-01 -3.96335520e-03 1.32041298e+02] [ 2.37646990e-02 -1.25398519e-03 9.99716793e-01 7.21958818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.700714057 meters Centerline goodness : 0.988442 Centerline is valid? [True, True] Translation: X:150.27, Y:132.04, Z:7.22 [[-9.92633079e-01 -1.18863035e-01 2.34765525e-02 1.50269296e+02] [ 1.18804197e-01 -9.92910081e-01 -3.89023921e-03 1.32041021e+02] [ 2.37725113e-02 -1.07246715e-03 9.99716819e-01 7.22105342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.730714057 meters Centerline goodness : 0.988070 Centerline is valid? [True, True] Translation: X:150.28, Y:132.04, Z:7.22 [[-9.92404519e-01 -1.20754829e-01 2.34849104e-02 1.50275965e+02] [ 1.20697818e-01 -9.92681886e-01 -3.83528741e-03 1.32042033e+02] [ 2.37761746e-02 -9.71579109e-04 9.99716835e-01 7.21864329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76071405700003 meters Centerline goodness : 0.990365 Centerline is valid? [True, True] Translation: X:150.26, Y:132.05, Z:7.22 [[-9.91580140e-01 -1.27345172e-01 2.34954082e-02 1.50263089e+02] [ 1.27291643e-01 -9.91858183e-01 -3.76609326e-03 1.32046017e+02] [ 2.37837067e-02 -7.43614172e-04 9.99716851e-01 7.21669781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.790714057 meters Centerline goodness : 0.989134 Centerline is valid? [True, True] Translation: X:150.27, Y:132.05, Z:7.22 [[-9.91333317e-01 -1.29265317e-01 2.34250403e-02 1.50268608e+02] [ 1.29201390e-01 -9.91609358e-01 -4.22862489e-03 1.32046938e+02] [ 2.37751038e-02 -1.16542896e-03 9.99716653e-01 7.22122765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82071405700003 meters Centerline goodness : 0.991413 Centerline is valid? [True, True] Translation: X:150.27, Y:132.05, Z:7.21 [[-9.90616500e-01 -1.34641517e-01 2.34651074e-02 1.50273552e+02] [ 1.34585336e-01 -9.90894076e-01 -3.96447872e-03 1.32049004e+02] [ 2.37852193e-02 -7.69218677e-04 9.99716796e-01 7.21298948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.850714057 meters Centerline goodness : 0.990868 Centerline is valid? [True, True] Translation: X:150.27, Y:132.05, Z:7.21 [[-9.90867073e-01 -1.32795670e-01 2.34041603e-02 1.50272706e+02] [ 1.32729516e-01 -9.91142687e-01 -4.36460986e-03 1.32049568e+02] [ 2.37764636e-02 -1.21832533e-03 9.99716558e-01 7.21437867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.880714057 meters Centerline goodness : 0.992529 Centerline is valid? [True, True] Translation: X:150.28, Y:132.05, Z:7.22 [[-9.91240706e-01 -1.29976886e-01 2.34066777e-02 1.50279144e+02] [ 1.29910339e-01 -9.91516212e-01 -4.34804728e-03 1.32051394e+02] [ 2.37732460e-02 -1.26919202e-03 9.99716571e-01 7.21654239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.910714057 meters Centerline goodness : 0.990543 Centerline is valid? [True, True] Translation: X:150.28, Y:132.05, Z:7.22 [[-9.91515902e-01 -1.27857400e-01 2.34243961e-02 1.50277799e+02] [ 1.27793026e-01 -9.91791834e-01 -4.23096285e-03 1.32053004e+02] [ 2.37730846e-02 -1.20159249e-03 9.99716658e-01 7.21933594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.940714057 meters Centerline goodness : 0.991852 Centerline is valid? [True, True] Translation: X:150.28, Y:132.05, Z:7.22 [[-9.91766645e-01 -1.25887885e-01 2.34768381e-02 1.50278577e+02] [ 1.25831190e-01 -9.92044070e-01 -3.88267305e-03 1.32054135e+02] [ 2.37788395e-02 -8.96587155e-04 9.99716841e-01 7.21887347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.970714057 meters Centerline goodness : 0.990790 Centerline is valid? [True, True] Translation: X:150.29, Y:132.06, Z:7.22 [[-9.91811347e-01 -1.25541111e-01 2.34452715e-02 1.50287316e+02] [ 1.25479366e-01 -9.92087790e-01 -4.09225742e-03 1.32057655e+02] [ 2.37735141e-02 -1.11684954e-03 9.99716746e-01 7.22005550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.000714057 meters Centerline goodness : 0.992298 Centerline is valid? [True, True] Translation: X:150.28, Y:132.06, Z:7.22 [[-9.92250613e-01 -1.22013716e-01 2.34813674e-02 1.50282846e+02] [ 1.21956673e-01 -9.92527952e-01 -3.85156722e-03 1.32057105e+02] [ 2.37758575e-02 -9.58010493e-04 9.99716855e-01 7.21939674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.030714057 meters Centerline goodness : 0.990226 Centerline is valid? [True, True] Translation: X:150.29, Y:132.06, Z:7.22 [[-9.92384911e-01 -1.20919691e-01 2.34652061e-02 1.50294470e+02] [ 1.20859796e-01 -9.92661691e-01 -3.95935231e-03 1.32059586e+02] [ 2.37717749e-02 -1.09320147e-03 9.99716814e-01 7.22491437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.060714057 meters Centerline goodness : 0.992810 Centerline is valid? [True, True] Translation: X:150.30, Y:132.06, Z:7.22 [[-9.91992633e-01 -1.24089966e-01 2.35009835e-02 1.50295961e+02] [ 1.24036619e-01 -9.92270668e-01 -3.71989269e-03 1.32061765e+02] [ 2.37809380e-02 -7.75123599e-04 9.99716893e-01 7.22003649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.090714057 meters Centerline goodness : 0.990806 Centerline is valid? [True, True] Translation: X:150.30, Y:132.06, Z:7.23 [[-9.92475574e-01 -1.20177803e-01 2.34420655e-02 1.50298588e+02] [ 1.20114076e-01 -9.92751576e-01 -4.11298369e-03 1.32062813e+02] [ 2.37664368e-02 -1.26631382e-03 9.99716736e-01 7.22552253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.120714057 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:150.27, Y:132.06, Z:7.22 [[-9.94176169e-01 -1.05176556e-01 2.34869707e-02 1.50273300e+02] [ 1.05115763e-01 -9.94452688e-01 -3.81158270e-03 1.32063159e+02] [ 2.37575703e-02 -1.32053384e-03 9.99716877e-01 7.22408952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.150714057 meters Centerline goodness : 0.991171 Centerline is valid? [True, True] Translation: X:150.31, Y:132.07, Z:7.22 [[-9.92603570e-01 -1.19097671e-01 2.35350199e-02 1.50306779e+02] [ 1.19048431e-01 -9.92882324e-01 -3.48731988e-03 1.32072065e+02] [ 2.37828369e-02 -6.59718958e-04 9.99716931e-01 7.22467541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.180714057 meters Centerline goodness : 0.991171 Centerline is valid? [True, True] Translation: X:150.31, Y:132.07, Z:7.22 [[-9.92644671e-01 -1.18768018e-01 2.34673400e-02 1.50309427e+02] [ 1.18707944e-01 -9.92921391e-01 -3.94153241e-03 1.32071941e+02] [ 2.37693519e-02 -1.12678145e-03 9.99716834e-01 7.22444588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.210714057 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:150.29, Y:132.07, Z:7.22 [[-9.93208748e-01 -1.13954004e-01 2.34705927e-02 1.50293549e+02] [ 1.13893106e-01 -9.93485278e-01 -3.91963526e-03 1.32074773e+02] [ 2.37643464e-02 -1.21987732e-03 9.99716844e-01 7.22147558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.240714057 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:150.28, Y:132.07, Z:7.22 [[-9.95032614e-01 -9.67471920e-02 2.34537214e-02 1.50278324e+02] [ 9.66788411e-02 -9.95307456e-01 -4.03353987e-03 1.32071554e+02] [ 2.37338974e-02 -1.74602512e-03 9.99716787e-01 7.22190165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.270714057 meters Centerline goodness : 0.992153 Centerline is valid? [True, True] Translation: X:150.29, Y:132.08, Z:7.22 [[-9.93955023e-01 -1.07235173e-01 2.35378261e-02 1.50288226e+02] [ 1.07183215e-01 -9.94233260e-01 -3.46169658e-03 1.32083762e+02] [ 2.37733052e-02 -9.17910832e-04 9.99716954e-01 7.21734980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.300714057 meters Centerline goodness : 0.992370 Centerline is valid? [True, True] Translation: X:150.30, Y:132.09, Z:7.22 [[-9.94256533e-01 -1.04423642e-01 2.34446119e-02 1.50300483e+02] [ 1.04356072e-01 -9.94531587e-01 -4.09067589e-03 1.32085150e+02] [ 2.37435704e-02 -1.62059362e-03 9.99716768e-01 7.21772424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.330714057 meters Centerline goodness : 0.991679 Centerline is valid? [True, True] Translation: X:150.30, Y:132.09, Z:7.22 [[-9.94657781e-01 -1.00528950e-01 2.34484265e-02 1.50296144e+02] [ 1.00460909e-01 -9.94932703e-01 -4.06487804e-03 1.32090442e+02] [ 2.37382443e-02 -1.68751232e-03 9.99716784e-01 7.21713349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.360714057 meters Centerline goodness : 0.990414 Centerline is valid? [True, True] Translation: X:150.30, Y:132.09, Z:7.22 [[-9.94825349e-01 -9.88549261e-02 2.34569458e-02 1.50301200e+02] [ 9.87877811e-02 -9.95100456e-01 -4.00705019e-03 1.32091145e+02] [ 2.37381341e-02 -1.66905548e-03 9.99716818e-01 7.21802772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.390714057 meters Centerline goodness : 0.992476 Centerline is valid? [True, True] Translation: X:150.28, Y:132.09, Z:7.22 [[-9.96286011e-01 -8.28409395e-02 2.34853979e-02 1.50280124e+02] [ 8.27739266e-02 -9.96561056e-01 -3.81296828e-03 1.32088085e+02] [ 2.37205028e-02 -1.85482835e-03 9.99716909e-01 7.21686725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.420714057 meters Centerline goodness : 0.992580 Centerline is valid? [True, True] Translation: X:150.28, Y:132.09, Z:7.22 [[-9.96367536e-01 -8.18385413e-02 2.35411740e-02 1.50279872e+02] [ 8.17802437e-02 -9.96644483e-01 -3.43019279e-03 1.32089559e+02] [ 2.37429032e-02 -1.49252979e-03 9.99716983e-01 7.21646612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.450714057 meters Centerline goodness : 0.991446 Centerline is valid? [True, True] Translation: X:150.30, Y:132.10, Z:7.22 [[-9.95265508e-01 -9.42990883e-02 2.35425067e-02 1.50300849e+02] [ 9.42444770e-02 -9.95543206e-01 -3.42102181e-03 1.32097468e+02] [ 2.37601818e-02 -1.18607378e-03 9.99716983e-01 7.21646549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.480714057 meters Centerline goodness : 0.992460 Centerline is valid? [True, True] Translation: X:150.28, Y:132.09, Z:7.22 [[-9.96518254e-01 -8.00046179e-02 2.34655265e-02 1.50283967e+02] [ 7.99336388e-02 -9.96792365e-01 -3.94886459e-03 1.32094137e+02] [ 2.37061851e-02 -2.05943073e-03 9.99716848e-01 7.21638370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.51071405700003 meters Centerline goodness : 0.992057 Centerline is valid? [True, True] Translation: X:150.30, Y:132.10, Z:7.22 [[-9.95354165e-01 -9.33584251e-02 2.35433858e-02 1.50299144e+02] [ 9.33037747e-02 -9.95631843e-01 -3.41158021e-03 1.32101997e+02] [ 2.37590444e-02 -1.19904381e-03 9.99716995e-01 7.21604842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.540714057 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:150.31, Y:132.10, Z:7.21 [[-9.95016155e-01 -9.69148915e-02 2.34596704e-02 1.50306944e+02] [ 9.68477316e-02 -9.95291233e-01 -3.98489384e-03 1.32103116e+02] [ 2.37353998e-02 -1.69301788e-03 9.99716842e-01 7.21437204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.57071405700003 meters Centerline goodness : 0.990390 Centerline is valid? [True, True] Translation: X:150.31, Y:132.10, Z:7.22 [[-9.95558799e-01 -9.11792763e-02 2.34311198e-02 1.50308751e+02] [ 9.11059478e-02 -9.95832431e-01 -4.18043973e-03 1.32102004e+02] [ 2.37146385e-02 -2.02715917e-03 9.99716713e-01 7.21691742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.600714057 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:150.30, Y:132.09, Z:7.21 [[-9.96697422e-01 -7.77293510e-02 2.35031333e-02 1.50296851e+02] [ 7.76639789e-02 -9.96972789e-01 -3.68292712e-03 1.32094768e+02] [ 2.37182559e-02 -1.84541712e-03 9.99716979e-01 7.21477826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.630714057 meters Centerline goodness : 0.991663 Centerline is valid? [True, True] Translation: X:150.30, Y:132.09, Z:7.21 [[-9.96705321e-01 -7.76152693e-02 2.35451086e-02 1.50301059e+02] [ 7.75567104e-02 -9.96982173e-01 -3.39152749e-03 1.32094309e+02] [ 2.37372879e-02 -1.55427232e-03 9.99717023e-01 7.21405229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.660714057 meters Centerline goodness : 0.991991 Centerline is valid? [True, True] Translation: X:150.31, Y:132.10, Z:7.21 [[-9.95072610e-01 -9.63123389e-02 2.35464225e-02 1.50306165e+02] [ 9.62592035e-02 -9.95350554e-01 -3.38238133e-03 1.32103295e+02] [ 2.37627097e-02 -1.09915514e-03 9.99717023e-01 7.21010129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.690714057 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:150.30, Y:132.09, Z:7.21 [[-9.96733878e-01 -7.72759494e-02 2.34521710e-02 1.50304476e+02] [ 7.72022280e-02 -9.97007293e-01 -4.03412779e-03 1.32093041e+02] [ 2.36937266e-02 -2.21039198e-03 9.99716821e-01 7.21297632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.720714057 meters Centerline goodness : 0.991670 Centerline is valid? [True, True] Translation: X:150.29, Y:132.10, Z:7.21 [[-9.95328905e-01 -9.36265495e-02 2.35465507e-02 1.50294946e+02] [ 9.35728188e-02 -9.95606715e-01 -3.37587090e-03 1.32102852e+02] [ 2.37591751e-02 -1.15678477e-03 9.99717042e-01 7.21121714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.750714057 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:150.29, Y:132.10, Z:7.21 [[-9.95508104e-01 -9.17261324e-02 2.34505993e-02 1.50293472e+02] [ 9.16562306e-02 -9.95782510e-01 -4.04075131e-03 1.32101738e+02] [ 2.37223391e-02 -1.87320714e-03 9.99716831e-01 7.21075439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.780714057 meters Centerline goodness : 0.991483 Centerline is valid? [True, True] Translation: X:150.30, Y:132.10, Z:7.21 [[-9.95681073e-01 -8.98258994e-02 2.34629306e-02 1.50303596e+02] [ 8.97574837e-02 -9.95955798e-01 -3.95507566e-03 1.32099871e+02] [ 2.37233100e-02 -1.83202037e-03 9.99716884e-01 7.21383427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.810714057 meters Centerline goodness : 0.992195 Centerline is valid? [True, True] Translation: X:150.30, Y:132.10, Z:7.21 [[-9.96087776e-01 -8.51924461e-02 2.34816832e-02 1.50302430e+02] [ 8.51258186e-02 -9.96362870e-01 -3.82437754e-03 1.32097727e+02] [ 2.37220853e-02 -1.81051822e-03 9.99716952e-01 7.21168708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.840714057 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:150.30, Y:132.10, Z:7.21 [[-9.96229797e-01 -8.35162542e-02 2.34782403e-02 1.50304638e+02] [ 8.34486005e-02 -9.96504652e-01 -3.84839209e-03 1.32096669e+02] [ 2.37175789e-02 -1.87465658e-03 9.99716941e-01 7.21161156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.870714057 meters Centerline goodness : 0.991669 Centerline is valid? [True, True] Translation: X:150.31, Y:132.09, Z:7.21 [[-9.96436893e-01 -8.10069892e-02 2.34815923e-02 1.50309045e+02] [ 8.09391928e-02 -9.96711702e-01 -3.82496435e-03 1.32093620e+02] [ 2.37142267e-02 -1.91075447e-03 9.99716952e-01 7.21323931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.900714057 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:150.31, Y:132.09, Z:7.21 [[-9.96409863e-01 -8.13401401e-02 2.34769176e-02 1.50305729e+02] [ 8.12716684e-02 -9.96684521e-01 -3.85768687e-03 1.32093965e+02] [ 2.37128651e-02 -1.93582898e-03 9.99716936e-01 7.21327020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.930714057 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:150.31, Y:132.09, Z:7.22 [[-9.96539590e-01 -7.97357698e-02 2.34745217e-02 1.50306858e+02] [ 7.96664622e-02 -9.96814046e-01 -3.87448914e-03 1.32092997e+02] [ 2.37086684e-02 -1.99094972e-03 9.99716928e-01 7.21657166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.960714057 meters Centerline goodness : 0.991314 Centerline is valid? [True, True] Translation: X:150.31, Y:132.09, Z:7.22 [[-9.96492993e-01 -8.03080094e-02 2.35019024e-02 1.50312817e+02] [ 8.02433785e-02 -9.96768501e-01 -3.68181869e-03 1.32090175e+02] [ 2.37216355e-02 -1.78303448e-03 9.99717012e-01 7.21710603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.990714057 meters Centerline goodness : 0.992488 Centerline is valid? [True, True] Translation: X:150.31, Y:132.09, Z:7.21 [[-9.96373711e-01 -8.17715920e-02 2.35124592e-02 1.50308322e+02] [ 8.17091155e-02 -9.96649692e-01 -3.60733767e-03 1.32089373e+02] [ 2.37286630e-02 -1.67307417e-03 9.99717036e-01 7.21477794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.020714057 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:150.32, Y:132.09, Z:7.21 [[-9.96197450e-01 -8.38977855e-02 2.34904656e-02 1.50324061e+02] [ 8.38322526e-02 -9.96472778e-01 -3.76250809e-03 1.32086601e+02] [ 2.37232756e-02 -1.77894232e-03 9.99716981e-01 7.21005346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.050714057 meters Centerline goodness : 0.991999 Centerline is valid? [True, True] Translation: X:150.33, Y:132.08, Z:7.21 [[-9.96046491e-01 -8.56724838e-02 2.34864374e-02 1.50330067e+02] [ 8.56067740e-02 -9.96321790e-01 -3.79093459e-03 1.32082741e+02] [ 2.37248281e-02 -1.76534896e-03 9.99716968e-01 7.21390545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.080714057 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:150.33, Y:132.08, Z:7.21 [[-9.95815012e-01 -8.83216862e-02 2.34891826e-02 1.50332816e+02] [ 8.82571648e-02 -9.96090582e-01 -3.77153076e-03 1.32080295e+02] [ 2.37304615e-02 -1.68265829e-03 9.99716977e-01 7.21432940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.110714057 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:150.33, Y:132.08, Z:7.21 [[-9.95234269e-01 -9.46413865e-02 2.34895431e-02 1.50331167e+02] [ 9.45786759e-02 -9.95510256e-01 -3.76897791e-03 1.32080839e+02] [ 2.37407823e-02 -1.52940609e-03 9.99716978e-01 7.20788521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.140714057 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:150.32, Y:132.07, Z:7.21 [[-9.96845946e-01 -7.58199325e-02 2.34413810e-02 1.50324445e+02] [ 7.57440396e-02 -9.97118824e-01 -4.10995860e-03 1.32071183e+02] [ 2.36854590e-02 -2.32145068e-03 9.99716765e-01 7.21202612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.170714057 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:150.33, Y:132.08, Z:7.21 [[-9.95241897e-01 -9.45446518e-02 2.35557981e-02 1.50331885e+02] [ 9.44931826e-02 -9.95520069e-01 -3.29108076e-03 1.32077629e+02] [ 2.37614238e-02 -1.04955913e-03 9.99717107e-01 7.20933251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.200714057 meters Centerline goodness : 0.992706 Centerline is valid? [True, True] Translation: X:150.34, Y:132.08, Z:7.21 [[-9.95167867e-01 -9.53407603e-02 2.34745822e-02 1.50339336e+02] [ 9.52759093e-02 -9.95443387e-01 -3.86826591e-03 1.32075931e+02] [ 2.37364210e-02 -1.61301178e-03 9.99716950e-01 7.20907499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.230714057 meters Centerline goodness : 0.991334 Centerline is valid? [True, True] Translation: X:150.33, Y:132.08, Z:7.21 [[-9.94898492e-01 -9.81117930e-02 2.34747998e-02 1.50330037e+02] [ 9.80477461e-02 -9.95174200e-01 -3.86671651e-03 1.32076821e+02] [ 2.37408856e-02 -1.54533922e-03 9.99716951e-01 7.21292806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26071405700003 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:150.34, Y:132.07, Z:7.21 [[-9.95985536e-01 -8.63721456e-02 2.35088066e-02 1.50336685e+02] [ 8.63105709e-02 -9.96261691e-01 -3.62330427e-03 1.32066801e+02] [ 2.37338760e-02 -1.57970012e-03 9.99717064e-01 7.21166439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.290714057 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:150.34, Y:132.07, Z:7.21 [[-9.94418678e-01 -1.02842315e-01 2.35573849e-02 1.50344136e+02] [ 1.02793579e-01 -9.94697322e-01 -3.27375378e-03 1.32073248e+02] [ 2.37691481e-02 -8.33934008e-04 9.99717126e-01 7.20900098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32071405700003 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:150.35, Y:132.07, Z:7.21 [[-9.93909393e-01 -1.07670247e-01 2.34784348e-02 1.50352829e+02] [ 1.07609529e-01 -9.94185827e-01 -3.83806908e-03 1.32072514e+02] [ 2.37551729e-02 -1.28818961e-03 9.99716976e-01 7.20833548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.350714057 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:150.35, Y:132.07, Z:7.21 [[-9.93718318e-01 -1.09418268e-01 2.34850282e-02 1.50350700e+02] [ 1.09359150e-01 -9.93995073e-01 -3.79086424e-03 1.32073180e+02] [ 2.37587921e-02 -1.19874851e-03 9.99717001e-01 7.20864278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.380714057 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:150.36, Y:132.08, Z:7.21 [[-9.92687878e-01 -1.18403659e-01 2.34808451e-02 1.50360617e+02] [ 1.18346339e-01 -9.92965027e-01 -3.82083052e-03 1.32076033e+02] [ 2.37680583e-02 -1.01402009e-03 9.99716986e-01 7.20635211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.410714057 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:150.36, Y:132.07, Z:7.21 [[-9.95141616e-01 -9.56208714e-02 2.34481040e-02 1.50355131e+02] [ 9.55517019e-02 -9.95416208e-01 -4.05534549e-03 1.32066268e+02] [ 2.37283984e-02 -1.79513683e-03 9.99716830e-01 7.21040861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.440714057 meters Centerline goodness : 0.991225 Centerline is valid? [True, True] Translation: X:150.37, Y:132.08, Z:7.21 [[-9.93745222e-01 -1.09157742e-01 2.35589025e-02 1.50366206e+02] [ 1.09111270e-01 -9.94024220e-01 -3.25296853e-03 1.32076064e+02] [ 2.37732064e-02 -6.62080162e-04 9.99717158e-01 7.21234965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.470714057 meters Centerline goodness : 0.991824 Centerline is valid? [True, True] Translation: X:150.37, Y:132.08, Z:7.21 [[-9.93774478e-01 -1.08901283e-01 2.35116296e-02 1.50365989e+02] [ 1.08846664e-01 -9.94052054e-01 -3.59424840e-03 1.32077901e+02] [ 2.37632019e-02 -1.01270987e-03 9.99717102e-01 7.21107786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.500714057 meters Centerline goodness : 0.992554 Centerline is valid? [True, True] Translation: X:150.35, Y:132.09, Z:7.21 [[-9.93560122e-01 -1.10841864e-01 2.35024543e-02 1.50347069e+02] [ 1.10786220e-01 -9.93837519e-01 -3.66059182e-03 1.32085494e+02] [ 2.37633677e-02 -1.03326998e-03 9.99717077e-01 7.20507973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.530714057 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:150.35, Y:132.09, Z:7.20 [[-9.93485486e-01 -1.11518765e-01 2.34553544e-02 1.50345421e+02] [ 1.11455286e-01 -9.93761397e-01 -4.00055479e-03 1.32090727e+02] [ 2.37551627e-02 -1.36026989e-03 9.99716881e-01 7.20431494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.560714057 meters Centerline goodness : 0.992710 Centerline is valid? [True, True] Translation: X:150.36, Y:132.09, Z:7.20 [[-9.93928271e-01 -1.07505985e-01 2.34319303e-02 1.50359904e+02] [ 1.07437423e-01 -9.94203107e-01 -4.16920374e-03 1.32089168e+02] [ 2.37443123e-02 -1.62642325e-03 9.99716741e-01 7.20429816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.590714057 meters Centerline goodness : 0.991367 Centerline is valid? [True, True] Translation: X:150.36, Y:132.09, Z:7.21 [[-9.94126222e-01 -1.05658263e-01 2.34389790e-02 1.50359523e+02] [ 1.05590384e-01 -9.94401181e-01 -4.11843524e-03 1.32091202e+02] [ 2.37428951e-02 -1.61931368e-03 9.99716786e-01 7.20777210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.620714057 meters Centerline goodness : 0.992595 Centerline is valid? [True, True] Translation: X:150.37, Y:132.09, Z:7.21 [[-9.94601884e-01 -1.01076908e-01 2.34638266e-02 1.50365009e+02] [ 1.01011983e-01 -9.94877411e-01 -3.93897211e-03 1.32091673e+02] [ 2.37417702e-02 -1.54758142e-03 9.99716927e-01 7.20503718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.650714057 meters Centerline goodness : 0.992992 Centerline is valid? [True, True] Translation: X:150.37, Y:132.09, Z:7.21 [[-9.94944001e-01 -9.76583246e-02 2.34368576e-02 1.50374704e+02] [ 9.75878909e-02 -9.95218328e-01 -4.13314569e-03 1.32091268e+02] [ 2.37284263e-02 -1.82509501e-03 9.99716775e-01 7.20591176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.680714057 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:150.39, Y:132.09, Z:7.21 [[-9.95151984e-01 -9.55128639e-02 2.34482847e-02 1.50386372e+02] [ 9.54437717e-02 -9.95426581e-01 -4.05081776e-03 1.32091308e+02] [ 2.37279511e-02 -1.79318659e-03 9.99716844e-01 7.20698067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.710714057 meters Centerline goodness : 0.990877 Centerline is valid? [True, True] Translation: X:150.39, Y:132.09, Z:7.21 [[-9.95494440e-01 -9.18741989e-02 2.34510445e-02 1.50387574e+02] [ 9.18045708e-02 -9.95768885e-01 -4.03089903e-03 1.32091617e+02] [ 2.37221561e-02 -1.85982450e-03 9.99716860e-01 7.20790220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.740714057 meters Centerline goodness : 0.992121 Centerline is valid? [True, True] Translation: X:150.38, Y:132.09, Z:7.21 [[-9.96022090e-01 -8.59520279e-02 2.34998908e-02 1.50384285e+02] [ 8.58890939e-02 -9.96297922e-01 -3.67627099e-03 1.32090978e+02] [ 2.37288753e-02 -1.64326279e-03 9.99717080e-01 7.20811023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.770714057 meters Centerline goodness : 0.990776 Centerline is valid? [True, True] Translation: X:150.39, Y:132.09, Z:7.21 [[-9.96066715e-01 -8.54355725e-02 2.34917347e-02 1.50386402e+02] [ 8.53711033e-02 -9.96342221e-01 -3.73550851e-03 1.32092036e+02] [ 2.37249524e-02 -1.71530039e-03 9.99717052e-01 7.20757998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.800714057 meters Centerline goodness : 0.991342 Centerline is valid? [True, True] Translation: X:150.39, Y:132.09, Z:7.21 [[-9.96056667e-01 -8.55458692e-02 2.35163669e-02 1.50385214e+02] [ 8.54856535e-02 -9.96333056e-01 -3.55591261e-03 1.32093263e+02] [ 2.37343274e-02 -1.53157847e-03 9.99717128e-01 7.20741760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.830714057 meters Centerline goodness : 0.992427 Centerline is valid? [True, True] Translation: X:150.38, Y:132.09, Z:7.21 [[-9.96151976e-01 -8.44376376e-02 2.34845759e-02 1.50384326e+02] [ 8.43716748e-02 -9.96427156e-01 -3.78735405e-03 1.32094028e+02] [ 2.37204644e-02 -1.79134722e-03 9.99717025e-01 7.20740126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.860714057 meters Centerline goodness : 0.992783 Centerline is valid? [True, True] Translation: X:150.41, Y:132.09, Z:7.21 [[-9.95257029e-01 -9.44012795e-02 2.34913732e-02 1.50414606e+02] [ 9.43392394e-02 -9.95533092e-01 -3.73782017e-03 1.32094222e+02] [ 2.37392944e-02 -1.50393352e-03 9.99717052e-01 7.20515371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.890714057 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:150.39, Y:132.09, Z:7.21 [[-9.96322228e-01 -8.24153291e-02 2.34463504e-02 1.50391668e+02] [ 8.23423063e-02 -9.96595817e-01 -4.06469236e-03 1.32094464e+02] [ 2.37015277e-02 -2.11911678e-03 9.99716833e-01 7.20552371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.920714057 meters Centerline goodness : 0.991828 Centerline is valid? [True, True] Translation: X:150.37, Y:132.09, Z:7.20 [[-9.97187947e-01 -7.11623795e-02 2.34971286e-02 1.50368880e+02] [ 7.10949857e-02 -9.97462716e-01 -3.69226118e-03 1.32093735e+02] [ 2.37002598e-02 -2.01135033e-03 9.99717086e-01 7.20271053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.950714057 meters Centerline goodness : 0.984541 Centerline is valid? [True, True] Translation: X:149.38, Y:132.22, Z:7.23 [[-9.97798330e-01 -6.19933610e-02 2.35651607e-02 1.49377673e+02] [ 6.19352244e-02 -9.98075074e-01 -3.18966479e-03 1.32223355e+02] [ 2.37175375e-02 -1.72312868e-03 9.99717215e-01 7.23164736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.980714057 meters Centerline goodness : 0.991327 Centerline is valid? [True, True] Translation: X:150.35, Y:132.09, Z:7.20 [[-9.96915144e-01 -7.48448783e-02 2.36313280e-02 1.50349769e+02] [ 7.48019036e-02 -9.97194762e-01 -2.69853784e-03 1.32094786e+02] [ 2.37670082e-02 -9.22544921e-04 9.99717099e-01 7.20248920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.01071405700003 meters Centerline goodness : 0.991584 Centerline is valid? [True, True] Translation: X:150.35, Y:132.10, Z:7.20 [[-9.96934384e-01 -7.46137584e-02 2.35504029e-02 1.50351878e+02] [ 7.45570131e-02 -9.97211360e-01 -3.27966819e-03 1.32095211e+02] [ 2.37294377e-02 -1.51376629e-03 9.99717271e-01 7.20176509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.040714057 meters Centerline goodness : 0.991584 Centerline is valid? [True, True] Translation: X:150.35, Y:132.09, Z:7.20 [[-9.96963313e-01 -7.42258176e-02 2.35516746e-02 1.50354509e+02] [ 7.41691800e-02 -9.97240310e-01 -3.27051067e-03 1.32094917e+02] [ 2.37294356e-02 -1.51377076e-03 9.99717271e-01 7.20170526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.07071405700003 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:150.35, Y:132.10, Z:7.20 [[-9.96970997e-01 -7.41221305e-02 2.35529433e-02 1.50350754e+02] [ 7.40656797e-02 -9.97248033e-01 -3.26134810e-03 1.32096035e+02] [ 2.37298645e-02 -1.50700471e-03 9.99717271e-01 7.20137903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.100714057 meters Centerline goodness : 0.991665 Centerline is valid? [True, True] Translation: X:150.36, Y:132.10, Z:7.20 [[-9.96897326e-01 -7.51060640e-02 2.35542117e-02 1.50362291e+02] [ 7.50501027e-02 -9.97174461e-01 -3.25216173e-03 1.32095335e+02] [ 2.37319154e-02 -1.47432533e-03 9.99717271e-01 7.20074858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.130714057 meters Centerline goodness : 0.991256 Centerline is valid? [True, True] Translation: X:150.36, Y:132.10, Z:7.20 [[-9.96854664e-01 -7.56697983e-02 2.35554750e-02 1.50363451e+02] [ 7.56142099e-02 -9.97131874e-01 -3.24298570e-03 1.32095677e+02] [ 2.37333110e-02 -1.45165679e-03 9.99717271e-01 7.20059970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.160714057 meters Centerline goodness : 0.991223 Centerline is valid? [True, True] Translation: X:150.37, Y:132.10, Z:7.20 [[-9.96782455e-01 -7.66147396e-02 2.35567316e-02 1.50369180e+02] [ 7.65596294e-02 -9.97059760e-01 -3.23383243e-03 1.32095769e+02] [ 2.37352284e-02 -1.41993279e-03 9.99717271e-01 7.20118515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.190714057 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:150.37, Y:132.10, Z:7.20 [[-9.96755890e-01 -7.69591928e-02 2.35579837e-02 1.50371865e+02] [ 7.69043939e-02 -9.97033257e-01 -3.22468489e-03 1.32095780e+02] [ 2.37362624e-02 -1.40251120e-03 9.99717271e-01 7.20105505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.220714057 meters Centerline goodness : 0.990916 Centerline is valid? [True, True] Translation: X:150.37, Y:132.10, Z:7.20 [[-9.96754215e-01 -7.69804999e-02 2.35592308e-02 1.50373113e+02] [ 7.69259222e-02 -9.97031626e-01 -3.21554760e-03 1.32096561e+02] [ 2.37368327e-02 -1.39279506e-03 9.99717271e-01 7.20153942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.250714057 meters Centerline goodness : 0.990929 Centerline is valid? [True, True] Translation: X:150.37, Y:132.10, Z:7.20 [[-9.96813585e-01 -7.62074867e-02 2.35604753e-02 1.50374843e+02] [ 7.61529092e-02 -9.97090996e-01 -3.20640363e-03 1.32096528e+02] [ 2.37362897e-02 -1.40198796e-03 9.99717272e-01 7.20066383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.280714057 meters Centerline goodness : 0.986692 Centerline is valid? [True, True] Translation: X:150.41, Y:132.10, Z:7.20 [[-9.95868294e-01 -8.76994090e-02 2.35617172e-02 1.50411735e+02] [ 8.76482507e-02 -9.96146356e-01 -3.19725153e-03 1.32102351e+02] [ 2.37513158e-02 -1.11889813e-03 9.99717272e-01 7.20421812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.310714057 meters Centerline goodness : 0.991073 Centerline is valid? [True, True] Translation: X:150.38, Y:132.10, Z:7.20 [[-9.96856925e-01 -7.56377254e-02 2.35627868e-02 1.50375474e+02] [ 7.55833910e-02 -9.97134384e-01 -3.18934905e-03 1.32097486e+02] [ 2.37365000e-02 -1.39836936e-03 9.99717272e-01 7.20192995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.340714057 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:150.38, Y:132.10, Z:7.20 [[-9.96865066e-01 -7.55300225e-02 2.35638551e-02 1.50378826e+02] [ 7.54758444e-02 -9.97142555e-01 -3.18143652e-03 1.32097112e+02] [ 2.37368167e-02 -1.39296107e-03 9.99717272e-01 7.20298897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.370714057 meters Centerline goodness : 0.991935 Centerline is valid? [True, True] Translation: X:150.38, Y:132.10, Z:7.20 [[-9.96873585e-01 -7.54171237e-02 2.35650905e-02 1.50383557e+02] [ 7.53631304e-02 -9.97151110e-01 -3.17225987e-03 1.32096017e+02] [ 2.37371988e-02 -1.38640308e-03 9.99717272e-01 7.20375115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.400714057 meters Centerline goodness : 0.991613 Centerline is valid? [True, True] Translation: X:150.39, Y:132.09, Z:7.20 [[-9.96913357e-01 -7.48891643e-02 2.35663210e-02 1.50388800e+02] [ 7.48352400e-02 -9.97190895e-01 -3.16309209e-03 1.32094817e+02] [ 2.37370020e-02 -1.38973747e-03 9.99717272e-01 7.20406942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.430714057 meters Centerline goodness : 0.991303 Centerline is valid? [True, True] Translation: X:150.39, Y:132.09, Z:7.20 [[-9.96994572e-01 -7.37996909e-02 2.35675456e-02 1.50391470e+02] [ 7.37456789e-02 -9.97272093e-01 -3.15394084e-03 1.32093559e+02] [ 2.37360154e-02 -1.40645724e-03 9.99717272e-01 7.20165829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.460714057 meters Centerline goodness : 0.990252 Centerline is valid? [True, True] Translation: X:150.04, Y:132.14, Z:7.22 [[-9.96984324e-01 -7.39376208e-02 2.35687653e-02 1.50041999e+02] [ 7.38838626e-02 -9.97261894e-01 -3.14479985e-03 1.32141468e+02] [ 2.37367506e-02 -1.39396473e-03 9.99717272e-01 7.21689367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.490714057 meters Centerline goodness : 0.991325 Centerline is valid? [True, True] Translation: X:150.39, Y:132.09, Z:7.20 [[-9.97198606e-01 -7.09834161e-02 2.35858961e-02 1.50387258e+02] [ 7.09318707e-02 -9.97476603e-01 -3.01596172e-03 1.32092391e+02] [ 2.37404628e-02 -1.33452109e-03 9.99717265e-01 7.20154140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.520714057 meters Centerline goodness : 0.992023 Centerline is valid? [True, True] Translation: X:150.39, Y:132.09, Z:7.20 [[-9.97280552e-01 -6.98286554e-02 2.35682009e-02 1.50393893e+02] [ 6.97736686e-02 -9.97557879e-01 -3.14842403e-03 1.32091323e+02] [ 2.37304948e-02 -1.49542221e-03 9.99717274e-01 7.20151878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.550714057 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:150.41, Y:132.10, Z:7.20 [[-9.95800141e-01 -8.84678554e-02 2.35694203e-02 1.50408960e+02] [ 8.84182811e-02 -9.96078487e-01 -3.13926894e-03 1.32097708e+02] [ 2.37547169e-02 -1.04211682e-03 9.99717274e-01 7.20048031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.580714057 meters Centerline goodness : 0.990177 Centerline is valid? [True, True] Translation: X:150.02, Y:132.14, Z:7.22 [[-9.97742885e-01 -6.29084585e-02 2.34874641e-02 1.50016819e+02] [ 6.28368543e-02 -9.98016673e-01 -3.77503931e-03 1.32141677e+02] [ 2.36783627e-02 -2.29064025e-03 9.99717004e-01 7.21595534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.610714057 meters Centerline goodness : 0.989365 Centerline is valid? [True, True] Translation: X:150.01, Y:132.14, Z:7.22 [[-9.97964613e-01 -5.92445981e-02 2.35946739e-02 1.50008672e+02] [ 5.91916324e-02 -9.98242316e-01 -2.93754056e-03 1.32139807e+02] [ 2.37272353e-02 -1.53495427e-03 9.99717291e-01 7.21615195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.640714057 meters Centerline goodness : 0.991568 Centerline is valid? [True, True] Translation: X:150.39, Y:132.09, Z:7.20 [[-9.97943998e-01 -5.95843211e-02 2.36111450e-02 1.50392593e+02] [ 5.95345205e-02 -9.98222300e-01 -2.80717765e-03 1.32089136e+02] [ 2.37364353e-02 -1.39572789e-03 9.99717277e-01 7.20146669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.670714057 meters Centerline goodness : 0.983307 Centerline is valid? [True, True] Translation: X:149.43, Y:132.21, Z:7.22 [[-9.98505088e-01 -4.93073530e-02 2.35875978e-02 1.49427438e+02] [ 4.92503285e-02 -9.98781982e-01 -2.99276869e-03 1.32205710e+02] [ 2.37064332e-02 -1.82659782e-03 9.99717294e-01 7.22396982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.700714057 meters Centerline goodness : 0.989697 Centerline is valid? [True, True] Translation: X:150.01, Y:132.13, Z:7.22 [[-9.97801767e-01 -6.19165626e-02 2.36214416e-02 1.50005561e+02] [ 6.18691470e-02 -9.98080526e-01 -2.73358092e-03 1.32134877e+02] [ 2.37453548e-02 -1.26613343e-03 9.99717238e-01 7.21681476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.730714057 meters Centerline goodness : 0.992232 Centerline is valid? [True, True] Translation: X:150.37, Y:132.08, Z:7.21 [[-9.97809401e-01 -6.18027434e-02 2.35970426e-02 1.50374514e+02] [ 6.17508882e-02 -9.98087320e-01 -2.92061050e-03 1.32082238e+02] [ 2.37324107e-02 -1.45707427e-03 9.99717285e-01 7.20518914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76071405700003 meters Centerline goodness : 0.989996 Centerline is valid? [True, True] Translation: X:149.94, Y:132.14, Z:7.22 [[-9.97799412e-01 -6.19721206e-02 2.35751834e-02 1.49936364e+02] [ 6.19163848e-02 -9.98076564e-01 -3.08752202e-03 1.32140044e+02] [ 2.37211783e-02 -1.62103754e-03 9.99717299e-01 7.21940339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.790714057 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:149.91, Y:132.14, Z:7.22 [[-9.97858215e-01 -6.10130614e-02 2.35879183e-02 1.49914231e+02] [ 6.09593305e-02 -9.98135769e-01 -2.99095059e-03 1.32141404e+02] [ 2.37264320e-02 -1.54664091e-03 9.99717292e-01 7.21927735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82071405700003 meters Centerline goodness : 0.990503 Centerline is valid? [True, True] Translation: X:149.99, Y:132.13, Z:7.22 [[-9.97720938e-01 -6.32156969e-02 2.35946136e-02 1.49987020e+02] [ 6.31637806e-02 -9.97998845e-01 -2.93991050e-03 1.32130378e+02] [ 2.37332456e-02 -1.44288527e-03 9.99717286e-01 7.21833038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.850714057 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:150.38, Y:132.08, Z:7.21 [[-9.97814625e-01 -6.17219925e-02 2.35874885e-02 1.50380863e+02] [ 6.16683730e-02 -9.98092202e-01 -2.99459269e-03 1.32075804e+02] [ 2.37273206e-02 -1.53344634e-03 9.99717291e-01 7.20540455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.880714057 meters Centerline goodness : 0.990529 Centerline is valid? [True, True] Translation: X:150.40, Y:132.08, Z:7.20 [[-9.96834539e-01 -7.59280990e-02 2.35759486e-02 1.50397781e+02] [ 7.58763568e-02 -9.97112468e-01 -3.08284475e-03 1.32080383e+02] [ 2.37419468e-02 -1.28422904e-03 9.99717295e-01 7.20238082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.910714057 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:150.39, Y:132.07, Z:7.20 [[-9.97806263e-01 -6.18722570e-02 2.35475265e-02 1.50385533e+02] [ 6.18115063e-02 -9.98082386e-01 -3.29978757e-03 1.32071462e+02] [ 2.37065368e-02 -1.83704062e-03 9.99717273e-01 7.20450023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.940714057 meters Centerline goodness : 0.991374 Centerline is valid? [True, True] Translation: X:149.91, Y:132.13, Z:7.21 [[-9.97701628e-01 -6.35263174e-02 2.35768795e-02 1.49914622e+02] [ 6.34713146e-02 -9.97978927e-01 -3.07471433e-03 1.32131571e+02] [ 2.37245541e-02 -1.57119196e-03 9.99717298e-01 7.21155116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.970714057 meters Centerline goodness : 0.991532 Centerline is valid? [True, True] Translation: X:150.39, Y:132.07, Z:7.20 [[-9.95852570e-01 -8.78789691e-02 2.35572959e-02 1.50394386e+02] [ 8.78272106e-02 -9.96130504e-01 -3.22483580e-03 1.32073377e+02] [ 2.37495363e-02 -1.14248943e-03 9.99717287e-01 7.20228266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.000714057 meters Centerline goodness : 0.991417 Centerline is valid? [True, True] Translation: X:149.91, Y:132.13, Z:7.21 [[-9.97628081e-01 -6.47016913e-02 2.34926142e-02 1.49910614e+02] [ 6.46319666e-02 -9.97902250e-01 -3.71599653e-03 1.32129384e+02] [ 2.36837638e-02 -2.18880863e-03 9.99717104e-01 7.21143943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.030714057 meters Centerline goodness : 0.989509 Centerline is valid? [True, True] Translation: X:149.88, Y:132.13, Z:7.22 [[-9.98064000e-01 -5.75568221e-02 2.35682753e-02 1.49881377e+02] [ 5.74988638e-02 -9.98340665e-01 -3.13005855e-03 1.32129696e+02] [ 2.37093239e-02 -1.76884971e-03 9.99717330e-01 7.22018281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.060714057 meters Centerline goodness : 0.990180 Centerline is valid? [True, True] Translation: X:149.92, Y:132.12, Z:7.22 [[-9.97905375e-01 -6.02309018e-02 2.36030064e-02 1.49917064e+02] [ 6.01800578e-02 -9.98183443e-01 -2.85920297e-03 1.32124618e+02] [ 2.37323426e-02 -1.43278372e-03 9.99717322e-01 7.22063915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.090714057 meters Centerline goodness : 0.984171 Centerline is valid? [True, True] Translation: X:149.52, Y:132.17, Z:7.23 [[-9.98148553e-01 -5.60613890e-02 2.35920814e-02 1.49518089e+02] [ 5.60073956e-02 -9.98426014e-01 -2.94371194e-03 1.32171619e+02] [ 2.37199764e-02 -1.61693079e-03 9.99717334e-01 7.22915257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.120714057 meters Centerline goodness : 0.989728 Centerline is valid? [True, True] Translation: X:149.87, Y:132.13, Z:7.22 [[-9.97930416e-01 -5.98136862e-02 2.36052323e-02 1.49865324e+02] [ 5.97631412e-02 -9.98208542e-01 -2.84157807e-03 1.32129182e+02] [ 2.37329098e-02 -1.42497436e-03 9.99717319e-01 7.22260483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.150714057 meters Centerline goodness : 0.991601 Centerline is valid? [True, True] Translation: X:150.43, Y:132.07, Z:7.21 [[-9.95961700e-01 -8.66175792e-02 2.36154052e-02 1.50426795e+02] [ 8.65764497e-02 -9.96241386e-01 -2.76044647e-03 1.32065961e+02] [ 2.37657472e-02 -7.04761015e-04 9.99717306e-01 7.21075510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.180714057 meters Centerline goodness : 0.990378 Centerline is valid? [True, True] Translation: X:149.88, Y:132.13, Z:7.22 [[-9.97968599e-01 -5.92016582e-02 2.35337976e-02 1.49879482e+02] [ 5.91378065e-02 -9.98244036e-01 -3.40057176e-03 1.32126357e+02] [ 2.36937926e-02 -2.00192667e-03 9.99717258e-01 7.22390309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.210714057 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:150.39, Y:132.07, Z:7.21 [[-9.97129479e-01 -7.19390318e-02 2.36130809e-02 1.50386882e+02] [ 7.18934876e-02 -9.97408460e-01 -2.77316950e-03 1.32068647e+02] [ 2.37513858e-02 -1.06758232e-03 9.99717326e-01 7.21228918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.240714057 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:150.40, Y:132.07, Z:7.21 [[-9.97142527e-01 -7.17777518e-02 2.35528033e-02 1.50396599e+02] [ 7.17211784e-02 -9.97419461e-01 -3.23908359e-03 1.32068473e+02] [ 2.37245185e-02 -1.54059319e-03 9.99717347e-01 7.21105615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.270714057 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:150.38, Y:132.06, Z:7.21 [[-9.97983261e-01 -5.89513938e-02 2.35402679e-02 1.50384919e+02] [ 5.88889869e-02 -9.98258963e-01 -3.33615681e-03 1.32064299e+02] [ 2.36959545e-02 -1.94316613e-03 9.99717323e-01 7.20904332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.300714057 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:150.41, Y:132.07, Z:7.21 [[-9.97498962e-01 -6.66319693e-02 2.35796840e-02 1.50406242e+02] [ 6.65789023e-02 -9.97776565e-01 -3.02936183e-03 1.32066925e+02] [ 2.37291085e-02 -1.45187580e-03 9.99717371e-01 7.20800248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.330714057 meters Centerline goodness : 0.992280 Centerline is valid? [True, True] Translation: X:150.41, Y:132.07, Z:7.21 [[-9.97433388e-01 -6.76191635e-02 2.35432762e-02 1.50409032e+02] [ 6.75597261e-02 -9.97709735e-01 -3.31182236e-03 1.32067183e+02] [ 2.37132985e-02 -1.71274491e-03 9.99717333e-01 7.20935337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.360714057 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:150.41, Y:132.07, Z:7.21 [[-9.97388691e-01 -6.82763191e-02 2.35402598e-02 1.50405034e+02] [ 6.82165130e-02 -9.97664966e-01 -3.33526166e-03 1.32066679e+02] [ 2.37130118e-02 -1.72071782e-03 9.99717326e-01 7.20875848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.390714057 meters Centerline goodness : 0.992814 Centerline is valid? [True, True] Translation: X:150.42, Y:132.07, Z:7.21 [[-9.97165302e-01 -7.14680381e-02 2.35304143e-02 1.50415123e+02] [ 7.14073173e-02 -9.97441404e-01 -3.41180314e-03 1.32065975e+02] [ 2.37140444e-02 -1.72188794e-03 9.99717300e-01 7.20732624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.420714057 meters Centerline goodness : 0.992018 Centerline is valid? [True, True] Translation: X:150.41, Y:132.07, Z:7.21 [[-9.96741746e-01 -7.71455608e-02 2.35468496e-02 1.50410809e+02] [ 7.70894314e-02 -9.97018775e-01 -3.28358301e-03 1.32066373e+02] [ 2.37299650e-02 -1.45767101e-03 9.99717342e-01 7.21183474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.450714057 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:150.41, Y:132.07, Z:7.21 [[-9.96531807e-01 -7.98203981e-02 2.35172487e-02 1.50414721e+02] [ 7.97595853e-02 -9.96807935e-01 -3.51412424e-03 1.32065299e+02] [ 2.37226789e-02 -1.62621057e-03 9.99717255e-01 7.21164037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.480714057 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:150.41, Y:132.06, Z:7.21 [[-9.97124516e-01 -7.20382371e-02 2.35200339e-02 1.50408614e+02] [ 7.19757820e-02 -9.97400266e-01 -3.49234375e-03 1.32058003e+02] [ 2.37104704e-02 -1.78942874e-03 9.99717266e-01 7.21228344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.51071405700003 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:150.41, Y:132.06, Z:7.21 [[-9.97031612e-01 -7.32924366e-02 2.35835430e-02 1.50410318e+02] [ 7.32421135e-02 -9.97309702e-01 -2.99173182e-03 1.32057076e+02] [ 2.37393676e-02 -1.25554267e-03 9.99717393e-01 7.21311862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.540714057 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:150.42, Y:132.06, Z:7.21 [[-9.95861629e-01 -8.77688959e-02 2.35846938e-02 1.50415935e+02] [ 8.77228332e-02 -9.96140456e-01 -2.98263211e-03 1.32063631e+02] [ 2.37554500e-02 -9.01372710e-04 9.99717393e-01 7.21458650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.57071405700003 meters Centerline goodness : 0.991860 Centerline is valid? [True, True] Translation: X:150.41, Y:132.07, Z:7.21 [[-9.95965727e-01 -8.65964019e-02 2.35230641e-02 1.50406216e+02] [ 8.65385693e-02 -9.96242467e-01 -3.46740756e-03 1.32065347e+02] [ 2.37349405e-02 -1.41776678e-03 9.99717281e-01 7.21246017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.600714057 meters Centerline goodness : 0.991468 Centerline is valid? [True, True] Translation: X:150.44, Y:132.06, Z:7.21 [[-9.95351689e-01 -9.33818727e-02 2.35550616e-02 1.50440088e+02] [ 9.33318933e-02 -9.95629863e-01 -3.21474408e-03 1.32062939e+02] [ 2.37523215e-02 -1.00136246e-03 9.99717372e-01 7.20950539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.630714057 meters Centerline goodness : 0.992677 Centerline is valid? [True, True] Translation: X:150.44, Y:132.06, Z:7.21 [[-9.95844881e-01 -8.79764031e-02 2.35186205e-02 1.50435717e+02] [ 8.79181564e-02 -9.96121548e-01 -3.50126111e-03 1.32062306e+02] [ 2.37354330e-02 -1.41899920e-03 9.99717268e-01 7.21228828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.660714057 meters Centerline goodness : 0.992095 Centerline is valid? [True, True] Translation: X:150.44, Y:132.06, Z:7.21 [[-9.96029389e-01 -8.58558754e-02 2.35419625e-02 1.50435035e+02] [ 8.58013861e-02 -9.96306740e-01 -3.31685008e-03 1.32061910e+02] [ 2.37397869e-02 -1.28374715e-03 9.99717347e-01 7.21416405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.690714057 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:150.44, Y:132.06, Z:7.21 [[-9.96154103e-01 -8.43951118e-02 2.35471324e-02 1.50439691e+02] [ 8.43411807e-02 -9.96431550e-01 -3.27593397e-03 1.32062326e+02] [ 2.37395785e-02 -1.27734212e-03 9.99717360e-01 7.21201095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.720714057 meters Centerline goodness : 0.991615 Centerline is valid? [True, True] Translation: X:150.44, Y:132.06, Z:7.21 [[-9.96563239e-01 -7.94213992e-02 2.35361717e-02 1.50442294e+02] [ 7.93640387e-02 -9.96840028e-01 -3.36275207e-03 1.32062982e+02] [ 2.37288725e-02 -1.48326945e-03 9.99717330e-01 7.21293927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.750714057 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:150.44, Y:132.06, Z:7.21 [[-9.96592578e-01 -7.90466066e-02 2.35556080e-02 1.50444950e+02] [ 7.89927796e-02 -9.96870025e-01 -3.20835981e-03 1.32062699e+02] [ 2.37354895e-02 -1.33670462e-03 9.99717380e-01 7.21230665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.780714057 meters Centerline goodness : 0.991484 Centerline is valid? [True, True] Translation: X:150.43, Y:132.06, Z:7.21 [[-9.97349787e-01 -6.88400014e-02 2.35468955e-02 1.50428488e+02] [ 6.87817064e-02 -9.97626350e-01 -3.27767411e-03 1.32064949e+02] [ 2.37166385e-02 -1.64939193e-03 9.99717360e-01 7.20936795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.810714057 meters Centerline goodness : 0.991482 Centerline is valid? [True, True] Translation: X:150.43, Y:132.06, Z:7.21 [[-9.97525812e-01 -6.62303487e-02 2.35753277e-02 1.50432422e+02] [ 6.61766780e-02 -9.97803258e-01 -3.05036415e-03 1.32064323e+02] [ 2.37255655e-02 -1.48268011e-03 9.99717410e-01 7.20871438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.840714057 meters Centerline goodness : 0.991216 Centerline is valid? [True, True] Translation: X:150.44, Y:132.06, Z:7.21 [[-9.97700264e-01 -6.35477505e-02 2.35768246e-02 1.50442172e+02] [ 6.34936163e-02 -9.97977620e-01 -3.03836268e-03 1.32063232e+02] [ 2.37222245e-02 -1.53439739e-03 9.99717411e-01 7.21091283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.870714057 meters Centerline goodness : 0.992961 Centerline is valid? [True, True] Translation: X:150.44, Y:132.06, Z:7.21 [[-9.97767798e-01 -6.24800567e-02 2.35725350e-02 1.50439891e+02] [ 6.24248152e-02 -9.98044939e-01 -3.07281400e-03 1.32062700e+02] [ 2.37184388e-02 -1.59444372e-03 9.99717407e-01 7.21001264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.900714057 meters Centerline goodness : 0.991801 Centerline is valid? [True, True] Translation: X:150.44, Y:132.06, Z:7.21 [[-9.97863529e-01 -6.09399946e-02 2.35519560e-02 1.50444481e+02] [ 6.08804445e-02 -9.98139814e-01 -3.23793263e-03 1.32062133e+02] [ 2.37054645e-02 -1.79716134e-03 9.99717371e-01 7.21138977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.930714057 meters Centerline goodness : 0.992043 Centerline is valid? [True, True] Translation: X:150.45, Y:132.06, Z:7.21 [[-9.97857516e-01 -6.10271201e-02 2.35811099e-02 1.50454388e+02] [ 6.09731214e-02 -9.98134891e-01 -3.00284404e-03 1.32059427e+02] [ 2.37203835e-02 -1.55859662e-03 9.99717417e-01 7.21200375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.960714057 meters Centerline goodness : 0.992664 Centerline is valid? [True, True] Translation: X:150.46, Y:132.06, Z:7.21 [[-9.97789120e-01 -6.21341651e-02 2.35842854e-02 1.50460955e+02] [ 6.20810785e-02 -9.98066669e-01 -2.97717598e-03 1.32057937e+02] [ 2.37236735e-02 -1.50645593e-03 9.99717419e-01 7.21306812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.990714057 meters Centerline goodness : 0.992664 Centerline is valid? [True, True] Translation: X:150.46, Y:132.06, Z:7.21 [[-9.97812019e-01 -6.17696325e-02 2.35730223e-02 1.50463596e+02] [ 6.17142997e-02 -9.98089140e-01 -3.06831229e-03 1.32057727e+02] [ 2.37175061e-02 -1.60680632e-03 9.99717409e-01 7.21297194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.020714057 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:150.46, Y:132.06, Z:7.22 [[-9.98010775e-01 -5.84700465e-02 2.35742748e-02 1.50461251e+02] [ 5.84140368e-02 -9.98287758e-01 -3.05814510e-03 1.32056704e+02] [ 2.37127198e-02 -1.67499321e-03 9.99717411e-01 7.21579776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.050714057 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:150.47, Y:132.06, Z:7.22 [[-9.97985834e-01 -5.88878121e-02 2.35902731e-02 1.50470282e+02] [ 5.88349853e-02 -9.98263428e-01 -2.92778941e-03 1.32055672e+02] [ 2.37217180e-02 -1.53395898e-03 9.99717424e-01 7.21556497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.080714057 meters Centerline goodness : 0.992872 Centerline is valid? [True, True] Translation: X:150.43, Y:132.06, Z:7.21 [[-9.98506052e-01 -4.92902248e-02 2.35825671e-02 1.50429949e+02] [ 4.92332553e-02 -9.98782831e-01 -2.99063718e-03 1.32056747e+02] [ 2.37012723e-02 -1.82512278e-03 9.99717419e-01 7.21379213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.110714057 meters Centerline goodness : 0.992384 Centerline is valid? [True, True] Translation: X:150.46, Y:132.06, Z:7.21 [[-9.98326401e-01 -5.27983270e-02 2.35951996e-02 1.50459299e+02] [ 5.27447574e-02 -9.98603852e-01 -2.88740847e-03 1.32057711e+02] [ 2.37147076e-02 -1.63805302e-03 9.99717425e-01 7.21224273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.140714057 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:150.46, Y:132.06, Z:7.21 [[-9.98444124e-01 -5.05278407e-02 2.35853465e-02 1.50456093e+02] [ 5.04717470e-02 -9.98721079e-01 -2.96796150e-03 1.32057796e+02] [ 2.37051474e-02 -1.77295008e-03 9.99717421e-01 7.21410998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.170714057 meters Centerline goodness : 0.992507 Centerline is valid? [True, True] Translation: X:150.46, Y:132.06, Z:7.21 [[-9.98597671e-01 -4.74011672e-02 2.35758587e-02 1.50461221e+02] [ 4.73423843e-02 -9.98874078e-01 -3.04559167e-03 1.32056927e+02] [ 2.36936788e-02 -1.92518338e-03 9.99717412e-01 7.21118706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.200714057 meters Centerline goodness : 0.992436 Centerline is valid? [True, True] Translation: X:150.45, Y:132.06, Z:7.21 [[-9.98644778e-01 -4.63984655e-02 2.35752110e-02 1.50448723e+02] [ 4.63392806e-02 -9.98921100e-01 -3.05089813e-03 1.32058035e+02] [ 2.36913327e-02 -1.95430517e-03 9.99717411e-01 7.21047490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.230714057 meters Centerline goodness : 0.991759 Centerline is valid? [True, True] Translation: X:150.44, Y:132.06, Z:7.21 [[-9.98698335e-01 -4.52318140e-02 2.35737057e-02 1.50436707e+02] [ 4.51720165e-02 -9.98974527e-01 -3.06325638e-03 1.32059863e+02] [ 2.36880881e-02 -1.99439722e-03 9.99717409e-01 7.21025691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26071405700003 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:150.45, Y:132.06, Z:7.21 [[-9.98590437e-01 -4.75523475e-02 2.35777991e-02 1.50450142e+02] [ 4.74939821e-02 -9.98866930e-01 -3.02958908e-03 1.32057441e+02] [ 2.36951478e-02 -1.90551512e-03 9.99717415e-01 7.21206580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.290714057 meters Centerline goodness : 0.991514 Centerline is valid? [True, True] Translation: X:150.45, Y:132.05, Z:7.21 [[-9.98673265e-01 -4.57873004e-02 2.35633927e-02 1.50454603e+02] [ 4.57256715e-02 -9.98949075e-01 -3.14791911e-03 1.32054144e+02] [ 2.36827641e-02 -2.06629070e-03 9.99717389e-01 7.21234210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32071405700003 meters Centerline goodness : 0.992330 Centerline is valid? [True, True] Translation: X:150.45, Y:132.05, Z:7.21 [[-9.98642151e-01 -4.64555781e-02 2.35740155e-02 1.50454403e+02] [ 4.63961856e-02 -9.98918429e-01 -3.06042620e-03 1.32052991e+02] [ 2.36906924e-02 -1.96252621e-03 9.99717410e-01 7.21294752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.350714057 meters Centerline goodness : 0.992438 Centerline is valid? [True, True] Translation: X:150.45, Y:132.05, Z:7.21 [[-9.98542036e-01 -4.85609291e-02 2.35719848e-02 1.50454858e+02] [ 4.85017262e-02 -9.98818359e-01 -3.07717579e-03 1.32053193e+02] [ 2.36935616e-02 -1.92940742e-03 9.99717406e-01 7.21424805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.380714057 meters Centerline goodness : 0.991987 Centerline is valid? [True, True] Translation: X:150.46, Y:132.05, Z:7.22 [[-9.98484461e-01 -4.97322181e-02 2.35687679e-02 1.50460214e+02] [ 4.96727160e-02 -9.98760726e-01 -3.10373312e-03 1.32050760e+02] [ 2.36939152e-02 -1.92830458e-03 9.99717400e-01 7.21679562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.410714057 meters Centerline goodness : 0.991703 Centerline is valid? [True, True] Translation: X:150.46, Y:132.05, Z:7.22 [[-9.98547143e-01 -4.84639717e-02 2.35551898e-02 1.50460124e+02] [ 4.84014916e-02 -9.98822784e-01 -3.21576769e-03 1.32050793e+02] [ 2.36833092e-02 -2.07098932e-03 9.99717366e-01 7.21624920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.440714057 meters Centerline goodness : 0.992665 Centerline is valid? [True, True] Translation: X:150.46, Y:132.05, Z:7.22 [[-9.98551260e-01 -4.83748463e-02 2.35638593e-02 1.50461765e+02] [ 4.83140238e-02 -9.98827247e-01 -3.14402017e-03 1.32050598e+02] [ 2.36883162e-02 -2.00100044e-03 9.99717390e-01 7.21683414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.470714057 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:150.47, Y:132.05, Z:7.21 [[-9.98655487e-01 -4.61913445e-02 2.35282196e-02 1.50466270e+02] [ 4.61230320e-02 -9.98929850e-01 -3.43816379e-03 1.32050816e+02] [ 2.36618542e-02 -2.34834831e-03 9.99717261e-01 7.21451695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.500714057 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:150.46, Y:132.05, Z:7.21 [[-9.98705030e-01 -4.50892177e-02 2.35632067e-02 1.50458096e+02] [ 4.50274040e-02 -9.98980793e-01 -3.14760001e-03 1.32051091e+02] [ 2.36811138e-02 -2.08253393e-03 9.99717394e-01 7.21424802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.530714057 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:150.45, Y:132.05, Z:7.21 [[-9.98780944e-01 -4.33864179e-02 2.35424188e-02 1.50454850e+02] [ 4.33200947e-02 -9.99055727e-01 -3.32014044e-03 1.32050922e+02] [ 2.36642373e-02 -2.29623319e-03 9.99717326e-01 7.21486685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.560714057 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:150.47, Y:132.05, Z:7.21 [[-9.98597816e-01 -4.74175977e-02 2.35366347e-02 1.50471299e+02] [ 4.73512593e-02 -9.98872621e-01 -3.36819761e-03 1.32050744e+02] [ 2.36698118e-02 -2.24898548e-03 9.99717301e-01 7.21024127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.590714057 meters Centerline goodness : 0.992657 Centerline is valid? [True, True] Translation: X:150.46, Y:132.05, Z:7.21 [[-9.98770233e-01 -4.36472960e-02 2.35145773e-02 1.50464069e+02] [ 4.35756491e-02 -9.99043820e-01 -3.55099609e-03 1.32051040e+02] [ 2.36470845e-02 -2.52196623e-03 9.99717188e-01 7.21365289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.620714057 meters Centerline goodness : 0.993196 Centerline is valid? [True, True] Translation: X:150.46, Y:132.05, Z:7.21 [[-9.98949778e-01 -3.93192381e-02 2.35231369e-02 1.50464894e+02] [ 3.92480699e-02 -9.99223439e-01 -3.47970587e-03 1.32049473e+02] [ 2.36416891e-02 -2.55281368e-03 9.99717237e-01 7.21459415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.650714057 meters Centerline goodness : 0.993108 Centerline is valid? [True, True] Translation: X:150.47, Y:132.05, Z:7.21 [[-9.98949697e-01 -3.93125655e-02 2.35377230e-02 1.50468384e+02] [ 3.92442437e-02 -9.99224006e-01 -3.35775356e-03 1.32048490e+02] [ 2.36514598e-02 -2.43050676e-03 9.99717311e-01 7.21376945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.680714057 meters Centerline goodness : 0.992544 Centerline is valid? [True, True] Translation: X:150.46, Y:132.05, Z:7.21 [[-9.99000266e-01 -3.80066342e-02 2.35364672e-02 1.50464993e+02] [ 3.79377083e-02 -9.99274429e-01 -3.36826580e-03 1.32048298e+02] [ 2.36474063e-02 -2.47197880e-03 9.99717305e-01 7.21393650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.710714057 meters Centerline goodness : 0.992392 Centerline is valid? [True, True] Translation: X:150.47, Y:132.05, Z:7.21 [[-9.98977210e-01 -3.86056233e-02 2.35401537e-02 1.50473195e+02] [ 3.85375845e-02 -9.99251578e-01 -3.33733448e-03 1.32046753e+02] [ 2.36513757e-02 -2.42674042e-03 9.99717322e-01 7.21292383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.740714057 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:150.46, Y:132.05, Z:7.21 [[-9.98974149e-01 -3.86813617e-02 2.35457434e-02 1.50464279e+02] [ 3.86144424e-02 -9.99248767e-01 -3.29033035e-03 1.32046045e+02] [ 2.36553295e-02 -2.37774921e-03 9.99717346e-01 7.21487249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.770714057 meters Centerline goodness : 0.992748 Centerline is valid? [True, True] Translation: X:150.46, Y:132.05, Z:7.22 [[-9.98940151e-01 -3.95489261e-02 2.35469152e-02 1.50464152e+02] [ 3.94824765e-02 -9.99214878e-01 -3.28044064e-03 1.32045272e+02] [ 2.36581659e-02 -2.34727334e-03 9.99717351e-01 7.21564846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.800714057 meters Centerline goodness : 0.991668 Centerline is valid? [True, True] Translation: X:150.47, Y:132.04, Z:7.21 [[-9.98925635e-01 -3.99144362e-02 2.35459855e-02 1.50468795e+02] [ 3.98479035e-02 -9.99200346e-01 -3.28829605e-03 1.32044643e+02] [ 2.36584074e-02 -2.34650506e-03 9.99717347e-01 7.21494168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.830714057 meters Centerline goodness : 0.991498 Centerline is valid? [True, True] Translation: X:150.48, Y:132.04, Z:7.22 [[-9.98893990e-01 -4.06871506e-02 2.35659133e-02 1.50476972e+02] [ 4.06247909e-02 -9.99169604e-01 -3.11911288e-03 1.32043024e+02] [ 2.36732521e-02 -2.15830281e-03 9.99717420e-01 7.21570630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.860714057 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:150.48, Y:132.04, Z:7.22 [[-9.98921571e-01 -4.00054976e-02 2.35638531e-02 1.50481209e+02] [ 3.99425398e-02 -9.99197055e-01 -3.13661739e-03 1.32041247e+02] [ 2.36704146e-02 -2.19203463e-03 9.99717413e-01 7.21558123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.890714057 meters Centerline goodness : 0.992191 Centerline is valid? [True, True] Translation: X:150.48, Y:132.04, Z:7.22 [[-9.99004099e-01 -3.78835690e-02 2.35721324e-02 1.50481291e+02] [ 3.78216792e-02 -9.99279801e-01 -3.06602489e-03 1.32040391e+02] [ 2.36713077e-02 -2.17143380e-03 9.99717437e-01 7.21630181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.920714057 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:150.47, Y:132.04, Z:7.22 [[-9.99294890e-01 -2.92165116e-02 2.35821459e-02 1.50473139e+02] [ 2.91542368e-02 -9.99570482e-01 -2.98033569e-03 1.32036611e+02] [ 2.36590919e-02 -2.29071476e-03 9.99717460e-01 7.21553779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.950714057 meters Centerline goodness : 0.991404 Centerline is valid? [True, True] Translation: X:150.48, Y:132.04, Z:7.22 [[-9.99058722e-01 -3.63906631e-02 2.36091165e-02 1.50480116e+02] [ 3.63358025e-02 -9.99335857e-01 -2.74868417e-03 1.32040010e+02] [ 2.36934631e-02 -1.88824069e-03 9.99717487e-01 7.21636349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.980714057 meters Centerline goodness : 0.992176 Centerline is valid? [True, True] Translation: X:150.48, Y:132.04, Z:7.22 [[-9.99084439e-01 -3.56959657e-02 2.35813904e-02 1.50478197e+02] [ 3.56353380e-02 -9.99360398e-01 -2.98637508e-03 1.32039980e+02] [ 2.36729092e-02 -2.14331006e-03 9.99717460e-01 7.21678362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.01071405700003 meters Centerline goodness : 0.991224 Centerline is valid? [True, True] Translation: X:150.47, Y:132.04, Z:7.22 [[-9.99158777e-01 -3.35629614e-02 2.35641030e-02 1.50474815e+02] [ 3.34982723e-02 -9.99433859e-01 -3.13473645e-03 1.32041934e+02] [ 2.36559735e-02 -2.34274269e-03 9.99717413e-01 7.21527036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.040714057 meters Centerline goodness : 0.992106 Centerline is valid? [True, True] Translation: X:150.47, Y:132.04, Z:7.21 [[-9.99190081e-01 -3.26015497e-02 2.35864451e-02 1.50468623e+02] [ 3.25411023e-02 -9.99466068e-01 -2.94220224e-03 1.32043008e+02] [ 2.36697719e-02 -2.17229038e-03 9.99717472e-01 7.21363623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.07071405700003 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:150.49, Y:132.04, Z:7.21 [[-9.99226990e-01 -3.14512110e-02 2.35848083e-02 1.50489641e+02] [ 3.13901152e-02 -9.99502837e-01 -2.95631834e-03 1.32041746e+02] [ 2.36660626e-02 -2.21370322e-03 9.99717469e-01 7.21181710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.100714057 meters Centerline goodness : 0.991211 Centerline is valid? [True, True] Translation: X:150.50, Y:132.04, Z:7.21 [[-9.99248929e-01 -3.07514899e-02 2.35780184e-02 1.50497434e+02] [ 3.06888283e-02 -9.99524440e-01 -3.01496536e-03 1.32042120e+02] [ 2.36595203e-02 -2.28911915e-03 9.99717454e-01 7.21229002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.130714057 meters Centerline goodness : 0.991358 Centerline is valid? [True, True] Translation: X:150.50, Y:132.04, Z:7.21 [[-9.99350789e-01 -2.72402453e-02 2.35790209e-02 1.50495800e+02] [ 2.71768191e-02 -9.99626122e-01 -3.00628193e-03 1.32043009e+02] [ 2.36520970e-02 -2.36352743e-03 9.99717456e-01 7.21158464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.160714057 meters Centerline goodness : 0.991815 Centerline is valid? [True, True] Translation: X:150.49, Y:132.04, Z:7.21 [[-9.99341324e-01 -2.75719181e-02 2.35946453e-02 1.50489035e+02] [ 2.75117643e-02 -9.99617359e-01 -2.87035632e-03 1.32043916e+02] [ 2.36647582e-02 -2.21933536e-03 9.99717487e-01 7.21092426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.190714057 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:150.51, Y:132.04, Z:7.21 [[-9.99289601e-01 -2.93946788e-02 2.35848741e-02 1.50506433e+02] [ 2.93330373e-02 -9.99565325e-01 -2.95539332e-03 1.32041662e+02] [ 2.36614952e-02 -2.26147782e-03 9.99717470e-01 7.21253618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.220714057 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:150.51, Y:132.04, Z:7.21 [[-9.99279825e-01 -2.97430304e-02 2.35623335e-02 1.50511398e+02] [ 2.96769042e-02 -9.99554576e-01 -3.15123813e-03 1.32041836e+02] [ 2.36455657e-02 -2.44971157e-03 9.99717403e-01 7.21132096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.250714057 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:150.52, Y:132.04, Z:7.21 [[-9.99267647e-01 -3.01269901e-02 2.35909576e-02 1.50516973e+02] [ 3.00668177e-02 -9.99543680e-01 -2.90129651e-03 1.32040750e+02] [ 2.36675999e-02 -2.18986672e-03 9.99717485e-01 7.21160584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.280714057 meters Centerline goodness : 0.992360 Centerline is valid? [True, True] Translation: X:150.52, Y:132.04, Z:7.21 [[-9.99258912e-01 -3.04225768e-02 2.35816268e-02 1.50519930e+02] [ 3.03605770e-02 -9.99534561e-01 -2.98282051e-03 1.32040560e+02] [ 2.36613961e-02 -2.26465818e-03 9.99717465e-01 7.21444973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.310714057 meters Centerline goodness : 0.992114 Centerline is valid? [True, True] Translation: X:150.53, Y:132.04, Z:7.21 [[-9.99155851e-01 -3.36341130e-02 2.35867036e-02 1.50530605e+02] [ 3.35740405e-02 -9.99431914e-01 -2.93838728e-03 1.32040148e+02] [ 2.36721343e-02 -2.14400590e-03 9.99717477e-01 7.21236894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.340714057 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:150.52, Y:132.04, Z:7.21 [[-9.99123791e-01 -3.45709316e-02 2.35902708e-02 1.50522840e+02] [ 3.45118517e-02 -9.99400061e-01 -2.90708942e-03 1.32041025e+02] [ 2.36766188e-02 -2.09039828e-03 9.99717484e-01 7.21424098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.370714057 meters Centerline goodness : 0.992466 Centerline is valid? [True, True] Translation: X:150.53, Y:132.04, Z:7.21 [[-9.99107473e-01 -3.50447700e-02 2.35822167e-02 1.50531032e+02] [ 3.49841636e-02 -9.99383430e-01 -2.97780017e-03 1.32040249e+02] [ 2.36720329e-02 -2.15013828e-03 9.99717466e-01 7.21426645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.400714057 meters Centerline goodness : 0.991432 Centerline is valid? [True, True] Translation: X:150.53, Y:132.04, Z:7.21 [[-9.99084130e-01 -3.57005477e-02 2.35875280e-02 1.50533982e+02] [ 3.56412176e-02 -9.99360352e-01 -2.93108351e-03 1.32039905e+02] [ 2.36770815e-02 -2.08771081e-03 9.99717479e-01 7.21143664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.430714057 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:149.97, Y:132.10, Z:7.23 [[-9.99466180e-01 -2.25830302e-02 2.36085217e-02 1.49968870e+02] [ 2.25244667e-02 -9.99742527e-01 -2.74362855e-03 1.32097345e+02] [ 2.36644026e-02 -2.21039458e-03 9.99717515e-01 7.22665730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.460714057 meters Centerline goodness : 0.991833 Centerline is valid? [True, True] Translation: X:150.52, Y:132.04, Z:7.21 [[-9.98879592e-01 -4.09903274e-02 2.36506574e-02 1.50520556e+02] [ 4.09457816e-02 -9.99158571e-01 -2.36489339e-03 1.32041002e+02] [ 2.37276948e-02 -1.39384909e-03 9.99717487e-01 7.21443480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.490714057 meters Centerline goodness : 0.991567 Centerline is valid? [True, True] Translation: X:150.53, Y:132.04, Z:7.22 [[-9.98841510e-01 -4.19463075e-02 2.35827317e-02 1.50525920e+02] [ 4.18881363e-02 -9.99117936e-01 -2.95550195e-03 1.32041554e+02] [ 2.36859026e-02 -1.96424135e-03 9.99717520e-01 7.21627627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.520714057 meters Centerline goodness : 0.992344 Centerline is valid? [True, True] Translation: X:150.53, Y:132.04, Z:7.21 [[-9.98873045e-01 -4.11865101e-02 2.35862521e-02 1.50531329e+02] [ 4.11288483e-02 -9.99149570e-01 -2.92483478e-03 1.32040609e+02] [ 2.36866574e-02 -1.95146323e-03 9.99717527e-01 7.21250959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.550714057 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:150.54, Y:132.04, Z:7.21 [[-9.98835399e-01 -4.20918997e-02 2.35821384e-02 1.50538129e+02] [ 4.20336461e-02 -9.99111809e-01 -2.96072960e-03 1.32040505e+02] [ 2.36858157e-02 -1.96603827e-03 9.99717519e-01 7.21345803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.580714057 meters Centerline goodness : 0.991553 Centerline is valid? [True, True] Translation: X:150.54, Y:132.04, Z:7.22 [[-9.98777118e-01 -4.34539460e-02 2.35801368e-02 1.50539981e+02] [ 4.33956590e-02 -9.99053526e-01 -2.97821636e-03 1.32040378e+02] [ 2.36872341e-02 -1.95129877e-03 9.99717514e-01 7.21511445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.610714057 meters Centerline goodness : 0.990001 Centerline is valid? [True, True] Translation: X:149.94, Y:132.10, Z:7.23 [[-9.99404867e-01 -2.51610402e-02 2.35973120e-02 1.49937559e+02] [ 2.51013002e-02 -9.99680923e-01 -2.82448851e-03 1.32100434e+02] [ 2.36608497e-02 -2.23048435e-03 9.99717555e-01 7.22647000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.640714057 meters Centerline goodness : 0.991421 Centerline is valid? [True, True] Translation: X:150.51, Y:132.04, Z:7.22 [[-9.98966062e-01 -3.88244995e-02 2.36530340e-02 1.50508090e+02] [ 3.87803575e-02 -9.99245061e-01 -2.32225203e-03 1.32042657e+02] [ 2.37253376e-02 -1.40257785e-03 9.99717531e-01 7.21531663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.670714057 meters Centerline goodness : 0.991869 Centerline is valid? [True, True] Translation: X:150.50, Y:132.04, Z:7.21 [[-9.98966421e-01 -3.88457696e-02 2.36028826e-02 1.50495969e+02] [ 3.87912127e-02 -9.99243512e-01 -2.76509576e-03 1.32042713e+02] [ 2.36924395e-02 -1.84665338e-03 9.99717589e-01 7.21443272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.700714057 meters Centerline goodness : 0.991820 Centerline is valid? [True, True] Translation: X:150.51, Y:132.04, Z:7.21 [[-9.98931564e-01 -3.97273385e-02 2.36107710e-02 1.50507879e+02] [ 3.96746689e-02 -9.99209015e-01 -2.69519624e-03 1.32041198e+02] [ 2.36991682e-02 -1.75556708e-03 9.99717594e-01 7.21481819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.730714057 meters Centerline goodness : 0.991996 Centerline is valid? [True, True] Translation: X:150.52, Y:132.04, Z:7.22 [[-9.98967282e-01 -3.88206754e-02 2.36077437e-02 1.50515370e+02] [ 3.87671225e-02 -9.99244565e-01 -2.72206923e-03 1.32039861e+02] [ 2.36955821e-02 -1.80405381e-03 9.99717593e-01 7.21628543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76071405700003 meters Centerline goodness : 0.991403 Centerline is valid? [True, True] Translation: X:150.51, Y:132.04, Z:7.22 [[-9.98918963e-01 -4.00387925e-02 2.36177905e-02 1.50513789e+02] [ 3.99876809e-02 -9.99196705e-01 -2.63262550e-03 1.32040342e+02] [ 2.37042256e-02 -1.68535887e-03 9.99717595e-01 7.21512503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.790714057 meters Centerline goodness : 0.990996 Centerline is valid? [True, True] Translation: X:150.52, Y:132.04, Z:7.22 [[-9.98973514e-01 -3.86596813e-02 2.36081913e-02 1.50516020e+02] [ 3.86061749e-02 -9.99250807e-01 -2.71818829e-03 1.32040810e+02] [ 2.36955885e-02 -1.80397615e-03 9.99717593e-01 7.21600888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82071405700003 meters Centerline goodness : 0.991271 Centerline is valid? [True, True] Translation: X:150.51, Y:132.04, Z:7.21 [[-9.99022084e-01 -3.73816820e-02 2.36111320e-02 1.50510535e+02] [ 3.73284386e-02 -9.99299425e-01 -2.69189949e-03 1.32042828e+02] [ 2.36952183e-02 -1.80790035e-03 9.99717594e-01 7.21368832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.850714057 meters Centerline goodness : 0.991271 Centerline is valid? [True, True] Translation: X:150.51, Y:132.04, Z:7.21 [[-9.99036570e-01 -3.69898056e-02 2.36153810e-02 1.50513186e+02] [ 3.69373479e-02 -9.99314060e-01 -2.65383886e-03 1.32042591e+02] [ 2.36973472e-02 -1.77899253e-03 9.99717596e-01 7.21363935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.880714057 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:150.52, Y:132.04, Z:7.21 [[-9.99052842e-01 -3.65470160e-02 2.36163950e-02 1.50520948e+02] [ 3.64946496e-02 -9.99330349e-01 -2.64472394e-03 1.32041387e+02] [ 2.36972370e-02 -1.78034690e-03 9.99717596e-01 7.21415112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.910714057 meters Centerline goodness : 0.991008 Centerline is valid? [True, True] Translation: X:150.52, Y:132.04, Z:7.21 [[-9.99095086e-01 -3.53795691e-02 2.36070870e-02 1.50523004e+02] [ 3.53249108e-02 -9.99372156e-01 -2.72847548e-03 1.32041356e+02] [ 2.36887977e-02 -1.89208820e-03 9.99717591e-01 7.21267235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.940714057 meters Centerline goodness : 0.991182 Centerline is valid? [True, True] Translation: X:150.53, Y:132.04, Z:7.21 [[-9.99159120e-01 -3.35224544e-02 2.36071606e-02 1.50529292e+02] [ 3.34672968e-02 -9.99436091e-01 -2.72781312e-03 1.32040661e+02] [ 2.36852913e-02 -1.93545151e-03 9.99717591e-01 7.21463200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.970714057 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:150.51, Y:132.04, Z:7.21 [[-9.99118493e-01 -3.47033318e-02 2.36202272e-02 1.50510342e+02] [ 3.46512803e-02 -9.99396057e-01 -2.60954251e-03 1.32042330e+02] [ 2.36965217e-02 -1.78877107e-03 9.99717598e-01 7.21402422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.000714057 meters Centerline goodness : 0.991980 Centerline is valid? [True, True] Translation: X:150.53, Y:132.04, Z:7.21 [[-9.99038510e-01 -3.69443948e-02 2.36043793e-02 1.50532780e+02] [ 3.68895923e-02 -9.99315555e-01 -2.75309213e-03 1.32038952e+02] [ 2.36899347e-02 -1.87968913e-03 9.99717587e-01 7.21416958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.030714057 meters Centerline goodness : 0.991307 Centerline is valid? [True, True] Translation: X:150.54, Y:132.04, Z:7.21 [[-9.98984438e-01 -3.83825887e-02 2.35980722e-02 1.50544610e+02] [ 3.83268437e-02 -9.99261305e-01 -2.81020039e-03 1.32037865e+02] [ 2.36885032e-02 -1.90290684e-03 9.99717577e-01 7.21296932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.060714057 meters Centerline goodness : 0.991210 Centerline is valid? [True, True] Translation: X:150.55, Y:132.04, Z:7.21 [[-9.98992182e-01 -3.81798565e-02 2.35991317e-02 1.50545248e+02] [ 3.81242811e-02 -9.99269081e-01 -2.80058188e-03 1.32035778e+02] [ 2.36888084e-02 -1.89805947e-03 9.99717579e-01 7.21427776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.090714057 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:150.54, Y:132.04, Z:7.21 [[-9.98946360e-01 -3.93607995e-02 2.35986609e-02 1.50543448e+02] [ 3.93054510e-02 -9.99223306e-01 -2.80486115e-03 1.32035669e+02] [ 2.36907335e-02 -1.87434983e-03 9.99717578e-01 7.21466544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.120714057 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:150.54, Y:132.03, Z:7.22 [[-9.99071976e-01 -3.60302265e-02 2.36010369e-02 1.50536504e+02] [ 3.59744639e-02 -9.99348834e-01 -2.78318577e-03 1.32034800e+02] [ 2.36859475e-02 -1.93156826e-03 9.99717583e-01 7.21622115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.150714057 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:150.56, Y:132.03, Z:7.21 [[-9.98982847e-01 -3.84083921e-02 2.36234517e-02 1.50555228e+02] [ 3.83581181e-02 -9.99260732e-01 -2.57777450e-03 1.32030673e+02] [ 2.37049959e-02 -1.66900136e-03 9.99717604e-01 7.21475071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.180714057 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:150.55, Y:132.03, Z:7.22 [[-9.98913718e-01 -4.01722312e-02 2.36130532e-02 1.50554769e+02] [ 4.01202029e-02 -9.99191285e-01 -2.67319158e-03 1.32031200e+02] [ 2.37013450e-02 -1.72292725e-03 9.99717599e-01 7.21601504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.210714057 meters Centerline goodness : 0.990578 Centerline is valid? [True, True] Translation: X:150.56, Y:132.03, Z:7.22 [[-9.98960195e-01 -3.89998857e-02 2.36122473e-02 1.50555570e+02] [ 3.89473577e-02 -9.99237668e-01 -2.68059559e-03 1.32029913e+02] [ 2.36987899e-02 -1.75817366e-03 9.99717598e-01 7.21504480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.240714057 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:150.56, Y:132.03, Z:7.22 [[-9.98906933e-01 -4.03355758e-02 2.36216327e-02 1.50562099e+02] [ 4.02854539e-02 -9.99184844e-01 -2.59409826e-03 1.32028992e+02] [ 2.37070118e-02 -1.63965454e-03 9.99717605e-01 7.21505291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.270714057 meters Centerline goodness : 0.989932 Centerline is valid? [True, True] Translation: X:150.56, Y:132.03, Z:7.22 [[-9.98988362e-01 -3.82720492e-02 2.36115124e-02 1.50559029e+02] [ 3.82191564e-02 -9.99265767e-01 -2.68751249e-03 1.32028867e+02] [ 2.36970327e-02 -1.78238161e-03 9.99717597e-01 7.21660246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.300714057 meters Centerline goodness : 0.990254 Centerline is valid? [True, True] Translation: X:150.57, Y:132.03, Z:7.22 [[-9.99019063e-01 -3.74526639e-02 2.36264458e-02 1.50569641e+02] [ 3.74027989e-02 -9.99297019e-01 -2.54910478e-03 1.32027861e+02] [ 2.37053076e-02 -1.66290907e-03 9.99717607e-01 7.21554170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.330714057 meters Centerline goodness : 0.990849 Centerline is valid? [True, True] Translation: X:150.57, Y:132.03, Z:7.21 [[-9.99036323e-01 -3.69887884e-02 2.36274287e-02 1.50570225e+02] [ 3.69390095e-02 -9.99314294e-01 -2.53996107e-03 1.32027040e+02] [ 2.37051773e-02 -1.66473956e-03 9.99717607e-01 7.21336096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.360714057 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:150.57, Y:132.03, Z:7.21 [[-9.99039164e-01 -3.69168056e-02 2.36198502e-02 1.50566800e+02] [ 3.68653460e-02 -9.99316832e-01 -2.61054898e-03 1.32027349e+02] [ 2.37000871e-02 -1.73728672e-03 9.99717604e-01 7.21330544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.390714057 meters Centerline goodness : 0.989595 Centerline is valid? [True, True] Translation: X:150.57, Y:132.03, Z:7.22 [[-9.99088588e-01 -3.55545388e-02 2.36192385e-02 1.50572321e+02] [ 3.55025664e-02 -9.99366161e-01 -2.61625409e-03 1.32027528e+02] [ 2.36972874e-02 -1.77532602e-03 9.99717604e-01 7.21571557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.420714057 meters Centerline goodness : 0.990745 Centerline is valid? [True, True] Translation: X:150.56, Y:132.03, Z:7.21 [[-9.99091269e-01 -3.54726904e-02 2.36288730e-02 1.50555266e+02] [ 3.54228151e-02 -9.99369222e-01 -2.52613565e-03 1.32028391e+02] [ 2.37035773e-02 -1.68683888e-03 9.99717608e-01 7.21389575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.450714057 meters Centerline goodness : 0.990112 Centerline is valid? [True, True] Translation: X:150.55, Y:132.03, Z:7.21 [[-9.99127763e-01 -3.44364445e-02 2.36187220e-02 1.50550440e+02] [ 3.43840433e-02 -9.99405256e-01 -2.62128232e-03 1.32029295e+02] [ 2.36949426e-02 -1.80688878e-03 9.99717603e-01 7.21467579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.480714057 meters Centerline goodness : 0.989734 Centerline is valid? [True, True] Translation: X:150.59, Y:132.03, Z:7.21 [[-9.99103159e-01 -3.51426062e-02 2.36193849e-02 1.50586412e+02] [ 3.50905478e-02 -9.99380716e-01 -2.61504938e-03 1.32025050e+02] [ 2.36966574e-02 -1.78388694e-03 9.99717603e-01 7.21358033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.51071405700003 meters Centerline goodness : 0.990943 Centerline is valid? [True, True] Translation: X:150.59, Y:132.02, Z:7.21 [[-9.99124400e-01 -3.45355293e-02 2.36163228e-02 1.50589193e+02] [ 3.44826246e-02 -9.99401800e-01 -2.64386973e-03 1.32023437e+02] [ 2.36935030e-02 -1.82720196e-03 9.99717600e-01 7.21274574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.540714057 meters Centerline goodness : 0.989835 Centerline is valid? [True, True] Translation: X:150.58, Y:132.02, Z:7.21 [[-9.99092642e-01 -3.54405529e-02 2.36190705e-02 1.50583636e+02] [ 3.53885094e-02 -9.99370202e-01 -2.61793381e-03 1.32023810e+02] [ 2.36969763e-02 -1.77971470e-03 9.99717603e-01 7.21392070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.57071405700003 meters Centerline goodness : 0.989398 Centerline is valid? [True, True] Translation: X:150.59, Y:132.02, Z:7.22 [[-9.99009768e-01 -3.77025272e-02 2.36220709e-02 1.50594282e+02] [ 3.76517805e-02 -9.99287565e-01 -2.58953249e-03 1.32020946e+02] [ 2.37028737e-02 -1.69755523e-03 9.99717606e-01 7.21987221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.600714057 meters Centerline goodness : 0.988651 Centerline is valid? [True, True] Translation: X:150.60, Y:132.02, Z:7.22 [[-9.99028836e-01 -3.71954165e-02 2.36196045e-02 1.50600716e+02] [ 3.71439787e-02 -9.99306508e-01 -2.61291658e-03 1.32019370e+02] [ 2.37004131e-02 -1.73305292e-03 9.99717604e-01 7.22184378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.630714057 meters Centerline goodness : 0.989986 Centerline is valid? [True, True] Translation: X:150.60, Y:132.02, Z:7.23 [[-9.98945554e-01 -3.93614911e-02 2.36316056e-02 1.50597012e+02] [ 3.93133473e-02 -9.99223808e-01 -2.49858299e-03 1.32017713e+02] [ 2.37116109e-02 -1.56691085e-03 9.99717612e-01 7.22516701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.660714057 meters Centerline goodness : 0.989696 Centerline is valid? [True, True] Translation: X:150.61, Y:132.02, Z:7.23 [[-9.99018491e-01 -3.74676739e-02 2.36268508e-02 1.50608671e+02] [ 3.74179333e-02 -9.99296466e-01 -2.54400649e-03 1.32015372e+02] [ 2.37055465e-02 -1.65744159e-03 9.99717610e-01 7.22627010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.690714057 meters Centerline goodness : 0.990069 Centerline is valid? [True, True] Translation: X:150.61, Y:132.02, Z:7.23 [[-9.99000837e-01 -3.79304897e-02 2.36348375e-02 1.50606935e+02] [ 3.78826810e-02 -9.99279147e-01 -2.46743402e-03 1.32015731e+02] [ 2.37113913e-02 -1.56961764e-03 9.99717613e-01 7.22577181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.720714057 meters Centerline goodness : 0.988808 Centerline is valid? [True, True] Translation: X:150.63, Y:132.01, Z:7.22 [[-9.98999377e-01 -3.79689867e-02 2.36347345e-02 1.50625425e+02] [ 3.79211654e-02 -9.99277685e-01 -2.46842241e-03 1.32014624e+02] [ 2.37113863e-02 -1.56969578e-03 9.99717613e-01 7.22201422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.750714057 meters Centerline goodness : 0.989480 Centerline is valid? [True, True] Translation: X:150.62, Y:132.02, Z:7.22 [[-9.99011200e-01 -3.76579154e-02 2.36326933e-02 1.50618803e+02] [ 3.76095453e-02 -9.99289413e-01 -2.48804804e-03 1.32015224e+02] [ 2.37095949e-02 -1.59677301e-03 9.99717613e-01 7.22127841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.780714057 meters Centerline goodness : 0.989861 Centerline is valid? [True, True] Translation: X:150.63, Y:132.01, Z:7.22 [[-9.99052583e-01 -3.65438868e-02 2.36322148e-02 1.50632308e+02] [ 3.64950979e-02 -9.99330723e-01 -2.49265435e-03 1.32012989e+02] [ 2.37074896e-02 -1.62783278e-03 9.99717613e-01 7.21914583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.810714057 meters Centerline goodness : 0.990491 Centerline is valid? [True, True] Translation: X:150.63, Y:132.01, Z:7.22 [[-9.99096838e-01 -3.53146710e-02 2.36301288e-02 1.50631386e+02] [ 3.52650665e-02 -9.99374835e-01 -2.51276718e-03 1.32012697e+02] [ 2.37040936e-02 -1.67717968e-03 9.99717612e-01 7.21984773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.840714057 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:150.63, Y:132.01, Z:7.22 [[-9.99063580e-01 -3.62468298e-02 2.36247935e-02 1.50631373e+02] [ 3.61962740e-02 -9.99341410e-01 -2.56420637e-03 1.32014506e+02] [ 2.37021788e-02 -1.70667570e-03 9.99717607e-01 7.21784621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.870714057 meters Centerline goodness : 0.990291 Centerline is valid? [True, True] Translation: X:150.64, Y:132.01, Z:7.22 [[-9.99112452e-01 -3.48704711e-02 2.36296304e-02 1.50637553e+02] [ 3.48206317e-02 -9.99390407e-01 -2.51750155e-03 1.32013308e+02] [ 2.37030124e-02 -1.69246849e-03 9.99717612e-01 7.21758462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.900714057 meters Centerline goodness : 0.990605 Centerline is valid? [True, True] Translation: X:150.63, Y:132.01, Z:7.22 [[-9.99091239e-01 -3.54705570e-02 2.36333755e-02 1.50628775e+02] [ 3.54217380e-02 -9.99369373e-01 -2.48124510e-03 1.32014006e+02] [ 2.37064828e-02 -1.64185501e-03 9.99717614e-01 7.21993850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.930714057 meters Centerline goodness : 0.989533 Centerline is valid? [True, True] Translation: X:150.63, Y:132.01, Z:7.22 [[-9.99063979e-01 -3.62374518e-02 2.36222953e-02 1.50628778e+02] [ 3.61863215e-02 -9.99341708e-01 -2.58851381e-03 1.32013659e+02] [ 2.37005461e-02 -1.73128693e-03 9.99717604e-01 7.21999313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.960714057 meters Centerline goodness : 0.990542 Centerline is valid? [True, True] Translation: X:150.62, Y:132.01, Z:7.22 [[-9.99053769e-01 -3.65160094e-02 2.36251482e-02 1.50622109e+02] [ 3.64656083e-02 -9.99331627e-01 -2.56081426e-03 1.32013813e+02] [ 2.37028685e-02 -1.69688574e-03 9.99717607e-01 7.22006806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.990714057 meters Centerline goodness : 0.989996 Centerline is valid? [True, True] Translation: X:150.62, Y:132.01, Z:7.22 [[-9.98892777e-01 -4.06810499e-02 2.36277844e-02 1.50618530e+02] [ 4.06324124e-02 -9.99170946e-01 -2.53514827e-03 1.32013416e+02] [ 2.37113282e-02 -1.57228742e-03 9.99717611e-01 7.22119158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.020714057 meters Centerline goodness : 0.988679 Centerline is valid? [True, True] Translation: X:150.03, Y:132.07, Z:7.23 [[-9.99287098e-01 -2.94418314e-02 2.36320454e-02 1.50025050e+02] [ 2.93910576e-02 -9.99564881e-01 -2.49305612e-03 1.32067190e+02] [ 2.36951628e-02 -1.79670801e-03 9.99717616e-01 7.23208060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.050714057 meters Centerline goodness : 0.986809 Centerline is valid? [True, True] Translation: X:149.96, Y:132.07, Z:7.23 [[-9.99349549e-01 -2.72214512e-02 2.36531603e-02 1.49957128e+02] [ 2.71748409e-02 -9.99628073e-01 -2.28983576e-03 1.32071634e+02] [ 2.37066957e-02 -1.64557547e-03 9.99717602e-01 7.23402223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.080714057 meters Centerline goodness : 0.986578 Centerline is valid? [True, True] Translation: X:149.94, Y:132.07, Z:7.24 [[-9.99238299e-01 -3.10331218e-02 2.36594136e-02 1.49938474e+02] [ 3.09889870e-02 -9.99517239e-01 -2.22987661e-03 1.32072110e+02] [ 2.37171918e-02 -1.49499685e-03 9.99717590e-01 7.23611652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.110714057 meters Centerline goodness : 0.989459 Centerline is valid? [True, True] Translation: X:150.62, Y:132.01, Z:7.22 [[-9.96913082e-01 -7.48552812e-02 2.36852987e-02 1.50624221e+02] [ 7.48296941e-02 -9.97194390e-01 -1.96601045e-03 1.32013372e+02] [ 2.37660132e-02 -1.87577883e-04 9.99717531e-01 7.22133526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.140714057 meters Centerline goodness : 0.989236 Centerline is valid? [True, True] Translation: X:150.62, Y:132.01, Z:7.22 [[-9.96877346e-01 -7.53776843e-02 2.35321283e-02 1.50624842e+02] [ 7.53193870e-02 -9.97153816e-01 -3.35519460e-03 1.32012809e+02] [ 2.37180583e-02 -1.57229201e-03 9.99717451e-01 7.22040818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.170714057 meters Centerline goodness : 0.989333 Centerline is valid? [True, True] Translation: X:150.62, Y:132.01, Z:7.22 [[-9.96879233e-01 -7.53471394e-02 2.35500242e-02 1.50621939e+02] [ 7.52926784e-02 -9.97156369e-01 -3.19203228e-03 1.32013119e+02] [ 2.37235671e-02 -1.40892629e-03 9.99717564e-01 7.22012274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.200714057 meters Centerline goodness : 0.985052 Centerline is valid? [True, True] Translation: X:149.87, Y:132.08, Z:7.23 [[-9.98930942e-01 -3.97562913e-02 2.35883556e-02 1.49870674e+02] [ 3.97008379e-02 -9.99207646e-01 -2.81473339e-03 1.32077476e+02] [ 2.36815686e-02 -1.87524680e-03 9.99717794e-01 7.23485326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.230714057 meters Centerline goodness : 0.989203 Centerline is valid? [True, True] Translation: X:150.61, Y:132.01, Z:7.22 [[-9.96800739e-01 -7.63448507e-02 2.36590656e-02 1.50606554e+02] [ 7.63163101e-02 -9.97081429e-01 -2.10822096e-03 1.32012915e+02] [ 2.37509667e-02 -2.95903626e-04 9.99717862e-01 7.22048797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26071405700003 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:150.28, Y:132.04, Z:7.23 [[-9.97930478e-01 -5.98286697e-02 2.35646300e-02 1.50277012e+02] [ 5.97746621e-02 -9.98207417e-01 -2.99027580e-03 1.32042822e+02] [ 2.37012927e-02 -1.57551956e-03 9.99717843e-01 7.22725654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.290714057 meters Centerline goodness : 0.988289 Centerline is valid? [True, True] Translation: X:150.61, Y:132.01, Z:7.22 [[-9.97011398e-01 -7.35580547e-02 2.36111031e-02 1.50609857e+02] [ 7.35182187e-02 -9.97290609e-01 -2.55198441e-03 1.32011222e+02] [ 2.37348504e-02 -8.08511297e-04 9.99717962e-01 7.22239340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32071405700003 meters Centerline goodness : 0.988579 Centerline is valid? [True, True] Translation: X:150.59, Y:132.01, Z:7.22 [[-9.97125685e-01 -7.20090132e-02 2.35599303e-02 1.50594654e+02] [ 7.19576826e-02 -9.97403113e-01 -3.02039468e-03 1.32013140e+02] [ 2.37162435e-02 -1.31639512e-03 9.99717864e-01 7.22328370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.350714057 meters Centerline goodness : 0.986288 Centerline is valid? [True, True] Translation: X:150.60, Y:132.01, Z:7.23 [[-9.97844047e-01 -6.12557211e-02 2.35583113e-02 1.50602062e+02] [ 6.12010527e-02 -9.98120844e-01 -3.03527181e-03 1.32012701e+02] [ 2.36999693e-02 -1.58693446e-03 9.99717857e-01 7.22556667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.380714057 meters Centerline goodness : 0.989403 Centerline is valid? [True, True] Translation: X:150.60, Y:132.01, Z:7.22 [[-9.97776183e-01 -6.23313643e-02 2.36112238e-02 1.50599674e+02] [ 6.22885713e-02 -9.98054939e-01 -2.54426105e-03 1.32012473e+02] [ 2.37238857e-02 -1.06789368e-03 9.99717979e-01 7.22398912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.410714057 meters Centerline goodness : 0.989555 Centerline is valid? [True, True] Translation: X:150.59, Y:132.01, Z:7.22 [[-9.97933660e-01 -5.97673591e-02 2.35854277e-02 1.50593595e+02] [ 5.97182061e-02 -9.98211394e-01 -2.78353779e-03 1.32013403e+02] [ 2.37096074e-02 -1.36930662e-03 9.99717950e-01 7.22198713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.440714057 meters Centerline goodness : 0.988873 Centerline is valid? [True, True] Translation: X:150.60, Y:132.01, Z:7.22 [[-9.98022864e-01 -5.82526668e-02 2.36006424e-02 1.50596243e+02] [ 5.82064337e-02 -9.98301073e-01 -2.64179796e-03 1.32012258e+02] [ 2.37144384e-02 -1.26286554e-03 9.99717976e-01 7.22000772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.470714057 meters Centerline goodness : 0.990155 Centerline is valid? [True, True] Translation: X:150.59, Y:132.01, Z:7.22 [[-9.98074710e-01 -5.73541711e-02 2.36087547e-02 1.50594018e+02] [ 5.73094747e-02 -9.98353164e-01 -2.56603571e-03 1.32012377e+02] [ 2.37170478e-02 -1.20809002e-03 9.99717981e-01 7.21722386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.500714057 meters Centerline goodness : 0.989598 Centerline is valid? [True, True] Translation: X:150.61, Y:132.01, Z:7.22 [[-9.97928161e-01 -5.98460277e-02 2.36186133e-02 1.50609743e+02] [ 5.98042073e-02 -9.98207062e-01 -2.47367851e-03 1.32012421e+02] [ 2.37243064e-02 -1.05606100e-03 9.99717981e-01 7.22199909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.530714057 meters Centerline goodness : 0.990868 Centerline is valid? [True, True] Translation: X:150.61, Y:132.01, Z:7.22 [[-9.97963439e-01 -5.92580009e-02 2.36106611e-02 1.50605735e+02] [ 5.92142558e-02 -9.98242044e-01 -2.54823818e-03 1.32013173e+02] [ 2.37201581e-02 -1.14496081e-03 9.99717982e-01 7.21979958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.560714057 meters Centerline goodness : 0.990340 Centerline is valid? [True, True] Translation: X:150.62, Y:132.01, Z:7.22 [[-9.97966981e-01 -5.91968880e-02 2.36142591e-02 1.50615986e+02] [ 5.91539240e-02 -9.98245707e-01 -2.51442861e-03 1.32012721e+02] [ 2.37216791e-02 -1.11244064e-03 9.99717982e-01 7.22137185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.590714057 meters Centerline goodness : 0.990343 Centerline is valid? [True, True] Translation: X:150.60, Y:132.02, Z:7.22 [[-9.97948988e-01 -5.94985746e-02 2.36164610e-02 1.50601030e+02] [ 5.94561850e-02 -9.98227802e-01 -2.49367044e-03 1.32015197e+02] [ 2.37229778e-02 -1.08441122e-03 9.99717982e-01 7.22038958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.620714057 meters Centerline goodness : 0.990711 Centerline is valid? [True, True] Translation: X:150.62, Y:132.01, Z:7.22 [[-9.98042428e-01 -5.79116449e-02 2.36125469e-02 1.50624033e+02] [ 5.78679388e-02 -9.98321039e-01 -2.53065816e-03 1.32013401e+02] [ 2.37194570e-02 -1.15929479e-03 9.99717982e-01 7.22051184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.650714057 meters Centerline goodness : 0.990925 Centerline is valid? [True, True] Translation: X:150.63, Y:132.02, Z:7.22 [[-9.98225400e-01 -5.46652124e-02 2.36170615e-02 1.50629309e+02] [ 5.46216095e-02 -9.98504026e-01 -2.48789320e-03 1.32015768e+02] [ 2.37177322e-02 -1.19347628e-03 9.99717983e-01 7.21797944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.680714057 meters Centerline goodness : 0.991424 Centerline is valid? [True, True] Translation: X:150.63, Y:132.02, Z:7.22 [[-9.98562100e-01 -4.81238372e-02 2.36183955e-02 1.50625147e+02] [ 4.80787083e-02 -9.98840483e-01 -2.47522667e-03 1.32018722e+02] [ 2.37101270e-02 -1.33612559e-03 9.99717983e-01 7.21896395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.710714057 meters Centerline goodness : 0.991474 Centerline is valid? [True, True] Translation: X:150.63, Y:132.02, Z:7.22 [[-9.98703664e-01 -4.50920340e-02 2.36156560e-02 1.50625850e+02] [ 4.50454459e-02 -9.98981807e-01 -2.50129298e-03 1.32020283e+02] [ 2.37043991e-02 -1.43427271e-03 9.99717982e-01 7.21952101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.740714057 meters Centerline goodness : 0.991856 Centerline is valid? [True, True] Translation: X:150.62, Y:132.02, Z:7.22 [[-9.98814551e-01 -4.25672606e-02 2.36118651e-02 1.50618760e+02] [ 4.25191183e-02 -9.99092431e-01 -2.53744281e-03 1.32022467e+02] [ 2.36984477e-02 -1.53047911e-03 9.99717981e-01 7.21946955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.770714057 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:150.63, Y:132.02, Z:7.22 [[-9.99057680e-01 -3.64178651e-02 2.36112445e-02 1.50628739e+02] [ 3.63678738e-02 -9.99335234e-01 -2.54336811e-03 1.32022982e+02] [ 2.36881726e-02 -1.68228068e-03 9.99717980e-01 7.22156648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.800714057 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:150.63, Y:132.02, Z:7.22 [[-9.99071395e-01 -3.60429913e-02 2.36061416e-02 1.50631392e+02] [ 3.59917473e-02 -9.99348725e-01 -2.59221577e-03 1.32022802e+02] [ 2.36841988e-02 -1.74018234e-03 9.99717975e-01 7.22148471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.830714057 meters Centerline goodness : 0.991546 Centerline is valid? [True, True] Translation: X:150.63, Y:132.02, Z:7.22 [[-9.99121991e-01 -3.46114213e-02 2.36071511e-02 1.50628945e+02] [ 3.45600080e-02 -9.99399288e-01 -2.58251642e-03 1.32023940e+02] [ 2.36823545e-02 -1.76438562e-03 9.99717977e-01 7.22126594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.860714057 meters Centerline goodness : 0.991650 Centerline is valid? [True, True] Translation: X:150.63, Y:132.03, Z:7.22 [[-9.99169458e-01 -3.32093582e-02 2.36121232e-02 1.50625306e+02] [ 3.31586813e-02 -9.99446886e-01 -2.53463053e-03 1.32025593e+02] [ 2.36832365e-02 -1.74957855e-03 9.99717982e-01 7.22216348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.890714057 meters Centerline goodness : 0.991730 Centerline is valid? [True, True] Translation: X:150.64, Y:132.03, Z:7.22 [[-9.99128178e-01 -3.44339900e-02 2.36047442e-02 1.50638098e+02] [ 3.43819809e-02 -9.99405368e-01 -2.60576840e-03 1.32025287e+02] [ 2.36804350e-02 -1.79191877e-03 9.99717973e-01 7.22256038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.920714057 meters Centerline goodness : 0.991074 Centerline is valid? [True, True] Translation: X:150.63, Y:132.03, Z:7.22 [[-9.99133926e-01 -3.42652564e-02 2.36069981e-02 1.50627803e+02] [ 3.42137121e-02 -9.99411199e-01 -2.58400243e-03 1.32026321e+02] [ 2.36816398e-02 -1.77408145e-03 9.99717977e-01 7.22198336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.950714057 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:150.64, Y:132.03, Z:7.22 [[-9.98920841e-01 -3.99965206e-02 2.36099782e-02 1.50644431e+02] [ 3.99472467e-02 -9.99198523e-01 -2.55515126e-03 1.32025014e+02] [ 2.36932525e-02 -1.60924023e-03 9.99717980e-01 7.22448729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.980714057 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:150.64, Y:132.03, Z:7.23 [[-9.98889697e-01 -4.07774318e-02 2.35918230e-02 1.50642895e+02] [ 4.07242488e-02 -9.99166693e-01 -2.73057023e-03 1.32025274e+02] [ 2.36835094e-02 -1.76677920e-03 9.99717945e-01 7.22507725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.01071405700003 meters Centerline goodness : 0.991932 Centerline is valid? [True, True] Translation: X:150.65, Y:132.03, Z:7.22 [[-9.98695232e-01 -4.52898168e-02 2.35937814e-02 1.50654480e+02] [ 4.52383323e-02 -9.98972542e-01 -2.71159238e-03 1.32025383e+02] [ 2.36923473e-02 -1.64071106e-03 9.99717951e-01 7.22425115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.040714057 meters Centerline goodness : 0.991561 Centerline is valid? [True, True] Translation: X:150.64, Y:132.03, Z:7.22 [[-9.98777408e-01 -4.34401547e-02 2.35932825e-02 1.50641513e+02] [ 4.33880427e-02 -9.99054603e-01 -2.71643452e-03 1.32026486e+02] [ 2.36889798e-02 -1.68944708e-03 9.99717949e-01 7.22409073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.07071405700003 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:150.65, Y:132.03, Z:7.22 [[-9.98674837e-01 -4.57301449e-02 2.36077208e-02 1.50646079e+02] [ 4.56819831e-02 -9.98952713e-01 -2.57565432e-03 1.32026286e+02] [ 2.37007818e-02 -1.49379366e-03 9.99717981e-01 7.22480867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.100714057 meters Centerline goodness : 0.991532 Centerline is valid? [True, True] Translation: X:150.66, Y:132.02, Z:7.23 [[-9.98418552e-01 -5.10226931e-02 2.36025208e-02 1.50660169e+02] [ 5.09748070e-02 -9.98696486e-01 -2.62646980e-03 1.32024841e+02] [ 2.37057642e-02 -1.41918223e-03 9.99717972e-01 7.22553576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.130714057 meters Centerline goodness : 0.990773 Centerline is valid? [True, True] Translation: X:150.66, Y:132.03, Z:7.23 [[-9.98259002e-01 -5.40565300e-02 2.35978096e-02 1.50656278e+02] [ 5.40084007e-02 -9.98536905e-01 -2.67261839e-03 1.32025196e+02] [ 2.37077562e-02 -1.39348541e-03 9.99717960e-01 7.22513722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.160714057 meters Centerline goodness : 0.991346 Centerline is valid? [True, True] Translation: X:150.68, Y:132.02, Z:7.22 [[-9.97784391e-01 -6.22040745e-02 2.36000440e-02 1.50675009e+02] [ 6.21587335e-02 -9.98062756e-01 -2.65067355e-03 1.32022691e+02] [ 2.37192077e-02 -1.17785185e-03 9.99717966e-01 7.22476493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.190714057 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:150.68, Y:132.02, Z:7.23 [[-9.97650388e-01 -6.43180303e-02 2.35986114e-02 1.50681252e+02] [ 6.42729469e-02 -9.97928799e-01 -2.66474811e-03 1.32021399e+02] [ 2.37211252e-02 -1.14173469e-03 9.99717963e-01 7.22565851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.220714057 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:150.69, Y:132.02, Z:7.22 [[-9.97196205e-01 -7.10119861e-02 2.36014207e-02 1.50690250e+02] [ 7.09694260e-02 -9.97475005e-01 -2.63708528e-03 1.32021477e+02] [ 2.37290919e-02 -9.54712148e-04 9.99717970e-01 7.22460808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.250714057 meters Centerline goodness : 0.990511 Centerline is valid? [True, True] Translation: X:150.70, Y:132.02, Z:7.22 [[-9.97154671e-01 -7.15956598e-02 2.35928889e-02 1.50697554e+02] [ 7.15512769e-02 -9.97433211e-01 -2.72111129e-03 1.32020633e+02] [ 2.37271507e-02 -1.02526751e-03 9.99717946e-01 7.22490648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.280714057 meters Centerline goodness : 0.991503 Centerline is valid? [True, True] Translation: X:150.70, Y:132.02, Z:7.22 [[-9.97000482e-01 -7.37108579e-02 2.35955111e-02 1.50701872e+02] [ 7.36676780e-02 -9.97279203e-01 -2.69522158e-03 1.32020839e+02] [ 2.37299796e-02 -9.48910701e-04 9.99717954e-01 7.22481722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.310714057 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:150.71, Y:132.02, Z:7.22 [[-9.96648862e-01 -7.83220218e-02 2.35946282e-02 1.50707880e+02] [ 7.82799253e-02 -9.96927752e-01 -2.70394400e-03 1.32021340e+02] [ 2.37339180e-02 -8.47896981e-04 9.99717951e-01 7.22307174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.340714057 meters Centerline goodness : 0.991216 Centerline is valid? [True, True] Translation: X:150.71, Y:132.02, Z:7.22 [[-9.96828623e-01 -7.60030145e-02 2.35846837e-02 1.50707333e+02] [ 7.59579426e-02 -9.97107084e-01 -2.80236167e-03 1.32021099e+02] [ 2.37294432e-02 -1.00203027e-03 9.99717915e-01 7.22440883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.370714057 meters Centerline goodness : 0.990148 Centerline is valid? [True, True] Translation: X:150.71, Y:132.02, Z:7.23 [[-9.96681838e-01 -7.78972411e-02 2.36079269e-02 1.50711133e+02] [ 7.78581748e-02 -9.96961130e-01 -2.57086232e-03 1.32022472e+02] [ 2.37364485e-02 -7.24261682e-04 9.99717988e-01 7.22533351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.400714057 meters Centerline goodness : 0.990501 Centerline is valid? [True, True] Translation: X:150.71, Y:132.02, Z:7.22 [[-9.96634234e-01 -7.85012280e-02 2.36169624e-02 1.50712754e+02] [ 7.84644681e-02 -9.96913825e-01 -2.48060692e-03 1.32022474e+02] [ 2.37388070e-02 -6.19165380e-04 9.99718003e-01 7.22446827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.430714057 meters Centerline goodness : 0.989718 Centerline is valid? [True, True] Translation: X:150.71, Y:132.02, Z:7.23 [[-9.96418445e-01 -8.11949259e-02 2.36149848e-02 1.50714841e+02] [ 8.11584530e-02 -9.96698075e-01 -2.50039736e-03 1.32024940e+02] [ 2.37400294e-02 -5.74886420e-04 9.99718000e-01 7.22750277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.460714057 meters Centerline goodness : 0.990289 Centerline is valid? [True, True] Translation: X:150.72, Y:132.02, Z:7.23 [[-9.96252292e-01 -8.32069236e-02 2.36215859e-02 1.50717345e+02] [ 8.31725871e-02 -9.96532185e-01 -2.43408027e-03 1.32024940e+02] [ 2.37422030e-02 -4.60289631e-04 9.99718008e-01 7.22770595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.490714057 meters Centerline goodness : 0.989062 Centerline is valid? [True, True] Translation: X:150.73, Y:132.03, Z:7.23 [[-9.96067903e-01 -8.53890548e-02 2.36102255e-02 1.50725555e+02] [ 8.53526270e-02 -9.96347548e-01 -2.54818138e-03 1.32028388e+02] [ 2.37415771e-02 -5.22966916e-04 9.99717992e-01 7.22595707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.520714057 meters Centerline goodness : 0.990502 Centerline is valid? [True, True] Translation: X:150.72, Y:132.03, Z:7.22 [[-9.95875783e-01 -8.75956246e-02 2.36311388e-02 1.50717055e+02] [ 8.75648320e-02 -9.96156082e-01 -2.33668875e-03 1.32029075e+02] [ 2.37449863e-02 -2.57795043e-04 9.99718015e-01 7.22481505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.550714057 meters Centerline goodness : 0.990321 Centerline is valid? [True, True] Translation: X:150.73, Y:132.03, Z:7.22 [[-9.95660988e-01 -9.00085500e-02 2.36147666e-02 1.50727752e+02] [ 8.99745133e-02 -9.95940925e-01 -2.50206695e-03 1.32030440e+02] [ 2.37441200e-02 -3.66483317e-04 9.99718001e-01 7.22369142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.580714057 meters Centerline goodness : 0.990829 Centerline is valid? [True, True] Translation: X:150.73, Y:132.04, Z:7.22 [[-9.95461957e-01 -9.21834271e-02 2.36158428e-02 1.50729541e+02] [ 9.21502608e-02 -9.95741997e-01 -2.49115845e-03 1.32035215e+02] [ 2.37449300e-02 -3.03647393e-04 9.99718003e-01 7.22244848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.610714057 meters Centerline goodness : 0.991172 Centerline is valid? [True, True] Translation: X:150.73, Y:132.04, Z:7.22 [[-9.95372294e-01 -9.31462841e-02 2.36170613e-02 1.50733942e+02] [ 9.31136828e-02 -9.95652398e-01 -2.47876423e-03 1.32036988e+02] [ 2.37452714e-02 -2.68221685e-04 9.99718005e-01 7.22173761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.640714057 meters Centerline goodness : 0.990937 Centerline is valid? [True, True] Translation: X:150.74, Y:132.04, Z:7.22 [[-9.95634660e-01 -9.02992763e-02 2.36149128e-02 1.50738172e+02] [ 9.02653548e-02 -9.95914611e-01 -2.50065418e-03 1.32041147e+02] [ 2.37442439e-02 -3.58129493e-04 9.99718002e-01 7.22301828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.670714057 meters Centerline goodness : 0.989776 Centerline is valid? [True, True] Translation: X:150.74, Y:132.05, Z:7.22 [[-9.95781769e-01 -8.86579148e-02 2.36313812e-02 1.50739488e+02] [ 8.86275341e-02 -9.96062108e-01 -2.33193042e-03 1.32045436e+02] [ 2.37450674e-02 -2.27702755e-04 9.99718020e-01 7.22442415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.700714057 meters Centerline goodness : 0.990115 Centerline is valid? [True, True] Translation: X:150.74, Y:132.05, Z:7.22 [[-9.95853948e-01 -8.78430065e-02 2.36330537e-02 1.50740437e+02] [ 8.78128043e-02 -9.96134305e-01 -2.31474331e-03 1.32048757e+02] [ 2.37450296e-02 -2.29861545e-04 9.99718021e-01 7.22402848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.730714057 meters Centerline goodness : 0.989620 Centerline is valid? [True, True] Translation: X:150.74, Y:132.06, Z:7.22 [[-9.96078951e-01 -8.52521295e-02 2.36389031e-02 1.50737989e+02] [ 8.52226303e-02 -9.96359384e-01 -2.25437633e-03 1.32055771e+02] [ 2.37450333e-02 -2.30967316e-04 9.99718020e-01 7.22467581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76071405700003 meters Centerline goodness : 0.990420 Centerline is valid? [True, True] Translation: X:150.77, Y:132.06, Z:7.22 [[-9.95712309e-01 -8.94331610e-02 2.36369931e-02 1.50767870e+02] [ 8.94043705e-02 -9.95992815e-01 -2.27412815e-03 1.32062453e+02] [ 2.37456577e-02 -1.51126903e-04 9.99718021e-01 7.22416518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.790714057 meters Centerline goodness : 0.989655 Centerline is valid? [True, True] Translation: X:150.75, Y:132.07, Z:7.23 [[-9.96351266e-01 -8.20173091e-02 2.36075232e-02 1.50750006e+02] [ 8.19792284e-02 -9.96630704e-01 -2.57801339e-03 1.32068266e+02] [ 2.37394242e-02 -6.33280374e-04 9.99717980e-01 7.22625805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82071405700003 meters Centerline goodness : 0.990207 Centerline is valid? [True, True] Translation: X:150.76, Y:132.07, Z:7.22 [[-9.96491816e-01 -8.02851368e-02 2.36295689e-02 1.50755538e+02] [ 8.02519905e-02 -9.96771839e-01 -2.34924585e-03 1.32072740e+02] [ 2.37418984e-02 -4.44684328e-04 9.99718023e-01 7.22390880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.850714057 meters Centerline goodness : 0.990114 Centerline is valid? [True, True] Translation: X:150.75, Y:132.08, Z:7.23 [[-9.96796755e-01 -7.64057951e-02 2.36301333e-02 1.50749171e+02] [ 7.63716984e-02 -9.97076663e-01 -2.34336889e-03 1.32077368e+02] [ 2.37401014e-02 -5.31189090e-04 9.99718023e-01 7.22648764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.880714057 meters Centerline goodness : 0.990641 Centerline is valid? [True, True] Translation: X:150.76, Y:132.09, Z:7.22 [[-9.96945488e-01 -7.44409599e-02 2.36270671e-02 1.50763329e+02] [ 7.44055534e-02 -9.97225236e-01 -2.37537036e-03 1.32086299e+02] [ 2.37383324e-02 -6.10129758e-04 9.99718020e-01 7.22476762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.910714057 meters Centerline goodness : 0.990032 Centerline is valid? [True, True] Translation: X:150.74, Y:132.10, Z:7.22 [[-9.97529631e-01 -6.61577784e-02 2.36174399e-02 1.50742663e+02] [ 6.61176748e-02 -9.97808761e-01 -2.47576244e-03 1.32096789e+02] [ 2.37294794e-02 -9.08116183e-04 9.99718004e-01 7.22499557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.940714057 meters Centerline goodness : 0.990153 Centerline is valid? [True, True] Translation: X:150.74, Y:132.10, Z:7.22 [[-9.97726402e-01 -6.31198681e-02 2.36200942e-02 1.50744576e+02] [ 6.30795718e-02 -9.98005499e-01 -2.44797003e-03 1.32099816e+02] [ 2.37274994e-02 -9.52458899e-04 9.99718010e-01 7.22316596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.970714057 meters Centerline goodness : 0.990407 Centerline is valid? [True, True] Translation: X:150.75, Y:132.10, Z:7.22 [[-9.97716795e-01 -6.32692822e-02 2.36261464e-02 1.50748650e+02] [ 6.32305325e-02 -9.97996100e-01 -2.38433484e-03 1.32102975e+02] [ 2.37296571e-02 -8.84997097e-04 9.99718020e-01 7.22211927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.000714057 meters Centerline goodness : 0.990415 Centerline is valid? [True, True] Translation: X:150.74, Y:132.11, Z:7.22 [[-9.98284554e-01 -5.35760466e-02 2.36126556e-02 1.50737867e+02] [ 5.35312323e-02 -9.98562980e-01 -2.52637207e-03 1.32107297e+02] [ 2.37140768e-02 -1.25802366e-03 9.99717990e-01 7.22204835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.030714057 meters Centerline goodness : 0.990170 Centerline is valid? [True, True] Translation: X:150.74, Y:132.11, Z:7.22 [[-9.98210959e-01 -5.49182940e-02 2.36402494e-02 1.50744184e+02] [ 5.48807641e-02 -9.98490416e-01 -2.23390403e-03 1.32109904e+02] [ 2.37272446e-02 -9.32512541e-04 9.99718034e-01 7.22162268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.060714057 meters Centerline goodness : 0.990997 Centerline is valid? [True, True] Translation: X:150.76, Y:132.11, Z:7.22 [[-9.98054043e-01 -5.77076459e-02 2.36210773e-02 1.50759257e+02] [ 5.76661000e-02 -9.98332952e-01 -2.43681436e-03 1.32114209e+02] [ 2.37223226e-02 -1.06993702e-03 9.99718014e-01 7.21864336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.090714057 meters Centerline goodness : 0.990152 Centerline is valid? [True, True] Translation: X:150.73, Y:132.12, Z:7.22 [[-9.98596181e-01 -4.74200016e-02 2.36010591e-02 1.50731314e+02] [ 4.73705921e-02 -9.98873872e-01 -2.64853304e-03 1.32117055e+02] [ 2.37000748e-02 -1.52681884e-03 9.99717948e-01 7.21692578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.120714057 meters Centerline goodness : 0.990723 Centerline is valid? [True, True] Translation: X:150.76, Y:132.12, Z:7.22 [[-9.98232630e-01 -5.45214193e-02 2.36438482e-02 1.50758030e+02] [ 5.44847727e-02 -9.98512196e-01 -2.19186814e-03 1.32116905e+02] [ 2.37281745e-02 -8.99764601e-04 9.99718042e-01 7.22014781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.150714057 meters Centerline goodness : 0.989945 Centerline is valid? [True, True] Translation: X:150.74, Y:132.12, Z:7.22 [[-9.98598203e-01 -4.73775930e-02 2.36006907e-02 1.50741055e+02] [ 4.73281457e-02 -9.98875881e-01 -2.64965529e-03 1.32119914e+02] [ 2.36996950e-02 -1.52896408e-03 9.99717954e-01 7.22399109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.180714057 meters Centerline goodness : 0.991106 Centerline is valid? [True, True] Translation: X:150.72, Y:132.12, Z:7.22 [[-9.99041439e-01 -3.68526230e-02 2.36238751e-02 1.50723239e+02] [ 3.68060904e-02 -9.99319540e-01 -2.40167301e-03 1.32116318e+02] [ 2.36963079e-02 -1.52986838e-03 9.99718032e-01 7.22476713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.210714057 meters Centerline goodness : 0.990378 Centerline is valid? [True, True] Translation: X:150.75, Y:132.12, Z:7.22 [[-9.98509399e-01 -4.91894732e-02 2.36511088e-02 1.50750180e+02] [ 4.91533131e-02 -9.98789021e-01 -2.10817353e-03 1.32121220e+02] [ 2.37261678e-02 -9.42500725e-04 9.99718051e-01 7.22316059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.240714057 meters Centerline goodness : 0.990750 Centerline is valid? [True, True] Translation: X:150.75, Y:132.12, Z:7.22 [[-9.98598196e-01 -4.73665793e-02 2.36230810e-02 1.50746161e+02] [ 4.73227943e-02 -9.98876743e-01 -2.40940215e-03 1.32121562e+02] [ 2.37106714e-02 -1.28811444e-03 9.99718033e-01 7.22440941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.270714057 meters Centerline goodness : 0.990167 Centerline is valid? [True, True] Translation: X:150.76, Y:132.12, Z:7.22 [[-9.98376268e-01 -5.18324142e-02 2.36268586e-02 1.50756458e+02] [ 5.17908366e-02 -9.98655145e-01 -2.36870142e-03 1.32122790e+02] [ 2.37178594e-02 -1.14120051e-03 9.99718041e-01 7.22297138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.300714057 meters Centerline goodness : 0.990951 Centerline is valid? [True, True] Translation: X:150.76, Y:132.12, Z:7.22 [[-9.98379890e-01 -5.17705804e-02 2.36093825e-02 1.50761710e+02] [ 5.17245525e-02 -9.98658117e-01 -2.55649903e-03 1.32122372e+02] [ 2.37100529e-02 -1.33117247e-03 9.99717991e-01 7.22310779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.330714057 meters Centerline goodness : 0.991138 Centerline is valid? [True, True] Translation: X:150.76, Y:132.12, Z:7.22 [[-9.98529255e-01 -4.88055489e-02 2.36081799e-02 1.50755900e+02] [ 4.87583895e-02 -9.98807297e-01 -2.56944902e-03 1.32123048e+02] [ 2.37054258e-02 -1.41457318e-03 9.99717986e-01 7.22130237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.360714057 meters Centerline goodness : 0.990961 Centerline is valid? [True, True] Translation: X:150.76, Y:132.12, Z:7.22 [[-9.98644344e-01 -4.63867949e-02 2.36165178e-02 1.50759053e+02] [ 4.63410872e-02 -9.98922598e-01 -2.47932556e-03 1.32123378e+02] [ 2.37060813e-02 -1.38154934e-03 9.99718017e-01 7.22175646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.390714057 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:150.76, Y:132.12, Z:7.22 [[-9.98875445e-01 -4.11095490e-02 2.36188457e-02 1.50759206e+02] [ 4.10629667e-02 -9.99153547e-01 -2.45408113e-03 1.32123734e+02] [ 2.36997396e-02 -1.48146150e-03 9.99718024e-01 7.22374502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.420714057 meters Centerline goodness : 0.992005 Centerline is valid? [True, True] Translation: X:150.76, Y:132.12, Z:7.22 [[-9.98972104e-01 -3.86902624e-02 2.36177835e-02 1.50762238e+02] [ 3.86427349e-02 -9.99250049e-01 -2.46561631e-03 1.32123194e+02] [ 2.36954667e-02 -1.55042617e-03 9.99718021e-01 7.22054763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.450714057 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] Translation: X:150.76, Y:132.12, Z:7.22 [[-9.99139424e-01 -3.40986925e-02 2.36154566e-02 1.50756085e+02] [ 3.40492917e-02 -9.99417051e-01 -2.49095202e-03 1.32123237e+02] [ 2.36866282e-02 -1.68471879e-03 9.99718013e-01 7.22263603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.480714057 meters Centerline goodness : 0.991602 Centerline is valid? [True, True] Translation: X:150.77, Y:132.12, Z:7.22 [[-9.99219069e-01 -3.16744305e-02 2.36216609e-02 1.50769525e+02] [ 3.16259524e-02 -9.99496837e-01 -2.42313201e-03 1.32121399e+02] [ 2.36865267e-02 -1.67418218e-03 9.99718033e-01 7.21928714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.51071405700003 meters Centerline goodness : 0.991683 Centerline is valid? [True, True] Translation: X:150.78, Y:132.12, Z:7.22 [[-9.99279410e-01 -2.97234558e-02 2.36045854e-02 1.50780456e+02] [ 2.96700603e-02 -9.99556341e-01 -2.60916860e-03 1.32120097e+02] [ 2.36716665e-02 -1.90693899e-03 9.99717968e-01 7.22111152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.540714057 meters Centerline goodness : 0.991872 Centerline is valid? [True, True] Translation: X:150.79, Y:132.12, Z:7.22 [[-9.99370703e-01 -2.64809017e-02 2.35999910e-02 1.50785076e+02] [ 2.64254305e-02 -9.99647250e-01 -2.65930138e-03 1.32119602e+02] [ 2.36620868e-02 -2.03398797e-03 9.99717944e-01 7.21881495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.57071405700003 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:150.76, Y:132.12, Z:7.22 [[-9.99533501e-01 -1.93899887e-02 2.35968092e-02 1.50763460e+02] [ 1.93317383e-02 -9.99809494e-01 -2.69420696e-03 1.32119302e+02] [ 2.36445545e-02 -2.23678277e-03 9.99717926e-01 7.22298530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.600714057 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:150.75, Y:132.12, Z:7.22 [[-9.99627096e-01 -1.37055416e-02 2.36183579e-02 1.50753106e+02] [ 1.36513190e-02 -9.99903801e-01 -2.45549367e-03 1.32117612e+02] [ 2.36497398e-02 -2.13215627e-03 9.99718032e-01 7.22356195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.630714057 meters Centerline goodness : 0.991191 Centerline is valid? [True, True] Translation: X:150.75, Y:132.12, Z:7.23 [[-9.99643198e-01 -1.24551103e-02 2.36293755e-02 1.50748407e+02] [ 1.24034249e-02 -9.99920354e-01 -2.33264264e-03 1.32116628e+02] [ 2.36565468e-02 -2.03872516e-03 9.99718066e-01 7.22626307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.660714057 meters Centerline goodness : 0.991191 Centerline is valid? [True, True] Translation: X:150.75, Y:132.12, Z:7.23 [[-9.99647718e-01 -1.20786216e-02 2.36335790e-02 1.50751021e+02] [ 1.20279356e-02 -9.99925050e-01 -2.28564290e-03 1.32116454e+02] [ 2.36594151e-02 -2.00057455e-03 9.99718075e-01 7.22621395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.690714057 meters Centerline goodness : 0.991570 Centerline is valid? [True, True] Translation: X:150.78, Y:132.11, Z:7.22 [[-9.99566167e-01 -1.75759973e-02 2.36339404e-02 1.50783371e+02] [ 1.75269325e-02 -9.99843788e-01 -2.28158990e-03 1.32113534e+02] [ 2.36703497e-02 -1.86636959e-03 9.99718076e-01 7.22422137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.720714057 meters Centerline goodness : 0.991810 Centerline is valid? [True, True] Translation: X:150.77, Y:132.11, Z:7.22 [[-9.99584724e-01 -1.65171910e-02 2.36127613e-02 1.50771107e+02] [ 1.64622753e-02 -9.99861317e-01 -2.51818712e-03 1.32112177e+02] [ 2.36510799e-02 -2.12842160e-03 9.99718008e-01 7.22444148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.750714057 meters Centerline goodness : 0.990831 Centerline is valid? [True, True] Translation: X:150.76, Y:132.11, Z:7.23 [[-9.99591639e-01 -1.60790585e-02 2.36224207e-02 1.50758011e+02] [ 1.60265679e-02 -9.99868663e-01 -2.40972290e-03 1.32112139e+02] [ 2.36580642e-02 -2.03015253e-03 9.99718047e-01 7.22511893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.780714057 meters Centerline goodness : 0.991612 Centerline is valid? [True, True] Translation: X:150.76, Y:132.11, Z:7.22 [[-9.99554679e-01 -1.82162414e-02 2.36349699e-02 1.50760843e+02] [ 1.81676732e-02 -9.99832382e-01 -2.26804575e-03 1.32110333e+02] [ 2.36723235e-02 -1.83764333e-03 9.99718082e-01 7.22453991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.810714057 meters Centerline goodness : 0.991646 Centerline is valid? [True, True] Translation: X:150.76, Y:132.11, Z:7.23 [[-9.99554316e-01 -1.82358021e-02 2.36352369e-02 1.50756042e+02] [ 1.81873106e-02 -9.99832032e-01 -2.26501855e-03 1.32108660e+02] [ 2.36725714e-02 -1.83414767e-03 9.99718083e-01 7.22581506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.840714057 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:150.77, Y:132.10, Z:7.22 [[-9.99332191e-01 -2.78621581e-02 2.36404846e-02 1.50767719e+02] [ 2.78177522e-02 -9.99610579e-01 -2.20523108e-03 1.32104937e+02] [ 2.36927210e-02 -1.54613327e-03 9.99718092e-01 7.22405265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.870714057 meters Centerline goodness : 0.992268 Centerline is valid? [True, True] Translation: X:150.78, Y:132.10, Z:7.22 [[-9.99174868e-01 -3.30349244e-02 2.36279003e-02 1.50775238e+02] [ 3.29885843e-02 -9.99452969e-01 -2.34844857e-03 1.32103225e+02] [ 2.36925559e-02 -1.56705981e-03 9.99718064e-01 7.22444079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.900714057 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:150.78, Y:132.10, Z:7.23 [[-9.98910162e-01 -4.02542619e-02 2.36237944e-02 1.50776093e+02] [ 4.02088273e-02 -9.99188427e-01 -2.39531394e-03 1.32099252e+02] [ 2.37010435e-02 -1.44281837e-03 9.99718050e-01 7.22541708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.930714057 meters Centerline goodness : 0.992147 Centerline is valid? [True, True] Translation: X:150.80, Y:132.10, Z:7.22 [[-9.98531069e-01 -4.87573254e-02 2.36310811e-02 1.50804926e+02] [ 4.87162303e-02 -9.98809984e-01 -2.31195132e-03 1.32095185e+02] [ 2.37156843e-02 -1.15733804e-03 9.99718074e-01 7.22432502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.960714057 meters Centerline goodness : 0.991061 Centerline is valid? [True, True] Translation: X:150.81, Y:132.09, Z:7.23 [[-9.98132059e-01 -5.63427863e-02 2.36195481e-02 1.50811466e+02] [ 5.63007004e-02 -9.98410867e-01 -2.44357432e-03 1.32091036e+02] [ 2.37196912e-02 -1.10921277e-03 9.99718033e-01 7.22650242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.990714057 meters Centerline goodness : 0.990942 Centerline is valid? [True, True] Translation: X:150.80, Y:132.09, Z:7.22 [[-9.98012616e-01 -5.84177537e-02 2.36259063e-02 1.50800209e+02] [ 5.83779716e-02 -9.98291737e-01 -2.37064505e-03 1.32090764e+02] [ 2.37240348e-02 -9.86701177e-04 9.99718059e-01 7.22499291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.020714057 meters Centerline goodness : 0.991980 Centerline is valid? [True, True] Translation: X:150.78, Y:132.08, Z:7.23 [[-9.98472618e-01 -4.99394291e-02 2.36322719e-02 1.50782926e+02] [ 4.98990140e-02 -9.98751627e-01 -2.29715230e-03 1.32081761e+02] [ 2.37174884e-02 -1.11441661e-03 9.99718080e-01 7.22844745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.050714057 meters Centerline goodness : 0.990458 Centerline is valid? [True, True] Translation: X:150.81, Y:132.09, Z:7.23 [[-9.97694643e-01 -6.36056851e-02 2.36583194e-02 1.50806300e+02] [ 6.35762706e-02 -9.97974990e-01 -1.99415150e-03 1.32086647e+02] [ 2.37372504e-02 -4.85446556e-04 9.99718114e-01 7.22562829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.080714057 meters Centerline goodness : 0.990148 Centerline is valid? [True, True] Translation: X:150.81, Y:132.09, Z:7.23 [[-9.97681353e-01 -6.38228936e-02 2.36337809e-02 1.50807288e+02] [ 6.37868062e-02 -9.97960947e-01 -2.27844555e-03 1.32087336e+02] [ 2.37310074e-02 -7.65639240e-04 9.99718087e-01 7.22665100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.110714057 meters Centerline goodness : 0.990752 Centerline is valid? [True, True] Translation: X:150.81, Y:132.09, Z:7.23 [[-9.97817843e-01 -6.16530298e-02 2.36316953e-02 1.50808475e+02] [ 6.16157612e-02 -9.98097288e-01 -2.30266830e-03 1.32086511e+02] [ 2.37286974e-02 -8.41558627e-04 9.99718081e-01 7.22644975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.140714057 meters Centerline goodness : 0.990937 Centerline is valid? [True, True] Translation: X:150.82, Y:132.09, Z:7.22 [[-9.97744367e-01 -6.28279708e-02 2.36394570e-02 1.50822949e+02] [ 6.27931728e-02 -9.98024110e-01 -2.21219817e-03 1.32086924e+02] [ 2.37317360e-02 -7.22811752e-04 9.99718101e-01 7.22463046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.170714057 meters Centerline goodness : 0.990688 Centerline is valid? [True, True] Translation: X:150.81, Y:132.09, Z:7.23 [[-9.98208527e-01 -5.49663904e-02 2.36311948e-02 1.50809465e+02] [ 5.49271075e-02 -9.98487698e-01 -2.30870928e-03 1.32089504e+02] [ 2.37223587e-02 -1.00658011e-03 9.99718079e-01 7.22644807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.200714057 meters Centerline goodness : 0.990701 Centerline is valid? [True, True] Translation: X:150.80, Y:132.09, Z:7.23 [[-9.98367828e-01 -5.19879505e-02 2.36417530e-02 1.50801841e+02] [ 5.19507706e-02 -9.98647258e-01 -2.18453484e-03 1.32090958e+02] [ 2.37233413e-02 -9.52762018e-04 9.99718108e-01 7.22737821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.230714057 meters Centerline goodness : 0.990052 Centerline is valid? [True, True] Translation: X:150.80, Y:132.09, Z:7.23 [[-9.98703778e-01 -4.50739737e-02 2.36452949e-02 1.50801557e+02] [ 4.50358475e-02 -9.98983074e-01 -2.14274337e-03 1.32092811e+02] [ 2.37178313e-02 -1.07508000e-03 9.99718115e-01 7.22747043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26071405700003 meters Centerline goodness : 0.990557 Centerline is valid? [True, True] Translation: X:150.81, Y:132.09, Z:7.23 [[-9.98855532e-01 -4.15759465e-02 2.36446047e-02 1.50806983e+02] [ 4.15366496e-02 -9.99134666e-01 -2.15090053e-03 1.32093260e+02] [ 2.37135699e-02 -1.16632123e-03 9.99718113e-01 7.22653962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.290714057 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:150.80, Y:132.10, Z:7.23 [[-9.98968853e-01 -3.87540963e-02 2.36505920e-02 1.50802259e+02] [ 3.87156900e-02 -9.99248102e-01 -2.07980746e-03 1.32095033e+02] [ 2.37134102e-02 -1.16201388e-03 9.99718122e-01 7.22569810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32071405700003 meters Centerline goodness : 0.990079 Centerline is valid? [True, True] Translation: X:150.80, Y:132.10, Z:7.23 [[-9.99252163e-01 -3.05907540e-02 2.36499758e-02 1.50802136e+02] [ 3.05498945e-02 -9.99531064e-01 -2.08713717e-03 1.32095971e+02] [ 2.37027325e-02 -1.36307206e-03 9.99718122e-01 7.22622767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.350714057 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:150.80, Y:132.10, Z:7.23 [[-9.99289852e-01 -2.93311574e-02 2.36532327e-02 1.50800628e+02] [ 2.92908633e-02 -9.99568832e-01 -2.04827347e-03 1.32096869e+02] [ 2.37031124e-02 -1.35399529e-03 9.99718125e-01 7.22626096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.380714057 meters Centerline goodness : 0.990454 Centerline is valid? [True, True] Translation: X:150.80, Y:132.10, Z:7.23 [[-9.99457183e-01 -2.29412407e-02 2.36439988e-02 1.50798860e+02] [ 2.28965674e-02 -9.99735509e-01 -2.15844162e-03 1.32097703e+02] [ 2.36872625e-02 -1.61590357e-03 9.99718111e-01 7.22805376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.410714057 meters Centerline goodness : 0.991647 Centerline is valid? [True, True] Translation: X:150.80, Y:132.10, Z:7.23 [[-9.99493256e-01 -2.13000399e-02 2.36545825e-02 1.50798538e+02] [ 2.12579029e-02 -9.99771962e-01 -2.03140567e-03 1.32097184e+02] [ 2.36924574e-02 -1.52752945e-03 9.99718127e-01 7.22713233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.440714057 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:150.78, Y:132.10, Z:7.23 [[-9.99554924e-01 -1.81811537e-02 2.36516234e-02 1.50783827e+02] [ 1.81373076e-02 -9.99833369e-01 -2.06704767e-03 1.32097420e+02] [ 2.36852636e-02 -1.63715091e-03 9.99718124e-01 7.22766670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.470714057 meters Centerline goodness : 0.991173 Centerline is valid? [True, True] Translation: X:150.80, Y:132.09, Z:7.23 [[-9.99610495e-01 -1.48042504e-02 2.36578121e-02 1.50796487e+02] [ 1.47612278e-02 -9.99889063e-01 -1.99214744e-03 1.32094800e+02] [ 2.36846798e-02 -1.64215314e-03 9.99718130e-01 7.22614032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.500714057 meters Centerline goodness : 0.991143 Centerline is valid? [True, True] Translation: X:150.79, Y:132.09, Z:7.22 [[-9.99654722e-01 -1.14314031e-02 2.36592645e-02 1.50794783e+02] [ 1.13878564e-02 -9.99933207e-01 -1.97449341e-03 1.32092794e+02] [ 2.36802554e-02 -1.70438336e-03 9.99718131e-01 7.22417080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.530714057 meters Centerline goodness : 0.990176 Centerline is valid? [True, True] Translation: X:150.79, Y:132.09, Z:7.22 [[-9.99673971e-01 -9.60480951e-03 2.36579640e-02 1.50791520e+02] [ 9.56038121e-03 -9.99952318e-01 -1.99033540e-03 1.32092533e+02] [ 2.36759527e-02 -1.76350734e-03 9.99718130e-01 7.22451427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.560714057 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:150.79, Y:132.09, Z:7.22 [[-9.99690867e-01 -7.63178932e-03 2.36627617e-02 1.50789491e+02] [ 7.58819505e-03 -9.99969344e-01 -1.93156124e-03 1.32090960e+02] [ 2.36767775e-02 -1.75140648e-03 9.99718132e-01 7.22363083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.590714057 meters Centerline goodness : 0.990289 Centerline is valid? [True, True] Translation: X:150.79, Y:132.09, Z:7.22 [[-9.99709948e-01 -4.47977963e-03 2.36633150e-02 1.50790580e+02] [ 4.43546784e-03 -9.99988311e-01 -1.92474897e-03 1.32086844e+02] [ 2.36716608e-02 -1.81923282e-03 9.99718132e-01 7.22424331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.620714057 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:150.79, Y:132.08, Z:7.22 [[-9.99714692e-01 -3.23101480e-03 2.36663371e-02 1.50794165e+02] [ 3.18723390e-03 -9.99993140e-01 -1.88740956e-03 1.32082163e+02] [ 2.36722730e-02 -1.81144092e-03 9.99718131e-01 7.22333935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.650714057 meters Centerline goodness : 0.990331 Centerline is valid? [True, True] Translation: X:150.79, Y:132.08, Z:7.22 [[-9.99719545e-01 -8.77497361e-04 2.36656196e-02 1.50792240e+02] [ 8.32852157e-04 -9.99997855e-01 -1.89629095e-03 1.32080359e+02] [ 2.36672328e-02 -1.87604917e-03 9.99718132e-01 7.22174280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.680714057 meters Centerline goodness : 0.990348 Centerline is valid? [True, True] Translation: X:150.79, Y:132.08, Z:7.22 [[-9.99719488e-01 -8.63488557e-04 2.36685248e-02 1.50788393e+02] [ 8.19688390e-04 -9.99997934e-01 -1.86020530e-03 1.32078225e+02] [ 2.36700822e-02 -1.84028268e-03 9.99718131e-01 7.22209673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.710714057 meters Centerline goodness : 0.991340 Centerline is valid? [True, True] Translation: X:150.80, Y:132.07, Z:7.22 [[-9.99719797e-01 3.07700719e-04 2.36692360e-02 1.50802001e+02] [-3.51618186e-04 -9.99998225e-01 -1.85132672e-03 1.32072510e+02] [ 2.36686243e-02 -1.85913050e-03 9.99718130e-01 7.22046137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.740714057 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:150.80, Y:132.07, Z:7.22 [[-9.99719680e-01 6.31829772e-04 2.36677477e-02 1.50803807e+02] [-6.76275666e-04 -9.99998023e-01 -1.86995275e-03 1.32069924e+02] [ 2.36665194e-02 -1.88543449e-03 9.99718131e-01 7.21875597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.770714057 meters Centerline goodness : 0.990263 Centerline is valid? [True, True] Translation: X:150.81, Y:132.06, Z:7.22 [[-9.99718487e-01 1.70040510e-03 2.36655007e-02 1.50811800e+02] [-1.74581166e-03 -9.99996675e-01 -1.89815319e-03 1.32063746e+02] [ 2.36621944e-02 -1.93893434e-03 9.99718131e-01 7.21984653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.800714057 meters Centerline goodness : 0.990662 Centerline is valid? [True, True] Translation: X:150.81, Y:132.06, Z:7.22 [[-9.99716743e-01 2.51013366e-03 2.36671365e-02 1.50813191e+02] [-2.55528067e-03 -9.99994973e-01 -1.87753290e-03 1.32060169e+02] [ 2.36623047e-02 -1.93747725e-03 9.99718131e-01 7.21714754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.830714057 meters Centerline goodness : 0.989335 Centerline is valid? [True, True] Translation: X:150.83, Y:132.06, Z:7.22 [[-9.99719529e-01 8.58606294e-04 2.36669791e-02 1.50830788e+02] [-9.03340356e-04 -9.99997826e-01 -1.87952033e-03 1.32055310e+02] [ 2.36653139e-02 -1.90037251e-03 9.99718131e-01 7.21899448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.860714057 meters Centerline goodness : 0.991324 Centerline is valid? [True, True] Translation: X:150.84, Y:132.05, Z:7.22 [[-9.99718589e-01 -1.60325283e-03 2.36679535e-02 1.50836778e+02] [ 1.55949487e-03 -9.99997041e-01 -1.86716937e-03 1.32052219e+02] [ 2.36708770e-02 -1.82973387e-03 9.99718131e-01 7.21788463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.890714057 meters Centerline goodness : 0.990219 Centerline is valid? [True, True] Translation: X:150.84, Y:132.05, Z:7.22 [[-9.99719817e-01 -7.67223007e-04 2.36579632e-02 1.50837386e+02] [ 7.20252916e-04 -9.99997753e-01 -1.99383898e-03 1.32050046e+02] [ 2.36594398e-02 -1.97624062e-03 9.99718123e-01 7.21825269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.920714057 meters Centerline goodness : 0.989678 Centerline is valid? [True, True] Translation: X:150.84, Y:132.04, Z:7.22 [[-9.99710807e-01 -4.27688210e-03 2.36645369e-02 1.50841765e+02] [ 4.23285793e-03 -9.99989217e-01 -1.91012233e-03 1.32042553e+02] [ 2.36724511e-02 -1.80940132e-03 9.99718131e-01 7.21963366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.950714057 meters Centerline goodness : 0.990143 Centerline is valid? [True, True] Translation: X:150.84, Y:132.04, Z:7.22 [[-9.99699293e-01 -6.43045367e-03 2.36637346e-02 1.50843845e+02] [ 6.38678837e-03 -9.99977760e-01 -1.92035794e-03 1.32039134e+02] [ 2.36755571e-02 -1.76864522e-03 9.99718130e-01 7.22049173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.980714057 meters Centerline goodness : 0.989544 Centerline is valid? [True, True] Translation: X:150.85, Y:132.03, Z:7.22 [[-9.99645234e-01 -1.22300474e-02 2.36607655e-02 1.50847878e+02] [ 1.21871031e-02 -9.99923817e-01 -1.95835355e-03 1.32034613e+02] [ 2.36829137e-02 -1.66930261e-03 9.99718127e-01 7.21957841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.01071405700003 meters Centerline goodness : 0.989629 Centerline is valid? [True, True] Translation: X:150.85, Y:132.03, Z:7.22 [[-9.99628633e-01 -1.35306164e-02 2.36541313e-02 1.50850074e+02] [ 1.34860317e-02 -9.99906971e-01 -2.04337435e-03 1.32033969e+02] [ 2.36795789e-02 -1.72361514e-03 9.99718114e-01 7.21974995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.040714057 meters Centerline goodness : 0.988726 Centerline is valid? [True, True] Translation: X:150.86, Y:132.03, Z:7.22 [[-9.99602099e-01 -1.53566441e-02 2.36604424e-02 1.50862000e+02] [ 1.53144817e-02 -9.99880801e-01 -1.96215561e-03 1.32031770e+02] [ 2.36877542e-02 -1.59902745e-03 9.99718127e-01 7.22004000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.07071405700003 meters Centerline goodness : 0.989478 Centerline is valid? [True, True] Translation: X:150.85, Y:132.03, Z:7.22 [[-9.99630419e-01 -1.33938585e-02 2.36565116e-02 1.50851079e+02] [ 1.33499524e-02 -9.99908859e-01 -2.01294619e-03 1.32027131e+02] [ 2.36813166e-02 -1.69638894e-03 9.99718119e-01 7.22166576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.100714057 meters Centerline goodness : 0.988469 Centerline is valid? [True, True] Translation: X:150.86, Y:132.03, Z:7.22 [[-9.99595443e-01 -1.57823166e-02 2.36615604e-02 1.50861322e+02] [ 1.57406220e-02 -9.99874212e-01 -1.94735195e-03 1.32026685e+02] [ 2.36893178e-02 -1.57411645e-03 9.99718129e-01 7.22007280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.130714057 meters Centerline goodness : 0.989150 Centerline is valid? [True, True] Translation: X:150.86, Y:132.02, Z:7.22 [[-9.99645466e-01 -1.22168013e-02 2.36578098e-02 1.50857775e+02] [ 1.21729627e-02 -9.99923914e-01 -1.99615816e-03 1.32022150e+02] [ 2.36803964e-02 -1.70746482e-03 9.99718122e-01 7.22017005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.160714057 meters Centerline goodness : 0.988256 Centerline is valid? [True, True] Translation: X:150.85, Y:132.02, Z:7.22 [[-9.99667504e-01 -1.02537367e-02 2.36588928e-02 1.50849784e+02] [ 1.02096849e-02 -9.99945916e-01 -1.98199982e-03 1.32022241e+02] [ 2.36779362e-02 -1.73979098e-03 9.99718125e-01 7.21993557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.190714057 meters Centerline goodness : 0.989703 Centerline is valid? [True, True] Translation: X:150.84, Y:132.02, Z:7.22 [[-9.99719152e-01 -1.34899560e-03 2.36600331e-02 1.50836447e+02] [ 1.30281831e-03 -9.99997217e-01 -1.96700584e-03 1.32018020e+02] [ 2.36626208e-02 -1.93562868e-03 9.99718127e-01 7.21844229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.220714057 meters Centerline goodness : 0.988885 Centerline is valid? [True, True] Translation: X:150.84, Y:132.02, Z:7.22 [[-9.99719450e-01 1.03943329e-03 2.36630657e-02 1.50836743e+02] [-1.08533385e-03 -9.99997554e-01 -1.92699492e-03 1.32018207e+02] [ 2.36610048e-02 -1.95213663e-03 9.99718133e-01 7.21758358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.250714057 meters Centerline goodness : 0.990192 Centerline is valid? [True, True] Translation: X:150.81, Y:132.02, Z:7.22 [[-9.99708890e-01 4.66004626e-03 2.36731809e-02 1.50810189e+02] [-4.70379508e-03 -9.99987330e-01 -1.79268429e-03 1.32017570e+02] [ 2.36645270e-02 -1.90351621e-03 9.99718144e-01 7.21830221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.280714057 meters Centerline goodness : 0.990282 Centerline is valid? [True, True] Translation: X:150.84, Y:132.01, Z:7.22 [[-9.99688147e-01 7.94195771e-03 2.36756125e-02 1.50843578e+02] [-7.98585795e-03 -9.99966563e-01 -1.76026586e-03 1.32012336e+02] [ 2.36608409e-02 -1.94878700e-03 9.99718144e-01 7.21780324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.310714057 meters Centerline goodness : 0.989165 Centerline is valid? [True, True] Translation: X:150.84, Y:132.01, Z:7.22 [[-9.99679756e-01 8.92805047e-03 2.36786038e-02 1.50839598e+02] [-8.97128350e-03 -9.99958278e-01 -1.72022507e-03 1.32011147e+02] [ 2.36622576e-02 -1.93210164e-03 9.99718143e-01 7.21759292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.340714057 meters Centerline goodness : 0.990362 Centerline is valid? [True, True] Translation: X:150.84, Y:132.01, Z:7.22 [[-9.99662189e-01 1.07191334e-02 2.36771700e-02 1.50843045e+02] [-1.07633179e-02 -9.99940561e-01 -1.73946582e-03 1.32007790e+02] [ 2.36571171e-02 -1.99372312e-03 9.99718143e-01 7.21717720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.370714057 meters Centerline goodness : 0.990446 Centerline is valid? [True, True] Translation: X:150.85, Y:132.01, Z:7.22 [[-9.99669068e-01 1.00487830e-02 2.36807366e-02 1.50846416e+02] [-1.00916513e-02 -9.99947647e-01 -1.69144787e-03 1.32006445e+02] [ 2.36624999e-02 -1.92986585e-03 9.99718141e-01 7.21636891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.400714057 meters Centerline goodness : 0.990118 Centerline is valid? [True, True] Translation: X:150.85, Y:132.00, Z:7.22 [[-9.99691510e-01 7.48537895e-03 2.36823361e-02 1.50854716e+02] [-7.52702343e-03 -9.99970277e-01 -1.66980816e-03 1.32003541e+02] [ 2.36691330e-02 -1.84755054e-03 9.99718140e-01 7.21687823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.430714057 meters Centerline goodness : 0.990091 Centerline is valid? [True, True] Translation: X:150.86, Y:132.00, Z:7.22 [[-9.99694722e-01 7.04891654e-03 2.36807127e-02 1.50859911e+02] [-7.09095783e-03 -9.99973428e-01 -1.69183573e-03 1.32001084e+02] [ 2.36681578e-02 -1.85923819e-03 9.99718141e-01 7.21817857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.460714057 meters Centerline goodness : 0.990505 Centerline is valid? [True, True] Translation: X:150.86, Y:132.00, Z:7.22 [[-9.99693300e-01 7.23828040e-03 2.36835963e-02 1.50856579e+02] [-7.27945008e-03 -9.99972139e-01 -1.65256739e-03 1.31998910e+02] [ 2.36709747e-02 -1.82446411e-03 9.99718138e-01 7.22092623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.490714057 meters Centerline goodness : 0.989401 Centerline is valid? [True, True] Translation: X:150.86, Y:132.00, Z:7.22 [[-9.99718553e-01 1.27561926e-03 2.36893998e-02 1.50864763e+02] [-1.31325246e-03 -9.99997900e-01 -1.57312017e-03 1.31997144e+02] [ 2.36873434e-02 -1.60378758e-03 9.99718129e-01 7.22046424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.520714057 meters Centerline goodness : 0.990658 Centerline is valid? [True, True] Translation: X:150.88, Y:132.00, Z:7.22 [[-9.99718908e-01 -1.05327615e-03 2.36853661e-02 1.50875123e+02] [ 1.01499062e-03 -9.99998159e-01 -1.62838479e-03 1.31995242e+02] [ 2.36870377e-02 -1.60388664e-03 9.99718136e-01 7.22008336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.550714057 meters Centerline goodness : 0.989667 Centerline is valid? [True, True] Translation: X:150.88, Y:131.99, Z:7.22 [[-9.99695638e-01 -6.90614542e-03 2.36840967e-02 1.50883403e+02] [ 6.86908390e-03 -9.99975053e-01 -1.64582699e-03 1.31993782e+02] [ 2.36948722e-02 -1.48263801e-03 9.99718138e-01 7.21924706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.580714057 meters Centerline goodness : 0.989051 Centerline is valid? [True, True] Translation: X:150.89, Y:131.99, Z:7.22 [[-9.99680517e-01 -8.84338911e-03 2.36782475e-02 1.50890885e+02] [ 8.80496974e-03 -9.99959745e-01 -1.72632786e-03 1.31993111e+02] [ 2.36925609e-02 -1.51729007e-03 9.99718140e-01 7.21933623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.610714057 meters Centerline goodness : 0.989051 Centerline is valid? [True, True] Translation: X:150.89, Y:131.99, Z:7.22 [[-9.99683809e-01 -8.45768890e-03 2.36801467e-02 1.50893549e+02] [ 8.41978086e-03 -9.99963108e-01 -1.70008533e-03 1.31992982e+02] [ 2.36936519e-02 -1.50016614e-03 9.99718140e-01 7.21928321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.640714057 meters Centerline goodness : 0.990575 Centerline is valid? [True, True] Translation: X:150.88, Y:131.99, Z:7.22 [[-9.99665443e-01 -1.04030063e-02 2.36807930e-02 1.50879002e+02] [ 1.03658538e-02 -9.99944843e-01 -1.69110624e-03 1.31993141e+02] [ 2.36970795e-02 -1.44506883e-03 9.99718140e-01 7.21902108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.670714057 meters Centerline goodness : 0.987467 Centerline is valid? [True, True] Translation: X:150.90, Y:131.99, Z:7.22 [[-9.99652742e-01 -1.15697317e-02 2.36756493e-02 1.50901421e+02] [ 1.15312160e-02 -9.99931960e-01 -1.76268903e-03 1.31990839e+02] [ 2.36944323e-02 -1.48906790e-03 9.99718139e-01 7.21890762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.700714057 meters Centerline goodness : 0.989731 Centerline is valid? [True, True] Translation: X:150.89, Y:131.99, Z:7.22 [[-9.99643417e-01 -1.23395021e-02 2.36806905e-02 1.50894646e+02] [ 1.23028665e-02 -9.99922885e-01 -1.69214154e-03 1.31990275e+02] [ 2.36997445e-02 -1.40019778e-03 9.99718141e-01 7.21678159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.730714057 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:150.90, Y:131.99, Z:7.22 [[-9.99672483e-01 -9.71726789e-03 2.36749236e-02 1.50901702e+02] [ 9.67799209e-03 -9.99951595e-01 -1.77297917e-03 1.31990405e+02] [ 2.36910062e-02 -1.54327277e-03 9.99718138e-01 7.21574263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76071405700003 meters Centerline goodness : 0.990319 Centerline is valid? [True, True] Translation: X:150.91, Y:131.99, Z:7.21 [[-9.99675636e-01 -9.38898989e-03 2.36742553e-02 1.50907531e+02] [ 9.34940112e-03 -9.99954705e-01 -1.78236242e-03 1.31991604e+02] [ 2.36899176e-02 -1.56044418e-03 9.99718137e-01 7.21335272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.790714057 meters Centerline goodness : 0.990534 Centerline is valid? [True, True] Translation: X:150.90, Y:131.99, Z:7.21 [[-9.99700888e-01 -6.15425079e-03 2.36698174e-02 1.50904994e+02] [ 6.11228880e-03 -9.99979618e-01 -1.84474671e-03 1.31992871e+02] [ 2.36806880e-02 -1.69951816e-03 9.99718129e-01 7.21027090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82071405700003 meters Centerline goodness : 0.989264 Centerline is valid? [True, True] Translation: X:150.89, Y:131.99, Z:7.21 [[-9.99716033e-01 -2.74313688e-03 2.36712783e-02 1.50893392e+02] [ 2.70071054e-03 -9.99994689e-01 -1.82409614e-03 1.31994901e+02] [ 2.36761563e-02 -1.75964889e-03 9.99718132e-01 7.21207600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.850714057 meters Centerline goodness : 0.988476 Centerline is valid? [True, True] Translation: X:150.90, Y:131.99, Z:7.21 [[-9.99719645e-01 1.95385073e-04 2.36768414e-02 1.50900132e+02] [-2.36767983e-04 -9.99998449e-01 -1.74503152e-03 1.31994618e+02] [ 2.36764637e-02 -1.75014821e-03 9.99718141e-01 7.21190938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.880714057 meters Centerline goodness : 0.990393 Centerline is valid? [True, True] Translation: X:150.91, Y:131.99, Z:7.21 [[-9.99715823e-01 -2.71913014e-03 2.36829071e-02 1.50912670e+02] [ 2.68060239e-03 -9.99995032e-01 -1.65841162e-03 1.31993562e+02] [ 2.36872989e-02 -1.59445588e-03 9.99718145e-01 7.21348088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.910714057 meters Centerline goodness : 0.989061 Centerline is valid? [True, True] Translation: X:150.89, Y:131.99, Z:7.22 [[-9.99719803e-01 6.87272351e-05 2.36708860e-02 1.50893265e+02] [-1.12074298e-04 -9.99998319e-01 -1.82991778e-03 1.31994699e+02] [ 2.36707204e-02 -1.83205794e-03 9.99718131e-01 7.21508425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.940714057 meters Centerline goodness : 0.987929 Centerline is valid? [True, True] Translation: X:150.88, Y:132.00, Z:7.22 [[-9.99719484e-01 2.02576115e-04 2.36835766e-02 1.50881523e+02] [-2.41662053e-04 -9.99998614e-01 -1.64748886e-03 1.31996164e+02] [ 2.36832100e-02 -1.65275014e-03 9.99718147e-01 7.21690318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.970714057 meters Centerline goodness : 0.988494 Centerline is valid? [True, True] Translation: X:150.89, Y:132.00, Z:7.22 [[-9.99719468e-01 2.07538545e-04 2.36842191e-02 1.50894099e+02] [-2.46406871e-04 -9.99998628e-01 -1.63819992e-03 1.31995412e+02] [ 2.36838466e-02 -1.64357631e-03 9.99718147e-01 7.21706470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.000714057 meters Centerline goodness : 0.986978 Centerline is valid? [True, True] Translation: X:150.89, Y:132.00, Z:7.22 [[-9.99719245e-01 6.77751042e-04 2.36848591e-02 1.50892324e+02] [-7.16531247e-04 -9.99998417e-01 -1.62889330e-03 1.31996532e+02] [ 2.36837176e-02 -1.64540692e-03 9.99718147e-01 7.21759552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.030714057 meters Centerline goodness : 0.988654 Centerline is valid? [True, True] Translation: X:150.91, Y:132.00, Z:7.21 [[-9.99717392e-01 2.03310986e-03 2.36854941e-02 1.50906850e+02] [-2.07204959e-03 -9.99996542e-01 -1.61960704e-03 1.31995723e+02] [ 2.36821194e-02 -1.66822684e-03 9.99718147e-01 7.21421345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.060714057 meters Centerline goodness : 0.988406 Centerline is valid? [True, True] Translation: X:150.88, Y:132.00, Z:7.21 [[-9.99706724e-01 5.04978272e-03 2.36847200e-02 1.50878632e+02] [-5.08983202e-03 -9.99985717e-01 -1.63095443e-03 1.32000728e+02] [ 2.36761457e-02 -1.75102736e-03 9.99718147e-01 7.21343540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.090714057 meters Centerline goodness : 0.987103 Centerline is valid? [True, True] Translation: X:150.91, Y:132.00, Z:7.21 [[-9.99697515e-01 6.62102326e-03 2.36862861e-02 1.50911459e+02] [-6.66096746e-03 -9.99976523e-01 -1.60788371e-03 1.31999681e+02] [ 2.36750842e-02 -1.76517093e-03 9.99718148e-01 7.21131010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.120714057 meters Centerline goodness : 0.988361 Centerline is valid? [True, True] Translation: X:150.90, Y:132.00, Z:7.21 [[-9.99679153e-01 8.97340760e-03 2.36869154e-02 1.50904777e+02] [-9.01378856e-03 -9.99958097e-01 -1.59855879e-03 1.32000404e+02] [ 2.36715783e-02 -1.81155475e-03 9.99718148e-01 7.21130462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.150714057 meters Centerline goodness : 0.987342 Centerline is valid? [True, True] Translation: X:150.91, Y:132.00, Z:7.21 [[-9.99629667e-01 1.33985859e-02 2.36856007e-02 1.50913161e+02] [-1.34406611e-02 -9.99908361e-01 -1.61809378e-03 1.32000890e+02] [ 2.36617500e-02 -1.93584468e-03 9.99718147e-01 7.21037246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.180714057 meters Centerline goodness : 0.988266 Centerline is valid? [True, True] Translation: X:150.90, Y:132.00, Z:7.21 [[-9.99626651e-01 1.36174073e-02 2.36880948e-02 1.50903720e+02] [-1.36586675e-02 -9.99905466e-01 -1.58088054e-03 1.32003940e+02] [ 2.36643280e-02 -1.90383813e-03 9.99718148e-01 7.21229075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.210714057 meters Centerline goodness : 0.987813 Centerline is valid? [True, True] Translation: X:150.91, Y:132.00, Z:7.21 [[-9.99618214e-01 1.42236506e-02 2.36878390e-02 1.50912913e+02] [-1.42651699e-02 -9.99896992e-01 -1.58470427e-03 1.32003674e+02] [ 2.36628587e-02 -1.92201030e-03 9.99718148e-01 7.21223304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.240714057 meters Centerline goodness : 0.988164 Centerline is valid? [True, True] Translation: X:150.92, Y:132.00, Z:7.21 [[-9.99635530e-01 1.29485599e-02 2.36884573e-02 1.50917404e+02] [-1.29895046e-02 -9.99914392e-01 -1.57540729e-03 1.32003510e+02] [ 2.36660302e-02 -1.88253443e-03 9.99718148e-01 7.20893796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.270714057 meters Centerline goodness : 0.988066 Centerline is valid? [True, True] Translation: X:150.92, Y:132.01, Z:7.21 [[-9.99629267e-01 1.34325591e-02 2.36832233e-02 1.50919908e+02] [-1.34754959e-02 -9.99907833e-01 -1.65429148e-03 1.32006366e+02] [ 2.36588191e-02 -1.97282136e-03 9.99718144e-01 7.21211195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.300714057 meters Centerline goodness : 0.987898 Centerline is valid? [True, True] Translation: X:150.92, Y:132.01, Z:7.21 [[-9.99653833e-01 1.14471311e-02 2.36891809e-02 1.50915257e+02] [-1.14873896e-02 -9.99932795e-01 -1.56405899e-03 1.32007148e+02] [ 2.36696849e-02 -1.83564442e-03 9.99718148e-01 7.21404793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.330714057 meters Centerline goodness : 0.987739 Centerline is valid? [True, True] Translation: X:150.93, Y:132.01, Z:7.21 [[-9.99646916e-01 1.20484839e-02 2.36828471e-02 1.50926038e+02] [-1.20911746e-02 -9.99925521e-01 -1.66022712e-03 1.32008646e+02] [ 2.36610800e-02 -1.94599436e-03 9.99718143e-01 7.21336833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.360714057 meters Centerline goodness : 0.987408 Centerline is valid? [True, True] Translation: X:150.93, Y:132.01, Z:7.21 [[-9.99593845e-01 1.58544337e-02 2.36808423e-02 1.50927687e+02] [-1.58989033e-02 -9.99872175e-01 -1.69076477e-03 1.32010403e+02] [ 2.36510091e-02 -2.06657748e-03 9.99718140e-01 7.21094032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.390714057 meters Centerline goodness : 0.988618 Centerline is valid? [True, True] Translation: X:150.93, Y:132.01, Z:7.21 [[-9.99625796e-01 1.36761428e-02 2.36903268e-02 1.50931118e+02] [-1.37165831e-02 -9.99904729e-01 -1.54537279e-03 1.32013160e+02] [ 2.36669350e-02 -1.86974484e-03 9.99718150e-01 7.21153712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.420714057 meters Centerline goodness : 0.987924 Centerline is valid? [True, True] Translation: X:150.92, Y:132.01, Z:7.21 [[-9.99596513e-01 1.56906104e-02 2.36773185e-02 1.50924669e+02] [-1.57363052e-02 -9.99874654e-01 -1.74479866e-03 1.32014543e+02] [ 2.36469737e-02 -2.11668817e-03 9.99718130e-01 7.21035127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.450714057 meters Centerline goodness : 0.990042 Centerline is valid? [True, True] Translation: X:150.93, Y:132.01, Z:7.21 [[-9.99589724e-01 1.61147424e-02 2.36790643e-02 1.50929851e+02] [-1.61599226e-02 -9.99867944e-01 -1.71790084e-03 1.32014741e+02] [ 2.36482538e-02 -2.09984787e-03 9.99718136e-01 7.20788504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.480714057 meters Centerline goodness : 0.988891 Centerline is valid? [True, True] Translation: X:150.94, Y:132.02, Z:7.21 [[-9.99555241e-01 1.81409360e-02 2.36691239e-02 1.50938140e+02] [-1.81902822e-02 -9.99832792e-01 -1.87118217e-03 1.32017768e+02] [ 2.36312213e-02 -2.30089799e-03 9.99718096e-01 7.20940549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.51071405700003 meters Centerline goodness : 0.987828 Centerline is valid? [True, True] Translation: X:150.93, Y:132.02, Z:7.21 [[-9.99462159e-01 2.26850889e-02 2.36807799e-02 1.50934166e+02] [-2.27314372e-02 -9.99740179e-01 -1.68982981e-03 1.32019343e+02] [ 2.36362932e-02 -2.22721911e-03 9.99718143e-01 7.20828641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.540714057 meters Centerline goodness : 0.989837 Centerline is valid? [True, True] Translation: X:150.93, Y:132.02, Z:7.21 [[-9.99472110e-01 2.22301227e-02 2.36922497e-02 1.50928575e+02] [-2.22721122e-02 -9.99750806e-01 -1.50985500e-03 1.32021375e+02] [ 2.36527815e-02 -2.03673441e-03 9.99718159e-01 7.20547846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.57071405700003 meters Centerline goodness : 0.989246 Centerline is valid? [True, True] Translation: X:150.93, Y:132.02, Z:7.21 [[-9.99447607e-01 2.33113796e-02 2.36867284e-02 1.50931646e+02] [-2.33557128e-02 -9.99725943e-01 -1.59668759e-03 1.32020466e+02] [ 2.36430159e-02 -2.14902602e-03 9.99718155e-01 7.20776906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.600714057 meters Centerline goodness : 0.989201 Centerline is valid? [True, True] Translation: X:150.94, Y:132.02, Z:7.21 [[-9.99485304e-01 2.16318451e-02 2.36894461e-02 1.50941633e+02] [-2.16747012e-02 -9.99763869e-01 -1.55377974e-03 1.32020559e+02] [ 2.36502412e-02 -2.06644168e-03 9.99718158e-01 7.20746126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.630714057 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:150.94, Y:132.02, Z:7.21 [[-9.99563340e-01 1.76577479e-02 2.36924927e-02 1.50941759e+02] [-1.76983595e-02 -9.99842238e-01 -1.50550455e-03 1.32019573e+02] [ 2.36621711e-02 -1.92416540e-03 9.99718160e-01 7.20588957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.660714057 meters Centerline goodness : 0.990087 Centerline is valid? [True, True] Translation: X:150.95, Y:132.02, Z:7.21 [[-9.99650985e-01 1.16763746e-02 2.36974792e-02 1.50947965e+02] [-1.17134427e-02 -9.99930378e-01 -1.42601177e-03 1.32017257e+02] [ 2.36791787e-02 -1.70309313e-03 9.99718158e-01 7.20797271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.690714057 meters Centerline goodness : 0.989330 Centerline is valid? [True, True] Translation: X:150.96, Y:132.02, Z:7.21 [[-9.99697765e-01 6.54904466e-03 2.36957613e-02 1.50955237e+02] [-6.58532784e-03 -9.99977260e-01 -1.45350027e-03 1.32015781e+02] [ 2.36857034e-02 -1.60910533e-03 9.99718159e-01 7.21025280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.720714057 meters Centerline goodness : 0.989555 Centerline is valid? [True, True] Translation: X:150.97, Y:132.01, Z:7.21 [[-9.99719076e-01 5.56955869e-04 2.36951134e-02 1.50969350e+02] [-5.91808519e-04 -9.99998753e-01 -1.46389218e-03 1.32014622e+02] [ 2.36942686e-02 -1.47750391e-03 9.99718160e-01 7.21175706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.750714057 meters Centerline goodness : 0.989956 Centerline is valid? [True, True] Translation: X:150.99, Y:132.01, Z:7.21 [[-9.99606303e-01 -1.50329460e-02 2.36906896e-02 1.50991012e+02] [ 1.50007801e-02 -9.99886304e-01 -1.53488073e-03 1.32013228e+02] [ 2.37110699e-02 -1.17889762e-03 9.99718158e-01 7.21248968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.780714057 meters Centerline goodness : 0.989583 Centerline is valid? [True, True] Translation: X:150.99, Y:132.01, Z:7.21 [[-9.99622516e-01 -1.39488326e-02 2.36697107e-02 1.50991082e+02] [ 1.39084696e-02 -9.99901526e-01 -1.86903955e-03 1.32012336e+02] [ 2.36934508e-02 -1.53912457e-03 9.99718086e-01 7.21402117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.810714057 meters Centerline goodness : 0.988836 Centerline is valid? [True, True] Translation: X:151.00, Y:132.01, Z:7.22 [[-9.99534739e-01 -1.92184838e-02 2.36845024e-02 1.50997437e+02] [ 1.91852147e-02 -9.99814616e-01 -1.63112614e-03 1.32012105e+02] [ 2.37114594e-02 -1.17597497e-03 9.99718152e-01 7.21522456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.840714057 meters Centerline goodness : 0.989142 Centerline is valid? [True, True] Translation: X:151.00, Y:132.01, Z:7.21 [[-9.99494762e-01 -2.12023621e-02 2.36787019e-02 1.51003600e+02] [ 2.11674392e-02 -9.99774457e-01 -1.72456527e-03 1.32013263e+02] [ 2.37099262e-02 -1.22247648e-03 9.99718133e-01 7.21444801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.870714057 meters Centerline goodness : 0.989705 Centerline is valid? [True, True] Translation: X:150.99, Y:132.02, Z:7.21 [[-9.99436506e-01 -2.37882147e-02 2.36810547e-02 1.50989142e+02] [ 2.37549162e-02 -9.99716390e-01 -1.68648276e-03 1.32015953e+02] [ 2.37144570e-02 -1.12299097e-03 9.99718142e-01 7.21425057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.900714057 meters Centerline goodness : 0.986909 Centerline is valid? [True, True] Translation: X:150.98, Y:132.02, Z:7.21 [[-9.99371263e-01 -2.63947999e-02 2.36726301e-02 1.50981689e+02] [ 2.63589939e-02 -9.99650878e-01 -1.82336580e-03 1.32021812e+02] [ 2.37124929e-02 -1.19823267e-03 9.99718101e-01 7.21467544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.930714057 meters Centerline goodness : 0.987169 Centerline is valid? [True, True] Translation: X:150.98, Y:132.02, Z:7.21 [[-9.99371811e-01 -2.63693760e-02 2.36778215e-02 1.50979186e+02] [ 2.63355716e-02 -9.99651647e-01 -1.73842990e-03 1.32022834e+02] [ 2.37154146e-02 -1.11376887e-03 9.99718130e-01 7.21350344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.960714057 meters Centerline goodness : 0.988301 Centerline is valid? [True, True] Translation: X:150.98, Y:132.03, Z:7.21 [[-9.99321764e-01 -2.82033799e-02 2.36766019e-02 1.50977261e+02] [ 2.81696156e-02 -9.99601611e-01 -1.75844579e-03 1.32025330e+02] [ 2.37167635e-02 -1.09029237e-03 9.99718123e-01 7.20842368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.990714057 meters Centerline goodness : 0.987732 Centerline is valid? [True, True] Translation: X:150.99, Y:132.02, Z:7.21 [[-9.99457686e-01 -2.28958390e-02 2.36667482e-02 1.50987474e+02] [ 2.28567588e-02 -9.99736906e-01 -1.92049770e-03 1.32024605e+02] [ 2.37044930e-02 -1.37851104e-03 9.99718059e-01 7.20906456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.020714057 meters Centerline goodness : 0.988369 Centerline is valid? [True, True] Translation: X:150.99, Y:132.03, Z:7.21 [[-9.99401505e-01 -2.52154858e-02 2.36814658e-02 1.50991634e+02] [ 2.51828244e-02 -9.99681457e-01 -1.67645724e-03 1.32025193e+02] [ 2.37161949e-02 -1.07908769e-03 9.99718149e-01 7.20764019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.050714057 meters Centerline goodness : 0.988794 Centerline is valid? [True, True] Translation: X:151.00, Y:132.03, Z:7.21 [[-9.99383523e-01 -2.59247635e-02 2.36744524e-02 1.50999724e+02] [ 2.58895554e-02 -9.99663202e-01 -1.79252379e-03 1.32026593e+02] [ 2.37129496e-02 -1.17849769e-03 9.99718114e-01 7.20728450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.080714057 meters Centerline goodness : 0.988940 Centerline is valid? [True, True] Translation: X:151.00, Y:132.03, Z:7.21 [[-9.99321659e-01 -2.82069309e-02 2.36767826e-02 1.50995818e+02] [ 2.81732776e-02 -9.99601516e-01 -1.75380350e-03 1.32028633e+02] [ 2.37168172e-02 -1.08556125e-03 9.99718127e-01 7.20654716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.110714057 meters Centerline goodness : 0.989211 Centerline is valid? [True, True] Translation: X:151.01, Y:132.03, Z:7.20 [[-9.98975720e-01 -3.85643865e-02 2.36706548e-02 1.51012260e+02] [ 3.85312236e-02 -9.99255674e-01 -1.85568092e-03 1.32032237e+02] [ 2.37245993e-02 -9.41720891e-04 9.99718089e-01 7.20427351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.140714057 meters Centerline goodness : 0.990697 Centerline is valid? [True, True] Translation: X:151.03, Y:132.03, Z:7.20 [[-9.98777391e-01 -4.34044150e-02 2.36596597e-02 1.51027595e+02] [ 4.33683265e-02 -9.99057076e-01 -2.03654622e-03 1.32031336e+02] [ 2.37257455e-02 -1.00797647e-03 9.99717997e-01 7.20433134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.170714057 meters Centerline goodness : 0.989309 Centerline is valid? [True, True] Translation: X:151.03, Y:132.03, Z:7.21 [[-9.99103374e-01 -3.51217034e-02 2.36413742e-02 1.51027675e+02] [ 3.50762310e-02 -9.99381911e-01 -2.33549690e-03 1.32030782e+02] [ 2.37087884e-02 -1.50415253e-03 9.99717776e-01 7.20564756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.200714057 meters Centerline goodness : 0.989914 Centerline is valid? [True, True] Translation: X:151.04, Y:132.03, Z:7.21 [[-9.98912576e-01 -4.01675677e-02 2.36692011e-02 1.51037931e+02] [ 4.01344012e-02 -9.99192531e-01 -1.87482276e-03 1.32031953e+02] [ 2.37253960e-02 -9.22834821e-04 9.99718087e-01 7.20587777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.230714057 meters Centerline goodness : 0.989678 Centerline is valid? [True, True] Translation: X:151.04, Y:132.03, Z:7.21 [[-9.98830619e-01 -4.21599289e-02 2.36629630e-02 1.51042881e+02] [ 4.21248765e-02 -9.99110395e-01 -1.97805730e-03 1.32033290e+02] [ 2.37253071e-02 -9.78944798e-04 9.99718036e-01 7.20950680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.26071405700003 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] Translation: X:151.05, Y:132.04, Z:7.21 [[-9.98768751e-01 -4.36021866e-02 2.36607531e-02 1.51053762e+02] [ 4.35666736e-02 -9.99048491e-01 -2.01458325e-03 1.32035325e+02] [ 2.37260799e-02 -9.81282485e-04 9.99718015e-01 7.20895448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.290714057 meters Centerline goodness : 0.989797 Centerline is valid? [True, True] Translation: X:151.05, Y:132.04, Z:7.21 [[-9.98859716e-01 -4.14688214e-02 2.36559803e-02 1.51052223e+02] [ 4.14308443e-02 -9.99139181e-01 -2.09346268e-03 1.32037003e+02] [ 2.37224302e-02 -1.11098830e-03 9.99717966e-01 7.20947112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.32071405700003 meters Centerline goodness : 0.990742 Centerline is valid? [True, True] Translation: X:151.01, Y:132.03, Z:7.21 [[-9.99560803e-01 -1.78405405e-02 2.36625532e-02 1.51006222e+02] [ 1.77985738e-02 -9.99839626e-01 -1.98299187e-03 1.32030523e+02] [ 2.36941360e-02 -1.56096125e-03 9.99718036e-01 7.21150918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.350714057 meters Centerline goodness : 0.991592 Centerline is valid? [True, True] Translation: X:151.01, Y:132.04, Z:7.21 [[-9.99598100e-01 -1.55583783e-02 2.36975651e-02 1.51013592e+02] [ 1.55299490e-02 -9.99878446e-01 -1.38324866e-03 1.32035087e+02] [ 2.37162057e-02 -1.01467076e-03 9.99718216e-01 7.21021080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.380714057 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:151.07, Y:132.04, Z:7.20 [[-9.98918815e-01 -3.99950147e-02 2.36980945e-02 1.51065888e+02] [ 3.99736651e-02 -9.99199789e-01 -1.37411895e-03 1.32044928e+02] [ 2.37340889e-02 -4.25333579e-04 9.99718216e-01 7.20251930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.410714057 meters Centerline goodness : 0.989559 Centerline is valid? [True, True] Translation: X:151.06, Y:132.05, Z:7.21 [[-9.99129845e-01 -3.43645948e-02 2.36352844e-02 1.51061266e+02] [ 3.43170169e-02 -9.99408078e-01 -2.41578870e-03 1.32049277e+02] [ 2.37043118e-02 -1.60259414e-03 9.99717729e-01 7.20716755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.440714057 meters Centerline goodness : 0.989131 Centerline is valid? [True, True] Translation: X:151.04, Y:132.05, Z:7.21 [[-9.99358524e-01 -2.68804554e-02 2.36639484e-02 1.51038748e+02] [ 2.68422847e-02 -9.99637819e-01 -1.92925952e-03 1.32051142e+02] [ 2.37072372e-02 -1.29282750e-03 9.99718108e-01 7.20999509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.470714057 meters Centerline goodness : 0.989131 Centerline is valid? [True, True] Translation: X:151.04, Y:132.05, Z:7.21 [[-9.99367848e-01 -2.65172889e-02 2.36798881e-02 1.51041377e+02] [ 2.64855046e-02 -9.99647828e-01 -1.65492991e-03 1.32050960e+02] [ 2.37154329e-02 -1.02670996e-03 9.99718222e-01 7.21002228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.500714057 meters Centerline goodness : 0.987822 Centerline is valid? [True, True] Translation: X:151.04, Y:132.05, Z:7.21 [[-9.99437800e-01 -2.37345826e-02 2.36802477e-02 1.51040457e+02] [ 2.37021662e-02 -9.99717705e-01 -1.64869852e-03 1.32054317e+02] [ 2.37126940e-02 -1.08649846e-03 9.99718224e-01 7.21210358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.530714057 meters Centerline goodness : 0.989956 Centerline is valid? [True, True] Translation: X:151.05, Y:132.05, Z:7.21 [[-9.99445464e-01 -2.34024105e-02 2.36873679e-02 1.51052339e+02] [ 2.33728439e-02 -9.99725656e-01 -1.52432929e-03 1.32054097e+02] [ 2.37165424e-02 -9.69842847e-04 9.99718253e-01 7.20970807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.560714057 meters Centerline goodness : 0.988981 Centerline is valid? [True, True] Translation: X:151.05, Y:132.06, Z:7.21 [[-9.99425718e-01 -2.42342794e-02 2.36840479e-02 1.51048237e+02] [ 2.42035724e-02 -9.99705798e-01 -1.58236642e-03 1.32059770e+02] [ 2.37154276e-02 -1.00821912e-03 9.99718241e-01 7.21402555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.590714057 meters Centerline goodness : 0.989398 Centerline is valid? [True, True] Translation: X:151.06, Y:132.06, Z:7.21 [[-9.99360761e-01 -2.67806471e-02 2.36826069e-02 1.51063632e+02] [ 2.67500567e-02 -9.99640861e-01 -1.60759659e-03 1.32061833e+02] [ 2.37171540e-02 -9.73057871e-04 9.99718235e-01 7.21164406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.620714057 meters Centerline goodness : 0.989882 Centerline is valid? [True, True] Translation: X:151.06, Y:132.06, Z:7.21 [[-9.99441610e-01 -2.35723823e-02 2.36814502e-02 1.51057854e+02] [ 2.35404125e-02 -9.99721561e-01 -1.62790374e-03 1.32063028e+02] [ 2.37132299e-02 -1.06952363e-03 9.99718230e-01 7.21068991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.650714057 meters Centerline goodness : 0.989611 Centerline is valid? [True, True] Translation: X:151.06, Y:132.07, Z:7.21 [[-9.99399701e-01 -2.52791862e-02 2.36896635e-02 1.51060735e+02] [ 2.52511312e-02 -9.99680040e-01 -1.48271347e-03 1.32066531e+02] [ 2.37195655e-02 -8.83632601e-04 9.99718261e-01 7.21191449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.680714057 meters Centerline goodness : 0.989876 Centerline is valid? [True, True] Translation: X:151.06, Y:132.07, Z:7.21 [[-9.99399072e-01 -2.53042609e-02 2.36894548e-02 1.51058771e+02] [ 2.52761254e-02 -9.99679403e-01 -1.48640979e-03 1.32068652e+02] [ 2.37194725e-02 -8.86738934e-04 9.99718260e-01 7.20936386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.710714057 meters Centerline goodness : 0.988610 Centerline is valid? [True, True] Translation: X:151.06, Y:132.07, Z:7.22 [[-9.99372979e-01 -2.63142270e-02 2.36898666e-02 1.51064575e+02] [ 2.62865485e-02 -9.99653355e-01 -1.47907204e-03 1.32072027e+02] [ 2.37205753e-02 -8.55419801e-04 9.99718262e-01 7.21547752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.740714057 meters Centerline goodness : 0.988945 Centerline is valid? [True, True] Translation: X:151.06, Y:132.07, Z:7.21 [[-9.99335432e-01 -2.77039596e-02 2.36893262e-02 1.51064990e+02] [ 2.76764427e-02 -9.99615825e-01 -1.48871227e-03 1.32074824e+02] [ 2.37214686e-02 -8.32086644e-04 9.99718260e-01 7.21195320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.770714057 meters Centerline goodness : 0.989531 Centerline is valid? [True, True] Translation: X:151.09, Y:132.08, Z:7.21 [[-9.99244880e-01 -3.08002054e-02 2.36858225e-02 1.51086488e+02] [ 3.07720784e-02 -9.99525224e-01 -1.55115635e-03 1.32080667e+02] [ 2.37223530e-02 -8.21123048e-04 9.99718248e-01 7.21243555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.800714057 meters Centerline goodness : 0.989403 Centerline is valid? [True, True] Translation: X:151.07, Y:132.08, Z:7.21 [[-9.99373563e-01 -2.63022396e-02 2.36785400e-02 1.51071166e+02] [ 2.62697881e-02 -9.99653477e-01 -1.68057378e-03 1.32083581e+02] [ 2.37145376e-02 -1.05749078e-03 9.99718212e-01 7.21363058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.830714057 meters Centerline goodness : 0.990076 Centerline is valid? [True, True] Translation: X:151.06, Y:132.09, Z:7.21 [[-9.99419486e-01 -2.44923866e-02 2.36815071e-02 1.51064013e+02] [ 2.44606834e-02 -9.99699468e-01 -1.62752552e-03 1.32086736e+02] [ 2.37142520e-02 -1.04731487e-03 9.99718229e-01 7.21130809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.860714057 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:151.07, Y:132.09, Z:7.21 [[-9.99493953e-01 -2.12443461e-02 2.36752317e-02 1.51069371e+02] [ 2.12090814e-02 -9.99773549e-01 -1.73965635e-03 1.32091880e+02] [ 2.37068282e-02 -1.23664608e-03 9.99718189e-01 7.20761019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.890714057 meters Centerline goodness : 0.992100 Centerline is valid? [True, True] Translation: X:151.03, Y:132.09, Z:7.21 [[-9.99701048e-01 6.11619107e-03 2.36729041e-02 1.51029157e+02] [-6.16008303e-03 -9.99979439e-01 -1.78162111e-03 1.32087853e+02] [ 2.36615207e-02 -1.92691555e-03 9.99718170e-01 7.20569720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.920714057 meters Centerline goodness : 0.990660 Centerline is valid? [True, True] Translation: X:151.05, Y:132.10, Z:7.21 [[-9.99713003e-01 -3.45092959e-03 2.37065773e-02 1.51053116e+02] [ 3.42431842e-03 -9.99993461e-01 -1.16302612e-03 1.32096626e+02] [ 2.37104358e-02 -1.08151346e-03 9.99718283e-01 7.20614115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.950714057 meters Centerline goodness : 0.990970 Centerline is valid? [True, True] Translation: X:151.05, Y:132.10, Z:7.21 [[-9.99716812e-01 -2.29321634e-03 2.36862229e-02 1.51050517e+02] [ 2.25749656e-03 -9.99996274e-01 -1.53466951e-03 1.32099114e+02] [ 2.36896540e-02 -1.48076335e-03 9.99718264e-01 7.20537751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.980714057 meters Centerline goodness : 0.988974 Centerline is valid? [True, True] Translation: X:151.05, Y:132.10, Z:7.21 [[-9.99693694e-01 7.20367434e-03 2.36775432e-02 1.51048500e+02] [-7.24577773e-03 -9.99972316e-01 -1.69288623e-03 1.32101252e+02] [ 2.36646927e-02 -1.86392990e-03 9.99718214e-01 7.20970135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.01071405700003 meters Centerline goodness : 0.990219 Centerline is valid? [True, True] Translation: X:151.05, Y:132.10, Z:7.21 [[-9.99685501e-01 8.23051272e-03 2.36887748e-02 1.51053741e+02] [-8.26803064e-03 -9.99964715e-01 -1.48627573e-03 1.32101952e+02] [ 2.36757061e-02 -1.68166782e-03 9.99718277e-01 7.20594298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.040714057 meters Centerline goodness : 0.990164 Centerline is valid? [True, True] Translation: X:151.05, Y:132.10, Z:7.21 [[-9.99632919e-01 1.31550005e-02 2.36848796e-02 1.51047407e+02] [-1.31955861e-02 -9.99911721e-01 -1.55808600e-03 1.32102121e+02] [ 2.36622921e-02 -1.87004992e-03 9.99718260e-01 7.20797154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.07071405700003 meters Centerline goodness : 0.990380 Centerline is valid? [True, True] Translation: X:151.05, Y:132.10, Z:7.21 [[-9.99601827e-01 1.53415378e-02 2.36817345e-02 1.51049398e+02] [-1.53841021e-02 -9.99880352e-01 -1.61619663e-03 1.32101957e+02] [ 2.36541061e-02 -1.97987532e-03 9.99718242e-01 7.20966235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.100714057 meters Centerline goodness : 0.989931 Centerline is valid? [True, True] Translation: X:151.06, Y:132.10, Z:7.21 [[-9.99598990e-01 1.55188543e-02 2.36859366e-02 1.51056925e+02] [-1.55596276e-02 -9.99877759e-01 -1.53807875e-03 1.32101782e+02] [ 2.36591720e-02 -1.90600632e-03 9.99718266e-01 7.21150845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.130714057 meters Centerline goodness : 0.990159 Centerline is valid? [True, True] Translation: X:151.08, Y:132.10, Z:7.21 [[-9.99624713e-01 1.37713481e-02 2.36808530e-02 1.51075597e+02] [-1.38138598e-02 -9.99903251e-01 -1.63254014e-03 1.32099916e+02] [ 2.36560796e-02 -1.95905145e-03 9.99718236e-01 7.20935671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.160714057 meters Centerline goodness : 0.989073 Centerline is valid? [True, True] Translation: X:151.06, Y:132.10, Z:7.21 [[-9.99587436e-01 1.62482636e-02 2.36844000e-02 1.51061230e+02] [-1.62899014e-02 -9.99866084e-01 -1.56614155e-03 1.32099415e+02] [ 2.36557812e-02 -1.95131196e-03 9.99718259e-01 7.21217833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.190714057 meters Centerline goodness : 0.989676 Centerline is valid? [True, True] Translation: X:151.06, Y:132.10, Z:7.21 [[-9.99627807e-01 1.35457509e-02 2.36803898e-02 1.51064625e+02] [-1.35884091e-02 -9.99906326e-01 -1.64142601e-03 1.32097329e+02] [ 2.36559372e-02 -1.96259391e-03 9.99718233e-01 7.20865154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.220714057 meters Centerline goodness : 0.988737 Centerline is valid? [True, True] Translation: X:151.07, Y:132.10, Z:7.21 [[-9.99596618e-01 1.56819318e-02 2.36786592e-02 1.51069373e+02] [-1.57259534e-02 -9.99874938e-01 -1.67405188e-03 1.32095030e+02] [ 2.36494456e-02 -2.04574608e-03 9.99718220e-01 7.21155332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.250714057 meters Centerline goodness : 0.989828 Centerline is valid? [True, True] Translation: X:151.07, Y:132.09, Z:7.21 [[-9.99616742e-01 1.43178611e-02 2.36932144e-02 1.51073112e+02] [-1.43549470e-02 -9.99895988e-01 -1.39590759e-03 1.32092920e+02] [ 2.36707636e-02 -1.73548744e-03 9.99718302e-01 7.20994096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.280714057 meters Centerline goodness : 0.990353 Centerline is valid? [True, True] Translation: X:151.08, Y:132.09, Z:7.21 [[-9.99656756e-01 1.11880928e-02 2.36895724e-02 1.51076071e+02] [-1.12259486e-02 -9.99935913e-01 -1.46560606e-03 1.32089764e+02] [ 2.36716569e-02 -1.73104092e-03 9.99718288e-01 7.20940108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.310714057 meters Centerline goodness : 0.991308 Centerline is valid? [True, True] Translation: X:151.07, Y:132.09, Z:7.21 [[-9.99671880e-01 9.74973623e-03 2.36870095e-02 1.51072293e+02] [-9.78835312e-03 -9.99950945e-01 -1.51489809e-03 1.32087853e+02] [ 2.36710776e-02 -1.74625783e-03 9.99718276e-01 7.20938662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.340714057 meters Centerline goodness : 0.991089 Centerline is valid? [True, True] Translation: X:151.08, Y:132.09, Z:7.21 [[-9.99696064e-01 6.89486535e-03 2.36693811e-02 1.51079754e+02] [-6.94059895e-03 -9.99974201e-01 -1.85057575e-03 1.32085359e+02] [ 2.36560110e-02 -2.01429298e-03 9.99718128e-01 7.20856899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.370714057 meters Centerline goodness : 0.990899 Centerline is valid? [True, True] Translation: X:151.08, Y:132.08, Z:7.21 [[-9.99650987e-01 1.17413276e-02 2.36652858e-02 1.51075792e+02] [-1.17902511e-02 -9.99928632e-01 -1.92883822e-03 1.32083413e+02] [ 2.36409498e-02 -2.20718469e-03 9.99718077e-01 7.20808229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.400714057 meters Centerline goodness : 0.991411 Centerline is valid? [True, True] Translation: X:151.08, Y:132.08, Z:7.21 [[-9.99678872e-01 9.00776919e-03 2.36857186e-02 1.51079743e+02] [-9.04658191e-03 -9.99957905e-01 -1.53201124e-03 1.32080844e+02] [ 2.36709216e-02 -1.74579406e-03 9.99718280e-01 7.20679073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.430714057 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:151.08, Y:132.08, Z:7.20 [[-9.99688946e-01 7.87429507e-03 2.36644653e-02 1.51084130e+02] [-7.92238412e-03 -9.99966737e-01 -1.93905428e-03 1.32079984e+02] [ 2.36484094e-02 -2.12593011e-03 9.99718077e-01 7.20409113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.460714057 meters Centerline goodness : 0.989449 Centerline is valid? [True, True] Translation: X:151.08, Y:132.08, Z:7.21 [[-9.99635761e-01 1.29851162e-02 2.36586523e-02 1.51082373e+02] [-1.30372501e-02 -9.99912909e-01 -2.05067027e-03 1.32078349e+02] [ 2.36299636e-02 -2.35836711e-03 9.99717992e-01 7.20894669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.490714057 meters Centerline goodness : 0.989440 Centerline is valid? [True, True] Translation: X:151.07, Y:132.07, Z:7.21 [[-9.99621301e-01 1.40141914e-02 2.36824292e-02 1.51073877e+02] [-1.40556452e-02 -9.99899959e-01 -1.58484360e-03 1.32074302e+02] [ 2.36578497e-02 -1.91711524e-03 9.99718276e-01 7.20515236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.520714057 meters Centerline goodness : 0.990438 Centerline is valid? [True, True] Translation: X:151.08, Y:132.07, Z:7.20 [[-9.99640467e-01 1.25836007e-02 2.36767629e-02 1.51075248e+02] [-1.26272820e-02 -9.99918834e-01 -1.69629107e-03 1.32069370e+02] [ 2.36534957e-02 -1.99465436e-03 9.99718227e-01 7.20491471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.550714057 meters Centerline goodness : 0.990089 Centerline is valid? [True, True] Translation: X:151.08, Y:132.07, Z:7.20 [[-9.99637070e-01 1.28698726e-02 2.36663001e-02 1.51082771e+02] [-1.29184555e-02 -9.99914746e-01 -1.90108306e-03 1.32065618e+02] [ 2.36398158e-02 -2.20612515e-03 9.99718106e-01 7.20472804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.580714057 meters Centerline goodness : 0.990322 Centerline is valid? [True, True] Translation: X:151.08, Y:132.06, Z:7.21 [[-9.99611837e-01 1.46988683e-02 2.36668378e-02 1.51075478e+02] [-1.47477096e-02 -9.99889460e-01 -1.89047734e-03 1.32062333e+02] [ 2.36364338e-02 -2.23877517e-03 9.99718114e-01 7.20810404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.610714057 meters Centerline goodness : 0.988192 Centerline is valid? [True, True] Translation: X:151.08, Y:132.06, Z:7.20 [[-9.99621642e-01 1.40077239e-02 2.36718437e-02 1.51081720e+02] [-1.40540319e-02 -9.99899633e-01 -1.79100908e-03 1.32057162e+02] [ 2.36443798e-02 -2.12301628e-03 9.99718178e-01 7.20453434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.640714057 meters Centerline goodness : 0.986841 Centerline is valid? [True, True] Translation: X:151.08, Y:132.06, Z:7.21 [[-9.99595428e-01 1.57581223e-02 2.36783169e-02 1.51081093e+02] [-1.58018565e-02 -9.99873763e-01 -1.66103245e-03 1.32055068e+02] [ 2.36491530e-02 -2.03452181e-03 9.99718249e-01 7.20998818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.670714057 meters Centerline goodness : 0.989894 Centerline is valid? [True, True] Translation: X:151.09, Y:132.05, Z:7.21 [[-9.99603248e-01 1.52398405e-02 2.36874042e-02 1.51090483e+02] [-1.52790914e-02 -9.99882177e-01 -1.47692457e-03 1.32050228e+02] [ 2.36621052e-02 -1.83826061e-03 9.99718323e-01 7.20637206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.700714057 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:151.09, Y:132.05, Z:7.21 [[-9.99545336e-01 1.86783148e-02 2.36694328e-02 1.51087878e+02] [-1.87270306e-02 -9.99822944e-01 -1.83817075e-03 1.32049267e+02] [ 2.36309081e-02 -2.28059320e-03 9.99718150e-01 7.21029837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.730714057 meters Centerline goodness : 0.987788 Centerline is valid? [True, True] Translation: X:151.09, Y:132.05, Z:7.21 [[-9.99480242e-01 2.18692485e-02 2.36850769e-02 1.51091521e+02] [-2.19113395e-02 -9.99758764e-01 -1.51901697e-03 1.32045389e+02] [ 2.36461435e-02 -2.03719921e-03 9.99718315e-01 7.21070937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.76071405700003 meters Centerline goodness : 0.988499 Centerline is valid? [True, True] Translation: X:151.09, Y:132.04, Z:7.21 [[-9.99416398e-01 2.46146712e-02 2.36850631e-02 1.51090882e+02] [-2.46575338e-02 -9.99694802e-01 -1.51930082e-03 1.32043736e+02] [ 2.36404374e-02 -2.10242940e-03 9.99718315e-01 7.21196721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.790714057 meters Centerline goodness : 0.988938 Centerline is valid? [True, True] Translation: X:151.09, Y:132.04, Z:7.21 [[-9.99334352e-01 2.77410690e-02 2.36914718e-02 1.51094656e+02] [-2.77816719e-02 -9.99613054e-01 -1.38633810e-03 1.32038482e+02] [ 2.36438460e-02 -2.04360398e-03 9.99718356e-01 7.20818963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.82071405700003 meters Centerline goodness : 0.988439 Centerline is valid? [True, True] Translation: X:151.09, Y:132.04, Z:7.21 [[-9.99321503e-01 2.82035475e-02 2.36874283e-02 1.51090845e+02] [-2.82462586e-02 -9.99599913e-01 -1.47039722e-03 1.32037465e+02] [ 2.36364808e-02 -2.13848079e-03 9.99718332e-01 7.21290144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.850714057 meters Centerline goodness : 0.988405 Centerline is valid? [True, True] Translation: X:151.10, Y:132.03, Z:7.21 [[-9.99260350e-01 3.02899429e-02 2.36911692e-02 1.51095737e+02] [-3.03313898e-02 -9.99538928e-01 -1.39199879e-03 1.32033213e+02] [ 2.36380823e-02 -2.10955529e-03 9.99718356e-01 7.21159441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.880714057 meters Centerline goodness : 0.986774 Centerline is valid? [True, True] Translation: X:151.10, Y:132.03, Z:7.21 [[-9.99248938e-01 3.06633883e-02 2.36921418e-02 1.51095165e+02] [-3.07044560e-02 -9.99527566e-01 -1.37147443e-03 1.32031591e+02] [ 2.36388948e-02 -2.09789870e-03 9.99718361e-01 7.21270011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.910714057 meters Centerline goodness : 0.988128 Centerline is valid? [True, True] Translation: X:151.10, Y:132.03, Z:7.21 [[-9.99238105e-01 3.10129137e-02 2.36940718e-02 1.51099626e+02] [-3.10531147e-02 -9.99516850e-01 -1.33052958e-03 1.32029897e+02] [ 2.36413604e-02 -2.06529059e-03 9.99718371e-01 7.21246883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.940714057 meters Centerline goodness : 0.990396 Centerline is valid? [True, True] Translation: X:151.10, Y:132.03, Z:7.21 [[-9.99429455e-01 2.40686203e-02 2.36952799e-02 1.51095908e+02] [-2.41062754e-02 -9.99708550e-01 -1.30474307e-03 1.32027488e+02] [ 2.36569706e-02 -1.87520360e-03 9.99718376e-01 7.20799448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.970714057 meters Centerline goodness : 0.990974 Centerline is valid? [True, True] Translation: X:151.09, Y:132.02, Z:7.21 [[-9.99360449e-01 2.67975905e-02 2.36766042e-02 1.51094667e+02] [-2.68452959e-02 -9.99638156e-01 -1.69927723e-03 1.32022853e+02] [ 2.36225005e-02 -2.33379591e-03 9.99718226e-01 7.20511771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.000714057 meters Centerline goodness : 0.987737 Centerline is valid? [True, True] Translation: X:151.11, Y:132.02, Z:7.21 [[-9.99439421e-01 2.36626616e-02 2.36838015e-02 1.51111791e+02] [-2.37058905e-02 -9.99717780e-01 -1.54611988e-03 1.32022896e+02] [ 2.36405322e-02 -2.10669876e-03 9.99718304e-01 7.20963315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.030714057 meters Centerline goodness : 0.988449 Centerline is valid? [True, True] Translation: X:151.11, Y:132.02, Z:7.21 [[-9.99469181e-01 2.23585780e-02 2.36949417e-02 1.51111170e+02] [-2.23957931e-02 -9.99748329e-01 -1.30635415e-03 1.32021385e+02] [ 2.36597701e-02 -1.83632772e-03 9.99718382e-01 7.20980734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.060714057 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:151.11, Y:132.02, Z:7.21 [[-9.99567145e-01 1.74408571e-02 2.36925993e-02 1.51112175e+02] [-1.74778947e-02 -9.99846329e-01 -1.35706057e-03 1.32018213e+02] [ 2.36652902e-02 -1.77056991e-03 9.99718370e-01 7.20647743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.090714057 meters Centerline goodness : 0.990130 Centerline is valid? [True, True] Translation: X:151.12, Y:132.02, Z:7.21 [[-9.99603829e-01 1.52115075e-02 2.36811141e-02 1.51118359e+02] [-1.52537527e-02 -9.99882368e-01 -1.60429491e-03 1.32017196e+02] [ 2.36539247e-02 -1.96488519e-03 9.99718276e-01 7.20620232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.120714057 meters Centerline goodness : 0.989184 Centerline is valid? [True, True] Translation: X:151.12, Y:132.02, Z:7.21 [[-9.99652545e-01 1.15749662e-02 2.36814331e-02 1.51124604e+02] [-1.16160349e-02 -9.99931256e-01 -1.59738502e-03 1.32015139e+02] [ 2.36613154e-02 -1.87191435e-03 9.99718279e-01 7.21046530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.150714057 meters Centerline goodness : 0.987933 Centerline is valid? [True, True] Translation: X:151.13, Y:132.01, Z:7.21 [[-9.99655754e-01 1.12757608e-02 2.36903077e-02 1.51132991e+02] [-1.13121670e-02 -9.99935031e-01 -1.40330202e-03 1.32014399e+02] [ 2.36729453e-02 -1.67080765e-03 9.99718360e-01 7.21158637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.180714057 meters Centerline goodness : 0.988020 Centerline is valid? [True, True] Translation: X:151.13, Y:132.01, Z:7.21 [[-9.99654221e-01 1.14008569e-02 2.36951285e-02 1.51131490e+02] [-1.14347792e-02 -9.99933780e-01 -1.29660799e-03 1.32013506e+02] [ 2.36787770e-02 -1.56710821e-03 9.99718390e-01 7.21097600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.210714057 meters Centerline goodness : 0.988950 Centerline is valid? [True, True] Translation: X:151.13, Y:132.01, Z:7.21 [[-9.99613503e-01 1.45402102e-02 2.36944614e-02 1.51128739e+02] [-1.45753603e-02 -9.99892914e-01 -1.31143660e-03 1.32013026e+02] [ 2.36728555e-02 -1.65628505e-03 9.99718387e-01 7.21214759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.240714057 meters Centerline goodness : 0.988860 Centerline is valid? [True, True] Translation: X:151.13, Y:132.01, Z:7.21 [[-9.99562206e-01 1.77151613e-02 2.36974452e-02 1.51126870e+02] [-1.77496179e-02 -9.99841689e-01 -1.24445575e-03 1.32011791e+02] [ 2.36716479e-02 -1.66453153e-03 9.99718402e-01 7.21198476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.270714057 meters Centerline goodness : 0.989411 Centerline is valid? [True, True] Translation: X:151.12, Y:132.01, Z:7.21 [[-9.99510159e-01 2.04413063e-02 2.36980157e-02 1.51118728e+02] [-2.04762206e-02 -9.99789582e-01 -1.23155572e-03 1.32013120e+02] [ 2.36678546e-02 -1.71619824e-03 9.99718404e-01 7.21079967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.300714057 meters Centerline goodness : 0.988684 Centerline is valid? [True, True] Translation: X:151.13, Y:132.01, Z:7.21 [[-9.99466280e-01 2.24868055e-02 2.36959593e-02 1.51126229e+02] [-2.25233944e-02 -9.99745499e-01 -1.27830375e-03 1.32011664e+02] [ 2.36611837e-02 -1.81133493e-03 9.99718394e-01 7.20939082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.330714057 meters Centerline goodness : 0.989381 Centerline is valid? [True, True] Translation: X:151.12, Y:132.01, Z:7.21 [[-9.99330249e-01 2.78855022e-02 2.36949943e-02 1.51123346e+02] [-2.79241180e-02 -9.99609200e-01 -1.30032848e-03 1.32010707e+02] [ 2.36494740e-02 -1.96111940e-03 9.99718389e-01 7.20741403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.360714057 meters Centerline goodness : 0.989813 Centerline is valid? [True, True] Translation: X:151.13, Y:132.01, Z:7.21 [[-9.99228335e-01 3.13241372e-02 2.36966882e-02 1.51125028e+02] [-3.13627959e-02 -9.99507271e-01 -1.26141799e-03 1.32009230e+02] [ 2.36454993e-02 -2.00363899e-03 9.99718398e-01 7.20769725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.390714057 meters Centerline goodness : 0.989121 Centerline is valid? [True, True] Translation: X:151.12, Y:132.01, Z:7.21 [[-9.99171683e-01 3.30815028e-02 2.36973094e-02 1.51121811e+02] [-3.31203128e-02 -9.99450594e-01 -1.24702261e-03 1.32008705e+02] [ 2.36430366e-02 -2.03085198e-03 9.99718402e-01 7.20809458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.420714057 meters Centerline goodness : 0.989121 Centerline is valid? [True, True] Translation: X:151.12, Y:132.01, Z:7.21 [[-9.99159378e-01 3.34514903e-02 2.36967524e-02 1.51124465e+02] [-3.34907090e-02 -9.99438235e-01 -1.25998649e-03 1.32008675e+02] [ 2.36412919e-02 -2.05254836e-03 9.99718399e-01 7.20802688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.450714057 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:151.12, Y:132.01, Z:7.21 [[-9.99018429e-01 3.74248814e-02 2.36972008e-02 1.51119367e+02] [-3.74649607e-02 -9.99297161e-01 -1.24944918e-03 1.32005005e+02] [ 2.36337850e-02 -2.13603745e-03 9.99718401e-01 7.20971654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.480714057 meters Centerline goodness : 0.989596 Centerline is valid? [True, True] Translation: X:151.12, Y:132.00, Z:7.21 [[-9.98936088e-01 3.95599636e-02 2.37002498e-02 1.51120816e+02] [-3.95989341e-02 -9.99214961e-01 -1.17706738e-03 1.32001131e+02] [ 2.36350795e-02 -2.11431971e-03 9.99718417e-01 7.21085712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.51071405700003 meters Centerline goodness : 0.990001 Centerline is valid? [True, True] Translation: X:151.11, Y:132.00, Z:7.21 [[-9.98962550e-01 3.88842363e-02 2.37031728e-02 1.51108078e+02] [-3.89213661e-02 -9.99241663e-01 -1.10694930e-03 1.31999572e+02] [ 2.36421549e-02 -2.02836077e-03 9.99718427e-01 7.21119411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.540714057 meters Centerline goodness : 0.991353 Centerline is valid? [True, True] Translation: X:151.13, Y:132.00, Z:7.21 [[-9.99047144e-01 3.66486304e-02 2.36998182e-02 1.51129599e+02] [-3.66870339e-02 -9.99326099e-01 -1.18750180e-03 1.31995522e+02] [ 2.36403266e-02 -2.05584632e-03 9.99718415e-01 7.20643976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.57071405700003 meters Centerline goodness : 0.990272 Centerline is valid? [True, True] Translation: X:151.13, Y:131.99, Z:7.21 [[-9.99011736e-01 3.76076313e-02 2.36900422e-02 1.51126844e+02] [-3.76517885e-02 -9.99289910e-01 -1.42051701e-03 1.31994468e+02] [ 2.36197978e-02 -2.31108562e-03 9.99718342e-01 7.21028558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.600714057 meters Centerline goodness : 0.990347 Centerline is valid? [True, True] Translation: X:151.13, Y:131.99, Z:7.21 [[-9.98988818e-01 3.82065885e-02 2.36980540e-02 1.51134489e+02] [-3.82463607e-02 -9.99267587e-01 -1.22715591e-03 1.31992135e+02] [ 2.36338118e-02 -2.13227935e-03 9.99718409e-01 7.20831229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.630714057 meters Centerline goodness : 0.989165 Centerline is valid? [True, True] Translation: X:151.14, Y:131.99, Z:7.21 [[-9.98978340e-01 3.84792559e-02 2.36985703e-02 1.51136408e+02] [-3.85188084e-02 -9.99257137e-01 -1.21459546e-03 1.31991337e+02] [ 2.36342288e-02 -2.12619524e-03 9.99718412e-01 7.20785923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.660714057 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:151.14, Y:131.99, Z:7.21 [[-9.98958041e-01 3.90033114e-02 2.36975474e-02 1.51140973e+02] [-3.90435985e-02 -9.99236739e-01 -1.23957881e-03 1.31989971e+02] [ 2.36311123e-02 -2.16352474e-03 9.99718405e-01 7.20542723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.690714057 meters Centerline goodness : 0.990251 Centerline is valid? [True, True] Translation: X:151.14, Y:131.99, Z:7.20 [[-9.98892015e-01 4.06603680e-02 2.36954858e-02 1.51144934e+02] [-4.07023105e-02 -9.99170485e-01 -1.29026245e-03 1.31987394e+02] [ 2.36233675e-02 -2.25329388e-03 9.99718390e-01 7.20309763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.720714057 meters Centerline goodness : 0.990238 Centerline is valid? [True, True] Translation: X:151.15, Y:131.99, Z:7.20 [[-9.98994037e-01 3.80692256e-02 2.36991342e-02 1.51154460e+02] [-3.81083194e-02 -9.99272894e-01 -1.19998192e-03 1.31987085e+02] [ 2.36362201e-02 -2.10190896e-03 9.99718416e-01 7.20198650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.750714057 meters Centerline goodness : 0.990089 Centerline is valid? [True, True] Translation: X:151.14, Y:131.99, Z:7.20 [[-9.99049559e-01 3.65852641e-02 2.36959440e-02 1.51143791e+02] [-3.66258073e-02 -9.99328231e-01 -1.27909721e-03 1.31985081e+02] [ 2.36332297e-02 -2.14576458e-03 9.99718393e-01 7.20143894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.780714057 meters Centerline goodness : 0.989477 Centerline is valid? [True, True] Translation: X:151.16, Y:131.98, Z:7.20 [[-9.99094838e-01 3.53283658e-02 2.36941280e-02 1.51156642e+02] [-3.53696264e-02 -9.99373421e-01 -1.32443589e-03 1.31982938e+02] [ 2.36324916e-02 -2.16128952e-03 9.99718377e-01 7.20177431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.810714057 meters Centerline goodness : 0.989844 Centerline is valid? [True, True] Translation: X:151.17, Y:131.98, Z:7.20 [[-9.99276548e-01 2.97484600e-02 2.36940965e-02 1.51170844e+02] [-2.97881828e-02 -9.99555355e-01 -1.32522561e-03 1.31979021e+02] [ 2.36441376e-02 -2.03007095e-03 9.99718377e-01 7.20190116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.840714057 meters Centerline goodness : 0.989879 Centerline is valid? [True, True] Translation: X:151.17, Y:131.98, Z:7.20 [[-9.99411613e-01 2.48004131e-02 2.36931780e-02 1.51173100e+02] [-2.48392995e-02 -9.99690548e-01 -1.34831477e-03 1.31977038e+02] [ 2.36524074e-02 -1.93604338e-03 9.99718368e-01 7.20134355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.870714057 meters Centerline goodness : 0.989463 Centerline is valid? [True, True] Translation: X:151.18, Y:131.97, Z:7.20 [[-9.99590996e-01 1.60177164e-02 2.36912323e-02 1.51180474e+02] [-1.60553109e-02 -9.99870129e-01 -1.39747956e-03 1.31972815e+02] [ 2.36657710e-02 -1.77727808e-03 9.99718347e-01 7.20355317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.900714057 meters Centerline goodness : 0.988871 Centerline is valid? [True, True] Translation: X:151.18, Y:131.97, Z:7.20 [[-9.99649501e-01 1.18183813e-02 2.36896694e-02 1.51181272e+02] [-1.18557394e-02 -9.99928686e-01 -1.43714553e-03 1.31969847e+02] [ 2.36709952e-02 -1.71750036e-03 9.99718327e-01 7.20461840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.930714057 meters Centerline goodness : 0.989378 Centerline is valid? [True, True] Translation: X:151.19, Y:131.97, Z:7.21 [[-9.99695196e-01 6.94703780e-03 2.36907855e-02 1.51192948e+02] [-6.98236251e-03 -9.99974631e-01 -1.40867828e-03 1.31966523e+02] [ 2.36803983e-02 -1.57366656e-03 9.99718341e-01 7.20526235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.960714057 meters Centerline goodness : 0.989113 Centerline is valid? [True, True] Translation: X:151.20, Y:131.96, Z:7.21 [[-9.99719288e-01 4.10400166e-04 2.36891591e-02 1.51200619e+02] [-4.44880119e-04 -9.99998849e-01 -1.45026431e-03 1.31963526e+02] [ 2.36885366e-02 -1.46039604e-03 9.99718321e-01 7.20715720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.990714057 meters Centerline goodness : 0.987847 Centerline is valid? [True, True] Translation: X:151.20, Y:131.96, Z:7.21 [[-9.99715311e-01 -2.80790557e-03 2.36941589e-02 1.51203326e+02] [ 2.77738197e-03 -9.99995271e-01 -1.32104329e-03 1.31962718e+02] [ 2.36977562e-02 -1.25485947e-03 9.99718381e-01 7.20701965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.020714057 meters Centerline goodness : 0.988845 Centerline is valid? [True, True] Translation: X:151.22, Y:131.96, Z:7.21 [[-9.99669174e-01 -1.00091038e-02 2.36930343e-02 1.51220065e+02] [ 9.97990923e-03 -9.99949288e-01 -1.35012852e-03 1.31961093e+02] [ 2.37053464e-02 -1.11322753e-03 9.99718369e-01 7.20636824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.050714057 meters Centerline goodness : 0.987975 Centerline is valid? [True, True] Translation: X:151.23, Y:131.96, Z:7.21 [[-9.99650957e-01 -1.16965349e-02 2.36887054e-02 1.51229427e+02] [ 1.16651651e-02 -9.99930891e-01 -1.46200787e-03 1.31958723e+02] [ 2.37041687e-02 -1.18516491e-03 9.99718314e-01 7.20905930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.080714057 meters Centerline goodness : 0.988029 Centerline is valid? [True, True] Translation: X:151.23, Y:131.96, Z:7.21 [[-9.99631086e-01 -1.32772680e-02 2.36940199e-02 1.51232077e+02] [ 1.32496250e-02 -9.99911344e-01 -1.32327905e-03 1.31959309e+02] [ 2.37094888e-02 -1.00885399e-03 9.99718382e-01 7.20727126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.110714057 meters Centerline goodness : 0.988600 Centerline is valid? [True, True] Translation: X:151.22, Y:131.96, Z:7.21 [[-9.99641321e-01 -1.24772905e-02 2.36969685e-02 1.51223278e+02] [ 1.24512650e-02 -9.99921704e-01 -1.24550308e-03 1.31958966e+02] [ 2.37106536e-02 -9.49999108e-04 9.99718412e-01 7.20945544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.140714057 meters Centerline goodness : 0.989123 Centerline is valid? [True, True] Translation: X:151.23, Y:131.96, Z:7.21 [[-9.99654073e-01 -1.14115835e-02 2.36962245e-02 1.51232496e+02] [ 1.13847919e-02 -9.99934391e-01 -1.26523098e-03 1.31957549e+02] [ 2.37091081e-02 -9.95016712e-04 9.99718404e-01 7.20962390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.170714057 meters Centerline goodness : 0.987596 Centerline is valid? [True, True] Translation: X:151.22, Y:131.96, Z:7.21 [[-9.99659955e-01 -1.08773992e-02 2.36993090e-02 1.51224335e+02] [ 1.08524141e-02 -9.99940412e-01 -1.18261940e-03 1.31960140e+02] [ 2.37107606e-02 -9.25022545e-04 9.99718432e-01 7.20801107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.200714057 meters Centerline goodness : 0.987944 Centerline is valid? [True, True] Translation: X:151.23, Y:131.96, Z:7.21 [[-9.99619038e-01 -1.41409885e-02 2.37025569e-02 1.51232402e+02] [ 1.41189971e-02 -9.99899723e-01 -1.09490844e-03 1.31962667e+02] [ 2.37156631e-02 -7.59834993e-04 9.99718455e-01 7.20673858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.230714057 meters Centerline goodness : 0.987433 Centerline is valid? [True, True] Translation: X:151.24, Y:131.96, Z:7.21 [[-9.99631811e-01 -1.32143016e-02 2.36986180e-02 1.51236795e+02] [ 1.31895396e-02 -9.99912293e-01 -1.20088564e-03 1.31963853e+02] [ 2.37124083e-02 -8.87869626e-04 9.99718427e-01 7.20808296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.26071405700003 meters Centerline goodness : 0.987504 Centerline is valid? [True, True] Translation: X:151.23, Y:131.97, Z:7.21 [[-9.99643761e-01 -1.22776271e-02 2.36983166e-02 1.51228099e+02] [ 1.22524091e-02 -9.99924206e-01 -1.20904022e-03 1.31965846e+02] [ 2.37113645e-02 -9.18248047e-04 9.99718424e-01 7.20777735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.290714057 meters Centerline goodness : 0.987573 Centerline is valid? [True, True] Translation: X:151.22, Y:131.97, Z:7.21 [[-9.99557881e-01 -1.79500807e-02 2.37031141e-02 1.51223548e+02] [ 1.79295718e-02 -9.99838672e-01 -1.07749607e-03 1.31969696e+02] [ 2.37186313e-02 -6.52033002e-04 9.99718461e-01 7.20698253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.32071405700003 meters Centerline goodness : 0.990103 Centerline is valid? [True, True] Translation: X:151.21, Y:131.96, Z:7.20 [[-9.99710055e-01 -4.26902523e-03 2.36977034e-02 1.51210452e+02] [ 4.24116460e-03 -9.99990255e-01 -1.22580348e-03 1.31962908e+02] [ 2.37027054e-02 -1.12494220e-03 9.99718418e-01 7.20319693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.350714057 meters Centerline goodness : 0.988220 Centerline is valid? [True, True] Translation: X:151.23, Y:131.98, Z:7.21 [[-9.99262222e-01 -3.02123596e-02 2.37112778e-02 1.51225579e+02] [ 3.02008154e-02 -9.99543494e-01 -8.44897287e-04 1.31976501e+02] [ 2.37259798e-02 -1.28174015e-04 9.99718491e-01 7.20525075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.380714057 meters Centerline goodness : 0.989567 Centerline is valid? [True, True] Translation: X:151.23, Y:131.98, Z:7.19 [[-9.98985235e-01 -3.83071710e-02 2.36867383e-02 1.51229700e+02] [ 3.82821492e-02 -9.99265830e-01 -1.50908023e-03 1.31980583e+02] [ 2.37271568e-02 -6.00769613e-04 9.99718291e-01 7.19422296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.410714057 meters Centerline goodness : 0.989131 Centerline is valid? [True, True] Translation: X:151.23, Y:131.99, Z:7.19 [[-9.98792263e-01 -4.30523866e-02 2.36750583e-02 1.51225165e+02] [ 4.30213135e-02 -9.99072496e-01 -1.82049383e-03 1.31985071e+02] [ 2.37314762e-02 -7.99763044e-04 9.99718049e-01 7.19422028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.440714057 meters Centerline goodness : 0.987099 Centerline is valid? [True, True] Translation: X:151.22, Y:131.99, Z:7.20 [[-9.98801186e-01 -4.28452434e-02 2.36743788e-02 1.51219902e+02] [ 4.28136763e-02 -9.99081382e-01 -1.83888050e-03 1.31987558e+02] [ 2.37314184e-02 -8.23088838e-04 9.99718031e-01 7.20346045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.470714057 meters Centerline goodness : 0.988207 Centerline is valid? [True, True] Translation: X:151.25, Y:131.99, Z:7.20 [[-9.98761050e-01 -4.37662870e-02 2.36828582e-02 1.51248913e+02] [ 4.37404735e-02 -9.99041635e-01 -1.60713984e-03 1.31991722e+02] [ 2.37304999e-02 -5.69249246e-04 9.99718230e-01 7.20463605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.500714057 meters Centerline goodness : 0.990283 Centerline is valid? [True, True] Translation: X:151.23, Y:132.00, Z:7.20 [[-9.98532649e-01 -4.87017752e-02 2.36788206e-02 1.51231046e+02] [ 4.86747526e-02 -9.98813207e-01 -1.71658030e-03 1.32001321e+02] [ 2.37343193e-02 -5.61500739e-04 9.99718144e-01 7.19664479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.530714057 meters Centerline goodness : 0.987851 Centerline is valid? [True, True] Translation: X:151.25, Y:132.00, Z:7.21 [[-9.98705245e-01 -4.50335427e-02 2.36603634e-02 1.51252275e+02] [ 4.49938454e-02 -9.98984825e-01 -2.20775699e-03 1.32003973e+02] [ 2.37357671e-02 -1.14032776e-03 9.99717617e-01 7.20636336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.560714057 meters Centerline goodness : 0.990288 Centerline is valid? [True, True] Translation: X:151.25, Y:132.01, Z:7.20 [[-9.98835060e-01 -4.20455406e-02 2.36790057e-02 1.51253104e+02] [ 4.20170350e-02 -9.99115448e-01 -1.70029969e-03 1.32006667e+02] [ 2.37295504e-02 -7.03397335e-04 9.99718167e-01 7.19666717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.590714057 meters Centerline goodness : 0.989585 Centerline is valid? [True, True] Translation: X:151.25, Y:132.02, Z:7.19 [[-9.98904293e-01 -4.03724951e-02 2.36701312e-02 1.51246294e+02] [ 4.03378355e-02 -9.99184215e-01 -1.94011560e-03 1.32016705e+02] [ 2.37291488e-02 -9.83187944e-04 9.99717941e-01 7.19415138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.620714057 meters Centerline goodness : 0.990226 Centerline is valid? [True, True] Translation: X:151.26, Y:132.02, Z:7.19 [[-9.98937309e-01 -3.95474195e-02 2.36696767e-02 1.51264100e+02] [ 3.95122380e-02 -9.99217179e-01 -1.95237969e-03 1.32020080e+02] [ 2.37283592e-02 -1.01506301e-03 9.99717928e-01 7.19265507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.650714057 meters Centerline goodness : 0.990517 Centerline is valid? [True, True] Translation: X:151.26, Y:132.03, Z:7.19 [[-9.98877123e-01 -4.10397807e-02 2.36691728e-02 1.51255489e+02] [ 4.10046967e-02 -9.99157020e-01 -1.96591106e-03 1.32029999e+02] [ 2.37299008e-02 -9.93156334e-04 9.99717913e-01 7.19011189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.680714057 meters Centerline goodness : 0.991450 Centerline is valid? [True, True] Translation: X:151.26, Y:132.03, Z:7.19 [[-9.98903798e-01 -4.03908383e-02 2.36597416e-02 1.51262333e+02] [ 4.03496126e-02 -9.99183162e-01 -2.21744775e-03 1.32034190e+02] [ 2.37299800e-02 -1.26035557e-03 9.99717610e-01 7.18932198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.710714057 meters Centerline goodness : 0.988229 Centerline is valid? [True, True] Translation: X:151.27, Y:132.04, Z:7.20 [[-9.99202993e-01 -3.21518268e-02 2.36566931e-02 1.51268527e+02] [ 3.21063620e-02 -9.99481813e-01 -2.29927168e-03 1.32040040e+02] [ 2.37183603e-02 -1.53790879e-03 9.99717497e-01 7.19757394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.740714057 meters Centerline goodness : 0.990293 Centerline is valid? [True, True] Translation: X:151.27, Y:132.04, Z:7.19 [[-9.99257773e-01 -3.03849228e-02 2.36782711e-02 1.51272783e+02] [ 3.03531311e-02 -9.99537790e-01 -1.70098570e-03 1.32042487e+02] [ 2.37190111e-02 -9.81013517e-04 9.99718183e-01 7.19070886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.770714057 meters Centerline goodness : 0.989121 Centerline is valid? [True, True] Translation: X:151.27, Y:132.04, Z:7.20 [[-9.99416586e-01 -2.46230614e-02 2.36683961e-02 1.51274668e+02] [ 2.45832107e-02 -9.99695840e-01 -1.97324474e-03 1.32043929e+02] [ 2.37097845e-02 -1.39024836e-03 9.99717917e-01 7.19875889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.800714057 meters Centerline goodness : 0.988760 Centerline is valid? [True, True] Translation: X:151.28, Y:132.05, Z:7.20 [[-9.99510777e-01 -2.04317700e-02 2.36801306e-02 1.51276138e+02] [ 2.03985589e-02 -9.99790577e-01 -1.64321617e-03 1.32048916e+02] [ 2.37087452e-02 -1.15937173e-03 9.99718236e-01 7.19997227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.830714057 meters Centerline goodness : 0.989102 Centerline is valid? [True, True] Translation: X:151.27, Y:132.05, Z:7.20 [[-9.99635448e-01 -1.29601691e-02 2.36855669e-02 1.51271246e+02] [ 1.29285652e-02 -9.99915317e-01 -1.48695889e-03 1.32051841e+02] [ 2.37028323e-02 -1.18019642e-03 9.99718352e-01 7.20425418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.860714057 meters Centerline goodness : 0.988680 Centerline is valid? [True, True] Translation: X:151.27, Y:132.06, Z:7.20 [[-9.99521704e-01 -1.98750070e-02 2.36927744e-02 1.51274881e+02] [ 1.98503358e-02 -9.99802148e-01 -1.27605115e-03 1.32057409e+02] [ 2.37134482e-02 -8.05131296e-04 9.99718472e-01 7.20221750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.890714057 meters Centerline goodness : 0.988627 Centerline is valid? [True, True] Translation: X:151.26, Y:132.06, Z:7.20 [[-9.99561029e-01 -1.77978171e-02 2.36851462e-02 1.51262308e+02] [ 1.77673061e-02 -9.99841027e-01 -1.49802527e-03 1.32062158e+02] [ 2.37080425e-02 -1.07654644e-03 9.99718345e-01 7.20440928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.920714057 meters Centerline goodness : 0.987599 Centerline is valid? [True, True] Translation: X:151.25, Y:132.07, Z:7.21 [[-9.99619066e-01 -1.41622867e-02 2.36886794e-02 1.51248217e+02] [ 1.41332387e-02 -9.99899150e-01 -1.39322482e-03 1.32067582e+02] [ 2.37060217e-02 -1.05789633e-03 9.99718413e-01 7.20758820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.950714057 meters Centerline goodness : 0.988008 Centerline is valid? [True, True] Translation: X:151.24, Y:132.07, Z:7.21 [[-9.99685907e-01 -8.17439019e-03 2.36910797e-02 1.51244009e+02] [ 8.14538080e-03 -9.99965954e-01 -1.32072887e-03 1.32072861e+02] [ 2.37010692e-02 -1.12734118e-03 9.99718455e-01 7.20731183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.980714057 meters Centerline goodness : 0.987809 Centerline is valid? [True, True] Translation: X:151.24, Y:132.08, Z:7.21 [[-9.99705491e-01 -5.26424821e-03 2.36900439e-02 1.51243151e+02] [ 5.23367715e-03 -9.99985390e-01 -1.35227761e-03 1.32076076e+02] [ 2.36968165e-02 -1.22789331e-03 9.99718437e-01 7.20750088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.01071405700003 meters Centerline goodness : 0.987327 Centerline is valid? [True, True] Translation: X:151.25, Y:132.08, Z:7.21 [[-9.99718638e-01 1.21447969e-03 2.36890384e-02 1.51247241e+02] [-1.24759349e-03 -9.99998265e-01 -1.38312423e-03 1.32077581e+02] [ 2.36873175e-02 -1.41228936e-03 9.99718419e-01 7.20712309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.040714057 meters Centerline goodness : 0.988978 Centerline is valid? [True, True] Translation: X:151.24, Y:132.08, Z:7.21 [[-9.99654474e-01 1.13810285e-02 2.36939846e-02 1.51241853e+02] [-1.14133501e-02 -9.99934110e-01 -1.22933694e-03 1.32081440e+02] [ 2.36784323e-02 -1.49933992e-03 9.99718502e-01 7.20561176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.07071405700003 meters Centerline goodness : 0.988410 Centerline is valid? [True, True] Translation: X:151.24, Y:132.08, Z:7.20 [[-9.99584316e-01 1.64265298e-02 2.36931403e-02 1.51239528e+02] [-1.64608883e-02 -9.99863722e-01 -1.25582808e-03 1.32083206e+02] [ 2.36692826e-02 -1.64531619e-03 9.99718489e-01 7.20462991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.100714057 meters Centerline goodness : 0.988183 Centerline is valid? [True, True] Translation: X:151.24, Y:132.09, Z:7.20 [[-9.99457841e-01 2.28607767e-02 2.36940520e-02 1.51244698e+02] [-2.28962505e-02 -9.99737094e-01 -1.22691559e-03 1.32086571e+02] [ 2.36597745e-02 -1.76875536e-03 9.99718504e-01 7.20109035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.130714057 meters Centerline goodness : 0.989201 Centerline is valid? [True, True] Translation: X:151.24, Y:132.09, Z:7.20 [[-9.99291753e-01 2.92281965e-02 2.37003326e-02 1.51239704e+02] [-2.92606668e-02 -9.99571290e-01 -1.02432833e-03 1.32086028e+02] [ 2.36602328e-02 -1.71709039e-03 9.99718583e-01 7.20170730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.160714057 meters Centerline goodness : 0.989066 Centerline is valid? [True, True] Translation: X:151.25, Y:132.09, Z:7.20 [[-9.99181258e-01 3.27906366e-02 2.36978635e-02 1.51248930e+02] [-3.28259906e-02 -9.99460472e-01 -1.10429342e-03 1.32088026e+02] [ 2.36488673e-02 -1.88129513e-03 9.99718556e-01 7.20132135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.190714057 meters Centerline goodness : 0.989364 Centerline is valid? [True, True] Translation: X:151.24, Y:132.09, Z:7.20 [[-9.99031063e-01 3.70820434e-02 2.37035312e-02 1.51243136e+02] [-3.71141891e-02 -9.99310610e-01 -9.17516775e-04 1.32085558e+02] [ 2.36531668e-02 -1.79636510e-03 9.99718611e-01 7.20073023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.220714057 meters Centerline goodness : 0.990564 Centerline is valid? [True, True] Translation: X:151.27, Y:132.08, Z:7.20 [[-9.99064837e-01 3.61605346e-02 2.37037261e-02 1.51265263e+02] [-3.61922694e-02 -9.99344430e-01 -9.11036108e-04 1.32083727e+02] [ 2.36552431e-02 -1.76807578e-03 9.99718612e-01 7.19845909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.250714057 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:151.26, Y:132.08, Z:7.20 [[-9.99073015e-01 3.59355384e-02 2.37012069e-02 1.51262605e+02] [-3.59691880e-02 -9.99352404e-01 -9.94821470e-04 1.32083708e+02] [ 2.36501087e-02 -1.84641245e-03 9.99718592e-01 7.20320615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.280714057 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:151.29, Y:132.08, Z:7.20 [[-9.99211149e-01 3.18650333e-02 2.37001979e-02 1.51293071e+02] [-3.18983384e-02 -9.99490589e-01 -1.02844761e-03 1.32081658e+02] [ 2.36553533e-02 -1.78363325e-03 9.99718582e-01 7.20270785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.310714057 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:151.30, Y:132.08, Z:7.20 [[-9.99200274e-01 3.22066736e-02 2.36968796e-02 1.51295689e+02] [-3.22426791e-02 -9.99479421e-01 -1.13881151e-03 1.32081707e+02] [ 2.36478661e-02 -1.90195165e-03 9.99718541e-01 7.20261366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.340714057 meters Centerline goodness : 0.990276 Centerline is valid? [True, True] Translation: X:151.30, Y:132.08, Z:7.20 [[-9.99175097e-01 3.29783334e-02 2.36971680e-02 1.51301230e+02] [-3.30143254e-02 -9.99454241e-01 -1.12910449e-03 1.32079710e+02] [ 2.36469991e-02 -1.91051910e-03 9.99718545e-01 7.20345257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.370714057 meters Centerline goodness : 0.990243 Centerline is valid? [True, True] Translation: X:151.31, Y:132.08, Z:7.20 [[-9.99307829e-01 2.86724315e-02 2.37013606e-02 1.51306601e+02] [-2.87038494e-02 -9.99587473e-01 -9.86359851e-04 1.32078622e+02] [ 2.36633018e-02 -1.66599741e-03 9.99718597e-01 7.20452086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.400714057 meters Centerline goodness : 0.990780 Centerline is valid? [True, True] Translation: X:151.32, Y:132.08, Z:7.21 [[-9.99324560e-01 2.80877327e-02 2.36960405e-02 1.51316124e+02] [-2.81232245e-02 -9.99603784e-01 -1.16580936e-03 1.32077754e+02] [ 2.36539069e-02 -1.83143100e-03 9.99718530e-01 7.20525075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.430714057 meters Centerline goodness : 0.989134 Centerline is valid? [True, True] Translation: X:151.29, Y:132.08, Z:7.21 [[-9.99073589e-01 3.59212465e-02 2.36986721e-02 1.51288235e+02] [-3.59567941e-02 -9.99352767e-01 -1.07543155e-03 1.32076020e+02] [ 2.36447027e-02 -1.92656353e-03 9.99718569e-01 7.20975751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.460714057 meters Centerline goodness : 0.990494 Centerline is valid? [True, True] Translation: X:151.30, Y:132.07, Z:7.21 [[-9.99092669e-01 3.53820861e-02 2.37054325e-02 1.51298485e+02] [-3.54118881e-02 -9.99372451e-01 -8.38444289e-04 1.32074262e+02] [ 2.36608903e-02 -1.67713767e-03 9.99718635e-01 7.20911490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.490714057 meters Centerline goodness : 0.989760 Centerline is valid? [True, True] Translation: X:151.29, Y:132.07, Z:7.21 [[-9.98956195e-01 3.90473593e-02 2.37028266e-02 1.51289401e+02] [-3.90803565e-02 -9.99235638e-01 -9.30323103e-04 1.32073751e+02] [ 2.36483824e-02 -1.85566694e-03 9.99718616e-01 7.20995999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.520714057 meters Centerline goodness : 0.990290 Centerline is valid? [True, True] Translation: X:151.29, Y:132.07, Z:7.21 [[-9.98914744e-01 4.00915353e-02 2.37065929e-02 1.51291985e+02] [-4.01216400e-02 -9.99194486e-01 -7.95419656e-04 1.32073566e+02] [ 2.36556073e-02 -1.74570381e-03 9.99718643e-01 7.20943639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.550714057 meters Centerline goodness : 0.990130 Centerline is valid? [True, True] Translation: X:151.29, Y:132.07, Z:7.21 [[-9.98751617e-01 4.39691929e-02 2.37048169e-02 1.51288064e+02] [-4.40018852e-02 -9.99031079e-01 -8.59057030e-04 1.32071645e+02] [ 2.36440768e-02 -1.90104123e-03 9.99718632e-01 7.20857352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.580714057 meters Centerline goodness : 0.991063 Centerline is valid? [True, True] Translation: X:151.28, Y:132.07, Z:7.21 [[-9.98666924e-01 4.58519341e-02 2.37060134e-02 1.51283957e+02] [-4.58841316e-02 -9.98946436e-01 -8.15760698e-04 1.32069804e+02] [ 2.36436334e-02 -1.90240307e-03 9.99718640e-01 7.20762987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.610714057 meters Centerline goodness : 0.989578 Centerline is valid? [True, True] Translation: X:151.27, Y:132.07, Z:7.21 [[-9.98493484e-01 4.94854847e-02 2.37054830e-02 1.51271220e+02] [-4.95191561e-02 -9.98772825e-01 -8.35137454e-04 1.32066660e+02] [ 2.36350651e-02 -2.00775482e-03 9.99718637e-01 7.21014419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.640714057 meters Centerline goodness : 0.990229 Centerline is valid? [True, True] Translation: X:151.29, Y:132.06, Z:7.21 [[-9.98451513e-01 5.03240038e-02 2.37080220e-02 1.51286554e+02] [-5.03556959e-02 -9.98731072e-01 -7.41291890e-04 1.32064971e+02] [ 2.36406335e-02 -1.93397796e-03 9.99718651e-01 7.20973635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.670714057 meters Centerline goodness : 0.990039 Centerline is valid? [True, True] Translation: X:151.29, Y:132.06, Z:7.21 [[-9.98394299e-01 5.14460594e-02 2.37092277e-02 1.51289124e+02] [-5.14770057e-02 -9.98673937e-01 -6.96367280e-04 1.32063246e+02] [ 2.36419625e-02 -1.91572917e-03 9.99718654e-01 7.20803508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.700714057 meters Centerline goodness : 0.989812 Centerline is valid? [True, True] Translation: X:151.28, Y:132.06, Z:7.21 [[-9.98456240e-01 5.02289422e-02 2.37105331e-02 1.51281605e+02] [-5.02583901e-02 -9.98736039e-01 -6.47327623e-04 1.32060304e+02] [ 2.36480493e-02 -1.83798152e-03 9.99718656e-01 7.20840561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.730714057 meters Centerline goodness : 0.989651 Centerline is valid? [True, True] Translation: X:151.29, Y:132.06, Z:7.21 [[-9.98418313e-01 5.09783616e-02 2.37081978e-02 1.51290898e+02] [-5.10101019e-02 -9.98697866e-01 -7.35565972e-04 1.32058372e+02] [ 2.36398286e-02 -1.94376012e-03 9.99718651e-01 7.20754865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.76071405700003 meters Centerline goodness : 0.990124 Centerline is valid? [True, True] Translation: X:151.29, Y:132.06, Z:7.21 [[-9.98526077e-01 4.88206356e-02 2.37111448e-02 1.51294756e+02] [-4.88490945e-02 -9.98805977e-01 -6.22158597e-04 1.32055099e+02] [ 2.36524590e-02 -1.77950954e-03 9.99718658e-01 7.20666279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.790714057 meters Centerline goodness : 0.989566 Centerline is valid? [True, True] Translation: X:151.29, Y:132.06, Z:7.20 [[-9.98618685e-01 4.68892917e-02 2.37089746e-02 1.51285411e+02] [-4.69191864e-02 -9.98898439e-01 -7.05893104e-04 1.32055112e+02] [ 2.36497589e-02 -1.81732384e-03 9.99718654e-01 7.20481510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.82071405700003 meters Centerline goodness : 0.989579 Centerline is valid? [True, True] Translation: X:151.29, Y:132.05, Z:7.20 [[-9.98599831e-01 4.72892476e-02 2.37087466e-02 1.51290778e+02] [-4.73194628e-02 -9.98879551e-01 -7.14723022e-04 1.32052887e+02] [ 2.36483834e-02 -1.83560744e-03 9.99718653e-01 7.20421423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.850714057 meters Centerline goodness : 0.989782 Centerline is valid? [True, True] Translation: X:151.29, Y:132.05, Z:7.20 [[-9.98540651e-01 4.85225312e-02 2.37093165e-02 1.51287298e+02] [-4.85525653e-02 -9.98820389e-01 -6.92415506e-04 1.32051478e+02] [ 2.36477510e-02 -1.84255317e-03 9.99718655e-01 7.20351990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.880714057 meters Centerline goodness : 0.989699 Centerline is valid? [True, True] Translation: X:151.27, Y:132.05, Z:7.20 [[-9.98520414e-01 4.89370072e-02 2.37097586e-02 1.51271766e+02] [-4.89667426e-02 -9.98800182e-01 -6.74846640e-04 1.32050086e+02] [ 2.36482862e-02 -1.83483779e-03 9.99718656e-01 7.20364884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.910714057 meters Centerline goodness : 0.989839 Centerline is valid? [True, True] Translation: X:151.29, Y:132.05, Z:7.20 [[-9.98582038e-01 4.76627974e-02 2.37101446e-02 1.51286281e+02] [-4.76918088e-02 -9.98861881e-01 -6.59301951e-04 1.32050056e+02] [ 2.36517354e-02 -1.78914677e-03 9.99718658e-01 7.20268478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.940714057 meters Centerline goodness : 0.989919 Centerline is valid? [True, True] Translation: X:151.28, Y:132.05, Z:7.20 [[-9.98529680e-01 4.87483089e-02 2.37082569e-02 1.51284647e+02] [-4.87794246e-02 -9.98809305e-01 -7.35554426e-04 1.32049622e+02] [ 2.36441706e-02 -1.89094806e-03 9.99718649e-01 7.20228611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.970714057 meters Centerline goodness : 0.988489 Centerline is valid? [True, True] Translation: X:151.28, Y:132.05, Z:7.20 [[-9.98471077e-01 4.99343134e-02 2.37080883e-02 1.51284660e+02] [-4.99659230e-02 -9.98750647e-01 -7.42406632e-04 1.32049149e+02] [ 2.36413970e-02 -1.92586806e-03 9.99718648e-01 7.20276027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.000714057 meters Centerline goodness : 0.989037 Centerline is valid? [True, True] Translation: X:151.28, Y:132.05, Z:7.20 [[-9.98450455e-01 5.03448921e-02 2.37082593e-02 1.51282605e+02] [-5.03764503e-02 -9.98730030e-01 -7.35356704e-04 1.32048620e+02] [ 2.36411291e-02 -1.92855518e-03 9.99718649e-01 7.20230910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.030714057 meters Centerline goodness : 0.989985 Centerline is valid? [True, True] Translation: X:151.27, Y:132.05, Z:7.20 [[-9.98476090e-01 4.98337596e-02 2.37085182e-02 1.51274950e+02] [-4.98649190e-02 -9.98755708e-01 -7.24530080e-04 1.32045949e+02] [ 2.36429118e-02 -1.90564930e-03 9.99718651e-01 7.20218568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.060714057 meters Centerline goodness : 0.989462 Centerline is valid? [True, True] Translation: X:151.29, Y:132.04, Z:7.20 [[-9.98270384e-01 5.37988264e-02 2.37050118e-02 1.51289766e+02] [-5.38345706e-02 -9.98549487e-01 -8.71836658e-04 1.32044646e+02] [ 2.36237236e-02 -2.14647785e-03 9.99718617e-01 7.20099885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.090714057 meters Centerline goodness : 0.989669 Centerline is valid? [True, True] Translation: X:151.29, Y:132.04, Z:7.20 [[-9.98559555e-01 4.81303749e-02 2.37124830e-02 1.51292296e+02] [-4.81569227e-02 -9.98839631e-01 -5.49472502e-04 1.32042005e+02] [ 2.36585214e-02 -1.69060123e-03 9.99718669e-01 7.20239122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.120714057 meters Centerline goodness : 0.988836 Centerline is valid? [True, True] Translation: X:151.30, Y:132.04, Z:7.20 [[-9.98371559e-01 5.18869541e-02 2.37059859e-02 1.51304131e+02] [-5.19210756e-02 -9.98650850e-01 -8.25714950e-04 1.32041954e+02] [ 2.36311592e-02 -2.05521061e-03 9.99718633e-01 7.20117948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.150714057 meters Centerline goodness : 0.990491 Centerline is valid? [True, True] Translation: X:151.30, Y:132.04, Z:7.20 [[-9.98772287e-01 4.34929378e-02 2.37124981e-02 1.51304224e+02] [-4.35179503e-02 -9.99052500e-01 -5.39567860e-04 1.32036788e+02] [ 2.36665631e-02 -1.57082474e-03 9.99718674e-01 7.20305336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.180714057 meters Centerline goodness : 0.990165 Centerline is valid? [True, True] Translation: X:151.31, Y:132.03, Z:7.20 [[-9.98773257e-01 4.34753698e-02 2.37038714e-02 1.51313163e+02] [-4.35092024e-02 -9.99052609e-01 -9.13188988e-04 1.32034385e+02] [ 2.36417134e-02 -1.94340528e-03 9.99718607e-01 7.20358845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.210714057 meters Centerline goodness : 0.990873 Centerline is valid? [True, True] Translation: X:151.32, Y:132.03, Z:7.20 [[-9.98782536e-01 4.32616627e-02 2.37038841e-02 1.51316370e+02] [-4.32954225e-02 -9.99061897e-01 -9.12638608e-04 1.32030201e+02] [ 2.36421651e-02 -1.93779718e-03 9.99718607e-01 7.20416159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.240714057 meters Centerline goodness : 0.990978 Centerline is valid? [True, True] Translation: X:151.32, Y:132.03, Z:7.20 [[-9.98696697e-01 4.51982020e-02 2.37071873e-02 1.51324090e+02] [-4.52290618e-02 -9.98976348e-01 -7.66846702e-04 1.32027732e+02] [ 2.36482593e-02 -1.83810111e-03 9.99718651e-01 7.20360468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.270714057 meters Centerline goodness : 0.990508 Centerline is valid? [True, True] Translation: X:151.33, Y:132.02, Z:7.20 [[-9.98893764e-01 4.06095093e-02 2.37089987e-02 1.51328717e+02] [-4.06371681e-02 -9.99173734e-01 -6.85762169e-04 1.32024580e+02] [ 2.36615603e-02 -1.64847012e-03 9.99718667e-01 7.20398129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.300714057 meters Centerline goodness : 0.990105 Centerline is valid? [True, True] Translation: X:151.34, Y:132.02, Z:7.20 [[-9.98956007e-01 3.90496745e-02 2.37069366e-02 1.51335597e+02] [-3.90790883e-02 -9.99235817e-01 -7.78530010e-04 1.32023097e+02] [ 2.36584189e-02 -1.70416270e-03 9.99718648e-01 7.20453572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.330714057 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:151.34, Y:132.02, Z:7.20 [[-9.99158877e-01 3.34575242e-02 2.37093313e-02 1.51342715e+02] [-3.34827666e-02 -9.99439072e-01 -6.68366845e-04 1.32018347e+02] [ 2.36736701e-02 -1.46165867e-03 9.99718671e-01 7.20369840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.360714057 meters Centerline goodness : 0.991273 Centerline is valid? [True, True] Translation: X:151.35, Y:132.02, Z:7.20 [[-9.99229519e-01 3.12823255e-02 2.37019847e-02 1.51348322e+02] [-3.13147703e-02 -9.99509073e-01 -9.98849016e-04 1.32016949e+02] [ 2.36591024e-02 -1.74030163e-03 9.99718570e-01 7.20488403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.390714057 meters Centerline goodness : 0.990292 Centerline is valid? [True, True] Translation: X:151.35, Y:132.02, Z:7.21 [[-9.99411878e-01 2.47763843e-02 2.37071475e-02 1.51354817e+02] [-2.48013591e-02 -9.99692110e-01 -7.59977448e-04 1.32015832e+02] [ 2.36810188e-02 -1.34749997e-03 9.99718657e-01 7.20546010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.420714057 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:151.32, Y:132.02, Z:7.20 [[-9.99580895e-01 1.66109313e-02 2.37088731e-02 1.51320861e+02] [-1.66316962e-02 -9.99861453e-01 -6.78899439e-04 1.32017453e+02] [ 2.36943111e-02 -1.07293368e-03 9.99718675e-01 7.20398873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.450714057 meters Centerline goodness : 0.990877 Centerline is valid? [True, True] Translation: X:150.94, Y:132.02, Z:7.21 [[-9.99197499e-01 3.22875776e-02 2.37037851e-02 1.50940491e+02] [-3.23197581e-02 -9.99477104e-01 -9.75661650e-04 1.32016233e+02] [ 2.36598887e-02 -1.74097928e-03 9.99718550e-01 7.21252026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.480714057 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:150.94, Y:132.01, Z:7.21 [[-9.99277360e-01 2.97044490e-02 2.37150506e-02 1.50937001e+02] [-2.97199386e-02 -9.99558220e-01 -3.00886157e-04 1.32014719e+02] [ 2.36956361e-02 -1.00547857e-03 9.99718713e-01 7.21403116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.51071405700003 meters Centerline goodness : 0.988826 Centerline is valid? [True, True] Translation: X:151.34, Y:132.01, Z:7.21 [[-9.99613322e-01 1.45187280e-02 2.37152472e-02 1.51337097e+02] [-1.45296532e-02 -9.99894397e-01 -2.88425399e-04 1.32011901e+02] [ 2.37085552e-02 -6.32888188e-04 9.99718712e-01 7.21108646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.540714057 meters Centerline goodness : 0.989669 Centerline is valid? [True, True] Translation: X:151.33, Y:132.02, Z:7.21 [[-9.99680886e-01 8.72200995e-03 2.37076477e-02 1.51329181e+02] [-8.74109102e-03 -9.99961550e-01 -7.01335905e-04 1.32015171e+02] [ 2.37006191e-02 -9.08342806e-04 9.99718688e-01 7.20605255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.57071405700003 meters Centerline goodness : 0.989780 Centerline is valid? [True, True] Translation: X:150.84, Y:132.02, Z:7.22 [[-9.99126097e-01 3.44239558e-02 2.37072437e-02 1.50840950e+02] [-3.44509040e-02 -9.99406126e-01 -7.29102021e-04 1.32015303e+02] [ 2.36680660e-02 -1.54520083e-03 9.99718678e-01 7.21754659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.600714057 meters Centerline goodness : 0.989063 Centerline is valid? [True, True] Translation: X:151.35, Y:132.02, Z:7.21 [[-9.99545401e-01 1.86179323e-02 2.37142355e-02 1.51347124e+02] [-1.86280021e-02 -9.99826463e-01 -2.03778459e-04 1.32015097e+02] [ 2.37063263e-02 -6.45434651e-04 9.99718757e-01 7.20709114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.630714057 meters Centerline goodness : 0.984159 Centerline is valid? [True, True] Translation: X:150.44, Y:132.02, Z:7.23 [[-9.98368129e-01 5.19507197e-02 2.37108140e-02 1.50438855e+02] [-5.19767535e-02 -9.98648178e-01 -4.82585562e-04 1.32016842e+02] [ 2.36536906e-02 -1.71420918e-03 9.99718743e-01 7.22902463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.660714057 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:151.33, Y:132.01, Z:7.21 [[-9.99513321e-01 2.02624797e-02 2.37182166e-02 1.51327628e+02] [-2.02640581e-02 -9.99794648e-01 1.73821828e-04 1.32014680e+02] [ 2.37168681e-02 -3.06890087e-04 9.99718668e-01 7.20939201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.690714057 meters Centerline goodness : 0.991353 Centerline is valid? [True, True] Translation: X:151.34, Y:132.02, Z:7.21 [[-9.99424918e-01 2.42571253e-02 2.36944239e-02 1.51336273e+02] [-2.42857996e-02 -9.99704630e-01 -9.23118347e-04 1.32015395e+02] [ 2.36650331e-02 -1.49802551e-03 9.99718822e-01 7.20968341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.720714057 meters Centerline goodness : 0.991345 Centerline is valid? [True, True] Translation: X:151.34, Y:132.02, Z:7.21 [[-9.99334821e-01 2.77245851e-02 2.36909875e-02 1.51344152e+02] [-2.77579228e-02 -9.99614092e-01 -1.07943298e-03 1.32016514e+02] [ 2.36519182e-02 -1.73632757e-03 9.99718746e-01 7.21074364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.750714057 meters Centerline goodness : 0.990550 Centerline is valid? [True, True] Translation: X:151.32, Y:132.02, Z:7.21 [[-9.99038795e-01 3.68798812e-02 2.36930462e-02 1.51324746e+02] [-3.69135139e-02 -9.99317980e-01 -9.83585492e-04 1.32016901e+02] [ 2.36406126e-02 -1.85723366e-03 9.99718797e-01 7.20802245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.780714057 meters Centerline goodness : 0.983362 Centerline is valid? [True, True] Translation: X:151.55, Y:132.04, Z:7.99 [[ 9.99693122e-01 -7.20785490e-03 -2.37003844e-02 1.51547974e+02] [-7.19874667e-03 -9.99973978e-01 4.69604294e-04 1.32042410e+02] [-2.37031526e-02 -2.98847120e-04 -9.99718996e-01 7.99193053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.810714057 meters Centerline goodness : 0.983462 Centerline is valid? [True, True] Translation: X:151.60, Y:132.09, Z:7.99 [[ 9.97417489e-01 6.78169552e-02 -2.36477050e-02 1.51601117e+02] [ 6.78245771e-02 -9.97697146e-01 -4.80525330e-04 1.32089642e+02] [-2.36258356e-02 -1.12461122e-03 -9.99720238e-01 7.99066475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.840714057 meters Centerline goodness : 0.991447 Centerline is valid? [True, True] Translation: X:151.65, Y:132.14, Z:7.99 [[ 9.88994080e-01 1.46091704e-01 -2.34077726e-02 1.51651504e+02] [ 1.46079423e-01 -9.89270323e-01 -2.24296275e-03 1.32144085e+02] [-2.34842930e-02 -1.20111703e-03 -9.99723484e-01 7.98797869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.870714057 meters Centerline goodness : 0.984037 Centerline is valid? [True, True] Translation: X:151.50, Y:132.86, Z:7.20 [[ 9.57058867e-01 -2.88999088e-01 2.27563731e-02 1.51504958e+02] [ 2.88956942e-01 9.57328022e-01 5.19071092e-03 1.32859468e+02] [-2.32854243e-02 1.60779607e-03 9.99727565e-01 7.20071541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.900714057 meters Centerline goodness : 0.991322 Centerline is valid? [True, True] Translation: X:151.54, Y:132.86, Z:7.20 [[ 9.58178762e-01 -2.85270845e-01 2.26716718e-02 1.51542445e+02] [ 2.85218617e-01 9.58446283e-01 5.57348338e-03 1.32864071e+02] [-2.33195319e-02 1.12598947e-03 9.99727429e-01 7.20087727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.930714057 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:151.57, Y:132.87, Z:7.20 [[ 9.58240066e-01 -2.85051808e-01 2.28351322e-02 1.51574994e+02] [ 2.85016846e-01 9.58510286e-01 4.84029537e-03 1.32872107e+02] [-2.32674441e-02 1.87023242e-03 9.99727527e-01 7.19929404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.960714057 meters Centerline goodness : 0.990917 Centerline is valid? [True, True] Translation: X:151.60, Y:132.88, Z:7.20 [[ 9.57364660e-01 -2.87976349e-01 2.28589260e-02 1.51601395e+02] [ 2.87944762e-01 9.57635325e-01 4.73274297e-03 1.32881903e+02] [-2.32534331e-02 2.05114716e-03 9.99727498e-01 7.19546254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.990714057 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:151.63, Y:132.89, Z:7.20 [[ 9.56387902e-01 -2.91209701e-01 2.27835812e-02 1.51630529e+02] [ 2.91170973e-01 9.56657584e-01 5.07264863e-03 1.32894887e+02] [-2.32732902e-02 1.78249773e-03 9.99727551e-01 7.19902841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.020714057 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:151.67, Y:132.90, Z:7.20 [[ 9.58809198e-01 -2.83135271e-01 2.27890471e-02 1.51669523e+02] [ 2.83094854e-01 9.59078632e-01 5.04797307e-03 1.32896668e+02] [-2.32857473e-02 1.61141895e-03 9.99727552e-01 7.20185054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.050714057 meters Centerline goodness : 0.990321 Centerline is valid? [True, True] Translation: X:151.70, Y:132.91, Z:7.20 [[ 9.59226213e-01 -2.81711303e-01 2.28869993e-02 1.51698269e+02] [ 2.81680979e-01 9.59497067e-01 4.60480890e-03 1.32906223e+02] [-2.32572355e-02 2.02977897e-03 9.99727453e-01 7.20296676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.080714057 meters Centerline goodness : 0.990863 Centerline is valid? [True, True] Translation: X:151.73, Y:132.92, Z:7.20 [[ 9.58810809e-01 -2.83123685e-01 2.28650615e-02 1.51731004e+02] [ 2.83091411e-01 9.59081397e-01 4.70385219e-03 1.32915635e+02] [-2.32612271e-02 1.96279818e-03 9.99727494e-01 7.20155849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.110714057 meters Centerline goodness : 0.984093 Centerline is valid? [True, True] Translation: X:151.75, Y:132.93, Z:7.20 [[ 9.57881319e-01 -2.86250829e-01 2.28876035e-02 1.51752742e+02] [ 2.86221918e-01 9.58152316e-01 4.59929274e-03 1.32925783e+02] [-2.32463616e-02 2.14535716e-03 9.99727465e-01 7.19809257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.140714057 meters Centerline goodness : 0.990906 Centerline is valid? [True, True] Translation: X:151.79, Y:132.93, Z:7.20 [[ 9.58641274e-01 -2.83709756e-01 2.27086561e-02 1.51791892e+02] [ 2.83660610e-01 9.58909398e-01 5.42446028e-03 1.32931534e+02] [-2.33145161e-02 1.24143975e-03 9.99727409e-01 7.19832146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.170714057 meters Centerline goodness : 0.991094 Centerline is valid? [True, True] Translation: X:151.82, Y:132.94, Z:7.20 [[ 9.57990260e-01 -2.85886269e-01 2.28845377e-02 1.51824781e+02] [ 2.85856498e-01 9.58261244e-01 4.63158440e-03 1.32941285e+02] [-2.32534720e-02 2.10468105e-03 9.99727386e-01 7.19775135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.200714057 meters Centerline goodness : 0.990635 Centerline is valid? [True, True] Translation: X:151.85, Y:132.95, Z:7.20 [[ 9.57932013e-01 -2.86078991e-01 2.29144146e-02 1.51853446e+02] [ 2.86052472e-01 9.58203403e-01 4.49682828e-03 1.32949386e+02] [-2.32431181e-02 2.24706917e-03 9.99727317e-01 7.19637108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.230714057 meters Centerline goodness : 0.990635 Centerline is valid? [True, True] Translation: X:151.89, Y:132.96, Z:7.20 [[ 9.57883469e-01 -2.86243649e-01 2.28874129e-02 1.51885100e+02] [ 2.86214281e-01 9.58154503e-01 4.61883375e-03 1.32956472e+02] [-2.32517895e-02 2.12639993e-03 9.99727379e-01 7.19556645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.26071405700003 meters Centerline goodness : 0.990751 Centerline is valid? [True, True] Translation: X:151.91, Y:132.97, Z:7.19 [[ 9.56721731e-01 -2.90102802e-01 2.28887373e-02 1.51912128e+02] [ 2.90074669e-01 9.56992899e-01 4.61284911e-03 1.32966792e+02] [-2.32425595e-02 2.22622991e-03 9.99727377e-01 7.19252237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.290714057 meters Centerline goodness : 0.991658 Centerline is valid? [True, True] Translation: X:151.94, Y:132.98, Z:7.19 [[ 9.56309308e-01 -2.91461827e-01 2.28585095e-02 1.51944038e+02] [ 2.91430842e-01 9.56580111e-01 4.74919258e-03 1.32975279e+02] [-2.32502039e-02 2.11997760e-03 9.99727430e-01 7.19219225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.32071405700003 meters Centerline goodness : 0.990444 Centerline is valid? [True, True] Translation: X:151.97, Y:132.99, Z:7.19 [[ 9.55582218e-01 -2.93835789e-01 2.28725559e-02 1.51973155e+02] [ 2.93806979e-01 9.55853284e-01 4.68592542e-03 1.32985738e+02] [-2.32397002e-02 2.24232954e-03 9.99727407e-01 7.19148275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.350714057 meters Centerline goodness : 0.990686 Centerline is valid? [True, True] Translation: X:152.00, Y:132.99, Z:7.19 [[ 9.55699193e-01 -2.93455546e-01 2.28669140e-02 1.52003846e+02] [ 2.93426025e-01 9.55970173e-01 4.71133610e-03 1.32993530e+02] [-2.32426555e-02 2.20712759e-03 9.99727417e-01 7.18972732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.380714057 meters Centerline goodness : 0.991241 Centerline is valid? [True, True] Translation: X:152.03, Y:133.00, Z:7.19 [[ 9.55636886e-01 -2.93658640e-01 2.28636089e-02 1.52033414e+02] [ 2.93628823e-01 9.55907829e-01 4.72623310e-03 1.33004270e+02] [-2.32434019e-02 2.19685188e-03 9.99727422e-01 7.18993262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.410714057 meters Centerline goodness : 0.990528 Centerline is valid? [True, True] Translation: X:152.06, Y:133.01, Z:7.19 [[ 9.56363403e-01 -2.91284435e-01 2.28565077e-02 1.52062021e+02] [ 2.91253186e-01 9.56634173e-01 4.75824709e-03 1.33014793e+02] [-2.32513196e-02 2.10641731e-03 9.99727432e-01 7.19062740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.440714057 meters Centerline goodness : 0.990401 Centerline is valid? [True, True] Translation: X:152.10, Y:133.02, Z:7.19 [[ 9.56371430e-01 -2.91260167e-01 2.28298557e-02 1.52095146e+02] [ 2.91226074e-01 9.56641824e-01 4.87785654e-03 1.33023724e+02] [-2.32607201e-02 1.98360662e-03 9.99727465e-01 7.19413905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.470714057 meters Centerline goodness : 0.989558 Centerline is valid? [True, True] Translation: X:152.12, Y:133.03, Z:7.19 [[ 9.57131913e-01 -2.88747519e-01 2.28773341e-02 1.52123213e+02] [ 2.88717777e-01 9.57402887e-01 4.66444382e-03 1.33031862e+02] [-2.32496723e-02 2.14060500e-03 9.99727398e-01 7.19422850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.500714057 meters Centerline goodness : 0.990107 Centerline is valid? [True, True] Translation: X:152.15, Y:133.04, Z:7.20 [[ 9.57851528e-01 -2.86353864e-01 2.28454444e-02 1.52154508e+02] [ 2.86320039e-01 9.58121974e-01 4.80807596e-03 1.33041760e+02] [-2.32655334e-02 1.93568562e-03 9.99727447e-01 7.19569110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.530714057 meters Centerline goodness : 0.988970 Centerline is valid? [True, True] Translation: X:152.19, Y:133.05, Z:7.20 [[ 9.57888040e-01 -2.86231836e-01 2.28438009e-02 1.52187335e+02] [ 2.86197802e-01 9.58158457e-01 4.81544798e-03 1.33049837e+02] [-2.32663155e-02 1.92518557e-03 9.99727449e-01 7.19685444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.560714057 meters Centerline goodness : 0.988610 Centerline is valid? [True, True] Translation: X:152.22, Y:133.05, Z:7.19 [[ 9.59520755e-01 -2.80708001e-01 2.28678581e-02 1.52221038e+02] [ 2.80674969e-01 9.59791333e-01 4.70740881e-03 1.33054628e+02] [-2.32697793e-02 1.90157892e-03 9.99727414e-01 7.19337686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.590714057 meters Centerline goodness : 0.989001 Centerline is valid? [True, True] Translation: X:152.25, Y:133.06, Z:7.19 [[ 9.58892607e-01 -2.82843906e-01 2.28974585e-02 1.52251318e+02] [ 2.82814621e-01 9.59163678e-01 4.57481479e-03 1.33064879e+02] [-2.32563690e-02 2.08897996e-03 9.99727352e-01 7.19162092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.620714057 meters Centerline goodness : 0.988569 Centerline is valid? [True, True] Translation: X:152.28, Y:133.07, Z:7.19 [[ 9.59138119e-01 -2.82010370e-01 2.28958622e-02 1.52284356e+02] [ 2.81980680e-01 9.59409142e-01 4.58196106e-03 1.33074874e+02] [-2.32586600e-02 2.06145728e-03 9.99727355e-01 7.19197850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.650714057 meters Centerline goodness : 0.988152 Centerline is valid? [True, True] Translation: X:152.31, Y:133.08, Z:7.19 [[ 9.59029668e-01 -2.82377460e-01 2.29143009e-02 1.52310672e+02] [ 2.82349835e-01 9.59300957e-01 4.49934539e-03 1.33081851e+02] [-2.32522245e-02 2.15484336e-03 9.99727308e-01 7.19107051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.680714057 meters Centerline goodness : 0.988343 Centerline is valid? [True, True] Translation: X:152.34, Y:133.09, Z:7.19 [[ 9.57716092e-01 -2.86805722e-01 2.28552818e-02 1.52337269e+02] [ 2.86773096e-01 9.57986694e-01 4.76288653e-03 1.33090823e+02] [-2.32610790e-02 1.99278685e-03 9.99727438e-01 7.18739671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.710714057 meters Centerline goodness : 0.988262 Centerline is valid? [True, True] Translation: X:152.37, Y:133.10, Z:7.18 [[ 9.57704882e-01 -2.86845772e-01 2.28224020e-02 1.52368024e+02] [ 2.86809678e-01 9.57975002e-01 4.90961931e-03 1.33097820e+02] [-2.32715941e-02 1.84371938e-03 9.99727480e-01 7.18474639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.740714057 meters Centerline goodness : 0.988222 Centerline is valid? [True, True] Translation: X:152.40, Y:133.11, Z:7.18 [[ 9.57408287e-01 -2.87834065e-01 2.28237376e-02 1.52398161e+02] [ 2.87798392e-01 9.57678464e-01 4.90365226e-03 1.33106173e+02] [-2.32692401e-02 1.87383765e-03 9.99727478e-01 7.18312167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.770714057 meters Centerline goodness : 0.988630 Centerline is valid? [True, True] Translation: X:152.43, Y:133.11, Z:7.18 [[ 9.57407185e-01 -2.87838433e-01 2.28148592e-02 1.52427034e+02] [ 2.87801821e-01 9.57677229e-01 4.94334760e-03 1.33113696e+02] [-2.32721565e-02 1.83336150e-03 9.99727486e-01 7.18258879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.800714057 meters Centerline goodness : 0.987743 Centerline is valid? [True, True] Translation: X:152.46, Y:133.12, Z:7.18 [[ 9.57424209e-01 -2.87782653e-01 2.28041315e-02 1.52458740e+02] [ 2.87744889e-01 9.57694088e-01 4.99133562e-03 1.33121421e+02] [-2.32758017e-02 1.78294671e-03 9.99727492e-01 7.18383842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.830714057 meters Centerline goodness : 0.987786 Centerline is valid? [True, True] Translation: X:152.49, Y:133.13, Z:7.19 [[ 9.57452402e-01 -2.87688709e-01 2.28057901e-02 1.52489805e+02] [ 2.87651093e-01 9.57722303e-01 4.98391723e-03 1.33129038e+02] [-2.32754305e-02 1.78824693e-03 9.99727491e-01 7.18586209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.860714057 meters Centerline goodness : 0.988059 Centerline is valid? [True, True] Translation: X:152.53, Y:133.14, Z:7.19 [[ 9.58539410e-01 -2.84045783e-01 2.28077482e-02 1.52528116e+02] [ 2.84007349e-01 9.58809196e-01 4.97516194e-03 1.33136342e+02] [-2.32814524e-02 1.70867931e-03 9.99727490e-01 7.18699781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.890714057 meters Centerline goodness : 0.988058 Centerline is valid? [True, True] Translation: X:152.56, Y:133.14, Z:7.19 [[ 9.58850404e-01 -2.82985672e-01 2.29131364e-02 1.52557863e+02] [ 2.82958136e-01 9.59121691e-01 4.50280664e-03 1.33144227e+02] [-2.32507159e-02 2.16594040e-03 9.99727319e-01 7.18614397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.920714057 meters Centerline goodness : 0.987377 Centerline is valid? [True, True] Translation: X:152.59, Y:133.15, Z:7.19 [[ 9.58507001e-01 -2.84148827e-01 2.28861109e-02 1.52586354e+02] [ 2.84118751e-01 9.58777950e-01 4.62367804e-03 1.33154015e+02] [-2.32565111e-02 2.07054547e-03 9.99727387e-01 7.18597463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.950714057 meters Centerline goodness : 0.988859 Centerline is valid? [True, True] Translation: X:152.61, Y:133.17, Z:7.18 [[ 9.56314019e-01 -2.91446218e-01 2.28604350e-02 1.52608171e+02] [ 2.91415483e-01 9.56584844e-01 4.73843994e-03 1.33167936e+02] [-2.32489460e-02 2.13044816e-03 9.99727437e-01 7.18294562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.980714057 meters Centerline goodness : 0.986800 Centerline is valid? [True, True] Translation: X:152.65, Y:133.17, Z:7.18 [[ 9.58794246e-01 -2.83186799e-01 2.27778782e-02 1.52646280e+02] [ 2.83145011e-01 9.59063514e-01 5.10668398e-03 1.33168846e+02] [-2.32915774e-02 1.55318336e-03 9.99727508e-01 7.18401526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.01071405700003 meters Centerline goodness : 0.987120 Centerline is valid? [True, True] Translation: X:152.68, Y:133.18, Z:7.18 [[ 9.58557044e-01 -2.83983532e-01 2.28417761e-02 1.52679321e+02] [ 2.83948695e-01 9.58827347e-01 4.82250253e-03 1.33176157e+02] [-2.32708309e-02 1.86324875e-03 9.99727461e-01 7.18301445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.040714057 meters Centerline goodness : 0.985615 Centerline is valid? [True, True] Translation: X:152.70, Y:133.18, Z:7.18 [[ 9.58428045e-01 -2.84416693e-01 2.28654081e-02 1.52702999e+02] [ 2.84384472e-01 9.58698711e-01 4.71730898e-03 1.33182717e+02] [-2.32627187e-02 1.98136579e-03 9.99727423e-01 7.18092028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.07071405700003 meters Centerline goodness : 0.986951 Centerline is valid? [True, True] Translation: X:152.74, Y:133.19, Z:7.18 [[ 9.58283152e-01 -2.84911926e-01 2.27726885e-02 1.52738774e+02] [ 2.84870095e-01 9.58552410e-01 5.12899300e-03 1.33191296e+02] [-2.32901267e-02 1.57223035e-03 9.99727512e-01 7.17915042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.100714057 meters Centerline goodness : 0.985879 Centerline is valid? [True, True] Translation: X:152.77, Y:133.20, Z:7.18 [[ 9.58625267e-01 -2.83753200e-01 2.28411921e-02 1.52765170e+02] [ 2.83718255e-01 9.58895551e-01 4.82432164e-03 1.33197646e+02] [-2.32712342e-02 1.85574655e-03 9.99727466e-01 7.17691008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.130714057 meters Centerline goodness : 0.987152 Centerline is valid? [True, True] Translation: X:152.80, Y:133.21, Z:7.18 [[ 9.58937113e-01 -2.82703021e-01 2.27731366e-02 1.52801998e+02] [ 2.82660625e-01 9.59206281e-01 5.12663766e-03 1.33205593e+02] [-2.32934516e-02 1.52094590e-03 9.99727514e-01 7.17564282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.160714057 meters Centerline goodness : 0.987185 Centerline is valid? [True, True] Translation: X:152.83, Y:133.21, Z:7.17 [[ 9.59522289e-01 -2.80704113e-01 2.28512030e-02 1.52834816e+02] [ 2.80669365e-01 9.59792614e-01 4.77972501e-03 1.33214277e+02] [-2.32741043e-02 1.82737994e-03 9.99727451e-01 7.17497379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.190714057 meters Centerline goodness : 0.987742 Centerline is valid? [True, True] Translation: X:152.86, Y:133.22, Z:7.17 [[ 9.59915535e-01 -2.79353897e-01 2.28815902e-02 1.52863642e+02] [ 2.79321973e-01 9.60186265e-01 4.64451086e-03 1.33223397e+02] [-2.32680509e-02 1.93299280e-03 9.99727394e-01 7.17439440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.220714057 meters Centerline goodness : 0.986816 Centerline is valid? [True, True] Translation: X:152.90, Y:133.23, Z:7.17 [[ 9.61219583e-01 -2.74835266e-01 2.28580198e-02 1.52896037e+02] [ 2.74799585e-01 9.61489798e-01 4.74936498e-03 1.33230728e+02] [-2.32830459e-02 1.71619174e-03 9.99727440e-01 7.17422508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.250714057 meters Centerline goodness : 0.986960 Centerline is valid? [True, True] Translation: X:152.93, Y:133.24, Z:7.17 [[ 9.61885706e-01 -2.72493799e-01 2.28695812e-02 1.52929013e+02] [ 2.72458678e-01 9.62156015e-01 4.69795409e-03 1.33238925e+02] [-2.32842685e-02 1.71212098e-03 9.99727419e-01 7.17295109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.280714057 meters Centerline goodness : 0.986560 Centerline is valid? [True, True] Translation: X:152.96, Y:133.25, Z:7.17 [[ 9.62203082e-01 -2.71370047e-01 2.28807044e-02 1.52960469e+02] [ 2.71335777e-01 9.62473525e-01 4.64865626e-03 1.33247045e+02] [-2.32835783e-02 1.73540235e-03 9.99727395e-01 7.17224481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.310714057 meters Centerline goodness : 0.986658 Centerline is valid? [True, True] Translation: X:152.99, Y:133.25, Z:7.17 [[ 9.64074976e-01 -2.64642359e-01 2.28880356e-02 1.52990651e+02] [ 2.64606970e-01 9.64345292e-01 4.61618252e-03 1.33254886e+02] [-2.32936068e-02 1.60598768e-03 9.99727377e-01 7.16977499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.340714057 meters Centerline goodness : 0.986919 Centerline is valid? [True, True] Translation: X:153.02, Y:133.26, Z:7.17 [[ 9.65488947e-01 -2.59436219e-01 2.28897822e-02 1.53023221e+02] [ 2.59399555e-01 9.65759097e-01 4.60840887e-03 1.33263943e+02] [-2.33016036e-02 1.48823149e-03 9.99727373e-01 7.16982893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.370714057 meters Centerline goodness : 0.986453 Centerline is valid? [True, True] Translation: X:153.05, Y:133.27, Z:7.17 [[ 9.66295600e-01 -2.56413051e-01 2.29163879e-02 1.53052134e+02] [ 2.56378342e-01 9.66566079e-01 4.48995640e-03 1.33271928e+02] [-2.33014866e-02 1.53664042e-03 9.99727303e-01 7.16933949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.400714057 meters Centerline goodness : 0.987125 Centerline is valid? [True, True] Translation: X:153.08, Y:133.28, Z:7.17 [[ 9.67661151e-01 -2.51212259e-01 2.28975697e-02 1.53083706e+02] [ 2.51174108e-01 9.67931116e-01 4.57406078e-03 1.33278616e+02] [-2.33123304e-02 1.32513575e-03 9.99727352e-01 7.16805843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.430714057 meters Centerline goodness : 0.988953 Centerline is valid? [True, True] Translation: X:153.10, Y:133.30, Z:7.17 [[ 9.64663703e-01 -2.62487638e-01 2.28949621e-02 1.53095551e+02] [ 2.62452367e-01 9.64934053e-01 4.58566859e-03 1.33297884e+02] [-2.32958099e-02 1.58520896e-03 9.99727359e-01 7.17244876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.460714057 meters Centerline goodness : 0.988900 Centerline is valid? [True, True] Translation: X:153.13, Y:133.30, Z:7.17 [[ 9.65630847e-01 -2.58924490e-01 2.26974949e-02 1.53128570e+02] [ 2.58867564e-01 9.65897379e-01 5.46233297e-03 1.33303595e+02] [-2.33377826e-02 6.01048019e-04 9.99727456e-01 7.17385624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.490714057 meters Centerline goodness : 0.988482 Centerline is valid? [True, True] Translation: X:153.18, Y:133.30, Z:7.17 [[ 9.68746900e-01 -2.47009670e-01 2.27082953e-02 1.53176350e+02] [ 2.46950592e-01 9.69012947e-01 5.41419086e-03 1.33298922e+02] [-2.33419897e-02 3.62846378e-04 9.99727473e-01 7.16998547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.520714057 meters Centerline goodness : 0.988111 Centerline is valid? [True, True] Translation: X:153.21, Y:133.31, Z:7.17 [[ 9.68684342e-01 -2.47234919e-01 2.29246523e-02 1.53205822e+02] [ 2.47198761e-01 9.68954610e-01 4.44261456e-03 1.33305676e+02] [-2.33113170e-02 1.36345448e-03 9.99727325e-01 7.16985617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.550714057 meters Centerline goodness : 0.988216 Centerline is valid? [True, True] Translation: X:153.24, Y:133.31, Z:7.17 [[ 9.67950035e-01 -2.50096565e-01 2.29006236e-02 1.53235518e+02] [ 2.50058665e-01 9.68219996e-01 4.55015450e-03 1.33312823e+02] [-2.33108197e-02 1.32217716e-03 9.99727392e-01 7.16929311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.580714057 meters Centerline goodness : 0.988409 Centerline is valid? [True, True] Translation: X:153.27, Y:133.32, Z:7.17 [[ 9.66624711e-01 -2.55171695e-01 2.28926452e-02 1.53265031e+02] [ 2.55134370e-01 9.66894732e-01 4.58582224e-03 1.33318335e+02] [-2.33049501e-02 1.40793149e-03 9.99727411e-01 7.16764845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.610714057 meters Centerline goodness : 0.988745 Centerline is valid? [True, True] Translation: X:153.30, Y:133.32, Z:7.17 [[ 9.65854759e-01 -2.58072819e-01 2.28693053e-02 1.53295694e+02] [ 2.58033840e-01 9.66124495e-01 4.69009056e-03 1.33324679e+02] [-2.33049809e-02 1.37110839e-03 9.99727462e-01 7.16600258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.640714057 meters Centerline goodness : 0.988342 Centerline is valid? [True, True] Translation: X:153.33, Y:133.33, Z:7.17 [[ 9.63788258e-01 -2.65686994e-01 2.28607602e-02 1.53325361e+02] [ 2.65649243e-01 9.64058153e-01 4.72825819e-03 1.33330187e+02] [-2.32953390e-02 1.51590394e-03 9.99727477e-01 7.16673248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.670714057 meters Centerline goodness : 0.987817 Centerline is valid? [True, True] Translation: X:153.36, Y:133.34, Z:7.17 [[ 9.62554686e-01 -2.70124294e-01 2.28329034e-02 1.53355441e+02] [ 2.70084851e-01 9.62824297e-01 4.85241585e-03 1.33336949e+02] [-2.32948296e-02 1.49610569e-03 9.99727519e-01 7.16659919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.700714057 meters Centerline goodness : 0.989624 Centerline is valid? [True, True] Translation: X:153.39, Y:133.34, Z:7.17 [[ 9.60847888e-01 -2.76134189e-01 2.28307917e-02 1.53385520e+02] [ 2.76096209e-01 9.61117707e-01 4.86182697e-03 1.33342841e+02] [-2.32855948e-02 1.63201885e-03 9.99727522e-01 7.16590821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.730714057 meters Centerline goodness : 0.989103 Centerline is valid? [True, True] Translation: X:153.42, Y:133.35, Z:7.16 [[ 9.59695498e-01 -2.80114509e-01 2.28125423e-02 1.53417547e+02] [ 2.80075722e-01 9.59965184e-01 4.94318585e-03 1.33349027e+02] [-2.32839045e-02 1.64528606e-03 9.99727539e-01 7.16276645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.76071405700003 meters Centerline goodness : 0.987803 Centerline is valid? [True, True] Translation: X:153.45, Y:133.36, Z:7.16 [[ 9.59201432e-01 -2.81801603e-01 2.28138085e-02 1.53447027e+02] [ 2.81763424e-01 9.59471205e-01 4.93753718e-03 1.33356198e+02] [-2.32805983e-02 1.69200406e-03 9.99727538e-01 7.16410845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.790714057 meters Centerline goodness : 0.989146 Centerline is valid? [True, True] Translation: X:153.48, Y:133.36, Z:7.16 [[ 9.59033155e-01 -2.82375842e-01 2.27879834e-02 1.53479198e+02] [ 2.82335100e-01 9.59302539e-01 5.05265856e-03 1.33362603e+02] [-2.32873190e-02 1.58818050e-03 9.99727552e-01 7.16312651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.82071405700003 meters Centerline goodness : 0.988536 Centerline is valid? [True, True] Translation: X:153.51, Y:133.37, Z:7.16 [[ 9.58792144e-01 -2.83192200e-01 2.27991855e-02 1.53508061e+02] [ 2.83152871e-01 9.59061742e-01 5.00266678e-03 1.33369929e+02] [-2.32825428e-02 1.65913721e-03 9.99727548e-01 7.16239737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.850714057 meters Centerline goodness : 0.988452 Centerline is valid? [True, True] Translation: X:153.54, Y:133.38, Z:7.16 [[ 9.58877846e-01 -2.82903842e-01 2.27748392e-02 1.53540083e+02] [ 2.82861863e-01 9.59147038e-01 5.11129989e-03 1.33376897e+02] [-2.32904260e-02 1.54102121e-03 9.99727554e-01 7.16156168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.880714057 meters Centerline goodness : 0.989147 Centerline is valid? [True, True] Translation: X:153.57, Y:133.38, Z:7.16 [[ 9.58797216e-01 -2.83176496e-01 2.27809205e-02 1.53568850e+02] [ 2.83135236e-01 9.59066520e-01 5.08414258e-03 1.33384775e+02] [-2.32881278e-02 1.57541953e-03 9.99727553e-01 7.16164316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.910714057 meters Centerline goodness : 0.988158 Centerline is valid? [True, True] Translation: X:153.60, Y:133.39, Z:7.16 [[ 9.58685333e-01 -2.83556462e-01 2.27632352e-02 1.53598331e+02] [ 2.83513440e-01 9.58954364e-01 5.16313047e-03 1.33392338e+02] [-2.32929428e-02 1.50386568e-03 9.99727551e-01 7.16259125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.940714057 meters Centerline goodness : 0.988186 Centerline is valid? [True, True] Translation: X:153.63, Y:133.40, Z:7.16 [[ 9.58636057e-01 -2.83724503e-01 2.27446167e-02 1.53628878e+02] [ 2.83679563e-01 9.58904783e-01 5.24629917e-03 1.33399244e+02] [-2.32984253e-02 1.42289137e-03 9.99727542e-01 7.16270584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.970714057 meters Centerline goodness : 0.987724 Centerline is valid? [True, True] Translation: X:153.66, Y:133.41, Z:7.16 [[ 9.58076076e-01 -2.85610013e-01 2.27410017e-02 1.53658177e+02] [ 2.85565221e-01 9.58344829e-01 5.26246107e-03 1.33406810e+02] [-2.32967329e-02 1.45220110e-03 9.99727540e-01 7.16284073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.000714057 meters Centerline goodness : 0.988268 Centerline is valid? [True, True] Translation: X:153.69, Y:133.41, Z:7.16 [[ 9.57737767e-01 -2.86743188e-01 2.27313461e-02 1.53691815e+02] [ 2.86697691e-01 9.58006411e-01 5.30573305e-03 1.33414603e+02] [-2.32981581e-02 1.43552350e-03 9.99727530e-01 7.16160380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.030714057 meters Centerline goodness : 0.989284 Centerline is valid? [True, True] Translation: X:153.73, Y:133.42, Z:7.16 [[ 9.57025777e-01 -2.89109258e-01 2.27486055e-02 1.53725350e+02] [ 2.89066257e-01 9.57294816e-01 5.22822106e-03 1.33422763e+02] [-2.32886492e-02 1.57231193e-03 9.99727546e-01 7.15800961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.060714057 meters Centerline goodness : 0.988955 Centerline is valid? [True, True] Translation: X:153.76, Y:133.43, Z:7.16 [[ 9.56534503e-01 -2.90728945e-01 2.27689387e-02 1.53755899e+02] [ 2.90688563e-01 9.56803937e-01 5.13675565e-03 1.33430124e+02] [-2.32788137e-02 1.70518605e-03 9.99727557e-01 7.15695117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.090714057 meters Centerline goodness : 0.989168 Centerline is valid? [True, True] Translation: X:153.79, Y:133.44, Z:7.16 [[ 9.56272364e-01 -2.91590638e-01 2.27610594e-02 1.53790932e+02] [ 2.91549659e-01 9.56541711e-01 5.17224151e-03 1.33435916e+02] [-2.32800798e-02 1.68990749e-03 9.99727554e-01 7.15679968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.120714057 meters Centerline goodness : 0.989168 Centerline is valid? [True, True] Translation: X:153.82, Y:133.44, Z:7.16 [[ 9.56329275e-01 -2.91401205e-01 2.27959726e-02 1.53821927e+02] [ 2.91363902e-01 9.56599148e-01 5.01470026e-03 1.33442817e+02] [-2.32678977e-02 1.84621887e-03 9.99727561e-01 7.15612736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.150714057 meters Centerline goodness : 0.989427 Centerline is valid? [True, True] Translation: X:153.85, Y:133.45, Z:7.15 [[ 9.55916776e-01 -2.92751451e-01 2.27970225e-02 1.53852688e+02] [ 2.92714642e-01 9.56186717e-01 5.00995818e-03 1.33450823e+02] [-2.32648826e-02 1.88391920e-03 9.99727561e-01 7.15325989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.180714057 meters Centerline goodness : 0.989014 Centerline is valid? [True, True] Translation: X:153.89, Y:133.46, Z:7.15 [[ 9.55840847e-01 -2.92999045e-01 2.27998737e-02 1.53886263e+02] [ 2.92962611e-01 9.56110840e-01 4.99706622e-03 1.33457684e+02] [-2.32633420e-02 1.90311050e-03 9.99727560e-01 7.15485793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.210714057 meters Centerline goodness : 0.988759 Centerline is valid? [True, True] Translation: X:153.92, Y:133.46, Z:7.16 [[ 9.56212884e-01 -2.91780361e-01 2.28285034e-02 1.53919045e+02] [ 2.91746653e-01 9.56483245e-01 4.86751802e-03 1.33464756e+02] [-2.32553272e-02 2.00575600e-03 9.99727546e-01 7.15536302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.240714057 meters Centerline goodness : 0.989287 Centerline is valid? [True, True] Translation: X:153.95, Y:133.47, Z:7.16 [[ 9.56933781e-01 -2.89405950e-01 2.28459035e-02 1.53951480e+02] [ 2.89373439e-01 9.57204305e-01 4.78870105e-03 1.33473091e+02] [-2.32540758e-02 2.02852787e-03 9.99727529e-01 7.15727077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.270714057 meters Centerline goodness : 0.988278 Centerline is valid? [True, True] Translation: X:153.98, Y:133.48, Z:7.16 [[ 9.57501559e-01 -2.87520990e-01 2.28570590e-02 1.53981393e+02] [ 2.87489145e-01 9.57772176e-01 4.73812976e-03 1.33480802e+02] [-2.32541669e-02 2.03438974e-03 9.99727515e-01 7.15595966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.300714057 meters Centerline goodness : 0.988117 Centerline is valid? [True, True] Translation: X:154.01, Y:133.49, Z:7.15 [[ 9.58652441e-01 -2.83660477e-01 2.28523887e-02 1.54012177e+02] [ 2.83627040e-01 9.58922860e-01 4.75930108e-03 1.33489257e+02] [-2.32637035e-02 1.91903977e-03 9.99727522e-01 7.15497323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.330714057 meters Centerline goodness : 0.988041 Centerline is valid? [True, True] Translation: X:154.04, Y:133.50, Z:7.16 [[ 9.59190162e-01 -2.81836715e-01 2.28538726e-02 1.54044521e+02] [ 2.81802924e-01 9.59460539e-01 4.75256958e-03 1.33497103e+02] [-2.32668375e-02 1.88167012e-03 9.99727520e-01 7.15526725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.360714057 meters Centerline goodness : 0.988091 Centerline is valid? [True, True] Translation: X:154.08, Y:133.51, Z:7.16 [[ 9.60781820e-01 -2.76361489e-01 2.28609320e-02 1.54075556e+02] [ 2.76326915e-01 9.61052107e-01 4.72054219e-03 1.33505875e+02] [-2.32751229e-02 1.78167969e-03 9.99727510e-01 7.15646269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.390714057 meters Centerline goodness : 0.988104 Centerline is valid? [True, True] Translation: X:154.11, Y:133.52, Z:7.16 [[ 9.61766691e-01 -2.72914452e-01 2.28590053e-02 1.54107473e+02] [ 2.72878702e-01 9.62036823e-01 4.72924321e-03 1.33515986e+02] [-2.32818836e-02 1.68930709e-03 9.99727513e-01 7.15805249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.420714057 meters Centerline goodness : 0.987495 Centerline is valid? [True, True] Translation: X:154.14, Y:133.52, Z:7.16 [[ 9.62605798e-01 -2.69937441e-01 2.28878983e-02 1.54139470e+02] [ 2.69903947e-01 9.62876270e-01 4.59861083e-03 1.33523254e+02] [-2.32795514e-02 1.75088463e-03 9.99727461e-01 7.15813444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.450714057 meters Centerline goodness : 0.988264 Centerline is valid? [True, True] Translation: X:154.17, Y:133.53, Z:7.16 [[ 9.62950236e-01 -2.68705118e-01 2.28998501e-02 1.54172570e+02] [ 2.68672553e-01 9.63220849e-01 4.54473789e-03 1.33531787e+02] [-2.32788074e-02 1.77620478e-03 9.99727434e-01 7.15849972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.480714057 meters Centerline goodness : 0.987734 Centerline is valid? [True, True] Translation: X:154.20, Y:133.54, Z:7.16 [[ 9.64265284e-01 -2.63945292e-01 2.29204008e-02 1.54203087e+02] [ 2.63913585e-01 9.64536054e-01 4.45204466e-03 1.33540171e+02] [-2.32826492e-02 1.75605303e-03 9.99727380e-01 7.15845461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.51071405700003 meters Centerline goodness : 0.987280 Centerline is valid? [True, True] Translation: X:154.24, Y:133.55, Z:7.16 [[ 9.64521201e-01 -2.63010102e-01 2.29028344e-02 1.54235745e+02] [ 2.62976267e-01 9.64791664e-01 4.53086729e-03 1.33548063e+02] [-2.32881276e-02 1.65278433e-03 9.99727429e-01 7.15876498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.540714057 meters Centerline goodness : 0.987744 Centerline is valid? [True, True] Translation: X:154.26, Y:133.56, Z:7.16 [[ 9.65391012e-01 -2.59796690e-01 2.29319443e-02 1.54264320e+02] [ 2.59765047e-01 9.65661824e-01 4.40016119e-03 1.33556857e+02] [-2.32876505e-02 1.70904153e-03 9.99727345e-01 7.15809586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.57071405700003 meters Centerline goodness : 0.987188 Centerline is valid? [True, True] Translation: X:154.30, Y:133.56, Z:7.16 [[ 9.66247067e-01 -2.56596214e-01 2.29126190e-02 1.54295024e+02] [ 2.56561613e-01 9.66517461e-01 4.48726544e-03 1.33564988e+02] [-2.32968617e-02 1.54269141e-03 9.99727401e-01 7.15912143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.600714057 meters Centerline goodness : 0.987782 Centerline is valid? [True, True] Translation: X:154.33, Y:133.57, Z:7.16 [[ 9.66684106e-01 -2.54944617e-01 2.29146540e-02 1.54326360e+02] [ 2.54909771e-01 9.66954474e-01 4.47809392e-03 1.33572391e+02] [-2.32990932e-02 1.51226700e-03 9.99727395e-01 7.15845006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.630714057 meters Centerline goodness : 0.986891 Centerline is valid? [True, True] Translation: X:154.36, Y:133.58, Z:7.16 [[ 9.66818599e-01 -2.54435530e-01 2.28988541e-02 1.54358530e+02] [ 2.54398872e-01 9.67088684e-01 4.54871538e-03 1.33580677e+02] [-2.33025775e-02 1.42766002e-03 9.99727439e-01 7.15781271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.660714057 meters Centerline goodness : 0.987600 Centerline is valid? [True, True] Translation: X:154.39, Y:133.59, Z:7.15 [[ 9.67803048e-01 -2.50661932e-01 2.29315591e-02 1.54389469e+02] [ 2.50627678e-01 9.68073544e-01 4.40237653e-03 1.33587825e+02] [-2.33029439e-02 1.48664999e-03 9.99727344e-01 7.15421943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.690714057 meters Centerline goodness : 0.987131 Centerline is valid? [True, True] Translation: X:154.42, Y:133.60, Z:7.15 [[ 9.67885128e-01 -2.50344839e-01 2.29312129e-02 1.54419994e+02] [ 2.50310460e-01 9.68155607e-01 4.40392149e-03 1.33595525e+02] [-2.33034813e-02 1.47743233e-03 9.99727345e-01 7.15346145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.720714057 meters Centerline goodness : 0.987031 Centerline is valid? [True, True] Translation: X:154.45, Y:133.60, Z:7.15 [[ 9.68102886e-01 -2.49502810e-01 2.29161546e-02 1.54451914e+02] [ 2.49466613e-01 9.68373079e-01 4.47090447e-03 1.33600833e+02] [-2.33068904e-02 1.38851996e-03 9.99727393e-01 7.15160921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.750714057 meters Centerline goodness : 0.988149 Centerline is valid? [True, True] Translation: X:154.48, Y:133.61, Z:7.15 [[ 9.68593851e-01 -2.47588504e-01 2.29321966e-02 1.54479980e+02] [ 2.47553457e-01 9.68864247e-01 4.39963667e-03 1.33607854e+02] [-2.33074848e-02 1.41548351e-03 9.99727342e-01 7.15008725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.780714057 meters Centerline goodness : 0.987173 Centerline is valid? [True, True] Translation: X:154.51, Y:133.61, Z:7.15 [[ 9.68789346e-01 -2.46825829e-01 2.28957044e-02 1.54514189e+02] [ 2.46786749e-01 9.69059077e-01 4.56140721e-03 1.33612810e+02] [-2.33131633e-02 1.23131374e-03 9.99727453e-01 7.14589657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.810714057 meters Centerline goodness : 0.986713 Centerline is valid? [True, True] Translation: X:154.55, Y:133.62, Z:7.15 [[ 9.69149209e-01 -2.45405321e-01 2.29355281e-02 1.54545077e+02] [ 2.45370015e-01 9.69419584e-01 4.38484025e-03 1.33621260e+02] [-2.33102132e-02 1.37812640e-03 9.99727330e-01 7.14751398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.840714057 meters Centerline goodness : 0.987987 Centerline is valid? [True, True] Translation: X:154.58, Y:133.63, Z:7.15 [[ 9.69257516e-01 -2.44977987e-01 2.29271459e-02 1.54575705e+02] [ 2.44941686e-01 9.69527729e-01 4.42186454e-03 1.33628068e+02] [-2.33117632e-02 1.32988834e-03 9.99727359e-01 7.14609225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.870714057 meters Centerline goodness : 0.987526 Centerline is valid? [True, True] Translation: X:154.61, Y:133.63, Z:7.15 [[ 9.69212065e-01 -2.45157833e-01 2.29261784e-02 1.54608217e+02] [ 2.45121482e-01 9.69482268e-01 4.42613147e-03 1.33633965e+02] [-2.33116242e-02 1.32983880e-03 9.99727363e-01 7.14553936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.900714057 meters Centerline goodness : 0.987034 Centerline is valid? [True, True] Translation: X:154.64, Y:133.64, Z:7.14 [[ 9.70358572e-01 -2.40578259e-01 2.29421673e-02 1.54642389e+02] [ 2.40542296e-01 9.70628885e-01 4.35566200e-03 1.33636060e+02] [-2.33162079e-02 1.29200765e-03 9.99727305e-01 7.13855861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.930714057 meters Centerline goodness : 0.986817 Centerline is valid? [True, True] Translation: X:154.66, Y:133.64, Z:7.14 [[ 9.69226840e-01 -2.45093645e-01 2.29877945e-02 1.54664018e+02] [ 2.45063784e-01 9.69498072e-01 4.15086571e-03 1.33643490e+02] [-2.33039732e-02 1.61034545e-03 9.99727129e-01 7.14389088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.960714057 meters Centerline goodness : 0.987671 Centerline is valid? [True, True] Translation: X:154.70, Y:133.65, Z:7.14 [[ 9.68123520e-01 -2.49427590e-01 2.28632458e-02 1.54697980e+02] [ 2.49385956e-01 9.68392767e-01 4.70031920e-03 1.33650413e+02] [-2.33129911e-02 1.15128284e-03 9.99727552e-01 7.14438227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.990714057 meters Centerline goodness : 0.987329 Centerline is valid? [True, True] Translation: X:154.73, Y:133.65, Z:7.14 [[ 9.66815509e-01 -2.54445689e-01 2.29164306e-02 1.54730181e+02] [ 2.54410992e-01 9.67085882e-01 4.46584662e-03 1.33654393e+02] [-2.32984720e-02 1.51254208e-03 9.99727410e-01 7.14047824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.020714057 meters Centerline goodness : 0.986586 Centerline is valid? [True, True] Translation: X:154.76, Y:133.66, Z:7.14 [[ 9.66424184e-01 -2.55928886e-01 2.29063709e-02 1.54762361e+02] [ 2.55893556e-01 9.66694443e-01 4.51016262e-03 1.33661301e+02] [-2.32977424e-02 1.50286248e-03 9.99727441e-01 7.14275314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.050714057 meters Centerline goodness : 0.986015 Centerline is valid? [True, True] Translation: X:154.79, Y:133.67, Z:7.14 [[ 9.65266789e-01 -2.60259810e-01 2.29097770e-02 1.54794631e+02] [ 2.60226046e-01 9.65537259e-01 4.49519070e-03 1.33665194e+02] [-2.32901608e-02 1.62266239e-03 9.99727431e-01 7.14248529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.080714057 meters Centerline goodness : 0.986438 Centerline is valid? [True, True] Translation: X:154.82, Y:133.67, Z:7.14 [[ 9.64722383e-01 -2.62270134e-01 2.29150647e-02 1.54823898e+02] [ 2.62237483e-01 9.64993007e-01 4.47196339e-03 1.33670592e+02] [-2.32857396e-02 1.69498569e-03 9.99727414e-01 7.14139041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.110714057 meters Centerline goodness : 0.985278 Centerline is valid? [True, True] Translation: X:154.86, Y:133.67, Z:7.14 [[ 9.63392240e-01 -2.67116542e-01 2.28942111e-02 1.54856365e+02] [ 2.67083089e-01 9.63662700e-01 4.56327840e-03 1.33674670e+02] [-2.32812244e-02 1.71842963e-03 9.99727479e-01 7.14058627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.140714057 meters Centerline goodness : 0.985537 Centerline is valid? [True, True] Translation: X:154.89, Y:133.68, Z:7.14 [[ 9.62872829e-01 -2.68981630e-01 2.29084622e-02 1.54885668e+02] [ 2.68950180e-01 9.63143573e-01 4.50087503e-03 1.33679584e+02] [-2.32747908e-02 1.82746475e-03 9.99727435e-01 7.13978212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.170714057 meters Centerline goodness : 0.985838 Centerline is valid? [True, True] Translation: X:154.92, Y:133.69, Z:7.14 [[ 9.62544745e-01 -2.70155925e-01 2.28777312e-02 1.54917381e+02] [ 2.70121620e-01 9.62815052e-01 4.63527717e-03 1.33685317e+02] [-2.32792716e-02 1.71810816e-03 9.99727525e-01 7.13889557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.200714057 meters Centerline goodness : 0.986494 Centerline is valid? [True, True] Translation: X:154.95, Y:133.69, Z:7.14 [[ 9.62017514e-01 -2.72028321e-01 2.28668869e-02 1.54949584e+02] [ 2.71993424e-01 9.62287718e-01 4.68251139e-03 1.33690752e+02] [-2.32783001e-02 1.71498490e-03 9.99727553e-01 7.13601570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.230714057 meters Centerline goodness : 0.984676 Centerline is valid? [True, True] Translation: X:154.98, Y:133.70, Z:7.14 [[ 9.61745937e-01 -2.72985914e-01 2.28788707e-02 1.54978626e+02] [ 2.72952523e-01 9.62016362e-01 4.63030576e-03 1.33697305e+02] [-2.32738562e-02 1.79166774e-03 9.99727522e-01 7.13576963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.26071405700003 meters Centerline goodness : 0.986338 Centerline is valid? [True, True] Translation: X:155.01, Y:133.70, Z:7.13 [[ 9.61761097e-01 -2.72933508e-01 2.28668659e-02 1.55008455e+02] [ 2.72898863e-01 9.62031332e-01 4.68261065e-03 1.33703576e+02] [-2.32766828e-02 1.73678893e-03 9.99727553e-01 7.13451517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.290714057 meters Centerline goodness : 0.985325 Centerline is valid? [True, True] Translation: X:155.04, Y:133.71, Z:7.13 [[ 9.61522083e-01 -2.73775960e-01 2.28475031e-02 1.55040157e+02] [ 2.73739558e-01 9.61792042e-01 4.76677526e-03 1.33709733e+02] [-2.32795751e-02 1.67090572e-03 9.99727598e-01 7.13492702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.32071405700003 meters Centerline goodness : 0.985518 Centerline is valid? [True, True] Translation: X:155.07, Y:133.72, Z:7.13 [[ 9.61633988e-01 -2.73382788e-01 2.28456442e-02 1.55070495e+02] [ 2.73346085e-01 9.61903903e-01 4.77485463e-03 1.33715796e+02] [-2.32806774e-02 1.65310491e-03 9.99727602e-01 7.13168577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.350714057 meters Centerline goodness : 0.985350 Centerline is valid? [True, True] Translation: X:155.10, Y:133.72, Z:7.13 [[ 9.60974873e-01 -2.75690651e-01 2.28464215e-02 1.55101116e+02] [ 2.75654676e-01 9.61244887e-01 4.77147777e-03 1.33722357e+02] [-2.32764576e-02 1.71245267e-03 9.99727600e-01 7.12926805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.380714057 meters Centerline goodness : 0.985366 Centerline is valid? [True, True] Translation: X:155.13, Y:133.73, Z:7.13 [[ 9.60206593e-01 -2.78355767e-01 2.28334397e-02 1.55129471e+02] [ 2.78319206e-01 9.60476502e-01 4.82785411e-03 1.33728108e+02] [-2.32748434e-02 1.71924748e-03 9.99727626e-01 7.12866565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.410714057 meters Centerline goodness : 0.986008 Centerline is valid? [True, True] Translation: X:155.16, Y:133.74, Z:7.13 [[ 9.59709588e-01 -2.80066845e-01 2.28050308e-02 1.55161549e+02] [ 2.80027850e-01 9.59979110e-01 4.95100885e-03 1.33736098e+02] [-2.32789666e-02 1.63451308e-03 9.99727672e-01 7.12575329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.440714057 meters Centerline goodness : 0.985941 Centerline is valid? [True, True] Translation: X:155.19, Y:133.74, Z:7.13 [[ 9.58772378e-01 -2.83258004e-01 2.28129443e-02 1.55192301e+02] [ 2.83220718e-01 9.59042153e-01 4.91670582e-03 1.33743315e+02] [-2.32712715e-02 1.74709675e-03 9.99727661e-01 7.12535061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.470714057 meters Centerline goodness : 0.986035 Centerline is valid? [True, True] Translation: X:155.22, Y:133.75, Z:7.12 [[ 9.58811920e-01 -2.83124450e-01 2.28089296e-02 1.55222683e+02] [ 2.83086714e-01 9.59081627e-01 4.93411063e-03 1.33749886e+02] [-2.32725927e-02 1.72602085e-03 9.99727667e-01 7.12380415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.500714057 meters Centerline goodness : 0.985728 Centerline is valid? [True, True] Translation: X:155.26, Y:133.76, Z:7.12 [[ 9.58644805e-01 -2.83689481e-01 2.28126426e-02 1.55255047e+02] [ 2.83652285e-01 9.58914592e-01 4.91803723e-03 1.33757586e+02] [-2.32705713e-02 1.75620734e-03 9.99727661e-01 7.12322002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.530714057 meters Centerline goodness : 0.986415 Centerline is valid? [True, True] Translation: X:155.29, Y:133.76, Z:7.12 [[ 9.59062161e-01 -2.82275175e-01 2.28144087e-02 1.55289115e+02] [ 2.82237762e-01 9.59331921e-01 4.91038907e-03 1.33764141e+02] [-2.32726714e-02 1.72971930e-03 9.99727658e-01 7.12498682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.560714057 meters Centerline goodness : 0.986132 Centerline is valid? [True, True] Translation: X:155.32, Y:133.77, Z:7.12 [[ 9.60147780e-01 -2.78557649e-01 2.28446178e-02 1.55320886e+02] [ 2.78522292e-01 9.60417873e-01 4.77946243e-03 1.33771393e+02] [-2.32717351e-02 1.77374507e-03 9.99727603e-01 7.12408683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.590714057 meters Centerline goodness : 0.986077 Centerline is valid? [True, True] Translation: X:155.35, Y:133.78, Z:7.12 [[ 9.60500058e-01 -2.77339974e-01 2.28512069e-02 1.55352140e+02] [ 2.77304952e-01 9.60770208e-01 4.75085701e-03 1.33779696e+02] [-2.32723614e-02 1.77355439e-03 9.99727589e-01 7.12297876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.620714057 meters Centerline goodness : 0.985729 Centerline is valid? [True, True] Translation: X:155.39, Y:133.79, Z:7.12 [[ 9.61549004e-01 -2.73681030e-01 2.28518373e-02 1.55385821e+02] [ 2.73645043e-01 9.61819030e-01 4.74812274e-03 1.33787179e+02] [-2.32788031e-02 1.68773931e-03 9.99727587e-01 7.12123195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.650714057 meters Centerline goodness : 0.986774 Centerline is valid? [True, True] Translation: X:155.42, Y:133.80, Z:7.12 [[ 9.61620844e-01 -2.73426931e-01 2.28706453e-02 1.55417993e+02] [ 2.73392795e-01 9.61891158e-01 4.66696257e-03 1.33795231e+02] [-2.32751447e-02 1.76482116e-03 9.99727539e-01 7.12022088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.680714057 meters Centerline goodness : 0.986605 Centerline is valid? [True, True] Translation: X:155.45, Y:133.80, Z:7.12 [[ 9.62930611e-01 -2.68774921e-01 2.29059163e-02 1.55450888e+02] [ 2.68743083e-01 9.63201314e-01 4.51482180e-03 1.33799303e+02] [-2.32764796e-02 1.80834644e-03 9.99727431e-01 7.11866954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.710714057 meters Centerline goodness : 0.986397 Centerline is valid? [True, True] Translation: X:155.48, Y:133.81, Z:7.12 [[ 9.63180343e-01 -2.67874315e-01 2.29559942e-02 1.55478633e+02] [ 2.67847354e-01 9.63451772e-01 4.29854217e-03 1.33808056e+02] [-2.32684623e-02 2.00843096e-03 9.99727235e-01 7.11779299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.740714057 meters Centerline goodness : 0.985477 Centerline is valid? [True, True] Translation: X:155.51, Y:133.82, Z:7.12 [[ 9.64118178e-01 -2.64481698e-01 2.29253431e-02 1.55508361e+02] [ 2.64450657e-01 9.64389041e-01 4.43025789e-03 1.33816069e+02] [-2.32806718e-02 1.79132989e-03 9.99727364e-01 7.11593487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.770714057 meters Centerline goodness : 0.985824 Centerline is valid? [True, True] Translation: X:155.54, Y:133.82, Z:7.11 [[ 9.65216384e-01 -2.60446076e-01 2.29166708e-02 1.55537315e+02] [ 2.60413022e-01 9.65486976e-01 4.46746721e-03 1.33824794e+02] [-2.32892815e-02 1.65572694e-03 9.99727397e-01 7.11345285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.800714057 meters Centerline goodness : 0.985259 Centerline is valid? [True, True] Translation: X:155.57, Y:133.83, Z:7.11 [[ 9.66081488e-01 -2.57218377e-01 2.29186401e-02 1.55565391e+02] [ 2.57184620e-01 9.66352001e-01 4.45895886e-03 1.33834206e+02] [-2.32943998e-02 1.58660411e-03 9.99727390e-01 7.11112122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.830714057 meters Centerline goodness : 0.985920 Centerline is valid? [True, True] Translation: X:155.60, Y:133.84, Z:7.11 [[ 9.66538810e-01 -2.55496302e-01 2.28991141e-02 1.55596425e+02] [ 2.55460071e-01 9.66808933e-01 4.54314915e-03 1.33842940e+02] [-2.32998258e-02 1.45867934e-03 9.99727458e-01 7.10985231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.860714057 meters Centerline goodness : 0.985283 Centerline is valid? [True, True] Translation: X:155.63, Y:133.85, Z:7.11 [[ 9.66851860e-01 -2.54309799e-01 2.28912158e-02 1.55626170e+02] [ 2.54272432e-01 9.67121802e-01 4.57716486e-03 1.33850696e+02] [-2.33026117e-02 1.39516476e-03 9.99727484e-01 7.11141490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.890714057 meters Centerline goodness : 0.985852 Centerline is valid? [True, True] Translation: X:155.66, Y:133.86, Z:7.11 [[ 9.66934459e-01 -2.53999164e-01 2.28511817e-02 1.55658379e+02] [ 2.53957690e-01 9.67203678e-01 4.74742253e-03 1.33860241e+02] [-2.33075884e-02 1.21278688e-03 9.99727606e-01 7.11105190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.920714057 meters Centerline goodness : 0.985818 Centerline is valid? [True, True] Translation: X:155.69, Y:133.87, Z:7.11 [[ 9.67779441e-01 -2.50755478e-01 2.29050992e-02 1.55686020e+02] [ 2.50718515e-01 9.68049489e-01 4.51812126e-03 1.33869703e+02] [-2.33062133e-02 1.37018761e-03 9.99727434e-01 7.11352243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.950714057 meters Centerline goodness : 0.985712 Centerline is valid? [True, True] Translation: X:155.71, Y:133.88, Z:7.12 [[ 9.67536244e-01 -2.51694648e-01 2.28783718e-02 1.55714565e+02] [ 2.51655260e-01 9.67805857e-01 4.63184218e-03 1.33878358e+02] [-2.33076321e-02 1.27598742e-03 9.99727526e-01 7.11558077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.980714057 meters Centerline goodness : 0.985624 Centerline is valid? [True, True] Translation: X:155.74, Y:133.89, Z:7.12 [[ 9.67618314e-01 -2.51380583e-01 2.28604710e-02 1.55741376e+02] [ 2.51339312e-01 9.67887589e-01 4.70790390e-03 1.33886902e+02] [-2.33098418e-02 1.19028103e-03 9.99727580e-01 7.11659503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.01071405700003 meters Centerline goodness : 0.985486 Centerline is valid? [True, True] Translation: X:155.77, Y:133.89, Z:7.11 [[ 9.67465675e-01 -2.51970664e-01 2.28243629e-02 1.55771983e+02] [ 2.51925944e-01 9.67734307e-01 4.86109817e-03 1.33893198e+02] [-2.33127731e-02 1.04710355e-03 9.99727672e-01 7.11492985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.040714057 meters Centerline goodness : 0.985486 Centerline is valid? [True, True] Translation: X:155.80, Y:133.90, Z:7.11 [[ 9.67448795e-01 -2.52037291e-01 2.28042250e-02 1.55803570e+02] [ 2.51990582e-01 9.67717046e-01 4.94637920e-03 1.33900766e+02] [-2.33147092e-02 9.61081310e-04 9.99727713e-01 7.11413508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.07071405700003 meters Centerline goodness : 0.984940 Centerline is valid? [True, True] Translation: X:155.84, Y:133.91, Z:7.12 [[ 9.67045330e-01 -2.53581241e-01 2.28009556e-02 1.55837101e+02] [ 2.53534634e-01 9.67313592e-01 4.96020147e-03 1.33907460e+02] [-2.33134883e-02 9.84092274e-04 9.99727719e-01 7.11696119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.100714057 meters Centerline goodness : 0.984859 Centerline is valid? [True, True] Translation: X:155.87, Y:133.91, Z:7.12 [[ 9.66618825e-01 -2.55199900e-01 2.28266978e-02 1.55869820e+02] [ 2.55156310e-01 9.66887647e-01 4.85129898e-03 1.33913649e+02] [-2.33089032e-02 1.13501906e-03 9.99727666e-01 7.11749768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.130714057 meters Centerline goodness : 0.984662 Centerline is valid? [True, True] Translation: X:155.90, Y:133.92, Z:7.12 [[ 9.65799118e-01 -2.58284357e-01 2.28309883e-02 1.55901295e+02] [ 2.58242053e-01 9.66068156e-01 4.83315746e-03 1.33916261e+02] [-2.33046197e-02 1.22806208e-03 9.99727656e-01 7.11717904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.160714057 meters Centerline goodness : 0.986113 Centerline is valid? [True, True] Translation: X:155.93, Y:133.93, Z:7.11 [[ 9.62449976e-01 -2.70498372e-01 2.28183048e-02 1.55925049e+02] [ 2.70458203e-01 9.62719313e-01 4.88713380e-03 1.33925891e+02] [-2.32895845e-02 1.46777590e-03 9.99727683e-01 7.11246517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.190714057 meters Centerline goodness : 0.987278 Centerline is valid? [True, True] Translation: X:155.97, Y:133.93, Z:7.11 [[ 9.63626121e-01 -2.66288155e-01 2.27005950e-02 1.55969581e+02] [ 2.66235037e-01 9.63893091e-01 5.38650775e-03 1.33926164e+02] [-2.33153099e-02 8.53114178e-04 9.99727797e-01 7.10635827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.220714057 meters Centerline goodness : 0.986685 Centerline is valid? [True, True] Translation: X:155.99, Y:133.93, Z:7.11 [[ 9.62184268e-01 -2.71429052e-01 2.29717954e-02 1.55990138e+02] [ 2.71403969e-01 9.62456086e-01 4.26236037e-03 1.33933796e+02] [-2.32662727e-02 2.13346034e-03 9.99727027e-01 7.10597912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.250714057 meters Centerline goodness : 0.987484 Centerline is valid? [True, True] Translation: X:156.02, Y:133.94, Z:7.10 [[ 9.60857020e-01 -2.76101865e-01 2.28373927e-02 1.56021092e+02] [ 2.76064933e-01 9.61126917e-01 4.81691224e-03 1.33938755e+02] [-2.32795913e-02 1.67623934e-03 9.99727588e-01 7.10149274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.280714057 meters Centerline goodness : 0.987389 Centerline is valid? [True, True] Translation: X:156.05, Y:133.95, Z:7.10 [[ 9.60500086e-01 -2.77341722e-01 2.28287886e-02 1.56051329e+02] [ 2.77304298e-01 9.60769890e-01 4.85235942e-03 1.33945797e+02] [-2.32789745e-02 1.66982957e-03 9.99727613e-01 7.10043139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.310714057 meters Centerline goodness : 0.988074 Centerline is valid? [True, True] Translation: X:156.08, Y:133.95, Z:7.10 [[ 9.60196873e-01 -2.78391497e-01 2.28065697e-02 1.56084336e+02] [ 2.78352208e-01 9.60466350e-01 4.94353147e-03 1.33952466e+02] [-2.32811799e-02 1.60149558e-03 9.99727674e-01 7.10157803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.340714057 meters Centerline goodness : 0.988335 Centerline is valid? [True, True] Translation: X:156.12, Y:133.96, Z:7.10 [[ 9.60591981e-01 -2.77023448e-01 2.28266432e-02 1.56116032e+02] [ 2.76985717e-01 9.60861737e-01 4.86156235e-03 1.33960208e+02] [-2.32800148e-02 1.65267632e-03 9.99727618e-01 7.10294074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.370714057 meters Centerline goodness : 0.987741 Centerline is valid? [True, True] Translation: X:156.15, Y:133.97, Z:7.10 [[ 9.60576910e-01 -2.77075842e-01 2.28249221e-02 1.56146815e+02] [ 2.77037960e-01 9.60846640e-01 4.86856026e-03 1.33967793e+02] [-2.32802102e-02 1.64674328e-03 9.99727623e-01 7.10186973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.400714057 meters Centerline goodness : 0.988164 Centerline is valid? [True, True] Translation: X:156.18, Y:133.97, Z:7.10 [[ 9.60884015e-01 -2.76009227e-01 2.28213874e-02 1.56176603e+02] [ 2.75970705e-01 9.61153644e-01 4.88292761e-03 1.33974432e+02] [-2.32825927e-02 1.60610727e-03 9.99727634e-01 7.10178858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.430714057 meters Centerline goodness : 0.987588 Centerline is valid? [True, True] Translation: X:156.21, Y:133.98, Z:7.10 [[ 9.61195650e-01 -2.74923407e-01 2.28044373e-02 1.56207013e+02] [ 2.74882949e-01 9.61464947e-01 4.95183454e-03 1.33982171e+02] [-2.32870423e-02 1.50886915e-03 9.99727681e-01 7.10185934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.460714057 meters Centerline goodness : 0.986819 Centerline is valid? [True, True] Translation: X:156.24, Y:133.99, Z:7.10 [[ 9.61115141e-01 -2.75204519e-01 2.28069897e-02 1.56238051e+02] [ 2.75164385e-01 9.61384493e-01 4.94147540e-03 1.33988485e+02] [-2.32862026e-02 1.52634448e-03 9.99727674e-01 7.10187998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.490714057 meters Centerline goodness : 0.987980 Centerline is valid? [True, True] Translation: X:156.27, Y:134.00, Z:7.10 [[ 9.60711811e-01 -2.76608614e-01 2.28142686e-02 1.56268880e+02] [ 2.76569573e-01 9.60981344e-01 4.91195289e-03 1.33997171e+02] [-2.32827750e-02 1.59076136e-03 9.99727654e-01 7.10485334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.520714057 meters Centerline goodness : 0.987711 Centerline is valid? [True, True] Translation: X:156.30, Y:134.01, Z:7.10 [[ 9.60381377e-01 -2.77753660e-01 2.28147938e-02 1.56299983e+02] [ 2.77714990e-01 9.60650966e-01 4.90982516e-03 1.34005044e+02] [-2.32807756e-02 1.62070560e-03 9.99727652e-01 7.10470024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.550714057 meters Centerline goodness : 0.988009 Centerline is valid? [True, True] Translation: X:156.33, Y:134.01, Z:7.10 [[ 9.59313789e-01 -2.81419876e-01 2.28014652e-02 1.56332171e+02] [ 2.81380963e-01 9.59583304e-01 4.96357929e-03 1.34012173e+02] [-2.32767551e-02 1.65426817e-03 9.99727691e-01 7.10427183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.580714057 meters Centerline goodness : 0.989138 Centerline is valid? [True, True] Translation: X:156.36, Y:134.02, Z:7.10 [[ 9.58248363e-01 -2.85025761e-01 2.28120794e-02 1.56360201e+02] [ 2.84988877e-01 9.58518193e-01 4.92075910e-03 1.34018414e+02] [-2.32683362e-02 1.78587953e-03 9.99727660e-01 7.10375605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.610714057 meters Centerline goodness : 0.988787 Centerline is valid? [True, True] Translation: X:156.38, Y:134.03, Z:7.10 [[ 9.56123796e-01 -2.92076940e-01 2.27672356e-02 1.56381595e+02] [ 2.92037697e-01 9.56393189e-01 5.10401809e-03 1.34029394e+02] [-2.32651951e-02 1.76881791e-03 9.99727764e-01 7.09920452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.640714057 meters Centerline goodness : 0.989118 Centerline is valid? [True, True] Translation: X:156.41, Y:134.04, Z:7.10 [[ 9.54951461e-01 -2.95899845e-01 2.26050831e-02 1.56412766e+02] [ 2.95846044e-01 9.55218239e-01 5.76492700e-03 1.34035875e+02] [-2.32986287e-02 1.18239896e-03 9.99727851e-01 7.09591743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.670714057 meters Centerline goodness : 0.987636 Centerline is valid? [True, True] Translation: X:156.45, Y:134.04, Z:7.10 [[ 9.56657036e-01 -2.90339558e-01 2.25888624e-02 1.56452262e+02] [ 2.90282648e-01 9.56923186e-01 5.83108504e-03 1.34036963e+02] [-2.33088008e-02 9.78806264e-04 9.99727834e-01 7.09734069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.700714057 meters Centerline goodness : 0.982803 Centerline is valid? [True, True] Translation: X:156.47, Y:134.05, Z:7.10 [[ 9.54714597e-01 -2.96652137e-01 2.27496566e-02 1.56469247e+02] [ 2.96612658e-01 9.54983885e-01 5.16824301e-03 1.34049933e+02] [-2.32587258e-02 1.81363909e-03 9.99727834e-01 7.09504725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.730714057 meters Centerline goodness : 0.982630 Centerline is valid? [True, True] Translation: X:156.50, Y:134.06, Z:7.09 [[ 9.55028488e-01 -2.95659624e-01 2.24938781e-02 1.56501156e+02] [ 2.95595041e-01 9.55293088e-01 6.21991859e-03 1.34056511e+02] [-2.33272250e-02 7.08879352e-04 9.99727632e-01 7.09358637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.76071405700003 meters Centerline goodness : 0.982616 Centerline is valid? [True, True] Translation: X:156.53, Y:134.06, Z:7.09 [[ 9.55440651e-01 -2.94325564e-01 2.24860905e-02 1.56532880e+02] [ 2.94259857e-01 9.55705001e-01 6.25204307e-03 1.34062966e+02] [-2.33302053e-02 6.43297677e-04 9.99727607e-01 7.09262897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.790714057 meters Centerline goodness : 0.982394 Centerline is valid? [True, True] Translation: X:156.56, Y:134.07, Z:7.09 [[ 9.55717487e-01 -2.93425203e-01 2.24885862e-02 1.56564225e+02] [ 2.93359489e-01 9.55981826e-01 6.24172661e-03 1.34070833e+02] [-2.33301596e-02 6.31912899e-04 9.99727615e-01 7.09146471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.820714057 meters Centerline goodness : 0.988194 Centerline is valid? [True, True] Translation: X:156.60, Y:134.08, Z:7.09 [[ 9.57472067e-01 -2.87648663e-01 2.24830575e-02 1.56603504e+02] [ 2.87580818e-01 9.57735886e-01 6.26459717e-03 1.34075159e+02] [-2.33348340e-02 4.67519259e-04 9.99727596e-01 7.09075225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.850714057 meters Centerline goodness : 0.988514 Centerline is valid? [True, True] Translation: X:156.63, Y:134.08, Z:7.09 [[ 9.57757322e-01 -2.86686191e-01 2.26261191e-02 1.56634147e+02] [ 2.86632146e-01 9.58023960e-01 5.66614187e-03 1.34083229e+02] [-2.33007688e-02 1.05858422e-03 9.99727940e-01 7.09046458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.880714057 meters Centerline goodness : 0.988813 Centerline is valid? [True, True] Translation: X:156.67, Y:134.10, Z:7.09 [[ 9.55481437e-01 -2.94183366e-01 2.26135301e-02 1.56674086e+02] [ 2.94130169e-01 9.55748261e-01 5.71887861e-03 1.34095684e+02] [-2.32952410e-02 1.18703907e-03 9.99727924e-01 7.08816067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.910714057 meters Centerline goodness : 0.986763 Centerline is valid? [True, True] Translation: X:156.69, Y:134.10, Z:7.09 [[ 9.56761315e-01 -2.89982040e-01 2.27640528e-02 1.56694894e+02] [ 2.89942650e-01 9.57030514e-01 5.08475966e-03 1.34100810e+02] [-2.32603821e-02 1.73536845e-03 9.99727935e-01 7.09162528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.940714057 meters Centerline goodness : 0.991555 Centerline is valid? [True, True] Translation: X:156.73, Y:134.11, Z:7.09 [[ 9.54740830e-01 -2.96578988e-01 2.26020111e-02 1.56731403e+02] [ 2.96525373e-01 9.55007575e-01 5.76496132e-03 1.34110262e+02] [-2.32948583e-02 1.19802583e-03 9.99727920e-01 7.09236450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.970714057 meters Centerline goodness : 0.988552 Centerline is valid? [True, True] Translation: X:156.76, Y:134.11, Z:7.09 [[ 9.55923565e-01 -2.92737506e-01 2.26912028e-02 1.56758261e+02] [ 2.92691681e-01 9.56191683e-01 5.38944498e-03 1.34113487e+02] [-2.32748320e-02 1.48962883e-03 9.99727995e-01 7.09215062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.000714057 meters Centerline goodness : 0.987449 Centerline is valid? [True, True] Translation: X:156.79, Y:134.12, Z:7.09 [[ 9.54101035e-01 -2.98628958e-01 2.26265270e-02 1.56788685e+02] [ 2.98578345e-01 9.54368332e-01 5.66204207e-03 1.34121933e+02] [-2.32848906e-02 1.35363079e-03 9.99727954e-01 7.09080574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.030714057 meters Centerline goodness : 0.989441 Centerline is valid? [True, True] Translation: X:156.83, Y:134.13, Z:7.09 [[ 9.51647782e-01 -3.06358985e-01 2.25980543e-02 1.56827739e+02] [ 3.06307706e-01 9.51914995e-01 5.78202704e-03 1.34130876e+02] [-2.32828027e-02 1.41950498e-03 9.99727911e-01 7.08554781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.060714057 meters Centerline goodness : 0.988858 Centerline is valid? [True, True] Translation: X:156.87, Y:134.13, Z:7.08 [[ 9.54131746e-01 -2.98520516e-01 2.27620877e-02 1.56866061e+02] [ 2.98483441e-01 9.54401248e-01 5.08855255e-03 1.34128887e+02] [-2.32432023e-02 1.93895674e-03 9.99727960e-01 7.08443445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.090714057 meters Centerline goodness : 0.989448 Centerline is valid? [True, True] Translation: X:156.89, Y:134.15, Z:7.08 [[ 9.49841360e-01 -3.11893203e-01 2.28914954e-02 1.56889386e+02] [ 3.11872910e-01 9.50112968e-01 4.54265541e-03 1.34145372e+02] [-2.31663300e-02 2.82443529e-03 9.99727635e-01 7.08316359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.120714057 meters Centerline goodness : 0.981410 Centerline is valid? [True, True] Translation: X:156.91, Y:134.15, Z:7.08 [[ 9.52056734e-01 -3.05072824e-01 2.27716324e-02 1.56909848e+02] [ 3.05038463e-01 9.52326630e-01 5.05238527e-03 1.34147930e+02] [-2.32273774e-02 2.13606632e-03 9.99727926e-01 7.08319688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.150714057 meters Centerline goodness : 0.985589 Centerline is valid? [True, True] Translation: X:156.95, Y:134.15, Z:7.08 [[ 9.54045307e-01 -2.98812928e-01 2.25474385e-02 1.56946164e+02] [ 2.98754415e-01 9.54311170e-01 5.99920304e-03 1.34152646e+02] [-2.33099118e-02 1.01263530e-03 9.99727774e-01 7.08085596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.180714057 meters Centerline goodness : 0.987457 Centerline is valid? [True, True] Translation: X:156.98, Y:134.16, Z:7.08 [[ 9.54636453e-01 -2.96911217e-01 2.26488752e-02 1.56978155e+02] [ 2.96862412e-01 9.54904047e-01 5.56507249e-03 1.34161411e+02] [-2.32798350e-02 1.41097865e-03 9.99727992e-01 7.08047022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.210714057 meters Centerline goodness : 0.986731 Centerline is valid? [True, True] Translation: X:157.01, Y:134.17, Z:7.08 [[ 9.56675789e-01 -2.90271677e-01 2.26668823e-02 1.57009754e+02] [ 2.90222837e-01 9.56943357e-01 5.48781262e-03 1.34169721e+02] [-2.32838790e-02 1.32838939e-03 9.99728011e-01 7.08278739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.240714057 meters Centerline goodness : 0.988942 Centerline is valid? [True, True] Translation: X:157.05, Y:134.18, Z:7.08 [[ 9.56803010e-01 -2.89852321e-01 2.26634532e-02 1.57053062e+02] [ 2.89803016e-01 9.57070496e-01 5.50254486e-03 1.34178826e+02] [-2.32854478e-02 1.30308560e-03 9.99728008e-01 7.08295929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.270714057 meters Centerline goodness : 0.986698 Centerline is valid? [True, True] Translation: X:157.08, Y:134.19, Z:7.08 [[ 9.59628270e-01 -2.80336832e-01 2.29094992e-02 1.57076446e+02] [ 2.80309288e-01 9.59899326e-01 4.47056381e-03 1.34187766e+02] [-2.32440766e-02 2.13166600e-03 9.99727547e-01 7.08490221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.300714057 meters Centerline goodness : 0.986714 Centerline is valid? [True, True] Translation: X:157.11, Y:134.20, Z:7.08 [[ 9.60339331e-01 -2.77899793e-01 2.28051437e-02 1.57108149e+02] [ 2.77861227e-01 9.60608695e-01 4.90644099e-03 1.34196218e+02] [-2.32703182e-02 1.62481694e-03 9.99727889e-01 7.08331314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.330714057 meters Centerline goodness : 0.986934 Centerline is valid? [True, True] Translation: X:157.14, Y:134.21, Z:7.08 [[ 9.61202567e-01 -2.74899246e-01 2.28041472e-02 1.57139750e+02] [ 2.74859741e-01 9.61471793e-01 4.91059789e-03 1.34205656e+02] [-2.32754640e-02 1.54786271e-03 9.99727891e-01 7.08275998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.360714057 meters Centerline goodness : 0.986885 Centerline is valid? [True, True] Translation: X:157.17, Y:134.21, Z:7.08 [[ 9.61520974e-01 -2.73782243e-01 2.28188282e-02 1.57165098e+02] [ 2.73743874e-01 9.61790401e-01 4.84937465e-03 1.34212648e+02] [-2.32746026e-02 1.58373901e-03 9.99727855e-01 7.08238887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.390714057 meters Centerline goodness : 0.986680 Centerline is valid? [True, True] Translation: X:157.20, Y:134.22, Z:7.08 [[ 9.61618517e-01 -2.73444437e-01 2.27589051e-02 1.57197265e+02] [ 2.73400050e-01 9.61886897e-01 5.09998535e-03 1.34219333e+02] [-2.32860552e-02 1.31804544e-03 9.99727974e-01 7.08040817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.420714057 meters Centerline goodness : 0.987140 Centerline is valid? [True, True] Translation: X:157.23, Y:134.23, Z:7.08 [[ 9.60438585e-01 -2.77559915e-01 2.27644083e-02 1.57232782e+02] [ 2.77517217e-01 9.60707248e-01 5.07719912e-03 1.34226409e+02] [-2.32791591e-02 1.44117731e-03 9.99727965e-01 7.07860851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.450714057 meters Centerline goodness : 0.987655 Centerline is valid? [True, True] Translation: X:157.26, Y:134.23, Z:7.08 [[ 9.59908902e-01 -2.79380219e-01 2.28384253e-02 1.57263016e+02] [ 2.79345296e-01 9.60178864e-01 4.77023682e-03 1.34234987e+02] [-2.32616831e-02 1.80081390e-03 9.99727789e-01 7.07809937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.480714057 meters Centerline goodness : 0.987934 Centerline is valid? [True, True] Translation: X:157.30, Y:134.24, Z:7.08 [[ 9.59278344e-01 -2.81537962e-01 2.28349461e-02 1.57295471e+02] [ 2.81503305e-01 9.59548329e-01 4.78466555e-03 1.34242127e+02] [-2.32582994e-02 1.83828675e-03 9.99727799e-01 7.07670542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.51071405700003 meters Centerline goodness : 0.987103 Centerline is valid? [True, True] Translation: X:157.32, Y:134.25, Z:7.08 [[ 9.58759350e-01 -2.83299782e-01 2.28416853e-02 1.57321428e+02] [ 2.83266283e-01 9.59029502e-01 4.75675359e-03 1.34250700e+02] [-2.32534374e-02 1.90969731e-03 9.99727778e-01 7.07689931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.540714057 meters Centerline goodness : 0.988901 Centerline is valid? [True, True] Translation: X:157.36, Y:134.26, Z:7.08 [[ 9.58357348e-01 -2.84662822e-01 2.27655597e-02 1.57357915e+02] [ 2.84622289e-01 9.58626335e-01 5.06972732e-03 1.34258513e+02] [-2.32668279e-02 1.62097528e-03 9.99727977e-01 7.07575403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.570714057 meters Centerline goodness : 0.987940 Centerline is valid? [True, True] Translation: X:157.38, Y:134.27, Z:7.08 [[ 9.57616344e-01 -2.87138490e-01 2.28566417e-02 1.57384630e+02] [ 2.87107551e-01 9.57886849e-01 4.69446372e-03 1.34268700e+02] [-2.32420377e-02 2.06681925e-03 9.99727731e-01 7.07661830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.600714057 meters Centerline goodness : 0.989359 Centerline is valid? [True, True] Translation: X:157.42, Y:134.28, Z:7.08 [[ 9.56919411e-01 -2.89456009e-01 2.28135755e-02 1.57416635e+02] [ 2.89421516e-01 9.57189350e-01 4.87176164e-03 1.34276833e+02] [-2.32470722e-02 1.94085633e-03 9.99727866e-01 7.07615823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.630714057 meters Centerline goodness : 0.988379 Centerline is valid? [True, True] Translation: X:157.45, Y:134.28, Z:7.08 [[ 9.56517699e-01 -2.90780212e-01 2.28201484e-02 1.57445686e+02] [ 2.90746732e-01 9.56787785e-01 4.84484089e-03 1.34284991e+02] [-2.32428231e-02 2.00070751e-03 9.99727847e-01 7.07554244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.660714057 meters Centerline goodness : 0.987773 Centerline is valid? [True, True] Translation: X:157.48, Y:134.29, Z:7.08 [[ 9.56316334e-01 -2.91443914e-01 2.27928529e-02 1.57475011e+02] [ 2.91407970e-01 9.56586027e-01 4.95658658e-03 1.34292506e+02] [-2.32478916e-02 1.90195426e-03 9.99727922e-01 7.07625081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.690714057 meters Centerline goodness : 0.988875 Centerline is valid? [True, True] Translation: X:157.50, Y:134.30, Z:7.08 [[ 9.56401814e-01 -2.91164695e-01 2.27747700e-02 1.57503814e+02] [ 2.91126919e-01 9.56671214e-01 5.03051033e-03 1.34301027e+02] [-2.32526739e-02 1.81915943e-03 9.99727965e-01 7.07512178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.720714057 meters Centerline goodness : 0.987425 Centerline is valid? [True, True] Translation: X:157.53, Y:134.31, Z:7.08 [[ 9.57224607e-01 -2.88449891e-01 2.27532648e-02 1.57533160e+02] [ 2.88409271e-01 9.57493548e-01 5.11835486e-03 1.34309991e+02] [-2.32624931e-02 1.66283728e-03 9.99728009e-01 7.07643167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.750714057 meters Centerline goodness : 0.988341 Centerline is valid? [True, True] Translation: X:157.57, Y:134.32, Z:7.07 [[ 9.57862951e-01 -2.86325256e-01 2.27247443e-02 1.57567724e+02] [ 2.86281298e-01 9.58131317e-01 5.23419457e-03 1.34316512e+02] [-2.32719713e-02 1.49202823e-03 9.99728058e-01 7.07455552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.780714057 meters Centerline goodness : 0.987888 Centerline is valid? [True, True] Translation: X:157.60, Y:134.33, Z:7.08 [[ 9.58262112e-01 -2.84981475e-01 2.27878216e-02 1.57595913e+02] [ 2.84943215e-01 9.58531475e-01 4.97750986e-03 1.34325527e+02] [-2.32613424e-02 1.72347605e-03 9.99727933e-01 7.07586129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.810714057 meters Centerline goodness : 0.988237 Centerline is valid? [True, True] Translation: X:157.63, Y:134.33, Z:7.07 [[ 9.59140900e-01 -2.82013053e-01 2.27458312e-02 1.57625806e+02] [ 2.81969923e-01 9.59409433e-01 5.14809990e-03 1.34332270e+02] [-2.32743963e-02 1.47588708e-03 9.99728025e-01 7.07491758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.840714057 meters Centerline goodness : 0.987822 Centerline is valid? [True, True] Translation: X:157.66, Y:134.34, Z:7.07 [[ 9.59900377e-01 -2.79419261e-01 2.27187700e-02 1.57658288e+02] [ 2.79372811e-01 9.60168312e-01 5.25790171e-03 1.34338734e+02] [-2.32830021e-02 1.29994482e-03 9.99728069e-01 7.07376966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.870714057 meters Centerline goodness : 0.987833 Centerline is valid? [True, True] Translation: X:157.69, Y:134.35, Z:7.07 [[ 9.60422893e-01 -2.77615891e-01 2.27438704e-02 1.57687672e+02] [ 2.77571344e-01 9.60691191e-01 5.15600293e-03 1.34346018e+02] [-2.32812243e-02 1.36110342e-03 9.99728029e-01 7.07055857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.900714057 meters Centerline goodness : 0.988100 Centerline is valid? [True, True] Translation: X:157.72, Y:134.35, Z:7.07 [[ 9.60817641e-01 -2.76248313e-01 2.27229191e-02 1.57719052e+02] [ 2.76201376e-01 9.61085496e-01 5.24109333e-03 1.34351827e+02] [-2.32865111e-02 1.24036658e-03 9.99728063e-01 7.07258976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.930714057 meters Centerline goodness : 0.988100 Centerline is valid? [True, True] Translation: X:157.75, Y:134.36, Z:7.07 [[ 9.60810440e-01 -2.76273651e-01 2.27193322e-02 1.57749770e+02] [ 2.76226378e-01 9.61078231e-01 5.25564953e-03 1.34359507e+02] [-2.32870530e-02 1.22599588e-03 9.99728068e-01 7.07184522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.960714057 meters Centerline goodness : 0.987841 Centerline is valid? [True, True] Translation: X:157.78, Y:134.37, Z:7.07 [[ 9.61189178e-01 -2.74952971e-01 2.27206545e-02 1.57782231e+02] [ 2.74905456e-01 9.61456928e-01 5.25028072e-03 1.34365145e+02] [-2.32885110e-02 1.19951887e-03 9.99728066e-01 7.07061309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.990714057 meters Centerline goodness : 0.988481 Centerline is valid? [True, True] Translation: X:157.81, Y:134.37, Z:7.07 [[ 9.61070052e-01 -2.75367401e-01 2.27409294e-02 1.57814275e+02] [ 2.75321946e-01 9.61338192e-01 5.16790707e-03 1.34368512e+02] [-2.32847971e-02 1.29435621e-03 9.99728034e-01 7.07040142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.020714057 meters Centerline goodness : 0.988422 Centerline is valid? [True, True] Translation: X:157.84, Y:134.37, Z:7.07 [[ 9.60955106e-01 -2.75768191e-01 2.27417751e-02 1.57843843e+02] [ 2.75722929e-01 9.61223280e-01 5.16446902e-03 1.34374096e+02] [-2.32841199e-02 1.30760594e-03 9.99728033e-01 7.07037783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.050714057 meters Centerline goodness : 0.989615 Centerline is valid? [True, True] Translation: X:157.88, Y:134.38, Z:7.07 [[ 9.60787320e-01 -2.76353526e-01 2.27256257e-02 1.57879939e+02] [ 2.76306879e-01 9.61055230e-01 5.23003449e-03 1.34376783e+02] [-2.32859199e-02 1.25429588e-03 9.99728059e-01 7.06992166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.080714057 meters Centerline goodness : 0.990149 Centerline is valid? [True, True] Translation: X:157.91, Y:134.38, Z:7.07 [[ 9.59525968e-01 -2.80698428e-01 2.27664213e-02 1.57911208e+02] [ 2.80656899e-01 9.59794797e-01 5.06484184e-03 1.34380910e+02] [-2.32727858e-02 1.52970591e-03 9.99727982e-01 7.06910487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.110714057 meters Centerline goodness : 0.989385 Centerline is valid? [True, True] Translation: X:157.94, Y:134.39, Z:7.07 [[ 9.59254311e-01 -2.81626219e-01 2.27560886e-02 1.57939650e+02] [ 2.81583960e-01 9.59523004e-01 5.10668809e-03 1.34385676e+02] [-2.32731678e-02 1.50913697e-03 9.99728004e-01 7.06829290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.140714057 meters Centerline goodness : 0.990972 Centerline is valid? [True, True] Translation: X:157.97, Y:134.39, Z:7.07 [[ 9.57856639e-01 -2.86348008e-01 2.27041256e-02 1.57973177e+02] [ 2.86302103e-01 9.58124646e-01 5.31681515e-03 1.34388588e+02] [-2.32758417e-02 1.40749222e-03 9.99728090e-01 7.06738160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.170714057 meters Centerline goodness : 0.990492 Centerline is valid? [True, True] Translation: X:158.01, Y:134.39, Z:7.07 [[ 9.57589801e-01 -2.87238178e-01 2.27156654e-02 1.58005716e+02] [ 2.87193626e-01 9.57858052e-01 5.27010727e-03 1.34393203e+02] [-2.32721590e-02 1.47719334e-03 9.99728075e-01 7.06527475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.200714057 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:158.04, Y:134.40, Z:7.06 [[ 9.56908448e-01 -2.89498456e-01 2.27346833e-02 1.58039102e+02] [ 2.89456359e-01 9.57177125e-01 5.19314651e-03 1.34397113e+02] [-2.32645267e-02 1.61133288e-03 9.99728046e-01 7.06382530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.230714057 meters Centerline goodness : 0.989605 Centerline is valid? [True, True] Translation: X:158.07, Y:134.40, Z:7.06 [[ 9.56667231e-01 -2.90293605e-01 2.27471207e-02 1.58071524e+02] [ 2.90252923e-01 9.56936148e-01 5.14283167e-03 1.34403057e+02] [-2.32604732e-02 1.68243972e-03 9.99728023e-01 7.06263121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.26071405700003 meters Centerline goodness : 0.990639 Centerline is valid? [True, True] Translation: X:158.10, Y:134.41, Z:7.06 [[ 9.56278057e-01 -2.91573286e-01 2.27441498e-02 1.58104285e+02] [ 2.91532680e-01 9.56546980e-01 5.15479961e-03 1.34408869e+02] [-2.32588496e-02 1.70124118e-03 9.99728029e-01 7.06038381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.290714057 meters Centerline goodness : 0.989700 Centerline is valid? [True, True] Translation: X:158.13, Y:134.41, Z:7.06 [[ 9.56124522e-01 -2.92074269e-01 2.27710271e-02 1.58133685e+02] [ 2.92036371e-01 9.56393900e-01 5.04649286e-03 1.34412852e+02] [-2.32520221e-02 1.82489254e-03 9.99727970e-01 7.05955670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.320714057 meters Centerline goodness : 0.991335 Centerline is valid? [True, True] Translation: X:158.18, Y:134.42, Z:7.05 [[ 9.56990621e-01 -2.89226852e-01 2.27327696e-02 1.58176355e+02] [ 2.89184502e-01 9.57259253e-01 5.20059364e-03 1.34415168e+02] [-2.32653054e-02 1.59704533e-03 9.99728051e-01 7.05468086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.350714057 meters Centerline goodness : 0.990454 Centerline is valid? [True, True] Translation: X:158.20, Y:134.42, Z:7.05 [[ 9.57226335e-01 -2.88431885e-01 2.29083371e-02 1.58204952e+02] [ 2.88406150e-01 9.57497635e-01 4.49119736e-03 1.34421442e+02] [-2.32300831e-02 2.30781292e-03 9.99727481e-01 7.05430985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.380714057 meters Centerline goodness : 0.989926 Centerline is valid? [True, True] Translation: X:158.24, Y:134.43, Z:7.05 [[ 9.56299406e-01 -2.91494668e-01 2.28540048e-02 1.58237389e+02] [ 2.91464590e-01 9.56570022e-01 4.71019891e-03 1.34427247e+02] [-2.32344538e-02 2.15677273e-03 9.99727717e-01 7.05345040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.410714057 meters Centerline goodness : 0.990229 Centerline is valid? [True, True] Translation: X:158.27, Y:134.44, Z:7.05 [[ 9.55663394e-01 -2.93570057e-01 2.28932117e-02 1.58265420e+02] [ 2.93544328e-01 9.55934624e-01 4.55212244e-03 1.34436783e+02] [-2.32207806e-02 2.36987568e-03 9.99727552e-01 7.05491807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.440714057 meters Centerline goodness : 0.990561 Centerline is valid? [True, True] Translation: X:158.29, Y:134.44, Z:7.06 [[ 9.54529771e-01 -2.97237040e-01 2.28704826e-02 1.58294296e+02] [ 2.97210179e-01 9.54800790e-01 4.64337056e-03 1.34442928e+02] [-2.32169365e-02 2.36510478e-03 9.99727653e-01 7.05510903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.470714057 meters Centerline goodness : 0.991055 Centerline is valid? [True, True] Translation: X:158.32, Y:134.45, Z:7.06 [[ 9.53507379e-01 -3.00502499e-01 2.28457307e-02 1.58322766e+02] [ 3.00474205e-01 9.53778151e-01 4.74252089e-03 1.34450956e+02] [-2.32148982e-02 2.34252410e-03 9.99727753e-01 7.05613893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.500714057 meters Centerline goodness : 0.990315 Centerline is valid? [True, True] Translation: X:158.34, Y:134.46, Z:7.06 [[ 9.52005126e-01 -3.05231120e-01 2.28079696e-02 1.58344287e+02] [ 3.05200581e-01 9.52275518e-01 4.89325535e-03 1.34460488e+02] [-2.32130448e-02 2.30260139e-03 9.99727889e-01 7.05716231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.530714057 meters Centerline goodness : 0.989788 Centerline is valid? [True, True] Translation: X:158.38, Y:134.47, Z:7.06 [[ 9.51841789e-01 -3.05749351e-01 2.26835365e-02 1.58375074e+02] [ 3.05707197e-01 9.52110327e-01 5.38846110e-03 1.34468127e+02] [-2.32447478e-02 1.80555789e-03 9.99728174e-01 7.05745440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.560714057 meters Centerline goodness : 0.990636 Centerline is valid? [True, True] Translation: X:158.41, Y:134.48, Z:7.06 [[ 9.51553208e-01 -3.06645867e-01 2.26893028e-02 1.58405765e+02] [ 3.06604510e-01 9.51821877e-01 5.36551667e-03 1.34476508e+02] [-2.32414883e-02 1.85106794e-03 9.99728166e-01 7.05678948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.590714057 meters Centerline goodness : 0.989825 Centerline is valid? [True, True] Translation: X:158.44, Y:134.48, Z:7.06 [[ 9.51488913e-01 -3.06845651e-01 2.26846981e-02 1.58437157e+02] [ 3.06803916e-01 9.51757517e-01 5.38383246e-03 1.34484052e+02] [-2.32423375e-02 1.83709730e-03 9.99728172e-01 7.05583163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.620714057 meters Centerline goodness : 0.990115 Centerline is valid? [True, True] Translation: X:158.46, Y:134.49, Z:7.05 [[ 9.50730090e-01 -3.09189486e-01 2.26750323e-02 1.58464888e+02] [ 3.09147501e-01 9.50998644e-01 5.42226774e-03 1.34492930e+02] [-2.32404331e-02 1.85481647e-03 9.99728184e-01 7.05478498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.650714057 meters Centerline goodness : 0.990082 Centerline is valid? [True, True] Translation: X:158.50, Y:134.50, Z:7.05 [[ 9.50401557e-01 -3.10200177e-01 2.26435589e-02 1.58496042e+02] [ 3.10155513e-01 9.50669651e-01 5.54731141e-03 1.34501327e+02] [-2.32473212e-02 1.75085124e-03 9.99728211e-01 7.05262744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.680714057 meters Centerline goodness : 0.989819 Centerline is valid? [True, True] Translation: X:158.53, Y:134.51, Z:7.05 [[ 9.50243374e-01 -3.10684466e-01 2.26427021e-02 1.58526092e+02] [ 3.10639859e-01 9.50511477e-01 5.55071595e-03 1.34508228e+02] [-2.32466695e-02 1.75919474e-03 9.99728212e-01 7.04774522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.710714057 meters Centerline goodness : 0.990170 Centerline is valid? [True, True] Translation: X:158.55, Y:134.52, Z:7.04 [[ 9.49435743e-01 -3.13144133e-01 2.26389589e-02 1.58553221e+02] [ 3.13099866e-01 9.49703900e-01 5.56560941e-03 1.34516949e+02] [-2.32431455e-02 1.80406650e-03 9.99728214e-01 7.03765935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.740714057 meters Centerline goodness : 0.989755 Centerline is valid? [True, True] Translation: X:158.58, Y:134.53, Z:7.05 [[ 9.48976421e-01 -3.14536004e-01 2.26021111e-02 1.58584984e+02] [ 3.14488658e-01 9.49244044e-01 5.71218866e-03 1.34525119e+02] [-2.32516084e-02 1.68737526e-03 9.99728221e-01 7.04575659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.770714057 meters Centerline goodness : 0.989087 Centerline is valid? [True, True] Translation: X:158.62, Y:134.53, Z:7.05 [[ 9.48663021e-01 -3.15478774e-01 2.26189184e-02 1.58615578e+02] [ 3.15433279e-01 9.48930966e-01 5.64528539e-03 1.34532733e+02] [-2.32447598e-02 1.77928610e-03 9.99728221e-01 7.04516564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.800714057 meters Centerline goodness : 0.989490 Centerline is valid? [True, True] Translation: X:158.65, Y:134.54, Z:7.04 [[ 9.48606338e-01 -3.15649214e-01 2.26183472e-02 1.58647698e+02] [ 3.15603713e-01 9.48874281e-01 5.64756014e-03 1.34541400e+02] [-2.32446159e-02 1.78112302e-03 9.99728221e-01 7.04382912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.830714057 meters Centerline goodness : 0.989717 Centerline is valid? [True, True] Translation: X:158.68, Y:134.55, Z:7.04 [[ 9.48658817e-01 -3.15491088e-01 2.26235005e-02 1.58677200e+02] [ 3.15446030e-01 9.48926835e-01 5.62702326e-03 1.34551173e+02] [-2.32433225e-02 1.79836819e-03 9.99728220e-01 7.04447079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.860714057 meters Centerline goodness : 0.989980 Centerline is valid? [True, True] Translation: X:158.71, Y:134.56, Z:7.05 [[ 9.49026063e-01 -3.14385403e-01 2.26130657e-02 1.58708133e+02] [ 3.14339046e-01 9.49293859e-01 5.66861001e-03 1.34559282e+02] [-2.32485727e-02 1.72851088e-03 9.99728221e-01 7.04585365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.890714057 meters Centerline goodness : 0.990627 Centerline is valid? [True, True] Translation: X:158.74, Y:134.57, Z:7.05 [[ 9.49512405e-01 -3.12913208e-01 2.26167277e-02 1.58737659e+02] [ 3.12866782e-01 9.49780190e-01 5.65400343e-03 1.34569349e+02] [-2.32501323e-02 1.70747641e-03 9.99728221e-01 7.04588792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.920714057 meters Centerline goodness : 0.989778 Centerline is valid? [True, True] Translation: X:158.77, Y:134.58, Z:7.05 [[ 9.49802555e-01 -3.12031431e-01 2.26162147e-02 1.58768443e+02] [ 3.11984708e-01 9.50070287e-01 5.65605057e-03 1.34578053e+02] [-2.32518592e-02 1.68378187e-03 9.99728221e-01 7.04630947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.950714057 meters Centerline goodness : 0.989891 Centerline is valid? [True, True] Translation: X:158.80, Y:134.59, Z:7.05 [[ 9.50258162e-01 -3.10641048e-01 2.26177959e-02 1.58800152e+02] [ 3.10594083e-01 9.50525852e-01 5.64973465e-03 1.34586898e+02] [-2.32538392e-02 1.65624711e-03 9.99728221e-01 7.04798611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.980714057 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:158.83, Y:134.60, Z:7.05 [[ 9.50582355e-01 -3.09646737e-01 2.26293039e-02 1.58832193e+02] [ 3.09600581e-01 9.50850187e-01 5.60371687e-03 1.34595863e+02] [-2.32522505e-02 1.67925126e-03 9.99728220e-01 7.04795073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.01071405700003 meters Centerline goodness : 0.990162 Centerline is valid? [True, True] Translation: X:158.87, Y:134.61, Z:7.05 [[ 9.51167191e-01 -3.07845160e-01 2.26347363e-02 1.58865009e+02] [ 3.07799012e-01 9.51435027e-01 5.58198063e-03 1.34605018e+02] [-2.32538666e-02 1.65755262e-03 9.99728218e-01 7.04671493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.040714057 meters Centerline goodness : 0.989886 Centerline is valid? [True, True] Translation: X:158.90, Y:134.61, Z:7.05 [[ 9.51417792e-01 -3.07068033e-01 2.26585146e-02 1.58896498e+02] [ 3.07023919e-01 9.51685982e-01 5.48683821e-03 1.34613540e+02] [-2.32486233e-02 1.73643045e-03 9.99728206e-01 7.04551182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.070714057 meters Centerline goodness : 0.989193 Centerline is valid? [True, True] Translation: X:158.92, Y:134.62, Z:7.04 [[ 9.51991368e-01 -3.05284587e-01 2.26662085e-02 1.58924028e+02] [ 3.05240700e-01 9.52259601e-01 5.45604013e-03 1.34622843e+02] [-2.32497596e-02 1.72454622e-03 9.99728200e-01 7.04223374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.100714057 meters Centerline goodness : 0.990434 Centerline is valid? [True, True] Translation: X:158.95, Y:134.63, Z:7.04 [[ 9.51667402e-01 -3.06295333e-01 2.26345862e-02 1.58954546e+02] [ 3.06248736e-01 9.51935159e-01 5.58249619e-03 1.34633501e+02] [-2.32565509e-02 1.61913376e-03 9.99728219e-01 7.04216663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.130714057 meters Centerline goodness : 0.990831 Centerline is valid? [True, True] Translation: X:158.98, Y:134.64, Z:7.04 [[ 9.52034315e-01 -3.05151988e-01 2.26479089e-02 1.58984499e+02] [ 3.05106332e-01 9.52302239e-01 5.52917877e-03 1.34641850e+02] [-2.32548943e-02 1.64605250e-03 9.99728213e-01 7.04221171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.160714057 meters Centerline goodness : 0.989825 Centerline is valid? [True, True] Translation: X:159.02, Y:134.65, Z:7.04 [[ 9.52224321e-01 -3.04558989e-01 2.26421148e-02 1.59015023e+02] [ 3.04512617e-01 9.52492119e-01 5.55237929e-03 1.34652256e+02] [-2.32574629e-02 1.60769903e-03 9.99728216e-01 7.03931197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.190714057 meters Centerline goodness : 0.989847 Centerline is valid? [True, True] Translation: X:159.05, Y:134.66, Z:7.04 [[ 9.52583682e-01 -3.03432589e-01 2.26493651e-02 1.59045812e+02] [ 3.03386587e-01 9.52851548e-01 5.52333119e-03 1.34660314e+02] [-2.32574412e-02 1.61007841e-03 9.99728213e-01 7.03921191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.220714057 meters Centerline goodness : 0.989830 Centerline is valid? [True, True] Translation: X:159.08, Y:134.67, Z:7.04 [[ 9.53084256e-01 -3.01856689e-01 2.26481989e-02 1.59075552e+02] [ 3.01810134e-01 9.53352025e-01 5.52800297e-03 1.34670752e+02] [-2.32603710e-02 1.56680334e-03 9.99728213e-01 7.03879631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.250714057 meters Centerline goodness : 0.990162 Centerline is valid? [True, True] Translation: X:159.11, Y:134.68, Z:7.03 [[ 9.53806014e-01 -2.99569333e-01 2.26340956e-02 1.59107638e+02] [ 2.99520799e-01 9.54073427e-01 5.58450873e-03 1.34680052e+02] [-2.32675367e-02 1.45284440e-03 9.99728219e-01 7.03485240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.280714057 meters Centerline goodness : 0.988768 Centerline is valid? [True, True] Translation: X:159.13, Y:134.69, Z:7.03 [[ 9.53782963e-01 -2.99642307e-01 2.26395268e-02 1.59128321e+02] [ 2.99594310e-01 9.54050473e-01 5.56268182e-03 1.34694693e+02] [-2.32660660e-02 1.47708225e-03 9.99728217e-01 7.03011121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.310714057 meters Centerline goodness : 0.989686 Centerline is valid? [True, True] Translation: X:159.17, Y:134.70, Z:7.03 [[ 9.55337595e-01 -2.94657377e-01 2.25190916e-02 1.59168104e+02] [ 2.94596618e-01 9.55602581e-01 6.04490833e-03 1.34700089e+02] [-2.33004789e-02 8.59120051e-04 9.99728138e-01 7.03301056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.340714057 meters Centerline goodness : 0.988952 Centerline is valid? [True, True] Translation: X:159.20, Y:134.71, Z:7.03 [[ 9.56787294e-01 -2.89903697e-01 2.26698397e-02 1.59199350e+02] [ 2.89855804e-01 9.57054851e-01 5.44286897e-03 1.34708281e+02] [-2.32741879e-02 1.36331674e-03 9.99728190e-01 7.03497982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.370714057 meters Centerline goodness : 0.989110 Centerline is valid? [True, True] Translation: X:159.23, Y:134.72, Z:7.04 [[ 9.56837311e-01 -2.89739456e-01 2.26585267e-02 1.59230852e+02] [ 2.89690454e-01 9.57104657e-01 5.48787961e-03 1.34718267e+02] [-2.32766366e-02 1.31295091e-03 9.99728200e-01 7.03827909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.400714057 meters Centerline goodness : 0.988641 Centerline is valid? [True, True] Translation: X:159.26, Y:134.73, Z:7.04 [[ 9.56896515e-01 -2.89542527e-01 2.26756412e-02 1.59259646e+02] [ 2.89495080e-01 9.57164158e-01 5.41974612e-03 1.34726649e+02] [-2.32735580e-02 1.37835039e-03 9.99728184e-01 7.03807715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.430714057 meters Centerline goodness : 0.988561 Centerline is valid? [True, True] Translation: X:159.29, Y:134.73, Z:7.03 [[ 9.57456472e-01 -2.87686539e-01 2.26618574e-02 1.59289477e+02] [ 2.87637274e-01 9.57723773e-01 5.47474933e-03 1.34733382e+02] [-2.32788113e-02 1.27656071e-03 9.99728197e-01 7.03404660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.460714057 meters Centerline goodness : 0.989715 Centerline is valid? [True, True] Translation: X:159.33, Y:134.74, Z:7.03 [[ 9.56865352e-01 -2.89648449e-01 2.26378766e-02 1.59325269e+02] [ 2.89597475e-01 9.57132318e-01 5.57036083e-03 1.34741308e+02] [-2.32808897e-02 1.22578663e-03 9.99728212e-01 7.03266447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.490714057 meters Centerline goodness : 0.989334 Centerline is valid? [True, True] Translation: X:159.36, Y:134.75, Z:7.03 [[ 9.56038644e-01 -2.92359937e-01 2.27107787e-02 1.59355966e+02] [ 2.92316603e-01 9.56307029e-01 5.27917709e-03 1.34748957e+02] [-2.32618972e-02 1.59164036e-03 9.99728138e-01 7.03031973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.520714057 meters Centerline goodness : 0.987166 Centerline is valid? [True, True] Translation: X:159.38, Y:134.76, Z:7.03 [[ 9.55640744e-01 -2.93658685e-01 2.27012005e-02 1.59380783e+02] [ 2.93614810e-01 9.55909027e-01 5.31743757e-03 1.34755111e+02] [-2.32617942e-02 1.58384867e-03 9.99728153e-01 7.03154327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.550714057 meters Centerline goodness : 0.989961 Centerline is valid? [True, True] Translation: X:159.42, Y:134.77, Z:7.03 [[ 9.54996930e-01 -2.95752468e-01 2.26128786e-02 1.59419187e+02] [ 2.95700854e-01 9.55263764e-01 5.66970433e-03 1.34765627e+02] [-2.32780926e-02 1.27209728e-03 9.99728219e-01 7.02845416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.580714057 meters Centerline goodness : 0.990109 Centerline is valid? [True, True] Translation: X:159.45, Y:134.77, Z:7.03 [[ 9.54234604e-01 -2.98194375e-01 2.27252021e-02 1.59449302e+02] [ 2.98154074e-01 9.54503481e-01 5.22040931e-03 1.34772797e+02] [-2.32479812e-02 1.79411637e-03 9.99728119e-01 7.02665983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.610714057 meters Centerline goodness : 0.989065 Centerline is valid? [True, True] Translation: X:159.48, Y:134.78, Z:7.03 [[ 9.53543119e-01 -3.00398759e-01 2.27179699e-02 1.59480465e+02] [ 3.00358393e-01 9.53811973e-01 5.24935272e-03 1.34781283e+02] [-2.32455707e-02 1.81804875e-03 9.99728132e-01 7.02539341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.640714057 meters Centerline goodness : 0.990331 Centerline is valid? [True, True] Translation: X:159.51, Y:134.79, Z:7.03 [[ 9.52942949e-01 -3.02297518e-01 2.27144496e-02 1.59512396e+02] [ 3.02257353e-01 9.53211828e-01 5.26341888e-03 1.34790072e+02] [-2.32428004e-02 1.84987149e-03 9.99728138e-01 7.02622168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.670714057 meters Centerline goodness : 0.990336 Centerline is valid? [True, True] Translation: X:159.54, Y:134.80, Z:7.02 [[ 9.52169787e-01 -3.04724098e-01 2.27139157e-02 1.59544253e+02] [ 3.04684568e-01 9.52438758e-01 5.26553835e-03 1.34800166e+02] [-2.32381500e-02 1.90689306e-03 9.99728139e-01 7.02482569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.700714057 meters Centerline goodness : 0.990153 Centerline is valid? [True, True] Translation: X:159.57, Y:134.81, Z:7.03 [[ 9.51409041e-01 -3.07089255e-01 2.27382165e-02 1.59571864e+02] [ 3.07052684e-01 9.51678480e-01 5.16907868e-03 1.34810096e+02] [-2.32268398e-02 2.06392222e-03 9.99728090e-01 7.02543336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.730714057 meters Centerline goodness : 0.990477 Centerline is valid? [True, True] Translation: X:159.60, Y:134.82, Z:7.02 [[ 9.50944475e-01 -3.08528188e-01 2.26927790e-02 1.59603195e+02] [ 3.08487752e-01 9.51213275e-01 5.34904863e-03 1.34819010e+02] [-2.32360049e-02 1.91379614e-03 9.99728176e-01 7.02376864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.76071405700003 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:159.63, Y:134.83, Z:7.02 [[ 9.50359596e-01 -3.10324698e-01 2.26984411e-02 1.59630471e+02] [ 3.10285302e-01 9.50628560e-01 5.32661430e-03 1.34826657e+02] [-2.32307663e-02 1.98079364e-03 9.99728167e-01 7.02127981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.790714057 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:159.66, Y:134.84, Z:7.02 [[ 9.49523946e-01 -3.12875479e-01 2.26541416e-02 1.59661523e+02] [ 3.12832648e-01 9.49792327e-01 5.50180321e-03 1.34836287e+02] [-2.32381092e-02 1.86286122e-03 9.99728223e-01 7.02116783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.820714057 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:159.69, Y:134.84, Z:7.02 [[ 9.49530723e-01 -3.12853901e-01 2.26681033e-02 1.59692214e+02] [ 3.12812374e-01 9.49799323e-01 5.44657357e-03 1.34844158e+02] [-2.32341309e-02 1.91917426e-03 9.99728209e-01 7.02045171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.850714057 meters Centerline goodness : 0.990498 Centerline is valid? [True, True] Translation: X:159.72, Y:134.85, Z:7.02 [[ 9.49129631e-01 -3.14068537e-01 2.26692949e-02 1.59722384e+02] [ 3.14027466e-01 9.49398303e-01 5.44185730e-03 1.34852962e+02] [-2.32313062e-02 1.95375321e-03 9.99728208e-01 7.02045732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.880714057 meters Centerline goodness : 0.989965 Centerline is valid? [True, True] Translation: X:159.75, Y:134.86, Z:7.02 [[ 9.48327738e-01 -3.16481841e-01 2.26659698e-02 1.59754070e+02] [ 3.16441141e-01 9.48596462e-01 5.45501265e-03 1.34862767e+02] [-2.32272712e-02 1.99930553e-03 9.99728211e-01 7.02149279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.910714057 meters Centerline goodness : 0.989687 Centerline is valid? [True, True] Translation: X:159.78, Y:134.87, Z:7.02 [[ 9.47659470e-01 -3.18477002e-01 2.26699785e-02 1.59783582e+02] [ 3.18437245e-01 9.47928340e-01 5.43915277e-03 1.34871152e+02] [-2.32217601e-02 2.06450085e-03 9.99728207e-01 7.02111994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.940714057 meters Centerline goodness : 0.989599 Centerline is valid? [True, True] Translation: X:159.81, Y:134.88, Z:7.02 [[ 9.46455107e-01 -3.22039357e-01 2.26579507e-02 1.59812038e+02] [ 3.21999481e-01 9.46723946e-01 5.48670427e-03 1.34879859e+02] [-2.32177592e-02 2.10292908e-03 9.99728220e-01 7.02060057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.970714057 meters Centerline goodness : 0.989833 Centerline is valid? [True, True] Translation: X:159.84, Y:134.89, Z:7.02 [[ 9.46191325e-01 -3.22815173e-01 2.26349493e-02 1.59844317e+02] [ 3.22773358e-01 9.46459851e-01 5.57759611e-03 1.34888040e+02] [-2.32236034e-02 2.02848556e-03 9.99728238e-01 7.01993075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.000714057 meters Centerline goodness : 0.989760 Centerline is valid? [True, True] Translation: X:159.87, Y:134.90, Z:7.02 [[ 9.45605431e-01 -3.24527221e-01 2.26374228e-02 1.59874473e+02] [ 3.24486125e-01 9.45874069e-01 5.56781750e-03 1.34897207e+02] [-2.32190595e-02 2.08057113e-03 9.99728236e-01 7.01834992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.030714057 meters Centerline goodness : 0.989455 Centerline is valid? [True, True] Translation: X:159.90, Y:134.91, Z:7.02 [[ 9.45223267e-01 -3.25639214e-01 2.26291405e-02 1.59903506e+02] [ 3.25597655e-01 9.45491830e-01 5.60057897e-03 1.34907400e+02] [-2.32194356e-02 2.07419755e-03 9.99728241e-01 7.01762595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.060714057 meters Centerline goodness : 0.989284 Centerline is valid? [True, True] Translation: X:159.94, Y:134.92, Z:7.02 [[ 9.45299102e-01 -3.25420217e-01 2.26117255e-02 1.59935308e+02] [ 3.25376959e-01 9.45567391e-01 5.66951348e-03 1.34915746e+02] [-2.32258846e-02 1.99794849e-03 9.99728246e-01 7.01663848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.090714057 meters Centerline goodness : 0.989934 Centerline is valid? [True, True] Translation: X:159.97, Y:134.92, Z:7.02 [[ 9.45668749e-01 -3.24343427e-01 2.26264764e-02 1.59967560e+02] [ 3.24301252e-01 9.45937215e-01 5.61107435e-03 1.34923860e+02] [-2.32231412e-02 2.03157697e-03 9.99728242e-01 7.01597665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.120714057 meters Centerline goodness : 0.989525 Centerline is valid? [True, True] Translation: X:160.00, Y:134.93, Z:7.02 [[ 9.46388745e-01 -3.22235961e-01 2.26346720e-02 1.59999043e+02] [ 3.22193959e-01 9.46657241e-01 5.57859016e-03 1.34932901e+02] [-2.32248985e-02 2.01323963e-03 9.99728239e-01 7.01528371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.150714057 meters Centerline goodness : 0.989568 Centerline is valid? [True, True] Translation: X:160.03, Y:134.94, Z:7.01 [[ 9.47153116e-01 -3.19980739e-01 2.26561773e-02 1.60030782e+02] [ 3.19940120e-01 9.47421840e-01 5.49334269e-03 1.34944281e+02] [-2.32227210e-02 2.04558344e-03 9.99728223e-01 7.01444259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.180714057 meters Centerline goodness : 0.988688 Centerline is valid? [True, True] Translation: X:160.06, Y:134.95, Z:7.01 [[ 9.48064086e-01 -3.17269623e-01 2.26820458e-02 1.60059075e+02] [ 3.17230673e-01 9.48333085e-01 5.39071598e-03 1.34952321e+02] [-2.32204449e-02 2.08469644e-03 9.99728196e-01 7.01203993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.210714057 meters Centerline goodness : 0.988538 Centerline is valid? [True, True] Translation: X:160.09, Y:134.96, Z:7.01 [[ 9.48349355e-01 -3.16417980e-01 2.26531031e-02 1.60091411e+02] [ 3.16376065e-01 9.48617877e-01 5.50543782e-03 1.34961611e+02] [-2.32311581e-02 1.94582122e-03 9.99728227e-01 7.01439864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.240714057 meters Centerline goodness : 0.989244 Centerline is valid? [True, True] Translation: X:160.12, Y:134.97, Z:7.01 [[ 9.50128838e-01 -3.11031960e-01 2.26784368e-02 1.60121436e+02] [ 3.10990906e-01 9.50397519e-01 5.40493696e-03 1.34970038e+02] [-2.32346382e-02 1.91740115e-03 9.99728201e-01 7.01195658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.270714057 meters Centerline goodness : 0.988510 Centerline is valid? [True, True] Translation: X:160.15, Y:134.98, Z:7.01 [[ 9.50843729e-01 -3.08839953e-01 2.26734747e-02 1.60153560e+02] [ 3.08797812e-01 9.51112236e-01 5.42462525e-03 1.34978500e+02] [-2.32403602e-02 1.84354849e-03 9.99728207e-01 7.01124428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.300714057 meters Centerline goodness : 0.988736 Centerline is valid? [True, True] Translation: X:160.19, Y:134.99, Z:7.01 [[ 9.52493023e-01 -3.03714408e-01 2.26847815e-02 1.60185699e+02] [ 3.03671886e-01 9.52761483e-01 5.37972317e-03 1.34986988e+02] [-2.32470855e-02 1.76458159e-03 9.99728193e-01 7.01069519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.330714057 meters Centerline goodness : 0.989089 Centerline is valid? [True, True] Translation: X:160.22, Y:135.00, Z:7.01 [[ 9.53215690e-01 -3.01437325e-01 2.27021461e-02 1.60218298e+02] [ 3.01395792e-01 9.53484332e-01 5.31086603e-03 1.34995347e+02] [-2.32470339e-02 1.77993048e-03 9.99728167e-01 7.00836365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.360714057 meters Centerline goodness : 0.988693 Centerline is valid? [True, True] Translation: X:160.25, Y:135.00, Z:7.01 [[ 9.55271078e-01 -2.94856694e-01 2.27309683e-02 1.60254476e+02] [ 2.94816016e-01 9.55539906e-01 5.19661150e-03 1.35001940e+02] [-2.32526030e-02 1.73728084e-03 9.99728112e-01 7.00534360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.390714057 meters Centerline goodness : 0.988380 Centerline is valid? [True, True] Translation: X:160.28, Y:135.01, Z:7.01 [[ 9.55091808e-01 -2.95432291e-01 2.27903411e-02 1.60283794e+02] [ 2.95397335e-01 9.55361602e-01 4.96228428e-03 1.35011732e+02] [-2.32390358e-02 1.99276897e-03 9.99727951e-01 7.00630695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.420714057 meters Centerline goodness : 0.988019 Centerline is valid? [True, True] Translation: X:160.31, Y:135.02, Z:7.00 [[ 9.56575601e-01 -2.90594206e-01 2.27623895e-02 1.60314378e+02] [ 2.90555271e-01 9.56844765e-01 5.07248237e-03 1.35018641e+02] [-2.32541073e-02 1.76151937e-03 9.99728035e-01 7.00428296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.450714057 meters Centerline goodness : 0.988975 Centerline is valid? [True, True] Translation: X:160.35, Y:135.03, Z:7.00 [[ 9.57006172e-01 -2.89172995e-01 2.27632456e-02 1.60346439e+02] [ 2.89133740e-01 9.57275292e-01 5.06910693e-03 1.35026214e+02] [-2.32565414e-02 1.73045570e-03 9.99728032e-01 7.00429898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.480714057 meters Centerline goodness : 0.988040 Centerline is valid? [True, True] Translation: X:160.37, Y:135.03, Z:7.00 [[ 9.58295593e-01 -2.84869584e-01 2.27788779e-02 1.60374621e+02] [ 2.84830580e-01 9.58564795e-01 5.00748339e-03 1.35033330e+02] [-2.32615101e-02 1.68947174e-03 9.99727987e-01 7.00386386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.51071405700003 meters Centerline goodness : 0.986467 Centerline is valid? [True, True] Translation: X:160.41, Y:135.04, Z:7.00 [[ 9.58454927e-01 -2.84335705e-01 2.27455485e-02 1.60407717e+02] [ 2.84293432e-01 9.58723544e-01 5.13922401e-03 1.35040732e+02] [-2.32679577e-02 1.54069547e-03 9.99728077e-01 7.00208227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.540714057 meters Centerline goodness : 0.987588 Centerline is valid? [True, True] Translation: X:160.44, Y:135.05, Z:7.00 [[ 9.58091747e-01 -2.85556808e-01 2.27489151e-02 1.60439606e+02] [ 2.85515190e-01 9.58360475e-01 5.12603461e-03 1.35048564e+02] [-2.32654351e-02 1.58394934e-03 9.99728068e-01 7.00111152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.570714057 meters Centerline goodness : 0.986291 Centerline is valid? [True, True] Translation: X:160.47, Y:135.05, Z:7.00 [[ 9.58615217e-01 -2.83792597e-01 2.27733801e-02 1.60469261e+02] [ 2.83752753e-01 9.58884285e-01 5.03018848e-03 1.35054836e+02] [-2.32645666e-02 1.63999409e-03 9.99727998e-01 6.99983222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.600714057 meters Centerline goodness : 0.987728 Centerline is valid? [True, True] Translation: X:160.50, Y:135.07, Z:7.00 [[ 9.57247262e-01 -2.88375514e-01 2.27429524e-02 1.60496717e+02] [ 2.88334112e-01 9.57516013e-01 5.15030163e-03 1.35065489e+02] [-2.32619619e-02 1.62745683e-03 9.99728079e-01 6.99930041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.630714057 meters Centerline goodness : 0.986472 Centerline is valid? [True, True] Translation: X:160.53, Y:135.07, Z:7.00 [[ 9.58514761e-01 -2.84139425e-01 2.26768672e-02 1.60533784e+02] [ 2.84090675e-01 9.58782149e-01 5.41092738e-03 1.35068007e+02] [-2.32796332e-02 1.25583275e-03 9.99728204e-01 6.99556127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.660714057 meters Centerline goodness : 0.986436 Centerline is valid? [True, True] Translation: X:160.55, Y:135.08, Z:7.00 [[ 9.56146071e-01 -2.92002525e-01 2.27862985e-02 1.60554627e+02] [ 2.91966246e-01 9.56415672e-01 4.97720671e-03 1.35081226e+02] [-2.32465300e-02 1.89389340e-03 9.99727969e-01 6.99743982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.690714057 meters Centerline goodness : 0.979762 Centerline is valid? [True, True] Translation: X:160.58, Y:135.09, Z:6.99 [[ 9.54828244e-01 -2.96297135e-01 2.26060138e-02 1.60577978e+02] [ 2.96245200e-01 9.55094974e-01 5.68962544e-03 1.35088659e+02] [-2.32767099e-02 1.26430800e-03 9.99728261e-01 6.99255201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.720714057 meters Centerline goodness : 0.987162 Centerline is valid? [True, True] Translation: X:160.62, Y:135.09, Z:7.00 [[ 9.55247790e-01 -2.94953970e-01 2.24458281e-02 1.60618551e+02] [ 2.94886821e-01 9.55511286e-01 6.32023540e-03 1.35094164e+02] [-2.33114206e-02 5.81587994e-04 9.99728083e-01 6.99551765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.750714057 meters Centerline goodness : 0.986471 Centerline is valid? [True, True] Translation: X:160.65, Y:135.10, Z:7.00 [[ 9.54534160e-01 -2.97234502e-01 2.27197839e-02 1.60649627e+02] [ 2.97192770e-01 9.54802957e-01 5.26983542e-03 1.35100981e+02] [-2.32592937e-02 1.72191759e-03 9.99727983e-01 6.99909976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.780714057 meters Centerline goodness : 0.987243 Centerline is valid? [True, True] Translation: X:160.68, Y:135.11, Z:7.00 [[ 9.53929552e-01 -2.99170474e-01 2.27032343e-02 1.60680530e+02] [ 2.99127785e-01 9.54198158e-01 5.33324476e-03 1.35108576e+02] [-2.32589337e-02 1.70362839e-03 9.99728023e-01 6.99687947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.810714057 meters Centerline goodness : 0.989222 Centerline is valid? [True, True] Translation: X:160.70, Y:135.12, Z:7.00 [[ 9.49918020e-01 -3.11673320e-01 2.27045660e-02 1.60697129e+02] [ 3.11634283e-01 9.50187184e-01 5.32814289e-03 1.35124109e+02] [-2.32342276e-02 2.01422220e-03 9.99728020e-01 6.99710761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.840714057 meters Centerline goodness : 0.987695 Centerline is valid? [True, True] Translation: X:160.74, Y:135.12, Z:6.99 [[ 9.52310161e-01 -3.04297150e-01 2.25522254e-02 1.60735633e+02] [ 3.04242263e-01 9.52576361e-01 5.90952901e-03 1.35122559e+02] [-2.32809696e-02 1.23363557e-03 9.99728200e-01 6.99425704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.870714057 meters Centerline goodness : 0.987760 Centerline is valid? [True, True] Translation: X:160.77, Y:135.13, Z:7.00 [[ 9.51345279e-01 -3.07293736e-01 2.26433087e-02 1.60769257e+02] [ 3.07247910e-01 9.51613254e-01 5.56206455e-03 1.35129599e+02] [-2.32568602e-02 1.66566541e-03 9.99728135e-01 6.99557206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.900714057 meters Centerline goodness : 0.988457 Centerline is valid? [True, True] Translation: X:160.80, Y:135.14, Z:6.99 [[ 9.50614293e-01 -3.09546273e-01 2.26620845e-02 1.60798643e+02] [ 3.09502782e-01 9.50882687e-01 5.49037004e-03 1.35137218e+02] [-2.32485074e-02 1.79475398e-03 9.99728106e-01 6.99274180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.930714057 meters Centerline goodness : 0.988363 Centerline is valid? [True, True] Translation: X:160.83, Y:135.14, Z:6.99 [[ 9.49204023e-01 -3.13845152e-01 2.26482423e-02 1.60829345e+02] [ 3.13801624e-01 9.49472388e-01 5.54313390e-03 1.35144405e+02] [-2.32435664e-02 1.84549022e-03 9.99728128e-01 6.99120343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.960714057 meters Centerline goodness : 0.988093 Centerline is valid? [True, True] Translation: X:160.86, Y:135.15, Z:6.99 [[ 9.48147302e-01 -3.17024022e-01 2.26376534e-02 1.60862369e+02] [ 3.16980437e-01 9.48415641e-01 5.58341112e-03 1.35150677e+02] [-2.32399800e-02 1.88179708e-03 9.99728144e-01 6.99127155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.990714057 meters Centerline goodness : 0.988749 Centerline is valid? [True, True] Translation: X:160.89, Y:135.16, Z:6.99 [[ 9.47820189e-01 -3.17998753e-01 2.26645574e-02 1.60894276e+02] [ 3.17957875e-01 9.48088998e-01 5.48107266e-03 1.35158407e+02] [-2.32309918e-02 2.01130319e-03 9.99728101e-01 6.99022352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.020714057 meters Centerline goodness : 0.988782 Centerline is valid? [True, True] Translation: X:160.92, Y:135.17, Z:6.99 [[ 9.47590954e-01 -3.18680889e-01 2.26687902e-02 1.60921623e+02] [ 3.18640587e-01 9.47859858e-01 5.46497031e-03 1.35165941e+02] [-2.32284178e-02 2.04464018e-03 9.99728093e-01 6.98759511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.050714057 meters Centerline goodness : 0.988904 Centerline is valid? [True, True] Translation: X:160.95, Y:135.17, Z:6.99 [[ 9.46622148e-01 -3.21549643e-01 2.26348326e-02 1.60953159e+02] [ 3.21507085e-01 9.46890648e-01 5.59413532e-03 1.35174209e+02] [-2.32315036e-02 1.98172667e-03 9.99728148e-01 6.98735348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.080714057 meters Centerline goodness : 0.988645 Centerline is valid? [True, True] Translation: X:160.99, Y:135.18, Z:6.99 [[ 9.46269288e-01 -3.22586108e-01 2.26415218e-02 1.60986427e+02] [ 3.22544449e-01 9.46537938e-01 5.56870190e-03 1.35182792e+02] [-2.32274452e-02 2.03340559e-03 9.99728139e-01 6.98765817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.110714057 meters Centerline goodness : 0.988094 Centerline is valid? [True, True] Translation: X:161.01, Y:135.19, Z:6.99 [[ 9.45901575e-01 -3.23661343e-01 2.26615623e-02 1.61014702e+02] [ 3.23621803e-01 9.46170578e-01 5.49241398e-03 1.35190711e+02] [-2.32193856e-02 2.13849262e-03 9.99728107e-01 6.98574282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.140714057 meters Centerline goodness : 0.989743 Centerline is valid? [True, True] Translation: X:161.05, Y:135.20, Z:6.98 [[ 9.44027839e-01 -3.29088592e-01 2.26304587e-02 1.61051596e+02] [ 3.29047784e-01 9.44296604e-01 5.61061530e-03 1.35200572e+02] [-2.32162547e-02 2.14992524e-03 9.99728155e-01 6.98417745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.170714057 meters Centerline goodness : 0.988253 Centerline is valid? [True, True] Translation: X:161.08, Y:135.21, Z:6.99 [[ 9.45090080e-01 -3.26018570e-01 2.27295423e-02 1.61076831e+02] [ 3.25985870e-01 9.45360155e-01 5.23345950e-03 1.35206624e+02] [-2.31938087e-02 2.46341897e-03 9.99727952e-01 6.98647498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.200714057 meters Centerline goodness : 0.988342 Centerline is valid? [True, True] Translation: X:161.11, Y:135.22, Z:6.99 [[ 9.44526584e-01 -3.27652381e-01 2.26594129e-02 1.61109127e+02] [ 3.27613806e-01 9.44795718e-01 5.49961885e-03 1.35216853e+02] [-2.32104795e-02 2.22900029e-03 9.99728116e-01 6.98675685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.230714057 meters Centerline goodness : 0.989183 Centerline is valid? [True, True] Translation: X:161.14, Y:135.23, Z:6.99 [[ 9.44023752e-01 -3.29097442e-01 2.26722236e-02 1.61140397e+02] [ 3.29060430e-01 9.44293131e-01 5.45124765e-03 1.35227236e+02] [-2.32032167e-02 2.31442440e-03 9.99728090e-01 6.98588280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.26071405700003 meters Centerline goodness : 0.989051 Centerline is valid? [True, True] Translation: X:161.17, Y:135.24, Z:6.99 [[ 9.44525975e-01 -3.27652525e-01 2.26827122e-02 1.61167795e+02] [ 3.27616045e-01 9.44795449e-01 5.41163134e-03 1.35236860e+02] [-2.32036580e-02 2.31979410e-03 9.99728067e-01 6.98597605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.290714057 meters Centerline goodness : 0.989622 Centerline is valid? [True, True] Translation: X:161.21, Y:135.24, Z:6.99 [[ 9.45789824e-01 -3.23989460e-01 2.26371259e-02 1.61210737e+02] [ 3.23947846e-01 9.46058464e-01 5.58353709e-03 1.35244903e+02] [-2.32250517e-02 2.05239561e-03 9.99728155e-01 6.98502174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.320714057 meters Centerline goodness : 0.988897 Centerline is valid? [True, True] Translation: X:161.24, Y:135.25, Z:6.98 [[ 9.46623490e-01 -3.21531661e-01 2.28332878e-02 1.61236697e+02] [ 3.21507051e-01 9.46894810e-01 4.84091249e-03 1.35254821e+02] [-2.31772284e-02 2.75854157e-03 9.99727566e-01 6.98305920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.350714057 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:161.25, Y:135.27, Z:6.98 [[ 9.42041864e-01 -3.34722356e-01 2.27611684e-02 1.61246143e+02] [ 3.34695001e-01 9.42312635e-01 5.11411003e-03 1.35272990e+02] [-2.31599435e-02 2.80034353e-03 9.99727851e-01 6.98433806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.380714057 meters Centerline goodness : 0.989338 Centerline is valid? [True, True] Translation: X:161.28, Y:135.28, Z:6.98 [[ 9.41702185e-01 -3.35694172e-01 2.25037159e-02 1.61276164e+02] [ 3.35644003e-01 9.41969264e-01 6.08345616e-03 1.35281462e+02] [-2.32399894e-02 1.82443332e-03 9.99728250e-01 6.98096702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.410714057 meters Centerline goodness : 0.988900 Centerline is valid? [True, True] Translation: X:161.33, Y:135.28, Z:6.98 [[ 9.44460795e-01 -3.27853371e-01 2.24938548e-02 1.61325586e+02] [ 3.27800104e-01 9.44727278e-01 6.12057648e-03 1.35281688e+02] [-2.32572098e-02 1.59284340e-03 9.99728246e-01 6.97862336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.440714057 meters Centerline goodness : 0.989083 Centerline is valid? [True, True] Translation: X:161.36, Y:135.29, Z:6.98 [[ 9.43551911e-01 -3.30444726e-01 2.27172794e-02 1.61357021e+02] [ 3.30412117e-01 9.43821978e-01 5.28280962e-03 1.35291368e+02] [-2.31867442e-02 2.52145927e-03 9.99727972e-01 6.97788857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.470714057 meters Centerline goodness : 0.988310 Centerline is valid? [True, True] Translation: X:161.37, Y:135.30, Z:6.97 [[ 9.41946460e-01 -3.34992361e-01 2.27372963e-02 1.61372041e+02] [ 3.34962847e-01 9.42216944e-01 5.20777253e-03 1.35302641e+02] [-2.31680298e-02 2.71070660e-03 9.99727910e-01 6.97436209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.500714057 meters Centerline goodness : 0.989371 Centerline is valid? [True, True] Translation: X:161.42, Y:135.31, Z:6.98 [[ 9.42920293e-01 -3.32255142e-01 2.25353542e-02 1.61416081e+02] [ 3.32206911e-01 9.43187701e-01 5.96068645e-03 1.35308263e+02] [-2.32355377e-02 1.86594821e-03 9.99728277e-01 6.97524279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.530714057 meters Centerline goodness : 0.989003 Centerline is valid? [True, True] Translation: X:161.44, Y:135.32, Z:6.98 [[ 9.41854778e-01 -3.35249589e-01 2.27440142e-02 1.61443485e+02] [ 3.35220822e-01 9.42125349e-01 5.17950571e-03 1.35319010e+02] [-2.31641395e-02 2.74592494e-03 9.99727904e-01 6.97566698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.560714057 meters Centerline goodness : 0.988434 Centerline is valid? [True, True] Translation: X:161.47, Y:135.33, Z:6.97 [[ 9.41990976e-01 -3.34869454e-01 2.27035262e-02 1.61468898e+02] [ 3.34836954e-01 9.42261000e-01 5.33121246e-03 1.35326845e+02] [-2.31779075e-02 2.58002552e-03 9.99728027e-01 6.97466206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.590714057 meters Centerline goodness : 0.988359 Centerline is valid? [True, True] Translation: X:161.50, Y:135.34, Z:6.97 [[ 9.41716987e-01 -3.35642286e-01 2.26577216e-02 1.61499331e+02] [ 3.35605888e-01 9.41986409e-01 5.50389370e-03 1.35335528e+02] [-2.31906053e-02 2.42095460e-03 9.99728130e-01 6.97223789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.620714057 meters Centerline goodness : 0.989077 Centerline is valid? [True, True] Translation: X:161.53, Y:135.35, Z:6.97 [[ 9.40791220e-01 -3.38230034e-01 2.26345797e-02 1.61532360e+02] [ 3.38192315e-01 9.41060416e-01 5.59037453e-03 1.35345443e+02] [-2.31913395e-02 2.39546562e-03 9.99728175e-01 6.97240561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.650714057 meters Centerline goodness : 0.988241 Centerline is valid? [True, True] Translation: X:161.56, Y:135.35, Z:6.97 [[ 9.40852373e-01 -3.38057225e-01 2.26743222e-02 1.61557935e+02] [ 3.38023003e-01 9.41122116e-01 5.44170600e-03 1.35354169e+02] [-2.31789141e-02 2.54460048e-03 9.99728095e-01 6.97241340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.680714057 meters Centerline goodness : 0.988202 Centerline is valid? [True, True] Translation: X:161.59, Y:135.36, Z:6.97 [[ 9.39749895e-01 -3.41114869e-01 2.26004779e-02 1.61586084e+02] [ 3.41074954e-01 9.40018718e-01 5.71713574e-03 1.35363869e+02] [-2.31950723e-02 2.33577925e-03 9.99728229e-01 6.97050060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.710714057 meters Centerline goodness : 0.988294 Centerline is valid? [True, True] Translation: X:161.62, Y:135.37, Z:6.97 [[ 9.39526224e-01 -3.41731614e-01 2.25827046e-02 1.61616236e+02] [ 3.41690296e-01 9.39794815e-01 5.78340966e-03 1.35372717e+02] [-2.31994826e-02 2.28262598e-03 9.99728250e-01 6.97018810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.740714057 meters Centerline goodness : 0.988294 Centerline is valid? [True, True] Translation: X:161.65, Y:135.38, Z:6.97 [[ 9.39560709e-01 -3.41637745e-01 2.25682642e-02 1.61647673e+02] [ 3.41595118e-01 9.39829081e-01 5.83723240e-03 1.35381157e+02] [-2.32045299e-02 2.22477468e-03 9.99728263e-01 6.96940615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.770714057 meters Centerline goodness : 0.988546 Centerline is valid? [True, True] Translation: X:161.68, Y:135.39, Z:6.97 [[ 9.39489722e-01 -3.41832831e-01 2.25693968e-02 1.61677930e+02] [ 3.41790361e-01 9.39758120e-01 5.83300895e-03 1.35389857e+02] [-2.32036878e-02 2.23395032e-03 9.99728262e-01 6.96987554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.800714057 meters Centerline goodness : 0.987931 Centerline is valid? [True, True] Translation: X:161.71, Y:135.40, Z:6.97 [[ 9.39606814e-01 -3.41512109e-01 2.25502545e-02 1.61708394e+02] [ 3.41467848e-01 9.39874910e-01 5.90441851e-03 1.35397596e+02] [-2.32108488e-02 2.15235501e-03 9.99728275e-01 6.97149794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.830714057 meters Centerline goodness : 0.987605 Centerline is valid? [True, True] Translation: X:161.74, Y:135.41, Z:6.97 [[ 9.39732491e-01 -3.41166470e-01 2.25451683e-02 1.61741558e+02] [ 3.41121659e-01 9.40000493e-01 5.92339003e-03 1.35405221e+02] [-2.32133314e-02 2.12424314e-03 9.99728278e-01 6.97167242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.860714057 meters Centerline goodness : 0.987977 Centerline is valid? [True, True] Translation: X:161.77, Y:135.41, Z:6.97 [[ 9.39389778e-01 -3.42107358e-01 2.25699006e-02 1.61771753e+02] [ 3.42065013e-01 9.39658196e-01 5.83104880e-03 1.35412487e+02] [-2.32028368e-02 2.24274570e-03 9.99728262e-01 6.97206450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.890714057 meters Centerline goodness : 0.988125 Centerline is valid? [True, True] Translation: X:161.80, Y:135.42, Z:6.97 [[ 9.39205174e-01 -3.42614763e-01 2.25558258e-02 1.61804303e+02] [ 3.42571313e-01 9.39473405e-01 5.88356666e-03 1.35420049e+02] [-2.32063953e-02 2.20110261e-03 9.99728272e-01 6.97053006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.920714057 meters Centerline goodness : 0.987095 Centerline is valid? [True, True] Translation: X:161.84, Y:135.43, Z:6.97 [[ 9.38890505e-01 -3.43475116e-01 2.25713099e-02 1.61835356e+02] [ 3.43433288e-01 9.39159005e-01 5.82574288e-03 1.35426987e+02] [-2.31990466e-02 2.28200449e-03 9.99728261e-01 6.96828379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.950714057 meters Centerline goodness : 0.988477 Centerline is valid? [True, True] Translation: X:161.87, Y:135.43, Z:6.97 [[ 9.39007750e-01 -3.43155021e-01 2.25627223e-02 1.61869002e+02] [ 3.43112338e-01 9.39276109e-01 5.85782232e-03 1.35433897e+02] [-2.32027672e-02 2.24100784e-03 9.99728268e-01 6.96519171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.980714057 meters Centerline goodness : 0.987654 Centerline is valid? [True, True] Translation: X:161.90, Y:135.44, Z:6.96 [[ 9.39183055e-01 -3.42673034e-01 2.25916092e-02 1.61898874e+02] [ 3.42632784e-01 9.39451816e-01 5.74986060e-03 1.35439882e+02] [-2.31940505e-02 2.34045432e-03 9.99728242e-01 6.96195917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.01071405700003 meters Centerline goodness : 0.987772 Centerline is valid? [True, True] Translation: X:161.93, Y:135.45, Z:6.96 [[ 9.39043418e-01 -3.43057099e-01 2.25673691e-02 1.61930760e+02] [ 3.43014803e-01 9.39311841e-01 5.84042186e-03 1.35448008e+02] [-2.32013952e-02 2.25653194e-03 9.99728265e-01 6.96096283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.040714057 meters Centerline goodness : 0.987849 Centerline is valid? [True, True] Translation: X:161.96, Y:135.46, Z:6.96 [[ 9.39429807e-01 -3.41996629e-01 2.25819191e-02 1.61961943e+02] [ 3.41955325e-01 9.39698397e-01 5.78602192e-03 1.35455964e+02] [-2.31989932e-02 2.28644602e-03 9.99728253e-01 6.95990398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.070714057 meters Centerline goodness : 0.987685 Centerline is valid? [True, True] Translation: X:161.99, Y:135.46, Z:6.96 [[ 9.39839177e-01 -3.40869288e-01 2.25931334e-02 1.61993555e+02] [ 3.40828661e-01 9.40107882e-01 5.74406718e-03 1.35464166e+02] [-2.31979589e-02 2.30188802e-03 9.99728241e-01 6.95896115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.100714057 meters Centerline goodness : 0.987921 Centerline is valid? [True, True] Translation: X:162.03, Y:135.47, Z:6.96 [[ 9.40761597e-01 -3.38315402e-01 2.25899477e-02 1.62025336e+02] [ 3.38273762e-01 9.41030143e-01 5.75595444e-03 1.35471524e+02] [-2.32051498e-02 2.22660570e-03 9.99728245e-01 6.95752573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.130714057 meters Centerline goodness : 0.987359 Centerline is valid? [True, True] Translation: X:162.06, Y:135.48, Z:6.96 [[ 9.41321388e-01 -3.36753990e-01 2.26007776e-02 1.62055543e+02] [ 3.36712868e-01 9.41590026e-01 5.71551190e-03 1.35478820e+02] [-2.32053882e-02 2.22983905e-03 9.99728232e-01 6.95774708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.160714057 meters Centerline goodness : 0.987325 Centerline is valid? [True, True] Translation: X:162.09, Y:135.49, Z:6.96 [[ 9.42377977e-01 -3.33785380e-01 2.26068035e-02 1.62086567e+02] [ 3.33743948e-01 9.42646576e-01 5.69292517e-03 1.35485914e+02] [-2.32104411e-02 2.17999654e-03 9.99728225e-01 6.95887535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.190714057 meters Centerline goodness : 0.987121 Centerline is valid? [True, True] Translation: X:162.12, Y:135.49, Z:6.96 [[ 9.42512103e-01 -3.33406508e-01 2.26061195e-02 1.62120210e+02] [ 3.33364908e-01 9.42780674e-01 5.69547713e-03 1.35494529e+02] [-2.32115217e-02 2.16803081e-03 9.99728226e-01 6.95792833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.220714057 meters Centerline goodness : 0.985976 Centerline is valid? [True, True] Translation: X:162.15, Y:135.50, Z:6.96 [[ 9.43857410e-01 -3.29575464e-01 2.26540025e-02 1.62149729e+02] [ 3.29537028e-01 9.44126535e-01 5.51668576e-03 1.35500966e+02] [-2.32064092e-02 2.25836794e-03 9.99728144e-01 6.95834278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.250714057 meters Centerline goodness : 0.986727 Centerline is valid? [True, True] Translation: X:162.18, Y:135.51, Z:6.96 [[ 9.43622996e-01 -3.30247558e-01 2.26316535e-02 1.62183002e+02] [ 3.30207328e-01 9.43891816e-01 5.60007589e-03 1.35509807e+02] [-2.32112439e-02 2.18877743e-03 9.99728187e-01 6.95748868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.280714057 meters Centerline goodness : 0.987074 Centerline is valid? [True, True] Translation: X:162.22, Y:135.52, Z:6.95 [[ 9.44236632e-01 -3.28486386e-01 2.26688631e-02 1.62217109e+02] [ 3.28448957e-01 9.44505932e-01 5.46139496e-03 1.35518016e+02] [-2.32048695e-02 2.28871525e-03 9.99728111e-01 6.95469294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.310714057 meters Centerline goodness : 0.986123 Centerline is valid? [True, True] Translation: X:162.24, Y:135.53, Z:6.95 [[ 9.44247376e-01 -3.28452202e-01 2.27165949e-02 1.62244065e+02] [ 3.28419004e-01 9.44517360e-01 5.28351956e-03 1.35526286e+02] [-2.31916018e-02 2.47161198e-03 9.99727983e-01 6.95476529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.340714057 meters Centerline goodness : 0.986432 Centerline is valid? [True, True] Translation: X:162.27, Y:135.53, Z:6.95 [[ 9.44489413e-01 -3.27759109e-01 2.26652846e-02 1.62274423e+02] [ 3.27721158e-01 9.44758631e-01 5.47456824e-03 1.35534886e+02] [-2.32075629e-02 2.25722159e-03 9.99728120e-01 6.95225352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.370714057 meters Centerline goodness : 0.985353 Centerline is valid? [True, True] Translation: X:162.31, Y:135.54, Z:6.95 [[ 9.44548614e-01 -3.27588345e-01 2.26669871e-02 1.62305129e+02] [ 3.27550497e-01 9.44817851e-01 5.46823714e-03 1.35543179e+02] [-2.32075048e-02 2.25956706e-03 9.99728116e-01 6.95080883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.400714057 meters Centerline goodness : 0.978851 Centerline is valid? [True, True] Translation: X:162.32, Y:135.55, Z:6.95 [[ 9.43232004e-01 -3.31360453e-01 2.26635601e-02 1.62323854e+02] [ 3.31323369e-01 9.43501341e-01 5.48133331e-03 1.35553182e+02] [-2.31993964e-02 2.33879809e-03 9.99728122e-01 6.95011860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.430714057 meters Centerline goodness : 0.986570 Centerline is valid? [True, True] Translation: X:162.37, Y:135.56, Z:6.94 [[ 9.44589504e-01 -3.27489267e-01 2.23930482e-02 1.62365079e+02] [ 3.27426677e-01 9.44854159e-01 6.51067237e-03 1.35558178e+02] [-2.32903401e-02 1.18216857e-03 9.99728044e-01 6.94454814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.460714057 meters Centerline goodness : 0.986284 Centerline is valid? [True, True] Translation: X:162.39, Y:135.57, Z:6.94 [[ 9.43415848e-01 -3.30837261e-01 2.26549013e-02 1.62387077e+02] [ 3.30799112e-01 9.43685052e-01 5.51991824e-03 1.35570829e+02] [-2.32052864e-02 2.28664289e-03 9.99728106e-01 6.94295058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.490714057 meters Centerline goodness : 0.985775 Centerline is valid? [True, True] Translation: X:162.42, Y:135.57, Z:6.94 [[ 9.45216654e-01 -3.25667362e-01 2.24999127e-02 1.62424821e+02] [ 3.25613856e-01 9.45483130e-01 6.10475825e-03 1.35574810e+02] [-2.32614084e-02 1.55596417e-03 9.99728206e-01 6.94291025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.520714057 meters Centerline goodness : 0.980085 Centerline is valid? [True, True] Translation: X:162.44, Y:135.59, Z:6.94 [[ 9.44168591e-01 -3.28685327e-01 2.26191713e-02 1.62442125e+02] [ 3.28643450e-01 9.44437162e-01 5.65069627e-03 1.35589950e+02] [-2.32196869e-02 2.09843257e-03 9.99728184e-01 6.94365453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.550714057 meters Centerline goodness : 0.985665 Centerline is valid? [True, True] Translation: X:162.48, Y:135.59, Z:6.94 [[ 9.46419564e-01 -3.22163678e-01 2.23735032e-02 1.62484360e+02] [ 3.22097943e-01 9.46683478e-01 6.58084253e-03 1.35593579e+02] [-2.33007342e-02 9.78221235e-04 9.99728022e-01 6.94298807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.580714057 meters Centerline goodness : 0.985558 Centerline is valid? [True, True] Translation: X:162.51, Y:135.60, Z:6.94 [[ 9.47758417e-01 -3.18184787e-01 2.26367787e-02 1.62514318e+02] [ 3.18141279e-01 9.48026810e-01 5.59418242e-03 1.35602874e+02] [-2.32402568e-02 1.89976025e-03 9.99728104e-01 6.94434839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.610714057 meters Centerline goodness : 0.986126 Centerline is valid? [True, True] Translation: X:162.55, Y:135.61, Z:6.94 [[ 9.48882009e-01 -3.14819766e-01 2.26152217e-02 1.62548465e+02] [ 3.14773398e-01 9.49149887e-01 5.67453399e-03 1.35614556e+02] [-2.32516906e-02 1.73420696e-03 9.99728139e-01 6.94461658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.640714057 meters Centerline goodness : 0.978817 Centerline is valid? [True, True] Translation: X:162.57, Y:135.63, Z:6.95 [[ 9.47905520e-01 -3.17744346e-01 2.26639715e-02 1.62566682e+02] [ 3.17703231e-01 9.48174318e-01 5.48809340e-03 1.35626775e+02] [-2.32332063e-02 1.99822293e-03 9.99728076e-01 6.94682309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.670714057 meters Centerline goodness : 0.978506 Centerline is valid? [True, True] Translation: X:162.60, Y:135.63, Z:6.95 [[ 9.49402390e-01 -3.13264096e-01 2.23764874e-02 1.62597995e+02] [ 3.13195879e-01 9.49665746e-01 6.58128195e-03 1.35634751e+02] [-2.33118630e-02 7.59938827e-04 9.99727953e-01 6.94704664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.700714057 meters Centerline goodness : 0.977099 Centerline is valid? [True, True] Translation: X:162.63, Y:135.64, Z:6.95 [[ 9.49427560e-01 -3.13188055e-01 2.23730012e-02 1.62629439e+02] [ 3.13119504e-01 9.49690838e-01 6.59454845e-03 1.35643325e+02] [-2.33127681e-02 7.44377001e-04 9.99727943e-01 6.94799969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.730714057 meters Centerline goodness : 0.978199 Centerline is valid? [True, True] Translation: X:162.66, Y:135.65, Z:6.94 [[ 9.50329005e-01 -3.10438494e-01 2.24214904e-02 1.62660123e+02] [ 3.10373541e-01 9.50593072e-01 6.40918829e-03 1.35649019e+02] [-2.33033722e-02 8.68199817e-04 9.99728063e-01 6.94496208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.76071405700003 meters Centerline goodness : 0.984322 Centerline is valid? [True, True] Translation: X:162.70, Y:135.65, Z:6.94 [[ 9.51263308e-01 -3.07564941e-01 2.24037103e-02 1.62699722e+02] [ 3.07497587e-01 9.51526814e-01 6.47735595e-03 1.35654371e+02] [-2.33099387e-02 7.27415816e-04 9.99728022e-01 6.93845000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.790714057 meters Centerline goodness : 0.986277 Centerline is valid? [True, True] Translation: X:162.73, Y:135.66, Z:6.94 [[ 9.51719599e-01 -3.06138611e-01 2.25600591e-02 1.62734676e+02] [ 3.06085064e-01 9.51986041e-01 5.87455021e-03 1.35660717e+02] [-2.32752880e-02 1.31437259e-03 9.99728230e-01 6.93636562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.820714057 meters Centerline goodness : 0.987226 Centerline is valid? [True, True] Translation: X:162.76, Y:135.67, Z:6.93 [[ 9.50892473e-01 -3.08694437e-01 2.26108380e-02 1.62764171e+02] [ 3.08646240e-01 9.51159950e-01 5.67863725e-03 1.35668884e+02] [-2.32594872e-02 1.57897671e-03 9.99728215e-01 6.93208788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.850714057 meters Centerline goodness : 0.986025 Centerline is valid? [True, True] Translation: X:162.80, Y:135.67, Z:6.93 [[ 9.52005880e-01 -3.05244859e-01 2.25915917e-02 1.62802438e+02] [ 3.05193937e-01 9.52272842e-01 5.75289247e-03 1.35672878e+02] [-2.32694001e-02 1.41802934e-03 9.99728225e-01 6.93026404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.880714057 meters Centerline goodness : 0.986862 Centerline is valid? [True, True] Translation: X:162.83, Y:135.68, Z:6.93 [[ 9.51556409e-01 -3.06631389e-01 2.27506607e-02 1.62832217e+02] [ 3.06595191e-01 9.51826077e-01 5.14854894e-03 1.35682136e+02] [-2.32333788e-02 2.07610842e-03 9.99727913e-01 6.92950765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.910714057 meters Centerline goodness : 0.986719 Centerline is valid? [True, True] Translation: X:162.86, Y:135.69, Z:6.93 [[ 9.51284135e-01 -3.07476522e-01 2.27306818e-02 1.62861653e+02] [ 3.07438762e-01 9.51553527e-01 5.22432623e-03 1.35692133e+02] [-2.32358181e-02 2.01847400e-03 9.99727974e-01 6.92947979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.940714057 meters Centerline goodness : 0.987159 Centerline is valid? [True, True] Translation: X:162.89, Y:135.70, Z:6.93 [[ 9.51479128e-01 -3.06873859e-01 2.27135073e-02 1.62893125e+02] [ 3.06834381e-01 9.51748225e-01 5.28943127e-03 1.35700883e+02] [-2.32407284e-02 1.93650150e-03 9.99728022e-01 6.92746690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.970714057 meters Centerline goodness : 0.987642 Centerline is valid? [True, True] Translation: X:162.92, Y:135.71, Z:6.93 [[ 9.52047149e-01 -3.05106320e-01 2.27235281e-02 1.62924587e+02] [ 3.05067242e-01 9.52316333e-01 5.25158431e-03 1.35710496e+02] [-2.32422786e-02 1.93244818e-03 9.99727994e-01 6.92634032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.000714057 meters Centerline goodness : 0.986599 Centerline is valid? [True, True] Translation: X:162.95, Y:135.72, Z:6.93 [[ 9.52873737e-01 -3.02513268e-01 2.27456468e-02 1.62954056e+02] [ 3.02475442e-01 9.53143168e-01 5.16801627e-03 1.35719701e+02] [-2.32432514e-02 1.95553261e-03 9.99727927e-01 6.92656670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.030714057 meters Centerline goodness : 0.986860 Centerline is valid? [True, True] Translation: X:162.99, Y:135.73, Z:6.93 [[ 9.52577685e-01 -3.03445167e-01 2.27329043e-02 1.62985300e+02] [ 3.03406461e-01 9.52846951e-01 5.21611137e-03 1.35729748e+02] [-2.32437823e-02 1.92855874e-03 9.99727967e-01 6.92586916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.060714057 meters Centerline goodness : 0.987674 Centerline is valid? [True, True] Translation: X:163.01, Y:135.74, Z:6.93 [[ 9.52268198e-01 -3.04414308e-01 2.27421888e-02 1.63014655e+02] [ 3.04376705e-01 9.52537651e-01 5.18125214e-03 1.35740704e+02] [-2.32400384e-02 1.98825087e-03 9.99727937e-01 6.92588454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.090714057 meters Centerline goodness : 0.980331 Centerline is valid? [True, True] Translation: X:163.03, Y:135.75, Z:6.93 [[ 9.50689289e-01 -3.09311323e-01 2.27240027e-02 1.63034130e+02] [ 3.09273427e-01 9.50958655e-01 5.25196779e-03 1.35752436e+02] [-2.32340801e-02 2.03494065e-03 9.99727981e-01 6.92712662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.120714057 meters Centerline goodness : 0.981096 Centerline is valid? [True, True] Translation: X:163.07, Y:135.76, Z:6.92 [[ 9.50926831e-01 -3.08598762e-01 2.24714498e-02 1.63065525e+02] [ 3.08537323e-01 9.51191780e-01 6.23840765e-03 1.35758382e+02] [-2.32998232e-02 1.00101177e-03 9.99728021e-01 6.92409130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.150714057 meters Centerline goodness : 0.980368 Centerline is valid? [True, True] Translation: X:163.10, Y:135.77, Z:6.92 [[ 9.50464661e-01 -3.10023118e-01 2.24186410e-02 1.63095855e+02] [ 3.09957211e-01 9.50728662e-01 6.44502229e-03 1.35765653e+02] [-2.33121505e-02 8.23053529e-04 9.99727896e-01 6.92442550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.180714057 meters Centerline goodness : 0.986621 Centerline is valid? [True, True] Translation: X:163.14, Y:135.77, Z:6.92 [[ 9.51394336e-01 -3.07157021e-01 2.24361703e-02 1.63138737e+02] [ 3.07091921e-01 9.51658493e-01 6.37694939e-03 1.35770203e+02] [-2.33102968e-02 8.22973099e-04 9.99727939e-01 6.92210490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.210714057 meters Centerline goodness : 0.985415 Centerline is valid? [True, True] Translation: X:163.17, Y:135.78, Z:6.92 [[ 9.50981926e-01 -3.08408252e-01 2.27536259e-02 1.63169207e+02] [ 3.08371727e-01 9.51251806e-01 5.18454253e-03 1.35779517e+02] [-2.32433834e-02 2.08616868e-03 9.99727659e-01 6.92147008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.240714057 meters Centerline goodness : 0.986570 Centerline is valid? [True, True] Translation: X:163.20, Y:135.79, Z:6.92 [[ 9.49863473e-01 -3.11838371e-01 2.27203346e-02 1.63197464e+02] [ 3.11799855e-01 9.50132972e-01 5.30912011e-03 1.35790543e+02] [-2.32429264e-02 2.04125778e-03 9.99727763e-01 6.91670810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.270714057 meters Centerline goodness : 0.978819 Centerline is valid? [True, True] Translation: X:163.22, Y:135.80, Z:6.92 [[ 9.48160421e-01 -3.16981294e-01 2.26864415e-02 1.63217046e+02] [ 3.16941137e-01 9.48429611e-01 5.43950534e-03 1.35802268e+02] [-2.32407144e-02 2.03274291e-03 9.99727832e-01 6.91749400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.300714057 meters Centerline goodness : 0.986342 Centerline is valid? [True, True] Translation: X:163.26, Y:135.81, Z:6.91 [[ 9.49999855e-01 -3.11445319e-01 2.24073220e-02 1.63258222e+02] [ 3.11378362e-01 9.50263742e-01 6.50660997e-03 1.35805579e+02] [-2.33193189e-02 7.95876686e-04 9.99727751e-01 6.91303364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.330714057 meters Centerline goodness : 0.986377 Centerline is valid? [True, True] Translation: X:163.29, Y:135.82, Z:6.91 [[ 9.49900402e-01 -3.11729180e-01 2.26747503e-02 1.63290738e+02] [ 3.11686010e-01 9.50169214e-01 5.50411406e-03 1.35815341e+02] [-2.32606426e-02 1.83904229e-03 9.99727743e-01 6.91250752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.360714057 meters Centerline goodness : 0.985534 Centerline is valid? [True, True] Translation: X:163.32, Y:135.82, Z:6.91 [[ 9.50832711e-01 -3.08872542e-01 2.26916041e-02 1.63318535e+02] [ 3.08830065e-01 9.51101670e-01 5.44092859e-03 1.35824107e+02] [-2.32625760e-02 1.83443669e-03 9.99727707e-01 6.91420516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.390714057 meters Centerline goodness : 0.986523 Centerline is valid? [True, True] Translation: X:163.35, Y:135.83, Z:6.91 [[ 9.50138142e-01 -3.11005934e-01 2.26455426e-02 1.63350598e+02] [ 3.10959961e-01 9.50406435e-01 5.61355295e-03 1.35834446e+02] [-2.32683177e-02 1.70820627e-03 9.99727797e-01 6.91325816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.420714057 meters Centerline goodness : 0.986299 Centerline is valid? [True, True] Translation: X:163.38, Y:135.84, Z:6.91 [[ 9.50196109e-01 -3.10826658e-01 2.26747431e-02 1.63384345e+02] [ 3.10783230e-01 9.50464880e-01 5.50420205e-03 1.35844174e+02] [-2.32623997e-02 1.81685853e-03 9.99727743e-01 6.91371856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.450714057 meters Centerline goodness : 0.986396 Centerline is valid? [True, True] Translation: X:163.42, Y:135.85, Z:6.91 [[ 9.50089305e-01 -3.11150385e-01 2.27101297e-02 1.63417039e+02] [ 3.11110192e-01 9.50358664e-01 5.37199046e-03 1.35853393e+02] [-2.32542654e-02 1.96148212e-03 9.99727659e-01 6.91344195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.480714057 meters Centerline goodness : 0.986335 Centerline is valid? [True, True] Translation: X:163.45, Y:135.86, Z:6.91 [[ 9.49520746e-01 -3.12879497e-01 2.27326511e-02 1.63446451e+02] [ 3.12841794e-01 9.49790529e-01 5.28798197e-03 1.35862726e+02] [-2.32457579e-02 2.09067477e-03 9.99727595e-01 6.91124533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.51071405700003 meters Centerline goodness : 0.986705 Centerline is valid? [True, True] Translation: X:163.48, Y:135.87, Z:6.91 [[ 9.48611899e-01 -3.15626027e-01 2.27085120e-02 1.63477638e+02] [ 3.15586963e-01 9.48881419e-01 5.37792822e-03 1.35871843e+02] [-2.32450992e-02 2.06494364e-03 9.99727664e-01 6.91133428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.540714057 meters Centerline goodness : 0.987406 Centerline is valid? [True, True] Translation: X:163.51, Y:135.88, Z:6.91 [[ 9.47904079e-01 -3.17745166e-01 2.27127049e-02 1.63507444e+02] [ 3.17707076e-01 9.48173750e-01 5.36233241e-03 1.35881967e+02] [-2.32394458e-02 2.13301029e-03 9.99727652e-01 6.90954781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.570714057 meters Centerline goodness : 0.985839 Centerline is valid? [True, True] Translation: X:163.53, Y:135.89, Z:6.91 [[ 9.46640999e-01 -3.21489252e-01 2.27041771e-02 1.63531051e+02] [ 3.21451457e-01 9.46910692e-01 5.39469267e-03 1.35893172e+02] [-2.32331638e-02 2.19145355e-03 9.99727672e-01 6.90923876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.600714057 meters Centerline goodness : 0.986875 Centerline is valid? [True, True] Translation: X:163.57, Y:135.90, Z:6.91 [[ 9.47148133e-01 -3.20002637e-01 2.25549849e-02 1.63565908e+02] [ 3.19951004e-01 9.47415348e-01 5.95936989e-03 1.35897913e+02] [-2.32759530e-02 1.57208402e-03 9.99727842e-01 6.90751637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.630714057 meters Centerline goodness : 0.986875 Centerline is valid? [True, True] Translation: X:163.60, Y:135.91, Z:6.91 [[ 9.47101189e-01 -3.20133059e-01 2.26751576e-02 1.63597156e+02] [ 3.20092118e-01 9.47370396e-01 5.51078891e-03 1.35906680e+02] [-2.32459588e-02 2.03886450e-03 9.99727697e-01 6.90695626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.660714057 meters Centerline goodness : 0.987223 Centerline is valid? [True, True] Translation: X:163.63, Y:135.92, Z:6.91 [[ 9.46629599e-01 -3.21525936e-01 2.26599812e-02 1.63630242e+02] [ 3.21484048e-01 9.46898629e-01 5.56719582e-03 1.35915877e+02] [-2.32467029e-02 2.01475013e-03 9.99727729e-01 6.90614143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.690714057 meters Centerline goodness : 0.987315 Centerline is valid? [True, True] Translation: X:163.66, Y:135.93, Z:6.91 [[ 9.46190541e-01 -3.22811750e-01 2.27163710e-02 1.63660865e+02] [ 3.22775224e-01 9.46460486e-01 5.35745052e-03 1.35925728e+02] [-2.32295956e-02 2.26311275e-03 9.99727595e-01 6.90564834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.720714057 meters Centerline goodness : 0.986351 Centerline is valid? [True, True] Translation: X:163.69, Y:135.94, Z:6.91 [[ 9.46406932e-01 -3.22176660e-01 2.27182512e-02 1.63688546e+02] [ 3.22140120e-01 9.46676880e-01 5.35045493e-03 1.35935206e+02] [-2.32306349e-02 2.25475254e-03 9.99727590e-01 6.90633102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.750714057 meters Centerline goodness : 0.987059 Centerline is valid? [True, True] Translation: X:163.72, Y:135.95, Z:6.91 [[ 9.46164933e-01 -3.22889486e-01 2.26781508e-02 1.63721775e+02] [ 3.22849609e-01 9.46434304e-01 5.49900445e-03 1.35945549e+02] [-2.32389506e-02 2.11866694e-03 9.99727694e-01 6.90534734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.780714057 meters Centerline goodness : 0.987001 Centerline is valid? [True, True] Translation: X:163.75, Y:135.96, Z:6.90 [[ 9.46479750e-01 -3.21961984e-01 2.27280481e-02 1.63749571e+02] [ 3.21926250e-01 9.46749835e-01 5.31410939e-03 1.35955278e+02] [-2.32287170e-02 2.28705837e-03 9.99727561e-01 6.90429343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.810714057 meters Centerline goodness : 0.987570 Centerline is valid? [True, True] Translation: X:163.78, Y:135.97, Z:6.90 [[ 9.46377704e-01 -3.22263549e-01 2.27034435e-02 1.63778789e+02] [ 3.22225722e-01 9.46647434e-01 5.40549847e-03 1.35965730e+02] [-2.32341517e-02 2.19999026e-03 9.99727630e-01 6.90431471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.840714057 meters Centerline goodness : 0.987204 Centerline is valid? [True, True] Translation: X:163.81, Y:135.98, Z:6.91 [[ 9.46314167e-01 -3.22450917e-01 2.26915108e-02 1.63807412e+02] [ 3.22412087e-01 9.46583724e-01 5.44977843e-03 1.35975815e+02] [-2.32367008e-02 2.15881483e-03 9.99727661e-01 6.90606347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.870714057 meters Centerline goodness : 0.987150 Centerline is valid? [True, True] Translation: X:163.84, Y:135.98, Z:6.91 [[ 9.46368292e-01 -3.22292642e-01 2.26827892e-02 1.63837582e+02] [ 3.22252996e-01 9.46637709e-01 5.48215416e-03 1.35984210e+02] [-2.32392416e-02 2.12145991e-03 9.99727681e-01 6.90515001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.900714057 meters Centerline goodness : 0.987294 Centerline is valid? [True, True] Translation: X:163.87, Y:135.99, Z:6.90 [[ 9.45705767e-01 -3.24233028e-01 2.26615536e-02 1.63869481e+02] [ 3.24192072e-01 9.45974938e-01 5.56038438e-03 1.35994871e+02] [-2.32401220e-02 2.08820844e-03 9.99727731e-01 6.90226859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.930714057 meters Centerline goodness : 0.987479 Centerline is valid? [True, True] Translation: X:163.90, Y:136.01, Z:6.90 [[ 9.45383035e-01 -3.25171174e-01 2.26853688e-02 1.63898120e+02] [ 3.25132576e-01 9.45652610e-01 5.47259044e-03 1.36005070e+02] [-2.32320068e-02 2.20205823e-03 9.99727675e-01 6.90104040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.960714057 meters Centerline goodness : 0.987130 Centerline is valid? [True, True] Translation: X:163.93, Y:136.01, Z:6.90 [[ 9.45772319e-01 -3.24038325e-01 2.26690192e-02 1.63926029e+02] [ 3.23997966e-01 9.46041598e-01 5.53294412e-03 1.36013418e+02] [-2.32387211e-02 2.11181073e-03 9.99727714e-01 6.89996384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.990714057 meters Centerline goodness : 0.988349 Centerline is valid? [True, True] Translation: X:163.96, Y:136.02, Z:6.90 [[ 9.44910880e-01 -3.26545231e-01 2.26194931e-02 1.63960017e+02] [ 3.26501256e-01 9.45179491e-01 5.71478236e-03 1.36023104e+02] [-2.32456159e-02 1.98533290e-03 9.99727813e-01 6.89784698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.020714057 meters Centerline goodness : 0.987540 Centerline is valid? [True, True] Translation: X:163.99, Y:136.03, Z:6.90 [[ 9.44965630e-01 -3.26382173e-01 2.26855632e-02 1.63986064e+02] [ 3.26343938e-01 9.45235258e-01 5.47187991e-03 1.36030789e+02] [-2.32291182e-02 2.23255757e-03 9.99727675e-01 6.89771363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.050714057 meters Centerline goodness : 0.987858 Centerline is valid? [True, True] Translation: X:164.02, Y:136.04, Z:6.89 [[ 9.44399991e-01 -3.28020807e-01 2.26054461e-02 1.64019605e+02] [ 3.27976042e-01 9.44668446e-01 5.76567661e-03 1.36039381e+02] [-2.32459136e-02 1.96893980e-03 9.99727838e-01 6.89462287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.080714057 meters Centerline goodness : 0.987836 Centerline is valid? [True, True] Translation: X:164.05, Y:136.05, Z:6.89 [[ 9.43917371e-01 -3.29403062e-01 2.26631771e-02 1.64049940e+02] [ 3.29363735e-01 9.44186785e-01 5.55380361e-03 1.36048395e+02] [-2.32277122e-02 2.22209694e-03 9.99727731e-01 6.89359123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.110714057 meters Centerline goodness : 0.987671 Centerline is valid? [True, True] Translation: X:164.08, Y:136.06, Z:6.90 [[ 9.43575314e-01 -3.30382299e-01 2.26531135e-02 1.64079955e+02] [ 3.30342373e-01 9.43844617e-01 5.59068055e-03 1.36056454e+02] [-2.32280811e-02 2.20805509e-03 9.99727753e-01 6.89504387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.140714057 meters Centerline goodness : 0.988074 Centerline is valid? [True, True] Translation: X:164.11, Y:136.06, Z:6.89 [[ 9.43512141e-01 -3.30564736e-01 2.26228737e-02 1.64113002e+02] [ 3.30522225e-01 9.43780988e-01 5.70136386e-03 1.36064088e+02] [-2.32357079e-02 2.09805652e-03 9.99727813e-01 6.89189171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.170714057 meters Centerline goodness : 0.988371 Centerline is valid? [True, True] Translation: X:164.14, Y:136.07, Z:6.89 [[ 9.42555935e-01 -3.33279659e-01 2.26490203e-02 1.64143608e+02] [ 3.33240204e-01 9.42825298e-01 5.60562606e-03 1.36071636e+02] [-2.32223104e-02 2.26394803e-03 9.99727762e-01 6.89489270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.200714057 meters Centerline goodness : 0.988126 Centerline is valid? [True, True] Translation: X:164.17, Y:136.08, Z:6.89 [[ 9.42249745e-01 -3.34144563e-01 2.26457438e-02 1.64173447e+02] [ 3.34105069e-01 9.42519095e-01 5.61761133e-03 1.36078392e+02] [-2.32211402e-02 2.27286495e-03 9.99727769e-01 6.89435470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.230714057 meters Centerline goodness : 0.988324 Centerline is valid? [True, True] Translation: X:164.21, Y:136.09, Z:6.89 [[ 9.41844672e-01 -3.35286834e-01 2.26131194e-02 1.64207011e+02] [ 3.35244829e-01 9.42113579e-01 5.73663162e-03 1.36085640e+02] [-2.32275439e-02 2.17791543e-03 9.99727832e-01 6.89336736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.26071405700003 meters Centerline goodness : 0.988228 Centerline is valid? [True, True] Translation: X:164.24, Y:136.09, Z:6.89 [[ 9.41619133e-01 -3.35917500e-01 2.26460048e-02 1.64236230e+02] [ 3.35878539e-01 9.41888561e-01 5.61656454e-03 1.36092133e+02] [-2.32167152e-02 2.31764237e-03 9.99727769e-01 6.89155302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.290714057 meters Centerline goodness : 0.988391 Centerline is valid? [True, True] Translation: X:164.27, Y:136.10, Z:6.89 [[ 9.41227364e-01 -3.37016349e-01 2.26059622e-02 1.64269600e+02] [ 3.36974236e-01 9.41496237e-01 5.76186857e-03 1.36100068e+02] [-2.32252722e-02 2.19439848e-03 9.99727849e-01 6.88979694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.320714057 meters Centerline goodness : 0.989185 Centerline is valid? [True, True] Translation: X:164.30, Y:136.11, Z:6.89 [[ 9.41397113e-01 -3.36539450e-01 2.26423041e-02 1.64302482e+02] [ 3.36500340e-01 9.41666513e-01 5.63027220e-03 1.36107642e+02] [-2.32163083e-02 2.31882103e-03 9.99727776e-01 6.88887656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.350714057 meters Centerline goodness : 0.987662 Centerline is valid? [True, True] Translation: X:164.33, Y:136.11, Z:6.89 [[ 9.42100012e-01 -3.34564973e-01 2.26681938e-02 1.64330238e+02] [ 3.34527536e-01 9.42369713e-01 5.53646519e-03 1.36114800e+02] [-2.32141266e-02 2.36723110e-03 9.99727713e-01 6.88930499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.380714057 meters Centerline goodness : 0.987946 Centerline is valid? [True, True] Translation: X:164.36, Y:136.12, Z:6.89 [[ 9.42677593e-01 -3.32936414e-01 2.26340634e-02 1.64363091e+02] [ 3.32895552e-01 9.42946716e-01 5.66053780e-03 1.36121670e+02] [-2.32273149e-02 2.19871687e-03 9.99727792e-01 6.88794606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.410714057 meters Centerline goodness : 0.987538 Centerline is valid? [True, True] Translation: X:164.41, Y:136.12, Z:6.89 [[ 9.45265831e-01 -3.25514495e-01 2.26455894e-02 1.64405498e+02] [ 3.25472511e-01 9.45534808e-01 5.61881671e-03 1.36123876e+02] [-2.32411993e-02 2.05924142e-03 9.99727766e-01 6.88672171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.440714057 meters Centerline goodness : 0.988087 Centerline is valid? [True, True] Translation: X:164.42, Y:136.14, Z:6.89 [[ 9.43688123e-01 -3.30047316e-01 2.28362691e-02 1.64422371e+02] [ 3.30023177e-01 9.43959974e-01 4.92650487e-03 1.36137147e+02] [-2.31825037e-02 2.88741397e-03 9.99727080e-01 6.88738485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.470714057 meters Centerline goodness : 0.988122 Centerline is valid? [True, True] Translation: X:164.46, Y:136.14, Z:6.89 [[ 9.44964890e-01 -3.26385640e-01 2.26665244e-02 1.64455234e+02] [ 3.26345754e-01 9.45234227e-01 5.54114324e-03 1.36143545e+02] [-2.32337242e-02 2.16093818e-03 9.99727725e-01 6.88803802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.500714057 meters Centerline goodness : 0.988153 Centerline is valid? [True, True] Translation: X:164.49, Y:136.15, Z:6.89 [[ 9.45869388e-01 -3.23754967e-01 2.26676436e-02 1.64487864e+02] [ 3.23714428e-01 9.46138631e-01 5.53710798e-03 1.36150392e+02] [-2.32393995e-02 2.10046235e-03 9.99727722e-01 6.88746061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.530714057 meters Centerline goodness : 0.987486 Centerline is valid? [True, True] Translation: X:164.52, Y:136.16, Z:6.89 [[ 9.46353365e-01 -3.22334729e-01 2.27075207e-02 1.64519222e+02] [ 3.22297211e-01 9.46623166e-01 5.39344032e-03 1.36157907e+02] [-2.32339583e-02 2.21447022e-03 9.99727603e-01 6.88697878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.560714057 meters Centerline goodness : 0.981625 Centerline is valid? [True, True] Translation: X:164.53, Y:136.17, Z:6.88 [[ 9.45426862e-01 -3.25042431e-01 2.27038776e-02 1.64534888e+02] [ 3.25005363e-01 9.45696716e-01 5.40699814e-03 1.36168428e+02] [-2.32284863e-02 2.26696070e-03 9.99727612e-01 6.88485210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.590714057 meters Centerline goodness : 0.981659 Centerline is valid? [True, True] Translation: X:164.57, Y:136.18, Z:6.88 [[ 9.46114834e-01 -3.23055825e-01 2.23976703e-02 1.64566055e+02] [ 3.22991289e-01 9.46379332e-01 6.54111677e-03 1.36175698e+02] [-2.33098382e-02 1.04560481e-03 9.99727742e-01 6.88355400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.620714057 meters Centerline goodness : 0.989549 Centerline is valid? [True, True] Translation: X:164.60, Y:136.18, Z:6.88 [[ 9.47556134e-01 -3.18804271e-01 2.23877184e-02 1.64603914e+02] [ 3.18737678e-01 9.47820142e-01 6.57804545e-03 1.36181844e+02] [-2.33166395e-02 9.02742072e-04 9.99727723e-01 6.88372185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.650714057 meters Centerline goodness : 0.980957 Centerline is valid? [True, True] Translation: X:164.63, Y:136.19, Z:6.88 [[ 9.47796244e-01 -3.18079657e-01 2.25302366e-02 1.64629020e+02] [ 3.18025403e-01 9.48062907e-01 6.04706282e-03 1.36190442e+02] [-2.32835293e-02 1.43380414e-03 9.99727874e-01 6.88357013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.680714057 meters Centerline goodness : 0.980532 Centerline is valid? [True, True] Translation: X:164.66, Y:136.20, Z:6.88 [[ 9.47930414e-01 -3.17689404e-01 2.23913689e-02 1.64660655e+02] [ 3.17622840e-01 9.48194416e-01 6.56360491e-03 1.36196276e+02] [-2.33165587e-02 8.90169461e-04 9.99727736e-01 6.88211393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.710714057 meters Centerline goodness : 0.986370 Centerline is valid? [True, True] Translation: X:164.70, Y:136.20, Z:6.88 [[ 9.49256771e-01 -3.13702778e-01 2.24086852e-02 1.64701678e+02] [ 3.13636632e-01 9.49520842e-01 6.49876763e-03 1.36199702e+02] [-2.33161951e-02 8.59185369e-04 9.99727771e-01 6.88070517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.740714057 meters Centerline goodness : 0.986291 Centerline is valid? [True, True] Translation: X:164.73, Y:136.20, Z:6.88 [[ 9.49349972e-01 -3.13408512e-01 2.25773325e-02 1.64730456e+02] [ 3.13357228e-01 9.49617206e-01 5.86605852e-03 1.36204715e+02] [-2.32782961e-02 1.50582783e-03 9.99727890e-01 6.88197505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.770714057 meters Centerline goodness : 0.987092 Centerline is valid? [True, True] Translation: X:164.77, Y:136.21, Z:6.88 [[ 9.49499974e-01 -3.12956518e-01 2.25392317e-02 1.64770488e+02] [ 3.12901724e-01 9.49766499e-01 6.00897290e-03 1.36208791e+02] [-2.32875544e-02 1.34704486e-03 9.99727901e-01 6.87796454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.800714057 meters Centerline goodness : 0.987060 Centerline is valid? [True, True] Translation: X:164.79, Y:136.22, Z:6.88 [[ 9.47768925e-01 -3.18148489e-01 2.27069101e-02 1.64792627e+02] [ 3.18110078e-01 9.48038516e-01 5.38053712e-03 1.36220072e+02] [-2.32388351e-02 2.12379105e-03 9.99727686e-01 6.87941959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.830714057 meters Centerline goodness : 0.979665 Centerline is valid? [True, True] Translation: X:164.81, Y:136.23, Z:6.88 [[ 9.46168493e-01 -3.22889240e-01 2.25326852e-02 1.64814681e+02] [ 3.22836708e-01 9.46435461e-01 6.03143954e-03 1.36232819e+02] [-2.32732192e-02 1.56761985e-03 9.99727913e-01 6.87658517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.860714057 meters Centerline goodness : 0.988509 Centerline is valid? [True, True] Translation: X:164.85, Y:136.24, Z:6.88 [[ 9.45975049e-01 -3.23466177e-01 2.23794485e-02 1.64850948e+02] [ 3.23400360e-01 9.46239211e-01 6.60022083e-03 1.36240552e+02] [-2.33112599e-02 9.93877467e-04 9.99727762e-01 6.87560143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.890714057 meters Centerline goodness : 0.988292 Centerline is valid? [True, True] Translation: X:164.88, Y:136.25, Z:6.88 [[ 9.46341470e-01 -3.22382214e-01 2.25284194e-02 1.64881242e+02] [ 3.22329216e-01 9.46608332e-01 6.04505847e-03 1.36248202e+02] [-2.32744088e-02 1.54087822e-03 9.99727927e-01 6.87568307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.920714057 meters Centerline goodness : 0.987348 Centerline is valid? [True, True] Translation: X:164.93, Y:136.25, Z:6.87 [[ 9.49205523e-01 -3.13849143e-01 2.25297486e-02 1.64930963e+02] [ 3.13793862e-01 9.49471921e-01 6.04010027e-03 1.36245137e+02] [-2.32870440e-02 1.33640030e-03 9.99727927e-01 6.87068279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.950714057 meters Centerline goodness : 0.985370 Centerline is valid? [True, True] Translation: X:164.96, Y:136.25, Z:6.88 [[ 9.50644065e-01 -3.09446132e-01 2.27805602e-02 1.64956495e+02] [ 3.09411941e-01 9.50914427e-01 5.09932924e-03 1.36252478e+02] [-2.32403310e-02 2.20093028e-03 9.99727484e-01 6.87923687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.980714057 meters Centerline goodness : 0.986377 Centerline is valid? [True, True] Translation: X:164.99, Y:136.26, Z:6.88 [[ 9.49692531e-01 -3.12362819e-01 2.26619910e-02 1.64985855e+02] [ 3.12318994e-01 9.49961139e-01 5.53892880e-03 1.36262560e+02] [-2.32581662e-02 1.81749091e-03 9.99727840e-01 6.87656963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.01071405700003 meters Centerline goodness : 0.987479 Centerline is valid? [True, True] Translation: X:165.02, Y:136.27, Z:6.87 [[ 9.49498204e-01 -3.12952726e-01 2.26660802e-02 1.65017557e+02] [ 3.12909428e-01 9.49766907e-01 5.52378607e-03 1.36271871e+02] [-2.32561768e-02 1.84760525e-03 9.99727831e-01 6.87331521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.040714057 meters Centerline goodness : 0.989075 Centerline is valid? [True, True] Translation: X:165.05, Y:136.28, Z:6.87 [[ 9.47345867e-01 -3.19409046e-01 2.26642776e-02 1.65052398e+02] [ 3.19367420e-01 9.47614830e-01 5.53043931e-03 1.36281140e+02] [-2.32434779e-02 1.99899304e-03 9.99727835e-01 6.87066169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.070714057 meters Centerline goodness : 0.989421 Centerline is valid? [True, True] Translation: X:165.08, Y:136.29, Z:6.87 [[ 9.46976138e-01 -3.20498894e-01 2.27300240e-02 1.65084096e+02] [ 3.20463367e-01 9.47246153e-01 5.28736872e-03 1.36288295e+02] [-2.32255236e-02 2.27712803e-03 9.99727658e-01 6.86702985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.100714057 meters Centerline goodness : 0.980396 Centerline is valid? [True, True] Translation: X:165.11, Y:136.29, Z:6.87 [[ 9.45769500e-01 -3.24042128e-01 2.27321764e-02 1.65105521e+02] [ 3.24007811e-01 9.46039677e-01 5.27908957e-03 1.36293854e+02] [-2.32161882e-02 2.37260079e-03 9.99727653e-01 6.86530558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.130714057 meters Centerline goodness : 0.989058 Centerline is valid? [True, True] Translation: X:165.14, Y:136.30, Z:6.87 [[ 9.46445447e-01 -3.22083329e-01 2.24353388e-02 1.65144962e+02] [ 3.22021535e-01 9.46710619e-01 6.41363704e-03 1.36298688e+02] [-2.33054990e-02 1.15450466e-03 9.99727723e-01 6.86703063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.160714057 meters Centerline goodness : 0.989643 Centerline is valid? [True, True] Translation: X:165.18, Y:136.31, Z:6.87 [[ 9.45760160e-01 -3.24071458e-01 2.27026495e-02 1.65176331e+02] [ 3.24033814e-01 9.46029975e-01 5.41972576e-03 1.36309582e+02] [-2.32337654e-02 2.23066540e-03 9.99727571e-01 6.86727662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.190714057 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:165.21, Y:136.32, Z:6.86 [[ 9.45450861e-01 -3.24972417e-01 2.27067889e-02 1.65210323e+02] [ 3.24935397e-01 9.45720773e-01 5.40432631e-03 1.36318834e+02] [-2.32305389e-02 2.26871450e-03 9.99727560e-01 6.86057958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.220714057 meters Centerline goodness : 0.988897 Centerline is valid? [True, True] Translation: X:165.24, Y:136.33, Z:6.86 [[ 9.46521773e-01 -3.21834854e-01 2.27785099e-02 1.65235263e+02] [ 3.21803324e-01 9.46792604e-01 5.13671197e-03 1.36327085e+02] [-2.32196976e-02 2.46819047e-03 9.99727340e-01 6.86392100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.250714057 meters Centerline goodness : 0.989468 Centerline is valid? [True, True] Translation: X:165.27, Y:136.34, Z:6.86 [[ 9.47368236e-01 -3.19341012e-01 2.26879375e-02 1.65266548e+02] [ 3.19300733e-01 9.47637631e-01 5.47375745e-03 1.36335256e+02] [-2.32479386e-02 2.05861113e-03 9.99727611e-01 6.86206227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.280714057 meters Centerline goodness : 0.989538 Centerline is valid? [True, True] Translation: X:165.30, Y:136.34, Z:6.86 [[ 9.47803902e-01 -3.18045090e-01 2.26954534e-02 1.65298138e+02] [ 3.18005108e-01 9.48073359e-01 5.44578324e-03 1.36343925e+02] [-2.32489594e-02 2.05573550e-03 9.99727593e-01 6.85865242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.310714057 meters Centerline goodness : 0.991103 Centerline is valid? [True, True] Translation: X:165.33, Y:136.35, Z:6.86 [[ 9.47454615e-01 -3.19085073e-01 2.26819096e-02 1.65334104e+02] [ 3.19044197e-01 9.47723903e-01 5.49576648e-03 1.36354920e+02] [-2.32498049e-02 2.02954230e-03 9.99727627e-01 6.85838215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.340714057 meters Centerline goodness : 0.988964 Centerline is valid? [True, True] Translation: X:165.36, Y:136.36, Z:6.86 [[ 9.48957156e-01 -3.14579684e-01 2.28021408e-02 1.65359127e+02] [ 3.14548127e-01 9.49228088e-01 5.05111512e-03 1.36362347e+02] [-2.32334107e-02 2.37907883e-03 9.99727237e-01 6.86185924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.370714057 meters Centerline goodness : 0.989191 Centerline is valid? [True, True] Translation: X:165.39, Y:136.37, Z:6.86 [[ 9.49517286e-01 -3.12890435e-01 2.27266043e-02 1.65389773e+02] [ 3.12851726e-01 9.49787018e-01 5.33079545e-03 1.36370307e+02] [-2.32533887e-02 2.04837497e-03 9.99727505e-01 6.86063443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.400714057 meters Centerline goodness : 0.989432 Centerline is valid? [True, True] Translation: X:165.42, Y:136.38, Z:6.86 [[ 9.49625110e-01 -3.12563685e-01 2.27176873e-02 1.65421097e+02] [ 3.12524098e-01 9.49894688e-01 5.36380248e-03 1.36378554e+02] [-2.32559404e-02 2.00622320e-03 9.99727531e-01 6.85887363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.430714057 meters Centerline goodness : 0.990125 Centerline is valid? [True, True] Translation: X:165.45, Y:136.39, Z:6.86 [[ 9.49480413e-01 -3.13003631e-01 2.27084340e-02 1.65453117e+02] [ 3.12963361e-01 9.49749862e-01 5.39772461e-03 1.36385713e+02] [-2.32568394e-02 1.98187402e-03 9.99727559e-01 6.85538904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.460714057 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:165.48, Y:136.39, Z:6.86 [[ 9.49033371e-01 -3.14354137e-01 2.27406431e-02 1.65483408e+02] [ 3.14317053e-01 9.49303382e-01 5.28009652e-03 1.36393514e+02] [-2.32475895e-02 2.13678411e-03 9.99727455e-01 6.85757139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.490714057 meters Centerline goodness : 0.989523 Centerline is valid? [True, True] Translation: X:165.51, Y:136.40, Z:6.86 [[ 9.48874999e-01 -3.14832123e-01 2.27370052e-02 1.65513037e+02] [ 3.14794859e-01 9.49144972e-01 5.29337303e-03 1.36401744e+02] [-2.32472381e-02 2.13474303e-03 9.99727467e-01 6.85582557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.520714057 meters Centerline goodness : 0.990350 Centerline is valid? [True, True] Translation: X:165.54, Y:136.41, Z:6.85 [[ 9.48208047e-01 -3.16834957e-01 2.27400291e-02 1.65542163e+02] [ 3.16798526e-01 9.48478145e-01 5.28234093e-03 1.36408822e+02] [-2.32420509e-02 2.19524953e-03 9.99727457e-01 6.85418444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.550714057 meters Centerline goodness : 0.990350 Centerline is valid? [True, True] Translation: X:165.57, Y:136.42, Z:6.85 [[ 9.48068749e-01 -3.17252841e-01 2.27218610e-02 1.65572457e+02] [ 3.17214949e-01 9.48338583e-01 5.34858446e-03 1.36417464e+02] [-2.32448710e-02 2.13688819e-03 9.99727518e-01 6.85342200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.580714057 meters Centerline goodness : 0.990671 Centerline is valid? [True, True] Translation: X:165.60, Y:136.43, Z:6.85 [[ 9.47499973e-01 -3.18947671e-01 2.27196953e-02 1.65602344e+02] [ 3.18910074e-01 9.47769842e-01 5.35646632e-03 1.36426160e+02] [-2.32414744e-02 2.17028799e-03 9.99727525e-01 6.85258905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.610714057 meters Centerline goodness : 0.990083 Centerline is valid? [True, True] Translation: X:165.63, Y:136.44, Z:6.85 [[ 9.46219735e-01 -3.22728617e-01 2.26815615e-02 1.65632767e+02] [ 3.22688809e-01 9.46489168e-01 5.49434516e-03 1.36435107e+02] [-2.32410347e-02 2.12022824e-03 9.99727642e-01 6.85308432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.640714057 meters Centerline goodness : 0.991022 Centerline is valid? [True, True] Translation: X:165.67, Y:136.44, Z:6.85 [[ 9.45229335e-01 -3.25618481e-01 2.26739637e-02 1.65667426e+02] [ 3.25578843e-01 9.45498772e-01 5.52177281e-03 1.36444008e+02] [-2.32361961e-02 2.16282123e-03 9.99727664e-01 6.84941882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.670714057 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:165.70, Y:136.45, Z:6.85 [[ 9.44192496e-01 -3.28607917e-01 2.27457243e-02 1.65698646e+02] [ 3.28575317e-01 9.44463109e-01 5.26281922e-03 1.36452314e+02] [-2.32119015e-02 2.50456915e-03 9.99727430e-01 6.84897528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.700714057 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:165.72, Y:136.46, Z:6.85 [[ 9.44016422e-01 -3.29113891e-01 2.27385409e-02 1.65723352e+02] [ 3.29080817e-01 9.44286951e-01 5.28869661e-03 1.36458645e+02] [-2.32122910e-02 2.49020115e-03 9.99727457e-01 6.84955992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.730714057 meters Centerline goodness : 0.991240 Centerline is valid? [True, True] Translation: X:165.76, Y:136.47, Z:6.85 [[ 9.42269348e-01 -3.34088666e-01 2.26547833e-02 1.65757072e+02] [ 3.34049811e-01 9.42538844e-01 5.59029961e-03 1.36468232e+02] [-2.32206690e-02 2.30025813e-03 9.99727718e-01 6.84874087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.76071405700003 meters Centerline goodness : 0.990139 Centerline is valid? [True, True] Translation: X:165.78, Y:136.47, Z:6.85 [[ 9.42794523e-01 -3.32600393e-01 2.27038953e-02 1.65782251e+02] [ 3.32565339e-01 9.43064680e-01 5.41333959e-03 1.36474859e+02] [-2.32117207e-02 2.44686173e-03 9.99727577e-01 6.84824710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.790714057 meters Centerline goodness : 0.991330 Centerline is valid? [True, True] Translation: X:165.82, Y:136.48, Z:6.85 [[ 9.40536075e-01 -3.38939989e-01 2.26180526e-02 1.65817999e+02] [ 3.38899394e-01 9.40805223e-01 5.72133661e-03 1.36483825e+02] [-2.32183718e-02 2.28412085e-03 9.99727808e-01 6.84729847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.820714057 meters Centerline goodness : 0.989282 Centerline is valid? [True, True] Translation: X:165.84, Y:136.49, Z:6.85 [[ 9.40338426e-01 -3.39482767e-01 2.26957174e-02 1.65842140e+02] [ 3.39448986e-01 9.40608720e-01 5.44266906e-03 1.36491842e+02] [-2.31954820e-02 2.58608740e-03 9.99727604e-01 6.85000705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.850714057 meters Centerline goodness : 0.990839 Centerline is valid? [True, True] Translation: X:165.87, Y:136.50, Z:6.85 [[ 9.39960627e-01 -3.40534809e-01 2.25845696e-02 1.65872506e+02] [ 3.40491833e-01 9.40229335e-01 5.84030116e-03 1.36497554e+02] [-2.32235007e-02 2.20020836e-03 9.99727877e-01 6.84630880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.880714057 meters Centerline goodness : 0.990819 Centerline is valid? [True, True] Translation: X:165.90, Y:136.51, Z:6.85 [[ 9.39113542e-01 -3.42864399e-01 2.25778687e-02 1.65902443e+02] [ 3.42821518e-01 9.39382253e-01 5.86420282e-03 1.36506764e+02] [-2.32198756e-02 2.23302695e-03 9.99727888e-01 6.84782389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.910714057 meters Centerline goodness : 0.990378 Centerline is valid? [True, True] Translation: X:165.93, Y:136.51, Z:6.85 [[ 9.39015813e-01 -3.43132031e-01 2.25768040e-02 1.65934169e+02] [ 3.43089136e-01 9.39284521e-01 5.86799847e-03 1.36514989e+02] [-2.32195408e-02 2.23571283e-03 9.99727890e-01 6.84637694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.940714057 meters Centerline goodness : 0.990173 Centerline is valid? [True, True] Translation: X:165.97, Y:136.52, Z:6.85 [[ 9.38065245e-01 -3.45721007e-01 2.25960597e-02 1.65968094e+02] [ 3.45680494e-01 9.38334356e-01 5.79932388e-03 1.36524034e+02] [-2.32076072e-02 2.37087288e-03 9.99727856e-01 6.84500775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.970714057 meters Centerline goodness : 0.990631 Centerline is valid? [True, True] Translation: X:166.00, Y:136.53, Z:6.84 [[ 9.37844389e-01 -3.46316163e-01 2.26498851e-02 1.65999532e+02] [ 3.46280402e-01 9.38114299e-01 5.60762853e-03 1.36532028e+02] [-2.31901934e-02 2.58412836e-03 9.99727732e-01 6.84372333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.000714057 meters Centerline goodness : 0.988773 Centerline is valid? [True, True] Translation: X:166.03, Y:136.54, Z:6.84 [[ 9.38528232e-01 -3.44457957e-01 2.26599778e-02 1.66025771e+02] [ 3.44422519e-01 9.38798212e-01 5.57180666e-03 1.36538826e+02] [-2.31923998e-02 2.57530878e-03 9.99727703e-01 6.84271288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.030714057 meters Centerline goodness : 0.990130 Centerline is valid? [True, True] Translation: X:166.06, Y:136.55, Z:6.84 [[ 9.38387011e-01 -3.44848260e-01 2.25720092e-02 1.66057184e+02] [ 3.44805506e-01 9.38655718e-01 5.88262690e-03 1.36547626e+02] [-2.32159592e-02 2.26277239e-03 9.99727913e-01 6.84174361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.060714057 meters Centerline goodness : 0.988991 Centerline is valid? [True, True] Translation: X:166.09, Y:136.56, Z:6.84 [[ 9.38299032e-01 -3.45086416e-01 2.25896619e-02 1.66085005e+02] [ 3.45045220e-01 9.38568016e-01 5.82023397e-03 1.36556795e+02] [-2.32104178e-02 2.33333496e-03 9.99727879e-01 6.84264758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.090714057 meters Centerline goodness : 0.988753 Centerline is valid? [True, True] Translation: X:166.12, Y:136.57, Z:6.84 [[ 9.37950679e-01 -3.46035007e-01 2.25454670e-02 1.66116106e+02] [ 3.45990358e-01 9.38219034e-01 5.97632925e-03 1.36565322e+02] [-2.32206054e-02 2.19501213e-03 9.99727956e-01 6.84232790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.120714057 meters Centerline goodness : 0.989500 Centerline is valid? [True, True] Translation: X:166.15, Y:136.57, Z:6.84 [[ 9.38029518e-01 -3.45820601e-01 2.25551606e-02 1.66147371e+02] [ 3.45776707e-01 9.38298012e-01 5.94209679e-03 1.36574152e+02] [-2.32183619e-02 2.22518698e-03 9.99727941e-01 6.84028004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.150714057 meters Centerline goodness : 0.988481 Centerline is valid? [True, True] Translation: X:166.18, Y:136.58, Z:6.84 [[ 9.38044792e-01 -3.45778686e-01 2.25625612e-02 1.66177859e+02] [ 3.45735404e-01 9.38313398e-01 5.91595452e-03 1.36582782e+02] [-2.32163644e-02 2.25124587e-03 9.99727929e-01 6.84034541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.180714057 meters Centerline goodness : 0.989101 Centerline is valid? [True, True] Translation: X:166.21, Y:136.59, Z:6.84 [[ 9.38421391e-01 -3.44756280e-01 2.25477249e-02 1.66210179e+02] [ 3.44711455e-01 9.38689721e-01 5.96832872e-03 1.36591430e+02] [-2.32229364e-02 2.17165172e-03 9.99727953e-01 6.83681579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.210714057 meters Centerline goodness : 0.988306 Centerline is valid? [True, True] Translation: X:166.24, Y:136.60, Z:6.84 [[ 9.38565654e-01 -3.44362234e-01 2.25646696e-02 1.66239280e+02] [ 3.44318723e-01 9.38834227e-01 5.90851522e-03 1.36600786e+02] [-2.32191536e-02 2.22390876e-03 9.99727926e-01 6.83748666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.240714057 meters Centerline goodness : 0.989061 Centerline is valid? [True, True] Translation: X:166.27, Y:136.61, Z:6.83 [[ 9.39155805e-01 -3.42750786e-01 2.25448928e-02 1.66269779e+02] [ 3.42705148e-01 9.39423994e-01 5.97841582e-03 1.36609486e+02] [-2.32283200e-02 2.11158690e-03 9.99727956e-01 6.83489871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.270714057 meters Centerline goodness : 0.989015 Centerline is valid? [True, True] Translation: X:166.30, Y:136.62, Z:6.83 [[ 9.39062804e-01 -3.43006388e-01 2.25314945e-02 1.66302691e+02] [ 3.42959699e-01 9.39330792e-01 6.02560247e-03 1.36618327e+02] [-2.32313467e-02 2.06897541e-03 9.99727975e-01 6.83426191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.300714057 meters Centerline goodness : 0.988435 Centerline is valid? [True, True] Translation: X:166.33, Y:136.63, Z:6.83 [[ 9.39085114e-01 -3.42943321e-01 2.25616473e-02 1.66330731e+02] [ 3.42899147e-01 9.39353574e-01 5.91935884e-03 1.36626692e+02] [-2.32233686e-02 2.17758785e-03 9.99727930e-01 6.83477565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.330714057 meters Centerline goodness : 0.989810 Centerline is valid? [True, True] Translation: X:166.36, Y:136.64, Z:6.84 [[ 9.38707064e-01 -3.43979476e-01 2.25203855e-02 1.66361839e+02] [ 3.43932139e-01 9.38974923e-01 6.06444427e-03 1.36636876e+02] [-2.32321216e-02 2.05274767e-03 9.99727990e-01 6.83512013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.360714057 meters Centerline goodness : 0.989042 Centerline is valid? [True, True] Translation: X:166.39, Y:136.65, Z:6.83 [[ 9.39358887e-01 -3.42194293e-01 2.25376711e-02 1.66391670e+02] [ 3.42147896e-01 9.39626933e-01 6.00361839e-03 1.36645353e+02] [-2.32314068e-02 2.07166446e-03 9.99727968e-01 6.83409380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.390714057 meters Centerline goodness : 0.989420 Centerline is valid? [True, True] Translation: X:166.42, Y:136.65, Z:6.83 [[ 9.39170046e-01 -3.42712503e-01 2.25336619e-02 1.66422351e+02] [ 3.42665917e-01 9.39438053e-01 6.01774610e-03 1.36654736e+02] [-2.32313363e-02 2.06983105e-03 9.99727973e-01 6.83461256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.420714057 meters Centerline goodness : 0.989804 Centerline is valid? [True, True] Translation: X:166.45, Y:136.66, Z:6.84 [[ 9.39542314e-01 -3.41691414e-01 2.25214778e-02 1.66453277e+02] [ 3.41643515e-01 9.39810075e-01 6.06064534e-03 1.36664165e+02] [-2.32367822e-02 2.00008410e-03 9.99727989e-01 6.83514470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.450714057 meters Centerline goodness : 0.989307 Centerline is valid? [True, True] Translation: X:166.48, Y:136.67, Z:6.84 [[ 9.39708882e-01 -3.41233912e-01 2.25085384e-02 1.66484361e+02] [ 3.41184800e-01 9.39976408e-01 6.10612488e-03 1.36674209e+02] [-2.32411120e-02 1.94159140e-03 9.99728003e-01 6.83529505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.480714057 meters Centerline goodness : 0.989444 Centerline is valid? [True, True] Translation: X:166.51, Y:136.68, Z:6.83 [[ 9.40661394e-01 -3.38598552e-01 2.25202644e-02 1.66514813e+02] [ 3.38549671e-01 9.40928976e-01 6.06487629e-03 1.36684450e+02] [-2.32435276e-02 1.91923312e-03 9.99727990e-01 6.83444488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.51071405700003 meters Centerline goodness : 0.988977 Centerline is valid? [True, True] Translation: X:166.55, Y:136.70, Z:6.83 [[ 9.41464975e-01 -3.36357356e-01 2.25262079e-02 1.66546258e+02] [ 3.36308336e-01 9.41732538e-01 6.04396070e-03 1.36695404e+02] [-2.32465936e-02 1.88557420e-03 9.99727983e-01 6.83340333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.540714057 meters Centerline goodness : 0.990196 Centerline is valid? [True, True] Translation: X:166.58, Y:136.71, Z:6.83 [[ 9.40922895e-01 -3.37870592e-01 2.25292760e-02 1.66583744e+02] [ 3.37822258e-01 9.41190588e-01 6.03318960e-03 1.36706409e+02] [-2.32427799e-02 1.93412468e-03 9.99727979e-01 6.83070646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.570714057 meters Centerline goodness : 0.990579 Centerline is valid? [True, True] Translation: X:166.61, Y:136.72, Z:6.83 [[ 9.41792279e-01 -3.35430362e-01 2.26666068e-02 1.66612215e+02] [ 3.35392850e-01 9.42062010e-01 5.55019791e-03 1.36717114e+02] [-2.32150541e-02 2.37508432e-03 9.99727673e-01 6.83022016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.600714057 meters Centerline goodness : 0.989508 Centerline is valid? [True, True] Translation: X:166.64, Y:136.72, Z:6.83 [[ 9.43241030e-01 -3.31335700e-01 2.26497998e-02 1.66638140e+02] [ 3.31295599e-01 9.43510338e-01 5.60959578e-03 1.36724771e+02] [-2.32289796e-02 2.21257809e-03 9.99727722e-01 6.83393235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.630714057 meters Centerline goodness : 0.989518 Centerline is valid? [True, True] Translation: X:166.67, Y:136.73, Z:6.83 [[ 9.43805761e-01 -3.29730175e-01 2.25543211e-02 1.66669708e+02] [ 3.29681623e-01 9.44073452e-01 5.94515848e-03 1.36734361e+02] [-2.32532340e-02 1.82467038e-03 9.99727942e-01 6.83465124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.660714057 meters Centerline goodness : 0.990910 Centerline is valid? [True, True] Translation: X:166.69, Y:136.75, Z:6.83 [[ 9.40494890e-01 -3.39057587e-01 2.25679852e-02 1.66688168e+02] [ 3.39012833e-01 9.40763266e-01 5.89712703e-03 1.36752421e+02] [-2.32305971e-02 2.10461874e-03 9.99727918e-01 6.83350799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.690714057 meters Centerline goodness : 0.989629 Centerline is valid? [True, True] Translation: X:166.73, Y:136.75, Z:6.83 [[ 9.44268650e-01 -3.28411044e-01 2.24255135e-02 1.66729103e+02] [ 3.28351409e-01 9.44533978e-01 6.39662090e-03 1.36752956e+02] [-2.32823804e-02 1.32332040e-03 9.99728053e-01 6.83318298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.720714057 meters Centerline goodness : 0.989838 Centerline is valid? [True, True] Translation: X:166.76, Y:136.76, Z:6.83 [[ 9.43763730e-01 -3.29848794e-01 2.25786414e-02 1.66761940e+02] [ 3.29802345e-01 9.44031830e-01 5.85814358e-03 1.36762645e+02] [-2.32472578e-02 1.91778547e-03 9.99727907e-01 6.82716593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.750714057 meters Centerline goodness : 0.991117 Centerline is valid? [True, True] Translation: X:166.78, Y:136.78, Z:6.83 [[ 9.41600182e-01 -3.35970229e-01 2.26517699e-02 1.66775983e+02] [ 3.35931696e-01 9.41869706e-01 5.59935849e-03 1.36777921e+02] [-2.32162336e-02 2.33709050e-03 9.99727735e-01 6.83094589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.780714057 meters Centerline goodness : 0.989145 Centerline is valid? [True, True] Translation: X:166.82, Y:136.78, Z:6.83 [[ 9.44890708e-01 -3.26616436e-01 2.24333092e-02 1.66817713e+02] [ 3.26556954e-01 9.45156068e-01 6.36887716e-03 1.36778081e+02] [-2.32831583e-02 1.30786027e-03 9.99728055e-01 6.83130705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.810714057 meters Centerline goodness : 0.989383 Centerline is valid? [True, True] Translation: X:166.85, Y:136.79, Z:6.83 [[ 9.44939148e-01 -3.26467626e-01 2.25587108e-02 1.66848981e+02] [ 3.26418574e-01 9.45206741e-01 5.92727372e-03 1.36786636e+02] [-2.32577085e-02 1.76266923e-03 9.99727949e-01 6.83090216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.840714057 meters Centerline goodness : 0.989472 Centerline is valid? [True, True] Translation: X:166.88, Y:136.80, Z:6.83 [[ 9.45091160e-01 -3.26026994e-01 2.25631962e-02 1.66879890e+02] [ 3.25978192e-01 9.45358806e-01 5.91149355e-03 1.36795127e+02] [-2.32576227e-02 1.76820961e-03 9.99727941e-01 6.83029292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.870714057 meters Centerline goodness : 0.990023 Centerline is valid? [True, True] Translation: X:166.91, Y:136.80, Z:6.83 [[ 9.45306660e-01 -3.25401988e-01 2.25580129e-02 1.66909272e+02] [ 3.25352576e-01 9.45574185e-01 5.92971564e-03 1.36804543e+02] [-2.32598159e-02 1.73390793e-03 9.99727950e-01 6.82860812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.900714057 meters Centerline goodness : 0.989685 Centerline is valid? [True, True] Translation: X:166.94, Y:136.81, Z:6.83 [[ 9.46297498e-01 -3.22510604e-01 2.25378631e-02 1.66938759e+02] [ 3.22458693e-01 9.46564517e-01 6.00054501e-03 1.36812430e+02] [-2.32687809e-02 1.58922913e-03 9.99727982e-01 6.82873382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.930714057 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:166.97, Y:136.82, Z:6.82 [[ 9.45988194e-01 -3.23417949e-01 2.25203749e-02 1.66972799e+02] [ 3.23364835e-01 9.46254952e-01 6.06206076e-03 1.36822948e+02] [-2.32705955e-02 1.54765940e-03 9.99728005e-01 6.82487996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.960714057 meters Centerline goodness : 0.990401 Centerline is valid? [True, True] Translation: X:167.00, Y:136.83, Z:6.83 [[ 9.47313307e-01 -3.19512279e-01 2.25699486e-02 1.66999917e+02] [ 3.19462204e-01 9.47580729e-01 5.88754853e-03 1.36831111e+02] [-2.32679924e-02 1.63289246e-03 9.99727930e-01 6.82688407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.990714057 meters Centerline goodness : 0.990513 Centerline is valid? [True, True] Translation: X:167.03, Y:136.84, Z:6.83 [[ 9.47549324e-01 -3.18816468e-01 2.25019750e-02 1.67030919e+02] [ 3.18760537e-01 9.47815483e-01 6.12627773e-03 1.36840345e+02] [-2.32808785e-02 1.36779130e-03 9.99728028e-01 6.82593738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.020714057 meters Centerline goodness : 0.990234 Centerline is valid? [True, True] Translation: X:167.06, Y:136.85, Z:6.82 [[ 9.47655956e-01 -3.18499659e-01 2.24979356e-02 1.67061704e+02] [ 3.18443303e-01 9.47922021e-01 6.14046620e-03 1.36848169e+02] [-2.32820250e-02 1.34526757e-03 9.99728032e-01 6.82438351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.050714057 meters Centerline goodness : 0.990846 Centerline is valid? [True, True] Translation: X:167.09, Y:136.86, Z:6.82 [[ 9.47120322e-01 -3.20087971e-01 2.25119413e-02 1.67093933e+02] [ 3.20033225e-01 9.47386738e-01 6.09131267e-03 1.36855969e+02] [-2.32772706e-02 1.43536318e-03 9.99728017e-01 6.82444957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.080714057 meters Centerline goodness : 0.990881 Centerline is valid? [True, True] Translation: X:167.13, Y:136.86, Z:6.82 [[ 9.46973364e-01 -3.20521961e-01 2.25193398e-02 1.67126432e+02] [ 3.20467953e-01 9.47239939e-01 6.06533616e-03 1.36864008e+02] [-2.32752915e-02 1.47301493e-03 9.99728009e-01 6.82346061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.110714057 meters Centerline goodness : 0.989772 Centerline is valid? [True, True] Translation: X:167.16, Y:136.87, Z:6.83 [[ 9.46421388e-01 -3.22148309e-01 2.25171619e-02 1.67158420e+02] [ 3.22094578e-01 9.46688017e-01 6.07296754e-03 1.36870518e+02] [-2.32731236e-02 1.50506939e-03 9.99728011e-01 6.82525168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.140714057 meters Centerline goodness : 0.989662 Centerline is valid? [True, True] Translation: X:167.19, Y:136.88, Z:6.83 [[ 9.46245736e-01 -3.22662753e-01 2.25334340e-02 1.67188753e+02] [ 3.22610520e-01 9.46512684e-01 6.01592259e-03 1.36878786e+02] [-2.32692952e-02 1.57698176e-03 9.99727990e-01 6.82629858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.170714057 meters Centerline goodness : 0.989376 Centerline is valid? [True, True] Translation: X:167.22, Y:136.89, Z:6.83 [[ 9.46343213e-01 -3.22377232e-01 2.25265149e-02 1.67221921e+02] [ 3.22324344e-01 9.46610022e-01 6.04016008e-03 1.36886490e+02] [-2.32710349e-02 1.54477965e-03 9.99727999e-01 6.82533155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.200714057 meters Centerline goodness : 0.990467 Centerline is valid? [True, True] Translation: X:167.26, Y:136.90, Z:6.82 [[ 9.45403992e-01 -3.25119821e-01 2.25475764e-02 1.67258684e+02] [ 3.25069457e-01 9.45671322e-01 5.96644104e-03 1.36895267e+02] [-2.32624047e-02 1.68883124e-03 9.99727967e-01 6.82266611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.230714057 meters Centerline goodness : 0.990128 Centerline is valid? [True, True] Translation: X:167.28, Y:136.90, Z:6.83 [[ 9.46271317e-01 -3.22579585e-01 2.26496435e-02 1.67283132e+02] [ 3.22537017e-01 9.46540236e-01 5.60841700e-03 1.36900469e+02] [-2.32479597e-02 1.99826431e-03 9.99727733e-01 6.82661423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.26071405700003 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:167.32, Y:136.91, Z:6.83 [[ 9.46162806e-01 -3.22904483e-01 2.25530502e-02 1.67315450e+02] [ 3.22853965e-01 9.46430112e-01 5.94656140e-03 1.36907692e+02] [-2.32650571e-02 1.65492645e-03 9.99727962e-01 6.82654907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.290714057 meters Centerline goodness : 0.991744 Centerline is valid? [True, True] Translation: X:167.35, Y:136.92, Z:6.82 [[ 9.44395637e-01 -3.28036214e-01 2.25637740e-02 1.67352143e+02] [ 3.27988040e-01 9.44663395e-01 5.90901965e-03 1.36916788e+02] [-2.32535438e-02 1.82019564e-03 9.99727943e-01 6.82064717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.320714057 meters Centerline goodness : 0.989397 Centerline is valid? [True, True] Translation: X:167.38, Y:136.92, Z:6.82 [[ 9.44823198e-01 -3.26795411e-01 2.26689957e-02 1.67375654e+02] [ 3.26755672e-01 9.45092608e-01 5.54007297e-03 1.36922761e+02] [-2.32347707e-02 2.17283345e-03 9.99727675e-01 6.82244800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.350714057 meters Centerline goodness : 0.990018 Centerline is valid? [True, True] Translation: X:167.41, Y:136.93, Z:6.82 [[ 9.45082703e-01 -3.26051776e-01 2.25593561e-02 1.67407774e+02] [ 3.26002695e-01 9.45350282e-01 5.92352353e-03 1.36929382e+02] [-2.32578690e-02 1.75619126e-03 9.99727957e-01 6.81890288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.380714057 meters Centerline goodness : 0.990360 Centerline is valid? [True, True] Translation: X:167.44, Y:136.94, Z:6.82 [[ 9.43959450e-01 -3.29287806e-01 2.25853367e-02 1.67435915e+02] [ 3.29241804e-01 9.44227629e-01 5.83262512e-03 1.36938401e+02] [-2.32463113e-02 1.93027541e-03 9.99727905e-01 6.81919832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.410714057 meters Centerline goodness : 0.992504 Centerline is valid? [True, True] Translation: X:167.45, Y:136.96, Z:6.82 [[ 9.39679813e-01 -3.41311512e-01 2.25455331e-02 1.67454259e+02] [ 3.41265622e-01 9.39947932e-01 5.97165272e-03 1.36955386e+02] [-2.32298210e-02 2.08257387e-03 9.99727982e-01 6.81675750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.440714057 meters Centerline goodness : 0.992504 Centerline is valid? [True, True] Translation: X:167.49, Y:136.96, Z:6.82 [[ 9.39773551e-01 -3.41062087e-01 2.24126011e-02 1.67486637e+02] [ 3.41005115e-01 9.40039418e-01 6.43467741e-03 1.36964398e+02] [-2.32633530e-02 1.59567198e-03 9.99728098e-01 6.81578167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.470714057 meters Centerline goodness : 0.992278 Centerline is valid? [True, True] Translation: X:167.54, Y:136.97, Z:6.81 [[ 9.41580647e-01 -3.36040891e-01 2.24143818e-02 1.67536388e+02] [ 3.35982648e-01 9.41846238e-01 6.42846875e-03 1.36965303e+02] [-2.32711295e-02 1.47792157e-03 9.99728098e-01 6.81366114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.500714057 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:167.55, Y:136.98, Z:6.82 [[ 9.37902426e-01 -3.46155429e-01 2.27037090e-02 1.67545404e+02] [ 3.46124215e-01 9.38173064e-01 5.41579072e-03 1.36982536e+02] [-2.31747136e-02 2.77882019e-03 9.99727568e-01 6.81514597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.530714057 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:167.59, Y:136.98, Z:6.81 [[ 9.38397451e-01 -3.44830476e-01 2.24090843e-02 1.67591192e+02] [ 3.44774421e-01 9.38663472e-01 6.44089356e-03 1.36983205e+02] [-2.32556053e-02 1.68196098e-03 9.99728137e-01 6.81279766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.560714057 meters Centerline goodness : 0.991390 Centerline is valid? [True, True] Translation: X:167.62, Y:136.99, Z:6.81 [[ 9.39342735e-01 -3.42234355e-01 2.26024999e-02 1.67620573e+02] [ 3.42193520e-01 9.39611778e-01 5.77075724e-03 1.36990581e+02] [-2.32125265e-02 2.31371012e-03 9.99727876e-01 6.81325996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.590714057 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:167.64, Y:137.00, Z:6.81 [[ 9.37315248e-01 -3.47749202e-01 2.25968847e-02 1.67643474e+02] [ 3.47709484e-01 9.37584443e-01 5.79018520e-03 1.37000997e+02] [-2.32000198e-02 2.42992225e-03 9.99727890e-01 6.81267242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.620714057 meters Centerline goodness : 0.991280 Centerline is valid? [True, True] Translation: X:167.67, Y:137.01, Z:6.81 [[ 9.36692881e-01 -3.49428616e-01 2.24964140e-02 1.67673549e+02] [ 3.49381106e-01 9.36960609e-01 6.13672863e-03 1.37011257e+02] [-2.32226024e-02 2.11159199e-03 9.99728089e-01 6.81222599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.650714057 meters Centerline goodness : 0.991217 Centerline is valid? [True, True] Translation: X:167.70, Y:137.02, Z:6.81 [[ 9.36269525e-01 -3.50561897e-01 2.24884960e-02 1.67703382e+02] [ 3.50514060e-01 9.36537185e-01 6.16401942e-03 1.37022847e+02] [-2.32221830e-02 2.11135049e-03 9.99728099e-01 6.81237420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.680714057 meters Centerline goodness : 0.991301 Centerline is valid? [True, True] Translation: X:167.74, Y:137.03, Z:6.81 [[ 9.37176138e-01 -3.48131291e-01 2.24831105e-02 1.67737166e+02] [ 3.48082317e-01 9.37443586e-01 6.18259079e-03 1.37031147e+02] [-2.32290010e-02 2.03179662e-03 9.99728106e-01 6.81277930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.710714057 meters Centerline goodness : 0.989524 Centerline is valid? [True, True] Translation: X:167.76, Y:137.04, Z:6.81 [[ 9.36627682e-01 -3.49600108e-01 2.25466036e-02 1.67763442e+02] [ 3.49556779e-01 9.36896203e-01 5.96355611e-03 1.37043422e+02] [-2.32086871e-02 2.29568638e-03 9.99728006e-01 6.81329006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.740714057 meters Centerline goodness : 0.990002 Centerline is valid? [True, True] Translation: X:167.80, Y:137.05, Z:6.81 [[ 9.36627832e-01 -3.49603170e-01 2.24928306e-02 1.67796073e+02] [ 3.49555422e-01 9.36895512e-01 6.14876702e-03 1.37053982e+02] [-2.32230605e-02 2.10338458e-03 9.99728096e-01 6.81254831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.770714057 meters Centerline goodness : 0.990302 Centerline is valid? [True, True] Translation: X:167.83, Y:137.06, Z:6.81 [[ 9.35989817e-01 -3.51306498e-01 2.25123943e-02 1.67827425e+02] [ 3.51260844e-01 9.36257890e-01 6.08141515e-03 1.37064514e+02] [-2.32138474e-02 2.21557997e-03 9.99728067e-01 6.81186535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.800714057 meters Centerline goodness : 0.989656 Centerline is valid? [True, True] Translation: X:167.86, Y:137.07, Z:6.81 [[ 9.35803620e-01 -3.51801855e-01 2.25175335e-02 1.67857045e+02] [ 3.51756766e-01 9.36071797e-01 6.06371739e-03 1.37073671e+02] [-2.32112550e-02 2.24624606e-03 9.99728059e-01 6.81119918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.830714057 meters Centerline goodness : 0.990213 Centerline is valid? [True, True] Translation: X:167.89, Y:137.08, Z:6.81 [[ 9.34063611e-01 -3.56397179e-01 2.24993783e-02 1.67888091e+02] [ 3.56351919e-01 9.34331730e-01 6.12606604e-03 1.37084863e+02] [-2.32051957e-02 2.29556128e-03 9.99728088e-01 6.81061331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.860714057 meters Centerline goodness : 0.991043 Centerline is valid? [True, True] Translation: X:167.93, Y:137.10, Z:6.81 [[ 9.32270570e-01 -3.61061152e-01 2.25039647e-02 1.67925620e+02] [ 3.61017609e-01 9.32538980e-01 6.11032406e-03 1.37095838e+02] [-2.31920250e-02 2.42785225e-03 9.99728081e-01 6.80852297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.890714057 meters Centerline goodness : 0.989484 Centerline is valid? [True, True] Translation: X:167.95, Y:137.10, Z:6.81 [[ 9.32222664e-01 -3.61176324e-01 2.26399464e-02 1.67946038e+02] [ 3.61144012e-01 9.32492982e-01 5.64288478e-03 1.37104523e+02] [-2.31496675e-02 2.91585598e-03 9.99727758e-01 6.80883535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.920714057 meters Centerline goodness : 0.990593 Centerline is valid? [True, True] Translation: X:167.98, Y:137.12, Z:6.81 [[ 9.30058077e-01 -3.66723930e-01 2.24840701e-02 1.67982910e+02] [ 3.66680418e-01 9.30326455e-01 6.17720817e-03 1.37116265e+02] [-2.31828552e-02 2.49930586e-03 9.99728117e-01 6.80871627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.950714057 meters Centerline goodness : 0.990761 Centerline is valid? [True, True] Translation: X:168.01, Y:137.13, Z:6.81 [[ 9.29604148e-01 -3.67866217e-01 2.25958757e-02 1.68012243e+02] [ 3.67832237e-01 9.29874123e-01 5.79322603e-03 1.37126987e+02] [-2.31424522e-02 2.92608454e-03 9.99727895e-01 6.80685638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.980714057 meters Centerline goodness : 0.989605 Centerline is valid? [True, True] Translation: X:168.03, Y:137.14, Z:6.81 [[ 9.31269430e-01 -3.63629993e-01 2.25937272e-02 1.68034663e+02] [ 3.63594607e-01 9.31539218e-01 5.80060264e-03 1.37135363e+02] [-2.31562161e-02 2.81303346e-03 9.99727901e-01 6.80737604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.01071405700003 meters Centerline goodness : 0.989491 Centerline is valid? [True, True] Translation: X:168.07, Y:137.15, Z:6.80 [[ 9.32752637e-01 -3.59816285e-01 2.24668581e-02 1.68066061e+02] [ 3.59769401e-01 9.33020419e-01 6.23510179e-03 1.37147006e+02] [-2.32055285e-02 2.26708044e-03 9.99728145e-01 6.80230118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.040714057 meters Centerline goodness : 0.990044 Centerline is valid? [True, True] Translation: X:168.10, Y:137.16, Z:6.80 [[ 9.32858008e-01 -3.59542004e-01 2.24829900e-02 1.68098526e+02] [ 3.59496358e-01 9.33126024e-01 6.17998645e-03 1.37158845e+02] [-2.32014277e-02 2.31750316e-03 9.99728125e-01 6.80223478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.070714057 meters Centerline goodness : 0.990029 Centerline is valid? [True, True] Translation: X:168.13, Y:137.17, Z:6.80 [[ 9.35328405e-01 -3.53062209e-01 2.25355680e-02 1.68125270e+02] [ 3.53018994e-01 9.35596914e-01 6.00030576e-03 1.37171120e+02] [-2.32026891e-02 2.34322714e-03 9.99728035e-01 6.80182549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.100714057 meters Centerline goodness : 0.990366 Centerline is valid? [True, True] Translation: X:168.16, Y:137.18, Z:6.80 [[ 9.36232948e-01 -3.50659256e-01 2.24934004e-02 1.68157914e+02] [ 3.50611921e-01 9.36500684e-01 6.14405636e-03 1.37182560e+02] [-2.32195551e-02 2.13418632e-03 9.99728112e-01 6.80170004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.130714057 meters Centerline goodness : 0.989440 Centerline is valid? [True, True] Translation: X:168.19, Y:137.20, Z:6.80 [[ 9.38506537e-01 -3.44525468e-01 2.25317892e-02 1.68188065e+02] [ 3.44479496e-01 9.38774582e-01 6.01343634e-03 1.37195179e+02] [-2.32240529e-02 2.11809006e-03 9.99728042e-01 6.80255475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.160714057 meters Centerline goodness : 0.990698 Centerline is valid? [True, True] Translation: X:168.22, Y:137.21, Z:6.80 [[ 9.39375381e-01 -3.42149031e-01 2.25374125e-02 1.68216672e+02] [ 3.42102836e-01 9.39643399e-01 5.99430697e-03 1.37205619e+02] [-2.32280772e-02 2.07920834e-03 9.99728030e-01 6.80310096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.190714057 meters Centerline goodness : 0.989361 Centerline is valid? [True, True] Translation: X:168.24, Y:137.22, Z:6.80 [[ 9.41578733e-01 -3.36038882e-01 2.25246366e-02 1.68243660e+02] [ 3.35989911e-01 9.41846232e-01 6.03786584e-03 1.37216230e+02] [-2.32437018e-02 1.88292456e-03 9.99728055e-01 6.80362499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.220714057 meters Centerline goodness : 0.989503 Centerline is valid? [True, True] Translation: X:168.27, Y:137.23, Z:6.80 [[ 9.42288644e-01 -3.34044951e-01 2.24962858e-02 1.68272256e+02] [ 3.33993114e-01 9.42555551e-01 6.13454182e-03 1.37226001e+02] [-2.32532117e-02 1.73309544e-03 9.99728105e-01 6.80175183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.250714057 meters Centerline goodness : 0.990053 Centerline is valid? [True, True] Translation: X:168.30, Y:137.24, Z:6.80 [[ 9.43220229e-01 -3.31406315e-01 2.24823065e-02 1.68298352e+02] [ 3.31352598e-01 9.43486744e-01 6.18223569e-03 1.37237394e+02] [-2.32605901e-02 1.61836092e-03 9.99728126e-01 6.80158287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.280714057 meters Centerline goodness : 0.988657 Centerline is valid? [True, True] Translation: X:168.33, Y:137.25, Z:6.80 [[ 9.43318931e-01 -3.31128942e-01 2.24280876e-02 1.68331997e+02] [ 3.31070770e-01 9.43584447e-01 6.36675953e-03 1.37247439e+02] [-2.32710130e-02 1.41939945e-03 9.99728186e-01 6.80091522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.310714057 meters Centerline goodness : 0.989879 Centerline is valid? [True, True] Translation: X:168.36, Y:137.26, Z:6.80 [[ 9.43634179e-01 -3.30227038e-01 2.24641960e-02 1.68362798e+02] [ 3.30171527e-01 9.43900301e-01 6.24383567e-03 1.37258057e+02] [-2.32658447e-02 1.52514116e-03 9.99728150e-01 6.79999097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.340714057 meters Centerline goodness : 0.989612 Centerline is valid? [True, True] Translation: X:168.39, Y:137.27, Z:6.80 [[ 9.43796523e-01 -3.29762644e-01 2.24660128e-02 1.68394455e+02] [ 3.29707149e-01 9.44062650e-01 6.23765024e-03 1.37267459e+02] [-2.32662676e-02 1.52013243e-03 9.99728148e-01 6.79863106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.370714057 meters Centerline goodness : 0.989719 Centerline is valid? [True, True] Translation: X:168.42, Y:137.28, Z:6.80 [[ 9.43380452e-01 -3.30950128e-01 2.24796648e-02 1.68424644e+02] [ 3.30896071e-01 9.43646894e-01 6.19114315e-03 1.37276140e+02] [-2.32618255e-02 1.59782934e-03 9.99728130e-01 6.79613678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.400714057 meters Centerline goodness : 0.990337 Centerline is valid? [True, True] Translation: X:168.45, Y:137.29, Z:6.79 [[ 9.42502263e-01 -3.33443361e-01 2.24724141e-02 1.68453890e+02] [ 3.33389423e-01 9.42768718e-01 6.21583917e-03 1.37285669e+02] [-2.32589193e-02 1.63362266e-03 9.99728140e-01 6.79436842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.430714057 meters Centerline goodness : 0.989353 Centerline is valid? [True, True] Translation: X:168.48, Y:137.29, Z:6.79 [[ 9.41088987e-01 -3.37412998e-01 2.24496504e-02 1.68482086e+02] [ 3.37358343e-01 9.41355269e-01 6.29332967e-03 1.37294533e+02] [-2.32565480e-02 1.65099361e-03 9.99728167e-01 6.79106995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.460714057 meters Centerline goodness : 0.990210 Centerline is valid? [True, True] Translation: X:168.51, Y:137.30, Z:6.79 [[ 9.39064080e-01 -3.43010618e-01 2.24135875e-02 1.68511921e+02] [ 3.42954633e-01 9.39330056e-01 6.41603510e-03 1.37304195e+02] [-2.32545245e-02 1.66177556e-03 9.99728196e-01 6.78855735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.490714057 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:168.54, Y:137.31, Z:6.79 [[ 9.38314318e-01 -3.45056828e-01 2.24059263e-02 1.68543098e+02] [ 3.45000804e-01 9.38580282e-01 6.44207671e-03 1.37313285e+02] [-2.32526431e-02 1.68536975e-03 9.99728200e-01 6.78732530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.520714057 meters Centerline goodness : 0.990877 Centerline is valid? [True, True] Translation: X:168.57, Y:137.32, Z:6.79 [[ 9.37097431e-01 -3.48346855e-01 2.24248358e-02 1.68571280e+02] [ 3.48293294e-01 9.37363913e-01 6.37777940e-03 1.37323325e+02] [-2.32419112e-02 1.83381923e-03 9.99728188e-01 6.78655797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.550714057 meters Centerline goodness : 0.990864 Centerline is valid? [True, True] Translation: X:168.60, Y:137.33, Z:6.79 [[ 9.37198861e-01 -3.48075849e-01 2.23941375e-02 1.68601697e+02] [ 3.48019729e-01 9.37464799e-01 6.48216477e-03 1.37332190e+02] [-2.32500006e-02 1.71852421e-03 9.99728205e-01 6.78663008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.580714057 meters Centerline goodness : 0.990696 Centerline is valid? [True, True] Translation: X:168.63, Y:137.34, Z:6.79 [[ 9.37276764e-01 -3.47866602e-01 2.23851666e-02 1.68633249e+02] [ 3.47809697e-01 9.37542532e-01 6.51268015e-03 1.37341355e+02] [-2.32525897e-02 1.68159423e-03 9.99728208e-01 6.78925178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.610714057 meters Centerline goodness : 0.990718 Centerline is valid? [True, True] Translation: X:168.66, Y:137.35, Z:6.79 [[ 9.38594895e-01 -3.44292708e-01 2.24087934e-02 1.68661840e+02] [ 3.44236701e-01 9.38860863e-01 6.43222838e-03 1.37351492e+02] [-2.32533084e-02 1.67667239e-03 9.99728199e-01 6.79066774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.640714057 meters Centerline goodness : 0.990093 Centerline is valid? [True, True] Translation: X:168.69, Y:137.36, Z:6.79 [[ 9.39428933e-01 -3.42011604e-01 2.23906921e-02 1.68691793e+02] [ 3.41953488e-01 9.39694441e-01 6.49388479e-03 1.37361342e+02] [-2.32613929e-02 1.55603200e-03 9.99728206e-01 6.79239505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.670714057 meters Centerline goodness : 0.990774 Centerline is valid? [True, True] Translation: X:168.72, Y:137.37, Z:6.79 [[ 9.41197918e-01 -3.37113577e-01 2.23811528e-02 1.68724996e+02] [ 3.37053308e-01 9.41462943e-01 6.52639034e-03 1.37371135e+02] [-2.32711608e-02 1.40101659e-03 9.99728208e-01 6.79155599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.700714057 meters Centerline goodness : 0.990472 Centerline is valid? [True, True] Translation: X:168.75, Y:137.38, Z:6.79 [[ 9.41936005e-01 -3.35043380e-01 2.24164288e-02 1.68754151e+02] [ 3.34985380e-01 9.42201548e-01 6.40604246e-03 1.37380309e+02] [-2.32670961e-02 1.47509389e-03 9.99728196e-01 6.79157785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.730714057 meters Centerline goodness : 0.990664 Centerline is valid? [True, True] Translation: X:168.79, Y:137.39, Z:6.79 [[ 9.43053152e-01 -3.31887109e-01 2.23986519e-02 1.68785528e+02] [ 3.31826785e-01 9.43318168e-01 6.46668331e-03 1.37388665e+02] [-2.32752641e-02 1.33404657e-03 9.99728204e-01 6.79245193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.76071405700003 meters Centerline goodness : 0.989352 Centerline is valid? [True, True] Translation: X:168.82, Y:137.40, Z:6.79 [[ 9.44217955e-01 -3.28558261e-01 2.24036421e-02 1.68815660e+02] [ 3.28497405e-01 9.44482852e-01 6.44965086e-03 1.37396034e+02] [-2.32789419e-02 1.26966215e-03 9.99728202e-01 6.79315694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.790714057 meters Centerline goodness : 0.990323 Centerline is valid? [True, True] Translation: X:168.84, Y:137.41, Z:6.79 [[ 9.44680516e-01 -3.27225528e-01 2.24093094e-02 1.68844968e+02] [ 3.27164756e-01 9.44945434e-01 6.43030265e-03 1.37405689e+02] [-2.32797338e-02 1.25695461e-03 9.99728200e-01 6.79334735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.820714057 meters Centerline goodness : 0.990104 Centerline is valid? [True, True] Translation: X:168.88, Y:137.41, Z:6.79 [[ 9.45339304e-01 -3.25318303e-01 2.23964953e-02 1.68875513e+02] [ 3.25255962e-01 9.45603853e-01 6.47405091e-03 1.37413846e+02] [-2.32843395e-02 1.16441884e-03 9.99728205e-01 6.79443082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.850714057 meters Centerline goodness : 0.989478 Centerline is valid? [True, True] Translation: X:168.90, Y:137.42, Z:6.78 [[ 9.47358086e-01 -3.19392079e-01 2.23909813e-02 1.68901985e+02] [ 3.19327639e-01 9.47622130e-01 6.49288556e-03 1.37419745e+02] [-2.32919656e-02 9.98971540e-04 9.99728206e-01 6.78385483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.880714057 meters Centerline goodness : 0.989547 Centerline is valid? [True, True] Translation: X:168.94, Y:137.43, Z:6.79 [[ 9.48487057e-01 -3.16026386e-01 2.23523305e-02 1.68938652e+02] [ 3.15957899e-01 9.48750081e-01 6.62489395e-03 1.37427992e+02] [-2.33004167e-02 7.78769234e-04 9.99728205e-01 6.79403281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.910714057 meters Centerline goodness : 0.987061 Centerline is valid? [True, True] Translation: X:168.97, Y:137.43, Z:6.79 [[ 9.49414272e-01 -3.13223391e-01 2.24420903e-02 1.68967350e+02] [ 3.13161364e-01 9.49678918e-01 6.31771351e-03 1.37434006e+02] [-2.32916357e-02 1.02986824e-03 9.99728183e-01 6.79135159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.940714057 meters Centerline goodness : 0.987445 Centerline is valid? [True, True] Translation: X:169.00, Y:137.44, Z:6.79 [[ 9.50265740e-01 -3.10632705e-01 2.24130830e-02 1.68996710e+02] [ 3.10567617e-01 9.50529630e-01 6.41699738e-03 1.37440467e+02] [-2.32976288e-02 8.62925015e-04 9.99728201e-01 6.79415864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.970714057 meters Centerline goodness : 0.987678 Centerline is valid? [True, True] Translation: X:169.03, Y:137.45, Z:6.79 [[ 9.50072379e-01 -3.11224967e-01 2.23940960e-02 1.69029300e+02] [ 3.11158512e-01 9.50335922e-01 6.48197796e-03 1.37448458e+02] [-2.32992673e-02 8.09765369e-04 9.99728207e-01 6.79302124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.000714057 meters Centerline goodness : 0.985971 Centerline is valid? [True, True] Translation: X:169.06, Y:137.45, Z:6.79 [[ 9.50931434e-01 -3.08589035e-01 2.24101734e-02 1.69058960e+02] [ 3.08523145e-01 9.51195124e-01 6.42691150e-03 1.37453646e+02] [-2.32997221e-02 8.02505023e-04 9.99728203e-01 6.79253916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.030714057 meters Centerline goodness : 0.987889 Centerline is valid? [True, True] Translation: X:169.09, Y:137.46, Z:6.79 [[ 9.50741260e-01 -3.09175410e-01 2.23969515e-02 1.69092964e+02] [ 3.09108617e-01 9.51004718e-01 6.47221763e-03 1.37460522e+02] [-2.33006571e-02 7.69686346e-04 9.99728207e-01 6.78670125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.060714057 meters Centerline goodness : 0.986985 Centerline is valid? [True, True] Translation: X:169.13, Y:137.47, Z:6.79 [[ 9.50484869e-01 -3.09960629e-01 2.24259166e-02 1.69126061e+02] [ 3.09896384e-01 9.50748975e-01 6.37328566e-03 1.37466538e+02] [-2.32968848e-02 8.91998853e-04 9.99728193e-01 6.78720299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.090714057 meters Centerline goodness : 0.987914 Centerline is valid? [True, True] Translation: X:169.16, Y:137.47, Z:6.79 [[ 9.50657103e-01 -3.09429650e-01 2.24580633e-02 1.69156260e+02] [ 3.09367847e-01 9.50921819e-01 6.26342127e-03 1.37473840e+02] [-2.32939506e-02 9.93436757e-04 9.99728166e-01 6.78594520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.120714057 meters Centerline goodness : 0.983900 Centerline is valid? [True, True] Translation: X:169.19, Y:137.48, Z:6.79 [[ 9.50102628e-01 -3.11129629e-01 2.24354563e-02 1.69186523e+02] [ 3.11066478e-01 9.50367004e-01 6.34064662e-03 1.37479016e+02] [-2.32946804e-02 9.54653356e-04 9.99728186e-01 6.78551297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.150714057 meters Centerline goodness : 0.985223 Centerline is valid? [True, True] Translation: X:169.22, Y:137.49, Z:6.78 [[ 9.50130121e-01 -3.11046242e-01 2.24274235e-02 1.69217353e+02] [ 3.10982420e-01 9.50394330e-01 6.36809753e-03 1.37485982e+02] [-2.32956689e-02 9.24013156e-04 9.99728192e-01 6.78481041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.180714057 meters Centerline goodness : 0.985745 Centerline is valid? [True, True] Translation: X:169.25, Y:137.49, Z:6.79 [[ 9.48680487e-01 -3.15440406e-01 2.24206332e-02 1.69247248e+02] [ 3.15377260e-01 9.48944854e-01 6.39129330e-03 1.37490867e+02] [-2.32920167e-02 1.00766266e-03 9.99728196e-01 6.78555568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.210714057 meters Centerline goodness : 0.986479 Centerline is valid? [True, True] Translation: X:169.28, Y:137.50, Z:6.78 [[ 9.48251210e-01 -3.16730709e-01 2.23897387e-02 1.69278015e+02] [ 3.16665434e-01 9.48515047e-01 6.49684253e-03 1.37496421e+02] [-2.32947536e-02 9.29417523e-04 9.99728208e-01 6.78437759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.240714057 meters Centerline goodness : 0.985687 Centerline is valid? [True, True] Translation: X:169.31, Y:137.50, Z:6.78 [[ 9.47781237e-01 -3.18135504e-01 2.23724860e-02 1.69310251e+02] [ 3.18069230e-01 9.48044823e-01 6.55580741e-03 1.37504170e+02] [-2.32957546e-02 9.02528137e-04 9.99728210e-01 6.78439278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.270714057 meters Centerline goodness : 0.984741 Centerline is valid? [True, True] Translation: X:169.34, Y:137.51, Z:6.78 [[ 9.46149039e-01 -3.22956730e-01 2.23818594e-02 1.69341362e+02] [ 3.22892555e-01 9.46413144e-01 6.52375222e-03 1.37508912e+02] [-2.32893756e-02 1.05449386e-03 9.99728210e-01 6.78454234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.300714057 meters Centerline goodness : 0.985633 Centerline is valid? [True, True] Translation: X:169.37, Y:137.51, Z:6.78 [[ 9.45624411e-01 -3.24491345e-01 2.23571319e-02 1.69372750e+02] [ 3.24425602e-01 9.45888132e-01 6.60832521e-03 1.37514082e+02] [-2.32916900e-02 1.00423233e-03 9.99728207e-01 6.78081010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.330714057 meters Centerline goodness : 0.985691 Centerline is valid? [True, True] Translation: X:169.40, Y:137.52, Z:6.78 [[ 9.45225189e-01 -3.25651389e-01 2.23721792e-02 1.69403839e+02] [ 3.25587185e-01 9.45489287e-01 6.55683222e-03 1.37521827e+02] [-2.32878973e-02 1.08641189e-03 9.99728210e-01 6.77897182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.360714057 meters Centerline goodness : 0.985691 Centerline is valid? [True, True] Translation: X:169.44, Y:137.53, Z:6.78 [[ 9.45292900e-01 -3.25454976e-01 2.23694310e-02 1.69435144e+02] [ 3.25390496e-01 9.45556931e-01 6.56624180e-03 1.37530865e+02] [-2.32885866e-02 1.07177849e-03 9.99728210e-01 6.77820815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.390714057 meters Centerline goodness : 0.985314 Centerline is valid? [True, True] Translation: X:169.47, Y:137.54, Z:6.78 [[ 9.45643959e-01 -3.24433442e-01 2.23706302e-02 1.69466990e+02] [ 3.24368773e-01 9.45907943e-01 6.56213286e-03 1.37538005e+02] [-2.32895322e-02 1.05089259e-03 9.99728210e-01 6.78392546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.420714057 meters Centerline goodness : 0.986110 Centerline is valid? [True, True] Translation: X:169.50, Y:137.55, Z:6.78 [[ 9.45935920e-01 -3.23580479e-01 2.23809791e-02 1.69497896e+02] [ 3.23516409e-01 9.46200051e-01 6.52664476e-03 1.37545969e+02] [-2.32887784e-02 1.06682629e-03 9.99728210e-01 6.78336241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.450714057 meters Centerline goodness : 0.986930 Centerline is valid? [True, True] Translation: X:169.53, Y:137.55, Z:6.78 [[ 9.46254756e-01 -3.22646792e-01 2.23826795e-02 1.69529703e+02] [ 3.22582600e-01 9.46518856e-01 6.52080835e-03 1.37554570e+02] [-2.32895461e-02 1.04991702e-03 9.99728210e-01 6.78225859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.480714057 meters Centerline goodness : 0.986250 Centerline is valid? [True, True] Translation: X:169.56, Y:137.56, Z:6.78 [[ 9.46689176e-01 -3.21369780e-01 2.23845421e-02 1.69560505e+02] [ 3.21305383e-01 9.46953227e-01 6.51440794e-03 1.37563141e+02] [-2.32906482e-02 1.02515440e-03 9.99728210e-01 6.78342061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.51071405700003 meters Centerline goodness : 0.985926 Centerline is valid? [True, True] Translation: X:169.59, Y:137.57, Z:6.78 [[ 9.46510184e-01 -3.21896454e-01 2.23862691e-02 1.69592021e+02] [ 3.21832344e-01 9.46774304e-01 6.50846807e-03 1.37572469e+02] [-2.32897971e-02 1.04429414e-03 9.99728210e-01 6.78225319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.540714057 meters Centerline goodness : 0.985966 Centerline is valid? [True, True] Translation: X:169.62, Y:137.58, Z:6.78 [[ 9.46718390e-01 -3.21283463e-01 2.23881007e-02 1.69623842e+02] [ 3.21219330e-01 9.46982504e-01 6.50216133e-03 1.37580789e+02] [-2.32901766e-02 1.03577502e-03 9.99728210e-01 6.78001552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.570714057 meters Centerline goodness : 0.984754 Centerline is valid? [True, True] Translation: X:169.66, Y:137.59, Z:6.78 [[ 9.46500752e-01 -3.21923932e-01 2.23899326e-02 1.69655686e+02] [ 3.21860127e-01 9.46764946e-01 6.49584714e-03 1.37589627e+02] [-2.32891720e-02 1.05810235e-03 9.99728211e-01 6.77924614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.600714057 meters Centerline goodness : 0.984664 Centerline is valid? [True, True] Translation: X:169.69, Y:137.60, Z:6.78 [[ 9.46180201e-01 -3.22864734e-01 2.23917603e-02 1.69686928e+02] [ 3.22801341e-01 9.46444494e-01 6.48954093e-03 1.37598499e+02] [-2.32878021e-02 1.08781510e-03 9.99728211e-01 6.77791688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.630714057 meters Centerline goodness : 0.984276 Centerline is valid? [True, True] Translation: X:169.72, Y:137.61, Z:6.78 [[ 9.45971581e-01 -3.23475387e-01 2.23928929e-02 1.69718683e+02] [ 3.23412257e-01 9.46235937e-01 6.48563029e-03 1.37607130e+02] [-2.32869018e-02 1.10691409e-03 9.99728211e-01 6.77684951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.660714057 meters Centerline goodness : 0.986045 Centerline is valid? [True, True] Translation: X:169.75, Y:137.62, Z:6.78 [[ 9.44525717e-01 -3.27673082e-01 2.23946565e-02 1.69750276e+02] [ 3.27611271e-01 9.44790385e-01 6.47953482e-03 1.37616055e+02] [-2.32814253e-02 1.21665461e-03 9.99728211e-01 6.77635950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.690714057 meters Centerline goodness : 0.986184 Centerline is valid? [True, True] Translation: X:169.78, Y:137.62, Z:6.77 [[ 9.42701964e-01 -3.32881960e-01 2.24189196e-02 1.69782344e+02] [ 3.32823598e-01 9.42967417e-01 6.39559489e-03 1.37621208e+02] [-2.32692889e-02 1.43240564e-03 9.99728207e-01 6.77103835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.720714057 meters Centerline goodness : 0.986628 Centerline is valid? [True, True] Translation: X:169.82, Y:137.63, Z:6.78 [[ 9.40692234e-01 -3.38520417e-01 2.24064399e-02 1.69815661e+02] [ 3.38462622e-01 9.40957808e-01 6.43876197e-03 1.37630937e+02] [-2.32631670e-02 1.52684902e-03 9.99728210e-01 6.77599204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.750714057 meters Centerline goodness : 0.986839 Centerline is valid? [True, True] Translation: X:169.84, Y:137.64, Z:6.77 [[ 9.39440539e-01 -3.41976248e-01 2.24436920e-02 1.69841834e+02] [ 3.41922493e-01 9.39706973e-01 6.30973644e-03 1.37637999e+02] [-2.32482739e-02 1.74638093e-03 9.99728197e-01 6.77016586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.780714057 meters Centerline goodness : 0.988623 Centerline is valid? [True, True] Translation: X:169.87, Y:137.65, Z:6.77 [[ 9.38079907e-01 -3.45694818e-01 2.23870562e-02 1.69873510e+02] [ 3.45637463e-01 9.38345576e-01 6.50572240e-03 1.37648208e+02] [-2.32557897e-02 1.63491784e-03 9.99728211e-01 6.77367434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.810714057 meters Centerline goodness : 0.986138 Centerline is valid? [True, True] Translation: X:169.90, Y:137.66, Z:6.77 [[ 9.37829350e-01 -3.46373059e-01 2.24012231e-02 1.69903221e+02] [ 3.46317061e-01 9.38095307e-01 6.45664921e-03 1.37656641e+02] [-2.32508916e-02 1.70269061e-03 9.99728212e-01 6.77276747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.840714057 meters Centerline goodness : 0.986670 Centerline is valid? [True, True] Translation: X:169.93, Y:137.67, Z:6.77 [[ 9.37406128e-01 -3.47517562e-01 2.23896404e-02 1.69934889e+02] [ 3.47460936e-01 9.37671952e-01 6.49679122e-03 1.37665912e+02] [-2.32518869e-02 1.68939352e-03 9.99728211e-01 6.77220448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.870714057 meters Centerline goodness : 0.987526 Centerline is valid? [True, True] Translation: X:169.97, Y:137.67, Z:6.77 [[ 9.37018006e-01 -3.48561966e-01 2.24011617e-02 1.69966310e+02] [ 3.48506585e-01 9.37284092e-01 6.45681493e-03 1.37674790e+02] [-2.32468526e-02 1.75680052e-03 9.99728212e-01 6.77090683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.900714057 meters Centerline goodness : 0.986409 Centerline is valid? [True, True] Translation: X:170.00, Y:137.68, Z:6.77 [[ 9.36994259e-01 -3.48625601e-01 2.24042273e-02 1.69995188e+02] [ 3.48570492e-01 9.37260401e-01 6.44616796e-03 1.37683798e+02] [-2.32458943e-02 1.76943016e-03 9.99728212e-01 6.76969245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.930714057 meters Centerline goodness : 0.988277 Centerline is valid? [True, True] Translation: X:170.03, Y:137.70, Z:6.77 [[ 9.36624065e-01 -3.49620688e-01 2.23771158e-02 1.70026906e+02] [ 3.49563623e-01 9.36889800e-01 6.54035991e-03 1.37695437e+02] [-2.32515367e-02 1.69636719e-03 9.99728207e-01 6.77075236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.960714057 meters Centerline goodness : 0.988607 Centerline is valid? [True, True] Translation: X:170.06, Y:137.71, Z:6.77 [[ 9.36888495e-01 -3.48910476e-01 2.23925940e-02 1.70058534e+02] [ 3.48854488e-01 9.37154454e-01 6.48653065e-03 1.37705365e+02] [-2.32485377e-02 1.73460096e-03 9.99728211e-01 6.76928557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.990714057 meters Centerline goodness : 0.988592 Centerline is valid? [True, True] Translation: X:170.09, Y:137.72, Z:6.77 [[ 9.36939319e-01 -3.48773460e-01 2.24005766e-02 1.70089811e+02] [ 3.48718093e-01 9.37205408e-01 6.45874150e-03 1.37716373e+02] [-2.32465792e-02 1.76003751e-03 9.99728212e-01 6.76929727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.020714057 meters Centerline goodness : 0.988203 Centerline is valid? [True, True] Translation: X:170.12, Y:137.73, Z:6.77 [[ 9.36889414e-01 -3.48906010e-01 2.24236982e-02 1.70119383e+02] [ 3.48852596e-01 9.37155902e-01 6.37818058e-03 1.37725286e+02] [-2.32398867e-02 1.84691545e-03 9.99728211e-01 6.76906389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.050714057 meters Centerline goodness : 0.989347 Centerline is valid? [True, True] Translation: X:170.15, Y:137.73, Z:6.77 [[ 9.37001852e-01 -3.48605182e-01 2.24044024e-02 1.70150650e+02] [ 3.48550083e-01 9.37267996e-01 6.44544698e-03 1.37734613e+02] [-2.32458455e-02 1.76966055e-03 9.99728213e-01 6.77028897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.080714057 meters Centerline goodness : 0.989565 Centerline is valid? [True, True] Translation: X:170.18, Y:137.75, Z:6.77 [[ 9.37061443e-01 -3.48443478e-01 2.24275300e-02 1.70178730e+02] [ 3.48390252e-01 9.37327970e-01 6.36471969e-03 1.37745949e+02] [-2.32396962e-02 1.84939941e-03 9.99728211e-01 6.76891852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.110714057 meters Centerline goodness : 0.989817 Centerline is valid? [True, True] Translation: X:170.21, Y:137.76, Z:6.77 [[ 9.37279667e-01 -3.47856729e-01 2.24170080e-02 1.70209835e+02] [ 3.47802463e-01 9.37545982e-01 6.40144043e-03 1.37755700e+02] [-2.32437599e-02 1.79675064e-03 9.99728213e-01 6.76774142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.140714057 meters Centerline goodness : 0.988971 Centerline is valid? [True, True] Translation: X:170.24, Y:137.77, Z:6.77 [[ 9.37126687e-01 -3.48268492e-01 2.24194168e-02 1.70240849e+02] [ 3.48214544e-01 9.37393066e-01 6.39302722e-03 1.37765234e+02] [-2.32422958e-02 1.81569057e-03 9.99728213e-01 6.76739941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.170714057 meters Centerline goodness : 0.989757 Centerline is valid? [True, True] Translation: X:170.27, Y:137.77, Z:6.77 [[ 9.37059234e-01 -3.48450066e-01 2.24174984e-02 1.70272267e+02] [ 3.48396010e-01 9.37325591e-01 6.39972960e-03 1.37774982e+02] [-2.32424812e-02 1.81324131e-03 9.99728213e-01 6.76553978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.200714057 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:170.30, Y:137.78, Z:6.76 [[ 9.37281068e-01 -3.47851971e-01 2.24322366e-02 1.70301329e+02] [ 3.47798971e-01 9.37547640e-01 6.34819015e-03 1.37784071e+02] [-2.32395209e-02 1.85187034e-03 9.99728211e-01 6.76303313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.230714057 meters Centerline goodness : 0.989738 Centerline is valid? [True, True] Translation: X:170.33, Y:137.80, Z:6.76 [[ 9.37238749e-01 -3.47966760e-01 2.24201012e-02 1.70331653e+02] [ 3.47912783e-01 9.37505123e-01 6.39063288e-03 1.37795073e+02] [-2.32426875e-02 1.81069102e-03 9.99728213e-01 6.76264503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.26071405700003 meters Centerline goodness : 0.989560 Centerline is valid? [True, True] Translation: X:170.36, Y:137.81, Z:6.76 [[ 9.37332894e-01 -3.47712743e-01 2.24252922e-02 1.70363078e+02] [ 3.47659126e-01 9.37599341e-01 6.37246977e-03 1.37805669e+02] [-2.32417282e-02 1.82323197e-03 9.99728212e-01 6.76251569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.290714057 meters Centerline goodness : 0.989355 Centerline is valid? [True, True] Translation: X:170.39, Y:137.82, Z:6.76 [[ 9.37603864e-01 -3.46979695e-01 2.24518673e-02 1.70391969e+02] [ 3.46928082e-01 9.37870714e-01 6.27940880e-03 1.37815172e+02] [-2.32357762e-02 1.90158532e-03 9.99728204e-01 6.76044694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.320714057 meters Centerline goodness : 0.989171 Centerline is valid? [True, True] Translation: X:170.42, Y:137.83, Z:6.76 [[ 9.38383944e-01 -3.44865239e-01 2.24397169e-02 1.70423702e+02] [ 3.44812012e-01 9.38650472e-01 6.32195936e-03 1.37825147e+02] [-2.32432749e-02 1.80505877e-03 9.99728209e-01 6.76096167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.350714057 meters Centerline goodness : 0.990084 Centerline is valid? [True, True] Translation: X:170.45, Y:137.83, Z:6.76 [[ 9.38711978e-01 -3.43969688e-01 2.24650057e-02 1.70453286e+02] [ 3.43918314e-01 9.38978881e-01 6.23334459e-03 1.37834665e+02] [-2.32382475e-02 1.87481165e-03 9.99728198e-01 6.76150541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.380714057 meters Centerline goodness : 0.987826 Centerline is valid? [True, True] Translation: X:170.48, Y:137.84, Z:6.76 [[ 9.39570301e-01 -3.41618973e-01 2.24527572e-02 1.70484113e+02] [ 3.41565911e-01 9.39836867e-01 6.27626554e-03 1.37844563e+02] [-2.32460204e-02 1.77210378e-03 9.99728204e-01 6.76157532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.410714057 meters Centerline goodness : 0.989628 Centerline is valid? [True, True] Translation: X:170.52, Y:137.85, Z:6.76 [[ 9.40066404e-01 -3.40249960e-01 2.24748751e-02 1.70516200e+02] [ 3.40198352e-01 9.40333269e-01 6.19876656e-03 1.37853881e+02] [-2.32430029e-02 1.81866328e-03 9.99728191e-01 6.76288103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.440714057 meters Centerline goodness : 0.989583 Centerline is valid? [True, True] Translation: X:170.56, Y:137.86, Z:6.76 [[ 9.43565086e-01 -3.30422186e-01 2.24968275e-02 1.70562785e+02] [ 3.30369622e-01 9.43831784e-01 6.12176578e-03 1.37860253e+02] [-2.32559881e-02 1.65598394e-03 9.99728171e-01 6.75770795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.470714057 meters Centerline goodness : 0.987987 Centerline is valid? [True, True] Translation: X:170.59, Y:137.87, Z:6.76 [[ 9.43762923e-01 -3.29840051e-01 2.27395339e-02 1.70586145e+02] [ 3.29807697e-01 9.44033445e-01 5.26677754e-03 1.37871050e+02] [-2.32040747e-02 2.52908393e-03 9.99727550e-01 6.75775526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.500714057 meters Centerline goodness : 0.987123 Centerline is valid? [True, True] Translation: X:170.62, Y:137.88, Z:6.76 [[ 9.44385481e-01 -3.28060619e-01 2.26338871e-02 1.70616482e+02] [ 3.28018892e-01 9.44654339e-01 5.63794434e-03 1.37882469e+02] [-2.32307872e-02 2.09994979e-03 9.99727923e-01 6.75837853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.530714057 meters Centerline goodness : 0.987084 Centerline is valid? [True, True] Translation: X:170.64, Y:137.89, Z:6.76 [[ 9.44383980e-01 -3.28064189e-01 2.26447986e-02 1.70644406e+02] [ 3.28023375e-01 9.44653010e-01 5.59967049e-03 1.37893145e+02] [-2.32285285e-02 2.13978416e-03 9.99727891e-01 6.75910574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.560714057 meters Centerline goodness : 0.986603 Centerline is valid? [True, True] Translation: X:170.67, Y:137.90, Z:6.76 [[ 9.44907083e-01 -3.26557301e-01 2.26038518e-02 1.70673075e+02] [ 3.26512641e-01 9.45175387e-01 5.74311499e-03 1.37903440e+02] [-2.32400605e-02 1.95373333e-03 9.99728004e-01 6.76122159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.590714057 meters Centerline goodness : 0.985364 Centerline is valid? [True, True] Translation: X:170.70, Y:137.91, Z:6.76 [[ 9.44826086e-01 -3.26794175e-01 2.25662092e-02 1.70702926e+02] [ 3.26746459e-01 9.45093775e-01 5.87438785e-03 1.37913808e+02] [-2.32468996e-02 1.82315408e-03 9.99728092e-01 6.76129773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.620714057 meters Centerline goodness : 0.984626 Centerline is valid? [True, True] Translation: X:170.73, Y:137.92, Z:6.76 [[ 9.45158882e-01 -3.25831147e-01 2.25555177e-02 1.70732454e+02] [ 3.25782272e-01 9.45426339e-01 5.91166157e-03 1.37924820e+02] [-2.32507840e-02 1.76072838e-03 9.99728113e-01 6.76127256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.650714057 meters Centerline goodness : 0.985920 Centerline is valid? [True, True] Translation: X:170.76, Y:137.93, Z:6.76 [[ 9.45600782e-01 -3.24547904e-01 2.25348383e-02 1.70763728e+02] [ 3.24496955e-01 9.45867814e-01 5.98372087e-03 1.37934035e+02] [-2.32569823e-02 1.65427528e-03 9.99728151e-01 6.75932135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.680714057 meters Centerline goodness : 0.984283 Centerline is valid? [True, True] Translation: X:170.79, Y:137.94, Z:6.76 [[ 9.46489726e-01 -3.21945989e-01 2.25383773e-02 1.70792357e+02] [ 3.21894599e-01 9.46756679e-01 5.97138350e-03 1.37943182e+02] [-2.32608222e-02 1.60312880e-03 9.99728145e-01 6.75787029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.710714057 meters Centerline goodness : 0.984613 Centerline is valid? [True, True] Translation: X:170.82, Y:137.95, Z:6.76 [[ 9.46709071e-01 -3.21302322e-01 2.25111894e-02 1.70824457e+02] [ 3.21248507e-01 9.46975502e-01 6.06597683e-03 1.37952990e+02] [-2.32665573e-02 1.48897069e-03 9.99728188e-01 6.75789551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.740714057 meters Centerline goodness : 0.984080 Centerline is valid? [True, True] Translation: X:170.85, Y:137.96, Z:6.76 [[ 9.47848209e-01 -3.17924074e-01 2.25400935e-02 1.70853733e+02] [ 3.17871693e-01 9.48114973e-01 5.96537802e-03 1.37961597e+02] [-2.32671375e-02 1.51058482e-03 9.99728142e-01 6.75773758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.770714057 meters Centerline goodness : 0.984159 Centerline is valid? [True, True] Translation: X:170.88, Y:137.97, Z:6.76 [[ 9.48065197e-01 -3.17278101e-01 2.25163976e-02 1.70884073e+02] [ 3.17223586e-01 9.48331493e-01 6.04777864e-03 1.37971552e+02] [-2.32718366e-02 1.40904392e-03 9.99728181e-01 6.75786955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.800714057 meters Centerline goodness : 0.984920 Centerline is valid? [True, True] Translation: X:170.92, Y:137.98, Z:6.76 [[ 9.48777384e-01 -3.15143209e-01 2.24996248e-02 1.70916037e+02] [ 3.15086717e-01 9.49043244e-01 6.10596176e-03 1.37981491e+02] [-2.32773693e-02 1.29613448e-03 9.99728205e-01 6.75818109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.830714057 meters Centerline goodness : 0.984806 Centerline is valid? [True, True] Translation: X:170.94, Y:137.99, Z:6.76 [[ 9.49495903e-01 -3.12969947e-01 2.25242655e-02 1.70942812e+02] [ 3.12914871e-01 9.49762096e-01 6.02042481e-03 1.37990631e+02] [-2.32769056e-02 1.33180893e-03 9.99728169e-01 6.75537279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.860714057 meters Centerline goodness : 0.984958 Centerline is valid? [True, True] Translation: X:170.97, Y:138.00, Z:6.75 [[ 9.49557462e-01 -3.12785921e-01 2.24853999e-02 1.70973989e+02] [ 3.12727598e-01 9.49822909e-01 6.15551709e-03 1.37999379e+02] [-2.32825071e-02 1.18678793e-03 9.99728221e-01 6.75147230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.890714057 meters Centerline goodness : 0.985473 Centerline is valid? [True, True] Translation: X:171.01, Y:138.01, Z:6.75 [[ 9.50034801e-01 -3.11333720e-01 2.24764526e-02 1.71006310e+02] [ 3.11274257e-01 9.50299986e-01 6.18662223e-03 1.38007973e+02] [-2.32854767e-02 1.11883465e-03 9.99728230e-01 6.75224409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.920714057 meters Centerline goodness : 0.985480 Centerline is valid? [True, True] Translation: X:171.04, Y:138.02, Z:6.75 [[ 9.49986988e-01 -3.11480095e-01 2.24693979e-02 1.71040603e+02] [ 3.11420095e-01 9.50252044e-01 6.21106977e-03 1.38016356e+02] [-2.32862159e-02 1.09698658e-03 9.99728237e-01 6.75300181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.950714057 meters Centerline goodness : 0.985313 Centerline is valid? [True, True] Translation: X:171.07, Y:138.02, Z:6.75 [[ 9.50072277e-01 -3.11215720e-01 2.25265096e-02 1.71070187e+02] [ 3.11160328e-01 9.50338411e-01 6.01294192e-03 1.38024780e+02] [-2.32791293e-02 1.29662669e-03 9.99728164e-01 6.75194197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.980714057 meters Centerline goodness : 0.986267 Centerline is valid? [True, True] Translation: X:171.10, Y:138.03, Z:6.75 [[ 9.49871827e-01 -3.11828532e-01 2.25050697e-02 1.71101155e+02] [ 3.11771554e-01 9.50137592e-01 6.08727417e-03 1.38033699e+02] [-2.32810985e-02 1.23431031e-03 9.99728197e-01 6.75238778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.01071405700003 meters Centerline goodness : 0.985814 Centerline is valid? [True, True] Translation: X:171.13, Y:138.04, Z:6.75 [[ 9.49868672e-01 -3.11838667e-01 2.24978360e-02 1.71132120e+02] [ 3.11781099e-01 9.50134299e-01 6.11235903e-03 1.38041862e+02] [-2.32820355e-02 1.20846167e-03 9.99728206e-01 6.75074893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.040714057 meters Centerline goodness : 0.985909 Centerline is valid? [True, True] Translation: X:171.16, Y:138.05, Z:6.75 [[ 9.49691571e-01 -3.12377361e-01 2.25012227e-02 1.71159305e+02] [ 3.12320221e-01 9.49957295e-01 6.10060410e-03 1.38048984e+02] [-2.32808912e-02 1.23389456e-03 9.99728202e-01 6.75175581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.070714057 meters Centerline goodness : 0.986602 Centerline is valid? [True, True] Translation: X:171.19, Y:138.06, Z:6.75 [[ 9.48811167e-01 -3.15045098e-01 2.24489578e-02 1.71192831e+02] [ 3.14984423e-01 9.49076052e-01 6.28179342e-03 1.38057582e+02] [-2.32848165e-02 1.11083627e-03 9.99728255e-01 6.75011812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.100714057 meters Centerline goodness : 0.987433 Centerline is valid? [True, True] Translation: X:171.22, Y:138.06, Z:6.75 [[ 9.47884197e-01 -3.17820418e-01 2.24884520e-02 1.71223610e+02] [ 3.17763752e-01 9.48150007e-01 6.14505727e-03 1.38064683e+02] [-2.32754506e-02 1.32121219e-03 9.99728217e-01 6.75274021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.130714057 meters Centerline goodness : 0.986321 Centerline is valid? [True, True] Translation: X:171.25, Y:138.07, Z:6.75 [[ 9.47642665e-01 -3.18540480e-01 2.24798165e-02 1.71254746e+02] [ 3.18483308e-01 9.47908357e-01 6.17495593e-03 1.38072513e+02] [-2.32757794e-02 1.30779464e-03 9.99728227e-01 6.75206235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.160714057 meters Centerline goodness : 0.986505 Centerline is valid? [True, True] Translation: X:171.29, Y:138.08, Z:6.75 [[ 9.47322831e-01 -3.19491336e-01 2.24664125e-02 1.71285253e+02] [ 3.19433333e-01 9.47588328e-01 6.22136336e-03 1.38077287e+02] [-2.32765820e-02 1.28288150e-03 9.99728241e-01 6.75074041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.190714057 meters Centerline goodness : 0.987111 Centerline is valid? [True, True] Translation: X:171.32, Y:138.09, Z:6.75 [[ 9.46640844e-01 -3.21507993e-01 2.24437817e-02 1.71318293e+02] [ 3.21448703e-01 9.46906038e-01 6.29969918e-03 1.38085093e+02] [-2.32775561e-02 1.25097197e-03 9.99728258e-01 6.75012465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.220714057 meters Centerline goodness : 0.987986 Centerline is valid? [True, True] Translation: X:171.35, Y:138.09, Z:6.75 [[ 9.45844636e-01 -3.23841514e-01 2.24632782e-02 1.71350544e+02] [ 3.23784475e-01 9.46110339e-01 6.23218638e-03 1.38090602e+02] [-2.32709804e-02 1.37858069e-03 9.99728244e-01 6.75059324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.250714057 meters Centerline goodness : 0.987986 Centerline is valid? [True, True] Translation: X:171.38, Y:138.10, Z:6.75 [[ 9.45879525e-01 -3.23740526e-01 2.24498426e-02 1.71381816e+02] [ 3.23682359e-01 9.46144972e-01 6.27869896e-03 1.38099641e+02] [-2.32734751e-02 1.32772523e-03 9.99728254e-01 6.74981507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.280714057 meters Centerline goodness : 0.986189 Centerline is valid? [True, True] Translation: X:171.41, Y:138.11, Z:6.75 [[ 9.45272738e-01 -3.25508072e-01 2.24487359e-02 1.71412591e+02] [ 3.25450310e-01 9.45538273e-01 6.28252972e-03 1.38107388e+02] [-2.32711531e-02 1.36724398e-03 9.99728255e-01 6.74901082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.310714057 meters Centerline goodness : 0.988029 Centerline is valid? [True, True] Translation: X:171.45, Y:138.11, Z:6.75 [[ 9.45969062e-01 -3.23479047e-01 2.24463674e-02 1.71450231e+02] [ 3.23420521e-01 9.46234428e-01 6.29072955e-03 1.38110621e+02] [-2.32744449e-02 1.30878032e-03 9.99728257e-01 6.74503998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.340714057 meters Centerline goodness : 0.987073 Centerline is valid? [True, True] Translation: X:171.47, Y:138.12, Z:6.75 [[ 9.44924022e-01 -3.26512139e-01 2.25480707e-02 1.71474764e+02] [ 3.26462845e-01 9.45191387e-01 5.93743924e-03 1.38118896e+02] [-2.32508882e-02 1.75067833e-03 9.99728129e-01 6.74684562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.370714057 meters Centerline goodness : 0.988132 Centerline is valid? [True, True] Translation: X:171.51, Y:138.12, Z:6.74 [[ 9.44544799e-01 -3.27614012e-01 2.24540094e-02 1.71507756e+02] [ 3.27557291e-01 9.44810557e-01 6.26356771e-03 1.38124358e+02] [-2.32668177e-02 1.43875420e-03 9.99728256e-01 6.74416544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.400714057 meters Centerline goodness : 0.989671 Centerline is valid? [True, True] Translation: X:171.54, Y:138.13, Z:6.74 [[ 9.43603272e-01 -3.30316038e-01 2.24539628e-02 1.71543202e+02] [ 3.30260073e-01 9.43869191e-01 6.26372861e-03 1.38133181e+02] [-2.32626137e-02 1.50517260e-03 9.99728256e-01 6.74287936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.430714057 meters Centerline goodness : 0.990489 Centerline is valid? [True, True] Translation: X:171.58, Y:138.14, Z:6.74 [[ 9.43505991e-01 -3.30587992e-01 2.25394149e-02 1.71580969e+02] [ 3.30539120e-01 9.43773421e-01 5.96824251e-03 1.38139563e+02] [-2.32451300e-02 1.81908579e-03 9.99728140e-01 6.73579006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.460714057 meters Centerline goodness : 0.990306 Centerline is valid? [True, True] Translation: X:171.61, Y:138.15, Z:6.74 [[ 9.42684225e-01 -3.32917208e-01 2.26403215e-02 1.71609079e+02] [ 3.32877319e-01 9.42953402e-01 5.61897826e-03 1.38147601e+02] [-2.32194228e-02 2.23952737e-03 9.99727884e-01 6.73562054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.490714057 meters Centerline goodness : 0.990762 Centerline is valid? [True, True] Translation: X:171.64, Y:138.15, Z:6.73 [[ 9.41494769e-01 -3.36269140e-01 2.25978948e-02 1.71643372e+02] [ 3.36226707e-01 9.41763430e-01 5.76570509e-03 1.38154051e+02] [-2.32206996e-02 2.16963459e-03 9.99728009e-01 6.73322899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.520714057 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:171.67, Y:138.16, Z:6.73 [[ 9.39805755e-01 -3.40958269e-01 2.26407091e-02 1.71673401e+02] [ 3.40920704e-01 9.40075269e-01 5.61805480e-03 1.38161868e+02] [-2.31994930e-02 2.43880628e-03 9.99727881e-01 6.73236720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.550714057 meters Centerline goodness : 0.989691 Centerline is valid? [True, True] Translation: X:171.70, Y:138.17, Z:6.73 [[ 9.39873802e-01 -3.40771796e-01 2.26234378e-02 1.71703589e+02] [ 3.40732755e-01 9.40143050e-01 5.67755883e-03 1.38168947e+02] [-2.32040197e-02 2.37235749e-03 9.99727936e-01 6.73299755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.580714057 meters Centerline goodness : 0.990299 Centerline is valid? [True, True] Translation: X:171.73, Y:138.18, Z:6.73 [[ 9.39005229e-01 -3.43157567e-01 2.26288340e-02 1.71733765e+02] [ 3.43119654e-01 9.39274656e-01 5.65896231e-03 1.38177961e+02] [-2.31966060e-02 2.45060249e-03 9.99727919e-01 6.73179455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.610714057 meters Centerline goodness : 0.990525 Centerline is valid? [True, True] Translation: X:171.76, Y:138.19, Z:6.73 [[ 9.38378790e-01 -3.44867295e-01 2.26229219e-02 1.71762038e+02] [ 3.44829386e-01 9.38648198e-01 5.67930996e-03 1.38188197e+02] [-2.31935732e-02 2.47170427e-03 9.99727937e-01 6.72979537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.640714057 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:171.79, Y:138.20, Z:6.73 [[ 9.38502474e-01 -3.44533452e-01 2.25788872e-02 1.71793625e+02] [ 3.44491831e-01 9.38771209e-01 5.83064391e-03 1.38197175e+02] [-2.32052611e-02 2.30616844e-03 9.99728062e-01 6.73041123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.670714057 meters Centerline goodness : 0.989682 Centerline is valid? [True, True] Translation: X:171.82, Y:138.21, Z:6.73 [[ 9.38850756e-01 -3.43582015e-01 2.25977098e-02 1.71824757e+02] [ 3.43541666e-01 9.39119735e-01 5.76595789e-03 1.38205417e+02] [-2.32030347e-02 2.34988096e-03 9.99728012e-01 6.73195227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.700714057 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:171.85, Y:138.22, Z:6.73 [[ 9.37996457e-01 -3.45906516e-01 2.26125742e-02 1.71850030e+02] [ 3.45868056e-01 9.38265756e-01 5.71486610e-03 1.38215956e+02] [-2.31934135e-02 2.46044292e-03 9.99727969e-01 6.73006531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.730714057 meters Centerline goodness : 0.989840 Centerline is valid? [True, True] Translation: X:171.88, Y:138.22, Z:6.73 [[ 9.38383572e-01 -3.44860254e-01 2.25316875e-02 1.71880743e+02] [ 3.44814868e-01 9.38651586e-01 5.99232954e-03 1.38223964e+02] [-2.32159205e-02 2.14615725e-03 9.99728171e-01 6.72778097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.76071405700003 meters Centerline goodness : 0.991117 Centerline is valid? [True, True] Translation: X:171.91, Y:138.23, Z:6.73 [[ 9.37920775e-01 -3.46118634e-01 2.25058156e-02 1.71914119e+02] [ 3.46071507e-01 9.38188436e-01 6.08036785e-03 1.38234883e+02] [-2.32192246e-02 2.08571821e-03 9.99728222e-01 6.72678718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.790714057 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:171.94, Y:138.24, Z:6.73 [[ 9.38214792e-01 -3.45316359e-01 2.25746725e-02 1.71938423e+02] [ 3.45274598e-01 9.38483499e-01 5.84590989e-03 1.38244169e+02] [-2.32046459e-02 2.30974184e-03 9.99728068e-01 6.72848284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.820714057 meters Centerline goodness : 0.989568 Centerline is valid? [True, True] Translation: X:171.97, Y:138.25, Z:6.73 [[ 9.37564506e-01 -3.47083215e-01 2.24953103e-02 1.71966371e+02] [ 3.47035493e-01 9.37832048e-01 6.11689307e-03 1.38254605e+02] [-2.32198939e-02 2.07168929e-03 9.99728235e-01 6.72964029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.850714057 meters Centerline goodness : 0.989747 Centerline is valid? [True, True] Translation: X:172.00, Y:138.26, Z:6.73 [[ 9.38221509e-01 -3.45305133e-01 2.24669692e-02 1.71995060e+02] [ 3.45254600e-01 9.38488493e-01 6.21364773e-03 1.38263032e+02] [-2.32305965e-02 1.92704652e-03 9.99728276e-01 6.72597672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.880714057 meters Centerline goodness : 0.990702 Centerline is valid? [True, True] Translation: X:172.03, Y:138.27, Z:6.72 [[ 9.38461678e-01 -3.44653619e-01 2.24401899e-02 1.72026060e+02] [ 3.44600727e-01 9.38728175e-01 6.30501090e-03 1.38273185e+02] [-2.32382833e-02 1.81589464e-03 9.99728305e-01 6.72422320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.910714057 meters Centerline goodness : 0.990136 Centerline is valid? [True, True] Translation: X:172.06, Y:138.28, Z:6.72 [[ 9.38848169e-01 -3.43598383e-01 2.24558915e-02 1.72056984e+02] [ 3.43546467e-01 9.39114873e-01 6.25140776e-03 1.38283144e+02] [-2.32366353e-02 1.84551946e-03 9.99728290e-01 6.72386980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.940714057 meters Centerline goodness : 0.990046 Centerline is valid? [True, True] Translation: X:172.09, Y:138.29, Z:6.73 [[ 9.39250572e-01 -3.42496698e-01 2.24583070e-02 1.72088292e+02] [ 3.42444664e-01 9.39517256e-01 6.24318532e-03 1.38294206e+02] [-2.32382373e-02 1.82681199e-03 9.99728287e-01 6.72509960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.970714057 meters Centerline goodness : 0.990223 Centerline is valid? [True, True] Translation: X:172.12, Y:138.30, Z:6.72 [[ 9.39309238e-01 -3.42334487e-01 2.24778729e-02 1.72118587e+02] [ 3.42283991e-01 9.39576245e-01 6.17658790e-03 1.38303848e+02] [-2.32341344e-02 1.89208996e-03 9.99728261e-01 6.72115132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.000714057 meters Centerline goodness : 0.989021 Centerline is valid? [True, True] Translation: X:172.15, Y:138.31, Z:6.72 [[ 9.39695487e-01 -3.41273421e-01 2.24687463e-02 1.72147241e+02] [ 3.41221885e-01 9.39962281e-01 6.20766462e-03 1.38312077e+02] [-2.32382849e-02 1.83351352e-03 9.99728273e-01 6.72361516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.030714057 meters Centerline goodness : 0.988885 Centerline is valid? [True, True] Translation: X:172.18, Y:138.32, Z:6.72 [[ 9.40311768e-01 -3.39572905e-01 2.24503960e-02 1.72176641e+02] [ 3.39519403e-01 9.40578153e-01 6.27007943e-03 1.38321435e+02] [-2.32455011e-02 1.72651557e-03 9.99728296e-01 6.72317535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.060714057 meters Centerline goodness : 0.988975 Centerline is valid? [True, True] Translation: X:172.21, Y:138.33, Z:6.73 [[ 9.40939793e-01 -3.37829937e-01 2.24330139e-02 1.72209559e+02] [ 3.37774538e-01 9.41205771e-01 6.32917256e-03 1.38332234e+02] [-2.32522661e-02 1.62193058e-03 9.99728314e-01 6.72505919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.090714057 meters Centerline goodness : 0.988457 Centerline is valid? [True, True] Translation: X:172.24, Y:138.34, Z:6.72 [[ 9.41231360e-01 -3.37014795e-01 2.24622742e-02 1.72240820e+02] [ 3.36961530e-01 9.41497806e-01 6.22962646e-03 1.38341091e+02] [-2.32476582e-02 1.70540250e-03 9.99728282e-01 6.72330983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.120714057 meters Centerline goodness : 0.989448 Centerline is valid? [True, True] Translation: X:172.27, Y:138.35, Z:6.72 [[ 9.41011286e-01 -3.37628544e-01 2.24661266e-02 1.72271971e+02] [ 3.37575763e-01 9.41277833e-01 6.21653739e-03 1.38350612e+02] [-2.32457474e-02 1.73418797e-03 9.99728277e-01 6.72216003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.150714057 meters Centerline goodness : 0.988919 Centerline is valid? [True, True] Translation: X:172.30, Y:138.36, Z:6.72 [[ 9.40888103e-01 -3.37971463e-01 2.24692730e-02 1.72304959e+02] [ 3.37919033e-01 9.41154724e-01 6.20585230e-03 1.38359197e+02] [-2.32444634e-02 1.75378240e-03 9.99728273e-01 6.72136478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.180714057 meters Centerline goodness : 0.989089 Centerline is valid? [True, True] Translation: X:172.34, Y:138.37, Z:6.72 [[ 9.41256866e-01 -3.36941706e-01 2.24899724e-02 1.72338237e+02] [ 3.36890655e-01 9.41523787e-01 6.13554148e-03 1.38366068e+02] [-2.32421638e-02 1.80154100e-03 9.99728241e-01 6.71827630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.210714057 meters Centerline goodness : 0.990114 Centerline is valid? [True, True] Translation: X:172.37, Y:138.38, Z:6.72 [[ 9.39290795e-01 -3.42380070e-01 2.25541491e-02 1.72365063e+02] [ 3.42335766e-01 9.39559050e-01 5.91726963e-03 1.38377783e+02] [-2.32169101e-02 2.16305502e-03 9.99728111e-01 6.71891241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.240714057 meters Centerline goodness : 0.990119 Centerline is valid? [True, True] Translation: X:172.40, Y:138.39, Z:6.72 [[ 9.38535305e-01 -3.44448920e-01 2.25038438e-02 1.72395003e+02] [ 3.44401133e-01 9.38802852e-01 6.08810129e-03 1.38387255e+02] [-2.32237126e-02 2.03645129e-03 9.99728219e-01 6.71834717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.270714057 meters Centerline goodness : 0.989518 Centerline is valid? [True, True] Translation: X:172.43, Y:138.40, Z:6.72 [[ 9.37525305e-01 -3.47189026e-01 2.24962773e-02 1.72427495e+02] [ 3.47141409e-01 9.37792868e-01 6.11378237e-03 1.38395245e+02] [-2.32194865e-02 2.07756371e-03 9.99728233e-01 6.71509445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.300714057 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:172.46, Y:138.41, Z:6.71 [[ 9.36425057e-01 -3.50145806e-01 2.24950552e-02 1.72460414e+02] [ 3.50098935e-01 9.36692749e-01 6.11790355e-03 1.38405002e+02] [-2.32131134e-02 2.14653669e-03 9.99728235e-01 6.71244055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.330714057 meters Centerline goodness : 0.989064 Centerline is valid? [True, True] Translation: X:172.49, Y:138.41, Z:6.71 [[ 9.36205573e-01 -3.50728188e-01 2.25580180e-02 1.72490358e+02] [ 3.50686561e-01 9.36474273e-01 5.90527531e-03 1.38414566e+02] [-2.31961500e-02 2.38224212e-03 9.99728095e-01 6.71107499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.360714057 meters Centerline goodness : 0.988778 Centerline is valid? [True, True] Translation: X:172.52, Y:138.42, Z:6.71 [[ 9.37715993e-01 -3.46670726e-01 2.25416097e-02 1.72520065e+02] [ 3.46626615e-01 9.37984254e-01 5.96061726e-03 1.38423508e+02] [-2.32100465e-02 2.22415574e-03 9.99728136e-01 6.70811840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.390714057 meters Centerline goodness : 0.989301 Centerline is valid? [True, True] Translation: X:172.55, Y:138.43, Z:6.71 [[ 9.38366703e-01 -3.44905191e-01 2.25463790e-02 1.72552672e+02] [ 3.44860962e-01 9.38634956e-01 5.94441792e-03 1.38432982e+02] [-2.32130801e-02 2.19732212e-03 9.99728125e-01 6.70755484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.420714057 meters Centerline goodness : 0.988829 Centerline is valid? [True, True] Translation: X:172.58, Y:138.44, Z:6.71 [[ 9.39401009e-01 -3.42075889e-01 2.25794003e-02 1.72582984e+02] [ 3.42033530e-01 9.39669649e-01 5.83219231e-03 1.38443742e+02] [-2.32122295e-02 2.24414466e-03 9.99728041e-01 6.70897664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.450714057 meters Centerline goodness : 0.989023 Centerline is valid? [True, True] Translation: X:172.61, Y:138.45, Z:6.71 [[ 9.40187192e-01 -3.39909187e-01 2.25785122e-02 1.72614061e+02] [ 3.39866137e-01 9.40455719e-01 5.83519585e-03 1.38454189e+02] [-2.32175276e-02 2.18749531e-03 9.99728044e-01 6.70963297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.480714057 meters Centerline goodness : 0.988542 Centerline is valid? [True, True] Translation: X:172.64, Y:138.46, Z:6.71 [[ 9.40782554e-01 -3.38256213e-01 2.26035668e-02 1.72643459e+02] [ 3.38214714e-01 9.41051401e-01 5.75043933e-03 1.38463361e+02] [-2.32162400e-02 2.23494588e-03 9.99727969e-01 6.70916754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.51071405700003 meters Centerline goodness : 0.989161 Centerline is valid? [True, True] Translation: X:172.67, Y:138.47, Z:6.71 [[ 9.40669581e-01 -3.38570940e-01 2.25933201e-02 1.72669245e+02] [ 3.38528702e-01 9.40938282e-01 5.78514812e-03 1.38474052e+02] [-2.32176028e-02 2.20657447e-03 9.99728000e-01 6.70723439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.540714057 meters Centerline goodness : 0.988281 Centerline is valid? [True, True] Translation: X:172.70, Y:138.48, Z:6.71 [[ 9.40954369e-01 -3.37782172e-01 2.25406313e-02 1.72697860e+02] [ 3.37735460e-01 9.41222183e-01 5.96331826e-03 1.38483493e+02] [-2.32300448e-02 2.00156010e-03 9.99728142e-01 6.70560846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.570714057 meters Centerline goodness : 0.987916 Centerline is valid? [True, True] Translation: X:172.74, Y:138.49, Z:6.70 [[ 9.42591484e-01 -3.33187922e-01 2.25189475e-02 1.72741435e+02] [ 3.33138161e-01 9.42858699e-01 6.03659516e-03 1.38489109e+02] [-2.32435061e-02 1.81187757e-03 9.99728191e-01 6.70332415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.600714057 meters Centerline goodness : 0.988999 Centerline is valid? [True, True] Translation: X:172.76, Y:138.50, Z:6.70 [[ 9.38454673e-01 -3.44660803e-01 2.26220745e-02 1.72763320e+02] [ 3.44622437e-01 9.38724095e-01 5.69638672e-03 1.38503474e+02] [-2.31992076e-02 2.45027369e-03 9.99727859e-01 6.70392396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.630714057 meters Centerline goodness : 0.988426 Centerline is valid? [True, True] Translation: X:172.79, Y:138.51, Z:6.70 [[ 9.38258050e-01 -3.45199798e-01 2.25594939e-02 1.72788700e+02] [ 3.45156662e-01 9.38526527e-01 5.90222437e-03 1.38512836e+02] [-2.32101301e-02 2.24875007e-03 9.99728080e-01 6.70267351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.660714057 meters Centerline goodness : 0.987006 Centerline is valid? [True, True] Translation: X:172.82, Y:138.52, Z:6.70 [[ 9.38651699e-01 -3.44131804e-01 2.25008859e-02 1.72815707e+02] [ 3.44083741e-01 9.38919176e-01 6.09584237e-03 1.38520675e+02] [-2.32242865e-02 2.02031621e-03 9.99728238e-01 6.70394956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.690714057 meters Centerline goodness : 0.987923 Centerline is valid? [True, True] Translation: X:172.85, Y:138.53, Z:6.70 [[ 9.37699334e-01 -3.46722504e-01 2.24380285e-02 1.72847859e+02] [ 3.46670260e-01 9.37965891e-01 6.30226636e-03 1.38532831e+02] [-2.32312430e-02 1.86896622e-03 9.99728371e-01 6.70276470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.720714057 meters Centerline goodness : 0.987688 Centerline is valid? [True, True] Translation: X:172.88, Y:138.54, Z:6.70 [[ 9.38046344e-01 -3.45778405e-01 2.25022480e-02 1.72878648e+02] [ 3.45730924e-01 9.38313928e-01 6.09113204e-03 1.38542984e+02] [-2.32203546e-02 2.06595884e-03 9.99728237e-01 6.70107388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.750714057 meters Centerline goodness : 0.988342 Centerline is valid? [True, True] Translation: X:172.91, Y:138.55, Z:6.70 [[ 9.37978516e-01 -3.45962591e-01 2.24986410e-02 1.72910697e+02] [ 3.45914881e-01 9.38246050e-01 6.10294993e-03 1.38553688e+02] [-2.32206534e-02 2.05817878e-03 9.99728246e-01 6.69910671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.780714057 meters Centerline goodness : 0.986910 Centerline is valid? [True, True] Translation: X:172.94, Y:138.56, Z:6.70 [[ 9.38245761e-01 -3.45234300e-01 2.25426420e-02 1.72938934e+02] [ 3.45189824e-01 9.38513974e-01 5.95876779e-03 1.38561766e+02] [-2.32137555e-02 2.19070199e-03 9.99728124e-01 6.69733121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.810714057 meters Centerline goodness : 0.986625 Centerline is valid? [True, True] Translation: X:172.97, Y:138.57, Z:6.70 [[ 9.37951553e-01 -3.46035104e-01 2.25075597e-02 1.72969725e+02] [ 3.45988119e-01 9.38219236e-01 6.07340905e-03 1.38572373e+02] [-2.32186382e-02 2.09078479e-03 9.99728225e-01 6.69905601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.840714057 meters Centerline goodness : 0.986583 Centerline is valid? [True, True] Translation: X:173.00, Y:138.58, Z:6.70 [[ 9.38382757e-01 -3.44862678e-01 2.25285354e-02 1.72998011e+02] [ 3.44816994e-01 9.38650724e-01 6.00488201e-03 1.38582869e+02] [-2.32172858e-02 2.13334411e-03 9.99728166e-01 6.69861305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.870714057 meters Centerline goodness : 0.985069 Centerline is valid? [True, True] Translation: X:173.03, Y:138.59, Z:6.70 [[ 9.38733130e-01 -3.43908489e-01 2.25180384e-02 1.73025681e+02] [ 3.43861711e-01 9.39000879e-01 6.03930678e-03 1.38592261e+02] [-2.32214267e-02 2.07379385e-03 9.99728195e-01 6.69809931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.900714057 meters Centerline goodness : 0.984625 Centerline is valid? [True, True] Translation: X:173.05, Y:138.60, Z:6.70 [[ 9.39242274e-01 -3.42517406e-01 2.24894799e-02 1.73053897e+02] [ 3.42467996e-01 9.39509477e-01 6.13303769e-03 1.38600137e+02] [-2.32297517e-02 1.94151885e-03 9.99728268e-01 6.69656781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.930714057 meters Centerline goodness : 0.986003 Centerline is valid? [True, True] Translation: X:173.09, Y:138.61, Z:6.70 [[ 9.37704742e-01 -3.46707585e-01 2.24425161e-02 1.73088581e+02] [ 3.46655722e-01 9.37971373e-01 6.28606369e-03 1.38611320e+02] [-2.32298636e-02 1.88535488e-03 9.99728373e-01 6.69516328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.960714057 meters Centerline goodness : 0.985503 Centerline is valid? [True, True] Translation: X:173.12, Y:138.62, Z:6.69 [[ 9.37042610e-01 -3.48486484e-01 2.25459093e-02 1.73115527e+02] [ 3.48443176e-01 9.37311029e-01 5.94882851e-03 1.38621997e+02] [-2.32056157e-02 2.28166244e-03 9.99728110e-01 6.69371304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.990714057 meters Centerline goodness : 0.985484 Centerline is valid? [True, True] Translation: X:173.15, Y:138.63, Z:6.69 [[ 9.36554294e-01 -3.49800240e-01 2.24910293e-02 1.73146088e+02] [ 3.49753054e-01 9.36821895e-01 6.12682832e-03 1.38632951e+02] [-2.32132547e-02 2.12819883e-03 9.99728271e-01 6.69213753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.020714057 meters Centerline goodness : 0.985282 Centerline is valid? [True, True] Translation: X:173.17, Y:138.64, Z:6.69 [[ 9.36831477e-01 -3.49055757e-01 2.25135827e-02 1.73173458e+02] [ 3.49010106e-01 9.37099407e-01 6.05366250e-03 1.38643008e+02] [-2.32105307e-02 2.18620629e-03 9.99728209e-01 6.69154716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.050714057 meters Centerline goodness : 0.985187 Centerline is valid? [True, True] Translation: X:173.20, Y:138.65, Z:6.69 [[ 9.37144369e-01 -3.48217265e-01 2.24759551e-02 1.73203670e+02] [ 3.48168464e-01 9.37411640e-01 6.17557179e-03 1.38654945e+02] [-2.32196627e-02 2.03801646e-03 9.99728310e-01 6.69020015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.080714057 meters Centerline goodness : 0.985257 Centerline is valid? [True, True] Translation: X:173.23, Y:138.67, Z:6.69 [[ 9.37303833e-01 -3.47786535e-01 2.24955920e-02 1.73234027e+02] [ 3.47739126e-01 9.37571407e-01 6.11206900e-03 1.38666240e+02] [-2.32169192e-02 2.09373182e-03 9.99728259e-01 6.69033399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.110714057 meters Centerline goodness : 0.984159 Centerline is valid? [True, True] Translation: X:173.26, Y:138.68, Z:6.69 [[ 9.38527592e-01 -3.44470625e-01 2.24932880e-02 1.73264729e+02] [ 3.44422094e-01 9.38794958e-01 6.11951583e-03 1.38679128e+02] [-2.32245788e-02 2.00385091e-03 9.99728265e-01 6.68948040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.140714057 meters Centerline goodness : 0.983841 Centerline is valid? [True, True] Translation: X:173.29, Y:138.69, Z:6.69 [[ 9.39101899e-01 -3.42900503e-01 2.25137576e-02 1.73290857e+02] [ 3.42853101e-01 9.39369527e-01 6.05340872e-03 1.38690392e+02] [-2.32244547e-02 2.03414398e-03 9.99728207e-01 6.68911194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.170714057 meters Centerline goodness : 0.983841 Centerline is valid? [True, True] Translation: X:173.32, Y:138.70, Z:6.69 [[ 9.38962897e-01 -3.43283638e-01 2.24726918e-02 1.73320876e+02] [ 3.43233177e-01 9.39229853e-01 6.18628583e-03 1.38699956e+02] [-2.32306737e-02 1.90468051e-03 9.99728317e-01 6.68832188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.200714057 meters Centerline goodness : 0.984439 Centerline is valid? [True, True] Translation: X:173.35, Y:138.71, Z:6.69 [[ 9.39402620e-01 -3.42079426e-01 2.24584885e-02 1.73351664e+02] [ 3.42027533e-01 9.39669266e-01 6.23202785e-03 1.38712795e+02] [-2.32353999e-02 1.82703814e-03 9.99728352e-01 6.68823994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.230714057 meters Centerline goodness : 0.984694 Centerline is valid? [True, True] Translation: X:173.38, Y:138.72, Z:6.69 [[ 9.39406663e-01 -3.42066088e-01 2.24924971e-02 1.73381349e+02] [ 3.42016800e-01 9.39673892e-01 6.12256522e-03 1.38724213e+02] [-2.32299342e-02 1.94123333e-03 9.99728264e-01 6.68756980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.26071405700003 meters Centerline goodness : 0.984253 Centerline is valid? [True, True] Translation: X:173.41, Y:138.74, Z:6.69 [[ 9.39244176e-01 -3.42512667e-01 2.24822251e-02 1.73409461e+02] [ 3.42462720e-01 9.39511253e-01 6.15551795e-03 1.38736057e+02] [-2.32306464e-02 1.91778958e-03 9.99728293e-01 6.68787278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.290714057 meters Centerline goodness : 0.983904 Centerline is valid? [True, True] Translation: X:173.44, Y:138.75, Z:6.69 [[ 9.39101138e-01 -3.42905684e-01 2.24665372e-02 1.73437579e+02] [ 3.42854650e-01 9.39367967e-01 6.20579112e-03 1.38746895e+02] [-2.32323464e-02 1.87489127e-03 9.99728335e-01 6.68829223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.320714057 meters Centerline goodness : 0.984017 Centerline is valid? [True, True] Translation: X:173.47, Y:138.76, Z:6.69 [[ 9.38300726e-01 -3.45091305e-01 2.24441268e-02 1.73465097e+02] [ 3.45039182e-01 9.38567288e-01 6.27760372e-03 1.38759694e+02] [-2.32316697e-02 1.85382303e-03 9.99728390e-01 6.68954253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.350714057 meters Centerline goodness : 0.983553 Centerline is valid? [True, True] Translation: X:173.49, Y:138.77, Z:6.69 [[ 9.38155213e-01 -3.45487530e-01 2.24312985e-02 1.73493188e+02] [ 3.45434541e-01 9.38421575e-01 6.31867943e-03 1.38769742e+02] [-2.32330394e-02 1.82064326e-03 9.99728419e-01 6.68850381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.380714057 meters Centerline goodness : 0.983479 Centerline is valid? [True, True] Translation: X:173.52, Y:138.78, Z:6.69 [[ 9.37788773e-01 -3.46482687e-01 2.24045708e-02 1.73521736e+02] [ 3.46427948e-01 9.38054724e-01 6.40412429e-03 1.38780725e+02] [-2.32356316e-02 1.75585361e-03 9.99728474e-01 6.68824162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.410714057 meters Centerline goodness : 0.983793 Centerline is valid? [True, True] Translation: X:173.55, Y:138.79, Z:6.68 [[ 9.37215185e-01 -3.48033237e-01 2.23732577e-02 1.73550768e+02] [ 3.47976557e-01 9.37480673e-01 6.50419468e-03 1.38792697e+02] [-2.32381726e-02 1.68953915e-03 9.99728530e-01 6.68178963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.440714057 meters Centerline goodness : 0.984261 Centerline is valid? [True, True] Translation: X:173.58, Y:138.80, Z:6.68 [[ 9.37278278e-01 -3.47863974e-01 2.23625997e-02 1.73580947e+02] [ 3.47806437e-01 9.37543564e-01 6.53824341e-03 1.38802703e+02] [-2.32403308e-02 1.64970260e-03 9.99728546e-01 6.67898916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.470714057 meters Centerline goodness : 0.984043 Centerline is valid? [True, True] Translation: X:173.61, Y:138.81, Z:6.68 [[ 9.37058742e-01 -3.48454849e-01 2.23636321e-02 1.73610697e+02] [ 3.48397557e-01 9.37324083e-01 6.53494428e-03 1.38813144e+02] [-2.32391039e-02 1.66780811e-03 9.99728544e-01 6.67676246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.500714057 meters Centerline goodness : 0.984378 Centerline is valid? [True, True] Translation: X:173.64, Y:138.83, Z:6.68 [[ 9.35948538e-01 -3.51426825e-01 2.23499524e-02 1.73641741e+02] [ 3.51369340e-01 9.36213817e-01 6.57848595e-03 1.38825354e+02] [-2.32361907e-02 1.69596374e-03 9.99728565e-01 6.67650661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.530714057 meters Centerline goodness : 0.984484 Centerline is valid? [True, True] Translation: X:173.67, Y:138.84, Z:6.68 [[ 9.34999191e-01 -3.53943180e-01 2.23771894e-02 1.73673064e+02] [ 3.53888471e-01 9.35265099e-01 6.49184371e-03 1.38836110e+02] [-2.32263480e-02 1.84916071e-03 9.99728522e-01 6.67586792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.560714057 meters Centerline goodness : 0.984568 Centerline is valid? [True, True] Translation: X:173.70, Y:138.85, Z:6.68 [[ 9.34738355e-01 -3.54630641e-01 2.23901092e-02 1.73703863e+02] [ 3.54577107e-01 9.35004526e-01 6.45074307e-03 1.38845911e+02] [-2.32224846e-02 1.90926317e-03 9.99728499e-01 6.67568776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.590714057 meters Centerline goodness : 0.984568 Centerline is valid? [True, True] Translation: X:173.73, Y:138.86, Z:6.68 [[ 9.33871684e-01 -3.56907072e-01 2.23834639e-02 1.73732800e+02] [ 3.56853683e-01 9.34137872e-01 6.47187589e-03 1.38856565e+02] [-2.32190997e-02 1.94371992e-03 9.99728511e-01 6.67665706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.620714057 meters Centerline goodness : 0.984029 Centerline is valid? [True, True] Translation: X:173.76, Y:138.87, Z:6.68 [[ 9.33625152e-01 -3.57551944e-01 2.23759525e-02 1.73763520e+02] [ 3.57498170e-01 9.33891248e-01 6.49575753e-03 1.38866663e+02] [-2.32192770e-02 1.93475946e-03 9.99728524e-01 6.67715769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.650714057 meters Centerline goodness : 0.984733 Centerline is valid? [True, True] Translation: X:173.80, Y:138.88, Z:6.68 [[ 9.32720092e-01 -3.59907018e-01 2.23644529e-02 1.73795263e+02] [ 3.59853044e-01 9.32986128e-01 6.53232090e-03 1.38877295e+02] [-2.32167525e-02 1.95508950e-03 9.99728543e-01 6.67724247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.680714057 meters Centerline goodness : 0.984869 Centerline is valid? [True, True] Translation: X:173.83, Y:138.89, Z:6.68 [[ 9.32209753e-01 -3.61226270e-01 2.23731571e-02 1.73826002e+02] [ 3.61173331e-01 9.32476013e-01 6.50464817e-03 1.38886996e+02] [-2.32120821e-02 2.01689121e-03 9.99728529e-01 6.67740745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.710714057 meters Centerline goodness : 0.984925 Centerline is valid? [True, True] Translation: X:173.86, Y:138.90, Z:6.68 [[ 9.31700239e-01 -3.62539183e-01 2.23607919e-02 1.73856582e+02] [ 3.62485683e-01 9.31966366e-01 6.54393257e-03 1.38896161e+02] [-2.32119379e-02 2.00848336e-03 9.99728549e-01 6.67796863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.740714057 meters Centerline goodness : 0.985079 Centerline is valid? [True, True] Translation: X:173.89, Y:138.91, Z:6.68 [[ 9.30195656e-01 -3.66382842e-01 2.23529350e-02 1.73889252e+02] [ 3.66329847e-01 9.30461871e-01 6.56884103e-03 1.38905153e+02] [-2.32052644e-02 2.07823987e-03 9.99728561e-01 6.67586222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.770714057 meters Centerline goodness : 0.985029 Centerline is valid? [True, True] Translation: X:173.92, Y:138.91, Z:6.68 [[ 9.29696686e-01 -3.67645638e-01 2.23775985e-02 1.73919442e+02] [ 3.67594873e-01 9.29963377e-01 6.49059778e-03 1.38914128e+02] [-2.31965870e-02 2.19160322e-03 9.99728521e-01 6.67504588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.800714057 meters Centerline goodness : 0.985473 Centerline is valid? [True, True] Translation: X:173.95, Y:138.92, Z:6.67 [[ 9.28511187e-01 -3.70630122e-01 2.23671283e-02 1.73948512e+02] [ 3.70579419e-01 9.28777871e-01 6.52382938e-03 1.38923065e+02] [-2.31920215e-02 2.23134884e-03 9.99728539e-01 6.67149637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.830714057 meters Centerline goodness : 0.985263 Centerline is valid? [True, True] Translation: X:173.98, Y:138.93, Z:6.67 [[ 9.28446534e-01 -3.70793670e-01 2.23402772e-02 1.73978027e+02] [ 3.70740977e-01 9.28712791e-01 6.60907378e-03 1.38931217e+02] [-2.31983039e-02 2.14628454e-03 9.99728579e-01 6.67041900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.860714057 meters Centerline goodness : 0.984889 Centerline is valid? [True, True] Translation: X:174.01, Y:138.94, Z:6.66 [[ 9.27834992e-01 -3.72321354e-01 2.23391431e-02 1.74007751e+02] [ 3.72269014e-01 9.28101317e-01 6.61267167e-03 1.38941281e+02] [-2.31950270e-02 2.18070260e-03 9.99728581e-01 6.66493362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.890714057 meters Centerline goodness : 0.985310 Centerline is valid? [True, True] Translation: X:174.04, Y:138.95, Z:6.66 [[ 9.27703618e-01 -3.72649830e-01 2.23182027e-02 1.74037112e+02] [ 3.72595997e-01 9.27969618e-01 6.67911006e-03 1.38951421e+02] [-2.31995833e-02 2.11943843e-03 9.99728607e-01 6.66492640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.920714057 meters Centerline goodness : 0.985271 Centerline is valid? [True, True] Translation: X:174.07, Y:138.96, Z:6.66 [[ 9.27833859e-01 -3.72326529e-01 2.22999078e-02 1.74067763e+02] [ 3.72271219e-01 9.28099537e-01 6.73712807e-03 1.38962059e+02] [-2.32049457e-02 2.05067834e-03 9.99728626e-01 6.66319311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.950714057 meters Centerline goodness : 0.985725 Centerline is valid? [True, True] Translation: X:174.10, Y:138.97, Z:6.66 [[ 9.27984920e-01 -3.71950603e-01 2.22876131e-02 1.74099761e+02] [ 3.71894258e-01 9.28250369e-01 6.77600560e-03 1.38974336e+02] [-2.32088245e-02 2.00060433e-03 9.99728637e-01 6.66230537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.980714057 meters Centerline goodness : 0.984610 Centerline is valid? [True, True] Translation: X:174.12, Y:138.98, Z:6.66 [[ 9.27944957e-01 -3.72048456e-01 2.23182410e-02 1.74122819e+02] [ 3.71994451e-01 9.28210923e-01 6.67910768e-03 1.38984051e+02] [-2.32009868e-02 2.10441754e-03 9.99728606e-01 6.66415800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.01071405700003 meters Centerline goodness : 0.986065 Centerline is valid? [True, True] Translation: X:174.16, Y:139.00, Z:6.66 [[ 9.28605038e-01 -3.70404552e-01 2.22070073e-02 1.74156625e+02] [ 3.70341707e-01 9.28868986e-01 7.03046506e-03 1.38997189e+02] [-2.32315166e-02 1.69565572e-03 9.99728674e-01 6.66440482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.040714057 meters Centerline goodness : 0.985793 Centerline is valid? [True, True] Translation: X:174.18, Y:139.01, Z:6.67 [[ 9.28196359e-01 -3.71423544e-01 2.22726176e-02 1.74180259e+02] [ 3.71365948e-01 9.28461518e-01 6.82215170e-03 1.39010519e+02] [-2.32131761e-02 1.93899537e-03 9.99728658e-01 6.66550176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.070714057 meters Centerline goodness : 0.985668 Centerline is valid? [True, True] Translation: X:174.21, Y:139.02, Z:6.67 [[ 9.29174458e-01 -3.68976243e-01 2.21666283e-02 1.74208104e+02] [ 3.68909957e-01 9.29437573e-01 7.15827003e-03 1.39018969e+02] [-2.32437288e-02 1.52620822e-03 9.99728663e-01 6.66526915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.100714057 meters Centerline goodness : 0.985797 Centerline is valid? [True, True] Translation: X:174.24, Y:139.03, Z:6.66 [[ 9.28174749e-01 -3.71487513e-01 2.21057475e-02 1.74239428e+02] [ 3.71417357e-01 9.28436914e-01 7.35139105e-03 1.39031085e+02] [-2.32547419e-02 1.38708276e-03 9.99728610e-01 6.66471419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.130714057 meters Centerline goodness : 0.985268 Centerline is valid? [True, True] Translation: X:174.27, Y:139.04, Z:6.66 [[ 9.28193187e-01 -3.71438717e-01 2.21514876e-02 1.74270729e+02] [ 3.71371999e-01 9.28456199e-01 7.20583379e-03 1.39041343e+02] [-2.32432116e-02 1.53803639e-03 9.99728657e-01 6.66284779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.160714057 meters Centerline goodness : 0.985295 Centerline is valid? [True, True] Translation: X:174.30, Y:139.05, Z:6.66 [[ 9.28145930e-01 -3.71556958e-01 2.21485904e-02 1.74300703e+02] [ 3.71490055e-01 9.28408898e-01 7.21506133e-03 1.39051294e+02] [-2.32437547e-02 1.53135127e-03 9.99728655e-01 6.65922787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.190714057 meters Centerline goodness : 0.985071 Centerline is valid? [True, True] Translation: X:174.33, Y:139.06, Z:6.66 [[ 9.28121995e-01 -3.71616849e-01 2.21467926e-02 1.74333086e+02] [ 3.71549827e-01 9.28384934e-01 7.22079356e-03 1.39060373e+02] [-2.32441172e-02 1.52685965e-03 9.99728653e-01 6.65794434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.220714057 meters Centerline goodness : 0.985685 Centerline is valid? [True, True] Translation: X:174.36, Y:139.07, Z:6.66 [[ 9.28151520e-01 -3.71542047e-01 2.21644566e-02 1.74363492e+02] [ 3.71476343e-01 9.28414777e-01 7.16437879e-03 1.39069711e+02] [-2.32396770e-02 1.58394221e-03 9.99728667e-01 6.65631027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.250714057 meters Centerline goodness : 0.986378 Centerline is valid? [True, True] Translation: X:174.39, Y:139.08, Z:6.65 [[ 9.28369545e-01 -3.70996269e-01 2.21755928e-02 1.74394453e+02] [ 3.70931257e-01 9.28632965e-01 7.12873822e-03 1.39079685e+02] [-2.32377217e-02 1.60751703e-03 9.99728675e-01 6.65498479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.280714057 meters Centerline goodness : 0.976259 Centerline is valid? [True, True] Translation: X:174.42, Y:139.09, Z:6.65 [[ 9.28338326e-01 -3.71075420e-01 2.21581949e-02 1.74418131e+02] [ 3.71009115e-01 9.28601435e-01 7.18413258e-03 1.39091561e+02] [-2.32419866e-02 1.55158665e-03 9.99728665e-01 6.65304376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.310714057 meters Centerline goodness : 0.981414 Centerline is valid? [True, True] Translation: X:174.45, Y:139.10, Z:6.65 [[ 9.28947352e-01 -3.69555247e-01 2.20394181e-02 1.74451423e+02] [ 3.69479574e-01 9.29208086e-01 7.56154780e-03 1.39101186e+02] [-2.32736152e-02 1.11883500e-03 9.99728507e-01 6.65033124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.340714057 meters Centerline goodness : 0.980723 Centerline is valid? [True, True] Translation: X:174.48, Y:139.11, Z:6.65 [[ 9.30773611e-01 -3.64928835e-01 2.20778038e-02 1.74482345e+02] [ 3.64854787e-01 9.31034727e-01 7.43785084e-03 1.39110603e+02] [-2.32694883e-02 1.13223711e-03 9.99728588e-01 6.64858924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.370714057 meters Centerline goodness : 0.981537 Centerline is valid? [True, True] Translation: X:174.51, Y:139.12, Z:6.65 [[ 9.32087118e-01 -3.61561423e-01 2.20667420e-02 1.74514434e+02] [ 3.61485588e-01 9.32347744e-01 7.47357245e-03 1.39120122e+02] [-2.32760326e-02 1.01078860e-03 9.99728565e-01 6.64806600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.400714057 meters Centerline goodness : 0.980103 Centerline is valid? [True, True] Translation: X:174.54, Y:139.13, Z:6.65 [[ 9.34615189e-01 -3.54975202e-01 2.20693323e-02 1.74544831e+02] [ 3.54897726e-01 9.34875326e-01 7.46520226e-03 1.39130582e+02] [-2.32820359e-02 8.55264445e-04 9.99728571e-01 6.64998393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.430714057 meters Centerline goodness : 0.980412 Centerline is valid? [True, True] Translation: X:174.58, Y:139.14, Z:6.65 [[ 9.37077322e-01 -3.48423169e-01 2.20768684e-02 1.74575662e+02] [ 3.48344447e-01 9.37337069e-01 7.44081143e-03 1.39141532e+02] [-2.32860182e-02 7.17738892e-04 9.99728586e-01 6.65006455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.460714057 meters Centerline goodness : 0.979185 Centerline is valid? [True, True] Translation: X:174.60, Y:139.15, Z:6.65 [[ 9.38725596e-01 -3.43957917e-01 2.20727519e-02 1.74604233e+02] [ 3.43877646e-01 9.38984877e-01 7.45415291e-03 1.39149679e+02] [-2.32898951e-02 5.92921821e-04 9.99728578e-01 6.64945476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.490714057 meters Centerline goodness : 0.986528 Centerline is valid? [True, True] Translation: X:174.65, Y:139.16, Z:6.65 [[ 9.41942544e-01 -3.35048908e-01 2.20561174e-02 1.74645157e+02] [ 3.34964919e-01 9.42200684e-01 7.50825974e-03 1.39157643e+02] [-2.32969231e-02 3.15676280e-04 9.99728540e-01 6.64888129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.520714057 meters Centerline goodness : 0.985968 Centerline is valid? [True, True] Translation: X:174.67, Y:139.17, Z:6.65 [[ 9.42628538e-01 -3.33097267e-01 2.23080760e-02 1.74673449e+02] [ 3.33032021e-01 9.42891799e-01 6.68792276e-03 1.39166756e+02] [-2.32618307e-02 1.12507678e-03 9.99728774e-01 6.65208967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.550714057 meters Centerline goodness : 0.979369 Centerline is valid? [True, True] Translation: X:174.69, Y:139.18, Z:6.65 [[ 9.42157249e-01 -3.34431056e-01 2.22617813e-02 1.74694774e+02] [ 3.34362626e-01 9.42419688e-01 6.83862706e-03 1.39180114e+02] [-2.32669902e-02 1.00044558e-03 9.99728786e-01 6.65302245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.580714057 meters Centerline goodness : 0.979183 Centerline is valid? [True, True] Translation: X:174.73, Y:139.19, Z:6.65 [[ 9.42989888e-01 -3.32085926e-01 2.21135483e-02 1.74726378e+02] [ 3.32005457e-01 9.43249038e-01 7.32320971e-03 1.39187139e+02] [-2.32905181e-02 4.36106010e-04 9.99728644e-01 6.64973841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.610714057 meters Centerline goodness : 0.979995 Centerline is valid? [True, True] Translation: X:174.76, Y:139.19, Z:6.65 [[ 9.43280872e-01 -3.31260412e-01 2.20847643e-02 1.74758403e+02] [ 3.31177506e-01 9.43539315e-01 7.41756593e-03 1.39194611e+02] [-2.32949893e-02 3.17129095e-04 9.99728585e-01 6.64693715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.640714057 meters Centerline goodness : 0.985602 Centerline is valid? [True, True] Translation: X:174.80, Y:139.20, Z:6.65 [[ 9.45780005e-01 -3.24055842e-01 2.20905727e-02 1.74797882e+02] [ 3.23971412e-01 9.46037941e-01 7.39850042e-03 1.39195502e+02] [-2.32960472e-02 1.59360279e-04 9.99728598e-01 6.64574536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.670714057 meters Centerline goodness : 0.985327 Centerline is valid? [True, True] Translation: X:174.83, Y:139.20, Z:6.65 [[ 9.45421587e-01 -3.25086802e-01 2.22843991e-02 1.74829823e+02] [ 3.25017637e-01 9.45683797e-01 6.75952285e-03 1.39203312e+02] [-2.32714268e-02 8.52223910e-04 9.99728820e-01 6.64653133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.700714057 meters Centerline goodness : 0.978947 Centerline is valid? [True, True] Translation: X:174.85, Y:139.22, Z:6.65 [[ 9.42428273e-01 -3.33664882e-01 2.22866811e-02 1.74850632e+02] [ 3.33598280e-01 9.42691147e-01 6.75199055e-03 1.39219349e+02] [-2.32623591e-02 1.07153167e-03 9.99728820e-01 6.64771940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.730714057 meters Centerline goodness : 0.985054 Centerline is valid? [True, True] Translation: X:174.89, Y:139.22, Z:6.65 [[ 9.44353160e-01 -3.28187843e-01 2.21325381e-02 1.74890803e+02] [ 3.28107700e-01 9.44612396e-01 7.26355775e-03 1.39221441e+02] [-2.32904812e-02 4.02492443e-04 9.99728659e-01 6.64516497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.76071405700003 meters Centerline goodness : 0.979353 Centerline is valid? [True, True] Translation: X:174.91, Y:139.24, Z:6.65 [[ 9.40848979e-01 -3.38091360e-01 2.23031676e-02 1.74912530e+02] [ 3.38027336e-01 9.41112477e-01 6.69516506e-03 1.39235222e+02] [-2.32533667e-02 1.23994110e-03 9.99728835e-01 6.64544523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.790714057 meters Centerline goodness : 0.980259 Centerline is valid? [True, True] Translation: X:174.94, Y:139.24, Z:6.64 [[ 9.39684180e-01 -3.41327350e-01 2.21197417e-02 1.74943233e+02] [ 3.41249943e-01 9.39944236e-01 7.30126517e-03 1.39241057e+02] [-2.32834452e-02 6.87477239e-04 9.99728667e-01 6.64102362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.820714057 meters Centerline goodness : 0.985724 Centerline is valid? [True, True] Translation: X:174.98, Y:139.25, Z:6.64 [[ 9.40621455e-01 -3.38736872e-01 2.21045453e-02 1.74983388e+02] [ 3.38657566e-01 9.40880973e-01 7.35169804e-03 1.39245132e+02] [-2.32880373e-02 5.70706601e-04 9.99728634e-01 6.64280372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.850714057 meters Centerline goodness : 0.986457 Centerline is valid? [True, True] Translation: X:175.01, Y:139.25, Z:6.64 [[ 9.40017654e-01 -3.40395916e-01 2.23031664e-02 1.75014499e+02] [ 3.40332669e-01 9.40281301e-01 6.68950399e-03 1.39254011e+02] [-2.32483302e-02 1.30224432e-03 9.99728873e-01 6.64212069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.880714057 meters Centerline goodness : 0.987929 Centerline is valid? [True, True] Translation: X:175.05, Y:139.26, Z:6.64 [[ 9.40344049e-01 -3.39493067e-01 2.23053020e-02 1.75053915e+02] [ 3.39429736e-01 9.40607676e-01 6.68237547e-03 1.39258077e+02] [-2.32491585e-02 1.28735076e-03 9.99728873e-01 6.64105906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.910714057 meters Centerline goodness : 0.987783 Centerline is valid? [True, True] Translation: X:175.08, Y:139.27, Z:6.64 [[ 9.39598982e-01 -3.41536787e-01 2.25028121e-02 1.75084401e+02] [ 3.41489429e-01 9.39866247e-01 6.03386824e-03 1.39268798e+02] [-2.32104215e-02 2.01505599e-03 9.99728571e-01 6.64044791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.940714057 meters Centerline goodness : 0.987599 Centerline is valid? [True, True] Translation: X:175.11, Y:139.28, Z:6.64 [[ 9.39076016e-01 -3.42973092e-01 2.24876484e-02 1.75112396e+02] [ 3.42924956e-01 9.39343102e-01 6.08362353e-03 1.39279948e+02] [-2.32101366e-02 1.99859088e-03 9.99728611e-01 6.63956065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.970714057 meters Centerline goodness : 0.987964 Centerline is valid? [True, True] Translation: X:175.14, Y:139.29, Z:6.64 [[ 9.39385651e-01 -3.42126412e-01 2.24525634e-02 1.75141849e+02] [ 3.42075300e-01 9.39652099e-01 6.19856118e-03 1.39290679e+02] [-2.32182898e-02 1.85762791e-03 9.99728693e-01 6.63907090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.000714057 meters Centerline goodness : 0.987835 Centerline is valid? [True, True] Translation: X:175.17, Y:139.30, Z:6.64 [[ 9.40048461e-01 -3.40302429e-01 2.24309423e-02 1.75174460e+02] [ 3.40249118e-01 9.40314433e-01 6.26930466e-03 1.39299983e+02] [-2.32255984e-02 1.73865813e-03 9.99728738e-01 6.63944622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.030714057 meters Centerline goodness : 0.988596 Centerline is valid? [True, True] Translation: X:175.20, Y:139.31, Z:6.64 [[ 9.40260041e-01 -3.39715483e-01 2.24598600e-02 1.75203669e+02] [ 3.39664255e-01 9.40526484e-01 6.17466320e-03 1.39310566e+02] [-2.32217218e-02 1.82302253e-03 9.99728677e-01 6.63869187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.060714057 meters Centerline goodness : 0.988596 Centerline is valid? [True, True] Translation: X:175.24, Y:139.32, Z:6.64 [[ 9.40178541e-01 -3.39941340e-01 2.24543199e-02 1.75235544e+02] [ 3.39889745e-01 9.40444900e-01 6.19277935e-03 1.39320576e+02] [-2.32222323e-02 1.80967481e-03 9.99728690e-01 6.63790584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.090714057 meters Centerline goodness : 0.987624 Centerline is valid? [True, True] Translation: X:175.27, Y:139.33, Z:6.64 [[ 9.40304526e-01 -3.39593847e-01 2.24369618e-02 1.75265755e+02] [ 3.39540812e-01 9.40570563e-01 6.24925423e-03 1.39330610e+02] [-2.32257540e-02 1.74206217e-03 9.99728728e-01 6.63582440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.120714057 meters Centerline goodness : 0.988104 Centerline is valid? [True, True] Translation: X:175.30, Y:139.34, Z:6.63 [[ 9.40414035e-01 -3.39290594e-01 2.24351467e-02 1.75297620e+02] [ 3.39237333e-01 9.40680023e-01 6.25515249e-03 1.39340603e+02] [-2.32266087e-02 1.72840612e-03 9.99728732e-01 6.63416086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.150714057 meters Centerline goodness : 0.988221 Centerline is valid? [True, True] Translation: X:175.33, Y:139.35, Z:6.63 [[ 9.40153567e-01 -3.40010549e-01 2.24520812e-02 1.75326092e+02] [ 3.39958800e-01 9.40419892e-01 6.20011899e-03 1.39349791e+02] [-2.32224897e-02 1.80371861e-03 9.99728694e-01 6.63457415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.180714057 meters Centerline goodness : 0.988626 Centerline is valid? [True, True] Translation: X:175.36, Y:139.36, Z:6.63 [[ 9.39728570e-01 -3.41185272e-01 2.24237479e-02 1.75356572e+02] [ 3.41131664e-01 9.39994465e-01 6.29227559e-03 1.39360267e+02] [-2.32250307e-02 1.73641930e-03 9.99728755e-01 6.63413073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.210714057 meters Centerline goodness : 0.989121 Centerline is valid? [True, True] Translation: X:175.39, Y:139.37, Z:6.63 [[ 9.39058585e-01 -3.43026421e-01 2.24019780e-02 1.75387972e+02] [ 3.42971661e-01 9.39324202e-01 6.36266443e-03 1.39370405e+02] [-2.32252821e-02 1.70832895e-03 9.99728797e-01 6.63213847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.240714057 meters Centerline goodness : 0.988628 Centerline is valid? [True, True] Translation: X:175.42, Y:139.38, Z:6.63 [[ 9.39378174e-01 -3.42147442e-01 2.24448963e-02 1.75417240e+02] [ 3.42095734e-01 9.39644493e-01 6.22384837e-03 1.39379596e+02] [-2.32196970e-02 1.83175595e-03 9.99728708e-01 6.62992227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.270714057 meters Centerline goodness : 0.989605 Centerline is valid? [True, True] Translation: X:175.45, Y:139.39, Z:6.63 [[ 9.39014331e-01 -3.43145649e-01 2.24310056e-02 1.75448445e+02] [ 3.43093152e-01 9.39280464e-01 6.26888506e-03 1.39390945e+02] [-2.32201459e-02 1.80935149e-03 9.99728739e-01 6.62874534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.300714057 meters Centerline goodness : 0.989002 Centerline is valid? [True, True] Translation: X:175.48, Y:139.40, Z:6.63 [[ 9.38985043e-01 -3.43225495e-01 2.24354270e-02 1.75480509e+02] [ 3.43173362e-01 9.39251257e-01 6.25455385e-03 1.39399992e+02] [-2.32192254e-02 1.82630841e-03 9.99728729e-01 6.62930331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.330714057 meters Centerline goodness : 0.989051 Centerline is valid? [True, True] Translation: X:175.51, Y:139.41, Z:6.63 [[ 9.38448095e-01 -3.44691105e-01 2.24324810e-02 1.75510104e+02] [ 3.44639161e-01 9.38714339e-01 6.26407571e-03 1.39410497e+02] [-2.32168628e-02 1.85260153e-03 9.99728736e-01 6.62802126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.360714057 meters Centerline goodness : 0.988508 Centerline is valid? [True, True] Translation: X:175.54, Y:139.42, Z:6.63 [[ 9.38292682e-01 -3.45114831e-01 2.24186841e-02 1.75538228e+02] [ 3.45061946e-01 9.38558711e-01 6.30865204e-03 1.39420584e+02] [-2.32184606e-02 1.81647272e-03 9.99728765e-01 6.62816219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.390714057 meters Centerline goodness : 0.987847 Centerline is valid? [True, True] Translation: X:175.57, Y:139.43, Z:6.63 [[ 9.38561277e-01 -3.44385048e-01 2.23979590e-02 1.75569434e+02] [ 3.44330367e-01 9.38826902e-01 6.37552492e-03 1.39431081e+02] [-2.32234419e-02 1.72847663e-03 9.99728805e-01 6.62841310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.420714057 meters Centerline goodness : 0.988844 Centerline is valid? [True, True] Translation: X:175.60, Y:139.44, Z:6.63 [[ 9.38147028e-01 -3.45511798e-01 2.23998028e-02 1.75600303e+02] [ 3.45457577e-01 9.38412751e-01 6.36959420e-03 1.39441817e+02] [-2.32210305e-02 1.76256571e-03 9.99728802e-01 6.62882081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.450714057 meters Centerline goodness : 0.988505 Centerline is valid? [True, True] Translation: X:175.63, Y:139.45, Z:6.63 [[ 9.38504345e-01 -3.44539799e-01 2.24036211e-02 1.75630543e+02] [ 3.44485594e-01 9.38770078e-01 6.35730867e-03 1.39450909e+02] [-2.32221950e-02 1.75136291e-03 9.99728794e-01 6.62831623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.480714057 meters Centerline goodness : 0.988646 Centerline is valid? [True, True] Translation: X:175.66, Y:139.46, Z:6.63 [[ 9.38100067e-01 -3.45638857e-01 2.24063626e-02 1.75660108e+02] [ 3.45585174e-01 9.38365912e-01 6.34847430e-03 1.39460983e+02] [-2.32196463e-02 1.78780255e-03 9.99728789e-01 6.62826963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.51071405700003 meters Centerline goodness : 0.988224 Centerline is valid? [True, True] Translation: X:175.69, Y:139.47, Z:6.63 [[ 9.38323899e-01 -3.45031729e-01 2.23912063e-02 1.75690603e+02] [ 3.44976714e-01 9.38589442e-01 6.39729473e-03 1.39469968e+02] [-2.32234195e-02 1.72171024e-03 9.99728817e-01 6.62841856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.540714057 meters Centerline goodness : 0.987346 Centerline is valid? [True, True] Translation: X:175.72, Y:139.48, Z:6.63 [[ 9.38245348e-01 -3.45243929e-01 2.24119910e-02 1.75720250e+02] [ 3.45190566e-01 9.38511268e-01 6.33029942e-03 1.39479625e+02] [-2.32194035e-02 1.79703388e-03 9.99728778e-01 6.63067113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.570714057 meters Centerline goodness : 0.987619 Centerline is valid? [True, True] Translation: X:175.75, Y:139.49, Z:6.63 [[ 9.37646517e-01 -3.46867629e-01 2.24021936e-02 1.75751573e+02] [ 3.46813978e-01 9.37912359e-01 6.36176557e-03 1.39488532e+02] [-2.32179848e-02 1.80430655e-03 9.99728798e-01 6.62935776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.600714057 meters Centerline goodness : 0.986990 Centerline is valid? [True, True] Translation: X:175.78, Y:139.50, Z:6.63 [[ 9.37073187e-01 -3.48412575e-01 2.24169541e-02 1.75779308e+02] [ 3.48360491e-01 9.37339371e-01 6.31435014e-03 1.39497467e+02] [-2.32122926e-02 1.89217293e-03 9.99728768e-01 6.62904532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.630714057 meters Centerline goodness : 0.987977 Centerline is valid? [True, True] Translation: X:175.81, Y:139.51, Z:6.63 [[ 9.35593391e-01 -3.52370326e-01 2.23642813e-02 1.75810815e+02] [ 3.52315347e-01 9.35858891e-01 6.48319866e-03 1.39506663e+02] [-2.32142984e-02 1.81364173e-03 9.99728867e-01 6.62661452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.660714057 meters Centerline goodness : 0.988508 Centerline is valid? [True, True] Translation: X:175.84, Y:139.52, Z:6.63 [[ 9.35011809e-01 -3.53909731e-01 2.23790110e-02 1.75841888e+02] [ 3.53856311e-01 9.35277653e-01 6.43606045e-03 1.39516365e+02] [-2.32083733e-02 1.90116178e-03 9.99728842e-01 6.62540898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.690714057 meters Centerline goodness : 0.987630 Centerline is valid? [True, True] Translation: X:175.87, Y:139.53, Z:6.62 [[ 9.33572617e-01 -3.57688424e-01 2.23865878e-02 1.75870312e+02] [ 3.57636659e-01 9.33838803e-01 6.41181032e-03 1.39526363e+02] [-2.31988946e-02 2.02037390e-03 9.99728828e-01 6.62282861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.720714057 meters Centerline goodness : 0.987738 Centerline is valid? [True, True] Translation: X:175.90, Y:139.54, Z:6.62 [[ 9.33064086e-01 -3.59013940e-01 2.23696800e-02 1.75899692e+02] [ 3.58961263e-01 9.33330061e-01 6.46590260e-03 1.39535995e+02] [-2.31996440e-02 1.99674711e-03 9.99728858e-01 6.62079835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.750714057 meters Centerline goodness : 0.988490 Centerline is valid? [True, True] Translation: X:175.93, Y:139.55, Z:6.62 [[ 9.32416000e-01 -3.60694645e-01 2.23556749e-02 1.75930801e+02] [ 3.60641381e-01 9.32681835e-01 6.51064502e-03 1.39545751e+02] [-2.31990867e-02 1.99175190e-03 9.99728881e-01 6.62059932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.780714057 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:175.96, Y:139.56, Z:6.62 [[ 9.32420176e-01 -3.60683317e-01 2.23642398e-02 1.75963656e+02] [ 3.60630702e-01 9.32686155e-01 6.48329811e-03 1.39555309e+02] [-2.31972343e-02 2.02007354e-03 9.99728867e-01 6.61867652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.810714057 meters Centerline goodness : 0.988233 Centerline is valid? [True, True] Translation: X:175.99, Y:139.57, Z:6.62 [[ 9.32519252e-01 -3.60424534e-01 2.24053619e-02 1.75990312e+02] [ 3.60374977e-01 9.32785896e-01 6.35198218e-03 1.39566698e+02] [-2.31888158e-02 2.15098610e-03 9.99728789e-01 6.62057920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.840714057 meters Centerline goodness : 0.988398 Centerline is valid? [True, True] Translation: X:176.02, Y:139.58, Z:6.62 [[ 9.32400137e-01 -3.60736505e-01 2.23418509e-02 1.76021967e+02] [ 3.60682213e-01 9.32665740e-01 6.55428977e-03 1.39578120e+02] [-2.32018505e-02 1.94708755e-03 9.99728905e-01 6.62169702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.870714057 meters Centerline goodness : 0.987931 Centerline is valid? [True, True] Translation: X:176.05, Y:139.59, Z:6.62 [[ 9.33142825e-01 -3.58809161e-01 2.23708223e-02 1.76051617e+02] [ 3.58756519e-01 9.33408808e-01 6.46196428e-03 1.39588771e+02] [-2.31997346e-02 1.99574275e-03 9.99728858e-01 6.62148995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.900714057 meters Centerline goodness : 0.988030 Centerline is valid? [True, True] Translation: X:176.08, Y:139.60, Z:6.62 [[ 9.33455582e-01 -3.57994396e-01 2.23760858e-02 1.76082722e+02] [ 3.57941923e-01 9.33721607e-01 6.44515711e-03 1.39598221e+02] [-2.32003650e-02 1.99307131e-03 9.99728849e-01 6.62101193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.930714057 meters Centerline goodness : 0.987817 Centerline is valid? [True, True] Translation: X:176.11, Y:139.61, Z:6.62 [[ 9.33020137e-01 -3.59128643e-01 2.23616224e-02 1.76111602e+02] [ 3.59075397e-01 9.33285982e-01 6.49112770e-03 1.39607927e+02] [-2.32009386e-02 1.97315560e-03 9.99728875e-01 6.61868237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.960714057 meters Centerline goodness : 0.988041 Centerline is valid? [True, True] Translation: X:176.14, Y:139.62, Z:6.62 [[ 9.32094199e-01 -3.61526581e-01 2.23368821e-02 1.76144165e+02] [ 3.61472150e-01 9.32359762e-01 6.56951407e-03 1.39617891e+02] [-2.32010640e-02 1.95075483e-03 9.99728916e-01 6.61696244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.990714057 meters Centerline goodness : 0.988497 Centerline is valid? [True, True] Translation: X:176.17, Y:139.63, Z:6.62 [[ 9.31654076e-01 -3.62657421e-01 2.23668946e-02 1.76172813e+02] [ 3.62605581e-01 9.31920208e-01 6.47439346e-03 1.39626869e+02] [-2.31921479e-02 2.07846577e-03 9.99728865e-01 6.61638388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.020714057 meters Centerline goodness : 0.988236 Centerline is valid? [True, True] Translation: X:176.21, Y:139.64, Z:6.61 [[ 9.30285254e-01 -3.66157225e-01 2.23211246e-02 1.76205270e+02] [ 3.66102940e-01 9.30550820e-01 6.61884147e-03 1.39636801e+02] [-2.31944774e-02 2.01441871e-03 9.99728942e-01 6.61493462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.050714057 meters Centerline goodness : 0.989251 Centerline is valid? [True, True] Translation: X:176.24, Y:139.65, Z:6.61 [[ 9.29912268e-01 -3.67101799e-01 2.23482343e-02 1.76236059e+02] [ 3.67049827e-01 9.30178339e-01 6.53318234e-03 1.39646770e+02] [-2.31861864e-02 2.12762911e-03 9.99728900e-01 6.61367227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.080714057 meters Centerline goodness : 0.989061 Centerline is valid? [True, True] Translation: X:176.26, Y:139.66, Z:6.61 [[ 9.29905958e-01 -3.67116695e-01 2.23660959e-02 1.76263738e+02] [ 3.67066073e-01 9.30172322e-01 6.47678092e-03 1.39655650e+02] [-2.31820578e-02 2.18703783e-03 9.99728868e-01 6.61018439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.110714057 meters Centerline goodness : 0.988360 Centerline is valid? [True, True] Translation: X:176.29, Y:139.67, Z:6.61 [[ 9.29813579e-01 -3.67353802e-01 2.23135064e-02 1.76294704e+02] [ 3.67299279e-01 9.30079087e-01 6.64311878e-03 1.39665252e+02] [-2.31937006e-02 2.01887275e-03 9.99728951e-01 6.61110010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.140714057 meters Centerline goodness : 0.988324 Centerline is valid? [True, True] Translation: X:176.33, Y:139.68, Z:6.61 [[ 9.29460505e-01 -3.68245395e-01 2.23270896e-02 1.76326314e+02] [ 3.68192152e-01 9.29726292e-01 6.60015996e-03 1.39676521e+02] [-2.31885607e-02 2.08607116e-03 9.99728933e-01 6.60610984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.170714057 meters Centerline goodness : 0.988809 Centerline is valid? [True, True] Translation: X:176.36, Y:139.69, Z:6.61 [[ 9.29965399e-01 -3.66967353e-01 2.23454269e-02 1.76355607e+02] [ 3.66915128e-01 9.30231417e-01 6.54214814e-03 1.39687305e+02] [-2.31871729e-02 2.11490375e-03 9.99728904e-01 6.60740749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.200714057 meters Centerline goodness : 0.989669 Centerline is valid? [True, True] Translation: X:176.39, Y:139.70, Z:6.61 [[ 9.30104172e-01 -3.66618394e-01 2.22975889e-02 1.76387004e+02] [ 3.66562478e-01 9.30369366e-01 6.69276705e-03 1.39697810e+02] [-2.31986851e-02 1.94848889e-03 9.99728975e-01 6.60746626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.230714057 meters Centerline goodness : 0.988693 Centerline is valid? [True, True] Translation: X:176.42, Y:139.71, Z:6.61 [[ 9.30224738e-01 -3.66311675e-01 2.23090518e-02 1.76418876e+02] [ 3.66256531e-01 9.30490109e-01 6.65667965e-03 1.39708061e+02] [-2.31967715e-02 1.97862784e-03 9.99728961e-01 6.60699808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.26071405700003 meters Centerline goodness : 0.988522 Centerline is valid? [True, True] Translation: X:176.45, Y:139.72, Z:6.60 [[ 9.30001680e-01 -3.66877281e-01 2.23144693e-02 1.76448147e+02] [ 3.66822706e-01 9.30267176e-01 6.63961664e-03 1.39718138e+02] [-2.31943428e-02 2.01059938e-03 9.99728953e-01 6.60362895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.290714057 meters Centerline goodness : 0.988530 Centerline is valid? [True, True] Translation: X:176.48, Y:139.73, Z:6.61 [[ 9.30325419e-01 -3.66056005e-01 2.23073298e-02 1.76479136e+02] [ 3.66000658e-01 9.30590745e-01 6.66213127e-03 1.39728323e+02] [-2.31977078e-02 1.96654732e-03 9.99728963e-01 6.60759313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.320714057 meters Centerline goodness : 0.987721 Centerline is valid? [True, True] Translation: X:176.51, Y:139.74, Z:6.61 [[ 9.30637344e-01 -3.65261418e-01 2.23210776e-02 1.76507042e+02] [ 3.65206876e-01 9.30902857e-01 6.61886228e-03 1.39738017e+02] [-2.31963699e-02 1.99205060e-03 9.99728943e-01 6.60764807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.350714057 meters Centerline goodness : 0.988043 Centerline is valid? [True, True] Translation: X:176.54, Y:139.75, Z:6.61 [[ 9.30935801e-01 -3.64502802e-01 2.22765003e-02 1.76538736e+02] [ 3.64444703e-01 9.31200501e-01 6.75913225e-03 1.39748197e+02] [-2.32076109e-02 1.82623436e-03 9.99728999e-01 6.60709149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.380714057 meters Centerline goodness : 0.989218 Centerline is valid? [True, True] Translation: X:176.57, Y:139.76, Z:6.61 [[ 9.29915525e-01 -3.67095931e-01 2.23090502e-02 1.76573997e+02] [ 3.67041012e-01 9.30180942e-01 6.65664688e-03 1.39759746e+02] [-2.31950813e-02 1.99821707e-03 9.99728961e-01 6.60519634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.410714057 meters Centerline goodness : 0.989015 Centerline is valid? [True, True] Translation: X:176.61, Y:139.77, Z:6.60 [[ 9.29861283e-01 -3.67227627e-01 2.24023386e-02 1.76605556e+02] [ 3.67179763e-01 9.30128237e-01 6.36270214e-03 1.39770119e+02] [-2.31736077e-02 2.30925500e-03 9.99728789e-01 6.60332717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.440714057 meters Centerline goodness : 0.988269 Centerline is valid? [True, True] Translation: X:176.64, Y:139.78, Z:6.60 [[ 9.28970337e-01 -3.69476657e-01 2.23855457e-02 1.76636641e+02] [ 3.69428180e-01 9.29237140e-01 6.41536214e-03 1.39779839e+02] [-2.31718070e-02 2.31017028e-03 9.99728828e-01 6.60226164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.470714057 meters Centerline goodness : 0.987754 Centerline is valid? [True, True] Translation: X:176.67, Y:139.79, Z:6.60 [[ 9.28816408e-01 -3.69863111e-01 2.23910446e-02 1.76667287e+02] [ 3.69815157e-01 9.29083319e-01 6.39811686e-03 1.39788768e+02] [-2.31695735e-02 2.33787176e-03 9.99728816e-01 6.59843851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.500714057 meters Centerline goodness : 0.986744 Centerline is valid? [True, True] Translation: X:176.69, Y:139.80, Z:6.60 [[ 9.28428078e-01 -3.70837202e-01 2.23846987e-02 1.76692084e+02] [ 3.70789053e-01 9.28694938e-01 6.41796989e-03 1.39796436e+02] [-2.31685784e-02 2.34137779e-03 9.99728831e-01 6.59993698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.530714057 meters Centerline goodness : 0.987876 Centerline is valid? [True, True] Translation: X:176.72, Y:139.81, Z:6.60 [[ 9.27095234e-01 -3.74162955e-01 2.22825310e-02 1.76724642e+02] [ 3.74108146e-01 9.27360616e-01 6.73663606e-03 1.39805837e+02] [-2.31845413e-02 2.09057317e-03 9.99729017e-01 6.59885520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.560714057 meters Centerline goodness : 0.987682 Centerline is valid? [True, True] Translation: X:176.75, Y:139.82, Z:6.60 [[ 9.26438238e-01 -3.75785080e-01 2.23106663e-02 1.76754016e+02] [ 3.75732832e-01 9.26704177e-01 6.64886393e-03 1.39815385e+02] [-2.31739315e-02 2.22308805e-03 9.99728977e-01 6.59852382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.590714057 meters Centerline goodness : 0.987275 Centerline is valid? [True, True] Translation: X:176.78, Y:139.82, Z:6.60 [[ 9.26623970e-01 -3.75327977e-01 2.22918892e-02 1.76783341e+02] [ 3.75274199e-01 9.26889576e-01 6.70742220e-03 1.39823652e+02] [-2.31796029e-02 2.15031268e-03 9.99729004e-01 6.59845890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.620714057 meters Centerline goodness : 0.988453 Centerline is valid? [True, True] Translation: X:176.81, Y:139.83, Z:6.60 [[ 9.26726418e-01 -3.75076356e-01 2.22682001e-02 1.76812499e+02] [ 3.75020740e-01 9.26991616e-01 6.78144587e-03 1.39833499e+02] [-2.31859948e-02 2.06649182e-03 9.99729033e-01 6.59905589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.650714057 meters Centerline goodness : 0.986949 Centerline is valid? [True, True] Translation: X:176.84, Y:139.84, Z:6.60 [[ 9.27251448e-01 -3.73776904e-01 2.22616042e-02 1.76843230e+02] [ 3.73720425e-01 9.27516456e-01 6.80204847e-03 1.39844015e+02] [-2.31904529e-02 2.01240690e-03 9.99729040e-01 6.59782279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.680714057 meters Centerline goodness : 0.987772 Centerline is valid? [True, True] Translation: X:176.87, Y:139.85, Z:6.60 [[ 9.28290991e-01 -3.71188924e-01 2.22400200e-02 1.76874864e+02] [ 3.71130105e-01 9.28555469e-01 6.86923612e-03 1.39854613e+02] [-2.32008765e-02 1.87729094e-03 9.99729061e-01 6.59569669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.710714057 meters Centerline goodness : 0.987521 Centerline is valid? [True, True] Translation: X:176.90, Y:139.87, Z:6.60 [[ 9.28706192e-01 -3.70147015e-01 2.22709839e-02 1.76902531e+02] [ 3.70090196e-01 9.28971138e-01 6.77280192e-03 1.39866746e+02] [-2.31960336e-02 1.95232971e-03 9.99729030e-01 6.59597581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.740714057 meters Centerline goodness : 0.986878 Centerline is valid? [True, True] Translation: X:176.93, Y:139.88, Z:6.59 [[ 9.31231027e-01 -3.63749924e-01 2.22433816e-02 1.76931523e+02] [ 3.63689239e-01 9.31495086e-01 6.85879536e-03 1.39876990e+02] [-2.32144869e-02 1.70255547e-03 9.99729058e-01 6.59410339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.770714057 meters Centerline goodness : 0.987781 Centerline is valid? [True, True] Translation: X:176.96, Y:139.89, Z:6.59 [[ 9.32578250e-01 -3.60282936e-01 2.22264304e-02 1.76962435e+02] [ 3.60220017e-01 9.32841771e-01 6.91156846e-03 1.39888685e+02] [-2.32238629e-02 1.56082671e-03 9.99729071e-01 6.59274551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.800714057 meters Centerline goodness : 0.987781 Centerline is valid? [True, True] Translation: X:176.99, Y:139.90, Z:6.59 [[ 9.35958831e-01 -3.51406153e-01 2.22436973e-02 1.76993879e+02] [ 3.51342007e-01 9.36222070e-01 6.85778556e-03 1.39898043e+02] [-2.32349083e-02 1.39654028e-03 9.99729058e-01 6.59177746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.830714057 meters Centerline goodness : 0.987015 Centerline is valid? [True, True] Translation: X:177.02, Y:139.91, Z:6.59 [[ 9.37494491e-01 -3.47287669e-01 2.22565542e-02 1.77023627e+02] [ 3.47223314e-01 9.37757692e-01 6.81771167e-03 1.39907601e+02] [-2.32389621e-02 1.33642737e-03 9.99729046e-01 6.59203026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.860714057 meters Centerline goodness : 0.987047 Centerline is valid? [True, True] Translation: X:177.05, Y:139.92, Z:6.59 [[ 9.39509986e-01 -3.41797786e-01 2.22544402e-02 1.77054396e+02] [ 3.41731737e-01 9.39772764e-01 6.82430305e-03 1.39918953e+02] [-2.32466485e-02 1.19354766e-03 9.99729048e-01 6.59196947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.890714057 meters Centerline goodness : 0.987403 Centerline is valid? [True, True] Translation: X:177.09, Y:139.93, Z:6.59 [[ 9.40271572e-01 -3.39695805e-01 2.22739998e-02 1.77085270e+02] [ 3.39630611e-01 9.40534585e-01 6.76328474e-03 1.39927573e+02] [-2.32469266e-02 1.20560778e-03 9.99729027e-01 6.59152691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.920714057 meters Centerline goodness : 0.988412 Centerline is valid? [True, True] Translation: X:177.12, Y:139.94, Z:6.59 [[ 9.39122963e-01 -3.42858536e-01 2.22729497e-02 1.77122544e+02] [ 3.42794149e-01 9.39386175e-01 6.76655595e-03 1.39938093e+02] [-2.32428724e-02 1.28040876e-03 9.99729028e-01 6.59059863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.950714057 meters Centerline goodness : 0.988863 Centerline is valid? [True, True] Translation: X:177.15, Y:139.95, Z:6.59 [[ 9.38444535e-01 -3.44702359e-01 2.24084466e-02 1.77152720e+02] [ 3.44648525e-01 9.38710366e-01 6.34370053e-03 1.39947649e+02] [-2.32217297e-02 1.76982698e-03 9.99728773e-01 6.58924716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.980714057 meters Centerline goodness : 0.988863 Centerline is valid? [True, True] Translation: X:177.18, Y:139.96, Z:6.59 [[ 9.38271060e-01 -3.45175064e-01 2.23963013e-02 1.77183524e+02] [ 3.45120462e-01 9.38536702e-01 6.38162108e-03 1.39957827e+02] [-2.32225273e-02 1.74173148e-03 9.99728804e-01 6.58847466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.01071405700003 meters Centerline goodness : 0.988373 Centerline is valid? [True, True] Translation: X:177.21, Y:139.97, Z:6.59 [[ 9.35848819e-01 -3.51690649e-01 2.23757861e-02 1.77214858e+02] [ 3.51636379e-01 9.36114478e-01 6.44529783e-03 1.39965863e+02] [-2.32130483e-02 1.83631602e-03 9.99728854e-01 6.58760447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.040714057 meters Centerline goodness : 0.989273 Centerline is valid? [True, True] Translation: X:177.24, Y:139.97, Z:6.58 [[ 9.33186330e-01 -3.58694275e-01 2.23984437e-02 1.77242783e+02] [ 3.58643675e-01 9.33452770e-01 6.37496215e-03 1.39972693e+02] [-2.31945518e-02 2.08403264e-03 9.99728798e-01 6.58450410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.070714057 meters Centerline goodness : 0.988795 Centerline is valid? [True, True] Translation: X:177.27, Y:139.98, Z:6.59 [[ 9.32467474e-01 -3.60561452e-01 2.23572849e-02 1.77269502e+02] [ 3.60508338e-01 9.32733324e-01 6.50268567e-03 1.39980641e+02] [-2.31980024e-02 1.99644472e-03 9.99728897e-01 6.58713094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.100714057 meters Centerline goodness : 0.987961 Centerline is valid? [True, True] Translation: X:177.30, Y:139.99, Z:6.59 [[ 9.30049137e-01 -3.66758943e-01 2.22818436e-02 1.77299156e+02] [ 3.66702023e-01 9.30314058e-01 6.73647240e-03 1.39987989e+02] [-2.31997739e-02 1.90554680e-03 9.99729033e-01 6.58539907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.130714057 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:177.33, Y:140.00, Z:6.58 [[ 9.27571987e-01 -3.72981007e-01 2.22570813e-02 1.77334639e+02] [ 3.72924035e-01 9.27836864e-01 6.81308236e-03 1.39998257e+02] [-2.31920908e-02 1.98057622e-03 9.99729065e-01 6.58126421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.160714057 meters Centerline goodness : 0.989095 Centerline is valid? [True, True] Translation: X:177.36, Y:140.01, Z:6.58 [[ 9.26882190e-01 -3.74686968e-01 2.23401311e-02 1.77362394e+02] [ 3.74636602e-01 9.27148544e-01 6.55692105e-03 1.40005410e+02] [-2.31694129e-02 2.29193746e-03 9.99728926e-01 6.58245618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.190714057 meters Centerline goodness : 0.987715 Centerline is valid? [True, True] Translation: X:177.39, Y:140.01, Z:6.58 [[ 9.26741887e-01 -3.75037604e-01 2.22771287e-02 1.77390798e+02] [ 3.74982699e-01 9.27007227e-01 6.75108797e-03 1.40014281e+02] [-2.31829711e-02 2.09702182e-03 9.99729039e-01 6.57994163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.220714057 meters Centerline goodness : 0.989215 Centerline is valid? [True, True] Translation: X:177.42, Y:140.02, Z:6.58 [[ 9.25653092e-01 -3.77719394e-01 2.22354101e-02 1.77422844e+02] [ 3.77662191e-01 9.25917891e-01 6.87958075e-03 1.40024052e+02] [-2.31867151e-02 2.02936849e-03 9.99729092e-01 6.58020836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.250714057 meters Centerline goodness : 0.989338 Centerline is valid? [True, True] Translation: X:177.46, Y:140.03, Z:6.58 [[ 9.24754515e-01 -3.79911686e-01 2.22755267e-02 1.77456660e+02] [ 3.79858064e-01 9.25020113e-01 6.75586358e-03 1.40034175e+02] [-2.31719417e-02 2.21402310e-03 9.99729043e-01 6.57863957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.280714057 meters Centerline goodness : 0.989409 Centerline is valid? [True, True] Translation: X:177.49, Y:140.04, Z:6.58 [[ 9.24558593e-01 -3.80385197e-01 2.23273370e-02 1.77487978e+02] [ 3.80335518e-01 9.24825052e-01 6.59675902e-03 1.40044714e+02] [-2.31581901e-02 2.39278905e-03 9.99728950e-01 6.57904458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.310714057 meters Centerline goodness : 0.988790 Centerline is valid? [True, True] Translation: X:177.51, Y:140.05, Z:6.58 [[ 9.26124824e-01 -3.76554268e-01 2.23538454e-02 1.77512177e+02] [ 3.76505435e-01 9.26391498e-01 6.51533520e-03 1.40052861e+02] [-2.31617896e-02 2.38233064e-03 9.99728891e-01 6.57765227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.340714057 meters Centerline goodness : 0.989062 Centerline is valid? [True, True] Translation: X:177.54, Y:140.06, Z:6.58 [[ 9.26428800e-01 -3.75812227e-01 2.22451715e-02 1.77544600e+02] [ 3.75755214e-01 9.26693646e-01 6.84871601e-03 1.40062052e+02] [-2.31882903e-02 2.01389144e-03 9.99729087e-01 6.57801290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.370714057 meters Centerline goodness : 0.988418 Centerline is valid? [True, True] Translation: X:177.57, Y:140.07, Z:6.58 [[ 9.27301520e-01 -3.73651087e-01 2.22880056e-02 1.77574217e+02] [ 3.73596594e-01 9.27566959e-01 6.71719862e-03 1.40070655e+02] [-2.31835061e-02 2.09785449e-03 9.99729025e-01 6.57711808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.400714057 meters Centerline goodness : 0.987599 Centerline is valid? [True, True] Translation: X:177.61, Y:140.08, Z:6.57 [[ 9.27336855e-01 -3.73565285e-01 2.22561133e-02 1.77607392e+02] [ 3.73508432e-01 9.27601750e-01 6.81507347e-03 1.40080350e+02] [-2.31906845e-02 1.99297718e-03 9.99729073e-01 6.57491510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.430714057 meters Centerline goodness : 0.988521 Centerline is valid? [True, True] Translation: X:177.64, Y:140.09, Z:6.57 [[ 9.27431989e-01 -3.73326434e-01 2.22997666e-02 1.77638571e+02] [ 3.73272710e-01 9.27697605e-01 6.68110076e-03 1.40090431e+02] [-2.31816716e-02 2.12762774e-03 9.99729005e-01 6.57416231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.460714057 meters Centerline goodness : 0.988605 Centerline is valid? [True, True] Translation: X:177.67, Y:140.10, Z:6.57 [[ 9.27491959e-01 -3.73178266e-01 2.22855936e-02 1.77670960e+02] [ 3.73123466e-01 9.27757329e-01 6.72436497e-03 1.40100107e+02] [-2.31850097e-02 2.07848350e-03 9.99729031e-01 6.57366170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.490714057 meters Centerline goodness : 0.989441 Centerline is valid? [True, True] Translation: X:177.70, Y:140.11, Z:6.57 [[ 9.26986887e-01 -3.74428714e-01 2.23259984e-02 1.77704689e+02] [ 3.74377223e-01 9.27252999e-01 6.60088282e-03 1.40110591e+02] [-2.31734090e-02 2.23941345e-03 9.99728952e-01 6.56821607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.520714057 meters Centerline goodness : 0.989673 Centerline is valid? [True, True] Translation: X:177.73, Y:140.12, Z:6.57 [[ 9.27292818e-01 -3.73666973e-01 2.23835224e-02 1.77733588e+02] [ 3.73619470e-01 9.27559815e-01 6.42512489e-03 1.40117995e+02] [-2.31629128e-02 2.40494760e-03 9.99728811e-01 6.56729913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.550714057 meters Centerline goodness : 0.990149 Centerline is valid? [True, True] Translation: X:177.76, Y:140.13, Z:6.57 [[ 9.26134083e-01 -3.76530183e-01 2.23759272e-02 1.77764411e+02] [ 3.76482949e-01 9.26401105e-01 6.44831933e-03 1.40129296e+02] [-2.31570705e-02 2.45214676e-03 9.99728832e-01 6.56620200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.580714057 meters Centerline goodness : 0.990604 Centerline is valid? [True, True] Translation: X:177.80, Y:140.14, Z:6.56 [[ 9.25716580e-01 -3.77554417e-01 2.23936518e-02 1.77797073e+02] [ 3.77508773e-01 9.25983930e-01 6.39434374e-03 1.40138274e+02] [-2.31503745e-02 2.53445001e-03 9.99728782e-01 6.56412783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.610714057 meters Centerline goodness : 0.988827 Centerline is valid? [True, True] Translation: X:177.82, Y:140.15, Z:6.57 [[ 9.26337367e-01 -3.76025209e-01 2.24527217e-02 1.77819723e+02] [ 3.75983440e-01 9.26605543e-01 6.21451684e-03 1.40147157e+02] [-2.31416314e-02 2.68511238e-03 9.99728591e-01 6.56717672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.640714057 meters Centerline goodness : 0.989657 Centerline is valid? [True, True] Translation: X:177.85, Y:140.16, Z:6.57 [[ 9.24971210e-01 -3.79382773e-01 2.22928479e-02 1.77852494e+02] [ 3.79330374e-01 9.25237051e-01 6.69824240e-03 1.40156997e+02] [-2.31673666e-02 2.26067296e-03 9.99729045e-01 6.56710032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.670714057 meters Centerline goodness : 0.989649 Centerline is valid? [True, True] Translation: X:177.88, Y:140.17, Z:6.57 [[ 9.24669214e-01 -3.80114403e-01 2.23581027e-02 1.77881735e+02] [ 3.80066947e-01 9.24936137e-01 6.50067052e-03 1.40166617e+02] [-2.31508157e-02 2.48660595e-03 9.99728892e-01 6.56664956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.700714057 meters Centerline goodness : 0.990526 Centerline is valid? [True, True] Translation: X:177.92, Y:140.18, Z:6.56 [[ 9.23357199e-01 -3.83290976e-01 2.23497408e-02 1.77916483e+02] [ 3.83243829e-01 9.23624154e-01 6.52600763e-03 1.40175799e+02] [-2.31441203e-02 2.53956412e-03 9.99728913e-01 6.56176388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.730714057 meters Centerline goodness : 0.990545 Centerline is valid? [True, True] Translation: X:177.95, Y:140.18, Z:6.56 [[ 9.23043596e-01 -3.84040135e-01 2.24431568e-02 1.77947277e+02] [ 3.84000007e-01 9.23311984e-01 6.24295988e-03 1.40184908e+02] [-2.31195828e-02 2.85564824e-03 9.99728628e-01 6.56159509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.76071405700003 meters Centerline goodness : 0.989109 Centerline is valid? [True, True] Translation: X:177.97, Y:140.19, Z:6.56 [[ 9.23676732e-01 -3.82514623e-01 2.24467704e-02 1.77972835e+02] [ 3.82474315e-01 9.23945107e-01 6.23202090e-03 1.40193081e+02] [-2.31234228e-02 2.82894043e-03 9.99728615e-01 6.56381171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.790714057 meters Centerline goodness : 0.990169 Centerline is valid? [True, True] Translation: X:178.01, Y:140.20, Z:6.56 [[ 9.23114622e-01 -3.83873796e-01 2.23674641e-02 1.78007238e+02] [ 3.83828122e-01 9.23381877e-01 6.47162612e-03 1.40202951e+02] [-2.31379987e-02 2.61120905e-03 9.99728871e-01 6.55938034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.820714057 meters Centerline goodness : 0.990881 Centerline is valid? [True, True] Translation: X:178.04, Y:140.21, Z:6.56 [[ 9.22717873e-01 -3.84824370e-01 2.24038421e-02 1.78037807e+02] [ 3.84781589e-01 9.22985723e-01 6.36274966e-03 1.40212845e+02] [-2.31269675e-02 2.74956314e-03 9.99728755e-01 6.55883856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.850714057 meters Centerline goodness : 0.990685 Centerline is valid? [True, True] Translation: X:178.07, Y:140.22, Z:6.56 [[ 9.23426122e-01 -3.83120112e-01 2.24316066e-02 1.78066445e+02] [ 3.83078834e-01 9.23694307e-01 6.27968593e-03 1.40222089e+02] [-2.31258213e-02 2.79424769e-03 9.99728657e-01 6.55646731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.880714057 meters Centerline goodness : 0.989705 Centerline is valid? [True, True] Translation: X:178.09, Y:140.23, Z:6.56 [[ 9.24544324e-01 -3.80416291e-01 2.23883654e-02 1.78094742e+02] [ 3.80371130e-01 9.24811728e-01 6.40863225e-03 1.40228923e+02] [-2.31429710e-02 2.59082327e-03 9.99728808e-01 6.55863032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.910714057 meters Centerline goodness : 0.990272 Centerline is valid? [True, True] Translation: X:178.13, Y:140.24, Z:6.55 [[ 9.23368902e-01 -3.83261703e-01 2.23682382e-02 1.78125229e+02] [ 3.83215925e-01 9.23636136e-01 6.46855743e-03 1.40239219e+02] [-2.31392634e-02 2.59900032e-03 9.99728873e-01 6.55322853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.940714057 meters Centerline goodness : 0.988530 Centerline is valid? [True, True] Translation: X:178.15, Y:140.25, Z:6.56 [[ 9.24278504e-01 -3.81060697e-01 2.24051773e-02 1.78148603e+02] [ 3.81016929e-01 9.24546197e-01 6.35838286e-03 1.40246553e+02] [-2.31375512e-02 2.65983524e-03 9.99728753e-01 6.55528291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.970714057 meters Centerline goodness : 0.989582 Centerline is valid? [True, True] Translation: X:178.18, Y:140.26, Z:6.55 [[ 9.23149196e-01 -3.83797297e-01 2.22530215e-02 1.78183904e+02] [ 3.83743507e-01 9.23414618e-01 6.80913384e-03 1.40257103e+02] [-2.31620925e-02 2.25360609e-03 9.99729183e-01 6.55039797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.000714057 meters Centerline goodness : 0.989370 Centerline is valid? [True, True] Translation: X:178.21, Y:140.27, Z:6.55 [[ 9.23313239e-01 -3.83395774e-01 2.23683714e-02 1.78210825e+02] [ 3.83350074e-01 9.23580478e-01 6.46689897e-03 1.40267132e+02] [-2.31383729e-02 2.60394342e-03 9.99728881e-01 6.55017158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.030714057 meters Centerline goodness : 0.989407 Centerline is valid? [True, True] Translation: X:178.24, Y:140.28, Z:6.55 [[ 9.23118430e-01 -3.83867214e-01 2.23232058e-02 1.78239749e+02] [ 3.83818425e-01 9.23384990e-01 6.60128357e-03 1.40277575e+02] [-2.31469295e-02 2.47429117e-03 9.99729012e-01 6.55018516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.060714057 meters Centerline goodness : 0.989832 Centerline is valid? [True, True] Translation: X:178.27, Y:140.29, Z:6.55 [[ 9.22490488e-01 -3.85376751e-01 2.22723796e-02 1.78270270e+02] [ 3.85324801e-01 9.22756316e-01 6.75130078e-03 1.40288209e+02] [-2.31537733e-02 2.35408947e-03 9.99729144e-01 6.55141945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.090714057 meters Centerline goodness : 0.989091 Centerline is valid? [True, True] Translation: X:178.30, Y:140.30, Z:6.55 [[ 9.22093199e-01 -3.86325881e-01 2.22810752e-02 1.78298527e+02] [ 3.86274818e-01 9.22359220e-01 6.72566989e-03 1.40298530e+02] [-2.31494554e-02 2.40492379e-03 9.99729123e-01 6.55422438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.120714057 meters Centerline goodness : 0.990181 Centerline is valid? [True, True] Translation: X:178.33, Y:140.31, Z:6.55 [[ 9.22352457e-01 -3.85708516e-01 2.22460270e-02 1.78328692e+02] [ 3.85654805e-01 9.22617873e-01 6.82877406e-03 1.40309299e+02] [-2.31584984e-02 2.28075067e-03 9.99729204e-01 6.55493339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.150714057 meters Centerline goodness : 0.989210 Centerline is valid? [True, True] Translation: X:178.35, Y:140.32, Z:6.55 [[ 9.21959659e-01 -3.86646749e-01 2.22413706e-02 1.78354379e+02] [ 3.86592981e-01 9.22225053e-01 6.84245578e-03 1.40320533e+02] [-2.31571625e-02 2.28988958e-03 9.99729214e-01 6.55267182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.180714057 meters Centerline goodness : 0.987917 Centerline is valid? [True, True] Translation: X:178.38, Y:140.33, Z:6.55 [[ 9.22387718e-01 -3.85627867e-01 2.21821020e-02 1.78378009e+02] [ 3.85569646e-01 9.22652057e-01 7.01641123e-03 1.40330361e+02] [-2.31720857e-02 2.08089367e-03 9.99729326e-01 6.55436274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.210714057 meters Centerline goodness : 0.990195 Centerline is valid? [True, True] Translation: X:178.41, Y:140.34, Z:6.55 [[ 9.21531669e-01 -3.87675995e-01 2.20614106e-02 1.78414960e+02] [ 3.87609932e-01 9.21794026e-01 7.36983366e-03 1.40340762e+02] [-2.31931841e-02 1.75968676e-03 9.99729453e-01 6.55187820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.240714057 meters Centerline goodness : 0.989892 Centerline is valid? [True, True] Translation: X:178.45, Y:140.35, Z:6.55 [[ 9.21133746e-01 -3.88613479e-01 2.21852613e-02 1.78446101e+02] [ 3.88556333e-01 9.21398325e-01 7.00728232e-03 1.40351301e+02] [-2.31645870e-02 2.16557957e-03 9.99729319e-01 6.55128514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.270714057 meters Centerline goodness : 0.990027 Centerline is valid? [True, True] Translation: X:178.47, Y:140.36, Z:6.55 [[ 9.20424556e-01 -3.90290177e-01 2.21859061e-02 1.78473661e+02] [ 3.90233558e-01 9.20689250e-01 7.00539463e-03 1.40361394e+02] [-2.31604619e-02 2.20974781e-03 9.99729318e-01 6.54771037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.300714057 meters Centerline goodness : 0.989350 Centerline is valid? [True, True] Translation: X:178.50, Y:140.37, Z:6.55 [[ 9.20408292e-01 -3.90330560e-01 2.21501853e-02 1.78501833e+02] [ 3.90271453e-01 9.20672386e-01 7.10993393e-03 1.40371192e+02] [-2.31682884e-02 2.10054285e-03 9.99729372e-01 6.54982541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.330714057 meters Centerline goodness : 0.988611 Centerline is valid? [True, True] Translation: X:178.53, Y:140.38, Z:6.55 [[ 9.20606186e-01 -3.89866193e-01 2.21043502e-02 1.78532244e+02] [ 3.89803752e-01 9.20869458e-01 7.24401776e-03 1.40379263e+02] [-2.31794187e-02 1.94747110e-03 9.99729424e-01 6.54668703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.360714057 meters Centerline goodness : 0.988761 Centerline is valid? [True, True] Translation: X:178.56, Y:140.39, Z:6.55 [[ 9.20620465e-01 -3.89832104e-01 2.21108655e-02 1.78563191e+02] [ 3.89770109e-01 9.20883849e-01 7.22493339e-03 1.40389617e+02] [-2.31780499e-02 1.96673291e-03 9.99729418e-01 6.54625124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.390714057 meters Centerline goodness : 0.990004 Centerline is valid? [True, True] Translation: X:178.59, Y:140.40, Z:6.55 [[ 9.20028899e-01 -3.91226204e-01 2.21106915e-02 1.78593851e+02] [ 3.91164596e-01 9.20292373e-01 7.22544142e-03 1.40401240e+02] [-2.31750828e-02 2.00130479e-03 9.99729419e-01 6.54675872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.420714057 meters Centerline goodness : 0.988615 Centerline is valid? [True, True] Translation: X:178.62, Y:140.41, Z:6.55 [[ 9.20273312e-01 -3.90650662e-01 2.21154271e-02 1.78624880e+02] [ 3.90589219e-01 9.20536829e-01 7.21161817e-03 1.40411536e+02] [-2.31752886e-02 2.00138768e-03 9.99729414e-01 6.54541472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.450714057 meters Centerline goodness : 0.988467 Centerline is valid? [True, True] Translation: X:178.65, Y:140.42, Z:6.55 [[ 9.20587667e-01 -3.89908899e-01 2.21223462e-02 1.78654462e+02] [ 3.89847725e-01 9.20851256e-01 7.19141699e-03 1.40421965e+02] [-2.31753877e-02 2.00401653e-03 9.99729406e-01 6.54631603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.480714057 meters Centerline goodness : 0.988198 Centerline is valid? [True, True] Translation: X:178.69, Y:140.43, Z:6.55 [[ 9.21890340e-01 -3.86819945e-01 2.21027486e-02 1.78686584e+02] [ 3.86756524e-01 9.22153376e-01 7.24861911e-03 1.40434051e+02] [-2.31860347e-02 1.86595031e-03 9.99729426e-01 6.54615040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.51071405700003 meters Centerline goodness : 0.988048 Centerline is valid? [True, True] Translation: X:178.72, Y:140.45, Z:6.55 [[ 9.22553521e-01 -3.85233696e-01 2.21359627e-02 1.78716889e+02] [ 3.85172134e-01 9.22817035e-01 7.15168159e-03 1.40446483e+02] [-2.31825122e-02 1.92834696e-03 9.99729390e-01 6.54579347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.540714057 meters Centerline goodness : 0.988762 Centerline is valid? [True, True] Translation: X:178.75, Y:140.46, Z:6.54 [[ 9.22930986e-01 -3.84328515e-01 2.21356673e-02 1.78751547e+02] [ 3.84266674e-01 9.23194435e-01 7.15254337e-03 1.40461159e+02] [-2.31844513e-02 1.90469536e-03 9.99729390e-01 6.54467580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.570714057 meters Centerline goodness : 0.987669 Centerline is valid? [True, True] Translation: X:178.78, Y:140.47, Z:6.54 [[ 9.24421807e-01 -3.80721988e-01 2.22506281e-02 1.78776096e+02] [ 3.80667135e-01 9.24687009e-01 6.81670005e-03 1.40471238e+02] [-2.31701344e-02 2.16857667e-03 9.99729184e-01 6.54393534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.600714057 meters Centerline goodness : 0.987476 Centerline is valid? [True, True] Translation: X:178.81, Y:140.48, Z:6.54 [[ 9.25677670e-01 -3.77664823e-01 2.21389409e-02 1.78807540e+02] [ 3.77601331e-01 9.25940724e-01 7.14217823e-03 1.40484324e+02] [-2.31966965e-02 1.74833866e-03 9.99729392e-01 6.54251614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.630714057 meters Centerline goodness : 0.988867 Centerline is valid? [True, True] Translation: X:178.84, Y:140.50, Z:6.54 [[ 9.25981080e-01 -3.76918595e-01 2.21678325e-02 1.78838945e+02] [ 3.76856891e-01 9.26244604e-01 7.05815207e-03 1.40496062e+02] [-2.31931840e-02 1.81838515e-03 9.99729348e-01 6.54070171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.660714057 meters Centerline goodness : 0.987502 Centerline is valid? [True, True] Translation: X:178.86, Y:140.51, Z:6.54 [[ 9.26265197e-01 -3.76218013e-01 2.21989010e-02 1.78864842e+02] [ 3.76158264e-01 9.26529228e-01 6.96776877e-03 1.40506728e+02] [-2.31893307e-02 1.89629834e-03 9.99729293e-01 6.54027372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.690714057 meters Centerline goodness : 0.987933 Centerline is valid? [True, True] Translation: X:178.89, Y:140.52, Z:6.54 [[ 9.26702782e-01 -3.75142118e-01 2.21437619e-02 1.78893065e+02] [ 3.75078235e-01 9.26965751e-01 7.12846278e-03 1.40520291e+02] [-2.32006955e-02 1.69967683e-03 9.99729383e-01 6.53805584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.720714057 meters Centerline goodness : 0.987733 Centerline is valid? [True, True] Translation: X:178.92, Y:140.53, Z:6.54 [[ 9.27104894e-01 -3.74147874e-01 2.21333058e-02 1.78924128e+02] [ 3.74082984e-01 9.27367603e-01 7.15893803e-03 1.40531869e+02] [-2.32042122e-02 1.64260662e-03 9.99729397e-01 6.53699416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.750714057 meters Centerline goodness : 0.987238 Centerline is valid? [True, True] Translation: X:178.95, Y:140.54, Z:6.54 [[ 9.27479470e-01 -3.73218509e-01 2.21309231e-02 1.78954023e+02] [ 3.73153192e-01 9.27742069e-01 7.16586521e-03 1.40544092e+02] [-2.32062219e-02 1.61203172e-03 9.99729400e-01 6.53752406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.780714057 meters Centerline goodness : 0.987994 Centerline is valid? [True, True] Translation: X:178.98, Y:140.55, Z:6.54 [[ 9.28187922e-01 -3.71454005e-01 2.21156689e-02 1.78984921e+02] [ 3.71387136e-01 9.28450111e-01 7.21019194e-03 1.40554950e+02] [-2.32115499e-02 1.52106185e-03 9.99729419e-01 6.53697744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.810714057 meters Centerline goodness : 0.988423 Centerline is valid? [True, True] Translation: X:179.01, Y:140.57, Z:6.54 [[ 9.29389700e-01 -3.68436123e-01 2.21271063e-02 1.79013584e+02] [ 3.68369190e-01 9.29651887e-01 7.17699618e-03 1.40567454e+02] [-2.32147708e-02 1.48071790e-03 9.99729404e-01 6.53911062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.840714057 meters Centerline goodness : 0.987382 Centerline is valid? [True, True] Translation: X:179.04, Y:140.58, Z:6.54 [[ 9.30808974e-01 -3.64836891e-01 2.21065058e-02 1.79044260e+02] [ 3.64767528e-01 9.31070502e-01 7.23675939e-03 1.40577886e+02] [-2.32229523e-02 1.32769489e-03 9.99729429e-01 6.53912438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.870714057 meters Centerline goodness : 0.987382 Centerline is valid? [True, True] Translation: X:179.07, Y:140.59, Z:6.54 [[ 9.30786964e-01 -3.64891974e-01 2.21240789e-02 1.79074925e+02] [ 3.64823835e-01 9.31048836e-01 7.18575833e-03 1.40588608e+02] [-2.32206234e-02 1.38298111e-03 9.99729408e-01 6.53839146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.900714057 meters Centerline goodness : 0.987670 Centerline is valid? [True, True] Translation: X:179.10, Y:140.60, Z:6.54 [[ 9.31857353e-01 -3.62149593e-01 2.21256763e-02 1.79103529e+02] [ 3.62080792e-01 9.32119054e-01 7.18112073e-03 1.40599295e+02] [-2.32244044e-02 1.31950224e-03 9.99729406e-01 6.53919785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.930714057 meters Centerline goodness : 0.988772 Centerline is valid? [True, True] Translation: X:179.14, Y:140.61, Z:6.54 [[ 9.32790889e-01 -3.59740219e-01 2.20937335e-02 1.79139649e+02] [ 3.59668555e-01 9.33051781e-01 7.27359276e-03 1.40611777e+02] [-2.32312012e-02 1.16168014e-03 9.99729444e-01 6.53972702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.960714057 meters Centerline goodness : 0.988069 Centerline is valid? [True, True] Translation: X:179.17, Y:140.62, Z:6.54 [[ 9.35973314e-01 -3.51369391e-01 2.22150078e-02 1.79167502e+02] [ 3.51303703e-01 9.36235971e-01 6.92200481e-03 1.40620902e+02] [-2.32306700e-02 1.32540272e-03 9.99729253e-01 6.53894603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.990714057 meters Centerline goodness : 0.988010 Centerline is valid? [True, True] Translation: X:179.20, Y:140.63, Z:6.54 [[ 9.36938648e-01 -3.48791522e-01 2.21459940e-02 1.79198978e+02] [ 3.48720391e-01 9.37199750e-01 7.12163268e-03 1.40631147e+02] [-2.32391851e-02 1.05022679e-03 9.99729382e-01 6.53805472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.020714057 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:179.23, Y:140.64, Z:6.54 [[ 9.38617604e-01 -3.44246731e-01 2.21626234e-02 1.79230120e+02] [ 3.44175470e-01 9.38878699e-01 7.07350502e-03 1.40639795e+02] [-2.32430460e-02 9.88515002e-04 9.99729355e-01 6.53508790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.050714057 meters Centerline goodness : 0.988341 Centerline is valid? [True, True] Translation: X:179.26, Y:140.65, Z:6.54 [[ 9.39009479e-01 -3.43175123e-01 2.21818368e-02 1.79259561e+02] [ 3.43104879e-01 9.39270884e-01 7.01777530e-03 1.40648802e+02] [-2.32430793e-02 1.02093889e-03 9.99729322e-01 6.53529464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.080714057 meters Centerline goodness : 0.987411 Centerline is valid? [True, True] Translation: X:179.29, Y:140.66, Z:6.53 [[ 9.39081716e-01 -3.42978481e-01 2.21651071e-02 1.79290834e+02] [ 3.42907040e-01 9.39342765e-01 7.06618903e-03 1.40657782e+02] [-2.32441838e-02 9.64842354e-04 9.99729352e-01 6.53466643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.110714057 meters Centerline goodness : 0.988751 Centerline is valid? [True, True] Translation: X:179.32, Y:140.66, Z:6.54 [[ 9.39449977e-01 -3.41967107e-01 2.21864485e-02 1.79322074e+02] [ 3.41896842e-01 9.39711385e-01 7.00446230e-03 1.40664523e+02] [-2.32441540e-02 1.00513472e-03 9.99729313e-01 6.53630174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.140714057 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:179.35, Y:140.67, Z:6.54 [[ 9.39131288e-01 -3.42842265e-01 2.21721808e-02 1.79353663e+02] [ 3.42771274e-01 9.39392471e-01 7.04552911e-03 1.40674023e+02] [-2.32438848e-02 9.83309814e-04 9.99729341e-01 6.53693073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.170714057 meters Centerline goodness : 0.989356 Centerline is valid? [True, True] Translation: X:179.38, Y:140.68, Z:6.54 [[ 9.39349243e-01 -3.42243528e-01 2.21893499e-02 1.79380124e+02] [ 3.42173536e-01 9.39610731e-01 6.99609900e-03 1.40681572e+02] [-2.32437209e-02 1.02082802e-03 9.99729307e-01 6.53959169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.200714057 meters Centerline goodness : 0.989082 Centerline is valid? [True, True] Translation: X:179.41, Y:140.69, Z:6.54 [[ 9.39210356e-01 -3.42630341e-01 2.20987784e-02 1.79412586e+02] [ 3.42554332e-01 9.39469999e-01 7.25607160e-03 1.40689751e+02] [-2.32472896e-02 7.55054652e-04 9.99729460e-01 6.53959894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.230714057 meters Centerline goodness : 0.989791 Centerline is valid? [True, True] Translation: X:179.44, Y:140.69, Z:6.54 [[ 9.39964863e-01 -3.40551898e-01 2.21463452e-02 1.79444845e+02] [ 3.40478529e-01 9.40225337e-01 7.11945688e-03 1.40694762e+02] [-2.32470995e-02 8.48315735e-04 9.99729390e-01 6.53869731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.26071405700003 meters Centerline goodness : 0.989907 Centerline is valid? [True, True] Translation: X:179.47, Y:140.70, Z:6.54 [[ 9.39009804e-01 -3.43175869e-01 2.21564947e-02 1.79469307e+02] [ 3.43103919e-01 9.39270691e-01 7.09008491e-03 1.40703487e+02] [-2.32440921e-02 9.44320907e-04 9.99729374e-01 6.53864958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.290714057 meters Centerline goodness : 0.989665 Centerline is valid? [True, True] Translation: X:179.51, Y:140.71, Z:6.54 [[ 9.39840055e-01 -3.40905469e-01 2.20029889e-02 1.79506200e+02] [ 3.40822480e-01 9.40097487e-01 7.53337689e-03 1.40706342e+02] [-2.32531240e-02 4.18943896e-04 9.99729522e-01 6.53615688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.320714057 meters Centerline goodness : 0.990546 Centerline is valid? [True, True] Translation: X:179.54, Y:140.71, Z:6.54 [[ 9.39432621e-01 -3.42021382e-01 2.20844901e-02 1.79535544e+02] [ 3.41944216e-01 9.39691913e-01 7.29814036e-03 1.40714146e+02] [-2.32487368e-02 6.95552505e-04 9.99729470e-01 6.53560702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.350714057 meters Centerline goodness : 0.990285 Centerline is valid? [True, True] Translation: X:179.57, Y:140.72, Z:6.53 [[ 9.39805169e-01 -3.40999656e-01 2.20335890e-02 1.79568857e+02] [ 3.40918763e-01 9.40063280e-01 7.44498348e-03 1.40720609e+02] [-2.32517047e-02 5.14829943e-04 9.99729510e-01 6.53477687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.380714057 meters Centerline goodness : 0.991586 Centerline is valid? [True, True] Translation: X:179.59, Y:140.73, Z:6.53 [[ 9.36126679e-01 -3.50969618e-01 2.20719079e-02 1.79592467e+02] [ 3.50894070e-01 9.36386435e-01 7.33459400e-03 1.40728811e+02] [-2.32420548e-02 8.78792460e-04 9.99729481e-01 6.53151814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.410714057 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:179.62, Y:140.73, Z:6.53 [[ 9.34924470e-01 -3.54166177e-01 2.19671181e-02 1.79617319e+02] [ 3.54084425e-01 9.35182287e-01 7.63605304e-03 1.40732124e+02] [-2.32476914e-02 6.39081538e-04 9.99729532e-01 6.53028373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.440714057 meters Centerline goodness : 0.991103 Centerline is valid? [True, True] Translation: X:179.66, Y:140.73, Z:6.53 [[ 9.37130947e-01 -3.48292432e-01 2.18625373e-02 1.79664078e+02] [ 3.48202025e-01 9.37385914e-01 7.93716214e-03 1.40733424e+02] [-2.32580881e-02 1.74419501e-04 9.99729479e-01 6.52863191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.470714057 meters Centerline goodness : 0.990883 Centerline is valid? [True, True] Translation: X:179.69, Y:140.74, Z:6.53 [[ 9.36679677e-01 -3.49486817e-01 2.21392718e-02 1.79694859e+02] [ 3.49415493e-01 9.36940693e-01 7.13796356e-03 1.40739830e+02] [-2.32378088e-02 1.04981914e-03 9.99729414e-01 6.52901587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.500714057 meters Centerline goodness : 0.990802 Centerline is valid? [True, True] Translation: X:179.73, Y:140.74, Z:6.53 [[ 9.34909675e-01 -3.54195247e-01 2.21275009e-02 1.79728324e+02] [ 3.54124433e-01 9.35170812e-01 7.17197483e-03 1.40744244e+02] [-2.32332724e-02 1.13074006e-03 9.99729432e-01 6.53000419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.530714057 meters Centerline goodness : 0.990995 Centerline is valid? [True, True] Translation: X:179.76, Y:140.75, Z:6.53 [[ 9.33146008e-01 -3.58814819e-01 2.21461913e-02 1.79755121e+02] [ 3.58746576e-01 9.33407857e-01 7.11802198e-03 1.40753262e+02] [-2.32254808e-02 1.30271652e-03 9.99729403e-01 6.52714255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.560714057 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:179.78, Y:140.76, Z:6.53 [[ 9.31254518e-01 -3.63699818e-01 2.20786220e-02 1.79784504e+02] [ 3.63628332e-01 9.31515410e-01 7.31287467e-03 1.40758339e+02] [-2.32262678e-02 1.21826490e-03 9.99729492e-01 6.52795289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.590714057 meters Centerline goodness : 0.990068 Centerline is valid? [True, True] Translation: X:179.82, Y:140.77, Z:6.53 [[ 9.30274434e-01 -3.66201769e-01 2.20395417e-02 1.79816546e+02] [ 3.66128323e-01 9.30534747e-01 7.42537517e-03 1.40766715e+02] [-2.32277449e-02 1.16166376e-03 9.99729525e-01 6.52763322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.620714057 meters Centerline goodness : 0.989585 Centerline is valid? [True, True] Translation: X:179.85, Y:140.77, Z:6.53 [[ 9.29015757e-01 -3.69382322e-01 2.20550310e-02 1.79850458e+02] [ 3.69310823e-01 9.29276622e-01 7.38076033e-03 1.40773088e+02] [-2.32215471e-02 1.28831900e-03 9.99729513e-01 6.52705331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.650714057 meters Centerline goodness : 0.989315 Centerline is valid? [True, True] Translation: X:179.88, Y:140.78, Z:6.53 [[ 9.28513563e-01 -3.70640397e-01 2.20966069e-02 1.79879350e+02] [ 3.70572092e-01 9.28775325e-01 7.26090487e-03 1.40781514e+02] [-2.32139679e-02 1.44653720e-03 9.99729473e-01 6.52647196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.680714057 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:179.91, Y:140.79, Z:6.53 [[ 9.27328359e-01 -3.73598140e-01 2.20577756e-02 1.79910792e+02] [ 3.73528017e-01 9.27589599e-01 7.37272936e-03 1.40791026e+02] [-2.32150012e-02 1.40225614e-03 9.99729512e-01 6.52723357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.710714057 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:179.94, Y:140.80, Z:6.53 [[ 9.27520371e-01 -3.73119954e-01 2.20785248e-02 1.79942108e+02] [ 3.73051114e-01 9.27781972e-01 7.31294205e-03 1.40798135e+02] [-2.32126619e-02 1.45351557e-03 9.99729493e-01 6.52690681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.740714057 meters Centerline goodness : 0.989659 Centerline is valid? [True, True] Translation: X:179.97, Y:140.81, Z:6.53 [[ 9.27264824e-01 -3.73752897e-01 2.21069764e-02 1.79971922e+02] [ 3.73686185e-01 9.27527008e-01 7.23083066e-03 1.40808590e+02] [-2.32073615e-02 1.55617674e-03 9.99729462e-01 6.52702691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.770714057 meters Centerline goodness : 0.989470 Centerline is valid? [True, True] Translation: X:180.00, Y:140.82, Z:6.53 [[ 9.27432079e-01 -3.73339237e-01 2.20806125e-02 1.80001733e+02] [ 3.73270605e-01 9.27693735e-01 7.30677738e-03 1.40817294e+02] [-2.32119525e-02 1.46550384e-03 9.99729492e-01 6.52774426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.800714057 meters Centerline goodness : 0.990043 Centerline is valid? [True, True] Translation: X:180.03, Y:140.83, Z:6.53 [[ 9.27812291e-01 -3.72394306e-01 2.20642928e-02 1.80032365e+02] [ 3.72324293e-01 9.28073565e-01 7.35377529e-03 1.40827121e+02] [-2.32157909e-02 1.39214911e-03 9.99729508e-01 6.52646524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.830714057 meters Centerline goodness : 0.989848 Centerline is valid? [True, True] Translation: X:180.06, Y:140.84, Z:6.53 [[ 9.28409435e-01 -3.70902619e-01 2.20719012e-02 1.80062169e+02] [ 3.70832706e-01 9.28670743e-01 7.33186068e-03 1.40836352e+02] [-2.32169352e-02 1.37801421e-03 9.99729501e-01 6.52568637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.860714057 meters Centerline goodness : 0.991165 Centerline is valid? [True, True] Translation: X:180.10, Y:140.85, Z:6.53 [[ 9.29663041e-01 -3.67750763e-01 2.20455357e-02 1.80098387e+02] [ 3.67678169e-01 9.29923594e-01 7.40768422e-03 1.40846472e+02] [-2.32248453e-02 1.21901195e-03 9.99729524e-01 6.52524160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.890714057 meters Centerline goodness : 0.990686 Centerline is valid? [True, True] Translation: X:180.13, Y:140.86, Z:6.53 [[ 9.30724488e-01 -3.65048213e-01 2.21749746e-02 1.80127079e+02] [ 3.64983693e-01 9.30987332e-01 7.03503017e-03 1.40855874e+02] [-2.32127457e-02 1.54582927e-03 9.99729353e-01 6.52556714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.920714057 meters Centerline goodness : 0.988610 Centerline is valid? [True, True] Translation: X:180.16, Y:140.86, Z:6.53 [[ 9.31811543e-01 -3.62265461e-01 2.21581617e-02 1.80155952e+02] [ 3.62199005e-01 9.32073873e-01 7.08354341e-03 1.40864355e+02] [-2.32191667e-02 1.42513659e-03 9.99729383e-01 6.52518014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.950714057 meters Centerline goodness : 0.990261 Centerline is valid? [True, True] Translation: X:180.19, Y:140.88, Z:6.53 [[ 9.32865858e-01 -3.59544035e-01 2.21218828e-02 1.80189081e+02] [ 3.59474336e-01 9.33127287e-01 7.18809119e-03 1.40875361e+02] [-2.32269678e-02 1.24672429e-03 9.99729440e-01 6.52642098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.980714057 meters Centerline goodness : 0.990414 Centerline is valid? [True, True] Translation: X:180.22, Y:140.89, Z:6.53 [[ 9.32284378e-01 -3.61046125e-01 2.21705677e-02 1.80223133e+02] [ 3.60980174e-01 9.32546858e-01 7.04776419e-03 1.40886218e+02] [-2.32196612e-02 1.43261492e-03 9.99729361e-01 6.52610496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.01071405700003 meters Centerline goodness : 0.991408 Centerline is valid? [True, True] Translation: X:180.25, Y:140.90, Z:6.52 [[ 9.32608057e-01 -3.60206418e-01 2.22159380e-02 1.80254616e+02] [ 3.60143318e-01 9.32871339e-01 6.91772657e-03 1.40896212e+02] [-2.32164213e-02 1.54939409e-03 9.99729262e-01 6.52346173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.040714057 meters Centerline goodness : 0.990692 Centerline is valid? [True, True] Translation: X:180.28, Y:140.90, Z:6.52 [[ 9.34786965e-01 -3.54511153e-01 2.22524611e-02 1.80278627e+02] [ 3.54448932e-01 9.35050553e-01 6.81308619e-03 1.40904643e+02] [-2.32224911e-02 1.51857690e-03 9.99729168e-01 6.52248855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.070714057 meters Centerline goodness : 0.986286 Centerline is valid? [True, True] Translation: X:180.30, Y:140.91, Z:6.52 [[ 9.34407108e-01 -3.55517861e-01 2.21451553e-02 1.80298349e+02] [ 3.55448508e-01 9.34668700e-01 7.12591086e-03 1.40914034e+02] [-2.32317721e-02 1.21296065e-03 9.99729370e-01 6.51654843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.100714057 meters Centerline goodness : 0.990002 Centerline is valid? [True, True] Translation: X:180.34, Y:140.92, Z:6.52 [[ 9.37065126e-01 -3.48466686e-01 2.19070251e-02 1.80338105e+02] [ 3.48379067e-01 9.37321117e-01 7.81980592e-03 1.40920811e+02] [-2.32588591e-02 3.04281558e-04 9.99729430e-01 6.52280984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.130714057 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:180.36, Y:140.94, Z:6.52 [[ 9.34547276e-01 -3.55149446e-01 2.21418026e-02 1.80355734e+02] [ 3.55079573e-01 9.34808785e-01 7.14371855e-03 1.40936724e+02] [-2.32354393e-02 1.18595909e-03 9.99729317e-01 6.52093971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.160714057 meters Centerline goodness : 0.992337 Centerline is valid? [True, True] Translation: X:180.39, Y:140.95, Z:6.52 [[ 9.35628840e-01 -3.52301195e-01 2.19668402e-02 1.80386863e+02] [ 3.52218689e-01 9.35886493e-01 7.64636860e-03 1.40945293e+02] [-2.32522938e-02 5.82968675e-04 9.99729459e-01 6.52149730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.190714057 meters Centerline goodness : 0.990672 Centerline is valid? [True, True] Translation: X:180.43, Y:140.95, Z:6.52 [[ 9.40413392e-01 -3.39322894e-01 2.19687467e-02 1.80434888e+02] [ 3.39236959e-01 9.40669922e-01 7.64088705e-03 1.40945643e+02] [-2.32580672e-02 2.67018320e-04 9.99729459e-01 6.51860653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.220714057 meters Centerline goodness : 0.991278 Centerline is valid? [True, True] Translation: X:180.47, Y:140.95, Z:6.51 [[ 9.39754896e-01 -3.41123162e-01 2.22648534e-02 1.80468094e+02] [ 3.41057781e-01 9.40017826e-01 6.78799309e-03 1.40953570e+02] [-2.32449008e-02 1.21455177e-03 9.99729063e-01 6.51033244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.250714057 meters Centerline goodness : 0.990426 Centerline is valid? [True, True] Translation: X:180.49, Y:140.96, Z:6.52 [[ 9.39798030e-01 -3.41001355e-01 2.23100613e-02 1.80494667e+02] [ 3.40939022e-01 9.40061836e-01 6.65789593e-03 1.40961634e+02] [-2.32431888e-02 1.34929301e-03 9.99728930e-01 6.51504231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.280714057 meters Centerline goodness : 0.990171 Centerline is valid? [True, True] Translation: X:180.52, Y:140.97, Z:6.51 [[ 9.39046448e-01 -3.43070539e-01 2.22345047e-02 1.80524877e+02] [ 3.43003646e-01 9.39308914e-01 6.87487193e-03 1.40967889e+02] [-2.32436344e-02 1.17069210e-03 9.99729145e-01 6.51166970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.310714057 meters Centerline goodness : 0.990077 Centerline is valid? [True, True] Translation: X:180.56, Y:140.98, Z:6.51 [[ 9.37959511e-01 -3.46033181e-01 2.22034726e-02 1.80556594e+02] [ 3.45965014e-01 9.38221571e-01 6.96372889e-03 1.40976435e+02] [-2.32414582e-02 1.14992894e-03 9.99729219e-01 6.51106096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.340714057 meters Centerline goodness : 0.990837 Centerline is valid? [True, True] Translation: X:180.59, Y:140.99, Z:6.51 [[ 9.37608048e-01 -3.46983916e-01 2.22105993e-02 1.80589431e+02] [ 3.46916497e-01 9.37870318e-01 6.94335237e-03 1.40985690e+02] [-2.32398934e-02 1.19508023e-03 9.99729203e-01 6.50964532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.370714057 meters Centerline goodness : 0.989143 Centerline is valid? [True, True] Translation: X:180.61, Y:140.99, Z:6.51 [[ 9.35063377e-01 -3.53781167e-01 2.22568341e-02 1.80613821e+02] [ 3.53718787e-01 9.35327015e-01 6.81135032e-03 1.40992726e+02] [-2.32271456e-02 1.50361611e-03 9.99729083e-01 6.51051770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.400714057 meters Centerline goodness : 0.989901 Centerline is valid? [True, True] Translation: X:180.64, Y:141.00, Z:6.51 [[ 9.34955893e-01 -3.54073154e-01 2.21286999e-02 1.80643839e+02] [ 3.54002205e-01 9.35217054e-01 7.17639051e-03 1.41000512e+02] [-2.32361048e-02 1.12399997e-03 9.99729373e-01 6.50917221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.430714057 meters Centerline goodness : 0.989868 Centerline is valid? [True, True] Translation: X:180.67, Y:141.01, Z:6.51 [[ 9.33445453e-01 -3.58036340e-01 2.21261407e-02 1.80674629e+02] [ 3.57966327e-01 9.33706862e-01 7.18369315e-03 1.41008529e+02] [-2.32313526e-02 1.21482762e-03 9.99729378e-01 6.50888665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.460714057 meters Centerline goodness : 0.990318 Centerline is valid? [True, True] Translation: X:180.70, Y:141.02, Z:6.51 [[ 9.32050855e-01 -3.61652768e-01 2.21015796e-02 1.80702738e+02] [ 3.61582116e-01 9.32312051e-01 7.25348022e-03 1.41019051e+02] [-2.32288102e-02 1.23092348e-03 9.99729417e-01 6.50791330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.490714057 meters Centerline goodness : 0.989837 Centerline is valid? [True, True] Translation: X:180.73, Y:141.03, Z:6.51 [[ 9.31244822e-01 -3.63726226e-01 2.20525157e-02 1.80733556e+02] [ 3.63652863e-01 9.31505203e-01 7.39262580e-03 1.41027487e+02] [-2.32309250e-02 1.13511599e-03 9.99729481e-01 6.50726364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.520714057 meters Centerline goodness : 0.989578 Centerline is valid? [True, True] Translation: X:180.76, Y:141.04, Z:6.51 [[ 9.31592951e-01 -3.62833439e-01 2.20560234e-02 1.80761802e+02] [ 3.62760062e-01 9.31853333e-01 7.38267576e-03 1.41035524e+02] [-2.32316605e-02 1.12339573e-03 9.99729477e-01 6.50706690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.550714057 meters Centerline goodness : 0.989392 Centerline is valid? [True, True] Translation: X:180.79, Y:141.05, Z:6.51 [[ 9.31118928e-01 -3.64050095e-01 2.20243143e-02 1.80793117e+02] [ 3.63974930e-01 9.31378767e-01 7.47274056e-03 1.41045727e+02] [-2.32334306e-02 1.05828808e-03 9.99729507e-01 6.50666996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.580714057 meters Centerline goodness : 0.985033 Centerline is valid? [True, True] Translation: X:180.82, Y:141.05, Z:6.51 [[ 9.29047752e-01 -3.69303440e-01 2.20282466e-02 1.80815035e+02] [ 3.69230011e-01 9.29308090e-01 7.46146654e-03 1.41054859e+02] [-2.32265731e-02 1.20143103e-03 9.99729505e-01 6.50710203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.610714057 meters Centerline goodness : 0.989386 Centerline is valid? [True, True] Translation: X:180.85, Y:141.06, Z:6.51 [[ 9.29261006e-01 -3.68781228e-01 2.17804612e-02 1.80851136e+02] [ 3.68690995e-01 9.29516118e-01 8.16926201e-03 1.41059659e+02] [-2.32579602e-02 4.38883270e-04 9.99729401e-01 6.50647674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.640714057 meters Centerline goodness : 0.989313 Centerline is valid? [True, True] Translation: X:180.88, Y:141.07, Z:6.51 [[ 9.28927832e-01 -3.69605768e-01 2.20149784e-02 1.80882621e+02] [ 3.69531450e-01 9.29187934e-01 7.50267021e-03 1.41070535e+02] [-2.32290825e-02 1.16578774e-03 9.99729489e-01 6.50565137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.670714057 meters Centerline goodness : 0.990390 Centerline is valid? [True, True] Translation: X:180.91, Y:141.08, Z:6.51 [[ 9.27498490e-01 -3.73177233e-01 2.20295925e-02 1.80911170e+02] [ 3.73104901e-01 9.27759163e-01 7.46110663e-03 1.41078884e+02] [-2.32224714e-02 1.29918379e-03 9.99729478e-01 6.50539957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.700714057 meters Centerline goodness : 0.988742 Centerline is valid? [True, True] Translation: X:180.94, Y:141.09, Z:6.51 [[ 9.27354226e-01 -3.73537340e-01 2.19998925e-02 1.80943381e+02] [ 3.73463109e-01 9.27614343e-01 7.54557668e-03 1.41088796e+02] [-2.32259705e-02 1.21872584e-03 9.99729498e-01 6.50593422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.730714057 meters Centerline goodness : 0.990350 Centerline is valid? [True, True] Translation: X:180.97, Y:141.10, Z:6.50 [[ 9.26483245e-01 -3.75690044e-01 2.20405879e-02 1.80974347e+02] [ 3.75619162e-01 9.26744325e-01 7.42975950e-03 1.41098598e+02] [-2.32172764e-02 1.39531948e-03 9.99729469e-01 6.50417350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.76071405700003 meters Centerline goodness : 0.989275 Centerline is valid? [True, True] Translation: X:181.00, Y:141.11, Z:6.50 [[ 9.25666613e-01 -3.77697870e-01 2.20372399e-02 1.81004978e+02] [ 3.77627328e-01 9.25927782e-01 7.43927271e-03 1.41110138e+02] [-2.32146901e-02 1.43557766e-03 9.99729472e-01 6.50420037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.790714057 meters Centerline goodness : 0.989275 Centerline is valid? [True, True] Translation: X:181.04, Y:141.12, Z:6.50 [[ 9.25641364e-01 -3.77759491e-01 2.20416050e-02 1.81035596e+02] [ 3.77689261e-01 9.25902621e-01 7.42686886e-03 1.41120993e+02] [-2.32139501e-02 1.45026049e-03 9.99729468e-01 6.50344829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.820714057 meters Centerline goodness : 0.988973 Centerline is valid? [True, True] Translation: X:181.07, Y:141.13, Z:6.50 [[ 9.25615317e-01 -3.77823312e-01 2.20415523e-02 1.81067709e+02] [ 3.77753097e-01 9.25876578e-01 7.42701879e-03 1.41130718e+02] [-2.32138578e-02 1.45170228e-03 9.99729468e-01 6.50176107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.850714057 meters Centerline goodness : 0.988648 Centerline is valid? [True, True] Translation: X:181.10, Y:141.14, Z:6.50 [[ 9.24983766e-01 -3.79364852e-01 2.20758440e-02 1.81095416e+02] [ 3.79297387e-01 9.25245789e-01 7.32955218e-03 1.41143949e+02] [-2.32061562e-02 1.59359316e-03 9.99729431e-01 6.50231832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.880714057 meters Centerline goodness : 0.989633 Centerline is valid? [True, True] Translation: X:181.12, Y:141.16, Z:6.50 [[ 9.24310939e-01 -3.81002807e-01 2.20487946e-02 1.81124206e+02] [ 3.80933980e-01 9.24572576e-01 7.40639121e-03 1.41155604e+02] [-2.32075666e-02 1.55332668e-03 9.99729461e-01 6.50317495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.910714057 meters Centerline goodness : 0.984538 Centerline is valid? [True, True] Translation: X:181.14, Y:141.17, Z:6.50 [[ 9.21753511e-01 -3.87150608e-01 2.20197897e-02 1.81137856e+02] [ 3.87081549e-01 9.22015066e-01 7.48944864e-03 1.41168996e+02] [-2.32021224e-02 1.62002872e-03 9.99729482e-01 6.50267889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.940714057 meters Centerline goodness : 0.989519 Centerline is valid? [True, True] Translation: X:181.18, Y:141.18, Z:6.50 [[ 9.23080744e-01 -3.83990315e-01 2.17572611e-02 1.81176158e+02] [ 3.83902617e-01 9.23336819e-01 8.24016550e-03 1.41177146e+02] [-2.32534240e-02 7.46331367e-04 9.99729324e-01 6.50057889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.970714057 meters Centerline goodness : 0.990353 Centerline is valid? [True, True] Translation: X:181.21, Y:141.19, Z:6.50 [[ 9.22353756e-01 -3.85716169e-01 2.20586977e-02 1.81206003e+02] [ 3.85649169e-01 9.22615936e-01 7.38596607e-03 1.41189927e+02] [-2.32005926e-02 1.69444491e-03 9.99729394e-01 6.50006664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.000714057 meters Centerline goodness : 0.984879 Centerline is valid? [True, True] Translation: X:181.22, Y:141.20, Z:6.50 [[ 9.19376818e-01 -3.92759941e-01 2.20430480e-02 1.81221828e+02] [ 3.92693879e-01 9.19639223e-01 7.43080061e-03 1.41202633e+02] [-2.31901724e-02 1.82446422e-03 9.99729407e-01 6.49825217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.030714057 meters Centerline goodness : 0.984734 Centerline is valid? [True, True] Translation: X:181.25, Y:141.21, Z:6.50 [[ 9.18684539e-01 -3.94393288e-01 2.17405547e-02 1.81248399e+02] [ 3.94307229e-01 9.18941253e-01 8.29358727e-03 1.41212424e+02] [-2.32492278e-02 9.53267493e-04 9.99729246e-01 6.49663296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.060714057 meters Centerline goodness : 0.984522 Centerline is valid? [True, True] Translation: X:181.27, Y:141.22, Z:6.49 [[ 9.17042921e-01 -3.98196264e-01 2.17259304e-02 1.81273769e+02] [ 3.98110285e-01 9.17299692e-01 8.33527554e-03 1.41223044e+02] [-2.32482649e-02 1.00551092e-03 9.99729217e-01 6.49421656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.090714057 meters Centerline goodness : 0.983983 Centerline is valid? [True, True] Translation: X:181.30, Y:141.23, Z:6.49 [[ 9.15164436e-01 -4.02495017e-01 2.17213341e-02 1.81298442e+02] [ 4.02409934e-01 9.15421515e-01 8.34837825e-03 1.41233912e+02] [-2.32443572e-02 1.10074176e-03 9.99729207e-01 6.49414203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.120714057 meters Centerline goodness : 0.984396 Centerline is valid? [True, True] Translation: X:181.32, Y:141.24, Z:6.50 [[ 9.14940170e-01 -4.03004073e-01 2.17302292e-02 1.81323746e+02] [ 4.02919733e-01 9.15197474e-01 8.32297943e-03 1.41243242e+02] [-2.32416455e-02 1.14050993e-03 9.99729226e-01 6.49580147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.150714057 meters Centerline goodness : 0.989872 Centerline is valid? [True, True] Translation: X:181.36, Y:141.25, Z:6.50 [[ 9.15645851e-01 -4.01399915e-01 2.16975674e-02 1.81358530e+02] [ 4.01312924e-01 9.15902345e-01 8.41613131e-03 1.41251587e+02] [-2.32510872e-02 1.00131850e-03 9.99729155e-01 6.49533047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.180714057 meters Centerline goodness : 0.989296 Centerline is valid? [True, True] Translation: X:181.39, Y:141.27, Z:6.50 [[ 9.15151190e-01 -4.02518277e-01 2.18480461e-02 1.81386392e+02] [ 4.02441857e-01 9.15410742e-01 7.98285337e-03 1.41265155e+02] [-2.32131805e-02 1.48705049e-03 9.99729432e-01 6.49594911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.210714057 meters Centerline goodness : 0.983278 Centerline is valid? [True, True] Translation: X:181.41, Y:141.28, Z:6.50 [[ 9.13325878e-01 -4.06642746e-01 2.18521759e-02 1.81406194e+02] [ 4.06567779e-01 9.13585849e-01 7.97103002e-03 1.41278664e+02] [-2.32052002e-02 1.60424262e-03 9.99729436e-01 6.49621088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.240714057 meters Centerline goodness : 0.983190 Centerline is valid? [True, True] Translation: X:181.43, Y:141.29, Z:6.50 [[ 9.13561377e-01 -4.06119086e-01 2.17462404e-02 1.81433395e+02] [ 4.06036767e-01 9.13819279e-01 8.27463166e-03 1.41290436e+02] [-2.32326195e-02 1.27038924e-03 9.99729279e-01 6.49516824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.270714057 meters Centerline goodness : 0.990915 Centerline is valid? [True, True] Translation: X:181.47, Y:141.30, Z:6.49 [[ 9.14723719e-01 -4.03494357e-01 2.17444588e-02 1.81466582e+02] [ 4.03411177e-01 9.14981348e-01 8.27973973e-03 1.41300012e+02] [-2.32366025e-02 1.19828339e-03 9.99729276e-01 6.49383254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.300714057 meters Centerline goodness : 0.983512 Centerline is valid? [True, True] Translation: X:181.48, Y:141.31, Z:6.50 [[ 9.15118854e-01 -4.02589502e-01 2.18900910e-02 1.81483652e+02] [ 4.02515997e-01 9.15379198e-01 7.86099291e-03 1.41313641e+02] [-2.32024872e-02 1.61736899e-03 9.99729478e-01 6.49603353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.330714057 meters Centerline goodness : 0.990632 Centerline is valid? [True, True] Translation: X:181.52, Y:141.32, Z:6.49 [[ 9.16788490e-01 -3.98781612e-01 2.17276363e-02 1.81517555e+02] [ 3.98695959e-01 9.17045348e-01 8.32838978e-03 1.41324317e+02] [-2.32464365e-02 1.02734892e-03 9.99729237e-01 6.49333648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.360714057 meters Centerline goodness : 0.982565 Centerline is valid? [True, True] Translation: X:181.54, Y:141.34, Z:6.50 [[ 9.17100660e-01 -3.98053723e-01 2.19000744e-02 1.81538139e+02] [ 3.97979663e-01 9.17360822e-01 7.83006555e-03 1.41340866e+02] [-2.32070570e-02 1.53482594e-03 9.99729502e-01 6.49662583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.390714057 meters Centerline goodness : 0.982978 Centerline is valid? [True, True] Translation: X:181.57, Y:141.35, Z:6.50 [[ 9.17957057e-01 -3.96085817e-01 2.16994788e-02 1.81565715e+02] [ 3.95997530e-01 9.18213080e-01 8.40810772e-03 1.41351673e+02] [-2.32550775e-02 8.74658190e-04 9.99729182e-01 6.49636398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.420714057 meters Centerline goodness : 0.983784 Centerline is valid? [True, True] Translation: X:181.59, Y:141.36, Z:6.49 [[ 9.19382902e-01 -3.92765653e-01 2.16845809e-02 1.81589567e+02] [ 3.92675433e-01 9.19638291e-01 8.45090399e-03 1.41363995e+02] [-2.32611957e-02 7.45385559e-04 9.99729144e-01 6.49417671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.450714057 meters Centerline goodness : 0.984319 Centerline is valid? [True, True] Translation: X:181.62, Y:141.38, Z:6.49 [[ 9.20546374e-01 -3.90029353e-01 2.17135229e-02 1.81621795e+02] [ 3.89940346e-01 9.20802106e-01 8.36707097e-03 1.41375744e+02] [-2.32572609e-02 7.64701771e-04 9.99729221e-01 6.48847829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.480714057 meters Centerline goodness : 0.983911 Centerline is valid? [True, True] Translation: X:181.65, Y:141.39, Z:6.49 [[ 9.20937425e-01 -3.89103591e-01 2.17406305e-02 1.81652242e+02] [ 3.89016186e-01 9.21193636e-01 8.28804464e-03 1.41388406e+02] [-2.32522384e-02 8.24686692e-04 9.99729290e-01 6.48940240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.51071405700003 meters Centerline goodness : 0.983184 Centerline is valid? [True, True] Translation: X:181.68, Y:141.40, Z:6.49 [[ 9.22571215e-01 -3.85211132e-01 2.17884724e-02 1.81677914e+02] [ 3.85125915e-01 9.22828056e-01 8.14915226e-03 1.41402482e+02] [-2.32461578e-02 8.73132078e-04 9.99729390e-01 6.49042806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.540714057 meters Centerline goodness : 0.984501 Centerline is valid? [True, True] Translation: X:181.71, Y:141.41, Z:6.49 [[ 9.24119787e-01 -3.81484740e-01 2.17258434e-02 1.81705728e+02] [ 3.81394218e-01 9.24374950e-01 8.33080944e-03 1.41412047e+02] [-2.32609021e-02 5.87445231e-04 9.99729256e-01 6.48979713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.570714057 meters Centerline goodness : 0.984193 Centerline is valid? [True, True] Translation: X:181.74, Y:141.43, Z:6.49 [[ 9.25260268e-01 -3.78708888e-01 2.17488765e-02 1.81735005e+02] [ 3.78619184e-01 9.25515657e-01 8.26332098e-03 1.41427378e+02] [-2.32583188e-02 5.88819270e-04 9.99729315e-01 6.48931143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.600714057 meters Centerline goodness : 0.989084 Centerline is valid? [True, True] Translation: X:181.77, Y:141.44, Z:6.49 [[ 9.27860867e-01 -3.72291652e-01 2.17517147e-02 1.81774550e+02] [ 3.72200375e-01 9.28115691e-01 8.25500690e-03 1.41438405e+02] [-2.32613779e-02 4.36498525e-04 9.99729322e-01 6.48500212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.630714057 meters Centerline goodness : 0.983475 Centerline is valid? [True, True] Translation: X:181.79, Y:141.45, Z:6.49 [[ 9.26769411e-01 -3.74978594e-01 2.21249212e-02 1.81791569e+02] [ 3.74914020e-01 9.27031976e-01 7.15490729e-03 1.41451363e+02] [-2.31934465e-02 1.66399392e-03 9.99729611e-01 6.48778898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.660714057 meters Centerline goodness : 0.983408 Centerline is valid? [True, True] Translation: X:181.82, Y:141.46, Z:6.49 [[ 9.27312106e-01 -3.73654867e-01 2.17784090e-02 1.81821861e+02] [ 3.73565837e-01 9.27567643e-01 8.17512711e-03 1.41463256e+02] [-2.32556235e-02 5.54775244e-04 9.99729397e-01 6.48525420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.690714057 meters Centerline goodness : 0.983324 Centerline is valid? [True, True] Translation: X:181.85, Y:141.47, Z:6.48 [[ 9.27697127e-01 -3.72698973e-01 2.17604197e-02 1.81853769e+02] [ 3.72608437e-01 9.27952181e-01 8.22815290e-03 1.41473517e+02] [-2.32592531e-02 4.74882176e-04 9.99729354e-01 6.48360507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.720714057 meters Centerline goodness : 0.988344 Centerline is valid? [True, True] Translation: X:181.90, Y:141.48, Z:6.48 [[ 9.29429390e-01 -3.68355836e-01 2.17942272e-02 1.81897139e+02] [ 3.68266456e-01 9.29684762e-01 8.12783793e-03 1.41481861e+02] [-2.32556975e-02 4.71831368e-04 9.99729438e-01 6.48196622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.750714057 meters Centerline goodness : 0.983501 Centerline is valid? [True, True] Translation: X:181.91, Y:141.49, Z:6.48 [[ 9.26734443e-01 -3.75061315e-01 2.21874527e-02 1.81913284e+02] [ 3.75001582e-01 9.26998104e-01 6.95192305e-03 1.41494586e+02] [-2.31751239e-02 1.87774332e-03 9.99729657e-01 6.48375456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.780714057 meters Centerline goodness : 0.988911 Centerline is valid? [True, True] Translation: X:181.95, Y:141.50, Z:6.48 [[ 9.28029287e-01 -3.71864909e-01 2.18662476e-02 1.81953455e+02] [ 3.71781550e-01 9.28286524e-01 7.91253305e-03 1.41501523e+02] [-2.32405364e-02 7.86405019e-04 9.99729593e-01 6.48071475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.810714057 meters Centerline goodness : 0.989235 Centerline is valid? [True, True] Translation: X:181.98, Y:141.51, Z:6.48 [[ 9.26261743e-01 -3.76234464e-01 2.20637817e-02 1.81981163e+02] [ 3.76166317e-01 9.26523243e-01 7.32003579e-03 1.41514055e+02] [-2.31966563e-02 1.51938237e-03 9.99729767e-01 6.47935299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.840714057 meters Centerline goodness : 0.983693 Centerline is valid? [True, True] Translation: X:182.00, Y:141.53, Z:6.48 [[ 9.24318214e-01 -3.80986770e-01 2.20209056e-02 1.82003415e+02] [ 3.80916921e-01 9.24579267e-01 7.44841316e-03 1.41526301e+02] [-2.31978197e-02 1.50343162e-03 9.99729764e-01 6.47621795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.870714057 meters Centerline goodness : 0.988673 Centerline is valid? [True, True] Translation: X:182.04, Y:141.53, Z:6.48 [[ 9.24881385e-01 -3.79628113e-01 2.18384989e-02 1.82039738e+02] [ 3.79545005e-01 9.25138743e-01 7.99344491e-03 1.41533095e+02] [-2.32381779e-02 8.95704799e-04 9.99729556e-01 6.47704282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.900714057 meters Centerline goodness : 0.983415 Centerline is valid? [True, True] Translation: X:182.06, Y:141.55, Z:6.47 [[ 9.22556341e-01 -3.85235154e-01 2.19925639e-02 1.82061119e+02] [ 3.85164525e-01 9.22817186e-01 7.53193796e-03 1.41546697e+02] [-2.31966832e-02 1.52211828e-03 9.99729762e-01 6.47161317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.930714057 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:182.10, Y:141.56, Z:6.47 [[ 9.21049562e-01 -3.88831692e-01 2.18545335e-02 1.82096428e+02] [ 3.88752288e-01 9.21308053e-01 7.94544758e-03 1.41559036e+02] [-2.32241995e-02 1.17784890e-03 9.99729588e-01 6.47117034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.960714057 meters Centerline goodness : 0.983500 Centerline is valid? [True, True] Translation: X:182.12, Y:141.57, Z:6.47 [[ 9.20277419e-01 -3.90644342e-01 2.20560854e-02 1.82119940e+02] [ 3.90579811e-01 9.20539808e-01 7.33979947e-03 1.41570209e+02] [-2.31707558e-02 1.86000996e-03 9.99729792e-01 6.47054680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.990714057 meters Centerline goodness : 0.991791 Centerline is valid? [True, True] Translation: X:182.15, Y:141.58, Z:6.47 [[ 9.19794511e-01 -3.91789344e-01 2.18899148e-02 1.82154561e+02] [ 3.91713314e-01 9.20053937e-01 7.83797277e-03 1.41581487e+02] [-2.32107365e-02 1.36524674e-03 9.99729662e-01 6.46962450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.020714057 meters Centerline goodness : 0.989286 Centerline is valid? [True, True] Translation: X:182.20, Y:141.58, Z:6.47 [[ 9.23503604e-01 -3.82955061e-01 2.20570706e-02 1.82197976e+02] [ 3.82888449e-01 9.23765462e-01 7.33535342e-03 1.41584722e+02] [-2.31846707e-02 1.67117222e-03 9.99729803e-01 6.46935881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.050714057 meters Centerline goodness : 0.989656 Centerline is valid? [True, True] Translation: X:182.23, Y:141.60, Z:6.47 [[ 9.22844881e-01 -3.84528671e-01 2.22491850e-02 1.82230027e+02] [ 3.84476296e-01 9.23110137e-01 6.75674756e-03 1.41597367e+02] [-2.31366114e-02 2.31885432e-03 9.99729624e-01 6.47086135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.080714057 meters Centerline goodness : 0.991751 Centerline is valid? [True, True] Translation: X:182.24, Y:141.62, Z:6.47 [[ 9.18247068e-01 -3.95380739e-01 2.22798683e-02 1.82243251e+02] [ 3.95333711e-01 9.18513388e-01 6.66434183e-03 1.41616392e+02] [-2.30993097e-02 2.68847068e-03 9.99729560e-01 6.46881685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.110714057 meters Centerline goodness : 0.989336 Centerline is valid? [True, True] Translation: X:182.29, Y:141.62, Z:6.47 [[ 9.21553265e-01 -3.87625213e-01 2.20516297e-02 1.82285232e+02] [ 3.87559596e-01 9.21815355e-01 7.34920175e-03 1.41621090e+02] [-2.31762668e-02 1.77363985e-03 9.99729821e-01 6.46891363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.140714057 meters Centerline goodness : 0.982582 Centerline is valid? [True, True] Translation: X:182.31, Y:141.63, Z:6.47 [[ 9.20003997e-01 -3.91278275e-01 2.22251339e-02 1.82305711e+02] [ 3.91226401e-01 9.20269220e-01 6.81663385e-03 1.41634340e+02] [-2.31203074e-02 2.42372876e-03 9.99729752e-01 6.46667632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.170714057 meters Centerline goodness : 0.982392 Centerline is valid? [True, True] Translation: X:182.34, Y:141.65, Z:6.46 [[ 9.20399156e-01 -3.90364133e-01 2.19371377e-02 1.82336053e+02] [ 3.90291016e-01 9.20659363e-01 7.69803830e-03 1.41645088e+02] [-2.32016693e-02 1.47659980e-03 9.99729715e-01 6.46439085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.200714057 meters Centerline goodness : 0.982502 Centerline is valid? [True, True] Translation: X:182.37, Y:141.65, Z:6.46 [[ 9.20621482e-01 -3.89840060e-01 2.19274688e-02 1.82366618e+02] [ 3.89766093e-01 9.20881467e-01 7.72767016e-03 1.41654919e+02] [-2.32051551e-02 1.43232470e-03 9.99729698e-01 6.46151939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.230714057 meters Centerline goodness : 0.983346 Centerline is valid? [True, True] Translation: X:182.40, Y:141.67, Z:6.46 [[ 9.21251259e-01 -3.88347675e-01 2.19590849e-02 1.82397482e+02] [ 3.88275592e-01 9.21511716e-01 7.63032422e-03 1.41665487e+02] [-2.31987727e-02 1.49673090e-03 9.99729752e-01 6.46311541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.26071405700003 meters Centerline goodness : 0.989392 Centerline is valid? [True, True] Translation: X:182.44, Y:141.67, Z:6.46 [[ 9.24427525e-01 -3.80725886e-01 2.19442702e-02 1.82436091e+02] [ 3.80650575e-01 9.24687093e-01 7.67597137e-03 1.41673456e+02] [-2.32140245e-02 1.25721986e-03 9.99729728e-01 6.46294765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.290714057 meters Centerline goodness : 0.988848 Centerline is valid? [True, True] Translation: X:182.47, Y:141.69, Z:6.46 [[ 9.24469750e-01 -3.80607941e-01 2.22098353e-02 1.82466495e+02] [ 3.80551771e-01 9.24734111e-01 6.86836539e-03 1.41688817e+02] [-2.31523467e-02 2.10239611e-03 9.99729738e-01 6.46258765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.320714057 meters Centerline goodness : 0.989121 Centerline is valid? [True, True] Translation: X:182.50, Y:141.70, Z:6.46 [[ 9.25077693e-01 -3.79126997e-01 2.22257277e-02 1.82497909e+02] [ 3.79071553e-01 9.25342230e-01 6.82017826e-03 1.41699826e+02] [-2.31521181e-02 2.11594633e-03 9.99729715e-01 6.46276822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.350714057 meters Centerline goodness : 0.989233 Centerline is valid? [True, True] Translation: X:182.53, Y:141.71, Z:6.46 [[ 9.25823786e-01 -3.77299281e-01 2.22614015e-02 1.82525065e+02] [ 3.77245895e-01 9.26088810e-01 6.71200960e-03 1.41711182e+02] [-2.31484712e-02 2.18388421e-03 9.99729653e-01 6.46059223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.380714057 meters Centerline goodness : 0.989696 Centerline is valid? [True, True] Translation: X:182.55, Y:141.72, Z:6.46 [[ 9.26735945e-01 -3.75056074e-01 2.22132997e-02 1.82554700e+02] [ 3.74998576e-01 9.27000023e-01 6.85757914e-03 1.41724904e+02] [-2.31637061e-02 1.97479069e-03 9.99729735e-01 6.46073551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.410714057 meters Centerline goodness : 0.989260 Centerline is valid? [True, True] Translation: X:182.58, Y:141.74, Z:6.46 [[ 9.27798365e-01 -3.72418820e-01 2.22354752e-02 1.82582056e+02] [ 3.72362170e-01 9.28062662e-01 6.79046260e-03 1.41736579e+02] [-2.31648104e-02 1.97946971e-03 9.99729700e-01 6.46036027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.440714057 meters Centerline goodness : 0.989010 Centerline is valid? [True, True] Translation: X:182.61, Y:141.75, Z:6.46 [[ 9.29120507e-01 -3.69110369e-01 2.21950399e-02 1.82612097e+02] [ 3.69049868e-01 9.29383887e-01 6.91274551e-03 1.41750821e+02] [-2.31792785e-02 1.76830292e-03 9.99729761e-01 6.46021578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.470714057 meters Centerline goodness : 0.989120 Centerline is valid? [True, True] Translation: X:182.64, Y:141.76, Z:6.46 [[ 9.30185393e-01 -3.66417113e-01 2.22178992e-02 1.82641147e+02] [ 3.66357492e-01 9.30449006e-01 6.84360544e-03 1.41762093e+02] [-2.31802364e-02 1.77387202e-03 9.99729728e-01 6.46033958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.500714057 meters Centerline goodness : 0.987763 Centerline is valid? [True, True] Translation: X:182.67, Y:141.78, Z:6.46 [[ 9.31343315e-01 -3.63464412e-01 2.22092596e-02 1.82670558e+02] [ 3.63403335e-01 9.31606582e-01 6.86972534e-03 1.41777251e+02] [-2.31871931e-02 1.67284623e-03 9.99729741e-01 6.46025460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.530714057 meters Centerline goodness : 0.988314 Centerline is valid? [True, True] Translation: X:182.70, Y:141.79, Z:6.46 [[ 9.31863766e-01 -3.62127528e-01 2.22165612e-02 1.82701553e+02] [ 3.62066598e-01 9.32127078e-01 6.84764930e-03 1.41789158e+02] [-2.31883805e-02 1.66279845e-03 9.99729731e-01 6.46067681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.560714057 meters Centerline goodness : 0.988065 Centerline is valid? [True, True] Translation: X:182.74, Y:141.80, Z:6.46 [[ 9.31834238e-01 -3.62202123e-01 2.22390232e-02 1.82735559e+02] [ 3.62142828e-01 9.32097960e-01 6.77972259e-03 1.41802276e+02] [-2.31845781e-02 1.73612513e-03 9.99729694e-01 6.45737896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.590714057 meters Centerline goodness : 0.987569 Centerline is valid? [True, True] Translation: X:182.76, Y:141.81, Z:6.46 [[ 9.33022137e-01 -3.59125473e-01 2.23290605e-02 1.82762575e+02] [ 3.59071786e-01 9.33287258e-01 6.50735373e-03 1.41812440e+02] [-2.31763842e-02 1.94623057e-03 9.99729497e-01 6.45664074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.620714057 meters Centerline goodness : 0.987315 Centerline is valid? [True, True] Translation: X:182.79, Y:141.83, Z:6.46 [[ 9.32735399e-01 -3.59874813e-01 2.22439797e-02 1.82792404e+02] [ 3.59815251e-01 9.32999059e-01 6.76318445e-03 1.41826102e+02] [-2.31875119e-02 1.69546158e-03 9.99729696e-01 6.45852311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.650714057 meters Centerline goodness : 0.986931 Centerline is valid? [True, True] Translation: X:182.82, Y:141.84, Z:6.46 [[ 9.33037966e-01 -3.59088829e-01 2.22568190e-02 1.82819898e+02] [ 3.59029962e-01 9.33301809e-01 6.72458980e-03 1.41836685e+02] [-2.31870545e-02 1.71656730e-03 9.99729670e-01 6.45776617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.680714057 meters Centerline goodness : 0.986931 Centerline is valid? [True, True] Translation: X:182.85, Y:141.85, Z:6.46 [[ 9.32984331e-01 -3.59230340e-01 2.22216590e-02 1.82850648e+02] [ 3.59169000e-01 9.33247542e-01 6.83040532e-03 1.41847056e+02] [-2.31919975e-02 1.60866990e-03 9.99729735e-01 6.45696731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.710714057 meters Centerline goodness : 0.987486 Centerline is valid? [True, True] Translation: X:182.88, Y:141.86, Z:6.46 [[ 9.32539432e-01 -3.60384082e-01 2.22153261e-02 1.82879893e+02] [ 3.60322616e-01 9.32802604e-01 6.84942821e-03 1.41860426e+02] [-2.31909389e-02 1.61732251e-03 9.99729746e-01 6.45650263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.740714057 meters Centerline goodness : 0.986781 Centerline is valid? [True, True] Translation: X:182.91, Y:141.87, Z:6.46 [[ 9.32498910e-01 -3.60489078e-01 2.22127749e-02 1.82908375e+02] [ 3.60427459e-01 9.32762042e-01 6.85708973e-03 1.41871275e+02] [-2.31911392e-02 1.61186532e-03 9.99729750e-01 6.45519948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.770714057 meters Centerline goodness : 0.987352 Centerline is valid? [True, True] Translation: X:182.94, Y:141.88, Z:6.45 [[ 9.31571601e-01 -3.62880405e-01 2.21847674e-02 1.82936864e+02] [ 3.62817466e-01 9.31834377e-01 6.94116070e-03 1.41883303e+02] [-2.31913401e-02 1.58283292e-03 9.99729792e-01 6.45408774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.800714057 meters Centerline goodness : 0.988127 Centerline is valid? [True, True] Translation: X:182.97, Y:141.89, Z:6.45 [[ 9.30509521e-01 -3.65596825e-01 2.21583506e-02 1.82967689e+02] [ 3.65532775e-01 9.30771994e-01 7.02029844e-03 1.41894854e+02] [-2.31909710e-02 1.56714884e-03 9.99729825e-01 6.45289597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.830714057 meters Centerline goodness : 0.988471 Centerline is valid? [True, True] Translation: X:182.99, Y:141.91, Z:6.45 [[ 9.28979794e-01 -3.69465426e-01 2.21775128e-02 1.82994623e+02] [ 3.69403832e-01 9.29242878e-01 6.96288001e-03 1.41906351e+02] [-2.31808392e-02 1.72408337e-03 9.99729802e-01 6.45290663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.860714057 meters Centerline goodness : 0.987226 Centerline is valid? [True, True] Translation: X:183.03, Y:141.92, Z:6.45 [[ 9.28292637e-01 -3.71191376e-01 2.21301387e-02 1.83025266e+02] [ 3.71126901e-01 9.28554977e-01 7.10478851e-03 1.41917279e+02] [-2.31862867e-02 1.61776694e-03 9.99729853e-01 6.45146220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.890714057 meters Centerline goodness : 0.988290 Centerline is valid? [True, True] Translation: X:183.06, Y:141.93, Z:6.45 [[ 9.27326779e-01 -3.73598068e-01 2.21253116e-02 1.83055684e+02] [ 3.73533931e-01 9.27589197e-01 7.11921550e-03 1.41929687e+02] [-2.31829252e-02 1.66271543e-03 9.99729857e-01 6.45098420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.920714057 meters Centerline goodness : 0.988975 Centerline is valid? [True, True] Translation: X:183.08, Y:141.94, Z:6.45 [[ 9.27053205e-01 -3.74275423e-01 2.21418622e-02 1.83083484e+02] [ 3.74212654e-01 9.27315970e-01 7.06971038e-03 1.41940958e+02] [-2.31785213e-02 1.73176735e-03 9.99729842e-01 6.45130638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.950714057 meters Centerline goodness : 0.989197 Centerline is valid? [True, True] Translation: X:183.12, Y:141.95, Z:6.45 [[ 9.27010913e-01 -3.74382317e-01 2.21053867e-02 1.83116006e+02] [ 3.74316989e-01 9.27273022e-01 7.17873358e-03 1.41952092e+02] [-2.31853197e-02 1.61965742e-03 9.99729872e-01 6.45148783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.980714057 meters Centerline goodness : 0.987922 Centerline is valid? [True, True] Translation: X:183.15, Y:141.96, Z:6.45 [[ 9.27509593e-01 -3.73142632e-01 2.21479477e-02 1.83145171e+02] [ 3.73079977e-01 9.27772391e-01 7.05139977e-03 1.41963150e+02] [-2.31794322e-02 1.72271487e-03 9.99729837e-01 6.45241804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.01071405700003 meters Centerline goodness : 0.988392 Centerline is valid? [True, True] Translation: X:183.18, Y:141.97, Z:6.45 [[ 9.27150299e-01 -3.74035189e-01 2.21359401e-02 1.83176692e+02] [ 3.73971934e-01 9.27412941e-01 7.08729653e-03 1.41974113e+02] [-2.31800556e-02 1.70723125e-03 9.99729849e-01 6.45159980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.040714057 meters Centerline goodness : 0.988594 Centerline is valid? [True, True] Translation: X:183.21, Y:141.98, Z:6.45 [[ 9.27970065e-01 -3.71994887e-01 2.21666871e-02 1.83208113e+02] [ 3.71933239e-01 9.28233123e-01 6.99531636e-03 1.41983892e+02] [-2.31780751e-02 1.75308355e-03 9.99729815e-01 6.44968840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.070714057 meters Centerline goodness : 0.990199 Centerline is valid? [True, True] Translation: X:183.24, Y:142.00, Z:6.44 [[ 9.27218694e-01 -3.73862126e-01 2.21946949e-02 1.83242248e+02] [ 3.73803008e-01 9.27482369e-01 6.91127692e-03 1.41995016e+02] [-2.31690529e-02 1.88817855e-03 9.99729778e-01 6.44456642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.100714057 meters Centerline goodness : 0.989101 Centerline is valid? [True, True] Translation: X:183.27, Y:142.00, Z:6.45 [[ 9.27947690e-01 -3.72043969e-01 2.22793743e-02 1.83267534e+02] [ 3.71990382e-01 9.28212709e-01 6.65746101e-03 1.42004643e+02] [-2.31568666e-02 2.10993741e-03 9.99729617e-01 6.44757586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.130714057 meters Centerline goodness : 0.989057 Centerline is valid? [True, True] Translation: X:183.30, Y:142.02, Z:6.45 [[ 9.27812528e-01 -3.72386786e-01 2.21809337e-02 1.83299002e+02] [ 3.72326294e-01 9.28075864e-01 6.95137603e-03 1.42015365e+02] [-2.31741898e-02 1.80897107e-03 9.99729806e-01 6.44703645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.160714057 meters Centerline goodness : 0.989232 Centerline is valid? [True, True] Translation: X:183.33, Y:142.03, Z:6.45 [[ 9.27444386e-01 -3.73302110e-01 2.21911068e-02 1.83328850e+02] [ 3.73242599e-01 9.27707961e-01 6.92107304e-03 1.42026367e+02] [-2.31705176e-02 1.86375604e-03 9.99729790e-01 6.44627700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.190714057 meters Centerline goodness : 0.989073 Centerline is valid? [True, True] Translation: X:183.36, Y:142.04, Z:6.45 [[ 9.27803807e-01 -3.72408807e-01 2.21760391e-02 1.83360565e+02] [ 3.72347975e-01 9.28067057e-01 6.96593668e-03 1.42035994e+02] [-2.31750275e-02 1.79418068e-03 9.99729813e-01 6.44613512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.220714057 meters Centerline goodness : 0.988909 Centerline is valid? [True, True] Translation: X:183.39, Y:142.04, Z:6.45 [[ 9.27929897e-01 -3.72093249e-01 2.21972893e-02 1.83385250e+02] [ 3.72033833e-01 9.28193504e-01 6.90265133e-03 1.42044999e+02] [-2.31718097e-02 1.85296609e-03 9.99729780e-01 6.44631383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.250714057 meters Centerline goodness : 0.988221 Centerline is valid? [True, True] Translation: X:183.42, Y:142.06, Z:6.45 [[ 9.27537048e-01 -3.73077787e-01 2.20904773e-02 1.83419668e+02] [ 3.73011109e-01 9.27798784e-01 7.22003850e-03 1.42056303e+02] [-2.31891539e-02 1.54314022e-03 9.99729904e-01 6.44568773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.280714057 meters Centerline goodness : 0.988583 Centerline is valid? [True, True] Translation: X:183.45, Y:142.07, Z:6.44 [[ 9.27383394e-01 -3.73454009e-01 2.21843077e-02 1.83445969e+02] [ 3.73394073e-01 9.27646858e-01 6.94072744e-03 1.42066130e+02] [-2.31712458e-02 1.84677361e-03 9.99729805e-01 6.44441702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.310714057 meters Centerline goodness : 0.988015 Centerline is valid? [True, True] Translation: X:183.48, Y:142.08, Z:6.44 [[ 9.27438111e-01 -3.73321574e-01 2.21258360e-02 1.83479059e+02] [ 3.73257469e-01 9.27700515e-01 7.11447280e-03 1.42075215e+02] [-2.31821356e-02 1.66040032e-03 9.99729879e-01 6.44155672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.340714057 meters Centerline goodness : 0.988497 Centerline is valid? [True, True] Translation: X:183.51, Y:142.08, Z:6.44 [[ 9.27742845e-01 -3.72561189e-01 2.21669550e-02 1.83509783e+02] [ 3.72499775e-01 9.28005941e-01 6.99218440e-03 1.42083815e+02] [-2.31760825e-02 1.77023670e-03 9.99729831e-01 6.44053542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.370714057 meters Centerline goodness : 0.988476 Centerline is valid? [True, True] Translation: X:183.55, Y:142.09, Z:6.44 [[ 9.27213904e-01 -3.73875478e-01 2.21698784e-02 1.83546646e+02] [ 3.73814644e-01 9.27477139e-01 6.98348337e-03 1.42093819e+02] [-2.31730085e-02 1.81224231e-03 9.99729827e-01 6.43802604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.400714057 meters Centerline goodness : 0.987977 Centerline is valid? [True, True] Translation: X:183.57, Y:142.10, Z:6.44 [[ 9.28576813e-01 -3.70470096e-01 2.22937440e-02 1.83570040e+02] [ 3.70417090e-01 9.28841983e-01 6.61432144e-03 1.42102876e+02] [-2.31577737e-02 2.11607826e-03 9.99729583e-01 6.44095464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.430714057 meters Centerline goodness : 0.987411 Centerline is valid? [True, True] Translation: X:183.60, Y:142.11, Z:6.44 [[ 9.29050292e-01 -3.69288579e-01 2.21697912e-02 1.83602580e+02] [ 3.69226449e-01 9.29313221e-01 6.98332738e-03 1.42113027e+02] [-2.31815431e-02 1.69781093e-03 9.99729830e-01 6.44056809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.460714057 meters Centerline goodness : 0.988873 Centerline is valid? [True, True] Translation: X:183.64, Y:142.12, Z:6.44 [[ 9.27758025e-01 -3.72522716e-01 2.21782108e-02 1.83638114e+02] [ 3.72462095e-01 9.28021319e-01 6.95836774e-03 1.42123618e+02] [-2.31740025e-02 1.80486134e-03 9.99729818e-01 6.43821615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.490714057 meters Centerline goodness : 0.987405 Centerline is valid? [True, True] Translation: X:183.67, Y:142.13, Z:6.44 [[ 9.29265036e-01 -3.68740890e-01 2.22856274e-02 1.83665946e+02] [ 3.68686770e-01 9.29529973e-01 6.64040585e-03 1.42130413e+02] [-2.31637478e-02 2.04571898e-03 9.99729591e-01 6.44295744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.520714057 meters Centerline goodness : 0.987550 Centerline is valid? [True, True] Translation: X:183.70, Y:142.14, Z:6.44 [[ 9.30337725e-01 -3.66030176e-01 2.22177269e-02 1.83696382e+02] [ 3.65970502e-01 9.30601306e-01 6.84117591e-03 1.42137715e+02] [-2.31799225e-02 1.76642863e-03 9.99729749e-01 6.44337157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.550714057 meters Centerline goodness : 0.988287 Centerline is valid? [True, True] Translation: X:183.73, Y:142.15, Z:6.44 [[ 9.31242203e-01 -3.63722355e-01 2.22262820e-02 1.83725131e+02] [ 3.63662630e-01 9.31505789e-01 6.81586174e-03 1.42146310e+02] [-2.31829917e-02 1.73565008e-03 9.99729732e-01 6.44272801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.580714057 meters Centerline goodness : 0.988767 Centerline is valid? [True, True] Translation: X:183.76, Y:142.16, Z:6.43 [[ 9.30838569e-01 -3.64754984e-01 2.22117211e-02 1.83761271e+02] [ 3.64694524e-01 9.31101959e-01 6.85903681e-03 1.42156193e+02] [-2.31832448e-02 1.71583703e-03 9.99729760e-01 6.43329878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.610714057 meters Centerline goodness : 0.990204 Centerline is valid? [True, True] Translation: X:183.79, Y:142.17, Z:6.43 [[ 9.30754788e-01 -3.64963224e-01 2.23017974e-02 1.83793286e+02] [ 3.64909136e-01 9.31019786e-01 6.59400883e-03 1.42165524e+02] [-2.31699854e-02 2.00072432e-03 9.99729538e-01 6.43232814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.640714057 meters Centerline goodness : 0.989585 Centerline is valid? [True, True] Translation: X:183.82, Y:142.17, Z:6.43 [[ 9.31036954e-01 -3.64239563e-01 2.23546519e-02 1.83823423e+02] [ 3.64188982e-01 9.31302814e-01 6.43843515e-03 1.42174288e+02] [-2.31640830e-02 2.14689686e-03 9.99729371e-01 6.43045766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.670714057 meters Centerline goodness : 0.990248 Centerline is valid? [True, True] Translation: X:183.83, Y:142.19, Z:6.44 [[ 9.26755321e-01 -3.74999002e-01 2.23679049e-02 1.83830403e+02] [ 3.74952441e-01 9.27021961e-01 6.39934223e-03 1.42189000e+02] [-2.31352860e-02 2.45627608e-03 9.99729326e-01 6.43560590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.700714057 meters Centerline goodness : 0.989651 Centerline is valid? [True, True] Translation: X:183.88, Y:142.19, Z:6.43 [[ 9.31037868e-01 -3.64259312e-01 2.19918635e-02 1.83884519e+02] [ 3.64183498e-01 9.31297001e-01 7.50177684e-03 1.42187932e+02] [-2.32135486e-02 1.02463544e-03 9.99730004e-01 6.42502568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.730714057 meters Centerline goodness : 0.988158 Centerline is valid? [True, True] Translation: X:183.91, Y:142.19, Z:6.43 [[ 9.32342776e-01 -3.60880524e-01 2.24097083e-02 1.83908795e+02] [ 3.60832993e-01 9.32609367e-01 6.27060001e-03 1.42194880e+02] [-2.31624413e-02 2.23981351e-03 9.99729206e-01 6.42983906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.76071405700003 meters Centerline goodness : 0.988061 Centerline is valid? [True, True] Translation: X:183.94, Y:142.20, Z:6.43 [[ 9.32611585e-01 -3.60192657e-01 2.22908282e-02 1.83939312e+02] [ 3.60136579e-01 9.32876098e-01 6.62041850e-03 1.42204035e+02] [-2.31792070e-02 1.85346364e-03 9.99729608e-01 6.42903199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.790714057 meters Centerline goodness : 0.988665 Centerline is valid? [True, True] Translation: X:183.97, Y:142.21, Z:6.43 [[ 9.32802317e-01 -3.59697819e-01 2.23005976e-02 1.83969988e+02] [ 3.59642285e-01 9.33066973e-01 6.59168655e-03 1.42212441e+02] [-2.31789664e-02 1.87149739e-03 9.99729580e-01 6.42827391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.820714057 meters Centerline goodness : 0.988343 Centerline is valid? [True, True] Translation: X:184.00, Y:142.22, Z:6.43 [[ 9.33826275e-01 -3.57031504e-01 2.22933627e-02 1.84001626e+02] [ 3.56974708e-01 9.34090642e-01 6.61295926e-03 1.42218618e+02] [-2.31850562e-02 1.78281151e-03 9.99729601e-01 6.42803983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.850714057 meters Centerline goodness : 0.987345 Centerline is valid? [True, True] Translation: X:184.03, Y:142.23, Z:6.43 [[ 9.33180406e-01 -3.58714196e-01 2.23261215e-02 1.84026250e+02] [ 3.58660175e-01 9.33445453e-01 6.51648062e-03 1.42228161e+02] [-2.31777707e-02 1.92643861e-03 9.99729503e-01 6.42845725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.880714057 meters Centerline goodness : 0.989516 Centerline is valid? [True, True] Translation: X:184.06, Y:142.24, Z:6.42 [[ 9.31336316e-01 -3.63479443e-01 2.22567205e-02 1.84061427e+02] [ 3.63421922e-01 9.31600422e-01 6.72017923e-03 1.42238673e+02] [-2.31770172e-02 1.82983317e-03 9.99729702e-01 6.42099765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.910714057 meters Centerline goodness : 0.987066 Centerline is valid? [True, True] Translation: X:184.09, Y:142.24, Z:6.43 [[ 9.32418585e-01 -3.60687074e-01 2.23700001e-02 1.84085121e+02] [ 3.60636696e-01 9.32684499e-01 6.38736046e-03 1.42244600e+02] [-2.31679907e-02 2.11174934e-03 9.99729356e-01 6.42821252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.940714057 meters Centerline goodness : 0.989829 Centerline is valid? [True, True] Translation: X:184.12, Y:142.25, Z:6.42 [[ 9.30081950e-01 -3.66678180e-01 2.22413625e-02 1.84119057e+02] [ 3.66620516e-01 9.30345980e-01 6.76425507e-03 1.42254931e+02] [-2.31724669e-02 1.86282824e-03 9.99729747e-01 6.41911038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.970714057 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:184.13, Y:142.27, Z:6.43 [[ 9.25360382e-01 -3.78430818e-01 2.23221708e-02 1.84125283e+02] [ 3.78382166e-01 9.25626451e-01 6.52756179e-03 1.42270757e+02] [-2.31322222e-02 2.40596424e-03 9.99729519e-01 6.42659926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.000714057 meters Centerline goodness : 0.990170 Centerline is valid? [True, True] Translation: X:184.18, Y:142.27, Z:6.42 [[ 9.28607636e-01 -3.70411983e-01 2.19732065e-02 1.84176607e+02] [ 3.70336882e-01 9.28866880e-01 7.54401932e-03 1.42270427e+02] [-2.32045789e-02 1.13205485e-03 9.99730097e-01 6.41736868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.030714057 meters Centerline goodness : 0.988562 Centerline is valid? [True, True] Translation: X:184.19, Y:142.28, Z:6.43 [[ 9.28900190e-01 -3.69657816e-01 2.23055143e-02 1.84192339e+02] [ 3.69605587e-01 9.29165497e-01 6.57185436e-03 1.42278622e+02] [-2.31548516e-02 2.13964594e-03 9.99729601e-01 6.42520625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.060714057 meters Centerline goodness : 0.988496 Centerline is valid? [True, True] Translation: X:184.22, Y:142.29, Z:6.42 [[ 9.29119310e-01 -3.69121441e-01 2.20605965e-02 1.84223313e+02] [ 3.69052078e-01 9.29380159e-01 7.28590681e-03 1.42286753e+02] [-2.31920651e-02 1.37203229e-03 9.99730086e-01 6.42374823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.090714057 meters Centerline goodness : 0.988199 Centerline is valid? [True, True] Translation: X:184.25, Y:142.30, Z:6.42 [[ 9.29069457e-01 -3.69246132e-01 2.20734912e-02 1.84252507e+02] [ 3.69177694e-01 9.29330561e-01 7.24831615e-03 1.42296784e+02] [-2.31899827e-02 1.41485143e-03 9.99730075e-01 6.42293431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.120714057 meters Centerline goodness : 0.988964 Centerline is valid? [True, True] Translation: X:184.28, Y:142.31, Z:6.42 [[ 9.29266599e-01 -3.68750912e-01 2.20534253e-02 1.84282518e+02] [ 3.68680950e-01 9.29527282e-01 7.30681629e-03 1.42306860e+02] [-2.31936557e-02 1.34069749e-03 9.99730092e-01 6.42165927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.150714057 meters Centerline goodness : 0.988712 Centerline is valid? [True, True] Translation: X:184.31, Y:142.32, Z:6.42 [[ 9.30070867e-01 -3.66718275e-01 2.20429076e-02 1.84313230e+02] [ 3.66647018e-01 9.30331191e-01 7.33749304e-03 1.42315080e+02] [-2.31979973e-02 1.25757783e-03 9.99730099e-01 6.42024615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.180714057 meters Centerline goodness : 0.988828 Centerline is valid? [True, True] Translation: X:184.34, Y:142.33, Z:6.42 [[ 9.30737249e-01 -3.65022761e-01 2.20580549e-02 1.84344989e+02] [ 3.64952074e-01 9.30997740e-01 7.29330002e-03 1.42325264e+02] [-2.31982198e-02 1.26198690e-03 9.99730089e-01 6.41957808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.210714057 meters Centerline goodness : 0.989295 Centerline is valid? [True, True] Translation: X:184.38, Y:142.34, Z:6.42 [[ 9.31691533e-01 -3.62580907e-01 2.20448199e-02 1.84379096e+02] [ 3.62508630e-01 9.31951576e-01 7.33170007e-03 1.42336682e+02] [-2.32030391e-02 1.16055460e-03 9.99730100e-01 6.42203193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.240714057 meters Centerline goodness : 0.988714 Centerline is valid? [True, True] Translation: X:184.41, Y:142.35, Z:6.42 [[ 9.32792493e-01 -3.59733497e-01 2.21353852e-02 1.84405508e+02] [ 3.59666643e-01 9.33054093e-01 7.06866255e-03 1.42346288e+02] [-2.31963465e-02 1.36776434e-03 9.99729993e-01 6.42139934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.270714057 meters Centerline goodness : 0.988284 Centerline is valid? [True, True] Translation: X:184.44, Y:142.36, Z:6.42 [[ 9.32915944e-01 -3.59418368e-01 2.20517147e-02 1.84439242e+02] [ 3.59345682e-01 9.33175879e-01 7.31168685e-03 1.42355969e+02] [-2.32060828e-02 1.10299919e-03 9.99730094e-01 6.42222408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.300714057 meters Centerline goodness : 0.990728 Centerline is valid? [True, True] Translation: X:184.48, Y:142.37, Z:6.42 [[ 9.31571349e-01 -3.62884787e-01 2.21235657e-02 1.84475036e+02] [ 3.62818006e-01 9.31832948e-01 7.10291590e-03 1.42366870e+02] [-2.31930075e-02 1.40995503e-03 9.99730012e-01 6.41501983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.330714057 meters Centerline goodness : 0.989702 Centerline is valid? [True, True] Translation: X:184.50, Y:142.37, Z:6.42 [[ 9.32282189e-01 -3.61049405e-01 2.22091894e-02 1.84504355e+02] [ 3.60987972e-01 9.32545272e-01 6.85565376e-03 1.42373771e+02] [-2.31863043e-02 1.62584635e-03 9.99729839e-01 6.41996312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.360714057 meters Centerline goodness : 0.988629 Centerline is valid? [True, True] Translation: X:184.53, Y:142.38, Z:6.42 [[ 9.32319719e-01 -3.60952659e-01 2.22062807e-02 1.84533581e+02] [ 3.60891000e-01 9.32582742e-01 6.86404501e-03 1.42381590e+02] [-2.31867895e-02 1.61456234e-03 9.99729847e-01 6.41838781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.390714057 meters Centerline goodness : 0.988998 Centerline is valid? [True, True] Translation: X:184.55, Y:142.39, Z:6.42 [[ 9.30006193e-01 -3.66872935e-01 2.21975337e-02 1.84553861e+02] [ 3.66812341e-01 9.30269445e-01 6.88963184e-03 1.42390356e+02] [-2.31773068e-02 1.73492900e-03 9.99729865e-01 6.41885728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.420714057 meters Centerline goodness : 0.989869 Centerline is valid? [True, True] Translation: X:184.58, Y:142.40, Z:6.42 [[ 9.28907630e-01 -3.69659514e-01 2.19649548e-02 1.84580580e+02] [ 3.69583643e-01 9.29166648e-01 7.56779373e-03 1.42402122e+02] [-2.32066103e-02 1.08810666e-03 9.99730098e-01 6.41962419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.450714057 meters Centerline goodness : 0.989013 Centerline is valid? [True, True] Translation: X:184.63, Y:142.40, Z:6.42 [[ 9.32489731e-01 -3.60532196e-01 2.18960483e-02 1.84629492e+02] [ 3.60449034e-01 9.32746545e-01 7.77025752e-03 1.42401646e+02] [-2.32248914e-02 6.46724100e-04 9.99730057e-01 6.41699822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.480714057 meters Centerline goodness : 0.988357 Centerline is valid? [True, True] Translation: X:184.66, Y:142.41, Z:6.42 [[ 9.32485420e-01 -3.60525422e-01 2.21892155e-02 1.84658462e+02] [ 3.60462653e-01 9.32748085e-01 6.90556940e-03 1.42409755e+02] [-2.31865816e-02 1.55904069e-03 9.99729939e-01 6.41657707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.51071405700003 meters Centerline goodness : 0.989108 Centerline is valid? [True, True] Translation: X:184.69, Y:142.42, Z:6.42 [[ 9.31898403e-01 -3.62043073e-01 2.21399945e-02 1.84690498e+02] [ 3.61977292e-01 9.32160249e-01 7.05064199e-03 1.42419020e+02] [-2.31906589e-02 1.44369325e-03 9.99730018e-01 6.41658861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.540714057 meters Centerline goodness : 0.988062 Centerline is valid? [True, True] Translation: X:184.72, Y:142.43, Z:6.42 [[ 9.31957356e-01 -3.61889273e-01 2.21729685e-02 1.84722434e+02] [ 3.61825752e-01 9.32219811e-01 6.95341471e-03 1.42426129e+02] [-2.31864467e-02 1.54246500e-03 9.99729968e-01 6.41501778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.570714057 meters Centerline goodness : 0.988062 Centerline is valid? [True, True] Translation: X:184.75, Y:142.44, Z:6.41 [[ 9.31879234e-01 -3.62089703e-01 2.21842458e-02 1.84752286e+02] [ 3.62027027e-01 9.32141911e-01 6.92016539e-03 1.42436502e+02] [-2.31845859e-02 1.58253815e-03 9.99729949e-01 6.41429559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.600714057 meters Centerline goodness : 0.988706 Centerline is valid? [True, True] Translation: X:184.78, Y:142.45, Z:6.41 [[ 9.31608047e-01 -3.62787346e-01 2.21762848e-02 1.84783760e+02] [ 3.62724312e-01 9.31870624e-01 6.94358729e-03 1.42445921e+02] [-2.31844740e-02 1.57517587e-03 9.99729963e-01 6.41384316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.630714057 meters Centerline goodness : 0.987991 Centerline is valid? [True, True] Translation: X:184.81, Y:142.45, Z:6.41 [[ 9.31833350e-01 -3.62207830e-01 2.21832451e-02 1.84813270e+02] [ 3.62145118e-01 9.32096016e-01 6.92310813e-03 1.42452761e+02] [-2.31845183e-02 1.58237087e-03 9.99729951e-01 6.41425717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.660714057 meters Centerline goodness : 0.988095 Centerline is valid? [True, True] Translation: X:184.85, Y:142.46, Z:6.41 [[ 9.31519739e-01 -3.63014603e-01 2.21669624e-02 1.84845612e+02] [ 3.62950981e-01 9.31782158e-01 6.97105203e-03 1.42461356e+02] [-2.31853738e-02 1.55184819e-03 9.99729979e-01 6.41432083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.690714057 meters Centerline goodness : 0.988494 Centerline is valid? [True, True] Translation: X:184.88, Y:142.47, Z:6.41 [[ 9.31134140e-01 -3.64002135e-01 2.21733760e-02 1.84876385e+02] [ 3.63939239e-01 9.31396745e-01 6.95218728e-03 1.42470311e+02] [-2.31828212e-02 1.59634267e-03 9.99729968e-01 6.41364402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.720714057 meters Centerline goodness : 0.987664 Centerline is valid? [True, True] Translation: X:184.91, Y:142.48, Z:6.41 [[ 9.30422313e-01 -3.65819455e-01 2.21460068e-02 1.84909472e+02] [ 3.65755169e-01 9.30684534e-01 7.03234256e-03 1.42479363e+02] [-2.31835138e-02 1.55696804e-03 9.99730014e-01 6.41234985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.750714057 meters Centerline goodness : 0.987487 Centerline is valid? [True, True] Translation: X:184.94, Y:142.49, Z:6.41 [[ 9.29092714e-01 -3.69180387e-01 2.21939609e-02 1.84941441e+02] [ 3.69120381e-01 9.29356036e-01 6.89218289e-03 1.42487840e+02] [-2.31705503e-02 1.78876639e-03 9.99729926e-01 6.41014691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.780714057 meters Centerline goodness : 0.987861 Centerline is valid? [True, True] Translation: X:184.97, Y:142.50, Z:6.41 [[ 9.28789559e-01 -3.69941587e-01 2.22075871e-02 1.84967392e+02] [ 3.69882745e-01 9.29053174e-01 6.85234313e-03 1.42496412e+02] [-2.31669960e-02 1.84981851e-03 9.99729898e-01 6.40935596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.810714057 meters Centerline goodness : 0.987723 Centerline is valid? [True, True] Translation: X:185.00, Y:142.50, Z:6.41 [[ 9.27209643e-01 -3.73888529e-01 2.21279235e-02 1.85000962e+02] [ 3.73825275e-01 9.27472085e-01 7.08489800e-03 1.42504884e+02] [-2.31719934e-02 1.70279134e-03 9.99730043e-01 6.40725936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.840714057 meters Centerline goodness : 0.987719 Centerline is valid? [True, True] Translation: X:185.03, Y:142.51, Z:6.41 [[ 9.26599131e-01 -3.75395638e-01 2.21848077e-02 1.85028603e+02] [ 3.75336765e-01 9.26862689e-01 6.91872965e-03 1.42513619e+02] [-2.31595314e-02 1.91588506e-03 9.99729946e-01 6.40588803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.870714057 meters Centerline goodness : 0.987920 Centerline is valid? [True, True] Translation: X:185.06, Y:142.52, Z:6.40 [[ 9.25198687e-01 -3.78836575e-01 2.21413258e-02 1.85059851e+02] [ 3.78775649e-01 9.25461702e-01 7.04602741e-03 1.42522013e+02] [-2.31602420e-02 1.86761975e-03 9.99730021e-01 6.40224618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.900714057 meters Centerline goodness : 0.989076 Centerline is valid? [True, True] Translation: X:185.09, Y:142.53, Z:6.40 [[ 9.23850027e-01 -3.82115300e-01 2.21139138e-02 1.85092128e+02] [ 3.82053404e-01 9.24112773e-01 7.12591486e-03 1.42532900e+02] [-2.31586713e-02 1.86541939e-03 9.99730062e-01 6.40093357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.930714057 meters Centerline goodness : 0.988008 Centerline is valid? [True, True] Translation: X:185.12, Y:142.54, Z:6.40 [[ 9.23376566e-01 -3.83256174e-01 2.21454973e-02 1.85118722e+02] [ 3.83196797e-01 9.23639941e-01 7.03382196e-03 1.42542478e+02] [-2.31502216e-02 1.99121727e-03 9.99730015e-01 6.40112526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.960714057 meters Centerline goodness : 0.990435 Centerline is valid? [True, True] Translation: X:185.14, Y:142.56, Z:6.40 [[ 9.18348146e-01 -3.95156600e-01 2.20894487e-02 1.85137997e+02] [ 3.95096719e-01 9.18611331e-01 7.19757064e-03 1.42560645e+02] [-2.31357854e-02 2.11759304e-03 9.99730089e-01 6.40004161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.990714057 meters Centerline goodness : 0.990155 Centerline is valid? [True, True] Translation: X:185.18, Y:142.57, Z:6.40 [[ 9.20851584e-01 -3.89293546e-01 2.19749024e-02 1.85184968e+02] [ 3.89224040e-01 9.21112327e-01 7.53177809e-03 1.42566360e+02] [-2.31734261e-02 1.61751051e-03 9.99730152e-01 6.40129294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.020714057 meters Centerline goodness : 0.989867 Centerline is valid? [True, True] Translation: X:185.22, Y:142.58, Z:6.40 [[ 9.20452524e-01 -3.90219261e-01 2.22728438e-02 1.85216374e+02] [ 3.90170808e-01 9.20718403e-01 6.66059074e-03 1.42577285e+02] [-2.31061080e-02 2.55945589e-03 9.99729742e-01 6.40160393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.050714057 meters Centerline goodness : 0.988920 Centerline is valid? [True, True] Translation: X:185.24, Y:142.59, Z:6.40 [[ 9.19902159e-01 -3.91515025e-01 2.22711363e-02 1.85244850e+02] [ 3.91466826e-01 9.20168079e-01 6.66558023e-03 1.42588007e+02] [-2.31028635e-02 2.58672940e-03 9.99729747e-01 6.40050294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.080714057 meters Centerline goodness : 0.988267 Centerline is valid? [True, True] Translation: X:185.27, Y:142.60, Z:6.40 [[ 9.20602793e-01 -3.89866943e-01 2.22320698e-02 1.85269921e+02] [ 3.89815538e-01 9.20868006e-01 6.77943940e-03 1.42597256e+02] [-2.31158811e-02 2.42523542e-03 9.99729851e-01 6.40221892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.110714057 meters Centerline goodness : 0.989860 Centerline is valid? [True, True] Translation: X:185.31, Y:142.61, Z:6.40 [[ 9.19050440e-01 -3.93518221e-01 2.21291297e-02 1.85305396e+02] [ 3.93460710e-01 9.19314181e-01 7.07858679e-03 1.42609660e+02] [-2.31291756e-02 2.20136477e-03 9.99730061e-01 6.40053053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.140714057 meters Centerline goodness : 0.989836 Centerline is valid? [True, True] Translation: X:185.33, Y:142.62, Z:6.40 [[ 9.18746684e-01 -3.94219638e-01 2.22577391e-02 1.85334585e+02] [ 3.94171297e-01 9.19012537e-01 6.70411293e-03 1.42620695e+02] [-2.30980343e-02 2.61398037e-03 9.99729787e-01 6.39974530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.170714057 meters Centerline goodness : 0.988824 Centerline is valid? [True, True] Translation: X:185.37, Y:142.63, Z:6.40 [[ 9.17768187e-01 -3.96493467e-01 2.22370291e-02 1.85365391e+02] [ 3.96444339e-01 9.18033840e-01 6.76427481e-03 1.42631165e+02] [-2.30963360e-02 2.60770807e-03 9.99729843e-01 6.39788544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.200714057 meters Centerline goodness : 0.987412 Centerline is valid? [True, True] Translation: X:185.39, Y:142.64, Z:6.40 [[ 9.18548253e-01 -3.94682057e-01 2.22526578e-02 1.85386182e+02] [ 3.94633494e-01 9.18814052e-01 6.71889031e-03 1.42639763e+02] [-2.30978801e-02 2.61001914e-03 9.99729801e-01 6.39801678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.230714057 meters Centerline goodness : 0.987757 Centerline is valid? [True, True] Translation: X:185.42, Y:142.65, Z:6.40 [[ 9.17911770e-01 -3.96170125e-01 2.20729477e-02 1.85417299e+02] [ 3.96109545e-01 9.18174726e-01 7.23886434e-03 1.42650368e+02] [-2.31346445e-02 2.09866650e-03 9.99730156e-01 6.39597136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.26071405700003 meters Centerline goodness : 0.986677 Centerline is valid? [True, True] Translation: X:185.45, Y:142.66, Z:6.39 [[ 9.16984647e-01 -3.98310405e-01 2.20902555e-02 1.85448053e+02] [ 3.98251634e-01 9.17248035e-01 7.18878417e-03 1.42661674e+02] [-2.31256109e-02 2.20547561e-03 9.99730135e-01 6.39431895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.290714057 meters Centerline goodness : 0.986977 Centerline is valid? [True, True] Translation: X:185.48, Y:142.67, Z:6.39 [[ 9.17165602e-01 -3.97893238e-01 2.20959049e-02 1.85475214e+02] [ 3.97834739e-01 9.17429058e-01 7.17242968e-03 1.42671728e+02] [-2.31252865e-02 2.21221277e-03 9.99730127e-01 6.39347822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.320714057 meters Centerline goodness : 0.987820 Centerline is valid? [True, True] Translation: X:185.50, Y:142.69, Z:6.39 [[ 9.16681924e-01 -3.99008955e-01 2.20477552e-02 1.85504894e+02] [ 3.98947451e-01 9.16944639e-01 7.31166763e-03 1.42685176e+02] [-2.31339918e-02 2.09342217e-03 9.99730182e-01 6.39268878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.350714057 meters Centerline goodness : 0.988016 Centerline is valid? [True, True] Translation: X:185.53, Y:142.70, Z:6.39 [[ 9.17624767e-01 -3.96834467e-01 2.20724532e-02 1.85532327e+02] [ 3.96774044e-01 9.17887759e-01 7.24023888e-03 1.42698025e+02] [-2.31332109e-02 2.11395398e-03 9.99730156e-01 6.39349173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.380714057 meters Centerline goodness : 0.988048 Centerline is valid? [True, True] Translation: X:185.56, Y:142.71, Z:6.39 [[ 9.17818620e-01 -3.96387744e-01 2.20394582e-02 1.85562867e+02] [ 3.96324917e-01 9.18081014e-01 7.33565354e-03 1.42710681e+02] [-2.31417713e-02 2.00198700e-03 9.99730189e-01 6.39221042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.410714057 meters Centerline goodness : 0.987717 Centerline is valid? [True, True] Translation: X:185.59, Y:142.72, Z:6.39 [[ 9.18423901e-01 -3.94982924e-01 2.20460606e-02 1.85593977e+02] [ 3.94920150e-01 9.18686314e-01 7.31655746e-03 1.42722919e+02] [-2.31433294e-02 1.98673231e-03 9.99730183e-01 6.39135348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.440714057 meters Centerline goodness : 0.987480 Centerline is valid? [True, True] Translation: X:185.62, Y:142.74, Z:6.39 [[ 9.19043905e-01 -3.93538644e-01 2.20371606e-02 1.85624083e+02] [ 3.93474846e-01 9.19306063e-01 7.34224962e-03 1.42736898e+02] [-2.31483543e-02 1.92321859e-03 9.99730191e-01 6.39091235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.470714057 meters Centerline goodness : 0.988213 Centerline is valid? [True, True] Translation: X:185.65, Y:142.75, Z:6.39 [[ 9.19848315e-01 -3.91653476e-01 2.20597556e-02 1.85654388e+02] [ 3.91590695e-01 9.20110740e-01 7.27699295e-03 1.42748836e+02] [-2.31474777e-02 1.94466534e-03 9.99730170e-01 6.39073621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.500714057 meters Centerline goodness : 0.987763 Centerline is valid? [True, True] Translation: X:185.68, Y:142.76, Z:6.39 [[ 9.21450788e-01 -3.87867933e-01 2.20660991e-02 1.85683465e+02] [ 3.87804510e-01 9.21713065e-01 7.25866904e-03 1.42761588e+02] [-2.31540168e-02 1.86882644e-03 9.99730163e-01 6.39221543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.530714057 meters Centerline goodness : 0.988308 Centerline is valid? [True, True] Translation: X:185.72, Y:142.77, Z:6.39 [[ 9.21710475e-01 -3.87250807e-01 2.20592980e-02 1.85715054e+02] [ 3.87186741e-01 9.21972589e-01 7.27831049e-03 1.42773700e+02] [-2.31565997e-02 1.83257267e-03 9.99730170e-01 6.39288217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.560714057 meters Centerline goodness : 0.988422 Centerline is valid? [True, True] Translation: X:185.75, Y:142.78, Z:6.39 [[ 9.22672071e-01 -3.84951782e-01 2.20992142e-02 1.85746008e+02] [ 3.84889806e-01 9.22934737e-01 7.16299708e-03 1.42784530e+02] [-2.31535409e-02 1.89666493e-03 9.99730122e-01 6.39195289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.590714057 meters Centerline goodness : 0.987761 Centerline is valid? [True, True] Translation: X:185.77, Y:142.80, Z:6.39 [[ 9.23767625e-01 -3.82314692e-01 2.21099880e-02 1.85773964e+02] [ 3.82252707e-01 9.24030305e-01 7.13188162e-03 1.42797783e+02] [-2.31569221e-02 1.86340141e-03 9.99730106e-01 6.39181807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.620714057 meters Centerline goodness : 0.988843 Centerline is valid? [True, True] Translation: X:185.80, Y:142.81, Z:6.39 [[ 9.25499556e-01 -3.78103249e-01 2.21021632e-02 1.85803753e+02] [ 3.78039531e-01 9.25761809e-01 7.15449373e-03 1.42810455e+02] [-2.31664759e-02 1.73401064e-03 9.99730117e-01 6.39227588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.650714057 meters Centerline goodness : 0.988255 Centerline is valid? [True, True] Translation: X:185.83, Y:142.82, Z:6.39 [[ 9.25905386e-01 -3.77107907e-01 2.21098095e-02 1.85833779e+02] [ 3.77044432e-01 9.26167709e-01 7.13240709e-03 1.42822856e+02] [-2.31670787e-02 1.73244641e-03 9.99730106e-01 6.39105171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.680714057 meters Centerline goodness : 0.989630 Centerline is valid? [True, True] Translation: X:185.87, Y:142.84, Z:6.38 [[ 9.25372670e-01 -3.78412860e-01 2.21162656e-02 1.85869323e+02] [ 3.78350198e-01 9.25635199e-01 7.11375369e-03 1.42835329e+02] [-2.31635298e-02 1.78482023e-03 9.99730096e-01 6.38407715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.710714057 meters Centerline goodness : 0.987768 Centerline is valid? [True, True] Translation: X:185.89, Y:142.85, Z:6.39 [[ 9.27039018e-01 -3.74302534e-01 2.22771461e-02 1.85888639e+02] [ 3.74249820e-01 9.27304094e-01 6.64749639e-03 1.42846541e+02] [-2.31458636e-02 2.17472940e-03 9.99729733e-01 6.39055824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.740714057 meters Centerline goodness : 0.987877 Centerline is valid? [True, True] Translation: X:185.92, Y:142.86, Z:6.39 [[ 9.26779344e-01 -3.74955673e-01 2.20972991e-02 1.85920134e+02] [ 3.74890794e-01 9.27041285e-01 7.16580336e-03 1.42858052e+02] [-2.31719672e-02 1.64295546e-03 9.99730144e-01 6.39010088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.770714057 meters Centerline goodness : 0.987329 Centerline is valid? [True, True] Translation: X:185.95, Y:142.87, Z:6.39 [[ 9.26027380e-01 -3.76806166e-01 2.21450640e-02 1.85949754e+02] [ 3.76745083e-01 9.26290315e-01 7.02820834e-03 1.42870236e+02] [-2.31610305e-02 1.83473061e-03 9.99730064e-01 6.38960825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.800714057 meters Centerline goodness : 0.988452 Centerline is valid? [True, True] Translation: X:185.98, Y:142.88, Z:6.39 [[ 9.24995994e-01 -3.79332304e-01 2.21227339e-02 1.85980633e+02] [ 3.79270412e-01 9.25258696e-01 7.09230448e-03 1.42882368e+02] [-2.31595921e-02 1.83014515e-03 9.99730106e-01 6.38818798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.830714057 meters Centerline goodness : 0.988468 Centerline is valid? [True, True] Translation: X:186.01, Y:142.89, Z:6.39 [[ 9.24099242e-01 -3.81510957e-01 2.21355197e-02 1.86009833e+02] [ 3.81450559e-01 9.24362315e-01 7.05560748e-03 1.42892698e+02] [-2.31530318e-02 1.92352483e-03 9.99730082e-01 6.38732248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.860714057 meters Centerline goodness : 0.988879 Centerline is valid? [True, True] Translation: X:186.04, Y:142.90, Z:6.38 [[ 9.22876447e-01 -3.84460265e-01 2.21216506e-02 1.86040360e+02] [ 3.84399762e-01 9.23139470e-01 7.09527745e-03 1.42904886e+02] [-2.31492210e-02 1.95549276e-03 9.99730108e-01 6.38484989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.890714057 meters Centerline goodness : 0.988736 Centerline is valid? [True, True] Translation: X:186.07, Y:142.92, Z:6.38 [[ 9.22397102e-01 -3.85607876e-01 2.21393673e-02 1.86067225e+02] [ 3.85548908e-01 9.22660508e-01 7.04459373e-03 1.42916252e+02] [-2.31435707e-02 2.03789605e-03 9.99730075e-01 6.38433914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.920714057 meters Centerline goodness : 0.990033 Centerline is valid? [True, True] Translation: X:186.10, Y:142.93, Z:6.38 [[ 9.20527012e-01 -3.90053196e-01 2.21026056e-02 1.86102992e+02] [ 3.89992985e-01 9.20790069e-01 7.14990620e-03 1.42929840e+02] [-2.31407035e-02 2.03817934e-03 9.99730140e-01 6.37892999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.950714057 meters Centerline goodness : 0.989947 Centerline is valid? [True, True] Translation: X:186.13, Y:142.94, Z:6.38 [[ 9.19973655e-01 -3.91349860e-01 2.22207251e-02 1.86132338e+02] [ 3.91298116e-01 9.20238767e-01 6.81140976e-03 1.42941321e+02] [-2.31140169e-02 2.42861035e-03 9.99729886e-01 6.37874069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.980714057 meters Centerline goodness : 0.988621 Centerline is valid? [True, True] Translation: X:186.16, Y:142.95, Z:6.38 [[ 9.20035143e-01 -3.91206280e-01 2.22032239e-02 1.86156174e+02] [ 3.91153294e-01 9.20299962e-01 6.86151787e-03 1.42951243e+02] [-2.31178950e-02 2.37202659e-03 9.99729932e-01 6.38368931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.01071405700003 meters Centerline goodness : 0.988571 Centerline is valid? [True, True] Translation: X:186.19, Y:142.96, Z:6.38 [[ 9.19428245e-01 -3.92637144e-01 2.20856273e-02 1.86185403e+02] [ 3.92576548e-01 9.19691175e-01 7.19698504e-03 1.42962346e+02] [-2.31377602e-02 2.05318801e-03 9.99730178e-01 6.38096618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.040714057 meters Centerline goodness : 0.989899 Centerline is valid? [True, True] Translation: X:186.22, Y:142.98, Z:6.38 [[ 9.17189829e-01 -3.97839530e-01 2.20573491e-02 1.86221035e+02] [ 3.97778498e-01 9.17452616e-01 7.27762291e-03 1.42975043e+02] [-2.31318987e-02 2.09897749e-03 9.99730218e-01 6.37806988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.070714057 meters Centerline goodness : 0.989954 Centerline is valid? [True, True] Translation: X:186.25, Y:142.99, Z:6.38 [[ 9.16567779e-01 -3.99264397e-01 2.21686368e-02 1.86251594e+02] [ 3.99211373e-01 9.16832502e-01 6.96006316e-03 1.42986812e+02] [-2.31038322e-02 2.47060229e-03 9.99730018e-01 6.37686689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.100714057 meters Centerline goodness : 0.989480 Centerline is valid? [True, True] Translation: X:186.28, Y:143.00, Z:6.38 [[ 9.15008613e-01 -4.02825867e-01 2.21485824e-02 1.86280033e+02] [ 4.02772508e-01 9.15273221e-01 7.01691620e-03 1.42998680e+02] [-2.30985997e-02 2.50030134e-03 9.99730065e-01 6.37828793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.130714057 meters Centerline goodness : 0.989989 Centerline is valid? [True, True] Translation: X:186.31, Y:143.01, Z:6.38 [[ 9.14707873e-01 -4.03508928e-01 2.21371386e-02 1.86308332e+02] [ 4.03454989e-01 9.14972338e-01 7.04935875e-03 1.43009045e+02] [-2.30993486e-02 2.48323505e-03 9.99730090e-01 6.37693894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.160714057 meters Centerline goodness : 0.989604 Centerline is valid? [True, True] Translation: X:186.34, Y:143.02, Z:6.37 [[ 9.14356568e-01 -4.04305588e-01 2.21146711e-02 1.86339224e+02] [ 4.04250355e-01 9.14620717e-01 7.11292145e-03 1.43020597e+02] [-2.31023302e-02 2.43611720e-03 9.99730137e-01 6.37384212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.190714057 meters Centerline goodness : 0.988973 Centerline is valid? [True, True] Translation: X:186.37, Y:143.03, Z:6.38 [[ 9.15368891e-01 -4.02007582e-01 2.21290910e-02 1.86365288e+02] [ 4.01952662e-01 9.15633137e-01 7.07216383e-03 1.43031324e+02] [-2.31051925e-02 2.42120828e-03 9.99730107e-01 6.37528468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.220714057 meters Centerline goodness : 0.989979 Centerline is valid? [True, True] Translation: X:186.40, Y:143.05, Z:6.37 [[ 9.15344111e-01 -4.02069031e-01 2.20375191e-02 1.86399545e+02] [ 4.02007954e-01 9.15606834e-01 7.33014753e-03 1.43046083e+02] [-2.31249284e-02 2.14965058e-03 9.99730272e-01 6.37284203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.250714057 meters Centerline goodness : 0.989755 Centerline is valid? [True, True] Translation: X:186.43, Y:143.06, Z:6.37 [[ 9.15931440e-01 -4.00723052e-01 2.21502469e-02 1.86427074e+02] [ 4.00669199e-01 9.16195952e-01 7.01220058e-03 1.43057529e+02] [-2.31039170e-02 2.45222671e-03 9.99730061e-01 6.37169168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.280714057 meters Centerline goodness : 0.988560 Centerline is valid? [True, True] Translation: X:186.45, Y:143.07, Z:6.37 [[ 9.17985366e-01 -3.95996626e-01 2.21255658e-02 1.86450133e+02] [ 3.95939743e-01 9.18249186e-01 7.08181774e-03 1.43068968e+02] [-2.31211587e-02 2.25938581e-03 9.99730117e-01 6.37438648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.310714057 meters Centerline goodness : 0.988521 Centerline is valid? [True, True] Translation: X:186.48, Y:143.08, Z:6.37 [[ 9.18174729e-01 -3.95564690e-01 2.19941715e-02 1.86481334e+02] [ 3.95498870e-01 9.18436240e-01 7.45097778e-03 1.43080455e+02] [-2.31475879e-02 1.85737047e-03 9.99730333e-01 6.37387844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.340714057 meters Centerline goodness : 0.989892 Centerline is valid? [True, True] Translation: X:186.51, Y:143.09, Z:6.37 [[ 9.17859706e-01 -3.96292323e-01 2.20444090e-02 1.86512109e+02] [ 3.96230078e-01 9.18122156e-01 7.30973328e-03 1.43093187e+02] [-2.31362515e-02 2.02534827e-03 9.99730270e-01 6.36889445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.370714057 meters Centerline goodness : 0.988038 Centerline is valid? [True, True] Translation: X:186.54, Y:143.10, Z:6.37 [[ 9.19113410e-01 -3.93372439e-01 2.21057304e-02 1.86538829e+02] [ 3.93313490e-01 9.19376727e-01 7.13672099e-03 1.43104438e+02] [-2.31308834e-02 2.13502599e-03 9.99730166e-01 6.37297378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.400714057 meters Centerline goodness : 0.990342 Centerline is valid? [True, True] Translation: X:186.57, Y:143.12, Z:6.37 [[ 9.19104502e-01 -3.93397968e-01 2.20216324e-02 1.86571753e+02] [ 3.93333389e-01 9.19366349e-01 7.37299017e-03 1.43118402e+02] [-2.31464671e-02 1.88529482e-03 9.99730307e-01 6.36785534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.430714057 meters Centerline goodness : 0.989767 Centerline is valid? [True, True] Translation: X:186.60, Y:143.13, Z:6.37 [[ 9.19814215e-01 -3.91730390e-01 2.21158717e-02 1.86597200e+02] [ 3.91671653e-01 9.20077600e-01 7.10815562e-03 1.43130384e+02] [-2.31327987e-02 2.12397742e-03 9.99730145e-01 6.37197413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.460714057 meters Centerline goodness : 0.990972 Centerline is valid? [True, True] Translation: X:186.63, Y:143.14, Z:6.37 [[ 9.18902375e-01 -3.93869430e-01 2.20294798e-02 1.86629263e+02] [ 3.93805520e-01 9.19164394e-01 7.35049378e-03 1.43142314e+02] [-2.31438482e-02 1.92094456e-03 9.99730300e-01 6.36659789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.490714057 meters Centerline goodness : 0.990972 Centerline is valid? [True, True] Translation: X:186.66, Y:143.15, Z:6.37 [[ 9.18734420e-01 -3.94257545e-01 2.20919302e-02 1.86659779e+02] [ 3.94197938e-01 9.18997556e-01 7.17487153e-03 1.43153500e+02] [-2.31311771e-02 2.11679189e-03 9.99730198e-01 6.36591436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.520714057 meters Centerline goodness : 0.989701 Centerline is valid? [True, True] Translation: X:186.69, Y:143.16, Z:6.37 [[ 9.18857941e-01 -3.93969957e-01 2.20852506e-02 1.86685635e+02] [ 3.93909819e-01 9.19120942e-01 7.19362340e-03 1.43164022e+02] [-2.31330879e-02 2.08967909e-03 9.99730210e-01 6.36882261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.550714057 meters Centerline goodness : 0.989564 Centerline is valid? [True, True] Translation: X:186.71, Y:143.18, Z:6.37 [[ 9.17916714e-01 -3.96161975e-01 2.20135500e-02 1.86713767e+02] [ 3.96097667e-01 9.18178609e-01 7.39466047e-03 1.43175646e+02] [-2.31418540e-02 1.93183335e-03 9.99730325e-01 6.36701383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.580714057 meters Centerline goodness : 0.991039 Centerline is valid? [True, True] Translation: X:186.74, Y:143.19, Z:6.37 [[ 9.16108967e-01 -4.00326519e-01 2.19781318e-02 1.86744778e+02] [ 4.00261032e-01 9.16370529e-01 7.49395244e-03 1.43187791e+02] [-2.31401401e-02 1.93171268e-03 9.99730365e-01 6.36546566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.610714057 meters Centerline goodness : 0.989774 Centerline is valid? [True, True] Translation: X:186.78, Y:143.20, Z:6.36 [[ 9.15378363e-01 -4.01994207e-01 2.19797878e-02 1.86776440e+02] [ 4.01929307e-01 9.15640072e-01 7.48931560e-03 1.43198940e+02] [-2.31362359e-02 1.97876342e-03 9.99730363e-01 6.36389487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.640714057 meters Centerline goodness : 0.990990 Centerline is valid? [True, True] Translation: X:186.81, Y:143.21, Z:6.36 [[ 9.14095415e-01 -4.04901502e-01 2.20078699e-02 1.86806845e+02] [ 4.04839314e-01 9.14357814e-01 7.41062768e-03 1.43209901e+02] [-2.31236421e-02 2.13563017e-03 9.99730332e-01 6.36131899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.670714057 meters Centerline goodness : 0.990123 Centerline is valid? [True, True] Translation: X:186.84, Y:143.22, Z:6.36 [[ 9.13527029e-01 -4.06181967e-01 2.20131080e-02 1.86837736e+02] [ 4.06120497e-01 9.13789605e-01 7.39594128e-03 1.43221507e+02] [-2.31194472e-02 2.18358208e-03 9.99730325e-01 6.35984538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.700714057 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:186.87, Y:143.23, Z:6.36 [[ 9.12925653e-01 -4.07531503e-01 2.20187500e-02 1.86869480e+02] [ 4.07470799e-01 9.13188415e-01 7.38015137e-03 1.43233872e+02] [-2.31149116e-02 2.23446814e-03 9.99730318e-01 6.35981010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.730714057 meters Centerline goodness : 0.989644 Centerline is valid? [True, True] Translation: X:186.90, Y:143.25, Z:6.36 [[ 9.12802210e-01 -4.07805597e-01 2.20617471e-02 1.86896439e+02] [ 4.07747855e-01 9.13065706e-01 7.25973808e-03 1.43245311e+02] [-2.31043865e-02 2.36892508e-03 9.99730251e-01 6.36032684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.76071405700003 meters Centerline goodness : 0.990018 Centerline is valid? [True, True] Translation: X:186.93, Y:143.26, Z:6.36 [[ 9.12682855e-01 -4.08074919e-01 2.20196941e-02 1.86928272e+02] [ 4.08014438e-01 9.12945668e-01 7.37740824e-03 1.43256635e+02] [-2.31133197e-02 2.25111911e-03 9.99730317e-01 6.36036609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.790714057 meters Centerline goodness : 0.989066 Centerline is valid? [True, True] Translation: X:186.96, Y:143.27, Z:6.36 [[ 9.12737558e-01 -4.07951511e-01 2.20389122e-02 1.86960062e+02] [ 4.07892278e-01 9.13000686e-01 7.32377533e-03 1.43268261e+02] [-2.31092872e-02 2.30481729e-03 9.99730288e-01 6.36113120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.820714057 meters Centerline goodness : 0.989714 Centerline is valid? [True, True] Translation: X:186.99, Y:143.28, Z:6.36 [[ 9.12544980e-01 -4.08380711e-01 2.20647967e-02 1.86989586e+02] [ 4.08323329e-01 9.12808563e-01 7.25166408e-03 1.43280075e+02] [-2.31023751e-02 2.39210159e-03 9.99730243e-01 6.36108822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.850714057 meters Centerline goodness : 0.988643 Centerline is valid? [True, True] Translation: X:187.02, Y:143.29, Z:6.36 [[ 9.13497116e-01 -4.06246695e-01 2.20599677e-02 1.87016804e+02] [ 4.06188375e-01 9.13760484e-01 7.26510885e-03 1.43292028e+02] [-2.31089532e-02 2.32384646e-03 9.99730252e-01 6.36060406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.880714057 meters Centerline goodness : 0.988512 Centerline is valid? [True, True] Translation: X:187.04, Y:143.31, Z:6.36 [[ 9.11458896e-01 -4.10802676e-01 2.19963978e-02 1.87039828e+02] [ 4.10741405e-01 9.11721501e-01 7.44324131e-03 1.43307833e+02] [-2.31122923e-02 2.25062282e-03 9.99730342e-01 6.36095252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.910714057 meters Centerline goodness : 0.986754 Centerline is valid? [True, True] Translation: X:187.06, Y:143.32, Z:6.36 [[ 9.10251015e-01 -4.13479906e-01 2.18508031e-02 1.87062090e+02] [ 4.13409681e-01 9.10511288e-01 7.85052557e-03 1.43321439e+02] [-2.31414375e-02 1.88738470e-03 9.99730419e-01 6.36047339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.940714057 meters Centerline goodness : 0.989961 Centerline is valid? [True, True] Translation: X:187.11, Y:143.33, Z:6.35 [[ 9.14550988e-01 -4.03889742e-01 2.16694795e-02 1.87107343e+02] [ 4.03804790e-01 9.14807002e-01 8.35711630e-03 1.43329094e+02] [-2.31987451e-02 1.10723067e-03 9.99730260e-01 6.35499320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.970714057 meters Centerline goodness : 0.989407 Centerline is valid? [True, True] Translation: X:187.14, Y:143.34, Z:6.35 [[ 9.15045680e-01 -4.02741049e-01 2.21596859e-02 1.87137939e+02] [ 4.02687792e-01 9.15310529e-01 7.01267328e-03 1.43340701e+02] [-2.31072852e-02 2.50651859e-03 9.99729849e-01 6.35460695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.000714057 meters Centerline goodness : 0.988938 Centerline is valid? [True, True] Translation: X:187.16, Y:143.35, Z:6.35 [[ 9.14574528e-01 -4.03810635e-01 2.21450746e-02 1.87162391e+02] [ 4.03756727e-01 9.14839202e-01 7.05263266e-03 1.43351108e+02] [-2.31071105e-02 2.49106467e-03 9.99729892e-01 6.35062282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.030714057 meters Centerline goodness : 0.989090 Centerline is valid? [True, True] Translation: X:187.19, Y:143.36, Z:6.35 [[ 9.15951842e-01 -4.00681790e-01 2.20528283e-02 1.87192127e+02] [ 4.00620945e-01 9.16214770e-01 7.30435569e-03 1.43363594e+02] [-2.31318493e-02 2.14438686e-03 9.99730123e-01 6.34959651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.060714057 meters Centerline goodness : 0.988660 Centerline is valid? [True, True] Translation: X:187.22, Y:143.38, Z:6.35 [[ 9.16126496e-01 -4.00282627e-01 2.20468004e-02 1.87224622e+02] [ 4.00221274e-01 9.16389294e-01 7.32080102e-03 1.43375604e+02] [-2.31338413e-02 2.11681875e-03 9.99730136e-01 6.34855053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.090714057 meters Centerline goodness : 0.989055 Centerline is valid? [True, True] Translation: X:187.25, Y:143.39, Z:6.35 [[ 9.16416935e-01 -3.99614316e-01 2.20997826e-02 1.87250193e+02] [ 3.99556221e-01 9.16680599e-01 7.17668215e-03 1.43388363e+02] [-2.31263469e-02 2.25327257e-03 9.99730011e-01 6.34856584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.120714057 meters Centerline goodness : 0.988729 Centerline is valid? [True, True] Translation: X:187.28, Y:143.40, Z:6.35 [[ 9.18774204e-01 -3.94168621e-01 2.20241017e-02 1.87278097e+02] [ 3.94104053e-01 9.19036179e-01 7.38219428e-03 1.43400896e+02] [-2.31507757e-02 1.89721809e-03 9.99730185e-01 6.34948239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.150714057 meters Centerline goodness : 0.989830 Centerline is valid? [True, True] Translation: X:187.31, Y:143.41, Z:6.35 [[ 9.19434430e-01 -3.92626903e-01 2.20100759e-02 1.87307049e+02] [ 3.92560988e-01 9.19696043e-01 7.42024250e-03 1.43413570e+02] [-2.31559666e-02 1.81787072e-03 9.99730212e-01 6.35056309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.180714057 meters Centerline goodness : 0.989445 Centerline is valid? [True, True] Translation: X:187.34, Y:143.43, Z:6.35 [[ 9.20582615e-01 -3.89927740e-01 2.20001752e-02 1.87337681e+02] [ 3.89860420e-01 9.20843849e-01 7.44705278e-03 1.43426916e+02] [-2.31625385e-02 1.72137021e-03 9.99730230e-01 6.35082763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.210714057 meters Centerline goodness : 0.988028 Centerline is valid? [True, True] Translation: X:187.36, Y:143.44, Z:6.35 [[ 9.23604585e-01 -3.82713202e-01 2.20267170e-02 1.87363756e+02] [ 3.82645547e-01 9.23865787e-01 7.37520460e-03 1.43437383e+02] [-2.31723184e-02 1.61665239e-03 9.99730179e-01 6.35254064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.240714057 meters Centerline goodness : 0.987310 Centerline is valid? [True, True] Translation: X:187.39, Y:143.45, Z:6.35 [[ 9.24505865e-01 -3.80534208e-01 2.19686839e-02 1.87391109e+02] [ 3.80462204e-01 9.24765793e-01 7.53251841e-03 1.43448725e+02] [-2.31822683e-02 1.39439646e-03 9.99730283e-01 6.35185130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.270714057 meters Centerline goodness : 0.988879 Centerline is valid? [True, True] Translation: X:187.42, Y:143.46, Z:6.35 [[ 9.27027128e-01 -3.74353500e-01 2.19125933e-02 1.87421210e+02] [ 3.74276174e-01 9.27285444e-01 7.68439854e-03 1.43462184e+02] [-2.31959103e-02 1.07771568e-03 9.99730358e-01 6.35371820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.300714057 meters Centerline goodness : 0.987735 Centerline is valid? [True, True] Translation: X:187.45, Y:143.47, Z:6.35 [[ 9.28190606e-01 -3.71459119e-01 2.19162297e-02 1.87449917e+02] [ 3.71381220e-01 9.28448755e-01 7.67455356e-03 1.43473247e+02] [-2.31988791e-02 1.01582760e-03 9.99730354e-01 6.35385693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.330714057 meters Centerline goodness : 0.988504 Centerline is valid? [True, True] Translation: X:187.48, Y:143.48, Z:6.35 [[ 9.29661990e-01 -3.67763208e-01 2.18816478e-02 1.87480887e+02] [ 3.67682079e-01 9.29919106e-01 7.76816464e-03 1.43483639e+02] [-2.32050075e-02 8.23722358e-04 9.99730388e-01 6.35242799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.360714057 meters Centerline goodness : 0.989906 Centerline is valid? [True, True] Translation: X:187.52, Y:143.49, Z:6.35 [[ 9.32572727e-01 -3.60316039e-01 2.19194028e-02 1.87516363e+02] [ 3.60235255e-01 9.32829992e-01 7.66596301e-03 1.43493033e+02] [-2.32092457e-02 7.47073627e-04 9.99730350e-01 6.35175217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.390714057 meters Centerline goodness : 0.988697 Centerline is valid? [True, True] Translation: X:187.54, Y:143.50, Z:6.35 [[ 9.32724604e-01 -3.59916025e-01 2.20287831e-02 1.87541733e+02] [ 3.59842109e-01 9.32984108e-01 7.36956281e-03 1.43503580e+02] [-2.32049283e-02 1.05311124e-03 9.99730175e-01 6.35158760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.420714057 meters Centerline goodness : 0.989364 Centerline is valid? [True, True] Translation: X:187.58, Y:143.51, Z:6.35 [[ 9.34895530e-01 -3.54243290e-01 2.19553997e-02 1.87579075e+02] [ 3.54163130e-01 9.35153036e-01 7.56809493e-03 1.43510491e+02] [-2.32126056e-02 7.00414976e-04 9.99730306e-01 6.34777294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.450714057 meters Centerline goodness : 0.988772 Centerline is valid? [True, True] Translation: X:187.61, Y:143.52, Z:6.35 [[ 9.34475943e-01 -3.55340945e-01 2.20799864e-02 1.87610022e+02] [ 3.55269010e-01 9.34736130e-01 7.23172684e-03 1.43517380e+02] [-2.32086897e-02 1.08646017e-03 9.99730052e-01 6.34570009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.480714057 meters Centerline goodness : 0.990476 Centerline is valid? [True, True] Translation: X:187.64, Y:143.53, Z:6.34 [[ 9.34029571e-01 -3.56512922e-01 2.20747990e-02 1.87642977e+02] [ 3.56440983e-01 9.34289744e-01 7.24573044e-03 1.43526435e+02] [-2.32074548e-02 1.10063655e-03 9.99730065e-01 6.34327864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.51071405700003 meters Centerline goodness : 0.990451 Centerline is valid? [True, True] Translation: X:187.68, Y:143.54, Z:6.34 [[ 9.32768962e-01 -3.59798841e-01 2.20648501e-02 1.87677640e+02] [ 3.59727190e-01 9.33029186e-01 7.27230050e-03 1.43535071e+02] [-2.32037145e-02 1.15395034e-03 9.99730092e-01 6.34281028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.540714057 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:187.70, Y:143.54, Z:6.34 [[ 9.31522421e-01 -3.63006734e-01 2.21830870e-02 1.87704972e+02] [ 3.62943478e-01 9.31785191e-01 6.95625662e-03 1.43540549e+02] [-2.31950399e-02 1.57129775e-03 9.99729724e-01 6.34222275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.570714057 meters Centerline goodness : 0.991327 Centerline is valid? [True, True] Translation: X:187.74, Y:143.55, Z:6.34 [[ 9.28317665e-01 -3.71131731e-01 2.20805717e-02 1.87737711e+02] [ 3.71064258e-01 9.28579045e-01 7.23002044e-03 1.43551251e+02] [-2.31868462e-02 1.48155524e-03 9.99730051e-01 6.33939242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.600714057 meters Centerline goodness : 0.989835 Centerline is valid? [True, True] Translation: X:187.76, Y:143.55, Z:6.35 [[ 9.27443973e-01 -3.73304226e-01 2.21727894e-02 1.87761727e+02] [ 3.73243228e-01 9.27707238e-01 6.98379752e-03 1.43554178e+02] [-2.31769384e-02 1.79876258e-03 9.99729760e-01 6.34578055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.630714057 meters Centerline goodness : 0.990019 Centerline is valid? [True, True] Translation: X:187.79, Y:143.56, Z:6.34 [[ 9.26157229e-01 -3.76494113e-01 2.20220253e-02 1.87792267e+02] [ 3.76424438e-01 9.26417878e-01 7.38636052e-03 1.43562416e+02] [-2.31825192e-02 1.44869732e-03 9.99730200e-01 6.34409028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.660714057 meters Centerline goodness : 0.988744 Centerline is valid? [True, True] Translation: X:187.82, Y:143.57, Z:6.35 [[ 9.25457333e-01 -3.78211427e-01 2.20190971e-02 1.87820272e+02] [ 3.78142050e-01 9.25718054e-01 7.39417668e-03 1.43570543e+02] [-2.31800378e-02 1.48335148e-03 9.99730206e-01 6.34688397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.690714057 meters Centerline goodness : 0.988175 Centerline is valid? [True, True] Translation: X:187.85, Y:143.57, Z:6.35 [[ 9.24402711e-01 -3.80784464e-01 2.19731503e-02 1.87849001e+02] [ 3.80712897e-01 9.24662741e-01 7.51700192e-03 1.43574175e+02] [-2.31801109e-02 1.41672474e-03 9.99730301e-01 6.34627908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.720714057 meters Centerline goodness : 0.990946 Centerline is valid? [True, True] Translation: X:187.87, Y:143.59, Z:6.35 [[ 9.17737592e-01 -3.96581889e-01 2.19206984e-02 1.87867114e+02] [ 3.96511461e-01 9.17997840e-01 7.65684601e-03 1.43590485e+02] [-2.31597202e-02 1.66483272e-03 9.99730392e-01 6.34569327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.750714057 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:187.92, Y:143.59, Z:6.34 [[ 9.20707005e-01 -3.89649197e-01 2.17281903e-02 1.87915643e+02] [ 3.89564700e-01 9.20962873e-01 8.16890178e-03 1.43592778e+02] [-2.31938625e-02 9.43370833e-04 9.99730541e-01 6.33820606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.780714057 meters Centerline goodness : 0.989267 Centerline is valid? [True, True] Translation: X:187.94, Y:143.60, Z:6.34 [[ 9.21152609e-01 -3.88575682e-01 2.20637659e-02 1.87938276e+02] [ 3.88512094e-01 9.21414911e-01 7.27425878e-03 1.43601533e+02] [-2.31564829e-02 1.87133744e-03 9.99730101e-01 6.34490747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.810714057 meters Centerline goodness : 0.989831 Centerline is valid? [True, True] Translation: X:187.97, Y:143.61, Z:6.35 [[ 9.20010094e-01 -3.91283122e-01 2.18848336e-02 1.87965649e+02] [ 3.91208996e-01 9.20269237e-01 7.74941931e-03 1.43610133e+02] [-2.31721561e-02 1.43199980e-03 9.99730464e-01 6.34502457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.840714057 meters Centerline goodness : 0.989974 Centerline is valid? [True, True] Translation: X:188.00, Y:143.62, Z:6.34 [[ 9.18834847e-01 -3.94038728e-01 2.18175288e-02 1.88002759e+02] [ 3.93961146e-01 9.19092902e-01 7.92797220e-03 1.43621866e+02] [-2.31762640e-02 1.31076154e-03 9.99730535e-01 6.34021629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.870714057 meters Centerline goodness : 0.990325 Centerline is valid? [True, True] Translation: X:188.03, Y:143.63, Z:6.34 [[ 9.18540864e-01 -3.94715615e-01 2.19605382e-02 1.88033446e+02] [ 3.94647241e-01 9.18801708e-01 7.54827283e-03 1.43630359e+02] [-2.31568012e-02 1.73326877e-03 9.99730343e-01 6.33817800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.900714057 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:188.06, Y:143.64, Z:6.33 [[ 9.19143802e-01 -3.93309946e-01 2.19535304e-02 1.88064833e+02] [ 3.93240730e-01 9.19404411e-01 7.56687694e-03 1.43639903e+02] [-2.31603006e-02 1.67797426e-03 9.99730356e-01 6.33435446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.930714057 meters Centerline goodness : 0.988790 Centerline is valid? [True, True] Translation: X:188.09, Y:143.65, Z:6.34 [[ 9.20013521e-01 -3.91268639e-01 2.19993886e-02 1.88085170e+02] [ 3.91201747e-01 9.20274832e-01 7.44495421e-03 1.43647858e+02] [-2.31584607e-02 1.75674069e-03 9.99730263e-01 6.33785138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.960714057 meters Centerline goodness : 0.989757 Centerline is valid? [True, True] Translation: X:188.12, Y:143.66, Z:6.34 [[ 9.19314304e-01 -3.92920574e-01 2.17860792e-02 1.88117645e+02] [ 3.92840762e-01 9.19571635e-01 8.00894424e-03 1.43659370e+02] [-2.31807395e-02 1.19572296e-03 9.99730575e-01 6.33758856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.990714057 meters Centerline goodness : 0.990250 Centerline is valid? [True, True] Translation: X:188.15, Y:143.67, Z:6.34 [[ 9.18852409e-01 -3.93995681e-01 2.18553065e-02 1.88149111e+02] [ 3.93920505e-01 9.19111196e-01 7.82589652e-03 1.43670474e+02] [-2.31708263e-02 1.41840950e-03 9.99730514e-01 6.33810310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.020714057 meters Centerline goodness : 0.989784 Centerline is valid? [True, True] Translation: X:188.17, Y:143.68, Z:6.34 [[ 9.19301510e-01 -3.92946611e-01 2.18562026e-02 1.88174263e+02] [ 3.92871196e-01 9.19560230e-01 7.82352618e-03 1.43679296e+02] [-2.31723228e-02 1.39449302e-03 9.99730513e-01 6.33729805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.050714057 meters Centerline goodness : 0.989859 Centerline is valid? [True, True] Translation: X:188.21, Y:143.69, Z:6.34 [[ 9.18944726e-01 -3.93785632e-01 2.17592844e-02 1.88207158e+02] [ 3.93704383e-01 9.19201595e-01 8.08000027e-03 1.43689749e+02] [-2.31829570e-02 1.14165202e-03 9.99730587e-01 6.33569518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.080714057 meters Centerline goodness : 0.990198 Centerline is valid? [True, True] Translation: X:188.24, Y:143.70, Z:6.34 [[ 9.18099510e-01 -3.95750551e-01 2.17896767e-02 1.88237174e+02] [ 3.95671753e-01 9.18357158e-01 7.99959667e-03 1.43699791e+02] [-2.31765503e-02 1.27713378e-03 9.99730572e-01 6.33896279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.110714057 meters Centerline goodness : 0.989637 Centerline is valid? [True, True] Translation: X:188.26, Y:143.71, Z:6.34 [[ 9.17594441e-01 -3.96921284e-01 2.17700584e-02 1.88264834e+02] [ 3.96841587e-01 9.17851801e-01 8.05149975e-03 1.43710150e+02] [-2.31774990e-02 1.25125312e-03 9.99730583e-01 6.33905062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.140714057 meters Centerline goodness : 0.989862 Centerline is valid? [True, True] Translation: X:188.30, Y:143.72, Z:6.34 [[ 9.16408541e-01 -3.99653999e-01 2.17271027e-02 1.88297819e+02] [ 3.99572381e-01 9.16665284e-01 8.16509447e-03 1.43720250e+02] [-2.31796934e-02 1.19898784e-03 9.99730596e-01 6.33622521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.170714057 meters Centerline goodness : 0.989862 Centerline is valid? [True, True] Translation: X:188.33, Y:143.73, Z:6.34 [[ 9.16463048e-01 -3.99526652e-01 2.17700490e-02 1.88328257e+02] [ 3.99447688e-01 9.16720633e-01 8.05143212e-03 1.43731801e+02] [-2.31738148e-02 1.31715571e-03 9.99730583e-01 6.33550960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.200714057 meters Centerline goodness : 0.989213 Centerline is valid? [True, True] Translation: X:188.36, Y:143.74, Z:6.34 [[ 9.16684140e-01 -3.99019099e-01 2.17703084e-02 1.88356928e+02] [ 3.98940008e-01 9.16941686e-01 8.05074551e-03 1.43740974e+02] [-2.31745045e-02 1.30505627e-03 9.99730583e-01 6.33765558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.230714057 meters Centerline goodness : 0.990672 Centerline is valid? [True, True] Translation: X:188.39, Y:143.75, Z:6.33 [[ 9.16677683e-01 -3.99036319e-01 2.17265068e-02 1.88390048e+02] [ 3.98954491e-01 9.16934360e-01 8.16664946e-03 1.43751243e+02] [-2.31805704e-02 1.18170218e-03 9.99730596e-01 6.33216156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.26071405700003 meters Centerline goodness : 0.990083 Centerline is valid? [True, True] Translation: X:188.42, Y:143.76, Z:6.33 [[ 9.17991617e-01 -3.96001291e-01 2.17799959e-02 1.88420708e+02] [ 3.95921962e-01 9.18249094e-01 8.02501423e-03 1.43761707e+02] [-2.31773775e-02 1.25628291e-03 9.99730579e-01 6.33362190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.290714057 meters Centerline goodness : 0.989925 Centerline is valid? [True, True] Translation: X:188.45, Y:143.77, Z:6.33 [[ 9.18336822e-01 -3.95200710e-01 2.17687675e-02 1.88451431e+02] [ 3.95120453e-01 9.18594006e-01 8.05474756e-03 1.43772741e+02] [-2.31799013e-02 1.20431401e-03 9.99730585e-01 6.32767198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.320714057 meters Centerline goodness : 0.990181 Centerline is valid? [True, True] Translation: X:188.48, Y:143.78, Z:6.33 [[ 9.19863564e-01 -3.91632663e-01 2.17917732e-02 1.88480384e+02] [ 3.91552848e-01 9.20120898e-01 7.99379751e-03 1.43782518e+02] [-2.31816981e-02 1.17942778e-03 9.99730573e-01 6.32941645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.350714057 meters Centerline goodness : 0.990285 Centerline is valid? [True, True] Translation: X:188.51, Y:143.79, Z:6.33 [[ 9.20294950e-01 -3.90619910e-01 2.17552596e-02 1.88510607e+02] [ 3.90537528e-01 9.20551455e-01 8.09055454e-03 1.43793038e+02] [-2.31871676e-02 1.05054884e-03 9.99730590e-01 6.32897196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.380714057 meters Centerline goodness : 0.990285 Centerline is valid? [True, True] Translation: X:188.54, Y:143.80, Z:6.33 [[ 9.20332247e-01 -3.90532171e-01 2.17526802e-02 1.88541058e+02] [ 3.90449603e-01 9.20588692e-01 8.09739034e-03 1.43804491e+02] [-2.31875628e-02 1.04103590e-03 9.99730590e-01 6.32821424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.410714057 meters Centerline goodness : 0.990697 Centerline is valid? [True, True] Translation: X:188.57, Y:143.81, Z:6.33 [[ 9.21228523e-01 -3.88413140e-01 2.17540976e-02 1.88572980e+02] [ 3.88330071e-01 9.21484807e-01 8.09363241e-03 1.43813197e+02] [-2.31897436e-02 9.91685238e-04 9.99730590e-01 6.32567541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.440714057 meters Centerline goodness : 0.990519 Centerline is valid? [True, True] Translation: X:188.60, Y:143.82, Z:6.33 [[ 9.20925958e-01 -3.89127843e-01 2.17922543e-02 1.88602793e+02] [ 3.89047359e-01 9.21183083e-01 7.99249212e-03 1.43824577e+02] [-2.31847572e-02 1.11772551e-03 9.99730573e-01 6.32603732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.470714057 meters Centerline goodness : 0.989481 Centerline is valid? [True, True] Translation: X:188.63, Y:143.83, Z:6.32 [[ 9.20802757e-01 -3.89419511e-01 2.17882371e-02 1.88634425e+02] [ 3.89338857e-01 9.21059827e-01 8.00314032e-03 1.43834402e+02] [-2.31848489e-02 1.11369368e-03 9.99730575e-01 6.32385256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.500714057 meters Centerline goodness : 0.990842 Centerline is valid? [True, True] Translation: X:188.67, Y:143.85, Z:6.32 [[ 9.20992334e-01 -3.88970383e-01 2.17981941e-02 1.88669929e+02] [ 3.88890226e-01 9.21249566e-01 7.97678826e-03 1.43845335e+02] [-2.31843112e-02 1.13054380e-03 9.99730568e-01 6.32341816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.530714057 meters Centerline goodness : 0.990066 Centerline is valid? [True, True] Translation: X:188.69, Y:143.86, Z:6.32 [[ 9.19789259e-01 -3.91800563e-01 2.19097559e-02 1.88693920e+02] [ 3.91728200e-01 9.20048920e-01 7.68125713e-03 1.43855929e+02] [-2.31675681e-02 1.51753143e-03 9.99730444e-01 6.32416881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.560714057 meters Centerline goodness : 0.984171 Centerline is valid? [True, True] Translation: X:188.71, Y:143.86, Z:6.33 [[ 9.18751741e-01 -3.94233419e-01 2.18002258e-02 1.88713546e+02] [ 3.94154804e-01 9.19009470e-01 7.97392448e-03 1.43863145e+02] [-2.31782015e-02 1.26660674e-03 9.99730547e-01 6.33193404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.590714057 meters Centerline goodness : 0.989788 Centerline is valid? [True, True] Translation: X:188.75, Y:143.87, Z:6.33 [[ 9.17950653e-01 -3.96109134e-01 2.15442183e-02 1.88746022e+02] [ 3.96014995e-01 9.18203251e-01 8.65528808e-03 1.43873858e+02] [-2.32104099e-02 5.86706157e-04 9.99730430e-01 6.32666545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.620714057 meters Centerline goodness : 0.990752 Centerline is valid? [True, True] Translation: X:188.78, Y:143.88, Z:6.32 [[ 9.17084851e-01 -3.98099241e-01 2.17340791e-02 1.88777537e+02] [ 3.98017571e-01 9.17341599e-01 8.14891751e-03 1.43883842e+02] [-2.31816528e-02 1.17729658e-03 9.99730576e-01 6.32380355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.650714057 meters Centerline goodness : 0.985039 Centerline is valid? [True, True] Translation: X:188.80, Y:143.90, Z:6.31 [[ 9.15036734e-01 -4.02784513e-01 2.17350447e-02 1.88800027e+02] [ 4.02704218e-01 9.15293915e-01 8.14634131e-03 1.43895187e+02] [-2.31751743e-02 1.29859264e-03 9.99730576e-01 6.31452792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.680714057 meters Centerline goodness : 0.983718 Centerline is valid? [True, True] Translation: X:188.83, Y:143.90, Z:6.33 [[ 9.14919061e-01 -4.03058310e-01 2.16127411e-02 1.88827143e+02] [ 4.02970400e-01 9.15173798e-01 8.47203761e-03 1.43904322e+02] [-2.31941395e-02 9.58066250e-04 9.99730521e-01 6.32517610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.710714057 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:188.86, Y:143.91, Z:6.32 [[ 9.16645458e-01 -3.99115833e-01 2.16253653e-02 1.88858503e+02] [ 3.99027619e-01 9.16900078e-01 8.43842279e-03 1.43910427e+02] [-2.31962072e-02 8.94076082e-04 9.99730532e-01 6.31787977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.740714057 meters Centerline goodness : 0.983486 Centerline is valid? [True, True] Translation: X:188.88, Y:143.92, Z:6.33 [[ 9.15084282e-01 -4.02679851e-01 2.16724255e-02 1.88879424e+02] [ 4.02595585e-01 9.15340203e-01 8.31309404e-03 1.43921201e+02] [-2.31851578e-02 1.11804113e-03 9.99730563e-01 6.32634234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.770714057 meters Centerline goodness : 0.992163 Centerline is valid? [True, True] Translation: X:188.91, Y:143.93, Z:6.31 [[ 9.15815187e-01 -4.01018194e-01 2.16090528e-02 1.88913098e+02] [ 4.00929452e-01 9.16069652e-01 8.48333146e-03 1.43929568e+02] [-2.31973678e-02 8.94541899e-04 9.99730505e-01 6.31453425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.800714057 meters Centerline goodness : 0.984842 Centerline is valid? [True, True] Translation: X:188.94, Y:143.94, Z:6.32 [[ 9.14899098e-01 -4.03098122e-01 2.17150771e-02 1.88936665e+02] [ 4.03016696e-01 9.15155909e-01 8.19786999e-03 1.43940614e+02] [-2.31772271e-02 1.25131474e-03 9.99730589e-01 6.32064656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.830714057 meters Centerline goodness : 0.984629 Centerline is valid? [True, True] Translation: X:188.97, Y:143.95, Z:6.32 [[ 9.14890125e-01 -4.03126883e-01 2.15586554e-02 1.88967337e+02] [ 4.03035548e-01 9.15143743e-01 8.61846634e-03 1.43951782e+02] [-2.32036040e-02 8.03954725e-04 9.99730437e-01 6.32130532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.860714057 meters Centerline goodness : 0.984879 Centerline is valid? [True, True] Translation: X:189.00, Y:143.96, Z:6.32 [[ 9.15908638e-01 -4.00805573e-01 2.15930503e-02 1.88995037e+02] [ 4.00715765e-01 9.16162748e-01 8.52610172e-03 1.43960469e+02] [-2.32000574e-02 8.43545464e-04 9.99730487e-01 6.31998537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.890714057 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:189.03, Y:143.97, Z:6.31 [[ 9.16088220e-01 -4.00396858e-01 2.15575824e-02 1.89027277e+02] [ 4.00304698e-01 9.16341541e-01 8.62137095e-03 1.43972040e+02] [-2.32060781e-02 7.31665160e-04 9.99730435e-01 6.30678539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.920714057 meters Centerline goodness : 0.985109 Centerline is valid? [True, True] Translation: X:189.05, Y:143.98, Z:6.31 [[ 9.16377958e-01 -3.99722434e-01 2.17580694e-02 1.89052142e+02] [ 3.99642809e-01 9.16635321e-01 8.08161216e-03 1.43982873e+02] [-2.31746167e-02 1.28964475e-03 9.99730601e-01 6.30646887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.950714057 meters Centerline goodness : 0.983714 Centerline is valid? [True, True] Translation: X:189.08, Y:143.99, Z:6.31 [[ 9.18968811e-01 -3.93735725e-01 2.16449445e-02 1.89077899e+02] [ 3.93647257e-01 9.19223322e-01 8.38577686e-03 1.43989963e+02] [-2.31983177e-02 8.14205650e-04 9.99730551e-01 6.31483597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.980714057 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:189.11, Y:144.00, Z:6.30 [[ 9.18362145e-01 -3.95154544e-01 2.15373433e-02 1.89111807e+02] [ 3.95059682e-01 9.18614496e-01 8.67495360e-03 1.44002459e+02] [-2.32124631e-02 5.41786987e-04 9.99730408e-01 6.30384050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.01071405700003 meters Centerline goodness : 0.983974 Centerline is valid? [True, True] Translation: X:189.13, Y:144.01, Z:6.31 [[ 9.19617544e-01 -3.92211776e-01 2.17599401e-02 1.89134446e+02] [ 3.92130201e-01 9.19874284e-01 8.07513949e-03 1.44010845e+02] [-2.31835741e-02 1.10668971e-03 9.99730612e-01 6.31167815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.040714057 meters Centerline goodness : 0.991879 Centerline is valid? [True, True] Translation: X:189.17, Y:144.02, Z:6.30 [[ 9.19001286e-01 -3.93666638e-01 2.15224051e-02 1.89169255e+02] [ 3.93570468e-01 9.19253156e-01 8.71337616e-03 1.44022404e+02] [-2.32147043e-02 4.62979150e-04 9.99730395e-01 6.30165840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.070714057 meters Centerline goodness : 0.984614 Centerline is valid? [True, True] Translation: X:189.19, Y:144.03, Z:6.31 [[ 9.19983261e-01 -3.91353160e-01 2.17601538e-02 1.89190529e+02] [ 3.91271406e-01 9.20239926e-01 8.07252019e-03 1.44028393e+02] [-2.31837686e-02 1.08754253e-03 9.99730629e-01 6.30795633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.100714057 meters Centerline goodness : 0.984461 Centerline is valid? [True, True] Translation: X:189.22, Y:144.04, Z:6.31 [[ 9.19844944e-01 -3.91690044e-01 2.15450245e-02 1.89218094e+02] [ 3.91594752e-01 9.20097104e-01 8.65273078e-03 1.44035867e+02] [-2.32127031e-02 4.77747847e-04 9.99730435e-01 6.30603395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.130714057 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:189.25, Y:144.04, Z:6.30 [[ 9.21081768e-01 -3.88774015e-01 2.15207108e-02 1.89252395e+02] [ 3.88676392e-01 9.21333085e-01 8.71830438e-03 1.44042434e+02] [-2.32171931e-02 3.34321025e-04 9.99730389e-01 6.30184678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.160714057 meters Centerline goodness : 0.985286 Centerline is valid? [True, True] Translation: X:189.27, Y:144.05, Z:6.30 [[ 9.19620610e-01 -3.92206900e-01 2.17182332e-02 1.89271515e+02] [ 3.92122748e-01 9.19876496e-01 8.18427191e-03 1.44053408e+02] [-2.31880202e-02 9.89788181e-04 9.99730632e-01 6.30456258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.190714057 meters Centerline goodness : 0.984971 Centerline is valid? [True, True] Translation: X:189.30, Y:144.06, Z:6.30 [[ 9.19618653e-01 -3.92223404e-01 2.15019725e-02 1.89298794e+02] [ 3.92125565e-01 9.19869918e-01 8.76787984e-03 1.44062244e+02] [-2.32179854e-02 3.68367296e-04 9.99730358e-01 6.30408414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.220714057 meters Centerline goodness : 0.984885 Centerline is valid? [True, True] Translation: X:189.33, Y:144.07, Z:6.30 [[ 9.20006306e-01 -3.91313499e-01 2.14975031e-02 1.89326117e+02] [ 3.91215130e-01 9.20257374e-01 8.77993497e-03 1.44070151e+02] [-2.32189428e-02 3.32552908e-04 9.99730349e-01 6.30393293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.250714057 meters Centerline goodness : 0.984847 Centerline is valid? [True, True] Translation: X:189.35, Y:144.07, Z:6.31 [[ 9.21878178e-01 -3.86881795e-01 2.15197946e-02 1.89347318e+02] [ 3.86783623e-01 9.22129273e-01 8.71972205e-03 1.44073657e+02] [-2.32175343e-02 2.84982661e-04 9.99730396e-01 6.30796999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.280714057 meters Centerline goodness : 0.984459 Centerline is valid? [True, True] Translation: X:189.38, Y:144.09, Z:6.30 [[ 9.20880339e-01 -3.89261643e-01 2.13254388e-02 1.89380930e+02] [ 3.89151926e-01 9.21127205e-01 9.24394924e-03 1.44087193e+02] [-2.32417567e-02 -2.13735523e-04 9.99729851e-01 6.30475661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.310714057 meters Centerline goodness : 0.983406 Centerline is valid? [True, True] Translation: X:189.41, Y:144.10, Z:6.31 [[ 9.20601768e-01 -3.89909817e-01 2.15109017e-02 1.89407187e+02] [ 3.89811942e-01 9.20852986e-01 8.74235559e-03 1.44096832e+02] [-2.32171083e-02 3.36978357e-04 9.99730390e-01 6.30919451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.340714057 meters Centerline goodness : 0.984468 Centerline is valid? [True, True] Translation: X:189.44, Y:144.10, Z:6.30 [[ 9.20632516e-01 -3.89832458e-01 2.15968896e-02 1.89435429e+02] [ 3.89740025e-01 9.20885614e-01 8.50877948e-03 1.44102967e+02] [-2.32052633e-02 5.83713217e-04 9.99730551e-01 6.30188942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.370714057 meters Centerline goodness : 0.984600 Centerline is valid? [True, True] Translation: X:189.46, Y:144.11, Z:6.30 [[ 9.20262125e-01 -3.90710572e-01 2.15144434e-02 1.89463698e+02] [ 3.90613135e-01 9.20513506e-01 8.73296947e-03 1.44110755e+02] [-2.32163992e-02 3.67203140e-04 9.99730396e-01 6.30073539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.400714057 meters Centerline goodness : 0.984341 Centerline is valid? [True, True] Translation: X:189.49, Y:144.12, Z:6.30 [[ 9.18529449e-01 -3.94765926e-01 2.15294119e-02 1.89490149e+02] [ 3.94670553e-01 9.18781585e-01 8.69219275e-03 1.44118220e+02] [-2.32122087e-02 5.12989868e-04 9.99730429e-01 6.29961472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.430714057 meters Centerline goodness : 0.984914 Centerline is valid? [True, True] Translation: X:189.52, Y:144.13, Z:6.29 [[ 9.18245043e-01 -3.95427454e-01 2.15213550e-02 1.89518736e+02] [ 3.95331749e-01 9.18497072e-01 8.71413861e-03 1.44126130e+02] [-2.32131112e-02 5.06360335e-04 9.99730411e-01 6.29469113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.460714057 meters Centerline goodness : 0.984492 Centerline is valid? [True, True] Translation: X:189.55, Y:144.14, Z:6.30 [[ 9.17577575e-01 -3.96974195e-01 2.15147126e-02 1.89545546e+02] [ 3.96878490e-01 9.17829620e-01 8.73228282e-03 1.44135138e+02] [-2.32133315e-02 5.26179766e-04 9.99730396e-01 6.29820692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.490714057 meters Centerline goodness : 0.985139 Centerline is valid? [True, True] Translation: X:189.57, Y:144.14, Z:6.29 [[ 9.16713647e-01 -3.98964572e-01 2.15258054e-02 1.89573550e+02] [ 3.98870122e-01 9.16966139e-01 8.70206141e-03 1.44142445e+02] [-2.32102489e-02 6.08702198e-04 9.99730421e-01 6.29210973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.520714057 meters Centerline goodness : 0.984668 Centerline is valid? [True, True] Translation: X:189.60, Y:144.15, Z:6.29 [[ 9.16683291e-01 -3.99033916e-01 2.15331707e-02 1.89601206e+02] [ 3.98939958e-01 9.16935949e-01 8.68190005e-03 1.44150687e+02] [-2.32089109e-02 6.31889487e-04 9.99730437e-01 6.28958424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.550714057 meters Centerline goodness : 0.984808 Centerline is valid? [True, True] Translation: X:189.63, Y:144.16, Z:6.28 [[ 9.16658565e-01 -3.99089929e-01 2.15477162e-02 1.89629455e+02] [ 3.98996924e-01 9.16911540e-01 8.64191692e-03 1.44157878e+02] [-2.32062516e-02 6.75785304e-04 9.99730470e-01 6.28345260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.580714057 meters Centerline goodness : 0.984229 Centerline is valid? [True, True] Translation: X:189.66, Y:144.17, Z:6.29 [[ 9.16261517e-01 -4.00000373e-01 2.15530702e-02 1.89655151e+02] [ 3.99907964e-01 9.16514698e-01 8.62722784e-03 1.44167850e+02] [-2.32045999e-02 7.14447543e-04 9.99730482e-01 6.29172630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.610714057 meters Centerline goodness : 0.984406 Centerline is valid? [True, True] Translation: X:189.68, Y:144.18, Z:6.29 [[ 9.16456384e-01 -3.99554464e-01 2.15389633e-02 1.89682312e+02] [ 3.99461027e-01 9.16709219e-01 8.66582320e-03 1.44176505e+02] [-2.32074346e-02 6.62127405e-04 9.99730452e-01 6.28994705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.640714057 meters Centerline goodness : 0.984421 Centerline is valid? [True, True] Translation: X:189.71, Y:144.19, Z:6.29 [[ 9.16346899e-01 -3.99803369e-01 2.15784039e-02 1.89709541e+02] [ 3.99712553e-01 9.16600596e-01 8.55706378e-03 1.44185728e+02] [-2.31999208e-02 7.83920044e-04 9.99730538e-01 6.29093166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.670714057 meters Centerline goodness : 0.984755 Centerline is valid? [True, True] Translation: X:189.74, Y:144.19, Z:6.29 [[ 9.16532462e-01 -3.99377730e-01 2.15794970e-02 1.89736491e+02] [ 3.99286867e-01 9.16786140e-01 8.55403802e-03 1.44194257e+02] [-2.32000760e-02 7.76356214e-04 9.99730541e-01 6.28736702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.700714057 meters Centerline goodness : 0.984152 Centerline is valid? [True, True] Translation: X:189.76, Y:144.20, Z:6.29 [[ 9.15952312e-01 -4.00707302e-01 2.15643304e-02 1.89763853e+02] [ 4.00615821e-01 9.16205802e-01 8.59605748e-03 1.44202879e+02] [-2.32018676e-02 7.65433183e-04 9.99730507e-01 6.28753583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.730714057 meters Centerline goodness : 0.984083 Centerline is valid? [True, True] Translation: X:189.79, Y:144.21, Z:6.29 [[ 9.16291158e-01 -3.99930676e-01 2.15863156e-02 1.89790928e+02] [ 3.99840407e-01 9.16545033e-01 8.53526165e-03 1.44211100e+02] [-2.31983433e-02 8.10296421e-04 9.99730554e-01 6.28835615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.76071405700003 meters Centerline goodness : 0.988726 Centerline is valid? [True, True] Translation: X:189.83, Y:144.22, Z:6.29 [[ 9.17614446e-01 -3.96885523e-01 2.15780014e-02 1.89825918e+02] [ 3.96793872e-01 9.17867844e-01 8.55824157e-03 1.44218915e+02] [-2.32023958e-02 7.08852616e-04 9.99730537e-01 6.28735525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.790714057 meters Centerline goodness : 0.984192 Centerline is valid? [True, True] Translation: X:189.84, Y:144.23, Z:6.28 [[ 9.16312816e-01 -3.99872513e-01 2.17438863e-02 1.89843452e+02] [ 3.99792517e-01 9.16569885e-01 8.09868148e-03 1.44231721e+02] [-2.31682315e-02 1.27211741e-03 9.99730771e-01 6.28405717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.820714057 meters Centerline goodness : 0.983992 Centerline is valid? [True, True] Translation: X:189.87, Y:144.24, Z:6.29 [[ 9.16670268e-01 -3.99061438e-01 2.15774848e-02 1.89873107e+02] [ 3.98970419e-01 9.16923870e-01 8.55693889e-03 1.44241740e+02] [-2.31996552e-02 7.64886698e-04 9.99730559e-01 6.28887721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.850714057 meters Centerline goodness : 0.986764 Centerline is valid? [True, True] Translation: X:189.91, Y:144.25, Z:6.28 [[ 9.19460832e-01 -3.92585318e-01 2.16459368e-02 1.89906978e+02] [ 3.92496961e-01 9.19715241e-01 8.36729367e-03 1.44247609e+02] [-2.31929746e-02 8.02565631e-04 9.99730685e-01 6.28438544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.880714057 meters Centerline goodness : 0.984210 Centerline is valid? [True, True] Translation: X:189.93, Y:144.26, Z:6.28 [[ 9.18329441e-01 -3.95217316e-01 2.17786584e-02 1.89929369e+02] [ 3.95138386e-01 9.18586786e-01 7.99823627e-03 1.44261122e+02] [-2.31666293e-02 1.26056809e-03 9.99730823e-01 6.28067969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.910714057 meters Centerline goodness : 0.983376 Centerline is valid? [True, True] Translation: X:189.95, Y:144.27, Z:6.28 [[ 9.18589351e-01 -3.94620671e-01 2.16363424e-02 1.89954560e+02] [ 3.94532282e-01 9.18843753e-01 8.39262480e-03 1.44270197e+02] [-2.31923213e-02 8.26859775e-04 9.99730680e-01 6.28060387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.940714057 meters Centerline goodness : 0.984108 Centerline is valid? [True, True] Translation: X:189.98, Y:144.28, Z:6.28 [[ 9.19112172e-01 -3.93402059e-01 2.16248725e-02 1.89981854e+02] [ 3.93312587e-01 9.19366216e-01 8.42439621e-03 1.44278724e+02] [-2.31953520e-02 7.62369441e-04 9.99730661e-01 6.28082524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.970714057 meters Centerline goodness : 0.983725 Centerline is valid? [True, True] Translation: X:190.01, Y:144.29, Z:6.28 [[ 9.19533351e-01 -3.92415359e-01 2.16472153e-02 1.90007170e+02] [ 3.92327068e-01 9.19787769e-01 8.36248337e-03 1.44287010e+02] [-2.31924108e-02 8.03206156e-04 9.99730697e-01 6.27909541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.000714057 meters Centerline goodness : 0.983418 Centerline is valid? [True, True] Translation: X:190.03, Y:144.30, Z:6.28 [[ 9.19740158e-01 -3.91931189e-01 2.16329642e-02 1.90034715e+02] [ 3.91841837e-01 9.19994229e-01 8.40197687e-03 1.44295399e+02] [-2.31951990e-02 7.49064914e-04 9.99730675e-01 6.27952870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.030714057 meters Centerline goodness : 0.983737 Centerline is valid? [True, True] Translation: X:190.06, Y:144.30, Z:6.28 [[ 9.19787797e-01 -3.91818150e-01 2.16551393e-02 1.90061959e+02] [ 3.91730211e-01 9.20042324e-01 8.34046067e-03 1.44303912e+02] [-2.31915886e-02 8.11518346e-04 9.99730710e-01 6.27693521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.060714057 meters Centerline goodness : 0.984921 Centerline is valid? [True, True] Translation: X:190.09, Y:144.31, Z:6.27 [[ 9.19583680e-01 -3.92297300e-01 2.16491075e-02 1.90089758e+02] [ 3.92209100e-01 9.19838127e-01 8.35720857e-03 1.44313044e+02] [-2.31921849e-02 8.05824352e-04 9.99730700e-01 6.27204022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.090714057 meters Centerline goodness : 0.984040 Centerline is valid? [True, True] Translation: X:190.12, Y:144.32, Z:6.28 [[ 9.19527508e-01 -3.92427402e-01 2.16770893e-02 1.90118733e+02] [ 3.92341073e-01 9.19782550e-01 8.27911574e-03 1.44320235e+02] [-2.31871603e-02 8.91937796e-04 9.99730744e-01 6.27628938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.120714057 meters Centerline goodness : 0.990228 Centerline is valid? [True, True] Translation: X:190.15, Y:144.33, Z:6.28 [[ 9.20330712e-01 -3.90539429e-01 2.16871989e-02 1.90151508e+02] [ 3.90453241e-01 9.20585787e-01 8.25084355e-03 1.44327903e+02] [-2.31872068e-02 8.74332390e-04 9.99730758e-01 6.27606507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.150714057 meters Centerline goodness : 0.984453 Centerline is valid? [True, True] Translation: X:190.17, Y:144.34, Z:6.28 [[ 9.19467120e-01 -3.92562041e-01 2.18004274e-02 1.90173561e+02] [ 3.92483885e-01 9.19724662e-01 7.93391789e-03 1.44336344e+02] [-2.31649457e-02 1.26133978e-03 9.99730861e-01 6.27766386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.180714057 meters Centerline goodness : 0.984273 Centerline is valid? [True, True] Translation: X:190.20, Y:144.34, Z:6.28 [[ 9.19917273e-01 -3.91512778e-01 2.16784652e-02 1.90201799e+02] [ 3.91426317e-01 9.20172256e-01 8.27395076e-03 1.44344063e+02] [-2.31872796e-02 8.74171557e-04 9.99730757e-01 6.27615199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.210714057 meters Centerline goodness : 0.985217 Centerline is valid? [True, True] Translation: X:190.23, Y:144.35, Z:6.27 [[ 9.19939164e-01 -3.91461598e-01 2.16737704e-02 1.90229036e+02] [ 3.91374814e-01 9.20194045e-01 8.28705267e-03 1.44351526e+02] [-2.31881373e-02 8.58983549e-04 9.99730750e-01 6.27045635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.240714057 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:190.26, Y:144.36, Z:6.27 [[ 9.19168914e-01 -3.93266690e-01 2.16752747e-02 1.90260510e+02] [ 3.93180506e-01 9.19423996e-01 8.28284937e-03 1.44362029e+02] [-2.31861365e-02 9.08957822e-04 9.99730752e-01 6.26842263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.270714057 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:190.29, Y:144.37, Z:6.27 [[ 9.19046863e-01 -3.93542398e-01 2.18459450e-02 1.90292106e+02] [ 3.93467561e-01 9.19305367e-01 7.80516790e-03 1.44372603e+02] [-2.31547590e-02 1.42235563e-03 9.99730881e-01 6.26738852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.300714057 meters Centerline goodness : 0.991560 Centerline is valid? [True, True] Translation: X:190.32, Y:144.38, Z:6.27 [[ 9.19158622e-01 -3.93281178e-01 2.18481618e-02 1.90323762e+02] [ 3.93206414e-01 9.19417148e-01 7.79895789e-03 1.44383826e+02] [-2.31547579e-02 1.42235795e-03 9.99730881e-01 6.26661097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.330714057 meters Centerline goodness : 0.990817 Centerline is valid? [True, True] Translation: X:190.35, Y:144.39, Z:6.26 [[ 9.18308265e-01 -3.95262561e-01 2.18503759e-02 1.90354340e+02] [ 3.95188502e-01 9.18566993e-01 7.79274949e-03 1.44392529e+02] [-2.31512162e-02 1.47887106e-03 9.99730881e-01 6.26473648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.360714057 meters Centerline goodness : 0.991424 Centerline is valid? [True, True] Translation: X:190.39, Y:144.40, Z:6.26 [[ 9.17508157e-01 -3.97116171e-01 2.18524342e-02 1.90385005e+02] [ 3.97042772e-01 9.17767073e-01 7.78697333e-03 1.44401480e+02] [-2.31477776e-02 1.53173951e-03 9.99730881e-01 6.26361530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.390714057 meters Centerline goodness : 0.991107 Centerline is valid? [True, True] Translation: X:190.42, Y:144.41, Z:6.26 [[ 9.17320165e-01 -3.97550118e-01 2.18544659e-02 1.90416340e+02] [ 3.97476977e-01 9.17579155e-01 7.78126709e-03 1.44412324e+02] [-2.31466460e-02 1.54873383e-03 9.99730881e-01 6.26334290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.420714057 meters Centerline goodness : 0.989343 Centerline is valid? [True, True] Translation: X:190.46, Y:144.42, Z:6.27 [[ 9.21732568e-01 -3.87209714e-01 2.18566111e-02 1.90460291e+02] [ 3.87133807e-01 9.21990760e-01 7.77523687e-03 1.44415495e+02] [-2.31622407e-02 1.29474403e-03 9.99730881e-01 6.26686322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.450714057 meters Centerline goodness : 0.985301 Centerline is valid? [True, True] Translation: X:190.48, Y:144.43, Z:6.27 [[ 9.19528010e-01 -3.92406569e-01 2.20300440e-02 1.90477267e+02] [ 3.92343894e-01 9.19789803e-01 7.27917949e-03 1.44426202e+02] [-2.31194077e-02 1.94994381e-03 9.99730809e-01 6.26853873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.480714057 meters Centerline goodness : 0.991466 Centerline is valid? [True, True] Translation: X:190.51, Y:144.44, Z:6.26 [[ 9.19731815e-01 -3.91946440e-01 2.17112360e-02 1.90509562e+02] [ 3.91862176e-01 9.19987516e-01 8.18569841e-03 1.44436582e+02] [-2.31824214e-02 9.79164927e-04 9.99730772e-01 6.26113564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.51071405700003 meters Centerline goodness : 0.991390 Centerline is valid? [True, True] Translation: X:190.54, Y:144.45, Z:6.26 [[ 9.20090793e-01 -3.91093105e-01 2.18887411e-02 1.90539289e+02] [ 3.91020544e-01 9.20349909e-01 7.67978775e-03 1.44447635e+02] [-2.31488130e-02 1.49284547e-03 9.99730916e-01 6.26022194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.540714057 meters Centerline goodness : 0.989998 Centerline is valid? [True, True] Translation: X:190.57, Y:144.45, Z:6.26 [[ 9.22236400e-01 -3.86006242e-01 2.18907439e-02 1.90574051e+02] [ 3.85932386e-01 9.22495150e-01 7.67407470e-03 1.44454829e+02] [-2.31563458e-02 1.37103602e-03 9.99730916e-01 6.26389289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.570714057 meters Centerline goodness : 0.991434 Centerline is valid? [True, True] Translation: X:190.61, Y:144.47, Z:6.26 [[ 9.20615965e-01 -3.89852005e-01 2.19467343e-02 1.90608374e+02] [ 3.89783019e-01 9.20876069e-01 7.51416897e-03 1.44468866e+02] [-2.31396362e-02 1.63680043e-03 9.99730903e-01 6.25662762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.600714057 meters Centerline goodness : 0.991243 Centerline is valid? [True, True] Translation: X:190.63, Y:144.48, Z:6.26 [[ 9.19777995e-01 -3.91819009e-01 2.20523056e-02 1.90630338e+02] [ 3.91757766e-01 9.20040130e-01 7.21193760e-03 1.44481303e+02] [-2.31147804e-02 2.00578048e-03 9.99730806e-01 6.25800121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.630714057 meters Centerline goodness : 0.990177 Centerline is valid? [True, True] Translation: X:190.66, Y:144.49, Z:6.26 [[ 9.20203099e-01 -3.90828424e-01 2.18952142e-02 1.90661084e+02] [ 3.90756236e-01 9.20462316e-01 7.66091925e-03 1.44489086e+02] [-2.31478245e-02 1.50608983e-03 9.99730919e-01 6.26081779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.660714057 meters Centerline goodness : 0.991695 Centerline is valid? [True, True] Translation: X:190.69, Y:144.50, Z:6.25 [[ 9.18035836e-01 -3.95893327e-01 2.18786886e-02 1.90690944e+02] [ 3.95821448e-01 9.18295141e-01 7.70815548e-03 1.44502661e+02] [-2.31427007e-02 1.58369121e-03 9.99730917e-01 6.25488758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.690714057 meters Centerline goodness : 0.992039 Centerline is valid? [True, True] Translation: X:190.72, Y:144.51, Z:6.25 [[ 9.16202481e-01 -4.00116847e-01 2.18979881e-02 1.90720931e+02] [ 4.00047474e-01 9.16462466e-01 7.65293204e-03 1.44512525e+02] [-2.31307513e-02 1.74859952e-03 9.99730919e-01 6.25220281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.720714057 meters Centerline goodness : 0.990771 Centerline is valid? [True, True] Translation: X:190.75, Y:144.52, Z:6.25 [[ 9.16102083e-01 -4.00346591e-01 2.18993186e-02 1.90748393e+02] [ 4.00277373e-01 9.16362109e-01 7.64912285e-03 1.44521047e+02] [-2.31300061e-02 1.75842437e-03 9.99730919e-01 6.25436425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.750714057 meters Centerline goodness : 0.991573 Centerline is valid? [True, True] Translation: X:190.78, Y:144.53, Z:6.25 [[ 9.14228730e-01 -4.04608854e-01 2.18518902e-02 1.90783828e+02] [ 4.04537619e-01 9.14488222e-01 7.78504479e-03 1.44534001e+02] [-2.31331942e-02 1.72259999e-03 9.99730908e-01 6.24966725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.780714057 meters Centerline goodness : 0.991895 Centerline is valid? [True, True] Translation: X:190.81, Y:144.55, Z:6.25 [[ 9.14125235e-01 -4.04835200e-01 2.19890036e-02 1.90809093e+02] [ 4.04773399e-01 9.14387152e-01 7.39128586e-03 1.44545275e+02] [-2.30987150e-02 2.14400280e-03 9.99730890e-01 6.25406818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.810714057 meters Centerline goodness : 0.991635 Centerline is valid? [True, True] Translation: X:190.84, Y:144.56, Z:6.25 [[ 9.14087543e-01 -4.04924895e-01 2.19041787e-02 1.90840490e+02] [ 4.04857323e-01 9.14347997e-01 7.63465462e-03 1.44556754e+02] [-2.31195037e-02 1.88932449e-03 9.99730923e-01 6.25299512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.840714057 meters Centerline goodness : 0.984623 Centerline is valid? [True, True] Translation: X:190.86, Y:144.57, Z:6.26 [[ 9.14483775e-01 -4.04029131e-01 2.19063094e-02 1.90859278e+02] [ 4.03961449e-01 9.14744201e-01 7.62853600e-03 1.44566805e+02] [-2.31208203e-02 1.87313210e-03 9.99730923e-01 6.25620142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.870714057 meters Centerline goodness : 0.988830 Centerline is valid? [True, True] Translation: X:190.89, Y:144.57, Z:6.26 [[ 9.16085350e-01 -4.00395904e-01 2.16968083e-02 1.90892581e+02] [ 4.00313008e-01 9.16341531e-01 8.22765361e-03 1.44573728e+02] [-2.31760053e-02 1.14828166e-03 9.99730741e-01 6.25575283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.900714057 meters Centerline goodness : 0.988699 Centerline is valid? [True, True] Translation: X:190.92, Y:144.59, Z:6.25 [[ 9.16328966e-01 -3.99829592e-01 2.18523070e-02 1.90922727e+02] [ 3.99757106e-01 9.16588085e-01 7.78061628e-03 1.44585594e+02] [-2.31404849e-02 1.60601095e-03 9.99730933e-01 6.25355414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.930714057 meters Centerline goodness : 0.988610 Centerline is valid? [True, True] Translation: X:190.95, Y:144.60, Z:6.26 [[ 9.17208645e-01 -3.97807967e-01 2.18431349e-02 1.90952134e+02] [ 3.97734285e-01 9.17467432e-01 7.80699071e-03 1.44598034e+02] [-2.31460480e-02 1.52712428e-03 9.99730928e-01 6.25519619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.960714057 meters Centerline goodness : 0.990531 Centerline is valid? [True, True] Translation: X:190.99, Y:144.61, Z:6.25 [[ 9.17201493e-01 -3.97823332e-01 2.18636268e-02 1.90987297e+02] [ 3.97751056e-01 9.17460663e-01 7.74780786e-03 1.44613777e+02] [-2.31412763e-02 1.58997970e-03 9.99730940e-01 6.24838072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.990714057 meters Centerline goodness : 0.987570 Centerline is valid? [True, True] Translation: X:191.02, Y:144.62, Z:6.26 [[ 9.20796380e-01 -3.89421537e-01 2.20202865e-02 1.91018069e+02] [ 3.89357646e-01 9.21057771e-01 7.29425170e-03 1.44621758e+02] [-2.31224947e-02 1.85724638e-03 9.99730914e-01 6.25845118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.020714057 meters Centerline goodness : 0.990625 Centerline is valid? [True, True] Translation: X:191.04, Y:144.64, Z:6.25 [[ 9.18771561e-01 -3.94175377e-01 2.20134082e-02 1.91039811e+02] [ 3.94112366e-01 9.19033159e-01 7.31406315e-03 1.44638945e+02] [-2.31140757e-02 1.95580318e-03 9.99730921e-01 6.25190227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.050714057 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:191.07, Y:144.65, Z:6.25 [[ 9.21090704e-01 -3.88731129e-01 2.19094662e-02 1.91069649e+02] [ 3.88659476e-01 9.21350015e-01 7.61319377e-03 1.44651385e+02] [-2.31457725e-02 1.50287966e-03 9.99730971e-01 6.25171311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.080714057 meters Centerline goodness : 0.990730 Centerline is valid? [True, True] Translation: X:191.10, Y:144.66, Z:6.25 [[ 9.22192723e-01 -3.86109401e-01 2.19114495e-02 1.91103815e+02] [ 3.86037146e-01 9.22451868e-01 7.60748158e-03 1.44661947e+02] [-2.31495776e-02 1.44306926e-03 9.99730971e-01 6.25031583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.110714057 meters Centerline goodness : 0.991107 Centerline is valid? [True, True] Translation: X:191.13, Y:144.67, Z:6.25 [[ 9.24100776e-01 -3.81514529e-01 2.20095361e-02 1.91128448e+02] [ 3.81447685e-01 9.24361410e-01 7.32435694e-03 1.44674220e+02] [-2.31391144e-02 1.62704268e-03 9.99730931e-01 6.25089915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.140714057 meters Centerline goodness : 0.990623 Centerline is valid? [True, True] Translation: X:191.16, Y:144.68, Z:6.25 [[ 9.25051754e-01 -3.79208410e-01 2.19142622e-02 1.91158418e+02] [ 3.79134419e-01 9.25310405e-01 7.59911027e-03 1.44684876e+02] [-2.31591414e-02 1.27888078e-03 9.99730973e-01 6.24965341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.170714057 meters Centerline goodness : 0.990249 Centerline is valid? [True, True] Translation: X:191.19, Y:144.70, Z:6.25 [[ 9.25708943e-01 -3.77601150e-01 2.19162879e-02 1.91188117e+02] [ 3.77526847e-01 9.25967506e-01 7.59326352e-03 1.44696077e+02] [-2.31609955e-02 1.24483513e-03 9.99730973e-01 6.24823084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.200714057 meters Centerline goodness : 0.991350 Centerline is valid? [True, True] Translation: X:191.22, Y:144.71, Z:6.25 [[ 9.26649535e-01 -3.75286902e-01 2.19175993e-02 1.91218296e+02] [ 3.75212043e-01 9.26907936e-01 7.58947630e-03 1.44707688e+02] [-2.31638278e-02 1.19096253e-03 9.99730973e-01 6.24756144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.230714057 meters Centerline goodness : 0.991406 Centerline is valid? [True, True] Translation: X:191.25, Y:144.72, Z:6.25 [[ 9.26756465e-01 -3.75022655e-01 2.19194579e-02 1.91248946e+02] [ 3.74947849e-01 9.27014882e-01 7.58410455e-03 1.44718875e+02] [-2.31638747e-02 1.19003568e-03 9.99730973e-01 6.24659908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.26071405700003 meters Centerline goodness : 0.991441 Centerline is valid? [True, True] Translation: X:191.28, Y:144.73, Z:6.25 [[ 9.27126354e-01 -3.74107160e-01 2.19216081e-02 1.91280373e+02] [ 3.74032245e-01 9.27384740e-01 7.57788435e-03 1.44729555e+02] [-2.31647056e-02 1.17373200e-03 9.99730973e-01 6.24574858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.290714057 meters Centerline goodness : 0.991528 Centerline is valid? [True, True] Translation: X:191.31, Y:144.74, Z:6.25 [[ 9.27113273e-01 -3.74139449e-01 2.19237736e-02 1.91311266e+02] [ 3.74064691e-01 9.27371704e-01 7.57161414e-03 1.44740334e+02] [-2.31643268e-02 1.18116564e-03 9.99730973e-01 6.24516544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.320714057 meters Centerline goodness : 0.991368 Centerline is valid? [True, True] Translation: X:191.34, Y:144.75, Z:6.24 [[ 9.27215299e-01 -3.73886405e-01 2.19259386e-02 1.91341421e+02] [ 3.73811724e-01 9.27473752e-01 7.56533945e-03 1.44750268e+02] [-2.31643101e-02 1.18147445e-03 9.99730973e-01 6.24440536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.350714057 meters Centerline goodness : 0.991162 Centerline is valid? [True, True] Translation: X:191.37, Y:144.76, Z:6.24 [[ 9.26912456e-01 -3.74636443e-01 2.19279521e-02 1.91371440e+02] [ 3.74562110e-01 9.27171009e-01 7.55949891e-03 1.44760793e+02] [-2.31630253e-02 1.20638631e-03 9.99730973e-01 6.24458603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.380714057 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:191.40, Y:144.77, Z:6.24 [[ 9.26821780e-01 -3.74860634e-01 2.19292841e-02 1.91402837e+02] [ 3.74786454e-01 9.27080377e-01 7.55563315e-03 1.44771722e+02] [-2.31625184e-02 1.21607325e-03 9.99730973e-01 6.24384757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.410714057 meters Centerline goodness : 0.984535 Centerline is valid? [True, True] Translation: X:191.43, Y:144.78, Z:6.25 [[ 9.26313842e-01 -3.76113919e-01 2.19314079e-02 1.91427079e+02] [ 3.76040235e-01 9.26572581e-01 7.54946338e-03 1.44780100e+02] [-2.31604995e-02 1.25391934e-03 9.99730973e-01 6.24810404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.440714057 meters Centerline goodness : 0.989152 Centerline is valid? [True, True] Translation: X:191.46, Y:144.79, Z:6.25 [[ 9.26984505e-01 -3.74466931e-01 2.17771643e-02 1.91461529e+02] [ 3.74382269e-01 9.27239974e-01 7.99668717e-03 1.44787900e+02] [-2.31871521e-02 7.40179079e-04 9.99730868e-01 6.24812074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.470714057 meters Centerline goodness : 0.991239 Centerline is valid? [True, True] Translation: X:191.48, Y:144.80, Z:6.24 [[ 9.23570193e-01 -3.82797195e-01 2.20092414e-02 1.91483948e+02] [ 3.82730569e-01 9.23830923e-01 7.33060171e-03 1.44803929e+02] [-2.31389516e-02 1.65328424e-03 9.99730892e-01 6.24163724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.500714057 meters Centerline goodness : 0.989320 Centerline is valid? [True, True] Translation: X:191.52, Y:144.81, Z:6.25 [[ 9.24744605e-01 -3.79957501e-01 2.19023545e-02 1.91515353e+02] [ 3.79882823e-01 9.25003089e-01 7.63714328e-03 1.44810679e+02] [-2.31615355e-02 1.25792122e-03 9.99730944e-01 6.24682674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.530714057 meters Centerline goodness : 0.990054 Centerline is valid? [True, True] Translation: X:191.55, Y:144.82, Z:6.24 [[ 9.24402828e-01 -3.80788283e-01 2.19019512e-02 1.91552820e+02] [ 3.80713809e-01 9.24661371e-01 7.63830031e-03 1.44821740e+02] [-2.31604635e-02 1.27750887e-03 9.99730944e-01 6.23940537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.560714057 meters Centerline goodness : 0.989767 Centerline is valid? [True, True] Translation: X:191.58, Y:144.83, Z:6.25 [[ 9.24675095e-01 -3.80115759e-01 2.20902230e-02 1.91579192e+02] [ 3.80053815e-01 9.24937114e-01 7.10158332e-03 1.44833364e+02] [-2.31314908e-02 1.82881629e-03 9.99730759e-01 6.24711488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.590714057 meters Centerline goodness : 0.989322 Centerline is valid? [True, True] Translation: X:191.61, Y:144.84, Z:6.25 [[ 9.25439775e-01 -3.78254789e-01 2.20122182e-02 1.91608023e+02] [ 3.78187048e-01 9.25700233e-01 7.32367733e-03 1.44843982e+02] [-2.31469315e-02 1.54711351e-03 9.99730877e-01 6.24505246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.620714057 meters Centerline goodness : 0.991333 Centerline is valid? [True, True] Translation: X:191.64, Y:144.86, Z:6.24 [[ 9.24257008e-01 -3.81137983e-01 2.19731970e-02 1.91641941e+02] [ 3.81068423e-01 9.24516945e-01 7.43468978e-03 1.44857535e+02] [-2.31482357e-02 1.50172742e-03 9.99730916e-01 6.23751264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.650714057 meters Centerline goodness : 0.991424 Centerline is valid? [True, True] Translation: X:191.67, Y:144.87, Z:6.24 [[ 9.24728746e-01 -3.79986409e-01 2.20698035e-02 1.91674169e+02] [ 3.79923037e-01 9.24990388e-01 7.16013367e-03 1.44868513e+02] [-2.31351096e-02 1.76364533e-03 9.99730792e-01 6.23883408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.680714057 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:191.70, Y:144.88, Z:6.24 [[ 9.25617283e-01 -3.77814611e-01 2.21080497e-02 1.91698413e+02] [ 3.77753207e-01 9.25879469e-01 7.05145135e-03 1.44879881e+02] [-2.31335307e-02 1.82444145e-03 9.99730719e-01 6.24142890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.710714057 meters Centerline goodness : 0.990788 Centerline is valid? [True, True] Translation: X:191.73, Y:144.89, Z:6.24 [[ 9.26237672e-01 -3.76297619e-01 2.19971949e-02 1.91726415e+02] [ 3.76228326e-01 9.26497701e-01 7.36594495e-03 1.44892624e+02] [-2.31521381e-02 1.45335212e-03 9.99730897e-01 6.24064590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.740714057 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:191.76, Y:144.91, Z:6.24 [[ 9.26284885e-01 -3.76182239e-01 2.19826064e-02 1.91759873e+02] [ 3.76111934e-01 9.26544626e-01 7.40732071e-03 1.44905231e+02] [-2.31543684e-02 1.40663142e-03 9.99730912e-01 6.23548787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.770714057 meters Centerline goodness : 0.990658 Centerline is valid? [True, True] Translation: X:191.79, Y:144.92, Z:6.24 [[ 9.27052580e-01 -3.74281916e-01 2.20581407e-02 1.91788031e+02] [ 3.74216147e-01 9.27313610e-01 7.19329648e-03 1.44916229e+02] [-2.31471349e-02 1.58594838e-03 9.99730811e-01 6.23887806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.800714057 meters Centerline goodness : 0.990522 Centerline is valid? [True, True] Translation: X:191.82, Y:144.93, Z:6.24 [[ 9.27834320e-01 -3.72342323e-01 2.20152081e-02 1.91818085e+02] [ 3.72273132e-01 9.28094397e-01 7.31472084e-03 1.44929553e+02] [-2.31557715e-02 1.40882145e-03 9.99730877e-01 6.23804200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.830714057 meters Centerline goodness : 0.991316 Centerline is valid? [True, True] Translation: X:191.85, Y:144.94, Z:6.24 [[ 9.27872992e-01 -3.72245065e-01 2.20300401e-02 1.91845042e+02] [ 3.72176839e-01 9.28133345e-01 7.27279486e-03 1.44940525e+02] [-2.31540768e-02 1.45084078e-03 9.99730856e-01 6.23714048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.860714057 meters Centerline goodness : 0.991595 Centerline is valid? [True, True] Translation: X:191.88, Y:144.95, Z:6.23 [[ 9.28919270e-01 -3.69629997e-01 2.19694280e-02 1.91876855e+02] [ 3.69556993e-01 9.29178247e-01 7.44401438e-03 1.44952279e+02] [-2.31650457e-02 1.20406737e-03 9.99730929e-01 6.23337471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.890714057 meters Centerline goodness : 0.991520 Centerline is valid? [True, True] Translation: X:191.90, Y:144.97, Z:6.23 [[ 9.26368274e-01 -3.75974374e-01 2.20247865e-02 1.91895654e+02] [ 3.75906848e-01 9.26628801e-01 7.28747760e-03 1.44968746e+02] [-2.31487064e-02 1.52838004e-03 9.99730865e-01 6.22922951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.920714057 meters Centerline goodness : 0.991092 Centerline is valid? [True, True] Translation: X:191.93, Y:144.98, Z:6.23 [[ 9.26573943e-01 -3.75476741e-01 2.18619815e-02 1.91926376e+02] [ 3.75398224e-01 9.26831246e-01 7.74692509e-03 1.44979911e+02] [-2.31711577e-02 1.02885009e-03 9.99730983e-01 6.22948472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.950714057 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:191.97, Y:144.99, Z:6.23 [[ 9.28472825e-01 -3.70756212e-01 2.18642390e-02 1.91967541e+02] [ 3.70676536e-01 9.28729772e-01 7.74054843e-03 1.44987055e+02] [-2.31758261e-02 9.17671510e-04 9.99730983e-01 6.22833735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.980714057 meters Centerline goodness : 0.991820 Centerline is valid? [True, True] Translation: X:191.99, Y:145.00, Z:6.23 [[ 9.26678373e-01 -3.75207023e-01 2.20654312e-02 1.91985875e+02] [ 3.75142044e-01 9.26939602e-01 7.17093404e-03 1.45000987e+02] [-2.31439068e-02 1.63252144e-03 9.99730811e-01 6.22858607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.01071405700003 meters Centerline goodness : 0.990493 Centerline is valid? [True, True] Translation: X:192.03, Y:145.01, Z:6.23 [[ 9.29085631e-01 -3.69217909e-01 2.18638024e-02 1.92025125e+02] [ 3.69137809e-01 9.29342436e-01 7.74046922e-03 1.45006533e+02] [-2.31768792e-02 8.79197394e-04 9.99730993e-01 6.23150983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.040714057 meters Centerline goodness : 0.989456 Centerline is valid? [True, True] Translation: X:192.05, Y:145.02, Z:6.23 [[ 9.28504093e-01 -3.70668674e-01 2.20200912e-02 1.92054595e+02] [ 3.70599395e-01 9.28764135e-01 7.29859959e-03 1.45016943e+02] [-2.31568332e-02 1.38385286e-03 9.99730887e-01 6.23127589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.070714057 meters Centerline goodness : 0.990598 Centerline is valid? [True, True] Translation: X:192.09, Y:145.03, Z:6.23 [[ 9.26610382e-01 -3.75379048e-01 2.19947872e-02 1.92090676e+02] [ 3.75309397e-01 9.26870292e-01 7.37009964e-03 1.45030060e+02] [-2.31528958e-02 1.42563946e-03 9.99730919e-01 6.22686634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.100714057 meters Centerline goodness : 0.991347 Centerline is valid? [True, True] Translation: X:192.10, Y:145.04, Z:6.23 [[ 9.23444083e-01 -3.83094903e-01 2.21206106e-02 1.92104352e+02] [ 3.83035887e-01 9.23706832e-01 7.01409857e-03 1.45044959e+02] [-2.31200245e-02 1.99585988e-03 9.99730704e-01 6.22566301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.130714057 meters Centerline goodness : 0.990999 Centerline is valid? [True, True] Translation: X:192.14, Y:145.06, Z:6.23 [[ 9.22960216e-01 -3.84274175e-01 2.18586124e-02 1.92135197e+02] [ 3.84197969e-01 9.23218184e-01 7.75280904e-03 1.45055875e+02] [-2.31594727e-02 1.24250018e-03 9.99731011e-01 6.22527165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.160714057 meters Centerline goodness : 0.991565 Centerline is valid? [True, True] Translation: X:192.18, Y:145.06, Z:6.22 [[ 9.25351923e-01 -3.78478431e-01 2.18608244e-02 1.92184098e+02] [ 3.78400755e-01 9.25609453e-01 7.74656692e-03 1.45060640e+02] [-2.31664942e-02 1.10385186e-03 9.99731011e-01 6.22352871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.190714057 meters Centerline goodness : 0.991565 Centerline is valid? [True, True] Translation: X:192.21, Y:145.07, Z:6.22 [[ 9.25142961e-01 -3.78968957e-01 2.22043187e-02 1.92213561e+02] [ 3.78914471e-01 9.25406897e-01 6.77481723e-03 1.45071870e+02] [-2.31154751e-02 2.14586322e-03 9.99730499e-01 6.22310302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.220714057 meters Centerline goodness : 0.991486 Centerline is valid? [True, True] Translation: X:192.22, Y:145.09, Z:6.23 [[ 9.20950988e-01 -3.89045997e-01 2.21920973e-02 1.92222174e+02] [ 3.88993570e-01 9.21215303e-01 6.80936798e-03 1.45087742e+02] [-2.30928570e-02 2.36148899e-03 9.99730535e-01 6.22523500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.250714057 meters Centerline goodness : 0.991493 Centerline is valid? [True, True] Translation: X:192.27, Y:145.09, Z:6.22 [[ 9.23634721e-01 -3.82650558e-01 2.18506910e-02 1.92270302e+02] [ 3.82573501e-01 9.23892391e-01 7.76955702e-03 1.45092594e+02] [-2.31607125e-02 1.18326272e-03 9.99731054e-01 6.22126464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.280714057 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:192.28, Y:145.11, Z:6.22 [[ 9.19496124e-01 -3.92472463e-01 2.21865878e-02 1.92279658e+02] [ 3.92420726e-01 9.19760535e-01 6.82150001e-03 1.45110313e+02] [-2.30835987e-02 2.43413407e-03 9.99730575e-01 6.22313763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.310714057 meters Centerline goodness : 0.989095 Centerline is valid? [True, True] Translation: X:192.32, Y:145.11, Z:6.22 [[ 9.23373199e-01 -3.83281463e-01 2.18461700e-02 1.92320588e+02] [ 3.83204388e-01 9.23630827e-01 7.77770752e-03 1.45114356e+02] [-2.31588472e-02 1.18982151e-03 9.99731090e-01 6.22264242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.340714057 meters Centerline goodness : 0.989574 Centerline is valid? [True, True] Translation: X:192.35, Y:145.13, Z:6.22 [[ 9.22844782e-01 -3.84543221e-01 2.20004563e-02 1.92349523e+02] [ 3.84476770e-01 9.23105456e-01 7.34366371e-03 1.45127672e+02] [-2.31326974e-02 1.68160265e-03 9.99730989e-01 6.22254173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.370714057 meters Centerline goodness : 0.989191 Centerline is valid? [True, True] Translation: X:192.38, Y:145.14, Z:6.22 [[ 9.23663209e-01 -3.82574426e-01 2.19791968e-02 1.92379690e+02] [ 3.82506002e-01 9.23923345e-01 7.40346279e-03 1.45138333e+02] [-2.31394686e-02 1.56886852e-03 9.99731016e-01 6.22218997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.400714057 meters Centerline goodness : 0.991324 Centerline is valid? [True, True] Translation: X:192.41, Y:145.15, Z:6.22 [[ 9.22209564e-01 -3.86065012e-01 2.19847017e-02 1.92414250e+02] [ 3.85997940e-01 9.22470058e-01 7.38799094e-03 1.45152590e+02] [-2.31324739e-02 1.67277366e-03 9.99731009e-01 6.21505698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.430714057 meters Centerline goodness : 0.989406 Centerline is valid? [True, True] Translation: X:192.44, Y:145.16, Z:6.22 [[ 9.23444237e-01 -3.83094344e-01 2.21238767e-02 1.92439510e+02] [ 3.83035743e-01 9.23707026e-01 6.99641382e-03 1.45162849e+02] [-2.31162669e-02 2.01343754e-03 9.99730756e-01 6.22074825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.460714057 meters Centerline goodness : 0.990600 Centerline is valid? [True, True] Translation: X:192.47, Y:145.18, Z:6.21 [[ 9.22995648e-01 -3.84179064e-01 2.20336347e-02 1.92473006e+02] [ 3.84114737e-01 9.23256902e-01 7.24988183e-03 1.45175168e+02] [-2.31279582e-02 1.77183445e-03 9.99730943e-01 6.21167399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.490714057 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:192.51, Y:145.19, Z:6.21 [[ 9.22644334e-01 -3.85017568e-01 2.21112188e-02 1.92505489e+02] [ 3.84958662e-01 9.22907025e-01 7.03218704e-03 1.45189069e+02] [-2.31141147e-02 2.02369767e-03 9.99730785e-01 6.20962528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.520714057 meters Centerline goodness : 0.989624 Centerline is valid? [True, True] Translation: X:192.53, Y:145.20, Z:6.22 [[ 9.23754729e-01 -3.82340065e-01 2.22097862e-02 1.92526631e+02] [ 3.82287004e-01 9.24018945e-01 6.75539238e-03 1.45201376e+02] [-2.31051203e-02 2.25018696e-03 9.99730509e-01 6.21607756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.550714057 meters Centerline goodness : 0.988738 Centerline is valid? [True, True] Translation: X:192.55, Y:145.21, Z:6.22 [[ 9.23902667e-01 -3.81990489e-01 2.20709720e-02 1.92553606e+02] [ 3.81928032e-01 9.24164447e-01 7.14519914e-03 1.45213020e+02] [-2.31266058e-02 1.82805436e-03 9.99730873e-01 6.21583813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.580714057 meters Centerline goodness : 0.989377 Centerline is valid? [True, True] Translation: X:192.58, Y:145.23, Z:6.21 [[ 9.24180343e-01 -3.81320377e-01 2.20332282e-02 1.92584887e+02] [ 3.81255215e-01 9.24441390e-01 7.25104109e-03 1.45225789e+02] [-2.31333978e-02 1.69901352e-03 9.99730943e-01 6.21492628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.610714057 meters Centerline goodness : 0.989095 Centerline is valid? [True, True] Translation: X:192.61, Y:145.24, Z:6.22 [[ 9.24397325e-01 -3.80792690e-01 2.20570503e-02 1.92613870e+02] [ 3.80728958e-01 9.24658771e-01 7.18459024e-03 1.45241904e+02] [-2.31310844e-02 1.75634176e-03 9.99730898e-01 6.21550753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.640714057 meters Centerline goodness : 0.989553 Centerline is valid? [True, True] Translation: X:192.64, Y:145.26, Z:6.22 [[ 9.24412366e-01 -3.80755495e-01 2.20687929e-02 1.92639081e+02] [ 3.80692530e-01 9.24674023e-01 7.15184235e-03 1.45256863e+02] [-2.31295428e-02 1.79017310e-03 9.99730874e-01 6.21549753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.670714057 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:192.66, Y:145.28, Z:6.21 [[ 9.19972890e-01 -3.91364439e-01 2.19944894e-02 1.92655390e+02] [ 3.91299561e-01 9.20233939e-01 7.35873706e-03 1.45277663e+02] [-2.31200237e-02 1.83659545e-03 9.99731010e-01 6.21095942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.700714057 meters Centerline goodness : 0.989149 Centerline is valid? [True, True] Translation: X:192.70, Y:145.28, Z:6.21 [[ 9.24820223e-01 -3.79778341e-01 2.18166565e-02 1.92698485e+02] [ 3.79698518e-01 9.25076953e-01 7.85280190e-03 1.45281866e+02] [-2.31644102e-02 1.02132216e-03 9.99731147e-01 6.21383996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.730714057 meters Centerline goodness : 0.990613 Centerline is valid? [True, True] Translation: X:192.71, Y:145.30, Z:6.22 [[ 9.19775754e-01 -3.91825897e-01 2.20233748e-02 1.92708515e+02] [ 3.91763047e-01 9.20037353e-01 7.27906664e-03 1.45304029e+02] [-2.31144542e-02 1.93283540e-03 9.99730957e-01 6.21604926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.76071405700003 meters Centerline goodness : 0.988448 Centerline is valid? [True, True] Translation: X:192.75, Y:145.31, Z:6.21 [[ 9.24271922e-01 -3.81116638e-01 2.17145581e-02 1.92753265e+02] [ 3.81030607e-01 9.24526655e-01 8.13272664e-03 1.45307217e+02] [-2.31752052e-02 7.57060375e-04 9.99731132e-01 6.21367939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.790714057 meters Centerline goodness : 0.988864 Centerline is valid? [True, True] Translation: X:192.78, Y:145.32, Z:6.21 [[ 9.24527063e-01 -3.80481130e-01 2.19958919e-02 1.92779681e+02] [ 3.80413343e-01 9.24787350e-01 7.35163933e-03 1.45320395e+02] [-2.31386826e-02 1.57074124e-03 9.99731031e-01 6.21414799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.820714057 meters Centerline goodness : 0.988637 Centerline is valid? [True, True] Translation: X:192.81, Y:145.33, Z:6.21 [[ 9.24232197e-01 -3.81199984e-01 2.19412301e-02 1.92809703e+02] [ 3.81128802e-01 9.24491500e-01 7.50346895e-03 1.45332857e+02] [-2.31448030e-02 1.42748715e-03 9.99731104e-01 6.21138880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.850714057 meters Centerline goodness : 0.988537 Centerline is valid? [True, True] Translation: X:192.84, Y:145.34, Z:6.21 [[ 9.24981286e-01 -3.79378773e-01 2.19400778e-02 1.92839985e+02] [ 3.79307004e-01 9.25240426e-01 7.50666886e-03 1.45343033e+02] [-2.31477177e-02 1.37849696e-03 9.99731105e-01 6.21249307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.880714057 meters Centerline goodness : 0.982527 Centerline is valid? [True, True] Translation: X:192.86, Y:145.36, Z:6.21 [[ 9.22519721e-01 -3.85324630e-01 2.19611887e-02 1.92857248e+02] [ 3.85255939e-01 9.22779714e-01 7.44721550e-03 1.45356103e+02] [-2.31349350e-02 1.59047522e-03 9.99731086e-01 6.21200480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.910714057 meters Centerline goodness : 0.989820 Centerline is valid? [True, True] Translation: X:192.89, Y:145.37, Z:6.21 [[ 9.23069223e-01 -3.84025381e-01 2.16267473e-02 1.92894318e+02] [ 3.83934226e-01 9.23322365e-01 8.38569528e-03 1.45365993e+02] [-2.31887793e-02 5.62671246e-04 9.99730946e-01 6.21316528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.940714057 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:192.93, Y:145.38, Z:6.21 [[ 9.22223362e-01 -3.86044710e-01 2.17612755e-02 1.92929440e+02] [ 3.85963096e-01 9.22479509e-01 8.00277960e-03 1.45376730e+02] [-2.31637614e-02 1.01869894e-03 9.99731165e-01 6.20581171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.970714057 meters Centerline goodness : 0.990406 Centerline is valid? [True, True] Translation: X:192.96, Y:145.39, Z:6.20 [[ 9.21287903e-01 -3.88265337e-01 2.18775611e-02 1.92959890e+02] [ 3.88192165e-01 9.21546524e-01 7.67114565e-03 1.45388275e+02] [-2.31396303e-02 1.42536411e-03 9.99731227e-01 6.20456444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.000714057 meters Centerline goodness : 0.988855 Centerline is valid? [True, True] Translation: X:193.00, Y:145.39, Z:6.21 [[ 9.25887212e-01 -3.77165948e-01 2.18796167e-02 1.93004384e+02] [ 3.77089812e-01 9.26144976e-01 7.66527820e-03 1.45389782e+02] [-2.31547790e-02 1.15339747e-03 9.99731227e-01 6.20521026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.030714057 meters Centerline goodness : 0.988893 Centerline is valid? [True, True] Translation: X:193.04, Y:145.40, Z:6.20 [[ 9.25230850e-01 -3.78760945e-01 2.20912057e-02 1.93036295e+02] [ 3.78699556e-01 9.25492727e-01 7.06107283e-03 1.45401355e+02] [-2.31197088e-02 1.83280736e-03 9.99731024e-01 6.20488220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.060714057 meters Centerline goodness : 0.980752 Centerline is valid? [True, True] Translation: X:193.05, Y:145.41, Z:6.21 [[ 9.23622524e-01 -3.82663783e-01 2.21328166e-02 1.93054298e+02] [ 3.82606418e-01 9.23885375e-01 6.93843682e-03 1.45410730e+02] [-2.31032740e-02 2.05966113e-03 9.99730962e-01 6.20742164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.090714057 meters Centerline goodness : 0.988185 Centerline is valid? [True, True] Translation: X:193.09, Y:145.42, Z:6.20 [[ 9.23557237e-01 -3.82843723e-01 2.17419831e-02 1.93091730e+02] [ 3.82759433e-01 9.23812721e-01 8.07917908e-03 1.45422727e+02] [-2.31785835e-02 8.60364799e-04 9.99730970e-01 6.20426615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.120714057 meters Centerline goodness : 0.987927 Centerline is valid? [True, True] Translation: X:193.12, Y:145.43, Z:6.20 [[ 9.22931340e-01 -3.84327141e-01 2.21447678e-02 1.93117821e+02] [ 3.84270379e-01 9.23194560e-01 6.93393195e-03 1.45433531e+02] [-2.31088275e-02 2.11003524e-03 9.99730729e-01 6.20344886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.150714057 meters Centerline goodness : 0.988114 Centerline is valid? [True, True] Translation: X:193.15, Y:145.45, Z:6.20 [[ 9.21830695e-01 -3.86965239e-01 2.20470543e-02 1.93149902e+02] [ 3.86902651e-01 9.22092379e-01 7.20995758e-03 1.45445325e+02] [-2.31194237e-02 1.88370355e-03 9.99730936e-01 6.20031241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.180714057 meters Centerline goodness : 0.988059 Centerline is valid? [True, True] Translation: X:193.17, Y:145.46, Z:6.20 [[ 9.21001396e-01 -3.88930587e-01 2.21230129e-02 1.93171862e+02] [ 3.88873676e-01 9.21264528e-01 6.99524435e-03 1.45456057e+02] [-2.31018115e-02 2.16042752e-03 9.99730783e-01 6.20091394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.210714057 meters Centerline goodness : 0.988426 Centerline is valid? [True, True] Translation: X:193.20, Y:145.47, Z:6.20 [[ 9.20481941e-01 -3.90165410e-01 2.19988418e-02 1.93201811e+02] [ 3.90100493e-01 9.20742983e-01 7.34604125e-03 1.45467568e+02] [-2.31214504e-02 1.81986071e-03 9.99731007e-01 6.20209874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.240714057 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:193.24, Y:145.48, Z:6.20 [[ 9.18486860e-01 -3.94839744e-01 2.19878337e-02 1.93235392e+02] [ 3.94775415e-01 9.18748034e-01 7.37712084e-03 1.45481282e+02] [-2.31140595e-02 1.90446764e-03 9.99731020e-01 6.19732811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.270714057 meters Centerline goodness : 0.989492 Centerline is valid? [True, True] Translation: X:193.26, Y:145.49, Z:6.20 [[ 9.20805220e-01 -3.89397368e-01 2.20779626e-02 1.93262654e+02] [ 3.89337556e-01 9.21067608e-01 7.12239657e-03 1.45489868e+02] [-2.31087387e-02 2.03744006e-03 9.99730881e-01 6.20107277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.300714057 meters Centerline goodness : 0.987825 Centerline is valid? [True, True] Translation: X:193.29, Y:145.50, Z:6.20 [[ 9.20638472e-01 -3.89795283e-01 2.20100151e-02 1.93289510e+02] [ 3.89731018e-01 9.20899688e-01 7.31419069e-03 1.45501738e+02] [-2.31200531e-02 1.84426025e-03 9.99730995e-01 6.20253562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.330714057 meters Centerline goodness : 0.989420 Centerline is valid? [True, True] Translation: X:193.32, Y:145.51, Z:6.20 [[ 9.20944818e-01 -3.89074176e-01 2.19528573e-02 1.93320932e+02] [ 3.89005885e-01 9.21204942e-01 7.47510022e-03 1.45513510e+02] [-2.31314491e-02 1.65563587e-03 9.99731061e-01 6.20082610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.360714057 meters Centerline goodness : 0.988371 Centerline is valid? [True, True] Translation: X:193.35, Y:145.52, Z:6.20 [[ 9.22442099e-01 -3.85509225e-01 2.19820601e-02 1.93353357e+02] [ 3.85441877e-01 9.22702500e-01 7.39290221e-03 1.45524728e+02] [-2.31329338e-02 1.65328229e-03 9.99731031e-01 6.20007200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.390714057 meters Centerline goodness : 0.988766 Centerline is valid? [True, True] Translation: X:193.38, Y:145.54, Z:6.20 [[ 9.23077846e-01 -3.83982877e-01 2.20100022e-02 1.93382915e+02] [ 3.83916966e-01 9.23338652e-01 7.31420202e-03 1.45536274e+02] [-2.31312141e-02 1.69843542e-03 9.99730995e-01 6.19984157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.420714057 meters Centerline goodness : 0.988067 Centerline is valid? [True, True] Translation: X:193.41, Y:145.55, Z:6.20 [[ 9.23455531e-01 -3.83073945e-01 2.20053217e-02 1.93410910e+02] [ 3.83007465e-01 9.23716185e-01 7.32739735e-03 1.45547779e+02] [-2.31336069e-02 1.66167687e-03 9.99731001e-01 6.20071675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.450714057 meters Centerline goodness : 0.988322 Centerline is valid? [True, True] Translation: X:193.44, Y:145.56, Z:6.20 [[ 9.24997500e-01 -3.79337019e-01 2.19784378e-02 1.93444077e+02] [ 3.79267691e-01 9.25257376e-01 7.40311457e-03 1.45559281e+02] [-2.31439871e-02 1.48784889e-03 9.99731035e-01 6.19865376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.480714057 meters Centerline goodness : 0.987886 Centerline is valid? [True, True] Translation: X:193.47, Y:145.57, Z:6.20 [[ 9.25421775e-01 -3.78297952e-01 2.20271987e-02 1.93472754e+02] [ 3.78231588e-01 9.25682492e-01 7.26569836e-03 1.45569875e+02] [-2.31387910e-02 1.60754686e-03 9.99730970e-01 6.19799102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.51071405700003 meters Centerline goodness : 0.988486 Centerline is valid? [True, True] Translation: X:193.49, Y:145.58, Z:6.20 [[ 9.24624768e-01 -3.80243162e-01 2.20039796e-02 1.93493369e+02] [ 3.80175784e-01 9.24885193e-01 7.33160175e-03 1.45583214e+02] [-2.31389464e-02 1.58639964e-03 9.99731000e-01 6.19655084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.540714057 meters Centerline goodness : 0.989785 Centerline is valid? [True, True] Translation: X:193.52, Y:145.60, Z:6.20 [[ 9.24527951e-01 -3.80489206e-01 2.18181669e-02 1.93522209e+02] [ 3.80409467e-01 9.24784782e-01 7.85779620e-03 1.45595239e+02] [-2.31669154e-02 1.03508502e-03 9.99731075e-01 6.19765979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.570714057 meters Centerline goodness : 0.987355 Centerline is valid? [True, True] Translation: X:193.57, Y:145.60, Z:6.19 [[ 9.29114612e-01 -3.69150005e-01 2.17786820e-02 1.93569174e+02] [ 3.69064495e-01 9.29369611e-01 7.97021488e-03 1.45595885e+02] [-2.31826501e-02 6.32495189e-04 9.99731046e-01 6.19270745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.600714057 meters Centerline goodness : 0.987644 Centerline is valid? [True, True] Translation: X:193.60, Y:145.61, Z:6.19 [[ 9.29447257e-01 -3.68294646e-01 2.20646699e-02 1.93600368e+02] [ 3.68228139e-01 9.29707951e-01 7.15293951e-03 1.45606402e+02] [-2.31480883e-02 1.47655230e-03 9.99730957e-01 6.19123606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.630714057 meters Centerline goodness : 0.987648 Centerline is valid? [True, True] Translation: X:193.63, Y:145.62, Z:6.19 [[ 9.29209014e-01 -3.68895365e-01 2.20639319e-02 1.93627395e+02] [ 3.68828976e-01 9.29469737e-01 7.15504860e-03 1.45617247e+02] [-2.31472212e-02 1.48928175e-03 9.99730958e-01 6.19077428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.660714057 meters Centerline goodness : 0.987237 Centerline is valid? [True, True] Translation: X:193.66, Y:145.63, Z:6.19 [[ 9.29229440e-01 -3.68846738e-01 2.20166248e-02 1.93657261e+02] [ 3.68777138e-01 9.29489255e-01 7.29020904e-03 1.45626010e+02] [-2.31531860e-02 1.34495101e-03 9.99731024e-01 6.18915095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.690714057 meters Centerline goodness : 0.982947 Centerline is valid? [True, True] Translation: X:193.67, Y:145.64, Z:6.19 [[ 9.27594562e-01 -3.72939453e-01 2.20112073e-02 1.93674852e+02] [ 3.72870629e-01 9.27854578e-01 7.30586991e-03 1.45638622e+02] [-2.31478466e-02 1.43044752e-03 9.99731029e-01 6.18656770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.720714057 meters Centerline goodness : 0.988236 Centerline is valid? [True, True] Translation: X:193.72, Y:145.64, Z:6.19 [[ 9.29427364e-01 -3.68362820e-01 2.17625482e-02 1.93715730e+02] [ 3.68275679e-01 9.29681951e-01 8.03085529e-03 1.45644329e+02] [-2.31905168e-02 5.50520564e-04 9.99730912e-01 6.18688256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.750714057 meters Centerline goodness : 0.987873 Centerline is valid? [True, True] Translation: X:193.75, Y:145.65, Z:6.19 [[ 9.31199320e-01 -3.63847767e-01 2.19688044e-02 1.93748290e+02] [ 3.63773509e-01 9.31457808e-01 7.42870924e-03 1.45650479e+02] [-2.31659337e-02 1.07406008e-03 9.99731057e-01 6.18572978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.780714057 meters Centerline goodness : 0.988319 Centerline is valid? [True, True] Translation: X:193.78, Y:145.66, Z:6.18 [[ 9.30994474e-01 -3.64367993e-01 2.20284946e-02 1.93778262e+02] [ 3.64297992e-01 9.31254181e-01 7.25423834e-03 1.45660015e+02] [-2.31573399e-02 1.27128052e-03 9.99731025e-01 6.18318609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.810714057 meters Centerline goodness : 0.987129 Centerline is valid? [True, True] Translation: X:193.80, Y:145.67, Z:6.19 [[ 9.30588783e-01 -3.65404243e-01 2.20058173e-02 1.93804896e+02] [ 3.65332966e-01 9.30848126e-01 7.32053340e-03 1.45668530e+02] [-2.31590277e-02 1.22704422e-03 9.99731041e-01 6.18885682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.840714057 meters Centerline goodness : 0.989036 Centerline is valid? [True, True] Translation: X:193.83, Y:145.68, Z:6.19 [[ 9.28264512e-01 -3.71272926e-01 2.19410563e-02 1.93834119e+02] [ 3.71198823e-01 9.28523041e-01 7.50974559e-03 1.45683694e+02] [-2.31609415e-02 1.17346394e-03 9.99731061e-01 6.18646171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.870714057 meters Centerline goodness : 0.989457 Centerline is valid? [True, True] Translation: X:193.86, Y:145.69, Z:6.19 [[ 9.26669925e-01 -3.75235322e-01 2.19386345e-02 1.93863788e+02] [ 3.75162157e-01 9.26928721e-01 7.51682441e-03 1.45691557e+02] [-2.31561284e-02 1.26493033e-03 9.99731061e-01 6.18686966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.900714057 meters Centerline goodness : 0.990864 Centerline is valid? [True, True] Translation: X:193.89, Y:145.70, Z:6.18 [[ 9.24240655e-01 -3.81181116e-01 2.19127628e-02 1.93894123e+02] [ 3.81107829e-01 9.24499420e-01 7.59245511e-03 1.45704488e+02] [-2.31524370e-02 1.33386977e-03 9.99731057e-01 6.18270109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.930714057 meters Centerline goodness : 0.981680 Centerline is valid? [True, True] Translation: X:193.92, Y:145.71, Z:6.19 [[ 9.23808187e-01 -3.82226176e-01 2.19450428e-02 1.93917608e+02] [ 3.82155414e-01 9.24067649e-01 7.49797859e-03 1.45709671e+02] [-2.31446278e-02 1.45972290e-03 9.99731062e-01 6.18514500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.960714057 meters Centerline goodness : 0.988233 Centerline is valid? [True, True] Translation: X:193.95, Y:145.72, Z:6.18 [[ 9.24179071e-01 -3.81338911e-01 2.17642058e-02 1.93949838e+02] [ 3.81255463e-01 9.24434887e-01 8.02571498e-03 1.45715945e+02] [-2.31801085e-02 8.80524547e-04 9.99730917e-01 6.18482973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.990714057 meters Centerline goodness : 0.989322 Centerline is valid? [True, True] Translation: X:193.99, Y:145.72, Z:6.18 [[ 9.25280241e-01 -3.78651627e-01 2.18956718e-02 1.93988247e+02] [ 3.78576536e-01 9.25538467e-01 7.63884482e-03 1.45723493e+02] [-2.31577476e-02 1.22111542e-03 9.99731078e-01 6.18234261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.020714057 meters Centerline goodness : 0.989012 Centerline is valid? [True, True] Translation: X:194.01, Y:145.74, Z:6.18 [[ 9.23433981e-01 -3.83120449e-01 2.20998873e-02 1.94009837e+02] [ 3.83060850e-01 9.23696300e-01 7.03784106e-03 1.45736804e+02] [-2.31099249e-02 1.96662003e-03 9.99730996e-01 6.18415122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.050714057 meters Centerline goodness : 0.989511 Centerline is valid? [True, True] Translation: X:194.04, Y:145.75, Z:6.18 [[ 9.23444197e-01 -3.83105403e-01 2.19331882e-02 1.94042257e+02] [ 3.83034187e-01 9.23703496e-01 7.52749965e-03 1.45747254e+02] [-2.31435884e-02 1.44993502e-03 9.99731100e-01 6.18227357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.080714057 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:194.07, Y:145.76, Z:6.18 [[ 9.21436942e-01 -3.87906875e-01 2.19594829e-02 1.94070214e+02] [ 3.87838841e-01 9.21697091e-01 7.45019192e-03 1.45762518e+02] [-2.31299722e-02 1.65185834e-03 9.99731102e-01 6.17622500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.110714057 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:194.10, Y:145.77, Z:6.18 [[ 9.21545780e-01 -3.87648508e-01 2.19547205e-02 1.94102057e+02] [ 3.87580070e-01 9.21805823e-01 7.46419976e-03 1.45773255e+02] [-2.31314751e-02 1.63061031e-03 9.99731102e-01 6.17544042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.140714057 meters Centerline goodness : 0.988714 Centerline is valid? [True, True] Translation: X:194.13, Y:145.78, Z:6.17 [[ 9.22620399e-01 -3.85083755e-01 2.19568148e-02 1.94131958e+02] [ 3.85014739e-01 9.22880289e-01 7.45803415e-03 1.45780558e+02] [-2.31354794e-02 1.57276286e-03 9.99731102e-01 6.17108469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.170714057 meters Centerline goodness : 0.989593 Centerline is valid? [True, True] Translation: X:194.16, Y:145.79, Z:6.18 [[ 9.22193475e-01 -3.86105872e-01 2.19419773e-02 1.94162629e+02] [ 3.86036110e-01 9.22453167e-01 7.50172489e-03 1.45792225e+02] [-2.31369064e-02 1.55235380e-03 9.99731101e-01 6.17519997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.200714057 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:194.20, Y:145.80, Z:6.17 [[ 9.20817410e-01 -3.89376609e-01 2.19352304e-02 1.94195677e+02] [ 3.89307298e-01 9.21077224e-01 7.52160601e-03 1.45804593e+02] [-2.31327785e-02 1.61351951e-03 9.99731099e-01 6.16915067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.230714057 meters Centerline goodness : 0.991790 Centerline is valid? [True, True] Translation: X:194.22, Y:145.82, Z:6.17 [[ 9.20474036e-01 -3.90180904e-01 2.20547302e-02 1.94220521e+02] [ 3.90120211e-01 9.20736031e-01 7.16818647e-03 1.45816854e+02] [-2.31034742e-02 2.00586644e-03 9.99731067e-01 6.17396518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.26071405700003 meters Centerline goodness : 0.990594 Centerline is valid? [True, True] Translation: X:194.26, Y:145.82, Z:6.17 [[ 9.24469352e-01 -3.80623123e-01 2.19648784e-02 1.94263991e+02] [ 3.80553429e-01 9.24729057e-01 7.43368121e-03 1.45820331e+02] [-2.31409923e-02 1.48659936e-03 9.99731106e-01 6.17291612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.290714057 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:194.28, Y:145.83, Z:6.17 [[ 9.22053378e-01 -3.86426893e-01 2.21771096e-02 1.94284368e+02] [ 3.86373903e-01 9.22317175e-01 6.79969757e-03 1.45834451e+02] [-2.30819150e-02 2.29897227e-03 9.99730934e-01 6.17375689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.320714057 meters Centerline goodness : 0.982083 Centerline is valid? [True, True] Translation: X:194.31, Y:145.85, Z:6.17 [[ 9.20285522e-01 -3.90630073e-01 2.19705205e-02 1.94306261e+02] [ 3.90563655e-01 9.20546065e-01 7.41445208e-03 1.45847729e+02] [-2.31211841e-02 1.75747387e-03 9.99731125e-01 6.16697867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.350714057 meters Centerline goodness : 0.982457 Centerline is valid? [True, True] Translation: X:194.34, Y:145.86, Z:6.17 [[ 9.20525084e-01 -3.90074217e-01 2.18099743e-02 1.94337684e+02] [ 3.89996347e-01 9.20782583e-01 7.89202058e-03 1.45857818e+02] [-2.31607182e-02 1.24100740e-03 9.99730984e-01 6.16808900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.380714057 meters Centerline goodness : 0.989553 Centerline is valid? [True, True] Translation: X:194.38, Y:145.87, Z:6.17 [[ 9.21533206e-01 -3.87687443e-01 2.17944057e-02 1.94375014e+02] [ 3.87607812e-01 9.21790196e-01 7.93844898e-03 1.45868454e+02] [-2.31675065e-02 1.13213758e-03 9.99730956e-01 6.16936957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.410714057 meters Centerline goodness : 0.991470 Centerline is valid? [True, True] Translation: X:194.40, Y:145.88, Z:6.17 [[ 9.19759103e-01 -3.91867235e-01 2.19832154e-02 1.94403487e+02] [ 3.91802141e-01 9.20019954e-01 7.37334478e-03 1.45883755e+02] [-2.31143691e-02 1.83136988e-03 9.99731150e-01 6.17011587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.440714057 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:194.44, Y:145.90, Z:6.17 [[ 9.19045299e-01 -3.93537846e-01 2.19932392e-02 1.94436368e+02] [ 3.93473939e-01 9.19306442e-01 7.34332368e-03 1.45896879e+02] [-2.31084022e-02 1.90491934e-03 9.99731150e-01 6.16648360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.470714057 meters Centerline goodness : 0.990044 Centerline is valid? [True, True] Translation: X:194.46, Y:145.91, Z:6.17 [[ 9.20321143e-01 -3.90540585e-01 2.20690827e-02 1.94464673e+02] [ 3.90481232e-01 9.20583387e-01 7.11586197e-03 1.45905748e+02] [-2.30954638e-02 2.06868439e-03 9.99731124e-01 6.17115527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.500714057 meters Centerline goodness : 0.991344 Centerline is valid? [True, True] Translation: X:194.50, Y:145.92, Z:6.17 [[ 9.19089308e-01 -3.93434803e-01 2.19977135e-02 1.94500727e+02] [ 3.93371186e-01 9.19350522e-01 7.32985226e-03 1.45918702e+02] [-2.31074284e-02 1.91647781e-03 9.99731151e-01 6.16933197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.530714057 meters Centerline goodness : 0.989926 Centerline is valid? [True, True] Translation: X:194.53, Y:145.93, Z:6.17 [[ 9.19320188e-01 -3.92885608e-01 2.21650739e-02 1.94526821e+02] [ 3.92833686e-01 9.19584153e-01 6.83239335e-03 1.45929630e+02] [-2.30669997e-02 2.42603055e-03 9.99730978e-01 6.16840607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.560714057 meters Centerline goodness : 0.990894 Centerline is valid? [True, True] Translation: X:194.56, Y:145.94, Z:6.17 [[ 9.17864704e-01 -3.96279048e-01 2.20749061e-02 1.94561824e+02] [ 3.96221714e-01 9.18127412e-01 7.09996007e-03 1.45943513e+02] [-2.30811418e-02 2.22975439e-03 9.99731108e-01 6.16738207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.590714057 meters Centerline goodness : 0.989933 Centerline is valid? [True, True] Translation: X:194.59, Y:145.95, Z:6.17 [[ 9.18675791e-01 -3.94389815e-01 2.21690127e-02 1.94588810e+02] [ 3.94338611e-01 9.18939901e-01 6.82040966e-03 1.45954237e+02] [-2.30618904e-02 2.47635243e-03 9.99730972e-01 6.16691718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.620714057 meters Centerline goodness : 0.991042 Centerline is valid? [True, True] Translation: X:194.62, Y:145.97, Z:6.17 [[ 9.18098913e-01 -3.95734557e-01 2.21030691e-02 1.94622474e+02] [ 3.95679070e-01 9.18362048e-01 7.01595515e-03 1.45968305e+02] [-2.30750757e-02 2.30438100e-03 9.99731079e-01 6.16800155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.650714057 meters Centerline goodness : 0.990156 Centerline is valid? [True, True] Translation: X:194.65, Y:145.98, Z:6.17 [[ 9.19122892e-01 -3.93345438e-01 2.21918210e-02 1.94647424e+02] [ 3.93295553e-01 9.19387301e-01 6.75269722e-03 1.45979644e+02] [-2.30590211e-02 2.52138591e-03 9.99730926e-01 6.16752053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.680714057 meters Centerline goodness : 0.990492 Centerline is valid? [True, True] Translation: X:194.68, Y:145.99, Z:6.17 [[ 9.21708574e-01 -3.87253291e-01 2.20950992e-02 1.94676827e+02] [ 3.87194830e-01 9.21971049e-01 7.03905250e-03 1.45993121e+02] [-2.30969380e-02 2.06715312e-03 9.99731093e-01 6.16832327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.710714057 meters Centerline goodness : 0.991397 Centerline is valid? [True, True] Translation: X:194.71, Y:146.01, Z:6.17 [[ 9.22030660e-01 -3.86485985e-01 2.20917749e-02 1.94713024e+02] [ 3.86427071e-01 9.22293029e-01 7.04887200e-03 1.46006836e+02] [-2.30993802e-02 2.03758376e-03 9.99731097e-01 6.16558963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.740714057 meters Centerline goodness : 0.990091 Centerline is valid? [True, True] Translation: X:194.74, Y:146.02, Z:6.17 [[ 9.25409614e-01 -3.78315833e-01 2.22300907e-02 1.94735030e+02] [ 3.78264339e-01 9.25673811e-01 6.63976499e-03 1.46020992e+02] [-2.30897410e-02 2.26434820e-03 9.99730832e-01 6.16715072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.770714057 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:194.77, Y:146.03, Z:6.16 [[ 9.28441555e-01 -3.70820757e-01 2.20962738e-02 1.94773772e+02] [ 3.70757742e-01 9.28702971e-01 7.03485489e-03 1.46031788e+02] [-2.31295453e-02 1.66091297e-03 9.99731097e-01 6.15957999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.800714057 meters Centerline goodness : 0.990349 Centerline is valid? [True, True] Translation: X:194.79, Y:146.04, Z:6.17 [[ 9.29488556e-01 -3.68175151e-01 2.23177511e-02 1.94790150e+02] [ 3.68127060e-01 9.29753632e-01 6.37580531e-03 1.46044892e+02] [-2.30974232e-02 2.28953004e-03 9.99730597e-01 6.16653318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.830714057 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:194.82, Y:146.06, Z:6.17 [[ 9.30727822e-01 -3.65045537e-01 2.20788950e-02 1.94822975e+02] [ 3.64979796e-01 9.30988508e-01 7.08140051e-03 1.46059822e+02] [-2.31402312e-02 1.46749411e-03 9.99731152e-01 6.16533130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.860714057 meters Centerline goodness : 0.991687 Centerline is valid? [True, True] Translation: X:194.86, Y:146.07, Z:6.16 [[ 9.32213001e-01 -3.61230972e-01 2.21609129e-02 1.94857441e+02] [ 3.61169890e-01 9.32474951e-01 6.83932805e-03 1.46070225e+02] [-2.31350733e-02 1.62814396e-03 9.99731023e-01 6.16142739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.890714057 meters Centerline goodness : 0.989835 Centerline is valid? [True, True] Translation: X:194.88, Y:146.08, Z:6.17 [[ 9.32860704e-01 -3.59549339e-01 2.22526302e-02 1.94876447e+02] [ 3.59494206e-01 9.33124198e-01 6.56866199e-03 1.46080862e+02] [-2.31262258e-02 1.87204498e-03 9.99730800e-01 6.16680103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.920714057 meters Centerline goodness : 0.990776 Centerline is valid? [True, True] Translation: X:194.91, Y:146.09, Z:6.16 [[ 9.32489598e-01 -3.60523623e-01 2.20424061e-02 1.94912334e+02] [ 3.60454126e-01 9.32749254e-01 7.18690398e-03 1.46092040e+02] [-2.31510865e-02 1.24356302e-03 9.99731204e-01 6.16460381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.950714057 meters Centerline goodness : 0.990760 Centerline is valid? [True, True] Translation: X:194.94, Y:146.10, Z:6.16 [[ 9.31514202e-01 -3.63027897e-01 2.21819235e-02 1.94935967e+02] [ 3.62968824e-01 9.31776647e-01 6.77590759e-03 1.46102930e+02] [-2.31284417e-02 1.73949252e-03 9.99730988e-01 6.16485810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.980714057 meters Centerline goodness : 0.992012 Centerline is valid? [True, True] Translation: X:194.97, Y:146.11, Z:6.16 [[ 9.29461021e-01 -3.68259522e-01 2.20711458e-02 1.94967202e+02] [ 3.68194185e-01 9.29721786e-01 7.10236963e-03 1.46114004e+02] [-2.31355404e-02 1.52509182e-03 9.99731174e-01 6.16254472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.01071405700003 meters Centerline goodness : 0.990914 Centerline is valid? [True, True] Translation: X:195.00, Y:146.13, Z:6.16 [[ 9.28020810e-01 -3.71873284e-01 2.20824953e-02 1.94996118e+02] [ 3.71809754e-01 9.28282035e-01 7.06892824e-03 1.46125058e+02] [-2.31275293e-02 1.65037465e-03 9.99731161e-01 6.16165225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.040714057 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:195.02, Y:146.14, Z:6.16 [[ 9.27408020e-01 -3.73400793e-01 2.20502302e-02 1.95024997e+02] [ 3.73335441e-01 9.27668759e-01 7.16399678e-03 1.46135577e+02] [-2.31303518e-02 1.58818436e-03 9.99731196e-01 6.16110198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.070714057 meters Centerline goodness : 0.990649 Centerline is valid? [True, True] Translation: X:195.05, Y:146.15, Z:6.16 [[ 9.27633894e-01 -3.72840154e-01 2.20358462e-02 1.95054484e+02] [ 3.72773642e-01 9.27894326e-01 7.20636915e-03 1.46145333e+02] [-2.31337604e-02 1.52951036e-03 9.99731209e-01 6.16088856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.100714057 meters Centerline goodness : 0.991056 Centerline is valid? [True, True] Translation: X:195.09, Y:146.16, Z:6.16 [[ 9.27583885e-01 -3.72966228e-01 2.20074797e-02 1.95085030e+02] [ 3.72897780e-01 9.27843794e-01 7.28972995e-03 1.46156510e+02] [-2.31383266e-02 1.44470429e-03 9.99731229e-01 6.16005995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.130714057 meters Centerline goodness : 0.991138 Centerline is valid? [True, True] Translation: X:195.11, Y:146.17, Z:6.16 [[ 9.28170047e-01 -3.71503980e-01 2.20262843e-02 1.95114585e+02] [ 3.71436430e-01 9.28430203e-01 7.23443107e-03 1.46166575e+02] [-2.31374875e-02 1.46658215e-03 9.99731217e-01 6.15839128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.160714057 meters Centerline goodness : 0.991988 Centerline is valid? [True, True] Translation: X:195.15, Y:146.18, Z:6.15 [[ 9.29465237e-01 -3.68251428e-01 2.20286116e-02 1.95146697e+02] [ 3.68183129e-01 9.29725199e-01 7.22757220e-03 1.46177549e+02] [-2.31421191e-02 1.39278604e-03 9.99731215e-01 6.15389848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.190714057 meters Centerline goodness : 0.990834 Centerline is valid? [True, True] Translation: X:195.17, Y:146.19, Z:6.16 [[ 9.30451744e-01 -3.65749613e-01 2.20629082e-02 1.95173729e+02] [ 3.65683001e-01 9.30712176e-01 7.12655457e-03 1.46187785e+02] [-2.31407519e-02 1.43711535e-03 9.99731184e-01 6.15554973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.220714057 meters Centerline goodness : 0.991150 Centerline is valid? [True, True] Translation: X:195.21, Y:146.20, Z:6.15 [[ 9.31716734e-01 -3.62518957e-01 2.19984992e-02 1.95206590e+02] [ 3.62446977e-01 9.31975680e-01 7.31585382e-03 1.46198711e+02] [-2.31542020e-02 1.15698611e-03 9.99731236e-01 6.15280184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.250714057 meters Centerline goodness : 0.991154 Centerline is valid? [True, True] Translation: X:195.24, Y:146.21, Z:6.15 [[ 9.32653596e-01 -3.60098696e-01 2.20499145e-02 1.95236146e+02] [ 3.60029606e-01 9.32913367e-01 7.16464255e-03 1.46209490e+02] [-2.31506384e-02 1.25649240e-03 9.99731198e-01 6.15226089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.280714057 meters Centerline goodness : 0.989855 Centerline is valid? [True, True] Translation: X:195.27, Y:146.22, Z:6.15 [[ 9.33748111e-01 -3.57251273e-01 2.20452750e-02 1.95265007e+02] [ 3.57181068e-01 9.34007578e-01 7.17833129e-03 1.46219126e+02] [-2.31549219e-02 1.17140161e-03 9.99731203e-01 6.15204549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.310714057 meters Centerline goodness : 0.988921 Centerline is valid? [True, True] Translation: X:195.29, Y:146.23, Z:6.15 [[ 9.33827758e-01 -3.57045262e-01 2.20091007e-02 1.95293242e+02] [ 3.56972490e-01 9.34086490e-01 7.28494812e-03 1.46227896e+02] [-2.31594599e-02 1.05375673e-03 9.99731228e-01 6.14953480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.340714057 meters Centerline goodness : 0.990783 Centerline is valid? [True, True] Translation: X:195.33, Y:146.24, Z:6.15 [[ 9.33409913e-01 -3.58139634e-01 2.19530493e-02 1.95329578e+02] [ 3.58063283e-01 9.33667597e-01 7.45011457e-03 1.46239622e+02] [-2.31650320e-02 9.06570099e-04 9.99731244e-01 6.14853470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.370714057 meters Centerline goodness : 0.990679 Centerline is valid? [True, True] Translation: X:195.36, Y:146.25, Z:6.15 [[ 9.32574779e-01 -3.60302157e-01 2.20598306e-02 1.95359396e+02] [ 3.60233786e-01 9.32834759e-01 7.13660757e-03 1.46250287e+02] [-2.31495119e-02 1.29127608e-03 9.99731180e-01 6.15069429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.400714057 meters Centerline goodness : 0.990473 Centerline is valid? [True, True] Translation: X:195.39, Y:146.26, Z:6.15 [[ 9.32232655e-01 -3.61185539e-01 2.20744928e-02 1.95389809e+02] [ 3.61118430e-01 9.32492982e-01 7.09356374e-03 1.46261625e+02] [-2.31464022e-02 1.35865443e-03 9.99731163e-01 6.15048959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.430714057 meters Centerline goodness : 0.990101 Centerline is valid? [True, True] Translation: X:195.42, Y:146.27, Z:6.15 [[ 9.31417563e-01 -3.63283100e-01 2.20615600e-02 1.95416957e+02] [ 3.63215681e-01 9.31677793e-01 7.13153985e-03 1.46271245e+02] [-2.31450334e-02 1.37066306e-03 9.99731178e-01 6.14723187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.460714057 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:195.45, Y:146.28, Z:6.15 [[ 9.30276651e-01 -3.66198285e-01 2.20038129e-02 1.95447607e+02] [ 3.66127680e-01 9.30535984e-01 7.30098111e-03 1.46283018e+02] [-2.31489465e-02 1.26427272e-03 9.99731228e-01 6.14888977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.490714057 meters Centerline goodness : 0.989510 Centerline is valid? [True, True] Translation: X:195.48, Y:146.29, Z:6.15 [[ 9.28678253e-01 -3.70232331e-01 2.20164515e-02 1.95476964e+02] [ 3.70163729e-01 9.28938130e-01 7.26387640e-03 1.46293534e+02] [-2.31412432e-02 1.40388773e-03 9.99731220e-01 6.14696134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.520714057 meters Centerline goodness : 0.990125 Centerline is valid? [True, True] Translation: X:195.50, Y:146.30, Z:6.14 [[ 9.28644742e-01 -3.70317442e-01 2.19985233e-02 1.95504445e+02] [ 3.70247620e-01 9.28904284e-01 7.31650839e-03 1.46302536e+02] [-2.31439532e-02 1.35046385e-03 9.99731231e-01 6.14240146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.550714057 meters Centerline goodness : 0.990019 Centerline is valid? [True, True] Translation: X:195.54, Y:146.31, Z:6.15 [[ 9.27341368e-01 -3.73572449e-01 2.19456530e-02 1.95537054e+02] [ 3.73499875e-01 9.27600139e-01 7.47164455e-03 1.46314156e+02] [-2.31479913e-02 1.26793359e-03 9.99731245e-01 6.14579823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.580714057 meters Centerline goodness : 0.989030 Centerline is valid? [True, True] Translation: X:195.57, Y:146.33, Z:6.15 [[ 9.27291713e-01 -3.73692254e-01 2.20040612e-02 1.95566332e+02] [ 3.73623766e-01 9.27551611e-01 7.30002017e-03 1.46325030e+02] [-2.31378634e-02 1.45199201e-03 9.99731229e-01 6.14793644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.610714057 meters Centerline goodness : 0.989208 Centerline is valid? [True, True] Translation: X:195.59, Y:146.33, Z:6.15 [[ 9.28205330e-01 -3.71417807e-01 2.19926926e-02 1.95594794e+02] [ 3.71347892e-01 9.28464842e-01 7.33344768e-03 1.46334963e+02] [-2.31432150e-02 1.35999484e-03 9.99731235e-01 6.14562459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.640714057 meters Centerline goodness : 0.988786 Centerline is valid? [True, True] Translation: X:195.63, Y:146.35, Z:6.15 [[ 9.28221100e-01 -3.71379714e-01 2.19703941e-02 1.95627780e+02] [ 3.71308242e-01 9.28480180e-01 7.39899565e-03 1.46346089e+02] [-2.31469123e-02 1.28988452e-03 9.99731242e-01 6.14696571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.670714057 meters Centerline goodness : 0.989364 Centerline is valid? [True, True] Translation: X:195.66, Y:146.36, Z:6.14 [[ 9.28331017e-01 -3.71101937e-01 2.20198890e-02 1.95663219e+02] [ 3.71033826e-01 9.28591023e-01 7.25336320e-03 1.46358531e+02] [-2.31392084e-02 1.43660165e-03 9.99731220e-01 6.14351593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.700714057 meters Centerline goodness : 0.990575 Centerline is valid? [True, True] Translation: X:195.69, Y:146.37, Z:6.14 [[ 9.28786431e-01 -3.69954332e-01 2.21259467e-02 1.95694183e+02] [ 3.69893287e-01 9.29048316e-01 6.94132210e-03 1.46370203e+02] [-2.31240457e-02 1.73723337e-03 9.99731094e-01 6.14329218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.730714057 meters Centerline goodness : 0.988489 Centerline is valid? [True, True] Translation: X:195.72, Y:146.38, Z:6.14 [[ 9.31088517e-01 -3.64120697e-01 2.21425195e-02 1.95719841e+02] [ 3.64059166e-01 9.31350319e-01 6.89255085e-03 1.46380699e+02] [-2.31321630e-02 1.64361223e-03 9.99731065e-01 6.13978815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.76071405700003 meters Centerline goodness : 0.990674 Centerline is valid? [True, True] Translation: X:195.76, Y:146.39, Z:6.14 [[ 9.31097957e-01 -3.64100059e-01 2.20848763e-02 1.95755704e+02] [ 3.64034508e-01 9.31358687e-01 7.06214769e-03 1.46392326e+02] [-2.31402698e-02 1.46410578e-03 9.99731156e-01 6.13566012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.790714057 meters Centerline goodness : 0.988746 Centerline is valid? [True, True] Translation: X:195.78, Y:146.40, Z:6.14 [[ 9.32352472e-01 -3.60867831e-01 2.22098384e-02 1.95779006e+02] [ 3.60810114e-01 9.32615282e-01 6.69307353e-03 1.46402095e+02] [-2.31285496e-02 1.77323067e-03 9.99730927e-01 6.13580594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.820714057 meters Centerline goodness : 0.989516 Centerline is valid? [True, True] Translation: X:195.80, Y:146.42, Z:6.14 [[ 9.28602630e-01 -3.70417369e-01 2.20936244e-02 1.95797324e+02] [ 3.70354217e-01 9.28863958e-01 7.03565638e-03 1.46419644e+02] [-2.31281008e-02 1.64913797e-03 9.99731150e-01 6.13593834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.850714057 meters Centerline goodness : 0.990661 Centerline is valid? [True, True] Translation: X:195.84, Y:146.43, Z:6.14 [[ 9.29895635e-01 -3.67168015e-01 2.19489393e-02 1.95842944e+02] [ 3.67093902e-01 9.30153964e-01 7.46128544e-03 1.46426926e+02] [-2.31554382e-02 1.11910501e-03 9.99731251e-01 6.13551935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.880714057 meters Centerline goodness : 0.989528 Centerline is valid? [True, True] Translation: X:195.87, Y:146.44, Z:6.14 [[ 9.29985833e-01 -3.66924326e-01 2.22010959e-02 1.95868427e+02] [ 3.66867617e-01 9.30248868e-01 6.72275515e-03 1.46437547e+02] [-2.31192867e-02 1.89279609e-03 9.99730922e-01 6.13907578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.910714057 meters Centerline goodness : 0.988844 Centerline is valid? [True, True] Translation: X:195.90, Y:146.45, Z:6.14 [[ 9.28834662e-01 -3.69834351e-01 2.21070819e-02 1.95899729e+02] [ 3.69771941e-01 9.29096199e-01 6.99747655e-03 1.46448852e+02] [-2.31275130e-02 1.67507982e-03 9.99731120e-01 6.13853703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.940714057 meters Centerline goodness : 0.988845 Centerline is valid? [True, True] Translation: X:195.93, Y:146.46, Z:6.14 [[ 9.28947136e-01 -3.69550778e-01 2.21233062e-02 1.95928666e+02] [ 3.69489413e-01 9.29208949e-01 6.95004565e-03 1.46458120e+02] [-2.31255688e-02 1.71810240e-03 9.99731092e-01 6.13896606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.970714057 meters Centerline goodness : 0.991012 Centerline is valid? [True, True] Translation: X:195.96, Y:146.47, Z:6.13 [[ 9.26764108e-01 -3.74994203e-01 2.20825001e-02 1.95963578e+02] [ 3.74931549e-01 9.27025545e-01 7.06906258e-03 1.46469854e+02] [-2.31218992e-02 1.72807251e-03 9.99731160e-01 6.13412340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.000714057 meters Centerline goodness : 0.991012 Centerline is valid? [True, True] Translation: X:195.99, Y:146.48, Z:6.13 [[ 9.26537026e-01 -3.75547815e-01 2.22031018e-02 1.95994109e+02] [ 3.75493689e-01 9.26800610e-01 6.71700705e-03 1.46480773e+02] [-2.31004057e-02 2.11356888e-03 9.99730916e-01 6.13352214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.030714057 meters Centerline goodness : 0.989728 Centerline is valid? [True, True] Translation: X:196.02, Y:146.49, Z:6.14 [[ 9.25737228e-01 -3.77515262e-01 2.21993405e-02 1.96020616e+02] [ 3.77461435e-01 9.26000864e-01 6.72797766e-03 1.46489631e+02] [-2.30965227e-02 2.15105552e-03 9.99730926e-01 6.13817092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.060714057 meters Centerline goodness : 0.990456 Centerline is valid? [True, True] Translation: X:196.05, Y:146.50, Z:6.14 [[ 9.24437289e-01 -3.80690776e-01 2.21411723e-02 1.96051087e+02] [ 3.80633804e-01 9.24700128e-01 6.89787964e-03 1.46499528e+02] [-2.30999040e-02 2.05102148e-03 9.99731058e-01 6.13653325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.090714057 meters Centerline goodness : 0.989849 Centerline is valid? [True, True] Translation: X:196.08, Y:146.51, Z:6.13 [[ 9.22948584e-01 -3.84286915e-01 2.21241475e-02 1.96081619e+02] [ 3.84229788e-01 9.23211354e-01 6.94734768e-03 1.46509536e+02] [-2.30950390e-02 2.08871182e-03 9.99731092e-01 6.13400541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.120714057 meters Centerline goodness : 0.990275 Centerline is valid? [True, True] Translation: X:196.11, Y:146.52, Z:6.13 [[ 9.23035280e-01 -3.84077293e-01 2.21473236e-02 1.96109531e+02] [ 3.84021712e-01 9.23298430e-01 6.88000167e-03 1.46518302e+02] [-2.30910416e-02 2.15456887e-03 9.99731045e-01 6.13406596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.150714057 meters Centerline goodness : 0.990286 Centerline is valid? [True, True] Translation: X:196.14, Y:146.53, Z:6.13 [[ 9.21720841e-01 -3.87223597e-01 2.21037919e-02 1.96138445e+02] [ 3.87165903e-01 9.21983447e-01 7.00626105e-03 1.46527729e+02] [-2.30923198e-02 2.10001771e-03 9.99731131e-01 6.13075546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.180714057 meters Centerline goodness : 0.987559 Centerline is valid? [True, True] Translation: X:196.16, Y:146.54, Z:6.13 [[ 9.19251684e-01 -3.93050512e-01 2.20824785e-02 1.96155783e+02] [ 3.92992991e-01 9.19514297e-01 7.06879250e-03 1.46542190e+02] [-2.30835472e-02 2.18025987e-03 9.99731162e-01 6.12971821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.210714057 meters Centerline goodness : 0.985956 Centerline is valid? [True, True] Translation: X:196.19, Y:146.55, Z:6.13 [[ 9.20289516e-01 -3.90631569e-01 2.17757697e-02 1.96185848e+02] [ 3.90552123e-01 9.20546358e-01 7.96500650e-03 1.46552956e+02] [-2.31569885e-02 1.17446110e-03 9.99731151e-01 6.12803210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.240714057 meters Centerline goodness : 0.990736 Centerline is valid? [True, True] Translation: X:196.22, Y:146.56, Z:6.12 [[ 9.21078423e-01 -3.88768248e-01 2.17666863e-02 1.96221538e+02] [ 3.88687658e-01 9.21334923e-01 7.99155595e-03 1.46563564e+02] [-2.31612714e-02 1.09959255e-03 9.99731137e-01 6.12157294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.270714057 meters Centerline goodness : 0.988670 Centerline is valid? [True, True] Translation: X:196.27, Y:146.57, Z:6.13 [[ 9.26837145e-01 -3.74822013e-01 2.19400258e-02 1.96265768e+02] [ 3.74749509e-01 9.27095898e-01 7.48336241e-03 1.46565482e+02] [-2.31454369e-02 1.28615565e-03 9.99731281e-01 6.12739378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.300714057 meters Centerline goodness : 0.988068 Centerline is valid? [True, True] Translation: X:196.29, Y:146.58, Z:6.13 [[ 9.28470782e-01 -3.70743948e-01 2.21569935e-02 1.96293809e+02] [ 3.70685387e-01 9.28733264e-01 6.84595617e-03 1.46576968e+02] [-2.31160338e-02 1.85700345e-03 9.99731064e-01 6.12681176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.330714057 meters Centerline goodness : 0.988328 Centerline is valid? [True, True] Translation: X:196.32, Y:146.59, Z:6.12 [[ 9.27658400e-01 -3.72775111e-01 2.21044987e-02 1.96315422e+02] [ 3.72713435e-01 9.27920081e-01 7.00139982e-03 1.46591131e+02] [-2.31211559e-02 1.74373629e-03 9.99731150e-01 6.12462163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.360714057 meters Centerline goodness : 0.989638 Centerline is valid? [True, True] Translation: X:196.36, Y:146.60, Z:6.12 [[ 9.30866373e-01 -3.64702027e-01 2.19140853e-02 1.96358383e+02] [ 3.64624813e-01 9.31123800e-01 7.56405982e-03 1.46602177e+02] [-2.31633543e-02 9.49290329e-04 9.99731243e-01 6.12196770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.390714057 meters Centerline goodness : 0.989035 Centerline is valid? [True, True] Translation: X:196.38, Y:146.61, Z:6.12 [[ 9.30956634e-01 -3.64446505e-01 2.23268984e-02 1.96382329e+02] [ 3.64397510e-01 9.31221713e-01 6.36988484e-03 1.46613487e+02] [-2.31127749e-02 2.20577964e-03 9.99730431e-01 6.12241889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.420714057 meters Centerline goodness : 0.987085 Centerline is valid? [True, True] Translation: X:196.40, Y:146.63, Z:6.12 [[ 9.29258856e-01 -3.68760754e-01 2.22145351e-02 1.96399707e+02] [ 3.68705107e-01 9.29522269e-01 6.70042331e-03 1.46625712e+02] [-2.31197582e-02 1.96418484e-03 9.99730773e-01 6.12282654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.450714057 meters Centerline goodness : 0.989587 Centerline is valid? [True, True] Translation: X:196.44, Y:146.63, Z:6.12 [[ 9.32579460e-01 -3.60300031e-01 2.18960684e-02 1.96441446e+02] [ 3.60219992e-01 9.32836157e-01 7.63291024e-03 1.46633589e+02] [-2.31755821e-02 7.69106259e-04 9.99731114e-01 6.12154296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.480714057 meters Centerline goodness : 0.988913 Centerline is valid? [True, True] Translation: X:196.47, Y:146.65, Z:6.12 [[ 9.31129648e-01 -3.64007086e-01 2.22804818e-02 1.96466646e+02] [ 3.63954202e-01 9.31393966e-01 6.52837335e-03 1.46646597e+02] [-2.31282804e-02 2.03031298e-03 9.99730444e-01 6.12307028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.51071405700003 meters Centerline goodness : 0.989786 Centerline is valid? [True, True] Translation: X:196.50, Y:146.66, Z:6.12 [[ 9.31018122e-01 -3.64299996e-01 2.21533202e-02 1.96502346e+02] [ 3.64238598e-01 9.31280181e-01 6.88974941e-03 1.46655381e+02] [-2.31408838e-02 1.65461274e-03 9.99730845e-01 6.12105717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.540714057 meters Centerline goodness : 0.990594 Centerline is valid? [True, True] Translation: X:196.53, Y:146.67, Z:6.11 [[ 9.29203214e-01 -3.68894968e-01 2.23134259e-02 1.96526934e+02] [ 3.68845731e-01 9.29468360e-01 6.43391355e-03 1.46666769e+02] [-2.31130617e-02 2.25179874e-03 9.99730322e-01 6.11226285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.570714057 meters Centerline goodness : 0.989395 Centerline is valid? [True, True] Translation: X:196.55, Y:146.67, Z:6.12 [[ 9.29389412e-01 -3.68427966e-01 2.22745078e-02 1.96550441e+02] [ 3.68375940e-01 9.29653876e-01 6.54510429e-03 1.46674352e+02] [-2.31189819e-02 2.12244209e-03 9.99730468e-01 6.12268403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.600714057 meters Centerline goodness : 0.989677 Centerline is valid? [True, True] Translation: X:196.58, Y:146.68, Z:6.12 [[ 9.29120709e-01 -3.69111307e-01 2.21709544e-02 1.96578879e+02] [ 3.69052431e-01 9.29383402e-01 6.84074939e-03 1.46683179e+02] [-2.31303149e-02 1.82636268e-03 9.99730790e-01 6.11884405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.630714057 meters Centerline goodness : 0.989293 Centerline is valid? [True, True] Translation: X:196.61, Y:146.69, Z:6.12 [[ 9.27549029e-01 -3.73045092e-01 2.21394915e-02 1.96611017e+02] [ 3.72985203e-01 9.27811409e-01 6.93016476e-03 1.46692691e+02] [-2.31265368e-02 1.82963513e-03 9.99730872e-01 6.11695673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.660714057 meters Centerline goodness : 0.989294 Centerline is valid? [True, True] Translation: X:196.64, Y:146.70, Z:6.11 [[ 9.27452299e-01 -3.73283147e-01 2.21793930e-02 1.96644793e+02] [ 3.73226022e-01 9.27715402e-01 6.81681465e-03 1.46701814e+02] [-2.31207665e-02 1.95565620e-03 9.99730767e-01 6.11395046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.690714057 meters Centerline goodness : 0.990354 Centerline is valid? [True, True] Translation: X:196.68, Y:146.71, Z:6.11 [[ 9.26467259e-01 -3.75717999e-01 2.22351883e-02 1.96677986e+02] [ 3.75665331e-01 9.26731470e-01 6.65899552e-03 1.46711392e+02] [-2.31079532e-02 2.18364806e-03 9.99730591e-01 6.11077088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.720714057 meters Centerline goodness : 0.989938 Centerline is valid? [True, True] Translation: X:196.70, Y:146.72, Z:6.11 [[ 9.24302195e-01 -3.81011657e-01 2.22613843e-02 1.96704292e+02] [ 3.80962260e-01 9.24567135e-01 6.58551243e-03 1.46723203e+02] [-2.30913013e-02 2.39374368e-03 9.99730495e-01 6.10972859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.750714057 meters Centerline goodness : 0.989544 Centerline is valid? [True, True] Translation: X:196.73, Y:146.73, Z:6.11 [[ 9.23824327e-01 -3.82170673e-01 2.22303883e-02 1.96730006e+02] [ 3.82119531e-01 9.24088819e-01 6.67225334e-03 1.46732893e+02] [-2.30927928e-02 2.33067559e-03 9.99730609e-01 6.10805305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.780714057 meters Centerline goodness : 0.990006 Centerline is valid? [True, True] Translation: X:196.76, Y:146.74, Z:6.10 [[ 9.22811516e-01 -3.84612890e-01 2.21772520e-02 1.96757240e+02] [ 3.84558883e-01 9.23075260e-01 6.82129584e-03 1.46744340e+02] [-2.30948309e-02 2.23368888e-03 9.99730783e-01 6.09757506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.810714057 meters Centerline goodness : 0.989804 Centerline is valid? [True, True] Translation: X:196.78, Y:146.75, Z:6.10 [[ 9.22954267e-01 -3.84271079e-01 2.21621233e-02 1.96782846e+02] [ 3.84215962e-01 9.23217734e-01 6.86367301e-03 1.46754412e+02] [-2.30979762e-02 2.18018521e-03 9.99730829e-01 6.10286794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.840714057 meters Centerline goodness : 0.989373 Centerline is valid? [True, True] Translation: X:196.81, Y:146.77, Z:6.10 [[ 9.22729053e-01 -3.84816014e-01 2.20846159e-02 1.96812473e+02] [ 3.84755897e-01 9.22991212e-01 7.07978977e-03 1.46765057e+02] [-2.31083228e-02 1.96445847e-03 9.99731037e-01 6.10464569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.870714057 meters Centerline goodness : 0.988587 Centerline is valid? [True, True] Translation: X:196.84, Y:146.78, Z:6.11 [[ 9.22041396e-01 -3.86460015e-01 2.20979657e-02 1.96838492e+02] [ 3.86401252e-01 9.22303895e-01 7.04259117e-03 1.46778258e+02] [-2.31027198e-02 2.04512104e-03 9.99731005e-01 6.10560032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.900714057 meters Centerline goodness : 0.988024 Centerline is valid? [True, True] Translation: X:196.87, Y:146.79, Z:6.11 [[ 9.21571486e-01 -3.87582040e-01 2.20490111e-02 1.96867747e+02] [ 3.87520343e-01 9.21833197e-01 7.17915689e-03 1.46790336e+02] [-2.31080226e-02 1.92833405e-03 9.99731114e-01 6.10841959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.930714057 meters Centerline goodness : 0.989042 Centerline is valid? [True, True] Translation: X:196.90, Y:146.80, Z:6.11 [[ 9.20611929e-01 -3.89856969e-01 2.20277338e-02 1.96897769e+02] [ 3.89794508e-01 9.20873416e-01 7.23837043e-03 1.46803162e+02] [-2.31066836e-02 1.92255948e-03 9.99731156e-01 6.10772701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.960714057 meters Centerline goodness : 0.989024 Centerline is valid? [True, True] Translation: X:196.93, Y:146.82, Z:6.11 [[ 9.19381685e-01 -3.92749152e-01 2.20322751e-02 1.96925839e+02] [ 3.92687814e-01 9.19643447e-01 7.22575914e-03 1.46816044e+02] [-2.30997482e-02 2.00857531e-03 9.99731147e-01 6.11181327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.990714057 meters Centerline goodness : 0.988277 Centerline is valid? [True, True] Translation: X:196.95, Y:146.83, Z:6.11 [[ 9.18557143e-01 -3.94674833e-01 2.20125520e-02 1.96953347e+02] [ 3.94612739e-01 9.18818688e-01 7.28049770e-03 1.46826931e+02] [-2.30989734e-02 1.99888027e-03 9.99731185e-01 6.11065735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.020714057 meters Centerline goodness : 0.989999 Centerline is valid? [True, True] Translation: X:196.99, Y:146.84, Z:6.11 [[ 9.17569687e-01 -3.96968837e-01 2.19456738e-02 1.96985188e+02] [ 3.96903000e-01 9.17830203e-01 7.46510051e-03 1.46838430e+02] [-2.31058145e-02 1.86055382e-03 9.99731294e-01 6.10760522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.050714057 meters Centerline goodness : 0.989315 Centerline is valid? [True, True] Translation: X:197.01, Y:146.85, Z:6.11 [[ 9.16579932e-01 -3.99245033e-01 2.20143379e-02 1.97010237e+02] [ 3.99184362e-01 9.16841814e-01 7.27547736e-03 1.46849286e+02] [-2.30883637e-02 2.11922290e-03 9.99731182e-01 6.10509761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.080714057 meters Centerline goodness : 0.989312 Centerline is valid? [True, True] Translation: X:197.04, Y:146.86, Z:6.10 [[ 9.14587865e-01 -4.03791446e-01 2.19432423e-02 1.97037231e+02] [ 4.03727384e-01 9.14848822e-01 7.47214837e-03 1.46861960e+02] [-2.30919390e-02 2.02515160e-03 9.99731294e-01 6.10171004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.110714057 meters Centerline goodness : 0.989155 Centerline is valid? [True, True] Translation: X:197.07, Y:146.87, Z:6.10 [[ 9.14083085e-01 -4.04935179e-01 2.19001178e-02 1.97066049e+02] [ 4.04868602e-01 9.14343363e-01 7.59137401e-03 1.46872885e+02] [-2.30982418e-02 1.92752353e-03 9.99731342e-01 6.10021364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.140714057 meters Centerline goodness : 0.989549 Centerline is valid? [True, True] Translation: X:197.10, Y:146.89, Z:6.10 [[ 9.12304405e-01 -4.08928020e-01 2.18757248e-02 1.97095524e+02] [ 4.08860978e-01 9.12564543e-01 7.65872347e-03 1.46886868e+02] [-2.30948774e-02 1.95704307e-03 9.99731362e-01 6.09841599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.170714057 meters Centerline goodness : 0.990415 Centerline is valid? [True, True] Translation: X:197.13, Y:146.90, Z:6.10 [[ 9.11812287e-01 -4.10024241e-01 2.18740698e-02 1.97125618e+02] [ 4.09957403e-01 9.12072476e-01 7.66328442e-03 1.46899689e+02] [-2.30928694e-02 1.97995994e-03 9.99731363e-01 6.09708548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.200714057 meters Centerline goodness : 0.989441 Centerline is valid? [True, True] Translation: X:197.15, Y:146.91, Z:6.10 [[ 9.11822961e-01 -4.09999635e-01 2.18903388e-02 1.97153508e+02] [ 4.09933860e-01 9.12083434e-01 7.61842113e-03 1.46912935e+02] [-2.30893653e-02 2.02693976e-03 9.99731350e-01 6.09545606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.230714057 meters Centerline goodness : 0.988636 Centerline is valid? [True, True] Translation: X:197.18, Y:146.93, Z:6.09 [[ 9.11599062e-01 -4.10498180e-01 2.18722235e-02 1.97183642e+02] [ 4.10431357e-01 9.11859253e-01 7.66835498e-03 1.46925002e+02] [-2.30922351e-02 1.98658114e-03 9.99731365e-01 6.09477911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.26071405700003 meters Centerline goodness : 0.989711 Centerline is valid? [True, True] Translation: X:197.21, Y:146.94, Z:6.10 [[ 9.11214540e-01 -4.11350838e-01 2.18757990e-02 1.97210730e+02] [ 4.11284493e-01 9.11474856e-01 7.65849437e-03 1.46938053e+02] [-2.30895688e-02 2.01864547e-03 9.99731362e-01 6.09518852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.290714057 meters Centerline goodness : 0.989378 Centerline is valid? [True, True] Translation: X:197.24, Y:146.95, Z:6.09 [[ 9.12019574e-01 -4.09564286e-01 2.18493039e-02 1.97238883e+02] [ 4.09495692e-01 9.12279289e-01 7.73156357e-03 1.46951655e+02] [-2.30992397e-02 1.89585848e-03 9.99731379e-01 6.09499020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.320714057 meters Centerline goodness : 0.989559 Centerline is valid? [True, True] Translation: X:197.27, Y:146.96, Z:6.10 [[ 9.12033587e-01 -4.09533611e-01 2.18393828e-02 1.97268856e+02] [ 4.09464356e-01 9.12293122e-01 7.75894266e-03 1.46964271e+02] [-2.31014665e-02 1.86603252e-03 9.99731384e-01 6.09601226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.350714057 meters Centerline goodness : 0.988303 Centerline is valid? [True, True] Translation: X:197.30, Y:146.98, Z:6.10 [[ 9.12311694e-01 -4.08913378e-01 2.18454310e-02 1.97295476e+02] [ 4.08844345e-01 9.12571290e-01 7.74224564e-03 1.46978501e+02] [-2.31014210e-02 1.86803967e-03 9.99731381e-01 6.09579383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.380714057 meters Centerline goodness : 0.988443 Centerline is valid? [True, True] Translation: X:197.32, Y:146.99, Z:6.09 [[ 9.12591711e-01 -4.08289190e-01 2.18244555e-02 1.97324831e+02] [ 4.08218602e-01 9.12850881e-01 7.80017546e-03 1.46990609e+02] [-2.31072008e-02 1.79077325e-03 9.99731389e-01 6.09473217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.410714057 meters Centerline goodness : 0.988755 Centerline is valid? [True, True] Translation: X:197.36, Y:147.00, Z:6.09 [[ 9.12977945e-01 -4.07425345e-01 2.18142180e-02 1.97355633e+02] [ 4.07353839e-01 9.13236861e-01 7.82846264e-03 1.47003773e+02] [-2.31110621e-02 1.73889173e-03 9.99731391e-01 6.09362117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.440714057 meters Centerline goodness : 0.988350 Centerline is valid? [True, True] Translation: X:197.38, Y:147.02, Z:6.09 [[ 9.12705598e-01 -4.08034312e-01 2.18286900e-02 1.97384039e+02] [ 4.07963930e-01 9.12964825e-01 7.78844282e-03 1.47016391e+02] [-2.31067781e-02 1.79676282e-03 9.99731388e-01 6.09365630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.470714057 meters Centerline goodness : 0.989162 Centerline is valid? [True, True] Translation: X:197.42, Y:147.03, Z:6.09 [[ 9.12979858e-01 -4.07421781e-01 2.18007147e-02 1.97418299e+02] [ 4.07349389e-01 9.13238526e-01 7.86578036e-03 1.47028960e+02] [-2.31139428e-02 1.69920877e-03 9.99731393e-01 6.09194525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.500714057 meters Centerline goodness : 0.988838 Centerline is valid? [True, True] Translation: X:197.45, Y:147.04, Z:6.09 [[ 9.14689724e-01 -4.03564756e-01 2.18676938e-02 1.97448936e+02] [ 4.03495673e-01 9.14949318e-01 7.68038176e-03 1.47041142e+02] [-2.31073629e-02 1.79835355e-03 9.99731372e-01 6.08949641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.530714057 meters Centerline goodness : 0.988433 Centerline is valid? [True, True] Translation: X:197.48, Y:147.05, Z:6.09 [[ 9.15842751e-01 -4.00940066e-01 2.18888002e-02 1.97476079e+02] [ 4.00871627e-01 9.16102530e-01 7.62194510e-03 1.47052467e+02] [-2.31083284e-02 1.79409579e-03 9.99731357e-01 6.08920382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.560714057 meters Centerline goodness : 0.988700 Centerline is valid? [True, True] Translation: X:197.51, Y:147.07, Z:6.09 [[ 9.17238216e-01 -3.97740231e-01 2.18349238e-02 1.97508343e+02] [ 3.97667348e-01 9.17496752e-01 7.77107562e-03 1.47066193e+02] [-2.31243411e-02 1.55510872e-03 9.99731387e-01 6.08891991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.590714057 meters Centerline goodness : 0.988112 Centerline is valid? [True, True] Translation: X:197.54, Y:147.08, Z:6.09 [[ 9.18357272e-01 -3.95146650e-01 2.18871243e-02 1.97537779e+02] [ 3.95076464e-01 9.18616582e-01 7.62644908e-03 1.47076521e+02] [-2.31194411e-02 1.64328270e-03 9.99731359e-01 6.08760313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.620714057 meters Centerline goodness : 0.988107 Centerline is valid? [True, True] Translation: X:197.57, Y:147.09, Z:6.09 [[ 9.18773470e-01 -3.94178557e-01 2.18763685e-02 1.97568469e+02] [ 3.94107391e-01 9.19032505e-01 7.65628571e-03 1.47089750e+02] [-2.31230374e-02 1.58724633e-03 9.99731367e-01 6.08661782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.650714057 meters Centerline goodness : 0.987957 Centerline is valid? [True, True] Translation: X:197.60, Y:147.10, Z:6.08 [[ 9.19022613e-01 -3.93596097e-01 2.18986261e-02 1.97598511e+02] [ 3.93526231e-01 9.19282018e-01 7.59451439e-03 1.47101241e+02] [-2.31201844e-02 1.63815334e-03 9.99731351e-01 6.08394756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.680714057 meters Centerline goodness : 0.988636 Centerline is valid? [True, True] Translation: X:197.63, Y:147.11, Z:6.08 [[ 9.19058970e-01 -3.93511436e-01 2.18942917e-02 1.97629836e+02] [ 3.93441261e-01 9.19318288e-01 7.60653312e-03 1.47112508e+02] [-2.31210805e-02 1.62326523e-03 9.99731354e-01 6.08282198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.710714057 meters Centerline goodness : 0.987678 Centerline is valid? [True, True] Translation: X:197.66, Y:147.12, Z:6.08 [[ 9.19200959e-01 -3.93179401e-01 2.18987801e-02 1.97658484e+02] [ 3.93109427e-01 9.19460335e-01 7.59408209e-03 1.47123707e+02] [-2.31208964e-02 1.62812939e-03 9.99731351e-01 6.08263399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.740714057 meters Centerline goodness : 0.988230 Centerline is valid? [True, True] Translation: X:197.69, Y:147.14, Z:6.08 [[ 9.19206357e-01 -3.93167100e-01 2.18930565e-02 1.97689343e+02] [ 3.93096746e-01 9.19465626e-01 7.60996176e-03 1.47135537e+02] [-2.31218995e-02 1.61096404e-03 9.99731355e-01 6.08286792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.770714057 meters Centerline goodness : 0.988203 Centerline is valid? [True, True] Translation: X:197.72, Y:147.15, Z:6.08 [[ 9.19317484e-01 -3.92906194e-01 2.19108604e-02 1.97721144e+02] [ 3.92836938e-01 9.19577065e-01 7.56058249e-03 1.47148636e+02] [-2.31193244e-02 1.65681963e-03 9.99731340e-01 6.08391070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.800714057 meters Centerline goodness : 0.988672 Centerline is valid? [True, True] Translation: X:197.75, Y:147.16, Z:6.08 [[ 9.18784717e-01 -3.94148915e-01 2.19380096e-02 1.97750311e+02] [ 3.94081799e-01 9.19044888e-01 7.48527509e-03 1.47160728e+02] [-2.31123286e-02 1.76801391e-03 9.99731311e-01 6.08285080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.830714057 meters Centerline goodness : 0.988883 Centerline is valid? [True, True] Translation: X:197.78, Y:147.17, Z:6.08 [[ 9.18518957e-01 -3.94769128e-01 2.19148585e-02 1.97780277e+02] [ 3.94700662e-01 9.18778751e-01 7.54949512e-03 1.47171198e+02] [-2.31152140e-02 1.71545479e-03 9.99731336e-01 6.08219296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.860714057 meters Centerline goodness : 0.989501 Centerline is valid? [True, True] Translation: X:197.81, Y:147.18, Z:6.08 [[ 9.17803165e-01 -3.96429702e-01 2.19280815e-02 1.97809951e+02] [ 3.96362577e-01 9.18063323e-01 7.51284265e-03 1.47182661e+02] [-2.31096814e-02 1.79616013e-03 9.99731322e-01 6.08145941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.890714057 meters Centerline goodness : 0.988311 Centerline is valid? [True, True] Translation: X:197.84, Y:147.19, Z:6.08 [[ 9.17670573e-01 -3.96737390e-01 2.19126359e-02 1.97840283e+02] [ 3.96669334e-01 9.17930472e-01 7.55563740e-03 1.47191122e+02] [-2.31118801e-02 1.75848462e-03 9.99731338e-01 6.07816808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.920714057 meters Centerline goodness : 0.988311 Centerline is valid? [True, True] Translation: X:197.87, Y:147.20, Z:6.08 [[ 9.17647799e-01 -3.96790205e-01 2.19100394e-02 1.97871748e+02] [ 3.96721994e-01 9.17907655e-01 7.56283882e-03 1.47202552e+02] [-2.31122533e-02 1.75217214e-03 9.99731341e-01 6.07738863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.950714057 meters Centerline goodness : 0.988269 Centerline is valid? [True, True] Translation: X:197.90, Y:147.21, Z:6.07 [[ 9.16945045e-01 -3.98411563e-01 2.19091404e-02 1.97900223e+02] [ 3.98343752e-01 9.17205005e-01 7.56533155e-03 1.47213706e+02] [-2.31092888e-02 1.79037593e-03 9.99731342e-01 6.07451887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.980714057 meters Centerline goodness : 0.989072 Centerline is valid? [True, True] Translation: X:197.93, Y:147.22, Z:6.07 [[ 9.17182061e-01 -3.97866736e-01 2.18889599e-02 1.97931975e+02] [ 3.97797444e-01 9.17441612e-01 7.62120700e-03 1.47223591e+02] [-2.31140674e-02 1.71733794e-03 9.99731359e-01 6.07203395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.01071405700003 meters Centerline goodness : 0.988230 Centerline is valid? [True, True] Translation: X:197.96, Y:147.23, Z:6.07 [[ 9.17117077e-01 -3.98016062e-01 2.18970705e-02 1.97963412e+02] [ 3.97947344e-01 9.17376787e-01 7.59876201e-03 1.47234136e+02] [-2.31122935e-02 1.74492663e-03 9.99731352e-01 6.07085567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.040714057 meters Centerline goodness : 0.988289 Centerline is valid? [True, True] Translation: X:197.99, Y:147.24, Z:6.07 [[ 9.17132291e-01 -3.97980969e-01 2.18976934e-02 1.97994339e+02] [ 3.97912283e-01 9.17392010e-01 7.59703727e-03 1.47244380e+02] [-2.31122452e-02 1.74587297e-03 9.99731352e-01 6.06977551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.070714057 meters Centerline goodness : 0.987030 Centerline is valid? [True, True] Translation: X:198.03, Y:147.25, Z:6.07 [[ 9.17541817e-01 -3.97036264e-01 2.18910696e-02 1.98025976e+02] [ 3.96966875e-01 9.17801344e-01 7.61537583e-03 1.47251205e+02] [-2.31152334e-02 1.70260370e-03 9.99731357e-01 6.07005634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.100714057 meters Centerline goodness : 0.988573 Centerline is valid? [True, True] Translation: X:198.06, Y:147.26, Z:6.07 [[ 9.16831093e-01 -3.98674433e-01 2.18961957e-02 1.98056385e+02] [ 3.98605845e-01 9.17090837e-01 7.60117951e-03 1.47263935e+02] [-2.31111964e-02 1.75895386e-03 9.99731353e-01 6.07142613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.130714057 meters Centerline goodness : 0.988005 Centerline is valid? [True, True] Translation: X:198.09, Y:147.27, Z:6.07 [[ 9.15395695e-01 -4.01959297e-01 2.18962302e-02 1.98088156e+02] [ 4.01891643e-01 9.15655683e-01 7.60108395e-03 1.47273514e+02] [-2.31047340e-02 1.84191243e-03 9.99731353e-01 6.07418304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.160714057 meters Centerline goodness : 0.986409 Centerline is valid? [True, True] Translation: X:198.11, Y:147.28, Z:6.07 [[ 9.14955812e-01 -4.02959175e-01 2.19035368e-02 1.98113300e+02] [ 4.02892286e-01 9.15216005e-01 7.58086441e-03 1.47280329e+02] [-2.31012463e-02 1.88861006e-03 9.99731347e-01 6.07404004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.190714057 meters Centerline goodness : 0.986225 Centerline is valid? [True, True] Translation: X:198.15, Y:147.29, Z:6.07 [[ 9.13821798e-01 -4.05530197e-01 2.17940359e-02 1.98145527e+02] [ 4.05456847e-01 9.14080190e-01 7.88358138e-03 1.47288761e+02] [-2.31185268e-02 1.63235256e-03 9.99731398e-01 6.07426768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.220714057 meters Centerline goodness : 0.988081 Centerline is valid? [True, True] Translation: X:198.18, Y:147.30, Z:6.07 [[ 9.13173716e-01 -4.06987335e-01 2.17961717e-02 1.98181123e+02] [ 4.06914537e-01 9.13432264e-01 7.87767187e-03 1.47300618e+02] [-2.31154392e-02 1.67549624e-03 9.99731399e-01 6.07258017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.250714057 meters Centerline goodness : 0.988601 Centerline is valid? [True, True] Translation: X:198.21, Y:147.31, Z:6.07 [[ 9.11491871e-01 -4.10734494e-01 2.19030603e-02 1.98213123e+02] [ 4.10669810e-01 9.11752615e-01 7.58136314e-03 1.47310099e+02] [-2.30840999e-02 2.08457475e-03 9.99731353e-01 6.07087029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.280714057 meters Centerline goodness : 0.988484 Centerline is valid? [True, True] Translation: X:198.24, Y:147.32, Z:6.07 [[ 9.10733075e-01 -4.12413177e-01 2.19234328e-02 1.98241388e+02] [ 4.12350322e-01 9.10994286e-01 7.52486433e-03 1.47319159e+02] [-2.30754752e-02 2.18699176e-03 9.99731334e-01 6.07037590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.310714057 meters Centerline goodness : 0.989021 Centerline is valid? [True, True] Translation: X:198.27, Y:147.33, Z:6.07 [[ 9.09370371e-01 -4.15411800e-01 2.18761314e-02 1.98272421e+02] [ 4.15346683e-01 9.09630982e-01 7.65568253e-03 1.47326427e+02] [-2.30794677e-02 2.12432775e-03 9.99731377e-01 6.06970558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.340714057 meters Centerline goodness : 0.988560 Centerline is valid? [True, True] Translation: X:198.30, Y:147.34, Z:6.07 [[ 9.09283251e-01 -4.15602129e-01 2.18824000e-02 1.98301796e+02] [ 4.15537480e-01 9.09543984e-01 7.63834169e-03 1.47335828e+02] [-2.30775164e-02 2.14754120e-03 9.99731372e-01 6.06855361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.370714057 meters Centerline goodness : 0.988941 Centerline is valid? [True, True] Translation: X:198.33, Y:147.35, Z:6.07 [[ 9.09004207e-01 -4.16212774e-01 2.18695639e-02 1.98331802e+02] [ 4.16147452e-01 9.09264763e-01 7.67390211e-03 1.47345505e+02] [-2.30791999e-02 2.12535399e-03 9.99731381e-01 6.06833992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.400714057 meters Centerline goodness : 0.988664 Centerline is valid? [True, True] Translation: X:198.36, Y:147.35, Z:6.07 [[ 9.08171377e-01 -4.18027807e-01 2.18518256e-02 1.98361422e+02] [ 4.17961834e-01 9.08431759e-01 7.72300632e-03 1.47354405e+02] [-2.30793237e-02 2.11941581e-03 9.99731390e-01 6.06762239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.430714057 meters Centerline goodness : 0.988390 Centerline is valid? [True, True] Translation: X:198.39, Y:147.36, Z:6.07 [[ 9.08464309e-01 -4.17391778e-01 2.18335140e-02 1.98390693e+02] [ 4.17324414e-01 9.08724327e-01 7.77370011e-03 1.47363220e+02] [-2.30853239e-02 2.04952935e-03 9.99731398e-01 6.06698650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.460714057 meters Centerline goodness : 0.989429 Centerline is valid? [True, True] Translation: X:198.42, Y:147.37, Z:6.07 [[ 9.07823121e-01 -4.18785894e-01 2.18072482e-02 1.98423903e+02] [ 4.18717195e-01 9.08082785e-01 7.84643624e-03 1.47371700e+02] [-2.30887635e-02 2.00789359e-03 9.99731403e-01 6.06632341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.490714057 meters Centerline goodness : 0.988390 Centerline is valid? [True, True] Translation: X:198.46, Y:147.38, Z:6.07 [[ 9.07736478e-01 -4.18972207e-01 2.18351894e-02 1.98455050e+02] [ 4.18905406e-01 9.07996642e-01 7.76908741e-03 1.47380703e+02] [-2.30813104e-02 2.09459483e-03 9.99731397e-01 6.06520833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.520714057 meters Centerline goodness : 0.988720 Centerline is valid? [True, True] Translation: X:198.48, Y:147.39, Z:6.06 [[ 9.07485698e-01 -4.19514794e-01 2.18413795e-02 1.98482833e+02] [ 4.19448557e-01 9.07746008e-01 7.75194396e-03 1.47388240e+02] [-2.30784803e-02 2.12655686e-03 9.99731395e-01 6.06406199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.550714057 meters Centerline goodness : 0.989435 Centerline is valid? [True, True] Translation: X:198.52, Y:147.40, Z:6.06 [[ 9.07484819e-01 -4.19519016e-01 2.17967445e-02 1.98515042e+02] [ 4.19449834e-01 9.07744354e-01 7.87553320e-03 1.47398437e+02] [-2.30898077e-02 1.99571403e-03 9.99731403e-01 6.06232535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.580714057 meters Centerline goodness : 0.990025 Centerline is valid? [True, True] Translation: X:198.55, Y:147.41, Z:6.06 [[ 9.07712569e-01 -4.19024533e-01 2.18250506e-02 1.98545476e+02] [ 4.18957079e-01 9.07972561e-01 7.79707632e-03 1.47408087e+02] [-2.30837134e-02 2.06625530e-03 9.99731400e-01 6.06154784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.610714057 meters Centerline goodness : 0.989245 Centerline is valid? [True, True] Translation: X:198.58, Y:147.42, Z:6.06 [[ 9.08411924e-01 -4.17506346e-01 2.18226329e-02 1.98578394e+02] [ 4.17438298e-01 9.08671761e-01 7.80377863e-03 1.47416765e+02] [-2.30877374e-02 2.02055717e-03 9.99731401e-01 6.06016895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.640714057 meters Centerline goodness : 0.989569 Centerline is valid? [True, True] Translation: X:198.61, Y:147.43, Z:6.06 [[ 9.09424154e-01 -4.15295130e-01 2.18554966e-02 1.98609890e+02] [ 4.15228620e-01 9.09684400e-01 7.71272252e-03 1.47425869e+02] [-2.30846604e-02 2.06089153e-03 9.99731390e-01 6.06070236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.670714057 meters Centerline goodness : 0.988944 Centerline is valid? [True, True] Translation: X:198.64, Y:147.44, Z:6.06 [[ 9.10434723e-01 -4.13073340e-01 2.18867928e-02 1.98638282e+02] [ 4.13008262e-01 9.10695350e-01 7.62594846e-03 1.47435265e+02] [-2.30822764e-02 2.09649797e-03 9.99731371e-01 6.06015594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.700714057 meters Centerline goodness : 0.988706 Centerline is valid? [True, True] Translation: X:198.67, Y:147.45, Z:6.06 [[ 9.11033833e-01 -4.11751995e-01 2.18552274e-02 1.98670196e+02] [ 4.11684455e-01 9.11293813e-01 7.71342180e-03 1.47445976e+02] [-2.30925503e-02 1.97026916e-03 9.99731390e-01 6.06013989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.730714057 meters Centerline goodness : 0.988216 Centerline is valid? [True, True] Translation: X:198.70, Y:147.45, Z:6.06 [[ 9.13369166e-01 -4.06542808e-01 2.19023130e-02 1.98699393e+02] [ 4.06476892e-01 9.13629595e-01 7.58283346e-03 1.47454809e+02] [-2.30933478e-02 1.97685783e-03 9.99731359e-01 6.06035297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.76071405700003 meters Centerline goodness : 0.989164 Centerline is valid? [True, True] Translation: X:198.73, Y:147.47, Z:6.06 [[ 9.14414237e-01 -4.04187817e-01 2.18817761e-02 1.98732712e+02] [ 4.04119876e-01 9.14674128e-01 7.63973104e-03 1.47465671e+02] [-2.31025807e-02 1.85698184e-03 9.99731375e-01 6.05933020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.790714057 meters Centerline goodness : 0.988791 Centerline is valid? [True, True] Translation: X:198.76, Y:147.47, Z:6.06 [[ 9.16593982e-01 -3.99216177e-01 2.19526142e-02 1.98762684e+02] [ 3.99151498e-01 9.16854776e-01 7.44321726e-03 1.47474304e+02] [-2.30988119e-02 1.94001070e-03 9.99731305e-01 6.05946222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.820714057 meters Centerline goodness : 0.989039 Centerline is valid? [True, True] Translation: X:198.80, Y:147.48, Z:6.06 [[ 9.17639065e-01 -3.96808326e-01 2.19476516e-02 1.98795613e+02] [ 3.96742635e-01 9.17899600e-01 7.45697081e-03 1.47484177e+02] [-2.31047287e-02 1.86476142e-03 9.99731311e-01 6.05776806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.850714057 meters Centerline goodness : 0.988566 Centerline is valid? [True, True] Translation: X:198.83, Y:147.49, Z:6.06 [[ 9.20053486e-01 -3.91174623e-01 2.19999592e-02 1.98826634e+02] [ 3.91110783e-01 9.20314561e-01 7.31192600e-03 1.47493527e+02] [-2.31071227e-02 1.87705828e-03 9.99731233e-01 6.05683938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.880714057 meters Centerline goodness : 0.989919 Centerline is valid? [True, True] Translation: X:198.86, Y:147.51, Z:6.06 [[ 9.20068901e-01 -3.91137589e-01 2.20137209e-02 1.98856563e+02] [ 3.91074646e-01 9.20330220e-01 7.27381442e-03 1.47505326e+02] [-2.31049548e-02 1.91659765e-03 9.99731208e-01 6.05681187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.910714057 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:198.88, Y:147.51, Z:6.06 [[ 9.21229776e-01 -3.88395865e-01 2.20079988e-02 1.98883104e+02] [ 3.88331767e-01 9.21490803e-01 7.28965736e-03 1.47514750e+02] [-2.31114413e-02 1.83095565e-03 9.99731218e-01 6.05596394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.940714057 meters Centerline goodness : 0.988628 Centerline is valid? [True, True] Translation: X:198.90, Y:147.53, Z:6.06 [[ 9.19626871e-01 -3.92179477e-01 2.19471083e-02 1.98902348e+02] [ 3.92112443e-01 9.19887062e-01 7.45827322e-03 1.47528411e+02] [-2.31138427e-02 1.74690578e-03 9.99731313e-01 6.05598872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.970714057 meters Centerline goodness : 0.989505 Centerline is valid? [True, True] Translation: X:198.95, Y:147.53, Z:6.05 [[ 9.23714151e-01 -3.82463133e-01 2.17742783e-02 1.98946327e+02] [ 3.82382086e-01 9.23970216e-01 7.93594429e-03 1.47532624e+02] [-2.31539908e-02 9.95549945e-04 9.99731415e-01 6.05261326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.000714057 meters Centerline goodness : 0.989722 Centerline is valid? [True, True] Translation: X:198.98, Y:147.54, Z:6.05 [[ 9.23720284e-01 -3.82435579e-01 2.19969517e-02 1.98975776e+02] [ 3.82369056e-01 9.23980687e-01 7.32085632e-03 1.47542868e+02] [-2.31245145e-02 1.64853018e-03 9.99731233e-01 6.05213932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.030714057 meters Centerline goodness : 0.989053 Centerline is valid? [True, True] Translation: X:199.00, Y:147.55, Z:6.05 [[ 9.23695487e-01 -3.82497177e-01 2.19671798e-02 1.99004774e+02] [ 3.82428723e-01 9.23955339e-01 7.40302003e-03 1.47553099e+02] [-2.31283273e-02 1.56274433e-03 9.99731283e-01 6.05275953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.060714057 meters Centerline goodness : 0.990783 Centerline is valid? [True, True] Translation: X:199.05, Y:147.56, Z:6.05 [[ 9.26114895e-01 -3.76602512e-01 2.19487954e-02 1.99045736e+02] [ 3.76531204e-01 9.26373950e-01 7.45371422e-03 1.47558903e+02] [-2.31398798e-02 1.36141061e-03 9.99731310e-01 6.04858775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.090714057 meters Centerline goodness : 0.989209 Centerline is valid? [True, True] Translation: X:199.07, Y:147.57, Z:6.05 [[ 9.25390164e-01 -3.78368454e-01 2.21440078e-02 1.99068126e+02] [ 3.78310451e-01 9.25652957e-01 6.91419487e-03 1.47570281e+02] [-2.31137795e-02 1.97898164e-03 9.99730882e-01 6.04947005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.120714057 meters Centerline goodness : 0.990067 Centerline is valid? [True, True] Translation: X:199.10, Y:147.58, Z:6.05 [[ 9.25985296e-01 -3.76917884e-01 2.20031785e-02 1.99099618e+02] [ 3.76850233e-01 9.26245415e-01 7.30289617e-03 1.47579357e+02] [-2.31329354e-02 1.52952846e-03 9.99731228e-01 6.04841700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.150714057 meters Centerline goodness : 0.989998 Centerline is valid? [True, True] Translation: X:199.13, Y:147.59, Z:6.05 [[ 9.26332998e-01 -3.76062256e-01 2.20081098e-02 1.99130273e+02] [ 3.75994688e-01 9.26593148e-01 7.28929671e-03 1.47589590e+02] [-2.31337931e-02 1.52261629e-03 9.99731219e-01 6.04798308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.180714057 meters Centerline goodness : 0.989702 Centerline is valid? [True, True] Translation: X:199.16, Y:147.60, Z:6.05 [[ 9.27053160e-01 -3.74284430e-01 2.19910129e-02 1.99161920e+02] [ 3.74215249e-01 9.27312852e-01 7.33634565e-03 1.47598620e+02] [-2.31384288e-02 1.42818993e-03 9.99731251e-01 6.04929760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.210714057 meters Centerline goodness : 0.989272 Centerline is valid? [True, True] Translation: X:199.20, Y:147.61, Z:6.05 [[ 9.28391389e-01 -3.70951242e-01 2.20137452e-02 1.99195149e+02] [ 3.70882607e-01 9.28651271e-01 7.27382481e-03 1.47607067e+02] [-2.31413268e-02 1.41155890e-03 9.99731207e-01 6.04718237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.240714057 meters Centerline goodness : 0.990527 Centerline is valid? [True, True] Translation: X:199.22, Y:147.62, Z:6.05 [[ 9.28601192e-01 -3.70423679e-01 2.20482456e-02 1.99224053e+02] [ 3.70357142e-01 9.28861696e-01 7.17895611e-03 1.47616252e+02] [-2.31390261e-02 1.49933802e-03 9.99731133e-01 6.04770836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.270714057 meters Centerline goodness : 0.990436 Centerline is valid? [True, True] Translation: X:199.26, Y:147.63, Z:6.05 [[ 9.28717501e-01 -3.70134395e-01 2.20075547e-02 1.99256693e+02] [ 3.70065132e-01 9.28977203e-01 7.29070514e-03 1.47625141e+02] [-2.31430573e-02 1.37322316e-03 9.99731220e-01 6.04595211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.300714057 meters Centerline goodness : 0.990048 Centerline is valid? [True, True] Translation: X:199.28, Y:147.63, Z:6.05 [[ 9.27498250e-01 -3.73176616e-01 2.20501530e-02 1.99282848e+02] [ 3.73110972e-01 9.27758987e-01 7.17390088e-03 1.47634514e+02] [-2.31343597e-02 1.57337352e-03 9.99731127e-01 6.04750897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.330714057 meters Centerline goodness : 0.990286 Centerline is valid? [True, True] Translation: X:199.31, Y:147.64, Z:6.05 [[ 9.25942460e-01 -3.77025310e-01 2.19653567e-02 1.99314761e+02] [ 3.76955249e-01 9.26201864e-01 7.40594707e-03 1.47641242e+02] [-2.31365838e-02 1.42247567e-03 9.99731301e-01 6.04644655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.360714057 meters Centerline goodness : 0.990162 Centerline is valid? [True, True] Translation: X:199.35, Y:147.65, Z:6.05 [[ 9.25420175e-01 -3.78307374e-01 2.19324169e-02 1.99350968e+02] [ 3.78235550e-01 9.25679040e-01 7.49565026e-03 1.47649310e+02] [-2.31380384e-02 1.35899380e-03 9.99731356e-01 6.04692196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.390714057 meters Centerline goodness : 0.991056 Centerline is valid? [True, True] Translation: X:199.37, Y:147.66, Z:6.05 [[ 9.22151182e-01 -3.86200766e-01 2.20491953e-02 1.99372473e+02] [ 3.86138715e-01 9.22412802e-01 7.17748002e-03 1.47657362e+02] [-2.31104082e-02 1.89532625e-03 9.99731122e-01 6.04611191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.420714057 meters Centerline goodness : 0.990937 Centerline is valid? [True, True] Translation: X:199.40, Y:147.67, Z:6.05 [[ 9.20890293e-01 -3.89207647e-01 2.18741012e-02 1.99400090e+02] [ 3.89135142e-01 9.21148883e-01 7.65354353e-03 1.47666701e+02] [-2.31281215e-02 1.46390753e-03 9.99731437e-01 6.04642848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.450714057 meters Centerline goodness : 0.992040 Centerline is valid? [True, True] Translation: X:199.43, Y:147.68, Z:6.04 [[ 9.19778418e-01 -3.91830292e-01 2.18330904e-02 1.99433091e+02] [ 3.91755887e-01 9.20036429e-01 7.76496882e-03 1.47675470e+02] [-2.31297886e-02 1.41119096e-03 9.99731475e-01 6.03856222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.480714057 meters Centerline goodness : 0.991034 Centerline is valid? [True, True] Translation: X:199.46, Y:147.68, Z:6.04 [[ 9.19487754e-01 -3.92507721e-01 2.19079877e-02 1.99459057e+02] [ 3.92438336e-01 9.19747238e-01 7.56107879e-03 1.47681471e+02] [-2.31175930e-02 1.64521489e-03 9.99731399e-01 6.04267625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.51071405700003 meters Centerline goodness : 0.990618 Centerline is valid? [True, True] Translation: X:199.49, Y:147.69, Z:6.04 [[ 9.19639394e-01 -3.92158590e-01 2.17950605e-02 1.99488018e+02] [ 3.92081836e-01 9.19896693e-01 7.86818848e-03 1.47688640e+02] [-2.31347818e-02 1.30955125e-03 9.99731497e-01 6.03864330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.540714057 meters Centerline goodness : 0.990890 Centerline is valid? [True, True] Translation: X:199.52, Y:147.70, Z:6.04 [[ 9.16922425e-01 -3.98470374e-01 2.17859665e-02 1.99515514e+02] [ 3.98394805e-01 9.17180070e-01 7.89292336e-03 1.47700359e+02] [-2.31267504e-02 1.44221744e-03 9.99731501e-01 6.03723405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.570714057 meters Centerline goodness : 0.991055 Centerline is valid? [True, True] Translation: X:199.55, Y:147.71, Z:6.04 [[ 9.17214927e-01 -3.97798654e-01 2.17487878e-02 1.99553033e+02] [ 3.97720505e-01 9.17471795e-01 7.99407249e-03 1.47707718e+02] [-2.31339307e-02 1.31765626e-03 9.99731506e-01 6.03516858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.600714057 meters Centerline goodness : 0.991800 Centerline is valid? [True, True] Translation: X:199.57, Y:147.72, Z:6.04 [[ 9.15365728e-01 -4.02027785e-01 2.18916361e-02 1.99574750e+02] [ 4.01960056e-01 9.15625622e-01 7.60477893e-03 1.47717721e+02] [-2.31018754e-02 1.83840930e-03 9.99731426e-01 6.03638282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.630714057 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:199.63, Y:147.72, Z:6.03 [[ 9.18680944e-01 -3.94401195e-01 2.17490388e-02 1.99625331e+02] [ 3.94322125e-01 9.18937526e-01 7.99280313e-03 1.47721933e+02] [-2.31383790e-02 1.23329129e-03 9.99731511e-01 6.03295698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.660714057 meters Centerline goodness : 0.990291 Centerline is valid? [True, True] Translation: X:199.64, Y:147.73, Z:6.04 [[ 9.16316731e-01 -3.99841571e-01 2.21442210e-02 1.99638747e+02] [ 3.99789729e-01 9.16580808e-01 6.91339815e-03 1.47733773e+02] [-2.30612320e-02 2.51816973e-03 9.99730883e-01 6.03918621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.690714057 meters Centerline goodness : 0.990017 Centerline is valid? [True, True] Translation: X:199.67, Y:147.74, Z:6.04 [[ 9.15124948e-01 -4.02578402e-01 2.18394082e-02 1.99669374e+02] [ 4.02507570e-01 9.15383920e-01 7.74180830e-03 1.47742538e+02] [-2.31081279e-02 1.70580521e-03 9.99731516e-01 6.03953811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.720714057 meters Centerline goodness : 0.990997 Centerline is valid? [True, True] Translation: X:199.70, Y:147.75, Z:6.04 [[ 9.14960904e-01 -4.02951713e-01 2.18279836e-02 1.99697376e+02] [ 4.02880250e-01 9.15219693e-01 7.77285287e-03 1.47753755e+02] [-2.31094848e-02 1.68220698e-03 9.99731525e-01 6.03846720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.750714057 meters Centerline goodness : 0.990272 Centerline is valid? [True, True] Translation: X:199.73, Y:147.77, Z:6.04 [[ 9.14899281e-01 -4.03092302e-01 2.18151578e-02 1.99727368e+02] [ 4.03020051e-01 9.15157843e-01 7.80773094e-03 1.47765150e+02] [-2.31115490e-02 1.64865856e-03 9.99731533e-01 6.03878943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.780714057 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:199.75, Y:147.78, Z:6.04 [[ 9.14306567e-01 -4.04435270e-01 2.18085684e-02 1.99754913e+02] [ 4.04362974e-01 9.14565112e-01 7.82563072e-03 1.47776455e+02] [-2.31103169e-02 1.66355201e-03 9.99731537e-01 6.03986667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.810714057 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:199.78, Y:147.79, Z:6.04 [[ 9.14332340e-01 -4.04378771e-01 2.17757165e-02 1.99784662e+02] [ 4.04304343e-01 9.14590265e-01 7.91484387e-03 1.47787370e+02] [-2.31164532e-02 1.56721905e-03 9.99731551e-01 6.03910074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.840714057 meters Centerline goodness : 0.990310 Centerline is valid? [True, True] Translation: X:199.81, Y:147.80, Z:6.04 [[ 9.13955884e-01 -4.05228870e-01 2.17762608e-02 1.99814112e+02] [ 4.05154718e-01 9.14213888e-01 7.91336556e-03 1.47798723e+02] [-2.31148842e-02 1.59028777e-03 9.99731551e-01 6.04056184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.870714057 meters Centerline goodness : 0.989332 Centerline is valid? [True, True] Translation: X:199.84, Y:147.81, Z:6.04 [[ 9.14130000e-01 -4.04837334e-01 2.17503082e-02 1.99844508e+02] [ 4.04761400e-01 9.14387482e-01 7.98387783e-03 1.47809009e+02] [-2.31203813e-02 1.50538296e-03 9.99731555e-01 6.04202640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.900714057 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:199.87, Y:147.82, Z:6.04 [[ 9.14825401e-01 -4.03263680e-01 2.17460411e-02 1.99873697e+02] [ 4.03187028e-01 9.15082670e-01 7.99547627e-03 1.47819589e+02] [-2.31237105e-02 1.45325690e-03 9.99731555e-01 6.04216255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.930714057 meters Centerline goodness : 0.990639 Centerline is valid? [True, True] Translation: X:199.90, Y:147.83, Z:6.04 [[ 9.15309587e-01 -4.02164012e-01 2.17363350e-02 1.99904938e+02] [ 4.02086427e-01 9.15566576e-01 8.02187483e-03 1.47831362e+02] [-2.31271711e-02 1.39738633e-03 9.99731555e-01 6.03888386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.960714057 meters Centerline goodness : 0.991497 Centerline is valid? [True, True] Translation: X:199.94, Y:147.84, Z:6.04 [[ 9.16519144e-01 -3.99398439e-01 2.17611186e-02 1.99935956e+02] [ 3.99321672e-01 9.16776379e-01 7.95442388e-03 1.47842708e+02] [-2.31270640e-02 1.39930452e-03 9.99731554e-01 6.03739913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.990714057 meters Centerline goodness : 0.990569 Centerline is valid? [True, True] Translation: X:199.97, Y:147.85, Z:6.04 [[ 9.16862188e-01 -3.98609219e-01 2.17811616e-02 1.99966236e+02] [ 3.98533522e-01 9.17119744e-01 7.89984055e-03 1.47854391e+02] [-2.31248826e-02 1.43745796e-03 9.99731551e-01 6.03819276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.020714057 meters Centerline goodness : 0.990836 Centerline is valid? [True, True] Translation: X:200.00, Y:147.87, Z:6.04 [[ 9.18016463e-01 -3.95944252e-01 2.17697951e-02 1.99997524e+02] [ 3.95867075e-01 9.18273576e-01 7.93081431e-03 1.47866142e+02] [-2.31307880e-02 1.33732703e-03 9.99731553e-01 6.03688721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.050714057 meters Centerline goodness : 0.990304 Centerline is valid? [True, True] Translation: X:200.03, Y:147.88, Z:6.03 [[ 9.18208094e-01 -3.95499408e-01 2.17741739e-02 2.00028626e+02] [ 3.95422389e-01 9.18465255e-01 7.91887349e-03 1.47878498e+02] [-2.31307320e-02 1.33882214e-03 9.99731552e-01 6.03494541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.080714057 meters Centerline goodness : 0.990294 Centerline is valid? [True, True] Translation: X:200.06, Y:147.89, Z:6.03 [[ 9.18795173e-01 -3.94132981e-01 2.17858304e-02 2.00058429e+02] [ 3.94056331e-01 9.19052448e-01 7.88707265e-03 1.47889313e+02] [-2.31308762e-02 1.33824009e-03 9.99731550e-01 6.03497024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.110714057 meters Centerline goodness : 0.990586 Centerline is valid? [True, True] Translation: X:200.09, Y:147.90, Z:6.03 [[ 9.18930996e-01 -3.93816676e-01 2.17772808e-02 2.00089216e+02] [ 3.93739386e-01 9.19188077e-01 7.91040875e-03 1.47900550e+02] [-2.31326677e-02 1.30545336e-03 9.99731552e-01 6.03459515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.140714057 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:200.12, Y:147.91, Z:6.03 [[ 9.19146690e-01 -3.93312795e-01 2.17809140e-02 2.00118578e+02] [ 3.93235598e-01 9.19403800e-01 7.90048434e-03 1.47911830e+02] [-2.31328167e-02 1.30332673e-03 9.99731551e-01 6.03359650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.170714057 meters Centerline goodness : 0.990497 Centerline is valid? [True, True] Translation: X:200.15, Y:147.92, Z:6.03 [[ 9.18789700e-01 -3.94146685e-01 2.17687342e-02 2.00145910e+02] [ 3.94068935e-01 9.19046642e-01 7.93376402e-03 1.47923469e+02] [-2.31335489e-02 1.28892126e-03 9.99731553e-01 6.03290311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.200714057 meters Centerline goodness : 0.990695 Centerline is valid? [True, True] Translation: X:200.18, Y:147.93, Z:6.03 [[ 9.18960539e-01 -3.93749802e-01 2.17398703e-02 2.00176786e+02] [ 3.93670081e-01 9.19216876e-01 8.01262848e-03 1.47934082e+02] [-2.31386265e-02 1.19504712e-03 9.99731552e-01 6.03254166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.230714057 meters Centerline goodness : 0.989808 Centerline is valid? [True, True] Translation: X:200.21, Y:147.95, Z:6.03 [[ 9.18771948e-01 -3.94189678e-01 2.17394625e-02 2.00206192e+02] [ 3.94110054e-01 9.19028316e-01 8.01374314e-03 1.47945716e+02] [-2.31381164e-02 1.20493833e-03 9.99731552e-01 6.03149341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.26071405700003 meters Centerline goodness : 0.989960 Centerline is valid? [True, True] Translation: X:200.24, Y:147.96, Z:6.03 [[ 9.18857870e-01 -3.93989297e-01 2.17404666e-02 2.00239848e+02] [ 3.93909681e-01 9.19114241e-01 8.01099532e-03 1.47957398e+02] [-2.31382189e-02 1.20281419e-03 9.99731552e-01 6.03131715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.290714057 meters Centerline goodness : 0.990549 Centerline is valid? [True, True] Translation: X:200.27, Y:147.97, Z:6.03 [[ 9.19067003e-01 -3.93497133e-01 2.18140075e-02 2.00267231e+02] [ 3.93422139e-01 9.19324770e-01 7.80945245e-03 1.47967557e+02] [-2.31271546e-02 1.40470342e-03 9.99731545e-01 6.02924630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.320714057 meters Centerline goodness : 0.990924 Centerline is valid? [True, True] Translation: X:200.30, Y:147.98, Z:6.03 [[ 9.18647633e-01 -3.94477635e-01 2.17697634e-02 2.00298516e+02] [ 3.94400051e-01 9.18904622e-01 7.93069336e-03 1.47978713e+02] [-2.31328173e-02 1.30048309e-03 9.99731555e-01 6.02905836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.350714057 meters Centerline goodness : 0.991406 Centerline is valid? [True, True] Translation: X:200.33, Y:147.99, Z:6.03 [[ 9.17399275e-01 -3.97372078e-01 2.17715954e-02 2.00330567e+02] [ 3.97295423e-01 9.17656543e-01 7.92567004e-03 1.47989407e+02] [-2.31282869e-02 1.37875126e-03 9.99731555e-01 6.03039079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.380714057 meters Centerline goodness : 0.990078 Centerline is valid? [True, True] Translation: X:200.36, Y:148.00, Z:6.03 [[ 9.16393782e-01 -3.99682967e-01 2.18165562e-02 2.00361132e+02] [ 3.99609883e-01 9.16652097e-01 7.80225135e-03 1.48000235e+02] [-2.31166189e-02 1.56817682e-03 9.99731545e-01 6.02786014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.410714057 meters Centerline goodness : 0.990728 Centerline is valid? [True, True] Translation: X:200.39, Y:148.01, Z:6.03 [[ 9.16562136e-01 -3.99295336e-01 2.18422992e-02 2.00391276e+02] [ 3.99223818e-01 9.16820902e-01 7.73154528e-03 1.48010347e+02] [-2.31126464e-02 1.63352445e-03 9.99731533e-01 6.02592625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.440714057 meters Centerline goodness : 0.990377 Centerline is valid? [True, True] Translation: X:200.42, Y:148.02, Z:6.03 [[ 9.15417617e-01 -4.01911647e-01 2.18543963e-02 2.00421772e+02] [ 4.01841657e-01 9.15676809e-01 7.69833466e-03 1.48022385e+02] [-2.31056142e-02 1.73481567e-03 9.99731524e-01 6.02507327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.470714057 meters Centerline goodness : 0.990032 Centerline is valid? [True, True] Translation: X:200.45, Y:148.03, Z:6.02 [[ 9.14448131e-01 -4.04111693e-01 2.18713496e-02 2.00449357e+02] [ 4.04043433e-01 9.14707797e-01 7.65176094e-03 1.48033865e+02] [-2.30980601e-02 1.83983669e-03 9.99731511e-01 6.02317252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.500714057 meters Centerline goodness : 0.990065 Centerline is valid? [True, True] Translation: X:200.48, Y:148.05, Z:6.02 [[ 9.13890072e-01 -4.05373760e-01 2.18414952e-02 2.00480332e+02] [ 4.05303908e-01 9.14149293e-01 7.73382088e-03 1.48045573e+02] [-2.31014754e-02 1.78458123e-03 9.99731533e-01 6.02228380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.530714057 meters Centerline goodness : 0.989732 Centerline is valid? [True, True] Translation: X:200.51, Y:148.06, Z:6.02 [[ 9.13030999e-01 -4.07304461e-01 2.18511278e-02 2.00509528e+02] [ 4.07235786e-01 9.13290540e-01 7.70734736e-03 1.48058652e+02] [-2.30956653e-02 1.86151417e-03 9.99731526e-01 6.01970818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.560714057 meters Centerline goodness : 0.989539 Centerline is valid? [True, True] Translation: X:200.54, Y:148.07, Z:6.02 [[ 9.12359442e-01 -4.08807550e-01 2.18319640e-02 2.00540204e+02] [ 4.08738053e-01 9.12618753e-01 7.75994306e-03 1.48071093e+02] [-2.30965831e-02 1.84369713e-03 9.99731538e-01 6.02021389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.590714057 meters Centerline goodness : 0.988369 Centerline is valid? [True, True] Translation: X:200.57, Y:148.08, Z:6.02 [[ 9.13657729e-01 -4.05896669e-01 2.18506135e-02 2.00569324e+02] [ 4.05827562e-01 9.13917155e-01 7.70872567e-03 1.48082804e+02] [-2.30985966e-02 1.82444442e-03 9.99731527e-01 6.01710066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.620714057 meters Centerline goodness : 0.988312 Centerline is valid? [True, True] Translation: X:200.60, Y:148.10, Z:6.02 [[ 9.13612433e-01 -4.05998537e-01 2.18520232e-02 2.00596713e+02] [ 4.05929551e-01 9.13871892e-01 7.70484735e-03 1.48095205e+02] [-2.30981065e-02 1.83113762e-03 9.99731526e-01 6.01797533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.650714057 meters Centerline goodness : 0.987343 Centerline is valid? [True, True] Translation: X:200.63, Y:148.11, Z:6.02 [[ 9.14559932e-01 -4.03861755e-01 2.18131417e-02 2.00630202e+02] [ 4.03789624e-01 9.14818515e-01 7.81180418e-03 1.48106870e+02] [-2.31099548e-02 1.66355719e-03 9.99731545e-01 6.01612414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.680714057 meters Centerline goodness : 0.987753 Centerline is valid? [True, True] Translation: X:200.66, Y:148.12, Z:6.02 [[ 9.15471162e-01 -4.01788951e-01 2.18675860e-02 2.00661111e+02] [ 4.01719789e-01 9.15730585e-01 7.66200857e-03 1.48120394e+02] [-2.31033277e-02 1.77029413e-03 9.99731515e-01 6.01632125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.710714057 meters Centerline goodness : 0.988169 Centerline is valid? [True, True] Translation: X:200.69, Y:148.13, Z:6.01 [[ 9.16279319e-01 -3.99940779e-01 2.18994054e-02 2.00690756e+02] [ 3.99873172e-01 9.16539183e-01 7.57448394e-03 1.48132355e+02] [-2.31010081e-02 1.81664170e-03 9.99731486e-01 6.01478237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.740714057 meters Centerline goodness : 0.987513 Centerline is valid? [True, True] Translation: X:200.72, Y:148.15, Z:6.01 [[ 9.17782973e-01 -3.96478472e-01 2.18914658e-02 2.00722709e+02] [ 3.96409367e-01 9.18042434e-01 7.59631663e-03 1.48146465e+02] [-2.31090705e-02 1.70621203e-03 9.99731494e-01 6.01388798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.770714057 meters Centerline goodness : 0.987364 Centerline is valid? [True, True] Translation: X:200.75, Y:148.16, Z:6.01 [[ 9.18007762e-01 -3.95955161e-01 2.19376203e-02 2.00751825e+02] [ 3.95888918e-01 9.18268027e-01 7.46956850e-03 1.48158877e+02] [-2.31022295e-02 1.82773888e-03 9.99731437e-01 6.01374735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.800714057 meters Centerline goodness : 0.986921 Centerline is valid? [True, True] Translation: X:200.78, Y:148.17, Z:6.01 [[ 9.18902159e-01 -3.93875373e-01 2.19319940e-02 2.00779563e+02] [ 3.93808174e-01 9.19162171e-01 7.48501563e-03 1.48170727e+02] [-2.31072226e-02 1.75900150e-03 9.99731445e-01 6.01340010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.830714057 meters Centerline goodness : 0.987941 Centerline is valid? [True, True] Translation: X:200.81, Y:148.18, Z:6.01 [[ 9.19827614e-01 -3.91710804e-01 2.19045005e-02 2.00810452e+02] [ 3.91641206e-01 9.20086956e-01 7.56037958e-03 1.48184594e+02] [-2.31155276e-02 1.62445909e-03 9.99731481e-01 6.01110643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.860714057 meters Centerline goodness : 0.987006 Centerline is valid? [True, True] Translation: X:200.84, Y:148.20, Z:6.01 [[ 9.20489948e-01 -3.90150179e-01 2.19338626e-02 2.00838633e+02] [ 3.90082050e-01 9.20749720e-01 7.47983850e-03 1.48196013e+02] [-2.31138582e-02 1.67088993e-03 9.99731443e-01 6.01026195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.890714057 meters Centerline goodness : 0.988396 Centerline is valid? [True, True] Translation: X:200.87, Y:148.21, Z:6.01 [[ 9.21452381e-01 -3.87873613e-01 2.18990658e-02 2.00870550e+02] [ 3.87802583e-01 9.21711328e-01 7.57518238e-03 1.48210246e+02] [-2.31228304e-02 1.51234444e-03 9.99731488e-01 6.01067417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.920714057 meters Centerline goodness : 0.988003 Centerline is valid? [True, True] Translation: X:200.90, Y:148.22, Z:6.01 [[ 9.21370023e-01 -3.88065853e-01 2.19584744e-02 2.00897362e+02] [ 3.87998740e-01 9.21630097e-01 7.41226536e-03 1.48223541e+02] [-2.31140380e-02 1.69042131e-03 9.99731406e-01 6.00959833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.950714057 meters Centerline goodness : 0.987548 Centerline is valid? [True, True] Translation: X:200.93, Y:148.24, Z:6.01 [[ 9.22811105e-01 -3.84628797e-01 2.19169552e-02 2.00929265e+02] [ 3.84558015e-01 9.23070143e-01 7.52621794e-03 1.48235842e+02] [-2.31256872e-02 1.48306331e-03 9.99731466e-01 6.00829045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.980714057 meters Centerline goodness : 0.988861 Centerline is valid? [True, True] Translation: X:200.96, Y:148.25, Z:6.01 [[ 9.22750836e-01 -3.84771969e-01 2.19414483e-02 2.00960596e+02] [ 3.84702818e-01 9.23010349e-01 7.45905413e-03 1.48248770e+02] [-2.31222188e-02 1.55808857e-03 9.99731432e-01 6.00565257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.01071405700003 meters Centerline goodness : 0.988267 Centerline is valid? [True, True] Translation: X:200.99, Y:148.26, Z:6.00 [[ 9.24084179e-01 -3.81557107e-01 2.19682662e-02 2.00994211e+02] [ 3.81488796e-01 9.24343959e-01 7.38543470e-03 1.48258785e+02] [-2.31241992e-02 1.55588407e-03 9.99731389e-01 6.00391251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.040714057 meters Centerline goodness : 0.987409 Centerline is valid? [True, True] Translation: X:201.02, Y:148.27, Z:6.01 [[ 9.22665266e-01 -3.84968932e-01 2.20845578e-02 2.01017553e+02] [ 3.84909183e-01 9.22927406e-01 7.06572665e-03 1.48273025e+02] [-2.31025289e-02 1.98124854e-03 9.99731138e-01 6.00796894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.070714057 meters Centerline goodness : 0.989851 Centerline is valid? [True, True] Translation: X:201.03, Y:148.29, Z:6.01 [[ 9.16361299e-01 -3.99747314e-01 2.20012393e-02 2.01029365e+02] [ 3.99686323e-01 9.16622952e-01 7.29436945e-03 1.48294984e+02] [-2.30827455e-02 2.10931659e-03 9.99731333e-01 6.00545498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.100714057 meters Centerline goodness : 0.987266 Centerline is valid? [True, True] Translation: X:201.08, Y:148.30, Z:6.01 [[ 9.21144023e-01 -3.88613192e-01 2.17594845e-02 2.01075777e+02] [ 3.88533382e-01 9.21400303e-01 7.95561253e-03 1.48295684e+02] [-2.31408516e-02 1.12602116e-03 9.99731581e-01 6.00651545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.130714057 meters Centerline goodness : 0.987825 Centerline is valid? [True, True] Translation: X:201.10, Y:148.31, Z:6.01 [[ 9.19136468e-01 -3.93323466e-01 2.20182587e-02 2.01104258e+02] [ 3.93261797e-01 9.19397985e-01 7.24593394e-03 1.48308147e+02] [-2.30935386e-02 1.99893788e-03 9.99731310e-01 6.00596205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.160714057 meters Centerline goodness : 0.987352 Centerline is valid? [True, True] Translation: X:201.13, Y:148.32, Z:6.01 [[ 9.18661178e-01 -3.94434592e-01 2.19770891e-02 2.01133136e+02] [ 3.94370552e-01 9.18922040e-01 7.35875011e-03 1.48318561e+02] [-2.30977771e-02 1.90691872e-03 9.99731392e-01 6.00616245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.190714057 meters Centerline goodness : 0.988246 Centerline is valid? [True, True] Translation: X:201.16, Y:148.33, Z:6.01 [[ 9.17346764e-01 -3.97482942e-01 2.19596098e-02 2.01161941e+02] [ 3.97418629e-01 9.17607528e-01 7.40660634e-03 1.48331346e+02] [-2.30943029e-02 1.93273165e-03 9.99731423e-01 6.00659392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.220714057 meters Centerline goodness : 0.988612 Centerline is valid? [True, True] Translation: X:201.19, Y:148.34, Z:6.01 [[ 9.16124681e-01 -4.00293230e-01 2.19294059e-02 2.01192477e+02] [ 4.00227754e-01 9.16385104e-01 7.48902468e-03 1.48343883e+02] [-2.30935868e-02 1.91587651e-03 9.99731472e-01 6.00520393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.250714057 meters Centerline goodness : 0.988331 Centerline is valid? [True, True] Translation: X:201.22, Y:148.36, Z:6.00 [[ 9.16031122e-01 -4.00505813e-01 2.19562660e-02 2.01221895e+02] [ 4.00442143e-01 9.16292037e-01 7.41573069e-03 1.48355301e+02] [-2.30883950e-02 1.99917412e-03 9.99731429e-01 6.00192232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.280714057 meters Centerline goodness : 0.988233 Centerline is valid? [True, True] Translation: X:201.25, Y:148.37, Z:6.00 [[ 9.15681512e-01 -4.01305217e-01 2.19429136e-02 2.01253345e+02] [ 4.01240909e-01 9.15942247e-01 7.45206278e-03 1.48367514e+02] [-2.30889933e-02 1.98067850e-03 9.99731452e-01 6.00020570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.310714057 meters Centerline goodness : 0.988954 Centerline is valid? [True, True] Translation: X:201.28, Y:148.38, Z:6.00 [[ 9.15412504e-01 -4.01915950e-01 2.19889904e-02 2.01283571e+02] [ 4.01854802e-01 9.15674088e-01 7.32687063e-03 1.48380502e+02] [-2.30795349e-02 2.12927237e-03 9.99731365e-01 5.99869250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.340714057 meters Centerline goodness : 0.988766 Centerline is valid? [True, True] Translation: X:201.31, Y:148.39, Z:6.00 [[ 9.15548206e-01 -4.01606675e-01 2.19900249e-02 2.01313223e+02] [ 4.01545506e-01 9.15809787e-01 7.32406266e-03 1.48392835e+02] [-2.30800724e-02 2.12446323e-03 9.99731362e-01 5.99749442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.370714057 meters Centerline goodness : 0.988160 Centerline is valid? [True, True] Translation: X:201.34, Y:148.41, Z:6.00 [[ 9.15910010e-01 -4.00780765e-01 2.19916211e-02 2.01340410e+02] [ 4.00719463e-01 9.16171563e-01 7.31973098e-03 1.48406318e+02] [-2.30817053e-02 2.10825574e-03 9.99731359e-01 5.99652245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.400714057 meters Centerline goodness : 0.988520 Centerline is valid? [True, True] Translation: X:201.37, Y:148.42, Z:6.00 [[ 9.15654173e-01 -4.01367418e-01 2.19460951e-02 2.01371687e+02] [ 4.01303335e-01 9.15914969e-01 7.44332973e-03 1.48419079e+02] [-2.30882670e-02 1.99152522e-03 9.99731447e-01 5.99571708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.430714057 meters Centerline goodness : 0.988800 Centerline is valid? [True, True] Translation: X:201.40, Y:148.43, Z:6.00 [[ 9.15326704e-01 -4.02111090e-01 2.19930854e-02 2.01399015e+02] [ 4.02050263e-01 9.15588372e-01 7.31574438e-03 1.48430975e+02] [-2.30783552e-02 2.14602955e-03 9.99731356e-01 5.99545987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.460714057 meters Centerline goodness : 0.988650 Centerline is valid? [True, True] Translation: X:201.43, Y:148.44, Z:5.99 [[ 9.14670305e-01 -4.03603448e-01 2.19656693e-02 2.01427933e+02] [ 4.03541272e-01 9.14931597e-01 7.39014971e-03 1.48443884e+02] [-2.30797748e-02 2.10450363e-03 9.99731411e-01 5.99427857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.490714057 meters Centerline goodness : 0.988750 Centerline is valid? [True, True] Translation: X:201.46, Y:148.46, Z:5.99 [[ 9.14149414e-01 -4.04781871e-01 2.19655715e-02 2.01457180e+02] [ 4.04720025e-01 9.14410785e-01 7.39041484e-03 1.48456913e+02] [-2.30770614e-02 2.13396324e-03 9.99731412e-01 5.99309745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.520714057 meters Centerline goodness : 0.989580 Centerline is valid? [True, True] Translation: X:201.49, Y:148.47, Z:5.99 [[ 9.13168130e-01 -4.06991445e-01 2.19529185e-02 2.01486986e+02] [ 4.06929413e-01 9.13429432e-01 7.42470748e-03 1.48470013e+02] [-2.30742343e-02 2.15328201e-03 9.99731435e-01 5.99378291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.550714057 meters Centerline goodness : 0.988687 Centerline is valid? [True, True] Translation: X:201.52, Y:148.48, Z:5.99 [[ 9.12582214e-01 -4.08304496e-01 2.19349217e-02 2.01518351e+02] [ 4.08241680e-01 9.12843295e-01 7.47328240e-03 1.48481848e+02] [-2.30745210e-02 2.13476467e-03 9.99731469e-01 5.99295667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.580714057 meters Centerline goodness : 0.988717 Centerline is valid? [True, True] Translation: X:201.55, Y:148.49, Z:5.99 [[ 9.12252464e-01 -4.09037703e-01 2.19908864e-02 2.01546670e+02] [ 4.08978707e-01 9.12514549e-01 7.32220428e-03 1.48494503e+02] [-2.30620615e-02 2.31410542e-03 9.99731357e-01 5.99046452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.610714057 meters Centerline goodness : 0.989006 Centerline is valid? [True, True] Translation: X:201.58, Y:148.51, Z:5.99 [[ 9.11322863e-01 -4.11106060e-01 2.19646796e-02 2.01576417e+02] [ 4.11045968e-01 9.11584641e-01 7.39288285e-03 1.48506751e+02] [-2.30619235e-02 2.29118982e-03 9.99731413e-01 5.98924597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.640714057 meters Centerline goodness : 0.989247 Centerline is valid? [True, True] Translation: X:201.61, Y:148.52, Z:5.99 [[ 9.10908781e-01 -4.12022093e-01 2.19769795e-02 2.01607841e+02] [ 4.11963055e-01 9.11170826e-01 7.35979594e-03 1.48518276e+02] [-2.30571811e-02 2.34960088e-03 9.99731387e-01 5.98810771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.670714057 meters Centerline goodness : 0.988662 Centerline is valid? [True, True] Translation: X:201.64, Y:148.53, Z:5.99 [[ 9.10582213e-01 -4.12741444e-01 2.20121418e-02 2.01636325e+02] [ 4.12684880e-01 9.10844886e-01 7.26520072e-03 1.48531010e+02] [-2.30482963e-02 2.46851556e-03 9.99731305e-01 5.98755362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.700714057 meters Centerline goodness : 0.988996 Centerline is valid? [True, True] Translation: X:201.66, Y:148.54, Z:5.99 [[ 9.10570913e-01 -4.12766511e-01 2.20095362e-02 2.01664507e+02] [ 4.12709785e-01 9.10833546e-01 7.27221595e-03 1.48542507e+02] [-2.30487511e-02 2.46168266e-03 9.99731311e-01 5.98561841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.730714057 meters Centerline goodness : 0.988996 Centerline is valid? [True, True] Translation: X:201.69, Y:148.55, Z:5.98 [[ 9.10416029e-01 -4.13109322e-01 2.19850335e-02 2.01693953e+02] [ 4.13051116e-01 9.10678279e-01 7.33814351e-03 1.48553789e+02] [-2.30527480e-02 2.40017916e-03 9.99731369e-01 5.98486090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.76071405700003 meters Centerline goodness : 0.988443 Centerline is valid? [True, True] Translation: X:201.72, Y:148.57, Z:5.98 [[ 9.10298432e-01 -4.13368426e-01 2.19843109e-02 2.01722904e+02] [ 4.13310248e-01 9.10560686e-01 7.34008613e-03 1.48567575e+02] [-2.30522090e-02 2.40467208e-03 9.99731371e-01 5.98274459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.790714057 meters Centerline goodness : 0.988255 Centerline is valid? [True, True] Translation: X:201.75, Y:148.58, Z:5.98 [[ 9.10163273e-01 -4.13666621e-01 2.19714114e-02 2.01752657e+02] [ 4.13607701e-01 9.10425331e-01 7.37466388e-03 1.48579752e+02] [-2.30539818e-02 2.37539676e-03 9.99731400e-01 5.98249091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.820714057 meters Centerline goodness : 0.988755 Centerline is valid? [True, True] Translation: X:201.78, Y:148.59, Z:5.98 [[ 9.10475916e-01 -4.12978309e-01 2.19664294e-02 2.01782870e+02] [ 4.12918871e-01 9.10737846e-01 7.38800065e-03 1.48591903e+02] [-2.30567426e-02 2.34375657e-03 9.99731411e-01 5.98135757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.850714057 meters Centerline goodness : 0.989636 Centerline is valid? [True, True] Translation: X:201.81, Y:148.60, Z:5.98 [[ 9.09797986e-01 -4.14471376e-01 2.19340725e-02 2.01813509e+02] [ 4.14410310e-01 9.10059468e-01 7.47397011e-03 1.48604484e+02] [-2.30590570e-02 2.28990285e-03 9.99731482e-01 5.98206235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.880714057 meters Centerline goodness : 0.989244 Centerline is valid? [True, True] Translation: X:201.84, Y:148.62, Z:5.98 [[ 9.09912765e-01 -4.14217835e-01 2.19623488e-02 2.01842536e+02] [ 4.14158491e-01 9.10174708e-01 7.39896502e-03 1.48617743e+02] [-2.30543576e-02 2.36348051e-03 9.99731419e-01 5.98314957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.910714057 meters Centerline goodness : 0.988924 Centerline is valid? [True, True] Translation: X:201.87, Y:148.63, Z:5.98 [[ 9.10372429e-01 -4.13207076e-01 2.19534368e-02 2.01870594e+02] [ 4.13146876e-01 9.10634155e-01 7.42259457e-03 1.48629237e+02] [-2.30586180e-02 2.31266839e-03 9.99731440e-01 5.98173385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.940714057 meters Centerline goodness : 0.989378 Centerline is valid? [True, True] Translation: X:201.90, Y:148.64, Z:5.98 [[ 9.09779342e-01 -4.14512644e-01 2.19275122e-02 2.01901437e+02] [ 4.14451175e-01 9.10040715e-01 7.49130787e-03 1.48641373e+02] [-2.30601708e-02 2.27244607e-03 9.99731496e-01 5.98259196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.970714057 meters Centerline goodness : 0.987895 Centerline is valid? [True, True] Translation: X:201.93, Y:148.65, Z:5.98 [[ 9.09814897e-01 -4.14432633e-01 2.19646482e-02 2.01925351e+02] [ 4.14373498e-01 9.10076892e-01 7.39288041e-03 1.48651475e+02] [-2.30533696e-02 2.37541535e-03 9.99731414e-01 5.98243352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.000714057 meters Centerline goodness : 0.988931 Centerline is valid? [True, True] Translation: X:201.96, Y:148.66, Z:5.98 [[ 9.08919684e-01 -4.16398880e-01 2.18398991e-02 2.01957907e+02] [ 4.16332422e-01 9.09179671e-01 7.72274059e-03 1.48663019e+02] [-2.30721328e-02 2.07330717e-03 9.99731653e-01 5.98070290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.030714057 meters Centerline goodness : 0.988625 Centerline is valid? [True, True] Translation: X:201.98, Y:148.67, Z:5.98 [[ 9.07842269e-01 -4.18737729e-01 2.19346662e-02 2.01984910e+02] [ 4.18677940e-01 9.08104043e-01 7.47189609e-03 1.48674515e+02] [-2.30477238e-02 2.40025777e-03 9.99731485e-01 5.97852105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.060714057 meters Centerline goodness : 0.988519 Centerline is valid? [True, True] Translation: X:202.01, Y:148.69, Z:5.98 [[ 9.07394928e-01 -4.19709237e-01 2.18769448e-02 2.02013692e+02] [ 4.19646072e-01 9.07655793e-01 7.62461823e-03 1.48687370e+02] [-2.30568584e-02 2.26203407e-03 9.99731596e-01 5.97840174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.090714057 meters Centerline goodness : 0.988879 Centerline is valid? [True, True] Translation: X:202.04, Y:148.70, Z:5.98 [[ 9.07086708e-01 -4.20377504e-01 2.18279038e-02 2.02043674e+02] [ 4.20311442e-01 9.07346775e-01 7.75385306e-03 1.48699771e+02] [-2.30650235e-02 2.14110069e-03 9.99731674e-01 5.97603996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.120714057 meters Centerline goodness : 0.988689 Centerline is valid? [True, True] Translation: X:202.07, Y:148.71, Z:5.98 [[ 9.07749668e-01 -4.18942627e-01 2.18543930e-02 2.02069716e+02] [ 4.18877821e-01 9.08010092e-01 7.68406080e-03 1.48711249e+02] [-2.30631900e-02 2.17911689e-03 9.99731634e-01 5.97545997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.150714057 meters Centerline goodness : 0.988735 Centerline is valid? [True, True] Translation: X:202.10, Y:148.72, Z:5.97 [[ 9.07714109e-01 -4.19022612e-01 2.17978625e-02 2.02099184e+02] [ 4.18954274e-01 9.07973547e-01 7.83297099e-03 1.48724013e+02] [-2.30740745e-02 2.02220938e-03 9.99731713e-01 5.97266249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.180714057 meters Centerline goodness : 0.988511 Centerline is valid? [True, True] Translation: X:202.13, Y:148.74, Z:5.97 [[ 9.08300502e-01 -4.17750996e-01 2.17785341e-02 2.02129224e+02] [ 4.17681081e-01 9.08559497e-01 7.88385786e-03 1.48735616e+02] [-2.30805835e-02 1.93556961e-03 9.99731734e-01 5.97240456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.210714057 meters Centerline goodness : 0.988332 Centerline is valid? [True, True] Translation: X:202.16, Y:148.75, Z:5.97 [[ 9.09564792e-01 -4.14991015e-01 2.17795085e-02 2.02161332e+02] [ 4.14920376e-01 9.09823591e-01 7.88129207e-03 1.48746187e+02] [-2.30861760e-02 1.86821605e-03 9.99731733e-01 5.97264157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.240714057 meters Centerline goodness : 0.988712 Centerline is valid? [True, True] Translation: X:202.19, Y:148.76, Z:5.97 [[ 9.09011739e-01 -4.16198438e-01 2.18293086e-02 2.02187372e+02] [ 4.16131267e-01 9.09271524e-01 7.75017216e-03 1.48758503e+02] [-2.30743782e-02 2.03886036e-03 9.99731672e-01 5.96993288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.270714057 meters Centerline goodness : 0.988588 Centerline is valid? [True, True] Translation: X:202.22, Y:148.77, Z:5.97 [[ 9.09624941e-01 -4.14860910e-01 2.17460820e-02 2.02218809e+02] [ 4.14788146e-01 9.09883118e-01 7.96904577e-03 1.48770172e+02] [-2.30924385e-02 1.77117427e-03 9.99731765e-01 5.96969772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.300714057 meters Centerline goodness : 0.988431 Centerline is valid? [True, True] Translation: X:202.25, Y:148.78, Z:5.97 [[ 9.09798435e-01 -4.14480024e-01 2.17512721e-02 2.02248774e+02] [ 4.14407477e-01 9.10056677e-01 7.95539293e-03 1.48782191e+02] [-2.30922418e-02 1.77608575e-03 9.99731761e-01 5.96904438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.330714057 meters Centerline goodness : 0.988558 Centerline is valid? [True, True] Translation: X:202.28, Y:148.79, Z:5.97 [[ 9.10755118e-01 -4.12374130e-01 2.17414938e-02 2.02280681e+02] [ 4.12300374e-01 9.11013009e-01 7.98109540e-03 1.48793084e+02] [-2.30979810e-02 1.69520257e-03 9.99731769e-01 5.96896151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.360714057 meters Centerline goodness : 0.989170 Centerline is valid? [True, True] Translation: X:202.31, Y:148.81, Z:5.97 [[ 9.11244089e-01 -4.11291692e-01 2.17567166e-02 2.02313691e+02] [ 4.11218579e-01 9.11502177e-01 7.94114959e-03 1.48805172e+02] [-2.30974234e-02 1.71044046e-03 9.99731756e-01 5.96738110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.390714057 meters Centerline goodness : 0.990458 Centerline is valid? [True, True] Translation: X:202.35, Y:148.82, Z:5.96 [[ 9.10797486e-01 -4.12276337e-01 2.18211279e-02 2.02346538e+02] [ 4.12207528e-01 9.11056832e-01 7.77196847e-03 1.48817206e+02] [-2.30844864e-02 1.91614385e-03 9.99731681e-01 5.96393167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.420714057 meters Centerline goodness : 0.989381 Centerline is valid? [True, True] Translation: X:202.37, Y:148.83, Z:5.97 [[ 9.12735641e-01 -4.07962590e-01 2.19128814e-02 2.02371474e+02] [ 4.07898303e-01 9.12996310e-01 7.53072738e-03 1.48827572e+02] [-2.30786349e-02 2.06466384e-03 9.99731521e-01 5.96863426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.450714057 meters Centerline goodness : 0.989880 Centerline is valid? [True, True] Translation: X:202.40, Y:148.84, Z:5.97 [[ 9.13917254e-01 -4.05313939e-01 2.18142910e-02 2.02399641e+02] [ 4.05242725e-01 9.14175941e-01 7.78996083e-03 1.48839369e+02] [-2.30994797e-02 1.72070313e-03 9.99731691e-01 5.96617561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.480714057 meters Centerline goodness : 0.989785 Centerline is valid? [True, True] Translation: X:202.43, Y:148.85, Z:5.97 [[ 9.14931440e-01 -4.03020487e-01 2.17932977e-02 2.02430644e+02] [ 4.02947316e-01 9.15189551e-01 7.84508716e-03 1.48850358e+02] [-2.31067292e-02 1.60383391e-03 9.99731717e-01 5.96691455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.51071405700003 meters Centerline goodness : 0.988356 Centerline is valid? [True, True] Translation: X:202.46, Y:148.86, Z:5.97 [[ 9.16859353e-01 -3.98614022e-01 2.18125751e-02 2.02460872e+02] [ 3.98540810e-01 9.17117478e-01 7.79444544e-03 1.48860573e+02] [-2.31116691e-02 1.54679113e-03 9.99731693e-01 5.96561046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.540714057 meters Centerline goodness : 0.990388 Centerline is valid? [True, True] Translation: X:202.50, Y:148.87, Z:5.96 [[ 9.16922519e-01 -3.98468140e-01 2.18228256e-02 2.02497881e+02] [ 3.98395525e-01 9.17180828e-01 7.76754009e-03 1.48872865e+02] [-2.31105945e-02 1.57188364e-03 9.99731679e-01 5.95744656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.570714057 meters Centerline goodness : 0.989529 Centerline is valid? [True, True] Translation: X:202.52, Y:148.88, Z:5.96 [[ 9.20185052e-01 -3.90866001e-01 2.19827109e-02 2.02521611e+02] [ 3.90801215e-01 9.20445773e-01 7.34771095e-03 1.48883698e+02] [-2.31058637e-02 1.82961633e-03 9.99731350e-01 5.96438627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.600714057 meters Centerline goodness : 0.988232 Centerline is valid? [True, True] Translation: X:202.55, Y:148.89, Z:5.96 [[ 9.21817384e-01 -3.87007334e-01 2.18639663e-02 2.02552016e+02] [ 3.86934076e-01 9.22075574e-01 7.65880333e-03 1.48894744e+02] [-2.31242424e-02 1.39989556e-03 9.99731619e-01 5.96373111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.630714057 meters Centerline goodness : 0.988616 Centerline is valid? [True, True] Translation: X:202.58, Y:148.91, Z:5.96 [[ 9.23867251e-01 -3.82086552e-01 2.18899282e-02 2.02582809e+02] [ 3.82013523e-01 9.24125558e-01 7.59089761e-03 1.48906304e+02] [-2.31294220e-02 1.34926690e-03 9.99731569e-01 5.96234391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.660714057 meters Centerline goodness : 0.988896 Centerline is valid? [True, True] Translation: X:202.61, Y:148.92, Z:5.96 [[ 9.24495312e-01 -3.80564490e-01 2.18880526e-02 2.02612581e+02] [ 3.80490921e-01 9.24753461e-01 7.59579852e-03 1.48918077e+02] [-2.31317436e-02 1.30592516e-03 9.99731572e-01 5.96049850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.690714057 meters Centerline goodness : 0.988305 Centerline is valid? [True, True] Translation: X:202.64, Y:148.93, Z:5.96 [[ 9.25605158e-01 -3.77857602e-01 2.18797752e-02 2.02642156e+02] [ 3.77782766e-01 9.25862925e-01 7.61741420e-03 1.48928417e+02] [-2.31359705e-02 1.21508412e-03 9.99731589e-01 5.95945417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.720714057 meters Centerline goodness : 0.988480 Centerline is valid? [True, True] Translation: X:202.68, Y:148.94, Z:5.96 [[ 9.27034706e-01 -3.74337536e-01 2.18646767e-02 2.02677937e+02] [ 3.74260794e-01 9.27291881e-01 7.65675913e-03 1.48937465e+02] [-2.31411495e-02 1.08500980e-03 9.99731619e-01 5.95754045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.750714057 meters Centerline goodness : 0.988477 Centerline is valid? [True, True] Translation: X:202.71, Y:148.95, Z:5.96 [[ 9.26997415e-01 -3.74423858e-01 2.19674209e-02 2.02707764e+02] [ 3.74353464e-01 9.27256646e-01 7.38897515e-03 1.48947409e+02] [-2.31360456e-02 1.37401927e-03 9.99731382e-01 5.95778044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.780714057 meters Centerline goodness : 0.988510 Centerline is valid? [True, True] Translation: X:202.74, Y:148.96, Z:5.96 [[ 9.26701512e-01 -3.75158082e-01 2.19253366e-02 2.02739078e+02] [ 3.75085306e-01 9.26959971e-01 7.49839067e-03 1.48958515e+02] [-2.31369912e-02 1.27510160e-03 9.99731491e-01 5.95617310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.810714057 meters Centerline goodness : 0.988858 Centerline is valid? [True, True] Translation: X:202.76, Y:148.97, Z:5.96 [[ 9.25547663e-01 -3.77995169e-01 2.19357177e-02 2.02764241e+02] [ 3.77923823e-01 9.25806547e-01 7.47143604e-03 1.48970858e+02] [-2.31323978e-02 1.37486013e-03 9.99731465e-01 5.95581547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.840714057 meters Centerline goodness : 0.988375 Centerline is valid? [True, True] Translation: X:202.79, Y:148.98, Z:5.96 [[ 9.25235222e-01 -3.78764159e-01 2.18516583e-02 2.02793009e+02] [ 3.78687879e-01 9.25492499e-01 7.68931529e-03 1.48978682e+02] [-2.31359829e-02 1.16053280e-03 9.99731654e-01 5.95672949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.870714057 meters Centerline goodness : 0.988501 Centerline is valid? [True, True] Translation: X:202.82, Y:148.99, Z:5.96 [[ 9.23663992e-01 -3.82582403e-01 2.18067602e-02 2.02818399e+02] [ 3.82504446e-01 9.23920681e-01 7.80542250e-03 1.48989861e+02] [-2.31339341e-02 1.13159503e-03 9.99731734e-01 5.95785800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.900714057 meters Centerline goodness : 0.988391 Centerline is valid? [True, True] Translation: X:202.85, Y:149.00, Z:5.96 [[ 9.22206955e-01 -3.86085506e-01 2.17327753e-02 2.02848338e+02] [ 3.86004019e-01 9.22462440e-01 7.99653313e-03 1.48998083e+02] [-2.31350145e-02 1.01448014e-03 9.99731835e-01 5.95651786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.930714057 meters Centerline goodness : 0.988004 Centerline is valid? [True, True] Translation: X:202.88, Y:149.01, Z:5.96 [[ 9.20975031e-01 -3.89016193e-01 2.17116203e-02 2.02876261e+02] [ 3.88934232e-01 9.21230341e-01 8.05119329e-03 1.49008187e+02] [-2.31334480e-02 1.02944439e-03 9.99731856e-01 5.95613425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.960714057 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:202.91, Y:149.02, Z:5.95 [[ 9.18943183e-01 -3.93793766e-01 2.16770980e-02 2.02908788e+02] [ 3.93711034e-01 9.19198215e-01 8.14021817e-03 1.49016808e+02] [-2.31311170e-02 1.05411467e-03 9.99731884e-01 5.95459910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.990714057 meters Centerline goodness : 0.989323 Centerline is valid? [True, True] Translation: X:202.94, Y:149.03, Z:5.95 [[ 9.17663268e-01 -3.96766520e-01 2.16899901e-02 2.02938988e+02] [ 3.96685397e-01 9.17918827e-01 8.10698902e-03 1.49026519e+02] [-2.31262321e-02 1.16461629e-03 9.99731875e-01 5.95441731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.020714057 meters Centerline goodness : 0.989103 Centerline is valid? [True, True] Translation: X:202.97, Y:149.03, Z:5.95 [[ 9.16237511e-01 -4.00048264e-01 2.16842985e-02 2.02969933e+02] [ 3.99967710e-01 9.16493246e-01 8.12166099e-03 1.49033539e+02] [-2.31225695e-02 1.23164877e-03 9.99731879e-01 5.95262691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.050714057 meters Centerline goodness : 0.990299 Centerline is valid? [True, True] Translation: X:203.00, Y:149.04, Z:5.95 [[ 9.15633756e-01 -4.01427572e-01 2.16963014e-02 2.02998590e+02] [ 4.01348135e-01 9.15889849e-01 8.09070463e-03 1.49043498e+02] [-2.31192542e-02 1.29964785e-03 9.99731870e-01 5.95386356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.080714057 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:203.02, Y:149.06, Z:5.95 [[ 9.12379737e-01 -4.08770804e-01 2.16712890e-02 2.03023490e+02] [ 4.08691899e-01 9.12635976e-01 8.15523238e-03 1.49057928e+02] [-2.31116189e-02 1.41621148e-03 9.99731888e-01 5.94871978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.110714057 meters Centerline goodness : 0.990679 Centerline is valid? [True, True] Translation: X:203.06, Y:149.06, Z:5.95 [[ 9.15341158e-01 -4.02100219e-01 2.15865385e-02 2.03061690e+02] [ 4.02014296e-01 9.15595100e-01 8.37371181e-03 1.49063367e+02] [-2.31316003e-02 1.01329402e-03 9.99731915e-01 5.95256672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.140714057 meters Centerline goodness : 0.990422 Centerline is valid? [True, True] Translation: X:203.09, Y:149.07, Z:5.95 [[ 9.15184133e-01 -4.02450307e-01 2.17198601e-02 2.03092655e+02] [ 4.02372590e-01 9.15440777e-01 8.03007090e-03 1.49073976e+02] [-2.31149501e-02 1.39048288e-03 9.99731847e-01 5.95085091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.170714057 meters Centerline goodness : 0.990626 Centerline is valid? [True, True] Translation: X:203.12, Y:149.09, Z:5.95 [[ 9.14660020e-01 -4.03639572e-01 2.17288574e-02 2.03120547e+02] [ 4.03562738e-01 9.14916940e-01 8.00688026e-03 1.49085949e+02] [-2.31119935e-02 1.44538392e-03 9.99731837e-01 5.95048521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.200714057 meters Centerline goodness : 0.990099 Centerline is valid? [True, True] Translation: X:203.15, Y:149.10, Z:5.95 [[ 9.14239322e-01 -4.04593629e-01 2.16900329e-02 2.03147886e+02] [ 4.04514694e-01 9.14495566e-01 8.10693323e-03 1.49095187e+02] [-2.31154524e-02 1.36225987e-03 9.99731874e-01 5.95126903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.230714057 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:203.18, Y:149.11, Z:5.95 [[ 9.13840543e-01 -4.05496168e-01 2.16406883e-02 2.03179658e+02] [ 4.05414483e-01 9.14095891e-01 8.23398771e-03 1.49105965e+02] [-2.31205147e-02 1.24889665e-03 9.99731905e-01 5.94973735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.26071405700003 meters Centerline goodness : 0.990637 Centerline is valid? [True, True] Translation: X:203.21, Y:149.12, Z:5.95 [[ 9.13284308e-01 -4.06745776e-01 2.16713365e-02 2.03207209e+02] [ 4.06666307e-01 9.13540371e-01 8.15500372e-03 1.49115492e+02] [-2.31146541e-02 1.36516547e-03 9.99731889e-01 5.95027692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.290714057 meters Centerline goodness : 0.989211 Centerline is valid? [True, True] Translation: X:203.24, Y:149.13, Z:5.95 [[ 9.13764548e-01 -4.05668606e-01 2.16178940e-02 2.03236687e+02] [ 4.05585583e-01 9.14019456e-01 8.29273498e-03 1.49125477e+02] [-2.31232780e-02 1.19029893e-03 9.99731913e-01 5.95018298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.320714057 meters Centerline goodness : 0.991381 Centerline is valid? [True, True] Translation: X:203.27, Y:149.14, Z:5.95 [[ 9.13139205e-01 -4.07075964e-01 2.15859116e-02 2.03270451e+02] [ 4.06991389e-01 9.13393599e-01 8.37516594e-03 1.49138470e+02] [-2.31257622e-02 1.13758776e-03 9.99731917e-01 5.94793743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.350714057 meters Centerline goodness : 0.990823 Centerline is valid? [True, True] Translation: X:203.30, Y:149.15, Z:5.95 [[ 9.13056880e-01 -4.07255775e-01 2.16764424e-02 2.03298251e+02] [ 4.07176770e-01 9.13313087e-01 8.14148052e-03 1.49149119e+02] [-2.31130435e-02 1.39250902e-03 9.99731888e-01 5.94537753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.380714057 meters Centerline goodness : 0.990603 Centerline is valid? [True, True] Translation: X:203.33, Y:149.16, Z:5.95 [[ 9.13652808e-01 -4.05919240e-01 2.16360292e-02 2.03332758e+02] [ 4.05837397e-01 9.13908100e-01 8.24569891e-03 1.49159094e+02] [-2.31204301e-02 1.24700380e-03 9.99731909e-01 5.94634256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.410714057 meters Centerline goodness : 0.991242 Centerline is valid? [True, True] Translation: X:203.36, Y:149.17, Z:5.94 [[ 9.13710955e-01 -4.05783850e-01 2.17199840e-02 2.03359556e+02] [ 4.05707093e-01 9.13967882e-01 8.02902379e-03 1.49170298e+02] [-2.31094160e-02 1.47574458e-03 9.99731853e-01 5.94408087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.440714057 meters Centerline goodness : 0.990845 Centerline is valid? [True, True] Translation: X:203.39, Y:149.18, Z:5.94 [[ 9.14513301e-01 -4.03975375e-01 2.16637675e-02 2.03392206e+02] [ 4.03894682e-01 9.14768972e-01 8.17400176e-03 1.49181744e+02] [-2.31194377e-02 1.27464713e-03 9.99731897e-01 5.94397650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.470714057 meters Centerline goodness : 0.989858 Centerline is valid? [True, True] Translation: X:203.42, Y:149.19, Z:5.94 [[ 9.16208890e-01 -4.00112947e-01 2.17002206e-02 2.03420788e+02] [ 4.00033397e-01 9.16464945e-01 8.07992639e-03 1.49193786e+02] [-2.31203746e-02 1.27791256e-03 9.99731872e-01 5.94480555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.500714057 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:203.45, Y:149.21, Z:5.94 [[ 9.18036780e-01 -3.95901895e-01 2.16831537e-02 2.03451632e+02] [ 3.95820131e-01 9.18292124e-01 8.12397018e-03 1.49206100e+02] [-2.31277645e-02 1.12452531e-03 9.99731885e-01 5.94308441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.530714057 meters Centerline goodness : 0.991028 Centerline is valid? [True, True] Translation: X:203.48, Y:149.22, Z:5.94 [[ 9.19122501e-01 -3.93373513e-01 2.17050137e-02 2.03481335e+02] [ 3.93292376e-01 9.19378062e-01 8.06755950e-03 1.49217968e+02] [-2.31286777e-02 1.12134094e-03 9.99731867e-01 5.94381482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.560714057 meters Centerline goodness : 0.990944 Centerline is valid? [True, True] Translation: X:203.51, Y:149.23, Z:5.94 [[ 9.20279288e-01 -3.90660035e-01 2.16972036e-02 2.03513662e+02] [ 3.90577670e-01 9.20534450e-01 8.08770856e-03 1.49229907e+02] [-2.31325679e-02 1.03149255e-03 9.99731874e-01 5.94277175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.590714057 meters Centerline goodness : 0.991184 Centerline is valid? [True, True] Translation: X:203.54, Y:149.24, Z:5.94 [[ 9.21349570e-01 -3.88127311e-01 2.17292669e-02 2.03541959e+02] [ 3.88046191e-01 9.21605162e-01 8.00494911e-03 1.49241194e+02] [-2.31327439e-02 1.05660286e-03 9.99731844e-01 5.94227583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.620714057 meters Centerline goodness : 0.991184 Centerline is valid? [True, True] Translation: X:203.57, Y:149.25, Z:5.94 [[ 9.21362892e-01 -3.88097394e-01 2.16987021e-02 2.03573195e+02] [ 3.88014411e-01 9.21617854e-01 8.08380127e-03 1.49253359e+02] [-2.31352135e-02 9.71294588e-04 9.99731873e-01 5.94146932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.650714057 meters Centerline goodness : 0.990151 Centerline is valid? [True, True] Translation: X:203.61, Y:149.26, Z:5.94 [[ 9.21851716e-01 -3.86934700e-01 2.17013994e-02 2.03605093e+02] [ 3.86851559e-01 9.22106629e-01 8.07683899e-03 1.49264308e+02] [-2.31362135e-02 9.49572314e-04 9.99731871e-01 5.94152815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.680714057 meters Centerline goodness : 0.990383 Centerline is valid? [True, True] Translation: X:203.63, Y:149.28, Z:5.94 [[ 9.21559555e-01 -3.87626510e-01 2.17640900e-02 2.03634601e+02] [ 3.87547372e-01 9.21815810e-01 7.91496604e-03 1.49275315e+02] [-2.31305329e-02 1.14050330e-03 9.99731803e-01 5.94249805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.710714057 meters Centerline goodness : 0.990537 Centerline is valid? [True, True] Translation: X:203.67, Y:149.28, Z:5.94 [[ 9.20789902e-01 -3.89452439e-01 2.17429154e-02 2.03668359e+02] [ 3.89372519e-01 9.21045887e-01 7.96962889e-03 1.49284757e+02] [-2.31300142e-02 1.12773994e-03 9.99731829e-01 5.93942819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.740714057 meters Centerline goodness : 0.990457 Centerline is valid? [True, True] Translation: X:203.70, Y:149.29, Z:5.94 [[ 9.20215274e-01 -3.90803319e-01 2.18315389e-02 2.03697707e+02] [ 3.90729189e-01 9.20473131e-01 7.74049981e-03 1.49294914e+02] [-2.31203580e-02 1.40729337e-03 9.99731698e-01 5.93833507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.770714057 meters Centerline goodness : 0.991818 Centerline is valid? [True, True] Translation: X:203.73, Y:149.31, Z:5.94 [[ 9.18764532e-01 -3.94205840e-01 2.17598339e-02 2.03734474e+02] [ 3.94128309e-01 9.19021261e-01 7.92454323e-03 1.49306592e+02] [-2.31216512e-02 1.29537729e-03 9.99731820e-01 5.93734471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.800714057 meters Centerline goodness : 0.991546 Centerline is valid? [True, True] Translation: X:203.76, Y:149.32, Z:5.94 [[ 9.16217284e-01 -4.00081760e-01 2.19197180e-02 2.03764262e+02] [ 4.00015640e-01 9.16477515e-01 7.51350111e-03 1.49316767e+02] [-2.30949434e-02 1.88423044e-03 9.99731501e-01 5.93516971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.830714057 meters Centerline goodness : 0.991198 Centerline is valid? [True, True] Translation: X:203.79, Y:149.33, Z:5.93 [[ 9.14428762e-01 -4.04153576e-01 2.19072315e-02 2.03793550e+02] [ 4.04087848e-01 9.14689059e-01 7.54562487e-03 1.49326272e+02] [-2.30878962e-02 1.95250960e-03 9.99731532e-01 5.93376415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.860714057 meters Centerline goodness : 0.991358 Centerline is valid? [True, True] Translation: X:203.82, Y:149.34, Z:5.93 [[ 9.13921409e-01 -4.05299740e-01 2.19038654e-02 2.03824987e+02] [ 4.05234132e-01 9.14181728e-01 7.55428683e-03 1.49337853e+02] [-2.30858640e-02 1.97216940e-03 9.99731541e-01 5.93258855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.890714057 meters Centerline goodness : 0.992164 Centerline is valid? [True, True] Translation: X:203.85, Y:149.35, Z:5.93 [[ 9.13005239e-01 -4.07359000e-01 2.19106814e-02 2.03852442e+02] [ 4.07294397e-01 9.13265827e-01 7.53678829e-03 1.49350565e+02] [-2.30804551e-02 2.04297057e-03 9.99731523e-01 5.93228254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.920714057 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:203.88, Y:149.36, Z:5.93 [[ 9.11497474e-01 -4.10723594e-01 2.18742803e-02 2.03883084e+02] [ 4.10657721e-01 9.11757652e-01 7.63015510e-03 1.49364276e+02] [-2.30779272e-02 2.02797501e-03 9.99731612e-01 5.92954832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.950714057 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:203.91, Y:149.38, Z:5.93 [[ 9.11952913e-01 -4.09710440e-01 2.18915364e-02 2.03908040e+02] [ 4.09645328e-01 9.12213328e-01 7.58617030e-03 1.49375527e+02] [-2.30778845e-02 2.04953552e-03 9.99731569e-01 5.93308912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.980714057 meters Centerline goodness : 0.991339 Centerline is valid? [True, True] Translation: X:203.95, Y:149.38, Z:5.93 [[ 9.17138210e-01 -3.97972643e-01 2.18009101e-02 2.03949496e+02] [ 3.97898716e-01 9.17396048e-01 7.81685219e-03 1.49383763e+02] [-2.31109621e-02 1.50542029e-03 9.99731773e-01 5.92709857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.01071405700003 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:203.97, Y:149.40, Z:5.93 [[ 9.15482202e-01 -4.01750070e-01 2.21183004e-02 2.03966031e+02] [ 4.01696768e-01 9.15746001e-01 6.99775620e-03 1.49397593e+02] [-2.30660942e-02 2.47852852e-03 9.99730870e-01 5.92880575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.040714057 meters Centerline goodness : 0.992827 Centerline is valid? [True, True] Translation: X:203.97, Y:149.42, Z:5.93 [[ 9.09144263e-01 -4.15908069e-01 2.18445987e-02 2.03971454e+02] [ 4.15842060e-01 9.09404271e-01 7.69761688e-03 1.49420701e+02] [-2.30670723e-02 2.08565868e-03 9.99731744e-01 5.93263892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.070714057 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:204.00, Y:149.43, Z:5.93 [[ 9.10093628e-01 -4.13846248e-01 2.14679275e-02 2.04003475e+02] [ 4.13756921e-01 9.10346239e-01 8.65655617e-03 1.49431682e+02] [-2.31257303e-02 1.00422697e-03 9.99732060e-01 5.93392279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.100714057 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:204.07, Y:149.43, Z:5.93 [[ 9.18237077e-01 -3.95447312e-01 2.14963930e-02 2.04065786e+02] [ 3.95354614e-01 9.18488456e-01 8.58401845e-03 1.49432625e+02] [-2.31387158e-02 6.16534157e-04 9.99732074e-01 5.92735892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.130714057 meters Centerline goodness : 0.992579 Centerline is valid? [True, True] Translation: X:204.09, Y:149.45, Z:5.93 [[ 9.16754373e-01 -3.98839917e-01 2.20938961e-02 2.04090341e+02] [ 3.98784120e-01 9.17017602e-01 7.06705001e-03 1.49447444e+02] [-2.30791133e-02 2.33194592e-03 9.99730922e-01 5.92784507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.160714057 meters Centerline goodness : 0.991700 Centerline is valid? [True, True] Translation: X:204.11, Y:149.46, Z:5.93 [[ 9.14530986e-01 -4.03915729e-01 2.20263278e-02 2.04106862e+02] [ 4.03857286e-01 9.14793367e-01 7.23806224e-03 1.49461006e+02] [-2.30731057e-02 2.27606074e-03 9.99731190e-01 5.92970526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.190714057 meters Centerline goodness : 0.992219 Centerline is valid? [True, True] Translation: X:204.13, Y:149.48, Z:5.93 [[ 9.13086902e-01 -4.07181037e-01 2.18154036e-02 2.04126639e+02] [ 4.07110813e-01 9.13345724e-01 7.77011888e-03 1.49475756e+02] [-2.30888507e-02 1.78649291e-03 9.99731821e-01 5.92962753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.220714057 meters Centerline goodness : 0.992694 Centerline is valid? [True, True] Translation: X:204.16, Y:149.49, Z:5.93 [[ 9.12470487e-01 -4.08568722e-01 2.16612758e-02 2.04157055e+02] [ 4.08489675e-01 9.12726480e-01 8.15829427e-03 1.49488708e+02] [-2.31040439e-02 1.40420477e-03 9.99732080e-01 5.92767068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.250714057 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:204.19, Y:149.50, Z:5.93 [[ 9.11734431e-01 -4.10208143e-01 2.16704339e-02 2.04187295e+02] [ 4.10130100e-01 9.11990744e-01 8.13531103e-03 1.49501484e+02] [-2.31004059e-02 1.47045404e-03 9.99732069e-01 5.92790606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.280714057 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:204.23, Y:149.51, Z:5.92 [[ 9.14811966e-01 -4.03297265e-01 2.16883019e-02 2.04229203e+02] [ 4.03218346e-01 9.15068036e-01 8.09044031e-03 1.49511079e+02] [-2.31091243e-02 1.34388961e-03 9.99732045e-01 5.92329413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.310714057 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:204.25, Y:149.53, Z:5.93 [[ 9.12868303e-01 -4.07661637e-01 2.19875049e-02 2.04248325e+02] [ 4.07602011e-01 9.13130243e-01 7.33207772e-03 1.49525031e+02] [-2.30664625e-02 2.26892985e-03 9.99731359e-01 5.92693957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.340714057 meters Centerline goodness : 0.992485 Centerline is valid? [True, True] Translation: X:204.28, Y:149.54, Z:5.92 [[ 9.11883210e-01 -4.09872790e-01 2.17556214e-02 2.04280222e+02] [ 4.09799894e-01 9.12141113e-01 7.91429118e-03 1.49536813e+02] [-2.30880494e-02 1.69854212e-03 9.99731993e-01 5.92488722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.370714057 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:204.31, Y:149.55, Z:5.92 [[ 9.09720062e-01 -4.14647672e-01 2.18338230e-02 2.04310897e+02] [ 4.14580809e-01 9.09979772e-01 7.71807367e-03 1.49550979e+02] [-2.30686185e-02 2.03059754e-03 9.99731822e-01 5.92424140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.400714057 meters Centerline goodness : 0.992837 Centerline is valid? [True, True] Translation: X:204.34, Y:149.56, Z:5.92 [[ 9.11532430e-01 -4.10645987e-01 2.18746867e-02 2.04343372e+02] [ 4.10580430e-01 9.11792583e-01 7.61553291e-03 1.49560717e+02] [-2.30724651e-02 2.03951307e-03 9.99731715e-01 5.91775827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.430714057 meters Centerline goodness : 0.991366 Centerline is valid? [True, True] Translation: X:204.37, Y:149.57, Z:5.92 [[ 9.10655590e-01 -4.12585213e-01 2.19052094e-02 2.04365536e+02] [ 4.12522037e-01 9.10916423e-01 7.53915550e-03 1.49572831e+02] [-2.30643591e-02 2.17080750e-03 9.99731625e-01 5.92411066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.460714057 meters Centerline goodness : 0.992348 Centerline is valid? [True, True] Translation: X:204.41, Y:149.58, Z:5.92 [[ 9.13819218e-01 -4.05537087e-01 2.17740431e-02 2.04411761e+02] [ 4.05464109e-01 9.14077120e-01 7.86609636e-03 1.49584344e+02] [-2.30931484e-02 1.64040296e-03 9.99731972e-01 5.92301770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.490714057 meters Centerline goodness : 0.992800 Centerline is valid? [True, True] Translation: X:204.43, Y:149.60, Z:5.92 [[ 9.13900540e-01 -4.05332653e-01 2.21640097e-02 2.04432211e+02] [ 4.05283023e-01 9.14165313e-01 6.88854530e-03 1.49596878e+02] [-2.30537212e-02 2.68725157e-03 9.99730616e-01 5.92360341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.520714057 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:204.46, Y:149.61, Z:5.93 [[ 9.11912811e-01 -4.09796649e-01 2.19483944e-02 2.04455561e+02] [ 4.09735421e-01 9.12174197e-01 7.42422954e-03 1.49609760e+02] [-2.30631834e-02 2.22278457e-03 9.99731538e-01 5.92549996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.550714057 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:204.48, Y:149.62, Z:5.92 [[ 9.12736364e-01 -4.07962187e-01 2.18902605e-02 2.04480169e+02] [ 4.07896984e-01 9.12996588e-01 7.56839348e-03 1.49620871e+02] [-2.30733515e-02 2.02102328e-03 9.99731732e-01 5.92414159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.580714057 meters Centerline goodness : 0.990863 Centerline is valid? [True, True] Translation: X:204.50, Y:149.64, Z:5.93 [[ 9.11720978e-01 -4.10229673e-01 2.18282702e-02 2.04504124e+02] [ 4.10161435e-01 9.11980240e-01 7.72259644e-03 1.49635333e+02] [-2.30749893e-02 1.91226146e-03 9.99731908e-01 5.92509540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.610714057 meters Centerline goodness : 0.990902 Centerline is valid? [True, True] Translation: X:204.53, Y:149.65, Z:5.92 [[ 9.12066854e-01 -4.09464772e-01 2.17406326e-02 2.04532731e+02] [ 4.09391136e-01 9.12324422e-01 7.94023985e-03 1.49647417e+02] [-2.30857585e-02 1.65839270e-03 9.99732113e-01 5.92255012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.640714057 meters Centerline goodness : 0.990446 Centerline is valid? [True, True] Translation: X:204.56, Y:149.66, Z:5.92 [[ 9.12235847e-01 -4.09088571e-01 2.17324896e-02 2.04562459e+02] [ 4.09014349e-01 9.12493230e-01 7.96044211e-03 1.49659753e+02] [-2.30872755e-02 1.62709945e-03 9.99732129e-01 5.92035219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.670714057 meters Centerline goodness : 0.991004 Centerline is valid? [True, True] Translation: X:204.59, Y:149.67, Z:5.92 [[ 9.12800990e-01 -4.07825938e-01 2.17337842e-02 2.04592013e+02] [ 4.07751436e-01 9.13058294e-01 7.95723634e-03 1.49672525e+02] [-2.30893793e-02 1.59860853e-03 9.99732127e-01 5.91867290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.700714057 meters Centerline goodness : 0.992285 Centerline is valid? [True, True] Translation: X:204.60, Y:149.69, Z:5.92 [[ 9.07321482e-01 -4.19875396e-01 2.17342952e-02 2.04597079e+02] [ 4.19804338e-01 9.07579760e-01 7.95597194e-03 1.49694642e+02] [-2.30661233e-02 1.90552716e-03 9.99732126e-01 5.92216575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.730714057 meters Centerline goodness : 0.991535 Centerline is valid? [True, True] Translation: X:204.65, Y:149.70, Z:5.91 [[ 9.13927702e-01 -4.05315183e-01 2.13484743e-02 2.04651686e+02] [ 4.05217641e-01 9.14176866e-01 8.90629691e-03 1.49695993e+02] [-2.31261387e-02 5.11066931e-04 9.99732424e-01 5.91290715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.76071405700003 meters Centerline goodness : 0.991961 Centerline is valid? [True, True] Translation: X:204.68, Y:149.71, Z:5.91 [[ 9.14002287e-01 -4.05124527e-01 2.17700997e-02 2.04683811e+02] [ 4.05051318e-01 9.14260072e-01 7.87081682e-03 1.49709055e+02] [-2.30921939e-02 1.62406299e-03 9.99732021e-01 5.91401013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.790714057 meters Centerline goodness : 0.992522 Centerline is valid? [True, True] Translation: X:204.71, Y:149.72, Z:5.91 [[ 9.14536630e-01 -4.03911892e-01 2.18617545e-02 2.04707554e+02] [ 4.03843698e-01 9.14796049e-01 7.64569224e-03 1.49720557e+02] [-2.30872326e-02 1.83646616e-03 9.99731768e-01 5.91123721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.820714057 meters Centerline goodness : 0.990911 Centerline is valid? [True, True] Translation: X:204.73, Y:149.73, Z:5.91 [[ 9.13820574e-01 -4.05532720e-01 2.17984278e-02 2.04730748e+02] [ 4.05461270e-01 9.14078931e-01 7.80165740e-03 1.49732911e+02] [-2.30893110e-02 1.70910320e-03 9.99731945e-01 5.91475839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.850714057 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:204.76, Y:149.75, Z:5.91 [[ 9.14035223e-01 -4.05054918e-01 2.16823524e-02 2.04758533e+02] [ 4.04976563e-01 9.14291302e-01 8.08698751e-03 1.49745336e+02] [-2.30996602e-02 1.38905311e-03 9.99732202e-01 5.91189772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.880714057 meters Centerline goodness : 0.991294 Centerline is valid? [True, True] Translation: X:204.79, Y:149.76, Z:5.91 [[ 9.14069715e-01 -4.04977688e-01 2.16708907e-02 2.04790916e+02] [ 4.04898646e-01 9.14325561e-01 8.11513913e-03 1.49757348e+02] [-2.31006996e-02 1.35671136e-03 9.99732223e-01 5.91060219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.910714057 meters Centerline goodness : 0.990724 Centerline is valid? [True, True] Translation: X:204.82, Y:149.77, Z:5.91 [[ 9.14254007e-01 -4.04557010e-01 2.17540093e-02 2.04819277e+02] [ 4.04482689e-01 9.14511439e-01 7.91090755e-03 1.49766939e+02] [-2.30947034e-02 1.56654126e-03 9.99732054e-01 5.91290074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.940714057 meters Centerline goodness : 0.991871 Centerline is valid? [True, True] Translation: X:204.85, Y:149.78, Z:5.91 [[ 9.13543137e-01 -4.06160727e-01 2.17347897e-02 2.04850075e+02] [ 4.06085738e-01 9.13800330e-01 7.95806464e-03 1.49780237e+02] [-2.30935113e-02 1.55615279e-03 9.99732098e-01 5.90891255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.970714057 meters Centerline goodness : 0.984326 Centerline is valid? [True, True] Translation: X:204.87, Y:149.79, Z:5.91 [[ 9.12147222e-01 -4.09283611e-01 2.17800409e-02 2.04865842e+02] [ 4.09212224e-01 9.12405521e-01 7.84356316e-03 1.49786263e+02] [-2.30824714e-02 1.75817460e-03 9.99732018e-01 5.91464982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.000714057 meters Centerline goodness : 0.984080 Centerline is valid? [True, True] Translation: X:204.89, Y:149.79, Z:5.91 [[ 9.11773094e-01 -4.10142438e-01 2.12839131e-02 2.04892812e+02] [ 4.10041906e-01 9.12021375e-01 9.09103492e-03 1.49794010e+02] [-2.31400030e-02 4.38335277e-04 9.99732138e-01 5.90816901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.030714057 meters Centerline goodness : 0.990904 Centerline is valid? [True, True] Translation: X:204.93, Y:149.80, Z:5.91 [[ 9.11525639e-01 -4.10691010e-01 2.13050221e-02 2.04933705e+02] [ 4.10591875e-01 9.11774443e-01 9.03757294e-03 1.49804592e+02] [-2.31370246e-02 5.09689516e-04 9.99732173e-01 5.90605951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.060714057 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:204.94, Y:149.83, Z:5.91 [[ 9.05189056e-01 -4.24450251e-01 2.17889098e-02 2.04942021e+02] [ 4.24383336e-01 9.05448702e-01 7.83783447e-03 1.49825415e+02] [-2.30555109e-02 2.15212826e-03 9.99731870e-01 5.90948117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.090714057 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:204.97, Y:149.84, Z:5.91 [[ 9.04599301e-01 -4.25723074e-01 2.14469084e-02 2.04973462e+02] [ 4.25636431e-01 9.04852607e-01 8.68263512e-03 1.49837278e+02] [-2.31026891e-02 1.27427988e-03 9.99732285e-01 5.90918230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.120714057 meters Centerline goodness : 0.992465 Centerline is valid? [True, True] Translation: X:205.02, Y:149.85, Z:5.91 [[ 9.07106278e-01 -4.20354764e-01 2.14493069e-02 2.05019647e+02] [ 4.20266761e-01 9.07359115e-01 8.67670596e-03 1.49845470e+02] [-2.31095188e-02 1.14373628e-03 9.99732285e-01 5.90658416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.150714057 meters Centerline goodness : 0.985335 Centerline is valid? [True, True] Translation: X:205.04, Y:149.85, Z:5.90 [[ 9.07697134e-01 -4.19061192e-01 2.17630459e-02 2.05036718e+02] [ 4.18991732e-01 9.07955863e-01 7.87900952e-03 1.49853186e+02] [-2.30616723e-02 1.96678196e-03 9.99732110e-01 5.90308526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.180714057 meters Centerline goodness : 0.990547 Centerline is valid? [True, True] Translation: X:205.07, Y:149.86, Z:5.91 [[ 9.09238821e-01 -4.15728822e-01 2.13146315e-02 2.05073324e+02] [ 4.15631751e-01 9.09488372e-01 9.00821560e-03 1.49861484e+02] [-2.31303844e-02 6.68418284e-04 9.99732233e-01 5.90759474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.210714057 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:205.10, Y:149.88, Z:5.91 [[ 9.06457032e-01 -4.21745523e-01 2.15954569e-02 2.05099850e+02] [ 4.21666614e-01 9.06712873e-01 8.30856543e-03 1.49877402e+02] [-2.30849790e-02 1.57472563e-03 9.99732266e-01 5.91452887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.240714057 meters Centerline goodness : 0.992189 Centerline is valid? [True, True] Translation: X:205.13, Y:149.89, Z:5.91 [[ 9.04625830e-01 -4.25659420e-01 2.15908703e-02 2.05132417e+02] [ 4.25581347e-01 9.04881923e-01 8.31999012e-03 1.49891661e+02] [-2.30786704e-02 1.66219369e-03 9.99732270e-01 5.90654048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.270714057 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:205.16, Y:149.91, Z:5.91 [[ 9.03556231e-01 -4.27920244e-01 2.16887483e-02 2.05158764e+02] [ 4.27848624e-01 9.03814325e-01 8.07594597e-03 1.49905690e+02] [-2.30584622e-02 1.98242982e-03 9.99732153e-01 5.90871402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.300714057 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:205.19, Y:149.92, Z:5.91 [[ 9.03124402e-01 -4.28834708e-01 2.16126775e-02 2.05188004e+02] [ 4.28758852e-01 9.03381173e-01 8.26459978e-03 1.49917742e+02] [-2.30686332e-02 1.80266504e-03 9.99732258e-01 5.90949835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.330714057 meters Centerline goodness : 0.990537 Centerline is valid? [True, True] Translation: X:205.21, Y:149.93, Z:5.92 [[ 9.03403327e-01 -4.28245560e-01 2.16372249e-02 2.05209833e+02] [ 4.28170986e-01 9.03660504e-01 8.20370460e-03 1.49930202e+02] [-2.30659057e-02 1.85317791e-03 9.99732229e-01 5.91692924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.360714057 meters Centerline goodness : 0.991250 Centerline is valid? [True, True] Translation: X:205.24, Y:149.94, Z:5.92 [[ 9.03231716e-01 -4.28615025e-01 2.14855275e-02 2.05240304e+02] [ 4.28531631e-01 9.03486046e-01 8.57941672e-03 1.49942981e+02] [-2.30891412e-02 1.45802686e-03 9.99732347e-01 5.91521984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.390714057 meters Centerline goodness : 0.991669 Centerline is valid? [True, True] Translation: X:205.27, Y:149.96, Z:5.90 [[ 9.03881153e-01 -4.27242427e-01 2.15120974e-02 2.05269267e+02] [ 4.27160207e-01 9.04135873e-01 8.51357411e-03 1.49955689e+02] [-2.30872190e-02 1.49385279e-03 9.99732339e-01 5.90470224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.420714057 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:205.29, Y:149.97, Z:5.90 [[ 9.03743802e-01 -4.27530578e-01 2.15579713e-02 2.05290062e+02] [ 4.27451142e-01 9.03999429e-01 8.39958604e-03 1.49972109e+02] [-2.30794736e-02 1.62390563e-03 9.99732315e-01 5.90388299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.450714057 meters Centerline goodness : 0.991169 Centerline is valid? [True, True] Translation: X:205.33, Y:149.98, Z:5.91 [[ 9.06890850e-01 -4.20818816e-01 2.14595251e-02 2.05325192e+02] [ 4.20731710e-01 9.07143930e-01 8.64399018e-03 1.49981251e+02] [-2.31044316e-02 1.18954711e-03 9.99732349e-01 5.91014803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.480714057 meters Centerline goodness : 0.991297 Centerline is valid? [True, True] Translation: X:205.35, Y:150.00, Z:5.91 [[ 9.08845451e-01 -4.16575434e-01 2.15604806e-02 2.05354564e+02] [ 4.16493067e-01 9.09100149e-01 8.39314649e-03 1.49996191e+02] [-2.30970148e-02 1.35171769e-03 9.99732315e-01 5.90890804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.51071405700003 meters Centerline goodness : 0.991373 Centerline is valid? [True, True] Translation: X:205.40, Y:150.01, Z:5.90 [[ 9.12718479e-01 -4.08019590e-01 2.15636787e-02 2.05395406e+02] [ 4.07935021e-01 9.12972457e-01 8.38519521e-03 1.50006994e+02] [-2.31083686e-02 1.14325709e-03 9.99732312e-01 5.90411502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.540714057 meters Centerline goodness : 0.991373 Centerline is valid? [True, True] Translation: X:205.42, Y:150.02, Z:5.90 [[ 9.12509884e-01 -4.08471864e-01 2.18276841e-02 2.05424400e+02] [ 4.08403026e-01 9.12769009e-01 7.72688423e-03 1.50019300e+02] [-2.30798484e-02 1.86363401e-03 9.99731888e-01 5.90365421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.570714057 meters Centerline goodness : 0.991349 Centerline is valid? [True, True] Translation: X:205.45, Y:150.03, Z:5.90 [[ 9.14760094e-01 -4.03407846e-01 2.18192830e-02 2.05450539e+02] [ 4.03337075e-01 9.15018675e-01 7.74782294e-03 1.50032161e+02] [-2.30905840e-02 1.71312654e-03 9.99731909e-01 5.90247115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.600714057 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:205.48, Y:150.04, Z:5.90 [[ 9.16249707e-01 -4.00014964e-01 2.17830791e-02 2.05479276e+02] [ 3.99941091e-01 9.16507331e-01 7.83814392e-03 1.50043589e+02] [-2.30997265e-02 1.53025135e-03 9.99731995e-01 5.90095442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.630714057 meters Centerline goodness : 0.991182 Centerline is valid? [True, True] Translation: X:205.50, Y:150.06, Z:5.90 [[ 9.16281571e-01 -3.99942063e-01 2.17814041e-02 2.05499974e+02] [ 3.99868071e-01 9.16539156e-01 7.84231994e-03 1.50057363e+02] [-2.30999834e-02 1.52391483e-03 9.99731998e-01 5.90087008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.660714057 meters Centerline goodness : 0.992082 Centerline is valid? [True, True] Translation: X:205.54, Y:150.07, Z:5.90 [[ 9.19926766e-01 -3.91493439e-01 2.16247895e-02 2.05541212e+02] [ 3.91407901e-01 9.20180467e-01 8.23180115e-03 1.50067899e+02] [-2.31214051e-02 8.91459268e-04 9.99732267e-01 5.89649777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.690714057 meters Centerline goodness : 0.991473 Centerline is valid? [True, True] Translation: X:205.57, Y:150.08, Z:5.90 [[ 9.21160829e-01 -3.88566007e-01 2.18903044e-02 2.05568723e+02] [ 3.88495276e-01 9.21419619e-01 7.57011284e-03 1.50079657e+02] [-2.31116444e-02 1.53098841e-03 9.99731718e-01 5.89872259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.720714057 meters Centerline goodness : 0.990749 Centerline is valid? [True, True] Translation: X:205.60, Y:150.09, Z:5.90 [[ 9.21965185e-01 -3.86655556e-01 2.18558485e-02 2.05599590e+02] [ 3.86582255e-01 9.22223155e-01 7.65589918e-03 1.50090853e+02] [-2.31161655e-02 1.39061070e-03 9.99731819e-01 5.89733016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.750714057 meters Centerline goodness : 0.992040 Centerline is valid? [True, True] Translation: X:205.63, Y:150.10, Z:5.90 [[ 9.21936728e-01 -3.86721861e-01 2.18831297e-02 2.05630045e+02] [ 3.86650186e-01 9.22195237e-01 7.58803710e-03 1.50102707e+02] [-2.31149778e-02 1.46542607e-03 9.99731739e-01 5.89615754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.780714057 meters Centerline goodness : 0.991329 Centerline is valid? [True, True] Translation: X:205.66, Y:150.11, Z:5.89 [[ 9.22225228e-01 -3.86031941e-01 2.19081980e-02 2.05661573e+02] [ 3.85961551e-01 9.22484170e-01 7.52574131e-03 1.50111303e+02] [-2.31151424e-02 1.51529361e-03 9.99731661e-01 5.89453711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.810714057 meters Centerline goodness : 0.991590 Centerline is valid? [True, True] Translation: X:205.69, Y:150.12, Z:5.89 [[ 9.20342195e-01 -3.90499681e-01 2.19144380e-02 2.05690574e+02] [ 3.90430914e-01 9.20601595e-01 7.51031033e-03 1.50120791e+02] [-2.31072404e-02 1.64401857e-03 9.99731640e-01 5.89248548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.840714057 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:205.72, Y:150.13, Z:5.89 [[ 9.18738664e-01 -3.94258768e-01 2.18927362e-02 2.05716318e+02] [ 3.94189786e-01 9.18997932e-01 7.56392201e-03 1.50128335e+02] [-2.31015218e-02 1.68062538e-03 9.99731712e-01 5.89153248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.870714057 meters Centerline goodness : 0.991922 Centerline is valid? [True, True] Translation: X:205.74, Y:150.14, Z:5.89 [[ 9.15238608e-01 -4.02325482e-01 2.17369737e-02 2.05742723e+02] [ 4.02249746e-01 9.15495514e-01 7.94387936e-03 1.50140690e+02] [-2.30961270e-02 1.47314705e-03 9.99732164e-01 5.89050611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.900714057 meters Centerline goodness : 0.989456 Centerline is valid? [True, True] Translation: X:205.77, Y:150.15, Z:5.89 [[ 9.14796856e-01 -4.03330880e-01 2.17005428e-02 2.05766990e+02] [ 4.03253322e-01 9.15053132e-01 8.03269081e-03 1.50149603e+02] [-2.30969819e-02 1.40253565e-03 9.99732245e-01 5.89095421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.930714057 meters Centerline goodness : 0.990430 Centerline is valid? [True, True] Translation: X:205.80, Y:150.16, Z:5.89 [[ 9.13968514e-01 -4.05209083e-01 2.16137580e-02 2.05801884e+02] [ 4.05127023e-01 9.14223228e-01 8.24533190e-03 1.50157205e+02] [-2.31008830e-02 1.22034371e-03 9.99732394e-01 5.89079908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.960714057 meters Centerline goodness : 0.991245 Centerline is valid? [True, True] Translation: X:205.83, Y:150.17, Z:5.89 [[ 9.12291207e-01 -4.08969096e-01 2.16571730e-02 2.05834634e+02] [ 4.08890583e-01 9.12547114e-01 8.13980310e-03 1.50169170e+02] [-2.30921186e-02 1.42954328e-03 9.99732319e-01 5.89115748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.990714057 meters Centerline goodness : 0.989781 Centerline is valid? [True, True] Translation: X:205.86, Y:150.18, Z:5.89 [[ 9.11863474e-01 -4.09917218e-01 2.17457930e-02 2.05863645e+02] [ 4.09844088e-01 9.12121171e-01 7.92425081e-03 1.50177010e+02] [-2.30830850e-02 1.68654983e-03 9.99732127e-01 5.89466981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.020714057 meters Centerline goodness : 0.989944 Centerline is valid? [True, True] Translation: X:205.89, Y:150.19, Z:5.90 [[ 9.11230301e-01 -4.11323895e-01 2.17253625e-02 2.05894379e+02] [ 4.11249980e-01 9.11487723e-01 7.97398393e-03 1.50187206e+02] [-2.30822914e-02 1.66841913e-03 9.99732176e-01 5.89552029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.050714057 meters Centerline goodness : 0.991342 Centerline is valid? [True, True] Translation: X:205.93, Y:150.20, Z:5.89 [[ 9.09632640e-01 -4.14847953e-01 2.16710874e-02 2.05929069e+02] [ 4.14771928e-01 9.09889314e-01 8.10459845e-03 1.50197083e+02] [-2.30804669e-02 1.61635141e-03 9.99732304e-01 5.89153485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.080714057 meters Centerline goodness : 0.991549 Centerline is valid? [True, True] Translation: X:205.95, Y:150.21, Z:5.89 [[ 9.08224182e-01 -4.17914729e-01 2.18200386e-02 2.05951303e+02] [ 4.17848128e-01 9.08483870e-01 7.74591669e-03 1.50206268e+02] [-2.30602858e-02 2.08243343e-03 9.99731907e-01 5.88882547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.110714057 meters Centerline goodness : 0.991569 Centerline is valid? [True, True] Translation: X:205.98, Y:150.22, Z:5.89 [[ 9.06322772e-01 -4.22029531e-01 2.16819465e-02 2.05977543e+02] [ 4.21956128e-01 9.06580245e-01 8.07992570e-03 1.50218193e+02] [-2.30663917e-02 1.82580954e-03 9.99732268e-01 5.88619801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.140714057 meters Centerline goodness : 0.991915 Centerline is valid? [True, True] Translation: X:206.01, Y:150.23, Z:5.88 [[ 9.05759005e-01 -4.23240793e-01 2.16299883e-02 2.06005615e+02] [ 4.23164742e-01 9.06015601e-01 8.20552575e-03 1.50228719e+02] [-2.30700201e-02 1.72081959e-03 9.99732371e-01 5.88459271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.170714057 meters Centerline goodness : 0.991327 Centerline is valid? [True, True] Translation: X:206.04, Y:150.24, Z:5.88 [[ 9.04295184e-01 -4.26360398e-01 2.16109019e-02 2.06036535e+02] [ 4.26284134e-01 9.04551683e-01 8.25163968e-03 1.50240175e+02] [-2.30663501e-02 1.75046658e-03 9.99732404e-01 5.88313452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.200714057 meters Centerline goodness : 0.990935 Centerline is valid? [True, True] Translation: X:206.07, Y:150.25, Z:5.88 [[ 9.04472144e-01 -4.25984699e-01 2.16142581e-02 2.06069884e+02] [ 4.25908522e-01 9.04728675e-01 8.24353726e-03 1.50251306e+02] [-2.30666598e-02 1.74964691e-03 9.99732398e-01 5.88014339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.230714057 meters Centerline goodness : 0.991260 Centerline is valid? [True, True] Translation: X:206.10, Y:150.26, Z:5.88 [[ 9.02869948e-01 -4.29366798e-01 2.16797234e-02 2.06099149e+02] [ 4.29295349e-01 9.03127968e-01 8.08563729e-03 1.50264475e+02] [-2.30512688e-02 2.00672552e-03 9.99732270e-01 5.87724731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.26071405700003 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:206.13, Y:150.28, Z:5.87 [[ 9.02692938e-01 -4.29738820e-01 2.16796195e-02 2.06125745e+02] [ 4.29667471e-01 9.02950986e-01 8.08588802e-03 1.50275984e+02] [-2.30504538e-02 2.01595328e-03 9.99732270e-01 5.87340385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.290714057 meters Centerline goodness : 0.992914 Centerline is valid? [True, True] Translation: X:206.14, Y:150.30, Z:5.88 [[ 8.96828094e-01 -4.41851297e-01 2.16055652e-02 2.06135692e+02] [ 4.41779158e-01 8.97085771e-01 8.26413584e-03 1.50297454e+02] [-2.30335643e-02 2.13337921e-03 9.99732416e-01 5.87517363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.320714057 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:206.18, Y:150.30, Z:5.87 [[ 9.01854484e-01 -4.31516012e-01 2.12701892e-02 2.06182405e+02] [ 4.31421867e-01 9.02104725e-01 9.06847533e-03 1.50302452e+02] [-2.31011305e-02 9.97979599e-04 9.99732635e-01 5.87464301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.350714057 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:206.21, Y:150.32, Z:5.87 [[ 9.01610935e-01 -4.32006616e-01 2.16334591e-02 2.06209146e+02] [ 4.31933238e-01 9.01868322e-01 8.19802964e-03 1.50316059e+02] [-2.30521345e-02 1.95277687e-03 9.99732357e-01 5.87459795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.380714057 meters Centerline goodness : 0.990374 Centerline is valid? [True, True] Translation: X:206.24, Y:150.33, Z:5.88 [[ 9.01712381e-01 -4.31796475e-01 2.16006214e-02 2.06239756e+02] [ 4.31721161e-01 9.01969144e-01 8.27664640e-03 1.50330215e+02] [-2.30569208e-02 1.86229083e-03 9.99732419e-01 5.87593236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.410714057 meters Centerline goodness : 0.990693 Centerline is valid? [True, True] Translation: X:206.27, Y:150.34, Z:5.88 [[ 9.01641634e-01 -4.31940919e-01 2.16657822e-02 2.06268003e+02] [ 4.31869372e-01 9.01899607e-01 8.12056169e-03 1.50343294e+02] [-2.30479634e-02 2.03495126e-03 9.99732289e-01 5.87593889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.440714057 meters Centerline goodness : 0.989713 Centerline is valid? [True, True] Translation: X:206.30, Y:150.36, Z:5.87 [[ 9.00084448e-01 -4.35178209e-01 2.16312890e-02 2.06297463e+02] [ 4.35105619e-01 9.00342053e-01 8.20295642e-03 1.50357372e+02] [-2.30453071e-02 2.02854191e-03 9.99732364e-01 5.87315054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.470714057 meters Centerline goodness : 0.989700 Centerline is valid? [True, True] Translation: X:206.32, Y:150.37, Z:5.87 [[ 8.98680416e-01 -4.38069365e-01 2.16504298e-02 2.06322578e+02] [ 4.37998699e-01 8.98938596e-01 8.15723097e-03 1.50370385e+02] [-2.30358399e-02 2.15211634e-03 9.99732323e-01 5.87137956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.500714057 meters Centerline goodness : 0.989820 Centerline is valid? [True, True] Translation: X:206.35, Y:150.38, Z:5.87 [[ 8.96277089e-01 -4.42970193e-01 2.15589358e-02 2.06352664e+02] [ 4.42895721e-01 8.96534014e-01 8.37506525e-03 1.50383230e+02] [-2.30382236e-02 2.04198134e-03 9.99732500e-01 5.86938423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.530714057 meters Centerline goodness : 0.990059 Centerline is valid? [True, True] Translation: X:206.38, Y:150.40, Z:5.87 [[ 8.95390618e-01 -4.44758276e-01 2.15805010e-02 2.06378084e+02] [ 4.44685546e-01 8.95648079e-01 8.32372493e-03 1.50396062e+02] [-2.30305798e-02 2.14355166e-03 9.99732463e-01 5.86900934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.560714057 meters Centerline goodness : 0.989644 Centerline is valid? [True, True] Translation: X:206.41, Y:150.41, Z:5.87 [[ 8.94710423e-01 -4.46127870e-01 2.15216687e-02 2.06406550e+02] [ 4.46052183e-01 8.94966935e-01 8.46379570e-03 1.50410049e+02] [-2.30371170e-02 2.02714108e-03 9.99732555e-01 5.86752163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.590714057 meters Centerline goodness : 0.989417 Centerline is valid? [True, True] Translation: X:206.44, Y:150.42, Z:5.87 [[ 8.94765400e-01 -4.46018155e-01 2.15101147e-02 2.06435995e+02] [ 4.45941780e-01 8.95021691e-01 8.49126111e-03 1.50424260e+02] [-2.30392758e-02 1.99457217e-03 9.99732571e-01 5.86626335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.620714057 meters Centerline goodness : 0.990152 Centerline is valid? [True, True] Translation: X:206.46, Y:150.44, Z:5.86 [[ 8.95950857e-01 -4.43631227e-01 2.15266659e-02 2.06463850e+02] [ 4.43555108e-01 8.96207248e-01 8.45190708e-03 1.50439329e+02] [-2.30418839e-02 1.97576923e-03 9.99732548e-01 5.86432650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.650714057 meters Centerline goodness : 0.989996 Centerline is valid? [True, True] Translation: X:206.49, Y:150.45, Z:5.86 [[ 8.96316246e-01 -4.42893446e-01 2.15077472e-02 2.06493263e+02] [ 4.42816045e-01 8.96572225e-01 8.49684768e-03 1.50453736e+02] [-2.30464469e-02 1.90811292e-03 9.99732574e-01 5.86317056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.680714057 meters Centerline goodness : 0.989902 Centerline is valid? [True, True] Translation: X:206.52, Y:150.47, Z:5.86 [[ 8.98472619e-01 -4.38501771e-01 2.15209281e-02 2.06521599e+02] [ 4.38423863e-01 8.98728463e-01 8.46553656e-03 1.50467879e+02] [-2.30536234e-02 1.82923562e-03 9.99732556e-01 5.86214487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.710714057 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:206.56, Y:150.48, Z:5.86 [[ 8.99343189e-01 -4.36713157e-01 2.15278131e-02 2.06555432e+02] [ 4.36635129e-01 8.99599008e-01 8.44922547e-03 1.50484579e+02] [-2.30562872e-02 1.80104605e-03 9.99732546e-01 5.86236902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.740714057 meters Centerline goodness : 0.990689 Centerline is valid? [True, True] Translation: X:206.58, Y:150.50, Z:5.86 [[ 8.98924081e-01 -4.37567061e-01 2.16924584e-02 2.06583368e+02] [ 4.37498601e-01 8.99182975e-01 8.05919004e-03 1.50499153e+02] [-2.30319254e-02 2.24582020e-03 9.99732207e-01 5.86297527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.770714057 meters Centerline goodness : 0.990955 Centerline is valid? [True, True] Translation: X:206.61, Y:150.51, Z:5.86 [[ 8.97240489e-01 -4.41010432e-01 2.16634379e-02 2.06610765e+02] [ 4.40941322e-01 8.97499132e-01 8.12764168e-03 1.50514414e+02] [-2.30272914e-02 2.25985573e-03 9.99732283e-01 5.86282535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.800714057 meters Centerline goodness : 0.991060 Centerline is valid? [True, True] Translation: X:206.64, Y:150.53, Z:5.86 [[ 8.96500831e-01 -4.42511975e-01 2.16659418e-02 2.06638033e+02] [ 4.42443440e-01 8.96759633e-01 8.12173724e-03 1.50526999e+02] [-2.30231080e-02 2.30480963e-03 9.99732276e-01 5.86167589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.830714057 meters Centerline goodness : 0.990856 Centerline is valid? [True, True] Translation: X:206.67, Y:150.54, Z:5.86 [[ 8.94058418e-01 -4.47427077e-01 2.16461375e-02 2.06665455e+02] [ 4.47358842e-01 8.94317250e-01 8.16840366e-03 1.50541094e+02] [-2.30132792e-02 2.38056097e-03 9.99732325e-01 5.85940203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.860714057 meters Centerline goodness : 0.991076 Centerline is valid? [True, True] Translation: X:206.69, Y:150.55, Z:5.86 [[ 8.92360620e-01 -4.50804609e-01 2.16270265e-02 2.06692322e+02] [ 4.50736271e-01 8.92619378e-01 8.21336937e-03 1.50554783e+02] [-2.30073277e-02 2.41879792e-03 9.99732370e-01 5.85764819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.890714057 meters Centerline goodness : 0.990857 Centerline is valid? [True, True] Translation: X:206.72, Y:150.57, Z:5.85 [[ 8.89850319e-01 -4.55740962e-01 2.16005909e-02 2.06716796e+02] [ 4.55672563e-01 8.90109000e-01 8.27552638e-03 1.50567593e+02] [-2.29983767e-02 2.47881684e-03 9.99732429e-01 5.85412602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.920714057 meters Centerline goodness : 0.990865 Centerline is valid? [True, True] Translation: X:206.74, Y:150.58, Z:5.85 [[ 8.88437594e-01 -4.58491958e-01 2.15352096e-02 2.06743185e+02] [ 4.58420664e-01 8.88695361e-01 8.42918814e-03 1.50581673e+02] [-2.30029559e-02 2.38337746e-03 9.99732556e-01 5.85043491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.950714057 meters Centerline goodness : 0.991728 Centerline is valid? [True, True] Translation: X:206.77, Y:150.60, Z:5.85 [[ 8.88489113e-01 -4.58393557e-01 2.15044912e-02 2.06772312e+02] [ 4.58320502e-01 8.88746333e-01 8.50131650e-03 1.50595249e+02] [-2.30089865e-02 2.30262207e-03 9.99732606e-01 5.84836665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.980714057 meters Centerline goodness : 0.991150 Centerline is valid? [True, True] Translation: X:206.80, Y:150.61, Z:5.85 [[ 8.89112329e-01 -4.57183044e-01 2.15158246e-02 2.06799568e+02] [ 4.57110278e-01 8.89369649e-01 8.47470915e-03 1.50611424e+02] [-2.30100147e-02 2.30013618e-03 9.99732589e-01 5.84765357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.01071405700003 meters Centerline goodness : 0.990902 Centerline is valid? [True, True] Translation: X:206.83, Y:150.63, Z:5.85 [[ 8.89457618e-01 -4.56512618e-01 2.14796534e-02 2.06827624e+02] [ 4.56437623e-01 8.89714241e-01 8.55952691e-03 1.50625887e+02] [-2.30182856e-02 2.19078554e-03 9.99732644e-01 5.84765700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.040714057 meters Centerline goodness : 0.990978 Centerline is valid? [True, True] Translation: X:206.86, Y:150.64, Z:5.85 [[ 8.91190242e-01 -4.53121656e-01 2.14643361e-02 2.06855298e+02] [ 4.53044826e-01 8.91446299e-01 8.59542704e-03 1.50641078e+02] [-2.30290771e-02 2.06414569e-03 9.99732665e-01 5.84842208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.070714057 meters Centerline goodness : 0.990034 Centerline is valid? [True, True] Translation: X:206.88, Y:150.66, Z:5.85 [[ 8.91647842e-01 -4.52220754e-01 2.14596303e-02 2.06881725e+02] [ 4.52143402e-01 8.91903735e-01 8.60645322e-03 1.50655991e+02] [-2.30319412e-02 2.02890480e-03 9.99732671e-01 5.84880561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.100714057 meters Centerline goodness : 0.990007 Centerline is valid? [True, True] Translation: X:206.91, Y:150.67, Z:5.85 [[ 8.92360509e-01 -4.50815238e-01 2.14089410e-02 2.06909518e+02] [ 4.50734649e-01 8.92615341e-01 8.72516949e-03 1.50670285e+02] [-2.30433886e-02 1.86375483e-03 9.99732729e-01 5.84866498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.130714057 meters Centerline goodness : 0.990191 Centerline is valid? [True, True] Translation: X:206.94, Y:150.69, Z:5.85 [[ 8.93598059e-01 -4.48357291e-01 2.14067453e-02 2.06937565e+02] [ 4.48275879e-01 8.93852627e-01 8.73030965e-03 1.50687129e+02] [-2.30487735e-02 1.79473980e-03 9.99732731e-01 5.85040811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.160714057 meters Centerline goodness : 0.990078 Centerline is valid? [True, True] Translation: X:206.97, Y:150.70, Z:5.85 [[ 8.93579337e-01 -4.48396493e-01 2.13671096e-02 2.06969827e+02] [ 4.48312891e-01 8.93833156e-01 8.82274635e-03 1.50702979e+02] [-2.30547195e-02 1.69532684e-03 9.99732767e-01 5.84918108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.190714057 meters Centerline goodness : 0.989503 Centerline is valid? [True, True] Translation: X:207.00, Y:150.72, Z:5.85 [[ 8.93061895e-01 -4.49421983e-01 2.14553868e-02 2.06997235e+02] [ 4.49343584e-01 8.93317466e-01 8.61669788e-03 1.50716588e+02] [-2.30390052e-02 1.94559585e-03 9.99732674e-01 5.84888715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.220714057 meters Centerline goodness : 0.989785 Centerline is valid? [True, True] Translation: X:207.02, Y:150.73, Z:5.85 [[ 8.91925655e-01 -4.51674221e-01 2.14248361e-02 2.07023597e+02] [ 4.51594763e-01 8.92180860e-01 8.68807242e-03 1.50729676e+02] [-2.30390071e-02 1.92622910e-03 9.99732711e-01 5.84854458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.250714057 meters Centerline goodness : 0.989125 Centerline is valid? [True, True] Translation: X:207.05, Y:150.74, Z:5.85 [[ 8.91723612e-01 -4.52074902e-01 2.13841819e-02 2.07052616e+02] [ 4.51993292e-01 8.91978095e-01 8.78308894e-03 1.50742357e+02] [-2.30448359e-02 1.83341897e-03 9.99732751e-01 5.84757967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.280714057 meters Centerline goodness : 0.989537 Centerline is valid? [True, True] Translation: X:207.08, Y:150.76, Z:5.84 [[ 8.90076424e-01 -4.55310914e-01 2.13525563e-02 2.07082399e+02] [ 4.55228469e-01 8.90330611e-01 8.85686910e-03 1.50755845e+02] [-2.30434637e-02 1.83700114e-03 9.99732776e-01 5.84447353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.310714057 meters Centerline goodness : 0.988751 Centerline is valid? [True, True] Translation: X:207.11, Y:150.77, Z:5.84 [[ 8.89605050e-01 -4.56230793e-01 2.13616373e-02 2.07113649e+02] [ 4.56149116e-01 8.89859492e-01 8.83568254e-03 1.50768858e+02] [-2.30399662e-02 1.88382418e-03 9.99732770e-01 5.84158667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.340714057 meters Centerline goodness : 0.990462 Centerline is valid? [True, True] Translation: X:207.14, Y:150.78, Z:5.84 [[ 8.89662703e-01 -4.56116836e-01 2.13940896e-02 2.07143921e+02] [ 4.56036935e-01 8.89917737e-01 8.75993313e-03 1.50781647e+02] [-2.30345328e-02 1.96310925e-03 9.99732743e-01 5.84033899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.370714057 meters Centerline goodness : 0.989529 Centerline is valid? [True, True] Translation: X:207.17, Y:150.80, Z:5.84 [[ 8.89681867e-01 -4.56079323e-01 2.13968999e-02 2.07173753e+02] [ 4.55999568e-01 8.89936949e-01 8.75337347e-03 1.50795464e+02] [-2.30341244e-02 1.96925943e-03 9.99732740e-01 5.83871420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.400714057 meters Centerline goodness : 0.990130 Centerline is valid? [True, True] Translation: X:207.20, Y:150.81, Z:5.84 [[ 8.89164806e-01 -4.57086024e-01 2.14082792e-02 2.07202175e+02] [ 4.57007192e-01 8.89420187e-01 8.72680869e-03 1.50808750e+02] [-2.30298580e-02 2.02416639e-03 9.99732728e-01 5.83719732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.430714057 meters Centerline goodness : 0.990130 Centerline is valid? [True, True] Translation: X:207.23, Y:150.82, Z:5.84 [[ 8.89140613e-01 -4.57133156e-01 2.14067320e-02 2.07231987e+02] [ 4.57054251e-01 8.89395970e-01 8.73042030e-03 1.50821662e+02] [-2.30300257e-02 2.02146659e-03 9.99732730e-01 5.83644462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.460714057 meters Centerline goodness : 0.989146 Centerline is valid? [True, True] Translation: X:207.26, Y:150.83, Z:5.83 [[ 8.89368575e-01 -4.56689849e-01 2.13990734e-02 2.07261167e+02] [ 4.56610390e-01 8.89623751e-01 8.74827435e-03 1.50834415e+02] [-2.30323721e-02 1.99059897e-03 9.99732738e-01 5.83464528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.490714057 meters Centerline goodness : 0.989890 Centerline is valid? [True, True] Translation: X:207.29, Y:150.85, Z:5.83 [[ 8.89127821e-01 -4.57158890e-01 2.13885002e-02 2.07290149e+02] [ 4.57078977e-01 8.89382845e-01 8.77292246e-03 1.50847875e+02] [-2.30331846e-02 1.97598436e-03 9.99732748e-01 5.83414968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.520714057 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:207.32, Y:150.86, Z:5.83 [[ 8.89343605e-01 -4.56739570e-01 2.13756151e-02 2.07321503e+02] [ 4.56658820e-01 8.89598353e-01 8.80292742e-03 1.50860807e+02] [-2.30363573e-02 1.93253597e-03 9.99732760e-01 5.83240754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.550714057 meters Centerline goodness : 0.989300 Centerline is valid? [True, True] Translation: X:207.35, Y:150.87, Z:5.83 [[ 8.90233353e-01 -4.55001107e-01 2.14142338e-02 2.07349990e+02] [ 4.54922007e-01 8.90488659e-01 8.71296941e-03 1.50873132e+02] [-2.30335431e-02 1.98523025e-03 9.99732722e-01 5.83285191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.580714057 meters Centerline goodness : 0.989634 Centerline is valid? [True, True] Translation: X:207.38, Y:150.89, Z:5.83 [[ 8.91078817e-01 -4.53343359e-01 2.14088968e-02 2.07379293e+02] [ 4.53263487e-01 8.91333876e-01 8.72541597e-03 1.50887723e+02] [-2.30380844e-02 1.92883789e-03 9.99732727e-01 5.83241459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.610714057 meters Centerline goodness : 0.989194 Centerline is valid? [True, True] Translation: X:207.41, Y:150.90, Z:5.83 [[ 8.91923884e-01 -4.51677742e-01 2.14243196e-02 2.07408026e+02] [ 4.51598253e-01 8.92179081e-01 8.68943230e-03 1.50901036e+02] [-2.30391529e-02 1.92487309e-03 9.99732710e-01 5.83156831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.640714057 meters Centerline goodness : 0.989536 Centerline is valid? [True, True] Translation: X:207.44, Y:150.92, Z:5.83 [[ 8.93128997e-01 -4.49290191e-01 2.14223774e-02 2.07437317e+02] [ 4.49209911e-01 8.93383944e-01 8.69396307e-03 1.50915273e+02] [-2.30445203e-02 1.85831372e-03 9.99732713e-01 5.83191476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.670714057 meters Centerline goodness : 0.988533 Centerline is valid? [True, True] Translation: X:207.47, Y:150.93, Z:5.83 [[ 8.93555715e-01 -4.48440438e-01 2.14326168e-02 2.07465712e+02] [ 4.48360485e-01 8.93810777e-01 8.67008054e-03 1.50928461e+02] [-2.30447186e-02 1.86233845e-03 9.99732701e-01 5.83087169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.700714057 meters Centerline goodness : 0.989519 Centerline is valid? [True, True] Translation: X:207.50, Y:150.94, Z:5.83 [[ 8.94037942e-01 -4.47480229e-01 2.13916748e-02 2.07497533e+02] [ 4.47397733e-01 8.94292144e-01 8.76531835e-03 1.50942375e+02] [-2.30527133e-02 1.73405961e-03 9.99732747e-01 5.82913124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.730714057 meters Centerline goodness : 0.988704 Centerline is valid? [True, True] Translation: X:207.52, Y:150.95, Z:5.83 [[ 8.93954877e-01 -4.47643411e-01 2.14488638e-02 2.07523628e+02] [ 4.47564133e-01 8.94210172e-01 8.63224720e-03 1.50954937e+02] [-2.30439608e-02 1.88290265e-03 9.99732680e-01 5.82928492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.76071405700003 meters Centerline goodness : 0.989595 Centerline is valid? [True, True] Translation: X:207.55, Y:150.97, Z:5.83 [[ 8.92908291e-01 -4.49730554e-01 2.13825556e-02 2.07553723e+02] [ 4.49648199e-01 8.93162527e-01 8.78627630e-03 1.50968964e+02] [-2.30495543e-02 1.76928865e-03 9.99732758e-01 5.82529248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.790714057 meters Centerline goodness : 0.989546 Centerline is valid? [True, True] Translation: X:207.58, Y:150.98, Z:5.83 [[ 8.92928865e-01 -4.49689169e-01 2.13937427e-02 2.07581784e+02] [ 4.49607422e-01 8.93183309e-01 8.76028217e-03 1.50981450e+02] [-2.30479379e-02 1.79647666e-03 9.99732747e-01 5.82538095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.820714057 meters Centerline goodness : 0.989298 Centerline is valid? [True, True] Translation: X:207.61, Y:150.99, Z:5.83 [[ 8.92713837e-01 -4.50116455e-01 2.13818373e-02 2.07607712e+02] [ 4.50034170e-01 8.92968095e-01 8.78795948e-03 1.50994268e+02] [-2.30489037e-02 1.77742437e-03 9.99732759e-01 5.82794517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.850714057 meters Centerline goodness : 0.988357 Centerline is valid? [True, True] Translation: X:207.64, Y:151.01, Z:5.83 [[ 8.91720431e-01 -4.52083961e-01 2.13252323e-02 2.07637094e+02] [ 4.51999110e-01 8.91973795e-01 8.91927885e-03 1.51008418e+02] [-2.30538113e-02 1.68548285e-03 9.99732805e-01 5.82956724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.880714057 meters Centerline goodness : 0.988130 Centerline is valid? [True, True] Translation: X:207.66, Y:151.02, Z:5.83 [[ 8.90411807e-01 -4.54655673e-01 2.13315108e-02 2.07660018e+02] [ 4.54571901e-01 8.90665534e-01 8.90465205e-03 1.51022797e+02] [-2.30477920e-02 1.76789811e-03 9.99732801e-01 5.82727575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.910714057 meters Centerline goodness : 0.988128 Centerline is valid? [True, True] Translation: X:207.69, Y:151.04, Z:5.82 [[ 8.90451348e-01 -4.54585412e-01 2.11778179e-02 2.07690210e+02] [ 4.54493117e-01 8.90702086e-01 9.26282277e-03 1.51036509e+02] [-2.30738707e-02 1.37707944e-03 9.99732814e-01 5.82285725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.940714057 meters Centerline goodness : 0.987722 Centerline is valid? [True, True] Translation: X:207.72, Y:151.05, Z:5.82 [[ 8.91093298e-01 -4.53325205e-01 2.11894639e-02 2.07718549e+02] [ 4.53233197e-01 8.91344137e-01 9.23566281e-03 1.51048810e+02] [-2.30738631e-02 1.37393123e-03 9.99732819e-01 5.82176506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.970714057 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:207.75, Y:151.07, Z:5.82 [[ 8.89763811e-01 -4.55929942e-01 2.11719024e-02 2.07749594e+02] [ 4.55837699e-01 8.90014571e-01 9.27662056e-03 1.51066206e+02] [-2.30727907e-02 1.39695000e-03 9.99732812e-01 5.81992624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.000714057 meters Centerline goodness : 0.980106 Centerline is valid? [True, True] Translation: X:207.77, Y:151.08, Z:5.82 [[ 8.90182976e-01 -4.55107418e-01 2.12487082e-02 2.07770908e+02] [ 4.55019196e-01 8.90435159e-01 9.09722353e-03 1.51076681e+02] [-2.30608108e-02 1.57037661e-03 9.99732831e-01 5.82221740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.030714057 meters Centerline goodness : 0.987799 Centerline is valid? [True, True] Translation: X:207.81, Y:151.09, Z:5.82 [[ 8.91917497e-01 -4.51707394e-01 2.10620319e-02 2.07805049e+02] [ 4.51607901e-01 8.92165575e-01 9.53367519e-03 1.51086361e+02] [-2.30972514e-02 1.00852831e-03 9.99732714e-01 5.82148907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0607140569999 meters Centerline goodness : 0.988213 Centerline is valid? [True, True] Translation: X:207.83, Y:151.10, Z:5.82 [[ 8.91876166e-01 -4.51781890e-01 2.12138503e-02 2.07833983e+02] [ 4.51690831e-01 8.92127329e-01 9.17722096e-03 1.51098420e+02] [-2.30715579e-02 1.39715703e-03 9.99732840e-01 5.81857429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0907140569999 meters Centerline goodness : 0.988703 Centerline is valid? [True, True] Translation: X:207.86, Y:151.11, Z:5.82 [[ 8.91817793e-01 -4.51897243e-01 2.12110013e-02 2.07862620e+02] [ 4.51806058e-01 8.92068911e-01 9.18391351e-03 1.51109401e+02] [-2.30718600e-02 1.39288138e-03 9.99732839e-01 5.81571240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.120714057 meters Centerline goodness : 0.987232 Centerline is valid? [True, True] Translation: X:207.89, Y:151.12, Z:5.82 [[ 8.90889956e-01 -4.53724027e-01 2.12036137e-02 2.07893491e+02] [ 4.53632946e-01 8.91141115e-01 9.20129117e-03 1.51122872e+02] [-2.30702588e-02 1.42131984e-03 9.99732836e-01 5.81888803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.150714057 meters Centerline goodness : 0.987890 Centerline is valid? [True, True] Translation: X:207.92, Y:151.13, Z:5.82 [[ 8.91178701e-01 -4.53155403e-01 2.12297682e-02 2.07923398e+02] [ 4.53065620e-01 8.91430317e-01 9.13970124e-03 1.51134770e+02] [-2.30665640e-02 1.47337104e-03 9.99732846e-01 5.81914976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1807140569999 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:207.95, Y:151.15, Z:5.82 [[ 8.89540808e-01 -4.56361993e-01 2.12339757e-02 2.07952293e+02] [ 4.56273352e-01 8.89792827e-01 9.12978809e-03 1.51149290e+02] [-2.30603276e-02 1.56717821e-03 9.99732847e-01 5.81645378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2107140569999 meters Centerline goodness : 0.989519 Centerline is valid? [True, True] Translation: X:207.99, Y:151.16, Z:5.82 [[ 8.93498012e-01 -4.48562711e-01 2.12790092e-02 2.07992971e+02] [ 4.48474383e-01 8.93750134e-01 9.02359270e-03 1.51155888e+02] [-2.30657645e-02 1.48052838e-03 9.99732854e-01 5.82022739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.240714057 meters Centerline goodness : 0.990805 Centerline is valid? [True, True] Translation: X:208.03, Y:151.17, Z:5.82 [[ 8.90879650e-01 -4.53731525e-01 2.14744837e-02 2.08026276e+02] [ 4.53655653e-01 8.91135924e-01 8.56236068e-03 1.51170471e+02] [-2.30216968e-02 2.11398805e-03 9.99732731e-01 5.81737927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.270714057 meters Centerline goodness : 0.990416 Centerline is valid? [True, True] Translation: X:208.05, Y:151.18, Z:5.82 [[ 8.91114529e-01 -4.53266003e-01 2.15598515e-02 2.08051437e+02] [ 4.53194819e-01 8.91372284e-01 8.36110085e-03 1.51181826e+02] [-2.30076568e-02 2.32011455e-03 9.99732597e-01 5.81909697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3007140569999 meters Centerline goodness : 0.990142 Centerline is valid? [True, True] Translation: X:208.08, Y:151.19, Z:5.82 [[ 8.90235855e-01 -4.54994450e-01 2.14516544e-02 2.08080084e+02] [ 4.54917659e-01 8.90491824e-01 8.61598654e-03 1.51194206e+02] [-2.30227489e-02 2.08847627e-03 9.99732760e-01 5.81708466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3307140569999 meters Centerline goodness : 0.989491 Centerline is valid? [True, True] Translation: X:208.11, Y:151.21, Z:5.82 [[ 8.88977163e-01 -4.57449574e-01 2.14357653e-02 2.08110026e+02] [ 4.57372595e-01 8.89233057e-01 8.65331974e-03 1.51207311e+02] [-2.30198485e-02 2.11152797e-03 9.99732778e-01 5.81659697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.360714057 meters Centerline goodness : 0.989862 Centerline is valid? [True, True] Translation: X:208.14, Y:151.22, Z:5.82 [[ 8.88500625e-01 -4.58373515e-01 2.14559892e-02 2.08138411e+02] [ 4.58297941e-01 8.88756962e-01 8.60578948e-03 1.51219802e+02] [-2.30138258e-02 2.18698633e-03 9.99732755e-01 5.81598400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.390714057 meters Centerline goodness : 0.990162 Centerline is valid? [True, True] Translation: X:208.17, Y:151.23, Z:5.81 [[ 8.87899389e-01 -4.59539077e-01 2.14128930e-02 2.08168357e+02] [ 4.59461416e-01 8.88155051e-01 8.70703530e-03 1.51233006e+02] [-2.30191920e-02 2.10742679e-03 9.99732802e-01 5.81497164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4207140569999 meters Centerline goodness : 0.990152 Centerline is valid? [True, True] Translation: X:208.20, Y:151.25, Z:5.81 [[ 8.88441012e-01 -4.58490121e-01 2.14331016e-02 2.08196048e+02] [ 4.58413293e-01 8.88696948e-01 8.65953883e-03 1.51245380e+02] [-2.30178450e-02 2.13172926e-03 9.99732782e-01 5.81395962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4507140569999 meters Centerline goodness : 0.989524 Centerline is valid? [True, True] Translation: X:208.23, Y:151.26, Z:5.81 [[ 8.88720534e-01 -4.57949174e-01 2.14095014e-02 2.08226284e+02] [ 4.57870863e-01 8.88975996e-01 8.71504769e-03 1.51258740e+02] [-2.30235817e-02 2.05754504e-03 9.99732805e-01 5.81355375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.480714057 meters Centerline goodness : 0.990309 Centerline is valid? [True, True] Translation: X:208.26, Y:151.27, Z:5.81 [[ 8.89085982e-01 -4.57238658e-01 2.14225753e-02 2.08255963e+02] [ 4.57160877e-01 8.89341619e-01 8.68436917e-03 1.51272475e+02] [-2.30228171e-02 2.07241244e-03 9.99732792e-01 5.81432731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.510714057 meters Centerline goodness : 0.990647 Centerline is valid? [True, True] Translation: X:208.28, Y:151.29, Z:5.81 [[ 8.89965665e-01 -4.55523688e-01 2.14309220e-02 2.08283901e+02] [ 4.55445882e-01 8.90221304e-01 8.66477928e-03 1.51286198e+02] [-2.30252755e-02 2.04926908e-03 9.99732783e-01 5.81378260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.540714057 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:208.31, Y:151.30, Z:5.81 [[ 8.90705366e-01 -4.54075825e-01 2.14265161e-02 2.08313992e+02] [ 4.53997357e-01 8.90960797e-01 8.67512288e-03 1.51300031e+02] [-2.30293494e-02 2.00060316e-03 9.99732788e-01 5.81271294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5707140569999 meters Centerline goodness : 0.991809 Centerline is valid? [True, True] Translation: X:208.34, Y:151.31, Z:5.81 [[ 8.92133869e-01 -4.51263158e-01 2.14177940e-02 2.08344646e+02] [ 4.51183396e-01 8.92388890e-01 8.69554061e-03 1.51313650e+02] [-2.30369785e-02 1.90576675e-03 9.99732797e-01 5.81141054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6007140569999 meters Centerline goodness : 0.991539 Centerline is valid? [True, True] Translation: X:208.37, Y:151.33, Z:5.81 [[ 8.92078994e-01 -4.51369265e-01 2.14675196e-02 2.08372541e+02] [ 4.51292310e-01 8.92334941e-01 8.57930188e-03 1.51327877e+02] [-2.30286510e-02 2.03471152e-03 9.99732735e-01 5.81103406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.630714057 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:208.39, Y:151.35, Z:5.81 [[ 8.89952539e-01 -4.55548338e-01 2.14520499e-02 2.08388624e+02] [ 4.55471719e-01 8.90208564e-01 8.61545831e-03 1.51346260e+02] [-2.30215563e-02 2.10345307e-03 9.99732756e-01 5.80618321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.660714057 meters Centerline goodness : 0.991945 Centerline is valid? [True, True] Translation: X:208.42, Y:151.36, Z:5.81 [[ 8.90691665e-01 -4.54111392e-01 2.12415118e-02 2.08416484e+02] [ 4.54022661e-01 8.90943597e-01 9.10655771e-03 1.51359278e+02] [-2.30603805e-02 1.53299266e-03 9.99732899e-01 5.80830149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6907140569999 meters Centerline goodness : 0.990984 Centerline is valid? [True, True] Translation: X:208.46, Y:151.37, Z:5.80 [[ 8.95952567e-01 -4.43642511e-01 2.12207525e-02 2.08455850e+02] [ 4.43549690e-01 8.96203023e-01 9.15498872e-03 1.51368367e+02] [-2.30796447e-02 1.21002257e-03 9.99732897e-01 5.80423433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7207140569999 meters Centerline goodness : 0.991331 Centerline is valid? [True, True] Translation: X:208.49, Y:151.38, Z:5.80 [[ 8.98034941e-01 -4.39402395e-01 2.14191391e-02 2.08485504e+02] [ 4.39319369e-01 8.98288906e-01 8.69095783e-03 1.51384094e+02] [-2.30594028e-02 1.60505888e-03 9.99732808e-01 5.80442549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.750714057 meters Centerline goodness : 0.990976 Centerline is valid? [True, True] Translation: X:208.51, Y:151.40, Z:5.80 [[ 8.99453089e-01 -4.36490492e-01 2.14520570e-02 2.08513883e+02] [ 4.36408472e-01 8.99707422e-01 8.61392972e-03 1.51398452e+02] [-2.30604734e-02 1.61403374e-03 9.99732769e-01 5.80416345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.780714057 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:208.54, Y:151.41, Z:5.81 [[ 9.02452957e-01 -4.30253475e-01 2.14617795e-02 2.08543387e+02] [ 4.30170235e-01 9.02706907e-01 8.59123000e-03 1.51413470e+02] [-2.30701031e-02 1.47903779e-03 9.99732756e-01 5.80721816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8107140569999 meters Centerline goodness : 0.990636 Centerline is valid? [True, True] Translation: X:208.57, Y:151.43, Z:5.81 [[ 9.04683534e-01 -4.25542572e-01 2.14760822e-02 2.08573436e+02] [ 4.25458800e-01 9.04937331e-01 8.55783320e-03 1.51426324e+02] [-2.30762309e-02 1.39505738e-03 9.99732735e-01 5.80800103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8407140569999 meters Centerline goodness : 0.989936 Centerline is valid? [True, True] Translation: X:208.60, Y:151.44, Z:5.81 [[ 9.06035850e-01 -4.22655046e-01 2.14884032e-02 2.08602212e+02] [ 4.22571146e-01 9.06289624e-01 8.52902597e-03 1.51439738e+02] [-2.30795527e-02 1.35277588e-03 9.99732716e-01 5.80829684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.870714057 meters Centerline goodness : 0.989761 Centerline is valid? [True, True] Translation: X:208.63, Y:151.45, Z:5.81 [[ 9.08177883e-01 -4.18033888e-01 2.14616298e-02 2.08631697e+02] [ 4.17947222e-01 9.08430683e-01 8.59145331e-03 1.51453467e+02] [-2.30879217e-02 1.16726069e-03 9.99732757e-01 5.80726609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.900714057 meters Centerline goodness : 0.989020 Centerline is valid? [True, True] Translation: X:208.66, Y:151.47, Z:5.81 [[ 9.09891756e-01 -4.14289430e-01 2.14769861e-02 2.08662627e+02] [ 4.14202567e-01 9.10144513e-01 8.55568253e-03 1.51465696e+02] [-2.30916899e-02 1.11107778e-03 9.99732734e-01 5.80606704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9307140569999 meters Centerline goodness : 0.988115 Centerline is valid? [True, True] Translation: X:208.69, Y:151.48, Z:5.80 [[ 9.10712466e-01 -4.12481959e-01 2.14811145e-02 2.08692964e+02] [ 4.12394821e-01 9.10965135e-01 8.54606449e-03 1.51477555e+02] [-2.30936438e-02 1.07569292e-03 9.99732728e-01 5.80309648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9607140569999 meters Centerline goodness : 0.987627 Centerline is valid? [True, True] Translation: X:208.72, Y:151.49, Z:5.80 [[ 9.11677045e-01 -4.10344140e-01 2.15093442e-02 2.08723834e+02] [ 4.10257961e-01 9.11930091e-01 8.48019179e-03 1.51488155e+02] [-2.30948152e-02 1.09318350e-03 9.99732682e-01 5.80170627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.990714057 meters Centerline goodness : 0.988043 Centerline is valid? [True, True] Translation: X:208.76, Y:151.50, Z:5.80 [[ 9.11395222e-01 -4.10970306e-01 2.14978535e-02 2.08755435e+02] [ 4.10883671e-01 9.11648091e-01 8.50690726e-03 1.51499143e+02] [-2.30945633e-02 1.07996231e-03 9.99732702e-01 5.79949046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.020714057 meters Centerline goodness : 0.987909 Centerline is valid? [True, True] Translation: X:208.79, Y:151.51, Z:5.80 [[ 9.11444489e-01 -4.10859033e-01 2.15359864e-02 2.08786660e+02] [ 4.10774459e-01 9.11698129e-01 8.41822145e-03 1.51508414e+02] [-2.30930208e-02 1.17369161e-03 9.99732632e-01 5.79744273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0507140569999 meters Centerline goodness : 0.988307 Centerline is valid? [True, True] Translation: X:208.82, Y:151.52, Z:5.80 [[ 9.10675149e-01 -4.12559973e-01 2.15648313e-02 2.08815011e+02] [ 4.12477459e-01 9.10929528e-01 8.35111643e-03 1.51520150e+02] [-2.30893780e-02 1.28985263e-03 9.99732573e-01 5.79796950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0807140569999 meters Centerline goodness : 0.988691 Centerline is valid? [True, True] Translation: X:208.85, Y:151.53, Z:5.80 [[ 9.09338343e-01 -4.15499799e-01 2.15335508e-02 2.08845752e+02] [ 4.15416388e-01 9.09592362e-01 8.42379484e-03 1.51529517e+02] [-2.30868384e-02 1.28531026e-03 9.99732637e-01 5.79760214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.110714057 meters Centerline goodness : 0.988433 Centerline is valid? [True, True] Translation: X:208.88, Y:151.54, Z:5.80 [[ 9.09080384e-01 -4.16064981e-01 2.15124715e-02 2.08880710e+02] [ 4.15980573e-01 9.09334030e-01 8.47260526e-03 1.51539266e+02] [-2.30871768e-02 1.24649098e-03 9.99732679e-01 5.79547484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.140714057 meters Centerline goodness : 0.988297 Centerline is valid? [True, True] Translation: X:208.91, Y:151.55, Z:5.80 [[ 9.06274011e-01 -4.22135574e-01 2.16558038e-02 2.08905251e+02] [ 4.22060758e-01 9.06530998e-01 8.14040431e-03 1.51547196e+02] [-2.30680117e-02 1.76262809e-03 9.99732344e-01 5.79532320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1707140569999 meters Centerline goodness : 0.989256 Centerline is valid? [True, True] Translation: X:208.94, Y:151.56, Z:5.80 [[ 9.03036754e-01 -4.29024512e-01 2.15078996e-02 2.08936556e+02] [ 4.28943522e-01 9.03291489e-01 8.48174347e-03 1.51557335e+02] [-2.30667785e-02 1.56634811e-03 9.99732699e-01 5.79507067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2007140569999 meters Centerline goodness : 0.989340 Centerline is valid? [True, True] Translation: X:208.96, Y:151.57, Z:5.80 [[ 9.01613387e-01 -4.32006209e-01 2.15391922e-02 2.08963729e+02] [ 4.31927779e-01 9.01868989e-01 8.40954941e-03 1.51567985e+02] [-2.30585070e-02 1.72121311e-03 9.99732636e-01 5.79686658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.230714057 meters Centerline goodness : 0.988924 Centerline is valid? [True, True] Translation: X:208.99, Y:151.58, Z:5.80 [[ 8.98737717e-01 -4.37960117e-01 2.14814337e-02 2.08992891e+02] [ 4.37880210e-01 8.98992740e-01 8.54252645e-03 1.51579037e+02] [-2.30529389e-02 1.72880400e-03 9.99732751e-01 5.79806354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.260714057 meters Centerline goodness : 0.988362 Centerline is valid? [True, True] Translation: X:209.02, Y:151.59, Z:5.80 [[ 8.97668742e-01 -4.40148175e-01 2.14572778e-02 2.09021209e+02] [ 4.40067565e-01 8.97923500e-01 8.59811615e-03 1.51590043e+02] [-2.30514391e-02 1.72439189e-03 9.99732793e-01 5.79683554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.290714057 meters Centerline goodness : 0.989718 Centerline is valid? [True, True] Translation: X:209.05, Y:151.60, Z:5.79 [[ 8.94727519e-01 -4.46098299e-01 2.14236795e-02 2.09051065e+02] [ 4.46017542e-01 8.94982174e-01 8.67527451e-03 1.51601329e+02] [-2.30438365e-02 1.79333005e-03 9.99732847e-01 5.79374459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3207140569999 meters Centerline goodness : 0.990514 Centerline is valid? [True, True] Translation: X:209.09, Y:151.62, Z:5.79 [[ 8.92171569e-01 -4.51188937e-01 2.14110784e-02 2.09085358e+02] [ 4.51108943e-01 8.92426445e-01 8.70417374e-03 1.51615396e+02] [-2.30350395e-02 1.89311260e-03 9.99732866e-01 5.79166600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3507140569999 meters Centerline goodness : 0.990514 Centerline is valid? [True, True] Translation: X:209.11, Y:151.63, Z:5.79 [[ 8.91881559e-01 -4.51755925e-01 2.15376152e-02 2.09114876e+02] [ 4.51683040e-01 8.92138800e-01 8.41387551e-03 1.51628782e+02] [-2.30155603e-02 2.22399511e-03 9.99732633e-01 5.79104372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.380714057 meters Centerline goodness : 0.989804 Centerline is valid? [True, True] Translation: X:209.14, Y:151.64, Z:5.79 [[ 8.90777572e-01 -4.53929347e-01 2.15282487e-02 2.09136906e+02] [ 4.53856574e-01 8.91034823e-01 8.43532710e-03 1.51639094e+02] [-2.30114618e-02 2.25673700e-03 9.99732654e-01 5.79226259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.410714057 meters Centerline goodness : 0.990501 Centerline is valid? [True, True] Translation: X:209.17, Y:151.65, Z:5.79 [[ 8.88833953e-01 -4.57731968e-01 2.13459527e-02 2.09170692e+02] [ 4.57650314e-01 8.89088203e-01 8.85202071e-03 1.51652833e+02] [-2.30302876e-02 1.90100538e-03 9.99732960e-01 5.78873930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4407140569999 meters Centerline goodness : 0.989829 Centerline is valid? [True, True] Translation: X:209.20, Y:151.66, Z:5.79 [[ 8.89865268e-01 -4.55717492e-01 2.14795700e-02 2.09196550e+02] [ 4.55642567e-01 8.90121794e-01 8.54657794e-03 1.51664210e+02] [-2.30142585e-02 2.18170355e-03 9.99732756e-01 5.79112535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4707140569999 meters Centerline goodness : 0.989223 Centerline is valid? [True, True] Translation: X:209.22, Y:151.68, Z:5.79 [[ 8.90064719e-01 -4.55331750e-01 2.13961106e-02 2.09223392e+02] [ 4.55252150e-01 8.90319684e-01 8.73723718e-03 1.51677991e+02] [-2.30277199e-02 1.96391879e-03 9.99732898e-01 5.79186010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.500714057 meters Centerline goodness : 0.990076 Centerline is valid? [True, True] Translation: X:209.25, Y:151.69, Z:5.79 [[ 8.90423841e-01 -4.54629900e-01 2.13784255e-02 2.09254522e+02] [ 4.54549135e-01 8.90678414e-01 8.77759976e-03 1.51692529e+02] [-2.30318614e-02 1.90176073e-03 9.99732923e-01 5.79190646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.530714057 meters Centerline goodness : 0.990078 Centerline is valid? [True, True] Translation: X:209.29, Y:151.71, Z:5.79 [[ 8.90912503e-01 -4.53670766e-01 2.13950698e-02 2.09285239e+02] [ 4.53590630e-01 8.91167300e-01 8.73975385e-03 1.51708288e+02] [-2.30315574e-02 1.91824721e-03 9.99732898e-01 5.79226895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5607140569999 meters Centerline goodness : 0.990171 Centerline is valid? [True, True] Translation: X:209.31, Y:151.72, Z:5.79 [[ 8.90850297e-01 -4.53789380e-01 2.14696832e-02 2.09312740e+02] [ 4.53713335e-01 8.91106482e-01 8.57018430e-03 1.51722831e+02] [-2.30208325e-02 2.10633033e-03 9.99732767e-01 5.79172861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5907140569999 meters Centerline goodness : 0.990346 Centerline is valid? [True, True] Translation: X:209.34, Y:151.74, Z:5.79 [[ 8.91598905e-01 -4.52318191e-01 2.14393673e-02 2.09342922e+02] [ 4.52240077e-01 8.91854406e-01 8.63899505e-03 1.51737873e+02] [-2.30283688e-02 1.99322257e-03 9.99732825e-01 5.78895718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.620714057 meters Centerline goodness : 0.989904 Centerline is valid? [True, True] Translation: X:209.37, Y:151.75, Z:5.79 [[ 8.91766214e-01 -4.51985558e-01 2.14959143e-02 2.09370556e+02] [ 4.51910421e-01 8.92022724e-01 8.51060721e-03 1.51751642e+02] [-2.30215156e-02 2.12475572e-03 9.99732712e-01 5.78742966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.650714057 meters Centerline goodness : 0.989023 Centerline is valid? [True, True] Translation: X:209.40, Y:151.77, Z:5.78 [[ 8.91135311e-01 -4.53229539e-01 2.14672314e-02 2.09399028e+02] [ 4.53153205e-01 8.91391403e-01 8.57549808e-03 1.51766686e+02] [-2.30223746e-02 2.08601558e-03 9.99732774e-01 5.78485961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6807140569999 meters Centerline goodness : 0.989329 Centerline is valid? [True, True] Translation: X:209.43, Y:151.78, Z:5.78 [[ 8.91271884e-01 -4.52959540e-01 2.14961322e-02 2.09426303e+02] [ 4.52884695e-01 8.91528480e-01 8.51014203e-03 1.51782201e+02] [-2.30191641e-02 2.15041894e-03 9.99732711e-01 5.78175909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7107140569999 meters Centerline goodness : 0.988982 Centerline is valid? [True, True] Translation: X:209.46, Y:151.80, Z:5.78 [[ 8.91621062e-01 -4.52271717e-01 2.14982564e-02 2.09455923e+02] [ 4.52196789e-01 8.91877639e-01 8.50533109e-03 1.51797076e+02] [-2.30205349e-02 2.13791017e-03 9.99732706e-01 5.78032735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.740714057 meters Centerline goodness : 0.988750 Centerline is valid? [True, True] Translation: X:209.48, Y:151.81, Z:5.78 [[ 8.92758875e-01 -4.50021149e-01 2.15071279e-02 2.09482762e+02] [ 4.49946055e-01 8.93015424e-01 8.48525198e-03 1.51812894e+02] [-2.30247398e-02 2.10176335e-03 9.99732686e-01 5.77871273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.770714057 meters Centerline goodness : 0.988028 Centerline is valid? [True, True] Translation: X:209.51, Y:151.83, Z:5.78 [[ 8.92999850e-01 -4.49542722e-01 2.15083401e-02 2.09509199e+02] [ 4.49467556e-01 8.93256381e-01 8.48250575e-03 1.51827519e+02] [-2.30257108e-02 2.09242471e-03 9.99732683e-01 5.77884548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8007140569999 meters Centerline goodness : 0.988505 Centerline is valid? [True, True] Translation: X:209.54, Y:151.84, Z:5.78 [[ 8.94292022e-01 -4.46968437e-01 2.14708103e-02 2.09537504e+02] [ 4.46890503e-01 8.94547639e-01 8.56739242e-03 1.51844445e+02] [-2.30360167e-02 1.93335052e-03 9.99732766e-01 5.77994227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8307140569999 meters Centerline goodness : 0.989280 Centerline is valid? [True, True] Translation: X:209.57, Y:151.86, Z:5.78 [[ 8.93300224e-01 -4.48949394e-01 2.14278089e-02 2.09565943e+02] [ 4.48869721e-01 8.93555209e-01 8.66383249e-03 1.51860440e+02] [-2.30365526e-02 1.87889109e-03 9.99732858e-01 5.78136872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.860714057 meters Centerline goodness : 0.987096 Centerline is valid? [True, True] Translation: X:209.59, Y:151.87, Z:5.78 [[ 8.94693139e-01 -4.46164610e-01 2.14785491e-02 2.09587278e+02] [ 4.46086859e-01 8.94948831e-01 8.55010106e-03 1.51874833e+02] [-2.30369549e-02 1.93158175e-03 9.99732748e-01 5.78342056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.890714057 meters Centerline goodness : 0.988017 Centerline is valid? [True, True] Translation: X:209.62, Y:151.89, Z:5.78 [[ 8.93298797e-01 -4.48957251e-01 2.13224309e-02 2.09617346e+02] [ 4.48871944e-01 8.93551768e-01 8.90037726e-03 1.51890408e+02] [-2.30485847e-02 1.62034469e-03 9.99733033e-01 5.78367968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9207140569999 meters Centerline goodness : 0.988284 Centerline is valid? [True, True] Translation: X:209.64, Y:151.90, Z:5.78 [[ 8.92951894e-01 -4.49642365e-01 2.14163071e-02 2.09640736e+02] [ 4.49562273e-01 8.93206724e-01 8.68968231e-03 1.51903599e+02] [-2.30364388e-02 1.86849541e-03 9.99732880e-01 5.77905018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9507140569999 meters Centerline goodness : 0.988540 Centerline is valid? [True, True] Translation: X:209.67, Y:151.92, Z:5.78 [[ 8.89992219e-01 -4.55478256e-01 2.12933664e-02 2.09671149e+02] [ 4.55393266e-01 8.90245250e-01 8.96480933e-03 1.51919332e+02] [-2.30395940e-02 1.71824511e-03 9.99733077e-01 5.78236683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.980714057 meters Centerline goodness : 0.988795 Centerline is valid? [True, True] Translation: X:209.70, Y:151.93, Z:5.78 [[ 8.87403688e-01 -4.60497929e-01 2.13624085e-02 2.09701803e+02] [ 4.60418062e-01 8.87658486e-01 8.81028342e-03 1.51934459e+02] [-2.30196405e-02 2.01736072e-03 9.99732978e-01 5.77952476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.010714057 meters Centerline goodness : 0.989147 Centerline is valid? [True, True] Translation: X:209.73, Y:151.95, Z:5.78 [[ 8.86051958e-01 -4.63091771e-01 2.13995105e-02 2.09731698e+02] [ 4.63014639e-01 8.86307666e-01 8.72727935e-03 1.51948939e+02] [-2.30080815e-02 2.17546367e-03 9.99732912e-01 5.77780012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.040714057 meters Centerline goodness : 0.989316 Centerline is valid? [True, True] Translation: X:209.76, Y:151.97, Z:5.78 [[ 8.82472965e-01 -4.69877313e-01 2.13723527e-02 2.09759989e+02] [ 4.69800695e-01 8.82728772e-01 8.78757471e-03 1.51965424e+02] [-2.29950726e-02 2.28594904e-03 9.99732965e-01 5.77588317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0707140569999 meters Centerline goodness : 0.988730 Centerline is valid? [True, True] Translation: X:209.78, Y:151.98, Z:5.77 [[ 8.81380308e-01 -4.71921913e-01 2.14116866e-02 2.09782744e+02] [ 4.71847992e-01 8.81636989e-01 8.70019055e-03 1.51979045e+02] [-2.29831454e-02 2.43488467e-03 9.99732888e-01 5.77310211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1007140569999 meters Centerline goodness : 0.986785 Centerline is valid? [True, True] Translation: X:209.81, Y:151.99, Z:5.77 [[ 8.82828596e-01 -4.69211297e-01 2.13173379e-02 2.09806387e+02] [ 4.69131532e-01 8.83083351e-01 8.91068615e-03 1.51990133e+02] [-2.30059808e-02 2.13402683e-03 9.99733050e-01 5.76778549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.130714057 meters Centerline goodness : 0.987911 Centerline is valid? [True, True] Translation: X:209.84, Y:152.01, Z:5.77 [[ 8.83019006e-01 -4.68859468e-01 2.11715498e-02 2.09839692e+02] [ 4.68771837e-01 8.83271005e-01 9.23559648e-03 1.52008148e+02] [-2.30304129e-02 1.76941908e-03 9.99733199e-01 5.76844818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.160714057 meters Centerline goodness : 0.988908 Centerline is valid? [True, True] Translation: X:209.87, Y:152.02, Z:5.77 [[ 8.82861431e-01 -4.69150901e-01 2.12867690e-02 2.09869622e+02] [ 4.69069449e-01 8.83115623e-01 8.98047817e-03 1.52024349e+02] [-2.30118777e-02 2.05645519e-03 9.99733077e-01 5.76865321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1907140569999 meters Centerline goodness : 0.988429 Centerline is valid? [True, True] Translation: X:209.90, Y:152.04, Z:5.77 [[ 8.85861310e-01 -4.63457873e-01 2.13667821e-02 2.09895221e+02] [ 4.63379029e-01 8.86116459e-01 8.80319151e-03 1.52039133e+02] [-2.30133657e-02 2.10251200e-03 9.99732947e-01 5.76885177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2207140569999 meters Centerline goodness : 0.987694 Centerline is valid? [True, True] Translation: X:209.92, Y:152.05, Z:5.77 [[ 8.86534347e-01 -4.62170784e-01 2.13311268e-02 2.09923214e+02] [ 4.62089674e-01 8.86788721e-01 8.88236501e-03 1.52054639e+02] [-2.30213722e-02 1.98237176e-03 9.99733008e-01 5.76985456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.250714057 meters Centerline goodness : 0.989640 Centerline is valid? [True, True] Translation: X:209.95, Y:152.07, Z:5.77 [[ 8.89436170e-01 -4.56561784e-01 2.13222322e-02 2.09951130e+02] [ 4.56478598e-01 8.89689857e-01 8.90211817e-03 1.52070107e+02] [-2.30345407e-02 1.81527678e-03 9.99733022e-01 5.77074877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.280714057 meters Centerline goodness : 0.989182 Centerline is valid? [True, True] Translation: X:209.98, Y:152.08, Z:5.77 [[ 8.90478725e-01 -4.54523830e-01 2.13478178e-02 2.09978558e+02] [ 4.54441419e-01 8.90732709e-01 8.84526707e-03 1.52084511e+02] [-2.30355842e-02 1.82481046e-03 9.99732980e-01 5.77034283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3107140569999 meters Centerline goodness : 0.989860 Centerline is valid? [True, True] Translation: X:210.01, Y:152.10, Z:5.77 [[ 8.91719416e-01 -4.52086318e-01 2.13176891e-02 2.10008781e+02] [ 4.52001624e-01 8.91972595e-01 8.91189921e-03 1.52101851e+02] [-2.30437422e-02 1.68871655e-03 9.99733031e-01 5.77043426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3407140569999 meters Centerline goodness : 0.989244 Centerline is valid? [True, True] Translation: X:210.04, Y:152.12, Z:5.77 [[ 8.91912329e-01 -4.51702613e-01 2.13809771e-02 2.10035946e+02] [ 4.51621147e-01 8.92166684e-01 8.77197604e-03 1.52116202e+02] [-2.30377199e-02 1.83226781e-03 9.99732917e-01 5.77003541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.370714057 meters Centerline goodness : 0.989501 Centerline is valid? [True, True] Translation: X:210.06, Y:152.13, Z:5.77 [[ 8.91995155e-01 -4.51540821e-01 2.13431413e-02 2.10061647e+02] [ 4.51457316e-01 8.92248772e-01 8.85551938e-03 1.52129861e+02] [-2.30420201e-02 1.73643690e-03 9.99732989e-01 5.76930193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.400714057 meters Centerline goodness : 0.989439 Centerline is valid? [True, True] Translation: X:210.09, Y:152.14, Z:5.77 [[ 8.91427562e-01 -4.52662242e-01 2.13024831e-02 2.10088240e+02] [ 4.52576911e-01 8.91680501e-01 8.94557777e-03 1.52143941e+02] [-2.30443341e-02 1.66667740e-03 9.99733055e-01 5.76798048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4307140569999 meters Centerline goodness : 0.990038 Centerline is valid? [True, True] Translation: X:210.12, Y:152.16, Z:5.77 [[ 8.90739622e-01 -4.54016723e-01 2.12542040e-02 2.10116186e+02] [ 4.53929244e-01 8.90991753e-01 9.05195296e-03 1.52158602e+02] [-2.30470585e-02 1.58497158e-03 9.99733125e-01 5.76528277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4607140569999 meters Centerline goodness : 0.989431 Centerline is valid? [True, True] Translation: X:210.14, Y:152.17, Z:5.76 [[ 8.91464513e-01 -4.52591565e-01 2.12578709e-02 2.10144885e+02] [ 4.52503875e-01 8.91716576e-01 9.04387149e-03 1.52172156e+02] [-2.30491758e-02 1.55697846e-03 9.99733120e-01 5.76431002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.490714057 meters Centerline goodness : 0.989733 Centerline is valid? [True, True] Translation: X:210.17, Y:152.19, Z:5.76 [[ 8.91564682e-01 -4.52393844e-01 2.12656485e-02 2.10174632e+02] [ 4.52306506e-01 8.91816877e-01 9.02675151e-03 1.52186615e+02] [-2.30487111e-02 1.57065835e-03 9.99733109e-01 5.76347513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.520714057 meters Centerline goodness : 0.989377 Centerline is valid? [True, True] Translation: X:210.20, Y:152.20, Z:5.76 [[ 8.91682092e-01 -4.52161126e-01 2.12923297e-02 2.10202435e+02] [ 4.52075117e-01 8.91934786e-01 8.96806900e-03 1.52201307e+02] [-2.30463817e-02 1.62906592e-03 9.99733070e-01 5.76304394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5507140569999 meters Centerline goodness : 0.989677 Centerline is valid? [True, True] Translation: X:210.23, Y:152.21, Z:5.76 [[ 8.93005918e-01 -4.49542643e-01 2.12565820e-02 2.10231292e+02] [ 4.49454026e-01 8.93257654e-01 9.04665959e-03 1.52214629e+02] [-2.30544638e-02 1.47513582e-03 9.99733122e-01 5.76161902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5807140569999 meters Centerline goodness : 0.989711 Centerline is valid? [True, True] Translation: X:210.26, Y:152.23, Z:5.76 [[ 8.94600369e-01 -4.46361471e-01 2.12513038e-02 2.10262037e+02] [ 4.46271684e-01 8.94851682e-01 9.05825133e-03 1.52227809e+02] [-2.30600193e-02 1.38034017e-03 9.99733129e-01 5.76236393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.610714057 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:210.29, Y:152.24, Z:5.76 [[ 8.94964907e-01 -4.45628743e-01 2.12800089e-02 2.10292805e+02] [ 4.45540245e-01 8.95216720e-01 8.99522327e-03 1.52242191e+02] [-2.30587498e-02 1.43069123e-03 9.99733088e-01 5.76186082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.640714057 meters Centerline goodness : 0.989126 Centerline is valid? [True, True] Translation: X:210.32, Y:152.25, Z:5.76 [[ 8.96577669e-01 -4.42373143e-01 2.13186788e-02 2.10320560e+02] [ 4.42285743e-01 8.96829933e-01 8.91030301e-03 1.52254370e+02] [-2.30609080e-02 1.44016897e-03 9.99733025e-01 5.76207944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6707140569999 meters Centerline goodness : 0.989178 Centerline is valid? [True, True] Translation: X:210.35, Y:152.27, Z:5.76 [[ 8.97554982e-01 -4.40388117e-01 2.12922416e-02 2.10349007e+02] [ 4.40298785e-01 8.97806521e-01 8.96832028e-03 1.52266572e+02] [-2.30658550e-02 1.32538753e-03 9.99733069e-01 5.76144475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7007140569999 meters Centerline goodness : 0.988919 Centerline is valid? [True, True] Translation: X:210.38, Y:152.28, Z:5.76 [[ 8.98682129e-01 -4.38084391e-01 2.12719852e-02 2.10378087e+02] [ 4.37993364e-01 8.98933025e-01 9.01273659e-03 1.52279445e+02] [-2.30704292e-02 1.21740304e-03 9.99733101e-01 5.76006060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.730714057 meters Centerline goodness : 0.989398 Centerline is valid? [True, True] Translation: X:210.40, Y:152.29, Z:5.76 [[ 8.98219748e-01 -4.39031862e-01 2.12675293e-02 2.10403100e+02] [ 4.38940868e-01 8.98470650e-01 9.02249996e-03 1.52292786e+02] [-2.30694158e-02 1.23100013e-03 9.99733108e-01 5.75823593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.760714057 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:210.43, Y:152.30, Z:5.76 [[ 8.98531557e-01 -4.38397225e-01 2.11876057e-02 2.10434430e+02] [ 4.38301928e-01 8.98780745e-01 9.19737636e-03 1.52304816e+02] [-2.30751163e-02 1.02243553e-03 9.99733211e-01 5.75615249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.790714057 meters Centerline goodness : 0.989521 Centerline is valid? [True, True] Translation: X:210.46, Y:152.32, Z:5.76 [[ 8.97886674e-01 -4.39714852e-01 2.12219104e-02 2.10460944e+02] [ 4.39621692e-01 8.98136711e-01 9.12228986e-03 1.52317428e+02] [-2.30713832e-02 1.13882965e-03 9.99733172e-01 5.75538415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8207140569999 meters Centerline goodness : 0.989391 Centerline is valid? [True, True] Translation: X:210.49, Y:152.33, Z:5.76 [[ 8.96857708e-01 -4.41812893e-01 2.11570277e-02 2.10492385e+02] [ 4.41716978e-01 8.97106623e-01 9.26383313e-03 1.52328311e+02] [-2.30729906e-02 1.03707820e-03 9.99733245e-01 5.75502025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8507140569999 meters Centerline goodness : 0.990008 Centerline is valid? [True, True] Translation: X:210.52, Y:152.34, Z:5.75 [[ 8.95880584e-01 -4.43788078e-01 2.12160440e-02 2.10517578e+02] [ 4.43695753e-01 8.96130922e-01 9.13504962e-03 1.52340878e+02] [-2.30663792e-02 1.22955502e-03 9.99733180e-01 5.75467566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.880714057 meters Centerline goodness : 0.990180 Centerline is valid? [True, True] Translation: X:210.55, Y:152.35, Z:5.76 [[ 8.94307117e-01 -4.46955479e-01 2.11087947e-02 2.10551723e+02] [ 4.46858532e-01 8.94555581e-01 9.36824841e-03 1.52351510e+02] [-2.30701801e-02 1.05455382e-03 9.99733292e-01 5.75526521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.910714057 meters Centerline goodness : 0.990851 Centerline is valid? [True, True] Translation: X:210.58, Y:152.36, Z:5.75 [[ 8.93657477e-01 -4.48247342e-01 2.12281554e-02 2.10580561e+02] [ 4.48156894e-01 8.93908515e-01 9.10850542e-03 1.52362891e+02] [-2.30588922e-02 1.37366024e-03 9.99733165e-01 5.75403333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9407140569999 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:210.61, Y:152.37, Z:5.75 [[ 8.92173574e-01 -4.51194753e-01 2.12039773e-02 2.10613233e+02] [ 4.51103885e-01 8.92424427e-01 9.16119085e-03 1.52373516e+02] [-2.30564285e-02 1.39182415e-03 9.99733196e-01 5.75368580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9707140569999 meters Centerline goodness : 0.990311 Centerline is valid? [True, True] Translation: X:210.64, Y:152.38, Z:5.75 [[ 8.89800372e-01 -4.55856168e-01 2.12238688e-02 2.10643706e+02] [ 4.55767639e-01 8.90052089e-01 9.11800487e-03 1.52384788e+02] [-2.30468475e-02 1.55994847e-03 9.99733169e-01 5.75372393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.000714057 meters Centerline goodness : 0.989344 Centerline is valid? [True, True] Translation: X:210.67, Y:152.40, Z:5.75 [[ 8.89848703e-01 -4.55761372e-01 2.12334295e-02 2.10671082e+02] [ 4.55673310e-01 8.90100598e-01 9.09724976e-03 1.52395794e+02] [-2.30460633e-02 1.58033120e-03 9.99733155e-01 5.75476035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.030714057 meters Centerline goodness : 0.988880 Centerline is valid? [True, True] Translation: X:210.70, Y:152.41, Z:5.76 [[ 8.87916270e-01 -4.59517206e-01 2.11810048e-02 2.10702223e+02] [ 4.59427497e-01 8.88167511e-01 9.21124170e-03 1.52406659e+02] [-2.30450044e-02 1.55232466e-03 9.99733223e-01 5.75506298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0607140569999 meters Centerline goodness : 0.988532 Centerline is valid? [True, True] Translation: X:210.73, Y:152.42, Z:5.75 [[ 8.87566134e-01 -4.60191658e-01 2.12131109e-02 2.10729786e+02] [ 4.60103801e-01 8.87818071e-01 9.14143354e-03 1.52417872e+02] [-2.30401946e-02 1.64660612e-03 9.99733183e-01 5.75480260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0907140569999 meters Centerline goodness : 0.988373 Centerline is valid? [True, True] Translation: X:210.76, Y:152.43, Z:5.75 [[ 8.85443950e-01 -4.64264950e-01 2.11439758e-02 2.10760459e+02] [ 4.64174677e-01 8.85694945e-01 9.29154845e-03 1.52429329e+02] [-2.30408527e-02 1.58735276e-03 9.99733264e-01 5.75279363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.120714057 meters Centerline goodness : 0.988273 Centerline is valid? [True, True] Translation: X:210.79, Y:152.44, Z:5.75 [[ 8.84870172e-01 -4.65356341e-01 2.11720372e-02 2.10790539e+02] [ 4.65267827e-01 8.85121825e-01 9.23062359e-03 1.52441807e+02] [-2.30353614e-02 1.68276424e-03 9.99733235e-01 5.75181638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.150714057 meters Centerline goodness : 0.987464 Centerline is valid? [True, True] Translation: X:210.82, Y:152.45, Z:5.75 [[ 8.84591932e-01 -4.65885395e-01 2.11639476e-02 2.10818554e+02] [ 4.65796613e-01 8.84843481e-01 9.24818743e-03 1.52452752e+02] [-2.30353765e-02 1.67722314e-03 9.99733244e-01 5.74819330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1807140569999 meters Centerline goodness : 0.988691 Centerline is valid? [True, True] Translation: X:210.85, Y:152.46, Z:5.75 [[ 8.83145104e-01 -4.68623414e-01 2.11381487e-02 2.10847921e+02] [ 4.68534079e-01 8.83396428e-01 9.30416407e-03 1.52464384e+02] [-2.30335142e-02 1.68701608e-03 9.99733270e-01 5.74681383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2107140569999 meters Centerline goodness : 0.989063 Centerline is valid? [True, True] Translation: X:210.88, Y:152.48, Z:5.75 [[ 8.82517270e-01 -4.69805171e-01 2.11274613e-02 2.10878472e+02] [ 4.69715620e-01 8.82768507e-01 9.32732184e-03 1.52477570e+02] [-2.30326815e-02 1.69237598e-03 9.99733280e-01 5.74555613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.240714057 meters Centerline goodness : 0.989063 Centerline is valid? [True, True] Translation: X:210.91, Y:152.49, Z:5.74 [[ 8.82392637e-01 -4.70038257e-01 2.11487923e-02 2.10907949e+02] [ 4.69949873e-01 8.82644310e-01 9.28112315e-03 1.52491371e+02] [-2.30293441e-02 1.74927753e-03 9.99733259e-01 5.74482650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.270714057 meters Centerline goodness : 0.988761 Centerline is valid? [True, True] Translation: X:210.94, Y:152.50, Z:5.74 [[ 8.83072984e-01 -4.68758809e-01 2.11490942e-02 2.10935926e+02] [ 4.68670077e-01 8.83324534e-01 9.28046939e-03 1.52502154e+02] [-2.30318156e-02 1.71661581e-03 9.99733259e-01 5.74308776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3007140569999 meters Centerline goodness : 0.988799 Centerline is valid? [True, True] Translation: X:210.97, Y:152.52, Z:5.74 [[ 8.83306159e-01 -4.68320710e-01 2.11173283e-02 2.10966828e+02] [ 4.68230217e-01 8.83557048e-01 9.34916382e-03 1.52515010e+02] [-2.30367713e-02 1.62959722e-03 9.99733290e-01 5.74210661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3307140569999 meters Centerline goodness : 0.988235 Centerline is valid? [True, True] Translation: X:210.99, Y:152.53, Z:5.74 [[ 8.84787090e-01 -4.65514869e-01 2.11592283e-02 2.10994204e+02] [ 4.65425735e-01 8.85038510e-01 9.25855066e-03 1.52527211e+02] [-2.30367249e-02 1.65620331e-03 9.99733248e-01 5.74133402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.360714057 meters Centerline goodness : 0.988728 Centerline is valid? [True, True] Translation: X:211.02, Y:152.54, Z:5.74 [[ 8.87356787e-01 -4.60598592e-01 2.11392793e-02 2.11021075e+02] [ 4.60507039e-01 8.87607314e-01 9.30176091e-03 1.52540581e+02] [-2.30477569e-02 1.48080626e-03 9.99733268e-01 5.74378894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.390714057 meters Centerline goodness : 0.988524 Centerline is valid? [True, True] Translation: X:211.05, Y:152.55, Z:5.74 [[ 8.90813502e-01 -4.53878883e-01 2.11012699e-02 2.11050188e+02] [ 4.53783492e-01 8.91062557e-01 9.38409671e-03 1.52554254e+02] [-2.30617948e-02 1.21592786e-03 9.99733302e-01 5.74310782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4207140569999 meters Centerline goodness : 0.989495 Centerline is valid? [True, True] Translation: X:211.08, Y:152.57, Z:5.74 [[ 8.91582695e-01 -4.52365464e-01 2.11136231e-02 2.11078605e+02] [ 4.52270281e-01 8.91831841e-01 9.35739588e-03 1.52568412e+02] [-2.30627641e-02 1.20617200e-03 9.99733291e-01 5.74471747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4507140569999 meters Centerline goodness : 0.988475 Centerline is valid? [True, True] Translation: X:211.11, Y:152.58, Z:5.74 [[ 8.94595612e-01 -4.46377830e-01 2.11074510e-02 2.11108837e+02] [ 4.46280664e-01 8.94843985e-01 9.37073409e-03 1.52582494e+02] [-2.30707635e-02 1.03682963e-03 9.99733297e-01 5.74293918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.480714057 meters Centerline goodness : 0.987798 Centerline is valid? [True, True] Translation: X:211.14, Y:152.60, Z:5.74 [[ 8.95543153e-01 -4.44472638e-01 2.11313776e-02 2.11138524e+02] [ 4.44376160e-01 8.95791819e-01 9.31908116e-03 1.52595647e+02] [-2.30713917e-02 1.04464111e-03 9.99733274e-01 5.74247717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.510714057 meters Centerline goodness : 0.988490 Centerline is valid? [True, True] Translation: X:211.17, Y:152.61, Z:5.74 [[ 8.97152088e-01 -4.41216675e-01 2.11181649e-02 2.11171457e+02] [ 4.41118624e-01 8.97400124e-01 9.34759795e-03 1.52608077e+02] [-2.30757599e-02 9.29398835e-04 9.99733287e-01 5.74004899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.540714057 meters Centerline goodness : 0.988421 Centerline is valid? [True, True] Translation: X:211.20, Y:152.62, Z:5.74 [[ 8.97046584e-01 -4.41427681e-01 2.11902850e-02 2.11199298e+02] [ 4.41333357e-01 8.97296148e-01 9.19182716e-03 1.52621180e+02] [-2.30714881e-02 1.10648248e-03 9.99733205e-01 5.73995637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5707140569999 meters Centerline goodness : 0.987677 Centerline is valid? [True, True] Translation: X:211.23, Y:152.63, Z:5.74 [[ 8.97031885e-01 -4.41458203e-01 2.11767050e-02 2.11229994e+02] [ 4.41363197e-01 8.97281171e-01 9.22111611e-03 1.52632526e+02] [-2.30721960e-02 1.07498305e-03 9.99733224e-01 5.73945675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6007140569999 meters Centerline goodness : 0.988850 Centerline is valid? [True, True] Translation: X:211.26, Y:152.64, Z:5.74 [[ 8.96247390e-01 -4.43048585e-01 2.11793980e-02 2.11260583e+02] [ 4.42954158e-01 8.96496900e-01 9.21531163e-03 1.52643882e+02] [-2.30700954e-02 1.12230340e-03 9.99733220e-01 5.73929921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.630714057 meters Centerline goodness : 0.989018 Centerline is valid? [True, True] Translation: X:211.29, Y:152.66, Z:5.74 [[ 8.94812724e-01 -4.45938216e-01 2.11966130e-02 2.11286319e+02] [ 4.45845472e-01 8.95062890e-01 9.17820319e-03 1.52656577e+02] [-2.30652132e-02 1.23764090e-03 9.99733197e-01 5.73919919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.660714057 meters Centerline goodness : 0.988758 Centerline is valid? [True, True] Translation: X:211.31, Y:152.67, Z:5.74 [[ 8.93572448e-01 -4.48420794e-01 2.11440776e-02 2.11314966e+02] [ 4.48326070e-01 8.93821798e-01 9.29129221e-03 1.52665208e+02] [-2.30654461e-02 1.17699851e-03 9.99733264e-01 5.73800525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6907140569999 meters Centerline goodness : 0.988708 Centerline is valid? [True, True] Translation: X:211.34, Y:152.68, Z:5.74 [[ 8.92634467e-01 -4.50286678e-01 2.11096357e-02 2.11344116e+02] [ 4.50190725e-01 8.92883307e-01 9.36539874e-03 1.52676672e+02] [-2.30655556e-02 1.14348451e-03 9.99733301e-01 5.73721724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7207140569999 meters Centerline goodness : 0.989059 Centerline is valid? [True, True] Translation: X:211.37, Y:152.69, Z:5.74 [[ 8.91463948e-01 -4.52600677e-01 2.10868653e-02 2.11374325e+02] [ 4.52504214e-01 8.91712569e-01 9.41435063e-03 1.52688737e+02] [-2.30643643e-02 1.14934122e-03 9.99733321e-01 5.73764633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.750714057 meters Centerline goodness : 0.990109 Centerline is valid? [True, True] Translation: X:211.41, Y:152.70, Z:5.74 [[ 8.89266846e-01 -4.56902218e-01 2.10912137e-02 2.11406711e+02] [ 4.56807178e-01 8.89516019e-01 9.40501420e-03 1.52700379e+02] [-2.30581443e-02 1.27105051e-03 9.99733318e-01 5.73784567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.780714057 meters Centerline goodness : 0.990381 Centerline is valid? [True, True] Translation: X:211.43, Y:152.71, Z:5.74 [[ 8.87316356e-01 -4.60676024e-01 2.11491179e-02 2.11433978e+02] [ 4.60584994e-01 8.87567086e-01 9.28065546e-03 1.52709946e+02] [-2.30466364e-02 1.50608896e-03 9.99733257e-01 5.73774996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8107140569999 meters Centerline goodness : 0.990874 Centerline is valid? [True, True] Translation: X:211.46, Y:152.72, Z:5.74 [[ 8.85776613e-01 -4.63633052e-01 2.10757135e-02 2.11462420e+02] [ 4.63539124e-01 8.86026188e-01 9.43791976e-03 1.52722563e+02] [-2.30493656e-02 1.40952916e-03 9.99733334e-01 5.73867265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8407140569999 meters Centerline goodness : 0.990578 Centerline is valid? [True, True] Translation: X:211.49, Y:152.73, Z:5.74 [[ 8.84693458e-01 -4.65697101e-01 2.10640802e-02 2.11488426e+02] [ 4.65603164e-01 8.84943020e-01 9.46284632e-03 1.52734451e+02] [-2.30473308e-02 1.43578413e-03 9.99733344e-01 5.73758600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.870714057 meters Centerline goodness : 0.991094 Centerline is valid? [True, True] Translation: X:211.52, Y:152.75, Z:5.74 [[ 8.83445586e-01 -4.68063002e-01 2.09981640e-02 2.11519273e+02] [ 4.67966382e-01 8.83694079e-01 9.60411813e-03 1.52746227e+02] [-2.30512856e-02 1.34171909e-03 9.99733383e-01 5.73724193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.900714057 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:211.55, Y:152.76, Z:5.74 [[ 8.82275486e-01 -4.70264862e-01 2.09982260e-02 2.11550233e+02] [ 4.70168866e-01 8.82524221e-01 9.60398529e-03 1.52758439e+02] [-2.30478599e-02 1.39935132e-03 9.99733383e-01 5.73786848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9307140569999 meters Centerline goodness : 0.990714 Centerline is valid? [True, True] Translation: X:211.58, Y:152.77, Z:5.74 [[ 8.82260320e-01 -4.70292868e-01 2.10082283e-02 2.11580663e+02] [ 4.70197388e-01 8.82509259e-01 9.58254386e-03 1.52769968e+02] [-2.30465581e-02 1.42371588e-03 9.99733379e-01 5.73732295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9607140569999 meters Centerline goodness : 0.990650 Centerline is valid? [True, True] Translation: X:211.61, Y:152.78, Z:5.74 [[ 8.81083897e-01 -4.72492041e-01 2.10342241e-02 2.11609952e+02] [ 4.72398506e-01 8.81333587e-01 9.52680377e-03 1.52781793e+02] [-2.30395071e-02 1.54262263e-03 9.99733365e-01 5.73618548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.990714057 meters Centerline goodness : 0.991338 Centerline is valid? [True, True] Translation: X:211.64, Y:152.80, Z:5.74 [[ 8.80461706e-01 -4.73651410e-01 2.10125221e-02 2.11641560e+02] [ 4.73557098e-01 8.80711091e-01 9.57333190e-03 1.52795348e+02] [-2.30403834e-02 1.52167684e-03 9.99733377e-01 5.73562830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.020714057 meters Centerline goodness : 0.990646 Centerline is valid? [True, True] Translation: X:211.67, Y:152.81, Z:5.74 [[ 8.79287036e-01 -4.75827090e-01 2.10449329e-02 2.11670234e+02] [ 4.75735050e-01 8.79537288e-01 9.50381007e-03 1.52807968e+02] [-2.30319735e-02 1.65523522e-03 9.99733359e-01 5.73564487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0507140569999 meters Centerline goodness : 0.991159 Centerline is valid? [True, True] Translation: X:211.70, Y:152.82, Z:5.73 [[ 8.77562596e-01 -4.79001952e-01 2.10004875e-02 2.11700662e+02] [ 4.78908545e-01 8.77812316e-01 9.59915279e-03 1.52821584e+02] [-2.30324995e-02 1.63345545e-03 9.99733382e-01 5.73160204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0807140569999 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:211.72, Y:152.84, Z:5.73 [[ 8.75077828e-01 -4.83526142e-01 2.10063138e-02 2.11721930e+02] [ 4.83434324e-01 8.75328139e-01 9.58664970e-03 1.52837724e+02] [-2.30228133e-02 1.76610850e-03 9.99733380e-01 5.73015625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.110714057 meters Centerline goodness : 0.992026 Centerline is valid? [True, True] Translation: X:211.75, Y:152.85, Z:5.73 [[ 8.74190348e-01 -4.85135167e-01 2.08591630e-02 2.11750880e+02] [ 4.85036297e-01 8.74437954e-01 9.90230554e-03 1.52851692e+02] [-2.30440005e-02 1.46095125e-03 9.99733384e-01 5.72709977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.140714057 meters Centerline goodness : 0.990949 Centerline is valid? [True, True] Translation: X:211.79, Y:152.86, Z:5.73 [[ 8.75769873e-01 -4.82278241e-01 2.08525205e-02 2.11788348e+02] [ 4.82178225e-01 8.76017021e-01 9.91656835e-03 1.52863511e+02] [-2.30497080e-02 1.36999953e-03 9.99733381e-01 5.72770275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1707140569999 meters Centerline goodness : 0.992554 Centerline is valid? [True, True] Translation: X:211.81, Y:152.88, Z:5.72 [[ 8.73721573e-01 -4.85970983e-01 2.10432031e-02 2.11806567e+02] [ 4.85881784e-01 8.73972839e-01 9.50629551e-03 1.52879866e+02] [-2.30109717e-02 1.91865358e-03 9.99733371e-01 5.72459285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2007140569999 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:211.84, Y:152.89, Z:5.72 [[ 8.73684215e-01 -4.86046718e-01 2.08441929e-02 2.11836624e+02] [ 4.85947356e-01 8.73931625e-01 9.93387055e-03 1.52893982e+02] [-2.30447246e-02 1.45011456e-03 9.99733383e-01 5.72449261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.230714057 meters Centerline goodness : 0.991642 Centerline is valid? [True, True] Translation: X:211.86, Y:152.91, Z:5.72 [[ 8.73857655e-01 -4.85734048e-01 2.08622647e-02 2.11863848e+02] [ 4.85635520e-01 8.74105389e-01 9.89499645e-03 1.52908598e+02] [-2.30421546e-02 1.48463836e-03 9.99733392e-01 5.72335898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.260714057 meters Centerline goodness : 0.990378 Centerline is valid? [True, True] Translation: X:211.90, Y:152.92, Z:5.73 [[ 8.76394505e-01 -4.81142065e-01 2.08562956e-02 2.11903259e+02] [ 4.81041934e-01 8.76641599e-01 9.90785162e-03 1.52919605e+02] [-2.30505805e-02 1.34956605e-03 9.99733389e-01 5.72528121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.290714057 meters Centerline goodness : 0.989328 Centerline is valid? [True, True] Translation: X:211.93, Y:152.93, Z:5.72 [[ 8.76964130e-01 -4.80093632e-01 2.10717411e-02 2.11926986e+02] [ 4.80004261e-01 8.77215334e-01 9.44280866e-03 1.52932006e+02] [-2.30178867e-02 1.83352106e-03 9.99733372e-01 5.72396437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3207140569999 meters Centerline goodness : 0.990187 Centerline is valid? [True, True] Translation: X:211.96, Y:152.95, Z:5.72 [[ 8.77387186e-01 -4.79325485e-01 2.09476882e-02 2.11963468e+02] [ 4.79229523e-01 8.77635900e-01 9.71042271e-03 1.52949295e+02] [-2.30388962e-02 1.51895016e-03 9.99733415e-01 5.72331992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3507140569999 meters Centerline goodness : 0.989870 Centerline is valid? [True, True] Translation: X:211.99, Y:152.96, Z:5.73 [[ 8.77089100e-01 -4.79862080e-01 2.11446427e-02 2.11991186e+02] [ 4.79776415e-01 8.77341656e-01 9.28498862e-03 1.52964693e+02] [-2.30065897e-02 2.00093855e-03 9.99733311e-01 5.72540814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.380714057 meters Centerline goodness : 0.989398 Centerline is valid? [True, True] Translation: X:212.02, Y:152.98, Z:5.72 [[ 8.78255392e-01 -4.77725858e-01 2.11061748e-02 2.12021438e+02] [ 4.77637595e-01 8.78507011e-01 9.36798995e-03 1.52979677e+02] [-2.30172536e-02 1.85361489e-03 9.99733350e-01 5.72080540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.410714057 meters Centerline goodness : 0.990651 Centerline is valid? [True, True] Translation: X:212.05, Y:152.99, Z:5.72 [[ 8.79154591e-01 -4.76066263e-01 2.11687919e-02 2.12050215e+02] [ 4.75980755e-01 8.79407230e-01 9.23283811e-03 1.52994011e+02] [-2.30114314e-02 1.95884552e-03 9.99733283e-01 5.71939899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4407140569999 meters Centerline goodness : 0.989693 Centerline is valid? [True, True] Translation: X:212.08, Y:153.01, Z:5.72 [[ 8.79409743e-01 -4.75594942e-01 2.11649312e-02 2.12079557e+02] [ 4.75509099e-01 8.79662264e-01 9.24116608e-03 1.53008959e+02] [-2.30130431e-02 1.93734587e-03 9.99733288e-01 5.71887460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4707140569999 meters Centerline goodness : 0.989818 Centerline is valid? [True, True] Translation: X:212.11, Y:153.02, Z:5.72 [[ 8.81062734e-01 -4.72524523e-01 2.11904203e-02 2.12109588e+02] [ 4.72439112e-01 8.81315436e-01 9.18623767e-03 1.53024210e+02] [-2.30161671e-02 1.91753168e-03 9.99733254e-01 5.71949834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.500714057 meters Centerline goodness : 0.988932 Centerline is valid? [True, True] Translation: X:212.14, Y:153.04, Z:5.72 [[ 8.83140754e-01 -4.68626916e-01 2.12419776e-02 2.12136741e+02] [ 4.68543046e-01 8.83394055e-01 9.07508055e-03 1.53038875e+02] [-2.30178637e-02 1.93820738e-03 9.99733175e-01 5.71865156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.530714057 meters Centerline goodness : 0.989788 Centerline is valid? [True, True] Translation: X:212.17, Y:153.05, Z:5.72 [[ 8.84261857e-01 -4.66508138e-01 2.12397446e-02 2.12166317e+02] [ 4.66423545e-01 8.84514913e-01 9.07989322e-03 1.53053225e+02] [-2.30227149e-02 1.87771373e-03 9.99733179e-01 5.71776768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5607140569999 meters Centerline goodness : 0.989682 Centerline is valid? [True, True] Translation: X:212.19, Y:153.07, Z:5.72 [[ 8.87023200e-01 -4.61234815e-01 2.12670460e-02 2.12194184e+02] [ 4.61150122e-01 8.87276274e-01 9.02106147e-03 1.53067413e+02] [-2.30305729e-02 1.80541002e-03 9.99733131e-01 5.71574813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5907140569999 meters Centerline goodness : 0.988542 Centerline is valid? [True, True] Translation: X:212.23, Y:153.08, Z:5.72 [[ 8.87708318e-01 -4.59917875e-01 2.12011823e-02 2.12225884e+02] [ 4.59829450e-01 8.87959986e-01 9.16187532e-03 1.53082064e+02] [-2.30395118e-02 1.61585508e-03 9.99733249e-01 5.71596003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.620714057 meters Centerline goodness : 0.988617 Centerline is valid? [True, True] Translation: X:212.25, Y:153.10, Z:5.71 [[ 8.91874381e-01 -4.51779501e-01 2.13394154e-02 2.12252262e+02] [ 4.51695812e-01 8.92127953e-01 8.86615388e-03 1.53095655e+02] [-2.30430356e-02 1.73142907e-03 9.99732975e-01 5.71466178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.650714057 meters Centerline goodness : 0.987963 Centerline is valid? [True, True] Translation: X:212.28, Y:153.11, Z:5.72 [[ 8.94060985e-01 -4.47437070e-01 2.13312920e-02 2.12280149e+02] [ 4.47351733e-01 8.94313987e-01 8.88362272e-03 1.53108694e+02] [-2.30517349e-02 1.60008998e-03 9.99732993e-01 5.71500355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6807140569999 meters Centerline goodness : 0.987535 Centerline is valid? [True, True] Translation: X:212.31, Y:153.12, Z:5.71 [[ 8.97541702e-01 -4.40412360e-01 2.13505459e-02 2.12308828e+02] [ 4.40326027e-01 8.97794412e-01 8.84213700e-03 1.53121759e+02] [-2.30625873e-02 1.46501436e-03 9.99732950e-01 5.71393339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7107140569999 meters Centerline goodness : 0.988158 Centerline is valid? [True, True] Translation: X:212.34, Y:153.14, Z:5.71 [[ 8.98569892e-01 -4.38309715e-01 2.13715540e-02 2.12338551e+02] [ 4.38223864e-01 8.98822819e-01 8.79689980e-03 1.53136479e+02] [-2.30650071e-02 1.46089567e-03 9.99732900e-01 5.71441505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.740714057 meters Centerline goodness : 0.988544 Centerline is valid? [True, True] Translation: X:212.37, Y:153.15, Z:5.71 [[ 8.99648924e-01 -4.36091738e-01 2.13496881e-02 2.12368667e+02] [ 4.36004153e-01 8.99901199e-01 8.84372252e-03 1.53150113e+02] [-2.30692843e-02 1.35230723e-03 9.99732954e-01 5.71311098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.770714057 meters Centerline goodness : 0.987631 Centerline is valid? [True, True] Translation: X:212.40, Y:153.16, Z:5.71 [[ 8.99055182e-01 -4.37312293e-01 2.13948204e-02 2.12395613e+02] [ 4.37227339e-01 8.99308478e-01 8.74732868e-03 1.53162772e+02] [-2.30658578e-02 1.49006923e-03 9.99732837e-01 5.71170989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8007140569999 meters Centerline goodness : 0.989015 Centerline is valid? [True, True] Translation: X:212.42, Y:153.18, Z:5.71 [[ 8.97640965e-01 -4.40213289e-01 2.12828069e-02 2.12424651e+02] [ 4.40123531e-01 8.97892289e-01 8.98412039e-03 1.53175568e+02] [-2.30645974e-02 1.30254963e-03 9.99733128e-01 5.71054427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8307140569999 meters Centerline goodness : 0.990101 Centerline is valid? [True, True] Translation: X:212.45, Y:153.19, Z:5.70 [[ 8.95087051e-01 -4.45380842e-01 2.13325440e-02 2.12450319e+02] [ 4.45295032e-01 8.95339878e-01 8.87898917e-03 1.53186753e+02] [-2.30544091e-02 1.55180766e-03 9.99733007e-01 5.70437421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.860714057 meters Centerline goodness : 0.988977 Centerline is valid? [True, True] Translation: X:212.48, Y:153.20, Z:5.71 [[ 8.93855918e-01 -4.47850882e-01 2.12411002e-02 2.12479426e+02] [ 4.47761192e-01 8.94107164e-01 9.07158685e-03 1.53198559e+02] [-2.30545381e-02 1.40224877e-03 9.99733225e-01 5.70936710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.890714057 meters Centerline goodness : 0.989694 Centerline is valid? [True, True] Translation: X:212.50, Y:153.21, Z:5.71 [[ 8.90803413e-01 -4.53890360e-01 2.12795754e-02 2.12503490e+02] [ 4.53804301e-01 8.91056017e-01 8.99059811e-03 1.53209503e+02] [-2.30420395e-02 1.64790736e-03 9.99733139e-01 5.71002283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9207140569999 meters Centerline goodness : 0.989650 Centerline is valid? [True, True] Translation: X:212.53, Y:153.22, Z:5.71 [[ 8.89185692e-01 -4.57056460e-01 2.11706668e-02 2.12529965e+02] [ 4.56965832e-01 8.89436459e-01 9.22027602e-03 1.53221974e+02] [-2.30441496e-02 1.47573385e-03 9.99733359e-01 5.70996768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9507140569999 meters Centerline goodness : 0.990047 Centerline is valid? [True, True] Translation: X:212.56, Y:153.23, Z:5.71 [[ 8.85350582e-01 -4.64445558e-01 2.10872005e-02 2.12558443e+02] [ 4.64352859e-01 8.85600447e-01 9.39523914e-03 1.53234113e+02] [-2.30384113e-02 1.47382140e-03 9.99733494e-01 5.70970307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.980714057 meters Centerline goodness : 0.990766 Centerline is valid? [True, True] Translation: X:212.59, Y:153.25, Z:5.71 [[ 8.84193445e-01 -4.66644965e-01 2.10814672e-02 2.12588362e+02] [ 4.66552602e-01 8.84443426e-01 9.40724181e-03 1.53246701e+02] [-2.30352071e-02 1.51779184e-03 9.99733502e-01 5.70933213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.010714057 meters Centerline goodness : 0.990184 Centerline is valid? [True, True] Translation: X:212.62, Y:153.26, Z:5.71 [[ 8.81364483e-01 -4.71966839e-01 2.10701673e-02 2.12618055e+02] [ 4.71875422e-01 8.81614794e-01 9.43087495e-03 1.53257788e+02] [-2.30268314e-02 1.63045587e-03 9.99733518e-01 5.70758206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.040714057 meters Centerline goodness : 0.991500 Centerline is valid? [True, True] Translation: X:212.65, Y:153.27, Z:5.71 [[ 8.78618791e-01 -4.77060221e-01 2.10372609e-02 2.12646656e+02] [ 4.76968613e-01 8.78868988e-01 9.49969180e-03 1.53270028e+02] [-2.30209213e-02 1.68750545e-03 9.99733559e-01 5.70946780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0707140569999 meters Centerline goodness : 0.991896 Centerline is valid? [True, True] Translation: X:212.67, Y:153.28, Z:5.71 [[ 8.77089640e-01 -4.79866696e-01 2.10170748e-02 2.12674566e+02] [ 4.79774883e-01 8.77339737e-01 9.54185264e-03 1.53282880e+02] [-2.30179322e-02 1.71440453e-03 9.99733582e-01 5.70896476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1007140569999 meters Centerline goodness : 0.990929 Centerline is valid? [True, True] Translation: X:212.70, Y:153.30, Z:5.71 [[ 8.74771048e-01 -4.84081461e-01 2.09941260e-02 2.12699490e+02] [ 4.83989708e-01 8.75021142e-01 9.58977214e-03 1.53295073e+02] [-2.30125350e-02 1.77208587e-03 9.99733606e-01 5.70916153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.130714057 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:212.73, Y:153.31, Z:5.70 [[ 8.74478187e-01 -4.84614453e-01 2.08981671e-02 2.12727280e+02] [ 4.84518073e-01 8.74726463e-01 9.79034158e-03 1.53307563e+02] [-2.30247208e-02 1.56409953e-03 9.99733672e-01 5.70321556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.160714057 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:212.76, Y:153.32, Z:5.70 [[ 8.74510871e-01 -4.84556399e-01 2.08766203e-02 2.12756658e+02] [ 4.84458931e-01 8.74758714e-01 9.83545524e-03 1.53321531e+02] [-2.30278383e-02 1.51265264e-03 9.99733680e-01 5.70244499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1907140569999 meters Centerline goodness : 0.990928 Centerline is valid? [True, True] Translation: X:212.79, Y:153.34, Z:5.71 [[ 8.72536571e-01 -4.88103558e-01 2.08530097e-02 2.12786185e+02] [ 4.88005925e-01 8.72784343e-01 9.88473798e-03 1.53336441e+02] [-2.30249561e-02 1.55159688e-03 9.99733687e-01 5.70847994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2207140569999 meters Centerline goodness : 0.990743 Centerline is valid? [True, True] Translation: X:212.82, Y:153.35, Z:5.71 [[ 8.72724441e-01 -4.87765532e-01 2.09006288e-02 2.12816721e+02] [ 4.87670169e-01 8.72973112e-01 9.78530703e-03 1.53350339e+02] [-2.30186225e-02 1.65273658e-03 9.99733670e-01 5.70817876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.250714057 meters Centerline goodness : 0.990123 Centerline is valid? [True, True] Translation: X:212.84, Y:153.36, Z:5.71 [[ 8.72084307e-01 -4.88908517e-01 2.09146617e-02 2.12844753e+02] [ 4.88814179e-01 8.72333376e-01 9.75600450e-03 1.53364533e+02] [-2.30143511e-02 1.71532475e-03 9.99733663e-01 5.70770483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.280714057 meters Centerline goodness : 0.989606 Centerline is valid? [True, True] Translation: X:212.87, Y:153.38, Z:5.71 [[ 8.72406122e-01 -4.88334946e-01 2.08935220e-02 2.12872052e+02] [ 4.88239391e-01 8.72654716e-01 9.80014429e-03 1.53377945e+02] [-2.30185834e-02 1.65133457e-03 9.99733673e-01 5.70670548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3107140569999 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:212.89, Y:153.40, Z:5.70 [[ 8.70481202e-01 -4.91758753e-01 2.08759530e-02 2.12892372e+02] [ 4.91663300e-01 8.70729829e-01 9.83685337e-03 1.53395897e+02] [-2.30146737e-02 1.70114400e-03 9.99733680e-01 5.70270032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3407140569999 meters Centerline goodness : 0.992154 Centerline is valid? [True, True] Translation: X:212.92, Y:153.41, Z:5.70 [[ 8.71043321e-01 -4.90769482e-01 2.07086593e-02 2.12922444e+02] [ 4.90665452e-01 8.71288503e-01 1.01861592e-02 1.53410817e+02] [-2.30422728e-02 1.28843773e-03 9.99733661e-01 5.70068438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.370714057 meters Centerline goodness : 0.990983 Centerline is valid? [True, True] Translation: X:212.95, Y:153.43, Z:5.70 [[ 8.72123141e-01 -4.88847750e-01 2.07148224e-02 2.12954605e+02] [ 4.88743485e-01 8.72368220e-01 1.01732783e-02 1.53426334e+02] [-2.30441370e-02 1.25188307e-03 9.99733665e-01 5.69695915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.400714057 meters Centerline goodness : 0.991363 Centerline is valid? [True, True] Translation: X:212.98, Y:153.44, Z:5.70 [[ 8.72347694e-01 -4.88442370e-01 2.08219078e-02 2.12978150e+02] [ 4.88343301e-01 8.72594885e-01 9.94916858e-03 1.53441646e+02] [-2.30286858e-02 1.48910494e-03 9.99733696e-01 5.69994333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4307140569999 meters Centerline goodness : 0.990842 Centerline is valid? [True, True] Translation: X:213.02, Y:153.45, Z:5.70 [[ 8.77420758e-01 -4.79273391e-01 2.07323689e-02 2.13017207e+02] [ 4.79167316e-01 8.77665047e-01 1.01365114e-02 1.53452244e+02] [-2.30542357e-02 1.04028802e-03 9.99733675e-01 5.69915594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4607140569999 meters Centerline goodness : 0.989842 Centerline is valid? [True, True] Translation: X:213.05, Y:153.47, Z:5.70 [[ 8.78839206e-01 -4.76657135e-01 2.09672832e-02 2.13047447e+02] [ 4.76561964e-01 8.79087980e-01 9.64452934e-03 1.53468499e+02] [-2.30292204e-02 1.51621916e-03 9.99733643e-01 5.69643760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.490714057 meters Centerline goodness : 0.989826 Centerline is valid? [True, True] Translation: X:213.07, Y:153.48, Z:5.70 [[ 8.80233148e-01 -4.74075888e-01 2.10156740e-02 2.13073109e+02] [ 4.73982396e-01 8.80482604e-01 9.54315139e-03 1.53482469e+02] [-2.30281134e-02 1.56086135e-03 9.99733599e-01 5.69898246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.520714057 meters Centerline goodness : 0.990054 Centerline is valid? [True, True] Translation: X:213.11, Y:153.50, Z:5.70 [[ 8.82097434e-01 -4.70600455e-01 2.09601590e-02 2.13106188e+02] [ 4.70503220e-01 8.82345405e-01 9.65955694e-03 1.53499405e+02] [-2.30398919e-02 1.34115190e-03 9.99733647e-01 5.69922098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5507140569999 meters Centerline goodness : 0.989252 Centerline is valid? [True, True] Translation: X:213.13, Y:153.51, Z:5.70 [[ 8.82516195e-01 -4.69809297e-01 2.10805727e-02 2.13132672e+02] [ 4.69717839e-01 8.82766483e-01 9.40683290e-03 1.53513830e+02] [-2.30286406e-02 1.60023869e-03 9.99733525e-01 5.69878090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5807140569999 meters Centerline goodness : 0.988813 Centerline is valid? [True, True] Translation: X:213.16, Y:153.53, Z:5.70 [[ 8.82992535e-01 -4.68915552e-01 2.10330415e-02 2.13161216e+02] [ 4.68821471e-01 8.83241787e-01 9.50652098e-03 1.53528944e+02] [-2.30350167e-02 1.46655438e-03 9.99733583e-01 5.69699134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.610714057 meters Centerline goodness : 0.989486 Centerline is valid? [True, True] Translation: X:213.19, Y:153.54, Z:5.69 [[ 8.83291378e-01 -4.68352857e-01 2.10224226e-02 2.13191405e+02] [ 4.68258090e-01 8.83540358e-01 9.52877327e-03 1.53542664e+02] [-2.30369870e-02 1.42723619e-03 9.99733595e-01 5.69494747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.640714057 meters Centerline goodness : 0.988624 Centerline is valid? [True, True] Translation: X:213.22, Y:153.56, Z:5.69 [[ 8.82709268e-01 -4.69447861e-01 2.10488354e-02 2.13216311e+02] [ 4.69354717e-01 8.82958892e-01 9.47340400e-03 1.53556290e+02] [-2.30325256e-02 1.51710866e-03 9.99733565e-01 5.69237220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6707140569999 meters Centerline goodness : 0.988438 Centerline is valid? [True, True] Translation: X:213.24, Y:153.57, Z:5.69 [[ 8.82034330e-01 -4.70717462e-01 2.09883526e-02 2.13244481e+02] [ 4.70621663e-01 8.82282882e-01 9.60035071e-03 1.53571079e+02] [-2.30367169e-02 1.40973451e-03 9.99733626e-01 5.68925100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7007140569999 meters Centerline goodness : 0.988241 Centerline is valid? [True, True] Translation: X:213.27, Y:153.59, Z:5.69 [[ 8.81226310e-01 -4.72227683e-01 2.10049174e-02 2.13272146e+02] [ 4.72133135e-01 8.81475355e-01 9.56558258e-03 1.53586078e+02] [-2.30324499e-02 1.48767445e-03 9.99733611e-01 5.69031089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.730714057 meters Centerline goodness : 0.988447 Centerline is valid? [True, True] Translation: X:213.30, Y:153.60, Z:5.69 [[ 8.80839616e-01 -4.72949211e-01 2.09908158e-02 2.13301901e+02] [ 4.72854165e-01 8.81088458e-01 9.59518152e-03 1.53600148e+02] [-2.30327991e-02 1.47377866e-03 9.99733624e-01 5.68665528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.760714057 meters Centerline goodness : 0.987994 Centerline is valid? [True, True] Translation: X:213.33, Y:153.61, Z:5.69 [[ 8.80151064e-01 -4.74228489e-01 2.10105837e-02 2.13330069e+02] [ 4.74134790e-01 8.80400436e-01 9.55368880e-03 1.53614916e+02] [-2.30283585e-02 1.55315936e-03 9.99733606e-01 5.68940441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.790714057 meters Centerline goodness : 0.988991 Centerline is valid? [True, True] Translation: X:213.36, Y:153.63, Z:5.69 [[ 8.78198227e-01 -4.77837409e-01 2.09591018e-02 2.13359590e+02] [ 4.77742175e-01 8.78446967e-01 9.66126169e-03 1.53631091e+02] [-2.30279717e-02 1.52854400e-03 9.99733653e-01 5.68596891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8207140569999 meters Centerline goodness : 0.988444 Centerline is valid? [True, True] Translation: X:213.38, Y:153.64, Z:5.68 [[ 8.78465276e-01 -4.77344411e-01 2.10017112e-02 2.13384669e+02] [ 4.77251156e-01 8.78714804e-01 9.57219263e-03 1.53643920e+02] [-2.30237472e-02 1.61425209e-03 9.99733615e-01 5.68472912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8507140569999 meters Centerline goodness : 0.988828 Centerline is valid? [True, True] Translation: X:213.41, Y:153.66, Z:5.68 [[ 8.77264619e-01 -4.79550606e-01 2.09285680e-02 2.13414055e+02] [ 4.79454335e-01 8.77512939e-01 9.72533395e-03 1.53660002e+02] [-2.30288790e-02 1.50260130e-03 9.99733671e-01 5.68417624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.880714057 meters Centerline goodness : 0.989371 Centerline is valid? [True, True] Translation: X:213.44, Y:153.68, Z:5.68 [[ 8.75059034e-01 -4.83564137e-01 2.09143884e-02 2.13443255e+02] [ 4.83468299e-01 8.75307514e-01 9.75497135e-03 1.53675719e+02] [-2.30236756e-02 1.57526798e-03 9.99733679e-01 5.68452956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.910714057 meters Centerline goodness : 0.988839 Centerline is valid? [True, True] Translation: X:213.47, Y:153.69, Z:5.68 [[ 8.74234452e-01 -4.85052265e-01 2.09385459e-02 2.13469789e+02] [ 4.84958053e-01 8.74483568e-01 9.70445697e-03 1.53689268e+02] [-2.30175831e-02 1.67034582e-03 9.99733665e-01 5.68297559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9407140569999 meters Centerline goodness : 0.990131 Centerline is valid? [True, True] Translation: X:213.50, Y:153.70, Z:5.68 [[ 8.72701882e-01 -4.87805681e-01 2.09055553e-02 2.13498826e+02] [ 4.87710611e-01 8.72950651e-01 9.77342819e-03 1.53704825e+02] [-2.30170519e-02 1.66657197e-03 9.99733683e-01 5.68129076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9707140569999 meters Centerline goodness : 0.989477 Centerline is valid? [True, True] Translation: X:213.53, Y:153.72, Z:5.68 [[ 8.72759123e-01 -4.87702854e-01 2.09150525e-02 2.13527723e+02] [ 4.87608227e-01 8.73008067e-01 9.75356790e-03 1.53718943e+02] [-2.30158525e-02 1.68583631e-03 9.99733679e-01 5.68118789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.000714057 meters Centerline goodness : 0.989685 Centerline is valid? [True, True] Translation: X:213.56, Y:153.74, Z:5.68 [[ 8.72242347e-01 -4.88626644e-01 2.09114940e-02 2.13558223e+02] [ 4.88532104e-01 8.72491321e-01 9.76100794e-03 1.53735052e+02] [-2.30145856e-02 1.70197171e-03 9.99733681e-01 5.67884378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.030714057 meters Centerline goodness : 0.989748 Centerline is valid? [True, True] Translation: X:213.59, Y:153.75, Z:5.68 [[ 8.72543770e-01 -4.88084850e-01 2.09892396e-02 2.13587104e+02] [ 4.87994038e-01 8.72794186e-01 9.59835497e-03 1.53749829e+02] [-2.30040979e-02 1.86763895e-03 9.99733626e-01 5.67935571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0607140569999 meters Centerline goodness : 0.990607 Centerline is valid? [True, True] Translation: X:213.62, Y:153.77, Z:5.68 [[ 8.72963405e-01 -4.87333905e-01 2.09894734e-02 2.13616767e+02] [ 4.87242889e-01 8.73213747e-01 9.59786566e-03 1.53765269e+02] [-2.30056621e-02 1.84838617e-03 9.99733626e-01 5.67748283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0907140569999 meters Centerline goodness : 0.990212 Centerline is valid? [True, True] Translation: X:213.65, Y:153.78, Z:5.68 [[ 8.73354281e-01 -4.86630523e-01 2.10483663e-02 2.13645280e+02] [ 4.86542254e-01 8.73605671e-01 9.47457436e-03 1.53780337e+02] [-2.29985892e-02 1.96625949e-03 9.99733564e-01 5.67657576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.120714057 meters Centerline goodness : 0.990047 Centerline is valid? [True, True] Translation: X:213.67, Y:153.80, Z:5.68 [[ 8.74006771e-01 -4.85457587e-01 2.10498123e-02 2.13673812e+02] [ 4.85369053e-01 8.74258070e-01 9.47155043e-03 1.53798186e+02] [-2.30010043e-02 1.93872825e-03 9.99733562e-01 5.67642033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.150714057 meters Centerline goodness : 0.988972 Centerline is valid? [True, True] Translation: X:213.70, Y:153.82, Z:5.68 [[ 8.75815013e-01 -4.82186411e-01 2.10791046e-02 2.13703168e+02] [ 4.82098402e-01 8.76066537e-01 9.41030982e-03 1.53816550e+02] [-2.30042217e-02 1.92051203e-03 9.99733523e-01 5.67688210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1807140569999 meters Centerline goodness : 0.989516 Centerline is valid? [True, True] Translation: X:213.73, Y:153.83, Z:5.68 [[ 8.76710093e-01 -4.80554251e-01 2.11429528e-02 2.13731134e+02] [ 4.80468968e-01 8.76962661e-01 9.27694045e-03 1.53832687e+02] [-2.29996533e-02 2.02534537e-03 9.99733421e-01 5.67682401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2107140569999 meters Centerline goodness : 0.988344 Centerline is valid? [True, True] Translation: X:213.76, Y:153.85, Z:5.67 [[ 8.79777363e-01 -4.74915891e-01 2.11350051e-02 2.13756639e+02] [ 4.74828591e-01 8.80029227e-01 9.29353373e-03 1.53848270e+02] [-2.30130690e-02 1.85926408e-03 9.99733435e-01 5.67467903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.240714057 meters Centerline goodness : 0.989159 Centerline is valid? [True, True] Translation: X:213.79, Y:153.86, Z:5.67 [[ 8.80523544e-01 -4.73533116e-01 2.10873538e-02 2.13788060e+02] [ 4.73443048e-01 8.80774349e-01 9.39289687e-03 1.53864106e+02] [-2.30210480e-02 1.71299419e-03 9.99733513e-01 5.67476259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.270714057 meters Centerline goodness : 0.987910 Centerline is valid? [True, True] Translation: X:213.81, Y:153.88, Z:5.67 [[ 8.84181265e-01 -4.66663119e-01 2.11902014e-02 2.13812967e+02] [ 4.66576214e-01 8.84433375e-01 9.17828621e-03 1.53879017e+02] [-2.30244890e-02 1.77157522e-03 9.99733332e-01 5.67408770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3007140569999 meters Centerline goodness : 0.989462 Centerline is valid? [True, True] Translation: X:213.84, Y:153.90, Z:5.67 [[ 8.84022304e-01 -4.66968312e-01 2.10988476e-02 2.13843268e+02] [ 4.66876961e-01 8.84272659e-01 9.36845926e-03 1.53896189e+02] [-2.30319077e-02 1.56863893e-03 9.99733500e-01 5.67430324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3307140569999 meters Centerline goodness : 0.988618 Centerline is valid? [True, True] Translation: X:213.87, Y:153.91, Z:5.67 [[ 8.86656187e-01 -4.61942619e-01 2.12090351e-02 2.13870022e+02] [ 4.61855309e-01 8.86908199e-01 9.13898421e-03 1.53911195e+02] [-2.30321534e-02 1.69236857e-03 9.99733292e-01 5.67334570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.360714057 meters Centerline goodness : 0.989215 Centerline is valid? [True, True] Translation: X:213.90, Y:153.93, Z:5.67 [[ 8.86233787e-01 -4.62756129e-01 2.11291289e-02 2.13900010e+02] [ 4.62665117e-01 8.86484306e-01 9.30405460e-03 1.53926632e+02] [-2.30361495e-02 1.53014337e-03 9.99733462e-01 5.67130305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.390714057 meters Centerline goodness : 0.989632 Centerline is valid? [True, True] Translation: X:213.92, Y:153.94, Z:5.67 [[ 8.87148765e-01 -4.60994749e-01 2.12346430e-02 2.13924739e+02] [ 4.60908434e-01 8.87401183e-01 9.08600499e-03 1.53940927e+02] [-2.30322479e-02 1.72658796e-03 9.99733232e-01 5.67034982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4207140569999 meters Centerline goodness : 0.988332 Centerline is valid? [True, True] Translation: X:213.95, Y:153.95, Z:5.67 [[ 8.87553434e-01 -4.60217928e-01 2.11745275e-02 2.13952601e+02] [ 4.60128427e-01 8.87804595e-01 9.21039205e-03 1.53953823e+02] [-2.30376303e-02 1.56828693e-03 9.99733368e-01 5.66769517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4507140569999 meters Centerline goodness : 0.990046 Centerline is valid? [True, True] Translation: X:213.98, Y:153.97, Z:5.67 [[ 8.86195081e-01 -4.62828886e-01 2.11589475e-02 2.13975441e+02] [ 4.62739357e-01 8.86446198e-01 9.24259020e-03 1.53970664e+02] [-2.30340062e-02 1.60033977e-03 9.99733401e-01 5.66849441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.480714057 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:214.00, Y:153.99, Z:5.67 [[ 8.85534576e-01 -4.64095303e-01 2.10728236e-02 2.14002159e+02] [ 4.64001912e-01 8.85784109e-01 9.42008688e-03 1.53985254e+02] [-2.30377903e-02 1.43601779e-03 9.99733564e-01 5.66749747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.510714057 meters Centerline goodness : 0.989995 Centerline is valid? [True, True] Translation: X:214.03, Y:154.00, Z:5.66 [[ 8.85157742e-01 -4.64815762e-01 2.10256585e-02 2.14030835e+02] [ 4.64720270e-01 8.85406400e-01 9.51723549e-03 1.53999821e+02] [-2.30400137e-02 1.34679504e-03 9.99733636e-01 5.66485257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.540714057 meters Centerline goodness : 0.989145 Centerline is valid? [True, True] Translation: X:214.06, Y:154.01, Z:5.66 [[ 8.85022945e-01 -4.65072448e-01 2.10239351e-02 2.14060760e+02] [ 4.64976943e-01 8.85271595e-01 9.52078416e-03 1.54013055e+02] [-2.30397470e-02 1.34953264e-03 9.99733639e-01 5.66208480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5707140569999 meters Centerline goodness : 0.990202 Centerline is valid? [True, True] Translation: X:214.09, Y:154.03, Z:5.66 [[ 8.84309941e-01 -4.66425854e-01 2.10440244e-02 2.14090027e+02] [ 4.66331711e-01 8.84559142e-01 9.47940265e-03 1.54026918e+02] [-2.30361227e-02 1.43076593e-03 9.99733609e-01 5.66360539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6007140569999 meters Centerline goodness : 0.989115 Centerline is valid? [True, True] Translation: X:214.12, Y:154.04, Z:5.66 [[ 8.82683327e-01 -4.69496671e-01 2.10480159e-02 2.14118148e+02] [ 4.69403591e-01 8.82932934e-01 9.47118289e-03 1.54040334e+02] [-2.30306753e-02 1.51995904e-03 9.99733603e-01 5.66350451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.630714057 meters Centerline goodness : 0.988866 Centerline is valid? [True, True] Translation: X:214.15, Y:154.05, Z:5.67 [[ 8.81668631e-01 -4.71402408e-01 2.09808243e-02 2.14150277e+02] [ 4.71306589e-01 8.81917096e-01 9.60913973e-03 1.54052843e+02] [-2.30331192e-02 1.41632367e-03 9.99733699e-01 5.66650552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.660714057 meters Centerline goodness : 0.989486 Centerline is valid? [True, True] Translation: X:214.18, Y:154.07, Z:5.67 [[ 8.80846182e-01 -4.72932592e-01 2.10895145e-02 2.14177480e+02] [ 4.72842517e-01 8.81096963e-01 9.38595453e-03 1.54067057e+02] [-2.30208310e-02 1.70443690e-03 9.99733533e-01 5.66861303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6907140569999 meters Centerline goodness : 0.989086 Centerline is valid? [True, True] Translation: X:214.21, Y:154.08, Z:5.67 [[ 8.79078296e-01 -4.76211811e-01 2.10632381e-02 2.14205968e+02] [ 4.76121383e-01 8.79328902e-01 9.43987766e-03 1.54081235e+02] [-2.30168952e-02 1.73026646e-03 9.99733579e-01 5.67085408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7207140569999 meters Centerline goodness : 0.989352 Centerline is valid? [True, True] Translation: X:214.23, Y:154.10, Z:5.67 [[ 8.77823619e-01 -4.78522295e-01 2.10263555e-02 2.14234801e+02] [ 4.78430724e-01 8.78073744e-01 9.51538917e-03 1.54095844e+02] [-2.30160166e-02 1.70682113e-03 9.99733639e-01 5.66918691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.750714057 meters Centerline goodness : 0.988889 Centerline is valid? [True, True] Translation: X:214.26, Y:154.11, Z:5.66 [[ 8.75724967e-01 -4.82351020e-01 2.10541120e-02 2.14258144e+02] [ 4.82261900e-01 8.75976024e-01 9.45857580e-03 1.54106333e+02] [-2.30052510e-02 1.87048505e-03 9.99733594e-01 5.66494061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.780714057 meters Centerline goodness : 0.989579 Centerline is valid? [True, True] Translation: X:214.29, Y:154.12, Z:5.66 [[ 8.73926437e-01 -4.85608716e-01 2.08987412e-02 2.14290011e+02] [ 4.85512957e-01 8.74174813e-01 9.77570361e-03 1.54120317e+02] [-2.30163201e-02 1.60336383e-03 9.99733804e-01 5.65985885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8107140569999 meters Centerline goodness : 0.989819 Centerline is valid? [True, True] Translation: X:214.32, Y:154.13, Z:5.66 [[ 8.71958515e-01 -4.89128851e-01 2.10075127e-02 2.14318461e+02] [ 4.89039406e-01 8.72209373e-01 9.55346545e-03 1.54132757e+02] [-2.29958250e-02 1.94327597e-03 9.99733672e-01 5.66079457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8407140569999 meters Centerline goodness : 0.987983 Centerline is valid? [True, True] Translation: X:214.35, Y:154.15, Z:5.66 [[ 8.71599666e-01 -4.89768049e-01 2.10066883e-02 2.14346957e+02] [ 4.89678748e-01 8.71850574e-01 9.55515027e-03 1.54146120e+02] [-2.29945005e-02 1.95826302e-03 9.99733674e-01 5.65859781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.870714057 meters Centerline goodness : 0.989905 Centerline is valid? [True, True] Translation: X:214.38, Y:154.16, Z:5.66 [[ 8.71019839e-01 -4.90800093e-01 2.09692457e-02 2.14377020e+02] [ 4.90709261e-01 8.71270140e-01 9.63147571e-03 1.54161204e+02] [-2.29970068e-02 1.90059663e-03 9.99733727e-01 5.65676955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.900714057 meters Centerline goodness : 0.990871 Centerline is valid? [True, True] Translation: X:214.41, Y:154.18, Z:5.65 [[ 8.69951636e-01 -4.92688730e-01 2.10229725e-02 2.14408917e+02] [ 4.92601068e-01 8.70203149e-01 9.52195682e-03 1.54176958e+02] [-2.29856177e-02 2.07229676e-03 9.99733648e-01 5.65122394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9307140569999 meters Centerline goodness : 0.989710 Centerline is valid? [True, True] Translation: X:214.43, Y:154.19, Z:5.65 [[ 8.73287407e-01 -4.86746537e-01 2.11403111e-02 2.14434094e+02] [ 4.86662905e-01 8.73540525e-01 9.28267187e-03 1.54188787e+02] [-2.29852268e-02 2.18176477e-03 9.99733424e-01 5.65297580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9607140569999 meters Centerline goodness : 0.990707 Centerline is valid? [True, True] Translation: X:214.47, Y:154.21, Z:5.65 [[ 8.73004938e-01 -4.87256230e-01 2.10652485e-02 2.14465710e+02] [ 4.87169069e-01 8.73256701e-01 9.43570337e-03 1.54205530e+02] [-2.29929746e-02 2.02492184e-03 9.99733576e-01 5.64790625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.990714057 meters Centerline goodness : 0.991239 Centerline is valid? [True, True] Translation: X:214.49, Y:154.22, Z:5.65 [[ 8.75460718e-01 -4.82824965e-01 2.11797999e-02 2.14493956e+02] [ 4.82742128e-01 8.75714196e-01 9.20243989e-03 1.54222511e+02] [-2.29906191e-02 2.16800703e-03 9.99733330e-01 5.64777826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.020714057 meters Centerline goodness : 0.991442 Centerline is valid? [True, True] Translation: X:214.52, Y:154.24, Z:5.65 [[ 8.76214968e-01 -4.81453754e-01 2.12040558e-02 2.14520952e+02] [ 4.81371707e-01 8.76468767e-01 9.15311238e-03 1.54238434e+02] [-2.29914930e-02 2.18693848e-03 9.99733269e-01 5.64852209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0507140569999 meters Centerline goodness : 0.991442 Centerline is valid? [True, True] Translation: X:214.55, Y:154.25, Z:5.65 [[ 8.75874054e-01 -4.82075146e-01 2.11706248e-02 2.14548885e+02] [ 4.81991647e-01 8.76127289e-01 9.22096799e-03 1.54252692e+02] [-2.29933616e-02 2.12765768e-03 9.99733354e-01 5.64776576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0807140569999 meters Centerline goodness : 0.989664 Centerline is valid? [True, True] Translation: X:214.57, Y:154.27, Z:5.65 [[ 8.79794257e-01 -4.74882894e-01 2.11731390e-02 2.14570773e+02] [ 4.74797444e-01 8.80046848e-01 9.21586953e-03 1.54265250e+02] [-2.30098130e-02 1.94488318e-03 9.99733347e-01 5.65441398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.110714057 meters Centerline goodness : 0.991471 Centerline is valid? [True, True] Translation: X:214.60, Y:154.28, Z:5.65 [[ 8.78695417e-01 -4.76921745e-01 2.09765126e-02 2.14603362e+02] [ 4.76827416e-01 8.78944382e-01 9.61187288e-03 1.54282759e+02] [-2.30212991e-02 1.55626768e-03 9.99733763e-01 5.64904720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.140714057 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:214.63, Y:154.30, Z:5.65 [[ 8.79761246e-01 -4.74944397e-01 2.11652784e-02 2.14632272e+02] [ 4.74858593e-01 8.80013692e-01 9.23139333e-03 1.54296590e+02] [-2.30101334e-02 1.92909224e-03 9.99733371e-01 5.64759330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1707140569999 meters Centerline goodness : 0.989772 Centerline is valid? [True, True] Translation: X:214.66, Y:154.31, Z:5.65 [[ 8.79903414e-01 -4.74683319e-01 2.11122781e-02 2.14658036e+02] [ 4.74594899e-01 8.80154812e-01 9.33751676e-03 1.54309125e+02] [-2.30144366e-02 1.80366659e-03 9.99733506e-01 5.65409653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2007140569999 meters Centerline goodness : 0.990363 Centerline is valid? [True, True] Translation: X:214.69, Y:154.32, Z:5.65 [[ 8.81131711e-01 -4.72401479e-01 2.10653758e-02 2.14691802e+02] [ 4.72310169e-01 8.81381958e-01 9.43125390e-03 1.54322915e+02] [-2.30219804e-02 1.63921431e-03 9.99733615e-01 5.65125878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.230714057 meters Centerline goodness : 0.989426 Centerline is valid? [True, True] Translation: X:214.71, Y:154.33, Z:5.65 [[ 8.81769713e-01 -4.71202719e-01 2.12172064e-02 2.14714726e+02] [ 4.71118329e-01 8.82022792e-01 9.12770615e-03 1.54334381e+02] [-2.30150596e-02 1.94727998e-03 9.99733222e-01 5.64995251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.260714057 meters Centerline goodness : 0.989345 Centerline is valid? [True, True] Translation: X:214.74, Y:154.35, Z:5.65 [[ 8.79768940e-01 -4.74935859e-01 2.10366726e-02 2.14741527e+02] [ 4.74843904e-01 8.80018884e-01 9.48848045e-03 1.54349073e+02] [-2.30190887e-02 1.64146535e-03 9.99733678e-01 5.64861449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.290714057 meters Centerline goodness : 0.989922 Centerline is valid? [True, True] Translation: X:214.77, Y:154.36, Z:5.65 [[ 8.78851223e-01 -4.76631166e-01 2.10537152e-02 2.14769026e+02] [ 4.76540505e-01 8.79101678e-01 9.45445186e-03 1.54362099e+02] [-2.30146427e-02 1.72389149e-03 9.99733642e-01 5.64720108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3207140569999 meters Centerline goodness : 0.989668 Centerline is valid? [True, True] Translation: X:214.80, Y:154.38, Z:5.65 [[ 8.77542184e-01 -4.79041106e-01 2.09602913e-02 2.14797406e+02] [ 4.78946705e-01 8.77791048e-01 9.64001262e-03 1.54375743e+02] [-2.30167184e-02 1.57934473e-03 9.99733833e-01 5.64596339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3507140569999 meters Centerline goodness : 0.990212 Centerline is valid? [True, True] Translation: X:214.82, Y:154.39, Z:5.65 [[ 8.77114901e-01 -4.79822707e-01 2.09671180e-02 2.14822624e+02] [ 4.79728850e-01 8.77363985e-01 9.62646308e-03 1.54389836e+02] [-2.30147898e-02 1.61501720e-03 9.99733820e-01 5.64664210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.380714057 meters Centerline goodness : 0.989319 Centerline is valid? [True, True] Translation: X:214.85, Y:154.40, Z:5.65 [[ 8.76794427e-01 -4.80410592e-01 2.09092367e-02 2.14847825e+02] [ 4.80314163e-01 8.77042421e-01 9.74146964e-03 1.54404492e+02] [-2.30181928e-02 1.50173622e-03 9.99733918e-01 5.64900788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.410714057 meters Centerline goodness : 0.989764 Centerline is valid? [True, True] Translation: X:214.88, Y:154.42, Z:5.65 [[ 8.76456866e-01 -4.81029274e-01 2.08374603e-02 2.14876971e+02] [ 4.80929639e-01 8.76703480e-01 9.88382469e-03 1.54418700e+02] [-2.30226830e-02 1.35860624e-03 9.99734020e-01 5.65056710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4407140569999 meters Centerline goodness : 0.989234 Centerline is valid? [True, True] Translation: X:214.91, Y:154.43, Z:5.65 [[ 8.76273828e-01 -4.81361707e-01 2.08586857e-02 2.14906393e+02] [ 4.81263165e-01 8.76520910e-01 9.84173478e-03 1.54433361e+02] [-2.30205085e-02 1.41446251e-03 9.99733992e-01 5.65100519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4707140569999 meters Centerline goodness : 0.989127 Centerline is valid? [True, True] Translation: X:214.93, Y:154.45, Z:5.65 [[ 8.75476757e-01 -4.82809759e-01 2.08610771e-02 2.14933976e+02] [ 4.82711738e-01 8.75724050e-01 9.83699520e-03 1.54447908e+02] [-2.30179442e-02 1.45782613e-03 9.99733989e-01 5.65062933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.500714057 meters Centerline goodness : 0.989669 Centerline is valid? [True, True] Translation: X:214.96, Y:154.46, Z:5.65 [[ 8.74142175e-01 -4.85224725e-01 2.07948026e-02 2.14962408e+02] [ 4.85124277e-01 8.74388402e-01 9.96789714e-03 1.54460928e+02] [-2.30194044e-02 1.37470429e-03 9.99734073e-01 5.64848235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.530714057 meters Centerline goodness : 0.989084 Centerline is valid? [True, True] Translation: X:214.99, Y:154.47, Z:5.65 [[ 8.74064456e-01 -4.85365320e-01 2.07805822e-02 2.14990221e+02] [ 4.85264246e-01 8.74310409e-01 9.99598868e-03 1.54474954e+02] [-2.30203856e-02 1.34693515e-03 9.99734088e-01 5.64995461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5607140569999 meters Centerline goodness : 0.989828 Centerline is valid? [True, True] Translation: X:215.02, Y:154.49, Z:5.65 [[ 8.72777554e-01 -4.87675309e-01 2.07878267e-02 2.15020392e+02] [ 4.87575226e-01 8.73023920e-01 9.98166266e-03 1.54488970e+02] [-2.30160804e-02 1.42385819e-03 9.99734081e-01 5.65057146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5907140569999 meters Centerline goodness : 0.989097 Centerline is valid? [True, True] Translation: X:215.05, Y:154.50, Z:5.65 [[ 8.71337899e-01 -4.90241836e-01 2.08136452e-02 2.15047201e+02] [ 4.90143693e-01 8.71585076e-01 9.93060050e-03 1.54499703e+02] [-2.30092584e-02 1.54876834e-03 9.99734052e-01 5.64871701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.620714057 meters Centerline goodness : 0.988344 Centerline is valid? [True, True] Translation: X:215.08, Y:154.51, Z:5.65 [[ 8.70873187e-01 -4.91070255e-01 2.07339399e-02 2.15077236e+02] [ 4.90968602e-01 8.71118856e-01 1.00881613e-02 1.54513727e+02] [-2.30157219e-02 1.39420433e-03 9.99734131e-01 5.64638954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.650714057 meters Centerline goodness : 0.988410 Centerline is valid? [True, True] Translation: X:215.10, Y:154.53, Z:5.65 [[ 8.70658213e-01 -4.91450904e-01 2.07433221e-02 2.15104886e+02] [ 4.91349799e-01 8.70904115e-01 1.00696119e-02 1.54525805e+02] [-2.30141645e-02 1.42503685e-03 9.99734123e-01 5.64510771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6807140569999 meters Centerline goodness : 0.988548 Centerline is valid? [True, True] Translation: X:215.14, Y:154.54, Z:5.64 [[ 8.70095132e-01 -4.92449402e-01 2.06892928e-02 2.15135754e+02] [ 4.92346052e-01 8.70340055e-01 1.01761072e-02 1.54539912e+02] [-2.30179382e-02 1.33211029e-03 9.99734165e-01 5.64214976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7107140569999 meters Centerline goodness : 0.987922 Centerline is valid? [True, True] Translation: X:215.16, Y:154.55, Z:5.64 [[ 8.70043281e-01 -4.92539080e-01 2.07350866e-02 2.15162507e+02] [ 4.92437898e-01 8.70289144e-01 1.00857890e-02 1.54553045e+02] [-2.30131660e-02 1.43566951e-03 9.99734131e-01 5.64088495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.740714057 meters Centerline goodness : 0.988329 Centerline is valid? [True, True] Translation: X:215.19, Y:154.57, Z:5.64 [[ 8.70732742e-01 -4.91321694e-01 2.06757241e-02 2.15194378e+02] [ 4.91217392e-01 8.70977252e-01 1.02028993e-02 1.54566258e+02] [-2.30209911e-02 1.27227679e-03 9.99734172e-01 5.63822443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.770714057 meters Centerline goodness : 0.988724 Centerline is valid? [True, True] Translation: X:215.22, Y:154.58, Z:5.64 [[ 8.69681466e-01 -4.93176930e-01 2.07524477e-02 2.15224420e+02] [ 4.93076737e-01 8.69927752e-01 1.00517361e-02 1.54580663e+02] [-2.30104145e-02 1.49074062e-03 9.99734114e-01 5.63578737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8007140569999 meters Centerline goodness : 0.987570 Centerline is valid? [True, True] Translation: X:215.25, Y:154.59, Z:5.64 [[ 8.69191552e-01 -4.94037308e-01 2.08130882e-02 2.15251904e+02] [ 4.93940206e-01 8.69439144e-01 9.93220133e-03 1.54594240e+02] [-2.30025915e-02 1.64743555e-03 9.99734048e-01 5.63651778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8307140569999 meters Centerline goodness : 0.988059 Centerline is valid? [True, True] Translation: X:215.28, Y:154.61, Z:5.64 [[ 8.67294386e-01 -4.97361682e-01 2.07799096e-02 2.15280522e+02] [ 4.97263967e-01 8.67541696e-01 9.99763784e-03 1.54607568e+02] [-2.29998800e-02 1.66220511e-03 9.99734086e-01 5.63644128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.860714057 meters Centerline goodness : 0.988328 Centerline is valid? [True, True] Translation: X:215.31, Y:154.62, Z:5.63 [[ 8.66498637e-01 -4.98747949e-01 2.07508015e-02 2.15311386e+02] [ 4.98649261e-01 8.66745529e-01 1.00550095e-02 1.54622743e+02] [-2.30005797e-02 1.63471981e-03 9.99734115e-01 5.63460826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.890714057 meters Centerline goodness : 0.988125 Centerline is valid? [True, True] Translation: X:215.34, Y:154.64, Z:5.64 [[ 8.65532073e-01 -5.00421917e-01 2.07878610e-02 2.15341167e+02] [ 5.00325449e-01 8.65779882e-01 9.98200551e-03 1.54636586e+02] [-2.29929262e-02 1.76094998e-03 9.99734077e-01 5.63555407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9207140569999 meters Centerline goodness : 0.988267 Centerline is valid? [True, True] Translation: X:215.37, Y:154.65, Z:5.64 [[ 8.65489296e-01 -5.00495485e-01 2.07977755e-02 2.15365001e+02] [ 5.00399506e-01 8.65737306e-01 9.96247307e-03 1.54649930e+02] [-2.29915829e-02 1.78478276e-03 9.99734065e-01 5.63588254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9507140569999 meters Centerline goodness : 0.988504 Centerline is valid? [True, True] Translation: X:215.39, Y:154.67, Z:5.64 [[ 8.64184811e-01 -5.02748487e-01 2.07019932e-02 2.15393609e+02] [ 5.02648646e-01 8.64431195e-01 1.01512085e-02 1.54666347e+02] [-2.29989534e-02 1.63330868e-03 9.99734155e-01 5.63612931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.980714057 meters Centerline goodness : 0.988246 Centerline is valid? [True, True] Translation: X:215.42, Y:154.68, Z:5.64 [[ 8.63602392e-01 -5.03748072e-01 2.07072093e-02 2.15422418e+02] [ 5.03648762e-01 8.63848995e-01 1.01409303e-02 1.54680344e+02] [-2.29963760e-02 1.67142871e-03 9.99734151e-01 5.63516610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.010714057 meters Centerline goodness : 0.988580 Centerline is valid? [True, True] Translation: X:215.45, Y:154.70, Z:5.63 [[ 8.63206254e-01 -5.04426712e-01 2.07039862e-02 2.15449847e+02] [ 5.04327445e-01 8.63452872e-01 1.01472796e-02 1.54695979e+02] [-2.29954752e-02 1.68239321e-03 9.99734153e-01 5.63397587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.040714057 meters Centerline goodness : 0.988655 Centerline is valid? [True, True] Translation: X:215.48, Y:154.71, Z:5.63 [[ 8.62553473e-01 -5.05543782e-01 2.06637488e-02 2.15478115e+02] [ 5.05442945e-01 8.62799425e-01 1.02264774e-02 1.54710664e+02] [-2.29986027e-02 1.62346241e-03 9.99734179e-01 5.63292640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0707140569999 meters Centerline goodness : 0.988864 Centerline is valid? [True, True] Translation: X:215.51, Y:154.72, Z:5.63 [[ 8.62983778e-01 -5.04808950e-01 2.06621162e-02 2.15506281e+02] [ 5.04707827e-01 8.63229612e-01 1.02296908e-02 1.54724731e+02] [-2.30001900e-02 1.60027452e-03 9.99734180e-01 5.63135039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1007140569999 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:215.53, Y:154.74, Z:5.63 [[ 8.58942839e-01 -5.11655075e-01 2.06466490e-02 2.15528244e+02] [ 5.11555182e-01 8.59189167e-01 1.02601284e-02 1.54744156e+02] [-2.29890239e-02 1.74903644e-03 9.99734187e-01 5.63252024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.130714057 meters Centerline goodness : 0.987825 Centerline is valid? [True, True] Translation: X:215.56, Y:154.75, Z:5.63 [[ 8.63969666e-01 -5.03124292e-01 2.05514759e-02 2.15559293e+02] [ 5.03017521e-01 8.64213068e-01 1.04473491e-02 1.54751124e+02] [-2.30171691e-02 1.31155977e-03 9.99734210e-01 5.63241821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.160714057 meters Centerline goodness : 0.989290 Centerline is valid? [True, True] Translation: X:215.59, Y:154.77, Z:5.63 [[ 8.64876609e-01 -5.01563546e-01 2.05538636e-02 2.15594558e+02] [ 5.01456447e-01 8.65119866e-01 1.04426495e-02 1.54767423e+02] [-2.30192080e-02 1.27526409e-03 9.99734210e-01 5.62893944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1907140569999 meters Centerline goodness : 0.988768 Centerline is valid? [True, True] Translation: X:215.62, Y:154.78, Z:5.63 [[ 8.65344906e-01 -5.00748265e-01 2.07212233e-02 2.15623029e+02] [ 5.00648764e-01 8.65591440e-01 1.01130397e-02 1.54782178e+02] [-2.30002006e-02 1.62278747e-03 9.99734143e-01 5.62753465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2207140569999 meters Centerline goodness : 0.988351 Centerline is valid? [True, True] Translation: X:215.65, Y:154.80, Z:5.63 [[ 8.66622934e-01 -4.98534115e-01 2.06984934e-02 2.15652682e+02] [ 4.98432918e-01 8.66868759e-01 1.01578021e-02 1.54796654e+02] [-2.30068881e-02 1.51382619e-03 9.99734160e-01 5.62759097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.250714057 meters Centerline goodness : 0.988381 Centerline is valid? [True, True] Translation: X:215.68, Y:154.81, Z:5.63 [[ 8.67230779e-01 -4.97475108e-01 2.07193638e-02 2.15682261e+02] [ 4.97374589e-01 8.67476899e-01 1.01167220e-02 1.54812192e+02] [-2.30063868e-02 1.53175230e-03 9.99734145e-01 5.62686708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.280714057 meters Centerline goodness : 0.989577 Centerline is valid? [True, True] Translation: X:215.71, Y:154.83, Z:5.63 [[ 8.67770413e-01 -4.96532194e-01 2.07434276e-02 2.15710165e+02] [ 4.96432534e-01 8.68016905e-01 1.00693497e-02 1.54827490e+02] [-2.30054021e-02 1.55982853e-03 9.99734124e-01 5.62659578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3107140569999 meters Centerline goodness : 0.989187 Centerline is valid? [True, True] Translation: X:215.74, Y:154.84, Z:5.63 [[ 8.68238034e-01 -4.95713592e-01 2.07545352e-02 2.15737400e+02] [ 4.95614220e-01 8.68484653e-01 1.00474729e-02 1.54841762e+02] [-2.30056642e-02 1.56264471e-03 9.99734113e-01 5.62563805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3407140569999 meters Centerline goodness : 0.988013 Centerline is valid? [True, True] Translation: X:215.76, Y:154.86, Z:5.63 [[ 8.67557407e-01 -4.96904600e-01 2.07355909e-02 2.15764626e+02] [ 4.96804679e-01 8.67803785e-01 1.00847435e-02 1.54857560e+02] [-2.30055797e-02 1.55244465e-03 9.99734131e-01 5.62786656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.370714057 meters Centerline goodness : 0.988488 Centerline is valid? [True, True] Translation: X:215.79, Y:154.87, Z:5.62 [[ 8.66798330e-01 -4.98228947e-01 2.07019821e-02 2.15789980e+02] [ 4.98127830e-01 8.67044189e-01 1.01508564e-02 1.54871822e+02] [-2.30069838e-02 1.51348802e-03 9.99734159e-01 5.62472466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.400714057 meters Centerline goodness : 0.988430 Centerline is valid? [True, True] Translation: X:215.82, Y:154.89, Z:5.63 [[ 8.66423362e-01 -4.98883569e-01 2.06335308e-02 2.15820586e+02] [ 4.98779442e-01 8.66667918e-01 1.02853395e-02 1.54886965e+02] [-2.30136060e-02 1.38012257e-03 9.99734199e-01 5.62552883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4307140569999 meters Centerline goodness : 0.988483 Centerline is valid? [True, True] Translation: X:215.85, Y:154.90, Z:5.63 [[ 8.65596041e-01 -5.00316122e-01 2.06705583e-02 2.15846314e+02] [ 5.00214129e-01 8.65841515e-01 1.02125325e-02 1.54900712e+02] [-2.30069222e-02 1.49977767e-03 9.99734181e-01 5.62565689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4607140569999 meters Centerline goodness : 0.990104 Centerline is valid? [True, True] Translation: X:215.88, Y:154.92, Z:5.62 [[ 8.63363173e-01 -5.04161930e-01 2.06101574e-02 2.15879197e+02] [ 5.04058206e-01 8.63607891e-01 1.03312599e-02 1.54917149e+02] [-2.30077225e-02 1.46908958e-03 9.99734208e-01 5.62470726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.490714057 meters Centerline goodness : 0.988375 Centerline is valid? [True, True] Translation: X:215.90, Y:154.93, Z:5.62 [[ 8.64168794e-01 -5.02773205e-01 2.07701901e-02 2.15900311e+02] [ 5.02676590e-01 8.64416519e-01 1.00163314e-02 1.54928791e+02] [-2.29900385e-02 1.78488732e-03 9.99734101e-01 5.62443057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.520714057 meters Centerline goodness : 0.988611 Centerline is valid? [True, True] Translation: X:215.93, Y:154.94, Z:5.62 [[ 8.63922770e-01 -5.03203935e-01 2.05729601e-02 2.15927133e+02] [ 5.03098215e-01 8.64166619e-01 1.04038940e-02 1.54941560e+02] [-2.30137458e-02 1.36205860e-03 9.99734221e-01 5.61983450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5507140569999 meters Centerline goodness : 0.989070 Centerline is valid? [True, True] Translation: X:215.96, Y:154.96, Z:5.62 [[ 8.61831526e-01 -5.06778291e-01 2.05471226e-02 2.15963744e+02] [ 5.06672377e-01 8.62075288e-01 1.04546740e-02 1.54957962e+02] [-2.30113684e-02 1.40049178e-03 9.99734222e-01 5.61833553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5807140569999 meters Centerline goodness : 0.989875 Centerline is valid? [True, True] Translation: X:215.99, Y:154.97, Z:5.62 [[ 8.61597361e-01 -5.07167088e-01 2.07733527e-02 2.15991738e+02] [ 5.07071906e-01 8.61845635e-01 1.00092093e-02 1.54972287e+02] [-2.29797648e-02 1.90967524e-03 9.99734106e-01 5.61682316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.610714057 meters Centerline goodness : 0.989994 Centerline is valid? [True, True] Translation: X:216.02, Y:154.99, Z:5.62 [[ 8.60845218e-01 -5.08443639e-01 2.07503600e-02 2.16020879e+02] [ 5.08347741e-01 8.61093190e-01 1.00544536e-02 1.54986994e+02] [-2.29801167e-02 1.89307032e-03 9.99734130e-01 5.61560862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.640714057 meters Centerline goodness : 0.990214 Centerline is valid? [True, True] Translation: X:216.05, Y:155.00, Z:5.61 [[ 8.60585698e-01 -5.08882714e-01 2.07518762e-02 2.16049841e+02] [ 5.08787014e-01 8.60833749e-01 1.00514715e-02 1.55002185e+02] [-2.29789355e-02 1.90813248e-03 9.99734128e-01 5.61456517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6707140569999 meters Centerline goodness : 0.989902 Centerline is valid? [True, True] Translation: X:216.08, Y:155.02, Z:5.61 [[ 8.60834262e-01 -5.08461693e-01 2.07624543e-02 2.16078649e+02] [ 5.08366370e-01 8.61082470e-01 1.00306645e-02 1.55016939e+02] [-2.29783941e-02 1.92019385e-03 9.99734118e-01 5.61182290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7007140569999 meters Centerline goodness : 0.990709 Centerline is valid? [True, True] Translation: X:216.11, Y:155.03, Z:5.61 [[ 8.61256592e-01 -5.07745963e-01 2.07634171e-02 2.16109101e+02] [ 5.07650479e-01 8.61504739e-01 1.00287730e-02 1.55031787e+02] [-2.29798512e-02 1.90321175e-03 9.99734117e-01 5.60983072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.730714057 meters Centerline goodness : 0.990339 Centerline is valid? [True, True] Translation: X:216.14, Y:155.05, Z:5.61 [[ 8.61307927e-01 -5.07656863e-01 2.08126144e-02 2.16138035e+02] [ 5.07563667e-01 8.61557005e-01 9.93228932e-03 1.55046901e+02] [-2.29734486e-02 2.00896738e-03 9.99734057e-01 5.60891621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.760714057 meters Centerline goodness : 0.991026 Centerline is valid? [True, True] Translation: X:216.17, Y:155.06, Z:5.61 [[ 8.62335529e-01 -5.05908221e-01 2.08400520e-02 2.16168463e+02] [ 5.05815811e-01 8.62584941e-01 9.87848186e-03 1.55062946e+02] [-2.29739202e-02 2.02266190e-03 9.99734019e-01 5.60743510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.790714057 meters Centerline goodness : 0.990655 Centerline is valid? [True, True] Translation: X:216.20, Y:155.08, Z:5.61 [[ 8.62472001e-01 -5.05673253e-01 2.08952065e-02 2.16197151e+02] [ 5.05583374e-01 8.62722431e-01 9.77033422e-03 1.55078198e+02] [-2.29673600e-02 2.13762931e-03 9.99733930e-01 5.60680747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8207140569999 meters Centerline goodness : 0.991136 Centerline is valid? [True, True] Translation: X:216.23, Y:155.09, Z:5.61 [[ 8.62645369e-01 -5.05377828e-01 2.08858344e-02 2.16226609e+02] [ 5.05287422e-01 8.62895592e-01 9.78870503e-03 1.55092392e+02] [-2.29692889e-02 2.10916837e-03 9.99733946e-01 5.60569606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8507140569999 meters Centerline goodness : 0.989257 Centerline is valid? [True, True] Translation: X:216.25, Y:155.10, Z:5.61 [[ 8.64212870e-01 -5.02690860e-01 2.09288009e-02 2.16249162e+02] [ 5.02601705e-01 8.64463621e-01 9.70429684e-03 1.55103936e+02] [-2.29704484e-02 2.13227280e-03 9.99733871e-01 5.60841204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.880714057 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:216.28, Y:155.12, Z:5.60 [[ 8.61351446e-01 -5.07585946e-01 2.07411305e-02 2.16283880e+02] [ 5.07489406e-01 8.61599141e-01 1.00708725e-02 1.55119316e+02] [-2.29823736e-02 1.85134345e-03 9.99734156e-01 5.60497170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.910714057 meters Centerline goodness : 0.990901 Centerline is valid? [True, True] Translation: X:216.31, Y:155.13, Z:5.60 [[ 8.60524931e-01 -5.08976924e-01 2.09602869e-02 2.16313124e+02] [ 5.08891100e-01 8.60776904e-01 9.64213109e-03 1.55133169e+02] [-2.29497531e-02 2.36920924e-03 9.99733812e-01 5.60497965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9407140569999 meters Centerline goodness : 0.990627 Centerline is valid? [True, True] Translation: X:216.34, Y:155.15, Z:5.60 [[ 8.60216610e-01 -5.09497859e-01 2.09598434e-02 2.16342603e+02] [ 5.09412166e-01 8.60468627e-01 9.64299895e-03 1.55147349e+02] [-2.29483750e-02 2.38213137e-03 9.99733813e-01 5.60348581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9707140569999 meters Centerline goodness : 0.990627 Centerline is valid? [True, True] Translation: X:216.37, Y:155.16, Z:5.60 [[ 8.59880671e-01 -5.10064092e-01 2.09727087e-02 2.16370363e+02] [ 5.09979173e-01 8.60132978e-01 9.61786960e-03 1.55162022e+02] [-2.29450483e-02 2.42542449e-03 9.99733786e-01 5.60277403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.000714057 meters Centerline goodness : 0.990486 Centerline is valid? [True, True] Translation: X:216.40, Y:155.18, Z:5.60 [[ 8.59981970e-01 -5.09893255e-01 2.09733209e-02 2.16399398e+02] [ 5.09808315e-01 8.60234271e-01 9.61667461e-03 1.55175848e+02] [-2.29454470e-02 2.42220663e-03 9.99733784e-01 5.60070757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.030714057 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:216.43, Y:155.19, Z:5.60 [[ 8.59515343e-01 -5.10680053e-01 2.09585040e-02 2.16427063e+02] [ 5.10594647e-01 8.59767452e-01 9.64550105e-03 1.55190673e+02] [-2.29452045e-02 2.41084379e-03 9.99733817e-01 5.59989366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0607140569999 meters Centerline goodness : 0.990328 Centerline is valid? [True, True] Translation: X:216.43, Y:155.21, Z:5.61 [[ 8.55890561e-01 -5.16732031e-01 2.09608014e-02 2.16432030e+02] [ 5.16648514e-01 8.56143308e-01 9.64103364e-03 1.55208404e+02] [-2.29272808e-02 2.57769723e-03 9.99733812e-01 5.60591555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0907140569999 meters Centerline goodness : 0.989250 Centerline is valid? [True, True] Translation: X:216.48, Y:155.22, Z:5.60 [[ 8.62005733e-01 -5.06484709e-01 2.04781808e-02 2.16481744e+02] [ 5.06375837e-01 8.62248032e-01 1.05755902e-02 1.55217801e+02] [-2.30136458e-02 1.25343655e-03 9.99734365e-01 5.59598027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.120714057 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:216.51, Y:155.23, Z:5.60 [[ 8.65377649e-01 -5.00682418e-01 2.09437486e-02 2.16510538e+02] [ 5.00593402e-01 8.65628473e-01 9.67428153e-03 1.55233415e+02] [-2.29732478e-02 2.11239535e-03 9.99733848e-01 5.59603777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.150714057 meters Centerline goodness : 0.990298 Centerline is valid? [True, True] Translation: X:216.54, Y:155.25, Z:5.60 [[ 8.68716752e-01 -4.94866145e-01 2.09452359e-02 2.16537593e+02] [ 4.94775517e-01 8.68967003e-01 9.67141020e-03 1.55249305e+02] [-2.29867724e-02 1.96147388e-03 9.99733845e-01 5.59690216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1807140569999 meters Centerline goodness : 0.990524 Centerline is valid? [True, True] Translation: X:216.57, Y:155.26, Z:5.60 [[ 8.70585731e-01 -4.91571512e-01 2.09268507e-02 2.16565462e+02] [ 4.91479088e-01 8.70835279e-01 9.70685088e-03 1.55264026e+02] [-2.29954512e-02 1.83446359e-03 9.99733887e-01 5.59693001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2107140569999 meters Centerline goodness : 0.990373 Centerline is valid? [True, True] Translation: X:216.60, Y:155.28, Z:5.60 [[ 8.74715270e-01 -4.84186065e-01 2.09057373e-02 2.16595069e+02] [ 4.84090563e-01 8.74963607e-01 9.74748164e-03 1.55278429e+02] [-2.30113541e-02 1.59399909e-03 9.99733933e-01 5.59723064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.240714057 meters Centerline goodness : 0.989782 Centerline is valid? [True, True] Translation: X:216.62, Y:155.29, Z:5.60 [[ 8.75959147e-01 -4.81931583e-01 2.09170205e-02 2.16622639e+02] [ 4.81835957e-01 8.76207463e-01 9.72585913e-03 1.55292581e+02] [-2.30148482e-02 1.55911734e-03 9.99733908e-01 5.59831480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.270714057 meters Centerline goodness : 0.990033 Centerline is valid? [True, True] Translation: X:216.65, Y:155.31, Z:5.60 [[ 8.79095002e-01 -4.76186951e-01 2.09276149e-02 2.16651995e+02] [ 4.76090184e-01 8.79342902e-01 9.70557232e-03 1.55305103e+02] [-2.30242165e-02 1.43131191e-03 9.99733883e-01 5.59942391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3007140569999 meters Centerline goodness : 0.989087 Centerline is valid? [True, True] Translation: X:216.68, Y:155.32, Z:5.60 [[ 8.80578239e-01 -4.73437519e-01 2.09494879e-02 2.16680247e+02] [ 4.73340974e-01 8.80826281e-01 9.66362956e-03 1.55317393e+02] [-2.30279843e-02 1.40666912e-03 9.99733831e-01 5.59857994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3307140569999 meters Centerline goodness : 0.990559 Centerline is valid? [True, True] Translation: X:216.68, Y:155.33, Z:5.60 [[ 8.75718254e-01 -4.82366937e-01 2.09685029e-02 2.16682381e+02] [ 4.82273792e-01 8.75967642e-01 9.62707371e-03 1.55334051e+02] [-2.30115121e-02 1.68195520e-03 9.99733785e-01 5.60301081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.360714057 meters Centerline goodness : 0.989405 Centerline is valid? [True, True] Translation: X:216.74, Y:155.34, Z:5.59 [[ 8.81601874e-01 -4.71551801e-01 2.04214200e-02 2.16737493e+02] [ 4.71431032e-01 8.81838337e-01 1.06738027e-02 1.55338708e+02] [-2.30416419e-02 2.17246654e-04 9.99734483e-01 5.59461905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.390714057 meters Centerline goodness : 0.990147 Centerline is valid? [True, True] Translation: X:216.77, Y:155.35, Z:5.59 [[ 8.78960325e-01 -4.76435096e-01 2.09367138e-02 2.16767579e+02] [ 4.76338726e-01 8.79208442e-01 9.69190366e-03 1.55349897e+02] [-2.30252986e-02 1.45416879e-03 9.99733825e-01 5.59418323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4207140569999 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:216.77, Y:155.36, Z:5.60 [[ 8.70288451e-01 -4.92096658e-01 2.09497360e-02 2.16771131e+02] [ 4.92005341e-01 8.70538507e-01 9.66712197e-03 1.55364191e+02] [-2.29947103e-02 1.89419742e-03 9.99733792e-01 5.59798992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4507140569999 meters Centerline goodness : 0.990315 Centerline is valid? [True, True] Translation: X:216.81, Y:155.37, Z:5.59 [[ 8.70850175e-01 -4.91126168e-01 2.03730205e-02 2.16814174e+02] [ 4.91008710e-01 8.71088219e-01 1.07591963e-02 1.55374386e+02] [-2.30308210e-02 6.33682542e-04 9.99734555e-01 5.59382455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.480714057 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:216.83, Y:155.39, Z:5.60 [[ 8.65998040e-01 -4.99620045e-01 2.06689288e-02 2.16832539e+02] [ 4.99518177e-01 8.66243374e-01 1.01984563e-02 1.55385751e+02] [-2.29996758e-02 1.49266244e-03 9.99734358e-01 5.59586387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.510714057 meters Centerline goodness : 0.991656 Centerline is valid? [True, True] Translation: X:216.86, Y:155.40, Z:5.59 [[ 8.64585591e-01 -5.02072712e-01 2.03653879e-02 2.16863072e+02] [ 5.01957957e-01 8.64824934e-01 1.07723196e-02 1.55398550e+02] [-2.30209830e-02 9.08976188e-04 9.99734569e-01 5.59453472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.540714057 meters Centerline goodness : 0.989518 Centerline is valid? [True, True] Translation: X:216.89, Y:155.41, Z:5.60 [[ 8.65864063e-01 -4.99864531e-01 2.03684968e-02 2.16893618e+02] [ 4.99749304e-01 8.66103179e-01 1.07664380e-02 1.55406912e+02] [-2.30229803e-02 8.56870333e-04 9.99734569e-01 5.59591567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5707140569999 meters Centerline goodness : 0.990533 Centerline is valid? [True, True] Translation: X:216.94, Y:155.42, Z:5.59 [[ 8.61987517e-01 -5.06520160e-01 2.03678061e-02 2.16936298e+02] [ 5.06406749e-01 8.62227499e-01 1.07677451e-02 1.55419854e+02] [-2.30157625e-02 1.03273262e-03 9.99734569e-01 5.58872081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6007140569999 meters Centerline goodness : 0.990129 Centerline is valid? [True, True] Translation: X:216.94, Y:155.43, Z:5.60 [[ 8.53328464e-01 -5.20961684e-01 2.07233440e-02 2.16943360e+02] [ 5.20868252e-01 8.53577296e-01 1.01026235e-02 1.55434478e+02] [-2.29520557e-02 2.17327574e-03 9.99734205e-01 5.59560032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.630714057 meters Centerline goodness : 0.982725 Centerline is valid? [True, True] Translation: X:216.96, Y:155.45, Z:5.59 [[ 8.49884576e-01 -5.26581360e-01 2.02059062e-02 2.16961423e+02] [ 5.26466608e-01 8.50123840e-01 1.10620081e-02 1.55445731e+02] [-2.30025699e-02 1.23630487e-03 9.99734641e-01 5.59057424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.660714057 meters Centerline goodness : 0.990891 Centerline is valid? [True, True] Translation: X:216.99, Y:155.46, Z:5.59 [[ 8.45583803e-01 -5.33468662e-01 1.99804380e-02 2.16993990e+02] [ 5.33346016e-01 8.45819296e-01 1.14780214e-02 1.55458818e+02] [-2.30230047e-02 9.50858017e-04 9.99734483e-01 5.58808806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6907140569999 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:217.03, Y:155.47, Z:5.58 [[ 8.44475622e-01 -5.35210635e-01 2.02608230e-02 2.17028531e+02] [ 5.35100762e-01 8.44717148e-01 1.09596913e-02 1.55472981e+02] [-2.29804079e-02 1.58638973e-03 9.99734657e-01 5.58435300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7207140569999 meters Centerline goodness : 0.990201 Centerline is valid? [True, True] Translation: X:217.05, Y:155.49, Z:5.59 [[ 8.41818571e-01 -5.39373376e-01 2.04414833e-02 2.17051144e+02] [ 5.39272721e-01 8.42064153e-01 1.06251424e-02 1.55487105e+02] [-2.29439592e-02 2.07909214e-03 9.99734591e-01 5.58804493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.750714057 meters Centerline goodness : 0.989959 Centerline is valid? [True, True] Translation: X:217.09, Y:155.50, Z:5.59 [[ 8.43476824e-01 -5.36783195e-01 2.02644637e-02 2.17092122e+02] [ 5.36673940e-01 8.43718627e-01 1.09526648e-02 1.55499532e+02] [-2.29767119e-02 1.63709061e-03 9.99734660e-01 5.58830474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.780714057 meters Centerline goodness : 0.987844 Centerline is valid? [True, True] Translation: X:217.12, Y:155.51, Z:5.59 [[ 8.45117553e-01 -5.34185193e-01 2.05548322e-02 2.17116210e+02] [ 5.34088105e-01 8.45364679e-01 1.04141918e-02 1.55513364e+02] [-2.29394362e-02 2.17687508e-03 9.99734486e-01 5.59342552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8107140569999 meters Centerline goodness : 0.987650 Centerline is valid? [True, True] Translation: X:217.15, Y:155.53, Z:5.59 [[ 8.44842482e-01 -5.34625289e-01 2.04201301e-02 2.17145276e+02] [ 5.34522328e-01 8.45087077e-01 1.06636200e-02 1.55529607e+02] [-2.29578289e-02 1.90593631e-03 9.99734618e-01 5.59196380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8407140569999 meters Centerline goodness : 0.988383 Centerline is valid? [True, True] Translation: X:217.17, Y:155.55, Z:5.59 [[ 8.44558693e-01 -5.35073952e-01 2.04078633e-02 2.17174451e+02] [ 5.34970577e-01 8.44803104e-01 1.06862919e-02 1.55545951e+02] [-2.29585827e-02 1.89240571e-03 9.99734626e-01 5.58960672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.870714057 meters Centerline goodness : 0.987367 Centerline is valid? [True, True] Translation: X:217.20, Y:155.56, Z:5.59 [[ 8.44831317e-01 -5.34640981e-01 2.04711387e-02 2.17201144e+02] [ 5.34540291e-01 8.45076900e-01 1.05692687e-02 1.55561905e+02] [-2.29504507e-02 2.01339926e-03 9.99734576e-01 5.58842325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.900714057 meters Centerline goodness : 0.987377 Centerline is valid? [True, True] Translation: X:217.23, Y:155.58, Z:5.59 [[ 8.44536277e-01 -5.35106663e-01 2.04777279e-02 2.17226652e+02] [ 5.35006402e-01 8.44782042e-01 1.05570474e-02 1.55577811e+02] [-2.29483632e-02 2.03990602e-03 9.99734570e-01 5.58765797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9307140569999 meters Centerline goodness : 0.988531 Centerline is valid? [True, True] Translation: X:217.26, Y:155.60, Z:5.59 [[ 8.42821879e-01 -5.37804784e-01 2.04278062e-02 2.17255002e+02] [ 5.37703089e-01 8.43067008e-01 1.06493488e-02 1.55596099e+02] [-2.29492801e-02 2.00859030e-03 9.99734613e-01 5.58640085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9607140569999 meters Centerline goodness : 0.988100 Centerline is valid? [True, True] Translation: X:217.28, Y:155.61, Z:5.59 [[ 8.41908129e-01 -5.39231958e-01 2.04840937e-02 2.17280853e+02] [ 5.39133186e-01 8.42154502e-01 1.05452530e-02 1.55611886e+02] [-2.29371092e-02 2.16552051e-03 9.99734565e-01 5.58594922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.990714057 meters Centerline goodness : 0.988503 Centerline is valid? [True, True] Translation: X:217.31, Y:155.63, Z:5.58 [[ 8.40584761e-01 -5.41294594e-01 2.04309162e-02 2.17310507e+02] [ 5.41194057e-01 8.40830368e-01 1.06435079e-02 1.55629243e+02] [-2.29402081e-02 2.11031992e-03 9.99734611e-01 5.58267115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.020714057 meters Centerline goodness : 0.988000 Centerline is valid? [True, True] Translation: X:217.34, Y:155.65, Z:5.58 [[ 8.39050469e-01 -5.43668213e-01 2.04739969e-02 2.17336636e+02] [ 5.43570292e-01 8.39297171e-01 1.05638966e-02 1.55645265e+02] [-2.29270225e-02 2.26541404e-03 9.99734575e-01 5.58306568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0507140569999 meters Centerline goodness : 0.988882 Centerline is valid? [True, True] Translation: X:217.37, Y:155.66, Z:5.58 [[ 8.37318381e-01 -5.46334048e-01 2.04214850e-02 2.17365397e+02] [ 5.46234568e-01 8.37564411e-01 1.06608858e-02 1.55662568e+02] [-2.29287139e-02 2.22836534e-03 9.99734619e-01 5.57920841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0807140569999 meters Centerline goodness : 0.989204 Centerline is valid? [True, True] Translation: X:217.39, Y:155.68, Z:5.58 [[ 8.35914737e-01 -5.48478233e-01 2.04494349e-02 2.17392219e+02] [ 5.48380633e-01 8.36161543e-01 1.06092628e-02 1.55679305e+02] [-2.29179808e-02 2.34563491e-03 9.99734597e-01 5.57610145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.110714057 meters Centerline goodness : 0.988666 Centerline is valid? [True, True] Translation: X:217.42, Y:155.69, Z:5.57 [[ 8.35667180e-01 -5.48855994e-01 2.04318869e-02 2.17418011e+02] [ 5.48757721e-01 8.35913703e-01 1.06416778e-02 1.55694657e+02] [-2.29200428e-02 2.31925481e-03 9.99734611e-01 5.57433420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.140714057 meters Centerline goodness : 0.988054 Centerline is valid? [True, True] Translation: X:217.45, Y:155.71, Z:5.58 [[ 8.35178279e-01 -5.49601532e-01 2.03813347e-02 2.17447842e+02] [ 5.49501225e-01 8.35423943e-01 1.07349129e-02 1.55713328e+02] [-2.29269796e-02 2.23400226e-03 9.99734646e-01 5.57578474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1707140569999 meters Centerline goodness : 0.989124 Centerline is valid? [True, True] Translation: X:217.47, Y:155.73, Z:5.58 [[ 8.35261875e-01 -5.49471653e-01 2.04573410e-02 2.17473494e+02] [ 5.49374699e-01 8.35508942e-01 1.05946553e-02 1.55730091e+02] [-2.29137540e-02 2.38943393e-03 9.99734590e-01 5.57569325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2007140569999 meters Centerline goodness : 0.989170 Centerline is valid? [True, True] Translation: X:217.50, Y:155.75, Z:5.58 [[ 8.36659975e-01 -5.47341553e-01 2.04281805e-02 2.17499856e+02] [ 5.47242669e-01 8.36906250e-01 1.06484791e-02 1.55748891e+02] [-2.29248270e-02 2.27001576e-03 9.99734614e-01 5.57882408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.230714057 meters Centerline goodness : 0.988767 Centerline is valid? [True, True] Translation: X:217.53, Y:155.77, Z:5.58 [[ 8.37107787e-01 -5.46655789e-01 2.04450617e-02 2.17528424e+02] [ 5.46557456e-01 8.37354298e-01 1.06173373e-02 1.55766101e+02] [-2.29237892e-02 2.28654513e-03 9.99734601e-01 5.57934419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.260714057 meters Centerline goodness : 0.989177 Centerline is valid? [True, True] Translation: X:217.56, Y:155.78, Z:5.58 [[ 8.39330426e-01 -5.43235618e-01 2.04816717e-02 2.17555095e+02] [ 5.43137910e-01 8.39577222e-01 1.05498186e-02 1.55784364e+02] [-2.29269823e-02 2.26958862e-03 9.99734566e-01 5.57993336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.290714057 meters Centerline goodness : 0.988484 Centerline is valid? [True, True] Translation: X:217.58, Y:155.80, Z:5.58 [[ 8.40652278e-01 -5.41188030e-01 2.04759390e-02 2.17582324e+02] [ 5.41089465e-01 8.40898727e-01 1.05603882e-02 1.55800559e+02] [-2.29333467e-02 2.20170053e-03 9.99734572e-01 5.57989327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3207140569999 meters Centerline goodness : 0.989044 Centerline is valid? [True, True] Translation: X:217.61, Y:155.82, Z:5.58 [[ 8.42980548e-01 -5.37554897e-01 2.04579506e-02 2.17609485e+02] [ 5.37454471e-01 8.43226226e-01 1.05935592e-02 1.55818877e+02] [-2.29453002e-02 2.06505267e-03 9.99734589e-01 5.58001664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3507140569999 meters Centerline goodness : 0.988662 Centerline is valid? [True, True] Translation: X:217.64, Y:155.84, Z:5.58 [[ 8.46433530e-01 -5.32101124e-01 2.04615088e-02 2.17636052e+02] [ 5.31999271e-01 8.46678623e-01 1.05869957e-02 1.55837103e+02] [-2.29576744e-02 1.92431959e-03 9.99734586e-01 5.57911344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.380714057 meters Centerline goodness : 0.989005 Centerline is valid? [True, True] Translation: X:217.66, Y:155.85, Z:5.58 [[ 8.47009705e-01 -5.31184016e-01 2.04475098e-02 2.17663932e+02] [ 5.31081280e-01 8.47254415e-01 1.06127526e-02 1.55854669e+02] [-2.29615675e-02 1.87018525e-03 9.99734599e-01 5.57885076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.410714057 meters Centerline goodness : 0.988738 Centerline is valid? [True, True] Translation: X:217.69, Y:155.87, Z:5.58 [[ 8.50659118e-01 -5.25319457e-01 2.04581047e-02 2.17690050e+02] [ 5.25215499e-01 8.50903322e-01 1.05932555e-02 1.55872681e+02] [-2.29727125e-02 1.73366431e-03 9.99734589e-01 5.57644066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4407140569999 meters Centerline goodness : 0.989114 Centerline is valid? [True, True] Translation: X:217.72, Y:155.89, Z:5.57 [[ 8.52969252e-01 -5.21560197e-01 2.04552053e-02 2.17716344e+02] [ 5.21455035e-01 8.53212937e-01 1.05985920e-02 1.55887758e+02] [-2.29804495e-02 1.62619675e-03 9.99734592e-01 5.57497068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4707140569999 meters Centerline goodness : 0.988082 Centerline is valid? [True, True] Translation: X:217.74, Y:155.91, Z:5.57 [[ 8.56882200e-01 -5.15107133e-01 2.04337128e-02 2.17744995e+02] [ 5.14999193e-01 8.57124647e-01 1.06381976e-02 1.55905041e+02] [-2.29940504e-02 1.40766345e-03 9.99734611e-01 5.57166258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.500714057 meters Centerline goodness : 0.989358 Centerline is valid? [True, True] Translation: X:217.77, Y:155.92, Z:5.57 [[ 8.58945962e-01 -5.11657606e-01 2.04530887e-02 2.17774353e+02] [ 5.11549538e-01 8.59188371e-01 1.06025400e-02 1.55921214e+02] [-2.29979262e-02 1.35575918e-03 9.99734593e-01 5.56907311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.530714057 meters Centerline goodness : 0.988014 Centerline is valid? [True, True] Translation: X:217.80, Y:155.94, Z:5.57 [[ 8.62871497e-01 -5.05006886e-01 2.05140287e-02 2.17803108e+02] [ 5.04899607e-01 8.63114326e-01 1.04903375e-02 1.55937276e+02] [-2.30036447e-02 1.30571183e-03 9.99734528e-01 5.56949783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5607140569999 meters Centerline goodness : 0.987700 Centerline is valid? [True, True] Translation: X:217.83, Y:155.95, Z:5.57 [[ 8.64453228e-01 -5.02293041e-01 2.05503549e-02 2.17832369e+02] [ 5.02186583e-01 8.64696471e-01 1.04235180e-02 1.55953810e+02] [-2.30054799e-02 1.30946871e-03 9.99734481e-01 5.57035835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5907140569999 meters Centerline goodness : 0.988734 Centerline is valid? [True, True] Translation: X:217.86, Y:155.97, Z:5.57 [[ 8.67877931e-01 -4.96350518e-01 2.05927328e-02 2.17858835e+02] [ 4.96244239e-01 8.68121319e-01 1.03455504e-02 1.55968972e+02] [-2.30120097e-02 1.24035021e-03 9.99734419e-01 5.57122995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.620714057 meters Centerline goodness : 0.987833 Centerline is valid? [True, True] Translation: X:217.89, Y:155.98, Z:5.57 [[ 8.69253042e-01 -4.93938869e-01 2.05801648e-02 2.17885766e+02] [ 4.93831367e-01 8.69495872e-01 1.03686933e-02 1.55982855e+02] [-2.30158690e-02 1.15011276e-03 9.99734438e-01 5.56936647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.650714057 meters Centerline goodness : 0.988213 Centerline is valid? [True, True] Translation: X:217.92, Y:156.00, Z:5.57 [[ 8.70103279e-01 -4.92440876e-01 2.05491776e-02 2.17916678e+02] [ 4.92331612e-01 8.70345271e-01 1.04256183e-02 1.55996890e+02] [-2.30188801e-02 1.04564507e-03 9.99734484e-01 5.56823822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6807140569999 meters Centerline goodness : 0.989191 Centerline is valid? [True, True] Translation: X:217.95, Y:156.01, Z:5.57 [[ 8.69761039e-01 -4.93041880e-01 2.06261665e-02 2.17945036e+02] [ 4.92936122e-01 8.70004718e-01 1.02844446e-02 1.56012449e+02] [-2.30155241e-02 1.22237325e-03 9.99734360e-01 5.56826788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7107140569999 meters Centerline goodness : 0.988326 Centerline is valid? [True, True] Translation: X:217.97, Y:156.03, Z:5.57 [[ 8.69096624e-01 -4.94211679e-01 2.06367143e-02 2.17973371e+02] [ 4.94106707e-01 8.69340664e-01 1.02651143e-02 1.56026515e+02] [-2.30134743e-02 1.27536278e-03 9.99734341e-01 5.56788780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.740714057 meters Centerline goodness : 0.988898 Centerline is valid? [True, True] Translation: X:218.00, Y:156.04, Z:5.57 [[ 8.70702383e-01 -4.91377340e-01 2.06317634e-02 2.18003193e+02] [ 4.91271358e-01 8.70945976e-01 1.02741849e-02 1.56036710e+02] [-2.30176530e-02 1.19003711e-03 9.99734350e-01 5.56676155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.770714057 meters Centerline goodness : 0.989411 Centerline is valid? [True, True] Translation: X:218.03, Y:156.05, Z:5.57 [[ 8.68412777e-01 -4.95411797e-01 2.06494549e-02 2.18030217e+02] [ 4.95307716e-01 8.68657224e-01 1.02417442e-02 1.56052257e+02] [-2.30111791e-02 1.33377280e-03 9.99734318e-01 5.56806619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8007140569999 meters Centerline goodness : 0.989285 Centerline is valid? [True, True] Translation: X:218.06, Y:156.07, Z:5.56 [[ 8.66278417e-01 -4.99135867e-01 2.06177056e-02 2.18058927e+02] [ 4.99031460e-01 8.66522659e-01 1.02996747e-02 1.56065950e+02] [-2.30066462e-02 1.36649783e-03 9.99734378e-01 5.56472300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8307140569999 meters Centerline goodness : 0.990600 Centerline is valid? [True, True] Translation: X:218.09, Y:156.08, Z:5.56 [[ 8.65250654e-01 -5.00914788e-01 2.06320472e-02 2.18088572e+02] [ 5.00811505e-01 8.65495402e-01 1.02735165e-02 1.56081081e+02] [-2.30030983e-02 1.44359978e-03 9.99734351e-01 5.56373438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.860714057 meters Centerline goodness : 0.990600 Centerline is valid? [True, True] Translation: X:218.12, Y:156.10, Z:5.56 [[ 8.65007325e-01 -5.01334876e-01 2.06317478e-02 2.18115983e+02] [ 5.01231699e-01 8.65252118e-01 1.02740621e-02 1.56096579e+02] [-2.30024091e-02 1.45414707e-03 9.99734352e-01 5.56300918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.890714057 meters Centerline goodness : 0.989793 Centerline is valid? [True, True] Translation: X:218.14, Y:156.11, Z:5.56 [[ 8.61049840e-01 -5.08102060e-01 2.06269261e-02 2.18136204e+02] [ 5.08000596e-01 8.61295337e-01 1.02828363e-02 1.56109188e+02] [-2.29906056e-02 1.62445623e-03 9.99734361e-01 5.56176129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9207140569999 meters Centerline goodness : 0.990096 Centerline is valid? [True, True] Translation: X:218.16, Y:156.12, Z:5.56 [[ 8.59995303e-01 -5.09893728e-01 2.04074791e-02 2.18164674e+02] [ 5.09783295e-01 8.60236540e-01 1.06812229e-02 1.56123044e+02] [-2.30015477e-02 1.21759039e-03 9.99734688e-01 5.56057842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9507140569999 meters Centerline goodness : 0.990685 Centerline is valid? [True, True] Translation: X:218.19, Y:156.14, Z:5.56 [[ 8.58399292e-01 -5.12576328e-01 2.04000780e-02 2.18194786e+02] [ 5.12466330e-01 8.58640719e-01 1.06946583e-02 1.56136948e+02] [-2.29981663e-02 1.27406597e-03 9.99734695e-01 5.56033557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.980714057 meters Centerline goodness : 0.989684 Centerline is valid? [True, True] Translation: X:218.22, Y:156.15, Z:5.56 [[ 8.57815478e-01 -5.13552747e-01 2.04005464e-02 2.18223335e+02] [ 5.13443044e-01 8.58057040e-01 1.06938082e-02 1.56151595e+02] [-2.29966671e-02 1.30120445e-03 9.99734695e-01 5.55978254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.010714057 meters Centerline goodness : 0.990105 Centerline is valid? [True, True] Translation: X:218.25, Y:156.17, Z:5.56 [[ 8.57548867e-01 -5.13998108e-01 2.03933031e-02 2.18254987e+02] [ 5.13888219e-01 8.57790336e-01 1.07069465e-02 1.56165498e+02] [-2.29965285e-02 1.29814839e-03 9.99734702e-01 5.55758263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.040714057 meters Centerline goodness : 0.990546 Centerline is valid? [True, True] Translation: X:218.29, Y:156.18, Z:5.56 [[ 8.54494275e-01 -5.19057780e-01 2.04586178e-02 2.18286044e+02] [ 5.18952142e-01 8.54737713e-01 1.05885048e-02 1.56181225e+02] [-2.29827980e-02 1.56922683e-03 9.99734629e-01 5.55678042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0707140569999 meters Centerline goodness : 0.989891 Centerline is valid? [True, True] Translation: X:218.31, Y:156.19, Z:5.56 [[ 8.55017025e-01 -5.18194300e-01 2.05074270e-02 2.18308010e+02] [ 5.18090520e-01 8.55261338e-01 1.05003316e-02 1.56194460e+02] [-2.29804214e-02 1.64674121e-03 9.99734559e-01 5.55739987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1007140569999 meters Centerline goodness : 0.988841 Centerline is valid? [True, True] Translation: X:218.34, Y:156.21, Z:5.56 [[ 8.54649207e-01 -5.18807516e-01 2.03345579e-02 2.18337921e+02] [ 5.18696485e-01 8.54890083e-01 1.08121497e-02 1.56209097e+02] [-2.29932364e-02 1.30686859e-03 9.99734766e-01 5.55698126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.130714057 meters Centerline goodness : 0.990491 Centerline is valid? [True, True] Translation: X:218.37, Y:156.22, Z:5.55 [[ 8.55462442e-01 -5.17464582e-01 2.03572201e-02 2.18370327e+02] [ 5.17354142e-01 8.55703612e-01 1.07712949e-02 1.56224673e+02] [-2.29935104e-02 1.31745391e-03 9.99734746e-01 5.55170623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.160714057 meters Centerline goodness : 0.988535 Centerline is valid? [True, True] Translation: X:218.39, Y:156.24, Z:5.55 [[ 8.54069674e-01 -5.19755238e-01 2.04813126e-02 2.18392915e+02] [ 5.19650779e-01 8.54313654e-01 1.05474447e-02 1.56238126e+02] [-2.29795547e-02 1.63487740e-03 9.99734598e-01 5.55262812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1907140569999 meters Centerline goodness : 0.989580 Centerline is valid? [True, True] Translation: X:218.43, Y:156.25, Z:5.55 [[ 8.54860916e-01 -5.18458441e-01 2.03386290e-02 2.18425269e+02] [ 5.18347493e-01 8.55101830e-01 1.08045084e-02 1.56252750e+02] [-2.29932874e-02 1.30612535e-03 9.99734766e-01 5.54596681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2207140569999 meters Centerline goodness : 0.990353 Centerline is valid? [True, True] Translation: X:218.46, Y:156.27, Z:5.55 [[ 8.52050469e-01 -5.23060492e-01 2.04381946e-02 2.18456370e+02] [ 5.22955120e-01 8.52293992e-01 1.06251660e-02 1.56272166e+02] [-2.29769550e-02 1.63508083e-03 9.99734658e-01 5.54796082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.250714057 meters Centerline goodness : 0.989932 Centerline is valid? [True, True] Translation: X:218.49, Y:156.29, Z:5.55 [[ 8.51430712e-01 -5.24064153e-01 2.05549654e-02 2.18485101e+02] [ 5.23964100e-01 8.51676667e-01 1.04152122e-02 1.56288524e+02] [-2.29644238e-02 1.90223239e-03 9.99734473e-01 5.54593199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.280714057 meters Centerline goodness : 0.988188 Centerline is valid? [True, True] Translation: X:218.50, Y:156.30, Z:5.55 [[ 8.52539810e-01 -5.22256843e-01 2.05830551e-02 2.18504663e+02] [ 5.22157481e-01 8.52786103e-01 1.03647448e-02 1.56300913e+02] [-2.29660022e-02 1.91123864e-03 9.99734420e-01 5.54646107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3107140569999 meters Centerline goodness : 0.990212 Centerline is valid? [True, True] Translation: X:218.54, Y:156.32, Z:5.54 [[ 8.50919611e-01 -5.24901932e-01 2.03415120e-02 2.18541756e+02] [ 5.24792965e-01 8.51161413e-01 1.07978293e-02 1.56319337e+02] [-2.29817116e-02 1.48699772e-03 9.99734780e-01 5.54270229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3407140569999 meters Centerline goodness : 0.988638 Centerline is valid? [True, True] Translation: X:218.56, Y:156.33, Z:5.55 [[ 8.50863477e-01 -5.24980773e-01 2.06526457e-02 2.18558176e+02] [ 5.24885229e-01 8.51111426e-01 1.02390266e-02 1.56332162e+02] [-2.29529948e-02 2.12825488e-03 9.99734280e-01 5.54735286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.370714057 meters Centerline goodness : 0.988337 Centerline is valid? [True, True] Translation: X:218.59, Y:156.35, Z:5.55 [[ 8.50729737e-01 -5.25209388e-01 2.03473307e-02 2.18586375e+02] [ 5.25100798e-01 8.50971693e-01 1.07856381e-02 1.56348383e+02] [-2.29797208e-02 1.50873648e-03 9.99734793e-01 5.54841276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.400714057 meters Centerline goodness : 0.988520 Centerline is valid? [True, True] Translation: X:218.61, Y:156.36, Z:5.55 [[ 8.51481385e-01 -5.23989526e-01 2.03575100e-02 2.18614379e+02] [ 5.23881023e-01 8.51723392e-01 1.07674114e-02 1.56364195e+02] [-2.29809783e-02 1.49666285e-03 9.99734782e-01 5.54631571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4307140569999 meters Centerline goodness : 0.986790 Centerline is valid? [True, True] Translation: X:218.64, Y:156.38, Z:5.55 [[ 8.52081105e-01 -5.23012699e-01 2.03840022e-02 2.18639627e+02] [ 5.22905050e-01 8.52323525e-01 1.07199371e-02 1.56379905e+02] [-2.29804279e-02 1.52464183e-03 9.99734753e-01 5.54799186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4607140569999 meters Centerline goodness : 0.988415 Centerline is valid? [True, True] Translation: X:218.67, Y:156.40, Z:5.55 [[ 8.51799256e-01 -5.23475132e-01 2.02932052e-02 2.18674231e+02] [ 5.23363752e-01 8.52039882e-01 1.08822273e-02 1.56396719e+02] [-2.29871955e-02 1.35125493e-03 9.99734846e-01 5.54947576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.490714057 meters Centerline goodness : 0.988372 Centerline is valid? [True, True] Translation: X:218.70, Y:156.41, Z:5.55 [[ 8.50540303e-01 -5.25509956e-01 2.05056191e-02 2.18702456e+02] [ 5.25408212e-01 8.50785460e-01 1.05029596e-02 1.56413052e+02] [-2.29652924e-02 1.84063026e-03 9.99734568e-01 5.54844801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.520714057 meters Centerline goodness : 0.989443 Centerline is valid? [True, True] Translation: X:218.70, Y:156.43, Z:5.55 [[ 8.40791953e-01 -5.40968876e-01 2.05320840e-02 2.18700613e+02] [ 5.40872774e-01 8.41039428e-01 1.04557543e-02 1.56432339e+02] [-2.29245298e-02 2.31413113e-03 9.99734520e-01 5.55021462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5507140569999 meters Centerline goodness : 0.988510 Centerline is valid? [True, True] Translation: X:218.75, Y:156.44, Z:5.54 [[ 8.47942792e-01 -5.29714790e-01 1.98812115e-02 2.18753940e+02] [ 5.29587964e-01 8.48175556e-01 1.16109615e-02 1.56440722e+02] [-2.30132556e-02 6.83419153e-04 9.99734926e-01 5.54226528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5807140569999 meters Centerline goodness : 0.988957 Centerline is valid? [True, True] Translation: X:218.78, Y:156.46, Z:5.54 [[ 8.45061646e-01 -5.34276669e-01 2.04757500e-02 2.18783889e+02] [ 5.34176305e-01 8.45307255e-01 1.05508325e-02 1.56458853e+02] [-2.29453636e-02 2.02155665e-03 9.99734677e-01 5.53601844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.610714057 meters Centerline goodness : 0.987696 Centerline is valid? [True, True] Translation: X:218.81, Y:156.47, Z:5.54 [[ 8.44278137e-01 -5.35512210e-01 2.05207463e-02 2.18807211e+02] [ 5.35414135e-01 8.44524757e-01 1.04708927e-02 1.56473173e+02] [-2.29375692e-02 2.14675184e-03 9.99734594e-01 5.54133191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.640714057 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:218.83, Y:156.49, Z:5.54 [[ 8.44032922e-01 -5.35902759e-01 2.04122338e-02 2.18831190e+02] [ 5.35800158e-01 8.44277492e-01 1.06633903e-02 1.56488569e+02] [-2.29481299e-02 1.93662562e-03 9.99734781e-01 5.53998550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6707140569999 meters Centerline goodness : 0.988595 Centerline is valid? [True, True] Translation: X:218.86, Y:156.51, Z:5.54 [[ 8.43756635e-01 -5.36340196e-01 2.03453744e-02 2.18858288e+02] [ 5.36234870e-01 8.43999946e-01 1.07821499e-02 1.56506794e+02] [-2.29543953e-02 1.81238870e-03 9.99734870e-01 5.54193480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7007140569999 meters Centerline goodness : 0.990270 Centerline is valid? [True, True] Translation: X:218.87, Y:156.53, Z:5.54 [[ 8.36790973e-01 -5.47145616e-01 2.03111274e-02 2.18871484e+02] [ 5.47041964e-01 8.37034959e-01 1.08428585e-02 1.56529362e+02] [-2.29337462e-02 2.03783287e-03 9.99734910e-01 5.54264623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.730714057 meters Centerline goodness : 0.988083 Centerline is valid? [True, True] Translation: X:218.91, Y:156.54, Z:5.54 [[ 8.43621271e-01 -5.36564634e-01 2.00385798e-02 2.18909587e+02] [ 5.36446435e-01 8.43858380e-01 1.13251097e-02 1.56539061e+02] [-2.29863768e-02 1.19552121e-03 9.99735064e-01 5.54022209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.760714057 meters Centerline goodness : 0.988895 Centerline is valid? [True, True] Translation: X:218.94, Y:156.56, Z:5.54 [[ 8.42694451e-01 -5.38012850e-01 2.02048491e-02 2.18940603e+02] [ 5.37902045e-01 8.42935170e-01 1.10312648e-02 1.56558230e+02] [-2.29663401e-02 1.57224401e-03 9.99735003e-01 5.54198083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.790714057 meters Centerline goodness : 0.987019 Centerline is valid? [True, True] Translation: X:218.96, Y:156.57, Z:5.54 [[ 8.40755527e-01 -5.41032247e-01 2.03531692e-02 2.18962421e+02] [ 5.40928596e-01 8.40999574e-01 1.07689633e-02 1.56573047e+02] [-2.29433630e-02 1.95554587e-03 9.99734854e-01 5.54286476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8207140569999 meters Centerline goodness : 0.987655 Centerline is valid? [True, True] Translation: X:218.99, Y:156.59, Z:5.54 [[ 8.40433395e-01 -5.41539561e-01 2.01646156e-02 2.18990778e+02] [ 5.41428075e-01 8.40673768e-01 1.11020481e-02 1.56588876e+02] [-2.29640617e-02 1.58715703e-03 9.99735031e-01 5.54193231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8507140569999 meters Centerline goodness : 0.986189 Centerline is valid? [True, True] Translation: X:219.01, Y:156.61, Z:5.54 [[ 8.35207375e-01 -5.49565272e-01 2.01656330e-02 2.19008205e+02] [ 5.49456136e-01 8.35448825e-01 1.11002430e-02 1.56609269e+02] [-2.29476624e-02 1.80912595e-03 9.99735031e-01 5.53928016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.880714057 meters Centerline goodness : 0.987731 Centerline is valid? [True, True] Translation: X:219.05, Y:156.62, Z:5.54 [[ 8.37540511e-01 -5.46013370e-01 1.98819582e-02 2.19046175e+02] [ 5.45891241e-01 8.37775693e-01 1.16034772e-02 1.56621974e+02] [-2.29922750e-02 1.13500458e-03 9.99734998e-01 5.54072936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.910714057 meters Centerline goodness : 0.987457 Centerline is valid? [True, True] Translation: X:219.07, Y:156.64, Z:5.54 [[ 8.34579398e-01 -5.50516907e-01 2.02079996e-02 2.19071757e+02] [ 5.50409808e-01 8.34821807e-01 1.10270017e-02 1.56638980e+02] [-2.29406296e-02 1.91977272e-03 9.99734986e-01 5.54063556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9407140569999 meters Centerline goodness : 0.987382 Centerline is valid? [True, True] Translation: X:219.10, Y:156.66, Z:5.54 [[ 8.33455489e-01 -5.52218964e-01 2.01535162e-02 2.19101469e+02] [ 5.52110045e-01 8.33697050e-01 1.11232921e-02 1.56655055e+02] [-2.29444199e-02 1.85618991e-03 9.99735019e-01 5.53926149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9707140569999 meters Centerline goodness : 0.986900 Centerline is valid? [True, True] Translation: X:219.13, Y:156.67, Z:5.54 [[ 8.32217178e-01 -5.54081590e-01 2.02029785e-02 2.19127473e+02] [ 5.53975314e-01 8.32459946e-01 1.10358485e-02 1.56669562e+02] [-2.29329308e-02 2.00772863e-03 9.99734990e-01 5.53836767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.000714057 meters Centerline goodness : 0.988792 Centerline is valid? [True, True] Translation: X:219.15, Y:156.69, Z:5.53 [[ 8.26924341e-01 -5.61952085e-01 2.01491767e-02 2.19148255e+02] [ 5.61845812e-01 8.27167079e-01 1.11313342e-02 1.56687840e+02] [-2.29220121e-02 2.11595934e-03 9.99735017e-01 5.53307547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.030714057 meters Centerline goodness : 0.989194 Centerline is valid? [True, True] Translation: X:219.18, Y:156.70, Z:5.54 [[ 8.27452694e-01 -5.61180610e-01 1.99590126e-02 2.19183714e+02] [ 5.61065997e-01 8.27691612e-01 1.14692007e-02 1.56702074e+02] [-2.29562003e-02 1.70810229e-03 9.99735013e-01 5.53593403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0607140569999 meters Centerline goodness : 0.989310 Centerline is valid? [True, True] Translation: X:219.21, Y:156.72, Z:5.54 [[ 8.27141617e-01 -5.61631248e-01 2.01763956e-02 2.19213414e+02] [ 5.61526025e-01 8.27384837e-01 1.10839853e-02 1.56718804e+02] [-2.29187563e-02 2.16154570e-03 9.99734994e-01 5.53524165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0907140569999 meters Centerline goodness : 0.989408 Centerline is valid? [True, True] Translation: X:219.24, Y:156.74, Z:5.53 [[ 8.27249173e-01 -5.61471464e-01 2.02138863e-02 2.19240922e+02] [ 5.61367799e-01 8.27493086e-01 1.10175386e-02 1.56735535e+02] [-2.29128847e-02 2.23317519e-03 9.99734971e-01 5.53485457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.120714057 meters Centerline goodness : 0.990469 Centerline is valid? [True, True] Translation: X:219.27, Y:156.75, Z:5.53 [[ 8.26116194e-01 -5.63137074e-01 2.02155981e-02 2.19269351e+02] [ 5.63033974e-01 8.26360348e-01 1.10145031e-02 1.56753769e+02] [-2.29080437e-02 2.28280913e-03 9.99734970e-01 5.53002611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.150714057 meters Centerline goodness : 0.990472 Centerline is valid? [True, True] Translation: X:219.29, Y:156.77, Z:5.53 [[ 8.28678661e-01 -5.59355506e-01 2.03247284e-02 2.19293334e+02] [ 5.59255978e-01 8.28924399e-01 1.08208938e-02 1.56769276e+02] [-2.29003898e-02 2.39968213e-03 9.99734872e-01 5.53275873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1807140569999 meters Centerline goodness : 0.990387 Centerline is valid? [True, True] Translation: X:219.32, Y:156.78, Z:5.53 [[ 8.29992279e-01 -5.57409374e-01 2.01892526e-02 2.19321391e+02] [ 5.57303465e-01 8.30235208e-01 1.10610635e-02 1.56784195e+02] [-2.29273688e-02 2.07094317e-03 9.99734988e-01 5.53272646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2107140569999 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:219.35, Y:156.80, Z:5.53 [[ 8.30220646e-01 -5.57068932e-01 2.01961316e-02 2.19350528e+02] [ 5.56963217e-01 8.30463664e-01 1.10488760e-02 1.56800917e+02] [-2.29271390e-02 2.07549747e-03 9.99734984e-01 5.52644693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.240714057 meters Centerline goodness : 0.990187 Centerline is valid? [True, True] Translation: X:219.38, Y:156.82, Z:5.53 [[ 8.30845346e-01 -5.56134342e-01 2.02633997e-02 2.19377182e+02] [ 5.56031231e-01 8.31089534e-01 1.09296241e-02 1.56817427e+02] [-2.29190387e-02 2.18625580e-03 9.99734934e-01 5.52558448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.270714057 meters Centerline goodness : 0.990519 Centerline is valid? [True, True] Translation: X:219.41, Y:156.83, Z:5.52 [[ 8.31037073e-01 -5.55848452e-01 2.02455355e-02 2.19407948e+02] [ 5.55744493e-01 8.31280885e-01 1.09612377e-02 1.56834106e+02] [-2.29225137e-02 2.14214999e-03 9.99734950e-01 5.52463114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3007140569999 meters Centerline goodness : 0.989506 Centerline is valid? [True, True] Translation: X:219.44, Y:156.85, Z:5.52 [[ 8.31244245e-01 -5.55535989e-01 2.03167291e-02 2.19436577e+02] [ 5.55434984e-01 8.31489372e-01 1.08352637e-02 1.56850947e+02] [-2.29125233e-02 2.27787153e-03 9.99734879e-01 5.52305969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3307140569999 meters Centerline goodness : 0.988779 Centerline is valid? [True, True] Translation: X:219.46, Y:156.87, Z:5.52 [[ 8.31216606e-01 -5.55577168e-01 2.03215112e-02 2.19463105e+02] [ 5.55476380e-01 8.31461828e-01 1.08268019e-02 1.56867388e+02] [-2.29116848e-02 2.28870198e-03 9.99734873e-01 5.52280851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.360714057 meters Centerline goodness : 0.989087 Centerline is valid? [True, True] Translation: X:219.49, Y:156.88, Z:5.52 [[ 8.31859906e-01 -5.54613732e-01 2.03151214e-02 2.19489855e+02] [ 5.54512386e-01 8.32104891e-01 1.08381144e-02 1.56882975e+02] [-2.29152789e-02 2.24919357e-03 9.99734880e-01 5.52268350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.390714057 meters Centerline goodness : 0.988962 Centerline is valid? [True, True] Translation: X:219.52, Y:156.90, Z:5.52 [[ 8.32459852e-01 -5.53712517e-01 2.03234711e-02 2.19515163e+02] [ 5.53611263e-01 8.32704885e-01 1.08233134e-02 1.56898191e+02] [-2.29164577e-02 2.24132865e-03 9.99734871e-01 5.52238773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4207140569999 meters Centerline goodness : 0.990298 Centerline is valid? [True, True] Translation: X:219.55, Y:156.92, Z:5.52 [[ 8.29605828e-01 -5.57982011e-01 2.02545055e-02 2.19550066e+02] [ 5.57879063e-01 8.29850077e-01 1.09453724e-02 1.56917786e+02] [-2.29155238e-02 2.21921983e-03 9.99734942e-01 5.52021795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4507140569999 meters Centerline goodness : 0.988311 Centerline is valid? [True, True] Translation: X:219.57, Y:156.93, Z:5.52 [[ 8.29834848e-01 -5.57632075e-01 2.05083943e-02 2.19570497e+02] [ 5.57539956e-01 8.30083757e-01 1.04953995e-02 1.56930776e+02] [-2.28762564e-02 2.72480102e-03 9.99734591e-01 5.52288542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.480714057 meters Centerline goodness : 0.990513 Centerline is valid? [True, True] Translation: X:219.58, Y:156.95, Z:5.52 [[ 8.22450224e-01 -5.68473925e-01 2.03230054e-02 2.19582666e+02] [ 5.68377050e-01 8.22697015e-01 1.08236550e-02 1.56951318e+02] [-2.28726415e-02 2.64921235e-03 9.99734877e-01 5.52120925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.510714057 meters Centerline goodness : 0.988444 Centerline is valid? [True, True] Translation: X:219.62, Y:156.96, Z:5.52 [[ 8.26864483e-01 -5.62044335e-01 2.00322956e-02 2.19621873e+02] [ 5.61933130e-01 8.27104964e-01 1.13373277e-02 1.56960872e+02] [-2.29408920e-02 1.88237702e-03 9.99735051e-01 5.52063614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.540714057 meters Centerline goodness : 0.990356 Centerline is valid? [True, True] Translation: X:219.66, Y:156.98, Z:5.52 [[ 8.22247280e-01 -5.68771242e-01 2.02159427e-02 2.19655506e+02] [ 5.68669832e-01 8.22492140e-01 1.10137501e-02 1.56979228e+02] [-2.28917583e-02 2.44017063e-03 9.99734971e-01 5.51959749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5707140569999 meters Centerline goodness : 0.989457 Centerline is valid? [True, True] Translation: X:219.68, Y:156.99, Z:5.52 [[ 8.21488078e-01 -5.69859245e-01 2.04396100e-02 2.19680419e+02] [ 5.69767795e-01 8.21737123e-01 1.06188593e-02 1.56994903e+02] [-2.28472415e-02 2.92256525e-03 9.99734696e-01 5.51825697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6007140569999 meters Centerline goodness : 0.989611 Centerline is valid? [True, True] Translation: X:219.70, Y:157.01, Z:5.52 [[ 8.21567399e-01 -5.69747986e-01 2.03529095e-02 2.19704211e+02] [ 5.69652753e-01 8.21814883e-01 1.07721002e-02 1.57008682e+02] [-2.28637063e-02 2.74408454e-03 9.99734825e-01 5.51850279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.630714057 meters Centerline goodness : 0.989678 Centerline is valid? [True, True] Translation: X:219.73, Y:157.02, Z:5.52 [[ 8.21673177e-01 -5.69599238e-01 2.02459663e-02 2.19731521e+02] [ 5.69499358e-01 8.21918694e-01 1.09609391e-02 1.57023827e+02] [-2.28838807e-02 2.52375518e-03 9.99734944e-01 5.51667291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.660714057 meters Centerline goodness : 0.990204 Centerline is valid? [True, True] Translation: X:219.76, Y:157.04, Z:5.51 [[ 8.20027400e-01 -5.71966163e-01 2.02428310e-02 2.19762540e+02] [ 5.71866857e-01 8.20273146e-01 1.09664723e-02 1.57042168e+02] [-2.28771018e-02 2.58339641e-03 9.99734947e-01 5.51393937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6907140569999 meters Centerline goodness : 0.989866 Centerline is valid? [True, True] Translation: X:219.79, Y:157.06, Z:5.52 [[ 8.23280234e-01 -5.67270155e-01 2.03525919e-02 2.19786408e+02] [ 5.67174162e-01 8.23527424e-01 1.07727189e-02 1.57056591e+02] [-2.28719595e-02 2.67449771e-03 9.99734825e-01 5.51580226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7207140569999 meters Centerline goodness : 0.989645 Centerline is valid? [True, True] Translation: X:219.82, Y:157.07, Z:5.51 [[ 8.24121450e-01 -5.66052736e-01 2.02023649e-02 2.19815600e+02] [ 5.65949946e-01 8.24365718e-01 1.10372912e-02 1.57073224e+02] [-2.29018259e-02 2.33745885e-03 9.99734986e-01 5.51457423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.750714057 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:219.85, Y:157.09, Z:5.51 [[ 8.25007261e-01 -5.64758869e-01 2.02592934e-02 2.19845893e+02] [ 5.64658128e-01 8.25252434e-01 1.09370178e-02 1.57092337e+02] [-2.28958090e-02 2.41645557e-03 9.99734936e-01 5.51183484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.780714057 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:219.87, Y:157.11, Z:5.51 [[ 8.24827286e-01 -5.65017533e-01 2.03748715e-02 2.19874012e+02] [ 5.64921831e-01 8.25074618e-01 1.07331005e-02 1.57108736e+02] [-2.28751793e-02 2.65725557e-03 9.99734797e-01 5.51118086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8107140569999 meters Centerline goodness : 0.990391 Centerline is valid? [True, True] Translation: X:219.90, Y:157.12, Z:5.51 [[ 8.27005206e-01 -5.61825573e-01 2.03571720e-02 2.19897543e+02] [ 5.61728156e-01 8.27251841e-01 1.07642679e-02 1.57123565e+02] [-2.28881490e-02 2.53309110e-03 9.99734823e-01 5.51110021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8407140569999 meters Centerline goodness : 0.990117 Centerline is valid? [True, True] Translation: X:219.92, Y:157.14, Z:5.51 [[ 8.29361392e-01 -5.58346036e-01 2.02332936e-02 2.19924911e+02] [ 5.58242309e-01 8.29605280e-01 1.09819579e-02 1.57141411e+02] [-2.29173798e-02 2.18706868e-03 9.99734970e-01 5.51230594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.870714057 meters Centerline goodness : 0.990778 Centerline is valid? [True, True] Translation: X:219.95, Y:157.16, Z:5.51 [[ 8.30377547e-01 -5.56833365e-01 2.02418595e-02 2.19952741e+02] [ 5.56729557e-01 8.30621410e-01 1.09669032e-02 1.57158301e+02] [-2.29200595e-02 2.16257131e-03 9.99734962e-01 5.51139309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.900714057 meters Centerline goodness : 0.990474 Centerline is valid? [True, True] Translation: X:219.98, Y:157.18, Z:5.51 [[ 8.32639952e-01 -5.53445004e-01 2.02320971e-02 2.19980378e+02] [ 5.53339790e-01 8.32883201e-01 1.09840442e-02 1.57176492e+02] [-2.29300382e-02 2.04947027e-03 9.99734971e-01 5.51011568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9307140569999 meters Centerline goodness : 0.990503 Centerline is valid? [True, True] Translation: X:220.01, Y:157.19, Z:5.51 [[ 8.34850902e-01 -5.50104047e-01 2.02363216e-02 2.20007494e+02] [ 5.49998038e-01 8.35093810e-01 1.09766347e-02 1.57194431e+02] [-2.29375181e-02 1.96608376e-03 9.99734967e-01 5.50801355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9607140569999 meters Centerline goodness : 0.989517 Centerline is valid? [True, True] Translation: X:220.04, Y:157.21, Z:5.51 [[ 8.36500138e-01 -5.47591729e-01 2.02686172e-02 2.20035721e+02] [ 5.47486352e-01 8.36743359e-01 1.09199815e-02 1.57210622e+02] [-2.29393224e-02 1.96222523e-03 9.99734933e-01 5.50754473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.990714057 meters Centerline goodness : 0.988560 Centerline is valid? [True, True] Translation: X:220.06, Y:157.23, Z:5.51 [[ 8.38167244e-01 -5.45035822e-01 2.02885437e-02 2.20061923e+02] [ 5.44930545e-01 8.38410531e-01 1.08849769e-02 1.57228209e+02] [-2.29428310e-02 1.93241614e-03 9.99734911e-01 5.50702252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.020714057 meters Centerline goodness : 0.989680 Centerline is valid? [True, True] Translation: X:220.09, Y:157.25, Z:5.51 [[ 8.39029235e-01 -5.43709420e-01 2.02486919e-02 2.20090691e+02] [ 5.43602079e-01 8.39271571e-01 1.09548878e-02 1.57245181e+02] [-2.29504271e-02 1.81575992e-03 9.99734955e-01 5.50729624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0507140569999 meters Centerline goodness : 0.988495 Centerline is valid? [True, True] Translation: X:220.12, Y:157.26, Z:5.51 [[ 8.39974453e-01 -5.42246918e-01 2.02780122e-02 2.20115953e+02] [ 5.42140389e-01 8.40217182e-01 1.09034787e-02 1.57262711e+02] [-2.29503120e-02 1.83488580e-03 9.99734923e-01 5.50603048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0807140569999 meters Centerline goodness : 0.988622 Centerline is valid? [True, True] Translation: X:220.14, Y:157.28, Z:5.50 [[ 8.40745580e-01 -5.41052172e-01 2.02340719e-02 2.20144240e+02] [ 5.40943453e-01 8.40987283e-01 1.09804625e-02 1.57279875e+02] [-2.29576002e-02 1.71371341e-03 9.99734971e-01 5.50492707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.110714057 meters Centerline goodness : 0.988786 Centerline is valid? [True, True] Translation: X:220.17, Y:157.30, Z:5.50 [[ 8.40678793e-01 -5.41157100e-01 2.02029676e-02 2.20172591e+02] [ 5.41047112e-01 8.40919887e-01 1.10347430e-02 1.57296942e+02] [-2.29606067e-02 1.65408286e-03 9.99735002e-01 5.50214666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.140714057 meters Centerline goodness : 0.988901 Centerline is valid? [True, True] Translation: X:220.20, Y:157.31, Z:5.50 [[ 8.42741325e-01 -5.37936711e-01 2.02769260e-02 2.20198769e+02] [ 5.37828888e-01 8.42983484e-01 1.09056488e-02 1.57313041e+02] [-2.29596625e-02 1.71487561e-03 9.99734921e-01 5.50098270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1707140569999 meters Centerline goodness : 0.988265 Centerline is valid? [True, True] Translation: X:220.23, Y:157.33, Z:5.50 [[ 8.44132874e-01 -5.35751067e-01 2.02604407e-02 2.20226422e+02] [ 5.35641927e-01 8.44374421e-01 1.09344996e-02 1.57330978e+02] [-2.29655676e-02 1.62217095e-03 9.99734941e-01 5.49922466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2007140569999 meters Centerline goodness : 0.989471 Centerline is valid? [True, True] Translation: X:220.25, Y:157.35, Z:5.50 [[ 8.42322451e-01 -5.38594449e-01 2.02214541e-02 2.20250940e+02] [ 5.38484500e-01 8.42563583e-01 1.10024155e-02 1.57349906e+02] [-2.29637007e-02 1.62135797e-03 9.99734985e-01 5.49941371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.230714057 meters Centerline goodness : 0.989997 Centerline is valid? [True, True] Translation: X:220.28, Y:157.37, Z:5.50 [[ 8.43313467e-01 -5.37042613e-01 2.01898029e-02 2.20278985e+02] [ 5.36930905e-01 8.43553753e-01 1.10575054e-02 1.57366862e+02] [-2.29695356e-02 1.51558595e-03 9.99735017e-01 5.49898217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.260714057 meters Centerline goodness : 0.989192 Centerline is valid? [True, True] Translation: X:220.31, Y:157.38, Z:5.50 [[ 8.43149958e-01 -5.37299369e-01 2.01875253e-02 2.20306636e+02] [ 5.37187640e-01 8.43390232e-01 1.10614633e-02 1.57383683e+02] [-2.29692789e-02 1.51801676e-03 9.99735019e-01 5.49838721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.290714057 meters Centerline goodness : 0.989972 Centerline is valid? [True, True] Translation: X:220.34, Y:157.40, Z:5.50 [[ 8.42757173e-01 -5.37914918e-01 2.01962345e-02 2.20335563e+02] [ 5.37803726e-01 8.42997706e-01 1.10463237e-02 1.57401648e+02] [-2.29673616e-02 1.55224159e-03 9.99735010e-01 5.49565940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3207140569999 meters Centerline goodness : 0.988815 Centerline is valid? [True, True] Translation: X:220.36, Y:157.42, Z:5.50 [[ 8.43653306e-01 -5.36504781e-01 2.02908715e-02 2.20358464e+02] [ 5.36397122e-01 8.43895561e-01 1.08816524e-02 1.57415989e+02] [-2.29614349e-02 1.70362310e-03 9.99734900e-01 5.49650005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3507140569999 meters Centerline goodness : 0.989572 Centerline is valid? [True, True] Translation: X:220.39, Y:157.43, Z:5.49 [[ 8.43936140e-01 -5.36063920e-01 2.01808281e-02 2.20389565e+02] [ 5.35951561e-01 8.44176113e-01 1.10731197e-02 1.57432252e+02] [-2.29720730e-02 1.47094039e-03 9.99735025e-01 5.49412798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.380714057 meters Centerline goodness : 0.988944 Centerline is valid? [True, True] Translation: X:220.42, Y:157.45, Z:5.49 [[ 8.42417762e-01 -5.38443957e-01 2.02588089e-02 2.20415749e+02] [ 5.38335520e-01 8.42659624e-01 1.09373981e-02 1.57448368e+02] [-2.29604562e-02 1.69217797e-03 9.99734942e-01 5.49427439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.410714057 meters Centerline goodness : 0.988842 Centerline is valid? [True, True] Translation: X:220.44, Y:157.46, Z:5.49 [[ 8.41459220e-01 -5.39942461e-01 2.02118723e-02 2.20441471e+02] [ 5.39832498e-01 8.41700334e-01 1.10191265e-02 1.57464616e+02] [-2.29620340e-02 1.63887995e-03 9.99734994e-01 5.49315440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4407140569999 meters Centerline goodness : 0.988750 Centerline is valid? [True, True] Translation: X:220.47, Y:157.48, Z:5.49 [[ 8.41063129e-01 -5.40561876e-01 2.01412862e-02 2.20471886e+02] [ 5.40449160e-01 8.41302897e-01 1.11418146e-02 1.57481440e+02] [-2.29677626e-02 1.51437174e-03 9.99735059e-01 5.49011280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4707140569999 meters Centerline goodness : 0.989167 Centerline is valid? [True, True] Translation: X:220.50, Y:157.50, Z:5.49 [[ 8.40010108e-01 -5.42193724e-01 2.02233822e-02 2.20499474e+02] [ 5.42084888e-01 8.40251745e-01 1.09990479e-02 1.57497804e+02] [-2.29563470e-02 1.72347844e-03 9.99734983e-01 5.48836783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.500714057 meters Centerline goodness : 0.988984 Centerline is valid? [True, True] Translation: X:220.53, Y:157.51, Z:5.49 [[ 8.38861246e-01 -5.43970063e-01 2.02084597e-02 2.20525873e+02] [ 5.43861117e-01 8.39102816e-01 1.10249653e-02 1.57514145e+02] [-2.29542265e-02 1.74217936e-03 9.99734999e-01 5.48960224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.530714057 meters Centerline goodness : 0.989365 Centerline is valid? [True, True] Translation: X:220.55, Y:157.53, Z:5.49 [[ 8.38322630e-01 -5.44801811e-01 2.01532783e-02 2.20552940e+02] [ 5.44690815e-01 8.38563205e-01 1.11205589e-02 1.57530729e+02] [-2.29582982e-02 1.65468939e-03 9.99735054e-01 5.48817013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5607140569999 meters Centerline goodness : 0.989591 Centerline is valid? [True, True] Translation: X:220.58, Y:157.55, Z:5.49 [[ 8.38293744e-01 -5.44846317e-01 2.01516626e-02 2.20581184e+02] [ 5.44735268e-01 8.38534292e-01 1.11233572e-02 1.57548524e+02] [-2.29583804e-02 1.65268057e-03 9.99735056e-01 5.48858372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5907140569999 meters Centerline goodness : 0.988904 Centerline is valid? [True, True] Translation: X:220.61, Y:157.56, Z:5.49 [[ 8.38307120e-01 -5.44824771e-01 2.01777306e-02 2.20606605e+02] [ 5.44714796e-01 8.38548188e-01 1.10781993e-02 1.57564290e+02] [-2.29556769e-02 1.70417507e-03 9.99735031e-01 5.48779811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.620714057 meters Centerline goodness : 0.990336 Centerline is valid? [True, True] Translation: X:220.64, Y:157.58, Z:5.49 [[ 8.38452049e-01 -5.44603070e-01 2.01409422e-02 2.20636258e+02] [ 5.44491507e-01 8.38692350e-01 1.11419060e-02 1.57580965e+02] [-2.29599704e-02 1.62461804e-03 9.99735065e-01 5.48743304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.650714057 meters Centerline goodness : 0.990457 Centerline is valid? [True, True] Translation: X:220.66, Y:157.60, Z:5.48 [[ 8.38043409e-01 -5.45229797e-01 2.01919160e-02 2.20662066e+02] [ 5.45120528e-01 8.38284813e-01 1.10535930e-02 1.57597318e+02] [-2.29533249e-02 1.74363714e-03 9.99735017e-01 5.48422666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6807140569999 meters Centerline goodness : 0.989205 Centerline is valid? [True, True] Translation: X:220.69, Y:157.61, Z:5.48 [[ 8.37380883e-01 -5.46247897e-01 2.01616663e-02 2.20691674e+02] [ 5.46137666e-01 8.37621816e-01 1.11059777e-02 1.57612926e+02] [-2.29544685e-02 1.71111197e-03 9.99735047e-01 5.48490726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7107140569999 meters Centerline goodness : 0.989466 Centerline is valid? [True, True] Translation: X:220.72, Y:157.63, Z:5.49 [[ 8.37732188e-01 -5.45709271e-01 2.01537079e-02 2.20724514e+02] [ 5.45598556e-01 8.37972892e-01 1.11197311e-02 1.57628084e+02] [-2.29564012e-02 1.68047726e-03 9.99735055e-01 5.48505317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.740714057 meters Centerline goodness : 0.988397 Centerline is valid? [True, True] Translation: X:220.75, Y:157.64, Z:5.48 [[ 8.36394678e-01 -5.47752367e-01 2.02802393e-02 2.20747198e+02] [ 5.47647497e-01 8.36638147e-01 1.09009079e-02 1.57643510e+02] [-2.29382199e-02 1.98896093e-03 9.99734906e-01 5.48420342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.770714057 meters Centerline goodness : 0.989554 Centerline is valid? [True, True] Translation: X:220.77, Y:157.66, Z:5.48 [[ 8.34547798e-01 -5.50565854e-01 2.01795505e-02 2.20773721e+02] [ 5.50457603e-01 8.34789652e-01 1.10754149e-02 1.57657990e+02] [-2.29434252e-02 1.86502387e-03 9.99735025e-01 5.48137921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8007140569999 meters Centerline goodness : 0.989320 Centerline is valid? [True, True] Translation: X:220.80, Y:157.67, Z:5.48 [[ 8.31514565e-01 -5.55138438e-01 2.01207340e-02 2.20802312e+02] [ 5.55029072e-01 8.31755856e-01 1.11770051e-02 1.57672757e+02] [-2.29403235e-02 1.87374978e-03 9.99735080e-01 5.48042812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8307140569999 meters Centerline goodness : 0.989108 Centerline is valid? [True, True] Translation: X:220.83, Y:157.69, Z:5.48 [[ 8.30677631e-01 -5.56388729e-01 2.01557823e-02 2.20828721e+02] [ 5.56281183e-01 8.30919773e-01 1.11164556e-02 1.57687371e+02] [-2.29329087e-02 1.97809141e-03 9.99735049e-01 5.47909150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.860714057 meters Centerline goodness : 0.988632 Centerline is valid? [True, True] Translation: X:220.86, Y:157.70, Z:5.48 [[ 8.29053501e-01 -5.58808163e-01 2.00930192e-02 2.20858190e+02] [ 5.58698717e-01 8.29294731e-01 1.12246891e-02 1.57702548e+02] [-2.29354828e-02 1.92007625e-03 9.99735103e-01 5.48065894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.890714057 meters Centerline goodness : 0.989432 Centerline is valid? [True, True] Translation: X:220.89, Y:157.72, Z:5.48 [[ 8.29347577e-01 -5.58370265e-01 2.01306809e-02 2.20885580e+02] [ 5.58262255e-01 8.29589486e-01 1.11597359e-02 1.57717050e+02] [-2.29314659e-02 1.98289939e-03 9.99735073e-01 5.47903844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9207140569999 meters Centerline goodness : 0.988906 Centerline is valid? [True, True] Translation: X:220.91, Y:157.73, Z:5.48 [[ 8.29966389e-01 -5.57450235e-01 2.01253244e-02 2.20913961e+02] [ 5.57341734e-01 8.30208074e-01 1.11689834e-02 1.57732656e+02] [-2.29343592e-02 1.94680240e-03 9.99735077e-01 5.47912331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9507140569999 meters Centerline goodness : 0.989188 Centerline is valid? [True, True] Translation: X:220.94, Y:157.75, Z:5.48 [[ 8.32234426e-01 -5.54059172e-01 2.01070957e-02 2.20940611e+02] [ 5.53948929e-01 8.32475305e-01 1.12004668e-02 1.57747507e+02] [-2.29443820e-02 1.81689010e-03 9.99735092e-01 5.48050086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.980714057 meters Centerline goodness : 0.989103 Centerline is valid? [True, True] Translation: X:220.97, Y:157.76, Z:5.48 [[ 8.33287942e-01 -5.52475102e-01 2.00615914e-02 2.20967995e+02] [ 5.52362519e-01 8.33527702e-01 1.12790432e-02 1.57764072e+02] [-2.29532827e-02 1.68258043e-03 9.99735123e-01 5.48076096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.010714057 meters Centerline goodness : 0.988823 Centerline is valid? [True, True] Translation: X:221.00, Y:157.78, Z:5.48 [[ 8.36785972e-01 -5.47163148e-01 2.00431337e-02 2.20996148e+02] [ 5.47048282e-01 8.37024635e-01 1.13109135e-02 1.57780491e+02] [-2.29655117e-02 1.49974812e-03 9.99735133e-01 5.48086656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.040714057 meters Centerline goodness : 0.989088 Centerline is valid? [True, True] Translation: X:221.02, Y:157.80, Z:5.48 [[ 8.38664235e-01 -5.44280995e-01 2.00124918e-02 2.21024462e+02] [ 5.44164051e-01 8.38901871e-01 1.13637739e-02 1.57796970e+02] [-2.29736030e-02 1.35968785e-03 9.99735147e-01 5.48002787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0707140569999 meters Centerline goodness : 0.989261 Centerline is valid? [True, True] Translation: X:221.05, Y:157.81, Z:5.48 [[ 8.40849060e-01 -5.40898634e-01 2.00381207e-02 2.21052353e+02] [ 5.40781784e-01 8.41086755e-01 1.13195539e-02 1.57813489e+02] [-2.29765292e-02 1.31821446e-03 9.99735136e-01 5.47969972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1007140569999 meters Centerline goodness : 0.987953 Centerline is valid? [True, True] Translation: X:221.08, Y:157.83, Z:5.48 [[ 8.45239241e-01 -5.34012504e-01 2.00317707e-02 2.21079536e+02] [ 5.33893457e-01 8.45475840e-01 1.13305107e-02 1.57829784e+02] [-2.29870126e-02 1.11783905e-03 9.99735139e-01 5.48040374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.130714057 meters Centerline goodness : 0.988208 Centerline is valid? [True, True] Translation: X:221.11, Y:157.85, Z:5.48 [[ 8.47097675e-01 -5.31060478e-01 2.00074401e-02 2.21109207e+02] [ 5.30939616e-01 8.47333341e-01 1.13725113e-02 1.57846013e+02] [-2.29924623e-02 9.89114702e-04 9.99735149e-01 5.47842041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.160714057 meters Centerline goodness : 0.989654 Centerline is valid? [True, True] Translation: X:221.14, Y:157.86, Z:5.48 [[ 8.47616660e-01 -5.30230093e-01 2.00510955e-02 2.21143422e+02] [ 5.30110777e-01 8.47853135e-01 1.12971246e-02 1.57863779e+02] [-2.29904596e-02 1.05367081e-03 9.99735129e-01 5.47513195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1907140569999 meters Centerline goodness : 0.988072 Centerline is valid? [True, True] Translation: X:221.17, Y:157.87, Z:5.47 [[ 8.50023720e-01 -5.26355454e-01 2.02388733e-02 2.21167481e+02] [ 5.26242725e-01 8.50263598e-01 1.09730724e-02 1.57874999e+02] [-2.29841137e-02 1.32318798e-03 9.99734955e-01 5.47448703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2207140569999 meters Centerline goodness : 0.988006 Centerline is valid? [True, True] Translation: X:221.20, Y:157.89, Z:5.47 [[ 8.50568149e-01 -5.25481332e-01 2.00796694e-02 2.21195823e+02] [ 5.25361864e-01 8.50804563e-01 1.12475301e-02 1.57888685e+02] [-2.29942414e-02 9.82301700e-04 9.99735115e-01 5.47496355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.250714057 meters Centerline goodness : 0.989817 Centerline is valid? [True, True] Translation: X:221.23, Y:157.90, Z:5.47 [[ 8.48783852e-01 -5.28358530e-01 2.00807512e-02 2.21234412e+02] [ 5.28239907e-01 8.49020692e-01 1.12456639e-02 1.57903972e+02] [-2.29907157e-02 1.06231617e-03 9.99735114e-01 5.46640996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.280714057 meters Centerline goodness : 0.988707 Centerline is valid? [True, True] Translation: X:221.26, Y:157.92, Z:5.47 [[ 8.48599553e-01 -5.28645152e-01 2.03248923e-02 2.21255625e+02] [ 5.28536603e-01 8.48841493e-01 1.08249455e-02 1.57917352e+02] [-2.29751669e-02 1.55640561e-03 9.99734824e-01 5.47041287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3107140569999 meters Centerline goodness : 0.988150 Centerline is valid? [True, True] Translation: X:221.28, Y:157.93, Z:5.47 [[ 8.46865324e-01 -5.31426913e-01 2.01136590e-02 2.21284818e+02] [ 5.31310503e-01 8.47103281e-01 1.11884392e-02 1.57929125e+02] [-2.29841843e-02 1.21149711e-03 9.99735095e-01 5.47066917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3407140569999 meters Centerline goodness : 0.989648 Centerline is valid? [True, True] Translation: X:221.32, Y:157.95, Z:5.47 [[ 8.44143354e-01 -5.35740845e-01 2.00934216e-02 2.21319904e+02] [ 5.35624823e-01 8.44381482e-01 1.12232606e-02 1.57945321e+02] [-2.29792722e-02 1.28849456e-03 9.99735111e-01 5.46565321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.370714057 meters Centerline goodness : 0.990494 Centerline is valid? [True, True] Translation: X:221.35, Y:157.96, Z:5.47 [[ 8.41592892e-01 -5.39730430e-01 2.03092879e-02 2.21350967e+02] [ 5.39624419e-01 8.41835926e-01 1.08517313e-02 1.57956697e+02] [-2.29540978e-02 1.82664779e-03 9.99734851e-01 5.46521763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.400714057 meters Centerline goodness : 0.989333 Centerline is valid? [True, True] Translation: X:221.37, Y:157.97, Z:5.47 [[ 8.40696087e-01 -5.41125117e-01 2.03395496e-02 2.21368579e+02] [ 5.41020762e-01 8.40939892e-01 1.07996781e-02 1.57966838e+02] [-2.29483157e-02 1.92487152e-03 9.99734800e-01 5.46988648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4307140569999 meters Centerline goodness : 0.989373 Centerline is valid? [True, True] Translation: X:221.40, Y:157.98, Z:5.47 [[ 8.36322812e-01 -5.47871295e-01 2.00299559e-02 2.21398202e+02] [ 5.47756168e-01 8.36561299e-01 1.13302159e-02 1.57979528e+02] [-2.29637860e-02 1.49581387e-03 9.99735178e-01 5.46882248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4607140569999 meters Centerline goodness : 0.990473 Centerline is valid? [True, True] Translation: X:221.43, Y:157.99, Z:5.46 [[ 8.31396353e-01 -5.55318791e-01 2.00285845e-02 2.21432278e+02] [ 5.55205743e-01 8.31635832e-01 1.13325664e-02 1.57993481e+02] [-2.29496756e-02 1.69813080e-03 9.99735179e-01 5.46471283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.490714057 meters Centerline goodness : 0.990528 Centerline is valid? [True, True] Translation: X:221.46, Y:158.01, Z:5.46 [[ 8.29728643e-01 -5.57800201e-01 2.02315623e-02 2.21459744e+02] [ 5.57696285e-01 8.29972425e-01 1.09830125e-02 1.58008334e+02] [-2.29179654e-02 2.17014708e-03 9.99734994e-01 5.46317361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.520714057 meters Centerline goodness : 0.991219 Centerline is valid? [True, True] Translation: X:221.49, Y:158.02, Z:5.46 [[ 8.27851925e-01 -5.60584889e-01 2.01437841e-02 2.21490451e+02] [ 5.60478155e-01 8.28094369e-01 1.11334612e-02 1.58023778e+02] [-2.29222043e-02 2.07329364e-03 9.99735102e-01 5.46453840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5507140569999 meters Centerline goodness : 0.990518 Centerline is valid? [True, True] Translation: X:221.52, Y:158.04, Z:5.46 [[ 8.26206754e-01 -5.63003902e-01 2.02239148e-02 2.21518306e+02] [ 5.62901203e-01 8.26451040e-01 1.09960926e-02 1.58037587e+02] [-2.29049185e-02 2.29901999e-03 9.99735004e-01 5.46160621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5807140569999 meters Centerline goodness : 0.990430 Centerline is valid? [True, True] Translation: X:221.55, Y:158.05, Z:5.46 [[ 8.24053978e-01 -5.66151631e-01 2.01834795e-02 2.21548024e+02] [ 5.66048182e-01 8.24297890e-01 1.10654504e-02 1.58052971e+02] [-2.29019224e-02 2.30629350e-03 9.99735056e-01 5.46259539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.610714057 meters Centerline goodness : 0.988468 Centerline is valid? [True, True] Translation: X:221.57, Y:158.07, Z:5.46 [[ 8.26812014e-01 -5.62113814e-01 2.02473117e-02 2.21569608e+02] [ 5.62011826e-01 8.27056633e-01 1.09559609e-02 1.58065005e+02] [-2.29041704e-02 2.32070851e-03 9.99734972e-01 5.46195006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.640714057 meters Centerline goodness : 0.988966 Centerline is valid? [True, True] Translation: X:221.60, Y:158.08, Z:5.46 [[ 8.28210951e-01 -5.60057825e-01 2.00462730e-02 2.21598133e+02] [ 5.59946919e-01 8.28451418e-01 1.13002702e-02 1.58079181e+02] [-2.29361681e-02 1.86584127e-03 9.99735190e-01 5.46022558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6707140569999 meters Centerline goodness : 0.988966 Centerline is valid? [True, True] Translation: X:221.63, Y:158.10, Z:5.46 [[ 8.28210909e-01 -5.60057839e-01 2.00476112e-02 2.21626173e+02] [ 5.59946989e-01 8.28451402e-01 1.12979744e-02 1.58095634e+02] [-2.29359907e-02 1.86849388e-03 9.99735189e-01 5.45947836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7007140569999 meters Centerline goodness : 0.988639 Centerline is valid? [True, True] Translation: X:221.66, Y:158.11, Z:5.46 [[ 8.28418510e-01 -5.59750641e-01 2.00497464e-02 2.21656191e+02] [ 5.59639789e-01 8.28659004e-01 1.12943103e-02 1.58111694e+02] [-2.29364003e-02 1.86422012e-03 9.99735188e-01 5.45891093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.730714057 meters Centerline goodness : 0.990403 Centerline is valid? [True, True] Translation: X:221.69, Y:158.13, Z:5.45 [[ 8.26055859e-01 -5.63229750e-01 2.00989132e-02 2.21691254e+02] [ 5.63121945e-01 8.26297775e-01 1.12098975e-02 1.58131872e+02] [-2.29214350e-02 2.05813765e-03 9.99735151e-01 5.45256860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.760714057 meters Centerline goodness : 0.990764 Centerline is valid? [True, True] Translation: X:221.72, Y:158.15, Z:5.45 [[ 8.25936866e-01 -5.63394602e-01 2.03670139e-02 2.21717948e+02] [ 5.63298034e-01 8.26183871e-01 1.07487701e-02 1.58149409e+02] [-2.28826974e-02 2.59489339e-03 9.99734789e-01 5.45347072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.790714057 meters Centerline goodness : 0.989245 Centerline is valid? [True, True] Translation: X:221.74, Y:158.16, Z:5.46 [[ 8.27420249e-01 -5.61218725e-01 2.02305525e-02 2.21740500e+02] [ 5.61115864e-01 8.27664430e-01 1.09808227e-02 1.58162628e+02] [-2.29067520e-02 2.26592891e-03 9.99735038e-01 5.45992057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8207140569999 meters Centerline goodness : 0.988019 Centerline is valid? [True, True] Translation: X:221.76, Y:158.18, Z:5.46 [[ 8.28332349e-01 -5.59875179e-01 2.01321525e-02 2.21764536e+02] [ 5.59767880e-01 8.28574464e-01 1.11479923e-02 1.58177104e+02] [-2.29224717e-02 2.03508967e-03 9.99735174e-01 5.45915789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8507140569999 meters Centerline goodness : 0.988643 Centerline is valid? [True, True] Translation: X:221.79, Y:158.19, Z:5.46 [[ 8.26584852e-01 -5.62456122e-01 2.00148234e-02 2.21794398e+02] [ 5.62344776e-01 8.26825007e-01 1.13472303e-02 1.58194854e+02] [-2.29310757e-02 1.87578269e-03 9.99735289e-01 5.45850556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.880714057 meters Centerline goodness : 0.988949 Centerline is valid? [True, True] Translation: X:221.82, Y:158.21, Z:5.46 [[ 8.26014276e-01 -5.63290338e-01 2.01099831e-02 2.21822426e+02] [ 5.63183126e-01 8.26256403e-01 1.11858256e-02 1.58211898e+02] [-2.29168698e-02 2.08595151e-03 9.99735198e-01 5.45794713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.910714057 meters Centerline goodness : 0.988847 Centerline is valid? [True, True] Translation: X:221.85, Y:158.23, Z:5.46 [[ 8.25765053e-01 -5.63654780e-01 2.01337096e-02 2.21849367e+02] [ 5.63548647e-01 8.26007686e-01 1.11455933e-02 1.58228972e+02] [-2.29128658e-02 2.14268336e-03 9.99735170e-01 5.45530992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9407140569999 meters Centerline goodness : 0.990529 Centerline is valid? [True, True] Translation: X:221.86, Y:158.25, Z:5.45 [[ 8.19311418e-01 -5.72995799e-01 2.01150318e-02 2.21859630e+02] [ 5.72891659e-01 8.19554889e-01 1.11772594e-02 1.58251205e+02] [-2.28898954e-02 2.36607772e-03 9.99735192e-01 5.45355924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9707140569999 meters Centerline goodness : 0.989520 Centerline is valid? [True, True] Translation: X:221.91, Y:158.26, Z:5.45 [[ 8.28815130e-01 -5.59171975e-01 1.98036275e-02 2.21907476e+02] [ 5.59051150e-01 8.29050556e-01 1.17041687e-02 1.58261959e+02] [-2.29628515e-02 1.37064863e-03 9.99735379e-01 5.45062456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.000714057 meters Centerline goodness : 0.989420 Centerline is valid? [True, True] Translation: X:221.93, Y:158.28, Z:5.45 [[ 8.29317886e-01 -5.58407842e-01 2.03107349e-02 2.21927146e+02] [ 5.58307476e-01 8.29563243e-01 1.08437994e-02 1.58278863e+02] [-2.29043017e-02 2.34667828e-03 9.99734908e-01 5.45172883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.030714057 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:221.96, Y:158.30, Z:5.44 [[ 8.28240911e-01 -5.60011455e-01 2.01038318e-02 2.21964594e+02] [ 5.59903099e-01 8.28482485e-01 1.11933580e-02 1.58299217e+02] [-2.29240813e-02 1.98540073e-03 9.99735237e-01 5.44462967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0607140569999 meters Centerline goodness : 0.989744 Centerline is valid? [True, True] Translation: X:221.98, Y:158.31, Z:5.45 [[ 8.30875574e-01 -5.56081458e-01 2.04741880e-02 2.21975810e+02] [ 5.55987151e-01 8.31123717e-01 1.05667083e-02 1.58312598e+02] [-2.28925338e-02 2.60376564e-03 9.99734541e-01 5.45332775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0907140569999 meters Centerline goodness : 0.991674 Centerline is valid? [True, True] Translation: X:222.01, Y:158.33, Z:5.45 [[ 8.29686010e-01 -5.57871809e-01 2.00042227e-02 2.22012326e+02] [ 5.57758838e-01 8.29925323e-01 1.13594560e-02 1.58332253e+02] [-2.29391313e-02 1.73275028e-03 9.99735362e-01 5.44843038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.120714057 meters Centerline goodness : 0.990552 Centerline is valid? [True, True] Translation: X:222.03, Y:158.35, Z:5.45 [[ 8.33354266e-01 -5.52367214e-01 2.02762958e-02 2.22034215e+02] [ 5.52263671e-01 8.33598222e-01 1.09014774e-02 1.58346908e+02] [-2.29239028e-02 2.11306886e-03 9.99734980e-01 5.45333911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.150714057 meters Centerline goodness : 0.990855 Centerline is valid? [True, True] Translation: X:222.06, Y:158.36, Z:5.45 [[ 8.36697672e-01 -5.47295543e-01 2.01145334e-02 2.22060575e+02] [ 5.47183988e-01 8.36937776e-01 1.11732871e-02 1.58363980e+02] [-2.29497031e-02 1.65768726e-03 9.99735247e-01 5.45336975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1807140569999 meters Centerline goodness : 0.991950 Centerline is valid? [True, True] Translation: X:222.09, Y:158.38, Z:5.45 [[ 8.35922277e-01 -5.48479649e-01 2.01002981e-02 2.22093727e+02] [ 5.48367862e-01 8.36162252e-01 1.11971949e-02 1.58382593e+02] [-2.29485440e-02 1.66237287e-03 9.99735265e-01 5.44914211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2107140569999 meters Centerline goodness : 0.991434 Centerline is valid? [True, True] Translation: X:222.12, Y:158.40, Z:5.45 [[ 8.39117664e-01 -5.43570966e-01 2.03014981e-02 2.22122868e+02] [ 5.43465890e-01 8.39361015e-01 1.08588093e-02 1.58397416e+02] [-2.29428195e-02 1.92135301e-03 9.99734933e-01 5.44528375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.240714057 meters Centerline goodness : 0.991297 Centerline is valid? [True, True] Translation: X:222.15, Y:158.41, Z:5.44 [[ 8.40058657e-01 -5.42113346e-01 2.03610449e-02 2.22152726e+02] [ 5.42010259e-01 8.40302998e-01 1.07587524e-02 1.58413609e+02] [-2.29419104e-02 1.99791212e-03 9.99734803e-01 5.44324464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.270714057 meters Centerline goodness : 0.991294 Centerline is valid? [True, True] Translation: X:222.18, Y:158.43, Z:5.44 [[ 8.39775941e-01 -5.42550706e-01 2.03739853e-02 2.22181569e+02] [ 5.42448269e-01 8.40020589e-01 1.07371157e-02 1.58429079e+02] [-2.29399969e-02 2.03506160e-03 9.99734772e-01 5.44251013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3007140569999 meters Centerline goodness : 0.991252 Centerline is valid? [True, True] Translation: X:222.21, Y:158.44, Z:5.44 [[ 8.39829868e-01 -5.42465523e-01 2.04193129e-02 2.22207568e+02] [ 5.42364894e-01 8.40075388e-01 1.06613503e-02 1.58443884e+02] [-2.29371772e-02 2.12099807e-03 9.99734658e-01 5.44107209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3307140569999 meters Centerline goodness : 0.990274 Centerline is valid? [True, True] Translation: X:222.21, Y:158.46, Z:5.45 [[ 8.31414375e-01 -5.55280217e-01 2.03474401e-02 2.22206200e+02] [ 5.55180451e-01 8.31660049e-01 1.07809917e-02 1.58462550e+02] [-2.29086245e-02 2.33302953e-03 9.99734841e-01 5.44991915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.360714057 meters Centerline goodness : 0.991088 Centerline is valid? [True, True] Translation: X:222.23, Y:158.48, Z:5.45 [[ 8.31629584e-01 -5.54981817e-01 1.96829158e-02 2.22233555e+02] [ 5.54855585e-01 8.31861828e-01 1.18818485e-02 1.58477305e+02] [-2.29676762e-02 1.03987902e-03 9.99735667e-01 5.44801379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.390714057 meters Centerline goodness : 0.991540 Centerline is valid? [True, True] Translation: X:222.30, Y:158.49, Z:5.43 [[ 8.42166851e-01 -5.38857559e-01 1.96856949e-02 2.22302256e+02] [ 5.38726984e-01 8.42396681e-01 1.18772423e-02 1.58487863e+02] [-2.29833058e-02 6.02595338e-04 9.99735667e-01 5.43369952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4207140569999 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:222.33, Y:158.50, Z:5.43 [[ 8.40475514e-01 -5.41454429e-01 2.06884241e-02 2.22327287e+02] [ 5.41364465e-01 8.40726025e-01 1.02111498e-02 1.58504094e+02] [-2.29221689e-02 2.61775625e-03 9.99733825e-01 5.43450248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4507140569999 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:222.31, Y:158.52, Z:5.45 [[ 8.29977643e-01 -5.57415736e-01 2.06108911e-02 2.22310665e+02] [ 5.57327408e-01 8.30228436e-01 1.03394766e-02 1.58521862e+02] [-2.28751348e-02 2.90548008e-03 9.99734108e-01 5.44812214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.480714057 meters Centerline goodness : 0.991136 Centerline is valid? [True, True] Translation: X:222.37, Y:158.53, Z:5.43 [[ 8.39970772e-01 -5.42276494e-01 1.96292240e-02 2.22372012e+02] [ 5.42145103e-01 8.40199882e-01 1.19518102e-02 1.58530627e+02] [-2.29736574e-02 6.02716454e-04 9.99735889e-01 5.43470764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.510714057 meters Centerline goodness : 0.991607 Centerline is valid? [True, True] Translation: X:222.40, Y:158.55, Z:5.44 [[ 8.39369257e-01 -5.43174795e-01 2.05034953e-02 2.22398010e+02] [ 5.43078073e-01 8.39616451e-01 1.05081760e-02 1.58548616e+02] [-2.29228483e-02 2.31475885e-03 9.99734557e-01 5.43558554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.540714057 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:222.42, Y:158.56, Z:5.44 [[ 8.40192504e-01 -5.41906875e-01 2.03345753e-02 2.22423792e+02] [ 5.41803094e-01 8.40436262e-01 1.07840910e-02 1.58561730e+02] [-2.29338875e-02 1.95662343e-03 9.99735069e-01 5.44371400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5707140569999 meters Centerline goodness : 0.990065 Centerline is valid? [True, True] Translation: X:222.45, Y:158.58, Z:5.44 [[ 8.40331742e-01 -5.41691221e-01 2.03269380e-02 2.22448852e+02] [ 5.41587077e-01 8.40575323e-01 1.07965518e-02 1.58576366e+02] [-2.29347198e-02 1.93612177e-03 9.99735090e-01 5.44376201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6007140569999 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:222.44, Y:158.60, Z:5.45 [[ 8.28798474e-01 -5.59179204e-01 2.02905805e-02 2.22443487e+02] [ 5.59078743e-01 8.29043491e-01 1.08558276e-02 1.58595618e+02] [-2.28921267e-02 2.34673891e-03 9.99735187e-01 5.44612458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.630714057 meters Centerline goodness : 0.991397 Centerline is valid? [True, True] Translation: X:222.47, Y:158.61, Z:5.44 [[ 8.27658470e-01 -5.60891486e-01 1.95498789e-02 2.22473128e+02] [ 5.60762747e-01 8.27888745e-01 1.20568956e-02 1.58609459e+02] [-2.29477348e-02 9.83851987e-04 9.99736182e-01 5.44323997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.660714057 meters Centerline goodness : 0.991234 Centerline is valid? [True, True] Translation: X:222.53, Y:158.62, Z:5.43 [[ 8.35516722e-01 -5.49117011e-01 1.95528922e-02 2.22533604e+02] [ 5.48985139e-01 8.35745216e-01 1.20520069e-02 1.58620631e+02] [-2.29591981e-02 6.64593937e-04 9.99736182e-01 5.43066607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6907140569999 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:222.55, Y:158.64, Z:5.43 [[ 8.30963026e-01 -5.55952211e-01 2.04349886e-02 2.22553540e+02] [ 5.55856695e-01 8.31210376e-01 1.06134334e-02 1.58635512e+02] [-2.28863364e-02 2.53955448e-03 9.99734848e-01 5.43243778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7207140569999 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:222.58, Y:158.65, Z:5.43 [[ 8.27991685e-01 -5.60376482e-01 2.01981932e-02 2.22579065e+02] [ 5.60272890e-01 8.28235061e-01 1.09987778e-02 1.58649345e+02] [-2.28923082e-02 2.20960347e-03 9.99735495e-01 5.43146187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.750714057 meters Centerline goodness : 0.990913 Centerline is valid? [True, True] Translation: X:222.61, Y:158.67, Z:5.43 [[ 8.26980130e-01 -5.61871266e-01 2.01133219e-02 2.22609821e+02] [ 5.61764784e-01 8.27222046e-01 1.11361214e-02 1.58665736e+02] [-2.28952500e-02 2.08960479e-03 9.99735686e-01 5.43003402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.780714057 meters Centerline goodness : 0.990855 Centerline is valid? [True, True] Translation: X:222.63, Y:158.68, Z:5.43 [[ 8.25029507e-01 -5.64726693e-01 2.02503097e-02 2.22630003e+02] [ 5.64626438e-01 8.25274416e-01 1.09144104e-02 1.58680198e+02] [-2.28757214e-02 2.42914959e-03 9.99735365e-01 5.43098043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8107140569999 meters Centerline goodness : 0.989360 Centerline is valid? [True, True] Translation: X:222.65, Y:158.69, Z:5.44 [[ 8.24122757e-01 -5.66056388e-01 2.00461303e-02 2.22653656e+02] [ 5.65948527e-01 8.24363903e-01 1.12436823e-02 1.58694964e+02] [-2.28898644e-02 2.07890350e-03 9.99735831e-01 5.43673661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8407140569999 meters Centerline goodness : 0.989485 Centerline is valid? [True, True] Translation: X:222.68, Y:158.71, Z:5.43 [[ 8.22099876e-01 -5.68994172e-01 1.99355389e-02 2.22681294e+02] [ 5.68882867e-01 8.22339240e-01 1.14218282e-02 1.58711762e+02] [-2.28927295e-02 1.95110299e-03 9.99736023e-01 5.43379650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.870714057 meters Centerline goodness : 0.987861 Centerline is valid? [True, True] Translation: X:222.71, Y:158.73, Z:5.44 [[ 8.21775891e-01 -5.69460784e-01 1.99699996e-02 2.22705206e+02] [ 5.69350954e-01 8.22015996e-01 1.13663678e-02 1.58725644e+02] [-2.28883598e-02 2.02933131e-03 9.99735968e-01 5.43778592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.900714057 meters Centerline goodness : 0.988718 Centerline is valid? [True, True] Translation: X:222.74, Y:158.74, Z:5.43 [[ 8.19385274e-01 -5.72899481e-01 1.98483429e-02 2.22736393e+02] [ 5.72785939e-01 8.19623446e-01 1.15617984e-02 1.58743613e+02] [-2.28919155e-02 1.89528439e-03 9.99736149e-01 5.43353808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9307140569999 meters Centerline goodness : 0.987823 Centerline is valid? [True, True] Translation: X:222.76, Y:158.76, Z:5.44 [[ 8.19949669e-01 -5.72087251e-01 1.99679292e-02 2.22757456e+02] [ 5.71978111e-01 8.20190083e-01 1.13695942e-02 1.58756547e+02] [-2.28818974e-02 2.09872346e-03 9.99735972e-01 5.43656033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9607140569999 meters Centerline goodness : 0.988994 Centerline is valid? [True, True] Translation: X:222.79, Y:158.78, Z:5.44 [[ 8.15677318e-01 -5.78169991e-01 1.97477673e-02 2.22787708e+02] [ 5.78054118e-01 8.15914227e-01 1.17222319e-02 1.58775304e+02] [-2.28899270e-02 1.85371956e-03 9.99736273e-01 5.43566311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.990714057 meters Centerline goodness : 0.989024 Centerline is valid? [True, True] Translation: X:222.82, Y:158.79, Z:5.43 [[ 8.14582798e-01 -5.79706110e-01 1.98920101e-02 2.22815891e+02] [ 5.79596264e-01 8.14822755e-01 1.14912293e-02 1.58792545e+02] [-2.28699983e-02 2.16877706e-03 9.99736095e-01 5.43435826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.020714057 meters Centerline goodness : 0.988980 Centerline is valid? [True, True] Translation: X:222.84, Y:158.81, Z:5.43 [[ 8.12546143e-01 -5.82557161e-01 1.98977527e-02 2.22844140e+02] [ 5.82448379e-01 8.12786594e-01 1.14820437e-02 1.58809831e+02] [-2.28615735e-02 2.25972350e-03 9.99736086e-01 5.43322232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0507140569999 meters Centerline goodness : 0.988981 Centerline is valid? [True, True] Translation: X:222.87, Y:158.83, Z:5.43 [[ 8.11249997e-01 -5.84360353e-01 1.99102985e-02 2.22869588e+02] [ 5.84252594e-01 8.11490930e-01 1.14619828e-02 1.58826393e+02] [-2.28549550e-02 2.33411003e-03 9.99736067e-01 5.43458559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0807140569999 meters Centerline goodness : 0.987541 Centerline is valid? [True, True] Translation: X:222.89, Y:158.84, Z:5.43 [[ 8.11042309e-01 -5.84650401e-01 1.98565466e-02 2.22891676e+02] [ 5.84540642e-01 8.11282248e-01 1.15477970e-02 1.58840863e+02] [-2.28606879e-02 2.24120661e-03 9.99736148e-01 5.43471672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.110714057 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:222.92, Y:158.86, Z:5.43 [[ 8.10115785e-01 -5.85939113e-01 1.96918723e-02 2.22918944e+02] [ 5.85823380e-01 8.10352690e-01 1.18104149e-02 1.58858509e+02] [-2.28775457e-02 1.96815565e-03 9.99736337e-01 5.43278678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.140714057 meters Centerline goodness : 0.987872 Centerline is valid? [True, True] Translation: X:222.95, Y:158.88, Z:5.43 [[ 8.09578114e-01 -5.86682351e-01 1.96747861e-02 2.22946053e+02] [ 5.86566178e-01 8.09814787e-01 1.18376385e-02 1.58876358e+02] [-2.28778663e-02 1.95707105e-03 9.99736352e-01 5.43190733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1707140569999 meters Centerline goodness : 0.987980 Centerline is valid? [True, True] Translation: X:222.97, Y:158.89, Z:5.43 [[ 8.09268879e-01 -5.87109247e-01 1.96625169e-02 2.22970046e+02] [ 5.86992727e-01 8.09505371e-01 1.18571877e-02 1.58893727e+02] [-2.28783776e-02 1.94610147e-03 9.99736362e-01 5.43170067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2007140569999 meters Centerline goodness : 0.988906 Centerline is valid? [True, True] Translation: X:223.00, Y:158.91, Z:5.43 [[ 8.07159627e-01 -5.90007406e-01 1.96111554e-02 2.23000778e+02] [ 5.89889761e-01 8.07395522e-01 1.19390634e-02 1.58914405e+02] [-2.28780949e-02 1.93168980e-03 9.99736396e-01 5.43086136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.230714057 meters Centerline goodness : 0.987912 Centerline is valid? [True, True] Translation: X:223.03, Y:158.93, Z:5.43 [[ 8.08531205e-01 -5.88122346e-01 1.97331286e-02 2.23025126e+02] [ 5.88008830e-01 8.08769230e-01 1.17451405e-02 1.58931136e+02] [-2.28671268e-02 2.10694125e-03 9.99736293e-01 5.43322453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.260714057 meters Centerline goodness : 0.987507 Centerline is valid? [True, True] Translation: X:223.05, Y:158.95, Z:5.43 [[ 8.08930412e-01 -5.87575592e-01 1.96599185e-02 2.23050887e+02] [ 5.87459106e-01 8.09166920e-01 1.18614568e-02 1.58948887e+02] [-2.28776582e-02 1.95430501e-03 9.99736362e-01 5.43235460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.290714057 meters Centerline goodness : 0.990106 Centerline is valid? [True, True] Translation: X:223.08, Y:158.97, Z:5.43 [[ 8.07146301e-01 -5.90025187e-01 1.96246748e-02 2.23080853e+02] [ 5.89908068e-01 8.07382466e-01 1.19174009e-02 1.58970751e+02] [-2.28761851e-02 1.95766796e-03 9.99736389e-01 5.43108877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3207140569999 meters Centerline goodness : 0.988796 Centerline is valid? [True, True] Translation: X:223.10, Y:158.99, Z:5.43 [[ 8.09903473e-01 -5.86229264e-01 1.97892319e-02 2.23103672e+02] [ 5.86117350e-01 8.10142327e-01 1.16559736e-02 1.58985606e+02] [-2.28651672e-02 2.15859866e-03 9.99736228e-01 5.43181206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3507140569999 meters Centerline goodness : 0.989196 Centerline is valid? [True, True] Translation: X:223.13, Y:159.00, Z:5.43 [[ 8.09868908e-01 -5.86281079e-01 1.96684543e-02 2.23127693e+02] [ 5.86164541e-01 8.10105399e-01 1.18479453e-02 1.59004451e+02] [-2.28797472e-02 1.93366802e-03 9.99736354e-01 5.43052538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.380714057 meters Centerline goodness : 0.989056 Centerline is valid? [True, True] Translation: X:223.15, Y:159.02, Z:5.43 [[ 8.08789227e-01 -5.87771131e-01 1.96235325e-02 2.23154390e+02] [ 5.87653311e-01 8.09025042e-01 1.19191929e-02 1.59022853e+02] [-2.28816867e-02 1.89171901e-03 9.99736390e-01 5.42940068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.410714057 meters Centerline goodness : 0.989096 Centerline is valid? [True, True] Translation: X:223.18, Y:159.04, Z:5.43 [[ 8.08264038e-01 -5.88491897e-01 1.96604292e-02 2.23179463e+02] [ 5.88375698e-01 8.08500688e-01 1.18606667e-02 1.59040786e+02] [-2.28753768e-02 1.98116837e-03 9.99736361e-01 5.42814721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4407140569999 meters Centerline goodness : 0.988022 Centerline is valid? [True, True] Translation: X:223.21, Y:159.06, Z:5.43 [[ 8.07937559e-01 -5.88940530e-01 1.96456896e-02 2.23205040e+02] [ 5.88823898e-01 8.08173982e-01 1.18840700e-02 1.59058121e+02] [-2.28761456e-02 1.96626503e-03 9.99736373e-01 5.42629802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4707140569999 meters Centerline goodness : 0.988821 Centerline is valid? [True, True] Translation: X:223.23, Y:159.08, Z:5.42 [[ 8.06301876e-01 -5.91178882e-01 1.96166897e-02 2.23232169e+02] [ 5.91061797e-01 8.06538051e-01 1.19299942e-02 1.59078072e+02] [-2.28743673e-02 1.97549915e-03 9.99736396e-01 5.42379337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.500714057 meters Centerline goodness : 0.989714 Centerline is valid? [True, True] Translation: X:223.26, Y:159.10, Z:5.43 [[ 8.05234200e-01 -5.92630419e-01 1.96741039e-02 2.23263397e+02] [ 5.92515959e-01 8.05471710e-01 1.18390370e-02 1.59098522e+02] [-2.28631076e-02 2.12402305e-03 9.99736349e-01 5.42516623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.530714057 meters Centerline goodness : 0.988280 Centerline is valid? [True, True] Translation: X:223.29, Y:159.11, Z:5.43 [[ 8.06801972e-01 -5.90487470e-01 1.98777674e-02 2.23287431e+02] [ 5.90380212e-01 8.07043106e-01 1.15165018e-02 1.59114464e+02] [-2.28425651e-02 2.44390416e-03 9.99736087e-01 5.42523894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5607140569999 meters Centerline goodness : 0.989958 Centerline is valid? [True, True] Translation: X:223.32, Y:159.14, Z:5.43 [[ 8.04640097e-01 -5.93434345e-01 1.97482433e-02 2.23317638e+02] [ 5.93322985e-01 8.04879155e-01 1.17210128e-02 1.59136651e+02] [-2.28506009e-02 2.28588979e-03 9.99736278e-01 5.42587360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5907140569999 meters Centerline goodness : 0.989958 Centerline is valid? [True, True] Translation: X:223.34, Y:159.15, Z:5.43 [[ 8.04198307e-01 -5.94027137e-01 1.99209264e-02 2.23344743e+02] [ 5.93922609e-01 8.04440719e-01 1.14483039e-02 1.59154393e+02] [-2.28258075e-02 2.62478196e-03 9.99736012e-01 5.42524789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.620714057 meters Centerline goodness : 0.989003 Centerline is valid? [True, True] Translation: X:223.36, Y:159.17, Z:5.42 [[ 8.05629600e-01 -5.92084754e-01 1.99146153e-02 2.23364866e+02] [ 5.91979398e-01 8.05871641e-01 1.14582623e-02 1.59170221e+02] [-2.28328861e-02 2.55792667e-03 9.99736023e-01 5.42351885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.650714057 meters Centerline goodness : 0.987995 Centerline is valid? [True, True] Translation: X:223.39, Y:159.19, Z:5.42 [[ 8.06014941e-01 -5.91566507e-01 1.97226391e-02 2.23386627e+02] [ 5.91453628e-01 8.06253242e-01 1.17607623e-02 1.59188158e+02] [-2.28587148e-02 2.18567630e-03 9.99736316e-01 5.42312530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6807140569999 meters Centerline goodness : 0.988961 Centerline is valid? [True, True] Translation: X:223.41, Y:159.21, Z:5.42 [[ 8.06177241e-01 -5.91349407e-01 1.95993595e-02 2.23414739e+02] [ 5.91231773e-01 8.06413093e-01 1.19547136e-02 1.59206585e+02] [-2.28745929e-02 1.95014607e-03 9.99736440e-01 5.42318526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7107140569999 meters Centerline goodness : 0.990142 Centerline is valid? [True, True] Translation: X:223.44, Y:159.23, Z:5.42 [[ 8.03732740e-01 -5.94665895e-01 1.96508576e-02 2.23440951e+02] [ 5.94551192e-01 8.03970082e-01 1.18737834e-02 1.59228135e+02] [-2.28596356e-02 2.14009235e-03 9.99736394e-01 5.42125062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.740714057 meters Centerline goodness : 0.988655 Centerline is valid? [True, True] Translation: X:223.46, Y:159.24, Z:5.42 [[ 8.05790933e-01 -5.91870534e-01 1.97545960e-02 2.23461838e+02] [ 5.91758960e-01 8.06029895e-01 1.17107089e-02 1.59243666e+02] [-2.28540184e-02 2.25357614e-03 9.99736273e-01 5.42296535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.770714057 meters Centerline goodness : 0.989680 Centerline is valid? [True, True] Translation: X:223.49, Y:159.26, Z:5.42 [[ 8.07701599e-01 -5.89266859e-01 1.95625898e-02 2.23491628e+02] [ 5.89147235e-01 8.07936412e-01 1.20120784e-02 1.59261925e+02] [-2.28836483e-02 1.82307079e-03 9.99736473e-01 5.41870366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8007140569999 meters Centerline goodness : 0.989585 Centerline is valid? [True, True] Translation: X:223.51, Y:159.28, Z:5.42 [[ 8.06755091e-01 -5.90557919e-01 1.96867189e-02 2.23513267e+02] [ 5.90443376e-01 8.06992549e-01 1.18171478e-02 1.59279148e+02] [-2.28657457e-02 2.09034865e-03 9.99736359e-01 5.41875324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8307140569999 meters Centerline goodness : 0.988720 Centerline is valid? [True, True] Translation: X:223.54, Y:159.30, Z:5.42 [[ 8.06173053e-01 -5.91356373e-01 1.95614131e-02 2.23535063e+02] [ 5.91237314e-01 8.06408151e-01 1.20138732e-02 1.59296328e+02] [-2.28789634e-02 1.88017647e-03 9.99736474e-01 5.41687187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.860714057 meters Centerline goodness : 0.988935 Centerline is valid? [True, True] Translation: X:223.56, Y:159.31, Z:5.42 [[ 8.05756811e-01 -5.91926811e-01 1.94579667e-02 2.23562896e+02] [ 5.91804019e-01 8.05989917e-01 1.21760970e-02 1.59314511e+02] [-2.28902833e-02 1.70432982e-03 9.99736530e-01 5.41682349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.890714057 meters Centerline goodness : 0.982081 Centerline is valid? [True, True] Translation: X:223.58, Y:159.33, Z:5.41 [[ 8.03733936e-01 -5.94669566e-01 1.94901615e-02 2.23576879e+02] [ 5.94548792e-01 8.03968104e-01 1.21252401e-02 1.59328268e+02] [-2.28799794e-02 1.84238499e-03 9.99736521e-01 5.41251024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9207140569999 meters Centerline goodness : 0.982238 Centerline is valid? [True, True] Translation: X:223.60, Y:159.34, Z:5.41 [[ 8.04731315e-01 -5.93334108e-01 1.90301286e-02 2.23601057e+02] [ 5.93195717e-01 8.04955736e-01 1.28493051e-02 1.59341806e+02] [-2.29423422e-02 9.48352606e-04 9.99736340e-01 5.41253694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9507140569999 meters Centerline goodness : 0.987184 Centerline is valid? [True, True] Translation: X:223.64, Y:159.36, Z:5.42 [[ 8.07239541e-01 -5.89919031e-01 1.89699793e-02 2.23635201e+02] [ 5.89777470e-01 8.07462068e-01 1.29439382e-02 1.59360781e+02] [-2.29534142e-02 7.39207683e-04 9.99736262e-01 5.41632639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.980714057 meters Centerline goodness : 0.987400 Centerline is valid? [True, True] Translation: X:223.66, Y:159.38, Z:5.42 [[ 8.08949226e-01 -5.87549777e-01 1.96572712e-02 2.23659660e+02] [ 5.87433023e-01 8.09185692e-01 1.18726199e-02 1.59377557e+02] [-2.28821378e-02 1.94298356e-03 9.99736282e-01 5.41591331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.010714057 meters Centerline goodness : 0.986710 Centerline is valid? [True, True] Translation: X:223.69, Y:159.40, Z:5.42 [[ 8.08859398e-01 -5.87676395e-01 1.95685778e-02 2.23686349e+02] [ 5.87556349e-01 8.09094109e-01 1.20107947e-02 1.59395902e+02] [-2.28912815e-02 1.78259796e-03 9.99736371e-01 5.41578820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.040714057 meters Centerline goodness : 0.987569 Centerline is valid? [True, True] Translation: X:223.71, Y:159.41, Z:5.41 [[ 8.09092543e-01 -5.87354033e-01 1.96085687e-02 2.23708903e+02] [ 5.87235393e-01 8.09328009e-01 1.19484889e-02 1.59411744e+02] [-2.28877570e-02 1.84741229e-03 9.99736334e-01 5.41287734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0707140569999 meters Centerline goodness : 0.988613 Centerline is valid? [True, True] Translation: X:223.72, Y:159.43, Z:5.41 [[ 8.04935536e-01 -5.93042147e-01 1.94883341e-02 2.23723881e+02] [ 5.92920657e-01 8.05169436e-01 1.21356702e-02 1.59431522e+02] [-2.28883748e-02 1.78660364e-03 9.99736430e-01 5.41471419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1007140569999 meters Centerline goodness : 0.988531 Centerline is valid? [True, True] Translation: X:223.75, Y:159.45, Z:5.41 [[ 8.04167496e-01 -5.94092254e-01 1.92102069e-02 2.23749328e+02] [ 5.93960716e-01 8.04395858e-01 1.25686802e-02 1.59448508e+02] [-2.29195664e-02 1.30278411e-03 9.99736463e-01 5.41152810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.130714057 meters Centerline goodness : 0.988785 Centerline is valid? [True, True] Translation: X:223.77, Y:159.47, Z:5.41 [[ 8.03528921e-01 -5.94958279e-01 1.91289971e-02 2.23773881e+02] [ 5.94823991e-01 8.03755721e-01 1.26948977e-02 1.59465437e+02] [-2.29279753e-02 1.17766893e-03 9.99736426e-01 5.40970884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.160714057 meters Centerline goodness : 0.987853 Centerline is valid? [True, True] Translation: X:223.82, Y:159.48, Z:5.41 [[ 8.07899360e-01 -5.89011235e-01 1.90889667e-02 2.23816166e+02] [ 5.88873809e-01 8.08124305e-01 1.27571407e-02 1.59481236e+02] [-2.29403571e-02 9.34506733e-04 9.99736399e-01 5.41186262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1907140569999 meters Centerline goodness : 0.986461 Centerline is valid? [True, True] Translation: X:223.84, Y:159.50, Z:5.41 [[ 8.07757595e-01 -5.89190431e-01 1.95525802e-02 2.23843725e+02] [ 5.89070216e-01 8.07992210e-01 1.20361352e-02 1.59497216e+02] [-2.28899082e-02 1.79556304e-03 9.99736379e-01 5.41261935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2207140569999 meters Centerline goodness : 0.986470 Centerline is valid? [True, True] Translation: X:223.87, Y:159.51, Z:5.41 [[ 8.07016720e-01 -5.90204815e-01 1.95522496e-02 2.23872352e+02] [ 5.90084883e-01 8.07251479e-01 1.20366487e-02 1.59514019e+02] [-2.28876704e-02 1.82371017e-03 9.99736380e-01 5.41155766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.250714057 meters Centerline goodness : 0.985498 Centerline is valid? [True, True] Translation: X:223.90, Y:159.53, Z:5.41 [[ 8.06086131e-01 -5.91473962e-01 1.95882835e-02 2.23897301e+02] [ 5.91355748e-01 8.06321798e-01 1.19807105e-02 1.59531367e+02] [-2.28807383e-02 1.92615950e-03 9.99736346e-01 5.41011556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.280714057 meters Centerline goodness : 0.986032 Centerline is valid? [True, True] Translation: X:223.92, Y:159.55, Z:5.41 [[ 8.05100948e-01 -5.92816261e-01 1.95280293e-02 2.23920363e+02] [ 5.92696185e-01 8.05335611e-01 1.20742219e-02 1.59547658e+02] [-2.28844125e-02 1.85322091e-03 9.99736400e-01 5.40669118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3107140569999 meters Centerline goodness : 0.982786 Centerline is valid? [True, True] Translation: X:223.94, Y:159.56, Z:5.41 [[ 8.05389307e-01 -5.92427524e-01 1.94343259e-02 2.23943819e+02] [ 5.92303841e-01 8.05622021e-01 1.22196032e-02 1.59560817e+02] [-2.28959502e-02 1.66948812e-03 9.99736459e-01 5.40918874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3407140569999 meters Centerline goodness : 0.985023 Centerline is valid? [True, True] Translation: X:223.98, Y:159.58, Z:5.41 [[ 8.04746699e-01 -5.93304831e-01 1.92906438e-02 2.23976574e+02] [ 5.93176073e-01 8.04976604e-01 1.24423695e-02 1.59581191e+02] [-2.29106348e-02 1.42979256e-03 9.99736495e-01 5.40804743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.370714057 meters Centerline goodness : 0.984846 Centerline is valid? [True, True] Translation: X:224.00, Y:159.60, Z:5.41 [[ 8.05370940e-01 -5.92450939e-01 1.94816408e-02 2.24004124e+02] [ 5.92329033e-01 8.05604615e-01 1.21457898e-02 1.59598019e+02] [-2.28902843e-02 1.75767531e-03 9.99736438e-01 5.40818324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.400714057 meters Centerline goodness : 0.986482 Centerline is valid? [True, True] Translation: X:224.03, Y:159.62, Z:5.41 [[ 8.04720204e-01 -5.93334791e-01 1.94735314e-02 2.24033761e+02] [ 5.93212840e-01 8.04953850e-01 1.21583721e-02 1.59616693e+02] [-2.28892792e-02 1.76786115e-03 9.99736443e-01 5.40634275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4307140569999 meters Centerline goodness : 0.987176 Centerline is valid? [True, True] Translation: X:224.06, Y:159.64, Z:5.40 [[ 8.03922111e-01 -5.94412693e-01 1.95650266e-02 2.24061203e+02] [ 5.94294477e-01 8.04157746e-01 1.20163989e-02 1.59635146e+02] [-2.28760678e-02 1.96713851e-03 9.99736373e-01 5.40395076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4607140569999 meters Centerline goodness : 0.986865 Centerline is valid? [True, True] Translation: X:224.09, Y:159.65, Z:5.40 [[ 8.03087489e-01 -5.95539813e-01 1.95657082e-02 2.24087789e+02] [ 5.95421953e-01 8.03323303e-01 1.20153422e-02 1.59652167e+02] [-2.28732040e-02 2.00048115e-03 9.99736373e-01 5.40330735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.490714057 meters Centerline goodness : 0.987058 Centerline is valid? [True, True] Translation: X:224.11, Y:159.67, Z:5.40 [[ 8.01780340e-01 -5.97298781e-01 1.95563729e-02 2.24114210e+02] [ 5.97181089e-01 8.02016229e-01 1.20298159e-02 1.59670868e+02] [-2.28699229e-02 2.03342616e-03 9.99736381e-01 5.40317622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.520714057 meters Centerline goodness : 0.985423 Centerline is valid? [True, True] Translation: X:224.14, Y:159.69, Z:5.40 [[ 8.01311630e-01 -5.97927507e-01 1.95542489e-02 2.24141970e+02] [ 5.97809919e-01 8.01547569e-01 1.20331079e-02 1.59688649e+02] [-2.28685869e-02 2.04745469e-03 9.99736383e-01 5.40131947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5507140569999 meters Centerline goodness : 0.986234 Centerline is valid? [True, True] Translation: X:224.17, Y:159.71, Z:5.40 [[ 7.99740210e-01 -6.00025982e-01 1.96065868e-02 2.24165312e+02] [ 5.99910980e-01 7.99977478e-01 1.19520620e-02 1.59706407e+02] [-2.28563756e-02 2.20366209e-03 9.99736330e-01 5.40125846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5807140569999 meters Centerline goodness : 0.985079 Centerline is valid? [True, True] Translation: X:224.19, Y:159.72, Z:5.40 [[ 7.97830753e-01 -6.02565588e-01 1.95141549e-02 2.24190001e+02] [ 6.02447867e-01 7.98066586e-01 1.20951145e-02 1.59724643e+02] [-2.28616947e-02 2.10640669e-03 9.99736418e-01 5.40210360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.610714057 meters Centerline goodness : 0.985277 Centerline is valid? [True, True] Translation: X:224.21, Y:159.74, Z:5.40 [[ 7.94879942e-01 -6.06454204e-01 1.94724545e-02 2.24214478e+02] [ 6.06336071e-01 7.95115534e-01 1.21596179e-02 1.59743265e+02] [-2.28571025e-02 2.14141516e-03 9.99736449e-01 5.39888225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.640714057 meters Centerline goodness : 0.986665 Centerline is valid? [True, True] Translation: X:224.24, Y:159.76, Z:5.40 [[ 7.93495483e-01 -6.08265601e-01 1.94390597e-02 2.24242209e+02] [ 6.08146753e-01 7.93730693e-01 1.22112434e-02 1.59761387e+02] [-2.28570576e-02 2.13223457e-03 9.99736470e-01 5.39849433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6707140569999 meters Centerline goodness : 0.986722 Centerline is valid? [True, True] Translation: X:224.27, Y:159.78, Z:5.40 [[ 7.91310594e-01 -6.11104184e-01 1.94735983e-02 2.24268464e+02] [ 6.10987477e-01 7.91546897e-01 1.21578683e-02 1.59779779e+02] [-2.28439905e-02 2.27747471e-03 9.99736448e-01 5.39605825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7007140569999 meters Centerline goodness : 0.987118 Centerline is valid? [True, True] Translation: X:224.29, Y:159.80, Z:5.40 [[ 7.90181495e-01 -6.12563841e-01 1.94613960e-02 2.24294534e+02] [ 6.12447111e-01 7.90417778e-01 1.21767249e-02 1.59798859e+02] [-2.28416547e-02 2.29725305e-03 9.99736456e-01 5.39514673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.730714057 meters Centerline goodness : 0.986618 Centerline is valid? [True, True] Translation: X:224.32, Y:159.82, Z:5.40 [[ 7.90233570e-01 -6.12497279e-01 1.94419063e-02 2.24322529e+02] [ 6.12379797e-01 7.90469467e-01 1.22068254e-02 1.59818640e+02] [-2.28448806e-02 2.25958742e-03 9.99736468e-01 5.39530917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.760714057 meters Centerline goodness : 0.986841 Centerline is valid? [True, True] Translation: X:224.35, Y:159.84, Z:5.40 [[ 7.91196639e-01 -6.11251067e-01 1.94938707e-02 2.24348685e+02] [ 6.11135166e-01 7.91433355e-01 1.21265450e-02 1.59836633e+02] [-2.28404631e-02 2.31890822e-03 9.99736433e-01 5.39530969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.790714057 meters Centerline goodness : 0.986340 Centerline is valid? [True, True] Translation: X:224.38, Y:159.86, Z:5.40 [[ 7.92660308e-01 -6.09352000e-01 1.94878571e-02 2.24375277e+02] [ 6.09235306e-01 7.92896629e-01 1.21358337e-02 1.59857010e+02] [-2.28468507e-02 2.25309690e-03 9.99736438e-01 5.39508632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8207140569999 meters Centerline goodness : 0.986372 Centerline is valid? [True, True] Translation: X:224.40, Y:159.88, Z:5.39 [[ 7.95944063e-01 -6.05055379e-01 1.95201376e-02 2.24403599e+02] [ 6.04938618e-01 7.96180380e-01 1.20859865e-02 1.59878209e+02] [-2.28542418e-02 2.18871583e-03 9.99736412e-01 5.39374307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8507140569999 meters Centerline goodness : 0.985573 Centerline is valid? [True, True] Translation: X:224.43, Y:159.90, Z:5.39 [[ 7.97794805e-01 -6.02610353e-01 1.96013349e-02 2.24429260e+02] [ 6.02495912e-01 7.98032343e-01 1.19605836e-02 1.59895799e+02] [-2.28500707e-02 2.26763273e-03 9.99736331e-01 5.39303851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.880714057 meters Centerline goodness : 0.986100 Centerline is valid? [True, True] Translation: X:224.46, Y:159.92, Z:5.39 [[ 8.00526272e-01 -5.98977961e-01 1.95726726e-02 2.24457011e+02] [ 5.98861370e-01 8.00762727e-01 1.20047543e-02 1.59917374e+02] [-2.28636500e-02 2.11119634e-03 9.99736363e-01 5.39258203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.910714057 meters Centerline goodness : 0.985906 Centerline is valid? [True, True] Translation: X:224.48, Y:159.94, Z:5.39 [[ 8.02075782e-01 -5.96898381e-01 1.96662932e-02 2.24481182e+02] [ 5.96784677e-01 8.02313766e-01 1.18604399e-02 1.59935472e+02] [-2.28580151e-02 2.22357083e-03 9.99736249e-01 5.39203813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9407140569999 meters Centerline goodness : 0.985887 Centerline is valid? [True, True] Translation: X:224.51, Y:159.96, Z:5.39 [[ 8.04177043e-01 -5.94065429e-01 1.96354154e-02 2.24508815e+02] [ 5.93949733e-01 8.04414019e-01 1.19080208e-02 1.59955872e+02] [-2.28691468e-02 2.08629278e-03 9.99736290e-01 5.39092385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9707140569999 meters Centerline goodness : 0.985872 Centerline is valid? [True, True] Translation: X:224.53, Y:159.97, Z:5.39 [[ 8.05790804e-01 -5.91872728e-01 1.96939990e-02 2.24534709e+02] [ 5.91758574e-01 8.06028616e-01 1.18177585e-02 1.59973337e+02] [-2.28685357e-02 2.13145169e-03 9.99736209e-01 5.38876165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.000714057 meters Centerline goodness : 0.985628 Centerline is valid? [True, True] Translation: X:224.56, Y:159.99, Z:5.39 [[ 8.04476180e-01 -5.93659036e-01 1.96729336e-02 2.24558366e+02] [ 5.93544621e-01 8.04713834e-01 1.18502542e-02 1.59993455e+02] [-2.28660923e-02 2.14351669e-03 9.99736239e-01 5.38882950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.030714057 meters Centerline goodness : 0.986475 Centerline is valid? [True, True] Translation: X:224.59, Y:160.01, Z:5.39 [[ 8.03856255e-01 -5.94500251e-01 1.96105008e-02 2.24585417e+02] [ 5.94383754e-01 8.04092803e-01 1.19463871e-02 1.60012347e+02] [-2.28707927e-02 2.05298511e-03 9.99736321e-01 5.38751955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0607140569999 meters Centerline goodness : 0.986884 Centerline is valid? [True, True] Translation: X:224.61, Y:160.03, Z:5.39 [[ 8.01216587e-01 -5.98053656e-01 1.95909613e-02 2.24610145e+02] [ 5.97937480e-01 8.01453265e-01 1.19763576e-02 1.60032731e+02] [-2.28637444e-02 2.11851365e-03 9.99736346e-01 5.38716041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0907140569999 meters Centerline goodness : 0.986638 Centerline is valid? [True, True] Translation: X:224.64, Y:160.05, Z:5.39 [[ 8.00008255e-01 -5.99668772e-01 1.95999106e-02 2.24635639e+02] [ 5.99553407e-01 8.00245342e-01 1.19626344e-02 1.60051236e+02] [-2.28583554e-02 2.18098684e-03 9.99736335e-01 5.38658123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.120714057 meters Centerline goodness : 0.986063 Centerline is valid? [True, True] Translation: X:224.66, Y:160.07, Z:5.38 [[ 7.97037946e-01 -6.03612043e-01 1.95707579e-02 2.24655276e+02] [ 6.03496763e-01 7.97275035e-01 1.20073149e-02 1.60068937e+02] [-2.28510366e-02 2.24060340e-03 9.99736370e-01 5.38385332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.150714057 meters Centerline goodness : 0.987290 Centerline is valid? [True, True] Translation: X:224.68, Y:160.09, Z:5.38 [[ 7.95384948e-01 -6.05793801e-01 1.94075957e-02 2.24683243e+02] [ 6.05673119e-01 7.95619160e-01 1.22566576e-02 1.60087835e+02] [-2.28660622e-02 2.00589802e-03 9.99736525e-01 5.38347895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1807140569999 meters Centerline goodness : 0.987372 Centerline is valid? [True, True] Translation: X:224.71, Y:160.11, Z:5.38 [[ 7.94179197e-01 -6.07371709e-01 1.94681984e-02 2.24706172e+02] [ 6.07253738e-01 7.94414838e-01 1.21640199e-02 1.60105880e+02] [-2.28539072e-02 2.16172475e-03 9.99736478e-01 5.38209846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2107140569999 meters Centerline goodness : 0.987651 Centerline is valid? [True, True] Translation: X:224.73, Y:160.12, Z:5.38 [[ 7.93343114e-01 -6.08465535e-01 1.94009224e-02 2.24731437e+02] [ 6.08345393e-01 7.93577599e-01 1.22669485e-02 1.60124561e+02] [-2.28601528e-02 2.07056264e-03 9.99736528e-01 5.38226000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.240714057 meters Centerline goodness : 0.987970 Centerline is valid? [True, True] Translation: X:224.76, Y:160.14, Z:5.38 [[ 7.93783261e-01 -6.07891727e-01 1.93851126e-02 2.24755716e+02] [ 6.07770830e-01 7.94017346e-01 1.22911364e-02 1.60142553e+02] [-2.28637959e-02 2.02520762e-03 9.99736538e-01 5.38367647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.270714057 meters Centerline goodness : 0.987318 Centerline is valid? [True, True] Translation: X:224.78, Y:160.16, Z:5.39 [[ 7.94103128e-01 -6.07475638e-01 1.93280011e-02 2.24782231e+02] [ 6.07352509e-01 7.94336015e-01 1.23784300e-02 1.60161700e+02] [-2.28725220e-02 1.90915999e-03 9.99736567e-01 5.38629891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3007140569999 meters Centerline goodness : 0.988215 Centerline is valid? [True, True] Translation: X:224.81, Y:160.18, Z:5.38 [[ 7.94928385e-01 -6.06394379e-01 1.93577117e-02 2.24808971e+02] [ 6.06272028e-01 7.95161697e-01 1.23330163e-02 1.60180617e+02] [-2.28711826e-02 1.93217441e-03 9.99736553e-01 5.38466901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3307140569999 meters Centerline goodness : 0.988021 Centerline is valid? [True, True] Translation: X:224.83, Y:160.20, Z:5.38 [[ 7.95060954e-01 -6.06220303e-01 1.93655321e-02 2.24832878e+02] [ 6.06098191e-01 7.95294395e-01 1.23210636e-02 1.60198783e+02] [-2.28705781e-02 1.94141741e-03 9.99736549e-01 5.38388742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.360714057 meters Centerline goodness : 0.988791 Centerline is valid? [True, True] Translation: X:224.86, Y:160.22, Z:5.38 [[ 7.97093585e-01 -6.03546598e-01 1.93215063e-02 2.24859113e+02] [ 6.03422082e-01 7.97325731e-01 1.23883348e-02 1.60216558e+02] [-2.28824714e-02 1.78436132e-03 9.99736570e-01 5.38172837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.390714057 meters Centerline goodness : 0.988458 Centerline is valid? [True, True] Translation: X:224.88, Y:160.23, Z:5.38 [[ 7.98187904e-01 -6.02098417e-01 1.93278603e-02 2.24881758e+02] [ 6.01973713e-01 7.98419951e-01 1.23786210e-02 1.60233053e+02] [-2.28848974e-02 1.75439824e-03 9.99736567e-01 5.37738139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4207140569999 meters Centerline goodness : 0.988587 Centerline is valid? [True, True] Translation: X:224.91, Y:160.25, Z:5.38 [[ 7.98339251e-01 -6.01900912e-01 1.92284353e-02 2.24911130e+02] [ 6.01772506e-01 7.98569242e-01 1.25305947e-02 1.60252045e+02] [-2.28974134e-02 1.56747814e-03 9.99736591e-01 5.37693868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4507140569999 meters Centerline goodness : 0.989144 Centerline is valid? [True, True] Translation: X:224.94, Y:160.27, Z:5.38 [[ 7.98822113e-01 -6.01257007e-01 1.93195125e-02 2.24936488e+02] [ 6.01131753e-01 7.99053859e-01 1.23913772e-02 1.60270182e+02] [-2.28877334e-02 1.71506630e-03 9.99736570e-01 5.37664783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.480714057 meters Centerline goodness : 0.989144 Centerline is valid? [True, True] Translation: X:224.96, Y:160.29, Z:5.38 [[ 7.98902006e-01 -6.01151534e-01 1.92981505e-02 2.24963740e+02] [ 6.01025465e-01 7.99133302e-01 1.24240320e-02 1.60288008e+02] [-2.28905206e-02 1.67309578e-03 9.99736578e-01 5.37588373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.510714057 meters Centerline goodness : 0.988851 Centerline is valid? [True, True] Translation: X:224.99, Y:160.31, Z:5.38 [[ 8.01496352e-01 -5.97688141e-01 1.92998443e-02 2.24991347e+02] [ 5.97561134e-01 8.01727135e-01 1.24214421e-02 1.60307535e+02] [-2.28973575e-02 1.57709630e-03 9.99736577e-01 5.37553549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.540714057 meters Centerline goodness : 0.988298 Centerline is valid? [True, True] Translation: X:225.02, Y:160.33, Z:5.38 [[ 8.03243809e-01 -5.95335928e-01 1.93524146e-02 2.25017908e+02] [ 5.95210169e-01 8.03475298e-01 1.23410161e-02 1.60325309e+02] [-2.28962374e-02 1.60590918e-03 9.99736557e-01 5.37612509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5707140569999 meters Centerline goodness : 0.987451 Centerline is valid? [True, True] Translation: X:225.04, Y:160.34, Z:5.38 [[ 8.04804537e-01 -5.93223965e-01 1.93645357e-02 2.25040004e+02] [ 5.93098042e-01 8.05035943e-01 1.23224517e-02 1.60340777e+02] [-2.28991209e-02 1.56790314e-03 9.99736551e-01 5.37587367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6007140569999 meters Centerline goodness : 0.988633 Centerline is valid? [True, True] Translation: X:225.07, Y:160.36, Z:5.38 [[ 8.07009773e-01 -5.90225400e-01 1.92146789e-02 2.25072940e+02] [ 5.90093158e-01 8.07237583e-01 1.25518576e-02 1.60361092e+02] [-2.29192361e-02 1.20897878e-03 9.99736589e-01 5.37787286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.630714057 meters Centerline goodness : 0.987856 Centerline is valid? [True, True] Translation: X:225.10, Y:160.38, Z:5.38 [[ 8.08000321e-01 -5.88861226e-01 1.94406223e-02 2.25099401e+02] [ 5.88736849e-01 8.08232608e-01 1.22054775e-02 1.60378085e+02] [-2.28998773e-02 1.58338097e-03 9.99736510e-01 5.37794897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.660714057 meters Centerline goodness : 0.988589 Centerline is valid? [True, True] Translation: X:225.13, Y:160.40, Z:5.38 [[ 8.08896248e-01 -5.87630631e-01 1.94191370e-02 2.25127404e+02] [ 5.87505112e-01 8.09127904e-01 1.22384223e-02 1.60396238e+02] [-2.29042374e-02 1.50922840e-03 9.99736524e-01 5.37807338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6907140569999 meters Centerline goodness : 0.988303 Centerline is valid? [True, True] Translation: X:225.15, Y:160.41, Z:5.38 [[ 8.09800271e-01 -5.86383541e-01 1.94387134e-02 2.25153494e+02] [ 5.86258383e-01 8.10032137e-01 1.22084190e-02 1.60413917e+02] [-2.29047985e-02 1.50972767e-03 9.99736511e-01 5.37861551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7207140569999 meters Centerline goodness : 0.988936 Centerline is valid? [True, True] Translation: X:225.18, Y:160.43, Z:5.38 [[ 8.09674782e-01 -5.86557795e-01 1.94087504e-02 2.25180383e+02] [ 5.86431591e-01 8.09906057e-01 1.22543180e-02 1.60432199e+02] [-2.29071302e-02 1.45989210e-03 9.99736531e-01 5.37753043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.750714057 meters Centerline goodness : 0.988558 Centerline is valid? [True, True] Translation: X:225.21, Y:160.45, Z:5.38 [[ 8.11892887e-01 -5.83483188e-01 1.94244456e-02 2.25207160e+02] [ 5.83356680e-01 8.12124008e-01 1.22302696e-02 1.60447817e+02] [-2.29112153e-02 1.40171127e-03 9.99736521e-01 5.37700431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.780714057 meters Centerline goodness : 0.988735 Centerline is valid? [True, True] Translation: X:225.24, Y:160.46, Z:5.38 [[ 8.13754750e-01 -5.80884446e-01 1.94027516e-02 2.25240712e+02] [ 5.80756411e-01 8.13985012e-01 1.22634501e-02 1.60464101e+02] [-2.29171964e-02 1.28883162e-03 9.99736536e-01 5.37514337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8107140569999 meters Centerline goodness : 0.988795 Centerline is valid? [True, True] Translation: X:225.27, Y:160.48, Z:5.37 [[ 8.14419805e-01 -5.79945168e-01 1.95954836e-02 2.25267983e+02] [ 5.79823907e-01 8.14653911e-01 1.19684002e-02 1.60480254e+02] [-2.29045533e-02 1.61462768e-03 9.99736352e-01 5.37372892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8407140569999 meters Centerline goodness : 0.989135 Centerline is valid? [True, True] Translation: X:225.30, Y:160.50, Z:5.37 [[ 8.14651313e-01 -5.79620264e-01 1.95854129e-02 2.25298713e+02] [ 5.79498540e-01 8.14885164e-01 1.19838216e-02 1.60497094e+02] [-2.29059282e-02 1.58708221e-03 9.99736365e-01 5.37272053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.870714057 meters Centerline goodness : 0.989320 Centerline is valid? [True, True] Translation: X:225.33, Y:160.51, Z:5.37 [[ 8.15405849e-01 -5.78554854e-01 1.96870956e-02 2.25326935e+02] [ 5.78436554e-01 8.15641615e-01 1.18283578e-02 1.60513471e+02] [-2.29009683e-02 1.74282362e-03 9.99736219e-01 5.37081252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.900714057 meters Centerline goodness : 0.988660 Centerline is valid? [True, True] Translation: X:225.35, Y:160.53, Z:5.37 [[ 8.14986682e-01 -5.79144590e-01 1.97041193e-02 2.25353106e+02] [ 5.79027086e-01 8.15222876e-01 1.18023727e-02 1.60530372e+02] [-2.28985291e-02 1.79044220e-03 9.99736191e-01 5.36847964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9307140569999 meters Centerline goodness : 0.989798 Centerline is valid? [True, True] Translation: X:225.38, Y:160.55, Z:5.37 [[ 8.16061922e-01 -5.77629878e-01 1.96637546e-02 2.25383178e+02] [ 5.77510456e-01 8.16297079e-01 1.18639185e-02 1.60547287e+02] [-2.29044193e-02 1.67433173e-03 9.99736257e-01 5.36624627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9607140569999 meters Centerline goodness : 0.988502 Centerline is valid? [True, True] Translation: X:225.41, Y:160.56, Z:5.37 [[ 8.17270147e-01 -5.75915119e-01 1.97808413e-02 2.25409843e+02] [ 5.75799498e-01 8.17507426e-01 1.16853428e-02 1.60563721e+02] [-2.29007502e-02 1.83971663e-03 9.99736051e-01 5.36518708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.990714057 meters Centerline goodness : 0.989594 Centerline is valid? [True, True] Translation: X:225.44, Y:160.58, Z:5.36 [[ 8.16565990e-01 -5.76914810e-01 1.97303461e-02 2.25436267e+02] [ 5.76797627e-01 8.16802393e-01 1.17621688e-02 1.60581603e+02] [-2.29015633e-02 1.77582976e-03 9.99736148e-01 5.36480579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.020714057 meters Centerline goodness : 0.989657 Centerline is valid? [True, True] Translation: X:225.46, Y:160.60, Z:5.36 [[ 8.18082892e-01 -5.74760579e-01 1.97650819e-02 2.25463346e+02] [ 5.74644044e-01 8.18319689e-01 1.17093582e-02 1.60597534e+02] [-2.29042332e-02 1.77866094e-03 9.99736081e-01 5.36456507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0507140569999 meters Centerline goodness : 0.989418 Centerline is valid? [True, True] Translation: X:225.49, Y:160.61, Z:5.37 [[ 8.17250879e-01 -5.75942494e-01 1.97799049e-02 2.25485413e+02] [ 5.75826845e-01 8.17488142e-01 1.16868168e-02 1.60614425e+02] [-2.29007721e-02 1.83873894e-03 9.99736052e-01 5.36723462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0807140569999 meters Centerline goodness : 0.988150 Centerline is valid? [True, True] Translation: X:225.51, Y:160.63, Z:5.37 [[ 8.19084179e-01 -5.73335164e-01 1.96951048e-02 2.25511135e+02] [ 5.73215662e-01 8.19319347e-01 1.18157595e-02 1.60629085e+02] [-2.29109708e-02 1.61144086e-03 9.99736211e-01 5.36518088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.110714057 meters Centerline goodness : 0.988177 Centerline is valid? [True, True] Translation: X:225.54, Y:160.65, Z:5.37 [[ 8.18556222e-01 -5.74089878e-01 1.96602053e-02 2.25539120e+02] [ 5.73969323e-01 8.18790785e-01 1.18687096e-02 1.60647180e+02] [-2.29113010e-02 1.56914860e-03 9.99736270e-01 5.36629355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.140714057 meters Centerline goodness : 0.988061 Centerline is valid? [True, True] Translation: X:225.57, Y:160.66, Z:5.36 [[ 8.18637010e-01 -5.73973121e-01 1.97053950e-02 2.25565879e+02] [ 5.73854174e-01 8.18872482e-01 1.18002563e-02 1.60663277e+02] [-2.29092357e-02 1.64789664e-03 9.99736191e-01 5.36414683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1707140569999 meters Centerline goodness : 0.988101 Centerline is valid? [True, True] Translation: X:225.59, Y:160.68, Z:5.36 [[ 8.18048095e-01 -5.74812374e-01 1.96989481e-02 2.25592499e+02] [ 5.74693435e-01 8.18283557e-01 1.18100115e-02 1.60678997e+02] [-2.29078660e-02 1.65969873e-03 9.99736203e-01 5.36263655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2007140569999 meters Centerline goodness : 0.988298 Centerline is valid? [True, True] Translation: X:225.64, Y:160.70, Z:5.36 [[ 8.21010322e-01 -5.70575754e-01 1.96305771e-02 2.25639537e+02] [ 5.70453135e-01 8.21243751e-01 1.19130834e-02 1.60695881e+02] [-2.29188054e-02 1.41755978e-03 9.99736325e-01 5.36023442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.230714057 meters Centerline goodness : 0.987939 Centerline is valid? [True, True] Translation: X:225.64, Y:160.71, Z:5.36 [[ 8.15051825e-01 -5.79033990e-01 2.02524399e-02 2.25643230e+02] [ 5.78936713e-01 8.15298656e-01 1.09719806e-02 1.60711044e+02] [-2.28649368e-02 2.78214819e-03 9.99734692e-01 5.36350182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.260714057 meters Centerline goodness : 0.990435 Centerline is valid? [True, True] Translation: X:225.64, Y:160.73, Z:5.37 [[ 8.02084455e-01 -5.96889500e-01 1.95819075e-02 2.25642530e+02] [ 5.96772925e-01 8.02320761e-01 1.19779902e-02 1.60731545e+02] [-2.28605075e-02 2.07859251e-03 9.99736504e-01 5.36839489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.290714057 meters Centerline goodness : 0.990304 Centerline is valid? [True, True] Translation: X:225.67, Y:160.75, Z:5.37 [[ 8.01957580e-01 -5.97080149e-01 1.89561414e-02 2.25668749e+02] [ 5.96941268e-01 8.02181011e-01 1.29131208e-02 1.60746358e+02] [-2.29164247e-02 9.59927993e-04 9.99736923e-01 5.36692727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3207140569999 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:225.70, Y:160.76, Z:5.37 [[ 8.00327813e-01 -5.99264148e-01 1.89175422e-02 2.25697596e+02] [ 5.99124515e-01 8.00550793e-01 1.29708421e-02 1.60762514e+02] [-2.29174141e-02 9.53037619e-04 9.99736907e-01 5.36673737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3507140569999 meters Centerline goodness : 0.990809 Centerline is valid? [True, True] Translation: X:225.72, Y:160.78, Z:5.37 [[ 7.99824906e-01 -5.99935053e-01 1.89222477e-02 2.25724711e+02] [ 5.99795773e-01 8.00048105e-01 1.29638011e-02 1.60779558e+02] [-2.29161471e-02 9.80713214e-04 9.99736910e-01 5.36504932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.380714057 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:225.75, Y:160.80, Z:5.36 [[ 7.98140384e-01 -6.02173263e-01 1.89549079e-02 2.25752603e+02] [ 6.02035765e-01 7.98364668e-01 1.29148800e-02 1.60795255e+02] [-2.29099242e-02 1.10364517e-03 9.99736924e-01 5.36436090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.410714057 meters Centerline goodness : 0.991793 Centerline is valid? [True, True] Translation: X:225.78, Y:160.81, Z:5.36 [[ 7.95933059e-01 -6.05088346e-01 1.89382871e-02 2.25784373e+02] [ 6.04951079e-01 7.96157493e-01 1.29397985e-02 1.60811946e+02] [-2.29075805e-02 1.15752377e-03 9.99736917e-01 5.36045789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4407140569999 meters Centerline goodness : 0.991642 Centerline is valid? [True, True] Translation: X:225.81, Y:160.83, Z:5.36 [[ 7.95046690e-01 -6.06247873e-01 1.90860555e-02 2.25806489e+02] [ 6.06116208e-01 7.95274414e-01 1.27180429e-02 1.60827853e+02] [-2.28889381e-02 1.45692972e-03 9.99736952e-01 5.36427428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4707140569999 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:225.83, Y:160.84, Z:5.36 [[ 7.93878778e-01 -6.07781596e-01 1.89213330e-02 2.25833811e+02] [ 6.07644488e-01 7.94103319e-01 1.29651569e-02 1.60843281e+02] [-2.29054771e-02 1.20468077e-03 9.99736909e-01 5.36408808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.500714057 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:225.86, Y:160.86, Z:5.36 [[ 7.94857612e-01 -6.06500878e-01 1.89224922e-02 2.25863380e+02] [ 6.06363450e-01 7.95081956e-01 1.29634168e-02 1.60859027e+02] [-2.29072558e-02 1.16983714e-03 9.99736910e-01 5.36425976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.530714057 meters Centerline goodness : 0.990776 Centerline is valid? [True, True] Translation: X:225.89, Y:160.88, Z:5.36 [[ 7.93908939e-01 -6.07740209e-01 1.89851204e-02 2.25888793e+02] [ 6.07605366e-01 7.94134812e-01 1.28693142e-02 1.60877751e+02] [-2.28979448e-02 1.31839743e-03 9.99736938e-01 5.36363799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5607140569999 meters Centerline goodness : 0.990883 Centerline is valid? [True, True] Translation: X:225.92, Y:160.89, Z:5.36 [[ 7.94690350e-01 -6.06719799e-01 1.89297104e-02 2.25917620e+02] [ 6.06582688e-01 7.94914883e-01 1.29526393e-02 1.60894744e+02] [-2.29061312e-02 1.18909710e-03 9.99736913e-01 5.36410978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5907140569999 meters Centerline goodness : 0.989439 Centerline is valid? [True, True] Translation: X:225.95, Y:160.91, Z:5.36 [[ 7.95907143e-01 -6.05122242e-01 1.89444234e-02 2.25946185e+02] [ 6.04985205e-01 7.96131713e-01 1.29304888e-02 1.60911835e+02] [-2.29067826e-02 1.16962749e-03 9.99736921e-01 5.36353058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.620714057 meters Centerline goodness : 0.990200 Centerline is valid? [True, True] Translation: X:225.97, Y:160.93, Z:5.36 [[ 7.96842658e-01 -6.03889482e-01 1.89544838e-02 2.25973697e+02] [ 6.03752456e-01 7.97067228e-01 1.29153319e-02 1.60928817e+02] [-2.29074309e-02 1.15232878e-03 9.99736926e-01 5.36235595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.650714057 meters Centerline goodness : 0.990017 Centerline is valid? [True, True] Translation: X:226.00, Y:160.95, Z:5.36 [[ 7.98185487e-01 -6.02113187e-01 1.89641385e-02 2.26002607e+02] [ 6.01976006e-01 7.98409956e-01 1.29007728e-02 1.60946047e+02] [-2.29088825e-02 1.11874674e-03 9.99736931e-01 5.36072127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6807140569999 meters Centerline goodness : 0.989230 Centerline is valid? [True, True] Translation: X:226.03, Y:160.96, Z:5.36 [[ 7.98605330e-01 -6.01555850e-01 1.89759210e-02 2.26030666e+02] [ 6.01418933e-01 7.98829954e-01 1.28829864e-02 1.60963745e+02] [-2.29083699e-02 1.12405659e-03 9.99736937e-01 5.35882695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7107140569999 meters Centerline goodness : 0.988256 Centerline is valid? [True, True] Translation: X:226.06, Y:160.98, Z:5.35 [[ 8.01593722e-01 -5.97567558e-01 1.89873343e-02 2.26061164e+02] [ 5.97429928e-01 8.01817905e-01 1.28657953e-02 1.60976220e+02] [-2.29125665e-02 1.03046103e-03 9.99736942e-01 5.35338973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.740714057 meters Centerline goodness : 0.986991 Centerline is valid? [True, True] Translation: X:226.10, Y:160.99, Z:5.35 [[ 8.06221722e-01 -5.91304737e-01 1.91113260e-02 2.26103979e+02] [ 5.91169769e-01 8.06447488e-01 1.26788996e-02 1.60991735e+02] [-2.29093742e-02 1.07603397e-03 9.99736967e-01 5.34882777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.770714057 meters Centerline goodness : 0.990772 Centerline is valid? [True, True] Translation: X:226.09, Y:161.02, Z:5.35 [[ 7.93563487e-01 -6.08164496e-01 1.98226662e-02 2.26094531e+02] [ 6.08060035e-01 7.93805979e-01 1.16216398e-02 1.61016515e+02] [-2.28032196e-02 2.83086208e-03 9.99735965e-01 5.35366146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8007140569999 meters Centerline goodness : 0.987466 Centerline is valid? [True, True] Translation: X:226.15, Y:161.03, Z:5.35 [[ 8.05511698e-01 -5.92275374e-01 1.89943905e-02 2.26149168e+02] [ 5.92136723e-01 8.05735113e-01 1.28463579e-02 1.61025514e+02] [-2.29130288e-02 8.99384565e-04 9.99737058e-01 5.34809731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8307140569999 meters Centerline goodness : 0.981975 Centerline is valid? [True, True] Translation: X:226.16, Y:161.04, Z:5.35 [[ 8.05352566e-01 -5.92470231e-01 1.96537420e-02 2.26159583e+02] [ 5.92355690e-01 8.05589587e-01 1.18386559e-02 1.61036402e+02] [-2.28469011e-02 2.10771401e-03 9.99736754e-01 5.35178342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.860714057 meters Centerline goodness : 0.982147 Centerline is valid? [True, True] Translation: X:226.19, Y:161.05, Z:5.35 [[ 8.05745292e-01 -5.91963203e-01 1.88173020e-02 2.26186238e+02] [ 5.91818280e-01 8.05964788e-01 1.31104852e-02 1.61052393e+02] [-2.29270077e-02 5.72711552e-04 9.99736978e-01 5.35081475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.890714057 meters Centerline goodness : 0.982811 Centerline is valid? [True, True] Translation: X:226.21, Y:161.07, Z:5.35 [[ 8.06573109e-01 -5.90831700e-01 1.89135589e-02 2.26210268e+02] [ 5.90689902e-01 8.06794515e-01 1.29634002e-02 1.61067267e+02] [-2.29185434e-02 7.16118279e-04 9.99737079e-01 5.35072682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9207140569999 meters Centerline goodness : 0.982528 Centerline is valid? [True, True] Translation: X:226.23, Y:161.08, Z:5.35 [[ 8.06233283e-01 -5.91295454e-01 1.89097535e-02 2.26233271e+02] [ 5.91153648e-01 8.06454688e-01 1.29692132e-02 1.61082484e+02] [-2.29184962e-02 7.22358454e-04 9.99737076e-01 5.35059601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9507140569999 meters Centerline goodness : 0.990202 Centerline is valid? [True, True] Translation: X:226.26, Y:161.10, Z:5.35 [[ 8.04716119e-01 -5.93357481e-01 1.89438097e-02 2.26263024e+02] [ 5.93217462e-01 8.04938625e-01 1.29171892e-02 1.61100472e+02] [-2.29131149e-02 8.43128304e-04 9.99737105e-01 5.35120942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.980714057 meters Centerline goodness : 0.981989 Centerline is valid? [True, True] Translation: X:226.28, Y:161.11, Z:5.35 [[ 8.03134556e-01 -5.95488688e-01 1.91861125e-02 2.26282304e+02] [ 5.95358019e-01 8.03362565e-01 1.25466687e-02 1.61111377e+02] [-2.28848038e-02 1.34594273e-03 9.99737203e-01 5.35106827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.010714057 meters Centerline goodness : 0.982369 Centerline is valid? [True, True] Translation: X:226.31, Y:161.13, Z:5.35 [[ 8.01619760e-01 -5.97534005e-01 1.89439523e-02 2.26306302e+02] [ 5.97395177e-01 8.01842993e-01 1.29157953e-02 1.61125907e+02] [-2.29077023e-02 9.63468979e-04 9.99737120e-01 5.35018868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.040714057 meters Centerline goodness : 0.987401 Centerline is valid? [True, True] Translation: X:226.34, Y:161.14, Z:5.35 [[ 8.01169000e-01 -5.98137561e-01 1.89655471e-02 2.26337322e+02] [ 5.97999678e-01 8.01392799e-01 1.28828156e-02 1.61138771e+02] [-2.29045488e-02 1.02007854e-03 9.99737136e-01 5.34809870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0707140569999 meters Centerline goodness : 0.981776 Centerline is valid? [True, True] Translation: X:226.35, Y:161.15, Z:5.35 [[ 7.96776280e-01 -6.03970629e-01 1.91582518e-02 2.26353028e+02] [ 6.03841387e-01 7.97005090e-01 1.25883593e-02 1.61154828e+02] [-2.28722235e-02 1.53843926e-03 9.99737213e-01 5.34621922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1007140569999 meters Centerline goodness : 0.987969 Centerline is valid? [True, True] Translation: X:226.38, Y:161.17, Z:5.35 [[ 7.96968835e-01 -6.03722772e-01 1.89602145e-02 2.26383849e+02] [ 6.03586281e-01 7.97193479e-01 1.28902661e-02 1.61169574e+02] [-2.28971065e-02 1.17098492e-03 9.99737141e-01 5.34522271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.130714057 meters Centerline goodness : 0.987328 Centerline is valid? [True, True] Translation: X:226.41, Y:161.18, Z:5.34 [[ 7.94044931e-01 -6.07555396e-01 1.92116785e-02 2.26407552e+02] [ 6.07429136e-01 7.94275405e-01 1.25070456e-02 1.61183484e+02] [-2.28580867e-02 1.73857717e-03 9.99737208e-01 5.34282067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.160714057 meters Centerline goodness : 0.987992 Centerline is valid? [True, True] Translation: X:226.43, Y:161.20, Z:5.34 [[ 7.90997980e-01 -6.11517906e-01 1.91845366e-02 2.26430224e+02] [ 6.11391806e-01 7.91228537e-01 1.25483739e-02 1.61198631e+02] [-2.28529081e-02 1.80353005e-03 9.99737211e-01 5.34161675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1907140569999 meters Centerline goodness : 0.982096 Centerline is valid? [True, True] Translation: X:226.45, Y:161.21, Z:5.34 [[ 7.88690762e-01 -6.14491298e-01 1.91657719e-02 2.26448052e+02] [ 6.14365379e-01 7.88921417e-01 1.25769362e-02 1.61214216e+02] [-2.28487058e-02 1.85547334e-03 9.99737212e-01 5.33903162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2207140569999 meters Centerline goodness : 0.988654 Centerline is valid? [True, True] Translation: X:226.48, Y:161.23, Z:5.34 [[ 7.88826884e-01 -6.14323230e-01 1.89503652e-02 2.26476147e+02] [ 6.14189420e-01 7.89053127e-01 1.29041972e-02 1.61230050e+02] [-2.28801930e-02 1.45993613e-03 9.99737148e-01 5.33983154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.250714057 meters Centerline goodness : 0.988689 Centerline is valid? [True, True] Translation: X:226.50, Y:161.25, Z:5.34 [[ 7.88146123e-01 -6.15188878e-01 1.91919884e-02 2.26499630e+02] [ 6.15064122e-01 7.88377413e-01 1.25371822e-02 1.61246480e+02] [-2.28432652e-02 1.92317193e-03 9.99737209e-01 5.33938786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.280714057 meters Centerline goodness : 0.981373 Centerline is valid? [True, True] Translation: X:226.52, Y:161.26, Z:5.34 [[ 7.85416563e-01 -6.18669708e-01 1.91993645e-02 2.26516020e+02] [ 6.18546246e-01 7.85648548e-01 1.25259680e-02 1.61262812e+02] [-2.28333898e-02 2.03759213e-03 9.99737208e-01 5.33781134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3107140569999 meters Centerline goodness : 0.981102 Centerline is valid? [True, True] Translation: X:226.54, Y:161.28, Z:5.34 [[ 7.85214534e-01 -6.18933896e-01 1.89464603e-02 2.26540705e+02] [ 6.18801285e-01 7.85441477e-01 1.29095754e-02 1.61278525e+02] [-2.28715096e-02 1.58730772e-03 9.99737153e-01 5.33685856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3407140569999 meters Centerline goodness : 0.989053 Centerline is valid? [True, True] Translation: X:226.57, Y:161.29, Z:5.34 [[ 7.85958732e-01 -6.17988343e-01 1.89546789e-02 2.26569809e+02] [ 6.17855757e-01 7.86185683e-01 1.28971031e-02 1.61294554e+02] [-2.28721566e-02 1.57466665e-03 9.99737158e-01 5.33707802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.370714057 meters Centerline goodness : 0.988185 Centerline is valid? [True, True] Translation: X:226.59, Y:161.31, Z:5.34 [[ 7.84526973e-01 -6.19797403e-01 1.91991559e-02 2.26591078e+02] [ 6.19674264e-01 7.84759132e-01 1.25264394e-02 1.61311596e+02] [-2.28305675e-02 2.06989326e-03 9.99737206e-01 5.33679528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.400714057 meters Centerline goodness : 0.988185 Centerline is valid? [True, True] Translation: X:226.61, Y:161.33, Z:5.34 [[ 7.84373674e-01 -6.19992843e-01 1.91524074e-02 2.26614683e+02] [ 6.19868049e-01 7.84604939e-01 1.25972613e-02 1.61327366e+02] [-2.28372853e-02 1.99100528e-03 9.99737213e-01 5.33611188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4307140569999 meters Centerline goodness : 0.978128 Centerline is valid? [True, True] Translation: X:226.63, Y:161.34, Z:5.34 [[ 7.81896593e-01 -6.23113956e-01 1.91498070e-02 2.26632525e+02] [ 6.22989990e-01 7.82128303e-01 1.26012009e-02 1.61343352e+02] [-2.28295902e-02 2.07730203e-03 9.99737213e-01 5.33506429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4607140569999 meters Centerline goodness : 0.988475 Centerline is valid? [True, True] Translation: X:226.66, Y:161.36, Z:5.33 [[ 7.82807286e-01 -6.21975206e-01 1.89630000e-02 2.26661006e+02] [ 6.21844094e-01 7.83035076e-01 1.28837849e-02 1.61359079e+02] [-2.28620889e-02 1.70650882e-03 9.99737172e-01 5.33341665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.490714057 meters Centerline goodness : 0.989317 Centerline is valid? [True, True] Translation: X:226.68, Y:161.38, Z:5.33 [[ 7.82041902e-01 -6.22930732e-01 1.91772406e-02 2.26682909e+02] [ 6.22807708e-01 7.82274123e-01 1.25600505e-02 1.61375359e+02] [-2.28259005e-02 2.12124749e-03 9.99737205e-01 5.33270023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.520714057 meters Centerline goodness : 0.988642 Centerline is valid? [True, True] Translation: X:226.71, Y:161.39, Z:5.33 [[ 7.82597187e-01 -6.22233878e-01 1.91479628e-02 2.26707712e+02] [ 6.22109577e-01 7.82828721e-01 1.26042524e-02 1.61390950e+02] [-2.28323680e-02 2.04807854e-03 9.99737210e-01 5.33197492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5507140569999 meters Centerline goodness : 0.980712 Centerline is valid? [True, True] Translation: X:226.72, Y:161.41, Z:5.33 [[ 7.81476766e-01 -6.23639414e-01 1.91819132e-02 2.26723263e+02] [ 6.23516774e-01 7.81709189e-01 1.25529227e-02 1.61407418e+02] [-2.28231752e-02 2.15042718e-03 9.99737205e-01 5.33049124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5807140569999 meters Centerline goodness : 0.989498 Centerline is valid? [True, True] Translation: X:226.75, Y:161.43, Z:5.33 [[ 7.84222055e-01 -6.20191568e-01 1.89258447e-02 2.26752876e+02] [ 6.20058608e-01 7.84448786e-01 1.29392948e-02 1.61425487e+02] [-2.28711974e-02 1.58785261e-03 9.99737159e-01 5.32873529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.610714057 meters Centerline goodness : 0.989357 Centerline is valid? [True, True] Translation: X:226.77, Y:161.44, Z:5.33 [[ 7.82974788e-01 -6.21752514e-01 1.93466323e-02 2.26768045e+02] [ 6.21635275e-01 7.83210125e-01 1.23078978e-02 1.61443481e+02] [-2.28049447e-02 2.38977548e-03 9.99737077e-01 5.32926142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.640714057 meters Centerline goodness : 0.988692 Centerline is valid? [True, True] Translation: X:226.79, Y:161.46, Z:5.33 [[ 7.84564455e-01 -6.19754068e-01 1.90659591e-02 2.26789824e+02] [ 6.19626048e-01 7.84793957e-01 1.27281756e-02 1.61460174e+02] [-2.28511881e-02 1.82769070e-03 9.99737207e-01 5.32727984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6707140569999 meters Centerline goodness : 0.989138 Centerline is valid? [True, True] Translation: X:226.81, Y:161.48, Z:5.33 [[ 7.85096023e-01 -6.19081560e-01 1.90330346e-02 2.26812619e+02] [ 6.18952158e-01 7.85324750e-01 1.27774460e-02 1.61477163e+02] [-2.28573943e-02 1.74901580e-03 9.99737206e-01 5.32768863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7007140569999 meters Centerline goodness : 0.988904 Centerline is valid? [True, True] Translation: X:226.84, Y:161.49, Z:5.33 [[ 7.86329959e-01 -6.17513328e-01 1.90390315e-02 2.26835056e+02] [ 6.17383686e-01 7.86558549e-01 1.27684718e-02 1.61494390e+02] [-2.28600145e-02 1.71415557e-03 9.99737206e-01 5.32647087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.730714057 meters Centerline goodness : 0.989109 Centerline is valid? [True, True] Translation: X:226.86, Y:161.51, Z:5.33 [[ 7.86876491e-01 -6.16817581e-01 1.90120692e-02 2.26858990e+02] [ 6.16686769e-01 7.87104417e-01 1.28087914e-02 1.61510917e+02] [-2.28651714e-02 1.64555474e-03 9.99737204e-01 5.32602754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.760714057 meters Centerline goodness : 0.980064 Centerline is valid? [True, True] Translation: X:226.88, Y:161.53, Z:5.33 [[ 7.86430589e-01 -6.17385797e-01 1.90185789e-02 2.26876229e+02] [ 6.17255382e-01 7.86658742e-01 1.27990687e-02 1.61526834e+02] [-2.28630946e-02 1.67374105e-03 9.99737204e-01 5.32724979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.790714057 meters Centerline goodness : 0.988571 Centerline is valid? [True, True] Translation: X:226.91, Y:161.54, Z:5.33 [[ 7.89277759e-01 -6.13746762e-01 1.88555658e-02 2.26906896e+02] [ 6.13609498e-01 7.89501922e-01 1.30422311e-02 1.61542845e+02] [-2.28911325e-02 1.27601135e-03 9.99737149e-01 5.32610864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8207140569999 meters Centerline goodness : 0.989544 Centerline is valid? [True, True] Translation: X:226.93, Y:161.56, Z:5.33 [[ 7.88544532e-01 -6.14676183e-01 1.92538564e-02 2.26930639e+02] [ 6.14553260e-01 7.88776995e-01 1.24556296e-02 1.61563020e+02] [-2.28431779e-02 2.01070162e-03 9.99737039e-01 5.32626714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8507140569999 meters Centerline goodness : 0.988215 Centerline is valid? [True, True] Translation: X:226.96, Y:161.58, Z:5.32 [[ 7.88146493e-01 -6.15188126e-01 1.92009265e-02 2.26955855e+02] [ 6.15063469e-01 7.88377980e-01 1.25335625e-02 1.61581562e+02] [-2.28480865e-02 1.93150517e-03 9.99737083e-01 5.32437792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.880714057 meters Centerline goodness : 0.988269 Centerline is valid? [True, True] Translation: X:226.98, Y:161.60, Z:5.32 [[ 7.88166176e-01 -6.15164392e-01 1.91533288e-02 2.26982816e+02] [ 6.15038037e-01 7.88396703e-01 1.26036181e-02 1.61599926e+02] [-2.28537184e-02 1.84628031e-03 9.99737115e-01 5.32308776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.910714057 meters Centerline goodness : 0.989813 Centerline is valid? [True, True] Translation: X:227.01, Y:161.62, Z:5.32 [[ 7.88166063e-01 -6.15163728e-01 1.91792784e-02 2.27008053e+02] [ 6.15038295e-01 7.88397112e-01 1.25654103e-02 1.61617555e+02] [-2.28506724e-02 1.89236070e-03 9.99737098e-01 5.32187864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9407140569999 meters Centerline goodness : 0.989492 Centerline is valid? [True, True] Translation: X:227.03, Y:161.64, Z:5.32 [[ 7.87703242e-01 -6.15756349e-01 1.91760584e-02 2.27032824e+02] [ 6.15630974e-01 7.87934321e-01 1.25701504e-02 1.61636084e+02] [-2.28496245e-02 1.90382729e-03 9.99737100e-01 5.32151485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9707140569999 meters Centerline goodness : 0.988944 Centerline is valid? [True, True] Translation: X:227.06, Y:161.65, Z:5.32 [[ 7.88326409e-01 -6.14960357e-01 1.91110616e-02 2.27060569e+02] [ 6.14832446e-01 7.88556049e-01 1.26657560e-02 1.61654753e+02] [-2.28590810e-02 1.76535080e-03 9.99737138e-01 5.32048010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.000714057 meters Centerline goodness : 0.990129 Centerline is valid? [True, True] Translation: X:227.09, Y:161.67, Z:5.32 [[ 7.88032039e-01 -6.15336990e-01 1.91283670e-02 2.27087041e+02] [ 6.15209801e-01 7.88262091e-01 1.26402972e-02 1.61673656e+02] [-2.28562090e-02 1.80699968e-03 9.99737130e-01 5.31890697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.030714057 meters Centerline goodness : 0.989144 Centerline is valid? [True, True] Translation: X:227.11, Y:161.69, Z:5.32 [[ 7.88125029e-01 -6.15216999e-01 1.91567753e-02 2.27112446e+02] [ 6.15090783e-01 7.88355635e-01 1.25985011e-02 1.61691279e+02] [-2.28531638e-02 1.85396187e-03 9.99737113e-01 5.31872697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0607140569999 meters Centerline goodness : 0.988948 Centerline is valid? [True, True] Translation: X:227.14, Y:161.71, Z:5.32 [[ 7.88423187e-01 -6.14836033e-01 1.91188576e-02 2.27138445e+02] [ 6.14708361e-01 7.88652965e-01 1.26542911e-02 1.61709465e+02] [-2.28584579e-02 1.77558512e-03 9.99737135e-01 5.31734658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0907140569999 meters Centerline goodness : 0.989528 Centerline is valid? [True, True] Translation: X:227.17, Y:161.73, Z:5.32 [[ 7.87490386e-01 -6.16030121e-01 1.91254287e-02 2.27166365e+02] [ 6.15903031e-01 7.87720490e-01 1.26446188e-02 1.61728998e+02] [-2.28549581e-02 1.82189371e-03 9.99737131e-01 5.31580233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.120714057 meters Centerline goodness : 0.989349 Centerline is valid? [True, True] Translation: X:227.19, Y:161.75, Z:5.31 [[ 7.86519664e-01 -6.17268606e-01 1.91386177e-02 2.27193418e+02] [ 6.17142345e-01 7.86750233e-01 1.26252410e-02 1.61748399e+02] [-2.28504769e-02 1.88125107e-03 9.99737124e-01 5.31447580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.150714057 meters Centerline goodness : 0.987976 Centerline is valid? [True, True] Translation: X:227.21, Y:161.77, Z:5.31 [[ 7.82289727e-01 -6.22619035e-01 1.91916476e-02 2.27208969e+02] [ 6.22496251e-01 7.82522200e-01 1.25468594e-02 1.61767449e+02] [-2.28298038e-02 2.13144952e-03 9.99737094e-01 5.31472070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1807140569999 meters Centerline goodness : 0.988503 Centerline is valid? [True, True] Translation: X:227.24, Y:161.78, Z:5.31 [[ 7.84281416e-01 -6.20118436e-01 1.88622751e-02 2.27240912e+02] [ 6.19983218e-01 7.84506823e-01 1.30327797e-02 1.61781964e+02] [-2.28794504e-02 1.47292709e-03 9.99737146e-01 5.31403510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2107140569999 meters Centerline goodness : 0.989666 Centerline is valid? [True, True] Translation: X:227.27, Y:161.80, Z:5.31 [[ 7.81775128e-01 -6.23266733e-01 1.91371104e-02 2.27267925e+02] [ 6.23142125e-01 7.82006632e-01 1.26301124e-02 1.61802341e+02] [-2.28372762e-02 2.05123192e-03 9.99737091e-01 5.31189118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.240714057 meters Centerline goodness : 0.989125 Centerline is valid? [True, True] Translation: X:227.29, Y:161.82, Z:5.31 [[ 7.82694420e-01 -6.22110311e-01 1.91887025e-02 2.27293654e+02] [ 6.21987195e-01 7.82926761e-01 1.25544939e-02 1.61819428e+02] [-2.28336288e-02 2.10879491e-03 9.99737055e-01 5.31198766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.270714057 meters Centerline goodness : 0.989599 Centerline is valid? [True, True] Translation: X:227.32, Y:161.84, Z:5.31 [[ 7.82675542e-01 -6.22134395e-01 1.91778663e-02 2.27319107e+02] [ 6.22010900e-01 7.82907674e-01 1.25704139e-02 1.61839457e+02] [-2.28349856e-02 2.09028637e-03 9.99737063e-01 5.31051630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3007140569999 meters Centerline goodness : 0.988970 Centerline is valid? [True, True] Translation: X:227.34, Y:161.86, Z:5.31 [[ 7.84272520e-01 -6.20120537e-01 1.91607125e-02 2.27343887e+02] [ 6.19995835e-01 7.84503993e-01 1.25956202e-02 1.61859090e+02] [-2.28424582e-02 2.00116315e-03 9.99737074e-01 5.31009351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3307140569999 meters Centerline goodness : 0.988800 Centerline is valid? [True, True] Translation: X:227.37, Y:161.88, Z:5.31 [[ 7.85095096e-01 -6.19079680e-01 1.91321519e-02 2.27369283e+02] [ 6.18953657e-01 7.85325832e-01 1.26375774e-02 1.61878101e+02] [-2.28486405e-02 1.92021535e-03 9.99737092e-01 5.30896901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.360714057 meters Centerline goodness : 0.988768 Centerline is valid? [True, True] Translation: X:227.39, Y:161.90, Z:5.31 [[ 7.85275009e-01 -6.18851862e-01 1.91189443e-02 2.27393606e+02] [ 6.18725303e-01 7.85505443e-01 1.26569626e-02 1.61898658e+02] [-2.28508196e-02 1.89017821e-03 9.99737099e-01 5.31010913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.390714057 meters Centerline goodness : 0.990117 Centerline is valid? [True, True] Translation: X:227.42, Y:161.92, Z:5.31 [[ 7.87612616e-01 -6.15875078e-01 1.90854833e-02 2.27422135e+02] [ 6.15746469e-01 7.87841891e-01 1.27059420e-02 1.61920025e+02] [-2.28616163e-02 1.74445874e-03 9.99737117e-01 5.30815575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4207140569999 meters Centerline goodness : 0.988860 Centerline is valid? [True, True] Translation: X:227.45, Y:161.94, Z:5.31 [[ 7.89368999e-01 -6.13618132e-01 1.92190152e-02 2.27446217e+02] [ 6.13493580e-01 7.89600607e-01 1.25103364e-02 1.61937838e+02] [-2.28519153e-02 1.91547067e-03 9.99737026e-01 5.30791221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4507140569999 meters Centerline goodness : 0.989552 Centerline is valid? [True, True] Translation: X:227.47, Y:161.96, Z:5.31 [[ 7.90784198e-01 -6.11794585e-01 1.91765094e-02 2.27470594e+02] [ 6.11667994e-01 7.91014659e-01 1.25727396e-02 1.61956795e+02] [-2.28608341e-02 1.78733320e-03 9.99737059e-01 5.30653769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.480714057 meters Centerline goodness : 0.987879 Centerline is valid? [True, True] Translation: X:227.50, Y:161.98, Z:5.31 [[ 7.91846225e-01 -6.10419464e-01 1.91737936e-02 2.27496187e+02] [ 6.10292377e-01 7.92076411e-01 1.25767261e-02 1.61975046e+02] [-2.28641880e-02 1.74278697e-03 9.99737061e-01 5.30647667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.510714057 meters Centerline goodness : 0.988489 Centerline is valid? [True, True] Translation: X:227.52, Y:161.99, Z:5.31 [[ 7.91448252e-01 -6.10935434e-01 1.91718361e-02 2.27522206e+02] [ 6.10808428e-01 7.91678482e-01 1.25795994e-02 1.61993969e+02] [-2.28632531e-02 1.75421708e-03 9.99737063e-01 5.30513448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.540714057 meters Centerline goodness : 0.988521 Centerline is valid? [True, True] Translation: X:227.55, Y:162.01, Z:5.31 [[ 7.90876819e-01 -6.11675533e-01 1.91546020e-02 2.27548160e+02] [ 6.11548133e-01 7.91106818e-01 1.26049000e-02 1.62012153e+02] [-2.28634452e-02 1.74503785e-03 9.99737074e-01 5.30522845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5707140569999 meters Centerline goodness : 0.988155 Centerline is valid? [True, True] Translation: X:227.57, Y:162.03, Z:5.30 [[ 7.90661226e-01 -6.11954066e-01 1.91584714e-02 2.27574512e+02] [ 6.11826884e-01 7.90891348e-01 1.25992189e-02 1.62030408e+02] [-2.28624125e-02 1.75995399e-03 9.99737072e-01 5.30409283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6007140569999 meters Centerline goodness : 0.988558 Centerline is valid? [True, True] Translation: X:227.60, Y:162.05, Z:5.31 [[ 7.89455913e-01 -6.13508894e-01 1.91363152e-02 2.27599727e+02] [ 6.13381382e-01 7.89685836e-01 1.26317529e-02 1.62048385e+02] [-2.28613698e-02 1.76564742e-03 9.99737086e-01 5.30631269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.630714057 meters Centerline goodness : 0.988680 Centerline is valid? [True, True] Translation: X:227.63, Y:162.07, Z:5.31 [[ 7.88619474e-01 -6.14583790e-01 1.91334892e-02 2.27625923e+02] [ 6.14456491e-01 7.88849513e-01 1.26359010e-02 1.62067559e+02] [-2.28592636e-02 1.79177899e-03 9.99737087e-01 5.30665725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.660714057 meters Centerline goodness : 0.989054 Centerline is valid? [True, True] Translation: X:227.65, Y:162.09, Z:5.30 [[ 7.85945494e-01 -6.18001083e-01 1.90877457e-02 2.27651621e+02] [ 6.17873168e-01 7.86175162e-01 1.27029070e-02 1.62087711e+02] [-2.28567219e-02 1.81001338e-03 9.99737113e-01 5.30427868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6907140569999 meters Centerline goodness : 0.989405 Centerline is valid? [True, True] Translation: X:227.68, Y:162.11, Z:5.30 [[ 7.84324761e-01 -6.20056302e-01 1.91010799e-02 2.27678470e+02] [ 6.19929459e-01 7.84555031e-01 1.26834028e-02 1.62106568e+02] [-2.28502722e-02 1.89341529e-03 9.99737105e-01 5.30176436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7207140569999 meters Centerline goodness : 0.987982 Centerline is valid? [True, True] Translation: X:227.70, Y:162.12, Z:5.30 [[ 7.83534498e-01 -6.21053505e-01 1.91372455e-02 2.27702184e+02] [ 6.20928235e-01 7.83765652e-01 1.26304894e-02 1.62123274e+02] [-2.28433254e-02 1.98643193e-03 9.99737084e-01 5.30000858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.750714057 meters Centerline goodness : 0.988704 Centerline is valid? [True, True] Translation: X:227.73, Y:162.14, Z:5.30 [[ 7.82309926e-01 -6.22598195e-01 1.90438595e-02 2.27730593e+02] [ 6.22470076e-01 7.82539459e-01 1.27671139e-02 1.62143023e+02] [-2.28513536e-02 1.86639276e-03 9.99737132e-01 5.30080723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.780714057 meters Centerline goodness : 0.989302 Centerline is valid? [True, True] Translation: X:227.76, Y:162.16, Z:5.30 [[ 7.81345734e-01 -6.23804726e-01 1.91443912e-02 2.27756918e+02] [ 6.23680523e-01 7.81577469e-01 1.26200181e-02 1.62162753e+02] [-2.28352518e-02 2.07938663e-03 9.99737079e-01 5.30151268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8107140569999 meters Centerline goodness : 0.989286 Centerline is valid? [True, True] Translation: X:227.78, Y:162.18, Z:5.30 [[ 7.81963461e-01 -6.23030022e-01 1.91504069e-02 2.27782408e+02] [ 6.22905803e-01 7.82195192e-01 1.26112140e-02 1.62180444e+02] [-2.28365211e-02 2.06739104e-03 9.99737075e-01 5.30099200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8407140569999 meters Centerline goodness : 0.988574 Centerline is valid? [True, True] Translation: X:227.81, Y:162.20, Z:5.30 [[ 7.82331149e-01 -6.22568293e-01 1.91492608e-02 2.27811042e+02] [ 6.22443897e-01 7.82562783e-01 1.26128909e-02 1.62200779e+02] [-2.28378848e-02 2.05188308e-03 9.99737076e-01 5.30183391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.870714057 meters Centerline goodness : 0.988227 Centerline is valid? [True, True] Translation: X:227.83, Y:162.22, Z:5.30 [[ 7.82291570e-01 -6.22615043e-01 1.92459986e-02 2.27834970e+02] [ 6.22494100e-01 7.82525119e-01 1.24713289e-02 1.62219013e+02] [-2.28253143e-02 2.22430512e-03 9.99736994e-01 5.30369605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.900714057 meters Centerline goodness : 0.988623 Centerline is valid? [True, True] Translation: X:227.86, Y:162.24, Z:5.30 [[ 7.82359186e-01 -6.22532650e-01 1.91625439e-02 2.27862683e+02] [ 6.22408719e-01 7.82591078e-01 1.25932618e-02 1.62238301e+02] [-2.28361526e-02 2.07448038e-03 9.99737069e-01 5.30330357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9307140569999 meters Centerline goodness : 0.988167 Centerline is valid? [True, True] Translation: X:227.89, Y:162.26, Z:5.30 [[ 7.82531112e-01 -6.22315471e-01 1.91966774e-02 2.27890706e+02] [ 6.22192685e-01 7.82763645e-01 1.25434869e-02 1.62257445e+02] [-2.28324672e-02 2.12836351e-03 9.99737040e-01 5.30180943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9607140569999 meters Centerline goodness : 0.988786 Centerline is valid? [True, True] Translation: X:227.92, Y:162.28, Z:5.30 [[ 7.82396902e-01 -6.22482141e-01 1.92632615e-02 2.27917566e+02] [ 6.22361766e-01 7.82630768e-01 1.24464241e-02 1.62276159e+02] [-2.28236979e-02 2.25067376e-03 9.99736972e-01 5.29983174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.990714057 meters Centerline goodness : 0.988858 Centerline is valid? [True, True] Translation: X:227.94, Y:162.29, Z:5.30 [[ 7.81523833e-01 -6.23577505e-01 1.92767886e-02 2.27937763e+02] [ 6.23457939e-01 7.81758131e-01 1.24267094e-02 1.62293385e+02] [-2.28188027e-02 2.30649739e-03 9.99736957e-01 5.30017030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.020714057 meters Centerline goodness : 0.988943 Centerline is valid? [True, True] Translation: X:227.96, Y:162.31, Z:5.29 [[ 7.80228836e-01 -6.25201624e-01 1.91283613e-02 2.27964504e+02] [ 6.25077278e-01 7.80460474e-01 1.26429375e-02 1.62312909e+02] [-2.28333150e-02 2.09231960e-03 9.99737096e-01 5.29475854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0507140569999 meters Centerline goodness : 0.988744 Centerline is valid? [True, True] Translation: X:227.99, Y:162.33, Z:5.29 [[ 7.79714400e-01 -6.25842051e-01 1.91619630e-02 2.27990041e+02] [ 6.25719086e-01 7.79946804e-01 1.25939715e-02 1.62330414e+02] [-2.28271487e-02 2.17030498e-03 9.99737071e-01 5.29321033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0807140569999 meters Centerline goodness : 0.989314 Centerline is valid? [True, True] Translation: X:228.02, Y:162.35, Z:5.29 [[ 7.78829370e-01 -6.26943852e-01 1.91368725e-02 2.28017741e+02] [ 6.26820327e-01 7.79061454e-01 1.26305126e-02 1.62348491e+02] [-2.28274219e-02 2.15836647e-03 9.99737091e-01 5.29218621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.110714057 meters Centerline goodness : 0.988465 Centerline is valid? [True, True] Translation: X:228.04, Y:162.37, Z:5.29 [[ 7.77973100e-01 -6.28005179e-01 1.91664023e-02 2.28041914e+02] [ 6.27883018e-01 7.78205931e-01 1.25874976e-02 1.62365857e+02] [-2.28204216e-02 2.24152395e-03 9.99737067e-01 5.29208220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.140714057 meters Centerline goodness : 0.989104 Centerline is valid? [True, True] Translation: X:228.07, Y:162.38, Z:5.29 [[ 7.78015804e-01 -6.27953605e-01 1.91227186e-02 2.28067727e+02] [ 6.27829879e-01 7.78247770e-01 1.26511500e-02 1.62384138e+02] [-2.28265484e-02 2.16301953e-03 9.99737100e-01 5.29156249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1707140569999 meters Centerline goodness : 0.989384 Centerline is valid? [True, True] Translation: X:228.09, Y:162.40, Z:5.29 [[ 7.79028938e-01 -6.26696737e-01 1.91079219e-02 2.28094066e+02] [ 6.26572114e-01 7.79260412e-01 1.26726922e-02 1.62403209e+02] [-2.28319819e-02 2.10009706e-03 9.99737111e-01 5.29029705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2007140569999 meters Centerline goodness : 0.991000 Centerline is valid? [True, True] Translation: X:228.12, Y:162.42, Z:5.29 [[ 7.78697526e-01 -6.27107612e-01 1.91364979e-02 2.28124091e+02] [ 6.26984121e-01 7.78929629e-01 1.26311146e-02 1.62424334e+02] [-2.28270533e-02 2.16246264e-03 9.99737090e-01 5.28553727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.230714057 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:228.15, Y:162.44, Z:5.29 [[ 7.81726546e-01 -6.23322481e-01 1.93052490e-02 2.28150353e+02] [ 6.23203849e-01 7.81961359e-01 1.23853485e-02 1.62443605e+02] [-2.28160248e-02 2.34914979e-03 9.99736921e-01 5.28608638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.260714057 meters Centerline goodness : 0.988331 Centerline is valid? [True, True] Translation: X:228.17, Y:162.46, Z:5.29 [[ 7.84919072e-01 -6.19296959e-01 1.93216549e-02 2.28171950e+02] [ 6.19177705e-01 7.85153593e-01 1.23614444e-02 1.62459082e+02] [-2.28258717e-02 2.26080448e-03 9.99736900e-01 5.28847054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.290714057 meters Centerline goodness : 0.988331 Centerline is valid? [True, True] Translation: X:228.20, Y:162.48, Z:5.29 [[ 7.84853558e-01 -6.19385219e-01 1.91531480e-02 2.28198677e+02] [ 6.19260034e-01 7.85084762e-01 1.26066076e-02 1.62477509e+02] [-2.28451911e-02 1.96643822e-03 9.99737081e-01 5.28760108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3207140569999 meters Centerline goodness : 0.990051 Centerline is valid? [True, True] Translation: X:228.23, Y:162.50, Z:5.28 [[ 7.85589669e-01 -6.18451990e-01 1.91313364e-02 2.28230890e+02] [ 6.18325765e-01 7.85820287e-01 1.26382737e-02 1.62498867e+02] [-2.28499577e-02 1.90090093e-03 9.99737098e-01 5.28200995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3507140569999 meters Centerline goodness : 0.989402 Centerline is valid? [True, True] Translation: X:228.26, Y:162.52, Z:5.29 [[ 7.88077017e-01 -6.15271155e-01 1.93912564e-02 2.28255015e+02] [ 6.15153162e-01 7.88312291e-01 1.22604370e-02 1.62515188e+02] [-2.28298590e-02 2.26642405e-03 9.99736796e-01 5.28541404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.380714057 meters Centerline goodness : 0.990110 Centerline is valid? [True, True] Translation: X:228.28, Y:162.53, Z:5.28 [[ 7.87754105e-01 -6.15688324e-01 1.92706743e-02 2.28284953e+02] [ 6.15566192e-01 7.87987068e-01 1.24355996e-02 1.62534178e+02] [-2.28414956e-02 2.06618095e-03 9.99736964e-01 5.27842240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.410714057 meters Centerline goodness : 0.990817 Centerline is valid? [True, True] Translation: X:228.31, Y:162.55, Z:5.28 [[ 7.87383800e-01 -6.16157469e-01 1.94093994e-02 2.28311843e+02] [ 6.16040387e-01 7.87619560e-01 1.22339983e-02 1.62552143e+02] [-2.28252921e-02 2.32412189e-03 9.99736768e-01 5.27764914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4407140569999 meters Centerline goodness : 0.988604 Centerline is valid? [True, True] Translation: X:228.34, Y:162.57, Z:5.29 [[ 7.87963695e-01 -6.15415092e-01 1.94288475e-02 2.28335554e+02] [ 6.15298477e-01 7.88199723e-01 1.22057705e-02 1.62568317e+02] [-2.28254276e-02 2.33683624e-03 9.99736735e-01 5.28556721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4707140569999 meters Centerline goodness : 0.988945 Centerline is valid? [True, True] Translation: X:228.36, Y:162.58, Z:5.28 [[ 7.86238215e-01 -6.17623129e-01 1.92649822e-02 2.28363320e+02] [ 6.17501397e-01 7.86471363e-01 1.24426772e-02 1.62584994e+02] [-2.28362421e-02 2.11324514e-03 9.99736986e-01 5.28210149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.500714057 meters Centerline goodness : 0.989606 Centerline is valid? [True, True] Translation: X:228.40, Y:162.60, Z:5.28 [[ 7.88102175e-01 -6.15241213e-01 1.93187109e-02 2.28395282e+02] [ 6.15120663e-01 7.88336018e-01 1.23649839e-02 1.62602640e+02] [-2.28370834e-02 2.13846756e-03 9.99736913e-01 5.27928130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.530714057 meters Centerline goodness : 0.989386 Centerline is valid? [True, True] Translation: X:228.42, Y:162.62, Z:5.28 [[ 7.86830797e-01 -6.16859014e-01 1.95513104e-02 2.28422937e+02] [ 6.16747203e-01 7.87069391e-01 1.20275578e-02 1.62619490e+02] [-2.28075454e-02 2.59456315e-03 9.99736507e-01 5.27758547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5607140569999 meters Centerline goodness : 0.989428 Centerline is valid? [True, True] Translation: X:228.45, Y:162.64, Z:5.28 [[ 7.85485468e-01 -6.18572464e-01 1.95111708e-02 2.28448592e+02] [ 6.18459745e-01 7.85723540e-01 1.20856031e-02 1.62637817e+02] [-2.28062075e-02 2.57380808e-03 9.99736592e-01 5.27616520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5907140569999 meters Centerline goodness : 0.989774 Centerline is valid? [True, True] Translation: X:228.47, Y:162.66, Z:5.28 [[ 7.84222494e-01 -6.20174345e-01 1.94643784e-02 2.28474642e+02] [ 6.20060453e-01 7.84459902e-01 1.21530368e-02 1.62655006e+02] [-2.28060260e-02 2.53840649e-03 9.99736686e-01 5.27542597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.620714057 meters Centerline goodness : 0.988501 Centerline is valid? [True, True] Translation: X:228.50, Y:162.67, Z:5.28 [[ 7.84068649e-01 -6.20368951e-01 1.94607152e-02 2.28495200e+02] [ 6.20254988e-01 7.84306015e-01 1.21583131e-02 1.62670767e+02] [-2.28057960e-02 2.53765351e-03 9.99736693e-01 5.27716144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.650714057 meters Centerline goodness : 0.988218 Centerline is valid? [True, True] Translation: X:228.52, Y:162.69, Z:5.28 [[ 7.84102174e-01 -6.20331243e-01 1.93114027e-02 2.28520495e+02] [ 6.20211999e-01 7.84336645e-01 1.23734957e-02 1.62688284e+02] [-2.28223068e-02 2.27507879e-03 9.99736949e-01 5.27767166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6807140569999 meters Centerline goodness : 0.988353 Centerline is valid? [True, True] Translation: X:228.55, Y:162.71, Z:5.28 [[ 7.84575167e-01 -6.19734527e-01 1.92593427e-02 2.28547154e+02] [ 6.19613282e-01 7.84808525e-01 1.24482952e-02 1.62707283e+02] [-2.28295347e-02 2.16672125e-03 9.99737024e-01 5.27879066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7107140569999 meters Centerline goodness : 0.989098 Centerline is valid? [True, True] Translation: X:228.57, Y:162.73, Z:5.28 [[ 7.84580826e-01 -6.19727178e-01 1.92653249e-02 2.28573380e+02] [ 6.19606140e-01 7.84814300e-01 1.24397069e-02 1.62726226e+02] [-2.28289269e-02 2.17695809e-03 9.99737016e-01 5.27744598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.740714057 meters Centerline goodness : 0.987740 Centerline is valid? [True, True] Translation: X:228.60, Y:162.74, Z:5.28 [[ 7.84437709e-01 -6.19908963e-01 1.92446904e-02 2.28598856e+02] [ 6.19787259e-01 7.84670804e-01 1.24692595e-02 1.62744403e+02] [-2.28305525e-02 2.14625653e-03 9.99737045e-01 5.27710436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.770714057 meters Centerline goodness : 0.988426 Centerline is valid? [True, True] Translation: X:228.62, Y:162.76, Z:5.27 [[ 7.84704208e-01 -6.19572878e-01 1.92029639e-02 2.28623291e+02] [ 6.19449622e-01 7.84936424e-01 1.25290106e-02 1.62761507e+02] [-2.28357410e-02 2.06370135e-03 9.99737100e-01 5.27446955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8007140569999 meters Centerline goodness : 0.987826 Centerline is valid? [True, True] Translation: X:228.65, Y:162.78, Z:5.27 [[ 7.84585839e-01 -6.19723757e-01 1.91709997e-02 2.28651007e+02] [ 6.19599435e-01 7.84817441e-01 1.25747411e-02 1.62779901e+02] [-2.28386008e-02 2.01237679e-03 9.99737140e-01 5.27157066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8307140569999 meters Centerline goodness : 0.987448 Centerline is valid? [True, True] Translation: X:228.68, Y:162.80, Z:5.27 [[ 7.84460522e-01 -6.19881254e-01 1.92072970e-02 2.28677089e+02] [ 6.19758239e-01 7.84692873e-01 1.25228324e-02 1.62798280e+02] [-2.28344981e-02 2.08021290e-03 9.99737095e-01 5.26948609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.860714057 meters Centerline goodness : 0.987722 Centerline is valid? [True, True] Translation: X:228.70, Y:162.82, Z:5.27 [[ 7.84296495e-01 -6.20089758e-01 1.91754985e-02 2.28703469e+02] [ 6.19965702e-01 7.84528245e-01 1.25682364e-02 1.62815979e+02] [-2.28371548e-02 2.03092759e-03 9.99737135e-01 5.26688950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.890714057 meters Centerline goodness : 0.988116 Centerline is valid? [True, True] Translation: X:228.73, Y:162.83, Z:5.27 [[ 7.84179638e-01 -6.20237741e-01 1.91687278e-02 2.28729190e+02] [ 6.20113494e-01 7.84411276e-01 1.25778990e-02 1.62833809e+02] [-2.28374539e-02 2.02345452e-03 9.99737144e-01 5.26536974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9207140569999 meters Centerline goodness : 0.987909 Centerline is valid? [True, True] Translation: X:228.76, Y:162.85, Z:5.26 [[ 7.82955618e-01 -6.21782351e-01 1.91626924e-02 2.28755472e+02] [ 6.21658352e-01 7.83187381e-01 1.25865049e-02 1.62851888e+02] [-2.28340455e-02 2.05797308e-03 9.99737151e-01 5.26338866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9507140569999 meters Centerline goodness : 0.987396 Centerline is valid? [True, True] Translation: X:228.78, Y:162.87, Z:5.26 [[ 7.82145973e-01 -6.22801074e-01 1.91441905e-02 2.28778349e+02] [ 6.22676736e-01 7.82377529e-01 1.26128856e-02 1.62869434e+02] [-2.28333032e-02 2.05552436e-03 9.99737173e-01 5.26279141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.980714057 meters Centerline goodness : 0.987368 Centerline is valid? [True, True] Translation: X:228.81, Y:162.89, Z:5.26 [[ 7.82476447e-01 -6.22388475e-01 1.90577027e-02 2.28809458e+02] [ 6.22261033e-01 7.82706204e-01 1.27359951e-02 1.62887513e+02] [-2.28433187e-02 1.89324957e-03 9.99737265e-01 5.26186611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.010714057 meters Centerline goodness : 0.987593 Centerline is valid? [True, True] Translation: X:228.84, Y:162.91, Z:5.26 [[ 7.82227456e-01 -6.22696113e-01 1.92290865e-02 2.28835903e+02] [ 6.22574689e-01 7.82460677e-01 1.24918661e-02 1.62905466e+02] [-2.28246405e-02 2.20006191e-03 9.99737063e-01 5.26153717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.040714057 meters Centerline goodness : 0.986854 Centerline is valid? [True, True] Translation: X:228.86, Y:162.92, Z:5.26 [[ 7.81613003e-01 -6.23467290e-01 1.92263210e-02 2.28863170e+02] [ 6.23345999e-01 7.81846289e-01 1.24958014e-02 1.62923807e+02] [-2.28227512e-02 2.21776941e-03 9.99737067e-01 5.26124412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0707140569999 meters Centerline goodness : 0.986196 Centerline is valid? [True, True] Translation: X:228.89, Y:162.94, Z:5.26 [[ 7.81971029e-01 -6.23017443e-01 1.92503259e-02 2.28888455e+02] [ 6.22896852e-01 7.82204717e-01 1.24616478e-02 1.62941463e+02] [-2.28215197e-02 2.24631985e-03 9.99737032e-01 5.25977218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1007140569999 meters Centerline goodness : 0.987198 Centerline is valid? [True, True] Translation: X:228.91, Y:162.96, Z:5.26 [[ 7.80227294e-01 -6.25203014e-01 1.91458032e-02 2.28914041e+02] [ 6.25079465e-01 7.80459261e-01 1.26096777e-02 1.62960290e+02] [-2.28261279e-02 2.12923371e-03 9.99737183e-01 5.25915104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.130714057 meters Centerline goodness : 0.986443 Centerline is valid? [True, True] Translation: X:228.94, Y:162.98, Z:5.26 [[ 7.79369837e-01 -6.26270060e-01 1.91955774e-02 2.28938653e+02] [ 6.26148546e-01 7.79602954e-01 1.25392634e-02 1.62978739e+02] [-2.28178941e-02 2.24655916e-03 9.99737114e-01 5.25809069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.160714057 meters Centerline goodness : 0.986384 Centerline is valid? [True, True] Translation: X:228.96, Y:163.00, Z:5.26 [[ 7.79695702e-01 -6.25865645e-01 1.91522165e-02 2.28964156e+02] [ 6.25742516e-01 7.79927900e-01 1.26005519e-02 1.62995778e+02] [-2.28236006e-02 2.15975996e-03 9.99737175e-01 5.25774818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1907140569999 meters Centerline goodness : 0.986447 Centerline is valid? [True, True] Translation: X:228.99, Y:163.01, Z:5.26 [[ 7.78982915e-01 -6.26754038e-01 1.91048215e-02 2.28990229e+02] [ 6.26629545e-01 7.79214315e-01 1.26674661e-02 1.63013713e+02] [-2.28261359e-02 2.10390591e-03 9.99737236e-01 5.25704692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2207140569999 meters Centerline goodness : 0.986954 Centerline is valid? [True, True] Translation: X:229.02, Y:163.03, Z:5.26 [[ 7.78214724e-01 -6.27708071e-01 1.90898258e-02 2.29016189e+02] [ 6.27583346e-01 7.78445979e-01 1.26886032e-02 1.63031660e+02] [-2.28251368e-02 2.10599896e-03 9.99737254e-01 5.25664764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.250714057 meters Centerline goodness : 0.985759 Centerline is valid? [True, True] Translation: X:229.04, Y:163.05, Z:5.26 [[ 7.78780218e-01 -6.27006758e-01 1.90761278e-02 2.29041461e+02] [ 6.26881356e-01 7.79011088e-01 1.27079077e-02 1.63048596e+02] [-2.28284590e-02 2.06180172e-03 9.99737271e-01 5.25544604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.280714057 meters Centerline goodness : 0.986526 Centerline is valid? [True, True] Translation: X:229.07, Y:163.07, Z:5.25 [[ 7.78179909e-01 -6.27752815e-01 1.90376701e-02 2.29067082e+02] [ 6.27626316e-01 7.78410132e-01 1.27621820e-02 1.63066237e+02] [-2.28306110e-02 2.01726909e-03 9.99737312e-01 5.25360788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3107140569999 meters Centerline goodness : 0.986579 Centerline is valid? [True, True] Translation: X:229.09, Y:163.08, Z:5.25 [[ 7.77136081e-01 -6.29046080e-01 1.89878945e-02 2.29093516e+02] [ 6.28918262e-01 7.77365519e-01 1.28323373e-02 1.63084471e+02] [-2.28326660e-02 1.96936129e-03 9.99737361e-01 5.25197648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3407140569999 meters Centerline goodness : 0.986395 Centerline is valid? [True, True] Translation: X:229.12, Y:163.10, Z:5.25 [[ 7.77079033e-01 -6.29117437e-01 1.89585596e-02 2.29121031e+02] [ 6.28988639e-01 7.77307893e-01 1.28736559e-02 1.63102000e+02] [-2.28356795e-02 1.92087054e-03 9.99737387e-01 5.25090623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.370714057 meters Centerline goodness : 0.987658 Centerline is valid? [True, True] Translation: X:229.15, Y:163.12, Z:5.25 [[ 7.76257357e-01 -6.30130281e-01 1.89827617e-02 2.29146358e+02] [ 6.30002608e-01 7.76486870e-01 1.28395909e-02 1.63119771e+02] [-2.28304802e-02 1.99236248e-03 9.99737365e-01 5.25051764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.400714057 meters Centerline goodness : 0.986600 Centerline is valid? [True, True] Translation: X:229.17, Y:163.14, Z:5.25 [[ 7.76871269e-01 -6.29374329e-01 1.89468882e-02 2.29169544e+02] [ 6.29245210e-01 7.77099937e-01 1.28900904e-02 1.63136556e+02] [-2.28363176e-02 1.90829773e-03 9.99737396e-01 5.24857685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4307140569999 meters Centerline goodness : 0.987390 Centerline is valid? [True, True] Translation: X:229.20, Y:163.16, Z:5.25 [[ 7.77612551e-01 -6.28462279e-01 1.88118393e-02 2.29200000e+02] [ 6.28328314e-01 7.77838316e-01 1.30799141e-02 1.63155966e+02] [-2.28528021e-02 1.64890592e-03 9.99737481e-01 5.24737680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4607140569999 meters Centerline goodness : 0.987617 Centerline is valid? [True, True] Translation: X:229.23, Y:163.17, Z:5.24 [[ 7.80906332e-01 -6.24359390e-01 1.89908618e-02 2.29229188e+02] [ 6.24230298e-01 7.81135057e-01 1.28280140e-02 1.63173812e+02] [-2.28437188e-02 1.83719398e-03 9.99737360e-01 5.24491945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.490714057 meters Centerline goodness : 0.986756 Centerline is valid? [True, True] Translation: X:229.25, Y:163.19, Z:5.24 [[ 7.81628881e-01 -6.23451527e-01 1.90915110e-02 2.29251448e+02] [ 6.23325597e-01 7.81859486e-01 1.26863374e-02 1.63190145e+02] [-2.28361954e-02 1.98421981e-03 9.99737251e-01 5.24435353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.520714057 meters Centerline goodness : 0.986747 Centerline is valid? [True, True] Translation: X:229.28, Y:163.21, Z:5.24 [[ 7.84085364e-01 -6.20363102e-01 1.89674573e-02 2.29276989e+02] [ 6.20232050e-01 7.84312947e-01 1.28609687e-02 1.63208081e+02] [-2.28548928e-02 1.68012763e-03 9.99737381e-01 5.24293190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5507140569999 meters Centerline goodness : 0.985689 Centerline is valid? [True, True] Translation: X:229.31, Y:163.23, Z:5.24 [[ 7.85708592e-01 -6.18305798e-01 1.89723338e-02 2.29306103e+02] [ 6.18174315e-01 7.85935931e-01 1.28541019e-02 1.63226291e+02] [-2.28588045e-02 1.62863119e-03 9.99737377e-01 5.24223577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5807140569999 meters Centerline goodness : 0.986583 Centerline is valid? [True, True] Translation: X:229.33, Y:163.25, Z:5.24 [[ 7.86179453e-01 -6.17704829e-01 1.90423830e-02 2.29334964e+02] [ 6.17575543e-01 7.86408128e-01 1.27555467e-02 1.63245565e+02] [-2.28542475e-02 1.73196129e-03 9.99737307e-01 5.24302119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.610714057 meters Centerline goodness : 0.986195 Centerline is valid? [True, True] Translation: X:229.36, Y:163.26, Z:5.24 [[ 7.86987134e-01 -6.16672654e-01 1.91334670e-02 2.29358077e+02] [ 6.16546161e-01 7.87217493e-01 1.26273355e-02 1.63260184e+02] [-2.28491324e-02 1.85911507e-03 9.99737196e-01 5.24277500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.640714057 meters Centerline goodness : 0.987552 Centerline is valid? [True, True] Translation: X:229.38, Y:163.28, Z:5.24 [[ 7.83587753e-01 -6.20990256e-01 1.90088321e-02 2.29384727e+02] [ 6.20860797e-01 7.83816285e-01 1.28023925e-02 1.63279767e+02] [-2.28495932e-02 1.77004069e-03 9.99737347e-01 5.24227116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6707140569999 meters Centerline goodness : 0.986657 Centerline is valid? [True, True] Translation: X:229.41, Y:163.30, Z:5.24 [[ 7.83844497e-01 -6.20665294e-01 1.90367530e-02 2.29409795e+02] [ 6.20536687e-01 7.84073544e-01 1.27631678e-02 1.63296242e+02] [-2.28478697e-02 1.80866477e-03 9.99737317e-01 5.24046698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7007140569999 meters Centerline goodness : 0.987876 Centerline is valid? [True, True] Translation: X:229.44, Y:163.32, Z:5.24 [[ 7.79932107e-01 -6.25577756e-01 1.89309100e-02 2.29437856e+02] [ 6.25447015e-01 7.80159815e-01 1.29110544e-02 1.63315211e+02] [-2.28460037e-02 1.77053528e-03 9.99737428e-01 5.24124274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.730714057 meters Centerline goodness : 0.987779 Centerline is valid? [True, True] Translation: X:229.46, Y:163.33, Z:5.24 [[ 7.79181466e-01 -6.26508895e-01 1.90485729e-02 2.29461177e+02] [ 6.26382408e-01 7.79411705e-01 1.27465298e-02 1.63331860e+02] [-2.28324950e-02 1.99983116e-03 9.99737304e-01 5.23957236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.760714057 meters Centerline goodness : 0.988346 Centerline is valid? [True, True] Translation: X:229.49, Y:163.35, Z:5.24 [[ 7.76934136e-01 -6.29297098e-01 1.89344128e-02 2.29487581e+02] [ 6.29167566e-01 7.77162536e-01 1.29060961e-02 1.63352218e+02] [-2.28368851e-02 1.88573177e-03 9.99737426e-01 5.24135926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.790714057 meters Centerline goodness : 0.987601 Centerline is valid? [True, True] Translation: X:229.51, Y:163.37, Z:5.24 [[ 7.77286902e-01 -6.28859445e-01 1.89966035e-02 2.29512594e+02] [ 6.28731890e-01 7.77516482e-01 1.28191454e-02 1.63368908e+02] [-2.28316130e-02 1.97961664e-03 9.99737365e-01 5.23817801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8207140569999 meters Centerline goodness : 0.987317 Centerline is valid? [True, True] Translation: X:229.54, Y:163.39, Z:5.24 [[ 7.77809584e-01 -6.28213299e-01 1.89816132e-02 2.29539095e+02] [ 6.28085045e-01 7.78038757e-01 1.28401459e-02 1.63386646e+02] [-2.28347812e-02 1.93487887e-03 9.99737380e-01 5.23686806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8507140569999 meters Centerline goodness : 0.988660 Centerline is valid? [True, True] Translation: X:229.57, Y:163.41, Z:5.24 [[ 7.76345488e-01 -6.30022149e-01 1.89677434e-02 2.29567079e+02] [ 6.29893958e-01 7.76574680e-01 1.28595330e-02 1.63406492e+02] [-2.28316599e-02 1.96422650e-03 9.99737394e-01 5.23552309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.880714057 meters Centerline goodness : 0.989049 Centerline is valid? [True, True] Translation: X:229.59, Y:163.43, Z:5.23 [[ 7.75003150e-01 -6.31670309e-01 1.90457018e-02 2.29594481e+02] [ 6.31545248e-01 7.75234168e-01 1.27508720e-02 1.63425918e+02] [-2.28192260e-02 2.14625652e-03 9.99737304e-01 5.23490249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.910714057 meters Centerline goodness : 0.989024 Centerline is valid? [True, True] Translation: X:229.62, Y:163.44, Z:5.23 [[ 7.73382818e-01 -6.33650839e-01 1.91214723e-02 2.29619647e+02] [ 6.33528952e-01 7.73615644e-01 1.26452587e-02 1.63443630e+02] [-2.28053489e-02 2.33438055e-03 9.99737199e-01 5.23498442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9407140569999 meters Centerline goodness : 0.988728 Centerline is valid? [True, True] Translation: X:229.65, Y:163.46, Z:5.23 [[ 7.72012330e-01 -6.35321895e-01 1.90539245e-02 2.29645646e+02] [ 6.35198211e-01 7.72244097e-01 1.27392315e-02 1.63462929e+02] [-2.28077935e-02 2.26817494e-03 9.99737295e-01 5.23345039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9707140569999 meters Centerline goodness : 0.990649 Centerline is valid? [True, True] Translation: X:229.67, Y:163.48, Z:5.23 [[ 7.70064780e-01 -6.37680872e-01 1.90614860e-02 2.29672049e+02] [ 6.37558155e-01 7.70297072e-01 1.27287130e-02 1.63483462e+02] [-2.27998637e-02 2.35087232e-03 9.99737285e-01 5.22614483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.000714057 meters Centerline goodness : 0.988960 Centerline is valid? [True, True] Translation: X:229.69, Y:163.50, Z:5.23 [[ 7.70241412e-01 -6.37465487e-01 1.91290104e-02 2.29694525e+02] [ 6.37345005e-01 7.70474985e-01 1.26350027e-02 1.63499836e+02] [-2.27928021e-02 2.45977691e-03 9.99737184e-01 5.23097728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.030714057 meters Centerline goodness : 0.990089 Centerline is valid? [True, True] Translation: X:229.72, Y:163.52, Z:5.23 [[ 7.70534491e-01 -6.37114942e-01 1.90039441e-02 2.29720646e+02] [ 6.36990105e-01 7.70765562e-01 1.28083841e-02 1.63518549e+02] [-2.28079985e-02 2.23602260e-03 9.99737363e-01 5.22632697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0607140569999 meters Centerline goodness : 0.989905 Centerline is valid? [True, True] Translation: X:229.75, Y:163.54, Z:5.23 [[ 7.69755811e-01 -6.38056286e-01 1.89780537e-02 2.29747002e+02] [ 6.37930857e-01 7.69986525e-01 1.28442003e-02 1.63538158e+02] [-2.28081684e-02 2.21978820e-03 9.99737396e-01 5.22907567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0907140569999 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:229.77, Y:163.56, Z:5.23 [[ 7.71079590e-01 -6.36455493e-01 1.89913781e-02 2.29773662e+02] [ 6.36330034e-01 7.71310306e-01 1.28257839e-02 1.63557776e+02] [-2.28112862e-02 2.19508403e-03 9.99737379e-01 5.22688442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.120714057 meters Centerline goodness : 0.988985 Centerline is valid? [True, True] Translation: X:229.80, Y:163.58, Z:5.23 [[ 7.71966296e-01 -6.35378560e-01 1.90295574e-02 2.29796583e+02] [ 6.35254067e-01 7.72197592e-01 1.27730272e-02 1.63576308e+02] [-2.28102860e-02 2.22825726e-03 9.99737328e-01 5.22551926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.150714057 meters Centerline goodness : 0.990853 Centerline is valid? [True, True] Translation: X:229.83, Y:163.60, Z:5.22 [[ 7.72429204e-01 -6.34818616e-01 1.89327680e-02 2.29826205e+02] [ 6.34690704e-01 7.72658485e-01 1.29064289e-02 1.63599287e+02] [-2.28218052e-02 2.04714918e-03 9.99737453e-01 5.21806974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1807140569999 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:229.85, Y:163.62, Z:5.22 [[ 7.73741934e-01 -6.33210486e-01 1.91806882e-02 2.29850449e+02] [ 6.33090450e-01 7.73975850e-01 1.25644620e-02 1.63618782e+02] [-2.28013385e-02 2.42145941e-03 9.99737083e-01 5.21642670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2107140569999 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:229.88, Y:163.64, Z:5.22 [[ 7.73352154e-01 -6.33687054e-01 1.91615046e-02 2.29875658e+02] [ 6.33566511e-01 7.73585770e-01 1.25909450e-02 1.63637586e+02] [-2.28017862e-02 2.40285319e-03 9.99737118e-01 5.21569427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.240714057 meters Centerline goodness : 0.989903 Centerline is valid? [True, True] Translation: X:229.90, Y:163.65, Z:5.22 [[ 7.75986435e-01 -6.30458368e-01 1.91650469e-02 2.29898503e+02] [ 6.30336973e-01 7.76219616e-01 1.25860571e-02 1.63654084e+02] [-2.28112703e-02 2.31382808e-03 9.99737112e-01 5.21915675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.270714057 meters Centerline goodness : 0.991609 Centerline is valid? [True, True] Translation: X:229.92, Y:163.68, Z:5.21 [[ 7.71745067e-01 -6.35647767e-01 1.90123117e-02 2.29922080e+02] [ 6.35522802e-01 7.71976063e-01 1.27955866e-02 1.63675936e+02] [-2.28105356e-02 2.20782680e-03 9.99737368e-01 5.21453447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3007140569999 meters Centerline goodness : 0.989401 Centerline is valid? [True, True] Translation: X:229.94, Y:163.69, Z:5.22 [[ 7.74976889e-01 -6.31701076e-01 1.90937577e-02 2.29943907e+02] [ 6.31577658e-01 7.75208862e-01 1.26839067e-02 1.63692289e+02] [-2.28140877e-02 2.22945622e-03 9.99737239e-01 5.21894082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3307140569999 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:229.95, Y:163.72, Z:5.22 [[ 7.65330689e-01 -6.43357028e-01 1.89913468e-02 2.29947162e+02] [ 6.43233670e-01 7.65562520e-01 1.28247486e-02 1.63715141e+02] [-2.27899555e-02 2.40070008e-03 9.99737393e-01 5.21799895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.360714057 meters Centerline goodness : 0.992085 Centerline is valid? [True, True] Translation: X:229.97, Y:163.73, Z:5.22 [[ 7.65518312e-01 -6.43147956e-01 1.85045811e-02 2.29973910e+02] [ 6.43008332e-01 7.65740323e-01 1.34923544e-02 1.63734400e+02] [-2.28472841e-02 1.56995546e-03 9.99737734e-01 5.21708011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.390714057 meters Centerline goodness : 0.989840 Centerline is valid? [True, True] Translation: X:230.01, Y:163.75, Z:5.22 [[ 7.72513697e-01 -6.34728309e-01 1.85084332e-02 2.30014722e+02] [ 6.34586388e-01 7.72734246e-01 1.34870682e-02 1.63749602e+02] [-2.28627242e-02 1.32625479e-03 9.99737734e-01 5.22027871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4207140569999 meters Centerline goodness : 0.991433 Centerline is valid? [True, True] Translation: X:230.04, Y:163.77, Z:5.21 [[ 7.71921977e-01 -6.35437480e-01 1.88592375e-02 2.30043671e+02] [ 6.35307327e-01 7.72149881e-01 1.30062005e-02 1.63770840e+02] [-2.28267853e-02 1.94163972e-03 9.99737550e-01 5.21220256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4507140569999 meters Centerline goodness : 0.991890 Centerline is valid? [True, True] Translation: X:230.07, Y:163.79, Z:5.21 [[ 7.74532716e-01 -6.32246486e-01 1.90644668e-02 2.30070783e+02] [ 6.32122238e-01 7.74764197e-01 1.27245720e-02 1.63790455e+02] [-2.28155322e-02 2.19547611e-03 9.99737281e-01 5.21162772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.480714057 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:230.09, Y:163.81, Z:5.21 [[ 7.71669682e-01 -6.35735113e-01 1.91511775e-02 2.30088016e+02] [ 6.35614823e-01 7.71903419e-01 1.26059339e-02 1.63810215e+02] [-2.27968942e-02 2.44515527e-03 9.99737127e-01 5.21353234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.510714057 meters Centerline goodness : 0.991565 Centerline is valid? [True, True] Translation: X:230.11, Y:163.83, Z:5.21 [[ 7.71939750e-01 -6.35413239e-01 1.89483216e-02 2.30114030e+02] [ 6.35286072e-01 7.72169435e-01 1.28829412e-02 1.63829755e+02] [-2.28173062e-02 2.09275036e-03 9.99737461e-01 5.21227322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.540714057 meters Centerline goodness : 0.991378 Centerline is valid? [True, True] Translation: X:230.14, Y:163.85, Z:5.21 [[ 7.71317928e-01 -6.36166304e-01 1.90023240e-02 2.30135896e+02] [ 6.36041159e-01 7.71548810e-01 1.28092616e-02 1.63848714e+02] [-2.28100410e-02 2.20624709e-03 9.99737383e-01 5.21201354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5707140569999 meters Centerline goodness : 0.991072 Centerline is valid? [True, True] Translation: X:230.16, Y:163.87, Z:5.21 [[ 7.71656124e-01 -6.35759453e-01 1.88876990e-02 2.30162403e+02] [ 6.35630379e-01 7.71884652e-01 1.29655396e-02 1.63868827e+02] [-2.28220893e-02 2.00065724e-03 9.99737540e-01 5.21035306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6007140569999 meters Centerline goodness : 0.989914 Centerline is valid? [True, True] Translation: X:230.18, Y:163.89, Z:5.22 [[ 7.73515943e-01 -6.33493931e-01 1.89347701e-02 2.30183048e+02] [ 6.33365745e-01 7.73745040e-01 1.29013913e-02 1.63885700e+02] [-2.28236375e-02 2.01320291e-03 9.99737480e-01 5.21522164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.630714057 meters Centerline goodness : 0.991056 Centerline is valid? [True, True] Translation: X:230.21, Y:163.91, Z:5.21 [[ 7.71758928e-01 -6.35637653e-01 1.87864598e-02 2.30212859e+02] [ 6.35505196e-01 7.71985389e-01 1.31036522e-02 1.63907361e+02] [-2.28320472e-02 1.82603225e-03 9.99737647e-01 5.20735947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.660714057 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:230.24, Y:163.93, Z:5.21 [[ 7.70770964e-01 -6.36831728e-01 1.89069357e-02 2.30238385e+02] [ 6.36703589e-01 7.71000058e-01 1.29402540e-02 1.63927443e+02] [-2.28180128e-02 2.06414175e-03 9.99737504e-01 5.20632686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6907140569999 meters Centerline goodness : 0.989760 Centerline is valid? [True, True] Translation: X:230.26, Y:163.95, Z:5.21 [[ 7.71640306e-01 -6.35776175e-01 1.89708650e-02 2.30259773e+02] [ 6.35649834e-01 7.71870503e-01 1.28535962e-02 1.63946148e+02] [-2.28150613e-02 2.14047430e-03 9.99737411e-01 5.20976410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7207140569999 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:230.29, Y:163.97, Z:5.21 [[ 7.71135731e-01 -6.36392477e-01 1.88228544e-02 2.30286064e+02] [ 6.36261445e-01 7.71363058e-01 1.30539576e-02 1.63965076e+02] [-2.28266949e-02 1.90988342e-03 9.99737613e-01 5.20809550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.750714057 meters Centerline goodness : 0.989580 Centerline is valid? [True, True] Translation: X:230.31, Y:163.99, Z:5.21 [[ 7.70450691e-01 -6.37221737e-01 1.88199824e-02 2.30311335e+02] [ 6.37090855e-01 7.70678101e-01 1.30578435e-02 1.63985144e+02] [-2.28248900e-02 1.92961412e-03 9.99737616e-01 5.20621637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.780714057 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:230.34, Y:164.01, Z:5.21 [[ 7.68991744e-01 -6.38980937e-01 1.88430203e-02 2.30335857e+02] [ 6.38851334e-01 7.69219916e-01 1.30266298e-02 1.64005405e+02] [-2.28181946e-02 2.02051795e-03 9.99737589e-01 5.20679470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8107140569999 meters Centerline goodness : 0.989504 Centerline is valid? [True, True] Translation: X:230.36, Y:164.03, Z:5.21 [[ 7.67548491e-01 -6.40714793e-01 1.88113802e-02 2.30359186e+02] [ 6.40584663e-01 7.67776321e-01 1.30694643e-02 1.64025853e+02] [-2.28167313e-02 2.01883407e-03 9.99737626e-01 5.20672268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8407140569999 meters Centerline goodness : 0.988018 Centerline is valid? [True, True] Translation: X:230.38, Y:164.04, Z:5.21 [[ 7.66977779e-01 -6.41399465e-01 1.87566723e-02 2.30383308e+02] [ 6.41267740e-01 7.67204624e-01 1.31434897e-02 1.64044794e+02] [-2.28204330e-02 1.94728437e-03 9.99737684e-01 5.20608470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.870714057 meters Centerline goodness : 0.988953 Centerline is valid? [True, True] Translation: X:230.41, Y:164.06, Z:5.21 [[ 7.66317933e-01 -6.42189257e-01 1.87024848e-02 2.30409728e+02] [ 6.42055989e-01 7.66543817e-01 1.32167739e-02 1.64064648e+02] [-2.28239443e-02 1.87979153e-03 9.99737733e-01 5.20585841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.900714057 meters Centerline goodness : 0.988846 Centerline is valid? [True, True] Translation: X:230.44, Y:164.08, Z:5.21 [[ 7.66526203e-01 -6.41940169e-01 1.87189905e-02 2.30436463e+02] [ 6.41807367e-01 7.66752378e-01 1.31944600e-02 1.64084260e+02] [-2.28228844e-02 1.90008666e-03 9.99737718e-01 5.20550055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9307140569999 meters Centerline goodness : 0.988270 Centerline is valid? [True, True] Translation: X:230.45, Y:164.10, Z:5.20 [[ 7.62739143e-01 -6.46434703e-01 1.87396306e-02 2.30449507e+02] [ 6.46303917e-01 7.62966509e-01 1.31663550e-02 1.64102924e+02] [-2.28088993e-02 2.06900235e-03 9.99737702e-01 5.20320470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9607140569999 meters Centerline goodness : 0.988512 Centerline is valid? [True, True] Translation: X:230.48, Y:164.12, Z:5.20 [[ 7.64773536e-01 -6.44037824e-01 1.83499244e-02 2.30480585e+02] [ 6.43893584e-01 7.64992472e-01 1.36956333e-02 1.64120391e+02] [-2.28580599e-02 1.34134067e-03 9.99737821e-01 5.20039818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.990714057 meters Centerline goodness : 0.988619 Centerline is valid? [True, True] Translation: X:230.51, Y:164.14, Z:5.20 [[ 7.63233077e-01 -6.45852827e-01 1.86921488e-02 2.30506774e+02] [ 6.45720231e-01 7.63459395e-01 1.32339002e-02 1.64139656e+02] [-2.28178485e-02 1.96934829e-03 9.99737699e-01 5.19960701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.020714057 meters Centerline goodness : 0.988808 Centerline is valid? [True, True] Translation: X:230.53, Y:164.16, Z:5.20 [[ 7.62185474e-01 -6.47089288e-01 1.86750295e-02 2.30533896e+02] [ 6.46956498e-01 7.62411662e-01 1.32569690e-02 1.64159191e+02] [-2.28165029e-02 1.97766254e-03 9.99737714e-01 5.19833894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0507140569999 meters Centerline goodness : 0.988338 Centerline is valid? [True, True] Translation: X:230.56, Y:164.18, Z:5.20 [[ 7.60724240e-01 -6.48804892e-01 1.87307947e-02 2.30557485e+02] [ 6.48674443e-01 7.60951843e-01 1.31817881e-02 1.64177322e+02] [-2.28056413e-02 2.12248213e-03 9.99737664e-01 5.19676676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0807140569999 meters Centerline goodness : 0.987989 Centerline is valid? [True, True] Translation: X:230.58, Y:164.20, Z:5.20 [[ 7.59700755e-01 -6.50004682e-01 1.86728963e-02 2.30582531e+02] [ 6.49872690e-01 7.59927407e-01 1.32598005e-02 1.64196833e+02] [-2.28089780e-02 2.06152488e-03 9.99737716e-01 5.19564530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.110714057 meters Centerline goodness : 0.987910 Centerline is valid? [True, True] Translation: X:230.60, Y:164.22, Z:5.20 [[ 7.58693172e-01 -6.51180696e-01 1.86647558e-02 2.30604541e+02] [ 6.51048789e-01 7.58919865e-01 1.32707656e-02 1.64216968e+02] [-2.28067204e-02 2.08322741e-03 9.99737722e-01 5.19574715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.140714057 meters Centerline goodness : 0.987376 Centerline is valid? [True, True] Translation: X:230.63, Y:164.24, Z:5.20 [[ 7.58281727e-01 -6.51661471e-01 1.86051105e-02 2.30629723e+02] [ 6.51527753e-01 7.58507308e-01 1.33510635e-02 1.64237502e+02] [-2.28124859e-02 1.99787837e-03 9.99737765e-01 5.19537233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1707140569999 meters Centerline goodness : 0.988276 Centerline is valid? [True, True] Translation: X:230.65, Y:164.26, Z:5.19 [[ 7.57480473e-01 -6.52592884e-01 1.85973285e-02 2.30652314e+02] [ 6.52459189e-01 7.57706062e-01 1.33615367e-02 1.64259830e+02] [-2.28109523e-02 2.01289476e-03 9.99737770e-01 5.19477550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2007140569999 meters Centerline goodness : 0.987021 Centerline is valid? [True, True] Translation: X:230.68, Y:164.28, Z:5.20 [[ 7.56861575e-01 -6.53311746e-01 1.85558217e-02 2.30677208e+02] [ 6.53176908e-01 7.57086455e-01 1.34173795e-02 1.64279650e+02] [-2.28140929e-02 1.96513526e-03 9.99737793e-01 5.19546102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.230714057 meters Centerline goodness : 0.987632 Centerline is valid? [True, True] Translation: X:230.70, Y:164.30, Z:5.20 [[ 7.56000644e-01 -6.54308683e-01 1.85249188e-02 2.30701089e+02] [ 6.54173132e-01 7.56225079e-01 1.34589552e-02 1.64299414e+02] [-2.28153194e-02 1.94352530e-03 9.99737808e-01 5.19606310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.260714057 meters Centerline goodness : 0.988110 Centerline is valid? [True, True] Translation: X:230.73, Y:164.32, Z:5.20 [[ 7.55834419e-01 -6.54500847e-01 1.85195372e-02 2.30727334e+02] [ 6.54365177e-01 7.56058779e-01 1.34661944e-02 1.64319022e+02] [-2.28154943e-02 1.94032697e-03 9.99737810e-01 5.19583651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.290714057 meters Centerline goodness : 0.987883 Centerline is valid? [True, True] Translation: X:230.75, Y:164.34, Z:5.20 [[ 7.54229489e-01 -6.56349019e-01 1.85430090e-02 2.30750782e+02] [ 6.56214666e-01 7.54454653e-01 1.34346153e-02 1.64339704e+02] [-2.28076560e-02 2.03541146e-03 9.99737800e-01 5.19584672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3207140569999 meters Centerline goodness : 0.988362 Centerline is valid? [True, True] Translation: X:230.78, Y:164.36, Z:5.19 [[ 7.54377572e-01 -6.56180180e-01 1.84945891e-02 2.30777795e+02] [ 6.56044195e-01 7.54601730e-01 1.34997539e-02 1.64359768e+02] [-2.28143199e-02 1.94935620e-03 9.99737819e-01 5.19444930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3507140569999 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:230.80, Y:164.38, Z:5.19 [[ 7.53762221e-01 -6.56885889e-01 1.85321948e-02 2.30803020e+02] [ 6.56751343e-01 7.53987263e-01 1.34491706e-02 1.64381001e+02] [-2.28076092e-02 2.03356712e-03 9.99737804e-01 5.19365822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.380714057 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:230.83, Y:164.40, Z:5.19 [[ 7.54137596e-01 -6.56454613e-01 1.85425587e-02 2.30827206e+02] [ 6.56320278e-01 7.54362769e-01 1.34352293e-02 1.64401532e+02] [-2.28074342e-02 2.03784575e-03 9.99737800e-01 5.19266286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.410714057 meters Centerline goodness : 0.989029 Centerline is valid? [True, True] Translation: X:230.85, Y:164.42, Z:5.19 [[ 7.53965721e-01 -6.56652007e-01 1.85427409e-02 2.30850796e+02] [ 6.56517736e-01 7.54190933e-01 1.34349842e-02 1.64420089e+02] [-2.28068763e-02 2.04412074e-03 9.99737800e-01 5.19315996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4407140569999 meters Centerline goodness : 0.988991 Centerline is valid? [True, True] Translation: X:230.88, Y:164.44, Z:5.19 [[ 7.54424270e-01 -6.56126567e-01 1.84918488e-02 2.30877971e+02] [ 6.55990477e-01 7.54648363e-01 1.35034285e-02 1.64440094e+02] [-2.28148016e-02 1.94316248e-03 9.99737820e-01 5.19220975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4707140569999 meters Centerline goodness : 0.989881 Centerline is valid? [True, True] Translation: X:230.90, Y:164.46, Z:5.19 [[ 7.54143500e-01 -6.56447207e-01 1.85646241e-02 2.30902181e+02] [ 6.56313593e-01 7.54369114e-01 1.34054865e-02 1.64459879e+02] [-2.28045732e-02 2.07455459e-03 9.99737789e-01 5.19195902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.500714057 meters Centerline goodness : 0.989534 Centerline is valid? [True, True] Translation: X:230.93, Y:164.48, Z:5.19 [[ 7.52968836e-01 -6.57795482e-01 1.85212274e-02 2.30928765e+02] [ 6.57660850e-01 7.53193820e-01 1.34638646e-02 1.64480022e+02] [-2.28065433e-02 2.04281565e-03 9.99737810e-01 5.19028868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.530714057 meters Centerline goodness : 0.989685 Centerline is valid? [True, True] Translation: X:230.96, Y:164.50, Z:5.19 [[ 7.52720107e-01 -6.58079138e-01 1.85550202e-02 2.30955014e+02] [ 6.57945698e-01 7.52945818e-01 1.34184122e-02 1.64499413e+02] [-2.28013020e-02 2.10788702e-03 9.99737794e-01 5.18781305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5607140569999 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:230.98, Y:164.52, Z:5.19 [[ 7.51794512e-01 -6.59135894e-01 1.85710982e-02 2.30981798e+02] [ 6.59003298e-01 7.52020730e-01 1.33968085e-02 1.64519309e+02] [-2.27961681e-02 2.16676783e-03 9.99737786e-01 5.18779607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5907140569999 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:231.01, Y:164.54, Z:5.18 [[ 7.53000827e-01 -6.57756529e-01 1.86038554e-02 2.31006150e+02] [ 6.57624593e-01 7.53227454e-01 1.33527756e-02 1.64538018e+02] [-2.27958099e-02 2.17970180e-03 9.99737766e-01 5.18447139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.620714057 meters Centerline goodness : 0.989980 Centerline is valid? [True, True] Translation: X:231.03, Y:164.56, Z:5.18 [[ 7.54956699e-01 -6.55510817e-01 1.85997673e-02 2.31032054e+02] [ 6.55378073e-01 7.55182851e-01 1.33582706e-02 1.64556113e+02] [-2.28027162e-02 2.10496381e-03 9.99737768e-01 5.18140739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.650714057 meters Centerline goodness : 0.989846 Centerline is valid? [True, True] Translation: X:231.06, Y:164.58, Z:5.18 [[ 7.57402142e-01 -6.52684630e-01 1.85679572e-02 2.31059121e+02] [ 6.52550004e-01 7.57627155e-01 1.34009746e-02 1.64576738e+02] [-2.28141987e-02 1.96659372e-03 9.99737788e-01 5.18158191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6807140569999 meters Centerline goodness : 0.989470 Centerline is valid? [True, True] Translation: X:231.09, Y:164.60, Z:5.18 [[ 7.58167494e-01 -6.51793639e-01 1.86306817e-02 2.31085322e+02] [ 6.51660795e-01 7.58393613e-01 1.33167865e-02 1.64596555e+02] [-2.28091867e-02 2.04453021e-03 9.99737746e-01 5.18156914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7107140569999 meters Centerline goodness : 0.989816 Centerline is valid? [True, True] Translation: X:231.11, Y:164.62, Z:5.18 [[ 7.59216114e-01 -6.50571038e-01 1.86605678e-02 2.31109498e+02] [ 6.50438805e-01 7.59442619e-01 1.32766664e-02 1.64615908e+02] [-2.28090452e-02 2.05769833e-03 9.99737722e-01 5.18168961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.740714057 meters Centerline goodness : 0.989268 Centerline is valid? [True, True] Translation: X:231.14, Y:164.63, Z:5.18 [[ 7.59368238e-01 -6.50394369e-01 1.86291076e-02 2.31137777e+02] [ 6.50261058e-01 7.59594079e-01 1.33188259e-02 1.64634872e+02] [-2.28130492e-02 1.99988990e-03 9.99737748e-01 5.18063304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.770714057 meters Centerline goodness : 0.989382 Centerline is valid? [True, True] Translation: X:231.16, Y:164.65, Z:5.18 [[ 7.61070757e-01 -6.48398850e-01 1.87145611e-02 2.31161454e+02] [ 6.48267733e-01 7.61297967e-01 1.32042771e-02 1.64652017e+02] [-2.28089954e-02 2.08265690e-03 9.99737672e-01 5.17888226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8007140569999 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:231.19, Y:164.67, Z:5.18 [[ 7.61412146e-01 -6.47999943e-01 1.86444837e-02 2.31188513e+02] [ 6.47866421e-01 7.61637878e-01 1.32982620e-02 1.64671350e+02] [-2.28176180e-02 1.95367667e-03 9.99737735e-01 5.17805146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8307140569999 meters Centerline goodness : 0.989421 Centerline is valid? [True, True] Translation: X:231.22, Y:164.69, Z:5.18 [[ 7.62582538e-01 -6.46621457e-01 1.86698866e-02 2.31216260e+02] [ 6.46488353e-01 7.62808541e-01 1.32641950e-02 1.64691198e+02] [-2.28184620e-02 1.95482077e-03 9.99737714e-01 5.17818739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.860714057 meters Centerline goodness : 0.989440 Centerline is valid? [True, True] Translation: X:231.24, Y:164.71, Z:5.18 [[ 7.63384969e-01 -6.45672234e-01 1.87284538e-02 2.31241866e+02] [ 6.45540758e-01 7.63611988e-01 1.31856392e-02 1.64710128e+02] [-2.28148730e-02 2.02426153e-03 9.99737658e-01 5.17814345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.890714057 meters Centerline goodness : 0.988729 Centerline is valid? [True, True] Translation: X:231.26, Y:164.73, Z:5.18 [[ 7.64562732e-01 -6.44276086e-01 1.87657784e-02 2.31264845e+02] [ 6.44145414e-01 7.64790261e-01 1.31355527e-02 1.64727207e+02] [-2.28148071e-02 2.04493604e-03 9.99737617e-01 5.17836099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9207140569999 meters Centerline goodness : 0.990042 Centerline is valid? [True, True] Translation: X:231.29, Y:164.75, Z:5.18 [[ 7.64605974e-01 -6.44227984e-01 1.86550310e-02 2.31294078e+02] [ 6.44093696e-01 7.64831256e-01 1.32838492e-02 1.64747113e+02] [-2.28257782e-02 1.85867744e-03 9.99737730e-01 5.17790742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9507140569999 meters Centerline goodness : 0.987348 Centerline is valid? [True, True] Translation: X:231.31, Y:164.76, Z:5.18 [[ 7.65758452e-01 -6.42852744e-01 1.88239928e-02 2.31314797e+02] [ 6.42723549e-01 7.65986906e-01 1.30575119e-02 1.64762580e+02] [-2.28129893e-02 2.09972338e-03 9.99737545e-01 5.17753012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.980714057 meters Centerline goodness : 0.988766 Centerline is valid? [True, True] Translation: X:231.34, Y:164.78, Z:5.18 [[ 7.64837172e-01 -6.43955066e-01 1.86003468e-02 2.31341853e+02] [ 6.43818931e-01 7.65061290e-01 1.33568972e-02 1.64782444e+02] [-2.28316470e-02 1.75940389e-03 9.99737776e-01 5.17694982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.010714057 meters Centerline goodness : 0.988136 Centerline is valid? [True, True] Translation: X:231.36, Y:164.80, Z:5.18 [[ 7.65735396e-01 -6.42884020e-01 1.86933387e-02 2.31364932e+02] [ 6.42750582e-01 7.65961221e-01 1.32323925e-02 1.64799405e+02] [-2.28252663e-02 1.88264304e-03 9.99737697e-01 5.17647554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.040714057 meters Centerline goodness : 0.989363 Centerline is valid? [True, True] Translation: X:231.39, Y:164.82, Z:5.18 [[ 7.64532758e-01 -6.44317226e-01 1.85734965e-02 2.31391061e+02] [ 6.44180334e-01 7.64756389e-01 1.33926063e-02 1.64820323e+02] [-2.28332871e-02 1.72559495e-03 9.99737797e-01 5.17543610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0707140569999 meters Centerline goodness : 0.988396 Centerline is valid? [True, True] Translation: X:231.42, Y:164.84, Z:5.17 [[ 7.65100893e-01 -6.43640546e-01 1.86405502e-02 2.31417175e+02] [ 6.43505623e-01 7.65325777e-01 1.33029372e-02 1.64838006e+02] [-2.28284034e-02 1.81720970e-03 9.99737746e-01 5.17473714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1007140569999 meters Centerline goodness : 0.988396 Centerline is valid? [True, True] Translation: X:231.44, Y:164.86, Z:5.17 [[ 7.64962426e-01 -6.43805515e-01 1.86264866e-02 2.31443034e+02] [ 6.43670186e-01 7.65187051e-01 1.33217347e-02 1.64857550e+02] [-2.28293526e-02 1.79868754e-03 9.99737758e-01 5.17398511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.130714057 meters Centerline goodness : 0.989207 Centerline is valid? [True, True] Translation: X:231.47, Y:164.88, Z:5.17 [[ 7.65526021e-01 -6.43135306e-01 1.86249691e-02 2.31470700e+02] [ 6.42999731e-01 7.65750497e-01 1.33237623e-02 1.64876702e+02] [-2.28310613e-02 1.77616333e-03 9.99737760e-01 5.17274678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.160714057 meters Centerline goodness : 0.988569 Centerline is valid? [True, True] Translation: X:231.50, Y:164.89, Z:5.17 [[ 7.66939747e-01 -6.41447010e-01 1.86857502e-02 2.31495460e+02] [ 6.41312903e-01 7.67165168e-01 1.32425456e-02 1.64894828e+02] [-2.28294480e-02 1.82717810e-03 9.99737704e-01 5.17183050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1907140569999 meters Centerline goodness : 0.989266 Centerline is valid? [True, True] Translation: X:231.52, Y:164.91, Z:5.17 [[ 7.68308642e-01 -6.39808184e-01 1.86364674e-02 2.31522555e+02] [ 6.39672009e-01 7.68532764e-01 1.33083105e-02 1.64913666e+02] [-2.28375018e-02 1.69633660e-03 9.99737751e-01 5.17082785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2207140569999 meters Centerline goodness : 0.988485 Centerline is valid? [True, True] Translation: X:231.55, Y:164.93, Z:5.17 [[ 7.71130298e-01 -6.36403392e-01 1.86758270e-02 2.31545703e+02] [ 6.36267491e-01 7.71354629e-01 1.32557922e-02 1.64931746e+02] [-2.28417168e-02 1.66087861e-03 9.99737714e-01 5.17309939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.250714057 meters Centerline goodness : 0.988918 Centerline is valid? [True, True] Translation: X:231.57, Y:164.95, Z:5.17 [[ 7.72158553e-01 -6.35157954e-01 1.85887840e-02 2.31572902e+02] [ 6.35018906e-01 7.72380856e-01 1.33717475e-02 1.64951692e+02] [-2.28507927e-02 1.47912004e-03 9.99737792e-01 5.17124073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.280714057 meters Centerline goodness : 0.988334 Centerline is valid? [True, True] Translation: X:231.60, Y:164.97, Z:5.17 [[ 7.76603395e-01 -6.29713384e-01 1.86606791e-02 2.31602222e+02] [ 6.29575065e-01 7.76826226e-01 1.32759981e-02 1.64969116e+02] [-2.28561786e-02 1.43811302e-03 9.99737729e-01 5.16953702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3107140569999 meters Centerline goodness : 0.988020 Centerline is valid? [True, True] Translation: X:231.63, Y:164.99, Z:5.17 [[ 7.78347155e-01 -6.27554756e-01 1.87279065e-02 2.31629143e+02] [ 6.27417959e-01 7.78571010e-01 1.31866189e-02 1.64988131e+02] [-2.28563305e-02 1.48645754e-03 9.99737655e-01 5.17139878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3407140569999 meters Centerline goodness : 0.988023 Centerline is valid? [True, True] Translation: X:231.66, Y:165.00, Z:5.17 [[ 7.82603260e-01 -6.22237528e-01 1.87775635e-02 2.31656995e+02] [ 6.22100787e-01 7.82827223e-01 1.31205760e-02 1.65004013e+02] [-2.28637027e-02 1.41333150e-03 9.99737592e-01 5.17180127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.370714057 meters Centerline goodness : 0.989640 Centerline is valid? [True, True] Translation: X:231.68, Y:165.03, Z:5.17 [[ 7.81126557e-01 -6.24087985e-01 1.88544448e-02 2.31683930e+02] [ 6.23954230e-01 7.81352444e-01 1.30183104e-02 1.65025887e+02] [-2.28565377e-02 1.59536262e-03 9.99737482e-01 5.16571325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.400714057 meters Centerline goodness : 0.988109 Centerline is valid? [True, True] Translation: X:231.71, Y:165.04, Z:5.17 [[ 7.84481010e-01 -6.19862599e-01 1.89711192e-02 2.31706734e+02] [ 6.19731356e-01 7.84708598e-01 1.28632642e-02 1.65041048e+02] [-2.28602567e-02 1.66601093e-03 9.99737282e-01 5.17159295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4307140569999 meters Centerline goodness : 0.989740 Centerline is valid? [True, True] Translation: X:231.74, Y:165.06, Z:5.16 [[ 7.83075120e-01 -6.21642476e-01 1.88145788e-02 2.31736192e+02] [ 6.21506756e-01 7.83299755e-01 1.30707958e-02 1.65061191e+02] [-2.28628169e-02 1.45797283e-03 9.99737549e-01 5.16451678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4607140569999 meters Centerline goodness : 0.988296 Centerline is valid? [True, True] Translation: X:231.76, Y:165.08, Z:5.17 [[ 7.84710323e-01 -6.19573963e-01 1.89159342e-02 2.31760093e+02] [ 6.19440861e-01 7.84936719e-01 1.29370335e-02 1.65075545e+02] [-2.28632605e-02 1.56547879e-03 9.99737376e-01 5.17162369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.490714057 meters Centerline goodness : 0.987007 Centerline is valid? [True, True] Translation: X:231.78, Y:165.09, Z:5.17 [[ 7.84785402e-01 -6.19483175e-01 1.87741421e-02 2.31783684e+02] [ 6.19345566e-01 7.85008810e-01 1.31239667e-02 1.65092277e+02] [-2.28679435e-02 1.32818414e-03 9.99737612e-01 5.17153777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.520714057 meters Centerline goodness : 0.989190 Centerline is valid? [True, True] Translation: X:231.82, Y:165.11, Z:5.16 [[ 7.82655229e-01 -6.22175799e-01 1.86565548e-02 2.31815428e+02] [ 6.22035268e-01 7.82876622e-01 1.32785786e-02 1.65111044e+02] [-2.28673909e-02 1.21248613e-03 9.99737772e-01 5.16491487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5507140569999 meters Centerline goodness : 0.988442 Centerline is valid? [True, True] Translation: X:231.84, Y:165.13, Z:5.16 [[ 7.82571798e-01 -6.22275061e-01 1.88449081e-02 2.31840979e+02] [ 6.22140484e-01 7.82797176e-01 1.30307438e-02 1.65128387e+02] [-2.28604477e-02 1.52668761e-03 9.99737500e-01 5.16374187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5807140569999 meters Centerline goodness : 0.988087 Centerline is valid? [True, True] Translation: X:231.87, Y:165.14, Z:5.16 [[ 7.83271506e-01 -6.21394681e-01 1.88254895e-02 2.31870009e+02] [ 6.21259238e-01 7.83496326e-01 1.30562925e-02 1.65141940e+02] [-2.28628126e-02 1.46888735e-03 9.99737533e-01 5.16033719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.610714057 meters Centerline goodness : 0.988525 Centerline is valid? [True, True] Translation: X:231.89, Y:165.16, Z:5.16 [[ 7.81925405e-01 -6.23087493e-01 1.88318085e-02 2.31894992e+02] [ 6.22952736e-01 7.82150650e-01 1.30479788e-02 1.65159802e+02] [-2.28593437e-02 1.52878052e-03 9.99737522e-01 5.16121479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.640714057 meters Centerline goodness : 0.989198 Centerline is valid? [True, True] Translation: X:231.90, Y:165.17, Z:5.17 [[ 7.75621996e-01 -6.30918113e-01 1.87844055e-02 2.31900212e+02] [ 6.30784122e-01 7.75847609e-01 1.31102952e-02 1.65174858e+02] [-2.28453588e-02 1.68027143e-03 9.99737599e-01 5.16595667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6707140569999 meters Centerline goodness : 0.989724 Centerline is valid? [True, True] Translation: X:231.93, Y:165.19, Z:5.17 [[ 7.74950675e-01 -6.31759806e-01 1.81933896e-02 2.31930175e+02] [ 6.31607632e-01 7.75163862e-01 1.38847308e-02 1.65191032e+02] [-2.28746730e-02 7.31102191e-04 9.99738073e-01 5.16609390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7007140569999 meters Centerline goodness : 0.989795 Centerline is valid? [True, True] Translation: X:231.96, Y:165.21, Z:5.17 [[ 7.74090580e-01 -6.32813266e-01 1.81973439e-02 2.31958224e+02] [ 6.32661504e-01 7.74304061e-01 1.38795464e-02 1.65208978e+02] [-2.28734384e-02 7.68732886e-04 9.99738073e-01 5.16521319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.730714057 meters Centerline goodness : 0.990280 Centerline is valid? [True, True] Translation: X:231.99, Y:165.23, Z:5.16 [[ 7.73187954e-01 -6.33915689e-01 1.82012682e-02 2.31986866e+02] [ 6.33764353e-01 7.73401737e-01 1.38743983e-02 1.65226663e+02] [-2.28720912e-02 8.07797258e-04 9.99738073e-01 5.16466629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.760714057 meters Centerline goodness : 0.990223 Centerline is valid? [True, True] Translation: X:232.02, Y:165.24, Z:5.16 [[ 7.69722830e-01 -6.38118591e-01 1.82052122e-02 2.32016331e+02] [ 6.37968543e-01 7.69937519e-01 1.38692213e-02 1.65241405e+02] [-2.28670838e-02 9.38896479e-04 9.99738073e-01 5.16386175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.790714057 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:232.04, Y:165.26, Z:5.16 [[ 7.67586365e-01 -6.40686833e-01 1.82086375e-02 2.32044278e+02] [ 6.40537610e-01 7.67801628e-01 1.38647228e-02 1.65258882e+02] [-2.28635669e-02 1.02094492e-03 9.99738073e-01 5.16217186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8207140569999 meters Centerline goodness : 0.990140 Centerline is valid? [True, True] Translation: X:232.07, Y:165.27, Z:5.16 [[ 7.62503607e-01 -6.46727572e-01 1.82125565e-02 2.32072180e+02] [ 6.46580176e-01 7.62720125e-01 1.38595729e-02 1.65274012e+02] [-2.28544513e-02 1.20790366e-03 9.99738073e-01 5.15997349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8507140569999 meters Centerline goodness : 0.990095 Centerline is valid? [True, True] Translation: X:232.10, Y:165.29, Z:5.16 [[ 7.59874223e-01 -6.49814861e-01 1.82157147e-02 2.32098917e+02] [ 6.49668443e-01 7.60091403e-01 1.38554209e-02 1.65291598e+02] [-2.28490665e-02 1.30579786e-03 9.99738073e-01 5.15791474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.880714057 meters Centerline goodness : 0.990773 Centerline is valid? [True, True] Translation: X:232.13, Y:165.31, Z:5.16 [[ 7.54671134e-01 -6.55850245e-01 1.82191235e-02 2.32126337e+02] [ 6.55705670e-01 7.54889546e-01 1.38509370e-02 1.65307765e+02] [-2.28375663e-02 1.49348026e-03 9.99738073e-01 5.15572644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.910714057 meters Centerline goodness : 0.991158 Centerline is valid? [True, True] Translation: X:232.15, Y:165.33, Z:5.15 [[ 7.52729509e-01 -6.58077681e-01 1.82222677e-02 2.32152482e+02] [ 6.57933852e-01 7.52948413e-01 1.38467992e-02 1.65325774e+02] [-2.28326971e-02 1.56615243e-03 9.99738073e-01 5.15413281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9407140569999 meters Centerline goodness : 0.990756 Centerline is valid? [True, True] Translation: X:232.18, Y:165.34, Z:5.16 [[ 7.49449375e-01 -6.61810738e-01 1.82258353e-02 2.32179162e+02] [ 6.61668112e-01 7.49669065e-01 1.38421018e-02 1.65344177e+02] [-2.28241965e-02 1.68549947e-03 9.99738073e-01 5.15528100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9707140569999 meters Centerline goodness : 0.989905 Centerline is valid? [True, True] Translation: X:232.21, Y:165.36, Z:5.15 [[ 7.47781240e-01 -6.63694961e-01 1.82267801e-02 2.32206203e+02] [ 6.63552918e-01 7.48001307e-01 1.38408576e-02 1.65362422e+02] [-2.28197628e-02 1.74449944e-03 9.99738073e-01 5.15263720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.000714057 meters Centerline goodness : 0.990808 Centerline is valid? [True, True] Translation: X:232.23, Y:165.38, Z:5.16 [[ 7.46515233e-01 -6.65114491e-01 1.83771647e-02 2.32231282e+02] [ 6.64977668e-01 7.46738622e-01 1.36430084e-02 1.65379503e+02] [-2.27971013e-02 2.03569055e-03 9.99738040e-01 5.15532244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.030714057 meters Centerline goodness : 0.989960 Centerline is valid? [True, True] Translation: X:232.26, Y:165.40, Z:5.16 [[ 7.47286088e-01 -6.64246302e-01 1.84486578e-02 2.32258106e+02] [ 6.64111508e-01 7.47510753e-01 1.35491130e-02 1.65396793e+02] [-2.27905183e-02 2.12690228e-03 9.99738000e-01 5.15730134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0607140569999 meters Centerline goodness : 0.990375 Centerline is valid? [True, True] Translation: X:232.28, Y:165.42, Z:5.16 [[ 7.47141750e-01 -6.64404447e-01 1.85993617e-02 2.32283448e+02] [ 6.64274516e-01 7.47369435e-01 1.33527247e-02 1.65416141e+02] [-2.27722041e-02 2.37870391e-03 9.99737850e-01 5.15592089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0907140569999 meters Centerline goodness : 0.990477 Centerline is valid? [True, True] Translation: X:232.31, Y:165.44, Z:5.15 [[ 7.46993897e-01 -6.64571336e-01 1.85757229e-02 2.32309616e+02] [ 6.64440698e-01 7.47221146e-01 1.33834877e-02 1.65436314e+02] [-2.27744552e-02 2.34508265e-03 9.99737878e-01 5.15482573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.120714057 meters Centerline goodness : 0.989774 Centerline is valid? [True, True] Translation: X:232.33, Y:165.46, Z:5.16 [[ 7.46227030e-01 -6.65431437e-01 1.86070338e-02 2.32333356e+02] [ 6.65302064e-01 7.46455045e-01 1.33427816e-02 1.65456135e+02] [-2.27680206e-02 2.42255366e-03 9.99737840e-01 5.15790144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.150714057 meters Centerline goodness : 0.990313 Centerline is valid? [True, True] Translation: X:232.36, Y:165.48, Z:5.16 [[ 7.46792165e-01 -6.64798381e-01 1.85627369e-02 2.32357998e+02] [ 6.64667399e-01 7.47019196e-01 1.34003544e-02 1.65475195e+02] [-2.27752547e-02 2.33076637e-03 9.99737893e-01 5.15527619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1807140569999 meters Centerline goodness : 0.990613 Centerline is valid? [True, True] Translation: X:232.38, Y:165.50, Z:5.16 [[ 7.45867113e-01 -6.65837066e-01 1.85270691e-02 2.32383327e+02] [ 6.65705261e-01 7.46093622e-01 1.34466583e-02 1.65495638e+02] [-2.27762115e-02 2.30414718e-03 9.99737933e-01 5.15573909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2107140569999 meters Centerline goodness : 0.989916 Centerline is valid? [True, True] Translation: X:232.41, Y:165.52, Z:5.15 [[ 7.45507941e-01 -6.66238487e-01 1.85523227e-02 2.32408206e+02] [ 6.66107610e-01 7.45735020e-01 1.34138946e-02 1.65515468e+02] [-2.27719696e-02 2.35767835e-03 9.99737905e-01 5.15459145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.240714057 meters Centerline goodness : 0.990119 Centerline is valid? [True, True] Translation: X:232.43, Y:165.54, Z:5.15 [[ 7.45409798e-01 -6.66349276e-01 1.85168977e-02 2.32433517e+02] [ 6.66217305e-01 7.45636196e-01 1.34597810e-02 1.65535648e+02] [-2.27757845e-02 2.30322506e-03 9.99737945e-01 5.15249184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.270714057 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:232.46, Y:165.56, Z:5.15 [[ 7.46925550e-01 -6.64649434e-01 1.85297744e-02 2.32461331e+02] [ 6.64517356e-01 7.47151903e-01 1.34431148e-02 1.65555893e+02] [-2.27795148e-02 2.27235081e-03 9.99737931e-01 5.14574228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3007140569999 meters Centerline goodness : 0.990336 Centerline is valid? [True, True] Translation: X:232.48, Y:165.58, Z:5.15 [[ 7.47819338e-01 -6.63639988e-01 1.86602390e-02 2.32480500e+02] [ 6.63511758e-01 7.48048088e-01 1.32742251e-02 1.65576064e+02] [-2.27680627e-02 2.45456575e-03 9.99737761e-01 5.14924949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3307140569999 meters Centerline goodness : 0.989581 Centerline is valid? [True, True] Translation: X:232.50, Y:165.60, Z:5.15 [[ 7.48827306e-01 -6.62505471e-01 1.85517141e-02 2.32504807e+02] [ 6.62373434e-01 7.49053717e-01 1.34150075e-02 1.65597578e+02] [-2.27837463e-02 2.24263858e-03 9.99737901e-01 5.14857161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.360714057 meters Centerline goodness : 0.990406 Centerline is valid? [True, True] Translation: X:232.53, Y:165.62, Z:5.15 [[ 7.52549698e-01 -6.58276037e-01 1.84827584e-02 2.32529119e+02] [ 6.58140553e-01 7.52773972e-01 1.35040772e-02 1.65621213e+02] [-2.28027499e-02 2.00176362e-03 9.99737979e-01 5.15072742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.390714057 meters Centerline goodness : 0.990113 Centerline is valid? [True, True] Translation: X:232.55, Y:165.64, Z:5.15 [[ 7.55474947e-01 -6.54914164e-01 1.85753218e-02 2.32553819e+02] [ 6.54780592e-01 7.55700491e-01 1.33845076e-02 1.65641645e+02] [-2.28030834e-02 2.05110007e-03 9.99737872e-01 5.14709955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4207140569999 meters Centerline goodness : 0.990084 Centerline is valid? [True, True] Translation: X:232.58, Y:165.66, Z:5.15 [[ 7.58952451e-01 -6.50880882e-01 1.85810393e-02 2.32575983e+02] [ 6.50746290e-01 7.59177396e-01 1.33771341e-02 1.65664348e+02] [-2.28132259e-02 1.93893367e-03 9.99737864e-01 5.14952148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4507140569999 meters Centerline goodness : 0.990214 Centerline is valid? [True, True] Translation: X:232.60, Y:165.69, Z:5.15 [[ 7.61544949e-01 -6.47846087e-01 1.85671585e-02 2.32599178e+02] [ 6.47710164e-01 7.61769070e-01 1.33950210e-02 1.65686212e+02] [-2.28217990e-02 1.82522676e-03 9.99737883e-01 5.14965092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.480714057 meters Centerline goodness : 0.990025 Centerline is valid? [True, True] Translation: X:232.62, Y:165.71, Z:5.15 [[ 7.61899949e-01 -6.47428871e-01 1.85559679e-02 2.32622406e+02] [ 6.47292477e-01 7.62123767e-01 1.34094366e-02 1.65706168e+02] [-2.28236006e-02 1.79448934e-03 9.99737897e-01 5.14782843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.510714057 meters Centerline goodness : 0.989917 Centerline is valid? [True, True] Translation: X:232.65, Y:165.73, Z:5.15 [[ 7.59929405e-01 -6.49742298e-01 1.84998925e-02 2.32646592e+02] [ 6.49604837e-01 7.60152488e-01 1.34815303e-02 1.65727811e+02] [-2.28222598e-02 1.77260836e-03 9.99737967e-01 5.15044551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.540714057 meters Centerline goodness : 0.990338 Centerline is valid? [True, True] Translation: X:232.67, Y:165.75, Z:5.15 [[ 7.58559589e-01 -6.51340880e-01 1.85042433e-02 2.32671704e+02] [ 6.51204025e-01 7.58783050e-01 1.34759434e-02 1.65748128e+02] [-2.28181390e-02 1.82773160e-03 9.99737962e-01 5.14993423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5707140569999 meters Centerline goodness : 0.990489 Centerline is valid? [True, True] Translation: X:232.70, Y:165.77, Z:5.15 [[ 7.56971422e-01 -6.53186313e-01 1.84907001e-02 2.32695542e+02] [ 6.53049580e-01 7.57194939e-01 1.34933133e-02 1.65767494e+02] [-2.28147121e-02 1.86129141e-03 9.99737978e-01 5.14930115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6007140569999 meters Centerline goodness : 0.989431 Centerline is valid? [True, True] Translation: X:232.72, Y:165.79, Z:5.15 [[ 7.53203798e-01 -6.57528782e-01 1.84374765e-02 2.32718966e+02] [ 6.57391679e-01 7.53427016e-01 1.35614458e-02 1.65787466e+02] [-2.28083338e-02 1.90611120e-03 9.99738039e-01 5.14912429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.630714057 meters Centerline goodness : 0.990002 Centerline is valid? [True, True] Translation: X:232.74, Y:165.81, Z:5.15 [[ 7.50894270e-01 -6.60165608e-01 1.84164197e-02 2.32744670e+02] [ 6.60028633e-01 7.51117541e-01 1.35883832e-02 1.65808439e+02] [-2.28034791e-02 1.95192521e-03 9.99738061e-01 5.14804089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.660714057 meters Centerline goodness : 0.990175 Centerline is valid? [True, True] Translation: X:232.77, Y:165.83, Z:5.15 [[ 7.49621016e-01 -6.61610498e-01 1.84358725e-02 2.32767730e+02] [ 6.61474560e-01 7.49844943e-01 1.35635021e-02 1.65828022e+02] [-2.27978012e-02 2.02737443e-03 9.99738041e-01 5.14580007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6907140569999 meters Centerline goodness : 0.989962 Centerline is valid? [True, True] Translation: X:232.79, Y:165.85, Z:5.14 [[ 7.47963038e-01 -6.63485367e-01 1.83973568e-02 2.32791192e+02] [ 6.63348787e-01 7.48186527e-01 1.36127412e-02 1.65848581e+02] [-2.27965091e-02 2.02203704e-03 9.99738081e-01 5.14336569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7207140569999 meters Centerline goodness : 0.989942 Centerline is valid? [True, True] Translation: X:232.82, Y:165.87, Z:5.14 [[ 7.47680897e-01 -6.63804199e-01 1.83646954e-02 2.32815674e+02] [ 6.63666698e-01 7.47903784e-01 1.36544637e-02 1.65868934e+02] [-2.27989155e-02 1.97885511e-03 9.99738113e-01 5.14273054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.750714057 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:232.83, Y:165.89, Z:5.14 [[ 7.45571540e-01 -6.66172926e-01 1.83496900e-02 2.32826569e+02] [ 6.66035666e-01 7.45794559e-01 1.36736287e-02 1.65888897e+02] [-2.27941002e-02 2.02687955e-03 9.99738126e-01 5.13729328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.780714057 meters Centerline goodness : 0.990723 Centerline is valid? [True, True] Translation: X:232.87, Y:165.91, Z:5.14 [[ 7.50726089e-01 -6.60368284e-01 1.80019059e-02 2.32866395e+02] [ 6.60218626e-01 7.50940792e-01 1.41171228e-02 1.65909736e+02] [-2.28408656e-02 1.28710121e-03 9.99738285e-01 5.13940099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8107140569999 meters Centerline goodness : 0.990428 Centerline is valid? [True, True] Translation: X:232.87, Y:165.93, Z:5.14 [[ 7.48448608e-01 -6.62935809e-01 1.84606344e-02 2.32872315e+02] [ 6.62801054e-01 7.48673272e-01 1.35312130e-02 1.65931307e+02] [-2.27913093e-02 2.10831041e-03 9.99738021e-01 5.13884011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8407140569999 meters Centerline goodness : 0.990584 Centerline is valid? [True, True] Translation: X:232.90, Y:165.95, Z:5.14 [[ 7.49610654e-01 -6.61634332e-01 1.79966032e-02 2.32897391e+02] [ 6.61484906e-01 7.49825495e-01 1.41225464e-02 1.65952742e+02] [-2.28382735e-02 1.31807012e-03 9.99738304e-01 5.13858467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.870714057 meters Centerline goodness : 0.989783 Centerline is valid? [True, True] Translation: X:232.94, Y:165.97, Z:5.14 [[ 7.54883075e-01 -6.55612324e-01 1.80006619e-02 2.32935197e+02] [ 6.55461305e-01 7.55096800e-01 1.41173713e-02 1.65972643e+02] [-2.28477648e-02 1.14177270e-03 9.99738304e-01 5.14054735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.900714057 meters Centerline goodness : 0.990454 Centerline is valid? [True, True] Translation: X:232.96, Y:165.99, Z:5.14 [[ 7.55272115e-01 -6.55153479e-01 1.83834579e-02 2.32961359e+02] [ 6.55014013e-01 7.55493790e-01 1.36299532e-02 1.65993256e+02] [-2.28182996e-02 1.74709901e-03 9.99738102e-01 5.13630125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9307140569999 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:232.97, Y:166.01, Z:5.14 [[ 7.51335502e-01 -6.59662009e-01 1.84661186e-02 2.32967326e+02] [ 6.59526435e-01 7.51559688e-01 1.35246916e-02 1.66013049e+02] [-2.28001155e-02 2.01731241e-03 9.99738008e-01 5.13681939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9607140569999 meters Centerline goodness : 0.990835 Centerline is valid? [True, True] Translation: X:232.99, Y:166.03, Z:5.14 [[ 7.51607785e-01 -6.59365359e-01 1.79738773e-02 2.32992129e+02] [ 6.59214629e-01 7.51821688e-01 1.41499686e-02 1.66033421e+02] [-2.28431499e-02 1.21341632e-03 9.99738325e-01 5.13612947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.990714057 meters Centerline goodness : 0.990303 Centerline is valid? [True, True] Translation: X:233.02, Y:166.05, Z:5.14 [[ 7.51706040e-01 -6.59253249e-01 1.79772728e-02 2.33016319e+02] [ 6.59102590e-01 7.51919993e-01 1.41456534e-02 1.66054170e+02] [-2.28430388e-02 1.21549399e-03 9.99738325e-01 5.13536224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.020714057 meters Centerline goodness : 0.990303 Centerline is valid? [True, True] Translation: X:233.04, Y:166.07, Z:5.13 [[ 7.51892727e-01 -6.59040225e-01 1.79807711e-02 2.33042785e+02] [ 6.58889611e-01 7.52106712e-01 1.41412052e-02 1.66074897e+02] [-2.28430817e-02 1.21467388e-03 9.99738325e-01 5.13459528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0507140569999 meters Centerline goodness : 0.991372 Centerline is valid? [True, True] Translation: X:233.09, Y:166.09, Z:5.13 [[ 7.57525217e-01 -6.52558115e-01 1.79847757e-02 2.33086883e+02] [ 6.52405790e-01 7.57737987e-01 1.41361103e-02 1.66094074e+02] [-2.28523812e-02 1.02491175e-03 9.99738325e-01 5.12857115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0807140569999 meters Centerline goodness : 0.990905 Centerline is valid? [True, True] Translation: X:233.11, Y:166.11, Z:5.13 [[ 7.55341202e-01 -6.55068126e-01 1.85854306e-02 2.33111030e+02] [ 6.54934958e-01 7.55566973e-01 1.33697570e-02 1.66114099e+02] [-2.28006392e-02 2.07351983e-03 9.99737881e-01 5.12821887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.110714057 meters Centerline goodness : 0.991612 Centerline is valid? [True, True] Translation: X:233.14, Y:166.13, Z:5.13 [[ 7.53898228e-01 -6.56729798e-01 1.85319880e-02 2.33136505e+02] [ 6.56595464e-01 7.54123214e-01 1.34378050e-02 1.66133750e+02] [-2.28004093e-02 2.03728190e-03 9.99737961e-01 5.12727456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.140714057 meters Centerline goodness : 0.989712 Centerline is valid? [True, True] Translation: X:233.16, Y:166.15, Z:5.13 [[ 7.52660258e-01 -6.58148030e-01 1.85393229e-02 2.33156017e+02] [ 6.58014348e-01 7.52885645e-01 1.34284738e-02 1.66151278e+02] [-2.27959137e-02 2.09206191e-03 9.99737950e-01 5.13072066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1707140569999 meters Centerline goodness : 0.990170 Centerline is valid? [True, True] Translation: X:233.18, Y:166.17, Z:5.13 [[ 7.50026303e-01 -6.61154331e-01 1.83165327e-02 2.33184588e+02] [ 6.61014656e-01 7.50247709e-01 1.37113043e-02 1.66173992e+02] [-2.28072249e-02 1.82365769e-03 9.99738218e-01 5.12603668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2007140569999 meters Centerline goodness : 0.990646 Centerline is valid? [True, True] Translation: X:233.21, Y:166.20, Z:5.13 [[ 7.47282496e-01 -6.64248735e-01 1.85064652e-02 2.33207249e+02] [ 6.64115867e-01 7.47508308e-01 1.34701336e-02 1.66195811e+02] [-2.27812556e-02 2.22444213e-03 9.99737999e-01 5.12718403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.230714057 meters Centerline goodness : 0.990122 Centerline is valid? [True, True] Translation: X:233.23, Y:166.22, Z:5.13 [[ 7.46583489e-01 -6.65035331e-01 1.84689610e-02 2.33231934e+02] [ 6.64901534e-01 7.46808692e-01 1.35177197e-02 1.66216092e+02] [-2.27825418e-02 2.18793412e-03 9.99738050e-01 5.12648404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.260714057 meters Centerline goodness : 0.990406 Centerline is valid? [True, True] Translation: X:233.26, Y:166.24, Z:5.13 [[ 7.45005551e-01 -6.66802404e-01 1.84738401e-02 2.33256592e+02] [ 6.66669293e-01 7.45231167e-01 1.35115324e-02 1.66237784e+02] [-2.27768037e-02 2.24977522e-03 9.99738044e-01 5.12675855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.290714057 meters Centerline goodness : 0.989703 Centerline is valid? [True, True] Translation: X:233.28, Y:166.26, Z:5.13 [[ 7.48558205e-01 -6.62810750e-01 1.85073942e-02 2.33283370e+02] [ 6.62677477e-01 7.48783779e-01 1.34689789e-02 1.66256732e+02] [-2.27854206e-02 2.18211858e-03 9.99737997e-01 5.13084793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3207140569999 meters Centerline goodness : 0.989188 Centerline is valid? [True, True] Translation: X:233.30, Y:166.28, Z:5.13 [[ 7.43625700e-01 -6.68338554e-01 1.85578919e-02 2.33298921e+02] [ 6.68208533e-01 7.43853252e-01 1.34050336e-02 1.66276411e+02] [-2.27634490e-02 2.43221424e-03 9.99737921e-01 5.13295007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3507140569999 meters Centerline goodness : 0.989552 Centerline is valid? [True, True] Translation: X:233.33, Y:166.30, Z:5.13 [[ 7.46124629e-01 -6.65553774e-01 1.83360817e-02 2.33334618e+02] [ 6.65416040e-01 7.46347246e-01 1.36850816e-02 1.66298141e+02] [-2.27932417e-02 1.99034644e-03 9.99738219e-01 5.12893554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.380714057 meters Centerline goodness : 0.988792 Centerline is valid? [True, True] Translation: X:233.35, Y:166.32, Z:5.13 [[ 7.43315131e-01 -6.68677940e-01 1.87730599e-02 2.33351600e+02] [ 6.68554785e-01 7.43546927e-01 1.31326341e-02 1.66317638e+02] [-2.27401538e-02 2.78913336e-03 9.99737519e-01 5.12872183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.410714057 meters Centerline goodness : 0.987386 Centerline is valid? [True, True] Translation: X:233.36, Y:166.33, Z:5.13 [[ 7.37023181e-01 -6.75611903e-01 1.85846020e-02 2.33356058e+02] [ 6.75484873e-01 7.37252528e-01 1.33752376e-02 1.66333502e+02] [-2.27380146e-02 2.69575740e-03 9.99737823e-01 5.12985733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4407140569999 meters Centerline goodness : 0.990317 Centerline is valid? [True, True] Translation: X:233.39, Y:166.36, Z:5.12 [[ 7.39857529e-01 -6.72528505e-01 1.77833340e-02 2.33391724e+02] [ 6.72375502e-01 7.40070077e-01 1.44036340e-02 1.66356056e+02] [-2.28477678e-02 1.30044106e-03 9.99738110e-01 5.12368949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4707140569999 meters Centerline goodness : 0.989285 Centerline is valid? [True, True] Translation: X:233.41, Y:166.38, Z:5.13 [[ 7.36785406e-01 -6.75872212e-01 1.85477566e-02 2.33407575e+02] [ 6.75743699e-01 7.37014131e-01 1.34396453e-02 1.66380733e+02] [-2.27534415e-02 2.63139517e-03 9.99737644e-01 5.12582876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.500714057 meters Centerline goodness : 0.987903 Centerline is valid? [True, True] Translation: X:233.42, Y:166.40, Z:5.12 [[ 7.33088762e-01 -6.79884782e-01 1.83725454e-02 2.33415091e+02] [ 6.79751978e-01 7.33314782e-01 1.36630272e-02 1.66399148e+02] [-2.27621434e-02 2.47256236e-03 9.99737851e-01 5.12069233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.530714057 meters Centerline goodness : 0.990467 Centerline is valid? [True, True] Translation: X:233.44, Y:166.42, Z:5.12 [[ 7.34882128e-01 -6.77962204e-01 1.77625305e-02 2.33444837e+02] [ 6.77809963e-01 7.35095372e-01 1.44377403e-02 1.66422791e+02] [-2.28453962e-02 1.42958279e-03 9.99737988e-01 5.12371396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5607140569999 meters Centerline goodness : 0.988518 Centerline is valid? [True, True] Translation: X:233.46, Y:166.44, Z:5.13 [[ 7.36445571e-01 -6.76248799e-01 1.83161844e-02 2.33464172e+02] [ 6.76112971e-01 7.36669827e-01 1.37410326e-02 1.66442181e+02] [-2.27853372e-02 2.26428724e-03 9.99737816e-01 5.12515776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5907140569999 meters Centerline goodness : 0.988906 Centerline is valid? [True, True] Translation: X:233.49, Y:166.47, Z:5.13 [[ 7.37500360e-01 -6.75103347e-01 1.81297950e-02 2.33485704e+02] [ 6.74961439e-01 7.37720642e-01 1.39753511e-02 1.66465473e+02] [-2.28095303e-02 1.93008604e-03 9.99737966e-01 5.12672758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.620714057 meters Centerline goodness : 0.989472 Centerline is valid? [True, True] Translation: X:233.51, Y:166.49, Z:5.13 [[ 7.38315111e-01 -6.74213283e-01 1.80899077e-02 2.33508598e+02] [ 6.74069891e-01 7.38534405e-01 1.40254971e-02 1.66486825e+02] [-2.28161957e-02 1.83862561e-03 9.99737986e-01 5.12665936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.650714057 meters Centerline goodness : 0.989550 Centerline is valid? [True, True] Translation: X:233.53, Y:166.51, Z:5.13 [[ 7.38090922e-01 -6.74459908e-01 1.80450387e-02 2.33531347e+02] [ 6.74315221e-01 7.38309341e-01 1.40818706e-02 1.66509915e+02] [-2.28204778e-02 1.77434345e-03 9.99738004e-01 5.12833620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6807140569999 meters Centerline goodness : 0.988455 Centerline is valid? [True, True] Translation: X:233.56, Y:166.53, Z:5.13 [[ 7.38320388e-01 -6.74208287e-01 1.80607240e-02 2.33555454e+02] [ 6.74064003e-01 7.38539082e-01 1.40621722e-02 1.66531091e+02] [-2.28193835e-02 1.79169547e-03 9.99737998e-01 5.12891603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7107140569999 meters Centerline goodness : 0.989814 Centerline is valid? [True, True] Translation: X:233.58, Y:166.55, Z:5.13 [[ 7.40336289e-01 -6.71994152e-01 1.80565371e-02 2.33580325e+02] [ 6.71849086e-01 7.40554463e-01 1.40674314e-02 1.66553936e+02] [-2.28250808e-02 1.71663802e-03 9.99738000e-01 5.12706617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.740714057 meters Centerline goodness : 0.989283 Centerline is valid? [True, True] Translation: X:233.61, Y:166.57, Z:5.13 [[ 7.40852554e-01 -6.71421633e-01 1.81792106e-02 2.33605169e+02] [ 6.71280143e-01 7.41073138e-01 1.39130703e-02 1.66574446e+02] [-2.28136610e-02 1.89580944e-03 9.99737937e-01 5.12692869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.770714057 meters Centerline goodness : 0.990762 Centerline is valid? [True, True] Translation: X:233.63, Y:166.60, Z:5.13 [[ 7.39506752e-01 -6.72903869e-01 1.81699214e-02 2.33627909e+02] [ 6.72762537e-01 7.39727430e-01 1.39247427e-02 1.66597010e+02] [-2.28108025e-02 1.92660114e-03 9.99737943e-01 5.12513818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8007140569999 meters Centerline goodness : 0.990975 Centerline is valid? [True, True] Translation: X:233.65, Y:166.62, Z:5.12 [[ 7.38243296e-01 -6.74289971e-01 1.81623753e-02 2.33652886e+02] [ 6.74148821e-01 7.38464085e-01 1.39342258e-02 1.66618451e+02] [-2.28079706e-02 1.95729517e-03 9.99737948e-01 5.12046204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8307140569999 meters Centerline goodness : 0.989891 Centerline is valid? [True, True] Translation: X:233.67, Y:166.64, Z:5.12 [[ 7.37671767e-01 -6.74913243e-01 1.82340133e-02 2.33671686e+02] [ 6.74774478e-01 7.37894126e-01 1.38442294e-02 1.66637996e+02] [-2.27984250e-02 2.09134964e-03 9.99737895e-01 5.11874870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.860714057 meters Centerline goodness : 0.990265 Centerline is valid? [True, True] Translation: X:233.70, Y:166.66, Z:5.12 [[ 7.37241370e-01 -6.75388673e-01 1.80361400e-02 2.33695016e+02] [ 6.75244002e-01 7.37459788e-01 1.40925304e-02 1.66658912e+02] [-2.28188634e-02 1.78919892e-03 9.99738015e-01 5.11704643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.890714057 meters Centerline goodness : 0.989789 Centerline is valid? [True, True] Translation: X:233.72, Y:166.68, Z:5.11 [[ 7.37648154e-01 -6.74944914e-01 1.80156495e-02 2.33719005e+02] [ 6.74799488e-01 7.37866063e-01 1.41182436e-02 1.66680398e+02] [-2.28221730e-02 1.74265472e-03 9.99738021e-01 5.11398367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9207140569999 meters Centerline goodness : 0.989883 Centerline is valid? [True, True] Translation: X:233.74, Y:166.70, Z:5.11 [[ 7.38807905e-01 -6.73675789e-01 1.79947798e-02 2.33740889e+02] [ 6.73529355e-01 7.39025130e-01 1.41444421e-02 1.66700927e+02] [-2.28273627e-02 1.66998682e-03 9.99738027e-01 5.11393557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9507140569999 meters Centerline goodness : 0.990374 Centerline is valid? [True, True] Translation: X:233.77, Y:166.72, Z:5.12 [[ 7.39141819e-01 -6.73310461e-01 1.79553462e-02 2.33765729e+02] [ 6.73162725e-01 7.39358152e-01 1.41939444e-02 1.66722964e+02] [-2.28323629e-02 1.59553190e-03 9.99738034e-01 5.11535428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.980714057 meters Centerline goodness : 0.989575 Centerline is valid? [True, True] Translation: X:233.79, Y:166.74, Z:5.12 [[ 7.40888632e-01 -6.71386836e-01 1.79930994e-02 2.33790543e+02] [ 6.71239680e-01 7.41105369e-01 1.41465430e-02 1.66744052e+02] [-2.28325853e-02 1.59666941e-03 9.99738028e-01 5.11628606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.010714057 meters Centerline goodness : 0.989978 Centerline is valid? [True, True] Translation: X:233.81, Y:166.76, Z:5.12 [[ 7.42111214e-01 -6.70035674e-01 1.79761319e-02 2.33814305e+02] [ 6.69887611e-01 7.42327327e-01 1.41678549e-02 1.66763711e+02] [-2.28371422e-02 1.52786408e-03 9.99738031e-01 5.11588426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.040714057 meters Centerline goodness : 0.989077 Centerline is valid? [True, True] Translation: X:233.84, Y:166.79, Z:5.12 [[ 7.43041607e-01 -6.69004365e-01 1.79535169e-02 2.33838397e+02] [ 6.68855320e-01 7.43257040e-01 1.41962568e-02 1.66785047e+02] [-2.28414356e-02 1.45989580e-03 9.99738034e-01 5.11899286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0707140569999 meters Centerline goodness : 0.991126 Centerline is valid? [True, True] Translation: X:233.87, Y:166.81, Z:5.11 [[ 7.45342636e-01 -6.66439909e-01 1.79500402e-02 2.33866416e+02] [ 6.66290017e-01 7.45557480e-01 1.42006232e-02 1.66806112e+02] [-2.28466488e-02 1.37560269e-03 9.99738035e-01 5.11406928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1007140569999 meters Centerline goodness : 0.991297 Centerline is valid? [True, True] Translation: X:233.89, Y:166.83, Z:5.11 [[ 7.45845308e-01 -6.65873310e-01 1.80972996e-02 2.33890493e+02] [ 6.65727701e-01 7.46063130e-01 1.40155375e-02 1.66825924e+02] [-2.28343003e-02 1.59445078e-03 9.99737992e-01 5.10815389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.130714057 meters Centerline goodness : 0.991851 Centerline is valid? [True, True] Translation: X:233.92, Y:166.85, Z:5.11 [[ 7.45547571e-01 -6.66206764e-01 1.80932826e-02 2.33919575e+02] [ 6.66061131e-01 7.45765374e-01 1.40205927e-02 1.66848155e+02] [-2.28339574e-02 1.59821344e-03 9.99737994e-01 5.10868823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.160714057 meters Centerline goodness : 0.991068 Centerline is valid? [True, True] Translation: X:233.94, Y:166.87, Z:5.11 [[ 7.47060515e-01 -6.64506602e-01 1.82089049e-02 2.33942310e+02] [ 6.64363977e-01 7.47280388e-01 1.38754548e-02 1.66867043e+02] [-2.28274889e-02 1.73153604e-03 9.99737919e-01 5.10671994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1907140569999 meters Centerline goodness : 0.990697 Centerline is valid? [True, True] Translation: X:233.97, Y:166.89, Z:5.10 [[ 7.47998582e-01 -6.63451821e-01 1.81604489e-02 2.33965869e+02] [ 6.63307417e-01 7.48217249e-01 1.39362514e-02 1.66886612e+02] [-2.28339925e-02 1.62166419e-03 9.99737955e-01 5.10241113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2207140569999 meters Centerline goodness : 0.991269 Centerline is valid? [True, True] Translation: X:233.99, Y:166.91, Z:5.10 [[ 7.47172474e-01 -6.64383116e-01 1.81210012e-02 2.33988048e+02] [ 6.64237791e-01 7.47390499e-01 1.39857022e-02 1.66908841e+02] [-2.28353285e-02 1.58692215e-03 9.99737980e-01 5.10169707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.250714057 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:234.01, Y:166.93, Z:5.10 [[ 7.49772232e-01 -6.61447760e-01 1.81234980e-02 2.34013278e+02] [ 6.61301657e-01 7.49989738e-01 1.39825718e-02 1.66927720e+02] [-2.28411783e-02 1.50135518e-03 9.99737979e-01 5.10340865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.280714057 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:234.04, Y:166.95, Z:5.11 [[ 7.51711778e-01 -6.59242803e-01 1.81198877e-02 2.34040182e+02] [ 6.59095952e-01 7.51928778e-01 1.39870963e-02 1.66949247e+02] [-2.28457575e-02 1.42847962e-03 9.99737981e-01 5.10558777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3107140569999 meters Centerline goodness : 0.990614 Centerline is valid? [True, True] Translation: X:234.06, Y:166.97, Z:5.11 [[ 7.53061560e-01 -6.57697015e-01 1.82461651e-02 2.34064121e+02] [ 6.57553523e-01 7.53280909e-01 1.38288181e-02 1.66969555e+02] [-2.28396603e-02 1.58387883e-03 9.99737886e-01 5.10586893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3407140569999 meters Centerline goodness : 0.990365 Centerline is valid? [True, True] Translation: X:234.09, Y:166.99, Z:5.10 [[ 7.54523357e-01 -6.56020060e-01 1.82259172e-02 2.34091060e+02] [ 6.55875470e-01 7.54741962e-01 1.38542189e-02 1.66988810e+02] [-2.28445100e-02 1.50060020e-03 9.99737904e-01 5.10328705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.370714057 meters Centerline goodness : 0.991249 Centerline is valid? [True, True] Translation: X:234.11, Y:167.01, Z:5.11 [[ 7.52603565e-01 -6.58219384e-01 1.83061852e-02 2.34114574e+02] [ 6.58077865e-01 7.52824260e-01 1.37534538e-02 1.67008204e+02] [-2.28341303e-02 1.69599689e-03 9.99737829e-01 5.10585077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.400714057 meters Centerline goodness : 0.992328 Centerline is valid? [True, True] Translation: X:234.15, Y:167.03, Z:5.10 [[ 7.50651158e-01 -6.60447833e-01 1.82070956e-02 2.34146625e+02] [ 6.60303963e-01 7.50870218e-01 1.38777888e-02 1.67030381e+02] [-2.28367214e-02 1.60483908e-03 9.99737920e-01 5.10013665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4307140569999 meters Centerline goodness : 0.991179 Centerline is valid? [True, True] Translation: X:234.17, Y:167.05, Z:5.11 [[ 7.45583776e-01 -6.66157408e-01 1.84158071e-02 2.34166803e+02] [ 6.66021576e-01 7.45808182e-01 1.36167700e-02 1.67048043e+02] [-2.28055718e-02 2.11288204e-03 9.99737686e-01 5.10741774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4607140569999 meters Centerline goodness : 0.990824 Centerline is valid? [True, True] Translation: X:234.19, Y:167.06, Z:5.11 [[ 7.46802698e-01 -6.64795460e-01 1.82408085e-02 2.34191106e+02] [ 6.64653892e-01 7.47023284e-01 1.38353363e-02 1.67064427e+02] [-2.28239774e-02 1.79155795e-03 9.99737894e-01 5.10573762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.490714057 meters Centerline goodness : 0.988405 Centerline is valid? [True, True] Translation: X:234.21, Y:167.08, Z:5.11 [[ 7.44348511e-01 -6.67545485e-01 1.81195923e-02 2.34211200e+02] [ 6.67401064e-01 7.44567120e-01 1.39865922e-02 1.67078574e+02] [-2.28279391e-02 1.68213612e-03 9.99737993e-01 5.10661794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.520714057 meters Centerline goodness : 0.990366 Centerline is valid? [True, True] Translation: X:234.24, Y:167.10, Z:5.10 [[ 7.43478912e-01 -6.68521100e-01 1.78506481e-02 2.34238198e+02] [ 6.68368905e-01 7.43692068e-01 1.43218067e-02 1.67099930e+02] [-2.28498154e-02 1.28285679e-03 9.99738086e-01 5.10211017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5507140569999 meters Centerline goodness : 0.990349 Centerline is valid? [True, True] Translation: X:234.26, Y:167.12, Z:5.10 [[ 7.43159151e-01 -6.68873899e-01 1.79494714e-02 2.34264969e+02] [ 6.68724757e-01 7.43374469e-01 1.41985676e-02 1.67117503e+02] [-2.28402301e-02 1.45146046e-03 9.99738074e-01 5.09622200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5807140569999 meters Centerline goodness : 0.990001 Centerline is valid? [True, True] Translation: X:234.29, Y:167.13, Z:5.10 [[ 7.45677520e-01 -6.66065519e-01 1.79376744e-02 2.34294412e+02] [ 6.65915213e-01 7.45892024e-01 1.42132822e-02 1.67134372e+02] [-2.28465455e-02 1.34644527e-03 9.99738077e-01 5.09523402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.610714057 meters Centerline goodness : 0.989979 Centerline is valid? [True, True] Translation: X:234.32, Y:167.15, Z:5.10 [[ 7.47437725e-01 -6.64088472e-01 1.79819065e-02 2.34324602e+02] [ 6.63938917e-01 7.47652768e-01 1.41581615e-02 1.67153958e+02] [-2.28464940e-02 1.35654354e-03 9.99738064e-01 5.09708661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.640714057 meters Centerline goodness : 0.989614 Centerline is valid? [True, True] Translation: X:234.35, Y:167.17, Z:5.10 [[ 7.49544204e-01 -6.61705570e-01 1.81445623e-02 2.34350282e+02] [ 6.61560195e-01 7.49762200e-01 1.39553901e-02 1.67171958e+02] [-2.28384663e-02 1.54353837e-03 9.99737977e-01 5.09769612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6707140569999 meters Centerline goodness : 0.990163 Centerline is valid? [True, True] Translation: X:234.38, Y:167.19, Z:5.10 [[ 7.49908836e-01 -6.61293915e-01 1.80857722e-02 2.34378580e+02] [ 6.61146658e-01 7.50125518e-01 1.40286613e-02 1.67192436e+02] [-2.28436676e-02 1.43713076e-03 9.99738016e-01 5.09840463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7007140569999 meters Centerline goodness : 0.989822 Centerline is valid? [True, True] Translation: X:234.40, Y:167.21, Z:5.10 [[ 7.52732981e-01 -6.58073695e-01 1.82228522e-02 2.34402021e+02] [ 6.57929611e-01 7.52951914e-01 1.38579291e-02 1.67209224e+02] [-2.28404701e-02 1.55803374e-03 9.99737908e-01 5.09874195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.730714057 meters Centerline goodness : 0.988679 Centerline is valid? [True, True] Translation: X:234.43, Y:167.23, Z:5.10 [[ 7.56717442e-01 -6.53491265e-01 1.81074612e-02 2.34427887e+02] [ 6.53342418e-01 7.56933049e-01 1.40015810e-02 1.67225927e+02] [-2.28560467e-02 1.23513195e-03 9.99738003e-01 5.09890831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.760714057 meters Centerline goodness : 0.988556 Centerline is valid? [True, True] Translation: X:234.46, Y:167.24, Z:5.10 [[ 7.60978041e-01 -6.48526137e-01 1.80629426e-02 2.34455283e+02] [ 6.48374568e-01 7.61191711e-01 1.40570278e-02 1.67242322e+02] [-2.28657121e-02 1.01446314e-03 9.99738031e-01 5.10073091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.790714057 meters Centerline goodness : 0.987841 Centerline is valid? [True, True] Translation: X:234.48, Y:167.26, Z:5.10 [[ 7.62245055e-01 -6.47036418e-01 1.80651502e-02 2.34481147e+02] [ 6.46884496e-01 7.62458475e-01 1.40542783e-02 1.67261686e+02] [-2.28675568e-02 9.73261458e-04 9.99738029e-01 5.10138075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8207140569999 meters Centerline goodness : 0.987722 Centerline is valid? [True, True] Translation: X:234.51, Y:167.28, Z:5.10 [[ 7.64182963e-01 -6.44747604e-01 1.80256944e-02 2.34509250e+02] [ 6.44593885e-01 7.64395067e-01 1.41033827e-02 1.67278594e+02] [-2.28718741e-02 8.41687644e-04 9.99738050e-01 5.10226236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8507140569999 meters Centerline goodness : 0.987380 Centerline is valid? [True, True] Translation: X:234.54, Y:167.30, Z:5.10 [[ 7.65552712e-01 -6.43120055e-01 1.80454926e-02 2.34536491e+02] [ 6.42966464e-01 7.65764921e-01 1.40787399e-02 1.67295504e+02] [-2.28729252e-02 8.24629040e-04 9.99738040e-01 5.10110278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.880714057 meters Centerline goodness : 0.989382 Centerline is valid? [True, True] Translation: X:234.57, Y:167.31, Z:5.09 [[ 7.64199355e-01 -6.44727002e-01 1.80675886e-02 2.34570363e+02] [ 6.44574506e-01 7.64412368e-01 1.40512616e-02 1.67314118e+02] [-2.28703160e-02 9.07941913e-04 9.99738028e-01 5.09160975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.910714057 meters Centerline goodness : 0.989382 Centerline is valid? [True, True] Translation: X:234.59, Y:167.33, Z:5.09 [[ 7.63948905e-01 -6.45016312e-01 1.83310566e-02 2.34594629e+02] [ 6.44871691e-01 7.64167632e-01 1.37234541e-02 1.67334250e+02] [-2.28598519e-02 1.33716168e-03 9.99737785e-01 5.09105752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9407140569999 meters Centerline goodness : 0.990836 Centerline is valid? [True, True] Translation: X:234.62, Y:167.35, Z:5.09 [[ 7.64367822e-01 -6.44520197e-01 1.83179734e-02 2.34622955e+02] [ 6.44375044e-01 7.64586177e-01 1.37397216e-02 1.67352176e+02] [-2.28611973e-02 1.30144382e-03 9.99737802e-01 5.08761010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9707140569999 meters Centerline goodness : 0.990871 Centerline is valid? [True, True] Translation: X:234.66, Y:167.37, Z:5.08 [[ 7.64533860e-01 -6.44321908e-01 1.83645513e-02 2.34657169e+02] [ 6.44178084e-01 7.64753165e-01 1.36818370e-02 1.67366191e+02] [-2.28598561e-02 1.36981381e-03 9.99737741e-01 5.08190096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.000714057 meters Centerline goodness : 0.991066 Centerline is valid? [True, True] Translation: X:234.68, Y:167.38, Z:5.08 [[ 7.60936833e-01 -6.48561299e-01 1.85304322e-02 2.34678695e+02] [ 6.48423680e-01 7.61160389e-01 1.34756317e-02 1.67378014e+02] [-2.28444042e-02 1.76146655e-03 9.99737481e-01 5.08173392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.030714057 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:234.71, Y:167.40, Z:5.08 [[ 7.60541209e-01 -6.49031884e-01 1.82943379e-02 2.34708608e+02] [ 6.48887329e-01 7.60759920e-01 1.37687232e-02 1.67395483e+02] [-2.28539394e-02 1.39928269e-03 9.99737835e-01 5.07889680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0607140569999 meters Centerline goodness : 0.989917 Centerline is valid? [True, True] Translation: X:234.73, Y:167.41, Z:5.08 [[ 7.61218382e-01 -6.48235497e-01 1.83661472e-02 2.34732902e+02] [ 6.48092852e-01 7.61438455e-01 1.36797046e-02 1.67407533e+02] [-2.28523609e-02 1.48972612e-03 9.99737741e-01 5.08319823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0907140569999 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:234.76, Y:167.43, Z:5.08 [[ 7.59074584e-01 -6.50751496e-01 1.81181413e-02 2.34764073e+02] [ 6.50602245e-01 7.59289878e-01 1.39857363e-02 1.67428658e+02] [-2.28581601e-02 1.17148643e-03 9.99738032e-01 5.08003448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.120714057 meters Centerline goodness : 0.990409 Centerline is valid? [True, True] Translation: X:234.79, Y:167.44, Z:5.09 [[ 7.62249152e-01 -6.47022837e-01 1.83760048e-02 2.34785488e+02] [ 6.46880140e-01 7.62469206e-01 1.36672950e-02 1.67439028e+02] [-2.28541898e-02 1.46918848e-03 9.99737729e-01 5.08599921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.150714057 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:234.81, Y:167.46, Z:5.09 [[ 7.62611701e-01 -6.46603770e-01 1.80820194e-02 2.34812787e+02] [ 6.46452290e-01 7.62825397e-01 1.40303259e-02 1.67456613e+02] [-2.28654853e-02 9.89472181e-04 9.99738061e-01 5.08686721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1807140569999 meters Centerline goodness : 0.990262 Centerline is valid? [True, True] Translation: X:234.84, Y:167.47, Z:5.09 [[ 7.62553598e-01 -6.46671569e-01 1.81077895e-02 2.34837792e+02] [ 6.46520863e-01 7.62767865e-01 1.39985079e-02 1.67470705e+02] [-2.28644770e-02 1.03245109e-03 9.99738041e-01 5.08749904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2107140569999 meters Centerline goodness : 0.990639 Centerline is valid? [True, True] Translation: X:234.87, Y:167.49, Z:5.09 [[ 7.62190091e-01 -6.47103021e-01 1.79984806e-02 2.34866265e+02] [ 6.46949251e-01 7.62402073e-01 1.41331539e-02 1.67489235e+02] [-2.28676855e-02 8.71953664e-04 9.99738120e-01 5.08697564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.240714057 meters Centerline goodness : 0.990708 Centerline is valid? [True, True] Translation: X:234.89, Y:167.50, Z:5.09 [[ 7.60255047e-01 -6.49373268e-01 1.80727188e-02 2.34893451e+02] [ 6.49222295e-01 7.60469092e-01 1.40417719e-02 1.67504877e+02] [-2.28620954e-02 1.05788401e-03 9.99738068e-01 5.08687445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.270714057 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:234.92, Y:167.52, Z:5.09 [[ 7.57508902e-01 -6.52575636e-01 1.80361572e-02 2.34920976e+02] [ 6.52424499e-01 7.57722797e-01 1.40867527e-02 1.67520319e+02] [-2.28590791e-02 1.09639024e-03 9.99738096e-01 5.08626817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3007140569999 meters Centerline goodness : 0.990627 Centerline is valid? [True, True] Translation: X:234.95, Y:167.54, Z:5.09 [[ 7.56369889e-01 -6.53896659e-01 1.79930405e-02 2.34947829e+02] [ 6.53744635e-01 7.56583121e-01 1.41397951e-02 1.67537453e+02] [-2.28591955e-02 1.06793843e-03 9.99738124e-01 5.08512162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3307140569999 meters Centerline goodness : 0.991014 Centerline is valid? [True, True] Translation: X:234.97, Y:167.55, Z:5.08 [[ 7.53645001e-01 -6.57034443e-01 1.80264434e-02 2.34973125e+02] [ 6.56884286e-01 7.53859577e-01 1.40986939e-02 1.67550345e+02] [-2.28527345e-02 1.21587723e-03 9.99738103e-01 5.08384696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.360714057 meters Centerline goodness : 0.991555 Centerline is valid? [True, True] Translation: X:234.99, Y:167.57, Z:5.08 [[ 7.46837002e-01 -6.64766729e-01 1.78798386e-02 2.34985702e+02] [ 6.64614475e-01 7.47050005e-01 1.42789957e-02 1.67570514e+02] [-2.28493347e-02 1.21911719e-03 9.99738177e-01 5.08397826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.390714057 meters Centerline goodness : 0.991914 Centerline is valid? [True, True] Translation: X:235.03, Y:167.59, Z:5.08 [[ 7.52261044e-01 -6.58631781e-01 1.75356612e-02 2.35033733e+02] [ 6.58467833e-01 7.52465243e-01 1.47027770e-02 1.67587480e+02] [-2.28786918e-02 4.86342450e-04 9.99738130e-01 5.08106444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4207140569999 meters Centerline goodness : 0.991395 Centerline is valid? [True, True] Translation: X:235.06, Y:167.61, Z:5.08 [[ 7.50189333e-01 -6.60972835e-01 1.81899961e-02 2.35056667e+02] [ 6.60828687e-01 7.50408131e-01 1.38954305e-02 1.67606082e+02] [-2.28344230e-02 1.59626750e-03 9.99737986e-01 5.08121993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4507140569999 meters Centerline goodness : 0.991328 Centerline is valid? [True, True] Translation: X:235.09, Y:167.62, Z:5.08 [[ 7.50625350e-01 -6.60481242e-01 1.80585971e-02 2.35086571e+02] [ 6.60333055e-01 7.50841291e-01 1.40574669e-02 1.67622456e+02] [-2.28438336e-02 1.37279761e-03 9.99738103e-01 5.08018872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.480714057 meters Centerline goodness : 0.991083 Centerline is valid? [True, True] Translation: X:235.11, Y:167.64, Z:5.08 [[ 7.49790393e-01 -6.61427088e-01 1.81266412e-02 2.35108120e+02] [ 6.61281190e-01 7.50007953e-01 1.39734949e-02 1.67639235e+02] [-2.28375731e-02 1.50961462e-03 9.99738049e-01 5.08016847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.510714057 meters Centerline goodness : 0.990543 Centerline is valid? [True, True] Translation: X:235.14, Y:167.66, Z:5.08 [[ 7.49569651e-01 -6.61681376e-01 1.79748603e-02 2.35135853e+02] [ 6.61531062e-01 7.49784054e-01 1.41607459e-02 1.67658263e+02] [-2.28471654e-02 1.27646305e-03 9.99738155e-01 5.08122430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.540714057 meters Centerline goodness : 0.990865 Centerline is valid? [True, True] Translation: X:235.17, Y:167.68, Z:5.08 [[ 7.49549825e-01 -6.61703553e-01 1.79852280e-02 2.35166715e+02] [ 6.61553551e-01 7.49764453e-01 1.41479713e-02 1.67677923e+02] [-2.28464475e-02 1.29358205e-03 9.99738149e-01 5.08137234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5707140569999 meters Centerline goodness : 0.990605 Centerline is valid? [True, True] Translation: X:235.19, Y:167.70, Z:5.08 [[ 7.49164037e-01 -6.62135755e-01 1.81517959e-02 2.35191726e+02] [ 6.61990809e-01 7.49382261e-01 1.39425940e-02 1.67696926e+02] [-2.28345239e-02 1.57103205e-03 9.99738024e-01 5.08072338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6007140569999 meters Centerline goodness : 0.989804 Centerline is valid? [True, True] Translation: X:235.21, Y:167.71, Z:5.08 [[ 7.46395153e-01 -6.65255828e-01 1.81372072e-02 2.35212748e+02] [ 6.65111359e-01 7.46613677e-01 1.39605806e-02 1.67713677e+02] [-2.28288446e-02 1.64315279e-03 9.99738038e-01 5.07864013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.630714057 meters Centerline goodness : 0.990743 Centerline is valid? [True, True] Translation: X:235.24, Y:167.73, Z:5.08 [[ 7.43872399e-01 -6.68080956e-01 1.79357548e-02 2.35240332e+02] [ 6.67931339e-01 7.44087258e-01 1.42084119e-02 1.67734570e+02] [-2.28381360e-02 1.41060727e-03 9.99738181e-01 5.07827546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.660714057 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:235.26, Y:167.75, Z:5.08 [[ 7.40202992e-01 -6.72141441e-01 1.80392079e-02 2.35262409e+02] [ 6.71996077e-01 7.40420823e-01 1.40810951e-02 1.67752246e+02] [-2.28210927e-02 1.69940824e-03 9.99738121e-01 5.07849718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6907140569999 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:235.29, Y:167.77, Z:5.08 [[ 7.39260647e-01 -6.73180866e-01 1.79225461e-02 2.35290186e+02] [ 6.73032337e-01 7.39476254e-01 1.42247424e-02 1.67772153e+02] [-2.28291217e-02 1.54666087e-03 9.99738185e-01 5.07718348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7207140569999 meters Centerline goodness : 0.990201 Centerline is valid? [True, True] Translation: X:235.31, Y:167.79, Z:5.08 [[ 7.34316544e-01 -6.78568504e-01 1.79999578e-02 2.35312865e+02] [ 6.78423869e-01 7.34534828e-01 1.41293917e-02 1.67792811e+02] [-2.28093561e-02 1.83615499e-03 9.99738147e-01 5.07898423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.750714057 meters Centerline goodness : 0.990084 Centerline is valid? [True, True] Translation: X:235.34, Y:167.81, Z:5.08 [[ 7.32111592e-01 -6.80948932e-01 1.79211581e-02 2.35343002e+02] [ 6.80802648e-01 7.32328727e-01 1.42264017e-02 1.67813339e+02] [-2.28116319e-02 1.78545832e-03 9.99738187e-01 5.07636902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.780714057 meters Centerline goodness : 0.989958 Centerline is valid? [True, True] Translation: X:235.37, Y:167.83, Z:5.07 [[ 7.32669663e-01 -6.80344738e-01 1.80610644e-02 2.35371056e+02] [ 6.80202469e-01 7.32889545e-01 1.40540494e-02 1.67832790e+02] [-2.27983639e-02 1.98820495e-03 9.99738107e-01 5.07470242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8107140569999 meters Centerline goodness : 0.989518 Centerline is valid? [True, True] Translation: X:235.39, Y:167.86, Z:5.07 [[ 7.29063887e-01 -6.84205031e-01 1.81472949e-02 2.35392524e+02] [ 6.84066528e-01 7.29286251e-01 1.39480974e-02 1.67855110e+02] [-2.27779311e-02 2.24490292e-03 9.99738029e-01 5.07416435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8407140569999 meters Centerline goodness : 0.991728 Centerline is valid? [True, True] Translation: X:235.40, Y:167.88, Z:5.07 [[ 7.20456115e-01 -6.93263860e-01 1.81164483e-02 2.35399519e+02] [ 6.93127208e-01 7.20679586e-01 1.39859783e-02 1.67879241e+02] [-2.27521278e-02 2.48071966e-03 9.99738059e-01 5.07179053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.870714057 meters Centerline goodness : 0.990284 Centerline is valid? [True, True] Translation: X:235.44, Y:167.90, Z:5.07 [[ 7.31649998e-01 -6.81449952e-01 1.77269059e-02 2.35442081e+02] [ 6.81298086e-01 7.31863189e-01 1.44634228e-02 1.67897822e+02] [-2.28297687e-02 1.49514379e-03 9.99738249e-01 5.06962775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.900714057 meters Centerline goodness : 0.989206 Centerline is valid? [True, True] Translation: X:235.46, Y:167.92, Z:5.07 [[ 7.30371717e-01 -6.82805401e-01 1.82739980e-02 2.35455874e+02] [ 6.82670334e-01 7.30596341e-01 1.37913645e-02 1.67916668e+02] [-2.27677343e-02 2.40229375e-03 9.99737895e-01 5.07108097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9307140569999 meters Centerline goodness : 0.989725 Centerline is valid? [True, True] Translation: X:235.49, Y:167.94, Z:5.07 [[ 7.32432351e-01 -6.80603409e-01 1.79402038e-02 2.35485168e+02] [ 6.80457645e-01 7.32649805e-01 1.42006020e-02 1.67940433e+02] [-2.28088649e-02 1.80656856e-03 9.99738212e-01 5.06731732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9607140569999 meters Centerline goodness : 0.989311 Centerline is valid? [True, True] Translation: X:235.50, Y:167.96, Z:5.07 [[ 7.32303186e-01 -6.80736213e-01 1.81728645e-02 2.35503797e+02] [ 6.80597464e-01 7.32525401e-01 1.39150497e-02 1.67962296e+02] [-2.27845631e-02 2.17837023e-03 9.99738025e-01 5.06689341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.990714057 meters Centerline goodness : 0.991732 Centerline is valid? [True, True] Translation: X:235.51, Y:167.99, Z:5.07 [[ 7.23484584e-01 -6.90104517e-01 1.80503011e-02 2.35512852e+02] [ 6.89964923e-01 7.23706133e-01 1.40654892e-02 1.67988510e+02] [-2.27697713e-02 2.27791006e-03 9.99738140e-01 5.06641582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.020714057 meters Centerline goodness : 0.983443 Centerline is valid? [True, True] Translation: X:235.53, Y:168.00, Z:5.07 [[ 7.24073465e-01 -6.89495044e-01 1.77257201e-02 2.35526860e+02] [ 6.89345545e-01 7.24288294e-01 1.44632895e-02 1.68004457e+02] [-2.28108980e-02 1.74666201e-03 9.99738272e-01 5.06512371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0507140569999 meters Centerline goodness : 0.989885 Centerline is valid? [True, True] Translation: X:235.56, Y:168.02, Z:5.07 [[ 7.27808985e-01 -6.85562221e-01 1.72778010e-02 2.35558036e+02] [ 6.85398483e-01 7.28013462e-01 1.50106182e-02 1.68024058e+02] [-2.28691845e-02 9.17315776e-04 9.99738045e-01 5.06768640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0807140569999 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:235.57, Y:168.05, Z:5.07 [[ 7.23669639e-01 -6.89917581e-01 1.77759723e-02 2.35571299e+02] [ 6.89769710e-01 7.23885590e-01 1.44013706e-02 1.68048229e+02] [-2.28035290e-02 1.83949262e-03 9.99738273e-01 5.06576347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.110714057 meters Centerline goodness : 0.990891 Centerline is valid? [True, True] Translation: X:235.59, Y:168.07, Z:5.07 [[ 7.24969598e-01 -6.88553281e-01 1.77048211e-02 2.35593834e+02] [ 6.88402896e-01 7.25183799e-01 1.44883182e-02 1.68072223e+02] [-2.28152284e-02 1.68445988e-03 9.99738280e-01 5.06659780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.140714057 meters Centerline goodness : 0.990091 Centerline is valid? [True, True] Translation: X:235.62, Y:168.09, Z:5.06 [[ 7.25822548e-01 -6.87654078e-01 1.77058447e-02 2.35620446e+02] [ 6.87503458e-01 7.26036583e-01 1.44870672e-02 1.68092718e+02] [-2.28171818e-02 1.65778944e-03 9.99738280e-01 5.06444385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1707140569999 meters Centerline goodness : 0.990351 Centerline is valid? [True, True] Translation: X:235.63, Y:168.11, Z:5.07 [[ 7.25298106e-01 -6.88201046e-01 1.79437341e-02 2.35633963e+02] [ 6.88057667e-01 7.25517139e-01 1.41960583e-02 1.68112293e+02] [-2.27882288e-02 2.04994959e-03 9.99738213e-01 5.06637418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2007140569999 meters Centerline goodness : 0.990050 Centerline is valid? [True, True] Translation: X:235.66, Y:168.13, Z:5.06 [[ 7.24027801e-01 -6.89543612e-01 1.77017314e-02 2.35656720e+02] [ 6.89393438e-01 7.24242141e-01 1.44916698e-02 1.68132493e+02] [-2.28129782e-02 1.71108571e-03 9.99738286e-01 5.06311675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.230714057 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:235.68, Y:168.15, Z:5.06 [[ 7.23969595e-01 -6.89601869e-01 1.78125757e-02 2.35678007e+02] [ 6.89454997e-01 7.24186233e-01 1.43564314e-02 1.68152498e+02] [-2.27998440e-02 1.88734952e-03 9.99738268e-01 5.06251803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.260714057 meters Centerline goodness : 0.989039 Centerline is valid? [True, True] Translation: X:235.69, Y:168.17, Z:5.07 [[ 7.25901863e-01 -6.87566008e-01 1.78737250e-02 2.35694321e+02] [ 6.87420343e-01 7.26119343e-01 1.42818885e-02 1.68168071e+02] [-2.27981985e-02 1.91951271e-03 9.99738245e-01 5.06621174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.290714057 meters Centerline goodness : 0.989952 Centerline is valid? [True, True] Translation: X:235.72, Y:168.19, Z:5.06 [[ 7.22163859e-01 -6.91497094e-01 1.76388726e-02 2.35715755e+02] [ 6.91345654e-01 7.22377302e-01 1.45677613e-02 1.68190957e+02] [-2.28154857e-02 1.67424720e-03 9.99738291e-01 5.05871343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3207140569999 meters Centerline goodness : 0.988308 Centerline is valid? [True, True] Translation: X:235.73, Y:168.21, Z:5.06 [[ 7.24704312e-01 -6.88830612e-01 1.77777590e-02 2.35732623e+02] [ 6.88682482e-01 7.24920077e-01 1.43986720e-02 1.68206694e+02] [-2.28057005e-02 1.80845149e-03 9.99738281e-01 5.06481866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3507140569999 meters Centerline goodness : 0.988736 Centerline is valid? [True, True] Translation: X:235.76, Y:168.23, Z:5.06 [[ 7.22194093e-01 -6.91468408e-01 1.75252151e-02 2.35756553e+02] [ 6.91313638e-01 7.22405153e-01 1.47053966e-02 1.68229609e+02] [-2.28286229e-02 1.49526966e-03 9.99738275e-01 5.05643743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.380714057 meters Centerline goodness : 0.988203 Centerline is valid? [True, True] Translation: X:235.77, Y:168.25, Z:5.06 [[ 7.25466972e-01 -6.88027832e-01 1.77588271e-02 2.35773944e+02] [ 6.87878909e-01 7.25682181e-01 1.44214762e-02 1.68245714e+02] [-2.28096414e-02 1.75361793e-03 9.99738288e-01 5.06398867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.410714057 meters Centerline goodness : 0.987718 Centerline is valid? [True, True] Translation: X:235.80, Y:168.26, Z:5.06 [[ 7.25879207e-01 -6.87598630e-01 1.75357136e-02 2.35795106e+02] [ 6.87443045e-01 7.26089659e-01 1.46924221e-02 1.68264400e+02] [-2.28349896e-02 1.38988064e-03 9.99738281e-01 5.06336361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4407140569999 meters Centerline goodness : 0.989647 Centerline is valid? [True, True] Translation: X:235.82, Y:168.29, Z:5.06 [[ 7.26535632e-01 -6.86905642e-01 1.75104306e-02 2.35820872e+02] [ 6.86749121e-01 7.26745399e-01 1.47231215e-02 1.68286987e+02] [-2.28390201e-02 1.32840043e-03 9.99738273e-01 5.05518329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4707140569999 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:235.84, Y:168.30, Z:5.06 [[ 7.28456727e-01 -6.84860129e-01 1.78157485e-02 2.35838652e+02] [ 6.84711947e-01 7.28672467e-01 1.43522090e-02 1.68304784e+02] [-2.28111011e-02 1.74369261e-03 9.99738272e-01 5.05839513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.500714057 meters Centerline goodness : 0.991062 Centerline is valid? [True, True] Translation: X:235.86, Y:168.33, Z:5.06 [[ 7.32358655e-01 -6.80690203e-01 1.76535428e-02 2.35860100e+02] [ 6.80536057e-01 7.32570134e-01 1.45490278e-02 1.68325851e+02] [-2.28358389e-02 1.35876593e-03 9.99738305e-01 5.05725207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.530714057 meters Centerline goodness : 0.990962 Centerline is valid? [True, True] Translation: X:235.88, Y:168.35, Z:5.06 [[ 7.34501634e-01 -6.78377263e-01 1.76533023e-02 2.35884856e+02] [ 6.78222443e-01 7.34712621e-01 1.45493197e-02 1.68347419e+02] [-2.28400316e-02 1.28636674e-03 9.99738305e-01 5.05808817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5607140569999 meters Centerline goodness : 0.991162 Centerline is valid? [True, True] Translation: X:235.91, Y:168.37, Z:5.06 [[ 7.38203948e-01 -6.74346458e-01 1.76574373e-02 2.35909202e+02] [ 6.74190606e-01 7.38414173e-01 1.45442996e-02 1.68368611e+02] [-2.28463989e-02 1.16781896e-03 9.99738305e-01 5.05528489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5907140569999 meters Centerline goodness : 0.990593 Centerline is valid? [True, True] Translation: X:235.93, Y:168.39, Z:5.06 [[ 7.39698148e-01 -6.72707016e-01 1.76612829e-02 2.35934752e+02] [ 6.72550809e-01 7.39908109e-01 1.45396283e-02 1.68389517e+02] [-2.28486364e-02 1.12317398e-03 9.99738305e-01 5.05636793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.620714057 meters Centerline goodness : 0.982645 Centerline is valid? [True, True] Translation: X:235.95, Y:168.40, Z:5.06 [[ 7.41289744e-01 -6.70952645e-01 1.76653230e-02 2.35952916e+02] [ 6.70796057e-01 7.41499421e-01 1.45347181e-02 1.68404867e+02] [-2.28509343e-02 1.07539159e-03 9.99738305e-01 5.05821713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.650714057 meters Centerline goodness : 0.991374 Centerline is valid? [True, True] Translation: X:235.98, Y:168.43, Z:5.06 [[ 7.40862992e-01 -6.71430814e-01 1.73979581e-02 2.35978686e+02] [ 6.71266710e-01 7.41066942e-01 1.48590279e-02 1.68425199e+02] [-2.28698608e-02 6.70166281e-04 9.99738226e-01 5.05537446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6807140569999 meters Centerline goodness : 0.991629 Centerline is valid? [True, True] Translation: X:236.00, Y:168.44, Z:5.06 [[ 7.40002336e-01 -6.72372465e-01 1.76581620e-02 2.36003063e+02] [ 6.72216080e-01 7.40212159e-01 1.45430924e-02 1.68444200e+02] [-2.28491611e-02 1.10817805e-03 9.99738310e-01 5.05588021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7107140569999 meters Centerline goodness : 0.991591 Centerline is valid? [True, True] Translation: X:236.03, Y:168.46, Z:5.06 [[ 7.37721042e-01 -6.74874675e-01 1.76588969e-02 2.36029905e+02] [ 6.74719023e-01 7.37931409e-01 1.45422000e-02 1.68463446e+02] [-2.28452172e-02 1.18670669e-03 9.99738310e-01 5.05600319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.740714057 meters Centerline goodness : 0.991363 Centerline is valid? [True, True] Translation: X:236.06, Y:168.48, Z:5.05 [[ 7.36454537e-01 -6.76256413e-01 1.76629357e-02 2.36055748e+02] [ 6.76101272e-01 7.36665282e-01 1.45372928e-02 1.68482761e+02] [-2.28426090e-02 1.23587803e-03 9.99738310e-01 5.05416464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.770714057 meters Centerline goodness : 0.990961 Centerline is valid? [True, True] Translation: X:236.08, Y:168.50, Z:5.05 [[ 7.35159256e-01 -6.77664192e-01 1.76666952e-02 2.36082104e+02] [ 6.77509564e-01 7.35370377e-01 1.45327226e-02 1.68502798e+02] [-2.28398700e-02 1.28548943e-03 9.99738310e-01 5.05394735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8007140569999 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:236.11, Y:168.52, Z:5.05 [[ 7.33174989e-01 -6.79810402e-01 1.76706943e-02 2.36109254e+02] [ 6.79656508e-01 7.33386646e-01 1.45278584e-02 1.68521979e+02] [-2.28356404e-02 1.35853994e-03 9.99738310e-01 5.05288379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8307140569999 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:236.14, Y:168.54, Z:5.05 [[ 7.33364129e-01 -6.79606253e-01 1.76747354e-02 2.36135269e+02] [ 6.79452418e-01 7.33575828e-01 1.45229402e-02 1.68543255e+02] [-2.28356397e-02 1.35853834e-03 9.99738310e-01 5.05211706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.860714057 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:236.16, Y:168.56, Z:5.05 [[ 7.32964023e-01 -6.80037647e-01 1.76787762e-02 2.36160700e+02] [ 6.79884055e-01 7.33175899e-01 1.45180197e-02 1.68563130e+02] [-2.28344526e-02 1.37833196e-03 9.99738310e-01 5.05042386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.890714057 meters Centerline goodness : 0.991366 Centerline is valid? [True, True] Translation: X:236.19, Y:168.58, Z:5.05 [[ 7.33167419e-01 -6.79818257e-01 1.76825348e-02 2.36185947e+02] [ 6.79664712e-01 7.33379329e-01 1.45134404e-02 1.68583116e+02] [-2.28345073e-02 1.37741330e-03 9.99738310e-01 5.05146340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9207140569999 meters Centerline goodness : 0.990917 Centerline is valid? [True, True] Translation: X:236.21, Y:168.60, Z:5.05 [[ 7.34364724e-01 -6.78524613e-01 1.76862007e-02 2.36210931e+02] [ 6.78370801e-01 7.34576440e-01 1.45089717e-02 1.68602238e+02] [-2.28365608e-02 1.34292520e-03 9.99738310e-01 5.04942245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9507140569999 meters Centerline goodness : 0.991084 Centerline is valid? [True, True] Translation: X:236.24, Y:168.62, Z:5.05 [[ 7.35299432e-01 -6.77511494e-01 1.76895793e-02 2.36236388e+02] [ 6.77357489e-01 7.35511007e-01 1.45048513e-02 1.68621952e+02] [-2.28380838e-02 1.31676016e-03 9.99738310e-01 5.04579708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.980714057 meters Centerline goodness : 0.990925 Centerline is valid? [True, True] Translation: X:236.26, Y:168.64, Z:5.05 [[ 7.36367183e-01 -6.76350734e-01 1.76933754e-02 2.36262645e+02] [ 6.76196506e-01 7.36578596e-01 1.45002192e-02 1.68642524e+02] [-2.28397956e-02 1.28671308e-03 9.99738310e-01 5.04770408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.010714057 meters Centerline goodness : 0.991028 Centerline is valid? [True, True] Translation: X:236.29, Y:168.66, Z:5.05 [[ 7.38684671e-01 -6.73818784e-01 1.76975589e-02 2.36288309e+02] [ 6.73663953e-01 7.38895642e-01 1.44951115e-02 1.68661881e+02] [-2.28437275e-02 1.21489085e-03 9.99738310e-01 5.04683160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.040714057 meters Centerline goodness : 0.990822 Centerline is valid? [True, True] Translation: X:236.31, Y:168.68, Z:5.05 [[ 7.39780151e-01 -6.72615779e-01 1.77014457e-02 2.36313453e+02] [ 6.72460718e-01 7.39990954e-01 1.44903634e-02 1.68682069e+02] [-2.28453567e-02 1.18384366e-03 9.99738310e-01 5.04546962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0707140569999 meters Centerline goodness : 0.991665 Centerline is valid? [True, True] Translation: X:236.34, Y:168.70, Z:5.05 [[ 7.41899901e-01 -6.70276853e-01 1.77052901e-02 2.36339428e+02] [ 6.70121239e-01 7.42110296e-01 1.44856645e-02 1.68702959e+02] [-2.28486837e-02 1.11777791e-03 9.99738310e-01 5.04632242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1007140569999 meters Centerline goodness : 0.990935 Centerline is valid? [True, True] Translation: X:236.38, Y:168.72, Z:5.04 [[ 7.49362236e-01 -6.61923423e-01 1.77093738e-02 2.36383246e+02] [ 6.61765579e-01 7.49570963e-01 1.44806703e-02 1.68721644e+02] [-2.28595272e-02 8.68186506e-04 9.99738310e-01 5.04195179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.130714057 meters Centerline goodness : 0.990380 Centerline is valid? [True, True] Translation: X:236.40, Y:168.74, Z:5.05 [[ 7.48870266e-01 -6.62467015e-01 1.81873510e-02 2.36401537e+02] [ 6.62323240e-01 7.49089295e-01 1.38980128e-02 1.68740714e+02] [-2.28309249e-02 1.63809670e-03 9.99737998e-01 5.04851073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.160714057 meters Centerline goodness : 0.990731 Centerline is valid? [True, True] Translation: X:236.42, Y:168.76, Z:5.05 [[ 7.47547669e-01 -6.63964554e-01 1.79876010e-02 2.36417559e+02] [ 6.63815334e-01 7.47762796e-01 1.41422706e-02 1.68760070e+02] [-2.28404252e-02 1.36842391e-03 9.99738187e-01 5.04698364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1907140569999 meters Centerline goodness : 0.991456 Centerline is valid? [True, True] Translation: X:236.45, Y:168.78, Z:5.05 [[ 7.49497572e-01 -6.61770489e-01 1.76977300e-02 2.36448662e+02] [ 6.61612234e-01 7.49706014e-01 1.44963250e-02 1.68780603e+02] [-2.28613347e-02 8.44074321e-04 9.99738289e-01 5.04521031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2207140569999 meters Centerline goodness : 0.990808 Centerline is valid? [True, True] Translation: X:236.47, Y:168.80, Z:5.05 [[ 7.47448759e-01 -6.64073159e-01 1.80884400e-02 2.36469809e+02] [ 6.63926843e-01 7.47666038e-01 1.40229394e-02 1.68800533e+02] [-2.28363699e-02 1.52797220e-03 9.99738048e-01 5.05044869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.250714057 meters Centerline goodness : 0.990667 Centerline is valid? [True, True] Translation: X:236.49, Y:168.82, Z:5.05 [[ 7.47165590e-01 -6.64395182e-01 1.79617178e-02 2.36493648e+02] [ 6.64245272e-01 7.47380258e-01 1.41763817e-02 1.68818048e+02] [-2.28429530e-02 1.33888149e-03 9.99738169e-01 5.05000387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.280714057 meters Centerline goodness : 0.991446 Centerline is valid? [True, True] Translation: X:236.52, Y:168.84, Z:5.05 [[ 7.45252985e-01 -6.66542592e-01 1.78594724e-02 2.36517727e+02] [ 6.66390338e-01 7.45465911e-01 1.43000734e-02 1.68837134e+02] [-2.28452359e-02 1.24420746e-03 9.99738239e-01 5.04857363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3107140569999 meters Centerline goodness : 0.991046 Centerline is valid? [True, True] Translation: X:236.54, Y:168.86, Z:5.05 [[ 7.42519343e-01 -6.69587729e-01 1.78128748e-02 2.36542619e+02] [ 6.69435000e-01 7.42731899e-01 1.43564348e-02 1.68855269e+02] [-2.28430829e-02 1.26463134e-03 9.99738263e-01 5.04617233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3407140569999 meters Centerline goodness : 0.992276 Centerline is valid? [True, True] Translation: X:236.57, Y:168.88, Z:5.05 [[ 7.40603246e-01 -6.71707758e-01 1.77628575e-02 2.36570397e+02] [ 6.71554191e-01 7.40815174e-01 1.44169330e-02 1.68876202e+02] [-2.28429602e-02 1.25149401e-03 9.99738282e-01 5.04613594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.370714057 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:236.60, Y:168.90, Z:5.05 [[ 7.38075518e-01 -6.74481605e-01 1.78632093e-02 2.36598042e+02] [ 6.74331749e-01 7.38290140e-01 1.42955128e-02 1.68897944e+02] [-2.28302917e-02 1.49456113e-03 9.99738238e-01 5.04508081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.400714057 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:236.62, Y:168.92, Z:5.04 [[ 7.35974084e-01 -6.76771324e-01 1.79644838e-02 2.36624381e+02] [ 6.76625100e-01 7.36191281e-01 1.41729425e-02 1.68917939e+02] [-2.28171374e-02 1.72430227e-03 9.99738168e-01 5.04313952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4307140569999 meters Centerline goodness : 0.991427 Centerline is valid? [True, True] Translation: X:236.65, Y:168.94, Z:5.04 [[ 7.36202472e-01 -6.76522444e-01 1.79806361e-02 2.36646138e+02] [ 6.76376620e-01 7.36419954e-01 1.41534019e-02 1.68936444e+02] [-2.28163933e-02 1.74191240e-03 9.99738155e-01 5.04048081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4607140569999 meters Centerline goodness : 0.991836 Centerline is valid? [True, True] Translation: X:236.67, Y:168.96, Z:5.04 [[ 7.33732094e-01 -6.79205059e-01 1.78242118e-02 2.36668592e+02] [ 6.79055450e-01 7.33946859e-01 1.43423930e-02 1.68955914e+02] [-2.28234502e-02 1.58015413e-03 9.99738262e-01 5.03831150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.490714057 meters Centerline goodness : 0.991635 Centerline is valid? [True, True] Translation: X:236.69, Y:168.98, Z:5.04 [[ 7.33712112e-01 -6.79228451e-01 1.77552128e-02 2.36694938e+02] [ 6.79076841e-01 7.33925434e-01 1.44257408e-02 1.68976457e+02] [-2.28293759e-02 1.47281305e-03 9.99738291e-01 5.03768355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.520714057 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:236.72, Y:169.00, Z:5.04 [[ 7.32980813e-01 -6.80016320e-01 1.78025781e-02 2.36723561e+02] [ 6.79866319e-01 7.33195291e-01 1.43685138e-02 1.68998488e+02] [-2.28235904e-02 1.57152831e-03 9.99738273e-01 5.03945391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5507140569999 meters Centerline goodness : 0.991077 Centerline is valid? [True, True] Translation: X:236.74, Y:169.02, Z:5.04 [[ 7.34166243e-01 -6.78731292e-01 1.79933872e-02 2.36742515e+02] [ 6.78586500e-01 7.34384425e-01 1.41378524e-02 1.69017314e+02] [-2.28098662e-02 1.83053571e-03 9.99738145e-01 5.03910823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5807140569999 meters Centerline goodness : 0.990717 Centerline is valid? [True, True] Translation: X:236.77, Y:169.04, Z:5.04 [[ 7.35935604e-01 -6.76818043e-01 1.77798441e-02 2.36765012e+02] [ 6.76666455e-01 7.36148947e-01 1.43957271e-02 1.69038157e+02] [-2.28319013e-02 1.43669599e-03 9.99738286e-01 5.03886460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.610714057 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:236.79, Y:169.06, Z:5.04 [[ 7.37334270e-01 -6.75295355e-01 1.77301644e-02 2.36790376e+02] [ 6.75141887e-01 7.37546245e-01 1.44557431e-02 1.69059185e+02] [-2.28387123e-02 1.31166190e-03 9.99738302e-01 5.03919146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.640714057 meters Centerline goodness : 0.990765 Centerline is valid? [True, True] Translation: X:236.81, Y:169.08, Z:5.04 [[ 7.37938518e-01 -6.74633493e-01 1.77874767e-02 2.36814548e+02] [ 6.74481494e-01 7.38151572e-01 1.43864855e-02 1.69079309e+02] [-2.28354589e-02 1.38098207e-03 9.99738283e-01 5.03818135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6707140569999 meters Centerline goodness : 0.990476 Centerline is valid? [True, True] Translation: X:236.84, Y:169.10, Z:5.04 [[ 7.39206901e-01 -6.73245204e-01 1.77215320e-02 2.36841082e+02] [ 6.73090900e-01 7.39418265e-01 1.44661628e-02 1.69100766e+02] [-2.28428991e-02 1.23471452e-03 9.99738304e-01 5.03719415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7007140569999 meters Centerline goodness : 0.990336 Centerline is valid? [True, True] Translation: X:236.87, Y:169.12, Z:5.04 [[ 7.39529895e-01 -6.72889521e-01 1.77546578e-02 2.36865146e+02] [ 6.72736070e-01 7.39741891e-01 1.44261700e-02 1.69122461e+02] [-2.28410827e-02 1.27561471e-03 9.99738295e-01 5.03833655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.730714057 meters Centerline goodness : 0.989528 Centerline is valid? [True, True] Translation: X:236.89, Y:169.14, Z:5.04 [[ 7.41254318e-01 -6.70989535e-01 1.77504821e-02 2.36886432e+02] [ 6.70835420e-01 7.41465831e-01 1.44312113e-02 1.69141211e+02] [-2.28445677e-02 1.21045440e-03 9.99738296e-01 5.03715884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.760714057 meters Centerline goodness : 0.990139 Centerline is valid? [True, True] Translation: X:236.91, Y:169.16, Z:5.04 [[ 7.42715547e-01 -6.69375337e-01 1.76146083e-02 2.36913726e+02] [ 6.69216871e-01 7.42923791e-01 1.45951951e-02 1.69163002e+02] [-2.28559752e-02 9.47914689e-04 9.99738319e-01 5.03623413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.790714057 meters Centerline goodness : 0.988536 Centerline is valid? [True, True] Translation: X:236.94, Y:169.18, Z:5.03 [[ 7.44311970e-01 -6.67596911e-01 1.77216170e-02 2.36936083e+02] [ 6.67441007e-01 7.44522155e-01 1.44659310e-02 1.69181213e+02] [-2.28515474e-02 1.06096827e-03 9.99738306e-01 5.03478662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8207140569999 meters Centerline goodness : 0.990052 Centerline is valid? [True, True] Translation: X:236.96, Y:169.20, Z:5.03 [[ 7.45896928e-01 -6.65828312e-01 1.76190427e-02 2.36962005e+02] [ 6.65668983e-01 7.46104512e-01 1.45898030e-02 1.69201679e+02] [-2.28599512e-02 8.45960992e-04 9.99738319e-01 5.03462248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8507140569999 meters Centerline goodness : 0.989782 Centerline is valid? [True, True] Translation: X:236.99, Y:169.22, Z:5.03 [[ 7.46566316e-01 -6.65075954e-01 1.76836547e-02 2.36988514e+02] [ 6.64918256e-01 7.46775148e-01 1.45117668e-02 1.69222895e+02] [-2.28571410e-02 9.24188602e-04 9.99738314e-01 5.03338247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.880714057 meters Centerline goodness : 0.989539 Centerline is valid? [True, True] Translation: X:237.01, Y:169.24, Z:5.03 [[ 7.49253582e-01 -6.62044827e-01 1.77684271e-02 2.37012502e+02] [ 6.61888703e-01 7.49463619e-01 1.44093186e-02 1.69240880e+02] [-2.28564046e-02 9.64487590e-04 9.99738293e-01 5.03123755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.910714057 meters Centerline goodness : 0.990425 Centerline is valid? [True, True] Translation: X:237.04, Y:169.26, Z:5.03 [[ 7.49257021e-01 -6.62042240e-01 1.77197564e-02 2.37040021e+02] [ 6.61884724e-01 7.49465999e-01 1.44681523e-02 1.69261054e+02] [-2.28588829e-02 8.88071349e-04 9.99738307e-01 5.03075997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9407140569999 meters Centerline goodness : 0.989895 Centerline is valid? [True, True] Translation: X:237.07, Y:169.28, Z:5.03 [[ 7.49570418e-01 -6.61685970e-01 1.77725978e-02 2.37066506e+02] [ 6.61529865e-01 7.49780471e-01 1.44042476e-02 1.69280956e+02] [-2.28566353e-02 9.60106321e-04 9.99738292e-01 5.03019366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9707140569999 meters Centerline goodness : 0.990496 Centerline is valid? [True, True] Translation: X:237.09, Y:169.30, Z:5.03 [[ 7.48507857e-01 -6.62886916e-01 1.78023627e-02 2.37090901e+02] [ 6.62732001e-01 7.48718804e-01 1.43682383e-02 1.69299391e+02] [-2.28534809e-02 1.04345622e-03 9.99738281e-01 5.02780233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.000714057 meters Centerline goodness : 0.991011 Centerline is valid? [True, True] Translation: X:237.11, Y:169.32, Z:5.03 [[ 7.46732191e-01 -6.64887838e-01 1.77538029e-02 2.37113647e+02] [ 6.64732094e-01 7.46942504e-01 1.44269824e-02 1.69319891e+02] [-2.28533952e-02 1.02843037e-03 9.99738298e-01 5.02973019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.030714057 meters Centerline goodness : 0.991227 Centerline is valid? [True, True] Translation: X:237.14, Y:169.34, Z:5.03 [[ 7.46685576e-01 -6.64941048e-01 1.77215655e-02 2.37139976e+02] [ 6.64784396e-01 7.46895202e-01 1.44659702e-02 1.69339219e+02] [-2.28551696e-02 9.79488902e-04 9.99738307e-01 5.02761682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0607140569999 meters Centerline goodness : 0.990868 Centerline is valid? [True, True] Translation: X:237.16, Y:169.36, Z:5.03 [[ 7.45220870e-01 -6.66582496e-01 1.77096391e-02 2.37163974e+02] [ 6.66425963e-01 7.45430583e-01 1.44803979e-02 1.69357402e+02] [-2.28536864e-02 1.01106855e-03 9.99738309e-01 5.02680426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0907140569999 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:237.19, Y:169.38, Z:5.03 [[ 7.43662870e-01 -6.68320739e-01 1.76897214e-02 2.37190686e+02] [ 6.68164125e-01 7.43872518e-01 1.45044882e-02 1.69375876e+02] [-2.28525479e-02 1.03318788e-03 9.99738313e-01 5.02862615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.120714057 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:237.20, Y:169.39, Z:5.03 [[ 7.39824354e-01 -6.72567214e-01 1.76994059e-02 2.37204081e+02] [ 6.72412081e-01 7.40035102e-01 1.44927703e-02 1.69394486e+02] [-2.28455438e-02 1.17918990e-03 9.99738311e-01 5.02722068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.150714057 meters Centerline goodness : 0.990785 Centerline is valid? [True, True] Translation: X:237.23, Y:169.41, Z:5.02 [[ 7.39390967e-01 -6.73051235e-01 1.74078236e-02 2.37230396e+02] [ 6.72887911e-01 7.39595492e-01 1.48447976e-02 1.69411396e+02] [-2.28660572e-02 7.37404810e-04 9.99738266e-01 5.02462900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1807140569999 meters Centerline goodness : 0.991634 Centerline is valid? [True, True] Translation: X:237.26, Y:169.43, Z:5.02 [[ 7.39598794e-01 -6.72822017e-01 1.74401086e-02 2.37255545e+02] [ 6.72659545e-01 7.39803977e-01 1.48057997e-02 1.69430350e+02] [-2.28639297e-02 7.80903895e-04 9.99738281e-01 5.02318053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2107140569999 meters Centerline goodness : 0.990742 Centerline is valid? [True, True] Translation: X:237.28, Y:169.45, Z:5.02 [[ 7.37046418e-01 -6.75617275e-01 1.74320105e-02 2.37280094e+02] [ 6.75455351e-01 7.37252038e-01 1.48155818e-02 1.69447174e+02] [-2.28614483e-02 8.54773293e-04 9.99738278e-01 5.02319204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.240714057 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:237.30, Y:169.46, Z:5.02 [[ 7.35932265e-01 -6.76829793e-01 1.74680452e-02 2.37302192e+02] [ 6.76669237e-01 7.36138934e-01 1.47720578e-02 1.69463457e+02] [-2.28570770e-02 9.48854871e-04 9.99738293e-01 5.02273943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.270714057 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:237.33, Y:169.48, Z:5.02 [[ 7.32250744e-01 -6.80810507e-01 1.74900604e-02 2.37329547e+02] [ 6.80651706e-01 7.32458755e-01 1.47454263e-02 1.69482615e+02] [-2.28495891e-02 1.10729009e-03 9.99738301e-01 5.02309714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3007140569999 meters Centerline goodness : 0.990408 Centerline is valid? [True, True] Translation: X:237.36, Y:169.50, Z:5.02 [[ 7.30098633e-01 -6.83117805e-01 1.74942875e-02 2.37355029e+02] [ 6.82959783e-01 7.30307235e-01 1.47403090e-02 1.69502388e+02] [-2.28455723e-02 1.18601535e-03 9.99738302e-01 5.02196540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3307140569999 meters Centerline goodness : 0.991434 Centerline is valid? [True, True] Translation: X:237.38, Y:169.52, Z:5.02 [[ 7.26238964e-01 -6.87219512e-01 1.75016968e-02 2.37381719e+02] [ 6.87062882e-01 7.26448611e-01 1.47313313e-02 1.69522417e+02] [-2.28377416e-02 1.32629941e-03 9.99738305e-01 5.02026972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.360714057 meters Centerline goodness : 0.991507 Centerline is valid? [True, True] Translation: X:237.41, Y:169.54, Z:5.02 [[ 7.24521525e-01 -6.89029668e-01 1.75121794e-02 2.37405979e+02] [ 6.88873867e-01 7.24731784e-01 1.47186213e-02 1.69541960e+02] [-2.28331997e-02 1.39972478e-03 9.99738309e-01 5.01915102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.390714057 meters Centerline goodness : 0.989436 Centerline is valid? [True, True] Translation: X:237.45, Y:169.56, Z:5.02 [[ 7.27913280e-01 -6.85445686e-01 1.75062285e-02 2.37445948e+02] [ 6.85288677e-01 7.28122640e-01 1.47258374e-02 1.69556076e+02] [-2.28404430e-02 1.27768758e-03 9.99738307e-01 5.01634219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4207140569999 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:237.45, Y:169.58, Z:5.02 [[ 7.19795557e-01 -6.93953913e-01 1.79533466e-02 2.37454173e+02] [ 6.93812607e-01 7.20015913e-01 1.41828040e-02 1.69579728e+02] [-2.27689075e-02 2.24753890e-03 9.99738228e-01 5.01684520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4507140569999 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:237.48, Y:169.60, Z:5.01 [[ 7.17400383e-01 -6.96440194e-01 1.75427103e-02 2.37479641e+02] [ 6.96287477e-01 7.17612865e-01 1.46807785e-02 1.69598950e+02] [-2.28131588e-02 1.68277338e-03 9.99738330e-01 5.01355990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.480714057 meters Centerline goodness : 0.990553 Centerline is valid? [True, True] Translation: X:237.51, Y:169.62, Z:5.01 [[ 7.19584782e-01 -6.94182531e-01 1.75600430e-02 2.37513146e+02] [ 6.94029656e-01 7.19797145e-01 1.46597428e-02 1.69618730e+02] [-2.28162062e-02 1.63826274e-03 9.99738334e-01 5.01281878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.510714057 meters Centerline goodness : 0.991175 Centerline is valid? [True, True] Translation: X:237.54, Y:169.64, Z:5.01 [[ 7.20169860e-01 -6.93569371e-01 1.78016971e-02 2.37538715e+02] [ 6.93423450e-01 7.20387073e-01 1.43660584e-02 1.69640205e+02] [-2.27879706e-02 1.99811199e-03 9.99738324e-01 5.01161528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.540714057 meters Centerline goodness : 0.990655 Centerline is valid? [True, True] Translation: X:237.56, Y:169.66, Z:5.01 [[ 7.18977510e-01 -6.94804247e-01 1.78436929e-02 2.37559616e+02] [ 6.94659950e-01 7.19195825e-01 1.43150108e-02 1.69661490e+02] [-2.27792398e-02 2.10312801e-03 9.99738307e-01 5.01264835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5707140569999 meters Centerline goodness : 0.990529 Centerline is valid? [True, True] Translation: X:237.59, Y:169.68, Z:5.01 [[ 7.19500196e-01 -6.94264989e-01 1.77649370e-02 2.37585578e+02] [ 6.94118187e-01 7.19716801e-01 1.44107094e-02 1.69683796e+02] [-2.27905747e-02 1.96245763e-03 9.99738335e-01 5.01206104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6007140569999 meters Centerline goodness : 0.990012 Centerline is valid? [True, True] Translation: X:237.61, Y:169.71, Z:5.01 [[ 7.19088748e-01 -6.94690029e-01 1.78083300e-02 2.37610277e+02] [ 6.94544645e-01 7.19306322e-01 1.43579643e-02 1.69707918e+02] [-2.27839790e-02 2.04402967e-03 9.99738322e-01 5.01298671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.630714057 meters Centerline goodness : 0.989923 Centerline is valid? [True, True] Translation: X:237.64, Y:169.73, Z:5.01 [[ 7.20590149e-01 -6.93129901e-01 1.79102660e-02 2.37636234e+02] [ 6.92987082e-01 7.20809474e-01 1.42340046e-02 1.69730059e+02] [-2.27759036e-02 2.15469948e-03 9.99738273e-01 5.01068737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.660714057 meters Centerline goodness : 0.990040 Centerline is valid? [True, True] Translation: X:237.66, Y:169.75, Z:5.01 [[ 7.20453278e-01 -6.93270217e-01 1.79855856e-02 2.37656035e+02] [ 6.93129694e-01 7.20674143e-01 1.41424144e-02 1.69752660e+02] [-2.27662612e-02 2.27739467e-03 9.99738221e-01 5.01194050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6907140569999 meters Centerline goodness : 0.989800 Centerline is valid? [True, True] Translation: X:237.68, Y:169.77, Z:5.01 [[ 7.21313271e-01 -6.92377472e-01 1.79053334e-02 2.37681727e+02] [ 6.92234278e-01 7.21532347e-01 1.42399512e-02 1.69773673e+02] [-2.27786987e-02 2.12321977e-03 9.99738277e-01 5.00937344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7207140569999 meters Centerline goodness : 0.989800 Centerline is valid? [True, True] Translation: X:237.71, Y:169.79, Z:5.01 [[ 7.21098064e-01 -6.92600035e-01 1.79659305e-02 2.37706721e+02] [ 6.92458717e-01 7.21318404e-01 1.41663501e-02 1.69794548e+02] [-2.27707709e-02 2.22533752e-03 9.99738236e-01 5.00865880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.750714057 meters Centerline goodness : 0.991369 Centerline is valid? [True, True] Translation: X:237.73, Y:169.82, Z:5.01 [[ 7.20922006e-01 -6.92783304e-01 1.79653844e-02 2.37726170e+02] [ 6.92642026e-01 7.21142372e-01 1.41670132e-02 1.69816206e+02] [-2.27702701e-02 2.23026868e-03 9.99738236e-01 5.00829335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.780714057 meters Centerline goodness : 0.989593 Centerline is valid? [True, True] Translation: X:237.74, Y:169.83, Z:5.01 [[ 7.23779525e-01 -6.89799323e-01 1.78911541e-02 2.37743213e+02] [ 6.89654928e-01 7.23997801e-01 1.42571095e-02 1.69834170e+02] [-2.27877007e-02 2.01971864e-03 9.99738286e-01 5.00696146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8107140569999 meters Centerline goodness : 0.990675 Centerline is valid? [True, True] Translation: X:237.77, Y:169.86, Z:5.01 [[ 7.23221440e-01 -6.90390211e-01 1.76665242e-02 2.37769184e+02] [ 6.90239367e-01 7.23435217e-01 1.45293647e-02 1.69857871e+02] [-2.28115169e-02 1.68618242e-03 9.99738362e-01 5.00593705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8407140569999 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:237.79, Y:169.88, Z:5.01 [[ 7.23763533e-01 -6.89819038e-01 1.77776298e-02 2.37791682e+02] [ 6.89671295e-01 7.23979489e-01 1.43945723e-02 1.69879192e+02] [-2.28002894e-02 1.84245448e-03 9.99738342e-01 5.00512782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.870714057 meters Centerline goodness : 0.989548 Centerline is valid? [True, True] Translation: X:237.81, Y:169.90, Z:5.00 [[ 7.26974861e-01 -6.86434182e-01 1.77669701e-02 2.37812707e+02] [ 6.86285120e-01 7.27189905e-01 1.44075043e-02 1.69899179e+02] [-2.28097647e-02 1.71931376e-03 9.99738345e-01 5.00095700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.900714057 meters Centerline goodness : 0.989224 Centerline is valid? [True, True] Translation: X:237.84, Y:169.92, Z:5.00 [[ 7.27169484e-01 -6.86231091e-01 1.76474315e-02 2.37835438e+02] [ 6.86078467e-01 7.27381993e-01 1.45524665e-02 1.69921860e+02] [-2.28227789e-02 1.52541324e-03 9.99738363e-01 5.00066439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9307140569999 meters Centerline goodness : 0.989390 Centerline is valid? [True, True] Translation: X:237.86, Y:169.95, Z:5.00 [[ 7.27197507e-01 -6.86201368e-01 1.76484528e-02 2.37857788e+02] [ 6.86048765e-01 7.27410031e-01 1.45512279e-02 1.69945638e+02] [-2.28227340e-02 1.52608262e-03 9.99738363e-01 4.99966145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9607140569999 meters Centerline goodness : 0.987506 Centerline is valid? [True, True] Translation: X:237.88, Y:169.97, Z:5.00 [[ 7.27752354e-01 -6.85612116e-01 1.76787173e-02 2.37880463e+02] [ 6.85460226e-01 7.27965389e-01 1.45145044e-02 1.69968075e+02] [-2.28208144e-02 1.55509279e-03 9.99738362e-01 4.99779093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.990714057 meters Centerline goodness : 0.988408 Centerline is valid? [True, True] Translation: X:237.91, Y:169.99, Z:5.00 [[ 7.26335908e-01 -6.87112607e-01 1.76752472e-02 2.37906639e+02] [ 6.86961055e-01 7.26549183e-01 1.45187139e-02 1.69992677e+02] [-2.28179278e-02 1.59674322e-03 9.99738362e-01 4.99819206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.020714057 meters Centerline goodness : 0.989994 Centerline is valid? [True, True] Translation: X:237.93, Y:170.02, Z:5.00 [[ 7.26619352e-01 -6.86808637e-01 1.78385087e-02 2.37928120e+02] [ 6.86661800e-01 7.26835949e-01 1.43204517e-02 1.70015320e+02] [-2.28010793e-02 1.84350518e-03 9.99738322e-01 5.00018535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0507140569999 meters Centerline goodness : 0.989352 Centerline is valid? [True, True] Translation: X:237.95, Y:170.04, Z:5.00 [[ 7.26965075e-01 -6.86442774e-01 1.78353147e-02 2.37952494e+02] [ 6.86295733e-01 7.27181532e-01 1.43243308e-02 1.70035990e+02] [-2.28023449e-02 1.82701215e-03 9.99738323e-01 4.99968290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0807140569999 meters Centerline goodness : 0.990276 Centerline is valid? [True, True] Translation: X:237.98, Y:170.06, Z:5.00 [[ 7.26116893e-01 -6.87339207e-01 1.78625676e-02 2.37978367e+02] [ 6.87193239e-01 7.26334091e-01 1.42912579e-02 1.70058667e+02] [-2.27971337e-02 1.89791194e-03 9.99738310e-01 4.99851537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.110714057 meters Centerline goodness : 0.988444 Centerline is valid? [True, True] Translation: X:238.00, Y:170.08, Z:5.00 [[ 7.27195211e-01 -6.86196590e-01 1.79266727e-02 2.37999028e+02] [ 6.86052176e-01 7.27413492e-01 1.42134943e-02 1.70077562e+02] [-2.27933549e-02 1.96264785e-03 9.99738271e-01 4.99833063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.140714057 meters Centerline goodness : 0.987799 Centerline is valid? [True, True] Translation: X:238.02, Y:170.10, Z:5.00 [[ 7.25294127e-01 -6.88209849e-01 1.77660825e-02 2.38020801e+02] [ 6.88061297e-01 7.25509515e-01 1.44081479e-02 1.70098843e+02] [-2.28052912e-02 1.77400875e-03 9.99738352e-01 4.99829163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1707140569999 meters Centerline goodness : 0.989056 Centerline is valid? [True, True] Translation: X:238.04, Y:170.12, Z:5.00 [[ 7.24011628e-01 -6.89560073e-01 1.77219809e-02 2.38044545e+02] [ 6.89410624e-01 7.24226383e-01 1.44616301e-02 1.70120463e+02] [-2.28068888e-02 1.74733357e-03 9.99738362e-01 4.99811140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2007140569999 meters Centerline goodness : 0.988884 Centerline is valid? [True, True] Translation: X:238.07, Y:170.14, Z:5.00 [[ 7.21529231e-01 -6.92157791e-01 1.76963272e-02 2.38068164e+02] [ 6.92008359e-01 7.21743993e-01 1.44927476e-02 1.70143180e+02] [-2.28034861e-02 1.78906530e-03 9.99738366e-01 4.99585018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.230714057 meters Centerline goodness : 0.987571 Centerline is valid? [True, True] Translation: X:238.09, Y:170.16, Z:5.00 [[ 7.20474581e-01 -6.93255161e-01 1.77104443e-02 2.38089384e+02] [ 6.93106472e-01 7.20689860e-01 1.44756172e-02 1.70163046e+02] [-2.27990340e-02 1.84590928e-03 9.99738364e-01 4.99664803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.260714057 meters Centerline goodness : 0.990312 Centerline is valid? [True, True] Translation: X:238.12, Y:170.19, Z:4.99 [[ 7.18850965e-01 -6.94940434e-01 1.76375890e-02 2.38116680e+02] [ 6.94790099e-01 7.19065092e-01 1.45640134e-02 1.70186212e+02] [-2.28036964e-02 1.78506718e-03 9.99738368e-01 4.99497433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.290714057 meters Centerline goodness : 0.990375 Centerline is valid? [True, True] Translation: X:238.14, Y:170.21, Z:4.99 [[ 7.16935394e-01 -6.96912482e-01 1.77941800e-02 2.38144297e+02] [ 6.96767381e-01 7.17153129e-01 1.43737953e-02 1.70209323e+02] [-2.27784292e-02 2.09332163e-03 9.99738346e-01 4.99046705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3207140569999 meters Centerline goodness : 0.989745 Centerline is valid? [True, True] Translation: X:238.16, Y:170.23, Z:4.99 [[ 7.18327004e-01 -6.95472879e-01 1.79941667e-02 2.38164488e+02] [ 6.95333319e-01 7.18548466e-01 1.41307300e-02 1.70229627e+02] [-2.27572203e-02 2.36145872e-03 9.99738232e-01 4.99354609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3507140569999 meters Centerline goodness : 0.991587 Centerline is valid? [True, True] Translation: X:238.19, Y:170.25, Z:4.99 [[ 7.18282807e-01 -6.95523306e-01 1.78084008e-02 2.38190257e+02] [ 6.95378214e-01 7.18500549e-01 1.43562448e-02 1.70253077e+02] [-2.27804486e-02 2.07173012e-03 9.99738345e-01 4.99137768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.380714057 meters Centerline goodness : 0.988526 Centerline is valid? [True, True] Translation: X:238.21, Y:170.27, Z:4.99 [[ 7.19315425e-01 -6.94453034e-01 1.78969973e-02 2.38209889e+02] [ 6.94310256e-01 7.19534742e-01 1.42486290e-02 1.70273396e+02] [-2.27725150e-02 2.17681014e-03 9.99738303e-01 4.99362957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.410714057 meters Centerline goodness : 0.987999 Centerline is valid? [True, True] Translation: X:238.23, Y:170.30, Z:4.99 [[ 7.20767280e-01 -6.92949549e-01 1.77609381e-02 2.38234779e+02] [ 6.92802271e-01 7.20983532e-01 1.44138909e-02 1.70296741e+02] [-2.27934431e-02 1.91575727e-03 9.99738360e-01 4.99092419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4407140569999 meters Centerline goodness : 0.988382 Centerline is valid? [True, True] Translation: X:238.26, Y:170.32, Z:4.99 [[ 7.21420106e-01 -6.92268874e-01 1.77999162e-02 2.38260134e+02] [ 6.92122546e-01 7.21637016e-01 1.43665666e-02 1.70319133e+02] [-2.27906052e-02 1.95539333e-03 9.99738348e-01 4.98965220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4707140569999 meters Centerline goodness : 0.988437 Centerline is valid? [True, True] Translation: X:238.28, Y:170.34, Z:4.99 [[ 7.23064305e-01 -6.90549322e-01 1.78786097e-02 2.38282944e+02] [ 6.90404812e-01 7.23282472e-01 1.42709730e-02 1.70340717e+02] [-2.27860958e-02 2.02464695e-03 9.99738313e-01 4.98744305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.500714057 meters Centerline goodness : 0.988669 Centerline is valid? [True, True] Translation: X:238.31, Y:170.36, Z:4.99 [[ 7.23690973e-01 -6.89893579e-01 1.78388783e-02 2.38308414e+02] [ 6.89747694e-01 7.23908198e-01 1.43192185e-02 1.70363240e+02] [-2.27924472e-02 1.94163601e-03 9.99738333e-01 4.98534685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.530714057 meters Centerline goodness : 0.989695 Centerline is valid? [True, True] Translation: X:238.33, Y:170.38, Z:4.98 [[ 7.24669347e-01 -6.88863617e-01 1.79236009e-02 2.38332733e+02] [ 6.88719935e-01 7.24888093e-01 1.42163390e-02 1.70384850e+02] [-2.27857235e-02 2.04219612e-03 9.99738286e-01 4.98371104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5607140569999 meters Centerline goodness : 0.988606 Centerline is valid? [True, True] Translation: X:238.36, Y:170.41, Z:4.98 [[ 7.25148519e-01 -6.88359974e-01 1.78933443e-02 2.38358985e+02] [ 6.88215243e-01 7.25366549e-01 1.42530480e-02 1.70406861e+02] [-2.27904612e-02 1.97889567e-03 9.99738305e-01 4.98270272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5907140569999 meters Centerline goodness : 0.987235 Centerline is valid? [True, True] Translation: X:238.38, Y:170.43, Z:4.98 [[ 7.26518757e-01 -6.86912164e-01 1.79492383e-02 2.38378756e+02] [ 6.86768655e-01 7.26737638e-01 1.41852043e-02 1.70428388e+02] [-2.27883764e-02 2.02115724e-03 9.99738268e-01 4.98297578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.620714057 meters Centerline goodness : 0.987168 Centerline is valid? [True, True] Translation: X:238.40, Y:170.45, Z:4.98 [[ 7.27569189e-01 -6.85801423e-01 1.78741018e-02 2.38401280e+02] [ 6.85655354e-01 7.27786313e-01 1.42764944e-02 1.70448704e+02] [-2.27993669e-02 1.86833615e-03 9.99738315e-01 4.98198106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.650714057 meters Centerline goodness : 0.987515 Centerline is valid? [True, True] Translation: X:238.43, Y:170.47, Z:4.98 [[ 7.27706783e-01 -6.85656811e-01 1.78206514e-02 2.38425623e+02] [ 6.85509122e-01 7.27922777e-01 1.43413450e-02 1.70471869e+02] [-2.28052989e-02 1.77992507e-03 9.99738341e-01 4.98015670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6807140569999 meters Centerline goodness : 0.987494 Centerline is valid? [True, True] Translation: X:238.45, Y:170.49, Z:4.98 [[ 7.28252647e-01 -6.85074572e-01 1.79140380e-02 2.38447646e+02] [ 6.84929467e-01 7.28470445e-01 1.42280025e-02 1.70493764e+02] [-2.27970899e-02 1.90827201e-03 9.99738291e-01 4.97953025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7107140569999 meters Centerline goodness : 0.985264 Centerline is valid? [True, True] Translation: X:238.47, Y:170.51, Z:4.98 [[ 7.27820462e-01 -6.85533921e-01 1.79058156e-02 2.38469624e+02] [ 6.85388709e-01 7.28038183e-01 1.42379954e-02 1.70514376e+02] [-2.27967463e-02 1.90973945e-03 9.99738296e-01 4.97964323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.740714057 meters Centerline goodness : 0.985323 Centerline is valid? [True, True] Translation: X:238.49, Y:170.54, Z:4.98 [[ 7.26753043e-01 -6.86667620e-01 1.78211616e-02 2.38494513e+02] [ 6.86520247e-01 7.26969253e-01 1.43406981e-02 1.70537340e+02] [-2.28027295e-02 1.81244227e-03 9.99738341e-01 4.97693193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.770714057 meters Centerline goodness : 0.985806 Centerline is valid? [True, True] Translation: X:238.52, Y:170.56, Z:4.98 [[ 7.27377278e-01 -6.86004486e-01 1.78925001e-02 2.38517676e+02] [ 6.85859022e-01 7.27594820e-01 1.42541126e-02 1.70557351e+02] [-2.27968756e-02 1.90361502e-03 9.99738305e-01 4.97598271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8007140569999 meters Centerline goodness : 0.985580 Centerline is valid? [True, True] Translation: X:238.54, Y:170.58, Z:4.98 [[ 7.26370238e-01 -6.87071766e-01 1.78512245e-02 2.38540347e+02] [ 6.86925400e-01 7.26587148e-01 1.43042470e-02 1.70581085e+02] [-2.27985145e-02 1.87228021e-03 9.99738327e-01 4.97658108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8307140569999 meters Centerline goodness : 0.985930 Centerline is valid? [True, True] Translation: X:238.56, Y:170.60, Z:4.98 [[ 7.25846600e-01 -6.87625449e-01 1.78312899e-02 2.38563363e+02] [ 6.87478659e-01 7.26063212e-01 1.43284600e-02 1.70602130e+02] [-2.27992574e-02 1.85836728e-03 9.99738336e-01 4.97799899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.860714057 meters Centerline goodness : 0.986506 Centerline is valid? [True, True] Translation: X:238.59, Y:170.63, Z:4.98 [[ 7.22904049e-01 -6.90719439e-01 1.77874470e-02 2.38585300e+02] [ 6.90572277e-01 7.23120389e-01 1.43817045e-02 1.70626015e+02] [-2.27961885e-02 1.88692538e-03 9.99738352e-01 4.97927389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.890714057 meters Centerline goodness : 0.988137 Centerline is valid? [True, True] Translation: X:238.61, Y:170.65, Z:4.98 [[ 7.22902103e-01 -6.90722007e-01 1.77667712e-02 2.38611918e+02] [ 6.90574235e-01 7.23118019e-01 1.44068159e-02 1.70646448e+02] [-2.27985772e-02 1.85455691e-03 9.99738359e-01 4.97679866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9207140569999 meters Centerline goodness : 0.987478 Centerline is valid? [True, True] Translation: X:238.64, Y:170.67, Z:4.98 [[ 7.20708616e-01 -6.93009253e-01 1.78119480e-02 2.38636005e+02] [ 6.92863506e-01 7.20925922e-01 1.43519304e-02 1.70667638e+02] [-2.27871156e-02 1.99768882e-03 9.99738344e-01 4.97577092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9507140569999 meters Centerline goodness : 0.987360 Centerline is valid? [True, True] Translation: X:238.66, Y:170.69, Z:4.98 [[ 7.17830688e-01 -6.95989683e-01 1.78175267e-02 2.38656732e+02] [ 6.95845003e-01 7.18048709e-01 1.43451503e-02 1.70687418e+02] [-2.27779286e-02 2.10084783e-03 9.99738342e-01 4.97726703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.980714057 meters Centerline goodness : 0.987732 Centerline is valid? [True, True] Translation: X:238.68, Y:170.71, Z:4.97 [[ 7.16757083e-01 -6.97098232e-01 1.77013664e-02 2.38682191e+02] [ 6.96950438e-01 7.16972968e-01 1.44862161e-02 1.70709081e+02] [-2.27897168e-02 1.95387708e-03 9.99738371e-01 4.97478678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.010714057 meters Centerline goodness : 0.988116 Centerline is valid? [True, True] Translation: X:238.71, Y:170.73, Z:4.97 [[ 7.16477406e-01 -6.97384471e-01 1.77489794e-02 2.38706204e+02] [ 6.97238176e-01 7.16694320e-01 1.44283737e-02 1.70730153e+02] [-2.27827165e-02 2.03766231e-03 9.99738364e-01 4.97400133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.040714057 meters Centerline goodness : 0.987603 Centerline is valid? [True, True] Translation: X:238.73, Y:170.75, Z:4.97 [[ 7.16778225e-01 -6.97074311e-01 1.77871117e-02 2.38730768e+02] [ 6.96929057e-01 7.16995849e-01 1.43820083e-02 1.70751105e+02] [-2.27786137e-02 2.08764463e-03 9.99738354e-01 4.97332664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0707140569999 meters Centerline goodness : 0.987369 Centerline is valid? [True, True] Translation: X:238.75, Y:170.77, Z:4.97 [[ 7.16458295e-01 -6.97402772e-01 1.78012740e-02 2.38753750e+02] [ 6.97258041e-01 7.16676271e-01 1.43647879e-02 1.70772608e+02] [-2.27757936e-02 2.12030996e-03 9.99738350e-01 4.97001028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1007140569999 meters Centerline goodness : 0.988431 Centerline is valid? [True, True] Translation: X:238.78, Y:170.79, Z:4.97 [[ 7.16205666e-01 -6.97663201e-01 1.77623864e-02 2.38780206e+02] [ 6.97517390e-01 7.16422908e-01 1.44120347e-02 1.70794687e+02] [-2.27801268e-02 2.06759248e-03 9.99738361e-01 4.97019135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.130714057 meters Centerline goodness : 0.986834 Centerline is valid? [True, True] Translation: X:238.80, Y:170.82, Z:4.97 [[ 7.17656164e-01 -6.96168678e-01 1.78550524e-02 2.38802538e+02] [ 6.96025175e-01 7.17874977e-01 1.42994107e-02 1.70817028e+02] [-2.27724972e-02 2.16550577e-03 9.99738328e-01 4.96842375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.160714057 meters Centerline goodness : 0.986196 Centerline is valid? [True, True] Translation: X:238.82, Y:170.84, Z:4.97 [[ 7.18410171e-01 -6.95391553e-01 1.78161238e-02 2.38824140e+02] [ 6.95246653e-01 7.18628042e-01 1.43467223e-02 1.70838134e+02] [-2.27797557e-02 2.07976924e-03 9.99738344e-01 4.96860581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1907140569999 meters Centerline goodness : 0.986267 Centerline is valid? [True, True] Translation: X:238.85, Y:170.86, Z:4.97 [[ 7.19800122e-01 -6.93953492e-01 1.77858370e-02 2.38847084e+02] [ 6.93807257e-01 7.20017086e-01 1.43835468e-02 1.70857441e+02] [-2.27876191e-02 1.98666405e-03 9.99738355e-01 4.96723052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2207140569999 meters Centerline goodness : 0.987479 Centerline is valid? [True, True] Translation: X:238.87, Y:170.88, Z:4.96 [[ 7.20026107e-01 -6.93720391e-01 1.77320125e-02 2.38872986e+02] [ 6.93572490e-01 7.20241924e-01 1.44489618e-02 1.70882503e+02] [-2.27948782e-02 1.89480635e-03 9.99738367e-01 4.96230717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.250714057 meters Centerline goodness : 0.985714 Centerline is valid? [True, True] Translation: X:238.89, Y:170.90, Z:4.96 [[ 7.21066394e-01 -6.92634941e-01 1.78911575e-02 2.38894924e+02] [ 6.92491445e-01 7.21285231e-01 1.42553523e-02 1.70902001e+02] [-2.27783828e-02 2.11041803e-03 9.99738311e-01 4.96360211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.280714057 meters Centerline goodness : 0.986279 Centerline is valid? [True, True] Translation: X:238.92, Y:170.92, Z:4.96 [[ 7.21732465e-01 -6.91943481e-01 1.77895431e-02 2.38918230e+02] [ 6.91796751e-01 7.21949097e-01 1.43790148e-02 1.70924110e+02] [-2.27926101e-02 1.92894635e-03 9.99738354e-01 4.96090569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3107140569999 meters Centerline goodness : 0.985502 Centerline is valid? [True, True] Translation: X:238.94, Y:170.95, Z:4.96 [[ 7.21488574e-01 -6.92197570e-01 1.77977828e-02 2.38944724e+02] [ 6.92051162e-01 7.21705426e-01 1.43689961e-02 1.70946483e+02] [-2.27909406e-02 1.94990977e-03 9.99738351e-01 4.96116117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3407140569999 meters Centerline goodness : 0.985251 Centerline is valid? [True, True] Translation: X:238.97, Y:170.97, Z:4.96 [[ 7.23830795e-01 -6.89744865e-01 1.79165383e-02 2.38965807e+02] [ 6.89601248e-01 7.24049571e-01 1.42245141e-02 1.70965332e+02] [-2.27837475e-02 2.05912586e-03 9.99738296e-01 4.96423809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.370714057 meters Centerline goodness : 0.984602 Centerline is valid? [True, True] Translation: X:238.99, Y:170.99, Z:4.96 [[ 7.24614366e-01 -6.88924369e-01 1.78110972e-02 2.38991880e+02] [ 6.88777373e-01 7.24830826e-01 1.43528635e-02 1.70987356e+02] [-2.27980697e-02 1.86758968e-03 9.99738346e-01 4.96227035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.400714057 meters Centerline goodness : 0.984815 Centerline is valid? [True, True] Translation: X:239.02, Y:171.01, Z:4.96 [[ 7.25314743e-01 -6.88185422e-01 1.78703530e-02 2.39016759e+02] [ 6.88039961e-01 7.25532268e-01 1.42807660e-02 1.71008245e+02] [-2.27933327e-02 1.93746690e-03 9.99738321e-01 4.96357925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4307140569999 meters Centerline goodness : 0.984563 Centerline is valid? [True, True] Translation: X:239.04, Y:171.03, Z:4.96 [[ 7.27520616e-01 -6.85852877e-01 1.78769266e-02 2.39042941e+02] [ 6.85706914e-01 7.27737808e-01 1.42727666e-02 1.71029742e+02] [-2.27987335e-02 1.87460022e-03 9.99738318e-01 4.96142776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4607140569999 meters Centerline goodness : 0.981147 Centerline is valid? [True, True] Translation: X:239.06, Y:171.05, Z:4.96 [[ 7.28751708e-01 -6.84543055e-01 1.79375004e-02 2.39062142e+02] [ 6.84398497e-01 7.28969879e-01 1.41990398e-02 1.71045426e+02] [-2.27957516e-02 1.92882382e-03 9.99738282e-01 4.96457650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.490714057 meters Centerline goodness : 0.983224 Centerline is valid? [True, True] Translation: X:239.09, Y:171.07, Z:4.96 [[ 7.30556027e-01 -6.82624203e-01 1.76660524e-02 2.39092564e+02] [ 6.82471089e-01 7.30768170e-01 1.45290989e-02 1.71070990e+02] [-2.28277034e-02 1.44224926e-03 9.99738374e-01 4.95961732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.520714057 meters Centerline goodness : 0.983439 Centerline is valid? [True, True] Translation: X:239.12, Y:171.09, Z:4.96 [[ 7.31411301e-01 -6.81700083e-01 1.79584118e-02 2.39117966e+02] [ 6.81555303e-01 7.31629338e-01 1.41732541e-02 1.71092166e+02] [-2.28008095e-02 1.87317259e-03 9.99738273e-01 4.95931750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5507140569999 meters Centerline goodness : 0.984112 Centerline is valid? [True, True] Translation: X:239.14, Y:171.11, Z:4.96 [[ 7.32664737e-01 -6.80352131e-01 1.79822546e-02 2.39144850e+02] [ 6.80207655e-01 7.32882996e-01 1.41442422e-02 1.71112213e+02] [-2.28019540e-02 1.86867976e-03 9.99738255e-01 4.95778955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5807140569999 meters Centerline goodness : 0.983559 Centerline is valid? [True, True] Translation: X:239.17, Y:171.13, Z:4.96 [[ 7.32468034e-01 -6.80564114e-01 1.79740355e-02 2.39171068e+02] [ 6.80419459e-01 7.32686166e-01 1.41542203e-02 1.71132782e+02] [-2.28021816e-02 1.86236955e-03 9.99738262e-01 4.95635971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.610714057 meters Centerline goodness : 0.983770 Centerline is valid? [True, True] Translation: X:239.20, Y:171.15, Z:4.96 [[ 7.32814104e-01 -6.80189253e-01 1.80574102e-02 2.39195184e+02] [ 6.80046955e-01 7.33033869e-01 1.40529396e-02 1.71152122e+02] [-2.27953517e-02 1.98169445e-03 9.99738188e-01 4.95622963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.640714057 meters Centerline goodness : 0.983770 Centerline is valid? [True, True] Translation: X:239.22, Y:171.17, Z:4.96 [[ 7.32692592e-01 -6.80321108e-01 1.80209792e-02 2.39220887e+02] [ 6.80177769e-01 7.32911639e-01 1.40972393e-02 1.71173511e+02] [-2.27984349e-02 1.92852659e-03 9.99738222e-01 4.95544090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6707140569999 meters Centerline goodness : 0.982476 Centerline is valid? [True, True] Translation: X:239.24, Y:171.19, Z:4.96 [[ 7.33156689e-01 -6.79820820e-01 1.80256085e-02 2.39244687e+02] [ 6.79677469e-01 7.33375733e-01 1.40916095e-02 1.71191807e+02] [-2.27993134e-02 1.92024220e-03 9.99738218e-01 4.95524576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7007140569999 meters Centerline goodness : 0.983493 Centerline is valid? [True, True] Translation: X:239.27, Y:171.21, Z:4.96 [[ 7.32449869e-01 -6.80583783e-01 1.79695014e-02 2.39271206e+02] [ 6.80438997e-01 7.32667912e-01 1.41598442e-02 1.71212809e+02] [-2.28026374e-02 1.85577349e-03 9.99738264e-01 4.95523433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.730714057 meters Centerline goodness : 0.982717 Centerline is valid? [True, True] Translation: X:239.30, Y:171.23, Z:4.95 [[ 7.32598902e-01 -6.80422680e-01 1.79951427e-02 2.39297260e+02] [ 6.80278604e-01 7.32817440e-01 1.41286984e-02 1.71234175e+02] [-2.28006412e-02 1.89104163e-03 9.99738243e-01 4.95271574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.760714057 meters Centerline goodness : 0.982149 Centerline is valid? [True, True] Translation: X:239.32, Y:171.25, Z:4.95 [[ 7.33043749e-01 -6.79941323e-01 1.80736944e-02 2.39321742e+02] [ 6.79799431e-01 7.33263799e-01 1.40333445e-02 1.71254146e+02] [-2.27946366e-02 1.99943170e-03 9.99738169e-01 4.95195460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.790714057 meters Centerline goodness : 0.982890 Centerline is valid? [True, True] Translation: X:239.35, Y:171.28, Z:4.95 [[ 7.33248215e-01 -6.79721246e-01 1.80577880e-02 2.39346450e+02] [ 6.79578816e-01 7.33467897e-01 1.40526480e-02 1.71275014e+02] [-2.27966912e-02 1.96761115e-03 9.99738185e-01 4.95368343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8207140569999 meters Centerline goodness : 0.982500 Centerline is valid? [True, True] Translation: X:239.37, Y:171.30, Z:4.95 [[ 7.31954963e-01 -6.81114241e-01 1.80367260e-02 2.39372106e+02] [ 6.80971605e-01 7.32174487e-01 1.40781394e-02 1.71295026e+02] [-2.27948518e-02 1.97793425e-03 9.99738207e-01 4.95133658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8507140569999 meters Centerline goodness : 0.981166 Centerline is valid? [True, True] Translation: X:239.39, Y:171.31, Z:4.95 [[ 7.31884556e-01 -6.81188442e-01 1.80915310e-02 2.39394304e+02] [ 6.81047452e-01 7.32105210e-01 1.40118073e-02 1.71311870e+02] [-2.27895853e-02 2.06616572e-03 9.99738149e-01 4.94874954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.880714057 meters Centerline goodness : 0.983026 Centerline is valid? [True, True] Translation: X:239.42, Y:171.33, Z:4.95 [[ 7.29952987e-01 -6.83261172e-01 1.79668572e-02 2.39419162e+02] [ 6.83117115e-01 7.30171504e-01 1.41626900e-02 1.71334600e+02] [-2.27957033e-02 1.93536976e-03 9.99738271e-01 4.94895284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.910714057 meters Centerline goodness : 0.983018 Centerline is valid? [True, True] Translation: X:239.45, Y:171.36, Z:4.95 [[ 7.28443292e-01 -6.84870222e-01 1.79763589e-02 2.39445135e+02] [ 6.84726928e-01 7.28662320e-01 1.41512256e-02 1.71355074e+02] [-2.27904484e-02 2.00053167e-03 9.99738262e-01 4.94685761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9407140569999 meters Centerline goodness : 0.984451 Centerline is valid? [True, True] Translation: X:239.47, Y:171.37, Z:4.95 [[ 7.26136201e-01 -6.87314002e-01 1.80466180e-02 2.39468679e+02] [ 6.87173523e-01 7.26357130e-01 1.40665708e-02 1.71374615e+02] [-2.27764407e-02 2.18691184e-03 9.99738191e-01 4.94903005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9707140569999 meters Centerline goodness : 0.983258 Centerline is valid? [True, True] Translation: X:239.49, Y:171.39, Z:4.95 [[ 7.26373165e-01 -6.87064606e-01 1.80069975e-02 2.39491768e+02] [ 6.86922879e-01 7.26593246e-01 1.41142963e-02 1.71393182e+02] [-2.27811962e-02 2.11717251e-03 9.99738233e-01 4.94727425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.000714057 meters Centerline goodness : 0.981962 Centerline is valid? [True, True] Translation: X:239.51, Y:171.41, Z:4.94 [[ 7.26402228e-01 -6.87034648e-01 1.79776596e-02 2.39512559e+02] [ 6.86892043e-01 7.26621708e-01 1.41497148e-02 1.71409210e+02] [-2.27843020e-02 2.07032697e-03 9.99738260e-01 4.94343317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.030714057 meters Centerline goodness : 0.984924 Centerline is valid? [True, True] Translation: X:239.54, Y:171.43, Z:4.95 [[ 7.24274625e-01 -6.89283406e-01 1.77384568e-02 2.39543558e+02] [ 6.89134444e-01 7.24489657e-01 1.44379863e-02 1.71430845e+02] [-2.28031929e-02 1.76711443e-03 9.99738412e-01 4.94514269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0607140569999 meters Centerline goodness : 0.984991 Centerline is valid? [True, True] Translation: X:239.57, Y:171.45, Z:4.94 [[ 7.23781655e-01 -6.89794721e-01 1.79821972e-02 2.39567470e+02] [ 6.89653093e-01 7.24001767e-01 1.41440044e-02 1.71450146e+02] [-2.27756021e-02 2.16430701e-03 9.99738260e-01 4.94327892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0907140569999 meters Centerline goodness : 0.984600 Centerline is valid? [True, True] Translation: X:239.59, Y:171.47, Z:4.94 [[ 7.23589916e-01 -6.89997092e-01 1.79345067e-02 2.39593983e+02] [ 6.89854114e-01 7.23809104e-01 1.42014816e-02 1.71469107e+02] [-2.27801403e-02 2.09614435e-03 9.99738301e-01 4.94411163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.120714057 meters Centerline goodness : 0.985016 Centerline is valid? [True, True] Translation: X:239.62, Y:171.49, Z:4.94 [[ 7.23806667e-01 -6.89770362e-01 1.79096654e-02 2.39621878e+02] [ 6.89626583e-01 7.24025306e-01 1.42313522e-02 1.71489518e+02] [-2.27834159e-02 2.05023371e-03 9.99738322e-01 4.94326878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.150714057 meters Centerline goodness : 0.985856 Centerline is valid? [True, True] Translation: X:239.65, Y:171.51, Z:4.94 [[ 7.24974536e-01 -6.88539775e-01 1.80250116e-02 2.39645311e+02] [ 6.88399030e-01 7.25195267e-01 1.40925928e-02 1.71508145e+02] [-2.27749638e-02 2.19162959e-03 9.99738215e-01 4.94189695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1807140569999 meters Centerline goodness : 0.985525 Centerline is valid? [True, True] Translation: X:239.67, Y:171.53, Z:4.94 [[ 7.26147819e-01 -6.87303989e-01 1.79602886e-02 2.39670029e+02] [ 6.87160957e-01 7.26366999e-01 1.41704320e-02 1.71526117e+02] [-2.27851554e-02 2.05178083e-03 9.99738279e-01 4.94122287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2107140569999 meters Centerline goodness : 0.985876 Centerline is valid? [True, True] Translation: X:239.70, Y:171.55, Z:4.94 [[ 7.26154244e-01 -6.87298175e-01 1.79229413e-02 2.39696307e+02] [ 6.87154044e-01 7.26372663e-01 1.42153192e-02 1.71546434e+02] [-2.27888976e-02 1.99330720e-03 9.99738312e-01 4.94189674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.240714057 meters Centerline goodness : 0.985312 Centerline is valid? [True, True] Translation: X:239.72, Y:171.56, Z:4.94 [[ 7.26996929e-01 -6.86406180e-01 1.79449426e-02 2.39721348e+02] [ 6.86262427e-01 7.27215619e-01 1.41888774e-02 1.71564598e+02] [-2.27891757e-02 1.99966961e-03 9.99738293e-01 4.94208903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.270714057 meters Centerline goodness : 0.984772 Centerline is valid? [True, True] Translation: X:239.75, Y:171.58, Z:4.94 [[ 7.27933873e-01 -6.85413521e-01 1.79048033e-02 2.39747275e+02] [ 6.85268291e-01 7.28151546e-01 1.42371364e-02 1.71584413e+02] [-2.27957360e-02 1.90590010e-03 9.99738327e-01 4.94088237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3007140569999 meters Centerline goodness : 0.985321 Centerline is valid? [True, True] Translation: X:239.77, Y:171.60, Z:4.94 [[ 7.29433815e-01 -6.83816699e-01 1.79173375e-02 2.39773614e+02] [ 6.83671360e-01 7.29651426e-01 1.42220677e-02 1.71601544e+02] [-2.27986982e-02 1.87551337e-03 9.99738317e-01 4.94195225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3307140569999 meters Centerline goodness : 0.985720 Centerline is valid? [True, True] Translation: X:239.80, Y:171.62, Z:4.94 [[ 7.28418936e-01 -6.84898679e-01 1.78788404e-02 2.39798954e+02] [ 6.84752539e-01 7.28635972e-01 1.42682069e-02 1.71621674e+02] [-2.27994423e-02 1.84934922e-03 9.99738348e-01 4.94326016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.360714057 meters Centerline goodness : 0.986300 Centerline is valid? [True, True] Translation: X:239.83, Y:171.64, Z:4.94 [[ 7.29545842e-01 -6.83697107e-01 1.79201269e-02 2.39826081e+02] [ 6.83551813e-01 7.29763487e-01 1.42187376e-02 1.71640753e+02] [-2.27987641e-02 1.87611434e-03 9.99738314e-01 4.94224368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.390714057 meters Centerline goodness : 0.984986 Centerline is valid? [True, True] Translation: X:239.85, Y:171.66, Z:4.94 [[ 7.29529322e-01 -6.83714226e-01 1.79395021e-02 2.39852453e+02] [ 6.83569503e-01 7.29747368e-01 1.41955330e-02 1.71660874e+02] [-2.27969923e-02 1.90683902e-03 9.99738296e-01 4.94203406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4207140569999 meters Centerline goodness : 0.985186 Centerline is valid? [True, True] Translation: X:239.88, Y:171.68, Z:4.94 [[ 7.29254433e-01 -6.84007050e-01 1.79534862e-02 2.39878217e+02] [ 6.83862823e-01 7.29472824e-01 1.41787977e-02 1.71680659e+02] [-2.27949778e-02 1.93777071e-03 9.99738283e-01 4.94083638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4507140569999 meters Centerline goodness : 0.982907 Centerline is valid? [True, True] Translation: X:239.90, Y:171.70, Z:4.94 [[ 7.29486137e-01 -6.83760412e-01 1.79352967e-02 2.39901431e+02] [ 6.83615580e-01 7.29704106e-01 1.42005636e-02 1.71696819e+02] [-2.27972428e-02 1.90173397e-03 9.99738300e-01 4.94046026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.480714057 meters Centerline goodness : 0.983890 Centerline is valid? [True, True] Translation: X:239.93, Y:171.72, Z:4.94 [[ 7.28455566e-01 -6.84860862e-01 1.78350293e-02 2.39927213e+02] [ 6.84713430e-01 7.28671690e-01 1.43208309e-02 1.71716416e+02] [-2.28036575e-02 1.77979511e-03 9.99738379e-01 4.93947991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.510714057 meters Centerline goodness : 0.983113 Centerline is valid? [True, True] Translation: X:239.96, Y:171.74, Z:4.94 [[ 7.27017351e-01 -6.86388261e-01 1.78024348e-02 2.39957088e+02] [ 6.86240334e-01 7.27233111e-01 1.43598937e-02 1.71736451e+02] [-2.28029825e-02 1.77685696e-03 9.99738399e-01 4.93969212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.540714057 meters Centerline goodness : 0.984903 Centerline is valid? [True, True] Translation: X:239.98, Y:171.76, Z:4.94 [[ 7.24900251e-01 -6.88621317e-01 1.78971518e-02 2.39983249e+02] [ 6.88476819e-01 7.25118407e-01 1.42465922e-02 1.71757126e+02] [-2.27880613e-02 1.99441590e-03 9.99738329e-01 4.93729692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5707140569999 meters Centerline goodness : 0.981484 Centerline is valid? [True, True] Translation: X:240.00, Y:171.77, Z:4.94 [[ 7.23895792e-01 -6.89674905e-01 1.79835444e-02 2.40004413e+02] [ 6.89533261e-01 7.24115910e-01 1.41432417e-02 1.71771871e+02] [-2.27764095e-02 2.16201884e-03 9.99738246e-01 4.93944982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6007140569999 meters Centerline goodness : 0.982935 Centerline is valid? [True, True] Translation: X:240.03, Y:171.79, Z:4.93 [[ 7.22676952e-01 -6.90958245e-01 1.77405170e-02 2.40033616e+02] [ 6.90809894e-01 7.22892366e-01 1.44331979e-02 1.71793664e+02] [-2.27972214e-02 1.82478524e-03 9.99738444e-01 4.93425920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.630714057 meters Centerline goodness : 0.982086 Centerline is valid? [True, True] Translation: X:240.06, Y:171.81, Z:4.93 [[ 7.24521579e-01 -6.89018787e-01 1.79330165e-02 2.40057867e+02] [ 6.88875468e-01 7.24740544e-01 1.42033217e-02 1.71811350e+02] [-2.27831396e-02 2.06300207e-03 9.99738302e-01 4.93174156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.660714057 meters Centerline goodness : 0.980253 Centerline is valid? [True, True] Translation: X:240.08, Y:171.83, Z:4.93 [[ 7.24542695e-01 -6.88998136e-01 1.78731931e-02 2.40084624e+02] [ 6.88853059e-01 7.24760437e-01 1.42749091e-02 1.71829297e+02] [-2.27891690e-02 1.96922260e-03 9.99738354e-01 4.93304628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6907140569999 meters Centerline goodness : 0.981627 Centerline is valid? [True, True] Translation: X:240.10, Y:171.85, Z:4.93 [[ 7.18206675e-01 -6.95602003e-01 1.78052144e-02 2.40098135e+02] [ 6.95456926e-01 7.18424360e-01 1.43562997e-02 1.71848359e+02] [-2.27779706e-02 2.07196945e-03 9.99738401e-01 4.93125540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7207140569999 meters Centerline goodness : 0.980302 Centerline is valid? [True, True] Translation: X:240.13, Y:171.86, Z:4.93 [[ 7.22592996e-01 -6.91051221e-01 1.75377218e-02 2.40127657e+02] [ 6.90897020e-01 7.22804209e-01 1.46759556e-02 1.71864023e+02] [-2.28181762e-02 1.51201703e-03 9.99738488e-01 4.92944890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.750714057 meters Centerline goodness : 0.981468 Centerline is valid? [True, True] Translation: X:240.16, Y:171.89, Z:4.93 [[ 7.21530757e-01 -6.92153018e-01 1.78203710e-02 2.40155174e+02] [ 6.92007328e-01 7.21748055e-01 1.43388369e-02 1.71885723e+02] [-2.27864873e-02 1.98591545e-03 9.99738382e-01 4.92907172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.780714057 meters Centerline goodness : 0.981213 Centerline is valid? [True, True] Translation: X:240.18, Y:171.91, Z:4.93 [[ 7.20421371e-01 -6.93305685e-01 1.78962569e-02 2.40178828e+02] [ 6.93162560e-01 7.20640443e-01 1.42484382e-02 1.71906319e+02] [-2.27752897e-02 2.14013583e-03 9.99738319e-01 4.92631035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8107140569999 meters Centerline goodness : 0.981340 Centerline is valid? [True, True] Translation: X:240.20, Y:171.93, Z:4.93 [[ 7.20615619e-01 -6.93104868e-01 1.78541713e-02 2.40203695e+02] [ 6.92960451e-01 7.20833798e-01 1.42985651e-02 1.71926619e+02] [-2.27802952e-02 2.06846525e-03 9.99738356e-01 4.92597373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8407140569999 meters Centerline goodness : 0.982348 Centerline is valid? [True, True] Translation: X:240.22, Y:171.94, Z:4.93 [[ 7.17945705e-01 -6.95869332e-01 1.78840194e-02 2.40216459e+02] [ 6.95726635e-01 7.18165038e-01 1.42627744e-02 1.71944770e+02] [-2.27687047e-02 2.20249102e-03 9.99738333e-01 4.92698905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.870714057 meters Centerline goodness : 0.982106 Centerline is valid? [True, True] Translation: X:240.25, Y:171.96, Z:4.92 [[ 7.20107231e-01 -6.93641860e-01 1.75084889e-02 2.40245192e+02] [ 6.93487549e-01 7.20318385e-01 1.47120354e-02 1.71961566e+02] [-2.28165701e-02 1.54767600e-03 9.99738470e-01 4.92122176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.900714057 meters Centerline goodness : 0.982818 Centerline is valid? [True, True] Translation: X:240.26, Y:171.98, Z:4.92 [[ 7.16823287e-01 -6.97028041e-01 1.77844106e-02 2.40259795e+02] [ 6.96882756e-01 7.17040841e-01 1.43824942e-02 1.71979737e+02] [-2.27771504e-02 2.08394232e-03 9.99738395e-01 4.92255631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9307140569999 meters Centerline goodness : 0.982366 Centerline is valid? [True, True] Translation: X:240.29, Y:172.00, Z:4.92 [[ 7.16651817e-01 -6.97210998e-01 1.75213613e-02 2.40288006e+02] [ 6.97058123e-01 7.16864002e-01 1.46961162e-02 1.71999772e+02] [-2.28067270e-02 1.68140884e-03 9.99738479e-01 4.92065370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9607140569999 meters Centerline goodness : 0.982348 Centerline is valid? [True, True] Translation: X:240.30, Y:172.02, Z:4.92 [[ 7.12807360e-01 -7.01134187e-01 1.77909833e-02 2.40300491e+02] [ 7.00990362e-01 7.13025876e-01 1.43740235e-02 1.72017816e+02] [-2.27635507e-02 2.22539810e-03 9.99738400e-01 4.92187217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.990714057 meters Centerline goodness : 0.982976 Centerline is valid? [True, True] Translation: X:240.33, Y:172.04, Z:4.92 [[ 7.13887734e-01 -7.00042302e-01 1.74664875e-02 2.40330089e+02] [ 6.99888688e-01 7.14099384e-01 1.47612485e-02 1.72036363e+02] [-2.28063064e-02 1.68672278e-03 9.99738479e-01 4.91925627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.020714057 meters Centerline goodness : 0.983601 Centerline is valid? [True, True] Translation: X:240.34, Y:172.06, Z:4.92 [[ 7.09773722e-01 -7.04204591e-01 1.78089331e-02 2.40344032e+02] [ 7.04062239e-01 7.09993215e-01 1.43526529e-02 1.72055237e+02] [-2.27514257e-02 2.35146143e-03 9.99738387e-01 4.92017393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0507140569999 meters Centerline goodness : 0.982327 Centerline is valid? [True, True] Translation: X:240.37, Y:172.07, Z:4.92 [[ 7.12874891e-01 -7.01072523e-01 1.75130776e-02 2.40371035e+02] [ 7.00920579e-01 7.13087726e-01 1.47050087e-02 1.72070958e+02] [-2.27976382e-02 1.79244496e-03 9.99738493e-01 4.91934366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0807140569999 meters Centerline goodness : 0.983121 Centerline is valid? [True, True] Translation: X:240.38, Y:172.09, Z:4.92 [[ 7.08365249e-01 -7.05624015e-01 1.77038044e-02 2.40384026e+02] [ 7.05479018e-01 7.08582922e-01 1.44774574e-02 1.72091906e+02] [-2.27602551e-02 2.23433482e-03 9.99738455e-01 4.91750314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.110714057 meters Centerline goodness : 0.982457 Centerline is valid? [True, True] Translation: X:240.41, Y:172.11, Z:4.92 [[ 7.08524613e-01 -7.05469934e-01 1.74655399e-02 2.40405696e+02] [ 7.05317938e-01 7.08737407e-01 1.47612451e-02 1.72110110e+02] [-2.27920961e-02 1.86005312e-03 9.99738496e-01 4.91665172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.140714057 meters Centerline goodness : 0.982697 Centerline is valid? [True, True] Translation: X:240.43, Y:172.13, Z:4.92 [[ 7.10147411e-01 -7.03836989e-01 1.74398477e-02 2.40429513e+02] [ 7.03683759e-01 7.10359323e-01 1.47918365e-02 1.72128055e+02] [-2.27996001e-02 1.76775320e-03 9.99738492e-01 4.91648709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1707140569999 meters Centerline goodness : 0.982623 Centerline is valid? [True, True] Translation: X:240.46, Y:172.15, Z:4.92 [[ 7.11643919e-01 -7.02322096e-01 1.75101752e-02 2.40458078e+02] [ 7.02170449e-01 7.11856960e-01 1.47081111e-02 1.72149775e+02] [-2.27945715e-02 1.82818978e-03 9.99738498e-01 4.91547618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2007140569999 meters Centerline goodness : 0.982748 Centerline is valid? [True, True] Translation: X:240.48, Y:172.17, Z:4.91 [[ 7.12770768e-01 -7.01168907e-01 1.78884410e-02 2.40480858e+02] [ 7.01027909e-01 7.12991247e-01 1.42601744e-02 1.72173362e+02] [-2.27530928e-02 2.37606098e-03 9.99738291e-01 4.91385232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.230714057 meters Centerline goodness : 0.982590 Centerline is valid? [True, True] Translation: X:240.50, Y:172.19, Z:4.91 [[ 7.15680959e-01 -6.98198265e-01 1.78870942e-02 2.40501056e+02] [ 6.98056312e-01 7.15900823e-01 1.42617693e-02 1.72193814e+02] [-2.27629280e-02 2.27932234e-03 9.99738293e-01 4.91338057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.260714057 meters Centerline goodness : 0.982105 Centerline is valid? [True, True] Translation: X:240.52, Y:172.22, Z:4.91 [[ 7.15853082e-01 -6.98023677e-01 1.78132307e-02 2.40523393e+02] [ 6.97879511e-01 7.16071423e-01 1.43493560e-02 1.72215730e+02] [-2.27717357e-02 2.15945805e-03 9.99738358e-01 4.91367740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.290714057 meters Centerline goodness : 0.981953 Centerline is valid? [True, True] Translation: X:240.55, Y:172.24, Z:4.91 [[ 7.14561371e-01 -6.99348587e-01 1.77087850e-02 2.40549355e+02] [ 6.99201799e-01 7.14777861e-01 1.44725058e-02 1.72241432e+02] [-2.27791739e-02 2.04052074e-03 9.99738439e-01 4.91184453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3207140569999 meters Centerline goodness : 0.982470 Centerline is valid? [True, True] Translation: X:240.57, Y:172.26, Z:4.91 [[ 7.14535063e-01 -6.99370765e-01 1.78935126e-02 2.40572406e+02] [ 6.99229349e-01 7.14755288e-01 1.42546680e-02 1.72262974e+02] [-2.27587808e-02 2.32620903e-03 9.99738279e-01 4.91102258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3507140569999 meters Centerline goodness : 0.982990 Centerline is valid? [True, True] Translation: X:240.60, Y:172.29, Z:4.91 [[ 7.13802025e-01 -7.00119882e-01 1.78555175e-02 2.40596722e+02] [ 6.99977590e-01 7.14021638e-01 1.42994439e-02 1.72286780e+02] [-2.27605508e-02 2.29149014e-03 9.99738319e-01 4.91107930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.380714057 meters Centerline goodness : 0.983352 Centerline is valid? [True, True] Translation: X:240.62, Y:172.31, Z:4.91 [[ 7.12191951e-01 -7.01755395e-01 1.79441244e-02 2.40618155e+02] [ 7.01616195e-01 7.12413654e-01 1.41950989e-02 1.72308327e+02] [-2.27451265e-02 2.48025316e-03 9.99738220e-01 4.91028347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.410714057 meters Centerline goodness : 0.982850 Centerline is valid? [True, True] Translation: X:240.64, Y:172.33, Z:4.91 [[ 7.11221021e-01 -7.02741297e-01 1.78697704e-02 2.40640081e+02] [ 7.02600230e-01 7.11441440e-01 1.42826260e-02 1.72327319e+02] [-2.27502863e-02 2.39720092e-03 9.99738305e-01 4.91278718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4407140569999 meters Centerline goodness : 0.984018 Centerline is valid? [True, True] Translation: X:240.66, Y:172.35, Z:4.91 [[ 7.07895832e-01 -7.06092915e-01 1.77844443e-02 2.40664180e+02] [ 7.05950396e-01 7.08115219e-01 1.43831325e-02 1.72348780e+02] [-2.27492637e-02 2.37317598e-03 9.99738385e-01 4.90962613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4707140569999 meters Centerline goodness : 0.983961 Centerline is valid? [True, True] Translation: X:240.69, Y:172.37, Z:4.91 [[ 7.05477218e-01 -7.08510125e-01 1.77566226e-02 2.40690415e+02] [ 7.08367547e-01 7.05696538e-01 1.44158078e-02 1.72371733e+02] [-2.27445329e-02 2.40819121e-03 9.99738409e-01 4.90751461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.500714057 meters Centerline goodness : 0.984067 Centerline is valid? [True, True] Translation: X:240.71, Y:172.39, Z:4.91 [[ 7.03456601e-01 -7.10513747e-01 1.78612845e-02 2.40714602e+02] [ 7.10374855e-01 7.03678392e-01 1.42928683e-02 1.72392092e+02] [-2.27238793e-02 2.63379483e-03 9.99738310e-01 4.90758528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.530714057 meters Centerline goodness : 0.984067 Centerline is valid? [True, True] Translation: X:240.74, Y:172.41, Z:4.91 [[ 7.03250129e-01 -7.10719035e-01 1.78244230e-02 2.40738479e+02] [ 7.10579128e-01 7.03471235e-01 1.43361412e-02 1.72412738e+02] [-2.27279373e-02 2.58376979e-03 9.99738348e-01 4.90684193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5607140569999 meters Centerline goodness : 0.984821 Centerline is valid? [True, True] Translation: X:240.76, Y:172.43, Z:4.91 [[ 7.02742572e-01 -7.11220791e-01 1.78287364e-02 2.40762039e+02] [ 7.11081168e-01 7.02963863e-01 1.43310779e-02 1.72434283e+02] [-2.27255180e-02 2.60662015e-03 9.99738344e-01 4.90521838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5907140569999 meters Centerline goodness : 0.985837 Centerline is valid? [True, True] Translation: X:240.79, Y:172.46, Z:4.90 [[ 7.00749532e-01 -7.13185418e-01 1.77947392e-02 2.40787047e+02] [ 7.13045421e-01 7.00970545e-01 1.43708827e-02 1.72456092e+02] [-2.27226920e-02 2.61806799e-03 9.99738378e-01 4.90441422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.620714057 meters Centerline goodness : 0.985688 Centerline is valid? [True, True] Translation: X:240.81, Y:172.48, Z:4.90 [[ 7.00348891e-01 -7.13576529e-01 1.78876798e-02 2.40810764e+02] [ 7.13439378e-01 7.00571800e-01 1.42621139e-02 1.72477187e+02] [-2.27087138e-02 2.77331947e-03 9.99738277e-01 4.90310161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.650714057 meters Centerline goodness : 0.984696 Centerline is valid? [True, True] Translation: X:240.83, Y:172.50, Z:4.90 [[ 7.02632528e-01 -7.11328331e-01 1.78755416e-02 2.40832744e+02] [ 7.11190111e-01 7.02854759e-01 1.42763126e-02 1.72497355e+02] [-2.27190552e-02 2.68190682e-03 9.99738292e-01 4.90261343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6807140569999 meters Centerline goodness : 0.985241 Centerline is valid? [True, True] Translation: X:240.86, Y:172.52, Z:4.90 [[ 7.02258692e-01 -7.11699977e-01 1.77727733e-02 2.40857761e+02] [ 7.11558876e-01 7.02478974e-01 1.43964179e-02 1.72519681e+02] [-2.27309299e-02 2.53636495e-03 9.99738402e-01 4.90124324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7107140569999 meters Centerline goodness : 0.984208 Centerline is valid? [True, True] Translation: X:240.88, Y:172.54, Z:4.90 [[ 7.05547733e-01 -7.08437234e-01 1.78628619e-02 2.40877201e+02] [ 7.08297734e-01 7.05769144e-01 1.42911091e-02 1.72539658e+02] [-2.27314106e-02 2.56916495e-03 9.99738307e-01 4.90292590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.740714057 meters Centerline goodness : 0.984505 Centerline is valid? [True, True] Translation: X:240.90, Y:172.56, Z:4.90 [[ 7.06956667e-01 -7.07035449e-01 1.76958989e-02 2.40902634e+02] [ 7.06890675e-01 7.07174469e-01 1.44859810e-02 1.72562897e+02] [-2.27561900e-02 2.26810511e-03 9.99738472e-01 4.90186874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.770714057 meters Centerline goodness : 0.984481 Centerline is valid? [True, True] Translation: X:240.93, Y:172.58, Z:4.90 [[ 7.08047148e-01 -7.05940854e-01 1.77973976e-02 2.40927364e+02] [ 7.05798675e-01 7.08266762e-01 1.43674970e-02 1.72584772e+02] [-2.27479082e-02 2.38851439e-03 9.99738380e-01 4.90183447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8007140569999 meters Centerline goodness : 0.983796 Centerline is valid? [True, True] Translation: X:240.95, Y:172.60, Z:4.90 [[ 7.09695287e-01 -7.04283055e-01 1.78319676e-02 2.40948508e+02] [ 7.04141362e-01 7.09915259e-01 1.43271434e-02 1.72604358e+02] [-2.27495502e-02 2.38831984e-03 9.99738343e-01 4.90309075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8307140569999 meters Centerline goodness : 0.985385 Centerline is valid? [True, True] Translation: X:240.98, Y:172.63, Z:4.90 [[ 7.09223974e-01 -7.04761009e-01 1.76995641e-02 2.40975902e+02] [ 7.04615650e-01 7.09441383e-01 1.44813391e-02 1.72626700e+02] [-2.27626864e-02 2.20087701e-03 9.99738474e-01 4.90090105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.860714057 meters Centerline goodness : 0.984513 Centerline is valid? [True, True] Translation: X:241.00, Y:172.65, Z:4.90 [[ 7.07743149e-01 -7.06244143e-01 1.78562397e-02 2.40998716e+02] [ 7.06103764e-01 7.07963995e-01 1.42988049e-02 1.72648630e+02] [-2.27400220e-02 2.48847685e-03 9.99738315e-01 4.89886467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.890714057 meters Centerline goodness : 0.983712 Centerline is valid? [True, True] Translation: X:241.02, Y:172.67, Z:4.90 [[ 7.07185419e-01 -7.06803552e-01 1.78191530e-02 2.41019710e+02] [ 7.06662273e-01 7.07405639e-01 1.43419935e-02 1.72667574e+02] [-2.27423413e-02 2.44967445e-03 9.99738358e-01 4.89796829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9207140569999 meters Centerline goodness : 0.985577 Centerline is valid? [True, True] Translation: X:241.05, Y:172.69, Z:4.89 [[ 7.04480756e-01 -7.09502738e-01 1.76841386e-02 2.41046254e+02] [ 7.09358408e-01 7.04698825e-01 1.44987838e-02 1.72689810e+02] [-2.27489185e-02 2.33027824e-03 9.99738494e-01 4.89426444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9507140569999 meters Centerline goodness : 0.985880 Centerline is valid? [True, True] Translation: X:241.07, Y:172.71, Z:4.89 [[ 7.04058518e-01 -7.09918316e-01 1.78209924e-02 2.41069298e+02] [ 7.09778066e-01 7.04279395e-01 1.43398083e-02 1.72709205e+02] [-2.27310503e-02 2.55288534e-03 9.99738357e-01 4.89427782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.980714057 meters Centerline goodness : 0.983673 Centerline is valid? [True, True] Translation: X:241.09, Y:172.73, Z:4.89 [[ 7.03665956e-01 -7.10308333e-01 1.77846842e-02 2.41090788e+02] [ 7.10167153e-01 7.03886193e-01 1.43819941e-02 1.72728013e+02] [-2.27340438e-02 2.50997893e-03 9.99738397e-01 4.89284625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.010714057 meters Centerline goodness : 0.984729 Centerline is valid? [True, True] Translation: X:241.12, Y:172.75, Z:4.89 [[ 7.02489452e-01 -7.11475170e-01 1.76536662e-02 2.41115758e+02] [ 7.11330578e-01 7.02707315e-01 1.45340281e-02 1.72750743e+02] [-2.27459605e-02 2.34759112e-03 9.99738521e-01 4.89324638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.040714057 meters Centerline goodness : 0.986051 Centerline is valid? [True, True] Translation: X:241.14, Y:172.77, Z:4.89 [[ 7.02226525e-01 -7.11732707e-01 1.77330792e-02 2.41139057e+02] [ 7.11590482e-01 7.02446025e-01 1.44418835e-02 1.72771637e+02] [-2.27352918e-02 2.47721665e-03 9.99738451e-01 4.89284078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0707140569999 meters Centerline goodness : 0.984800 Centerline is valid? [True, True] Translation: X:241.16, Y:172.79, Z:4.89 [[ 7.02363022e-01 -7.11599253e-01 1.76830009e-02 2.41164112e+02] [ 7.11455545e-01 7.02581497e-01 1.44998951e-02 1.72792932e+02] [-2.27418638e-02 2.39647886e-03 9.99738498e-01 4.89222892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1007140569999 meters Centerline goodness : 0.985338 Centerline is valid? [True, True] Translation: X:241.19, Y:172.81, Z:4.89 [[ 7.03849198e-01 -7.10128889e-01 1.76993627e-02 2.41186211e+02] [ 7.09985195e-01 7.04067700e-01 1.44809412e-02 1.72811994e+02] [-2.27448842e-02 2.37388661e-03 9.99738483e-01 4.89107725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.130714057 meters Centerline goodness : 0.985360 Centerline is valid? [True, True] Translation: X:241.21, Y:172.83, Z:4.89 [[ 7.04097150e-01 -7.09884392e-01 1.76452158e-02 2.41210108e+02] [ 7.09739067e-01 7.04314515e-01 1.45437350e-02 1.72833731e+02] [-2.27521521e-02 2.28329664e-03 9.99738529e-01 4.89025720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.160714057 meters Centerline goodness : 0.985366 Centerline is valid? [True, True] Translation: X:241.23, Y:172.86, Z:4.89 [[ 7.05562623e-01 -7.08428335e-01 1.76260865e-02 2.41234413e+02] [ 7.08282014e-01 7.05779302e-01 1.45659045e-02 1.72856312e+02] [-2.27590265e-02 2.20708225e-03 9.99738544e-01 4.89019390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1907140569999 meters Centerline goodness : 0.985277 Centerline is valid? [True, True] Translation: X:241.26, Y:172.88, Z:4.89 [[ 7.05574486e-01 -7.08417361e-01 1.75922636e-02 2.41258994e+02] [ 7.08270073e-01 7.05790477e-01 1.46049937e-02 1.72878769e+02] [-2.27628832e-02 2.15516295e-03 9.99738569e-01 4.88881790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2207140569999 meters Centerline goodness : 0.985206 Centerline is valid? [True, True] Translation: X:241.28, Y:172.90, Z:4.89 [[ 7.08041039e-01 -7.05949859e-01 1.76828735e-02 2.41283741e+02] [ 7.05804398e-01 7.08258354e-01 1.45002373e-02 1.72900073e+02] [-2.27604834e-02 2.21388679e-03 9.99738495e-01 4.88861289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.250714057 meters Centerline goodness : 0.983819 Centerline is valid? [True, True] Translation: X:241.31, Y:172.92, Z:4.89 [[ 7.07948692e-01 -7.06041115e-01 1.77367693e-02 2.41306203e+02] [ 7.05897222e-01 7.08167112e-01 1.44379409e-02 1.72920729e+02] [-2.27543766e-02 2.29901476e-03 9.99738442e-01 4.88743451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.280714057 meters Centerline goodness : 0.984264 Centerline is valid? [True, True] Translation: X:241.33, Y:172.94, Z:4.88 [[ 7.08647403e-01 -7.05341477e-01 1.76708588e-02 2.41329706e+02] [ 7.05195487e-01 7.08864350e-01 1.45140888e-02 1.72942005e+02] [-2.27636307e-02 2.17603857e-03 9.99738507e-01 4.88465329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3107140569999 meters Centerline goodness : 0.985552 Centerline is valid? [True, True] Translation: X:241.35, Y:172.96, Z:4.88 [[ 7.07545950e-01 -7.06447252e-01 1.76354497e-02 2.41354341e+02] [ 7.06300593e-01 7.07762407e-01 1.45549615e-02 1.72964039e+02] [-2.27640209e-02 2.15762452e-03 9.99738538e-01 4.88305188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3407140569999 meters Centerline goodness : 0.985057 Centerline is valid? [True, True] Translation: X:241.38, Y:172.98, Z:4.88 [[ 7.07760487e-01 -7.06231024e-01 1.76870712e-02 2.41377140e+02] [ 7.06085770e-01 7.07977945e-01 1.44953500e-02 1.72984726e+02] [-2.27591221e-02 2.22935330e-03 9.99738492e-01 4.88276173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.370714057 meters Centerline goodness : 0.984831 Centerline is valid? [True, True] Translation: X:241.40, Y:173.01, Z:4.88 [[ 7.06671915e-01 -7.07320764e-01 1.76675221e-02 2.41399811e+02] [ 7.07175288e-01 7.06889201e-01 1.45178925e-02 1.73007727e+02] [-2.27577874e-02 2.23464816e-03 9.99738511e-01 4.88190231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.400714057 meters Centerline goodness : 0.985011 Centerline is valid? [True, True] Translation: X:241.42, Y:173.03, Z:4.88 [[ 7.06291014e-01 -7.07701370e-01 1.76571475e-02 2.41422411e+02] [ 7.07555715e-01 7.06508169e-01 1.45298531e-02 1.73029403e+02] [-2.27577159e-02 2.23111095e-03 9.99738520e-01 4.88125487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4307140569999 meters Centerline goodness : 0.984154 Centerline is valid? [True, True] Translation: X:241.45, Y:173.05, Z:4.88 [[ 7.04420184e-01 -7.09565037e-01 1.75972411e-02 2.41446517e+02] [ 7.09418253e-01 7.04636515e-01 1.45987632e-02 1.73052410e+02] [-2.27584306e-02 2.20014062e-03 9.99738572e-01 4.88019429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4607140569999 meters Centerline goodness : 0.984959 Centerline is valid? [True, True] Translation: X:241.47, Y:173.07, Z:4.88 [[ 7.03502584e-01 -7.10472819e-01 1.76773544e-02 2.41470212e+02] [ 7.10328596e-01 7.03720716e-01 1.45065693e-02 1.73074618e+02] [-2.27464437e-02 2.35132141e-03 9.99738501e-01 4.87960161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.490714057 meters Centerline goodness : 0.984191 Centerline is valid? [True, True] Translation: X:241.49, Y:173.09, Z:4.88 [[ 7.02023440e-01 -7.11934302e-01 1.76815741e-02 2.41490361e+02] [ 7.11790654e-01 7.02241956e-01 1.45017159e-02 1.73094536e+02] [-2.27410121e-02 2.40503473e-03 9.99738497e-01 4.88007159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.520714057 meters Centerline goodness : 0.984768 Centerline is valid? [True, True] Translation: X:241.51, Y:173.12, Z:4.88 [[ 7.00102895e-01 -7.13825225e-01 1.75921462e-02 2.41512923e+02] [ 7.13679611e-01 7.00320010e-01 1.46046508e-02 1.73115707e+02] [-2.27453002e-02 2.33039779e-03 9.99738576e-01 4.87863290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5507140569999 meters Centerline goodness : 0.985839 Centerline is valid? [True, True] Translation: X:241.54, Y:173.14, Z:4.88 [[ 6.97935317e-01 -7.15946640e-01 1.75129440e-02 2.41538359e+02] [ 7.15799430e-01 6.98151283e-01 1.46956124e-02 1.73137279e+02] [-2.27479587e-02 2.27916847e-03 9.99738634e-01 4.87678752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5807140569999 meters Centerline goodness : 0.985352 Centerline is valid? [True, True] Translation: X:241.56, Y:173.16, Z:4.88 [[ 6.96054994e-01 -7.17773460e-01 1.75699926e-02 2.41560483e+02] [ 7.17628444e-01 6.96272488e-01 1.46300941e-02 1.73158789e+02] [-2.27345957e-02 2.42537635e-03 9.99738594e-01 4.87774179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.610714057 meters Centerline goodness : 0.985778 Centerline is valid? [True, True] Translation: X:241.58, Y:173.18, Z:4.88 [[ 6.94645002e-01 -7.19139184e-01 1.75258480e-02 2.41583582e+02] [ 7.18993335e-01 6.94861899e-01 1.46807770e-02 1.73180582e+02] [-2.27355660e-02 2.40303956e-03 9.99738626e-01 4.87694063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.640714057 meters Centerline goodness : 0.986293 Centerline is valid? [True, True] Translation: X:241.61, Y:173.20, Z:4.88 [[ 6.93024918e-01 -7.20701031e-01 1.75067834e-02 2.41606412e+02] [ 7.20555127e-01 6.93241763e-01 1.47026339e-02 1.73202221e+02] [-2.27326368e-02 2.42531085e-03 9.99738638e-01 4.87681032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6707140569999 meters Centerline goodness : 0.985149 Centerline is valid? [True, True] Translation: X:241.63, Y:173.22, Z:4.88 [[ 6.91969753e-01 -7.21714903e-01 1.74774035e-02 2.41631821e+02] [ 7.21568479e-01 6.92186225e-01 1.47363126e-02 1.73223782e+02] [-2.27330344e-02 2.41406091e-03 9.99738657e-01 4.87611104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7007140569999 meters Centerline goodness : 0.985992 Centerline is valid? [True, True] Translation: X:241.66, Y:173.25, Z:4.87 [[ 6.91051489e-01 -7.22593791e-01 1.74943974e-02 2.41655686e+02] [ 7.22448126e-01 6.91268486e-01 1.47168461e-02 1.73245131e+02] [-2.27276273e-02 2.46869620e-03 9.99738646e-01 4.87397191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.730714057 meters Centerline goodness : 0.986699 Centerline is valid? [True, True] Translation: X:241.68, Y:173.27, Z:4.87 [[ 6.89996609e-01 -7.23601327e-01 1.74871348e-02 2.41679619e+02] [ 7.23455772e-01 6.90213674e-01 1.47251625e-02 1.73266238e+02] [-2.27250067e-02 2.49085646e-03 9.99738651e-01 4.87355557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.760714057 meters Centerline goodness : 0.985532 Centerline is valid? [True, True] Translation: X:241.70, Y:173.29, Z:4.87 [[ 6.91358899e-01 -7.22300492e-01 1.74605771e-02 2.41702610e+02] [ 7.22153773e-01 6.91575160e-01 1.47555757e-02 1.73287940e+02] [-2.27332610e-02 2.40782308e-03 9.99738666e-01 4.87205277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.790714057 meters Centerline goodness : 0.984949 Centerline is valid? [True, True] Translation: X:241.73, Y:173.31, Z:4.87 [[ 6.92497323e-01 -7.21209348e-01 1.74509013e-02 2.41726645e+02] [ 7.21062013e-01 6.92713158e-01 1.47666728e-02 1.73309104e+02] [-2.27383314e-02 2.35730063e-03 9.99738672e-01 4.87198832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8207140569999 meters Centerline goodness : 0.984597 Centerline is valid? [True, True] Translation: X:241.75, Y:173.33, Z:4.87 [[ 6.93243430e-01 -7.20493198e-01 1.74096945e-02 2.41751469e+02] [ 7.20344471e-01 6.93458284e-01 1.48138572e-02 1.73333360e+02] [-2.27461803e-02 2.27136802e-03 9.99738692e-01 4.86770399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8507140569999 meters Centerline goodness : 0.985822 Centerline is valid? [True, True] Translation: X:241.78, Y:173.36, Z:4.87 [[ 6.93963675e-01 -7.19796614e-01 1.75285850e-02 2.41776439e+02] [ 7.19651047e-01 6.94180766e-01 1.46777119e-02 1.73355337e+02] [-2.27329739e-02 2.42866563e-03 9.99738623e-01 4.86704426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.880714057 meters Centerline goodness : 0.986572 Centerline is valid? [True, True] Translation: X:241.80, Y:173.38, Z:4.87 [[ 6.95433745e-01 -7.18376583e-01 1.75211614e-02 2.41802145e+02] [ 7.18230361e-01 6.95650389e-01 1.46862029e-02 1.73378051e+02] [-2.27388270e-02 2.37094895e-03 9.99738628e-01 4.86576346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.910714057 meters Centerline goodness : 0.985988 Centerline is valid? [True, True] Translation: X:241.83, Y:173.40, Z:4.87 [[ 6.96756912e-01 -7.17091284e-01 1.76038775e-02 2.41826277e+02] [ 7.16947012e-01 6.96974940e-01 1.45915801e-02 1.73399792e+02] [-2.27329564e-02 2.45426310e-03 9.99738560e-01 4.86623772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9407140569999 meters Centerline goodness : 0.985522 Centerline is valid? [True, True] Translation: X:241.85, Y:173.42, Z:4.87 [[ 6.98742434e-01 -7.15156184e-01 1.76250823e-02 2.41848639e+02] [ 7.15011911e-01 6.98960486e-01 1.45673155e-02 1.73420865e+02] [-2.27371418e-02 2.42334233e-03 9.99738541e-01 4.86792347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9707140569999 meters Centerline goodness : 0.986285 Centerline is valid? [True, True] Translation: X:241.87, Y:173.44, Z:4.87 [[ 6.98673536e-01 -7.15223739e-01 1.76151464e-02 2.41872393e+02] [ 7.15079204e-01 6.98891403e-01 1.45787019e-02 1.73442566e+02] [-2.27381080e-02 2.41047170e-03 9.99738550e-01 4.86674587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.000714057 meters Centerline goodness : 0.985753 Centerline is valid? [True, True] Translation: X:241.90, Y:173.46, Z:4.86 [[ 6.97317634e-01 -7.16547519e-01 1.75433802e-02 2.41898979e+02] [ 7.16401363e-01 6.97534339e-01 1.46606057e-02 1.73464771e+02] [-2.27421308e-02 2.34500258e-03 9.99738614e-01 4.86419949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.030714057 meters Centerline goodness : 0.986920 Centerline is valid? [True, True] Translation: X:241.92, Y:173.49, Z:4.86 [[ 6.96875210e-01 -7.16974550e-01 1.76758655e-02 2.41923638e+02] [ 7.16832292e-01 6.97094645e-01 1.45093662e-02 1.73485552e+02] [-2.27245975e-02 2.55941357e-03 9.99738487e-01 4.86152507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0607140569999 meters Centerline goodness : 0.985745 Centerline is valid? [True, True] Translation: X:241.95, Y:173.50, Z:4.86 [[ 6.96627454e-01 -7.17214665e-01 1.77006884e-02 2.41945065e+02] [ 7.17073191e-01 6.96847429e-01 1.44810207e-02 1.73503810e+02] [-2.27206796e-02 2.60481257e-03 9.99738459e-01 4.86265112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0907140569999 meters Centerline goodness : 0.985581 Centerline is valid? [True, True] Translation: X:241.97, Y:173.53, Z:4.86 [[ 6.96233700e-01 -7.17599398e-01 1.75994284e-02 2.41969970e+02] [ 7.17455156e-01 6.96451745e-01 1.45968000e-02 1.73525044e+02] [-2.27318075e-02 2.46401653e-03 9.99738563e-01 4.86136778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.120714057 meters Centerline goodness : 0.986948 Centerline is valid? [True, True] Translation: X:241.99, Y:173.55, Z:4.86 [[ 6.93750650e-01 -7.20001195e-01 1.75589212e-02 2.41994764e+02] [ 7.19856557e-01 6.93968387e-01 1.46428985e-02 1.73547651e+02] [-2.27282406e-02 2.48138420e-03 9.99738601e-01 4.85844060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.150714057 meters Centerline goodness : 0.984968 Centerline is valid? [True, True] Translation: X:242.02, Y:173.57, Z:4.86 [[ 6.94586682e-01 -7.19192483e-01 1.76497217e-02 2.42017455e+02] [ 7.19050172e-01 6.94806054e-01 1.45395132e-02 1.73567614e+02] [-2.27198421e-02 2.59208312e-03 9.99738511e-01 4.85789012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1807140569999 meters Centerline goodness : 0.986810 Centerline is valid? [True, True] Translation: X:242.04, Y:173.59, Z:4.86 [[ 6.94900609e-01 -7.18891145e-01 1.75688811e-02 2.42042988e+02] [ 7.18746442e-01 6.95118313e-01 1.46315682e-02 1.73590206e+02] [-2.27309558e-02 2.46008513e-03 9.99738592e-01 4.85555920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2107140569999 meters Centerline goodness : 0.985462 Centerline is valid? [True, True] Translation: X:242.06, Y:173.61, Z:4.86 [[ 6.96271099e-01 -7.17561168e-01 1.76784567e-02 2.42063934e+02] [ 7.17419159e-01 6.96490706e-01 1.45068155e-02 1.73610681e+02] [-2.27224083e-02 2.58218710e-03 9.99738478e-01 4.85618206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.240714057 meters Centerline goodness : 0.984174 Centerline is valid? [True, True] Translation: X:242.09, Y:173.63, Z:4.86 [[ 6.98661080e-01 -7.15237243e-01 1.75607951e-02 2.42085605e+02] [ 7.15091174e-01 6.98877860e-01 1.46406627e-02 1.73631110e+02] [-2.27443981e-02 2.32870843e-03 9.99738601e-01 4.85720500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.270714057 meters Centerline goodness : 0.985493 Centerline is valid? [True, True] Translation: X:242.11, Y:173.65, Z:4.86 [[ 6.99433699e-01 -7.14483922e-01 1.74707245e-02 2.42107670e+02] [ 7.14335087e-01 6.99648501e-01 1.47431108e-02 1.73654819e+02] [-2.27570819e-02 2.16812301e-03 9.99738673e-01 4.85680558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3007140569999 meters Centerline goodness : 0.984278 Centerline is valid? [True, True] Translation: X:242.13, Y:173.68, Z:4.85 [[ 7.00013834e-01 -7.13916009e-01 1.74517574e-02 2.42132429e+02] [ 7.13766469e-01 7.00228129e-01 1.47646490e-02 1.73677339e+02] [-2.27609307e-02 2.12102068e-03 9.99738687e-01 4.85449945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3307140569999 meters Centerline goodness : 0.985716 Centerline is valid? [True, True] Translation: X:242.16, Y:173.70, Z:4.85 [[ 7.00538153e-01 -7.13399782e-01 1.75227520e-02 2.42155996e+02] [ 7.13252072e-01 7.00753780e-01 1.46840410e-02 1.73699604e+02] [-2.27547264e-02 2.21140815e-03 9.99738632e-01 4.85487473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.360714057 meters Centerline goodness : 0.985195 Centerline is valid? [True, True] Translation: X:242.18, Y:173.72, Z:4.86 [[ 7.00784554e-01 -7.13158614e-01 1.74871277e-02 2.42177567e+02] [ 7.13009832e-01 7.00999407e-01 1.47244788e-02 1.73721374e+02] [-2.27593551e-02 2.14980667e-03 9.99738661e-01 4.85508877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.390714057 meters Centerline goodness : 0.984175 Centerline is valid? [True, True] Translation: X:242.20, Y:173.74, Z:4.85 [[ 7.00684562e-01 -7.13258259e-01 1.74298973e-02 2.42202035e+02] [ 7.13107908e-01 7.00898270e-01 1.47893856e-02 1.73743902e+02] [-2.27652364e-02 2.06670344e-03 9.99738702e-01 4.85449465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4207140569999 meters Centerline goodness : 0.984216 Centerline is valid? [True, True] Translation: X:242.23, Y:173.77, Z:4.85 [[ 7.01112545e-01 -7.12836619e-01 1.74686498e-02 2.42225475e+02] [ 7.12687221e-01 7.01326954e-01 1.47454419e-02 1.73767693e+02] [-2.27623259e-02 2.11146921e-03 9.99738675e-01 4.85368543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4507140569999 meters Centerline goodness : 0.984216 Centerline is valid? [True, True] Translation: X:242.25, Y:173.79, Z:4.85 [[ 7.00875109e-01 -7.13069908e-01 1.74753467e-02 2.42249739e+02] [ 7.12920769e-01 7.01089704e-01 1.47378515e-02 1.73789353e+02] [-2.27609041e-02 2.12914429e-03 9.99738670e-01 4.85294620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.480714057 meters Centerline goodness : 0.983965 Centerline is valid? [True, True] Translation: X:242.27, Y:173.81, Z:4.85 [[ 7.00851216e-01 -7.13093818e-01 1.74579292e-02 2.42273685e+02] [ 7.12944201e-01 7.01065461e-01 1.47575635e-02 1.73812375e+02] [-2.27626785e-02 2.10367306e-03 9.99738683e-01 4.85222972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.510714057 meters Centerline goodness : 0.984020 Centerline is valid? [True, True] Translation: X:242.30, Y:173.83, Z:4.85 [[ 7.03107278e-01 -7.10868959e-01 1.74779406e-02 2.42296319e+02] [ 7.10719220e-01 7.03321457e-01 1.47349153e-02 1.73834255e+02] [-2.27672046e-02 2.06168212e-03 9.99738668e-01 4.85098691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.540714057 meters Centerline goodness : 0.983833 Centerline is valid? [True, True] Translation: X:242.32, Y:173.86, Z:4.85 [[ 7.04186371e-01 -7.09800776e-01 1.74474523e-02 2.42320133e+02] [ 7.09649865e-01 7.04399698e-01 1.47693861e-02 1.73856742e+02] [-2.27733018e-02 1.98118178e-03 9.99738692e-01 4.84927268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5707140569999 meters Centerline goodness : 0.983237 Centerline is valid? [True, True] Translation: X:242.34, Y:173.88, Z:4.85 [[ 7.07019743e-01 -7.06977314e-01 1.74974207e-02 2.42340769e+02] [ 7.06826935e-01 7.07233494e-01 1.47128864e-02 1.73878397e+02] [-2.27764389e-02 1.96534712e-03 9.99738651e-01 4.84894482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6007140569999 meters Centerline goodness : 0.982792 Centerline is valid? [True, True] Translation: X:242.36, Y:173.90, Z:4.85 [[ 7.08918431e-01 -7.05074926e-01 1.74358126e-02 2.42363983e+02] [ 7.04922271e-01 7.09130502e-01 1.47825612e-02 1.73899911e+02] [-2.27870797e-02 1.81126253e-03 9.99738700e-01 4.84872651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.630714057 meters Centerline goodness : 0.982084 Centerline is valid? [True, True] Translation: X:242.39, Y:173.92, Z:4.85 [[ 7.12084952e-01 -7.01876830e-01 1.74337586e-02 2.42385848e+02] [ 7.01723166e-01 7.12296291e-01 1.47848851e-02 1.73921849e+02] [-2.27951699e-02 1.70557801e-03 9.99738701e-01 4.84788262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.660714057 meters Centerline goodness : 0.982850 Centerline is valid? [True, True] Translation: X:242.41, Y:173.94, Z:4.84 [[ 7.13341206e-01 -7.00600722e-01 1.74055282e-02 2.42411101e+02] [ 7.00445905e-01 7.13551678e-01 1.48168020e-02 1.73943648e+02] [-2.28004061e-02 1.62219557e-03 9.99738721e-01 4.84475205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6907140569999 meters Centerline goodness : 0.984188 Centerline is valid? [True, True] Translation: X:242.44, Y:173.97, Z:4.84 [[ 7.13755668e-01 -7.00177573e-01 1.74416962e-02 2.42435842e+02] [ 7.00023619e-01 7.13966806e-01 1.47760527e-02 1.73966684e+02] [-2.27986528e-02 1.66310794e-03 9.99738694e-01 4.84447036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7207140569999 meters Centerline goodness : 0.983015 Centerline is valid? [True, True] Translation: X:242.46, Y:173.99, Z:4.85 [[ 7.14793788e-01 -6.99115295e-01 1.75398154e-02 2.42458093e+02] [ 6.98963716e-01 7.15006746e-01 1.46654666e-02 1.73986816e+02] [-2.27939383e-02 1.77691013e-03 9.99738605e-01 4.84593357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.750714057 meters Centerline goodness : 0.984108 Centerline is valid? [True, True] Translation: X:242.48, Y:174.01, Z:4.85 [[ 7.15140852e-01 -6.98761705e-01 1.74826079e-02 2.42482673e+02] [ 6.98608449e-01 7.15352542e-01 1.47300646e-02 1.74008803e+02] [-2.27990330e-02 1.67942663e-03 9.99738658e-01 4.84658470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.780714057 meters Centerline goodness : 0.983482 Centerline is valid? [True, True] Translation: X:242.51, Y:174.03, Z:4.85 [[ 7.15593866e-01 -6.98296881e-01 1.75181583e-02 2.42505349e+02] [ 6.98144464e-01 7.15806199e-01 1.46899151e-02 1.74029409e+02] [-2.27975282e-02 1.71819213e-03 9.99738626e-01 4.84580752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8107140569999 meters Centerline goodness : 0.982869 Centerline is valid? [True, True] Translation: X:242.53, Y:174.05, Z:4.84 [[ 7.16101438e-01 -6.97777345e-01 1.74787743e-02 2.42529233e+02] [ 6.97623693e-01 7.16312837e-01 1.47344033e-02 1.74050143e+02] [-2.28016032e-02 1.64227972e-03 9.99738661e-01 4.84282544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8407140569999 meters Centerline goodness : 0.982639 Centerline is valid? [True, True] Translation: X:242.55, Y:174.07, Z:4.84 [[ 7.17951511e-01 -6.95873797e-01 1.74724484e-02 2.42553876e+02] [ 6.95719412e-01 7.18162368e-01 1.47415481e-02 1.74068941e+02] [-2.28063119e-02 1.57220479e-03 9.99738666e-01 4.84149099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.870714057 meters Centerline goodness : 0.982493 Centerline is valid? [True, True] Translation: X:242.58, Y:174.09, Z:4.84 [[ 7.18347363e-01 -6.95465836e-01 1.74452817e-02 2.42580149e+02] [ 6.95310589e-01 7.18557559e-01 1.47722195e-02 1.74090781e+02] [-2.28090130e-02 1.51830422e-03 9.99738688e-01 4.84005665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.900714057 meters Centerline goodness : 0.983302 Centerline is valid? [True, True] Translation: X:242.61, Y:174.11, Z:4.84 [[ 7.18460522e-01 -6.95348321e-01 1.74696998e-02 2.42605952e+02] [ 6.95193705e-01 7.18671209e-01 1.47447298e-02 1.74112136e+02] [-2.28076934e-02 1.55131907e-03 9.99738667e-01 4.83896607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9307140569999 meters Centerline goodness : 0.983254 Centerline is valid? [True, True] Translation: X:242.63, Y:174.13, Z:4.84 [[ 7.18848177e-01 -6.94945093e-01 1.75674907e-02 2.42628242e+02] [ 6.94793027e-01 7.19060830e-01 1.46346571e-02 1.74132585e+02] [-2.28023776e-02 1.68567344e-03 9.99738571e-01 4.83825770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9607140569999 meters Centerline goodness : 0.980649 Centerline is valid? [True, True] Translation: X:242.65, Y:174.15, Z:4.84 [[ 7.20855790e-01 -6.92863767e-01 1.75137259e-02 2.42648099e+02] [ 6.92709621e-01 7.21066871e-01 1.46951849e-02 1.74149852e+02] [-2.28103287e-02 1.53881737e-03 9.99738626e-01 4.83666571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.990714057 meters Centerline goodness : 0.983011 Centerline is valid? [True, True] Translation: X:242.67, Y:174.17, Z:4.84 [[ 7.21093401e-01 -6.92621024e-01 1.73327412e-02 2.42673352e+02] [ 6.92461910e-01 7.21300584e-01 1.48986880e-02 1.74174088e+02] [-2.28212608e-02 1.25891747e-03 9.99738768e-01 4.83717100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.020714057 meters Centerline goodness : 0.984036 Centerline is valid? [True, True] Translation: X:242.70, Y:174.20, Z:4.84 [[ 7.21578225e-01 -6.92112677e-01 1.74616139e-02 2.42697063e+02] [ 6.91956894e-01 7.21788043e-01 1.47538890e-02 1.74196285e+02] [-2.28149377e-02 1.43659913e-03 9.99738673e-01 4.83671902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0507140569999 meters Centerline goodness : 0.983488 Centerline is valid? [True, True] Translation: X:242.72, Y:174.22, Z:4.84 [[ 7.21807679e-01 -6.91872686e-01 1.74888850e-02 2.42720255e+02] [ 6.91717573e-01 7.22018023e-01 1.47232423e-02 1.74216347e+02] [-2.28138994e-02 1.47001976e-03 9.99738648e-01 4.83741631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0807140569999 meters Centerline goodness : 0.984041 Centerline is valid? [True, True] Translation: X:242.74, Y:174.24, Z:4.84 [[ 7.19829835e-01 -6.93930179e-01 1.74904541e-02 2.42744260e+02] [ 6.93775710e-01 7.20040654e-01 1.47214802e-02 1.74238058e+02] [-2.28095174e-02 1.53749150e-03 9.99738647e-01 4.83812483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.110714057 meters Centerline goodness : 0.983987 Centerline is valid? [True, True] Translation: X:242.77, Y:174.26, Z:4.84 [[ 7.18493563e-01 -6.95314494e-01 1.74572196e-02 2.42769970e+02] [ 6.95159528e-01 7.18703979e-01 1.47587709e-02 1.74259595e+02] [-2.28085605e-02 1.53147066e-03 9.99738678e-01 4.83869286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.140714057 meters Centerline goodness : 0.982990 Centerline is valid? [True, True] Translation: X:242.79, Y:174.28, Z:4.84 [[ 7.14670304e-01 -6.99241987e-01 1.75214262e-02 2.42794696e+02] [ 6.99089929e-01 7.14882907e-01 1.46867146e-02 1.74278929e+02] [-2.27953356e-02 1.75289381e-03 9.99738616e-01 4.83789332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1707140569999 meters Centerline goodness : 0.984475 Centerline is valid? [True, True] Translation: X:242.82, Y:174.30, Z:4.84 [[ 7.12026489e-01 -7.01935256e-01 1.74692971e-02 2.42819250e+02] [ 7.01782575e-01 7.12238581e-01 1.47451714e-02 1.74300657e+02] [-2.27924630e-02 1.76069573e-03 9.99738668e-01 4.83748015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2007140569999 meters Centerline goodness : 0.984082 Centerline is valid? [True, True] Translation: X:242.84, Y:174.32, Z:4.84 [[ 7.07651022e-01 -7.06346276e-01 1.74633806e-02 2.42843407e+02] [ 7.06194754e-01 7.07863937e-01 1.47517940e-02 1.74320780e+02] [-2.27815721e-02 1.89342569e-03 9.99738673e-01 4.83552861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.230714057 meters Centerline goodness : 0.983672 Centerline is valid? [True, True] Translation: X:242.87, Y:174.34, Z:4.83 [[ 7.05928241e-01 -7.08068844e-01 1.74307227e-02 2.42865278e+02] [ 7.07916946e-01 7.06140852e-01 1.47883441e-02 1.74341398e+02] [-2.27797111e-02 1.89999421e-03 9.99738703e-01 4.83496622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.260714057 meters Centerline goodness : 0.983316 Centerline is valid? [True, True] Translation: X:242.89, Y:174.36, Z:4.83 [[ 7.03665992e-01 -7.10318111e-01 1.73882705e-02 2.42889690e+02] [ 7.10165727e-01 7.03878211e-01 1.48359096e-02 1.74361081e+02] [-2.27774400e-02 1.90902875e-03 9.99738738e-01 4.83274508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.290714057 meters Centerline goodness : 0.983896 Centerline is valid? [True, True] Translation: X:242.91, Y:174.38, Z:4.83 [[ 7.02400520e-01 -7.11570181e-01 1.73605040e-02 2.42913126e+02] [ 7.11417412e-01 7.02612438e-01 1.48669999e-02 1.74383314e+02] [-2.27766199e-02 1.90797632e-03 9.99738758e-01 4.83000857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3207140569999 meters Centerline goodness : 0.983951 Centerline is valid? [True, True] Translation: X:242.94, Y:174.40, Z:4.83 [[ 7.02929145e-01 -7.11048470e-01 1.73404126e-02 2.42937910e+02] [ 7.10894994e-01 7.03140534e-01 1.48894966e-02 1.74403012e+02] [-2.27799008e-02 1.86095140e-03 9.99738772e-01 4.82563288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3507140569999 meters Centerline goodness : 0.983297 Centerline is valid? [True, True] Translation: X:242.96, Y:174.42, Z:4.82 [[ 7.04241304e-01 -7.09748718e-01 1.73477372e-02 2.42960681e+02] [ 7.09595052e-01 7.04452560e-01 1.48812925e-02 1.74424831e+02] [-2.27826362e-02 1.82984767e-03 9.99738767e-01 4.82355705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.380714057 meters Centerline goodness : 0.983633 Centerline is valid? [True, True] Translation: X:242.98, Y:174.45, Z:4.82 [[ 7.05259479e-01 -7.08737539e-01 1.73253757e-02 2.42983224e+02] [ 7.08582959e-01 7.05470049e-01 1.49063464e-02 1.74446449e+02] [-2.27872209e-02 1.76362393e-03 9.99738782e-01 4.82329521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.410714057 meters Centerline goodness : 0.982614 Centerline is valid? [True, True] Translation: X:243.01, Y:174.47, Z:4.82 [[ 7.08222959e-01 -7.05776398e-01 1.73180982e-02 2.43005947e+02] [ 7.05620739e-01 7.08432728e-01 1.49144974e-02 1.74469059e+02] [-2.27950078e-02 1.65721974e-03 9.99738787e-01 4.82246247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4407140569999 meters Centerline goodness : 0.982991 Centerline is valid? [True, True] Translation: X:243.03, Y:174.49, Z:4.82 [[ 7.09021393e-01 -7.04975709e-01 1.72602093e-02 2.43031678e+02] [ 7.04818247e-01 7.09229768e-01 1.49791522e-02 1.74492440e+02] [-2.28013927e-02 1.54477110e-03 9.99738821e-01 4.82433620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4707140569999 meters Centerline goodness : 0.982747 Centerline is valid? [True, True] Translation: X:243.05, Y:174.51, Z:4.82 [[ 7.10927045e-01 -7.03051410e-01 1.73623501e-02 2.43054121e+02] [ 7.02896147e-01 7.11137145e-01 1.48650068e-02 1.74514580e+02] [-2.27978761e-02 1.63599360e-03 9.99738756e-01 4.82452784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.500714057 meters Centerline goodness : 0.983343 Centerline is valid? [True, True] Translation: X:243.08, Y:174.54, Z:4.82 [[ 7.10926159e-01 -7.03053875e-01 1.72987390e-02 2.43076749e+02] [ 7.02896891e-01 7.11134921e-01 1.49360337e-02 1.74539072e+02] [-2.28025737e-02 1.54081284e-03 9.99738800e-01 4.82279908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.530714057 meters Centerline goodness : 0.983234 Centerline is valid? [True, True] Translation: X:243.10, Y:174.56, Z:4.82 [[ 7.10473181e-01 -7.03511003e-01 1.73241751e-02 2.43099959e+02] [ 7.03354841e-01 7.10682580e-01 1.49076512e-02 1.74560896e+02] [-2.27996861e-02 1.59355600e-03 9.99738783e-01 4.82316226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5607140569999 meters Centerline goodness : 0.983080 Centerline is valid? [True, True] Translation: X:243.13, Y:174.58, Z:4.82 [[ 7.09080855e-01 -7.04915004e-01 1.72967841e-02 2.43125830e+02] [ 7.04758515e-01 7.09289987e-01 1.49382109e-02 1.74583457e+02] [-2.27986048e-02 1.59765653e-03 9.99738801e-01 4.82151626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5907140569999 meters Centerline goodness : 0.983365 Centerline is valid? [True, True] Translation: X:243.15, Y:174.60, Z:4.82 [[ 7.08740215e-01 -7.05255743e-01 1.73679411e-02 2.43148528e+02] [ 7.05101284e-01 7.08950912e-01 1.48588033e-02 1.74603972e+02] [-2.27922741e-02 1.71512614e-03 9.99738751e-01 4.82168828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.620714057 meters Centerline goodness : 0.983528 Centerline is valid? [True, True] Translation: X:243.17, Y:174.63, Z:4.82 [[ 7.05671874e-01 -7.08327082e-01 1.73191119e-02 2.43172053e+02] [ 7.08172212e-01 7.05882224e-01 1.49132240e-02 1.74626446e+02] [-2.27886937e-02 1.74107104e-03 9.99738788e-01 4.82085092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.650714057 meters Centerline goodness : 0.981748 Centerline is valid? [True, True] Translation: X:243.19, Y:174.65, Z:4.82 [[ 7.05719946e-01 -7.08277994e-01 1.73677952e-02 2.43193813e+02] [ 7.08124433e-01 7.05931299e-01 1.48589662e-02 1.74645382e+02] [-2.27847490e-02 1.81229131e-03 9.99738751e-01 4.82170562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6807140569999 meters Centerline goodness : 0.982390 Centerline is valid? [True, True] Translation: X:243.22, Y:174.67, Z:4.82 [[ 7.04999900e-01 -7.08996776e-01 1.72832912e-02 2.43217624e+02] [ 7.08841131e-01 7.05209650e-01 1.49532731e-02 1.74667624e+02] [-2.27901661e-02 1.70905162e-03 9.99738810e-01 4.82148371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7107140569999 meters Centerline goodness : 0.985343 Centerline is valid? [True, True] Translation: X:243.24, Y:174.69, Z:4.82 [[ 7.02974940e-01 -7.11006300e-01 1.72126496e-02 2.43243886e+02] [ 7.10849344e-01 7.03183659e-01 1.50317231e-02 1.74692133e+02] [-2.27913038e-02 1.66867604e-03 9.99738852e-01 4.81818445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.740714057 meters Centerline goodness : 0.983935 Centerline is valid? [True, True] Translation: X:243.27, Y:174.71, Z:4.82 [[ 7.03956247e-01 -7.10029294e-01 1.74357004e-02 2.43267109e+02] [ 7.09878104e-01 7.04169383e-01 1.47836891e-02 1.74714228e+02] [-2.27745387e-02 1.97015160e-03 9.99738685e-01 4.81782089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.770714057 meters Centerline goodness : 0.982726 Centerline is valid? [True, True] Translation: X:243.29, Y:174.74, Z:4.82 [[ 7.04092404e-01 -7.09893906e-01 1.74507797e-02 2.43288439e+02] [ 7.09743087e-01 7.04305821e-01 1.47668807e-02 1.74735117e+02] [-2.27736044e-02 1.98832169e-03 9.99738671e-01 4.81763362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8007140569999 meters Centerline goodness : 0.982111 Centerline is valid? [True, True] Translation: X:243.31, Y:174.76, Z:4.82 [[ 7.03601301e-01 -7.10381686e-01 1.74089006e-02 2.43310725e+02] [ 7.10229869e-01 7.03813960e-01 1.48135880e-02 1.74756209e+02] [-2.27759290e-02 1.94146142e-03 9.99738710e-01 4.81706500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8307140569999 meters Centerline goodness : 0.982939 Centerline is valid? [True, True] Translation: X:243.34, Y:174.78, Z:4.82 [[ 7.03894946e-01 -7.10092086e-01 1.73532249e-02 2.43335407e+02] [ 7.09938663e-01 7.04106392e-01 1.48755815e-02 1.74778520e+02] [-2.27815492e-02 1.84887864e-03 9.99738757e-01 4.81606339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.860714057 meters Centerline goodness : 0.983822 Centerline is valid? [True, True] Translation: X:243.36, Y:174.80, Z:4.81 [[ 7.02883553e-01 -7.11093326e-01 1.73491388e-02 2.43359936e+02] [ 7.10940093e-01 7.03095133e-01 1.48801190e-02 1.74802001e+02] [-2.27792484e-02 1.87520742e-03 9.99738761e-01 4.81421282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.890714057 meters Centerline goodness : 0.981754 Centerline is valid? [True, True] Translation: X:243.38, Y:174.82, Z:4.81 [[ 7.03356011e-01 -7.10624562e-01 1.74084132e-02 2.43382367e+02] [ 7.10472799e-01 7.03568714e-01 1.48144008e-02 1.74824965e+02] [-2.27754920e-02 1.94840619e-03 9.99738706e-01 4.81312265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9207140569999 meters Centerline goodness : 0.983063 Centerline is valid? [True, True] Translation: X:243.41, Y:174.85, Z:4.81 [[ 7.03547922e-01 -7.10435416e-01 1.73735876e-02 2.43406086e+02] [ 7.10282649e-01 7.03759865e-01 1.48529976e-02 1.74848264e+02] [-2.27789292e-02 1.89036217e-03 9.99738739e-01 4.81212670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9507140569999 meters Centerline goodness : 0.981697 Centerline is valid? [True, True] Translation: X:243.42, Y:174.87, Z:4.81 [[ 7.04138538e-01 -7.09848804e-01 1.74239434e-02 2.43424833e+02] [ 7.09697228e-01 7.04351394e-01 1.47972206e-02 1.74870034e+02] [-2.27763681e-02 1.94643102e-03 9.99738690e-01 4.81201560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.980714057 meters Centerline goodness : 0.982887 Centerline is valid? [True, True] Translation: X:243.45, Y:174.89, Z:4.81 [[ 7.03579404e-01 -7.10406504e-01 1.72806587e-02 2.43450440e+02] [ 7.10251219e-01 7.03789410e-01 1.49556921e-02 1.74893370e+02] [-2.27865655e-02 1.75109199e-03 9.99738819e-01 4.81095171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.010714057 meters Centerline goodness : 0.981988 Centerline is valid? [True, True] Translation: X:243.47, Y:174.91, Z:4.81 [[ 7.04946383e-01 -7.09046725e-01 1.74166400e-02 2.43469587e+02] [ 7.08894709e-01 7.05158915e-01 1.48052708e-02 1.74912184e+02] [-2.27791277e-02 1.90964182e-03 9.99738698e-01 4.81266624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.040714057 meters Centerline goodness : 0.981164 Centerline is valid? [True, True] Translation: X:243.49, Y:174.93, Z:4.81 [[ 7.02681361e-01 -7.11295807e-01 1.72388875e-02 2.43493661e+02] [ 7.11139657e-01 7.02890692e-01 1.50021237e-02 1.74934868e+02] [-2.27880012e-02 1.71754387e-03 9.99738844e-01 4.80973148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0707140569999 meters Centerline goodness : 0.982207 Centerline is valid? [True, True] Translation: X:243.52, Y:174.96, Z:4.81 [[ 7.01812524e-01 -7.12152325e-01 1.72698020e-02 2.43516453e+02] [ 7.11997265e-01 7.02022689e-01 1.49678981e-02 1.74958244e+02] [-2.27832163e-02 1.79139341e-03 9.99738824e-01 4.80937885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1007140569999 meters Centerline goodness : 0.983247 Centerline is valid? [True, True] Translation: X:243.54, Y:174.98, Z:4.81 [[ 6.98509944e-01 -7.15392713e-01 1.72372952e-02 2.43540918e+02] [ 7.15237749e-01 6.98720151e-01 1.50037666e-02 1.74981280e+02] [-2.27776308e-02 1.84848406e-03 9.99738847e-01 4.81017546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.130714057 meters Centerline goodness : 0.982191 Centerline is valid? [True, True] Translation: X:243.56, Y:175.00, Z:4.81 [[ 6.97541021e-01 -7.16335586e-01 1.73162239e-02 2.43560058e+02] [ 7.16183044e-01 6.97753066e-01 1.49166573e-02 1.75002059e+02] [-2.27677808e-02 1.99660558e-03 9.99738787e-01 4.81094660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.160714057 meters Centerline goodness : 0.981875 Centerline is valid? [True, True] Translation: X:243.59, Y:175.02, Z:4.81 [[ 6.99096871e-01 -7.14820248e-01 1.71923807e-02 2.43585129e+02] [ 7.14663898e-01 6.99306017e-01 1.50534754e-02 1.75020978e+02] [-2.27832643e-02 1.76293628e-03 9.99738873e-01 4.80777341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1907140569999 meters Centerline goodness : 0.982983 Centerline is valid? [True, True] Translation: X:243.61, Y:175.05, Z:4.81 [[ 6.97459376e-01 -7.16418867e-01 1.71588220e-02 2.43610514e+02] [ 7.16262092e-01 6.97668181e-01 1.50905301e-02 1.75045838e+02] [-2.27823047e-02 1.76518206e-03 9.99738891e-01 4.80627989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2207140569999 meters Centerline goodness : 0.982047 Centerline is valid? [True, True] Translation: X:243.63, Y:175.07, Z:4.81 [[ 6.97034781e-01 -7.16829258e-01 1.72722223e-02 2.43634961e+02] [ 7.16675666e-01 6.97246029e-01 1.49654689e-02 1.75068263e+02] [-2.27706743e-02 1.94712909e-03 9.99738818e-01 4.80617620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.250714057 meters Centerline goodness : 0.982844 Centerline is valid? [True, True] Translation: X:243.66, Y:175.09, Z:4.81 [[ 6.96412251e-01 -7.17434087e-01 1.72715657e-02 2.43658029e+02] [ 7.17280661e-01 6.96623619e-01 1.49661914e-02 1.75091408e+02] [-2.27690365e-02 1.96592105e-03 9.99738819e-01 4.80659022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.280714057 meters Centerline goodness : 0.983122 Centerline is valid? [True, True] Translation: X:243.68, Y:175.11, Z:4.81 [[ 6.99074483e-01 -7.14839411e-01 1.73056276e-02 2.43680677e+02] [ 7.14686119e-01 6.99285982e-01 1.49287070e-02 1.75113630e+02] [-2.27732109e-02 1.93181372e-03 9.99738790e-01 4.80562542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3107140569999 meters Centerline goodness : 0.982285 Centerline is valid? [True, True] Translation: X:243.70, Y:175.13, Z:4.81 [[ 6.99930902e-01 -7.14000344e-01 1.73274616e-02 2.43701531e+02] [ 7.13847389e-01 7.00142669e-01 1.49046455e-02 1.75134226e+02] [-2.27736173e-02 1.93694124e-03 9.99738771e-01 4.80542929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3407140569999 meters Centerline goodness : 0.982285 Centerline is valid? [True, True] Translation: X:243.73, Y:175.16, Z:4.80 [[ 6.99712574e-01 -7.14216481e-01 1.72375086e-02 2.43725528e+02] [ 7.14061166e-01 6.99922525e-01 1.50036908e-02 1.75156185e+02] [-2.27808038e-02 1.81036438e-03 9.99738845e-01 4.80462755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.370714057 meters Centerline goodness : 0.984980 Centerline is valid? [True, True] Translation: X:243.75, Y:175.18, Z:4.80 [[ 7.01003338e-01 -7.12950270e-01 1.72114363e-02 2.43749688e+02] [ 7.12793877e-01 7.01212463e-01 1.50323379e-02 1.75181072e+02] [-2.27861829e-02 1.73048736e-03 9.99738864e-01 4.80268757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.400714057 meters Centerline goodness : 0.983189 Centerline is valid? [True, True] Translation: X:243.77, Y:175.20, Z:4.80 [[ 7.00961505e-01 -7.12988180e-01 1.73442513e-02 2.43771810e+02] [ 7.12835368e-01 7.01173398e-01 1.48863715e-02 1.75202841e+02] [-2.27751345e-02 1.92882235e-03 9.99738752e-01 4.80282831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4307140569999 meters Centerline goodness : 0.983348 Centerline is valid? [True, True] Translation: X:243.79, Y:175.22, Z:4.80 [[ 6.99951989e-01 -7.13980301e-01 1.73015512e-02 2.43790746e+02] [ 7.13826638e-01 7.00163216e-01 1.49332479e-02 1.75224088e+02] [-2.27759546e-02 1.89775151e-03 9.99738793e-01 4.80405131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4607140569999 meters Centerline goodness : 0.983327 Centerline is valid? [True, True] Translation: X:243.81, Y:175.25, Z:4.80 [[ 7.00183932e-01 -7.13756292e-01 1.71585837e-02 2.43813478e+02] [ 7.13598732e-01 7.00392132e-01 1.50900974e-02 1.75246077e+02] [-2.27883890e-02 1.67849984e-03 9.99738902e-01 4.80304185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.490714057 meters Centerline goodness : 0.982545 Centerline is valid? [True, True] Translation: X:243.84, Y:175.27, Z:4.80 [[ 6.99954093e-01 -7.13982198e-01 1.71373594e-02 2.43835247e+02] [ 7.13824139e-01 7.00161899e-01 1.51133857e-02 1.75267953e+02] [-2.27896144e-02 1.65438463e-03 9.99738914e-01 4.80218629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.520714057 meters Centerline goodness : 0.981868 Centerline is valid? [True, True] Translation: X:243.86, Y:175.29, Z:4.80 [[ 7.01469364e-01 -7.12495099e-01 1.70723632e-02 2.43859993e+02] [ 7.12334872e-01 7.01675463e-01 1.51847019e-02 1.75288947e+02] [-2.27982840e-02 1.50963645e-03 9.99738946e-01 4.80304435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5507140569999 meters Centerline goodness : 0.981995 Centerline is valid? [True, True] Translation: X:243.88, Y:175.31, Z:4.80 [[ 7.00508376e-01 -7.13439806e-01 1.70780167e-02 2.43884141e+02] [ 7.13280007e-01 7.00714810e-01 1.51785087e-02 1.75311760e+02] [-2.27957715e-02 1.54873537e-03 9.99738943e-01 4.80435121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5807140569999 meters Centerline goodness : 0.981710 Centerline is valid? [True, True] Translation: X:243.91, Y:175.33, Z:4.80 [[ 7.01170418e-01 -7.12787381e-01 1.71520829e-02 2.43905167e+02] [ 7.12629358e-01 7.01378263e-01 1.50973404e-02 1.75333440e+02] [-2.27912918e-02 1.63726931e-03 9.99738904e-01 4.80401217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.610714057 meters Centerline goodness : 0.982493 Centerline is valid? [True, True] Translation: X:243.93, Y:175.35, Z:4.80 [[ 7.00989507e-01 -7.12966526e-01 1.71010196e-02 2.43931106e+02] [ 7.12807196e-01 7.01196318e-01 1.51533827e-02 1.75354376e+02] [-2.27950266e-02 1.56736759e-03 9.99738931e-01 4.80079961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.640714057 meters Centerline goodness : 0.982853 Centerline is valid? [True, True] Translation: X:243.96, Y:175.38, Z:4.80 [[ 6.98954404e-01 -7.14961399e-01 1.71154685e-02 2.43955040e+02] [ 7.14803043e-01 6.99161973e-01 1.51375573e-02 1.75376381e+02] [-2.27892539e-02 1.65372657e-03 9.99738923e-01 4.79983011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6707140569999 meters Centerline goodness : 0.983617 Centerline is valid? [True, True] Translation: X:243.98, Y:175.40, Z:4.79 [[ 6.97249357e-01 -7.16623427e-01 1.71521775e-02 2.43980148e+02] [ 7.16466547e-01 6.97458069e-01 1.50973511e-02 1.75398687e+02] [-2.27820401e-02 1.76234298e-03 9.99738902e-01 4.79492274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7007140569999 meters Centerline goodness : 0.983372 Centerline is valid? [True, True] Translation: X:244.00, Y:175.42, Z:4.79 [[ 6.95741232e-01 -7.18085542e-01 1.72422060e-02 2.44003253e+02] [ 7.17931515e-01 6.95952138e-01 1.49987106e-02 1.75420057e+02] [-2.27701074e-02 1.94350168e-03 9.99738838e-01 4.79446022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7307140569999 meters Centerline goodness : 0.984028 Centerline is valid? [True, True] Translation: X:244.03, Y:175.44, Z:4.79 [[ 6.93467515e-01 -7.20283463e-01 1.71621324e-02 2.44028658e+02] [ 7.20127953e-01 6.93677255e-01 1.50863204e-02 1.75442714e+02] [-2.27714079e-02 1.89705816e-03 9.99738898e-01 4.79286547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.760714057 meters Centerline goodness : 0.983338 Centerline is valid? [True, True] Translation: X:244.05, Y:175.46, Z:4.79 [[ 6.91174238e-01 -7.22482699e-01 1.72314323e-02 2.44049766e+02] [ 7.22329723e-01 6.91385896e-01 1.50105063e-02 1.75463947e+02] [-2.27584004e-02 2.07190046e-03 9.99738847e-01 4.79284037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.790714057 meters Centerline goodness : 0.983134 Centerline is valid? [True, True] Translation: X:244.07, Y:175.48, Z:4.79 [[ 6.90572763e-01 -7.23059469e-01 1.71541062e-02 2.44072997e+02] [ 7.22904584e-01 6.90782960e-01 1.50951573e-02 1.75484888e+02] [-2.27644607e-02 1.97647754e-03 9.99738902e-01 4.79232155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8207140569999 meters Centerline goodness : 0.982430 Centerline is valid? [True, True] Translation: X:244.10, Y:175.51, Z:4.79 [[ 6.90502022e-01 -7.23127876e-01 1.71182127e-02 2.44097747e+02] [ 7.22972048e-01 6.90711493e-01 1.51344423e-02 1.75506696e+02] [-2.27678834e-02 1.92562625e-03 9.99738924e-01 4.79072870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8507140569999 meters Centerline goodness : 0.983570 Centerline is valid? [True, True] Translation: X:244.12, Y:175.53, Z:4.79 [[ 6.90470466e-01 -7.23157802e-01 1.71268409e-02 2.44121471e+02] [ 7.23002215e-01 6.90680123e-01 1.51250071e-02 1.75529489e+02] [-2.27669354e-02 1.93937319e-03 9.99738919e-01 4.78965014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.880714057 meters Centerline goodness : 0.983679 Centerline is valid? [True, True] Translation: X:244.14, Y:175.55, Z:4.79 [[ 6.90193155e-01 -7.23422410e-01 1.71296826e-02 2.44144109e+02] [ 7.23266979e-01 6.90402930e-01 1.51219001e-02 1.75554179e+02] [-2.27659045e-02 1.95230182e-03 9.99738917e-01 4.78954878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.910714057 meters Centerline goodness : 0.983764 Centerline is valid? [True, True] Translation: X:244.17, Y:175.58, Z:4.79 [[ 6.90825745e-01 -7.22817962e-01 1.71459529e-02 2.44166297e+02] [ 7.22662785e-01 6.91035720e-01 1.51041073e-02 1.75575886e+02] [-2.27659860e-02 1.95643588e-03 9.99738907e-01 4.78868112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9407140569999 meters Centerline goodness : 0.983481 Centerline is valid? [True, True] Translation: X:244.19, Y:175.60, Z:4.79 [[ 6.91938898e-01 -7.21753626e-01 1.70957844e-02 2.44190848e+02] [ 7.21596780e-01 6.92147594e-01 1.51589846e-02 1.75598667e+02] [-2.27738581e-02 1.84717184e-03 9.99738936e-01 4.78711835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9707140569999 meters Centerline goodness : 0.984010 Centerline is valid? [True, True] Translation: X:244.21, Y:175.62, Z:4.79 [[ 6.93533161e-01 -7.20220435e-01 1.71545681e-02 2.44214421e+02] [ 7.20064700e-01 6.93742731e-01 1.50947669e-02 1.75620938e+02] [-2.27724165e-02 1.88367750e-03 9.99738900e-01 4.78514003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.000714057 meters Centerline goodness : 0.984990 Centerline is valid? [True, True] Translation: X:244.24, Y:175.64, Z:4.79 [[ 6.94754513e-01 -7.19041664e-01 1.71829107e-02 2.44237581e+02] [ 7.18886331e-01 6.94964406e-01 1.50637954e-02 1.75642781e+02] [-2.27730078e-02 1.88691980e-03 9.99738881e-01 4.78557118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.030714057 meters Centerline goodness : 0.984819 Centerline is valid? [True, True] Translation: X:244.26, Y:175.67, Z:4.79 [[ 6.95405191e-01 -7.18412995e-01 1.71577443e-02 2.44261111e+02] [ 7.18256800e-01 6.95614421e-01 1.50912817e-02 1.75666321e+02] [-2.27769473e-02 1.82911089e-03 9.99738898e-01 4.78509736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0607140569999 meters Centerline goodness : 0.984943 Centerline is valid? [True, True] Translation: X:244.28, Y:175.69, Z:4.78 [[ 6.95564242e-01 -7.18256974e-01 1.72425009e-02 2.44283255e+02] [ 7.18103000e-01 6.95775193e-01 1.49987631e-02 1.75688527e+02] [-2.27698706e-02 1.94928831e-03 9.99738833e-01 4.78432612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0907140569999 meters Centerline goodness : 0.985130 Centerline is valid? [True, True] Translation: X:244.31, Y:175.71, Z:4.78 [[ 6.97387438e-01 -7.16488108e-01 1.71916302e-02 2.44306577e+02] [ 7.16332239e-01 6.97596941e-01 1.50542885e-02 1.75710063e+02] [-2.27790473e-02 1.81624723e-03 9.99738874e-01 4.78470063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.120714057 meters Centerline goodness : 0.985132 Centerline is valid? [True, True] Translation: X:244.33, Y:175.73, Z:4.78 [[ 6.96802629e-01 -7.17056367e-01 1.72122785e-02 2.44329740e+02] [ 7.16901221e-01 6.97012687e-01 1.50317401e-02 1.75732236e+02] [-2.27757815e-02 1.86534747e-03 9.99738858e-01 4.78340846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.150714057 meters Centerline goodness : 0.985628 Centerline is valid? [True, True] Translation: X:244.35, Y:175.76, Z:4.78 [[ 6.96004616e-01 -7.17832450e-01 1.71507700e-02 2.44354898e+02] [ 7.17675897e-01 6.96213570e-01 1.50987635e-02 1.75755206e+02] [-2.27789812e-02 1.79988516e-03 9.99738905e-01 4.78196168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1807140569999 meters Centerline goodness : 0.984151 Centerline is valid? [True, True] Translation: X:244.38, Y:175.78, Z:4.78 [[ 6.95745788e-01 -7.18081945e-01 1.72080805e-02 2.44376087e+02] [ 7.17926997e-01 6.95955988e-01 1.50362840e-02 1.75776283e+02] [-2.27733507e-02 1.89271429e-03 9.99738862e-01 4.78085465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2107140569999 meters Centerline goodness : 0.983984 Centerline is valid? [True, True] Translation: X:244.40, Y:175.80, Z:4.78 [[ 6.95334628e-01 -7.18481441e-01 1.71515022e-02 2.44397805e+02] [ 7.18325102e-01 6.95543743e-01 1.50980061e-02 1.75795721e+02] [-2.27772572e-02 1.82218812e-03 9.99738904e-01 4.77800053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.240714057 meters Centerline goodness : 0.986326 Centerline is valid? [True, True] Translation: X:244.42, Y:175.82, Z:4.78 [[ 6.94241535e-01 -7.19539940e-01 1.70577336e-02 2.44422073e+02] [ 7.19381425e-01 6.94448934e-01 1.52001324e-02 1.75819371e+02] [-2.27828273e-02 1.71845340e-03 9.99738961e-01 4.77651847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.270714057 meters Centerline goodness : 0.986041 Centerline is valid? [True, True] Translation: X:244.45, Y:175.84, Z:4.78 [[ 6.93599297e-01 -7.20157816e-01 1.71095014e-02 2.44447026e+02] [ 7.20000860e-01 6.93807917e-01 1.51438298e-02 1.75842180e+02] [-2.27766549e-02 1.81510606e-03 9.99738931e-01 4.77504022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3007140569999 meters Centerline goodness : 0.986760 Centerline is valid? [True, True] Translation: X:244.47, Y:175.86, Z:4.77 [[ 6.94157830e-01 -7.19617800e-01 1.71793057e-02 2.44470265e+02] [ 7.19462541e-01 6.94367777e-01 1.50678996e-02 1.75863948e+02] [-2.27718851e-02 1.90036650e-03 9.99738881e-01 4.77434460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3307140569999 meters Centerline goodness : 0.985306 Centerline is valid? [True, True] Translation: X:244.49, Y:175.89, Z:4.77 [[ 6.95086207e-01 -7.18720534e-01 1.72034582e-02 2.44492795e+02] [ 7.18565648e-01 6.95296454e-01 1.50416272e-02 1.75885964e+02] [-2.27722298e-02 1.90658648e-03 9.99738861e-01 4.77463472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.360714057 meters Centerline goodness : 0.985087 Centerline is valid? [True, True] Translation: X:244.52, Y:175.91, Z:4.77 [[ 6.95475723e-01 -7.18344490e-01 1.71671912e-02 2.44517574e+02] [ 7.18188526e-01 6.95685134e-01 1.50810039e-02 1.75909160e+02] [-2.27763157e-02 1.84080765e-03 9.99738891e-01 4.77336062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.390714057 meters Centerline goodness : 0.985000 Centerline is valid? [True, True] Translation: X:244.54, Y:175.93, Z:4.77 [[ 6.96520550e-01 -7.17328340e-01 1.72967010e-02 2.44538663e+02] [ 7.17175521e-01 6.96732415e-01 1.49403322e-02 1.75930579e+02] [-2.27682960e-02 1.99852215e-03 9.99738771e-01 4.77273290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4207140569999 meters Centerline goodness : 0.983848 Centerline is valid? [True, True] Translation: X:244.56, Y:175.95, Z:4.77 [[ 6.97547617e-01 -7.16330820e-01 1.72475393e-02 2.44561102e+02] [ 7.16176386e-01 6.97758247e-01 1.49937905e-02 1.75951715e+02] [-2.27751270e-02 1.89339748e-03 9.99738820e-01 4.77237651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4507140569999 meters Centerline goodness : 0.983802 Centerline is valid? [True, True] Translation: X:244.59, Y:175.97, Z:4.77 [[ 6.99719663e-01 -7.14210228e-01 1.72088071e-02 2.44585984e+02] [ 7.14054125e-01 6.99929016e-01 1.50359169e-02 1.75974612e+02] [-2.27837490e-02 1.76709302e-03 9.99738855e-01 4.77135680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4807140569999 meters Centerline goodness : 0.983648 Centerline is valid? [True, True] Translation: X:244.61, Y:176.00, Z:4.77 [[ 7.02030958e-01 -7.11936756e-01 1.72797560e-02 2.44610127e+02] [ 7.11781856e-01 7.02241286e-01 1.49587987e-02 1.75998310e+02] [-2.27842767e-02 1.79787705e-03 9.99738788e-01 4.77155583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.510714057 meters Centerline goodness : 0.982552 Centerline is valid? [True, True] Translation: X:244.63, Y:176.02, Z:4.77 [[ 7.03456900e-01 -7.10526571e-01 1.73315406e-02 2.44631772e+02] [ 7.10372625e-01 7.03667996e-01 1.49025307e-02 1.76019851e+02] [-2.27842945e-02 1.82856390e-03 9.99738732e-01 4.77124023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.540714057 meters Centerline goodness : 0.983797 Centerline is valid? [True, True] Translation: X:244.65, Y:176.04, Z:4.77 [[ 7.03811176e-01 -7.10178910e-01 1.71972483e-02 2.44654244e+02] [ 7.10021319e-01 7.04019384e-01 1.50477033e-02 1.76043800e+02] [-2.27937577e-02 1.61967119e-03 9.99738877e-01 4.76924935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5707140569999 meters Centerline goodness : 0.982683 Centerline is valid? [True, True] Translation: X:244.67, Y:176.06, Z:4.77 [[ 7.05397218e-01 -7.08600849e-01 1.73090081e-02 2.44674030e+02] [ 7.08445731e-01 7.05607422e-01 1.49269186e-02 1.76063990e+02] [-2.27905917e-02 1.73308602e-03 9.99738759e-01 4.76921044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6007140569999 meters Centerline goodness : 0.982940 Centerline is valid? [True, True] Translation: X:244.70, Y:176.09, Z:4.77 [[ 7.04239105e-01 -7.09755245e-01 1.71690147e-02 2.44695229e+02] [ 7.09596789e-01 7.04446623e-01 1.50782347e-02 1.76085810e+02] [-2.27965106e-02 1.56439521e-03 9.99738902e-01 4.76887896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.630714057 meters Centerline goodness : 0.982272 Centerline is valid? [True, True] Translation: X:244.72, Y:176.11, Z:4.77 [[ 7.04037641e-01 -7.09957549e-01 1.70668943e-02 2.44719340e+02] [ 7.09796488e-01 7.04243040e-01 1.51883678e-02 1.76108083e+02] [-2.28023379e-02 1.42083897e-03 9.99738983e-01 4.76939881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.660714057 meters Centerline goodness : 0.982498 Centerline is valid? [True, True] Translation: X:244.74, Y:176.13, Z:4.77 [[ 7.04571043e-01 -7.09427121e-01 1.71115374e-02 2.44741204e+02] [ 7.09267068e-01 7.04777271e-01 1.51402049e-02 1.76130104e+02] [-2.28006946e-02 1.46929996e-03 9.99738951e-01 4.76937208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6907140569999 meters Centerline goodness : 0.982519 Centerline is valid? [True, True] Translation: X:244.76, Y:176.15, Z:4.77 [[ 7.03594736e-01 -7.10395656e-01 1.71014513e-02 2.44764138e+02] [ 7.10235623e-01 7.03800969e-01 1.51510967e-02 1.76150521e+02] [-2.27992913e-02 1.48582800e-03 9.99738958e-01 4.76711585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7207140569999 meters Centerline goodness : 0.982037 Centerline is valid? [True, True] Translation: X:244.79, Y:176.17, Z:4.77 [[ 7.02411616e-01 -7.11566326e-01 1.70670726e-02 2.44788580e+02] [ 7.11405739e-01 7.02617387e-01 1.51882175e-02 1.76172664e+02] [-2.27990461e-02 1.47323305e-03 9.99738982e-01 4.76540672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.750714057 meters Centerline goodness : 0.982540 Centerline is valid? [True, True] Translation: X:244.81, Y:176.19, Z:4.76 [[ 6.99149515e-01 -7.14772451e-01 1.70381435e-02 2.44813263e+02] [ 7.14612052e-01 6.99355408e-01 1.52193707e-02 1.76194551e+02] [-2.27941047e-02 1.53504704e-03 9.99739002e-01 4.76380029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.780714057 meters Centerline goodness : 0.982559 Centerline is valid? [True, True] Translation: X:244.84, Y:176.21, Z:4.76 [[ 6.98962529e-01 -7.14953922e-01 1.70959576e-02 2.44835113e+02] [ 7.14795088e-01 6.99169683e-01 1.51570838e-02 1.76214259e+02] [-2.27895918e-02 1.62587287e-03 9.99738961e-01 4.76241571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8107140569999 meters Centerline goodness : 0.982127 Centerline is valid? [True, True] Translation: X:244.86, Y:176.24, Z:4.76 [[ 6.97049338e-01 -7.16821583e-01 1.70011529e-02 2.44862040e+02] [ 7.16660821e-01 6.97254920e-01 1.52592540e-02 1.76236895e+02] [-2.27923001e-02 1.54760730e-03 9.99739024e-01 4.76044268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8407140569999 meters Centerline goodness : 0.982528 Centerline is valid? [True, True] Translation: X:244.89, Y:176.26, Z:4.76 [[ 6.96053016e-01 -7.17786936e-01 1.70913377e-02 2.44885894e+02] [ 7.17628823e-01 6.96260716e-01 1.51620551e-02 1.76258520e+02] [-2.27831521e-02 1.71164238e-03 9.99738965e-01 4.76021953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.870714057 meters Centerline goodness : 0.982984 Centerline is valid? [True, True] Translation: X:244.91, Y:176.28, Z:4.76 [[ 6.95611993e-01 -7.18214881e-01 1.70686915e-02 2.44913804e+02] [ 7.18056300e-01 6.95819316e-01 1.51864610e-02 1.76280095e+02] [-2.27838675e-02 1.69239710e-03 9.99738982e-01 4.75948820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.900714057 meters Centerline goodness : 0.983242 Centerline is valid? [True, True] Translation: X:244.94, Y:176.30, Z:4.76 [[ 6.93337414e-01 -7.20409239e-01 1.71394070e-02 2.44938964e+02] [ 7.20253175e-01 6.93546710e-01 1.51104264e-02 1.76301762e+02] [-2.27726701e-02 1.86808836e-03 9.99738924e-01 4.76103600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9307140569999 meters Centerline goodness : 0.981507 Centerline is valid? [True, True] Translation: X:244.96, Y:176.32, Z:4.76 [[ 6.94069030e-01 -7.19704198e-01 1.71478713e-02 2.44961821e+02] [ 7.19548145e-01 6.94278343e-01 1.51013230e-02 1.76321589e+02] [-2.27738813e-02 1.85735840e-03 9.99738916e-01 4.76007702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9607140569999 meters Centerline goodness : 0.982795 Centerline is valid? [True, True] Translation: X:244.99, Y:176.35, Z:4.76 [[ 6.92734359e-01 -7.20990338e-01 1.70891873e-02 2.44989640e+02] [ 7.20833129e-01 6.92942742e-01 1.51643391e-02 1.76345233e+02] [-2.27751703e-02 1.81359356e-03 9.99738967e-01 4.75998291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.990714057 meters Centerline goodness : 0.981196 Centerline is valid? [True, True] Translation: X:245.01, Y:176.36, Z:4.76 [[ 6.93308015e-01 -7.20433787e-01 1.72960713e-02 2.45010161e+02] [ 7.20281879e-01 6.93520550e-01 1.49419467e-02 1.76362787e+02] [-2.27598642e-02 2.09867531e-03 9.99738758e-01 4.76305604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.020714057 meters Centerline goodness : 0.982476 Centerline is valid? [True, True] Translation: X:245.04, Y:176.39, Z:4.76 [[ 6.92436297e-01 -7.21276264e-01 1.71033830e-02 2.45037907e+02] [ 7.21119520e-01 6.92645039e-01 1.51488268e-02 1.76385272e+02] [-2.27730626e-02 1.84398587e-03 9.99738960e-01 4.76017462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0507140569999 meters Centerline goodness : 0.981231 Centerline is valid? [True, True] Translation: X:245.06, Y:176.41, Z:4.76 [[ 6.92892088e-01 -7.20834391e-01 1.72723622e-02 2.45062536e+02] [ 7.20681978e-01 6.93104224e-01 1.49673312e-02 1.76405823e+02] [-2.27605143e-02 2.07713481e-03 9.99738788e-01 4.76010469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0807140569999 meters Centerline goodness : 0.981319 Centerline is valid? [True, True] Translation: X:245.09, Y:176.43, Z:4.76 [[ 6.93455878e-01 -7.20292752e-01 1.72423010e-02 2.45088625e+02] [ 7.20139377e-01 6.93667276e-01 1.49995925e-02 1.76426606e+02] [-2.27645177e-02 2.01530435e-03 9.99738824e-01 4.75967270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.110714057 meters Centerline goodness : 0.980341 Centerline is valid? [True, True] Translation: X:245.11, Y:176.44, Z:4.76 [[ 6.96270701e-01 -7.17571408e-01 1.72738361e-02 2.45109287e+02] [ 7.17418039e-01 6.96482149e-01 1.49657556e-02 1.76444707e+02] [-2.27699168e-02 1.97234448e-03 9.99738786e-01 4.76038883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.140714057 meters Centerline goodness : 0.981683 Centerline is valid? [True, True] Translation: X:245.14, Y:176.47, Z:4.76 [[ 6.95434926e-01 -7.18386575e-01 1.70584991e-02 2.45135460e+02] [ 7.18227804e-01 6.95642073e-01 1.51963449e-02 1.76467615e+02] [-2.27834599e-02 1.68381930e-03 9.99739005e-01 4.75765389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1707140569999 meters Centerline goodness : 0.981949 Centerline is valid? [True, True] Translation: X:245.16, Y:176.49, Z:4.76 [[ 6.98637337e-01 -7.15268350e-01 1.72353959e-02 2.45160294e+02] [ 7.15113275e-01 6.98847479e-01 1.50068570e-02 1.76487612e+02] [-2.27788428e-02 1.84090978e-03 9.99738834e-01 4.75709379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2007140569999 meters Centerline goodness : 0.982697 Centerline is valid? [True, True] Translation: X:245.18, Y:176.51, Z:4.76 [[ 6.99757011e-01 -7.14173116e-01 1.72303884e-02 2.45182646e+02] [ 7.14017580e-01 6.99966805e-01 1.50122214e-02 1.76508605e+02] [-2.27820249e-02 1.79789309e-03 9.99738839e-01 4.75640656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2307140569999 meters Centerline goodness : 0.981475 Centerline is valid? [True, True] Translation: X:245.21, Y:176.53, Z:4.75 [[ 7.02164816e-01 -7.11807886e-01 1.71494786e-02 2.45207362e+02] [ 7.11649537e-01 7.02372383e-01 1.50987443e-02 1.76529813e+02] [-2.27927254e-02 1.60261150e-03 9.99738928e-01 4.75443890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.260714057 meters Centerline goodness : 0.981475 Centerline is valid? [True, True] Translation: X:245.23, Y:176.55, Z:4.75 [[ 7.01917310e-01 -7.12051447e-01 1.71705267e-02 2.45230889e+02] [ 7.11893717e-01 7.02125376e-01 1.50762560e-02 1.76552277e+02] [-2.27909324e-02 1.64130505e-03 9.99738906e-01 4.75370933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.290714057 meters Centerline goodness : 0.981542 Centerline is valid? [True, True] Translation: X:245.26, Y:176.57, Z:4.75 [[ 7.03375900e-01 -7.10610787e-01 1.71654431e-02 2.45255838e+02] [ 7.10452498e-01 7.03583535e-01 1.50816840e-02 1.76573645e+02] [-2.27945305e-02 1.58713886e-03 9.99738911e-01 4.75327637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3207140569999 meters Centerline goodness : 0.981747 Centerline is valid? [True, True] Translation: X:245.28, Y:176.59, Z:4.75 [[ 7.06020646e-01 -7.07982982e-01 1.71739400e-02 2.45279830e+02] [ 7.07824140e-01 7.06227869e-01 1.50726206e-02 1.76593009e+02] [-2.27998740e-02 1.51454797e-03 9.99738902e-01 4.75170869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3507140569999 meters Centerline goodness : 0.981007 Centerline is valid? [True, True] Translation: X:245.30, Y:176.61, Z:4.75 [[ 7.07321805e-01 -7.06684654e-01 1.71074406e-02 2.45304164e+02] [ 7.06523719e-01 7.07527320e-01 1.51435329e-02 1.76611887e+02] [-2.28056839e-02 1.37546152e-03 9.99738970e-01 4.74608342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.380714057 meters Centerline goodness : 0.982576 Centerline is valid? [True, True] Translation: X:245.33, Y:176.63, Z:4.75 [[ 7.08604408e-01 -7.05400743e-01 1.70172259e-02 2.45330320e+02] [ 7.05237133e-01 7.08807694e-01 1.52394100e-02 1.76632358e+02] [-2.28118318e-02 1.20246656e-03 9.99739053e-01 4.74844862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.410714057 meters Centerline goodness : 0.982810 Centerline is valid? [True, True] Translation: X:245.35, Y:176.65, Z:4.75 [[ 7.08621743e-01 -7.05380786e-01 1.71222629e-02 2.45354930e+02] [ 7.05219852e-01 7.08827278e-01 1.51277626e-02 1.76649692e+02] [-2.28075601e-02 1.35509823e-03 9.99738955e-01 4.75052853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4407140569999 meters Centerline goodness : 0.982413 Centerline is valid? [True, True] Translation: X:245.38, Y:176.67, Z:4.75 [[ 7.08086734e-01 -7.05919347e-01 1.70602667e-02 2.45379708e+02] [ 7.05756982e-01 7.08291065e-01 1.51937213e-02 1.76668103e+02] [-2.28091762e-02 1.28192985e-03 9.99739015e-01 4.74803467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4707140569999 meters Centerline goodness : 0.983347 Centerline is valid? [True, True] Translation: X:245.41, Y:176.69, Z:4.75 [[ 7.06570706e-01 -7.07438062e-01 1.70066100e-02 2.45408269e+02] [ 7.07274766e-01 7.06774235e-01 1.52508093e-02 1.76686114e+02] [-2.28088368e-02 1.25257106e-03 9.99739060e-01 4.74991484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.500714057 meters Centerline goodness : 0.983283 Centerline is valid? [True, True] Translation: X:245.44, Y:176.71, Z:4.75 [[ 7.04504969e-01 -7.09494846e-01 1.70238678e-02 2.45435209e+02] [ 7.09332584e-01 7.04709342e-01 1.52324882e-02 1.76707059e+02] [-2.28042505e-02 1.34422052e-03 9.99739046e-01 4.74827670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.530714057 meters Centerline goodness : 0.984985 Centerline is valid? [True, True] Translation: X:245.46, Y:176.73, Z:4.74 [[ 7.00966393e-01 -7.12990494e-01 1.70490995e-02 2.45464182e+02] [ 7.12829897e-01 7.01172106e-01 1.52057651e-02 1.76725177e+02] [-2.27959190e-02 1.49437749e-03 9.99739022e-01 4.74480328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5607140569999 meters Centerline goodness : 0.984500 Centerline is valid? [True, True] Translation: X:245.49, Y:176.74, Z:4.74 [[ 6.99113990e-01 -7.14804740e-01 1.71409579e-02 2.45487447e+02] [ 7.14647043e-01 6.99322056e-01 1.51084691e-02 1.76744806e+02] [-2.27866553e-02 1.68719278e-03 9.99738927e-01 4.74349041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5907140569999 meters Centerline goodness : 0.985559 Centerline is valid? [True, True] Translation: X:245.52, Y:176.76, Z:4.74 [[ 6.96123124e-01 -7.17719447e-01 1.70702026e-02 2.45515198e+02] [ 7.17560792e-01 6.96330363e-01 1.51833834e-02 1.76763065e+02] [-2.27839099e-02 1.67940379e-03 9.99739002e-01 4.74021261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.620714057 meters Centerline goodness : 0.984316 Centerline is valid? [True, True] Translation: X:245.54, Y:176.78, Z:4.74 [[ 6.93844239e-01 -7.19922531e-01 1.70798915e-02 2.45538973e+02] [ 7.19764783e-01 6.94052183e-01 1.51731413e-02 1.76783290e+02] [-2.27778223e-02 1.76570773e-03 9.99738992e-01 4.74213727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.650714057 meters Centerline goodness : 0.984136 Centerline is valid? [True, True] Translation: X:245.56, Y:176.80, Z:4.74 [[ 6.92157122e-01 -7.21545703e-01 1.70386947e-02 2.45563151e+02] [ 7.21387378e-01 6.92364575e-01 1.52166666e-02 1.76800438e+02] [-2.27765090e-02 1.75917518e-03 9.99739034e-01 4.74287988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6807140569999 meters Centerline goodness : 0.984289 Centerline is valid? [True, True] Translation: X:245.59, Y:176.82, Z:4.74 [[ 6.89176932e-01 -7.24395184e-01 1.69344293e-02 2.45588798e+02] [ 7.24235022e-01 6.89382856e-01 1.53267785e-02 1.76820557e+02] [-2.27769497e-02 1.70164462e-03 9.99739123e-01 4.74269593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7107140569999 meters Centerline goodness : 0.984815 Centerline is valid? [True, True] Translation: X:245.61, Y:176.84, Z:4.74 [[ 6.88790871e-01 -7.24761488e-01 1.69682284e-02 2.45611234e+02] [ 7.24602309e-01 6.88997589e-01 1.52910715e-02 1.76840414e+02] [-2.27734482e-02 1.76286698e-03 9.99739097e-01 4.74234359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.740714057 meters Centerline goodness : 0.984946 Centerline is valid? [True, True] Translation: X:245.64, Y:176.86, Z:4.74 [[ 6.86984273e-01 -7.26476546e-01 1.68652305e-02 2.45638054e+02] [ 7.26315229e-01 6.87189230e-01 1.53996620e-02 1.76860533e+02] [-2.27770980e-02 1.67014811e-03 9.99739173e-01 4.74172151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.770714057 meters Centerline goodness : 0.985136 Centerline is valid? [True, True] Translation: X:245.66, Y:176.88, Z:4.74 [[ 6.86056440e-01 -7.27351047e-01 1.69415190e-02 2.45660119e+02] [ 7.27191958e-01 6.86263199e-01 1.53191939e-02 1.76881514e+02] [-2.27687727e-02 1.80990475e-03 9.99739120e-01 4.74125190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8007140569999 meters Centerline goodness : 0.985608 Centerline is valid? [True, True] Translation: X:245.69, Y:176.90, Z:4.74 [[ 6.84391611e-01 -7.28918674e-01 1.69023574e-02 2.45685480e+02] [ 7.28759046e-01 6.84597917e-01 1.53604886e-02 1.76902603e+02] [-2.27678657e-02 1.80515629e-03 9.99739149e-01 4.74051166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8307140569999 meters Centerline goodness : 0.986127 Centerline is valid? [True, True] Translation: X:245.71, Y:176.92, Z:4.74 [[ 6.83816868e-01 -7.29457810e-01 1.69054515e-02 2.45710063e+02] [ 7.29298425e-01 6.84023364e-01 1.53572301e-02 1.76924391e+02] [-2.27661752e-02 1.82758615e-03 9.99739147e-01 4.73961907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.860714057 meters Centerline goodness : 0.984971 Centerline is valid? [True, True] Translation: X:245.73, Y:176.94, Z:4.74 [[ 6.82780006e-01 -7.30428274e-01 1.69114956e-02 2.45731907e+02] [ 7.30269339e-01 6.82986855e-01 1.53508633e-02 1.76944224e+02] [-2.27630338e-02 1.86868420e-03 9.99739142e-01 4.73940844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.890714057 meters Centerline goodness : 0.986374 Centerline is valid? [True, True] Translation: X:245.76, Y:176.97, Z:4.74 [[ 6.81790307e-01 -7.31354523e-01 1.68089107e-02 2.45758593e+02] [ 7.31193221e-01 6.81995232e-01 1.54588761e-02 1.76965808e+02] [-2.27695159e-02 1.75084969e-03 9.99739208e-01 4.73641575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9207140569999 meters Centerline goodness : 0.986964 Centerline is valid? [True, True] Translation: X:245.78, Y:176.99, Z:4.74 [[ 6.81640585e-01 -7.31491201e-01 1.69332777e-02 2.45782611e+02] [ 7.31333152e-01 6.81848132e-01 1.53279286e-02 1.76988314e+02] [-2.27581687e-02 1.93572913e-03 9.99739125e-01 4.73523892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9507140569999 meters Centerline goodness : 0.986290 Centerline is valid? [True, True] Translation: X:245.80, Y:177.01, Z:4.74 [[ 6.80341128e-01 -7.32699744e-01 1.69421029e-02 2.45803567e+02] [ 7.32542293e-01 6.80549138e-01 1.53186361e-02 1.77010416e+02] [-2.27538943e-02 1.98890873e-03 9.99739118e-01 4.73613553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9807140569999 meters Centerline goodness : 0.985807 Centerline is valid? [True, True] Translation: X:245.83, Y:177.03, Z:4.73 [[ 6.79447709e-01 -7.33530362e-01 1.68528531e-02 2.45828495e+02] [ 7.33370855e-01 6.79654063e-01 1.54124583e-02 1.77033267e+02] [-2.27596162e-02 1.88743180e-03 9.99739185e-01 4.73461391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.010714057 meters Centerline goodness : 0.985984 Centerline is valid? [True, True] Translation: X:245.85, Y:177.05, Z:4.73 [[ 6.78857219e-01 -7.34075083e-01 1.69307162e-02 2.45851005e+02] [ 7.33917758e-01 6.79065312e-01 1.53305844e-02 1.77053487e+02] [-2.27508621e-02 2.01847539e-03 9.99739128e-01 4.73110130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.040714057 meters Centerline goodness : 0.986201 Centerline is valid? [True, True] Translation: X:245.87, Y:177.08, Z:4.73 [[ 6.77358558e-01 -7.35459501e-01 1.68732455e-02 2.45874567e+02] [ 7.35301110e-01 6.77565787e-01 1.53909606e-02 1.77076336e+02] [-2.27521621e-02 1.98171733e-03 9.99739172e-01 4.72901161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0707140569999 meters Centerline goodness : 0.986983 Centerline is valid? [True, True] Translation: X:245.90, Y:177.10, Z:4.73 [[ 6.76406477e-01 -7.36334264e-01 1.69153838e-02 2.45896475e+02] [ 7.36177234e-01 6.76614778e-01 1.53467059e-02 1.77098799e+02] [-2.27455041e-02 2.07210918e-03 9.99739140e-01 4.72646607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1007140569999 meters Centerline goodness : 0.987008 Centerline is valid? [True, True] Translation: X:245.92, Y:177.12, Z:4.73 [[ 6.75732137e-01 -7.36954089e-01 1.68745373e-02 2.45918881e+02] [ 7.36796191e-01 6.75939741e-01 1.53895701e-02 1.77121584e+02] [-2.27475770e-02 2.03386773e-03 9.99739172e-01 4.72584942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.130714057 meters Centerline goodness : 0.986729 Centerline is valid? [True, True] Translation: X:245.94, Y:177.15, Z:4.73 [[ 6.75402173e-01 -7.37256780e-01 1.68625291e-02 2.45941088e+02] [ 7.37098664e-01 6.75609601e-01 1.54021690e-02 1.77145317e+02] [-2.27478401e-02 2.02668927e-03 9.99739180e-01 4.72611741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.160714057 meters Centerline goodness : 0.986352 Centerline is valid? [True, True] Translation: X:245.96, Y:177.17, Z:4.73 [[ 6.75718850e-01 -7.36967326e-01 1.68284306e-02 2.45962984e+02] [ 7.36808239e-01 6.75925506e-01 1.54379199e-02 1.77169255e+02] [-2.27520079e-02 1.96763283e-03 9.99739203e-01 4.72717864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1907140569999 meters Centerline goodness : 0.986571 Centerline is valid? [True, True] Translation: X:245.98, Y:177.19, Z:4.73 [[ 6.75866918e-01 -7.36832109e-01 1.68033529e-02 2.45984356e+02] [ 7.36672334e-01 6.76073022e-01 1.54642020e-02 1.77191454e+02] [-2.27548142e-02 1.92682268e-03 9.99739219e-01 4.72831238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2207140569999 meters Centerline goodness : 0.986104 Centerline is valid? [True, True] Translation: X:246.01, Y:177.21, Z:4.73 [[ 6.76831222e-01 -7.35947911e-01 1.67382533e-02 2.46007195e+02] [ 7.35786194e-01 6.77035761e-01 1.55323955e-02 1.77214900e+02] [-2.27634301e-02 1.80296544e-03 9.99739254e-01 4.72905488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.250714057 meters Centerline goodness : 0.985218 Centerline is valid? [True, True] Translation: X:246.03, Y:177.24, Z:4.73 [[ 6.79779660e-01 -7.33225211e-01 1.67452577e-02 2.46027935e+02] [ 7.33062853e-01 6.79983696e-01 1.55250556e-02 1.77237340e+02] [-2.27698644e-02 1.72170941e-03 9.99739251e-01 4.72935614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.280714057 meters Centerline goodness : 0.983602 Centerline is valid? [True, True] Translation: X:246.05, Y:177.26, Z:4.73 [[ 6.80869649e-01 -7.32213630e-01 1.67248870e-02 2.46045683e+02] [ 7.32050448e-01 6.81073014e-01 1.55464282e-02 1.77256564e+02] [-2.27741758e-02 1.65836988e-03 9.99739259e-01 4.72946758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3107140569999 meters Centerline goodness : 0.985365 Centerline is valid? [True, True] Translation: X:246.07, Y:177.28, Z:4.73 [[ 6.82597528e-01 -7.30607672e-01 1.65240406e-02 2.46074758e+02] [ 7.30438918e-01 6.82796238e-01 1.57570523e-02 1.77284727e+02] [-2.27947761e-02 1.31407739e-03 9.99739302e-01 4.72795867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3407140569999 meters Centerline goodness : 0.984272 Centerline is valid? [True, True] Translation: X:246.09, Y:177.31, Z:4.73 [[ 6.82963206e-01 -7.30258440e-01 1.68484650e-02 2.46094076e+02] [ 7.30097848e-01 6.83168698e-01 1.54162916e-02 1.77306008e+02] [-2.27682210e-02 1.77226810e-03 9.99739200e-01 4.72948998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.370714057 meters Centerline goodness : 0.986208 Centerline is valid? [True, True] Translation: X:246.12, Y:177.33, Z:4.73 [[ 6.81174976e-01 -7.31929129e-01 1.67451869e-02 2.46117937e+02] [ 7.31766389e-01 6.81378700e-01 1.55248248e-02 1.77330140e+02] [-2.27728852e-02 1.67844276e-03 9.99739255e-01 4.72784230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.400714057 meters Centerline goodness : 0.985945 Centerline is valid? [True, True] Translation: X:246.14, Y:177.35, Z:4.73 [[ 6.77408462e-01 -7.35416123e-01 1.67601315e-02 2.46141391e+02] [ 7.35254813e-01 6.77613330e-01 1.55091573e-02 1.77353685e+02] [-2.27625729e-02 1.81693292e-03 9.99739248e-01 4.72509020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4307140569999 meters Centerline goodness : 0.984932 Centerline is valid? [True, True] Translation: X:246.16, Y:177.38, Z:4.72 [[ 6.76313752e-01 -7.36421354e-01 1.68314481e-02 2.46162756e+02] [ 7.36262188e-01 6.76520341e-01 1.54343593e-02 1.77375137e+02] [-2.27530088e-02 1.95388934e-03 9.99739207e-01 4.72366384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4607140569999 meters Centerline goodness : 0.986883 Centerline is valid? [True, True] Translation: X:246.19, Y:177.40, Z:4.72 [[ 6.73724817e-01 -7.38792533e-01 1.67470505e-02 2.46186733e+02] [ 7.38631914e-01 6.73930217e-01 1.55228212e-02 1.77399130e+02] [-2.27544878e-02 1.91179612e-03 9.99739255e-01 4.72144140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.490714057 meters Centerline goodness : 0.986694 Centerline is valid? [True, True] Translation: X:246.21, Y:177.42, Z:4.72 [[ 6.73627729e-01 -7.38879381e-01 1.68209211e-02 2.46207119e+02] [ 7.38720696e-01 6.73834678e-01 1.54453680e-02 1.77420284e+02] [-2.27467840e-02 2.02153438e-03 9.99739215e-01 4.71889759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.520714057 meters Centerline goodness : 0.985785 Centerline is valid? [True, True] Translation: X:246.23, Y:177.44, Z:4.72 [[ 6.73931150e-01 -7.38604244e-01 1.67504040e-02 2.46226700e+02] [ 7.38443651e-01 6.74136575e-01 1.55193967e-02 1.77442315e+02] [-2.27547523e-02 1.91022465e-03 9.99739252e-01 4.71572684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5507140569999 meters Centerline goodness : 0.986004 Centerline is valid? [True, True] Translation: X:246.25, Y:177.47, Z:4.72 [[ 6.75846675e-01 -7.36853587e-01 1.66752587e-02 2.46247981e+02] [ 7.36690531e-01 6.76050113e-01 1.55982737e-02 1.77466078e+02] [-2.27669544e-02 1.74246376e-03 9.99739281e-01 4.71581541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5807140569999 meters Centerline goodness : 0.985711 Centerline is valid? [True, True] Translation: X:246.27, Y:177.49, Z:4.72 [[ 6.76110526e-01 -7.36612272e-01 1.66408270e-02 2.46270488e+02] [ 7.36448262e-01 6.76313184e-01 1.56343910e-02 1.77490468e+02] [-2.27708950e-02 1.68453183e-03 9.99739290e-01 4.71516881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.610714057 meters Centerline goodness : 0.986050 Centerline is valid? [True, True] Translation: X:246.29, Y:177.52, Z:4.72 [[ 6.78356670e-01 -7.34543512e-01 1.66750501e-02 2.46293829e+02] [ 7.34379757e-01 6.78559547e-01 1.55984827e-02 1.77515616e+02] [-2.27727787e-02 1.66448447e-03 9.99739281e-01 4.71712094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.640714057 meters Centerline goodness : 0.985453 Centerline is valid? [True, True] Translation: X:246.32, Y:177.54, Z:4.72 [[ 6.78878300e-01 -7.34059938e-01 1.67409847e-02 2.46315713e+02] [ 7.33897726e-01 6.79082445e-01 1.55293773e-02 1.77538927e+02] [-2.27680026e-02 1.74361331e-03 9.99739255e-01 4.71857018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6707140569999 meters Centerline goodness : 0.986039 Centerline is valid? [True, True] Translation: X:246.34, Y:177.56, Z:4.72 [[ 6.80100306e-01 -7.32928227e-01 1.67268406e-02 2.46337878e+02] [ 7.32765313e-01 6.80303883e-01 1.55441906e-02 1.77563523e+02] [-2.27721107e-02 1.68523978e-03 9.99739261e-01 4.71924431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7007140569999 meters Centerline goodness : 0.985583 Centerline is valid? [True, True] Translation: X:246.36, Y:177.59, Z:4.72 [[ 6.81792670e-01 -7.31353080e-01 1.67758025e-02 2.46360315e+02] [ 7.31190946e-01 6.81996900e-01 1.54929007e-02 1.77585199e+02] [-2.27718259e-02 1.70336880e-03 9.99739237e-01 4.71829509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7307140569999 meters Centerline goodness : 0.985305 Centerline is valid? [True, True] Translation: X:246.38, Y:177.61, Z:4.72 [[ 6.79575686e-01 -7.33414178e-01 1.67490654e-02 2.46382343e+02] [ 7.33251978e-01 6.79779846e-01 1.55209136e-02 1.77609077e+02] [-2.27689352e-02 1.73364988e-03 9.99739251e-01 4.71653328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.760714057 meters Centerline goodness : 0.985232 Centerline is valid? [True, True] Translation: X:246.41, Y:177.63, Z:4.71 [[ 6.79310459e-01 -7.33659236e-01 1.67757661e-02 2.46407766e+02] [ 7.33497793e-01 6.79515236e-01 1.54929360e-02 1.77632152e+02] [-2.27659242e-02 1.78047390e-03 9.99739237e-01 4.71422301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.790714057 meters Centerline goodness : 0.985703 Centerline is valid? [True, True] Translation: X:246.43, Y:177.66, Z:4.71 [[ 6.76944346e-01 -7.35841799e-01 1.68285201e-02 2.46431260e+02] [ 7.35682375e-01 6.77150738e-01 1.54376600e-02 1.77656180e+02] [-2.27551203e-02 1.93000895e-03 9.99739206e-01 4.71462000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8207140569999 meters Centerline goodness : 0.985968 Centerline is valid? [True, True] Translation: X:246.46, Y:177.68, Z:4.71 [[ 6.74591886e-01 -7.37998392e-01 1.68570387e-02 2.46455473e+02] [ 7.37840366e-01 6.74799374e-01 1.54077642e-02 1.77680250e+02] [-2.27460244e-02 2.04385091e-03 9.99739187e-01 4.71326955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8507140569999 meters Centerline goodness : 0.987137 Centerline is valid? [True, True] Translation: X:246.48, Y:177.70, Z:4.71 [[ 6.72298495e-01 -7.40086471e-01 1.69336734e-02 2.46479244e+02] [ 7.39931078e-01 6.72508041e-01 1.53275800e-02 1.77702284e+02] [-2.27317661e-02 2.22504225e-03 9.99739124e-01 4.71195336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.880714057 meters Centerline goodness : 0.985235 Centerline is valid? [True, True] Translation: X:246.50, Y:177.72, Z:4.71 [[ 6.69537748e-01 -7.42584045e-01 1.69747163e-02 2.46502482e+02] [ 7.42430505e-01 6.69748703e-01 1.52846486e-02 1.77723589e+02] [-2.27189304e-02 2.36889799e-03 9.99739085e-01 4.71089683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.910714057 meters Centerline goodness : 0.986839 Centerline is valid? [True, True] Translation: X:246.53, Y:177.75, Z:4.71 [[ 6.68599727e-01 -7.43430160e-01 1.69116412e-02 2.46525968e+02] [ 7.43275240e-01 6.68809597e-01 1.53505905e-02 1.77746532e+02] [-2.27227599e-02 2.30660356e-03 9.99739144e-01 4.70981396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9407140569999 meters Centerline goodness : 0.987067 Centerline is valid? [True, True] Translation: X:246.55, Y:177.77, Z:4.71 [[ 6.68431872e-01 -7.43580828e-01 1.69229053e-02 2.46548201e+02] [ 7.43426250e-01 6.68642006e-01 1.53388120e-02 1.77768515e+02] [-2.27210118e-02 2.32798119e-03 9.99739134e-01 4.71013617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9707140569999 meters Centerline goodness : 0.984884 Centerline is valid? [True, True] Translation: X:246.57, Y:177.79, Z:4.71 [[ 6.68735560e-01 -7.43307956e-01 1.69125402e-02 2.46569839e+02] [ 7.43153021e-01 6.68945420e-01 1.53496509e-02 1.77789083e+02] [-2.27230840e-02 2.30374798e-03 9.99739143e-01 4.71095723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.000714057 meters Centerline goodness : 0.984903 Centerline is valid? [True, True] Translation: X:246.60, Y:177.81, Z:4.71 [[ 6.67706231e-01 -7.44235498e-01 1.67902461e-02 2.46595571e+02] [ 7.44077678e-01 6.67913814e-01 1.54772810e-02 1.77812817e+02] [-2.27331792e-02 2.15897034e-03 9.99739237e-01 4.71175292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.030714057 meters Centerline goodness : 0.984962 Centerline is valid? [True, True] Translation: X:246.62, Y:177.83, Z:4.71 [[ 6.68467963e-01 -7.43547812e-01 1.69479460e-02 2.46618183e+02] [ 7.43393878e-01 6.68678598e-01 1.53125711e-02 1.77832599e+02] [-2.27183575e-02 2.36303610e-03 9.99739112e-01 4.71027878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0607140569999 meters Centerline goodness : 0.985631 Centerline is valid? [True, True] Translation: X:246.64, Y:177.86, Z:4.71 [[ 6.68477068e-01 -7.43541421e-01 1.68690606e-02 2.46642453e+02] [ 7.43385428e-01 6.68686098e-01 1.53950585e-02 1.77855444e+02] [-2.27269700e-02 2.24897025e-03 9.99739179e-01 4.70925428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0907140569999 meters Centerline goodness : 0.985305 Centerline is valid? [True, True] Translation: X:246.66, Y:177.88, Z:4.71 [[ 6.68926576e-01 -7.43136280e-01 1.69028013e-02 2.46663726e+02] [ 7.42981039e-01 6.69136199e-01 1.53597776e-02 1.77876939e+02] [-2.27246842e-02 2.28389747e-03 9.99739152e-01 4.70988013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.120714057 meters Centerline goodness : 0.986151 Centerline is valid? [True, True] Translation: X:246.69, Y:177.90, Z:4.71 [[ 6.69233145e-01 -7.42861150e-01 1.68614496e-02 2.46687387e+02] [ 7.42704748e-01 6.69441861e-01 1.54029968e-02 1.77899915e+02] [-2.27300481e-02 2.21488266e-03 9.99739186e-01 4.70852682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.150714057 meters Centerline goodness : 0.986151 Centerline is valid? [True, True] Translation: X:246.71, Y:177.92, Z:4.71 [[ 6.68994138e-01 -7.43075524e-01 1.68999638e-02 2.46709991e+02] [ 7.42920190e-01 6.69203689e-01 1.53627612e-02 1.77921917e+02] [-2.27252099e-02 2.27772710e-03 9.99739154e-01 4.70782859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1807140569999 meters Centerline goodness : 0.986120 Centerline is valid? [True, True] Translation: X:246.73, Y:177.94, Z:4.71 [[ 6.70098285e-01 -7.42080094e-01 1.68944534e-02 2.46732694e+02] [ 7.41924305e-01 6.70307492e-01 1.53685142e-02 1.77944258e+02] [-2.27291472e-02 2.23599056e-03 9.99739159e-01 4.70797047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2107140569999 meters Centerline goodness : 0.985948 Centerline is valid? [True, True] Translation: X:246.76, Y:177.97, Z:4.71 [[ 6.70238123e-01 -7.41954505e-01 1.68632900e-02 2.46755226e+02] [ 7.41797869e-01 6.70446665e-01 1.54010305e-02 1.77967132e+02] [-2.27328005e-02 2.18679477e-03 9.99739185e-01 4.70750090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.240714057 meters Centerline goodness : 0.988767 Centerline is valid? [True, True] Translation: X:246.78, Y:177.99, Z:4.71 [[ 6.70555289e-01 -7.41669094e-01 1.68094834e-02 2.46778612e+02] [ 7.41510980e-01 6.70762660e-01 1.54570243e-02 1.77990753e+02] [-2.27391710e-02 2.09962714e-03 9.99739227e-01 4.70578959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.270714057 meters Centerline goodness : 0.987723 Centerline is valid? [True, True] Translation: X:246.80, Y:178.01, Z:4.71 [[ 6.70620124e-01 -7.41608547e-01 1.68941440e-02 2.46801465e+02] [ 7.41452601e-01 6.70829216e-01 1.53689211e-02 1.78013520e+02] [-2.27308086e-02 2.21949919e-03 9.99739158e-01 4.70503913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3007140569999 meters Centerline goodness : 0.988505 Centerline is valid? [True, True] Translation: X:246.82, Y:178.04, Z:4.70 [[ 6.70433352e-01 -7.41778105e-01 1.68630983e-02 2.46824852e+02] [ 7.41621410e-01 6.70641848e-01 1.54011670e-02 1.78036263e+02] [-2.27333479e-02 2.18057875e-03 9.99739186e-01 4.70387970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3307140569999 meters Centerline goodness : 0.988493 Centerline is valid? [True, True] Translation: X:246.84, Y:178.06, Z:4.70 [[ 6.69857132e-01 -7.42298457e-01 1.68648421e-02 2.46844747e+02] [ 7.42141969e-01 6.70065786e-01 1.53993566e-02 1.78058704e+02] [-2.27314723e-02 2.20073824e-03 9.99739184e-01 4.70200851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.360714057 meters Centerline goodness : 0.988410 Centerline is valid? [True, True] Translation: X:246.87, Y:178.08, Z:4.70 [[ 6.70411052e-01 -7.41800277e-01 1.67741248e-02 2.46867943e+02] [ 7.41641301e-01 6.70617725e-01 1.54934462e-02 1.78082162e+02] [-2.27420681e-02 2.05340619e-03 9.99739257e-01 4.70153262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.390714057 meters Centerline goodness : 0.987922 Centerline is valid? [True, True] Translation: X:246.89, Y:178.11, Z:4.70 [[ 6.70576349e-01 -7.41650145e-01 1.68054583e-02 2.46889832e+02] [ 7.41491927e-01 6.70783632e-01 1.54609580e-02 1.78105090e+02] [-2.27394481e-02 2.09335893e-03 9.99739234e-01 4.70037537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4207140569999 meters Centerline goodness : 0.988973 Centerline is valid? [True, True] Translation: X:246.91, Y:178.13, Z:4.70 [[ 6.71875347e-01 -7.40474147e-01 1.67796113e-02 2.46912540e+02] [ 7.40314905e-01 6.72081819e-01 1.54877427e-02 1.78129148e+02] [-2.27455448e-02 2.01636382e-03 9.99739253e-01 4.70226226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4507140569999 meters Centerline goodness : 0.988004 Centerline is valid? [True, True] Translation: X:246.93, Y:178.15, Z:4.70 [[ 6.74205031e-01 -7.38353040e-01 1.68036906e-02 2.46934063e+02] [ 7.38193763e-01 6.74411500e-01 1.54627960e-02 1.78151010e+02] [-2.27496046e-02 1.97928470e-03 9.99739235e-01 4.70228483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4807140569999 meters Centerline goodness : 0.988484 Centerline is valid? [True, True] Translation: X:246.96, Y:178.18, Z:4.70 [[ 6.75705133e-01 -7.36981704e-01 1.67493731e-02 2.46957566e+02] [ 7.36820623e-01 6.75910148e-01 1.55190930e-02 1.78175952e+02] [-2.27583588e-02 1.85495271e-03 9.99739274e-01 4.70243489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.510714057 meters Centerline goodness : 0.987597 Centerline is valid? [True, True] Translation: X:246.98, Y:178.20, Z:4.70 [[ 6.76560267e-01 -7.36195297e-01 1.68133953e-02 2.46981296e+02] [ 7.36035606e-01 6.76766427e-01 1.54528179e-02 1.78200360e+02] [-2.27550333e-02 1.92049501e-03 9.99739226e-01 4.70302568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.540714057 meters Centerline goodness : 0.987993 Centerline is valid? [True, True] Translation: X:247.01, Y:178.22, Z:4.70 [[ 6.76601954e-01 -7.36156041e-01 1.68546166e-02 2.47005076e+02] [ 7.35997388e-01 6.76808960e-01 1.54102495e-02 1.78224076e+02] [-2.27517038e-02 1.97834890e-03 9.99739189e-01 4.70207903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5707140569999 meters Centerline goodness : 0.987381 Centerline is valid? [True, True] Translation: X:247.02, Y:178.25, Z:4.70 [[ 6.76308496e-01 -7.36423194e-01 1.69616625e-02 2.47024669e+02] [ 7.36267359e-01 6.76517772e-01 1.52997016e-02 1.78245780e+02] [-2.27419212e-02 2.14100024e-03 9.99739077e-01 4.69953742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6007140569999 meters Centerline goodness : 0.987271 Centerline is valid? [True, True] Translation: X:247.05, Y:178.27, Z:4.70 [[ 6.75967782e-01 -7.36737531e-01 1.68928506e-02 2.47047336e+02] [ 7.36580029e-01 6.76175715e-01 1.53708824e-02 1.78268381e+02] [-2.27468413e-02 2.05271510e-03 9.99739150e-01 4.69630569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.630714057 meters Centerline goodness : 0.986650 Centerline is valid? [True, True] Translation: X:247.07, Y:178.29, Z:4.70 [[ 6.73458877e-01 -7.39032871e-01 1.68391345e-02 2.47069014e+02] [ 7.38874705e-01 6.73666238e-01 1.54262863e-02 1.78292055e+02] [-2.27444891e-02 2.05304107e-03 9.99739203e-01 4.69553522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.660714057 meters Centerline goodness : 0.987003 Centerline is valid? [True, True] Translation: X:247.09, Y:178.32, Z:4.69 [[ 6.72347157e-01 -7.40045031e-01 1.68122816e-02 2.47091049e+02] [ 7.39886491e-01 6.72554202e-01 1.54539804e-02 1.78315110e+02] [-2.27438121e-02 2.04874027e-03 9.99739227e-01 4.69412655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6907140569999 meters Centerline goodness : 0.985709 Centerline is valid? [True, True] Translation: X:247.11, Y:178.34, Z:4.69 [[ 6.71538496e-01 -7.40779088e-01 1.68045078e-02 2.47113846e+02] [ 7.40620576e-01 6.71745554e-01 1.54619954e-02 1.78336999e+02] [-2.27422763e-02 2.06243906e-03 9.99739234e-01 4.69318191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7207140569999 meters Centerline goodness : 0.985222 Centerline is valid? [True, True] Translation: X:247.13, Y:178.36, Z:4.69 [[ 6.70571240e-01 -7.41654380e-01 1.68224069e-02 2.47131964e+02] [ 7.41496595e-01 6.70778873e-01 1.54435355e-02 1.78357282e+02] [-2.27378809e-02 2.11776671e-03 9.99739218e-01 4.69132611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.750714057 meters Centerline goodness : 0.985949 Centerline is valid? [True, True] Translation: X:247.16, Y:178.38, Z:4.69 [[ 6.69470841e-01 -7.42651083e-01 1.66781794e-02 2.47155500e+02] [ 7.42489931e-01 6.69675732e-01 1.55921707e-02 1.78381329e+02] [-2.27485145e-02 1.94487662e-03 9.99739327e-01 4.69082466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.780714057 meters Centerline goodness : 0.985533 Centerline is valid? [True, True] Translation: X:247.18, Y:178.40, Z:4.69 [[ 6.69186676e-01 -7.42905404e-01 1.67556731e-02 2.47177801e+02] [ 7.42746303e-01 6.69393231e-01 1.55123145e-02 1.78404201e+02] [-2.27403164e-02 2.06458010e-03 9.99739274e-01 4.69017571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8107140569999 meters Centerline goodness : 0.984795 Centerline is valid? [True, True] Translation: X:247.20, Y:178.43, Z:4.69 [[ 6.67073979e-01 -7.44804486e-01 1.66908558e-02 2.47198940e+02] [ 7.44644322e-01 6.67279649e-01 1.55789522e-02 1.78427535e+02] [-2.27407419e-02 2.03643737e-03 9.99739322e-01 4.69170993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8407140569999 meters Centerline goodness : 0.984238 Centerline is valid? [True, True] Translation: X:247.22, Y:178.45, Z:4.69 [[ 6.68469751e-01 -7.43552361e-01 1.66756816e-02 2.47221412e+02] [ 7.43391427e-01 6.68674807e-01 1.55945528e-02 1.78448860e+02] [-2.27459748e-02 1.97207193e-03 9.99739332e-01 4.69020829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.870714057 meters Centerline goodness : 0.983331 Centerline is valid? [True, True] Translation: X:247.24, Y:178.47, Z:4.69 [[ 6.67475276e-01 -7.44446128e-01 1.66348500e-02 2.47242694e+02] [ 7.44284430e-01 6.67679701e-01 1.56365953e-02 1.78471871e+02] [-2.27473545e-02 1.94401915e-03 9.99739355e-01 4.69262918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.900714057 meters Centerline goodness : 0.982740 Centerline is valid? [True, True] Translation: X:247.27, Y:178.50, Z:4.69 [[ 6.67866225e-01 -7.44096283e-01 1.65959743e-02 2.47266224e+02] [ 7.43933494e-01 6.68069757e-01 1.56766201e-02 1.78495374e+02] [-2.27521833e-02 1.87641600e-03 9.99739375e-01 4.69175077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9307140569999 meters Centerline goodness : 0.982105 Centerline is valid? [True, True] Translation: X:247.29, Y:178.52, Z:4.69 [[ 6.68729607e-01 -7.43320135e-01 1.66099104e-02 2.47288247e+02] [ 7.43157462e-01 6.68933240e-01 1.56622709e-02 1.78519282e+02] [-2.27530025e-02 1.86995460e-03 9.99739368e-01 4.69066965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9607140569999 meters Centerline goodness : 0.983184 Centerline is valid? [True, True] Translation: X:247.31, Y:178.54, Z:4.69 [[ 6.69560796e-01 -7.42572868e-01 1.65492263e-02 2.47311663e+02] [ 7.42408439e-01 6.69762978e-01 1.57246111e-02 1.78543085e+02] [-2.27607287e-02 1.75770211e-03 9.99739396e-01 4.68758137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.990714057 meters Centerline goodness : 0.981961 Centerline is valid? [True, True] Translation: X:247.33, Y:178.56, Z:4.68 [[ 6.70959769e-01 -7.41307050e-01 1.66386889e-02 2.47331324e+02] [ 7.41144492e-01 6.71163514e-01 1.56326523e-02 1.78563257e+02] [-2.27558763e-02 1.84279185e-03 9.99739353e-01 4.68480710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.020714057 meters Centerline goodness : 0.984781 Centerline is valid? [True, True] Translation: X:247.35, Y:178.59, Z:4.68 [[ 6.72076382e-01 -7.40297333e-01 1.65286497e-02 2.47354807e+02] [ 7.40131703e-01 6.72277572e-01 1.57457560e-02 1.78587343e+02] [-2.27683817e-02 1.65102693e-03 9.99739403e-01 4.68361170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0507140569999 meters Centerline goodness : 0.983582 Centerline is valid? [True, True] Translation: X:247.38, Y:178.61, Z:4.68 [[ 6.73432245e-01 -7.39062459e-01 1.66040311e-02 2.47376027e+02] [ 7.38898351e-01 6.73634718e-01 1.56682561e-02 1.78608930e+02] [-2.27648717e-02 1.71718234e-03 9.99739372e-01 4.68168581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0807140569999 meters Centerline goodness : 0.984094 Centerline is valid? [True, True] Translation: X:247.40, Y:178.63, Z:4.68 [[ 6.74628501e-01 -7.37972059e-01 1.65416693e-02 2.47399849e+02] [ 7.37806061e-01 6.74829393e-01 1.57323459e-02 1.78633315e+02] [-2.27728364e-02 1.59105496e-03 9.99739399e-01 4.68227901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.110714057 meters Centerline goodness : 0.984003 Centerline is valid? [True, True] Translation: X:247.42, Y:178.66, Z:4.68 [[ 6.74900762e-01 -7.37722350e-01 1.65739672e-02 2.47422938e+02] [ 7.37557085e-01 6.75102275e-01 1.56991940e-02 1.78657312e+02] [-2.27707693e-02 1.62884893e-03 9.99739385e-01 4.68280499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.140714057 meters Centerline goodness : 0.983101 Centerline is valid? [True, True] Translation: X:247.44, Y:178.68, Z:4.69 [[ 6.77232640e-01 -7.35581538e-01 1.66058152e-02 2.47442071e+02] [ 7.35416431e-01 6.77434302e-01 1.56664895e-02 1.78678475e+02] [-2.27733293e-02 1.60233131e-03 9.99739370e-01 4.68610851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1707140569999 meters Centerline goodness : 0.983460 Centerline is valid? [True, True] Translation: X:247.46, Y:178.70, Z:4.69 [[ 6.77973836e-01 -7.34900976e-01 1.64934399e-02 2.47464738e+02] [ 7.34732867e-01 6.78172945e-01 1.57819403e-02 1.78701838e+02] [-2.27835680e-02 1.41852976e-03 9.99739414e-01 4.68718934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2007140569999 meters Centerline goodness : 0.983534 Centerline is valid? [True, True] Translation: X:247.49, Y:178.72, Z:4.69 [[ 6.80528732e-01 -7.32535673e-01 1.64964500e-02 2.47485357e+02] [ 7.32366947e-01 6.80727319e-01 1.57788465e-02 1.78723689e+02] [-2.27881521e-02 1.34349628e-03 9.99739414e-01 4.68932276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2307140569999 meters Centerline goodness : 0.983259 Centerline is valid? [True, True] Translation: X:247.51, Y:178.74, Z:4.69 [[ 6.82927792e-01 -7.30300692e-01 1.64478063e-02 2.47506100e+02] [ 7.30130116e-01 6.83124777e-01 1.58288499e-02 1.78744227e+02] [-2.27957241e-02 1.19907721e-03 9.99739425e-01 4.68987705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.260714057 meters Centerline goodness : 0.983118 Centerline is valid? [True, True] Translation: X:247.53, Y:178.77, Z:4.69 [[ 6.82687165e-01 -7.30527580e-01 1.63612451e-02 2.47531109e+02] [ 7.30354941e-01 6.82882335e-01 1.59178228e-02 1.78770131e+02] [-2.28012138e-02 1.08262286e-03 9.99739432e-01 4.68858964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.290714057 meters Centerline goodness : 0.982242 Centerline is valid? [True, True] Translation: X:247.55, Y:178.79, Z:4.69 [[ 6.83338151e-01 -7.29915768e-01 1.64906732e-02 2.47551394e+02] [ 7.29746141e-01 6.83535964e-01 1.57846585e-02 1.78790321e+02] [-2.27934393e-02 1.24774580e-03 9.99739417e-01 4.68821298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3207140569999 meters Centerline goodness : 0.983463 Centerline is valid? [True, True] Translation: X:247.58, Y:178.81, Z:4.69 [[ 6.82269287e-01 -7.30917712e-01 1.63682395e-02 2.47575902e+02] [ 7.30745357e-01 6.82464707e-01 1.59106141e-02 1.78814201e+02] [-2.28000955e-02 1.10569166e-03 9.99739433e-01 4.68669657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3507140569999 meters Centerline goodness : 0.983237 Centerline is valid? [True, True] Translation: X:247.59, Y:178.83, Z:4.68 [[ 6.79570374e-01 -7.33425759e-01 1.64548453e-02 2.47594891e+02] [ 7.33256267e-01 6.79768291e-01 1.58214504e-02 1.78832931e+02] [-2.27893414e-02 1.31382943e-03 9.99739426e-01 4.68284410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.380714057 meters Centerline goodness : 0.983590 Centerline is valid? [True, True] Translation: X:247.62, Y:178.86, Z:4.68 [[ 6.76720405e-01 -7.36059962e-01 1.62857534e-02 2.47619228e+02] [ 7.35887058e-01 6.76915347e-01 1.59953592e-02 1.78855350e+02] [-2.27976198e-02 1.16008920e-03 9.99739427e-01 4.67784425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.410714057 meters Centerline goodness : 0.983746 Centerline is valid? [True, True] Translation: X:247.64, Y:178.88, Z:4.68 [[ 6.75130731e-01 -7.37516541e-01 1.63660328e-02 2.47638036e+02] [ 7.37346043e-01 6.75327770e-01 1.59127453e-02 1.78876834e+02] [-2.27883493e-02 1.32424613e-03 9.99739435e-01 4.67663847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4407140569999 meters Centerline goodness : 0.984423 Centerline is valid? [True, True] Translation: X:247.66, Y:178.90, Z:4.67 [[ 6.74777623e-01 -7.37841911e-01 1.62626453e-02 2.47661404e+02] [ 7.37668951e-01 6.74972522e-01 1.60191329e-02 1.78899834e+02] [-2.27964263e-02 1.18709608e-03 9.99739423e-01 4.67464702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4707140569999 meters Centerline goodness : 0.984999 Centerline is valid? [True, True] Translation: X:247.69, Y:178.92, Z:4.68 [[ 6.74641761e-01 -7.37965780e-01 1.62788877e-02 2.47686003e+02] [ 7.37793257e-01 6.74837041e-01 1.60024114e-02 1.78923762e+02] [-2.27948285e-02 1.21455860e-03 9.99739426e-01 4.67506289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.500714057 meters Centerline goodness : 0.984428 Centerline is valid? [True, True] Translation: X:247.71, Y:178.95, Z:4.68 [[ 6.75508419e-01 -7.37170097e-01 1.63897452e-02 2.47706279e+02] [ 7.37000088e-01 6.75705879e-01 1.58881998e-02 1.78947556e+02] [-2.27869530e-02 1.34663090e-03 9.99739437e-01 4.67632332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.530714057 meters Centerline goodness : 0.984593 Centerline is valid? [True, True] Translation: X:247.73, Y:178.97, Z:4.68 [[ 6.76713962e-01 -7.36064532e-01 1.63468177e-02 2.47729684e+02] [ 7.35893137e-01 6.76910222e-01 1.59324391e-02 1.78970809e+02] [-2.27926313e-02 1.24780696e-03 9.99739436e-01 4.67707492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5607140569999 meters Centerline goodness : 0.984238 Centerline is valid? [True, True] Translation: X:247.75, Y:178.99, Z:4.68 [[ 6.78073582e-01 -7.34811755e-01 1.63677055e-02 2.47748760e+02] [ 7.34640514e-01 6.78269974e-01 1.59109053e-02 1.78994343e+02] [-2.27932434e-02 1.23561503e-03 9.99739437e-01 4.67712159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5907140569999 meters Centerline goodness : 0.983959 Centerline is valid? [True, True] Translation: X:247.77, Y:179.02, Z:4.68 [[ 6.79720852e-01 -7.33289446e-01 1.63141865e-02 2.47773023e+02] [ 7.33116445e-01 6.79915702e-01 1.59660836e-02 1.79018279e+02] [-2.28000322e-02 1.10771851e-03 9.99739432e-01 4.67710825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.620714057 meters Centerline goodness : 0.985153 Centerline is valid? [True, True] Translation: X:247.80, Y:179.04, Z:4.68 [[ 6.80502006e-01 -7.32563284e-01 1.63724057e-02 2.47796532e+02] [ 7.32391511e-01 6.80697931e-01 1.59060084e-02 1.79042634e+02] [-2.27968204e-02 1.16694037e-03 9.99739438e-01 4.67874875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.650714057 meters Centerline goodness : 0.983859 Centerline is valid? [True, True] Translation: X:247.82, Y:179.07, Z:4.68 [[ 6.79986766e-01 -7.33039585e-01 1.64610118e-02 2.47818496e+02] [ 7.32870145e-01 6.80184718e-01 1.58145337e-02 1.79066730e+02] [-2.27892079e-02 1.31011053e-03 9.99739434e-01 4.67999249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6807140569999 meters Centerline goodness : 0.984219 Centerline is valid? [True, True] Translation: X:247.84, Y:179.09, Z:4.68 [[ 6.80104713e-01 -7.32930235e-01 1.64575219e-02 2.47840676e+02] [ 7.32760677e-01 6.80302563e-01 1.58181370e-02 1.79088660e+02] [-2.27896852e-02 1.30143532e-03 9.99739434e-01 4.67857122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7107140569999 meters Centerline goodness : 0.986817 Centerline is valid? [True, True] Translation: X:247.89, Y:179.12, Z:4.67 [[ 6.86933025e-01 -7.26534570e-01 1.64480154e-02 2.47890632e+02] [ 7.26362934e-01 6.87129074e-01 1.58279526e-02 1.79117008e+02] [-2.28014643e-02 1.07448540e-03 9.99739435e-01 4.67154779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.740714057 meters Centerline goodness : 0.981455 Centerline is valid? [True, True] Translation: X:247.88, Y:179.13, Z:4.67 [[ 6.79799097e-01 -7.33189208e-01 1.75149392e-02 2.47883519e+02] [ 7.33046846e-01 6.80018802e-01 1.47224349e-02 1.79125611e+02] [-2.27048183e-02 2.83097296e-03 9.99738204e-01 4.67307425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.770714057 meters Centerline goodness : 0.987650 Centerline is valid? [True, True] Translation: X:247.91, Y:179.16, Z:4.67 [[ 6.76980035e-01 -7.35819115e-01 1.63787347e-02 2.47914444e+02] [ 7.35648580e-01 6.77176910e-01 1.58933806e-02 1.79157218e+02] [-2.27859542e-02 1.28949155e-03 9.99739535e-01 4.66608377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8007140569999 meters Centerline goodness : 0.990774 Centerline is valid? [True, True] Translation: X:247.94, Y:179.18, Z:4.66 [[ 6.75494769e-01 -7.37172710e-01 1.68289565e-02 2.47937862e+02] [ 7.37013890e-01 6.75701467e-01 1.54290219e-02 1.79184539e+02] [-2.27452045e-02 1.98095111e-03 9.99739332e-01 4.66234619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8307140569999 meters Centerline goodness : 0.987361 Centerline is valid? [True, True] Translation: X:247.96, Y:179.20, Z:4.66 [[ 6.78663514e-01 -7.34252799e-01 1.69900608e-02 2.47955801e+02] [ 7.34097192e-01 6.78872858e-01 1.52628732e-02 1.79199485e+02] [-2.27408985e-02 2.11400079e-03 9.99739157e-01 4.66312094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.860714057 meters Centerline goodness : 0.988859 Centerline is valid? [True, True] Translation: X:247.99, Y:179.23, Z:4.66 [[ 6.76249879e-01 -7.36483194e-01 1.66915007e-02 2.47990693e+02] [ 7.36320682e-01 6.76453550e-01 1.55707382e-02 1.79228170e+02] [-2.27586119e-02 1.76058735e-03 9.99739439e-01 4.65681925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.890714057 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:248.01, Y:179.25, Z:4.66 [[ 6.77408875e-01 -7.35404639e-01 1.72404528e-02 2.48005916e+02] [ 7.35255864e-01 6.77623571e-01 1.50036644e-02 1.79251302e+02] [-2.27163017e-02 2.51252861e-03 9.99738794e-01 4.66117396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9207140569999 meters Centerline goodness : 0.988858 Centerline is valid? [True, True] Translation: X:248.03, Y:179.27, Z:4.66 [[ 6.81289333e-01 -7.31818501e-01 1.69271139e-02 2.48026240e+02] [ 7.31660619e-01 6.81496809e-01 1.53244096e-02 1.79270658e+02] [-2.27504605e-02 1.94454583e-03 9.99739284e-01 4.66167361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9507140569999 meters Centerline goodness : 0.987469 Centerline is valid? [True, True] Translation: X:248.05, Y:179.29, Z:4.66 [[ 6.86058847e-01 -7.27350741e-01 1.68569703e-02 2.48048093e+02] [ 7.27189750e-01 6.86263815e-01 1.53961915e-02 1.79292954e+02] [-2.27667601e-02 1.69552262e-03 9.99739366e-01 4.66109287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9807140569999 meters Centerline goodness : 0.985927 Centerline is valid? [True, True] Translation: X:248.07, Y:179.31, Z:4.66 [[ 6.90226026e-01 -7.23396469e-01 1.68991776e-02 2.48068373e+02] [ 7.23235357e-01 6.90430958e-01 1.53528794e-02 1.79312015e+02] [-2.27739341e-02 1.62512580e-03 9.99739319e-01 4.66136290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.010714057 meters Centerline goodness : 0.984516 Centerline is valid? [True, True] Translation: X:248.09, Y:179.33, Z:4.66 [[ 6.94303490e-01 -7.19486914e-01 1.67703637e-02 2.48089891e+02] [ 7.19321451e-01 6.94504759e-01 1.54851645e-02 1.79334792e+02] [-2.27884706e-02 1.31187861e-03 9.99739448e-01 4.66246895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.040714057 meters Centerline goodness : 0.987117 Centerline is valid? [True, True] Translation: X:248.12, Y:179.37, Z:4.66 [[ 6.92110309e-01 -7.21598604e-01 1.66965579e-02 2.48120629e+02] [ 7.21431933e-01 6.92310499e-01 1.55607929e-02 1.79366317e+02] [-2.27878488e-02 1.27564482e-03 9.99739509e-01 4.65639591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0707140569999 meters Centerline goodness : 0.987117 Centerline is valid? [True, True] Translation: X:248.14, Y:179.39, Z:4.66 [[ 6.91602014e-01 -7.22073542e-01 1.72178424e-02 2.48142453e+02] [ 7.21920051e-01 6.91813304e-01 1.50263739e-02 1.79388881e+02] [-2.27616795e-02 2.03763518e-03 9.99738843e-01 4.65600951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1007140569999 meters Centerline goodness : 0.985485 Centerline is valid? [True, True] Translation: X:248.16, Y:179.41, Z:4.66 [[ 6.95160176e-01 -7.18651169e-01 1.71121726e-02 2.48156761e+02] [ 7.18493989e-01 6.95368498e-01 1.51340490e-02 1.79405433e+02] [-2.27753678e-02 1.77440492e-03 9.99739033e-01 4.66418504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.130714057 meters Centerline goodness : 0.987333 Centerline is valid? [True, True] Translation: X:248.19, Y:179.43, Z:4.66 [[ 6.92519335e-01 -7.21204497e-01 1.67643462e-02 2.48185603e+02] [ 7.21039465e-01 6.92720880e-01 1.54878221e-02 1.79432717e+02] [-2.27828996e-02 1.36213893e-03 9.99739508e-01 4.65636324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.160714057 meters Centerline goodness : 0.984974 Centerline is valid? [True, True] Translation: X:248.20, Y:179.45, Z:4.66 [[ 6.95763755e-01 -7.18067006e-01 1.71047414e-02 2.48201226e+02] [ 7.17909455e-01 6.95971790e-01 1.51420586e-02 1.79447220e+02] [-2.27774302e-02 1.74436003e-03 9.99739039e-01 4.66164017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1907140569999 meters Centerline goodness : 0.985867 Centerline is valid? [True, True] Translation: X:248.22, Y:179.47, Z:4.66 [[ 6.94758982e-01 -7.19048585e-01 1.67059715e-02 2.48221089e+02] [ 7.18881523e-01 6.94958755e-01 1.55461883e-02 1.79465750e+02] [-2.27884258e-02 1.20876029e-03 9.99739579e-01 4.65870799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2207140569999 meters Centerline goodness : 0.984992 Centerline is valid? [True, True] Translation: X:248.25, Y:179.49, Z:4.66 [[ 6.94163188e-01 -7.19626634e-01 1.65824083e-02 2.48245162e+02] [ 7.19456742e-01 6.94360426e-01 1.56714411e-02 1.79487849e+02] [-2.27917546e-02 1.05178795e-03 9.99739681e-01 4.65814819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.250714057 meters Centerline goodness : 0.983614 Centerline is valid? [True, True] Translation: X:248.28, Y:179.51, Z:4.65 [[ 6.91972352e-01 -7.21733972e-01 1.65631574e-02 2.48275381e+02] [ 7.21564216e-01 6.92169688e-01 1.56909051e-02 1.79511360e+02] [-2.27891748e-02 1.09370920e-03 9.99739695e-01 4.65422514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.280714057 meters Centerline goodness : 0.984049 Centerline is valid? [True, True] Translation: X:248.29, Y:179.53, Z:4.65 [[ 6.88554080e-01 -7.24988709e-01 1.68715594e-02 2.48291586e+02] [ 7.24827429e-01 6.88758799e-01 1.53790726e-02 1.79531629e+02] [-2.27700890e-02 1.63964581e-03 9.99739383e-01 4.65453813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3107140569999 meters Centerline goodness : 0.979328 Centerline is valid? [True, True] Translation: X:248.31, Y:179.54, Z:4.66 [[ 6.88539483e-01 -7.25008723e-01 1.66051893e-02 2.48307879e+02] [ 7.24840932e-01 6.88738528e-01 1.56481146e-02 1.79544367e+02] [-2.27816532e-02 1.26177621e-03 9.99739668e-01 4.65656540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3407140569999 meters Centerline goodness : 0.985588 Centerline is valid? [True, True] Translation: X:248.35, Y:179.58, Z:4.65 [[ 6.82104454e-01 -7.31075390e-01 1.61953109e-02 2.48347376e+02] [ 7.30899469e-01 6.82296121e-01 1.60614155e-02 1.79580341e+02] [-2.27921034e-02 8.81581093e-04 9.99739838e-01 4.65252430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.370714057 meters Centerline goodness : 0.983610 Centerline is valid? [True, True] Translation: X:248.36, Y:179.59, Z:4.66 [[ 6.81635198e-01 -7.31491772e-01 1.71243729e-02 2.48359281e+02] [ 7.31338833e-01 6.81846664e-01 1.51207970e-02 1.79594577e+02] [-2.27369351e-02 2.21685140e-03 9.99739025e-01 4.65537857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.400714057 meters Centerline goodness : 0.982404 Centerline is valid? [True, True] Translation: X:248.38, Y:179.61, Z:4.66 [[ 6.80611880e-01 -7.32455771e-01 1.66136143e-02 2.48377869e+02] [ 7.32290428e-01 6.80812913e-01 1.56367396e-02 1.79611052e+02] [-2.27639833e-02 1.52344001e-03 9.99739706e-01 4.65725838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4307140569999 meters Centerline goodness : 0.983995 Centerline is valid? [True, True] Translation: X:248.40, Y:179.63, Z:4.66 [[ 6.76954863e-01 -7.35842681e-01 1.63604007e-02 2.48401514e+02] [ 7.35672153e-01 6.77151325e-01 1.58923187e-02 1.79634158e+02] [-2.27727134e-02 1.27750878e-03 9.99739852e-01 4.65657642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4607140569999 meters Centerline goodness : 0.988040 Centerline is valid? [True, True] Translation: X:248.44, Y:179.66, Z:4.65 [[ 6.67144307e-01 -7.44748853e-01 1.63590854e-02 2.48435412e+02] [ 7.44580912e-01 6.67342984e-01 1.58936444e-02 1.79661169e+02] [-2.27538943e-02 1.57730833e-03 9.99739852e-01 4.64890669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.490714057 meters Centerline goodness : 0.984999 Centerline is valid? [True, True] Translation: X:248.45, Y:179.67, Z:4.65 [[ 6.67411947e-01 -7.44498221e-01 1.68431680e-02 2.48447525e+02] [ 7.44342252e-01 6.67620633e-01 1.54045987e-02 1.79674013e+02] [-2.27135428e-02 2.25586839e-03 9.99739469e-01 4.65107984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.520714057 meters Centerline goodness : 0.985451 Centerline is valid? [True, True] Translation: X:248.47, Y:179.70, Z:4.65 [[ 6.66201207e-01 -7.45594620e-01 1.62669731e-02 2.48473648e+02] [ 7.45424700e-01 6.66398142e-01 1.59854209e-02 1.79697141e+02] [-2.27589244e-02 1.47629687e-03 9.99739892e-01 4.65106467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5507140569999 meters Centerline goodness : 0.987967 Centerline is valid? [True, True] Translation: X:248.51, Y:179.73, Z:4.65 [[ 6.57763067e-01 -7.53047131e-01 1.63635710e-02 2.48505041e+02] [ 7.52881825e-01 6.57963924e-01 1.58881372e-02 1.79726480e+02] [-2.27311555e-02 1.86920539e-03 9.99739866e-01 4.64736320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5807140569999 meters Centerline goodness : 0.983748 Centerline is valid? [True, True] Translation: X:248.52, Y:179.74, Z:4.65 [[ 6.61773410e-01 -7.49514975e-01 1.68302116e-02 2.48515903e+02] [ 7.49360264e-01 6.61983005e-01 1.54173961e-02 1.79738794e+02] [-2.26968833e-02 2.40906899e-03 9.99739490e-01 4.65139384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.610714057 meters Centerline goodness : 0.987655 Centerline is valid? [True, True] Translation: X:248.55, Y:179.77, Z:4.64 [[ 6.54990642e-01 -7.55462755e-01 1.62260593e-02 2.48550292e+02] [ 7.55294812e-01 6.55189234e-01 1.60254636e-02 1.79769196e+02] [-2.27377803e-02 1.75892970e-03 9.99739916e-01 4.64412682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.640714057 meters Centerline goodness : 0.985074 Centerline is valid? [True, True] Translation: X:248.57, Y:179.78, Z:4.65 [[ 6.58561506e-01 -7.52339914e-01 1.67748955e-02 2.48565406e+02] [ 7.52184723e-01 6.58770640e-01 1.54721124e-02 1.79784816e+02] [-2.26910964e-02 2.42848244e-03 9.99739574e-01 4.65058638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6707140569999 meters Centerline goodness : 0.985111 Centerline is valid? [True, True] Translation: X:248.59, Y:179.81, Z:4.65 [[ 6.57247227e-01 -7.53497850e-01 1.63423714e-02 2.48587858e+02] [ 7.53332205e-01 6.57447751e-01 1.59073861e-02 1.79805233e+02] [-2.27304365e-02 1.85614930e-03 9.99739907e-01 4.65067638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7007140569999 meters Centerline goodness : 0.985450 Centerline is valid? [True, True] Translation: X:248.61, Y:179.83, Z:4.65 [[ 6.54791908e-01 -7.55633851e-01 1.62800556e-02 2.48613398e+02] [ 7.55467317e-01 6.54991672e-01 1.59700458e-02 1.79830234e+02] [-2.27308080e-02 1.84199320e-03 9.99739925e-01 4.65000349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7307140569999 meters Centerline goodness : 0.985374 Centerline is valid? [True, True] Translation: X:248.64, Y:179.85, Z:4.65 [[ 6.54016386e-01 -7.56301872e-01 1.64330816e-02 2.48637774e+02] [ 7.56139344e-01 6.54219493e-01 1.58160712e-02 1.79850777e+02] [-2.27125666e-02 2.08172983e-03 9.99739869e-01 4.64971298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.760714057 meters Centerline goodness : 0.987136 Centerline is valid? [True, True] Translation: X:248.66, Y:179.87, Z:4.65 [[ 6.51488840e-01 -7.58480198e-01 1.64341207e-02 2.48660948e+02] [ 7.58318374e-01 6.51692510e-01 1.58150275e-02 1.79873873e+02] [-2.27053785e-02 2.15898177e-03 9.99739868e-01 4.65003268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.790714057 meters Centerline goodness : 0.985025 Centerline is valid? [True, True] Translation: X:248.68, Y:179.89, Z:4.65 [[ 6.51401580e-01 -7.58554463e-01 1.64653603e-02 2.48682287e+02] [ 7.58393444e-01 6.51605910e-01 1.57836371e-02 1.79894808e+02] [-2.27016744e-02 2.20573514e-03 9.99739851e-01 4.65214624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8207140569999 meters Centerline goodness : 0.985633 Centerline is valid? [True, True] Translation: X:248.71, Y:179.92, Z:4.65 [[ 6.49432941e-01 -7.60242197e-01 1.63907674e-02 2.48705356e+02] [ 7.60079840e-01 6.49636160e-01 1.58586380e-02 1.79916873e+02] [-2.27044410e-02 2.15916996e-03 9.99739889e-01 4.65198423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8507140569999 meters Centerline goodness : 0.985770 Centerline is valid? [True, True] Translation: X:248.73, Y:179.94, Z:4.65 [[ 6.47191109e-01 -7.62152211e-01 1.63608105e-02 2.48731399e+02] [ 7.61989705e-01 6.47394191e-01 1.58887106e-02 1.79940561e+02] [-2.27015096e-02 2.18373692e-03 9.99739903e-01 4.64860154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.880714057 meters Centerline goodness : 0.986193 Centerline is valid? [True, True] Translation: X:248.75, Y:179.96, Z:4.64 [[ 6.47048788e-01 -7.62270180e-01 1.64936024e-02 2.48752255e+02] [ 7.62111041e-01 6.47254610e-01 1.57553422e-02 1.79960159e+02] [-2.26853877e-02 2.37548140e-03 9.99739831e-01 4.64463496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.910714057 meters Centerline goodness : 0.989867 Centerline is valid? [True, True] Translation: X:248.78, Y:179.99, Z:4.63 [[ 6.41702241e-01 -7.66778420e-01 1.64039200e-02 2.48782964e+02] [ 7.66618460e-01 6.41907360e-01 1.58454473e-02 1.79986636e+02] [-2.26797440e-02 2.40748883e-03 9.99739883e-01 4.63312311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9407140569999 meters Centerline goodness : 0.986409 Centerline is valid? [True, True] Translation: X:248.80, Y:180.00, Z:4.64 [[ 6.44822902e-01 -7.64148833e-01 1.67328147e-02 2.48799494e+02] [ 7.63996357e-01 6.45033982e-01 1.55154432e-02 1.80003772e+02] [-2.26493419e-02 2.77909636e-03 9.99739608e-01 4.64275338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9707140569999 meters Centerline goodness : 0.985414 Centerline is valid? [True, True] Translation: X:248.82, Y:180.02, Z:4.64 [[ 6.46208180e-01 -7.62984248e-01 1.64324825e-02 2.48819144e+02] [ 7.62823809e-01 6.46412934e-01 1.58163035e-02 1.80022788e+02] [-2.26897597e-02 2.31446420e-03 9.99739875e-01 4.64032037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.000714057 meters Centerline goodness : 0.985380 Centerline is valid? [True, True] Translation: X:248.84, Y:180.04, Z:4.64 [[ 6.46560426e-01 -7.62689056e-01 1.62794167e-02 2.48839277e+02] [ 7.62524703e-01 6.46761969e-01 1.59697436e-02 1.80043360e+02] [-2.27088563e-02 2.08805311e-03 9.99739940e-01 4.64134430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.030714057 meters Centerline goodness : 0.984894 Centerline is valid? [True, True] Translation: X:248.86, Y:180.06, Z:4.64 [[ 6.47394158e-01 -7.61981497e-01 1.62789088e-02 2.48859239e+02] [ 7.61816911e-01 6.47595510e-01 1.59702524e-02 1.80063023e+02] [-2.27111851e-02 2.06249994e-03 9.99739940e-01 4.64155323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0607140569999 meters Centerline goodness : 0.983743 Centerline is valid? [True, True] Translation: X:248.89, Y:180.08, Z:4.64 [[ 6.51787449e-01 -7.58227001e-01 1.62768242e-02 2.48888009e+02] [ 7.58061204e-01 6.51987804e-01 1.59723400e-02 1.80084663e+02] [-2.27229504e-02 1.92825819e-03 9.99739941e-01 4.63702179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0907140569999 meters Centerline goodness : 0.983726 Centerline is valid? [True, True] Translation: X:248.91, Y:180.10, Z:4.64 [[ 6.53136108e-01 -7.57060278e-01 1.65215032e-02 2.48907932e+02] [ 7.56900189e-01 6.53341220e-01 1.57275044e-02 1.80104350e+02] [-2.27008479e-02 2.23292792e-03 9.99739809e-01 4.63719156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.120714057 meters Centerline goodness : 0.982820 Centerline is valid? [True, True] Translation: X:248.93, Y:180.13, Z:4.64 [[ 6.51872992e-01 -7.58149341e-01 1.64674875e-02 2.48929031e+02] [ 7.57988250e-01 6.52077265e-01 1.57814431e-02 1.80127604e+02] [-2.27027649e-02 2.19466553e-03 9.99739850e-01 4.63645855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.150714057 meters Centerline goodness : 0.982883 Centerline is valid? [True, True] Translation: X:248.95, Y:180.15, Z:4.64 [[ 6.55343683e-01 -7.55152078e-01 1.64315816e-02 2.48951479e+02] [ 7.54989162e-01 6.55546473e-01 1.58172982e-02 1.80150878e+02] [-2.27161310e-02 2.03989958e-03 9.99739874e-01 4.63587623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1807140569999 meters Centerline goodness : 0.982272 Centerline is valid? [True, True] Translation: X:248.97, Y:180.17, Z:4.64 [[ 6.55286109e-01 -7.55200759e-01 1.64902883e-02 2.48968284e+02] [ 7.55039313e-01 6.55490123e-01 1.57586526e-02 1.80170441e+02] [-2.27101675e-02 2.12438975e-03 9.99739834e-01 4.63785014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2107140569999 meters Centerline goodness : 0.983393 Centerline is valid? [True, True] Translation: X:249.00, Y:180.20, Z:4.64 [[ 6.53321939e-01 -7.56904322e-01 1.63184218e-02 2.48997058e+02] [ 7.56739169e-01 6.53522821e-01 1.59296427e-02 1.80196128e+02] [-2.27216764e-02 1.94160386e-03 9.99739944e-01 4.63603773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.240714057 meters Centerline goodness : 0.983335 Centerline is valid? [True, True] Translation: X:249.02, Y:180.21, Z:4.64 [[ 6.55022533e-01 -7.55426877e-01 1.66047028e-02 2.49015118e+02] [ 7.55268346e-01 6.55228948e-01 1.56445212e-02 1.80214750e+02] [-2.26981737e-02 2.29349251e-03 9.99739733e-01 4.63507973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.270714057 meters Centerline goodness : 0.981900 Centerline is valid? [True, True] Translation: X:249.04, Y:180.24, Z:4.63 [[ 6.53545037e-01 -7.56710529e-01 1.63725212e-02 2.49041309e+02] [ 7.56546648e-01 6.53746993e-01 1.58757241e-02 1.80238466e+02] [-2.27168141e-02 2.01107533e-03 9.99739917e-01 4.63248101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3007140569999 meters Centerline goodness : 0.980848 Centerline is valid? [True, True] Translation: X:249.06, Y:180.26, Z:4.63 [[ 6.52737807e-01 -7.57403766e-01 1.65193826e-02 2.49063373e+02] [ 7.57243737e-01 6.52942959e-01 1.57294127e-02 1.80260919e+02] [-2.26997310e-02 2.24201665e-03 9.99739814e-01 4.63135490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3307140569999 meters Centerline goodness : 0.980310 Centerline is valid? [True, True] Translation: X:249.08, Y:180.28, Z:4.63 [[ 6.54530536e-01 -7.55854346e-01 1.65524834e-02 2.49083710e+02] [ 7.55694655e-01 6.54735987e-01 1.56963638e-02 1.80278928e+02] [-2.27016713e-02 2.23487377e-03 9.99739786e-01 4.63017380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.360714057 meters Centerline goodness : 0.983330 Centerline is valid? [True, True] Translation: X:249.11, Y:180.31, Z:4.63 [[ 6.52237774e-01 -7.57835872e-01 1.64523054e-02 2.49109418e+02] [ 7.57674323e-01 6.52441655e-01 1.57958003e-02 1.80305411e+02] [-2.27047935e-02 2.16287174e-03 9.99739873e-01 4.62610655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.390714057 meters Centerline goodness : 0.981198 Centerline is valid? [True, True] Translation: X:249.13, Y:180.32, Z:4.63 [[ 6.54915520e-01 -7.55516705e-01 1.67382949e-02 2.49128466e+02] [ 7.55361540e-01 6.55124672e-01 1.55115483e-02 1.80323664e+02] [-2.26849038e-02 2.48471046e-03 9.99739577e-01 4.62948006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4207140569999 meters Centerline goodness : 0.982242 Centerline is valid? [True, True] Translation: X:249.15, Y:180.34, Z:4.63 [[ 6.53211319e-01 -7.56994668e-01 1.65543300e-02 2.49148356e+02] [ 7.56835373e-01 6.53417086e-01 1.56948829e-02 1.80344616e+02] [-2.26978247e-02 2.27682741e-03 9.99739779e-01 4.62690841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4507140569999 meters Centerline goodness : 0.983495 Centerline is valid? [True, True] Translation: X:249.17, Y:180.37, Z:4.63 [[ 6.53294397e-01 -7.56923193e-01 1.65442180e-02 2.49171923e+02] [ 7.56763624e-01 6.53499940e-01 1.57049316e-02 1.80369156e+02] [-2.26990725e-02 2.26011852e-03 9.99739788e-01 4.62671436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4807140569999 meters Centerline goodness : 0.982994 Centerline is valid? [True, True] Translation: X:249.19, Y:180.39, Z:4.63 [[ 6.54243349e-01 -7.56101610e-01 1.66131441e-02 2.49192604e+02] [ 7.55943495e-01 6.54450100e-01 1.56364549e-02 1.80390890e+02] [-2.26952225e-02 2.32855165e-03 9.99739718e-01 4.62660337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.510714057 meters Centerline goodness : 0.982943 Centerline is valid? [True, True] Translation: X:249.21, Y:180.41, Z:4.63 [[ 6.54267502e-01 -7.56082331e-01 1.65392201e-02 2.49212787e+02] [ 7.55922375e-01 6.54472737e-01 1.57098407e-02 1.80412511e+02] [-2.27024016e-02 2.22392832e-03 9.99739794e-01 4.62545578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.540714057 meters Centerline goodness : 0.980715 Centerline is valid? [True, True] Translation: X:249.24, Y:180.43, Z:4.62 [[ 6.54114080e-01 -7.56216885e-01 1.64558066e-02 2.49237283e+02] [ 7.56054917e-01 6.54317633e-01 1.57923214e-02 1.80434503e+02] [-2.27097445e-02 2.11151371e-03 9.99739871e-01 4.62346538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5707140569999 meters Centerline goodness : 0.983254 Centerline is valid? [True, True] Translation: X:249.26, Y:180.46, Z:4.62 [[ 6.55916753e-01 -7.54653003e-01 1.64941592e-02 2.49261052e+02] [ 7.54491492e-01 6.56120711e-01 1.57543902e-02 1.80457167e+02] [-2.27112574e-02 2.11113433e-03 9.99739837e-01 4.62296829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6007140569999 meters Centerline goodness : 0.985516 Centerline is valid? [True, True] Translation: X:249.29, Y:180.48, Z:4.62 [[ 6.55759365e-01 -7.54788547e-01 1.65500336e-02 2.49285007e+02] [ 7.54628451e-01 6.55964507e-01 1.56992596e-02 1.80482346e+02] [-2.27058560e-02 2.19418970e-03 9.99739781e-01 4.62062558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.630714057 meters Centerline goodness : 0.984958 Centerline is valid? [True, True] Translation: X:249.31, Y:180.50, Z:4.62 [[ 6.56409477e-01 -7.54220675e-01 1.66664772e-02 2.49306760e+02] [ 7.54063274e-01 6.56616865e-01 1.55843439e-02 1.80504879e+02] [-2.26975244e-02 2.33786727e-03 9.99739644e-01 4.62015299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.660714057 meters Centerline goodness : 0.981721 Centerline is valid? [True, True] Translation: X:249.33, Y:180.52, Z:4.62 [[ 6.58523342e-01 -7.52376019e-01 1.66533625e-02 2.49325894e+02] [ 7.52217713e-01 6.58730019e-01 1.55972820e-02 1.80523355e+02] [-2.27050907e-02 2.25577996e-03 9.99739661e-01 4.61683896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6907140569999 meters Centerline goodness : 0.983268 Centerline is valid? [True, True] Translation: X:249.35, Y:180.55, Z:4.62 [[ 6.59591075e-01 -7.51444215e-01 1.64683032e-02 2.49346982e+02] [ 7.51281085e-01 6.59793705e-01 1.57796657e-02 1.80547738e+02] [-2.27232213e-02 1.96419802e-03 9.99739865e-01 4.61609077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7207140569999 meters Centerline goodness : 0.982614 Centerline is valid? [True, True] Translation: X:249.37, Y:180.57, Z:4.62 [[ 6.62253980e-01 -7.49097384e-01 1.65159320e-02 2.49368226e+02] [ 7.48934694e-01 6.62457022e-01 1.57327190e-02 1.80570105e+02] [-2.27264338e-02 1.95029867e-03 9.99739819e-01 4.61858675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.750714057 meters Centerline goodness : 0.983825 Centerline is valid? [True, True] Translation: X:249.40, Y:180.59, Z:4.62 [[ 6.65223113e-01 -7.46463805e-01 1.64316028e-02 2.49395215e+02] [ 7.46298274e-01 6.65423740e-01 1.58156010e-02 1.80591996e+02] [-2.27397523e-02 1.74197350e-03 9.99739901e-01 4.61520264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.780714057 meters Centerline goodness : 0.984877 Centerline is valid? [True, True] Translation: X:249.42, Y:180.62, Z:4.62 [[ 6.68702426e-01 -7.43346040e-01 1.65447902e-02 2.49417481e+02] [ 7.43182297e-01 6.68904661e-01 1.57043883e-02 1.80617626e+02] [-2.27406821e-02 1.79423265e-03 9.99739787e-01 4.61632047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8107140569999 meters Centerline goodness : 0.985350 Centerline is valid? [True, True] Translation: X:249.44, Y:180.64, Z:4.62 [[ 6.68976029e-01 -7.43098197e-01 1.66175192e-02 2.49435654e+02] [ 7.42936137e-01 6.69179726e-01 1.56329999e-02 1.80640659e+02] [-2.27369610e-02 1.88765333e-03 9.99739700e-01 4.61790435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8407140569999 meters Centerline goodness : 0.982835 Centerline is valid? [True, True] Translation: X:249.46, Y:180.66, Z:4.62 [[ 6.71911063e-01 -7.40448380e-01 1.64839266e-02 2.49456370e+02] [ 7.40282307e-01 6.72111302e-01 1.57640347e-02 1.80661037e+02] [-2.27514873e-02 1.61072990e-03 9.99739854e-01 4.61764316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.870714057 meters Centerline goodness : 0.982521 Centerline is valid? [True, True] Translation: X:249.48, Y:180.68, Z:4.62 [[ 6.72857991e-01 -7.39589877e-01 1.63993140e-02 2.49475678e+02] [ 7.39421527e-01 6.73056219e-01 1.58471641e-02 1.80683183e+02] [-2.27580624e-02 1.46311484e-03 9.99739931e-01 4.62367439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.900714057 meters Centerline goodness : 0.983982 Centerline is valid? [True, True] Translation: X:249.50, Y:180.70, Z:4.62 [[ 6.76654412e-01 -7.36120573e-01 1.62883139e-02 2.49501988e+02] [ 7.35948583e-01 6.76849381e-01 1.59561339e-02 1.80703100e+02] [-2.27703736e-02 1.19057311e-03 9.99740013e-01 4.61560030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9307140569999 meters Centerline goodness : 0.981351 Centerline is valid? [True, True] Translation: X:249.52, Y:180.72, Z:4.62 [[ 6.77113165e-01 -7.35695024e-01 1.64497154e-02 2.49519492e+02] [ 7.35526731e-01 6.77311497e-01 1.57975779e-02 1.80721226e+02] [-2.27637808e-02 1.40245742e-03 9.99739888e-01 4.61845206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9607140569999 meters Centerline goodness : 0.981351 Centerline is valid? [True, True] Translation: X:249.54, Y:180.74, Z:4.62 [[ 6.76690602e-01 -7.36086247e-01 1.63360320e-02 2.49539072e+02] [ 7.35915377e-01 6.76886592e-01 1.59091148e-02 1.80741587e+02] [-2.27681216e-02 1.25638866e-03 9.99739983e-01 4.61774510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.990714057 meters Centerline goodness : 0.983027 Centerline is valid? [True, True] Translation: X:249.57, Y:180.77, Z:4.61 [[ 6.76638394e-01 -7.36135863e-01 1.62626682e-02 2.49569017e+02] [ 7.35963288e-01 6.76832812e-01 1.59807112e-02 1.80767054e+02] [-2.27710820e-02 1.15556401e-03 9.99740037e-01 4.61400627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.020714057 meters Centerline goodness : 0.982056 Centerline is valid? [True, True] Translation: X:249.59, Y:180.79, Z:4.61 [[ 6.75224979e-01 -7.37424738e-01 1.66127575e-02 2.49588698e+02] [ 7.37260827e-01 6.75427203e-01 1.56386590e-02 1.80785598e+02] [-2.27530423e-02 1.68832211e-03 9.99739690e-01 4.61378383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0507140569999 meters Centerline goodness : 0.981320 Centerline is valid? [True, True] Translation: X:249.61, Y:180.81, Z:4.61 [[ 6.74144862e-01 -7.38416318e-01 1.64330699e-02 2.49613895e+02] [ 7.38248422e-01 6.74343517e-01 1.58142095e-02 1.80807864e+02] [-2.27590045e-02 1.47061981e-03 9.99739899e-01 4.61428145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0807140569999 meters Centerline goodness : 0.980670 Centerline is valid? [True, True] Translation: X:249.64, Y:180.83, Z:4.61 [[ 6.72451365e-01 -7.39957689e-01 1.64857698e-02 2.49639698e+02] [ 7.39791502e-01 6.72651522e-01 1.57627347e-02 1.80830886e+02] [-2.27529349e-02 1.59635991e-03 9.99739844e-01 4.61400240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.110714057 meters Centerline goodness : 0.980567 Centerline is valid? [True, True] Translation: X:249.66, Y:180.85, Z:4.61 [[ 6.67704919e-01 -7.44240573e-01 1.66165982e-02 2.49663426e+02] [ 7.44078815e-01 6.67908876e-01 1.56349324e-02 1.80850702e+02] [-2.27345244e-02 1.92453742e-03 9.99739685e-01 4.61343594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.140714057 meters Centerline goodness : 0.980262 Centerline is valid? [True, True] Translation: X:249.69, Y:180.87, Z:4.61 [[ 6.61769683e-01 -7.49523800e-01 1.65819321e-02 2.49685250e+02] [ 7.49362829e-01 6.61974201e-01 1.56686967e-02 1.80871210e+02] [-2.27208723e-02 2.05681513e-03 9.99739732e-01 4.61070260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1707140569999 meters Centerline goodness : 0.979600 Centerline is valid? [True, True] Translation: X:249.71, Y:180.89, Z:4.61 [[ 6.59057070e-01 -7.51912299e-01 1.64825022e-02 2.49707555e+02] [ 7.51749664e-01 6.59260110e-01 1.57654656e-02 1.80892736e+02] [-2.27205038e-02 2.00037392e-03 9.99739855e-01 4.60952731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2007140569999 meters Centerline goodness : 0.980592 Centerline is valid? [True, True] Translation: X:249.73, Y:180.91, Z:4.61 [[ 6.57619185e-01 -7.53171346e-01 1.64295709e-02 2.49729188e+02] [ 7.53007824e-01 6.57821436e-01 1.58169518e-02 1.80912754e+02] [-2.27205988e-02 1.97006445e-03 9.99739913e-01 4.60836508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2307140569999 meters Centerline goodness : 0.978716 Centerline is valid? [True, True] Translation: X:249.75, Y:180.93, Z:4.61 [[ 6.52922539e-01 -7.57247470e-01 1.63837697e-02 2.49749601e+02] [ 7.57084102e-01 6.53124856e-01 1.58614547e-02 1.80931129e+02] [-2.27116937e-02 2.04759028e-03 9.99739959e-01 4.60721455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.260714057 meters Centerline goodness : 0.977337 Centerline is valid? [True, True] Translation: X:249.76, Y:180.95, Z:4.61 [[ 6.49360239e-01 -7.60305869e-01 1.63176263e-02 2.49761723e+02] [ 7.60141849e-01 6.49561955e-01 1.59259612e-02 1.80947660e+02] [-2.27079110e-02 2.06202463e-03 9.99740016e-01 4.61077010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.290714057 meters Centerline goodness : 0.977550 Centerline is valid? [True, True] Translation: X:249.76, Y:180.97, Z:4.61 [[ 6.41153407e-01 -7.67248042e-01 1.58981327e-02 2.49762286e+02] [ 7.67076083e-01 6.41348170e-01 1.63342597e-02 1.80965487e+02] [-2.27286671e-02 1.72231107e-03 9.99740187e-01 4.60730318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3207140569999 meters Centerline goodness : 0.979293 Centerline is valid? [True, True] Translation: X:249.80, Y:180.99, Z:4.61 [[ 6.47804827e-01 -7.61652740e-01 1.52973895e-02 2.49801728e+02] [ 7.61465049e-01 6.47985056e-01 1.69217906e-02 1.80986759e+02] [-2.28010080e-02 6.86409761e-04 9.99739788e-01 4.60852571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3507140569999 meters Centerline goodness : 0.978965 Centerline is valid? [True, True] Translation: X:249.82, Y:181.01, Z:4.61 [[ 6.43761200e-01 -7.65058151e-01 1.60481207e-02 2.49815670e+02] [ 7.64889144e-01 6.43958528e-01 1.61867787e-02 1.81005080e+02] [-2.27181512e-02 1.85461323e-03 9.99740189e-01 4.60864260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.380714057 meters Centerline goodness : 0.977720 Centerline is valid? [True, True] Translation: X:249.82, Y:181.02, Z:4.61 [[ 6.38296465e-01 -7.69628200e-01 1.58131887e-02 2.49820530e+02] [ 7.69454961e-01 6.38490078e-01 1.64159445e-02 1.81021647e+02] [-2.27307379e-02 1.68929710e-03 9.99740196e-01 4.60824211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.410714057 meters Centerline goodness : 0.981054 Centerline is valid? [True, True] Translation: X:249.86, Y:181.04, Z:4.61 [[ 6.41802424e-01 -7.66721142e-01 1.51108686e-02 2.49859044e+02] [ 7.66530707e-01 6.41979999e-01 1.70984481e-02 1.81042941e+02] [-2.28106171e-02 6.09119357e-04 9.99739618e-01 4.60667833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4407140569999 meters Centerline goodness : 0.977674 Centerline is valid? [True, True] Translation: X:249.88, Y:181.06, Z:4.61 [[ 6.39588432e-01 -7.68552725e-01 1.59168871e-02 2.49876319e+02] [ 7.68381688e-01 6.39783933e-01 1.63126070e-02 1.81062489e+02] [-2.27204671e-02 1.79688985e-03 9.99740242e-01 4.60634571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4707140569999 meters Centerline goodness : 0.978370 Centerline is valid? [True, True] Translation: X:249.89, Y:181.08, Z:4.60 [[ 6.35447264e-01 -7.71981567e-01 1.58504132e-02 2.49891960e+02] [ 7.71809988e-01 6.35642293e-01 1.63773639e-02 1.81082300e+02] [-2.27182160e-02 1.82655612e-03 9.99740239e-01 4.60410202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.500714057 meters Centerline goodness : 0.974836 Centerline is valid? [True, True] Translation: X:249.92, Y:181.10, Z:4.60 [[ 6.37911449e-01 -7.69948438e-01 1.57602942e-02 2.49917525e+02] [ 7.69774089e-01 6.38104028e-01 1.64651408e-02 1.81100097e+02] [-2.27340166e-02 1.62856430e-03 9.99740222e-01 4.60363147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.530714057 meters Centerline goodness : 0.977698 Centerline is valid? [True, True] Translation: X:249.92, Y:181.12, Z:4.60 [[ 6.28507095e-01 -7.77642043e-01 1.58645605e-02 2.49917696e+02] [ 7.77472559e-01 6.28703946e-01 1.63636228e-02 1.81119534e+02] [-2.26991529e-02 2.04960741e-03 9.99740240e-01 4.60272494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5607140569999 meters Centerline goodness : 0.978382 Centerline is valid? [True, True] Translation: X:249.95, Y:181.14, Z:4.60 [[ 6.33697759e-01 -7.73431498e-01 1.51943500e-02 2.49952434e+02] [ 7.73244892e-01 6.33879157e-01 1.70162171e-02 1.81141214e+02] [-2.27922600e-02 9.65814882e-04 9.99739756e-01 4.60149522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5907140569999 meters Centerline goodness : 0.979184 Centerline is valid? [True, True] Translation: X:249.97, Y:181.16, Z:4.60 [[ 6.35986649e-01 -7.71539537e-01 1.57392730e-02 2.49974601e+02] [ 7.71365239e-01 6.36179215e-01 1.64825724e-02 1.81159223e+02] [-2.27299546e-02 1.65803203e-03 9.99740266e-01 4.60309137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.620714057 meters Centerline goodness : 0.977545 Centerline is valid? [True, True] Translation: X:250.00, Y:181.18, Z:4.60 [[ 6.36528165e-01 -7.71091208e-01 1.58191208e-02 2.49996847e+02] [ 7.70918688e-01 6.36722290e-01 1.64043285e-02 1.81180689e+02] [-2.27216202e-02 1.75343874e-03 9.99740293e-01 4.60239557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.650714057 meters Centerline goodness : 0.978412 Centerline is valid? [True, True] Translation: X:250.01, Y:181.20, Z:4.60 [[ 6.35829771e-01 -7.71664557e-01 1.59472425e-02 2.50014783e+02] [ 7.71495304e-01 6.36026728e-01 1.62787473e-02 1.81201969e+02] [-2.27046048e-02 1.95271052e-03 9.99740310e-01 4.60109821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6807140569999 meters Centerline goodness : 0.977824 Centerline is valid? [True, True] Translation: X:250.03, Y:181.22, Z:4.60 [[ 6.35027805e-01 -7.72325513e-01 1.59056395e-02 2.50033883e+02] [ 7.72155458e-01 6.35224073e-01 1.63195049e-02 1.81222299e+02] [-2.27076151e-02 1.91828693e-03 9.99740308e-01 4.59897238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7107140569999 meters Centerline goodness : 0.979452 Centerline is valid? [True, True] Translation: X:250.05, Y:181.24, Z:4.60 [[ 6.35391912e-01 -7.72026021e-01 1.59040989e-02 2.50052939e+02] [ 7.71855837e-01 6.35588068e-01 1.63210132e-02 1.81242009e+02] [-2.27087024e-02 1.90543177e-03 9.99740308e-01 4.59959211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.740714057 meters Centerline goodness : 0.979327 Centerline is valid? [True, True] Translation: X:250.07, Y:181.26, Z:4.60 [[ 6.35065305e-01 -7.72294611e-01 1.59088907e-02 2.50070175e+02] [ 7.72124625e-01 6.35261632e-01 1.63163229e-02 1.81262866e+02] [-2.27073161e-02 1.92171569e-03 9.99740309e-01 4.59853249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.770714057 meters Centerline goodness : 0.979963 Centerline is valid? [True, True] Translation: X:250.09, Y:181.28, Z:4.60 [[ 6.34776953e-01 -7.72532690e-01 1.58575891e-02 2.50085705e+02] [ 7.72361541e-01 6.34972274e-01 1.63665067e-02 1.81282984e+02] [-2.27127909e-02 1.85871073e-03 9.99740303e-01 4.59858784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8007140569999 meters Centerline goodness : 0.978696 Centerline is valid? [True, True] Translation: X:250.11, Y:181.30, Z:4.60 [[ 6.37732498e-01 -7.70097508e-01 1.57190923e-02 2.50107180e+02] [ 7.69922302e-01 6.37924240e-01 1.65018857e-02 1.81303980e+02] [-2.27356511e-02 1.57869101e-03 9.99740265e-01 4.59880011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8307140569999 meters Centerline goodness : 0.979697 Centerline is valid? [True, True] Translation: X:250.13, Y:181.33, Z:4.60 [[ 6.36851840e-01 -7.70824632e-01 1.57835870e-02 2.50125654e+02] [ 7.70651186e-01 6.37045144e-01 1.64387644e-02 1.81327331e+02] [-2.27262620e-02 1.69458269e-03 9.99740289e-01 4.59865459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.860714057 meters Centerline goodness : 0.980605 Centerline is valid? [True, True] Translation: X:250.14, Y:181.35, Z:4.60 [[ 6.36919038e-01 -7.70767578e-01 1.58581172e-02 2.50139689e+02] [ 7.70595904e-01 6.37113894e-01 1.63658123e-02 1.81349829e+02] [-2.27176643e-02 1.79650272e-03 9.99740306e-01 4.59948507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.890714057 meters Centerline goodness : 0.981523 Centerline is valid? [True, True] Translation: X:250.16, Y:181.37, Z:4.60 [[ 6.39886132e-01 -7.68308688e-01 1.57320975e-02 2.50164101e+02] [ 7.68133256e-01 6.40077659e-01 1.64891397e-02 1.81370475e+02] [-2.27385134e-02 1.53317544e-03 9.99740271e-01 4.59839297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9207140569999 meters Centerline goodness : 0.982113 Centerline is valid? [True, True] Translation: X:250.18, Y:181.39, Z:4.60 [[ 6.42395981e-01 -7.66207634e-01 1.59142929e-02 2.50178306e+02] [ 7.66035920e-01 6.42590793e-01 1.63108001e-02 1.81389632e+02] [-2.27238376e-02 1.71292762e-03 9.99740313e-01 4.59948331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9507140569999 meters Centerline goodness : 0.981611 Centerline is valid? [True, True] Translation: X:250.20, Y:181.41, Z:4.60 [[ 6.41742019e-01 -7.66759622e-01 1.57118830e-02 2.50196477e+02] [ 7.66583255e-01 6.41932691e-01 1.65086179e-02 1.81412229e+02] [-2.27441130e-02 1.45019263e-03 9.99740267e-01 4.59867404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9807140569999 meters Centerline goodness : 0.981312 Centerline is valid? [True, True] Translation: X:250.22, Y:181.44, Z:4.60 [[ 6.41239006e-01 -7.67180011e-01 1.57279468e-02 2.50215786e+02] [ 7.67004150e-01 6.41430135e-01 1.64929034e-02 1.81436020e+02] [-2.27414049e-02 1.48750754e-03 9.99740274e-01 4.59776023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.010714057 meters Centerline goodness : 0.982230 Centerline is valid? [True, True] Translation: X:250.24, Y:181.45, Z:4.60 [[ 6.43162458e-01 -7.65567531e-01 1.57609350e-02 2.50236354e+02] [ 7.65391973e-01 6.43353849e-01 1.64606286e-02 1.81454760e+02] [-2.27415810e-02 1.47643477e-03 9.99740287e-01 4.59800782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.040714057 meters Centerline goodness : 0.982273 Centerline is valid? [True, True] Translation: X:250.25, Y:181.48, Z:4.60 [[ 6.40309916e-01 -7.67954723e-01 1.57719267e-02 2.50250165e+02] [ 7.67780140e-01 6.40502192e-01 1.64498700e-02 1.81475963e+02] [-2.27347090e-02 1.57635726e-03 9.99740290e-01 4.59678645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0707140569999 meters Centerline goodness : 0.980140 Centerline is valid? [True, True] Translation: X:250.26, Y:181.49, Z:4.59 [[ 6.34940132e-01 -7.72403681e-01 1.56071498e-02 2.50256222e+02] [ 7.72226535e-01 6.35130133e-01 1.66100280e-02 1.81493251e+02] [-2.27422179e-02 1.50588181e-03 9.99740228e-01 4.59039563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1007140569999 meters Centerline goodness : 0.982964 Centerline is valid? [True, True] Translation: X:250.29, Y:181.52, Z:4.59 [[ 6.37673872e-01 -7.70157451e-01 1.51503770e-02 2.50290186e+02] [ 7.69969019e-01 6.37853334e-01 1.70538287e-02 1.81516090e+02] [-2.27978518e-02 7.90539939e-04 9.99739783e-01 4.59360868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.130714057 meters Centerline goodness : 0.978685 Centerline is valid? [True, True] Translation: X:250.30, Y:181.54, Z:4.60 [[ 6.31662829e-01 -7.75086352e-01 1.55954005e-02 2.50298149e+02] [ 7.74909758e-01 6.31853329e-01 1.66203982e-02 1.81535415e+02] [-2.27362495e-02 1.58654025e-03 9.99740239e-01 4.59503806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.160714057 meters Centerline goodness : 0.978196 Centerline is valid? [True, True] Translation: X:250.32, Y:181.55, Z:4.60 [[ 6.32729560e-01 -7.74224093e-01 1.51775434e-02 2.50316599e+02] [ 7.74037498e-01 6.32910816e-01 1.70249985e-02 1.81552084e+02] [-2.27871954e-02 9.75767891e-04 9.99739862e-01 4.59603886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1907140569999 meters Centerline goodness : 0.982358 Centerline is valid? [True, True] Translation: X:250.35, Y:181.58, Z:4.59 [[ 6.31615046e-01 -7.75136522e-01 1.50268134e-02 2.50347326e+02] [ 7.74946727e-01 6.31793267e-01 1.71708328e-02 1.81576606e+02] [-2.28035792e-02 7.99623453e-04 9.99739645e-01 4.59167748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2207140569999 meters Centerline goodness : 0.981914 Centerline is valid? [True, True] Translation: X:250.37, Y:181.59, Z:4.59 [[ 6.32625261e-01 -7.74301925e-01 1.55501737e-02 2.50365322e+02] [ 7.74124108e-01 6.32814574e-01 1.66607236e-02 1.81593548e+02] [-2.27408069e-02 1.49776978e-03 9.99740272e-01 4.59058047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.250714057 meters Centerline goodness : 0.977776 Centerline is valid? [True, True] Translation: X:250.38, Y:181.61, Z:4.59 [[ 6.27306866e-01 -7.78618995e-01 1.54452875e-02 2.50375491e+02] [ 7.78440004e-01 6.27495168e-01 1.67622658e-02 1.81611507e+02] [-2.27432618e-02 1.50814526e-03 9.99740201e-01 4.59465456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.280714057 meters Centerline goodness : 0.984838 Centerline is valid? [True, True] Translation: X:250.41, Y:181.64, Z:4.59 [[ 6.31610058e-01 -7.75133014e-01 1.54125342e-02 2.50408963e+02] [ 7.74952206e-01 6.31796664e-01 1.67944285e-02 1.81635009e+02] [-2.27555037e-02 1.33644737e-03 9.99740167e-01 4.58780076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3107140569999 meters Centerline goodness : 0.975922 Centerline is valid? [True, True] Translation: X:250.42, Y:181.65, Z:4.59 [[ 6.27962834e-01 -7.78081196e-01 1.58849578e-02 2.50416800e+02] [ 7.77912662e-01 6.28160196e-01 1.63296891e-02 1.81651047e+02] [-2.26841222e-02 2.10267195e-03 9.99740471e-01 4.59475653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3407140569999 meters Centerline goodness : 0.976033 Centerline is valid? [True, True] Translation: X:250.44, Y:181.67, Z:4.59 [[ 6.30153041e-01 -7.76320976e-01 1.52606241e-02 2.50438789e+02] [ 7.76137050e-01 6.30336713e-01 1.69383791e-02 1.81669666e+02] [-2.27689506e-02 1.17056467e-03 9.99740069e-01 4.59392998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.370714057 meters Centerline goodness : 0.983334 Centerline is valid? [True, True] Translation: X:250.47, Y:181.69, Z:4.59 [[ 6.33821474e-01 -7.73330051e-01 1.51977705e-02 2.50467632e+02] [ 7.73143796e-01 6.34002904e-01 1.69996617e-02 1.81691858e+02] [-2.27817798e-02 9.75311325e-04 9.99739986e-01 4.59016018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.400714057 meters Centerline goodness : 0.978891 Centerline is valid? [True, True] Translation: X:250.48, Y:181.71, Z:4.59 [[ 6.30978134e-01 -7.75641685e-01 1.57025979e-02 2.50475659e+02] [ 7.75468023e-01 6.31171034e-01 1.65067235e-02 1.81710234e+02] [-2.27143278e-02 1.76148092e-03 9.99740445e-01 4.59261652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4307140569999 meters Centerline goodness : 0.984312 Centerline is valid? [True, True] Translation: X:250.51, Y:181.74, Z:4.59 [[ 6.35114603e-01 -7.72266786e-01 1.52791279e-02 2.50510235e+02] [ 7.72082106e-01 6.35297496e-01 1.69208056e-02 1.81736364e+02] [-2.27741679e-02 1.05009051e-03 9.99740084e-01 4.58616641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4607140569999 meters Centerline goodness : 0.978375 Centerline is valid? [True, True] Translation: X:250.51, Y:181.75, Z:4.59 [[ 6.31699009e-01 -7.75040856e-01 1.63717178e-02 2.50514102e+02] [ 7.74883410e-01 6.31905466e-01 1.58487499e-02 1.81749539e+02] [-2.26288066e-02 2.67453297e-03 9.99740358e-01 4.58906005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.490714057 meters Centerline goodness : 0.980685 Centerline is valid? [True, True] Translation: X:250.55, Y:181.77, Z:4.59 [[ 6.41008768e-01 -7.67382792e-01 1.52121556e-02 2.50553480e+02] [ 7.67195313e-01 6.41188764e-01 1.69799786e-02 1.81768070e+02] [-2.27840067e-02 7.86379309e-04 9.99740102e-01 4.58808881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.520714057 meters Centerline goodness : 0.978867 Centerline is valid? [True, True] Translation: X:250.55, Y:181.79, Z:4.59 [[ 6.30638075e-01 -7.75913622e-01 1.59270310e-02 2.50553271e+02] [ 7.75745609e-01 6.30835709e-01 1.62806463e-02 1.81790619e+02] [-2.26797151e-02 2.08812893e-03 9.99740601e-01 4.58740358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5507140569999 meters Centerline goodness : 0.983622 Centerline is valid? [True, True] Translation: X:250.58, Y:181.81, Z:4.58 [[ 6.32936286e-01 -7.74053940e-01 1.52366450e-02 2.50581549e+02] [ 7.73868986e-01 6.33118766e-01 1.69534839e-02 1.81811763e+02] [-2.27695169e-02 1.06069190e-03 9.99740178e-01 4.58390857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5807140569999 meters Centerline goodness : 0.982327 Centerline is valid? [True, True] Translation: X:250.61, Y:181.83, Z:4.58 [[ 6.37199351e-01 -7.70542802e-01 1.55170088e-02 2.50608379e+02] [ 7.70363426e-01 6.37386878e-01 1.66781515e-02 1.81830704e+02] [-2.27415673e-02 1.32642871e-03 9.99740497e-01 4.58445429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.610714057 meters Centerline goodness : 0.984785 Centerline is valid? [True, True] Translation: X:250.62, Y:181.85, Z:4.59 [[ 6.35486193e-01 -7.71950459e-01 1.58046499e-02 2.50624780e+02] [ 7.71778393e-01 6.35680205e-01 1.63947688e-02 1.81854439e+02] [-2.27026524e-02 1.77903810e-03 9.99740679e-01 4.58552938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.640714057 meters Centerline goodness : 0.985308 Centerline is valid? [True, True] Translation: X:250.65, Y:181.87, Z:4.59 [[ 6.38625959e-01 -7.69356076e-01 1.57515814e-02 2.50647793e+02] [ 7.69181945e-01 6.38818150e-01 1.64471036e-02 1.81871126e+02] [-2.27160752e-02 1.61228466e-03 9.99740657e-01 4.58566269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6707140569999 meters Centerline goodness : 0.984727 Centerline is valid? [True, True] Translation: X:250.67, Y:181.89, Z:4.59 [[ 6.36675653e-01 -7.70969541e-01 1.58139359e-02 2.50665318e+02] [ 7.70797399e-01 6.36869594e-01 1.63856633e-02 1.81892574e+02] [-2.27042622e-02 1.75698780e-03 9.99740681e-01 4.58632609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7007140569999 meters Centerline goodness : 0.986209 Centerline is valid? [True, True] Translation: X:250.69, Y:181.91, Z:4.59 [[ 6.37643025e-01 -7.70169645e-01 1.58142611e-02 2.50688240e+02] [ 7.69997267e-01 6.37836757e-01 1.63853428e-02 1.81912676e+02] [-2.27064107e-02 1.72893824e-03 9.99740681e-01 4.58570565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7307140569999 meters Centerline goodness : 0.985672 Centerline is valid? [True, True] Translation: X:250.70, Y:181.93, Z:4.58 [[ 6.34702507e-01 -7.72593669e-01 1.58666208e-02 2.50702362e+02] [ 7.72423299e-01 6.34897988e-01 1.63337459e-02 1.81932960e+02] [-2.26930343e-02 1.88867807e-03 9.99740696e-01 4.58454194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.760714057 meters Centerline goodness : 0.984954 Centerline is valid? [True, True] Translation: X:250.72, Y:181.95, Z:4.58 [[ 6.35158828e-01 -7.72221576e-01 1.57194269e-02 2.50721807e+02] [ 7.72047542e-01 6.35351123e-01 1.64785572e-02 1.81950851e+02] [-2.27124529e-02 1.66964389e-03 9.99740645e-01 4.58328966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.790714057 meters Centerline goodness : 0.978710 Centerline is valid? [True, True] Translation: X:250.73, Y:181.97, Z:4.58 [[ 6.30336413e-01 -7.76165375e-01 1.55986036e-02 2.50730897e+02] [ 7.75989651e-01 6.30527248e-01 1.65967088e-02 1.81970182e+02] [-2.27171353e-02 1.64284509e-03 9.99740583e-01 4.58304662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8207140569999 meters Centerline goodness : 0.981653 Centerline is valid? [True, True] Translation: X:250.75, Y:181.99, Z:4.58 [[ 6.30062543e-01 -7.76395630e-01 1.51992367e-02 2.50753206e+02] [ 7.76210560e-01 6.30244893e-01 1.69865041e-02 1.81986823e+02] [-2.27674889e-02 1.09524811e-03 9.99740187e-01 4.57589348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8507140569999 meters Centerline goodness : 0.979931 Centerline is valid? [True, True] Translation: X:250.78, Y:182.01, Z:4.58 [[ 6.28465053e-01 -7.77688939e-01 1.52181197e-02 2.50775365e+02] [ 7.77504688e-01 6.28648192e-01 1.69679494e-02 1.82009173e+02] [-2.27626300e-02 1.16839616e-03 9.99740215e-01 4.57868856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.880714057 meters Centerline goodness : 0.979931 Centerline is valid? [True, True] Translation: X:250.80, Y:182.03, Z:4.58 [[ 6.28887060e-01 -7.77346558e-01 1.52772518e-02 2.50795963e+02] [ 7.77163601e-01 6.29071375e-01 1.69098050e-02 1.82029166e+02] [-2.27552605e-02 1.23856650e-03 9.99740298e-01 4.57806891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.910714057 meters Centerline goodness : 0.990639 Centerline is valid? [True, True] Translation: X:250.83, Y:182.06, Z:4.57 [[ 6.27031779e-01 -7.78843645e-01 1.52880789e-02 2.50825654e+02] [ 7.78661385e-01 6.27216762e-01 1.68991515e-02 1.82056101e+02] [-2.27507361e-02 1.30793164e-03 9.99740313e-01 4.57320423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9407140569999 meters Centerline goodness : 0.989989 Centerline is valid? [True, True] Translation: X:250.85, Y:182.08, Z:4.57 [[ 6.26096521e-01 -7.79581571e-01 1.59913028e-02 2.50848070e+02] [ 7.79416569e-01 6.26296417e-01 1.62052264e-02 1.82079198e+02] [-2.26485915e-02 2.31785051e-03 9.99740801e-01 4.57308681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9707140569999 meters Centerline goodness : 0.987766 Centerline is valid? [True, True] Translation: X:250.86, Y:182.10, Z:4.57 [[ 6.24875871e-01 -7.80560303e-01 1.59924659e-02 2.50861539e+02] [ 7.80395644e-01 6.25076049e-01 1.62040784e-02 1.82097346e+02] [-2.26447678e-02 2.35491312e-03 9.99740801e-01 4.57373834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.000714057 meters Centerline goodness : 0.981052 Centerline is valid? [True, True] Translation: X:250.87, Y:182.11, Z:4.58 [[ 6.23936710e-01 -7.81316638e-01 1.57255270e-02 2.50873869e+02] [ 7.81145705e-01 6.24131612e-01 1.64656789e-02 1.82114118e+02] [-2.26797074e-02 2.01038635e-03 9.99740761e-01 4.57592538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.030714057 meters Centerline goodness : 0.988098 Centerline is valid? [True, True] Translation: X:250.91, Y:182.14, Z:4.57 [[ 6.28943732e-01 -7.77298112e-01 1.54086398e-02 2.50908759e+02] [ 7.77118331e-01 6.29130846e-01 1.67772979e-02 1.82139066e+02] [-2.27350126e-02 1.42236007e-03 9.99740514e-01 4.57167915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0607140569999 meters Centerline goodness : 0.986007 Centerline is valid? [True, True] Translation: X:250.91, Y:182.16, Z:4.58 [[ 6.22915052e-01 -7.82115797e-01 1.64838833e-02 2.50909690e+02] [ 7.81963762e-01 6.23125441e-01 1.57276664e-02 1.82157649e+02] [-2.25723834e-02 3.09279926e-03 9.99740427e-01 4.57638560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0907140569999 meters Centerline goodness : 0.980590 Centerline is valid? [True, True] Translation: X:250.92, Y:182.17, Z:4.58 [[ 6.20448282e-01 -7.84090806e-01 1.56696449e-02 2.50919215e+02] [ 7.83919490e-01 6.20642780e-01 1.65158475e-02 1.82174488e+02] [-2.26751761e-02 2.03651086e-03 9.99740811e-01 4.57626472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.120714057 meters Centerline goodness : 0.979721 Centerline is valid? [True, True] Translation: X:250.94, Y:182.19, Z:4.58 [[ 6.21733316e-01 -7.83081980e-01 1.51754976e-02 2.50940213e+02] [ 7.82898660e-01 6.21917103e-01 1.69942594e-02 1.82194612e+02] [-2.27457998e-02 1.31497945e-03 9.99740416e-01 4.57778112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.150714057 meters Centerline goodness : 0.982838 Centerline is valid? [True, True] Translation: X:250.96, Y:182.22, Z:4.57 [[ 6.21420266e-01 -7.83330713e-01 1.51607089e-02 2.50960555e+02] [ 7.83147121e-01 6.21603809e-01 1.70085798e-02 1.82215303e+02] [-2.27472973e-02 1.30358931e-03 9.99740397e-01 4.56892948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1807140569999 meters Centerline goodness : 0.979531 Centerline is valid? [True, True] Translation: X:250.98, Y:182.24, Z:4.58 [[ 6.22341372e-01 -7.82597587e-01 1.52392166e-02 2.50981574e+02] [ 7.82415617e-01 6.22526383e-01 1.69323661e-02 1.82235042e+02] [-2.27380432e-02 1.38568917e-03 9.99740497e-01 4.57587084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2107140569999 meters Centerline goodness : 0.987070 Centerline is valid? [True, True] Translation: X:251.02, Y:182.26, Z:4.57 [[ 6.26885832e-01 -7.78962160e-01 1.52350516e-02 2.51015726e+02] [ 7.78779019e-01 6.27069691e-01 1.69364181e-02 1.82257917e+02] [-2.27462680e-02 1.24753801e-03 9.99740492e-01 4.57401627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.240714057 meters Centerline goodness : 0.989579 Centerline is valid? [True, True] Translation: X:251.03, Y:182.28, Z:4.57 [[ 6.22442926e-01 -7.82502587e-01 1.59532089e-02 2.51029991e+02] [ 7.82337711e-01 6.22642807e-01 1.62370302e-02 1.82280371e+02] [-2.26386689e-02 2.37417238e-03 9.99740893e-01 4.56898731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.270714057 meters Centerline goodness : 0.990099 Centerline is valid? [True, True] Translation: X:251.05, Y:182.30, Z:4.57 [[ 6.21765992e-01 -7.83042175e-01 1.58746332e-02 2.51052536e+02] [ 7.82875556e-01 6.21964415e-01 1.63134923e-02 1.82302971e+02] [-2.26476094e-02 2.28468754e-03 9.99740899e-01 4.56842418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3007140569999 meters Centerline goodness : 0.990222 Centerline is valid? [True, True] Translation: X:251.08, Y:182.33, Z:4.57 [[ 6.21457968e-01 -7.83286636e-01 1.58757780e-02 2.51075620e+02] [ 7.83120124e-01 6.21656479e-01 1.63123781e-02 1.82326321e+02] [-2.26465481e-02 2.29518388e-03 9.99740899e-01 4.56864812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3307140569999 meters Centerline goodness : 0.980875 Centerline is valid? [True, True] Translation: X:251.08, Y:182.34, Z:4.57 [[ 6.18996795e-01 -7.85233005e-01 1.58775321e-02 2.51084573e+02] [ 7.85067159e-01 6.19195864e-01 1.63106706e-02 1.82340019e+02] [-2.26389791e-02 2.36867618e-03 9.99740899e-01 4.57255005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.360714057 meters Centerline goodness : 0.987107 Centerline is valid? [True, True] Translation: X:251.12, Y:182.36, Z:4.57 [[ 6.24175525e-01 -7.81133853e-01 1.53237454e-02 2.51120933e+02] [ 7.80953435e-01 6.24361916e-01 1.68502530e-02 1.82363182e+02] [-2.27298660e-02 1.44961610e-03 9.99740592e-01 4.57059858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.390714057 meters Centerline goodness : 0.985811 Centerline is valid? [True, True] Translation: X:251.14, Y:182.39, Z:4.57 [[ 6.24181159e-01 -7.81111678e-01 1.61996140e-02 2.51144891e+02] [ 7.80952217e-01 6.24385671e-01 1.60052931e-02 1.82386222e+02] [-2.26167282e-02 2.66092207e-03 9.99740668e-01 4.56982393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4207140569999 meters Centerline goodness : 0.987006 Centerline is valid? [True, True] Translation: X:251.16, Y:182.41, Z:4.57 [[ 6.24493326e-01 -7.80861518e-01 1.62288487e-02 2.51164856e+02] [ 7.80702691e-01 6.24698360e-01 1.59770968e-02 1.82409111e+02] [-2.26140352e-02 2.69231547e-03 9.99740645e-01 4.56918778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4507140569999 meters Centerline goodness : 0.986139 Centerline is valid? [True, True] Translation: X:251.19, Y:182.43, Z:4.57 [[ 6.26126129e-01 -7.79554109e-01 1.61698066e-02 2.51187772e+02] [ 7.79393411e-01 6.26329642e-01 1.60340259e-02 1.82431760e+02] [-2.26270200e-02 2.56331816e-03 9.99740690e-01 4.56940179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4807140569999 meters Centerline goodness : 0.985157 Centerline is valid? [True, True] Translation: X:251.21, Y:182.45, Z:4.57 [[ 6.28026848e-01 -7.78023745e-01 1.61657318e-02 2.51209352e+02] [ 7.77862451e-01 6.28229887e-01 1.60379549e-02 1.82453380e+02] [-2.26337056e-02 2.50244956e-03 9.99740693e-01 4.56882699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.510714057 meters Centerline goodness : 0.984888 Centerline is valid? [True, True] Translation: X:251.23, Y:182.47, Z:4.57 [[ 6.30822742e-01 -7.75758734e-01 1.61571561e-02 2.51228467e+02] [ 7.75596504e-01 6.31025025e-01 1.60462230e-02 1.82473705e+02] [-2.26435675e-02 2.40911141e-03 9.99740699e-01 4.56681871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.540714057 meters Centerline goodness : 0.985827 Centerline is valid? [True, True] Translation: X:251.25, Y:182.50, Z:4.57 [[ 6.31904063e-01 -7.74880527e-01 1.60444196e-02 2.51252220e+02] [ 7.74715306e-01 6.32103814e-01 1.61543460e-02 1.82501301e+02] [-2.26594270e-02 2.22186062e-03 9.99740773e-01 4.56773581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5707140569999 meters Centerline goodness : 0.984353 Centerline is valid? [True, True] Translation: X:251.27, Y:182.52, Z:4.57 [[ 6.34517442e-01 -7.72737578e-01 1.62557859e-02 2.51268111e+02] [ 7.72576765e-01 6.34720958e-01 1.59514348e-02 1.82521801e+02] [-2.26441610e-02 2.43737887e-03 9.99740617e-01 4.56988222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6007140569999 meters Centerline goodness : 0.983547 Centerline is valid? [True, True] Translation: X:251.29, Y:182.55, Z:4.57 [[ 6.39124209e-01 -7.68936193e-01 1.60429789e-02 2.51285176e+02] [ 7.68769069e-01 6.39322376e-01 1.61560438e-02 1.82545892e+02] [-2.26796022e-02 2.00762727e-03 9.99740769e-01 4.57097596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.630714057 meters Centerline goodness : 0.984448 Centerline is valid? [True, True] Translation: X:251.31, Y:182.57, Z:4.57 [[ 6.41060894e-01 -7.67323743e-01 1.59751026e-02 2.51309171e+02] [ 7.67154511e-01 6.41257224e-01 1.62212532e-02 1.82572654e+02] [-2.26911026e-02 1.85656098e-03 9.99740800e-01 4.56806491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.660714057 meters Centerline goodness : 0.982508 Centerline is valid? [True, True] Translation: X:251.33, Y:182.59, Z:4.57 [[ 6.46677021e-01 -7.62592987e-01 1.61482897e-02 2.51328621e+02] [ 7.62426409e-01 6.46875732e-01 1.60548261e-02 1.82594630e+02] [-2.26892345e-02 1.92959544e-03 9.99740704e-01 4.56594142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6907140569999 meters Centerline goodness : 0.979682 Centerline is valid? [True, True] Translation: X:251.33, Y:182.61, Z:4.57 [[ 6.42050670e-01 -7.66494371e-01 1.60410850e-02 2.51331073e+02] [ 7.66326430e-01 6.42248161e-01 1.61586808e-02 1.82613421e+02] [-2.26878952e-02 1.91801561e-03 9.99740757e-01 4.56768669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7207140569999 meters Centerline goodness : 0.981489 Centerline is valid? [True, True] Translation: X:251.37, Y:182.63, Z:4.57 [[ 6.49669638e-01 -7.60065481e-01 1.51600265e-02 2.51365566e+02] [ 7.59875299e-01 6.49846323e-01 1.70084040e-02 1.82634397e+02] [-2.27791882e-02 4.69886003e-04 9.99740410e-01 4.56517558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.750714057 meters Centerline goodness : 0.981739 Centerline is valid? [True, True] Translation: X:251.39, Y:182.66, Z:4.56 [[ 6.53396129e-01 -7.56850871e-01 1.58195505e-02 2.51389651e+02] [ 7.56674876e-01 6.53586365e-01 1.63705372e-02 1.82658609e+02] [-2.27294979e-02 1.27381080e-03 9.99740840e-01 4.56057081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.780714057 meters Centerline goodness : 0.982626 Centerline is valid? [True, True] Translation: X:251.39, Y:182.68, Z:4.56 [[ 6.49164954e-01 -7.60475541e-01 1.61806652e-02 2.51393598e+02] [ 7.60309126e-01 6.49363793e-01 1.60217936e-02 1.82681011e+02] [-2.26913203e-02 1.90152050e-03 9.99740710e-01 4.56330550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8107140569999 meters Centerline goodness : 0.979539 Centerline is valid? [True, True] Translation: X:251.40, Y:182.70, Z:4.57 [[ 6.47526790e-01 -7.61881930e-01 1.56519018e-02 2.51402920e+02] [ 7.61703564e-01 6.47714783e-01 1.65299921e-02 1.82699500e+02] [-2.27318705e-02 1.21849662e-03 9.99740855e-01 4.56631168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8407140569999 meters Centerline goodness : 0.984440 Centerline is valid? [True, True] Translation: X:251.44, Y:182.73, Z:4.56 [[ 6.51378724e-01 -7.58601139e-01 1.51680586e-02 2.51435114e+02] [ 7.58410843e-01 6.51555159e-01 1.69961436e-02 1.82727130e+02] [-2.27761207e-02 4.32693804e-04 9.99740497e-01 4.55838374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.870714057 meters Centerline goodness : 0.981639 Centerline is valid? [True, True] Translation: X:251.45, Y:182.75, Z:4.56 [[ 6.52979553e-01 -7.57199990e-01 1.63057935e-02 2.51449309e+02] [ 7.57035123e-01 6.53180204e-01 1.59199446e-02 1.82747778e+02] [-2.27052034e-02 1.94866004e-03 9.99740305e-01 4.56357428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.900714057 meters Centerline goodness : 0.983313 Centerline is valid? [True, True] Translation: X:251.47, Y:182.77, Z:4.57 [[ 6.49508002e-01 -7.60187238e-01 1.59598924e-02 2.51467091e+02] [ 7.60015244e-01 6.49702143e-01 1.62466717e-02 1.82772278e+02] [-2.27196888e-02 1.57741825e-03 9.99740630e-01 4.56596840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9307140569999 meters Centerline goodness : 0.981941 Centerline is valid? [True, True] Translation: X:251.49, Y:182.79, Z:4.57 [[ 6.50620306e-01 -7.59235757e-01 1.59462191e-02 2.51485535e+02] [ 7.59063165e-01 6.50813904e-01 1.62595880e-02 1.82793277e+02] [-2.27228817e-02 1.52536939e-03 9.99740638e-01 4.56647587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9607140569999 meters Centerline goodness : 0.981484 Centerline is valid? [True, True] Translation: X:251.51, Y:182.82, Z:4.56 [[ 6.48372973e-01 -7.61159486e-01 1.57709866e-02 2.51506028e+02] [ 7.60983449e-01 6.48563342e-01 1.64250231e-02 1.82817457e+02] [-2.27305459e-02 1.35191872e-03 9.99740714e-01 4.56148715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.990714057 meters Centerline goodness : 0.981540 Centerline is valid? [True, True] Translation: X:251.53, Y:182.84, Z:4.56 [[ 6.48570319e-01 -7.60990867e-01 1.57937143e-02 2.51528307e+02] [ 7.60815299e-01 6.48761130e-01 1.64035668e-02 1.82840873e+02] [-2.27293125e-02 1.37723294e-03 9.99740707e-01 4.56357992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.020714057 meters Centerline goodness : 0.982619 Centerline is valid? [True, True] Translation: X:251.55, Y:182.86, Z:4.56 [[ 6.50140712e-01 -7.59649224e-01 1.58149062e-02 2.51552248e+02] [ 7.59473746e-01 6.50331614e-01 1.63835576e-02 1.82863833e+02] [-2.27306903e-02 1.35938828e-03 9.99740700e-01 4.55922299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0507140569999 meters Centerline goodness : 0.984087 Centerline is valid? [True, True] Translation: X:251.58, Y:182.89, Z:4.56 [[ 6.49875673e-01 -7.59874471e-01 1.58870340e-02 2.51575003e+02] [ 7.59700708e-01 6.50068180e-01 1.63155027e-02 1.82888570e+02] [-2.27253892e-02 1.46634265e-03 9.99740670e-01 4.56168174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0807140569999 meters Centerline goodness : 0.984304 Centerline is valid? [True, True] Translation: X:251.60, Y:182.91, Z:4.56 [[ 6.51733471e-01 -7.58280057e-01 1.59636411e-02 2.51596741e+02] [ 7.58107579e-01 6.51927187e-01 1.62431879e-02 1.82911626e+02] [-2.27240171e-02 1.51592805e-03 9.99740627e-01 4.55873261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.110714057 meters Centerline goodness : 0.983949 Centerline is valid? [True, True] Translation: X:251.62, Y:182.94, Z:4.56 [[ 6.52802811e-01 -7.57359932e-01 1.59506807e-02 2.51619825e+02] [ 7.57186884e-01 6.52996007e-01 1.62554194e-02 1.82936772e+02] [-2.27269341e-02 1.46606272e-03 9.99740635e-01 4.55865156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.140714057 meters Centerline goodness : 0.983744 Centerline is valid? [True, True] Translation: X:251.64, Y:182.96, Z:4.55 [[ 6.58700197e-01 -7.52235209e-01 1.60075385e-02 2.51643027e+02] [ 7.52061953e-01 6.58893256e-01 1.62017366e-02 1.82959626e+02] [-2.27347759e-02 1.36657360e-03 9.99740598e-01 4.55304149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1707140569999 meters Centerline goodness : 0.983737 Centerline is valid? [True, True] Translation: X:251.67, Y:182.98, Z:4.55 [[ 6.62505501e-01 -7.48884657e-01 1.60695907e-02 2.51666068e+02] [ 7.48711837e-01 6.62699015e-01 1.61431216e-02 1.82983387e+02] [-2.27386380e-02 1.33658594e-03 9.99740550e-01 4.55337443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2007140569999 meters Centerline goodness : 0.983045 Centerline is valid? [True, True] Translation: X:251.69, Y:183.00, Z:4.56 [[ 6.64437401e-01 -7.47170646e-01 1.60924472e-02 2.51686069e+02] [ 7.46997848e-01 6.64630959e-01 1.61215360e-02 1.83004382e+02] [-2.27410771e-02 1.30927197e-03 9.99740531e-01 4.55506951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2307140569999 meters Centerline goodness : 0.982538 Centerline is valid? [True, True] Translation: X:251.71, Y:183.03, Z:4.56 [[ 6.66865361e-01 -7.45005883e-01 1.60257408e-02 2.51709696e+02] [ 7.44830944e-01 6.67056914e-01 1.61845271e-02 1.83027083e+02] [-2.27476491e-02 1.14356715e-03 9.99740585e-01 4.55645934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.260714057 meters Centerline goodness : 0.983314 Centerline is valid? [True, True] Translation: X:251.73, Y:183.05, Z:4.56 [[ 6.69820767e-01 -7.42348762e-01 1.60765508e-02 2.51729768e+02] [ 7.42174210e-01 6.70012727e-01 1.61365592e-02 1.83051264e+02] [-2.27504485e-02 1.12299893e-03 9.99740544e-01 4.55595691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.290714057 meters Centerline goodness : 0.983651 Centerline is valid? [True, True] Translation: X:251.75, Y:183.07, Z:4.55 [[ 6.72320547e-01 -7.40087438e-01 1.59895691e-02 2.51750885e+02] [ 7.39910291e-01 6.72510019e-01 1.62184035e-02 1.83074359e+02] [-2.27561821e-02 9.26880790e-04 9.99740615e-01 4.55351634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3207140569999 meters Centerline goodness : 0.983426 Centerline is valid? [True, True] Translation: X:251.77, Y:183.10, Z:4.55 [[ 6.71747781e-01 -7.40607687e-01 1.59741275e-02 2.51772005e+02] [ 7.40430342e-01 6.71937052e-01 1.62329066e-02 1.83097564e+02] [-2.27558235e-02 9.23309688e-04 9.99740626e-01 4.55333474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3507140569999 meters Centerline goodness : 0.983361 Centerline is valid? [True, True] Translation: X:251.79, Y:183.12, Z:4.55 [[ 6.73154239e-01 -7.39329626e-01 1.59710226e-02 2.51793930e+02] [ 7.39151853e-01 6.73343105e-01 1.62358224e-02 1.83119237e+02] [-2.27576025e-02 8.75798292e-04 9.99740629e-01 4.55269767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.380714057 meters Centerline goodness : 0.981906 Centerline is valid? [True, True] Translation: X:251.82, Y:183.14, Z:4.55 [[ 6.74031343e-01 -7.38530029e-01 1.59732626e-02 2.51816451e+02] [ 7.38352081e-01 6.74220046e-01 1.62337148e-02 1.83138421e+02] [-2.27585797e-02 8.51859077e-04 9.99740627e-01 4.55072052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.410714057 meters Centerline goodness : 0.981075 Centerline is valid? [True, True] Translation: X:251.82, Y:183.16, Z:4.55 [[ 6.65906104e-01 -7.45867629e-01 1.58284941e-02 2.51821973e+02] [ 7.45688495e-01 6.66093587e-01 1.63707401e-02 1.83156429e+02] [-2.27536636e-02 9.01750201e-04 9.99740695e-01 4.55351750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4407140569999 meters Centerline goodness : 0.983623 Centerline is valid? [True, True] Translation: X:251.86, Y:183.18, Z:4.55 [[ 6.67716747e-01 -7.44264047e-01 1.50124425e-02 2.51857246e+02] [ 7.44066711e-01 6.67885434e-01 1.71399358e-02 1.83176700e+02] [-2.27832297e-02 -2.74363477e-04 9.99740391e-01 4.54805072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4707140569999 meters Centerline goodness : 0.983414 Centerline is valid? [True, True] Translation: X:251.88, Y:183.20, Z:4.55 [[ 6.63670770e-01 -7.47859693e-01 1.57158717e-02 2.51879452e+02] [ 7.47678612e-01 6.63856321e-01 1.64766016e-02 1.83195463e+02] [-2.27552669e-02 8.15382303e-04 9.99740733e-01 4.54735007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.500714057 meters Centerline goodness : 0.989000 Centerline is valid? [True, True] Translation: X:251.89, Y:183.22, Z:4.54 [[ 6.55700332e-01 -7.54857569e-01 1.57202401e-02 2.51893703e+02] [ 7.54678564e-01 6.55887888e-01 1.64724836e-02 1.83217602e+02] [-2.27450940e-02 1.06271527e-03 9.99740732e-01 4.54343829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.530714057 meters Centerline goodness : 0.982551 Centerline is valid? [True, True] Translation: X:251.93, Y:183.23, Z:4.55 [[ 6.60918620e-01 -7.50295155e-01 1.56127554e-02 2.51925109e+02] [ 7.50112462e-01 6.61102568e-01 1.65737364e-02 1.83233156e+02] [-2.27568268e-02 7.57431446e-04 9.99740743e-01 4.54657289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5607140569999 meters Centerline goodness : 0.983824 Centerline is valid? [True, True] Translation: X:251.95, Y:183.25, Z:4.55 [[ 6.57564061e-01 -7.53233141e-01 1.57905359e-02 2.51946982e+02] [ 7.53055256e-01 6.57752704e-01 1.64061863e-02 1.83249183e+02] [-2.27439509e-02 1.10302751e-03 9.99740714e-01 4.54665769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5907140569999 meters Centerline goodness : 0.984788 Centerline is valid? [True, True] Translation: X:251.97, Y:183.27, Z:4.55 [[ 6.54446405e-01 -7.55944461e-01 1.57440573e-02 2.51967184e+02] [ 7.55766308e-01 6.54634775e-01 1.64499217e-02 1.83269174e+02] [-2.27418346e-02 1.13323589e-03 9.99740729e-01 4.54705263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.620714057 meters Centerline goodness : 0.984797 Centerline is valid? [True, True] Translation: X:251.99, Y:183.29, Z:4.55 [[ 6.49452621e-01 -7.60239184e-01 1.57377326e-02 2.51987193e+02] [ 7.60062133e-01 6.49642023e-01 1.64558705e-02 1.83286555e+02] [-2.27342900e-02 1.27434645e-03 9.99740730e-01 4.54606432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.650714057 meters Centerline goodness : 0.981106 Centerline is valid? [True, True] Translation: X:252.01, Y:183.31, Z:4.55 [[ 6.46819898e-01 -7.62480895e-01 1.57132192e-02 2.52006803e+02] [ 7.62303942e-01 6.47009385e-01 1.64789293e-02 1.83305591e+02] [-2.27314691e-02 1.31934955e-03 9.99740736e-01 4.54700704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6807140569999 meters Centerline goodness : 0.983024 Centerline is valid? [True, True] Translation: X:252.03, Y:183.32, Z:4.55 [[ 6.42525569e-01 -7.66105154e-01 1.56136254e-02 2.52029805e+02] [ 7.65927005e-01 6.42713914e-01 1.65725139e-02 1.83323362e+02] [-2.27313826e-02 1.31063342e-03 9.99740750e-01 4.54626568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7107140569999 meters Centerline goodness : 0.981029 Centerline is valid? [True, True] Translation: X:252.03, Y:183.34, Z:4.55 [[ 6.35476590e-01 -7.71961673e-01 1.56422057e-02 2.52034873e+02] [ 7.71785912e-01 6.35667167e-01 1.65456461e-02 1.83339346e+02] [-2.27158412e-02 1.55806323e-03 9.99740748e-01 4.54964631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.740714057 meters Centerline goodness : 0.982834 Centerline is valid? [True, True] Translation: X:252.07, Y:183.36, Z:4.55 [[ 6.36176505e-01 -7.71399741e-01 1.48961374e-02 2.52070787e+02] [ 7.71207145e-01 6.36350668e-01 1.72443412e-02 1.83360410e+02] [-2.27814473e-02 5.17562904e-04 9.99740335e-01 4.54576084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.770714057 meters Centerline goodness : 0.982834 Centerline is valid? [True, True] Translation: X:252.09, Y:183.38, Z:4.55 [[ 6.35951385e-01 -7.71571966e-01 1.55736172e-02 2.52089823e+02] [ 7.71394567e-01 6.36140389e-01 1.66080566e-02 1.83381459e+02] [-2.27213178e-02 1.45148705e-03 9.99740784e-01 4.54545752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8007140569999 meters Centerline goodness : 0.983849 Centerline is valid? [True, True] Translation: X:252.11, Y:183.40, Z:4.55 [[ 6.33992165e-01 -7.73182734e-01 1.55690602e-02 2.52108533e+02] [ 7.73005711e-01 6.34181521e-01 1.66123340e-02 1.83400568e+02] [-2.27179801e-02 1.50288283e-03 9.99740784e-01 4.54578654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8307140569999 meters Centerline goodness : 0.984408 Centerline is valid? [True, True] Translation: X:252.13, Y:183.42, Z:4.54 [[ 6.30778874e-01 -7.75807532e-01 1.55140419e-02 2.52128026e+02] [ 7.75630037e-01 6.30967794e-01 1.66639599e-02 1.83419973e+02] [-2.27168864e-02 1.52188302e-03 9.99740780e-01 4.54367144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.860714057 meters Centerline goodness : 0.982437 Centerline is valid? [True, True] Translation: X:252.13, Y:183.44, Z:4.54 [[ 6.25019606e-01 -7.80455195e-01 1.54977834e-02 2.52132842e+02] [ 7.80278730e-01 6.25209491e-01 1.66791858e-02 1.83437353e+02] [-2.27067184e-02 1.66777259e-03 9.99740778e-01 4.53783502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.890714057 meters Centerline goodness : 0.986707 Centerline is valid? [True, True] Translation: X:252.17, Y:183.46, Z:4.54 [[ 6.30218734e-01 -7.76274087e-01 1.49294433e-02 2.52168133e+02] [ 7.76083604e-01 6.30395110e-01 1.72117738e-02 1.83460456e+02] [-2.27725020e-02 7.39313837e-04 9.99740400e-01 4.54009723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9207140569999 meters Centerline goodness : 0.985363 Centerline is valid? [True, True] Translation: X:252.19, Y:183.48, Z:4.54 [[ 6.29960773e-01 -7.76471072e-01 1.55595369e-02 2.52187335e+02] [ 7.76294863e-01 6.30150843e-01 1.66193144e-02 1.83481146e+02] [-2.27092721e-02 1.60927243e-03 9.99740816e-01 4.54044619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9507140569999 meters Centerline goodness : 0.985277 Centerline is valid? [True, True] Translation: X:252.20, Y:183.50, Z:4.54 [[ 6.29995397e-01 -7.76442298e-01 1.55935185e-02 2.52202733e+02] [ 7.76266861e-01 6.30186178e-01 1.65873674e-02 1.83501136e+02] [-2.27059534e-02 1.65476655e-03 9.99740817e-01 4.53728978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9807140569999 meters Centerline goodness : 0.985067 Centerline is valid? [True, True] Translation: X:252.22, Y:183.52, Z:4.54 [[ 6.33248387e-01 -7.73794937e-01 1.54232518e-02 2.52224185e+02] [ 7.73614822e-01 6.33434793e-01 1.67472726e-02 1.83521717e+02] [-2.27285790e-02 1.32647288e-03 9.99740792e-01 4.54095822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.010714057 meters Centerline goodness : 0.984852 Centerline is valid? [True, True] Translation: X:252.24, Y:183.54, Z:4.54 [[ 6.33506933e-01 -7.73580863e-01 1.55439454e-02 2.52238360e+02] [ 7.73403432e-01 6.33695862e-01 1.66338750e-02 1.83543839e+02] [-2.27177813e-02 1.48406555e-03 9.99740816e-01 4.53877337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.040714057 meters Centerline goodness : 0.984510 Centerline is valid? [True, True] Translation: X:252.26, Y:183.57, Z:4.54 [[ 6.33603861e-01 -7.73503278e-01 1.54540066e-02 2.52258219e+02] [ 7.73323774e-01 6.33790844e-01 1.67184385e-02 1.83566690e+02] [-2.27263749e-02 1.35808358e-03 9.99740800e-01 4.53661310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0707140569999 meters Centerline goodness : 0.984179 Centerline is valid? [True, True] Translation: X:252.28, Y:183.59, Z:4.54 [[ 6.34731413e-01 -7.72576940e-01 1.55211146e-02 2.52278038e+02] [ 7.72398689e-01 6.34919573e-01 1.66553338e-02 1.83587464e+02] [-2.27221863e-02 1.41682501e-03 9.99740814e-01 4.53872035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1007140569999 meters Centerline goodness : 0.985174 Centerline is valid? [True, True] Translation: X:252.29, Y:183.61, Z:4.54 [[ 6.33131396e-01 -7.73888210e-01 1.55458677e-02 2.52294277e+02] [ 7.73710914e-01 6.33320453e-01 1.66320675e-02 1.83609163e+02] [-2.27168769e-02 1.49772343e-03 9.99740817e-01 4.53786579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.130714057 meters Centerline goodness : 0.984685 Centerline is valid? [True, True] Translation: X:252.31, Y:183.63, Z:4.54 [[ 6.32131508e-01 -7.74706283e-01 1.54897438e-02 2.52313320e+02] [ 7.74527951e-01 6.32319596e-01 1.66847860e-02 1.83629106e+02] [-2.27202770e-02 1.45026060e-03 9.99740809e-01 4.53837179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.160714057 meters Centerline goodness : 0.982612 Centerline is valid? [True, True] Translation: X:252.33, Y:183.65, Z:4.53 [[ 6.28600899e-01 -7.77573653e-01 1.54959290e-02 2.52327600e+02] [ 7.77396320e-01 6.28789928e-01 1.66789781e-02 1.83650094e+02] [-2.27128181e-02 1.56205756e-03 9.99740810e-01 4.53485892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1907140569999 meters Centerline goodness : 0.983114 Centerline is valid? [True, True] Translation: X:252.35, Y:183.67, Z:4.54 [[ 6.28711807e-01 -7.77487415e-01 1.53226737e-02 2.52350959e+02] [ 7.77306111e-01 6.28897108e-01 1.68415266e-02 1.83670851e+02] [-2.27304601e-02 1.32194127e-03 9.99740756e-01 4.53599175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2207140569999 meters Centerline goodness : 0.984010 Centerline is valid? [True, True] Translation: X:252.37, Y:183.69, Z:4.53 [[ 6.24639761e-01 -7.80760399e-01 1.54391848e-02 2.52369574e+02] [ 7.80582729e-01 6.24828488e-01 1.67321284e-02 1.83692436e+02] [-2.27106257e-02 1.60000837e-03 9.99740800e-01 4.53294013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.250714057 meters Centerline goodness : 0.983882 Centerline is valid? [True, True] Translation: X:252.39, Y:183.71, Z:4.53 [[ 6.23125332e-01 -7.81969586e-01 1.54397664e-02 2.52390053e+02] [ 7.81792296e-01 6.23314416e-01 1.67315823e-02 1.83713329e+02] [-2.27074175e-02 1.64481760e-03 9.99740800e-01 4.53131088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.280714057 meters Centerline goodness : 0.984444 Centerline is valid? [True, True] Translation: X:252.41, Y:183.74, Z:4.53 [[ 6.18148856e-01 -7.85909000e-01 1.54607561e-02 2.52409013e+02] [ 7.85733398e-01 6.18339502e-01 1.67118759e-02 1.83736639e+02] [-2.26940099e-02 1.81760543e-03 9.99740806e-01 4.52630725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3107140569999 meters Centerline goodness : 0.984933 Centerline is valid? [True, True] Translation: X:252.43, Y:183.76, Z:4.53 [[ 6.18720930e-01 -7.85457520e-01 1.55207936e-02 2.52427075e+02] [ 7.85283169e-01 6.18912706e-01 1.66555130e-02 1.83755557e+02] [-2.26882143e-02 1.88310354e-03 9.99740816e-01 4.52575320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3407140569999 meters Centerline goodness : 0.983820 Centerline is valid? [True, True] Translation: X:252.44, Y:183.78, Z:4.53 [[ 6.15283749e-01 -7.88154296e-01 1.54503489e-02 2.52440985e+02] [ 7.87979150e-01 6.15474815e-01 1.67216001e-02 1.83778400e+02] [-2.26885016e-02 1.88602404e-03 9.99740804e-01 4.52727129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.370714057 meters Centerline goodness : 0.983191 Centerline is valid? [True, True] Translation: X:252.47, Y:183.80, Z:4.53 [[ 6.17652167e-01 -7.86302417e-01 1.53072069e-02 2.52467085e+02] [ 7.86123403e-01 6.17839686e-01 1.68557798e-02 1.83801987e+02] [-2.27111403e-02 1.62234467e-03 9.99740752e-01 4.53009268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.400714057 meters Centerline goodness : 0.984534 Centerline is valid? [True, True] Translation: X:252.48, Y:183.82, Z:4.53 [[ 6.17218801e-01 -7.86636124e-01 1.56384206e-02 2.52482315e+02] [ 7.86464878e-01 6.17413356e-01 1.65451835e-02 1.83822577e+02] [-2.26704088e-02 2.08707023e-03 9.99740815e-01 4.52924057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4307140569999 meters Centerline goodness : 0.984861 Centerline is valid? [True, True] Translation: X:252.50, Y:183.84, Z:4.53 [[ 6.18776559e-01 -7.85414432e-01 1.54835283e-02 2.52500469e+02] [ 7.85239209e-01 6.18967542e-01 1.66903083e-02 1.83841390e+02] [-2.26926105e-02 1.83070202e-03 9.99740813e-01 4.52670626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4607140569999 meters Centerline goodness : 0.983210 Centerline is valid? [True, True] Translation: X:252.52, Y:183.86, Z:4.53 [[ 6.21089676e-01 -7.83587093e-01 1.54558157e-02 2.52521227e+02] [ 7.83410670e-01 6.21279558e-01 1.67162567e-02 1.83864095e+02] [-2.27010253e-02 1.72595649e-03 9.99740809e-01 4.52898393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.490714057 meters Centerline goodness : 0.984346 Centerline is valid? [True, True] Translation: X:252.54, Y:183.89, Z:4.53 [[ 6.20817230e-01 -7.83801192e-01 1.55453744e-02 2.52539929e+02] [ 7.83626899e-01 6.21009055e-01 1.66324060e-02 1.83888106e+02] [-2.26903179e-02 1.85608932e-03 9.99740819e-01 4.52673916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.520714057 meters Centerline goodness : 0.984000 Centerline is valid? [True, True] Translation: X:252.55, Y:183.91, Z:4.53 [[ 6.23450477e-01 -7.81706851e-01 1.56173732e-02 2.52554328e+02] [ 7.81533575e-01 6.23643225e-01 1.65649993e-02 1.83908267e+02] [-2.26886425e-02 1.87804480e-03 9.99740816e-01 4.52701853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5507140569999 meters Centerline goodness : 0.989011 Centerline is valid? [True, True] Translation: X:252.57, Y:183.93, Z:4.52 [[ 6.20248206e-01 -7.84252947e-01 1.54750799e-02 2.52567687e+02] [ 7.84077176e-01 6.20438682e-01 1.66980381e-02 1.83934422e+02] [-2.26968238e-02 1.77672876e-03 9.99740815e-01 4.52036897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5807140569999 meters Centerline goodness : 0.982747 Centerline is valid? [True, True] Translation: X:252.59, Y:183.95, Z:4.53 [[ 6.25908057e-01 -7.79741876e-01 1.55470945e-02 2.52587270e+02] [ 7.79566378e-01 6.26098779e-01 1.66307160e-02 1.83951160e+02] [-2.27016826e-02 1.71069302e-03 9.99740820e-01 4.52639121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.610714057 meters Centerline goodness : 0.984327 Centerline is valid? [True, True] Translation: X:252.61, Y:183.97, Z:4.53 [[ 6.28150661e-01 -7.77939646e-01 1.53835685e-02 2.52606100e+02] [ 7.77759880e-01 6.28337397e-01 1.67834595e-02 1.83974313e+02] [-2.27225899e-02 1.42218118e-03 9.99740797e-01 4.52765652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.640714057 meters Centerline goodness : 0.984533 Centerline is valid? [True, True] Translation: X:252.63, Y:184.00, Z:4.53 [[ 6.27450092e-01 -7.78503159e-01 1.54665371e-02 2.52625571e+02] [ 7.78325448e-01 6.27638758e-01 1.67058817e-02 1.83997949e+02] [-2.27129798e-02 1.55589235e-03 9.99740816e-01 4.52589580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6707140569999 meters Centerline goodness : 0.983339 Centerline is valid? [True, True] Translation: X:252.64, Y:184.02, Z:4.52 [[ 6.27548619e-01 -7.78422136e-01 1.55470073e-02 2.52638996e+02] [ 7.78246239e-01 6.27738969e-01 1.66306402e-02 1.84017743e+02] [-2.27051208e-02 1.66286468e-03 9.99740823e-01 4.52294340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7007140569999 meters Centerline goodness : 0.981311 Centerline is valid? [True, True] Translation: X:252.66, Y:184.04, Z:4.52 [[ 6.28623053e-01 -7.77559319e-01 1.53154388e-02 2.52659971e+02] [ 7.77377912e-01 6.28808218e-01 1.68466046e-02 1.84037364e+02] [-2.27297082e-02 1.31571979e-03 9.99740781e-01 4.52358606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7307140569999 meters Centerline goodness : 0.983183 Centerline is valid? [True, True] Translation: X:252.68, Y:184.06, Z:4.52 [[ 6.25498195e-01 -7.80074238e-01 1.53685086e-02 2.52678561e+02] [ 7.79894778e-01 6.25685220e-01 1.67970598e-02 1.84061268e+02] [-2.27188023e-02 1.47928904e-03 9.99740800e-01 4.52334665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.760714057 meters Centerline goodness : 0.983246 Centerline is valid? [True, True] Translation: X:252.70, Y:184.08, Z:4.52 [[ 6.25168913e-01 -7.80336819e-01 1.54362802e-02 2.52697299e+02] [ 7.80158979e-01 6.25357457e-01 1.67337855e-02 1.84081697e+02] [-2.27111818e-02 1.58131009e-03 9.99740817e-01 4.52289075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.790714057 meters Centerline goodness : 0.983618 Centerline is valid? [True, True] Translation: X:252.72, Y:184.10, Z:4.52 [[ 6.21492957e-01 -7.83268670e-01 1.53848793e-02 2.52717158e+02] [ 7.83090544e-01 6.21681247e-01 1.67817808e-02 1.84104572e+02] [-2.27091341e-02 1.61799491e-03 9.99740805e-01 4.52216914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8207140569999 meters Centerline goodness : 0.983322 Centerline is valid? [True, True] Translation: X:252.74, Y:184.13, Z:4.52 [[ 6.20621047e-01 -7.83958027e-01 1.54702071e-02 2.52736791e+02] [ 7.83782065e-01 6.20811336e-01 1.67020914e-02 1.84125261e+02] [-2.26978186e-02 1.75960142e-03 9.99740823e-01 4.52131618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8507140569999 meters Centerline goodness : 0.982241 Centerline is valid? [True, True] Translation: X:252.76, Y:184.14, Z:4.52 [[ 6.21766124e-01 -7.83049572e-01 1.55001270e-02 2.52756743e+02] [ 7.82874018e-01 6.21956787e-01 1.66741621e-02 1.84142755e+02] [-2.26971047e-02 1.76721756e-03 9.99740826e-01 4.52343455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.880714057 meters Centerline goodness : 0.982991 Centerline is valid? [True, True] Translation: X:252.77, Y:184.17, Z:4.52 [[ 6.17028351e-01 -7.86789396e-01 1.54421744e-02 2.52771527e+02] [ 7.86613661e-01 6.17218855e-01 1.67282134e-02 1.84166328e+02] [-2.26927821e-02 1.82524339e-03 9.99740819e-01 4.52046220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.910714057 meters Centerline goodness : 0.984294 Centerline is valid? [True, True] Translation: X:252.80, Y:184.19, Z:4.52 [[ 6.18735425e-01 -7.85448969e-01 1.53750345e-02 2.52796168e+02] [ 7.85271282e-01 6.18924131e-01 1.67908916e-02 1.84186422e+02] [-2.27043684e-02 1.68445362e-03 9.99740804e-01 4.51991608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9407140569999 meters Centerline goodness : 0.984038 Centerline is valid? [True, True] Translation: X:252.81, Y:184.21, Z:4.52 [[ 6.16311287e-01 -7.87349686e-01 1.55199594e-02 2.52812842e+02] [ 7.87175921e-01 6.16503578e-01 1.66555707e-02 1.84207580e+02] [-2.26818689e-02 1.95192210e-03 9.99740828e-01 4.51774263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9707140569999 meters Centerline goodness : 0.984188 Centerline is valid? [True, True] Translation: X:252.83, Y:184.23, Z:4.52 [[ 6.16493772e-01 -7.87207949e-01 1.54620528e-02 2.52833875e+02] [ 7.87032802e-01 6.16684812e-01 1.67096254e-02 1.84228496e+02] [-2.26891631e-02 1.86776277e-03 9.99740823e-01 4.51742954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.000714057 meters Centerline goodness : 0.983604 Centerline is valid? [True, True] Translation: X:252.85, Y:184.25, Z:4.52 [[ 6.15289580e-01 -7.88147843e-01 1.55470491e-02 2.52848414e+02] [ 7.87974954e-01 6.15482660e-01 1.66302976e-02 1.84248432e+02] [-2.26760723e-02 2.01823652e-03 9.99740828e-01 4.51551324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.030714057 meters Centerline goodness : 0.984626 Centerline is valid? [True, True] Translation: X:252.87, Y:184.27, Z:4.51 [[ 6.15372559e-01 -7.88086071e-01 1.53934354e-02 2.52867895e+02] [ 7.87909620e-01 6.15562410e-01 1.67735185e-02 1.84268646e+02] [-2.26945965e-02 1.80667280e-03 9.99740812e-01 4.51384144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0607140569999 meters Centerline goodness : 0.983751 Centerline is valid? [True, True] Translation: X:252.88, Y:184.29, Z:4.51 [[ 6.15880581e-01 -7.87689297e-01 1.53844494e-02 2.52883984e+02] [ 7.87512517e-01 6.16070129e-01 1.67818922e-02 1.84288490e+02] [-2.26968166e-02 1.77980495e-03 9.99740810e-01 4.51394420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0907140569999 meters Centerline goodness : 0.983711 Centerline is valid? [True, True] Translation: X:252.90, Y:184.31, Z:4.51 [[ 6.15800384e-01 -7.87753690e-01 1.52974372e-02 2.52903937e+02] [ 7.87574938e-01 6.15988114e-01 1.68629876e-02 1.84311526e+02] [-2.27069202e-02 1.66364395e-03 9.99740780e-01 4.51315196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.120714057 meters Centerline goodness : 0.983564 Centerline is valid? [True, True] Translation: X:252.92, Y:184.33, Z:4.51 [[ 6.16729015e-01 -7.87025914e-01 1.53470817e-02 2.52921789e+02] [ 7.86848075e-01 6.16917584e-01 1.68166953e-02 1.84332558e+02] [-2.27030596e-02 1.70447778e-03 9.99740799e-01 4.51424428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.150714057 meters Centerline goodness : 0.985081 Centerline is valid? [True, True] Translation: X:252.94, Y:184.35, Z:4.51 [[ 6.19459910e-01 -7.84878842e-01 1.53174313e-02 2.52942384e+02] [ 7.84699673e-01 6.19647231e-01 1.68443322e-02 1.84353518e+02] [-2.27121638e-02 1.58519484e-03 9.99740789e-01 4.51323574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1807140569999 meters Centerline goodness : 0.983745 Centerline is valid? [True, True] Translation: X:252.96, Y:184.37, Z:4.51 [[ 6.21861333e-01 -7.82975611e-01 1.54167295e-02 2.52962830e+02] [ 7.82798130e-01 6.22050213e-01 1.67517401e-02 1.84373180e+02] [-2.27061838e-02 1.65092763e-03 9.99740818e-01 4.51371821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2107140569999 meters Centerline goodness : 0.982159 Centerline is valid? [True, True] Translation: X:252.99, Y:184.39, Z:4.52 [[ 6.26950424e-01 -7.78905641e-01 1.54651016e-02 2.52988896e+02] [ 7.78728031e-01 6.27139173e-01 1.67066572e-02 1.84394567e+02] [-2.27116806e-02 1.56886226e-03 9.99740826e-01 4.51608683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.240714057 meters Centerline goodness : 0.982820 Centerline is valid? [True, True] Translation: X:253.01, Y:184.42, Z:4.51 [[ 6.26134610e-01 -7.79554930e-01 1.57975416e-02 2.53010814e+02] [ 7.79385111e-01 6.26330529e-01 1.63986989e-02 1.84420517e+02] [-2.26781692e-02 2.04457578e-03 9.99740727e-01 4.51427718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.270714057 meters Centerline goodness : 0.984305 Centerline is valid? [True, True] Translation: X:253.02, Y:184.44, Z:4.51 [[ 6.21375275e-01 -7.83353004e-01 1.58378830e-02 2.53021340e+02] [ 7.83185322e-01 6.21573056e-01 1.63611422e-02 1.84442607e+02] [-2.26609512e-02 2.23758826e-03 9.99740704e-01 4.51029023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3007140569999 meters Centerline goodness : 0.983812 Centerline is valid? [True, True] Translation: X:253.05, Y:184.46, Z:4.51 [[ 6.25735714e-01 -7.79881707e-01 1.54705948e-02 2.53047519e+02] [ 7.79704497e-01 6.25924858e-01 1.67024020e-02 1.84462015e+02] [-2.27093276e-02 1.61120292e-03 9.99740812e-01 4.51199807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3307140569999 meters Centerline goodness : 0.982070 Centerline is valid? [True, True] Translation: X:253.07, Y:184.48, Z:4.51 [[ 6.25166584e-01 -7.80332391e-01 1.57512447e-02 2.53067281e+02] [ 7.80161726e-01 6.25361754e-01 1.64425565e-02 1.84484776e+02] [-2.26808855e-02 2.00918139e-03 9.99740737e-01 4.51147438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.360714057 meters Centerline goodness : 0.983934 Centerline is valid? [True, True] Translation: X:253.08, Y:184.51, Z:4.51 [[ 6.16882001e-01 -7.86900078e-01 1.56481256e-02 2.53076337e+02] [ 7.86729094e-01 6.17076835e-01 1.65381938e-02 1.84511252e+02] [-2.26700018e-02 2.10872157e-03 9.99740779e-01 4.50721668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.390714057 meters Centerline goodness : 0.983564 Centerline is valid? [True, True] Translation: X:253.10, Y:184.53, Z:4.51 [[ 6.20026039e-01 -7.84429933e-01 1.54074905e-02 2.53102993e+02] [ 7.84252668e-01 6.20215140e-01 1.67610490e-02 1.84532475e+02] [-2.27038274e-02 1.69107875e-03 9.99740805e-01 4.51070360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4207140569999 meters Centerline goodness : 0.984753 Centerline is valid? [True, True] Translation: X:253.12, Y:184.56, Z:4.51 [[ 6.19844790e-01 -7.84565956e-01 1.57701531e-02 2.53122911e+02] [ 7.84397024e-01 6.20041510e-01 1.64266701e-02 1.84555776e+02] [-2.26659557e-02 2.18807525e-03 9.99740700e-01 4.50967476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4507140569999 meters Centerline goodness : 0.983408 Centerline is valid? [True, True] Translation: X:253.14, Y:184.58, Z:4.51 [[ 6.19808389e-01 -7.84595542e-01 1.57288742e-02 2.53142072e+02] [ 7.84425667e-01 6.20004263e-01 1.64647356e-02 1.84577467e+02] [-2.26701272e-02 2.13315141e-03 9.99740724e-01 4.50990610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4807140569999 meters Centerline goodness : 0.984160 Centerline is valid? [True, True] Translation: X:253.16, Y:184.60, Z:4.51 [[ 6.16088246e-01 -7.87521975e-01 1.56336909e-02 2.53163757e+02] [ 7.87350836e-01 6.16282955e-01 1.65523633e-02 1.84603664e+02] [-2.26701271e-02 2.11148311e-03 9.99740770e-01 4.50672889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.510714057 meters Centerline goodness : 0.985445 Centerline is valid? [True, True] Translation: X:253.19, Y:184.63, Z:4.51 [[ 6.14918488e-01 -7.88433546e-01 1.57415896e-02 2.53186433e+02] [ 7.88265187e-01 6.15115675e-01 1.64530063e-02 1.84629159e+02] [-2.26550006e-02 2.29128926e-03 9.99740717e-01 4.50691665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.540714057 meters Centerline goodness : 0.985270 Centerline is valid? [True, True] Translation: X:253.20, Y:184.65, Z:4.51 [[ 6.13618218e-01 -7.89444819e-01 1.57975019e-02 2.53203300e+02] [ 7.89278084e-01 6.13816827e-01 1.64015054e-02 1.84650817e+02] [-2.26448560e-02 2.40435957e-03 9.99740681e-01 4.50625113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5707140569999 meters Centerline goodness : 0.985068 Centerline is valid? [True, True] Translation: X:253.23, Y:184.68, Z:4.51 [[ 6.12507613e-01 -7.90310199e-01 1.56273365e-02 2.53225812e+02] [ 7.90139801e-01 6.12702966e-01 1.65581241e-02 1.84676659e+02] [-2.26609698e-02 2.20580348e-03 9.99740774e-01 4.50578424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6007140569999 meters Centerline goodness : 0.984639 Centerline is valid? [True, True] Translation: X:253.25, Y:184.70, Z:4.51 [[ 6.13188071e-01 -7.89780058e-01 1.57432471e-02 2.53245341e+02] [ 7.89612172e-01 6.13385661e-01 1.64514016e-02 1.84699872e+02] [-2.26496710e-02 2.34325634e-03 9.99740717e-01 4.50523057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.630714057 meters Centerline goodness : 0.981046 Centerline is valid? [True, True] Translation: X:253.26, Y:184.72, Z:4.50 [[ 6.15924867e-01 -7.87648518e-01 1.56962100e-02 2.53261680e+02] [ 7.87478861e-01 6.16120904e-01 1.64947065e-02 1.84717710e+02] [-2.26627942e-02 2.20093369e-03 9.99740743e-01 4.50463227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.660714057 meters Centerline goodness : 0.984336 Centerline is valid? [True, True] Translation: X:253.28, Y:184.75, Z:4.51 [[ 6.17742472e-01 -7.86229413e-01 1.54125923e-02 2.53284823e+02] [ 7.86052831e-01 6.17932194e-01 1.67555939e-02 1.84749706e+02] [-2.26976777e-02 1.76446983e-03 9.99740817e-01 4.50540486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6907140569999 meters Centerline goodness : 0.984336 Centerline is valid? [True, True] Translation: X:253.31, Y:184.77, Z:4.50 [[ 6.17710522e-01 -7.86248688e-01 1.57070470e-02 2.53306628e+02] [ 7.86078841e-01 6.17906398e-01 1.64845056e-02 1.84773804e+02] [-2.26664057e-02 2.16432475e-03 9.99740741e-01 4.50483274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7207140569999 meters Centerline goodness : 0.986145 Centerline is valid? [True, True] Translation: X:253.33, Y:184.80, Z:4.51 [[ 6.22422672e-01 -7.82523973e-01 1.56923192e-02 2.53326396e+02] [ 7.82352616e-01 6.22617217e-01 1.64980564e-02 1.84802414e+02] [-2.26804327e-02 2.00816266e-03 9.99740749e-01 4.50623033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.750714057 meters Centerline goodness : 0.984893 Centerline is valid? [True, True] Translation: X:253.35, Y:184.83, Z:4.51 [[ 6.25182206e-01 -7.80319997e-01 1.57452110e-02 2.53346052e+02] [ 7.80149162e-01 6.25377249e-01 1.64493741e-02 1.84826095e+02] [-2.26824723e-02 1.99975723e-03 9.99740720e-01 4.50616400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.780714057 meters Centerline goodness : 0.984192 Centerline is valid? [True, True] Translation: X:253.37, Y:184.85, Z:4.50 [[ 6.31678140e-01 -7.75071887e-01 1.56938690e-02 2.53365727e+02] [ 7.74898265e-01 6.31870668e-01 1.64966265e-02 1.84851321e+02] [-2.27025670e-02 1.74059351e-03 9.99740748e-01 4.50372615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8107140569999 meters Centerline goodness : 0.983584 Centerline is valid? [True, True] Translation: X:253.39, Y:184.87, Z:4.50 [[ 6.35352277e-01 -7.72062539e-01 1.57136806e-02 2.53386798e+02] [ 7.71888451e-01 6.35544397e-01 1.64784160e-02 1.84873758e+02] [-2.27091094e-02 1.65960945e-03 9.99740737e-01 4.49978984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8407140569999 meters Centerline goodness : 0.984602 Centerline is valid? [True, True] Translation: X:253.41, Y:184.90, Z:4.50 [[ 6.36030415e-01 -7.71504669e-01 1.56798297e-02 2.53406542e+02] [ 7.71329651e-01 6.36221664e-01 1.65095182e-02 1.84899827e+02] [-2.27130177e-02 1.59376191e-03 9.99740756e-01 4.50268982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.870714057 meters Centerline goodness : 0.982889 Centerline is valid? [True, True] Translation: X:253.43, Y:184.92, Z:4.50 [[ 6.39582181e-01 -7.68562206e-01 1.57088812e-02 2.53425473e+02] [ 7.68386959e-01 6.39773240e-01 1.64827859e-02 1.84923271e+02] [-2.27181682e-02 1.52840329e-03 9.99740741e-01 4.50217705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.900714057 meters Centerline goodness : 0.986477 Centerline is valid? [True, True] Translation: X:253.45, Y:184.95, Z:4.50 [[ 6.41884298e-01 -7.66642275e-01 1.56259373e-02 2.53451310e+02] [ 7.66464608e-01 6.42073053e-01 1.65589669e-02 1.84950199e+02] [-2.27277974e-02 1.34778706e-03 9.99740782e-01 4.49643409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9307140569999 meters Centerline goodness : 0.983572 Centerline is valid? [True, True] Translation: X:253.47, Y:184.97, Z:4.50 [[ 6.42948174e-01 -7.65744846e-01 1.58894969e-02 2.53470196e+02] [ 7.65572817e-01 6.43142308e-01 1.63166707e-02 1.84972868e+02] [-2.27136142e-02 1.67379330e-03 9.99740611e-01 4.49975855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9607140569999 meters Centerline goodness : 0.985628 Centerline is valid? [True, True] Translation: X:253.49, Y:185.00, Z:4.50 [[ 6.45746778e-01 -7.63389268e-01 1.57456150e-02 2.53493261e+02] [ 7.63213311e-01 6.45937209e-01 1.64488244e-02 1.84998494e+02] [-2.27275346e-02 1.39548754e-03 9.99740722e-01 4.49689584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.990714057 meters Centerline goodness : 0.985379 Centerline is valid? [True, True] Translation: X:253.51, Y:185.02, Z:4.50 [[ 6.46555527e-01 -7.62701809e-01 1.58713991e-02 2.53514150e+02] [ 7.62528460e-01 6.46748462e-01 1.63332626e-02 1.85022244e+02] [-2.27222119e-02 1.54203228e-03 9.99740628e-01 4.49604937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.020714057 meters Centerline goodness : 0.984171 Centerline is valid? [True, True] Translation: X:253.53, Y:185.05, Z:4.50 [[ 6.45585005e-01 -7.63524868e-01 1.58043269e-02 2.53534748e+02] [ 7.63350265e-01 6.45776730e-01 1.63947683e-02 1.85046091e+02] [-2.27238799e-02 1.48002055e-03 9.99740684e-01 4.49681447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0507140569999 meters Centerline goodness : 0.985314 Centerline is valid? [True, True] Translation: X:253.56, Y:185.07, Z:4.50 [[ 6.43034200e-01 -7.65674813e-01 1.57828781e-02 2.53556778e+02] [ 7.65500371e-01 6.43226049e-01 1.64143996e-02 1.85070810e+02] [-2.27200507e-02 1.52677872e-03 9.99740701e-01 4.49584817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0807140569999 meters Centerline goodness : 0.984595 Centerline is valid? [True, True] Translation: X:253.58, Y:185.09, Z:4.50 [[ 6.42307985e-01 -7.66283763e-01 1.58002388e-02 2.53576940e+02] [ 7.66109891e-01 6.42500369e-01 1.63985114e-02 1.85092340e+02] [-2.27175723e-02 1.57182443e-03 9.99740687e-01 4.49521584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.110714057 meters Centerline goodness : 0.985929 Centerline is valid? [True, True] Translation: X:253.60, Y:185.12, Z:4.49 [[ 6.38193068e-01 -7.69716177e-01 1.57039970e-02 2.53601202e+02] [ 7.69541181e-01 6.38384338e-01 1.64865650e-02 1.85116139e+02] [-2.27151615e-02 1.56326089e-03 9.99740755e-01 4.49425362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.140714057 meters Centerline goodness : 0.984006 Centerline is valid? [True, True] Translation: X:253.62, Y:185.14, Z:4.50 [[ 6.35219737e-01 -7.72170655e-01 1.57596321e-02 2.53621084e+02] [ 7.71997648e-01 6.35412858e-01 1.64356554e-02 1.85136231e+02] [-2.27050037e-02 1.72614621e-03 9.99740718e-01 4.49502623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1707140569999 meters Centerline goodness : 0.985975 Centerline is valid? [True, True] Translation: X:253.64, Y:185.16, Z:4.49 [[ 6.32148597e-01 -7.74689397e-01 1.56361522e-02 2.53643943e+02] [ 7.74514381e-01 6.32339796e-01 1.65485753e-02 1.85160537e+02] [-2.27073672e-02 1.64926609e-03 9.99740794e-01 4.49413018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2007140569999 meters Centerline goodness : 0.984284 Centerline is valid? [True, True] Translation: X:253.66, Y:185.18, Z:4.49 [[ 6.30012046e-01 -7.76426321e-01 1.57159109e-02 2.53663929e+02] [ 7.76253630e-01 6.30205408e-01 1.64756161e-02 1.85182322e+02] [-2.26963540e-02 1.81969627e-03 9.99740749e-01 4.49452206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2307140569999 meters Centerline goodness : 0.984976 Centerline is valid? [True, True] Translation: X:253.69, Y:185.20, Z:4.50 [[ 6.25506692e-01 -7.80062214e-01 1.56307613e-02 2.53685407e+02] [ 7.79888717e-01 6.25699266e-01 1.65534828e-02 1.85204354e+02] [-2.26929023e-02 1.83594011e-03 9.99740797e-01 4.49579617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.260714057 meters Centerline goodness : 0.985102 Centerline is valid? [True, True] Translation: X:253.71, Y:185.23, Z:4.49 [[ 6.23071676e-01 -7.82009981e-01 1.55588091e-02 2.53709248e+02] [ 7.81835458e-01 6.23263280e-01 1.66192745e-02 1.85228859e+02] [-2.26936730e-02 1.80942940e-03 9.99740828e-01 4.49462580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.290714057 meters Centerline goodness : 0.985006 Centerline is valid? [True, True] Translation: X:253.73, Y:185.25, Z:4.49 [[ 6.19134653e-01 -7.85129593e-01 1.56142330e-02 2.53732811e+02] [ 7.84957293e-01 6.19328289e-01 1.65686094e-02 1.85251597e+02] [-2.26788417e-02 1.99830582e-03 9.99740805e-01 4.49176210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3207140569999 meters Centerline goodness : 0.985305 Centerline is valid? [True, True] Translation: X:253.75, Y:185.28, Z:4.49 [[ 6.16023538e-01 -7.87572137e-01 1.56566494e-02 2.53753749e+02] [ 7.87401573e-01 6.16218733e-01 1.65298282e-02 1.85275037e+02] [-2.26663527e-02 2.14530712e-03 9.99740783e-01 4.49180242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3507140569999 meters Centerline goodness : 0.983667 Centerline is valid? [True, True] Translation: X:253.77, Y:185.30, Z:4.49 [[ 6.13430329e-01 -7.89594365e-01 1.56195588e-02 2.53774298e+02] [ 7.89423596e-01 6.13625318e-01 1.65636886e-02 1.85296052e+02] [-2.26631519e-02 2.16977936e-03 9.99740803e-01 4.48975919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.380714057 meters Centerline goodness : 0.985357 Centerline is valid? [True, True] Translation: X:253.80, Y:185.32, Z:4.49 [[ 6.12411943e-01 -7.90386173e-01 1.55341487e-02 2.53795597e+02] [ 7.90213705e-01 6.12605384e-01 1.66416387e-02 1.85320080e+02] [-2.26696242e-02 2.08375889e-03 9.99740839e-01 4.48926133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.410714057 meters Centerline goodness : 0.984338 Centerline is valid? [True, True] Translation: X:253.81, Y:185.34, Z:4.49 [[ 6.13458333e-01 -7.89573379e-01 1.55805284e-02 2.53810917e+02] [ 7.89401713e-01 6.13652508e-01 1.65992535e-02 1.85337865e+02] [-2.26673590e-02 2.11634545e-03 9.99740822e-01 4.48967626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4407140569999 meters Centerline goodness : 0.983069 Centerline is valid? [True, True] Translation: X:253.83, Y:185.36, Z:4.49 [[ 6.13648694e-01 -7.89428292e-01 1.54354200e-02 2.53830112e+02] [ 7.89253284e-01 6.13839803e-01 1.67317192e-02 1.85358955e+02] [-2.26833676e-02 1.91505826e-03 9.99740865e-01 4.48781399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4707140569999 meters Centerline goodness : 0.983922 Centerline is valid? [True, True] Translation: X:253.85, Y:185.38, Z:4.49 [[ 6.16063383e-01 -7.87544670e-01 1.54693575e-02 2.53848776e+02] [ 7.87369843e-01 6.16254668e-01 1.67007470e-02 1.85379103e+02] [-2.26856480e-02 1.89138689e-03 9.99740858e-01 4.48852543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.500714057 meters Centerline goodness : 0.982521 Centerline is valid? [True, True] Translation: X:253.87, Y:185.40, Z:4.49 [[ 6.15500942e-01 -7.87984599e-01 1.54551986e-02 2.53868698e+02] [ 7.87809588e-01 6.15692054e-01 1.67136599e-02 1.85402638e+02] [-2.26857496e-02 1.88848023e-03 9.99740862e-01 4.48819275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.530714057 meters Centerline goodness : 0.982786 Centerline is valid? [True, True] Translation: X:253.89, Y:185.43, Z:4.49 [[ 6.18156471e-01 -7.85901444e-01 1.55401972e-02 2.53887832e+02] [ 7.85727706e-01 6.18348776e-01 1.66362170e-02 1.85425588e+02] [-2.26836889e-02 1.92657829e-03 9.99740836e-01 4.48809121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5607140569999 meters Centerline goodness : 0.983059 Centerline is valid? [True, True] Translation: X:253.91, Y:185.45, Z:4.49 [[ 6.18570966e-01 -7.85576290e-01 1.54871766e-02 2.53909551e+02] [ 7.85401256e-01 6.18762067e-01 1.66844568e-02 1.85450758e+02] [-2.26897911e-02 1.84312739e-03 9.99740855e-01 4.48729420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5907140569999 meters Centerline goodness : 0.984911 Centerline is valid? [True, True] Translation: X:253.93, Y:185.48, Z:4.49 [[ 6.19760134e-01 -7.84637815e-01 1.55202049e-02 2.53931542e+02] [ 7.84463234e-01 6.19951664e-01 1.66544208e-02 1.85477358e+02] [-2.26894652e-02 1.85328407e-03 9.99740843e-01 4.48568749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.620714057 meters Centerline goodness : 0.985326 Centerline is valid? [True, True] Translation: X:253.95, Y:185.50, Z:4.49 [[ 6.19282050e-01 -7.85013278e-01 1.56171699e-02 2.53952932e+02] [ 7.84840999e-01 6.19475715e-01 1.65663696e-02 1.85502471e+02] [-2.26792776e-02 1.99773990e-03 9.99740796e-01 4.48599272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.650714057 meters Centerline goodness : 0.982071 Centerline is valid? [True, True] Translation: X:253.97, Y:185.52, Z:4.49 [[ 6.21464618e-01 -7.83285583e-01 1.56659983e-02 2.53971211e+02] [ 7.83113867e-01 6.21658824e-01 1.65220259e-02 1.85524236e+02] [-2.26803708e-02 2.00040600e-03 9.99740766e-01 4.48595907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6807140569999 meters Centerline goodness : 0.983783 Centerline is valid? [True, True] Translation: X:253.99, Y:185.55, Z:4.49 [[ 6.21297159e-01 -7.83421217e-01 1.55253917e-02 2.53992139e+02] [ 7.83246376e-01 6.21488456e-01 1.66497593e-02 1.85548986e+02] [-2.26926264e-02 1.81575860e-03 9.99740840e-01 4.48519779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7107140569999 meters Centerline goodness : 0.983841 Centerline is valid? [True, True] Translation: X:254.02, Y:185.57, Z:4.48 [[ 6.20850273e-01 -7.83775039e-01 1.55443175e-02 2.54015488e+02] [ 7.83600732e-01 6.21042068e-01 1.66325800e-02 1.85574852e+02] [-2.26898761e-02 1.85419674e-03 9.99740832e-01 4.48290821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.740714057 meters Centerline goodness : 0.983771 Centerline is valid? [True, True] Translation: X:254.03, Y:185.60, Z:4.48 [[ 6.21848688e-01 -7.82980965e-01 1.56530371e-02 2.54033154e+02] [ 7.82808860e-01 6.22042539e-01 1.65338657e-02 1.85597063e+02] [-2.26825571e-02 1.97177342e-03 9.99740773e-01 4.48278936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.770714057 meters Centerline goodness : 0.983851 Centerline is valid? [True, True] Translation: X:254.05, Y:185.62, Z:4.48 [[ 6.23245765e-01 -7.81871976e-01 1.55219388e-02 2.54051545e+02] [ 7.81696581e-01 6.23436553e-01 1.66529463e-02 1.85621556e+02] [-2.26974161e-02 1.75456822e-03 9.99740841e-01 4.48349124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8007140569999 meters Centerline goodness : 0.983851 Centerline is valid? [True, True] Translation: X:254.07, Y:185.65, Z:4.48 [[ 6.23187479e-01 -7.81919707e-01 1.54576169e-02 2.54073384e+02] [ 7.81742890e-01 6.23376920e-01 1.67113633e-02 1.85645576e+02] [-2.27028659e-02 1.66956973e-03 9.99740863e-01 4.48271410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8307140569999 meters Centerline goodness : 0.984670 Centerline is valid? [True, True] Translation: X:254.10, Y:185.67, Z:4.48 [[ 6.25147770e-01 -7.80353758e-01 1.54362266e-02 2.54095615e+02] [ 7.80175992e-01 6.25336312e-01 1.67307623e-02 1.85672425e+02] [-2.27087462e-02 1.58377467e-03 9.99740869e-01 4.48135051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.860714057 meters Centerline goodness : 0.984244 Centerline is valid? [True, True] Translation: X:254.11, Y:185.70, Z:4.48 [[ 6.26369759e-01 -7.79371131e-01 1.55423696e-02 2.54114187e+02] [ 7.79195428e-01 6.26560276e-01 1.66344502e-02 1.85695525e+02] [-2.27026417e-02 1.69122678e-03 9.99740831e-01 4.48125630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.890714057 meters Centerline goodness : 0.984847 Centerline is valid? [True, True] Translation: X:254.14, Y:185.72, Z:4.48 [[ 6.28045179e-01 -7.78023273e-01 1.54609053e-02 2.54136424e+02] [ 7.77845351e-01 6.28233585e-01 1.67084333e-02 1.85720605e+02] [-2.27126099e-02 1.53254232e-03 9.99740861e-01 4.48093276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9207140569999 meters Centerline goodness : 0.986081 Centerline is valid? [True, True] Translation: X:254.16, Y:185.75, Z:4.48 [[ 6.30095484e-01 -7.76363277e-01 1.54836564e-02 2.54157425e+02] [ 7.76185362e-01 6.30283906e-01 1.66877718e-02 1.85746195e+02] [-2.27148727e-02 1.50329780e-03 9.99740854e-01 4.47999819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9507140569999 meters Centerline goodness : 0.985542 Centerline is valid? [True, True] Translation: X:254.18, Y:185.77, Z:4.48 [[ 6.30162650e-01 -7.76309222e-01 1.54604810e-02 2.54179739e+02] [ 7.76130779e-01 6.30350562e-01 1.67087822e-02 1.85771721e+02] [-2.27167046e-02 1.47010468e-03 9.99740861e-01 4.47827532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9807140569999 meters Centerline goodness : 0.985987 Centerline is valid? [True, True] Translation: X:254.19, Y:185.79, Z:4.48 [[ 6.28900566e-01 -7.77330378e-01 1.55422750e-02 2.54186911e+02] [ 7.77154060e-01 6.29090508e-01 1.66342810e-02 1.85790974e+02] [-2.27078297e-02 1.61743338e-03 9.99740836e-01 4.47723090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.010714057 meters Centerline goodness : 0.985135 Centerline is valid? [True, True] Translation: X:254.21, Y:185.81, Z:4.48 [[ 6.32847508e-01 -7.74129832e-01 1.50676502e-02 2.54214221e+02] [ 7.73942196e-01 6.33026271e-01 1.70651119e-02 1.85813046e+02] [-2.27488306e-02 8.61876726e-04 9.99740840e-01 4.47847505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.040714057 meters Centerline goodness : 0.986539 Centerline is valid? [True, True] Translation: X:254.24, Y:185.84, Z:4.48 [[ 6.34164156e-01 -7.73045743e-01 1.53656496e-02 2.54237648e+02] [ 7.72864251e-01 6.34349099e-01 1.67949343e-02 1.85838250e+02] [-2.27304385e-02 1.22481596e-03 9.99740880e-01 4.47705073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0707140569999 meters Centerline goodness : 0.986352 Centerline is valid? [True, True] Translation: X:254.26, Y:185.86, Z:4.48 [[ 6.35052757e-01 -7.72314400e-01 1.54422446e-02 2.54258574e+02] [ 7.72134371e-01 6.35239146e-01 1.67254559e-02 1.85861767e+02] [-2.27268287e-02 1.30194094e-03 9.99740865e-01 4.47631525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1007140569999 meters Centerline goodness : 0.984994 Centerline is valid? [True, True] Translation: X:254.28, Y:185.88, Z:4.48 [[ 6.36111829e-01 -7.71442479e-01 1.54350999e-02 2.54279831e+02] [ 7.71262038e-01 6.36297816e-01 1.67319394e-02 1.85884742e+02] [-2.27290492e-02 1.26112198e-03 9.99740866e-01 4.47633380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.130714057 meters Centerline goodness : 0.985077 Centerline is valid? [True, True] Translation: X:254.30, Y:185.91, Z:4.47 [[ 6.37477752e-01 -7.70314737e-01 1.54052532e-02 2.54301423e+02] [ 7.70133315e-01 6.37662773e-01 1.67590366e-02 1.85907251e+02] [-2.27330894e-02 1.18058573e-03 9.99740873e-01 4.47365569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.160714057 meters Centerline goodness : 0.988328 Centerline is valid? [True, True] Translation: X:254.33, Y:185.93, Z:4.47 [[ 6.36692622e-01 -7.70963982e-01 1.53962288e-02 2.54325705e+02] [ 7.70782552e-01 6.36877632e-01 1.67672232e-02 1.85934503e+02] [-2.27324389e-02 1.19157718e-03 9.99740875e-01 4.47438669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1907140569999 meters Centerline goodness : 0.985622 Centerline is valid? [True, True] Translation: X:254.35, Y:185.95, Z:4.47 [[ 6.36322934e-01 -7.71265209e-01 1.55916704e-02 2.54346064e+02] [ 7.71088161e-01 6.36512237e-01 1.65897903e-02 1.85954789e+02] [-2.27194171e-02 1.46608844e-03 9.99740806e-01 4.47312961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2207140569999 meters Centerline goodness : 0.985230 Centerline is valid? [True, True] Translation: X:254.37, Y:185.98, Z:4.47 [[ 6.37540900e-01 -7.70262147e-01 1.54215670e-02 2.54368286e+02] [ 7.70081068e-01 6.37726260e-01 1.67441378e-02 1.85977386e+02] [-2.27321138e-02 1.20078409e-03 9.99740871e-01 4.47094860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.250714057 meters Centerline goodness : 0.986387 Centerline is valid? [True, True] Translation: X:254.39, Y:186.00, Z:4.47 [[ 6.35285690e-01 -7.72123425e-01 1.54113300e-02 2.54390337e+02] [ 7.71942664e-01 6.35471357e-01 1.67534243e-02 1.86002295e+02] [-2.27291701e-02 1.25345245e-03 9.99740873e-01 4.47271717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.280714057 meters Centerline goodness : 0.985589 Centerline is valid? [True, True] Translation: X:254.41, Y:186.02, Z:4.47 [[ 6.35556708e-01 -7.71900244e-01 1.54170063e-02 2.54411531e+02] [ 7.71719543e-01 6.35742434e-01 1.67482727e-02 1.86024459e+02] [-2.27292409e-02 1.25312802e-03 9.99740872e-01 4.47287043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3107140569999 meters Centerline goodness : 0.985971 Centerline is valid? [True, True] Translation: X:254.44, Y:186.05, Z:4.47 [[ 6.34457692e-01 -7.72804653e-01 1.53754563e-02 2.54435926e+02] [ 7.72623307e-01 6.34642779e-01 1.67859913e-02 1.86049834e+02] [-2.27302145e-02 1.22943456e-03 9.99740879e-01 4.47063628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3407140569999 meters Centerline goodness : 0.986239 Centerline is valid? [True, True] Translation: X:254.46, Y:186.07, Z:4.47 [[ 6.35075091e-01 -7.72295623e-01 1.54628214e-02 2.54459374e+02] [ 7.72116041e-01 6.35261918e-01 1.67067403e-02 1.86073077e+02] [-2.27254840e-02 1.32905785e-03 9.99740859e-01 4.46831238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.370714057 meters Centerline goodness : 0.985103 Centerline is valid? [True, True] Translation: X:254.48, Y:186.10, Z:4.46 [[ 6.36473526e-01 -7.71142785e-01 1.55001995e-02 2.54484355e+02] [ 7.70963684e-01 6.36660831e-01 1.66728257e-02 1.86095784e+02] [-2.27254991e-02 1.33827881e-03 9.99740847e-01 4.46433079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.400714057 meters Centerline goodness : 0.986353 Centerline is valid? [True, True] Translation: X:254.51, Y:186.12, Z:4.46 [[ 6.36307706e-01 -7.71278563e-01 1.55525146e-02 2.54508666e+02] [ 7.71100653e-01 6.36496174e-01 1.66253771e-02 1.86120868e+02] [-2.27219130e-02 1.41369860e-03 9.99740824e-01 4.46190151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4307140569999 meters Centerline goodness : 0.986124 Centerline is valid? [True, True] Translation: X:254.53, Y:186.15, Z:4.46 [[ 6.36983657e-01 -7.70717747e-01 1.56836051e-02 2.54531725e+02] [ 7.70542569e-01 6.37174770e-01 1.65064303e-02 1.86145255e+02] [-2.27149962e-02 1.57055909e-03 9.99740748e-01 4.45952516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4607140569999 meters Centerline goodness : 0.986460 Centerline is valid? [True, True] Translation: X:254.55, Y:186.17, Z:4.46 [[ 6.36553594e-01 -7.71071004e-01 1.57806776e-02 2.54554486e+02] [ 7.70898092e-01 6.36746864e-01 1.64183448e-02 1.86169741e+02] [-2.27080065e-02 1.71413786e-03 9.99740670e-01 4.45792825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.490714057 meters Centerline goodness : 0.986443 Centerline is valid? [True, True] Translation: X:254.58, Y:186.19, Z:4.46 [[ 6.34938638e-01 -7.72400134e-01 1.58417016e-02 2.54575820e+02] [ 7.72228995e-01 6.35133555e-01 1.63629588e-02 1.86192494e+02] [-2.27003479e-02 1.84394655e-03 9.99740613e-01 4.45778628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.520714057 meters Centerline goodness : 0.986766 Centerline is valid? [True, True] Translation: X:254.60, Y:186.21, Z:4.46 [[ 6.33646976e-01 -7.73460879e-01 1.58043621e-02 2.54597512e+02] [ 7.73289229e-01 6.33841395e-01 1.63968019e-02 1.86213982e+02] [-2.26997438e-02 1.83155900e-03 9.99740650e-01 4.45737737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5507140569999 meters Centerline goodness : 0.986321 Centerline is valid? [True, True] Translation: X:254.62, Y:186.24, Z:4.45 [[ 6.32516232e-01 -7.74386722e-01 1.57613742e-02 2.54619644e+02] [ 7.74214393e-01 6.32709997e-01 1.64357595e-02 1.86236685e+02] [-2.27000130e-02 1.80679811e-03 9.99740689e-01 4.45475806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5807140569999 meters Centerline goodness : 0.986321 Centerline is valid? [True, True] Translation: X:254.64, Y:186.26, Z:4.45 [[ 6.32174347e-01 -7.74665441e-01 1.57813189e-02 2.54641221e+02] [ 7.74493643e-01 6.32368608e-01 1.64176958e-02 1.86260954e+02] [-2.26978322e-02 1.84368507e-03 9.99740671e-01 4.45403043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.610714057 meters Centerline goodness : 0.985297 Centerline is valid? [True, True] Translation: X:254.66, Y:186.28, Z:4.46 [[ 6.30370073e-01 -7.76134336e-01 1.57817634e-02 2.54660542e+02] [ 7.75963001e-01 6.30564742e-01 1.64172933e-02 1.86283609e+02] [-2.26934486e-02 1.89709412e-03 9.99740671e-01 4.45636254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.640714057 meters Centerline goodness : 0.987722 Centerline is valid? [True, True] Translation: X:254.68, Y:186.31, Z:4.45 [[ 6.26914657e-01 -7.78929636e-01 1.57046102e-02 2.54684936e+02] [ 7.78757436e-01 6.27108471e-01 1.64869993e-02 1.86309506e+02] [-2.26907064e-02 1.89414042e-03 9.99740738e-01 4.45206526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6707140569999 meters Centerline goodness : 0.986348 Centerline is valid? [True, True] Translation: X:254.70, Y:186.33, Z:4.45 [[ 6.26953233e-01 -7.78895233e-01 1.58700759e-02 2.54703938e+02] [ 7.78726748e-01 6.27150492e-01 1.63374442e-02 1.86330451e+02] [-2.26780833e-02 2.11563912e-03 9.99740581e-01 4.45197379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7007140569999 meters Centerline goodness : 0.985920 Centerline is valid? [True, True] Translation: X:254.73, Y:186.35, Z:4.45 [[ 6.25308112e-01 -7.80219395e-01 1.57308960e-02 2.54726760e+02] [ 7.80048191e-01 6.25502830e-01 1.64629605e-02 1.86353176e+02] [-2.26844410e-02 1.97643424e-03 9.99740721e-01 4.44908883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7307140569999 meters Centerline goodness : 0.984452 Centerline is valid? [True, True] Translation: X:254.75, Y:186.38, Z:4.45 [[ 6.25776884e-01 -7.79842915e-01 1.57581468e-02 2.54746784e+02] [ 7.79672207e-01 6.25972068e-01 1.64383857e-02 1.86375427e+02] [-2.26835184e-02 1.99942735e-03 9.99740697e-01 4.44936000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.760714057 meters Centerline goodness : 0.984839 Centerline is valid? [True, True] Translation: X:254.77, Y:186.40, Z:4.45 [[ 6.26534945e-01 -7.79235694e-01 1.56746846e-02 2.54769799e+02] [ 7.79062927e-01 6.26728214e-01 1.65136831e-02 1.86399223e+02] [-2.26918184e-02 1.86516614e-03 9.99740768e-01 4.44735383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.790714057 meters Centerline goodness : 0.983983 Centerline is valid? [True, True] Translation: X:254.79, Y:186.42, Z:4.45 [[ 6.25566172e-01 -7.80013533e-01 1.56797122e-02 2.54789936e+02] [ 7.79841118e-01 6.25759761e-01 1.65091535e-02 1.86423607e+02] [-2.26890961e-02 1.90011637e-03 9.99740764e-01 4.44918706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8207140569999 meters Centerline goodness : 0.984103 Centerline is valid? [True, True] Translation: X:254.81, Y:186.45, Z:4.45 [[ 6.29006955e-01 -7.77241701e-01 1.56712718e-02 2.54810718e+02] [ 7.77068245e-01 6.29199603e-01 1.65167596e-02 1.86447544e+02] [-2.26978723e-02 1.78849102e-03 9.99740770e-01 4.44606294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8507140569999 meters Centerline goodness : 0.985299 Centerline is valid? [True, True] Translation: X:254.83, Y:186.47, Z:4.45 [[ 6.30991836e-01 -7.75631095e-01 1.56750913e-02 2.54828873e+02] [ 7.75457231e-01 6.31184120e-01 1.65133231e-02 1.86473356e+02] [-2.27021156e-02 1.73559087e-03 9.99740767e-01 4.44799196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.880714057 meters Centerline goodness : 0.985809 Centerline is valid? [True, True] Translation: X:254.85, Y:186.50, Z:4.45 [[ 6.34307839e-01 -7.72921726e-01 1.56706955e-02 2.54851000e+02] [ 7.72746944e-01 6.34499283e-01 1.65172770e-02 1.86496941e+02] [-2.27096073e-02 1.63244376e-03 9.99740771e-01 4.44615944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.910714057 meters Centerline goodness : 0.985078 Centerline is valid? [True, True] Translation: X:254.87, Y:186.52, Z:4.45 [[ 6.35807199e-01 -7.71687997e-01 1.57111518e-02 2.54871885e+02] [ 7.71513736e-01 6.35999164e-01 1.64808862e-02 1.86521266e+02] [-2.27103815e-02 1.64270337e-03 9.99740736e-01 4.44569165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9407140569999 meters Centerline goodness : 0.983671 Centerline is valid? [True, True] Translation: X:254.89, Y:186.54, Z:4.45 [[ 6.39266993e-01 -7.68824487e-01 1.57041163e-02 2.54890961e+02] [ 7.68649210e-01 6.39458023e-01 1.64872115e-02 1.86544876e+02] [-2.27178951e-02 1.53122646e-03 9.99740743e-01 4.44736392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9707140569999 meters Centerline goodness : 0.985396 Centerline is valid? [True, True] Translation: X:254.91, Y:186.57, Z:4.45 [[ 6.39142058e-01 -7.68930482e-01 1.55994857e-02 2.54914784e+02] [ 7.68752953e-01 6.39330876e-01 1.65809710e-02 1.86572069e+02] [-2.27228469e-02 1.39455478e-03 9.99740830e-01 4.44592365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.000714057 meters Centerline goodness : 0.982658 Centerline is valid? [True, True] Translation: X:254.93, Y:186.59, Z:4.45 [[ 6.41916434e-01 -7.66611307e-01 1.58238663e-02 2.54932054e+02] [ 7.66437997e-01 6.42109414e-01 1.63797730e-02 1.86592093e+02] [-2.27175727e-02 1.61356690e-03 9.99740621e-01 4.44886275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.030714057 meters Centerline goodness : 0.983125 Centerline is valid? [True, True] Translation: X:254.95, Y:186.62, Z:4.45 [[ 6.40350013e-01 -7.67923758e-01 1.56512889e-02 2.54952406e+02] [ 7.67747051e-01 6.40539665e-01 1.65348858e-02 1.86615312e+02] [-2.27228030e-02 1.42811654e-03 9.99740784e-01 4.44777511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0607140569999 meters Centerline goodness : 0.984407 Centerline is valid? [True, True] Translation: X:254.97, Y:186.64, Z:4.44 [[ 6.37594667e-01 -7.70212627e-01 1.56700014e-02 2.54972332e+02] [ 7.70037012e-01 6.37785351e-01 1.65180759e-02 1.86637525e+02] [-2.27165280e-02 1.53464394e-03 9.99740769e-01 4.44272395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0907140569999 meters Centerline goodness : 0.984535 Centerline is valid? [True, True] Translation: X:254.99, Y:186.66, Z:4.44 [[ 6.33831995e-01 -7.73312812e-01 1.56299666e-02 2.54994260e+02] [ 7.73137251e-01 6.34022681e-01 1.65538663e-02 1.86662367e+02] [-2.27110702e-02 1.59173933e-03 9.99740803e-01 4.44180620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.120714057 meters Centerline goodness : 0.985220 Centerline is valid? [True, True] Translation: X:255.01, Y:186.68, Z:4.44 [[ 6.31646347e-01 -7.75097427e-01 1.57121381e-02 2.55014229e+02] [ 7.74924213e-01 6.31839268e-01 1.64804122e-02 1.86684782e+02] [-2.27014709e-02 1.76592409e-03 9.99740729e-01 4.43784850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.150714057 meters Centerline goodness : 0.984853 Centerline is valid? [True, True] Translation: X:255.04, Y:186.71, Z:4.44 [[ 6.25586158e-01 -7.79998499e-01 1.56301285e-02 2.55035281e+02] [ 7.79824978e-01 6.25778701e-01 1.65535934e-02 1.86708464e+02] [-2.26927795e-02 1.83306575e-03 9.99740805e-01 4.43777987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1807140569999 meters Centerline goodness : 0.985286 Centerline is valid? [True, True] Translation: X:255.05, Y:186.73, Z:4.44 [[ 6.21810340e-01 -7.83012018e-01 1.56230982e-02 2.55054574e+02] [ 7.82839274e-01 6.22003571e-01 1.65598628e-02 1.86731319e+02] [-2.26841944e-02 1.93328094e-03 9.99740811e-01 4.43586403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2107140569999 meters Centerline goodness : 0.986141 Centerline is valid? [True, True] Translation: X:255.07, Y:186.75, Z:4.43 [[ 6.17695224e-01 -7.86263871e-01 1.55478658e-02 2.55073563e+02] [ 7.86090471e-01 6.17887786e-01 1.66269150e-02 1.86752021e+02] [-2.26799789e-02 1.95166315e-03 9.99740871e-01 4.42965211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.240714057 meters Centerline goodness : 0.981561 Centerline is valid? [True, True] Translation: X:255.09, Y:186.77, Z:4.44 [[ 6.13053257e-01 -7.89890987e-01 1.54250631e-02 2.55089462e+02] [ 7.89715999e-01 6.13244272e-01 1.67362740e-02 1.86771560e+02] [-2.26791636e-02 1.92119181e-03 9.99740949e-01 4.43568366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.270714057 meters Centerline goodness : 0.987230 Centerline is valid? [True, True] Translation: X:255.11, Y:186.80, Z:4.43 [[ 6.06724806e-01 -7.94768040e-01 1.51251929e-02 2.55109604e+02] [ 7.94587964e-01 6.06910920e-01 1.70030286e-02 1.86799644e+02] [-2.26931085e-02 1.70213698e-03 9.99741029e-01 4.42669806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3007140569999 meters Centerline goodness : 0.985268 Centerline is valid? [True, True] Translation: X:255.13, Y:186.82, Z:4.43 [[ 6.08214628e-01 -7.93626066e-01 1.52523519e-02 2.55134305e+02] [ 7.93448431e-01 6.08403091e-01 1.68898368e-02 1.86824406e+02] [-2.26837928e-02 1.82930884e-03 9.99741016e-01 4.42898243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3307140569999 meters Centerline goodness : 0.985925 Centerline is valid? [True, True] Translation: X:255.16, Y:186.85, Z:4.43 [[ 6.06454994e-01 -7.94969703e-01 1.53464118e-02 2.55156236e+02] [ 7.94794562e-01 6.06645821e-01 1.68063105e-02 1.86850054e+02] [-2.26703443e-02 2.00497375e-03 9.99740984e-01 4.42823996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.360714057 meters Centerline goodness : 0.983345 Centerline is valid? [True, True] Translation: X:255.17, Y:186.87, Z:4.43 [[ 6.08478188e-01 -7.93420352e-01 1.54415069e-02 2.55172066e+02] [ 7.93246832e-01 6.08670555e-01 1.67218114e-02 1.86871150e+02] [-2.26662160e-02 2.07406897e-03 9.99740937e-01 4.43172013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.390714057 meters Centerline goodness : 0.983475 Centerline is valid? [True, True] Translation: X:255.20, Y:186.90, Z:4.43 [[ 6.10298707e-01 -7.92025193e-01 1.52177991e-02 2.55195474e+02] [ 7.91846306e-01 6.10485973e-01 1.69205672e-02 1.86896363e+02] [-2.26917684e-02 1.72355769e-03 9.99741023e-01 4.42909721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4207140569999 meters Centerline goodness : 0.983716 Centerline is valid? [True, True] Translation: X:255.21, Y:186.92, Z:4.43 [[ 6.13234533e-01 -7.89753073e-01 1.52804006e-02 2.55214580e+02] [ 7.89574860e-01 6.13422460e-01 1.68649395e-02 1.86921864e+02] [-2.26924787e-02 1.72285685e-03 9.99741008e-01 4.43268412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4507140569999 meters Centerline goodness : 0.983836 Centerline is valid? [True, True] Translation: X:255.23, Y:186.95, Z:4.43 [[ 6.15001231e-01 -7.88378940e-01 1.52359308e-02 2.55234345e+02] [ 7.88199336e-01 6.15187814e-01 1.69044579e-02 1.86946043e+02] [-2.27000776e-02 1.61268811e-03 9.99741019e-01 4.43321503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4807140569999 meters Centerline goodness : 0.983293 Centerline is valid? [True, True] Translation: X:255.26, Y:186.97, Z:4.43 [[ 6.17926763e-01 -7.86088241e-01 1.52247504e-02 2.55256510e+02] [ 7.85907702e-01 6.18112439e-01 1.69143894e-02 1.86970294e+02] [-2.27068102e-02 1.51339471e-03 9.99741022e-01 4.42990237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.510714057 meters Centerline goodness : 0.982166 Centerline is valid? [True, True] Translation: X:255.28, Y:187.00, Z:4.43 [[ 6.20160002e-01 -7.84327273e-01 1.52414357e-02 2.55275447e+02] [ 7.84146568e-01 6.20345521e-01 1.68995646e-02 1.86995805e+02] [-2.27097458e-02 1.47108548e-03 9.99741018e-01 4.43325281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.540714057 meters Centerline goodness : 0.982571 Centerline is valid? [True, True] Translation: X:255.30, Y:187.02, Z:4.43 [[ 6.23085037e-01 -7.82006513e-01 1.51937580e-02 2.55295504e+02] [ 7.81824089e-01 6.23268854e-01 1.69419343e-02 1.87019225e+02] [-2.27184991e-02 1.32258028e-03 9.99741027e-01 4.43206131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5707140569999 meters Centerline goodness : 0.982752 Centerline is valid? [True, True] Translation: X:255.32, Y:187.05, Z:4.43 [[ 6.23202439e-01 -7.81913129e-01 1.51847910e-02 2.55318790e+02] [ 7.81730485e-01 6.23386036e-01 1.69499034e-02 1.87045313e+02] [-2.27193387e-02 1.30719285e-03 9.99741028e-01 4.43017962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6007140569999 meters Centerline goodness : 0.984090 Centerline is valid? [True, True] Translation: X:255.33, Y:187.07, Z:4.42 [[ 6.18397674e-01 -7.85716848e-01 1.52758522e-02 2.55330400e+02] [ 7.85537311e-01 6.18584332e-01 1.68688192e-02 1.87068472e+02] [-2.27035183e-02 1.56811331e-03 9.99741012e-01 4.42179142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.630714057 meters Centerline goodness : 0.983502 Centerline is valid? [True, True] Translation: X:255.35, Y:187.09, Z:4.42 [[ 6.19292494e-01 -7.85016106e-01 1.50505806e-02 2.55347275e+02] [ 7.84831493e-01 6.19474110e-01 1.70691333e-02 1.87086721e+02] [-2.27229896e-02 1.24138352e-03 9.99741029e-01 4.42280533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.660714057 meters Centerline goodness : 0.983209 Centerline is valid? [True, True] Translation: X:255.37, Y:187.11, Z:4.42 [[ 6.18718390e-01 -7.85472094e-01 1.48708865e-02 2.55367785e+02] [ 7.85283785e-01 6.18896238e-01 1.72285771e-02 1.87109450e+02] [-2.27361022e-02 1.01822856e-03 9.99740983e-01 4.42055467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6907140569999 meters Centerline goodness : 0.982765 Centerline is valid? [True, True] Translation: X:255.39, Y:187.13, Z:4.42 [[ 6.19321504e-01 -7.84995776e-01 1.49166292e-02 2.55385068e+02] [ 7.84808301e-01 6.19500205e-01 1.71879874e-02 1.87128706e+02] [-2.27333524e-02 1.06180425e-03 9.99741000e-01 4.42177019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7207140569999 meters Centerline goodness : 0.984267 Centerline is valid? [True, True] Translation: X:255.41, Y:187.15, Z:4.42 [[ 6.18776588e-01 -7.85426366e-01 1.48646886e-02 2.55405547e+02] [ 7.85237913e-01 6.18954286e-01 1.72340643e-02 1.87151778e+02] [-2.27366512e-02 1.00828153e-03 9.99740980e-01 4.42020364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.750714057 meters Centerline goodness : 0.983315 Centerline is valid? [True, True] Translation: X:255.42, Y:187.17, Z:4.42 [[ 6.20075511e-01 -7.84400570e-01 1.49032439e-02 2.55424401e+02] [ 7.84212639e-01 6.20253740e-01 1.71998545e-02 1.87170472e+02] [-2.27353684e-02 1.02210365e-03 9.99740996e-01 4.42042290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.780714057 meters Centerline goodness : 0.983578 Centerline is valid? [True, True] Translation: X:255.45, Y:187.19, Z:4.42 [[ 6.19330804e-01 -7.84989451e-01 1.48632675e-02 2.55445194e+02] [ 7.84800842e-01 6.19508338e-01 1.72353331e-02 1.87193053e+02] [-2.27374729e-02 9.90332164e-04 9.99740980e-01 4.41902556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8107140569999 meters Centerline goodness : 0.984346 Centerline is valid? [True, True] Translation: X:255.46, Y:187.22, Z:4.42 [[ 6.16164718e-01 -7.87475400e-01 1.49510835e-02 2.55463317e+02] [ 7.87289381e-01 6.16344917e-01 1.71573336e-02 1.87216188e+02] [-2.27260025e-02 1.19908566e-03 9.99741012e-01 4.41831459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8407140569999 meters Centerline goodness : 0.983837 Centerline is valid? [True, True] Translation: X:255.48, Y:187.24, Z:4.42 [[ 6.16603346e-01 -7.87131653e-01 1.49690977e-02 2.55481309e+02] [ 7.86945919e-01 6.16783832e-01 1.71413364e-02 1.87235428e+02] [-2.27251859e-02 1.21046495e-03 9.99741017e-01 4.41799774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.870714057 meters Centerline goodness : 0.983148 Centerline is valid? [True, True] Translation: X:255.50, Y:187.25, Z:4.42 [[ 6.15518374e-01 -7.87981731e-01 1.48970895e-02 2.55500158e+02] [ 7.87794707e-01 6.15697555e-01 1.72052228e-02 1.87254443e+02] [-2.27295028e-02 1.14571751e-03 9.99740995e-01 4.41813244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.900714057 meters Centerline goodness : 0.983670 Centerline is valid? [True, True] Translation: X:255.52, Y:187.27, Z:4.42 [[ 6.12605352e-01 -7.90249953e-01 1.48221056e-02 2.55517268e+02] [ 7.90061995e-01 6.12783596e-01 1.72716062e-02 1.87274164e+02] [-2.27316292e-02 1.12970394e-03 9.99740965e-01 4.41674559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9307140569999 meters Centerline goodness : 0.985370 Centerline is valid? [True, True] Translation: X:255.54, Y:187.30, Z:4.42 [[ 6.10339628e-01 -7.92000807e-01 1.48411767e-02 2.55538136e+02] [ 7.91813768e-01 6.10518823e-01 1.72546701e-02 1.87298471e+02] [-2.27265303e-02 1.22023909e-03 9.99740974e-01 4.41551790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9607140569999 meters Centerline goodness : 0.984301 Centerline is valid? [True, True] Translation: X:255.55, Y:187.32, Z:4.42 [[ 6.09309422e-01 -7.92791480e-01 1.49565307e-02 2.55551537e+02] [ 7.92607156e-01 6.09491345e-01 1.71521852e-02 1.87316234e+02] [-2.27139823e-02 1.40366518e-03 9.99741019e-01 4.41616645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.990714057 meters Centerline goodness : 0.984932 Centerline is valid? [True, True] Translation: X:255.58, Y:187.34, Z:4.42 [[ 6.09660194e-01 -7.92527092e-01 1.46716212e-02 2.55578620e+02] [ 7.92336616e-01 6.09835863e-01 1.74042042e-02 1.87338175e+02] [-2.27405841e-02 1.01421216e-03 9.99740885e-01 4.41610784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.020714057 meters Centerline goodness : 0.984843 Centerline is valid? [True, True] Translation: X:255.60, Y:187.36, Z:4.41 [[ 6.06541907e-01 -7.94911671e-01 1.49114362e-02 2.55595474e+02] [ 7.94727018e-01 6.06723504e-01 1.71917392e-02 1.87360434e+02] [-2.27130330e-02 1.42301099e-03 9.99741013e-01 4.41482832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0507140569999 meters Centerline goodness : 0.984562 Centerline is valid? [True, True] Translation: X:255.63, Y:187.38, Z:4.42 [[ 6.09722085e-01 -7.92474831e-01 1.49204956e-02 2.55627076e+02] [ 7.92289647e-01 6.09903136e-01 1.71837010e-02 1.87382817e+02] [-2.27177076e-02 1.34407219e-03 9.99741016e-01 4.42051260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0807140569999 meters Centerline goodness : 0.983822 Centerline is valid? [True, True] Translation: X:255.65, Y:187.41, Z:4.42 [[ 6.10393154e-01 -7.91945916e-01 1.55519590e-02 2.55646540e+02] [ 7.91774301e-01 6.10587407e-01 1.66275222e-02 1.87405356e+02] [-2.26639286e-02 2.16431578e-03 9.99740797e-01 4.42075705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.110714057 meters Centerline goodness : 0.984437 Centerline is valid? [True, True] Translation: X:255.65, Y:187.42, Z:4.42 [[ 6.06840291e-01 -7.94673521e-01 1.54549508e-02 2.55653575e+02] [ 7.94500612e-01 6.07033303e-01 1.67136974e-02 1.87423815e+02] [-2.26636026e-02 2.13642290e-03 9.99740865e-01 4.41925194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.140714057 meters Centerline goodness : 0.986494 Centerline is valid? [True, True] Translation: X:255.67, Y:187.45, Z:4.41 [[ 6.03844445e-01 -7.96962894e-01 1.49007060e-02 2.55669644e+02] [ 7.96778547e-01 6.04026443e-01 1.72047458e-02 1.87446323e+02] [-2.27119644e-02 1.48357267e-03 9.99740949e-01 4.41324075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1707140569999 meters Centerline goodness : 0.983468 Centerline is valid? [True, True] Translation: X:255.70, Y:187.47, Z:4.42 [[ 6.09151780e-01 -7.92914672e-01 1.48469929e-02 2.55701747e+02] [ 7.92727963e-01 6.09331384e-01 1.72522993e-02 1.87467736e+02] [-2.27263399e-02 1.26035758e-03 9.99740929e-01 4.41863833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2007140569999 meters Centerline goodness : 0.984863 Centerline is valid? [True, True] Translation: X:255.71, Y:187.49, Z:4.41 [[ 6.05530858e-01 -7.95672125e-01 1.54353371e-02 2.55709722e+02] [ 7.95499104e-01 6.05723746e-01 1.67307728e-02 1.87486461e+02] [-2.26617598e-02 2.14779763e-03 9.99740882e-01 4.41201445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2307140569999 meters Centerline goodness : 0.985427 Centerline is valid? [True, True] Translation: X:255.73, Y:187.51, Z:4.41 [[ 6.05626657e-01 -7.95608544e-01 1.49464858e-02 2.55730914e+02] [ 7.95424784e-01 6.05809222e-01 1.71638932e-02 1.87508648e+02] [-2.27104590e-02 1.49389397e-03 9.99740968e-01 4.40920756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.260714057 meters Centerline goodness : 0.984223 Centerline is valid? [True, True] Translation: X:255.75, Y:187.53, Z:4.41 [[ 6.07162592e-01 -7.94435044e-01 1.50515000e-02 2.55747298e+02] [ 7.94253205e-01 6.07347045e-01 1.70708324e-02 1.87527686e+02] [-2.27031515e-02 1.58993123e-03 9.99740986e-01 4.40931302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.290714057 meters Centerline goodness : 0.983726 Centerline is valid? [True, True] Translation: X:255.76, Y:187.55, Z:4.41 [[ 6.06968466e-01 -7.94585222e-01 1.49534921e-02 2.55763864e+02] [ 7.94401309e-01 6.07150870e-01 1.71575329e-02 1.87549132e+02] [-2.27121478e-02 1.46499225e-03 9.99740973e-01 4.40855524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3207140569999 meters Centerline goodness : 0.984004 Centerline is valid? [True, True] Translation: X:255.78, Y:187.57, Z:4.41 [[ 6.09855934e-01 -7.92372544e-01 1.48825698e-02 2.55782564e+02] [ 7.92186450e-01 6.10036141e-01 1.72202295e-02 1.87569654e+02] [-2.27237426e-02 1.28791099e-03 9.99740953e-01 4.40807957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3507140569999 meters Centerline goodness : 0.983815 Centerline is valid? [True, True] Translation: X:255.80, Y:187.59, Z:4.41 [[ 6.10565885e-01 -7.91825968e-01 1.48638918e-02 2.55803859e+02] [ 7.91639314e-01 6.10745521e-01 1.72367417e-02 1.87594972e+02] [-2.27265550e-02 1.24267461e-03 9.99740946e-01 4.40962815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.380714057 meters Centerline goodness : 0.984220 Centerline is valid? [True, True] Translation: X:255.81, Y:187.61, Z:4.41 [[ 6.12276320e-01 -7.90500044e-01 1.50793850e-02 2.55812214e+02] [ 7.90317621e-01 6.12460193e-01 1.70461127e-02 1.87612689e+02] [-2.27104759e-02 1.48057254e-03 9.99740988e-01 4.40561645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.410714057 meters Centerline goodness : 0.983354 Centerline is valid? [True, True] Translation: X:255.83, Y:187.63, Z:4.41 [[ 6.13868702e-01 -7.89272913e-01 1.46111550e-02 2.55831232e+02] [ 7.89080200e-01 6.14042027e-01 1.74593256e-02 1.87633405e+02] [-2.27520360e-02 8.11639590e-04 9.99740809e-01 4.40750466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4407140569999 meters Centerline goodness : 0.982841 Centerline is valid? [True, True] Translation: X:255.85, Y:187.65, Z:4.41 [[ 6.19723500e-01 -7.84683517e-01 1.46479483e-02 2.55853885e+02] [ 7.84490283e-01 6.19896202e-01 1.74268615e-02 1.87653220e+02] [-2.27547785e-02 6.91337465e-04 9.99740837e-01 4.40813197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4707140569999 meters Centerline goodness : 0.983434 Centerline is valid? [True, True] Translation: X:255.88, Y:187.68, Z:4.41 [[ 6.22729726e-01 -7.82297491e-01 1.47757919e-02 2.55878276e+02] [ 7.82106266e-01 6.22904516e-01 1.73133601e-02 1.87675169e+02] [-2.27481056e-02 7.74695413e-04 9.99740928e-01 4.40504383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.500714057 meters Centerline goodness : 0.983434 Centerline is valid? [True, True] Translation: X:255.90, Y:187.70, Z:4.40 [[ 6.22621455e-01 -7.82380168e-01 1.49598262e-02 2.55897054e+02] [ 7.82192854e-01 6.22800309e-01 1.71497529e-02 1.87696497e+02] [-2.27346110e-02 1.02366506e-03 9.99741011e-01 4.40450569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.530714057 meters Centerline goodness : 0.982623 Centerline is valid? [True, True] Translation: X:255.92, Y:187.72, Z:4.40 [[ 6.25693651e-01 -7.79925490e-01 1.49561098e-02 2.55915260e+02] [ 7.79737396e-01 6.25871685e-01 1.71530552e-02 1.87717929e+02] [-2.27387107e-02 9.29280364e-04 9.99741010e-01 4.40424154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5607140569999 meters Centerline goodness : 0.983442 Centerline is valid? [True, True] Translation: X:255.93, Y:187.74, Z:4.40 [[ 6.24314061e-01 -7.81030181e-01 1.49602498e-02 2.55931055e+02] [ 7.80842490e-01 6.24492518e-01 1.71493776e-02 1.87739779e+02] [-2.27367455e-02 9.75001116e-04 9.99741011e-01 4.40376842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5907140569999 meters Centerline goodness : 0.983263 Centerline is valid? [True, True] Translation: X:255.95, Y:187.76, Z:4.41 [[ 6.26200121e-01 -7.79520556e-01 1.48698161e-02 2.55954783e+02] [ 7.79330530e-01 6.26376136e-01 1.72296561e-02 1.87762571e+02] [-2.27449691e-02 7.99288866e-04 9.99740980e-01 4.41036061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.620714057 meters Centerline goodness : 0.985158 Centerline is valid? [True, True] Translation: X:255.97, Y:187.78, Z:4.41 [[ 6.24548270e-01 -7.80839968e-01 1.51130385e-02 2.55971668e+02] [ 7.80655472e-01 6.24729998e-01 1.70136053e-02 1.87784809e+02] [-2.27264716e-02 1.17225845e-03 9.99741033e-01 4.40512372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.650714057 meters Centerline goodness : 0.985294 Centerline is valid? [True, True] Translation: X:255.99, Y:187.81, Z:4.40 [[ 6.21611689e-01 -7.83181501e-01 1.50214422e-02 2.55987543e+02] [ 7.82995732e-01 6.21792125e-01 1.70949366e-02 1.87805353e+02] [-2.27286526e-02 1.13531267e-03 9.99741026e-01 4.39830597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6807140569999 meters Centerline goodness : 0.979151 Centerline is valid? [True, True] Translation: X:256.00, Y:187.82, Z:4.40 [[ 6.15995639e-01 -7.87607902e-01 1.49387349e-02 2.55996214e+02] [ 7.87421660e-01 6.16175611e-01 1.71681733e-02 1.87823378e+02] [-2.27266730e-02 1.18756354e-03 9.99741010e-01 4.40425448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7107140569999 meters Centerline goodness : 0.982715 Centerline is valid? [True, True] Translation: X:256.03, Y:187.84, Z:4.40 [[ 6.19255971e-01 -7.85057616e-01 1.43729967e-02 2.56029649e+02] [ 7.84858863e-01 6.19422654e-01 1.76674996e-02 1.87844841e+02] [-2.27729649e-02 3.40069259e-04 9.99740605e-01 4.40170516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.740714057 meters Centerline goodness : 0.983952 Centerline is valid? [True, True] Translation: X:256.05, Y:187.87, Z:4.40 [[ 6.14795634e-01 -7.88542857e-01 1.50496449e-02 2.56050462e+02] [ 7.88359305e-01 6.14978279e-01 1.70681945e-02 1.87866572e+02] [-2.27142076e-02 1.37107613e-03 9.99741059e-01 4.40046159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.770714057 meters Centerline goodness : 0.979422 Centerline is valid? [True, True] Translation: X:256.05, Y:187.88, Z:4.41 [[ 6.06973091e-01 -7.94579046e-01 1.50932717e-02 2.56054674e+02] [ 7.94398256e-01 6.07158468e-01 1.70295534e-02 1.87884569e+02] [-2.26953341e-02 1.65358805e-03 9.99741060e-01 4.40508526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8007140569999 meters Centerline goodness : 0.984018 Centerline is valid? [True, True] Translation: X:256.09, Y:187.91, Z:4.40 [[ 6.11033573e-01 -7.91471158e-01 1.45388655e-02 2.56089874e+02] [ 7.91277620e-01 6.11205994e-01 1.75203107e-02 1.87906425e+02] [-2.27530623e-02 7.98780828e-04 9.99740796e-01 4.39821257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8307140569999 meters Centerline goodness : 0.982449 Centerline is valid? [True, True] Translation: X:256.11, Y:187.92, Z:4.40 [[ 6.12637539e-01 -7.90220097e-01 1.50812509e-02 2.56107104e+02] [ 7.90037755e-01 6.12821360e-01 1.70389513e-02 1.87922412e+02] [-2.27066344e-02 1.47605647e-03 9.99741081e-01 4.40052412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.860714057 meters Centerline goodness : 0.981831 Centerline is valid? [True, True] Translation: X:256.13, Y:187.94, Z:4.40 [[ 6.12060230e-01 -7.90672232e-01 1.48221568e-02 2.56125974e+02] [ 7.90484481e-01 6.12238601e-01 1.72679331e-02 1.87943275e+02] [-2.27279717e-02 1.14766981e-03 9.99741028e-01 4.39956200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.890714057 meters Centerline goodness : 0.982325 Centerline is valid? [True, True] Translation: X:256.14, Y:187.96, Z:4.40 [[ 6.12932201e-01 -7.89996619e-01 1.48141716e-02 2.56144630e+02] [ 7.89808501e-01 6.13110191e-01 1.72749889e-02 1.87963595e+02] [-2.27299024e-02 1.11196176e-03 9.99741024e-01 4.40008681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9207140569999 meters Centerline goodness : 0.984598 Centerline is valid? [True, True] Translation: X:256.16, Y:187.99, Z:4.40 [[ 6.08568285e-01 -7.93363576e-01 1.47945489e-02 2.56164911e+02] [ 7.93176024e-01 6.08746885e-01 1.72923473e-02 1.87990841e+02] [-2.27252541e-02 1.21110733e-03 9.99741014e-01 4.40054854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9507140569999 meters Centerline goodness : 0.982600 Centerline is valid? [True, True] Translation: X:256.19, Y:188.01, Z:4.40 [[ 6.12151788e-01 -7.90596893e-01 1.50579601e-02 2.56185500e+02] [ 7.90414171e-01 6.12335222e-01 1.70591216e-02 1.88010051e+02] [-2.27074079e-02 1.45925324e-03 9.99741089e-01 4.40062172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9807140569999 meters Centerline goodness : 0.984396 Centerline is valid? [True, True] Translation: X:256.20, Y:188.03, Z:4.40 [[ 6.12275818e-01 -7.90501792e-01 1.50079609e-02 2.56203130e+02] [ 7.90317966e-01 6.12458151e-01 1.71033816e-02 1.88031117e+02] [-2.27120018e-02 1.38907419e-03 9.99741084e-01 4.39658876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.010714057 meters Centerline goodness : 0.984744 Centerline is valid? [True, True] Translation: X:256.22, Y:188.05, Z:4.40 [[ 6.11061164e-01 -7.91442099e-01 1.49551636e-02 2.56218840e+02] [ 7.91257419e-01 6.11242645e-01 1.71500948e-02 1.88052044e+02] [-2.27145408e-02 1.35362723e-03 9.99741075e-01 4.39650597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.040714057 meters Centerline goodness : 0.984192 Centerline is valid? [True, True] Translation: X:256.24, Y:188.07, Z:4.40 [[ 6.10759014e-01 -7.91677135e-01 1.48573366e-02 2.56241751e+02] [ 7.91490432e-01 6.10938455e-01 1.72365750e-02 1.88074816e+02] [-2.27227206e-02 1.23204619e-03 9.99741046e-01 4.39705610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0707140569999 meters Centerline goodness : 0.983312 Centerline is valid? [True, True] Translation: X:256.26, Y:188.10, Z:4.40 [[ 6.08186365e-01 -7.93652621e-01 1.49954178e-02 2.56259773e+02] [ 7.93469467e-01 6.08369377e-01 1.71144888e-02 1.88095225e+02] [-2.27057119e-02 1.48960748e-03 9.99741082e-01 4.39522325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1007140569999 meters Centerline goodness : 0.984739 Centerline is valid? [True, True] Translation: X:256.28, Y:188.12, Z:4.39 [[ 6.04919708e-01 -7.96145128e-01 1.50027286e-02 2.56282626e+02] [ 7.95962887e-01 6.05103626e-01 1.71080241e-02 1.88121057e+02] [-2.26986755e-02 1.59263421e-03 9.99741083e-01 4.39359853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.130714057 meters Centerline goodness : 0.979862 Centerline is valid? [True, True] Translation: X:256.29, Y:188.14, Z:4.39 [[ 5.99220486e-01 -8.00436862e-01 1.53505480e-02 2.56287893e+02] [ 8.00263635e-01 5.99412971e-01 1.67989450e-02 1.88139168e+02] [-2.26478124e-02 2.21821337e-03 9.99741045e-01 4.39445753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.160714057 meters Centerline goodness : 0.988222 Centerline is valid? [True, True] Translation: X:256.31, Y:188.16, Z:4.39 [[ 6.00120072e-01 -7.99775857e-01 1.46450804e-02 2.56314854e+02] [ 7.99587071e-01 6.00297430e-01 1.74215638e-02 1.88162768e+02] [-2.27247503e-02 1.25498682e-03 9.99740972e-01 4.38807666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1907140569999 meters Centerline goodness : 0.984851 Centerline is valid? [True, True] Translation: X:256.34, Y:188.19, Z:4.39 [[ 6.01589814e-01 -7.98663049e-01 1.50675255e-02 2.56341752e+02] [ 7.98483047e-01 6.01775858e-01 1.70482036e-02 1.88185255e+02] [-2.26830434e-02 1.77513805e-03 9.99741131e-01 4.39244812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2207140569999 meters Centerline goodness : 0.984141 Centerline is valid? [True, True] Translation: X:256.36, Y:188.20, Z:4.39 [[ 6.00774342e-01 -7.99270641e-01 1.53828734e-02 2.56358985e+02] [ 7.99097786e-01 6.00967157e-01 1.67691829e-02 1.88204339e+02] [-2.26477173e-02 2.21792525e-03 9.99741047e-01 4.39426082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.250714057 meters Centerline goodness : 0.984172 Centerline is valid? [True, True] Translation: X:256.38, Y:188.22, Z:4.39 [[ 6.05562672e-01 -7.95650522e-01 1.53002410e-02 2.56382157e+02] [ 7.95474687e-01 6.05752721e-01 1.68423381e-02 1.88221924e+02] [-2.26687777e-02 1.97186321e-03 9.99741086e-01 4.39172644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.280714057 meters Centerline goodness : 0.983972 Centerline is valid? [True, True] Translation: X:256.40, Y:188.24, Z:4.39 [[ 6.03572536e-01 -7.97158819e-01 1.54276319e-02 2.56401124e+02] [ 7.96986271e-01 6.03765673e-01 1.67300921e-02 1.88243724e+02] [-2.26512150e-02 2.19778666e-03 9.99741013e-01 4.39211716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3107140569999 meters Centerline goodness : 0.985254 Centerline is valid? [True, True] Translation: X:256.42, Y:188.27, Z:4.39 [[ 6.02118147e-01 -7.98257033e-01 1.54740885e-02 2.56421928e+02] [ 7.98085869e-01 6.02312557e-01 1.66891957e-02 1.88266196e+02] [-2.26425057e-02 2.30078380e-03 9.99740978e-01 4.39184775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3407140569999 meters Centerline goodness : 0.985243 Centerline is valid? [True, True] Translation: X:256.44, Y:188.29, Z:4.39 [[ 6.01408287e-01 -7.98790102e-01 1.55706258e-02 2.56438532e+02] [ 7.98621265e-01 6.01604832e-01 1.66042568e-02 1.88286380e+02] [-2.26306797e-02 2.44909522e-03 9.99740894e-01 4.39240245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.370714057 meters Centerline goodness : 0.985904 Centerline is valid? [True, True] Translation: X:256.46, Y:188.31, Z:4.39 [[ 6.00138774e-01 -7.99747554e-01 1.54046004e-02 2.56459747e+02] [ 7.99575352e-01 6.00332173e-01 1.67492747e-02 1.88311577e+02] [-2.26430687e-02 2.26524960e-03 9.99741047e-01 4.39191174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.400714057 meters Centerline goodness : 0.985750 Centerline is valid? [True, True] Translation: X:256.48, Y:188.34, Z:4.39 [[ 5.99915111e-01 -7.99913390e-01 1.55057269e-02 2.56480551e+02] [ 7.99743477e-01 6.00110642e-01 1.66609910e-02 1.88336977e+02] [-2.26325015e-02 2.40542366e-03 9.99740958e-01 4.39192490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4307140569999 meters Centerline goodness : 0.987248 Centerline is valid? [True, True] Translation: X:256.50, Y:188.36, Z:4.39 [[ 6.00983819e-01 -7.99110646e-01 1.55120706e-02 2.56499178e+02] [ 7.98940612e-01 6.01179253e-01 1.66554536e-02 1.88360548e+02] [-2.26350853e-02 2.38356507e-03 9.99740952e-01 4.39018567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4607140569999 meters Centerline goodness : 0.986085 Centerline is valid? [True, True] Translation: X:256.52, Y:188.38, Z:4.39 [[ 6.01323416e-01 -7.98855654e-01 1.54852960e-02 2.56517503e+02] [ 7.98684945e-01 6.01518226e-01 1.66788278e-02 1.88383515e+02] [-2.26386637e-02 2.33850305e-03 9.99740978e-01 4.39270308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.490714057 meters Centerline goodness : 0.983626 Centerline is valid? [True, True] Translation: X:256.53, Y:188.40, Z:4.40 [[ 6.02939637e-01 -7.97638002e-01 1.54081699e-02 2.56534155e+02] [ 7.97465198e-01 6.03132506e-01 1.67463125e-02 1.88402627e+02] [-2.26506634e-02 2.19046371e-03 9.99741041e-01 4.39735585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.520714057 meters Centerline goodness : 0.986098 Centerline is valid? [True, True] Translation: X:256.55, Y:188.43, Z:4.39 [[ 6.02417037e-01 -7.98035939e-01 1.52431655e-02 2.56554681e+02] [ 7.97859658e-01 6.02606581e-01 1.68900445e-02 1.88428389e+02] [-2.26644944e-02 1.98705629e-03 9.99741153e-01 4.39195542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5507140569999 meters Centerline goodness : 0.985790 Centerline is valid? [True, True] Translation: X:256.57, Y:188.45, Z:4.39 [[ 6.05425857e-01 -7.95753695e-01 1.53489300e-02 2.56573582e+02] [ 7.95578997e-01 6.05616950e-01 1.67978774e-02 1.88450336e+02] [-2.26625451e-02 2.04141703e-03 9.99741087e-01 4.39460393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5807140569999 meters Centerline goodness : 0.986126 Centerline is valid? [True, True] Translation: X:256.59, Y:188.48, Z:4.39 [[ 6.05831739e-01 -7.95447428e-01 1.52083339e-02 2.56594932e+02] [ 7.95269589e-01 6.06019793e-01 1.69201577e-02 1.88475099e+02] [-2.26756472e-02 1.84395688e-03 9.99741174e-01 4.39422467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.610714057 meters Centerline goodness : 0.985660 Centerline is valid? [True, True] Translation: X:256.62, Y:188.50, Z:4.39 [[ 6.06134905e-01 -7.95215475e-01 1.52586429e-02 2.56617121e+02] [ 7.95038650e-01 6.06323950e-01 1.68764021e-02 1.88500147e+02] [-2.26720567e-02 1.90183447e-03 9.99741147e-01 4.39325847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.640714057 meters Centerline goodness : 0.985242 Centerline is valid? [True, True] Translation: X:256.64, Y:188.52, Z:4.39 [[ 6.08133271e-01 -7.93687965e-01 1.52754125e-02 2.56640230e+02] [ 7.93511028e-01 6.08322224e-01 1.68618175e-02 1.88523373e+02] [-2.26753945e-02 1.86697604e-03 9.99741137e-01 4.39075923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6707140569999 meters Centerline goodness : 0.986480 Centerline is valid? [True, True] Translation: X:256.66, Y:188.55, Z:4.39 [[ 6.07891002e-01 -7.93873510e-01 1.52767528e-02 2.56664697e+02] [ 7.93696659e-01 6.08080037e-01 1.68606529e-02 1.88548802e+02] [-2.26747141e-02 1.87566849e-03 9.99741136e-01 4.38878458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7007140569999 meters Centerline goodness : 0.985860 Centerline is valid? [True, True] Translation: X:256.69, Y:188.57, Z:4.39 [[ 6.08664653e-01 -7.93277702e-01 1.54216962e-02 2.56687273e+02] [ 7.93103804e-01 6.08856556e-01 1.67346991e-02 1.88572361e+02] [-2.26648645e-02 2.04518606e-03 9.99741027e-01 4.38591514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7307140569999 meters Centerline goodness : 0.987644 Centerline is valid? [True, True] Translation: X:256.71, Y:188.60, Z:4.38 [[ 6.07869669e-01 -7.93886917e-01 1.54281593e-02 2.56711460e+02] [ 7.93713353e-01 6.08061881e-01 1.67290851e-02 1.88596774e+02] [-2.26622773e-02 2.07643258e-03 9.99741021e-01 4.38124709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.760714057 meters Centerline goodness : 0.986812 Centerline is valid? [True, True] Translation: X:256.73, Y:188.62, Z:4.38 [[ 6.07025692e-01 -7.94530496e-01 1.55273822e-02 2.56732854e+02] [ 7.94359305e-01 6.07220150e-01 1.66428612e-02 1.88619812e+02] [-2.26518002e-02 2.23167620e-03 9.99740924e-01 4.38261225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.790714057 meters Centerline goodness : 0.987082 Centerline is valid? [True, True] Translation: X:256.76, Y:188.64, Z:4.38 [[ 6.05041105e-01 -7.96043121e-01 1.55116378e-02 2.56756198e+02] [ 7.95872069e-01 6.05235664e-01 1.66565451e-02 1.88641708e+02] [-2.26475245e-02 2.26738487e-03 9.99740941e-01 4.37891486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8207140569999 meters Centerline goodness : 0.984722 Centerline is valid? [True, True] Translation: X:256.78, Y:188.66, Z:4.38 [[ 6.05776507e-01 -7.95483156e-01 1.55361565e-02 2.56775484e+02] [ 7.95312463e-01 6.05971415e-01 1.66352366e-02 1.88661857e+02] [-2.26475172e-02 2.27886331e-03 9.99740915e-01 4.38034533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8507140569999 meters Centerline goodness : 0.986046 Centerline is valid? [True, True] Translation: X:256.79, Y:188.68, Z:4.38 [[ 6.03904579e-01 -7.96908197e-01 1.53813302e-02 2.56793486e+02] [ 7.96734568e-01 6.04096681e-01 1.67698498e-02 1.88681639e+02] [-2.26558413e-02 2.12744840e-03 9.99741060e-01 4.37532457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.880714057 meters Centerline goodness : 0.986561 Centerline is valid? [True, True] Translation: X:256.82, Y:188.71, Z:4.38 [[ 6.02493026e-01 -7.97978213e-01 1.52619190e-02 2.56817507e+02] [ 7.97802329e-01 6.02682945e-01 1.68733961e-02 1.88706939e+02] [-2.26627007e-02 2.00989104e-03 9.99741148e-01 4.37595210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.910714057 meters Centerline goodness : 0.985450 Centerline is valid? [True, True] Translation: X:256.84, Y:188.73, Z:4.38 [[ 6.00991914e-01 -7.99106863e-01 1.53928585e-02 2.56837407e+02] [ 7.98934189e-01 6.01184888e-01 1.67598698e-02 1.88728340e+02] [-2.26468809e-02 2.22533470e-03 9.99741050e-01 4.37808239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9407140569999 meters Centerline goodness : 0.984755 Centerline is valid? [True, True] Translation: X:256.86, Y:188.75, Z:4.38 [[ 6.00828008e-01 -7.99232095e-01 1.52893063e-02 2.56860636e+02] [ 7.99057207e-01 6.01018864e-01 1.68494593e-02 1.88752632e+02] [-2.26557902e-02 2.09340332e-03 9.99741133e-01 4.37807167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9707140569999 meters Centerline goodness : 0.986678 Centerline is valid? [True, True] Translation: X:256.88, Y:188.78, Z:4.38 [[ 5.98913022e-01 -8.00666481e-01 1.53745936e-02 2.56882648e+02] [ 8.00493907e-01 5.99106066e-01 1.67757736e-02 1.88776605e+02] [-2.26428119e-02 2.26003921e-03 9.99741064e-01 4.37514254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.000714057 meters Centerline goodness : 0.985415 Centerline is valid? [True, True] Translation: X:256.90, Y:188.80, Z:4.38 [[ 5.98770692e-01 -8.00772483e-01 1.53977128e-02 2.56900609e+02] [ 8.00600448e-01 5.98964245e-01 1.67558038e-02 1.88797602e+02] [-2.26402661e-02 2.29453152e-03 9.99741043e-01 4.37543491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.030714057 meters Centerline goodness : 0.984269 Centerline is valid? [True, True] Translation: X:256.92, Y:188.82, Z:4.38 [[ 5.98217550e-01 -8.01189216e-01 1.52185146e-02 2.56924586e+02] [ 8.01013419e-01 5.98407502e-01 1.69104790e-02 1.88820884e+02] [-2.26553667e-02 2.07408906e-03 9.99741183e-01 4.37721268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0607140569999 meters Centerline goodness : 0.984406 Centerline is valid? [True, True] Translation: X:256.95, Y:188.85, Z:4.38 [[ 5.97551161e-01 -8.01685412e-01 1.52679228e-02 2.56947697e+02] [ 8.01510843e-01 5.97742288e-01 1.68678620e-02 1.88846427e+02] [-2.26490020e-02 2.15799514e-03 9.99741149e-01 4.37591296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0907140569999 meters Centerline goodness : 0.984410 Centerline is valid? [True, True] Translation: X:256.97, Y:188.87, Z:4.38 [[ 5.96897681e-01 -8.02169740e-01 1.53904633e-02 2.56968792e+02] [ 8.01997997e-01 5.97091486e-01 1.67621576e-02 1.88867907e+02] [-2.26356102e-02 2.33782772e-03 9.99741048e-01 4.37886459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.120714057 meters Centerline goodness : 0.983253 Centerline is valid? [True, True] Translation: X:256.99, Y:188.89, Z:4.38 [[ 5.96736616e-01 -8.02290411e-01 1.53462364e-02 2.56989047e+02] [ 8.02117743e-01 5.96929542e-01 1.68002354e-02 1.88891706e+02] [-2.26392897e-02 2.28417289e-03 9.99741089e-01 4.37619800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.150714057 meters Centerline goodness : 0.983575 Centerline is valid? [True, True] Translation: X:257.01, Y:188.91, Z:4.37 [[ 5.97101098e-01 -8.02019580e-01 1.53255670e-02 2.57010471e+02] [ 8.01846374e-01 5.97293518e-01 1.68180228e-02 1.88913698e+02] [-2.26422454e-02 2.24669045e-03 9.99741107e-01 4.37216807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1807140569999 meters Centerline goodness : 0.982543 Centerline is valid? [True, True] Translation: X:257.03, Y:188.93, Z:4.37 [[ 5.97599283e-01 -8.01648510e-01 1.53219727e-02 2.57029217e+02] [ 8.01475107e-01 5.97791521e-01 1.68211164e-02 1.88933102e+02] [-2.26439683e-02 2.22789261e-03 9.99741110e-01 4.37203785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2107140569999 meters Centerline goodness : 0.981817 Centerline is valid? [True, True] Translation: X:257.05, Y:188.95, Z:4.37 [[ 5.98801908e-01 -8.00751178e-01 1.52913807e-02 2.57046257e+02] [ 8.00576824e-01 5.98993249e-01 1.68474340e-02 1.88951991e+02] [-2.26500364e-02 2.15364942e-03 9.99741135e-01 4.37202238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.240714057 meters Centerline goodness : 0.981178 Centerline is valid? [True, True] Translation: X:257.06, Y:188.97, Z:4.37 [[ 5.98273949e-01 -8.01147257e-01 1.52103565e-02 2.57061520e+02] [ 8.00971280e-01 5.98463718e-01 1.69170933e-02 1.88971441e+02] [-2.26559294e-02 2.06200249e-03 9.99741195e-01 4.37086846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.270714057 meters Centerline goodness : 0.981944 Centerline is valid? [True, True] Translation: X:257.08, Y:189.00, Z:4.37 [[ 5.96899272e-01 -8.02174872e-01 1.50576833e-02 2.57083226e+02] [ 8.01995952e-01 5.97086144e-01 1.70478530e-02 1.88996956e+02] [-2.26660933e-02 1.90035006e-03 9.99741285e-01 4.37078058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3007140569999 meters Centerline goodness : 0.981140 Centerline is valid? [True, True] Translation: X:257.10, Y:189.02, Z:4.37 [[ 5.98656553e-01 -8.00862850e-01 1.51336380e-02 2.57104503e+02] [ 8.00685140e-01 5.98844630e-01 1.69827730e-02 1.89019538e+02] [-2.26635699e-02 1.95043070e-03 9.99741246e-01 4.37131570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3307140569999 meters Centerline goodness : 0.981935 Centerline is valid? [True, True] Translation: X:257.12, Y:189.04, Z:4.37 [[ 5.97168564e-01 -8.01972705e-01 1.51488422e-02 2.57121141e+02] [ 8.01795671e-01 5.97357289e-01 1.69697256e-02 1.89040968e+02] [-2.26585280e-02 2.01248944e-03 9.99741237e-01 4.37014972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.360714057 meters Centerline goodness : 0.981643 Centerline is valid? [True, True] Translation: X:257.14, Y:189.07, Z:4.37 [[ 5.97817376e-01 -8.01490115e-01 1.50989932e-02 2.57141321e+02] [ 8.01311864e-01 5.98004912e-01 1.70123856e-02 1.89065601e+02] [-2.26645310e-02 1.92870264e-03 9.99741266e-01 4.36973138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.390714057 meters Centerline goodness : 0.981643 Centerline is valid? [True, True] Translation: X:257.16, Y:189.09, Z:4.37 [[ 5.97675090e-01 -8.01596968e-01 1.50594578e-02 2.57162986e+02] [ 8.01417908e-01 5.97861826e-01 1.70462034e-02 1.89091052e+02] [-2.26676599e-02 1.88082801e-03 9.99741286e-01 4.36895072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4207140569999 meters Centerline goodness : 0.983119 Centerline is valid? [True, True] Translation: X:257.18, Y:189.12, Z:4.37 [[ 5.98758789e-01 -8.00787769e-01 1.50619329e-02 2.57184978e+02] [ 8.00608509e-01 5.98945335e-01 1.70440863e-02 1.89115840e+02] [-2.26699703e-02 1.85341519e-03 9.99741285e-01 4.36646898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4507140569999 meters Centerline goodness : 0.982419 Centerline is valid? [True, True] Translation: X:257.20, Y:189.14, Z:4.37 [[ 5.98253512e-01 -8.01163652e-01 1.51505493e-02 2.57198839e+02] [ 8.00986401e-01 5.98442033e-01 1.69681846e-02 1.89137197e+02] [-2.26610183e-02 1.98410797e-03 9.99741237e-01 4.37057034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4807140569999 meters Centerline goodness : 0.983201 Centerline is valid? [True, True] Translation: X:257.22, Y:189.16, Z:4.37 [[ 5.98163186e-01 -8.01234345e-01 1.49775462e-02 2.57217553e+02] [ 8.01053439e-01 5.98348082e-01 1.71160682e-02 1.89160164e+02] [-2.26757677e-02 1.75961299e-03 9.99741323e-01 4.36963345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.510714057 meters Centerline goodness : 0.982681 Centerline is valid? [True, True] Translation: X:257.23, Y:189.18, Z:4.37 [[ 5.95255074e-01 -8.03397530e-01 1.49601403e-02 2.57227315e+02] [ 8.03216925e-01 5.95440258e-01 1.71309838e-02 1.89180263e+02] [-2.26708599e-02 1.81893287e-03 9.99741328e-01 4.36704202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.540714057 meters Centerline goodness : 0.982037 Centerline is valid? [True, True] Translation: X:257.25, Y:189.20, Z:4.37 [[ 5.95109595e-01 -8.03511696e-01 1.46124895e-02 2.57246807e+02] [ 8.03323822e-01 5.95287398e-01 1.74284321e-02 1.89201417e+02] [-2.27025799e-02 1.36673378e-03 9.99741329e-01 4.36531890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5707140569999 meters Centerline goodness : 0.981679 Centerline is valid? [True, True] Translation: X:257.27, Y:189.22, Z:4.36 [[ 5.92426363e-01 -8.05491685e-01 1.46338476e-02 2.57265996e+02] [ 8.05304852e-01 5.92605251e-01 1.74101396e-02 1.89224108e+02] [-2.26958176e-02 1.47048278e-03 9.99741335e-01 4.36367054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6007140569999 meters Centerline goodness : 0.984086 Centerline is valid? [True, True] Translation: X:257.28, Y:189.25, Z:4.36 [[ 5.89346167e-01 -8.07746846e-01 1.47013103e-02 2.57283744e+02] [ 8.07562115e-01 5.89527205e-01 1.73523747e-02 1.89247463e+02] [-2.26831483e-02 1.64566568e-03 9.99741350e-01 4.36394895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.630714057 meters Centerline goodness : 0.983224 Centerline is valid? [True, True] Translation: X:257.30, Y:189.27, Z:4.36 [[ 5.88815747e-01 -8.08133495e-01 1.47061731e-02 2.57304200e+02] [ 8.07948986e-01 5.88997009e-01 1.73482107e-02 1.89266443e+02] [-2.26815621e-02 1.66693795e-03 9.99741351e-01 4.36361837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.660714057 meters Centerline goodness : 0.983757 Centerline is valid? [True, True] Translation: X:257.33, Y:189.29, Z:4.36 [[ 5.85960699e-01 -8.10206367e-01 1.46867874e-02 2.57325149e+02] [ 8.10022089e-01 5.86142200e-01 1.73647940e-02 1.89291911e+02] [-2.26776126e-02 1.72153537e-03 9.99741348e-01 4.36309874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6907140569999 meters Centerline goodness : 0.983964 Centerline is valid? [True, True] Translation: X:257.34, Y:189.31, Z:4.36 [[ 5.84975048e-01 -8.10914903e-01 1.48732466e-02 2.57341096e+02] [ 8.10734807e-01 5.85160701e-01 1.72054436e-02 1.89312507e+02] [-2.26553900e-02 1.99350353e-03 9.99741346e-01 4.36335984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7207140569999 meters Centerline goodness : 0.984290 Centerline is valid? [True, True] Translation: X:257.36, Y:189.34, Z:4.36 [[ 5.84111154e-01 -8.11540206e-01 1.47191601e-02 2.57356689e+02] [ 8.11357031e-01 5.84293759e-01 1.73369970e-02 1.89335642e+02] [-2.26699835e-02 1.81576070e-03 9.99741354e-01 4.36043433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.750714057 meters Centerline goodness : 0.985389 Centerline is valid? [True, True] Translation: X:257.37, Y:189.36, Z:4.36 [[ 5.81756773e-01 -8.13230481e-01 1.46711025e-02 2.57374761e+02] [ 8.13046818e-01 5.81938895e-01 1.73779979e-02 1.89360998e+02] [-2.26700028e-02 1.81852523e-03 9.99741349e-01 4.35671267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.780714057 meters Centerline goodness : 0.984242 Centerline is valid? [True, True] Translation: X:257.39, Y:189.38, Z:4.36 [[ 5.84259365e-01 -8.11431384e-01 1.48359090e-02 2.57390796e+02] [ 8.11250653e-01 5.84444395e-01 1.72373754e-02 1.89379067e+02] [-2.26577112e-02 1.96454289e-03 9.99741351e-01 4.36231038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8107140569999 meters Centerline goodness : 0.984446 Centerline is valid? [True, True] Translation: X:257.41, Y:189.40, Z:4.36 [[ 5.84169969e-01 -8.11500484e-01 1.45743703e-02 2.57407454e+02] [ 8.11314248e-01 5.84349490e-01 1.74603689e-02 1.89403344e+02] [-2.26856236e-02 1.62457109e-03 9.99741328e-01 4.36045899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8407140569999 meters Centerline goodness : 0.985702 Centerline is valid? [True, True] Translation: X:257.42, Y:189.42, Z:4.36 [[ 5.84801413e-01 -8.11045191e-01 1.45947152e-02 2.57423802e+02] [ 8.10859243e-01 5.84981221e-01 1.74430274e-02 1.89422940e+02] [-2.26847178e-02 1.63355261e-03 9.99741334e-01 4.36021491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.870714057 meters Centerline goodness : 0.984988 Centerline is valid? [True, True] Translation: X:257.44, Y:189.44, Z:4.36 [[ 5.85083428e-01 -8.10843784e-01 1.44824156e-02 2.57438446e+02] [ 8.10655432e-01 5.85260772e-01 1.75385110e-02 1.89442285e+02] [-2.26969823e-02 1.47875677e-03 9.99741297e-01 4.36096036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.900714057 meters Centerline goodness : 0.990549 Centerline is valid? [True, True] Translation: X:257.46, Y:189.47, Z:4.35 [[ 5.80240079e-01 -8.14319580e-01 1.43203561e-02 2.57459782e+02] [ 8.14128924e-01 5.80415072e-01 1.76759538e-02 1.89471138e+02] [-2.27056258e-02 1.40231930e-03 9.99741211e-01 4.35436915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9307140569999 meters Centerline goodness : 0.986337 Centerline is valid? [True, True] Translation: X:257.48, Y:189.49, Z:4.36 [[ 5.84401296e-01 -8.11331216e-01 1.47235587e-02 2.57475633e+02] [ 8.11148064e-01 5.84583928e-01 1.73334658e-02 1.89488941e+02] [-2.26703376e-02 1.81328626e-03 9.99741350e-01 4.35786815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9607140569999 meters Centerline goodness : 0.989656 Centerline is valid? [True, True] Translation: X:257.49, Y:189.52, Z:4.35 [[ 5.80804326e-01 -8.13914184e-01 1.44926011e-02 2.57493572e+02] [ 8.13726992e-01 5.80982876e-01 1.75293901e-02 1.89515030e+02] [-2.26873723e-02 1.61187516e-03 9.99741309e-01 4.35209825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.990714057 meters Centerline goodness : 0.985783 Centerline is valid? [True, True] Translation: X:257.51, Y:189.53, Z:4.36 [[ 5.87392667e-01 -8.09168245e-01 1.47175067e-02 2.57509748e+02] [ 8.08984296e-01 5.87574494e-01 1.73384837e-02 1.89531211e+02] [-2.26773820e-02 1.72173355e-03 9.99741353e-01 4.35789683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.020714057 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:257.53, Y:189.56, Z:4.35 [[ 5.84392124e-01 -8.11342103e-01 1.44857903e-02 2.57529465e+02] [ 8.11153980e-01 5.84569700e-01 1.75352927e-02 1.89559847e+02] [-2.26950754e-02 1.50271954e-03 9.99741304e-01 4.35110393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0507140569999 meters Centerline goodness : 0.986930 Centerline is valid? [True, True] Translation: X:257.55, Y:189.58, Z:4.35 [[ 5.89821941e-01 -8.07398994e-01 1.47289654e-02 2.57548091e+02] [ 8.07214742e-01 5.90003458e-01 1.73286002e-02 1.89581088e+02] [-2.26812349e-02 1.66864941e-03 9.99741355e-01 4.35234803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0807140569999 meters Centerline goodness : 0.985839 Centerline is valid? [True, True] Translation: X:257.56, Y:189.60, Z:4.35 [[ 5.90629607e-01 -8.06808290e-01 1.47326364e-02 2.57560121e+02] [ 8.06623933e-01 5.90811017e-01 1.73254807e-02 1.89601870e+02] [-2.26825454e-02 1.65075527e-03 9.99741355e-01 4.35389159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.110714057 meters Centerline goodness : 0.990232 Centerline is valid? [True, True] Translation: X:257.58, Y:189.63, Z:4.35 [[ 5.94605972e-01 -8.03887178e-01 1.44617502e-02 2.57578825e+02] [ 8.03696347e-01 5.94780633e-01 1.75550664e-02 1.89627055e+02] [-2.27138617e-02 1.18450848e-03 9.99741305e-01 4.35268377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.140714057 meters Centerline goodness : 0.983314 Centerline is valid? [True, True] Translation: X:257.60, Y:189.65, Z:4.36 [[ 6.01345187e-01 -7.98853930e-01 1.47093562e-02 2.57597549e+02] [ 7.98666692e-01 6.01523618e-01 1.73450877e-02 1.89645052e+02] [-2.27042166e-02 1.31748789e-03 9.99741358e-01 4.36011796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1707140569999 meters Centerline goodness : 0.985816 Centerline is valid? [True, True] Translation: X:257.62, Y:189.67, Z:4.36 [[ 6.01839851e-01 -7.98484291e-01 1.45475514e-02 2.57615156e+02] [ 7.98293633e-01 6.02014656e-01 1.74822882e-02 1.89669903e+02] [-2.27171717e-02 1.09167990e-03 9.99741336e-01 4.35916386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2007140569999 meters Centerline goodness : 0.984345 Centerline is valid? [True, True] Translation: X:257.63, Y:189.69, Z:4.36 [[ 6.06409602e-01 -7.95017911e-01 1.46258788e-02 2.57632497e+02] [ 7.94827842e-01 6.06585022e-01 1.74158534e-02 1.89691323e+02] [-2.27177545e-02 1.06391498e-03 9.99741352e-01 4.35935520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2307140569999 meters Centerline goodness : 0.986441 Centerline is valid? [True, True] Translation: X:257.65, Y:189.72, Z:4.36 [[ 6.06170771e-01 -7.95201039e-01 1.45706425e-02 2.57650954e+02] [ 7.95009902e-01 6.06345042e-01 1.74626977e-02 1.89715304e+02] [-2.27211922e-02 9.98428143e-04 9.99741342e-01 4.35698672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.260714057 meters Centerline goodness : 0.984404 Centerline is valid? [True, True] Translation: X:257.67, Y:189.73, Z:4.36 [[ 6.05806852e-01 -7.95477840e-01 1.45967032e-02 2.57665078e+02] [ 7.95287311e-01 6.05981780e-01 1.74406020e-02 1.89733127e+02] [-2.27189486e-02 1.04293661e-03 9.99741347e-01 4.36010957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.290714057 meters Centerline goodness : 0.989830 Centerline is valid? [True, True] Translation: X:257.69, Y:189.76, Z:4.35 [[ 6.01407967e-01 -7.98812105e-01 1.44110509e-02 2.57688182e+02] [ 7.98618779e-01 6.01579890e-01 1.75977755e-02 1.89760110e+02] [-2.27267145e-02 9.25493498e-04 9.99741286e-01 4.34980627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3207140569999 meters Centerline goodness : 0.983984 Centerline is valid? [True, True] Translation: X:257.71, Y:189.78, Z:4.35 [[ 6.03881453e-01 -7.96938557e-01 1.47012592e-02 2.57709345e+02] [ 7.96750588e-01 6.04059113e-01 1.73519010e-02 1.89779437e+02] [-2.27088285e-02 1.23474571e-03 9.99741359e-01 4.35254515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3507140569999 meters Centerline goodness : 0.989079 Centerline is valid? [True, True] Translation: X:257.73, Y:189.80, Z:4.35 [[ 5.99429534e-01 -8.00294189e-01 1.46097542e-02 2.57725974e+02] [ 8.00105335e-01 5.99606262e-01 1.74293846e-02 1.89803476e+02] [-2.27087353e-02 1.24165436e-03 9.99741352e-01 4.34516469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.380714057 meters Centerline goodness : 0.989169 Centerline is valid? [True, True] Translation: X:257.75, Y:189.82, Z:4.34 [[ 5.97651150e-01 -8.01621570e-01 1.46956163e-02 2.57745413e+02] [ 8.01434875e-01 5.97830148e-01 1.73566868e-02 1.89824654e+02] [-2.26989770e-02 1.40433562e-03 9.99741359e-01 4.34238572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.410714057 meters Centerline goodness : 0.989001 Centerline is valid? [True, True] Translation: X:257.76, Y:189.85, Z:4.34 [[ 5.96820012e-01 -8.02240632e-01 1.46915570e-02 2.57763082e+02] [ 8.02054039e-01 5.96999117e-01 1.73601221e-02 1.89845362e+02] [-2.26978419e-02 1.42255429e-03 9.99741359e-01 4.34079256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4407140569999 meters Centerline goodness : 0.988305 Centerline is valid? [True, True] Translation: X:257.78, Y:189.87, Z:4.34 [[ 5.95247154e-01 -8.03408391e-01 1.46895445e-02 2.57784723e+02] [ 8.03222108e-01 5.95426581e-01 1.73618248e-02 1.89871062e+02] [-2.26951810e-02 1.46439010e-03 9.99741359e-01 4.34245771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4707140569999 meters Centerline goodness : 0.983181 Centerline is valid? [True, True] Translation: X:257.81, Y:189.89, Z:4.35 [[ 5.99220677e-01 -8.00449032e-01 1.46944751e-02 2.57809467e+02] [ 8.00261963e-01 5.99399285e-01 1.73576507e-02 1.89891054e+02] [-2.27017726e-02 1.35836627e-03 9.99741359e-01 4.34677354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.500714057 meters Centerline goodness : 0.984696 Centerline is valid? [True, True] Translation: X:257.83, Y:189.91, Z:4.35 [[ 5.97571179e-01 -8.01679917e-01 1.47647363e-02 2.57829377e+02] [ 8.01494668e-01 5.97751679e-01 1.72981608e-02 1.89912948e+02] [-2.26932340e-02 1.49697510e-03 9.99741355e-01 4.34714294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.530714057 meters Centerline goodness : 0.984720 Centerline is valid? [True, True] Translation: X:257.84, Y:189.93, Z:4.35 [[ 5.95386945e-01 -8.03302477e-01 1.48160929e-02 2.57844821e+02] [ 8.03118788e-01 5.95569045e-01 1.72547015e-02 1.89934568e+02] [-2.26847508e-02 1.62585856e-03 9.99741346e-01 4.34694055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5607140569999 meters Centerline goodness : 0.984269 Centerline is valid? [True, True] Translation: X:257.87, Y:189.95, Z:4.34 [[ 5.97718865e-01 -8.01571029e-01 1.46984263e-02 2.57870560e+02] [ 8.01384380e-01 5.97897908e-01 1.73541818e-02 1.89954651e+02] [-2.26987677e-02 1.40616733e-03 9.99741361e-01 4.34447201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5907140569999 meters Centerline goodness : 0.983708 Centerline is valid? [True, True] Translation: X:257.88, Y:189.98, Z:4.35 [[ 5.91233256e-01 -8.06361907e-01 1.49570050e-02 2.57882738e+02] [ 8.06182118e-01 5.91419277e-01 1.71356573e-02 1.89977350e+02] [-2.26634024e-02 1.92689950e-03 9.99741295e-01 4.34595138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.620714057 meters Centerline goodness : 0.984683 Centerline is valid? [True, True] Translation: X:257.91, Y:190.00, Z:4.35 [[ 5.89370706e-01 -8.07728629e-01 1.47184826e-02 2.57905342e+02] [ 8.07544271e-01 5.89552101e-01 1.73369744e-02 1.90000844e+02] [-2.26808829e-02 1.66792149e-03 9.99741364e-01 4.34699425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.650714057 meters Centerline goodness : 0.984426 Centerline is valid? [True, True] Translation: X:257.92, Y:190.02, Z:4.35 [[ 5.85383817e-01 -8.10618002e-01 1.49746887e-02 2.57917476e+02] [ 8.10439941e-01 5.85571503e-01 1.71206477e-02 1.90021181e+02] [-2.26470563e-02 2.11393574e-03 9.99741288e-01 4.34583651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6807140569999 meters Centerline goodness : 0.983622 Centerline is valid? [True, True] Translation: X:257.93, Y:190.04, Z:4.34 [[ 5.83260876e-01 -8.12152729e-01 1.46524978e-02 2.57933880e+02] [ 8.11968374e-01 5.83442261e-01 1.73921835e-02 1.90041896e+02] [-2.26739957e-02 1.75318462e-03 9.99741375e-01 4.34353048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7107140569999 meters Centerline goodness : 0.983262 Centerline is valid? [True, True] Translation: X:257.95, Y:190.06, Z:4.34 [[ 5.82642418e-01 -8.12598152e-01 1.45621232e-02 2.57953119e+02] [ 8.12412055e-01 5.82822024e-01 1.74682940e-02 1.90063568e+02] [-2.26818295e-02 1.65267538e-03 9.99741368e-01 4.34331393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.740714057 meters Centerline goodness : 0.984452 Centerline is valid? [True, True] Translation: X:257.98, Y:190.09, Z:4.34 [[ 5.83501637e-01 -8.11980206e-01 1.46282285e-02 2.57975401e+02] [ 8.11795292e-01 5.83682452e-01 1.74126197e-02 1.90086927e+02] [-2.26769428e-02 1.71483491e-03 9.99741374e-01 4.34481386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.770714057 meters Centerline goodness : 0.983518 Centerline is valid? [True, True] Translation: X:257.99, Y:190.11, Z:4.34 [[ 5.81316132e-01 -8.13542699e-01 1.48266899e-02 2.57988587e+02] [ 8.13362437e-01 5.81501623e-01 1.72455369e-02 1.90108656e+02] [-2.26517249e-02 2.03436379e-03 9.99741347e-01 4.33990248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8007140569999 meters Centerline goodness : 0.983659 Centerline is valid? [True, True] Translation: X:258.01, Y:190.13, Z:4.34 [[ 5.82918807e-01 -8.12399695e-01 1.45739501e-02 2.58010870e+02] [ 8.12213789e-01 5.83098601e-01 1.74580131e-02 1.90133062e+02] [-2.26809344e-02 1.66055905e-03 9.99741375e-01 4.34090953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8307140569999 meters Centerline goodness : 0.982427 Centerline is valid? [True, True] Translation: X:258.02, Y:190.15, Z:4.34 [[ 5.81954167e-01 -8.13084448e-01 1.49341175e-02 2.58021043e+02] [ 8.12906312e-01 5.82141761e-01 1.71551275e-02 1.90152205e+02] [-2.26423408e-02 2.15654041e-03 9.99741303e-01 4.34022337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.860714057 meters Centerline goodness : 0.983608 Centerline is valid? [True, True] Translation: X:258.04, Y:190.18, Z:4.34 [[ 5.84590841e-01 -8.11198785e-01 1.44941145e-02 2.58044852e+02] [ 8.11010880e-01 5.84768544e-01 1.75243631e-02 1.90178154e+02] [-2.26914443e-02 1.51030238e-03 9.99741375e-01 4.33779593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.890714057 meters Centerline goodness : 0.983347 Centerline is valid? [True, True] Translation: X:258.06, Y:190.20, Z:4.34 [[ 5.82856773e-01 -8.12436598e-01 1.49918870e-02 2.58055848e+02] [ 8.12259485e-01 5.83045371e-01 1.71062677e-02 1.90199384e+02] [-2.26387083e-02 2.20679844e-03 9.99741276e-01 4.33808031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9207140569999 meters Centerline goodness : 0.983359 Centerline is valid? [True, True] Translation: X:258.07, Y:190.22, Z:4.34 [[ 5.83504542e-01 -8.11978879e-01 1.45859094e-02 2.58069800e+02] [ 8.11793122e-01 5.83684454e-01 1.74466262e-02 1.90219990e+02] [-2.26798606e-02 1.66055531e-03 9.99741400e-01 4.33798049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9507140569999 meters Centerline goodness : 0.983019 Centerline is valid? [True, True] Translation: X:258.09, Y:190.24, Z:4.34 [[ 5.83509880e-01 -8.11977185e-01 1.44662260e-02 2.58087553e+02] [ 8.11788962e-01 5.83687234e-01 1.75468955e-02 1.90242358e+02] [-2.26914303e-02 1.50473570e-03 9.99741384e-01 4.33670695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9807140569999 meters Centerline goodness : 0.985052 Centerline is valid? [True, True] Translation: X:258.10, Y:190.27, Z:4.34 [[ 5.84084721e-01 -8.11563184e-01 1.44995449e-02 2.58104330e+02] [ 8.11375520e-01 5.84262656e-01 1.75189900e-02 1.90266268e+02] [-2.26893099e-02 1.53200140e-03 9.99741391e-01 4.33522955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.010714057 meters Centerline goodness : 0.984531 Centerline is valid? [True, True] Translation: X:258.12, Y:190.29, Z:4.33 [[ 5.84216030e-01 -8.11468194e-01 1.45258614e-02 2.58119973e+02] [ 8.11281041e-01 5.84394498e-01 1.74969544e-02 1.90288461e+02] [-2.26870554e-02 1.56255472e-03 9.99741395e-01 4.33486210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.040714057 meters Centerline goodness : 0.985203 Centerline is valid? [True, True] Translation: X:258.14, Y:190.31, Z:4.33 [[ 5.84548813e-01 -8.11229344e-01 1.44788379e-02 2.58135307e+02] [ 8.11041153e-01 5.84726197e-01 1.75363062e-02 1.90310915e+02] [-2.26921220e-02 1.49210639e-03 9.99741387e-01 4.33451416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0707140569999 meters Centerline goodness : 0.983527 Centerline is valid? [True, True] Translation: X:258.16, Y:190.33, Z:4.34 [[ 5.88275070e-01 -8.08531870e-01 1.44449814e-02 2.58161375e+02] [ 8.08342177e-01 5.88450856e-01 1.75646175e-02 1.90333251e+02] [-2.27017147e-02 1.34366110e-03 9.99741380e-01 4.33562404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1007140569999 meters Centerline goodness : 0.984026 Centerline is valid? [True, True] Translation: X:258.18, Y:190.35, Z:4.34 [[ 5.86877794e-01 -8.09539665e-01 1.48319568e-02 2.58175655e+02] [ 8.09358227e-01 5.87062157e-01 1.72419329e-02 1.90354196e+02] [-2.26653091e-02 1.88545875e-03 9.99741331e-01 4.33776789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.130714057 meters Centerline goodness : 0.984436 Centerline is valid? [True, True] Translation: X:258.19, Y:190.38, Z:4.34 [[ 5.84395907e-01 -8.11335986e-01 1.46745401e-02 2.58194495e+02] [ 8.11151852e-01 5.84577500e-01 1.73729467e-02 1.90380053e+02] [-2.26737028e-02 1.75060145e-03 9.99741386e-01 4.33774820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.160714057 meters Centerline goodness : 0.984562 Centerline is valid? [True, True] Translation: X:258.21, Y:190.40, Z:4.34 [[ 5.85661616e-01 -8.10422563e-01 1.46881101e-02 2.58213970e+02] [ 8.10238426e-01 5.85843209e-01 1.73616494e-02 1.90402970e+02] [-2.26752019e-02 1.73281956e-03 9.99741383e-01 4.33693589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1907140569999 meters Centerline goodness : 0.985401 Centerline is valid? [True, True] Translation: X:258.23, Y:190.43, Z:4.34 [[ 5.84779184e-01 -8.11060003e-01 1.46621309e-02 2.58233022e+02] [ 8.10875528e-01 5.84960426e-01 1.73832814e-02 1.90428598e+02] [-2.26756506e-02 1.72378206e-03 9.99741388e-01 4.33694493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2207140569999 meters Centerline goodness : 0.986127 Centerline is valid? [True, True] Translation: X:258.25, Y:190.45, Z:4.34 [[ 5.85840370e-01 -8.10294257e-01 1.46382613e-02 2.58250831e+02] [ 8.10109053e-01 5.86020863e-01 1.74031571e-02 1.90453402e+02] [-2.26800047e-02 1.66311602e-03 9.99741392e-01 4.33617781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.250714057 meters Centerline goodness : 0.987286 Centerline is valid? [True, True] Translation: X:258.27, Y:190.48, Z:4.33 [[ 5.86409800e-01 -8.09881447e-01 1.46829381e-02 2.58273048e+02] [ 8.09697035e-01 5.86591114e-01 1.73659760e-02 1.90480122e+02] [-2.26772628e-02 1.70515295e-03 9.99741384e-01 4.33440782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.280714057 meters Centerline goodness : 0.986671 Centerline is valid? [True, True] Translation: X:258.29, Y:190.50, Z:4.34 [[ 5.87478339e-01 -8.09104171e-01 1.48203322e-02 2.58289210e+02] [ 8.08922356e-01 5.87662322e-01 1.72515740e-02 1.90504644e+02] [-2.26676713e-02 1.85357200e-03 9.99741337e-01 4.33578821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3107140569999 meters Centerline goodness : 0.986671 Centerline is valid? [True, True] Translation: X:258.31, Y:190.53, Z:4.33 [[ 5.87431841e-01 -8.09139820e-01 1.47168007e-02 2.58310642e+02] [ 8.08955877e-01 5.87613641e-01 1.73377457e-02 1.90530354e+02] [-2.26764533e-02 1.72049855e-03 9.99741376e-01 4.33496818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3407140569999 meters Centerline goodness : 0.985582 Centerline is valid? [True, True] Translation: X:258.33, Y:190.56, Z:4.33 [[ 5.87252326e-01 -8.09270132e-01 1.47159122e-02 2.58328897e+02] [ 8.09086211e-01 5.87434149e-01 1.73384851e-02 1.90556148e+02] [-2.26761475e-02 1.72437599e-03 9.99741376e-01 4.33483302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.370714057 meters Centerline goodness : 0.986661 Centerline is valid? [True, True] Translation: X:258.35, Y:190.58, Z:4.33 [[ 5.88362942e-01 -8.08463714e-01 1.46789839e-02 2.58346072e+02] [ 8.08278785e-01 5.88543725e-01 1.73692166e-02 1.90580624e+02] [-2.26816052e-02 1.64530792e-03 9.99741385e-01 4.33463686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.400714057 meters Centerline goodness : 0.985409 Centerline is valid? [True, True] Translation: X:258.37, Y:190.61, Z:4.33 [[ 5.88282767e-01 -8.08523362e-01 1.46068287e-02 2.58366723e+02] [ 8.08336973e-01 5.88462028e-01 1.74292679e-02 1.90605134e+02] [-2.26875343e-02 1.55390180e-03 9.99741397e-01 4.33321416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4307140569999 meters Centerline goodness : 0.985803 Centerline is valid? [True, True] Translation: X:258.38, Y:190.63, Z:4.33 [[ 5.86620713e-01 -8.09729852e-01 1.46187098e-02 2.58382457e+02] [ 8.09544075e-01 5.86800610e-01 1.74193801e-02 1.90627926e+02] [-2.26832599e-02 1.61592071e-03 9.99741396e-01 4.33169299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4607140569999 meters Centerline goodness : 0.984928 Centerline is valid? [True, True] Translation: X:258.40, Y:190.65, Z:4.33 [[ 5.86249072e-01 -8.09999863e-01 1.45687148e-02 2.58399729e+02] [ 8.09813145e-01 5.86427987e-01 1.74609685e-02 1.90649553e+02] [-2.26868842e-02 1.56146015e-03 9.99741400e-01 4.33060470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.490714057 meters Centerline goodness : 0.986505 Centerline is valid? [True, True] Translation: X:258.41, Y:190.67, Z:4.33 [[ 5.84101580e-01 -8.11549927e-01 1.45622871e-02 2.58414979e+02] [ 8.11363553e-01 5.84280852e-01 1.74663125e-02 1.90671224e+02] [-2.26832502e-02 1.61320821e-03 9.99741400e-01 4.32975555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.520714057 meters Centerline goodness : 0.985318 Centerline is valid? [True, True] Translation: X:258.43, Y:190.69, Z:4.33 [[ 5.83691784e-01 -8.11845417e-01 1.45231184e-02 2.58432687e+02] [ 8.11658332e-01 5.83870313e-01 1.74988588e-02 1.90692310e+02] [-2.26859860e-02 1.57386993e-03 9.99741401e-01 4.33128451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5507140569999 meters Centerline goodness : 0.984416 Centerline is valid? [True, True] Translation: X:258.45, Y:190.71, Z:4.33 [[ 5.82976094e-01 -8.12359339e-01 1.45319723e-02 2.58450074e+02] [ 8.12172593e-01 5.83154977e-01 1.74915040e-02 1.90714739e+02] [-2.26837786e-02 1.60534094e-03 9.99741401e-01 4.33031033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5807140569999 meters Centerline goodness : 0.986676 Centerline is valid? [True, True] Translation: X:258.47, Y:190.74, Z:4.33 [[ 5.81356385e-01 -8.13519372e-01 1.45253028e-02 2.58465388e+02] [ 8.13332846e-01 5.81535498e-01 1.74970418e-02 1.90736945e+02] [-2.26811617e-02 1.64188888e-03 9.99741401e-01 4.32971124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.610714057 meters Centerline goodness : 0.988007 Centerline is valid? [True, True] Translation: X:258.49, Y:190.76, Z:4.33 [[ 5.81435931e-01 -8.13462979e-01 1.44996691e-02 2.58485653e+02] [ 8.13275911e-01 5.81614478e-01 1.75183214e-02 1.90760616e+02] [-2.26837234e-02 1.60645009e-03 9.99741401e-01 4.32807947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.640714057 meters Centerline goodness : 0.987480 Centerline is valid? [True, True] Translation: X:258.50, Y:190.78, Z:4.33 [[ 5.80780481e-01 -8.13929417e-01 1.45923770e-02 2.58504338e+02] [ 8.13744394e-01 5.80961152e-01 1.74413696e-02 1.90783074e+02] [-2.26736480e-02 1.74485795e-03 9.99741397e-01 4.33046327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6707140569999 meters Centerline goodness : 0.988520 Centerline is valid? [True, True] Translation: X:258.52, Y:190.81, Z:4.33 [[ 5.79420584e-01 -8.14898223e-01 1.45833560e-02 2.58523668e+02] [ 8.14713316e-01 5.79601372e-01 1.74488518e-02 1.90808248e+02] [-2.26715714e-02 1.77103044e-03 9.99741398e-01 4.32905562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7007140569999 meters Centerline goodness : 0.987125 Centerline is valid? [True, True] Translation: X:258.54, Y:190.83, Z:4.33 [[ 5.79838894e-01 -8.14599634e-01 1.46387894e-02 2.58540612e+02] [ 8.14415776e-01 5.80020761e-01 1.74028678e-02 1.90828994e+02] [-2.26671715e-02 1.83120140e-03 9.99741390e-01 4.32887271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7307140569999 meters Centerline goodness : 0.987778 Centerline is valid? [True, True] Translation: X:258.56, Y:190.85, Z:4.33 [[ 5.79656737e-01 -8.14730223e-01 1.45853033e-02 2.58560493e+02] [ 8.14545305e-01 5.79837513e-01 1.74472020e-02 1.90854200e+02] [-2.26718688e-02 1.76700210e-03 9.99741399e-01 4.32801963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.760714057 meters Centerline goodness : 0.988502 Centerline is valid? [True, True] Translation: X:258.58, Y:190.88, Z:4.33 [[ 5.79820954e-01 -8.14613307e-01 1.45883850e-02 2.58582461e+02] [ 8.14428416e-01 5.80001758e-01 1.74446480e-02 1.90880658e+02] [-2.26719313e-02 1.76642286e-03 9.99741398e-01 4.32803548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.790714057 meters Centerline goodness : 0.987372 Centerline is valid? [True, True] Translation: X:258.60, Y:190.91, Z:4.32 [[ 5.80519124e-01 -8.14114367e-01 1.46745981e-02 2.58601386e+02] [ 8.13931096e-01 5.80701595e-01 1.73731967e-02 1.90905944e+02] [-2.26653315e-02 1.85863884e-03 9.99741381e-01 4.32392258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8207140569999 meters Centerline goodness : 0.988149 Centerline is valid? [True, True] Translation: X:258.62, Y:190.93, Z:4.32 [[ 5.81123287e-01 -8.13683453e-01 1.46616355e-02 2.58622205e+02] [ 8.13499780e-01 5.81305348e-01 1.73839363e-02 1.90931384e+02] [-2.26679084e-02 1.82502708e-03 9.99741384e-01 4.32333094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8507140569999 meters Centerline goodness : 0.988675 Centerline is valid? [True, True] Translation: X:258.64, Y:190.96, Z:4.32 [[ 5.81765095e-01 -8.13223923e-01 1.47046352e-02 2.58642476e+02] [ 8.13040992e-01 5.81947920e-01 1.73483055e-02 1.90956363e+02] [-2.26653889e-02 1.86283260e-03 9.99741372e-01 4.32110046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.880714057 meters Centerline goodness : 0.986124 Centerline is valid? [True, True] Translation: X:258.66, Y:190.98, Z:4.32 [[ 5.84620214e-01 -8.11173538e-01 1.47206643e-02 2.58663936e+02] [ 8.10990295e-01 5.84802734e-01 1.73350176e-02 1.90980336e+02] [-2.26703923e-02 1.80391424e-03 9.99741366e-01 4.32308223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.910714057 meters Centerline goodness : 0.986578 Centerline is valid? [True, True] Translation: X:258.68, Y:191.00, Z:4.32 [[ 5.84812151e-01 -8.11034385e-01 1.47639560e-02 2.58684358e+02] [ 8.10851992e-01 5.84995544e-01 1.72991207e-02 1.91004689e+02] [-2.26670302e-02 1.85464717e-03 9.99741350e-01 4.32301955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9407140569999 meters Centerline goodness : 0.988048 Centerline is valid? [True, True] Translation: X:258.71, Y:191.03, Z:4.32 [[ 5.83066667e-01 -8.12290242e-01 1.47588756e-02 2.58706924e+02] [ 8.12108140e-01 5.83250344e-01 1.73033242e-02 1.91031416e+02] [-2.26634407e-02 1.89681142e-03 9.99741352e-01 4.32211988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9707140569999 meters Centerline goodness : 0.986351 Centerline is valid? [True, True] Translation: X:258.73, Y:191.05, Z:4.32 [[ 5.84604824e-01 -8.11181656e-01 1.48836012e-02 2.58727426e+02] [ 8.11001787e-01 5.84790783e-01 1.72000548e-02 1.91053708e+02] [-2.26561617e-02 2.01539219e-03 9.99741285e-01 4.32070959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.000714057 meters Centerline goodness : 0.986227 Centerline is valid? [True, True] Translation: X:258.75, Y:191.08, Z:4.32 [[ 5.82812412e-01 -8.12470686e-01 1.48686212e-02 2.58747570e+02] [ 8.12290916e-01 5.82998454e-01 1.72124832e-02 1.91076805e+02] [-2.26530212e-02 2.04599709e-03 9.99741294e-01 4.31874208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.030714057 meters Centerline goodness : 0.986204 Centerline is valid? [True, True] Translation: X:258.77, Y:191.10, Z:4.32 [[ 5.82818251e-01 -8.12466384e-01 1.48748557e-02 2.58765874e+02] [ 8.12286742e-01 5.83004423e-01 1.72073108e-02 1.91097706e+02] [-2.26524683e-02 2.05391325e-03 9.99741290e-01 4.31746715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0607140569999 meters Centerline goodness : 0.986959 Centerline is valid? [True, True] Translation: X:258.79, Y:191.12, Z:4.31 [[ 5.82834679e-01 -8.12454724e-01 1.48680455e-02 2.58785243e+02] [ 8.12274937e-01 5.83020704e-01 1.72129556e-02 1.91120347e+02] [-2.26531254e-02 2.04463329e-03 9.99741294e-01 4.31281194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0907140569999 meters Centerline goodness : 0.987326 Centerline is valid? [True, True] Translation: X:258.81, Y:191.15, Z:4.31 [[ 5.83054211e-01 -8.12297084e-01 1.48739280e-02 2.58808004e+02] [ 8.12117369e-01 5.83240311e-01 1.72081058e-02 1.91147343e+02] [-2.26531685e-02 2.04611675e-03 9.99741290e-01 4.31145424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.120714057 meters Centerline goodness : 0.986798 Centerline is valid? [True, True] Translation: X:258.83, Y:191.17, Z:4.31 [[ 5.84837430e-01 -8.11010182e-01 1.50885733e-02 2.58826360e+02] [ 8.10834526e-01 5.85027618e-01 1.70310734e-02 1.91171768e+02] [-2.26396060e-02 2.27392695e-03 9.99741105e-01 4.31455638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.150714057 meters Centerline goodness : 0.988325 Centerline is valid? [True, True] Translation: X:258.85, Y:191.20, Z:4.31 [[ 5.85576384e-01 -8.10478762e-01 1.49824927e-02 2.58846844e+02] [ 8.10300722e-01 5.85764201e-01 1.71184494e-02 1.91198431e+02] [-2.26503475e-02 2.11616492e-03 9.99741208e-01 4.31159410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1807140569999 meters Centerline goodness : 0.988710 Centerline is valid? [True, True] Translation: X:258.87, Y:191.22, Z:4.31 [[ 5.86974675e-01 -8.09465618e-01 1.50381148e-02 2.58866772e+02] [ 8.09288407e-01 5.87163347e-01 1.70727521e-02 1.91224000e+02] [-2.26496357e-02 2.14889885e-03 9.99741155e-01 4.31010701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2107140569999 meters Centerline goodness : 0.988160 Centerline is valid? [True, True] Translation: X:258.89, Y:191.25, Z:4.31 [[ 5.88150631e-01 -8.08610698e-01 1.50855912e-02 2.58885168e+02] [ 8.08434198e-01 5.88340037e-01 1.70337634e-02 1.91248460e+02] [-2.26491406e-02 2.17728911e-03 9.99741104e-01 4.31135861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.240714057 meters Centerline goodness : 0.987421 Centerline is valid? [True, True] Translation: X:258.90, Y:191.27, Z:4.31 [[ 5.89610776e-01 -8.07547626e-01 1.50321310e-02 2.58904908e+02] [ 8.07369677e-01 5.89798744e-01 1.70776720e-02 1.91272849e+02] [-2.26569655e-02 2.06730731e-03 9.99741161e-01 4.31080751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.270714057 meters Centerline goodness : 0.985261 Centerline is valid? [True, True] Translation: X:258.92, Y:191.30, Z:4.31 [[ 5.90724027e-01 -8.06734812e-01 1.49688714e-02 2.58921906e+02] [ 8.06555301e-01 5.90910419e-01 1.71295962e-02 1.91295187e+02] [-2.26643036e-02 1.95435859e-03 9.99741221e-01 4.31296773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3007140569999 meters Centerline goodness : 0.982573 Centerline is valid? [True, True] Translation: X:258.93, Y:191.31, Z:4.31 [[ 5.92838870e-01 -8.05184310e-01 1.48425491e-02 2.58932915e+02] [ 8.05001727e-01 5.93022115e-01 1.72334162e-02 1.91310033e+02] [-2.26780362e-02 1.73163865e-03 9.99741321e-01 4.30734611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3307140569999 meters Centerline goodness : 0.983386 Centerline is valid? [True, True] Translation: X:258.96, Y:191.34, Z:4.31 [[ 5.92972841e-01 -8.05094226e-01 1.43700018e-02 2.58959661e+02] [ 8.04902143e-01 5.93145882e-01 1.76210751e-02 1.91341408e+02] [-2.27101332e-02 1.11762632e-03 9.99741467e-01 4.31156475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.360714057 meters Centerline goodness : 0.984343 Centerline is valid? [True, True] Translation: X:258.98, Y:191.37, Z:4.31 [[ 5.93336609e-01 -8.04819770e-01 1.47243663e-02 2.58979407e+02] [ 8.04634682e-01 5.93517218e-01 1.73303082e-02 1.91367376e+02] [-2.26869396e-02 1.56502950e-03 9.99741393e-01 4.30910264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.390714057 meters Centerline goodness : 0.986336 Centerline is valid? [True, True] Translation: X:259.00, Y:191.39, Z:4.31 [[ 5.93604309e-01 -8.04622250e-01 1.47295380e-02 2.59001098e+02] [ 8.04437206e-01 5.93784968e-01 1.73260683e-02 1.91394434e+02] [-2.26871183e-02 1.56415961e-03 9.99741391e-01 4.30736869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4207140569999 meters Centerline goodness : 0.987153 Centerline is valid? [True, True] Translation: X:259.02, Y:191.42, Z:4.31 [[ 5.91145731e-01 -8.06429242e-01 1.47852095e-02 2.59022615e+02] [ 8.06245876e-01 5.91328141e-01 1.72805672e-02 1.91421702e+02] [-2.26784652e-02 1.70518070e-03 9.99741356e-01 4.30611214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4507140569999 meters Centerline goodness : 0.986979 Centerline is valid? [True, True] Translation: X:259.04, Y:191.44, Z:4.31 [[ 5.91923431e-01 -8.05855671e-01 1.49428979e-02 2.59041884e+02] [ 8.05675335e-01 5.92109009e-01 1.71515715e-02 1.91444762e+02] [-2.26695157e-02 1.88670724e-03 9.99741233e-01 4.30528666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4807140569999 meters Centerline goodness : 0.986217 Centerline is valid? [True, True] Translation: X:259.05, Y:191.47, Z:4.31 [[ 5.88273388e-01 -8.08525255e-01 1.48772676e-02 2.59053293e+02] [ 8.08344407e-01 5.88458398e-01 1.72056589e-02 1.91466497e+02] [-2.26658628e-02 1.90432476e-03 9.99741283e-01 4.30521927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.510714057 meters Centerline goodness : 0.984397 Centerline is valid? [True, True] Translation: X:259.08, Y:191.49, Z:4.31 [[ 5.92412680e-01 -8.05503277e-01 1.45494482e-02 2.59076300e+02] [ 8.05314846e-01 5.92589748e-01 1.74754131e-02 1.91485844e+02] [-2.26983564e-02 1.36423029e-03 9.99741428e-01 4.30633891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.540714057 meters Centerline goodness : 0.986200 Centerline is valid? [True, True] Translation: X:259.09, Y:191.51, Z:4.30 [[ 5.86683243e-01 -8.09682892e-01 1.47100702e-02 2.59088657e+02] [ 8.09498979e-01 5.86865071e-01 1.73433485e-02 1.91510840e+02] [-2.26754390e-02 1.73273484e-03 9.99741378e-01 4.30414283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5707140569999 meters Centerline goodness : 0.987233 Centerline is valid? [True, True] Translation: X:259.11, Y:191.53, Z:4.30 [[ 5.84998402e-01 -8.10903891e-01 1.45515895e-02 2.59106789e+02] [ 8.10717141e-01 5.85177236e-01 1.74734217e-02 1.91534196e+02] [-2.26845245e-02 1.57529926e-03 9.99741432e-01 4.30410235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6007140569999 meters Centerline goodness : 0.987339 Centerline is valid? [True, True] Translation: X:259.12, Y:191.55, Z:4.30 [[ 5.84149395e-01 -8.11514767e-01 1.46036879e-02 2.59123557e+02] [ 8.11329258e-01 5.84329536e-01 1.74306819e-02 1.91554975e+02] [-2.26786219e-02 1.66627696e-03 9.99741418e-01 4.30490986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.630714057 meters Centerline goodness : 0.988678 Centerline is valid? [True, True] Translation: X:259.14, Y:191.58, Z:4.30 [[ 5.82867668e-01 -8.12437046e-01 1.45371265e-02 2.59143958e+02] [ 8.12250475e-01 5.83046682e-01 1.74852046e-02 1.91577771e+02] [-2.26814513e-02 1.61622748e-03 9.99741436e-01 4.30441580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.660714057 meters Centerline goodness : 0.985907 Centerline is valid? [True, True] Translation: X:259.16, Y:191.59, Z:4.30 [[ 5.81778312e-01 -8.13214613e-01 1.46965722e-02 2.59155929e+02] [ 8.13031523e-01 5.81960963e-01 1.73545608e-02 1.91593394e+02] [-2.26658137e-02 1.85226942e-03 9.99741382e-01 4.30336822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6907140569999 meters Centerline goodness : 0.985455 Centerline is valid? [True, True] Translation: X:259.18, Y:191.61, Z:4.30 [[ 5.83629359e-01 -8.11896038e-01 1.41983955e-02 2.59178639e+02] [ 8.11702581e-01 5.83800890e-01 1.77606514e-02 1.91613153e+02] [-2.27088384e-02 1.15923669e-03 9.99741449e-01 4.30389078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7207140569999 meters Centerline goodness : 0.987120 Centerline is valid? [True, True] Translation: X:259.20, Y:191.64, Z:4.30 [[ 5.76743702e-01 -8.16800645e-01 1.42621314e-02 2.59200667e+02] [ 8.16609916e-01 5.76918237e-01 1.77085694e-02 1.91639986e+02] [-2.26924546e-02 1.43329208e-03 9.99741466e-01 4.30106074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.750714057 meters Centerline goodness : 0.987879 Centerline is valid? [True, True] Translation: X:259.22, Y:191.66, Z:4.30 [[ 5.73228312e-01 -8.19266002e-01 1.45780625e-02 2.59219324e+02] [ 8.19082425e-01 5.73410379e-01 1.74504465e-02 1.91662899e+02] [-2.26557699e-02 1.93754481e-03 9.99741448e-01 4.29902427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.780714057 meters Centerline goodness : 0.985430 Centerline is valid? [True, True] Translation: X:259.24, Y:191.68, Z:4.30 [[ 5.75175231e-01 -8.17898904e-01 1.46573112e-02 2.59236892e+02] [ 8.17716514e-01 5.75358532e-01 1.73857018e-02 1.91678488e+02] [-2.26529555e-02 1.98570033e-03 9.99741417e-01 4.29994257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8107140569999 meters Centerline goodness : 0.987631 Centerline is valid? [True, True] Translation: X:259.25, Y:191.70, Z:4.30 [[ 5.67607499e-01 -8.23173817e-01 1.43733569e-02 2.59254064e+02] [ 8.22987309e-01 5.67786509e-01 1.76173122e-02 1.91702668e+02] [-2.26631083e-02 1.82937178e-03 9.99741485e-01 4.29541420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8407140569999 meters Centerline goodness : 0.986230 Centerline is valid? [True, True] Translation: X:259.27, Y:191.72, Z:4.30 [[ 5.67324046e-01 -8.23367474e-01 1.44716983e-02 2.59272163e+02] [ 8.23183031e-01 5.67505196e-01 1.75371107e-02 1.91722587e+02] [-2.26522505e-02 1.96363188e-03 9.99741476e-01 4.29527246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.870714057 meters Centerline goodness : 0.985678 Centerline is valid? [True, True] Translation: X:259.29, Y:191.74, Z:4.29 [[ 5.68089478e-01 -8.22840717e-01 1.44048194e-02 2.59293084e+02] [ 8.22654744e-01 5.68269045e-01 1.75916182e-02 1.91741560e+02] [-2.26609127e-02 1.85657975e-03 9.99741485e-01 4.29392312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.900714057 meters Centerline goodness : 0.985571 Centerline is valid? [True, True] Translation: X:259.31, Y:191.76, Z:4.30 [[ 5.67310454e-01 -8.23377724e-01 1.44212750e-02 2.59309377e+02] [ 8.23192255e-01 5.67490544e-01 1.75782066e-02 1.91762428e+02] [-2.26574410e-02 1.89918155e-03 9.99741483e-01 4.29531690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9307140569999 meters Centerline goodness : 0.985323 Centerline is valid? [True, True] Translation: X:259.33, Y:191.78, Z:4.29 [[ 5.68586663e-01 -8.22497433e-01 1.43937507e-02 2.59326436e+02] [ 8.22311127e-01 5.68765882e-01 1.76006298e-02 1.91781803e+02] [-2.26631471e-02 1.82865799e-03 9.99741485e-01 4.29458007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9607140569999 meters Centerline goodness : 0.986106 Centerline is valid? [True, True] Translation: X:259.35, Y:191.81, Z:4.29 [[ 5.67767189e-01 -8.23065152e-01 1.42889952e-02 2.59346337e+02] [ 8.22876904e-01 5.67944372e-01 1.76859123e-02 1.91805329e+02] [-2.26720125e-02 1.71660347e-03 9.99741483e-01 4.29400750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.990714057 meters Centerline goodness : 0.983420 Centerline is valid? [True, True] Translation: X:259.36, Y:191.83, Z:4.30 [[ 5.69730058e-01 -8.21705293e-01 1.44246986e-02 2.59364840e+02] [ 8.21519366e-01 5.69909674e-01 1.75754222e-02 1.91825397e+02] [-2.26625928e-02 1.83692294e-03 9.99741483e-01 4.29891043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.020714057 meters Centerline goodness : 0.984103 Centerline is valid? [True, True] Translation: X:259.38, Y:191.85, Z:4.30 [[ 5.68937727e-01 -8.22255420e-01 1.43487760e-02 2.59381156e+02] [ 8.22068128e-01 5.69115914e-01 1.76371894e-02 1.91848125e+02] [-2.26683914e-02 1.76120893e-03 9.99741488e-01 4.29660081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0507140569999 meters Centerline goodness : 0.988245 Centerline is valid? [True, True] Translation: X:259.40, Y:191.88, Z:4.29 [[ 5.69147330e-01 -8.22110455e-01 1.43428278e-02 2.59402044e+02] [ 8.21922998e-01 5.69325342e-01 1.76420252e-02 1.91875600e+02] [-2.26694288e-02 1.74778848e-03 9.99741488e-01 4.29118853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0807140569999 meters Centerline goodness : 0.985619 Centerline is valid? [True, True] Translation: X:259.41, Y:191.89, Z:4.30 [[ 5.68090857e-01 -8.22834696e-01 1.46915437e-02 2.59413978e+02] [ 8.22654593e-01 5.68276441e-01 1.73582403e-02 1.91894211e+02] [-2.26318205e-02 2.22500827e-03 9.99741392e-01 4.29682620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.110714057 meters Centerline goodness : 0.986163 Centerline is valid? [True, True] Translation: X:259.43, Y:191.91, Z:4.29 [[ 5.70261516e-01 -8.21338144e-01 1.43337657e-02 2.59434856e+02] [ 8.21150276e-01 5.70439080e-01 1.76488184e-02 1.91913937e+02] [-2.26721879e-02 1.70573374e-03 9.99741498e-01 4.29388752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.140714057 meters Centerline goodness : 0.978522 Centerline is valid? [True, True] Translation: X:259.44, Y:191.94, Z:4.30 [[ 5.63461757e-01 -8.26017881e-01 1.43285751e-02 2.59439646e+02] [ 8.25831380e-01 5.63640756e-01 1.76530315e-02 1.91937053e+02] [-2.26578886e-02 1.88617880e-03 9.99741498e-01 4.29668200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1707140569999 meters Centerline goodness : 0.990931 Centerline is valid? [True, True] Translation: X:259.46, Y:191.96, Z:4.28 [[ 5.65142327e-01 -8.24877469e-01 1.38315493e-02 2.59465000e+02] [ 8.24680719e-01 5.65310282e-01 1.80553928e-02 1.91960826e+02] [-2.27126037e-02 1.20274527e-03 9.99741312e-01 4.28499900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2007140569999 meters Centerline goodness : 0.990931 Centerline is valid? [True, True] Translation: X:259.48, Y:191.99, Z:4.28 [[ 5.65171318e-01 -8.24849250e-01 1.43212006e-02 2.59484887e+02] [ 8.24662246e-01 5.65349773e-01 1.76582821e-02 1.91985700e+02] [-2.26619083e-02 1.83019889e-03 9.99741511e-01 4.28455799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2307140569999 meters Centerline goodness : 0.982830 Centerline is valid? [True, True] Translation: X:259.50, Y:192.01, Z:4.29 [[ 5.61861393e-01 -8.27107406e-01 1.43218061e-02 2.59495145e+02] [ 8.26921131e-01 5.62040608e-01 1.76577911e-02 1.92005676e+02] [-2.26543264e-02 1.92177303e-03 9.99741511e-01 4.28707943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.260714057 meters Centerline goodness : 0.982394 Centerline is valid? [True, True] Translation: X:259.51, Y:192.03, Z:4.29 [[ 5.61513862e-01 -8.27350459e-01 1.39068465e-02 2.59512843e+02] [ 8.27155954e-01 5.61684306e-01 1.79935460e-02 1.92026851e+02] [-2.26982260e-02 1.39950538e-03 9.99741383e-01 4.28720235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.290714057 meters Centerline goodness : 0.985821 Centerline is valid? [True, True] Translation: X:259.54, Y:192.05, Z:4.29 [[ 5.65477771e-01 -8.24647054e-01 1.38609389e-02 2.59541448e+02] [ 8.24450836e-01 5.65646284e-01 1.80305667e-02 1.92047703e+02] [-2.27092423e-02 1.23177799e-03 9.99741353e-01 4.28599357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3207140569999 meters Centerline goodness : 0.986541 Centerline is valid? [True, True] Translation: X:259.56, Y:192.07, Z:4.29 [[ 5.64904691e-01 -8.25032500e-01 1.42850775e-02 2.59558133e+02] [ 8.24844814e-01 5.65082442e-01 1.76880314e-02 1.92070323e+02] [-2.26654472e-02 1.79092018e-03 9.99741502e-01 4.28557888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3507140569999 meters Centerline goodness : 0.986418 Centerline is valid? [True, True] Translation: X:259.57, Y:192.09, Z:4.29 [[ 5.64349787e-01 -8.25412270e-01 1.42794530e-02 2.59574451e+02] [ 8.25224590e-01 5.64527544e-01 1.76925709e-02 1.92092954e+02] [-2.26648096e-02 1.79895714e-03 9.99741502e-01 4.28570205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.380714057 meters Centerline goodness : 0.985347 Centerline is valid? [True, True] Translation: X:259.59, Y:192.12, Z:4.29 [[ 5.65155726e-01 -8.24860748e-01 1.42741754e-02 2.59591584e+02] [ 8.24672789e-01 5.65333188e-01 1.76968278e-02 1.92115272e+02] [-2.26670836e-02 1.77006048e-03 9.99741502e-01 4.28937541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.410714057 meters Centerline goodness : 0.987343 Centerline is valid? [True, True] Translation: X:259.61, Y:192.14, Z:4.28 [[ 5.63961551e-01 -8.25677702e-01 1.42724200e-02 2.59611234e+02] [ 8.25489965e-01 5.64139247e-01 1.76982434e-02 1.92141648e+02] [-2.26646772e-02 1.80061068e-03 9.99741502e-01 4.28315644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4407140569999 meters Centerline goodness : 0.985791 Centerline is valid? [True, True] Translation: X:259.63, Y:192.16, Z:4.29 [[ 5.68718872e-01 -8.22404332e-01 1.44899689e-02 2.59626160e+02] [ 8.22219943e-01 5.68900095e-01 1.75227726e-02 1.92159964e+02] [-2.26541488e-02 1.94840997e-03 9.99741463e-01 4.29144403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4707140569999 meters Centerline goodness : 0.984767 Centerline is valid? [True, True] Translation: X:259.64, Y:192.18, Z:4.29 [[ 5.70827338e-01 -8.20946255e-01 1.42617269e-02 2.59642838e+02] [ 8.20756835e-01 5.71003234e-01 1.77066106e-02 1.92182009e+02] [-2.26796678e-02 1.59799246e-03 9.99741506e-01 4.28958431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.500714057 meters Centerline goodness : 0.988041 Centerline is valid? [True, True] Translation: X:259.66, Y:192.21, Z:4.29 [[ 5.73499071e-01 -8.19082152e-01 1.42563275e-02 2.59660635e+02] [ 8.18892054e-01 5.73674233e-01 1.77109568e-02 1.92208058e+02] [-2.26852163e-02 1.51717601e-03 9.99741506e-01 4.28515250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.530714057 meters Centerline goodness : 0.987243 Centerline is valid? [True, True] Translation: X:259.67, Y:192.23, Z:4.29 [[ 5.76078577e-01 -8.17266644e-01 1.44466767e-02 2.59675000e+02] [ 8.17079768e-01 5.76257216e-01 1.75577468e-02 1.92228742e+02] [-2.26743625e-02 1.68944543e-03 9.99741476e-01 4.29133067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5607140569999 meters Centerline goodness : 0.986801 Centerline is valid? [True, True] Translation: X:259.69, Y:192.25, Z:4.29 [[ 5.77690844e-01 -8.16131310e-01 1.42468982e-02 2.59691217e+02] [ 8.15940134e-01 5.77864826e-01 1.77183845e-02 1.92250965e+02] [-2.26933097e-02 1.38886749e-03 9.99741509e-01 4.29069983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5907140569999 meters Centerline goodness : 0.987345 Centerline is valid? [True, True] Translation: X:259.71, Y:192.27, Z:4.29 [[ 5.82973203e-01 -8.12366561e-01 1.42413263e-02 2.59708807e+02] [ 8.12174152e-01 5.83145820e-01 1.77228618e-02 1.92273062e+02] [-2.27022302e-02 1.23448359e-03 9.99741509e-01 4.28866600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.620714057 meters Centerline goodness : 0.986290 Centerline is valid? [True, True] Translation: X:259.73, Y:192.29, Z:4.28 [[ 5.85488979e-01 -8.10555297e-01 1.42396066e-02 2.59725567e+02] [ 8.10362320e-01 5.85660961e-01 1.77242434e-02 1.92293741e+02] [-2.27060611e-02 1.16189146e-03 9.99741509e-01 4.28426524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.650714057 meters Centerline goodness : 0.987171 Centerline is valid? [True, True] Translation: X:259.75, Y:192.32, Z:4.28 [[ 5.90900537e-01 -8.06619223e-01 1.42121111e-02 2.59750098e+02] [ 8.06424571e-01 5.91070621e-01 1.77463261e-02 1.92317834e+02] [-2.27148891e-02 9.74682004e-04 9.99741508e-01 4.28038142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6807140569999 meters Centerline goodness : 0.988378 Centerline is valid? [True, True] Translation: X:259.77, Y:192.35, Z:4.28 [[ 5.92536095e-01 -8.05412585e-01 1.45445293e-02 2.59768447e+02] [ 8.05223977e-01 5.92713031e-01 1.74817127e-02 1.92345418e+02] [-2.27007235e-02 1.35305789e-03 9.99741390e-01 4.28078126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7107140569999 meters Centerline goodness : 0.989137 Centerline is valid? [True, True] Translation: X:259.79, Y:192.37, Z:4.28 [[ 5.94678122e-01 -8.03832095e-01 1.45566093e-02 2.59790636e+02] [ 8.03643249e-01 5.94854816e-01 1.74721274e-02 1.92371552e+02] [-2.27037259e-02 1.30802885e-03 9.99741382e-01 4.27716599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.740714057 meters Centerline goodness : 0.987203 Centerline is valid? [True, True] Translation: X:259.81, Y:192.39, Z:4.28 [[ 5.95967845e-01 -8.02873452e-01 1.47155598e-02 2.59805614e+02] [ 8.02687405e-01 5.96147671e-01 1.73459904e-02 1.92393764e+02] [-2.26992819e-02 1.47434200e-03 9.99741251e-01 4.28235069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.770714057 meters Centerline goodness : 0.988218 Centerline is valid? [True, True] Translation: X:259.83, Y:192.42, Z:4.28 [[ 5.97916675e-01 -8.01426721e-01 1.45210317e-02 2.59826673e+02] [ 8.01236473e-01 5.98091832e-01 1.75006899e-02 1.92419299e+02] [-2.27104309e-02 1.17082591e-03 9.99741399e-01 4.27878434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8007140569999 meters Centerline goodness : 0.987296 Centerline is valid? [True, True] Translation: X:259.84, Y:192.44, Z:4.28 [[ 5.99783287e-01 -8.00029190e-01 1.46049567e-02 2.59844562e+02] [ 7.99840147e-01 5.99959828e-01 1.74339840e-02 1.92442095e+02] [-2.27100834e-02 1.22501852e-03 9.99741342e-01 4.28264073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8307140569999 meters Centerline goodness : 0.986965 Centerline is valid? [True, True] Translation: X:259.87, Y:192.47, Z:4.28 [[ 6.01315930e-01 -7.98880411e-01 1.44651712e-02 2.59866258e+02] [ 7.98688358e-01 6.01489054e-01 1.75449153e-02 1.92466695e+02] [-2.27169313e-02 1.00312677e-03 9.99741434e-01 4.28113976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.860714057 meters Centerline goodness : 0.987352 Centerline is valid? [True, True] Translation: X:259.89, Y:192.49, Z:4.28 [[ 6.03118162e-01 -7.97520430e-01 1.44791849e-02 2.59887604e+02] [ 7.97328253e-01 6.03291160e-01 1.75337916e-02 1.92490778e+02] [-2.27187212e-02 9.69715039e-04 9.99741426e-01 4.27654966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.890714057 meters Centerline goodness : 0.987602 Centerline is valid? [True, True] Translation: X:259.91, Y:192.51, Z:4.28 [[ 6.05719612e-01 -7.95545262e-01 1.45426445e-02 2.59910971e+02] [ 7.95353726e-01 6.05893376e-01 1.74833685e-02 1.92514159e+02] [-2.27201029e-02 9.76527313e-04 9.99741388e-01 4.27541707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9207140569999 meters Centerline goodness : 0.986425 Centerline is valid? [True, True] Translation: X:259.93, Y:192.54, Z:4.28 [[ 6.05487147e-01 -7.95720715e-01 1.46238625e-02 2.59929740e+02] [ 7.95530780e-01 6.05662746e-01 1.74188360e-02 1.92537306e+02] [-2.27176573e-02 1.08685141e-03 9.99741330e-01 4.27655949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9507140569999 meters Centerline goodness : 0.986628 Centerline is valid? [True, True] Translation: X:259.95, Y:192.56, Z:4.28 [[ 6.06775572e-01 -7.94740365e-01 1.45312643e-02 2.59952594e+02] [ 7.94548383e-01 6.06948832e-01 1.74923731e-02 1.92559142e+02] [-2.27216289e-02 9.31847834e-04 9.99741396e-01 4.27588547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9807140569999 meters Centerline goodness : 0.986347 Centerline is valid? [True, True] Translation: X:259.96, Y:192.58, Z:4.28 [[ 6.01329614e-01 -7.98869509e-01 1.44983742e-02 2.59961369e+02] [ 7.98678085e-01 6.01503462e-01 1.75185994e-02 1.92580140e+02] [-2.27158972e-02 1.04508114e-03 9.99741414e-01 4.27593890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.010714057 meters Centerline goodness : 0.982853 Centerline is valid? [True, True] Translation: X:259.97, Y:192.60, Z:4.27 [[ 5.96114498e-01 -8.02776228e-01 1.40653210e-02 2.59967042e+02] [ 8.02577727e-01 5.96280067e-01 1.78626457e-02 1.92598075e+02] [-2.27265779e-02 6.40331274e-04 9.99741513e-01 4.27326402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.040714057 meters Centerline goodness : 0.985649 Centerline is valid? [True, True] Translation: X:260.00, Y:192.62, Z:4.27 [[ 6.02951881e-01 -7.97662590e-01 1.35433696e-02 2.60001770e+02] [ 7.97453217e-01 6.03103926e-01 1.82762499e-02 1.92618792e+02] [-2.27463402e-02 -2.19495575e-04 9.99741244e-01 4.27491246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0707140569999 meters Centerline goodness : 0.986955 Centerline is valid? [True, True] Translation: X:260.02, Y:192.64, Z:4.27 [[ 6.00554259e-01 -7.99461092e-01 1.40194278e-02 2.60016938e+02] [ 7.99260866e-01 6.00717699e-01 1.78973183e-02 1.92640189e+02] [-2.27299281e-02 4.56869301e-04 9.99741537e-01 4.27305509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1007140569999 meters Centerline goodness : 0.979829 Centerline is valid? [True, True] Translation: X:260.03, Y:192.66, Z:4.28 [[ 5.95025814e-01 -8.03585930e-01 1.39260121e-02 2.60028569e+02] [ 8.03385102e-01 5.95188549e-01 1.79713714e-02 1.92657065e+02] [-2.27301441e-02 4.94520765e-04 9.99741515e-01 4.28203101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.130714057 meters Centerline goodness : 0.980323 Centerline is valid? [True, True] Translation: X:260.05, Y:192.68, Z:4.28 [[ 5.93977248e-01 -8.04370493e-01 1.33843274e-02 2.60048465e+02] [ 8.04160034e-01 5.94128002e-01 1.83999094e-02 1.92677562e+02] [-2.27523479e-02 -1.65986375e-04 9.99741118e-01 4.27890794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.160714057 meters Centerline goodness : 0.983938 Centerline is valid? [True, True] Translation: X:260.08, Y:192.70, Z:4.27 [[ 5.93731916e-01 -8.04552027e-01 1.33584477e-02 2.60079775e+02] [ 8.04341151e-01 5.93882143e-01 1.84204607e-02 1.92699672e+02] [-2.27535625e-02 -1.92066216e-04 9.99741086e-01 4.27238744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1907140569999 meters Centerline goodness : 0.984894 Centerline is valid? [True, True] Translation: X:260.11, Y:192.72, Z:4.27 [[ 5.91153736e-01 -8.06442524e-01 1.37009868e-02 2.60106732e+02] [ 8.06238414e-01 5.91312400e-01 1.81456596e-02 1.92718593e+02] [-2.27349949e-02 3.19387452e-04 9.99741476e-01 4.27197951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2207140569999 meters Centerline goodness : 0.984637 Centerline is valid? [True, True] Translation: X:260.13, Y:192.74, Z:4.27 [[ 5.91271445e-01 -8.06352212e-01 1.39351418e-02 2.60127557e+02] [ 8.06152464e-01 5.91435314e-01 1.79575873e-02 1.92735979e+02] [-2.27218752e-02 6.16040251e-04 9.99741635e-01 4.27310337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.250714057 meters Centerline goodness : 0.989612 Centerline is valid? [True, True] Translation: X:260.15, Y:192.76, Z:4.27 [[ 5.81822804e-01 -8.13196412e-01 1.39219414e-02 2.60151341e+02] [ 8.12998336e-01 5.81988702e-01 1.79681950e-02 1.92762013e+02] [-2.27140843e-02 8.64209605e-04 9.99741628e-01 4.26753303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.280714057 meters Centerline goodness : 0.989328 Centerline is valid? [True, True] Translation: X:260.17, Y:192.78, Z:4.27 [[ 5.79065031e-01 -8.15156934e-01 1.42429780e-02 2.60174675e+02] [ 8.14965650e-01 5.79238590e-01 1.77100092e-02 1.92783178e+02] [-2.26865193e-02 1.35229081e-03 9.99741713e-01 4.26657450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3107140569999 meters Centerline goodness : 0.985382 Centerline is valid? [True, True] Translation: X:260.19, Y:192.80, Z:4.27 [[ 5.81234693e-01 -8.13611303e-01 1.42435957e-02 2.60194439e+02] [ 8.13419570e-01 5.81407754e-01 1.77095124e-02 1.92798723e+02] [-2.26899964e-02 1.29263650e-03 9.99741713e-01 4.26731189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3407140569999 meters Centerline goodness : 0.983895 Centerline is valid? [True, True] Translation: X:260.22, Y:192.82, Z:4.27 [[ 5.82020968e-01 -8.13053823e-01 1.39668795e-02 2.60217724e+02] [ 8.12856575e-01 5.82187806e-01 1.79317678e-02 1.92816204e+02] [-2.27108393e-02 9.16404925e-04 9.99741656e-01 4.26899982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.370714057 meters Centerline goodness : 0.987018 Centerline is valid? [True, True] Translation: X:260.25, Y:192.84, Z:4.26 [[ 5.73865285e-01 -8.18829851e-01 1.40110550e-02 2.60245716e+02] [ 8.18635137e-01 5.74035047e-01 1.78963128e-02 1.92842861e+02] [-2.26968717e-02 1.19986930e-03 9.99741673e-01 4.26212392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.400714057 meters Centerline goodness : 0.982623 Centerline is valid? [True, True] Translation: X:260.26, Y:192.85, Z:4.27 [[ 5.82291217e-01 -8.12849569e-01 1.45779279e-02 2.60258976e+02] [ 8.12664209e-01 5.82471215e-01 1.74404108e-02 1.92851490e+02] [-2.26676538e-02 1.69156221e-03 9.99741625e-01 4.26557843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4307140569999 meters Centerline goodness : 0.984177 Centerline is valid? [True, True] Translation: X:260.28, Y:192.87, Z:4.26 [[ 5.82863416e-01 -8.12450884e-01 1.39212009e-02 2.60282536e+02] [ 8.12252607e-01 5.83029042e-01 1.79677001e-02 1.92874938e+02] [-2.27143383e-02 8.34816649e-04 9.99741648e-01 4.26420593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4607140569999 meters Centerline goodness : 0.984177 Centerline is valid? [True, True] Translation: X:260.30, Y:192.90, Z:4.26 [[ 5.82706944e-01 -8.12559611e-01 1.41243331e-02 2.60300190e+02] [ 8.12365270e-01 5.82877063e-01 1.78044369e-02 1.92897190e+02] [-2.26999161e-02 1.09934864e-03 9.99741719e-01 4.26365989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.490714057 meters Centerline goodness : 0.984177 Centerline is valid? [True, True] Translation: X:260.32, Y:192.92, Z:4.26 [[ 5.82550249e-01 -8.12671992e-01 1.41223409e-02 2.60317919e+02] [ 8.12477646e-01 5.82720362e-01 1.78060374e-02 1.92919379e+02] [-2.26998435e-02 1.10117475e-03 9.99741719e-01 4.26301327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.520714057 meters Centerline goodness : 0.989702 Centerline is valid? [True, True] Translation: X:260.33, Y:192.94, Z:4.26 [[ 5.76495373e-01 -8.16978460e-01 1.41166618e-02 2.60333820e+02] [ 8.16785272e-01 5.76666803e-01 1.78105976e-02 1.92944712e+02] [-2.26914849e-02 1.26255437e-03 9.99741718e-01 4.26024601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5507140569999 meters Centerline goodness : 0.984797 Centerline is valid? [True, True] Translation: X:260.35, Y:192.96, Z:4.26 [[ 5.79412127e-01 -8.14910491e-01 1.42295336e-02 2.60349177e+02] [ 8.14718890e-01 5.79585312e-01 1.77199593e-02 1.92961334e+02] [-2.26874094e-02 1.32591053e-03 9.99741728e-01 4.26079789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5807140569999 meters Centerline goodness : 0.989565 Centerline is valid? [True, True] Translation: X:260.37, Y:192.99, Z:4.26 [[ 5.75600721e-01 -8.17613176e-01 1.38746023e-02 2.60373400e+02] [ 8.17415500e-01 5.75767087e-01 1.80044871e-02 1.92985124e+02] [-2.27092452e-02 9.77919215e-04 9.99741634e-01 4.25868539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.610714057 meters Centerline goodness : 0.983081 Centerline is valid? [True, True] Translation: X:260.40, Y:193.00, Z:4.26 [[ 5.81326969e-01 -8.13545704e-01 1.42247228e-02 2.60395953e+02] [ 8.13353610e-01 5.81499599e-01 1.77234862e-02 1.93000851e+02] [-2.26905366e-02 1.26658913e-03 9.99741734e-01 4.26190237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.640714057 meters Centerline goodness : 0.984951 Centerline is valid? [True, True] Translation: X:260.41, Y:193.02, Z:4.26 [[ 5.77637370e-01 -8.16173008e-01 1.40245945e-02 2.60411124e+02] [ 8.15977808e-01 5.77806526e-01 1.78839339e-02 1.93021756e+02] [-2.26998863e-02 1.11332929e-03 9.99741704e-01 4.25897535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6707140569999 meters Centerline goodness : 0.983917 Centerline is valid? [True, True] Translation: X:260.43, Y:193.04, Z:4.26 [[ 5.75331037e-01 -8.17801772e-01 1.39448885e-02 2.60432066e+02] [ 8.17605509e-01 5.75499006e-01 1.79478654e-02 1.93041211e+02] [-2.27030656e-02 1.07545359e-03 9.99741674e-01 4.25851301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7007140569999 meters Centerline goodness : 0.983838 Centerline is valid? [True, True] Translation: X:260.45, Y:193.06, Z:4.26 [[ 5.75199301e-01 -8.17894574e-01 1.39366735e-02 2.60451914e+02] [ 8.17698180e-01 5.75367121e-01 1.79544516e-02 1.93061031e+02] [-2.27035522e-02 1.06860458e-03 9.99741670e-01 4.25811661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7307140569999 meters Centerline goodness : 0.984044 Centerline is valid? [True, True] Translation: X:260.47, Y:193.08, Z:4.26 [[ 5.71422564e-01 -8.20537447e-01 1.39481455e-02 2.60469840e+02] [ 8.20342051e-01 5.71591538e-01 1.79452575e-02 1.93080624e+02] [-2.26973977e-02 1.18792520e-03 9.99741675e-01 4.25701764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.760714057 meters Centerline goodness : 0.987405 Centerline is valid? [True, True] Translation: X:260.49, Y:193.11, Z:4.25 [[ 5.63091689e-01 -8.26278050e-01 1.38684575e-02 2.60493407e+02] [ 8.26082815e-01 5.63260911e-01 1.80091345e-02 1.93111942e+02] [-2.26921126e-02 1.31570046e-03 9.99741635e-01 4.25125643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.790714057 meters Centerline goodness : 0.987231 Centerline is valid? [True, True] Translation: X:260.51, Y:193.13, Z:4.25 [[ 5.61998824e-01 -8.27010715e-01 1.45120028e-02 2.60511327e+02] [ 8.26828551e-01 5.62181977e-01 1.74920687e-02 1.93132141e+02] [-2.26245146e-02 2.16841624e-03 9.99741681e-01 4.25140361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8207140569999 meters Centerline goodness : 0.984273 Centerline is valid? [True, True] Translation: X:260.52, Y:193.15, Z:4.25 [[ 5.67303828e-01 -8.23381389e-01 1.44725677e-02 2.60523486e+02] [ 8.23197256e-01 5.67484976e-01 1.75236997e-02 1.93145166e+02] [-2.26416529e-02 1.97251605e-03 9.99741699e-01 4.25433948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8507140569999 meters Centerline goodness : 0.984820 Centerline is valid? [True, True] Translation: X:260.54, Y:193.17, Z:4.26 [[ 5.68150913e-01 -8.22806955e-01 1.39016194e-02 2.60543562e+02] [ 8.22611356e-01 5.68319653e-01 1.79813651e-02 1.93166648e+02] [-2.26957558e-02 1.21950103e-03 9.99741674e-01 4.25523234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.880714057 meters Centerline goodness : 0.983944 Centerline is valid? [True, True] Translation: X:260.56, Y:193.19, Z:4.26 [[ 5.67919578e-01 -8.22966539e-01 1.39079073e-02 2.60559984e+02] [ 8.22771109e-01 5.68088509e-01 1.79763243e-02 1.93187162e+02] [-2.26948357e-02 1.23391785e-03 9.99741678e-01 4.25550598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.910714057 meters Centerline goodness : 0.985365 Centerline is valid? [True, True] Translation: X:260.58, Y:193.21, Z:4.25 [[ 5.65167159e-01 -8.24860127e-01 1.38511171e-02 2.60576406e+02] [ 8.24664159e-01 5.65335511e-01 1.80217943e-02 1.93210614e+02] [-2.26959879e-02 1.23719358e-03 9.99741647e-01 4.25200844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9407140569999 meters Centerline goodness : 0.990521 Centerline is valid? [True, True] Translation: X:260.60, Y:193.24, Z:4.25 [[ 5.61813594e-01 -8.27147117e-01 1.38972092e-02 2.60596527e+02] [ 8.26952734e-01 5.61983736e-01 1.79848994e-02 1.93236881e+02] [-2.26861633e-02 1.38817416e-03 9.99741672e-01 4.25064080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9707140569999 meters Centerline goodness : 0.990164 Centerline is valid? [True, True] Translation: X:260.61, Y:193.26, Z:4.25 [[ 5.59683371e-01 -8.28584714e-01 1.42089865e-02 2.60612562e+02] [ 8.28396944e-01 5.59860669e-01 1.77351126e-02 1.93259391e+02] [-2.26500959e-02 1.84463340e-03 9.99741752e-01 4.25044279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.000714057 meters Centerline goodness : 0.990481 Centerline is valid? [True, True] Translation: X:260.63, Y:193.28, Z:4.25 [[ 5.58134597e-01 -8.29628843e-01 1.42040393e-02 2.60629371e+02] [ 8.29441306e-01 5.58312140e-01 1.77390739e-02 1.93281758e+02] [-2.26471349e-02 1.88062604e-03 9.99741752e-01 4.24967373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.030714057 meters Centerline goodness : 0.985176 Centerline is valid? [True, True] Translation: X:260.64, Y:193.30, Z:4.25 [[ 5.57644315e-01 -8.29958558e-01 1.41989530e-02 2.60640875e+02] [ 8.29771023e-01 5.57821862e-01 1.77431442e-02 1.93297907e+02] [-2.26465608e-02 1.88751632e-03 9.99741752e-01 4.25105846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0607140569999 meters Centerline goodness : 0.989743 Centerline is valid? [True, True] Translation: X:260.66, Y:193.33, Z:4.25 [[ 5.53740181e-01 -8.32574836e-01 1.38186274e-02 2.60663263e+02] [ 8.32380582e-01 5.53910522e-01 1.80471883e-02 1.93326220e+02] [-2.26799179e-02 1.50890378e-03 9.99741639e-01 4.24777128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0907140569999 meters Centerline goodness : 0.989975 Centerline is valid? [True, True] Translation: X:260.70, Y:193.36, Z:4.25 [[ 5.56651795e-01 -8.30624528e-01 1.42011640e-02 2.60700301e+02] [ 8.30437259e-01 5.56829612e-01 1.77409818e-02 1.93355181e+02] [-2.26437233e-02 1.91762631e-03 9.99741759e-01 4.24648086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.120714057 meters Centerline goodness : 0.989975 Centerline is valid? [True, True] Translation: X:260.72, Y:193.38, Z:4.25 [[ 5.56021095e-01 -8.31031553e-01 1.50698438e-02 2.60718713e+02] [ 8.30862309e-01 5.56216949e-01 1.70449335e-02 1.93379601e+02] [-2.25469801e-02 3.04362264e-03 9.99741152e-01 4.24618124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.150714057 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:260.71, Y:193.40, Z:4.25 [[ 5.47741947e-01 -8.36512415e-01 1.50246099e-02 2.60714956e+02] [ 8.36344162e-01 5.47938571e-01 1.70811468e-02 1.93398194e+02] [-2.25211547e-02 3.20968420e-03 9.99741214e-01 4.24585081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1807140569999 meters Centerline goodness : 0.990887 Centerline is valid? [True, True] Translation: X:260.73, Y:193.42, Z:4.24 [[ 5.44854499e-01 -8.38410912e-01 1.41674831e-02 2.60731715e+02] [ 8.38225564e-01 5.45034236e-01 1.77647283e-02 1.93420760e+02] [-2.26159054e-02 2.19635433e-03 9.99741815e-01 4.24351709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2107140569999 meters Centerline goodness : 0.990784 Centerline is valid? [True, True] Translation: X:260.75, Y:193.44, Z:4.24 [[ 5.43683081e-01 -8.39171040e-01 1.41658965e-02 2.60748466e+02] [ 8.38985911e-01 5.43863044e-01 1.77659935e-02 1.93443303e+02] [-2.26130148e-02 2.22591749e-03 9.99741815e-01 4.24298483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.240714057 meters Centerline goodness : 0.989326 Centerline is valid? [True, True] Translation: X:260.76, Y:193.47, Z:4.24 [[ 5.43719494e-01 -8.39147534e-01 1.41607898e-02 2.60760977e+02] [ 8.38962293e-01 5.43899343e-01 1.77700629e-02 1.93466745e+02] [-2.26137487e-02 2.21843906e-03 9.99741815e-01 4.23611607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.270714057 meters Centerline goodness : 0.988173 Centerline is valid? [True, True] Translation: X:260.78, Y:193.48, Z:4.25 [[ 5.48304940e-01 -8.36158845e-01 1.41449072e-02 2.60781053e+02] [ 8.35972304e-01 5.48483438e-01 1.77827126e-02 1.93483650e+02] [-2.26274198e-02 2.07440148e-03 9.99741815e-01 4.24778032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3007140569999 meters Centerline goodness : 0.986464 Centerline is valid? [True, True] Translation: X:260.80, Y:193.51, Z:4.25 [[ 5.51419635e-01 -8.34111197e-01 1.39605717e-02 2.60797821e+02] [ 8.33920319e-01 5.51593537e-01 1.79296350e-02 1.93509054e+02] [-2.26558704e-02 1.75525166e-03 9.99741782e-01 4.24711078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3307140569999 meters Centerline goodness : 0.985698 Centerline is valid? [True, True] Translation: X:260.83, Y:193.53, Z:4.24 [[ 5.61339139e-01 -8.27467051e-01 1.40232174e-02 2.60828558e+02] [ 8.27275337e-01 5.61512094e-01 1.78797216e-02 1.93534337e+02] [-2.26690867e-02 1.56447433e-03 9.99741799e-01 4.24299164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.360714057 meters Centerline goodness : 0.985507 Centerline is valid? [True, True] Translation: X:260.83, Y:193.56, Z:4.25 [[ 5.55522297e-01 -8.31370862e-01 1.47467530e-02 2.60826902e+02] [ 8.31195022e-01 5.55711695e-01 1.73016525e-02 1.93555312e+02] [-2.25790328e-02 2.64597392e-03 9.99741560e-01 4.24569185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.390714057 meters Centerline goodness : 0.984694 Centerline is valid? [True, True] Translation: X:260.85, Y:193.58, Z:4.25 [[ 5.62328069e-01 -8.26797295e-01 1.39059438e-02 2.60846042e+02] [ 8.26603132e-01 5.62498269e-01 1.79710630e-02 1.93580030e+02] [-2.26804956e-02 1.38906356e-03 9.99741799e-01 4.24562219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4207140569999 meters Centerline goodness : 0.990040 Centerline is valid? [True, True] Translation: X:260.86, Y:193.61, Z:4.24 [[ 5.60424364e-01 -8.28086997e-01 1.40163466e-02 2.60859637e+02] [ 8.27895386e-01 5.60597381e-01 1.78831396e-02 1.93606444e+02] [-2.26663226e-02 1.58192150e-03 9.99741834e-01 4.24068150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4507140569999 meters Centerline goodness : 0.985281 Centerline is valid? [True, True] Translation: X:260.88, Y:193.63, Z:4.24 [[ 5.72798564e-01 -8.19573925e-01 1.41557886e-02 2.60880710e+02] [ 8.19382442e-01 5.72971698e-01 1.77720719e-02 1.93626962e+02] [-2.26763930e-02 1.41918733e-03 9.99741850e-01 4.24494629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4807140569999 meters Centerline goodness : 0.985646 Centerline is valid? [True, True] Translation: X:260.90, Y:193.65, Z:4.24 [[ 5.76257700e-01 -8.17145509e-01 1.41520178e-02 2.60897402e+02] [ 8.16953223e-01 5.76429942e-01 1.77750745e-02 1.93650282e+02] [-2.26824691e-02 1.31851295e-03 9.99741850e-01 4.24362456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.510714057 meters Centerline goodness : 0.986773 Centerline is valid? [True, True] Translation: X:260.92, Y:193.68, Z:4.24 [[ 5.78838925e-01 -8.15319054e-01 1.41541064e-02 2.60916627e+02] [ 8.15126265e-01 5.79010603e-01 1.77734118e-02 1.93676330e+02] [-2.26863790e-02 1.24944133e-03 9.99741850e-01 4.24228740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.540714057 meters Centerline goodness : 0.990011 Centerline is valid? [True, True] Translation: X:260.92, Y:193.70, Z:4.24 [[ 5.80063416e-01 -8.14444880e-01 1.43516858e-02 2.60923317e+02] [ 8.14255666e-01 5.80239075e-01 1.76160818e-02 1.93702058e+02] [-2.26747365e-02 1.46749691e-03 9.99741818e-01 4.23951388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5707140569999 meters Centerline goodness : 0.989858 Centerline is valid? [True, True] Translation: X:260.94, Y:193.73, Z:4.24 [[ 5.86343884e-01 -8.09938779e-01 1.41429930e-02 2.60943115e+02] [ 8.09744204e-01 5.86513531e-01 1.77820669e-02 1.93728890e+02] [-2.26974423e-02 1.02580043e-03 9.99741854e-01 4.23884759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6007140569999 meters Centerline goodness : 0.989738 Centerline is valid? [True, True] Translation: X:260.96, Y:193.75, Z:4.24 [[ 5.89239100e-01 -8.07834887e-01 1.41449202e-02 2.60963040e+02] [ 8.07639743e-01 5.89408092e-01 1.77805338e-02 1.93753732e+02] [-2.27008659e-02 9.47013977e-04 9.99741854e-01 4.23863074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.630714057 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:260.98, Y:193.78, Z:4.24 [[ 5.91195767e-01 -8.06403964e-01 1.41496701e-02 2.60983108e+02] [ 8.06208500e-01 5.91364389e-01 1.77767530e-02 1.93779742e+02] [-2.27028551e-02 8.98043223e-04 9.99741854e-01 4.23785751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.660714057 meters Centerline goodness : 0.990170 Centerline is valid? [True, True] Translation: X:261.00, Y:193.80, Z:4.24 [[ 5.94707720e-01 -8.03817373e-01 1.41547893e-02 2.61003519e+02] [ 8.03621273e-01 5.94875602e-01 1.77726759e-02 1.93804047e+02] [-2.27063245e-02 8.05542227e-04 9.99741854e-01 4.23574036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6907140569999 meters Centerline goodness : 0.989964 Centerline is valid? [True, True] Translation: X:261.02, Y:193.83, Z:4.23 [[ 5.96110277e-01 -8.02777706e-01 1.41595467e-02 2.61024696e+02] [ 8.02581402e-01 5.96277921e-01 1.77688849e-02 1.93829186e+02] [-2.27074897e-02 7.71973953e-04 9.99741854e-01 4.23476918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7207140569999 meters Centerline goodness : 0.989790 Centerline is valid? [True, True] Translation: X:261.05, Y:193.85, Z:4.23 [[ 5.97573779e-01 -8.01688863e-01 1.41614190e-02 2.61046788e+02] [ 8.01492289e-01 5.97741106e-01 1.77673926e-02 1.93854206e+02] [-2.27087830e-02 7.32940221e-04 9.99741854e-01 4.23275886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.750714057 meters Centerline goodness : 0.989612 Centerline is valid? [True, True] Translation: X:261.07, Y:193.88, Z:4.23 [[ 5.98059085e-01 -8.01326801e-01 1.41665005e-02 2.61067853e+02] [ 8.01130222e-01 5.98226405e-01 1.77633400e-02 1.93878069e+02] [-2.27090151e-02 7.25684874e-04 9.99741854e-01 4.23155417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.780714057 meters Centerline goodness : 0.990073 Centerline is valid? [True, True] Translation: X:261.09, Y:193.90, Z:4.23 [[ 5.97893693e-01 -8.01450128e-01 1.41712266e-02 2.61085536e+02] [ 8.01253673e-01 5.98061159e-01 1.77595688e-02 1.93897937e+02] [-2.27086689e-02 7.36413183e-04 9.99741854e-01 4.23035544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8107140569999 meters Centerline goodness : 0.980662 Centerline is valid? [True, True] Translation: X:261.10, Y:193.91, Z:4.24 [[ 5.97637073e-01 -8.01641544e-01 1.41691026e-02 2.61099154e+02] [ 8.01445102e-01 5.97804555e-01 1.77612633e-02 1.93911633e+02] [-2.27085206e-02 7.40968451e-04 9.99741854e-01 4.23704597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8407140569999 meters Centerline goodness : 0.990299 Centerline is valid? [True, True] Translation: X:261.13, Y:193.94, Z:4.23 [[ 5.97300353e-01 -8.01902459e-01 1.35917260e-02 2.61126378e+02] [ 8.01695427e-01 5.97454974e-01 1.82207533e-02 1.93937763e+02] [-2.27317112e-02 1.31621736e-05 9.99741601e-01 4.22907621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.870714057 meters Centerline goodness : 0.987437 Centerline is valid? [True, True] Translation: X:261.15, Y:193.96, Z:4.23 [[ 6.02468399e-01 -7.98017019e-01 1.41656353e-02 2.61153463e+02] [ 7.97819526e-01 6.02634613e-01 1.77630821e-02 1.93955780e+02] [-2.27119440e-02 5.99924821e-04 9.99741871e-01 4.23239601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.900714057 meters Centerline goodness : 0.989273 Centerline is valid? [True, True] Translation: X:261.17, Y:193.98, Z:4.23 [[ 5.98005342e-01 -8.01364398e-01 1.43077726e-02 2.61165961e+02] [ 8.01170526e-01 5.98175791e-01 1.76497054e-02 1.93977646e+02] [-2.27024087e-02 9.08347609e-04 9.99741854e-01 4.22848010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9307140569999 meters Centerline goodness : 0.985270 Centerline is valid? [True, True] Translation: X:261.20, Y:194.00, Z:4.23 [[ 6.06217754e-01 -7.95172651e-01 1.41594446e-02 2.61198455e+02] [ 7.94974265e-01 6.06382899e-01 1.77679102e-02 1.93995556e+02] [-2.27146013e-02 4.85171493e-04 9.99741872e-01 4.23173971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9607140569999 meters Centerline goodness : 0.982269 Centerline is valid? [True, True] Translation: X:261.22, Y:194.01, Z:4.24 [[ 6.08468242e-01 -7.93446670e-01 1.44492277e-02 2.61215850e+02] [ 7.93253242e-01 6.08639266e-01 1.75367891e-02 1.94010473e+02] [-2.27088742e-02 7.91317469e-04 9.99741807e-01 4.23543511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.990714057 meters Centerline goodness : 0.982382 Centerline is valid? [True, True] Translation: X:261.22, Y:194.03, Z:4.24 [[ 6.01181089e-01 -7.98987474e-01 1.41532635e-02 2.61220395e+02] [ 7.98790027e-01 6.01347347e-01 1.77724846e-02 1.94031985e+02] [-2.27110201e-02 6.21004080e-04 9.99741879e-01 4.23621221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.020714057 meters Centerline goodness : 0.982514 Centerline is valid? [True, True] Translation: X:261.24, Y:194.05, Z:4.23 [[ 6.00823872e-01 -7.99266311e-01 1.35660867e-02 2.61242379e+02] [ 7.99058192e-01 6.00976996e-01 1.82388639e-02 1.94049732e+02] [-2.27306155e-02 -1.18252116e-04 9.99741619e-01 4.22608859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0507140569999 meters Centerline goodness : 0.982641 Centerline is valid? [True, True] Translation: X:261.28, Y:194.07, Z:4.23 [[ 6.04165756e-01 -7.96744643e-01 1.34801027e-02 2.61278039e+02] [ 7.96534364e-01 6.04316034e-01 1.83067688e-02 1.94069963e+02] [-2.27320622e-02 -3.22957762e-04 9.99741541e-01 4.22900898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0807140569999 meters Centerline goodness : 0.989809 Centerline is valid? [True, True] Translation: X:261.29, Y:194.09, Z:4.22 [[ 5.95922056e-01 -8.02917501e-01 1.41558971e-02 2.61289936e+02] [ 8.02721152e-01 5.96089666e-01 1.77724822e-02 1.94094288e+02] [-2.27080210e-02 7.72223934e-04 9.99741841e-01 4.22227427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.110714057 meters Centerline goodness : 0.982742 Centerline is valid? [True, True] Translation: X:261.30, Y:194.11, Z:4.23 [[ 5.97081063e-01 -8.02057246e-01 1.40846693e-02 2.61302840e+02] [ 8.01859328e-01 5.97246811e-01 1.78287521e-02 1.94106695e+02] [-2.27117036e-02 6.48713174e-04 9.99741846e-01 4.22649192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.140714057 meters Centerline goodness : 0.984671 Centerline is valid? [True, True] Translation: X:261.34, Y:194.13, Z:4.23 [[ 5.97670937e-01 -8.01627943e-01 1.34941137e-02 2.61337331e+02] [ 8.01419184e-01 5.97823240e-01 1.82938440e-02 1.94127804e+02] [-2.27319513e-02 -1.19257286e-04 9.99741589e-01 4.22735064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1707140569999 meters Centerline goodness : 0.984717 Centerline is valid? [True, True] Translation: X:261.34, Y:194.15, Z:4.23 [[ 5.91496385e-01 -8.06184241e-01 1.41065834e-02 2.61344800e+02] [ 8.05987914e-01 5.91663986e-01 1.78103907e-02 1.94145378e+02] [-2.27048137e-02 8.34954045e-04 9.99741864e-01 4.22589635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2007140569999 meters Centerline goodness : 0.989970 Centerline is valid? [True, True] Translation: X:261.38, Y:194.17, Z:4.22 [[ 5.86817966e-01 -8.09603625e-01 1.36617891e-02 2.61375814e+02] [ 8.09399946e-01 5.86976840e-01 1.81636072e-02 1.94168753e+02] [-2.27244761e-02 3.99120374e-04 9.99741686e-01 4.22231369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2307140569999 meters Centerline goodness : 0.986882 Centerline is valid? [True, True] Translation: X:261.41, Y:194.19, Z:4.23 [[ 5.89307918e-01 -8.07784724e-01 1.41427347e-02 2.61405241e+02] [ 8.07589551e-01 5.89476845e-01 1.77810777e-02 1.94188742e+02] [-2.27000975e-02 9.42994870e-04 9.99741875e-01 4.22735576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.260714057 meters Centerline goodness : 0.982996 Centerline is valid? [True, True] Translation: X:261.41, Y:194.20, Z:4.23 [[ 5.77165759e-01 -8.16499856e-01 1.44108418e-02 2.61414751e+02] [ 8.16312488e-01 5.77343351e-01 1.75663619e-02 1.94203457e+02] [-2.26629356e-02 1.62504758e-03 9.99741842e-01 4.23163372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.290714057 meters Centerline goodness : 0.984618 Centerline is valid? [True, True] Translation: X:261.44, Y:194.22, Z:4.22 [[ 5.74377630e-01 -8.18477895e-01 1.35747363e-02 2.61435375e+02] [ 8.18275131e-01 5.74537665e-01 1.82286029e-02 1.94223560e+02] [-2.27189058e-02 6.37767388e-04 9.99741689e-01 4.22148393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3207140569999 meters Centerline goodness : 0.984990 Centerline is valid? [True, True] Translation: X:261.47, Y:194.25, Z:4.23 [[ 5.72733383e-01 -8.19630306e-01 1.35141845e-02 2.61468076e+02] [ 8.19426734e-01 5.72892480e-01 1.82766056e-02 1.94247087e+02] [-2.27222345e-02 6.06261899e-04 9.99741633e-01 4.22592095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3507140569999 meters Centerline goodness : 0.979187 Centerline is valid? [True, True] Translation: X:261.48, Y:194.26, Z:4.24 [[ 5.67795109e-01 -8.23047884e-01 1.41736996e-02 2.61476271e+02] [ 8.22857931e-01 5.67969782e-01 1.77524934e-02 1.94263851e+02] [-2.26613852e-02 1.58316223e-03 9.99741944e-01 4.23739918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.380714057 meters Centerline goodness : 0.988911 Centerline is valid? [True, True] Translation: X:261.50, Y:194.29, Z:4.22 [[ 5.61795003e-01 -8.27164393e-01 1.36176855e-02 2.61501974e+02] [ 8.26964919e-01 5.61959061e-01 1.81944350e-02 1.94291126e+02] [-2.27023706e-02 1.03980552e-03 9.99741727e-01 4.21708850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.410714057 meters Centerline goodness : 0.989364 Centerline is valid? [True, True] Translation: X:261.52, Y:194.31, Z:4.22 [[ 5.60341106e-01 -8.28141070e-01 1.41496631e-02 2.61519911e+02] [ 8.27952243e-01 5.60516975e-01 1.77708663e-02 1.94312473e+02] [-2.26479106e-02 1.75749840e-03 9.99741958e-01 4.21580710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4407140569999 meters Centerline goodness : 0.980898 Centerline is valid? [True, True] Translation: X:261.53, Y:194.33, Z:4.22 [[ 5.58988853e-01 -8.29054518e-01 1.41446036e-02 2.61530337e+02] [ 8.28865878e-01 5.59164922e-01 1.77748924e-02 1.94328739e+02] [-2.26455210e-02 1.78801254e-03 9.99741958e-01 4.22400269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4707140569999 meters Centerline goodness : 0.982257 Centerline is valid? [True, True] Translation: X:261.55, Y:194.35, Z:4.22 [[ 5.60215168e-01 -8.28234880e-01 1.36363133e-02 2.61549105e+02] [ 8.28036072e-01 5.60380012e-01 1.81798128e-02 1.94350789e+02] [-2.26986725e-02 1.10675236e-03 9.99741739e-01 4.21937710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.500714057 meters Centerline goodness : 0.989813 Centerline is valid? [True, True] Translation: X:261.57, Y:194.38, Z:4.21 [[ 5.60639850e-01 -8.27949037e-01 1.35406898e-02 2.61573251e+02] [ 8.27748316e-01 5.60802501e-01 1.82559889e-02 1.94378524e+02] [-2.27086811e-02 9.73248265e-04 9.99741651e-01 4.21333703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.530714057 meters Centerline goodness : 0.983421 Centerline is valid? [True, True] Translation: X:261.59, Y:194.40, Z:4.22 [[ 5.66217147e-01 -8.24134280e-01 1.41714695e-02 2.61589928e+02] [ 8.23944659e-01 5.66392133e-01 1.77524582e-02 1.94397597e+02] [-2.26570182e-02 1.62476033e-03 9.99741977e-01 4.22293200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5607140569999 meters Centerline goodness : 0.985965 Centerline is valid? [True, True] Translation: X:261.61, Y:194.42, Z:4.22 [[ 5.67376584e-01 -8.23339707e-01 1.39834969e-02 2.61607407e+02] [ 8.23146164e-01 5.67547263e-01 1.79024090e-02 1.94421995e+02] [-2.26760596e-02 1.35305412e-03 9.99741949e-01 4.22179498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5907140569999 meters Centerline goodness : 0.982347 Centerline is valid? [True, True] Translation: X:261.61, Y:194.44, Z:4.22 [[ 5.64290099e-01 -8.25456890e-01 1.40573141e-02 2.61614412e+02] [ 8.25265430e-01 5.64463087e-01 1.78436113e-02 1.94443394e+02] [-2.26639668e-02 1.53204221e-03 9.99741965e-01 4.22094958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.620714057 meters Centerline goodness : 0.986018 Centerline is valid? [True, True] Translation: X:261.64, Y:194.47, Z:4.22 [[ 5.70947730e-01 -8.20871735e-01 1.37217163e-02 2.61643091e+02] [ 8.20672391e-01 5.71111854e-01 1.81128992e-02 1.94469200e+02] [-2.27050019e-02 9.19515066e-04 9.99741785e-01 4.21834212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.650714057 meters Centerline goodness : 0.986654 Centerline is valid? [True, True] Translation: X:261.66, Y:194.49, Z:4.22 [[ 5.72844173e-01 -8.19540172e-01 1.42639740e-02 2.61656525e+02] [ 8.19350987e-01 5.73019608e-01 1.76773500e-02 1.94492724e+02] [-2.26608353e-02 1.56083425e-03 9.99741992e-01 4.21730313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6807140569999 meters Centerline goodness : 0.980942 Centerline is valid? [True, True] Translation: X:261.66, Y:194.51, Z:4.22 [[ 5.69329198e-01 -8.21986510e-01 1.42282091e-02 2.61661472e+02] [ 8.21797369e-01 5.69504679e-01 1.77060682e-02 1.94512559e+02] [-2.26571808e-02 1.61212318e-03 9.99741993e-01 4.22436126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7107140569999 meters Centerline goodness : 0.990214 Centerline is valid? [True, True] Translation: X:261.68, Y:194.54, Z:4.21 [[ 5.70062821e-01 -8.21487932e-01 1.36366671e-02 2.61684119e+02] [ 8.21287200e-01 5.70225287e-01 1.81784679e-02 1.94542250e+02] [-2.27093644e-02 8.36751504e-04 9.99741759e-01 4.20884768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.740714057 meters Centerline goodness : 0.989671 Centerline is valid? [True, True] Translation: X:261.70, Y:194.57, Z:4.21 [[ 5.69687562e-01 -8.21738834e-01 1.41905060e-02 2.61699789e+02] [ 8.21548895e-01 5.69862151e-01 1.77353342e-02 1.94565547e+02] [-2.26604451e-02 1.55459526e-03 9.99742010e-01 4.20877950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.770714057 meters Centerline goodness : 0.983270 Centerline is valid? [True, True] Translation: X:261.71, Y:194.58, Z:4.21 [[ 5.70212620e-01 -8.21374664e-01 1.41855298e-02 2.61706818e+02] [ 8.21184516e-01 5.70386981e-01 1.77393135e-02 1.94582949e+02] [-2.26618642e-02 1.53375703e-03 9.99742010e-01 4.21309949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8007140569999 meters Centerline goodness : 0.981280 Centerline is valid? [True, True] Translation: X:261.73, Y:194.61, Z:4.22 [[ 5.71516892e-01 -8.20477372e-01 1.36133768e-02 2.61725457e+02] [ 8.20275928e-01 5.71678488e-01 1.81963976e-02 1.94606476e+02] [-2.27122072e-02 7.67176671e-04 9.99741750e-01 4.22283330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8307140569999 meters Centerline goodness : 0.982068 Centerline is valid? [True, True] Translation: X:261.74, Y:194.63, Z:4.22 [[ 5.71004426e-01 -8.20835014e-01 1.35582186e-02 2.61741052e+02] [ 8.20632629e-01 5.71164928e-01 1.82404530e-02 1.94629779e+02] [-2.27163815e-02 7.10937132e-04 9.99741697e-01 4.22118875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.860714057 meters Centerline goodness : 0.989920 Centerline is valid? [True, True] Translation: X:261.76, Y:194.66, Z:4.21 [[ 5.70635510e-01 -8.21090768e-01 1.36038617e-02 2.61762413e+02] [ 8.20889317e-01 5.70797112e-01 1.82039965e-02 1.94659912e+02] [-2.27121784e-02 7.79417969e-04 9.99741741e-01 4.20595342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.890714057 meters Centerline goodness : 0.981786 Centerline is valid? [True, True] Translation: X:261.77, Y:194.68, Z:4.22 [[ 5.70929108e-01 -8.20876656e-01 1.41940243e-02 2.61771875e+02] [ 8.20686543e-01 5.71103484e-01 1.77315832e-02 1.94678971e+02] [-2.26616995e-02 1.52536778e-03 9.99742027e-01 4.21644329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9207140569999 meters Centerline goodness : 0.983764 Centerline is valid? [True, True] Translation: X:261.79, Y:194.70, Z:4.20 [[ 5.72553914e-01 -8.19753508e-01 1.36455520e-02 2.61785850e+02] [ 8.19552498e-01 5.72715965e-01 1.81693880e-02 1.94703235e+02] [-2.27094450e-02 7.80291974e-04 9.99741803e-01 4.20471650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9507140569999 meters Centerline goodness : 0.982148 Centerline is valid? [True, True] Translation: X:261.80, Y:194.73, Z:4.21 [[ 5.75290865e-01 -8.17835546e-01 1.36176907e-02 2.61803387e+02] [ 8.17633471e-01 5.75451625e-01 1.81916068e-02 1.94726679e+02] [-2.27140649e-02 6.68814524e-04 9.99741779e-01 4.21324358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9807140569999 meters Centerline goodness : 0.985558 Centerline is valid? [True, True] Translation: X:261.83, Y:194.75, Z:4.21 [[ 5.84448118e-01 -8.11316755e-01 1.36206008e-02 2.61830567e+02] [ 8.11112939e-01 5.84606663e-01 1.81892820e-02 1.94752881e+02] [-2.27199632e-02 4.17153898e-04 9.99741781e-01 4.21141184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.010714057 meters Centerline goodness : 0.985558 Centerline is valid? [True, True] Translation: X:261.85, Y:194.78, Z:4.21 [[ 5.84262307e-01 -8.11440206e-01 1.42249462e-02 2.61847953e+02] [ 8.11247889e-01 5.84434225e-01 1.77058806e-02 1.94775353e+02] [-2.26808088e-02 1.19507893e-03 9.99742043e-01 4.21103412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.040714057 meters Centerline goodness : 0.983809 Centerline is valid? [True, True] Translation: X:261.85, Y:194.80, Z:4.20 [[ 5.79356640e-01 -8.14950130e-01 1.42186406e-02 2.61852010e+02] [ 8.14758731e-01 5.79529580e-01 1.77109257e-02 1.94797615e+02] [-2.26736440e-02 1.32381915e-03 9.99742043e-01 4.20418782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0707140569999 meters Centerline goodness : 0.981760 Centerline is valid? [True, True] Translation: X:261.87, Y:194.82, Z:4.21 [[ 5.82889025e-01 -8.12436910e-01 1.36620910e-02 2.61870258e+02] [ 8.12234179e-01 5.83048886e-01 1.81558411e-02 1.94819243e+02] [-2.27161424e-02 5.13976796e-04 9.99741823e-01 4.21171796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1007140569999 meters Centerline goodness : 0.985822 Centerline is valid? [True, True] Translation: X:261.90, Y:194.85, Z:4.21 [[ 5.90925057e-01 -8.06612817e-01 1.35403472e-02 2.61898574e+02] [ 8.06406275e-01 5.91080152e-01 1.82530510e-02 1.94845604e+02] [-2.27265754e-02 1.32835794e-04 9.99741709e-01 4.20580691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.130714057 meters Centerline goodness : 0.982466 Centerline is valid? [True, True] Translation: X:261.90, Y:194.87, Z:4.21 [[ 5.87621755e-01 -8.09009339e-01 1.43025453e-02 2.61901344e+02] [ 8.08817830e-01 5.87794562e-01 1.76428350e-02 1.94866824e+02] [-2.26801767e-02 1.20083999e-03 9.99742051e-01 4.21412591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.160714057 meters Centerline goodness : 0.986258 Centerline is valid? [True, True] Translation: X:261.93, Y:194.89, Z:4.20 [[ 5.93502353e-01 -8.04717517e-01 1.35895442e-02 2.61930700e+02] [ 8.04511428e-01 5.93657900e-01 1.82115415e-02 1.94892118e+02] [-2.27226867e-02 1.24350822e-04 9.99741799e-01 4.20076439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1907140569999 meters Centerline goodness : 0.985624 Centerline is valid? [True, True] Translation: X:261.95, Y:194.92, Z:4.20 [[ 5.92143822e-01 -8.05704144e-01 1.43710076e-02 2.61945667e+02] [ 8.05512949e-01 5.92317048e-01 1.75898612e-02 1.94915480e+02] [-2.26844169e-02 1.16030508e-03 9.99742002e-01 4.19841322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2207140569999 meters Centerline goodness : 0.984602 Centerline is valid? [True, True] Translation: X:261.95, Y:194.93, Z:4.20 [[ 5.89270883e-01 -8.07808420e-01 1.43311682e-02 2.61948525e+02] [ 8.07617074e-01 5.89443924e-01 1.76216501e-02 1.94931685e+02] [-2.26823373e-02 1.19017086e-03 9.99742014e-01 4.20098350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.250714057 meters Centerline goodness : 0.981972 Centerline is valid? [True, True] Translation: X:261.97, Y:194.95, Z:4.21 [[ 5.91866511e-01 -8.05922988e-01 1.34970632e-02 2.61967755e+02] [ 8.05715550e-01 5.92020383e-01 1.82843614e-02 1.94954031e+02] [-2.27263237e-02 5.28924948e-05 9.99741722e-01 4.20898453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.280714057 meters Centerline goodness : 0.983190 Centerline is valid? [True, True] Translation: X:261.99, Y:194.98, Z:4.20 [[ 5.95562685e-01 -8.03192750e-01 1.36562970e-02 2.61986663e+02] [ 8.02987501e-01 5.95719215e-01 1.81573716e-02 1.94975419e+02] [-2.27191878e-02 1.51982823e-04 9.99741874e-01 4.20450724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3107140569999 meters Centerline goodness : 0.982053 Centerline is valid? [True, True] Translation: X:262.00, Y:195.00, Z:4.21 [[ 5.98338209e-01 -8.01128301e-01 1.35953170e-02 2.62003196e+02] [ 8.00921404e-01 5.98492644e-01 1.82060135e-02 1.94995774e+02] [-2.27220499e-02 -4.57318220e-06 9.99741821e-01 4.20779387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3407140569999 meters Centerline goodness : 0.990142 Centerline is valid? [True, True] Translation: X:262.03, Y:195.03, Z:4.19 [[ 6.00813726e-01 -7.99274648e-01 1.35241766e-02 2.62028606e+02] [ 7.99065995e-01 6.00965897e-01 1.82626908e-02 1.95025041e+02] [-2.27244747e-02 -1.65765652e-04 9.99741752e-01 4.19184253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.370714057 meters Centerline goodness : 0.991006 Centerline is valid? [True, True] Translation: X:262.05, Y:195.05, Z:4.19 [[ 6.02029207e-01 -7.98348319e-01 1.41702372e-02 2.62048390e+02] [ 7.98151289e-01 6.02195624e-01 1.77468438e-02 1.95048754e+02] [-2.27014177e-02 6.25874826e-04 9.99742094e-01 4.19067130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.400714057 meters Centerline goodness : 0.980748 Centerline is valid? [True, True] Translation: X:262.06, Y:195.06, Z:4.21 [[ 6.04032680e-01 -7.96833562e-01 1.41702372e-02 2.62061876e+02] [ 7.96636115e-01 6.04198602e-01 1.77468438e-02 1.95060697e+02] [-2.27029183e-02 5.68849130e-04 9.99742094e-01 4.20575704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4307140569999 meters Centerline goodness : 0.984740 Centerline is valid? [True, True] Translation: X:262.08, Y:195.08, Z:4.19 [[ 6.03115869e-01 -7.97538290e-01 1.35618778e-02 2.62082157e+02] [ 7.97329910e-01 6.03268301e-01 1.82310703e-02 1.95081497e+02] [-2.27214276e-02 -1.82156974e-04 9.99741818e-01 4.19002300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4607140569999 meters Centerline goodness : 0.985743 Centerline is valid? [True, True] Translation: X:262.12, Y:195.10, Z:4.19 [[ 6.04722904e-01 -7.96320037e-01 1.35870369e-02 2.62115669e+02] [ 7.96111802e-01 6.04875492e-01 1.82109288e-02 1.95104199e+02] [-2.27201931e-02 -1.95765299e-04 9.99741844e-01 4.19354603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.490714057 meters Centerline goodness : 0.990723 Centerline is valid? [True, True] Translation: X:262.13, Y:195.13, Z:4.19 [[ 5.96569792e-01 -8.02435039e-01 1.42299520e-02 2.62130112e+02] [ 8.02240366e-01 5.96738863e-01 1.76953293e-02 1.95129658e+02] [-2.26909176e-02 8.59343003e-04 9.99742159e-01 4.18900400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.520714057 meters Centerline goodness : 0.990892 Centerline is valid? [True, True] Translation: X:262.15, Y:195.15, Z:4.19 [[ 5.90956535e-01 -8.06578352e-01 1.42033358e-02 2.62151180e+02] [ 8.06384354e-01 5.91126377e-01 1.77166674e-02 1.95148616e+02] [-2.26858468e-02 9.83567369e-04 9.99742159e-01 4.18927715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5507140569999 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:262.17, Y:195.17, Z:4.19 [[ 5.84566204e-01 -8.11221771e-01 1.41982998e-02 2.62172540e+02] [ 8.11029022e-01 5.84737464e-01 1.77207023e-02 1.95167600e+02] [-2.26776974e-02 1.15630955e-03 9.99742159e-01 4.18790872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5807140569999 meters Centerline goodness : 0.989842 Centerline is valid? [True, True] Translation: X:262.20, Y:195.19, Z:4.19 [[ 5.81116770e-01 -8.13696412e-01 1.41932887e-02 2.62199511e+02] [ 8.13504295e-01 5.81288738e-01 1.77247151e-02 1.95192191e+02] [-2.26729359e-02 1.24617216e-03 9.99742159e-01 4.18797478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.610714057 meters Centerline goodness : 0.985388 Centerline is valid? [True, True] Translation: X:262.21, Y:195.21, Z:4.19 [[ 5.84117885e-01 -8.11537614e-01 1.45944256e-02 2.62214768e+02] [ 8.11352725e-01 5.84297777e-01 1.74029689e-02 1.95205366e+02] [-2.26506543e-02 1.67584163e-03 9.99742036e-01 4.19347981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.640714057 meters Centerline goodness : 0.987270 Centerline is valid? [True, True] Translation: X:262.24, Y:195.23, Z:4.19 [[ 5.81337024e-01 -8.13540920e-01 1.40866911e-02 2.62236658e+02] [ 8.13346716e-01 5.81506622e-01 1.78092308e-02 1.95226664e+02] [-2.26800422e-02 1.10419871e-03 9.99742165e-01 4.18573256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6707140569999 meters Centerline goodness : 0.990799 Centerline is valid? [True, True] Translation: X:262.26, Y:195.26, Z:4.18 [[ 5.75819683e-01 -8.17453693e-01 1.41827965e-02 2.62259966e+02] [ 8.17262511e-01 5.75992668e-01 1.77323102e-02 1.95256367e+02] [-2.26645293e-02 1.38045465e-03 9.99742173e-01 4.18314626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7007140569999 meters Centerline goodness : 0.989065 Centerline is valid? [True, True] Translation: X:262.28, Y:195.28, Z:4.18 [[ 5.76751218e-01 -8.16788097e-01 1.46709571e-02 2.62277876e+02] [ 8.16606401e-01 5.76934387e-01 1.73406622e-02 1.95276905e+02] [-2.26278261e-02 1.97914942e-03 9.99741999e-01 4.18262402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7307140569999 meters Centerline goodness : 0.991037 Centerline is valid? [True, True] Translation: X:262.29, Y:195.29, Z:4.18 [[ 5.78747269e-01 -8.15375483e-01 1.46430874e-02 2.62287103e+02] [ 8.15192780e-01 5.78929405e-01 1.73630406e-02 1.95294481e+02] [-2.26347115e-02 1.88812675e-03 9.99742019e-01 4.18251913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.760714057 meters Centerline goodness : 0.990677 Centerline is valid? [True, True] Translation: X:262.30, Y:195.32, Z:4.18 [[ 5.83598987e-01 -8.11917894e-01 1.41970628e-02 2.62304104e+02] [ 8.11725355e-01 5.83770448e-01 1.77203874e-02 1.95316674e+02] [-2.26753253e-02 1.18251574e-03 9.99742182e-01 4.18283822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.790714057 meters Centerline goodness : 0.991007 Centerline is valid? [True, True] Translation: X:262.32, Y:195.34, Z:4.18 [[ 5.86353054e-01 -8.09931282e-01 1.41920450e-02 2.62320315e+02] [ 8.09738066e-01 5.86523751e-01 1.77244052e-02 1.95338780e+02] [-2.26795217e-02 1.09907996e-03 9.99742182e-01 4.18225508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8207140569999 meters Centerline goodness : 0.982632 Centerline is valid? [True, True] Translation: X:262.33, Y:195.36, Z:4.19 [[ 5.90343696e-01 -8.07027293e-01 1.41869164e-02 2.62329975e+02] [ 8.06833139e-01 5.90513324e-01 1.77285093e-02 1.95355183e+02] [-2.26849540e-02 9.80560616e-04 9.99742182e-01 4.19372065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8507140569999 meters Centerline goodness : 0.991212 Centerline is valid? [True, True] Translation: X:262.35, Y:195.38, Z:4.18 [[ 5.94134401e-01 -8.04250019e-01 1.36462611e-02 2.62353752e+02] [ 8.04044988e-01 5.94291068e-01 1.81599390e-02 1.95384928e+02] [-2.27149823e-02 1.82763346e-04 9.99741965e-01 4.18145900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.880714057 meters Centerline goodness : 0.985396 Centerline is valid? [True, True] Translation: X:262.36, Y:195.40, Z:4.18 [[ 5.97171839e-01 -8.01988033e-01 1.41770851e-02 2.62362838e+02] [ 8.01792276e-01 5.97339596e-01 1.77356282e-02 1.95399246e+02] [-2.26922959e-02 7.75859560e-04 9.99742196e-01 4.18255330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.910714057 meters Centerline goodness : 0.985327 Centerline is valid? [True, True] Translation: X:262.39, Y:195.42, Z:4.19 [[ 6.03058052e-01 -7.97582014e-01 1.35616055e-02 2.62393696e+02] [ 7.97373738e-01 6.03210494e-01 1.82269681e-02 1.95423772e+02] [-2.27180047e-02 -1.78251836e-04 9.99741897e-01 4.18783666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9407140569999 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:262.41, Y:195.45, Z:4.18 [[ 5.97621899e-01 -8.01653969e-01 1.41060232e-02 2.62408194e+02] [ 8.01456817e-01 5.97787973e-01 1.77907332e-02 1.95448586e+02] [-2.26944229e-02 6.73236764e-04 9.99742222e-01 4.18183872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9707140569999 meters Centerline goodness : 0.990681 Centerline is valid? [True, True] Translation: X:262.43, Y:195.47, Z:4.18 [[ 5.96632846e-01 -8.02388771e-01 1.41952792e-02 2.62426651e+02] [ 8.02193514e-01 5.96801135e-01 1.77192284e-02 1.95468628e+02] [-2.26894686e-02 8.15487220e-04 9.99742228e-01 4.18166525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.000714057 meters Centerline goodness : 0.991005 Centerline is valid? [True, True] Translation: X:262.44, Y:195.49, Z:4.18 [[ 5.95182014e-01 -8.03465572e-01 1.41931506e-02 2.62444803e+02] [ 8.03270578e-01 5.95350608e-01 1.77209332e-02 1.95489458e+02] [-2.26880606e-02 8.53759522e-04 9.99742228e-01 4.18044625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.030714057 meters Centerline goodness : 0.986163 Centerline is valid? [True, True] Translation: X:262.46, Y:195.51, Z:4.19 [[ 5.95304876e-01 -8.03374630e-01 1.41883179e-02 2.62463334e+02] [ 8.03179520e-01 5.95473333e-01 1.77248017e-02 1.95505694e+02] [-2.26884210e-02 8.44105483e-04 9.99742228e-01 4.18617152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0607140569999 meters Centerline goodness : 0.990352 Centerline is valid? [True, True] Translation: X:262.48, Y:195.53, Z:4.18 [[ 5.90017156e-01 -8.07270044e-01 1.39582034e-02 2.62484462e+02] [ 8.07071673e-01 5.90181826e-01 1.79088723e-02 1.95530985e+02] [-2.26951741e-02 6.98728661e-04 9.99742187e-01 4.17685691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0907140569999 meters Centerline goodness : 0.982579 Centerline is valid? [True, True] Translation: X:262.50, Y:195.55, Z:4.19 [[ 5.85210456e-01 -8.10757310e-01 1.41882886e-02 2.62499028e+02] [ 8.10564324e-01 5.85381340e-01 1.77246947e-02 1.95548448e+02] [-2.26759851e-02 1.12784388e-03 9.99742231e-01 4.18619231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.120714057 meters Centerline goodness : 0.990170 Centerline is valid? [True, True] Translation: X:262.52, Y:195.57, Z:4.17 [[ 5.84344244e-01 -8.11387415e-01 1.38660160e-02 2.62523279e+02] [ 8.11188467e-01 5.84508267e-01 1.79821329e-02 1.95571992e+02] [-2.26952774e-02 7.40196412e-04 9.99742155e-01 4.17371909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.150714057 meters Centerline goodness : 0.988500 Centerline is valid? [True, True] Translation: X:262.54, Y:195.59, Z:4.17 [[ 5.83137880e-01 -8.12249446e-01 1.41792080e-02 2.62540833e+02] [ 8.12056728e-01 5.83309059e-01 1.77316903e-02 1.95592722e+02] [-2.26734161e-02 1.17430096e-03 9.99742235e-01 4.17289356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1807140569999 meters Centerline goodness : 0.990355 Centerline is valid? [True, True] Translation: X:262.56, Y:195.61, Z:4.17 [[ 5.82542681e-01 -8.12676465e-01 1.41770467e-02 2.62559800e+02] [ 8.12483830e-01 5.82713954e-01 1.77334181e-02 1.95613508e+02] [-2.26726945e-02 1.18814829e-03 9.99742235e-01 4.17386192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2107140569999 meters Centerline goodness : 0.984061 Centerline is valid? [True, True] Translation: X:262.58, Y:195.63, Z:4.18 [[ 5.86588027e-01 -8.09761472e-01 1.41719741e-02 2.62578713e+02] [ 8.09567889e-01 5.86758226e-01 1.77374710e-02 1.95630492e+02] [-2.26786430e-02 1.06858703e-03 9.99742235e-01 4.18268875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.240714057 meters Centerline goodness : 0.989917 Centerline is valid? [True, True] Translation: X:262.60, Y:195.66, Z:4.17 [[ 5.82371234e-01 -8.12802777e-01 1.39782422e-02 2.62596930e+02] [ 8.12606368e-01 5.82538208e-01 1.78920869e-02 1.95655459e+02] [-2.26855981e-02 9.38971887e-04 9.99742208e-01 4.17361162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.270714057 meters Centerline goodness : 0.984838 Centerline is valid? [True, True] Translation: X:262.62, Y:195.67, Z:4.18 [[ 5.87687236e-01 -8.08964204e-01 1.41643601e-02 2.62617436e+02] [ 8.08770244e-01 5.87857006e-01 1.77435128e-02 1.95672203e+02] [-2.26804850e-02 1.02807697e-03 9.99742236e-01 4.18213575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3007140569999 meters Centerline goodness : 0.989912 Centerline is valid? [True, True] Translation: X:262.63, Y:195.70, Z:4.17 [[ 5.82276902e-01 -8.12869889e-01 1.40054494e-02 2.62634037e+02] [ 8.12674021e-01 5.82444495e-01 1.78702603e-02 1.95697762e+02] [-2.26835934e-02 9.76425103e-04 9.99742217e-01 4.17268014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3307140569999 meters Centerline goodness : 0.984231 Centerline is valid? [True, True] Translation: X:262.66, Y:195.71, Z:4.18 [[ 5.88080989e-01 -8.08678116e-01 1.41581933e-02 2.62657848e+02] [ 8.08483957e-01 5.88250530e-01 1.77484146e-02 1.95712620e+02] [-2.26813192e-02 1.00916690e-03 9.99742236e-01 4.17830581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.360714057 meters Centerline goodness : 0.985081 Centerline is valid? [True, True] Translation: X:262.68, Y:195.74, Z:4.18 [[ 5.84157394e-01 -8.11518471e-01 1.40680772e-02 2.62680156e+02] [ 8.11323407e-01 5.84325906e-01 1.78203849e-02 1.95736348e+02] [-2.26819135e-02 1.00385072e-03 9.99742228e-01 4.17701953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.390714057 meters Centerline goodness : 0.983908 Centerline is valid? [True, True] Translation: X:262.70, Y:195.76, Z:4.18 [[ 5.83842742e-01 -8.11741955e-01 1.42355988e-02 2.62697501e+02] [ 8.11550178e-01 5.84014978e-01 1.76865750e-02 1.95755639e+02] [-2.26707379e-02 1.22672424e-03 9.99742233e-01 4.17858921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4207140569999 meters Centerline goodness : 0.984821 Centerline is valid? [True, True] Translation: X:262.72, Y:195.78, Z:4.18 [[ 5.82845509e-01 -8.12460803e-01 1.40909889e-02 2.62717120e+02] [ 8.12266454e-01 5.83014836e-01 1.78019361e-02 1.95776791e+02] [-2.26786309e-02 1.06985906e-03 9.99742234e-01 4.17832515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4507140569999 meters Centerline goodness : 0.989689 Centerline is valid? [True, True] Translation: X:262.73, Y:195.80, Z:4.17 [[ 5.73971090e-01 -8.18753366e-01 1.41461786e-02 2.62730676e+02] [ 8.18561943e-01 5.74143712e-01 1.77579208e-02 1.95801897e+02] [-2.26612969e-02 1.38699024e-03 9.99742238e-01 4.16923512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4807140569999 meters Centerline goodness : 0.982850 Centerline is valid? [True, True] Translation: X:262.74, Y:195.82, Z:4.17 [[ 5.74799258e-01 -8.18172038e-01 1.41537776e-02 2.62740773e+02] [ 8.17980588e-01 5.74971850e-01 1.77518620e-02 1.95815489e+02] [-2.26621008e-02 1.37375823e-03 9.99742238e-01 4.17111638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.510714057 meters Centerline goodness : 0.984269 Centerline is valid? [True, True] Translation: X:262.76, Y:195.84, Z:4.17 [[ 5.73697455e-01 -8.18955495e-01 1.35324675e-02 2.62757477e+02] [ 8.18752458e-01 5.73856709e-01 1.82452799e-02 1.95836714e+02] [-2.27077695e-02 6.12470402e-04 9.99741958e-01 4.16892102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.540714057 meters Centerline goodness : 0.984492 Centerline is valid? [True, True] Translation: X:262.78, Y:195.86, Z:4.17 [[ 5.74661904e-01 -8.18280884e-01 1.34197945e-02 2.62775012e+02] [ 8.18075570e-01 5.74818406e-01 1.83347416e-02 1.95859077e+02] [-2.27169135e-02 4.42128530e-04 9.99741840e-01 4.16839244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5707140569999 meters Centerline goodness : 0.983526 Centerline is valid? [True, True] Translation: X:262.79, Y:195.88, Z:4.17 [[ 5.79139110e-01 -8.15118229e-01 1.34224921e-02 2.62792292e+02] [ 8.14912110e-01 5.79294545e-01 1.83326003e-02 1.95881138e+02] [-2.27188131e-02 3.21025474e-04 9.99741843e-01 4.17492755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6007140569999 meters Centerline goodness : 0.984838 Centerline is valid? [True, True] Translation: X:262.81, Y:195.90, Z:4.17 [[ 5.81398088e-01 -8.13508524e-01 1.34217846e-02 2.62810799e+02] [ 8.13301961e-01 5.81552934e-01 1.83331622e-02 1.95904048e+02] [-2.27196619e-02 2.57098311e-04 9.99741842e-01 4.16961859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.630714057 meters Centerline goodness : 0.983957 Centerline is valid? [True, True] Translation: X:262.83, Y:195.93, Z:4.17 [[ 5.87287120e-01 -8.09266877e-01 1.34521624e-02 2.62829489e+02] [ 8.09059748e-01 5.87441150e-01 1.83090060e-02 1.95925631e+02] [-2.27192259e-02 1.30959726e-04 9.99741876e-01 4.17002016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.660714057 meters Centerline goodness : 0.989377 Centerline is valid? [True, True] Translation: X:262.85, Y:195.96, Z:4.17 [[ 5.86989862e-01 -8.09481397e-01 1.35192096e-02 2.62853486e+02] [ 8.09275551e-01 5.87145482e-01 1.82555725e-02 1.95956087e+02] [-2.27152892e-02 2.24929840e-04 9.99741949e-01 4.16627920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6907140569999 meters Centerline goodness : 0.984491 Centerline is valid? [True, True] Translation: X:262.86, Y:195.97, Z:4.17 [[ 5.94274683e-01 -8.04137323e-01 1.41692617e-02 2.62863600e+02] [ 8.03942151e-01 5.94442968e-01 1.77362648e-02 1.95971180e+02] [-2.26852104e-02 8.51053575e-04 9.99742295e-01 4.17110021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7207140569999 meters Centerline goodness : 0.986157 Centerline is valid? [True, True] Translation: X:262.89, Y:196.00, Z:4.17 [[ 5.99883790e-01 -7.99973120e-01 1.35072420e-02 2.62892503e+02] [ 7.99764632e-01 6.00035819e-01 1.82633555e-02 1.95996045e+02] [-2.27150225e-02 -1.53276456e-04 9.99741969e-01 4.17417908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.750714057 meters Centerline goodness : 0.985810 Centerline is valid? [True, True] Translation: X:262.90, Y:196.02, Z:4.17 [[ 5.96710675e-01 -8.02333102e-01 1.40699404e-02 2.62898586e+02] [ 8.02135578e-01 5.96876171e-01 1.78143846e-02 1.96015280e+02] [-2.26910826e-02 6.55966268e-04 9.99742309e-01 4.16901035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.780714057 meters Centerline goodness : 0.986139 Centerline is valid? [True, True] Translation: X:262.92, Y:196.04, Z:4.17 [[ 5.97370159e-01 -8.01851091e-01 1.35543367e-02 2.62918960e+02] [ 8.01643924e-01 5.97523913e-01 1.82261342e-02 1.96035875e+02] [-2.27136859e-02 -2.19969854e-05 9.99742011e-01 4.16608944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8107140569999 meters Centerline goodness : 0.985779 Centerline is valid? [True, True] Translation: X:262.94, Y:196.06, Z:4.16 [[ 5.95663932e-01 -8.03120069e-01 1.35142521e-02 2.62938479e+02] [ 8.02912501e-01 5.95817215e-01 1.82582040e-02 1.96057434e+02] [-2.27155541e-02 -2.49916681e-05 9.99741968e-01 4.16337027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8407140569999 meters Centerline goodness : 0.984624 Centerline is valid? [True, True] Translation: X:262.96, Y:196.08, Z:4.16 [[ 5.91666957e-01 -8.06068644e-01 1.35482144e-02 2.62959048e+02] [ 8.05862462e-01 5.91822038e-01 1.82309854e-02 1.96077789e+02] [-2.27135576e-02 1.31325753e-04 9.99742005e-01 4.16207659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.870714057 meters Centerline goodness : 0.984074 Centerline is valid? [True, True] Translation: X:262.98, Y:196.10, Z:4.16 [[ 5.90612286e-01 -8.06840699e-01 1.36093420e-02 2.62979789e+02] [ 8.06635848e-01 5.90769015e-01 1.81818217e-02 1.96099137e+02] [-2.27098113e-02 2.39375799e-04 9.99742070e-01 4.16025267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.900714057 meters Centerline goodness : 0.984222 Centerline is valid? [True, True] Translation: X:263.00, Y:196.12, Z:4.16 [[ 5.85859084e-01 -8.10297673e-01 1.36680305e-02 2.62996419e+02] [ 8.10094845e-01 5.86018328e-01 1.81345535e-02 1.96120379e+02] [-2.27041029e-02 4.48108154e-04 9.99742128e-01 4.16325624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9307140569999 meters Centerline goodness : 0.984222 Centerline is valid? [True, True] Translation: X:263.01, Y:196.14, Z:4.16 [[ 5.86371731e-01 -8.09928728e-01 1.35516906e-02 2.63014975e+02] [ 8.09723630e-01 5.86528239e-01 1.82282460e-02 1.96142242e+02] [-2.27120293e-02 2.84595898e-04 9.99742008e-01 4.16256200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9607140569999 meters Centerline goodness : 0.983354 Centerline is valid? [True, True] Translation: X:263.03, Y:196.16, Z:4.16 [[ 5.84919469e-01 -8.10978333e-01 1.35409867e-02 2.63032616e+02] [ 8.10773316e-01 5.85076103e-01 1.82368682e-02 1.96162993e+02] [-2.27122127e-02 3.11571434e-04 9.99741996e-01 4.16467405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.990714057 meters Centerline goodness : 0.989893 Centerline is valid? [True, True] Translation: X:263.06, Y:196.19, Z:4.16 [[ 5.81299922e-01 -8.13575857e-01 1.35914286e-02 2.63058070e+02] [ 8.13372485e-01 5.81458595e-01 1.81962168e-02 1.96191677e+02] [-2.27068556e-02 4.77434605e-04 9.99742052e-01 4.16201952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.020714057 meters Centerline goodness : 0.984507 Centerline is valid? [True, True] Translation: X:263.07, Y:196.21, Z:4.16 [[ 5.82462557e-01 -8.12732421e-01 1.42612192e-02 2.63068421e+02] [ 8.12541681e-01 5.82635659e-01 1.76551953e-02 1.96205473e+02] [-2.26580445e-02 1.30434477e-03 9.99742423e-01 4.16498275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0507140569999 meters Centerline goodness : 0.983121 Centerline is valid? [True, True] Translation: X:263.09, Y:196.23, Z:4.17 [[ 5.83147615e-01 -8.12252276e-01 1.36051136e-02 2.63088464e+02] [ 8.12048839e-01 5.83306131e-01 1.81835441e-02 1.96227309e+02] [-2.27055712e-02 4.44326316e-04 9.99742097e-01 4.16627416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0807140569999 meters Centerline goodness : 0.989224 Centerline is valid? [True, True] Translation: X:263.11, Y:196.26, Z:4.16 [[ 5.82213407e-01 -8.12922303e-01 1.35969556e-02 2.63112332e+02] [ 8.12718895e-01 5.82371975e-01 1.81901183e-02 1.96256756e+02] [-2.27056387e-02 4.59971946e-04 9.99742088e-01 4.15963441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.110714057 meters Centerline goodness : 0.983661 Centerline is valid? [True, True] Translation: X:263.12, Y:196.27, Z:4.16 [[ 5.81196875e-01 -8.13638018e-01 1.42607229e-02 2.63121613e+02] [ 8.13447575e-01 5.81370261e-01 1.76539426e-02 1.96271257e+02] [-2.26546791e-02 1.33993415e-03 9.99742452e-01 4.16177142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.140714057 meters Centerline goodness : 0.989378 Centerline is valid? [True, True] Translation: X:263.15, Y:196.30, Z:4.16 [[ 5.79871489e-01 -8.14594588e-01 1.35908975e-02 2.63147111e+02] [ 8.14391543e-01 5.80030506e-01 1.81941493e-02 1.96300252e+02] [-2.27039907e-02 5.18043540e-04 9.99742097e-01 4.15671437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1707140569999 meters Centerline goodness : 0.983962 Centerline is valid? [True, True] Translation: X:263.16, Y:196.31, Z:4.16 [[ 5.81461461e-01 -8.13448840e-01 1.42672496e-02 2.63157909e+02] [ 8.13258499e-01 5.81634924e-01 1.76473541e-02 1.96314628e+02] [-2.26535503e-02 1.34170572e-03 9.99742475e-01 4.16000254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2007140569999 meters Centerline goodness : 0.984671 Centerline is valid? [True, True] Translation: X:263.19, Y:196.34, Z:4.16 [[ 5.85398143e-01 -8.10631648e-01 1.36141478e-02 2.63189932e+02] [ 8.10427960e-01 5.85556296e-01 1.81754008e-02 1.96339321e+02] [-2.27054051e-02 3.93440187e-04 9.99742122e-01 4.16479747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2307140569999 meters Centerline goodness : 0.982682 Centerline is valid? [True, True] Translation: X:263.19, Y:196.36, Z:4.16 [[ 5.78325810e-01 -8.15681007e-01 1.42742007e-02 2.63194775e+02] [ 8.15491500e-01 5.78500152e-01 1.76405311e-02 1.96358881e+02] [-2.26466734e-02 1.43851489e-03 9.99742496e-01 4.16444963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.260714057 meters Centerline goodness : 0.989572 Centerline is valid? [True, True] Translation: X:263.22, Y:196.39, Z:4.15 [[ 5.76277858e-01 -8.17139736e-01 1.36558625e-02 2.63220165e+02] [ 8.16938664e-01 5.76439206e-01 1.81400173e-02 1.96387394e+02] [-2.26947035e-02 7.02311792e-04 9.99742195e-01 4.15349226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.290714057 meters Centerline goodness : 0.983069 Centerline is valid? [True, True] Translation: X:263.23, Y:196.40, Z:4.16 [[ 5.76488346e-01 -8.16980633e-01 1.42770216e-02 2.63229278e+02] [ 8.16791598e-01 5.76663173e-01 1.76372089e-02 1.96401692e+02] [-2.26422906e-02 1.49370587e-03 9.99742515e-01 4.16079991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3207140569999 meters Centerline goodness : 0.989580 Centerline is valid? [True, True] Translation: X:263.25, Y:196.43, Z:4.15 [[ 5.72974472e-01 -8.19460026e-01 1.36206092e-02 2.63254655e+02] [ 8.19258967e-01 5.73135852e-01 1.81670203e-02 1.96430629e+02] [-2.26936064e-02 7.49567344e-04 9.99742186e-01 4.15067415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3507140569999 meters Centerline goodness : 0.990433 Centerline is valid? [True, True] Translation: X:263.27, Y:196.45, Z:4.15 [[ 5.71417531e-01 -8.20535414e-01 1.42702284e-02 2.63271386e+02] [ 8.20347356e-01 5.71593379e-01 1.76415544e-02 1.96453127e+02] [-2.26322882e-02 1.62585065e-03 9.99742535e-01 4.15020156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.380714057 meters Centerline goodness : 0.984929 Centerline is valid? [True, True] Translation: X:263.30, Y:196.47, Z:4.16 [[ 5.75617561e-01 -8.17594598e-01 1.42652082e-02 2.63296730e+02] [ 8.17405542e-01 5.75792335e-01 1.76456129e-02 1.96473900e+02] [-2.26407553e-02 1.50333561e-03 9.99742535e-01 4.15621449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.410714057 meters Centerline goodness : 0.989311 Centerline is valid? [True, True] Translation: X:263.31, Y:196.50, Z:4.15 [[ 5.68023712e-01 -8.22885650e-01 1.44315350e-02 2.63305089e+02] [ 8.22701565e-01 5.68203746e-01 1.75110977e-02 1.96498179e+02] [-2.26096833e-02 1.92612766e-03 9.99742513e-01 4.14935812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4407140569999 meters Centerline goodness : 0.983244 Centerline is valid? [True, True] Translation: X:263.31, Y:196.51, Z:4.16 [[ 5.68444687e-01 -8.22597898e-01 1.42595866e-02 2.63314638e+02] [ 8.22410268e-01 5.68620988e-01 1.76500169e-02 1.96512841e+02] [-2.26271670e-02 1.69417211e-03 9.99742537e-01 4.15862783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4707140569999 meters Centerline goodness : 0.989627 Centerline is valid? [True, True] Translation: X:263.34, Y:196.54, Z:4.15 [[ 5.66256887e-01 -8.24116867e-01 1.35841019e-02 2.63340317e+02] [ 8.23916453e-01 5.66419103e-01 1.81955830e-02 1.96542951e+02] [-2.26895817e-02 8.88790863e-04 9.99742163e-01 4.14920209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.500714057 meters Centerline goodness : 0.990165 Centerline is valid? [True, True] Translation: X:263.36, Y:196.56, Z:4.15 [[ 5.65313123e-01 -8.24752823e-01 1.42777510e-02 2.63355897e+02] [ 8.24566260e-01 5.65490518e-01 1.76339655e-02 1.96564491e+02] [-2.26175956e-02 1.80423965e-03 9.99742561e-01 4.14915998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.530714057 meters Centerline goodness : 0.983780 Centerline is valid? [True, True] Translation: X:263.37, Y:196.59, Z:4.15 [[ 5.61891411e-01 -8.27087813e-01 1.42755540e-02 2.63365209e+02] [ 8.26901942e-01 5.62069532e-01 1.76357439e-02 1.96585679e+02] [-2.26101628e-02 1.89511029e-03 9.99742561e-01 4.14811846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5607140569999 meters Centerline goodness : 0.982735 Centerline is valid? [True, True] Translation: X:263.38, Y:196.60, Z:4.16 [[ 5.66088410e-01 -8.24227924e-01 1.38651515e-02 2.63380922e+02] [ 8.24033022e-01 5.66256794e-01 1.79672678e-02 1.96604016e+02] [-2.26603600e-02 1.25428062e-03 9.99742434e-01 4.15750785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5907140569999 meters Centerline goodness : 0.985797 Centerline is valid? [True, True] Translation: X:263.41, Y:196.63, Z:4.15 [[ 5.69999112e-01 -8.21532789e-01 1.35973961e-02 2.63410809e+02] [ 8.21331922e-01 5.70160707e-01 1.81835939e-02 1.96633774e+02] [-2.26911196e-02 8.03343143e-04 9.99742201e-01 4.15211186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.620714057 meters Centerline goodness : 0.984523 Centerline is valid? [True, True] Translation: X:263.42, Y:196.66, Z:4.15 [[ 5.70088165e-01 -8.21452543e-01 1.46698621e-02 2.63423489e+02] [ 8.21272651e-01 5.70272751e-01 1.73268991e-02 1.96655785e+02] [-2.25990479e-02 2.17009642e-03 9.99742254e-01 4.15473024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.650714057 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:263.42, Y:196.68, Z:4.15 [[ 5.62181277e-01 -8.26886718e-01 1.45109260e-02 2.63422428e+02] [ 8.26705375e-01 5.62364282e-01 1.74538538e-02 1.96682363e+02] [-2.25927864e-02 2.18403074e-03 9.99742365e-01 4.14825977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6807140569999 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:263.44, Y:196.71, Z:4.15 [[ 5.63292531e-01 -8.26136428e-01 1.41466295e-02 2.63437831e+02] [ 8.25947572e-01 5.63467611e-01 1.77442922e-02 1.96705125e+02] [-2.26303737e-02 1.68914701e-03 9.99742473e-01 4.14708971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7107140569999 meters Centerline goodness : 0.990794 Centerline is valid? [True, True] Translation: X:263.45, Y:196.73, Z:4.15 [[ 5.66390288e-01 -8.24015810e-01 1.41416399e-02 2.63451133e+02] [ 8.23826200e-01 5.66564552e-01 1.77482679e-02 1.96728432e+02] [-2.26370052e-02 1.59780686e-03 9.99742473e-01 4.14612262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.740714057 meters Centerline goodness : 0.983096 Centerline is valid? [True, True] Translation: X:263.46, Y:196.75, Z:4.16 [[ 5.68363443e-01 -8.22656108e-01 1.41394797e-02 2.63459848e+02] [ 8.22466038e-01 5.68537205e-01 1.77499887e-02 1.96746245e+02] [-2.26409569e-02 1.54079713e-03 9.99742473e-01 4.15578382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.770714057 meters Centerline goodness : 0.990548 Centerline is valid? [True, True] Translation: X:263.48, Y:196.78, Z:4.14 [[ 5.69614760e-01 -8.21800824e-01 1.35066618e-02 2.63480347e+02] [ 8.21598401e-01 5.69774442e-01 1.82524961e-02 1.96777002e+02] [-2.26956670e-02 7.00160490e-04 9.99742175e-01 4.14327151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8007140569999 meters Centerline goodness : 0.990931 Centerline is valid? [True, True] Translation: X:263.50, Y:196.80, Z:4.14 [[ 5.70382641e-01 -8.21257563e-01 1.41300636e-02 2.63495611e+02] [ 8.21066907e-01 5.70555732e-01 1.77564195e-02 1.96800489e+02] [-2.26445826e-02 1.47377415e-03 9.99742492e-01 4.14320171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8307140569999 meters Centerline goodness : 0.985007 Centerline is valid? [True, True] Translation: X:263.50, Y:196.82, Z:4.14 [[ 5.70664371e-01 -8.21061908e-01 1.41251051e-02 2.63503992e+02] [ 8.20871096e-01 5.70837291e-01 1.77603631e-02 1.96818795e+02] [-2.26454943e-02 1.45968402e-03 9.99742492e-01 4.14108555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.860714057 meters Centerline goodness : 0.991121 Centerline is valid? [True, True] Translation: X:263.53, Y:196.85, Z:4.14 [[ 5.72275990e-01 -8.19948459e-01 1.35910190e-02 2.63525025e+02] [ 8.19747125e-01 5.72436883e-01 1.81842230e-02 1.96849021e+02] [-2.26901261e-02 7.34804500e-04 9.99742276e-01 4.14109561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.890714057 meters Centerline goodness : 0.982948 Centerline is valid? [True, True] Translation: X:263.53, Y:196.86, Z:4.15 [[ 5.77116007e-01 -8.16540046e-01 1.41232729e-02 2.63531166e+02] [ 8.16347862e-01 5.77287377e-01 1.77609893e-02 1.96864713e+02] [-2.26557462e-02 1.27935246e-03 9.99742507e-01 4.15065284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9207140569999 meters Centerline goodness : 0.989947 Centerline is valid? [True, True] Translation: X:263.56, Y:196.90, Z:4.14 [[ 5.77823823e-01 -8.16050720e-01 1.34481245e-02 2.63555819e+02] [ 8.15845651e-01 5.77980158e-01 1.82978281e-02 1.96895959e+02] [-2.27047049e-02 3.98672910e-04 9.99742135e-01 4.13889036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9507140569999 meters Centerline goodness : 0.982109 Centerline is valid? [True, True] Translation: X:263.57, Y:196.91, Z:4.15 [[ 5.80495386e-01 -8.14140656e-01 1.41456404e-02 2.63565032e+02] [ 8.13948226e-01 5.80666442e-01 1.77417031e-02 1.96913893e+02] [-2.26581405e-02 1.21484217e-03 9.99742533e-01 4.15138584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9807140569999 meters Centerline goodness : 0.985603 Centerline is valid? [True, True] Translation: X:263.58, Y:196.94, Z:4.14 [[ 5.85057786e-01 -8.10878816e-01 1.35252302e-02 2.63577879e+02] [ 8.10673814e-01 5.85214027e-01 1.82348473e-02 1.96937678e+02] [-2.27014058e-02 2.96110588e-04 9.99742246e-01 4.13990240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.010714057 meters Centerline goodness : 0.984817 Centerline is valid? [True, True] Translation: X:263.60, Y:196.97, Z:4.14 [[ 5.85031938e-01 -8.10898171e-01 1.34828968e-02 2.63596103e+02] [ 8.10692397e-01 5.85187233e-01 1.82685346e-02 1.96965197e+02] [-2.27039403e-02 2.42805757e-04 9.99742203e-01 4.13683656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.040714057 meters Centerline goodness : 0.985605 Centerline is valid? [True, True] Translation: X:263.63, Y:196.99, Z:4.14 [[ 5.97914790e-01 -8.01440365e-01 1.38291401e-02 2.63625983e+02] [ 8.01238460e-01 5.98074608e-01 1.79914724e-02 1.96988642e+02] [-2.26899497e-02 3.23071484e-04 9.99742498e-01 4.14149719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0707140569999 meters Centerline goodness : 0.984672 Centerline is valid? [True, True] Translation: X:263.63, Y:197.00, Z:4.15 [[ 5.93213116e-01 -8.04915245e-01 1.44792349e-02 2.63625274e+02] [ 8.04726657e-01 5.93388397e-01 1.74704746e-02 1.97003743e+02] [-2.26540613e-02 1.28811162e-03 9.99742534e-01 4.14615520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1007140569999 meters Centerline goodness : 0.984072 Centerline is valid? [True, True] Translation: X:263.66, Y:197.03, Z:4.14 [[ 6.02496845e-01 -7.98008029e-01 1.34438634e-02 2.63661817e+02] [ 7.97798337e-01 6.02646744e-01 1.82952559e-02 1.97028576e+02] [-2.27016616e-02 -2.97342091e-04 9.99742240e-01 4.14438055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.130714057 meters Centerline goodness : 0.990577 Centerline is valid? [True, True] Translation: X:263.67, Y:197.06, Z:4.14 [[ 5.96182340e-01 -8.02724205e-01 1.41586832e-02 2.63672453e+02] [ 8.02528899e-01 5.96349912e-01 1.77242477e-02 1.97056508e+02] [-2.26712121e-02 7.95869021e-04 9.99742658e-01 4.13717071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.160714057 meters Centerline goodness : 0.984157 Centerline is valid? [True, True] Translation: X:263.70, Y:197.08, Z:4.14 [[ 6.05491697e-01 -7.95725684e-01 1.41576995e-02 2.63704358e+02] [ 7.95528421e-01 6.05656961e-01 1.77250335e-02 1.97075667e+02] [-2.26789736e-02 5.30491726e-04 9.99742658e-01 4.14384521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1907140569999 meters Centerline goodness : 0.983618 Centerline is valid? [True, True] Translation: X:263.72, Y:197.09, Z:4.14 [[ 6.02202028e-01 -7.98213591e-01 1.44146284e-02 2.63718252e+02] [ 7.98021871e-01 6.02373768e-01 1.75196315e-02 1.97094282e+02] [-2.26674020e-02 9.52831077e-04 9.99742607e-01 4.14007456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2207140569999 meters Centerline goodness : 0.985124 Centerline is valid? [True, True] Translation: X:263.74, Y:197.12, Z:4.13 [[ 6.00856009e-01 -7.99231986e-01 1.41523329e-02 2.63742036e+02] [ 7.99035594e-01 6.01022297e-01 1.77290127e-02 1.97120824e+02] [-2.26754617e-02 6.55633933e-04 9.99742664e-01 4.13385080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.250714057 meters Centerline goodness : 0.984113 Centerline is valid? [True, True] Translation: X:263.76, Y:197.14, Z:4.13 [[ 5.99253661e-01 -8.00426789e-01 1.45603960e-02 2.63759760e+02] [ 8.00238514e-01 5.99429278e-01 1.74029080e-02 1.97140746e+02] [-2.26576814e-02 1.22303335e-03 9.99742534e-01 4.13034485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.280714057 meters Centerline goodness : 0.984315 Centerline is valid? [True, True] Translation: X:263.78, Y:197.16, Z:4.13 [[ 5.97991461e-01 -8.01371485e-01 1.44898773e-02 2.63776274e+02] [ 8.01182125e-01 5.98165845e-01 1.74592421e-02 1.97162036e+02] [-2.26586885e-02 1.16855294e-03 9.99742576e-01 4.12803500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3107140569999 meters Centerline goodness : 0.985216 Centerline is valid? [True, True] Translation: X:263.78, Y:197.18, Z:4.13 [[ 5.91852858e-01 -8.05917302e-01 1.44047384e-02 2.63778782e+02] [ 8.05727624e-01 5.92026843e-01 1.75275121e-02 1.97180116e+02] [-2.26537170e-02 1.23258749e-03 9.99742612e-01 4.12702825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3407140569999 meters Centerline goodness : 0.990395 Centerline is valid? [True, True] Translation: X:263.81, Y:197.21, Z:4.13 [[ 5.93126054e-01 -8.04994105e-01 1.36372702e-02 2.63806315e+02] [ 8.04789698e-01 5.93282770e-01 1.81410651e-02 1.97206809e+02] [-2.26942079e-02 2.15196206e-04 9.99742430e-01 4.12606752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.370714057 meters Centerline goodness : 0.986202 Centerline is valid? [True, True] Translation: X:263.82, Y:197.22, Z:4.13 [[ 5.93753097e-01 -8.04522299e-01 1.41820236e-02 2.63818843e+02] [ 8.04327964e-01 5.93921771e-01 1.77047077e-02 1.97224184e+02] [-2.26668447e-02 8.94773099e-04 9.99742674e-01 4.12596951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.400714057 meters Centerline goodness : 0.991416 Centerline is valid? [True, True] Translation: X:263.85, Y:197.25, Z:4.13 [[ 5.96254602e-01 -8.02677766e-01 1.37424006e-02 2.63845022e+02] [ 8.02474690e-01 5.96412890e-01 1.80564829e-02 1.97248787e+02] [-2.26896822e-02 2.61667658e-04 9.99742522e-01 4.12678039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4307140569999 meters Centerline goodness : 0.984309 Centerline is valid? [True, True] Translation: X:263.86, Y:197.26, Z:4.13 [[ 5.96881830e-01 -8.02203746e-01 1.41855829e-02 2.63856753e+02] [ 8.02008835e-01 5.97049823e-01 1.77013279e-02 1.97264913e+02] [-2.26695713e-02 8.11361870e-04 9.99742683e-01 4.13359570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4607140569999 meters Centerline goodness : 0.990234 Centerline is valid? [True, True] Translation: X:263.89, Y:197.29, Z:4.13 [[ 5.97995795e-01 -8.01383349e-01 1.36293089e-02 2.63885085e+02] [ 8.01177879e-01 5.98151088e-01 1.81461230e-02 1.97290535e+02] [-2.26943868e-02 6.81955301e-05 9.99742447e-01 4.12634718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.490714057 meters Centerline goodness : 0.986665 Centerline is valid? [True, True] Translation: X:263.91, Y:197.31, Z:4.13 [[ 6.02849501e-01 -7.97728829e-01 1.41842934e-02 2.63909352e+02] [ 7.97532667e-01 6.03016007e-01 1.77014167e-02 1.97305716e+02] [-2.26742864e-02 6.41147081e-04 9.99742700e-01 4.13237280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.520714057 meters Centerline goodness : 0.990847 Centerline is valid? [True, True] Translation: X:263.93, Y:197.33, Z:4.13 [[ 5.96766918e-01 -8.02290025e-01 1.41407565e-02 2.63925155e+02] [ 8.02094311e-01 5.96933950e-01 1.77362832e-02 1.97330663e+02] [-2.26707408e-02 7.57793299e-04 9.99742699e-01 4.12500858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5507140569999 meters Centerline goodness : 0.985376 Centerline is valid? [True, True] Translation: X:263.94, Y:197.34, Z:4.13 [[ 5.96634591e-01 -8.02387768e-01 1.41786375e-02 2.63937218e+02] [ 8.02192799e-01 5.96802491e-01 1.77059488e-02 1.97344413e+02] [-2.26688829e-02 8.10019353e-04 9.99742700e-01 4.12754008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5807140569999 meters Centerline goodness : 0.991529 Centerline is valid? [True, True] Translation: X:263.97, Y:197.37, Z:4.12 [[ 5.92148562e-01 -8.05715246e-01 1.35286186e-02 2.63965148e+02] [ 8.05509138e-01 5.92303074e-01 1.82235195e-02 1.97370693e+02] [-2.26960099e-02 1.06395069e-04 9.99742407e-01 4.12353722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.610714057 meters Centerline goodness : 0.991404 Centerline is valid? [True, True] Translation: X:263.98, Y:197.39, Z:4.12 [[ 5.91217002e-01 -8.06388393e-01 1.41497714e-02 2.63983834e+02] [ 8.06194038e-01 5.91385577e-01 1.77277424e-02 1.97391306e+02] [-2.26634165e-02 9.26518650e-04 9.99742722e-01 4.12343593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.640714057 meters Centerline goodness : 0.991065 Centerline is valid? [True, True] Translation: X:264.00, Y:197.41, Z:4.12 [[ 5.89857195e-01 -8.07383682e-01 1.41449710e-02 2.64004129e+02] [ 8.07189519e-01 5.90025992e-01 1.77315719e-02 1.97410915e+02] [-2.26620823e-02 9.58577083e-04 9.99742722e-01 4.12202808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6707140569999 meters Centerline goodness : 0.990339 Centerline is valid? [True, True] Translation: X:264.02, Y:197.43, Z:4.12 [[ 5.89441967e-01 -8.07686960e-01 1.41401002e-02 2.64022771e+02] [ 8.07492791e-01 5.89610758e-01 1.77354552e-02 1.97431396e+02] [-2.26618511e-02 9.64007379e-04 9.99742723e-01 4.12096223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7007140569999 meters Centerline goodness : 0.982293 Centerline is valid? [True, True] Translation: X:264.04, Y:197.44, Z:4.14 [[ 5.90660437e-01 -8.06796411e-01 1.41350452e-02 2.64036271e+02] [ 8.06601892e-01 5.90828823e-01 1.77394831e-02 1.97442803e+02] [-2.26635435e-02 9.23343393e-04 9.99742723e-01 4.13505357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7307140569999 meters Centerline goodness : 0.985476 Centerline is valid? [True, True] Translation: X:264.06, Y:197.46, Z:4.12 [[ 5.91146678e-01 -8.06450837e-01 1.35148899e-02 2.64056623e+02] [ 8.06244727e-01 5.91301136e-01 1.82320485e-02 1.97463781e+02] [-2.26946205e-02 1.18493856e-04 9.99742437e-01 4.12395583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.760714057 meters Centerline goodness : 0.983287 Centerline is valid? [True, True] Translation: X:264.08, Y:197.48, Z:4.13 [[ 5.91202476e-01 -8.06410732e-01 1.34670964e-02 2.64076174e+02] [ 8.06203745e-01 5.91355838e-01 1.82700324e-02 1.97484445e+02] [-2.26969963e-02 5.59351777e-05 9.99742388e-01 4.13388270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.790714057 meters Centerline goodness : 0.990303 Centerline is valid? [True, True] Translation: X:264.10, Y:197.51, Z:4.12 [[ 5.88127226e-01 -8.08656166e-01 1.34748145e-02 2.64101974e+02] [ 8.08449905e-01 5.88281549e-01 1.82638992e-02 1.97512647e+02] [-2.26961995e-02 1.52216114e-04 9.99742397e-01 4.12062288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8207140569999 meters Centerline goodness : 0.990303 Centerline is valid? [True, True] Translation: X:264.12, Y:197.54, Z:4.12 [[ 5.87902598e-01 -8.08808316e-01 1.41294961e-02 2.64119339e+02] [ 8.08614298e-01 5.88071525e-01 1.77425456e-02 1.97535122e+02] [-2.26594727e-02 9.94423900e-04 9.99742747e-01 4.12022810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8507140569999 meters Centerline goodness : 0.982500 Centerline is valid? [True, True] Translation: X:264.13, Y:197.55, Z:4.13 [[ 5.91219994e-01 -8.06386642e-01 1.41245546e-02 2.64131751e+02] [ 8.06191838e-01 5.91388014e-01 1.77464785e-02 1.97547675e+02] [-2.26636155e-02 8.95027700e-04 9.99742747e-01 4.13433874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.880714057 meters Centerline goodness : 0.983919 Centerline is valid? [True, True] Translation: X:264.15, Y:197.57, Z:4.12 [[ 5.92096034e-01 -8.05755098e-01 1.34539570e-02 2.64153573e+02] [ 8.05547753e-01 5.92248869e-01 1.82782824e-02 1.97567280e+02] [-2.26959101e-02 1.53063146e-05 9.99742415e-01 4.12245258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.910714057 meters Centerline goodness : 0.984372 Centerline is valid? [True, True] Translation: X:264.17, Y:197.59, Z:4.12 [[ 5.92893188e-01 -8.05167997e-01 1.34968583e-02 2.64173420e+02] [ 8.04961276e-01 5.93046790e-01 1.82441627e-02 1.97588844e+02] [-2.26938844e-02 4.76084379e-05 9.99742460e-01 4.11895243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9407140569999 meters Centerline goodness : 0.983169 Centerline is valid? [True, True] Translation: X:264.20, Y:197.61, Z:4.13 [[ 5.97039119e-01 -8.02097272e-01 1.35741446e-02 2.64195234e+02] [ 8.01891160e-01 5.97193408e-01 1.81824397e-02 1.97607686e+02] [-2.26904750e-02 2.93587836e-05 9.99742538e-01 4.12919805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9707140569999 meters Centerline goodness : 0.982695 Centerline is valid? [True, True] Translation: X:264.21, Y:197.63, Z:4.13 [[ 5.97951569e-01 -8.01418550e-01 1.34992234e-02 2.64214409e+02] [ 8.01210910e-01 5.98103920e-01 1.82422375e-02 1.97629006e+02] [-2.26936060e-02 -9.22494392e-05 9.99742463e-01 4.12716067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.000714057 meters Centerline goodness : 0.984490 Centerline is valid? [True, True] Translation: X:264.23, Y:197.65, Z:4.11 [[ 5.99566346e-01 -8.00209916e-01 1.35752315e-02 2.64233736e+02] [ 8.00003342e-01 5.99720008e-01 1.81814341e-02 1.97649861e+02] [-2.26903018e-02 -4.07454003e-05 9.99742541e-01 4.11463902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.030714057 meters Centerline goodness : 0.990259 Centerline is valid? [True, True] Translation: X:264.26, Y:197.68, Z:4.11 [[ 6.00418682e-01 -7.99571229e-01 1.35371760e-02 2.64261853e+02] [ 7.99363804e-01 6.00571258e-01 1.82118734e-02 1.97677152e+02] [-2.26917289e-02 -1.13620506e-04 9.99742503e-01 4.11183734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0607140569999 meters Centerline goodness : 0.985695 Centerline is valid? [True, True] Translation: X:264.28, Y:197.69, Z:4.11 [[ 6.03856127e-01 -7.96967135e-01 1.41831998e-02 2.64276752e+02] [ 7.96770930e-01 6.04022356e-01 1.76940433e-02 1.97692262e+02] [-2.26685408e-02 6.16104845e-04 9.99742846e-01 4.11062355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0907140569999 meters Centerline goodness : 0.985763 Centerline is valid? [True, True] Translation: X:264.29, Y:197.71, Z:4.11 [[ 6.07875497e-01 -7.93913999e-01 1.37091960e-02 2.64294753e+02] [ 7.93708266e-01 6.08030058e-01 1.80731178e-02 1.97709211e+02] [-2.26841044e-02 -1.05103284e-04 9.99742677e-01 4.11466131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.120714057 meters Centerline goodness : 0.989874 Centerline is valid? [True, True] Translation: X:264.32, Y:197.74, Z:4.11 [[ 6.07114639e-01 -7.94499077e-01 1.35289121e-02 2.64320562e+02] [ 7.94290261e-01 6.07265278e-01 1.82171250e-02 1.97737403e+02] [-2.26891276e-02 -3.14000199e-04 9.99742519e-01 4.10973675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.150714057 meters Centerline goodness : 0.989666 Centerline is valid? [True, True] Translation: X:264.34, Y:197.76, Z:4.11 [[ 6.09283220e-01 -7.92826020e-01 1.41724795e-02 2.64341178e+02] [ 7.92628502e-01 6.09447866e-01 1.77018819e-02 1.97755714e+02] [-2.26719000e-02 4.48051608e-04 9.99742859e-01 4.10774175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1807140569999 meters Centerline goodness : 0.983191 Centerline is valid? [True, True] Translation: X:264.36, Y:197.77, Z:4.12 [[ 6.13206374e-01 -7.89795634e-01 1.41703504e-02 2.64356337e+02] [ 7.89597263e-01 6.13369990e-01 1.77035861e-02 1.97767878e+02] [-2.26738827e-02 3.32918078e-04 9.99742859e-01 4.12369596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2107140569999 meters Centerline goodness : 0.990238 Centerline is valid? [True, True] Translation: X:264.38, Y:197.79, Z:4.11 [[ 6.09141062e-01 -7.92945794e-01 1.35696128e-02 2.64383900e+02] [ 7.92737357e-01 6.09292102e-01 1.81828760e-02 1.97792917e+02] [-2.26858930e-02 -3.18797419e-04 9.99742591e-01 4.10562421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.240714057 meters Centerline goodness : 0.989814 Centerline is valid? [True, True] Translation: X:264.40, Y:197.81, Z:4.11 [[ 6.08557006e-01 -7.93383783e-01 1.41613005e-02 2.64403906e+02] [ 7.93186232e-01 6.08721583e-01 1.77097514e-02 1.97812878e+02] [-2.26709188e-02 4.55155309e-04 9.99742878e-01 4.10583254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.270714057 meters Centerline goodness : 0.988801 Centerline is valid? [True, True] Translation: X:264.42, Y:197.83, Z:4.11 [[ 6.08119276e-01 -7.93719433e-01 1.41565634e-02 2.64424288e+02] [ 7.93521885e-01 6.08283856e-01 1.77135373e-02 1.97832472e+02] [-2.26707877e-02 4.61599410e-04 9.99742878e-01 4.10658548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3007140569999 meters Centerline goodness : 0.985199 Centerline is valid? [True, True] Translation: X:264.47, Y:197.85, Z:4.11 [[ 6.16139719e-01 -7.87509728e-01 1.41518532e-02 2.64471439e+02] [ 7.87310435e-01 6.16302180e-01 1.77172996e-02 1.97853716e+02] [-2.26743638e-02 2.25569652e-04 9.99742878e-01 4.11025160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3307140569999 meters Centerline goodness : 0.988098 Centerline is valid? [True, True] Translation: X:264.47, Y:197.87, Z:4.11 [[ 6.07139414e-01 -7.94452714e-01 1.50538197e-02 2.64470603e+02] [ 7.94272597e-01 6.07323802e-01 1.69953287e-02 1.97866156e+02] [-2.26445280e-02 1.63830254e-03 9.99742237e-01 4.10678017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.360714057 meters Centerline goodness : 0.988034 Centerline is valid? [True, True] Translation: X:264.49, Y:197.89, Z:4.10 [[ 6.06413068e-01 -7.95024202e-01 1.41318598e-02 2.64491308e+02] [ 7.94826618e-01 6.06577520e-01 1.77301972e-02 1.97885123e+02] [-2.26680044e-02 4.80554999e-04 9.99742932e-01 4.10499116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.390714057 meters Centerline goodness : 0.988522 Centerline is valid? [True, True] Translation: X:264.51, Y:197.90, Z:4.10 [[ 6.06823927e-01 -7.94710738e-01 1.41267423e-02 2.64511177e+02] [ 7.94512974e-01 6.06988163e-01 1.77342737e-02 1.97903197e+02] [-2.26683831e-02 4.62298465e-04 9.99742932e-01 4.10393480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4207140569999 meters Centerline goodness : 0.987323 Centerline is valid? [True, True] Translation: X:264.54, Y:197.92, Z:4.10 [[ 6.08103964e-01 -7.93731757e-01 1.41232698e-02 2.64535973e+02] [ 7.93533665e-01 6.08267803e-01 1.77370388e-02 1.97919611e+02] [-2.26691812e-02 4.21326454e-04 9.99742932e-01 4.10182957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4507140569999 meters Centerline goodness : 0.987433 Centerline is valid? [True, True] Translation: X:264.56, Y:197.94, Z:4.10 [[ 6.09238377e-01 -7.92861438e-01 1.41188328e-02 2.64556308e+02] [ 7.92663029e-01 6.09401833e-01 1.77405699e-02 1.97937699e+02] [-2.26698564e-02 3.83240742e-04 9.99742932e-01 4.10095146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4807140569999 meters Centerline goodness : 0.987585 Centerline is valid? [True, True] Translation: X:264.58, Y:197.95, Z:4.10 [[ 6.11737306e-01 -7.90935032e-01 1.41153930e-02 2.64580690e+02] [ 7.90736045e-01 6.11900058e-01 1.77433064e-02 1.97953517e+02] [-2.26710124e-02 3.07307578e-04 9.99742932e-01 4.09986717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.510714057 meters Centerline goodness : 0.982226 Centerline is valid? [True, True] Translation: X:264.62, Y:197.97, Z:4.11 [[ 6.25747066e-01 -7.79898395e-01 1.41103890e-02 2.64619845e+02] [ 7.79696448e-01 6.25906130e-01 1.77472849e-02 1.97971363e+02] [-2.26728580e-02 -1.03491326e-04 9.99742932e-01 4.10578814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.540714057 meters Centerline goodness : 0.983967 Centerline is valid? [True, True] Translation: X:264.64, Y:197.99, Z:4.11 [[ 6.22276328e-01 -7.82662226e-01 1.45605891e-02 2.64643324e+02] [ 7.82469229e-01 6.22446393e-01 1.73894864e-02 1.97993168e+02] [-2.26732803e-02 5.72147188e-04 9.99742764e-01 4.10767391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5707140569999 meters Centerline goodness : 0.982680 Centerline is valid? [True, True] Translation: X:264.66, Y:198.01, Z:4.11 [[ 6.23231797e-01 -7.81900047e-01 1.46438989e-02 2.64664010e+02] [ 7.81708393e-01 6.23403475e-01 1.73232732e-02 1.98011578e+02] [-2.26741256e-02 6.50844010e-04 9.99742697e-01 4.10661884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6007140569999 meters Centerline goodness : 0.984079 Centerline is valid? [True, True] Translation: X:264.69, Y:198.03, Z:4.11 [[ 6.24377449e-01 -7.80987109e-01 1.45580298e-02 2.64686520e+02] [ 7.80793613e-01 6.24546938e-01 1.73912975e-02 1.98030594e+02] [-2.26745521e-02 5.08082683e-04 9.99742770e-01 4.10606882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.630714057 meters Centerline goodness : 0.983805 Centerline is valid? [True, True] Translation: X:264.71, Y:198.04, Z:4.11 [[ 6.27669020e-01 -7.78343620e-01 1.45880360e-02 2.64713274e+02] [ 7.78149962e-01 6.27838360e-01 1.73675408e-02 1.98044649e+02] [-2.26768432e-02 4.50612398e-04 9.99742746e-01 4.10624748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.660714057 meters Centerline goodness : 0.984119 Centerline is valid? [True, True] Translation: X:264.74, Y:198.06, Z:4.11 [[ 6.29640506e-01 -7.76750135e-01 1.45623067e-02 2.64742560e+02] [ 7.76555576e-01 6.29808779e-01 1.73879240e-02 1.98059400e+02] [-2.26775409e-02 3.60299169e-04 9.99742767e-01 4.10517940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6907140569999 meters Centerline goodness : 0.985039 Centerline is valid? [True, True] Translation: X:264.76, Y:198.08, Z:4.11 [[ 6.28071495e-01 -7.78018736e-01 1.45960360e-02 2.64760695e+02] [ 7.77825137e-01 6.28240913e-01 1.73612157e-02 1.98076944e+02] [-2.26771780e-02 4.49078987e-04 9.99742739e-01 4.10790577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7207140569999 meters Centerline goodness : 0.988069 Centerline is valid? [True, True] Translation: X:264.77, Y:198.09, Z:4.10 [[ 6.24515338e-01 -7.80879366e-01 1.44225019e-02 2.64772467e+02] [ 7.80683353e-01 6.24681764e-01 1.74984700e-02 1.98092623e+02] [-2.26736681e-02 3.31344240e-04 9.99742864e-01 4.09839792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.750714057 meters Centerline goodness : 0.987319 Centerline is valid? [True, True] Translation: X:264.81, Y:198.11, Z:4.10 [[ 6.28933315e-01 -7.77332333e-01 1.40473851e-02 2.64814536e+02] [ 7.77128680e-01 6.29090111e-01 1.77945975e-02 1.98107214e+02] [-2.26693870e-02 -2.74989362e-04 9.99742979e-01 4.10324032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.780714057 meters Centerline goodness : 0.989331 Centerline is valid? [True, True] Translation: X:264.83, Y:198.12, Z:4.10 [[ 6.24298275e-01 -7.81051923e-01 1.44760894e-02 2.64825293e+02] [ 7.80856944e-01 6.24465955e-01 1.74557817e-02 1.98123061e+02] [-2.26736969e-02 4.06140554e-04 9.99742836e-01 4.09814075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8107140569999 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:264.88, Y:198.14, Z:4.10 [[ 6.34420655e-01 -7.72860476e-01 1.40398480e-02 2.64881014e+02] [ 7.72655601e-01 6.34575832e-01 1.77998764e-02 1.98141431e+02] [-2.26661692e-02 -4.44642044e-04 9.99742991e-01 4.10045635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8407140569999 meters Centerline goodness : 0.991112 Centerline is valid? [True, True] Translation: X:264.89, Y:198.16, Z:4.10 [[ 6.26337450e-01 -7.79406774e-01 1.50492569e-02 2.64889783e+02] [ 7.79222053e-01 6.26517294e-01 1.70021119e-02 1.98156499e+02] [-2.26801808e-02 1.07765345e-03 9.99742191e-01 4.10483310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.870714057 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:264.92, Y:198.17, Z:4.11 [[ 6.24363414e-01 -7.81001361e-01 1.43944954e-02 2.64920928e+02] [ 7.80804935e-01 6.24529249e-01 1.75177200e-02 1.98168759e+02] [-2.26711465e-02 3.01869608e-04 9.99742931e-01 4.10692991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.900714057 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:264.93, Y:198.18, Z:4.11 [[ 6.17870078e-01 -7.86147999e-01 1.44184162e-02 2.64932494e+02] [ 7.85953392e-01 6.18038068e-01 1.74988985e-02 1.98184262e+02] [-2.26678541e-02 5.20157384e-04 9.99742916e-01 4.10540441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9307140569999 meters Centerline goodness : 0.996378 Centerline is valid? [True, True] Translation: X:264.96, Y:198.20, Z:4.11 [[ 6.16302242e-01 -7.87385264e-01 1.39997139e-02 2.64955663e+02] [ 7.87183415e-01 6.16461227e-01 1.78277005e-02 1.98201423e+02] [-2.26675495e-02 3.30908093e-05 9.99743058e-01 4.10650248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9607140569999 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:264.98, Y:198.21, Z:4.11 [[ 6.13767902e-01 -7.89362469e-01 1.39948151e-02 2.64982654e+02] [ 7.89161044e-01 6.13927425e-01 1.78315453e-02 1.98214525e+02] [-2.26673534e-02 9.97327115e-05 9.99743058e-01 4.10765341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.990714057 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:265.01, Y:198.23, Z:4.11 [[ 6.12070535e-01 -7.90679369e-01 1.39926852e-02 2.65010205e+02] [ 7.90478249e-01 6.12230442e-01 1.78332165e-02 1.98228134e+02] [-2.26671042e-02 1.45726938e-04 9.99743058e-01 4.10614386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.020714057 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:265.03, Y:198.25, Z:4.10 [[ 6.11388963e-01 -7.91206599e-01 1.39876423e-02 2.65032243e+02] [ 7.91005526e-01 6.11548929e-01 1.78371711e-02 1.98245757e+02] [-2.26670151e-02 1.58852827e-04 9.99743058e-01 4.10499768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0507140569999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:265.05, Y:198.26, Z:4.10 [[ 6.11455283e-01 -7.91155408e-01 1.39841922e-02 2.65053955e+02] [ 7.90954260e-01 6.11615154e-01 1.78398755e-02 1.98263534e+02] [-2.26670579e-02 1.52570298e-04 9.99743058e-01 4.10434157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0807140569999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:265.08, Y:198.28, Z:4.11 [[ 6.11919818e-01 -7.90796206e-01 1.39820189e-02 2.65079781e+02] [ 7.90594926e-01 6.12079522e-01 1.78415787e-02 1.98278442e+02] [-2.26671602e-02 1.36497590e-04 9.99743058e-01 4.10511668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.110714057 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:265.10, Y:198.30, Z:4.11 [[ 6.12437638e-01 -7.90395334e-01 1.39769449e-02 2.65100987e+02] [ 7.90193859e-01 6.12597096e-01 1.78455527e-02 1.98297525e+02] [-2.26672775e-02 1.15207908e-04 9.99743058e-01 4.10569212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.140714057 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:265.12, Y:198.31, Z:4.11 [[ 6.13345417e-01 -7.89691197e-01 1.39718737e-02 2.65124631e+02] [ 7.89489447e-01 6.13504529e-01 1.78495223e-02 1.98312745e+02] [-2.26674184e-02 8.27241086e-05 9.99743058e-01 4.10736675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1707140569999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:265.14, Y:198.33, Z:4.11 [[ 6.13426628e-01 -7.89628154e-01 1.39696767e-02 2.65144615e+02] [ 7.89426349e-01 6.13585669e-01 1.78512416e-02 1.98331313e+02] [-2.26674363e-02 7.76039295e-05 9.99743058e-01 4.10769205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2007140569999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:265.17, Y:198.35, Z:4.11 [[ 6.11660884e-01 -7.90996758e-01 1.39675491e-02 2.65168123e+02] [ 7.90795271e-01 6.11820328e-01 1.78529061e-02 1.98348103e+02] [-2.26672213e-02 1.25547494e-04 9.99743058e-01 4.10789936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2307140569999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:265.19, Y:198.37, Z:4.11 [[ 6.10129311e-01 -7.92178813e-01 1.39624908e-02 2.65187930e+02] [ 7.91977545e-01 6.10289031e-01 1.78568613e-02 1.98366937e+02] [-2.26669821e-02 1.62984659e-04 9.99743058e-01 4.10719872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.260714057 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:265.21, Y:198.39, Z:4.11 [[ 6.08334154e-01 -7.93558232e-01 1.39602999e-02 2.65208671e+02] [ 7.93357286e-01 6.08494279e-01 1.78585739e-02 1.98386705e+02] [-2.26665810e-02 2.11525158e-04 9.99743058e-01 4.10654827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.290714057 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:265.23, Y:198.40, Z:4.10 [[ 6.05434767e-01 -7.95772576e-01 1.39553074e-02 2.65232776e+02] [ 7.95572126e-01 6.05595513e-01 1.78624744e-02 1.98403884e+02] [-2.26657388e-02 2.87890560e-04 9.99743058e-01 4.10438505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3207140569999 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:265.25, Y:198.42, Z:4.10 [[ 6.04084310e-01 -7.96798304e-01 1.39502600e-02 2.65252581e+02] [ 7.96598036e-01 6.04245282e-01 1.78664155e-02 1.98423145e+02] [-2.26653083e-02 3.19928424e-04 9.99743058e-01 4.10331566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3507140569999 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:265.27, Y:198.44, Z:4.10 [[ 6.01660383e-01 -7.98630246e-01 1.39468210e-02 2.65274478e+02] [ 7.98430405e-01 6.01821886e-01 1.78690996e-02 1.98441158e+02] [-2.26643055e-02 3.84436676e-04 9.99743058e-01 4.10181872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.380714057 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:265.29, Y:198.46, Z:4.10 [[ 6.00060766e-01 -7.99832922e-01 1.39417871e-02 2.65293589e+02] [ 7.99633315e-01 6.00222556e-01 1.78730263e-02 1.98462099e+02] [-2.26636099e-02 4.23415611e-04 9.99743058e-01 4.10127501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.410714057 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:265.32, Y:198.48, Z:4.11 [[ 6.00592896e-01 -7.99433513e-01 1.39366606e-02 2.65322033e+02] [ 7.99233705e-01 6.00754439e-01 1.78770228e-02 1.98483797e+02] [-2.26640019e-02 4.01836002e-04 9.99743058e-01 4.11001003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4407140569999 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:265.35, Y:198.50, Z:4.11 [[ 6.02065950e-01 -7.98320456e-01 1.41789277e-02 2.65345544e+02] [ 7.98124757e-01 6.02232517e-01 1.76880597e-02 1.98504671e+02] [-2.26597512e-02 6.67174776e-04 9.99743012e-01 4.10975556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4707140569999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:265.35, Y:198.52, Z:4.10 [[ 5.92845153e-01 -8.05188811e-01 1.43388282e-02 2.65354437e+02] [ 8.04998038e-01 5.93017453e-01 1.75630146e-02 1.98522572e+02] [-2.26447182e-02 1.13058054e-03 9.99742936e-01 4.10271974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.500714057 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:265.37, Y:198.54, Z:4.10 [[ 5.90529301e-01 -8.06895666e-01 1.39473935e-02 2.65373056e+02] [ 8.06698097e-01 5.90693572e-01 1.78685545e-02 1.98544024e+02] [-2.26566949e-02 6.99430785e-04 9.99743059e-01 4.10111590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.530714057 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:265.39, Y:198.56, Z:4.10 [[ 5.85485662e-01 -8.10562860e-01 1.39423934e-02 2.65391525e+02] [ 8.10366226e-01 5.85651052e-01 1.78724552e-02 1.98564452e+02] [-2.26521257e-02 8.34378441e-04 9.99743059e-01 4.09989935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5607140569999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:265.41, Y:198.59, Z:4.10 [[ 5.82711302e-01 -8.12559654e-01 1.39408479e-02 2.65409207e+02] [ 8.12363559e-01 5.82877329e-01 1.78736606e-02 1.98586384e+02] [-2.26492197e-02 9.09852756e-04 9.99743060e-01 4.09805960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5907140569999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:265.43, Y:198.61, Z:4.10 [[ 5.78052376e-01 -8.15880655e-01 1.39358139e-02 2.65425623e+02] [ 8.15685419e-01 5.78219412e-01 1.78775847e-02 1.98608330e+02] [-2.26439336e-02 1.03305993e-03 9.99743060e-01 4.09668098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.620714057 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:265.44, Y:198.63, Z:4.10 [[ 5.76192355e-01 -8.17195330e-01 1.39342569e-02 2.65442358e+02] [ 8.17000445e-01 5.76359802e-01 1.78787981e-02 1.98631277e+02] [-2.26416159e-02 1.08266729e-03 9.99743060e-01 4.09570684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.650714057 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:265.46, Y:198.65, Z:4.10 [[ 5.74716574e-01 -8.18233943e-01 1.39310484e-02 2.65457736e+02] [ 8.18039301e-01 5.74884303e-01 1.78812978e-02 1.98653411e+02] [-2.26398259e-02 1.11946685e-03 9.99743060e-01 4.09576760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6807140569999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:265.47, Y:198.68, Z:4.10 [[ 5.73862590e-01 -8.18833165e-01 1.39275253e-02 2.65471749e+02] [ 8.18638632e-01 5.74030445e-01 1.78840415e-02 1.98677409e+02] [-2.26388699e-02 1.13862786e-03 9.99743060e-01 4.09683278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7107140569999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:265.49, Y:198.70, Z:4.10 [[ 5.74239738e-01 -8.18568799e-01 1.39228069e-02 2.65486460e+02] [ 8.18374100e-01 5.74407401e-01 1.78877140e-02 1.98699941e+02] [-2.26396879e-02 1.12222840e-03 9.99743060e-01 4.09704670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.740714057 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:265.50, Y:198.72, Z:4.10 [[ 5.74030341e-01 -8.18715692e-01 1.39206091e-02 2.65503884e+02] [ 8.18520995e-01 5.74198005e-01 1.78894242e-02 1.98722484e+02] [-2.26395383e-02 1.12523854e-03 9.99743060e-01 4.09640088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.770714057 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:265.52, Y:198.75, Z:4.10 [[ 5.76004603e-01 -8.17327989e-01 1.39160312e-02 2.65516917e+02] [ 8.17132802e-01 5.76171697e-01 1.78929847e-02 1.98747850e+02] [-2.26424605e-02 1.06480405e-03 9.99743060e-01 4.09674543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8007140569999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:265.53, Y:198.77, Z:4.10 [[ 5.76896962e-01 -8.16698458e-01 1.39113105e-02 2.65532211e+02] [ 8.16503001e-01 5.77063740e-01 1.78966541e-02 1.98773271e+02] [-2.26438827e-02 1.03410139e-03 9.99743060e-01 4.10220477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8307140569999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:265.54, Y:198.80, Z:4.10 [[ 5.80626507e-01 -8.14051296e-01 1.39049626e-02 2.65543714e+02] [ 8.13854960e-01 5.80792250e-01 1.79015861e-02 1.98800364e+02] [-2.26487039e-02 9.22487336e-04 9.99743060e-01 4.09661423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.860714057 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:265.56, Y:198.82, Z:4.10 [[ 5.82504436e-01 -8.12708565e-01 1.39058054e-02 2.65558150e+02] [ 8.12511863e-01 5.82669743e-01 1.79009314e-02 1.98824967e+02] [-2.26507323e-02 8.71259857e-04 9.99743060e-01 4.09596209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.890714057 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:265.57, Y:198.85, Z:4.10 [[ 5.85944686e-01 -8.10231815e-01 1.39007607e-02 2.65570065e+02] [ 8.10034321e-01 5.86109048e-01 1.79048480e-02 1.98851109e+02] [-2.26544391e-02 7.68842695e-04 9.99743060e-01 4.09573968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9207140569999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:265.58, Y:198.87, Z:4.10 [[ 5.87547955e-01 -8.09070028e-01 1.38957068e-02 2.65584208e+02] [ 8.08872116e-01 5.87711813e-01 1.79087693e-02 1.98873977e+02] [-2.26561196e-02 7.17588985e-04 9.99743060e-01 4.09510582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9507140569999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:265.60, Y:198.90, Z:4.09 [[ 5.88917082e-01 -8.08074031e-01 1.38935182e-02 2.65597403e+02] [ 8.07875803e-01 5.89080557e-01 1.79104671e-02 1.98899388e+02] [-2.26573848e-02 6.76457086e-04 9.99743060e-01 4.09342615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9807140569999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:265.61, Y:198.92, Z:4.09 [[ 5.88685130e-01 -8.08243113e-01 1.38884366e-02 2.65612241e+02] [ 8.08044839e-01 5.88848548e-01 1.79144067e-02 1.98922983e+02] [-2.26573816e-02 6.76534666e-04 9.99743060e-01 4.09200072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.010714057 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:265.62, Y:198.95, Z:4.09 [[ 5.88320188e-01 -8.08508880e-01 1.38833608e-02 2.65624273e+02] [ 8.08310587e-01 5.88483584e-01 1.79183395e-02 1.98947658e+02] [-2.26572665e-02 6.80346635e-04 9.99743060e-01 4.09027048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.040714057 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:265.64, Y:198.97, Z:4.09 [[ 5.88159981e-01 -8.08625470e-01 1.38811671e-02 2.65639107e+02] [ 8.08427169e-01 5.88323368e-01 1.79200388e-02 1.98971123e+02] [-2.26572147e-02 6.82062978e-04 9.99743060e-01 4.08904635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0707140569999 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:265.65, Y:199.00, Z:4.09 [[ 5.89466154e-01 -8.07673887e-01 1.38760803e-02 2.65653069e+02] [ 8.07475230e-01 5.89629107e-01 1.79239768e-02 1.98995807e+02] [-2.26584688e-02 6.39013485e-04 9.99743060e-01 4.08739962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1007140569999 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:265.67, Y:199.02, Z:4.09 [[ 5.90977463e-01 -8.06568803e-01 1.38709703e-02 2.65667983e+02] [ 8.06369749e-01 5.91139930e-01 1.79279304e-02 1.99018348e+02] [-2.26597938e-02 5.90128065e-04 9.99743060e-01 4.08659854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.130714057 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:265.68, Y:199.04, Z:4.09 [[ 5.92614839e-01 -8.05366591e-01 1.38674857e-02 2.65683378e+02] [ 8.05167144e-01 5.92776824e-01 1.79306254e-02 1.99041303e+02] [-2.26610508e-02 5.39689197e-04 9.99743060e-01 4.08602402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.160714057 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:265.70, Y:199.07, Z:4.09 [[ 5.96404126e-01 -8.02564609e-01 1.38624505e-02 2.65697701e+02] [ 8.02364310e-01 5.96565056e-01 1.79345174e-02 1.99065840e+02] [-2.26634625e-02 4.26515390e-04 9.99743060e-01 4.08563917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1907140569999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:265.71, Y:199.09, Z:4.08 [[ 5.98005752e-01 -8.01372001e-01 1.38577219e-02 2.65713359e+02] [ 8.01171297e-01 5.98166177e-01 1.79381703e-02 1.99088757e+02] [-2.26643680e-02 3.75279953e-04 9.99743060e-01 4.08460675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2207140569999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:265.73, Y:199.11, Z:4.08 [[ 5.99702000e-01 -8.00103504e-01 1.38526161e-02 2.65729015e+02] [ 7.99902369e-01 5.99861885e-01 1.79421124e-02 1.99112490e+02] [-2.26652034e-02 3.20819747e-04 9.99743060e-01 4.08352287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.250714057 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:265.75, Y:199.13, Z:4.08 [[ 5.99992154e-01 -7.99886032e-01 1.38474330e-02 2.65745469e+02] [ 7.99684747e-01 6.00151850e-01 1.79461117e-02 1.99134260e+02] [-2.26654066e-02 3.06054735e-04 9.99743060e-01 4.08227688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.280714057 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:265.76, Y:199.16, Z:4.08 [[ 5.99359181e-01 -8.00360471e-01 1.38451983e-02 2.65764131e+02] [ 8.00159273e-01 5.99518985e-01 1.79478356e-02 1.99157030e+02] [-2.26651974e-02 3.21163728e-04 9.99743060e-01 4.08044452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3107140569999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:265.78, Y:199.18, Z:4.08 [[ 5.98844214e-01 -8.00744973e-01 1.38958775e-02 2.65781492e+02] [ 8.00544783e-01 5.99005282e-01 1.79087518e-02 1.99178708e+02] [-2.26640470e-02 3.99719819e-04 9.99743058e-01 4.07872221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3407140569999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:265.80, Y:199.20, Z:4.08 [[ 5.96527238e-01 -8.02472185e-01 1.39156907e-02 2.65798130e+02] [ 8.02272816e-01 5.96689326e-01 1.78934711e-02 1.99201460e+02] [-2.26623570e-02 4.90237452e-04 9.99743056e-01 4.08062625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.370714057 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:265.82, Y:199.22, Z:4.08 [[ 5.96023817e-01 -8.02847499e-01 1.38384424e-02 2.65815412e+02] [ 8.02646848e-01 5.96184306e-01 1.79530154e-02 1.99223770e+02] [-2.26637957e-02 4.06957404e-04 9.99743060e-01 4.08124974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.400714057 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:265.83, Y:199.25, Z:4.08 [[ 5.95938611e-01 -8.02910836e-01 1.38333873e-02 2.65832764e+02] [ 8.02710111e-01 5.96099008e-01 1.79569096e-02 1.99245713e+02] [-2.26638658e-02 4.02984093e-04 9.99743060e-01 4.08190121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4307140569999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:265.85, Y:199.27, Z:4.08 [[ 5.96563236e-01 -8.02446934e-01 1.38283692e-02 2.65850961e+02] [ 8.02245994e-01 5.96723366e-01 1.79607732e-02 1.99266838e+02] [-2.26642784e-02 3.79016779e-04 9.99743060e-01 4.08351338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4607140569999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:265.87, Y:199.29, Z:4.08 [[ 5.96758981e-01 -8.02301461e-01 1.38233255e-02 2.65868344e+02] [ 8.02100393e-01 5.96918948e-01 1.79646542e-02 1.99288517e+02] [-2.26644732e-02 3.67126077e-04 9.99743060e-01 4.08356725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.490714057 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:265.89, Y:199.31, Z:4.08 [[ 5.96800873e-01 -8.02270387e-01 1.38182997e-02 2.65886659e+02] [ 8.02069221e-01 5.96960717e-01 1.79685192e-02 1.99310077e+02] [-2.26645929e-02 3.59604942e-04 9.99743060e-01 4.08349066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.520714057 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:265.90, Y:199.33, Z:4.08 [[ 5.96449909e-01 -8.02531432e-01 1.38132606e-02 2.65904368e+02] [ 8.02330247e-01 5.96609729e-01 1.79723921e-02 1.99332025e+02] [-2.26645352e-02 3.63165112e-04 9.99743060e-01 4.08233132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5507140569999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:265.92, Y:199.35, Z:4.08 [[ 5.95827609e-01 -8.02993647e-01 1.38080901e-02 2.65922950e+02] [ 8.02792493e-01 5.95987469e-01 1.79763637e-02 1.99351693e+02] [-2.26643545e-02 3.74217324e-04 9.99743060e-01 4.08052854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5807140569999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:265.94, Y:199.37, Z:4.08 [[ 5.94753216e-01 -8.03789780e-01 1.38058484e-02 2.65941389e+02] [ 8.03588801e-01 5.94913295e-01 1.79780852e-02 1.99373286e+02] [-2.26638839e-02 4.01701153e-04 9.99743060e-01 4.07997582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.610714057 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:265.96, Y:199.39, Z:4.08 [[ 5.93972016e-01 -8.04367315e-01 1.38009710e-02 2.65959343e+02] [ 8.04166404e-01 5.94132181e-01 1.79818285e-02 1.99394324e+02] [-2.26635961e-02 4.17574305e-04 9.99743061e-01 4.07919362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.640714057 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:265.98, Y:199.42, Z:4.08 [[ 5.92790562e-01 -8.05238490e-01 1.37957992e-02 2.65978461e+02] [ 8.05037722e-01 5.92950907e-01 1.79857955e-02 1.99415474e+02] [-2.26630865e-02 4.44328893e-04 9.99743061e-01 4.07817538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6707140569999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:266.00, Y:199.44, Z:4.08 [[ 5.93325945e-01 -8.04844172e-01 1.37906532e-02 2.65997583e+02] [ 8.04643206e-01 5.93486040e-01 1.79897404e-02 1.99436677e+02] [-2.26634979e-02 4.22775663e-04 9.99743061e-01 4.07718939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7007140569999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:266.02, Y:199.46, Z:4.08 [[ 5.94266727e-01 -8.04149872e-01 1.37855314e-02 2.66015287e+02] [ 8.03948628e-01 5.94426473e-01 1.79936643e-02 1.99457951e+02] [-2.26640877e-02 3.89823081e-04 9.99743061e-01 4.07663229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7307140569999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:266.03, Y:199.48, Z:4.08 [[ 5.97847338e-01 -8.01491524e-01 1.37803748e-02 2.66034392e+02] [ 8.01289478e-01 5.98006069e-01 1.79976126e-02 1.99478460e+02] [-2.26656817e-02 2.82244569e-04 9.99743061e-01 4.07574754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.760714057 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:266.05, Y:199.50, Z:4.08 [[ 6.00227751e-01 -7.99710503e-01 1.37752742e-02 2.66052774e+02] [ 7.99507897e-01 6.00385766e-01 1.80015158e-02 1.99499474e+02] [-2.26664798e-02 2.08431184e-04 9.99743061e-01 4.07521829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.790714057 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:266.07, Y:199.52, Z:4.07 [[ 6.05549028e-01 -7.95688857e-01 1.37701712e-02 2.66072008e+02] [ 7.95485113e-01 6.05705573e-01 1.80054184e-02 1.99519921e+02] [-2.26673802e-02 5.08025382e-05 9.99743061e-01 4.07451611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8207140569999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:266.09, Y:199.54, Z:4.07 [[ 6.08032874e-01 -7.93792509e-01 1.37650696e-02 2.66090033e+02] [ 7.93588188e-01 6.08188665e-01 1.80093177e-02 1.99541418e+02] [-2.26674208e-02 -2.64605793e-05 9.99743061e-01 4.07363037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8507140569999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:266.11, Y:199.56, Z:4.08 [[ 6.14313333e-01 -7.88942198e-01 1.37599669e-02 2.66114604e+02] [ 7.88736560e-01 6.14467381e-01 1.80132156e-02 1.99562873e+02] [-2.26664367e-02 -2.12769514e-04 9.99743061e-01 4.07798398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.880714057 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:266.13, Y:199.58, Z:4.07 [[ 6.14317882e-01 -7.88936144e-01 1.39032639e-02 2.66128486e+02] [ 7.88732969e-01 6.14475191e-01 1.79037460e-02 1.99582390e+02] [-2.26681231e-02 -3.26287034e-05 9.99743045e-01 4.07266814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.910714057 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:266.16, Y:199.60, Z:4.08 [[ 6.16355708e-01 -7.87349119e-01 1.36750191e-02 2.66156119e+02] [ 7.87141643e-01 6.16507276e-01 1.80779456e-02 1.99603102e+02] [-2.26644034e-02 -3.78267951e-04 9.99743058e-01 4.07725767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9407140569999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:266.17, Y:199.62, Z:4.07 [[ 6.14030616e-01 -7.89159788e-01 1.39007776e-02 2.66171046e+02] [ 7.88956629e-01 6.14187942e-01 1.79055634e-02 1.99622056e+02] [-2.26680406e-02 -2.74535243e-05 9.99743047e-01 4.07115448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9707140569999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:266.20, Y:199.64, Z:4.07 [[ 6.12852184e-01 -7.90079136e-01 1.36806210e-02 2.66198987e+02] [ 7.89872436e-01 6.13004801e-01 1.80734395e-02 1.99639979e+02] [-2.26657338e-02 -2.70401402e-04 9.99743063e-01 4.07232483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.000714057 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:266.22, Y:199.66, Z:4.07 [[ 6.07349002e-01 -7.94314976e-01 1.38169770e-02 2.66216255e+02] [ 7.94111694e-01 6.07506144e-01 1.79694661e-02 1.99661935e+02] [-2.26673145e-02 5.84857415e-05 9.99743062e-01 4.06759307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.030714057 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:266.24, Y:199.68, Z:4.07 [[ 6.04673130e-01 -7.96355217e-01 1.37395339e-02 2.66236632e+02] [ 7.96151120e-01 6.04829205e-01 1.80284858e-02 1.99682019e+02] [-2.26671501e-02 3.74043349e-05 9.99743066e-01 4.06590309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0607140569999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:266.26, Y:199.70, Z:4.06 [[ 5.98167685e-01 -8.01253259e-01 1.37344957e-02 2.66259126e+02] [ 8.01050352e-01 5.98325304e-01 1.80323232e-02 1.99698439e+02] [-2.26661540e-02 2.15669621e-04 9.99743066e-01 4.06470138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0907140569999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:266.28, Y:199.72, Z:4.06 [[ 5.91823055e-01 -8.05950926e-01 1.37323163e-02 2.66280661e+02] [ 8.05749232e-01 5.91982222e-01 1.80339827e-02 1.99715145e+02] [-2.26637922e-02 3.91876571e-04 9.99743066e-01 4.06489418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.120714057 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:266.30, Y:199.74, Z:4.06 [[ 5.86878101e-01 -8.09560733e-01 1.36203402e-02 2.66301980e+02] [ 8.09358034e-01 5.87036002e-01 1.81191963e-02 1.99736795e+02] [-2.26642199e-02 3.89972253e-04 9.99743058e-01 4.06441780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.150714057 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:266.32, Y:199.76, Z:4.06 [[ 5.83120463e-01 -8.12269701e-01 1.37280114e-02 2.66321382e+02] [ 8.12069654e-01 5.83281695e-01 1.80372489e-02 1.99756878e+02] [-2.26584085e-02 6.30212574e-04 9.99743067e-01 4.06344908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1807140569999 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:266.34, Y:199.78, Z:4.06 [[ 5.75903785e-01 -8.17402290e-01 1.37232174e-02 2.66341705e+02] [ 8.17203592e-01 5.76066676e-01 1.80408956e-02 1.99775127e+02] [-2.26521576e-02 8.24842482e-04 9.99743067e-01 4.06430310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2107140569999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:266.36, Y:199.79, Z:4.06 [[ 5.70262012e-01 -8.21348282e-01 1.37199587e-02 2.66361085e+02] [ 8.21150651e-01 5.70426197e-01 1.80433735e-02 1.99794989e+02] [-2.26461176e-02 9.76702541e-04 9.99743067e-01 4.06196978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.240714057 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:266.38, Y:199.82, Z:4.06 [[ 5.68694234e-01 -8.22434659e-01 1.37149744e-02 2.66378114e+02] [ 8.22237250e-01 5.68858686e-01 1.80471612e-02 1.99815878e+02] [-2.26444932e-02 1.01364633e-03 9.99743067e-01 4.06077661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.270714057 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:266.40, Y:199.84, Z:4.06 [[ 5.64132746e-01 -8.25571545e-01 1.36334146e-02 2.66395222e+02] [ 8.25373561e-01 5.64296509e-01 1.81089835e-02 1.99837935e+02] [-2.26435497e-02 1.03678935e-03 9.99743064e-01 4.06235282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3007140569999 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:266.41, Y:199.86, Z:4.06 [[ 5.62973116e-01 -8.26362611e-01 1.36420852e-02 2.66412570e+02] [ 8.26165015e-01 5.63137346e-01 1.81024116e-02 1.99860368e+02] [-2.26415238e-02 1.07944245e-03 9.99743065e-01 4.05870154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3307140569999 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:266.43, Y:199.88, Z:4.06 [[ 5.61572413e-01 -8.27314935e-01 1.36536726e-02 2.66429513e+02] [ 8.27117830e-01 5.61737230e-01 1.80936203e-02 1.99882116e+02] [-2.26388985e-02 1.13231805e-03 9.99743066e-01 4.05830587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.360714057 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:266.45, Y:199.91, Z:4.06 [[ 5.60271025e-01 -8.28196078e-01 1.36979830e-02 2.66446021e+02] [ 8.28000046e-01 5.60437115e-01 1.80600122e-02 1.99905176e+02] [-2.26340894e-02 1.22342903e-03 9.99743068e-01 4.05786551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.390714057 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:266.46, Y:199.93, Z:4.06 [[ 5.60205261e-01 -8.28240641e-01 1.36932427e-02 2.66460435e+02] [ 8.28044536e-01 5.60371264e-01 1.80636057e-02 1.99927603e+02] [-2.26343120e-02 1.21928782e-03 9.99743068e-01 4.05768360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4207140569999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:266.48, Y:199.95, Z:4.06 [[ 5.60400179e-01 -8.28108806e-01 1.36910342e-02 2.66476131e+02] [ 8.27912621e-01 5.60566087e-01 1.80652794e-02 1.99950841e+02] [-2.26347464e-02 1.21119416e-03 9.99743068e-01 4.05738785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4507140569999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:266.49, Y:199.97, Z:4.06 [[ 5.61123291e-01 -8.27619083e-01 1.36859543e-02 2.66490922e+02] [ 8.27422660e-01 5.61288917e-01 1.80691270e-02 1.99973228e+02] [-2.26361288e-02 1.18506075e-03 9.99743068e-01 4.05774280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4807140569999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:266.50, Y:200.00, Z:4.06 [[ 5.62591938e-01 -8.26621524e-01 1.36809353e-02 2.66504027e+02] [ 8.26424715e-01 5.62757106e-01 1.80729263e-02 1.99998235e+02] [-2.26385135e-02 1.13858042e-03 9.99743068e-01 4.05724098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.510714057 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:266.52, Y:200.02, Z:4.06 [[ 5.61787894e-01 -8.27168261e-01 1.36759086e-02 2.66515609e+02] [ 8.26971521e-01 5.61953144e-01 1.80767293e-02 2.00022242e+02] [-2.26377165e-02 1.15429922e-03 9.99743068e-01 4.06032297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.540714057 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:266.53, Y:200.05, Z:4.05 [[ 5.64902189e-01 -8.25046699e-01 1.35447853e-02 2.66532223e+02] [ 8.24846963e-01 5.65063824e-01 1.81758630e-02 2.00048487e+02] [-2.26496039e-02 9.04790260e-04 9.99743055e-01 4.05457983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5707140569999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:266.55, Y:200.07, Z:4.05 [[ 5.65379384e-01 -8.24717674e-01 1.36715167e-02 2.66546287e+02] [ 8.24520138e-01 5.65543681e-01 1.80800333e-02 2.00072148e+02] [-2.26427629e-02 1.05036271e-03 9.99743068e-01 4.05363951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6007140569999 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:266.56, Y:200.10, Z:4.05 [[ 5.67124790e-01 -8.23518441e-01 1.36692865e-02 2.66558122e+02] [ 8.23320517e-01 5.67288620e-01 1.80817193e-02 2.00097257e+02] [-2.26450599e-02 9.99612759e-04 9.99743068e-01 4.05320896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.630714057 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:266.58, Y:200.12, Z:4.05 [[ 5.66897222e-01 -8.23675148e-01 1.36671040e-02 2.66575249e+02] [ 8.23477230e-01 5.67061059e-01 1.80833688e-02 2.00120027e+02] [-2.26449039e-02 1.00313740e-03 9.99743068e-01 4.05256312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.660714057 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:266.59, Y:200.14, Z:4.05 [[ 5.67328319e-01 -8.23378361e-01 1.36621051e-02 2.66589530e+02] [ 8.23180266e-01 5.67491942e-01 1.80871447e-02 2.00144244e+02] [-2.26456981e-02 9.85025909e-04 9.99743068e-01 4.05204954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6907140569999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:266.60, Y:200.17, Z:4.05 [[ 5.67677562e-01 -8.23137699e-01 1.36569904e-02 2.66602994e+02] [ 8.22939443e-01 5.67840989e-01 1.80910058e-02 2.00167540e+02] [-2.26463878e-02 9.69018000e-04 9.99743068e-01 4.05217094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7207140569999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:266.61, Y:200.19, Z:4.05 [[ 5.67272190e-01 -8.23417154e-01 1.36547706e-02 2.66614955e+02] [ 8.23218938e-01 5.67435666e-01 1.80926811e-02 2.00193348e+02] [-2.26460278e-02 9.77390889e-04 9.99743068e-01 4.05275080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.750714057 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:266.63, Y:200.22, Z:4.05 [[ 5.65901922e-01 -8.24359571e-01 1.36495914e-02 2.66627562e+02] [ 8.24161534e-01 5.66065615e-01 1.80965876e-02 2.00218149e+02] [-2.26446595e-02 1.00857448e-03 9.99743068e-01 4.05340829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.780714057 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:266.64, Y:200.24, Z:4.05 [[ 5.64825717e-01 -8.25097353e-01 1.36480062e-02 2.66642638e+02] [ 8.24899500e-01 5.64989633e-01 1.80977830e-02 2.00242087e+02] [-2.26434148e-02 1.03614027e-03 9.99743068e-01 4.05235026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8107140569999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:266.66, Y:200.27, Z:4.05 [[ 5.63661537e-01 -8.25893179e-01 1.36429216e-02 2.66657372e+02] [ 8.25695465e-01 5.63825620e-01 1.81016152e-02 2.00265568e+02] [-2.26422292e-02 1.06171426e-03 9.99743068e-01 4.05105886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8407140569999 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:266.67, Y:200.29, Z:4.05 [[ 5.62001422e-01 -8.27023828e-01 1.36378316e-02 2.66669479e+02] [ 8.26826352e-01 5.62165791e-01 1.81054492e-02 2.00291337e+02] [-2.26403603e-02 1.10083031e-03 9.99743068e-01 4.04870924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.870714057 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:266.68, Y:200.32, Z:4.05 [[ 5.61535362e-01 -8.27340429e-01 1.36327621e-02 2.66681417e+02] [ 8.27142954e-01 5.61699732e-01 1.81092655e-02 2.00317750e+02] [-2.26400463e-02 1.10725015e-03 9.99743068e-01 4.04742590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.900714057 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:266.70, Y:200.34, Z:4.05 [[ 5.61492738e-01 -8.27369383e-01 1.36311941e-02 2.66695716e+02] [ 8.27171887e-01 5.61657085e-01 1.81104458e-02 2.00341566e+02] [-2.26400850e-02 1.10645675e-03 9.99743068e-01 4.04580493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9307140569999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:266.71, Y:200.37, Z:4.05 [[ 5.61508018e-01 -8.27359096e-01 1.36261648e-02 2.66709915e+02] [ 8.27161507e-01 5.61672250e-01 1.81142290e-02 2.00365518e+02] [-2.26404107e-02 1.09975421e-03 9.99743068e-01 4.04519012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9607140569999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:266.72, Y:200.39, Z:4.04 [[ 5.61709826e-01 -8.27222180e-01 1.36211520e-02 2.66721219e+02] [ 8.27024460e-01 5.61873901e-01 1.81179976e-02 2.00391339e+02] [-2.26409793e-02 1.08796855e-03 9.99743068e-01 4.04388708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.990714057 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:266.73, Y:200.41, Z:4.04 [[ 5.61387191e-01 -8.27441250e-01 1.36161644e-02 2.66734823e+02] [ 8.27243503e-01 5.61551235e-01 1.81217451e-02 2.00414820e+02] [-2.26408534e-02 1.09056799e-03 9.99743068e-01 4.04375944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.020714057 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:266.75, Y:200.44, Z:4.04 [[ 5.60540774e-01 -8.28014915e-01 1.36140186e-02 2.66746361e+02] [ 8.27817297e-01 5.60704973e-01 1.81233570e-02 2.00440740e+02] [-2.26398579e-02 1.11103955e-03 9.99743068e-01 4.04395012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0507140569999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:266.76, Y:200.47, Z:4.04 [[ 5.59781443e-01 -8.28528528e-01 1.36093409e-02 2.66760774e+02] [ 8.28330976e-01 5.59945721e-01 1.81268690e-02 2.00465023e+02] [-2.26391203e-02 1.12595377e-03 9.99743068e-01 4.04407750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0807140569999 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:266.77, Y:200.49, Z:4.04 [[ 5.57960564e-01 -8.29755941e-01 1.36046862e-02 2.66772946e+02] [ 8.29558666e-01 5.58125174e-01 1.81303617e-02 2.00491358e+02] [-2.26368932e-02 1.16985850e-03 9.99743068e-01 4.04451368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.110714057 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:266.79, Y:200.52, Z:4.04 [[ 5.56592952e-01 -8.30674015e-01 1.36002487e-02 2.66787270e+02] [ 8.30476930e-01 5.56757791e-01 1.81336899e-02 2.00515742e+02] [-2.26352294e-02 1.20160882e-03 9.99743068e-01 4.04236841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.140714057 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:266.80, Y:200.54, Z:4.04 [[ 5.54792155e-01 -8.31877900e-01 1.35950136e-02 2.66799168e+02] [ 8.31681078e-01 5.54957306e-01 1.81376139e-02 2.00541149e+02] [-2.26329322e-02 1.24410966e-03 9.99743068e-01 4.04136272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1707140569999 meters Centerline goodness : 0.998197 Centerline is valid? [True, True] Translation: X:266.81, Y:200.56, Z:4.04 [[ 5.53969229e-01 -8.32426171e-01 1.35927578e-02 2.66813486e+02] [ 8.32229471e-01 5.54134526e-01 1.81393042e-02 2.00564831e+02] [-2.26318480e-02 1.26367729e-03 9.99743068e-01 4.03825640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2007140569999 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:266.83, Y:200.59, Z:4.04 [[ 5.53139751e-01 -8.32977668e-01 1.35875466e-02 2.66827482e+02] [ 8.32781038e-01 5.53305131e-01 1.81432070e-02 2.00587563e+02] [-2.26309454e-02 1.27972215e-03 9.99743068e-01 4.03713032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2307140569999 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:266.84, Y:200.61, Z:4.03 [[ 5.51993589e-01 -8.33737679e-01 1.35853256e-02 2.66841069e+02] [ 8.33541236e-01 5.52159191e-01 1.81448698e-02 2.00612828e+02] [-2.26293240e-02 1.30807732e-03 9.99743068e-01 4.03493232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.260714057 meters Centerline goodness : 0.998121 Centerline is valid? [True, True] Translation: X:266.86, Y:200.64, Z:4.03 [[ 5.51606554e-01 -8.33993880e-01 1.35800490e-02 2.66855815e+02] [ 8.33797418e-01 5.51772133e-01 1.81488181e-02 2.00636841e+02] [-2.26290958e-02 1.31200274e-03 9.99743068e-01 4.03453098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.290714057 meters Centerline goodness : 0.997819 Centerline is valid? [True, True] Translation: X:266.87, Y:200.66, Z:4.04 [[ 5.53045954e-01 -8.33040156e-01 1.35746714e-02 2.66867598e+02] [ 8.32843310e-01 5.53211077e-01 1.81528395e-02 2.00663260e+02] [-2.26317028e-02 1.26621978e-03 9.99743068e-01 4.03518162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3207140569999 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:266.88, Y:200.69, Z:4.04 [[ 5.54707419e-01 -8.31934765e-01 1.35730078e-02 2.66881038e+02] [ 8.31737560e-01 5.54872112e-01 1.81540833e-02 2.00687085e+02] [-2.26342965e-02 1.21897574e-03 9.99743068e-01 4.03561596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3507140569999 meters Centerline goodness : 0.996646 Centerline is valid? [True, True] Translation: X:266.90, Y:200.72, Z:4.03 [[ 5.60452115e-01 -8.28075637e-01 1.35707420e-02 2.66897323e+02] [ 8.27877256e-01 5.60615391e-01 1.81557769e-02 2.00715247e+02] [-2.26423233e-02 1.05946508e-03 9.99743068e-01 4.03413489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.380714057 meters Centerline goodness : 0.996374 Centerline is valid? [True, True] Translation: X:266.91, Y:200.74, Z:4.04 [[ 5.60321955e-01 -8.28160599e-01 1.37596801e-02 2.66906012e+02] [ 8.27965664e-01 5.60489371e-01 1.80145694e-02 2.00738212e+02] [-2.26311110e-02 1.29858390e-03 9.99743040e-01 4.03539456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.410714057 meters Centerline goodness : 0.996057 Centerline is valid? [True, True] Translation: X:266.92, Y:200.76, Z:4.04 [[ 5.62664307e-01 -8.26574288e-01 1.35581633e-02 2.66920607e+02] [ 8.26375250e-01 5.62826776e-01 1.81649804e-02 2.00763857e+02] [-2.26456031e-02 9.83344501e-04 9.99743072e-01 4.03531603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4407140569999 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:266.93, Y:200.79, Z:4.04 [[ 5.69206622e-01 -8.22082788e-01 1.35539909e-02 2.66932057e+02] [ 8.21882393e-01 5.69367414e-01 1.81680932e-02 2.00790292e+02] [-2.26528775e-02 7.98387492e-04 9.99743072e-01 4.03559265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4707140569999 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:266.95, Y:200.82, Z:4.04 [[ 5.77258788e-01 -8.16448788e-01 1.35524009e-02 2.66946089e+02] [ 8.16246795e-01 5.77417567e-01 1.81692792e-02 2.00817604e+02] [-2.26596803e-02 5.73727753e-04 9.99743072e-01 4.03693131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.500714057 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:266.96, Y:200.84, Z:4.03 [[ 5.79540314e-01 -8.14829246e-01 1.36500495e-02 2.66957871e+02] [ 8.14628516e-01 5.79700698e-01 1.80964467e-02 2.00841445e+02] [-2.26584572e-02 6.32099163e-04 9.99743064e-01 4.02973678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.530714057 meters Centerline goodness : 0.995090 Centerline is valid? [True, True] Translation: X:266.97, Y:200.87, Z:4.03 [[ 5.82521767e-01 -8.12702244e-01 1.35445133e-02 2.66972580e+02] [ 8.12499094e-01 5.82679062e-01 1.81750950e-02 2.00865099e+02] [-2.26630448e-02 4.17516295e-04 9.99743073e-01 4.02818467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5607140569999 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:266.99, Y:200.89, Z:4.03 [[ 5.90880434e-01 -8.06645520e-01 1.35394836e-02 2.66994293e+02] [ 8.06440671e-01 5.91035510e-01 1.81788411e-02 2.00890809e+02] [-2.26661963e-02 1.77268746e-04 9.99743073e-01 4.03188023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5907140569999 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:267.01, Y:200.91, Z:4.03 [[ 5.94807668e-01 -8.03749305e-01 1.38163857e-02 2.67014039e+02] [ 8.03548445e-01 5.94967970e-01 1.79725121e-02 2.00914165e+02] [-2.26657011e-02 4.11947174e-04 9.99743015e-01 4.03030895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.620714057 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:267.02, Y:200.94, Z:4.03 [[ 5.93075257e-01 -8.05026070e-01 1.39558806e-02 2.67019135e+02] [ 8.04827990e-01 5.93239095e-01 1.78684674e-02 2.00935091e+02] [-2.26637561e-02 6.34737421e-04 9.99742943e-01 4.02844380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.650714057 meters Centerline goodness : 0.993634 Centerline is valid? [True, True] Translation: X:267.04, Y:200.96, Z:4.03 [[ 5.95310482e-01 -8.03381756e-01 1.35346007e-02 2.67036393e+02] [ 8.03175983e-01 5.95464317e-01 1.81820691e-02 2.00956724e+02] [-2.26665143e-02 4.66899083e-05 9.99743080e-01 4.02758028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6807140569999 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:267.05, Y:200.98, Z:4.03 [[ 5.97466267e-01 -8.01779905e-01 1.35293614e-02 2.67053385e+02] [ 8.01573632e-01 5.97619431e-01 1.81859668e-02 2.00978354e+02] [-2.26665520e-02 -2.07223000e-05 9.99743080e-01 4.02580759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7107140569999 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:267.08, Y:201.00, Z:4.02 [[ 6.04965839e-01 -7.96136565e-01 1.35241614e-02 2.67079546e+02] [ 7.95928777e-01 6.05116940e-01 1.81898330e-02 2.01001113e+02] [-2.26652903e-02 -2.39958362e-04 9.99743081e-01 4.02451411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.740714057 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:267.09, Y:201.02, Z:4.02 [[ 6.05768574e-01 -7.95521624e-01 1.37761038e-02 2.67093457e+02] [ 7.95317904e-01 6.05925196e-01 1.80024703e-02 2.01018640e+02] [-2.26686428e-02 5.10512889e-05 9.99743032e-01 4.02068690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.770714057 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:267.11, Y:201.04, Z:4.02 [[ 6.07448653e-01 -7.94243962e-01 1.35152683e-02 2.67113124e+02] [ 7.94035562e-01 6.07598901e-01 1.81962078e-02 2.01038389e+02] [-2.26640904e-02 -3.21658266e-04 9.99743085e-01 4.02010949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8007140569999 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:267.13, Y:201.06, Z:4.02 [[ 6.07814827e-01 -7.93964328e-01 1.34826437e-02 2.67133814e+02] [ 7.93755321e-01 6.07964232e-01 1.82204247e-02 2.01058872e+02] [-2.26633324e-02 -3.72724166e-04 9.99743084e-01 4.01948781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8307140569999 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:267.16, Y:201.08, Z:4.02 [[ 6.09755659e-01 -7.92474367e-01 1.35061111e-02 2.67157581e+02] [ 7.92265379e-01 6.09905090e-01 1.82030125e-02 2.01075791e+02] [-2.26628668e-02 -3.98965638e-04 9.99743085e-01 4.01988573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.860714057 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:267.18, Y:201.09, Z:4.02 [[ 6.10444610e-01 -7.91943876e-01 1.35009358e-02 2.67177019e+02] [ 7.91734674e-01 6.10593741e-01 1.82068502e-02 2.01094501e+02] [-2.26623904e-02 -4.25114625e-04 9.99743085e-01 4.02001373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.890714057 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:267.20, Y:201.11, Z:4.02 [[ 6.13032229e-01 -7.89942596e-01 1.34974356e-02 2.67201665e+02] [ 7.89732851e-01 6.13180594e-01 1.82094447e-02 2.01110126e+02] [-2.26607816e-02 -5.03608192e-04 9.99743085e-01 4.02118816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9207140569999 meters Centerline goodness : 0.997213 Centerline is valid? [True, True] Translation: X:267.22, Y:201.13, Z:4.02 [[ 6.14178258e-01 -7.89051929e-01 1.34952357e-02 2.67222462e+02] [ 7.88841932e-01 6.14326267e-01 1.82110749e-02 2.01128504e+02] [-2.26599616e-02 -5.39238490e-04 9.99743085e-01 4.02225693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9507140569999 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:267.25, Y:201.14, Z:4.02 [[ 6.15971570e-01 -7.87652867e-01 1.34902201e-02 2.67249150e+02] [ 7.87442453e-01 6.16118986e-01 1.82147895e-02 2.01143670e+02] [-2.26585119e-02 -5.97020490e-04 9.99743085e-01 4.02280434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9807140569999 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:267.27, Y:201.16, Z:4.02 [[ 6.17215353e-01 -7.86678690e-01 1.34850523e-02 2.67270987e+02] [ 7.86467960e-01 6.17362317e-01 1.82186147e-02 2.01161115e+02] [-2.26573590e-02 -6.39247152e-04 9.99743085e-01 4.02358776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.010714057 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:267.29, Y:201.18, Z:4.02 [[ 6.17892273e-01 -7.86147850e-01 1.34424021e-02 2.67292862e+02] [ 7.85936308e-01 6.18038067e-01 1.82501422e-02 2.01177983e+02] [-2.26552263e-02 -7.11749935e-04 9.99743084e-01 4.02441274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.040714057 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:267.32, Y:201.19, Z:4.02 [[ 6.15981423e-01 -7.87647586e-01 1.33478932e-02 2.67321291e+02] [ 7.87434886e-01 6.16125539e-01 1.83199445e-02 2.01192870e+02] [-2.26536380e-02 -7.74148735e-04 9.99743074e-01 4.02164548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0707140569999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:267.35, Y:201.21, Z:4.02 [[ 6.14279513e-01 -7.88973594e-01 1.34665617e-02 2.67349268e+02] [ 7.88763113e-01 6.14426834e-01 1.82322951e-02 2.01207174e+02] [-2.26590162e-02 -5.77798188e-04 9.99743085e-01 4.02206710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1007140569999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:267.37, Y:201.23, Z:4.03 [[ 6.12773960e-01 -7.90143571e-01 1.34614716e-02 2.67369887e+02] [ 7.89933290e-01 6.12921565e-01 1.82360525e-02 2.01225223e+02] [-2.26599259e-02 -5.40913509e-04 9.99743085e-01 4.02564182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.130714057 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:267.39, Y:201.24, Z:4.02 [[ 6.12160887e-01 -7.90620082e-01 1.33766120e-02 2.67394091e+02] [ 7.90408546e-01 6.12306696e-01 1.82986568e-02 2.01243757e+02] [-2.26578746e-02 -6.28733493e-04 9.99743080e-01 4.02165156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.160714057 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:267.42, Y:201.26, Z:4.02 [[ 6.10154168e-01 -7.92168422e-01 1.34566807e-02 2.67422205e+02] [ 7.91958553e-01 6.10302358e-01 1.82395843e-02 2.01258037e+02] [-2.26614667e-02 -4.71825022e-04 9.99743085e-01 4.01963031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1907140569999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:267.44, Y:201.28, Z:4.02 [[ 6.09238252e-01 -7.92873136e-01 1.34514834e-02 2.67444349e+02] [ 7.92663354e-01 6.09386565e-01 1.82434165e-02 2.01275768e+02] [-2.26618681e-02 -4.52089208e-04 9.99743085e-01 4.01873710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2207140569999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:267.47, Y:201.29, Z:4.02 [[ 6.05771778e-01 -7.95524777e-01 1.34492228e-02 2.67468626e+02] [ 7.95315607e-01 6.05920954e-01 1.82450829e-02 2.01289564e+02] [-2.26635814e-02 -3.55979513e-04 9.99743085e-01 4.02290218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.250714057 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:267.49, Y:201.31, Z:4.02 [[ 6.05685967e-01 -7.95592610e-01 1.33006742e-02 2.67494528e+02] [ 7.95381043e-01 6.05831750e-01 1.83545108e-02 2.01308524e+02] [-2.26606839e-02 -5.37965500e-04 9.99743069e-01 4.01818592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.280714057 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:267.52, Y:201.32, Z:4.02 [[ 6.02392936e-01 -7.98086411e-01 1.34473630e-02 2.67521020e+02] [ 7.97877846e-01 6.02542955e-01 1.82464036e-02 2.01323238e+02] [-2.26648206e-02 -2.62151587e-04 9.99743086e-01 4.01743133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3107140569999 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:267.54, Y:201.34, Z:4.02 [[ 6.00108440e-01 -7.99805706e-01 1.34422323e-02 2.67542384e+02] [ 7.99597486e-01 6.00258937e-01 1.82501826e-02 2.01342488e+02] [-2.26654203e-02 -2.03713471e-04 9.99743086e-01 4.01670977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3407140569999 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:267.56, Y:201.36, Z:4.02 [[ 5.97851784e-01 -8.01494035e-01 1.34371168e-02 2.67563938e+02] [ 8.01286156e-01 5.98002751e-01 1.82539483e-02 2.01361293e+02] [-2.26658635e-02 -1.46179914e-04 9.99743086e-01 4.01593576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.370714057 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:267.59, Y:201.38, Z:4.01 [[ 5.92036668e-01 -8.05799085e-01 1.34319745e-02 2.67589689e+02] [ 8.05592217e-01 5.92189019e-01 1.82577314e-02 2.01376908e+02] [-2.26663310e-02 1.14476473e-05 9.99743086e-01 4.01330983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.400714057 meters Centerline goodness : 0.995848 Centerline is valid? [True, True] Translation: X:267.61, Y:201.39, Z:4.01 [[ 5.85262051e-01 -8.10733034e-01 1.34267976e-02 2.67614764e+02] [ 8.10527363e-01 5.85416014e-01 1.82615377e-02 2.01392634e+02] [-2.26654942e-02 1.95001858e-04 9.99743086e-01 4.01142611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4307140569999 meters Centerline goodness : 0.996247 Centerline is valid? [True, True] Translation: X:267.63, Y:201.41, Z:4.01 [[ 5.82658317e-01 -8.12606391e-01 1.34215714e-02 2.67633688e+02] [ 8.12401127e-01 5.82812821e-01 1.82653779e-02 2.01410477e+02] [-2.26648268e-02 2.61225405e-04 9.99743086e-01 4.01157401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4607140569999 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:267.66, Y:201.43, Z:4.01 [[ 5.78329256e-01 -8.15694563e-01 1.33286045e-02 2.67655223e+02] [ 8.15488546e-01 5.78482765e-01 1.83336627e-02 2.01431603e+02] [-2.26650370e-02 2.66430825e-04 9.99743080e-01 4.00994021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.490714057 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:267.68, Y:201.45, Z:4.01 [[ 5.73305023e-01 -8.19232181e-01 1.34158222e-02 2.67677876e+02] [ 8.19028602e-01 5.73461742e-01 1.82696167e-02 2.01448364e+02] [-2.26605188e-02 5.13879095e-04 9.99743085e-01 4.00942611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.520714057 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:267.70, Y:201.47, Z:4.01 [[ 5.69288048e-01 -8.22028707e-01 1.34135745e-02 2.67698903e+02] [ 8.21825859e-01 5.69445712e-01 1.82712669e-02 2.01467686e+02] [-2.26578084e-02 6.22008525e-04 9.99743085e-01 4.00809848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5507140569999 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:267.72, Y:201.49, Z:4.01 [[ 5.69055992e-01 -8.22189451e-01 1.34084046e-02 2.67715730e+02] [ 8.21986558e-01 5.69213598e-01 1.82750600e-02 2.01490715e+02] [-2.26578078e-02 6.21995975e-04 9.99743085e-01 4.00745287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5807140569999 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:267.73, Y:201.51, Z:4.01 [[ 5.67658261e-01 -8.23155181e-01 1.34032438e-02 2.67734368e+02] [ 8.22952467e-01 5.67816097e-01 1.82788443e-02 2.01512308e+02] [-2.26569030e-02 6.54095605e-04 9.99743085e-01 4.00617071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.610714057 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:267.75, Y:201.53, Z:4.01 [[ 5.66695907e-01 -8.23818087e-01 1.33981233e-02 2.67751693e+02] [ 8.23615469e-01 5.66853866e-01 1.82825967e-02 2.01532995e+02] [-2.26563119e-02 6.74228889e-04 9.99743085e-01 4.00623176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.640714057 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:267.77, Y:201.55, Z:4.00 [[ 5.66005813e-01 -8.24292405e-01 1.33959058e-02 2.67769927e+02] [ 8.24089882e-01 5.66163893e-01 1.82842214e-02 2.01554034e+02] [-2.26558230e-02 6.90454832e-04 9.99743085e-01 4.00395247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6707140569999 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:267.79, Y:201.58, Z:4.00 [[ 5.66424837e-01 -8.24004606e-01 1.33907851e-02 2.67786965e+02] [ 8.23801914e-01 5.66582701e-01 1.82879709e-02 2.01576227e+02] [-2.26563594e-02 6.72593449e-04 9.99743085e-01 4.00310782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7007140569999 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:267.79, Y:201.59, Z:4.00 [[ 5.61304729e-01 -8.27501032e-01 1.33807074e-02 2.67787173e+02] [ 8.27299147e-01 5.61463624e-01 1.82953463e-02 2.01594950e+02] [-2.26521985e-02 8.00583421e-04 9.99743085e-01 4.00109812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7307140569999 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:267.82, Y:201.62, Z:4.00 [[ 5.71950121e-01 -8.20188898e-01 1.27761675e-02 2.67821099e+02] [ 8.19974886e-01 5.72092749e-01 1.87369679e-02 2.01620133e+02] [-2.26770058e-02 -2.40474591e-04 9.99742815e-01 4.00084571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.760714057 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:267.83, Y:201.64, Z:4.00 [[ 5.73592417e-01 -8.19031863e-01 1.33621107e-02 2.67828560e+02] [ 8.18827336e-01 5.73747866e-01 1.83079385e-02 2.01642649e+02] [-2.26612675e-02 4.39966811e-04 9.99743104e-01 4.00494792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.790714057 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:267.84, Y:201.66, Z:4.00 [[ 5.72373025e-01 -8.19889029e-01 1.30805183e-02 2.67837545e+02] [ 8.19679979e-01 5.72522457e-01 1.85140017e-02 2.01664731e+02] [-2.26683174e-02 1.24923753e-04 9.99743033e-01 4.00200023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8207140569999 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:267.87, Y:201.69, Z:4.00 [[ 5.82598897e-01 -8.12659197e-01 1.27888621e-02 2.67869014e+02] [ 8.12443558e-01 5.82739015e-01 1.87271673e-02 2.01690532e+02] [-2.26713736e-02 -5.20198398e-04 9.99742836e-01 4.00128812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8507140569999 meters Centerline goodness : 0.994197 Centerline is valid? [True, True] Translation: X:267.88, Y:201.71, Z:4.00 [[ 5.85576145e-01 -8.10506737e-01 1.33943326e-02 2.67884230e+02] [ 8.10300501e-01 5.85729296e-01 1.82836156e-02 2.01714429e+02] [-2.26644466e-02 1.46985315e-04 9.99743118e-01 4.00136190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.880714057 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:267.88, Y:201.73, Z:4.00 [[ 5.77722842e-01 -8.16123180e-01 1.33892583e-02 2.67881906e+02] [ 8.15918347e-01 5.77877864e-01 1.82873308e-02 2.01732572e+02] [-2.26620706e-02 3.59532786e-04 9.99743118e-01 4.00191297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.910714057 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:267.92, Y:201.76, Z:4.00 [[ 5.87007744e-01 -8.09482719e-01 1.26347380e-02 2.67917609e+02] [ 8.09263916e-01 5.87143112e-01 1.88382689e-02 2.01759250e+02] [-2.26676525e-02 -8.33372200e-04 9.99742708e-01 4.00233703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9407140569999 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:267.91, Y:201.78, Z:4.00 [[ 5.77189552e-01 -8.16500398e-01 1.33910688e-02 2.67913268e+02] [ 8.16295734e-01 5.77344747e-01 1.82843610e-02 2.01778270e+02] [-2.26604513e-02 3.77530158e-04 9.99743148e-01 4.00305336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9707140569999 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:267.94, Y:201.80, Z:4.00 [[ 5.82753472e-01 -8.12549855e-01 1.26934929e-02 2.67940058e+02] [ 8.12332667e-01 5.82891346e-01 1.87967131e-02 2.01802751e+02] [-2.26721937e-02 -6.42510838e-04 9.99742746e-01 4.00281119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.000714057 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:267.97, Y:201.83, Z:4.00 [[ 5.86853936e-01 -8.09588351e-01 1.30061304e-02 2.67967948e+02] [ 8.09375503e-01 5.86997927e-01 1.85668819e-02 2.01827528e+02] [-2.26661029e-02 -3.69204411e-04 9.99743023e-01 4.00052046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.030714057 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:267.98, Y:201.85, Z:4.00 [[ 5.85152152e-01 -8.10812197e-01 1.34365486e-02 2.67984732e+02] [ 8.10606810e-01 5.85306361e-01 1.82499907e-02 2.01849920e+02] [-2.26618124e-02 2.12736510e-04 9.99743166e-01 3.99886070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0607140569999 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:268.00, Y:201.87, Z:4.00 [[ 5.84316810e-01 -8.11414483e-01 1.34313905e-02 2.68001710e+02] [ 8.11209169e-01 5.84471115e-01 1.82537861e-02 2.01872639e+02] [-2.26616462e-02 2.29673029e-04 9.99743166e-01 3.99812242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0907140569999 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:268.00, Y:201.89, Z:4.00 [[ 5.73916553e-01 -8.18803716e-01 1.34262464e-02 2.68001086e+02] [ 8.18600299e-01 5.74073350e-01 1.82575690e-02 2.01892563e+02] [-2.26570156e-02 5.12408263e-04 9.99743166e-01 3.99555090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.120714057 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:268.02, Y:201.92, Z:4.00 [[ 5.75338451e-01 -8.17814922e-01 1.28226530e-02 2.68022307e+02] [ 8.17601123e-01 5.75481257e-01 1.87009955e-02 2.01915988e+02] [-2.26731497e-02 -2.75586267e-04 9.99742893e-01 3.99517120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.150714057 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:268.05, Y:201.94, Z:3.99 [[ 5.82209343e-01 -8.12936002e-01 1.29359251e-02 2.68054116e+02] [ 8.12722852e-01 5.82352944e-01 1.86176136e-02 2.01940945e+02] [-2.26682024e-02 -3.26026700e-04 9.99742990e-01 3.99464615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1807140569999 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:268.06, Y:201.96, Z:3.99 [[ 5.74790787e-01 -8.18189879e-01 1.34488953e-02 2.68055930e+02] [ 8.17986718e-01 5.74947870e-01 1.82393782e-02 2.01961173e+02] [-2.26556884e-02 5.17191128e-04 9.99743193e-01 3.99248492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2107140569999 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:268.09, Y:201.99, Z:3.99 [[ 5.79121807e-01 -8.15138415e-01 1.29343504e-02 2.68087924e+02] [ 8.14925811e-01 5.79266179e-01 1.86176299e-02 2.01986295e+02] [-2.26683770e-02 -2.41339492e-04 9.99743010e-01 3.99477808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.240714057 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:268.10, Y:202.01, Z:3.99 [[ 5.77944460e-01 -8.15965456e-01 1.34378284e-02 2.68103399e+02] [ 8.15761516e-01 5.78100511e-01 1.82468508e-02 2.02008509e+02] [-2.26572154e-02 4.16396875e-04 9.99743206e-01 3.99491917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.270714057 meters Centerline goodness : 0.993647 Centerline is valid? [True, True] Translation: X:268.12, Y:202.03, Z:3.99 [[ 5.76597014e-01 -8.16918214e-01 1.34356346e-02 2.68119959e+02] [ 8.16714494e-01 5.76753352e-01 1.82484660e-02 2.02031223e+02] [-2.26565515e-02 4.51066514e-04 9.99743206e-01 3.99442789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3007140569999 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:268.14, Y:202.05, Z:3.99 [[ 5.73936370e-01 -8.18789755e-01 1.34305535e-02 2.68135931e+02] [ 8.18586458e-01 5.74093257e-01 1.82522048e-02 2.02054312e+02] [-2.26551085e-02 5.18465072e-04 9.99743206e-01 3.99380733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3307140569999 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:268.13, Y:202.07, Z:3.99 [[ 5.59069863e-01 -8.29011850e-01 1.34253960e-02 2.68128359e+02] [ 8.28811326e-01 5.59230279e-01 1.82559976e-02 2.02074264e+02] [-2.26423263e-02 9.20742192e-04 9.99743206e-01 3.99041433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.360714057 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:268.17, Y:202.10, Z:3.99 [[ 5.69696264e-01 -8.21759579e-01 1.25443521e-02 2.68168292e+02] [ 8.21542290e-01 5.69834169e-01 1.89020095e-02 2.02101044e+02] [-2.26811078e-02 -4.62688435e-04 9.99742644e-01 3.99436458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.390714057 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:268.18, Y:202.12, Z:3.99 [[ 5.67737145e-01 -8.23100349e-01 1.34294156e-02 2.68182930e+02] [ 8.22898274e-01 5.67895536e-01 1.82507726e-02 2.02124215e+02] [-2.26487225e-02 6.89401357e-04 9.99743247e-01 3.99454783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4207140569999 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:268.20, Y:202.15, Z:4.00 [[ 5.64348655e-01 -8.25427348e-01 1.34271922e-02 2.68197640e+02] [ 8.25225887e-01 5.64507826e-01 1.82524082e-02 2.02148266e+02] [-2.26457920e-02 7.79744543e-04 9.99743247e-01 3.99527236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4507140569999 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:268.21, Y:202.17, Z:4.00 [[ 5.62673740e-01 -8.26570088e-01 1.34220623e-02 2.68212939e+02] [ 8.26368861e-01 5.62833206e-01 1.82561798e-02 2.02171861e+02] [-2.26443945e-02 8.19301398e-04 9.99743247e-01 3.99512890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4807140569999 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:268.23, Y:202.20, Z:4.00 [[ 5.61427227e-01 -8.27417342e-01 1.34168474e-02 2.68226345e+02] [ 8.27216263e-01 5.61586882e-01 1.82600115e-02 2.02195268e+02] [-2.26433757e-02 8.46966757e-04 9.99743247e-01 3.99569414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.510714057 meters Centerline goodness : 0.993173 Centerline is valid? [True, True] Translation: X:268.23, Y:202.22, Z:4.00 [[ 5.58772546e-01 -8.29212473e-01 1.34133156e-02 2.68234457e+02] [ 8.29011845e-01 5.58932767e-01 1.82626055e-02 2.02218215e+02] [-2.26407219e-02 9.15154920e-04 9.99743247e-01 3.99965499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.540714057 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:268.26, Y:202.24, Z:3.99 [[ 5.62809642e-01 -8.26482048e-01 1.31427374e-02 2.68256371e+02] [ 8.26275975e-01 5.62962880e-01 1.84610316e-02 2.02242576e+02] [-2.26565845e-02 4.69481547e-04 9.99743196e-01 3.99426657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5707140569999 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:268.27, Y:202.27, Z:3.99 [[ 5.67413088e-01 -8.23324131e-01 1.34076110e-02 2.68268987e+02] [ 8.23121744e-01 5.67571075e-01 1.82666171e-02 2.02268156e+02] [-2.26491188e-02 6.71378592e-04 9.99743250e-01 3.99247656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6007140569999 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:268.28, Y:202.29, Z:3.99 [[ 5.70701453e-01 -8.21048050e-01 1.34145996e-02 2.68283701e+02] [ 8.20845154e-01 5.70858785e-01 1.82614888e-02 2.02292626e+02] [-2.26514018e-02 5.89450852e-04 9.99743250e-01 3.99019775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.630714057 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:268.30, Y:202.32, Z:3.99 [[ 5.78281812e-01 -8.15727011e-01 1.34010816e-02 2.68296090e+02] [ 8.15522436e-01 5.78436956e-01 1.82714035e-02 2.02318718e+02] [-2.26561582e-02 3.62862382e-04 9.99743250e-01 3.99001251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.660714057 meters Centerline goodness : 0.996646 Centerline is valid? [True, True] Translation: X:268.31, Y:202.34, Z:3.99 [[ 5.82268261e-01 -8.12886351e-01 1.33959892e-02 2.68310827e+02] [ 8.12680934e-01 5.82422286e-01 1.82751363e-02 2.02342538e+02] [-2.26577315e-02 2.45633169e-04 9.99743250e-01 3.99020951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6907140569999 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:268.32, Y:202.37, Z:3.99 [[ 5.89679529e-01 -8.07526308e-01 1.33908366e-02 2.68324618e+02] [ 8.07319404e-01 5.89831553e-01 1.82789111e-02 2.02367237e+02] [-2.26590395e-02 3.19825322e-05 9.99743250e-01 3.99077282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7207140569999 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:268.34, Y:202.39, Z:3.99 [[ 5.92866361e-01 -8.05189606e-01 1.33856911e-02 2.68339554e+02] [ 8.04982018e-01 5.93017449e-01 1.82826783e-02 2.02390017e+02] [-2.26589709e-02 -6.39443745e-05 9.99743251e-01 3.99078042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.750714057 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:268.35, Y:202.41, Z:3.99 [[ 5.97790039e-01 -8.01540986e-01 1.33834539e-02 2.68354018e+02] [ 8.01332439e-01 5.97939801e-01 1.82843158e-02 2.02413607e+02] [-2.26581283e-02 -2.05586083e-04 9.99743251e-01 3.99026031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.780714057 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:268.37, Y:202.44, Z:3.99 [[ 6.00027657e-01 -7.99867384e-01 1.33783113e-02 2.68370103e+02] [ 7.99658336e-01 6.00176718e-01 1.82880778e-02 2.02436295e+02] [-2.26573879e-02 -2.75274343e-04 9.99743251e-01 3.98905318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8107140569999 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:268.39, Y:202.46, Z:3.99 [[ 6.04223958e-01 -7.96702310e-01 1.33730270e-02 2.68387741e+02] [ 7.96492396e-01 6.04371796e-01 1.82919411e-02 2.02457266e+02] [-2.26555121e-02 -4.00914739e-04 9.99743251e-01 3.98868833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8407140569999 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:268.41, Y:202.48, Z:3.99 [[ 6.05673157e-01 -7.95601210e-01 1.33694275e-02 2.68405554e+02] [ 7.95390969e-01 6.05820531e-01 1.82945716e-02 2.02478992e+02] [-2.26546570e-02 -4.46609074e-04 9.99743251e-01 3.98830408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.870714057 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:268.43, Y:202.50, Z:3.99 [[ 6.07501205e-01 -7.94206323e-01 1.33642145e-02 2.68425136e+02] [ 7.93995660e-01 6.07647975e-01 1.82983789e-02 2.02498917e+02] [-2.26534261e-02 -5.05158896e-04 9.99743251e-01 3.98693202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.900714057 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:268.45, Y:202.52, Z:3.99 [[ 6.06109996e-01 -7.95268639e-01 1.33590217e-02 2.68446099e+02] [ 7.95058150e-01 6.06257015e-01 1.83021692e-02 2.02518531e+02] [-2.26541418e-02 -4.71928652e-04 9.99743251e-01 3.98557172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9307140569999 meters Centerline goodness : 0.995247 Centerline is valid? [True, True] Translation: X:268.47, Y:202.54, Z:3.98 [[ 6.03868432e-01 -7.96972141e-01 1.33537884e-02 2.68465689e+02] [ 7.96761982e-01 6.04015922e-01 1.83059868e-02 2.02539231e+02] [-2.26552623e-02 -4.14616585e-04 9.99743251e-01 3.98400382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9607140569999 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:268.49, Y:202.56, Z:3.98 [[ 6.01289246e-01 -7.98919962e-01 1.33467788e-02 2.68485440e+02] [ 7.98710168e-01 6.01437255e-01 1.83110972e-02 2.02559328e+02] [-2.26563511e-02 -3.50057913e-04 9.99743251e-01 3.98450971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.990714057 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:268.51, Y:202.58, Z:3.98 [[ 5.93894370e-01 -8.04432306e-01 1.33469927e-02 2.68508480e+02] [ 8.04223889e-01 5.94044313e-01 1.83109413e-02 2.02576711e+02] [-2.26586178e-02 -1.40794539e-04 9.99743251e-01 3.98356256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.020714057 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:268.53, Y:202.60, Z:3.98 [[ 5.90035689e-01 -8.07266920e-01 1.33419078e-02 2.68528064e+02] [ 8.07059140e-01 5.90186512e-01 1.83146455e-02 2.02596810e+02] [-2.26590215e-02 -3.85858707e-05 9.99743251e-01 3.98321575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0507140569999 meters Centerline goodness : 0.993278 Centerline is valid? [True, True] Translation: X:268.55, Y:202.61, Z:3.99 [[ 5.81631394e-01 -8.13343134e-01 1.33367078e-02 2.68546246e+02] [ 8.13136843e-01 5.81784247e-01 1.83184314e-02 2.02614708e+02] [-2.26582569e-02 1.89993643e-04 9.99743251e-01 3.99023714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0807140569999 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:268.57, Y:202.64, Z:3.98 [[ 5.80657958e-01 -8.14041538e-01 1.31419369e-02 2.68569993e+02] [ 8.13832200e-01 5.80806658e-01 1.84601244e-02 2.02636225e+02] [-2.26602325e-02 -2.36867690e-05 9.99743224e-01 3.98208918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.110714057 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:268.59, Y:202.65, Z:3.98 [[ 5.76243444e-01 -8.17169302e-01 1.33351096e-02 2.68590985e+02] [ 8.16964000e-01 5.76397621e-01 1.83195112e-02 2.02654712e+02] [-2.26564677e-02 3.37806240e-04 9.99743252e-01 3.98229266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.140714057 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:268.61, Y:202.68, Z:3.98 [[ 5.74347104e-01 -8.18503313e-01 1.33315792e-02 2.68609949e+02] [ 8.18298309e-01 5.74501678e-01 1.83220800e-02 2.02676119e+02] [-2.26556978e-02 3.85975111e-04 9.99743252e-01 3.98075360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1707140569999 meters Centerline goodness : 0.992467 Centerline is valid? [True, True] Translation: X:268.61, Y:202.69, Z:3.98 [[ 5.65882044e-01 -8.24378504e-01 1.33264454e-02 2.68613339e+02] [ 8.24175017e-01 5.66038609e-01 1.83258133e-02 2.02694405e+02] [-2.26506892e-02 6.13074610e-04 9.99743252e-01 3.98108942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2007140569999 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:268.65, Y:202.72, Z:3.98 [[ 5.70183439e-01 -8.21418036e-01 1.27771856e-02 2.68648886e+02] [ 8.21204613e-01 5.70326553e-01 1.87244973e-02 2.02719063e+02] [-2.26678080e-02 -1.83714496e-04 9.99743035e-01 3.97806163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2307140569999 meters Centerline goodness : 0.993166 Centerline is valid? [True, True] Translation: X:268.67, Y:202.74, Z:3.98 [[ 5.69923307e-01 -8.21588078e-01 1.34333279e-02 2.68665941e+02] [ 8.21385673e-01 5.70081247e-01 1.82468804e-02 2.02741310e+02] [-2.26495077e-02 6.34620587e-04 9.99743266e-01 3.97736740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.260714057 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] Translation: X:268.68, Y:202.76, Z:3.98 [[ 5.70567948e-01 -8.21141003e-01 1.34040886e-02 2.68681140e+02] [ 8.20937975e-01 5.70725079e-01 1.82681556e-02 2.02762555e+02] [-2.26507812e-02 5.80701246e-04 9.99743269e-01 3.97661130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.290714057 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:268.70, Y:202.78, Z:3.98 [[ 5.71006746e-01 -8.20837219e-01 1.33250254e-02 2.68697348e+02] [ 8.20632764e-01 5.71162007e-01 1.83256445e-02 2.02784315e+02] [-2.26531193e-02 4.70885794e-04 9.99743274e-01 3.97662159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3207140569999 meters Centerline goodness : 0.993274 Centerline is valid? [True, True] Translation: X:268.71, Y:202.81, Z:3.98 [[ 5.72684779e-01 -8.19667400e-01 1.33228317e-02 2.68714651e+02] [ 8.19462590e-01 5.72839572e-01 1.83272392e-02 2.02807682e+02] [-2.26540857e-02 4.21831252e-04 9.99743274e-01 3.97757467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3507140569999 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:268.73, Y:202.83, Z:3.98 [[ 5.74551493e-01 -8.18359248e-01 1.33687510e-02 2.68730285e+02] [ 8.18154860e-01 5.74706846e-01 1.82938696e-02 2.02830478e+02] [-2.26540701e-02 4.26938505e-04 9.99743272e-01 3.97679375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.380714057 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:268.75, Y:202.85, Z:3.98 [[ 5.78255430e-01 -8.15747107e-01 1.33159910e-02 2.68745853e+02] [ 8.15541133e-01 5.78408671e-01 1.83321930e-02 2.02854386e+02] [-2.26565181e-02 2.59048284e-04 9.99743275e-01 3.97640958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.410714057 meters Centerline goodness : 0.993135 Centerline is valid? [True, True] Translation: X:268.76, Y:202.88, Z:3.98 [[ 5.80147522e-01 -8.14402350e-01 1.33290846e-02 2.68762005e+02] [ 8.14196240e-01 5.80300579e-01 1.83226852e-02 2.02877818e+02] [-2.26569134e-02 2.22630116e-04 9.99743274e-01 3.97613283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4407140569999 meters Centerline goodness : 0.993135 Centerline is valid? [True, True] Translation: X:268.78, Y:202.90, Z:3.98 [[ 5.79870497e-01 -8.14598775e-01 1.33806882e-02 2.68778668e+02] [ 8.14393579e-01 5.80024784e-01 1.82852185e-02 2.02900987e+02] [-2.26562474e-02 2.94087801e-04 9.99743271e-01 3.97547426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4707140569999 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:268.79, Y:202.92, Z:3.97 [[ 5.85137691e-01 -8.10823644e-01 1.33754072e-02 2.68792231e+02] [ 8.10617365e-01 5.85290525e-01 1.82890503e-02 2.02923268e+02] [-2.26576935e-02 1.40724732e-04 9.99743272e-01 3.97416495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.500714057 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:268.79, Y:202.94, Z:3.97 [[ 5.81335841e-01 -8.13555006e-01 1.33001057e-02 2.68793747e+02] [ 8.13348192e-01 5.81487944e-01 1.83436479e-02 2.02943576e+02] [-2.26574177e-02 1.53796937e-04 9.99743276e-01 3.97482325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.530714057 meters Centerline goodness : 0.992077 Centerline is valid? [True, True] Translation: X:268.80, Y:202.96, Z:3.97 [[ 5.78699132e-01 -8.15440453e-01 1.28133832e-02 2.68800250e+02] [ 8.15226151e-01 5.78840849e-01 1.86974364e-02 2.02963306e+02] [-2.26635556e-02 -3.74385108e-04 9.99743079e-01 3.97333334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5607140569999 meters Centerline goodness : 0.991338 Centerline is valid? [True, True] Translation: X:268.83, Y:202.99, Z:3.98 [[ 5.85492381e-01 -8.10584310e-01 1.23186216e-02 2.68825554e+02] [ 8.10361119e-01 5.85620778e-01 1.90567667e-02 2.02987849e+02] [-2.26611569e-02 -1.17505977e-03 9.99742512e-01 3.97622444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5907140569999 meters Centerline goodness : 0.992778 Centerline is valid? [True, True] Translation: X:268.86, Y:203.01, Z:3.97 [[ 5.95492152e-01 -8.03262342e-01 1.25979191e-02 2.68861257e+02] [ 8.03041802e-01 5.95624358e-01 1.88544054e-02 2.03013573e+02] [-2.26486613e-02 -1.11099479e-03 9.99742869e-01 3.97048835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.620714057 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:268.88, Y:203.04, Z:3.97 [[ 5.95449927e-01 -8.03282041e-01 1.33171871e-02 2.68875418e+02] [ 8.03072865e-01 5.95598786e-01 1.83319052e-02 2.03035621e+02] [-2.26573907e-02 -2.21060033e-04 9.99743264e-01 3.97264726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.650714057 meters Centerline goodness : 0.992023 Centerline is valid? [True, True] Translation: X:268.88, Y:203.05, Z:3.97 [[ 5.91791878e-01 -8.05983115e-01 1.31754051e-02 2.68882530e+02] [ 8.05772315e-01 5.91938453e-01 1.84348814e-02 2.03054487e+02] [-2.26572320e-02 -2.93236416e-04 9.99743249e-01 3.96927807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6807140569999 meters Centerline goodness : 0.991714 Centerline is valid? [True, True] Translation: X:268.91, Y:203.08, Z:3.97 [[ 5.95276253e-01 -8.03420088e-01 1.27414673e-02 2.68907350e+02] [ 8.03201745e-01 5.95411874e-01 1.87525481e-02 2.03076021e+02] [-2.26525948e-02 -9.28977831e-04 9.99742965e-01 3.97031171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7107140569999 meters Centerline goodness : 0.991552 Centerline is valid? [True, True] Translation: X:268.92, Y:203.10, Z:3.97 [[ 5.94259285e-01 -8.04170580e-01 1.28678097e-02 2.68924146e+02] [ 8.03954401e-01 5.94398120e-01 1.86600285e-02 2.03096399e+02] [-2.26544478e-02 -7.43762929e-04 9.99743078e-01 3.96829562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.740714057 meters Centerline goodness : 0.992366 Centerline is valid? [True, True] Translation: X:268.95, Y:203.11, Z:3.97 [[ 5.94909904e-01 -8.03689913e-01 1.28346702e-02 2.68946634e+02] [ 8.03473097e-01 5.95047795e-01 1.86843539e-02 2.03114937e+02] [-2.26536690e-02 -8.03194966e-04 9.99743050e-01 3.96727786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.770714057 meters Centerline goodness : 0.991633 Centerline is valid? [True, True] Translation: X:268.97, Y:203.13, Z:3.97 [[ 5.93808766e-01 -8.04503614e-01 1.28485159e-02 2.68965353e+02] [ 8.04287206e-01 5.93947274e-01 1.86741916e-02 2.03134553e+02] [-2.26547956e-02 -7.55001741e-04 9.99743062e-01 3.96597964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8007140569999 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:269.00, Y:203.16, Z:3.96 [[ 5.96897666e-01 -8.02214732e-01 1.28335808e-02 2.69000758e+02] [ 8.01997557e-01 5.97034994e-01 1.86851416e-02 2.03157035e+02] [-2.26515927e-02 -8.60616982e-04 9.99743049e-01 3.96136016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8307140569999 meters Centerline goodness : 0.990764 Centerline is valid? [True, True] Translation: X:269.00, Y:203.17, Z:3.97 [[ 5.88425073e-01 -8.08440483e-01 1.34133695e-02 2.69003721e+02] [ 8.08234263e-01 5.88577927e-01 1.82592318e-02 2.03174746e+02] [-2.26563153e-02 9.69549904e-05 9.99743308e-01 3.96502199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.860714057 meters Centerline goodness : 0.991672 Centerline is valid? [True, True] Translation: X:269.03, Y:203.19, Z:3.97 [[ 5.88002611e-01 -8.08755740e-01 1.29260730e-02 2.69025143e+02] [ 8.08541566e-01 5.88144461e-01 1.86179533e-02 2.03192099e+02] [-2.26597749e-02 -4.96137872e-04 9.99743111e-01 3.96709095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.890714057 meters Centerline goodness : 0.991210 Centerline is valid? [True, True] Translation: X:269.04, Y:203.21, Z:3.97 [[ 5.88177152e-01 -8.08630113e-01 1.28444123e-02 2.69044136e+02] [ 8.08414589e-01 5.88317073e-01 1.86781967e-02 2.03211849e+02] [-2.26603394e-02 -6.02478253e-04 9.99743040e-01 3.96723345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9207140569999 meters Centerline goodness : 0.991293 Centerline is valid? [True, True] Translation: X:269.06, Y:203.23, Z:3.97 [[ 5.86627346e-01 -8.09755696e-01 1.28089448e-02 2.69063688e+02] [ 8.09539868e-01 5.86766861e-01 1.87043653e-02 2.03233222e+02] [-2.26618307e-02 -6.03140727e-04 9.99743006e-01 3.96701574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9507140569999 meters Centerline goodness : 0.991679 Centerline is valid? [True, True] Translation: X:269.09, Y:203.25, Z:3.97 [[ 5.88116041e-01 -8.08674765e-01 1.28314951e-02 2.69087692e+02] [ 8.08459042e-01 5.88255680e-01 1.86877615e-02 2.03252784e+02] [-2.26605210e-02 -6.16834093e-04 9.99743027e-01 3.96815436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9807140569999 meters Centerline goodness : 0.991008 Centerline is valid? [True, True] Translation: X:269.11, Y:203.27, Z:3.97 [[ 5.90479146e-01 -8.06948238e-01 1.29969098e-02 2.69105404e+02] [ 8.06734780e-01 5.90621972e-01 1.85655767e-02 2.03272021e+02] [-2.26577199e-02 -4.77526666e-04 9.99743167e-01 3.96728057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.010714057 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:269.14, Y:203.29, Z:3.96 [[ 5.97028900e-01 -8.02116199e-01 1.28878269e-02 2.69139796e+02] [ 8.01899842e-01 5.97167454e-01 1.86460847e-02 2.03294670e+02] [-2.26525174e-02 -7.97505080e-04 9.99743081e-01 3.95840965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.040714057 meters Centerline goodness : 0.991840 Centerline is valid? [True, True] Translation: X:269.14, Y:203.31, Z:3.96 [[ 5.91371337e-01 -8.06286836e-01 1.34714688e-02 2.69143886e+02] [ 8.06081078e-01 5.91524751e-01 1.82144281e-02 2.03312304e+02] [-2.26547608e-02 8.76054081e-05 9.99743344e-01 3.96302275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0707140569999 meters Centerline goodness : 0.992432 Centerline is valid? [True, True] Translation: X:269.18, Y:203.34, Z:3.96 [[ 5.97817925e-01 -8.01528752e-01 1.28603773e-02 2.69180064e+02] [ 8.01311839e-01 5.97955627e-01 1.86656197e-02 2.03335511e+02] [-2.26509658e-02 -8.53469393e-04 9.99743070e-01 3.95700221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1007140569999 meters Centerline goodness : 0.992041 Centerline is valid? [True, True] Translation: X:269.20, Y:203.36, Z:3.96 [[ 5.97076602e-01 -8.02071018e-01 1.34764012e-02 2.69198427e+02] [ 8.01864283e-01 5.97228664e-01 1.82097297e-02 2.03356313e+02] [-2.26539895e-02 -6.63587341e-05 9.99743363e-01 3.95693115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.130714057 meters Centerline goodness : 0.991936 Centerline is valid? [True, True] Translation: X:269.22, Y:203.38, Z:3.96 [[ 5.95009247e-01 -8.03605950e-01 1.34712168e-02 2.69219208e+02] [ 8.03399520e-01 5.95161724e-01 1.82135641e-02 2.03376185e+02] [-2.26540811e-02 -1.44699250e-05 9.99743363e-01 3.95625340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.160714057 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:269.24, Y:203.40, Z:3.96 [[ 5.93734357e-01 -8.04548432e-01 1.34660481e-02 2.69236924e+02] [ 8.04342157e-01 5.93887044e-01 1.82173848e-02 2.03396196e+02] [-2.26540799e-02 1.50228877e-05 9.99743363e-01 3.95544045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1907140569999 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:269.26, Y:203.42, Z:3.95 [[ 5.92216735e-01 -8.05666224e-01 1.34638100e-02 2.69255235e+02] [ 8.05460200e-01 5.92369760e-01 1.82190388e-02 2.03417468e+02] [-2.26540180e-02 5.49434217e-05 9.99743363e-01 3.95469134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2207140569999 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:269.27, Y:203.44, Z:3.95 [[ 5.89845629e-01 -8.07403865e-01 1.34585719e-02 2.69274799e+02] [ 8.07198203e-01 5.89999141e-01 1.82229074e-02 2.03437598e+02] [-2.26537917e-02 1.15032762e-04 9.99743363e-01 3.95353033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.250714057 meters Centerline goodness : 0.991190 Centerline is valid? [True, True] Translation: X:269.27, Y:203.45, Z:3.96 [[ 5.80379126e-01 -8.14235271e-01 1.34533735e-02 2.69274160e+02] [ 8.14031327e-01 5.80534912e-01 1.82267443e-02 2.03454503e+02] [-2.26510111e-02 3.73045578e-04 9.99743363e-01 3.95622840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.280714057 meters Centerline goodness : 0.987750 Centerline is valid? [True, True] Translation: X:269.30, Y:203.49, Z:3.96 [[ 5.79159894e-01 -8.15114683e-01 1.27228374e-02 2.69299954e+02] [ 8.14899094e-01 5.79299413e-01 1.87525009e-02 2.03485165e+02] [-2.26557711e-02 -4.92867717e-04 9.99743204e-01 3.95622704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3107140569999 meters Centerline goodness : 0.992013 Centerline is valid? [True, True] Translation: X:269.31, Y:203.51, Z:3.95 [[ 5.77910994e-01 -8.15989160e-01 1.34377520e-02 2.69314971e+02] [ 8.15785461e-01 5.78067048e-01 1.82364927e-02 2.03506493e+02] [-2.26487020e-02 4.23253100e-04 9.99743396e-01 3.95088173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3407140569999 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:269.33, Y:203.53, Z:3.95 [[ 5.76117243e-01 -8.17259733e-01 1.32457923e-02 2.69330940e+02] [ 8.17053175e-01 5.76269445e-01 1.83748705e-02 2.03527853e+02] [-2.26501871e-02 2.36436917e-04 9.99743424e-01 3.95059016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.370714057 meters Centerline goodness : 0.992214 Centerline is valid? [True, True] Translation: X:269.35, Y:203.55, Z:3.95 [[ 5.75425067e-01 -8.17747280e-01 1.32430380e-02 2.69347520e+02] [ 8.17540806e-01 5.75577382e-01 1.83768553e-02 2.03550653e+02] [-2.26500166e-02 2.52220785e-04 9.99743424e-01 3.94948250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.400714057 meters Centerline goodness : 0.991606 Centerline is valid? [True, True] Translation: X:269.36, Y:203.57, Z:3.95 [[ 5.74569109e-01 -8.18349007e-01 1.32379268e-02 2.69364328e+02] [ 8.18142607e-01 5.74721524e-01 1.83805365e-02 2.03574662e+02] [-2.26498152e-02 2.69623469e-04 9.99743424e-01 3.94806976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4307140569999 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:269.38, Y:203.60, Z:3.95 [[ 5.73726380e-01 -8.18940117e-01 1.32334792e-02 2.69378931e+02] [ 8.18733801e-01 5.73878909e-01 1.83837380e-02 2.03598126e+02] [-2.26495952e-02 2.87461278e-04 9.99743424e-01 3.94527993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4607140569999 meters Centerline goodness : 0.991621 Centerline is valid? [True, True] Translation: X:269.39, Y:203.62, Z:3.94 [[ 5.73091369e-01 -8.19384706e-01 1.32282454e-02 2.69393758e+02] [ 8.19178421e-01 5.73243940e-01 1.83875033e-02 2.03620738e+02] [-2.26494505e-02 2.98573735e-04 9.99743424e-01 3.94430972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.490714057 meters Centerline goodness : 0.991854 Centerline is valid? [True, True] Translation: X:269.41, Y:203.65, Z:3.94 [[ 5.71885411e-01 -8.20226900e-01 1.32252908e-02 2.69410508e+02] [ 8.20020791e-01 5.72038219e-01 1.83896282e-02 2.03645359e+02] [-2.26490395e-02 3.28253321e-04 9.99743424e-01 3.94422631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.520714057 meters Centerline goodness : 0.992090 Centerline is valid? [True, True] Translation: X:269.42, Y:203.67, Z:3.94 [[ 5.70727441e-01 -8.21031927e-01 1.32952578e-02 2.69423969e+02] [ 8.20827201e-01 5.70882104e-01 1.83393154e-02 2.03668219e+02] [-2.26471882e-02 4.46358710e-04 9.99743420e-01 3.94304526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5507140569999 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:269.44, Y:203.69, Z:3.94 [[ 5.67040560e-01 -8.23583800e-01 1.32185091e-02 2.69437955e+02] [ 8.23378482e-01 5.67194428e-01 1.83944682e-02 2.03692368e+02] [-2.26468507e-02 4.53426396e-04 9.99743424e-01 3.94216873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5807140569999 meters Centerline goodness : 0.992910 Centerline is valid? [True, True] Translation: X:269.45, Y:203.72, Z:3.94 [[ 5.65135874e-01 -8.24892022e-01 1.32134600e-02 2.69452856e+02] [ 8.24686976e-01 5.65290104e-01 1.83980945e-02 2.03715265e+02] [-2.26458795e-02 4.99545171e-04 9.99743424e-01 3.94155604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.610714057 meters Centerline goodness : 0.992789 Centerline is valid? [True, True] Translation: X:269.47, Y:203.74, Z:3.94 [[ 5.63247913e-01 -8.26182345e-01 1.32106502e-02 2.69468344e+02] [ 8.25977605e-01 5.63402549e-01 1.84001118e-02 2.03738805e+02] [-2.26447615e-02 5.47876694e-04 9.99743424e-01 3.94086353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.640714057 meters Centerline goodness : 0.992828 Centerline is valid? [True, True] Translation: X:269.48, Y:203.76, Z:3.94 [[ 5.61140239e-01 -8.27615399e-01 1.32054650e-02 2.69482771e+02] [ 8.27410966e-01 5.61295281e-01 1.84038324e-02 2.03764025e+02] [-2.26434603e-02 5.99215602e-04 9.99743424e-01 3.94000289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6707140569999 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:269.50, Y:203.79, Z:3.94 [[ 5.60940455e-01 -8.27750392e-01 1.32323530e-02 2.69497199e+02] [ 8.27546449e-01 5.61096144e-01 1.83845491e-02 2.03787795e+02] [-2.26424400e-02 6.37749363e-04 9.99743424e-01 3.93965996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7007140569999 meters Centerline goodness : 0.992967 Centerline is valid? [True, True] Translation: X:269.51, Y:203.81, Z:3.94 [[ 5.61279392e-01 -8.27521194e-01 1.31953435e-02 2.69510841e+02] [ 8.27316565e-01 5.61434175e-01 1.84110741e-02 2.03813838e+02] [-2.26438708e-02 5.82969785e-04 9.99743425e-01 3.93949301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7307140569999 meters Centerline goodness : 0.992563 Centerline is valid? [True, True] Translation: X:269.53, Y:203.84, Z:3.94 [[ 5.60937456e-01 -8.27752933e-01 1.32004693e-02 2.69525485e+02] [ 8.27548454e-01 5.61092438e-01 1.84074012e-02 2.03837622e+02] [-2.26434639e-02 5.98627121e-04 9.99743425e-01 3.93857111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.760714057 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:269.54, Y:203.86, Z:3.94 [[ 5.59198956e-01 -8.28928574e-01 1.31888647e-02 2.69538969e+02] [ 8.28724226e-01 5.59354109e-01 1.84157122e-02 2.03862697e+02] [-2.26425557e-02 6.31884664e-04 9.99743425e-01 3.93893887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.790714057 meters Centerline goodness : 0.990584 Centerline is valid? [True, True] Translation: X:269.55, Y:203.89, Z:3.94 [[ 5.58145606e-01 -8.29638278e-01 1.31837265e-02 2.69554822e+02] [ 8.29434039e-01 5.58300905e-01 1.84193898e-02 2.03887851e+02] [-2.26419173e-02 6.54330036e-04 9.99743425e-01 3.94351070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8207140569999 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:269.57, Y:203.91, Z:3.94 [[ 5.54720208e-01 -8.31931269e-01 1.32610463e-02 2.69566076e+02] [ 8.31728986e-01 5.54878054e-01 1.83640836e-02 2.03912874e+02] [-2.26359189e-02 8.42668301e-04 9.99743420e-01 3.93869785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8507140569999 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:269.58, Y:203.94, Z:3.94 [[ 5.53540194e-01 -8.32718350e-01 1.31682732e-02 2.69580220e+02] [ 8.32514715e-01 5.53696280e-01 1.84303690e-02 2.03937356e+02] [-2.26385303e-02 7.60831234e-04 9.99743426e-01 3.93775601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.880714057 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:269.59, Y:203.96, Z:3.94 [[ 5.53251204e-01 -8.32910463e-01 1.31630442e-02 2.69593794e+02] [ 8.32706794e-01 5.53407245e-01 1.84341028e-02 2.03961356e+02] [-2.26384811e-02 7.62266834e-04 9.99743426e-01 3.93652701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.910714057 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:269.61, Y:203.99, Z:3.93 [[ 5.54487312e-01 -8.32088105e-01 1.31607795e-02 2.69605431e+02] [ 8.31884166e-01 5.54643001e-01 1.84357195e-02 2.03988436e+02] [-2.26396771e-02 7.25871571e-04 9.99743426e-01 3.93416893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9407140569999 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:269.62, Y:204.02, Z:3.93 [[ 5.58566050e-01 -8.29355703e-01 1.31561815e-02 2.69615988e+02] [ 8.29150925e-01 5.58720633e-01 1.84390002e-02 2.04015530e+02] [-2.26431200e-02 6.09060530e-04 9.99743426e-01 3.93271773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9707140569999 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:269.63, Y:204.04, Z:3.93 [[ 5.61448342e-01 -8.27407075e-01 1.31640521e-02 2.69629139e+02] [ 8.27201891e-01 5.61602387e-01 1.84333861e-02 2.04040376e+02] [-2.26448772e-02 5.39934751e-04 9.99743426e-01 3.93160872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.000714057 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:269.64, Y:204.07, Z:3.93 [[ 5.66443752e-01 -8.23995854e-01 1.31266397e-02 2.69640392e+02] [ 8.23789124e-01 5.66595716e-01 1.84600582e-02 2.04068494e+02] [-2.26485093e-02 3.56998388e-04 9.99743426e-01 3.93083831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.030714057 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:269.65, Y:204.09, Z:3.93 [[ 5.68726689e-01 -8.22421510e-01 1.31458230e-02 2.69654487e+02] [ 8.22214676e-01 5.68878509e-01 1.84463873e-02 2.04093243e+02] [-2.26490819e-02 3.17735802e-04 9.99743426e-01 3.93059415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0607140569999 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:269.67, Y:204.12, Z:3.93 [[ 5.70820913e-01 -8.20969433e-01 1.31406055e-02 2.69668460e+02] [ 8.20762126e-01 5.70972089e-01 1.84501033e-02 2.04117086e+02] [-2.26498898e-02 2.53606451e-04 9.99743426e-01 3.92958035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0907140569999 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:269.68, Y:204.14, Z:3.93 [[ 5.75170362e-01 -8.17928185e-01 1.31353837e-02 2.69680429e+02] [ 8.17719994e-01 5.75320317e-01 1.84538201e-02 2.04141859e+02] [-2.26509527e-02 1.26975511e-04 9.99743426e-01 3.92944828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.120714057 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:269.69, Y:204.17, Z:3.93 [[ 5.78735044e-01 -8.15409879e-01 1.31331196e-02 2.69692230e+02] [ 8.15200998e-01 5.78884038e-01 1.84554313e-02 2.04166875e+02] [-2.26512943e-02 2.53273992e-05 9.99743426e-01 3.92925967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.150714057 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:269.71, Y:204.19, Z:3.93 [[ 5.80850656e-01 -8.13904238e-01 1.31303841e-02 2.69706863e+02] [ 8.13694928e-01 5.80999045e-01 1.84573773e-02 2.04190564e+02] [-2.26512782e-02 -3.68528334e-05 9.99743426e-01 3.92867542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1807140569999 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:269.72, Y:204.21, Z:3.93 [[ 5.82739592e-01 -8.12552950e-01 1.31252261e-02 2.69721737e+02] [ 8.12343213e-01 5.82887377e-01 1.84610445e-02 2.04214471e+02] [-2.26511048e-02 -9.57931576e-05 9.99743426e-01 3.92822069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2107140569999 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:269.74, Y:204.24, Z:3.93 [[ 5.86949835e-01 -8.09516991e-01 1.31199527e-02 2.69736670e+02] [ 8.09306406e-01 5.87096409e-01 1.84647914e-02 2.04237662e+02] [-2.26502395e-02 -2.19844476e-04 9.99743426e-01 3.92992903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.240714057 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:269.75, Y:204.26, Z:3.93 [[ 5.88343574e-01 -8.08504637e-01 1.31183194e-02 2.69752694e+02] [ 8.08293774e-01 5.88489748e-01 1.84659518e-02 2.04261106e+02] [-2.26498041e-02 -2.60868209e-04 9.99743426e-01 3.93024651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.270714057 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:269.77, Y:204.28, Z:3.93 [[ 5.89001114e-01 -8.08025822e-01 1.31132902e-02 2.69769230e+02] [ 8.07814761e-01 5.89147001e-01 1.84695225e-02 2.04284527e+02] [-2.26495067e-02 -2.85459919e-04 9.99743426e-01 3.92919220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3007140569999 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:269.79, Y:204.31, Z:3.93 [[ 5.88002494e-01 -8.08752885e-01 1.31086983e-02 2.69786271e+02] [ 8.08541931e-01 5.88148537e-01 1.84727810e-02 2.04307849e+02] [-2.26497766e-02 -2.63109038e-04 9.99743426e-01 3.92776576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3307140569999 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:269.80, Y:204.33, Z:3.92 [[ 5.84812115e-01 -8.11062928e-01 1.31041139e-02 2.69804778e+02] [ 8.10852478e-01 5.84958883e-01 1.84760325e-02 2.04329759e+02] [-2.26505928e-02 -1.79504415e-04 9.99743426e-01 3.92425124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.360714057 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:269.82, Y:204.35, Z:3.92 [[ 5.84582169e-01 -8.11228753e-01 1.30995297e-02 2.69821224e+02] [ 8.11018272e-01 5.84728893e-01 1.84792821e-02 2.04353071e+02] [-2.26505985e-02 -1.78700914e-04 9.99743426e-01 3.92360591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.390714057 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:269.84, Y:204.38, Z:3.92 [[ 5.82005810e-01 -8.13079195e-01 1.30942887e-02 2.69838325e+02] [ 8.12869097e-01 5.82153081e-01 1.84829951e-02 2.04375419e+02] [-2.26510193e-02 -1.13267867e-04 9.99743426e-01 3.92179820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4207140569999 meters Centerline goodness : 0.993832 Centerline is valid? [True, True] Translation: X:269.86, Y:204.40, Z:3.92 [[ 5.77672930e-01 -8.16163379e-01 1.30890801e-02 2.69857100e+02] [ 8.15953984e-01 5.77821200e-01 1.84866829e-02 2.04396465e+02] [-2.26513016e-02 8.30741697e-07 9.99743426e-01 3.91996933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4507140569999 meters Centerline goodness : 0.993991 Centerline is valid? [True, True] Translation: X:269.88, Y:204.42, Z:3.92 [[ 5.75922530e-01 -8.17399566e-01 1.30838970e-02 2.69875023e+02] [ 8.17190406e-01 5.76071131e-01 1.84903505e-02 2.04418645e+02] [-2.26512598e-02 4.30256827e-05 9.99743426e-01 3.91919561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4807140569999 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:269.89, Y:204.44, Z:3.92 [[ 5.73901914e-01 -8.18819601e-01 1.30787555e-02 2.69894041e+02] [ 8.18610726e-01 5.74050914e-01 1.84939865e-02 2.04439409e+02] [-2.26511102e-02 9.26752731e-05 9.99743426e-01 3.91855978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.510714057 meters Centerline goodness : 0.993138 Centerline is valid? [True, True] Translation: X:269.91, Y:204.46, Z:3.92 [[ 5.73370573e-01 -8.19191839e-01 1.30735214e-02 2.69912090e+02] [ 8.18982976e-01 5.73519591e-01 1.84976858e-02 2.04459881e+02] [-2.26510739e-02 1.00962703e-04 9.99743426e-01 3.91814696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.540714057 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:269.93, Y:204.48, Z:3.92 [[ 5.73636509e-01 -8.19005677e-01 1.30712568e-02 2.69929417e+02] [ 8.18796729e-01 5.73785407e-01 1.84992859e-02 2.04481628e+02] [-2.26511166e-02 9.08364976e-05 9.99743426e-01 3.91718084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5707140569999 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:269.95, Y:204.50, Z:3.92 [[ 5.74814246e-01 -8.18179601e-01 1.30660966e-02 2.69947088e+02] [ 8.17970356e-01 5.74962728e-01 1.85029299e-02 2.04503507e+02] [-2.26512383e-02 5.19319436e-05 9.99743426e-01 3.91660817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6007140569999 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:269.97, Y:204.52, Z:3.92 [[ 5.78971455e-01 -8.15243194e-01 1.30609546e-02 2.69965101e+02] [ 8.15033115e-01 5.79118752e-01 1.85065588e-02 2.04523338e+02] [-2.26511899e-02 -6.96587814e-05 9.99743426e-01 3.91703069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.630714057 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:269.97, Y:204.54, Z:3.92 [[ 5.76699633e-01 -8.16851906e-01 1.30574604e-02 2.69970967e+02] [ 8.16642181e-01 5.76847436e-01 1.85090238e-02 2.04542843e+02] [-2.26512940e-02 -1.08742903e-05 9.99743426e-01 3.92016240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.660714057 meters Centerline goodness : 0.992096 Centerline is valid? [True, True] Translation: X:269.99, Y:204.56, Z:3.92 [[ 5.85658931e-01 -8.10459282e-01 1.26241431e-02 2.69992356e+02] [ 8.10241239e-01 5.85794441e-01 1.88150739e-02 2.04564474e+02] [-2.26440041e-02 -7.90614708e-04 9.99743279e-01 3.92372846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6907140569999 meters Centerline goodness : 0.992473 Centerline is valid? [True, True] Translation: X:270.01, Y:204.59, Z:3.92 [[ 5.86237952e-01 -8.10039579e-01 1.26863808e-02 2.70011736e+02] [ 8.09822387e-01 5.86374750e-01 1.87711106e-02 2.04590446e+02] [-2.26443159e-02 -7.30622254e-04 9.99743318e-01 3.92266808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7207140569999 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:270.04, Y:204.61, Z:3.92 [[ 5.98644534e-01 -8.00911518e-01 1.28632189e-02 2.70039805e+02] [ 8.00694898e-01 5.98782093e-01 1.86463378e-02 2.04611292e+02] [-2.26363318e-02 -8.63014394e-04 9.99743393e-01 3.91689039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.750714057 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:270.06, Y:204.63, Z:3.92 [[ 6.01257837e-01 -7.98948294e-01 1.30628398e-02 2.70058317e+02] [ 7.98734252e-01 6.01399322e-01 1.85054278e-02 2.04632841e+02] [-2.26408629e-02 -6.92795897e-04 9.99743423e-01 3.91674669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.780714057 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:270.08, Y:204.65, Z:3.92 [[ 6.05517750e-01 -7.95724670e-01 1.30577175e-02 2.70080497e+02] [ 7.95509798e-01 6.05657971e-01 1.85090414e-02 2.04651965e+02] [-2.26366116e-02 -8.20010887e-04 9.99743423e-01 3.91627346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8107140569999 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:270.09, Y:204.67, Z:3.93 [[ 6.04986714e-01 -7.96128574e-01 1.30525533e-02 2.70093180e+02] [ 7.95913717e-01 6.05126958e-01 1.85126825e-02 2.04671603e+02] [-2.26369274e-02 -8.11220704e-04 9.99743423e-01 3.92523179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8407140569999 meters Centerline goodness : 0.992460 Centerline is valid? [True, True] Translation: X:270.12, Y:204.69, Z:3.92 [[ 6.07700005e-01 -7.94064473e-01 1.27403390e-02 2.70115037e+02] [ 7.93844500e-01 6.07832214e-01 1.87326002e-02 2.04690461e+02] [-2.26188808e-02 -1.26995317e-03 9.99743354e-01 3.92410964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.870714057 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:270.13, Y:204.71, Z:3.92 [[ 6.08119614e-01 -7.93743344e-01 1.27294447e-02 2.70133321e+02] [ 7.93523142e-01 6.08251449e-01 1.87402731e-02 2.04710697e+02] [-2.26176703e-02 -1.29521867e-03 9.99743349e-01 3.92200706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.900714057 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:270.15, Y:204.73, Z:3.92 [[ 6.07599343e-01 -7.94142072e-01 1.27046361e-02 2.70154224e+02] [ 7.93921593e-01 6.07730739e-01 1.87577425e-02 2.04728130e+02] [-2.26173104e-02 -1.31070712e-03 9.99743337e-01 3.92000089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9307140569999 meters Centerline goodness : 0.992467 Centerline is valid? [True, True] Translation: X:270.17, Y:204.75, Z:3.92 [[ 6.07208492e-01 -7.94442452e-01 1.26110215e-02 2.70172645e+02] [ 7.94220674e-01 6.07337791e-01 1.88236363e-02 2.04747184e+02] [-2.26134457e-02 -1.41393780e-03 9.99743283e-01 3.91936634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9607140569999 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:270.21, Y:204.77, Z:3.91 [[ 6.10177406e-01 -7.92166154e-01 1.25027112e-02 2.70208790e+02] [ 7.91942341e-01 6.10303306e-01 1.88998057e-02 2.04768356e+02] [-2.26022323e-02 -1.63080802e-03 9.99743207e-01 3.91090496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.990714057 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:270.23, Y:204.79, Z:3.91 [[ 6.09272550e-01 -7.92853552e-01 1.30462949e-02 2.70228484e+02] [ 7.92637854e-01 6.09411487e-01 1.85168221e-02 2.04789108e+02] [-2.26316901e-02 -9.40804229e-04 9.99743428e-01 3.91048271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.020714057 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:270.25, Y:204.81, Z:3.91 [[ 6.08269283e-01 -7.93623592e-01 1.30411934e-02 2.70251370e+02] [ 7.93407993e-01 6.08408375e-01 1.85204143e-02 2.04805664e+02] [-2.26326090e-02 -9.18412057e-04 9.99743428e-01 3.90949304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0507140569999 meters Centerline goodness : 0.993179 Centerline is valid? [True, True] Translation: X:270.27, Y:204.83, Z:3.91 [[ 6.07562123e-01 -7.94165140e-01 1.30383114e-02 2.70271263e+02] [ 7.93949622e-01 6.07701339e-01 1.85224430e-02 2.04825707e+02] [-2.26332778e-02 -9.01772357e-04 9.99743428e-01 3.90866874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0807140569999 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:270.30, Y:204.84, Z:3.91 [[ 6.06176493e-01 -7.95223360e-01 1.30333059e-02 2.70295315e+02] [ 7.95008010e-01 6.06315968e-01 1.85259644e-02 2.04843199e+02] [-2.26345811e-02 -8.68421535e-04 9.99743428e-01 3.90917044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.110714057 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:270.32, Y:204.86, Z:3.91 [[ 6.04654611e-01 -7.96381231e-01 1.30283100e-02 2.70315111e+02] [ 7.96166072e-01 6.04794382e-01 1.85294771e-02 2.04863431e+02] [-2.26359765e-02 -8.31235388e-04 9.99743428e-01 3.90904427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.140714057 meters Centerline goodness : 0.992970 Centerline is valid? [True, True] Translation: X:270.34, Y:204.88, Z:3.91 [[ 6.01215074e-01 -7.98981118e-01 1.30233422e-02 2.70338139e+02] [ 7.98766489e-01 6.01355657e-01 1.85329680e-02 2.04881100e+02] [-2.26391520e-02 -7.39690397e-04 9.99743428e-01 3.90878840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1707140569999 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:270.36, Y:204.90, Z:3.91 [[ 5.98519816e-01 -8.01002217e-01 1.30184079e-02 2.70357374e+02] [ 8.00787987e-01 5.98661007e-01 1.85364334e-02 2.04900965e+02] [-2.26413375e-02 -6.69438040e-04 9.99743428e-01 3.90841484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2007140569999 meters Centerline goodness : 0.992786 Centerline is valid? [True, True] Translation: X:270.38, Y:204.92, Z:3.91 [[ 5.91174188e-01 -8.06438893e-01 1.30150559e-02 2.70380115e+02] [ 8.06225910e-01 5.91317254e-01 1.85387867e-02 2.04919006e+02] [-2.26464257e-02 -4.66576830e-04 9.99743428e-01 3.90778328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2307140569999 meters Centerline goodness : 0.992567 Centerline is valid? [True, True] Translation: X:270.40, Y:204.94, Z:3.91 [[ 5.86906001e-01 -8.09550542e-01 1.30101915e-02 2.70399611e+02] [ 8.09338243e-01 5.87050079e-01 1.85421998e-02 2.04939547e+02] [-2.26484819e-02 -3.52882791e-04 9.99743428e-01 3.90753545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.260714057 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:270.42, Y:204.96, Z:3.91 [[ 5.76299515e-01 -8.17135074e-01 1.30053592e-02 2.70422014e+02] [ 8.16924595e-01 5.76446239e-01 1.85455885e-02 2.04957639e+02] [-2.26511413e-02 -6.34158968e-05 9.99743428e-01 3.90904055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.290714057 meters Centerline goodness : 0.993315 Centerline is valid? [True, True] Translation: X:270.44, Y:204.98, Z:3.91 [[ 5.70738269e-01 -8.21029125e-01 1.30002054e-02 2.70441245e+02] [ 8.20819565e-01 5.70886302e-01 1.85492006e-02 2.04978226e+02] [-2.26510731e-02 8.40842977e-05 9.99743428e-01 3.90923734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3207140569999 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:270.46, Y:205.00, Z:3.91 [[ 5.59594956e-01 -8.28664356e-01 1.29950493e-02 2.70461871e+02] [ 8.28456731e-01 5.59745691e-01 1.85528121e-02 2.04997329e+02] [-2.26479769e-02 3.83776028e-04 9.99743428e-01 3.91054749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3507140569999 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:270.48, Y:205.02, Z:3.91 [[ 5.54251475e-01 -8.32247862e-01 1.29922261e-02 2.70479768e+02] [ 8.32041165e-01 5.54403480e-01 1.85547889e-02 2.05019424e+02] [-2.26451188e-02 5.26047784e-04 9.99743428e-01 3.91045673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.380714057 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:270.50, Y:205.04, Z:3.91 [[ 5.45336551e-01 -8.38116568e-01 1.29870710e-02 2.70497396e+02] [ 8.37911420e-01 5.45490640e-01 1.85583965e-02 2.05041740e+02] [-2.26384252e-02 7.61443159e-04 9.99743428e-01 3.91110899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.410714057 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:270.51, Y:205.06, Z:3.91 [[ 5.41552202e-01 -8.40566882e-01 1.29818986e-02 2.70513345e+02] [ 8.40362344e-01 5.41707101e-01 1.85620139e-02 2.05064467e+02] [-2.26350008e-02 8.57199258e-04 9.99743428e-01 3.91166512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4407140569999 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:270.53, Y:205.09, Z:3.91 [[ 5.35682614e-01 -8.44319692e-01 1.29767014e-02 2.70528496e+02] [ 8.44116151e-01 5.35838819e-01 1.85656465e-02 2.05087453e+02] [-2.26287613e-02 1.00854920e-03 9.99743428e-01 3.91151935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4707140569999 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:270.54, Y:205.11, Z:3.91 [[ 5.33121927e-01 -8.45938941e-01 1.29737982e-02 2.70543563e+02] [ 8.45735825e-01 5.33278685e-01 1.85676751e-02 2.05110951e+02] [-2.26257695e-02 1.07357112e-03 9.99743428e-01 3.90963676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.500714057 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:270.55, Y:205.14, Z:3.91 [[ 5.29179321e-01 -8.48410903e-01 1.29686339e-02 2.70554721e+02] [ 8.48208431e-01 5.29336910e-01 1.85712815e-02 2.05137338e+02] [-2.26208543e-02 1.17256649e-03 9.99743428e-01 3.90790338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.530714057 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:270.57, Y:205.16, Z:3.91 [[ 5.27772061e-01 -8.49287113e-01 1.29634536e-02 2.70566554e+02] [ 8.49084815e-01 5.27929872e-01 1.85748968e-02 2.05161433e+02] [-2.26192149e-02 1.20376004e-03 9.99743428e-01 3.90686916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5607140569999 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:270.58, Y:205.19, Z:3.91 [[ 5.26193344e-01 -8.50266186e-01 1.29606278e-02 2.70576411e+02] [ 8.50064133e-01 5.26351469e-01 1.85768683e-02 2.05188543e+02] [-2.26171284e-02 1.24234043e-03 9.99743428e-01 3.90575926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5907140569999 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:270.59, Y:205.21, Z:3.91 [[ 5.25051933e-01 -8.50971578e-01 1.29553747e-02 2.70587999e+02] [ 8.50769648e-01 5.25210215e-01 1.85805310e-02 2.05212904e+02] [-2.26157989e-02 1.26629588e-03 9.99743428e-01 3.90523254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.620714057 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:270.60, Y:205.24, Z:3.90 [[ 5.23664845e-01 -8.51825900e-01 1.29524928e-02 2.70596593e+02] [ 8.51624179e-01 5.23823394e-01 1.85825398e-02 2.05240869e+02] [-2.26139074e-02 1.29963320e-03 9.99743428e-01 3.90426789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.650714057 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:270.61, Y:205.27, Z:3.90 [[ 5.22370986e-01 -8.52620032e-01 1.29473479e-02 2.70607526e+02] [ 8.52418464e-01 5.22529729e-01 1.85861238e-02 2.05266389e+02] [-2.26122757e-02 1.32770665e-03 9.99743428e-01 3.90319322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6807140569999 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:270.61, Y:205.30, Z:3.90 [[ 5.21607275e-01 -8.53087514e-01 1.29438513e-02 2.70614372e+02] [ 8.52886029e-01 5.21766123e-01 1.85885586e-02 2.05295809e+02] [-2.26113304e-02 1.34370248e-03 9.99743428e-01 3.89714530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7107140569999 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:270.62, Y:205.32, Z:3.89 [[ 5.21366785e-01 -8.53234590e-01 1.29387196e-02 2.70624748e+02] [ 8.53033061e-01 5.21525579e-01 1.85921299e-02 2.05321162e+02] [-2.26113215e-02 1.34383655e-03 9.99743428e-01 3.89467594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.740714057 meters Centerline goodness : 0.992182 Centerline is valid? [True, True] Translation: X:270.63, Y:205.35, Z:3.89 [[ 5.20722519e-01 -8.53627976e-01 1.29358878e-02 2.70630103e+02] [ 8.53426519e-01 5.20881404e-01 1.85940999e-02 2.05351951e+02] [-2.26105073e-02 1.35746316e-03 9.99743428e-01 3.89342520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.770714057 meters Centerline goodness : 0.991532 Centerline is valid? [True, True] Translation: X:270.64, Y:205.38, Z:3.89 [[ 5.20950933e-01 -8.53488677e-01 1.29307287e-02 2.70641270e+02] [ 8.53287089e-01 5.21109652e-01 1.85976870e-02 2.05377997e+02] [-2.26112428e-02 1.34514140e-03 9.99743428e-01 3.89229893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8007140569999 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:270.65, Y:205.41, Z:3.89 [[ 5.21594272e-01 -8.53095742e-01 1.29256092e-02 2.70647183e+02] [ 8.52893947e-01 5.21752727e-01 1.86012445e-02 2.05408592e+02] [-2.26126143e-02 1.32187127e-03 9.99743428e-01 3.89157265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8307140569999 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:270.65, Y:205.44, Z:3.89 [[ 5.24273377e-01 -8.51451710e-01 1.29387939e-02 2.70650386e+02] [ 8.51249642e-01 5.24431484e-01 1.85920856e-02 2.05438683e+02] [-2.26157740e-02 1.26680819e-03 9.99743428e-01 3.89115038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.860714057 meters Centerline goodness : 0.991469 Centerline is valid? [True, True] Translation: X:270.66, Y:205.47, Z:3.89 [[ 5.26301157e-01 -8.50200094e-01 1.29186896e-02 2.70660101e+02] [ 8.49997310e-01 5.26458344e-01 1.86060446e-02 2.05465979e+02] [-2.26200128e-02 1.18846862e-03 9.99743428e-01 3.89117812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.890714057 meters Centerline goodness : 0.990625 Centerline is valid? [True, True] Translation: X:270.65, Y:205.50, Z:3.90 [[ 5.26240627e-01 -8.50237640e-01 1.29134883e-02 2.70652208e+02] [ 8.50034780e-01 5.26397715e-01 1.86096538e-02 2.05495927e+02] [-2.26202589e-02 1.18375828e-03 9.99743428e-01 3.89734731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9207140569999 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:270.67, Y:205.53, Z:3.89 [[ 5.33861477e-01 -8.45479636e-01 1.24943173e-02 2.70673298e+02] [ 8.45268494e-01 5.34007456e-01 1.89000063e-02 2.05525210e+02] [-2.26516290e-02 4.71067462e-04 9.99743308e-01 3.89262668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9507140569999 meters Centerline goodness : 0.991753 Centerline is valid? [True, True] Translation: X:270.68, Y:205.55, Z:3.89 [[ 5.36422749e-01 -8.43850667e-01 1.29107035e-02 2.70683064e+02] [ 8.43645896e-01 5.36577325e-01 1.86111595e-02 2.05551758e+02] [-2.26326301e-02 9.08612684e-04 9.99743436e-01 3.89318938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9807140569999 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:270.68, Y:205.58, Z:3.90 [[ 5.34833925e-01 -8.44858615e-01 1.29071429e-02 2.70676504e+02] [ 8.44654076e-01 5.34988808e-01 1.86136285e-02 2.05580599e+02] [-2.26310614e-02 9.46870888e-04 9.99743436e-01 3.89918430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.010714057 meters Centerline goodness : 0.993451 Centerline is valid? [True, True] Translation: X:270.69, Y:205.61, Z:3.90 [[ 5.36268346e-01 -8.43954359e-01 1.25419684e-02 2.70686858e+02] [ 8.43743568e-01 5.36414787e-01 1.88670849e-02 2.05606767e+02] [-2.26506559e-02 4.64384796e-04 9.99743333e-01 3.89831769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.040714057 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:270.69, Y:205.64, Z:3.90 [[ 5.35451790e-01 -8.44473559e-01 1.24815026e-02 2.70690126e+02] [ 8.44261933e-01 5.35597085e-01 1.89090435e-02 2.05636486e+02] [-2.26532437e-02 4.12776322e-04 9.99743297e-01 3.89673876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0707140569999 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:270.71, Y:205.67, Z:3.89 [[ 5.42404076e-01 -8.40026731e-01 1.23656403e-02 2.70710992e+02] [ 8.39812076e-01 5.42545006e-01 1.89892810e-02 2.05668285e+02] [-2.26604201e-02 8.49506269e-05 9.99743216e-01 3.89218523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1007140569999 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:270.72, Y:205.69, Z:3.89 [[ 5.41876424e-01 -8.40358979e-01 1.29122964e-02 2.70722230e+02] [ 8.40153239e-01 5.42029706e-01 1.86099971e-02 2.05693827e+02] [-2.26379264e-02 7.63988976e-04 9.99743437e-01 3.89200166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.130714057 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:270.73, Y:205.72, Z:3.89 [[ 5.41172828e-01 -8.40812286e-01 1.29100561e-02 2.70734095e+02] [ 8.40606638e-01 5.41326233e-01 1.86115512e-02 2.05719667e+02] [-2.26373729e-02 7.80213060e-04 9.99743437e-01 3.89135319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.160714057 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:270.74, Y:205.75, Z:3.89 [[ 5.39455056e-01 -8.41915495e-01 1.29050819e-02 2.70742482e+02] [ 8.41710078e-01 5.39608771e-01 1.86149996e-02 2.05747351e+02] [-2.26359520e-02 8.20381883e-04 9.99743437e-01 3.89130670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1907140569999 meters Centerline goodness : 0.997138 Centerline is valid? [True, True] Translation: X:270.75, Y:205.77, Z:3.89 [[ 5.38411171e-01 -8.42583528e-01 1.28999429e-02 2.70754340e+02] [ 8.42378217e-01 5.38565027e-01 1.86185601e-02 2.05772444e+02] [-2.26351502e-02 8.42190159e-04 9.99743437e-01 3.89168756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2207140569999 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:270.74, Y:205.80, Z:3.89 [[ 5.27638671e-01 -8.49370992e-01 1.28977267e-02 2.70744100e+02] [ 8.49167619e-01 5.27795080e-01 1.86200953e-02 2.05796905e+02] [-2.26227255e-02 1.12764949e-03 9.99743437e-01 3.89290482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.250714057 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:270.76, Y:205.82, Z:3.89 [[ 5.28099786e-01 -8.49094846e-01 1.21884372e-02 2.70760653e+02] [ 8.48879796e-01 5.28240360e-01 1.91105737e-02 2.05819818e+02] [-2.26651141e-02 2.54228210e-04 9.99743081e-01 3.89236487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.280714057 meters Centerline goodness : 0.997378 Centerline is valid? [True, True] Translation: X:270.78, Y:205.85, Z:3.89 [[ 5.31496136e-01 -8.46973520e-01 1.21537665e-02 2.70777597e+02] [ 8.46757360e-01 5.31635064e-01 1.91345539e-02 2.05850536e+02] [-2.26678289e-02 1.21349845e-04 9.99743044e-01 3.89496892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3107140569999 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:270.80, Y:205.88, Z:3.89 [[ 5.37170061e-01 -8.43382154e-01 1.24446262e-02 2.70803310e+02] [ 8.43169658e-01 5.37314097e-01 1.89337916e-02 2.05878877e+02] [-2.26550950e-02 3.22265232e-04 9.99743288e-01 3.89087217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3407140569999 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:270.81, Y:205.91, Z:3.89 [[ 5.39783618e-01 -8.41705254e-01 1.28806720e-02 2.70812107e+02] [ 8.41499365e-01 5.39936714e-01 1.86323541e-02 2.05906730e+02] [-2.26376980e-02 7.81637778e-04 9.99743429e-01 3.89012593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.370714057 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:270.82, Y:205.93, Z:3.89 [[ 5.41032973e-01 -8.40902811e-01 1.28757488e-02 2.70824667e+02] [ 8.40696614e-01 5.41185654e-01 1.86357556e-02 2.05932124e+02] [-2.26390298e-02 7.42040134e-04 9.99743429e-01 3.88908493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.400714057 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:270.83, Y:205.96, Z:3.89 [[ 5.43639235e-01 -8.39220307e-01 1.28708309e-02 2.70833643e+02] [ 8.39013557e-01 5.43791166e-01 1.86391515e-02 2.05958740e+02] [-2.26413986e-02 6.65827540e-04 9.99743429e-01 3.88723490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4307140569999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:270.85, Y:205.98, Z:3.89 [[ 5.44095618e-01 -8.38924532e-01 1.28680940e-02 2.70847047e+02] [ 8.38717655e-01 5.44247376e-01 1.86410409e-02 2.05984057e+02] [-2.26418529e-02 6.50188949e-04 9.99743429e-01 3.88672631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4607140569999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:270.86, Y:206.01, Z:3.89 [[ 5.43856997e-01 -8.39079319e-01 1.28632551e-02 2.70858974e+02] [ 8.38872407e-01 5.44008706e-01 1.86443794e-02 2.06010334e+02] [-2.26418359e-02 6.50753568e-04 9.99743429e-01 3.88675296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.490714057 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:270.87, Y:206.03, Z:3.89 [[ 5.43009674e-01 -8.39627990e-01 1.28581538e-02 2.70873491e+02] [ 8.39421148e-01 5.43161480e-01 1.86478968e-02 2.06034541e+02] [-2.26413500e-02 6.67417842e-04 9.99743429e-01 3.88701300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.520714057 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:270.89, Y:206.06, Z:3.89 [[ 5.40492133e-01 -8.41250887e-01 1.28529959e-02 2.70885530e+02] [ 8.41044416e-01 5.40644443e-01 1.86514512e-02 2.06060199e+02] [-2.26394507e-02 7.28977753e-04 9.99743429e-01 3.88780731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5507140569999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:270.90, Y:206.08, Z:3.89 [[ 5.39128264e-01 -8.42125672e-01 1.28478388e-02 2.70899310e+02] [ 8.41919364e-01 5.39280794e-01 1.86550029e-02 2.06083976e+02] [-2.26384496e-02 7.59404894e-04 9.99743429e-01 3.88759519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5807140569999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:270.91, Y:206.11, Z:3.89 [[ 5.36930411e-01 -8.43528753e-01 1.28443333e-02 2.70911140e+02] [ 8.43322785e-01 5.37083402e-01 1.86574162e-02 2.06106384e+02] [-2.26365453e-02 8.14184767e-04 9.99743429e-01 3.88812151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.610714057 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:270.93, Y:206.13, Z:3.89 [[ 5.33530915e-01 -8.45685327e-01 1.26921210e-02 2.70926285e+02] [ 8.45477485e-01 5.33681373e-01 1.87620564e-02 2.06132379e+02] [-2.26403444e-02 7.20765455e-04 9.99743415e-01 3.88694834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.640714057 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:270.94, Y:206.16, Z:3.89 [[ 5.30681127e-01 -8.47474426e-01 1.28311571e-02 2.70939606e+02] [ 8.47269377e-01 5.30835346e-01 1.86664848e-02 2.06157319e+02] [-2.26306002e-02 9.65495290e-04 9.99743429e-01 3.88623325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6707140569999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:270.95, Y:206.18, Z:3.89 [[ 5.29916952e-01 -8.47952547e-01 1.28258428e-02 2.70952548e+02] [ 8.47747549e-01 5.30071239e-01 1.86701355e-02 2.06181762e+02] [-2.26299994e-02 9.79455490e-04 9.99743429e-01 3.88595521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7007140569999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:270.97, Y:206.21, Z:3.88 [[ 5.29944945e-01 -8.47935087e-01 1.28235427e-02 2.70966963e+02] [ 8.47730046e-01 5.30099175e-01 1.86717152e-02 2.06206177e+02] [-2.26301519e-02 9.75921359e-04 9.99743429e-01 3.88480054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7307140569999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:270.98, Y:206.23, Z:3.88 [[ 5.31607826e-01 -8.46893623e-01 1.28183893e-02 2.70979440e+02] [ 8.46688195e-01 5.31761540e-01 1.86752524e-02 2.06231348e+02] [-2.26322786e-02 9.25268567e-04 9.99743429e-01 3.88270459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.760714057 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:270.99, Y:206.26, Z:3.88 [[ 5.32751773e-01 -8.46174552e-01 1.28131252e-02 2.70993315e+02] [ 8.45968830e-01 5.32905093e-01 1.86788634e-02 2.06255073e+02] [-2.26337586e-02 8.88306965e-04 9.99743429e-01 3.88213988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.790714057 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:271.01, Y:206.28, Z:3.88 [[ 5.36595464e-01 -8.43742417e-01 1.28078575e-02 2.71005462e+02] [ 8.43535914e-01 5.36747731e-01 1.86824747e-02 2.06280115e+02] [-2.26377848e-02 7.78956641e-04 9.99743429e-01 3.88055447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8207140569999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:271.02, Y:206.30, Z:3.88 [[ 5.39083085e-01 -8.42155283e-01 1.28025998e-02 2.71019550e+02] [ 8.41948246e-01 5.39234625e-01 1.86860770e-02 2.06304609e+02] [-2.26401836e-02 7.05778425e-04 9.99743429e-01 3.88018950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8507140569999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:271.03, Y:206.33, Z:3.88 [[ 5.44986699e-01 -8.38347019e-01 1.27974263e-02 2.71031944e+02] [ 8.38138840e-01 5.45136665e-01 1.86896195e-02 2.06330016e+02] [-2.26447331e-02 5.40426033e-04 9.99743429e-01 3.87931199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.880714057 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:271.05, Y:206.35, Z:3.88 [[ 5.47688652e-01 -8.36584425e-01 1.27922074e-02 2.71045468e+02] [ 8.36375679e-01 5.47837830e-01 1.86931909e-02 2.06353014e+02] [-2.26464875e-02 4.61042580e-04 9.99743429e-01 3.87908525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.910714057 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:271.06, Y:206.38, Z:3.88 [[ 5.52268988e-01 -8.33567883e-01 1.27886611e-02 2.71059243e+02] [ 8.33358266e-01 5.52416938e-01 1.86956168e-02 2.06377983e+02] [-2.26487387e-02 3.32527073e-04 9.99743429e-01 3.87783997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9407140569999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:271.07, Y:206.40, Z:3.88 [[ 5.56630984e-01 -8.30661501e-01 1.27835146e-02 2.71072665e+02] [ 8.30451031e-01 5.56777718e-01 1.86991351e-02 2.06399106e+02] [-2.26502277e-02 2.07564950e-04 9.99743429e-01 3.87664117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9707140569999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:271.09, Y:206.43, Z:3.88 [[ 5.55717336e-01 -8.31275299e-01 1.26341242e-02 2.71088603e+02] [ 8.31062658e-01 5.55860932e-01 1.88011424e-02 2.06425143e+02] [-2.26517413e-02 5.16281162e-05 9.99743415e-01 3.87620224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.000714057 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:271.10, Y:206.45, Z:3.88 [[ 5.56659236e-01 -8.30642734e-01 1.27727505e-02 2.71103125e+02] [ 8.30432091e-01 5.56805720e-01 1.87064890e-02 2.06447563e+02] [-2.26503497e-02 1.93762023e-04 9.99743429e-01 3.87646853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.030714057 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:271.12, Y:206.47, Z:3.88 [[ 5.56906717e-01 -8.30476864e-01 1.27705381e-02 2.71118656e+02] [ 8.30266142e-01 5.57053089e-01 1.87079993e-02 2.06470639e+02] [-2.26504283e-02 1.84334987e-04 9.99743429e-01 3.87656622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0607140569999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:271.13, Y:206.49, Z:3.88 [[ 5.57511494e-01 -8.30071067e-01 1.27655114e-02 2.71133843e+02] [ 8.29860160e-01 5.57657599e-01 1.87114287e-02 2.06492588e+02] [-2.26506000e-02 1.61752778e-04 9.99743429e-01 3.87662825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0907140569999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:271.15, Y:206.52, Z:3.88 [[ 5.59560618e-01 -8.28691144e-01 1.27633313e-02 2.71149811e+02] [ 8.28479842e-01 5.59706153e-01 1.87129156e-02 2.06515569e+02] [-2.26509425e-02 1.03152087e-04 9.99743429e-01 3.87706704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.120714057 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:271.17, Y:206.54, Z:3.88 [[ 5.60892427e-01 -8.27790380e-01 1.27582162e-02 2.71166019e+02] [ 8.27578765e-01 5.61037506e-01 1.87164024e-02 2.06538799e+02] [-2.26510956e-02 6.05404487e-05 9.99743429e-01 3.87693050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.150714057 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:271.18, Y:206.56, Z:3.88 [[ 5.62804521e-01 -8.26491639e-01 1.27530720e-02 2.71182285e+02] [ 8.26279611e-01 5.62948994e-01 1.87199069e-02 2.06561586e+02] [-2.26511756e-02 1.95518721e-06 9.99743429e-01 3.87607023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1807140569999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:271.20, Y:206.58, Z:3.88 [[ 5.67121878e-01 -8.23535226e-01 1.27477967e-02 2.71199613e+02] [ 8.23322364e-01 5.67265119e-01 1.87234985e-02 2.06583036e+02] [-2.26508410e-02 -1.22959552e-04 9.99743429e-01 3.87523940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2107140569999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:271.22, Y:206.60, Z:3.87 [[ 5.69106994e-01 -8.22164692e-01 1.27455087e-02 2.71215978e+02] [ 8.21951450e-01 5.69249670e-01 1.87250559e-02 2.06604762e+02] [-2.26504564e-02 -1.80370929e-04 9.99743429e-01 3.87389466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.240714057 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:271.23, Y:206.63, Z:3.87 [[ 5.73478452e-01 -8.19121526e-01 1.27432721e-02 2.71234425e+02] [ 8.18907493e-01 5.73619938e-01 1.87265779e-02 2.06625978e+02] [-2.26491380e-02 -3.03727830e-04 9.99743429e-01 3.87101502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.270714057 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:271.25, Y:206.65, Z:3.87 [[ 5.75336184e-01 -8.17817838e-01 1.27381227e-02 2.71251456e+02] [ 8.17603407e-01 5.75477066e-01 1.87300799e-02 2.06647194e+02] [-2.26482910e-02 -3.61360172e-04 9.99743429e-01 3.87011054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3007140569999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:271.27, Y:206.67, Z:3.87 [[ 5.77818725e-01 -8.16065756e-01 1.27358865e-02 2.71270861e+02] [ 8.15850864e-01 5.77958904e-01 1.87316004e-02 2.06668119e+02] [-2.26470366e-02 -4.32885489e-04 9.99743429e-01 3.86763641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3307140569999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:271.29, Y:206.69, Z:3.87 [[ 5.78854161e-01 -8.15331704e-01 1.27308167e-02 2.71288327e+02] [ 8.15116558e-01 5.78993950e-01 1.87350454e-02 2.06689450e+02] [-2.26463423e-02 -4.67759437e-04 9.99743429e-01 3.86612023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.360714057 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:271.31, Y:206.71, Z:3.86 [[ 5.79904565e-01 -8.14584973e-01 1.27286191e-02 2.71308535e+02] [ 8.14369615e-01 5.80044026e-01 1.87365383e-02 2.06709042e+02] [-2.26456620e-02 -4.99603489e-04 9.99743429e-01 3.86404020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.390714057 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:271.33, Y:206.73, Z:3.86 [[ 5.79949275e-01 -8.14553224e-01 1.27233338e-02 2.71329595e+02] [ 8.14337780e-01 5.80088603e-01 1.87401267e-02 2.06727942e+02] [-2.26454916e-02 -5.07231444e-04 9.99743429e-01 3.86369117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4207140569999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:271.35, Y:206.75, Z:3.86 [[ 5.79970518e-01 -8.14538135e-01 1.27210408e-02 2.71348524e+02] [ 8.14322653e-01 5.80109788e-01 1.87416831e-02 2.06749046e+02] [-2.26454159e-02 -5.10592004e-04 9.99743429e-01 3.86371935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4507140569999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:271.37, Y:206.77, Z:3.87 [[ 5.79243174e-01 -8.15055614e-01 1.27158450e-02 2.71369711e+02] [ 8.14840179e-01 5.79382516e-01 1.87452077e-02 2.06768416e+02] [-2.26457250e-02 -4.96652145e-04 9.99743429e-01 3.86530402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4807140569999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:271.39, Y:206.79, Z:3.87 [[ 5.78998733e-01 -8.15229360e-01 1.27105670e-02 2.71388654e+02] [ 8.15013888e-01 5.79138019e-01 1.87487858e-02 2.06789810e+02] [-2.26457333e-02 -4.96234565e-04 9.99743429e-01 3.86583236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.510714057 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:271.41, Y:206.81, Z:3.87 [[ 5.78974468e-01 -8.15246675e-01 1.27052996e-02 2.71411127e+02] [ 8.15031129e-01 5.79113640e-01 1.87523547e-02 2.06808919e+02] [-2.26456071e-02 -5.01919870e-04 9.99743429e-01 3.86611100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.540714057 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:271.43, Y:206.83, Z:3.87 [[ 5.80434919e-01 -8.14207599e-01 1.27000151e-02 2.71433935e+02] [ 8.13991727e-01 5.80573582e-01 1.87559329e-02 2.06827735e+02] [-2.26445164e-02 -5.48891140e-04 9.99743429e-01 3.86581626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5707140569999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:271.45, Y:206.85, Z:3.87 [[ 5.81307405e-01 -8.13584996e-01 1.26946925e-02 2.71452685e+02] [ 8.13368896e-01 5.81445714e-01 1.87595347e-02 2.06848415e+02] [-2.26437506e-02 -5.79588408e-04 9.99743429e-01 3.86564807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6007140569999 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:271.48, Y:206.87, Z:3.87 [[ 5.83849008e-01 -8.11763093e-01 1.26891991e-02 2.71475065e+02] [ 8.11546482e-01 5.83986514e-01 1.87632498e-02 2.06866494e+02] [-2.26416349e-02 -6.57029932e-04 9.99743429e-01 3.86508239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.630714057 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:271.50, Y:206.88, Z:3.86 [[ 5.86508872e-01 -8.09843482e-01 1.26837475e-02 2.71498590e+02] [ 8.09626341e-01 5.86645540e-01 1.87669343e-02 2.06884006e+02] [-2.26391433e-02 -7.37877404e-04 9.99743429e-01 3.86361261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.660714057 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:271.52, Y:206.90, Z:3.86 [[ 5.88057669e-01 -8.08719628e-01 1.26783667e-02 2.71518165e+02] [ 8.08502148e-01 5.88193797e-01 1.87705687e-02 2.06903522e+02] [-2.26374640e-02 -7.87690141e-04 9.99743429e-01 3.86243165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6907140569999 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:271.54, Y:206.92, Z:3.86 [[ 5.90348966e-01 -8.07048584e-01 1.26760355e-02 2.71543082e+02] [ 8.06830685e-01 5.90484423e-01 1.87721429e-02 2.06920459e+02] [-2.26350328e-02 -8.54700789e-04 9.99743429e-01 3.86015841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7207140569999 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:271.56, Y:206.94, Z:3.86 [[ 5.91321651e-01 -8.06336259e-01 1.26705661e-02 2.71563145e+02] [ 8.06118118e-01 5.91456717e-01 1.87758338e-02 2.06939705e+02] [-2.26337270e-02 -8.88584126e-04 9.99743429e-01 3.85854767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.750714057 meters Centerline goodness : 0.997194 Centerline is valid? [True, True] Translation: X:271.59, Y:206.96, Z:3.86 [[ 5.92054077e-01 -8.05798664e-01 1.26681979e-02 2.71588430e+02] [ 8.05580366e-01 5.92188891e-01 1.87774315e-02 2.06956123e+02] [-2.26327953e-02 -9.12003395e-04 9.99743430e-01 3.85615346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.780714057 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:271.60, Y:206.97, Z:3.86 [[ 5.89859970e-01 -8.07406259e-01 1.26628979e-02 2.71602227e+02] [ 8.07188252e-01 5.89995254e-01 1.87810050e-02 2.06974356e+02] [-2.26349506e-02 -8.56820605e-04 9.99743430e-01 3.85841807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8107140569999 meters Centerline goodness : 0.996048 Centerline is valid? [True, True] Translation: X:271.63, Y:206.99, Z:3.86 [[ 5.89957071e-01 -8.07338215e-01 1.24763850e-02 2.71626188e+02] [ 8.07117524e-01 5.90087985e-01 1.89069624e-02 2.06987955e+02] [-2.26264782e-02 -1.08438723e-03 9.99743400e-01 3.85750134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8407140569999 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:271.65, Y:207.01, Z:3.86 [[ 5.89769182e-01 -8.07478447e-01 1.22828714e-02 2.71649568e+02] [ 8.07255063e-01 5.89895613e-01 1.90375638e-02 2.07009680e+02] [-2.26180344e-02 -1.31235826e-03 9.99743318e-01 3.85753364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.870714057 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:271.68, Y:207.03, Z:3.85 [[ 5.94093612e-01 -8.04300165e-01 1.24106896e-02 2.71684601e+02] [ 8.04077879e-01 5.94221851e-01 1.89514148e-02 2.07026071e+02] [-2.26173290e-02 -1.27975350e-03 9.99743376e-01 3.85332019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.900714057 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:271.71, Y:207.04, Z:3.85 [[ 5.94892248e-01 -8.03705654e-01 1.26662934e-02 2.71710525e+02] [ 8.03486848e-01 5.95026246e-01 1.87790134e-02 2.07041944e+02] [-2.26295763e-02 -9.94289397e-04 9.99743424e-01 3.85310867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9307140569999 meters Centerline goodness : 0.988894 Centerline is valid? [True, True] Translation: X:271.73, Y:207.06, Z:3.85 [[ 5.95973693e-01 -8.02904140e-01 1.26609178e-02 2.71733866e+02] [ 8.02685078e-01 5.96107270e-01 1.87826370e-02 2.07062728e+02] [-2.26279222e-02 -1.03122768e-03 9.99743424e-01 3.85432868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9607140569999 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:271.76, Y:207.08, Z:3.85 [[ 5.94147353e-01 -8.04253901e-01 1.28291038e-02 2.71756707e+02] [ 8.04037561e-01 5.94285335e-01 1.86692665e-02 2.07076972e+02] [-2.26389787e-02 -7.77213969e-04 9.99743403e-01 3.85416648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.990714057 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:271.78, Y:207.10, Z:3.85 [[ 5.93791345e-01 -8.04519662e-01 1.26471911e-02 2.71777948e+02] [ 8.04300772e-01 5.93925198e-01 1.87916981e-02 2.07096813e+02] [-2.26297761e-02 -9.86202150e-04 9.99743427e-01 3.85336959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.020714057 meters Centerline goodness : 0.989047 Centerline is valid? [True, True] Translation: X:271.81, Y:207.11, Z:3.85 [[ 5.94684515e-01 -8.03859759e-01 1.26418133e-02 2.71806423e+02] [ 8.03640644e-01 5.94817999e-01 1.87953153e-02 2.07113735e+02] [-2.26283757e-02 -1.01780797e-03 9.99743427e-01 3.85339322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0507140569999 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:271.82, Y:207.13, Z:3.85 [[ 5.92019835e-01 -8.05821768e-01 1.27981908e-02 2.71823501e+02] [ 8.05605344e-01 5.92157673e-01 1.86901285e-02 2.07133843e+02] [-2.26394593e-02 -7.54635849e-04 9.99743410e-01 3.85083543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0807140569999 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:271.85, Y:207.15, Z:3.85 [[ 5.90864904e-01 -8.06671675e-01 1.26283383e-02 2.71847802e+02] [ 8.06453006e-01 5.90999113e-01 1.88041970e-02 2.07149586e+02] [-2.26321498e-02 -9.26578663e-04 9.99743431e-01 3.85036953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.110714057 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:271.87, Y:207.17, Z:3.85 [[ 5.90138892e-01 -8.07203002e-01 1.26254360e-02 2.71867951e+02] [ 8.06984413e-01 5.90273229e-01 1.88061454e-02 2.07169582e+02] [-2.26328339e-02 -9.09707677e-04 9.99743431e-01 3.84996572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.140714057 meters Centerline goodness : 0.995691 Centerline is valid? [True, True] Translation: X:271.89, Y:207.19, Z:3.85 [[ 5.89065039e-01 -8.07987075e-01 1.26200906e-02 2.71892178e+02] [ 8.07768588e-01 5.89199543e-01 1.88097318e-02 2.07186816e+02] [-2.26337718e-02 -8.86042602e-04 9.99743431e-01 3.84994649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1707140569999 meters Centerline goodness : 0.995691 Centerline is valid? [True, True] Translation: X:271.91, Y:207.21, Z:3.85 [[ 5.88836335e-01 -8.08153846e-01 1.26147613e-02 2.71908025e+02] [ 8.07935321e-01 5.88970777e-01 1.88133052e-02 2.07210573e+02] [-2.26337707e-02 -8.86046466e-04 9.99743431e-01 3.84930131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2007140569999 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:271.93, Y:207.23, Z:3.85 [[ 5.88473531e-01 -8.08418150e-01 1.26094342e-02 2.71928206e+02] [ 8.08199610e-01 5.88607948e-01 1.88168750e-02 2.07231143e+02] [-2.26339165e-02 -8.82293057e-04 9.99743431e-01 3.84865765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2307140569999 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:271.95, Y:207.25, Z:3.85 [[ 5.88375303e-01 -8.08489727e-01 1.26040989e-02 2.71952648e+02] [ 8.08271127e-01 5.88509623e-01 1.88204481e-02 2.07248865e+02] [-2.26337724e-02 -8.85957621e-04 9.99743431e-01 3.84818694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.260714057 meters Centerline goodness : 0.995958 Centerline is valid? [True, True] Translation: X:271.98, Y:207.27, Z:3.85 [[ 5.88629229e-01 -8.08304955e-01 1.25987997e-02 2.71976078e+02] [ 8.08086237e-01 5.88763357e-01 1.88239948e-02 2.07267516e+02] [-2.26332399e-02 -8.99436842e-04 9.99743431e-01 3.84741800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.290714057 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:271.98, Y:207.29, Z:3.85 [[ 5.81090212e-01 -8.13741709e-01 1.25935022e-02 2.71980792e+02] [ 8.13524171e-01 5.81226245e-01 1.88275382e-02 2.07287688e+02] [-2.26404271e-02 -6.95379740e-04 9.99743431e-01 3.84693096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3207140569999 meters Centerline goodness : 0.996669 Centerline is valid? [True, True] Translation: X:271.99, Y:207.30, Z:3.85 [[ 5.81697072e-01 -8.13313820e-01 1.22125516e-02 2.71991039e+02] [ 8.13090758e-01 5.81824080e-01 1.90829545e-02 2.07300214e+02] [-2.26259872e-02 -1.17058593e-03 9.99743314e-01 3.84532013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3507140569999 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:272.04, Y:207.33, Z:3.85 [[ 5.92832453e-01 -8.05242328e-01 1.15963715e-02 2.72037330e+02] [ 8.05009372e-01 5.92941697e-01 1.94950232e-02 2.07325532e+02] [-2.25741901e-02 -2.22209473e-03 9.99742701e-01 3.84713875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.380714057 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:272.06, Y:207.34, Z:3.85 [[ 5.94330736e-01 -8.04121609e-01 1.26259098e-02 2.72059524e+02] [ 8.03902378e-01 5.94463948e-01 1.88037536e-02 2.07344340e+02] [-2.26261528e-02 -1.02564978e-03 9.99743470e-01 3.84671284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.410714057 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:272.08, Y:207.36, Z:3.85 [[ 5.95127374e-01 -8.03532283e-01 1.26205373e-02 2.72078363e+02] [ 8.03312844e-01 5.95260244e-01 1.88073588e-02 2.07364964e+02] [-2.26248241e-02 -1.05453439e-03 9.99743470e-01 3.84640844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4407140569999 meters Centerline goodness : 0.993724 Centerline is valid? [True, True] Translation: X:272.10, Y:207.38, Z:3.84 [[ 5.97188519e-01 -8.02001702e-01 1.26151796e-02 2.72096879e+02] [ 8.01781847e-01 5.97320699e-01 1.88109518e-02 2.07382501e+02] [-2.26217233e-02 -1.11906244e-03 9.99743470e-01 3.84245209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4707140569999 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:272.12, Y:207.41, Z:3.84 [[ 5.97397441e-01 -8.01849802e-01 1.23771142e-02 2.72118434e+02] [ 8.01626609e-01 5.97523978e-01 1.89703873e-02 2.07405228e+02] [-2.26070238e-02 -1.41103673e-03 9.99743433e-01 3.84478500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.500714057 meters Centerline goodness : 0.994588 Centerline is valid? [True, True] Translation: X:272.14, Y:207.42, Z:3.84 [[ 5.99365146e-01 -8.00376465e-01 1.26069879e-02 2.72140002e+02] [ 8.00156139e-01 5.99496537e-01 1.88163727e-02 2.07424897e+02] [-2.26180274e-02 -1.19031923e-03 9.99743471e-01 3.84412980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.530714057 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:272.16, Y:207.44, Z:3.84 [[ 6.01180839e-01 -7.99013641e-01 1.26016310e-02 2.72161823e+02] [ 7.98792942e-01 6.01311604e-01 1.88199596e-02 2.07444512e+02] [-2.26149114e-02 -1.24810526e-03 9.99743471e-01 3.84365311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5607140569999 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:272.18, Y:207.47, Z:3.84 [[ 6.01303044e-01 -7.98921763e-01 1.25962743e-02 2.72180382e+02] [ 7.98700970e-01 6.01433650e-01 1.88235442e-02 2.07465695e+02] [-2.26143623e-02 -1.25799787e-03 9.99743471e-01 3.84330308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5907140569999 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:272.17, Y:207.47, Z:3.84 [[ 5.87954026e-01 -8.08796348e-01 1.25908666e-02 2.72172979e+02] [ 8.08577678e-01 5.88088154e-01 1.88271606e-02 2.07473575e+02] [-2.26318783e-02 -8.88811199e-04 9.99743471e-01 3.83642700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.620714057 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:272.22, Y:207.50, Z:3.84 [[ 6.00814140e-01 -7.99308482e-01 1.13278933e-02 2.72222062e+02] [ 7.99071236e-01 6.00914556e-01 1.96686593e-02 2.07503120e+02] [-2.25284221e-02 -2.76541491e-03 9.99742378e-01 3.84274472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.650714057 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:272.24, Y:207.52, Z:3.84 [[ 5.97758841e-01 -8.01576901e-01 1.26031711e-02 2.72243259e+02] [ 8.01356887e-01 5.97890589e-01 1.88144242e-02 2.07521733e+02] [-2.26165253e-02 -1.14685046e-03 9.99743556e-01 3.84120268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6807140569999 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:272.24, Y:207.53, Z:3.83 [[ 5.84440343e-01 -8.11338832e-01 1.26010334e-02 2.72235944e+02] [ 8.11120993e-01 5.84575657e-01 1.88158558e-02 2.07534093e+02] [-2.26322919e-02 -7.75782471e-04 9.99743556e-01 3.83419028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7107140569999 meters Centerline goodness : 0.992752 Centerline is valid? [True, True] Translation: X:272.29, Y:207.56, Z:3.84 [[ 5.90953805e-01 -8.06623338e-01 1.15061515e-02 2.72286348e+02] [ 8.06389669e-01 5.91061439e-01 1.95467832e-02 2.07559591e+02] [-2.25677340e-02 -2.27280421e-03 9.99742733e-01 3.84115576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.740714057 meters Centerline goodness : 0.992536 Centerline is valid? [True, True] Translation: X:272.30, Y:207.58, Z:3.84 [[ 5.87455233e-01 -8.09158398e-01 1.26109775e-02 2.72304072e+02] [ 8.08940273e-01 5.87589969e-01 1.88059273e-02 2.07580169e+02] [-2.26270579e-02 -8.46112832e-04 9.99743617e-01 3.84068603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.770714057 meters Centerline goodness : 0.988626 Centerline is valid? [True, True] Translation: X:272.33, Y:207.60, Z:3.84 [[ 5.82455386e-01 -8.12764897e-01 1.26073445e-02 2.72325381e+02] [ 8.12547555e-01 5.82591380e-01 1.88083625e-02 2.07596950e+02] [-2.26317071e-02 -7.10965038e-04 9.99743617e-01 3.83590698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8007140569999 meters Centerline goodness : 0.984102 Centerline is valid? [True, True] Translation: X:272.35, Y:207.62, Z:3.83 [[ 5.74684691e-01 -8.18279893e-01 1.24708687e-02 2.72348199e+02] [ 8.18061870e-01 5.74819608e-01 1.88995903e-02 2.07620164e+02] [-2.26336545e-02 -6.59363051e-04 9.99743609e-01 3.83359603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8307140569999 meters Centerline goodness : 0.992529 Centerline is valid? [True, True] Translation: X:272.36, Y:207.64, Z:3.84 [[ 5.71019850e-01 -8.20835524e-01 1.28597648e-02 2.72362231e+02] [ 8.20623878e-01 5.71164630e-01 1.86390801e-02 2.07639586e+02] [-2.26446619e-02 -9.02546856e-05 9.99743573e-01 3.84025456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.860714057 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:272.38, Y:207.66, Z:3.84 [[ 5.67499148e-01 -8.23277792e-01 1.25854894e-02 2.72381144e+02] [ 8.23062659e-01 5.67638594e-01 1.88224735e-02 2.07659879e+02] [-2.26401339e-02 -3.23091265e-04 9.99743627e-01 3.84023038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.890714057 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:272.40, Y:207.68, Z:3.84 [[ 5.66429354e-01 -8.24014265e-01 1.25808214e-02 2.72397954e+02] [ 8.23799245e-01 5.66568973e-01 1.88255930e-02 2.07682319e+02] [-2.26404603e-02 -2.99297315e-04 9.99743627e-01 3.84040714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9207140569999 meters Centerline goodness : 0.989974 Centerline is valid? [True, True] Translation: X:272.41, Y:207.70, Z:3.84 [[ 5.66664645e-01 -8.23852554e-01 1.25757170e-02 2.72411761e+02] [ 8.23637418e-01 5.66804086e-01 1.88290022e-02 2.07702494e+02] [-2.26402894e-02 -3.11898760e-04 9.99743627e-01 3.83834630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9507140569999 meters Centerline goodness : 0.992463 Centerline is valid? [True, True] Translation: X:272.43, Y:207.73, Z:3.84 [[ 5.66893424e-01 -8.23699298e-01 1.23008845e-02 2.72430520e+02] [ 8.23480109e-01 5.67026495e-01 1.90122193e-02 2.07727533e+02] [-2.26352791e-02 -6.48368378e-04 9.99743579e-01 3.84033651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9807140569999 meters Centerline goodness : 0.992107 Centerline is valid? [True, True] Translation: X:272.41, Y:207.74, Z:3.83 [[ 5.53540630e-01 -8.32727394e-01 1.25641493e-02 2.72408827e+02] [ 8.32514322e-01 5.53683200e-01 1.88366214e-02 2.07736105e+02] [-2.26423290e-02 3.29989414e-05 9.99743629e-01 3.83028097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.010714057 meters Centerline goodness : 0.992276 Centerline is valid? [True, True] Translation: X:272.46, Y:207.77, Z:3.84 [[ 5.76547177e-01 -8.16989745e-01 1.10050064e-02 2.72462140e+02] [ 8.16751780e-01 5.76646915e-01 1.98712219e-02 2.07769263e+02] [-2.25805875e-02 -2.46833827e-03 9.99741979e-01 3.83546615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.040714057 meters Centerline goodness : 0.983974 Centerline is valid? [True, True] Translation: X:272.48, Y:207.79, Z:3.83 [[ 5.79444894e-01 -8.14914399e-01 1.25752644e-02 2.72479868e+02] [ 8.14697270e-01 5.79580957e-01 1.88221664e-02 2.07794910e+02] [-2.26268382e-02 -6.61374669e-04 9.99743762e-01 3.82779926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0707140569999 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:272.49, Y:207.82, Z:3.83 [[ 5.84094091e-01 -8.11584816e-01 1.28132189e-02 2.72492095e+02] [ 8.11370352e-01 5.84234397e-01 1.86633626e-02 2.07816719e+02] [-2.26328249e-02 -5.04893885e-04 9.99743717e-01 3.82996808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1007140569999 meters Centerline goodness : 0.992512 Centerline is valid? [True, True] Translation: X:272.47, Y:207.82, Z:3.82 [[ 5.68966233e-01 -8.22265130e-01 1.25491548e-02 2.72466633e+02] [ 8.22049384e-01 5.69104466e-01 1.88392616e-02 2.07823150e+02] [-2.26326479e-02 -4.02878697e-04 9.99743768e-01 3.81822774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.130714057 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:272.48, Y:207.84, Z:3.82 [[ 5.70655594e-01 -8.21116565e-01 1.09444199e-02 2.72475907e+02] [ 8.20878553e-01 5.70755578e-01 1.99115893e-02 2.07842465e+02] [-2.25963245e-02 -2.37862026e-03 9.99741841e-01 3.81713089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.160714057 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:272.54, Y:207.88, Z:3.83 [[ 5.94830732e-01 -8.03784030e-01 1.03746608e-02 2.72540665e+02] [ 8.03536581e-01 5.94909491e-01 2.02893976e-02 2.07879326e+02] [-2.24802780e-02 -3.73233771e-03 9.99740320e-01 3.82906942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1907140569999 meters Centerline goodness : 0.992858 Centerline is valid? [True, True] Translation: X:272.56, Y:207.90, Z:3.83 [[ 5.96085642e-01 -8.02822188e-01 1.25873343e-02 2.72556686e+02] [ 8.02602597e-01 5.96217497e-01 1.88087087e-02 2.07901483e+02] [-2.26048377e-02 -1.10897405e-03 9.99743863e-01 3.82755090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2207140569999 meters Centerline goodness : 0.991194 Centerline is valid? [True, True] Translation: X:272.53, Y:207.91, Z:3.82 [[ 5.75223198e-01 -8.17899719e-01 1.25825994e-02 2.72525695e+02] [ 8.17683525e-01 5.75360553e-01 1.88118757e-02 2.07905660e+02] [-2.26257592e-02 -5.32443059e-04 9.99743863e-01 3.81942075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.250714057 meters Centerline goodness : 0.992909 Centerline is valid? [True, True] Translation: X:272.55, Y:207.92, Z:3.82 [[ 5.79104925e-01 -8.15180081e-01 1.09051726e-02 2.72546902e+02] [ 8.14940532e-01 5.79201487e-01 1.99391029e-02 2.07923314e+02] [-2.25702517e-02 -2.65976555e-03 9.99741721e-01 3.82249330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.280714057 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:272.57, Y:207.95, Z:3.83 [[ 5.75427707e-01 -8.17783240e-01 1.06548818e-02 2.72571170e+02] [ 8.17541007e-01 5.75519240e-01 2.01073853e-02 2.07951310e+02] [-2.25755722e-02 -2.85954387e-03 9.99741050e-01 3.82500709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3107140569999 meters Centerline goodness : 0.992262 Centerline is valid? [True, True] Translation: X:272.58, Y:207.96, Z:3.82 [[ 5.80509816e-01 -8.14176523e-01 1.11778066e-02 2.72582155e+02] [ 8.13940350e-01 5.80612593e-01 1.97515372e-02 2.07964398e+02] [-2.25712132e-02 -2.36789342e-03 9.99742434e-01 3.82151890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3407140569999 meters Centerline goodness : 0.993696 Centerline is valid? [True, True] Translation: X:272.61, Y:207.99, Z:3.82 [[ 5.88186516e-01 -8.08652796e-01 1.08295523e-02 2.72613279e+02] [ 8.08411285e-01 5.88278541e-01 1.99888287e-02 2.07987463e+02] [-2.25348154e-02 -3.00242717e-03 9.99741550e-01 3.82329745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.370714057 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:272.62, Y:208.01, Z:3.82 [[ 5.83614729e-01 -8.11951856e-01 1.13150926e-02 2.72620853e+02] [ 8.11717107e-01 5.83719926e-01 1.96567097e-02 2.08005048e+02] [-2.25651470e-02 -2.28729107e-03 9.99742758e-01 3.81922969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.400714057 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:272.64, Y:208.03, Z:3.82 [[ 5.85153483e-01 -8.10849309e-01 1.08995089e-02 2.72638959e+02] [ 8.10609003e-01 5.85248125e-01 1.99418604e-02 2.08027426e+02] [-2.25487609e-02 -2.83380900e-03 9.99741728e-01 3.81856893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4307140569999 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:272.65, Y:208.05, Z:3.82 [[ 5.81625253e-01 -8.13383694e-01 1.09101413e-02 2.72650620e+02] [ 8.13143937e-01 5.81721197e-01 1.99345352e-02 2.08045943e+02] [-2.25610863e-02 -2.72291378e-03 9.99741758e-01 3.81626695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4607140569999 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:272.72, Y:208.08, Z:3.82 [[ 6.03085860e-01 -7.97606047e-01 1.05848817e-02 2.72715198e+02] [ 7.97359964e-01 6.03167292e-01 2.01570035e-02 2.08082426e+02] [-2.24618023e-02 -3.71644290e-03 9.99740794e-01 3.82392878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.490714057 meters Centerline goodness : 0.991949 Centerline is valid? [True, True] Translation: X:272.69, Y:208.08, Z:3.82 [[ 5.84214122e-01 -8.11497994e-01 1.28399719e-02 2.72687012e+02] [ 8.11284920e-01 5.84355032e-01 1.86004042e-02 2.08084531e+02] [-2.25972929e-02 -4.49743241e-04 9.99744547e-01 3.81541728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.520714057 meters Centerline goodness : 0.992508 Centerline is valid? [True, True] Translation: X:272.71, Y:208.11, Z:3.82 [[ 5.84533248e-01 -8.11293614e-01 1.11155131e-02 2.72709122e+02] [ 8.11056150e-01 5.84633344e-01 1.97932993e-02 2.08107079e+02] [-2.25566769e-02 -2.55453631e-03 9.99742302e-01 3.81614195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5507140569999 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:272.72, Y:208.12, Z:3.82 [[ 5.87813807e-01 -8.08918499e-01 1.12156140e-02 2.72720037e+02] [ 8.08681955e-01 5.87915379e-01 1.97231542e-02 2.08121346e+02] [-2.25482562e-02 -2.52367776e-03 9.99742570e-01 3.81561488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5807140569999 meters Centerline goodness : 0.989143 Centerline is valid? [True, True] Translation: X:272.76, Y:208.17, Z:3.82 [[ 5.88519990e-01 -8.08410837e-01 1.07768190e-02 2.72756793e+02] [ 8.08168901e-01 5.88610654e-01 2.00131359e-02 2.08172921e+02] [-2.25221864e-02 -3.06864056e-03 9.99741634e-01 3.81713733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.610714057 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:272.75, Y:208.17, Z:3.81 [[ 5.82979743e-01 -8.12387910e-01 1.26689658e-02 2.72751327e+02] [ 8.12171700e-01 5.83117029e-01 1.87525885e-02 2.08167858e+02] [-2.26218659e-02 -6.43003656e-04 9.99743886e-01 3.81128680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.640714057 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:272.76, Y:208.18, Z:3.81 [[ 5.85898921e-01 -8.10301780e-01 1.15533224e-02 2.72757965e+02] [ 8.10068777e-01 5.86009089e-01 1.95429024e-02 2.08175559e+02] [-2.26060005e-02 -2.09117971e-03 9.99742265e-01 3.81219388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6707140569999 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:272.79, Y:208.20, Z:3.82 [[ 5.94939203e-01 -8.03699609e-01 1.06902990e-02 2.72794641e+02] [ 8.03454094e-01 5.95025523e-01 2.01530469e-02 2.08202413e+02] [-2.25579967e-02 -3.40067321e-03 9.99739752e-01 3.81546998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7007140569999 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:272.80, Y:208.22, Z:3.81 [[ 5.86817907e-01 -8.09639519e-01 1.13398573e-02 2.72799619e+02] [ 8.09403443e-01 5.86922645e-01 1.96945627e-02 2.08221936e+02] [-2.26011153e-02 -2.37860251e-03 9.99741733e-01 3.81176582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7307140569999 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:272.81, Y:208.24, Z:3.81 [[ 5.84881881e-01 -8.11044659e-01 1.09428751e-02 2.72813349e+02] [ 8.10803514e-01 5.84977489e-01 1.99749403e-02 2.08242319e+02] [-2.26019042e-02 -2.81045904e-03 9.99740594e-01 3.81082736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.760714057 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:272.83, Y:208.26, Z:3.81 [[ 5.84494565e-01 -8.11326316e-01 1.07570185e-02 2.72833286e+02] [ 8.11082785e-01 5.84585704e-01 2.01064953e-02 2.08262965e+02] [-2.26013279e-02 -3.02730469e-03 9.99739974e-01 3.80949771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.790714057 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:272.85, Y:208.28, Z:3.81 [[ 5.80711043e-01 -8.14037228e-01 1.08662711e-02 2.72848809e+02] [ 8.13795580e-01 5.80806009e-01 2.00283199e-02 2.08281484e+02] [-2.26149935e-02 -2.78774310e-03 9.99740362e-01 3.80888622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8207140569999 meters Centerline goodness : 0.992275 Centerline is valid? [True, True] Translation: X:272.92, Y:208.32, Z:3.82 [[ 6.01273926e-01 -7.98971321e-01 1.07001787e-02 2.72916583e+02] [ 7.98725251e-01 6.01358550e-01 2.01461399e-02 2.08319048e+02] [-2.25308320e-02 -3.56684569e-03 9.99739786e-01 3.81645930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8507140569999 meters Centerline goodness : 0.993291 Centerline is valid? [True, True] Translation: X:272.93, Y:208.34, Z:3.81 [[ 5.95794566e-01 -8.03028917e-01 1.31679418e-02 2.72932716e+02] [ 8.02818677e-01 5.95939943e-01 1.83781126e-02 2.08341211e+02] [-2.26054583e-02 -3.78109956e-04 9.99744392e-01 3.81337948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.880714057 meters Centerline goodness : 0.991884 Centerline is valid? [True, True] Translation: X:272.95, Y:208.36, Z:3.81 [[ 5.92982839e-01 -8.05107497e-01 1.31632591e-02 2.72949464e+02] [ 8.04897693e-01 5.93128845e-01 1.83814659e-02 2.08362852e+02] [-2.26065647e-02 -3.04816996e-04 9.99744392e-01 3.81279499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.910714057 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:272.92, Y:208.36, Z:3.81 [[ 5.66277769e-01 -8.24109421e-01 1.31586510e-02 2.72920559e+02] [ 8.23904439e-01 5.66430469e-01 1.83847641e-02 2.08363082e+02] [-2.26045182e-02 4.30587787e-04 9.99744393e-01 3.80725911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9407140569999 meters Centerline goodness : 0.991791 Centerline is valid? [True, True] Translation: X:272.98, Y:208.40, Z:3.82 [[ 5.86859980e-01 -8.09611323e-01 1.11745052e-02 2.72984444e+02] [ 8.09373351e-01 5.86960717e-01 1.97963749e-02 2.08400068e+02] [-2.25863649e-02 -2.57335344e-03 9.99741584e-01 3.81561548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9707140569999 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:272.98, Y:208.42, Z:3.81 [[ 5.77233655e-01 -8.16472644e-01 1.31806667e-02 2.72978319e+02] [ 8.16266295e-01 5.77384097e-01 1.83559134e-02 2.08415615e+02] [-2.25974084e-02 1.63283036e-04 9.99744633e-01 3.81440164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.000714057 meters Centerline goodness : 0.991971 Centerline is valid? [True, True] Translation: X:273.00, Y:208.44, Z:3.82 [[ 5.75000547e-01 -8.18060374e-01 1.23124371e-02 2.72995054e+02] [ 8.17840641e-01 5.75131737e-01 1.89781790e-02 2.08439431e+02] [-2.26065695e-02 -8.42851903e-04 9.99744084e-01 3.81686777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.030714057 meters Centerline goodness : 0.992512 Centerline is valid? [True, True] Translation: X:273.01, Y:208.46, Z:3.81 [[ 5.79871197e-01 -8.14613139e-01 1.24429977e-02 2.73007293e+02] [ 8.14394642e-01 5.80004109e-01 1.88838908e-02 2.08457487e+02] [-2.26000554e-02 -8.16713730e-04 9.99744253e-01 3.81440444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0607140569999 meters Centerline goodness : 0.992512 Centerline is valid? [True, True] Translation: X:273.02, Y:208.48, Z:3.81 [[ 5.80514704e-01 -8.14157714e-01 1.22431559e-02 2.73024023e+02] [ 8.13936040e-01 5.80642788e-01 1.90282669e-02 2.08479887e+02] [-2.26009105e-02 -1.08104287e-03 9.99743982e-01 3.81388903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0907140569999 meters Centerline goodness : 0.992180 Centerline is valid? [True, True] Translation: X:273.04, Y:208.50, Z:3.81 [[ 5.85162551e-01 -8.10823822e-01 1.22277693e-02 2.73042620e+02] [ 8.10601186e-01 5.85289004e-01 1.90393891e-02 2.08504052e+02] [-2.25943691e-02 -1.22929322e-03 9.99743959e-01 3.81166566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.120714057 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:273.06, Y:208.53, Z:3.81 [[ 5.86483689e-01 -8.09866785e-01 1.23560930e-02 2.73056532e+02] [ 8.09645887e-01 5.86612788e-01 1.89466190e-02 2.08526480e+02] [-2.25924796e-02 -1.10782314e-03 9.99744144e-01 3.80888847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.150714057 meters Centerline goodness : 0.992219 Centerline is valid? [True, True] Translation: X:273.07, Y:208.55, Z:3.80 [[ 5.91558914e-01 -8.06167416e-01 1.23348804e-02 2.73072102e+02] [ 8.05945391e-01 5.91686124e-01 1.89620011e-02 2.08550012e+02] [-2.25849250e-02 -1.27590083e-03 9.99744114e-01 3.80453336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1807140569999 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:273.09, Y:208.57, Z:3.80 [[ 5.93291632e-01 -8.04893046e-01 1.23378776e-02 2.73086688e+02] [ 8.04670793e-01 5.93418436e-01 1.89598255e-02 2.08572675e+02] [-2.25821557e-02 -1.32077605e-03 9.99744118e-01 3.80175050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2107140569999 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:273.10, Y:208.60, Z:3.80 [[ 5.97472522e-01 -8.01795352e-01 1.22800540e-02 2.73101707e+02] [ 8.01571578e-01 5.97596800e-01 1.90018388e-02 2.08595754e+02] [-2.25741069e-02 -1.50973426e-03 9.99744032e-01 3.79945560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.240714057 meters Centerline goodness : 0.992297 Centerline is valid? [True, True] Translation: X:273.12, Y:208.62, Z:3.80 [[ 5.99980165e-01 -7.99921322e-01 1.22343993e-02 2.73118679e+02] [ 7.99696484e-01 6.00102658e-01 1.90350602e-02 2.08619227e+02] [-2.25684461e-02 -1.63685243e-03 9.99743960e-01 3.79894674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.270714057 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:273.14, Y:208.64, Z:3.80 [[ 6.03232116e-01 -7.97471583e-01 1.22510642e-02 2.73135048e+02] [ 7.97246494e-01 6.03354089e-01 1.90229283e-02 2.08641830e+02] [-2.25619744e-02 -1.70812332e-03 9.99743987e-01 3.79907645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3007140569999 meters Centerline goodness : 0.991078 Centerline is valid? [True, True] Translation: X:273.15, Y:208.67, Z:3.80 [[ 6.04525598e-01 -7.96491013e-01 1.22827999e-02 2.73150659e+02] [ 7.96266192e-01 6.04647962e-01 1.89998236e-02 2.08666075e+02] [-2.25599587e-02 -1.70550143e-03 9.99744037e-01 3.79873160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3307140569999 meters Centerline goodness : 0.991808 Centerline is valid? [True, True] Translation: X:273.17, Y:208.69, Z:3.80 [[ 6.05849035e-01 -7.95484349e-01 1.23124640e-02 2.73167095e+02] [ 7.95259761e-01 6.05971731e-01 1.89782530e-02 2.08688618e+02] [-2.25579084e-02 -1.70634910e-03 9.99744082e-01 3.79785881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.360714057 meters Centerline goodness : 0.991822 Centerline is valid? [True, True] Translation: X:273.18, Y:208.71, Z:3.80 [[ 6.05119282e-01 -7.96039792e-01 1.23005788e-02 2.73183274e+02] [ 7.95815141e-01 6.05241900e-01 1.89869080e-02 2.08712340e+02] [-2.25591600e-02 -1.70035724e-03 9.99744064e-01 3.79793936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.390714057 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:273.20, Y:208.73, Z:3.80 [[ 6.08992316e-01 -7.93077957e-01 1.24785478e-02 2.73198133e+02] [ 7.92855363e-01 6.09118075e-01 1.88558731e-02 2.08730328e+02] [-2.25550863e-02 -1.58939824e-03 9.99744338e-01 3.79839476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4207140569999 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:273.21, Y:208.76, Z:3.80 [[ 6.04801459e-01 -7.96281214e-01 1.23054700e-02 2.73214954e+02] [ 7.96056687e-01 6.04924284e-01 1.89832045e-02 2.08756504e+02] [-2.25598467e-02 -1.68521809e-03 9.99744074e-01 3.79863025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4507140569999 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:273.23, Y:208.78, Z:3.80 [[ 6.07829086e-01 -7.93971955e-01 1.23424842e-02 2.73229644e+02] [ 7.93747512e-01 6.07951938e-01 1.89559729e-02 2.08776062e+02] [-2.25541480e-02 -1.72517559e-03 9.99744134e-01 3.79647298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4807140569999 meters Centerline goodness : 0.992404 Centerline is valid? [True, True] Translation: X:273.25, Y:208.80, Z:3.80 [[ 6.08068876e-01 -7.93790578e-01 1.21966949e-02 2.73245297e+02] [ 7.93563946e-01 6.08188177e-01 1.90631682e-02 2.08798736e+02] [-2.25500489e-02 -1.91286191e-03 9.99743885e-01 3.79547554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.510714057 meters Centerline goodness : 0.992126 Centerline is valid? [True, True] Translation: X:273.26, Y:208.82, Z:3.79 [[ 6.06249946e-01 -7.95181004e-01 1.21726567e-02 2.73263082e+02] [ 7.94954292e-01 6.06369190e-01 1.90808353e-02 2.08823715e+02] [-2.25538418e-02 -1.89104964e-03 9.99743841e-01 3.79495716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.540714057 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:273.28, Y:208.84, Z:3.79 [[ 6.10615958e-01 -7.91831117e-01 1.23139849e-02 2.73276446e+02] [ 7.91605829e-01 6.10737339e-01 1.89766691e-02 2.08842531e+02] [-2.25469275e-02 -1.83963472e-03 9.99744093e-01 3.79242230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5707140569999 meters Centerline goodness : 0.991839 Centerline is valid? [True, True] Translation: X:273.29, Y:208.87, Z:3.79 [[ 6.12852248e-01 -7.90104493e-01 1.21248250e-02 2.73294959e+02] [ 7.89876099e-01 6.12968447e-01 1.91162665e-02 2.08867162e+02] [-2.25359832e-02 -2.13833748e-03 9.99743746e-01 3.79122965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6007140569999 meters Centerline goodness : 0.992653 Centerline is valid? [True, True] Translation: X:273.31, Y:208.89, Z:3.79 [[ 6.14243539e-01 -7.89021798e-01 1.22261268e-02 2.73311722e+02] [ 7.88794672e-01 6.14361776e-01 1.90413866e-02 2.08889407e+02] [-2.25353341e-02 -2.05214500e-03 9.99743941e-01 3.78976198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.630714057 meters Centerline goodness : 0.992683 Centerline is valid? [True, True] Translation: X:273.33, Y:208.91, Z:3.79 [[ 6.15662904e-01 -7.87913660e-01 1.22984974e-02 2.73328841e+02] [ 7.87687384e-01 6.15782473e-01 1.89876528e-02 2.08911243e+02] [-2.25338302e-02 -2.00262228e-03 9.99744075e-01 3.78882330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.660714057 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:273.35, Y:208.93, Z:3.79 [[ 6.15754708e-01 -7.87841881e-01 1.23008283e-02 2.73345531e+02] [ 7.87615625e-01 6.15874307e-01 1.89859205e-02 2.08933194e+02] [-2.25336674e-02 -2.00234537e-03 9.99744079e-01 3.78797118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6907140569999 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:273.37, Y:208.96, Z:3.79 [[ 6.16593216e-01 -7.87186507e-01 1.22560186e-02 2.73366963e+02] [ 7.86959465e-01 6.16711495e-01 1.90192480e-02 2.08956576e+02] [-2.25301230e-02 -2.08214940e-03 9.99743996e-01 3.78919555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7207140569999 meters Centerline goodness : 0.993366 Centerline is valid? [True, True] Translation: X:273.38, Y:208.98, Z:3.79 [[ 6.16469936e-01 -7.87280910e-01 1.23930053e-02 2.73383684e+02] [ 7.87055913e-01 6.16591541e-01 1.89172415e-02 2.08977573e+02] [-2.25346053e-02 -1.90792257e-03 9.99744243e-01 3.78839245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.750714057 meters Centerline goodness : 0.988540 Centerline is valid? [True, True] Translation: X:273.41, Y:209.01, Z:3.79 [[ 6.18679054e-01 -7.85545574e-01 1.24249542e-02 2.73411638e+02] [ 7.85320698e-01 6.18800792e-01 1.88939562e-02 2.09009106e+02] [-2.25306351e-02 -1.93172122e-03 9.99744287e-01 3.78988869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.780714057 meters Centerline goodness : 0.992382 Centerline is valid? [True, True] Translation: X:273.42, Y:209.02, Z:3.79 [[ 6.16421339e-01 -7.87309006e-01 1.30100892e-02 2.73417690e+02] [ 7.87093233e-01 6.16557558e-01 1.84667301e-02 2.09020054e+02] [-2.25604917e-02 -1.14313337e-03 9.99744826e-01 3.78683295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8107140569999 meters Centerline goodness : 0.991923 Centerline is valid? [True, True] Translation: X:273.42, Y:209.04, Z:3.79 [[ 6.02339886e-01 -7.98142329e-01 1.24693372e-02 2.73417481e+02] [ 7.97920428e-01 6.02467269e-01 1.88727242e-02 2.09038202e+02] [-2.25754876e-02 -1.41825563e-03 9.99744135e-01 3.78548696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8407140569999 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:273.43, Y:209.05, Z:3.78 [[ 6.04928722e-01 -7.96190901e-01 1.18866034e-02 2.73430119e+02] [ 7.95959720e-01 6.05041414e-01 1.93135000e-02 2.09053146e+02] [-2.25691203e-02 -2.22203333e-03 9.99742816e-01 3.78126356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.870714057 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:273.47, Y:209.08, Z:3.79 [[ 6.16250537e-01 -7.87466707e-01 1.14656378e-02 2.73471379e+02] [ 7.87227958e-01 6.16349535e-01 1.96313991e-02 2.09081753e+02] [-2.25259137e-02 -3.07178963e-03 9.99741540e-01 3.78776468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.900714057 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:273.52, Y:209.11, Z:3.79 [[ 6.25125813e-01 -7.80424456e-01 1.24654062e-02 2.73515669e+02] [ 7.80198883e-01 6.25246641e-01 1.88770120e-02 2.09108737e+02] [-2.25260352e-02 -2.07501148e-03 9.99744103e-01 3.79265686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9307140569999 meters Centerline goodness : 0.992507 Centerline is valid? [True, True] Translation: X:273.51, Y:209.12, Z:3.79 [[ 6.13925214e-01 -7.89246441e-01 1.36340441e-02 2.73506232e+02] [ 7.89041403e-01 6.14076520e-01 1.79914402e-02 2.09124251e+02] [-2.25720265e-02 -2.87573513e-04 9.99745178e-01 3.78714087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9607140569999 meters Centerline goodness : 0.991097 Centerline is valid? [True, True] Translation: X:273.53, Y:209.15, Z:3.79 [[ 6.12524104e-01 -7.90351233e-01 1.26154757e-02 2.73527386e+02] [ 7.90129987e-01 6.12652108e-01 1.87616104e-02 2.09148906e+02] [-2.25571597e-02 -1.52407293e-03 9.99744393e-01 3.78761653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.990714057 meters Centerline goodness : 0.992145 Centerline is valid? [True, True] Translation: X:273.54, Y:209.17, Z:3.79 [[ 6.12295143e-01 -7.90528037e-01 1.26523256e-02 2.73543842e+02] [ 7.90307399e-01 6.12424083e-01 1.87338729e-02 2.09170963e+02] [-2.25582407e-02 -1.47143290e-03 9.99744448e-01 3.78649406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.020714057 meters Centerline goodness : 0.987546 Centerline is valid? [True, True] Translation: X:273.57, Y:209.20, Z:3.79 [[ 6.14235992e-01 -7.89020096e-01 1.27056836e-02 2.73570050e+02] [ 7.88799953e-01 6.14365652e-01 1.86943636e-02 2.09199981e+02] [-2.25561641e-02 -1.46050834e-03 9.99744511e-01 3.78747021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0507140569999 meters Centerline goodness : 0.987716 Centerline is valid? [True, True] Translation: X:273.59, Y:209.22, Z:3.79 [[ 6.12254378e-01 -7.90551151e-01 1.31701925e-02 2.73586768e+02] [ 7.90338596e-01 6.12395456e-01 1.83496252e-02 2.09221924e+02] [-2.25716834e-02 -8.25726939e-04 9.99744886e-01 3.78600651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0807140569999 meters Centerline goodness : 0.987349 Centerline is valid? [True, True] Translation: X:273.61, Y:209.24, Z:3.79 [[ 6.10641903e-01 -7.91797240e-01 1.31756335e-02 2.73605077e+02] [ 7.91585059e-01 6.10783541e-01 1.83455892e-02 2.09244820e+02] [-2.25734470e-02 -7.72950890e-04 9.99744888e-01 3.78514263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.110714057 meters Centerline goodness : 0.990843 Centerline is valid? [True, True] Translation: X:273.62, Y:209.27, Z:3.79 [[ 6.04641767e-01 -7.96387810e-01 1.32208000e-02 2.73624640e+02] [ 7.96177436e-01 6.04786043e-01 1.83120795e-02 2.09268598e+02] [-2.25792722e-02 -5.46145463e-04 9.99744907e-01 3.78922219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.140714057 meters Centerline goodness : 0.990710 Centerline is valid? [True, True] Translation: X:273.64, Y:209.29, Z:3.79 [[ 6.01723480e-01 -7.98591056e-01 1.34602872e-02 2.73641183e+02] [ 7.98385150e-01 6.01873989e-01 1.81343203e-02 2.09290866e+02] [-2.25833027e-02 -1.65352903e-04 9.99744951e-01 3.78891321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1707140569999 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:273.62, Y:209.30, Z:3.78 [[ 5.81431726e-01 -8.13483931e-01 1.34552097e-02 2.73621261e+02] [ 8.13281792e-01 5.81587257e-01 1.81380869e-02 2.09300893e+02] [-2.25804207e-02 3.96817867e-04 9.99744951e-01 3.77784789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2007140569999 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:273.67, Y:209.33, Z:3.79 [[ 5.95123218e-01 -8.03544349e-01 1.20347305e-02 2.73674814e+02] [ 8.03317142e-01 5.95242315e-01 1.91874068e-02 2.09332132e+02] [-2.25815131e-02 -1.75116602e-03 9.99743471e-01 3.78939707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2307140569999 meters Centerline goodness : 0.987131 Centerline is valid? [True, True] Translation: X:273.69, Y:209.35, Z:3.78 [[ 5.96068556e-01 -8.02820563e-01 1.34692001e-02 2.73690144e+02] [ 8.02616021e-01 5.96220717e-01 1.81212353e-02 2.09353461e+02] [-2.25787165e-02 9.09724368e-06 9.99745068e-01 3.78282339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.260714057 meters Centerline goodness : 0.984705 Centerline is valid? [True, True] Translation: X:273.71, Y:209.38, Z:3.78 [[ 5.94560062e-01 -8.03940797e-01 1.33239444e-02 2.73706005e+02] [ 8.03734112e-01 5.94709322e-01 1.82290770e-02 2.09377960e+02] [-2.25789726e-02 -1.29372515e-04 9.99745054e-01 3.78244971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.290714057 meters Centerline goodness : 0.984840 Centerline is valid? [True, True] Translation: X:273.72, Y:209.41, Z:3.78 [[ 5.89264907e-01 -8.07829690e-01 1.33439689e-02 2.73724278e+02] [ 8.07624326e-01 5.89415973e-01 1.82142158e-02 2.09408768e+02] [-2.25791327e-02 4.39157093e-05 9.99745058e-01 3.78433697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3207140569999 meters Centerline goodness : 0.984963 Centerline is valid? [True, True] Translation: X:273.74, Y:209.43, Z:3.78 [[ 5.91969700e-01 -8.05842209e-01 1.37916242e-02 2.73735535e+02] [ 8.05643956e-01 5.92130102e-01 1.78817946e-02 2.09425043e+02] [-2.25763407e-02 5.25658080e-04 9.99744984e-01 3.78251465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3507140569999 meters Centerline goodness : 0.988937 Centerline is valid? [True, True] Translation: X:273.75, Y:209.45, Z:3.78 [[ 5.92538273e-01 -8.05431597e-01 1.33543169e-02 2.73748886e+02] [ 8.05225808e-01 5.92688739e-01 1.82059252e-02 2.09448471e+02] [-2.25785806e-02 -3.44668533e-05 9.99745071e-01 3.78479055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.380714057 meters Centerline goodness : 0.987925 Centerline is valid? [True, True] Translation: X:273.76, Y:209.47, Z:3.78 [[ 5.92892541e-01 -8.05172446e-01 1.32577051e-02 2.73763065e+02] [ 8.04964984e-01 5.93040728e-01 1.82775877e-02 2.09472102e+02] [-2.25789690e-02 -1.64657074e-04 9.99745049e-01 3.78407834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.410714057 meters Centerline goodness : 0.986006 Centerline is valid? [True, True] Translation: X:273.78, Y:209.50, Z:3.78 [[ 5.95446887e-01 -8.03285791e-01 1.32265958e-02 2.73780775e+02] [ 8.03077347e-01 5.95593706e-01 1.83006139e-02 2.09496570e+02] [-2.25783003e-02 -2.75064136e-04 9.99745040e-01 3.78201656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4407140569999 meters Centerline goodness : 0.989617 Centerline is valid? [True, True] Translation: X:273.79, Y:209.52, Z:3.78 [[ 5.99112432e-01 -8.00553909e-01 1.33316209e-02 2.73792458e+02] [ 8.00346520e-01 5.99260692e-01 1.82228051e-02 2.09521104e+02] [-2.25774542e-02 -2.47592671e-04 9.99745066e-01 3.78195533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4707140569999 meters Centerline goodness : 0.990367 Centerline is valid? [True, True] Translation: X:273.81, Y:209.55, Z:3.79 [[ 5.99933817e-01 -7.99939848e-01 1.32535091e-02 2.73808854e+02] [ 7.99731024e-01 6.00080082e-01 1.82806952e-02 2.09546873e+02] [-2.25766234e-02 -3.67964785e-04 9.99745048e-01 3.78529228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.500714057 meters Centerline goodness : 0.986669 Centerline is valid? [True, True] Translation: X:273.82, Y:209.57, Z:3.78 [[ 6.07572597e-01 -7.94150316e-01 1.34467374e-02 2.73822320e+02] [ 7.93943245e-01 6.07721282e-01 1.81374404e-02 2.09570336e+02] [-2.25757225e-02 -3.43865376e-04 9.99745077e-01 3.77846622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.530714057 meters Centerline goodness : 0.986950 Centerline is valid? [True, True] Translation: X:273.84, Y:209.59, Z:3.78 [[ 6.09791735e-01 -7.92449188e-01 1.33538178e-02 2.73836787e+02] [ 7.92240190e-01 6.09937711e-01 1.82063074e-02 2.09594311e+02] [-2.25725705e-02 -5.22624610e-04 9.99745070e-01 3.77821112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5607140569999 meters Centerline goodness : 0.991677 Centerline is valid? [True, True] Translation: X:273.85, Y:209.62, Z:3.78 [[ 6.09889977e-01 -7.92373827e-01 1.33392028e-02 2.73848556e+02] [ 7.92164575e-01 6.10035591e-01 1.82171323e-02 2.09621745e+02] [-2.25721673e-02 -5.43602485e-04 9.99745068e-01 3.78118036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5907140569999 meters Centerline goodness : 0.990047 Centerline is valid? [True, True] Translation: X:273.86, Y:209.64, Z:3.77 [[ 6.14069878e-01 -7.89137271e-01 1.34370053e-02 2.73862882e+02] [ 7.88928828e-01 6.14216635e-01 1.81447052e-02 2.09644063e+02] [-2.25718953e-02 -5.41276067e-04 9.99745076e-01 3.77432601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.620714057 meters Centerline goodness : 0.989131 Centerline is valid? [True, True] Translation: X:273.88, Y:209.67, Z:3.77 [[ 6.15179329e-01 -7.88274532e-01 1.33287895e-02 2.73880118e+02] [ 7.88064144e-01 6.15323299e-01 1.82247684e-02 2.09667723e+02] [-2.25676355e-02 -7.07559701e-04 9.99745068e-01 3.77347847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.650714057 meters Centerline goodness : 0.988291 Centerline is valid? [True, True] Translation: X:273.90, Y:209.69, Z:3.77 [[ 6.14376831e-01 -7.88899790e-01 1.33502993e-02 2.73896353e+02] [ 7.88689894e-01 6.14521511e-01 1.82088654e-02 2.09693350e+02] [-2.25690162e-02 -6.57858900e-04 9.99745071e-01 3.77216442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6807140569999 meters Centerline goodness : 0.991959 Centerline is valid? [True, True] Translation: X:273.91, Y:209.72, Z:3.78 [[ 6.12723307e-01 -7.90180720e-01 1.35859898e-02 2.73908433e+02] [ 7.89974954e-01 6.12873828e-01 1.80345078e-02 2.09716535e+02] [-2.25770179e-02 -3.17571583e-04 9.99745056e-01 3.77959728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7107140569999 meters Centerline goodness : 0.991260 Centerline is valid? [True, True] Translation: X:273.92, Y:209.74, Z:3.78 [[ 6.12641030e-01 -7.90247386e-01 1.34178305e-02 2.73921911e+02] [ 7.90038901e-01 6.12787724e-01 1.81587643e-02 2.09739981e+02] [-2.25721978e-02 -5.24195941e-04 9.99745078e-01 3.77807416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.740714057 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:273.94, Y:209.76, Z:3.78 [[ 6.11955679e-01 -7.90778308e-01 1.34132229e-02 2.73937420e+02] [ 7.90569876e-01 6.12102448e-01 1.81621671e-02 2.09763874e+02] [-2.25725144e-02 -5.10351382e-04 9.99745078e-01 3.77739923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.770714057 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:273.95, Y:209.79, Z:3.78 [[ 6.11193212e-01 -7.91367854e-01 1.34081376e-02 2.73953378e+02] [ 7.91159481e-01 6.11340065e-01 1.81659206e-02 2.09787351e+02] [-2.25728573e-02 -4.94912173e-04 9.99745078e-01 3.77660184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8007140569999 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:273.97, Y:209.81, Z:3.78 [[ 6.09626830e-01 -7.92575225e-01 1.34030157e-02 2.73968728e+02] [ 7.92367060e-01 6.09773978e-01 1.81696987e-02 2.09810905e+02] [-2.25736633e-02 -4.56627650e-04 9.99745078e-01 3.77675488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8307140569999 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:273.98, Y:209.83, Z:3.77 [[ 6.09145232e-01 -7.92945512e-01 1.33978242e-02 2.73983985e+02] [ 7.92737352e-01 6.09292388e-01 1.81735260e-02 2.09833503e+02] [-2.25738082e-02 -4.49360984e-04 9.99745078e-01 3.77489835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.860714057 meters Centerline goodness : 0.991379 Centerline is valid? [True, True] Translation: X:274.00, Y:209.86, Z:3.77 [[ 6.07827801e-01 -7.93955877e-01 1.33951514e-02 2.73999450e+02] [ 7.93747919e-01 6.07975241e-01 1.81754958e-02 2.09857695e+02] [-2.25744621e-02 -4.15198135e-04 9.99745078e-01 3.77487926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.890714057 meters Centerline goodness : 0.992266 Centerline is valid? [True, True] Translation: X:274.01, Y:209.88, Z:3.77 [[ 6.06527661e-01 -7.94949612e-01 1.33906746e-02 2.74014858e+02] [ 7.94741823e-01 6.06675339e-01 1.81787935e-02 2.09880783e+02] [-2.25750169e-02 -3.83811940e-04 9.99745078e-01 3.77438091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9207140569999 meters Centerline goodness : 0.992540 Centerline is valid? [True, True] Translation: X:274.03, Y:209.90, Z:3.78 [[ 6.05895577e-01 -7.95431518e-01 1.33884119e-02 2.74031210e+02] [ 7.95223810e-01 6.06043368e-01 1.81804597e-02 2.09903537e+02] [-2.25752690e-02 -3.68676192e-04 9.99745078e-01 3.77522472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9507140569999 meters Centerline goodness : 0.983410 Centerline is valid? [True, True] Translation: X:274.05, Y:209.93, Z:3.77 [[ 6.07540942e-01 -7.94175605e-01 1.33832835e-02 2.74048491e+02] [ 7.93967508e-01 6.07688185e-01 1.81842342e-02 2.09925582e+02] [-2.25743385e-02 -4.21774539e-04 9.99745078e-01 3.76931769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9807140569999 meters Centerline goodness : 0.983410 Centerline is valid? [True, True] Translation: X:274.06, Y:209.95, Z:3.77 [[ 6.07171813e-01 -7.94456565e-01 1.34594468e-02 2.74064584e+02] [ 7.94249774e-01 6.07320893e-01 1.81281576e-02 2.09948307e+02] [-2.25762371e-02 -3.16743689e-04 9.99745074e-01 3.76864800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.010714057 meters Centerline goodness : 0.983224 Centerline is valid? [True, True] Translation: X:274.08, Y:209.97, Z:3.77 [[ 6.06490481e-01 -7.94977135e-01 1.34406730e-02 2.74081523e+02] [ 7.94770166e-01 6.06639310e-01 1.81419598e-02 2.09972630e+02] [-2.25760838e-02 -3.20679980e-04 9.99745076e-01 3.76846155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.040714057 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:274.09, Y:210.00, Z:3.77 [[ 6.04190500e-01 -7.96725589e-01 1.34972230e-02 2.74093066e+02] [ 7.96519977e-01 6.04341212e-01 1.81004305e-02 2.09996005e+02] [-2.25780042e-02 -1.85300429e-04 9.99745067e-01 3.77291318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0707140569999 meters Centerline goodness : 0.991324 Centerline is valid? [True, True] Translation: X:274.11, Y:210.02, Z:3.77 [[ 6.03541715e-01 -7.97219772e-01 1.33429416e-02 2.74110150e+02] [ 7.97011766e-01 6.03689082e-01 1.82136771e-02 2.10020683e+02] [-2.25752917e-02 -3.58232521e-04 9.99745081e-01 3.77226046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1007140569999 meters Centerline goodness : 0.984218 Centerline is valid? [True, True] Translation: X:274.13, Y:210.04, Z:3.77 [[ 6.08126668e-01 -7.93726991e-01 1.33947191e-02 2.74129562e+02] [ 7.93518974e-01 6.08274020e-01 1.81756407e-02 2.10043150e+02] [-2.25741562e-02 -4.24128010e-04 9.99745081e-01 3.76592902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.130714057 meters Centerline goodness : 0.990820 Centerline is valid? [True, True] Translation: X:274.14, Y:210.07, Z:3.77 [[ 6.07317770e-01 -7.94344353e-01 1.34972274e-02 2.74141843e+02] [ 7.94138152e-01 6.07467673e-01 1.81003449e-02 2.10067099e+02] [-2.25770361e-02 -2.73997906e-04 9.99745069e-01 3.77180953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.160714057 meters Centerline goodness : 0.991805 Centerline is valid? [True, True] Translation: X:274.16, Y:210.09, Z:3.77 [[ 6.08097596e-01 -7.93749930e-01 1.33552299e-02 2.74157443e+02] [ 7.93541285e-01 6.08244051e-01 1.82045178e-02 2.10089499e+02] [-2.25730738e-02 -4.72197214e-04 9.99745084e-01 3.77046357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1907140569999 meters Centerline goodness : 0.990615 Centerline is valid? [True, True] Translation: X:274.17, Y:210.11, Z:3.77 [[ 6.09643679e-01 -7.92563131e-01 1.33517386e-02 2.74173629e+02] [ 7.92354144e-01 6.09789646e-01 1.82070780e-02 2.10112678e+02] [-2.25720107e-02 -5.20524558e-04 9.99745084e-01 3.76936558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2207140569999 meters Centerline goodness : 0.991156 Centerline is valid? [True, True] Translation: X:274.19, Y:210.14, Z:3.77 [[ 6.10270344e-01 -7.92080787e-01 1.33466789e-02 2.74189881e+02] [ 7.91871604e-01 6.10416030e-01 1.82107863e-02 2.10135431e+02] [-2.25714407e-02 -5.44646794e-04 9.99745084e-01 3.76930977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.250714057 meters Centerline goodness : 0.991270 Centerline is valid? [True, True] Translation: X:274.17, Y:210.15, Z:3.76 [[ 5.97774841e-01 -8.01553020e-01 1.33415469e-02 2.74170741e+02] [ 8.01346063e-01 5.97923672e-01 1.82145453e-02 2.10146151e+02] [-2.25771505e-02 -1.97000788e-04 9.99745084e-01 3.76067850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.280714057 meters Centerline goodness : 0.991260 Centerline is valid? [True, True] Translation: X:274.22, Y:210.18, Z:3.77 [[ 6.14867286e-01 -7.88540547e-01 1.19174994e-02 2.74223365e+02] [ 7.88309255e-01 6.14977915e-01 1.92531245e-02 2.10176984e+02] [-2.25108682e-02 -2.44344131e-03 9.99743612e-01 3.76915568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3107140569999 meters Centerline goodness : 0.990396 Centerline is valid? [True, True] Translation: X:274.21, Y:210.19, Z:3.76 [[ 6.06086260e-01 -7.95286798e-01 1.33549728e-02 2.74210214e+02] [ 7.95078665e-01 6.06233239e-01 1.81982652e-02 2.10191523e+02] [-2.25690685e-02 -4.11464535e-04 9.99745201e-01 3.76289263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3407140569999 meters Centerline goodness : 0.990901 Centerline is valid? [True, True] Translation: X:274.26, Y:210.22, Z:3.77 [[ 6.21964887e-01 -7.82950559e-01 1.21696739e-02 2.74255873e+02] [ 7.82721891e-01 6.22079563e-01 1.90645971e-02 2.10221004e+02] [-2.24971424e-02 -2.33203982e-03 9.99744187e-01 3.76790954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.370714057 meters Centerline goodness : 0.989704 Centerline is valid? [True, True] Translation: X:274.25, Y:210.24, Z:3.76 [[ 6.14825530e-01 -7.88549966e-01 1.33611076e-02 2.74245827e+02] [ 7.88340418e-01 6.14970348e-01 1.81894574e-02 2.10236468e+02] [-2.25599810e-02 -6.50241658e-04 9.99745280e-01 3.76172708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.400714057 meters Centerline goodness : 0.991521 Centerline is valid? [True, True] Translation: X:274.26, Y:210.25, Z:3.76 [[ 6.17861036e-01 -7.86186641e-01 1.25819728e-02 2.74257485e+02] [ 7.85964461e-01 6.17986775e-01 1.87673023e-02 2.10252973e+02] [-2.25300951e-02 -1.70660132e-03 9.99744709e-01 3.76216861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4307140569999 meters Centerline goodness : 0.982278 Centerline is valid? [True, True] Translation: X:274.28, Y:210.29, Z:3.76 [[ 6.17126716e-01 -7.86769570e-01 1.21762049e-02 2.74284412e+02] [ 7.86541826e-01 6.17242969e-01 1.90545072e-02 2.10294029e+02] [-2.25071833e-02 -2.18195099e-03 9.99744300e-01 3.75906783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4607140569999 meters Centerline goodness : 0.991427 Centerline is valid? [True, True] Translation: X:274.30, Y:210.32, Z:3.76 [[ 6.16689282e-01 -7.87093226e-01 1.33634619e-02 2.74296828e+02] [ 7.86882941e-01 6.16833645e-01 1.82069057e-02 2.10315440e+02] [-2.25735651e-02 -7.12523391e-04 9.99744931e-01 3.76353640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.490714057 meters Centerline goodness : 0.991373 Centerline is valid? [True, True] Translation: X:274.28, Y:210.32, Z:3.76 [[ 6.02430762e-01 -7.98063525e-01 1.31067336e-02 2.74279182e+02] [ 7.97851859e-01 6.02573003e-01 1.83898811e-02 2.10324861e+02] [-2.25740572e-02 -6.21398343e-04 9.99744980e-01 3.75728004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.520714057 meters Centerline goodness : 0.990797 Centerline is valid? [True, True] Translation: X:274.30, Y:210.35, Z:3.76 [[ 6.06512941e-01 -7.94986773e-01 1.17509127e-02 2.74302808e+02] [ 7.94754660e-01 6.06622008e-01 1.93589794e-02 2.10346901e+02] [-2.25184948e-02 -2.40237891e-03 9.99743540e-01 3.75861194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5507140569999 meters Centerline goodness : 0.987601 Centerline is valid? [True, True] Translation: X:274.33, Y:210.38, Z:3.76 [[ 6.10336817e-01 -7.92053319e-01 1.18536905e-02 2.74333513e+02] [ 7.91822038e-01 6.10447252e-01 1.92876612e-02 2.10381347e+02] [-2.25129088e-02 -2.38595636e-03 9.99743705e-01 3.75791745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5807140569999 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:274.35, Y:210.41, Z:3.76 [[ 6.07501008e-01 -7.94217069e-01 1.27189952e-02 2.74351625e+02] [ 7.93998220e-01 6.07632848e-01 1.86855141e-02 2.10405545e+02] [-2.25688336e-02 -1.25260909e-03 9.99744507e-01 3.76213419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.610714057 meters Centerline goodness : 0.988846 Centerline is valid? [True, True] Translation: X:274.37, Y:210.42, Z:3.76 [[ 6.08158042e-01 -7.93710957e-01 1.29117291e-02 2.74367017e+02] [ 7.93494805e-01 6.08294207e-01 1.85513724e-02 2.10424710e+02] [-2.25785575e-02 -1.03677633e-03 9.99744534e-01 3.75772505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.640714057 meters Centerline goodness : 0.987833 Centerline is valid? [True, True] Translation: X:274.39, Y:210.45, Z:3.76 [[ 6.08950697e-01 -7.93106837e-01 1.26725460e-02 2.74386735e+02] [ 7.92887090e-01 6.09081048e-01 1.87173895e-02 2.10447706e+02] [-2.25634972e-02 -1.35006926e-03 9.99744500e-01 3.75534160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6707140569999 meters Centerline goodness : 0.986234 Centerline is valid? [True, True] Translation: X:274.40, Y:210.47, Z:3.75 [[ 6.06584311e-01 -7.94916098e-01 1.28011842e-02 2.74401583e+02] [ 7.94698601e-01 6.06718327e-01 1.86281141e-02 2.10468808e+02] [-2.25745008e-02 -1.12643854e-03 9.99744529e-01 3.75336192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7007140569999 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:274.42, Y:210.49, Z:3.76 [[ 6.03141761e-01 -7.97533542e-01 1.26596085e-02 2.74420032e+02] [ 7.97314568e-01 6.03273410e-01 1.87262605e-02 2.10494368e+02] [-2.25720261e-02 -1.20089942e-03 9.99744498e-01 3.75922037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7307140569999 meters Centerline goodness : 0.990713 Centerline is valid? [True, True] Translation: X:274.44, Y:210.52, Z:3.76 [[ 6.01297417e-01 -7.98921481e-01 1.28795517e-02 2.74438654e+02] [ 7.98706032e-01 6.01434693e-01 1.85737468e-02 2.10515323e+02] [-2.25851745e-02 -8.81370315e-04 9.99744534e-01 3.75919244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.760714057 meters Centerline goodness : 0.991002 Centerline is valid? [True, True] Translation: X:274.42, Y:210.52, Z:3.75 [[ 5.84428039e-01 -8.11343405e-01 1.28742821e-02 2.74417868e+02] [ 8.11130798e-01 5.84569678e-01 1.85773987e-02 2.10520496e+02] [-2.25985648e-02 -4.14425956e-04 9.99744534e-01 3.74935773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.790714057 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:274.47, Y:210.55, Z:3.76 [[ 6.00798570e-01 -7.99320840e-01 1.12815226e-02 2.74474839e+02] [ 7.99083555e-01 6.00897926e-01 1.96762488e-02 2.10554199e+02] [-2.25066793e-02 -2.80658301e-03 9.99742753e-01 3.75935642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8207140569999 meters Centerline goodness : 0.991011 Centerline is valid? [True, True] Translation: X:274.49, Y:210.58, Z:3.76 [[ 5.99985203e-01 -7.99907197e-01 1.28930895e-02 2.74491445e+02] [ 7.99692350e-01 6.00123153e-01 1.85565875e-02 2.10577624e+02] [-2.25809894e-02 -8.23172856e-04 9.99744678e-01 3.75853400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8507140569999 meters Centerline goodness : 0.992253 Centerline is valid? [True, True] Translation: X:274.47, Y:210.58, Z:3.75 [[ 5.79351660e-01 -8.14975792e-01 1.28884292e-02 2.74468570e+02] [ 8.14764468e-01 5.79494948e-01 1.85598237e-02 2.10582012e+02] [-2.25945867e-02 -2.51630555e-04 9.99744678e-01 3.74741021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.880714057 meters Centerline goodness : 0.991293 Centerline is valid? [True, True] Translation: X:274.53, Y:210.62, Z:3.76 [[ 5.96945580e-01 -8.02204323e-01 1.11444386e-02 2.74529371e+02] [ 8.01965897e-01 5.97042743e-01 1.97651899e-02 2.10615043e+02] [-2.25094270e-02 -2.86128300e-03 9.99742536e-01 3.75749123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.910714057 meters Centerline goodness : 0.990805 Centerline is valid? [True, True] Translation: X:274.55, Y:210.64, Z:3.76 [[ 5.95163592e-01 -8.03500831e-01 1.29117519e-02 2.74545810e+02] [ 8.03287314e-01 5.95303267e-01 1.85340547e-02 2.10637452e+02] [-2.25785364e-02 -6.58948006e-04 9.99744855e-01 3.75527297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9407140569999 meters Centerline goodness : 0.990712 Centerline is valid? [True, True] Translation: X:274.56, Y:210.66, Z:3.76 [[ 5.91233590e-01 -8.06397088e-01 1.29065417e-02 2.74564771e+02] [ 8.06184176e-01 5.91374186e-01 1.85376822e-02 2.10658700e+02] [-2.25813285e-02 -5.55050723e-04 9.99744855e-01 3.75595816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9707140569999 meters Centerline goodness : 0.992750 Centerline is valid? [True, True] Translation: X:274.53, Y:210.66, Z:3.74 [[ 5.63254358e-01 -8.26182840e-01 1.29012641e-02 2.74528308e+02] [ 8.25974787e-01 5.63402050e-01 1.85413544e-02 2.10657757e+02] [-2.25871475e-02 2.12620143e-04 9.99744855e-01 3.74457146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.000714057 meters Centerline goodness : 0.992086 Centerline is valid? [True, True] Translation: X:274.56, Y:210.68, Z:3.75 [[ 5.63020774e-01 -8.26372827e-01 1.07498507e-02 2.74559115e+02] [ 8.26133391e-01 5.63118276e-01 2.00356652e-02 2.10683221e+02] [-2.26103667e-02 -2.39968507e-03 9.99741473e-01 3.74826689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.030714057 meters Centerline goodness : 0.992556 Centerline is valid? [True, True] Translation: X:274.62, Y:210.72, Z:3.76 [[ 5.78681154e-01 -8.15482244e-01 1.08088721e-02 2.74623082e+02] [ 8.15241743e-01 5.78775516e-01 1.99950872e-02 2.10716140e+02] [-2.25615491e-02 -2.75893643e-03 9.99741649e-01 3.75794043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0607140569999 meters Centerline goodness : 0.991565 Centerline is valid? [True, True] Translation: X:274.64, Y:210.74, Z:3.76 [[ 5.76849798e-01 -8.16748849e-01 1.28696925e-02 2.74638903e+02] [ 8.16537813e-01 5.76993308e-01 1.85666952e-02 2.10737875e+02] [-2.25900533e-02 -2.01603818e-04 9.99744792e-01 3.75630589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0907140569999 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:274.66, Y:210.76, Z:3.76 [[ 5.73430905e-01 -8.19152909e-01 1.28650030e-02 2.74655742e+02] [ 8.18942402e-01 5.73575190e-01 1.85699439e-02 2.10759247e+02] [-2.25906701e-02 -1.12883291e-04 9.99744792e-01 3.75540109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.120714057 meters Centerline goodness : 0.982641 Centerline is valid? [True, True] Translation: X:274.68, Y:210.78, Z:3.75 [[ 5.72832520e-01 -8.19571544e-01 1.28603584e-02 2.74675352e+02] [ 8.19361070e-01 5.72976854e-01 1.85731599e-02 2.10783839e+02] [-2.25907210e-02 -1.02033003e-04 9.99744792e-01 3.74741757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.150714057 meters Centerline goodness : 0.987644 Centerline is valid? [True, True] Translation: X:274.69, Y:210.80, Z:3.75 [[ 5.72766678e-01 -8.19613473e-01 1.31181804e-02 2.74689252e+02] [ 8.19407048e-01 5.72916843e-01 1.83951186e-02 2.10801347e+02] [-2.25925136e-02 2.13018557e-04 9.99744734e-01 3.74859278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1807140569999 meters Centerline goodness : 0.986584 Centerline is valid? [True, True] Translation: X:274.71, Y:210.83, Z:3.75 [[ 5.67898838e-01 -8.23000715e-01 1.26780974e-02 2.74708011e+02] [ 8.22788285e-01 5.68040305e-01 1.86989379e-02 2.10830365e+02] [-2.25909095e-02 -1.87715081e-04 9.99744775e-01 3.75086732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2107140569999 meters Centerline goodness : 0.987930 Centerline is valid? [True, True] Translation: X:274.72, Y:210.85, Z:3.75 [[ 5.71329238e-01 -8.20617842e-01 1.30099429e-02 2.74721745e+02] [ 8.20409976e-01 5.71477333e-01 1.84696725e-02 2.10847754e+02] [-2.25914303e-02 1.21223054e-04 9.99744774e-01 3.74661740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.240714057 meters Centerline goodness : 0.991719 Centerline is valid? [True, True] Translation: X:274.74, Y:210.87, Z:3.75 [[ 5.67767315e-01 -8.23091258e-01 1.26908214e-02 2.74736461e+02] [ 8.22879058e-01 5.67909106e-01 1.86896442e-02 2.10873530e+02] [-2.25905158e-02 -1.68357924e-04 9.99744788e-01 3.75047677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.270714057 meters Centerline goodness : 0.991916 Centerline is valid? [True, True] Translation: X:274.75, Y:210.90, Z:3.75 [[ 5.67583736e-01 -8.23215860e-01 1.28198999e-02 2.74751219e+02] [ 8.23005691e-01 5.67728498e-01 1.86006815e-02 2.10897412e+02] [-2.25905985e-02 -6.59367160e-06 9.99744800e-01 3.74996060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3007140569999 meters Centerline goodness : 0.991964 Centerline is valid? [True, True] Translation: X:274.77, Y:210.92, Z:3.75 [[ 5.68310368e-01 -8.22714476e-01 1.28146989e-02 2.74766576e+02] [ 8.22504098e-01 5.68454827e-01 1.86042640e-02 2.10921407e+02] [-2.25905747e-02 -3.28537614e-05 9.99744800e-01 3.74963625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3307140569999 meters Centerline goodness : 0.991792 Centerline is valid? [True, True] Translation: X:274.78, Y:210.94, Z:3.75 [[ 5.68763937e-01 -8.22401057e-01 1.28095688e-02 2.74781141e+02] [ 8.22190520e-01 5.68908164e-01 1.86077955e-02 2.10943769e+02] [-2.25905390e-02 -5.15369649e-05 9.99744800e-01 3.74899477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.360714057 meters Centerline goodness : 0.991717 Centerline is valid? [True, True] Translation: X:274.80, Y:210.97, Z:3.75 [[ 5.70759868e-01 -8.21017178e-01 1.28049164e-02 2.74796327e+02] [ 8.20806220e-01 5.70903477e-01 1.86109965e-02 2.10968016e+02] [-2.25903191e-02 -1.12054908e-04 9.99744800e-01 3.74880148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.390714057 meters Centerline goodness : 0.991733 Centerline is valid? [True, True] Translation: X:274.81, Y:210.99, Z:3.75 [[ 5.71860570e-01 -8.20250971e-01 1.27997432e-02 2.74811409e+02] [ 8.20039740e-01 5.72003779e-01 1.86145537e-02 2.10990889e+02] [-2.25901072e-02 -1.48631239e-04 9.99744800e-01 3.74746149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4207140569999 meters Centerline goodness : 0.991819 Centerline is valid? [True, True] Translation: X:274.83, Y:211.01, Z:3.75 [[ 5.75044915e-01 -8.18021780e-01 1.27950548e-02 2.74826120e+02] [ 8.17809922e-01 5.75187195e-01 1.86177758e-02 2.11014762e+02] [-2.25892978e-02 -2.42134576e-04 9.99744800e-01 3.74671908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4507140569999 meters Centerline goodness : 0.991523 Centerline is valid? [True, True] Translation: X:274.84, Y:211.04, Z:3.75 [[ 5.76648216e-01 -8.16892437e-01 1.27898822e-02 2.74841497e+02] [ 8.16680223e-01 5.76789962e-01 1.86213286e-02 2.11038568e+02] [-2.25886981e-02 -2.92712054e-04 9.99744800e-01 3.74561914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4807140569999 meters Centerline goodness : 0.987784 Centerline is valid? [True, True] Translation: X:274.86, Y:211.06, Z:3.74 [[ 5.83550942e-01 -8.11975893e-01 1.27847018e-02 2.74856970e+02] [ 8.11762406e-01 5.83690765e-01 1.86248846e-02 2.11059780e+02] [-2.25852696e-02 -4.90428668e-04 9.99744800e-01 3.74063340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.510714057 meters Centerline goodness : 0.992033 Centerline is valid? [True, True] Translation: X:274.87, Y:211.09, Z:3.74 [[ 5.82321683e-01 -8.12860040e-01 1.26496071e-02 2.74871499e+02] [ 8.12644746e-01 5.82458729e-01 1.87175142e-02 2.11085636e+02] [-2.25825934e-02 -6.19977572e-04 9.99744788e-01 3.74466723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.540714057 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:274.89, Y:211.11, Z:3.74 [[ 5.86097372e-01 -8.10139909e-01 1.27749121e-02 2.74885637e+02] [ 8.09925839e-01 5.86236300e-01 1.86315981e-02 2.11108144e+02] [-2.25833184e-02 -5.73199267e-04 9.99744800e-01 3.74251878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5707140569999 meters Centerline goodness : 0.992420 Centerline is valid? [True, True] Translation: X:274.90, Y:211.13, Z:3.74 [[ 5.89592738e-01 -8.07599713e-01 1.27713303e-02 2.74900170e+02] [ 8.07384991e-01 5.89730657e-01 1.86340529e-02 2.11132022e+02] [-2.25805008e-02 -6.75121891e-04 9.99744800e-01 3.74192085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6007140569999 meters Centerline goodness : 0.988223 Centerline is valid? [True, True] Translation: X:274.92, Y:211.15, Z:3.74 [[ 5.94417452e-01 -8.04055294e-01 1.27662434e-02 2.74915741e+02] [ 8.03839676e-01 5.94553965e-01 1.86375374e-02 2.11152784e+02] [-2.25758312e-02 -8.16464510e-04 9.99744800e-01 3.73707841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.630714057 meters Centerline goodness : 0.992019 Centerline is valid? [True, True] Translation: X:274.91, Y:211.15, Z:3.73 [[ 5.92165660e-01 -8.05717991e-01 1.25837192e-02 2.74911195e+02] [ 8.05500094e-01 5.92298547e-01 1.87624319e-02 2.11154118e+02] [-2.25705475e-02 -9.74280823e-04 9.99744778e-01 3.72929486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.660714057 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:274.97, Y:211.19, Z:3.74 [[ 6.12354205e-01 -7.90502251e-01 1.13366205e-02 2.74972182e+02] [ 7.90264013e-01 6.12451428e-01 1.96478571e-02 2.11188319e+02] [-2.24748046e-02 -3.07252472e-03 9.99742688e-01 3.74122259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6907140569999 meters Centerline goodness : 0.990508 Centerline is valid? [True, True] Translation: X:274.95, Y:211.20, Z:3.73 [[ 5.96726154e-01 -8.02337409e-01 1.31369514e-02 2.74954813e+02] [ 8.02127429e-01 5.96870596e-01 1.83597331e-02 2.11203885e+02] [-2.25717607e-02 -4.18223862e-04 9.99745138e-01 3.73043650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7207140569999 meters Centerline goodness : 0.992921 Centerline is valid? [True, True] Translation: X:275.01, Y:211.23, Z:3.74 [[ 6.15664754e-01 -7.87916274e-01 1.20355970e-02 2.75005360e+02] [ 7.87686997e-01 6.15778061e-01 1.91461358e-02 2.11229650e+02] [-2.24968086e-02 -2.30731771e-03 9.99744252e-01 3.74072929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.750714057 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:275.02, Y:211.25, Z:3.74 [[ 6.16233178e-01 -7.87453849e-01 1.31569681e-02 2.75021872e+02] [ 7.87240774e-01 6.16372892e-01 1.83417777e-02 2.11251140e+02] [-2.25529019e-02 -9.45110200e-04 9.99745204e-01 3.73948422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.780714057 meters Centerline goodness : 0.990930 Centerline is valid? [True, True] Translation: X:275.00, Y:211.26, Z:3.73 [[ 5.98899937e-01 -8.00715856e-01 1.31523256e-02 2.75003129e+02] [ 8.00505808e-01 5.99044162e-01 1.83451060e-02 2.11264095e+02] [-2.25680412e-02 -4.58369817e-04 9.99745204e-01 3.73276992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8107140569999 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:275.01, Y:211.28, Z:3.73 [[ 6.00897132e-01 -7.99235001e-01 1.20851431e-02 2.75013071e+02] [ 7.99008392e-01 6.01015853e-01 1.91189521e-02 2.11278287e+02] [-2.25438983e-02 -1.83239273e-03 9.99744175e-01 3.73193288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8407140569999 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:275.03, Y:211.30, Z:3.73 [[ 6.03543023e-01 -7.97246261e-01 1.15852849e-02 2.75028282e+02] [ 7.97012182e-01 6.03648925e-01 1.94822222e-02 2.11295471e+02] [-2.25255736e-02 -2.52474603e-03 9.99743079e-01 3.72904753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.870714057 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:275.05, Y:211.32, Z:3.73 [[ 6.04890529e-01 -7.96228547e-01 1.12937498e-02 2.75045199e+02] [ 7.95990311e-01 6.04988889e-01 1.96943955e-02 2.11317303e+02] [-2.25138330e-02 -2.92323788e-03 9.99742258e-01 3.72858403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.900714057 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:275.06, Y:211.34, Z:3.73 [[ 6.04503880e-01 -7.96522751e-01 1.12502263e-02 2.75061387e+02] [ 7.96283976e-01 6.04601282e-01 1.97261195e-02 2.11338491e+02] [-2.25142042e-02 -2.96614081e-03 9.99742123e-01 3.72671678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9307140569999 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:275.08, Y:211.36, Z:3.72 [[ 6.04993687e-01 -7.96151509e-01 1.11988393e-02 2.75082033e+02] [ 7.95911985e-01 6.05089673e-01 1.97635785e-02 2.11359833e+02] [-2.25111049e-02 -3.04354982e-03 9.99741960e-01 3.72481696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9607140569999 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:275.10, Y:211.38, Z:3.73 [[ 6.05342388e-01 -7.95885308e-01 1.12769533e-02 2.75098394e+02] [ 7.95646794e-01 6.05440199e-01 1.97064467e-02 2.11378304e+02] [-2.25115922e-02 -2.95667578e-03 9.99742210e-01 3.72594265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.990714057 meters Centerline goodness : 0.988743 Centerline is valid? [True, True] Translation: X:275.14, Y:211.43, Z:3.73 [[ 6.08900893e-01 -7.93168325e-01 1.11225848e-02 2.75136403e+02] [ 7.92927463e-01 6.08993826e-01 1.98130690e-02 2.11425302e+02] [-2.24886842e-02 -3.24479244e-03 9.99741832e-01 3.72795592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.020714057 meters Centerline goodness : 0.989005 Centerline is valid? [True, True] Translation: X:275.15, Y:211.45, Z:3.73 [[ 6.08556271e-01 -7.93408379e-01 1.27439975e-02 2.75154530e+02] [ 7.93189346e-01 6.08688386e-01 1.86844768e-02 2.11445343e+02] [-2.25815438e-02 -1.26215245e-03 9.99744208e-01 3.72761305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0507140569999 meters Centerline goodness : 0.987882 Centerline is valid? [True, True] Translation: X:275.17, Y:211.47, Z:3.73 [[ 6.07151997e-01 -7.94484394e-01 1.26885753e-02 2.75174869e+02] [ 7.94264794e-01 6.07283200e-01 1.87230450e-02 2.11465455e+02] [-2.25807256e-02 -1.28964552e-03 9.99744191e-01 3.72722501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0807140569999 meters Centerline goodness : 0.992918 Centerline is valid? [True, True] Translation: X:275.17, Y:211.46, Z:3.72 [[ 5.99895394e-01 -7.99976988e-01 1.27410530e-02 2.75168115e+02] [ 7.99759361e-01 6.00029814e-01 1.86865439e-02 2.11456803e+02] [-2.25938168e-02 -1.02019524e-03 9.99744207e-01 3.72052891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.110714057 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:275.19, Y:211.48, Z:3.72 [[ 6.01068410e-01 -7.99117797e-01 1.12921403e-02 2.75189899e+02] [ 7.98878566e-01 6.01167689e-01 1.97597314e-02 2.11475615e+02] [-2.25788229e-02 -2.85590152e-03 9.99740987e-01 3.72448270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.140714057 meters Centerline goodness : 0.988426 Centerline is valid? [True, True] Translation: X:275.23, Y:211.52, Z:3.73 [[ 6.05299867e-01 -7.95920710e-01 1.10586582e-02 2.75231702e+02] [ 7.95678021e-01 6.05392103e-01 1.99220662e-02 2.11521989e+02] [-2.25512094e-02 -3.25969278e-03 9.99740375e-01 3.73243371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1707140569999 meters Centerline goodness : 0.988145 Centerline is valid? [True, True] Translation: X:275.25, Y:211.54, Z:3.73 [[ 6.04257669e-01 -7.96687357e-01 1.27249223e-02 2.75247521e+02] [ 7.96467434e-01 6.04390451e-01 1.87565782e-02 2.11544044e+02] [-2.26339503e-02 -1.19882001e-03 9.99743101e-01 3.73054813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2007140569999 meters Centerline goodness : 0.988604 Centerline is valid? [True, True] Translation: X:275.27, Y:211.57, Z:3.73 [[ 6.03371656e-01 -7.97358337e-01 1.27407818e-02 2.75266688e+02] [ 7.97138794e-01 6.03505054e-01 1.87454880e-02 2.11565936e+02] [-2.26359974e-02 -1.15432471e-03 9.99743107e-01 3.72983282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2307140569999 meters Centerline goodness : 0.987642 Centerline is valid? [True, True] Translation: X:275.28, Y:211.59, Z:3.73 [[ 6.00290516e-01 -7.99680239e-01 1.27597438e-02 2.75282415e+02] [ 7.99461493e-01 6.00425204e-01 1.87322313e-02 2.11589911e+02] [-2.26410670e-02 -1.04385700e-03 9.99743113e-01 3.72713053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.260714057 meters Centerline goodness : 0.987476 Centerline is valid? [True, True] Translation: X:275.30, Y:211.61, Z:3.73 [[ 6.01460616e-01 -7.98799204e-01 1.28436355e-02 2.75302091e+02] [ 7.98581503e-01 6.01596943e-01 1.86735604e-02 2.11608299e+02] [-2.26431170e-02 -9.74721387e-04 9.99743137e-01 3.72702865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.290714057 meters Centerline goodness : 0.986325 Centerline is valid? [True, True] Translation: X:275.32, Y:211.63, Z:3.73 [[ 5.96538595e-01 -8.02482424e-01 1.27930792e-02 2.75322504e+02] [ 8.02264807e-01 5.96675082e-01 1.87089555e-02 2.11634994e+02] [-2.26469196e-02 -8.97176858e-04 9.99743123e-01 3.72562853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3207140569999 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:275.32, Y:211.63, Z:3.72 [[ 5.91629935e-01 -8.06101883e-01 1.31823742e-02 2.75316990e+02] [ 8.05891080e-01 5.91776710e-01 1.84361639e-02 2.11630380e+02] [-2.26624485e-02 -2.83828702e-04 9.99743133e-01 3.71674772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3507140569999 meters Centerline goodness : 0.987632 Centerline is valid? [True, True] Translation: X:275.36, Y:211.68, Z:3.73 [[ 5.92196827e-01 -8.05710601e-01 1.15475104e-02 2.75361606e+02] [ 8.05476144e-01 5.92304982e-01 1.95701396e-02 2.11677272e+02] [-2.26075169e-02 -2.28813038e-03 9.99741799e-01 3.72547253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.380714057 meters Centerline goodness : 0.988081 Centerline is valid? [True, True] Translation: X:275.37, Y:211.69, Z:3.72 [[ 5.94226079e-01 -8.04189309e-01 1.32257947e-02 2.75374639e+02] [ 8.03978875e-01 5.94373170e-01 1.83984579e-02 2.11693924e+02] [-2.26569007e-02 -2.99583970e-04 9.99743255e-01 3.72453165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.410714057 meters Centerline goodness : 0.986582 Centerline is valid? [True, True] Translation: X:275.39, Y:211.72, Z:3.73 [[ 5.87793159e-01 -8.08910553e-01 1.27640056e-02 2.75393975e+02] [ 8.08694197e-01 5.87931334e-01 1.87201118e-02 2.11723469e+02] [-2.26472548e-02 -6.81376385e-04 9.99743286e-01 3.72562742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4407140569999 meters Centerline goodness : 0.987360 Centerline is valid? [True, True] Translation: X:275.41, Y:211.74, Z:3.72 [[ 5.90488337e-01 -8.06938489e-01 1.31832593e-02 2.75407369e+02] [ 8.06728080e-01 5.90635433e-01 1.84279808e-02 2.11740099e+02] [-2.26567470e-02 -2.46202295e-04 9.99743273e-01 3.72454659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4707140569999 meters Centerline goodness : 0.987723 Centerline is valid? [True, True] Translation: X:275.42, Y:211.76, Z:3.73 [[ 5.89680896e-01 -8.07535712e-01 1.27481494e-02 2.75423344e+02] [ 8.07318810e-01 5.89818198e-01 1.87305342e-02 2.11763195e+02] [-2.26446658e-02 -7.53217413e-04 9.99743293e-01 3.72524345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.500714057 meters Centerline goodness : 0.989829 Centerline is valid? [True, True] Translation: X:275.43, Y:211.78, Z:3.73 [[ 5.81379783e-01 -8.13532860e-01 1.27213764e-02 2.75425539e+02] [ 8.13316968e-01 5.81518683e-01 1.87491462e-02 2.11782132e+02] [-2.26507646e-02 -5.53863240e-04 9.99743285e-01 3.72599302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.530714057 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:275.44, Y:211.80, Z:3.73 [[ 5.86325691e-01 -8.09981640e-01 1.23258875e-02 2.75440884e+02] [ 8.09758938e-01 5.86454056e-01 1.90289913e-02 2.11802618e+02] [-2.26417003e-02 -1.17618889e-03 9.99742952e-01 3.72749496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5607140569999 meters Centerline goodness : 0.988099 Centerline is valid? [True, True] Translation: X:275.46, Y:211.83, Z:3.72 [[ 5.92114707e-01 -8.05761201e-01 1.22090695e-02 2.75464972e+02] [ 8.05535915e-01 5.92238715e-01 1.91100296e-02 2.11834438e+02] [-2.26288040e-02 -1.48048558e-03 9.99742840e-01 3.72213391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5907140569999 meters Centerline goodness : 0.988404 Centerline is valid? [True, True] Translation: X:275.48, Y:211.86, Z:3.72 [[ 5.93499861e-01 -8.04733143e-01 1.27469164e-02 2.75480575e+02] [ 8.04515463e-01 5.93636101e-01 1.87363160e-02 2.11858658e+02] [-2.26447642e-02 -8.64909583e-04 9.99743200e-01 3.72048000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.620714057 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:275.49, Y:211.89, Z:3.72 [[ 5.92484660e-01 -8.05480553e-01 1.27674057e-02 2.75493877e+02] [ 8.05263350e-01 5.92621651e-01 1.87220809e-02 2.11885639e+02] [-2.26465131e-02 -8.11421886e-04 9.99743206e-01 3.72375283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.650714057 meters Centerline goodness : 0.988408 Centerline is valid? [True, True] Translation: X:275.51, Y:211.91, Z:3.72 [[ 5.96185672e-01 -8.02742439e-01 1.29313647e-02 2.75507760e+02] [ 8.02527055e-01 5.96325467e-01 1.86081413e-02 2.11906160e+02] [-2.26488469e-02 -7.16137162e-04 9.99743225e-01 3.71601294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6807140569999 meters Centerline goodness : 0.987347 Centerline is valid? [True, True] Translation: X:275.52, Y:211.93, Z:3.71 [[ 5.97395196e-01 -8.01845365e-01 1.27667743e-02 2.75520059e+02] [ 8.01627323e-01 5.97530842e-01 1.87223909e-02 2.11930314e+02] [-2.26410038e-02 -9.50471255e-04 9.99743208e-01 3.71281021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7107140569999 meters Centerline goodness : 0.987894 Centerline is valid? [True, True] Translation: X:275.54, Y:211.95, Z:3.71 [[ 5.98360020e-01 -8.01125703e-01 1.27629773e-02 2.75535186e+02] [ 8.00907442e-01 5.98495315e-01 1.87250287e-02 2.11953133e+02] [-2.26396839e-02 -9.82345000e-04 9.99743207e-01 3.71316102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.740714057 meters Centerline goodness : 0.991091 Centerline is valid? [True, True] Translation: X:275.55, Y:211.98, Z:3.72 [[ 5.96097613e-01 -8.02810844e-01 1.27430233e-02 2.75550141e+02] [ 8.02592670e-01 5.96233058e-01 1.87388855e-02 2.11979671e+02] [-2.26415922e-02 -9.42747841e-04 9.99743202e-01 3.71871545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.770714057 meters Centerline goodness : 0.986179 Centerline is valid? [True, True] Translation: X:275.57, Y:212.00, Z:3.72 [[ 5.96630257e-01 -8.02412155e-01 1.29255530e-02 2.75567003e+02] [ 8.02196607e-01 5.96769799e-01 1.86121249e-02 2.12004400e+02] [-2.26481749e-02 -7.35722089e-04 9.99743226e-01 3.71647793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8007140569999 meters Centerline goodness : 0.986607 Centerline is valid? [True, True] Translation: X:275.58, Y:212.03, Z:3.72 [[ 5.95956509e-01 -8.02910740e-01 1.30454352e-02 2.75581798e+02] [ 8.02697117e-01 5.96099000e-01 1.85288920e-02 2.12027880e+02] [-2.26534172e-02 -5.70880592e-04 9.99743215e-01 3.71677440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8307140569999 meters Centerline goodness : 0.990190 Centerline is valid? [True, True] Translation: X:275.60, Y:212.05, Z:3.72 [[ 5.99335270e-01 -8.00391575e-01 1.30598796e-02 2.75595820e+02] [ 8.00177572e-01 5.99477194e-01 1.85188627e-02 2.12045625e+02] [-2.26514416e-02 -6.48784862e-04 9.99743213e-01 3.71567399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.860714057 meters Centerline goodness : 0.987306 Centerline is valid? [True, True] Translation: X:275.61, Y:212.07, Z:3.72 [[ 5.96067762e-01 -8.02832395e-01 1.27815929e-02 2.75612849e+02] [ 8.02614801e-01 5.96204114e-01 1.87119375e-02 2.12074101e+02] [-2.26429879e-02 -8.94887101e-04 9.99743214e-01 3.71855706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.890714057 meters Centerline goodness : 0.987543 Centerline is valid? [True, True] Translation: X:275.63, Y:212.10, Z:3.72 [[ 5.94895732e-01 -8.03696772e-01 1.30601270e-02 2.75627111e+02] [ 8.03483563e-01 5.95038844e-01 1.85186010e-02 2.12097637e+02] [-2.26546227e-02 -5.23039323e-04 9.99743214e-01 3.71839851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9207140569999 meters Centerline goodness : 0.987577 Centerline is valid? [True, True] Translation: X:275.64, Y:212.12, Z:3.72 [[ 5.94623657e-01 -8.03898912e-01 1.30094368e-02 2.75642175e+02] [ 8.03684983e-01 5.94765673e-01 1.85537501e-02 2.12121726e+02] [-2.26529060e-02 -5.77009754e-04 9.99743223e-01 3.71769023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9507140569999 meters Centerline goodness : 0.987778 Centerline is valid? [True, True] Translation: X:275.65, Y:212.14, Z:3.71 [[ 5.97853720e-01 -8.01499916e-01 1.29928205e-02 2.75654502e+02] [ 8.01285168e-01 5.97994490e-01 1.85652605e-02 2.12141505e+02] [-2.26496898e-02 -6.88355640e-04 9.99743226e-01 3.71475576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9807140569999 meters Centerline goodness : 0.987670 Centerline is valid? [True, True] Translation: X:275.67, Y:212.17, Z:3.71 [[ 5.98849728e-01 -8.00761141e-01 1.26727313e-02 2.75670732e+02] [ 8.00541498e-01 5.98982782e-01 1.87866176e-02 2.12165195e+02] [-2.26343412e-02 -1.10531357e-03 9.99743199e-01 3.71376344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.010714057 meters Centerline goodness : 0.987931 Centerline is valid? [True, True] Translation: X:275.69, Y:212.19, Z:3.71 [[ 6.00425581e-01 -7.99580044e-01 1.26836193e-02 2.75685877e+02] [ 7.99360298e-01 6.00558457e-01 1.87790864e-02 2.12189430e+02] [-2.26326376e-02 -1.13666215e-03 9.99743203e-01 3.71085261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.040714057 meters Centerline goodness : 0.992365 Centerline is valid? [True, True] Translation: X:275.68, Y:212.19, Z:3.70 [[ 5.98459646e-01 -8.01051912e-01 1.27234208e-02 2.75680932e+02] [ 8.00833074e-01 5.98593992e-01 1.87515605e-02 2.12190009e+02] [-2.26371366e-02 -1.03271603e-03 9.99743214e-01 3.70467909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0707140569999 meters Centerline goodness : 0.988218 Centerline is valid? [True, True] Translation: X:275.72, Y:212.23, Z:3.71 [[ 6.03225485e-01 -7.97487347e-01 1.15302315e-02 2.75715946e+02] [ 7.97251321e-01 6.03329997e-01 1.95766903e-02 2.12233024e+02] [-2.25686973e-02 -2.61666621e-03 9.99741870e-01 3.70844581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1007140569999 meters Centerline goodness : 0.986062 Centerline is valid? [True, True] Translation: X:275.73, Y:212.26, Z:3.71 [[ 6.02887912e-01 -7.97723984e-01 1.27518692e-02 2.75730296e+02] [ 7.97504928e-01 6.03021716e-01 1.87270159e-02 2.12256598e+02] [-2.26286438e-02 -1.12061296e-03 9.99743311e-01 3.70809617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.130714057 meters Centerline goodness : 0.986662 Centerline is valid? [True, True] Translation: X:275.75, Y:212.28, Z:3.71 [[ 6.02145282e-01 -7.98285273e-01 1.27154335e-02 2.75746367e+02] [ 7.98065809e-01 6.02278436e-01 1.87523342e-02 2.12279157e+02] [-2.26279436e-02 -1.14387687e-03 9.99743301e-01 3.70800630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.160714057 meters Centerline goodness : 0.990671 Centerline is valid? [True, True] Translation: X:275.74, Y:212.28, Z:3.70 [[ 5.90936107e-01 -8.06617784e-01 1.27384371e-02 2.75740576e+02] [ 8.06400545e-01 5.91072847e-01 1.87363614e-02 2.12282576e+02] [-2.26424266e-02 -7.99709907e-04 9.99743308e-01 3.70293047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1907140569999 meters Centerline goodness : 0.986819 Centerline is valid? [True, True] Translation: X:275.78, Y:212.32, Z:3.71 [[ 6.01014505e-01 -7.99153689e-01 1.16166215e-02 2.75777710e+02] [ 7.98919100e-01 6.01121772e-01 1.95163334e-02 2.12319096e+02] [-2.25795539e-02 -2.44885872e-03 9.99742050e-01 3.70853828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2207140569999 meters Centerline goodness : 0.987052 Centerline is valid? [True, True] Translation: X:275.79, Y:212.34, Z:3.70 [[ 5.97622875e-01 -8.01676362e-01 1.27244052e-02 2.75794506e+02] [ 8.01457855e-01 5.97757480e-01 1.87430344e-02 2.12343738e+02] [-2.26319560e-02 -1.00319166e-03 9.99743361e-01 3.70375765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.250714057 meters Centerline goodness : 0.986423 Centerline is valid? [True, True] Translation: X:275.81, Y:212.37, Z:3.70 [[ 5.96377223e-01 -8.02600340e-01 1.29190219e-02 2.75810007e+02] [ 8.02384954e-01 5.96516688e-01 1.86071456e-02 2.12365046e+02] [-2.26405135e-02 -7.30849066e-04 9.99743404e-01 3.70293733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.280714057 meters Centerline goodness : 0.990848 Centerline is valid? [True, True] Translation: X:275.83, Y:212.39, Z:3.71 [[ 5.92394844e-01 -8.05546728e-01 1.27600130e-02 2.75826673e+02] [ 8.05329638e-01 5.92531695e-01 1.87180230e-02 2.12390580e+02] [-2.26389543e-02 -8.12443641e-04 9.99743376e-01 3.70679717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3107140569999 meters Centerline goodness : 0.984528 Centerline is valid? [True, True] Translation: X:275.84, Y:212.41, Z:3.70 [[ 5.92940901e-01 -8.05141681e-01 1.29600227e-02 2.75843014e+02] [ 8.04927516e-01 5.93082231e-01 1.85785007e-02 2.12409875e+02] [-2.26446845e-02 -5.84074013e-04 9.99743406e-01 3.70097428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3407140569999 meters Centerline goodness : 0.990398 Centerline is valid? [True, True] Translation: X:275.86, Y:212.43, Z:3.71 [[ 5.89088308e-01 -8.07968089e-01 1.27487884e-02 2.75859981e+02] [ 8.07751398e-01 5.89225788e-01 1.87256437e-02 2.12434735e+02] [-2.26416374e-02 -7.33206111e-04 9.99743376e-01 3.70797013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.370714057 meters Centerline goodness : 0.990612 Centerline is valid? [True, True] Translation: X:275.88, Y:212.46, Z:3.71 [[ 5.86985892e-01 -8.09493578e-01 1.29502387e-02 2.75876929e+02] [ 8.09280313e-01 5.87128574e-01 1.85852737e-02 2.12457040e+02] [-2.26481149e-02 -4.28920302e-04 9.99743407e-01 3.70820041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.400714057 meters Centerline goodness : 0.981356 Centerline is valid? [True, True] Translation: X:275.90, Y:212.48, Z:3.70 [[ 5.89571790e-01 -8.07612198e-01 1.29476790e-02 2.75896370e+02] [ 8.07398438e-01 5.89713730e-01 1.85870568e-02 2.12478474e+02] [-2.26465579e-02 -5.04468538e-04 9.99743407e-01 3.70242831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4307140569999 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:275.91, Y:212.50, Z:3.71 [[ 5.85600177e-01 -8.10495117e-01 1.30421689e-02 2.75908644e+02] [ 8.10283514e-01 5.85745327e-01 1.85212884e-02 2.12502596e+02] [-2.26508033e-02 -2.78215350e-04 9.99743399e-01 3.71094068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4607140569999 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:275.92, Y:212.52, Z:3.71 [[ 5.85473643e-01 -8.10588306e-01 1.29310193e-02 2.75924272e+02] [ 8.10375014e-01 5.85616282e-01 1.85985676e-02 2.12524920e+02] [-2.26483968e-02 -4.09996152e-04 9.99743408e-01 3.71005330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.490714057 meters Centerline goodness : 0.982171 Centerline is valid? [True, True] Translation: X:275.94, Y:212.55, Z:3.70 [[ 5.88849051e-01 -8.08139658e-01 1.29262945e-02 2.75943699e+02] [ 8.07925701e-01 5.88990690e-01 1.86018508e-02 2.12546112e+02] [-2.26463605e-02 -5.10196686e-04 9.99743408e-01 3.70405035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.520714057 meters Centerline goodness : 0.988156 Centerline is valid? [True, True] Translation: X:275.96, Y:212.57, Z:3.70 [[ 5.85739383e-01 -8.10395913e-01 1.29553209e-02 2.75956205e+02] [ 8.10182946e-01 5.85882509e-01 1.85816948e-02 2.12570870e+02] [-2.26488254e-02 -3.87850412e-04 9.99743407e-01 3.70372295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5507140569999 meters Centerline goodness : 0.990140 Centerline is valid? [True, True] Translation: X:275.97, Y:212.59, Z:3.70 [[ 5.86596366e-01 -8.09776304e-01 1.29244650e-02 2.75971932e+02] [ 8.09562715e-01 5.86738558e-01 1.86030962e-02 2.12591441e+02] [-2.26476285e-02 -4.49343636e-04 9.99743409e-01 3.70388463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5807140569999 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:275.99, Y:212.62, Z:3.71 [[ 5.82987228e-01 -8.12380929e-01 1.27717693e-02 2.75988463e+02] [ 8.12165643e-01 5.83126865e-01 1.87090092e-02 2.12616193e+02] [-2.26464041e-02 -5.34321224e-04 9.99743395e-01 3.70939773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.610714057 meters Centerline goodness : 0.988634 Centerline is valid? [True, True] Translation: X:276.00, Y:212.64, Z:3.70 [[ 5.83429660e-01 -8.12061065e-01 1.29095909e-02 2.76003720e+02] [ 8.11847805e-01 5.83572346e-01 1.86134216e-02 2.12638222e+02] [-2.26489152e-02 -3.78999231e-04 9.99743409e-01 3.70428916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.640714057 meters Centerline goodness : 0.987819 Centerline is valid? [True, True] Translation: X:276.02, Y:212.66, Z:3.70 [[ 5.83033708e-01 -8.12346387e-01 1.28468912e-02 2.76019619e+02] [ 8.12132237e-01 5.83175060e-01 1.86569009e-02 2.12659576e+02] [-2.26478525e-02 -4.44227602e-04 9.99743406e-01 3.70203083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6707140569999 meters Centerline goodness : 0.987575 Centerline is valid? [True, True] Translation: X:276.04, Y:212.69, Z:3.70 [[ 5.80822018e-01 -8.13930761e-01 1.27475664e-02 2.76036624e+02] [ 8.13715481e-01 5.80961671e-01 1.87257169e-02 2.12685291e+02] [-2.26472845e-02 -5.03416550e-04 9.99743391e-01 3.70036413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7007140569999 meters Centerline goodness : 0.983311 Centerline is valid? [True, True] Translation: X:276.06, Y:212.71, Z:3.70 [[ 5.82702321e-01 -8.12582073e-01 1.29761145e-02 2.76055274e+02] [ 8.12369968e-01 5.82846719e-01 1.85671114e-02 2.12707317e+02] [-2.26503876e-02 -2.77693162e-04 9.99743408e-01 3.69984398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7307140569999 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:276.07, Y:212.73, Z:3.70 [[ 5.78702131e-01 -8.15434331e-01 1.30650509e-02 2.76065396e+02] [ 8.15224325e-01 5.78849591e-01 1.85054210e-02 2.12730588e+02] [-2.26526549e-02 -5.81792515e-05 9.99743394e-01 3.70449267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.760714057 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:276.05, Y:212.74, Z:3.70 [[ 5.65498149e-01 -8.24648737e-01 1.28958894e-02 2.76048547e+02] [ 8.24438445e-01 5.65645163e-01 1.86225638e-02 2.12740001e+02] [-2.26515711e-02 1.00841659e-04 9.99743415e-01 3.69894699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.790714057 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:276.07, Y:212.76, Z:3.70 [[ 5.66387566e-01 -8.24057397e-01 1.15987666e-02 2.76065043e+02] [ 8.23827494e-01 5.66504327e-01 1.95220045e-02 2.12761904e+02] [-2.26580036e-02 -1.50163775e-03 9.99742147e-01 3.69906250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8207140569999 meters Centerline goodness : 0.986669 Centerline is valid? [True, True] Translation: X:276.09, Y:212.80, Z:3.70 [[ 5.68349043e-01 -8.22707254e-01 1.14951686e-02 2.76094235e+02] [ 8.22475669e-01 5.68462796e-01 1.95914022e-02 2.12801222e+02] [-2.26525644e-02 -1.68025823e-03 9.99741986e-01 3.69873319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8507140569999 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:276.11, Y:212.83, Z:3.70 [[ 5.64991895e-01 -8.25002164e-01 1.24734494e-02 2.76109468e+02] [ 8.24784969e-01 5.65129420e-01 1.89339221e-02 2.12828037e+02] [-2.26696400e-02 -4.09598918e-04 9.99742927e-01 3.70387238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.880714057 meters Centerline goodness : 0.991110 Centerline is valid? [True, True] Translation: X:276.09, Y:212.84, Z:3.70 [[ 5.51401192e-01 -8.34144311e-01 1.26488939e-02 2.76092504e+02] [ 8.33932084e-01 5.51546225e-01 1.88159816e-02 2.12840250e+02] [-2.26716937e-02 1.73163818e-04 9.99742949e-01 3.69690859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.910714057 meters Centerline goodness : 0.990560 Centerline is valid? [True, True] Translation: X:276.11, Y:212.86, Z:3.70 [[ 5.53743904e-01 -8.32607360e-01 1.15183540e-02 2.76110651e+02] [ 8.32378091e-01 5.53862268e-01 1.95781092e-02 2.12862724e+02] [-2.26804595e-02 -1.25363311e-03 9.99741979e-01 3.69850642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9407140569999 meters Centerline goodness : 0.991002 Centerline is valid? [True, True] Translation: X:276.12, Y:212.88, Z:3.70 [[ 5.56560560e-01 -8.30726649e-01 1.15575789e-02 2.76124585e+02] [ 8.30497531e-01 5.56679071e-01 1.95515200e-02 2.12883961e+02] [-2.26758310e-02 -1.28306415e-03 9.99742047e-01 3.69717954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9707140569999 meters Centerline goodness : 0.990626 Centerline is valid? [True, True] Translation: X:276.17, Y:212.92, Z:3.70 [[ 5.67752971e-01 -8.23119156e-01 1.14638262e-02 2.76167852e+02] [ 8.22887175e-01 5.67866142e-01 1.96148683e-02 2.12916853e+02] [-2.26552926e-02 -1.70296415e-03 9.99741886e-01 3.69884466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.000714057 meters Centerline goodness : 0.990771 Centerline is valid? [True, True] Translation: X:276.18, Y:212.94, Z:3.70 [[ 5.68070622e-01 -8.22881298e-01 1.27333563e-02 2.76181977e+02] [ 8.22667607e-01 5.68213286e-01 1.87528794e-02 2.12941132e+02] [-2.26666559e-02 -1.77640145e-04 9.99743063e-01 3.69811110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.030714057 meters Centerline goodness : 0.990352 Centerline is valid? [True, True] Translation: X:276.20, Y:212.96, Z:3.70 [[ 5.67264084e-01 -8.23437582e-01 1.27282312e-02 2.76196355e+02] [ 8.23223953e-01 5.67406840e-01 1.87563573e-02 2.12964832e+02] [-2.26667750e-02 -1.61623056e-04 9.99743063e-01 3.69792211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0607140569999 meters Centerline goodness : 0.990462 Centerline is valid? [True, True] Translation: X:276.21, Y:212.99, Z:3.70 [[ 5.66715133e-01 -8.23815555e-01 1.27235800e-02 2.76211772e+02] [ 8.23601950e-01 5.66857926e-01 1.87595120e-02 2.12988576e+02] [-2.26668399e-02 -1.52134008e-04 9.99743063e-01 3.69820545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0907140569999 meters Centerline goodness : 0.991240 Centerline is valid? [True, True] Translation: X:276.23, Y:213.01, Z:3.70 [[ 5.65606242e-01 -8.24577360e-01 1.27183706e-02 2.76226670e+02] [ 8.24363868e-01 5.65749204e-01 1.87630431e-02 2.13012725e+02] [-2.26669886e-02 -1.27929132e-04 9.99743063e-01 3.69868251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.120714057 meters Centerline goodness : 0.990897 Centerline is valid? [True, True] Translation: X:276.24, Y:213.04, Z:3.70 [[ 5.64995813e-01 -8.24995820e-01 1.27133361e-02 2.76241299e+02] [ 8.24782357e-01 5.65138818e-01 1.87664537e-02 2.13035607e+02] [-2.26670456e-02 -1.17232419e-04 9.99743063e-01 3.69762217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.150714057 meters Centerline goodness : 0.990090 Centerline is valid? [True, True] Translation: X:276.26, Y:213.06, Z:3.70 [[ 5.64139332e-01 -8.25581799e-01 1.27085701e-02 2.76255655e+02] [ 8.25368412e-01 5.64282450e-01 1.87696807e-02 2.13058877e+02] [-2.26671298e-02 -9.94628184e-05 9.99743063e-01 3.69648796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1807140569999 meters Centerline goodness : 0.988296 Centerline is valid? [True, True] Translation: X:276.27, Y:213.08, Z:3.69 [[ 5.65955139e-01 -8.24338136e-01 1.27050347e-02 2.76272527e+02] [ 8.24124381e-01 5.66097707e-01 1.87720735e-02 2.13081376e+02] [-2.26668271e-02 -1.53622604e-04 9.99743063e-01 3.69088933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2107140569999 meters Centerline goodness : 0.981623 Centerline is valid? [True, True] Translation: X:276.29, Y:213.11, Z:3.69 [[ 5.63876157e-01 -8.25762274e-01 1.26627967e-02 2.76288724e+02] [ 8.25548237e-01 5.64018302e-01 1.88006208e-02 2.13106136e+02] [-2.26668925e-02 -1.47472337e-04 9.99743062e-01 3.68786249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.240714057 meters Centerline goodness : 0.991340 Centerline is valid? [True, True] Translation: X:276.30, Y:213.13, Z:3.69 [[ 5.61242960e-01 -8.27551025e-01 1.28701719e-02 2.76300600e+02] [ 8.27340632e-01 5.61390480e-01 1.86603246e-02 2.13128987e+02] [-2.26675627e-02 1.75040282e-04 9.99743042e-01 3.69461603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.270714057 meters Centerline goodness : 0.987460 Centerline is valid? [True, True] Translation: X:276.32, Y:213.15, Z:3.69 [[ 5.63776358e-01 -8.25830013e-01 1.26888897e-02 2.76317660e+02] [ 8.25616394e-01 5.63919123e-01 1.87827922e-02 2.13150612e+02] [-2.26669010e-02 -1.13138799e-04 9.99743066e-01 3.69041839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3007140569999 meters Centerline goodness : 0.987739 Centerline is valid? [True, True] Translation: X:276.33, Y:213.17, Z:3.69 [[ 5.62598713e-01 -8.26633049e-01 1.26684582e-02 2.76331249e+02] [ 8.26419323e-01 5.62741318e-01 1.87965871e-02 2.13174482e+02] [-2.26669450e-02 -1.05477092e-04 9.99743066e-01 3.69035306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3307140569999 meters Centerline goodness : 0.981526 Centerline is valid? [True, True] Translation: X:276.35, Y:213.20, Z:3.69 [[ 5.58835558e-01 -8.29182555e-01 1.26138452e-02 2.76346676e+02] [ 8.28968647e-01 5.58977893e-01 1.88334067e-02 2.13202919e+02] [-2.26671929e-02 -6.82951819e-05 9.99743064e-01 3.68794594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.360714057 meters Centerline goodness : 0.986854 Centerline is valid? [True, True] Translation: X:276.36, Y:213.22, Z:3.69 [[ 5.61492427e-01 -8.27379790e-01 1.29975999e-02 2.76360965e+02] [ 8.27171331e-01 5.61642751e-01 1.85744575e-02 2.13222324e+02] [-2.26681385e-02 3.21824788e-04 9.99742993e-01 3.68759050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.390714057 meters Centerline goodness : 0.991133 Centerline is valid? [True, True] Translation: X:276.37, Y:213.25, Z:3.69 [[ 5.57627532e-01 -8.29994561e-01 1.26714104e-02 2.76371690e+02] [ 8.29781752e-01 5.57771483e-01 1.87940353e-02 2.13247539e+02] [-2.26666984e-02 3.44336666e-05 9.99743077e-01 3.69147465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4207140569999 meters Centerline goodness : 0.991404 Centerline is valid? [True, True] Translation: X:276.39, Y:213.27, Z:3.69 [[ 5.58898070e-01 -8.29139821e-01 1.26532542e-02 2.76386379e+02] [ 8.28926515e-01 5.59041284e-01 1.88062512e-02 2.13271734e+02] [-2.26667032e-02 -2.21595915e-05 9.99743077e-01 3.69141492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4507140569999 meters Centerline goodness : 0.991809 Centerline is valid? [True, True] Translation: X:276.40, Y:213.30, Z:3.69 [[ 5.60060556e-01 -8.28355118e-01 1.26480109e-02 2.76401155e+02] [ 8.28141532e-01 5.60203352e-01 1.88097768e-02 2.13295098e+02] [-2.26666330e-02 -6.02709164e-05 9.99743077e-01 3.68989397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4807140569999 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:276.41, Y:213.32, Z:3.69 [[ 5.63186634e-01 -8.26233003e-01 1.26427989e-02 2.76414828e+02] [ 8.26018800e-01 5.63328503e-01 1.88132794e-02 2.13319825e+02] [-2.26662013e-02 -1.52197974e-04 9.99743077e-01 3.68813666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.510714057 meters Centerline goodness : 0.991987 Centerline is valid? [True, True] Translation: X:276.43, Y:213.34, Z:3.69 [[ 5.65003457e-01 -8.24991749e-01 1.26375858e-02 2.76429333e+02] [ 8.24777156e-01 5.65144735e-01 1.88167806e-02 2.13343802e+02] [-2.26657538e-02 -2.08353983e-04 9.99743077e-01 3.68708468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.540714057 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:276.44, Y:213.37, Z:3.69 [[ 5.68455359e-01 -8.22617122e-01 1.26323064e-02 2.76442844e+02] [ 8.22401861e-01 5.68595616e-01 1.88203242e-02 2.13367541e+02] [-2.26645949e-02 -3.09681867e-04 9.99743077e-01 3.68544313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5707140569999 meters Centerline goodness : 0.991786 Centerline is valid? [True, True] Translation: X:276.46, Y:213.39, Z:3.69 [[ 5.70352081e-01 -8.21303262e-01 1.26275784e-02 2.76457944e+02] [ 8.21087608e-01 5.70491732e-01 1.88234959e-02 2.13391047e+02] [-2.26637277e-02 -3.67671847e-04 9.99743077e-01 3.68557256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6007140569999 meters Centerline goodness : 0.993278 Centerline is valid? [True, True] Translation: X:276.43, Y:213.40, Z:3.68 [[ 5.56246693e-01 -8.30921354e-01 1.26222149e-02 2.76430891e+02] [ 8.30708034e-01 5.56389884e-01 1.88270917e-02 2.13395304e+02] [-2.26667052e-02 1.28677816e-05 9.99743077e-01 3.67511501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.630714057 meters Centerline goodness : 0.992088 Centerline is valid? [True, True] Translation: X:276.49, Y:213.43, Z:3.69 [[ 5.76140290e-01 -8.17278318e-01 1.08865573e-02 2.76487496e+02] [ 8.17038181e-01 5.76237187e-01 1.99828966e-02 2.13431921e+02] [-2.26048273e-02 -2.61821893e-03 9.99741050e-01 3.68584336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.660714057 meters Centerline goodness : 0.986697 Centerline is valid? [True, True] Translation: X:276.50, Y:213.45, Z:3.68 [[ 5.82221772e-01 -8.12931963e-01 1.26266398e-02 2.76502803e+02] [ 8.12714491e-01 5.82358261e-01 1.88152101e-02 2.13454114e+02] [-2.26487137e-02 -6.92771844e-04 9.99743245e-01 3.67718247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6907140569999 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:276.52, Y:213.48, Z:3.68 [[ 5.81843239e-01 -8.13204553e-01 1.25220019e-02 2.76516932e+02] [ 8.12985634e-01 5.81977407e-01 1.88853702e-02 2.13480082e+02] [-2.26451912e-02 -8.08117333e-04 9.99743238e-01 3.68139102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7207140569999 meters Centerline goodness : 0.992796 Centerline is valid? [True, True] Translation: X:276.50, Y:213.49, Z:3.67 [[ 5.70960356e-01 -8.20880663e-01 1.26177827e-02 2.76500287e+02] [ 8.20664962e-01 5.71099627e-01 1.88211585e-02 2.13488887e+02] [-2.26559361e-02 -3.91163260e-04 9.99743245e-01 3.67238241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.750714057 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:276.49, Y:213.50, Z:3.67 [[ 5.61555290e-01 -8.27360144e-01 1.14388940e-02 2.76491929e+02] [ 8.27128937e-01 5.61669626e-01 1.96202225e-02 2.13500483e+02] [-2.26578694e-02 -1.55639949e-03 9.99742066e-01 3.66883085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.780714057 meters Centerline goodness : 0.992887 Centerline is valid? [True, True] Translation: X:276.51, Y:213.52, Z:3.67 [[ 5.62231734e-01 -8.26916149e-01 1.02547777e-02 2.76510509e+02] [ 8.26669450e-01 5.62317227e-01 2.04195146e-02 2.13521496e+02] [-2.26516645e-02 -3.00318763e-03 9.99738907e-01 3.66974561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8107140569999 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:276.53, Y:213.54, Z:3.67 [[ 5.67064391e-01 -8.23611072e-01 1.01379726e-02 2.76529944e+02] [ 8.23362452e-01 5.67145540e-01 2.04990033e-02 2.13541892e+02] [-2.26329120e-02 -3.27702885e-03 9.99738472e-01 3.67096376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8407140569999 meters Centerline goodness : 0.991451 Centerline is valid? [True, True] Translation: X:276.56, Y:213.57, Z:3.67 [[ 5.63296631e-01 -8.26192086e-01 1.01755666e-02 2.76557812e+02] [ 8.25944301e-01 5.63379846e-01 2.04734180e-02 2.13571463e+02] [-2.26476851e-02 -3.12815612e-03 9.99738614e-01 3.67410202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.870714057 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:276.56, Y:213.59, Z:3.67 [[ 5.66233128e-01 -8.24173896e-01 1.08366771e-02 2.76564634e+02] [ 8.23934200e-01 5.66331697e-01 2.00210783e-02 2.13585957e+02] [-2.26380038e-02 -2.40788887e-03 9.99740828e-01 3.66896682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.900714057 meters Centerline goodness : 0.988570 Centerline is valid? [True, True] Translation: X:276.61, Y:213.63, Z:3.67 [[ 5.71192703e-01 -8.20750958e-01 1.03325747e-02 2.76608502e+02] [ 8.20504794e-01 5.71277506e-01 2.03443834e-02 2.13633676e+02] [-2.26004397e-02 -3.14263630e-03 9.99739638e-01 3.67414131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9307140569999 meters Centerline goodness : 0.987593 Centerline is valid? [True, True] Translation: X:276.63, Y:213.66, Z:3.67 [[ 5.69240467e-01 -8.22079849e-01 1.22479217e-02 2.76625670e+02] [ 8.21858184e-01 5.69371640e-01 1.91065661e-02 2.13656091e+02] [-2.26807422e-02 -8.10175929e-04 9.99742431e-01 3.67333450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9607140569999 meters Centerline goodness : 0.991971 Centerline is valid? [True, True] Translation: X:276.64, Y:213.68, Z:3.68 [[ 5.63677062e-01 -8.25904735e-01 1.22285961e-02 2.76639062e+02] [ 8.25683690e-01 5.63809282e-01 1.91190492e-02 2.13681192e+02] [-2.26851092e-02 -6.80017129e-04 9.99742429e-01 3.67905027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.990714057 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:276.62, Y:213.69, Z:3.67 [[ 5.44743093e-01 -8.38512582e-01 1.23130712e-02 2.76615228e+02] [ 8.38295831e-01 5.44882231e-01 1.90644899e-02 2.13685075e+02] [-2.26949883e-02 -6.32529774e-05 9.99742434e-01 3.66801295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.020714057 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:276.67, Y:213.72, Z:3.68 [[ 5.60084414e-01 -8.28366955e-01 1.06600970e-02 2.76674136e+02] [ 8.28126021e-01 5.60180517e-01 2.01266452e-02 2.13720325e+02] [-2.26438264e-02 -2.44471659e-03 9.99740607e-01 3.67615514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0507140569999 meters Centerline goodness : 0.991534 Centerline is valid? [True, True] Translation: X:276.69, Y:213.74, Z:3.67 [[ 5.56685458e-01 -8.30631872e-01 1.23285982e-02 2.76691456e+02] [ 8.30413549e-01 5.56821839e-01 1.90467071e-02 2.13742446e+02] [-2.26856347e-02 -3.65189903e-04 9.99742581e-01 3.67458154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0807140569999 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:276.66, Y:213.74, Z:3.66 [[ 5.34022270e-01 -8.45380592e-01 1.23235462e-02 2.76657911e+02] [ 8.45165962e-01 5.34164390e-01 1.90499752e-02 2.13743324e+02] [-2.26872789e-02 2.42330760e-04 9.99742581e-01 3.66349835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.110714057 meters Centerline goodness : 0.992425 Centerline is valid? [True, True] Translation: X:276.73, Y:213.78, Z:3.68 [[ 5.52938807e-01 -8.33157410e-01 1.03636992e-02 2.76725457e+02] [ 8.32913890e-01 5.53029821e-01 2.03093495e-02 2.13779359e+02] [-2.26523198e-02 -2.59775853e-03 9.99740028e-01 3.67584072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.140714057 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:276.70, Y:213.79, Z:3.66 [[ 5.33429934e-01 -8.45754260e-01 1.23384498e-02 2.76696912e+02] [ 8.45540209e-01 5.33572537e-01 1.90289907e-02 2.13785067e+02] [-2.26773079e-02 2.82022140e-04 9.99742797e-01 3.66379608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1707140569999 meters Centerline goodness : 0.990005 Centerline is valid? [True, True] Translation: X:276.72, Y:213.81, Z:3.67 [[ 5.27209451e-01 -8.49668506e-01 1.06594722e-02 2.76717787e+02] [ 8.49431760e-01 5.27314919e-01 2.01161946e-02 2.13812515e+02] [-2.27129957e-02 -1.55095371e-03 9.99740824e-01 3.66938878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2007140569999 meters Centerline goodness : 0.992148 Centerline is valid? [True, True] Translation: X:276.73, Y:213.83, Z:3.67 [[ 5.31678674e-01 -8.46875796e-01 1.09166518e-02 2.76734105e+02] [ 8.46641925e-01 5.31788987e-01 1.99480406e-02 2.13828229e+02] [-2.26988680e-02 -1.36345266e-03 9.99741418e-01 3.67101449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2307140569999 meters Centerline goodness : 0.987482 Centerline is valid? [True, True] Translation: X:276.77, Y:213.87, Z:3.67 [[ 5.38961334e-01 -8.42261510e-01 1.07809388e-02 2.76771862e+02] [ 8.42024985e-01 5.39066408e-01 2.00333078e-02 2.13871443e+02] [-2.26849261e-02 -1.71935847e-03 9.99741185e-01 3.67466215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.260714057 meters Centerline goodness : 0.988935 Centerline is valid? [True, True] Translation: X:276.78, Y:213.89, Z:3.67 [[ 5.43745028e-01 -8.39159723e-01 1.23411510e-02 2.76784616e+02] [ 8.38943534e-01 5.43885061e-01 1.90469843e-02 2.13887415e+02] [-2.26956298e-02 -3.17421729e-06 9.99742421e-01 3.66863765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.290714057 meters Centerline goodness : 0.989563 Centerline is valid? [True, True] Translation: X:276.80, Y:213.92, Z:3.67 [[ 5.39675147e-01 -8.41789219e-01 1.19014975e-02 2.76802301e+02] [ 8.41567483e-01 5.39806206e-01 1.93243848e-02 2.13918209e+02] [-2.26915611e-02 -4.12976925e-04 9.99742428e-01 3.67044458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3207140569999 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:276.82, Y:213.94, Z:3.67 [[ 5.42371451e-01 -8.40048168e-01 1.23403491e-02 2.76815574e+02] [ 8.39832204e-01 5.42511819e-01 1.90471961e-02 2.13937609e+02] [-2.26953474e-02 3.31672153e-05 9.99742427e-01 3.67082226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3507140569999 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:276.83, Y:213.96, Z:3.67 [[ 5.42975816e-01 -8.39661087e-01 1.21046712e-02 2.76830258e+02] [ 8.39441677e-01 5.43110662e-01 1.91958130e-02 2.13959822e+02] [-2.26921533e-02 -2.61696725e-04 9.99742466e-01 3.66944540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.380714057 meters Centerline goodness : 0.989513 Centerline is valid? [True, True] Translation: X:276.84, Y:213.98, Z:3.67 [[ 5.45386680e-01 -8.38097210e-01 1.21010897e-02 2.76842188e+02] [ 8.37877364e-01 5.45520813e-01 1.91980706e-02 2.13978681e+02] [-2.26912457e-02 -3.31142868e-04 9.99742466e-01 3.66765109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.410714057 meters Centerline goodness : 0.988167 Centerline is valid? [True, True] Translation: X:276.86, Y:214.01, Z:3.67 [[ 5.41622135e-01 -8.40540740e-01 1.16930265e-02 2.76860793e+02] [ 8.40315870e-01 5.41747874e-01 1.94545773e-02 2.14008081e+02] [-2.26870370e-02 -7.11193993e-04 9.99742363e-01 3.66810316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4407140569999 meters Centerline goodness : 0.988462 Centerline is valid? [True, True] Translation: X:276.88, Y:214.03, Z:3.67 [[ 5.42330222e-01 -8.40075808e-01 1.22706022e-02 2.76876922e+02] [ 8.39858854e-01 5.42469018e-01 1.90911090e-02 2.14031410e+02] [-2.26944004e-02 -4.81114619e-05 9.99742448e-01 3.66718947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4707140569999 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:276.89, Y:214.05, Z:3.67 [[ 5.43548991e-01 -8.39287520e-01 1.22863130e-02 2.76891200e+02] [ 8.39070588e-01 5.43687829e-01 1.90812305e-02 2.14050412e+02] [-2.26945575e-02 -6.24996958e-05 9.99742443e-01 3.66835171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.500714057 meters Centerline goodness : 0.989027 Centerline is valid? [True, True] Translation: X:276.91, Y:214.08, Z:3.67 [[ 5.41902010e-01 -8.40355070e-01 1.20651347e-02 2.76909498e+02] [ 8.40135293e-01 5.42036233e-01 1.92200731e-02 2.14077285e+02] [-2.26914261e-02 -2.79050805e-04 9.99742478e-01 3.66612635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.530714057 meters Centerline goodness : 0.988600 Centerline is valid? [True, True] Translation: X:276.92, Y:214.09, Z:3.67 [[ 5.43631552e-01 -8.39233334e-01 1.23347896e-02 2.76922683e+02] [ 8.39017075e-01 5.43771470e-01 1.90508710e-02 2.14093766e+02] [-2.26954327e-02 -7.55547108e-06 9.99742425e-01 3.66529218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5607140569999 meters Centerline goodness : 0.988742 Centerline is valid? [True, True] Translation: X:276.94, Y:214.12, Z:3.67 [[ 5.37772751e-01 -8.43006796e-01 1.18325662e-02 2.76937680e+02] [ 8.42784459e-01 5.37902729e-01 1.93651793e-02 2.14123341e+02] [-2.26897474e-02 -4.41762852e-04 9.99742457e-01 3.66850292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5907140569999 meters Centerline goodness : 0.991386 Centerline is valid? [True, True] Translation: X:276.93, Y:214.12, Z:3.66 [[ 5.32080397e-01 -8.46606094e-01 1.21890827e-02 2.76928807e+02] [ 8.46389673e-01 5.32219978e-01 1.91419927e-02 2.14116234e+02] [-2.26930010e-02 1.31634670e-04 9.99742472e-01 3.66193006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.620714057 meters Centerline goodness : 0.987858 Centerline is valid? [True, True] Translation: X:276.97, Y:214.16, Z:3.67 [[ 5.36664877e-01 -8.43729768e-01 1.05303765e-02 2.76967687e+02] [ 8.43490762e-01 5.36764656e-01 2.01751966e-02 2.14164803e+02] [-2.26747479e-02 -1.94504403e-03 9.99741003e-01 3.66882973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.650714057 meters Centerline goodness : 0.987664 Centerline is valid? [True, True] Translation: X:276.98, Y:214.18, Z:3.66 [[ 5.41285013e-01 -8.40750423e-01 1.22172412e-02 2.76981583e+02] [ 8.40533066e-01 5.41422866e-01 1.91166097e-02 2.14182101e+02] [-2.26869914e-02 -7.85390611e-05 9.99742614e-01 3.66456988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6807140569999 meters Centerline goodness : 0.987664 Centerline is valid? [True, True] Translation: X:277.00, Y:214.21, Z:3.66 [[ 5.41137608e-01 -8.40850873e-01 1.18278902e-02 2.76996387e+02] [ 8.40628125e-01 5.41266593e-01 1.93605437e-02 2.14205557e+02] [-2.26813719e-02 -5.33861118e-04 9.99742602e-01 3.66417415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7107140569999 meters Centerline goodness : 0.986457 Centerline is valid? [True, True] Translation: X:277.01, Y:214.23, Z:3.66 [[ 5.41523929e-01 -8.40602140e-01 1.18269361e-02 2.77009969e+02] [ 8.40379320e-01 5.41652790e-01 1.93611415e-02 2.14228544e+02] [-2.26811099e-02 -5.45408861e-04 9.99742602e-01 3.66134848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.740714057 meters Centerline goodness : 0.986675 Centerline is valid? [True, True] Translation: X:277.03, Y:214.25, Z:3.66 [[ 5.42417996e-01 -8.40026298e-01 1.17701717e-02 2.77025313e+02] [ 8.39802569e-01 5.42545310e-01 1.93966990e-02 2.14252738e+02] [-2.26795888e-02 -6.36498139e-04 9.99742582e-01 3.65817125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.770714057 meters Centerline goodness : 0.986410 Centerline is valid? [True, True] Translation: X:277.04, Y:214.28, Z:3.66 [[ 5.43957074e-01 -8.39029074e-01 1.18707368e-02 2.77039486e+02] [ 8.38806481e-01 5.44086298e-01 1.93336178e-02 2.14276670e+02] [-2.26801727e-02 -5.59407171e-04 9.99742615e-01 3.65532173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8007140569999 meters Centerline goodness : 0.985697 Centerline is valid? [True, True] Translation: X:277.05, Y:214.30, Z:3.65 [[ 5.43825230e-01 -8.39115224e-01 1.18220392e-02 2.77054094e+02] [ 8.38891986e-01 5.43953367e-01 1.93641399e-02 2.14301058e+02] [-2.26793826e-02 -6.13293862e-04 9.99742602e-01 3.65356394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8307140569999 meters Centerline goodness : 0.986589 Centerline is valid? [True, True] Translation: X:277.07, Y:214.32, Z:3.65 [[ 5.44568885e-01 -8.38632730e-01 1.18268260e-02 2.77069486e+02] [ 8.38409444e-01 5.44696935e-01 1.93611431e-02 2.14324994e+02] [-2.26789241e-02 -6.27753499e-04 9.99742603e-01 3.65309955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.860714057 meters Centerline goodness : 0.992387 Centerline is valid? [True, True] Translation: X:277.06, Y:214.32, Z:3.64 [[ 5.41681732e-01 -8.40499878e-01 1.18683179e-02 2.77063982e+02] [ 8.40277601e-01 5.41811503e-01 1.93351704e-02 2.14318854e+02] [-2.26815995e-02 -5.00826879e-04 9.99742614e-01 3.64461274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.890714057 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:277.08, Y:214.34, Z:3.65 [[ 5.41481540e-01 -8.40646627e-01 1.05352300e-02 2.77076707e+02] [ 8.40406064e-01 5.41579970e-01 2.02183821e-02 2.14340631e+02] [-2.27021843e-02 -2.09400946e-03 9.99740079e-01 3.64749222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9207140569999 meters Centerline goodness : 0.992047 Centerline is valid? [True, True] Translation: X:277.09, Y:214.36, Z:3.65 [[ 5.42687927e-01 -8.39872020e-01 1.02373636e-02 2.77091355e+02] [ 8.39627515e-01 5.42778795e-01 2.04160630e-02 2.14362969e+02] [-2.27035039e-02 -2.48397869e-03 9.99739156e-01 3.64869621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9507140569999 meters Centerline goodness : 0.992395 Centerline is valid? [True, True] Translation: X:277.11, Y:214.39, Z:3.65 [[ 5.43840872e-01 -8.39126873e-01 1.01585775e-02 2.77108276e+02] [ 8.38881260e-01 5.43929481e-01 2.04683091e-02 2.14386010e+02] [-2.27010580e-02 -2.60966276e-03 9.99738892e-01 3.65209471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9807140569999 meters Centerline goodness : 0.986802 Centerline is valid? [True, True] Translation: X:277.14, Y:214.44, Z:3.66 [[ 5.46469745e-01 -8.37415741e-01 1.02808032e-02 2.77143300e+02] [ 8.37171273e-01 5.46560557e-01 2.03915852e-02 2.14439491e+02] [-2.26953160e-02 -2.53659123e-03 9.99739210e-01 3.65961189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.010714057 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:277.14, Y:214.43, Z:3.65 [[ 5.47898661e-01 -8.36454121e-01 1.23109727e-02 2.77135618e+02] [ 8.36235874e-01 5.48036926e-01 1.91073611e-02 2.14428207e+02] [-2.27292986e-02 -1.74020529e-04 9.99741641e-01 3.65044489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.040714057 meters Centerline goodness : 0.987360 Centerline is valid? [True, True] Translation: X:277.17, Y:214.47, Z:3.66 [[ 5.57145716e-01 -8.30345353e-01 1.07352973e-02 2.77170810e+02] [ 8.30104929e-01 5.57244412e-01 2.01114814e-02 2.14472178e+02] [-2.26816596e-02 -2.29360246e-03 9.99740107e-01 3.65532915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0707140569999 meters Centerline goodness : 0.986352 Centerline is valid? [True, True] Translation: X:277.18, Y:214.50, Z:3.65 [[ 5.55558475e-01 -8.31389911e-01 1.20663431e-02 2.77184445e+02] [ 8.31167090e-01 5.55689091e-01 1.92588287e-02 2.14499088e+02] [-2.27167311e-02 -6.70258260e-04 9.99741717e-01 3.65014587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1007140569999 meters Centerline goodness : 0.987986 Centerline is valid? [True, True] Translation: X:277.20, Y:214.52, Z:3.65 [[ 5.56606222e-01 -8.30685566e-01 1.22883340e-02 2.77199379e+02] [ 8.30465686e-01 5.56741682e-01 1.91165747e-02 2.14521778e+02] [-2.27212904e-02 -4.35364696e-04 9.99741743e-01 3.64774906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.130714057 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:277.21, Y:214.55, Z:3.65 [[ 5.53318799e-01 -8.32880603e-01 1.21740380e-02 2.77214509e+02] [ 8.32659645e-01 5.53452499e-01 1.91897587e-02 2.14546464e+02] [-2.27205296e-02 -4.81224097e-04 9.99741740e-01 3.65112588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.160714057 meters Centerline goodness : 0.987380 Centerline is valid? [True, True] Translation: X:277.23, Y:214.57, Z:3.64 [[ 5.52678907e-01 -8.33304209e-01 1.22523564e-02 2.77229396e+02] [ 8.33084460e-01 5.52814578e-01 1.91396228e-02 2.14569206e+02] [-2.27224095e-02 -3.70818041e-04 9.99741744e-01 3.64437845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1907140569999 meters Centerline goodness : 0.987810 Centerline is valid? [True, True] Translation: X:277.25, Y:214.59, Z:3.65 [[ 5.50307807e-01 -8.34872211e-01 1.22355987e-02 2.77245557e+02] [ 8.34652610e-01 5.50443717e-01 1.91503483e-02 2.14591102e+02] [-2.27231020e-02 -3.26111771e-04 9.99741744e-01 3.64825402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2207140569999 meters Centerline goodness : 0.988122 Centerline is valid? [True, True] Translation: X:277.26, Y:214.62, Z:3.65 [[ 5.43227394e-01 -8.39498330e-01 1.21058705e-02 2.77260770e+02] [ 8.39278029e-01 5.43362191e-01 1.92332868e-02 2.14618609e+02] [-2.27241845e-02 -2.87857076e-04 9.99741731e-01 3.64760849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.250714057 meters Centerline goodness : 0.987008 Centerline is valid? [True, True] Translation: X:277.28, Y:214.64, Z:3.65 [[ 5.43964038e-01 -8.39016329e-01 1.24388581e-02 2.77275006e+02] [ 8.38800725e-01 5.44106233e-01 1.90197609e-02 2.14638263e+02] [-2.27259502e-02 8.76571885e-05 9.99741728e-01 3.65085565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.280714057 meters Centerline goodness : 0.983128 Centerline is valid? [True, True] Translation: X:277.29, Y:214.67, Z:3.65 [[ 5.39357571e-01 -8.41988225e-01 1.22163731e-02 2.77292755e+02] [ 8.41770148e-01 5.39495901e-01 1.91622299e-02 2.14665766e+02] [-2.27250551e-02 -5.19155968e-05 9.99741751e-01 3.64953346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3107140569999 meters Centerline goodness : 0.987206 Centerline is valid? [True, True] Translation: X:277.30, Y:214.68, Z:3.65 [[ 5.38906819e-01 -8.42272599e-01 1.25023774e-02 2.77303281e+02] [ 8.42058794e-01 5.39051741e-01 1.89791256e-02 2.14683467e+02] [-2.27250257e-02 2.99756663e-04 9.99741708e-01 3.65016259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3407140569999 meters Centerline goodness : 0.986595 Centerline is valid? [True, True] Translation: X:277.32, Y:214.71, Z:3.65 [[ 5.38156878e-01 -8.42758179e-01 1.20758602e-02 2.77317291e+02] [ 8.42538276e-01 5.38292316e-01 1.92519183e-02 2.14706876e+02] [-2.27250543e-02 -1.86177783e-04 9.99741735e-01 3.64890220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.370714057 meters Centerline goodness : 0.982846 Centerline is valid? [True, True] Translation: X:277.33, Y:214.74, Z:3.65 [[ 5.35762801e-01 -8.44282181e-01 1.20756136e-02 2.77332412e+02] [ 8.44062660e-01 5.35898856e-01 1.92520756e-02 2.14735717e+02] [-2.27254919e-02 -1.21971471e-04 9.99741735e-01 3.64542806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.400714057 meters Centerline goodness : 0.986721 Centerline is valid? [True, True] Translation: X:277.34, Y:214.76, Z:3.65 [[ 5.35299852e-01 -8.44570890e-01 1.24128925e-02 2.77342355e+02] [ 8.44356349e-01 5.35443673e-01 1.90375455e-02 2.14756655e+02] [-2.27249615e-02 2.90109319e-04 9.99741713e-01 3.64580922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4307140569999 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:277.36, Y:214.78, Z:3.65 [[ 5.32035320e-01 -8.46637318e-01 1.19862362e-02 2.77356706e+02] [ 8.46417108e-01 5.32170307e-01 1.93091558e-02 2.14784187e+02] [-2.27265709e-02 -1.27797449e-04 9.99741710e-01 3.64680523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4607140569999 meters Centerline goodness : 0.991287 Centerline is valid? [True, True] Translation: X:277.37, Y:214.81, Z:3.65 [[ 5.30983603e-01 -8.47294147e-01 1.22082774e-02 2.77370546e+02] [ 8.47077326e-01 5.31123904e-01 1.91677347e-02 2.14808308e+02] [-2.27248174e-02 1.63602137e-04 9.99741745e-01 3.64661607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.490714057 meters Centerline goodness : 0.982384 Centerline is valid? [True, True] Translation: X:277.39, Y:214.83, Z:3.64 [[ 5.31728334e-01 -8.46827059e-01 1.22029263e-02 2.77387986e+02] [ 8.46610037e-01 5.31868323e-01 1.91711408e-02 2.14832902e+02] [-2.27249907e-02 1.37281112e-04 9.99741745e-01 3.63807643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.520714057 meters Centerline goodness : 0.984932 Centerline is valid? [True, True] Translation: X:277.40, Y:214.86, Z:3.64 [[ 5.29016544e-01 -8.48521822e-01 1.23374968e-02 2.77398582e+02] [ 8.48307233e-01 5.29160261e-01 1.90854966e-02 2.14855879e+02] [-2.27229733e-02 3.69444304e-04 9.99741732e-01 3.63790340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5507140569999 meters Centerline goodness : 0.985799 Centerline is valid? [True, True] Translation: X:277.42, Y:214.88, Z:3.64 [[ 5.27155169e-01 -8.49681252e-01 1.22146401e-02 2.77416622e+02] [ 8.49465163e-01 5.27296591e-01 1.91635722e-02 2.14884132e+02] [-2.27236661e-02 2.73735076e-04 9.99741747e-01 3.64365871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5807140569999 meters Centerline goodness : 0.986296 Centerline is valid? [True, True] Translation: X:277.43, Y:214.90, Z:3.64 [[ 5.29036440e-01 -8.48506245e-01 1.25537999e-02 2.77426382e+02] [ 8.48294879e-01 5.29184998e-01 1.89482658e-02 2.14902596e+02] [-2.27210044e-02 6.25001075e-04 9.99741649e-01 3.63932611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.610714057 meters Centerline goodness : 0.987775 Centerline is valid? [True, True] Translation: X:277.44, Y:214.93, Z:3.64 [[ 5.28470424e-01 -8.48865558e-01 1.20944234e-02 2.77441793e+02] [ 8.48647510e-01 5.28608792e-01 1.92392615e-02 2.14927630e+02] [-2.27247650e-02 9.65216335e-05 9.99741755e-01 3.63908496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.640714057 meters Centerline goodness : 0.986083 Centerline is valid? [True, True] Translation: X:277.45, Y:214.95, Z:3.64 [[ 5.25721861e-01 -8.50570026e-01 1.21307694e-02 2.77454495e+02] [ 8.50352956e-01 5.25861755e-01 1.92162513e-02 2.14951691e+02] [-2.27238750e-02 2.13032259e-04 9.99741757e-01 3.63953167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6707140569999 meters Centerline goodness : 0.987444 Centerline is valid? [True, True] Translation: X:277.47, Y:214.98, Z:3.64 [[ 5.19735014e-01 -8.54242186e-01 1.20749065e-02 2.77470324e+02] [ 8.54025282e-01 5.19875172e-01 1.92516078e-02 2.14982306e+02] [-2.27229796e-02 3.06540767e-04 9.99741753e-01 3.64481017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7007140569999 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:277.48, Y:215.00, Z:3.65 [[ 5.14194469e-01 -8.57583392e-01 1.24408585e-02 2.77480000e+02] [ 8.57372901e-01 5.14344185e-01 1.90201916e-02 2.15002478e+02] [-2.27102836e-02 8.86377612e-04 9.99741695e-01 3.64659886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7307140569999 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:277.49, Y:215.03, Z:3.65 [[ 5.09285255e-01 -8.60512293e-01 1.21294357e-02 2.77493093e+02] [ 8.60297938e-01 5.09429263e-01 1.92167604e-02 2.15026107e+02] [-2.27153481e-02 6.48115844e-04 9.99741763e-01 3.64783954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.760714057 meters Centerline goodness : 0.987711 Centerline is valid? [True, True] Translation: X:277.51, Y:215.05, Z:3.64 [[ 5.10879814e-01 -8.59566641e-01 1.21245680e-02 2.77508842e+02] [ 8.59351947e-01 5.11023315e-01 1.92198312e-02 2.15049087e+02] [-2.27166627e-02 6.00247317e-04 9.99741763e-01 3.64283400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.790714057 meters Centerline goodness : 0.988689 Centerline is valid? [True, True] Translation: X:277.52, Y:215.07, Z:3.64 [[ 5.08303635e-01 -8.61093415e-01 1.20642168e-02 2.77520287e+02] [ 8.60878249e-01 5.08446432e-01 1.92578762e-02 2.15074177e+02] [-2.27168384e-02 5.96973373e-04 9.99741761e-01 3.64241657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8207140569999 meters Centerline goodness : 0.983560 Centerline is valid? [True, True] Translation: X:277.53, Y:215.11, Z:3.64 [[ 5.01924633e-01 -8.64828386e-01 1.19802103e-02 2.77533544e+02] [ 8.64613022e-01 5.02067147e-01 1.93106686e-02 2.15110329e+02] [-2.27152844e-02 6.65745592e-04 9.99741753e-01 3.64267060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8507140569999 meters Centerline goodness : 0.989387 Centerline is valid? [True, True] Translation: X:277.53, Y:215.13, Z:3.65 [[ 4.99959079e-01 -8.65956704e-01 1.26453766e-02 2.77534921e+02] [ 8.65751906e-01 5.00116715e-01 1.88920303e-02 2.15131509e+02] [-2.26838445e-02 1.50251679e-03 9.99741559e-01 3.64601687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.880714057 meters Centerline goodness : 0.988984 Centerline is valid? [True, True] Translation: X:277.55, Y:215.16, Z:3.65 [[ 5.01543036e-01 -8.65048900e-01 1.20409496e-02 2.77549182e+02] [ 8.64834533e-01 5.01686996e-01 1.92714663e-02 2.15156591e+02] [-2.27115485e-02 7.47959329e-04 9.99741780e-01 3.64580075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.910714057 meters Centerline goodness : 0.989597 Centerline is valid? [True, True] Translation: X:277.56, Y:215.18, Z:3.65 [[ 5.04171241e-01 -8.63518524e-01 1.21292680e-02 2.77555696e+02] [ 8.63305043e-01 5.04316514e-01 1.92160565e-02 2.15181653e+02] [-2.27104109e-02 7.83075167e-04 9.99741779e-01 3.64705616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9407140569999 meters Centerline goodness : 0.989085 Centerline is valid? [True, True] Translation: X:277.57, Y:215.21, Z:3.65 [[ 5.07240742e-01 -8.61722615e-01 1.18728143e-02 2.77570327e+02] [ 8.61504827e-01 5.07379517e-01 1.93767340e-02 2.15207443e+02] [-2.27213927e-02 3.99817906e-04 9.99741756e-01 3.64700660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9707140569999 meters Centerline goodness : 0.986564 Centerline is valid? [True, True] Translation: X:277.59, Y:215.24, Z:3.65 [[ 5.16192414e-01 -8.56388843e-01 1.19808985e-02 2.77586711e+02] [ 8.56171183e-01 5.16331353e-01 1.93090530e-02 2.15236394e+02] [-2.27221711e-02 2.90513360e-04 9.99741776e-01 3.64689741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.000714057 meters Centerline goodness : 0.983273 Centerline is valid? [True, True] Translation: X:277.60, Y:215.26, Z:3.64 [[ 5.24069986e-01 -8.51585086e-01 1.23891526e-02 2.77598847e+02] [ 8.51372131e-01 5.24216105e-01 1.90517669e-02 2.15262508e+02] [-2.27187939e-02 5.63319991e-04 9.99741736e-01 3.64128419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.030714057 meters Centerline goodness : 0.986541 Centerline is valid? [True, True] Translation: X:277.61, Y:215.29, Z:3.64 [[ 5.26217201e-01 -8.50256382e-01 1.26310228e-02 2.77609134e+02] [ 8.50046687e-01 5.26368177e-01 1.88989795e-02 2.15288715e+02] [-2.27175464e-02 7.91990962e-04 9.99741610e-01 3.64226909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0607140569999 meters Centerline goodness : 0.986849 Centerline is valid? [True, True] Translation: X:277.62, Y:215.31, Z:3.63 [[ 5.34375212e-01 -8.45156134e-01 1.24194456e-02 2.77616896e+02] [ 8.44941905e-01 5.34519415e-01 1.90308461e-02 2.15310103e+02] [-2.27224711e-02 3.24097627e-04 9.99741759e-01 3.63428284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0907140569999 meters Centerline goodness : 0.990581 Centerline is valid? [True, True] Translation: X:277.61, Y:215.33, Z:3.63 [[ 5.27286222e-01 -8.49602959e-01 1.20021468e-02 2.77608766e+02] [ 8.49383938e-01 5.27422801e-01 1.92902966e-02 2.15326005e+02] [-2.27192990e-02 2.29230777e-05 9.99741883e-01 3.63344245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.120714057 meters Centerline goodness : 0.987337 Centerline is valid? [True, True] Translation: X:277.64, Y:215.36, Z:3.63 [[ 5.39927883e-01 -8.41638653e-01 1.10571342e-02 2.77640574e+02] [ 8.41405123e-01 5.40039201e-01 1.98766282e-02 2.15358368e+02] [-2.27002245e-02 -1.42841641e-03 9.99741296e-01 3.63134537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.150714057 meters Centerline goodness : 0.987426 Centerline is valid? [True, True] Translation: X:277.65, Y:215.38, Z:3.63 [[ 5.42413399e-01 -8.40027556e-01 1.18916210e-02 2.77653147e+02] [ 8.39804653e-01 5.42543494e-01 1.93572400e-02 2.15383213e+02] [-2.27123365e-02 -5.12987697e-04 9.99741910e-01 3.62962696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1807140569999 meters Centerline goodness : 0.986779 Centerline is valid? [True, True] Translation: X:277.67, Y:215.41, Z:3.63 [[ 5.40149740e-01 -8.41485114e-01 1.18769487e-02 2.77667087e+02] [ 8.41262361e-01 5.40280097e-01 1.93663674e-02 2.15410090e+02] [-2.27133889e-02 -4.69108441e-04 9.99741908e-01 3.63054307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2107140569999 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:277.68, Y:215.43, Z:3.63 [[ 5.39594826e-01 -8.41838833e-01 1.20334611e-02 2.77681798e+02] [ 8.41618321e-01 5.39728920e-01 1.92689917e-02 2.15434353e+02] [-2.27161924e-02 -2.69866860e-04 9.99741918e-01 3.63370538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.240714057 meters Centerline goodness : 0.987275 Centerline is valid? [True, True] Translation: X:277.70, Y:215.46, Z:3.63 [[ 5.39807780e-01 -8.41702870e-01 1.19933078e-02 2.77696620e+02] [ 8.41481770e-01 5.39940899e-01 1.92939514e-02 2.15458434e+02] [-2.27154517e-02 -3.22875192e-04 9.99741919e-01 3.62954252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.270714057 meters Centerline goodness : 0.988670 Centerline is valid? [True, True] Translation: X:277.71, Y:215.48, Z:3.63 [[ 5.41471278e-01 -8.40633914e-01 1.19782307e-02 2.77712299e+02] [ 8.40412344e-01 5.41603613e-01 1.93033189e-02 2.15479197e+02] [-2.27144776e-02 -3.85539797e-04 9.99741919e-01 3.63166084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3007140569999 meters Centerline goodness : 0.992292 Centerline is valid? [True, True] Translation: X:277.73, Y:215.50, Z:3.63 [[ 5.38550170e-01 -8.42510620e-01 1.18139597e-02 2.77727882e+02] [ 8.42287261e-01 5.38679502e-01 1.94052627e-02 2.15504944e+02] [-2.27130778e-02 -4.99959774e-04 9.99741900e-01 3.63369020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3307140569999 meters Centerline goodness : 0.988659 Centerline is valid? [True, True] Translation: X:277.74, Y:215.53, Z:3.63 [[ 5.40908572e-01 -8.40996067e-01 1.19805125e-02 2.77741285e+02] [ 8.40774617e-01 5.41041108e-01 1.93018853e-02 2.15525354e+02] [-2.27147594e-02 -3.67644333e-04 9.99741919e-01 3.63166666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.360714057 meters Centerline goodness : 0.988827 Centerline is valid? [True, True] Translation: X:277.76, Y:215.55, Z:3.63 [[ 5.44212837e-01 -8.38865463e-01 1.17099836e-02 2.77759678e+02] [ 8.38639853e-01 5.44338254e-01 1.94695263e-02 2.15548345e+02] [-2.27065052e-02 -7.75107258e-04 9.99741874e-01 3.62985227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.390714057 meters Centerline goodness : 0.992085 Centerline is valid? [True, True] Translation: X:277.78, Y:215.57, Z:3.63 [[ 5.43344123e-01 -8.39427653e-01 1.17634945e-02 2.77775624e+02] [ 8.39202887e-01 5.43471012e-01 1.94363799e-02 2.15574042e+02] [-2.27085530e-02 -6.88684257e-04 9.99741890e-01 3.63093647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4207140569999 meters Centerline goodness : 0.989730 Centerline is valid? [True, True] Translation: X:277.79, Y:215.59, Z:3.62 [[ 5.48776925e-01 -8.35883187e-01 1.19659586e-02 2.77788655e+02] [ 8.35660307e-01 5.48907041e-01 1.93109243e-02 2.15593835e+02] [-2.27098759e-02 -5.97912973e-04 9.99741919e-01 3.62285916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4507140569999 meters Centerline goodness : 0.988187 Centerline is valid? [True, True] Translation: X:277.81, Y:215.62, Z:3.62 [[ 5.52594592e-01 -8.33368210e-01 1.16895104e-02 2.77808497e+02] [ 8.33141096e-01 5.52717264e-01 1.94818084e-02 2.15618374e+02] [-2.26965140e-02 -1.02653048e-03 9.99741874e-01 3.61961568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4807140569999 meters Centerline goodness : 0.989004 Centerline is valid? [True, True] Translation: X:277.82, Y:215.64, Z:3.62 [[ 5.56035447e-01 -8.31073877e-01 1.18655898e-02 2.77824805e+02] [ 8.30848551e-01 5.56161286e-01 1.93728797e-02 2.15640685e+02] [-2.26994759e-02 -9.13499724e-04 9.99741916e-01 3.61684774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.510714057 meters Centerline goodness : 0.992092 Centerline is valid? [True, True] Translation: X:277.84, Y:215.67, Z:3.62 [[ 5.55036798e-01 -8.31741746e-01 1.18246026e-02 2.77842040e+02] [ 8.31516033e-01 5.55161954e-01 1.93982229e-02 2.15665117e+02] [-2.26988812e-02 -9.34380902e-04 9.99741911e-01 3.62336147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.540714057 meters Centerline goodness : 0.989499 Centerline is valid? [True, True] Translation: X:277.86, Y:215.69, Z:3.62 [[ 5.59184595e-01 -8.28957072e-01 1.19482657e-02 2.77859476e+02] [ 8.28732352e-01 5.59311504e-01 1.93217519e-02 2.15685027e+02] [-2.26997053e-02 -9.02511709e-04 9.99741921e-01 3.61710360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5707140569999 meters Centerline goodness : 0.987989 Centerline is valid? [True, True] Translation: X:277.88, Y:215.71, Z:3.62 [[ 5.60932832e-01 -8.27776896e-01 1.18223331e-02 2.77879458e+02] [ 8.27550274e-01 5.61056328e-01 1.93994842e-02 2.15707109e+02] [-2.26914396e-02 -1.09823263e-03 9.99741913e-01 3.61952566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6007140569999 meters Centerline goodness : 0.987989 Centerline is valid? [True, True] Translation: X:277.89, Y:215.73, Z:3.62 [[ 5.60660561e-01 -8.27960681e-01 1.18678990e-02 2.77893797e+02] [ 8.27734689e-01 5.60785196e-01 1.93713712e-02 2.15730722e+02] [-2.26940757e-02 -1.03729220e-03 9.99741918e-01 3.61887341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.630714057 meters Centerline goodness : 0.992141 Centerline is valid? [True, True] Translation: X:277.91, Y:215.75, Z:3.63 [[ 5.56914045e-01 -8.30485447e-01 1.18603871e-02 2.77909515e+02] [ 8.30259922e-01 5.57039525e-01 1.93760021e-02 2.15753972e+02] [-2.26981921e-02 -9.43563665e-04 9.99741918e-01 3.62754577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.660714057 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:277.93, Y:215.78, Z:3.63 [[ 5.57086824e-01 -8.30368728e-01 1.19183441e-02 2.77925378e+02] [ 8.30143935e-01 5.57213604e-01 1.93402865e-02 2.15775949e+02] [-2.27006325e-02 -8.80277686e-04 9.99741920e-01 3.62812506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6907140569999 meters Centerline goodness : 0.987753 Centerline is valid? [True, True] Translation: X:277.94, Y:215.79, Z:3.63 [[ 5.61290229e-01 -8.27533291e-01 1.19134661e-02 2.77942590e+02] [ 8.27307795e-01 5.61415755e-01 1.93432908e-02 2.15794638e+02] [-2.26956247e-02 -1.00109670e-03 9.99741920e-01 3.62930046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7207140569999 meters Centerline goodness : 0.987425 Centerline is valid? [True, True] Translation: X:277.96, Y:215.82, Z:3.63 [[ 5.59256342e-01 -8.28912121e-01 1.17063969e-02 2.77959543e+02] [ 8.28684265e-01 5.59377586e-01 1.94706330e-02 2.15821669e+02] [-2.26877398e-02 -1.18816809e-03 9.99741894e-01 3.63063996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.750714057 meters Centerline goodness : 0.989037 Centerline is valid? [True, True] Translation: X:277.98, Y:215.84, Z:3.63 [[ 5.64108811e-01 -8.25613601e-01 1.19762797e-02 2.77978709e+02] [ 8.25388491e-01 5.64235033e-01 1.93045790e-02 2.15840368e+02] [-2.26955595e-02 -1.00479966e-03 9.99741918e-01 3.62798538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.780714057 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:277.98, Y:215.85, Z:3.63 [[ 5.60471254e-01 -8.28088868e-01 1.18659212e-02 2.77980423e+02] [ 8.27862883e-01 5.60595894e-01 1.93724175e-02 2.15851530e+02] [-2.26940699e-02 -1.03432741e-03 9.99741921e-01 3.62645081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8107140569999 meters Centerline goodness : 0.992533 Centerline is valid? [True, True] Translation: X:278.02, Y:215.88, Z:3.62 [[ 5.70753033e-01 -8.21047126e-01 1.10721510e-02 2.78022577e+02] [ 8.20809718e-01 5.70855971e-01 1.98712838e-02 2.15880697e+02] [-2.26358639e-02 -2.25346633e-03 9.99741236e-01 3.62285758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8407140569999 meters Centerline goodness : 0.989437 Centerline is valid? [True, True] Translation: X:278.04, Y:215.90, Z:3.61 [[ 5.74132611e-01 -8.18672578e-01 1.21225050e-02 2.78040397e+02] [ 8.18447952e-01 5.74259511e-01 1.92084223e-02 2.15899175e+02] [-2.26868724e-02 -1.10654227e-03 9.99742007e-01 3.61422272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.870714057 meters Centerline goodness : 0.991969 Centerline is valid? [True, True] Translation: X:278.06, Y:215.92, Z:3.62 [[ 5.69880792e-01 -8.21641000e-01 1.19142612e-02 2.78055926e+02] [ 8.21414290e-01 5.70003985e-01 1.93396610e-02 2.15924679e+02] [-2.26814348e-02 -1.23475690e-03 9.99741981e-01 3.61779574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.900714057 meters Centerline goodness : 0.989042 Centerline is valid? [True, True] Translation: X:278.07, Y:215.94, Z:3.61 [[ 5.70575816e-01 -8.21155609e-01 1.21121664e-02 2.78072981e+02] [ 8.20931399e-01 5.70703448e-01 1.92149117e-02 2.15942105e+02] [-2.26908876e-02 -1.02030615e-03 9.99742008e-01 3.60942313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9307140569999 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:278.09, Y:215.97, Z:3.61 [[ 5.65486707e-01 -8.24670871e-01 1.19473918e-02 2.78088996e+02] [ 8.24445262e-01 5.65611882e-01 1.93186024e-02 2.15968050e+02] [-2.26890754e-02 -1.07444231e-03 9.99741992e-01 3.61432644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9607140569999 meters Centerline goodness : 0.991896 Centerline is valid? [True, True] Translation: X:278.11, Y:215.99, Z:3.62 [[ 5.61958138e-01 -8.27077235e-01 1.20954148e-02 2.78107913e+02] [ 8.26854145e-01 5.62087719e-01 1.92254764e-02 2.15989810e+02] [-2.26996380e-02 -8.02768998e-04 9.99742008e-01 3.61533924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.990714057 meters Centerline goodness : 0.988698 Centerline is valid? [True, True] Translation: X:278.13, Y:216.01, Z:3.61 [[ 5.60869682e-01 -8.27815821e-01 1.20899577e-02 2.78127590e+02] [ 8.27592828e-01 5.60999429e-01 1.92289075e-02 2.16009362e+02] [-2.27004532e-02 -7.79348930e-04 9.99742008e-01 3.61055967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.020714057 meters Centerline goodness : 0.988268 Centerline is valid? [True, True] Translation: X:278.14, Y:216.03, Z:3.61 [[ 5.57782388e-01 -8.29900686e-01 1.19857750e-02 2.78142691e+02] [ 8.29676772e-01 5.57910550e-01 1.92943542e-02 2.16032147e+02] [-2.26993882e-02 -8.17731847e-04 9.99742001e-01 3.61144345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0507140569999 meters Centerline goodness : 0.988493 Centerline is valid? [True, True] Translation: X:278.16, Y:216.05, Z:3.61 [[ 5.54784336e-01 -8.31908156e-01 1.19649876e-02 2.78161905e+02] [ 8.31684424e-01 5.54912824e-01 1.93074156e-02 2.16054124e+02] [-2.27015215e-02 -7.60357952e-04 9.99741998e-01 3.61193261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0807140569999 meters Centerline goodness : 0.988364 Centerline is valid? [True, True] Translation: X:278.18, Y:216.08, Z:3.61 [[ 5.53026524e-01 -8.33077280e-01 1.19962330e-02 2.78177471e+02] [ 8.32854244e-01 5.53156207e-01 1.92877831e-02 2.16076976e+02] [-2.27040046e-02 -6.75542044e-04 9.99742003e-01 3.61196100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.110714057 meters Centerline goodness : 0.988251 Centerline is valid? [True, True] Translation: X:278.19, Y:216.10, Z:3.61 [[ 5.50076219e-01 -8.35028485e-01 1.19826463e-02 2.78193717e+02] [ 8.34805723e-01 5.50206376e-01 1.92963189e-02 2.16099791e+02] [-2.27059043e-02 -6.11264436e-04 9.99742001e-01 3.61302469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.140714057 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:278.21, Y:216.13, Z:3.61 [[ 5.44962218e-01 -8.38375782e-01 1.19259827e-02 2.78208331e+02] [ 8.38153041e-01 5.45092430e-01 1.93318884e-02 2.16125590e+02] [-2.27081500e-02 -5.39350102e-04 9.99741991e-01 3.61482704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1707140569999 meters Centerline goodness : 0.988249 Centerline is valid? [True, True] Translation: X:278.22, Y:216.15, Z:3.61 [[ 5.47148399e-01 -8.36948516e-01 1.20752176e-02 2.78224810e+02] [ 8.36727488e-01 5.47281465e-01 1.92382189e-02 2.16147327e+02] [-2.27099415e-02 -4.22494156e-04 9.99742007e-01 3.61110591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2007140569999 meters Centerline goodness : 0.987966 Centerline is valid? [True, True] Translation: X:278.24, Y:216.17, Z:3.61 [[ 5.47059338e-01 -8.37006899e-01 1.20636791e-02 2.78239131e+02] [ 8.36785725e-01 5.47192163e-01 1.92454570e-02 2.16170479e+02] [-2.27097310e-02 -4.33692537e-04 9.99742007e-01 3.60718335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2307140569999 meters Centerline goodness : 0.990278 Centerline is valid? [True, True] Translation: X:278.25, Y:216.19, Z:3.61 [[ 5.43201311e-01 -8.39517125e-01 1.19721470e-02 2.78245149e+02] [ 8.39295297e-01 5.43333052e-01 1.93028154e-02 2.16188004e+02] [-2.27099073e-02 -4.37147947e-04 9.99742001e-01 3.61031884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.260714057 meters Centerline goodness : 0.988201 Centerline is valid? [True, True] Translation: X:278.27, Y:216.22, Z:3.60 [[ 5.46475283e-01 -8.37396232e-01 1.15028454e-02 2.78269896e+02] [ 8.37167609e-01 5.46595268e-01 1.95961142e-02 2.16217656e+02] [-2.26971130e-02 -1.07898247e-03 9.99741805e-01 3.60385907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.290714057 meters Centerline goodness : 0.991880 Centerline is valid? [True, True] Translation: X:278.27, Y:216.23, Z:3.61 [[ 5.42077695e-01 -8.40243218e-01 1.19627476e-02 2.78273756e+02] [ 8.40021444e-01 5.42209517e-01 1.93083833e-02 2.16233148e+02] [-2.27100537e-02 -4.17679371e-04 9.99742006e-01 3.60968738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3207140569999 meters Centerline goodness : 0.991588 Centerline is valid? [True, True] Translation: X:278.29, Y:216.26, Z:3.61 [[ 5.44771039e-01 -8.38506443e-01 1.14656150e-02 2.78290736e+02] [ 8.38277448e-01 5.44890612e-01 1.96250227e-02 2.16256659e+02] [-2.27032139e-02 -1.07977753e-03 9.99741666e-01 3.60974000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3507140569999 meters Centerline goodness : 0.991673 Centerline is valid? [True, True] Translation: X:278.30, Y:216.28, Z:3.61 [[ 5.45258297e-01 -8.38188706e-01 1.15361004e-02 2.78304681e+02] [ 8.37960588e-01 5.45379385e-01 1.95800703e-02 2.16281145e+02] [-2.27033451e-02 -1.00939827e-03 9.99741736e-01 3.60994532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.380714057 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:278.34, Y:216.31, Z:3.61 [[ 5.51561326e-01 -8.34055075e-01 1.14993874e-02 2.78336159e+02] [ 8.33825564e-01 5.51679829e-01 1.96034589e-02 2.16309777e+02] [-2.26943445e-02 -1.22402662e-03 9.99741701e-01 3.60833381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.410714057 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:278.33, Y:216.33, Z:3.61 [[ 5.44855668e-01 -8.38440713e-01 1.22258524e-02 2.78334316e+02] [ 8.38222253e-01 5.44992787e-01 1.91394186e-02 2.16327555e+02] [-2.27102691e-02 -1.80239113e-04 9.99742072e-01 3.60808613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4407140569999 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:278.35, Y:216.35, Z:3.61 [[ 5.42680639e-01 -8.39860029e-01 1.15262920e-02 2.78349509e+02] [ 8.39632172e-01 5.42802199e-01 1.95853885e-02 2.16350210e+02] [-2.27054816e-02 -9.50765559e-04 9.99741745e-01 3.60692467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4707140569999 meters Centerline goodness : 0.988092 Centerline is valid? [True, True] Translation: X:278.38, Y:216.38, Z:3.60 [[ 5.44923565e-01 -8.38406498e-01 1.15261698e-02 2.78376060e+02] [ 8.38178315e-01 5.45044513e-01 1.95854654e-02 2.16379365e+02] [-2.27028570e-02 -1.01159606e-03 9.99741745e-01 3.60125794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.500714057 meters Centerline goodness : 0.988216 Centerline is valid? [True, True] Translation: X:278.39, Y:216.40, Z:3.60 [[ 5.44495779e-01 -8.38676764e-01 1.20678308e-02 2.78391360e+02] [ 8.38456026e-01 5.44629375e-01 1.92441437e-02 2.16402614e+02] [-2.27121113e-02 -3.60009529e-04 9.99741982e-01 3.60138759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.530714057 meters Centerline goodness : 0.988071 Centerline is valid? [True, True] Translation: X:278.41, Y:216.43, Z:3.60 [[ 5.43980140e-01 -8.39011676e-01 1.20422285e-02 2.78406329e+02] [ 8.38790663e-01 5.44113284e-01 1.92602678e-02 2.16426809e+02] [-2.27119261e-02 -3.76294331e-04 9.99741980e-01 3.60107317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5607140569999 meters Centerline goodness : 0.990053 Centerline is valid? [True, True] Translation: X:278.41, Y:216.44, Z:3.60 [[ 5.40675888e-01 -8.41144242e-01 1.20808818e-02 2.78408593e+02] [ 8.40924297e-01 5.40810785e-01 1.92359323e-02 2.16441375e+02] [-2.27136649e-02 -2.41297690e-04 9.99741982e-01 3.60258004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5907140569999 meters Centerline goodness : 0.991392 Centerline is valid? [True, True] Translation: X:278.42, Y:216.46, Z:3.60 [[ 5.41976185e-01 -8.40314932e-01 1.15165453e-02 2.78420679e+02] [ 8.40086879e-01 5.42097702e-01 1.95989348e-02 2.16463719e+02] [-2.27123703e-02 -9.47257247e-04 9.99741592e-01 3.60098481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.620714057 meters Centerline goodness : 0.987514 Centerline is valid? [True, True] Translation: X:278.45, Y:216.50, Z:3.60 [[ 5.45927392e-01 -8.37755295e-01 1.13731496e-02 2.78446892e+02] [ 8.37524788e-01 5.46044476e-01 1.96891122e-02 2.16495822e+02] [-2.27049035e-02 -1.22353098e-03 9.99741462e-01 3.59786709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.650714057 meters Centerline goodness : 0.990117 Centerline is valid? [True, True] Translation: X:278.45, Y:216.51, Z:3.60 [[ 5.39850475e-01 -8.41674831e-01 1.20392383e-02 2.78449225e+02] [ 8.41454265e-01 5.39984633e-01 1.92695746e-02 2.16510774e+02] [-2.27197196e-02 -2.72220569e-04 9.99741837e-01 3.59765375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6807140569999 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:278.46, Y:216.53, Z:3.60 [[ 5.40001645e-01 -8.41584794e-01 1.15437415e-02 2.78462003e+02] [ 8.41357239e-01 5.40124324e-01 1.95885590e-02 2.16530459e+02] [-2.27204890e-02 -8.65443660e-04 9.99741482e-01 3.59724456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7107140569999 meters Centerline goodness : 0.990877 Centerline is valid? [True, True] Translation: X:278.48, Y:216.56, Z:3.60 [[ 5.36262052e-01 -8.43975348e-01 1.13412359e-02 2.78479213e+02] [ 8.43745554e-01 5.36381022e-01 1.97189922e-02 2.16555888e+02] [-2.27255670e-02 -1.00542985e-03 9.99741235e-01 3.59903333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.740714057 meters Centerline goodness : 0.991092 Centerline is valid? [True, True] Translation: X:278.49, Y:216.58, Z:3.60 [[ 5.37158013e-01 -8.43403864e-01 1.14538554e-02 2.78492771e+02] [ 8.43175486e-01 5.37279368e-01 1.96463922e-02 2.16577350e+02] [-2.27237633e-02 -8.95606838e-04 9.99741381e-01 3.59594744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.770714057 meters Centerline goodness : 0.991682 Centerline is valid? [True, True] Translation: X:278.50, Y:216.60, Z:3.60 [[ 5.34827360e-01 -8.44884274e-01 1.14130751e-02 2.78504538e+02] [ 8.44655667e-01 5.34948396e-01 1.96727906e-02 2.16599046e+02] [-2.27266376e-02 -8.81428113e-04 9.99741328e-01 3.59512817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8007140569999 meters Centerline goodness : 0.990837 Centerline is valid? [True, True] Translation: X:278.52, Y:216.62, Z:3.59 [[ 5.32407018e-01 -8.46413681e-01 1.12537522e-02 2.78518909e+02] [ 8.46183221e-01 5.32524993e-01 1.97759824e-02 2.16622428e+02] [-2.27315664e-02 -1.00613559e-03 9.99741098e-01 3.59418097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8307140569999 meters Centerline goodness : 0.991268 Centerline is valid? [True, True] Translation: X:278.53, Y:216.65, Z:3.59 [[ 5.31665975e-01 -8.46879620e-01 1.12338787e-02 2.78534576e+02] [ 8.46648990e-01 5.31783686e-01 1.97888570e-02 2.16646938e+02] [-2.27327731e-02 -1.00990987e-03 9.99741067e-01 3.59372754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.860714057 meters Centerline goodness : 0.990905 Centerline is valid? [True, True] Translation: X:278.55, Y:216.67, Z:3.59 [[ 5.29035767e-01 -8.48524929e-01 1.12517373e-02 2.78547580e+02] [ 8.48294912e-01 5.29154610e-01 1.97772825e-02 2.16670460e+02] [-2.27354259e-02 -9.18098336e-04 9.99741095e-01 3.59191291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.890714057 meters Centerline goodness : 0.991317 Centerline is valid? [True, True] Translation: X:278.56, Y:216.69, Z:3.59 [[ 5.29537665e-01 -8.48211398e-01 1.12820809e-02 2.78562993e+02] [ 8.47981732e-01 5.29657080e-01 1.97575482e-02 2.16693983e+02] [-2.27342116e-02 -8.95367467e-04 9.99741143e-01 3.59133414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9207140569999 meters Centerline goodness : 0.991069 Centerline is valid? [True, True] Translation: X:278.57, Y:216.71, Z:3.59 [[ 5.24800875e-01 -8.51149469e-01 1.13412642e-02 2.78571252e+02] [ 8.50921306e-01 5.24922942e-01 1.97189414e-02 2.16714919e+02] [-2.27370563e-02 -6.97994334e-04 9.99741236e-01 3.58953684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9507140569999 meters Centerline goodness : 0.990280 Centerline is valid? [True, True] Translation: X:278.59, Y:216.74, Z:3.59 [[ 5.23154581e-01 -8.52165957e-01 1.10664343e-02 2.78589175e+02] [ 8.51934175e-01 5.23270692e-01 1.98983773e-02 2.16742494e+02] [-2.27474605e-02 -9.82053657e-04 9.99740761e-01 3.58991712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9807140569999 meters Centerline goodness : 0.991567 Centerline is valid? [True, True] Translation: X:278.60, Y:216.76, Z:3.59 [[ 5.24947168e-01 -8.51059555e-01 1.13182954e-02 2.78601193e+02] [ 8.50831068e-01 5.25068664e-01 1.97330056e-02 2.16763242e+02] [-2.27368452e-02 -7.28828072e-04 9.99741219e-01 3.59021561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.010714057 meters Centerline goodness : 0.991274 Centerline is valid? [True, True] Translation: X:278.62, Y:216.79, Z:3.59 [[ 5.25870418e-01 -8.50491250e-01 1.11775302e-02 2.78616666e+02] [ 8.50260647e-01 5.25988388e-01 1.98254375e-02 2.16790651e+02] [-2.27406122e-02 -9.21797080e-04 9.99740974e-01 3.59072424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.040714057 meters Centerline goodness : 0.991051 Centerline is valid? [True, True] Translation: X:278.63, Y:216.82, Z:3.59 [[ 5.28967808e-01 -8.48567803e-01 1.12134388e-02 2.78632977e+02] [ 8.48337271e-01 5.29085776e-01 1.98019432e-02 2.16815422e+02] [-2.27361624e-02 -9.61812446e-04 9.99741037e-01 3.59090028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0707140569999 meters Centerline goodness : 0.991767 Centerline is valid? [True, True] Translation: X:278.64, Y:216.84, Z:3.59 [[ 5.33482591e-01 -8.45735250e-01 1.13230665e-02 2.78644796e+02] [ 8.45505614e-01 5.33601893e-01 1.97300800e-02 2.16840825e+02] [-2.27284339e-02 -9.51937917e-04 9.99741223e-01 3.58866785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1007140569999 meters Centerline goodness : 0.991969 Centerline is valid? [True, True] Translation: X:278.66, Y:216.86, Z:3.59 [[ 5.39690330e-01 -8.41786716e-01 1.13785542e-02 2.78655439e+02] [ 8.41556980e-01 5.39809240e-01 1.96934791e-02 2.16864459e+02] [-2.27199578e-02 -1.05267854e-03 9.99741314e-01 3.58642147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.130714057 meters Centerline goodness : 0.992474 Centerline is valid? [True, True] Translation: X:278.67, Y:216.89, Z:3.59 [[ 5.41757367e-01 -8.40459328e-01 1.12726395e-02 2.78670373e+02] [ 8.40227838e-01 5.41873224e-01 1.97633437e-02 2.16889376e+02] [-2.27186281e-02 -1.23535155e-03 9.99741135e-01 3.58519719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.160714057 meters Centerline goodness : 0.992077 Centerline is valid? [True, True] Translation: X:278.68, Y:216.92, Z:3.58 [[ 5.46836066e-01 -8.37163930e-01 1.12636899e-02 2.78683725e+02] [ 8.36931621e-01 5.46950308e-01 1.97692260e-02 2.16915606e+02] [-2.27107616e-02 -1.38358750e-03 9.99741120e-01 3.58328125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1907140569999 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:278.70, Y:216.94, Z:3.58 [[ 5.48962800e-01 -8.35769532e-01 1.13637148e-02 2.78696065e+02] [ 8.35538293e-01 5.49078813e-01 1.97032262e-02 2.16938840e+02] [-2.27069312e-02 -1.32151939e-03 9.99741291e-01 3.58207555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2207140569999 meters Centerline goodness : 0.992790 Centerline is valid? [True, True] Translation: X:278.74, Y:216.97, Z:3.59 [[ 5.63377277e-01 -8.26123014e-01 1.12609952e-02 2.78739043e+02] [ 8.25888446e-01 5.63486812e-01 1.97708906e-02 2.16970935e+02] [-2.26786100e-02 -1.83814471e-03 9.99741117e-01 3.58833532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.250714057 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:278.72, Y:216.98, Z:3.58 [[ 5.49736312e-01 -8.35244252e-01 1.25310138e-02 2.78722624e+02] [ 8.35029707e-01 5.49879110e-01 1.89302231e-02 2.16983983e+02] [-2.27019028e-02 5.71377588e-05 9.99742277e-01 3.57927519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.280714057 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:278.74, Y:217.01, Z:3.58 [[ 5.50105086e-01 -8.35019139e-01 1.12886008e-02 2.78740152e+02] [ 8.34786756e-01 5.50219011e-01 1.97512638e-02 2.17007343e+02] [-2.27038861e-02 -1.44169622e-03 9.99741194e-01 3.58004855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3107140569999 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:278.75, Y:217.03, Z:3.58 [[ 5.47597641e-01 -8.36665931e-01 1.12669294e-02 2.78753090e+02] [ 8.36433596e-01 5.47711750e-01 1.97655957e-02 2.17029861e+02] [-2.27082302e-02 -1.39955527e-03 9.99741155e-01 3.57952450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3407140569999 meters Centerline goodness : 0.992654 Centerline is valid? [True, True] Translation: X:278.76, Y:217.05, Z:3.58 [[ 5.43992163e-01 -8.39016052e-01 1.11620314e-02 2.78763718e+02] [ 8.38782773e-01 5.44104794e-01 1.98351393e-02 2.17051462e+02] [-2.27153150e-02 -1.42764068e-03 9.99740955e-01 3.57896055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.370714057 meters Centerline goodness : 0.992318 Centerline is valid? [True, True] Translation: X:278.79, Y:217.08, Z:3.58 [[ 5.45448228e-01 -8.38073394e-01 1.09186753e-02 2.78785297e+02] [ 8.37836648e-01 5.45554665e-01 1.99964591e-02 2.17077896e+02] [-2.27152346e-02 -1.75896683e-03 9.99740428e-01 3.57988396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.400714057 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:278.80, Y:217.10, Z:3.58 [[ 5.46699216e-01 -8.37252694e-01 1.13090262e-02 2.78798456e+02] [ 8.37021101e-01 5.46814570e-01 1.97358082e-02 2.17097313e+02] [-2.27077989e-02 -1.32365731e-03 9.99741268e-01 3.58009926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4307140569999 meters Centerline goodness : 0.991954 Centerline is valid? [True, True] Translation: X:278.82, Y:217.12, Z:3.58 [[ 5.46457787e-01 -8.37411921e-01 1.11876129e-02 2.78815098e+02] [ 8.37178688e-01 5.46570338e-01 1.98169054e-02 2.17121594e+02] [-2.27097302e-02 -1.46307119e-03 9.99741030e-01 3.57985782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4607140569999 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:278.83, Y:217.15, Z:3.58 [[ 5.49376745e-01 -8.35499430e-01 1.12202483e-02 2.78834411e+02] [ 8.35266251e-01 5.49489256e-01 1.97951169e-02 2.17145729e+02] [-2.27042148e-02 -1.50308215e-03 9.99741096e-01 3.58039914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.490714057 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:278.85, Y:217.17, Z:3.58 [[ 5.50103875e-01 -8.35018890e-01 1.13657605e-02 2.78850038e+02] [ 8.34787615e-01 5.50219626e-01 1.96977234e-02 2.17168409e+02] [-2.27016357e-02 -1.34779786e-03 9.99741376e-01 3.57969618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.520714057 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:278.87, Y:217.19, Z:3.58 [[ 5.52319306e-01 -8.33554681e-01 1.14008132e-02 2.78865286e+02] [ 8.33323585e-01 5.52435271e-01 1.96742037e-02 2.17192516e+02] [-2.26977359e-02 -1.36587599e-03 9.99741440e-01 3.57809923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5507140569999 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:278.88, Y:217.22, Z:3.58 [[ 5.54228108e-01 -8.32286524e-01 1.14169123e-02 2.78880947e+02] [ 8.32055386e-01 5.54343923e-01 1.96633874e-02 2.17215952e+02] [-2.26944683e-02 -1.39849862e-03 9.99741469e-01 3.57696575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5807140569999 meters Centerline goodness : 0.991268 Centerline is valid? [True, True] Translation: X:278.90, Y:217.24, Z:3.58 [[ 5.55668520e-01 -8.31325275e-01 1.14360331e-02 2.78901057e+02] [ 8.31094201e-01 5.55784387e-01 1.96505260e-02 2.17244096e+02] [-2.26919476e-02 -1.41475795e-03 9.99741504e-01 3.58069332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.610714057 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:278.91, Y:217.26, Z:3.58 [[ 5.60327055e-01 -8.28187139e-01 1.18175555e-02 2.78912980e+02] [ 8.27960765e-01 5.60450616e-01 1.93927497e-02 2.17262669e+02] [-2.26839821e-02 -1.08181004e-03 9.99742100e-01 3.57543920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.640714057 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:278.93, Y:217.29, Z:3.58 [[ 5.62054435e-01 -8.27019498e-01 1.15569367e-02 2.78930646e+02] [ 8.26789209e-01 5.62171385e-01 1.95687914e-02 2.17287855e+02] [-2.26807512e-02 -1.44357543e-03 9.99741716e-01 3.57506154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6707140569999 meters Centerline goodness : 0.992551 Centerline is valid? [True, True] Translation: X:278.95, Y:217.31, Z:3.57 [[ 5.64464224e-01 -8.25374981e-01 1.16739609e-02 2.78946019e+02] [ 8.25145977e-01 5.64583270e-01 1.94896934e-02 2.17310077e+02] [-2.26772284e-02 -1.36851280e-03 9.99741902e-01 3.57380562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7007140569999 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:278.99, Y:217.34, Z:3.58 [[ 5.75797503e-01 -8.17509503e-01 1.16382058e-02 2.78988489e+02] [ 8.17278393e-01 5.75912527e-01 1.95138440e-02 2.17338344e+02] [-2.26553414e-02 -1.72436850e-03 9.99741848e-01 3.57881058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7307140569999 meters Centerline goodness : 0.992053 Centerline is valid? [True, True] Translation: X:279.00, Y:217.36, Z:3.58 [[ 5.75808598e-01 -8.17485382e-01 1.27321883e-02 2.79003338e+02] [ 8.17269925e-01 5.75949205e-01 1.87718643e-02 2.17360582e+02] [-2.26788184e-02 -4.03366302e-04 9.99742721e-01 3.57597961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.760714057 meters Centerline goodness : 0.992077 Centerline is valid? [True, True] Translation: X:278.99, Y:217.38, Z:3.57 [[ 5.65308420e-01 -8.24781405e-01 1.27288388e-02 2.78993583e+02] [ 8.24567712e-01 5.65451695e-01 1.87741352e-02 2.17376462e+02] [-2.26821011e-02 -1.17387223e-04 9.99742721e-01 3.56964249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.790714057 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:279.01, Y:217.40, Z:3.57 [[ 5.65997725e-01 -8.24323088e-01 1.17482781e-02 2.79009973e+02] [ 8.24094936e-01 5.66118101e-01 1.94379002e-02 2.17399144e+02] [-2.26740228e-02 -1.32011076e-03 9.99742040e-01 3.56940221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8207140569999 meters Centerline goodness : 0.986986 Centerline is valid? [True, True] Translation: X:279.04, Y:217.43, Z:3.57 [[ 5.70059504e-01 -8.21520374e-01 1.16806443e-02 2.79036391e+02] [ 8.21290715e-01 5.70177153e-01 1.94826935e-02 2.17430487e+02] [-2.26654662e-02 -1.51308986e-03 9.99741960e-01 3.57302664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8507140569999 meters Centerline goodness : 0.991645 Centerline is valid? [True, True] Translation: X:279.05, Y:217.46, Z:3.57 [[ 5.69432166e-01 -8.21947382e-01 1.22274380e-02 2.79054477e+02] [ 8.21725397e-01 5.69562812e-01 1.91200443e-02 2.17456769e+02] [-2.26799643e-02 -8.39971873e-04 9.99742424e-01 3.57494771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.880714057 meters Centerline goodness : 0.987510 Centerline is valid? [True, True] Translation: X:279.07, Y:217.48, Z:3.57 [[ 5.70501338e-01 -8.21200776e-01 1.25502385e-02 2.79065308e+02] [ 8.20983264e-01 5.70639162e-01 1.89057612e-02 2.17477058e+02] [-2.26870833e-02 -4.82226283e-04 9.99742499e-01 3.57137083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.910714057 meters Centerline goodness : 0.982479 Centerline is valid? [True, True] Translation: X:279.09, Y:217.51, Z:3.57 [[ 5.68252270e-01 -8.22763147e-01 1.22540717e-02 2.79085995e+02] [ 8.22541755e-01 5.68383853e-01 1.91012380e-02 2.17507946e+02] [-2.26808112e-02 -7.74836210e-04 9.99742457e-01 3.56893371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9407140569999 meters Centerline goodness : 0.992300 Centerline is valid? [True, True] Translation: X:279.09, Y:217.51, Z:3.57 [[ 5.70982046e-01 -8.20862496e-01 1.28166339e-02 2.79090957e+02] [ 8.20648783e-01 5.71125845e-01 1.87308064e-02 2.17513805e+02] [-2.26953273e-02 -1.76999172e-04 9.99742412e-01 3.56931881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9707140569999 meters Centerline goodness : 0.991256 Centerline is valid? [True, True] Translation: X:279.13, Y:217.54, Z:3.57 [[ 5.82604766e-01 -8.12669321e-01 1.18432043e-02 2.79130643e+02] [ 8.12439667e-01 5.82722719e-01 1.93912310e-02 2.17542335e+02] [-2.26599628e-02 -1.67553464e-03 9.99741826e-01 3.57281496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.000714057 meters Centerline goodness : 0.987242 Centerline is valid? [True, True] Translation: X:279.14, Y:217.56, Z:3.57 [[ 5.85181682e-01 -8.10801603e-01 1.27733979e-02 2.79144597e+02] [ 8.10584833e-01 5.85320743e-01 1.87578202e-02 2.17563593e+02] [-2.26854054e-02 -6.22810169e-04 9.99742459e-01 3.56845676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.030714057 meters Centerline goodness : 0.990716 Centerline is valid? [True, True] Translation: X:279.16, Y:217.59, Z:3.57 [[ 5.83945196e-01 -8.11695737e-01 1.25713587e-02 2.79160937e+02] [ 8.11476207e-01 5.84079907e-01 1.88951763e-02 2.17588926e+02] [-2.26798121e-02 -8.32388920e-04 9.99742433e-01 3.57055442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0607140569999 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:279.18, Y:217.61, Z:3.57 [[ 5.84307522e-01 -8.11432021e-01 1.27590892e-02 2.79176582e+02] [ 8.11215189e-01 5.84446487e-01 1.87675487e-02 2.17610715e+02] [-2.26855948e-02 -6.15652904e-04 9.99742459e-01 3.56921803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0907140569999 meters Centerline goodness : 0.991157 Centerline is valid? [True, True] Translation: X:279.17, Y:217.63, Z:3.56 [[ 5.74502363e-01 -8.18403540e-01 1.27546316e-02 2.79169979e+02] [ 8.18188328e-01 5.74643824e-01 1.87705776e-02 2.17626921e+02] [-2.26912775e-02 -3.48050508e-04 9.99742459e-01 3.56417059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.120714057 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:279.21, Y:217.66, Z:3.57 [[ 5.84800679e-01 -8.11091041e-01 1.18105727e-02 2.79209251e+02] [ 8.10860698e-01 5.84917238e-01 1.94101193e-02 2.17655036e+02] [-2.26515814e-02 -1.77432169e-03 9.99741846e-01 3.56696941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.150714057 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:279.20, Y:217.67, Z:3.56 [[ 5.74473041e-01 -8.18424049e-01 1.27593538e-02 2.79200911e+02] [ 8.18208967e-01 5.74614619e-01 1.87650093e-02 2.17670139e+02] [-2.26894461e-02 -3.40174225e-04 9.99742504e-01 3.56087634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1807140569999 meters Centerline goodness : 0.992566 Centerline is valid? [True, True] Translation: X:279.22, Y:217.69, Z:3.56 [[ 5.75304547e-01 -8.17853781e-01 1.18267067e-02 2.79219416e+02] [ 8.17625017e-01 5.75424165e-01 1.94000543e-02 2.17691855e+02] [-2.26717805e-02 -1.49112817e-03 9.99741850e-01 3.56193409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2107140569999 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:279.26, Y:217.72, Z:3.57 [[ 5.85121633e-01 -8.10859682e-01 1.18004276e-02 2.79260432e+02] [ 8.10629135e-01 5.85237857e-01 1.94179403e-02 2.17719739e+02] [-2.26512818e-02 -1.79608654e-03 9.99741813e-01 3.56717604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.240714057 meters Centerline goodness : 0.991710 Centerline is valid? [True, True] Translation: X:279.25, Y:217.73, Z:3.56 [[ 5.70973395e-01 -8.20868784e-01 1.27992747e-02 2.79245638e+02] [ 8.20654968e-01 5.71116802e-01 1.87355951e-02 2.17729958e+02] [-2.26893460e-02 -1.93737937e-04 9.99742545e-01 3.55786280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.270714057 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:279.27, Y:217.75, Z:3.56 [[ 5.75882561e-01 -8.17451188e-01 1.15252322e-02 2.79270791e+02] [ 8.17218186e-01 5.75994836e-01 1.96057649e-02 2.17754887e+02] [-2.26652300e-02 -1.87198878e-03 9.99741358e-01 3.56046749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3007140569999 meters Centerline goodness : 0.992485 Centerline is valid? [True, True] Translation: X:279.31, Y:217.78, Z:3.56 [[ 5.86607299e-01 -8.09785592e-01 1.17970905e-02 2.79312182e+02] [ 8.09554790e-01 5.86723021e-01 1.94200926e-02 2.17782326e+02] [-2.26477358e-02 -1.84157693e-03 9.99741811e-01 3.56371381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3307140569999 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:279.29, Y:217.79, Z:3.55 [[ 5.69643508e-01 -8.21791754e-01 1.28291531e-02 2.79287412e+02] [ 8.21578689e-01 5.69787942e-01 1.87125412e-02 2.17791477e+02] [-2.26877088e-02 -1.19318814e-04 9.99742594e-01 3.55161052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.360714057 meters Centerline goodness : 0.991533 Centerline is valid? [True, True] Translation: X:279.32, Y:217.82, Z:3.55 [[ 5.79706226e-01 -8.14747021e-01 1.13129404e-02 2.79321783e+02] [ 8.14510665e-01 5.79812294e-01 1.97504610e-02 2.17817002e+02] [-2.26510111e-02 -2.23495463e-03 9.99740935e-01 3.55400197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.390714057 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:279.34, Y:217.84, Z:3.55 [[ 5.81994703e-01 -8.13105203e-01 1.19203500e-02 2.79338072e+02] [ 8.12876861e-01 5.82114672e-01 1.93317564e-02 2.17837770e+02] [-2.26577624e-02 -1.56120314e-03 9.99742061e-01 3.55316658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4207140569999 meters Centerline goodness : 0.992477 Centerline is valid? [True, True] Translation: X:279.36, Y:217.86, Z:3.55 [[ 5.82427519e-01 -8.12795247e-01 1.19193959e-02 2.79355566e+02] [ 8.12566828e-01 5.82547344e-01 1.93324141e-02 2.17858722e+02] [-2.26569067e-02 -1.57442427e-03 9.99742060e-01 3.55190387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4507140569999 meters Centerline goodness : 0.992253 Centerline is valid? [True, True] Translation: X:279.38, Y:217.88, Z:3.55 [[ 5.84412560e-01 -8.11369688e-01 1.18822866e-02 2.79376615e+02] [ 8.11140459e-01 5.84530944e-01 1.93579641e-02 2.17882503e+02] [-2.26520295e-02 -1.67483397e-03 9.99742007e-01 3.55272968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4807140569999 meters Centerline goodness : 0.991632 Centerline is valid? [True, True] Translation: X:279.39, Y:217.91, Z:3.55 [[ 5.80869100e-01 -8.13908780e-01 1.19827645e-02 2.79392719e+02] [ 8.13681480e-01 5.80990863e-01 1.92890141e-02 2.17907841e+02] [-2.26613746e-02 -1.45423874e-03 9.99742140e-01 3.55058013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.510714057 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:279.41, Y:217.92, Z:3.55 [[ 5.88746695e-01 -8.08226130e-01 1.21594706e-02 2.79410890e+02] [ 8.08000145e-01 5.88870438e-01 1.91669632e-02 2.17924823e+02] [-2.26515932e-02 -1.45963219e-03 9.99742354e-01 3.55428134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.540714057 meters Centerline goodness : 0.993261 Centerline is valid? [True, True] Translation: X:279.42, Y:217.94, Z:3.55 [[ 5.82650221e-01 -8.12633033e-01 1.20943971e-02 2.79416106e+02] [ 8.12407053e-01 5.82774126e-01 1.92119516e-02 2.17941690e+02] [-2.26605682e-02 -1.36827429e-03 9.99742280e-01 3.55000827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5707140569999 meters Centerline goodness : 0.991817 Centerline is valid? [True, True] Translation: X:279.44, Y:217.97, Z:3.55 [[ 5.87653755e-01 -8.09028962e-01 1.16276745e-02 2.79442756e+02] [ 8.08795721e-01 5.87765114e-01 1.95359329e-02 2.17966303e+02] [-2.26394770e-02 -2.07595093e-03 9.99741539e-01 3.55269903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6007140569999 meters Centerline goodness : 0.990259 Centerline is valid? [True, True] Translation: X:279.46, Y:218.00, Z:3.55 [[ 5.82109253e-01 -8.13021676e-01 1.20238300e-02 2.79461422e+02] [ 8.12794770e-01 5.82231641e-01 1.92607756e-02 2.17995189e+02] [-2.26600823e-02 -1.43896955e-03 9.99742192e-01 3.54865518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.630714057 meters Centerline goodness : 0.991511 Centerline is valid? [True, True] Translation: X:279.47, Y:218.01, Z:3.55 [[ 5.84171330e-01 -8.11535689e-01 1.23969040e-02 2.79472554e+02] [ 8.11313896e-01 5.84301926e-01 1.90005628e-02 2.18011508e+02] [-2.26631697e-02 -1.04180359e-03 9.99742615e-01 3.54819010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.660714057 meters Centerline goodness : 0.991941 Centerline is valid? [True, True] Translation: X:279.48, Y:218.03, Z:3.54 [[ 5.78018183e-01 -8.15935127e-01 1.20353259e-02 2.79480221e+02] [ 8.15709014e-01 5.78141981e-01 1.92523796e-02 2.18031844e+02] [-2.26668199e-02 -1.31090164e-03 9.99742215e-01 3.54448946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6907140569999 meters Centerline goodness : 0.991216 Centerline is valid? [True, True] Translation: X:279.50, Y:218.05, Z:3.55 [[ 5.80778305e-01 -8.13979417e-01 1.15788447e-02 2.79498412e+02] [ 8.13746454e-01 5.80890464e-01 1.95698168e-02 2.18054935e+02] [-2.26554686e-02 -1.94348120e-03 9.99741443e-01 3.54516089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7207140569999 meters Centerline goodness : 0.990391 Centerline is valid? [True, True] Translation: X:279.52, Y:218.09, Z:3.54 [[ 5.82946629e-01 -8.12427143e-01 1.16346920e-02 2.79518840e+02] [ 8.12194651e-01 5.83059509e-01 1.95309728e-02 2.18086234e+02] [-2.26512102e-02 -1.93588018e-03 9.99741554e-01 3.54135826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.750714057 meters Centerline goodness : 0.991132 Centerline is valid? [True, True] Translation: X:279.53, Y:218.11, Z:3.54 [[ 5.83966416e-01 -8.11686966e-01 1.21446834e-02 2.79527502e+02] [ 8.11461543e-01 5.84091145e-01 1.91754542e-02 2.18106613e+02] [-2.26580683e-02 -1.34287769e-03 9.99742371e-01 3.53855700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.780714057 meters Centerline goodness : 0.991240 Centerline is valid? [True, True] Translation: X:279.54, Y:218.13, Z:3.54 [[ 5.85401377e-01 -8.10655601e-01 1.19467280e-02 2.79541759e+02] [ 8.10427113e-01 5.85521013e-01 1.93142073e-02 2.18128110e+02] [-2.26522306e-02 -1.62461132e-03 9.99742085e-01 3.53859969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8107140569999 meters Centerline goodness : 0.991177 Centerline is valid? [True, True] Translation: X:279.56, Y:218.15, Z:3.54 [[ 5.85231911e-01 -8.10778854e-01 1.18852751e-02 2.79557735e+02] [ 8.10549514e-01 5.85350132e-01 1.93573853e-02 2.18150532e+02] [-2.26516060e-02 -1.69495560e-03 9.99741983e-01 3.53918845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8407140569999 meters Centerline goodness : 0.991354 Centerline is valid? [True, True] Translation: X:279.57, Y:218.17, Z:3.54 [[ 5.81632773e-01 -8.13365398e-01 1.18341360e-02 2.79570803e+02] [ 8.13135853e-01 5.81750791e-01 1.93933270e-02 2.18172328e+02] [-2.26583791e-02 -1.65703427e-03 9.99741893e-01 3.54023887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.870714057 meters Centerline goodness : 0.990984 Centerline is valid? [True, True] Translation: X:279.59, Y:218.20, Z:3.54 [[ 5.82312564e-01 -8.12881453e-01 1.16542800e-02 2.79585412e+02] [ 8.12649267e-01 5.82426090e-01 1.95196836e-02 2.18195052e+02] [-2.26549455e-02 -1.89571488e-03 9.99741546e-01 3.54052624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.900714057 meters Centerline goodness : 0.987807 Centerline is valid? [True, True] Translation: X:279.61, Y:218.23, Z:3.55 [[ 5.85191062e-01 -8.10812020e-01 1.16313894e-02 2.79608706e+02] [ 8.10579127e-01 5.85303215e-01 1.95352578e-02 2.18233746e+02] [-2.26473114e-02 -2.00369674e-03 9.99741509e-01 3.54812936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9307140569999 meters Centerline goodness : 0.990951 Centerline is valid? [True, True] Translation: X:279.61, Y:218.24, Z:3.54 [[ 5.85004357e-01 -8.10935667e-01 1.23793049e-02 2.79612191e+02] [ 8.10713208e-01 5.85134300e-01 1.90248497e-02 2.18244564e+02] [-2.26714850e-02 -1.09355396e-03 9.99742371e-01 3.54024711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9607140569999 meters Centerline goodness : 0.991409 Centerline is valid? [True, True] Translation: X:279.63, Y:218.27, Z:3.54 [[ 5.85448197e-01 -8.10624146e-01 1.17856659e-02 2.79627698e+02] [ 8.10393004e-01 5.85563948e-01 1.94432876e-02 2.18267499e+02] [-2.26624595e-02 -1.83201650e-03 9.99741495e-01 3.54002589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.990714057 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:279.65, Y:218.29, Z:3.54 [[ 5.88775899e-01 -8.08211522e-01 1.17079629e-02 2.79646210e+02] [ 8.07978818e-01 5.88888830e-01 1.94980981e-02 2.18289760e+02] [-2.26532761e-02 -2.02022425e-03 9.99741340e-01 3.54096475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.020714057 meters Centerline goodness : 0.991108 Centerline is valid? [True, True] Translation: X:279.66, Y:218.31, Z:3.54 [[ 5.91625868e-01 -8.06127341e-01 1.17278548e-02 2.79664370e+02] [ 8.05894516e-01 5.91738457e-01 1.94840365e-02 2.18314322e+02] [-2.26464373e-02 -2.07584617e-03 9.99741381e-01 3.54031242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0507140569999 meters Centerline goodness : 0.991537 Centerline is valid? [True, True] Translation: X:279.68, Y:218.34, Z:3.54 [[ 5.94557499e-01 -8.03965786e-01 1.18488431e-02 2.79680362e+02] [ 8.03734239e-01 5.94672157e-01 1.93984412e-02 2.18339334e+02] [-2.26418601e-02 -2.01016779e-03 9.99741619e-01 3.53837902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0807140569999 meters Centerline goodness : 0.991031 Centerline is valid? [True, True] Translation: X:279.69, Y:218.36, Z:3.54 [[ 5.95086175e-01 -8.03573059e-01 1.19492315e-02 2.79694294e+02] [ 8.03342849e-01 5.95203093e-01 1.93273097e-02 2.18361993e+02] [-2.26431249e-02 -1.90208511e-03 9.99741802e-01 3.53632895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.110714057 meters Centerline goodness : 0.990716 Centerline is valid? [True, True] Translation: X:279.72, Y:218.39, Z:3.54 [[ 5.97839801e-01 -8.01527716e-01 1.18698256e-02 2.79716810e+02] [ 8.01295995e-01 5.97954017e-01 1.93835416e-02 2.18388485e+02] [-2.26340557e-02 -2.07700890e-03 9.99741659e-01 3.53734482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.140714057 meters Centerline goodness : 0.991067 Centerline is valid? [True, True] Translation: X:279.73, Y:218.41, Z:3.54 [[ 6.01276966e-01 -7.98946100e-01 1.22938464e-02 2.79731511e+02] [ 7.98719913e-01 6.01400360e-01 1.90815858e-02 2.18407644e+02] [-2.26386822e-02 -1.65397814e-03 9.99742344e-01 3.53725461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1707140569999 meters Centerline goodness : 0.991443 Centerline is valid? [True, True] Translation: X:279.75, Y:218.43, Z:3.54 [[ 6.02830923e-01 -7.97776333e-01 1.21573382e-02 2.79748101e+02] [ 7.97547947e-01 6.02950613e-01 1.91788875e-02 2.18430592e+02] [-2.26307371e-02 -1.86556634e-03 9.99742151e-01 3.53756096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2007140569999 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:279.76, Y:218.45, Z:3.54 [[ 6.03901878e-01 -7.96965607e-01 1.21796502e-02 2.79764508e+02] [ 7.96737378e-01 6.04021796e-01 1.91629824e-02 2.18454777e+02] [-2.26290120e-02 -1.86857848e-03 9.99742185e-01 3.53643056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2307140569999 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:279.78, Y:218.48, Z:3.54 [[ 6.04715926e-01 -7.96346703e-01 1.22710127e-02 2.79780577e+02] [ 7.96119663e-01 6.04837798e-01 1.90976644e-02 2.18477529e+02] [-2.26303344e-02 -1.77946735e-03 9.99742318e-01 3.53641775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.260714057 meters Centerline goodness : 0.991449 Centerline is valid? [True, True] Translation: X:279.79, Y:218.50, Z:3.54 [[ 6.02945537e-01 -7.97687833e-01 1.22800720e-02 2.79794086e+02] [ 7.97461195e-01 6.03068129e-01 1.90911793e-02 2.18498656e+02] [-2.26345215e-02 -1.71806046e-03 9.99742330e-01 3.53536885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.290714057 meters Centerline goodness : 0.991054 Centerline is valid? [True, True] Translation: X:279.81, Y:218.52, Z:3.54 [[ 6.05426225e-01 -7.95808720e-01 1.21477374e-02 2.79814562e+02] [ 7.95579803e-01 6.05544939e-01 1.91860226e-02 2.18522774e+02] [-2.26244050e-02 -1.95122674e-03 9.99742131e-01 3.53721544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3207140569999 meters Centerline goodness : 0.991334 Centerline is valid? [True, True] Translation: X:279.83, Y:218.55, Z:3.54 [[ 6.05271996e-01 -7.95923107e-01 1.23377130e-02 2.79829489e+02] [ 7.95696952e-01 6.05395304e-01 1.90496001e-02 2.18547655e+02] [-2.26312104e-02 -1.71310885e-03 9.99742414e-01 3.53568170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3507140569999 meters Centerline goodness : 0.992129 Centerline is valid? [True, True] Translation: X:279.85, Y:218.57, Z:3.53 [[ 6.03155872e-01 -7.97527666e-01 1.23538319e-02 2.79845373e+02] [ 7.97302075e-01 6.03280163e-01 1.90380220e-02 2.18572791e+02] [-2.26361710e-02 -1.63315895e-03 9.99742435e-01 3.53466970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.380714057 meters Centerline goodness : 0.992239 Centerline is valid? [True, True] Translation: X:279.88, Y:218.60, Z:3.54 [[ 6.11129601e-01 -7.91434213e-01 1.23490055e-02 2.79884137e+02] [ 7.91207317e-01 6.11251507e-01 1.90414732e-02 2.18600324e+02] [-2.26184216e-02 -1.86618438e-03 9.99742429e-01 3.53903369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.410714057 meters Centerline goodness : 0.992239 Centerline is valid? [True, True] Translation: X:279.90, Y:218.62, Z:3.54 [[ 6.10916540e-01 -7.91584709e-01 1.32147468e-02 2.79900394e+02] [ 7.91370756e-01 6.11058930e-01 1.84204088e-02 2.18623845e+02] [-2.26563030e-02 -7.95568214e-04 9.99742996e-01 3.53789486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4407140569999 meters Centerline goodness : 0.992058 Centerline is valid? [True, True] Translation: X:279.92, Y:218.65, Z:3.54 [[ 6.10473836e-01 -7.91926257e-01 1.32097973e-02 2.79916065e+02] [ 7.91712307e-01 6.10616230e-01 1.84239575e-02 2.18646085e+02] [-2.26565324e-02 -7.88984939e-04 9.99742997e-01 3.53708978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4707140569999 meters Centerline goodness : 0.987866 Centerline is valid? [True, True] Translation: X:279.93, Y:218.67, Z:3.53 [[ 6.11005807e-01 -7.91515964e-01 1.32053662e-02 2.79929425e+02] [ 7.91301850e-01 6.11147955e-01 1.84271330e-02 2.18667354e+02] [-2.26558025e-02 -8.09654520e-04 9.99742997e-01 3.53338257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.500714057 meters Centerline goodness : 0.991885 Centerline is valid? [True, True] Translation: X:279.93, Y:218.68, Z:3.53 [[ 6.08322388e-01 -7.93583658e-01 1.29942315e-02 2.79934868e+02] [ 7.93366785e-01 6.08460346e-01 1.85782657e-02 2.18682523e+02] [-2.26498827e-02 -9.92383326e-04 9.99742966e-01 3.52789754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.530714057 meters Centerline goodness : 0.982932 Centerline is valid? [True, True] Translation: X:279.96, Y:218.72, Z:3.53 [[ 6.05812494e-01 -7.95509430e-01 1.24887545e-02 2.79960004e+02] [ 7.95285517e-01 6.05939251e-01 1.89359578e-02 2.18721074e+02] [-2.26311596e-02 -1.53951424e-03 9.99742697e-01 3.52503384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5607140569999 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:279.97, Y:218.74, Z:3.53 [[ 6.05588299e-01 -7.95663129e-01 1.35276554e-02 2.79972286e+02] [ 7.95455071e-01 6.05739316e-01 1.81964732e-02 2.18740040e+02] [-2.26724956e-02 -2.58929139e-04 9.99742912e-01 3.53112643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5907140569999 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:279.96, Y:218.75, Z:3.52 [[ 5.91917128e-01 -8.05891976e-01 1.31238718e-02 2.79956246e+02] [ 8.05680076e-01 5.92062487e-01 1.84831808e-02 2.18751764e+02] [-2.26655993e-02 -3.66869285e-04 9.99743035e-01 3.52336263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.620714057 meters Centerline goodness : 0.991188 Centerline is valid? [True, True] Translation: X:280.01, Y:218.78, Z:3.53 [[ 6.04952221e-01 -7.96173573e-01 1.18512294e-02 2.80005957e+02] [ 7.95940884e-01 6.05063949e-01 1.93836543e-02 2.18782343e+02] [-2.26035049e-02 -2.29330675e-03 9.99741878e-01 3.53415881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.650714057 meters Centerline goodness : 0.988059 Centerline is valid? [True, True] Translation: X:280.02, Y:218.80, Z:3.53 [[ 6.05533515e-01 -7.95711355e-01 1.31378125e-02 2.80018986e+02] [ 7.95497337e-01 6.05675576e-01 1.84684589e-02 2.18803802e+02] [-2.26528147e-02 -7.32175975e-04 9.99743124e-01 3.53235914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6807140569999 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:280.04, Y:218.83, Z:3.53 [[ 6.03039919e-01 -7.97605916e-01 1.29482865e-02 2.80035407e+02] [ 7.97389441e-01 6.03178252e-01 1.86031196e-02 2.18829209e+02] [-2.26480830e-02 -8.93596822e-04 9.99743100e-01 3.53463465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7107140569999 meters Centerline goodness : 0.992593 Centerline is valid? [True, True] Translation: X:280.01, Y:218.84, Z:3.53 [[ 5.85946165e-01 -8.10243634e-01 1.31280435e-02 2.80012084e+02] [ 8.10032988e-01 5.86093182e-01 1.84753904e-02 2.18838284e+02] [-2.26638243e-02 -1.91435865e-04 9.99743124e-01 3.52613062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.740714057 meters Centerline goodness : 0.993009 Centerline is valid? [True, True] Translation: X:280.07, Y:218.87, Z:3.53 [[ 6.03126228e-01 -7.97561545e-01 1.15903342e-02 2.80067412e+02] [ 7.97325679e-01 6.03232161e-01 1.95632636e-02 2.18870850e+02] [-2.25945691e-02 -2.55784627e-03 9.99741438e-01 3.53454069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.770714057 meters Centerline goodness : 0.992291 Centerline is valid? [True, True] Translation: X:280.08, Y:218.90, Z:3.53 [[ 6.02166005e-01 -7.98262678e-01 1.31453109e-02 2.80081967e+02] [ 7.98049545e-01 6.02309147e-01 1.84557660e-02 2.18895291e+02] [-2.26500902e-02 -6.22825460e-04 9.99743260e-01 3.53111300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8007140569999 meters Centerline goodness : 0.992645 Centerline is valid? [True, True] Translation: X:280.06, Y:218.90, Z:3.52 [[ 5.83398719e-01 -8.12079597e-01 1.31401340e-02 2.80055047e+02] [ 8.11869774e-01 5.83546672e-01 1.84594511e-02 2.18903413e+02] [-2.26584251e-02 -1.01142510e-04 9.99743260e-01 3.52014336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8307140569999 meters Centerline goodness : 0.988479 Centerline is valid? [True, True] Translation: X:280.09, Y:218.94, Z:3.53 [[ 5.89582847e-01 -8.07624703e-01 1.15933489e-02 2.80090152e+02] [ 8.07391582e-01 5.89692902e-01 1.95221504e-02 2.18942326e+02] [-2.26030865e-02 -2.14955270e-03 9.99742207e-01 3.52583093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.860714057 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:280.11, Y:218.97, Z:3.53 [[ 5.86184287e-01 -8.10077941e-01 1.27165582e-02 2.80106306e+02] [ 8.09861281e-01 5.86321800e-01 1.87470715e-02 2.18968062e+02] [-2.26425844e-02 -6.90590618e-04 9.99743385e-01 3.52651860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.890714057 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:280.12, Y:218.99, Z:3.52 [[ 5.84607028e-01 -8.11214572e-01 1.28662764e-02 2.80121809e+02] [ 8.11000437e-01 5.84748410e-01 1.86437497e-02 2.18988616e+02] [-2.26476161e-02 -4.64711359e-04 9.99743402e-01 3.52371115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9207140569999 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:280.14, Y:219.01, Z:3.53 [[ 5.79372413e-01 -8.14963396e-01 1.27385163e-02 2.80138465e+02] [ 8.14748232e-01 5.79512242e-01 1.87318243e-02 2.19012246e+02] [-2.26478773e-02 -4.74018652e-04 9.99743392e-01 3.52717627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9507140569999 meters Centerline goodness : 0.992487 Centerline is valid? [True, True] Translation: X:280.15, Y:219.04, Z:3.53 [[ 5.77653851e-01 -8.16180569e-01 1.28571764e-02 2.80154433e+02] [ 8.15967510e-01 5.77796850e-01 1.86500212e-02 2.19035646e+02] [-2.26506209e-02 -2.82218392e-04 9.99743402e-01 3.52665841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9807140569999 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:280.17, Y:219.06, Z:3.52 [[ 5.75488832e-01 -8.17708648e-01 1.28518740e-02 2.80168845e+02] [ 8.17495888e-01 5.75632273e-01 1.86536744e-02 2.19056752e+02] [-2.26512244e-02 -2.28627174e-04 9.99743402e-01 3.52383762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.010714057 meters Centerline goodness : 0.992670 Centerline is valid? [True, True] Translation: X:280.19, Y:219.08, Z:3.53 [[ 5.73006981e-01 -8.19452554e-01 1.26692749e-02 2.80186444e+02] [ 8.19237432e-01 5.73146897e-01 1.87793473e-02 2.19080957e+02] [-2.26501397e-02 -3.81552867e-04 9.99743380e-01 3.52559294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.040714057 meters Centerline goodness : 0.992372 Centerline is valid? [True, True] Translation: X:280.20, Y:219.10, Z:3.52 [[ 5.70996360e-01 -8.20852123e-01 1.28432341e-02 2.80202644e+02] [ 8.20640019e-01 5.71140769e-01 1.86596135e-02 2.19104151e+02] [-2.26520780e-02 -1.14899512e-04 9.99743402e-01 3.52438368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0707140569999 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:280.18, Y:219.11, Z:3.52 [[ 5.53097612e-01 -8.33017537e-01 1.28380210e-02 2.80179877e+02] [ 8.32808524e-01 5.53246461e-01 1.86631995e-02 2.19113754e+02] [-2.26493621e-02 3.69042215e-04 9.99743402e-01 3.51608485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1007140569999 meters Centerline goodness : 0.992120 Centerline is valid? [True, True] Translation: X:280.23, Y:219.15, Z:3.52 [[ 5.71039257e-01 -8.20844574e-01 1.13292828e-02 2.80233287e+02] [ 8.20610558e-01 5.71148301e-01 1.96959334e-02 2.19146334e+02] [-2.26380006e-02 -1.95022207e-03 9.99741825e-01 3.52410990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.130714057 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:280.25, Y:219.17, Z:3.52 [[ 5.71239375e-01 -8.20682934e-01 1.28490826e-02 2.80248054e+02] [ 8.20471030e-01 5.71383855e-01 1.86488353e-02 2.19170312e+02] [-2.26465392e-02 -1.10649016e-04 9.99743528e-01 3.52296781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.160714057 meters Centerline goodness : 0.991250 Centerline is valid? [True, True] Translation: X:280.26, Y:219.19, Z:3.52 [[ 5.71347437e-01 -8.20607789e-01 1.28437831e-02 2.80263137e+02] [ 8.20395784e-01 5.71491769e-01 1.86524844e-02 2.19192678e+02] [-2.26464903e-02 -1.20063611e-04 9.99743528e-01 3.52219604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1907140569999 meters Centerline goodness : 0.991565 Centerline is valid? [True, True] Translation: X:280.28, Y:219.22, Z:3.52 [[ 5.71017065e-01 -8.20837786e-01 1.28390362e-02 2.80278823e+02] [ 8.20625766e-01 5.71161375e-01 1.86557512e-02 2.19216332e+02] [-2.26465071e-02 -1.16708369e-04 9.99743528e-01 3.52165854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2207140569999 meters Centerline goodness : 0.990008 Centerline is valid? [True, True] Translation: X:280.29, Y:219.24, Z:3.52 [[ 5.72645153e-01 -8.19702886e-01 1.28338437e-02 2.80292709e+02] [ 8.19490499e-01 5.72788924e-01 1.86593227e-02 2.19238324e+02] [-2.26461842e-02 -1.67957710e-04 9.99743528e-01 3.51972830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.250714057 meters Centerline goodness : 0.990852 Centerline is valid? [True, True] Translation: X:280.31, Y:219.26, Z:3.52 [[ 5.71301510e-01 -8.20642588e-01 1.26620671e-02 2.80306624e+02] [ 8.20427805e-01 5.71441710e-01 1.87773486e-02 2.19261817e+02] [-2.26451252e-02 -3.39215690e-04 9.99743509e-01 3.51915198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.280714057 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:280.32, Y:219.29, Z:3.52 [[ 5.70406059e-01 -8.21265954e-01 1.26159184e-02 2.80322031e+02] [ 8.21050622e-01 5.70545437e-01 1.88090598e-02 2.19285636e+02] [-2.26451951e-02 -3.70494042e-04 9.99743496e-01 3.51682808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3107140569999 meters Centerline goodness : 0.987637 Centerline is valid? [True, True] Translation: X:280.34, Y:219.31, Z:3.51 [[ 5.70596577e-01 -8.21132885e-01 1.26622336e-02 2.80339980e+02] [ 8.20918224e-01 5.70736965e-01 1.87772695e-02 2.19308748e+02] [-2.26454383e-02 -3.19587401e-04 9.99743508e-01 3.51421912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3407140569999 meters Centerline goodness : 0.989724 Centerline is valid? [True, True] Translation: X:280.35, Y:219.33, Z:3.51 [[ 5.66988916e-01 -8.23626574e-01 1.27607320e-02 2.80354566e+02] [ 8.23414046e-01 5.67132487e-01 1.87096498e-02 2.19331768e+02] [-2.26467905e-02 -1.00798101e-04 9.99743523e-01 3.51386508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.370714057 meters Centerline goodness : 0.991244 Centerline is valid? [True, True] Translation: X:280.34, Y:219.33, Z:3.51 [[ 5.53690438e-01 -8.32625552e-01 1.27117618e-02 2.80343642e+02] [ 8.32414585e-01 5.53836301e-01 1.87432663e-02 2.19333896e+02] [-2.26463576e-02 2.03488586e-04 9.99743518e-01 3.50924451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.400714057 meters Centerline goodness : 0.985881 Centerline is valid? [True, True] Translation: X:280.38, Y:219.38, Z:3.51 [[ 5.59493894e-01 -8.28757328e-01 1.13081148e-02 2.80381178e+02] [ 8.28524933e-01 5.59605727e-01 1.96943283e-02 2.19375288e+02] [-2.26499047e-02 -1.64980134e-03 9.99742097e-01 3.51357008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4307140569999 meters Centerline goodness : 0.991203 Centerline is valid? [True, True] Translation: X:280.40, Y:219.40, Z:3.51 [[ 5.53793603e-01 -8.32559148e-01 1.25662431e-02 2.80396052e+02] [ 8.32346008e-01 5.53936155e-01 1.88376891e-02 2.19402218e+02] [-2.26443868e-02 2.72705822e-05 9.99743583e-01 3.51487543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4607140569999 meters Centerline goodness : 0.987035 Centerline is valid? [True, True] Translation: X:280.41, Y:219.42, Z:3.51 [[ 5.55770209e-01 -8.31238237e-01 1.27462984e-02 2.80410559e+02] [ 8.31027551e-01 5.55916322e-01 1.87150592e-02 2.19423333e+02] [-2.26425481e-02 1.91252771e-04 9.99743606e-01 3.51320726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.490714057 meters Centerline goodness : 0.991695 Centerline is valid? [True, True] Translation: X:280.42, Y:219.45, Z:3.51 [[ 5.51541152e-01 -8.34053024e-01 1.25662622e-02 2.80424061e+02] [ 8.33840273e-01 5.51684281e-01 1.88375346e-02 2.19452057e+02] [-2.26441120e-02 8.85799885e-05 9.99743585e-01 3.51380216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.520714057 meters Centerline goodness : 0.991050 Centerline is valid? [True, True] Translation: X:280.44, Y:219.48, Z:3.51 [[ 5.52883656e-01 -8.33160468e-01 1.27787966e-02 2.80435409e+02] [ 8.32950798e-01 5.53031228e-01 1.86930089e-02 2.19476957e+02] [-2.26413496e-02 3.09049718e-04 9.99743604e-01 3.51318521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5507140569999 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:280.45, Y:219.50, Z:3.51 [[ 5.52940876e-01 -8.33123273e-01 1.27279386e-02 2.80448632e+02] [ 8.32912796e-01 5.53087292e-01 1.87275739e-02 2.19501355e+02] [-2.26420388e-02 2.46021775e-04 9.99743606e-01 3.51265795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5807140569999 meters Centerline goodness : 0.992580 Centerline is valid? [True, True] Translation: X:280.46, Y:219.53, Z:3.51 [[ 5.53347924e-01 -8.32853052e-01 1.27227956e-02 2.80462067e+02] [ 8.32642423e-01 5.53494121e-01 1.87310672e-02 2.19525928e+02] [-2.26422191e-02 2.28742249e-04 9.99743606e-01 3.51294817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.610714057 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:280.47, Y:219.55, Z:3.51 [[ 5.54460817e-01 -8.32112651e-01 1.27176689e-02 2.80473467e+02] [ 8.31901747e-01 5.54606617e-01 1.87345474e-02 2.19551824e+02] [-2.26425572e-02 1.92278493e-04 9.99743606e-01 3.51325982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.640714057 meters Centerline goodness : 0.988254 Centerline is valid? [True, True] Translation: X:280.49, Y:219.58, Z:3.51 [[ 5.59174994e-01 -8.28952181e-01 1.27125142e-02 2.80485554e+02] [ 8.28740374e-01 5.59319478e-01 1.87380445e-02 2.19575459e+02] [-2.26432997e-02 5.75278742e-05 9.99743606e-01 3.51254325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6707140569999 meters Centerline goodness : 0.990588 Centerline is valid? [True, True] Translation: X:280.50, Y:219.60, Z:3.51 [[ 5.59574024e-01 -8.28684340e-01 1.26165327e-02 2.80497682e+02] [ 8.28470990e-01 5.59716232e-01 1.88031576e-02 2.19599835e+02] [-2.26435604e-02 -6.93272012e-05 9.99743599e-01 3.51176936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7007140569999 meters Centerline goodness : 0.992240 Centerline is valid? [True, True] Translation: X:280.51, Y:219.63, Z:3.51 [[ 5.60455283e-01 -8.28090546e-01 1.24869247e-02 2.80511175e+02] [ 8.27875076e-01 5.60594314e-01 1.88910758e-02 2.19627930e+02] [-2.26436203e-02 -2.49989479e-04 9.99743569e-01 3.51012321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7307140569999 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:280.52, Y:219.65, Z:3.51 [[ 5.61488988e-01 -8.27386502e-01 1.27158213e-02 2.80524580e+02] [ 8.27174345e-01 5.61632955e-01 1.87357262e-02 2.19652538e+02] [-2.26433113e-02 -1.70286143e-06 9.99743607e-01 3.50837884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.760714057 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:280.54, Y:219.68, Z:3.51 [[ 5.64454779e-01 -8.25366129e-01 1.27104859e-02 2.80536111e+02] [ 8.25153374e-01 5.64597862e-01 1.87393451e-02 2.19677330e+02] [-2.26431339e-02 -8.94124981e-05 9.99743607e-01 3.50682958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.790714057 meters Centerline goodness : 0.989866 Centerline is valid? [True, True] Translation: X:280.55, Y:219.70, Z:3.50 [[ 5.69515306e-01 -8.21882523e-01 1.27057250e-02 2.80547416e+02] [ 8.21668821e-01 5.69656970e-01 1.87425725e-02 2.19700240e+02] [-2.26420976e-02 -2.34283825e-04 9.99743607e-01 3.50351564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8207140569999 meters Centerline goodness : 0.993407 Centerline is valid? [True, True] Translation: X:280.56, Y:219.73, Z:3.51 [[ 5.69245246e-01 -8.22072498e-01 1.25163535e-02 2.80562943e+02] [ 8.21856005e-01 5.69382649e-01 1.88707621e-02 2.19726009e+02] [-2.26397290e-02 -4.55451309e-04 9.99743585e-01 3.50502446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8507140569999 meters Centerline goodness : 0.993674 Centerline is valid? [True, True] Translation: X:280.58, Y:219.75, Z:3.50 [[ 5.72302495e-01 -8.19944315e-01 1.26954766e-02 2.80575854e+02] [ 8.19729981e-01 5.72443199e-01 1.87494765e-02 2.19750172e+02] [-2.26409659e-02 -3.23509384e-04 9.99743608e-01 3.50331100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.880714057 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:280.59, Y:219.77, Z:3.50 [[ 5.73862818e-01 -8.18853079e-01 1.26925598e-02 2.80590417e+02] [ 8.18638434e-01 5.74003047e-01 1.87514508e-02 2.19773173e+02] [-2.26402512e-02 -3.70143111e-04 9.99743608e-01 3.50174519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.910714057 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:280.61, Y:219.80, Z:3.50 [[ 5.76458080e-01 -8.17028195e-01 1.26889724e-02 2.80605240e+02] [ 8.16813053e-01 5.76597545e-01 1.87538781e-02 2.19796683e+02] [-2.26388775e-02 -4.46306264e-04 9.99743608e-01 3.50160159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9407140569999 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:280.62, Y:219.82, Z:3.50 [[ 5.77561971e-01 -8.16248303e-01 1.26837620e-02 2.80620831e+02] [ 8.16032894e-01 5.77701026e-01 1.87574013e-02 2.19819989e+02] [-2.26381193e-02 -4.83194654e-04 9.99743608e-01 3.50088044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9707140569999 meters Centerline goodness : 0.990937 Centerline is valid? [True, True] Translation: X:280.64, Y:219.84, Z:3.50 [[ 5.82750866e-01 -8.12551957e-01 1.26785381e-02 2.80637228e+02] [ 8.12335590e-01 5.82888425e-01 1.87609316e-02 2.19840442e+02] [-2.26344048e-02 -6.33721460e-04 9.99743608e-01 3.49613840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.000714057 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:280.65, Y:219.87, Z:3.50 [[ 5.81912199e-01 -8.13155075e-01 1.25306459e-02 2.80654624e+02] [ 8.12936695e-01 5.82046564e-01 1.88607478e-02 2.19866385e+02] [-2.26301322e-02 -7.88677366e-04 9.99743595e-01 3.50142387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.030714057 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:280.67, Y:219.89, Z:3.50 [[ 5.85408920e-01 -8.10639223e-01 1.26667340e-02 2.80671354e+02] [ 8.10422236e-01 5.85545496e-01 1.87689052e-02 2.19887221e+02] [-2.26317598e-02 -7.22081615e-04 9.99743608e-01 3.50113286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0607140569999 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:280.69, Y:219.91, Z:3.50 [[ 5.87959220e-01 -8.08791437e-01 1.26636431e-02 2.80688733e+02] [ 8.08573975e-01 5.88095040e-01 1.87709904e-02 2.19908576e+02] [-2.26292420e-02 -7.97084651e-04 9.99743608e-01 3.50099797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0907140569999 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:280.67, Y:219.92, Z:3.50 [[ 5.76134525e-01 -8.17256815e-01 1.26612714e-02 2.80673370e+02] [ 8.17041317e-01 5.76273439e-01 1.87725900e-02 2.19919655e+02] [-2.26383816e-02 -4.70755359e-04 9.99743608e-01 3.49556105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.120714057 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:280.73, Y:219.95, Z:3.50 [[ 5.90821586e-01 -8.06722070e-01 1.13734593e-02 2.80725382e+02] [ 8.06486681e-01 5.90926051e-01 1.96376266e-02 2.19948426e+02] [-2.25629802e-02 -2.42979019e-03 9.99742471e-01 3.50166884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.150714057 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:280.74, Y:219.97, Z:3.50 [[ 5.90855191e-01 -8.06678124e-01 1.26707272e-02 2.80742370e+02] [ 8.06460385e-01 5.90990399e-01 1.87615419e-02 2.19970769e+02] [-2.26228036e-02 -8.66914858e-04 9.99743696e-01 3.50042239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1807140569999 meters Centerline goodness : 0.991415 Centerline is valid? [True, True] Translation: X:280.74, Y:219.99, Z:3.49 [[ 5.75706503e-01 -8.17558323e-01 1.26653313e-02 2.80736182e+02] [ 8.17343064e-01 5.75845625e-01 1.87651838e-02 2.19987751e+02] [-2.26349078e-02 -4.51317704e-04 9.99743696e-01 3.49277069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2107140569999 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:280.74, Y:220.00, Z:3.49 [[ 5.77247255e-01 -8.16482506e-01 1.19131766e-02 2.80744472e+02] [ 8.16256160e-01 5.77368470e-01 1.92751229e-02 2.19998968e+02] [-2.26160932e-02 -1.40230796e-03 9.99743240e-01 3.49052338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.240714057 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:280.80, Y:220.03, Z:3.50 [[ 5.91583986e-01 -8.06165104e-01 1.12344486e-02 2.80797887e+02] [ 8.05927801e-01 5.91684850e-01 1.97336851e-02 2.20028487e+02] [-2.25558614e-02 -2.61997768e-03 9.99742151e-01 3.49704867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.270714057 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:280.78, Y:220.04, Z:3.49 [[ 5.75191007e-01 -8.17920155e-01 1.27249919e-02 2.80781151e+02] [ 8.17705970e-01 5.75331633e-01 1.87205572e-02 2.20036167e+02] [-2.26330114e-02 -3.62594303e-04 9.99743775e-01 3.48686696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3007140569999 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:280.80, Y:220.06, Z:3.49 [[ 5.76210739e-01 -8.17222716e-01 1.13232684e-02 2.80797808e+02] [ 8.16988553e-01 5.76318216e-01 1.96727771e-02 2.20058510e+02] [-2.26028462e-02 -2.08468472e-03 9.99742350e-01 3.48692436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3307140569999 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:280.81, Y:220.08, Z:3.49 [[ 5.75677429e-01 -8.17600369e-01 1.11863804e-02 2.80814314e+02] [ 8.17364465e-01 5.75781764e-01 1.97659320e-02 2.20080027e+02] [-2.26015471e-02 -2.23545106e-03 9.99742053e-01 3.48578729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.360714057 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:280.87, Y:220.11, Z:3.49 [[ 5.90100576e-01 -8.07253143e-01 1.11208616e-02 2.80871123e+02] [ 8.07014595e-01 5.90199110e-01 1.98104244e-02 2.20110512e+02] [-2.25555500e-02 -2.71544521e-03 9.99741903e-01 3.49373547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.390714057 meters Centerline goodness : 0.992963 Centerline is valid? [True, True] Translation: X:280.89, Y:220.13, Z:3.49 [[ 5.88389263e-01 -8.08476960e-01 1.27702693e-02 2.80888564e+02] [ 8.08261337e-01 5.88527445e-01 1.86830748e-02 2.20132856e+02] [-2.26204894e-02 -6.71205669e-04 9.99743899e-01 3.49213310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4207140569999 meters Centerline goodness : 0.992645 Centerline is valid? [True, True] Translation: X:280.91, Y:220.15, Z:3.49 [[ 5.84878503e-01 -8.11020463e-01 1.27649946e-02 2.80908389e+02] [ 8.10805362e-01 5.85017498e-01 1.86866779e-02 2.20151780e+02] [-2.26230234e-02 -5.79510134e-04 9.99743899e-01 3.49078679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4507140569999 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:280.90, Y:220.16, Z:3.48 [[ 5.70080974e-01 -8.21489394e-01 1.27615782e-02 2.80897914e+02] [ 8.21276796e-01 5.70223767e-01 1.86890108e-02 2.20162852e+02] [-2.26297793e-02 -1.73461366e-04 9.99743899e-01 3.48407214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4807140569999 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:280.95, Y:220.19, Z:3.49 [[ 5.81603115e-01 -8.13391023e-01 1.15265264e-02 2.80948703e+02] [ 8.13158958e-01 5.81713935e-01 1.95296503e-02 2.20190633e+02] [-2.25903832e-02 -1.98560721e-03 9.99742833e-01 3.49240409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.510714057 meters Centerline goodness : 0.994249 Centerline is valid? [True, True] Translation: X:280.97, Y:220.21, Z:3.49 [[ 5.80312591e-01 -8.14293590e-01 1.27768150e-02 2.80966051e+02] [ 8.14079549e-01 5.80453065e-01 1.86742410e-02 2.20212953e+02] [-2.26226562e-02 -4.35553396e-04 9.99743980e-01 3.49212643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.540714057 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:280.96, Y:220.23, Z:3.49 [[ 5.70211264e-01 -8.21398803e-01 1.27718403e-02 2.80962507e+02] [ 8.21186438e-01 5.70354258e-01 1.86776427e-02 2.20225861e+02] [-2.26262669e-02 -1.62140188e-04 9.99743980e-01 3.48887193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5707140569999 meters Centerline goodness : 0.987804 Centerline is valid? [True, True] Translation: X:280.99, Y:220.26, Z:3.49 [[ 5.73925407e-01 -8.18822233e-01 1.18227745e-02 2.80991441e+02] [ 8.18595698e-01 5.74045449e-01 1.93107703e-02 2.20257855e+02] [-2.25988980e-02 -1.40486934e-03 9.99743625e-01 3.49010841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6007140569999 meters Centerline goodness : 0.992869 Centerline is valid? [True, True] Translation: X:280.99, Y:220.26, Z:3.49 [[ 5.72674424e-01 -8.19688120e-01 1.24655520e-02 2.80994457e+02] [ 8.19470856e-01 5.72809766e-01 1.88808988e-02 2.20262301e+02] [-2.26168383e-02 -5.97451281e-04 9.99744028e-01 3.48693568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.630714057 meters Centerline goodness : 0.992918 Centerline is valid? [True, True] Translation: X:281.04, Y:220.29, Z:3.49 [[ 5.87598164e-01 -8.09070452e-01 1.15499665e-02 2.81043342e+02] [ 8.08837922e-01 5.87707833e-01 1.95120396e-02 2.20293330e+02] [-2.25746204e-02 -2.12318777e-03 9.99742906e-01 3.49376608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.660714057 meters Centerline goodness : 0.992204 Centerline is valid? [True, True] Translation: X:281.06, Y:220.31, Z:3.49 [[ 5.88773564e-01 -8.08195341e-01 1.28833651e-02 2.81061085e+02] [ 8.07981736e-01 5.88914260e-01 1.85878901e-02 2.20314843e+02] [-2.26098436e-02 -5.34534602e-04 9.99744222e-01 3.49110724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6907140569999 meters Centerline goodness : 0.991991 Centerline is valid? [True, True] Translation: X:281.05, Y:220.33, Z:3.48 [[ 5.78216757e-01 -8.15781546e-01 1.28783018e-02 2.81052200e+02] [ 8.15569710e-01 5.78360103e-01 1.85913975e-02 2.20327571e+02] [-2.26148149e-02 -2.46704678e-04 9.99744222e-01 3.48359856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7207140569999 meters Centerline goodness : 0.991131 Centerline is valid? [True, True] Translation: X:281.06, Y:220.35, Z:3.48 [[ 5.71004332e-01 -8.20862025e-01 1.18147812e-02 2.81060903e+02] [ 8.20635559e-01 5.71124977e-01 1.93271645e-02 2.20346909e+02] [-2.26126520e-02 -1.34026502e-03 9.99743403e-01 3.47817349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.750714057 meters Centerline goodness : 0.991066 Centerline is valid? [True, True] Translation: X:281.09, Y:220.37, Z:3.48 [[ 5.78412455e-01 -8.15664137e-01 1.14476034e-02 2.81091643e+02] [ 8.15431470e-01 5.78522297e-01 1.95824119e-02 2.20367269e+02] [-2.25953649e-02 -1.99197484e-03 9.99742708e-01 3.48097973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.780714057 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:281.13, Y:220.40, Z:3.49 [[ 5.87391168e-01 -8.09216524e-01 1.18420081e-02 2.81133587e+02] [ 8.08988056e-01 5.87507885e-01 1.93083101e-02 2.20395556e+02] [-2.25818767e-02 -1.76148769e-03 9.99743445e-01 3.48657856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8107140569999 meters Centerline goodness : 0.990902 Centerline is valid? [True, True] Translation: X:281.13, Y:220.41, Z:3.48 [[ 5.74845944e-01 -8.18159348e-01 1.29391886e-02 2.81127757e+02] [ 8.17949199e-01 5.74991544e-01 1.85427175e-02 2.20410097e+02] [-2.26108217e-02 -7.56070262e-05 9.99744340e-01 3.47931895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8407140569999 meters Centerline goodness : 0.986424 Centerline is valid? [True, True] Translation: X:281.16, Y:220.44, Z:3.48 [[ 5.72267331e-01 -8.19979924e-01 1.19593610e-02 2.81160651e+02] [ 8.19755773e-01 5.72391048e-01 1.92083600e-02 2.20440654e+02] [-2.25959007e-02 -1.18856168e-03 9.99743974e-01 3.48084638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.870714057 meters Centerline goodness : 0.987097 Centerline is valid? [True, True] Translation: X:281.18, Y:220.46, Z:3.48 [[ 5.69456203e-01 -8.21924048e-01 1.26685487e-02 2.81178990e+02] [ 8.21710755e-01 5.69597046e-01 1.87253732e-02 2.20462668e+02] [-2.26068024e-02 -2.53397222e-04 9.99744401e-01 3.48137328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.900714057 meters Centerline goodness : 0.986947 Centerline is valid? [True, True] Translation: X:281.20, Y:220.48, Z:3.48 [[ 5.63006611e-01 -8.26354496e-01 1.27201641e-02 2.81197814e+02] [ 8.26143104e-01 5.63150288e-01 1.86902298e-02 2.20484183e+02] [-2.26081195e-02 -1.40470588e-05 9.99744404e-01 3.48438772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9307140569999 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:281.20, Y:220.49, Z:3.48 [[ 5.54665551e-01 -8.31976726e-01 1.26828284e-02 2.81198708e+02] [ 8.31766208e-01 5.54810508e-01 1.87156275e-02 2.20486509e+02] [-2.26075330e-02 1.68234234e-04 9.99744403e-01 3.48125855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9607140569999 meters Centerline goodness : 0.986447 Centerline is valid? [True, True] Translation: X:281.23, Y:220.52, Z:3.49 [[ 5.58997013e-01 -8.29087751e-01 1.16551206e-02 2.81234523e+02] [ 8.28861306e-01 5.59117236e-01 1.94127069e-02 2.20524173e+02] [-2.26114163e-02 -1.19116667e-03 9.99743620e-01 3.48759727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.990714057 meters Centerline goodness : 0.986981 Centerline is valid? [True, True] Translation: X:281.25, Y:220.55, Z:3.49 [[ 5.56979505e-01 -8.30428739e-01 1.27256067e-02 2.81249469e+02] [ 8.30218548e-01 5.57124837e-01 1.86836103e-02 2.20547547e+02] [-2.26051585e-02 1.58646656e-04 9.99744458e-01 3.48699864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.020714057 meters Centerline goodness : 0.991209 Centerline is valid? [True, True] Translation: X:281.26, Y:220.57, Z:3.49 [[ 5.54253431e-01 -8.32250779e-01 1.27190635e-02 2.81261755e+02] [ 8.32040964e-01 5.54399306e-01 1.86880636e-02 2.20570722e+02] [-2.26045955e-02 2.24858525e-04 9.99744458e-01 3.48897026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0507140569999 meters Centerline goodness : 0.990477 Centerline is valid? [True, True] Translation: X:281.28, Y:220.59, Z:3.49 [[ 5.54753892e-01 -8.31917388e-01 1.27113449e-02 2.81277119e+02] [ 8.31707366e-01 5.54899467e-01 1.86933122e-02 2.20593766e+02] [-2.26048100e-02 2.01931432e-04 9.99744458e-01 3.48714252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0807140569999 meters Centerline goodness : 0.990961 Centerline is valid? [True, True] Translation: X:281.29, Y:220.62, Z:3.48 [[ 5.57126603e-01 -8.30330355e-01 1.27063309e-02 2.81292701e+02] [ 8.30119839e-01 5.57271464e-01 1.86967198e-02 2.20617057e+02] [-2.26053296e-02 1.31337362e-04 9.99744458e-01 3.48443366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.110714057 meters Centerline goodness : 0.990963 Centerline is valid? [True, True] Translation: X:281.31, Y:220.64, Z:3.48 [[ 5.58000414e-01 -8.29743462e-01 1.27013716e-02 2.81307708e+02] [ 8.29532718e-01 5.58144942e-01 1.87000882e-02 2.20639927e+02] [-2.26054822e-02 1.01546394e-04 9.99744458e-01 3.48270599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.140714057 meters Centerline goodness : 0.990740 Centerline is valid? [True, True] Translation: X:281.32, Y:220.66, Z:3.48 [[ 5.61111659e-01 -8.27642717e-01 1.26980223e-02 2.81323910e+02] [ 8.27431380e-01 5.61255319e-01 1.87023622e-02 2.20663432e+02] [-2.26057064e-02 1.26286755e-05 9.99744458e-01 3.48041211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1707140569999 meters Centerline goodness : 0.990955 Centerline is valid? [True, True] Translation: X:281.34, Y:220.69, Z:3.48 [[ 5.62305625e-01 -8.26832068e-01 1.26931342e-02 2.81338928e+02] [ 8.26620449e-01 5.62448869e-01 1.87056791e-02 2.20686017e+02] [-2.26056943e-02 -2.59043036e-05 9.99744458e-01 3.47863667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2007140569999 meters Centerline goodness : 0.987029 Centerline is valid? [True, True] Translation: X:281.36, Y:220.71, Z:3.47 [[ 5.65666909e-01 -8.24536196e-01 1.26889317e-02 2.81355189e+02] [ 8.24323932e-01 5.65809196e-01 1.87085295e-02 2.20707477e+02] [-2.26053739e-02 -1.23006005e-04 9.99744458e-01 3.47182691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2307140569999 meters Centerline goodness : 0.987335 Centerline is valid? [True, True] Translation: X:281.37, Y:220.73, Z:3.47 [[ 5.67701781e-01 -8.23137394e-01 1.26300520e-02 2.81370453e+02] [ 8.22923889e-01 5.67842204e-01 1.87484430e-02 2.20731092e+02] [-2.26044211e-02 -2.49952922e-04 9.99744456e-01 3.46915158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.260714057 meters Centerline goodness : 0.991397 Centerline is valid? [True, True] Translation: X:281.37, Y:220.74, Z:3.47 [[ 5.66290595e-01 -8.24109115e-01 1.26146148e-02 2.81370203e+02] [ 8.23895619e-01 5.66431031e-01 1.87589028e-02 2.20736742e+02] [-2.26046921e-02 -2.29864353e-04 9.99744455e-01 3.46651577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.290714057 meters Centerline goodness : 0.986333 Centerline is valid? [True, True] Translation: X:281.40, Y:220.77, Z:3.47 [[ 5.69979154e-01 -8.21576523e-01 1.16524848e-02 2.81400417e+02] [ 8.21348594e-01 5.70096300e-01 1.94086543e-02 2.20773440e+02] [-2.25887332e-02 -1.49177639e-03 9.99743729e-01 3.47025333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3207140569999 meters Centerline goodness : 0.991226 Centerline is valid? [True, True] Translation: X:281.42, Y:220.80, Z:3.48 [[ 5.68806500e-01 -8.22375992e-01 1.25257147e-02 2.81416312e+02] [ 8.22160782e-01 5.68944254e-01 1.88171637e-02 2.20798148e+02] [-2.26012171e-02 -4.05173611e-04 9.99744478e-01 3.47621129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3507140569999 meters Centerline goodness : 0.990438 Centerline is valid? [True, True] Translation: X:281.40, Y:220.81, Z:3.47 [[ 5.57177067e-01 -8.30296966e-01 1.26753365e-02 2.81400800e+02] [ 8.30086007e-01 5.57321217e-01 1.87158325e-02 2.20808635e+02] [-2.26039329e-02 9.35867760e-05 9.99744494e-01 3.46677635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.380714057 meters Centerline goodness : 0.987503 Centerline is valid? [True, True] Translation: X:281.43, Y:220.85, Z:3.47 [[ 5.62225832e-01 -8.26904807e-01 1.14260307e-02 2.81430531e+02] [ 8.26675436e-01 5.62339822e-01 1.95358224e-02 2.20845586e+02] [-2.25795775e-02 -1.53792509e-03 9.99743866e-01 3.47201573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.410714057 meters Centerline goodness : 0.991430 Centerline is valid? [True, True] Translation: X:281.44, Y:220.86, Z:3.47 [[ 5.62951132e-01 -8.26399177e-01 1.22647186e-02 2.81437369e+02] [ 8.26181296e-01 5.63084446e-01 1.89835007e-02 2.20862542e+02] [-2.25940216e-02 -5.53902130e-04 9.99744569e-01 3.47435814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4407140569999 meters Centerline goodness : 0.991296 Centerline is valid? [True, True] Translation: X:281.45, Y:220.88, Z:3.47 [[ 5.62571888e-01 -8.26663063e-01 1.18765334e-02 2.81448122e+02] [ 8.26439671e-01 5.62696330e-01 1.92434400e-02 2.20882771e+02] [-2.25907227e-02 -1.01058003e-03 9.99744286e-01 3.47006990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4707140569999 meters Centerline goodness : 0.990689 Centerline is valid? [True, True] Translation: X:281.47, Y:220.91, Z:3.47 [[ 5.66721734e-01 -8.23827582e-01 1.16013588e-02 2.81468753e+02] [ 8.23599759e-01 5.66838599e-01 1.94277965e-02 2.20908622e+02] [-2.25812526e-02 -1.45527823e-03 9.99743952e-01 3.47330356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.500714057 meters Centerline goodness : 0.990668 Centerline is valid? [True, True] Translation: X:281.48, Y:220.93, Z:3.47 [[ 5.67612092e-01 -8.23210593e-01 1.18672819e-02 2.81481447e+02] [ 8.22986320e-01 5.67734951e-01 1.92494864e-02 2.20932397e+02] [-2.25838518e-02 -1.15963059e-03 9.99744280e-01 3.46895890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.530714057 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:281.49, Y:220.95, Z:3.47 [[ 5.69250540e-01 -8.22078285e-01 1.18792093e-02 2.81494408e+02] [ 8.21853935e-01 5.69373231e-01 1.92414544e-02 2.20953583e+02] [-2.25816857e-02 -1.19023341e-03 9.99744293e-01 3.46862008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5607140569999 meters Centerline goodness : 0.990900 Centerline is valid? [True, True] Translation: X:281.52, Y:220.98, Z:3.47 [[ 5.70093525e-01 -8.21495594e-01 1.17627158e-02 2.81517650e+02] [ 8.21269498e-01 5.70213255e-01 1.93198327e-02 2.20983775e+02] [-2.25784139e-02 -1.35375183e-03 9.99744159e-01 3.46972661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5907140569999 meters Centerline goodness : 0.992165 Centerline is valid? [True, True] Translation: X:281.53, Y:221.00, Z:3.47 [[ 5.73203112e-01 -8.19320597e-01 1.23268539e-02 2.81528813e+02] [ 8.19102011e-01 5.73335140e-01 1.89397124e-02 2.21002407e+02] [-2.25851150e-02 -7.59351242e-04 9.99744635e-01 3.47031745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.620714057 meters Centerline goodness : 0.992961 Centerline is valid? [True, True] Translation: X:281.55, Y:221.03, Z:3.47 [[ 5.74216825e-01 -8.18615141e-01 1.20120375e-02 2.81545507e+02] [ 8.18391909e-01 5.74341266e-01 1.91518621e-02 2.21025631e+02] [-2.25770131e-02 -1.16676714e-03 9.99744426e-01 3.47030690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.650714057 meters Centerline goodness : 0.992348 Centerline is valid? [True, True] Translation: X:281.56, Y:221.05, Z:3.47 [[ 5.72575678e-01 -8.19763236e-01 1.20552718e-02 2.81557260e+02] [ 8.19540865e-01 5.72701574e-01 1.91226951e-02 2.21047096e+02] [-2.25801556e-02 -1.06940226e-03 9.99744464e-01 3.46721261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6807140569999 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:281.58, Y:221.07, Z:3.47 [[ 5.75393541e-01 -8.17789584e-01 1.19360192e-02 2.81575177e+02] [ 8.17565103e-01 5.75515881e-01 1.92034918e-02 2.21070855e+02] [-2.25737841e-02 -1.29109240e-03 9.99744346e-01 3.47066268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7107140569999 meters Centerline goodness : 0.991810 Centerline is valid? [True, True] Translation: X:281.59, Y:221.09, Z:3.47 [[ 5.75190283e-01 -8.17931104e-01 1.20352535e-02 2.81591289e+02] [ 8.17708049e-01 5.75315001e-01 1.91362505e-02 2.21094045e+02] [-2.25761964e-02 -1.16566171e-03 9.99744446e-01 3.46894434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.740714057 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:281.60, Y:221.11, Z:3.46 [[ 5.73289326e-01 -8.19264416e-01 1.20484488e-02 2.81603063e+02] [ 8.19041838e-01 5.73414869e-01 1.91273228e-02 2.21114278e+02] [-2.25790946e-02 -1.09730636e-03 9.99744458e-01 3.46449440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.770714057 meters Centerline goodness : 0.991265 Centerline is valid? [True, True] Translation: X:281.63, Y:221.14, Z:3.47 [[ 5.73872782e-01 -8.18859158e-01 1.18198940e-02 2.81626952e+02] [ 8.18633284e-01 5.73992814e-01 1.92820380e-02 2.21142562e+02] [-2.25738076e-02 -1.38927814e-03 9.99744214e-01 3.46553547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8007140569999 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:281.64, Y:221.16, Z:3.47 [[ 5.75037761e-01 -8.18034140e-01 1.23174443e-02 2.81638139e+02] [ 8.17815172e-01 5.75169082e-01 1.89439044e-02 2.21160716e+02] [-2.25813736e-02 -8.20067550e-04 9.99744672e-01 3.46507847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8307140569999 meters Centerline goodness : 0.993484 Centerline is valid? [True, True] Translation: X:281.65, Y:221.18, Z:3.46 [[ 5.71386776e-01 -8.20592590e-01 1.20396706e-02 2.81650213e+02] [ 8.20370195e-01 5.71512632e-01 1.91325402e-02 2.21181422e+02] [-2.25808446e-02 -1.05509355e-03 9.99744463e-01 3.45985267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.860714057 meters Centerline goodness : 0.990781 Centerline is valid? [True, True] Translation: X:281.68, Y:221.21, Z:3.46 [[ 5.75081012e-01 -8.18011187e-01 1.18121835e-02 2.81678649e+02] [ 8.17785107e-01 5.75200533e-01 1.92838093e-02 2.21213736e+02] [-2.25687460e-02 -1.42992484e-03 9.99744271e-01 3.45799793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.890714057 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:281.68, Y:221.22, Z:3.45 [[ 5.67858204e-01 -8.23030977e-01 1.25328142e-02 2.81675731e+02] [ 8.22816231e-01 5.67996371e-01 1.88035086e-02 2.21218517e+02] [-2.25944630e-02 -3.65523695e-04 9.99744646e-01 3.45135045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9207140569999 meters Centerline goodness : 0.992834 Centerline is valid? [True, True] Translation: X:281.73, Y:221.25, Z:3.46 [[ 5.79822236e-01 -8.14663327e-01 1.13946417e-02 2.81727318e+02] [ 8.14430600e-01 5.79930481e-01 1.95815004e-02 2.21250353e+02] [-2.25604303e-02 -2.07364443e-03 9.99743331e-01 3.46204218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9507140569999 meters Centerline goodness : 0.992835 Centerline is valid? [True, True] Translation: X:281.74, Y:221.27, Z:3.46 [[ 5.77511264e-01 -8.16282374e-01 1.27994528e-02 2.81742953e+02] [ 8.16070135e-01 5.77653003e-01 1.86156422e-02 2.21273078e+02] [-2.25892629e-02 -3.05491896e-04 9.99744783e-01 3.46056945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9807140569999 meters Centerline goodness : 0.992607 Centerline is valid? [True, True] Translation: X:281.76, Y:221.30, Z:3.46 [[ 5.71804563e-01 -8.20290093e-01 1.27947245e-02 2.81759421e+02] [ 8.20078775e-01 5.71947673e-01 1.86188914e-02 2.21296623e+02] [-2.25908051e-02 -1.53685076e-04 9.99744783e-01 3.46181571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.010714057 meters Centerline goodness : 0.992292 Centerline is valid? [True, True] Translation: X:281.78, Y:221.32, Z:3.46 [[ 5.69083145e-01 -8.22180514e-01 1.27897113e-02 2.81775289e+02] [ 8.21969594e-01 5.69226840e-01 1.86223344e-02 2.21318823e+02] [-2.25911675e-02 -8.49028429e-05 9.99744783e-01 3.46170710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.040714057 meters Centerline goodness : 0.992485 Centerline is valid? [True, True] Translation: X:281.79, Y:221.34, Z:3.46 [[ 5.63575236e-01 -8.25965796e-01 1.27850767e-02 2.81792408e+02] [ 8.25755769e-01 5.63720233e-01 1.86255158e-02 2.21342211e+02] [-2.25912454e-02 6.04713603e-05 9.99744783e-01 3.46365410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0707140569999 meters Centerline goodness : 0.992247 Centerline is valid? [True, True] Translation: X:281.81, Y:221.36, Z:3.46 [[ 5.60945868e-01 -8.27753821e-01 1.27806076e-02 2.81807905e+02] [ 8.27544187e-01 5.61091432e-01 1.86285819e-02 2.21364684e+02] [-2.25909693e-02 1.26891515e-04 9.99744783e-01 3.46421833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1007140569999 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:281.82, Y:221.39, Z:3.46 [[ 5.58484514e-01 -8.29416555e-01 1.27759682e-02 2.81823992e+02] [ 8.29207281e-01 5.58630596e-01 1.86317632e-02 2.21388215e+02] [-2.25905396e-02 1.88374673e-04 9.99744783e-01 3.46460151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.130714057 meters Centerline goodness : 0.988419 Centerline is valid? [True, True] Translation: X:281.84, Y:221.41, Z:3.46 [[ 5.55693846e-01 -8.31288911e-01 1.27709243e-02 2.81838788e+02] [ 8.31080049e-01 5.55840517e-01 1.86352198e-02 2.21411100e+02] [-2.25898488e-02 2.58183464e-04 9.99744783e-01 3.46193062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.160714057 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:281.85, Y:221.44, Z:3.46 [[ 5.51982594e-01 -8.33759466e-01 1.26637100e-02 2.81853596e+02] [ 8.33549570e-01 5.52127794e-01 1.87086361e-02 2.21436132e+02] [-2.25904887e-02 2.28988602e-04 9.99744776e-01 3.46224945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1907140569999 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:281.87, Y:221.46, Z:3.46 [[ 5.49096473e-01 -8.35661528e-01 1.27621937e-02 2.81867642e+02] [ 8.35453695e-01 5.49244598e-01 1.86412121e-02 2.21460010e+02] [-2.25873097e-02 4.26398111e-04 9.99744783e-01 3.45986294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2207140569999 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:281.88, Y:221.48, Z:3.46 [[ 5.48866517e-01 -8.35812661e-01 1.27570611e-02 2.81883742e+02] [ 8.35604787e-01 5.49014585e-01 1.86447240e-02 2.21483663e+02] [-2.25873089e-02 4.26396598e-04 9.99744783e-01 3.45921946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.250714057 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:281.90, Y:221.51, Z:3.46 [[ 5.48015708e-01 -8.36370834e-01 1.27519287e-02 2.81899315e+02] [ 8.36163029e-01 5.48163873e-01 1.86482336e-02 2.21507353e+02] [-2.25869853e-02 4.43166357e-04 9.99744783e-01 3.45824792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.280714057 meters Centerline goodness : 0.992152 Centerline is valid? [True, True] Translation: X:281.91, Y:221.53, Z:3.46 [[ 5.47568180e-01 -8.36663976e-01 1.27467669e-02 2.81913817e+02] [ 8.36456168e-01 5.47716341e-01 1.86517612e-02 2.21529652e+02] [-2.25868692e-02 4.49000884e-04 9.99744783e-01 3.45585871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3107140569999 meters Centerline goodness : 0.992026 Centerline is valid? [True, True] Translation: X:281.93, Y:221.55, Z:3.45 [[ 5.46246636e-01 -8.37527461e-01 1.27422260e-02 2.81927302e+02] [ 8.37319816e-01 5.46395024e-01 1.86548628e-02 2.21554580e+02] [-2.25862488e-02 4.79162289e-04 9.99744783e-01 3.45186814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3407140569999 meters Centerline goodness : 0.991899 Centerline is valid? [True, True] Translation: X:281.94, Y:221.58, Z:3.45 [[ 5.45410636e-01 -8.38072188e-01 1.27375642e-02 2.81941810e+02] [ 8.37864617e-01 5.45559127e-01 1.86580454e-02 2.21578924e+02] [-2.25858833e-02 4.96057972e-04 9.99744783e-01 3.45091718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.370714057 meters Centerline goodness : 0.991723 Centerline is valid? [True, True] Translation: X:281.96, Y:221.60, Z:3.45 [[ 5.44288799e-01 -8.38801280e-01 1.27324923e-02 2.81955356e+02] [ 8.38593826e-01 5.44437455e-01 1.86615058e-02 2.21603498e+02] [-2.25853407e-02 5.20140862e-04 9.99744783e-01 3.45204459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.400714057 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:281.97, Y:221.63, Z:3.45 [[ 5.44058468e-01 -8.38950770e-01 1.27275099e-02 2.81970068e+02] [ 8.38743278e-01 5.44207070e-01 1.86649033e-02 2.21627674e+02] [-2.25853359e-02 5.20314637e-04 9.99744783e-01 3.45328080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4307140569999 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:281.98, Y:221.65, Z:3.45 [[ 5.44033529e-01 -8.38967019e-01 1.27224800e-02 2.81983665e+02] [ 8.38759451e-01 5.44182025e-01 1.86683312e-02 2.21650816e+02] [-2.25854591e-02 5.14902217e-04 9.99744783e-01 3.45410853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4607140569999 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:282.00, Y:221.68, Z:3.46 [[ 5.45015585e-01 -8.38329440e-01 1.27185850e-02 2.81996208e+02] [ 8.38121637e-01 5.45163752e-01 1.86709845e-02 2.21675998e+02] [-2.25861475e-02 4.83743771e-04 9.99744783e-01 3.45500570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.490714057 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:281.98, Y:221.69, Z:3.45 [[ 5.36435815e-01 -8.43845357e-01 1.27133826e-02 2.81982263e+02] [ 8.43638992e-01 5.36585979e-01 1.86745262e-02 2.21693974e+02] [-2.25802351e-02 7.07820600e-04 9.99744783e-01 3.45191315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.520714057 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:282.02, Y:221.72, Z:3.45 [[ 5.49468006e-01 -8.35431464e-01 1.17973947e-02 2.82020575e+02] [ 8.35208902e-01 5.49594129e-01 1.92972312e-02 2.21723738e+02] [-2.26052930e-02 -7.49922065e-04 9.99744186e-01 3.45346652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5507140569999 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:282.00, Y:221.73, Z:3.45 [[ 5.34524806e-01 -8.45056878e-01 1.27320075e-02 2.81996871e+02] [ 8.44851207e-01 5.34675846e-01 1.86595319e-02 2.21732276e+02] [-2.25758627e-02 7.82669214e-04 9.99744826e-01 3.44756182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5807140569999 meters Centerline goodness : 0.993019 Centerline is valid? [True, True] Translation: X:282.05, Y:221.77, Z:3.45 [[ 5.54283471e-01 -8.32252845e-01 1.11819614e-02 2.82046257e+02] [ 8.32020951e-01 5.54393876e-01 1.97120940e-02 2.21769084e+02] [-2.26046572e-02 -1.62246173e-03 9.99743166e-01 3.45200048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.610714057 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:282.06, Y:221.79, Z:3.45 [[ 5.55165874e-01 -8.31641986e-01 1.27459754e-02 2.82059231e+02] [ 8.31433039e-01 5.55312116e-01 1.86428378e-02 2.21792522e+02] [-2.25821612e-02 2.47557760e-04 9.99744960e-01 3.44997954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.640714057 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:282.07, Y:221.82, Z:3.45 [[ 5.55915034e-01 -8.31141465e-01 1.27412650e-02 2.82073222e+02] [ 8.30932313e-01 5.56060982e-01 1.86460566e-02 2.21817084e+02] [-2.25824311e-02 2.21505632e-04 9.99744960e-01 3.44865982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6707140569999 meters Centerline goodness : 0.983548 Centerline is valid? [True, True] Translation: X:282.09, Y:221.84, Z:3.44 [[ 5.57306328e-01 -8.30209275e-01 1.27364712e-02 2.82087087e+02] [ 8.29999804e-01 5.57451817e-01 1.86493305e-02 2.21844339e+02] [-2.25828161e-02 1.77878689e-04 9.99744960e-01 3.44395559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7007140569999 meters Centerline goodness : 0.991858 Centerline is valid? [True, True] Translation: X:282.09, Y:221.84, Z:3.44 [[ 5.59755630e-01 -8.28556836e-01 1.29307851e-02 2.82088659e+02] [ 8.28349975e-01 5.59904858e-01 1.85166920e-02 2.21840966e+02] [-2.25821411e-02 3.46392914e-04 9.99744931e-01 3.44056987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7307140569999 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:282.14, Y:221.87, Z:3.44 [[ 5.74764331e-01 -8.18234229e-01 1.17775573e-02 2.82140638e+02] [ 8.18007007e-01 5.74883078e-01 1.93386549e-02 2.21873972e+02] [-2.25942677e-02 -1.48104461e-03 9.99743620e-01 3.44391674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.760714057 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:282.15, Y:221.90, Z:3.44 [[ 5.73478514e-01 -8.19114966e-01 1.31554359e-02 2.82152733e+02] [ 8.18909418e-01 5.73629331e-01 1.83509190e-02 2.21899471e+02] [-2.25778563e-02 2.49252548e-04 9.99745057e-01 3.44329348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.790714057 meters Centerline goodness : 0.992790 Centerline is valid? [True, True] Translation: X:282.17, Y:221.92, Z:3.44 [[ 5.72512686e-01 -8.19790396e-01 1.31503183e-02 2.82167251e+02] [ 8.19584941e-01 5.72663631e-01 1.83545856e-02 2.21924177e+02] [-2.25776220e-02 2.69569728e-04 9.99745057e-01 3.44308350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8207140569999 meters Centerline goodness : 0.991932 Centerline is valid? [True, True] Translation: X:282.18, Y:221.95, Z:3.44 [[ 5.70868770e-01 -8.20936083e-01 1.31451641e-02 2.82176464e+02] [ 8.20730846e-01 5.71020011e-01 1.83582761e-02 2.21946862e+02] [-2.25771230e-02 3.08475106e-04 9.99745057e-01 3.44136317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8507140569999 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:282.19, Y:221.97, Z:3.44 [[ 5.72343556e-01 -8.19912475e-01 1.28990961e-02 2.82193518e+02] [ 8.19702965e-01 5.72488892e-01 1.85342055e-02 2.21973632e+02] [-2.25810156e-02 -3.45058061e-05 9.99745016e-01 3.44180974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.880714057 meters Centerline goodness : 0.984366 Centerline is valid? [True, True] Translation: X:282.21, Y:222.00, Z:3.44 [[ 5.73852634e-01 -8.18853199e-01 1.31374704e-02 2.82209749e+02] [ 8.18647289e-01 5.74002954e-01 1.83636725e-02 2.21998961e+02] [-2.25780988e-02 2.16912733e-04 9.99745059e-01 3.43823162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.910714057 meters Centerline goodness : 0.991613 Centerline is valid? [True, True] Translation: X:282.22, Y:222.02, Z:3.44 [[ 5.74251269e-01 -8.18571702e-01 1.32607858e-02 2.82220038e+02] [ 8.18367743e-01 5.74404248e-01 1.82756003e-02 2.22020404e+02] [-2.25769409e-02 3.57412691e-04 9.99745045e-01 3.43918555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9407140569999 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:282.24, Y:222.05, Z:3.44 [[ 5.75625008e-01 -8.17611654e-01 1.29241285e-02 2.82236815e+02] [ 8.17401961e-01 5.75770071e-01 1.85165011e-02 2.22046413e+02] [-2.25806335e-02 -9.43531416e-05 9.99745021e-01 3.44074405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9707140569999 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:282.25, Y:222.07, Z:3.44 [[ 5.76143070e-01 -8.17243154e-01 1.31449715e-02 2.82251134e+02] [ 8.17036945e-01 5.76292982e-01 1.83583740e-02 2.22070081e+02] [-2.25786103e-02 1.62877387e-04 9.99745057e-01 3.43997611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.000714057 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:282.27, Y:222.09, Z:3.44 [[ 5.76519339e-01 -8.16977835e-01 1.31403444e-02 2.82265948e+02] [ 8.16771482e-01 5.76669052e-01 1.83616853e-02 2.22094527e+02] [-2.25787199e-02 1.46791865e-04 9.99745057e-01 3.43995930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.030714057 meters Centerline goodness : 0.993796 Centerline is valid? [True, True] Translation: X:282.28, Y:222.12, Z:3.44 [[ 5.77728874e-01 -8.16123037e-01 1.31352844e-02 2.82279341e+02] [ 8.15916380e-01 5.77878168e-01 1.83653043e-02 2.22120077e+02] [-2.25789421e-02 1.07127110e-04 9.99745057e-01 3.43978179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0607140569999 meters Centerline goodness : 0.992795 Centerline is valid? [True, True] Translation: X:282.29, Y:222.14, Z:3.44 [[ 5.78251795e-01 -8.15752696e-01 1.31301684e-02 2.82294373e+02] [ 8.15545860e-01 5.78400840e-01 1.83689613e-02 2.22143636e+02] [-2.25790301e-02 8.63696225e-05 9.99745057e-01 3.43947283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0907140569999 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:282.31, Y:222.17, Z:3.44 [[ 5.78843225e-01 -8.15333217e-01 1.31250076e-02 2.82307852e+02] [ 8.15126190e-01 5.78992004e-01 1.83726480e-02 2.22167107e+02] [-2.25791047e-02 6.36546189e-05 9.99745057e-01 3.43957754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.120714057 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:282.32, Y:222.19, Z:3.44 [[ 5.78900044e-01 -8.15292950e-01 1.31203625e-02 2.82323614e+02] [ 8.15085837e-01 5.79048704e-01 1.83759646e-02 2.22190717e+02] [-2.25791233e-02 5.63748949e-05 9.99745058e-01 3.43937575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.150714057 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:282.34, Y:222.21, Z:3.44 [[ 5.78461924e-01 -8.15603944e-01 1.31151998e-02 2.82338174e+02] [ 8.15396827e-01 5.78610579e-01 1.83796486e-02 2.22213239e+02] [-2.25791072e-02 6.21653674e-05 9.99745058e-01 3.43864012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1807140569999 meters Centerline goodness : 0.992234 Centerline is valid? [True, True] Translation: X:282.35, Y:222.24, Z:3.44 [[ 5.77779753e-01 -8.16087416e-01 1.31105723e-02 2.82353691e+02] [ 8.15880349e-01 5.77928476e-01 1.83829489e-02 2.22236984e+02] [-2.25790663e-02 7.53626644e-05 9.99745058e-01 3.43843461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2107140569999 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:282.37, Y:222.26, Z:3.44 [[ 5.75117262e-01 -8.17966004e-01 1.31053868e-02 2.82368889e+02] [ 8.17759338e-01 5.75266543e-01 1.83866450e-02 2.22261186e+02] [-2.25787410e-02 1.42575514e-04 9.99745058e-01 3.43905537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.240714057 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:282.38, Y:222.28, Z:3.44 [[ 5.73336271e-01 -8.19215420e-01 1.31002261e-02 2.82384564e+02] [ 8.19008995e-01 5.73485886e-01 1.83903211e-02 2.22284086e+02] [-2.25784294e-02 1.85364905e-04 9.99745058e-01 3.43891721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.270714057 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:282.40, Y:222.31, Z:3.44 [[ 5.71449872e-01 -8.20532488e-01 1.30950732e-02 2.82400201e+02] [ 8.20326324e-01 5.71599846e-01 1.83939896e-02 2.22306427e+02] [-2.25780078e-02 2.30990261e-04 9.99745058e-01 3.43821763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3007140569999 meters Centerline goodness : 0.992183 Centerline is valid? [True, True] Translation: X:282.42, Y:222.33, Z:3.44 [[ 5.67492906e-01 -8.23274220e-01 1.30904472e-02 2.82416556e+02] [ 8.23068705e-01 5.67643767e-01 1.83972812e-02 2.22329676e+02] [-2.25767181e-02 3.34010888e-04 9.99745058e-01 3.43864174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3307140569999 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:282.43, Y:222.35, Z:3.44 [[ 5.65117525e-01 -8.24906636e-01 1.30852892e-02 2.82431862e+02] [ 8.24701472e-01 5.65268863e-01 1.84009491e-02 2.22351895e+02] [-2.25757716e-02 3.92758465e-04 9.99745058e-01 3.43793860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.360714057 meters Centerline goodness : 0.992494 Centerline is valid? [True, True] Translation: X:282.45, Y:222.38, Z:3.44 [[ 5.59784873e-01 -8.28534726e-01 1.30806725e-02 2.82446300e+02] [ 8.28330465e-01 5.59937429e-01 1.84042304e-02 2.22375486e+02] [-2.25729021e-02 5.32709735e-04 9.99745058e-01 3.43570425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.390714057 meters Centerline goodness : 0.991872 Centerline is valid? [True, True] Translation: X:282.46, Y:222.40, Z:3.43 [[ 5.57050451e-01 -8.30375715e-01 1.30754848e-02 2.82460756e+02] [ 8.30171872e-01 5.57203564e-01 1.84079154e-02 2.22398294e+02] [-2.25711926e-02 6.00762144e-04 9.99745058e-01 3.43400096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4207140569999 meters Centerline goodness : 0.992687 Centerline is valid? [True, True] Translation: X:282.48, Y:222.42, Z:3.43 [[ 5.53727706e-01 -8.32595208e-01 1.30708486e-02 2.82475071e+02] [ 8.32391902e-01 5.53881530e-01 1.84112068e-02 2.22422226e+02] [-2.25687842e-02 6.85273203e-04 9.99745058e-01 3.43255446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4507140569999 meters Centerline goodness : 0.992630 Centerline is valid? [True, True] Translation: X:282.49, Y:222.45, Z:3.43 [[ 5.49008115e-01 -8.35714890e-01 1.30656898e-02 2.82488840e+02] [ 8.35512370e-01 5.49162974e-01 1.84148670e-02 2.22445974e+02] [-2.25647716e-02 8.06633996e-04 9.99745058e-01 3.43158664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4807140569999 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:282.50, Y:222.47, Z:3.43 [[ 5.46426147e-01 -8.37405442e-01 1.30610847e-02 2.82503427e+02] [ 8.37203323e-01 5.46581529e-01 1.84181327e-02 2.22469696e+02] [-2.25623922e-02 8.70634269e-04 9.99745058e-01 3.43159907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.510714057 meters Centerline goodness : 0.991706 Centerline is valid? [True, True] Translation: X:282.49, Y:222.49, Z:3.43 [[ 5.34148045e-01 -8.45290131e-01 1.30560255e-02 2.82492114e+02] [ 8.45090215e-01 5.34306250e-01 1.84217183e-02 2.22485770e+02] [-2.25476127e-02 1.19359461e-03 9.99745058e-01 3.43052921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.540714057 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:282.53, Y:222.52, Z:3.43 [[ 5.41196164e-01 -8.40811562e-01 1.19427131e-02 2.82530729e+02] [ 8.40592251e-01 5.41327803e-01 1.92061697e-02 2.22516388e+02] [-2.26136922e-02 -3.55353290e-04 9.99744215e-01 3.43315951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5707140569999 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:282.54, Y:222.54, Z:3.43 [[ 5.36827883e-01 -8.43590978e-01 1.30417373e-02 2.82540593e+02] [ 8.43390393e-01 5.36985138e-01 1.84284186e-02 2.22543129e+02] [-2.25492668e-02 1.10638700e-03 9.99745121e-01 3.43241166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6007140569999 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:282.55, Y:222.57, Z:3.43 [[ 5.34377489e-01 -8.45145391e-01 1.30371789e-02 2.82553436e+02] [ 8.44945185e-01 5.34535227e-01 1.84316429e-02 2.22568574e+02] [-2.25462494e-02 1.16624652e-03 9.99745121e-01 3.43192443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.630714057 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:282.55, Y:222.59, Z:3.43 [[ 5.27193764e-01 -8.49645163e-01 1.30319637e-02 2.82551902e+02] [ 8.49446212e-01 5.27353081e-01 1.84353295e-02 2.22589457e+02] [-2.25359348e-02 1.35096146e-03 9.99745121e-01 3.43152889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.660714057 meters Centerline goodness : 0.995763 Centerline is valid? [True, True] Translation: X:282.57, Y:222.62, Z:3.43 [[ 5.30314433e-01 -8.47710666e-01 1.23785208e-02 2.82573522e+02] [ 8.47500176e-01 5.30458674e-01 1.88957006e-02 2.22621230e+02] [-2.25843807e-02 4.70135846e-04 9.99744830e-01 3.43201314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6907140569999 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:282.58, Y:222.65, Z:3.43 [[ 5.29269026e-01 -8.48354113e-01 1.30229496e-02 2.82584663e+02] [ 8.48154643e-01 5.29427659e-01 1.84406068e-02 2.22648248e+02] [-2.25388744e-02 1.28543322e-03 9.99745141e-01 3.43063907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7207140569999 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:282.59, Y:222.67, Z:3.43 [[ 5.28474687e-01 -8.48849245e-01 1.30178126e-02 2.82592333e+02] [ 8.48649835e-01 5.28633396e-01 1.84442325e-02 2.22673054e+02] [-2.25380233e-02 1.30025457e-03 9.99745141e-01 3.43376134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.750714057 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:282.60, Y:222.70, Z:3.43 [[ 5.28634537e-01 -8.48752671e-01 1.28230207e-02 2.82602374e+02] [ 8.48549905e-01 5.28788979e-01 1.85815593e-02 2.22704314e+02] [-2.25518201e-02 1.05811902e-03 9.99745115e-01 3.42733621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.780714057 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:282.61, Y:222.73, Z:3.43 [[ 5.28063431e-01 -8.49105264e-01 1.30101259e-02 2.82612919e+02] [ 8.48905799e-01 5.28222071e-01 1.84496189e-02 2.22729873e+02] [-2.25379042e-02 1.30180229e-03 9.99745142e-01 3.42555085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8107140569999 meters Centerline goodness : 0.996080 Centerline is valid? [True, True] Translation: X:282.62, Y:222.76, Z:3.42 [[ 5.26307967e-01 -8.50194528e-01 1.30072428e-02 2.82619582e+02] [ 8.49995341e-01 5.26466956e-01 1.84516514e-02 2.22759603e+02] [-2.25353765e-02 1.34484463e-03 9.99745142e-01 3.42260802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8407140569999 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:282.63, Y:222.79, Z:3.42 [[ 5.24841368e-01 -8.51100749e-01 1.30020765e-02 2.82630400e+02] [ 8.50901748e-01 5.25000589e-01 1.84552911e-02 2.22785384e+02] [-2.25334099e-02 1.37738935e-03 9.99745142e-01 3.42143829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.870714057 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:282.64, Y:222.81, Z:3.42 [[ 5.23552600e-01 -8.51894180e-01 1.29992726e-02 2.82641973e+02] [ 8.51695372e-01 5.23712062e-01 1.84572659e-02 2.22811355e+02] [-2.25315132e-02 1.40807076e-03 9.99745142e-01 3.41999630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.900714057 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:282.65, Y:222.84, Z:3.42 [[ 5.22016371e-01 -8.52836479e-01 1.29941539e-02 2.82653542e+02] [ 8.52637870e-01 5.22176081e-01 1.84608688e-02 2.22837466e+02] [-2.25293387e-02 1.44243191e-03 9.99745142e-01 3.41895352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9307140569999 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:282.66, Y:222.87, Z:3.42 [[ 5.19452286e-01 -8.54400730e-01 1.29890409e-02 2.82659701e+02] [ 8.54202513e-01 5.19612481e-01 1.84644656e-02 2.22865816e+02] [-2.25253206e-02 1.50386252e-03 9.99745142e-01 3.41728611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9607140569999 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:282.65, Y:222.89, Z:3.42 [[ 5.10667788e-01 -8.59680048e-01 1.29855630e-02 2.82654464e+02] [ 8.59483422e-01 5.10829933e-01 1.84669112e-02 2.22888462e+02] [-2.25090494e-02 1.73041942e-03 9.99745142e-01 3.42017717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.990714057 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:282.67, Y:222.92, Z:3.42 [[ 5.12261959e-01 -8.58740154e-01 1.23706845e-02 2.82668616e+02] [ 8.58532681e-01 5.12410447e-01 1.88989358e-02 2.22915232e+02] [-2.25681430e-02 9.39431028e-04 9.99744866e-01 3.41779349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.020714057 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:282.69, Y:222.95, Z:3.41 [[ 5.20481141e-01 -8.53782583e-01 1.24371904e-02 2.82689155e+02] [ 8.53574800e-01 5.20629096e-01 1.88522043e-02 2.22948241e+02] [-2.25708469e-02 8.03855525e-04 9.99744923e-01 3.41374914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0507140569999 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:282.69, Y:222.97, Z:3.42 [[ 5.18692870e-01 -8.54861875e-01 1.29954177e-02 2.82692789e+02] [ 8.54663928e-01 5.18853377e-01 1.84592148e-02 2.22974444e+02] [-2.25227953e-02 1.53205164e-03 9.99745156e-01 3.42052991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0807140569999 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:282.70, Y:223.00, Z:3.42 [[ 5.19241587e-01 -8.54532591e-01 1.27367431e-02 2.82701761e+02] [ 8.54330098e-01 5.19396385e-01 1.86407904e-02 2.23000602e+02] [-2.25445813e-02 1.20230939e-03 9.99745116e-01 3.41828534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.110714057 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:282.72, Y:223.02, Z:3.42 [[ 5.19214063e-01 -8.54550353e-01 1.26668933e-02 2.82717637e+02] [ 8.54346678e-01 5.19367350e-01 1.86898183e-02 2.23023040e+02] [-2.25501616e-02 1.11790175e-03 9.99745088e-01 3.41768669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.140714057 meters Centerline goodness : 0.993179 Centerline is valid? [True, True] Translation: X:282.72, Y:223.05, Z:3.42 [[ 5.22805022e-01 -8.52358266e-01 1.26607710e-02 2.82724910e+02] [ 8.52153845e-01 5.22957316e-01 1.86941142e-02 2.23053485e+02] [-2.25551255e-02 1.01554791e-03 9.99745085e-01 3.41859673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1707140569999 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:282.74, Y:223.08, Z:3.42 [[ 5.25308379e-01 -8.50816933e-01 1.27143482e-02 2.82737886e+02] [ 8.50612965e-01 5.25461243e-01 1.86565280e-02 2.23080295e+02] [-2.25541872e-02 1.01455897e-03 9.99745107e-01 3.41933877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2007140569999 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:282.75, Y:223.11, Z:3.42 [[ 5.27252551e-01 -8.49611597e-01 1.28406149e-02 2.82747314e+02] [ 8.49409418e-01 5.27407704e-01 1.85675588e-02 2.23105227e+02] [-2.25474526e-02 1.11714649e-03 9.99745150e-01 3.41650841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2307140569999 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:282.76, Y:223.13, Z:3.41 [[ 5.28478553e-01 -8.48850795e-01 1.27572246e-02 2.82759182e+02] [ 8.48646982e-01 5.28631594e-01 1.86262873e-02 2.23132419e+02] [-2.25548108e-02 9.82786750e-04 9.99745125e-01 3.41441074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.260714057 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:282.77, Y:223.16, Z:3.41 [[ 5.34634368e-01 -8.44986484e-01 1.28037003e-02 2.82772943e+02] [ 8.44782341e-01 5.34786944e-01 1.85935529e-02 2.23162469e+02] [-2.25585526e-02 8.75587474e-04 9.99745140e-01 3.40898482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.290714057 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:282.78, Y:223.19, Z:3.41 [[ 5.35862620e-01 -8.44205060e-01 1.30026390e-02 2.82783941e+02] [ 8.44004050e-01 5.36019251e-01 1.84533773e-02 2.23187954e+02] [-2.25480993e-02 1.08580492e-03 9.99745170e-01 3.40943901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3207140569999 meters Centerline goodness : 0.996302 Centerline is valid? [True, True] Translation: X:282.79, Y:223.22, Z:3.41 [[ 5.37406189e-01 -8.43223845e-01 1.29667025e-02 2.82792119e+02] [ 8.43021941e-01 5.37561667e-01 1.84786867e-02 2.23217856e+02] [-2.25520715e-02 1.00065410e-03 9.99745169e-01 3.40873187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3507140569999 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:282.80, Y:223.24, Z:3.41 [[ 5.37743095e-01 -8.43008606e-01 1.29943552e-02 2.82804111e+02] [ 8.42807107e-01 5.37899097e-01 1.84592206e-02 2.23244223e+02] [-2.25509338e-02 1.02541645e-03 9.99745169e-01 3.40811528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.380714057 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:282.82, Y:223.27, Z:3.41 [[ 5.38711520e-01 -8.42390157e-01 1.29893082e-02 2.82816453e+02] [ 8.42188393e-01 5.38867180e-01 1.84627714e-02 2.23270258e+02] [-2.25523687e-02 9.93336925e-04 9.99745170e-01 3.40765881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.410714057 meters Centerline goodness : 0.997103 Centerline is valid? [True, True] Translation: X:282.83, Y:223.30, Z:3.41 [[ 5.39650796e-01 -8.41788830e-01 1.29840199e-02 2.82827623e+02] [ 8.41586803e-01 5.39806114e-01 1.84664897e-02 2.23295037e+02] [-2.25537380e-02 9.61723962e-04 9.99745170e-01 3.40804458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4407140569999 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:282.84, Y:223.32, Z:3.41 [[ 5.41744413e-01 -8.40443017e-01 1.29817297e-02 2.82835198e+02] [ 8.40240567e-01 5.41899178e-01 1.84680995e-02 2.23322634e+02] [-2.25561739e-02 9.02786219e-04 9.99745170e-01 3.40759074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4707140569999 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:282.85, Y:223.35, Z:3.41 [[ 5.43083498e-01 -8.39578392e-01 1.29783671e-02 2.82847920e+02] [ 8.39375638e-01 5.43237867e-01 1.84704623e-02 2.23347294e+02] [-2.25577414e-02 8.62721881e-04 9.99745170e-01 3.40611589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.500714057 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:282.86, Y:223.37, Z:3.41 [[ 5.44913436e-01 -8.38391894e-01 1.29760967e-02 2.82858294e+02] [ 8.38188767e-01 5.45067312e-01 1.84720571e-02 2.23374638e+02] [-2.25596691e-02 8.10746399e-04 9.99745170e-01 3.40596366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.530714057 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:282.87, Y:223.40, Z:3.41 [[ 5.45524048e-01 -8.37994791e-01 1.29708873e-02 2.82870494e+02] [ 8.37791465e-01 5.45677661e-01 1.84757144e-02 2.23399046e+02] [-2.25604759e-02 7.87952220e-04 9.99745170e-01 3.40519956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5607140569999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:282.88, Y:223.43, Z:3.40 [[ 5.47166172e-01 -8.36923530e-01 1.29686245e-02 2.82880087e+02] [ 8.36719866e-01 5.47319336e-01 1.84773026e-02 2.23425992e+02] [-2.25620683e-02 7.40950880e-04 9.99745170e-01 3.40448429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5907140569999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:282.89, Y:223.45, Z:3.40 [[ 5.47487799e-01 -8.36713201e-01 1.29664620e-02 2.82893248e+02] [ 8.36509442e-01 5.47640837e-01 1.84788200e-02 2.23451411e+02] [-2.25624367e-02 7.29639397e-04 9.99745170e-01 3.40324364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.620714057 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:282.91, Y:223.48, Z:3.40 [[ 5.48065620e-01 -8.36334910e-01 1.29612812e-02 2.82907164e+02] [ 8.36130960e-01 5.48218403e-01 1.84824532e-02 2.23476414e+02] [-2.25631337e-02 7.07731299e-04 9.99745170e-01 3.40262928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.650714057 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:282.92, Y:223.50, Z:3.40 [[ 5.48591777e-01 -8.35989953e-01 1.29561188e-02 2.82920987e+02] [ 8.35785821e-01 5.48744318e-01 1.84860713e-02 2.23501107e+02] [-2.25637664e-02 6.87233673e-04 9.99745170e-01 3.40232438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6807140569999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:282.93, Y:223.53, Z:3.40 [[ 5.48800276e-01 -8.35853174e-01 1.29509772e-02 2.82932805e+02] [ 8.35648920e-01 5.48952653e-01 1.84896727e-02 2.23527344e+02] [-2.25641249e-02 6.75332637e-04 9.99745170e-01 3.40366358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7107140569999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:282.95, Y:223.55, Z:3.40 [[ 5.47503114e-01 -8.36703652e-01 1.29359846e-02 2.82947011e+02] [ 8.36499387e-01 5.47655476e-01 1.85001688e-02 2.23551995e+02] [-2.25636216e-02 6.92043188e-04 9.99745170e-01 3.40266989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.740714057 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:282.96, Y:223.58, Z:3.40 [[ 5.46264725e-01 -8.37512072e-01 1.29761295e-02 2.82960352e+02] [ 8.37308696e-01 5.46418274e-01 1.84720649e-02 2.23575357e+02] [-2.25609716e-02 7.74388555e-04 9.99745169e-01 3.40402053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.770714057 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:282.97, Y:223.60, Z:3.40 [[ 5.40353252e-01 -8.41339120e-01 1.29169823e-02 2.82973039e+02] [ 8.41135845e-01 5.40506932e-01 1.85134375e-02 2.23600525e+02] [-2.25577977e-02 8.61140711e-04 9.99745170e-01 3.40335358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8007140569999 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:282.99, Y:223.62, Z:3.40 [[ 5.36255879e-01 -8.43956340e-01 1.29355415e-02 2.82987212e+02] [ 8.43754125e-01 5.36410951e-01 1.85004609e-02 2.23624830e+02] [-2.25523474e-02 9.93435544e-04 9.99745170e-01 3.40336568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8307140569999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:283.00, Y:223.65, Z:3.40 [[ 5.32227107e-01 -8.46502868e-01 1.29306158e-02 2.83001144e+02] [ 8.46301312e-01 5.32383034e-01 1.85039030e-02 2.23648522e+02] [-2.25476474e-02 1.09491841e-03 9.99745170e-01 3.40330845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.860714057 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:283.01, Y:223.67, Z:3.40 [[ 5.23050230e-01 -8.52203815e-01 1.29272774e-02 2.83013294e+02] [ 8.52003898e-01 5.23208254e-01 1.85062350e-02 2.23674391e+02] [-2.25347423e-02 1.33440023e-03 9.99745170e-01 3.40263205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.890714057 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:283.03, Y:223.70, Z:3.40 [[ 5.18259100e-01 -8.55126024e-01 1.29224121e-02 2.83027056e+02] [ 8.54926913e-01 5.18418139e-01 1.85096317e-02 2.23699454e+02] [-2.25272806e-02 1.45493278e-03 9.99745170e-01 3.40213534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9207140569999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:283.04, Y:223.73, Z:3.40 [[ 5.09680253e-01 -8.60266925e-01 1.29173223e-02 2.83037410e+02] [ 8.60069327e-01 5.09841167e-01 1.85131830e-02 2.23726458e+02] [-2.25120617e-02 1.67398885e-03 9.99745170e-01 3.40124357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9507140569999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:283.05, Y:223.75, Z:3.40 [[ 5.06561077e-01 -8.62107390e-01 1.29121557e-02 2.83049917e+02] [ 8.61910286e-01 5.06722595e-01 1.85167858e-02 2.23751617e+02] [-2.25063389e-02 1.74923682e-03 9.99745170e-01 3.40098874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9807140569999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:283.06, Y:223.78, Z:3.40 [[ 5.04174060e-01 -8.63505604e-01 1.29069686e-02 2.83062169e+02] [ 8.63308856e-01 5.04336013e-01 1.85204007e-02 2.23776815e+02] [-2.25019189e-02 1.80519467e-03 9.99745170e-01 3.40097777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.010714057 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:283.07, Y:223.80, Z:3.40 [[ 5.02880545e-01 -8.64259627e-01 1.29017199e-02 2.83070245e+02] [ 8.64063031e-01 5.03042681e-01 1.85240564e-02 2.23804658e+02] [-2.24997098e-02 1.83251166e-03 9.99745170e-01 3.40169522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.040714057 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:283.08, Y:223.83, Z:3.40 [[ 5.03526501e-01 -8.63883480e-01 1.28994350e-02 2.83081455e+02] [ 8.63686722e-01 5.03688442e-01 1.85256474e-02 2.23829647e+02] [-2.25012970e-02 1.81291632e-03 9.99745170e-01 3.40102248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0707140569999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:283.09, Y:223.86, Z:3.40 [[ 5.04379502e-01 -8.63385766e-01 1.28971781e-02 2.83093410e+02] [ 8.63188809e-01 5.04541200e-01 1.85272184e-02 2.23855647e+02] [-2.25032944e-02 1.78795063e-03 9.99745170e-01 3.40059768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.10, Y:223.88, Z:3.40 [[ 5.05679161e-01 -8.62625286e-01 1.28919768e-02 2.83104667e+02] [ 8.62427995e-01 5.05840451e-01 1.85308370e-02 2.23881191e+02] [-2.25064519e-02 1.74774355e-03 9.99745170e-01 3.40012627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.130714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.11, Y:223.91, Z:3.40 [[ 5.08163143e-01 -8.61164371e-01 1.28897360e-02 2.83111065e+02] [ 8.60966578e-01 5.08323817e-01 1.85323955e-02 2.23910305e+02] [-2.25115985e-02 1.68015153e-03 9.99745170e-01 3.39901480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.160714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.12, Y:223.94, Z:3.40 [[ 5.09526033e-01 -8.60358767e-01 1.28846345e-02 2.83122206e+02] [ 8.60160631e-01 5.09686284e-01 1.85359417e-02 2.23935478e+02] [-2.25146814e-02 1.63831051e-03 9.99745170e-01 3.39823946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1907140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.13, Y:223.96, Z:3.40 [[ 5.10362225e-01 -8.59863037e-01 1.28824176e-02 2.83133564e+02] [ 8.59664707e-01 5.10522235e-01 1.85374822e-02 2.23961801e+02] [-2.25164564e-02 1.61372910e-03 9.99745170e-01 3.39809000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2207140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.14, Y:223.99, Z:3.40 [[ 5.12319265e-01 -8.58698521e-01 1.28771673e-02 2.83139626e+02] [ 8.58499736e-01 5.12478711e-01 1.85411287e-02 2.23990140e+02] [-2.25205139e-02 1.55606731e-03 9.99745170e-01 3.39818446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.250714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.15, Y:224.02, Z:3.40 [[ 5.13745198e-01 -8.57846204e-01 1.28748895e-02 2.83150433e+02] [ 8.57647116e-01 5.13904264e-01 1.85427103e-02 2.24015988e+02] [-2.25232542e-02 1.51588344e-03 9.99745170e-01 3.39804104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.280714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.16, Y:224.05, Z:3.40 [[ 5.17537999e-01 -8.55563435e-01 1.28696799e-02 2.83155785e+02] [ 8.55363555e-01 5.17696071e-01 1.85463253e-02 2.24045795e+02] [-2.25301405e-02 1.40982708e-03 9.99745170e-01 3.39793370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3107140569999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:283.17, Y:224.07, Z:3.40 [[ 5.19920287e-01 -8.54117908e-01 1.28644297e-02 2.83165868e+02] [ 8.53917501e-01 5.20077688e-01 1.85499663e-02 2.24071902e+02] [-2.25343613e-02 1.34065783e-03 9.99745170e-01 3.39705910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3407140569999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:283.18, Y:224.10, Z:3.40 [[ 5.22380527e-01 -8.52615476e-01 1.28621669e-02 2.83176586e+02] [ 8.52414577e-01 5.22537300e-01 1.85515352e-02 2.24098297e+02] [-2.25382880e-02 1.27293780e-03 9.99745170e-01 3.39615505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.370714057 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:283.19, Y:224.12, Z:3.40 [[ 5.24668598e-01 -8.51209465e-01 1.28572493e-02 2.83186850e+02] [ 8.51008063e-01 5.24824725e-01 1.85549427e-02 2.24123807e+02] [-2.25419452e-02 1.20642698e-03 9.99745170e-01 3.39521319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.400714057 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:283.19, Y:224.15, Z:3.39 [[ 5.28765449e-01 -8.48670637e-01 1.28549574e-02 2.83193579e+02] [ 8.48468447e-01 5.28920552e-01 1.85565304e-02 2.24152843e+02] [-2.25476337e-02 1.09497363e-03 9.99745170e-01 3.39448730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4307140569999 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:283.20, Y:224.18, Z:3.39 [[ 5.30010139e-01 -8.47893943e-01 1.28496541e-02 2.83204361e+02] [ 8.47691437e-01 5.30164830e-01 1.85602020e-02 2.24178151e+02] [-2.25495176e-02 1.05544655e-03 9.99745170e-01 3.39365057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4607140569999 meters Centerline goodness : 0.997657 Centerline is valid? [True, True] Translation: X:283.21, Y:224.21, Z:3.39 [[ 5.31817563e-01 -8.46761493e-01 1.28473583e-02 2.83211381e+02] [ 8.46558619e-01 5.31971771e-01 1.85617910e-02 2.24205483e+02] [-2.25518418e-02 1.00455548e-03 9.99745170e-01 3.39220599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.490714057 meters Centerline goodness : 0.997488 Centerline is valid? [True, True] Translation: X:283.22, Y:224.23, Z:3.39 [[ 5.32215165e-01 -8.46511679e-01 1.28451051e-02 2.83224186e+02] [ 8.46308695e-01 5.32369229e-01 1.85633501e-02 2.24231219e+02] [-2.25524314e-02 9.91227711e-04 9.99745170e-01 3.39074964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.520714057 meters Centerline goodness : 0.997365 Centerline is valid? [True, True] Translation: X:283.24, Y:224.26, Z:3.39 [[ 5.32167325e-01 -8.46541835e-01 1.28397927e-02 2.83236589e+02] [ 8.46338771e-01 5.32321284e-01 1.85670239e-02 2.24255908e+02] [-2.25526574e-02 9.86050900e-04 9.99745170e-01 3.38979074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5507140569999 meters Centerline goodness : 0.997359 Centerline is valid? [True, True] Translation: X:283.25, Y:224.28, Z:3.39 [[ 5.31607961e-01 -8.46893249e-01 1.28374888e-02 2.83249674e+02] [ 8.46690249e-01 5.31762004e-01 1.85686167e-02 2.24280634e+02] [-2.25521249e-02 9.98152158e-04 9.99745170e-01 3.38891124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5807140569999 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:283.26, Y:224.31, Z:3.39 [[ 5.30572318e-01 -8.47542532e-01 1.28324526e-02 2.83260745e+02] [ 8.47339637e-01 5.30726499e-01 1.85720965e-02 2.24306784e+02] [-2.25511643e-02 1.01960543e-03 9.99745170e-01 3.38782146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.610714057 meters Centerline goodness : 0.996319 Centerline is valid? [True, True] Translation: X:283.27, Y:224.33, Z:3.39 [[ 5.30033452e-01 -8.47879708e-01 1.28273602e-02 2.83274279e+02] [ 8.47676826e-01 5.30187651e-01 1.85756130e-02 2.24331096e+02] [-2.25507933e-02 1.02775973e-03 9.99745170e-01 3.38699362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.640714057 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:283.29, Y:224.36, Z:3.39 [[ 5.30076680e-01 -8.47852761e-01 1.28221913e-02 2.83285110e+02] [ 8.47649786e-01 5.30230756e-01 1.85791803e-02 2.24356196e+02] [-2.25511295e-02 1.02033746e-03 9.99745170e-01 3.38657242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6707140569999 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:283.30, Y:224.38, Z:3.39 [[ 5.31352612e-01 -8.47053747e-01 1.28199506e-02 2.83298722e+02] [ 8.46850503e-01 5.31506333e-01 1.85807263e-02 2.24379930e+02] [-2.25527587e-02 9.83664121e-04 9.99745170e-01 3.38598830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7007140569999 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:283.31, Y:224.41, Z:3.39 [[ 5.31165009e-01 -8.47172538e-01 1.27445827e-02 2.83313881e+02] [ 8.46968085e-01 5.31317123e-01 1.86327078e-02 2.24405874e+02] [-2.25565333e-02 8.97212409e-04 9.99745166e-01 3.38582466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7307140569999 meters Centerline goodness : 0.996250 Centerline is valid? [True, True] Translation: X:283.33, Y:224.43, Z:3.39 [[ 5.31944733e-01 -8.46682080e-01 1.28162746e-02 2.83327436e+02] [ 8.46478668e-01 5.32098231e-01 1.85832642e-02 2.24429386e+02] [-2.25536339e-02 9.63433536e-04 9.99745170e-01 3.38579364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.760714057 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:283.34, Y:224.45, Z:3.38 [[ 5.34642514e-01 -8.44981174e-01 1.28139666e-02 2.83339163e+02] [ 8.44777235e-01 5.34795312e-01 1.85848556e-02 2.24453440e+02] [-2.25567024e-02 8.88693388e-04 9.99745170e-01 3.38487522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.790714057 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:283.35, Y:224.48, Z:3.38 [[ 5.35218271e-01 -8.44617809e-01 1.27341596e-02 2.83354665e+02] [ 8.44412460e-01 5.35369175e-01 1.86398447e-02 2.24478142e+02] [-2.25610213e-02 7.76497596e-04 9.99745166e-01 3.38421502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8207140569999 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:283.37, Y:224.50, Z:3.38 [[ 5.36657662e-01 -8.43702869e-01 1.28071310e-02 2.83370047e+02] [ 8.43498454e-01 5.36809823e-01 1.85895718e-02 2.24502092e+02] [-2.25590688e-02 8.26559037e-04 9.99745170e-01 3.38298068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8507140569999 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:283.38, Y:224.53, Z:3.38 [[ 5.40351683e-01 -8.41341884e-01 1.28020471e-02 2.83384743e+02] [ 8.41136722e-01 5.40502834e-01 1.85930722e-02 2.24525478e+02] [-2.25626732e-02 7.21474099e-04 9.99745170e-01 3.38147703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.880714057 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:283.40, Y:224.55, Z:3.38 [[ 5.42258634e-01 -8.40114168e-01 1.27968146e-02 2.83400179e+02] [ 8.39908578e-01 5.42409203e-01 1.85966729e-02 2.24548118e+02] [-2.25644383e-02 6.63947914e-04 9.99745170e-01 3.38153981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.910714057 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:283.42, Y:224.57, Z:3.38 [[ 5.43447632e-01 -8.39345561e-01 1.27945530e-02 2.83415851e+02] [ 8.39139722e-01 5.43597860e-01 1.85982287e-02 2.24571381e+02] [-2.25654323e-02 6.29254299e-04 9.99745170e-01 3.38100601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9407140569999 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:283.43, Y:224.59, Z:3.38 [[ 5.45647328e-01 -8.37917315e-01 1.27893418e-02 2.83432741e+02] [ 8.37710999e-01 5.45796899e-01 1.86018115e-02 2.24594263e+02] [-2.25671631e-02 5.63743574e-04 9.99745170e-01 3.38135097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9707140569999 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:283.45, Y:224.62, Z:3.38 [[ 5.45511871e-01 -8.38005588e-01 1.27841240e-02 2.83449117e+02] [ 8.37799211e-01 5.45661361e-01 1.86053968e-02 2.24617259e+02] [-2.25672290e-02 5.61064162e-04 9.99745170e-01 3.38065191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.000714057 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:283.47, Y:224.64, Z:3.38 [[ 5.44960969e-01 -8.38364027e-01 1.27789121e-02 2.83466182e+02] [ 8.38157666e-01 5.45110478e-01 1.86089759e-02 2.24638317e+02] [-2.25670148e-02 5.69577635e-04 9.99745170e-01 3.37908443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.030714057 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:283.48, Y:224.66, Z:3.38 [[ 5.44728938e-01 -8.38514863e-01 1.27753648e-02 2.83482224e+02] [ 8.38308485e-01 5.44878426e-01 1.86114108e-02 2.24661829e+02] [-2.25669652e-02 5.71522673e-04 9.99745170e-01 3.37844153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0607140569999 meters Centerline goodness : 0.995768 Centerline is valid? [True, True] Translation: X:283.50, Y:224.68, Z:3.38 [[ 5.43907402e-01 -8.39048068e-01 1.27702120e-02 2.83499130e+02] [ 8.38841754e-01 5.44056978e-01 1.86149457e-02 2.24684424e+02] [-2.25665572e-02 5.87380249e-04 9.99745170e-01 3.37710614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0907140569999 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:283.52, Y:224.71, Z:3.38 [[ 5.43234143e-01 -8.39484198e-01 1.27650730e-02 2.83515892e+02] [ 8.39277922e-01 5.43383771e-01 1.86184691e-02 2.24706426e+02] [-2.25662441e-02 5.99255861e-04 9.99745170e-01 3.37585773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.120714057 meters Centerline goodness : 0.995743 Centerline is valid? [True, True] Translation: X:283.53, Y:224.73, Z:3.38 [[ 5.41790185e-01 -8.40416908e-01 1.27599436e-02 2.83534109e+02] [ 8.40210807e-01 5.41940053e-01 1.86219838e-02 2.24727630e+02] [-2.25653546e-02 6.31834433e-04 9.99745170e-01 3.37533840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.150714057 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:283.55, Y:224.75, Z:3.37 [[ 5.40814344e-01 -8.41045281e-01 1.27546817e-02 2.83551203e+02] [ 8.40839269e-01 5.40964335e-01 1.86255872e-02 2.24750046e+02] [-2.25647901e-02 6.51652515e-04 9.99745170e-01 3.37481124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1807140569999 meters Centerline goodness : 0.996160 Centerline is valid? [True, True] Translation: X:283.57, Y:224.77, Z:3.37 [[ 5.40166359e-01 -8.41461679e-01 1.27494457e-02 2.83567908e+02] [ 8.41255698e-01 5.40316393e-01 1.86291706e-02 2.24771658e+02] [-2.25644676e-02 6.62692621e-04 9.99745170e-01 3.37482545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2107140569999 meters Centerline goodness : 0.996330 Centerline is valid? [True, True] Translation: X:283.59, Y:224.79, Z:3.38 [[ 5.39145095e-01 -8.42116427e-01 1.27471753e-02 2.83586532e+02] [ 8.41910592e-01 5.39295328e-01 1.86307240e-02 2.24792747e+02] [-2.25637308e-02 6.87318457e-04 9.99745170e-01 3.37520096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.240714057 meters Centerline goodness : 0.997001 Centerline is valid? [True, True] Translation: X:283.60, Y:224.81, Z:3.37 [[ 5.38918766e-01 -8.42261366e-01 1.27418771e-02 2.83603575e+02] [ 8.42055486e-01 5.39068938e-01 1.86343468e-02 2.24814656e+02] [-2.25637405e-02 6.86968320e-04 9.99745170e-01 3.37498373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.270714057 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:283.62, Y:224.84, Z:3.37 [[ 5.38746183e-01 -8.42371848e-01 1.27365251e-02 2.83620735e+02] [ 8.42165913e-01 5.38896279e-01 1.86380042e-02 2.24836913e+02] [-2.25637960e-02 6.85113630e-04 9.99745170e-01 3.37463903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3007140569999 meters Centerline goodness : 0.997233 Centerline is valid? [True, True] Translation: X:283.64, Y:224.86, Z:3.37 [[ 5.39140514e-01 -8.42119603e-01 1.27310568e-02 2.83637327e+02] [ 8.41913510e-01 5.39290393e-01 1.86417387e-02 2.24857912e+02] [-2.25643102e-02 6.67932112e-04 9.99745170e-01 3.37499141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3307140569999 meters Centerline goodness : 0.997092 Centerline is valid? [True, True] Translation: X:283.66, Y:224.88, Z:3.38 [[ 5.39840960e-01 -8.41670790e-01 1.27286871e-02 2.83655417e+02] [ 8.41464534e-01 5.39990614e-01 1.86433565e-02 2.24879251e+02] [-2.25649402e-02 6.46291321e-04 9.99745170e-01 3.37523425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.360714057 meters Centerline goodness : 0.997685 Centerline is valid? [True, True] Translation: X:283.67, Y:224.90, Z:3.38 [[ 5.40340888e-01 -8.41350012e-01 1.27233124e-02 2.83671866e+02] [ 8.41143580e-01 5.40490301e-01 1.86470238e-02 2.24900759e+02] [-2.25655007e-02 6.26383108e-04 9.99745170e-01 3.37524568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.390714057 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:283.69, Y:224.92, Z:3.38 [[ 5.41102277e-01 -8.40860572e-01 1.27210274e-02 2.83689368e+02] [ 8.40653969e-01 5.41251452e-01 1.86485825e-02 2.24922771e+02] [-2.25661323e-02 6.03191739e-04 9.99745170e-01 3.37511940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4207140569999 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:283.71, Y:224.94, Z:3.38 [[ 5.43280614e-01 -8.39454873e-01 1.27157554e-02 2.83707571e+02] [ 8.39247800e-01 5.43429136e-01 1.86521766e-02 2.24943609e+02] [-2.25677725e-02 5.38303779e-04 9.99745170e-01 3.37533231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4507140569999 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:283.72, Y:224.96, Z:3.38 [[ 5.44663047e-01 -8.38558605e-01 1.27134689e-02 2.83723471e+02] [ 8.38351251e-01 5.44811177e-01 1.86537350e-02 2.24964843e+02] [-2.25686899e-02 4.98352387e-04 9.99745170e-01 3.37595838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4807140569999 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:283.74, Y:224.99, Z:3.38 [[ 5.48244387e-01 -8.36221615e-01 1.27083517e-02 2.83741140e+02] [ 8.36013549e-01 5.48391515e-01 1.86572206e-02 2.24986773e+02] [-2.25707233e-02 3.95637747e-04 9.99745170e-01 3.37652587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.510714057 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:283.76, Y:225.01, Z:3.38 [[ 5.50217158e-01 -8.34924974e-01 1.27030243e-02 2.83757503e+02] [ 8.34716478e-01 5.50363675e-01 1.86608471e-02 2.25008369e+02] [-2.25716904e-02 3.35905397e-04 9.99745171e-01 3.37679627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.540714057 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:283.77, Y:225.03, Z:3.38 [[ 5.52044217e-01 -8.33718102e-01 1.27007203e-02 2.83774518e+02] [ 8.33509249e-01 5.52190226e-01 1.86624151e-02 2.25031000e+02] [-2.25724069e-02 2.83689521e-04 9.99745171e-01 3.37621559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5707140569999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:283.79, Y:225.05, Z:3.38 [[ 5.54562614e-01 -8.32045151e-01 1.26954314e-02 2.83790835e+02] [ 8.31835775e-01 5.54707872e-01 1.86660122e-02 2.25052393e+02] [-2.25732207e-02 2.09041467e-04 9.99745171e-01 3.37563744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6007140569999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:283.81, Y:225.07, Z:3.37 [[ 5.58543018e-01 -8.29378431e-01 1.26931413e-02 2.83809051e+02] [ 8.29168326e-01 5.58687220e-01 1.86675694e-02 2.25073480e+02] [-2.25739752e-02 9.81101294e-05 9.99745171e-01 3.37417024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.630714057 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:283.83, Y:225.09, Z:3.37 [[ 5.60214251e-01 -8.28250572e-01 1.26879247e-02 2.83826022e+02] [ 8.28040096e-01 5.60357911e-01 1.86711144e-02 2.25094789e+02] [-2.25741401e-02 4.62860108e-05 9.99745171e-01 3.37316152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.660714057 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:283.84, Y:225.12, Z:3.37 [[ 5.61590585e-01 -8.27318029e-01 1.26843783e-02 2.83843834e+02] [ 8.27107261e-01 5.61733815e-01 1.86735233e-02 2.25116895e+02] [-2.25741867e-02 4.46653354e-06 9.99745171e-01 3.37176564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6907140569999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:283.86, Y:225.14, Z:3.37 [[ 5.64367829e-01 -8.25426066e-01 1.26792405e-02 2.83863963e+02] [ 8.25214739e-01 5.64510233e-01 1.86770112e-02 2.25137107e+02] [-2.25740529e-02 -7.76081714e-05 9.99745171e-01 3.37046482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7207140569999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:283.88, Y:225.16, Z:3.37 [[ 5.65583723e-01 -8.24593490e-01 1.26739604e-02 2.83881272e+02] [ 8.24381873e-01 5.65725696e-01 1.86805935e-02 2.25157424e+02] [-2.25738809e-02 -1.17256420e-04 9.99745171e-01 3.36952948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.750714057 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:283.90, Y:225.18, Z:3.37 [[ 5.66642925e-01 -8.23866024e-01 1.26716685e-02 2.83899348e+02] [ 8.23654190e-01 5.66784574e-01 1.86821481e-02 2.25178378e+02] [-2.25736933e-02 -1.49034176e-04 9.99745171e-01 3.36910353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.780714057 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:283.92, Y:225.20, Z:3.37 [[ 5.68903084e-01 -8.22307024e-01 1.26664548e-02 2.83920361e+02] [ 8.22094723e-01 5.69044033e-01 1.86856823e-02 2.25197492e+02] [-2.25731383e-02 -2.17316665e-04 9.99745171e-01 3.36875319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8107140569999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:283.94, Y:225.22, Z:3.37 [[ 5.69927790e-01 -8.21597231e-01 1.26611580e-02 2.83938224e+02] [ 8.21384675e-01 5.70068353e-01 1.86892706e-02 2.25217732e+02] [-2.25727785e-02 -2.51853606e-04 9.99745171e-01 3.36829419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8407140569999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:283.96, Y:225.24, Z:3.37 [[ 5.70591302e-01 -8.21136602e-01 1.26588699e-02 2.83956826e+02] [ 8.20923898e-01 5.70731642e-01 1.86908203e-02 2.25238473e+02] [-2.25725343e-02 -2.72850625e-04 9.99745171e-01 3.36761325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.870714057 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:283.98, Y:225.26, Z:3.37 [[ 5.71985880e-01 -8.20165862e-01 1.26535428e-02 2.83979124e+02] [ 8.19952840e-01 5.72125736e-01 1.86944260e-02 2.25256805e+02] [-2.25719475e-02 -3.17639295e-04 9.99745171e-01 3.36653911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.900714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.00, Y:225.28, Z:3.37 [[ 5.72976241e-01 -8.19474374e-01 1.26482206e-02 2.83998685e+02] [ 8.19261104e-01 5.73115719e-01 1.86980262e-02 2.25277755e+02] [-2.25714474e-02 -3.51329548e-04 9.99745171e-01 3.36652321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9307140569999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:284.02, Y:225.30, Z:3.37 [[ 5.73718202e-01 -8.18955178e-01 1.26428696e-02 2.84017607e+02] [ 8.18741702e-01 5.73857364e-01 1.87016436e-02 2.25298524e+02] [-2.25710117e-02 -3.78228723e-04 9.99745171e-01 3.36619795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9607140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.04, Y:225.31, Z:3.37 [[ 5.77078324e-01 -8.16591019e-01 1.26378549e-02 2.84038128e+02] [ 8.16376900e-01 5.77216493e-01 1.87050318e-02 2.25313768e+02] [-2.25691392e-02 -4.77015566e-04 9.99745171e-01 3.36611902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.990714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.06, Y:225.34, Z:3.36 [[ 5.76939648e-01 -8.16691463e-01 1.24778748e-02 2.84059848e+02] [ 8.16475020e-01 5.77074181e-01 1.88130418e-02 2.25337208e+02] [-2.25651101e-02 -6.66116637e-04 9.99745154e-01 3.36496715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.020714057 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:284.09, Y:225.36, Z:3.37 [[ 5.81682677e-01 -8.13317656e-01 1.26354290e-02 2.84087926e+02] [ 8.13102725e-01 5.81819578e-01 1.87066220e-02 2.25359764e+02] [-2.25659659e-02 -6.07416213e-04 9.99745172e-01 3.36776964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0507140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.10, Y:225.38, Z:3.36 [[ 5.78451562e-01 -8.15614288e-01 1.29276518e-02 2.84100616e+02] [ 8.15404260e-01 5.78595979e-01 1.85090928e-02 2.25378580e+02] [-2.25761679e-02 -1.65351300e-04 9.99745112e-01 3.36327743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0807140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:284.13, Y:225.40, Z:3.36 [[ 5.78693149e-01 -8.15447566e-01 1.26295960e-02 2.84126132e+02] [ 8.15233059e-01 5.78830705e-01 1.87102847e-02 2.25395071e+02] [-2.25676541e-02 -5.31449382e-04 9.99745177e-01 3.36235669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.110714057 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:284.15, Y:225.41, Z:3.36 [[ 5.78140400e-01 -8.15839635e-01 1.26241142e-02 2.84146342e+02] [ 8.15625141e-01 5.78277976e-01 1.87139826e-02 2.25414263e+02] [-2.25678560e-02 -5.22764480e-04 9.99745177e-01 3.36145091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.140714057 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:284.17, Y:225.43, Z:3.36 [[ 5.75594690e-01 -8.17637722e-01 1.26217397e-02 2.84171780e+02] [ 8.17423623e-01 5.75732879e-01 1.87155840e-02 2.25430057e+02] [-2.25693180e-02 -4.55282555e-04 9.99745177e-01 3.36069637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1707140569999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:284.19, Y:225.45, Z:3.36 [[ 5.73615951e-01 -8.19027161e-01 1.26194290e-02 2.84192659e+02] [ 8.18813362e-01 5.73754605e-01 1.87171419e-02 2.25450069e+02] [-2.25703031e-02 -4.03494071e-04 9.99745177e-01 3.36003179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2007140569999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:284.21, Y:225.47, Z:3.36 [[ 5.71542876e-01 -8.20475242e-01 1.26142011e-02 2.84213505e+02] [ 8.20261717e-01 5.71681950e-01 1.87206645e-02 2.25470026e+02] [-2.25711529e-02 -3.52716178e-04 9.99745177e-01 3.35889113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2307140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:284.24, Y:225.49, Z:3.36 [[ 5.67645173e-01 -8.23176758e-01 1.26088800e-02 2.84239053e+02] [ 8.22963815e-01 5.67785137e-01 1.87242478e-02 2.25486148e+02] [-2.25725002e-02 -2.52076875e-04 9.99745177e-01 3.35875775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.260714057 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:284.26, Y:225.51, Z:3.36 [[ 5.65767166e-01 -8.24468718e-01 1.26034170e-02 2.84258861e+02] [ 8.24256013e-01 5.65907492e-01 1.87279242e-02 2.25505474e+02] [-2.25729558e-02 -2.07202354e-04 9.99745177e-01 3.35876988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.290714057 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:284.28, Y:225.53, Z:3.36 [[ 5.64214865e-01 -8.25531828e-01 1.26010549e-02 2.84279177e+02] [ 8.25319352e-01 5.64355537e-01 1.87295135e-02 2.25526074e+02] [-2.25732846e-02 -1.67575489e-04 9.99745177e-01 3.35796565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3207140569999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:284.30, Y:225.54, Z:3.36 [[ 5.61779470e-01 -8.27191138e-01 1.25955492e-02 2.84302603e+02] [ 8.26978995e-01 5.61920643e-01 1.87332153e-02 2.25542364e+02] [-2.25736488e-02 -1.07681143e-04 9.99745177e-01 3.35647498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3507140569999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:284.32, Y:225.56, Z:3.36 [[ 5.60424923e-01 -8.28109484e-01 1.25931644e-02 2.84321538e+02] [ 8.27897536e-01 5.60566389e-01 1.87348183e-02 2.25561576e+02] [-2.25737854e-02 -7.36093184e-05 9.99745177e-01 3.35550844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.380714057 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:284.34, Y:225.58, Z:3.35 [[ 5.59332622e-01 -8.28847687e-01 1.25908503e-02 2.84341429e+02] [ 8.28635890e-01 5.59474315e-01 1.87363733e-02 2.25581932e+02] [-2.25738571e-02 -4.66343376e-05 9.99745177e-01 3.35432402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.410714057 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:284.36, Y:225.60, Z:3.35 [[ 5.56652575e-01 -8.30650057e-01 1.25854737e-02 2.84363837e+02] [ 8.30438637e-01 5.56794830e-01 1.87399842e-02 2.25600342e+02] [-2.25738956e-02 1.98031568e-05 9.99745177e-01 3.35322162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4407140569999 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:284.38, Y:225.62, Z:3.35 [[ 5.55383338e-01 -8.31499302e-01 1.25801240e-02 2.84382070e+02] [ 8.31288018e-01 5.55525795e-01 1.87435748e-02 2.25620790e+02] [-2.25738527e-02 4.78372224e-05 9.99745177e-01 3.35259375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4707140569999 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:284.40, Y:225.64, Z:3.35 [[ 5.53551687e-01 -8.32719858e-01 1.25764943e-02 2.84400518e+02] [ 8.32508833e-01 5.53694527e-01 1.87460099e-02 2.25641876e+02] [-2.25737108e-02 9.31571522e-05 9.99745177e-01 3.35203552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.500714057 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:284.42, Y:225.66, Z:3.35 [[ 5.51945736e-01 -8.33785265e-01 1.25712245e-02 2.84418599e+02] [ 8.33574436e-01 5.52088864e-01 1.87495432e-02 2.25662324e+02] [-2.25735259e-02 1.30320900e-04 9.99745177e-01 3.35146157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.530714057 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:284.44, Y:225.68, Z:3.35 [[ 5.48449570e-01 -8.36089184e-01 1.25676417e-02 2.84440044e+02] [ 8.35878901e-01 5.48593499e-01 1.87519444e-02 2.25681760e+02] [-2.25728244e-02 2.20530745e-04 9.99745177e-01 3.35067176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5607140569999 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:284.46, Y:225.70, Z:3.35 [[ 5.46212761e-01 -8.37552271e-01 1.25623320e-02 2.84458353e+02] [ 8.37342292e-01 5.46357134e-01 1.87555008e-02 2.25703713e+02] [-2.25722320e-02 2.74478019e-04 9.99745177e-01 3.35059891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5907140569999 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:284.48, Y:225.72, Z:3.35 [[ 5.42326391e-01 -8.40074048e-01 1.25570382e-02 2.84477785e+02] [ 8.39864658e-01 5.42471616e-01 1.87590444e-02 2.25723937e+02] [-2.25708232e-02 3.72687811e-04 9.99745177e-01 3.35086693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.620714057 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:284.50, Y:225.75, Z:3.35 [[ 5.40675259e-01 -8.41137536e-01 1.25662354e-02 2.84495307e+02] [ 8.40928574e-01 5.40821100e-01 1.87528899e-02 2.25747248e+02] [-2.25698448e-02 4.28082851e-04 9.99745177e-01 3.35003709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.650714057 meters Centerline goodness : 0.997871 Centerline is valid? [True, True] Translation: X:284.51, Y:225.77, Z:3.35 [[ 5.39497281e-01 -8.41893574e-01 1.25655810e-02 2.84512229e+02] [ 8.41684806e-01 5.39643401e-01 1.87533275e-02 2.25770902e+02] [-2.25692388e-02 4.58889448e-04 9.99745177e-01 3.34921264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6807140569999 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:284.53, Y:225.79, Z:3.35 [[ 5.39885656e-01 -8.41644504e-01 1.25700888e-02 2.84529546e+02] [ 8.41435739e-01 5.40031779e-01 1.87503136e-02 2.25792862e+02] [-2.25693458e-02 4.53896643e-04 9.99745177e-01 3.34922918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7107140569999 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:284.55, Y:225.82, Z:3.35 [[ 5.40767738e-01 -8.41078311e-01 1.25510137e-02 2.84545901e+02] [ 8.40869098e-01 5.40913217e-01 1.87630608e-02 2.25815992e+02] [-2.25702127e-02 4.07301581e-04 9.99745177e-01 3.34870095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.740714057 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:284.56, Y:225.84, Z:3.35 [[ 5.42055063e-01 -8.40249434e-01 1.25378512e-02 2.84561024e+02] [ 8.40039794e-01 5.42199928e-01 1.87718521e-02 2.25838087e+02] [-2.25710601e-02 3.56916456e-04 9.99745177e-01 3.34848341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.770714057 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:284.58, Y:225.86, Z:3.35 [[ 5.45248562e-01 -8.38180689e-01 1.25355147e-02 2.84575680e+02] [ 8.37970464e-01 5.45392575e-01 1.87734123e-02 2.25860268e+02] [-2.25722883e-02 2.68214972e-04 9.99745177e-01 3.34809114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8007140569999 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:284.59, Y:225.88, Z:3.35 [[ 5.46577063e-01 -8.37315014e-01 1.25332018e-02 2.84590716e+02] [ 8.37104526e-01 5.46720691e-01 1.87749562e-02 2.25883295e+02] [-2.25727135e-02 2.29639560e-04 9.99745177e-01 3.34761801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8307140569999 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:284.60, Y:225.91, Z:3.35 [[ 5.46288414e-01 -8.37503400e-01 1.25309177e-02 2.84603540e+02] [ 8.37292926e-01 5.46432063e-01 1.87764806e-02 2.25906227e+02] [-2.25726616e-02 2.34674890e-04 9.99745177e-01 3.35209457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.860714057 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:284.62, Y:225.93, Z:3.35 [[ 5.46806416e-01 -8.37167506e-01 1.23818377e-02 2.84622373e+02] [ 8.36954680e-01 5.46946583e-01 1.88758950e-02 2.25930850e+02] [-2.25744898e-02 4.15765142e-05 9.99745163e-01 3.34611472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.890714057 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:284.64, Y:225.95, Z:3.35 [[ 5.45832996e-01 -8.37800337e-01 1.25273998e-02 2.84637760e+02] [ 8.37589888e-01 5.45976682e-01 1.87787905e-02 2.25954341e+02] [-2.25725451e-02 2.42739938e-04 9.99745178e-01 3.34519382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9207140569999 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:284.65, Y:225.98, Z:3.34 [[ 5.45626666e-01 -8.37935121e-01 1.25009476e-02 2.84653551e+02] [ 8.37724303e-01 5.45769810e-01 1.87964309e-02 2.25978095e+02] [-2.25728294e-02 2.16513718e-04 9.99745178e-01 3.34455581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9507140569999 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:284.67, Y:226.00, Z:3.34 [[ 5.43821446e-01 -8.39107904e-01 1.24964112e-02 2.84669555e+02] [ 8.38897326e-01 5.43964942e-01 1.87994546e-02 2.26001702e+02] [-2.25723805e-02 2.59659394e-04 9.99745178e-01 3.34350294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9807140569999 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:284.68, Y:226.02, Z:3.34 [[ 5.40285831e-01 -8.41388470e-01 1.25165108e-02 2.84684709e+02] [ 8.41178807e-01 5.40430661e-01 1.87860629e-02 2.26024903e+02] [-2.25706829e-02 3.78780020e-04 9.99745178e-01 3.34182943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.010714057 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:284.70, Y:226.05, Z:3.34 [[ 5.37247366e-01 -8.43331926e-01 1.25111901e-02 2.84700127e+02] [ 8.43122704e-01 5.37392833e-01 1.87896057e-02 2.26047814e+02] [-2.25692983e-02 4.53802267e-04 9.99745178e-01 3.34130137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.040714057 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:284.72, Y:226.07, Z:3.34 [[ 5.32328737e-01 -8.46445344e-01 1.25058143e-02 2.84716124e+02] [ 8.46236889e-01 5.32475299e-01 1.87931830e-02 2.26071394e+02] [-2.25664395e-02 5.78729992e-04 9.99745178e-01 3.34153204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0707140569999 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:284.73, Y:226.10, Z:3.34 [[ 5.29492897e-01 -8.48222265e-01 1.25004507e-02 2.84731892e+02] [ 8.48014217e-01 5.29640038e-01 1.87967500e-02 2.26095146e+02] [-2.25645610e-02 6.47814355e-04 9.99745178e-01 3.34142150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1007140569999 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:284.75, Y:226.12, Z:3.34 [[ 5.27228801e-01 -8.49631487e-01 1.24950961e-02 2.84747991e+02] [ 8.49423748e-01 5.27376378e-01 1.88003088e-02 2.26118636e+02] [-2.25629528e-02 7.01567154e-04 9.99745178e-01 3.34190162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.130714057 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:284.76, Y:226.14, Z:3.34 [[ 5.25225092e-01 -8.50871677e-01 1.24896965e-02 2.84762957e+02] [ 8.50664201e-01 5.25373039e-01 1.88038953e-02 2.26141313e+02] [-2.25614517e-02 7.48260054e-04 9.99745178e-01 3.34186585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.160714057 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:284.78, Y:226.16, Z:3.34 [[ 5.23547628e-01 -8.51904893e-01 1.24873550e-02 2.84777544e+02] [ 8.51697673e-01 5.23695932e-01 1.88054501e-02 2.26164672e+02] [-2.25600319e-02 7.89902373e-04 9.99745178e-01 3.34091090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1907140569999 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:284.79, Y:226.19, Z:3.34 [[ 5.23818544e-01 -8.51738418e-01 1.24820269e-02 2.84791971e+02] [ 8.51531066e-01 5.23966664e-01 1.88089859e-02 2.26188186e+02] [-2.25605019e-02 7.76338033e-04 9.99745178e-01 3.33964918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2207140569999 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:284.81, Y:226.21, Z:3.34 [[ 5.25113338e-01 -8.50940842e-01 1.24766206e-02 2.84805879e+02] [ 8.50733181e-01 5.25261023e-01 1.88125714e-02 2.26211600e+02] [-2.25618678e-02 7.35543006e-04 9.99745178e-01 3.33849942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.250714057 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:284.82, Y:226.24, Z:3.34 [[ 5.30583624e-01 -8.47540802e-01 1.24742778e-02 2.84818114e+02] [ 8.47332157e-01 5.30729917e-01 1.88141247e-02 2.26236029e+02] [-2.25662108e-02 5.87390233e-04 9.99745178e-01 3.33763119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.280714057 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:284.83, Y:226.26, Z:3.34 [[ 5.33655476e-01 -8.45610006e-01 1.24719640e-02 2.84832309e+02] [ 8.45400796e-01 5.33800960e-01 1.88156585e-02 2.26260690e+02] [-2.25682554e-02 5.02729119e-04 9.99745178e-01 3.33725667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3107140569999 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:284.85, Y:226.29, Z:3.34 [[ 5.36914817e-01 -8.43544345e-01 1.24666474e-02 2.84846855e+02] [ 8.43334494e-01 5.37059373e-01 1.88191804e-02 2.26285216e+02] [-2.25701430e-02 4.09256960e-04 9.99745178e-01 3.33712489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3407140569999 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:284.86, Y:226.31, Z:3.34 [[ 5.44041648e-01 -8.38965673e-01 1.24613654e-02 2.84859759e+02] [ 8.38754524e-01 5.44184302e-01 1.88226773e-02 2.26308827e+02] [-2.25728596e-02 2.11706264e-04 9.99745178e-01 3.33855900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.370714057 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:284.87, Y:226.33, Z:3.34 [[ 5.46764521e-01 -8.37193723e-01 1.24590743e-02 2.84874769e+02] [ 8.36982078e-01 5.46906438e-01 1.88241937e-02 2.26332955e+02] [-2.25734447e-02 1.35620596e-04 9.99745178e-01 3.33864952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.400714057 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:284.89, Y:226.36, Z:3.34 [[ 5.48796501e-01 -8.35863209e-01 1.24537539e-02 2.84889182e+02] [ 8.35651140e-01 5.48937783e-01 1.88277129e-02 2.26356255e+02] [-2.25737286e-02 7.44107126e-05 9.99745178e-01 3.33827475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4307140569999 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:284.90, Y:226.38, Z:3.34 [[ 5.51527636e-01 -8.34063684e-01 1.24514490e-02 2.84904689e+02] [ 8.33851119e-01 5.51668172e-01 1.88292371e-02 2.26379532e+02] [-2.25738510e-02 -2.18998810e-06 9.99745178e-01 3.33840484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4607140569999 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:284.92, Y:226.40, Z:3.34 [[ 5.52015013e-01 -8.33741279e-01 1.24460851e-02 2.84921139e+02] [ 8.33528552e-01 5.52155303e-01 1.88327819e-02 2.26402640e+02] [-2.25738396e-02 -2.18110548e-05 9.99745178e-01 3.33696271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.490714057 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:284.94, Y:226.42, Z:3.34 [[ 5.52840943e-01 -8.33193927e-01 1.24407235e-02 2.84938091e+02] [ 8.32980981e-01 5.52980902e-01 1.88363231e-02 2.26424426e+02] [-2.25737925e-02 -5.06045138e-05 9.99745178e-01 3.33576596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.520714057 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:284.95, Y:226.45, Z:3.33 [[ 5.53178631e-01 -8.32969846e-01 1.24353490e-02 2.84954520e+02] [ 8.32756764e-01 5.53318382e-01 1.88398706e-02 2.26447340e+02] [-2.25737513e-02 -6.61927928e-05 9.99745178e-01 3.33479153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5507140569999 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:284.97, Y:226.47, Z:3.33 [[ 5.53749063e-01 -8.32590818e-01 1.24300112e-02 2.84970902e+02] [ 8.32377562e-01 5.53888546e-01 1.88433917e-02 2.26470087e+02] [-2.25736757e-02 -8.80480545e-05 9.99745178e-01 3.33355370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5807140569999 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:284.99, Y:226.49, Z:3.33 [[ 5.54380500e-01 -8.32170589e-01 1.24246868e-02 2.84986834e+02] [ 8.31957148e-01 5.54519701e-01 1.88469017e-02 2.26492379e+02] [-2.25735709e-02 -1.11547853e-04 9.99745178e-01 3.33227351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.610714057 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:285.01, Y:226.51, Z:3.33 [[ 5.55656010e-01 -8.31319483e-01 1.24223804e-02 2.85005366e+02] [ 8.31105795e-01 5.55794832e-01 1.88484218e-02 2.26514248e+02] [-2.25733551e-02 -1.48926521e-04 9.99745178e-01 3.33186149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.640714057 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:285.02, Y:226.54, Z:3.33 [[ 5.56086741e-01 -8.31031500e-01 1.24170289e-02 2.85022482e+02] [ 8.30817661e-01 5.56225331e-01 1.88519466e-02 2.26535850e+02] [-2.25732275e-02 -1.67030620e-04 9.99745178e-01 3.33167593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6707140569999 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:285.04, Y:226.56, Z:3.33 [[ 5.56133356e-01 -8.31000360e-01 1.24133916e-02 2.85042375e+02] [ 8.30786459e-01 5.56271851e-01 1.88543414e-02 2.26555832e+02] [-2.25731848e-02 -1.72650542e-04 9.99745178e-01 3.33158819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7007140569999 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:285.06, Y:226.58, Z:3.33 [[ 5.55827794e-01 -8.31204849e-01 1.24081463e-02 2.85060385e+02] [ 8.30990923e-01 5.55966249e-01 1.88577927e-02 2.26577040e+02] [-2.25731993e-02 -1.70628320e-04 9.99745178e-01 3.33131969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7307140569999 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:285.08, Y:226.60, Z:3.33 [[ 5.55094995e-01 -8.31694483e-01 1.24029291e-02 2.85078198e+02] [ 8.31480603e-01 5.55233520e-01 1.88612234e-02 2.26598540e+02] [-2.25732975e-02 -1.56975730e-04 9.99745178e-01 3.33039501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.760714057 meters Centerline goodness : 0.997601 Centerline is valid? [True, True] Translation: X:285.10, Y:226.62, Z:3.33 [[ 5.52961575e-01 -8.33114514e-01 1.23977235e-02 2.85098260e+02] [ 8.32900912e-01 5.53100530e-01 1.88646445e-02 2.26617973e+02] [-2.25735966e-02 -1.05348356e-04 9.99745178e-01 3.32915227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.790714057 meters Centerline goodness : 0.997479 Centerline is valid? [True, True] Translation: X:285.12, Y:226.64, Z:3.33 [[ 5.52016098e-01 -8.33741334e-01 1.23941870e-02 2.85116551e+02] [ 8.33527838e-01 5.52155214e-01 1.88669677e-02 2.26639168e+02] [-2.25736859e-02 -8.39699686e-05 9.99745178e-01 3.32775684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8207140569999 meters Centerline goodness : 0.997286 Centerline is valid? [True, True] Translation: X:285.13, Y:226.66, Z:3.33 [[ 5.50648096e-01 -8.34645548e-01 1.23888533e-02 2.85134762e+02] [ 8.34432202e-01 5.50787442e-01 1.88704694e-02 2.26660822e+02] [-2.25737781e-02 -5.33299138e-05 9.99745178e-01 3.32674314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8507140569999 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:285.15, Y:226.68, Z:3.33 [[ 5.49454690e-01 -8.35431740e-01 1.23835356e-02 2.85152662e+02] [ 8.35218514e-01 5.49594221e-01 1.88739585e-02 2.26681935e+02] [-2.25738236e-02 -2.74268297e-05 9.99745178e-01 3.32537067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.880714057 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:285.17, Y:226.70, Z:3.33 [[ 5.48053947e-01 -8.36351367e-01 1.23799248e-02 2.85173861e+02] [ 8.36138322e-01 5.48193753e-01 1.88763266e-02 2.26701080e+02] [-2.25738390e-02 6.08419178e-06 9.99745178e-01 3.32539523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.910714057 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:285.19, Y:226.72, Z:3.33 [[ 5.47126410e-01 -8.36958519e-01 1.23745301e-02 2.85192111e+02] [ 8.36745549e-01 5.47266330e-01 1.88798625e-02 2.26722541e+02] [-2.25738254e-02 2.46616631e-05 9.99745178e-01 3.32533891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9407140569999 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:285.21, Y:226.74, Z:3.33 [[ 5.45723597e-01 -8.37873952e-01 1.23691244e-02 2.85212433e+02] [ 8.37661137e-01 5.45863753e-01 1.88834033e-02 2.26742076e+02] [-2.25737685e-02 5.60160429e-05 9.99745178e-01 3.32523974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9707140569999 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:285.23, Y:226.76, Z:3.32 [[ 5.44859003e-01 -8.38436489e-01 1.23661394e-02 2.85229980e+02] [ 8.38223774e-01 5.44999310e-01 1.88853579e-02 2.26764216e+02] [-2.25737106e-02 7.57347823e-05 9.99745178e-01 3.32485439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.000714057 meters Centerline goodness : 0.996550 Centerline is valid? [True, True] Translation: X:285.25, Y:226.79, Z:3.32 [[ 5.43806381e-01 -8.39119675e-01 1.23608518e-02 2.85247317e+02] [ 8.38907058e-01 5.43946836e-01 1.88888182e-02 2.26786828e+02] [-2.25736252e-02 9.77459447e-05 9.99745178e-01 3.32428070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.030714057 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:285.27, Y:226.81, Z:3.32 [[ 5.42914364e-01 -8.39697168e-01 1.23555913e-02 2.85267056e+02] [ 8.39484621e-01 5.43054927e-01 1.88922586e-02 2.26808626e+02] [-2.25735407e-02 1.15450315e-04 9.99745179e-01 3.32353818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0607140569999 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:285.28, Y:226.83, Z:3.32 [[ 5.43336552e-01 -8.39423438e-01 1.23969004e-02 2.85283766e+02] [ 8.39211436e-01 5.43477937e-01 1.88652486e-02 2.26830367e+02] [-2.25733737e-02 1.53441471e-04 9.99745177e-01 3.32234250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0907140569999 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:285.30, Y:226.85, Z:3.32 [[ 5.43656820e-01 -8.39216764e-01 1.23484726e-02 2.85300957e+02] [ 8.39003988e-01 5.43797035e-01 1.88968946e-02 2.26852470e+02] [-2.25736535e-02 8.69921804e-05 9.99745179e-01 3.32079664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.120714057 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:285.32, Y:226.87, Z:3.32 [[ 5.44477917e-01 -8.38684355e-01 1.23430398e-02 2.85318292e+02] [ 8.38471362e-01 5.44617801e-01 1.89004425e-02 2.26873025e+02] [-2.25737446e-02 5.84118076e-05 9.99745179e-01 3.31821105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.150714057 meters Centerline goodness : 0.997052 Centerline is valid? [True, True] Translation: X:285.32, Y:226.89, Z:3.32 [[ 5.38940352e-01 -8.42253537e-01 1.23400618e-02 2.85322677e+02] [ 8.42041425e-01 5.39081570e-01 1.89023866e-02 2.26891788e+02] [-2.25729019e-02 2.03584281e-04 9.99745179e-01 3.31900363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1807140569999 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:285.35, Y:226.92, Z:3.32 [[ 5.44932261e-01 -8.38397436e-01 1.17716032e-02 2.85352775e+02] [ 8.38176128e-01 5.45059020e-01 1.92728602e-02 2.26918720e+02] [-2.25745351e-02 -6.35726480e-04 9.99744961e-01 3.31589224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2107140569999 meters Centerline goodness : 0.997220 Centerline is valid? [True, True] Translation: X:285.37, Y:226.94, Z:3.32 [[ 5.43194242e-01 -8.39516349e-01 1.23415923e-02 2.85370533e+02] [ 8.39303565e-01 5.43334419e-01 1.89006803e-02 2.26939797e+02] [-2.25730420e-02 9.16017175e-05 9.99745192e-01 3.31574282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.240714057 meters Centerline goodness : 0.991142 Centerline is valid? [True, True] Translation: X:285.39, Y:226.96, Z:3.32 [[ 5.42297880e-01 -8.40095700e-01 1.23379142e-02 2.85388642e+02] [ 8.39883010e-01 5.42438202e-01 1.89030810e-02 2.26962863e+02] [-2.25729530e-02 1.11303762e-04 9.99745192e-01 3.31553996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.270714057 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:285.41, Y:226.99, Z:3.32 [[ 5.36954681e-01 -8.43520011e-01 1.23960710e-02 2.85405270e+02] [ 8.43309089e-01 5.37097651e-01 1.88651372e-02 2.26985177e+02] [-2.25710213e-02 3.23995624e-04 9.99745190e-01 3.31774662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3007140569999 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:285.42, Y:227.01, Z:3.32 [[ 5.35995378e-01 -8.44130697e-01 1.23418818e-02 2.85424093e+02] [ 8.43919124e-01 5.36137376e-01 1.89004354e-02 2.27009175e+02] [-2.25713818e-02 2.85004057e-04 9.99745193e-01 3.32098179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3307140569999 meters Centerline goodness : 0.991536 Centerline is valid? [True, True] Translation: X:285.44, Y:227.03, Z:3.32 [[ 5.34803588e-01 -8.44885100e-01 1.24213779e-02 2.85440457e+02] [ 8.44674928e-01 5.34947660e-01 1.88485216e-02 2.27031711e+02] [-2.25696221e-02 4.11769465e-04 9.99745189e-01 3.31995514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.360714057 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:285.45, Y:227.05, Z:3.32 [[ 5.31469286e-01 -8.46985926e-01 1.24595208e-02 2.85454235e+02] [ 8.46776906e-01 5.31615032e-01 1.88236160e-02 2.27053389e+02] [-2.25670063e-02 5.46260713e-04 9.99745183e-01 3.31867702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.390714057 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:285.47, Y:227.08, Z:3.32 [[ 5.31616826e-01 -8.46894765e-01 1.23615409e-02 2.85471646e+02] [ 8.46684231e-01 5.31760356e-01 1.88874720e-02 2.27077647e+02] [-2.25690785e-02 4.25423862e-04 9.99745195e-01 3.32133878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4207140569999 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:285.49, Y:227.10, Z:3.32 [[ 5.31692986e-01 -8.46846049e-01 1.24232664e-02 2.85485797e+02] [ 8.46636438e-01 5.31837872e-01 1.88472675e-02 2.27100222e+02] [-2.25678976e-02 4.97030090e-04 9.99745189e-01 3.31796668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4507140569999 meters Centerline goodness : 0.996191 Centerline is valid? [True, True] Translation: X:285.48, Y:227.12, Z:3.32 [[ 5.24253703e-01 -8.51473127e-01 1.23113347e-02 2.85483550e+02] [ 8.51263079e-01 5.24397940e-01 1.89201018e-02 2.27120907e+02] [-2.25659968e-02 5.61251265e-04 9.99745198e-01 3.31755650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4807140569999 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:285.52, Y:227.15, Z:3.32 [[ 5.36295328e-01 -8.43948638e-01 1.17480629e-02 2.85516274e+02] [ 8.43728354e-01 5.36423816e-01 1.92861283e-02 2.27146699e+02] [-2.25784425e-02 -4.30886697e-04 9.99744982e-01 3.31588996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.510714057 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:285.53, Y:227.17, Z:3.31 [[ 5.38183298e-01 -8.42737814e-01 1.23172693e-02 2.85530608e+02] [ 8.42525529e-01 5.38324194e-01 1.89154821e-02 2.27170318e+02] [-2.25714761e-02 1.97617284e-04 9.99745212e-01 3.31471154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.540714057 meters Centerline goodness : 0.991312 Centerline is valid? [True, True] Translation: X:285.55, Y:227.20, Z:3.31 [[ 5.42121374e-01 -8.40209992e-01 1.23119886e-02 2.85546242e+02] [ 8.39996972e-01 5.42261156e-01 1.89189187e-02 2.27196053e+02] [-2.25721777e-02 8.56829765e-05 9.99745212e-01 3.31291321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5707140569999 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:285.56, Y:227.20, Z:3.31 [[ 5.48185590e-01 -8.36263874e-01 1.24616619e-02 2.85558124e+02] [ 8.36052042e-01 5.48327205e-01 1.88217947e-02 2.27203999e+02] [-2.25730552e-02 1.00761266e-04 9.99745191e-01 3.31169825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6007140569999 meters Centerline goodness : 0.996995 Centerline is valid? [True, True] Translation: X:285.58, Y:227.23, Z:3.31 [[ 5.52728675e-01 -8.33279192e-01 1.16961672e-02 2.85576641e+02] [ 8.33055344e-01 5.52851604e-01 1.93364488e-02 2.27229644e+02] [-2.25789052e-02 -9.44255097e-04 9.99744618e-01 3.31138635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.630714057 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:285.61, Y:227.26, Z:3.31 [[ 5.64295706e-01 -8.25487866e-01 1.18380607e-02 2.85611494e+02] [ 8.25264310e-01 5.64418816e-01 1.92411009e-02 2.27258363e+02] [-2.25649195e-02 -1.08814166e-03 9.99744788e-01 3.31136728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.660714057 meters Centerline goodness : 0.996431 Centerline is valid? [True, True] Translation: X:285.63, Y:227.28, Z:3.31 [[ 5.66340980e-01 -8.24073039e-01 1.27090699e-02 2.85626306e+02] [ 8.23861904e-01 5.66483554e-01 1.86532851e-02 2.27280168e+02] [-2.25711485e-02 -9.36012383e-05 9.99745235e-01 3.30953967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6907140569999 meters Centerline goodness : 0.996452 Centerline is valid? [True, True] Translation: X:285.64, Y:227.30, Z:3.31 [[ 5.66752482e-01 -8.23791432e-01 1.26214108e-02 2.85642623e+02] [ 8.23578906e-01 5.66892963e-01 1.87124109e-02 2.27302862e+02] [-2.25701127e-02 -2.10577654e-04 9.99745240e-01 3.30816881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7207140569999 meters Centerline goodness : 0.996891 Centerline is valid? [True, True] Translation: X:285.64, Y:227.32, Z:3.31 [[ 5.58146024e-01 -8.29646818e-01 1.26163969e-02 2.85642767e+02] [ 8.29435689e-01 5.58288596e-01 1.87157908e-02 2.27320735e+02] [-2.25710868e-02 1.83456456e-05 9.99745240e-01 3.30534255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.750714057 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:285.68, Y:227.35, Z:3.31 [[ 5.66965473e-01 -8.23654830e-01 1.19529724e-02 2.85678094e+02] [ 8.23432525e-01 5.67090537e-01 1.91624484e-02 2.27347002e+02] [-2.25616607e-02 -1.02198038e-03 9.99744931e-01 3.30765706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.780714057 meters Centerline goodness : 0.996555 Centerline is valid? [True, True] Translation: X:285.70, Y:227.37, Z:3.31 [[ 5.65827143e-01 -8.24427200e-01 1.26267879e-02 2.85696408e+02] [ 8.24214938e-01 5.65967984e-01 1.87076638e-02 2.27368811e+02] [-2.25694646e-02 -1.78116770e-04 9.99745261e-01 3.30786414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8107140569999 meters Centerline goodness : 0.996345 Centerline is valid? [True, True] Translation: X:285.71, Y:227.39, Z:3.31 [[ 5.65036764e-01 -8.24969185e-01 1.26213614e-02 2.85713208e+02] [ 8.24756976e-01 5.65177686e-01 1.87113242e-02 2.27390524e+02] [-2.25695777e-02 -1.63030222e-04 9.99745261e-01 3.30743766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8407140569999 meters Centerline goodness : 0.996345 Centerline is valid? [True, True] Translation: X:285.73, Y:227.41, Z:3.31 [[ 5.64803109e-01 -8.25129218e-01 1.26183407e-02 2.85729119e+02] [ 8.24917003e-01 5.64944023e-01 1.87133610e-02 2.27414235e+02] [-2.25695971e-02 -1.60280634e-04 9.99745261e-01 3.30679402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.870714057 meters Centerline goodness : 0.996431 Centerline is valid? [True, True] Translation: X:285.75, Y:227.44, Z:3.31 [[ 5.63869438e-01 -8.25767624e-01 1.26130387e-02 2.85746551e+02] [ 8.25555489e-01 5.64010471e-01 1.87169339e-02 2.27436871e+02] [-2.25697240e-02 -1.41143664e-04 9.99745261e-01 3.30706420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.900714057 meters Centerline goodness : 0.996638 Centerline is valid? [True, True] Translation: X:285.75, Y:227.45, Z:3.30 [[ 5.54263410e-01 -8.32245828e-01 1.26077042e-02 2.85745759e+02] [ 8.32035259e-01 5.54406772e-01 1.87205266e-02 2.27453837e+02] [-2.25698767e-02 1.13951524e-04 9.99745261e-01 3.30491326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9307140569999 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:285.78, Y:227.48, Z:3.31 [[ 5.59836628e-01 -8.28518373e-01 1.18429469e-02 2.85783174e+02] [ 8.28295630e-01 5.59961058e-01 1.92344229e-02 2.27480581e+02] [-2.25676619e-02 -9.58673272e-04 9.99744858e-01 3.30764947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9607140569999 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:285.80, Y:227.50, Z:3.31 [[ 5.58377317e-01 -8.29490663e-01 1.26495698e-02 2.85799583e+02] [ 8.29280064e-01 5.58520579e-01 1.86905715e-02 2.27501905e+02] [-2.25686996e-02 5.36448976e-05 9.99745293e-01 3.30724837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.990714057 meters Centerline goodness : 0.996338 Centerline is valid? [True, True] Translation: X:285.82, Y:227.52, Z:3.31 [[ 5.52750019e-01 -8.33251651e-01 1.26136450e-02 2.85819035e+02] [ 8.33041473e-01 5.52893896e-01 1.87147846e-02 2.27523006e+02] [-2.25681325e-02 1.63091865e-04 9.99745294e-01 3.30750420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.020714057 meters Centerline goodness : 0.996358 Centerline is valid? [True, True] Translation: X:285.84, Y:227.54, Z:3.31 [[ 5.49924154e-01 -8.35119427e-01 1.26082584e-02 2.85835945e+02] [ 8.34909655e-01 5.50068622e-01 1.87184129e-02 2.27544457e+02] [-2.25675176e-02 2.33049336e-04 9.99745294e-01 3.30730991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0507140569999 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:285.85, Y:227.57, Z:3.31 [[ 5.47057876e-01 -8.36999873e-01 1.26052842e-02 2.85853054e+02] [ 8.36790552e-01 5.47202996e-01 1.87204156e-02 2.27566725e+02] [-2.25666347e-02 3.06831871e-04 9.99745294e-01 3.30673884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0807140569999 meters Centerline goodness : 0.996628 Centerline is valid? [True, True] Translation: X:285.87, Y:227.59, Z:3.31 [[ 5.42201660e-01 -8.40153915e-01 1.25999762e-02 2.85871025e+02] [ 8.39945354e-01 5.42347872e-01 1.87239875e-02 2.27589325e+02] [-2.25646017e-02 4.31114352e-04 9.99745294e-01 3.30599240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.110714057 meters Centerline goodness : 0.996182 Centerline is valid? [True, True] Translation: X:285.89, Y:227.61, Z:3.30 [[ 5.41719642e-01 -8.40464215e-01 1.26385187e-02 2.85886760e+02] [ 8.40256342e-01 5.41866831e-01 1.86980565e-02 2.27611041e+02] [-2.25634414e-02 4.90491077e-04 9.99745293e-01 3.30287933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.140714057 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:285.90, Y:227.63, Z:3.30 [[ 5.39263754e-01 -8.42042769e-01 1.25927898e-02 2.85903779e+02] [ 8.41834609e-01 5.39410533e-01 1.87288036e-02 2.27633191e+02] [-2.25631370e-02 5.01281328e-04 9.99745294e-01 3.30418165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1707140569999 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:285.92, Y:227.66, Z:3.30 [[ 5.38921473e-01 -8.42261952e-01 1.25877011e-02 2.85919748e+02] [ 8.42053772e-01 5.39068224e-01 1.87322230e-02 2.27655706e+02] [-2.25630684e-02 5.04323947e-04 9.99745294e-01 3.30467531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2007140569999 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:285.94, Y:227.68, Z:3.30 [[ 5.38863512e-01 -8.42299115e-01 1.25824223e-02 2.85935199e+02] [ 8.42090861e-01 5.39010160e-01 1.87357681e-02 2.27678175e+02] [-2.25631744e-02 4.99521011e-04 9.99745294e-01 3.30483508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2307140569999 meters Centerline goodness : 0.996752 Centerline is valid? [True, True] Translation: X:285.95, Y:227.70, Z:3.30 [[ 5.39320295e-01 -8.42006755e-01 1.25795310e-02 2.85950626e+02] [ 8.41798377e-01 5.39466765e-01 1.87377092e-02 2.27701313e+02] [-2.25635166e-02 4.83801954e-04 9.99745294e-01 3.30454582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.260714057 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:285.96, Y:227.72, Z:3.30 [[ 5.42130365e-01 -8.40200307e-01 1.25742383e-02 2.85964818e+02] [ 8.39991359e-01 5.42276020e-01 1.87412603e-02 2.27724824e+02] [-2.25651205e-02 4.02045291e-04 9.99745294e-01 3.30347482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.290714057 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:285.98, Y:227.75, Z:3.30 [[ 5.43493190e-01 -8.39319435e-01 1.25713238e-02 2.85979395e+02] [ 8.39110206e-01 5.43638441e-01 1.87432151e-02 2.27748689e+02] [-2.25657996e-02 3.61916297e-04 9.99745294e-01 3.30245055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3207140569999 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:285.99, Y:227.77, Z:3.30 [[ 5.46094443e-01 -8.37629363e-01 1.25661833e-02 2.85993320e+02] [ 8.37419605e-01 5.46238930e-01 1.87466608e-02 2.27772643e+02] [-2.25668921e-02 2.85720919e-04 9.99745294e-01 3.30254514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3507140569999 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:286.01, Y:227.80, Z:3.30 [[ 5.46766904e-01 -8.37190647e-01 1.25607693e-02 2.86007554e+02] [ 8.36980690e-01 5.46911100e-01 1.87502876e-02 2.27795245e+02] [-2.25671896e-02 2.61084645e-04 9.99745294e-01 3.30175224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.380714057 meters Centerline goodness : 0.996693 Centerline is valid? [True, True] Translation: X:286.02, Y:227.82, Z:3.30 [[ 5.47123487e-01 -8.36957701e-01 1.25577451e-02 2.86022372e+02] [ 8.36747635e-01 5.47267527e-01 1.87523128e-02 2.27818635e+02] [-2.25673387e-02 2.47832745e-04 9.99745294e-01 3.30120406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.410714057 meters Centerline goodness : 0.996590 Centerline is valid? [True, True] Translation: X:286.04, Y:227.84, Z:3.30 [[ 5.47583216e-01 -8.36657072e-01 1.25524607e-02 2.86035626e+02] [ 8.36446847e-01 5.47727022e-01 1.87558495e-02 2.27842086e+02] [-2.25675360e-02 2.29077752e-04 9.99745294e-01 3.30065718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4407140569999 meters Centerline goodness : 0.996499 Centerline is valid? [True, True] Translation: X:286.05, Y:227.87, Z:3.30 [[ 5.47604206e-01 -8.36643389e-01 1.25488724e-02 2.86050519e+02] [ 8.36433104e-01 5.47747926e-01 1.87582499e-02 2.27866434e+02] [-2.25675846e-02 2.24195753e-04 9.99745294e-01 3.30009945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4707140569999 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:286.07, Y:227.89, Z:3.30 [[ 5.47528975e-01 -8.36692703e-01 1.25436388e-02 2.86065188e+02] [ 8.36482351e-01 5.47672596e-01 1.87617491e-02 2.27890320e+02] [-2.25676257e-02 2.19931216e-04 9.99745295e-01 3.29932703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.500714057 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:286.08, Y:227.91, Z:3.30 [[ 5.47160270e-01 -8.36933947e-01 1.25382502e-02 2.86078010e+02] [ 8.36723576e-01 5.47303863e-01 1.87653495e-02 2.27913811e+02] [-2.25675908e-02 2.23395808e-04 9.99745295e-01 3.29837303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.530714057 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:286.08, Y:227.93, Z:3.30 [[ 5.39130569e-01 -8.42128908e-01 1.25352215e-02 2.86075554e+02] [ 8.41919874e-01 5.39276100e-01 1.87673724e-02 2.27932375e+02] [-2.25644922e-02 4.35587980e-04 9.99745295e-01 3.29869339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5607140569999 meters Centerline goodness : 0.996296 Centerline is valid? [True, True] Translation: X:286.11, Y:227.96, Z:3.30 [[ 5.45156694e-01 -8.38251081e-01 1.18026874e-02 2.86108417e+02] [ 8.38030111e-01 5.45284107e-01 1.92555583e-02 2.27961615e+02] [-2.25768105e-02 -6.06289060e-04 9.99744927e-01 3.29594153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5907140569999 meters Centerline goodness : 0.991422 Centerline is valid? [True, True] Translation: X:286.12, Y:227.99, Z:3.29 [[ 5.44295672e-01 -8.38799722e-01 1.25398506e-02 2.86124552e+02] [ 8.38589899e-01 5.44440019e-01 1.87628991e-02 2.27986315e+02] [-2.25655110e-02 3.03227324e-04 9.99745320e-01 3.29375002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.620714057 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:286.14, Y:228.01, Z:3.29 [[ 5.41985431e-01 -8.40292191e-01 1.26817135e-02 2.86137617e+02] [ 8.40084969e-01 5.42133513e-01 1.86681090e-02 2.28008822e+02] [-2.25618481e-02 5.35873773e-04 9.99745305e-01 3.29391816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.650714057 meters Centerline goodness : 0.996589 Centerline is valid? [True, True] Translation: X:286.13, Y:228.03, Z:3.30 [[ 5.33095416e-01 -8.45962387e-01 1.25266588e-02 2.86134706e+02] [ 8.45754298e-01 5.33242248e-01 1.87715807e-02 2.28026068e+02] [-2.25597949e-02 5.87431925e-04 9.99745323e-01 3.29571971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6807140569999 meters Centerline goodness : 0.996547 Centerline is valid? [True, True] Translation: X:286.15, Y:228.05, Z:3.30 [[ 5.32949512e-01 -8.46064049e-01 1.18508875e-02 2.86150527e+02] [ 8.45845657e-01 5.33081210e-01 1.92236252e-02 2.28048304e+02] [-2.25819036e-02 -2.21199917e-04 9.99744972e-01 3.29862133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7107140569999 meters Centerline goodness : 0.996499 Centerline is valid? [True, True] Translation: X:286.17, Y:228.07, Z:3.30 [[ 5.33805804e-01 -8.45524610e-01 1.18109077e-02 2.86167455e+02] [ 8.45305491e-01 5.33936371e-01 1.92504224e-02 2.28073534e+02] [-2.25829791e-02 -2.92162075e-04 9.99744929e-01 3.29981633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.740714057 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:286.18, Y:228.10, Z:3.30 [[ 5.34599779e-01 -8.45020552e-01 1.19725562e-02 2.86180350e+02] [ 8.44803730e-01 5.34733814e-01 1.91417091e-02 2.28097323e+02] [-2.25772682e-02 -1.18693276e-04 9.99745094e-01 3.29888273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.770714057 meters Centerline goodness : 0.992330 Centerline is valid? [True, True] Translation: X:286.20, Y:228.13, Z:3.29 [[ 5.34644468e-01 -8.44993360e-01 1.18960028e-02 2.86198532e+02] [ 8.44775410e-01 5.34776755e-01 1.91919196e-02 2.28130041e+02] [-2.25787504e-02 -2.11403033e-04 9.99745045e-01 3.29120914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8007140569999 meters Centerline goodness : 0.996695 Centerline is valid? [True, True] Translation: X:286.21, Y:228.16, Z:3.29 [[ 5.37410700e-01 -8.43228023e-01 1.24996228e-02 2.86209163e+02] [ 8.43018644e-01 5.37555867e-01 1.87951187e-02 2.28155831e+02] [-2.25678163e-02 4.36717183e-04 9.99745219e-01 3.29100540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8307140569999 meters Centerline goodness : 0.996767 Centerline is valid? [True, True] Translation: X:286.22, Y:228.18, Z:3.29 [[ 5.39621719e-01 -8.41816435e-01 1.23891155e-02 2.86222524e+02] [ 8.41605003e-01 5.39763865e-01 1.88676815e-02 2.28179563e+02] [-2.25703212e-02 2.45330865e-04 9.99745228e-01 3.29066119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.860714057 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:286.24, Y:228.20, Z:3.29 [[ 5.41743977e-01 -8.40452298e-01 1.23853748e-02 2.86236260e+02] [ 8.40240452e-01 5.41885505e-01 1.88701366e-02 2.28203779e+02] [-2.25709048e-02 1.83910099e-04 9.99745228e-01 3.29003492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.890714057 meters Centerline goodness : 0.995990 Centerline is valid? [True, True] Translation: X:286.25, Y:228.23, Z:3.29 [[ 5.45939396e-01 -8.37733200e-01 1.23798895e-02 2.86248634e+02] [ 8.37520568e-01 5.46079739e-01 1.88737347e-02 2.28228262e+02] [-2.25715610e-02 6.44967412e-05 9.99745228e-01 3.28969346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9207140569999 meters Centerline goodness : 0.996244 Centerline is valid? [True, True] Translation: X:286.26, Y:228.25, Z:3.29 [[ 5.47211376e-01 -8.36902946e-01 1.23761570e-02 2.86263246e+02] [ 8.36690045e-01 5.47351312e-01 1.88761819e-02 2.28252509e+02] [-2.25716380e-02 2.57458663e-05 9.99745228e-01 3.28889251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9507140569999 meters Centerline goodness : 0.995756 Centerline is valid? [True, True] Translation: X:286.26, Y:228.27, Z:3.29 [[ 5.40811132e-01 -8.41053079e-01 1.23708305e-02 2.86263493e+02] [ 8.40841172e-01 5.40952568e-01 1.88796721e-02 2.28273184e+02] [-2.25708388e-02 1.91566764e-04 9.99745228e-01 3.29130094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9807140569999 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:286.29, Y:228.30, Z:3.29 [[ 5.50061592e-01 -8.35038910e-01 1.19274519e-02 2.86292783e+02] [ 8.34819031e-01 5.50190580e-01 1.91705811e-02 2.28298655e+02] [-2.25705528e-02 -5.87736546e-04 9.99745080e-01 3.28797408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.010714057 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:286.31, Y:228.32, Z:3.29 [[ 5.48992309e-01 -8.35735444e-01 1.23981168e-02 2.86306798e+02] [ 8.35522582e-01 5.49132287e-01 1.88612557e-02 2.28322339e+02] [-2.25712261e-02 4.22228979e-06 9.99745237e-01 3.28753436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.040714057 meters Centerline goodness : 0.991005 Centerline is valid? [True, True] Translation: X:286.32, Y:228.35, Z:3.29 [[ 5.47072686e-01 -8.36993372e-01 1.23924459e-02 2.86323310e+02] [ 8.36780747e-01 5.47213024e-01 1.88649809e-02 2.28346242e+02] [-2.25711718e-02 4.92443447e-05 9.99745237e-01 3.28638410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0707140569999 meters Centerline goodness : 0.996134 Centerline is valid? [True, True] Translation: X:286.34, Y:228.37, Z:3.29 [[ 5.42933890e-01 -8.39683185e-01 1.24474900e-02 2.86337244e+02] [ 8.39472082e-01 5.43076512e-01 1.88288343e-02 2.28371029e+02] [-2.25701950e-02 2.26508121e-04 9.99745235e-01 3.28689023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1007140569999 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:286.35, Y:228.39, Z:3.29 [[ 5.39816384e-01 -8.41691719e-01 1.23823643e-02 2.86352579e+02] [ 8.41480164e-01 5.39958329e-01 1.88715658e-02 2.28394813e+02] [-2.25700014e-02 2.32333547e-04 9.99745238e-01 3.28613779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.130714057 meters Centerline goodness : 0.996193 Centerline is valid? [True, True] Translation: X:286.37, Y:228.42, Z:3.29 [[ 5.36527560e-01 -8.43792030e-01 1.23768993e-02 2.86367188e+02] [ 8.43580949e-01 5.36670207e-01 1.88751494e-02 2.28417498e+02] [-2.25690138e-02 3.13878551e-04 9.99745238e-01 3.28539928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.160714057 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:286.38, Y:228.44, Z:3.28 [[ 5.29933867e-01 -8.47948692e-01 1.23738705e-02 2.86381977e+02] [ 8.47738683e-01 5.30078088e-01 1.88771348e-02 2.28441365e+02] [-2.25659594e-02 4.86175641e-04 9.99745238e-01 3.28356292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1907140569999 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:286.38, Y:228.46, Z:3.28 [[ 5.16772031e-01 -8.56033695e-01 1.23685254e-02 2.86375478e+02] [ 8.55825856e-01 5.16919362e-01 1.88806363e-02 2.28458699e+02] [-2.25559911e-02 8.28319007e-04 9.99745238e-01 3.28063976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2207140569999 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:286.41, Y:228.49, Z:3.28 [[ 5.25162549e-01 -8.50924317e-01 1.14936107e-02 2.86412547e+02] [ 8.50702056e-01 5.25288125e-01 1.94524620e-02 2.28487985e+02] [-2.25900301e-02 -4.38066278e-04 9.99744717e-01 3.28146071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.250714057 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:286.43, Y:228.51, Z:3.28 [[ 5.20839102e-01 -8.53565118e-01 1.23781634e-02 2.86425802e+02] [ 8.53356775e-01 5.20985653e-01 1.88723076e-02 2.28513956e+02] [-2.25575890e-02 7.33553846e-04 9.99745276e-01 3.28066399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.280714057 meters Centerline goodness : 0.996072 Centerline is valid? [True, True] Translation: X:286.44, Y:228.54, Z:3.28 [[ 5.18974870e-01 -8.54699597e-01 1.23968939e-02 2.86439737e+02] [ 8.54491866e-01 5.19122288e-01 1.88600273e-02 2.28538449e+02] [-2.25551616e-02 8.05164790e-04 9.99745276e-01 3.27972766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3107140569999 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:286.45, Y:228.56, Z:3.28 [[ 5.18382468e-01 -8.55058882e-01 1.24066751e-02 2.86452542e+02] [ 8.54851405e-01 5.18530246e-01 1.88536160e-02 2.28561592e+02] [-2.25541881e-02 8.32479673e-04 9.99745275e-01 3.27702768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3407140569999 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:286.47, Y:228.59, Z:3.28 [[ 5.16335016e-01 -8.56297960e-01 1.23270320e-02 2.86466371e+02] [ 8.56089594e-01 5.16481537e-01 1.89057775e-02 2.28586144e+02] [-2.25556632e-02 7.91328911e-04 9.99745275e-01 3.27756986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.370714057 meters Centerline goodness : 0.996045 Centerline is valid? [True, True] Translation: X:286.48, Y:228.61, Z:3.28 [[ 5.13397852e-01 -8.58061637e-01 1.23641862e-02 2.86478431e+02] [ 8.57854357e-01 5.13545902e-01 1.88814478e-02 2.28611911e+02] [-2.25510231e-02 9.12976306e-04 9.99745276e-01 3.27699137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.400714057 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:286.48, Y:228.64, Z:3.28 [[ 5.04818503e-01 -8.63137032e-01 1.23589474e-02 2.86480373e+02] [ 8.62931155e-01 5.04968498e-01 1.88848762e-02 2.28635993e+02] [-2.25411151e-02 1.13148579e-03 9.99745276e-01 3.27943204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4307140569999 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:286.50, Y:228.66, Z:3.28 [[ 5.08615824e-01 -8.60910996e-01 1.19247918e-02 2.86504513e+02] [ 8.60697724e-01 5.08755337e-01 1.91686141e-02 2.28662808e+02] [-2.25692721e-02 5.14180686e-04 9.99745149e-01 3.27759928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4607140569999 meters Centerline goodness : 0.995863 Centerline is valid? [True, True] Translation: X:286.52, Y:228.69, Z:3.28 [[ 5.06388387e-01 -8.62216945e-01 1.23588969e-02 2.86517451e+02] [ 8.62010803e-01 5.06538005e-01 1.88845194e-02 2.28687929e+02] [-2.25428036e-02 1.09060134e-03 9.99745284e-01 3.27767763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.490714057 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:286.53, Y:228.71, Z:3.28 [[ 5.01689272e-01 -8.64959690e-01 1.23534865e-02 2.86525243e+02] [ 8.64754279e-01 5.01839893e-01 1.88880579e-02 2.28712616e+02] [-2.25368811e-02 1.20679430e-03 9.99745284e-01 3.28198352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.520714057 meters Centerline goodness : 0.995679 Centerline is valid? [True, True] Translation: X:286.54, Y:228.74, Z:3.28 [[ 5.01028565e-01 -8.65346032e-01 1.21087766e-02 2.86540920e+02] [ 8.65136867e-01 5.01173998e-01 1.90479739e-02 2.28740745e+02] [-2.25516926e-02 9.32170002e-04 9.99745244e-01 3.27666777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5507140569999 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:286.55, Y:228.77, Z:3.28 [[ 4.99293331e-01 -8.66344981e-01 1.23508451e-02 2.86553240e+02] [ 8.66139948e-01 4.99444462e-01 1.88897009e-02 2.28766625e+02] [-2.25335587e-02 1.26605866e-03 9.99745285e-01 3.27614085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5807140569999 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:286.57, Y:228.79, Z:3.28 [[ 4.98049672e-01 -8.67060616e-01 1.23455452e-02 2.86565296e+02] [ 8.66855715e-01 4.98200982e-01 1.88931640e-02 2.28791630e+02] [-2.25320812e-02 1.29207230e-03 9.99745285e-01 3.27595810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.610714057 meters Centerline goodness : 0.995685 Centerline is valid? [True, True] Translation: X:286.57, Y:228.82, Z:3.28 [[ 4.95716390e-01 -8.68396763e-01 1.23419438e-02 2.86573836e+02] [ 8.68192211e-01 4.95868173e-01 1.88955164e-02 2.28819193e+02] [-2.25287823e-02 1.34836229e-03 9.99745286e-01 3.27694374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.640714057 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:286.58, Y:228.84, Z:3.28 [[ 4.95115992e-01 -8.68739295e-01 1.23365921e-02 2.86584945e+02] [ 8.68534762e-01 4.95267800e-01 1.88990097e-02 2.28844752e+02] [-2.25282292e-02 1.35755714e-03 9.99745286e-01 3.27687654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6707140569999 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:286.59, Y:228.87, Z:3.28 [[ 4.95601702e-01 -8.68462339e-01 1.23336410e-02 2.86590669e+02] [ 8.68257674e-01 4.95753332e-01 1.89009354e-02 2.28872857e+02] [-2.25291942e-02 1.34144270e-03 9.99745286e-01 3.27686327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7007140569999 meters Centerline goodness : 0.997256 Centerline is valid? [True, True] Translation: X:286.60, Y:228.90, Z:3.28 [[ 4.96643726e-01 -8.67866903e-01 1.23307745e-02 2.86601256e+02] [ 8.67662010e-01 4.96795048e-01 1.89028053e-02 2.28899179e+02] [-2.25309868e-02 1.31098495e-03 9.99745286e-01 3.27616516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7307140569999 meters Centerline goodness : 0.997256 Centerline is valid? [True, True] Translation: X:286.62, Y:228.92, Z:3.28 [[ 4.96407335e-01 -8.68002210e-01 1.23256344e-02 2.86616784e+02] [ 8.67797276e-01 4.96558602e-01 1.89061564e-02 2.28923114e+02] [-2.25309853e-02 1.31099725e-03 9.99745286e-01 3.27552231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.760714057 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:286.63, Y:228.95, Z:3.27 [[ 4.97785070e-01 -8.67212909e-01 1.23204830e-02 2.86626657e+02] [ 8.67007653e-01 4.97935899e-01 1.89095128e-02 2.28948705e+02] [-2.25333844e-02 1.26907990e-03 9.99745286e-01 3.27478021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.790714057 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:286.63, Y:228.98, Z:3.27 [[ 5.00647826e-01 -8.65563418e-01 1.23176517e-02 2.86632835e+02] [ 8.65357619e-01 5.00797914e-01 1.89113569e-02 2.28978542e+02] [-2.25376330e-02 1.19124398e-03 9.99745286e-01 3.27371734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8207140569999 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:286.64, Y:229.00, Z:3.27 [[ 5.01836484e-01 -8.64874875e-01 1.23123580e-02 2.86642779e+02] [ 8.64668787e-01 5.01986175e-01 1.89148028e-02 2.29004281e+02] [-2.25395712e-02 1.15397355e-03 9.99745286e-01 3.27297584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8507140569999 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:286.65, Y:229.03, Z:3.27 [[ 5.04348393e-01 -8.63412509e-01 1.23100650e-02 2.86648730e+02] [ 8.63205951e-01 5.04497433e-01 1.89162950e-02 2.29033878e+02] [-2.25429619e-02 1.08571841e-03 9.99745286e-01 3.27157999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.880714057 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:286.66, Y:229.06, Z:3.27 [[ 5.05319986e-01 -8.62844309e-01 1.23048429e-02 2.86659151e+02] [ 8.62637501e-01 5.05468680e-01 1.89196913e-02 2.29060406e+02] [-2.25444607e-02 1.05412080e-03 9.99745286e-01 3.27065209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.910714057 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:286.67, Y:229.09, Z:3.27 [[ 5.06525628e-01 -8.62137174e-01 1.22996429e-02 2.86669978e+02] [ 8.61930077e-01 5.06673918e-01 1.89230712e-02 2.29087361e+02] [-2.25461914e-02 1.01641169e-03 9.99745286e-01 3.26983293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9407140569999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:286.67, Y:229.12, Z:3.27 [[ 5.09766892e-01 -8.60224716e-01 1.22944857e-02 2.86674857e+02] [ 8.60016982e-01 5.09914289e-01 1.89264213e-02 2.29115891e+02] [-2.25501093e-02 9.25403523e-04 9.99745286e-01 3.27046307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9707140569999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:286.69, Y:229.14, Z:3.27 [[ 5.11945343e-01 -8.58930080e-01 1.22916306e-02 2.86685442e+02] [ 8.58721928e-01 5.12092150e-01 1.89282753e-02 2.29142349e+02] [-2.25525126e-02 8.64850300e-04 9.99745286e-01 3.27035884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.000714057 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:286.70, Y:229.17, Z:3.27 [[ 5.14384543e-01 -8.57471622e-01 1.22865589e-02 2.86695920e+02] [ 8.57262976e-01 5.14530646e-01 1.89315668e-02 2.29168929e+02] [-2.25550924e-02 7.94706693e-04 9.99745286e-01 3.27054213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.030714057 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:286.70, Y:229.20, Z:3.27 [[ 5.20703380e-01 -8.53649316e-01 1.22814851e-02 2.86701825e+02] [ 8.53439519e-01 5.20847826e-01 1.89348578e-02 2.29198035e+02] [-2.25605132e-02 6.22060337e-04 9.99745286e-01 3.26995373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0607140569999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:286.71, Y:229.22, Z:3.27 [[ 5.23826593e-01 -8.51736456e-01 1.22764399e-02 2.86712412e+02] [ 8.51526055e-01 5.23970157e-01 1.89381283e-02 2.29223786e+02] [-2.25627824e-02 5.33413195e-04 9.99745286e-01 3.26900765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0907140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:286.72, Y:229.25, Z:3.27 [[ 5.30267320e-01 -8.47741663e-01 1.22736546e-02 2.86719807e+02] [ 8.47530138e-01 5.30409223e-01 1.89399333e-02 2.29251008e+02] [-2.25662301e-02 3.59064519e-04 9.99745286e-01 3.26771241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.120714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.73, Y:229.28, Z:3.27 [[ 5.32930261e-01 -8.46070188e-01 1.22708669e-02 2.86732085e+02] [ 8.45858176e-01 5.33071436e-01 1.89417392e-02 2.29276065e+02] [-2.25672895e-02 2.84787120e-04 9.99745286e-01 3.26625342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.150714057 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:286.74, Y:229.30, Z:3.27 [[ 5.35328854e-01 -8.44554660e-01 1.22655878e-02 2.86744669e+02] [ 8.44342170e-01 5.35469309e-01 1.89451570e-02 2.29301241e+02] [-2.25680665e-02 2.14463855e-04 9.99745286e-01 3.26569791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1807140569999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:286.76, Y:229.32, Z:3.27 [[ 5.37870283e-01 -8.42938458e-01 1.22602892e-02 2.86757455e+02] [ 8.42725468e-01 5.38009978e-01 1.89485853e-02 2.29324595e+02] [-2.25686492e-02 1.40177010e-04 9.99745286e-01 3.26516498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2107140569999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:286.77, Y:229.35, Z:3.26 [[ 5.42670762e-01 -8.39856070e-01 1.22566945e-02 2.86769780e+02] [ 8.39642234e-01 5.42809158e-01 1.89509103e-02 2.29349991e+02] [-2.25690830e-02 7.13343993e-06 9.99745286e-01 3.26427537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.240714057 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:286.78, Y:229.37, Z:3.26 [[ 5.44975366e-01 -8.38362543e-01 1.22514269e-02 2.86783769e+02] [ 8.38148251e-01 5.45113055e-01 1.89543151e-02 2.29373998e+02] [-2.25690005e-02 -6.11228020e-05 9.99745286e-01 3.26378834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.270714057 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:286.80, Y:229.40, Z:3.26 [[ 5.49311952e-01 -8.35527625e-01 1.22461231e-02 2.86797437e+02] [ 8.35312546e-01 5.49448409e-01 1.89577412e-02 2.29398942e+02] [-2.25683293e-02 -1.84373533e-04 9.99745286e-01 3.26219438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3007140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:286.81, Y:229.42, Z:3.26 [[ 5.50603242e-01 -8.34677323e-01 1.22407996e-02 2.86811694e+02] [ 8.34461957e-01 5.50739245e-01 1.89611778e-02 2.29422529e+02] [-2.25679539e-02 -2.25604359e-04 9.99745286e-01 3.26187236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.83, Y:229.45, Z:3.26 [[ 5.51955373e-01 -8.33783880e-01 1.22354895e-02 2.86826562e+02] [ 8.33568219e-01 5.52090906e-01 1.89646038e-02 2.29445160e+02] [-2.25674834e-02 -2.68499824e-04 9.99745286e-01 3.26158090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.360714057 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:286.84, Y:229.47, Z:3.26 [[ 5.54175103e-01 -8.32310241e-01 1.22318831e-02 2.86843583e+02] [ 8.32094167e-01 5.54309979e-01 1.89669296e-02 2.29467110e+02] [-2.25666246e-02 -3.32921611e-04 9.99745286e-01 3.26161392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.390714057 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:286.86, Y:229.49, Z:3.26 [[ 5.55711199e-01 -8.31285497e-01 1.22264686e-02 2.86859381e+02] [ 8.31069098e-01 5.55845552e-01 1.89704192e-02 2.29487919e+02] [-2.25658626e-02 -3.81034179e-04 9.99745286e-01 3.26106209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4207140569999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:286.88, Y:229.51, Z:3.26 [[ 5.55005394e-01 -8.31757843e-01 1.21615401e-02 2.86876839e+02] [ 8.31540640e-01 5.55138449e-01 1.90122598e-02 2.29509924e+02] [-2.25649347e-02 -4.39091922e-04 9.99745283e-01 3.25957731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4507140569999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:286.89, Y:229.53, Z:3.26 [[ 5.54458214e-01 -8.32123175e-01 1.21289025e-02 2.86893730e+02] [ 8.31905600e-01 5.54590666e-01 1.90332812e-02 2.29532411e+02] [-2.25646105e-02 -4.63057172e-04 9.99745280e-01 3.25990115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4807140569999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:286.91, Y:229.56, Z:3.26 [[ 5.55273980e-01 -8.31579267e-01 1.21131665e-02 2.86913599e+02] [ 8.31361342e-01 5.55405859e-01 1.90434120e-02 2.29555531e+02] [-2.25638302e-02 -5.03892858e-04 9.99745277e-01 3.25792253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.510714057 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:286.93, Y:229.57, Z:3.26 [[ 5.54022017e-01 -8.32412342e-01 1.22187359e-02 2.86933152e+02] [ 8.32196106e-01 5.54156634e-01 1.89754336e-02 2.29574460e+02] [-2.25664786e-02 -3.44423571e-04 9.99745285e-01 3.25695823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.540714057 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:286.95, Y:229.60, Z:3.26 [[ 5.52753232e-01 -8.33255438e-01 1.22163877e-02 2.86951006e+02] [ 8.33039374e-01 5.52888124e-01 1.89769452e-02 2.29596249e+02] [-2.25669385e-02 -3.12835776e-04 9.99745285e-01 3.25603143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5707140569999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:286.97, Y:229.62, Z:3.25 [[ 5.50924846e-01 -8.34465521e-01 1.22109892e-02 2.86971702e+02] [ 8.34249676e-01 5.51060089e-01 1.89804183e-02 2.29615766e+02] [-2.25674934e-02 -2.69770273e-04 9.99745285e-01 3.25491157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6007140569999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:286.99, Y:229.64, Z:3.26 [[ 5.49745513e-01 -8.35243016e-01 1.22055426e-02 2.86987765e+02] [ 8.35027284e-01 5.49880937e-01 1.89839202e-02 2.29635794e+02] [-2.25677819e-02 -2.44363894e-04 9.99745285e-01 3.25561818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.630714057 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:287.01, Y:229.66, Z:3.25 [[ 5.47775099e-01 -8.36537992e-01 1.21090540e-02 2.87007711e+02] [ 8.36321205e-01 5.47908838e-01 1.90459305e-02 2.29659614e+02] [-2.25673021e-02 -3.05827774e-04 9.99745279e-01 3.25385609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.660714057 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:287.03, Y:229.68, Z:3.25 [[ 5.45780134e-01 -8.37839588e-01 1.22012416e-02 2.87025542e+02] [ 8.37624439e-01 5.45916481e-01 1.89866890e-02 2.29680969e+02] [-2.25686585e-02 -1.42499463e-04 9.99745285e-01 3.25279502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6907140569999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:287.05, Y:229.70, Z:3.25 [[ 5.40585933e-01 -8.41200399e-01 1.21958054e-02 2.87045811e+02] [ 8.40986019e-01 5.40723486e-01 1.89901802e-02 2.29699799e+02] [-2.25691056e-02 -9.32249510e-06 9.99745285e-01 3.25118041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7207140569999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:287.06, Y:229.72, Z:3.25 [[ 5.37331738e-01 -8.43282844e-01 1.21921189e-02 2.87064325e+02] [ 8.43068944e-01 5.37470036e-01 1.89925467e-02 2.29721546e+02] [-2.25689874e-02 7.34986423e-05 9.99745285e-01 3.25025248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.750714057 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:287.08, Y:229.74, Z:3.25 [[ 5.34131356e-01 -8.45313656e-01 1.21867811e-02 2.87082606e+02] [ 8.45100203e-01 5.34270344e-01 1.89959711e-02 2.29743041e+02] [-2.25685895e-02 1.52707373e-04 9.99745285e-01 3.24944350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.780714057 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:287.10, Y:229.76, Z:3.25 [[ 5.28501150e-01 -8.48845185e-01 1.21813951e-02 2.87103285e+02] [ 8.48632581e-01 5.28641432e-01 1.89994244e-02 2.29763507e+02] [-2.25671600e-02 2.96311124e-04 9.99745285e-01 3.24933792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8107140569999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:287.12, Y:229.79, Z:3.25 [[ 5.26694448e-01 -8.49967473e-01 1.21759430e-02 2.87120573e+02] [ 8.49755087e-01 5.26835061e-01 1.90029177e-02 2.29785921e+02] [-2.25665756e-02 3.37838233e-04 9.99745285e-01 3.24852678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8407140569999 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:287.14, Y:229.81, Z:3.25 [[ 5.24408820e-01 -8.51379626e-01 1.21705122e-02 2.87137430e+02] [ 8.51167539e-01 5.24549881e-01 1.90063953e-02 2.29807385e+02] [-2.25656984e-02 3.92023624e-04 9.99745285e-01 3.24792433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.870714057 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:287.15, Y:229.83, Z:3.25 [[ 5.24267643e-01 -8.51466602e-01 1.21681644e-02 2.87153495e+02] [ 8.51254503e-01 5.24408687e-01 1.90078983e-02 2.29829808e+02] [-2.25656817e-02 3.92978730e-04 9.99745285e-01 3.24705293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.900714057 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:287.17, Y:229.85, Z:3.25 [[ 5.24052291e-01 -8.51599238e-01 1.21628269e-02 2.87170060e+02] [ 8.51387095e-01 5.24193270e-01 1.90113130e-02 2.29852766e+02] [-2.25656917e-02 3.92351700e-04 9.99745285e-01 3.24678403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9307140569999 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:287.19, Y:229.88, Z:3.25 [[ 5.24094196e-01 -8.51573526e-01 1.21574786e-02 2.87186500e+02] [ 8.51361297e-01 5.24235045e-01 1.90147326e-02 2.29875592e+02] [-2.25658192e-02 3.84895767e-04 9.99745285e-01 3.24621921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9607140569999 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:287.20, Y:229.90, Z:3.25 [[ 5.23598473e-01 -8.51878493e-01 1.21520666e-02 2.87203046e+02] [ 8.51666266e-01 5.23739325e-01 1.90181907e-02 2.29897634e+02] [-2.25657028e-02 3.91609592e-04 9.99745285e-01 3.24686864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.990714057 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:287.22, Y:229.92, Z:3.25 [[ 5.22662335e-01 -8.52453206e-01 1.21497227e-02 2.87218340e+02] [ 8.52241099e-01 5.22803367e-01 1.90196880e-02 2.29920984e+02] [-2.25653099e-02 4.13618484e-04 9.99745285e-01 3.24608284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.020714057 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:287.23, Y:229.94, Z:3.24 [[ 5.19963286e-01 -8.54102278e-01 1.21441827e-02 2.87233306e+02] [ 8.53890535e-01 5.20104865e-01 1.90232246e-02 2.29943436e+02] [-2.25640280e-02 4.78424279e-04 9.99745285e-01 3.24497599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0507140569999 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:287.25, Y:229.97, Z:3.24 [[ 5.18516440e-01 -8.54981449e-01 1.21417846e-02 2.87248742e+02] [ 8.54769911e-01 5.18658324e-01 1.90247552e-02 2.29967081e+02] [-2.25632504e-02 5.13783791e-04 9.99745285e-01 3.24412795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0807140569999 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:287.26, Y:229.99, Z:3.24 [[ 5.16712203e-01 -8.56073131e-01 1.21364410e-02 2.87263698e+02] [ 8.55861813e-01 5.16854414e-01 1.90281634e-02 2.29990590e+02] [-2.25622725e-02 5.55032182e-04 9.99745285e-01 3.24329660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.110714057 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:287.28, Y:230.01, Z:3.24 [[ 5.15390357e-01 -8.56869661e-01 1.21311023e-02 2.87277950e+02] [ 8.56658483e-01 5.15532776e-01 1.90315663e-02 2.30013323e+02] [-2.25615526e-02 5.83525917e-04 9.99745285e-01 3.24277600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.140714057 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:287.29, Y:230.04, Z:3.24 [[ 5.15531780e-01 -8.56784633e-01 1.21274745e-02 2.87292391e+02] [ 8.56573377e-01 5.15674084e-01 1.90338778e-02 2.30036845e+02] [-2.25617583e-02 5.75502845e-04 9.99745285e-01 3.24230695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1707140569999 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:287.31, Y:230.06, Z:3.24 [[ 5.17798132e-01 -8.55416943e-01 1.21221876e-02 2.87306069e+02] [ 8.55205233e-01 5.17939759e-01 1.90372443e-02 2.30061447e+02] [-2.25633442e-02 5.09508785e-04 9.99745286e-01 3.24105966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2007140569999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:287.32, Y:230.09, Z:3.24 [[ 5.19438690e-01 -8.54421810e-01 1.21168058e-02 2.87319315e+02] [ 8.54209748e-01 5.19579790e-01 1.90406691e-02 2.30085279e+02] [-2.25644104e-02 4.59833439e-04 9.99745286e-01 3.24067485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2307140569999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:287.33, Y:230.11, Z:3.24 [[ 5.23550577e-01 -8.51908465e-01 1.21144729e-02 2.87332179e+02] [ 8.51695691e-01 5.23690602e-01 1.90421533e-02 2.30110106e+02] [-2.25664072e-02 3.48313994e-04 9.99745286e-01 3.24012536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.260714057 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:287.35, Y:230.13, Z:3.24 [[ 5.25568681e-01 -8.50664993e-01 1.21091270e-02 2.87345946e+02] [ 8.50451810e-01 5.25708080e-01 1.90455521e-02 2.30134266e+02] [-2.25672504e-02 2.88483294e-04 9.99745286e-01 3.23973826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.290714057 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:287.36, Y:230.16, Z:3.24 [[ 5.27671136e-01 -8.49362509e-01 1.21036962e-02 2.87359497e+02] [ 8.49148903e-01 5.27809887e-01 1.90490029e-02 2.30158092e+02] [-2.25679594e-02 2.26231342e-04 9.99745286e-01 3.23964978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3207140569999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:287.37, Y:230.18, Z:3.24 [[ 5.31936152e-01 -8.46697991e-01 1.21013412e-02 2.87372762e+02] [ 8.46483655e-01 5.32073774e-01 1.90504989e-02 2.30182454e+02] [-2.25688254e-02 1.09938418e-04 9.99745286e-01 3.23938730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3507140569999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:287.39, Y:230.21, Z:3.24 [[ 5.33909108e-01 -8.45455353e-01 1.20959190e-02 2.87386486e+02] [ 8.45240619e-01 5.34046107e-01 1.90539410e-02 2.30205931e+02] [-2.25690349e-02 5.08894083e-05 9.99745286e-01 3.23873983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.380714057 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:287.40, Y:230.23, Z:3.24 [[ 5.35820138e-01 -8.44245536e-01 1.20935685e-02 2.87400308e+02] [ 8.44030459e-01 5.35956598e-01 1.90554328e-02 2.30229848e+02] [-2.25690919e-02 -2.94447436e-06 9.99745286e-01 3.23772978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.410714057 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:287.41, Y:230.25, Z:3.24 [[ 5.39052660e-01 -8.42185318e-01 1.20879792e-02 2.87412951e+02] [ 8.41969640e-01 5.39188168e-01 1.90589777e-02 2.30253726e+02] [-2.25688866e-02 -9.60811156e-05 9.99745286e-01 3.23712918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4407140569999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:287.43, Y:230.28, Z:3.24 [[ 5.40180331e-01 -8.41462506e-01 1.20855587e-02 2.87427370e+02] [ 8.41246613e-01 5.40315495e-01 1.90605125e-02 2.30277654e+02] [-2.25687212e-02 -1.29178664e-04 9.99745286e-01 3.23661834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4707140569999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:287.44, Y:230.30, Z:3.24 [[ 5.41342527e-01 -8.40715374e-01 1.20800938e-02 2.87442153e+02] [ 8.40499216e-01 5.41477269e-01 1.90639754e-02 2.30301297e+02] [-2.25684734e-02 -1.66831239e-04 9.99745286e-01 3.23640403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.500714057 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:287.46, Y:230.32, Z:3.24 [[ 5.41281611e-01 -8.40754673e-01 1.20746618e-02 2.87457717e+02] [ 8.40538448e-01 5.41416245e-01 1.90674152e-02 2.30324883e+02] [-2.25684365e-02 -1.71623788e-04 9.99745286e-01 3.23521249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.530714057 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:287.47, Y:230.35, Z:3.23 [[ 5.40857808e-01 -8.41027448e-01 1.20691267e-02 2.87472986e+02] [ 8.40811213e-01 5.40992426e-01 1.90709181e-02 2.30347620e+02] [-2.25684717e-02 -1.66797874e-04 9.99745286e-01 3.23431937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5607140569999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:287.49, Y:230.37, Z:3.23 [[ 5.39199043e-01 -8.42091911e-01 1.20667322e-02 2.87489510e+02] [ 8.41875908e-01 5.39334033e-01 1.90724331e-02 2.30370351e+02] [-2.25687410e-02 -1.25146523e-04 9.99745286e-01 3.23255829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5907140569999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:287.51, Y:230.39, Z:3.23 [[ 5.38171846e-01 -8.42748829e-01 1.20613112e-02 2.87505475e+02] [ 8.42532914e-01 5.38306976e-01 1.90758607e-02 2.30393060e+02] [-2.25688472e-02 -1.04039508e-04 9.99745286e-01 3.23144012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.620714057 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:287.52, Y:230.41, Z:3.23 [[ 5.36174239e-01 -8.44021233e-01 1.20558146e-02 2.87523810e+02] [ 8.43805561e-01 5.36309756e-01 1.90793339e-02 2.30414852e+02] [-2.25690139e-02 -5.70839295e-05 9.99745286e-01 3.22996502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.650714057 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:287.54, Y:230.44, Z:3.23 [[ 5.35932784e-01 -8.44174650e-01 1.20503532e-02 2.87538989e+02] [ 8.43958939e-01 5.36068239e-01 1.90827826e-02 2.30439000e+02] [-2.25690130e-02 -5.70855440e-05 9.99745286e-01 3.22932217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6807140569999 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:287.55, Y:230.46, Z:3.23 [[ 5.34713083e-01 -8.44947833e-01 1.20448922e-02 2.87554961e+02] [ 8.44732240e-01 5.34848726e-01 1.90862290e-02 2.30460492e+02] [-2.25690630e-02 -3.09476031e-05 9.99745286e-01 3.22807256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7107140569999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:287.57, Y:230.48, Z:3.23 [[ 5.33169140e-01 -8.45922955e-01 1.20425271e-02 2.87571876e+02] [ 8.45707577e-01 5.33305123e-01 1.90877211e-02 2.30483440e+02] [-2.25690828e-02 7.47259731e-06 9.99745286e-01 3.22719209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.740714057 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:287.59, Y:230.51, Z:3.23 [[ 5.31718961e-01 -8.46835319e-01 1.20370119e-02 2.87588343e+02] [ 8.46620095e-01 5.31855188e-01 1.90911984e-02 2.30505438e+02] [-2.25690483e-02 3.96240090e-05 9.99745286e-01 3.22597406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.770714057 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:287.61, Y:230.53, Z:3.23 [[ 5.28500648e-01 -8.48847591e-01 1.20346237e-02 2.87607603e+02] [ 8.48632851e-01 5.28637638e-01 1.90927038e-02 2.30527661e+02] [-2.25687507e-02 1.22470685e-04 9.99745286e-01 3.22553243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8007140569999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:287.62, Y:230.55, Z:3.23 [[ 5.26716494e-01 -8.49955624e-01 1.20487079e-02 2.87624255e+02] [ 8.49741376e-01 5.26854251e-01 1.90838292e-02 2.30550790e+02] [-2.25683209e-02 1.86517972e-04 9.99745286e-01 3.22608160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8307140569999 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:287.64, Y:230.57, Z:3.23 [[ 5.24275423e-01 -8.51463103e-01 1.20774953e-02 2.87642050e+02] [ 8.51249667e-01 5.24414439e-01 1.90656951e-02 2.30572932e+02] [-2.25673488e-02 2.85288478e-04 9.99745284e-01 3.22602695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.860714057 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:287.66, Y:230.60, Z:3.23 [[ 5.22115839e-01 -8.52789809e-01 1.20246672e-02 2.87658893e+02] [ 8.52575959e-01 5.22254214e-01 1.90989557e-02 2.30596273e+02] [-2.25673278e-02 2.80074899e-04 9.99745286e-01 3.22601281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.890714057 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:287.67, Y:230.62, Z:3.23 [[ 5.20962094e-01 -8.53494206e-01 1.20886939e-02 2.87674556e+02] [ 8.53281476e-01 5.21102188e-01 1.90586544e-02 2.30618560e+02] [-2.25658960e-02 3.86222104e-04 9.99745283e-01 3.22593587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9207140569999 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:287.69, Y:230.64, Z:3.23 [[ 5.17475846e-01 -8.55613451e-01 1.20154306e-02 2.87691336e+02] [ 8.55400223e-01 5.17615174e-01 1.91047315e-02 2.30640779e+02] [-2.25656345e-02 3.91764925e-04 9.99745287e-01 3.22537038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9507140569999 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:287.71, Y:230.66, Z:3.22 [[ 5.15107300e-01 -8.57041558e-01 1.20099154e-02 2.87706727e+02] [ 8.56828634e-01 5.15247094e-01 1.91081980e-02 2.30663952e+02] [-2.25645938e-02 4.47667096e-04 9.99745287e-01 3.22428990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9807140569999 meters Centerline goodness : 0.998399 Centerline is valid? [True, True] Translation: X:287.72, Y:230.69, Z:3.22 [[ 5.12867777e-01 -8.58383678e-01 1.20043622e-02 2.87721335e+02] [ 8.58171039e-01 5.13008003e-01 1.91116860e-02 2.30686555e+02] [-2.25634933e-02 5.00028077e-04 9.99745287e-01 3.22355172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.010714057 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:287.74, Y:230.71, Z:3.22 [[ 5.08657701e-01 -8.60885201e-01 1.20006062e-02 2.87736545e+02] [ 8.60673196e-01 5.08798883e-01 1.91140443e-02 2.30709565e+02] [-2.25608928e-02 6.06094248e-04 9.99745287e-01 3.22339411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.040714057 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:287.75, Y:230.73, Z:3.22 [[ 5.06878832e-01 -8.61933852e-01 1.19951719e-02 2.87751287e+02] [ 8.61722058e-01 5.07020332e-01 1.91174539e-02 2.30732915e+02] [-2.25597768e-02 6.46271535e-04 9.99745287e-01 3.22277162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0707140569999 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:287.77, Y:230.76, Z:3.22 [[ 5.05508575e-01 -8.62738274e-01 1.19896329e-02 2.87765244e+02] [ 8.62526624e-01 5.05650288e-01 1.91209272e-02 2.30755495e+02] [-2.25589170e-02 6.75584949e-04 9.99745287e-01 3.22289843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1007140569999 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:287.78, Y:230.78, Z:3.22 [[ 5.03632195e-01 -8.63835006e-01 1.19872354e-02 2.87778987e+02] [ 8.63623629e-01 5.03774316e-01 1.91224301e-02 2.30779148e+02] [-2.25574858e-02 7.21788286e-04 9.99745287e-01 3.22216183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.130714057 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:287.79, Y:230.80, Z:3.22 [[ 5.00697654e-01 -8.65539267e-01 1.19848944e-02 2.87791609e+02] [ 8.65328337e-01 5.00840439e-01 1.91238972e-02 2.30803789e+02] [-2.25550037e-02 7.95578257e-04 9.99745287e-01 3.22110770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.160714057 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:287.80, Y:230.83, Z:3.22 [[ 4.98507377e-01 -8.66802682e-01 1.19794338e-02 2.87804437e+02] [ 8.66592032e-01 4.98650574e-01 1.91273172e-02 2.30829299e+02] [-2.25531613e-02 8.46173141e-04 9.99745287e-01 3.22016476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1907140569999 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:287.82, Y:230.85, Z:3.22 [[ 4.97543633e-01 -8.67356303e-01 1.19739776e-02 2.87817531e+02] [ 8.67145732e-01 4.97686945e-01 1.91307322e-02 2.30852782e+02] [-2.25524535e-02 8.64809608e-04 9.99745287e-01 3.22052754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2207140569999 meters Centerline goodness : 0.998072 Centerline is valid? [True, True] Translation: X:287.83, Y:230.88, Z:3.22 [[ 4.96334573e-01 -8.68049130e-01 1.19456919e-02 2.87831303e+02] [ 8.67838334e-01 4.96477556e-01 1.91484284e-02 2.30876917e+02] [-2.25525445e-02 8.62902290e-04 9.99745287e-01 3.21895903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.250714057 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:287.84, Y:230.90, Z:3.22 [[ 4.94853225e-01 -8.68894155e-01 1.19679990e-02 2.87844870e+02] [ 8.68683938e-01 4.94997058e-01 1.91344760e-02 2.30901414e+02] [-2.25499587e-02 9.27651322e-04 9.99745287e-01 3.21741043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.280714057 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:287.86, Y:230.93, Z:3.22 [[ 4.93032741e-01 -8.69928511e-01 1.19625408e-02 2.87855895e+02] [ 8.69718514e-01 4.93176893e-01 1.91378878e-02 2.30926790e+02] [-2.25482429e-02 9.68437968e-04 9.99745287e-01 3.21657204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3107140569999 meters Centerline goodness : 0.998197 Centerline is valid? [True, True] Translation: X:287.87, Y:230.95, Z:3.22 [[ 4.92000339e-01 -8.70512849e-01 1.19601992e-02 2.87868325e+02] [ 8.70302988e-01 4.92144689e-01 1.91393511e-02 2.30952000e+02] [-2.25471995e-02 9.92429885e-04 9.99745287e-01 3.21579435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3407140569999 meters Centerline goodness : 0.998199 Centerline is valid? [True, True] Translation: X:287.88, Y:230.98, Z:3.22 [[ 4.91707244e-01 -8.70678510e-01 1.19548619e-02 2.87877830e+02] [ 8.70468616e-01 4.91851548e-01 1.91426843e-02 2.30978166e+02] [-2.25471412e-02 9.93735517e-04 9.99745287e-01 3.21501423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.370714057 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:287.89, Y:231.00, Z:3.21 [[ 4.91685739e-01 -8.70691022e-01 1.19280691e-02 2.87890876e+02] [ 8.70480729e-01 4.91829460e-01 1.91594115e-02 2.31004423e+02] [-2.25485034e-02 9.62744892e-04 9.99745287e-01 3.21401286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.400714057 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:287.90, Y:231.03, Z:3.21 [[ 4.91850478e-01 -8.70597690e-01 1.19486728e-02 2.87903304e+02] [ 8.70387679e-01 4.91994611e-01 1.91465535e-02 2.31030054e+02] [-2.25476279e-02 9.82736145e-04 9.99745287e-01 3.21359561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4307140569999 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:287.91, Y:231.06, Z:3.21 [[ 4.92773457e-01 -8.70075674e-01 1.19432951e-02 2.87913767e+02] [ 8.69865430e-01 4.92917250e-01 1.91499075e-02 2.31056915e+02] [-2.25489248e-02 9.52493414e-04 9.99745287e-01 3.21361136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4607140569999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:287.93, Y:231.08, Z:3.21 [[ 4.93249822e-01 -8.69805782e-01 1.19379509e-02 2.87926029e+02] [ 8.69595380e-01 4.93393382e-01 1.91532384e-02 2.31082089e+02] [-2.25497035e-02 9.33855503e-04 9.99745287e-01 3.21326373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.490714057 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:287.94, Y:231.11, Z:3.21 [[ 4.94578416e-01 -8.69051094e-01 1.19326039e-02 2.87935468e+02] [ 8.68840392e-01 4.94721537e-01 1.91565691e-02 2.31109118e+02] [-2.25513534e-02 8.93102637e-04 9.99745287e-01 3.21244519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.520714057 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:287.95, Y:231.14, Z:3.21 [[ 4.94991204e-01 -8.68816520e-01 1.18980304e-02 2.87948273e+02] [ 8.68605235e-01 4.95133464e-01 1.91780918e-02 2.31135254e+02] [-2.25533560e-02 8.41704732e-04 9.99745286e-01 3.20999881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5507140569999 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:287.96, Y:231.16, Z:3.21 [[ 4.95789638e-01 -8.68360793e-01 1.19234377e-02 2.87960082e+02] [ 8.68149755e-01 4.95932263e-01 1.91622825e-02 2.31159421e+02] [-2.25529923e-02 8.50868407e-04 9.99745287e-01 3.20923884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5807140569999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:287.97, Y:231.19, Z:3.21 [[ 4.97250010e-01 -8.67525397e-01 1.19210908e-02 2.87970532e+02] [ 8.67314085e-01 4.97392228e-01 1.91637424e-02 2.31186005e+02] [-2.25544912e-02 8.10158879e-04 9.99745287e-01 3.20878439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.610714057 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:287.98, Y:231.21, Z:3.21 [[ 4.97918838e-01 -8.67141768e-01 1.19157194e-02 2.87983189e+02] [ 8.66930267e-01 4.98060775e-01 1.91670817e-02 2.31211286e+02] [-2.25553296e-02 7.86446747e-04 9.99745287e-01 3.20871227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.640714057 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:288.00, Y:231.24, Z:3.21 [[ 4.98755983e-01 -8.66660611e-01 1.19103082e-02 2.87996043e+02] [ 8.66448892e-01 4.98897596e-01 1.91704436e-02 2.31236820e+02] [-2.25562925e-02 7.58299891e-04 9.99745287e-01 3.20942580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6707140569999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:288.01, Y:231.26, Z:3.21 [[ 5.00760938e-01 -8.65503759e-01 1.19048620e-02 2.88006604e+02] [ 8.65291634e-01 5.00901940e-01 1.91738251e-02 2.31263553e+02] [-2.25581862e-02 6.99674873e-04 9.99745287e-01 3.21001978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7007140569999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:288.02, Y:231.29, Z:3.21 [[ 5.02287327e-01 -8.64618902e-01 1.18994108e-02 2.88018746e+02] [ 8.64406448e-01 5.02427834e-01 1.91772076e-02 2.31287410e+02] [-2.25595714e-02 6.53459122e-04 9.99745287e-01 3.20977201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7307140569999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:288.03, Y:231.31, Z:3.21 [[ 5.03152193e-01 -8.64115925e-01 1.18970409e-02 2.88031257e+02] [ 8.63903296e-01 5.03292434e-01 1.91786777e-02 2.31312236e+02] [-2.25602915e-02 6.28099146e-04 9.99745287e-01 3.20909518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.760714057 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:288.04, Y:231.34, Z:3.21 [[ 5.06314245e-01 -8.62267054e-01 1.18917223e-02 2.88042516e+02] [ 8.62053835e-01 5.06453589e-01 1.91819750e-02 2.31337929e+02] [-2.25625904e-02 5.39197612e-04 9.99745287e-01 3.20687943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.790714057 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:288.06, Y:231.36, Z:3.21 [[ 5.06375626e-01 -8.62231680e-01 1.18429394e-02 2.88055274e+02] [ 8.62017745e-01 5.06513868e-01 1.92122011e-02 2.31362564e+02] [-2.25639815e-02 4.80233524e-04 9.99745286e-01 3.20654408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8207140569999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:288.07, Y:231.39, Z:3.21 [[ 5.06893159e-01 -8.61926956e-01 1.18848114e-02 2.88068029e+02] [ 8.61713543e-01 5.07032205e-01 1.91862638e-02 2.31387042e+02] [-2.25631401e-02 5.15917143e-04 9.99745287e-01 3.20610138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8507140569999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:288.08, Y:231.41, Z:3.21 [[ 5.07722020e-01 -8.61439045e-01 1.18794797e-02 2.88078914e+02] [ 8.61225422e-01 5.07860742e-01 1.91895644e-02 2.31411582e+02] [-2.25637614e-02 4.87945542e-04 9.99745287e-01 3.20689032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.880714057 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:288.09, Y:231.44, Z:3.21 [[ 5.08070199e-01 -8.61233770e-01 1.18771565e-02 2.88092182e+02] [ 8.61020057e-01 5.08208783e-01 1.91910022e-02 2.31436033e+02] [-2.25640145e-02 4.76093650e-04 9.99745287e-01 3.20710515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.910714057 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:288.10, Y:231.46, Z:3.21 [[ 5.09100016e-01 -8.60625489e-01 1.18718877e-02 2.88104077e+02] [ 8.60411534e-01 5.09238227e-01 1.91942611e-02 2.31460548e+02] [-2.25646893e-02 4.42910443e-04 9.99745287e-01 3.20761038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9407140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:288.12, Y:231.48, Z:3.21 [[ 5.09518588e-01 -8.60377778e-01 1.18696060e-02 2.88118258e+02] [ 8.60163724e-01 5.09656644e-01 1.91956719e-02 2.31484899e+02] [-2.25649531e-02 4.29252893e-04 9.99745287e-01 3.20720885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9707140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:288.13, Y:231.51, Z:3.21 [[ 5.09858100e-01 -8.60176698e-01 1.18644562e-02 2.88132964e+02] [ 8.59962516e-01 5.09995957e-01 1.91988544e-02 2.31509284e+02] [-2.25652319e-02 4.14296144e-04 9.99745287e-01 3.20732168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.000714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:288.15, Y:231.53, Z:3.21 [[ 5.10039722e-01 -8.60069090e-01 1.18593276e-02 2.88147340e+02] [ 8.59854804e-01 5.10177419e-01 1.92020219e-02 2.31532910e+02] [-2.25654266e-02 4.03505886e-04 9.99745287e-01 3.20635001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.030714057 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:288.16, Y:231.56, Z:3.21 [[ 5.10843668e-01 -8.59591897e-01 1.18539883e-02 2.88162059e+02] [ 8.59377407e-01 5.10981045e-01 1.92053174e-02 2.31557017e+02] [-2.25658986e-02 3.76134915e-04 9.99745287e-01 3.20584642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0607140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:288.18, Y:231.58, Z:3.20 [[ 5.11205095e-01 -8.59377039e-01 1.18514332e-02 2.88176973e+02] [ 8.59162454e-01 5.11342325e-01 1.92068940e-02 2.31581016e+02] [-2.25661031e-02 3.63644305e-04 9.99745287e-01 3.20414343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0907140569999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:288.19, Y:231.60, Z:3.20 [[ 5.11564291e-01 -8.59163338e-01 1.18462707e-02 2.88192116e+02] [ 8.58948622e-01 5.11701316e-01 1.92100776e-02 2.31604579e+02] [-2.25663467e-02 3.48148174e-04 9.99745287e-01 3.20242728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.120714057 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:288.21, Y:231.63, Z:3.20 [[ 5.13143834e-01 -8.58220950e-01 1.18408619e-02 2.88207500e+02] [ 8.58005906e-01 5.13280343e-01 1.92134109e-02 2.31626857e+02] [-2.25670334e-02 3.00286126e-04 9.99745287e-01 3.20232070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.150714057 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:288.22, Y:231.65, Z:3.20 [[ 5.13433425e-01 -8.58047766e-01 1.18385191e-02 2.88222219e+02] [ 8.57832642e-01 5.13569808e-01 1.92148543e-02 2.31649874e+02] [-2.25671688e-02 2.89919706e-04 9.99745287e-01 3.20224827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:231.67, Z:3.20 [[ 5.14185525e-01 -8.57597318e-01 1.18357816e-02 2.88238428e+02] [ 8.57382036e-01 5.14321659e-01 1.92165404e-02 2.31673088e+02] [-2.25674523e-02 2.66919572e-04 9.99745287e-01 3.20292120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2107140569999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:288.25, Y:231.70, Z:3.20 [[ 5.14094279e-01 -8.57652091e-01 1.18306099e-02 2.88253821e+02] [ 8.57436750e-01 5.14230320e-01 1.92197238e-02 2.31696399e+02] [-2.25674946e-02 2.63249622e-04 9.99745287e-01 3.20249301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.240714057 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:288.27, Y:231.72, Z:3.20 [[ 5.13937487e-01 -8.57746129e-01 1.18253079e-02 2.88269088e+02] [ 8.57530738e-01 5.14073448e-01 1.92229854e-02 2.31719670e+02] [-2.25675181e-02 2.61152210e-04 9.99745287e-01 3.20238684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.270714057 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:288.29, Y:231.74, Z:3.20 [[ 5.14177770e-01 -8.57602185e-01 1.18200246e-02 2.88285012e+02] [ 8.57386681e-01 5.14313553e-01 1.92262335e-02 2.31742274e+02] [-2.25676587e-02 2.48629818e-04 9.99745287e-01 3.20081610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3007140569999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:288.30, Y:231.77, Z:3.20 [[ 5.14001439e-01 -8.57707956e-01 1.18145552e-02 2.88299785e+02] [ 8.57492403e-01 5.14137143e-01 1.92295939e-02 2.31765090e+02] [-2.25676773e-02 2.46852404e-04 9.99745287e-01 3.20072803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3307140569999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:288.32, Y:231.79, Z:3.20 [[ 5.13163059e-01 -8.58209869e-01 1.18108314e-02 2.88315192e+02] [ 8.57994396e-01 5.13298891e-01 1.92318808e-02 2.31788932e+02] [-2.25674765e-02 2.64536370e-04 9.99745287e-01 3.19828251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.360714057 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:288.33, Y:231.81, Z:3.20 [[ 5.10776040e-01 -8.59632755e-01 1.18052501e-02 2.88332452e+02] [ 8.59417581e-01 5.10912345e-01 1.92353062e-02 2.31810777e+02] [-2.25667473e-02 3.20705942e-04 9.99745287e-01 3.19709395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.390714057 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:288.35, Y:231.83, Z:3.20 [[ 5.09310088e-01 -8.60502180e-01 1.17997180e-02 2.88348547e+02] [ 8.60287160e-01 5.09446635e-01 1.92386992e-02 2.31832933e+02] [-2.25662692e-02 3.52682284e-04 9.99745287e-01 3.19696680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4207140569999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:288.37, Y:231.86, Z:3.20 [[ 5.04825292e-01 -8.63140920e-01 1.17973276e-02 2.88366470e+02] [ 8.62926580e-01 5.04962903e-01 1.92401649e-02 2.31855023e+02] [-2.25641864e-02 4.67305680e-04 9.99745287e-01 3.19547075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4507140569999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:288.38, Y:231.88, Z:3.19 [[ 5.01971585e-01 -8.64803723e-01 1.17918871e-02 2.88382208e+02] [ 8.64589761e-01 5.02109783e-01 1.92434987e-02 2.31877988e+02] [-2.25626712e-02 5.35455284e-04 9.99745287e-01 3.19452661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4807140569999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:288.40, Y:231.90, Z:3.19 [[ 4.99808786e-01 -8.66055575e-01 1.17863965e-02 2.88397444e+02] [ 8.65841879e-01 4.99947396e-01 1.92468611e-02 2.31899829e+02] [-2.25614295e-02 5.85405411e-04 9.99745287e-01 3.19368111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.510714057 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:288.41, Y:231.92, Z:3.19 [[ 4.94052138e-01 -8.69352416e-01 1.17840212e-02 2.88413213e+02] [ 8.69139610e-01 4.94192110e-01 1.92483152e-02 2.31921568e+02] [-2.25571396e-02 7.32288265e-04 9.99745287e-01 3.19275204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.540714057 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:288.43, Y:231.95, Z:3.19 [[ 4.93814671e-01 -8.69487356e-01 1.17816967e-02 2.88428038e+02] [ 8.69274554e-01 4.93954650e-01 1.92497379e-02 2.31945921e+02] [-2.25570276e-02 7.35726189e-04 9.99745287e-01 3.19210877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5707140569999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:288.44, Y:231.97, Z:3.19 [[ 4.90536391e-01 -8.71341130e-01 1.17764368e-02 2.88443420e+02] [ 8.71128780e-01 4.90677054e-01 1.92529552e-02 2.31969431e+02] [-2.25543191e-02 8.14517880e-04 9.99745287e-01 3.19119182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6007140569999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:288.46, Y:231.99, Z:3.19 [[ 4.87267819e-01 -8.73173245e-01 1.17710607e-02 2.88457833e+02] [ 8.72961345e-01 4.87409159e-01 1.92562416e-02 2.31991845e+02] [-2.25513577e-02 8.92734121e-04 9.99745287e-01 3.19115878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.630714057 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:288.47, Y:232.02, Z:3.19 [[ 4.81799127e-01 -8.76202658e-01 1.17687313e-02 2.88472746e+02] [ 8.75991612e-01 4.81941738e-01 1.92576651e-02 2.32015478e+02] [-2.25454602e-02 1.03098362e-03 9.99745287e-01 3.18983695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.660714057 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:288.49, Y:232.04, Z:3.19 [[ 4.80473979e-01 -8.76930087e-01 1.17634080e-02 2.88485864e+02] [ 8.76719177e-01 4.80616793e-01 1.92609163e-02 2.32037524e+02] [-2.25441684e-02 1.05883626e-03 9.99745287e-01 3.18904022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6907140569999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:288.50, Y:232.06, Z:3.19 [[ 4.79522264e-01 -8.77451538e-01 1.17131178e-02 2.88499674e+02] [ 8.77240038e-01 4.79664204e-01 1.92916178e-02 2.32063303e+02] [-2.25458231e-02 1.02445570e-03 9.99745286e-01 3.18645678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7207140569999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:288.51, Y:232.09, Z:3.19 [[ 4.78047756e-01 -8.78255145e-01 1.17577377e-02 2.88507241e+02] [ 8.78044546e-01 4.78191028e-01 1.92643847e-02 2.32086561e+02] [-2.25414897e-02 1.11452161e-03 9.99745287e-01 3.18743303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.750714057 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:288.53, Y:232.11, Z:3.19 [[ 4.82427243e-01 -8.75860030e-01 1.15396454e-02 2.88526208e+02] [ 8.75645532e-01 4.82564659e-01 1.93971909e-02 2.32111818e+02] [-2.25578492e-02 7.46905613e-04 9.99745260e-01 3.18525538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.780714057 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:288.54, Y:232.14, Z:3.19 [[ 4.85033297e-01 -8.74416840e-01 1.17426994e-02 2.88539236e+02] [ 8.74204887e-01 4.85174555e-01 1.92734775e-02 2.32136857e+02] [-2.25503122e-02 9.17246864e-04 9.99745289e-01 3.18509939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8107140569999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:288.54, Y:232.16, Z:3.19 [[ 4.85894474e-01 -8.73938668e-01 1.17372946e-02 2.88541373e+02] [ 8.73726497e-01 4.86035404e-01 1.92767684e-02 2.32161418e+02] [-2.25514540e-02 8.88710042e-04 9.99745289e-01 3.18760734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8407140569999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:288.56, Y:232.19, Z:3.19 [[ 4.93122887e-01 -8.69885227e-01 1.13802293e-02 2.88564644e+02] [ 8.69666821e-01 4.93254104e-01 1.94938244e-02 2.32189704e+02] [-2.25707347e-02 2.84156892e-04 9.99745208e-01 3.18709181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.870714057 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:288.58, Y:232.21, Z:3.19 [[ 4.95774968e-01 -8.68371763e-01 1.17329504e-02 2.88576954e+02] [ 8.68157951e-01 4.95913386e-01 1.92791670e-02 2.32213411e+02] [-2.25600114e-02 6.27925746e-04 9.99745293e-01 3.18701143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.900714057 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:288.59, Y:232.24, Z:3.19 [[ 4.98018093e-01 -8.67087292e-01 1.17305911e-02 2.88589795e+02] [ 8.66873089e-01 4.98155906e-01 1.92806024e-02 2.32237413e+02] [-2.25616286e-02 5.66844912e-04 9.99745293e-01 3.18681394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9307140569999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:288.60, Y:232.26, Z:3.19 [[ 5.02509471e-01 -8.64492157e-01 1.17278267e-02 2.88602615e+02] [ 8.64277203e-01 5.02646109e-01 1.92822838e-02 2.32262813e+02] [-2.25643296e-02 4.46562994e-04 9.99745293e-01 3.18571213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9607140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:288.62, Y:232.29, Z:3.18 [[ 5.04283722e-01 -8.63458462e-01 1.17222949e-02 2.88615873e+02] [ 8.63243149e-01 5.04419794e-01 1.92856462e-02 2.32286796e+02] [-2.25653120e-02 3.93753301e-04 9.99745293e-01 3.18464405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.990714057 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:288.63, Y:232.31, Z:3.18 [[ 5.08289454e-01 -8.61106541e-01 1.17198996e-02 2.88629227e+02] [ 8.60890565e-01 5.08424472e-01 1.92871017e-02 2.32311369e+02] [-2.25669332e-02 2.86120648e-04 9.99745293e-01 3.18346101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.020714057 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:288.64, Y:232.33, Z:3.18 [[ 5.10134695e-01 -8.60014747e-01 1.17144163e-02 2.88642452e+02] [ 8.59798406e-01 5.10269126e-01 1.92904315e-02 2.32334388e+02] [-2.25675605e-02 2.31318024e-04 9.99745293e-01 3.18206407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0507140569999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:288.66, Y:232.36, Z:3.18 [[ 5.11328116e-01 -8.59305758e-01 1.17120398e-02 2.88656704e+02] [ 8.59089197e-01 5.11462193e-01 1.92918743e-02 2.32358705e+02] [-2.25678842e-02 1.97209117e-04 9.99745293e-01 3.18151406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0807140569999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:288.67, Y:232.38, Z:3.18 [[ 5.13482982e-01 -8.58019920e-01 1.17065920e-02 2.88671643e+02] [ 8.57802947e-01 5.13616393e-01 1.92951795e-02 2.32382521e+02] [-2.25683459e-02 1.34202816e-04 9.99745293e-01 3.18100156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.110714057 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:288.69, Y:232.41, Z:3.18 [[ 5.13842579e-01 -8.57804691e-01 1.17011520e-02 2.88686610e+02] [ 8.57587587e-01 5.13975777e-01 1.92984779e-02 2.32406272e+02] [-2.25684336e-02 1.18383034e-04 9.99745293e-01 3.18089494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.140714057 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:288.70, Y:232.43, Z:3.18 [[ 5.13912285e-01 -8.57763007e-01 1.16956320e-02 2.88702889e+02] [ 8.57545816e-01 5.14045341e-01 1.93018226e-02 2.32429102e+02] [-2.25684746e-02 1.10096536e-04 9.99745293e-01 3.18039837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1707140569999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:288.72, Y:232.45, Z:3.18 [[ 5.13689319e-01 -8.57896628e-01 1.16901546e-02 2.88717790e+02] [ 8.57679396e-01 5.13822308e-01 1.93051395e-02 2.32451566e+02] [-2.25684763e-02 1.09560812e-04 9.99745294e-01 3.17983962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2007140569999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:288.73, Y:232.47, Z:3.18 [[ 5.13558806e-01 -8.57974795e-01 1.16877827e-02 2.88733122e+02] [ 8.57757551e-01 5.13691775e-01 1.93065754e-02 2.32474669e+02] [-2.25684729e-02 1.10222078e-04 9.99745294e-01 3.17805184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2307140569999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:288.75, Y:232.50, Z:3.18 [[ 5.13801287e-01 -8.57829682e-01 1.16822335e-02 2.88747984e+02] [ 8.57612325e-01 5.13934069e-01 1.93099325e-02 2.32497074e+02] [-2.25685311e-02 9.73592769e-05 9.99745294e-01 3.17637554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.260714057 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:288.77, Y:232.52, Z:3.17 [[ 5.14668000e-01 -8.57309997e-01 1.16798321e-02 2.88765114e+02] [ 8.57092473e-01 5.14800509e-01 1.93113850e-02 2.32519600e+02] [-2.25686269e-02 7.17442398e-05 9.99745294e-01 3.17355437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.290714057 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:288.78, Y:232.54, Z:3.17 [[ 5.15111798e-01 -8.57043490e-01 1.16743755e-02 2.88780123e+02] [ 8.56825823e-01 5.15244071e-01 1.93146831e-02 2.32541492e+02] [-2.25686762e-02 5.36852166e-05 9.99745294e-01 3.17206077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3207140569999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:288.80, Y:232.56, Z:3.17 [[ 5.15214053e-01 -8.56982056e-01 1.16720077e-02 2.88796416e+02] [ 8.56764340e-01 5.15346247e-01 1.93161139e-02 2.32564623e+02] [-2.25686883e-02 4.82266946e-05 9.99745294e-01 3.17137862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3507140569999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:288.81, Y:232.59, Z:3.17 [[ 5.16086452e-01 -8.56457043e-01 1.16665323e-02 2.88814249e+02] [ 8.56239118e-01 5.16218300e-01 1.93194203e-02 2.32587017e+02] [-2.25687311e-02 1.88502732e-05 9.99745294e-01 3.17142950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.380714057 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:288.83, Y:232.61, Z:3.17 [[ 5.16363134e-01 -8.56290332e-01 1.16610735e-02 2.88830502e+02] [ 8.56072290e-01 5.16494789e-01 1.93227147e-02 2.32610421e+02] [-2.25687375e-02 5.18437384e-06 9.99745294e-01 3.17119829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.410714057 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:288.85, Y:232.63, Z:3.17 [[ 5.17257426e-01 -8.55750492e-01 1.16554736e-02 2.88847878e+02] [ 8.55532237e-01 5.17388727e-01 1.93260920e-02 2.32631782e+02] [-2.25687233e-02 -2.49311884e-05 9.99745294e-01 3.17191435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4407140569999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:288.86, Y:232.65, Z:3.17 [[ 5.17137291e-01 -8.55823129e-01 1.16530473e-02 2.88863776e+02] [ 8.55604859e-01 5.17268567e-01 1.93275548e-02 2.32654789e+02] [-2.25687235e-02 -2.45954540e-05 9.99745294e-01 3.17206083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4707140569999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:288.88, Y:232.68, Z:3.17 [[ 5.18286218e-01 -8.55127902e-01 1.16476822e-02 2.88878638e+02] [ 8.54909383e-01 5.18417080e-01 1.93307876e-02 2.32676036e+02] [-2.25686532e-02 -6.11680197e-05 9.99745294e-01 3.17142545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.500714057 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:288.90, Y:232.70, Z:3.17 [[ 5.18499310e-01 -8.54999812e-01 1.15665856e-02 2.88898088e+02] [ 8.54780167e-01 5.18628282e-01 1.93796565e-02 2.32699645e+02] [-2.25683611e-02 -1.61450507e-04 9.99745289e-01 3.17219393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.530714057 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:288.91, Y:232.72, Z:3.17 [[ 5.18810315e-01 -8.54810215e-01 1.16341205e-02 2.88913995e+02] [ 8.54591433e-01 5.18940736e-01 1.93389567e-02 2.32722454e+02] [-2.25685568e-02 -9.08304540e-05 9.99745294e-01 3.17214894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5607140569999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:288.93, Y:232.75, Z:3.17 [[ 5.20438045e-01 -8.53820011e-01 1.16460593e-02 2.88931189e+02] [ 8.53601141e-01 5.20568319e-01 1.93317644e-02 2.32745102e+02] [-2.25684168e-02 -1.19896106e-04 9.99745294e-01 3.17174324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5907140569999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:288.95, Y:232.77, Z:3.17 [[ 5.21310515e-01 -8.53287668e-01 1.16405408e-02 2.88946958e+02] [ 8.53068592e-01 5.21440440e-01 1.93350868e-02 2.32768121e+02] [-2.25682398e-02 -1.49404283e-04 9.99745294e-01 3.17091551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.620714057 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:288.96, Y:232.79, Z:3.17 [[ 5.22131120e-01 -8.52785858e-01 1.16350199e-02 2.88962892e+02] [ 8.52566583e-01 5.22260709e-01 1.93384084e-02 2.32790942e+02] [-2.25680350e-02 -1.77555643e-04 9.99745294e-01 3.16988419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.650714057 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:288.98, Y:232.81, Z:3.17 [[ 5.23720524e-01 -8.51810758e-01 1.16295056e-02 2.88980985e+02] [ 8.51591167e-01 5.23849579e-01 1.93417240e-02 2.32811315e+02] [-2.25676002e-02 -2.26073534e-04 9.99745294e-01 3.16923412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6807140569999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:289.00, Y:232.83, Z:3.17 [[ 5.24391790e-01 -8.51397729e-01 1.16257601e-02 2.88997915e+02] [ 8.51177987e-01 5.24520587e-01 1.93439750e-02 2.32833432e+02] [-2.25673669e-02 -2.48230580e-04 9.99745294e-01 3.16945036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7107140569999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:289.02, Y:232.85, Z:3.17 [[ 5.25360086e-01 -8.50800653e-01 1.16201988e-02 2.89016480e+02] [ 8.50580691e-01 5.25488506e-01 1.93473152e-02 2.32853410e+02] [-2.25669893e-02 -2.80390432e-04 9.99745294e-01 3.16937181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.740714057 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:289.03, Y:232.88, Z:3.17 [[ 5.25711858e-01 -8.50583388e-01 1.16164477e-02 2.89033230e+02] [ 8.50363323e-01 5.25840102e-01 1.93495672e-02 2.32876127e+02] [-2.25668145e-02 -2.94095897e-04 9.99745294e-01 3.16806169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.770714057 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:289.05, Y:232.90, Z:3.17 [[ 5.26201366e-01 -8.50280722e-01 1.16110202e-02 2.89050136e+02] [ 8.50060512e-01 5.26329360e-01 1.93528235e-02 2.32898678e+02] [-2.25665536e-02 -3.13412398e-04 9.99745294e-01 3.16629070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8007140569999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:289.07, Y:232.92, Z:3.17 [[ 5.26849528e-01 -8.49879339e-01 1.16053473e-02 2.89066858e+02] [ 8.49658956e-01 5.26977225e-01 1.93562248e-02 2.32920386e+02] [-2.25662092e-02 -3.37230565e-04 9.99745294e-01 3.16560565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8307140569999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:289.09, Y:232.94, Z:3.16 [[ 5.27631795e-01 -8.49393938e-01 1.16028924e-02 2.89086908e+02] [ 8.49173405e-01 5.27759233e-01 1.93576962e-02 2.32939761e+02] [-2.25658434e-02 -3.60868322e-04 9.99745294e-01 3.16456463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.860714057 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:289.11, Y:232.96, Z:3.17 [[ 5.26864444e-01 -8.49870176e-01 1.15991801e-02 2.89105527e+02] [ 8.49649710e-01 5.26991996e-01 1.93599204e-02 2.32963125e+02] [-2.25660940e-02 -3.44813644e-04 9.99745294e-01 3.16507120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.890714057 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:289.12, Y:232.98, Z:3.16 [[ 5.27569892e-01 -8.49431432e-01 1.16727046e-02 2.89122743e+02] [ 8.49211829e-01 5.27698935e-01 1.93158986e-02 2.32984272e+02] [-2.25672052e-02 -2.77887699e-04 9.99745290e-01 3.16308873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9207140569999 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:289.14, Y:233.00, Z:3.16 [[ 5.27076999e-01 -8.49738528e-01 1.15875048e-02 2.89143781e+02] [ 8.49517877e-01 5.27204231e-01 1.93668751e-02 2.33004639e+02] [-2.25657615e-02 -3.64041960e-04 9.99745295e-01 3.16204612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9507140569999 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:289.16, Y:233.03, Z:3.16 [[ 5.26233562e-01 -8.50261192e-01 1.15820251e-02 2.89161102e+02] [ 8.50040595e-01 5.26360887e-01 1.93701516e-02 2.33026890e+02] [-2.25660132e-02 -3.48032314e-04 9.99745295e-01 3.16059776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9807140569999 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:289.18, Y:233.05, Z:3.16 [[ 5.25346428e-01 -8.50809684e-01 1.15763803e-02 2.89178589e+02] [ 8.50589145e-01 5.25473855e-01 1.93735246e-02 2.33049512e+02] [-2.25662675e-02 -3.31068551e-04 9.99745295e-01 3.15928524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.010714057 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:289.20, Y:233.07, Z:3.16 [[ 5.23115313e-01 -8.52183365e-01 1.15707734e-02 2.89198240e+02] [ 8.51963087e-01 5.23243190e-01 1.93768727e-02 2.33069080e+02] [-2.25669769e-02 -2.78466989e-04 9.99745295e-01 3.15830650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.040714057 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:289.22, Y:233.09, Z:3.16 [[ 5.21430250e-01 -8.53215487e-01 1.15683441e-02 2.89215477e+02] [ 8.52995430e-01 5.21558507e-01 1.93783229e-02 2.33091368e+02] [-2.25674535e-02 -2.36699161e-04 9.99745295e-01 3.15765441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0707140569999 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:289.24, Y:233.11, Z:3.16 [[ 5.17949802e-01 -8.55332861e-01 1.15628833e-02 2.89236078e+02] [ 8.55113255e-01 5.18078831e-01 1.93815808e-02 2.33111546e+02] [-2.25681880e-02 -1.51111147e-04 9.99745295e-01 3.15581111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1007140569999 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:289.25, Y:233.13, Z:3.16 [[ 5.16063947e-01 -8.56472084e-01 1.15573472e-02 2.89252378e+02] [ 8.56252690e-01 5.16193334e-01 1.93848815e-02 2.33132960e+02] [-2.25684354e-02 -1.07828850e-04 9.99745295e-01 3.15500595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.130714057 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:289.27, Y:233.16, Z:3.15 [[ 5.13919053e-01 -8.57760868e-01 1.15542646e-02 2.89269095e+02] [ 8.57541757e-01 5.14048919e-01 1.93867186e-02 2.33155253e+02] [-2.25686258e-02 -5.49397402e-05 9.99745295e-01 3.15365748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.160714057 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:289.29, Y:233.18, Z:3.15 [[ 5.09872913e-01 -8.60172216e-01 1.15486938e-02 2.89287858e+02] [ 8.59953644e-01 5.10003684e-01 1.93900366e-02 2.33176654e+02] [-2.25686471e-02 4.48868734e-05 9.99745295e-01 3.15179753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1907140569999 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:289.30, Y:233.20, Z:3.15 [[ 5.07592844e-01 -8.61519740e-01 1.15430787e-02 2.89303671e+02] [ 8.61301439e-01 5.07724067e-01 1.93933788e-02 2.33198537e+02] [-2.25684775e-02 9.81299859e-05 9.99745295e-01 3.15096084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2207140569999 meters Centerline goodness : 0.997153 Centerline is valid? [True, True] Translation: X:289.32, Y:233.22, Z:3.15 [[ 5.02564042e-01 -8.64462962e-01 1.15399821e-02 2.89321619e+02] [ 8.64245387e-01 5.02696466e-01 1.93952212e-02 2.33219400e+02] [-2.25675586e-02 2.26035557e-04 9.99745295e-01 3.15033080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.250714057 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:289.34, Y:233.24, Z:3.15 [[ 4.99686207e-01 -8.66129663e-01 1.15369505e-02 2.89337599e+02] [ 8.65912488e-01 4.99819285e-01 1.93970243e-02 2.33242708e+02] [-2.25667285e-02 2.97564058e-04 9.99745295e-01 3.14970736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.280714057 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:289.35, Y:233.27, Z:3.15 [[ 4.96263639e-01 -8.68095285e-01 1.15315900e-02 2.89353483e+02] [ 8.67878563e-01 4.96397454e-01 1.94002106e-02 2.33266471e+02] [-2.25654833e-02 3.80400683e-04 9.99745295e-01 3.14976947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3107140569999 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:289.37, Y:233.29, Z:3.15 [[ 4.89411680e-01 -8.71976694e-01 1.15261351e-02 2.89369620e+02] [ 8.71760957e-01 4.89547077e-01 1.94034510e-02 2.33290680e+02] [-2.25619428e-02 5.51759027e-04 9.99745295e-01 3.15020919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3407140569999 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:289.38, Y:233.31, Z:3.15 [[ 4.86760674e-01 -8.73459105e-01 1.15428604e-02 2.89384605e+02] [ 8.73244015e-01 4.86897096e-01 1.93935204e-02 2.33314740e+02] [-2.25596322e-02 6.39730671e-04 9.99745294e-01 3.14952909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.370714057 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:289.40, Y:233.34, Z:3.15 [[ 4.83311284e-01 -8.75372795e-01 1.15183638e-02 2.89398800e+02] [ 8.75157898e-01 4.83448012e-01 1.94080588e-02 2.33338339e+02] [-2.25578167e-02 7.00253194e-04 9.99745295e-01 3.15018807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.400714057 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:289.41, Y:233.36, Z:3.15 [[ 4.78521899e-01 -8.77999774e-01 1.15407832e-02 2.89412896e+02] [ 8.77785946e-01 4.78660293e-01 1.93947607e-02 2.33362531e+02] [-2.25527102e-02 8.49519600e-04 9.99745294e-01 3.14906788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4307140569999 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:289.43, Y:233.39, Z:3.15 [[ 4.76087316e-01 -8.79322728e-01 1.15068839e-02 2.89425977e+02] [ 8.79108801e-01 4.76225555e-01 1.94148523e-02 2.33386153e+02] [-2.25517931e-02 8.72637995e-04 9.99745295e-01 3.14842598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4607140569999 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:289.44, Y:233.41, Z:3.15 [[ 4.75844972e-01 -8.79453945e-01 1.15030824e-02 2.89440469e+02] [ 8.79240003e-01 4.75983186e-01 1.94171044e-02 2.33410742e+02] [-2.25517229e-02 8.74438735e-04 9.99745295e-01 3.14778272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.490714057 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:289.45, Y:233.44, Z:3.15 [[ 4.73267347e-01 -8.80843812e-01 1.14977292e-02 2.89453695e+02] [ 8.80630199e-01 4.73406069e-01 1.94202738e-02 2.33435627e+02] [-2.25493228e-02 9.34266129e-04 9.99745295e-01 3.14649561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.520714057 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:289.46, Y:233.46, Z:3.15 [[ 4.69671281e-01 -8.82766572e-01 1.14920996e-02 2.89464988e+02] [ 8.82553445e-01 4.69810750e-01 1.94236045e-02 2.33460712e+02] [-2.25456207e-02 1.01968290e-03 9.99745295e-01 3.14620320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5507140569999 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:289.48, Y:233.49, Z:3.15 [[ 4.67838614e-01 -8.83739234e-01 1.14890150e-02 2.89477177e+02] [ 8.83526353e-01 4.67978457e-01 1.94254289e-02 2.33485516e+02] [-2.25436252e-02 1.06288178e-03 9.99745295e-01 3.14625521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5807140569999 meters Centerline goodness : 0.996405 Centerline is valid? [True, True] Translation: X:289.49, Y:233.51, Z:3.15 [[ 4.67106220e-01 -8.84126635e-01 1.14836136e-02 2.89489261e+02] [ 8.83913792e-01 4.67246121e-01 1.94286215e-02 2.33510663e+02] [-2.25430357e-02 1.07529453e-03 9.99745295e-01 3.14565447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.610714057 meters Centerline goodness : 0.996596 Centerline is valid? [True, True] Translation: X:289.50, Y:233.54, Z:3.14 [[ 4.65904104e-01 -8.84760768e-01 1.14782029e-02 2.89498358e+02] [ 8.84548038e-01 4.66044176e-01 1.94318176e-02 2.33538210e+02] [-2.25418595e-02 1.09965830e-03 9.99745295e-01 3.14481495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.640714057 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:289.51, Y:233.56, Z:3.15 [[ 4.65676700e-01 -8.84880551e-01 1.14726620e-02 2.89509117e+02] [ 8.84667776e-01 4.65816705e-01 1.94350884e-02 2.33563300e+02] [-2.25418893e-02 1.09902652e-03 9.99745295e-01 3.14518839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6707140569999 meters Centerline goodness : 0.996944 Centerline is valid? [True, True] Translation: X:289.52, Y:233.59, Z:3.14 [[ 4.65640682e-01 -8.84899638e-01 1.14624067e-02 2.89520598e+02] [ 8.84686721e-01 4.65780471e-01 1.94411397e-02 2.33589861e+02] [-2.25424227e-02 1.08805341e-03 9.99745295e-01 3.14301802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7007140569999 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:289.53, Y:233.62, Z:3.14 [[ 4.65425121e-01 -8.85012971e-01 1.14672310e-02 2.89531791e+02] [ 8.84800158e-01 4.65565068e-01 1.94382937e-02 2.33616308e+02] [-2.25418843e-02 1.09913760e-03 9.99745295e-01 3.14262911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7307140569999 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:289.54, Y:233.64, Z:3.14 [[ 4.65861404e-01 -8.84783465e-01 1.14617667e-02 2.89538962e+02] [ 8.84570504e-01 4.66001127e-01 1.94415152e-02 2.33643764e+02] [-2.25427274e-02 1.08168919e-03 9.99745295e-01 3.14307334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.760714057 meters Centerline goodness : 0.997505 Centerline is valid? [True, True] Translation: X:289.55, Y:233.67, Z:3.14 [[ 4.66193494e-01 -8.84608571e-01 1.14587662e-02 2.89549575e+02] [ 8.84395515e-01 4.66333070e-01 1.94432835e-02 2.33670531e+02] [-2.25432969e-02 1.06974911e-03 9.99745295e-01 3.14308963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.790714057 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:289.56, Y:233.70, Z:3.14 [[ 4.67597597e-01 -8.83867247e-01 1.14533051e-02 2.89555065e+02] [ 8.83653891e-01 4.67736715e-01 1.94464999e-02 2.33699217e+02] [-2.25452556e-02 1.02762100e-03 9.99745295e-01 3.14381789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8207140569999 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:289.57, Y:233.73, Z:3.14 [[ 4.68138567e-01 -8.83580881e-01 1.14502807e-02 2.89565066e+02] [ 8.83367397e-01 4.68277488e-01 1.94482806e-02 2.33725926e+02] [-2.25460375e-02 1.01031443e-03 9.99745295e-01 3.14336504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8507140569999 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:289.57, Y:233.75, Z:3.14 [[ 4.63483340e-01 -8.86031721e-01 1.14448035e-02 2.89565939e+02] [ 8.85818892e-01 4.63623263e-01 1.94515032e-02 2.33751241e+02] [-2.25407260e-02 1.12257551e-03 9.99745295e-01 3.14489969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.880714057 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:289.58, Y:233.78, Z:3.14 [[ 4.68265348e-01 -8.83518548e-01 1.10697402e-02 2.89581714e+02] [ 8.83299703e-01 4.68395831e-01 1.96717806e-02 2.33782026e+02] [-2.25654032e-02 5.66285032e-04 9.99745208e-01 3.14160639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.910714057 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:289.59, Y:233.81, Z:3.14 [[ 4.68165255e-01 -8.83566640e-01 1.14580024e-02 2.89592039e+02] [ 8.83353269e-01 4.68304339e-01 1.94434404e-02 2.33808706e+02] [-2.25454075e-02 1.01872062e-03 9.99745301e-01 3.14018286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9407140569999 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:289.60, Y:233.84, Z:3.14 [[ 4.67540304e-01 -8.83897767e-01 1.14368957e-02 2.89602810e+02] [ 8.83684193e-01 4.67679075e-01 1.94558477e-02 2.33835355e+02] [-2.25457771e-02 1.01021099e-03 9.99745301e-01 3.13968435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9707140569999 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:289.61, Y:233.86, Z:3.14 [[ 4.66613563e-01 -8.84387418e-01 1.14314151e-02 2.89612917e+02] [ 8.84173912e-01 4.66752438e-01 1.94590674e-02 2.33861474e+02] [-2.25449952e-02 1.02749424e-03 9.99745301e-01 3.13901693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.000714057 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:289.62, Y:233.89, Z:3.14 [[ 4.64445609e-01 -8.85527935e-01 1.14259349e-02 2.89618923e+02] [ 8.85314691e-01 4.64584887e-01 1.94622847e-02 2.33890130e+02] [-2.25427134e-02 1.07637536e-03 9.99745301e-01 3.13852562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.030714057 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:289.63, Y:233.92, Z:3.14 [[ 4.62699374e-01 -8.86441686e-01 1.14204283e-02 2.89628500e+02] [ 8.86228638e-01 4.62838951e-01 1.94655154e-02 2.33915842e+02] [-2.25408633e-02 1.11442880e-03 9.99745301e-01 3.13780373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0607140569999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:289.64, Y:233.94, Z:3.14 [[ 4.57702723e-01 -8.89031989e-01 1.14166862e-02 2.89635293e+02] [ 8.88819675e-01 4.57843415e-01 1.94677099e-02 2.33944797e+02] [-2.25344715e-02 1.23695154e-03 9.99745301e-01 3.13593452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0907140569999 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:289.65, Y:233.97, Z:3.14 [[ 4.54745246e-01 -8.90548454e-01 1.14111123e-02 2.89645685e+02] [ 8.90336528e-01 4.54886522e-01 1.94709765e-02 2.33970237e+02] [-2.25306092e-02 1.30539614e-03 9.99745301e-01 3.13536621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.120714057 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:289.66, Y:234.00, Z:3.13 [[ 4.51540972e-01 -8.92177444e-01 1.14087029e-02 2.89656541e+02] [ 8.91965993e-01 4.51682957e-01 1.94723882e-02 2.33996783e+02] [-2.25259422e-02 1.38359392e-03 9.99745301e-01 3.13453005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.150714057 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:289.67, Y:234.02, Z:3.13 [[ 4.48722387e-01 -8.93598448e-01 1.14031968e-02 2.89666312e+02] [ 8.93387365e-01 4.48864920e-01 1.94756121e-02 2.34021937e+02] [-2.25218717e-02 1.44832875e-03 9.99745301e-01 3.13431073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1807140569999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:289.67, Y:234.05, Z:3.13 [[ 4.44169898e-01 -8.95870037e-01 1.14008169e-02 2.89671829e+02] [ 8.95659647e-01 4.44313452e-01 1.94770051e-02 2.34050653e+02] [-2.25144016e-02 1.56015224e-03 9.99745301e-01 3.13428265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2107140569999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:289.68, Y:234.08, Z:3.13 [[ 4.42537572e-01 -8.96677532e-01 1.13974375e-02 2.89681640e+02] [ 8.96467354e-01 4.42681435e-01 1.94789825e-02 2.34077843e+02] [-2.25117999e-02 1.59724904e-03 9.99745301e-01 3.13406573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.240714057 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:289.69, Y:234.10, Z:3.13 [[ 4.40838160e-01 -8.97514311e-01 1.13920141e-02 2.89690671e+02] [ 8.97304326e-01 4.40982304e-01 1.94821538e-02 2.34104924e+02] [-2.25091884e-02 1.63362667e-03 9.99745301e-01 3.13388469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.270714057 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:289.70, Y:234.13, Z:3.13 [[ 4.38162738e-01 -8.98823538e-01 1.13868995e-02 2.89695100e+02] [ 8.98613907e-01 4.38307397e-01 1.94851427e-02 2.34133995e+02] [-2.25046672e-02 1.69476274e-03 9.99745301e-01 3.13499325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3007140569999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:289.71, Y:234.16, Z:3.13 [[ 4.37002985e-01 -8.99388013e-01 1.13839037e-02 2.89705027e+02] [ 8.99178524e-01 4.37147850e-01 1.94868927e-02 2.34161011e+02] [-2.25027268e-02 1.72033146e-03 9.99745301e-01 3.13452577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3307140569999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:289.71, Y:234.19, Z:3.13 [[ 4.36183901e-01 -8.99785604e-01 1.13785368e-02 2.89714327e+02] [ 8.99576168e-01 4.36328841e-01 1.94900260e-02 2.34187332e+02] [-2.25016286e-02 1.73462493e-03 9.99745301e-01 3.13397956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.360714057 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:289.72, Y:234.21, Z:3.13 [[ 4.35725921e-01 -9.00007504e-01 1.13760362e-02 2.89723588e+02] [ 8.99798104e-01 4.35870914e-01 1.94914855e-02 2.34214416e+02] [-2.25009665e-02 1.74319029e-03 9.99745301e-01 3.13352097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.390714057 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:289.73, Y:234.24, Z:3.13 [[ 4.36442457e-01 -8.99660321e-01 1.13705246e-02 2.89726228e+02] [ 8.99450724e-01 4.36587165e-01 1.94947002e-02 2.34244202e+02] [-2.25028333e-02 1.71891176e-03 9.99745301e-01 3.13403787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4207140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:289.73, Y:234.27, Z:3.13 [[ 4.36896825e-01 -8.99439803e-01 1.13668175e-02 2.89734402e+02] [ 8.99230078e-01 4.37041347e-01 1.94968615e-02 2.34272175e+02] [-2.25040225e-02 1.70326729e-03 9.99745301e-01 3.13272585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4507140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.74, Y:234.30, Z:3.13 [[ 4.37926789e-01 -8.98938846e-01 1.13612773e-02 2.89742584e+02] [ 8.98728873e-01 4.38070952e-01 1.95000894e-02 2.34299127e+02] [-2.25064334e-02 1.67109639e-03 9.99745302e-01 3.13278334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4807140569999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:289.75, Y:234.33, Z:3.13 [[ 4.40000545e-01 -8.97925703e-01 1.13557647e-02 2.89745730e+02] [ 8.97715317e-01 4.40144103e-01 1.95032991e-02 2.34329539e+02] [-2.25106864e-02 1.61278166e-03 9.99745302e-01 3.13202080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.510714057 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:289.75, Y:234.36, Z:3.13 [[ 4.40904083e-01 -8.97482459e-01 1.13501344e-02 2.89753814e+02] [ 8.97271846e-01 4.41047308e-01 1.95065751e-02 2.34355808e+02] [-2.25127552e-02 1.58362743e-03 9.99745302e-01 3.13187529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.540714057 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:289.76, Y:234.39, Z:3.13 [[ 4.42383413e-01 -8.96754245e-01 1.13463477e-02 2.89757342e+02] [ 8.96543341e-01 4.42526209e-01 1.95087774e-02 2.34386024e+02] [-2.25156352e-02 1.54213295e-03 9.99745302e-01 3.13051267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5707140569999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:289.77, Y:234.41, Z:3.13 [[ 4.42569359e-01 -8.96662561e-01 1.13408536e-02 2.89765683e+02] [ 8.96451546e-01 4.42711992e-01 1.95119708e-02 2.34413087e+02] [-2.25163856e-02 1.53112530e-03 9.99745302e-01 3.12931967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6007140569999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:289.77, Y:234.44, Z:3.13 [[ 4.43876713e-01 -8.96016165e-01 1.13355566e-02 2.89773036e+02] [ 8.95804866e-01 4.44018924e-01 1.95150476e-02 2.34438796e+02] [-2.25189998e-02 1.49217156e-03 9.99745302e-01 3.12887161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.630714057 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:289.78, Y:234.47, Z:3.13 [[ 4.41847516e-01 -8.97019949e-01 1.12242386e-02 2.89778123e+02] [ 8.96807353e-01 4.41987793e-01 1.95796350e-02 2.34470823e+02] [-2.25242996e-02 1.41476666e-03 9.99745295e-01 3.12630301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.660714057 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:289.79, Y:234.50, Z:3.13 [[ 4.41023798e-01 -8.97423931e-01 1.13268330e-02 2.89786912e+02] [ 8.97212958e-01 4.41166492e-01 1.95201033e-02 2.34496850e+02] [-2.25148270e-02 1.55375122e-03 9.99745302e-01 3.12531194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6907140569999 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:289.80, Y:234.52, Z:3.12 [[ 4.39401678e-01 -8.98219306e-01 1.13244359e-02 2.89796359e+02] [ 8.98008556e-01 4.39544701e-01 1.95214938e-02 2.34523812e+02] [-2.25121784e-02 1.59166315e-03 9.99745302e-01 3.12423373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7207140569999 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:289.81, Y:234.55, Z:3.12 [[ 4.37808465e-01 -8.98997013e-01 1.13189159e-02 2.89806088e+02] [ 8.98786436e-01 4.37951742e-01 1.95246939e-02 2.34550684e+02] [-2.25097804e-02 1.62521178e-03 9.99745302e-01 3.12340419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.750714057 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:289.82, Y:234.58, Z:3.12 [[ 4.36135780e-01 -8.99809752e-01 1.13133526e-02 2.89815416e+02] [ 8.99599360e-01 4.36279329e-01 1.95279169e-02 2.34576387e+02] [-2.25071920e-02 1.66066152e-03 9.99745302e-01 3.12223933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.780714057 meters Centerline goodness : 0.997090 Centerline is valid? [True, True] Translation: X:289.82, Y:234.61, Z:3.12 [[ 4.32731120e-01 -9.01452073e-01 1.13109417e-02 2.89821785e+02] [ 9.01242189e-01 4.32875412e-01 1.95293133e-02 2.34605223e+02] [-2.25009685e-02 1.74295621e-03 9.99745302e-01 3.12000256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8107140569999 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:289.83, Y:234.63, Z:3.12 [[ 4.30901770e-01 -9.02328018e-01 1.13053771e-02 2.89831621e+02] [ 9.02118345e-01 4.31046368e-01 1.95325340e-02 2.34630737e+02] [-2.24978945e-02 1.78218462e-03 9.99745302e-01 3.11893839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8407140569999 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:289.84, Y:234.66, Z:3.12 [[ 4.29096604e-01 -9.03187880e-01 1.13029656e-02 2.89841826e+02] [ 9.02978461e-01 4.29241569e-01 1.95339294e-02 2.34657241e+02] [-2.24945110e-02 1.82439168e-03 9.99745302e-01 3.11792564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.870714057 meters Centerline goodness : 0.995912 Centerline is valid? [True, True] Translation: X:289.85, Y:234.69, Z:3.12 [[ 4.26249243e-01 -9.04535214e-01 1.12973420e-02 2.89848311e+02] [ 9.04326168e-01 4.26394747e-01 1.95371813e-02 2.34685982e+02] [-2.24891957e-02 1.88877326e-03 9.99745302e-01 3.11679666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.900714057 meters Centerline goodness : 0.995815 Centerline is valid? [True, True] Translation: X:289.86, Y:234.71, Z:3.12 [[ 4.24976513e-01 -9.05133948e-01 1.12915466e-02 2.89857776e+02] [ 9.04925021e-01 4.25122187e-01 1.95405301e-02 2.34711383e+02] [-2.24870842e-02 1.91373669e-03 9.99745302e-01 3.11673001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9307140569999 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:289.87, Y:234.74, Z:3.12 [[ 4.24033166e-01 -9.05576298e-01 1.12890360e-02 2.89867963e+02] [ 9.05367486e-01 4.24179003e-01 1.95419805e-02 2.34738194e+02] [-2.24853264e-02 1.93427829e-03 9.99745302e-01 3.11563573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9607140569999 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:289.87, Y:234.77, Z:3.11 [[ 4.22296098e-01 -9.06387713e-01 1.12836042e-02 2.89872799e+02] [ 9.06179099e-01 4.22442219e-01 1.95451163e-02 2.34766611e+02] [-2.24821241e-02 1.97113991e-03 9.99745302e-01 3.11443616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.990714057 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:289.88, Y:234.79, Z:3.11 [[ 4.21473028e-01 -9.06770765e-01 1.12812503e-02 2.89882089e+02] [ 9.06562249e-01 4.21619288e-01 1.95464748e-02 2.34792483e+02] [-2.24805647e-02 1.98884374e-03 9.99745302e-01 3.11341288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.020714057 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:289.89, Y:234.82, Z:3.11 [[ 4.20729035e-01 -9.07116242e-01 1.12783789e-02 2.89891440e+02] [ 9.06907803e-01 4.20875406e-01 1.95481316e-02 2.34818814e+02] [-2.24792199e-02 2.00398328e-03 9.99745302e-01 3.11196456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0507140569999 meters Centerline goodness : 0.994104 Centerline is valid? [True, True] Translation: X:289.90, Y:234.85, Z:3.11 [[ 4.19765545e-01 -9.07562562e-01 1.12731019e-02 2.89900741e+02] [ 9.07354200e-01 4.19912024e-01 1.95511742e-02 2.34845132e+02] [-2.24776248e-02 2.02178709e-03 9.99745302e-01 3.11072874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0807140569999 meters Centerline goodness : 0.991675 Centerline is valid? [True, True] Translation: X:289.91, Y:234.88, Z:3.12 [[ 4.18301417e-01 -9.08238387e-01 1.12675463e-02 2.89908515e+02] [ 9.08030177e-01 4.18448113e-01 1.95543755e-02 2.34876886e+02] [-2.24749179e-02 2.05164911e-03 9.99745302e-01 3.11514091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.110714057 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:289.91, Y:234.90, Z:3.11 [[ 4.17113581e-01 -9.08782817e-01 1.14040548e-02 2.89914473e+02] [ 9.08576861e-01 4.17263447e-01 1.94757047e-02 2.34902901e+02] [-2.24576810e-02 2.23787939e-03 9.99745290e-01 3.10850906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.140714057 meters Centerline goodness : 0.989181 Centerline is valid? [True, True] Translation: X:289.92, Y:234.94, Z:3.11 [[ 4.18139429e-01 -9.08313067e-01 1.12601161e-02 2.89924839e+02] [ 9.08104774e-01 4.18286005e-01 1.95585724e-02 2.34935971e+02] [-2.24752559e-02 2.04715484e-03 9.99745304e-01 3.11042282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1707140569999 meters Centerline goodness : 0.989365 Centerline is valid? [True, True] Translation: X:289.93, Y:234.96, Z:3.11 [[ 4.17488734e-01 -9.08608554e-01 1.15608244e-02 2.89934912e+02] [ 9.08404926e-01 4.17641825e-01 1.93854447e-02 2.34964900e+02] [-2.24420646e-02 2.40870506e-03 9.99745243e-01 3.10957794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2007140569999 meters Centerline goodness : 0.987606 Centerline is valid? [True, True] Translation: X:289.94, Y:234.99, Z:3.11 [[ 4.16496726e-01 -9.09063149e-01 1.16046365e-02 2.89943000e+02] [ 9.08860363e-01 4.16650960e-01 1.93602330e-02 2.34991283e+02] [-2.24347573e-02 2.48352042e-03 9.99745224e-01 3.10907743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2307140569999 meters Centerline goodness : 0.986584 Centerline is valid? [True, True] Translation: X:289.95, Y:235.02, Z:3.11 [[ 4.16433642e-01 -9.09092263e-01 1.15879372e-02 2.89954238e+02] [ 9.08889230e-01 4.16587539e-01 1.93698360e-02 2.35020272e+02] [-2.24363583e-02 2.46590000e-03 9.99745232e-01 3.10744964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.260714057 meters Centerline goodness : 0.984394 Centerline is valid? [True, True] Translation: X:289.96, Y:235.05, Z:3.11 [[ 4.14627237e-01 -9.09916368e-01 1.16815177e-02 2.89957762e+02] [ 9.09715087e-01 4.14783498e-01 1.93160474e-02 2.35049711e+02] [-2.24212884e-02 2.61789355e-03 9.99745184e-01 3.10566772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.290714057 meters Centerline goodness : 0.980667 Centerline is valid? [True, True] Translation: X:289.97, Y:235.08, Z:3.11 [[ 4.15203619e-01 -9.09654123e-01 1.16332316e-02 2.89966258e+02] [ 9.09451998e-01 4.15358741e-01 1.93437302e-02 2.35075610e+02] [-2.24280684e-02 2.54827894e-03 9.99745212e-01 3.10600635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3207140569999 meters Centerline goodness : 0.981864 Centerline is valid? [True, True] Translation: X:289.98, Y:235.11, Z:3.10 [[ 4.12467573e-01 -9.10899278e-01 1.15328342e-02 2.89979031e+02] [ 9.10696076e-01 4.12621197e-01 1.94011774e-02 2.35106616e+02] [-2.24312104e-02 2.50055024e-03 9.99745262e-01 3.10091200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3507140569999 meters Centerline goodness : 0.981864 Centerline is valid? [True, True] Translation: X:289.99, Y:235.13, Z:3.10 [[ 4.11892146e-01 -9.11156107e-01 1.18071426e-02 2.89992680e+02] [ 9.10957251e-01 4.12051628e-01 1.92442831e-02 2.35131336e+02] [-2.23996984e-02 2.82923311e-03 9.99745092e-01 3.10032005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.380714057 meters Centerline goodness : 0.981505 Centerline is valid? [True, True] Translation: X:290.00, Y:235.16, Z:3.10 [[ 4.10351939e-01 -9.11851090e-01 1.17845931e-02 2.90001462e+02] [ 9.11652151e-01 4.10511288e-01 1.92571602e-02 2.35159161e+02] [-2.23973710e-02 2.84123659e-03 9.99745110e-01 3.09926227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.410714057 meters Centerline goodness : 0.978636 Centerline is valid? [True, True] Translation: X:290.01, Y:235.19, Z:3.10 [[ 4.14028345e-01 -9.10187812e-01 1.17760753e-02 2.90007074e+02] [ 9.09988100e-01 4.14186712e-01 1.92620182e-02 2.35186564e+02] [-2.24095482e-02 2.74106687e-03 9.99745117e-01 3.09658299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4407140569999 meters Centerline goodness : 0.980884 Centerline is valid? [True, True] Translation: X:290.02, Y:235.22, Z:3.09 [[ 4.11722294e-01 -9.11234356e-01 1.16919635e-02 2.90019267e+02] [ 9.11033741e-01 4.11879413e-01 1.93098795e-02 2.35218658e+02] [-2.24115046e-02 2.70146539e-03 9.99745181e-01 3.09363301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4707140569999 meters Centerline goodness : 0.978923 Centerline is valid? [True, True] Translation: X:290.02, Y:235.25, Z:3.09 [[ 4.15204294e-01 -9.09648984e-01 1.20050238e-02 2.90020700e+02] [ 9.09452637e-01 4.15367161e-01 1.91317138e-02 2.35245543e+02] [-2.23896366e-02 2.97443087e-03 9.99744896e-01 3.09031248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.500714057 meters Centerline goodness : 0.979731 Centerline is valid? [True, True] Translation: X:290.03, Y:235.28, Z:3.09 [[ 4.12640918e-01 -9.10818092e-01 1.17420478e-02 2.90032212e+02] [ 9.10618105e-01 4.12798880e-01 1.92808683e-02 2.35277359e+02] [-2.24084678e-02 2.73644609e-03 9.99745154e-01 3.09153090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.530714057 meters Centerline goodness : 0.977195 Centerline is valid? [True, True] Translation: X:290.04, Y:235.30, Z:3.09 [[ 4.16322705e-01 -9.09137770e-01 1.19966852e-02 2.90036305e+02] [ 9.08941092e-01 4.16485158e-01 1.91364622e-02 2.35298981e+02] [-2.23941219e-02 2.93733640e-03 9.99744905e-01 3.09375616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5607140569999 meters Centerline goodness : 0.976139 Centerline is valid? [True, True] Translation: X:290.04, Y:235.33, Z:3.10 [[ 4.20876180e-01 -9.07043596e-01 1.16257040e-02 2.90037786e+02] [ 9.06840427e-01 4.21029874e-01 1.93464601e-02 2.35327270e+02] [-2.24428514e-02 2.40019414e-03 9.99745246e-01 3.09602375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5907140569999 meters Centerline goodness : 0.976365 Centerline is valid? [True, True] Translation: X:290.05, Y:235.35, Z:3.09 [[ 4.25009527e-01 -9.05115988e-01 1.14869240e-02 2.90045223e+02] [ 9.04910051e-01 4.25159350e-01 1.94248911e-02 2.35352414e+02] [-2.24655527e-02 2.13886914e-03 9.99745330e-01 3.09393692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.620714057 meters Centerline goodness : 0.978060 Centerline is valid? [True, True] Translation: X:290.06, Y:235.38, Z:3.09 [[ 4.28601029e-01 -9.03421782e-01 1.14123562e-02 2.90058102e+02] [ 9.03214154e-01 4.28748441e-01 1.94670434e-02 2.35383073e+02] [-2.24799810e-02 1.96420684e-03 9.99745364e-01 3.08945013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.650714057 meters Centerline goodness : 0.982235 Centerline is valid? [True, True] Translation: X:290.07, Y:235.42, Z:3.09 [[ 4.32144312e-01 -9.01730638e-01 1.15390722e-02 2.90068317e+02] [ 9.01524282e-01 4.32293618e-01 1.93957663e-02 2.35419695e+02] [-2.24780240e-02 2.02098370e-03 9.99745295e-01 3.08812133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6807140569999 meters Centerline goodness : 0.980303 Centerline is valid? [True, True] Translation: X:290.07, Y:235.44, Z:3.09 [[ 4.38931496e-01 -8.98440191e-01 1.20151998e-02 2.90074032e+02] [ 8.98239751e-01 4.39089374e-01 1.91277586e-02 2.35440661e+02] [-2.24608937e-02 2.39675438e-03 9.99744849e-01 3.08889404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7107140569999 meters Centerline goodness : 0.981886 Centerline is valid? [True, True] Translation: X:290.09, Y:235.47, Z:3.09 [[ 4.36719422e-01 -8.99522107e-01 1.16672629e-02 2.90089209e+02] [ 8.99316864e-01 4.36870418e-01 1.93239761e-02 2.35474473e+02] [-2.24794257e-02 2.05341062e-03 9.99745197e-01 3.08599564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.740714057 meters Centerline goodness : 0.977971 Centerline is valid? [True, True] Translation: X:290.09, Y:235.49, Z:3.09 [[ 4.39660014e-01 -8.98083096e-01 1.20758151e-02 2.90088928e+02] [ 8.97883594e-01 4.39818992e-01 1.90867869e-02 2.35486061e+02] [-2.24526935e-02 2.45097931e-03 9.99744902e-01 3.09361009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.770714057 meters Centerline goodness : 0.985276 Centerline is valid? [True, True] Translation: X:290.10, Y:235.52, Z:3.08 [[ 4.37170876e-01 -8.99313046e-01 1.08475886e-02 2.90102460e+02] [ 8.99095779e-01 4.37304058e-01 1.97975119e-02 2.35519284e+02] [-2.25478552e-02 1.09812552e-03 9.99745162e-01 3.08466695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8007140569999 meters Centerline goodness : 0.986834 Centerline is valid? [True, True] Translation: X:290.11, Y:235.54, Z:3.08 [[ 4.35988414e-01 -8.99881133e-01 1.13158728e-02 2.90113041e+02] [ 8.99670809e-01 4.36132051e-01 1.95261335e-02 2.35544311e+02] [-2.25064140e-02 1.66739243e-03 9.99745308e-01 3.08469992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8307140569999 meters Centerline goodness : 0.982007 Centerline is valid? [True, True] Translation: X:290.13, Y:235.57, Z:3.09 [[ 4.40292119e-01 -8.97783301e-01 1.13134314e-02 2.90130058e+02] [ 8.97572256e-01 4.40434695e-01 1.95275479e-02 2.35570647e+02] [-2.25143342e-02 1.55679668e-03 9.99745308e-01 3.08932068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.860714057 meters Centerline goodness : 0.986905 Centerline is valid? [True, True] Translation: X:290.13, Y:235.60, Z:3.08 [[ 4.32482858e-01 -9.01569418e-01 1.14525796e-02 2.90132707e+02] [ 9.01361687e-01 4.32630243e-01 1.94469260e-02 2.35598337e+02] [-2.24874860e-02 1.91245433e-03 9.99745295e-01 3.08293286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.890714057 meters Centerline goodness : 0.986365 Centerline is valid? [True, True] Translation: X:290.14, Y:235.62, Z:3.08 [[ 4.32167576e-01 -9.01722478e-01 1.13030444e-02 2.90142879e+02] [ 9.01512578e-01 4.32311828e-01 1.95334550e-02 2.35623918e+02] [-2.25001952e-02 1.74811075e-03 9.99745310e-01 3.08134833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9207140569999 meters Centerline goodness : 0.981764 Centerline is valid? [True, True] Translation: X:290.15, Y:235.65, Z:3.08 [[ 4.32866269e-01 -9.01387314e-01 1.13006349e-02 2.90145360e+02] [ 9.01177266e-01 4.33010306e-01 1.95348488e-02 2.35647320e+02] [-2.25017563e-02 1.72789818e-03 9.99745310e-01 3.07951425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9507140569999 meters Centerline goodness : 0.980793 Centerline is valid? [True, True] Translation: X:290.16, Y:235.67, Z:3.08 [[ 4.38304939e-01 -8.98760583e-01 1.08717946e-02 2.90159789e+02] [ 8.98543512e-01 4.38438376e-01 1.97825085e-02 2.35671666e+02] [-2.25463509e-02 1.09800935e-03 9.99745196e-01 3.08070668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9807140569999 meters Centerline goodness : 0.979368 Centerline is valid? [True, True] Translation: X:290.17, Y:235.70, Z:3.09 [[ 4.42910504e-01 -8.96500771e-01 1.08005885e-02 2.90166556e+02] [ 8.96282023e-01 4.43041259e-01 1.98236577e-02 2.35698292e+02] [-2.25570307e-02 9.00267094e-04 9.99745152e-01 3.08844711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.010714057 meters Centerline goodness : 0.987311 Centerline is valid? [True, True] Translation: X:290.18, Y:235.73, Z:3.08 [[ 4.42702993e-01 -8.96604243e-01 1.07188042e-02 2.90181234e+02] [ 8.96384391e-01 4.42831993e-01 1.98708413e-02 2.35731554e+02] [-2.25629101e-02 8.11287852e-04 9.99745096e-01 3.07918106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.040714057 meters Centerline goodness : 0.983613 Centerline is valid? [True, True] Translation: X:290.19, Y:235.75, Z:3.09 [[ 4.47737722e-01 -8.94093637e-01 1.12916288e-02 2.90190294e+02] [ 8.93881108e-01 4.47878065e-01 1.95398245e-02 2.35752757e+02] [-2.25277056e-02 1.34465719e-03 9.99745315e-01 3.08572380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0707140569999 meters Centerline goodness : 0.981641 Centerline is valid? [True, True] Translation: X:290.20, Y:235.78, Z:3.08 [[ 4.49042196e-01 -8.93442914e-01 1.09938976e-02 2.90196879e+02] [ 8.93225987e-01 4.49175712e-01 1.97107831e-02 2.35777128e+02] [-2.25486512e-02 9.69061724e-04 9.99745277e-01 3.07957397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1007140569999 meters Centerline goodness : 0.982258 Centerline is valid? [True, True] Translation: X:290.21, Y:235.80, Z:3.08 [[ 4.55954144e-01 -8.89938179e-01 1.07636294e-02 2.90206290e+02] [ 8.89717093e-01 4.56080867e-01 1.98428202e-02 2.35803168e+02] [-2.25679687e-02 5.29168918e-04 9.99745171e-01 3.08100827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.130714057 meters Centerline goodness : 0.985846 Centerline is valid? [True, True] Translation: X:290.22, Y:235.83, Z:3.08 [[ 4.60089432e-01 -8.87807797e-01 1.07251783e-02 2.90223905e+02] [ 8.87585611e-01 4.60214266e-01 1.98648524e-02 2.35831862e+02] [-2.25720510e-02 3.79905270e-04 9.99745147e-01 3.08194292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.160714057 meters Centerline goodness : 0.988256 Centerline is valid? [True, True] Translation: X:290.24, Y:235.86, Z:3.08 [[ 4.59538151e-01 -8.88089536e-01 1.10301391e-02 2.90237102e+02] [ 8.87871563e-01 4.59669904e-01 1.96892738e-02 2.35862620e+02] [-2.25560610e-02 7.45374347e-04 9.99745302e-01 3.07770138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1907140569999 meters Centerline goodness : 0.986719 Centerline is valid? [True, True] Translation: X:290.25, Y:235.88, Z:3.08 [[ 4.65966462e-01 -8.84730654e-01 1.12661678e-02 2.90250087e+02] [ 8.84514968e-01 4.66101857e-01 1.95532802e-02 2.35883668e+02] [-2.25505681e-02 8.53921230e-04 9.99745339e-01 3.08139505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2207140569999 meters Centerline goodness : 0.989073 Centerline is valid? [True, True] Translation: X:290.26, Y:235.92, Z:3.08 [[ 4.66150627e-01 -8.84635395e-01 1.11270344e-02 2.90262748e+02] [ 8.84417762e-01 4.66282901e-01 1.96335840e-02 2.35915247e+02] [-2.25569092e-02 6.88739397e-04 9.99745323e-01 3.07663322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.250714057 meters Centerline goodness : 0.988904 Centerline is valid? [True, True] Translation: X:290.27, Y:235.94, Z:3.08 [[ 4.69802939e-01 -8.82697520e-01 1.14143188e-02 2.90274455e+02] [ 8.82483303e-01 4.69940665e-01 1.94677044e-02 2.35938007e+02] [-2.25481469e-02 9.26961011e-04 9.99745328e-01 3.07532601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.280714057 meters Centerline goodness : 0.989714 Centerline is valid? [True, True] Translation: X:290.29, Y:235.96, Z:3.08 [[ 4.74051463e-01 -8.80424927e-01 1.12764440e-02 2.90287021e+02] [ 8.80208153e-01 4.74185105e-01 1.95472421e-02 2.35961385e+02] [-2.25570010e-02 6.59219243e-04 9.99745341e-01 3.07533306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3107140569999 meters Centerline goodness : 0.989336 Centerline is valid? [True, True] Translation: X:290.30, Y:235.99, Z:3.08 [[ 4.72330896e-01 -8.81349204e-01 1.12741274e-02 2.90301285e+02] [ 8.81132659e-01 4.72464909e-01 1.95485782e-02 2.35988517e+02] [-2.25557534e-02 7.00604424e-04 9.99745341e-01 3.07656671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3407140569999 meters Centerline goodness : 0.988689 Centerline is valid? [True, True] Translation: X:290.32, Y:236.01, Z:3.08 [[ 4.72884485e-01 -8.81051456e-01 1.13400589e-02 2.90315209e+02] [ 8.80835732e-01 4.73019821e-01 1.95105595e-02 2.36012487e+02] [-2.25538795e-02 7.62488215e-04 9.99745338e-01 3.07643382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.370714057 meters Centerline goodness : 0.988879 Centerline is valid? [True, True] Translation: X:290.33, Y:236.03, Z:3.07 [[ 4.75359819e-01 -8.79718545e-01 1.13280391e-02 2.90332286e+02] [ 8.79502277e-01 4.75494282e-01 1.95174885e-02 2.36033431e+02] [-2.25563144e-02 6.85206391e-04 9.99745339e-01 3.07418505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.400714057 meters Centerline goodness : 0.989257 Centerline is valid? [True, True] Translation: X:290.35, Y:236.06, Z:3.07 [[ 4.74336160e-01 -8.80271724e-01 1.12649816e-02 2.90348123e+02] [ 8.80054750e-01 4.74469477e-01 1.95538161e-02 2.36056542e+02] [-2.25575613e-02 6.38718547e-04 9.99745342e-01 3.07379974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4307140569999 meters Centerline goodness : 0.988282 Centerline is valid? [True, True] Translation: X:290.37, Y:236.08, Z:3.07 [[ 4.72339020e-01 -8.81345037e-01 1.12594822e-02 2.90367402e+02] [ 8.81128291e-01 4.72472707e-01 1.95569823e-02 2.36083133e+02] [-2.25562473e-02 6.83522448e-04 9.99745342e-01 3.07434639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4607140569999 meters Centerline goodness : 0.988904 Centerline is valid? [True, True] Translation: X:290.38, Y:236.10, Z:3.07 [[ 4.70596716e-01 -8.82273214e-01 1.15198297e-02 2.90381939e+02] [ 8.82060344e-01 4.70736570e-01 1.94070037e-02 2.36101828e+02] [-2.25450846e-02 1.02831272e-03 9.99745298e-01 3.07098461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.490714057 meters Centerline goodness : 0.984141 Centerline is valid? [True, True] Translation: X:290.40, Y:236.12, Z:3.08 [[ 4.75474279e-01 -8.79657663e-01 1.12518950e-02 2.90401332e+02] [ 8.79440345e-01 4.75607025e-01 1.95611256e-02 2.36121928e+02] [-2.25585743e-02 5.94558314e-04 9.99745346e-01 3.07651797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.520714057 meters Centerline goodness : 0.987868 Centerline is valid? [True, True] Translation: X:290.42, Y:236.15, Z:3.07 [[ 4.68550747e-01 -8.83365895e-01 1.11755790e-02 2.90416007e+02] [ 8.83148581e-01 4.68683506e-01 1.96049822e-02 2.36148086e+02] [-2.25561822e-02 6.83767662e-04 9.99745343e-01 3.06900502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5507140569999 meters Centerline goodness : 0.987380 Centerline is valid? [True, True] Translation: X:290.43, Y:236.17, Z:3.07 [[ 4.68294327e-01 -8.83501028e-01 1.12408418e-02 2.90431186e+02] [ 8.83284646e-01 4.68428593e-01 1.95674911e-02 2.36170536e+02] [-2.25534302e-02 7.65517946e-04 9.99745346e-01 3.06826713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5807140569999 meters Centerline goodness : 0.987372 Centerline is valid? [True, True] Translation: X:290.45, Y:236.19, Z:3.07 [[ 4.67833788e-01 -8.83745011e-01 1.12384453e-02 2.90447113e+02] [ 8.83528666e-01 4.67968114e-01 1.95688674e-02 2.36193995e+02] [-2.25531230e-02 7.74511266e-04 9.99745346e-01 3.06790418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.610714057 meters Centerline goodness : 0.984028 Centerline is valid? [True, True] Translation: X:290.47, Y:236.22, Z:3.07 [[ 4.71525638e-01 -8.81780809e-01 1.12329031e-02 2.90470244e+02] [ 8.81563828e-01 4.71658935e-01 1.95720482e-02 2.36215113e+02] [-2.25563556e-02 6.73798530e-04 9.99745346e-01 3.07199251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.640714057 meters Centerline goodness : 0.987516 Centerline is valid? [True, True] Translation: X:290.48, Y:236.24, Z:3.07 [[ 4.65933106e-01 -8.84747894e-01 1.12918293e-02 2.90480905e+02] [ 8.84532574e-01 4.66069075e-01 1.95382375e-02 2.36239347e+02] [-2.25491869e-02 8.84479166e-04 9.99745344e-01 3.06680607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6707140569999 meters Centerline goodness : 0.986835 Centerline is valid? [True, True] Translation: X:290.50, Y:236.26, Z:3.07 [[ 4.64399371e-01 -8.85554752e-01 1.12251925e-02 2.90496166e+02] [ 8.85338748e-01 4.64534244e-01 1.95764473e-02 2.36262174e+02] [-2.25505022e-02 8.46808027e-04 9.99745346e-01 3.06578657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7007140569999 meters Centerline goodness : 0.987520 Centerline is valid? [True, True] Translation: X:290.51, Y:236.29, Z:3.06 [[ 4.63025280e-01 -8.86274059e-01 1.12197753e-02 2.90511785e+02] [ 8.86058189e-01 4.63160368e-01 1.95795515e-02 2.36285257e+02] [-2.25494038e-02 8.75546430e-04 9.99745346e-01 3.06489913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7307140569999 meters Centerline goodness : 0.986929 Centerline is valid? [True, True] Translation: X:290.53, Y:236.31, Z:3.06 [[ 4.60167074e-01 -8.87761512e-01 1.12143786e-02 2.90529651e+02] [ 8.87546004e-01 4.60302738e-01 1.95826420e-02 2.36307371e+02] [-2.25467251e-02 9.41989818e-04 9.99745347e-01 3.06443708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.760714057 meters Centerline goodness : 0.985593 Centerline is valid? [True, True] Translation: X:290.54, Y:236.33, Z:3.06 [[ 4.58561146e-01 -8.88592166e-01 1.12088324e-02 2.90544874e+02] [ 8.88376827e-01 4.58697078e-01 1.95858161e-02 2.36329797e+02] [-2.25452614e-02 9.76372742e-04 9.99745347e-01 3.06385175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.790714057 meters Centerline goodness : 0.986753 Centerline is valid? [True, True] Translation: X:290.56, Y:236.35, Z:3.06 [[ 4.56492824e-01 -8.89656517e-01 1.12064273e-02 2.90560339e+02] [ 8.89441461e-01 4.56629203e-01 1.95871921e-02 2.36352820e+02] [-2.25430551e-02 1.02604841e-03 9.99745347e-01 3.06301738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8207140569999 meters Centerline goodness : 0.986524 Centerline is valid? [True, True] Translation: X:290.58, Y:236.37, Z:3.06 [[ 4.52270247e-01 -8.91810610e-01 1.12008914e-02 2.90578001e+02] [ 8.91596126e-01 4.52407523e-01 1.95903573e-02 2.36374453e+02] [-2.25382560e-02 1.12653570e-03 9.99745347e-01 3.06231728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8507140569999 meters Centerline goodness : 0.986590 Centerline is valid? [True, True] Translation: X:290.59, Y:236.40, Z:3.06 [[ 4.49413779e-01 -8.93253558e-01 1.11953905e-02 2.90593536e+02] [ 8.93039436e-01 4.49551621e-01 1.95935004e-02 2.36397572e+02] [-2.25348699e-02 1.19233611e-03 9.99745347e-01 3.06196322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.880714057 meters Centerline goodness : 0.981622 Centerline is valid? [True, True] Translation: X:290.60, Y:236.41, Z:3.07 [[ 4.48008743e-01 -8.93959148e-01 1.11896067e-02 2.90602379e+02] [ 8.93745162e-01 4.48146795e-01 1.95968030e-02 2.36411975e+02] [-2.25333276e-02 1.22111776e-03 9.99745347e-01 3.06782884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.910714057 meters Centerline goodness : 0.986842 Centerline is valid? [True, True] Translation: X:290.63, Y:236.44, Z:3.06 [[ 4.41566446e-01 -8.97168980e-01 1.03389800e-02 2.90625610e+02] [ 8.96944328e-01 4.41687282e-01 2.00802626e-02 2.36442138e+02] [-2.25819847e-02 4.06719272e-04 9.99744912e-01 3.05971667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9407140569999 meters Centerline goodness : 0.985972 Centerline is valid? [True, True] Translation: X:290.64, Y:236.47, Z:3.06 [[ 4.39880979e-01 -8.97986535e-01 1.11762114e-02 2.90640776e+02] [ 8.97773653e-01 4.40020674e-01 1.96029446e-02 2.36465267e+02] [-2.25209444e-02 1.41074561e-03 9.99745376e-01 3.05893903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9707140569999 meters Centerline goodness : 0.981499 Centerline is valid? [True, True] Translation: X:290.65, Y:236.48, Z:3.07 [[ 4.41131991e-01 -8.97372710e-01 1.11707494e-02 2.90649223e+02] [ 8.97159556e-01 4.41271270e-01 1.96060566e-02 2.36479230e+02] [-2.25232710e-02 1.37308580e-03 9.99745376e-01 3.06523589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.000714057 meters Centerline goodness : 0.986882 Centerline is valid? [True, True] Translation: X:290.67, Y:236.51, Z:3.06 [[ 4.38838969e-01 -8.98506761e-01 1.02936770e-02 2.90670062e+02] [ 8.98281936e-01 4.38959475e-01 2.01032837e-02 2.36511236e+02] [-2.25814433e-02 4.24519781e-04 9.99744917e-01 3.05722907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.030714057 meters Centerline goodness : 0.986750 Centerline is valid? [True, True] Translation: X:290.68, Y:236.53, Z:3.06 [[ 4.40471924e-01 -8.97697078e-01 1.11552833e-02 2.90683350e+02] [ 8.97483843e-01 4.40611021e-01 1.96132469e-02 2.36534784e+02] [-2.25218952e-02 1.37260196e-03 9.99745408e-01 3.05665603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0607140569999 meters Centerline goodness : 0.986980 Centerline is valid? [True, True] Translation: X:290.70, Y:236.56, Z:3.06 [[ 4.42657377e-01 -8.96621487e-01 1.11514991e-02 2.90697177e+02] [ 8.96407860e-01 4.42795872e-01 1.96153982e-02 2.36559350e+02] [-2.25254253e-02 1.31339075e-03 9.99745408e-01 3.05600152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0907140569999 meters Centerline goodness : 0.987111 Centerline is valid? [True, True] Translation: X:290.71, Y:236.58, Z:3.06 [[ 4.49115288e-01 -8.93404291e-01 1.11459300e-02 2.90709961e+02] [ 8.93189593e-01 4.49252116e-01 1.96185622e-02 2.36583846e+02] [-2.25346403e-02 1.14443249e-03 9.99745408e-01 3.05531842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.120714057 meters Centerline goodness : 0.987103 Centerline is valid? [True, True] Translation: X:290.72, Y:236.61, Z:3.06 [[ 4.52528331e-01 -8.91680437e-01 1.11403887e-02 2.90723427e+02] [ 8.91465140e-01 4.52664216e-01 1.96217083e-02 2.36608843e+02] [-2.25391488e-02 1.05188925e-03 9.99745408e-01 3.05505190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.150714057 meters Centerline goodness : 0.986497 Centerline is valid? [True, True] Translation: X:290.74, Y:236.63, Z:3.05 [[ 4.55745798e-01 -8.90040328e-01 1.11347645e-02 2.90736652e+02] [ 8.89824464e-01 4.55880780e-01 1.96248994e-02 2.36633245e+02] [-2.25430770e-02 9.64020372e-04 9.99745408e-01 3.05448691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1807140569999 meters Centerline goodness : 0.987572 Centerline is valid? [True, True] Translation: X:290.75, Y:236.66, Z:3.05 [[ 4.59543135e-01 -8.88085723e-01 1.11290642e-02 2.90749824e+02] [ 8.87869207e-01 4.59677068e-01 1.96281315e-02 2.36656777e+02] [-2.25472389e-02 8.61180311e-04 9.99745408e-01 3.05413977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2107140569999 meters Centerline goodness : 0.987442 Centerline is valid? [True, True] Translation: X:290.76, Y:236.68, Z:3.05 [[ 4.60143214e-01 -8.87775001e-01 1.11252018e-02 2.90763946e+02] [ 8.87558342e-01 4.60276916e-01 1.96303204e-02 2.36680655e+02] [-2.25479813e-02 8.41506981e-04 9.99745408e-01 3.05370501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.240714057 meters Centerline goodness : 0.986719 Centerline is valid? [True, True] Translation: X:290.78, Y:236.70, Z:3.05 [[ 4.59634950e-01 -8.88038326e-01 1.11195765e-02 2.90778020e+02] [ 8.87821667e-01 4.59768652e-01 1.96335063e-02 2.36703436e+02] [-2.25477388e-02 8.47955284e-04 9.99745408e-01 3.05315995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.270714057 meters Centerline goodness : 0.986719 Centerline is valid? [True, True] Translation: X:290.79, Y:236.73, Z:3.05 [[ 4.59383096e-01 -8.88168667e-01 1.11171414e-02 2.90791952e+02] [ 8.87952013e-01 4.59516806e-01 1.96348850e-02 2.36728189e+02] [-2.25476030e-02 8.51553825e-04 9.99745408e-01 3.05251817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3007140569999 meters Centerline goodness : 0.986927 Centerline is valid? [True, True] Translation: X:290.81, Y:236.75, Z:3.05 [[ 4.56752954e-01 -8.89524183e-01 1.11115710e-02 2.90808173e+02] [ 8.89307850e-01 4.56887181e-01 1.96380369e-02 2.36751175e+02] [-2.25452431e-02 9.11875899e-04 9.99745408e-01 3.05188227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3307140569999 meters Centerline goodness : 0.986686 Centerline is valid? [True, True] Translation: X:290.82, Y:236.77, Z:3.05 [[ 4.55541286e-01 -8.90145379e-01 1.11059434e-02 2.90822895e+02] [ 8.89929151e-01 4.55675683e-01 1.96412189e-02 2.36773413e+02] [-2.25442486e-02 9.36116693e-04 9.99745408e-01 3.05184484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.360714057 meters Centerline goodness : 0.986939 Centerline is valid? [True, True] Translation: X:290.84, Y:236.80, Z:3.05 [[ 4.52728342e-01 -8.91579363e-01 1.11035043e-02 2.90838625e+02] [ 8.91363527e-01 4.52863368e-01 1.96425977e-02 2.36796568e+02] [-2.25413051e-02 1.00449808e-03 9.99745408e-01 3.05117964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.390714057 meters Centerline goodness : 0.986268 Centerline is valid? [True, True] Translation: X:290.85, Y:236.82, Z:3.05 [[ 4.52051479e-01 -8.91922810e-01 1.10978082e-02 2.90853547e+02] [ 8.91706999e-01 4.52186544e-01 1.96458154e-02 2.36820635e+02] [-2.25408304e-02 1.01507336e-03 9.99745408e-01 3.05119510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4207140569999 meters Centerline goodness : 0.986570 Centerline is valid? [True, True] Translation: X:290.87, Y:236.84, Z:3.05 [[ 4.51109322e-01 -8.92399767e-01 1.10921112e-02 2.90867709e+02] [ 8.92184020e-01 4.51244490e-01 1.96490314e-02 2.36844172e+02] [-2.25400452e-02 1.03234311e-03 9.99745408e-01 3.05101624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4507140569999 meters Centerline goodness : 0.985981 Centerline is valid? [True, True] Translation: X:290.88, Y:236.87, Z:3.05 [[ 4.50943486e-01 -8.92483648e-01 1.10864574e-02 2.90882031e+02] [ 8.92267849e-01 4.51078570e-01 1.96522210e-02 2.36867381e+02] [-2.25401492e-02 1.03004841e-03 9.99745408e-01 3.05153794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4807140569999 meters Centerline goodness : 0.986223 Centerline is valid? [True, True] Translation: X:290.90, Y:236.89, Z:3.05 [[ 4.50870711e-01 -8.92520446e-01 1.10840079e-02 2.90897322e+02] [ 8.92304624e-01 4.51005759e-01 1.96536024e-02 2.36890549e+02] [-2.25401934e-02 1.02907785e-03 9.99745408e-01 3.05106390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.510714057 meters Centerline goodness : 0.985697 Centerline is valid? [True, True] Translation: X:290.91, Y:236.91, Z:3.05 [[ 4.50104536e-01 -8.92907148e-01 1.10784669e-02 2.90911889e+02] [ 8.92691365e-01 4.50239647e-01 1.96567253e-02 2.36914014e+02] [-2.25395955e-02 1.04207056e-03 9.99745408e-01 3.04977476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.540714057 meters Centerline goodness : 0.983422 Centerline is valid? [True, True] Translation: X:290.95, Y:236.95, Z:3.05 [[ 4.55899661e-01 -8.89962298e-01 1.10728080e-02 2.90945397e+02] [ 8.89745565e-01 4.56033242e-01 1.96599125e-02 2.36946542e+02] [-2.25461494e-02 8.89034374e-04 9.99745408e-01 3.05246249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5707140569999 meters Centerline goodness : 0.985169 Centerline is valid? [True, True] Translation: X:290.94, Y:236.96, Z:3.05 [[ 4.48587119e-01 -8.93657990e-01 1.20413332e-02 2.90941146e+02] [ 8.93456268e-01 4.48743382e-01 1.91121444e-02 2.36961613e+02] [-2.24831892e-02 2.18494280e-03 9.99744834e-01 3.04846783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6007140569999 meters Centerline goodness : 0.985640 Centerline is valid? [True, True] Translation: X:290.96, Y:236.98, Z:3.05 [[ 4.45855355e-01 -8.95036594e-01 1.10678403e-02 2.90957461e+02] [ 8.94821366e-01 4.45991255e-01 1.96601950e-02 2.36984628e+02] [-2.25327540e-02 1.13813677e-03 9.99745457e-01 3.04608760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.630714057 meters Centerline goodness : 0.983434 Centerline is valid? [True, True] Translation: X:290.98, Y:237.01, Z:3.05 [[ 4.47209314e-01 -8.94360921e-01 1.10621910e-02 2.90983484e+02] [ 8.94145410e-01 4.47344764e-01 1.96633732e-02 2.37014054e+02] [-2.25347658e-02 1.09756367e-03 9.99745457e-01 3.04583284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.660714057 meters Centerline goodness : 0.985004 Centerline is valid? [True, True] Translation: X:290.99, Y:237.03, Z:3.04 [[ 4.41345011e-01 -8.97261356e-01 1.16893342e-02 2.90987900e+02] [ 8.97055703e-01 4.41495417e-01 1.93096707e-02 2.37032229e+02] [-2.24866088e-02 1.96375703e-03 9.99745216e-01 3.04305307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6907140569999 meters Centerline goodness : 0.984680 Centerline is valid? [True, True] Translation: X:291.00, Y:237.06, Z:3.04 [[ 4.39588123e-01 -8.98131408e-01 1.10569701e-02 2.91001566e+02] [ 8.97917007e-01 4.39725286e-01 1.96652305e-02 2.37055129e+02] [-2.25239904e-02 1.28363974e-03 9.99745479e-01 3.04182796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7207140569999 meters Centerline goodness : 0.984650 Centerline is valid? [True, True] Translation: X:291.02, Y:237.08, Z:3.04 [[ 4.36014194e-01 -8.99871908e-01 1.10531196e-02 2.91016115e+02] [ 8.99658001e-01 4.36152124e-01 1.96673944e-02 2.37079001e+02] [-2.25189774e-02 1.36876432e-03 9.99745479e-01 3.04094765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.750714057 meters Centerline goodness : 0.984369 Centerline is valid? [True, True] Translation: X:291.03, Y:237.10, Z:3.04 [[ 4.34369543e-01 -9.00667007e-01 1.10473318e-02 2.91029877e+02] [ 9.00453270e-01 4.34507738e-01 1.96706450e-02 2.37102637e+02] [-2.25168521e-02 1.40327697e-03 9.99745479e-01 3.04077877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.780714057 meters Centerline goodness : 0.983279 Centerline is valid? [True, True] Translation: X:291.05, Y:237.13, Z:3.04 [[ 4.32889862e-01 -9.01379154e-01 1.10448210e-02 2.91050694e+02] [ 9.01165610e-01 4.33028353e-01 1.96720547e-02 2.37131644e+02] [-2.25147006e-02 1.43737979e-03 9.99745479e-01 3.04191334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8107140569999 meters Centerline goodness : 0.983286 Centerline is valid? [True, True] Translation: X:291.06, Y:237.16, Z:3.04 [[ 4.28386463e-01 -9.03522745e-01 1.14755688e-02 2.91062519e+02] [ 9.03316105e-01 4.28535271e-01 1.94302987e-02 2.37156571e+02] [-2.24734028e-02 2.04238914e-03 9.99745355e-01 3.04181441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8407140569999 meters Centerline goodness : 0.980346 Centerline is valid? [True, True] Translation: X:291.07, Y:237.18, Z:3.04 [[ 4.29983779e-01 -9.02764015e-01 1.14492042e-02 2.91072661e+02] [ 9.02556727e-01 4.30131658e-01 1.94450755e-02 2.37175296e+02] [-2.24789796e-02 1.97248922e-03 9.99745370e-01 3.04216040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.870714057 meters Centerline goodness : 0.979235 Centerline is valid? [True, True] Translation: X:291.08, Y:237.20, Z:3.05 [[ 4.27462067e-01 -9.03966265e-01 1.10078453e-02 2.91084071e+02] [ 9.03753054e-01 4.27601038e-01 1.96918540e-02 2.37200947e+02] [-2.25077378e-02 1.53085316e-03 9.99745497e-01 3.05099307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.900714057 meters Centerline goodness : 0.982236 Centerline is valid? [True, True] Translation: X:291.10, Y:237.23, Z:3.04 [[ 4.20122687e-01 -9.07400554e-01 1.10073857e-02 2.91096472e+02] [ 9.07188470e-01 4.20263371e-01 1.96921109e-02 2.37229688e+02] [-2.24946333e-02 1.71267081e-03 9.99745497e-01 3.04234755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9307140569999 meters Centerline goodness : 0.977639 Centerline is valid? [True, True] Translation: X:291.10, Y:237.25, Z:3.05 [[ 4.21118503e-01 -9.06936343e-01 1.12105708e-02 2.91104313e+02] [ 9.06727037e-01 4.21263318e-01 1.95779770e-02 2.37247321e+02] [-2.24785811e-02 1.92027929e-03 9.99745481e-01 3.05119025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9607140569999 meters Centerline goodness : 0.983887 Centerline is valid? [True, True] Translation: X:291.12, Y:237.28, Z:3.04 [[ 4.20448581e-01 -9.07255738e-01 1.04888668e-02 2.91122246e+02] [ 9.07036373e-01 4.20577920e-01 1.99807908e-02 2.37277782e+02] [-2.25390729e-02 1.11288854e-03 9.99745343e-01 3.03870322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.990714057 meters Centerline goodness : 0.983763 Centerline is valid? [True, True] Translation: X:291.13, Y:237.30, Z:3.04 [[ 4.20543869e-01 -9.07205439e-01 1.10066085e-02 2.91132288e+02] [ 9.06993304e-01 4.20684436e-01 1.96914011e-02 2.37303970e+02] [-2.24944550e-02 1.70182220e-03 9.99745519e-01 3.03792585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.020714057 meters Centerline goodness : 0.984239 Centerline is valid? [True, True] Translation: X:291.14, Y:237.33, Z:3.04 [[ 4.21237815e-01 -9.06883453e-01 1.10048524e-02 2.91144277e+02] [ 9.06671185e-01 4.21378182e-01 1.96923824e-02 2.37328777e+02] [-2.24959005e-02 1.68260640e-03 9.99745519e-01 3.03697709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0507140569999 meters Centerline goodness : 0.985303 Centerline is valid? [True, True] Translation: X:291.16, Y:237.35, Z:3.04 [[ 4.21822005e-01 -9.06611942e-01 1.09992016e-02 2.91155332e+02] [ 9.06399504e-01 4.21962114e-01 1.96955382e-02 2.37353103e+02] [-2.24974565e-02 1.66165943e-03 9.99745519e-01 3.03581913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0807140569999 meters Centerline goodness : 0.979648 Centerline is valid? [True, True] Translation: X:291.16, Y:237.37, Z:3.04 [[ 4.25981381e-01 -9.04665112e-01 1.09953688e-02 2.91160729e+02] [ 9.04451979e-01 4.26120429e-01 1.96976776e-02 2.37371647e+02] [-2.25051530e-02 1.55393919e-03 9.99745519e-01 3.04044450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.110714057 meters Centerline goodness : 0.982087 Centerline is valid? [True, True] Translation: X:291.18, Y:237.40, Z:3.04 [[ 4.30409569e-01 -9.02573892e-01 1.03910077e-02 2.91181933e+02] [ 9.02351793e-01 4.30534323e-01 2.00359187e-02 2.37403245e+02] [-2.25575826e-02 7.52693320e-04 9.99745262e-01 3.04208909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.140714057 meters Centerline goodness : 0.979988 Centerline is valid? [True, True] Translation: X:291.20, Y:237.43, Z:3.04 [[ 4.34605051e-01 -9.00552796e-01 1.10955503e-02 2.91195507e+02] [ 9.00339749e-01 4.34744234e-01 1.96414696e-02 2.37427615e+02] [-2.25119069e-02 1.45348302e-03 9.99745518e-01 3.04359537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1707140569999 meters Centerline goodness : 0.985670 Centerline is valid? [True, True] Translation: X:291.20, Y:237.46, Z:3.03 [[ 4.29480411e-01 -9.03009007e-01 1.10140374e-02 2.91200248e+02] [ 9.02795603e-01 4.29619038e-01 1.96870725e-02 2.37456181e+02] [-2.25094440e-02 1.48821252e-03 9.99745523e-01 3.03327451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2007140569999 meters Centerline goodness : 0.982913 Centerline is valid? [True, True] Translation: X:291.22, Y:237.48, Z:3.04 [[ 4.39810756e-01 -8.98022959e-01 1.10119599e-02 2.91219166e+02] [ 8.97807950e-01 4.39946881e-01 1.96882345e-02 2.37484106e+02] [-2.25251640e-02 1.22752784e-03 9.99745523e-01 3.03663020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2307140569999 meters Centerline goodness : 0.985084 Centerline is valid? [True, True] Translation: X:291.23, Y:237.52, Z:3.03 [[ 4.38218491e-01 -8.98797237e-01 1.13173050e-02 2.91231558e+02] [ 8.98586757e-01 4.38361624e-01 1.95173532e-02 2.37515447e+02] [-2.25032154e-02 1.61671531e-03 9.99745463e-01 3.03273641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.260714057 meters Centerline goodness : 0.984372 Centerline is valid? [True, True] Translation: X:291.24, Y:237.54, Z:3.03 [[ 4.45961593e-01 -8.94977031e-01 1.15919139e-02 2.91238786e+02] [ 8.94769211e-01 4.46108842e-01 1.93638984e-02 2.37537557e+02] [-2.25014996e-02 1.73653272e-03 9.99745301e-01 3.03399525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.290714057 meters Centerline goodness : 0.986111 Centerline is valid? [True, True] Translation: X:291.24, Y:237.56, Z:3.03 [[ 4.42381470e-01 -8.96756415e-01 1.12502310e-02 2.91241810e+02] [ 8.96544341e-01 4.42522170e-01 1.95543729e-02 2.37562284e+02] [-2.25139860e-02 1.43583873e-03 9.99745497e-01 3.03161025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3207140569999 meters Centerline goodness : 0.986391 Centerline is valid? [True, True] Translation: X:291.25, Y:237.59, Z:3.03 [[ 4.45257303e-01 -8.95335455e-01 1.09707464e-02 2.91254177e+02] [ 8.95119090e-01 4.45391214e-01 1.97099381e-02 2.37587501e+02] [-2.25332804e-02 1.04413069e-03 9.99745548e-01 3.03177267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3507140569999 meters Centerline goodness : 0.986969 Centerline is valid? [True, True] Translation: X:291.26, Y:237.61, Z:3.03 [[ 4.48513511e-01 -8.93708788e-01 1.09650594e-02 2.91264081e+02] [ 8.93491860e-01 4.48646508e-01 1.97131014e-02 2.37612640e+02] [-2.25372076e-02 9.55599046e-04 9.99745548e-01 3.03165799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.380714057 meters Centerline goodness : 0.985550 Centerline is valid? [True, True] Translation: X:291.29, Y:237.64, Z:3.03 [[ 4.51543788e-01 -8.92181612e-01 1.09625978e-02 2.91286446e+02] [ 8.91964202e-01 4.51675993e-01 1.97144702e-02 2.37642200e+02] [-2.25404301e-02 8.76298249e-04 9.99745548e-01 3.03221063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.410714057 meters Centerline goodness : 0.987017 Centerline is valid? [True, True] Translation: X:291.29, Y:237.66, Z:3.03 [[ 4.48514138e-01 -8.93701917e-01 1.14870430e-02 2.91289514e+02] [ 8.93492194e-01 4.48658527e-01 1.94222726e-02 2.37662798e+02] [-2.25114821e-02 1.55241939e-03 9.99745379e-01 3.03127558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4407140569999 meters Centerline goodness : 0.981775 Centerline is valid? [True, True] Translation: X:291.30, Y:237.69, Z:3.04 [[ 4.45887581e-01 -8.95021887e-01 1.09584349e-02 2.91299415e+02] [ 8.94805277e-01 4.46021068e-01 1.97160840e-02 2.37686477e+02] [-2.25340196e-02 1.01450839e-03 9.99745562e-01 3.03550294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4707140569999 meters Centerline goodness : 0.986727 Centerline is valid? [True, True] Translation: X:291.32, Y:237.71, Z:3.03 [[ 4.48586207e-01 -8.93674134e-01 1.08146927e-02 2.91316691e+02] [ 8.93455198e-01 4.48715869e-01 1.97959099e-02 2.37712428e+02] [-2.25438169e-02 7.82271249e-04 9.99745550e-01 3.03006031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.500714057 meters Centerline goodness : 0.983508 Centerline is valid? [True, True] Translation: X:291.33, Y:237.73, Z:3.04 [[ 4.52744629e-01 -8.91572950e-01 1.09533545e-02 2.91333374e+02] [ 8.91355254e-01 4.52876337e-01 1.97188871e-02 2.37734903e+02] [-2.25413414e-02 8.35709891e-04 9.99745562e-01 3.03668276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.530714057 meters Centerline goodness : 0.985455 Centerline is valid? [True, True] Translation: X:291.35, Y:237.77, Z:3.03 [[ 4.52818624e-01 -8.91535526e-01 1.09407905e-02 2.91351294e+02] [ 8.91317651e-01 4.52950036e-01 1.97258625e-02 2.37765518e+02] [-2.25419386e-02 8.19481818e-04 9.99745562e-01 3.03002808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5607140569999 meters Centerline goodness : 0.981900 Centerline is valid? [True, True] Translation: X:291.36, Y:237.78, Z:3.03 [[ 4.54632592e-01 -8.90607274e-01 1.13088274e-02 2.91358788e+02] [ 8.90394135e-01 4.54771652e-01 1.95199760e-02 2.37783388e+02] [-2.25275667e-02 1.19489629e-03 9.99745508e-01 3.02876363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5907140569999 meters Centerline goodness : 0.985796 Centerline is valid? [True, True] Translation: X:291.38, Y:237.81, Z:3.03 [[ 4.54512413e-01 -8.90676263e-01 1.06893038e-02 2.91378027e+02] [ 8.90454834e-01 4.54637828e-01 1.98654121e-02 2.37812851e+02] [-2.25534128e-02 4.89265865e-04 9.99745520e-01 3.02958523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.620714057 meters Centerline goodness : 0.987720 Centerline is valid? [True, True] Translation: X:291.39, Y:237.84, Z:3.03 [[ 4.53683390e-01 -8.91092276e-01 1.12221676e-02 2.91386885e+02] [ 8.90878058e-01 4.53820783e-01 1.95699402e-02 2.37835265e+02] [-2.25314755e-02 1.11902600e-03 9.99745508e-01 3.02512575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.650714057 meters Centerline goodness : 0.985568 Centerline is valid? [True, True] Translation: X:291.41, Y:237.86, Z:3.03 [[ 4.55127397e-01 -8.90359335e-01 1.09227832e-02 2.91407913e+02] [ 8.90140887e-01 4.55257845e-01 1.97356375e-02 2.37861837e+02] [-2.25444918e-02 7.40586632e-04 9.99745566e-01 3.02722672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6807140569999 meters Centerline goodness : 0.987463 Centerline is valid? [True, True] Translation: X:291.42, Y:237.88, Z:3.02 [[ 4.52518924e-01 -8.91683723e-01 1.12588505e-02 2.91416808e+02] [ 8.91470189e-01 4.52657399e-01 1.95494332e-02 2.37880451e+02] [-2.25283133e-02 1.19044112e-03 9.99745497e-01 3.02222023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7107140569999 meters Centerline goodness : 0.987342 Centerline is valid? [True, True] Translation: X:291.43, Y:237.91, Z:3.02 [[ 4.49967905e-01 -8.92979210e-01 1.08173469e-02 2.91432686e+02] [ 8.92760130e-01 4.50097286e-01 1.97935398e-02 2.37905099e+02] [-2.25440780e-02 7.50838395e-04 9.99745568e-01 3.02141674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.740714057 meters Centerline goodness : 0.981666 Centerline is valid? [True, True] Translation: X:291.44, Y:237.93, Z:3.02 [[ 4.47708404e-01 -8.94112980e-01 1.09162594e-02 2.91444872e+02] [ 8.93895545e-01 4.47840521e-01 1.97388379e-02 2.37926434e+02] [-2.25374945e-02 9.20752049e-04 9.99745574e-01 3.02131548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.770714057 meters Centerline goodness : 0.987564 Centerline is valid? [True, True] Translation: X:291.46, Y:237.95, Z:3.02 [[ 4.45660740e-01 -8.95138682e-01 1.06416634e-02 2.91462510e+02] [ 8.94917909e-01 4.45787288e-01 1.98904817e-02 2.37953436e+02] [-2.25486579e-02 6.59008327e-04 9.99745529e-01 3.01994263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8007140569999 meters Centerline goodness : 0.987429 Centerline is valid? [True, True] Translation: X:291.48, Y:237.98, Z:3.02 [[ 4.40891892e-01 -8.97493910e-01 1.09097217e-02 2.91479004e+02] [ 8.97277401e-01 4.41025516e-01 1.97423526e-02 2.37976693e+02] [-2.25301069e-02 1.08480360e-03 9.99745576e-01 3.01965478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8307140569999 meters Centerline goodness : 0.986906 Centerline is valid? [True, True] Translation: X:291.49, Y:238.00, Z:3.02 [[ 4.37982680e-01 -8.98917277e-01 1.09041510e-02 2.91493818e+02] [ 8.98701127e-01 4.38116883e-01 1.97454290e-02 2.38000192e+02] [-2.25267999e-02 1.15141688e-03 9.99745576e-01 3.01892552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.860714057 meters Centerline goodness : 0.986412 Centerline is valid? [True, True] Translation: X:291.51, Y:238.02, Z:3.02 [[ 4.35303156e-01 -9.00217964e-01 1.08986018e-02 2.91508559e+02] [ 9.00002139e-01 4.35437881e-01 1.97484914e-02 2.38024264e+02] [-2.25236108e-02 1.21218428e-03 9.99745576e-01 3.01819065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.890714057 meters Centerline goodness : 0.983613 Centerline is valid? [True, True] Translation: X:291.54, Y:238.06, Z:3.02 [[ 4.37876169e-01 -8.98969300e-01 1.08930699e-02 2.91544837e+02] [ 8.98753014e-01 4.38010155e-01 1.97515423e-02 2.38056573e+02] [-2.25273053e-02 1.14144975e-03 9.99745576e-01 3.02030037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9207140569999 meters Centerline goodness : 0.984047 Centerline is valid? [True, True] Translation: X:291.56, Y:238.08, Z:3.02 [[ 4.35209244e-01 -9.00252231e-01 1.17828382e-02 2.91559471e+02] [ 9.00048912e-01 4.35363045e-01 1.92607250e-02 2.38081935e+02] [-2.24693230e-02 2.22268514e-03 9.99745062e-01 3.01852263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9507140569999 meters Centerline goodness : 0.983100 Centerline is valid? [True, True] Translation: X:291.57, Y:238.10, Z:3.02 [[ 4.33050606e-01 -9.01291240e-01 1.18858396e-02 2.91572040e+02] [ 9.01089792e-01 4.33207077e-01 1.92045914e-02 2.38104009e+02] [-2.24579598e-02 2.39364876e-03 9.99744923e-01 3.01902253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9807140569999 meters Centerline goodness : 0.984214 Centerline is valid? [True, True] Translation: X:291.58, Y:238.13, Z:3.02 [[ 4.26681504e-01 -9.04327266e-01 1.16228658e-02 2.91582089e+02] [ 9.04123101e-01 4.26833830e-01 1.93468462e-02 2.38128911e+02] [-2.24569129e-02 2.25356008e-03 9.99745272e-01 3.01902281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.010714057 meters Centerline goodness : 0.984277 Centerline is valid? [True, True] Translation: X:291.60, Y:238.15, Z:3.02 [[ 4.27405408e-01 -9.03986437e-01 1.15385725e-02 2.91595559e+02] [ 9.03780943e-01 4.27555777e-01 1.93923936e-02 2.38152306e+02] [-2.24638441e-02 2.13992799e-03 9.99745366e-01 3.01953265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.040714057 meters Centerline goodness : 0.983822 Centerline is valid? [True, True] Translation: X:291.61, Y:238.17, Z:3.02 [[ 4.27868811e-01 -9.03768093e-01 1.14679861e-02 2.91605032e+02] [ 9.03561521e-01 4.28017568e-01 1.94303837e-02 2.38173342e+02] [-2.24690603e-02 2.04837577e-03 9.99745440e-01 3.01645371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0707140569999 meters Centerline goodness : 0.984215 Centerline is valid? [True, True] Translation: X:291.62, Y:238.20, Z:3.02 [[ 4.24463070e-01 -9.05376441e-01 1.11625210e-02 2.91620207e+02] [ 9.05166145e-01 4.24606061e-01 1.95944547e-02 2.38202184e+02] [-2.24800317e-02 1.78681371e-03 9.99745695e-01 3.01624952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1007140569999 meters Centerline goodness : 0.984727 Centerline is valid? [True, True] Translation: X:291.63, Y:238.23, Z:3.01 [[ 4.22504180e-01 -9.06290440e-01 1.13073772e-02 2.91632338e+02] [ 9.06082472e-01 4.22650732e-01 1.95169795e-02 2.38227177e+02] [-2.24671232e-02 1.99941083e-03 9.99745583e-01 3.01497776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.130714057 meters Centerline goodness : 0.982987 Centerline is valid? [True, True] Translation: X:291.64, Y:238.25, Z:3.02 [[ 4.25421327e-01 -9.04924601e-01 1.13208564e-02 2.91641198e+02] [ 9.04716350e-01 4.25567497e-01 1.95097790e-02 2.38247587e+02] [-2.24726675e-02 1.94228783e-03 9.99745571e-01 3.01586535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.160714057 meters Centerline goodness : 0.982987 Centerline is valid? [True, True] Translation: X:291.65, Y:238.27, Z:3.02 [[ 4.25041262e-01 -9.05106614e-01 1.10428068e-02 2.91653984e+02] [ 9.04894575e-01 4.25181537e-01 1.96588066e-02 2.38271807e+02] [-2.24885134e-02 1.63677204e-03 9.99745762e-01 3.01517307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1907140569999 meters Centerline goodness : 0.985851 Centerline is valid? [True, True] Translation: X:291.67, Y:238.30, Z:3.01 [[ 4.21304872e-01 -9.06853163e-01 1.09337498e-02 2.91666757e+02] [ 9.06640218e-01 4.21443664e-01 1.97168153e-02 2.38301778e+02] [-2.24882159e-02 1.60618700e-03 9.99745818e-01 3.01360836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2207140569999 meters Centerline goodness : 0.983278 Centerline is valid? [True, True] Translation: X:291.68, Y:238.32, Z:3.01 [[ 4.26145430e-01 -9.04585307e-01 1.12024208e-02 2.91679685e+02] [ 9.04375278e-01 4.26288890e-01 1.95739086e-02 2.38323870e+02] [-2.24817377e-02 1.78986077e-03 9.99745652e-01 3.01117063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.250714057 meters Centerline goodness : 0.985087 Centerline is valid? [True, True] Translation: X:291.69, Y:238.35, Z:3.01 [[ 4.27757286e-01 -9.03826884e-01 1.09848866e-02 2.91694255e+02] [ 9.03613649e-01 4.27895667e-01 1.96893889e-02 2.38350408e+02] [-2.24961844e-02 1.50381391e-03 9.99745798e-01 3.00841477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.280714057 meters Centerline goodness : 0.984043 Centerline is valid? [True, True] Translation: X:291.71, Y:238.37, Z:3.01 [[ 4.28095860e-01 -9.03665126e-01 1.11028817e-02 2.91705673e+02] [ 9.03453432e-01 4.28236718e-01 1.96267613e-02 2.38374946e+02] [-2.24906814e-02 1.62880133e-03 9.99745726e-01 3.00723871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3107140569999 meters Centerline goodness : 0.985511 Centerline is valid? [True, True] Translation: X:291.72, Y:238.41, Z:3.01 [[ 4.29706324e-01 -9.02900927e-01 1.10630442e-02 2.91722390e+02] [ 9.02688445e-01 4.29845941e-01 1.96478703e-02 2.38406308e+02] [-2.24954850e-02 1.54366803e-03 9.99745753e-01 3.00843007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3407140569999 meters Centerline goodness : 0.984724 Centerline is valid? [True, True] Translation: X:291.73, Y:238.43, Z:3.01 [[ 4.33303003e-01 -9.01175542e-01 1.14520872e-02 2.91732164e+02] [ 9.00967794e-01 4.33450177e-01 1.94416472e-02 2.38427813e+02] [-2.24842462e-02 1.89383763e-03 9.99745404e-01 3.00753460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.370714057 meters Centerline goodness : 0.985971 Centerline is valid? [True, True] Translation: X:291.74, Y:238.45, Z:3.01 [[ 4.33677117e-01 -9.00998489e-01 1.12196856e-02 2.91742854e+02] [ 9.00787500e-01 4.33819194e-01 1.95649407e-02 2.38451914e+02] [-2.24952970e-02 1.62168541e-03 9.99745634e-01 3.00667823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.400714057 meters Centerline goodness : 0.986325 Centerline is valid? [True, True] Translation: X:291.74, Y:238.47, Z:3.01 [[ 4.24918100e-01 -9.05162954e-01 1.11640090e-02 2.91737612e+02] [ 9.04952589e-01 4.25061019e-01 1.95944510e-02 2.38472726e+02] [-2.24815562e-02 1.77686190e-03 9.99745679e-01 3.00738651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4307140569999 meters Centerline goodness : 0.986752 Centerline is valid? [True, True] Translation: X:291.75, Y:238.50, Z:3.01 [[ 4.24401225e-01 -9.05413017e-01 1.05294174e-02 2.91749803e+02] [ 9.05194282e-01 4.24530467e-01 1.99297296e-02 2.38498280e+02] [-2.25146951e-02 1.07296678e-03 9.99745936e-01 3.00592159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4607140569999 meters Centerline goodness : 0.982223 Centerline is valid? [True, True] Translation: X:291.76, Y:238.52, Z:3.01 [[ 4.24469183e-01 -9.05381226e-01 1.05237014e-02 2.91757858e+02] [ 9.05162408e-01 4.24598283e-01 1.99327474e-02 2.38516697e+02] [-2.25150808e-02 1.06482191e-03 9.99745936e-01 3.00665787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.490714057 meters Centerline goodness : 0.982475 Centerline is valid? [True, True] Translation: X:291.78, Y:238.54, Z:3.01 [[ 4.28868091e-01 -9.03312816e-01 9.90542623e-03 2.91782783e+02] [ 9.03085665e-01 4.28982390e-01 2.02581206e-02 2.38544696e+02] [-2.25486734e-02 2.57386903e-04 9.99745713e-01 3.00542802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.520714057 meters Centerline goodness : 0.981651 Centerline is valid? [True, True] Translation: X:291.78, Y:238.57, Z:3.01 [[ 4.16241024e-01 -9.09193537e-01 1.05129232e-02 2.91780828e+02] [ 9.08975771e-01 4.16371867e-01 1.99378020e-02 2.38567501e+02] [-2.25046062e-02 1.25706131e-03 9.99745949e-01 3.00772140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5507140569999 meters Centerline goodness : 0.981079 Centerline is valid? [True, True] Translation: X:291.79, Y:238.59, Z:3.02 [[ 4.14236071e-01 -9.10116137e-01 9.85363700e-03 2.91794091e+02] [ 9.09890241e-01 4.14352868e-01 2.02842306e-02 2.38592415e+02] [-2.25438883e-02 5.63268177e-04 9.99745696e-01 3.01522646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5807140569999 meters Centerline goodness : 0.986457 Centerline is valid? [True, True] Translation: X:291.81, Y:238.63, Z:3.00 [[ 4.09480681e-01 -9.12265678e-01 9.84404239e-03 2.91811095e+02] [ 9.12040274e-01 4.09598442e-01 2.02892787e-02 2.38625110e+02] [-2.25413170e-02 6.70095469e-04 9.99745688e-01 3.00297312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.610714057 meters Centerline goodness : 0.986443 Centerline is valid? [True, True] Translation: X:291.82, Y:238.65, Z:3.00 [[ 4.02589802e-01 -9.15320120e-01 1.05133132e-02 2.91821192e+02] [ 9.15104369e-01 4.02723895e-01 1.99363501e-02 2.38649965e+02] [-2.24821048e-02 1.59460765e-03 9.99745974e-01 3.00246881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.640714057 meters Centerline goodness : 0.981828 Centerline is valid? [True, True] Translation: X:291.85, Y:238.68, Z:3.00 [[ 4.13278090e-01 -9.10544201e-01 1.05108193e-02 2.91851243e+02] [ 9.10326863e-01 4.13409594e-01 1.99376648e-02 2.38675028e+02] [-2.24993986e-02 1.32848111e-03 9.99745974e-01 3.00283631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6707140569999 meters Centerline goodness : 0.980086 Centerline is valid? [True, True] Translation: X:291.85, Y:238.69, Z:3.01 [[ 4.00562965e-01 -9.16204522e-01 1.08896325e-02 2.91848629e+02] [ 9.15994275e-01 4.00705616e-01 1.97356781e-02 2.38694595e+02] [-2.24454545e-02 2.06945931e-03 9.99745927e-01 3.01185605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7007140569999 meters Centerline goodness : 0.986294 Centerline is valid? [True, True] Translation: X:291.87, Y:238.73, Z:3.00 [[ 3.88604614e-01 -9.21351423e-01 9.89996829e-03 2.91865227e+02] [ 9.21129472e-01 3.88728702e-01 2.02605861e-02 2.38731261e+02] [-2.25155217e-02 1.24579531e-03 9.99745717e-01 3.00178601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7307140569999 meters Centerline goodness : 0.987313 Centerline is valid? [True, True] Translation: X:291.87, Y:238.75, Z:3.00 [[ 3.85481701e-01 -9.22650369e-01 1.09615079e-02 2.91869867e+02] [ 9.22443424e-01 3.85629308e-01 1.97019589e-02 2.38752702e+02] [-2.24050984e-02 2.51662626e-03 9.99745807e-01 2.99850031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.760714057 meters Centerline goodness : 0.986881 Centerline is valid? [True, True] Translation: X:291.88, Y:238.78, Z:3.00 [[ 3.80832472e-01 -9.24584723e-01 1.04746948e-02 2.91880458e+02] [ 9.24371648e-01 3.80970807e-01 1.99574671e-02 2.38778627e+02] [-2.24429221e-02 2.08205938e-03 9.99745958e-01 2.99615127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.790714057 meters Centerline goodness : 0.986875 Centerline is valid? [True, True] Translation: X:291.89, Y:238.80, Z:3.00 [[ 3.79249961e-01 -9.25235034e-01 1.04689111e-02 2.91891450e+02] [ 9.25022117e-01 3.79388538e-01 1.99605005e-02 2.38803578e+02] [-2.24399392e-02 2.11395522e-03 9.99745958e-01 2.99540631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8207140569999 meters Centerline goodness : 0.986434 Centerline is valid? [True, True] Translation: X:291.90, Y:238.83, Z:2.99 [[ 3.77735098e-01 -9.25854551e-01 1.04663993e-02 2.91901824e+02] [ 9.25641825e-01 3.77873970e-01 1.99618175e-02 2.38828397e+02] [-2.24367194e-02 2.14785789e-03 9.99745958e-01 2.99420457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8507140569999 meters Centerline goodness : 0.981400 Centerline is valid? [True, True] Translation: X:291.92, Y:238.86, Z:2.99 [[ 3.73793660e-01 -9.27452859e-01 1.04639982e-02 2.91915778e+02] [ 9.27240692e-01 3.73933383e-01 1.99630760e-02 2.38859767e+02] [-2.24276502e-02 2.24057373e-03 9.99745958e-01 2.99387356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.880714057 meters Centerline goodness : 0.987413 Centerline is valid? [True, True] Translation: X:291.92, Y:238.88, Z:2.99 [[ 3.76817965e-01 -9.26223110e-01 1.09073852e-02 2.91920822e+02] [ 9.26016777e-01 3.76966370e-01 1.97303022e-02 2.38881581e+02] [-2.23863793e-02 2.66568940e-03 9.99745840e-01 2.99283642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.910714057 meters Centerline goodness : 0.979312 Centerline is valid? [True, True] Translation: X:291.93, Y:238.90, Z:3.00 [[ 3.79031499e-01 -9.25324697e-01 1.04560164e-02 2.91925167e+02] [ 9.25111646e-01 3.79169849e-01 1.99666753e-02 2.38898441e+02] [-2.24402639e-02 2.10498365e-03 9.99745970e-01 3.00272138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9407140569999 meters Centerline goodness : 0.986876 Centerline is valid? [True, True] Translation: X:291.94, Y:238.93, Z:2.99 [[ 3.80054173e-01 -9.24912477e-01 9.78440579e-03 2.91941789e+02] [ 9.24690226e-01 3.80177790e-01 2.03183257e-02 2.38932273e+02] [-2.25124868e-02 1.32547990e-03 9.99745683e-01 2.99188851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9707140569999 meters Centerline goodness : 0.978689 Centerline is valid? [True, True] Translation: X:291.95, Y:238.95, Z:3.00 [[ 3.82175935e-01 -9.24030206e-01 1.04753417e-02 2.91945602e+02] [ 9.23816973e-01 3.82313971e-01 1.99556396e-02 2.38951788e+02] [-2.24444832e-02 2.05073321e-03 9.99745988e-01 3.00141000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.000714057 meters Centerline goodness : 0.980028 Centerline is valid? [True, True] Translation: X:291.95, Y:238.98, Z:3.00 [[ 3.85530496e-01 -9.22642231e-01 9.87673856e-03 2.91951070e+02] [ 9.22420486e-01 3.85654811e-01 2.02685677e-02 2.38980679e+02] [-2.25096483e-02 1.29635502e-03 9.99745785e-01 3.00136161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.030714057 meters Centerline goodness : 0.988072 Centerline is valid? [True, True] Translation: X:291.97, Y:239.01, Z:2.99 [[ 3.87562128e-01 -9.21790929e-01 9.85288764e-03 2.91965146e+02] [ 9.21568601e-01 3.87685432e-01 2.02810183e-02 2.39011893e+02] [-2.25146797e-02 1.21995726e-03 9.99745768e-01 2.99192865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0607140569999 meters Centerline goodness : 0.989198 Centerline is valid? [True, True] Translation: X:291.97, Y:239.04, Z:2.99 [[ 3.89134624e-01 -9.21121681e-01 1.04448178e-02 2.91974764e+02] [ 9.20907000e-01 3.89270392e-01 1.99714520e-02 2.39038731e+02] [-2.24619957e-02 1.84712240e-03 9.99745991e-01 2.99150728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0907140569999 meters Centerline goodness : 0.984044 Centerline is valid? [True, True] Translation: X:291.98, Y:239.06, Z:3.00 [[ 3.93746724e-01 -9.19159694e-01 1.04391260e-02 2.91983398e+02] [ 9.18944259e-01 3.93881291e-01 1.99744267e-02 2.39064870e+02] [-2.24714643e-02 1.72810983e-03 9.99745991e-01 2.99538528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.120714057 meters Centerline goodness : 0.990127 Centerline is valid? [True, True] Translation: X:291.99, Y:239.09, Z:2.99 [[ 3.92261693e-01 -9.19795935e-01 1.03054530e-02 2.91992808e+02] [ 9.19578924e-01 3.92393722e-01 2.00442103e-02 2.39093341e+02] [-2.24803782e-02 1.61410156e-03 9.99745981e-01 2.99039490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.150714057 meters Centerline goodness : 0.990402 Centerline is valid? [True, True] Translation: X:292.00, Y:239.12, Z:2.99 [[ 3.92247475e-01 -9.19800580e-01 1.04312402e-02 2.92002974e+02] [ 9.19585259e-01 3.92382223e-01 1.99785343e-02 2.39119913e+02] [-2.24693006e-02 1.75588507e-03 9.99745991e-01 2.98983376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1807140569999 meters Centerline goodness : 0.983603 Centerline is valid? [True, True] Translation: X:292.01, Y:239.14, Z:2.99 [[ 3.90420276e-01 -9.20577709e-01 1.04254226e-02 2.92008655e+02] [ 9.20362577e-01 3.90555326e-01 1.99815696e-02 2.39142706e+02] [-2.24662919e-02 1.79395887e-03 9.99745991e-01 2.98741686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2107140569999 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:292.02, Y:239.18, Z:2.99 [[ 3.88230595e-01 -9.21506297e-01 1.01562314e-02 2.92021667e+02] [ 9.21287871e-01 3.88360345e-01 2.01221681e-02 2.39177008e+02] [-2.24869822e-02 1.54477152e-03 9.99745942e-01 2.99159237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.240714057 meters Centerline goodness : 0.984219 Centerline is valid? [True, True] Translation: X:292.03, Y:239.20, Z:2.99 [[ 3.88118488e-01 -9.21543932e-01 1.09918386e-02 2.92027934e+02] [ 9.21337048e-01 3.88266137e-01 1.96837837e-02 2.39197507e+02] [-2.24072302e-02 2.48754778e-03 9.99745832e-01 2.98777494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.270714057 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:292.04, Y:239.23, Z:2.99 [[ 3.85671665e-01 -9.22579735e-01 1.01979989e-02 2.92042116e+02] [ 9.22362283e-01 3.85802920e-01 2.00979126e-02 2.39230081e+02] [-2.24763447e-02 1.65505413e-03 9.99746005e-01 2.98999907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3007140569999 meters Centerline goodness : 0.989912 Centerline is valid? [True, True] Translation: X:292.05, Y:239.25, Z:2.99 [[ 3.86573731e-01 -9.22193246e-01 1.09712649e-02 2.92051237e+02] [ 9.21986121e-01 3.86721314e-01 1.97032434e-02 2.39253519e+02] [-2.24130199e-02 2.49859764e-03 9.99745674e-01 2.98946431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3307140569999 meters Centerline goodness : 0.991924 Centerline is valid? [True, True] Translation: X:292.05, Y:239.28, Z:2.99 [[ 3.76906126e-01 -9.26188481e-01 1.08013987e-02 2.92045880e+02] [ 9.25980523e-01 3.77052292e-01 1.97899071e-02 2.39276433e+02] [-2.24018761e-02 2.54294766e-03 9.99745812e-01 2.98572576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.360714057 meters Centerline goodness : 0.992600 Centerline is valid? [True, True] Translation: X:292.06, Y:239.30, Z:2.98 [[ 3.75260919e-01 -9.26862915e-01 1.02165954e-02 2.92056279e+02] [ 9.26647227e-01 3.75395012e-01 2.00873484e-02 2.39301685e+02] [-2.24534773e-02 1.92918299e-03 9.99746028e-01 2.98456626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.390714057 meters Centerline goodness : 0.992000 Centerline is valid? [True, True] Translation: X:292.07, Y:239.33, Z:2.98 [[ 3.73804837e-01 -9.27451139e-01 1.02141601e-02 2.92066987e+02] [ 9.27235629e-01 3.73939216e-01 2.00885867e-02 2.39327363e+02] [-2.24506576e-02 1.96172227e-03 9.99746028e-01 2.98373239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4207140569999 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:292.08, Y:239.35, Z:2.98 [[ 3.71632837e-01 -9.28323660e-01 1.02086099e-02 2.92075950e+02] [ 9.28108391e-01 3.71767601e-01 2.00914068e-02 2.39353726e+02] [-2.24465587e-02 2.00807005e-03 9.99746028e-01 2.98264148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4507140569999 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:292.09, Y:239.38, Z:2.98 [[ 3.69160966e-01 -9.29309466e-01 1.02028130e-02 2.92090870e+02] [ 9.29094479e-01 3.69296178e-01 2.00943501e-02 2.39384368e+02] [-2.24417296e-02 2.06132748e-03 9.99746028e-01 2.98100098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4807140569999 meters Centerline goodness : 0.992745 Centerline is valid? [True, True] Translation: X:292.10, Y:239.41, Z:2.98 [[ 3.68945843e-01 -9.29390901e-01 1.05602689e-02 2.92097290e+02] [ 9.29180829e-01 3.69088708e-01 1.99126173e-02 2.39406155e+02] [-2.24042813e-02 2.46572203e-03 9.99745952e-01 2.98046835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.510714057 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:292.11, Y:239.43, Z:2.98 [[ 3.66805374e-01 -9.30241840e-01 1.01949359e-02 2.92106030e+02] [ 9.30027099e-01 3.66940961e-01 2.00979392e-02 2.39433571e+02] [-2.24368836e-02 2.10953451e-03 9.99746036e-01 2.98063129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.540714057 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:292.12, Y:239.46, Z:2.98 [[ 3.66117083e-01 -9.30513005e-01 1.01896255e-02 2.92116275e+02] [ 9.30298292e-01 3.66252716e-01 2.01006313e-02 2.39459556e+02] [-2.24358768e-02 2.12020668e-03 9.99746036e-01 2.98024242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5707140569999 meters Centerline goodness : 0.981875 Centerline is valid? [True, True] Translation: X:292.12, Y:239.48, Z:2.99 [[ 3.65401620e-01 -9.30794254e-01 1.01839992e-02 2.92122494e+02] [ 9.30579569e-01 3.65537297e-01 2.01034814e-02 2.39479957e+02] [-2.24348365e-02 2.13117687e-03 9.99746036e-01 2.98645095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6007140569999 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:292.14, Y:239.51, Z:2.98 [[ 3.64761797e-01 -9.31051283e-01 9.60941091e-03 2.92137295e+02] [ 9.30829124e-01 3.64885244e-01 2.03936293e-02 2.39511476e+02] [-2.24938470e-02 1.50590268e-03 9.99745847e-01 2.98029584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.630714057 meters Centerline goodness : 0.988166 Centerline is valid? [True, True] Translation: X:292.15, Y:239.54, Z:2.99 [[ 3.69233282e-01 -9.29281068e-01 1.01725100e-02 2.92149151e+02] [ 9.29065684e-01 3.69367827e-01 2.01087771e-02 2.39536989e+02] [-2.24441037e-02 2.02610022e-03 9.99746046e-01 2.98517944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.660714057 meters Centerline goodness : 0.989050 Centerline is valid? [True, True] Translation: X:292.16, Y:239.56, Z:2.98 [[ 3.68889746e-01 -9.29417876e-01 1.01374121e-02 2.92159321e+02] [ 9.29202073e-01 3.69023618e-01 2.01265260e-02 2.39563786e+02] [-2.24468975e-02 1.99523527e-03 9.99746046e-01 2.98486690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6907140569999 meters Centerline goodness : 0.990719 Centerline is valid? [True, True] Translation: X:292.18, Y:239.60, Z:2.98 [[ 3.71399718e-01 -9.28417170e-01 1.01886572e-02 2.92175348e+02] [ 9.28201688e-01 3.71534106e-01 2.01006197e-02 2.39595590e+02] [-2.24471941e-02 1.99176432e-03 9.99746046e-01 2.98267171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7207140569999 meters Centerline goodness : 0.981994 Centerline is valid? [True, True] Translation: X:292.18, Y:239.61, Z:2.99 [[ 3.68673714e-01 -9.29496391e-01 1.07773604e-02 2.92178710e+02] [ 9.29289448e-01 3.68821209e-01 1.97999264e-02 2.39613115e+02] [-2.23788793e-02 2.71557485e-03 9.99745873e-01 2.98572862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.750714057 meters Centerline goodness : 0.982427 Centerline is valid? [True, True] Translation: X:292.19, Y:239.64, Z:2.98 [[ 3.70440976e-01 -9.28805816e-01 9.65610345e-03 2.92189920e+02] [ 9.28583519e-01 3.70564081e-01 2.03693365e-02 2.39638891e+02] [-2.24973633e-02 1.42086164e-03 9.99745893e-01 2.98430682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.780714057 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:292.21, Y:239.67, Z:2.98 [[ 3.73118416e-01 -9.27733318e-01 9.67148825e-03 2.92209065e+02] [ 9.27510865e-01 3.73241215e-01 2.03615112e-02 2.39671080e+02] [-2.24998504e-02 1.37315563e-03 9.99745903e-01 2.98135001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8107140569999 meters Centerline goodness : 0.993040 Centerline is valid? [True, True] Translation: X:292.21, Y:239.69, Z:2.97 [[ 3.66493917e-01 -9.30360924e-01 1.05242283e-02 2.92208664e+02] [ 9.30150713e-01 3.66636576e-01 1.99316955e-02 2.39694577e+02] [-2.24022377e-02 2.48427328e-03 9.99745952e-01 2.97491821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8407140569999 meters Centerline goodness : 0.983843 Centerline is valid? [True, True] Translation: X:292.21, Y:239.72, Z:2.98 [[ 3.65719121e-01 -9.30670185e-01 1.01257612e-02 2.92213428e+02] [ 9.30454690e-01 3.65853478e-01 2.01321133e-02 2.39717576e+02] [-2.24409026e-02 2.05886324e-03 9.99746051e-01 2.97513725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.870714057 meters Centerline goodness : 0.992716 Centerline is valid? [True, True] Translation: X:292.23, Y:239.75, Z:2.97 [[ 3.67633606e-01 -9.29920715e-01 9.64343037e-03 2.92229629e+02] [ 9.29698667e-01 3.67757104e-01 2.03740383e-02 2.39747280e+02] [-2.24926803e-02 1.47530320e-03 9.99745919e-01 2.97213854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.900714057 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:292.24, Y:239.77, Z:2.97 [[ 3.67887194e-01 -9.29815399e-01 1.01161492e-02 2.92240558e+02] [ 9.29599472e-01 3.68020842e-01 2.01365586e-02 2.39772953e+02] [-2.24462360e-02 1.99598493e-03 9.99746059e-01 2.97121670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9307140569999 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:292.27, Y:239.81, Z:2.97 [[ 3.81558006e-01 -9.24289601e-01 1.01104770e-02 2.92273813e+02] [ 9.24071654e-01 3.81688332e-01 2.01394062e-02 2.39805968e+02] [-2.24736948e-02 1.65845352e-03 9.99746059e-01 2.96965991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9607140569999 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:292.26, Y:239.82, Z:2.97 [[ 3.68877404e-01 -9.29413088e-01 1.09897005e-02 2.92262677e+02] [ 9.29209017e-01 3.69029313e-01 1.96969412e-02 2.39824482e+02] [-2.23621165e-02 2.94597227e-03 9.99745596e-01 2.96984056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.990714057 meters Centerline goodness : 0.989945 Centerline is valid? [True, True] Translation: X:292.29, Y:239.86, Z:2.97 [[ 3.82081598e-01 -9.24073465e-01 1.00937146e-02 2.92291959e+02] [ 9.23855272e-01 3.82211435e-01 2.01458709e-02 2.39856707e+02] [-2.24741979e-02 1.62776493e-03 9.99746098e-01 2.96997655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.020714057 meters Centerline goodness : 0.989542 Centerline is valid? [True, True] Translation: X:292.30, Y:239.88, Z:2.97 [[ 3.85820831e-01 -9.22510408e-01 1.08089896e-02 2.92302765e+02] [ 9.22301138e-01 3.85965148e-01 1.97867522e-02 2.39881127e+02] [-2.24253781e-02 2.33500229e-03 9.99745793e-01 2.97092228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0507140569999 meters Centerline goodness : 0.989679 Centerline is valid? [True, True] Translation: X:292.31, Y:239.91, Z:2.97 [[ 3.86381992e-01 -9.22276325e-01 1.07394780e-02 2.92313152e+02] [ 9.22066024e-01 3.86524703e-01 1.98217554e-02 2.39906859e+02] [-2.24322093e-02 2.24373842e-03 9.99745849e-01 2.97029664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0807140569999 meters Centerline goodness : 0.989679 Centerline is valid? [True, True] Translation: X:292.33, Y:239.93, Z:2.97 [[ 3.85797976e-01 -9.22521148e-01 1.07075889e-02 2.92325059e+02] [ 9.22310507e-01 3.85940140e-01 1.98377832e-02 2.39931360e+02] [-2.24332629e-02 2.22234516e-03 9.99745873e-01 2.96966934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.110714057 meters Centerline goodness : 0.992132 Centerline is valid? [True, True] Translation: X:292.34, Y:239.96, Z:2.97 [[ 3.85026373e-01 -9.22844149e-01 1.06475379e-02 2.92336051e+02] [ 9.22632819e-01 3.85167432e-01 1.98678258e-02 2.39959984e+02] [-2.24359916e-02 2.17413107e-03 9.99745917e-01 2.96793496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.140714057 meters Centerline goodness : 0.989498 Centerline is valid? [True, True] Translation: X:292.35, Y:239.98, Z:2.97 [[ 3.87616921e-01 -9.21757886e-01 1.07481325e-02 2.92346302e+02] [ 9.21547507e-01 3.87759535e-01 1.98175310e-02 2.39983877e+02] [-2.24346563e-02 2.22330439e-03 9.99745839e-01 2.97050457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1707140569999 meters Centerline goodness : 0.989267 Centerline is valid? [True, True] Translation: X:292.35, Y:240.01, Z:2.96 [[ 3.80832220e-01 -9.24584083e-01 1.05401340e-02 2.92352181e+02] [ 9.24371942e-01 3.80971948e-01 1.99220372e-02 2.40014384e+02] [-2.24350939e-02 2.15605052e-03 9.99745977e-01 2.96458795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2007140569999 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:292.36, Y:240.04, Z:2.96 [[ 3.82078744e-01 -9.24069405e-01 1.05625416e-02 2.92363002e+02] [ 9.23857377e-01 3.82218665e-01 1.99107798e-02 2.40040490e+02] [-2.24361430e-02 2.15079620e-03 9.99745965e-01 2.96418909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2307140569999 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:292.36, Y:240.06, Z:2.97 [[ 3.75438147e-01 -9.26784035e-01 1.08420990e-02 2.92356364e+02] [ 9.26576797e-01 3.75585510e-01 1.97728121e-02 2.40056502e+02] [-2.23972619e-02 2.62256943e-03 9.99745710e-01 2.96590688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.260714057 meters Centerline goodness : 0.987905 Centerline is valid? [True, True] Translation: X:292.37, Y:240.08, Z:2.97 [[ 3.76969003e-01 -9.26172614e-01 9.93278945e-03 2.92370113e+02] [ 9.25953218e-01 3.77096550e-01 2.02195211e-02 2.40081468e+02] [-2.24723873e-02 1.57516565e-03 9.99746223e-01 2.96747848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.290714057 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:292.38, Y:240.11, Z:2.96 [[ 3.73154901e-01 -9.27716054e-01 9.91677221e-03 2.92379996e+02] [ 9.27496982e-01 3.73283004e-01 2.02273875e-02 2.40111491e+02] [-2.24670347e-02 1.64982750e-03 9.99746223e-01 2.96302622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3207140569999 meters Centerline goodness : 0.989479 Centerline is valid? [True, True] Translation: X:292.39, Y:240.14, Z:2.96 [[ 3.73277895e-01 -9.27664478e-01 1.01109122e-02 2.92392215e+02] [ 9.27447870e-01 3.73410161e-01 2.01320782e-02 2.40136508e+02] [-2.24513312e-02 1.86248422e-03 9.99746202e-01 2.96270189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3507140569999 meters Centerline goodness : 0.988886 Centerline is valid? [True, True] Translation: X:292.40, Y:240.16, Z:2.97 [[ 3.73285072e-01 -9.27661705e-01 1.01002849e-02 2.92400489e+02] [ 9.27444960e-01 3.73417108e-01 2.01372884e-02 2.40159082e+02] [-2.24522105e-02 1.85050912e-03 9.99746205e-01 2.96604428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.380714057 meters Centerline goodness : 0.982262 Centerline is valid? [True, True] Translation: X:292.41, Y:240.18, Z:2.96 [[ 3.70434251e-01 -9.28807795e-01 9.72345262e-03 2.92407719e+02] [ 9.28586681e-01 3.70558802e-01 2.03211928e-02 2.40181333e+02] [-2.24775932e-02 1.50140276e-03 9.99746220e-01 2.96076264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.410714057 meters Centerline goodness : 0.991781 Centerline is valid? [True, True] Translation: X:292.42, Y:240.21, Z:2.96 [[ 3.71226318e-01 -9.28494684e-01 9.41500397e-03 2.92423216e+02] [ 9.28269685e-01 3.71343940e-01 2.04712154e-02 2.40210327e+02] [-2.25036194e-02 1.14020883e-03 9.99746111e-01 2.96148939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4407140569999 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:292.43, Y:240.24, Z:2.96 [[ 3.67825501e-01 -9.29842527e-01 9.86288294e-03 2.92433982e+02] [ 9.29623521e-01 3.67953693e-01 2.02531099e-02 2.40238349e+02] [-2.24612871e-02 1.71915767e-03 9.99746235e-01 2.95819323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4707140569999 meters Centerline goodness : 0.988320 Centerline is valid? [True, True] Translation: X:292.44, Y:240.26, Z:2.96 [[ 3.70154299e-01 -9.28917029e-01 9.94726185e-03 2.92441534e+02] [ 9.28698771e-01 3.70283767e-01 2.02120179e-02 2.40258898e+02] [-2.24585972e-02 1.75644454e-03 9.99746231e-01 2.96111279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.500714057 meters Centerline goodness : 0.992182 Centerline is valid? [True, True] Translation: X:292.46, Y:240.29, Z:2.96 [[ 3.71546270e-01 -9.28365683e-01 9.51465753e-03 2.92457858e+02] [ 9.28141864e-01 3.71665998e-01 2.04221789e-02 2.40287102e+02] [-2.24955247e-02 1.24316759e-03 9.99746171e-01 2.95788091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.530714057 meters Centerline goodness : 0.989790 Centerline is valid? [True, True] Translation: X:292.47, Y:240.32, Z:2.95 [[ 3.68873230e-01 -9.29427488e-01 9.85320365e-03 2.92468446e+02] [ 9.29208223e-01 3.69000965e-01 2.02575126e-02 2.40315110e+02] [-2.24637307e-02 1.68322373e-03 9.99746242e-01 2.95267907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5607140569999 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:292.48, Y:240.34, Z:2.96 [[ 3.71998326e-01 -9.28180091e-01 9.94805768e-03 2.92480718e+02] [ 9.27961592e-01 3.72127377e-01 2.02113766e-02 2.40337979e+02] [-2.24617420e-02 1.71281715e-03 9.99746236e-01 2.95522851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5907140569999 meters Centerline goodness : 0.992338 Centerline is valid? [True, True] Translation: X:292.49, Y:240.36, Z:2.95 [[ 3.72967664e-01 -9.27792112e-01 9.84470913e-03 2.92491351e+02] [ 9.27572181e-01 3.73094247e-01 2.02615918e-02 2.40362597e+02] [-2.24715494e-02 1.57475974e-03 9.99746243e-01 2.95389583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.620714057 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:292.50, Y:240.39, Z:2.95 [[ 3.73067058e-01 -9.27752176e-01 9.84228156e-03 2.92502852e+02] [ 9.27532201e-01 3.73193564e-01 2.02627710e-02 2.40387823e+02] [-2.24719060e-02 1.56966073e-03 9.99746243e-01 2.95326827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.650714057 meters Centerline goodness : 0.992292 Centerline is valid? [True, True] Translation: X:292.51, Y:240.41, Z:2.95 [[ 3.73059462e-01 -9.27755289e-01 9.83676662e-03 2.92514425e+02] [ 9.27535246e-01 3.73185850e-01 2.02654479e-02 2.40413169e+02] [-2.24723186e-02 1.56373066e-03 9.99746243e-01 2.95250148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6807140569999 meters Centerline goodness : 0.984311 Centerline is valid? [True, True] Translation: X:292.52, Y:240.43, Z:2.95 [[ 3.76600110e-01 -9.26323757e-01 9.83129749e-03 2.92522508e+02] [ 9.26103166e-01 3.76725538e-01 2.02681008e-02 2.40431664e+02] [-2.24785241e-02 1.47182676e-03 9.99746243e-01 2.95237129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7107140569999 meters Centerline goodness : 0.990498 Centerline is valid? [True, True] Translation: X:292.54, Y:240.47, Z:2.95 [[ 3.73690167e-01 -9.27505555e-01 9.43948923e-03 2.92537973e+02] [ 9.27280547e-01 3.73807728e-01 2.04589766e-02 2.40465146e+02] [-2.25043685e-02 1.10773634e-03 9.99746131e-01 2.94930698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.740714057 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:292.55, Y:240.49, Z:2.95 [[ 3.75425853e-01 -9.26798478e-01 1.00004925e-02 2.92548488e+02] [ 9.26580167e-01 3.75555231e-01 2.01856936e-02 2.40488089e+02] [-2.24638073e-02 1.68802675e-03 9.99746232e-01 2.95201402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.770714057 meters Centerline goodness : 0.983417 Centerline is valid? [True, True] Translation: X:292.56, Y:240.50, Z:2.95 [[ 3.80650610e-01 -9.24666420e-01 9.85516259e-03 2.92557424e+02] [ 9.24445578e-01 3.80775592e-01 2.02563999e-02 2.40504495e+02] [-2.24830182e-02 1.39995049e-03 9.99746245e-01 2.95123670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8007140569999 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:292.57, Y:240.54, Z:2.95 [[ 3.75377193e-01 -9.26825814e-01 9.26676479e-03 2.92570804e+02] [ 9.26598570e-01 3.75490536e-01 2.05413801e-02 2.40538940e+02] [-2.25178638e-02 8.75805396e-04 9.99746057e-01 2.95099829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8307140569999 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:292.58, Y:240.56, Z:2.95 [[ 3.75264765e-01 -9.26865494e-01 9.83428195e-03 2.92582009e+02] [ 9.26645135e-01 3.75390574e-01 2.02659915e-02 2.40564274e+02] [-2.24755450e-02 1.50777699e-03 9.99746256e-01 2.95124796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.860714057 meters Centerline goodness : 0.982553 Centerline is valid? [True, True] Translation: X:292.59, Y:240.58, Z:2.95 [[ 3.77625573e-01 -9.25906220e-01 9.82844924e-03 2.92590568e+02] [ 9.25685470e-01 3.77750693e-01 2.02688198e-02 2.40581747e+02] [-2.24797299e-02 1.44402795e-03 9.99746256e-01 2.95173101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.890714057 meters Centerline goodness : 0.991105 Centerline is valid? [True, True] Translation: X:292.60, Y:240.61, Z:2.95 [[ 3.72890750e-01 -9.27828932e-01 9.27155828e-03 2.92602911e+02] [ 9.27602079e-01 3.73004807e-01 2.05377049e-02 2.40614599e+02] [-2.25138126e-02 9.41996557e-04 9.99746088e-01 2.94867359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9207140569999 meters Centerline goodness : 0.991904 Centerline is valid? [True, True] Translation: X:292.61, Y:240.64, Z:2.95 [[ 3.73230839e-01 -9.27685898e-01 9.88001403e-03 2.92614359e+02] [ 9.27466383e-01 3.73358125e-01 2.02440058e-02 2.40640258e+02] [-2.24688622e-02 1.60769362e-03 9.99746251e-01 2.94870340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9507140569999 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:292.63, Y:240.66, Z:2.95 [[ 3.76291762e-01 -9.26448326e-01 9.89992913e-03 2.92625859e+02] [ 9.26228638e-01 3.76418755e-01 2.02343999e-02 2.40663026e+02] [-2.24726450e-02 1.55555987e-03 9.99746248e-01 2.94907359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9807140569999 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:292.64, Y:240.69, Z:2.95 [[ 3.77173780e-01 -9.26090874e-01 9.77920625e-03 2.92637856e+02] [ 9.25869580e-01 3.77297935e-01 2.02925778e-02 2.40688380e+02] [-2.24824454e-02 1.40044131e-03 9.99746257e-01 2.94880543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.010714057 meters Centerline goodness : 0.982921 Centerline is valid? [True, True] Translation: X:292.65, Y:240.71, Z:2.95 [[ 3.80162081e-01 -9.24868246e-01 9.77344009e-03 2.92646109e+02] [ 9.24646482e-01 3.80285395e-01 2.02953545e-02 2.40707187e+02] [-2.24872255e-02 1.32145278e-03 9.99746257e-01 2.94814987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.040714057 meters Centerline goodness : 0.990101 Centerline is valid? [True, True] Translation: X:292.67, Y:240.74, Z:2.95 [[ 3.84495976e-01 -9.23080267e-01 9.25554915e-03 2.92665901e+02] [ 9.22851833e-01 3.84606823e-01 2.05447476e-02 2.40736621e+02] [-2.25241985e-02 6.42127718e-04 9.99746092e-01 2.94708785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0707140569999 meters Centerline goodness : 0.993173 Centerline is valid? [True, True] Translation: X:292.68, Y:240.76, Z:2.94 [[ 3.81728486e-01 -9.24223861e-01 9.67566377e-03 2.92676344e+02] [ 9.24000729e-01 3.81849282e-01 2.03415567e-02 2.40764574e+02] [-2.24947973e-02 1.17536872e-03 9.99746269e-01 2.94478989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1007140569999 meters Centerline goodness : 0.990643 Centerline is valid? [True, True] Translation: X:292.69, Y:240.79, Z:2.94 [[ 3.81506085e-01 -9.24314288e-01 9.80834359e-03 2.92692076e+02] [ 9.24092796e-01 3.81629838e-01 2.02773786e-02 2.40793259e+02] [-2.24858274e-02 1.32787633e-03 9.99746280e-01 2.94311177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.130714057 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:292.70, Y:240.81, Z:2.94 [[ 3.84077759e-01 -9.23245323e-01 1.01167671e-02 2.92700121e+02] [ 9.23027286e-01 3.84207614e-01 2.01280730e-02 2.40814398e+02] [-2.24700882e-02 1.60730693e-03 9.99746224e-01 2.94304910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.160714057 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:292.71, Y:240.84, Z:2.94 [[ 3.84647558e-01 -9.23011492e-01 9.80014623e-03 2.92711958e+02] [ 9.22789486e-01 3.84770377e-01 2.02810709e-02 2.40839575e+02] [-2.24904675e-02 1.24240750e-03 9.99746285e-01 2.94201749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1907140569999 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:292.72, Y:240.86, Z:2.94 [[ 3.85423137e-01 -9.22687960e-01 9.79453283e-03 2.92723033e+02] [ 9.22465784e-01 3.85545647e-01 2.02837815e-02 2.40863664e+02] [-2.24918405e-02 1.21728270e-03 9.99746285e-01 2.94133260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2207140569999 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:292.74, Y:240.89, Z:2.94 [[ 3.87683935e-01 -9.21740355e-01 9.79209304e-03 2.92735047e+02] [ 9.21517849e-01 3.87805846e-01 2.02849593e-02 2.40888635e+02] [-2.24948965e-02 1.15943569e-03 9.99746285e-01 2.94101083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.250714057 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:292.75, Y:240.91, Z:2.94 [[ 3.88960815e-01 -9.21202315e-01 9.78666504e-03 2.92747231e+02] [ 9.20979576e-01 3.89082299e-01 2.02875777e-02 2.40913253e+02] [-2.24967817e-02 1.12224585e-03 9.99746286e-01 2.94013233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.280714057 meters Centerline goodness : 0.984059 Centerline is valid? [True, True] Translation: X:292.75, Y:240.93, Z:2.94 [[ 3.87970289e-01 -9.21619977e-01 9.78125396e-03 2.92754391e+02] [ 9.21397304e-01 3.88091893e-01 2.02901862e-02 2.40934601e+02] [-2.24958663e-02 1.14043162e-03 9.99746286e-01 2.93871724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3107140569999 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:292.77, Y:240.96, Z:2.94 [[ 3.89856821e-01 -9.20827756e-01 9.37563298e-03 2.92771314e+02] [ 9.20600091e-01 3.89969009e-01 2.04852412e-02 2.40963180e+02] [-2.25195850e-02 6.44897571e-04 9.99746194e-01 2.93840453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3407140569999 meters Centerline goodness : 0.992348 Centerline is valid? [True, True] Translation: X:292.78, Y:240.99, Z:2.94 [[ 3.90286312e-01 -9.20641689e-01 9.77111310e-03 2.92783832e+02] [ 9.20418595e-01 3.90407132e-01 2.02948365e-02 2.40987598e+02] [-2.24989848e-02 1.07271732e-03 9.99746290e-01 2.93821062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.370714057 meters Centerline goodness : 0.988877 Centerline is valid? [True, True] Translation: X:292.80, Y:241.01, Z:2.94 [[ 3.93058494e-01 -9.19461612e-01 9.76542969e-03 2.92799477e+02] [ 9.19238088e-01 3.93178517e-01 2.02975708e-02 2.41011436e+02] [-2.25023944e-02 9.98622290e-04 9.99746290e-01 2.94003701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.400714057 meters Centerline goodness : 0.992519 Centerline is valid? [True, True] Translation: X:292.81, Y:241.04, Z:2.94 [[ 3.88796537e-01 -9.21272557e-01 9.70198539e-03 2.92809812e+02] [ 9.21048837e-01 3.88916199e-01 2.03280759e-02 2.41038673e+02] [-2.25009577e-02 1.03251686e-03 9.99746288e-01 2.93759259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4307140569999 meters Centerline goodness : 0.988322 Centerline is valid? [True, True] Translation: X:292.83, Y:241.06, Z:2.94 [[ 3.89871921e-01 -9.20817366e-01 9.76034286e-03 2.92826349e+02] [ 9.20594198e-01 3.89992605e-01 2.03000174e-02 2.41062135e+02] [-2.24990701e-02 1.07090823e-03 9.99746290e-01 2.94088867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4607140569999 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:292.85, Y:241.10, Z:2.94 [[ 3.86897043e-01 -9.22071824e-01 9.70721542e-03 2.92848059e+02] [ 9.21848413e-01 3.87017281e-01 2.03255418e-02 2.41097253e+02] [-2.24984695e-02 1.08468910e-03 9.99746289e-01 2.93723335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.490714057 meters Centerline goodness : 0.983038 Centerline is valid? [True, True] Translation: X:292.85, Y:241.11, Z:2.94 [[ 3.90006161e-01 -9.20749521e-01 1.07477666e-02 2.92854626e+02] [ 9.20538828e-01 3.90148215e-01 1.98150751e-02 2.41107852e+02] [-2.24379428e-02 2.16573511e-03 9.99745892e-01 2.94481912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.520714057 meters Centerline goodness : 0.988101 Centerline is valid? [True, True] Translation: X:292.88, Y:241.13, Z:2.94 [[ 3.94356061e-01 -9.18911464e-01 9.22059621e-03 2.92879296e+02] [ 9.18681558e-01 3.94463674e-01 2.05573715e-02 2.41134450e+02] [-2.25275945e-02 3.63867662e-04 9.99746155e-01 2.94262993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5507140569999 meters Centerline goodness : 0.991174 Centerline is valid? [True, True] Translation: X:292.89, Y:241.16, Z:2.94 [[ 3.89241529e-01 -9.21084162e-01 9.74676837e-03 2.92888931e+02] [ 9.20861045e-01 3.89362061e-01 2.03007574e-02 2.41162333e+02] [-2.24937279e-02 1.07352149e-03 9.99746408e-01 2.93582406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5807140569999 meters Centerline goodness : 0.982999 Centerline is valid? [True, True] Translation: X:292.90, Y:241.18, Z:2.95 [[ 3.88588050e-01 -9.21358714e-01 9.87158769e-03 2.92896811e+02] [ 9.21137197e-01 3.88711477e-01 2.02398795e-02 2.41182756e+02] [-2.24853888e-02 1.22811130e-03 9.99746417e-01 2.94545349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.610714057 meters Centerline goodness : 0.991918 Centerline is valid? [True, True] Translation: X:292.92, Y:241.21, Z:2.93 [[ 3.89279512e-01 -9.21071404e-01 9.43023766e-03 2.92915767e+02] [ 9.20844536e-01 3.89393051e-01 2.04546273e-02 2.41211933e+02] [-2.25122413e-02 7.21215476e-04 9.99746307e-01 2.93450607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.640714057 meters Centerline goodness : 0.992175 Centerline is valid? [True, True] Translation: X:292.93, Y:241.24, Z:2.93 [[ 3.88126431e-01 -9.21553862e-01 9.81595421e-03 2.92929350e+02] [ 9.21331741e-01 3.88248751e-01 2.02664731e-02 2.41237214e+02] [-2.24876785e-02 1.17779632e-03 9.99746426e-01 2.93290326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6707140569999 meters Centerline goodness : 0.991391 Centerline is valid? [True, True] Translation: X:292.94, Y:241.26, Z:2.93 [[ 3.87527043e-01 -9.21805461e-01 9.87335967e-03 2.92943042e+02] [ 9.21584120e-01 3.87650763e-01 2.02384678e-02 2.41260152e+02] [-2.24833456e-02 1.25617790e-03 9.99746428e-01 2.93100633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7007140569999 meters Centerline goodness : 0.991909 Centerline is valid? [True, True] Translation: X:292.96, Y:241.28, Z:2.93 [[ 3.87753998e-01 -9.21710041e-01 9.87107351e-03 2.92956962e+02] [ 9.21488642e-01 3.87877613e-01 2.02395828e-02 2.41284819e+02] [-2.24837951e-02 1.24810298e-03 9.99746428e-01 2.93021114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7307140569999 meters Centerline goodness : 0.991920 Centerline is valid? [True, True] Translation: X:292.97, Y:241.31, Z:2.93 [[ 3.87405033e-01 -9.21856824e-01 9.86589807e-03 2.92970353e+02] [ 9.21635409e-01 3.87528619e-01 2.02421053e-02 2.41309559e+02] [-2.24836408e-02 1.25086753e-03 9.99746428e-01 2.92891951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.760714057 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:292.98, Y:241.33, Z:2.93 [[ 3.88184510e-01 -9.21528921e-01 9.86074713e-03 2.92984768e+02] [ 9.21307338e-01 3.88307796e-01 2.02446142e-02 2.41333578e+02] [-2.24850025e-02 1.22613305e-03 9.99746428e-01 2.92841662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.790714057 meters Centerline goodness : 0.991372 Centerline is valid? [True, True] Translation: X:293.00, Y:241.36, Z:2.93 [[ 3.89191179e-01 -9.21104286e-01 9.85499953e-03 2.92997985e+02] [ 9.20882498e-01 3.89314097e-01 2.02474117e-02 2.41358509e+02] [-2.24866680e-02 1.19518254e-03 9.99746429e-01 2.92795214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8207140569999 meters Centerline goodness : 0.982578 Centerline is valid? [True, True] Translation: X:293.00, Y:241.38, Z:2.92 [[ 3.87255960e-01 -9.21919635e-01 9.84923551e-03 2.93004582e+02] [ 9.21698037e-01 3.87379218e-01 2.02502152e-02 2.41379313e+02] [-2.24844602e-02 1.23600450e-03 9.99746429e-01 2.92486045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8507140569999 meters Centerline goodness : 0.990879 Centerline is valid? [True, True] Translation: X:293.02, Y:241.41, Z:2.93 [[ 3.86147572e-01 -9.22390301e-01 9.28363200e-03 2.93022310e+02] [ 9.22162139e-01 3.86258630e-01 2.05246378e-02 2.41413057e+02] [-2.25176098e-02 6.35474876e-04 9.99746245e-01 2.92580285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.880714057 meters Centerline goodness : 0.990772 Centerline is valid? [True, True] Translation: X:293.01, Y:241.43, Z:2.93 [[ 3.80016689e-01 -9.24918884e-01 1.06006247e-02 2.93014406e+02] [ 9.24707391e-01 3.80157924e-01 1.99046400e-02 2.41427057e+02] [-2.24400889e-02 2.23838058e-03 9.99745684e-01 2.92571836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.910714057 meters Centerline goodness : 0.990908 Centerline is valid? [True, True] Translation: X:293.03, Y:241.45, Z:2.92 [[ 3.83460802e-01 -9.23507762e-01 9.55130187e-03 2.93028153e+02] [ 9.23283045e-01 3.83578440e-01 2.03960460e-02 2.41451391e+02] [-2.24995803e-02 9.97470908e-04 9.99746355e-01 2.92405612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9407140569999 meters Centerline goodness : 0.990731 Centerline is valid? [True, True] Translation: X:293.04, Y:241.48, Z:2.92 [[ 3.85007441e-01 -9.22864103e-01 9.54556431e-03 2.93040499e+02] [ 9.22639124e-01 3.85124575e-01 2.03987309e-02 2.41476318e+02] [-2.25014879e-02 9.53447931e-04 9.99746355e-01 2.92329614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9707140569999 meters Centerline goodness : 0.990731 Centerline is valid? [True, True] Translation: X:293.05, Y:241.50, Z:2.92 [[ 3.84749771e-01 -9.22971616e-01 9.53987326e-03 2.93052446e+02] [ 9.22746605e-01 3.84866843e-01 2.04013921e-02 2.41502045e+02] [-2.25014867e-02 9.53454725e-04 9.99746355e-01 2.92265466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.000714057 meters Centerline goodness : 0.990157 Centerline is valid? [True, True] Translation: X:293.06, Y:241.53, Z:2.92 [[ 3.86500584e-01 -9.22239881e-01 9.53417526e-03 2.93064986e+02] [ 9.22014583e-01 3.86617102e-01 2.04040546e-02 2.41526837e+02] [-2.25035081e-02 9.04469620e-04 9.99746355e-01 2.92252545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.030714057 meters Centerline goodness : 0.991165 Centerline is valid? [True, True] Translation: X:293.08, Y:241.55, Z:2.92 [[ 3.87609217e-01 -9.21774540e-01 9.52852038e-03 2.93077416e+02] [ 9.21549037e-01 3.87725340e-01 2.04066950e-02 2.41551664e+02] [-2.25048207e-02 8.71175704e-04 9.99746355e-01 2.92207402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0607140569999 meters Centerline goodness : 0.990548 Centerline is valid? [True, True] Translation: X:293.09, Y:241.58, Z:2.92 [[ 3.89831025e-01 -9.20837166e-01 9.52288849e-03 2.93091261e+02] [ 9.20611321e-01 3.89946478e-01 2.04093228e-02 2.41575580e+02] [-2.25070798e-02 8.10691721e-04 9.99746355e-01 2.92239111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0907140569999 meters Centerline goodness : 0.991041 Centerline is valid? [True, True] Translation: X:293.10, Y:241.60, Z:2.92 [[ 3.90526857e-01 -9.20542337e-01 9.51729737e-03 2.93104752e+02] [ 9.20316341e-01 3.90642016e-01 2.04119297e-02 2.41600356e+02] [-2.25079018e-02 7.87517521e-04 9.99746355e-01 2.92187874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.120714057 meters Centerline goodness : 0.991091 Centerline is valid? [True, True] Translation: X:293.12, Y:241.62, Z:2.92 [[ 3.91050961e-01 -9.20319875e-01 9.51174906e-03 2.93117551e+02] [ 9.20093751e-01 3.91165869e-01 2.04145149e-02 2.41624033e+02] [-2.25085554e-02 7.68585220e-04 9.99746355e-01 2.92078094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.150714057 meters Centerline goodness : 0.991034 Centerline is valid? [True, True] Translation: X:293.13, Y:241.65, Z:2.92 [[ 3.90761203e-01 -9.20442966e-01 9.50934406e-03 2.93132849e+02] [ 9.20216852e-01 3.90876129e-01 2.04156351e-02 2.41648070e+02] [-2.25084033e-02 7.73020516e-04 9.99746355e-01 2.92046534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1807140569999 meters Centerline goodness : 0.991235 Centerline is valid? [True, True] Translation: X:293.15, Y:241.67, Z:2.92 [[ 3.90355624e-01 -9.20615100e-01 9.50390451e-03 2.93146392e+02] [ 9.20388975e-01 3.90470528e-01 2.04181670e-02 2.41672947e+02] [-2.25082675e-02 7.76942613e-04 9.99746355e-01 2.91960845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2107140569999 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:293.16, Y:241.70, Z:2.92 [[ 3.89938552e-01 -9.20791890e-01 9.49849182e-03 2.93159393e+02] [ 9.20565756e-01 3.90053439e-01 2.04206847e-02 2.41696335e+02] [-2.25081202e-02 7.81174097e-04 9.99746355e-01 2.91933887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.240714057 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:293.17, Y:241.72, Z:2.92 [[ 3.89052165e-01 -9.21166780e-01 9.49614639e-03 2.93172556e+02] [ 9.20940730e-01 3.89167218e-01 2.04217753e-02 2.41720729e+02] [-2.25074499e-02 8.00252097e-04 9.99746355e-01 2.91920752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.270714057 meters Centerline goodness : 0.982775 Centerline is valid? [True, True] Translation: X:293.19, Y:241.74, Z:2.92 [[ 3.85153738e-01 -9.22803625e-01 9.49042886e-03 2.93185246e+02] [ 9.22577998e-01 3.85269619e-01 2.04244320e-02 2.41744025e+02] [-2.25041138e-02 8.89114532e-04 9.99746355e-01 2.92185148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3007140569999 meters Centerline goodness : 0.988571 Centerline is valid? [True, True] Translation: X:293.21, Y:241.77, Z:2.92 [[ 3.87773283e-01 -9.21707947e-01 9.29201449e-03 2.93205087e+02] [ 9.21479778e-01 3.87884123e-01 2.05165012e-02 2.41771269e+02] [-2.25144471e-02 6.06652421e-04 9.99746334e-01 2.92293400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3307140569999 meters Centerline goodness : 0.991550 Centerline is valid? [True, True] Translation: X:293.21, Y:241.79, Z:2.92 [[ 3.84546982e-01 -9.23054130e-01 9.73099049e-03 2.93212550e+02] [ 9.22831319e-01 3.84668309e-01 2.03137355e-02 2.41793694e+02] [-2.24938811e-02 1.16847711e-03 9.99746298e-01 2.91614883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.360714057 meters Centerline goodness : 0.991601 Centerline is valid? [True, True] Translation: X:293.23, Y:241.82, Z:2.92 [[ 3.84439739e-01 -9.23101931e-01 9.42929283e-03 2.93226740e+02] [ 9.22875702e-01 3.84554444e-01 2.04528274e-02 2.41818307e+02] [-2.25061210e-02 8.39185599e-04 9.99746353e-01 2.91609199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.390714057 meters Centerline goodness : 0.991065 Centerline is valid? [True, True] Translation: X:293.26, Y:241.85, Z:2.91 [[ 3.94323386e-01 -9.18923427e-01 9.42347683e-03 2.93264802e+02] [ 9.18695916e-01 3.94435528e-01 2.04555068e-02 2.41853068e+02] [-2.25139984e-02 5.91224984e-04 9.99746353e-01 2.91114643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4207140569999 meters Centerline goodness : 0.991499 Centerline is valid? [True, True] Translation: X:293.25, Y:241.87, Z:2.92 [[ 3.83388682e-01 -9.23527115e-01 1.05255484e-02 2.93254733e+02] [ 9.23314018e-01 3.83527545e-01 1.99460881e-02 2.41866172e+02] [-2.24575909e-02 2.07128197e-03 9.99745651e-01 2.91549654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4507140569999 meters Centerline goodness : 0.992115 Centerline is valid? [True, True] Translation: X:293.27, Y:241.89, Z:2.91 [[ 3.82201124e-01 -9.24031305e-01 9.40464101e-03 2.93268512e+02] [ 9.23805142e-01 3.82315830e-01 2.04613101e-02 2.41890843e+02] [-2.25024342e-02 8.67720015e-04 9.99746412e-01 2.91410359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4807140569999 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:293.28, Y:241.91, Z:2.91 [[ 3.81515280e-01 -9.24314749e-01 9.39875212e-03 2.93282075e+02] [ 9.24088605e-01 3.81630024e-01 2.04640147e-02 2.41914288e+02] [-2.25020366e-02 8.77945418e-04 9.99746412e-01 2.91311615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.510714057 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:293.30, Y:241.94, Z:2.91 [[ 3.78982575e-01 -9.25356104e-01 9.39620370e-03 2.93297700e+02] [ 9.25130246e-01 3.79097881e-01 2.04651848e-02 2.41937693e+02] [-2.24996646e-02 9.36763816e-04 9.99746412e-01 2.91204468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.540714057 meters Centerline goodness : 0.992856 Centerline is valid? [True, True] Translation: X:293.31, Y:241.96, Z:2.91 [[ 3.77728141e-01 -9.25868928e-01 9.39035681e-03 2.93311156e+02] [ 9.25643161e-01 3.77843624e-01 2.04678673e-02 2.41961017e+02] [-2.24986488e-02 9.60830107e-04 9.99746412e-01 2.91103027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5707140569999 meters Centerline goodness : 0.992134 Centerline is valid? [True, True] Translation: X:293.32, Y:241.99, Z:2.91 [[ 3.75841779e-01 -9.26636297e-01 9.38782511e-03 2.93324701e+02] [ 9.26410737e-01 3.75957665e-01 2.04690284e-02 2.41985127e+02] [-2.24967695e-02 1.00386594e-03 9.99746412e-01 2.90979650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6007140569999 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:293.34, Y:242.01, Z:2.91 [[ 3.72972256e-01 -9.27795061e-01 9.38201673e-03 2.93339859e+02] [ 9.27569794e-01 3.73088712e-01 2.04716903e-02 2.42008063e+02] [-2.24938577e-02 1.06710281e-03 9.99746412e-01 2.90788323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.630714057 meters Centerline goodness : 0.990980 Centerline is valid? [True, True] Translation: X:293.36, Y:242.03, Z:2.91 [[ 3.76022122e-01 -9.26563214e-01 9.37950153e-03 2.93361518e+02] [ 9.26337537e-01 3.76137782e-01 2.04728426e-02 2.42034208e+02] [-2.24973678e-02 9.90342601e-04 9.99746412e-01 2.91089423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.660714057 meters Centerline goodness : 0.992533 Centerline is valid? [True, True] Translation: X:293.37, Y:242.06, Z:2.91 [[ 3.69477919e-01 -9.29189278e-01 9.66191474e-03 2.93367040e+02] [ 9.28967702e-01 3.69601347e-01 2.03433733e-02 2.42058129e+02] [-2.24739010e-02 1.45917951e-03 9.99746365e-01 2.90748314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6907140569999 meters Centerline goodness : 0.990631 Centerline is valid? [True, True] Translation: X:293.39, Y:242.08, Z:2.91 [[ 3.72710254e-01 -9.27900463e-01 9.37002409e-03 2.93388082e+02] [ 9.27675098e-01 3.72826510e-01 2.04769405e-02 2.42084067e+02] [-2.24939560e-02 1.06037230e-03 9.99746417e-01 2.90912569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7207140569999 meters Centerline goodness : 0.991959 Centerline is valid? [True, True] Translation: X:293.40, Y:242.10, Z:2.91 [[ 3.67334315e-01 -9.30039454e-01 9.59763694e-03 2.93395560e+02] [ 9.29817408e-01 3.67456853e-01 2.03727604e-02 2.42104641e+02] [-2.24741884e-02 1.44043593e-03 9.99746386e-01 2.90512922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.750714057 meters Centerline goodness : 0.992650 Centerline is valid? [True, True] Translation: X:293.41, Y:242.13, Z:2.91 [[ 3.64974819e-01 -9.30971714e-01 9.22224929e-03 2.93410122e+02] [ 9.30745634e-01 3.65089701e-01 2.05444744e-02 2.42132080e+02] [-2.24932728e-02 1.08535243e-03 9.99746405e-01 2.90505443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.780714057 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:293.42, Y:242.16, Z:2.90 [[ 3.63015915e-01 -9.31735840e-01 9.36861969e-03 2.93424385e+02] [ 9.31511685e-01 3.63134483e-01 2.04775091e-02 2.42156199e+02] [-2.24816980e-02 1.29331700e-03 9.99746418e-01 2.90391870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8107140569999 meters Centerline goodness : 0.991923 Centerline is valid? [True, True] Translation: X:293.44, Y:242.18, Z:2.90 [[ 3.61855229e-01 -9.32187283e-01 9.36279957e-03 2.93437028e+02] [ 9.31963209e-01 3.61973949e-01 2.04801699e-02 2.42180560e+02] [-2.24804435e-02 1.31492816e-03 9.99746418e-01 2.90307324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8407140569999 meters Centerline goodness : 0.992079 Centerline is valid? [True, True] Translation: X:293.45, Y:242.21, Z:2.90 [[ 3.60446330e-01 -9.32733022e-01 9.35696577e-03 2.93449566e+02] [ 9.32509060e-01 3.60565261e-01 2.04828349e-02 2.42205380e+02] [-2.24788133e-02 1.34249269e-03 9.99746418e-01 2.90255540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.870714057 meters Centerline goodness : 0.983994 Centerline is valid? [True, True] Translation: X:293.46, Y:242.22, Z:2.91 [[ 3.59728556e-01 -9.33010140e-01 9.35117062e-03 2.93458383e+02] [ 9.32786202e-01 3.59847532e-01 2.04854802e-02 2.42224211e+02] [-2.24781565e-02 1.35343070e-03 9.99746418e-01 2.90989379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.900714057 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:293.48, Y:242.26, Z:2.90 [[ 3.58179315e-01 -9.33610477e-01 8.89135572e-03 2.93475943e+02] [ 9.33381501e-01 3.58288560e-01 2.06949853e-02 2.42255669e+02] [-2.25067261e-02 8.86511281e-04 9.99746299e-01 2.90153842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9307140569999 meters Centerline goodness : 0.985154 Centerline is valid? [True, True] Translation: X:293.48, Y:242.28, Z:2.90 [[ 3.53749865e-01 -9.35291438e-01 9.53720771e-03 2.93482484e+02] [ 9.35070478e-01 3.53874315e-01 2.04002646e-02 2.42277544e+02] [-2.24551656e-02 1.70137054e-03 9.99746403e-01 2.90062755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9607140569999 meters Centerline goodness : 0.984966 Centerline is valid? [True, True] Translation: X:293.50, Y:242.30, Z:2.90 [[ 3.53616256e-01 -9.35346343e-01 9.09737492e-03 2.93495799e+02] [ 9.35120257e-01 3.53731147e-01 2.06005175e-02 2.42303388e+02] [-2.24866435e-02 1.22246171e-03 9.99746396e-01 2.89989495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.990714057 meters Centerline goodness : 0.992157 Centerline is valid? [True, True] Translation: X:293.51, Y:242.33, Z:2.90 [[ 3.56136621e-01 -9.34389403e-01 9.11868914e-03 2.93511127e+02] [ 9.34163251e-01 3.56251370e-01 2.05908162e-02 2.42329572e+02] [-2.24883859e-02 1.18520060e-03 9.99746402e-01 2.89953514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.020714057 meters Centerline goodness : 0.990083 Centerline is valid? [True, True] Translation: X:293.53, Y:242.35, Z:2.90 [[ 3.60009486e-01 -9.32901997e-01 9.32921899e-03 2.93525266e+02] [ 9.32677780e-01 3.60127914e-01 2.04949846e-02 2.42352219e+02] [-2.24795243e-02 1.32276637e-03 9.99746428e-01 2.90136007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0507140569999 meters Centerline goodness : 0.988988 Centerline is valid? [True, True] Translation: X:293.54, Y:242.38, Z:2.90 [[ 3.60408327e-01 -9.32748754e-01 9.25203673e-03 2.93535479e+02] [ 9.32523599e-01 3.60524969e-01 2.05300837e-02 2.42376602e+02] [-2.24850002e-02 1.22852949e-03 9.99746426e-01 2.90038613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0807140569999 meters Centerline goodness : 0.990316 Centerline is valid? [True, True] Translation: X:293.55, Y:242.40, Z:2.90 [[ 3.58764849e-01 -9.33383366e-01 9.12553709e-03 2.93546927e+02] [ 9.33156973e-01 3.58879111e-01 2.05875407e-02 2.42404483e+02] [-2.24910327e-02 1.12947265e-03 9.99746407e-01 2.89844515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.110714057 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:293.56, Y:242.43, Z:2.90 [[ 3.59794836e-01 -9.32985536e-01 9.25555681e-03 2.93558558e+02] [ 9.32760498e-01 3.59911703e-01 2.05285055e-02 2.42430486e+02] [-2.24839819e-02 1.24716750e-03 9.99746425e-01 2.89576093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.140714057 meters Centerline goodness : 0.983815 Centerline is valid? [True, True] Translation: X:293.57, Y:242.45, Z:2.90 [[ 3.65050615e-01 -9.30941143e-01 9.30789136e-03 2.93567177e+02] [ 9.30716044e-01 3.65167360e-01 2.05047489e-02 2.42445226e+02] [-2.24876525e-02 1.17773264e-03 9.99746427e-01 2.90433011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1707140569999 meters Centerline goodness : 0.990831 Centerline is valid? [True, True] Translation: X:293.58, Y:242.48, Z:2.89 [[ 3.59100307e-01 -9.33258755e-01 8.66403154e-03 2.93581345e+02] [ 9.33027198e-01 3.59204283e-01 2.07973716e-02 2.42482191e+02] [-2.25214864e-02 6.15434549e-04 9.99746170e-01 2.89390601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2007140569999 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:293.59, Y:242.50, Z:2.89 [[ 3.60769856e-01 -9.32605554e-01 9.59122593e-03 2.93588634e+02] [ 9.32384257e-01 3.60893820e-01 2.03776348e-02 2.42504423e+02] [-2.24657096e-02 1.59107169e-03 9.99746348e-01 2.89372219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2307140569999 meters Centerline goodness : 0.991407 Centerline is valid? [True, True] Translation: X:293.60, Y:242.53, Z:2.89 [[ 3.60479050e-01 -9.32721203e-01 9.27431826e-03 2.93600183e+02] [ 9.32496274e-01 3.60596164e-01 2.05208614e-02 2.42529323e+02] [-2.24845261e-02 1.25092658e-03 9.99746408e-01 2.89309884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.260714057 meters Centerline goodness : 0.990312 Centerline is valid? [True, True] Translation: X:293.62, Y:242.56, Z:2.89 [[ 3.59690611e-01 -9.33025561e-01 9.27189040e-03 2.93617289e+02] [ 9.32800703e-01 3.59807862e-01 2.05219583e-02 2.42559187e+02] [-2.24836107e-02 1.26727016e-03 9.99746408e-01 2.89259959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.290714057 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:293.62, Y:242.58, Z:2.89 [[ 3.58164691e-01 -9.33609165e-01 9.59064896e-03 2.93623843e+02] [ 9.33388202e-01 3.58289260e-01 2.03782078e-02 2.42580517e+02] [-2.24615081e-02 1.65304407e-03 9.99746342e-01 2.89201431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3207140569999 meters Centerline goodness : 0.990646 Centerline is valid? [True, True] Translation: X:293.64, Y:242.61, Z:2.89 [[ 3.57644948e-01 -9.33811935e-01 9.23915221e-03 2.93640576e+02] [ 9.33586969e-01 3.57761974e-01 2.05363455e-02 2.42609745e+02] [-2.24825018e-02 1.28083189e-03 9.99746416e-01 2.89177223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3507140569999 meters Centerline goodness : 0.990205 Centerline is valid? [True, True] Translation: X:293.65, Y:242.63, Z:2.89 [[ 3.56397994e-01 -9.34284685e-01 9.62278538e-03 2.93646732e+02] [ 9.34064342e-01 3.56523677e-01 2.03635349e-02 2.42630547e+02] [-2.24560896e-02 1.73077770e-03 9.99746332e-01 2.89055904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.380714057 meters Centerline goodness : 0.990526 Centerline is valid? [True, True] Translation: X:293.66, Y:242.66, Z:2.89 [[ 3.55588445e-01 -9.34597050e-01 9.23102971e-03 2.93658891e+02] [ 9.34372258e-01 3.55705788e-01 2.05396023e-02 2.42655820e+02] [-2.24797825e-02 1.32157282e-03 9.99746424e-01 2.88996050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.410714057 meters Centerline goodness : 0.990286 Centerline is valid? [True, True] Translation: X:293.67, Y:242.68, Z:2.89 [[ 3.54366971e-01 -9.35060934e-01 9.22495986e-03 2.93671093e+02] [ 9.34836226e-01 3.54484475e-01 2.05423281e-02 2.42680258e+02] [-2.24784336e-02 1.34430406e-03 9.99746424e-01 2.88916937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4407140569999 meters Centerline goodness : 0.990169 Centerline is valid? [True, True] Translation: X:293.68, Y:242.70, Z:2.89 [[ 3.54156138e-01 -9.35140834e-01 9.22233389e-03 2.93683345e+02] [ 9.34916123e-01 3.54273635e-01 2.05435070e-02 2.42704931e+02] [-2.24783020e-02 1.34649956e-03 9.99746424e-01 2.88872576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4707140569999 meters Centerline goodness : 0.990508 Centerline is valid? [True, True] Translation: X:293.70, Y:242.73, Z:2.89 [[ 3.54171447e-01 -9.35135093e-01 9.21648419e-03 2.93695042e+02] [ 9.34910313e-01 3.54288812e-01 2.05461310e-02 2.42728786e+02] [-2.24787054e-02 1.33973317e-03 9.99746424e-01 2.88846768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.500714057 meters Centerline goodness : 0.989557 Centerline is valid? [True, True] Translation: X:293.71, Y:242.75, Z:2.89 [[ 3.53912204e-01 -9.35233262e-01 9.21394990e-03 2.93707136e+02] [ 9.35008486e-01 3.54029577e-01 2.05472675e-02 2.42753981e+02] [-2.24784988e-02 1.34319263e-03 9.99746424e-01 2.88791008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.530714057 meters Centerline goodness : 0.990165 Centerline is valid? [True, True] Translation: X:293.72, Y:242.78, Z:2.89 [[ 3.54581825e-01 -9.34979647e-01 9.20816207e-03 2.93719236e+02] [ 9.34754720e-01 3.54698909e-01 2.05498609e-02 2.42778455e+02] [-2.24798267e-02 1.32076578e-03 9.99746424e-01 2.88775083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5607140569999 meters Centerline goodness : 0.990063 Centerline is valid? [True, True] Translation: X:293.73, Y:242.80, Z:2.89 [[ 3.55209783e-01 -9.34741283e-01 9.20565408e-03 2.93731593e+02] [ 9.34516249e-01 3.55326662e-01 2.05509844e-02 2.42803560e+02] [-2.24808678e-02 1.30292262e-03 9.99746424e-01 2.88692281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5907140569999 meters Centerline goodness : 0.990454 Centerline is valid? [True, True] Translation: X:293.74, Y:242.83, Z:2.89 [[ 3.55410344e-01 -9.34665101e-01 9.19974900e-03 2.93743187e+02] [ 9.34439976e-01 3.55527045e-01 2.05536275e-02 2.42827905e+02] [-2.24815179e-02 1.29164142e-03 9.99746424e-01 2.88593688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.620714057 meters Centerline goodness : 0.989725 Centerline is valid? [True, True] Translation: X:293.76, Y:242.85, Z:2.88 [[ 3.56078820e-01 -9.34410662e-01 9.19719182e-03 2.93756244e+02] [ 9.34185424e-01 3.56195304e-01 2.05547717e-02 2.42852655e+02] [-2.24825943e-02 1.27276372e-03 9.99746424e-01 2.88348024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.650714057 meters Centerline goodness : 0.990752 Centerline is valid? [True, True] Translation: X:293.77, Y:242.88, Z:2.88 [[ 3.56829504e-01 -9.34124308e-01 9.19142938e-03 2.93768294e+02] [ 9.33898912e-01 3.56945680e-01 2.05573481e-02 2.42877001e+02] [-2.24839596e-02 1.24839757e-03 9.99746424e-01 2.88226760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6807140569999 meters Centerline goodness : 0.989582 Centerline is valid? [True, True] Translation: X:293.79, Y:242.91, Z:2.88 [[ 3.57736497e-01 -9.33777376e-01 9.18751557e-03 2.93786107e+02] [ 9.33551823e-01 3.57852369e-01 2.05590971e-02 2.42906677e+02] [-2.24853940e-02 1.22228251e-03 9.99746424e-01 2.88398802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7107140569999 meters Centerline goodness : 0.989685 Centerline is valid? [True, True] Translation: X:293.80, Y:242.93, Z:2.88 [[ 3.57121074e-01 -9.34009021e-01 9.57534544e-03 2.93796475e+02] [ 9.33788004e-01 3.57245559e-01 2.03856440e-02 2.42932152e+02] [-2.24611250e-02 1.66119963e-03 9.99746337e-01 2.88355569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.740714057 meters Centerline goodness : 0.989301 Centerline is valid? [True, True] Translation: X:293.81, Y:242.96, Z:2.88 [[ 3.58131235e-01 -9.33622946e-01 9.49803931e-03 2.93807006e+02] [ 9.33400895e-01 3.58253799e-01 2.04201854e-02 2.42957083e+02] [-2.24674623e-02 1.55237217e-03 9.99746369e-01 2.88330175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.770714057 meters Centerline goodness : 0.989615 Centerline is valid? [True, True] Translation: X:293.82, Y:242.98, Z:2.88 [[ 3.58644132e-01 -9.33426598e-01 9.44315041e-03 2.93817386e+02] [ 9.33203847e-01 3.58765378e-01 2.04446752e-02 2.42982396e+02] [-2.24714791e-02 1.48002149e-03 9.99746389e-01 2.88207061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8007140569999 meters Centerline goodness : 0.989095 Centerline is valid? [True, True] Translation: X:293.83, Y:243.01, Z:2.88 [[ 3.58920716e-01 -9.33320705e-01 9.40112688e-03 2.93829475e+02] [ 9.33097436e-01 3.59040978e-01 2.04633981e-02 2.43008312e+02] [-2.24743030e-02 1.42742987e-03 9.99746402e-01 2.88068471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8307140569999 meters Centerline goodness : 0.990505 Centerline is valid? [True, True] Translation: X:293.84, Y:243.03, Z:2.88 [[ 3.60444816e-01 -9.32732700e-01 9.44694019e-03 2.93837939e+02] [ 9.32509759e-01 3.60565714e-01 2.04429967e-02 2.43029634e+02] [-2.24740942e-02 1.44079174e-03 9.99746387e-01 2.87515787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.860714057 meters Centerline goodness : 0.990220 Centerline is valid? [True, True] Translation: X:293.85, Y:243.05, Z:2.87 [[ 3.60548212e-01 -9.32695735e-01 9.14620429e-03 2.93849806e+02] [ 9.32469391e-01 3.60662495e-01 2.05766733e-02 2.43054723e+02] [-2.24904683e-02 1.10967278e-03 9.99746442e-01 2.87374374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.890714057 meters Centerline goodness : 0.990220 Centerline is valid? [True, True] Translation: X:293.86, Y:243.08, Z:2.87 [[ 3.60278684e-01 -9.32799939e-01 9.14025771e-03 2.93861270e+02] [ 9.32573562e-01 3.60392901e-01 2.05793144e-02 2.43080695e+02] [-2.24904672e-02 1.10967437e-03 9.99746442e-01 2.87310236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9207140569999 meters Centerline goodness : 0.990874 Centerline is valid? [True, True] Translation: X:293.87, Y:243.10, Z:2.87 [[ 3.60303808e-01 -9.32790293e-01 9.13430887e-03 2.93872250e+02] [ 9.32563847e-01 3.60417888e-01 2.05819545e-02 2.43104930e+02] [-2.24908157e-02 1.10256962e-03 9.99746442e-01 2.87313844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9507140569999 meters Centerline goodness : 0.990375 Centerline is valid? [True, True] Translation: X:293.88, Y:243.13, Z:2.87 [[ 3.60415405e-01 -9.32747204e-01 9.13173202e-03 2.93883692e+02] [ 9.32520717e-01 3.60529402e-01 2.05830978e-02 2.43129254e+02] [-2.24910848e-02 1.09706376e-03 9.99746442e-01 2.87335962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9807140569999 meters Centerline goodness : 0.989968 Centerline is valid? [True, True] Translation: X:293.90, Y:243.15, Z:2.87 [[ 3.60431172e-01 -9.32741151e-01 9.12778485e-03 2.93895444e+02] [ 9.32514617e-01 3.60545077e-01 2.05848480e-02 2.43154634e+02] [-2.24913127e-02 1.09237190e-03 9.99746442e-01 2.87316772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.010714057 meters Centerline goodness : 0.989798 Centerline is valid? [True, True] Translation: X:293.91, Y:243.18, Z:2.87 [[ 3.60887608e-01 -9.32564701e-01 9.12208744e-03 2.93906948e+02] [ 9.32338049e-01 3.61001277e-01 2.05873725e-02 2.43179542e+02] [-2.24921421e-02 1.07514159e-03 9.99746442e-01 2.87309769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.040714057 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:293.94, Y:243.22, Z:2.87 [[ 3.69019382e-01 -9.29376957e-01 9.11961763e-03 2.93935880e+02] [ 9.29149294e-01 3.69131013e-01 2.05884665e-02 2.43215316e+02] [-2.25007800e-02 8.75943096e-04 9.99746442e-01 2.86978235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0707140569999 meters Centerline goodness : 0.990228 Centerline is valid? [True, True] Translation: X:293.93, Y:243.23, Z:2.87 [[ 3.61430592e-01 -9.32343901e-01 1.01379393e-02 2.93929176e+02] [ 9.32128956e-01 3.61566223e-01 2.01364397e-02 2.43229737e+02] [-2.24396231e-02 2.17194146e-03 9.99745841e-01 2.86943941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1007140569999 meters Centerline goodness : 0.989756 Centerline is valid? [True, True] Translation: X:293.94, Y:243.26, Z:2.87 [[ 3.61615583e-01 -9.32282940e-01 9.09336637e-03 2.93940841e+02] [ 9.32055939e-01 3.61728440e-01 2.05976104e-02 2.43255197e+02] [-2.24921300e-02 1.02710924e-03 9.99746492e-01 2.86791096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.130714057 meters Centerline goodness : 0.987263 Centerline is valid? [True, True] Translation: X:293.96, Y:243.28, Z:2.87 [[ 3.66156077e-01 -9.30509077e-01 9.08757993e-03 2.93957189e+02] [ 9.30281466e-01 3.66267698e-01 2.06001630e-02 2.43280428e+02] [-2.24971257e-02 9.11132288e-04 9.99746492e-01 2.87452240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.160714057 meters Centerline goodness : 0.988857 Centerline is valid? [True, True] Translation: X:293.97, Y:243.31, Z:2.87 [[ 3.63067789e-01 -9.31717771e-01 9.15294297e-03 2.93970715e+02] [ 9.31491246e-01 3.63181606e-01 2.05713525e-02 2.43312396e+02] [-2.24908752e-02 1.05709078e-03 9.99746489e-01 2.87019228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1907140569999 meters Centerline goodness : 0.989081 Centerline is valid? [True, True] Translation: X:293.98, Y:243.34, Z:2.87 [[ 3.63310689e-01 -9.31619037e-01 9.55581248e-03 2.93981402e+02] [ 9.31396990e-01 3.63433277e-01 2.03936298e-02 2.43337693e+02] [-2.24719940e-02 1.49103128e-03 9.99746361e-01 2.87069241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2207140569999 meters Centerline goodness : 0.989453 Centerline is valid? [True, True] Translation: X:293.99, Y:243.36, Z:2.87 [[ 3.63199587e-01 -9.31662682e-01 9.52396052e-03 2.93986280e+02] [ 9.31440287e-01 3.63321507e-01 2.04076898e-02 2.43358412e+02] [-2.24733427e-02 1.45893601e-03 9.99746378e-01 2.86581063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.250714057 meters Centerline goodness : 0.988653 Centerline is valid? [True, True] Translation: X:294.01, Y:243.39, Z:2.87 [[ 3.65398983e-01 -9.30806776e-01 9.07354880e-03 2.94006043e+02] [ 9.30579111e-01 3.65510478e-01 2.06060247e-02 2.43389570e+02] [-2.24967046e-02 9.14234524e-04 9.99746499e-01 2.86731951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.280714057 meters Centerline goodness : 0.987029 Centerline is valid? [True, True] Translation: X:294.01, Y:243.41, Z:2.87 [[ 3.67130407e-01 -9.30119492e-01 9.64342891e-03 2.94013816e+02] [ 9.29897949e-01 3.67253996e-01 2.03545185e-02 2.43409718e+02] [-2.24737222e-02 1.49464212e-03 9.99746317e-01 2.86810596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3107140569999 meters Centerline goodness : 0.987646 Centerline is valid? [True, True] Translation: X:294.03, Y:243.43, Z:2.87 [[ 3.68834638e-01 -9.29449467e-01 9.20310874e-03 2.94026457e+02] [ 9.29222799e-01 3.68948156e-01 2.05486723e-02 2.43433867e+02] [-2.24944225e-02 9.72676347e-04 9.99746495e-01 2.86683138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3407140569999 meters Centerline goodness : 0.988839 Centerline is valid? [True, True] Translation: X:294.04, Y:243.46, Z:2.87 [[ 3.65563930e-01 -9.30741063e-01 9.16994808e-03 2.94039125e+02] [ 9.30514432e-01 3.65677513e-01 2.05632748e-02 2.43463531e+02] [-2.24923281e-02 1.01557749e-03 9.99746500e-01 2.86545026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.370714057 meters Centerline goodness : 0.989613 Centerline is valid? [True, True] Translation: X:294.04, Y:243.48, Z:2.86 [[ 3.65049069e-01 -9.30940179e-01 9.46363613e-03 2.94044160e+02] [ 9.30716869e-01 3.65169227e-01 2.04339235e-02 2.43484217e+02] [-2.24785891e-02 1.34858103e-03 9.99746415e-01 2.86214263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.400714057 meters Centerline goodness : 0.988096 Centerline is valid? [True, True] Translation: X:294.07, Y:243.52, Z:2.86 [[ 3.67497221e-01 -9.29980525e-01 9.05623336e-03 2.94065579e+02] [ 9.29752440e-01 3.67607819e-01 2.06129173e-02 2.43515468e+02] [-2.24987539e-02 8.44865229e-04 9.99746514e-01 2.86489910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4307140569999 meters Centerline goodness : 0.986201 Centerline is valid? [True, True] Translation: X:294.08, Y:243.54, Z:2.87 [[ 3.71307346e-01 -9.28460602e-01 9.57936565e-03 2.94075774e+02] [ 9.28237790e-01 3.71428536e-01 2.03825555e-02 2.43535328e+02] [-2.24824495e-02 1.32373661e-03 9.99746361e-01 2.86525261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4607140569999 meters Centerline goodness : 0.983953 Centerline is valid? [True, True] Translation: X:294.08, Y:243.55, Z:2.86 [[ 3.69925506e-01 -9.29015892e-01 9.19737784e-03 2.94080192e+02] [ 9.28789032e-01 3.70038630e-01 2.05510614e-02 2.43553661e+02] [-2.24956478e-02 9.40061858e-04 9.99746499e-01 2.86326540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.490714057 meters Centerline goodness : 0.983619 Centerline is valid? [True, True] Translation: X:294.09, Y:243.58, Z:2.87 [[ 3.70722977e-01 -9.28704249e-01 8.53763421e-03 2.94091532e+02] [ 9.28470395e-01 3.70821220e-01 2.08410167e-02 2.43577466e+02] [-2.25210767e-02 2.00696836e-04 9.99746348e-01 2.86556224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.520714057 meters Centerline goodness : 0.989197 Centerline is valid? [True, True] Translation: X:294.11, Y:243.61, Z:2.86 [[ 3.70805594e-01 -9.28671694e-01 8.49089356e-03 2.94110567e+02] [ 9.28437358e-01 3.70902767e-01 2.08616803e-02 2.43609705e+02] [-2.25229479e-02 1.47635020e-04 9.99746315e-01 2.85949088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5507140569999 meters Centerline goodness : 0.988068 Centerline is valid? [True, True] Translation: X:294.12, Y:243.63, Z:2.86 [[ 3.72496036e-01 -9.27988951e-01 9.12194767e-03 2.94120644e+02] [ 9.27761019e-01 3.72606861e-01 2.05820029e-02 2.43630935e+02] [-2.24987715e-02 7.96272987e-04 9.99746554e-01 2.85929881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5807140569999 meters Centerline goodness : 0.989326 Centerline is valid? [True, True] Translation: X:294.14, Y:243.66, Z:2.86 [[ 3.71150796e-01 -9.28529541e-01 8.94306261e-03 2.94135411e+02] [ 9.28299857e-01 3.71257984e-01 2.06612202e-02 2.43658821e+02] [-2.25047367e-02 6.33415423e-04 9.99746536e-01 2.85818885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.610714057 meters Centerline goodness : 0.988583 Centerline is valid? [True, True] Translation: X:294.15, Y:243.68, Z:2.86 [[ 3.70768661e-01 -9.28680480e-01 9.11957911e-03 2.94149929e+02] [ 9.28452729e-01 3.70879858e-01 2.05830127e-02 2.43683366e+02] [-2.24973103e-02 8.35562064e-04 9.99746554e-01 2.85767385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.640714057 meters Centerline goodness : 0.988476 Centerline is valid? [True, True] Translation: X:294.16, Y:243.71, Z:2.86 [[ 3.70718823e-01 -9.28700434e-01 9.11361878e-03 2.94162051e+02] [ 9.28472626e-01 3.70829900e-01 2.05856514e-02 2.43707121e+02] [-2.24975057e-02 8.30257100e-04 9.99746554e-01 2.85695003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6707140569999 meters Centerline goodness : 0.986577 Centerline is valid? [True, True] Translation: X:294.18, Y:243.74, Z:2.86 [[ 3.71928300e-01 -9.28216761e-01 9.10957317e-03 2.94181635e+02] [ 9.27988765e-01 3.72038990e-01 2.05874415e-02 2.43737712e+02] [-2.24987247e-02 7.96529429e-04 9.99746554e-01 2.85983763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7007140569999 meters Centerline goodness : 0.988048 Centerline is valid? [True, True] Translation: X:294.19, Y:243.76, Z:2.86 [[ 3.71306773e-01 -9.28461312e-01 9.53273932e-03 2.94187358e+02] [ 9.28238048e-01 3.71426938e-01 2.03998898e-02 2.43758457e+02] [-2.24812246e-02 1.27403410e-03 9.99746454e-01 2.85572928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7307140569999 meters Centerline goodness : 0.982436 Centerline is valid? [True, True] Translation: X:294.20, Y:243.78, Z:2.86 [[ 3.72311101e-01 -9.28063354e-01 9.10250809e-03 2.94198221e+02] [ 9.27835247e-01 3.72421540e-01 2.05900900e-02 2.43778830e+02] [-2.24988780e-02 7.79708773e-04 9.99746564e-01 2.85513852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.760714057 meters Centerline goodness : 0.988004 Centerline is valid? [True, True] Translation: X:294.21, Y:243.81, Z:2.85 [[ 3.72823236e-01 -9.27860788e-01 8.78598370e-03 2.94214103e+02] [ 9.27629282e-01 3.72926509e-01 2.07300193e-02 2.43807334e+02] [-2.25110982e-02 4.21502883e-04 9.99746504e-01 2.85343891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.790714057 meters Centerline goodness : 0.986293 Centerline is valid? [True, True] Translation: X:294.24, Y:243.84, Z:2.85 [[ 3.76169499e-01 -9.26506072e-01 9.11081316e-03 2.94238358e+02] [ 9.26277599e-01 3.76279173e-01 2.05862618e-02 2.43839121e+02] [-2.25015058e-02 6.95218336e-04 9.99746567e-01 2.85457214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8207140569999 meters Centerline goodness : 0.983056 Centerline is valid? [True, True] Translation: X:294.24, Y:243.85, Z:2.85 [[ 3.75941171e-01 -9.26591953e-01 9.77698579e-03 2.94243156e+02] [ 9.26370953e-01 3.76065562e-01 2.02867098e-02 2.43853442e+02] [-2.24742897e-02 1.43050619e-03 9.99746398e-01 2.85192775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8507140569999 meters Centerline goodness : 0.987401 Centerline is valid? [True, True] Translation: X:294.26, Y:243.88, Z:2.85 [[ 3.74571929e-01 -9.27156628e-01 8.74392241e-03 2.94261791e+02] [ 9.26924527e-01 3.74673825e-01 2.07471883e-02 2.43880814e+02] [-2.25120120e-02 3.33641799e-04 9.99746517e-01 2.85069375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.880714057 meters Centerline goodness : 0.987039 Centerline is valid? [True, True] Translation: X:294.28, Y:243.91, Z:2.85 [[ 3.71190269e-01 -9.28512380e-01 9.08542512e-03 2.94276086e+02] [ 9.28284301e-01 3.71300602e-01 2.05941617e-02 2.43908613e+02] [-2.24953579e-02 7.89505097e-04 9.99746636e-01 2.85119665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.910714057 meters Centerline goodness : 0.987639 Centerline is valid? [True, True] Translation: X:294.29, Y:243.93, Z:2.85 [[ 3.69189250e-01 -9.29308650e-01 9.20490858e-03 2.94288349e+02] [ 9.29082122e-01 3.69302714e-01 2.05406175e-02 2.43932582e+02] [-2.24879713e-02 9.68740805e-04 9.99746644e-01 2.85173582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9407140569999 meters Centerline goodness : 0.982762 Centerline is valid? [True, True] Translation: X:294.30, Y:243.95, Z:2.85 [[ 3.67103074e-01 -9.30134748e-01 9.20238829e-03 2.94299352e+02] [ 9.29908447e-01 3.67216990e-01 2.05417466e-02 2.43952044e+02] [-2.24858656e-02 1.01644029e-03 9.99746644e-01 2.85348180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9707140569999 meters Centerline goodness : 0.988061 Centerline is valid? [True, True] Translation: X:294.32, Y:243.98, Z:2.85 [[ 3.65308439e-01 -9.30845109e-01 8.78223014e-03 2.94315633e+02] [ 9.30614444e-01 3.65413496e-01 2.07300249e-02 2.43982566e+02] [-2.25055877e-02 6.00017194e-04 9.99746537e-01 2.85109511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.000714057 meters Centerline goodness : 0.986335 Centerline is valid? [True, True] Translation: X:294.34, Y:244.01, Z:2.85 [[ 3.68246494e-01 -9.29682541e-01 9.21372444e-03 2.94338779e+02] [ 9.29456230e-01 3.68360382e-01 2.05364366e-02 2.44013648e+02] [-2.24863376e-02 1.00128279e-03 9.99746649e-01 2.85231181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.030714057 meters Centerline goodness : 0.986375 Centerline is valid? [True, True] Translation: X:294.35, Y:244.04, Z:2.85 [[ 3.66512683e-01 -9.30360972e-01 9.84458873e-03 2.94351552e+02] [ 9.30142125e-01 3.66640772e-01 2.02526876e-02 2.44039059e+02] [-2.24517378e-02 1.73399980e-03 9.99746424e-01 2.85280866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0607140569999 meters Centerline goodness : 0.982742 Centerline is valid? [True, True] Translation: X:294.36, Y:244.06, Z:2.85 [[ 3.65997021e-01 -9.30563937e-01 9.84581268e-03 2.94357186e+02] [ 9.30345176e-01 3.66125258e-01 2.02521292e-02 2.44057086e+02] [-2.24507018e-02 1.74778537e-03 9.99746423e-01 2.85154847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0907140569999 meters Centerline goodness : 0.987605 Centerline is valid? [True, True] Translation: X:294.37, Y:244.08, Z:2.85 [[ 3.67887474e-01 -9.29826361e-01 9.04126923e-03 2.94372912e+02] [ 9.29598129e-01 3.67997644e-01 2.06168069e-02 2.44084830e+02] [-2.24972163e-02 8.20081964e-04 9.99746569e-01 2.84911891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.120714057 meters Centerline goodness : 0.985026 Centerline is valid? [True, True] Translation: X:294.41, Y:244.12, Z:2.85 [[ 3.77762879e-01 -9.25855716e-01 9.29523854e-03 2.94406051e+02] [ 9.25629098e-01 3.77876244e-01 2.05016608e-02 2.44119335e+02] [-2.24940296e-02 8.59176865e-04 9.99746608e-01 2.85010112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.150714057 meters Centerline goodness : 0.987522 Centerline is valid? [True, True] Translation: X:294.40, Y:244.14, Z:2.85 [[ 3.69297487e-01 -9.29254466e-01 1.02714845e-02 2.94395394e+02] [ 9.29040423e-01 3.69434132e-01 2.00577963e-02 2.44135272e+02] [-2.24334338e-02 2.13533052e-03 9.99746058e-01 2.84839639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1807140569999 meters Centerline goodness : 0.983054 Centerline is valid? [True, True] Translation: X:294.42, Y:244.17, Z:2.85 [[ 3.79736942e-01 -9.25047998e-01 9.27666421e-03 2.94423557e+02] [ 9.24820985e-01 3.79849410e-01 2.05078158e-02 2.44165028e+02] [-2.24944493e-02 7.91678504e-04 9.99746654e-01 2.85387105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2107140569999 meters Centerline goodness : 0.984062 Centerline is valid? [True, True] Translation: X:294.43, Y:244.19, Z:2.85 [[ 3.78662650e-01 -9.25481934e-01 9.88872139e-03 2.94434436e+02] [ 9.25262001e-01 3.78788821e-01 2.02301203e-02 2.44191675e+02] [-2.24683480e-02 1.48926720e-03 9.99746446e-01 2.85005165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.240714057 meters Centerline goodness : 0.986052 Centerline is valid? [True, True] Translation: X:294.45, Y:244.22, Z:2.85 [[ 3.77372694e-01 -9.26008051e-01 9.94684737e-03 2.94448736e+02] [ 9.25788970e-01 3.77500437e-01 2.02040214e-02 2.44221776e+02] [-2.24640257e-02 1.58423560e-03 9.99746397e-01 2.84662252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.270714057 meters Centerline goodness : 0.986934 Centerline is valid? [True, True] Translation: X:294.44, Y:244.24, Z:2.84 [[ 3.68745533e-01 -9.29474641e-01 1.01796240e-02 2.94437569e+02] [ 9.29259548e-01 3.68880331e-01 2.00996165e-02 2.44236653e+02] [-2.24371468e-02 2.04786898e-03 9.99746158e-01 2.84487928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3007140569999 meters Centerline goodness : 0.985964 Centerline is valid? [True, True] Translation: X:294.47, Y:244.27, Z:2.84 [[ 3.80663866e-01 -9.24668032e-01 9.16796974e-03 2.94472098e+02] [ 9.24439859e-01 3.80773693e-01 2.05509401e-02 2.44271816e+02] [-2.24937191e-02 6.52236324e-04 9.99746772e-01 2.84287620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3307140569999 meters Centerline goodness : 0.984392 Centerline is valid? [True, True] Translation: X:294.48, Y:244.29, Z:2.84 [[ 3.82638195e-01 -9.23841710e-01 1.02228117e-02 2.94480920e+02] [ 9.23625162e-01 3.82770688e-01 2.00788670e-02 2.44293957e+02] [-2.24626875e-02 1.75910466e-03 9.99746134e-01 2.84422598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.360714057 meters Centerline goodness : 0.984660 Centerline is valid? [True, True] Translation: X:294.49, Y:244.32, Z:2.84 [[ 3.82020169e-01 -9.24101355e-01 9.86289318e-03 2.94489919e+02] [ 9.23880728e-01 3.82144973e-01 2.02390612e-02 2.44318646e+02] [-2.24719989e-02 1.38040737e-03 9.99746520e-01 2.84486026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.390714057 meters Centerline goodness : 0.986105 Centerline is valid? [True, True] Translation: X:294.50, Y:244.35, Z:2.84 [[ 3.78719758e-01 -9.25460190e-01 9.73561370e-03 2.94500610e+02] [ 9.25238562e-01 3.78842568e-01 2.02956152e-02 2.44347261e+02] [-2.24710488e-02 1.32141474e-03 9.99746621e-01 2.84387582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4207140569999 meters Centerline goodness : 0.983934 Centerline is valid? [True, True] Translation: X:294.51, Y:244.37, Z:2.85 [[ 3.80203188e-01 -9.24850665e-01 9.83782824e-03 2.94509463e+02] [ 9.24629997e-01 3.80327878e-01 2.02502666e-02 2.44369852e+02] [-2.24700729e-02 1.39713518e-03 9.99746540e-01 2.84874153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4507140569999 meters Centerline goodness : 0.986084 Centerline is valid? [True, True] Translation: X:294.52, Y:244.40, Z:2.85 [[ 3.77037880e-01 -9.26149060e-01 9.50557968e-03 2.94521791e+02] [ 9.25925091e-01 3.77156048e-01 2.03970845e-02 2.44398618e+02] [-2.24758275e-02 1.11098123e-03 9.99746769e-01 2.84524497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4807140569999 meters Centerline goodness : 0.982062 Centerline is valid? [True, True] Translation: X:294.53, Y:244.41, Z:2.85 [[ 3.82170345e-01 -9.24041242e-01 9.67520096e-03 2.94530108e+02] [ 9.23818489e-01 3.82291001e-01 2.03221681e-02 2.44413332e+02] [-2.24772637e-02 1.17159952e-03 9.99746668e-01 2.84656592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.510714057 meters Centerline goodness : 0.983071 Centerline is valid? [True, True] Translation: X:294.54, Y:244.45, Z:2.85 [[ 3.79011100e-01 -9.25347914e-01 9.04563797e-03 2.94544255e+02] [ 9.25118775e-01 3.79118613e-01 2.05992511e-02 2.44445100e+02] [-2.24908438e-02 5.60944678e-04 9.99746892e-01 2.85005025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.540714057 meters Centerline goodness : 0.986372 Centerline is valid? [True, True] Translation: X:294.56, Y:244.48, Z:2.84 [[ 3.75197768e-01 -9.26897291e-01 9.38329705e-03 2.94558551e+02] [ 9.26672218e-01 3.75313691e-01 2.04507509e-02 2.44475710e+02] [-2.24774255e-02 1.02216459e-03 9.99746828e-01 2.84347041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5707140569999 meters Centerline goodness : 0.984109 Centerline is valid? [True, True] Translation: X:294.56, Y:244.49, Z:2.85 [[ 3.72633047e-01 -9.27928320e-01 9.67700297e-03 2.94562317e+02] [ 9.27706858e-01 3.72756029e-01 2.03206228e-02 2.44493039e+02] [-2.24632426e-02 1.40528642e-03 9.99746682e-01 2.84873389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6007140569999 meters Centerline goodness : 0.983449 Centerline is valid? [True, True] Translation: X:294.58, Y:244.52, Z:2.85 [[ 3.75556003e-01 -9.26756359e-01 8.96325897e-03 2.94582324e+02] [ 9.26526751e-01 3.75662539e-01 2.06358191e-02 2.44523047e+02] [-2.24915372e-02 5.54793466e-04 9.99746879e-01 2.84817966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.630714057 meters Centerline goodness : 0.983273 Centerline is valid? [True, True] Translation: X:294.59, Y:244.55, Z:2.85 [[ 3.74996456e-01 -9.26978323e-01 9.42583261e-03 2.94593332e+02] [ 9.26753735e-01 3.75113365e-01 2.04322933e-02 2.44547011e+02] [-2.24760488e-02 1.07338797e-03 9.99746805e-01 2.84754719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.660714057 meters Centerline goodness : 0.983841 Centerline is valid? [True, True] Translation: X:294.60, Y:244.57, Z:2.85 [[ 3.68719775e-01 -9.29494102e-01 9.29744168e-03 2.94598212e+02] [ 9.29268889e-01 3.68835380e-01 2.04889100e-02 2.44569743e+02] [-2.24735464e-02 1.08515703e-03 9.99746849e-01 2.84706406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6907140569999 meters Centerline goodness : 0.987096 Centerline is valid? [True, True] Translation: X:294.61, Y:244.60, Z:2.84 [[ 3.63321236e-01 -9.31621051e-01 8.93849316e-03 2.94609364e+02] [ 9.31392597e-01 3.63430239e-01 2.06468405e-02 2.44597004e+02] [-2.24835500e-02 8.23810731e-04 9.99746874e-01 2.83882297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7207140569999 meters Centerline goodness : 0.986606 Centerline is valid? [True, True] Translation: X:294.62, Y:244.62, Z:2.84 [[ 3.62538681e-01 -9.31924671e-01 9.06159171e-03 2.94621037e+02] [ 9.31697638e-01 3.62650593e-01 2.05926725e-02 2.44622080e+02] [-2.24770112e-02 9.77023272e-04 9.99746883e-01 2.83903288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.750714057 meters Centerline goodness : 0.981668 Centerline is valid? [True, True] Translation: X:294.63, Y:244.64, Z:2.84 [[ 3.64277823e-01 -9.31246294e-01 9.05578616e-03 2.94629090e+02] [ 9.31018990e-01 3.64389184e-01 2.05952252e-02 2.44640552e+02] [-2.24790577e-02 9.28725062e-04 9.99746883e-01 2.84239206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.780714057 meters Centerline goodness : 0.981668 Centerline is valid? [True, True] Translation: X:294.64, Y:244.67, Z:2.84 [[ 3.64424126e-01 -9.31193958e-01 8.53630790e-03 2.94640988e+02] [ 9.30961181e-01 3.64523914e-01 2.08229695e-02 2.44666467e+02] [-2.25019118e-02 3.58578817e-04 9.99746736e-01 2.84161582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8107140569999 meters Centerline goodness : 0.987269 Centerline is valid? [True, True] Translation: X:294.66, Y:244.70, Z:2.84 [[ 3.62634250e-01 -9.31892332e-01 8.54879954e-03 2.94656154e+02] [ 9.31659876e-01 3.62734764e-01 2.08174826e-02 2.44697799e+02] [-2.25005992e-02 4.15441310e-04 9.99746743e-01 2.83772536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8407140569999 meters Centerline goodness : 0.986661 Centerline is valid? [True, True] Translation: X:294.67, Y:244.72, Z:2.84 [[ 3.61952726e-01 -9.32152440e-01 9.05835010e-03 2.94667477e+02] [ 9.31925459e-01 3.62064709e-01 2.05933516e-02 2.44723233e+02] [-2.24758518e-02 9.87887326e-04 9.99746898e-01 2.83681540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.870714057 meters Centerline goodness : 0.986282 Centerline is valid? [True, True] Translation: X:294.68, Y:244.75, Z:2.84 [[ 3.62291466e-01 -9.32020894e-01 9.05250648e-03 2.94679135e+02] [ 9.31793808e-01 3.62403238e-01 2.05959201e-02 2.44747873e+02] [-2.24764855e-02 9.73343421e-04 9.99746898e-01 2.83608117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.900714057 meters Centerline goodness : 0.986409 Centerline is valid? [True, True] Translation: X:294.69, Y:244.77, Z:2.84 [[ 3.62215764e-01 -9.32050341e-01 9.04997602e-03 2.94691107e+02] [ 9.31823238e-01 3.62327498e-01 2.05970319e-02 2.44773512e+02] [-2.24765258e-02 9.72408319e-04 9.99746898e-01 2.83506670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9307140569999 meters Centerline goodness : 0.986449 Centerline is valid? [True, True] Translation: X:294.70, Y:244.80, Z:2.83 [[ 3.62948073e-01 -9.31765474e-01 9.04419891e-03 2.94703359e+02] [ 9.31538220e-01 3.63059502e-01 2.05995683e-02 2.44797659e+02] [-2.24775489e-02 9.48443335e-04 9.99746898e-01 2.83376481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9607140569999 meters Centerline goodness : 0.984971 Centerline is valid? [True, True] Translation: X:294.73, Y:244.83, Z:2.83 [[ 3.67269508e-01 -9.30070619e-01 9.04169843e-03 2.94726670e+02] [ 9.29842824e-01 3.67379825e-01 2.06006658e-02 2.44829580e+02] [-2.24818116e-02 8.41362007e-04 9.99746898e-01 2.83323390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.990714057 meters Centerline goodness : 0.986426 Centerline is valid? [True, True] Translation: X:294.73, Y:244.85, Z:2.83 [[ 3.63028624e-01 -9.31727436e-01 9.70580087e-03 2.94726644e+02] [ 9.31507579e-01 3.63154513e-01 2.03083811e-02 2.44849237e+02] [-2.24465813e-02 1.66850341e-03 9.99746651e-01 2.83183443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.020714057 meters Centerline goodness : 0.986389 Centerline is valid? [True, True] Translation: X:294.74, Y:244.87, Z:2.83 [[ 3.62894001e-01 -9.31786624e-01 9.03501142e-03 2.94738375e+02] [ 9.31559301e-01 3.63005239e-01 2.06025546e-02 2.44874549e+02] [-2.24769413e-02 9.40105431e-04 9.99746920e-01 2.83100318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0507140569999 meters Centerline goodness : 0.985256 Centerline is valid? [True, True] Translation: X:294.77, Y:244.91, Z:2.83 [[ 3.71805267e-01 -9.28266833e-01 9.02938946e-03 2.94771677e+02] [ 9.28038395e-01 3.71914197e-01 2.06050183e-02 2.44910142e+02] [-2.24851132e-02 7.18565795e-04 9.99746920e-01 2.83084383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0807140569999 meters Centerline goodness : 0.985944 Centerline is valid? [True, True] Translation: X:294.76, Y:244.92, Z:2.83 [[ 3.60656421e-01 -9.32644494e-01 1.00595632e-02 2.94761362e+02] [ 9.32429135e-01 3.60790506e-01 2.01523977e-02 2.44924950e+02] [-2.24244176e-02 2.11173815e-03 9.99746311e-01 2.82982451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.110714057 meters Centerline goodness : 0.981888 Centerline is valid? [True, True] Translation: X:294.77, Y:244.95, Z:2.83 [[ 3.57340003e-01 -9.33930935e-01 9.00727866e-03 2.94770283e+02] [ 9.33704031e-01 3.57451980e-01 2.06122482e-02 2.44948301e+02] [-2.24700859e-02 1.04455154e-03 9.99746970e-01 2.82807263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.140714057 meters Centerline goodness : 0.985686 Centerline is valid? [True, True] Translation: X:294.78, Y:244.97, Z:2.83 [[ 3.58327094e-01 -9.33554073e-01 8.85924490e-03 2.94784798e+02] [ 9.33325459e-01 3.58435565e-01 2.06768891e-02 2.44974221e+02] [-2.24784625e-02 8.59469218e-04 9.99746958e-01 2.82842165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1707140569999 meters Centerline goodness : 0.985498 Centerline is valid? [True, True] Translation: X:294.80, Y:245.00, Z:2.83 [[ 3.57855478e-01 -9.33733630e-01 8.99803403e-03 2.94796246e+02] [ 9.33506564e-01 3.57967126e-01 2.06163146e-02 2.44998834e+02] [-2.24711466e-02 1.02206271e-03 9.99746969e-01 2.82787542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2007140569999 meters Centerline goodness : 0.986473 Centerline is valid? [True, True] Translation: X:294.81, Y:245.02, Z:2.83 [[ 3.56576980e-01 -9.34222653e-01 8.99399742e-03 2.94807655e+02] [ 9.33995696e-01 3.56688849e-01 2.06180754e-02 2.45024287e+02] [-2.24699317e-02 1.04842383e-03 9.99746969e-01 2.82691477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2307140569999 meters Centerline goodness : 0.981608 Centerline is valid? [True, True] Translation: X:294.81, Y:245.04, Z:2.83 [[ 3.58649568e-01 -9.33429001e-01 8.98816404e-03 2.94814908e+02] [ 9.33201733e-01 3.58760805e-01 2.06206181e-02 2.45038515e+02] [-2.24724839e-02 9.92194492e-04 9.99746970e-01 2.82791022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.260714057 meters Centerline goodness : 0.982024 Centerline is valid? [True, True] Translation: X:294.84, Y:245.07, Z:2.83 [[ 3.62005655e-01 -9.32139066e-01 8.28657782e-03 2.94836684e+02] [ 9.31904141e-01 3.62100456e-01 2.09268441e-02 2.45071864e+02] [-2.25073026e-02 1.46660270e-04 9.99746668e-01 2.82952900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.290714057 meters Centerline goodness : 0.982881 Centerline is valid? [True, True] Translation: X:294.85, Y:245.10, Z:2.83 [[ 3.61369750e-01 -9.32377872e-01 9.13278604e-03 2.94851121e+02] [ 9.32151835e-01 3.61483511e-01 2.05578983e-02 2.45100325e+02] [-2.24690810e-02 1.08414069e-03 9.99746951e-01 2.82627578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3207140569999 meters Centerline goodness : 0.984658 Centerline is valid? [True, True] Translation: X:294.86, Y:245.13, Z:2.83 [[ 3.54702865e-01 -9.34932958e-01 9.28668115e-03 2.94864546e+02] [ 9.34709448e-01 3.54821604e-01 2.04909015e-02 2.45133725e+02] [-2.24527342e-02 1.41216717e-03 9.99746908e-01 2.82511519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3507140569999 meters Centerline goodness : 0.983525 Centerline is valid? [True, True] Translation: X:294.87, Y:245.16, Z:2.83 [[ 3.51534471e-01 -9.36123775e-01 9.78744805e-03 2.94874075e+02] [ 9.35906448e-01 3.51664816e-01 2.02725718e-02 2.45157188e+02] [-2.24195375e-02 2.03362795e-03 9.99746582e-01 2.82541828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.380714057 meters Centerline goodness : 0.983824 Centerline is valid? [True, True] Translation: X:294.88, Y:245.18, Z:2.83 [[ 3.46146044e-01 -9.38132083e-01 9.54520927e-03 2.94882368e+02] [ 9.37912659e-01 3.46272420e-01 2.03778252e-02 2.45183307e+02] [-2.24223343e-02 1.89886902e-03 9.99746785e-01 2.82552208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.410714057 meters Centerline goodness : 0.984589 Centerline is valid? [True, True] Translation: X:294.88, Y:245.20, Z:2.82 [[ 3.41037196e-01 -9.40002063e-01 9.47384109e-03 2.94883923e+02] [ 9.39782495e-01 3.41163225e-01 2.04087350e-02 2.45203548e+02] [-2.24163792e-02 1.94321225e-03 9.99746833e-01 2.82429010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4407140569999 meters Centerline goodness : 0.984044 Centerline is valid? [True, True] Translation: X:294.89, Y:245.23, Z:2.82 [[ 3.37889358e-01 -9.41143603e-01 8.91631745e-03 2.94894495e+02] [ 9.40918102e-01 3.38004030e-01 2.06494749e-02 2.45229001e+02] [-2.24478724e-02 1.41228669e-03 9.99747017e-01 2.82387604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4707140569999 meters Centerline goodness : 0.984630 Centerline is valid? [True, True] Translation: X:294.90, Y:245.25, Z:2.82 [[ 3.36757384e-01 -9.41549293e-01 8.91033790e-03 2.94904974e+02] [ 9.41323863e-01 3.36872197e-01 2.06520548e-02 2.45254330e+02] [-2.24465726e-02 1.43278177e-03 9.99747017e-01 2.82331595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.500714057 meters Centerline goodness : 0.983956 Centerline is valid? [True, True] Translation: X:294.92, Y:245.28, Z:2.82 [[ 3.35534923e-01 -9.41985651e-01 8.90774519e-03 2.94915557e+02] [ 9.41760343e-01 3.35649972e-01 2.06531730e-02 2.45280670e+02] [-2.24448770e-02 1.45910035e-03 9.99747017e-01 2.82221133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.530714057 meters Centerline goodness : 0.984561 Centerline is valid? [True, True] Translation: X:294.93, Y:245.31, Z:2.82 [[ 3.34742728e-01 -9.42267511e-01 8.90184170e-03 2.94926088e+02] [ 9.42042234e-01 3.34857838e-01 2.06557172e-02 2.45306084e+02] [-2.24440627e-02 1.47155971e-03 9.99747017e-01 2.82117671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5607140569999 meters Centerline goodness : 0.985023 Centerline is valid? [True, True] Translation: X:294.94, Y:245.33, Z:2.82 [[ 3.33969180e-01 -9.42542015e-01 8.89591766e-03 2.94936005e+02] [ 9.42316765e-01 3.34084345e-01 2.06582682e-02 2.45330774e+02] [-2.24432726e-02 1.48354746e-03 9.99747017e-01 2.82010923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5907140569999 meters Centerline goodness : 0.983809 Centerline is valid? [True, True] Translation: X:294.95, Y:245.36, Z:2.82 [[ 3.33647144e-01 -9.42656083e-01 8.89335096e-03 2.94946506e+02] [ 9.42430845e-01 3.33762330e-01 2.06593731e-02 2.45356335e+02] [-2.24429493e-02 1.48842742e-03 9.99747017e-01 2.81917510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.620714057 meters Centerline goodness : 0.978169 Centerline is valid? [True, True] Translation: X:294.95, Y:245.38, Z:2.82 [[ 3.34041980e-01 -9.42516296e-01 8.88752949e-03 2.94953344e+02] [ 9.42290944e-01 3.34156944e-01 2.06618772e-02 2.45376373e+02] [-2.24439856e-02 1.47270420e-03 9.99747017e-01 2.82459854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.650714057 meters Centerline goodness : 0.984293 Centerline is valid? [True, True] Translation: X:294.97, Y:245.41, Z:2.82 [[ 3.32932053e-01 -9.42913356e-01 8.40544790e-03 2.94967356e+02] [ 9.42682895e-01 3.33036712e-01 2.08688455e-02 2.45407526e+02] [-2.24768358e-02 9.75764383e-04 9.99746888e-01 2.81715121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6807140569999 meters Centerline goodness : 0.984240 Centerline is valid? [True, True] Translation: X:294.98, Y:245.43, Z:2.82 [[ 3.32974986e-01 -9.42893811e-01 8.88366137e-03 2.94977048e+02] [ 9.42668553e-01 3.33090121e-01 2.06632526e-02 2.45434077e+02] [-2.24423128e-02 1.49400197e-03 9.99747023e-01 2.81729192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7107140569999 meters Centerline goodness : 0.984349 Centerline is valid? [True, True] Translation: X:294.99, Y:245.46, Z:2.82 [[ 3.32834429e-01 -9.42943493e-01 8.87764985e-03 2.94986744e+02] [ 9.42718185e-01 3.32949466e-01 2.06658350e-02 2.45459378e+02] [-2.24425234e-02 1.49082058e-03 9.99747023e-01 2.81673945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.740714057 meters Centerline goodness : 0.984379 Centerline is valid? [True, True] Translation: X:295.00, Y:245.48, Z:2.82 [[ 3.32630760e-01 -9.43015382e-01 8.87504829e-03 2.94996453e+02] [ 9.42790070e-01 3.32745790e-01 2.06669522e-02 2.45484679e+02] [-2.24423888e-02 1.49284338e-03 9.99747023e-01 2.81603325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.770714057 meters Centerline goodness : 0.979422 Centerline is valid? [True, True] Translation: X:295.00, Y:245.50, Z:2.82 [[ 3.32021479e-01 -9.43230111e-01 8.87100177e-03 2.95002170e+02] [ 9.43004829e-01 3.32136566e-01 2.06686890e-02 2.45504936e+02] [-2.24417138e-02 1.50294883e-03 9.99747023e-01 2.82237773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8007140569999 meters Centerline goodness : 0.985097 Centerline is valid? [True, True] Translation: X:295.02, Y:245.54, Z:2.81 [[ 3.31144502e-01 -9.43543641e-01 8.28953894e-03 2.95016826e+02] [ 9.43312178e-01 3.31247039e-01 2.09173003e-02 2.45536152e+02] [-2.24822709e-02 8.92974050e-04 9.99746843e-01 2.81455441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8307140569999 meters Centerline goodness : 0.979360 Centerline is valid? [True, True] Translation: X:295.02, Y:245.56, Z:2.82 [[ 3.30457415e-01 -9.43779332e-01 8.85833121e-03 2.95023959e+02] [ 9.43554111e-01 3.30572598e-01 2.06735857e-02 2.45558092e+02] [-2.24396245e-02 1.52657514e-03 9.99747034e-01 2.81852216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.860714057 meters Centerline goodness : 0.985509 Centerline is valid? [True, True] Translation: X:295.04, Y:245.59, Z:2.81 [[ 3.29837493e-01 -9.44000302e-01 8.40581238e-03 2.95036629e+02] [ 9.43770229e-01 3.29942914e-01 2.08669357e-02 2.45588375e+02] [-2.24718319e-02 1.05045769e-03 9.99746925e-01 2.81489170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.890714057 meters Centerline goodness : 0.986365 Centerline is valid? [True, True] Translation: X:295.05, Y:245.61, Z:2.81 [[ 3.29639787e-01 -9.44065326e-01 8.84707468e-03 2.95046549e+02] [ 9.43840086e-01 3.29754920e-01 2.06781460e-02 2.45614379e+02] [-2.24388870e-02 1.53388409e-03 9.99747040e-01 2.81488959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9207140569999 meters Centerline goodness : 0.979438 Centerline is valid? [True, True] Translation: X:295.05, Y:245.64, Z:2.82 [[ 3.29984870e-01 -9.43944818e-01 8.84119108e-03 2.95053523e+02] [ 9.43719470e-01 3.30099792e-01 2.06806613e-02 2.45635583e+02] [-2.24398784e-02 1.51929884e-03 9.99747040e-01 2.82081616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9507140569999 meters Centerline goodness : 0.981971 Centerline is valid? [True, True] Translation: X:295.06, Y:245.66, Z:2.81 [[ 3.28863412e-01 -9.44340006e-01 8.41482966e-03 2.95063860e+02] [ 9.44110152e-01 3.28969268e-01 2.08624408e-02 2.45662493e+02] [-2.24694579e-02 1.08363263e-03 9.99746943e-01 2.81364340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9807140569999 meters Centerline goodness : 0.981749 Centerline is valid? [True, True] Translation: X:295.07, Y:245.69, Z:2.82 [[ 3.29277311e-01 -9.44194160e-01 8.59307608e-03 2.95071941e+02] [ 9.43966183e-01 3.29386980e-01 2.07861278e-02 2.45686591e+02] [-2.24565879e-02 1.26717295e-03 9.99747016e-01 2.81784207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.010714057 meters Centerline goodness : 0.981402 Centerline is valid? [True, True] Translation: X:295.08, Y:245.71, Z:2.82 [[ 3.29616031e-01 -9.44078350e-01 8.32717763e-03 2.95082812e+02] [ 9.43847482e-01 3.29719772e-01 2.08998392e-02 2.45712849e+02] [-2.24767208e-02 9.70663596e-04 9.99746895e-01 2.81607709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.040714057 meters Centerline goodness : 0.984987 Centerline is valid? [True, True] Translation: X:295.10, Y:245.74, Z:2.82 [[ 3.34267170e-01 -9.42441957e-01 8.28350612e-03 2.95100697e+02] [ 9.42210124e-01 3.34368805e-01 2.09185112e-02 2.45742169e+02] [-2.24842287e-02 8.12431781e-04 9.99746868e-01 2.81757386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0707140569999 meters Centerline goodness : 0.986578 Centerline is valid? [True, True] Translation: X:295.11, Y:245.77, Z:2.81 [[ 3.29901048e-01 -9.43974481e-01 8.80212322e-03 2.95108788e+02] [ 9.43748739e-01 3.30015137e-01 2.06960922e-02 2.45771024e+02] [-2.24414168e-02 1.47933017e-03 9.99747065e-01 2.81106804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1007140569999 meters Centerline goodness : 0.983218 Centerline is valid? [True, True] Translation: X:295.12, Y:245.80, Z:2.82 [[ 3.32013261e-01 -9.43233085e-01 8.86244592e-03 2.95123033e+02] [ 9.43007756e-01 3.32128160e-01 2.06702287e-02 2.45796335e+02] [-2.24403114e-02 1.49456521e-03 9.99747067e-01 2.81685701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.130714057 meters Centerline goodness : 0.987483 Centerline is valid? [True, True] Translation: X:295.13, Y:245.82, Z:2.81 [[ 3.26538340e-01 -9.45142027e-01 8.90290808e-03 2.95129096e+02] [ 9.44917824e-01 3.26655422e-01 2.06528823e-02 2.45823295e+02] [-2.24280902e-02 1.66855864e-03 9.99747066e-01 2.80889514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.160714057 meters Centerline goodness : 0.983623 Centerline is valid? [True, True] Translation: X:295.15, Y:245.85, Z:2.82 [[ 3.31809937e-01 -9.43304702e-01 8.85466396e-03 2.95150534e+02] [ 9.43079312e-01 3.31924715e-01 2.06735457e-02 2.45851926e+02] [-2.24405347e-02 1.49096249e-03 9.99747068e-01 2.81598614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1907140569999 meters Centerline goodness : 0.986781 Centerline is valid? [True, True] Translation: X:295.15, Y:245.87, Z:2.81 [[ 3.22303981e-01 -9.46591180e-01 9.23484362e-03 2.95148740e+02] [ 9.46371337e-01 3.22429227e-01 2.05106507e-02 2.45874729e+02] [-2.23927846e-02 2.12892691e-03 9.99746983e-01 2.80814367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2207140569999 meters Centerline goodness : 0.983432 Centerline is valid? [True, True] Translation: X:295.17, Y:245.90, Z:2.82 [[ 3.29087764e-01 -9.44257967e-01 8.83946916e-03 2.95168834e+02] [ 9.44032748e-01 3.29202860e-01 2.06796549e-02 2.45901561e+02] [-2.24369074e-02 1.53932698e-03 9.99747076e-01 2.81575021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.250714057 meters Centerline goodness : 0.986884 Centerline is valid? [True, True] Translation: X:295.18, Y:245.94, Z:2.81 [[ 3.26180791e-01 -9.45264120e-01 9.04632443e-03 2.95183432e+02] [ 9.45041591e-01 3.26301066e-01 2.05914084e-02 2.45935326e+02] [-2.24161448e-02 1.83263096e-03 9.99747047e-01 2.80941889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.280714057 meters Centerline goodness : 0.984006 Centerline is valid? [True, True] Translation: X:295.19, Y:245.96, Z:2.81 [[ 3.28067340e-01 -9.44606466e-01 9.51028774e-03 2.95189810e+02] [ 9.44389082e-01 3.28197160e-01 2.03932617e-02 2.45956586e+02] [-2.23848563e-02 2.29104880e-03 9.99746803e-01 2.81418778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3107140569999 meters Centerline goodness : 0.984789 Centerline is valid? [True, True] Translation: X:295.20, Y:245.98, Z:2.81 [[ 3.27589656e-01 -9.44775857e-01 9.14314597e-03 2.95199340e+02] [ 9.44554268e-01 3.27711692e-01 2.05495102e-02 2.45984491e+02] [-2.24109970e-02 1.90439056e-03 9.99747028e-01 2.81065131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3407140569999 meters Centerline goodness : 0.985268 Centerline is valid? [True, True] Translation: X:295.21, Y:246.01, Z:2.81 [[ 3.27976041e-01 -9.44641252e-01 9.19902833e-03 2.95210264e+02] [ 9.44420252e-01 3.28099193e-01 2.05257705e-02 2.46012159e+02] [-2.24076833e-02 1.95578768e-03 9.99747003e-01 2.80938218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.370714057 meters Centerline goodness : 0.986340 Centerline is valid? [True, True] Translation: X:295.22, Y:246.04, Z:2.81 [[ 3.29235237e-01 -9.44202246e-01 9.28859335e-03 2.95221313e+02] [ 9.43982111e-01 3.29360026e-01 2.04877487e-02 2.46038529e+02] [-2.24038697e-02 2.02297715e-03 9.99746955e-01 2.80521290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.400714057 meters Centerline goodness : 0.987315 Centerline is valid? [True, True] Translation: X:295.23, Y:246.07, Z:2.80 [[ 3.26705181e-01 -9.45080322e-01 9.32253327e-03 2.95233202e+02] [ 9.44860915e-01 3.26831289e-01 2.04733714e-02 2.46068987e+02] [-2.23958760e-02 2.11974079e-03 9.99746934e-01 2.80397380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4307140569999 meters Centerline goodness : 0.987478 Centerline is valid? [True, True] Translation: X:295.24, Y:246.09, Z:2.81 [[ 3.25180049e-01 -9.45604051e-01 9.53488380e-03 2.95240197e+02] [ 9.45387345e-01 3.25311060e-01 2.03833957e-02 2.46093946e+02] [-2.23764247e-02 2.38588487e-03 9.99746770e-01 2.80506698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4607140569999 meters Centerline goodness : 0.988640 Centerline is valid? [True, True] Translation: X:295.25, Y:246.12, Z:2.80 [[ 3.24928775e-01 -9.45691585e-01 9.41900389e-03 2.95247184e+02] [ 9.45473547e-01 3.25057364e-01 2.04323869e-02 2.46120535e+02] [-2.23844529e-02 2.26634857e-03 9.99746868e-01 2.80429846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.490714057 meters Centerline goodness : 0.988206 Centerline is valid? [True, True] Translation: X:295.26, Y:246.15, Z:2.80 [[ 3.26595639e-01 -9.45117918e-01 9.34933922e-03 2.95259789e+02] [ 9.44898843e-01 3.26722348e-01 2.04617796e-02 2.46149825e+02] [-2.23934326e-02 2.15145183e-03 9.99746921e-01 2.80251202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.520714057 meters Centerline goodness : 0.988567 Centerline is valid? [True, True] Translation: X:295.27, Y:246.17, Z:2.80 [[ 3.25633752e-01 -9.45447889e-01 9.53667960e-03 2.95266184e+02] [ 9.45231137e-01 3.25764698e-01 2.03828281e-02 2.46174190e+02] [-2.23776154e-02 2.37702969e-03 9.99746764e-01 2.80288792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5507140569999 meters Centerline goodness : 0.987911 Centerline is valid? [True, True] Translation: X:295.27, Y:246.20, Z:2.80 [[ 3.22753789e-01 -9.46437128e-01 9.31422330e-03 2.95274256e+02] [ 9.46218167e-01 3.22880633e-01 2.04762676e-02 2.46200789e+02] [-2.23868822e-02 2.20449435e-03 9.99746952e-01 2.80325034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5807140569999 meters Centerline goodness : 0.988641 Centerline is valid? [True, True] Translation: X:295.28, Y:246.23, Z:2.80 [[ 3.22729168e-01 -9.46446266e-01 9.23847758e-03 2.95284266e+02] [ 9.46226434e-01 3.22854390e-01 2.05080264e-02 2.46228139e+02] [-2.23924281e-02 2.12315339e-03 9.99747004e-01 2.80219119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.610714057 meters Centerline goodness : 0.989096 Centerline is valid? [True, True] Translation: X:295.30, Y:246.26, Z:2.80 [[ 3.24806514e-01 -9.45735865e-01 9.18702065e-03 2.95296511e+02] [ 9.45515172e-01 3.24930145e-01 2.05294987e-02 2.46259342e+02] [-2.24006232e-02 2.01835248e-03 9.99747037e-01 2.80163621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.640714057 meters Centerline goodness : 0.988343 Centerline is valid? [True, True] Translation: X:295.30, Y:246.28, Z:2.80 [[ 3.24332695e-01 -9.45895673e-01 9.46984576e-03 2.95303106e+02] [ 9.45678301e-01 3.24462512e-01 2.04114982e-02 2.46283090e+02] [-2.23797578e-02 2.33531142e-03 9.99746814e-01 2.80009734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6707140569999 meters Centerline goodness : 0.987600 Centerline is valid? [True, True] Translation: X:295.31, Y:246.31, Z:2.80 [[ 3.28007415e-01 -9.44629121e-01 9.32518477e-03 2.95310952e+02] [ 9.44409574e-01 3.28133278e-01 2.04721586e-02 2.46309295e+02] [-2.23985006e-02 2.09177394e-03 9.99746934e-01 2.80082524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7007140569999 meters Centerline goodness : 0.987600 Centerline is valid? [True, True] Translation: X:295.32, Y:246.34, Z:2.80 [[ 3.27319813e-01 -9.44867880e-01 9.29670615e-03 2.95321558e+02] [ 9.44648098e-01 3.27445223e-01 2.04840878e-02 2.46335521e+02] [-2.23989186e-02 2.07726798e-03 9.99746955e-01 2.80018123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7307140569999 meters Centerline goodness : 0.987258 Centerline is valid? [True, True] Translation: X:295.33, Y:246.36, Z:2.80 [[ 3.23171565e-01 -9.46296115e-01 9.15433098e-03 2.95326378e+02] [ 9.46075265e-01 3.23294873e-01 2.05430678e-02 2.46359166e+02] [-2.23993735e-02 2.02175074e-03 9.99747058e-01 2.80392396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.760714057 meters Centerline goodness : 0.986763 Centerline is valid? [True, True] Translation: X:295.33, Y:246.38, Z:2.80 [[ 3.23994192e-01 -9.46017154e-01 8.90549651e-03 2.95334674e+02] [ 9.45793426e-01 3.24111924e-01 2.06459673e-02 2.46384429e+02] [-2.24178168e-02 1.73358657e-03 9.99747186e-01 2.80320258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.790714057 meters Centerline goodness : 0.985910 Centerline is valid? [True, True] Translation: X:295.34, Y:246.41, Z:2.80 [[ 3.24676930e-01 -9.45783564e-01 8.85107812e-03 2.95342697e+02] [ 9.45559154e-01 3.24793318e-01 2.06685146e-02 2.46408867e+02] [-2.24227124e-02 1.65862806e-03 9.99747204e-01 2.80292877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8207140569999 meters Centerline goodness : 0.988243 Centerline is valid? [True, True] Translation: X:295.35, Y:246.44, Z:2.80 [[ 3.23774508e-01 -9.46093698e-01 8.76260132e-03 2.95353518e+02] [ 9.45868433e-01 3.23889186e-01 2.07051313e-02 2.46442004e+02] [-2.24271060e-02 1.58447429e-03 9.99747225e-01 2.79974788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8507140569999 meters Centerline goodness : 0.986320 Centerline is valid? [True, True] Translation: X:295.36, Y:246.47, Z:2.81 [[ 3.23063965e-01 -9.46333985e-01 9.03672506e-03 2.95358002e+02] [ 9.46111820e-01 3.23184760e-01 2.05921333e-02 2.46465300e+02] [-2.24075674e-02 1.89717616e-03 9.99747119e-01 2.80517168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.880714057 meters Centerline goodness : 0.988683 Centerline is valid? [True, True] Translation: X:295.37, Y:246.50, Z:2.80 [[ 3.21667578e-01 -9.46812429e-01 8.72884661e-03 2.95371685e+02] [ 9.46587064e-01 3.21782022e-01 2.07185929e-02 2.46499439e+02] [-2.24254071e-02 1.59811370e-03 9.99747242e-01 2.79899689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.910714057 meters Centerline goodness : 0.987132 Centerline is valid? [True, True] Translation: X:295.38, Y:246.52, Z:2.80 [[ 3.26691811e-01 -9.45086143e-01 9.20012546e-03 2.95377161e+02] [ 9.44865335e-01 3.26815286e-01 2.05247922e-02 2.46519568e+02] [-2.24044383e-02 1.98759810e-03 9.99747013e-01 2.80198004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9407140569999 meters Centerline goodness : 0.988080 Centerline is valid? [True, True] Translation: X:295.38, Y:246.55, Z:2.80 [[ 3.22679970e-01 -9.46467224e-01 8.79949319e-03 2.95384608e+02] [ 9.46242502e-01 3.22795710e-01 2.06895394e-02 2.46549681e+02] [-2.24224096e-02 1.65035449e-03 9.99747224e-01 2.80010016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9707140569999 meters Centerline goodness : 0.989026 Centerline is valid? [True, True] Translation: X:295.40, Y:246.58, Z:2.80 [[ 3.19964419e-01 -9.47388246e-01 8.84773939e-03 2.95396375e+02] [ 9.47164383e-01 3.20081850e-01 2.06697908e-02 2.46580526e+02] [-2.24143176e-02 1.76666604e-03 9.99747207e-01 2.79738795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.000714057 meters Centerline goodness : 0.990250 Centerline is valid? [True, True] Translation: X:295.41, Y:246.61, Z:2.80 [[ 3.19312863e-01 -9.47605393e-01 9.12764795e-03 2.95406858e+02] [ 9.47384720e-01 3.19436498e-01 2.05551920e-02 2.46608522e+02] [-2.23939147e-02 2.08385700e-03 9.99747053e-01 2.79689907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.030714057 meters Centerline goodness : 0.988775 Centerline is valid? [True, True] Translation: X:295.42, Y:246.64, Z:2.80 [[ 3.18218354e-01 -9.47973298e-01 9.14904887e-03 2.95418314e+02] [ 9.47753009e-01 3.18342704e-01 2.05464640e-02 2.46637875e+02] [-2.23900322e-02 2.13277665e-03 9.99747037e-01 2.79631451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0607140569999 meters Centerline goodness : 0.988174 Centerline is valid? [True, True] Translation: X:295.42, Y:246.66, Z:2.79 [[ 3.18613796e-01 -9.47838738e-01 9.32608793e-03 2.95424741e+02] [ 9.47620404e-01 3.18741857e-01 2.04743227e-02 2.46659816e+02] [-2.23789708e-02 2.31418953e-03 9.99746881e-01 2.79481132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0907140569999 meters Centerline goodness : 0.987579 Centerline is valid? [True, True] Translation: X:295.43, Y:246.69, Z:2.80 [[ 3.17065870e-01 -9.48360857e-01 8.99547665e-03 2.95434068e+02] [ 9.48139009e-01 3.17187178e-01 2.06085988e-02 2.46685118e+02] [-2.23976383e-02 1.99467901e-03 9.99747152e-01 2.79719011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.120714057 meters Centerline goodness : 0.988428 Centerline is valid? [True, True] Translation: X:295.44, Y:246.71, Z:2.80 [[ 3.13768298e-01 -9.49457358e-01 8.95435469e-03 2.95442998e+02] [ 9.49235476e-01 3.13889490e-01 2.06252309e-02 2.46710914e+02] [-2.23934551e-02 2.02824752e-03 9.99747178e-01 2.79812465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.150714057 meters Centerline goodness : 0.989129 Centerline is valid? [True, True] Translation: X:295.45, Y:246.74, Z:2.79 [[ 3.13668315e-01 -9.49490525e-01 8.94043753e-03 2.95454207e+02] [ 9.49268501e-01 3.13789229e-01 2.06308530e-02 2.46740532e+02] [-2.23942125e-02 2.01563083e-03 9.99747186e-01 2.79476822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1807140569999 meters Centerline goodness : 0.986796 Centerline is valid? [True, True] Translation: X:295.46, Y:246.76, Z:2.80 [[ 3.10668814e-01 -9.50473908e-01 9.17816171e-03 2.95460214e+02] [ 9.50254941e-01 3.10795537e-01 2.05348715e-02 2.46764748e+02] [-2.23703913e-02 2.34204932e-03 9.99747008e-01 2.79815066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2107140569999 meters Centerline goodness : 0.986640 Centerline is valid? [True, True] Translation: X:295.47, Y:246.79, Z:2.80 [[ 3.09765166e-01 -9.50771286e-01 8.91645384e-03 2.95469009e+02] [ 9.50549499e-01 3.09886474e-01 2.06403156e-02 2.46790064e+02] [-2.23873079e-02 2.08187993e-03 9.99747205e-01 2.79813150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.240714057 meters Centerline goodness : 0.987631 Centerline is valid? [True, True] Translation: X:295.48, Y:246.82, Z:2.80 [[ 3.10129669e-01 -9.50653176e-01 8.83902613e-03 2.95477521e+02] [ 9.50430487e-01 3.10249222e-01 2.06714649e-02 2.46816347e+02] [-2.23936947e-02 1.99004536e-03 9.99747249e-01 2.79670056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.270714057 meters Centerline goodness : 0.988712 Centerline is valid? [True, True] Translation: X:295.49, Y:246.85, Z:2.79 [[ 3.14477518e-01 -9.49223473e-01 8.87062376e-03 2.95488927e+02] [ 9.49000585e-01 3.14596734e-01 2.06587622e-02 2.46847881e+02] [-2.24004513e-02 1.92151087e-03 9.99747232e-01 2.79417545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3007140569999 meters Centerline goodness : 0.990163 Centerline is valid? [True, True] Translation: X:295.50, Y:246.88, Z:2.79 [[ 3.08964442e-01 -9.51029684e-01 9.13857594e-03 2.95495420e+02] [ 9.50810488e-01 3.09090710e-01 2.05511419e-02 2.46876769e+02] [-2.23693949e-02 2.33948175e-03 9.99747037e-01 2.79268455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3307140569999 meters Centerline goodness : 0.990649 Centerline is valid? [True, True] Translation: X:295.49, Y:246.89, Z:2.79 [[ 3.04309950e-01 -9.52528865e-01 9.17691229e-03 2.95487611e+02] [ 9.52310727e-01 3.04438107e-01 2.05357621e-02 2.46894214e+02] [-2.23547080e-02 2.49003527e-03 9.99747001e-01 2.79245693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.360714057 meters Centerline goodness : 0.987720 Centerline is valid? [True, True] Translation: X:295.51, Y:246.92, Z:2.80 [[ 3.17948733e-01 -9.48071278e-01 8.33400281e-03 2.95506513e+02] [ 9.47842333e-01 3.18055431e-01 2.08723329e-02 2.46922495e+02] [-2.24391342e-02 1.26298886e-03 9.99747413e-01 2.79686025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.390714057 meters Centerline goodness : 0.988000 Centerline is valid? [True, True] Translation: X:295.52, Y:246.95, Z:2.80 [[ 3.19406367e-01 -9.47579040e-01 8.57529606e-03 2.95518951e+02] [ 9.47352418e-01 3.19517996e-01 2.07760874e-02 2.46953713e+02] [-2.24269464e-02 1.48781286e-03 9.99747377e-01 2.79880139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4207140569999 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:295.51, Y:246.98, Z:2.79 [[ 3.10927570e-01 -9.50392768e-01 8.81092415e-03 2.95513693e+02] [ 9.50169687e-01 3.11046327e-01 2.06820972e-02 2.46976367e+02] [-2.23967212e-02 1.94123880e-03 9.99747277e-01 2.79210575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4507140569999 meters Centerline goodness : 0.988976 Centerline is valid? [True, True] Translation: X:295.53, Y:247.01, Z:2.80 [[ 3.22200447e-01 -9.46635046e-01 8.30431740e-03 2.95533167e+02] [ 9.46405339e-01 3.22305464e-01 2.08835523e-02 2.47005599e+02] [-2.24456294e-02 1.13056041e-03 9.99747426e-01 2.79951554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4807140569999 meters Centerline goodness : 0.992220 Centerline is valid? [True, True] Translation: X:295.53, Y:247.03, Z:2.79 [[ 3.14795062e-01 -9.49120245e-01 8.65040868e-03 2.95531364e+02] [ 9.48894969e-01 3.14909425e-01 2.07458784e-02 2.47029600e+02] [-2.24144284e-02 1.67762922e-03 9.99747358e-01 2.78993728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.510714057 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:295.54, Y:247.06, Z:2.79 [[ 3.15665366e-01 -9.48834353e-01 8.29142944e-03 2.95540842e+02] [ 9.48605251e-01 3.15771681e-01 2.08883734e-02 2.47055448e+02] [-2.24378048e-02 1.27155747e-03 9.99747432e-01 2.78954172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.540714057 meters Centerline goodness : 0.990405 Centerline is valid? [True, True] Translation: X:295.57, Y:247.09, Z:2.79 [[ 3.22472782e-01 -9.46542473e-01 8.28567850e-03 2.95567318e+02] [ 9.46312555e-01 3.22577322e-01 2.08906543e-02 2.47092978e+02] [-2.24466636e-02 1.10417417e-03 9.99747432e-01 2.79088492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5707140569999 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:295.56, Y:247.11, Z:2.79 [[ 3.16594646e-01 -9.48515946e-01 9.23749621e-03 2.95558711e+02] [ 9.48296834e-01 3.16721277e-01 2.05121515e-02 2.47107674e+02] [-2.23818143e-02 2.26585107e-03 9.99746928e-01 2.78867698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6007140569999 meters Centerline goodness : 0.984964 Centerline is valid? [True, True] Translation: X:295.56, Y:247.13, Z:2.79 [[ 3.17383359e-01 -9.48261293e-01 8.26579774e-03 2.95563443e+02] [ 9.48031785e-01 3.17488694e-01 2.08965282e-02 2.47127953e+02] [-2.24396661e-02 1.20402867e-03 9.99747474e-01 2.78622359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.630714057 meters Centerline goodness : 0.991253 Centerline is valid? [True, True] Translation: X:295.58, Y:247.16, Z:2.79 [[ 3.18254268e-01 -9.47973935e-01 7.72262583e-03 2.95577099e+02] [ 9.47739038e-01 3.18347385e-01 2.11106159e-02 2.47159452e+02] [-2.24707914e-02 6.00490368e-04 9.99747320e-01 2.78684531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.660714057 meters Centerline goodness : 0.991041 Centerline is valid? [True, True] Translation: X:295.59, Y:247.19, Z:2.78 [[ 3.16800165e-01 -9.48456391e-01 8.25405075e-03 2.95588620e+02] [ 9.48226839e-01 3.16905382e-01 2.09007514e-02 2.47189585e+02] [-2.24392043e-02 1.20535095e-03 9.99747483e-01 2.78460737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6907140569999 meters Centerline goodness : 0.991839 Centerline is valid? [True, True] Translation: X:295.60, Y:247.21, Z:2.78 [[ 3.19720496e-01 -9.47473995e-01 8.47547462e-03 2.95596484e+02] [ 9.47246360e-01 3.19829863e-01 2.08132528e-02 2.47213158e+02] [-2.24307257e-02 1.37393897e-03 9.99747456e-01 2.78471032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7207140569999 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:295.61, Y:247.24, Z:2.79 [[ 3.19161012e-01 -9.47664621e-01 8.24702588e-03 2.95606667e+02] [ 9.47434740e-01 3.19265503e-01 2.09033836e-02 2.47239493e+02] [-2.24423879e-02 1.14197376e-03 9.99747486e-01 2.78566928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.750714057 meters Centerline goodness : 0.991751 Centerline is valid? [True, True] Translation: X:295.62, Y:247.27, Z:2.78 [[ 3.18728342e-01 -9.47810281e-01 8.24109289e-03 2.95616995e+02] [ 9.47580388e-01 3.18832806e-01 2.09057224e-02 2.47265135e+02] [-2.24421894e-02 1.14585178e-03 9.99747486e-01 2.78418029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.780714057 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:295.63, Y:247.29, Z:2.78 [[ 3.14495226e-01 -9.49223297e-01 8.23925605e-03 2.95629679e+02] [ 9.48993854e-01 3.14600676e-01 2.09064463e-02 2.47294690e+02] [-2.24369614e-02 1.24402581e-03 9.99747486e-01 2.78260518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8107140569999 meters Centerline goodness : 0.991493 Centerline is valid? [True, True] Translation: X:295.64, Y:247.32, Z:2.78 [[ 3.15145034e-01 -9.49005733e-01 8.46918494e-03 2.95638417e+02] [ 9.48778562e-01 3.15255361e-01 2.08157835e-02 2.47317279e+02] [-2.24242538e-02 1.47539033e-03 9.99747456e-01 2.78451022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8407140569999 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:295.65, Y:247.34, Z:2.78 [[ 3.13446009e-01 -9.49570346e-01 8.23155498e-03 2.95648788e+02] [ 9.49340945e-01 3.13551542e-01 2.09093341e-02 2.47342445e+02] [-2.24359003e-02 1.26060487e-03 9.99747489e-01 2.78326293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.870714057 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:295.66, Y:247.37, Z:2.78 [[ 3.11738756e-01 -9.50132231e-01 8.22745596e-03 2.95659147e+02] [ 9.49902980e-01 3.11844612e-01 2.09109468e-02 2.47367268e+02] [-2.24338524e-02 1.29653239e-03 9.99747489e-01 2.78244879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.900714057 meters Centerline goodness : 0.991946 Centerline is valid? [True, True] Translation: X:295.68, Y:247.40, Z:2.78 [[ 3.12872283e-01 -9.49759594e-01 8.22491070e-03 2.95682928e+02] [ 9.49530190e-01 3.12977809e-01 2.09119479e-02 2.47402162e+02] [-2.24355377e-02 1.26703214e-03 9.99747489e-01 2.78378547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9307140569999 meters Centerline goodness : 0.992327 Centerline is valid? [True, True] Translation: X:295.69, Y:247.43, Z:2.78 [[ 3.09186254e-01 -9.50959158e-01 8.97440259e-03 2.95690981e+02] [ 9.50738092e-01 3.09308945e-01 2.06169230e-02 2.47427204e+02] [-2.23817147e-02 2.15783721e-03 9.99747169e-01 2.78128876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9607140569999 meters Centerline goodness : 0.991627 Centerline is valid? [True, True] Translation: X:295.70, Y:247.45, Z:2.78 [[ 3.05823326e-01 -9.52047669e-01 8.79366380e-03 2.95699159e+02] [ 9.51825062e-01 3.05942904e-01 2.06879467e-02 2.47450837e+02] [-2.23862705e-02 2.04317291e-03 9.99747308e-01 2.78140504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.990714057 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:295.71, Y:247.48, Z:2.78 [[ 3.06816104e-01 -9.51729742e-01 8.62419123e-03 2.95713441e+02] [ 9.51505193e-01 3.06931783e-01 2.07545026e-02 2.47479588e+02] [-2.23997158e-02 1.83814712e-03 9.99747405e-01 2.78160618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.020714057 meters Centerline goodness : 0.991469 Centerline is valid? [True, True] Translation: X:295.72, Y:247.50, Z:2.78 [[ 3.03405907e-01 -9.52820324e-01 8.84789724e-03 2.95721656e+02] [ 9.52598611e-01 3.03527219e-01 2.06667363e-02 2.47503682e+02] [-2.23772640e-02 2.15808475e-03 9.99747268e-01 2.77997205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0507140569999 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:295.73, Y:247.53, Z:2.78 [[ 3.02735289e-01 -9.53035375e-01 8.65553583e-03 2.95732129e+02] [ 9.52811663e-01 3.02852607e-01 2.07420849e-02 2.47530380e+02] [-2.23892922e-02 1.96773442e-03 9.99747392e-01 2.77911432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0807140569999 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:295.74, Y:247.56, Z:2.78 [[ 3.02718200e-01 -9.53040630e-01 8.67460051e-03 2.95743488e+02] [ 9.52817124e-01 3.02835934e-01 2.07346244e-02 2.47557003e+02] [-2.23879203e-02 1.98855973e-03 9.99747381e-01 2.77880065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.110714057 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:295.75, Y:247.58, Z:2.78 [[ 3.02710745e-01 -9.53042470e-01 8.73247980e-03 2.95754650e+02] [ 9.52819588e-01 3.02829730e-01 2.07119945e-02 2.47584099e+02] [-2.23838649e-02 2.05073452e-03 9.99747347e-01 2.77964230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.140714057 meters Centerline goodness : 0.989060 Centerline is valid? [True, True] Translation: X:295.76, Y:247.60, Z:2.79 [[ 3.02410711e-01 -9.53137866e-01 8.71610476e-03 2.95760320e+02] [ 9.52914846e-01 3.02529413e-01 2.07183532e-02 2.47604931e+02] [-2.23843250e-02 2.04025371e-03 9.99747358e-01 2.79001685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1707140569999 meters Centerline goodness : 0.990010 Centerline is valid? [True, True] Translation: X:295.77, Y:247.64, Z:2.79 [[ 3.02767382e-01 -9.53028537e-01 8.27767803e-03 2.95772966e+02] [ 9.52800889e-01 3.02876485e-01 2.08878288e-02 2.47635363e+02] [-2.24138109e-02 1.56282576e-03 9.99747557e-01 2.78612131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2007140569999 meters Centerline goodness : 0.984558 Centerline is valid? [True, True] Translation: X:295.78, Y:247.65, Z:2.78 [[ 2.99076186e-01 -9.54190813e-01 8.56313786e-03 2.95776372e+02] [ 9.53966620e-01 2.99192360e-01 2.07754402e-02 2.47654732e+02] [-2.23857596e-02 1.95550825e-03 9.99747495e-01 2.77977482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2307140569999 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:295.79, Y:247.68, Z:2.78 [[ 2.98614669e-01 -9.54342553e-01 7.71820046e-03 2.95789040e+02] [ 9.54109748e-01 2.98712510e-01 2.11051121e-02 2.47684597e+02] [-2.24470296e-02 1.06171423e-03 9.99747470e-01 2.77584140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.260714057 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:295.80, Y:247.71, Z:2.78 [[ 2.98054354e-01 -9.54513862e-01 8.17860551e-03 2.95798368e+02] [ 9.54285758e-01 2.98162421e-01 2.09251656e-02 2.47710821e+02] [-2.24119135e-02 1.56789003e-03 9.99747592e-01 2.77572137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.290714057 meters Centerline goodness : 0.991066 Centerline is valid? [True, True] Translation: X:295.82, Y:247.74, Z:2.77 [[ 3.05986768e-01 -9.52000685e-01 8.17276629e-03 2.95818143e+02] [ 9.51771630e-01 3.06092806e-01 2.09274460e-02 2.47740138e+02] [-2.24245679e-02 1.37508552e-03 9.99747592e-01 2.76949982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3207140569999 meters Centerline goodness : 0.992509 Centerline is valid? [True, True] Translation: X:295.82, Y:247.76, Z:2.77 [[ 2.96463469e-01 -9.55006061e-01 8.53434013e-03 2.95816801e+02] [ 9.54781897e-01 2.96579632e-01 2.07858501e-02 2.47763729e+02] [-2.23817243e-02 1.98618823e-03 9.99747525e-01 2.77303630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3507140569999 meters Centerline goodness : 0.992384 Centerline is valid? [True, True] Translation: X:295.83, Y:247.79, Z:2.77 [[ 2.94899541e-01 -9.55493287e-01 8.17557171e-03 2.95825244e+02] [ 9.55265517e-01 2.95008294e-01 2.09260189e-02 2.47790034e+02] [-2.24065320e-02 1.63876838e-03 9.99747599e-01 2.77483481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.380714057 meters Centerline goodness : 0.992293 Centerline is valid? [True, True] Translation: X:295.83, Y:247.82, Z:2.77 [[ 2.94906765e-01 -9.55491108e-01 8.16962935e-03 2.95834354e+02] [ 9.55263276e-01 2.95015388e-01 2.09283386e-02 2.47815510e+02] [-2.24070078e-02 1.63223827e-03 9.99747599e-01 2.77444561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.410714057 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:295.84, Y:247.84, Z:2.77 [[ 2.93964674e-01 -9.55781392e-01 8.16705462e-03 2.95842392e+02] [ 9.55553641e-01 2.94073465e-01 2.09293433e-02 2.47842821e+02] [-2.24055909e-02 1.65157120e-03 9.99747599e-01 2.77350297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4407140569999 meters Centerline goodness : 0.991759 Centerline is valid? [True, True] Translation: X:295.85, Y:247.87, Z:2.77 [[ 2.93589352e-01 -9.55896798e-01 8.16117152e-03 2.95851629e+02] [ 9.55669028e-01 2.93698104e-01 2.09316371e-02 2.47869228e+02] [-2.24054055e-02 1.65407309e-03 9.99747599e-01 2.77347707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4707140569999 meters Centerline goodness : 0.991633 Centerline is valid? [True, True] Translation: X:295.86, Y:247.90, Z:2.77 [[ 2.93962821e-01 -9.55782063e-01 8.15520627e-03 2.95860772e+02] [ 9.55554189e-01 2.94071355e-01 2.09339609e-02 2.47895325e+02] [-2.24065169e-02 1.63893530e-03 9.99747599e-01 2.77317871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.500714057 meters Centerline goodness : 0.991992 Centerline is valid? [True, True] Translation: X:295.87, Y:247.92, Z:2.77 [[ 2.93642049e-01 -9.55880678e-01 8.15336029e-03 2.95869650e+02] [ 9.55652820e-01 2.93750619e-01 2.09346799e-02 2.47922243e+02] [-2.24061106e-02 1.64447946e-03 9.99747599e-01 2.77288575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.530714057 meters Centerline goodness : 0.991563 Centerline is valid? [True, True] Translation: X:295.88, Y:247.95, Z:2.77 [[ 2.94139586e-01 -9.55727745e-01 8.14750425e-03 2.95877968e+02] [ 9.55499771e-01 2.94247909e-01 2.09369587e-02 2.47948597e+02] [-2.24074185e-02 1.62655007e-03 9.99747599e-01 2.77324509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5607140569999 meters Centerline goodness : 0.991467 Centerline is valid? [True, True] Translation: X:295.89, Y:247.97, Z:2.77 [[ 2.94637061e-01 -9.55574548e-01 8.14156469e-03 2.95887420e+02] [ 9.55346456e-01 2.94745136e-01 2.09392681e-02 2.47974943e+02] [-2.24087183e-02 1.60853055e-03 9.99747599e-01 2.77203868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5907140569999 meters Centerline goodness : 0.991467 Centerline is valid? [True, True] Translation: X:295.90, Y:248.00, Z:2.77 [[ 2.94374247e-01 -9.55655559e-01 8.13972643e-03 2.95897622e+02] [ 9.55427478e-01 2.94482345e-01 2.09399827e-02 2.48001428e+02] [-2.24084166e-02 1.61272666e-03 9.99747599e-01 2.77140022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.620714057 meters Centerline goodness : 0.991906 Centerline is valid? [True, True] Translation: X:295.91, Y:248.03, Z:2.77 [[ 2.94662341e-01 -9.55566818e-01 8.13396546e-03 2.95906549e+02] [ 9.55338645e-01 2.94770245e-01 2.09422203e-02 2.48027734e+02] [-2.24093418e-02 1.59980788e-03 9.99747599e-01 2.77066344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.650714057 meters Centerline goodness : 0.992102 Centerline is valid? [True, True] Translation: X:295.92, Y:248.05, Z:2.77 [[ 2.94827636e-01 -9.55515880e-01 8.12824145e-03 2.95915512e+02] [ 9.55287629e-01 2.94935375e-01 2.09444417e-02 2.48053517e+02] [-2.24100526e-02 1.58980828e-03 9.99747599e-01 2.76992001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6807140569999 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:295.92, Y:248.08, Z:2.77 [[ 2.95610203e-01 -9.55274086e-01 8.12576129e-03 2.95923824e+02] [ 9.55045722e-01 2.95717701e-01 2.09454039e-02 2.48079074e+02] [-2.24115330e-02 1.56879848e-03 9.99747599e-01 2.76901038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7107140569999 meters Centerline goodness : 0.992178 Centerline is valid? [True, True] Translation: X:295.93, Y:248.11, Z:2.77 [[ 2.95794553e-01 -9.55217039e-01 8.12351971e-03 2.95933008e+02] [ 9.54988631e-01 2.95901958e-01 2.09462732e-02 2.48105009e+02] [-2.24120025e-02 1.56207545e-03 9.99747599e-01 2.76809471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.740714057 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:295.94, Y:248.13, Z:2.77 [[ 2.96725632e-01 -9.54928269e-01 8.11792467e-03 2.95942614e+02] [ 9.54699699e-01 2.96832693e-01 2.09484414e-02 2.48131749e+02] [-2.24139243e-02 1.53424073e-03 9.99747599e-01 2.76914689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.770714057 meters Centerline goodness : 0.991879 Centerline is valid? [True, True] Translation: X:295.95, Y:248.16, Z:2.77 [[ 2.99136523e-01 -9.54175842e-01 8.11196423e-03 2.95950766e+02] [ 9.53946942e-01 2.99242876e-01 2.09507492e-02 2.48158641e+02] [-2.24181463e-02 1.47124918e-03 9.99747599e-01 2.76879427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8007140569999 meters Centerline goodness : 0.991749 Centerline is valid? [True, True] Translation: X:295.96, Y:248.18, Z:2.77 [[ 3.01386863e-01 -9.53467488e-01 8.10599055e-03 2.95960149e+02] [ 9.53238278e-01 3.01492545e-01 2.09530602e-02 2.48184931e+02] [-2.24219574e-02 1.41196338e-03 9.99747599e-01 2.76752515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8307140569999 meters Centerline goodness : 0.984728 Centerline is valid? [True, True] Translation: X:295.96, Y:248.21, Z:2.77 [[ 3.02610959e-01 -9.53079708e-01 8.10414194e-03 2.95964394e+02] [ 9.52850344e-01 3.02716306e-01 2.09537752e-02 2.48205791e+02] [-2.24238739e-02 1.38119242e-03 9.99747599e-01 2.76612223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.860714057 meters Centerline goodness : 0.991166 Centerline is valid? [True, True] Translation: X:295.98, Y:248.24, Z:2.77 [[ 3.05367471e-01 -9.52205058e-01 7.49906785e-03 2.95977844e+02] [ 9.51969556e-01 3.05458804e-01 2.11868648e-02 2.48237697e+02] [-2.24648961e-02 6.69104972e-04 9.99747408e-01 2.76827491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.890714057 meters Centerline goodness : 0.992126 Centerline is valid? [True, True] Translation: X:295.99, Y:248.26, Z:2.77 [[ 3.10099773e-01 -9.50669581e-01 8.09187561e-03 2.95986208e+02] [ 9.50439285e-01 3.10203042e-01 2.09579866e-02 2.48264625e+02] [-2.24342448e-02 1.19176956e-03 9.99747610e-01 2.76899063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9207140569999 meters Centerline goodness : 0.991831 Centerline is valid? [True, True] Translation: X:296.00, Y:248.29, Z:2.77 [[ 3.11870762e-01 -9.50090090e-01 8.09003324e-03 2.95995480e+02] [ 9.49859584e-01 3.11973562e-01 2.09586978e-02 2.48291391e+02] [-2.24365275e-02 1.14799055e-03 9.99747610e-01 2.76894921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9507140569999 meters Centerline goodness : 0.991273 Centerline is valid? [True, True] Translation: X:296.04, Y:248.34, Z:2.76 [[ 3.27474490e-01 -9.44825402e-01 8.08819896e-03 2.96035255e+02] [ 9.44593217e-01 3.27573439e-01 2.09594056e-02 2.48335257e+02] [-2.24524580e-02 7.76387201e-04 9.99747610e-01 2.76291839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9807140569999 meters Centerline goodness : 0.991126 Centerline is valid? [True, True] Translation: X:296.04, Y:248.36, Z:2.77 [[ 3.22508084e-01 -9.46519296e-01 9.47412493e-03 2.96036714e+02] [ 9.46302082e-01 3.22638426e-01 2.04160938e-02 2.48359330e+02] [-2.23809435e-02 2.38102885e-03 9.99746680e-01 2.76725696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.010714057 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:296.05, Y:248.38, Z:2.77 [[ 3.24156938e-01 -9.45961253e-01 8.92122071e-03 2.96046270e+02] [ 9.45737841e-01 3.24274959e-01 2.06321795e-02 2.48384460e+02] [-2.24101709e-02 1.74907187e-03 9.99747331e-01 2.76743199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.040714057 meters Centerline goodness : 0.992571 Centerline is valid? [True, True] Translation: X:296.04, Y:248.40, Z:2.77 [[ 3.19578969e-01 -9.47517873e-01 8.89737987e-03 2.96043445e+02] [ 9.47294782e-01 3.19697552e-01 2.06414917e-02 2.48401443e+02] [-2.24026528e-02 1.83185491e-03 9.99747351e-01 2.76643626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0707140569999 meters Centerline goodness : 0.990406 Centerline is valid? [True, True] Translation: X:296.07, Y:248.44, Z:2.76 [[ 3.20362111e-01 -9.47260175e-01 8.14119549e-03 2.96065992e+02] [ 9.47029328e-01 3.20463968e-01 2.09355565e-02 2.48435301e+02] [-2.24403787e-02 1.00299183e-03 9.99747680e-01 2.76353041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1007140569999 meters Centerline goodness : 0.991976 Centerline is valid? [True, True] Translation: X:296.08, Y:248.46, Z:2.76 [[ 3.17509469e-01 -9.48214335e-01 8.79273874e-03 2.96075927e+02] [ 9.47990393e-01 3.17626270e-01 2.06825530e-02 2.48461575e+02] [-2.24042981e-02 1.76852543e-03 9.99747428e-01 2.76311977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.130714057 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:296.09, Y:248.49, Z:2.76 [[ 3.16468288e-01 -9.48562242e-01 8.80321317e-03 2.96085571e+02] [ 9.48338537e-01 3.16585563e-01 2.06784930e-02 2.48486086e+02] [-2.24018079e-02 1.80433902e-03 9.99747420e-01 2.76091481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.160714057 meters Centerline goodness : 0.992034 Centerline is valid? [True, True] Translation: X:296.08, Y:248.50, Z:2.76 [[ 3.12233015e-01 -9.49965109e-01 8.76562632e-03 2.96084903e+02] [ 9.49741533e-01 3.12350472e-01 2.06930561e-02 2.48503943e+02] [-2.23956288e-02 1.86402409e-03 9.99747449e-01 2.76046798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1907140569999 meters Centerline goodness : 0.991339 Centerline is valid? [True, True] Translation: X:296.10, Y:248.53, Z:2.76 [[ 3.10281919e-01 -9.50610190e-01 8.08693964e-03 2.96100574e+02] [ 9.50379936e-01 3.10385029e-01 2.09549810e-02 2.48534621e+02] [-2.24300835e-02 1.18371346e-03 9.99747713e-01 2.75527305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2207140569999 meters Centerline goodness : 0.991630 Centerline is valid? [True, True] Translation: X:296.11, Y:248.56, Z:2.76 [[ 3.10243730e-01 -9.50618814e-01 8.52629319e-03 2.96105874e+02] [ 9.50392995e-01 3.10356459e-01 2.07851584e-02 2.48555191e+02] [-2.24049528e-02 1.65486423e-03 9.99747608e-01 2.75826914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.250714057 meters Centerline goodness : 0.991466 Centerline is valid? [True, True] Translation: X:296.12, Y:248.58, Z:2.76 [[ 3.09467532e-01 -9.50875690e-01 8.07887163e-03 2.96116527e+02] [ 9.50645456e-01 3.09570662e-01 2.09576359e-02 2.48580585e+02] [-2.24290881e-02 1.19443475e-03 9.99747723e-01 2.75828840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.280714057 meters Centerline goodness : 0.991322 Centerline is valid? [True, True] Translation: X:296.13, Y:248.61, Z:2.76 [[ 3.09572141e-01 -9.50841689e-01 8.07288934e-03 2.96127267e+02] [ 9.50611385e-01 3.09675114e-01 2.09599400e-02 2.48606254e+02] [-2.24295577e-02 1.18556702e-03 9.99747723e-01 2.75752725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3107140569999 meters Centerline goodness : 0.991565 Centerline is valid? [True, True] Translation: X:296.14, Y:248.63, Z:2.76 [[ 3.08976823e-01 -9.51035321e-01 8.07103935e-03 2.96137462e+02] [ 9.50805062e-01 3.09079900e-01 2.09606523e-02 2.48631859e+02] [-2.24289168e-02 1.19762930e-03 9.99747723e-01 2.75777839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3407140569999 meters Centerline goodness : 0.990700 Centerline is valid? [True, True] Translation: X:296.15, Y:248.66, Z:2.76 [[ 3.08816356e-01 -9.51087489e-01 8.06513955e-03 2.96147706e+02] [ 9.50857190e-01 3.08919342e-01 2.09629222e-02 2.48657463e+02] [-2.24290506e-02 1.19510269e-03 9.99747723e-01 2.75777435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.370714057 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:296.16, Y:248.68, Z:2.76 [[ 3.08734544e-01 -9.51114099e-01 8.05928487e-03 2.96157882e+02] [ 9.50883751e-01 3.08837421e-01 2.09651728e-02 2.48682853e+02] [-2.24292802e-02 1.19076996e-03 9.99747723e-01 2.75777740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.400714057 meters Centerline goodness : 0.991758 Centerline is valid? [True, True] Translation: X:296.17, Y:248.71, Z:2.76 [[ 3.08602920e-01 -9.51156830e-01 8.05747183e-03 2.96169999e+02] [ 9.50926479e-01 3.08705790e-01 2.09658696e-02 2.48709043e+02] [-2.24292183e-02 1.19193474e-03 9.99747723e-01 2.75770056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4307140569999 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:296.18, Y:248.73, Z:2.76 [[ 3.08638740e-01 -9.51145252e-01 8.05224316e-03 2.96181041e+02] [ 9.50914845e-01 3.08741486e-01 2.09678775e-02 2.48734290e+02] [-2.24295587e-02 1.18549826e-03 9.99747723e-01 2.75652108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4607140569999 meters Centerline goodness : 0.991251 Centerline is valid? [True, True] Translation: X:296.19, Y:248.76, Z:2.76 [[ 3.08217196e-01 -9.51281952e-01 8.05039247e-03 2.96192317e+02] [ 9.51051573e-01 3.08320003e-01 2.09685881e-02 2.48760249e+02] [-2.24291364e-02 1.19345901e-03 9.99747723e-01 2.75575689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.490714057 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:296.21, Y:248.79, Z:2.75 [[ 3.07168278e-01 -9.51621216e-01 8.04432898e-03 2.96207701e+02] [ 9.51390891e-01 3.07271206e-01 2.09709140e-02 2.48791335e+02] [-2.24281573e-02 1.21170178e-03 9.99747723e-01 2.75351068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.520714057 meters Centerline goodness : 0.991135 Centerline is valid? [True, True] Translation: X:296.22, Y:248.81, Z:2.75 [[ 3.07194086e-01 -9.51609305e-01 8.45723193e-03 2.96215512e+02] [ 9.51383124e-01 3.07306036e-01 2.08123023e-02 2.48811984e+02] [-2.24041390e-02 1.65265156e-03 9.99747630e-01 2.75305996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5507140569999 meters Centerline goodness : 0.991099 Centerline is valid? [True, True] Translation: X:296.23, Y:248.84, Z:2.75 [[ 3.06250589e-01 -9.51917006e-01 8.03683199e-03 2.96226164e+02] [ 9.51686715e-01 3.06353574e-01 2.09733985e-02 2.48837980e+02] [-2.24270469e-02 1.22543058e-03 9.99747731e-01 2.75217400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5807140569999 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:296.24, Y:248.86, Z:2.75 [[ 3.06088812e-01 -9.51969087e-01 8.03097582e-03 2.96237114e+02] [ 9.51738757e-01 3.06191707e-01 2.09756407e-02 2.48863241e+02] [-2.24271797e-02 1.22298201e-03 9.99747731e-01 2.75176567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.610714057 meters Centerline goodness : 0.983578 Centerline is valid? [True, True] Translation: X:296.24, Y:248.88, Z:2.75 [[ 3.05228086e-01 -9.52245458e-01 8.02511120e-03 2.96244137e+02] [ 9.52015163e-01 3.05331061e-01 2.09778842e-02 2.48882704e+02] [-2.24264107e-02 1.23698810e-03 9.99747731e-01 2.75303438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.640714057 meters Centerline goodness : 0.990278 Centerline is valid? [True, True] Translation: X:296.26, Y:248.91, Z:2.75 [[ 3.04890182e-01 -9.52358496e-01 7.43454238e-03 2.96258993e+02] [ 9.52122639e-01 3.04980193e-01 2.12028654e-02 2.48913701e+02] [-2.24601172e-02 6.14050623e-04 9.99747551e-01 2.75061040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6707140569999 meters Centerline goodness : 0.991121 Centerline is valid? [True, True] Translation: X:296.27, Y:248.94, Z:2.75 [[ 3.04729248e-01 -9.52405323e-01 8.01164131e-03 2.96268901e+02] [ 9.52174961e-01 3.04832047e-01 2.09825194e-02 2.48938449e+02] [-2.24260682e-02 1.23449689e-03 9.99747742e-01 2.75002690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7007140569999 meters Centerline goodness : 0.989774 Centerline is valid? [True, True] Translation: X:296.28, Y:248.96, Z:2.75 [[ 3.04421048e-01 -9.52503900e-01 8.00907027e-03 2.96279294e+02] [ 9.52273547e-01 3.04523866e-01 2.09835008e-02 2.48963925e+02] [-2.24258194e-02 1.23900645e-03 9.99747742e-01 2.74956946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7307140569999 meters Centerline goodness : 0.990626 Centerline is valid? [True, True] Translation: X:296.29, Y:248.99, Z:2.75 [[ 3.04850885e-01 -9.52366467e-01 8.00315171e-03 2.96289871e+02] [ 9.52136009e-01 3.04953468e-01 2.09857579e-02 2.48988867e+02] [-2.24267210e-02 1.22256208e-03 9.99747742e-01 2.74798522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.760714057 meters Centerline goodness : 0.987245 Centerline is valid? [True, True] Translation: X:296.30, Y:249.01, Z:2.75 [[ 3.10714930e-01 -9.50469487e-01 7.99913224e-03 2.96304913e+02] [ 9.50238363e-01 3.10816002e-01 2.09872899e-02 2.49013216e+02] [-2.24340369e-02 1.08001803e-03 9.99747742e-01 2.75309531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.790714057 meters Centerline goodness : 0.985885 Centerline is valid? [True, True] Translation: X:296.32, Y:249.04, Z:2.75 [[ 3.10318052e-01 -9.50599392e-01 7.96878766e-03 2.96316439e+02] [ 9.50368018e-01 3.10418553e-01 2.09988486e-02 2.49039178e+02] [-2.24351523e-02 1.05695912e-03 9.99747742e-01 2.75285205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8207140569999 meters Centerline goodness : 0.990969 Centerline is valid? [True, True] Translation: X:296.32, Y:249.07, Z:2.75 [[ 3.05560970e-01 -9.52138333e-01 8.06768755e-03 2.96321805e+02] [ 9.51908431e-01 3.05664798e-01 2.09611780e-02 2.49065211e+02] [-2.24239492e-02 1.27478190e-03 9.99747739e-01 2.74546155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8507140569999 meters Centerline goodness : 0.990788 Centerline is valid? [True, True] Translation: X:296.33, Y:249.09, Z:2.74 [[ 3.05046035e-01 -9.52304097e-01 7.98901102e-03 2.96332787e+02] [ 9.52073481e-01 3.05148260e-01 2.09911216e-02 2.49090053e+02] [-2.24277639e-02 1.20286712e-03 9.99747742e-01 2.74446762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.880714057 meters Centerline goodness : 0.990709 Centerline is valid? [True, True] Translation: X:296.34, Y:249.11, Z:2.74 [[ 3.04367449e-01 -9.52521219e-01 7.98650389e-03 2.96343104e+02] [ 9.52290651e-01 3.04469783e-01 2.09920755e-02 2.49114979e+02] [-2.24270464e-02 1.21616854e-03 9.99747742e-01 2.74385205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.910714057 meters Centerline goodness : 0.990820 Centerline is valid? [True, True] Translation: X:296.35, Y:249.14, Z:2.74 [[ 3.03687156e-01 -9.52738351e-01 7.98404158e-03 2.96353944e+02] [ 9.52507833e-01 3.03789602e-01 2.09930119e-02 2.49140595e+02] [-2.24263164e-02 1.22955405e-03 9.99747742e-01 2.74396322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9407140569999 meters Centerline goodness : 0.984661 Centerline is valid? [True, True] Translation: X:296.36, Y:249.16, Z:2.74 [[ 3.01719705e-01 -9.53363294e-01 7.97802310e-03 2.96360576e+02] [ 9.53132929e-01 3.01822494e-01 2.09952989e-02 2.49160449e+02] [-2.24240941e-02 1.26942115e-03 9.99747742e-01 2.74495637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9707140569999 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:296.38, Y:249.19, Z:2.74 [[ 3.01967132e-01 -9.53289886e-01 7.36502058e-03 2.96375147e+02] [ 9.53053715e-01 3.02056321e-01 2.12272312e-02 2.49191655e+02] [-2.24603558e-02 6.09334095e-04 9.99747549e-01 2.74307685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.000714057 meters Centerline goodness : 0.991415 Centerline is valid? [True, True] Translation: X:296.39, Y:249.22, Z:2.74 [[ 3.01670120e-01 -9.53379087e-01 7.96584833e-03 2.96385463e+02] [ 9.53148622e-01 3.01772653e-01 2.09993191e-02 2.49217578e+02] [-2.24241869e-02 1.25777025e-03 9.99747755e-01 2.74305173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.030714057 meters Centerline goodness : 0.989667 Centerline is valid? [True, True] Translation: X:296.40, Y:249.24, Z:2.74 [[ 3.03348873e-01 -9.52846315e-01 7.95996493e-03 2.96399363e+02] [ 9.52615612e-01 3.03450870e-01 2.10015490e-02 2.49244937e+02] [-2.24267069e-02 1.21199065e-03 9.99747755e-01 2.74465614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0607140569999 meters Centerline goodness : 0.991631 Centerline is valid? [True, True] Translation: X:296.41, Y:249.27, Z:2.74 [[ 3.02834995e-01 -9.53008431e-01 8.11772032e-03 2.96406461e+02] [ 9.52779330e-01 3.02940576e-01 2.09417294e-02 2.49268909e+02] [-2.24168316e-02 1.39250761e-03 9.99747741e-01 2.74304479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0907140569999 meters Centerline goodness : 0.991552 Centerline is valid? [True, True] Translation: X:296.42, Y:249.30, Z:2.74 [[ 3.03591127e-01 -9.52769224e-01 7.95197447e-03 2.96416780e+02] [ 9.52538419e-01 3.03692891e-01 2.10044786e-02 2.49295300e+02] [-2.24273789e-02 1.19778784e-03 9.99747757e-01 2.74271855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.120714057 meters Centerline goodness : 0.991683 Centerline is valid? [True, True] Translation: X:296.43, Y:249.33, Z:2.74 [[ 3.05628711e-01 -9.52117615e-01 7.94591956e-03 2.96432460e+02] [ 9.51886535e-01 3.05729847e-01 2.10067689e-02 2.49326639e+02] [-2.24302195e-02 1.14334212e-03 9.99747757e-01 2.74306787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.150714057 meters Centerline goodness : 0.992281 Centerline is valid? [True, True] Translation: X:296.44, Y:249.35, Z:2.74 [[ 3.07294365e-01 -9.51577436e-01 8.39981365e-03 2.96437034e+02] [ 9.51350647e-01 3.07405041e-01 2.08347538e-02 2.49347027e+02] [-2.24080267e-02 1.58876572e-03 9.99747646e-01 2.74238357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1807140569999 meters Centerline goodness : 0.991510 Centerline is valid? [True, True] Translation: X:296.45, Y:249.37, Z:2.74 [[ 3.08131480e-01 -9.51310660e-01 7.93843660e-03 2.96447185e+02] [ 9.51079255e-01 3.08231843e-01 2.10090914e-02 2.49372818e+02] [-2.24330515e-02 1.07651996e-03 9.99747768e-01 2.74167860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2107140569999 meters Centerline goodness : 0.992420 Centerline is valid? [True, True] Translation: X:296.46, Y:249.40, Z:2.74 [[ 3.08846732e-01 -9.51078742e-01 7.93232613e-03 2.96457139e+02] [ 9.50847204e-01 3.08946786e-01 2.10113982e-02 2.49398437e+02] [-2.24341609e-02 1.05312844e-03 9.99747768e-01 2.74171889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.240714057 meters Centerline goodness : 0.989892 Centerline is valid? [True, True] Translation: X:296.48, Y:249.43, Z:2.74 [[ 3.21563451e-01 -9.46854858e-01 7.92622035e-03 2.96484729e+02] [ 9.46621943e-01 3.21660258e-01 2.10137013e-02 2.49430879e+02] [-2.24464752e-02 7.45895811e-04 9.99747768e-01 2.73962162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.270714057 meters Centerline goodness : 0.990770 Centerline is valid? [True, True] Translation: X:296.49, Y:249.46, Z:2.74 [[ 3.12975185e-01 -9.49722525e-01 8.58243000e-03 2.96487856e+02] [ 9.49496963e-01 3.13088487e-01 2.07633672e-02 2.49457366e+02] [-2.24064976e-02 1.65057251e-03 9.99747580e-01 2.74054234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3007140569999 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:296.49, Y:249.48, Z:2.74 [[ 3.11929085e-01 -9.50068186e-01 8.40756567e-03 2.96492930e+02] [ 9.49840977e-01 3.12038821e-01 2.08300752e-02 2.49478021e+02] [-2.24134787e-02 1.48834410e-03 9.99747679e-01 2.73770023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3307140569999 meters Centerline goodness : 0.991349 Centerline is valid? [True, True] Translation: X:296.50, Y:249.50, Z:2.74 [[ 3.10023610e-01 -9.50695326e-01 7.98487164e-03 2.96503748e+02] [ 9.50464179e-01 3.10124535e-01 2.09908694e-02 2.49503939e+02] [-2.24322260e-02 1.08166937e-03 9.99747781e-01 2.73611140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.360714057 meters Centerline goodness : 0.991087 Centerline is valid? [True, True] Translation: X:296.51, Y:249.53, Z:2.74 [[ 3.08139456e-01 -9.51307738e-01 7.97897773e-03 2.96514372e+02] [ 9.51076735e-01 3.08240708e-01 2.09931095e-02 2.49529398e+02] [-2.24303532e-02 1.11981475e-03 9.99747781e-01 2.73564002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.390714057 meters Centerline goodness : 0.991165 Centerline is valid? [True, True] Translation: X:296.53, Y:249.56, Z:2.74 [[ 3.06275935e-01 -9.51909387e-01 7.97307528e-03 2.96529825e+02] [ 9.51678526e-01 3.06377510e-01 2.09953510e-02 2.49560699e+02] [-2.24284426e-02 1.15743378e-03 9.99747781e-01 2.73578924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4207140569999 meters Centerline goodness : 0.988469 Centerline is valid? [True, True] Translation: X:296.54, Y:249.58, Z:2.74 [[ 3.09256659e-01 -9.50941660e-01 8.38319372e-03 2.96538940e+02] [ 9.50714514e-01 3.09366502e-01 2.08393905e-02 2.49578944e+02] [-2.24105239e-02 1.52530365e-03 9.99747689e-01 2.74113121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4507140569999 meters Centerline goodness : 0.991311 Centerline is valid? [True, True] Translation: X:296.55, Y:249.61, Z:2.74 [[ 3.01656767e-01 -9.53384137e-01 7.86649605e-03 2.96547976e+02] [ 9.53152750e-01 3.01757118e-01 2.10351531e-02 2.49607269e+02] [-2.24283524e-02 1.15257607e-03 9.99747788e-01 2.73506193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4807140569999 meters Centerline goodness : 0.984118 Centerline is valid? [True, True] Translation: X:296.55, Y:249.63, Z:2.74 [[ 3.01641767e-01 -9.53388141e-01 7.95589769e-03 2.96554678e+02] [ 9.53157622e-01 3.01744086e-01 2.10012852e-02 2.49626614e+02] [-2.24230214e-02 1.24835975e-03 9.99747793e-01 2.73579439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.510714057 meters Centerline goodness : 0.984118 Centerline is valid? [True, True] Translation: X:296.57, Y:249.65, Z:2.73 [[ 3.01947885e-01 -9.53296393e-01 7.31178819e-03 2.96565380e+02] [ 9.53059803e-01 3.02035893e-01 2.12445724e-02 2.49653112e+02] [-2.24607967e-02 5.53817721e-04 9.99747571e-01 2.73494164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.540714057 meters Centerline goodness : 0.990544 Centerline is valid? [True, True] Translation: X:296.58, Y:249.69, Z:2.73 [[ 3.00385075e-01 -9.53790232e-01 7.28017592e-03 2.96579932e+02] [ 9.53553500e-01 3.00472768e-01 2.12565054e-02 2.49686052e+02] [-2.24617418e-02 5.56900269e-04 9.99747548e-01 2.73319577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5707140569999 meters Centerline goodness : 0.983928 Centerline is valid? [True, True] Translation: X:296.59, Y:249.70, Z:2.73 [[ 3.01262467e-01 -9.53508102e-01 7.95146948e-03 2.96587219e+02] [ 9.53277594e-01 3.01364780e-01 2.10023606e-02 2.49703971e+02] [-2.24222138e-02 1.25273473e-03 9.99747806e-01 2.73428481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6007140569999 meters Centerline goodness : 0.984194 Centerline is valid? [True, True] Translation: X:296.60, Y:249.73, Z:2.74 [[ 3.00879959e-01 -9.53634025e-01 7.30732609e-03 2.96598557e+02] [ 9.53397509e-01 3.00968132e-01 2.12455319e-02 2.49730073e+02] [-2.24597344e-02 5.74431738e-04 9.99747583e-01 2.73535831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.630714057 meters Centerline goodness : 0.983499 Centerline is valid? [True, True] Translation: X:296.61, Y:249.76, Z:2.73 [[ 3.00222533e-01 -9.53841485e-01 7.26996289e-03 2.96610087e+02] [ 9.53604692e-01 3.00310039e-01 2.12596488e-02 2.49757125e+02] [-2.24615778e-02 5.50045102e-04 9.99747556e-01 2.73423431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.660714057 meters Centerline goodness : 0.986356 Centerline is valid? [True, True] Translation: X:296.63, Y:249.79, Z:2.74 [[ 3.01808993e-01 -9.53340533e-01 7.29102286e-03 2.96628965e+02] [ 9.53103785e-01 3.01896573e-01 2.12516907e-02 2.49788549e+02] [-2.24612330e-02 5.35150096e-04 9.99747571e-01 2.73669703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6907140569999 meters Centerline goodness : 0.990760 Centerline is valid? [True, True] Translation: X:296.63, Y:249.82, Z:2.73 [[ 2.94481152e-01 -9.55623920e-01 7.98592148e-03 2.96633833e+02] [ 9.55394502e-01 2.94585852e-01 2.09885972e-02 2.49815183e+02] [-2.24097450e-02 1.44895920e-03 9.99747820e-01 2.73246650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7207140569999 meters Centerline goodness : 0.989322 Centerline is valid? [True, True] Translation: X:296.64, Y:249.84, Z:2.73 [[ 2.93017354e-01 -9.56074091e-01 7.94744702e-03 2.96643617e+02] [ 9.55844452e-01 2.93121565e-01 2.10031557e-02 2.49840266e+02] [-2.24101411e-02 1.44223403e-03 9.99747821e-01 2.73240285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.750714057 meters Centerline goodness : 0.990141 Centerline is valid? [True, True] Translation: X:296.65, Y:249.87, Z:2.73 [[ 2.91577500e-01 -9.56514225e-01 7.94344838e-03 2.96653437e+02] [ 9.56284703e-01 2.91681968e-01 2.10046679e-02 2.49866557e+02] [-2.24082243e-02 1.47170964e-03 9.99747821e-01 2.73162012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.780714057 meters Centerline goodness : 0.990265 Centerline is valid? [True, True] Translation: X:296.66, Y:249.89, Z:2.73 [[ 2.90835104e-01 -9.56740266e-01 7.93762090e-03 2.96663581e+02] [ 9.56510767e-01 2.90939624e-01 2.10068698e-02 2.49892366e+02] [-2.24074867e-02 1.48288468e-03 9.99747821e-01 2.73103280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8107140569999 meters Centerline goodness : 0.983532 Centerline is valid? [True, True] Translation: X:296.67, Y:249.91, Z:2.73 [[ 2.89284833e-01 -9.57210203e-01 7.93178649e-03 2.96669308e+02] [ 9.56980815e-01 2.89389596e-01 2.10090725e-02 2.49913084e+02] [-2.24054751e-02 1.51296147e-03 9.99747821e-01 2.73102236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8407140569999 meters Centerline goodness : 0.990859 Centerline is valid? [True, True] Translation: X:296.68, Y:249.94, Z:2.73 [[ 2.87729005e-01 -9.57683709e-01 7.34389490e-03 2.96682462e+02] [ 9.57448809e-01 2.87821232e-01 2.12300964e-02 2.49944420e+02] [-2.24454463e-02 9.22888913e-04 9.99747643e-01 2.72725844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.870714057 meters Centerline goodness : 0.990556 Centerline is valid? [True, True] Translation: X:296.69, Y:249.97, Z:2.73 [[ 2.87192585e-01 -9.57840142e-01 7.91723178e-03 2.96690908e+02] [ 9.57610848e-01 2.87297531e-01 2.10140915e-02 2.49970107e+02] [-2.24027415e-02 1.54653578e-03 9.99747831e-01 2.72606384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.900714057 meters Centerline goodness : 0.991010 Centerline is valid? [True, True] Translation: X:296.70, Y:250.00, Z:2.73 [[ 2.87073541e-01 -9.57875859e-01 7.91332038e-03 2.96699758e+02] [ 9.57646540e-01 2.87178431e-01 2.10155643e-02 2.49996497e+02] [-2.24028367e-02 1.54515140e-03 9.99747831e-01 2.72522788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9307140569999 meters Centerline goodness : 0.984002 Centerline is valid? [True, True] Translation: X:296.70, Y:250.02, Z:2.73 [[ 2.87709969e-01 -9.57684940e-01 7.90760950e-03 2.96704842e+02] [ 9.57455494e-01 2.87814582e-01 2.10177130e-02 2.50017012e+02] [-2.24042725e-02 1.52417861e-03 9.99747831e-01 2.72743408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9607140569999 meters Centerline goodness : 0.990800 Centerline is valid? [True, True] Translation: X:296.72, Y:250.05, Z:2.73 [[ 2.87806581e-01 -9.57659957e-01 7.40134222e-03 2.96717689e+02] [ 9.57425604e-01 2.87900056e-01 2.12078089e-02 2.50049267e+02] [-2.24407162e-02 9.82487593e-04 9.99747693e-01 2.72515812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.990714057 meters Centerline goodness : 0.990640 Centerline is valid? [True, True] Translation: X:296.73, Y:250.08, Z:2.72 [[ 2.87850408e-01 -9.57642763e-01 7.90447167e-03 2.96725958e+02] [ 9.57413277e-01 2.87954918e-01 2.10186003e-02 2.50075645e+02] [-2.24044419e-02 1.51763346e-03 9.99747837e-01 2.72497752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.020714057 meters Centerline goodness : 0.991433 Centerline is valid? [True, True] Translation: X:296.73, Y:250.10, Z:2.73 [[ 2.89164336e-01 -9.57246886e-01 7.89845862e-03 2.96733619e+02] [ 9.57017198e-01 2.89268400e-01 2.10208597e-02 2.50102088e+02] [-2.24069269e-02 1.48047781e-03 9.99747837e-01 2.72589864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0507140569999 meters Centerline goodness : 0.991899 Centerline is valid? [True, True] Translation: X:296.74, Y:250.13, Z:2.73 [[ 2.89425200e-01 -9.57168061e-01 7.89659901e-03 2.96742759e+02] [ 9.56938326e-01 2.89529160e-01 2.10215582e-02 2.50128298e+02] [-2.24074598e-02 1.47238956e-03 9.99747837e-01 2.72567565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0807140569999 meters Centerline goodness : 0.984966 Centerline is valid? [True, True] Translation: X:296.75, Y:250.15, Z:2.73 [[ 2.88760481e-01 -9.57368854e-01 7.89057236e-03 2.96748362e+02] [ 9.57139132e-01 2.88864469e-01 2.10238201e-02 2.50151290e+02] [-2.24068566e-02 1.48152717e-03 9.99747837e-01 2.72650043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.110714057 meters Centerline goodness : 0.991419 Centerline is valid? [True, True] Translation: X:296.76, Y:250.18, Z:2.72 [[ 2.90090696e-01 -9.56969960e-01 7.47559362e-03 2.96760708e+02] [ 9.56736101e-01 2.90185250e-01 2.11790939e-02 2.50181589e+02] [-2.24370636e-02 1.00831222e-03 9.99747749e-01 2.72424988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.140714057 meters Centerline goodness : 0.989132 Centerline is valid? [True, True] Translation: X:296.78, Y:250.21, Z:2.73 [[ 2.99700625e-01 -9.54000773e-01 7.87780885e-03 2.96778862e+02] [ 9.53769757e-01 2.99801696e-01 2.10284154e-02 2.50209763e+02] [-2.24229051e-02 1.21138657e-03 9.99747841e-01 2.72730151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1707140569999 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:296.79, Y:250.24, Z:2.72 [[ 2.97671013e-01 -9.54633506e-01 8.17535853e-03 2.96792335e+02] [ 9.54405622e-01 2.97779086e-01 2.09170721e-02 2.50244618e+02] [-2.24025886e-02 1.57620211e-03 9.99747788e-01 2.72139619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2007140569999 meters Centerline goodness : 0.991009 Centerline is valid? [True, True] Translation: X:296.80, Y:250.27, Z:2.72 [[ 2.97120151e-01 -9.54800903e-01 8.65167750e-03 2.96800327e+02] [ 9.54577949e-01 2.97238691e-01 2.07388388e-02 2.50271358e+02] [-2.23730753e-02 2.09677366e-03 9.99747493e-01 2.72034616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2307140569999 meters Centerline goodness : 0.989793 Centerline is valid? [True, True] Translation: X:296.81, Y:250.29, Z:2.72 [[ 3.00384347e-01 -9.53779617e-01 8.58404963e-03 2.96807206e+02] [ 9.53555560e-01 3.00500659e-01 2.07641031e-02 2.50292886e+02] [-2.23838909e-02 1.94815671e-03 9.99747551e-01 2.71966230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.260714057 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:296.82, Y:250.33, Z:2.72 [[ 2.98471958e-01 -9.54382649e-01 8.26134234e-03 2.96819356e+02] [ 9.54155554e-01 2.98581712e-01 2.08839574e-02 2.50325070e+02] [-2.23979723e-02 1.64933003e-03 9.99747773e-01 2.71843937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.290714057 meters Centerline goodness : 0.989112 Centerline is valid? [True, True] Translation: X:296.82, Y:250.34, Z:2.72 [[ 3.03213726e-01 -9.52883451e-01 8.63516496e-03 2.96820399e+02] [ 9.52659572e-01 3.03330481e-01 2.07451161e-02 2.50342362e+02] [-2.23869866e-02 1.93616861e-03 9.99747505e-01 2.72388945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3207140569999 meters Centerline goodness : 0.990446 Centerline is valid? [True, True] Translation: X:296.83, Y:250.37, Z:2.72 [[ 3.03921087e-01 -9.52664207e-01 7.92978246e-03 2.96830994e+02] [ 9.52433305e-01 3.04022274e-01 2.10061030e-02 2.50374026e+02] [-2.24225930e-02 1.16839126e-03 9.99747899e-01 2.72126416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3507140569999 meters Centerline goodness : 0.990790 Centerline is valid? [True, True] Translation: X:296.84, Y:250.41, Z:2.72 [[ 3.10859215e-01 -9.50420425e-01 8.21979849e-03 2.96841780e+02] [ 9.50191532e-01 3.10965096e-01 2.08988521e-02 2.50405931e+02] [-2.24187663e-02 1.31378217e-03 9.99747805e-01 2.72116013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.380714057 meters Centerline goodness : 0.991888 Centerline is valid? [True, True] Translation: X:296.85, Y:250.44, Z:2.72 [[ 3.10033800e-01 -9.50688143e-01 8.43197907e-03 2.96851059e+02] [ 9.50461401e-01 3.10144522e-01 2.08206607e-02 2.50435842e+02] [-2.24090874e-02 1.55916206e-03 9.99747669e-01 2.71705819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.410714057 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:296.86, Y:250.46, Z:2.72 [[ 3.13082092e-01 -9.49687192e-01 8.59313307e-03 2.96860508e+02] [ 9.49461681e-01 3.13195604e-01 2.07612695e-02 2.50461041e+02] [-2.24080432e-02 1.65886889e-03 9.99747532e-01 2.71522582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4407140569999 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:296.87, Y:250.49, Z:2.71 [[ 3.14211141e-01 -9.49314004e-01 8.61861594e-03 2.96868623e+02] [ 9.49088611e-01 3.14324940e-01 2.07518664e-02 2.50486546e+02] [-2.24090833e-02 1.65936262e-03 9.99747508e-01 2.71380892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4707140569999 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:296.86, Y:250.50, Z:2.71 [[ 3.07567337e-01 -9.51487749e-01 8.56722574e-03 2.96860675e+02] [ 9.51262641e-01 3.07681592e-01 2.07707999e-02 2.50502721e+02] [-2.23991393e-02 1.76126217e-03 9.99747556e-01 2.71445246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.500714057 meters Centerline goodness : 0.991712 Centerline is valid? [True, True] Translation: X:296.89, Y:250.54, Z:2.71 [[ 3.17098699e-01 -9.48361073e-01 7.72593085e-03 2.96886655e+02] [ 9.48126998e-01 3.17192156e-01 2.10791608e-02 2.50538523e+02] [-2.24412602e-02 6.40989174e-04 9.99747958e-01 2.71288744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.530714057 meters Centerline goodness : 0.992563 Centerline is valid? [True, True] Translation: X:296.88, Y:250.55, Z:2.71 [[ 3.08433318e-01 -9.51207317e-01 8.57490887e-03 2.96878391e+02] [ 9.50982201e-01 3.08547534e-01 2.07671005e-02 2.50554957e+02] [-2.23995849e-02 1.74931999e-03 9.99747567e-01 2.71339997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5607140569999 meters Centerline goodness : 0.991052 Centerline is valid? [True, True] Translation: X:296.91, Y:250.59, Z:2.71 [[ 3.18681933e-01 -9.47830357e-01 7.70969809e-03 2.96907134e+02] [ 9.47596020e-01 3.18774638e-01 2.10834962e-02 2.50590101e+02] [-2.24412340e-02 5.86749888e-04 9.99747992e-01 2.71239139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5907140569999 meters Centerline goodness : 0.989951 Centerline is valid? [True, True] Translation: X:296.92, Y:250.62, Z:2.71 [[ 3.14507103e-01 -9.49217081e-01 8.49797206e-03 2.96916185e+02] [ 9.48990496e-01 3.14618197e-01 2.07949164e-02 2.50615400e+02] [-2.24125065e-02 1.52434581e-03 9.99747646e-01 2.71475575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.620714057 meters Centerline goodness : 0.991045 Centerline is valid? [True, True] Translation: X:296.93, Y:250.64, Z:2.71 [[ 3.08765363e-01 -9.51101765e-01 8.32963189e-03 2.96925857e+02] [ 9.50874213e-01 3.08874149e-01 2.08564266e-02 2.50644238e+02] [-2.24093921e-02 1.48069003e-03 9.99747782e-01 2.70882757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.650714057 meters Centerline goodness : 0.992755 Centerline is valid? [True, True] Translation: X:296.92, Y:250.66, Z:2.71 [[ 2.98970098e-01 -9.54225498e-01 8.40121079e-03 2.96921450e+02] [ 9.53999786e-01 2.99082774e-01 2.08303253e-02 2.50662753e+02] [-2.23894849e-02 1.78710892e-03 9.99747727e-01 2.70843127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6807140569999 meters Centerline goodness : 0.990334 Centerline is valid? [True, True] Translation: X:296.95, Y:250.69, Z:2.71 [[ 3.04260065e-01 -9.52558215e-01 7.65898204e-03 2.96945206e+02] [ 9.52324901e-01 3.04355193e-01 2.10997537e-02 2.50693135e+02] [-2.24297947e-02 8.74026879e-04 9.99748038e-01 2.71013788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7107140569999 meters Centerline goodness : 0.990860 Centerline is valid? [True, True] Translation: X:296.95, Y:250.72, Z:2.71 [[ 3.00688795e-01 -9.53687394e-01 8.16104887e-03 2.96952694e+02] [ 9.53459142e-01 3.00795826e-01 2.09173360e-02 2.50717141e+02] [-2.24034091e-02 1.49161811e-03 9.99747899e-01 2.70834722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.740714057 meters Centerline goodness : 0.991531 Centerline is valid? [True, True] Translation: X:296.96, Y:250.75, Z:2.71 [[ 2.92332818e-01 -9.56284180e-01 7.87969890e-03 2.96964507e+02] [ 9.56054166e-01 2.92435698e-01 2.10189278e-02 2.50748239e+02] [-2.24043734e-02 1.38889656e-03 9.99748026e-01 2.70680559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.770714057 meters Centerline goodness : 0.990059 Centerline is valid? [True, True] Translation: X:296.97, Y:250.77, Z:2.71 [[ 2.92121782e-01 -9.56345888e-01 8.21020950e-03 2.96971874e+02] [ 9.56119088e-01 2.92231927e-01 2.08995327e-02 2.50770131e+02] [-2.23864675e-02 1.74472927e-03 9.99747869e-01 2.71127138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8007140569999 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:296.98, Y:250.80, Z:2.71 [[ 2.90829403e-01 -9.56741906e-01 7.94884239e-03 2.96980732e+02] [ 9.56512711e-01 2.90934156e-01 2.09940658e-02 2.50795442e+02] [-2.23984923e-02 1.49747715e-03 9.99748001e-01 2.71128090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8307140569999 meters Centerline goodness : 0.990554 Centerline is valid? [True, True] Translation: X:296.99, Y:250.83, Z:2.71 [[ 2.87870568e-01 -9.57637345e-01 7.82638383e-03 2.96992342e+02] [ 9.57407300e-01 2.87973353e-01 2.10382854e-02 2.50825596e+02] [-2.24008378e-02 1.43673385e-03 9.99748037e-01 2.70829492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.860714057 meters Centerline goodness : 0.991159 Centerline is valid? [True, True] Translation: X:297.00, Y:250.85, Z:2.71 [[ 2.86184872e-01 -9.58140697e-01 8.03892915e-03 2.97000674e+02] [ 9.57912890e-01 2.86292699e-01 2.09615274e-02 2.50852188e+02] [-2.23855792e-02 1.70172182e-03 9.99747963e-01 2.70932942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.890714057 meters Centerline goodness : 0.989394 Centerline is valid? [True, True] Translation: X:297.01, Y:250.88, Z:2.71 [[ 2.87710670e-01 -9.57683889e-01 8.00874872e-03 2.97008634e+02] [ 9.57455617e-01 2.87817476e-01 2.09724158e-02 2.50875826e+02] [-2.23900026e-02 1.63403365e-03 9.99747977e-01 2.71111821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9207140569999 meters Centerline goodness : 0.990350 Centerline is valid? [True, True] Translation: X:297.02, Y:250.90, Z:2.71 [[ 2.86944982e-01 -9.57915235e-01 7.80902708e-03 2.97018581e+02] [ 9.57685136e-01 2.87047608e-01 2.10440399e-02 2.50904903e+02] [-2.23999690e-02 1.44010751e-03 9.99748052e-01 2.70836117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9507140569999 meters Centerline goodness : 0.990230 Centerline is valid? [True, True] Translation: X:297.03, Y:250.93, Z:2.71 [[ 2.87383339e-01 -9.57782473e-01 7.97184793e-03 2.97027444e+02] [ 9.57553882e-01 2.87489418e-01 2.09856529e-02 2.50931180e+02] [-2.23915125e-02 1.60254695e-03 9.99747994e-01 2.70617065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9807140569999 meters Centerline goodness : 0.990263 Centerline is valid? [True, True] Translation: X:297.03, Y:250.96, Z:2.71 [[ 2.86389466e-01 -9.58080007e-01 7.98582800e-03 2.97034301e+02] [ 9.57851661e-01 2.86496087e-01 2.09806427e-02 2.50955569e+02] [-2.23890428e-02 1.64060357e-03 9.99747988e-01 2.70803998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.010714057 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:297.04, Y:250.98, Z:2.71 [[ 2.84467554e-01 -9.58653655e-01 7.83459505e-03 2.97043998e+02] [ 9.58424070e-01 2.84571333e-01 2.10347029e-02 2.50983411e+02] [-2.23944960e-02 1.52517400e-03 9.99748048e-01 2.70697138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.040714057 meters Centerline goodness : 0.988718 Centerline is valid? [True, True] Translation: X:297.05, Y:251.01, Z:2.71 [[ 2.82935954e-01 -9.59106117e-01 7.91843371e-03 2.97050892e+02] [ 9.58877504e-01 2.83041930e-01 2.10047466e-02 2.51007379e+02] [-2.23870297e-02 1.64980993e-03 9.99748018e-01 2.70984952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0707140569999 meters Centerline goodness : 0.988864 Centerline is valid? [True, True] Translation: X:297.06, Y:251.03, Z:2.71 [[ 2.82439779e-01 -9.59253929e-01 7.72466958e-03 2.97061238e+02] [ 9.59023521e-01 2.82541641e-01 2.10738440e-02 2.51033704e+02] [-2.23977085e-02 1.45604797e-03 9.99748080e-01 2.70819970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1007140569999 meters Centerline goodness : 0.988499 Centerline is valid? [True, True] Translation: X:297.07, Y:251.06, Z:2.71 [[ 2.80600043e-01 -9.59793425e-01 7.75873479e-03 2.97069467e+02] [ 9.59563536e-01 2.80703091e-01 2.10617089e-02 2.51058855e+02] [-2.23927905e-02 1.53508258e-03 9.99748072e-01 2.70573119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.130714057 meters Centerline goodness : 0.987714 Centerline is valid? [True, True] Translation: X:297.08, Y:251.08, Z:2.71 [[ 2.79918479e-01 -9.59992740e-01 7.71908836e-03 2.97078633e+02] [ 9.59762547e-01 2.80020824e-01 2.10758319e-02 2.51084997e+02] [-2.23941511e-02 1.50897710e-03 9.99748081e-01 2.70561393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.160714057 meters Centerline goodness : 0.988228 Centerline is valid? [True, True] Translation: X:297.09, Y:251.11, Z:2.70 [[ 2.79491629e-01 -9.60117189e-01 7.70799679e-03 2.97087726e+02] [ 9.59886937e-01 2.79593834e-01 2.10797785e-02 2.51112274e+02] [-2.23941660e-02 1.50718381e-03 9.99748083e-01 2.70447933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1907140569999 meters Centerline goodness : 0.987664 Centerline is valid? [True, True] Translation: X:297.10, Y:251.14, Z:2.70 [[ 2.79933266e-01 -9.59988404e-01 7.72214354e-03 2.97096163e+02] [ 9.59758238e-01 2.80035675e-01 2.10747482e-02 2.51137717e+02] [-2.23939896e-02 1.51186777e-03 9.99748080e-01 2.70378282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2207140569999 meters Centerline goodness : 0.988532 Centerline is valid? [True, True] Translation: X:297.11, Y:251.17, Z:2.70 [[ 2.79217568e-01 -9.60197015e-01 7.69694762e-03 2.97106541e+02] [ 9.59966687e-01 2.79319598e-01 2.10837040e-02 2.51166910e+02] [-2.23944179e-02 1.50187276e-03 9.99748085e-01 2.70151904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.250714057 meters Centerline goodness : 0.987651 Centerline is valid? [True, True] Translation: X:297.11, Y:251.19, Z:2.70 [[ 2.80336724e-01 -9.59869792e-01 7.82963950e-03 2.97114883e+02] [ 9.59640607e-01 2.80441383e-01 2.10365566e-02 2.51191564e+02] [-2.23881101e-02 1.61632064e-03 9.99748048e-01 2.70243459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.280714057 meters Centerline goodness : 0.989723 Centerline is valid? [True, True] Translation: X:297.13, Y:251.22, Z:2.70 [[ 2.79961977e-01 -9.59979805e-01 7.75021160e-03 2.97125467e+02] [ 9.59749903e-01 2.80064992e-01 2.10647354e-02 2.51221709e+02] [-2.23922835e-02 1.54093987e-03 9.99748074e-01 2.69734564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3107140569999 meters Centerline goodness : 0.989873 Centerline is valid? [True, True] Translation: X:297.13, Y:251.25, Z:2.70 [[ 2.76709554e-01 -9.60921415e-01 7.86493918e-03 2.97127971e+02] [ 9.60692966e-01 2.76815846e-01 2.10240785e-02 2.51245251e+02] [-2.23796271e-02 1.73822837e-03 9.99748034e-01 2.70119454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3407140569999 meters Centerline goodness : 0.989473 Centerline is valid? [True, True] Translation: X:297.14, Y:251.27, Z:2.70 [[ 2.77304270e-01 -9.60753256e-01 7.45141543e-03 2.97136003e+02] [ 9.60520847e-01 2.77401382e-01 2.11701899e-02 2.51269308e+02] [-2.24063618e-02 1.28665580e-03 9.99748118e-01 2.70209533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.370714057 meters Centerline goodness : 0.983086 Centerline is valid? [True, True] Translation: X:297.14, Y:251.29, Z:2.71 [[ 2.73330161e-01 -9.61892791e-01 7.27198005e-03 2.97136590e+02] [ 9.61659147e-01 2.73424293e-01 2.12330170e-02 2.51289409e+02] [-2.24122220e-02 1.18954217e-03 9.99748107e-01 2.71025075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.400714057 meters Centerline goodness : 0.983086 Centerline is valid? [True, True] Translation: X:297.15, Y:251.32, Z:2.71 [[ 2.73688256e-01 -9.61795335e-01 6.66881711e-03 2.97146730e+02] [ 9.61556411e-01 2.73768952e-01 2.14436224e-02 2.51316153e+02] [-2.24500910e-02 5.43576242e-04 9.99747817e-01 2.70940270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4307140569999 meters Centerline goodness : 0.992293 Centerline is valid? [True, True] Translation: X:297.16, Y:251.35, Z:2.70 [[ 2.70983619e-01 -9.62560243e-01 6.75698220e-03 2.97159752e+02] [ 9.62322302e-01 2.71066945e-01 2.14125529e-02 2.51350786e+02] [-2.24424667e-02 6.99943580e-04 9.99747891e-01 2.69547993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4607140569999 meters Centerline goodness : 0.983565 Centerline is valid? [True, True] Translation: X:297.16, Y:251.37, Z:2.71 [[ 2.72759339e-01 -9.62053228e-01 7.47855022e-03 2.97164614e+02] [ 9.61821603e-01 2.72858138e-01 2.11575070e-02 2.51366941e+02] [-2.23952312e-02 1.42212353e-03 9.99748184e-01 2.70920175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.490714057 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:297.18, Y:251.40, Z:2.69 [[ 2.69570419e-01 -9.62956904e-01 6.76690063e-03 2.97177440e+02] [ 9.62719186e-01 2.69654313e-01 2.14084200e-02 2.51401600e+02] [-2.24401097e-02 7.43548330e-04 9.99747913e-01 2.69381299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.520714057 meters Centerline goodness : 0.988984 Centerline is valid? [True, True] Translation: X:297.19, Y:251.42, Z:2.70 [[ 2.75088366e-01 -9.61389821e-01 7.48357748e-03 2.97189155e+02] [ 9.61158022e-01 2.75186712e-01 2.11549014e-02 2.51423003e+02] [-2.23974879e-02 1.37343329e-03 9.99748201e-01 2.70032831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5507140569999 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:297.20, Y:251.46, Z:2.69 [[ 2.65793846e-01 -9.64002451e-01 7.27359630e-03 2.97195097e+02] [ 9.63769642e-01 2.65889834e-01 2.12290889e-02 2.51455069e+02] [-2.23988691e-02 1.36751011e-03 9.99748179e-01 2.69200769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5807140569999 meters Centerline goodness : 0.992147 Centerline is valid? [True, True] Translation: X:297.20, Y:251.48, Z:2.69 [[ 2.65014558e-01 -9.64215409e-01 7.47860398e-03 2.97203963e+02] [ 9.63984605e-01 2.65115216e-01 2.11566218e-02 2.51481348e+02] [-2.23822324e-02 1.60244633e-03 9.99748202e-01 2.69093731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.610714057 meters Centerline goodness : 0.991824 Centerline is valid? [True, True] Translation: X:297.21, Y:251.51, Z:2.69 [[ 2.64132879e-01 -9.64457352e-01 7.47257987e-03 2.97212823e+02] [ 9.64226583e-01 2.64233616e-01 2.11587493e-02 2.51508041e+02] [-2.23812181e-02 1.61653878e-03 9.99748202e-01 2.69019905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.640714057 meters Centerline goodness : 0.991493 Centerline is valid? [True, True] Translation: X:297.23, Y:251.54, Z:2.69 [[ 2.63406647e-01 -9.64655996e-01 7.46647367e-03 2.97226571e+02] [ 9.64425245e-01 2.63507425e-01 2.11609038e-02 2.51539838e+02] [-2.23804640e-02 1.62693297e-03 9.99748202e-01 2.69236328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6707140569999 meters Centerline goodness : 0.992185 Centerline is valid? [True, True] Translation: X:297.23, Y:251.56, Z:2.69 [[ 2.64539578e-01 -9.64342585e-01 7.88608157e-03 2.97230410e+02] [ 9.64115798e-01 2.64649200e-01 2.10126046e-02 2.51560780e+02] [-2.23503946e-02 2.04443028e-03 9.99748108e-01 2.68939859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7007140569999 meters Centerline goodness : 0.992574 Centerline is valid? [True, True] Translation: X:297.24, Y:251.59, Z:2.69 [[ 2.65113341e-01 -9.64188407e-01 7.45867913e-03 2.97239273e+02] [ 9.63957414e-01 2.65213539e-01 2.11632388e-02 2.51587686e+02] [-2.23834922e-02 1.57919210e-03 9.99748211e-01 2.68816280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7307140569999 meters Centerline goodness : 0.992685 Centerline is valid? [True, True] Translation: X:297.25, Y:251.61, Z:2.69 [[ 2.67596670e-01 -9.63502195e-01 7.45269826e-03 2.97246704e+02] [ 9.63270888e-01 2.67696142e-01 2.11653448e-02 2.51613785e+02] [-2.23879148e-02 1.51519148e-03 9.99748211e-01 2.68676726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.760714057 meters Centerline goodness : 0.991528 Centerline is valid? [True, True] Translation: X:297.26, Y:251.65, Z:2.69 [[ 2.69657708e-01 -9.62927420e-01 7.45010161e-03 2.97261111e+02] [ 9.62695877e-01 2.69756629e-01 2.11662588e-02 2.51646916e+02] [-2.23912853e-02 1.46453726e-03 9.99748211e-01 2.68797682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.790714057 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:297.26, Y:251.67, Z:2.68 [[ 2.70812413e-01 -9.62599668e-01 7.90671758e-03 2.97262905e+02] [ 9.62372376e-01 2.70921004e-01 2.10052116e-02 2.51668329e+02] [-2.23617055e-02 1.92073455e-03 9.99748101e-01 2.68467815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8207140569999 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:297.27, Y:251.69, Z:2.68 [[ 2.74466229e-01 -9.61567938e-01 7.44239320e-03 2.97270143e+02] [ 9.61335844e-01 2.74563822e-01 2.11684613e-02 2.51694180e+02] [-2.23983256e-02 1.34461159e-03 9.99748222e-01 2.68407008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8507140569999 meters Centerline goodness : 0.992187 Centerline is valid? [True, True] Translation: X:297.28, Y:251.72, Z:2.68 [[ 2.75681423e-01 -9.61220268e-01 7.43974519e-03 2.97278639e+02] [ 9.60988026e-01 2.75778664e-01 2.11693919e-02 2.51720495e+02] [-2.24001716e-02 1.31349794e-03 9.99748222e-01 2.68339775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.880714057 meters Centerline goodness : 0.989797 Centerline is valid? [True, True] Translation: X:297.29, Y:251.74, Z:2.69 [[ 2.81284497e-01 -9.59595630e-01 7.43368601e-03 2.97290305e+02] [ 9.59362769e-01 2.81380248e-01 2.11715194e-02 2.51744578e+02] [-2.24077899e-02 1.17638141e-03 9.99748222e-01 2.68702206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.910714057 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:297.30, Y:251.77, Z:2.68 [[ 2.77220258e-01 -9.60778446e-01 7.32843789e-03 2.97295262e+02] [ 9.60545038e-01 2.77314680e-01 2.12084332e-02 2.51772768e+02] [-2.24088889e-02 1.15988733e-03 9.99748216e-01 2.68250988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9407140569999 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:297.30, Y:251.80, Z:2.68 [[ 2.78084631e-01 -9.60527880e-01 7.42488452e-03 2.97303136e+02] [ 9.60295260e-01 2.78180965e-01 2.11746143e-02 2.51799613e+02] [-2.24042689e-02 1.24174660e-03 9.99748222e-01 2.68210175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9707140569999 meters Centerline goodness : 0.992767 Centerline is valid? [True, True] Translation: X:297.31, Y:251.83, Z:2.68 [[ 2.78662225e-01 -9.60360519e-01 7.41874301e-03 2.97311989e+02] [ 9.60127785e-01 2.78758283e-01 2.11767658e-02 2.51826516e+02] [-2.24053659e-02 1.22177662e-03 9.99748222e-01 2.68184418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.000714057 meters Centerline goodness : 0.992023 Centerline is valid? [True, True] Translation: X:297.32, Y:251.85, Z:2.68 [[ 2.79437808e-01 -9.60135180e-01 7.41262164e-03 2.97320656e+02] [ 9.59902314e-01 2.79533544e-01 2.11789083e-02 2.51853232e+02] [-2.24066913e-02 1.19720495e-03 9.99748222e-01 2.68101039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.030714057 meters Centerline goodness : 0.992441 Centerline is valid? [True, True] Translation: X:297.34, Y:251.89, Z:2.68 [[ 2.82071256e-01 -9.59364868e-01 7.40650963e-03 2.97336656e+02] [ 9.59131685e-01 2.82166218e-01 2.11810455e-02 2.51885571e+02] [-2.24102178e-02 1.12925395e-03 9.99748222e-01 2.67969295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0607140569999 meters Centerline goodness : 0.992827 Centerline is valid? [True, True] Translation: X:297.34, Y:251.91, Z:2.68 [[ 2.81389116e-01 -9.59560745e-01 7.95874885e-03 2.97337727e+02] [ 9.59332759e-01 2.81496332e-01 2.09874557e-02 2.51906163e+02] [-2.23790972e-02 1.72944689e-03 9.99748061e-01 2.67811975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0907140569999 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:297.35, Y:251.93, Z:2.68 [[ 2.81893200e-01 -9.59417268e-01 7.39798037e-03 2.97346357e+02] [ 9.59184042e-01 2.81988016e-01 2.11833006e-02 2.51931282e+02] [-2.24097662e-02 1.12459633e-03 9.99748237e-01 2.67681429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.120714057 meters Centerline goodness : 0.992083 Centerline is valid? [True, True] Translation: X:297.35, Y:251.96, Z:2.68 [[ 2.82315455e-01 -9.59293122e-01 7.39528896e-03 2.97354963e+02] [ 9.59059830e-01 2.82410110e-01 2.11842402e-02 2.51958217e+02] [-2.24104003e-02 1.11188616e-03 9.99748237e-01 2.67539735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.150714057 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:297.36, Y:251.99, Z:2.67 [[ 2.81959483e-01 -9.59397857e-01 7.38928745e-03 2.97363766e+02] [ 9.59164547e-01 2.82054092e-01 2.11863334e-02 2.51985088e+02] [-2.24103016e-02 1.11385495e-03 9.99748237e-01 2.67470912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1807140569999 meters Centerline goodness : 0.991871 Centerline is valid? [True, True] Translation: X:297.38, Y:252.02, Z:2.67 [[ 2.81576205e-01 -9.59510463e-01 7.38327124e-03 2.97377501e+02] [ 9.59277137e-01 2.81670775e-01 2.11884298e-02 2.52016737e+02] [-2.24101718e-02 1.11644564e-03 9.99748237e-01 2.67480833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2107140569999 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:297.39, Y:252.04, Z:2.67 [[ 2.80900173e-01 -9.59705610e-01 7.76106805e-03 2.97385525e+02] [ 9.59475803e-01 2.81003194e-01 2.10567656e-02 2.52043489e+02] [-2.23891810e-02 1.53170790e-03 9.99748158e-01 2.67447500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.240714057 meters Centerline goodness : 0.992192 Centerline is valid? [True, True] Translation: X:297.39, Y:252.07, Z:2.67 [[ 2.81748182e-01 -9.59457310e-01 7.72216386e-03 2.97390673e+02] [ 9.59227051e-01 2.81850149e-01 2.10703104e-02 2.52065173e+02] [-2.23925564e-02 1.47078682e-03 9.99748173e-01 2.67296364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.270714057 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:297.40, Y:252.09, Z:2.67 [[ 2.82069327e-01 -9.59365777e-01 7.36208287e-03 2.97399938e+02] [ 9.59132224e-01 2.82163310e-01 2.11953840e-02 2.52091746e+02] [-2.24114357e-02 1.08264321e-03 9.99748246e-01 2.67229295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3007140569999 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:297.41, Y:252.12, Z:2.67 [[ 2.82640601e-01 -9.59197675e-01 7.35609440e-03 2.97409321e+02] [ 9.58964012e-01 2.82734312e-01 2.11974622e-02 2.52118033e+02] [-2.24123767e-02 1.06296635e-03 9.99748246e-01 2.67159955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3307140569999 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:297.42, Y:252.14, Z:2.67 [[ 2.83127572e-01 -9.59054093e-01 7.35014904e-03 2.97418463e+02] [ 9.58820331e-01 2.83221033e-01 2.11995235e-02 2.52143843e+02] [-2.24132066e-02 1.04530273e-03 9.99748246e-01 2.67044491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.360714057 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:297.43, Y:252.17, Z:2.67 [[ 2.83470828e-01 -9.58952712e-01 7.34757446e-03 2.97428293e+02] [ 9.58718893e-01 2.83564149e-01 2.12004158e-02 2.52170142e+02] [-2.24137049e-02 1.03455904e-03 9.99748246e-01 2.66873006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.390714057 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:297.44, Y:252.20, Z:2.67 [[ 2.83372891e-01 -9.58981702e-01 7.34173000e-03 2.97437377e+02] [ 9.58747841e-01 2.83466107e-01 2.12024395e-02 2.52195129e+02] [-2.24138832e-02 1.03067121e-03 9.99748246e-01 2.66729611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4207140569999 meters Centerline goodness : 0.992201 Centerline is valid? [True, True] Translation: X:297.45, Y:252.22, Z:2.67 [[ 2.83103043e-01 -9.59061418e-01 7.33920095e-03 2.97447213e+02] [ 9.58827562e-01 2.83196269e-01 2.12033149e-02 2.52221534e+02] [-2.24137156e-02 1.03430518e-03 9.99748246e-01 2.66604595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4507140569999 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:297.46, Y:252.25, Z:2.67 [[ 2.83092721e-01 -9.59064508e-01 7.33347488e-03 2.97457426e+02] [ 9.58830603e-01 2.83185824e-01 2.12052952e-02 2.52247795e+02] [-2.24139821e-02 1.02849542e-03 9.99748246e-01 2.66542096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4807140569999 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:297.47, Y:252.27, Z:2.66 [[ 2.83524183e-01 -9.58937089e-01 7.32775566e-03 2.97467976e+02] [ 9.58703092e-01 2.83617055e-01 2.12072714e-02 2.52272464e+02] [-2.24147155e-02 1.01236771e-03 9.99748246e-01 2.66477392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.510714057 meters Centerline goodness : 0.993806 Centerline is valid? [True, True] Translation: X:297.48, Y:252.30, Z:2.66 [[ 2.83530937e-01 -9.58935111e-01 7.32527763e-03 2.97477447e+02] [ 9.58701091e-01 2.83623752e-01 2.12081273e-02 2.52298333e+02] [-2.24148406e-02 1.00959146e-03 9.99748246e-01 2.66449594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.540714057 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:297.49, Y:252.32, Z:2.66 [[ 2.83775232e-01 -9.58862889e-01 7.31966283e-03 2.97487345e+02] [ 9.58628796e-01 2.83867863e-01 2.12100650e-02 2.52324808e+02] [-2.24153612e-02 9.97948462e-04 9.99748246e-01 2.66439375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5707140569999 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:297.50, Y:252.35, Z:2.66 [[ 2.84205551e-01 -9.58735477e-01 7.31371540e-03 2.97496899e+02] [ 9.58501291e-01 2.84297946e-01 2.12121156e-02 2.52350939e+02] [-2.24160820e-02 9.81604652e-04 9.99748246e-01 2.66402318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6007140569999 meters Centerline goodness : 0.991879 Centerline is valid? [True, True] Translation: X:297.51, Y:252.38, Z:2.66 [[ 2.86226402e-01 -9.58134148e-01 7.30762361e-03 2.97512623e+02] [ 9.57899715e-01 2.86318168e-01 2.12142140e-02 2.52382030e+02] [-2.24183683e-02 9.27902440e-04 9.99748246e-01 2.66491841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.630714057 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:297.52, Y:252.40, Z:2.66 [[ 2.85582374e-01 -9.58322975e-01 7.73197271e-03 2.97517036e+02] [ 9.58092381e-01 2.85683636e-01 2.10677531e-02 2.52403230e+02] [-2.23986099e-02 1.39136520e-03 9.99748151e-01 2.66410858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.660714057 meters Centerline goodness : 0.992438 Centerline is valid? [True, True] Translation: X:297.53, Y:252.43, Z:2.66 [[ 2.85594582e-01 -9.58322728e-01 7.29951958e-03 2.97527523e+02] [ 9.58088296e-01 2.85686324e-01 2.12165404e-02 2.52429232e+02] [-2.24176658e-02 9.34255281e-04 9.99748256e-01 2.66355598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6907140569999 meters Centerline goodness : 0.992419 Centerline is valid? [True, True] Translation: X:297.54, Y:252.45, Z:2.66 [[ 2.84798688e-01 -9.58559603e-01 7.29345521e-03 2.97537590e+02] [ 9.58325195e-01 2.84890490e-01 2.12186249e-02 2.52454714e+02] [-2.24171527e-02 9.46465339e-04 9.99748256e-01 2.66269316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7207140569999 meters Centerline goodness : 0.992423 Centerline is valid? [True, True] Translation: X:297.55, Y:252.48, Z:2.66 [[ 2.83590253e-01 -9.58917834e-01 7.29082850e-03 2.97548061e+02] [ 9.58683518e-01 2.83682293e-01 2.12195274e-02 2.52480497e+02] [-2.24160622e-02 9.71945955e-04 9.99748256e-01 2.66152297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.750714057 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:297.56, Y:252.51, Z:2.66 [[ 2.80540094e-01 -9.59814663e-01 7.28481401e-03 2.97560386e+02] [ 9.59580589e-01 2.80632745e-01 2.12215920e-02 2.52506137e+02] [-2.24131526e-02 1.03685870e-03 9.99748256e-01 2.66027479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.780714057 meters Centerline goodness : 0.985945 Centerline is valid? [True, True] Translation: X:297.57, Y:252.53, Z:2.66 [[ 2.76649431e-01 -9.60943345e-01 7.27880558e-03 2.97567885e+02] [ 9.60709595e-01 2.76742897e-01 2.12236527e-02 2.52530442e+02] [-2.24090855e-02 1.12130693e-03 9.99748256e-01 2.65729726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8107140569999 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:297.58, Y:252.56, Z:2.66 [[ 2.76448780e-01 -9.61002705e-01 7.06206677e-03 2.97581523e+02] [ 9.60767092e-01 2.76537512e-01 2.12978568e-02 2.52557885e+02] [-2.24202244e-02 8.97234820e-04 9.99748233e-01 2.65805492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8407140569999 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:297.59, Y:252.58, Z:2.66 [[ 2.74413485e-01 -9.61584320e-01 7.26873219e-03 2.97591733e+02] [ 9.61350700e-01 2.74507274e-01 2.12270895e-02 2.52583373e+02] [-2.24069563e-02 1.16280115e-03 9.99748256e-01 2.65771153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.870714057 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:297.60, Y:252.61, Z:2.66 [[ 2.70885382e-01 -9.62584211e-01 7.26267307e-03 2.97603217e+02] [ 9.62350882e-01 2.70979893e-01 2.12291624e-02 2.52608180e+02] [-2.24028949e-02 1.23857006e-03 9.99748256e-01 2.65753963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.900714057 meters Centerline goodness : 0.990750 Centerline is valid? [True, True] Translation: X:297.62, Y:252.64, Z:2.66 [[ 2.68205813e-01 -9.63334279e-01 7.26004505e-03 2.97616433e+02] [ 9.63101191e-01 2.68300915e-01 2.12300611e-02 2.52637108e+02] [-2.23995224e-02 1.29813223e-03 9.99748256e-01 2.65829474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9307140569999 meters Centerline goodness : 0.991693 Centerline is valid? [True, True] Translation: X:297.62, Y:252.66, Z:2.66 [[ 2.68024155e-01 -9.63382870e-01 7.51649062e-03 2.97624077e+02] [ 9.63152132e-01 2.68124918e-01 2.11423371e-02 2.52659950e+02] [-2.23835238e-02 1.57286692e-03 9.99748220e-01 2.65614399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9607140569999 meters Centerline goodness : 0.991752 Centerline is valid? [True, True] Translation: X:297.64, Y:252.68, Z:2.66 [[ 2.67277411e-01 -9.63592376e-01 7.24694791e-03 2.97636081e+02] [ 9.63359267e-01 2.67372450e-01 2.12343288e-02 2.52684693e+02] [-2.23988716e-02 1.30595799e-03 9.99748261e-01 2.65543872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.990714057 meters Centerline goodness : 0.992016 Centerline is valid? [True, True] Translation: X:297.65, Y:252.71, Z:2.65 [[ 2.66998390e-01 -9.63669746e-01 7.24438711e-03 2.97645746e+02] [ 9.63436640e-01 2.67093441e-01 2.12352024e-02 2.52710815e+02] [-2.23986504e-02 1.30974311e-03 9.99748261e-01 2.65482620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.020714057 meters Centerline goodness : 0.992285 Centerline is valid? [True, True] Translation: X:297.66, Y:252.74, Z:2.65 [[ 2.67593764e-01 -9.63504636e-01 7.23838295e-03 2.97655676e+02] [ 9.63271419e-01 2.67688538e-01 2.12372489e-02 2.52737397e+02] [-2.23998199e-02 1.28957206e-03 9.99748261e-01 2.65452994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0507140569999 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:297.67, Y:252.76, Z:2.65 [[ 2.69325971e-01 -9.63021918e-01 7.23238926e-03 2.97665385e+02] [ 9.62788477e-01 2.69420194e-01 2.12392898e-02 2.52762701e+02] [-2.24024533e-02 1.24296869e-03 9.99748261e-01 2.65415109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0807140569999 meters Centerline goodness : 0.991609 Centerline is valid? [True, True] Translation: X:297.67, Y:252.79, Z:2.65 [[ 2.70144665e-01 -9.62792611e-01 7.22832126e-03 2.97674787e+02] [ 9.62559054e-01 2.70238600e-01 2.12406742e-02 2.52789333e+02] [-2.24037356e-02 1.21963127e-03 9.99748261e-01 2.65422998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.110714057 meters Centerline goodness : 0.989572 Centerline is valid? [True, True] Translation: X:297.69, Y:252.82, Z:2.65 [[ 2.72669383e-01 -9.62080688e-01 7.22207966e-03 2.97690366e+02] [ 9.61846831e-01 2.72762568e-01 2.12427962e-02 2.52821004e+02] [-2.24071970e-02 1.15427431e-03 9.99748261e-01 2.65362918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.140714057 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:297.69, Y:252.84, Z:2.65 [[ 2.71826660e-01 -9.62315560e-01 7.68312626e-03 2.97693825e+02] [ 9.62085955e-01 2.71930151e-01 2.10857355e-02 2.52841801e+02] [-2.23804050e-02 1.66016283e-03 9.99748149e-01 2.65307331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1707140569999 meters Centerline goodness : 0.991970 Centerline is valid? [True, True] Translation: X:297.70, Y:252.87, Z:2.65 [[ 2.72656169e-01 -9.62084497e-01 7.21350172e-03 2.97703895e+02] [ 9.61850578e-01 2.72749167e-01 2.12451927e-02 2.52867513e+02] [-2.24071471e-02 1.14567796e-03 9.99748272e-01 2.65249101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2007140569999 meters Centerline goodness : 0.992143 Centerline is valid? [True, True] Translation: X:297.71, Y:252.89, Z:2.65 [[ 2.72805103e-01 -9.62042322e-01 7.20747331e-03 2.97713112e+02] [ 9.61808335e-01 2.72897932e-01 2.12472376e-02 2.52893858e+02] [-2.24076464e-02 1.13585306e-03 9.99748272e-01 2.65223494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2307140569999 meters Centerline goodness : 0.990676 Centerline is valid? [True, True] Translation: X:297.73, Y:252.93, Z:2.65 [[ 2.76395852e-01 -9.61016896e-01 7.20135845e-03 2.97731318e+02] [ 9.60782511e-01 2.76487673e-01 2.12493100e-02 2.52926962e+02] [-2.24120327e-02 1.04571812e-03 9.99748272e-01 2.65127840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.260714057 meters Centerline goodness : 0.992566 Centerline is valid? [True, True] Translation: X:297.73, Y:252.95, Z:2.65 [[ 2.73061422e-01 -9.61965016e-01 7.79534562e-03 2.97730997e+02] [ 9.61736323e-01 2.73167066e-01 2.10475348e-02 2.52947116e+02] [-2.23764238e-02 1.74979726e-03 9.99748085e-01 2.65152715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.290714057 meters Centerline goodness : 0.992058 Centerline is valid? [True, True] Translation: X:297.75, Y:252.98, Z:2.65 [[ 2.75388295e-01 -9.61306189e-01 7.19017220e-03 2.97747389e+02] [ 9.61071822e-01 2.75480114e-01 2.12522847e-02 2.52978083e+02] [-2.24107023e-02 1.05764145e-03 9.99748289e-01 2.65144256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3207140569999 meters Centerline goodness : 0.992058 Centerline is valid? [True, True] Translation: X:297.76, Y:253.00, Z:2.65 [[ 2.74894606e-01 -9.61444081e-01 7.63117194e-03 2.97755634e+02] [ 9.61213681e-01 2.74996229e-01 2.11029123e-02 2.53004155e+02] [-2.23878136e-02 1.53411011e-03 9.99748184e-01 2.65096752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3507140569999 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:297.76, Y:253.03, Z:2.65 [[ 2.72500895e-01 -9.62125357e-01 7.61963891e-03 2.97757478e+02] [ 9.61895106e-01 2.72602839e-01 2.11068139e-02 2.53025200e+02] [-2.23845361e-02 1.57766769e-03 9.99748190e-01 2.65031684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.380714057 meters Centerline goodness : 0.990168 Centerline is valid? [True, True] Translation: X:297.77, Y:253.06, Z:2.65 [[ 2.74562142e-01 -9.61542629e-01 7.16952316e-03 2.97772902e+02] [ 9.61308178e-01 2.74653706e-01 2.12586193e-02 2.53056501e+02] [-2.24102048e-02 1.05530919e-03 9.99748303e-01 2.64967199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.410714057 meters Centerline goodness : 0.990995 Centerline is valid? [True, True] Translation: X:297.78, Y:253.08, Z:2.65 [[ 2.74944099e-01 -9.61430214e-01 7.59518862e-03 2.97780360e+02] [ 9.61199488e-01 2.75044922e-01 2.11147990e-02 2.53082709e+02] [-2.23894237e-02 1.49510204e-03 9.99748207e-01 2.65000435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4407140569999 meters Centerline goodness : 0.991116 Centerline is valid? [True, True] Translation: X:297.79, Y:253.11, Z:2.65 [[ 2.76446245e-01 -9.60999702e-01 7.55296833e-03 2.97789860e+02] [ 9.60768439e-01 2.76545783e-01 2.11290531e-02 2.53109203e+02] [-2.23937553e-02 1.41560618e-03 9.99748226e-01 2.64997255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4707140569999 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:297.79, Y:253.13, Z:2.65 [[ 2.75606750e-01 -9.61240616e-01 7.57607722e-03 2.97791298e+02] [ 9.61009648e-01 2.75706996e-01 2.11212698e-02 2.53130550e+02] [-2.23913999e-02 1.45951878e-03 9.99748216e-01 2.64872057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.500714057 meters Centerline goodness : 0.990159 Centerline is valid? [True, True] Translation: X:297.81, Y:253.16, Z:2.65 [[ 2.79340368e-01 -9.60165595e-01 7.14063143e-03 2.97809080e+02] [ 9.59930466e-01 2.79430126e-01 2.12674748e-02 2.53162988e+02] [-2.24156051e-02 9.13645426e-04 9.99748321e-01 2.64791618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.530714057 meters Centerline goodness : 0.991738 Centerline is valid? [True, True] Translation: X:297.81, Y:253.18, Z:2.65 [[ 2.77844810e-01 -9.60594655e-01 7.75695224e-03 2.97809085e+02] [ 9.60365100e-01 2.77948475e-01 2.10599356e-02 2.53182521e+02] [-2.23860946e-02 1.59811239e-03 9.99748123e-01 2.64800236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5607140569999 meters Centerline goodness : 0.991763 Centerline is valid? [True, True] Translation: X:297.82, Y:253.21, Z:2.65 [[ 2.78007422e-01 -9.60552438e-01 7.13361506e-03 2.97818438e+02] [ 9.60317392e-01 2.78097350e-01 2.12690077e-02 2.53208881e+02] [-2.24138367e-02 9.37592612e-04 9.99748339e-01 2.64701008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5907140569999 meters Centerline goodness : 0.991315 Centerline is valid? [True, True] Translation: X:297.83, Y:253.23, Z:2.65 [[ 2.78094337e-01 -9.60527322e-01 7.12763217e-03 2.97827806e+02] [ 9.60292218e-01 2.78184111e-01 2.12710125e-02 2.53233802e+02] [-2.24141827e-02 9.29261590e-04 9.99748339e-01 2.64682502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.620714057 meters Centerline goodness : 0.990966 Centerline is valid? [True, True] Translation: X:297.84, Y:253.26, Z:2.65 [[ 2.78221981e-01 -9.60490376e-01 7.12504336e-03 2.97842360e+02] [ 9.60255238e-01 2.78311667e-01 2.12718796e-02 2.53264434e+02] [-2.24144184e-02 9.23555705e-04 9.99748339e-01 2.64579922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.650714057 meters Centerline goodness : 0.990955 Centerline is valid? [True, True] Translation: X:297.85, Y:253.29, Z:2.65 [[ 2.77506286e-01 -9.60695321e-01 7.40007889e-03 2.97854580e+02] [ 9.60462604e-01 2.77602210e-01 2.11801525e-02 2.53292668e+02] [-2.24019516e-02 1.22987361e-03 9.99748288e-01 2.64526781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6807140569999 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:297.86, Y:253.31, Z:2.64 [[ 2.74819636e-01 -9.61466056e-01 7.56241234e-03 2.97856925e+02] [ 9.61235043e-01 2.74919772e-01 2.11260674e-02 2.53313611e+02] [-2.23910534e-02 1.46339760e-03 9.99748218e-01 2.64494765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7107140569999 meters Centerline goodness : 0.990161 Centerline is valid? [True, True] Translation: X:297.87, Y:253.35, Z:2.64 [[ 2.77410701e-01 -9.60725411e-01 7.07019135e-03 2.97874922e+02] [ 9.60489903e-01 2.77499373e-01 2.12895357e-02 2.53345896e+02] [-2.24153716e-02 8.84902372e-04 9.99748352e-01 2.64403420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.740714057 meters Centerline goodness : 0.989982 Centerline is valid? [True, True] Translation: X:297.88, Y:253.37, Z:2.64 [[ 2.76866792e-01 -9.60878047e-01 7.62609698e-03 2.97883667e+02] [ 9.60647399e-01 2.76967830e-01 2.11044189e-02 2.53371915e+02] [-2.23909563e-02 1.48287747e-03 9.99748191e-01 2.64376980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.770714057 meters Centerline goodness : 0.985244 Centerline is valid? [True, True] Translation: X:297.89, Y:253.39, Z:2.65 [[ 2.75492716e-01 -9.61273296e-01 7.57720289e-03 2.97889132e+02] [ 9.61042349e-01 2.75593013e-01 2.11209328e-02 2.53390084e+02] [-2.23912129e-02 1.46334974e-03 9.99748214e-01 2.64611741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8007140569999 meters Centerline goodness : 0.991221 Centerline is valid? [True, True] Translation: X:297.90, Y:253.42, Z:2.64 [[ 2.74794277e-01 -9.61479218e-01 6.76898135e-03 2.97901813e+02] [ 9.61241452e-01 2.74876916e-01 2.13904697e-02 2.53418215e+02] [-2.24271288e-02 6.28646784e-04 9.99748283e-01 2.64145526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8307140569999 meters Centerline goodness : 0.988141 Centerline is valid? [True, True] Translation: X:297.92, Y:253.45, Z:2.65 [[ 2.78208454e-01 -9.60494473e-01 7.10092762e-03 2.97918996e+02] [ 9.60259139e-01 2.78297610e-01 2.12797024e-02 2.53447475e+02] [-2.24152077e-02 8.98537535e-04 9.99748344e-01 2.64641306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.860714057 meters Centerline goodness : 0.984473 Centerline is valid? [True, True] Translation: X:297.92, Y:253.47, Z:2.64 [[ 2.71315799e-01 -9.62462932e-01 7.26923604e-03 2.97920138e+02] [ 9.62229694e-01 2.71410346e-01 2.12235934e-02 2.53467431e+02] [-2.23998678e-02 1.23637855e-03 9.99748327e-01 2.64246017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.890714057 meters Centerline goodness : 0.984617 Centerline is valid? [True, True] Translation: X:297.93, Y:253.49, Z:2.65 [[ 2.68354171e-01 -9.63298170e-01 6.53262248e-03 2.97930824e+02] [ 9.63059073e-01 2.68433148e-01 2.14677965e-02 2.53493031e+02] [-2.24334614e-02 5.30328627e-04 9.99748198e-01 2.64541227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9207140569999 meters Centerline goodness : 0.988127 Centerline is valid? [True, True] Translation: X:297.95, Y:253.52, Z:2.64 [[ 2.71991445e-01 -9.62277919e-01 6.47004756e-03 2.97949026e+02] [ 9.62038038e-01 2.72068123e-01 2.14883759e-02 2.53523260e+02] [-2.24380833e-02 3.79777467e-04 9.99748162e-01 2.64156416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9507140569999 meters Centerline goodness : 0.990735 Centerline is valid? [True, True] Translation: X:297.95, Y:253.55, Z:2.64 [[ 2.64000146e-01 -9.64497290e-01 6.99293515e-03 2.97953871e+02] [ 9.64262362e-01 2.64090389e-01 2.13158210e-02 2.53551711e+02] [-2.24058186e-02 1.11564430e-03 9.99748336e-01 2.63857696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9807140569999 meters Centerline goodness : 0.987964 Centerline is valid? [True, True] Translation: X:297.97, Y:253.58, Z:2.64 [[ 2.67899570e-01 -9.63421229e-01 7.02537695e-03 2.97968532e+02] [ 9.63186212e-01 2.67989577e-01 2.13051233e-02 2.53575811e+02] [-2.24085359e-02 1.05911283e-03 9.99748336e-01 2.64179771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.010714057 meters Centerline goodness : 0.983266 Centerline is valid? [True, True] Translation: X:297.97, Y:253.59, Z:2.65 [[ 2.62848783e-01 -9.64811527e-01 7.01676392e-03 2.97972630e+02] [ 9.64576911e-01 2.62939831e-01 2.13079615e-02 2.53593240e+02] [-2.24031535e-02 1.16743673e-03 9.99748336e-01 2.64632830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.040714057 meters Centerline goodness : 0.984805 Centerline is valid? [True, True] Translation: X:297.98, Y:253.62, Z:2.64 [[ 2.60987212e-01 -9.65321114e-01 6.38920947e-03 2.97984831e+02] [ 9.65081478e-01 2.61064826e-01 2.15150412e-02 2.53622144e+02] [-2.24369214e-02 5.50957110e-04 9.99748109e-01 2.63517444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0707140569999 meters Centerline goodness : 0.984629 Centerline is valid? [True, True] Translation: X:297.99, Y:253.65, Z:2.63 [[ 2.55202490e-01 -9.66865653e-01 6.51904980e-03 2.97992148e+02] [ 9.66627547e-01 2.55284417e-01 2.14721345e-02 2.53649257e+02] [-2.24248812e-02 8.21750918e-04 9.99748193e-01 2.63464286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1007140569999 meters Centerline goodness : 0.989527 Centerline is valid? [True, True] Translation: X:298.01, Y:253.68, Z:2.63 [[ 2.53397951e-01 -9.67339477e-01 6.61922303e-03 2.98005424e+02] [ 9.67102358e-01 2.53482538e-01 2.14390577e-02 2.53679955e+02] [-2.24167043e-02 9.68852920e-04 9.99748245e-01 2.63212494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.130714057 meters Centerline goodness : 0.989254 Centerline is valid? [True, True] Translation: X:298.02, Y:253.71, Z:2.63 [[ 2.48505980e-01 -9.68604762e-01 7.04226812e-03 2.98015810e+02] [ 9.68371757e-01 2.48601056e-01 2.12991863e-02 2.53705325e+02] [-2.23812085e-02 1.52655840e-03 9.99748344e-01 2.63062840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.160714057 meters Centerline goodness : 0.989624 Centerline is valid? [True, True] Translation: X:298.03, Y:253.73, Z:2.63 [[ 2.46293682e-01 -9.69169678e-01 7.03965372e-03 2.98025322e+02] [ 9.68936868e-01 2.46389233e-01 2.13000503e-02 2.53732014e+02] [-2.23778578e-02 1.57491221e-03 9.99748344e-01 2.62996676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1907140569999 meters Centerline goodness : 0.987370 Centerline is valid? [True, True] Translation: X:298.04, Y:253.76, Z:2.63 [[ 2.50722903e-01 -9.68033344e-01 7.03353209e-03 2.98041477e+02] [ 9.67800045e-01 2.50817255e-01 2.13020716e-02 2.53758828e+02] [-2.23852468e-02 1.46613544e-03 9.99748344e-01 2.63367960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2207140569999 meters Centerline goodness : 0.981866 Centerline is valid? [True, True] Translation: X:298.04, Y:253.78, Z:2.64 [[ 2.44795236e-01 -9.69548176e-01 7.18517956e-03 2.98040994e+02] [ 9.69316838e-01 2.44894321e-01 2.12518038e-02 2.53779045e+02] [-2.23642573e-02 1.76237520e-03 9.99748335e-01 2.63761634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.250714057 meters Centerline goodness : 0.988535 Centerline is valid? [True, True] Translation: X:298.05, Y:253.81, Z:2.63 [[ 2.43654533e-01 -9.69839881e-01 6.56305822e-03 2.98051554e+02] [ 9.69603160e-01 2.43740263e-01 2.14568263e-02 2.53811589e+02] [-2.24093674e-02 1.13550899e-03 9.99748234e-01 2.63004477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.280714057 meters Centerline goodness : 0.989504 Centerline is valid? [True, True] Translation: X:298.06, Y:253.84, Z:2.63 [[ 2.44076380e-01 -9.69730503e-01 7.03367730e-03 2.98059188e+02] [ 9.69497871e-01 2.44172332e-01 2.13014320e-02 2.53838512e+02] [-2.23740778e-02 1.61995875e-03 9.99748357e-01 2.63000786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3107140569999 meters Centerline goodness : 0.983567 Centerline is valid? [True, True] Translation: X:298.06, Y:253.86, Z:2.63 [[ 2.44723468e-01 -9.69567449e-01 7.02750061e-03 2.98063319e+02] [ 9.69334698e-01 2.44819130e-01 2.13034696e-02 2.53858954e+02] [-2.23756172e-02 1.59854122e-03 9.99748357e-01 2.63058684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3407140569999 meters Centerline goodness : 0.982846 Centerline is valid? [True, True] Translation: X:298.07, Y:253.89, Z:2.64 [[ 2.44178728e-01 -9.69708248e-01 6.53161700e-03 2.98069809e+02] [ 9.69471235e-01 2.44263636e-01 2.14662688e-02 2.53886375e+02] [-2.24114545e-02 1.09060858e-03 9.99748237e-01 2.63821893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.370714057 meters Centerline goodness : 0.983458 Centerline is valid? [True, True] Translation: X:298.08, Y:253.91, Z:2.63 [[ 2.46079582e-01 -9.69227500e-01 6.54924569e-03 2.98077810e+02] [ 9.68990469e-01 2.46164414e-01 2.14604813e-02 2.53911909e+02] [-2.24122798e-02 1.06517040e-03 9.99748246e-01 2.63072871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.400714057 meters Centerline goodness : 0.987308 Centerline is valid? [True, True] Translation: X:298.09, Y:253.94, Z:2.63 [[ 2.47858674e-01 -9.68774606e-01 6.46838908e-03 2.98091408e+02] [ 9.68536745e-01 2.47941284e-01 2.14870658e-02 2.53942048e+02] [-2.24199044e-02 9.39116866e-04 9.99748201e-01 2.63222079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4307140569999 meters Centerline goodness : 0.982111 Centerline is valid? [True, True] Translation: X:298.09, Y:253.96, Z:2.64 [[ 2.43104727e-01 -9.69975484e-01 6.90306220e-03 2.98092853e+02] [ 9.69741792e-01 2.43198056e-01 2.13439142e-02 2.53964863e+02] [-2.23818848e-02 1.50538148e-03 9.99748361e-01 2.63689725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4607140569999 meters Centerline goodness : 0.987795 Centerline is valid? [True, True] Translation: X:298.11, Y:254.00, Z:2.63 [[ 2.41709823e-01 -9.70326696e-01 6.51643303e-03 2.98106166e+02] [ 9.70089776e-01 2.41794999e-01 2.14710219e-02 2.53997229e+02] [-2.24095466e-02 1.13176816e-03 9.99748234e-01 2.63041148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.490714057 meters Centerline goodness : 0.990124 Centerline is valid? [True, True] Translation: X:298.11, Y:254.03, Z:2.63 [[ 2.35511839e-01 -9.71846035e-01 7.03268243e-03 2.98110051e+02] [ 9.71614265e-01 2.35609817e-01 2.13010617e-02 2.54025457e+02] [-2.23583214e-02 1.81640234e-03 9.99748371e-01 2.62710396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.520714057 meters Centerline goodness : 0.982221 Centerline is valid? [True, True] Translation: X:298.11, Y:254.05, Z:2.64 [[ 2.33767997e-01 -9.72267136e-01 7.00996016e-03 2.98114088e+02] [ 9.72035333e-01 2.33865896e-01 2.13085368e-02 2.54046458e+02] [-2.23569806e-02 1.83267501e-03 9.99748372e-01 2.63544785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5507140569999 meters Centerline goodness : 0.982147 Centerline is valid? [True, True] Translation: X:298.12, Y:254.07, Z:2.64 [[ 2.32845047e-01 -9.72492384e-01 6.46123611e-03 2.98121920e+02] [ 9.72255791e-01 2.32931168e-01 2.14883241e-02 2.54073255e+02] [-2.24022548e-02 1.27852438e-03 9.99748220e-01 2.63801238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5807140569999 meters Centerline goodness : 0.981844 Centerline is valid? [True, True] Translation: X:298.13, Y:254.10, Z:2.64 [[ 2.32556111e-01 -9.72561353e-01 6.48610279e-03 2.98127798e+02] [ 9.72325001e-01 2.32642849e-01 2.14801519e-02 2.54101001e+02] [-2.23997110e-02 1.31125930e-03 9.99748235e-01 2.63504388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.610714057 meters Centerline goodness : 0.981841 Centerline is valid? [True, True] Translation: X:298.14, Y:254.13, Z:2.63 [[ 2.33523025e-01 -9.72329918e-01 6.44419736e-03 2.98135149e+02] [ 9.72093118e-01 2.33608606e-01 2.14939241e-02 2.54126939e+02] [-2.24046054e-02 1.24503374e-03 9.99748210e-01 2.63465395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.640714057 meters Centerline goodness : 0.987897 Centerline is valid? [True, True] Translation: X:298.15, Y:254.16, Z:2.63 [[ 2.37529288e-01 -9.71358206e-01 6.56297244e-03 2.98149273e+02] [ 9.71122084e-01 2.37616505e-01 2.14544911e-02 2.54159728e+02] [-2.23994665e-02 1.27737749e-03 9.99748284e-01 2.63183270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6707140569999 meters Centerline goodness : 0.990581 Centerline is valid? [True, True] Translation: X:298.14, Y:254.18, Z:2.62 [[ 2.30386668e-01 -9.73071468e-01 7.34172079e-03 2.98144982e+02] [ 9.72843130e-01 2.30492555e-01 2.11996659e-02 2.54181689e+02] [-2.23210020e-02 2.25822225e-03 9.99748305e-01 2.62447454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7007140569999 meters Centerline goodness : 0.989305 Centerline is valid? [True, True] Translation: X:298.17, Y:254.22, Z:2.63 [[ 2.38601098e-01 -9.71093416e-01 6.86243946e-03 2.98165140e+02] [ 9.70859829e-01 2.38694620e-01 2.13557960e-02 2.54218271e+02] [-2.23765003e-02 1.56695044e-03 9.99748387e-01 2.62644869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7307140569999 meters Centerline goodness : 0.989093 Centerline is valid? [True, True] Translation: X:298.17, Y:254.24, Z:2.63 [[ 2.38019338e-01 -9.71231047e-01 7.55303535e-03 2.98170619e+02] [ 9.71003886e-01 2.38127997e-01 2.11307997e-02 2.54244931e+02] [-2.23214779e-02 2.30448772e-03 9.99748189e-01 2.62691248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.760714057 meters Centerline goodness : 0.988252 Centerline is valid? [True, True] Translation: X:298.18, Y:254.27, Z:2.63 [[ 2.37028058e-01 -9.71474525e-01 7.41257152e-03 2.98177062e+02] [ 9.71246140e-01 2.37133916e-01 2.11764268e-02 2.54270820e+02] [-2.23301313e-02 2.18002416e-03 9.99748275e-01 2.62788996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.790714057 meters Centerline goodness : 0.989686 Centerline is valid? [True, True] Translation: X:298.18, Y:254.30, Z:2.62 [[ 2.36475790e-01 -9.71609732e-01 7.33004048e-03 2.98184934e+02] [ 9.71380632e-01 2.36579992e-01 2.12031916e-02 2.54299890e+02] [-2.23353682e-02 2.10621789e-03 9.99748316e-01 2.62178968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8207140569999 meters Centerline goodness : 0.985017 Centerline is valid? [True, True] Translation: X:298.19, Y:254.32, Z:2.62 [[ 2.34520196e-01 -9.72082765e-01 7.44155043e-03 2.98186041e+02] [ 9.71854945e-01 2.34627266e-01 2.11662880e-02 2.54318395e+02] [-2.23213744e-02 2.26818558e-03 9.99748274e-01 2.61922931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8507140569999 meters Centerline goodness : 0.989395 Centerline is valid? [True, True] Translation: X:298.20, Y:254.35, Z:2.63 [[ 2.37068297e-01 -9.71470386e-01 6.62660825e-03 2.98200220e+02] [ 9.71234827e-01 2.37157026e-01 2.14349346e-02 2.54349207e+02] [-2.23949509e-02 1.35444927e-03 9.99748284e-01 2.62590426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.880714057 meters Centerline goodness : 0.991173 Centerline is valid? [True, True] Translation: X:298.20, Y:254.38, Z:2.62 [[ 2.33108415e-01 -9.72425104e-01 7.06281389e-03 2.98204347e+02] [ 9.72193858e-01 2.33207619e-01 2.12910605e-02 2.54376005e+02] [-2.23510638e-02 1.90329892e-03 9.99748372e-01 2.61896118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.910714057 meters Centerline goodness : 0.991749 Centerline is valid? [True, True] Translation: X:298.21, Y:254.40, Z:2.62 [[ 2.32398279e-01 -9.72595355e-01 7.02252354e-03 2.98212338e+02] [ 9.72363807e-01 2.32496777e-01 2.13043414e-02 2.54403180e+02] [-2.23532176e-02 1.87735545e-03 9.99748373e-01 2.61839547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9407140569999 meters Centerline goodness : 0.984751 Centerline is valid? [True, True] Translation: X:298.22, Y:254.42, Z:2.62 [[ 2.32551722e-01 -9.72558721e-01 7.01645370e-03 2.98215927e+02] [ 9.72327102e-01 2.32650052e-01 2.13063403e-02 2.54422976e+02] [-2.23540454e-02 1.86746196e-03 9.99748373e-01 2.61791448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9707140569999 meters Centerline goodness : 0.991904 Centerline is valid? [True, True] Translation: X:298.23, Y:254.46, Z:2.62 [[ 2.31472645e-01 -9.72819958e-01 6.46089623e-03 2.98226095e+02] [ 9.72583482e-01 2.31559092e-01 2.14885408e-02 2.54456350e+02] [-2.24005606e-02 1.30975159e-03 9.99748218e-01 2.61610561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.000714057 meters Centerline goodness : 0.985166 Centerline is valid? [True, True] Translation: X:298.23, Y:254.48, Z:2.61 [[ 2.30457088e-01 -9.73057299e-01 7.00169055e-03 2.98229577e+02] [ 9.72825763e-01 2.30555595e-01 2.13108665e-02 2.54479978e+02] [-2.23509731e-02 1.90018471e-03 9.99748380e-01 2.61240083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.030714057 meters Centerline goodness : 0.984151 Centerline is valid? [True, True] Translation: X:298.24, Y:254.50, Z:2.62 [[ 2.33492862e-01 -9.72335718e-01 6.65842641e-03 2.98237391e+02] [ 9.72100793e-01 2.33583152e-01 2.14233298e-02 2.54504236e+02] [-2.23859650e-02 1.47046700e-03 9.99748321e-01 2.61933580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0607140569999 meters Centerline goodness : 0.991352 Centerline is valid? [True, True] Translation: X:298.25, Y:254.54, Z:2.62 [[ 2.38445015e-01 -9.71134152e-01 6.51408197e-03 2.98247468e+02] [ 9.70897527e-01 2.38530934e-01 2.14705790e-02 2.54537661e+02] [-2.24046225e-02 1.20495356e-03 9.99748259e-01 2.61641940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0907140569999 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:298.25, Y:254.57, Z:2.62 [[ 2.36302822e-01 -9.71652783e-01 7.20038722e-03 2.98253858e+02] [ 9.71422418e-01 2.36404262e-01 2.12487771e-02 2.54567241e+02] [-2.23486356e-02 1.97347157e-03 9.99748290e-01 2.61883927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.120714057 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:298.26, Y:254.59, Z:2.62 [[ 2.37982755e-01 -9.71242500e-01 7.22597883e-03 2.98260092e+02] [ 9.71012194e-01 2.38084352e-01 2.12405332e-02 2.54594664e+02] [-2.23501011e-02 1.96163294e-03 9.99748281e-01 2.61922036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.150714057 meters Centerline goodness : 0.991646 Centerline is valid? [True, True] Translation: X:298.26, Y:254.62, Z:2.62 [[ 2.45584124e-01 -9.69348174e-01 7.24956137e-03 2.98263002e+02] [ 9.69117291e-01 2.45684427e-01 2.12329457e-02 2.54620242e+02] [-2.23632215e-02 1.81120090e-03 9.99748271e-01 2.61615580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1807140569999 meters Centerline goodness : 0.991405 Centerline is valid? [True, True] Translation: X:298.27, Y:254.65, Z:2.62 [[ 2.47870239e-01 -9.68767515e-01 7.06019948e-03 2.98271950e+02] [ 9.68534721e-01 2.47965861e-01 2.12938182e-02 2.54649102e+02] [-2.23794478e-02 1.55994453e-03 9.99748332e-01 2.62011120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2107140569999 meters Centerline goodness : 0.991405 Centerline is valid? [True, True] Translation: X:298.28, Y:254.68, Z:2.62 [[ 2.47579134e-01 -9.68841370e-01 7.13943416e-03 2.98280384e+02] [ 9.68609302e-01 2.47676559e-01 2.12683658e-02 2.54676040e+02] [-2.23739432e-02 1.64971873e-03 9.99748311e-01 2.61950454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.240714057 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:298.29, Y:254.70, Z:2.62 [[ 2.49667964e-01 -9.68305208e-01 7.13666336e-03 2.98285534e+02] [ 9.68072905e-01 2.49764827e-01 2.12692553e-02 2.54700318e+02] [-2.23776182e-02 1.59855877e-03 9.99748312e-01 2.62151779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.270714057 meters Centerline goodness : 0.990322 Centerline is valid? [True, True] Translation: X:298.30, Y:254.73, Z:2.62 [[ 2.58700314e-01 -9.65932503e-01 6.96755127e-03 2.98296007e+02] [ 9.65697872e-01 2.58791286e-01 2.13234833e-02 2.54730202e+02] [-2.24001872e-02 1.21215761e-03 9.99748349e-01 2.61908658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3007140569999 meters Centerline goodness : 0.990565 Centerline is valid? [True, True] Translation: X:298.30, Y:254.76, Z:2.62 [[ 2.58650333e-01 -9.65944584e-01 7.14597122e-03 2.98303041e+02] [ 9.65711473e-01 2.58745239e-01 2.12662401e-02 2.54757985e+02] [-2.23909955e-02 1.40042629e-03 9.99748309e-01 2.62130013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3307140569999 meters Centerline goodness : 0.990964 Centerline is valid? [True, True] Translation: X:298.31, Y:254.79, Z:2.62 [[ 2.61209527e-01 -9.65255751e-01 7.13573327e-03 2.98311881e+02] [ 9.65022301e-01 2.61303590e-01 2.12695222e-02 2.54785861e+02] [-2.23951213e-02 1.33033991e-03 9.99748313e-01 2.61569950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.360714057 meters Centerline goodness : 0.991490 Centerline is valid? [True, True] Translation: X:298.32, Y:254.82, Z:2.61 [[ 2.59193282e-01 -9.65799045e-01 7.14480532e-03 2.98320114e+02] [ 9.65565869e-01 2.59288031e-01 2.12666368e-02 2.54816023e+02] [-2.23918600e-02 1.38661076e-03 9.99748309e-01 2.61336374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.390714057 meters Centerline goodness : 0.991243 Centerline is valid? [True, True] Translation: X:298.33, Y:254.84, Z:2.61 [[ 2.58693840e-01 -9.65931669e-01 7.31492278e-03 2.98326661e+02] [ 9.65700002e-01 2.58792438e-01 2.12127423e-02 2.54842485e+02] [-2.23831063e-02 1.57641517e-03 9.99748224e-01 2.61276431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4207140569999 meters Centerline goodness : 0.992788 Centerline is valid? [True, True] Translation: X:298.33, Y:254.86, Z:2.61 [[ 2.57596754e-01 -9.66225428e-01 7.23423030e-03 2.98326087e+02] [ 9.65993176e-01 2.57693849e-01 2.12382703e-02 2.54863250e+02] [-2.23851735e-02 1.51730761e-03 9.99748269e-01 2.60747278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4507140569999 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:298.33, Y:254.89, Z:2.61 [[ 2.58255772e-01 -9.66053039e-01 6.74409236e-03 2.98334442e+02] [ 9.65816649e-01 2.58341922e-01 2.13927897e-02 2.54889956e+02] [-2.24088513e-02 9.88745257e-04 9.99748401e-01 2.60640837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4807140569999 meters Centerline goodness : 0.992358 Centerline is valid? [True, True] Translation: X:298.34, Y:254.92, Z:2.61 [[ 2.59167611e-01 -9.65808857e-01 6.73799430e-03 2.98342785e+02] [ 9.65572338e-01 2.59253404e-01 2.13947103e-02 2.54916173e+02] [-2.24100486e-02 9.61204956e-04 9.99748401e-01 2.60527289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.510714057 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:298.35, Y:254.94, Z:2.60 [[ 2.61237261e-01 -9.65251146e-01 6.73188738e-03 2.98351216e+02] [ 9.65014395e-01 2.61322411e-01 2.13966316e-02 2.54943219e+02] [-2.24123163e-02 9.06770782e-04 9.99748401e-01 2.60457182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.540714057 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:298.36, Y:254.97, Z:2.60 [[ 2.62004167e-01 -9.65043305e-01 6.72582794e-03 2.98358928e+02] [ 9.64806437e-01 2.62088995e-01 2.13985362e-02 2.54969163e+02] [-2.24132796e-02 8.82616442e-04 9.99748401e-01 2.60296620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5707140569999 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:298.37, Y:255.00, Z:2.60 [[ 2.62826253e-01 -9.64819755e-01 6.72320244e-03 2.98367333e+02] [ 9.64582795e-01 2.62910821e-01 2.13993611e-02 2.54995878e+02] [-2.24141290e-02 8.60771518e-04 9.99748401e-01 2.60367336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6007140569999 meters Centerline goodness : 0.992872 Centerline is valid? [True, True] Translation: X:298.38, Y:255.02, Z:2.60 [[ 2.63514895e-01 -9.64631940e-01 6.71715041e-03 2.98376107e+02] [ 9.64394872e-01 2.63599160e-01 2.14012606e-02 2.55022383e+02] [-2.24149747e-02 8.38434469e-04 9.99748401e-01 2.60329126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.630714057 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:298.38, Y:255.05, Z:2.60 [[ 2.64283729e-01 -9.64421626e-01 6.71102339e-03 2.98384967e+02] [ 9.64184443e-01 2.64367669e-01 2.14031817e-02 2.55049080e+02] [-2.24158690e-02 8.14151658e-04 9.99748401e-01 2.60284064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.660714057 meters Centerline goodness : 0.986383 Centerline is valid? [True, True] Translation: X:298.39, Y:255.07, Z:2.60 [[ 2.61937265e-01 -9.65061611e-01 6.70491253e-03 2.98390348e+02] [ 9.64824584e-01 2.62021646e-01 2.14050959e-02 2.55073629e+02] [-2.24140686e-02 8.62272169e-04 9.99748401e-01 2.60100218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6907140569999 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:298.40, Y:255.10, Z:2.60 [[ 2.64067055e-01 -9.64482389e-01 6.50478795e-03 2.98402292e+02] [ 9.64243630e-01 2.64146471e-01 2.14677327e-02 2.55102708e+02] [-2.24234669e-02 6.03279383e-04 9.99748380e-01 2.60206508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7207140569999 meters Centerline goodness : 0.986680 Centerline is valid? [True, True] Translation: X:298.41, Y:255.13, Z:2.60 [[ 2.60574496e-01 -9.65430506e-01 6.69848849e-03 2.98407504e+02] [ 9.65193548e-01 2.60659070e-01 2.14071225e-02 2.55127836e+02] [-2.24131109e-02 8.87187717e-04 9.99748401e-01 2.60070757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.750714057 meters Centerline goodness : 0.990662 Centerline is valid? [True, True] Translation: X:298.42, Y:255.16, Z:2.60 [[ 2.60301229e-01 -9.65505343e-01 6.53471829e-03 2.98420860e+02] [ 9.65267130e-01 2.60382240e-01 2.14582684e-02 2.55159335e+02] [-2.24195973e-02 7.22135133e-04 9.99748388e-01 2.60399842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.780714057 meters Centerline goodness : 0.992337 Centerline is valid? [True, True] Translation: X:298.41, Y:255.17, Z:2.60 [[ 2.48263859e-01 -9.68663920e-01 7.43415889e-03 2.98408280e+02] [ 9.68434086e-01 2.48367571e-01 2.11889320e-02 2.55173034e+02] [-2.23713579e-02 1.93904685e-03 9.99747849e-01 2.60198015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8107140569999 meters Centerline goodness : 0.991343 Centerline is valid? [True, True] Translation: X:298.43, Y:255.21, Z:2.60 [[ 2.56518678e-01 -9.66518130e-01 6.39307338e-03 2.98434340e+02] [ 9.66279229e-01 2.56597476e-01 2.14985360e-02 2.55208454e+02] [-2.24191713e-02 6.62717970e-04 9.99748439e-01 2.60257943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8407140569999 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:298.44, Y:255.23, Z:2.60 [[ 2.53614381e-01 -9.67278899e-01 7.16078390e-03 2.98438479e+02] [ 9.67046233e-01 2.53710837e-01 2.12695713e-02 2.55229896e+02] [-2.23903760e-02 1.53053992e-03 9.99748133e-01 2.60415560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.870714057 meters Centerline goodness : 0.991069 Centerline is valid? [True, True] Translation: X:298.45, Y:255.26, Z:2.60 [[ 2.52622739e-01 -9.67541240e-01 6.76028627e-03 2.98452869e+02] [ 9.67305470e-01 2.52710623e-01 2.13885139e-02 2.55259112e+02] [-2.24026654e-02 1.13603693e-03 9.99748383e-01 2.59877717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.900714057 meters Centerline goodness : 0.990447 Centerline is valid? [True, True] Translation: X:298.46, Y:255.28, Z:2.60 [[ 2.52871641e-01 -9.67474477e-01 7.00496963e-03 2.98461782e+02] [ 9.67240617e-01 2.52964855e-01 2.13159776e-02 2.55284427e+02] [-2.23946754e-02 1.38528490e-03 9.99748248e-01 2.59905887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9307140569999 meters Centerline goodness : 0.990591 Centerline is valid? [True, True] Translation: X:298.47, Y:255.31, Z:2.60 [[ 2.51896587e-01 -9.67729582e-01 6.89685155e-03 2.98471809e+02] [ 9.67494953e-01 2.51987658e-01 2.13479798e-02 2.55312102e+02] [-2.23969930e-02 1.29518581e-03 9.99748317e-01 2.59634186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9607140569999 meters Centerline goodness : 0.990955 Centerline is valid? [True, True] Translation: X:298.48, Y:255.34, Z:2.59 [[ 2.52030663e-01 -9.67693823e-01 7.01498747e-03 2.98483664e+02] [ 9.67460125e-01 2.52124299e-01 2.13129929e-02 2.55341693e+02] [-2.23931004e-02 1.41519293e-03 9.99748241e-01 2.59389089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.990714057 meters Centerline goodness : 0.992508 Centerline is valid? [True, True] Translation: X:298.47, Y:255.36, Z:2.59 [[ 2.39009610e-01 -9.70990755e-01 7.16662376e-03 2.98473123e+02] [ 9.70759611e-01 2.39109689e-01 2.12681721e-02 2.55357268e+02] [-2.23648077e-02 1.87377136e-03 9.99748120e-01 2.59427479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.020714057 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:298.48, Y:255.38, Z:2.59 [[ 2.39683785e-01 -9.70830979e-01 6.23643199e-03 2.98480815e+02] [ 9.70592372e-01 2.39763254e-01 2.15413355e-02 2.55380380e+02] [-2.24082631e-02 8.89924484e-04 9.99748507e-01 2.59317962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0507140569999 meters Centerline goodness : 0.990124 Centerline is valid? [True, True] Translation: X:298.51, Y:255.42, Z:2.59 [[ 2.52324192e-01 -9.67623426e-01 6.11617399e-03 2.98512735e+02] [ 9.67382945e-01 2.52397865e-01 2.15767234e-02 2.55421733e+02] [-2.24218523e-02 4.72353117e-04 9.99748487e-01 2.58980098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0807140569999 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:298.50, Y:255.44, Z:2.59 [[ 2.37600028e-01 -9.71335718e-01 7.29044809e-03 2.98497961e+02] [ 9.71105828e-01 2.37703134e-01 2.12294922e-02 2.55435741e+02] [-2.23539264e-02 2.03566868e-03 9.99748047e-01 2.59093419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.110714057 meters Centerline goodness : 0.986217 Centerline is valid? [True, True] Translation: X:298.50, Y:255.46, Z:2.59 [[ 2.34960169e-01 -9.71985506e-01 6.15585139e-03 2.98503124e+02] [ 9.71746795e-01 2.35039010e-01 2.15599222e-02 2.55455534e+02] [-2.24027971e-02 9.16205892e-04 9.99748606e-01 2.59202729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.140714057 meters Centerline goodness : 0.985200 Centerline is valid? [True, True] Translation: X:298.51, Y:255.49, Z:2.59 [[ 2.32207600e-01 -9.72649827e-01 5.65188378e-03 2.98511354e+02] [ 9.72407705e-01 2.32275926e-01 2.17059723e-02 2.55485098e+02] [-2.24251067e-02 4.55643591e-04 9.99748422e-01 2.59165558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1707140569999 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:298.52, Y:255.52, Z:2.59 [[ 2.30695701e-01 -9.73008580e-01 5.81342872e-03 2.98521325e+02] [ 9.72767707e-01 2.30767998e-01 2.16591702e-02 2.55516167e+02] [-2.24161118e-02 6.58438254e-04 9.99748511e-01 2.59030586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2007140569999 meters Centerline goodness : 0.991762 Centerline is valid? [True, True] Translation: X:298.53, Y:255.54, Z:2.59 [[ 2.28319554e-01 -9.73566190e-01 6.24944277e-03 2.98529169e+02] [ 9.73328738e-01 2.28402088e-01 2.15326277e-02 2.55542448e+02] [-2.23908241e-02 1.16644228e-03 9.99748614e-01 2.58980445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2307140569999 meters Centerline goodness : 0.985404 Centerline is valid? [True, True] Translation: X:298.53, Y:255.56, Z:2.59 [[ 2.26554528e-01 -9.73978473e-01 6.24344513e-03 2.98534311e+02] [ 9.73741125e-01 2.26637360e-01 2.15343666e-02 2.55564547e+02] [-2.23890074e-02 1.20079102e-03 9.99748614e-01 2.59128417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.260714057 meters Centerline goodness : 0.984626 Centerline is valid? [True, True] Translation: X:298.54, Y:255.59, Z:2.59 [[ 2.24479804e-01 -9.74461426e-01 5.80930538e-03 2.98543542e+02] [ 9.74220999e-01 2.24553545e-01 2.16598870e-02 2.55593478e+02] [-2.24112244e-02 7.97340116e-04 9.99748519e-01 2.58982254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.290714057 meters Centerline goodness : 0.989529 Centerline is valid? [True, True] Translation: X:298.56, Y:255.63, Z:2.59 [[ 2.25705544e-01 -9.74177573e-01 5.92138510e-03 2.98560232e+02] [ 9.73937874e-01 2.25781468e-01 2.16274727e-02 2.55625891e+02] [-2.24059378e-02 8.85620732e-04 9.99748563e-01 2.58652063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3207140569999 meters Centerline goodness : 0.989574 Centerline is valid? [True, True] Translation: X:298.56, Y:255.65, Z:2.59 [[ 2.22070865e-01 -9.75006813e-01 6.80034515e-03 2.98560870e+02] [ 9.74774244e-01 2.22166995e-01 2.13775440e-02 2.55645867e+02] [-2.23540633e-02 1.88147161e-03 9.99748346e-01 2.59105576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3507140569999 meters Centerline goodness : 0.990266 Centerline is valid? [True, True] Translation: X:298.57, Y:255.67, Z:2.59 [[ 2.18496833e-01 -9.75817886e-01 6.21180072e-03 2.98567102e+02] [ 9.75580968e-01 2.18580929e-01 2.15441936e-02 2.55673008e+02] [-2.23809906e-02 1.35277648e-03 9.99748599e-01 2.59049203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.380714057 meters Centerline goodness : 0.985453 Centerline is valid? [True, True] Translation: X:298.57, Y:255.70, Z:2.59 [[ 2.10881535e-01 -9.77491707e-01 6.24032072e-03 2.98566880e+02] [ 9.77255676e-01 2.10968101e-01 2.15361059e-02 2.55698540e+02] [-2.23678735e-02 1.55682178e-03 9.99748596e-01 2.58597035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.410714057 meters Centerline goodness : 0.991744 Centerline is valid? [True, True] Translation: X:298.58, Y:255.73, Z:2.59 [[ 2.11305154e-01 -9.77401642e-01 6.01353189e-03 2.98577336e+02] [ 9.77163813e-01 2.11386635e-01 2.16003079e-02 2.55728307e+02] [-2.23833567e-02 1.31194936e-03 9.99748600e-01 2.58507242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4407140569999 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:298.58, Y:255.75, Z:2.59 [[ 2.12620154e-01 -9.77114739e-01 6.28150581e-03 2.98583798e+02] [ 9.76878870e-01 2.12707204e-01 2.15248209e-02 2.55753537e+02] [-2.23683413e-02 1.55965956e-03 9.99748581e-01 2.58679623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4707140569999 meters Centerline goodness : 0.985664 Centerline is valid? [True, True] Translation: X:298.59, Y:255.78, Z:2.58 [[ 2.09302240e-01 -9.77831675e-01 6.14712135e-03 2.98587272e+02] [ 9.77595046e-01 2.09387143e-01 2.15627256e-02 2.55780930e+02] [-2.23718443e-02 1.49626861e-03 9.99748599e-01 2.58396950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.500714057 meters Centerline goodness : 0.991178 Centerline is valid? [True, True] Translation: X:298.60, Y:255.81, Z:2.58 [[ 2.15015152e-01 -9.76591793e-01 6.07906332e-03 2.98597971e+02] [ 9.76354151e-01 2.15097173e-01 2.15818959e-02 2.55807177e+02] [-2.23842917e-02 1.29488408e-03 9.99748602e-01 2.58283732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.530714057 meters Centerline goodness : 0.992276 Centerline is valid? [True, True] Translation: X:298.61, Y:255.83, Z:2.58 [[ 2.16253265e-01 -9.76318750e-01 6.01860448e-03 2.98605001e+02] [ 9.76080549e-01 2.16333652e-01 2.15989297e-02 2.55834151e+02] [-2.23894667e-02 1.20380370e-03 9.99748600e-01 2.58004939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5607140569999 meters Centerline goodness : 0.984895 Centerline is valid? [True, True] Translation: X:298.61, Y:255.86, Z:2.58 [[ 2.16538481e-01 -9.76255169e-01 6.07707037e-03 2.98609345e+02] [ 9.76017384e-01 2.16620088e-01 2.15824672e-02 2.55857670e+02] [-2.23864107e-02 1.25789165e-03 9.99748602e-01 2.58235633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5907140569999 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:298.62, Y:255.89, Z:2.58 [[ 2.17859098e-01 -9.75963447e-01 5.72392048e-03 2.98618649e+02] [ 9.75722964e-01 2.17932576e-01 2.16815699e-02 2.55887313e+02] [-2.24078485e-02 8.61433398e-04 9.99748542e-01 2.57917705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.620714057 meters Centerline goodness : 0.992858 Centerline is valid? [True, True] Translation: X:298.63, Y:255.91, Z:2.58 [[ 2.18637774e-01 -9.75787243e-01 6.06468881e-03 2.98625923e+02] [ 9.75549193e-01 2.18718595e-01 2.15858302e-02 2.55914538e+02] [-2.23896379e-02 1.19692442e-03 9.99748604e-01 2.57834751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.650714057 meters Centerline goodness : 0.992544 Centerline is valid? [True, True] Translation: X:298.63, Y:255.94, Z:2.58 [[ 2.19487633e-01 -9.75596471e-01 6.05847505e-03 2.98633106e+02] [ 9.75358304e-01 2.19568110e-01 2.15875740e-02 2.55940981e+02] [-2.23910090e-02 1.17097843e-03 9.99748604e-01 2.57730714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6807140569999 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:298.64, Y:255.97, Z:2.58 [[ 2.20039960e-01 -9.75472084e-01 6.05223821e-03 2.98640777e+02] [ 9.75233826e-01 2.20120164e-01 2.15893224e-02 2.55967249e+02] [-2.23920010e-02 1.15183378e-03 9.99748604e-01 2.57685225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7107140569999 meters Centerline goodness : 0.991915 Centerline is valid? [True, True] Translation: X:298.65, Y:256.00, Z:2.58 [[ 2.16954846e-01 -9.76162895e-01 6.04953644e-03 2.98647587e+02] [ 9.75924871e-01 2.17035744e-01 2.15900795e-02 2.55996612e+02] [-2.23884001e-02 1.21982071e-03 9.99748604e-01 2.57933314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.740714057 meters Centerline goodness : 0.992395 Centerline is valid? [True, True] Translation: X:298.65, Y:256.02, Z:2.57 [[ 2.18907755e-01 -9.75726139e-01 6.15609375e-03 2.98654980e+02] [ 9.75488753e-01 2.18990525e-01 2.15602241e-02 2.56021345e+02] [-2.23850004e-02 1.28549996e-03 9.99748598e-01 2.57497114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.770714057 meters Centerline goodness : 0.992120 Centerline is valid? [True, True] Translation: X:298.66, Y:256.05, Z:2.57 [[ 2.18362634e-01 -9.75848993e-01 6.04175539e-03 2.98662483e+02] [ 9.75610796e-01 2.18443017e-01 2.15922175e-02 2.56046749e+02] [-2.23905230e-02 1.17946830e-03 9.99748605e-01 2.57408900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8007140569999 meters Centerline goodness : 0.990664 Centerline is valid? [True, True] Translation: X:298.67, Y:256.07, Z:2.57 [[ 2.16856572e-01 -9.76184796e-01 6.03911103e-03 2.98669600e+02] [ 9.75946703e-01 2.16937264e-01 2.15929571e-02 2.56072817e+02] [-2.23888246e-02 1.21127584e-03 9.99748605e-01 2.57295744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8307140569999 meters Centerline goodness : 0.990940 Centerline is valid? [True, True] Translation: X:298.68, Y:256.10, Z:2.57 [[ 2.13556765e-01 -9.76912007e-01 6.03649800e-03 2.98678030e+02] [ 9.76674168e-01 2.13638203e-01 2.15936875e-02 2.56098396e+02] [-2.23847592e-02 1.28421362e-03 9.99748605e-01 2.57263439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.860714057 meters Centerline goodness : 0.990859 Centerline is valid? [True, True] Translation: X:298.69, Y:256.12, Z:2.57 [[ 2.11509833e-01 -9.77357244e-01 6.03390543e-03 2.98685933e+02] [ 9.77119557e-01 2.11591713e-01 2.15944119e-02 2.56124895e+02] [-2.23821793e-02 1.32841653e-03 9.99748605e-01 2.57198418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.890714057 meters Centerline goodness : 0.982965 Centerline is valid? [True, True] Translation: X:298.69, Y:256.14, Z:2.58 [[ 2.11946615e-01 -9.77262655e-01 6.02796810e-03 2.98691504e+02] [ 9.77024886e-01 2.12028257e-01 2.15960692e-02 2.56143500e+02] [-2.23831315e-02 1.31226109e-03 9.99748605e-01 2.58020864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9207140569999 meters Centerline goodness : 0.990619 Centerline is valid? [True, True] Translation: X:298.70, Y:256.18, Z:2.57 [[ 2.07601359e-01 -9.78198873e-01 5.35165818e-03 2.98701654e+02] [ 9.77956546e-01 2.07669108e-01 2.17838491e-02 2.56178079e+02] [-2.24203108e-02 7.11332457e-04 9.99748380e-01 2.57092907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9507140569999 meters Centerline goodness : 0.991193 Centerline is valid? [True, True] Translation: X:298.71, Y:256.21, Z:2.57 [[ 2.06081303e-01 -9.78516368e-01 6.01776690e-03 2.98709044e+02] [ 9.78279030e-01 2.06164145e-01 2.15982617e-02 2.56205234e+02] [-2.23749003e-02 1.43605727e-03 9.99748619e-01 2.57054735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9807140569999 meters Centerline goodness : 0.990125 Centerline is valid? [True, True] Translation: X:298.72, Y:256.23, Z:2.57 [[ 2.03984800e-01 -9.78955598e-01 6.01158974e-03 2.98716845e+02] [ 9.78718390e-01 2.04068014e-01 2.15999809e-02 2.56231071e+02] [-2.23721954e-02 1.47758566e-03 9.99748619e-01 2.56913502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.010714057 meters Centerline goodness : 0.985770 Centerline is valid? [True, True] Translation: X:298.73, Y:256.25, Z:2.58 [[ 2.06292553e-01 -9.78471909e-01 6.00890748e-03 2.98725064e+02] [ 9.78234484e-01 2.06375149e-01 2.16007270e-02 2.56254348e+02] [-2.23757938e-02 1.42205139e-03 9.99748619e-01 2.57581226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.040714057 meters Centerline goodness : 0.983906 Centerline is valid? [True, True] Translation: X:298.73, Y:256.28, Z:2.57 [[ 2.01734592e-01 -9.79423347e-01 5.74992298e-03 2.98726380e+02] [ 9.79184353e-01 2.01812597e-01 2.16720773e-02 2.56275080e+02] [-2.23865454e-02 1.25822694e-03 9.99748598e-01 2.57070441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0707140569999 meters Centerline goodness : 0.990818 Centerline is valid? [True, True] Translation: X:298.74, Y:256.31, Z:2.57 [[ 1.98998561e-01 -9.79986297e-01 5.14116279e-03 2.98736198e+02] [ 9.79743173e-01 1.99063761e-01 2.18388418e-02 2.56309654e+02] [-2.24251849e-02 6.91121055e-04 9.99748285e-01 2.56737533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1007140569999 meters Centerline goodness : 0.990639 Centerline is valid? [True, True] Translation: X:298.74, Y:256.34, Z:2.57 [[ 1.98306518e-01 -9.80122027e-01 5.94456873e-03 2.98743068e+02] [ 9.79884798e-01 1.98389635e-01 2.16179267e-02 2.56336081e+02] [-2.23675469e-02 1.53801677e-03 9.99748632e-01 2.56744837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.130714057 meters Centerline goodness : 0.990639 Centerline is valid? [True, True] Translation: X:298.75, Y:256.36, Z:2.57 [[ 1.98038300e-01 -9.80176282e-01 5.94035178e-03 2.98750505e+02] [ 9.79939044e-01 1.98121390e-01 2.16190854e-02 2.56363482e+02] [-2.23674255e-02 1.53977572e-03 9.99748632e-01 2.56681030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.160714057 meters Centerline goodness : 0.990615 Centerline is valid? [True, True] Translation: X:298.76, Y:256.39, Z:2.57 [[ 1.97882074e-01 -9.80207870e-01 5.93443383e-03 2.98758030e+02] [ 9.79970599e-01 1.97965071e-01 2.16207097e-02 2.56390579e+02] [-2.23676004e-02 1.53721980e-03 9.99748632e-01 2.56665818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1907140569999 meters Centerline goodness : 0.990813 Centerline is valid? [True, True] Translation: X:298.76, Y:256.42, Z:2.57 [[ 1.99375174e-01 -9.79905298e-01 5.92850484e-03 2.98764768e+02] [ 9.79667856e-01 1.99457680e-01 2.16223354e-02 2.56417530e+02] [-2.23703268e-02 1.49700876e-03 9.99748632e-01 2.56740611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2207140569999 meters Centerline goodness : 0.989590 Centerline is valid? [True, True] Translation: X:298.77, Y:256.44, Z:2.57 [[ 2.00969153e-01 -9.79579668e-01 5.92236273e-03 2.98771433e+02] [ 9.79342046e-01 2.01051137e-01 2.16240176e-02 2.56444149e+02] [-2.23731457e-02 1.45425834e-03 9.99748632e-01 2.56694132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.250714057 meters Centerline goodness : 0.990334 Centerline is valid? [True, True] Translation: X:298.78, Y:256.47, Z:2.57 [[ 2.03235498e-01 -9.79112011e-01 5.91618889e-03 2.98777906e+02] [ 9.78874154e-01 2.03316797e-01 2.16257066e-02 2.56469896e+02] [-2.23768496e-02 1.39609314e-03 9.99748632e-01 2.56680923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.280714057 meters Centerline goodness : 0.990343 Centerline is valid? [True, True] Translation: X:298.78, Y:256.50, Z:2.57 [[ 2.05614195e-01 -9.78615272e-01 5.91199624e-03 2.98784469e+02] [ 9.78377187e-01 2.05694823e-01 2.16268527e-02 2.56496667e+02] [-2.23804353e-02 1.33737435e-03 9.99748632e-01 2.56570371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3107140569999 meters Centerline goodness : 0.990895 Centerline is valid? [True, True] Translation: X:298.79, Y:256.52, Z:2.57 [[ 2.11158562e-01 -9.77433978e-01 5.90590093e-03 2.98790477e+02] [ 9.77195395e-01 2.11237705e-01 2.16285171e-02 2.56523434e+02] [-2.23879964e-02 1.20417263e-03 9.99748632e-01 2.56510630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3407140569999 meters Centerline goodness : 0.991022 Centerline is valid? [True, True] Translation: X:298.80, Y:256.55, Z:2.56 [[ 2.14293536e-01 -9.76751490e-01 5.89975401e-03 2.98797146e+02] [ 9.76512609e-01 2.14371777e-01 2.16301937e-02 2.56550705e+02] [-2.23920647e-02 1.12597350e-03 9.99748632e-01 2.56419254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.370714057 meters Centerline goodness : 0.991313 Centerline is valid? [True, True] Translation: X:298.80, Y:256.58, Z:2.56 [[ 2.17418653e-01 -9.76060651e-01 5.89366295e-03 2.98803791e+02] [ 9.75821477e-01 2.17495994e-01 2.16318532e-02 2.56577661e+02] [-2.23958488e-02 1.04799451e-03 9.99748632e-01 2.56405026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.400714057 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:298.81, Y:256.60, Z:2.56 [[ 2.25626411e-01 -9.74196110e-01 5.88741879e-03 2.98810452e+02] [ 9.73956251e-01 2.25701599e-01 2.16335525e-02 2.56603579e+02] [-2.24041225e-02 8.52987517e-04 9.99748632e-01 2.56370297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4307140569999 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:298.82, Y:256.63, Z:2.56 [[ 2.30190513e-01 -9.73127801e-01 5.88317792e-03 2.98817825e+02] [ 9.72887562e-01 2.30264481e-01 2.16347057e-02 2.56630549e+02] [-2.24080205e-02 7.43566616e-04 9.99748632e-01 2.56296858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4607140569999 meters Centerline goodness : 0.991838 Centerline is valid? [True, True] Translation: X:298.83, Y:256.66, Z:2.56 [[ 2.34750650e-01 -9.72037856e-01 5.87700257e-03 2.98825264e+02] [ 9.71797232e-01 2.34823353e-01 2.16363831e-02 2.56657903e+02] [-2.24114409e-02 6.32099832e-04 9.99748632e-01 2.56228082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.490714057 meters Centerline goodness : 0.992607 Centerline is valid? [True, True] Translation: X:298.83, Y:256.68, Z:2.56 [[ 2.39400005e-01 -9.70903276e-01 5.87087310e-03 2.98832556e+02] [ 9.70662266e-01 2.39471419e-01 2.16380462e-02 2.56683986e+02] [-2.24143562e-02 5.18486632e-04 9.99748632e-01 2.56198659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.520714057 meters Centerline goodness : 0.991209 Centerline is valid? [True, True] Translation: X:298.84, Y:256.71, Z:2.56 [[ 2.47575172e-01 -9.68850916e-01 5.86822177e-03 2.98841417e+02] [ 9.68609296e-01 2.47644493e-01 2.16387652e-02 2.56710809e+02] [-2.24179703e-02 3.26793149e-04 9.99748632e-01 2.56081178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5507140569999 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:298.85, Y:256.74, Z:2.56 [[ 2.51017067e-01 -9.67964910e-01 5.86211338e-03 2.98850365e+02] [ 9.67723007e-01 2.51085392e-01 2.16404199e-02 2.56737511e+02] [-2.24190581e-02 2.40787268e-04 9.99748632e-01 2.55979818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5807140569999 meters Centerline goodness : 0.991500 Centerline is valid? [True, True] Translation: X:298.86, Y:256.76, Z:2.56 [[ 2.57641890e-01 -9.66222730e-01 5.85606013e-03 2.98860350e+02] [ 9.65980326e-01 2.57708421e-01 2.16420578e-02 2.56761382e+02] [-2.24202042e-02 8.09381943e-05 9.99748632e-01 2.56177773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.610714057 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:298.87, Y:256.79, Z:2.56 [[ 2.58480771e-01 -9.65999626e-01 5.69330197e-03 2.98872046e+02] [ 9.65756183e-01 2.58543442e-01 2.16860314e-02 2.56788733e+02] [-2.24206641e-02 -1.07080550e-04 9.99748620e-01 2.55782500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.640714057 meters Centerline goodness : 0.991904 Centerline is valid? [True, True] Translation: X:298.88, Y:256.82, Z:2.56 [[ 2.59940276e-01 -9.65606982e-01 5.84886637e-03 2.98882416e+02] [ 9.65364378e-01 2.60006069e-01 2.16439935e-02 2.56815083e+02] [-2.24203320e-02 2.01416005e-05 9.99748633e-01 2.55743078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6707140569999 meters Centerline goodness : 0.992269 Centerline is valid? [True, True] Translation: X:298.89, Y:256.84, Z:2.56 [[ 2.60901920e-01 -9.65347632e-01 5.84269678e-03 2.98892839e+02] [ 9.65104925e-01 2.60967333e-01 2.16456588e-02 2.56840646e+02] [-2.24203385e-02 -8.57850840e-06 9.99748633e-01 2.55660990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7007140569999 meters Centerline goodness : 0.991093 Centerline is valid? [True, True] Translation: X:298.91, Y:256.86, Z:2.56 [[ 2.62338550e-01 -9.64958236e-01 5.83851051e-03 2.98907554e+02] [ 9.64715407e-01 2.62403508e-01 2.16467879e-02 2.56864701e+02] [-2.24202919e-02 -4.62859115e-05 9.99748633e-01 2.55576270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7307140569999 meters Centerline goodness : 0.991867 Centerline is valid? [True, True] Translation: X:298.92, Y:256.89, Z:2.56 [[ 2.62617606e-01 -9.64882342e-01 5.83599816e-03 2.98919464e+02] [ 9.64639479e-01 2.62682437e-01 2.16474652e-02 2.56890552e+02] [-2.24202712e-02 -5.53712768e-05 9.99748633e-01 2.55511701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.760714057 meters Centerline goodness : 0.991327 Centerline is valid? [True, True] Translation: X:298.93, Y:256.92, Z:2.55 [[ 2.62998171e-01 -9.64778715e-01 5.83031480e-03 2.98931459e+02] [ 9.64535793e-01 2.63062778e-01 2.16489958e-02 2.56916519e+02] [-2.24202292e-02 -7.00989866e-05 9.99748633e-01 2.55425792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.790714057 meters Centerline goodness : 0.990691 Centerline is valid? [True, True] Translation: X:298.94, Y:256.94, Z:2.55 [[ 2.63435770e-01 -9.64659354e-01 5.82467347e-03 2.98943445e+02] [ 9.64416368e-01 2.63500141e-01 2.16505135e-02 2.56941778e+02] [-2.24201727e-02 -8.61092592e-05 9.99748633e-01 2.55336654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8207140569999 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:298.96, Y:256.97, Z:2.55 [[ 2.63537130e-01 -9.64631702e-01 5.81905840e-03 2.98955656e+02] [ 9.64388676e-01 2.63601350e-01 2.16520226e-02 2.56967146e+02] [-2.24201390e-02 -9.42778783e-05 9.99748633e-01 2.55244227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8507140569999 meters Centerline goodness : 0.989247 Centerline is valid? [True, True] Translation: X:298.98, Y:256.99, Z:2.56 [[ 2.64154003e-01 -9.64462997e-01 5.81291993e-03 2.98976275e+02] [ 9.64219894e-01 2.64217929e-01 2.16536705e-02 2.56993832e+02] [-2.24200416e-02 -1.14970679e-04 9.99748633e-01 2.55790123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.880714057 meters Centerline goodness : 0.990590 Centerline is valid? [True, True] Translation: X:298.99, Y:257.02, Z:2.55 [[ 2.64831383e-01 -9.64276412e-01 5.94471331e-03 2.98987835e+02] [ 9.64034050e-01 2.64898096e-01 2.16182777e-02 2.57017643e+02] [-2.24207385e-02 5.70765211e-06 9.99748624e-01 2.55301580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.910714057 meters Centerline goodness : 0.989027 Centerline is valid? [True, True] Translation: X:299.01, Y:257.04, Z:2.55 [[ 2.65633432e-01 -9.64056624e-01 5.80560026e-03 2.99008049e+02] [ 9.63813382e-01 2.65696821e-01 2.16555725e-02 2.57040964e+02] [-2.24197277e-02 -1.56928827e-04 9.99748634e-01 2.55328219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9407140569999 meters Centerline goodness : 0.989234 Centerline is valid? [True, True] Translation: X:299.02, Y:257.07, Z:2.55 [[ 2.65355459e-01 -9.64133185e-01 5.80371258e-03 2.99021459e+02] [ 9.63889950e-01 2.65418875e-01 2.16560784e-02 2.57066155e+02] [-2.24197587e-02 -1.52418388e-04 9.99748634e-01 2.55210953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9707140569999 meters Centerline goodness : 0.986066 Centerline is valid? [True, True] Translation: X:299.05, Y:257.10, Z:2.55 [[ 2.75017848e-01 -9.61421641e-01 5.79754948e-03 2.99052013e+02] [ 9.61177747e-01 2.75078682e-01 2.16577282e-02 2.57102860e+02] [-2.24169909e-02 -3.83786261e-04 9.99748634e-01 2.55319875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.000714057 meters Centerline goodness : 0.985110 Centerline is valid? [True, True] Translation: X:299.06, Y:257.13, Z:2.56 [[ 2.72564945e-01 -9.62113761e-01 6.74252315e-03 2.99061443e+02] [ 9.61875863e-01 2.72647550e-01 2.14041518e-02 2.57126296e+02] [-2.24315614e-02 6.51448811e-04 9.99748169e-01 2.55586682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.030714057 meters Centerline goodness : 0.985109 Centerline is valid? [True, True] Translation: X:299.08, Y:257.15, Z:2.55 [[ 2.74446768e-01 -9.61580783e-01 6.43191774e-03 2.99084117e+02] [ 9.61340724e-01 2.74521977e-01 2.14871246e-02 2.57151530e+02] [-2.24273088e-02 2.86192577e-04 9.99748435e-01 2.55171028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0607140569999 meters Centerline goodness : 0.982662 Centerline is valid? [True, True] Translation: X:299.10, Y:257.17, Z:2.55 [[ 2.78380303e-01 -9.60448876e-01 6.50869068e-03 2.99097150e+02] [ 9.60208989e-01 2.78456247e-01 2.14666516e-02 2.57171550e+02] [-2.24300070e-02 2.73810304e-04 9.99748378e-01 2.55093764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0907140569999 meters Centerline goodness : 0.983006 Centerline is valid? [True, True] Translation: X:299.11, Y:257.20, Z:2.55 [[ 2.78046484e-01 -9.60547591e-01 6.20310201e-03 2.99111441e+02] [ 9.60305871e-01 2.78115668e-01 2.15478224e-02 2.57197767e+02] [-2.24228888e-02 -3.44209979e-05 9.99748575e-01 2.55158591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.120714057 meters Centerline goodness : 0.982684 Centerline is valid? [True, True] Translation: X:299.13, Y:257.23, Z:2.55 [[ 2.75853104e-01 -9.61179642e-01 6.22580659e-03 2.99126374e+02] [ 9.60938217e-01 2.75923349e-01 2.15418048e-02 2.57225372e+02] [-2.24233896e-02 4.02417579e-05 9.99748563e-01 2.55021668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.150714057 meters Centerline goodness : 0.985168 Centerline is valid? [True, True] Translation: X:299.15, Y:257.25, Z:2.55 [[ 2.80146382e-01 -9.59936085e-01 6.38107734e-03 2.99152711e+02] [ 9.59695274e-01 2.80219027e-01 2.15006579e-02 2.57249858e+02] [-2.24273566e-02 1.00558262e-04 9.99748470e-01 2.54915627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1807140569999 meters Centerline goodness : 0.985715 Centerline is valid? [True, True] Translation: X:299.16, Y:257.27, Z:2.55 [[ 2.78967520e-01 -9.60278217e-01 6.54746178e-03 2.99161911e+02] [ 9.60038520e-01 2.79044184e-01 2.14565575e-02 2.57270234e+02] [-2.24312959e-02 3.00132879e-04 9.99748342e-01 2.55113818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2107140569999 meters Centerline goodness : 0.987722 Centerline is valid? [True, True] Translation: X:299.18, Y:257.30, Z:2.55 [[ 2.77557360e-01 -9.60689543e-01 6.12487741e-03 2.99178283e+02] [ 9.60447409e-01 2.77624912e-01 2.15681180e-02 2.57297102e+02] [-2.24206840e-02 -1.03767273e-04 9.99748619e-01 2.55091181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.240714057 meters Centerline goodness : 0.989826 Centerline is valid? [True, True] Translation: X:299.21, Y:257.33, Z:2.55 [[ 2.81485038e-01 -9.59545355e-01 6.23579574e-03 2.99211036e+02] [ 9.59303586e-01 2.81554089e-01 2.15388999e-02 2.57326783e+02] [-2.24232652e-02 -8.08568483e-05 9.99748564e-01 2.54874177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.270714057 meters Centerline goodness : 0.991780 Centerline is valid? [True, True] Translation: X:299.21, Y:257.34, Z:2.55 [[ 2.68787271e-01 -9.63176425e-01 6.67656737e-03 2.99206696e+02] [ 9.62938394e-01 2.68869343e-01 2.14225460e-02 2.57338184e+02] [-2.24288155e-02 6.71015383e-04 9.99748217e-01 2.55051808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3007140569999 meters Centerline goodness : 0.991348 Centerline is valid? [True, True] Translation: X:299.24, Y:257.37, Z:2.55 [[ 2.80241938e-01 -9.59912598e-01 5.67976513e-03 2.99244023e+02] [ 9.59667863e-01 2.80298790e-01 2.16836583e-02 2.57374897e+02] [-2.24064480e-02 -6.25982358e-04 9.99748748e-01 2.54870368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3307140569999 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:299.24, Y:257.39, Z:2.55 [[ 2.64904204e-01 -9.64251521e-01 6.69085630e-03 2.99237610e+02] [ 9.64013955e-01 2.64987550e-01 2.14170976e-02 2.57386220e+02] [-2.24244626e-02 7.76599646e-04 9.99748239e-01 2.55165513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.360714057 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:299.26, Y:257.41, Z:2.55 [[ 2.59959945e-01 -9.65602742e-01 5.67204938e-03 2.99261084e+02] [ 9.65359261e-01 2.60021766e-01 2.16836123e-02 2.57409171e+02] [-2.24126118e-02 -1.61305273e-04 9.99748793e-01 2.55158206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.390714057 meters Centerline goodness : 0.996877 Centerline is valid? [True, True] Translation: X:299.28, Y:257.43, Z:2.55 [[ 2.57851804e-01 -9.66167866e-01 5.66585474e-03 2.99275255e+02] [ 9.65924485e-01 2.57914018e-01 2.16852308e-02 2.57433474e+02] [-2.24128766e-02 -1.18788069e-04 9.99748793e-01 2.55218207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4207140569999 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:299.29, Y:257.46, Z:2.55 [[ 2.55157820e-01 -9.66883081e-01 5.62092923e-03 2.99289747e+02] [ 9.66639615e-01 2.55219705e-01 2.16969565e-02 2.57459549e+02] [-2.24129920e-02 -1.02735263e-04 9.99748792e-01 2.55128098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4507140569999 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:299.30, Y:257.48, Z:2.55 [[ 2.53023329e-01 -9.67443649e-01 5.65515991e-03 2.99303415e+02] [ 9.67200519e-01 2.53086518e-01 2.16880308e-02 2.57484123e+02] [-2.24131924e-02 -1.79041637e-05 9.99748793e-01 2.55135092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4807140569999 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:299.32, Y:257.51, Z:2.55 [[ 2.48426022e-01 -9.68634380e-01 5.65246054e-03 2.99323941e+02] [ 9.68391536e-01 2.48490304e-01 2.16887343e-02 2.57508112e+02] [-2.24130354e-02 8.57489505e-05 9.99748793e-01 2.55259605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.510714057 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:299.34, Y:257.53, Z:2.55 [[ 2.45626375e-01 -9.69348133e-01 5.64634931e-03 2.99337259e+02] [ 9.69105440e-01 2.45691222e-01 2.16903252e-02 2.57533435e+02] [-2.24127347e-02 1.44191872e-04 9.99748793e-01 2.55322473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.540714057 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:299.35, Y:257.56, Z:2.55 [[ 2.42952956e-01 -9.70021675e-01 5.64021136e-03 2.99350745e+02] [ 9.69779124e-01 2.43018335e-01 2.16919212e-02 2.57559344e+02] [-2.24123085e-02 1.99642858e-04 9.99748793e-01 2.55339128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5707140569999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:299.37, Y:257.58, Z:2.55 [[ 2.37157543e-01 -9.71454866e-01 5.63403961e-03 2.99368572e+02] [ 9.71212673e-01 2.37224230e-01 2.16935240e-02 2.57583625e+02] [-2.24108102e-02 3.27067816e-04 9.99748793e-01 2.55321474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6007140569999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:299.38, Y:257.61, Z:2.55 [[ 2.33998796e-01 -9.72220598e-01 5.62782676e-03 2.99379906e+02] [ 9.71978584e-01 2.34066132e-01 2.16951357e-02 2.57609197e+02] [-2.24097414e-02 3.93491442e-04 9.99748793e-01 2.55228796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.630714057 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:299.39, Y:257.63, Z:2.55 [[ 2.30884166e-01 -9.72965004e-01 5.62162418e-03 2.99390779e+02] [ 9.72723168e-01 2.30952139e-01 2.16967428e-02 2.57634482e+02] [-2.24084975e-02 4.58849724e-04 9.99748793e-01 2.55106393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.660714057 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:299.41, Y:257.66, Z:2.55 [[ 2.27189473e-01 -9.73834370e-01 5.61818428e-03 2.99411045e+02] [ 9.73592771e-01 2.27258286e-01 2.16976335e-02 2.57663534e+02] [-2.24066801e-02 5.40349700e-04 9.99748793e-01 2.55080685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6907140569999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:299.42, Y:257.69, Z:2.55 [[ 2.21436591e-01 -9.75156995e-01 5.88824997e-03 2.99416335e+02] [ 9.74917594e-01 2.21512822e-01 2.16276580e-02 2.57685891e+02] [-2.23946848e-02 9.51403631e-04 9.99748755e-01 2.54862326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7207140569999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:299.43, Y:257.71, Z:2.55 [[ 2.18634620e-01 -9.75790682e-01 5.60778093e-03 2.99426644e+02] [ 9.75549633e-01 2.18705320e-01 2.17001381e-02 2.57712241e+02] [-2.24012441e-02 7.26267180e-04 9.99748797e-01 2.54800400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.750714057 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:299.44, Y:257.74, Z:2.55 [[ 2.14158014e-01 -9.76782968e-01 5.60158694e-03 2.99437753e+02] [ 9.76542205e-01 2.14229681e-01 2.17017369e-02 2.57737157e+02] [-2.23979132e-02 8.22585184e-04 9.99748797e-01 2.54820066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.780714057 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:299.45, Y:257.76, Z:2.55 [[ 2.12436005e-01 -9.77158945e-01 5.59817117e-03 2.99445989e+02] [ 9.76918286e-01 2.12508020e-01 2.17026180e-02 2.57763429e+02] [-2.23965636e-02 8.58538319e-04 9.99748797e-01 2.54845220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8107140569999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:299.45, Y:257.79, Z:2.55 [[ 2.11311732e-01 -9.77402721e-01 5.59215171e-03 2.99453601e+02] [ 9.77162105e-01 2.11383890e-01 2.17041689e-02 2.57790401e+02] [-2.23958046e-02 8.78093214e-04 9.99748797e-01 2.54908273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8407140569999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:299.46, Y:257.82, Z:2.55 [[ 2.10522109e-01 -9.77573137e-01 5.58608363e-03 2.99460699e+02] [ 9.77332538e-01 2.10594328e-01 2.17057306e-02 2.57817120e+02] [-2.23953367e-02 8.89925098e-04 9.99748797e-01 2.54904933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.870714057 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:299.47, Y:257.84, Z:2.55 [[ 2.10750694e-01 -9.77523917e-01 5.58005533e-03 2.99467101e+02] [ 9.77283262e-01 2.10822723e-01 2.17072802e-02 2.57844553e+02] [-2.23957880e-02 8.78470290e-04 9.99748797e-01 2.54897488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.900714057 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:299.47, Y:257.87, Z:2.55 [[ 2.11259617e-01 -9.77414091e-01 5.57393587e-03 2.99473171e+02] [ 9.77173358e-01 2.11331385e-01 2.17088514e-02 2.57870935e+02] [-2.23964849e-02 8.60497982e-04 9.99748797e-01 2.54853056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9307140569999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:299.48, Y:257.90, Z:2.55 [[ 2.10482187e-01 -9.77581821e-01 5.57059369e-03 2.99478864e+02] [ 9.77341123e-01 2.10554072e-01 2.17097090e-02 2.57899284e+02] [-2.23959281e-02 8.74863263e-04 9.99748797e-01 2.54808856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9607140569999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:299.48, Y:257.92, Z:2.55 [[ 2.12580448e-01 -9.77126873e-01 5.71199305e-03 2.99484269e+02] [ 9.76886961e-01 2.12654950e-01 2.16734358e-02 2.57922445e+02] [-2.23923801e-02 9.72622828e-04 9.99748786e-01 2.54724035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.990714057 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:299.49, Y:257.95, Z:2.55 [[ 2.13784005e-01 -9.76865147e-01 5.55735593e-03 2.99488648e+02] [ 9.76624123e-01 2.13854783e-01 2.17130148e-02 2.57950147e+02] [-2.23991546e-02 7.85552586e-04 9.99748799e-01 2.54596188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.020714057 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:299.50, Y:257.98, Z:2.55 [[ 2.13521969e-01 -9.76922489e-01 5.55145229e-03 2.99495631e+02] [ 9.76681446e-01 2.13592680e-01 2.17145241e-02 2.57977756e+02] [-2.23991565e-02 7.85472497e-04 9.99748799e-01 2.54532348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0507140569999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:299.50, Y:258.01, Z:2.54 [[ 2.14396605e-01 -9.76730947e-01 5.54562587e-03 2.99501198e+02] [ 9.76489802e-01 2.14466970e-01 2.17160120e-02 2.58005166e+02] [-2.24000546e-02 7.59407866e-04 9.99748799e-01 2.54385540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0807140569999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:299.51, Y:258.03, Z:2.54 [[ 2.15230671e-01 -9.76547526e-01 5.53958671e-03 2.99506750e+02] [ 9.76306283e-01 2.15300697e-01 2.17175524e-02 2.58032421e+02] [-2.24008990e-02 7.34049923e-04 9.99748799e-01 2.54318784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.110714057 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:299.51, Y:258.06, Z:2.54 [[ 2.16986425e-01 -9.76158938e-01 5.53352002e-03 2.99511078e+02] [ 9.75917530e-01 2.17055882e-01 2.17190981e-02 2.58059880e+02] [-2.24023748e-02 6.87509735e-04 9.99748799e-01 2.54138906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.140714057 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:299.52, Y:258.09, Z:2.54 [[ 2.17487047e-01 -9.76047557e-01 5.52735881e-03 2.99516621e+02] [ 9.75806074e-01 2.17556243e-01 2.17206660e-02 2.58086945e+02] [-2.24029144e-02 6.69666787e-04 9.99748799e-01 2.54006831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1707140569999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:299.52, Y:258.11, Z:2.54 [[ 2.17712487e-01 -9.75997331e-01 5.52110943e-03 2.99522009e+02] [ 9.75755793e-01 2.17781489e-01 2.17222544e-02 2.58113853e+02] [-2.24032577e-02 6.58048476e-04 9.99748799e-01 2.53942745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2007140569999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:299.53, Y:258.14, Z:2.54 [[ 2.17688960e-01 -9.76002599e-01 5.51759555e-03 2.99527637e+02] [ 9.75761040e-01 2.17757888e-01 2.17231469e-02 2.58141045e+02] [-2.24033478e-02 6.54965528e-04 9.99748799e-01 2.53826266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2307140569999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:299.53, Y:258.17, Z:2.54 [[ 2.16607524e-01 -9.76243207e-01 5.51190791e-03 2.99532914e+02] [ 9.76001688e-01 2.16676594e-01 2.17245899e-02 2.58168277e+02] [-2.24027848e-02 6.73921796e-04 9.99748799e-01 2.53691144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.260714057 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:299.54, Y:258.20, Z:2.54 [[ 2.15040865e-01 -9.76589531e-01 5.50591556e-03 2.99539274e+02] [ 9.76348085e-01 2.15110189e-01 2.17261085e-02 2.58195735e+02] [-2.24018687e-02 7.03688942e-04 9.99748799e-01 2.53666308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.290714057 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:299.54, Y:258.22, Z:2.54 [[ 2.11697575e-01 -9.77319747e-01 5.49995628e-03 2.99544151e+02] [ 9.77078501e-01 2.11767593e-01 2.17276170e-02 2.58222121e+02] [-2.23995417e-02 7.74205200e-04 9.99748799e-01 2.53529918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3207140569999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:299.55, Y:258.25, Z:2.53 [[ 2.10120218e-01 -9.77660116e-01 5.49460506e-03 2.99550343e+02] [ 9.77418950e-01 2.10190506e-01 2.17289702e-02 2.58249755e+02] [-2.23984613e-02 8.04835148e-04 9.99748799e-01 2.53419849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3507140569999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:299.56, Y:258.28, Z:2.53 [[ 2.08733122e-01 -9.77957238e-01 5.48852043e-03 2.99556401e+02] [ 9.77716132e-01 2.08803618e-01 2.17305070e-02 2.58276448e+02] [-2.23975295e-02 8.30338393e-04 9.99748799e-01 2.53349656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.380714057 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:299.56, Y:258.30, Z:2.53 [[ 2.07682426e-01 -9.78180941e-01 5.48239746e-03 2.99562716e+02] [ 9.77939871e-01 2.07753045e-01 2.17320517e-02 2.58304205e+02] [-2.23968635e-02 8.48089842e-04 9.99748799e-01 2.53347400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.410714057 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:299.57, Y:258.33, Z:2.53 [[ 2.05953953e-01 -9.78546361e-01 5.47620589e-03 2.99567773e+02] [ 9.78305375e-01 2.06024860e-01 2.17336117e-02 2.58331880e+02] [-2.23955812e-02 8.81278410e-04 9.99748799e-01 2.53419269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4407140569999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:299.57, Y:258.36, Z:2.53 [[ 2.05297914e-01 -9.78684243e-01 5.46991115e-03 2.99573532e+02] [ 9.78443263e-01 2.05368843e-01 2.17351959e-02 2.58358331e+02] [-2.23952430e-02 8.89807334e-04 9.99748799e-01 2.53430342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4707140569999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:299.58, Y:258.38, Z:2.53 [[ 2.03870702e-01 -9.78982561e-01 5.46641533e-03 2.99578483e+02] [ 9.78741663e-01 2.03941905e-01 2.17360751e-02 2.58384651e+02] [-2.23940696e-02 9.18859546e-04 9.99748799e-01 2.53450794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.500714057 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:299.58, Y:258.41, Z:2.53 [[ 2.02633290e-01 -9.79239453e-01 5.46297852e-03 2.99584452e+02] [ 9.78998622e-01 2.02704721e-01 2.17369388e-02 2.58410841e+02] [-2.23930396e-02 9.43621029e-04 9.99748799e-01 2.53423780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.530714057 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:299.59, Y:258.44, Z:2.53 [[ 2.01292597e-01 -9.79515955e-01 5.45759753e-03 2.99590991e+02] [ 9.79275186e-01 2.01364238e-01 2.17382897e-02 2.58438374e+02] [-2.23919666e-02 9.68733045e-04 9.99748799e-01 2.53434004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5607140569999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:299.60, Y:258.46, Z:2.53 [[ 1.99454326e-01 -9.79891959e-01 5.45159706e-03 2.99596505e+02] [ 9.79651286e-01 1.99526286e-01 2.17397945e-02 2.58464502e+02] [-2.23903867e-02 1.00456802e-03 9.99748799e-01 2.53428470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5907140569999 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:299.60, Y:258.49, Z:2.53 [[ 1.96339440e-01 -9.80520856e-01 5.44753157e-03 2.99601203e+02] [ 9.80280386e-01 1.96412074e-01 2.17408131e-02 2.58492058e+02] [-2.23872817e-02 1.07152928e-03 9.99748799e-01 2.53442683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.620714057 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:299.61, Y:258.52, Z:2.53 [[ 1.94927937e-01 -9.80802473e-01 5.44130207e-03 2.99606554e+02] [ 9.80562066e-01 1.95000781e-01 2.17423721e-02 2.58518436e+02] [-2.23860305e-02 1.09733864e-03 9.99748799e-01 2.53373922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.650714057 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:299.61, Y:258.54, Z:2.53 [[ 1.93542150e-01 -9.81076891e-01 5.43786536e-03 2.99612058e+02] [ 9.80836564e-01 1.93615257e-01 2.17432317e-02 2.58544836e+02] [-2.23846358e-02 1.12542537e-03 9.99748799e-01 2.53251198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6807140569999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:299.62, Y:258.57, Z:2.53 [[ 1.91928262e-01 -9.81393923e-01 5.43235596e-03 2.99617511e+02] [ 9.81153679e-01 1.92001642e-01 2.17446080e-02 2.58571772e+02] [-2.23830474e-02 1.15657121e-03 9.99748799e-01 2.53075311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7107140569999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:299.63, Y:258.60, Z:2.53 [[ 1.94058444e-01 -9.80974963e-01 5.42617609e-03 2.99629418e+02] [ 9.80734518e-01 1.94131166e-01 2.17461501e-02 2.58604365e+02] [-2.23858186e-02 1.10161416e-03 9.99748799e-01 2.52742776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.740714057 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:299.63, Y:258.63, Z:2.53 [[ 1.88419074e-01 -9.82071378e-01 5.83613919e-03 2.99626869e+02] [ 9.81834238e-01 1.88502199e-01 2.16437229e-02 2.58626813e+02] [-2.23558059e-02 1.65203103e-03 9.99748713e-01 2.52911227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.770714057 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:299.63, Y:258.65, Z:2.53 [[ 1.88073129e-01 -9.82140101e-01 5.41475771e-03 2.99631791e+02] [ 9.81900035e-01 1.88147063e-01 2.17486364e-02 2.58653460e+02] [-2.23789787e-02 1.22641668e-03 9.99748807e-01 2.52866422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8007140569999 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:299.63, Y:258.68, Z:2.53 [[ 1.89393356e-01 -9.81886386e-01 5.41129384e-03 2.99633413e+02] [ 9.81646197e-01 1.89466890e-01 2.17494982e-02 2.58681567e+02] [-2.23807972e-02 1.19276557e-03 9.99748807e-01 2.52892231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8307140569999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:299.64, Y:258.71, Z:2.53 [[ 1.91046706e-01 -9.81566066e-01 5.40506881e-03 2.99636894e+02] [ 9.81325712e-01 1.91119698e-01 2.17510451e-02 2.58708473e+02] [-2.23831029e-02 1.14866748e-03 9.99748807e-01 2.52876814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.860714057 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:299.64, Y:258.74, Z:2.53 [[ 1.95341052e-01 -9.80720499e-01 5.40158642e-03 2.99637851e+02] [ 9.80479805e-01 1.95412915e-01 2.17519099e-02 2.58736675e+02] [-2.23880837e-02 1.04710544e-03 9.99748807e-01 2.52870410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.890714057 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:299.64, Y:258.76, Z:2.53 [[ 1.97856279e-01 -9.80216191e-01 5.39550865e-03 2.99641834e+02] [ 9.79975274e-01 1.97927389e-01 2.17534174e-02 2.58764811e+02] [-2.23909709e-02 9.83414862e-04 9.99748807e-01 2.52848587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9207140569999 meters Centerline goodness : 0.998200 Centerline is valid? [True, True] Translation: X:299.65, Y:258.79, Z:2.53 [[ 2.01095340e-01 -9.79556848e-01 5.38947073e-03 2.99645927e+02] [ 9.79315658e-01 2.01165520e-01 2.17549132e-02 2.58793036e+02] [-2.23943499e-02 9.03181410e-04 9.99748807e-01 2.52759481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9507140569999 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:299.65, Y:258.82, Z:2.53 [[ 2.07322701e-01 -9.78257797e-01 5.38341635e-03 2.99646271e+02] [ 9.78016127e-01 2.07391211e-01 2.17564113e-02 2.58820251e+02] [-2.23998522e-02 7.54470061e-04 9.99748807e-01 2.52545822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9807140569999 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:299.65, Y:258.85, Z:2.52 [[ 2.09993316e-01 -9.77688030e-01 5.37799690e-03 2.99650090e+02] [ 9.77446141e-01 2.10061045e-01 2.17577508e-02 2.58848257e+02] [-2.24020002e-02 6.87720060e-04 9.99748807e-01 2.52444460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.010714057 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:299.65, Y:258.88, Z:2.52 [[ 2.12884876e-01 -9.77062523e-01 5.37175401e-03 2.99654162e+02] [ 9.76820396e-01 2.12951751e-01 2.17592920e-02 2.58875710e+02] [-2.24041132e-02 6.15014679e-04 9.99748807e-01 2.52304539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.040714057 meters Centerline goodness : 0.997138 Centerline is valid? [True, True] Translation: X:299.66, Y:258.90, Z:2.52 [[ 2.15153450e-01 -9.76565515e-01 5.36554315e-03 2.99658083e+02] [ 9.76323195e-01 2.15219623e-01 2.17608234e-02 2.58902254e+02] [-2.24056399e-02 5.56587993e-04 9.99748807e-01 2.52197482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0707140569999 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:299.66, Y:258.93, Z:2.52 [[ 2.17726392e-01 -9.75995120e-01 5.36133463e-03 2.99660830e+02] [ 9.75752601e-01 2.17791833e-01 2.17618603e-02 2.58929163e+02] [-2.24071243e-02 4.93204877e-04 9.99748807e-01 2.52040270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1007140569999 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:299.67, Y:258.96, Z:2.52 [[ 2.17501611e-01 -9.76045256e-01 5.35797526e-03 2.99666269e+02] [ 9.75802732e-01 2.17567032e-01 2.17626874e-02 2.58956763e+02] [-2.24070865e-02 4.94907353e-04 9.99748807e-01 2.51952404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.130714057 meters Centerline goodness : 0.997322 Centerline is valid? [True, True] Translation: X:299.67, Y:258.98, Z:2.52 [[ 2.16922268e-01 -9.76174208e-01 5.35222832e-03 2.99671875e+02] [ 9.75931688e-01 2.16987706e-01 2.17641006e-02 2.58984106e+02] [-2.24069214e-02 5.02291149e-04 9.99748807e-01 2.51978714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.160714057 meters Centerline goodness : 0.997189 Centerline is valid? [True, True] Translation: X:299.68, Y:259.01, Z:2.52 [[ 2.15605230e-01 -9.76465977e-01 5.34617728e-03 2.99676990e+02] [ 9.76223509e-01 2.15670860e-01 2.17655869e-02 2.59011228e+02] [-2.24063697e-02 5.26289574e-04 9.99748807e-01 2.51936968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1907140569999 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:299.68, Y:259.04, Z:2.52 [[ 2.13662867e-01 -9.76892862e-01 5.34000290e-03 2.99681974e+02] [ 9.76650488e-01 2.13728841e-01 2.17671017e-02 2.59039191e+02] [-2.24054389e-02 5.64495105e-04 9.99748807e-01 2.51786656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2207140569999 meters Centerline goodness : 0.997703 Centerline is valid? [True, True] Translation: X:299.69, Y:259.07, Z:2.52 [[ 2.12496138e-01 -9.77147349e-01 5.33377978e-03 2.99688000e+02] [ 9.76905016e-01 2.12562263e-01 2.17686265e-02 2.59066461e+02] [-2.24049159e-02 5.84847173e-04 9.99748807e-01 2.51723201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.250714057 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:299.69, Y:259.09, Z:2.52 [[ 2.12079501e-01 -9.77237895e-01 5.32749937e-03 2.99693973e+02] [ 9.76995552e-01 2.12145590e-01 2.17701634e-02 2.59092698e+02] [-2.24048341e-02 5.87937809e-04 9.99748807e-01 2.51590617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.280714057 meters Centerline goodness : 0.996616 Centerline is valid? [True, True] Translation: X:299.70, Y:259.12, Z:2.52 [[ 2.12027743e-01 -9.77249145e-01 5.32401261e-03 2.99699468e+02] [ 9.77006784e-01 2.12093767e-01 2.17710160e-02 2.59120416e+02] [-2.24048967e-02 5.85537045e-04 9.99748807e-01 2.51588430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3107140569999 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:299.71, Y:259.15, Z:2.52 [[ 2.12034057e-01 -9.77247809e-01 5.31781992e-03 2.99705837e+02] [ 9.77005410e-01 2.12099941e-01 2.17725286e-02 2.59147991e+02] [-2.24050651e-02 5.79021284e-04 9.99748807e-01 2.51627950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3407140569999 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:299.71, Y:259.17, Z:2.52 [[ 2.12030152e-01 -9.77248690e-01 5.31152422e-03 2.99712129e+02] [ 9.77006254e-01 2.12095897e-01 2.17740643e-02 2.59174704e+02] [-2.24052283e-02 5.72634221e-04 9.99748807e-01 2.51643537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.370714057 meters Centerline goodness : 0.996878 Centerline is valid? [True, True] Translation: X:299.72, Y:259.20, Z:2.52 [[ 2.11763448e-01 -9.77306537e-01 5.30804696e-03 2.99718571e+02] [ 9.77064098e-01 2.11829182e-01 2.17749120e-02 2.59202281e+02] [-2.24051631e-02 5.75171674e-04 9.99748807e-01 2.51663866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.400714057 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:299.72, Y:259.23, Z:2.52 [[ 2.10794587e-01 -9.77516001e-01 5.30186002e-03 2.99724983e+02] [ 9.77273590e-01 2.10860424e-01 2.17764183e-02 2.59229770e+02] [-2.24047498e-02 5.91016681e-04 9.99748807e-01 2.51567843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4307140569999 meters Centerline goodness : 0.997138 Centerline is valid? [True, True] Translation: X:299.73, Y:259.26, Z:2.52 [[ 2.09767936e-01 -9.77736861e-01 5.29565738e-03 2.99731350e+02] [ 9.77494481e-01 2.09833889e-01 2.17779266e-02 2.59255685e+02] [-2.24042900e-02 6.08165162e-04 9.99748807e-01 2.51526648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4607140569999 meters Centerline goodness : 0.996872 Centerline is valid? [True, True] Translation: X:299.74, Y:259.28, Z:2.51 [[ 2.09693145e-01 -9.77752922e-01 5.29223039e-03 2.99737550e+02] [ 9.77510527e-01 2.09759041e-01 2.17787593e-02 2.59281268e+02] [-2.24043388e-02 6.06354370e-04 9.99748807e-01 2.51496211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.490714057 meters Centerline goodness : 0.997693 Centerline is valid? [True, True] Translation: X:299.75, Y:259.31, Z:2.52 [[ 2.04053796e-01 -9.78946062e-01 5.16306366e-03 2.99745854e+02] [ 9.78703261e-01 2.04118215e-01 2.18101252e-02 2.59310821e+02] [-2.24048115e-02 6.02668409e-04 9.99748799e-01 2.51518167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.520714057 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:299.75, Y:259.34, Z:2.51 [[ 2.01043280e-01 -9.79568080e-01 5.28930205e-03 2.99753006e+02] [ 9.79326258e-01 2.01111251e-01 2.17794675e-02 2.59338300e+02] [-2.23982093e-02 8.01336800e-04 9.99748807e-01 2.51455903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5507140569999 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:299.76, Y:259.37, Z:2.51 [[ 1.97750633e-01 -9.80238123e-01 5.28297333e-03 2.99760404e+02] [ 9.79996491e-01 1.97819275e-01 2.17810025e-02 2.59365359e+02] [-2.23956430e-02 8.70088299e-04 9.99748808e-01 2.51407941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5807140569999 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:299.77, Y:259.39, Z:2.51 [[ 1.89393635e-01 -9.81887065e-01 5.27662656e-03 2.99767443e+02] [ 9.81645986e-01 1.89464192e-01 2.17825400e-02 2.59391712e+02] [-2.23877260e-02 1.05430487e-03 9.99748808e-01 2.51276261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.610714057 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:299.77, Y:259.42, Z:2.51 [[ 1.84615716e-01 -9.82796638e-01 5.27309494e-03 2.99774153e+02] [ 9.82555882e-01 1.84687367e-01 2.17833949e-02 2.59417377e+02] [-2.23825213e-02 1.15955341e-03 9.99748808e-01 2.51177331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.640714057 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:299.78, Y:259.44, Z:2.51 [[ 1.74961778e-01 -9.84561124e-01 5.26959877e-03 2.99781553e+02] [ 9.84321059e-01 1.75035712e-01 2.17842406e-02 2.59444774e+02] [-2.23702844e-02 1.37556756e-03 9.99748808e-01 2.51081767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6707140569999 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:299.79, Y:259.47, Z:2.51 [[ 1.70541087e-01 -9.85336510e-01 5.26314162e-03 2.99787678e+02] [ 9.85096734e-01 1.70615955e-01 2.17858005e-02 2.59471396e+02] [-2.23643206e-02 1.46932951e-03 9.99748808e-01 2.51024103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7007140569999 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:299.79, Y:259.50, Z:2.51 [[ 1.66932380e-01 -9.85954318e-01 5.25956605e-03 2.99793505e+02] [ 9.85714793e-01 1.67008047e-01 2.17866637e-02 2.59498294e+02] [-2.23590450e-02 1.54753243e-03 9.99748808e-01 2.50966197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7307140569999 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:299.80, Y:259.53, Z:2.51 [[ 1.63630236e-01 -9.86507753e-01 5.25344744e-03 2.99798906e+02] [ 9.86268440e-01 1.63706570e-01 2.17881390e-02 2.59525476e+02] [-2.23541919e-02 1.61611107e-03 9.99748808e-01 2.50954737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.760714057 meters Centerline goodness : 0.996924 Centerline is valid? [True, True] Translation: X:299.80, Y:259.55, Z:2.51 [[ 1.60514570e-01 -9.87019523e-01 5.24722835e-03 2.99802314e+02] [ 9.86780409e-01 1.60591522e-01 2.17896367e-02 2.59553058e+02] [-2.23494572e-02 1.68030798e-03 9.99748808e-01 2.50959734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.790714057 meters Centerline goodness : 0.996652 Centerline is valid? [True, True] Translation: X:299.81, Y:259.58, Z:2.51 [[ 1.59924162e-01 -9.87115391e-01 5.24089990e-03 2.99806670e+02] [ 9.86876278e-01 1.60001119e-01 2.17911587e-02 2.59580402e+02] [-2.23489380e-02 1.68718699e-03 9.99748808e-01 2.50904762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8207140569999 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:299.81, Y:259.61, Z:2.51 [[ 1.60552580e-01 -9.87013408e-01 5.23458371e-03 2.99807761e+02] [ 9.86774201e-01 1.60629246e-01 2.17926758e-02 2.59609235e+02] [-2.23504905e-02 1.66648183e-03 9.99748808e-01 2.50877250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8507140569999 meters Centerline goodness : 0.995763 Centerline is valid? [True, True] Translation: X:299.81, Y:259.64, Z:2.51 [[ 1.61283510e-01 -9.86894267e-01 5.22826708e-03 2.99810846e+02] [ 9.86654959e-01 1.61359860e-01 2.17941911e-02 2.59637187e+02] [-2.23521947e-02 1.64345199e-03 9.99748808e-01 2.50783678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.880714057 meters Centerline goodness : 0.995659 Centerline is valid? [True, True] Translation: X:299.81, Y:259.67, Z:2.51 [[ 1.62390747e-01 -9.86712712e-01 5.22197771e-03 2.99813850e+02] [ 9.86473275e-01 1.62466691e-01 2.17956980e-02 2.59665558e+02] [-2.23544897e-02 1.61192176e-03 9.99748808e-01 2.50674539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.910714057 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:299.82, Y:259.69, Z:2.51 [[ 1.63927567e-01 -9.86458590e-01 5.21569108e-03 2.99816627e+02] [ 9.86218991e-01 1.64002999e-01 2.17972023e-02 2.59692461e+02] [-2.23574264e-02 1.57065126e-03 9.99748808e-01 2.50620788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9407140569999 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:299.82, Y:259.72, Z:2.51 [[ 1.63649795e-01 -9.86504727e-01 5.21224681e-03 2.99823162e+02] [ 9.86265126e-01 1.63725219e-01 2.17980259e-02 2.59720152e+02] [-2.23572318e-02 1.57341479e-03 9.99748808e-01 2.50556973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9707140569999 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:299.82, Y:259.75, Z:2.50 [[ 1.68627547e-01 -9.85666093e-01 5.20610703e-03 2.99822622e+02] [ 9.85426072e-01 1.68701625e-01 2.17994921e-02 2.59749383e+02] [-2.23652990e-02 1.45423872e-03 9.99748808e-01 2.50470756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.000714057 meters Centerline goodness : 0.993071 Centerline is valid? [True, True] Translation: X:299.84, Y:259.79, Z:2.50 [[ 1.80827476e-01 -9.83501086e-01 5.19974204e-03 2.99840359e+02] [ 9.83260125e-01 1.80898434e-01 2.18010103e-02 2.59788831e+02] [-2.23819425e-02 1.17047735e-03 9.99748808e-01 2.50423411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.030714057 meters Centerline goodness : 0.992677 Centerline is valid? [True, True] Translation: X:299.83, Y:259.81, Z:2.50 [[ 1.73660606e-01 -9.84787057e-01 6.03705006e-03 2.99827148e+02] [ 9.84552574e-01 1.73751675e-01 2.16005644e-02 2.59806237e+02] [-2.23209038e-02 2.19262607e-03 9.99748453e-01 2.50317298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0607140569999 meters Centerline goodness : 0.990787 Centerline is valid? [True, True] Translation: X:299.83, Y:259.83, Z:2.50 [[ 1.78742115e-01 -9.83882312e-01 5.18190483e-03 2.99826851e+02] [ 9.83641417e-01 1.78813188e-01 2.18038075e-02 2.59834708e+02] [-2.23789735e-02 1.19987753e-03 9.99748839e-01 2.50204297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0907140569999 meters Centerline goodness : 0.990584 Centerline is valid? [True, True] Translation: X:299.83, Y:259.86, Z:2.50 [[ 1.80604871e-01 -9.83542116e-01 5.17559690e-03 2.99829662e+02] [ 9.83301046e-01 1.80675348e-01 2.18053048e-02 2.59862789e+02] [-2.23815383e-02 1.15102559e-03 9.99748839e-01 2.50116388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.120714057 meters Centerline goodness : 0.990105 Centerline is valid? [True, True] Translation: X:299.83, Y:259.89, Z:2.50 [[ 1.82051197e-01 -9.83275466e-01 5.16919856e-03 2.99832078e+02] [ 9.83034251e-01 1.82121178e-01 2.18068214e-02 2.59889652e+02] [-2.23835330e-02 1.11154129e-03 9.99748839e-01 2.49999518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.150714057 meters Centerline goodness : 0.988898 Centerline is valid? [True, True] Translation: X:299.83, Y:259.92, Z:2.50 [[ 1.83962537e-01 -9.82919686e-01 5.16485931e-03 2.99832281e+02] [ 9.82678309e-01 1.84031953e-01 2.18078491e-02 2.59918485e+02] [-2.23858634e-02 1.06356795e-03 9.99748839e-01 2.49795885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1807140569999 meters Centerline goodness : 0.986650 Centerline is valid? [True, True] Translation: X:299.85, Y:259.95, Z:2.50 [[ 1.89569618e-01 -9.81853731e-01 5.15863305e-03 2.99846160e+02] [ 9.81611922e-01 1.89637517e-01 2.18093219e-02 2.59953276e+02] [-2.23918344e-02 9.29390886e-04 9.99748839e-01 2.49904745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2107140569999 meters Centerline goodness : 0.986637 Centerline is valid? [True, True] Translation: X:299.85, Y:259.98, Z:2.50 [[ 1.88624234e-01 -9.82032802e-01 5.69860702e-03 2.99848336e+02] [ 9.81794587e-01 1.88704293e-01 2.16812945e-02 2.59978944e+02] [-2.23670940e-02 1.50524395e-03 9.99748692e-01 2.49704050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.240714057 meters Centerline goodness : 0.985609 Centerline is valid? [True, True] Translation: X:299.85, Y:260.01, Z:2.49 [[ 1.89480614e-01 -9.81868857e-01 5.53575034e-03 2.99851002e+02] [ 9.81629488e-01 1.89556875e-01 2.17195733e-02 2.60008275e+02] [-2.23751121e-02 1.31861770e-03 9.99748776e-01 2.49498889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.270714057 meters Centerline goodness : 0.985156 Centerline is valid? [True, True] Translation: X:299.85, Y:260.03, Z:2.50 [[ 1.88612643e-01 -9.82035391e-01 5.63581605e-03 2.99852523e+02] [ 9.81796753e-01 1.88691322e-01 2.16960839e-02 2.60033774e+02] [-2.23697518e-02 1.44107016e-03 9.99748727e-01 2.49508408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3007140569999 meters Centerline goodness : 0.984008 Centerline is valid? [True, True] Translation: X:299.86, Y:260.06, Z:2.49 [[ 1.89097344e-01 -9.81943007e-01 5.48861228e-03 2.99856093e+02] [ 9.81703358e-01 1.89172658e-01 2.17306597e-02 2.60061085e+02] [-2.23765647e-02 1.27897908e-03 9.99748795e-01 2.49456111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3307140569999 meters Centerline goodness : 0.984491 Centerline is valid? [True, True] Translation: X:299.86, Y:260.09, Z:2.49 [[ 1.92343526e-01 -9.81312670e-01 5.42319584e-03 2.99860283e+02] [ 9.81072356e-01 1.92416601e-01 2.17459221e-02 2.60091952e+02] [-2.23830617e-02 1.13786020e-03 9.99748820e-01 2.49280253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.360714057 meters Centerline goodness : 0.984342 Centerline is valid? [True, True] Translation: X:299.87, Y:260.12, Z:2.49 [[ 1.95027324e-01 -9.80781867e-01 5.59216274e-03 2.99865973e+02] [ 9.80542432e-01 1.95103477e-01 2.17065089e-02 2.60119274e+02] [-2.23804007e-02 1.24999051e-03 9.99748746e-01 2.49208789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.390714057 meters Centerline goodness : 0.984541 Centerline is valid? [True, True] Translation: X:299.87, Y:260.15, Z:2.49 [[ 1.94256919e-01 -9.80934741e-01 5.59313271e-03 2.99869511e+02] [ 9.80695372e-01 1.94333282e-01 2.17062833e-02 2.60147009e+02] [-2.23793793e-02 1.26856365e-03 9.99748746e-01 2.49186289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4207140569999 meters Centerline goodness : 0.983336 Centerline is valid? [True, True] Translation: X:299.88, Y:260.17, Z:2.49 [[ 1.97089461e-01 -9.80369807e-01 5.54841727e-03 2.99875653e+02] [ 9.80129934e-01 1.97164144e-01 2.17166565e-02 2.60174499e+02] [-2.23843033e-02 1.15804572e-03 9.99748769e-01 2.49121042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4507140569999 meters Centerline goodness : 0.984192 Centerline is valid? [True, True] Translation: X:299.88, Y:260.20, Z:2.49 [[ 1.97694424e-01 -9.80247795e-01 5.58354836e-03 2.99879877e+02] [ 9.80008098e-01 1.97769736e-01 2.17084945e-02 2.60202109e+02] [-2.23839608e-02 1.18027429e-03 9.99748751e-01 2.49110341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4807140569999 meters Centerline goodness : 0.983965 Centerline is valid? [True, True] Translation: X:299.89, Y:260.23, Z:2.49 [[ 1.97599147e-01 -9.80267209e-01 5.54763647e-03 2.99885744e+02] [ 9.80027292e-01 1.97673688e-01 2.17168119e-02 2.60230654e+02] [-2.23849004e-02 1.14561163e-03 9.99748770e-01 2.48997943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.510714057 meters Centerline goodness : 0.983320 Centerline is valid? [True, True] Translation: X:299.89, Y:260.26, Z:2.49 [[ 1.98067744e-01 -9.80172664e-01 5.54232904e-03 2.99893794e+02] [ 9.79932678e-01 1.98142052e-01 2.17180372e-02 2.60259873e+02] [-2.23855948e-02 1.12946671e-03 9.99748773e-01 2.48845021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.540714057 meters Centerline goodness : 0.984636 Centerline is valid? [True, True] Translation: X:299.90, Y:260.29, Z:2.49 [[ 1.98293554e-01 -9.80126284e-01 5.66876750e-03 2.99902628e+02] [ 9.79887084e-01 1.98370603e-01 2.16888664e-02 2.60287924e+02] [-2.23823448e-02 1.25398966e-03 9.99748698e-01 2.48570100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5707140569999 meters Centerline goodness : 0.985765 Centerline is valid? [True, True] Translation: X:299.89, Y:260.30, Z:2.48 [[ 1.87392816e-01 -9.82267909e-01 5.80412607e-03 2.99893710e+02] [ 9.82030491e-01 1.87475496e-01 2.16576489e-02 2.60304793e+02] [-2.23617449e-02 1.64134095e-03 9.99748598e-01 2.48433686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6007140569999 meters Centerline goodness : 0.984461 Centerline is valid? [True, True] Translation: X:299.91, Y:260.34, Z:2.48 [[ 1.90984422e-01 -9.81580328e-01 5.00108204e-03 2.99912174e+02] [ 9.81337572e-01 1.91048471e-01 2.18415307e-02 2.60339469e+02] [-2.23946659e-02 7.36357583e-04 9.99748937e-01 2.48332726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.630714057 meters Centerline goodness : 0.983592 Centerline is valid? [True, True] Translation: X:299.91, Y:260.36, Z:2.48 [[ 1.82326652e-01 -9.83221990e-01 5.61345874e-03 2.99907197e+02] [ 9.82983714e-01 1.82406364e-01 2.17010836e-02 2.60359177e+02] [-2.23609131e-02 1.56125261e-03 9.99748744e-01 2.48231038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.660714057 meters Centerline goodness : 0.984235 Centerline is valid? [True, True] Translation: X:299.93, Y:260.40, Z:2.48 [[ 1.88202423e-01 -9.82117622e-01 4.98235829e-03 2.99926789e+02] [ 9.81874956e-01 1.88266743e-01 2.18450281e-02 2.60395341e+02] [-2.23923995e-02 7.80765599e-04 9.99748954e-01 2.48151493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6907140569999 meters Centerline goodness : 0.983548 Centerline is valid? [True, True] Translation: X:299.93, Y:260.42, Z:2.48 [[ 1.84056799e-01 -9.82899040e-01 5.70710093e-03 2.99930126e+02] [ 9.82661260e-01 1.84138151e-01 2.16792274e-02 2.60420299e+02] [-2.23593869e-02 1.61793778e-03 9.99748688e-01 2.48315832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7207140569999 meters Centerline goodness : 0.983198 Centerline is valid? [True, True] Translation: X:299.94, Y:260.45, Z:2.48 [[ 1.79861066e-01 -9.83676640e-01 5.50139629e-03 2.99937398e+02] [ 9.83437827e-01 1.79938908e-01 2.17262511e-02 2.60448473e+02] [-2.23615209e-02 1.50257453e-03 9.99748821e-01 2.48450277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.750714057 meters Centerline goodness : 0.983673 Centerline is valid? [True, True] Translation: X:299.94, Y:260.48, Z:2.48 [[ 1.78475419e-01 -9.83929006e-01 5.49873503e-03 2.99943843e+02] [ 9.83690285e-01 1.78553539e-01 2.17268573e-02 2.60475328e+02] [-2.23595037e-02 1.53134227e-03 9.99748822e-01 2.48458315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.780714057 meters Centerline goodness : 0.984382 Centerline is valid? [True, True] Translation: X:299.95, Y:260.50, Z:2.48 [[ 1.76248000e-01 -9.84330626e-01 5.46452446e-03 2.99951553e+02] [ 9.84091856e-01 1.76325907e-01 2.17346247e-02 2.60503369e+02] [-2.23575939e-02 1.54690989e-03 9.99748841e-01 2.48491600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8107140569999 meters Centerline goodness : 0.983933 Centerline is valid? [True, True] Translation: X:299.96, Y:260.53, Z:2.48 [[ 1.74396356e-01 -9.84660203e-01 5.49514273e-03 2.99957670e+02] [ 9.84421783e-01 1.74475385e-01 2.17276848e-02 2.60529994e+02] [-2.23531536e-02 1.62030916e-03 9.99748824e-01 2.48450188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8407140569999 meters Centerline goodness : 0.985208 Centerline is valid? [True, True] Translation: X:299.96, Y:260.56, Z:2.48 [[ 1.72838615e-01 -9.84935272e-01 5.41513200e-03 2.99964566e+02] [ 9.84696446e-01 1.72916262e-01 2.17457198e-02 2.60558045e+02] [-2.23544909e-02 1.57376113e-03 9.99748868e-01 2.48371476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.870714057 meters Centerline goodness : 0.985019 Centerline is valid? [True, True] Translation: X:299.97, Y:260.59, Z:2.48 [[ 1.69562165e-01 -9.85504521e-01 5.43244761e-03 2.99971561e+02] [ 9.85266070e-01 1.69640987e-01 2.17418331e-02 2.60586224e+02] [-2.23482406e-02 1.66581401e-03 9.99748859e-01 2.48260368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.900714057 meters Centerline goodness : 0.984206 Centerline is valid? [True, True] Translation: X:299.98, Y:260.61, Z:2.48 [[ 1.69390397e-01 -9.85533943e-01 5.45357667e-03 2.99978440e+02] [ 9.85295647e-01 1.69469724e-01 2.17370977e-02 2.60612330e+02] [-2.23468637e-02 1.69132974e-03 9.99748847e-01 2.48097899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9307140569999 meters Centerline goodness : 0.985188 Centerline is valid? [True, True] Translation: X:299.98, Y:260.64, Z:2.48 [[ 1.65935740e-01 -9.86121668e-01 5.42093646e-03 2.99984650e+02] [ 9.85883431e-01 1.66015186e-01 2.17443879e-02 2.60640580e+02] [-2.23425699e-02 1.73624033e-03 9.99748866e-01 2.47992021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9607140569999 meters Centerline goodness : 0.984884 Centerline is valid? [True, True] Translation: X:299.99, Y:260.67, Z:2.48 [[ 1.62005703e-01 -9.86774736e-01 5.45649667e-03 2.99991514e+02] [ 9.86537060e-01 1.62086877e-01 2.17364620e-02 2.60667051e+02] [-2.23334180e-02 1.86160538e-03 9.99748845e-01 2.47911162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.990714057 meters Centerline goodness : 0.985416 Centerline is valid? [True, True] Translation: X:300.00, Y:260.69, Z:2.48 [[ 1.59207985e-01 -9.87229902e-01 5.47165552e-03 2.99997501e+02] [ 9.86992562e-01 1.59290164e-01 2.17330804e-02 2.60693732e+02] [-2.23271277e-02 1.94040335e-03 9.99748836e-01 2.47889933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.020714057 meters Centerline goodness : 0.985300 Centerline is valid? [True, True] Translation: X:300.01, Y:260.72, Z:2.48 [[ 1.57298671e-01 -9.87536381e-01 5.38735453e-03 3.00005857e+02] [ 9.87298620e-01 1.57379462e-01 2.17517667e-02 2.60722932e+02] [-2.23285200e-02 1.89740370e-03 9.99748887e-01 2.47707683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0507140569999 meters Centerline goodness : 0.985585 Centerline is valid? [True, True] Translation: X:300.01, Y:260.75, Z:2.48 [[ 1.48033945e-01 -9.88966770e-01 5.53890306e-03 3.00007900e+02] [ 9.88730856e-01 1.48120269e-01 2.17182185e-02 2.60747310e+02] [-2.22990202e-02 2.26145080e-03 9.99748788e-01 2.47929485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0807140569999 meters Centerline goodness : 0.985336 Centerline is valid? [True, True] Translation: X:300.02, Y:260.78, Z:2.48 [[ 1.45381024e-01 -9.89361284e-01 5.34859024e-03 3.00015499e+02] [ 9.89124240e-01 1.45463830e-01 2.17603478e-02 2.60776939e+02] [-2.23068720e-02 2.12687861e-03 9.99748908e-01 2.47730493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.110714057 meters Centerline goodness : 0.985823 Centerline is valid? [True, True] Translation: X:300.01, Y:260.79, Z:2.48 [[ 1.35556821e-01 -9.90754425e-01 5.47879351e-03 3.00008456e+02] [ 9.90519170e-01 1.35644807e-01 2.17315677e-02 2.60794752e+02] [-2.22738167e-02 2.48098777e-03 9.99748829e-01 2.47695872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.140714057 meters Centerline goodness : 0.986815 Centerline is valid? [True, True] Translation: X:300.02, Y:260.82, Z:2.48 [[ 1.30300460e-01 -9.91462906e-01 4.80590393e-03 3.00016135e+02] [ 9.91223308e-01 1.30375027e-01 2.18793763e-02 2.60824374e+02] [-2.23191599e-02 1.91283120e-03 9.99749067e-01 2.47544728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1707140569999 meters Centerline goodness : 0.986298 Centerline is valid? [True, True] Translation: X:300.02, Y:260.85, Z:2.47 [[ 1.28080184e-01 -9.91751296e-01 4.98339891e-03 3.00018625e+02] [ 9.91513099e-01 1.28159166e-01 2.18403813e-02 2.60849667e+02] [-2.22988947e-02 2.14378526e-03 9.99749050e-01 2.47457243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2007140569999 meters Centerline goodness : 0.986340 Centerline is valid? [True, True] Translation: X:300.02, Y:260.88, Z:2.47 [[ 1.26183323e-01 -9.91995343e-01 4.79661978e-03 3.00023098e+02] [ 9.91755995e-01 1.26258681e-01 2.18813257e-02 2.60876540e+02] [-2.23117881e-02 1.99601803e-03 9.99749069e-01 2.47390615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2307140569999 meters Centerline goodness : 0.985559 Centerline is valid? [True, True] Translation: X:300.03, Y:260.90, Z:2.47 [[ 1.22788586e-01 -9.92421276e-01 4.79314319e-03 3.00026073e+02] [ 9.92182162e-01 1.22864686e-01 2.18820872e-02 2.60902960e+02] [-2.23051569e-02 2.06880062e-03 9.99749069e-01 2.47268090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.260714057 meters Centerline goodness : 0.985214 Centerline is valid? [True, True] Translation: X:300.03, Y:260.93, Z:2.47 [[ 1.20945972e-01 -9.92647546e-01 4.78755335e-03 3.00030690e+02] [ 9.92408535e-01 1.21022394e-01 2.18833101e-02 2.60930881e+02] [-2.23018153e-02 2.10451060e-03 9.99749069e-01 2.47201688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.290714057 meters Centerline goodness : 0.984520 Centerline is valid? [True, True] Translation: X:300.05, Y:260.97, Z:2.47 [[ 1.25745487e-01 -9.92051014e-01 4.78110506e-03 3.00045694e+02] [ 9.91811591e-01 1.25820611e-01 2.18847189e-02 2.60965854e+02] [-2.23123191e-02 1.99005078e-03 9.99749069e-01 2.47100897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3207140569999 meters Centerline goodness : 0.984232 Centerline is valid? [True, True] Translation: X:300.04, Y:260.99, Z:2.47 [[ 1.15648088e-01 -9.93275548e-01 5.40430054e-03 3.00035556e+02] [ 9.93041517e-01 1.15739170e-01 2.17483131e-02 2.60986725e+02] [-2.22275569e-02 2.85154396e-03 9.99748871e-01 2.47084989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3507140569999 meters Centerline goodness : 0.982219 Centerline is valid? [True, True] Translation: X:300.05, Y:261.02, Z:2.47 [[ 1.22062848e-01 -9.92510942e-01 4.76347766e-03 3.00050388e+02] [ 9.92271696e-01 1.22138473e-01 2.18877815e-02 2.61020510e+02] [-2.23056665e-02 2.05497911e-03 9.99749086e-01 2.47205485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.380714057 meters Centerline goodness : 0.982417 Centerline is valid? [True, True] Translation: X:300.05, Y:261.05, Z:2.47 [[ 1.16265254e-01 -9.93204622e-01 5.19318609e-03 3.00048503e+02] [ 9.92968968e-01 1.16351617e-01 2.17928640e-02 2.61048216e+02] [-2.22490088e-02 2.62291976e-03 9.99749019e-01 2.47006340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.410714057 meters Centerline goodness : 0.984068 Centerline is valid? [True, True] Translation: X:300.05, Y:261.07, Z:2.47 [[ 1.18172650e-01 -9.92980110e-01 5.07216895e-03 3.00047177e+02] [ 9.92743392e-01 1.18255933e-01 2.18195444e-02 2.61073905e+02] [-2.22661877e-02 2.45688883e-03 9.99749059e-01 2.46936125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4407140569999 meters Centerline goodness : 0.980037 Centerline is valid? [True, True] Translation: X:300.05, Y:261.10, Z:2.47 [[ 1.18329926e-01 -9.92962701e-01 4.80651809e-03 3.00046916e+02] [ 9.92724054e-01 1.18407389e-01 2.18779080e-02 2.61097569e+02] [-2.22930739e-02 2.18273489e-03 9.99749096e-01 2.46763899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4707140569999 meters Centerline goodness : 0.984065 Centerline is valid? [True, True] Translation: X:300.05, Y:261.13, Z:2.47 [[ 1.20304379e-01 -9.92726932e-01 4.48285139e-03 3.00050743e+02] [ 9.92485912e-01 1.20374284e-01 2.19487208e-02 2.61128121e+02] [-2.23287063e-02 1.80863963e-03 9.99749047e-01 2.46696710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.500714057 meters Centerline goodness : 0.983745 Centerline is valid? [True, True] Translation: X:300.05, Y:261.16, Z:2.46 [[ 1.25149130e-01 -9.92126367e-01 4.79241362e-03 3.00054638e+02] [ 9.91887098e-01 1.25224643e-01 2.18809209e-02 2.61163364e+02] [-2.23087668e-02 2.01515502e-03 9.99749098e-01 2.46430310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.530714057 meters Centerline goodness : 0.982979 Centerline is valid? [True, True] Translation: X:300.05, Y:261.18, Z:2.46 [[ 1.24984266e-01 -9.92144605e-01 5.29295350e-03 3.00050805e+02] [ 9.91908937e-01 1.25070723e-01 2.17709653e-02 2.61184806e+02] [-2.22619392e-02 2.52909977e-03 9.99748973e-01 2.46369183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5607140569999 meters Centerline goodness : 0.983874 Centerline is valid? [True, True] Translation: X:300.05, Y:261.21, Z:2.46 [[ 1.25915188e-01 -9.92029477e-01 4.78355571e-03 3.00053322e+02] [ 9.91790100e-01 1.25990321e-01 2.18823246e-02 2.61213168e+02] [-2.23105927e-02 1.98896618e-03 9.99749109e-01 2.46217622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5907140569999 meters Centerline goodness : 0.981935 Centerline is valid? [True, True] Translation: X:300.06, Y:261.24, Z:2.46 [[ 1.34210958e-01 -9.90941268e-01 4.77726305e-03 3.00064256e+02] [ 9.90701229e-01 1.34283948e-01 2.18836983e-02 2.61244432e+02] [-2.23269695e-02 1.79580826e-03 9.99749109e-01 2.46126199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.620714057 meters Centerline goodness : 0.980057 Centerline is valid? [True, True] Translation: X:300.06, Y:261.27, Z:2.46 [[ 1.35979085e-01 -9.90698490e-01 5.11767530e-03 3.00062519e+02] [ 9.90460638e-01 1.36059099e-01 2.18093096e-02 2.61273555e+02] [-2.23027563e-02 2.10324600e-03 9.99749050e-01 2.46281401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.650714057 meters Centerline goodness : 0.983696 Centerline is valid? [True, True] Translation: X:300.07, Y:261.31, Z:2.46 [[ 1.33832764e-01 -9.90990825e-01 5.09671036e-03 3.00065388e+02] [ 9.90753000e-01 1.33912835e-01 2.18138814e-02 2.61306965e+02] [-2.22998713e-02 2.13016904e-03 9.99749058e-01 2.46107709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6807140569999 meters Centerline goodness : 0.982784 Centerline is valid? [True, True] Translation: X:300.06, Y:261.33, Z:2.46 [[ 1.37233232e-01 -9.90523641e-01 5.47332673e-03 3.00062669e+02] [ 9.90288221e-01 1.37320698e-01 2.17316837e-02 2.61334207e+02] [-2.22773475e-02 2.43786180e-03 9.99748857e-01 2.46279199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7107140569999 meters Centerline goodness : 0.984777 Centerline is valid? [True, True] Translation: X:300.06, Y:261.35, Z:2.46 [[ 1.34755593e-01 -9.90864341e-01 5.36538396e-03 3.00055017e+02] [ 9.90628354e-01 1.34841300e-01 2.17551830e-02 2.61353619e+02] [-2.22799104e-02 2.38346889e-03 9.99748931e-01 2.46251915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.740714057 meters Centerline goodness : 0.984759 Centerline is valid? [True, True] Translation: X:300.06, Y:261.38, Z:2.46 [[ 1.36999604e-01 -9.90559775e-01 4.73718900e-03 3.00057934e+02] [ 9.90319297e-01 1.37071035e-01 2.18911276e-02 2.61381218e+02] [-2.23338019e-02 1.69225387e-03 9.99749137e-01 2.46224308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.770714057 meters Centerline goodness : 0.984115 Centerline is valid? [True, True] Translation: X:300.06, Y:261.41, Z:2.46 [[ 1.43123381e-01 -9.89693546e-01 4.73097443e-03 3.00061451e+02] [ 9.89452592e-01 1.43193187e-01 2.18924706e-02 2.61411289e+02] [-2.23442802e-02 1.54775051e-03 9.99749137e-01 2.46371022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8007140569999 meters Centerline goodness : 0.987028 Centerline is valid? [True, True] Translation: X:300.06, Y:261.44, Z:2.46 [[ 1.42382531e-01 -9.89799808e-01 4.85343011e-03 3.00060842e+02] [ 9.89559695e-01 1.42455210e-01 2.18660200e-02 2.61437418e+02] [-2.23343788e-02 1.68941955e-03 9.99749129e-01 2.45995351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8307140569999 meters Centerline goodness : 0.987028 Centerline is valid? [True, True] Translation: X:300.07, Y:261.47, Z:2.46 [[ 1.42103092e-01 -9.89840622e-01 4.71743226e-03 3.00066801e+02] [ 9.89599655e-01 1.42172848e-01 2.18953215e-02 2.61465198e+02] [-2.23435694e-02 1.55697645e-03 9.99749139e-01 2.45928563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.860714057 meters Centerline goodness : 0.983852 Centerline is valid? [True, True] Translation: X:300.08, Y:261.49, Z:2.46 [[ 1.49088687e-01 -9.88812605e-01 4.71125002e-03 3.00076455e+02] [ 9.88571112e-01 1.49156603e-01 2.18966517e-02 2.61494145e+02] [-2.23543992e-02 1.39286263e-03 9.99749139e-01 2.46135694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.890714057 meters Centerline goodness : 0.983036 Centerline is valid? [True, True] Translation: X:300.07, Y:261.52, Z:2.46 [[ 1.45453296e-01 -9.89353352e-01 4.82524817e-03 3.00070064e+02] [ 9.89112836e-01 1.45524609e-01 2.18720281e-02 2.61519943e+02] [-2.23413567e-02 1.59135633e-03 9.99749134e-01 2.45672912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9207140569999 meters Centerline goodness : 0.985555 Centerline is valid? [True, True] Translation: X:300.08, Y:261.55, Z:2.46 [[ 1.51755017e-01 -9.88407576e-01 4.56925653e-03 3.00079221e+02] [ 9.88165040e-01 1.51819145e-01 2.19271824e-02 2.61547038e+02] [-2.23666939e-02 1.18761962e-03 9.99749129e-01 2.46173091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9507140569999 meters Centerline goodness : 0.988068 Centerline is valid? [True, True] Translation: X:300.08, Y:261.58, Z:2.46 [[ 1.49803577e-01 -9.88705172e-01 4.57935111e-03 3.00083179e+02] [ 9.88462824e-01 1.49868407e-01 2.19249935e-02 2.61581139e+02] [-2.23636545e-02 1.24207587e-03 9.99749131e-01 2.45674026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9807140569999 meters Centerline goodness : 0.988744 Centerline is valid? [True, True] Translation: X:300.08, Y:261.60, Z:2.45 [[ 1.49440657e-01 -9.88757852e-01 5.03986571e-03 3.00084105e+02] [ 9.88518446e-01 1.49515719e-01 2.18250492e-02 2.61604651e+02] [-2.23332279e-02 1.72045053e-03 9.99749102e-01 2.45411316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.010714057 meters Centerline goodness : 0.988529 Centerline is valid? [True, True] Translation: X:300.09, Y:261.64, Z:2.45 [[ 1.48534447e-01 -9.88895891e-01 4.73664215e-03 3.00092256e+02] [ 9.88654606e-01 1.48603058e-01 2.18906610e-02 2.61636477e+02] [-2.23514642e-02 1.43138586e-03 9.99749150e-01 2.45449343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.040714057 meters Centerline goodness : 0.988637 Centerline is valid? [True, True] Translation: X:300.09, Y:261.66, Z:2.45 [[ 1.46990942e-01 -9.89125026e-01 5.03442140e-03 3.00093674e+02] [ 9.88885772e-01 1.47066478e-01 2.18261517e-02 2.61659667e+02] [-2.23291875e-02 1.77022109e-03 9.99749105e-01 2.45305393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0707140569999 meters Centerline goodness : 0.988524 Centerline is valid? [True, True] Translation: X:300.10, Y:261.69, Z:2.45 [[ 1.44177679e-01 -9.89540521e-01 4.72805247e-03 3.00097182e+02] [ 9.89299491e-01 1.44247163e-01 2.18923189e-02 2.61686148e+02] [-2.23453448e-02 1.52107618e-03 9.99749154e-01 2.45245428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1007140569999 meters Centerline goodness : 0.989468 Centerline is valid? [True, True] Translation: X:300.10, Y:261.71, Z:2.45 [[ 1.42745678e-01 -9.89748121e-01 4.72533734e-03 3.00102000e+02] [ 9.89507174e-01 1.42815450e-01 2.18929049e-02 2.61713510e+02] [-2.23433126e-02 1.55063765e-03 9.99749154e-01 2.45184161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.130714057 meters Centerline goodness : 0.987896 Centerline is valid? [True, True] Translation: X:300.11, Y:261.75, Z:2.45 [[ 1.41701861e-01 -9.89898131e-01 4.71945697e-03 3.00109664e+02] [ 9.89657220e-01 1.41771758e-01 2.18941724e-02 2.61745083e+02] [-2.23420861e-02 1.56819969e-03 9.99749155e-01 2.45203904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.160714057 meters Centerline goodness : 0.988626 Centerline is valid? [True, True] Translation: X:300.11, Y:261.77, Z:2.45 [[ 1.41086535e-01 -9.89984777e-01 4.97299354e-03 3.00111167e+02] [ 9.89745564e-01 1.41162150e-01 2.18395442e-02 2.61769744e+02] [-2.23228147e-02 1.84073269e-03 9.99749120e-01 2.45082890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1907140569999 meters Centerline goodness : 0.988611 Centerline is valid? [True, True] Translation: X:300.12, Y:261.80, Z:2.45 [[ 1.41030473e-01 -9.89994083e-01 4.70339390e-03 3.00118676e+02] [ 9.89753121e-01 1.41100179e-01 2.18974528e-02 2.61800890e+02] [-2.23419985e-02 1.56699067e-03 9.99749158e-01 2.45053963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2207140569999 meters Centerline goodness : 0.989146 Centerline is valid? [True, True] Translation: X:300.12, Y:261.83, Z:2.45 [[ 1.42014344e-01 -9.89852243e-01 4.94607663e-03 3.00119561e+02] [ 9.89612782e-01 1.42089145e-01 2.18452882e-02 2.61825658e+02] [-2.23263913e-02 1.79235639e-03 9.99749128e-01 2.45096086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.250714057 meters Centerline goodness : 0.986048 Centerline is valid? [True, True] Translation: X:300.13, Y:261.85, Z:2.46 [[ 1.47710166e-01 -9.89019548e-01 4.69467791e-03 3.00127379e+02] [ 9.88778071e-01 1.47778053e-01 2.18991830e-02 2.61849149e+02] [-2.23524904e-02 1.40726260e-03 9.99749161e-01 2.45589414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.280714057 meters Centerline goodness : 0.983825 Centerline is valid? [True, True] Translation: X:300.12, Y:261.88, Z:2.45 [[ 1.42658566e-01 -9.89761840e-01 4.47598732e-03 3.00123941e+02] [ 9.89519366e-01 1.42722862e-01 2.19456143e-02 2.61875606e+02] [-2.23597573e-02 1.29834626e-03 9.99749146e-01 2.45337683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3107140569999 meters Centerline goodness : 0.989793 Centerline is valid? [True, True] Translation: X:300.13, Y:261.91, Z:2.45 [[ 1.43634948e-01 -9.89621161e-01 4.35418264e-03 3.00130415e+02] [ 9.89377897e-01 1.43696312e-01 2.19714975e-02 2.61906042e+02] [-2.23691388e-02 1.15205716e-03 9.99749116e-01 2.45229131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3407140569999 meters Centerline goodness : 0.987353 Centerline is valid? [True, True] Translation: X:300.14, Y:261.93, Z:2.46 [[ 1.48724258e-01 -9.88867725e-01 4.66024298e-03 3.00138135e+02] [ 9.88625970e-01 1.48791137e-01 2.19063890e-02 2.61930960e+02] [-2.23559239e-02 1.34922577e-03 9.99749165e-01 2.45755201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.370714057 meters Centerline goodness : 0.989917 Centerline is valid? [True, True] Translation: X:300.14, Y:261.96, Z:2.45 [[ 1.44605418e-01 -9.89478730e-01 4.59522515e-03 3.00139897e+02] [ 9.89236855e-01 1.44671869e-01 2.19202043e-02 2.61960276e+02] [-2.23543757e-02 1.37598576e-03 9.99749163e-01 2.45133400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.400714057 meters Centerline goodness : 0.988316 Centerline is valid? [True, True] Translation: X:300.15, Y:261.99, Z:2.46 [[ 1.49048242e-01 -9.88818980e-01 4.65255921e-03 3.00147659e+02] [ 9.88577156e-01 1.49114872e-01 2.19080284e-02 2.61986247e+02] [-2.23568401e-02 1.33406063e-03 9.99749165e-01 2.45766799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4307140569999 meters Centerline goodness : 0.984274 Centerline is valid? [True, True] Translation: X:300.15, Y:262.01, Z:2.46 [[ 1.45125717e-01 -9.89402754e-01 4.55150380e-03 3.00147063e+02] [ 9.89160580e-01 1.45191076e-01 2.19293870e-02 2.62009982e+02] [-2.23578336e-02 1.31965013e-03 9.99749161e-01 2.45636492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4607140569999 meters Centerline goodness : 0.990392 Centerline is valid? [True, True] Translation: X:300.15, Y:262.04, Z:2.45 [[ 1.43809508e-01 -9.89596554e-01 4.18164050e-03 3.00154070e+02] [ 9.89352295e-01 1.43867006e-01 2.20073107e-02 2.62042634e+02] [-2.23799589e-02 9.72255107e-04 9.99749065e-01 2.44870495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.490714057 meters Centerline goodness : 0.989831 Centerline is valid? [True, True] Translation: X:300.17, Y:262.08, Z:2.45 [[ 1.46211226e-01 -9.89242571e-01 4.62756161e-03 3.00165269e+02] [ 9.89000790e-01 1.46277997e-01 2.19131446e-02 2.62076087e+02] [-2.23543259e-02 1.37271436e-03 9.99749168e-01 2.44706382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.520714057 meters Centerline goodness : 0.989023 Centerline is valid? [True, True] Translation: X:300.17, Y:262.10, Z:2.45 [[ 1.47041663e-01 -9.89117089e-01 5.11214775e-03 3.00170864e+02] [ 9.88878322e-01 1.47118893e-01 2.18104515e-02 2.62102530e+02] [-2.23251838e-02 1.84824702e-03 9.99749054e-01 2.44689767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5507140569999 meters Centerline goodness : 0.990279 Centerline is valid? [True, True] Translation: X:300.17, Y:262.13, Z:2.45 [[ 1.44933637e-01 -9.89428392e-01 5.06938502e-03 3.00168642e+02] [ 9.89189507e-01 1.45010438e-01 2.18195192e-02 2.62125315e+02] [-2.23239655e-02 1.85220021e-03 9.99749073e-01 2.44622311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5807140569999 meters Centerline goodness : 0.990752 Centerline is valid? [True, True] Translation: X:300.17, Y:262.15, Z:2.45 [[ 1.45991135e-01 -9.89275098e-01 4.62278474e-03 3.00173645e+02] [ 9.89033312e-01 1.46057854e-01 2.19137336e-02 2.62151921e+02] [-2.23539050e-02 1.37287727e-03 9.99749178e-01 2.44576966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.610714057 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:300.18, Y:262.18, Z:2.44 [[ 1.46690251e-01 -9.89171686e-01 4.62006723e-03 3.00178596e+02] [ 9.88929837e-01 1.46756740e-01 2.19143065e-02 2.62179285e+02] [-2.23550375e-02 1.35430720e-03 9.99749178e-01 2.44473635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.640714057 meters Centerline goodness : 0.986246 Centerline is valid? [True, True] Translation: X:300.18, Y:262.20, Z:2.44 [[ 1.48208979e-01 -9.88945302e-01 4.61389931e-03 3.00181811e+02] [ 9.88703314e-01 1.48274960e-01 2.19156050e-02 2.62201829e+02] [-2.23574604e-02 1.31368808e-03 9.99749178e-01 2.44374872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6707140569999 meters Centerline goodness : 0.986109 Centerline is valid? [True, True] Translation: X:300.19, Y:262.23, Z:2.44 [[ 1.50780748e-01 -9.88558015e-01 4.26817202e-03 3.00185159e+02] [ 9.88313860e-01 1.50838444e-01 2.19881321e-02 2.62229727e+02] [-2.23803486e-02 9.02906545e-04 9.99749121e-01 2.44380804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7007140569999 meters Centerline goodness : 0.991153 Centerline is valid? [True, True] Translation: X:300.19, Y:262.26, Z:2.44 [[ 1.53343589e-01 -9.88163424e-01 4.33491107e-03 3.00191295e+02] [ 9.87919492e-01 1.53402133e-01 2.19741495e-02 2.62259050e+02] [-2.23790355e-02 9.12948181e-04 9.99749141e-01 2.44433193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7307140569999 meters Centerline goodness : 0.987496 Centerline is valid? [True, True] Translation: X:300.21, Y:262.29, Z:2.44 [[ 1.61327001e-01 -9.86890312e-01 4.59460407e-03 3.00206072e+02] [ 9.86647358e-01 1.61389336e-01 2.19197160e-02 2.62291379e+02] [-2.23738754e-02 9.97011930e-04 9.99749176e-01 2.44456487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.760714057 meters Centerline goodness : 0.989126 Centerline is valid? [True, True] Translation: X:300.21, Y:262.32, Z:2.45 [[ 1.59431640e-01 -9.87196417e-01 4.97858453e-03 3.00208088e+02] [ 9.86955856e-01 1.59502928e-01 2.18392948e-02 2.62320369e+02] [-2.23537724e-02 1.43176856e-03 9.99749098e-01 2.44517912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.790714057 meters Centerline goodness : 0.988784 Centerline is valid? [True, True] Translation: X:300.21, Y:262.34, Z:2.45 [[ 1.61193905e-01 -9.86910515e-01 4.91536307e-03 3.00211914e+02] [ 9.86669447e-01 1.61263368e-01 2.18524106e-02 2.62342109e+02] [-2.23590418e-02 1.32736316e-03 9.99749124e-01 2.44740505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8207140569999 meters Centerline goodness : 0.990876 Centerline is valid? [True, True] Translation: X:300.21, Y:262.37, Z:2.44 [[ 1.57011920e-01 -9.87586602e-01 4.46777406e-03 3.00214264e+02] [ 9.87343230e-01 1.57072504e-01 2.19448239e-02 2.62370640e+02] [-2.23741785e-02 9.65627546e-04 9.99749200e-01 2.44305057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8507140569999 meters Centerline goodness : 0.989782 Centerline is valid? [True, True] Translation: X:300.22, Y:262.40, Z:2.44 [[ 1.58491600e-01 -9.87349953e-01 4.52588979e-03 3.00220869e+02] [ 9.87106814e-01 1.58553109e-01 2.19328316e-02 2.62396293e+02] [-2.23729741e-02 9.91367073e-04 9.99749202e-01 2.44162930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.880714057 meters Centerline goodness : 0.990700 Centerline is valid? [True, True] Translation: X:300.23, Y:262.42, Z:2.44 [[ 1.55140165e-01 -9.87882116e-01 4.52260179e-03 3.00226886e+02] [ 9.87639169e-01 1.55202425e-01 2.19335096e-02 2.62423996e+02] [-2.23696406e-02 1.06393039e-03 9.99749202e-01 2.44097046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.910714057 meters Centerline goodness : 0.989953 Centerline is valid? [True, True] Translation: X:300.23, Y:262.45, Z:2.44 [[ 1.52502457e-01 -9.88292770e-01 4.51680846e-03 3.00233561e+02] [ 9.88049957e-01 1.52565237e-01 2.19347025e-02 2.62449972e+02] [-2.23670159e-02 1.11773638e-03 9.99749202e-01 2.44052826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9407140569999 meters Centerline goodness : 0.989630 Centerline is valid? [True, True] Translation: X:300.25, Y:262.48, Z:2.44 [[ 1.52404447e-01 -9.88307913e-01 4.51159566e-03 3.00246459e+02] [ 9.88065076e-01 1.52467136e-01 2.19357747e-02 2.62482457e+02] [-2.23671697e-02 1.11464050e-03 9.99749202e-01 2.44113619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9707140569999 meters Centerline goodness : 0.990088 Centerline is valid? [True, True] Translation: X:300.25, Y:262.50, Z:2.44 [[ 1.48454565e-01 -9.88906986e-01 4.92091821e-03 3.00245713e+02] [ 9.88666866e-01 1.48527253e-01 2.18513751e-02 2.62504062e+02] [-2.23398680e-02 1.62121240e-03 9.99749120e-01 2.43927557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.000714057 meters Centerline goodness : 0.989494 Centerline is valid? [True, True] Translation: X:300.26, Y:262.53, Z:2.44 [[ 1.45596386e-01 -9.89333830e-01 4.50176209e-03 3.00256916e+02] [ 9.89091382e-01 1.45660528e-01 2.19373920e-02 2.62534847e+02] [-2.23591331e-02 1.25864908e-03 9.99749211e-01 2.43968127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.030714057 meters Centerline goodness : 0.989316 Centerline is valid? [True, True] Translation: X:300.26, Y:262.56, Z:2.44 [[ 1.44355084e-01 -9.89514410e-01 4.77939777e-03 3.00264493e+02] [ 9.89273714e-01 1.44425653e-01 2.18803410e-02 2.62562624e+02] [-2.23411803e-02 1.56959412e-03 9.99749173e-01 2.43896901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0607140569999 meters Centerline goodness : 0.988833 Centerline is valid? [True, True] Translation: X:300.27, Y:262.59, Z:2.44 [[ 1.39737000e-01 -9.90176889e-01 4.82697288e-03 3.00270791e+02] [ 9.89936823e-01 1.39809737e-01 2.18706002e-02 2.62590438e+02] [-2.23306206e-02 1.72226614e-03 9.99749157e-01 2.43757514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0907140569999 meters Centerline goodness : 0.989955 Centerline is valid? [True, True] Translation: X:300.27, Y:262.61, Z:2.44 [[ 1.36449501e-01 -9.90635156e-01 4.84993385e-03 3.00271782e+02] [ 9.90395479e-01 1.36523539e-01 2.18659033e-02 2.62613064e+02] [-2.23232626e-02 1.81976097e-03 9.99749149e-01 2.43688672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.120714057 meters Centerline goodness : 0.990502 Centerline is valid? [True, True] Translation: X:300.28, Y:262.64, Z:2.44 [[ 1.34825811e-01 -9.90859232e-01 4.47021872e-03 3.00277659e+02] [ 9.90617318e-01 1.34891890e-01 2.19432595e-02 2.62640291e+02] [-2.23456775e-02 1.46975833e-03 9.99749224e-01 2.43660275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.150714057 meters Centerline goodness : 0.988210 Centerline is valid? [True, True] Translation: X:300.29, Y:262.68, Z:2.44 [[ 1.35896405e-01 -9.90712996e-01 4.46403130e-03 3.00291575e+02] [ 9.90470973e-01 1.35962086e-01 2.19445181e-02 2.62675100e+02] [-2.23476583e-02 1.43931230e-03 9.99749224e-01 2.43790688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1807140569999 meters Centerline goodness : 0.987413 Centerline is valid? [True, True] Translation: X:300.29, Y:262.70, Z:2.44 [[ 1.38165684e-01 -9.90396622e-01 4.97748462e-03 3.00294665e+02] [ 9.90157627e-01 1.38242106e-01 2.18401963e-02 2.62697280e+02] [-2.23185545e-02 1.91092870e-03 9.99749084e-01 2.43717640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2107140569999 meters Centerline goodness : 0.987861 Centerline is valid? [True, True] Translation: X:300.30, Y:262.72, Z:2.44 [[ 1.37595491e-01 -9.90477905e-01 4.58260106e-03 3.00298968e+02] [ 9.90236493e-01 1.37663370e-01 2.19199670e-02 2.62723726e+02] [-2.23420993e-02 1.52177018e-03 9.99749226e-01 2.43975333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.240714057 meters Centerline goodness : 0.984122 Centerline is valid? [True, True] Translation: X:300.30, Y:262.75, Z:2.44 [[ 1.34323220e-01 -9.90927415e-01 4.48673578e-03 3.00298386e+02] [ 9.90685647e-01 1.34389785e-01 2.19393439e-02 2.62745304e+02] [-2.23432688e-02 1.49798143e-03 9.99749236e-01 2.44352371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.270714057 meters Centerline goodness : 0.988598 Centerline is valid? [True, True] Translation: X:300.31, Y:262.78, Z:2.44 [[ 1.34788135e-01 -9.90866695e-01 3.91810611e-03 3.00307607e+02] [ 9.90621666e-01 1.34842007e-01 2.20532934e-02 2.62778559e+02] [-2.23801993e-02 9.08838515e-04 9.99749119e-01 2.43722806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3007140569999 meters Centerline goodness : 0.988408 Centerline is valid? [True, True] Translation: X:300.31, Y:262.81, Z:2.44 [[ 1.35092567e-01 -9.90822501e-01 4.55738572e-03 3.00312371e+02] [ 9.90581091e-01 1.35160502e-01 2.19258035e-02 2.62806001e+02] [-2.23405580e-02 1.55244704e-03 9.99749213e-01 2.43782903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3307140569999 meters Centerline goodness : 0.982901 Centerline is valid? [True, True] Translation: X:300.31, Y:262.83, Z:2.44 [[ 1.34154212e-01 -9.90950127e-01 4.52699532e-03 3.00313406e+02] [ 9.90708598e-01 1.34221706e-01 2.19318825e-02 2.62827061e+02] [-2.23410228e-02 1.54267878e-03 9.99749218e-01 2.44221977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.360714057 meters Centerline goodness : 0.987897 Centerline is valid? [True, True] Translation: X:300.32, Y:262.86, Z:2.44 [[ 1.37324612e-01 -9.90518379e-01 3.91042977e-03 3.00324369e+02] [ 9.90273183e-01 1.37377686e-01 2.20543633e-02 2.62858405e+02] [-2.23824580e-02 8.43786843e-04 9.99749125e-01 2.43825624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.390714057 meters Centerline goodness : 0.989978 Centerline is valid? [True, True] Translation: X:300.33, Y:262.89, Z:2.43 [[ 1.33932877e-01 -9.90980738e-01 4.37727772e-03 3.00327337e+02] [ 9.90738344e-01 1.33997123e-01 2.19614233e-02 2.62886520e+02] [-2.23498901e-02 1.39538027e-03 9.99749236e-01 2.43126864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4207140569999 meters Centerline goodness : 0.986949 Centerline is valid? [True, True] Translation: X:300.35, Y:262.92, Z:2.43 [[ 1.42055268e-01 -9.89849314e-01 4.31699999e-03 3.00345541e+02] [ 9.89606062e-01 1.42116191e-01 2.19734194e-02 2.62919799e+02] [-2.23638897e-02 1.15068937e-03 9.99749235e-01 2.43185596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4507140569999 meters Centerline goodness : 0.987738 Centerline is valid? [True, True] Translation: X:300.35, Y:262.95, Z:2.43 [[ 1.39702582e-01 -9.90181655e-01 4.84552703e-03 3.00351301e+02] [ 9.89941685e-01 1.39775737e-01 2.18678632e-02 2.62948075e+02] [-2.23304441e-02 1.74179225e-03 9.99749127e-01 2.43041587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4807140569999 meters Centerline goodness : 0.986368 Centerline is valid? [True, True] Translation: X:300.36, Y:262.97, Z:2.43 [[ 1.39899896e-01 -9.90153587e-01 4.88813948e-03 3.00357080e+02] [ 9.89913867e-01 1.39973940e-01 2.18593777e-02 2.62974204e+02] [-2.23283534e-02 1.78071238e-03 9.99749105e-01 2.43074235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.510714057 meters Centerline goodness : 0.988620 Centerline is valid? [True, True] Translation: X:300.36, Y:263.00, Z:2.43 [[ 1.30144999e-01 -9.91483549e-01 4.75937364e-03 3.00355449e+02] [ 9.91243745e-01 1.30218576e-01 2.18851566e-02 2.63000498e+02] [-2.23185316e-02 1.86945566e-03 9.99749163e-01 2.42946553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.540714057 meters Centerline goodness : 0.988331 Centerline is valid? [True, True] Translation: X:300.36, Y:263.03, Z:2.43 [[ 1.28322622e-01 -9.91722196e-01 4.51551769e-03 3.00361453e+02] [ 9.91481007e-01 1.28391283e-01 2.19338034e-02 2.63028864e+02] [-2.23319928e-02 1.66244686e-03 9.99749228e-01 2.42886429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5707140569999 meters Centerline goodness : 0.984509 Centerline is valid? [True, True] Translation: X:300.36, Y:263.05, Z:2.43 [[ 1.22494270e-01 -9.92458856e-01 4.53569100e-03 3.00362689e+02] [ 9.92218201e-01 1.22564790e-01 2.19297600e-02 2.63050923e+02] [-2.23203006e-02 1.81412521e-03 9.99749225e-01 2.42842437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6007140569999 meters Centerline goodness : 0.989180 Centerline is valid? [True, True] Translation: X:300.37, Y:263.08, Z:2.43 [[ 1.20360256e-01 -9.92721734e-01 4.11912763e-03 3.00369965e+02] [ 9.92478686e-01 1.20422127e-01 2.20129282e-02 2.63081552e+02] [-2.23487464e-02 1.43866470e-03 9.99749200e-01 2.42610358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.630714057 meters Centerline goodness : 0.989428 Centerline is valid? [True, True] Translation: X:300.37, Y:263.11, Z:2.43 [[ 1.18042244e-01 -9.92998883e-01 4.38714411e-03 3.00374679e+02] [ 9.92757612e-01 1.18110581e-01 2.19593835e-02 2.63107781e+02] [-2.23238114e-02 1.76323580e-03 9.99749238e-01 2.42566713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.660714057 meters Centerline goodness : 0.983317 Centerline is valid? [True, True] Translation: X:300.38, Y:263.13, Z:2.42 [[ 1.16415844e-01 -9.93190882e-01 4.38438852e-03 3.00377601e+02] [ 9.92949706e-01 1.16484516e-01 2.19599337e-02 2.63129820e+02] [-2.23211193e-02 1.79699308e-03 9.99749238e-01 2.42485408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6907140569999 meters Centerline goodness : 0.990252 Centerline is valid? [True, True] Translation: X:300.38, Y:263.16, Z:2.43 [[ 1.12711743e-01 -9.93620095e-01 3.89497518e-03 3.00382529e+02] [ 9.93376210e-01 1.12770541e-01 2.20569767e-02 2.63161198e+02] [-2.23554938e-02 1.38309539e-03 9.99749128e-01 2.42628326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7207140569999 meters Centerline goodness : 0.986959 Centerline is valid? [True, True] Translation: X:300.40, Y:263.19, Z:2.43 [[ 1.19942650e-01 -9.92771230e-01 4.36413049e-03 3.00397914e+02] [ 9.92529692e-01 1.20010019e-01 2.19637597e-02 2.63193804e+02] [-2.23287281e-02 1.69713757e-03 9.99749242e-01 2.42619486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.750714057 meters Centerline goodness : 0.986959 Centerline is valid? [True, True] Translation: X:300.40, Y:263.22, Z:2.43 [[ 1.19363293e-01 -9.92838906e-01 4.82813917e-03 3.00402999e+02] [ 9.92600373e-01 1.19440975e-01 2.18712975e-02 2.63221684e+02] [-2.22913527e-02 2.18178264e-03 9.99749136e-01 2.42567673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.780714057 meters Centerline goodness : 0.987999 Centerline is valid? [True, True] Translation: X:300.41, Y:263.25, Z:2.43 [[ 1.16603316e-01 -9.93167119e-01 4.76871304e-03 3.00405817e+02] [ 9.92928409e-01 1.16680362e-01 2.18830508e-02 2.63250317e+02] [-2.22899417e-02 2.18335435e-03 9.99749164e-01 2.42570372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8107140569999 meters Centerline goodness : 0.983561 Centerline is valid? [True, True] Translation: X:300.40, Y:263.27, Z:2.43 [[ 1.13393857e-01 -9.93538420e-01 4.82090093e-03 3.00404548e+02] [ 9.93300316e-01 1.13472813e-01 2.18724387e-02 2.63270116e+02] [-2.22781493e-02 2.30840223e-03 9.99749146e-01 2.42542520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8407140569999 meters Centerline goodness : 0.990755 Centerline is valid? [True, True] Translation: X:300.41, Y:263.30, Z:2.42 [[ 1.11689948e-01 -9.93734721e-01 4.08167293e-03 3.00409905e+02] [ 9.93491969e-01 1.11753115e-01 2.20215463e-02 2.63301599e+02] [-2.23397148e-02 1.59552392e-03 9.99749164e-01 2.42279244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.870714057 meters Centerline goodness : 0.988527 Centerline is valid? [True, True] Translation: X:300.42, Y:263.34, Z:2.43 [[ 1.18645087e-01 -9.92926826e-01 4.43411649e-03 3.00423965e+02] [ 9.92685799e-01 1.18714311e-01 2.19503518e-02 2.63335045e+02] [-2.23214862e-02 1.79738306e-03 9.99749229e-01 2.42503159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.900714057 meters Centerline goodness : 0.983978 Centerline is valid? [True, True] Translation: X:300.42, Y:263.36, Z:2.42 [[ 1.11739538e-01 -9.93725521e-01 4.88523252e-03 3.00419736e+02] [ 9.93488056e-01 1.11820285e-01 2.18565174e-02 2.63355738e+02] [-2.22656472e-02 2.41118300e-03 9.99749182e-01 2.42239466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9307140569999 meters Centerline goodness : 0.988912 Centerline is valid? [True, True] Translation: X:300.43, Y:263.39, Z:2.43 [[ 1.15835797e-01 -9.93259364e-01 4.23133661e-03 3.00428995e+02] [ 9.93017237e-01 1.15901249e-01 2.19924451e-02 2.63388736e+02] [-2.23346193e-02 1.65427778e-03 9.99749183e-01 2.42613560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9607140569999 meters Centerline goodness : 0.990106 Centerline is valid? [True, True] Translation: X:300.43, Y:263.42, Z:2.42 [[ 1.14872617e-01 -9.93368266e-01 4.87548344e-03 3.00431271e+02] [ 9.93130408e-01 1.14952409e-01 2.18617756e-02 2.63421008e+02] [-2.22772427e-02 2.33067149e-03 9.99749115e-01 2.42252873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.990714057 meters Centerline goodness : 0.991001 Centerline is valid? [True, True] Translation: X:300.44, Y:263.45, Z:2.42 [[ 1.15134454e-01 -9.93336740e-01 5.11655483e-03 3.00435757e+02] [ 9.93100541e-01 1.15219432e-01 2.18127797e-02 2.63452098e+02] [-2.22569621e-02 2.56985089e-03 9.99748980e-01 2.42253135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.020714057 meters Centerline goodness : 0.990512 Centerline is valid? [True, True] Translation: X:300.44, Y:263.47, Z:2.42 [[ 1.15216188e-01 -9.93326356e-01 5.28964269e-03 3.00435408e+02] [ 9.93091392e-01 1.15304905e-01 2.17776634e-02 2.63474172e+02] [-2.22422487e-02 2.74395925e-03 9.99748845e-01 2.42306408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0507140569999 meters Centerline goodness : 0.989943 Centerline is valid? [True, True] Translation: X:300.44, Y:263.50, Z:2.42 [[ 1.16310468e-01 -9.93200836e-01 4.89640755e-03 3.00435281e+02] [ 9.92963004e-01 1.16390372e-01 2.18575637e-02 2.63502794e+02] [-2.22788452e-02 2.31968810e-03 9.99749105e-01 2.42245521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0807140569999 meters Centerline goodness : 0.989758 Centerline is valid? [True, True] Translation: X:300.44, Y:263.53, Z:2.42 [[ 1.17749341e-01 -9.93031465e-01 4.85829767e-03 3.00438765e+02] [ 9.92793260e-01 1.17828069e-01 2.18652424e-02 2.63530725e+02] [-2.22853175e-02 2.24866731e-03 9.99749123e-01 2.42252621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.110714057 meters Centerline goodness : 0.991124 Centerline is valid? [True, True] Translation: X:300.44, Y:263.56, Z:2.42 [[ 1.16791087e-01 -9.93144554e-01 4.87211126e-03 3.00443741e+02] [ 9.92906519e-01 1.16870347e-01 2.18624686e-02 2.63563511e+02] [-2.22819970e-02 2.28420954e-03 9.99749116e-01 2.41865919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.140714057 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:300.44, Y:263.59, Z:2.42 [[ 1.17544651e-01 -9.93054115e-01 5.17496425e-03 3.00441888e+02] [ 9.92818105e-01 1.17630328e-01 2.18017470e-02 2.63591074e+02] [-2.22590473e-02 2.57511945e-03 9.99748920e-01 2.41684741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1707140569999 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:300.44, Y:263.62, Z:2.42 [[ 1.20037431e-01 -9.92756524e-01 5.04967981e-03 3.00444178e+02] [ 9.92519435e-01 1.20119786e-01 2.18267775e-02 2.63616545e+02] [-2.22752422e-02 2.39187506e-03 9.99749015e-01 2.41656503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2007140569999 meters Centerline goodness : 0.991367 Centerline is valid? [True, True] Translation: X:300.45, Y:263.65, Z:2.42 [[ 1.19297681e-01 -9.92846621e-01 4.86311846e-03 3.00445790e+02] [ 9.92608337e-01 1.19376142e-01 2.18638268e-02 2.63646199e+02] [-2.22879669e-02 2.21886808e-03 9.99749130e-01 2.41722805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2307140569999 meters Centerline goodness : 0.989887 Centerline is valid? [True, True] Translation: X:300.45, Y:263.67, Z:2.42 [[ 1.23277907e-01 -9.92359754e-01 4.96748936e-03 3.00447843e+02] [ 9.92121846e-01 1.23357694e-01 2.18431173e-02 2.63669782e+02] [-2.22890085e-02 2.23558093e-03 9.99749070e-01 2.42187104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.260714057 meters Centerline goodness : 0.991450 Centerline is valid? [True, True] Translation: X:300.45, Y:263.70, Z:2.42 [[ 1.20733726e-01 -9.92674190e-01 4.61727414e-03 3.00452104e+02] [ 9.92434206e-01 1.20806459e-01 2.19122272e-02 2.63702773e+02] [-2.23094989e-02 1.93679596e-03 9.99749236e-01 2.41705196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.290714057 meters Centerline goodness : 0.991421 Centerline is valid? [True, True] Translation: X:300.45, Y:263.73, Z:2.42 [[ 1.24494829e-01 -9.92208076e-01 4.91648368e-03 3.00453922e+02] [ 9.91969734e-01 1.24573208e-01 2.18532249e-02 2.63731296e+02] [-2.22954084e-02 2.15638952e-03 9.99749101e-01 2.41626389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3207140569999 meters Centerline goodness : 0.991438 Centerline is valid? [True, True] Translation: X:300.46, Y:263.76, Z:2.42 [[ 1.27864116e-01 -9.91779467e-01 4.92504457e-03 3.00456531e+02] [ 9.91540916e-01 1.27941873e-01 2.18515408e-02 2.63756460e+02] [-2.23020289e-02 2.08935526e-03 9.99749096e-01 2.41684817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3507140569999 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:300.46, Y:263.79, Z:2.42 [[ 1.27013280e-01 -9.91889582e-01 4.76276155e-03 3.00459955e+02] [ 9.91650057e-01 1.27087686e-01 2.18834167e-02 2.63786662e+02] [-2.23112214e-02 1.94350822e-03 9.99749185e-01 2.41507654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.380714057 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:300.46, Y:263.82, Z:2.41 [[ 1.27718666e-01 -9.91798547e-01 4.85646865e-03 3.00461294e+02] [ 9.91559562e-01 1.27794957e-01 2.18651546e-02 2.63815184e+02] [-2.23064608e-02 2.02288954e-03 9.99749133e-01 2.41346300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.410714057 meters Centerline goodness : 0.991294 Centerline is valid? [True, True] Translation: X:300.47, Y:263.84, Z:2.41 [[ 1.29622923e-01 -9.91551393e-01 4.87161768e-03 3.00465075e+02] [ 9.91312358e-01 1.29699087e-01 2.18622079e-02 2.63841047e+02] [-2.23093470e-02 1.99545151e-03 9.99749124e-01 2.41487017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4407140569999 meters Centerline goodness : 0.990982 Centerline is valid? [True, True] Translation: X:300.47, Y:263.87, Z:2.41 [[ 1.29446883e-01 -9.91574950e-01 4.75631591e-03 3.00469687e+02] [ 9.91335204e-01 1.29520560e-01 2.18846355e-02 2.63869874e+02] [-2.23162971e-02 1.88220555e-03 9.99749189e-01 2.41468396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4707140569999 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:300.47, Y:263.90, Z:2.41 [[ 1.28589769e-01 -9.91686368e-01 4.77688859e-03 3.00470107e+02] [ 9.91446814e-01 1.28664104e-01 2.18806410e-02 2.63896127e+02] [-2.23133475e-02 1.92240440e-03 9.99749178e-01 2.41453120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.500714057 meters Centerline goodness : 0.991871 Centerline is valid? [True, True] Translation: X:300.47, Y:263.93, Z:2.41 [[ 1.27490404e-01 -9.91828841e-01 4.66337799e-03 3.00474046e+02] [ 9.91588666e-01 1.27562513e-01 2.19025712e-02 2.63925930e+02] [-2.23184740e-02 1.83178512e-03 9.99749234e-01 2.41276211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.530714057 meters Centerline goodness : 0.991798 Centerline is valid? [True, True] Translation: X:300.48, Y:263.95, Z:2.41 [[ 1.27051422e-01 -9.91884623e-01 4.77816148e-03 3.00477536e+02] [ 9.91645192e-01 1.27126157e-01 2.18804418e-02 2.63954467e+02] [-2.23103031e-02 1.95829962e-03 9.99749176e-01 2.41429213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5607140569999 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:300.48, Y:263.98, Z:2.41 [[ 1.29080034e-01 -9.91622757e-01 4.75958803e-03 3.00479368e+02] [ 9.91383058e-01 1.29153871e-01 2.18840112e-02 2.63984882e+02] [-2.23154027e-02 1.89378602e-03 9.99749187e-01 2.41341635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5907140569999 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:300.47, Y:264.00, Z:2.41 [[ 1.24530156e-01 -9.92203797e-01 4.88516897e-03 3.00472377e+02] [ 9.91965236e-01 1.24607843e-01 2.18599295e-02 2.64002217e+02] [-2.22982354e-02 2.12369736e-03 9.99749108e-01 2.41347070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.620714057 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:300.48, Y:264.03, Z:2.41 [[ 1.25280597e-01 -9.92112509e-01 4.18821502e-03 3.00476755e+02] [ 9.91869705e-01 1.25342779e-01 2.19926610e-02 2.64029871e+02] [-2.23441566e-02 1.39890989e-03 9.99749359e-01 2.41251101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.650714057 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:300.48, Y:264.06, Z:2.41 [[ 1.26914956e-01 -9.91904787e-01 4.18186687e-03 3.00480153e+02] [ 9.91661844e-01 1.26976598e-01 2.19938680e-02 2.64058019e+02] [-2.23468222e-02 1.35564701e-03 9.99749359e-01 2.41084928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6807140569999 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:300.48, Y:264.09, Z:2.41 [[ 1.27832894e-01 -9.91786931e-01 4.17556497e-03 3.00484715e+02] [ 9.91543896e-01 1.27894172e-01 2.19950644e-02 2.64085050e+02] [-2.23484478e-02 1.32856322e-03 9.99749359e-01 2.40933262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7107140569999 meters Centerline goodness : 0.985337 Centerline is valid? [True, True] Translation: X:300.48, Y:264.11, Z:2.41 [[ 1.25571413e-01 -9.92075822e-01 4.16930710e-03 3.00484890e+02] [ 9.91832893e-01 1.25633106e-01 2.19962506e-02 2.64108090e+02] [-2.23457514e-02 1.37315567e-03 9.99749360e-01 2.40607289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.740714057 meters Centerline goodness : 0.993072 Centerline is valid? [True, True] Translation: X:300.49, Y:264.14, Z:2.41 [[ 1.27883332e-01 -9.91781689e-01 3.86446674e-03 3.00490798e+02] [ 9.91536978e-01 1.27937710e-01 2.20536395e-02 2.64137556e+02] [-2.23668068e-02 1.01146878e-03 9.99749320e-01 2.40700450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.770714057 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:300.50, Y:264.17, Z:2.41 [[ 1.27698948e-01 -9.91804321e-01 4.14347627e-03 3.00495454e+02] [ 9.91561117e-01 1.27759549e-01 2.20010944e-02 2.64165128e+02] [-2.23501491e-02 1.29899334e-03 9.99749360e-01 2.40663909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8007140569999 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:300.50, Y:264.19, Z:2.41 [[ 1.27097303e-01 -9.91881625e-01 4.13744456e-03 3.00500077e+02] [ 9.91638425e-01 1.27157918e-01 2.20022286e-02 2.64192121e+02] [-2.23497151e-02 1.30642509e-03 9.99749360e-01 2.40531115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8307140569999 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:300.51, Y:264.22, Z:2.40 [[ 1.25856677e-01 -9.92039818e-01 4.13483141e-03 3.00505147e+02] [ 9.91796680e-01 1.25917539e-01 2.20027197e-02 2.64219795e+02] [-2.23482218e-02 1.33172287e-03 9.99749360e-01 2.40459391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.860714057 meters Centerline goodness : 0.992973 Centerline is valid? [True, True] Translation: X:300.52, Y:264.26, Z:2.41 [[ 1.28177372e-01 -9.91742665e-01 4.12885892e-03 3.00518797e+02] [ 9.91499353e-01 1.28237533e-01 2.20038404e-02 2.64256438e+02] [-2.23516220e-02 1.27336651e-03 9.99749360e-01 2.40637236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.890714057 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:300.53, Y:264.29, Z:2.41 [[ 1.28624211e-01 -9.91682397e-01 4.67285211e-03 3.00526172e+02] [ 9.91442180e-01 1.28696255e-01 2.19015261e-02 2.64287139e+02] [-2.23207364e-02 1.81579617e-03 9.99749212e-01 2.40800105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9207140569999 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:300.52, Y:264.30, Z:2.40 [[ 1.22931954e-01 -9.92403326e-01 4.83459416e-03 3.00519780e+02] [ 9.92164532e-01 1.23008922e-01 2.18711435e-02 2.64303930e+02] [-2.22996938e-02 2.10805043e-03 9.99749108e-01 2.40375837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9507140569999 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:300.52, Y:264.33, Z:2.40 [[ 1.21984364e-01 -9.92523542e-01 4.10286366e-03 3.00524387e+02] [ 9.92280490e-01 1.22045466e-01 2.20075661e-02 2.64331388e+02] [-2.23437634e-02 1.38661261e-03 9.99749385e-01 2.40370093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9807140569999 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:300.53, Y:264.36, Z:2.40 [[ 1.20963652e-01 -9.92648484e-01 4.09656960e-03 3.00529095e+02] [ 9.92405460e-01 1.21024865e-01 2.20087377e-02 2.64359370e+02] [-2.23427269e-02 1.40320076e-03 9.99749385e-01 2.40314119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.010714057 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:300.55, Y:264.40, Z:2.40 [[ 1.25323054e-01 -9.92107556e-01 4.09016875e-03 3.00545704e+02] [ 9.91864231e-01 1.25383058e-01 2.20099272e-02 2.64398207e+02] [-2.23490529e-02 1.29854079e-03 9.99749385e-01 2.40266623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.040714057 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:300.55, Y:264.42, Z:2.40 [[ 1.20930002e-01 -9.92649206e-01 4.84655734e-03 3.00547719e+02] [ 9.92410629e-01 1.21007714e-01 2.18695221e-02 2.64424208e+02] [-2.22952346e-02 2.16509367e-03 9.99749086e-01 2.39985269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0707140569999 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:300.55, Y:264.45, Z:2.40 [[ 1.18624069e-01 -9.92928133e-01 4.69598457e-03 3.00551267e+02] [ 9.92688796e-01 1.18699037e-01 2.18973419e-02 2.64451523e+02] [-2.22998956e-02 2.06409947e-03 9.99749196e-01 2.39982960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1007140569999 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:300.55, Y:264.47, Z:2.40 [[ 1.12957014e-01 -9.93589004e-01 4.64806172e-03 3.00546571e+02] [ 9.93349797e-01 1.13032298e-01 2.19061715e-02 2.64470910e+02] [-2.22911123e-02 2.14269543e-03 9.99749226e-01 2.40113082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.130714057 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:300.55, Y:264.50, Z:2.40 [[ 1.12327852e-01 -9.93663022e-01 4.03134436e-03 3.00550868e+02] [ 9.93420207e-01 1.12389735e-01 2.20190872e-02 2.64498239e+02] [-2.23326344e-02 1.53146220e-03 9.99749423e-01 2.40043472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.160714057 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:300.56, Y:264.53, Z:2.40 [[ 1.14975781e-01 -9.93360141e-01 4.02502344e-03 3.00561761e+02] [ 9.93117126e-01 1.15036878e-01 2.20202425e-02 2.64533942e+02] [-2.23370574e-02 1.46552513e-03 9.99749423e-01 2.40176163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1907140569999 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:300.56, Y:264.56, Z:2.40 [[ 1.15014910e-01 -9.93353612e-01 4.49142622e-03 3.00558940e+02] [ 9.93113294e-01 1.15086262e-01 2.19348269e-02 2.64555659e+02] [-2.23059410e-02 1.93766295e-03 9.99749314e-01 2.39986482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2207140569999 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:300.57, Y:264.59, Z:2.40 [[ 1.19653545e-01 -9.92807596e-01 4.01339824e-03 3.00570754e+02] [ 9.92564242e-01 1.19713239e-01 2.20219480e-02 2.64594678e+02] [-2.23440142e-02 1.34855142e-03 9.99749432e-01 2.40171542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.250714057 meters Centerline goodness : 0.992926 Centerline is valid? [True, True] Translation: X:300.57, Y:264.62, Z:2.40 [[ 1.22226365e-01 -9.92490932e-01 4.73986055e-03 3.00571880e+02] [ 9.92251593e-01 1.22301427e-01 2.18891915e-02 2.64618077e+02] [-2.23045157e-02 2.02769787e-03 9.99749167e-01 2.40013297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.280714057 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:300.58, Y:264.64, Z:2.40 [[ 1.24293544e-01 -9.92235792e-01 4.38728496e-03 3.00575745e+02] [ 9.91994228e-01 1.24360354e-01 2.19534405e-02 2.64644708e+02] [-2.23285937e-02 1.62349044e-03 9.99749368e-01 2.39881031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3107140569999 meters Centerline goodness : 0.992486 Centerline is valid? [True, True] Translation: X:300.58, Y:264.67, Z:2.40 [[ 1.26832875e-01 -9.91914420e-01 4.38236418e-03 3.00580245e+02] [ 9.91672659e-01 1.26898958e-01 2.19543371e-02 2.64672680e+02] [-2.23329410e-02 1.56133905e-03 9.99749370e-01 2.39648208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3407140569999 meters Centerline goodness : 0.992344 Centerline is valid? [True, True] Translation: X:300.59, Y:264.70, Z:2.40 [[ 1.30958804e-01 -9.91378489e-01 4.29933289e-03 3.00585892e+02] [ 9.91136001e-01 1.31022047e-01 2.19693283e-02 2.64703428e+02] [-2.23432269e-02 1.38414665e-03 9.99749401e-01 2.39735764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.370714057 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:300.59, Y:264.73, Z:2.40 [[ 1.31925712e-01 -9.91249629e-01 4.44740023e-03 3.00590287e+02] [ 9.91007889e-01 1.31991987e-01 2.19426248e-02 2.64731553e+02] [-2.23376399e-02 1.51261232e-03 9.99749340e-01 2.39651697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.400714057 meters Centerline goodness : 0.991424 Centerline is valid? [True, True] Translation: X:300.60, Y:264.76, Z:2.39 [[ 1.36024429e-01 -9.90695565e-01 4.43317465e-03 3.00597410e+02] [ 9.90453475e-01 1.36089391e-01 2.19451843e-02 2.64761588e+02] [-2.23443048e-02 1.40577206e-03 9.99749347e-01 2.39332269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4307140569999 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:300.61, Y:264.80, Z:2.39 [[ 1.42339925e-01 -9.89807296e-01 4.56755535e-03 3.00610992e+02] [ 9.89565519e-01 1.42406312e-01 2.19209220e-02 2.64798289e+02] [-2.23479373e-02 1.39967287e-03 9.99749274e-01 2.39086792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4607140569999 meters Centerline goodness : 0.990829 Centerline is valid? [True, True] Translation: X:300.61, Y:264.82, Z:2.39 [[ 1.36733290e-01 -9.90594530e-01 5.14639933e-03 3.00608497e+02] [ 9.90356525e-01 1.36813778e-01 2.18161530e-02 2.64818799e+02] [-2.23150601e-02 2.11377579e-03 9.99748753e-01 2.39241085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.490714057 meters Centerline goodness : 0.991187 Centerline is valid? [True, True] Translation: X:300.62, Y:264.85, Z:2.39 [[ 1.38844700e-01 -9.90303412e-01 4.61546264e-03 3.00617572e+02] [ 9.90062147e-01 1.38912997e-01 2.19117469e-02 2.64849307e+02] [-2.23404254e-02 1.52726493e-03 9.99749255e-01 2.39139849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.520714057 meters Centerline goodness : 0.991022 Centerline is valid? [True, True] Translation: X:300.63, Y:264.88, Z:2.39 [[ 1.39485787e-01 -9.90212354e-01 4.81756633e-03 3.00626328e+02] [ 9.89972184e-01 1.39558383e-01 2.18753827e-02 2.64879774e+02] [-2.23336059e-02 1.71795170e-03 9.99749098e-01 2.38829508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5507140569999 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:300.63, Y:264.91, Z:2.39 [[ 1.35883988e-01 -9.90712853e-01 4.85646739e-03 3.00630360e+02] [ 9.90473173e-01 1.35958313e-01 2.18685056e-02 2.64907220e+02] [-2.23256867e-02 1.83862091e-03 9.99749060e-01 2.38941597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5807140569999 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:300.64, Y:264.93, Z:2.39 [[ 1.36105978e-01 -9.90682220e-01 4.88896097e-03 3.00636241e+02] [ 9.90442711e-01 1.36180965e-01 2.18627817e-02 2.64934209e+02] [-2.23248526e-02 1.86658046e-03 9.99749027e-01 2.38842389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.610714057 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:300.65, Y:264.97, Z:2.39 [[ 1.34606956e-01 -9.90887181e-01 4.85416169e-03 3.00646092e+02] [ 9.90647583e-01 1.34681540e-01 2.18688955e-02 2.64966690e+02] [-2.23233742e-02 1.86505808e-03 9.99749063e-01 2.38648688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.640714057 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:300.65, Y:264.99, Z:2.39 [[ 1.33571018e-01 -9.91026059e-01 5.11217403e-03 3.00650292e+02] [ 9.90788069e-01 1.33651519e-01 2.18236917e-02 2.64994370e+02] [-2.23110970e-02 2.15006831e-03 9.99748765e-01 2.38594646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6707140569999 meters Centerline goodness : 0.989779 Centerline is valid? [True, True] Translation: X:300.65, Y:265.02, Z:2.40 [[ 1.35074929e-01 -9.90822271e-01 5.09817141e-03 3.00654762e+02] [ 9.90584075e-01 1.35154761e-01 2.18261360e-02 2.65017940e+02] [-2.23148638e-02 2.10200365e-03 9.99748783e-01 2.39613663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7007140569999 meters Centerline goodness : 0.991021 Centerline is valid? [True, True] Translation: X:300.66, Y:265.05, Z:2.39 [[ 1.31867112e-01 -9.91255588e-01 4.83978067e-03 3.00664439e+02] [ 9.91016121e-01 1.31942040e-01 2.18711007e-02 2.65048921e+02] [-2.23184213e-02 1.91222179e-03 9.99749084e-01 2.38642288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7307140569999 meters Centerline goodness : 0.992023 Centerline is valid? [True, True] Translation: X:300.67, Y:265.08, Z:2.38 [[ 1.27072358e-01 -9.91880772e-01 5.01495325e-03 3.00670883e+02] [ 9.91642712e-01 1.27152288e-01 2.18409575e-02 2.65080701e+02] [-2.23012886e-02 2.19765987e-03 9.99748880e-01 2.38222804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.760714057 meters Centerline goodness : 0.991491 Centerline is valid? [True, True] Translation: X:300.67, Y:265.11, Z:2.38 [[ 1.23824861e-01 -9.92290358e-01 5.22005243e-03 3.00674336e+02] [ 9.92053833e-01 1.23910057e-01 2.18057427e-02 2.65105131e+02] [-2.22844453e-02 2.47847996e-03 9.99748599e-01 2.38208659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.790714057 meters Centerline goodness : 0.991748 Centerline is valid? [True, True] Translation: X:300.68, Y:265.13, Z:2.38 [[ 1.18134454e-01 -9.92985102e-01 4.98376898e-03 3.00680184e+02] [ 9.92747583e-01 1.18215842e-01 2.18460860e-02 2.65132316e+02] [-2.22819984e-02 2.36684917e-03 9.99748924e-01 2.38075910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8207140569999 meters Centerline goodness : 0.991545 Centerline is valid? [True, True] Translation: X:300.69, Y:265.16, Z:2.38 [[ 1.15301615e-01 -9.93318307e-01 4.92733368e-03 3.00685055e+02] [ 9.93080672e-01 1.15382446e-01 2.18556568e-02 2.65159058e+02] [-2.22781518e-02 2.37324731e-03 9.99748994e-01 2.37979442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8507140569999 meters Centerline goodness : 0.991351 Centerline is valid? [True, True] Translation: X:300.69, Y:265.19, Z:2.38 [[ 1.10817796e-01 -9.93829088e-01 4.81253159e-03 3.00688957e+02] [ 9.93591115e-01 1.10897188e-01 2.18748511e-02 2.65186267e+02] [-2.22735595e-02 2.35756584e-03 9.99749134e-01 2.37998678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.880714057 meters Centerline goodness : 0.991283 Centerline is valid? [True, True] Translation: X:300.70, Y:265.21, Z:2.38 [[ 1.07567857e-01 -9.94186191e-01 4.79301070e-03 3.00695266e+02] [ 9.93948360e-01 1.07647600e-01 2.18781018e-02 2.65212358e+02] [-2.22668628e-02 2.41062459e-03 9.99749156e-01 2.37852576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.910714057 meters Centerline goodness : 0.991367 Centerline is valid? [True, True] Translation: X:300.70, Y:265.24, Z:2.38 [[ 1.03754925e-01 -9.94592109e-01 4.63157538e-03 3.00699139e+02] [ 9.94353606e-01 1.03832049e-01 2.19046231e-02 2.65240637e+02] [-2.22670712e-02 2.33271117e-03 9.99749337e-01 2.37917719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9407140569999 meters Centerline goodness : 0.991452 Centerline is valid? [True, True] Translation: X:300.69, Y:265.25, Z:2.38 [[ 9.01919702e-02 -9.95913225e-01 4.71778085e-03 3.00685422e+02] [ 9.95676338e-01 9.02742158e-02 2.18905420e-02 2.65251387e+02] [-2.22269742e-02 2.72303165e-03 9.99749242e-01 2.38293015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9707140569999 meters Centerline goodness : 0.991110 Centerline is valid? [True, True] Translation: X:300.69, Y:265.28, Z:2.38 [[ 8.92723070e-02 -9.96000909e-01 3.55587214e-03 3.00690180e+02] [ 9.95757426e-01 8.93293040e-02 2.20776967e-02 2.65279287e+02] [-2.23070496e-02 1.56985917e-03 9.99749934e-01 2.38111659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.000714057 meters Centerline goodness : 0.989602 Centerline is valid? [True, True] Translation: X:300.72, Y:265.33, Z:2.37 [[ 1.05064713e-01 -9.94459052e-01 3.54967346e-03 3.00722222e+02] [ 9.94214665e-01 1.05117703e-01 2.20786933e-02 2.65329978e+02] [-2.23294899e-02 1.20944583e-03 9.99749934e-01 2.37149221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.030714057 meters Centerline goodness : 0.991121 Centerline is valid? [True, True] Translation: X:300.70, Y:265.33, Z:2.38 [[ 8.75741517e-02 -9.96144307e-01 5.22378362e-03 3.00697634e+02] [ 9.95911046e-01 8.76679968e-02 2.18062086e-02 2.65332735e+02] [-2.21800892e-02 3.29276359e-03 9.99748569e-01 2.37981302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0607140569999 meters Centerline goodness : 0.991513 Centerline is valid? [True, True] Translation: X:300.70, Y:265.36, Z:2.38 [[ 8.72321836e-02 -9.96181777e-01 3.52333356e-03 3.00702330e+02] [ 9.95938360e-01 8.72889534e-02 2.20776144e-02 2.65360627e+02] [-2.23008653e-02 1.58314453e-03 9.99750051e-01 2.38021961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0907140569999 meters Centerline goodness : 0.991478 Centerline is valid? [True, True] Translation: X:300.71, Y:265.39, Z:2.38 [[ 8.70537344e-02 -9.96197406e-01 3.51788237e-03 3.00706218e+02] [ 9.95953972e-01 8.71104276e-02 2.20784830e-02 2.65388031e+02] [-2.23009717e-02 1.58163452e-03 9.99750051e-01 2.38055657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.120714057 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:300.72, Y:265.43, Z:2.38 [[ 9.20049763e-02 -9.95752356e-01 3.51152469e-03 3.00718594e+02] [ 9.95508611e-01 9.20603183e-02 2.20794941e-02 2.65426625e+02] [-2.23089804e-02 1.46432973e-03 9.99750051e-01 2.37680322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.150714057 meters Centerline goodness : 0.987805 Centerline is valid? [True, True] Translation: X:300.72, Y:265.44, Z:2.38 [[ 9.82943749e-02 -9.95147884e-01 4.34787428e-03 3.00722066e+02] [ 9.94908244e-01 9.83665858e-02 2.19454016e-02 2.65441334e+02] [-2.22666055e-02 2.16862643e-03 9.99749716e-01 2.37883175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1807140569999 meters Centerline goodness : 0.983566 Centerline is valid? [True, True] Translation: X:300.71, Y:265.46, Z:2.38 [[ 8.85171464e-02 -9.96068495e-01 3.50269373e-03 3.00712685e+02] [ 9.95824932e-01 8.85731447e-02 2.20794895e-02 2.65464802e+02] [-2.23029284e-02 1.53365634e-03 9.99750082e-01 2.38021649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2107140569999 meters Centerline goodness : 0.989144 Centerline is valid? [True, True] Translation: X:300.72, Y:265.50, Z:2.38 [[ 9.67202188e-02 -9.95306750e-01 3.10996905e-03 3.00722532e+02] [ 9.95060902e-01 9.67655117e-02 2.21413128e-02 2.65497390e+02] [-2.23383359e-02 9.53095982e-04 9.99750014e-01 2.37702617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.240714057 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:300.72, Y:265.53, Z:2.37 [[ 9.21183430e-02 -9.95741155e-01 3.70995657e-03 3.00724665e+02] [ 9.95498408e-01 9.21780342e-02 2.20483639e-02 2.65531799e+02] [-2.22964398e-02 1.66219711e-03 9.99750022e-01 2.37406794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.270714057 meters Centerline goodness : 0.991501 Centerline is valid? [True, True] Translation: X:300.72, Y:265.55, Z:2.38 [[ 8.94652585e-02 -9.95981419e-01 4.12075037e-03 3.00718834e+02] [ 9.95741041e-01 8.95346255e-02 2.19847759e-02 2.65549899e+02] [-2.22653781e-02 2.13632661e-03 9.99749813e-01 2.37626616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3007140569999 meters Centerline goodness : 0.984569 Centerline is valid? [True, True] Translation: X:300.72, Y:265.57, Z:2.37 [[ 8.87663610e-02 -9.96046716e-01 3.38728589e-03 3.00719092e+02] [ 9.95802573e-01 8.88197500e-02 2.20972150e-02 2.65573278e+02] [-2.23107163e-02 1.41157864e-03 9.99750088e-01 2.36986414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3307140569999 meters Centerline goodness : 0.984057 Centerline is valid? [True, True] Translation: X:300.72, Y:265.60, Z:2.37 [[ 9.02082527e-02 -9.95918382e-01 3.00806987e-03 3.00723959e+02] [ 9.95672420e-01 9.02528911e-02 2.21550753e-02 2.65597905e+02] [-2.23361338e-02 9.96481574e-04 9.99750021e-01 2.37151399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.360714057 meters Centerline goodness : 0.984296 Centerline is valid? [True, True] Translation: X:300.73, Y:265.62, Z:2.37 [[ 8.97120128e-02 -9.95963933e-01 2.75664096e-03 3.00727359e+02] [ 9.95716918e-01 8.97511897e-02 2.21933120e-02 2.65623564e+02] [-2.23511502e-02 7.53827347e-04 9.99749898e-01 2.37012232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.390714057 meters Centerline goodness : 0.989269 Centerline is valid? [True, True] Translation: X:300.73, Y:265.66, Z:2.37 [[ 8.39598105e-02 -9.96465259e-01 2.78157002e-03 3.00729789e+02] [ 9.96218582e-01 8.40009667e-02 2.21895021e-02 2.65660430e+02] [-2.23447225e-02 9.08025346e-04 9.99749913e-01 2.36642968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4207140569999 meters Centerline goodness : 0.988996 Centerline is valid? [True, True] Translation: X:300.73, Y:265.68, Z:2.37 [[ 9.06626363e-02 -9.95874632e-01 3.74222371e-03 3.00734886e+02] [ 9.95632116e-01 9.07233949e-02 2.20444043e-02 2.65682241e+02] [-2.22929702e-02 1.72727430e-03 9.99749989e-01 2.37252542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4507140569999 meters Centerline goodness : 0.989107 Centerline is valid? [True, True] Translation: X:300.74, Y:265.72, Z:2.37 [[ 8.74367131e-02 -9.96164546e-01 3.31951091e-03 3.00738079e+02] [ 9.95920142e-01 8.74889308e-02 2.21078803e-02 2.65718528e+02] [-2.23135070e-02 1.37292739e-03 9.99750080e-01 2.36776892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4807140569999 meters Centerline goodness : 0.983785 Centerline is valid? [True, True] Translation: X:300.74, Y:265.74, Z:2.36 [[ 8.79726271e-02 -9.96115008e-01 3.96335767e-03 3.00736872e+02] [ 9.95873898e-01 8.80388973e-02 2.20075433e-02 2.65737521e+02] [-2.22709738e-02 2.01094305e-03 9.99749949e-01 2.36439682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.510714057 meters Centerline goodness : 0.989875 Centerline is valid? [True, True] Translation: X:300.75, Y:265.77, Z:2.37 [[ 9.61692482e-02 -9.95360024e-01 3.14608523e-03 3.00747684e+02] [ 9.95114405e-01 9.62154763e-02 2.21337506e-02 2.65770053e+02] [-2.23337526e-02 1.00212858e-03 9.99750068e-01 2.36896146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.540714057 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:300.74, Y:265.80, Z:2.37 [[ 9.32645650e-02 -9.95634792e-01 3.61678082e-03 3.00741276e+02] [ 9.95391525e-01 9.33219205e-02 2.20619700e-02 2.65795544e+02] [-2.23031898e-02 1.54251295e-03 9.99750063e-01 2.36968158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5707140569999 meters Centerline goodness : 0.988445 Centerline is valid? [True, True] Translation: X:300.75, Y:265.83, Z:2.37 [[ 9.94549646e-02 -9.95036399e-01 3.35785997e-03 3.00749972e+02] [ 9.94791572e-01 9.95050772e-02 2.21013087e-02 2.65826211e+02] [-2.23257307e-02 1.14228593e-03 9.99750097e-01 2.37273186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6007140569999 meters Centerline goodness : 0.990668 Centerline is valid? [True, True] Translation: X:300.75, Y:265.85, Z:2.37 [[ 9.50847172e-02 -9.95462809e-01 3.56257815e-03 3.00746598e+02] [ 9.95219175e-01 9.51404307e-02 2.20701604e-02 2.65851305e+02] [-2.23089691e-02 1.44701113e-03 9.99750077e-01 2.36955207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.630714057 meters Centerline goodness : 0.988688 Centerline is valid? [True, True] Translation: X:300.76, Y:265.89, Z:2.37 [[ 9.90185542e-02 -9.95079943e-01 3.35166093e-03 3.00759188e+02] [ 9.94835112e-01 9.90686367e-02 2.21021453e-02 2.65889903e+02] [-2.23254460e-02 1.14582750e-03 9.99750100e-01 2.36681508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.660714057 meters Centerline goodness : 0.987274 Centerline is valid? [True, True] Translation: X:300.76, Y:265.91, Z:2.37 [[ 9.98472146e-02 -9.94994240e-01 4.12271190e-03 3.00761248e+02] [ 9.94753134e-01 9.99141165e-02 2.19857104e-02 2.65911071e+02] [-2.22875723e-02 1.90586864e-03 9.99749785e-01 2.37184456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6907140569999 meters Centerline goodness : 0.988329 Centerline is valid? [True, True] Translation: X:300.76, Y:265.95, Z:2.37 [[ 9.14768317e-02 -9.95800711e-01 3.59616869e-03 3.00763313e+02] [ 9.95557458e-01 9.15341682e-02 2.20645259e-02 2.65945871e+02] [-2.23010429e-02 1.56179964e-03 9.99750081e-01 2.36535496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7207140569999 meters Centerline goodness : 0.990780 Centerline is valid? [True, True] Translation: X:300.76, Y:265.96, Z:2.37 [[ 8.63664314e-02 -9.96255167e-01 4.05982196e-03 3.00759017e+02] [ 9.96014645e-01 8.64352118e-02 2.19950046e-02 2.65964186e+02] [-2.22635486e-02 2.14401207e-03 9.99749838e-01 2.36619049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.750714057 meters Centerline goodness : 0.987740 Centerline is valid? [True, True] Translation: X:300.77, Y:265.99, Z:2.36 [[ 9.00746626e-02 -9.95929607e-01 3.28218910e-03 3.00770763e+02] [ 9.95684960e-01 9.01254033e-02 2.21104474e-02 2.65994381e+02] [-2.23162579e-02 1.27643523e-03 9.99750146e-01 2.36314582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.780714057 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:300.77, Y:266.02, Z:2.36 [[ 8.28892928e-02 -9.96552285e-01 3.59279577e-03 3.00767174e+02] [ 9.96309537e-01 8.29486483e-02 2.20641813e-02 2.66019233e+02] [-2.22861278e-02 1.75065231e-03 9.99750101e-01 2.36436773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8107140569999 meters Centerline goodness : 0.990660 Centerline is valid? [True, True] Translation: X:300.77, Y:266.05, Z:2.36 [[ 8.05876669e-02 -9.96742138e-01 3.27683394e-03 3.00771362e+02] [ 9.96497965e-01 8.06406161e-02 2.21110077e-02 2.66046826e+02] [-2.23032190e-02 1.48348383e-03 9.99750152e-01 2.36360152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8407140569999 meters Centerline goodness : 0.991514 Centerline is valid? [True, True] Translation: X:300.78, Y:266.07, Z:2.36 [[ 7.97955568e-02 -9.96805885e-01 3.27061912e-03 3.00775067e+02] [ 9.96561724e-01 7.98485628e-02 2.21119270e-02 2.66074741e+02] [-2.23024532e-02 1.49494031e-03 9.99750152e-01 2.36294324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.870714057 meters Centerline goodness : 0.992029 Centerline is valid? [True, True] Translation: X:300.78, Y:266.10, Z:2.36 [[ 8.01382029e-02 -9.96778417e-01 3.26425577e-03 3.00777696e+02] [ 9.96534208e-01 8.01909845e-02 2.21128663e-02 2.66101412e+02] [-2.23033918e-02 1.48085717e-03 9.99750152e-01 2.36179722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.900714057 meters Centerline goodness : 0.991521 Centerline is valid? [True, True] Translation: X:300.78, Y:266.13, Z:2.36 [[ 8.04385304e-02 -9.96754235e-01 3.26149982e-03 3.00780866e+02] [ 9.96509997e-01 8.04911776e-02 2.21132728e-02 2.66129415e+02] [-2.23040203e-02 1.47135801e-03 9.99750152e-01 2.36132438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9307140569999 meters Centerline goodness : 0.982561 Centerline is valid? [True, True] Translation: X:300.78, Y:266.15, Z:2.37 [[ 8.09577905e-02 -9.96712215e-01 3.25512177e-03 3.00780498e+02] [ 9.96467919e-01 8.10101694e-02 2.21142116e-02 2.66152356e+02] [-2.23052028e-02 1.45330670e-03 9.99750152e-01 2.36622698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9607140569999 meters Centerline goodness : 0.983149 Centerline is valid? [True, True] Translation: X:300.79, Y:266.18, Z:2.37 [[ 8.48617109e-02 -9.96388466e-01 2.91814497e-03 3.00785638e+02] [ 9.96142462e-01 8.49056698e-02 2.21635655e-02 2.66176450e+02] [-2.23312881e-02 1.02605002e-03 9.99750099e-01 2.36619526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.990714057 meters Centerline goodness : 0.990283 Centerline is valid? [True, True] Translation: X:300.79, Y:266.21, Z:2.36 [[ 8.15364389e-02 -9.96666793e-01 2.66706479e-03 3.00788839e+02] [ 9.96419869e-01 8.15756462e-02 2.22004113e-02 2.66214146e+02] [-2.23439803e-02 8.47373866e-04 9.99749983e-01 2.35864466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.020714057 meters Centerline goodness : 0.991124 Centerline is valid? [True, True] Translation: X:300.79, Y:266.23, Z:2.36 [[ 8.14338327e-02 -9.96671668e-01 3.75722960e-03 3.00785686e+02] [ 9.96429760e-01 8.14971690e-02 2.20441747e-02 2.66233299e+02] [-2.22770079e-02 1.94867376e-03 9.99749938e-01 2.36031341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0507140569999 meters Centerline goodness : 0.991036 Centerline is valid? [True, True] Translation: X:300.79, Y:266.26, Z:2.36 [[ 8.27832364e-02 -9.96562615e-01 3.14484275e-03 3.00788335e+02] [ 9.96317695e-01 8.28327304e-02 2.21311991e-02 2.66260554e+02] [-2.23156216e-02 1.30117019e-03 9.99750129e-01 2.35933891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0807140569999 meters Centerline goodness : 0.989783 Centerline is valid? [True, True] Translation: X:300.80, Y:266.30, Z:2.36 [[ 8.46904024e-02 -9.96402360e-01 3.14218462e-03 3.00797394e+02] [ 9.96157333e-01 8.47393687e-02 2.21315765e-02 2.66296044e+02] [-2.23182218e-02 1.25577813e-03 9.99750129e-01 2.35721200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.110714057 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:300.80, Y:266.32, Z:2.36 [[ 8.40706213e-02 -9.96452610e-01 3.78510001e-03 3.00795053e+02] [ 9.96210687e-01 8.41339298e-02 2.20397199e-02 2.66315959e+02] [-2.22799918e-02 1.91786413e-03 9.99749931e-01 2.35690107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.140714057 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:300.80, Y:266.34, Z:2.36 [[ 8.39573002e-02 -9.96464426e-01 3.13354892e-03 3.00798983e+02] [ 9.96219416e-01 8.40062545e-02 2.21319745e-02 2.66342299e+02] [-2.23169630e-02 1.26356145e-03 9.99750147e-01 2.35553047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1707140569999 meters Centerline goodness : 0.987144 Centerline is valid? [True, True] Translation: X:300.81, Y:266.37, Z:2.36 [[ 8.94359032e-02 -9.95987661e-01 3.13026721e-03 3.00806771e+02] [ 9.95742371e-01 8.94834367e-02 2.21324386e-02 2.66367774e+02] [-2.23237428e-02 1.13750506e-03 9.99750147e-01 2.35846440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2007140569999 meters Centerline goodness : 0.988983 Centerline is valid? [True, True] Translation: X:300.81, Y:266.40, Z:2.35 [[ 8.29082813e-02 -9.96552527e-01 3.04586611e-03 3.00809503e+02] [ 9.96307183e-01 8.29555520e-02 2.21443927e-02 2.66402966e+02] [-2.23207220e-02 1.19866475e-03 9.99750143e-01 2.35432853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2307140569999 meters Centerline goodness : 0.988312 Centerline is valid? [True, True] Translation: X:300.81, Y:266.43, Z:2.35 [[ 8.36643984e-02 -9.96487729e-01 3.53181226e-03 3.00813752e+02] [ 9.96244582e-01 8.37222248e-02 2.20753544e-02 2.66429637e+02] [-2.22935109e-02 1.67162759e-03 9.99750071e-01 2.35465784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.260714057 meters Centerline goodness : 0.990441 Centerline is valid? [True, True] Translation: X:300.81, Y:266.45, Z:2.36 [[ 8.50685062e-02 -9.96368841e-01 3.53310599e-03 3.00814909e+02] [ 9.96125619e-01 8.51260184e-02 2.20751706e-02 2.66450836e+02] [-2.22957714e-02 1.64151560e-03 9.99750071e-01 2.35503651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.290714057 meters Centerline goodness : 0.982520 Centerline is valid? [True, True] Translation: X:300.82, Y:266.47, Z:2.36 [[ 8.68236610e-02 -9.96218800e-01 3.12316856e-03 3.00817164e+02] [ 9.95973615e-01 8.68716798e-02 2.21330184e-02 2.66471687e+02] [-2.23206439e-02 1.18892379e-03 9.99750156e-01 2.35876459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3207140569999 meters Centerline goodness : 0.989598 Centerline is valid? [True, True] Translation: X:300.82, Y:266.51, Z:2.35 [[ 8.38020170e-02 -9.96479344e-01 2.47755178e-03 3.00821729e+02] [ 9.96231691e-01 8.38364434e-02 2.22231502e-02 2.66508532e+02] [-2.23526193e-02 6.05870794e-04 9.99749965e-01 2.35202114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3507140569999 meters Centerline goodness : 0.991165 Centerline is valid? [True, True] Translation: X:300.82, Y:266.53, Z:2.35 [[ 8.58684613e-02 -9.96300395e-01 3.48286286e-03 3.00821669e+02] [ 9.96056835e-01 8.59246731e-02 2.20846781e-02 2.66530145e+02] [-2.23022373e-02 1.57275203e-03 9.99750037e-01 2.35196990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.380714057 meters Centerline goodness : 0.989839 Centerline is valid? [True, True] Translation: X:300.83, Y:266.57, Z:2.35 [[ 8.79679040e-02 -9.96118704e-01 3.02898165e-03 3.00832131e+02] [ 9.95873052e-01 8.80135538e-02 2.21467571e-02 2.66566139e+02] [-2.23273905e-02 1.06827739e-03 9.99750142e-01 2.34993758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.410714057 meters Centerline goodness : 0.991597 Centerline is valid? [True, True] Translation: X:300.83, Y:266.59, Z:2.35 [[ 8.71114460e-02 -9.96191938e-01 3.63588258e-03 3.00829396e+02] [ 9.95949032e-01 8.71707314e-02 2.20632949e-02 2.66586042e+02] [-2.22962190e-02 1.69918822e-03 9.99749964e-01 2.35006503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4407140569999 meters Centerline goodness : 0.990224 Centerline is valid? [True, True] Translation: X:300.84, Y:266.62, Z:2.35 [[ 8.78926561e-02 -9.96125377e-01 3.01904614e-03 3.00837507e+02] [ 9.95879703e-01 8.79381032e-02 2.21473840e-02 2.66620142e+02] [-2.23270604e-02 1.06001437e-03 9.99750158e-01 2.34836025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4707140569999 meters Centerline goodness : 0.987692 Centerline is valid? [True, True] Translation: X:300.84, Y:266.64, Z:2.35 [[ 9.23478443e-02 -9.95720795e-01 3.46039384e-03 3.00841681e+02] [ 9.95476793e-01 9.24019722e-02 2.20868978e-02 2.66641445e+02] [-2.23121306e-02 1.40506437e-03 9.99750066e-01 2.35016917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.500714057 meters Centerline goodness : 0.989454 Centerline is valid? [True, True] Translation: X:300.85, Y:266.67, Z:2.35 [[ 8.78501820e-02 -9.96129291e-01 2.96330378e-03 3.00845349e+02] [ 9.95883402e-01 8.78944023e-02 2.21545293e-02 2.66674476e+02] [-2.23292334e-02 1.00482562e-03 9.99750167e-01 2.34697339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.530714057 meters Centerline goodness : 0.988896 Centerline is valid? [True, True] Translation: X:300.85, Y:266.70, Z:2.35 [[ 8.82058196e-02 -9.96096364e-01 3.43045723e-03 3.00848631e+02] [ 9.95852459e-01 8.82602997e-02 2.20907056e-02 2.66699960e+02] [-2.23072447e-02 1.46770048e-03 9.99750085e-01 2.34738530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5607140569999 meters Centerline goodness : 0.988896 Centerline is valid? [True, True] Translation: X:300.85, Y:266.73, Z:2.35 [[ 8.77014410e-02 -9.96141131e-01 3.36209394e-03 3.00851964e+02] [ 9.95896948e-01 8.77545330e-02 2.21000440e-02 2.66727058e+02] [-2.23098019e-02 1.41009338e-03 9.99750111e-01 2.34675021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5907140569999 meters Centerline goodness : 0.991599 Centerline is valid? [True, True] Translation: X:300.85, Y:266.75, Z:2.35 [[ 8.88788934e-02 -9.96036778e-01 3.35854521e-03 3.00852804e+02] [ 9.95792516e-01 8.89316182e-02 2.21005274e-02 2.66748621e+02] [-2.23116190e-02 1.38014376e-03 9.99750112e-01 2.34608994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.620714057 meters Centerline goodness : 0.988627 Centerline is valid? [True, True] Translation: X:300.86, Y:266.78, Z:2.35 [[ 9.42661931e-02 -9.95542510e-01 2.99924911e-03 3.00860934e+02] [ 9.95296493e-01 9.43096265e-02 2.21491816e-02 2.66776218e+02] [-2.23333099e-02 8.97223091e-04 9.99750178e-01 2.34822832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.650714057 meters Centerline goodness : 0.988608 Centerline is valid? [True, True] Translation: X:300.87, Y:266.81, Z:2.35 [[ 9.44584758e-02 -9.95524408e-01 2.95787022e-03 3.00865677e+02] [ 9.95278221e-01 9.45009424e-02 2.21547770e-02 2.66805868e+02] [-2.23351428e-02 8.51197339e-04 9.99750177e-01 2.34616118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6807140569999 meters Centerline goodness : 0.987510 Centerline is valid? [True, True] Translation: X:300.87, Y:266.83, Z:2.35 [[ 9.40392931e-02 -9.95563866e-01 3.03331749e-03 3.00868361e+02] [ 9.95317992e-01 9.40835392e-02 2.21445862e-02 2.66831754e+02] [-2.23317351e-02 9.36654244e-04 9.99750177e-01 2.34683306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7107140569999 meters Centerline goodness : 0.983920 Centerline is valid? [True, True] Translation: X:300.87, Y:266.85, Z:2.35 [[ 9.07318243e-02 -9.95871097e-01 2.91449778e-03 3.00867305e+02] [ 9.95624903e-01 9.07742486e-02 2.21605198e-02 2.66852859e+02] [-2.23335825e-02 8.91082180e-04 9.99750177e-01 2.34881245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.740714057 meters Centerline goodness : 0.988695 Centerline is valid? [True, True] Translation: X:300.87, Y:266.89, Z:2.35 [[ 8.63869328e-02 -9.96258922e-01 2.33620008e-03 3.00872077e+02] [ 9.96010797e-01 8.64175634e-02 2.22372984e-02 2.66888495e+02] [-2.23559957e-02 4.05868501e-04 9.99749991e-01 2.34668277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.770714057 meters Centerline goodness : 0.989175 Centerline is valid? [True, True] Translation: X:300.88, Y:266.92, Z:2.35 [[ 8.63150591e-02 -9.96262609e-01 3.24418094e-03 3.00877117e+02] [ 9.96017934e-01 8.63658850e-02 2.21180700e-02 2.66917329e+02] [-2.23155927e-02 1.32213988e-03 9.99750102e-01 2.34643299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8007140569999 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:300.88, Y:266.94, Z:2.35 [[ 8.56455407e-02 -9.96320190e-01 3.30452427e-03 3.00878693e+02] [ 9.96075809e-01 8.56978667e-02 2.21101665e-02 2.66938691e+02] [-2.23119960e-02 1.39791952e-03 9.99750079e-01 2.34568496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8307140569999 meters Centerline goodness : 0.987980 Centerline is valid? [True, True] Translation: X:300.89, Y:266.96, Z:2.35 [[ 8.90529331e-02 -9.96022723e-01 2.88282080e-03 3.00886537e+02] [ 9.95776471e-01 8.90950690e-02 2.21650160e-02 2.66964447e+02] [-2.23337047e-02 8.96785433e-04 9.99750170e-01 2.34640288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.860714057 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:300.89, Y:266.99, Z:2.34 [[ 8.84618174e-02 -9.96075568e-01 2.82312414e-03 3.00889438e+02] [ 9.95829116e-01 8.85027729e-02 2.21727589e-02 2.66992477e+02] [-2.23355978e-02 8.49906661e-04 9.99750168e-01 2.34330720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.890714057 meters Centerline goodness : 0.991803 Centerline is valid? [True, True] Translation: X:300.89, Y:267.02, Z:2.34 [[ 8.26874869e-02 -9.96571386e-01 2.87270353e-03 3.00892687e+02] [ 9.96325369e-01 8.27309708e-02 2.21663336e-02 2.67019782e+02] [-2.23279953e-02 1.02926898e-03 9.99750169e-01 2.34153499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9207140569999 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:300.90, Y:267.05, Z:2.34 [[ 8.26095906e-02 -9.96577864e-01 2.86635783e-03 3.00901725e+02] [ 9.96331826e-01 8.26529528e-02 2.21671541e-02 2.67053325e+02] [-2.23282081e-02 1.02462400e-03 9.99750169e-01 2.34002612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9507140569999 meters Centerline goodness : 0.989123 Centerline is valid? [True, True] Translation: X:300.91, Y:267.08, Z:2.34 [[ 8.44857866e-02 -9.96419049e-01 3.35117672e-03 3.00905404e+02] [ 9.96174929e-01 8.45394291e-02 2.21041832e-02 2.67075437e+02] [-2.23083357e-02 1.47086893e-03 9.99750056e-01 2.34119237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9807140569999 meters Centerline goodness : 0.992092 Centerline is valid? [True, True] Translation: X:300.91, Y:267.10, Z:2.34 [[ 7.74798012e-02 -9.96989708e-01 2.89876371e-03 3.00906857e+02] [ 9.96744034e-01 7.75251471e-02 2.21626296e-02 2.67102270e+02] [-2.23206407e-02 1.17216930e-03 9.99750176e-01 2.33696762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.010714057 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:300.91, Y:267.13, Z:2.34 [[ 7.63512852e-02 -9.97076881e-01 2.85925697e-03 3.00911086e+02] [ 9.96831098e-01 7.63960334e-02 2.21677253e-02 2.67129093e+02] [-2.23213623e-02 1.15766195e-03 9.99750177e-01 2.33606661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.040714057 meters Centerline goodness : 0.991394 Centerline is valid? [True, True] Translation: X:300.91, Y:267.16, Z:2.34 [[ 7.49776898e-02 -9.97181124e-01 2.85504190e-03 3.00914820e+02] [ 9.96935387e-01 7.50226831e-02 2.21682682e-02 2.67155354e+02] [-2.23199715e-02 1.18416676e-03 9.99750177e-01 2.33660625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0707140569999 meters Centerline goodness : 0.991058 Centerline is valid? [True, True] Translation: X:300.92, Y:267.18, Z:2.34 [[ 7.45651888e-02 -9.97212064e-01 2.85167407e-03 3.00918287e+02] [ 9.96966331e-01 7.46102091e-02 2.21687014e-02 2.67183449e+02] [-2.23196605e-02 1.19000963e-03 9.99750177e-01 2.33707620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1007140569999 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:300.92, Y:267.21, Z:2.34 [[ 7.43734725e-02 -9.97226399e-01 2.84526640e-03 3.00921678e+02] [ 9.96980649e-01 7.44183980e-02 2.21695238e-02 2.67210638e+02] [-2.23197745e-02 1.18785107e-03 9.99750177e-01 2.33675858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.130714057 meters Centerline goodness : 0.991497 Centerline is valid? [True, True] Translation: X:300.93, Y:267.24, Z:2.34 [[ 7.45920911e-02 -9.97210089e-01 2.83886010e-03 3.00925549e+02] [ 9.96964303e-01 7.46368207e-02 2.21703441e-02 2.67237027e+02] [-2.23203743e-02 1.17650986e-03 9.99750177e-01 2.33677162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.160714057 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:300.93, Y:267.26, Z:2.34 [[ 7.40418288e-02 -9.97251104e-01 2.83608188e-03 3.00929445e+02] [ 9.97005332e-01 7.40866324e-02 2.21706995e-02 2.67264789e+02] [-2.23198703e-02 1.18602962e-03 9.99750177e-01 2.33608333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1907140569999 meters Centerline goodness : 0.991454 Centerline is valid? [True, True] Translation: X:300.93, Y:267.29, Z:2.34 [[ 7.32198536e-02 -9.97311809e-01 2.82982668e-03 3.00933304e+02] [ 9.97066049e-01 7.32647211e-02 2.21714978e-02 2.67292190e+02] [-2.23192231e-02 1.19813028e-03 9.99750177e-01 2.33553496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2207140569999 meters Centerline goodness : 0.991684 Centerline is valid? [True, True] Translation: X:300.94, Y:267.32, Z:2.33 [[ 7.12345000e-02 -9.97455600e-01 2.82343745e-03 3.00937080e+02] [ 9.97209903e-01 7.12797151e-02 2.21723114e-02 2.67319556e+02] [-2.23171500e-02 1.23612627e-03 9.99750177e-01 2.33495619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.250714057 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:300.94, Y:267.35, Z:2.33 [[ 7.01223352e-02 -9.97534422e-01 2.81703197e-03 3.00940232e+02] [ 9.97288749e-01 7.01676823e-02 2.21731252e-02 2.67345854e+02] [-2.23161203e-02 1.25456297e-03 9.99750177e-01 2.33381491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.280714057 meters Centerline goodness : 0.992052 Centerline is valid? [True, True] Translation: X:300.94, Y:267.37, Z:2.33 [[ 6.91206374e-02 -9.97604344e-01 2.81268545e-03 3.00943933e+02] [ 9.97358699e-01 6.91661348e-02 2.21736766e-02 2.67372733e+02] [-2.23150987e-02 1.27259764e-03 9.99750177e-01 2.33323185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3107140569999 meters Centerline goodness : 0.992653 Centerline is valid? [True, True] Translation: X:300.95, Y:267.40, Z:2.33 [[ 6.90513021e-02 -9.97609155e-01 2.80935317e-03 3.00947631e+02] [ 9.97363499e-01 6.90967428e-02 2.21740988e-02 2.67400377e+02] [-2.23152011e-02 1.27079591e-03 9.99750177e-01 2.33255478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3407140569999 meters Centerline goodness : 0.991954 Centerline is valid? [True, True] Translation: X:300.95, Y:267.43, Z:2.33 [[ 6.93809020e-02 -9.97586303e-01 2.80334983e-03 3.00951243e+02] [ 9.97340608e-01 6.94261285e-02 2.21748577e-02 2.67427815e+02] [-2.23159601e-02 1.25738299e-03 9.99750177e-01 2.33171045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.370714057 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:300.95, Y:267.46, Z:2.33 [[ 6.97258097e-02 -9.97562273e-01 2.79698589e-03 3.00954878e+02] [ 9.97316537e-01 6.97708103e-02 2.21756604e-02 2.67455718e+02] [-2.23167502e-02 1.24326441e-03 9.99750177e-01 2.33061717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.400714057 meters Centerline goodness : 0.992320 Centerline is valid? [True, True] Translation: X:300.96, Y:267.48, Z:2.33 [[ 7.22028211e-02 -9.97386066e-01 2.79059868e-03 3.00957902e+02] [ 9.97140193e-01 7.22470697e-02 2.21764641e-02 2.67482597e+02] [-2.23201089e-02 1.18141484e-03 9.99750177e-01 2.32885657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4307140569999 meters Centerline goodness : 0.991950 Centerline is valid? [True, True] Translation: X:300.97, Y:267.52, Z:2.33 [[ 7.55817879e-02 -9.97135709e-01 2.78782960e-03 3.00967503e+02] [ 9.96889676e-01 7.56251417e-02 2.21768122e-02 2.67518583e+02] [-2.23241214e-02 1.10299543e-03 9.99750177e-01 2.32650165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4607140569999 meters Centerline goodness : 0.992111 Centerline is valid? [True, True] Translation: X:300.96, Y:267.54, Z:2.33 [[ 7.75245421e-02 -9.96984678e-01 3.39074902e-03 3.00963564e+02] [ 9.96741085e-01 7.75807646e-02 2.21005606e-02 2.67538516e+02] [-2.22969772e-02 1.66636301e-03 9.99750003e-01 2.32773036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.490714057 meters Centerline goodness : 0.990195 Centerline is valid? [True, True] Translation: X:300.98, Y:267.58, Z:2.33 [[ 9.20582288e-02 -9.95749747e-01 2.77914652e-03 3.00983474e+02] [ 9.95503017e-01 9.20973151e-02 2.21772082e-02 2.67576814e+02] [-2.23389013e-02 7.25054244e-04 9.99750193e-01 2.32712232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.520714057 meters Centerline goodness : 0.991468 Centerline is valid? [True, True] Translation: X:300.98, Y:267.61, Z:2.33 [[ 8.61685977e-02 -9.96274506e-01 3.47575945e-03 3.00982044e+02] [ 9.96030850e-01 8.62245824e-02 2.20877367e-02 2.67607642e+02] [-2.23051449e-02 1.55869434e-03 9.99749994e-01 2.32534342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5507140569999 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:300.98, Y:267.63, Z:2.33 [[ 8.41275576e-02 -9.96448879e-01 3.49087769e-03 3.00977925e+02] [ 9.96205405e-01 8.41843753e-02 2.20857970e-02 2.67626121e+02] [-2.23012450e-02 1.61960706e-03 9.99749984e-01 2.32542422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5807140569999 meters Centerline goodness : 0.992702 Centerline is valid? [True, True] Translation: X:300.98, Y:267.65, Z:2.32 [[ 8.45512660e-02 -9.96415158e-01 2.81354169e-03 3.00981479e+02] [ 9.96168882e-01 8.45929737e-02 2.21717546e-02 2.67653041e+02] [-2.23302782e-02 9.28112759e-04 9.99750217e-01 2.32415966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.610714057 meters Centerline goodness : 0.991760 Centerline is valid? [True, True] Translation: X:300.99, Y:267.68, Z:2.32 [[ 8.48205532e-02 -9.96392283e-01 2.80931570e-03 3.00985215e+02] [ 9.96145980e-01 8.48621005e-02 2.21722900e-02 2.67680259e+02] [-2.23307031e-02 9.17822641e-04 9.99750217e-01 2.32459997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.640714057 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:300.99, Y:267.71, Z:2.32 [[ 8.47811001e-02 -9.96395659e-01 2.80292463e-03 3.00989591e+02] [ 9.96149334e-01 8.48225151e-02 2.21730979e-02 2.67707701e+02] [-2.23309296e-02 9.12271870e-04 9.99750217e-01 2.32392870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6707140569999 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:300.99, Y:267.74, Z:2.32 [[ 8.35738295e-02 -9.96497652e-01 2.80094814e-03 3.00993786e+02] [ 9.96251369e-01 8.36154991e-02 2.21733476e-02 2.67735410e+02] [-2.23298915e-02 9.37336844e-04 9.99750217e-01 2.32365319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7007140569999 meters Centerline goodness : 0.992558 Centerline is valid? [True, True] Translation: X:301.00, Y:267.76, Z:2.32 [[ 8.04074436e-02 -9.96758162e-01 2.79474235e-03 3.00999811e+02] [ 9.96511989e-01 8.04497577e-02 2.21741298e-02 2.67762949e+02] [-2.23270811e-02 1.00202917e-03 9.99750218e-01 2.32299451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7307140569999 meters Centerline goodness : 0.990725 Centerline is valid? [True, True] Translation: X:301.01, Y:267.80, Z:2.32 [[ 8.21210000e-02 -9.96618466e-01 2.78846773e-03 3.01012969e+02] [ 9.96372197e-01 8.21627514e-02 2.21749188e-02 2.67798933e+02] [-2.23290417e-02 9.57325217e-04 9.99750218e-01 2.32035420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.760714057 meters Centerline goodness : 0.991371 Centerline is valid? [True, True] Translation: X:301.02, Y:267.83, Z:2.32 [[ 8.24945032e-02 -9.96585272e-01 3.52873785e-03 3.01020076e+02] [ 9.96342063e-01 8.25525559e-02 2.20809548e-02 2.67826532e+02] [-2.22968607e-02 1.69427256e-03 9.99749958e-01 2.31796270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.790714057 meters Centerline goodness : 0.992611 Centerline is valid? [True, True] Translation: X:301.01, Y:267.84, Z:2.32 [[ 6.60804807e-02 -9.97807076e-01 3.79599948e-03 3.01005326e+02] [ 9.97566160e-01 6.61484066e-02 2.20487036e-02 2.67836879e+02] [-2.22514518e-02 2.32977170e-03 9.99749691e-01 2.32210148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8207140569999 meters Centerline goodness : 0.992724 Centerline is valid? [True, True] Translation: X:301.01, Y:267.86, Z:2.32 [[ 6.50196535e-02 -9.97880523e-01 2.62818785e-03 3.01010201e+02] [ 9.97634534e-01 6.50620610e-02 2.21870533e-02 2.67864494e+02] [-2.23110237e-02 1.17937644e-03 9.99750383e-01 2.32182168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8507140569999 meters Centerline goodness : 0.985671 Centerline is valid? [True, True] Translation: X:301.01, Y:267.89, Z:2.32 [[ 6.18917824e-02 -9.98079422e-01 2.62187077e-03 3.01011748e+02] [ 9.97833543e-01 6.19348207e-02 2.21877998e-02 2.67889206e+02] [-2.23075715e-02 1.24294812e-03 9.99750383e-01 2.32262812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.880714057 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:301.02, Y:267.92, Z:2.32 [[ 6.36034778e-02 -9.97972303e-01 2.42499082e-03 3.01019295e+02] [ 9.97725617e-01 6.36417265e-02 2.22109134e-02 2.67916975e+02] [-2.23202070e-02 1.00678413e-03 9.99750366e-01 2.32050920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.910714057 meters Centerline goodness : 0.985490 Centerline is valid? [True, True] Translation: X:301.02, Y:267.94, Z:2.32 [[ 6.27537174e-02 -9.98025649e-01 2.60304046e-03 3.01020460e+02] [ 9.97779660e-01 6.27961259e-02 2.21900274e-02 2.67939331e+02] [-2.23096773e-02 1.20475412e-03 9.99750382e-01 2.31901027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9407140569999 meters Centerline goodness : 0.993465 Centerline is valid? [True, True] Translation: X:301.03, Y:267.97, Z:2.32 [[ 6.40126500e-02 -9.97946655e-01 2.20331103e-03 3.01027302e+02] [ 9.97699184e-01 6.40458710e-02 2.22365846e-02 2.67970218e+02] [-2.23320382e-02 7.74818910e-04 9.99750309e-01 2.31679000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9707140569999 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:301.03, Y:268.00, Z:2.32 [[ 6.41051895e-02 -9.97939785e-01 2.59059898e-03 3.01031097e+02] [ 9.97693694e-01 6.41469889e-02 2.21913747e-02 2.67997704e+02] [-2.23118348e-02 1.16204198e-03 9.99750385e-01 2.31513293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.000714057 meters Centerline goodness : 0.986109 Centerline is valid? [True, True] Translation: X:301.03, Y:268.02, Z:2.31 [[ 6.11173459e-02 -9.98127242e-01 2.58435171e-03 3.01032719e+02] [ 9.97881254e-01 6.11597434e-02 2.21921022e-02 2.68022221e+02] [-2.23086001e-02 1.22255374e-03 9.99750385e-01 2.31293859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.030714057 meters Centerline goodness : 0.985590 Centerline is valid? [True, True] Translation: X:301.04, Y:268.05, Z:2.31 [[ 6.22236149e-02 -9.98059373e-01 2.38972038e-03 3.01037809e+02] [ 9.97812620e-01 6.22614212e-02 2.22146568e-02 2.68049013e+02] [-2.23203338e-02 1.00221691e-03 9.99750368e-01 2.31266155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0607140569999 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:301.04, Y:268.08, Z:2.31 [[ 6.38217738e-02 -9.97958579e-01 2.33568122e-03 3.01043853e+02] [ 9.97711576e-01 6.38579845e-02 2.22209092e-02 2.68077940e+02] [-2.23246989e-02 9.12158345e-04 9.99750357e-01 2.31090585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0907140569999 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:301.05, Y:268.11, Z:2.31 [[ 6.36725641e-02 -9.97967538e-01 2.56877546e-03 3.01047324e+02] [ 9.97721383e-01 6.37139862e-02 2.21939310e-02 2.68105729e+02] [-2.23124896e-02 1.14977771e-03 9.99750384e-01 2.31038368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.120714057 meters Centerline goodness : 0.985409 Centerline is valid? [True, True] Translation: X:301.05, Y:268.13, Z:2.31 [[ 6.07741447e-02 -9.98148254e-01 2.56233549e-03 3.01047778e+02] [ 9.97902197e-01 6.08161387e-02 2.21946745e-02 2.68132509e+02] [-2.23094069e-02 1.20809786e-03 9.99750384e-01 2.30961905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.150714057 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:301.05, Y:268.16, Z:2.31 [[ 6.52054570e-02 -9.97868593e-01 2.55315809e-03 3.01054391e+02] [ 9.97622318e-01 6.52461544e-02 2.21957301e-02 2.68157881e+02] [-2.23150058e-02 1.09980476e-03 9.99750384e-01 2.30887363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1807140569999 meters Centerline goodness : 0.991001 Centerline is valid? [True, True] Translation: X:301.07, Y:268.19, Z:2.31 [[ 7.37541566e-02 -9.97273210e-01 2.54349906e-03 3.01068893e+02] [ 9.97026561e-01 7.37925275e-02 2.21968370e-02 2.68191701e+02] [-2.23240021e-02 8.98827128e-04 9.99750384e-01 2.31171514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2107140569999 meters Centerline goodness : 0.991390 Centerline is valid? [True, True] Translation: X:301.07, Y:268.22, Z:2.31 [[ 7.35963856e-02 -9.97283756e-01 2.94670110e-03 3.01071905e+02] [ 9.97038591e-01 7.36437421e-02 2.21505515e-02 2.68221282e+02] [-2.23073913e-02 1.30777418e-03 9.99750304e-01 2.31408804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.240714057 meters Centerline goodness : 0.990707 Centerline is valid? [True, True] Translation: X:301.08, Y:268.25, Z:2.31 [[ 7.70994187e-02 -9.97018651e-01 3.08055872e-03 3.01076353e+02] [ 9.96773841e-01 7.71488798e-02 2.21350294e-02 2.68247492e+02] [-2.23066988e-02 1.36402245e-03 9.99750244e-01 2.31010955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.270714057 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:301.07, Y:268.27, Z:2.31 [[ 7.21153627e-02 -9.97392009e-01 2.92488617e-03 3.01070743e+02] [ 9.97146837e-01 7.21625995e-02 2.21527402e-02 2.68268838e+02] [-2.23060334e-02 1.31898810e-03 9.99750319e-01 2.30855656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3007140569999 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:301.08, Y:268.30, Z:2.31 [[ 7.26869835e-02 -9.97351808e-01 2.44408093e-03 3.01075038e+02] [ 9.97104887e-01 7.27234077e-02 2.22069967e-02 2.68297112e+02] [-2.23259302e-02 8.22845435e-04 9.99750407e-01 2.30778173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3307140569999 meters Centerline goodness : 0.991430 Centerline is valid? [True, True] Translation: X:301.09, Y:268.34, Z:2.31 [[ 7.92779572e-02 -9.96849524e-01 2.45602855e-03 3.01091340e+02] [ 9.96602406e-01 7.93130143e-02 2.22056488e-02 2.68335836e+02] [-2.23304855e-02 6.87265484e-04 9.99750407e-01 2.30780639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.360714057 meters Centerline goodness : 0.991447 Centerline is valid? [True, True] Translation: X:301.10, Y:268.36, Z:2.31 [[ 8.10941965e-02 -9.96701306e-01 3.19967340e-03 3.01095053e+02] [ 9.96456768e-01 8.11453151e-02 2.21212195e-02 2.68359804e+02] [-2.23078869e-02 1.39443369e-03 9.99750176e-01 2.30520660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.390714057 meters Centerline goodness : 0.991326 Centerline is valid? [True, True] Translation: X:301.10, Y:268.39, Z:2.31 [[ 7.99656173e-02 -9.96793358e-01 2.91576864e-03 3.01100127e+02] [ 9.96547803e-01 8.00107194e-02 2.21531418e-02 2.68390195e+02] [-2.23153974e-02 1.13421317e-03 9.99750337e-01 2.30501708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4207140569999 meters Centerline goodness : 0.990092 Centerline is valid? [True, True] Translation: X:301.10, Y:268.41, Z:2.31 [[ 8.17719836e-02 -9.96646308e-01 3.07875528e-03 3.01104078e+02] [ 9.96401272e-01 8.18202561e-02 2.21348344e-02 2.68412668e+02] [-2.23125055e-02 1.25766636e-03 9.99750254e-01 2.30717412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4507140569999 meters Centerline goodness : 0.990092 Centerline is valid? [True, True] Translation: X:301.11, Y:268.44, Z:2.31 [[ 8.13010572e-02 -9.96685570e-01 2.83069668e-03 3.01107101e+02] [ 9.96439649e-01 8.13439418e-02 2.21628028e-02 2.68440840e+02] [-2.23196058e-02 1.01875910e-03 9.99750368e-01 2.30646616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4807140569999 meters Centerline goodness : 0.989648 Centerline is valid? [True, True] Translation: X:301.11, Y:268.47, Z:2.30 [[ 8.04567179e-02 -9.96754250e-01 2.77145044e-03 3.01112018e+02] [ 9.96508159e-01 8.04984952e-02 2.21693816e-02 2.68470814e+02] [-2.23205229e-02 9.78097297e-04 9.99750388e-01 2.30420609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.510714057 meters Centerline goodness : 0.990214 Centerline is valid? [True, True] Translation: X:301.12, Y:268.50, Z:2.30 [[ 8.00372641e-02 -9.96787689e-01 2.88779009e-03 3.01116399e+02] [ 9.96542024e-01 8.00817280e-02 2.21565079e-02 2.68499075e+02] [-2.23165936e-02 1.10445791e-03 9.99750344e-01 2.30320794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.540714057 meters Centerline goodness : 0.989885 Centerline is valid? [True, True] Translation: X:301.12, Y:268.53, Z:2.30 [[ 8.05976443e-02 -9.96742509e-01 2.89667583e-03 3.01120426e+02] [ 9.96496851e-01 8.06421672e-02 2.21555268e-02 2.68525207e+02] [-2.23169496e-02 1.10084507e-03 9.99750340e-01 2.30277000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5707140569999 meters Centerline goodness : 0.989521 Centerline is valid? [True, True] Translation: X:301.13, Y:268.55, Z:2.30 [[ 8.31374527e-02 -9.96534086e-01 2.82483434e-03 3.01127161e+02] [ 9.96288066e-01 8.31797538e-02 2.21634237e-02 2.68552991e+02] [-2.23215762e-02 9.71738154e-04 9.99750370e-01 2.30139995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6007140569999 meters Centerline goodness : 0.990136 Centerline is valid? [True, True] Translation: X:301.13, Y:268.58, Z:2.30 [[ 8.78207130e-02 -9.96132180e-01 2.86399616e-03 3.01133824e+02] [ 9.95886095e-01 8.78627278e-02 2.21591292e-02 2.68583524e+02] [-2.23250602e-02 9.06183424e-04 9.99750354e-01 2.29646727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.630714057 meters Centerline goodness : 0.988876 Centerline is valid? [True, True] Translation: X:301.14, Y:268.61, Z:2.30 [[ 8.82086873e-02 -9.96097640e-01 2.95286143e-03 3.01137984e+02] [ 9.95851835e-01 8.82525812e-02 2.21495951e-02 2.68609026e+02] [-2.23237571e-02 9.86825757e-04 9.99750307e-01 2.30075682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.660714057 meters Centerline goodness : 0.988937 Centerline is valid? [True, True] Translation: X:301.14, Y:268.63, Z:2.30 [[ 8.89467327e-02 -9.96032585e-01 2.75108742e-03 3.01140913e+02] [ 9.95786092e-01 8.89859583e-02 2.21711295e-02 2.68634817e+02] [-2.23279756e-02 7.67445059e-04 9.99750405e-01 2.30217098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6907140569999 meters Centerline goodness : 0.988293 Centerline is valid? [True, True] Translation: X:301.14, Y:268.66, Z:2.30 [[ 9.10160300e-02 -9.95845885e-01 2.65640269e-03 3.01144915e+02] [ 9.95599021e-01 9.10526358e-02 2.21812384e-02 2.68660145e+02] [-2.23309674e-02 6.25863659e-04 9.99750437e-01 2.30271592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7207140569999 meters Centerline goodness : 0.988421 Centerline is valid? [True, True] Translation: X:301.15, Y:268.69, Z:2.30 [[ 9.03268999e-02 -9.95908809e-01 2.58737856e-03 3.01148558e+02] [ 9.95661764e-01 9.03621396e-02 2.21886524e-02 2.68686335e+02] [-2.23316755e-02 5.71921710e-04 9.99750453e-01 2.30130865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.750714057 meters Centerline goodness : 0.985603 Centerline is valid? [True, True] Translation: X:301.15, Y:268.71, Z:2.30 [[ 8.95302104e-02 -9.95981102e-01 2.44654719e-03 3.01150810e+02] [ 9.95733674e-01 8.95625105e-02 2.22037854e-02 2.68710553e+02] [-2.23336696e-02 4.48199836e-04 9.99750472e-01 2.29812473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.780714057 meters Centerline goodness : 0.985076 Centerline is valid? [True, True] Translation: X:301.16, Y:268.73, Z:2.30 [[ 9.04607989e-02 -9.95897698e-01 2.14907729e-03 3.01159036e+02] [ 9.95649449e-01 9.04862322e-02 2.22354963e-02 2.68733657e+02] [-2.23387415e-02 1.28286861e-04 9.99750451e-01 2.29718628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8107140569999 meters Centerline goodness : 0.987726 Centerline is valid? [True, True] Translation: X:301.17, Y:268.77, Z:2.30 [[ 8.88768619e-02 -9.96040648e-01 1.98248958e-03 3.01166837e+02] [ 9.95792031e-01 8.88989698e-02 2.22531855e-02 2.68765828e+02] [-2.23413186e-02 -3.64596785e-06 9.99750402e-01 2.29766258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8407140569999 meters Centerline goodness : 0.989143 Centerline is valid? [True, True] Translation: X:301.17, Y:268.79, Z:2.29 [[ 8.45640300e-02 -9.96415096e-01 2.42504822e-03 3.01170028e+02] [ 9.96167762e-01 8.45970845e-02 2.22063785e-02 2.68792945e+02] [-2.23319228e-02 5.37893993e-04 9.99750467e-01 2.28951989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.870714057 meters Centerline goodness : 0.990509 Centerline is valid? [True, True] Translation: X:301.18, Y:268.82, Z:2.29 [[ 8.17245142e-02 -9.96652210e-01 2.34030295e-03 3.01176010e+02] [ 9.96404724e-01 8.17563858e-02 2.22153062e-02 2.68819156e+02] [-2.23322688e-02 5.16353803e-04 9.99750470e-01 2.28996321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.900714057 meters Centerline goodness : 0.985677 Centerline is valid? [True, True] Translation: X:301.19, Y:268.85, Z:2.30 [[ 8.28913529e-02 -9.96555849e-01 2.33753308e-03 3.01193104e+02] [ 9.96308318e-01 8.29228730e-02 2.22155977e-02 2.68851180e+02] [-2.23329188e-02 4.87422705e-04 9.99750470e-01 2.29794270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9307140569999 meters Centerline goodness : 0.986373 Centerline is valid? [True, True] Translation: X:301.20, Y:268.88, Z:2.30 [[ 7.63075605e-02 -9.97080809e-01 2.64896703e-03 3.01197166e+02] [ 9.96834470e-01 7.63476416e-02 2.21828126e-02 2.68877580e+02] [-2.23202991e-02 9.47865338e-04 9.99750422e-01 2.29732282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9607140569999 meters Centerline goodness : 0.985942 Centerline is valid? [True, True] Translation: X:301.21, Y:268.90, Z:2.29 [[ 6.91818293e-02 -9.97600801e-01 2.55287404e-03 3.01205041e+02] [ 9.97354426e-01 6.92215358e-02 2.21929907e-02 2.68903281e+02] [-2.23164592e-02 1.01076852e-03 9.99750446e-01 2.29472973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.990714057 meters Centerline goodness : 0.982691 Centerline is valid? [True, True] Translation: X:301.20, Y:268.92, Z:2.30 [[ 5.83205493e-02 -9.98295142e-01 2.35025612e-03 3.01202580e+02] [ 9.98048503e-01 5.83584393e-02 2.22143732e-02 2.68923375e+02] [-2.23136582e-02 1.05011515e-03 9.99750468e-01 2.29792671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.020714057 meters Centerline goodness : 0.983337 Centerline is valid? [True, True] Translation: X:301.21, Y:268.95, Z:2.29 [[ 5.18789830e-02 -9.98651943e-01 1.69354096e-03 3.01207168e+02] [ 9.98403482e-01 5.19038617e-02 2.22817668e-02 2.68953099e+02] [-2.23396310e-02 5.34881789e-04 9.99750296e-01 2.28895596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0507140569999 meters Centerline goodness : 0.988107 Centerline is valid? [True, True] Translation: X:301.22, Y:268.98, Z:2.28 [[ 4.57823449e-02 -9.98949610e-01 1.91145006e-03 3.01215513e+02] [ 9.98701975e-01 4.58135881e-02 2.22593956e-02 2.68984128e+02] [-2.23235849e-02 8.89881620e-04 9.99750402e-01 2.28458330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0807140569999 meters Centerline goodness : 0.982191 Centerline is valid? [True, True] Translation: X:301.22, Y:269.00, Z:2.30 [[ 4.36984849e-02 -9.99042145e-01 2.28818533e-03 3.01217705e+02] [ 9.98795865e-01 4.37386062e-02 2.22206025e-02 2.69003251e+02] [-2.22994005e-02 1.31442338e-03 9.99750473e-01 2.29537322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.110714057 meters Centerline goodness : 0.988083 Centerline is valid? [True, True] Translation: X:301.22, Y:269.04, Z:2.29 [[ 3.84357117e-02 -9.99259803e-01 1.59470832e-03 3.01222827e+02] [ 9.99011418e-01 3.84617315e-02 2.22908310e-02 2.69037557e+02] [-2.23356667e-02 7.36367867e-04 9.99750257e-01 2.28500747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.140714057 meters Centerline goodness : 0.987384 Centerline is valid? [True, True] Translation: X:301.23, Y:269.07, Z:2.28 [[ 3.25512786e-02 -9.99467493e-01 2.26805802e-03 3.01226556e+02] [ 9.99221611e-01 3.25936984e-02 2.22221120e-02 2.69065500e+02] [-2.22842030e-02 1.54293443e-03 9.99750486e-01 2.28382857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1707140569999 meters Centerline goodness : 0.987726 Centerline is valid? [True, True] Translation: X:301.23, Y:269.09, Z:2.28 [[ 2.96306092e-02 -9.99558359e-01 2.26164867e-03 3.01229250e+02] [ 9.99312577e-01 2.96736056e-02 2.22227643e-02 2.69092974e+02] [-2.22800611e-02 1.60161991e-03 9.99750486e-01 2.28268513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2007140569999 meters Centerline goodness : 0.986583 Centerline is valid? [True, True] Translation: X:301.24, Y:269.13, Z:2.28 [[ 2.62774492e-02 -9.99652136e-01 2.25873492e-03 3.01237323e+02] [ 9.99406489e-01 2.63212054e-02 2.22230604e-02 2.69127820e+02] [-2.22747825e-02 1.67342900e-03 9.99750486e-01 2.28280952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2307140569999 meters Centerline goodness : 0.987736 Centerline is valid? [True, True] Translation: X:301.23, Y:269.15, Z:2.28 [[ 2.14039028e-02 -9.99766957e-01 2.81158886e-03 3.01233246e+02] [ 9.99523923e-01 2.14610372e-02 2.21664552e-02 2.69148359e+02] [-2.22216291e-02 2.33580168e-03 9.99750340e-01 2.28010757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.260714057 meters Centerline goodness : 0.985311 Centerline is valid? [True, True] Translation: X:301.24, Y:269.18, Z:2.28 [[ 2.56747900e-02 -9.99667817e-01 2.24983180e-03 3.01240790e+02] [ 9.99422174e-01 2.57184965e-02 2.22233296e-02 2.69176994e+02] [-2.22738097e-02 1.67795247e-03 9.99750500e-01 2.28373371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.290714057 meters Centerline goodness : 0.988208 Centerline is valid? [True, True] Translation: X:301.24, Y:269.20, Z:2.28 [[ 1.72740644e-02 -9.99848118e-01 2.31253127e-03 3.01236787e+02] [ 9.99603112e-01 1.73212168e-02 2.22169876e-02 2.69203654e+02] [-2.22536691e-02 1.92783578e-03 9.99750498e-01 2.27854558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3207140569999 meters Centerline goodness : 0.987672 Centerline is valid? [True, True] Translation: X:301.24, Y:269.23, Z:2.28 [[ 1.56685942e-02 -9.99874729e-01 2.24066946e-03 3.01236407e+02] [ 9.99629500e-01 1.57145547e-02 2.22242328e-02 2.69232135e+02] [-2.22566599e-02 1.89161680e-03 9.99750500e-01 2.27845518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3507140569999 meters Centerline goodness : 0.988448 Centerline is valid? [True, True] Translation: X:301.24, Y:269.27, Z:2.28 [[ 1.63919926e-02 -9.99863146e-01 2.23435198e-03 3.01242011e+02] [ 9.99617857e-01 1.64376362e-02 2.22248680e-02 2.69267832e+02] [-2.22585539e-02 1.86918827e-03 9.99750500e-01 2.28038340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.380714057 meters Centerline goodness : 0.989691 Centerline is valid? [True, True] Translation: X:301.23, Y:269.29, Z:2.28 [[ 1.57282510e-02 -9.99872522e-01 2.75000796e-03 3.01234522e+02] [ 9.99629528e-01 1.57854114e-02 2.21726682e-02 2.69289019e+02] [-2.22132517e-02 2.40025187e-03 9.99750374e-01 2.27817082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.410714057 meters Centerline goodness : 0.989838 Centerline is valid? [True, True] Translation: X:301.23, Y:269.32, Z:2.28 [[ 1.56288878e-02 -9.99875384e-01 2.22575193e-03 3.01234288e+02] [ 9.99630107e-01 1.56745278e-02 2.22251733e-02 2.69317159e+02] [-2.22572913e-02 1.87757390e-03 9.99750513e-01 2.27722843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4407140569999 meters Centerline goodness : 0.989586 Centerline is valid? [True, True] Translation: X:301.23, Y:269.34, Z:2.28 [[ 1.64132294e-02 -9.99862831e-01 2.21932400e-03 3.01231156e+02] [ 9.99617492e-01 1.64585351e-02 2.22258151e-02 2.69344475e+02] [-2.22592932e-02 1.85367769e-03 9.99750513e-01 2.27667754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4707140569999 meters Centerline goodness : 0.989411 Centerline is valid? [True, True] Translation: X:301.23, Y:269.38, Z:2.28 [[ 1.77837471e-02 -9.99839402e-01 2.21569884e-03 3.01234831e+02] [ 9.99593986e-01 1.78286364e-02 2.22261765e-02 2.69378358e+02] [-2.22621099e-02 1.81953454e-03 9.99750513e-01 2.27687961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.500714057 meters Centerline goodness : 0.987809 Centerline is valid? [True, True] Translation: X:301.23, Y:269.40, Z:2.28 [[ 2.27764277e-02 -9.99737104e-01 2.63768422e-03 3.01234333e+02] [ 9.99493218e-01 2.28294009e-02 2.21839028e-02 2.69398189e+02] [-2.22382875e-02 2.13107743e-03 9.99750427e-01 2.27929301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.530714057 meters Centerline goodness : 0.990218 Centerline is valid? [True, True] Translation: X:301.23, Y:269.43, Z:2.28 [[ 1.74120275e-02 -9.99846199e-01 2.09761508e-03 3.01230207e+02] [ 9.99600342e-01 1.74543985e-02 2.22373415e-02 2.69427354e+02] [-2.22705340e-02 1.70957955e-03 9.99750519e-01 2.27536009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5607140569999 meters Centerline goodness : 0.990761 Centerline is valid? [True, True] Translation: X:301.23, Y:269.46, Z:2.28 [[ 1.65376569e-02 -9.99860829e-01 2.19750192e-03 3.01226074e+02] [ 9.99615407e-01 1.65824493e-02 2.22274664e-02 2.69455788e+02] [-2.22608129e-02 1.82906656e-03 9.99750524e-01 2.27543417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5907140569999 meters Centerline goodness : 0.990522 Centerline is valid? [True, True] Translation: X:301.23, Y:269.48, Z:2.27 [[ 1.60916764e-02 -9.99868119e-01 2.19128477e-03 3.01225500e+02] [ 9.99622693e-01 1.61364410e-02 2.22280793e-02 2.69484206e+02] [-2.22605074e-02 1.83277092e-03 9.99750524e-01 2.27486871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.620714057 meters Centerline goodness : 0.990737 Centerline is valid? [True, True] Translation: X:301.22, Y:269.51, Z:2.28 [[ 1.47140972e-02 -9.99889355e-01 2.18490561e-03 3.01221870e+02] [ 9.99643964e-01 1.47590591e-02 2.22287063e-02 2.69511424e+02] [-2.22584939e-02 1.85705236e-03 9.99750524e-01 2.27500458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.650714057 meters Centerline goodness : 0.991915 Centerline is valid? [True, True] Translation: X:301.22, Y:269.54, Z:2.27 [[ 1.37464549e-02 -9.99903134e-01 2.18135300e-03 3.01221278e+02] [ 9.99657772e-01 1.37915758e-02 2.22290549e-02 2.69539067e+02] [-2.22569860e-02 1.87503578e-03 9.99750524e-01 2.27398543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6807140569999 meters Centerline goodness : 0.992157 Centerline is valid? [True, True] Translation: X:301.22, Y:269.57, Z:2.27 [[ 1.30682087e-02 -9.99912242e-01 2.17512335e-03 3.01220961e+02] [ 9.99666885e-01 1.31133586e-02 2.22296645e-02 2.69567121e+02] [-2.22562368e-02 1.88389689e-03 9.99750524e-01 2.27331925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7107140569999 meters Centerline goodness : 0.988773 Centerline is valid? [True, True] Translation: X:301.22, Y:269.59, Z:2.28 [[ 1.82934495e-02 -9.99830309e-01 2.16872943e-03 3.01223960e+02] [ 9.99584695e-01 1.83371753e-02 2.22302882e-02 2.69591603e+02] [-2.22662843e-02 1.76116009e-03 9.99750524e-01 2.27759958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.740714057 meters Centerline goodness : 0.991155 Centerline is valid? [True, True] Translation: X:301.22, Y:269.62, Z:2.27 [[ 1.27138996e-02 -9.99917105e-01 2.03494476e-03 3.01215867e+02] [ 9.99671205e-01 1.27560407e-02 2.22433079e-02 2.69622566e+02] [-2.22674219e-02 1.75147650e-03 9.99750516e-01 2.27185620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.770714057 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:301.21, Y:269.65, Z:2.27 [[ 1.31553429e-02 -9.99911130e-01 2.16064560e-03 3.01214560e+02] [ 9.99665711e-01 1.32001518e-02 2.22310912e-02 2.69649595e+02] [-2.22576363e-02 1.86746569e-03 9.99750524e-01 2.27132111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8007140569999 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:301.21, Y:269.68, Z:2.27 [[ 1.43932206e-02 -9.99894084e-01 2.15783405e-03 3.01210005e+02] [ 9.99648598e-01 1.44376636e-02 2.22313641e-02 2.69677516e+02] [-2.22601635e-02 1.83709486e-03 9.99750524e-01 2.27099779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8307140569999 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:301.21, Y:269.71, Z:2.27 [[ 1.48956681e-02 -9.99886731e-01 2.15504673e-03 3.01209427e+02] [ 9.99641212e-01 1.49399261e-02 2.22316343e-02 2.69705794e+02] [-2.22613123e-02 1.82311848e-03 9.99750524e-01 2.27078059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.860714057 meters Centerline goodness : 0.992949 Centerline is valid? [True, True] Translation: X:301.21, Y:269.73, Z:2.27 [[ 1.47448202e-02 -9.99888981e-01 2.14863626e-03 3.01206103e+02] [ 9.99643443e-01 1.47889738e-02 2.22322538e-02 2.69734515e+02] [-2.22615617e-02 1.82005956e-03 9.99750524e-01 2.27054302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.890714057 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:301.21, Y:269.76, Z:2.27 [[ 1.39494056e-02 -9.99900408e-01 2.14222560e-03 3.01205885e+02] [ 9.99654880e-01 1.39936129e-02 2.22328715e-02 2.69762236e+02] [-2.22606347e-02 1.83135094e-03 9.99750524e-01 2.27011927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9207140569999 meters Centerline goodness : 0.992141 Centerline is valid? [True, True] Translation: X:301.21, Y:269.79, Z:2.27 [[ 1.26778210e-02 -9.99917352e-01 2.13583077e-03 3.01205518e+02] [ 9.99671855e-01 1.27221993e-02 2.22334858e-02 2.69790288e+02] [-2.22588207e-02 1.85325775e-03 9.99750524e-01 2.26945273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9507140569999 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:301.20, Y:269.82, Z:2.27 [[ 1.00536719e-02 -9.99947193e-01 2.12947618e-03 3.01201647e+02] [ 9.99701788e-01 1.00985541e-02 2.22340944e-02 2.69817811e+02] [-2.22544249e-02 1.90530685e-03 9.99750524e-01 2.26916464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9807140569999 meters Centerline goodness : 0.991526 Centerline is valid? [True, True] Translation: X:301.21, Y:269.86, Z:2.27 [[ 1.54181066e-02 -9.99878872e-01 2.12672243e-03 3.01214702e+02] [ 9.99633219e-01 1.54616107e-02 2.22343578e-02 2.69858773e+02] [-2.22645472e-02 1.78313069e-03 9.99750524e-01 2.26760075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.010714057 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:301.21, Y:269.89, Z:2.27 [[ 8.99659459e-03 -9.99955291e-01 2.91162196e-03 3.01208535e+02] [ 9.99713481e-01 9.05893201e-03 2.21560687e-02 2.69886922e+02] [-2.21814543e-02 2.71145856e-03 9.99750284e-01 2.26623829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.040714057 meters Centerline goodness : 0.991322 Centerline is valid? [True, True] Translation: X:301.21, Y:269.91, Z:2.27 [[ 6.96483843e-03 -9.99972156e-01 2.67911141e-03 3.01207805e+02] [ 9.99729349e-01 7.02256919e-03 2.21790981e-02 2.69914674e+02] [-2.21972948e-02 2.52391248e-03 9.99750424e-01 2.26609454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0707140569999 meters Centerline goodness : 0.991838 Centerline is valid? [True, True] Translation: X:301.21, Y:269.94, Z:2.27 [[ 6.02332848e-03 -9.99978377e-01 2.63918761e-03 3.01208159e+02] [ 9.99735436e-01 6.08041156e-03 2.21830243e-02 2.69943118e+02] [-2.21985920e-02 2.50487373e-03 9.99750443e-01 2.26624945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1007140569999 meters Centerline goodness : 0.991255 Centerline is valid? [True, True] Translation: X:301.20, Y:269.96, Z:2.27 [[ 3.58187932e-03 -9.99989991e-01 2.68103517e-03 3.01198909e+02] [ 9.99747389e-01 3.64047347e-03 2.21789485e-02 2.69962976e+02] [-2.21884868e-02 2.60091559e-03 9.99750422e-01 2.26815956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.130714057 meters Centerline goodness : 0.992114 Centerline is valid? [True, True] Translation: X:301.20, Y:269.99, Z:2.27 [[ 2.77369960e-03 -9.99993862e-01 2.14058916e-03 3.01198400e+02] [ 9.99748882e-01 2.82060780e-03 2.22309906e-02 2.69990915e+02] [-2.22368919e-02 2.07838953e-03 9.99750569e-01 2.26751741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.160714057 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:301.20, Y:270.02, Z:2.27 [[ 2.09411958e-03 -9.99995529e-01 2.13442494e-03 3.01197905e+02] [ 9.99750555e-01 2.14105842e-03 2.22315824e-02 2.70017927e+02] [-2.22360529e-02 2.08733693e-03 9.99750569e-01 2.26624312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1907140569999 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:301.20, Y:270.05, Z:2.26 [[ 1.44353825e-03 -9.99996687e-01 2.13106222e-03 3.01201428e+02] [ 9.99751730e-01 1.49056237e-03 2.22319047e-02 2.70052230e+02] [-2.22350076e-02 2.09844054e-03 9.99750569e-01 2.26188220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2207140569999 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:301.20, Y:270.08, Z:2.26 [[-1.62171337e-04 -9.99996693e-01 2.56659477e-03 3.01198055e+02] [ 9.99753767e-01 -1.05179170e-04 2.21899397e-02 2.70079518e+02] [-2.21895964e-02 2.56956136e-03 9.99750478e-01 2.26104282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.250714057 meters Centerline goodness : 0.991190 Centerline is valid? [True, True] Translation: X:301.20, Y:270.10, Z:2.26 [[ 8.65257740e-04 -9.99996454e-01 2.51857856e-03 3.01195647e+02] [ 9.99753246e-01 9.20946221e-04 2.21945512e-02 2.70101213e+02] [-2.21967920e-02 2.49875309e-03 9.99750498e-01 2.26425855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.280714057 meters Centerline goodness : 0.988817 Centerline is valid? [True, True] Translation: X:301.19, Y:270.13, Z:2.26 [[-1.32557149e-03 -9.99996887e-01 2.11379872e-03 3.01193490e+02] [ 9.99751998e-01 -1.27825056e-03 2.22330374e-02 2.70134374e+02] [-2.22302662e-02 2.14274597e-03 9.99750581e-01 2.26086285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3107140569999 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:301.19, Y:270.16, Z:2.26 [[ 6.27814092e-04 -9.99996720e-01 2.48317479e-03 3.01192069e+02] [ 9.99753365e-01 6.82782523e-04 2.21978065e-02 2.70156529e+02] [-2.21994292e-02 2.46862626e-03 9.99750515e-01 2.26416759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3407140569999 meters Centerline goodness : 0.989699 Centerline is valid? [True, True] Translation: X:301.19, Y:270.19, Z:2.26 [[-9.70672438e-04 -9.99997325e-01 2.09973313e-03 3.01192129e+02] [ 9.99752367e-01 -9.23749032e-04 2.22340196e-02 2.70190102e+02] [-2.22320205e-02 2.12079512e-03 9.99750589e-01 2.25971387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.370714057 meters Centerline goodness : 0.989699 Centerline is valid? [True, True] Translation: X:301.19, Y:270.22, Z:2.26 [[-1.70158855e-03 -9.99995372e-01 2.52204178e-03 3.01194073e+02] [ 9.99752328e-01 -1.64520043e-03 2.21940400e-02 2.70217236e+02] [-2.21897880e-02 2.55918227e-03 9.99750501e-01 2.25927125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.400714057 meters Centerline goodness : 0.991108 Centerline is valid? [True, True] Translation: X:301.19, Y:270.24, Z:2.26 [[-5.80183651e-04 -9.99996690e-01 2.50679054e-03 3.01193185e+02] [ 9.99753513e-01 -5.24402973e-04 2.21954751e-02 2.70238855e+02] [-2.21940871e-02 2.51905010e-03 9.99750507e-01 2.26225453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4307140569999 meters Centerline goodness : 0.990864 Centerline is valid? [True, True] Translation: X:301.19, Y:270.27, Z:2.26 [[-3.40991559e-03 -9.99992045e-01 2.06933122e-03 3.01194834e+02] [ 9.99747089e-01 -3.36306590e-03 2.22361878e-02 2.70271013e+02] [-2.22290517e-02 2.14463139e-03 9.99750604e-01 2.25637316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4607140569999 meters Centerline goodness : 0.991056 Centerline is valid? [True, True] Translation: X:301.20, Y:270.30, Z:2.26 [[-2.71766414e-03 -9.99993493e-01 2.37246158e-03 3.01197910e+02] [ 9.99749823e-01 -2.66431409e-03 2.22079410e-02 2.70299729e+02] [-2.22014755e-02 2.43222177e-03 9.99750558e-01 2.25868273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.490714057 meters Centerline goodness : 0.991526 Centerline is valid? [True, True] Translation: X:301.20, Y:270.33, Z:2.26 [[-4.89335001e-03 -9.99984745e-01 2.56232271e-03 3.01195799e+02] [ 9.99742056e-01 -4.83530096e-03 2.21910399e-02 2.70328236e+02] [-2.21783118e-02 2.67025030e-03 9.99750465e-01 2.25808260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.520714057 meters Centerline goodness : 0.991520 Centerline is valid? [True, True] Translation: X:301.20, Y:270.36, Z:2.26 [[-6.57499149e-03 -9.99975275e-01 2.49381405e-03 3.01196284e+02] [ 9.99732367e-01 -6.51803760e-03 2.21970702e-02 2.70357202e+02] [-2.21802666e-02 2.63909217e-03 9.99750504e-01 2.25740394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5507140569999 meters Centerline goodness : 0.992097 Centerline is valid? [True, True] Translation: X:301.19, Y:270.38, Z:2.26 [[-8.95887158e-03 -9.99956750e-01 2.49742243e-03 3.01194103e+02] [ 9.99713995e-01 -8.90125961e-03 2.21967551e-02 2.70384341e+02] [-2.21735649e-02 2.69556603e-03 9.99750502e-01 2.25595189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5807140569999 meters Centerline goodness : 0.991645 Centerline is valid? [True, True] Translation: X:301.20, Y:270.41, Z:2.26 [[-8.22157733e-03 -9.99963314e-01 2.40329665e-03 3.01196197e+02] [ 9.99720088e-01 -8.16621056e-03 2.22049273e-02 2.70414650e+02] [-2.21844869e-02 2.58518346e-03 9.99750552e-01 2.25652826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.610714057 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:301.20, Y:270.44, Z:2.26 [[-1.08460482e-02 -9.99938007e-01 2.51895314e-03 3.01195324e+02] [ 9.99695460e-01 -1.07875058e-02 2.21949856e-02 2.70440978e+02] [-2.21664364e-02 2.75891390e-03 9.99750488e-01 2.25545593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.640714057 meters Centerline goodness : 0.992074 Centerline is valid? [True, True] Translation: X:301.19, Y:270.47, Z:2.26 [[-1.08978957e-02 -9.99937805e-01 2.37125223e-03 3.01194112e+02] [ 9.99694584e-01 -1.08425818e-02 2.22076087e-02 2.70468649e+02] [-2.21805170e-02 2.61254421e-03 9.99750569e-01 2.25532062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6707140569999 meters Centerline goodness : 0.992166 Centerline is valid? [True, True] Translation: X:301.19, Y:270.50, Z:2.25 [[-1.04657759e-02 -9.99942463e-01 2.35355034e-03 3.01194509e+02] [ 9.99699138e-01 -1.04109559e-02 2.22091147e-02 2.70495149e+02] [-2.21833342e-02 2.58527786e-03 9.99750577e-01 2.25447017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7007140569999 meters Centerline goodness : 0.990544 Centerline is valid? [True, True] Translation: X:301.20, Y:270.52, Z:2.26 [[-6.84075224e-03 -9.99973849e-01 2.34644308e-03 3.01195160e+02] [ 9.99730296e-01 -6.78697092e-03 2.22097176e-02 2.70521305e+02] [-2.21932115e-02 2.49774142e-03 9.99750580e-01 2.25944622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7307140569999 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:301.19, Y:270.56, Z:2.25 [[-6.69550157e-03 -9.99975278e-01 2.14790556e-03 3.01194904e+02] [ 9.99730872e-01 -6.64612371e-03 2.22264041e-02 2.70555220e+02] [-2.22115794e-02 2.29614442e-03 9.99750656e-01 2.25450166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.760714057 meters Centerline goodness : 0.991536 Centerline is valid? [True, True] Translation: X:301.20, Y:270.58, Z:2.26 [[-5.73372010e-03 -9.99980564e-01 2.44866283e-03 3.01195584e+02] [ 9.99737401e-01 -5.67796172e-03 2.22011227e-02 2.70582754e+02] [-2.21867878e-02 2.57531484e-03 9.99750526e-01 2.25509999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.790714057 meters Centerline goodness : 0.990948 Centerline is valid? [True, True] Translation: X:301.19, Y:270.61, Z:2.26 [[-2.23007268e-03 -9.99994575e-01 2.42419503e-03 3.01194606e+02] [ 9.99751112e-01 -2.17570466e-03 2.22031556e-02 2.70608507e+02] [-2.21977609e-02 2.47310632e-03 9.99750540e-01 2.25664411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8207140569999 meters Centerline goodness : 0.992575 Centerline is valid? [True, True] Translation: X:301.20, Y:270.64, Z:2.25 [[-3.15741344e-03 -9.99992501e-01 2.24265757e-03 3.01197897e+02] [ 9.99748320e-01 -3.10681446e-03 2.22181177e-02 2.70643932e+02] [-2.22109836e-02 2.31224492e-03 9.99750632e-01 2.25092006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8507140569999 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:301.20, Y:270.67, Z:2.25 [[-4.49847971e-03 -9.99986391e-01 2.64234631e-03 3.01197761e+02] [ 9.99744023e-01 -4.43876750e-03 2.21852511e-02 2.70670318e+02] [-2.21732204e-02 2.74146984e-03 9.99750385e-01 2.25203360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.880714057 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:301.20, Y:270.70, Z:2.25 [[-4.07386921e-03 -9.99988511e-01 2.52600868e-03 3.01198834e+02] [ 9.99745597e-01 -4.01681487e-03 2.21947310e-02 2.70699932e+02] [-2.21843295e-02 2.61578448e-03 9.99750475e-01 2.24883540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.910714057 meters Centerline goodness : 0.991826 Centerline is valid? [True, True] Translation: X:301.20, Y:270.73, Z:2.25 [[-1.94680867e-03 -9.99994784e-01 2.57736157e-03 3.01200321e+02] [ 9.99751973e-01 -1.88914243e-03 2.21906137e-02 2.70725722e+02] [-2.21856289e-02 2.61992320e-03 9.99750436e-01 2.25182176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9407140569999 meters Centerline goodness : 0.991883 Centerline is valid? [True, True] Translation: X:301.20, Y:270.76, Z:2.25 [[-2.16277816e-03 -9.99994780e-01 2.40044168e-03 3.01202544e+02] [ 9.99751222e-01 -2.10895010e-03 2.22046685e-02 2.70755744e+02] [-2.21994902e-02 2.44786827e-03 9.99750564e-01 2.25023465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9707140569999 meters Centerline goodness : 0.991441 Centerline is valid? [True, True] Translation: X:301.20, Y:270.79, Z:2.25 [[-2.68501338e-03 -9.99993307e-01 2.48548438e-03 3.01204621e+02] [ 9.99750138e-01 -2.62918744e-03 2.21979507e-02 2.70785123e+02] [-2.21912673e-02 2.54446514e-03 9.99750506e-01 2.25090967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.000714057 meters Centerline goodness : 0.993212 Centerline is valid? [True, True] Translation: X:301.20, Y:270.82, Z:2.24 [[-7.12320630e-03 -9.99971462e-01 2.51688763e-03 3.01204854e+02] [ 9.99728682e-01 -7.06561173e-03 2.21954877e-02 2.70816197e+02] [-2.21770710e-02 2.67430779e-03 9.99750482e-01 2.24244108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.030714057 meters Centerline goodness : 0.992806 Centerline is valid? [True, True] Translation: X:301.21, Y:270.84, Z:2.24 [[-9.37107705e-03 -9.99952512e-01 2.67516720e-03 3.01205116e+02] [ 9.99710577e-01 -9.30946312e-03 2.21832203e-02 2.70843866e+02] [-2.21572625e-02 2.88227362e-03 9.99750343e-01 2.24293680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0607140569999 meters Centerline goodness : 0.992086 Centerline is valid? [True, True] Translation: X:301.21, Y:270.87, Z:2.25 [[-4.83412128e-03 -9.99985093e-01 2.53884606e-03 3.01205175e+02] [ 9.99742282e-01 -4.77660063e-03 2.21935557e-02 2.70868040e+02] [-2.21810978e-02 2.64547810e-03 9.99750469e-01 2.24717160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0907140569999 meters Centerline goodness : 0.992088 Centerline is valid? [True, True] Translation: X:301.21, Y:270.90, Z:2.24 [[-1.34695169e-03 -9.99996487e-01 2.28305590e-03 3.01206837e+02] [ 9.99752427e-01 -1.29590985e-03 2.22127367e-02 2.70896583e+02] [-2.22097000e-02 2.31241016e-03 9.99750660e-01 2.24482153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.120714057 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:301.21, Y:270.92, Z:2.25 [[ 2.03656567e-03 -9.99995366e-01 2.26303355e-03 3.01205408e+02] [ 9.99751057e-01 2.08633987e-03 2.22142203e-02 2.70924987e+02] [-2.22188388e-02 2.21722946e-03 9.99750672e-01 2.24947195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.150714057 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:301.21, Y:270.95, Z:2.25 [[ 5.78094983e-03 -9.99980631e-01 2.30630106e-03 3.01206781e+02] [ 9.99736301e-01 5.83076367e-03 2.22110329e-02 2.70949673e+02] [-2.22240502e-02 2.17729203e-03 9.99750644e-01 2.25002344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1807140569999 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:301.21, Y:270.98, Z:2.25 [[ 4.23503649e-03 -9.99988905e-01 2.06280982e-03 3.01207800e+02] [ 9.99743750e-01 4.27985239e-03 2.22287310e-02 2.70979128e+02] [-2.22373129e-02 1.96814174e-03 9.99750783e-01 2.24655013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2107140569999 meters Centerline goodness : 0.992644 Centerline is valid? [True, True] Translation: X:301.21, Y:271.01, Z:2.24 [[ 2.95742333e-03 -9.99993193e-01 2.20624891e-03 3.01209447e+02] [ 9.99748625e-01 3.00571950e-03 2.22183149e-02 2.71009071e+02] [-2.22247950e-02 2.13998535e-03 9.99750708e-01 2.24157062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.240714057 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:301.21, Y:271.04, Z:2.24 [[ 4.17846130e-03 -9.99988607e-01 2.30795357e-03 3.01212530e+02] [ 9.99744362e-01 4.22870327e-03 2.22110067e-02 2.71038572e+02] [-2.22205133e-02 2.21455573e-03 9.99750641e-01 2.23955919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.270714057 meters Centerline goodness : 0.992770 Centerline is valid? [True, True] Translation: X:301.21, Y:271.06, Z:2.24 [[ 7.20006449e-03 -9.99971096e-01 2.44246229e-03 3.01214504e+02] [ 9.99727212e-01 7.25253607e-03 2.22013855e-02 2.71063435e+02] [-2.22184578e-02 2.28194461e-03 9.99750535e-01 2.23886713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3007140569999 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:301.22, Y:271.10, Z:2.24 [[ 4.48595627e-03 -9.99987317e-01 2.28972438e-03 3.01216488e+02] [ 9.99742988e-01 4.53572083e-03 2.22122708e-02 2.71096367e+02] [-2.22223746e-02 2.18949262e-03 9.99750655e-01 2.23681556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3307140569999 meters Centerline goodness : 0.991829 Centerline is valid? [True, True] Translation: X:301.22, Y:271.12, Z:2.25 [[ 6.24748455e-03 -9.99977269e-01 2.53591860e-03 3.01216542e+02] [ 9.99733802e-01 6.30224877e-03 2.21947271e-02 2.71119887e+02] [-2.22102046e-02 2.39658233e-03 9.99750450e-01 2.24722047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.360714057 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:301.22, Y:271.15, Z:2.24 [[ 2.86928479e-04 -9.99997729e-01 2.11201905e-03 3.01219847e+02] [ 9.99752964e-01 3.33795543e-04 2.22238465e-02 2.71154836e+02] [-2.22245010e-02 2.10512065e-03 9.99750789e-01 2.23590731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.390714057 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:301.22, Y:271.18, Z:2.24 [[-3.59730919e-03 -9.99990227e-01 2.56992199e-03 3.01222371e+02] [ 9.99747450e-01 -3.53940212e-03 2.21925636e-02 2.71179691e+02] [-2.21832507e-02 2.64910646e-03 9.99750412e-01 2.24206529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4207140569999 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:301.22, Y:271.21, Z:2.24 [[-6.45942074e-03 -9.99976524e-01 2.28644963e-03 3.01224486e+02] [ 9.99732760e-01 -6.40705902e-03 2.22116908e-02 2.71206836e+02] [-2.21965200e-02 2.42931326e-03 9.99750675e-01 2.24046043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4507140569999 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:301.23, Y:271.24, Z:2.23 [[-1.14913772e-02 -9.99931488e-01 2.22882841e-03 3.01227504e+02] [ 9.99687761e-01 -1.14390582e-02 2.22155198e-02 2.71239273e+02] [-2.21885021e-02 2.48341940e-03 9.99750720e-01 2.23382911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4807140569999 meters Centerline goodness : 0.992450 Centerline is valid? [True, True] Translation: X:301.23, Y:271.27, Z:2.24 [[-1.33018353e-02 -9.99908578e-01 2.42851674e-03 3.01229067e+02] [ 9.99665760e-01 -1.32446812e-02 2.22024207e-02 2.71265816e+02] [-2.21682260e-02 2.72303798e-03 9.99750546e-01 2.23886760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.510714057 meters Centerline goodness : 0.991847 Centerline is valid? [True, True] Translation: X:301.23, Y:271.29, Z:2.24 [[-1.81219001e-02 -9.99833199e-01 2.27420094e-03 3.01229577e+02] [ 9.99590014e-01 -1.80669686e-02 2.22123573e-02 2.71290979e+02] [-2.21675643e-02 2.67579867e-03 9.99750689e-01 2.23716978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.540714057 meters Centerline goodness : 0.992259 Centerline is valid? [True, True] Translation: X:301.23, Y:271.32, Z:2.24 [[-1.98345242e-02 -9.99801105e-01 2.08369082e-03 3.01230617e+02] [ 9.99557244e-01 -1.97833679e-02 2.22246136e-02 2.71316632e+02] [-2.21789708e-02 2.52358289e-03 9.99750831e-01 2.23657599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5707140569999 meters Centerline goodness : 0.991222 Centerline is valid? [True, True] Translation: X:301.23, Y:271.34, Z:2.24 [[-2.08651477e-02 -9.99780330e-01 1.98407650e-03 3.01232058e+02] [ 9.99536133e-01 -2.08159337e-02 2.22309793e-02 2.71344106e+02] [-2.21847954e-02 2.44700882e-03 9.99750892e-01 2.23529617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6007140569999 meters Centerline goodness : 0.991617 Centerline is valid? [True, True] Translation: X:301.24, Y:271.37, Z:2.23 [[-1.73449571e-02 -9.99847690e-01 1.93647103e-03 3.01236044e+02] [ 9.99603142e-01 -1.72976528e-02 2.22339905e-02 2.71374964e+02] [-2.21971077e-02 2.32135014e-03 9.99750919e-01 2.23109274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.630714057 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:301.24, Y:271.41, Z:2.23 [[-2.09114781e-02 -9.99779232e-01 2.04880074e-03 3.01236703e+02] [ 9.99535281e-01 -2.08608265e-02 2.22271713e-02 2.71406031e+02] [-2.21795245e-02 2.51265163e-03 9.99750847e-01 2.23167086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.660714057 meters Centerline goodness : 0.991540 Centerline is valid? [True, True] Translation: X:301.24, Y:271.43, Z:2.23 [[-1.46341255e-02 -9.99890331e-01 2.27338050e-03 3.01235920e+02] [ 9.99646927e-01 -1.45800576e-02 2.22135878e-02 2.71427832e+02] [-2.21780057e-02 2.59765427e-03 9.99750663e-01 2.23454835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6907140569999 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:301.24, Y:271.46, Z:2.23 [[-1.49921371e-02 -9.99885947e-01 1.82460592e-03 3.01237940e+02] [ 9.99640897e-01 -1.49478781e-02 2.22404632e-02 2.71461781e+02] [-2.22106526e-02 2.15738277e-03 9.99750985e-01 2.23219328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7207140569999 meters Centerline goodness : 0.992396 Centerline is valid? [True, True] Translation: X:301.24, Y:271.48, Z:2.23 [[-7.71250381e-03 -9.99967702e-01 2.26099954e-03 3.01237138e+02] [ 9.99723882e-01 -7.66039499e-03 2.22143682e-02 2.71484995e+02] [-2.21963305e-02 2.43170364e-03 9.99750674e-01 2.23422781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.750714057 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:301.24, Y:271.52, Z:2.23 [[-7.17758359e-03 -9.99972620e-01 1.80030183e-03 3.01239507e+02] [ 9.99727174e-01 -7.13578036e-03 2.22409240e-02 2.71518079e+02] [-2.22274685e-02 1.95944675e-03 9.99751019e-01 2.23005524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.780714057 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:301.24, Y:271.54, Z:2.23 [[-6.15785166e-03 -9.99978681e-01 2.17214170e-03 3.01239663e+02] [ 9.99734456e-01 -6.10808270e-03 2.22195448e-02 2.71544457e+02] [-2.22058035e-02 2.30838956e-03 9.99750756e-01 2.22960808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8107140569999 meters Centerline goodness : 0.991578 Centerline is valid? [True, True] Translation: X:301.24, Y:271.57, Z:2.23 [[-1.38895041e-03 -9.99996927e-01 2.05338408e-03 3.01238084e+02] [ 9.99752063e-01 -1.34297104e-03 2.22262989e-02 2.71566496e+02] [-2.22234730e-02 2.08374620e-03 9.99750857e-01 2.23067452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8407140569999 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:301.24, Y:271.59, Z:2.23 [[-1.29783601e-04 -9.99998638e-01 1.64527064e-03 3.01239263e+02] [ 9.99752446e-01 -9.31452333e-05 2.22494497e-02 2.71594582e+02] [-2.22492662e-02 1.64775096e-03 9.99751097e-01 2.22995228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.870714057 meters Centerline goodness : 0.991672 Centerline is valid? [True, True] Translation: X:301.24, Y:271.63, Z:2.23 [[-1.18155324e-03 -9.99997923e-01 1.66066967e-03 3.01239875e+02] [ 9.99751815e-01 -1.14431481e-03 2.22485939e-02 2.71625897e+02] [-2.22466474e-02 1.68654542e-03 9.99751090e-01 2.22854332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.900714057 meters Centerline goodness : 0.992419 Centerline is valid? [True, True] Translation: X:301.24, Y:271.65, Z:2.23 [[ 5.16072497e-04 -9.99998152e-01 1.85202944e-03 3.01239569e+02] [ 9.99752550e-01 5.57131257e-04 2.22380015e-02 2.71653531e+02] [-2.22389922e-02 1.84009473e-03 9.99750990e-01 2.22905065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9307140569999 meters Centerline goodness : 0.992327 Centerline is valid? [True, True] Translation: X:301.24, Y:271.68, Z:2.23 [[ 1.16473662e-03 -9.99997682e-01 1.81094209e-03 3.01240450e+02] [ 9.99751929e-01 1.20472627e-03 2.22402474e-02 2.71682040e+02] [-2.22423775e-02 1.78458882e-03 9.99751015e-01 2.22854349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9607140569999 meters Centerline goodness : 0.991810 Centerline is valid? [True, True] Translation: X:301.24, Y:271.70, Z:2.23 [[ 5.58215077e-03 -9.99982761e-01 1.82144110e-03 3.01240603e+02] [ 9.99736864e-01 5.62128708e-03 2.22396779e-02 2.71703214e+02] [-2.22495334e-02 1.69681658e-03 9.99751009e-01 2.22609326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.990714057 meters Centerline goodness : 0.991096 Centerline is valid? [True, True] Translation: X:301.24, Y:271.73, Z:2.23 [[ 4.67156740e-03 -9.99988127e-01 1.38664364e-03 3.01241289e+02] [ 9.99741095e-01 4.70128456e-03 2.22629916e-02 2.71733879e+02] [-2.22692463e-02 1.28228156e-03 9.99751187e-01 2.22543257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.020714057 meters Centerline goodness : 0.991802 Centerline is valid? [True, True] Translation: X:301.24, Y:271.77, Z:2.23 [[ 1.96137534e-03 -9.99996982e-01 1.47973828e-03 3.01243553e+02] [ 9.99750270e-01 1.99382769e-03 2.22580858e-02 2.71768031e+02] [-2.22609689e-02 1.43571228e-03 9.99751163e-01 2.22614336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0507140569999 meters Centerline goodness : 0.990577 Centerline is valid? [True, True] Translation: X:301.24, Y:271.79, Z:2.22 [[ 4.04261824e-03 -9.99990113e-01 1.85259426e-03 3.01243841e+02] [ 9.99744360e-01 4.08282381e-03 2.22383562e-02 2.71791558e+02] [-2.22457002e-02 1.76221947e-03 9.99750981e-01 2.22454183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0807140569999 meters Centerline goodness : 0.992785 Centerline is valid? [True, True] Translation: X:301.25, Y:271.82, Z:2.23 [[-8.52492513e-06 -9.99998836e-01 1.52559069e-03 3.01245559e+02] [ 9.99752320e-01 2.54297087e-05 2.22553097e-02 2.71823768e+02] [-2.22553226e-02 1.52540256e-03 9.99751156e-01 2.22660950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.110714057 meters Centerline goodness : 0.991553 Centerline is valid? [True, True] Translation: X:301.25, Y:271.85, Z:2.23 [[ 1.86397428e-03 -9.99996647e-01 1.79742095e-03 3.01246892e+02] [ 9.99750822e-01 1.90349298e-03 2.22411899e-02 2.71847880e+02] [-2.22445368e-02 1.75551607e-03 9.99751018e-01 2.22500204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.140714057 meters Centerline goodness : 0.992138 Centerline is valid? [True, True] Translation: X:301.25, Y:271.88, Z:2.22 [[ 7.30161359e-04 -9.99998590e-01 1.51259752e-03 3.01249381e+02] [ 9.99752025e-01 7.63644949e-04 2.22554742e-02 2.71881101e+02] [-2.22565979e-02 1.49597235e-03 9.99751172e-01 2.22270387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1707140569999 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:301.25, Y:271.91, Z:2.22 [[ 1.56141604e-04 -9.99998161e-01 1.91124933e-03 3.01249062e+02] [ 9.99752743e-01 1.98600783e-04 2.22354149e-02 2.71906994e+02] [-2.22357536e-02 1.90730489e-03 9.99750936e-01 2.22413418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2007140569999 meters Centerline goodness : 0.992190 Centerline is valid? [True, True] Translation: X:301.25, Y:271.93, Z:2.22 [[ 6.10973773e-04 -9.99998187e-01 1.80373255e-03 3.01249930e+02] [ 9.99752431e-01 6.50940172e-04 2.22408122e-02 2.71933823e+02] [-2.22419460e-02 1.78969745e-03 9.99751015e-01 2.22426634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2307140569999 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:301.25, Y:271.96, Z:2.22 [[-1.41722810e-03 -9.99997594e-01 1.67438043e-03 3.01251436e+02] [ 9.99751549e-01 -1.37962904e-03 2.22471948e-02 2.71964602e+02] [-2.22448312e-02 1.70549378e-03 9.99751098e-01 2.22234055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.260714057 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:301.25, Y:271.99, Z:2.22 [[-2.23772121e-03 -9.99995867e-01 1.80526558e-03 3.01252427e+02] [ 9.99750229e-01 -2.19702084e-03 2.22407935e-02 2.71992713e+02] [-2.22367354e-02 1.85458337e-03 9.99751013e-01 2.22176969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.290714057 meters Centerline goodness : 0.992806 Centerline is valid? [True, True] Translation: X:301.25, Y:272.02, Z:2.22 [[-2.90074819e-03 -9.99994205e-01 1.78228119e-03 3.01254384e+02] [ 9.99748526e-01 -2.86039399e-03 2.22418989e-02 2.72022271e+02] [-2.22366719e-02 1.84635114e-03 9.99751030e-01 2.21940812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3207140569999 meters Centerline goodness : 0.992911 Centerline is valid? [True, True] Translation: X:301.25, Y:272.05, Z:2.22 [[-5.19214352e-03 -9.99984856e-01 1.82490500e-03 3.01254691e+02] [ 9.99739397e-01 -5.15028277e-03 2.22398769e-02 2.72050450e+02] [-2.22301413e-02 1.93990206e-03 9.99750998e-01 2.21873080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3507140569999 meters Centerline goodness : 0.992221 Centerline is valid? [True, True] Translation: X:301.26, Y:272.08, Z:2.22 [[-8.80739236e-03 -9.99959619e-01 1.78640390e-03 3.01255178e+02] [ 9.99714196e-01 -8.76549653e-03 2.22416758e-02 2.72076827e+02] [-2.22251190e-02 1.98178450e-03 9.99751027e-01 2.21931803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.380714057 meters Centerline goodness : 0.992074 Centerline is valid? [True, True] Translation: X:301.26, Y:272.10, Z:2.22 [[-1.06624146e-02 -9.99941742e-01 1.68125512e-03 3.01256353e+02] [ 9.99696083e-01 -1.06223909e-02 2.22465078e-02 2.72104213e+02] [-2.22273528e-02 1.91794565e-03 9.99751102e-01 2.21807788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.410714057 meters Centerline goodness : 0.993147 Centerline is valid? [True, True] Translation: X:301.26, Y:272.13, Z:2.22 [[-1.31760106e-02 -9.99911832e-01 1.64973677e-03 3.01257225e+02] [ 9.99666181e-01 -1.31360671e-02 2.22479302e-02 2.72131352e+02] [-2.22242976e-02 1.94232502e-03 9.99751123e-01 2.21751342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4407140569999 meters Centerline goodness : 0.991833 Centerline is valid? [True, True] Translation: X:301.26, Y:272.16, Z:2.22 [[-1.42528118e-02 -9.99897132e-01 1.60728508e-03 3.01257772e+02] [ 9.99651400e-01 -1.42135436e-02 2.22498239e-02 2.72157924e+02] [-2.22246899e-02 1.92384733e-03 9.99751150e-01 2.21695754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4707140569999 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:301.26, Y:272.19, Z:2.22 [[-1.55473979e-02 -9.99877928e-01 1.55165759e-03 3.01258944e+02] [ 9.99632085e-01 -1.55090431e-02 2.22523046e-02 2.72185207e+02] [-2.22255235e-02 1.89705214e-03 9.99751183e-01 2.21724425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.500714057 meters Centerline goodness : 0.990931 Centerline is valid? [True, True] Translation: X:301.26, Y:272.21, Z:2.22 [[-1.47069884e-02 -9.99890697e-01 1.51629663e-03 3.01259597e+02] [ 9.99644721e-01 -1.46696233e-02 2.22538430e-02 2.72208767e+02] [-2.22291671e-02 1.84304493e-03 9.99751203e-01 2.21890224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.530714057 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:301.26, Y:272.24, Z:2.22 [[-1.92578404e-02 -9.99813805e-01 1.22139053e-03 3.01262331e+02] [ 9.99567194e-01 -1.92258893e-02 2.22663573e-02 2.72241016e+02] [-2.22387290e-02 1.64966386e-03 9.99751328e-01 2.21623916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5607140569999 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:301.26, Y:272.27, Z:2.21 [[-1.94797151e-02 -9.99809157e-01 1.48030442e-03 3.01264809e+02] [ 9.99563259e-01 -1.94419732e-02 2.22553719e-02 2.72269440e+02] [-2.22223446e-02 1.91318621e-03 9.99751223e-01 2.21377612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5907140569999 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:301.27, Y:272.29, Z:2.21 [[-2.01965728e-02 -9.99794800e-01 1.56743758e-03 3.01265816e+02] [ 9.99549183e-01 -2.01567259e-02 2.22516765e-02 2.72289618e+02] [-2.22155160e-02 2.01613856e-03 9.99751172e-01 2.21384354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.620714057 meters Centerline goodness : 0.991515 Centerline is valid? [True, True] Translation: X:301.27, Y:272.32, Z:2.21 [[-2.09125069e-02 -9.99780682e-01 1.12006850e-03 3.01267720e+02] [ 9.99533870e-01 -2.08823945e-02 2.22703502e-02 2.72316725e+02] [-2.22420762e-02 1.58527525e-03 9.99751358e-01 2.21298371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.650714057 meters Centerline goodness : 0.993278 Centerline is valid? [True, True] Translation: X:301.27, Y:272.35, Z:2.21 [[-2.45853538e-02 -9.99697164e-01 1.06844897e-03 3.01270387e+02] [ 9.99450332e-01 -2.45554793e-02 2.22724683e-02 2.72350876e+02] [-2.22394871e-02 1.61543819e-03 9.99751367e-01 2.21337658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6807140569999 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:301.27, Y:272.38, Z:2.21 [[-2.63087047e-02 -9.99652779e-01 1.47455015e-03 3.01273701e+02] [ 9.99407123e-01 -2.62694109e-02 2.22558012e-02 2.72378872e+02] [-2.22093380e-02 2.05919722e-03 9.99751222e-01 2.21179255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7107140569999 meters Centerline goodness : 0.993109 Centerline is valid? [True, True] Translation: X:301.28, Y:272.41, Z:2.21 [[-2.72059256e-02 -9.99628720e-01 1.50325687e-03 3.01275221e+02] [ 9.99383186e-01 -2.71657763e-02 2.22546362e-02 2.72405846e+02] [-2.22055363e-02 2.10778762e-03 9.99751205e-01 2.21033493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.740714057 meters Centerline goodness : 0.993189 Centerline is valid? [True, True] Translation: X:301.28, Y:272.44, Z:2.21 [[-2.83680532e-02 -9.99596525e-01 1.42861669e-03 3.01277937e+02] [ 9.99350815e-01 -2.83292697e-02 2.22575946e-02 2.72435738e+02] [-2.22081426e-02 2.05909388e-03 9.99751248e-01 2.20934230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.770714057 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:301.28, Y:272.47, Z:2.21 [[-3.09533185e-02 -9.99519752e-01 1.46866352e-03 3.01282014e+02] [ 9.99274263e-01 -3.09130137e-02 2.22560900e-02 2.72465094e+02] [-2.22000007e-02 2.15649749e-03 9.99751224e-01 2.20776390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8007140569999 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:301.28, Y:272.49, Z:2.21 [[-3.13708371e-02 -9.99506602e-01 1.55663566e-03 3.01284206e+02] [ 9.99261397e-01 -3.13284844e-02 2.22527899e-02 2.72492214e+02] [-2.21930434e-02 2.25357457e-03 9.99751164e-01 2.20642278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8307140569999 meters Centerline goodness : 0.992843 Centerline is valid? [True, True] Translation: X:301.29, Y:272.52, Z:2.21 [[-3.25742696e-02 -9.99468084e-01 1.57050893e-03 3.01285362e+02] [ 9.99222973e-01 -3.25313150e-02 2.22522677e-02 2.72518883e+02] [-2.21893406e-02 2.29413997e-03 9.99751154e-01 2.20623167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8607140569999 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:301.29, Y:272.55, Z:2.21 [[-3.32844992e-02 -9.99444786e-01 1.50383375e-03 3.01287732e+02] [ 9.99199499e-01 -3.32428443e-02 2.22547559e-02 2.72546987e+02] [-2.21924080e-02 2.24336833e-03 9.99751201e-01 2.20611488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.890714057 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:301.29, Y:272.58, Z:2.21 [[-3.30903931e-02 -9.99451293e-01 1.46275273e-03 3.01289743e+02] [ 9.99205873e-01 -3.30496943e-02 2.22562583e-02 2.72575533e+02] [-2.21957026e-02 2.19805945e-03 9.99751229e-01 2.20519589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9207140569999 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:301.29, Y:272.60, Z:2.21 [[-3.28019773e-02 -9.99460787e-01 1.47129184e-03 3.01291328e+02] [ 9.99215382e-01 -3.27611605e-02 2.22559490e-02 2.72601933e+02] [-2.21957471e-02 2.20017657e-03 9.99751223e-01 2.20542435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9507140569999 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:301.29, Y:272.63, Z:2.20 [[-3.22832117e-02 -9.99477762e-01 1.41342737e-03 3.01292910e+02] [ 9.99232164e-01 -3.22438024e-02 2.22580180e-02 2.72629478e+02] [-2.22008197e-02 2.13090240e-03 9.99751261e-01 2.20477004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9807140569999 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:301.29, Y:272.66, Z:2.20 [[-3.11335523e-02 -9.99514261e-01 1.39414408e-03 3.01294940e+02] [ 9.99268563e-01 -3.10948522e-02 2.22586985e-02 2.72657377e+02] [-2.22045359e-02 2.08611671e-03 9.99751272e-01 2.20421760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.010714057 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:301.30, Y:272.68, Z:2.20 [[-3.21612324e-02 -9.99481739e-01 1.38188174e-03 3.01295650e+02] [ 9.99236045e-01 -3.21225511e-02 2.22591195e-02 2.72684183e+02] [-2.22031939e-02 2.09670676e-03 9.99751280e-01 2.20262450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.040714057 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:301.30, Y:272.71, Z:2.20 [[-3.08512949e-02 -9.99523168e-01 1.27809048e-03 3.01298884e+02] [ 9.99277138e-01 -3.08152337e-02 2.22626122e-02 2.72714382e+02] [-2.22126120e-02 1.96399701e-03 9.99751340e-01 2.20261109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0707140569999 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:301.30, Y:272.74, Z:2.20 [[-3.08221894e-02 -9.99523984e-01 1.34108635e-03 3.01300824e+02] [ 9.99278123e-01 -3.07847403e-02 2.22605480e-02 2.72742429e+02] [-2.22086666e-02 2.02623707e-03 9.99751304e-01 2.20197005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1007140569999 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:301.30, Y:272.77, Z:2.20 [[-2.97100239e-02 -9.99557600e-01 1.38525936e-03 3.01304061e+02] [ 9.99311819e-01 -2.96718702e-02 2.22591209e-02 2.72769745e+02] [-2.22081702e-02 2.04562507e-03 9.99751275e-01 2.20090424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.130714057 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:301.31, Y:272.80, Z:2.20 [[-3.06275958e-02 -9.99529985e-01 1.32675153e-03 3.01306103e+02] [ 9.99284079e-01 -3.05905121e-02 2.22609613e-02 2.72798395e+02] [-2.22099123e-02 2.00760140e-03 9.99751314e-01 2.20049613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.160714057 meters Centerline goodness : 0.993001 Centerline is valid? [True, True] Translation: X:301.31, Y:272.83, Z:2.20 [[-3.12324496e-02 -9.99511236e-01 1.35029617e-03 3.01308910e+02] [ 9.99265417e-01 -3.11946957e-02 2.22602403e-02 2.72825648e+02] [-2.22072383e-02 2.04454610e-03 9.99751298e-01 2.19862058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1907140569999 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:301.31, Y:272.85, Z:2.20 [[-3.08438061e-02 -9.99523368e-01 1.30243087e-03 3.01311175e+02] [ 9.99277406e-01 -3.08072080e-02 2.22616822e-02 2.72853949e+02] [-2.22109474e-02 1.98812475e-03 9.99751330e-01 2.19874733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2207140569999 meters Centerline goodness : 0.992720 Centerline is valid? [True, True] Translation: X:301.31, Y:272.88, Z:2.20 [[-3.22001859e-02 -9.99480595e-01 1.29973395e-03 3.01311548e+02] [ 9.99234675e-01 -3.21633137e-02 2.22617613e-02 2.72880667e+02] [-2.22083947e-02 2.01557208e-03 9.99751331e-01 2.19758688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.250714057 meters Centerline goodness : 0.992560 Centerline is valid? [True, True] Translation: X:301.31, Y:272.91, Z:2.20 [[-3.23699178e-02 -9.99475253e-01 1.18590075e-03 3.01313048e+02] [ 9.99229045e-01 -3.23355259e-02 2.22650025e-02 2.72909034e+02] [-2.22149723e-02 1.90570277e-03 9.99751401e-01 2.19696155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.280714057 meters Centerline goodness : 0.991080 Centerline is valid? [True, True] Translation: X:301.31, Y:272.93, Z:2.20 [[-2.93916673e-02 -9.99567244e-01 1.20603003e-03 3.01313898e+02] [ 9.99320984e-01 -2.93575629e-02 2.22644405e-02 2.72932018e+02] [-2.22193993e-02 1.85960014e-03 9.99751389e-01 2.20160761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3107140569999 meters Centerline goodness : 0.992673 Centerline is valid? [True, True] Translation: X:301.32, Y:272.97, Z:2.19 [[-3.38446499e-02 -9.99426765e-01 8.25923113e-04 3.01315432e+02] [ 9.99179758e-01 -3.38178776e-02 2.22746987e-02 2.72965049e+02] [-2.22339991e-02 1.57912504e-03 9.99751547e-01 2.19368108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3407140569999 meters Centerline goodness : 0.992355 Centerline is valid? [True, True] Translation: X:301.32, Y:272.99, Z:2.19 [[-3.47222773e-02 -9.99396386e-01 1.10793699e-03 3.01317199e+02] [ 9.99150064e-01 -3.46890340e-02 2.22670237e-02 2.72992650e+02] [-2.22151497e-02 1.88015709e-03 9.99751445e-01 2.19280081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.370714057 meters Centerline goodness : 0.992099 Centerline is valid? [True, True] Translation: X:301.32, Y:273.02, Z:2.19 [[-3.68111827e-02 -9.99321653e-01 1.08208852e-03 3.01317360e+02] [ 9.99075337e-01 -3.67779974e-02 2.22677115e-02 2.73019679e+02] [-2.22128092e-02 1.90078875e-03 9.99751458e-01 2.19279048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.400714057 meters Centerline goodness : 0.991803 Centerline is valid? [True, True] Translation: X:301.32, Y:273.05, Z:2.19 [[-3.84508257e-02 -9.99259966e-01 1.02659306e-03 3.01318841e+02] [ 9.99013566e-01 -3.84184661e-02 2.22691641e-02 2.73047860e+02] [-2.22132440e-02 1.88184814e-03 9.99751484e-01 2.19221107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4307140569999 meters Centerline goodness : 0.991533 Centerline is valid? [True, True] Translation: X:301.32, Y:273.07, Z:2.19 [[-3.99891240e-02 -9.99199535e-01 1.07672165e-03 3.01319127e+02] [ 9.98953312e-01 -3.99552744e-02 2.22678360e-02 2.73073777e+02] [-2.22069907e-02 1.96606591e-03 9.99751461e-01 2.19130460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4607140569999 meters Centerline goodness : 0.991952 Centerline is valid? [True, True] Translation: X:301.32, Y:273.11, Z:2.19 [[-3.75689583e-02 -9.99293569e-01 9.68083517e-04 3.01324455e+02] [ 9.99047001e-01 -3.75381134e-02 2.22706133e-02 2.73109968e+02] [-2.22185406e-02 1.80384468e-03 9.99751510e-01 2.19093584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.490714057 meters Centerline goodness : 0.991208 Centerline is valid? [True, True] Translation: X:301.32, Y:273.13, Z:2.19 [[-4.37404071e-02 -9.99041871e-01 1.45518078e-03 3.01320216e+02] [ 9.98796832e-01 -4.36972576e-02 2.22584223e-02 2.73131309e+02] [-2.21735084e-02 2.42702241e-03 9.99751192e-01 2.19391799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.520714057 meters Centerline goodness : 0.991431 Centerline is valid? [True, True] Translation: X:301.32, Y:273.16, Z:2.19 [[-4.43288818e-02 -9.99016507e-01 9.84028204e-04 3.01320593e+02] [ 9.98770207e-01 -4.42960172e-02 2.22696474e-02 2.73160381e+02] [-2.22041569e-02 1.97000662e-03 9.99751516e-01 2.19387149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5507140569999 meters Centerline goodness : 0.988398 Centerline is valid? [True, True] Translation: X:301.32, Y:273.18, Z:2.20 [[-4.07134940e-02 -9.99170351e-01 1.01094941e-03 3.01319721e+02] [ 9.98923998e-01 -4.06809243e-02 2.22690156e-02 2.73181624e+02] [-2.22094138e-02 1.91651106e-03 9.99751504e-01 2.19848983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5807140569999 meters Centerline goodness : 0.989086 Centerline is valid? [True, True] Translation: X:301.32, Y:273.21, Z:2.20 [[-3.87295764e-02 -9.99249563e-01 5.74956576e-04 3.01321419e+02] [ 9.99002206e-01 -3.87071701e-02 2.22788767e-02 2.73214645e+02] [-2.22399028e-02 1.43723434e-03 9.99751630e-01 2.19699702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6107140569999 meters Centerline goodness : 0.990627 Centerline is valid? [True, True] Translation: X:301.32, Y:273.25, Z:2.20 [[-4.23244995e-02 -9.99103593e-01 8.04174093e-04 3.01321073e+02] [ 9.98856808e-01 -4.22961171e-02 2.22736718e-02 2.73249051e+02] [-2.22196921e-02 1.74597678e-03 9.99751588e-01 2.19522114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.640714057 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:301.32, Y:273.28, Z:2.19 [[-4.27195008e-02 -9.99086445e-01 1.14913086e-03 3.01319795e+02] [ 9.98840512e-01 -4.26833755e-02 2.22656956e-02 2.73275333e+02] [-2.21963059e-02 2.09897786e-03 9.99751428e-01 2.19346843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6707140569999 meters Centerline goodness : 0.988943 Centerline is valid? [True, True] Translation: X:301.32, Y:273.30, Z:2.20 [[-4.01551970e-02 -9.99193016e-01 9.36339630e-04 3.01318124e+02] [ 9.98946481e-01 -4.01244201e-02 2.22701413e-02 2.73298619e+02] [-2.22145996e-02 1.82961509e-03 9.99751551e-01 2.19836614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7007140569999 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:301.32, Y:273.33, Z:2.19 [[-4.14381467e-02 -9.99140857e-01 6.53489393e-04 3.01319143e+02] [ 9.98893750e-01 -4.14133287e-02 2.22758448e-02 2.73332051e+02] [-2.22296435e-02 1.57583619e-03 9.99751649e-01 2.19182672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7307140569999 meters Centerline goodness : 0.988395 Centerline is valid? [True, True] Translation: X:301.32, Y:273.36, Z:2.19 [[-3.89711355e-02 -9.99239890e-01 9.44763711e-04 3.01318768e+02] [ 9.98993337e-01 -3.89404639e-02 2.22700057e-02 2.73356207e+02] [-2.22162885e-02 1.81170006e-03 9.99751546e-01 2.19467748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.760714057 meters Centerline goodness : 0.990490 Centerline is valid? [True, True] Translation: X:301.32, Y:273.39, Z:2.19 [[-4.21339938e-02 -9.99111712e-01 7.16675290e-04 3.01317429e+02] [ 9.98864757e-01 -4.21076016e-02 2.22743709e-02 2.73388117e+02] [-2.22244074e-02 1.65436990e-03 9.99751639e-01 2.19054418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.790714057 meters Centerline goodness : 0.991404 Centerline is valid? [True, True] Translation: X:301.32, Y:273.42, Z:2.19 [[-4.12618411e-02 -9.99147920e-01 9.45698431e-04 3.01317366e+02] [ 9.98901440e-01 -4.12305836e-02 2.22699936e-02 2.73415544e+02] [-2.22120261e-02 1.86356046e-03 9.99751546e-01 2.19049568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8207140569999 meters Centerline goodness : 0.991207 Centerline is valid? [True, True] Translation: X:301.32, Y:273.44, Z:2.19 [[-4.08556647e-02 -9.99164606e-01 9.51730219e-04 3.01316251e+02] [ 9.98918126e-01 -4.08243735e-02 2.22698806e-02 2.73444479e+02] [-2.22124226e-02 1.86055134e-03 9.99751542e-01 2.18989214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8507140569999 meters Centerline goodness : 0.989648 Centerline is valid? [True, True] Translation: X:301.32, Y:273.47, Z:2.19 [[-3.68094848e-02 -9.99321820e-01 9.80325809e-04 3.01315386e+02] [ 9.99075279e-01 -3.67785575e-02 2.22693564e-02 2.73467017e+02] [-2.22181988e-02 1.79914282e-03 9.99751527e-01 2.19276795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.880714057 meters Centerline goodness : 0.991933 Centerline is valid? [True, True] Translation: X:301.32, Y:273.50, Z:2.19 [[-4.08531726e-02 -9.99164958e-01 6.36576172e-04 3.01315311e+02] [ 9.98917819e-01 -4.08288759e-02 2.22754029e-02 2.73500252e+02] [-2.22308114e-02 1.54590816e-03 9.99751670e-01 2.18926787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.910714057 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:301.31, Y:273.53, Z:2.19 [[-4.22286356e-02 -9.99107526e-01 9.45726465e-04 3.01313807e+02] [ 9.98861073e-01 -4.21971387e-02 2.22701286e-02 2.73527862e+02] [-2.22103461e-02 1.88508650e-03 9.99751543e-01 2.18876551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9407140569999 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:301.31, Y:273.56, Z:2.19 [[-4.13322887e-02 -9.99145043e-01 9.08157318e-04 3.01314595e+02] [ 9.98898479e-01 -4.13018462e-02 2.22707568e-02 2.73557276e+02] [-2.22142077e-02 1.82765831e-03 9.99751563e-01 2.18752363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9707140569999 meters Centerline goodness : 0.992084 Centerline is valid? [True, True] Translation: X:301.32, Y:273.59, Z:2.19 [[-4.09835079e-02 -9.99159280e-01 1.04135755e-03 3.01315792e+02] [ 9.98913007e-01 -4.09501973e-02 2.22684995e-02 2.73585452e+02] [-2.22071341e-02 1.95286683e-03 9.99751484e-01 2.18802891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.000714057 meters Centerline goodness : 0.992096 Centerline is valid? [True, True] Translation: X:301.31, Y:273.61, Z:2.19 [[-4.44877744e-02 -9.99009455e-01 9.73117156e-04 3.01314100e+02] [ 9.98763141e-01 -4.44551133e-02 2.22694958e-02 2.73613061e+02] [-2.22041768e-02 1.96263385e-03 9.99751530e-01 2.18692376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.030714057 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:301.31, Y:273.64, Z:2.19 [[-4.59225674e-02 -9.98944548e-01 9.53194087e-04 3.01312974e+02] [ 9.98698235e-01 -4.58899943e-02 2.22697800e-02 2.73638496e+02] [-2.22025333e-02 1.97463873e-03 9.99751543e-01 2.18548197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0607140569999 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:301.31, Y:273.67, Z:2.18 [[-4.60012978e-02 -9.98941041e-01 8.22848252e-04 3.01313078e+02] [ 9.98694442e-01 -4.59715963e-02 2.22716086e-02 2.73667262e+02] [-2.22101963e-02 1.84629688e-03 9.99751618e-01 2.18397825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0907140569999 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:301.31, Y:273.69, Z:2.18 [[-4.69185994e-02 -9.98898406e-01 7.87271683e-04 3.01313810e+02] [ 9.98651758e-01 -4.68894607e-02 2.22720595e-02 2.73694956e+02] [-2.22106100e-02 1.83118409e-03 9.99751637e-01 2.18447665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.120714057 meters Centerline goodness : 0.992564 Centerline is valid? [True, True] Translation: X:301.31, Y:273.72, Z:2.18 [[-4.71047706e-02 -9.98889669e-01 7.55019685e-04 3.01313991e+02] [ 9.98642959e-01 -4.70763016e-02 2.22724610e-02 2.73721254e+02] [-2.22121876e-02 1.80313426e-03 9.99751653e-01 2.18428236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.150714057 meters Centerline goodness : 0.992368 Centerline is valid? [True, True] Translation: X:301.32, Y:273.75, Z:2.18 [[-4.66202984e-02 -9.98912446e-01 6.88272244e-04 3.01315105e+02] [ 9.98665587e-01 -4.65934305e-02 2.22732665e-02 2.73750276e+02] [-2.22169742e-02 1.72574014e-03 9.99751683e-01 2.18416105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1807140569999 meters Centerline goodness : 0.992368 Centerline is valid? [True, True] Translation: X:301.32, Y:273.78, Z:2.18 [[-4.70485765e-02 -9.98892348e-01 7.13427635e-04 3.01315184e+02] [ 9.98645551e-01 -4.70210444e-02 2.22729769e-02 2.73778426e+02] [-2.22147601e-02 1.76037319e-03 9.99751672e-01 2.18354400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2107140569999 meters Centerline goodness : 0.992596 Centerline is valid? [True, True] Translation: X:301.32, Y:273.81, Z:2.19 [[-4.53164731e-02 -9.98972428e-01 7.11248474e-04 3.01316962e+02] [ 9.98725579e-01 -4.52894174e-02 2.22730015e-02 2.73808653e+02] [-2.22179024e-02 1.71967592e-03 9.99751673e-01 2.18517386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.240714057 meters Centerline goodness : 0.992875 Centerline is valid? [True, True] Translation: X:301.32, Y:273.84, Z:2.18 [[-4.39764931e-02 -9.99032231e-01 8.18136115e-04 3.01318989e+02] [ 9.98785557e-01 -4.39473956e-02 2.22719247e-02 2.73840250e+02] [-2.22144156e-02 1.79658368e-03 9.99751615e-01 2.18450845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.270714057 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:301.32, Y:273.87, Z:2.19 [[-4.44150034e-02 -9.99012657e-01 1.00895920e-03 3.01317926e+02] [ 9.98766401e-01 -4.43815633e-02 2.22700250e-02 2.73866254e+02] [-2.22032577e-02 1.99683779e-03 9.99751483e-01 2.18579290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3007140569999 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:301.32, Y:273.89, Z:2.18 [[-4.37495646e-02 -9.99042129e-01 8.95052105e-04 3.01317278e+02] [ 9.98795607e-01 -4.37188161e-02 2.22710785e-02 2.73892999e+02] [-2.22106151e-02 1.86832410e-03 9.99751568e-01 2.18455293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3307140569999 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:301.32, Y:273.92, Z:2.18 [[-4.28545460e-02 -9.99081001e-01 8.01180797e-04 3.01317005e+02] [ 9.98834264e-01 -4.28261023e-02 2.22718932e-02 2.73919794e+02] [-2.22171139e-02 1.75469870e-03 9.99751630e-01 2.18340772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3607140569999 meters Centerline goodness : 0.992915 Centerline is valid? [True, True] Translation: X:301.32, Y:273.95, Z:2.18 [[-4.04966502e-02 -9.99179418e-01 7.15115975e-04 3.01317452e+02] [ 9.98932457e-01 -4.04707003e-02 2.22725836e-02 2.73948115e+02] [-2.22253659e-02 1.61631758e-03 9.99751679e-01 2.18161147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.390714057 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:301.32, Y:273.97, Z:2.18 [[-4.06085203e-02 -9.99174859e-01 7.41129683e-04 3.01316019e+02] [ 9.98927948e-01 -4.05819650e-02 2.22723860e-02 2.73974102e+02] [-2.22239316e-02 1.64478379e-03 9.99751665e-01 2.18059743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4207140569999 meters Centerline goodness : 0.992464 Centerline is valid? [True, True] Translation: X:301.32, Y:274.00, Z:2.18 [[-3.99763451e-02 -9.99200432e-01 6.22912428e-04 3.01315860e+02] [ 9.98953300e-01 -3.99525723e-02 2.22732418e-02 2.74003026e+02] [-2.22305458e-02 1.51266322e-03 9.99751727e-01 2.17976102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4507140569999 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:301.32, Y:274.03, Z:2.18 [[-3.88344354e-02 -9.99245481e-01 5.96999120e-04 3.01316121e+02] [ 9.98998279e-01 -3.88115210e-02 2.22733972e-02 2.74031799e+02] [-2.22334211e-02 1.46137590e-03 9.99751739e-01 2.17973366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4807140569999 meters Centerline goodness : 0.992767 Centerline is valid? [True, True] Translation: X:301.32, Y:274.06, Z:2.18 [[-3.76048505e-02 -9.99292512e-01 5.92620968e-04 3.01317279e+02] [ 9.99045276e-01 -3.75823376e-02 2.22734217e-02 2.74060982e+02] [-2.22353914e-02 1.42964387e-03 9.99751741e-01 2.17979855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.510714057 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:301.32, Y:274.09, Z:2.18 [[-3.86232774e-02 -9.99253644e-01 6.30823440e-04 3.01316151e+02] [ 9.99006491e-01 -3.85996635e-02 2.22732279e-02 2.74087913e+02] [-2.22322546e-02 1.49046177e-03 9.99751722e-01 2.17804644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.540714057 meters Centerline goodness : 0.991642 Centerline is valid? [True, True] Translation: X:301.32, Y:274.11, Z:2.18 [[-3.83381486e-02 -9.99264699e-01 4.98099366e-04 3.01315599e+02] [ 9.99017338e-01 -3.83175555e-02 2.22738197e-02 2.74114969e+02] [-2.22383558e-02 1.35154691e-03 9.99751784e-01 2.17724953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5707140569999 meters Centerline goodness : 0.992649 Centerline is valid? [True, True] Translation: X:301.32, Y:274.15, Z:2.18 [[-3.35479150e-02 -9.99437032e-01 3.95535217e-04 3.01318289e+02] [ 9.99189444e-01 -3.35307890e-02 2.22742383e-02 2.74146516e+02] [-2.22484360e-02 1.14246887e-03 9.99751820e-01 2.17889846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6007140569999 meters Centerline goodness : 0.992508 Centerline is valid? [True, True] Translation: X:301.32, Y:274.18, Z:2.18 [[-3.17070362e-02 -9.99497011e-01 6.24151276e-04 3.01319523e+02] [ 9.99249690e-01 -3.16852815e-02 2.22732832e-02 2.74177610e+02] [-2.22423036e-02 1.32990277e-03 9.99751725e-01 2.17963356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.630714057 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:301.32, Y:274.20, Z:2.18 [[-3.35409879e-02 -9.99437071e-01 7.37026780e-04 3.01317659e+02] [ 9.99189962e-01 -3.35162700e-02 2.22728474e-02 2.74202032e+02] [-2.22356070e-02 1.48348307e-03 9.99751658e-01 2.17661883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.660714057 meters Centerline goodness : 0.992807 Centerline is valid? [True, True] Translation: X:301.32, Y:274.23, Z:2.18 [[-3.27175970e-02 -9.99464520e-01 4.81980285e-04 3.01319127e+02] [ 9.99217032e-01 -3.26987543e-02 2.22736278e-02 2.74231736e+02] [-2.22459406e-02 1.21034249e-03 9.99751796e-01 2.17686013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6907140569999 meters Centerline goodness : 0.992317 Centerline is valid? [True, True] Translation: X:301.32, Y:274.26, Z:2.18 [[-3.10701989e-02 -9.99517064e-01 5.31601060e-04 3.01322146e+02] [ 9.99269607e-01 -3.10506603e-02 2.22734986e-02 2.74264385e+02] [-2.22462354e-02 1.22325481e-03 9.99751774e-01 2.17872042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7207140569999 meters Centerline goodness : 0.992474 Centerline is valid? [True, True] Translation: X:301.31, Y:274.28, Z:2.18 [[-3.89652158e-02 -9.99240273e-01 7.66954394e-04 3.01314688e+02] [ 9.98993349e-01 -3.89384917e-02 2.22729284e-02 2.74279744e+02] [-2.22261430e-02 1.63405180e-03 9.99751633e-01 2.17578935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.750714057 meters Centerline goodness : 0.991090 Centerline is valid? [True, True] Translation: X:301.33, Y:274.32, Z:2.18 [[-3.53389763e-02 -9.99375383e-01 2.23210776e-05 3.01325341e+02] [ 9.99127467e-01 -3.53297122e-02 2.22736808e-02 2.74320154e+02] [-2.22589797e-02 8.09430679e-04 9.99751911e-01 2.17595180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.780714057 meters Centerline goodness : 0.991555 Centerline is valid? [True, True] Translation: X:301.32, Y:274.35, Z:2.17 [[-4.08575437e-02 -9.99164711e-01 7.36206277e-04 3.01324089e+02] [ 9.98917778e-01 -4.08310348e-02 2.22732890e-02 2.74345496e+02] [-2.22246242e-02 1.64544141e-03 9.99751648e-01 2.17440036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8107140569999 meters Centerline goodness : 0.990235 Centerline is valid? [True, True] Translation: X:301.33, Y:274.36, Z:2.18 [[-4.61709222e-02 -9.98933519e-01 2.64511068e-04 3.01327281e+02] [ 9.98686079e-01 -4.61535884e-02 2.22702085e-02 2.74355777e+02] [-2.22342496e-02 1.29239958e-03 9.99751953e-01 2.17698239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8407140569999 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:301.33, Y:274.37, Z:2.17 [[-4.89925679e-02 -9.98799142e-01 4.00892172e-05 3.01328141e+02] [ 9.98551506e-01 -4.89795272e-02 2.22687155e-02 2.74366041e+02] [-2.22400104e-02 1.13103271e-03 9.99752021e-01 2.17315125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.870714057 meters Centerline goodness : 0.990410 Centerline is valid? [True, True] Translation: X:301.33, Y:274.36, Z:2.17 [[-5.02784096e-02 -9.98735214e-01 2.30942184e-04 3.01329468e+02] [ 9.98487809e-01 -5.02608052e-02 2.22698850e-02 2.74359871e+02] [-2.22301110e-02 1.35028735e-03 9.99751969e-01 2.17391424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.900714057 meters Centerline goodness : 0.990819 Centerline is valid? [True, True] Translation: X:301.33, Y:274.37, Z:2.17 [[-5.51038737e-02 -9.98480595e-01 2.52791454e-04 3.01331003e+02] [ 9.98233307e-01 -5.50845882e-02 2.22700126e-02 2.74370384e+02] [-2.22222505e-02 1.47950881e-03 9.99751961e-01 2.17339552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9307140569999 meters Centerline goodness : 0.990893 Centerline is valid? [True, True] Translation: X:301.33, Y:274.37, Z:2.17 [[-5.37196358e-02 -9.98556035e-01 2.13196870e-04 3.01332801e+02] [ 9.98308668e-01 -5.37015734e-02 2.22697895e-02 2.74368613e+02] [-2.22261837e-02 1.40916126e-03 9.99751975e-01 2.17439708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9607140569999 meters Centerline goodness : 0.991284 Centerline is valid? [True, True] Translation: X:301.33, Y:274.38, Z:2.17 [[-6.25122621e-02 -9.98044166e-01 2.45622409e-04 3.01329161e+02] [ 9.97797016e-01 -6.24913012e-02 2.22699681e-02 2.74379916e+02] [-2.22110624e-02 1.63722739e-03 9.99751963e-01 2.17309390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.990714057 meters Centerline goodness : 0.990117 Centerline is valid? [True, True] Translation: X:301.34, Y:274.36, Z:2.18 [[-5.03238789e-02 -9.98732943e-01 -1.29347953e-04 3.01336184e+02] [ 9.98485162e-01 -5.03142777e-02 2.22677915e-02 2.74363587e+02] [-2.22460850e-02 9.91449632e-04 9.99752034e-01 2.17951412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.020714057 meters Centerline goodness : 0.991438 Centerline is valid? [True, True] Translation: X:301.34, Y:274.37, Z:2.18 [[-4.92204088e-02 -9.98787932e-01 1.32110638e-04 3.01336205e+02] [ 9.98540400e-01 -4.92052648e-02 2.22690827e-02 2.74373532e+02] [-2.22355905e-02 1.22801116e-03 9.99752005e-01 2.17594596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0507140569999 meters Centerline goodness : 0.989539 Centerline is valid? [True, True] Translation: X:301.34, Y:274.40, Z:2.18 [[-4.25159142e-02 -9.99095589e-01 6.33008024e-04 3.01337243e+02] [ 9.98848650e-01 -4.24912972e-02 2.22680178e-02 2.74396893e+02] [-2.22209810e-02 1.57902434e-03 9.99751837e-01 2.17967883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0807140569999 meters Centerline goodness : 0.990926 Centerline is valid? [True, True] Translation: X:301.34, Y:274.43, Z:2.18 [[-3.92459508e-02 -9.99229530e-01 3.19622541e-04 3.01339478e+02] [ 9.98982079e-01 -3.92291089e-02 2.22684099e-02 2.74428228e+02] [-2.22387143e-02 1.19324211e-03 9.99751977e-01 2.17655060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1107140569999 meters Centerline goodness : 0.990018 Centerline is valid? [True, True] Translation: X:301.34, Y:274.45, Z:2.18 [[-3.89458424e-02 -9.99241190e-01 5.15448859e-04 3.01338879e+02] [ 9.98993991e-01 -3.89247209e-02 2.22681952e-02 2.74454048e+02] [-2.22312342e-02 1.38218394e-03 9.99751900e-01 2.17738500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.140714057 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:301.34, Y:274.45, Z:2.18 [[-3.63774491e-02 -9.99338104e-01 1.88462722e-04 3.01339397e+02] [ 9.99090496e-01 -3.63642365e-02 2.22670706e-02 2.74448967e+02] [-2.22454788e-02 9.98310542e-04 9.99752040e-01 2.17531594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1707140569999 meters Centerline goodness : 0.991035 Centerline is valid? [True, True] Translation: X:301.34, Y:274.48, Z:2.17 [[-3.37582005e-02 -9.99429717e-01 7.90595487e-04 3.01342576e+02] [ 9.99182890e-01 -3.37322514e-02 2.22640410e-02 2.74479882e+02] [-2.22246756e-02 1.54154344e-03 9.99751813e-01 2.17339252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2007140569999 meters Centerline goodness : 0.991471 Centerline is valid? [True, True] Translation: X:301.34, Y:274.51, Z:2.17 [[-3.38052830e-02 -9.99428022e-01 9.11521857e-04 3.01342883e+02] [ 9.99181403e-01 -3.37766359e-02 2.22634668e-02 2.74506240e+02] [-2.22199444e-02 1.66339848e-03 9.99751723e-01 2.17330792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2307140569999 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:301.35, Y:274.54, Z:2.17 [[-3.32349458e-02 -9.99447239e-01 8.09416649e-04 3.01346661e+02] [ 9.99200431e-01 -3.32087079e-02 2.22638845e-02 2.74536866e+02] [-2.22246982e-02 1.54870846e-03 9.99751801e-01 2.17083360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.260714057 meters Centerline goodness : 0.991096 Centerline is valid? [True, True] Translation: X:301.34, Y:274.56, Z:2.17 [[-3.61901319e-02 -9.99344471e-01 9.49748728e-04 3.01344955e+02] [ 9.99097990e-01 -3.61600474e-02 2.22633787e-02 2.74559816e+02] [-2.22144415e-02 1.75460666e-03 9.99751689e-01 2.16834766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.290714057 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:301.35, Y:274.59, Z:2.17 [[-3.57998029e-02 -9.99358787e-01 6.23418782e-04 3.01346282e+02] [ 9.99111756e-01 -3.57770647e-02 2.22643165e-02 2.74588515e+02] [-2.22277362e-02 1.41992318e-03 9.99751925e-01 2.16747858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3207140569999 meters Centerline goodness : 0.991808 Centerline is valid? [True, True] Translation: X:301.35, Y:274.62, Z:2.17 [[-3.57576000e-02 -9.99360312e-01 6.00204141e-04 3.01348013e+02] [ 9.99113247e-01 -3.57353882e-02 2.22643483e-02 2.74616508e+02] [-2.22286575e-02 1.39579157e-03 9.99751939e-01 2.16734301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3507140569999 meters Centerline goodness : 0.991203 Centerline is valid? [True, True] Translation: X:301.35, Y:274.62, Z:2.17 [[-3.44742576e-02 -9.99405534e-01 3.21604845e-04 3.01349216e+02] [ 9.99158136e-01 -3.44585596e-02 2.22626777e-02 2.74618642e+02] [-2.22383613e-02 1.08882338e-03 9.99752104e-01 2.16821444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.380714057 meters Centerline goodness : 0.991110 Centerline is valid? [True, True] Translation: X:301.35, Y:274.62, Z:2.17 [[-3.33675199e-02 -9.99443078e-01 3.77199762e-04 3.01350534e+02] [ 9.99195716e-01 -3.33508591e-02 2.22629918e-02 2.74617488e+02] [-2.22380132e-02 1.11975721e-03 9.99752078e-01 2.16762846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.410714057 meters Centerline goodness : 0.989383 Centerline is valid? [True, True] Translation: X:301.35, Y:274.64, Z:2.18 [[-3.14787292e-02 -9.99504253e-01 5.80585739e-04 3.01352756e+02] [ 9.99257100e-01 -3.14580133e-02 2.22630104e-02 2.74642764e+02] [-2.22337095e-02 1.28096570e-03 9.99751980e-01 2.17530281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4407140569999 meters Centerline goodness : 0.989630 Centerline is valid? [True, True] Translation: X:301.35, Y:274.65, Z:2.17 [[-3.10937089e-02 -9.99516452e-01 2.07422996e-04 3.01354108e+02] [ 9.99268924e-01 -3.10813888e-02 2.22612741e-02 2.74649879e+02] [-2.22440627e-02 8.99456929e-04 9.99752166e-01 2.17443500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4707140569999 meters Centerline goodness : 0.991472 Centerline is valid? [True, True] Translation: X:301.36, Y:274.66, Z:2.17 [[-3.11338781e-02 -9.99515206e-01 1.88003632e-04 3.01356907e+02] [ 9.99267663e-01 -3.11219802e-02 2.22611873e-02 2.74655712e+02] [-2.22445442e-02 8.80943043e-04 9.99752171e-01 2.16885803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.500714057 meters Centerline goodness : 0.991705 Centerline is valid? [True, True] Translation: X:301.36, Y:274.68, Z:2.17 [[-3.16803828e-02 -9.99497859e-01 6.18844974e-04 3.01358174e+02] [ 9.99250816e-01 -3.16587698e-02 2.22604628e-02 2.74683109e+02] [-2.22296931e-02 1.32360133e-03 9.99752014e-01 2.16784648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.530714057 meters Centerline goodness : 0.991386 Centerline is valid? [True, True] Translation: X:301.36, Y:274.69, Z:2.17 [[-3.15144147e-02 -9.99503240e-01 3.37733559e-04 3.01360577e+02] [ 9.99255890e-01 -3.14990943e-02 2.22592300e-02 2.74686304e+02] [-2.22375342e-02 1.03896886e-03 9.99752176e-01 2.16629281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5607140569999 meters Centerline goodness : 0.990487 Centerline is valid? [True, True] Translation: X:301.36, Y:274.71, Z:2.17 [[-3.00934254e-02 -9.99546918e-01 5.87450155e-04 3.01362243e+02] [ 9.99299839e-01 -3.00729048e-02 2.22587686e-02 2.74710379e+02] [-2.22310172e-02 1.25688144e-03 9.99752070e-01 2.16930922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5907140569999 meters Centerline goodness : 0.990251 Centerline is valid? [True, True] Translation: X:301.37, Y:274.74, Z:2.17 [[-3.01373166e-02 -9.99545718e-01 3.15644041e-04 3.01366086e+02] [ 9.99298329e-01 -3.01228284e-02 2.22590456e-02 2.74738703e+02] [-2.22394256e-02 9.86250467e-04 9.99752187e-01 2.17183487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.620714057 meters Centerline goodness : 0.991546 Centerline is valid? [True, True] Translation: X:301.37, Y:274.77, Z:2.16 [[-3.25251797e-02 -9.99470875e-01 2.86595664e-04 3.01367542e+02] [ 9.99223491e-01 -3.25107465e-02 2.22590649e-02 2.74771576e+02] [-2.22379696e-02 1.01035321e-03 9.99752195e-01 2.16374388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.650714057 meters Centerline goodness : 0.990322 Centerline is valid? [True, True] Translation: X:301.37, Y:274.76, Z:2.17 [[-2.96352400e-02 -9.99560736e-01 2.95985385e-04 3.01370978e+02] [ 9.99313319e-01 -2.96213132e-02 2.22591153e-02 2.74763227e+02] [-2.22405702e-02 9.55436362e-04 9.99752191e-01 2.16585237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6807140569999 meters Centerline goodness : 0.990958 Centerline is valid? [True, True] Translation: X:301.37, Y:274.76, Z:2.17 [[-2.88188323e-02 -9.99584637e-01 1.69566778e-04 3.01372502e+02] [ 9.99337113e-01 -2.88079202e-02 2.22584533e-02 2.74760228e+02] [-2.22443230e-02 8.10917007e-04 9.99752236e-01 2.17108842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7107140569999 meters Centerline goodness : 0.990221 Centerline is valid? [True, True] Translation: X:301.37, Y:274.77, Z:2.17 [[-2.81457788e-02 -9.99603809e-01 2.02745109e-04 3.01374193e+02] [ 9.99356301e-01 -2.81342951e-02 2.22586189e-02 2.74767856e+02] [-2.22440961e-02 8.29100764e-04 9.99752226e-01 2.17079240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.740714057 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:301.38, Y:274.77, Z:2.17 [[-2.68717226e-02 -9.99638877e-01 1.59655194e-04 3.01376488e+02] [ 9.99391326e-01 -2.68615131e-02 2.22584149e-02 2.74772645e+02] [-2.22460883e-02 7.57679968e-04 9.99752238e-01 2.16556319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.770714057 meters Centerline goodness : 0.991132 Centerline is valid? [True, True] Translation: X:301.38, Y:274.79, Z:2.17 [[-2.50184989e-02 -9.99686728e-01 7.21592711e-04 3.01377037e+02] [ 9.99439755e-01 -2.49962527e-02 2.22567570e-02 2.74794338e+02] [-2.22317475e-02 1.27801909e-03 9.99752027e-01 2.16504657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8007140569999 meters Centerline goodness : 0.992551 Centerline is valid? [True, True] Translation: X:301.38, Y:274.83, Z:2.16 [[-2.77607197e-02 -9.99614532e-01 3.60417148e-04 3.01381197e+02] [ 9.99367184e-01 -2.77458254e-02 2.22575953e-02 2.74829060e+02] [-2.22390156e-02 9.78075933e-04 9.99752204e-01 2.16289806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8307140569999 meters Centerline goodness : 0.990491 Centerline is valid? [True, True] Translation: X:301.38, Y:274.86, Z:2.17 [[-2.64724754e-02 -9.99649359e-01 6.05397315e-04 3.01383316e+02] [ 9.99402256e-01 -2.64524523e-02 2.22575354e-02 2.74856307e+02] [-2.22337168e-02 1.19424750e-03 9.99752087e-01 2.16712850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8607140569999 meters Centerline goodness : 0.990055 Centerline is valid? [True, True] Translation: X:301.38, Y:274.86, Z:2.17 [[-2.81980093e-02 -9.99602306e-01 3.18631351e-04 3.01384327e+02] [ 9.99354961e-01 -2.81839376e-02 2.22559587e-02 2.74861325e+02] [-2.22381273e-02 9.45999550e-04 9.99752255e-01 2.16922396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.890714057 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:301.39, Y:274.87, Z:2.17 [[-2.95827429e-02 -9.99562322e-01 1.59678295e-04 3.01386262e+02] [ 9.99314874e-01 -2.95718643e-02 2.22550572e-02 2.74870053e+02] [-2.22405947e-02 8.17934531e-04 9.99752313e-01 2.16974025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9207140569999 meters Centerline goodness : 0.989924 Centerline is valid? [True, True] Translation: X:301.39, Y:274.87, Z:2.16 [[-2.41632447e-02 -9.99708018e-01 1.29300148e-04 3.01390275e+02] [ 9.99460497e-01 -2.41543836e-02 2.22548920e-02 2.74865085e+02] [-2.22452708e-02 6.66980791e-04 9.99752321e-01 2.16323046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9507140569999 meters Centerline goodness : 0.989668 Centerline is valid? [True, True] Translation: X:301.39, Y:274.87, Z:2.17 [[-2.62320589e-02 -9.99655853e-01 2.33931460e-04 3.01392228e+02] [ 9.99408420e-01 -2.62203579e-02 2.22554016e-02 2.74869297e+02] [-2.22416087e-02 8.17598077e-04 9.99752291e-01 2.16647586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9807140569999 meters Centerline goodness : 0.990401 Centerline is valid? [True, True] Translation: X:301.39, Y:274.87, Z:2.16 [[-2.48472892e-02 -9.99691236e-01 2.12629222e-04 3.01394524e+02] [ 9.99443773e-01 -2.48364049e-02 2.22553016e-02 2.74866670e+02] [-2.22431490e-02 7.65494867e-04 9.99752298e-01 2.16128425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.010714057 meters Centerline goodness : 0.991189 Centerline is valid? [True, True] Translation: X:301.39, Y:274.90, Z:2.16 [[-3.08990986e-02 -9.99522399e-01 4.68347132e-04 3.01393941e+02] [ 9.99275274e-01 -3.08810309e-02 2.22551013e-02 2.74897307e+02] [-2.22300092e-02 1.15567028e-03 9.99752215e-01 2.15852210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.040714057 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:301.39, Y:274.91, Z:2.16 [[-4.26280608e-02 -9.99090971e-01 2.82551578e-04 3.01388747e+02] [ 9.98843855e-01 -4.26112235e-02 2.22539304e-02 2.74913078e+02] [-2.22216611e-02 1.23086681e-03 9.99752311e-01 2.15770294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0707140569999 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:301.39, Y:274.92, Z:2.16 [[-4.22448464e-02 -9.99107277e-01 -1.47662074e-04 3.01388822e+02] [ 9.98859784e-01 -4.22376703e-02 2.22510775e-02 2.74915718e+02] [-2.22374503e-02 7.92499643e-04 9.99752403e-01 2.15750475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1007140569999 meters Centerline goodness : 0.990354 Centerline is valid? [True, True] Translation: X:301.40, Y:274.90, Z:2.16 [[-2.75974297e-02 -9.99619109e-01 -1.39125295e-04 3.01401290e+02] [ 9.99371540e-01 -2.75936917e-02 2.22511309e-02 2.74901678e+02] [-2.22464946e-02 4.75036160e-04 9.99752403e-01 2.15965923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.130714057 meters Centerline goodness : 0.989617 Centerline is valid? [True, True] Translation: X:301.40, Y:274.93, Z:2.16 [[-2.56986859e-02 -9.99669551e-01 6.05626824e-04 3.01402965e+02] [ 9.99422608e-01 -2.56788583e-02 2.22496293e-02 2.74927665e+02] [-2.22267251e-02 1.17706337e-03 9.99752263e-01 2.15961782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.160714057 meters Centerline goodness : 0.991600 Centerline is valid? [True, True] Translation: X:301.41, Y:274.96, Z:2.16 [[-2.89174358e-02 -9.99581728e-01 3.88925701e-04 3.01406384e+02] [ 9.99334602e-01 -2.89016295e-02 2.22496875e-02 2.74961835e+02] [-2.22291405e-02 1.03207082e-03 9.99752369e-01 2.15705814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1907140569999 meters Centerline goodness : 0.990974 Centerline is valid? [True, True] Translation: X:301.41, Y:274.97, Z:2.16 [[-2.60388493e-02 -9.99660849e-01 4.07200229e-04 3.01408409e+02] [ 9.99413693e-01 -2.60233482e-02 2.22498391e-02 2.74966044e+02] [-2.22316963e-02 9.86321691e-04 9.99752359e-01 2.15536538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2207140569999 meters Centerline goodness : 0.989929 Centerline is valid? [True, True] Translation: X:301.41, Y:274.96, Z:2.16 [[-2.45303780e-02 -9.99699000e-01 4.11677504e-04 3.01410514e+02] [ 9.99451825e-01 -2.45151504e-02 2.22498748e-02 2.74958543e+02] [-2.22330853e-02 9.57249674e-04 9.99752356e-01 2.15868198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.250714057 meters Centerline goodness : 0.992039 Centerline is valid? [True, True] Translation: X:301.40, Y:274.98, Z:2.16 [[-3.90590332e-02 -9.99236890e-01 1.70425175e-04 3.01401616e+02] [ 9.98989727e-01 -3.90455774e-02 2.22478875e-02 2.74975206e+02] [-2.22242556e-02 1.03923398e-03 9.99752471e-01 2.15701617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.280714057 meters Centerline goodness : 0.991902 Centerline is valid? [True, True] Translation: X:301.40, Y:274.98, Z:2.16 [[-3.73351093e-02 -9.99302783e-01 -1.91590073e-04 3.01403223e+02] [ 9.99055370e-01 -3.73301305e-02 2.22447710e-02 2.74977172e+02] [-2.22364136e-02 6.39101864e-04 9.99752536e-01 2.15632810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3107140569999 meters Centerline goodness : 0.991499 Centerline is valid? [True, True] Translation: X:301.41, Y:274.98, Z:2.16 [[-3.51908473e-02 -9.99380594e-01 -1.83075482e-04 3.01407237e+02] [ 9.99133173e-01 -3.51862100e-02 2.22448410e-02 2.74979330e+02] [-2.22375042e-02 5.99898017e-04 9.99752536e-01 2.15545732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3407140569999 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:301.41, Y:274.98, Z:2.16 [[-3.47705243e-02 -9.99395307e-01 -1.74563714e-04 3.01409184e+02] [ 9.99147889e-01 -3.47658017e-02 2.22449078e-02 2.74983812e+02] [-2.22375254e-02 5.99052142e-04 9.99752536e-01 2.15533833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.370714057 meters Centerline goodness : 0.991902 Centerline is valid? [True, True] Translation: X:301.41, Y:274.98, Z:2.16 [[-3.43234013e-02 -9.99410765e-01 -1.66044899e-04 3.01414254e+02] [ 9.99163348e-01 -3.43185999e-02 2.22449714e-02 2.74983981e+02] [-2.22375623e-02 5.97617104e-04 9.99752536e-01 2.15578786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.400714057 meters Centerline goodness : 0.991038 Centerline is valid? [True, True] Translation: X:301.42, Y:274.99, Z:2.16 [[-3.46363107e-02 -9.99399971e-01 -1.57530238e-04 3.01416375e+02] [ 9.99152559e-01 -3.46312425e-02 2.22450317e-02 2.74988377e+02] [-2.22371395e-02 6.13089091e-04 9.99752536e-01 2.15588801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4307140569999 meters Centerline goodness : 0.992479 Centerline is valid? [True, True] Translation: X:301.42, Y:274.99, Z:2.16 [[-3.45823632e-02 -9.99401840e-01 -1.49018400e-04 3.01419146e+02] [ 9.99154432e-01 -3.45771191e-02 2.22450888e-02 2.74992006e+02] [-2.22369353e-02 6.20395345e-04 9.99752536e-01 2.15605838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4607140569999 meters Centerline goodness : 0.991276 Centerline is valid? [True, True] Translation: X:301.42, Y:275.00, Z:2.16 [[-3.53099750e-02 -9.99376399e-01 -1.40496671e-04 3.01421350e+02] [ 9.99128999e-01 -3.53043612e-02 2.22451426e-02 2.74996341e+02] [-2.22362306e-02 6.45101130e-04 9.99752536e-01 2.15570566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.490714057 meters Centerline goodness : 0.991263 Centerline is valid? [True, True] Translation: X:301.43, Y:275.00, Z:2.16 [[-3.71853380e-02 -9.99308378e-01 -1.31966360e-04 3.01426397e+02] [ 9.99060993e-01 -3.71790702e-02 2.22451932e-02 2.74999610e+02] [-2.22347143e-02 6.95352585e-04 9.99752536e-01 2.15525043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.520714057 meters Centerline goodness : 0.991621 Centerline is valid? [True, True] Translation: X:301.43, Y:275.01, Z:2.15 [[-3.95685604e-02 -9.99216850e-01 -1.23428981e-04 3.01432233e+02] [ 9.98969487e-01 -3.95615127e-02 2.22452406e-02 2.75005115e+02] [-2.22327022e-02 7.56910357e-04 9.99752536e-01 2.15401838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5507140569999 meters Centerline goodness : 0.989929 Centerline is valid? [True, True] Translation: X:301.44, Y:275.42, Z:2.15 [[-3.61070891e-02 -9.99347920e-01 -1.14882991e-04 3.01436413e+02] [ 9.99100539e-01 -3.61007083e-02 2.22452847e-02 2.75419197e+02] [-2.22349263e-02 6.88432818e-04 9.99752536e-01 2.14653137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5807140569999 meters Centerline goodness : 0.991718 Centerline is valid? [True, True] Translation: X:302.02, Y:275.18, Z:2.93 [[-3.78820483e-02 9.99282211e-01 1.14882991e-04 3.02021613e+02] [ 9.99034841e-01 3.78752282e-02 -2.22452847e-02 2.75177656e+02] [-2.22336685e-02 -7.27924839e-04 -9.99752536e-01 2.93213064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6107140569999 meters Centerline goodness : 0.991260 Centerline is valid? [True, True] Translation: X:301.48, Y:275.14, Z:2.15 [[-1.08357426e-01 -9.94110662e-01 -1.63121736e-03 3.01478109e+02] [ 9.93864537e-01 -1.08366917e-01 2.21335583e-02 2.75137408e+02] [-2.21799763e-02 7.77126318e-04 9.99753692e-01 2.15030556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.640714057 meters Centerline goodness : 0.989899 Centerline is valid? [True, True] Translation: X:301.46, Y:275.48, Z:2.15 [[-9.82206516e-02 -9.95163372e-01 -1.60227386e-03 3.01463986e+02] [ 9.94917326e-01 -9.82320071e-02 2.21356534e-02 2.75481475e+02] [-2.21859861e-02 5.80048279e-04 9.99753692e-01 2.14559938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6707140569999 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:301.48, Y:275.14, Z:2.15 [[-1.07410472e-01 -9.94214017e-01 -1.21606162e-03 3.01484520e+02] [ 9.93967637e-01 -1.07410963e-01 2.21635180e-02 2.75137258e+02] [-2.21658987e-02 1.17186804e-03 9.99753619e-01 2.15177788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7007140569999 meters Centerline goodness : 0.990141 Centerline is valid? [True, True] Translation: X:301.49, Y:275.14, Z:2.15 [[-1.05944753e-01 -9.94370743e-01 -1.59232519e-03 3.01488222e+02] [ 9.94124606e-01 -1.05953976e-01 2.21364541e-02 2.75139003e+02] [-2.21805555e-02 7.62271500e-04 9.99753691e-01 2.15175141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7307140569999 meters Centerline goodness : 0.990332 Centerline is valid? [True, True] Translation: X:301.49, Y:275.14, Z:2.15 [[-1.04989312e-01 -9.94472089e-01 -1.58380096e-03 3.01489974e+02] [ 9.94225954e-01 -1.04998582e-01 2.21370640e-02 2.75141659e+02] [-2.21809891e-02 7.49499094e-04 9.99753691e-01 2.15142119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.760714057 meters Centerline goodness : 0.991269 Centerline is valid? [True, True] Translation: X:301.49, Y:275.14, Z:2.15 [[-1.03806033e-01 -9.94596313e-01 -1.57528070e-03 3.01491808e+02] [ 9.94350182e-01 -1.03815407e-01 2.21376703e-02 2.75143854e+02] [-2.21815837e-02 7.31643084e-04 9.99753691e-01 2.15119679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.790714057 meters Centerline goodness : 0.990594 Centerline is valid? [True, True] Translation: X:301.49, Y:275.15, Z:2.15 [[-1.02388910e-01 -9.94743211e-01 -1.56676307e-03 3.01494517e+02] [ 9.94497087e-01 -1.02398446e-01 2.21382731e-02 2.75148331e+02] [-2.21823310e-02 7.08572355e-04 9.99753691e-01 2.15003229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8207140569999 meters Centerline goodness : 0.990240 Centerline is valid? [True, True] Translation: X:301.50, Y:275.15, Z:2.15 [[-1.01539262e-01 -9.94830312e-01 -1.55823814e-03 3.01495805e+02] [ 9.94584188e-01 -1.01548818e-01 2.21388731e-02 2.75149572e+02] [-2.21826593e-02 6.98165822e-04 9.99753691e-01 2.14948308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8507140569999 meters Centerline goodness : 0.989951 Centerline is valid? [True, True] Translation: X:301.50, Y:275.15, Z:2.15 [[-1.00759565e-01 -9.94909598e-01 -1.54971299e-03 3.01497150e+02] [ 9.94663475e-01 -1.00769124e-01 2.21394699e-02 2.75150777e+02] [-2.21829343e-02 6.89320451e-04 9.99753691e-01 2.14930728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.880714057 meters Centerline goodness : 0.990058 Centerline is valid? [True, True] Translation: X:301.50, Y:275.16, Z:2.15 [[-1.00828054e-01 -9.94902673e-01 -1.54119753e-03 3.01498119e+02] [ 9.94656541e-01 -1.00837407e-01 2.21400626e-02 2.75155550e+02] [-2.21826179e-02 6.99377224e-04 9.99753691e-01 2.14824804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.910714057 meters Centerline goodness : 0.990218 Centerline is valid? [True, True] Translation: X:301.50, Y:275.16, Z:2.15 [[-1.01173363e-01 -9.94867630e-01 -1.53268184e-03 3.01501243e+02] [ 9.94621488e-01 -1.01182441e-01 2.21406521e-02 2.75158236e+02] [-2.21820986e-02 7.15605939e-04 9.99753691e-01 2.14755438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9407140569999 meters Centerline goodness : 0.989791 Centerline is valid? [True, True] Translation: X:301.50, Y:275.16, Z:2.15 [[-1.01742471e-01 -9.94809603e-01 -1.52416020e-03 3.01502781e+02] [ 9.94563450e-01 -1.01751219e-01 2.21412388e-02 2.75161426e+02] [-2.21814021e-02 7.36830303e-04 9.99753691e-01 2.14737086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9707140569999 meters Centerline goodness : 0.987823 Centerline is valid? [True, True] Translation: X:301.52, Y:275.15, Z:2.15 [[-8.46092503e-02 -9.96413056e-01 -1.51563414e-03 3.01518848e+02] [ 9.96167079e-01 -8.46220432e-02 2.21418224e-02 2.75145934e+02] [-2.21906569e-02 3.63578157e-04 9.99753691e-01 2.14707128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.000714057 meters Centerline goodness : 0.989539 Centerline is valid? [True, True] Translation: X:301.51, Y:275.17, Z:2.15 [[-1.05046930e-01 -9.94466874e-01 -8.83102303e-04 3.01506168e+02] [ 9.94220462e-01 -1.05040601e-01 2.21843518e-02 2.75167224e+02] [-2.21543645e-02 1.45239967e-03 9.99753507e-01 2.14874972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.030714057 meters Centerline goodness : 0.987894 Centerline is valid? [True, True] Translation: X:301.51, Y:275.17, Z:2.15 [[-1.06016748e-01 -9.94363203e-01 -1.50635958e-03 3.01507512e+02] [ 9.94117013e-01 -1.06024042e-01 2.21419547e-02 2.75171362e+02] [-2.21768554e-02 8.49920346e-04 9.99753702e-01 2.14877914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0607140569999 meters Centerline goodness : 0.988486 Centerline is valid? [True, True] Translation: X:301.51, Y:275.18, Z:2.15 [[-1.08462690e-01 -9.94099392e-01 -1.49781466e-03 3.01510428e+02] [ 9.93853180e-01 -1.08469189e-01 2.21425327e-02 2.75177507e+02] [-2.21743451e-02 9.13030794e-04 9.99753702e-01 2.14896974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0907140569999 meters Centerline goodness : 0.988944 Centerline is valid? [True, True] Translation: X:301.51, Y:275.18, Z:2.15 [[-1.09100550e-01 -9.94029603e-01 -1.48925375e-03 3.01512060e+02] [ 9.93783382e-01 -1.09106700e-01 2.21431085e-02 2.75181739e+02] [-2.21733929e-02 9.35829685e-04 9.99753702e-01 2.14907549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.120714057 meters Centerline goodness : 0.986076 Centerline is valid? [True, True] Translation: X:301.53, Y:275.16, Z:2.15 [[-8.78546123e-02 -9.96132207e-01 -1.48067679e-03 3.01529905e+02] [ 9.95886165e-01 -8.78658273e-02 2.21436820e-02 2.75158343e+02] [-2.21881357e-02 4.70839071e-04 9.99753702e-01 2.15152453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.150714057 meters Centerline goodness : 0.986221 Centerline is valid? [True, True] Translation: X:301.53, Y:275.16, Z:2.15 [[-8.67891348e-02 -9.96226472e-01 -6.80621376e-04 3.01531509e+02] [ 9.95979972e-01 -8.67828242e-02 2.21954145e-02 2.75164050e+02] [-2.21707258e-02 1.24843556e-03 9.99753420e-01 2.15079411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1807140569999 meters Centerline goodness : 0.985961 Centerline is valid? [True, True] Translation: X:301.53, Y:275.16, Z:2.15 [[-8.78935275e-02 -9.96129667e-01 -6.43749763e-04 3.01532324e+02] [ 9.95883170e-01 -8.78861232e-02 2.21977883e-02 2.75163525e+02] [-2.21684522e-02 1.30994237e-03 9.99753391e-01 2.15084051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2107140569999 meters Centerline goodness : 0.986678 Centerline is valid? [True, True] Translation: X:301.53, Y:275.17, Z:2.15 [[-9.09456835e-02 -9.95855628e-01 -6.70863034e-04 3.01533512e+02] [ 9.95609157e-01 -9.09381272e-02 2.21960463e-02 2.75172746e+02] [-2.21650646e-02 1.35071722e-03 9.99753412e-01 2.14922924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.240714057 meters Centerline goodness : 0.986294 Centerline is valid? [True, True] Translation: X:301.53, Y:275.18, Z:2.15 [[-9.28451929e-02 -9.95680404e-01 -5.50858556e-04 3.01533708e+02] [ 9.95433951e-01 -9.28344959e-02 2.22037198e-02 2.75175667e+02] [-2.21589474e-02 1.51316534e-03 9.99753315e-01 2.14932666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.270714057 meters Centerline goodness : 0.985021 Centerline is valid? [True, True] Translation: X:301.54, Y:275.18, Z:2.15 [[-9.58842221e-02 -9.95392308e-01 -6.07177788e-04 3.01535288e+02] [ 9.95145882e-01 -9.58740261e-02 2.22001253e-02 2.75183166e+02] [-2.21560466e-02 1.52441127e-03 9.99753362e-01 2.15140916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3007140569999 meters Centerline goodness : 0.982158 Centerline is valid? [True, True] Translation: X:301.54, Y:275.18, Z:2.15 [[-9.79057426e-02 -9.95195477e-01 -6.53654926e-04 3.01535445e+02] [ 9.94949066e-01 -9.78960803e-02 2.21971606e-02 2.75180274e+02] [-2.21545041e-02 1.52287613e-03 9.99753399e-01 2.15477133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3307140569999 meters Centerline goodness : 0.985144 Centerline is valid? [True, True] Translation: X:301.53, Y:275.18, Z:2.15 [[-1.00426898e-01 -9.94943967e-01 -9.70108919e-04 3.01533927e+02] [ 9.94697581e-01 -1.00423651e-01 2.21768331e-02 2.75182669e+02] [-2.21621282e-02 1.26218556e-03 9.99753593e-01 2.15002561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3607140569999 meters Centerline goodness : 0.984897 Centerline is valid? [True, True] Translation: X:301.53, Y:275.19, Z:2.15 [[-9.96491676e-02 -9.95022212e-01 -9.17307486e-04 3.01534479e+02] [ 9.94775816e-01 -9.96449395e-02 2.21802163e-02 2.75185133e+02] [-2.21612129e-02 1.29772479e-03 9.99753568e-01 2.15081955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.390714057 meters Centerline goodness : 0.985189 Centerline is valid? [True, True] Translation: X:301.53, Y:275.18, Z:2.15 [[-1.02784218e-01 -9.94703271e-01 -8.97972497e-04 3.01533098e+02] [ 9.94456889e-01 -1.02778784e-01 2.21814504e-02 2.75184907e+02] [-2.21562538e-02 1.38690810e-03 9.99753558e-01 2.14859115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4207140569999 meters Centerline goodness : 0.985289 Centerline is valid? [True, True] Translation: X:301.53, Y:275.19, Z:2.15 [[-1.03306706e-01 -9.94648978e-01 -1.06557165e-03 3.01531787e+02] [ 9.94402616e-01 -1.03304870e-01 2.21707321e-02 2.75192317e+02] [-2.21621748e-02 1.23077807e-03 9.99753631e-01 2.14730297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4507140569999 meters Centerline goodness : 0.985083 Centerline is valid? [True, True] Translation: X:301.53, Y:275.19, Z:2.15 [[-1.03085217e-01 -9.94672175e-01 -8.38393324e-04 3.01532261e+02] [ 9.94425798e-01 -1.03078383e-01 2.21851346e-02 2.75190481e+02] [-2.21533563e-02 1.45323946e-03 9.99753528e-01 2.14648729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4807140569999 meters Centerline goodness : 0.985242 Centerline is valid? [True, True] Translation: X:301.53, Y:275.20, Z:2.15 [[-1.04786400e-01 -9.94494185e-01 -1.06155686e-03 3.01530000e+02] [ 9.94247826e-01 -1.04784108e-01 2.21709395e-02 2.75196798e+02] [-2.21601047e-02 1.26776232e-03 9.99753631e-01 2.14858875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.510714057 meters Centerline goodness : 0.983481 Centerline is valid? [True, True] Translation: X:301.53, Y:275.19, Z:2.15 [[-1.03265672e-01 -9.94653368e-01 -9.37428323e-04 3.01530508e+02] [ 9.94406993e-01 -1.03260996e-01 2.21787780e-02 2.75190853e+02] [-2.21569960e-02 1.35812112e-03 9.99753581e-01 2.15013128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.540714057 meters Centerline goodness : 0.983109 Centerline is valid? [True, True] Translation: X:301.53, Y:275.19, Z:2.15 [[-1.02744177e-01 -9.94707137e-01 -1.16020241e-03 3.01529263e+02] [ 9.94460797e-01 -1.02744585e-01 2.21646757e-02 2.75191975e+02] [-2.21665657e-02 1.12351556e-03 9.99753660e-01 2.15144389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5707140569999 meters Centerline goodness : 0.985466 Centerline is valid? [True, True] Translation: X:301.53, Y:275.20, Z:2.15 [[-1.00703533e-01 -9.94915761e-01 -1.19430304e-03 3.01528838e+02] [ 9.94669435e-01 -1.00705204e-01 2.21625264e-02 2.75196472e+02] [-2.21701194e-02 1.04390798e-03 9.99753668e-01 2.14790988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6007140569999 meters Centerline goodness : 0.985679 Centerline is valid? [True, True] Translation: X:301.53, Y:275.20, Z:2.15 [[-1.00148398e-01 -9.94972126e-01 -8.75840553e-04 3.01528419e+02] [ 9.94725740e-01 -1.00143125e-01 2.21823408e-02 2.75200378e+02] [-2.21585202e-02 1.35030476e-03 9.99753558e-01 2.14857717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.630714057 meters Centerline goodness : 0.984513 Centerline is valid? [True, True] Translation: X:301.53, Y:275.20, Z:2.15 [[-9.92419905e-02 -9.95062895e-01 -9.29018339e-04 3.01528833e+02] [ 9.94816508e-01 -9.92381243e-02 2.21790458e-02 2.75197995e+02] [-2.21617395e-02 1.27688987e-03 9.99753583e-01 2.15167029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.660714057 meters Centerline goodness : 0.984691 Centerline is valid? [True, True] Translation: X:301.53, Y:275.20, Z:2.15 [[-9.80821098e-02 -9.95177769e-01 -1.05302255e-03 3.01528174e+02] [ 9.94931400e-01 -9.80812885e-02 2.21713689e-02 2.75195755e+02] [-2.21677353e-02 1.12692944e-03 9.99753630e-01 2.15119421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6907140569999 meters Centerline goodness : 0.985269 Centerline is valid? [True, True] Translation: X:301.53, Y:275.20, Z:2.15 [[-9.81439357e-02 -9.95171665e-01 -1.06051416e-03 3.01527473e+02] [ 9.94925299e-01 -9.81432656e-02 2.21709064e-02 2.75201227e+02] [-2.21679401e-02 1.12080764e-03 9.99753633e-01 2.14849425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7207140569999 meters Centerline goodness : 0.984856 Centerline is valid? [True, True] Translation: X:301.53, Y:275.21, Z:2.15 [[-1.01431877e-01 -9.94842148e-01 -8.21145501e-04 3.01526194e+02] [ 9.94595775e-01 -1.01425070e-01 2.21855674e-02 2.75205513e+02] [-2.21544223e-02 1.43361590e-03 9.99753533e-01 2.14955772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.750714057 meters Centerline goodness : 0.983671 Centerline is valid? [True, True] Translation: X:301.53, Y:275.20, Z:2.15 [[-1.02453470e-01 -9.94737377e-01 -9.15049614e-04 3.01527204e+02] [ 9.94491006e-01 -1.02448498e-01 2.21798162e-02 2.75201897e+02] [-2.21568376e-02 1.36239053e-03 9.99753579e-01 2.15309367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.780714057 meters Centerline goodness : 0.985092 Centerline is valid? [True, True] Translation: X:301.53, Y:275.21, Z:2.15 [[-1.03017111e-01 -9.94678845e-01 -1.21221557e-03 3.01525990e+02] [ 9.94432519e-01 -1.03018608e-01 2.21615047e-02 2.75208597e+02] [-2.21684607e-02 1.07754761e-03 9.99753669e-01 2.15041779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8107140569999 meters Centerline goodness : 0.982806 Centerline is valid? [True, True] Translation: X:301.53, Y:275.21, Z:2.15 [[-1.01765155e-01 -9.94807989e-01 -9.57760447e-04 3.01526264e+02] [ 9.94561621e-01 -1.01761304e-01 2.21769952e-02 2.75212312e+02] [-2.21593149e-02 1.30429358e-03 9.99753601e-01 2.15307508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8407140569999 meters Centerline goodness : 0.985525 Centerline is valid? [True, True] Translation: X:301.53, Y:275.21, Z:2.15 [[-1.01928884e-01 -9.94791086e-01 -1.09465258e-03 3.01525435e+02] [ 9.94544733e-01 -1.01928036e-01 2.21686712e-02 2.75209508e+02] [-2.21647723e-02 1.17094696e-03 9.99753646e-01 2.14834520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.870714057 meters Centerline goodness : 0.985537 Centerline is valid? [True, True] Translation: X:301.52, Y:275.21, Z:2.15 [[-1.02196892e-01 -9.94763807e-01 -8.74072644e-04 3.01524803e+02] [ 9.94517444e-01 -1.02191073e-01 2.21819337e-02 2.75212885e+02] [-2.21551072e-02 1.39764419e-03 9.99753569e-01 2.14831988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.900714057 meters Centerline goodness : 0.986550 Centerline is valid? [True, True] Translation: X:301.52, Y:275.22, Z:2.15 [[-1.03070091e-01 -9.94673695e-01 -8.93197497e-04 3.01523542e+02] [ 9.94427336e-01 -1.03064480e-01 2.21807853e-02 2.75220981e+02] [-2.21547006e-02 1.39795555e-03 9.99753577e-01 2.14859346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9307140569999 meters Centerline goodness : 0.983626 Centerline is valid? [True, True] Translation: X:301.52, Y:275.22, Z:2.15 [[-1.03791126e-01 -9.94598761e-01 -8.40650135e-04 3.01523072e+02] [ 9.94352412e-01 -1.03784169e-01 2.21839254e-02 2.75224556e+02] [-2.21513509e-02 1.46659211e-03 9.99753553e-01 2.15194009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9607140569999 meters Centerline goodness : 0.985511 Centerline is valid? [True, True] Translation: X:301.52, Y:275.23, Z:2.15 [[-1.03713956e-01 -9.94606597e-01 -1.06428788e-03 3.01522335e+02] [ 9.94360242e-01 -1.03711991e-01 2.21705169e-02 2.75225697e+02] [-2.21613218e-02 1.24110647e-03 9.99753637e-01 2.14970010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.990714057 meters Centerline goodness : 0.985511 Centerline is valid? [True, True] Translation: X:301.52, Y:275.23, Z:2.15 [[-1.03367848e-01 -9.94642805e-01 -8.82246043e-04 3.01522027e+02] [ 9.94396451e-01 -1.03361920e-01 2.21813270e-02 2.75228279e+02] [-2.21536879e-02 1.41553370e-03 9.99753575e-01 2.14968233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.020714057 meters Centerline goodness : 0.985438 Centerline is valid? [True, True] Translation: X:301.52, Y:275.23, Z:2.15 [[-9.83440149e-02 -9.95152091e-01 -8.77707133e-04 3.01523667e+02] [ 9.94905710e-01 -9.83392306e-02 2.21815949e-02 2.75229122e+02] [-2.21603736e-02 1.30819126e-03 9.99753573e-01 2.14534571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0507140569999 meters Centerline goodness : 0.985413 Centerline is valid? [True, True] Translation: X:301.52, Y:275.23, Z:2.15 [[-9.67647600e-02 -9.95306918e-01 -8.48910002e-04 3.01522865e+02] [ 9.95060529e-01 -9.67597263e-02 2.21832843e-02 2.75229723e+02] [-2.21613166e-02 1.30184335e-03 9.99753560e-01 2.14526629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0807140569999 meters Centerline goodness : 0.985539 Centerline is valid? [True, True] Translation: X:301.52, Y:275.23, Z:2.14 [[-9.56072177e-02 -9.95418898e-01 -6.91694249e-04 3.01522611e+02] [ 9.95172514e-01 -9.55989742e-02 2.21924260e-02 2.75233642e+02] [-2.21568855e-02 1.43340100e-03 9.99753479e-01 2.14425230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1107140569999 meters Centerline goodness : 0.987017 Centerline is valid? [True, True] Translation: X:301.52, Y:275.23, Z:2.14 [[-9.36865278e-02 -9.95601355e-01 -8.81526222e-04 3.01521841e+02] [ 9.95354954e-01 -9.36829812e-02 2.21813838e-02 2.75229562e+02] [-2.21663998e-02 1.20066534e-03 9.99753574e-01 2.14475544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.140714057 meters Centerline goodness : 0.985637 Centerline is valid? [True, True] Translation: X:301.52, Y:275.23, Z:2.15 [[-9.09694218e-02 -9.95853497e-01 -6.13246794e-04 3.01521297e+02] [ 9.95607090e-01 -9.09605816e-02 2.21967566e-02 2.75231841e+02] [-2.21604990e-02 1.40867326e-03 9.99753434e-01 2.14511201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1707140569999 meters Centerline goodness : 0.987267 Centerline is valid? [True, True] Translation: X:301.52, Y:275.23, Z:2.14 [[-8.46181681e-02 -9.96413297e-01 -5.54940746e-04 3.01521089e+02] [ 9.96166840e-01 -8.46096023e-02 2.22000705e-02 2.75230246e+02] [-2.21673987e-02 1.32571573e-03 9.99753394e-01 2.14410749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2007140569999 meters Centerline goodness : 0.986507 Centerline is valid? [True, True] Translation: X:301.52, Y:275.23, Z:2.14 [[-8.28530295e-02 -9.96561685e-01 -4.28148215e-04 3.01520461e+02] [ 9.96315226e-01 -8.28420800e-02 2.22072149e-02 2.75234324e+02] [-2.21663282e-02 1.41336444e-03 9.99753298e-01 2.14499646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2307140569999 meters Centerline goodness : 0.987000 Centerline is valid? [True, True] Translation: X:301.52, Y:275.23, Z:2.14 [[-8.08630924e-02 -9.96725090e-01 -5.04453160e-04 3.01520282e+02] [ 9.96478603e-01 -8.08543324e-02 2.22029238e-02 2.75229841e+02] [-2.21709985e-02 1.29272030e-03 9.99753357e-01 2.14396529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.260714057 meters Centerline goodness : 0.985634 Centerline is valid? [True, True] Translation: X:301.52, Y:275.22, Z:2.15 [[-7.51287636e-02 -9.97173760e-01 -4.01382666e-04 3.01521911e+02] [ 9.96927225e-01 -7.51191286e-02 2.22086766e-02 2.75224101e+02] [-2.21760611e-02 1.26836111e-03 9.99753276e-01 2.14630736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.290714057 meters Centerline goodness : 0.985447 Centerline is valid? [True, True] Translation: X:301.52, Y:275.22, Z:2.14 [[-7.98785865e-02 -9.96804400e-01 -6.32572058e-04 3.01518251e+02] [ 9.96557909e-01 -7.98729195e-02 2.21957173e-02 2.75223118e+02] [-2.21753141e-02 1.14256784e-03 9.99753445e-01 2.14413392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3207140569999 meters Centerline goodness : 0.986230 Centerline is valid? [True, True] Translation: X:301.52, Y:275.23, Z:2.15 [[-7.24513330e-02 -9.97371614e-01 -8.17201533e-04 3.01520422e+02] [ 9.97125155e-01 -7.24516073e-02 2.21853483e-02 2.75232056e+02] [-2.21862442e-02 7.92505850e-04 9.99753541e-01 2.14573384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3507140569999 meters Centerline goodness : 0.986212 Centerline is valid? [True, True] Translation: X:301.52, Y:275.23, Z:2.15 [[-7.58705639e-02 -9.97117469e-01 -6.40638229e-04 3.01516847e+02] [ 9.96870962e-01 -7.58660674e-02 2.21951744e-02 2.75227379e+02] [-2.21797988e-02 1.04532675e-03 9.99753452e-01 2.14555544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.380714057 meters Centerline goodness : 0.985834 Centerline is valid? [True, True] Translation: X:301.52, Y:275.23, Z:2.14 [[-6.71624778e-02 -9.97741821e-01 -6.78592327e-04 3.01519534e+02] [ 9.97495299e-01 -6.71609774e-02 2.21930733e-02 2.75226318e+02] [-2.21885323e-02 8.13649135e-04 9.99753473e-01 2.14444149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.410714057 meters Centerline goodness : 0.985807 Centerline is valid? [True, True] Translation: X:301.52, Y:275.23, Z:2.14 [[-6.42403777e-02 -9.97934312e-01 -5.32382997e-04 3.01519873e+02] [ 9.97687728e-01 -6.42363483e-02 2.22011043e-02 2.75227933e+02] [-2.21894420e-02 8.95055341e-04 9.99753383e-01 2.14437392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4407140569999 meters Centerline goodness : 0.986416 Centerline is valid? [True, True] Translation: X:301.52, Y:275.22, Z:2.15 [[-6.35770511e-02 -9.97976803e-01 -5.10129441e-04 3.01520353e+02] [ 9.97730209e-01 -6.35726907e-02 2.22023196e-02 2.75221414e+02] [-2.21898302e-02 9.02586455e-04 9.99753368e-01 2.14635118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4707140569999 meters Centerline goodness : 0.987102 Centerline is valid? [True, True] Translation: X:301.52, Y:275.22, Z:2.14 [[-5.82666338e-02 -9.98300794e-01 -7.23963647e-04 3.01522776e+02] [ 9.98054296e-01 -5.82683393e-02 2.21906169e-02 2.75222626e+02] [-2.21950947e-02 5.70417523e-04 9.99753496e-01 2.14301110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.500714057 meters Centerline goodness : 0.984036 Centerline is valid? [True, True] Translation: X:301.53, Y:275.22, Z:2.14 [[-5.47139151e-02 -9.98501948e-01 -4.96735207e-04 3.01525507e+02] [ 9.98255322e-01 -5.47114465e-02 2.22029122e-02 2.75217515e+02] [-2.21968282e-02 7.18939689e-04 9.99753362e-01 2.14476962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.530714057 meters Centerline goodness : 0.985084 Centerline is valid? [True, True] Translation: X:301.53, Y:275.22, Z:2.14 [[-5.21818897e-02 -9.98637225e-01 -8.62127562e-04 3.01527066e+02] [ 9.98390860e-01 -5.21881670e-02 2.21829926e-02 2.75221092e+02] [-2.21977550e-02 2.96810193e-04 9.99753555e-01 2.14436361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5607140569999 meters Centerline goodness : 0.983653 Centerline is valid? [True, True] Translation: X:301.53, Y:275.23, Z:2.15 [[-4.45733217e-02 -9.99005947e-01 -5.80711667e-04 3.01532639e+02] [ 9.98759377e-01 -4.45752239e-02 2.21981324e-02 2.75226954e+02] [-2.22019516e-02 4.09453273e-04 9.99753422e-01 2.14722342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5907140569999 meters Centerline goodness : 0.981605 Centerline is valid? [True, True] Translation: X:301.54, Y:275.22, Z:2.15 [[-4.23157004e-02 -9.99104186e-01 -4.55526012e-04 3.01535999e+02] [ 9.98857524e-01 -4.23153773e-02 2.22048375e-02 2.75224779e+02] [-2.22042218e-02 4.84607665e-04 9.99753338e-01 2.14839012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.620714057 meters Centerline goodness : 0.983739 Centerline is valid? [True, True] Translation: X:301.54, Y:275.23, Z:2.15 [[-3.91179291e-02 -9.99234351e-01 -7.06937794e-04 3.01542259e+02] [ 9.98987918e-01 -3.91239817e-02 2.21912937e-02 2.75230062e+02] [-2.22019612e-02 1.61855139e-04 9.99753493e-01 2.14554723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.650714057 meters Centerline goodness : 0.984780 Centerline is valid? [True, True] Translation: X:301.54, Y:275.23, Z:2.14 [[-3.99507922e-02 -9.99201622e-01 -2.30457980e-04 3.01544773e+02] [ 9.98954826e-01 -3.99460487e-02 2.22164075e-02 2.75228060e+02] [-2.22078763e-02 6.57345969e-04 9.99753159e-01 2.14447455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6807140569999 meters Centerline goodness : 0.983175 Centerline is valid? [True, True] Translation: X:301.55, Y:275.22, Z:2.15 [[-3.92168916e-02 -9.99230670e-01 -3.22923043e-04 3.01548687e+02] [ 9.98983923e-01 -3.92143857e-02 2.22115447e-02 2.75223253e+02] [-2.22071199e-02 5.48472811e-04 9.99753241e-01 2.14554183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7107140569999 meters Centerline goodness : 0.983170 Centerline is valid? [True, True] Translation: X:301.55, Y:275.23, Z:2.14 [[-3.98836668e-02 -9.99204188e-01 -5.32030925e-04 3.01552150e+02] [ 9.98957593e-01 -3.98856446e-02 2.22004992e-02 2.75228056e+02] [-2.22040522e-02 3.53960979e-04 9.99753397e-01 2.14429784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.740714057 meters Centerline goodness : 0.979979 Centerline is valid? [True, True] Translation: X:301.56, Y:275.22, Z:2.15 [[-3.99700900e-02 -9.99200824e-01 -3.25471233e-04 3.01559645e+02] [ 9.98954083e-01 -3.99674548e-02 2.22113345e-02 2.75223681e+02] [-2.22065920e-02 5.62658221e-04 9.99753245e-01 2.14926875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.770714057 meters Centerline goodness : 0.982316 Centerline is valid? [True, True] Translation: X:301.56, Y:275.23, Z:2.14 [[-4.01342518e-02 -9.99194097e-01 -6.30550927e-04 3.01563400e+02] [ 9.98947589e-01 -4.01383569e-02 2.21951822e-02 2.75234269e+02] [-2.22026043e-02 2.60899703e-04 9.99753458e-01 2.14470560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8007140569999 meters Centerline goodness : 0.981433 Centerline is valid? [True, True] Translation: X:301.57, Y:275.24, Z:2.14 [[-3.89738392e-02 -9.99240174e-01 -3.38332394e-04 3.01571880e+02] [ 9.98993442e-01 -3.89717361e-02 2.22104951e-02 2.75236610e+02] [-2.22068044e-02 5.27636422e-04 9.99753259e-01 2.14438996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8307140569999 meters Centerline goodness : 0.983883 Centerline is valid? [True, True] Translation: X:301.57, Y:275.24, Z:2.14 [[-4.28256595e-02 -9.99082524e-01 -2.70371151e-04 3.01574029e+02] [ 9.98835768e-01 -4.28210938e-02 2.22140388e-02 2.75236718e+02] [-2.22052356e-02 6.81274488e-04 9.99753201e-01 2.14401338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8607140569999 meters Centerline goodness : 0.983368 Centerline is valid? [True, True] Translation: X:301.58, Y:275.22, Z:2.14 [[-3.55792656e-02 -9.99366751e-01 -4.62089504e-04 3.01581614e+02] [ 9.99120109e-01 -3.55807514e-02 2.22040207e-02 2.75224737e+02] [-2.22064015e-02 3.28319833e-04 9.99753354e-01 2.14449275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.890714057 meters Centerline goodness : 0.983203 Centerline is valid? [True, True] Translation: X:301.59, Y:275.24, Z:2.15 [[-3.13271951e-02 -9.99509145e-01 -2.75933307e-04 3.01590269e+02] [ 9.99262359e-01 -3.13255926e-02 2.22136469e-02 2.75236494e+02] [-2.22113870e-02 4.20161482e-04 9.99753208e-01 2.14687766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9207140569999 meters Centerline goodness : 0.983338 Centerline is valid? [True, True] Translation: X:301.59, Y:275.25, Z:2.15 [[-2.86243751e-02 -9.99590193e-01 -3.01344971e-04 3.01594188e+02] [ 9.99343424e-01 -2.86240049e-02 2.22123274e-02 2.75245187e+02] [-2.22118503e-02 3.34666876e-04 9.99753230e-01 2.14661731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9507140569999 meters Centerline goodness : 0.984339 Centerline is valid? [True, True] Translation: X:301.60, Y:275.24, Z:2.15 [[-2.79712617e-02 -9.99608681e-01 -3.07111817e-04 3.01597641e+02] [ 9.99361916e-01 -2.79711809e-02 2.22120280e-02 2.75240558e+02] [-2.22119262e-02 3.14382593e-04 9.99753235e-01 2.14673214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9807140569999 meters Centerline goodness : 0.984957 Centerline is valid? [True, True] Translation: X:301.61, Y:275.23, Z:2.15 [[-2.27313879e-02 -9.99741512e-01 -4.38550157e-04 3.01607968e+02] [ 9.99494885e-01 -2.27355209e-02 2.22052220e-02 2.75233552e+02] [-2.22094529e-02 6.64268754e-05 9.99753337e-01 2.14635210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.010714057 meters Centerline goodness : 0.985487 Centerline is valid? [True, True] Translation: X:301.61, Y:275.24, Z:2.15 [[-2.22148309e-02 -9.99753115e-01 -4.57800014e-04 3.01612198e+02] [ 9.99506511e-01 -2.22195189e-02 2.22042290e-02 2.75239613e+02] [-2.22089193e-02 3.56890982e-05 9.99753351e-01 2.14564761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.040714057 meters Centerline goodness : 0.988531 Centerline is valid? [True, True] Translation: X:301.61, Y:275.25, Z:2.14 [[-3.81864283e-02 -9.99270494e-01 -5.25725407e-04 3.01613403e+02] [ 9.99023900e-01 -3.81886848e-02 2.22007039e-02 2.75250366e+02] [-2.22045851e-02 3.22553339e-04 9.99753396e-01 2.14407932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0707140569999 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:301.62, Y:275.26, Z:2.14 [[-3.76868848e-02 -9.99288913e-01 -1.16942810e-03 3.01620065e+02] [ 9.99043081e-01 -3.77035545e-02 2.21667493e-02 2.75255316e+02] [-2.21950784e-02 -3.32913326e-04 9.99753603e-01 2.14483586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1007140569999 meters Centerline goodness : 0.990971 Centerline is valid? [True, True] Translation: X:301.63, Y:275.27, Z:2.15 [[-3.79401585e-02 -9.99279338e-01 -1.16112530e-03 3.01626115e+02] [ 9.99033490e-01 -3.79565817e-02 2.21671842e-02 2.75269343e+02] [-2.21952816e-02 -3.18976578e-04 9.99753604e-01 2.14566665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.130714057 meters Centerline goodness : 0.991269 Centerline is valid? [True, True] Translation: X:301.63, Y:275.28, Z:2.15 [[-3.84224814e-02 -9.99260919e-01 -1.15278030e-03 3.01632564e+02] [ 9.99015050e-01 -3.84386008e-02 2.21676182e-02 2.75281323e+02] [-2.21955458e-02 -2.99909974e-04 9.99753604e-01 2.14675307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.160714057 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:301.65, Y:275.27, Z:2.15 [[-3.96828017e-02 -9.99211672e-01 -1.14437472e-03 3.01646954e+02] [ 9.98965772e-01 -3.96984246e-02 2.21680521e-02 2.75271349e+02] [-2.21960063e-02 -2.63500757e-04 9.99753604e-01 2.14876335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1907140569999 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:301.65, Y:275.28, Z:2.15 [[-3.98922138e-02 -9.99203343e-01 -1.13598139e-03 3.01652919e+02] [ 9.98957428e-01 -3.99075990e-02 2.21684822e-02 2.75276961e+02] [-2.21961558e-02 -2.50447209e-04 9.99753604e-01 2.14942579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2207140569999 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:301.67, Y:275.27, Z:2.15 [[-3.98550330e-02 -9.99204836e-01 -1.12762088e-03 3.01665535e+02] [ 9.98958910e-01 -3.98702418e-02 2.21689075e-02 2.75269755e+02] [-2.21962381e-02 -2.42904383e-04 9.99753604e-01 2.14999344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.250714057 meters Centerline goodness : 0.995841 Centerline is valid? [True, True] Translation: X:301.67, Y:275.27, Z:2.15 [[-3.90331993e-02 -9.99237287e-01 -1.11928346e-03 3.01671495e+02] [ 9.98991362e-01 -3.90484254e-02 2.21693284e-02 2.75274033e+02] [-2.21961259e-02 -2.52814694e-04 9.99753604e-01 2.14984791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.280714057 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:301.68, Y:275.28, Z:2.15 [[-3.69088718e-02 -9.99318018e-01 -1.11097299e-03 3.01683459e+02] [ 9.99072114e-01 -3.69244363e-02 2.21697449e-02 2.75284965e+02] [-2.21956476e-02 -2.91681866e-04 9.99753604e-01 2.15163127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3107140569999 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:301.69, Y:275.28, Z:2.15 [[-3.56201230e-02 -9.99364794e-01 -1.10263526e-03 3.01689812e+02] [ 9.99118898e-01 -3.56358198e-02 2.21701596e-02 2.75280780e+02] [-2.21953702e-02 -3.11959917e-04 9.99753604e-01 2.15303518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3407140569999 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:301.70, Y:275.28, Z:2.15 [[-3.43176703e-02 -9.99410376e-01 -1.09429464e-03 3.01695962e+02] [ 9.99164489e-01 -3.43335025e-02 2.21705712e-02 2.75276832e+02] [-2.21950699e-02 -3.32537989e-04 9.99753604e-01 2.15396178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.370714057 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:301.71, Y:275.28, Z:2.15 [[-3.26612727e-02 -9.99465888e-01 -1.08599584e-03 3.01707378e+02] [ 9.99220016e-01 -3.26773283e-02 2.21709777e-02 2.75279480e+02] [-2.21946234e-02 -3.61016434e-04 9.99753604e-01 2.15498907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.400714057 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:301.71, Y:275.28, Z:2.16 [[-3.23163570e-02 -9.99477109e-01 -1.07771710e-03 3.01713063e+02] [ 9.99231230e-01 -3.23323139e-02 2.21713802e-02 2.75284372e+02] [-2.21946320e-02 -3.60390351e-04 9.99753604e-01 2.15553899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4307140569999 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:301.72, Y:275.31, Z:2.16 [[-3.28655141e-02 -9.99459205e-01 -1.07459115e-03 3.01717802e+02] [ 9.99213313e-01 -3.28812666e-02 2.21715317e-02 2.75308177e+02] [-2.21948753e-02 -3.45066999e-04 9.99753604e-01 2.15544671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4607140569999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:301.72, Y:275.32, Z:2.16 [[-3.38781126e-02 -9.99425385e-01 -1.08296699e-03 3.01723073e+02] [ 9.99179489e-01 -3.38938017e-02 2.21711225e-02 2.75321523e+02] [-2.21950886e-02 -3.30962616e-04 9.99753604e-01 2.15519940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.490714057 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:301.74, Y:275.31, Z:2.16 [[-3.55968010e-02 -9.99365637e-01 -1.09146812e-03 3.01735458e+02] [ 9.99119726e-01 -3.56122558e-02 2.21707040e-02 2.75308202e+02] [-2.21955094e-02 -3.01301191e-04 9.99753604e-01 2.15622241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.520714057 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:301.74, Y:275.30, Z:2.16 [[-3.72555424e-02 -9.99305174e-01 -1.09252910e-03 3.01741341e+02] [ 9.99059239e-01 -3.72706125e-02 2.21706517e-02 2.75304556e+02] [-2.21959662e-02 -2.65521641e-04 9.99753604e-01 2.15650475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5507140569999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:301.75, Y:275.30, Z:2.16 [[-4.06895271e-02 -9.99171232e-01 -1.10099209e-03 3.01752403e+02] [ 9.98925258e-01 -4.07039397e-02 2.21702315e-02 2.75297723e+02] [-2.21966722e-02 -1.97712575e-04 9.99753604e-01 2.15638089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5807140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:301.76, Y:275.29, Z:2.16 [[-4.34946048e-02 -9.99053046e-01 -1.10943671e-03 3.01757712e+02] [ 9.98807043e-01 -4.35085142e-02 2.21698089e-02 2.75292332e+02] [-2.21970850e-02 -1.43846125e-04 9.99753604e-01 2.15674471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6107140569999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:301.76, Y:275.32, Z:2.16 [[-4.63193065e-02 -9.98926060e-01 -1.11785745e-03 3.01761589e+02] [ 9.98680028e-01 -4.63327071e-02 2.21693843e-02 2.75320172e+02] [-2.21973690e-02 -8.95114015e-05 9.99753604e-01 2.15585974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.640714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.77, Y:275.30, Z:2.16 [[-5.18600195e-02 -9.98653729e-01 -1.12636076e-03 3.01772960e+02] [ 9.98407636e-01 -5.18722438e-02 2.21689522e-02 2.75295922e+02] [-2.21975337e-02 2.51151122e-05 9.99753604e-01 2.15711683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6707140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:275.28, Z:2.16 [[-5.49893956e-02 -9.98486294e-01 -1.13488942e-03 3.01778525e+02] [ 9.98240173e-01 -5.50010380e-02 2.21685156e-02 2.75275875e+02] [-2.21973791e-02 8.61410673e-05 9.99753604e-01 2.15849824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:275.28, Z:2.16 [[-5.82906202e-02 -9.98299002e-01 -1.14329442e-03 3.01782464e+02] [ 9.98052852e-01 -5.83016354e-02 2.21680821e-02 2.75277576e+02] [-2.21970302e-02 1.51123002e-04 9.99753604e-01 2.15909888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.27, Z:2.16 [[-6.27693351e-02 -9.98027397e-01 -1.15165662e-03 3.01790227e+02] [ 9.97781208e-01 -6.27794314e-02 2.21676477e-02 2.75266536e+02] [-2.21962201e-02 2.42347175e-04 9.99753604e-01 2.16031402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.760714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.27, Z:2.16 [[-6.49110387e-02 -9.97890381e-01 -1.16000362e-03 3.01793428e+02] [ 9.97644178e-01 -6.49207920e-02 2.21672109e-02 2.75265500e+02] [-2.21957549e-02 2.81625822e-04 9.99753604e-01 2.16054314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.790714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.80, Y:275.26, Z:2.16 [[-6.66576694e-02 -9.97775220e-01 -1.16832602e-03 3.01796719e+02] [ 9.97529008e-01 -6.66671767e-02 2.21667723e-02 2.75257430e+02] [-2.21953451e-02 3.12146279e-04 9.99753604e-01 2.16090080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8207140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.80, Y:275.26, Z:2.16 [[-6.83972115e-02 -9.97657475e-01 -1.17663609e-03 3.01799184e+02] [ 9.97411253e-01 -6.84064741e-02 2.21663312e-02 2.75258304e+02] [-2.21948955e-02 3.42525163e-04 9.99753604e-01 2.16103312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.80, Y:275.26, Z:2.16 [[-7.17656943e-02 -9.97420814e-01 -1.18493783e-03 3.01802869e+02] [ 9.97174569e-01 -7.17743098e-02 2.21658874e-02 2.75256767e+02] [-2.21937655e-02 4.09160426e-04 9.99753604e-01 2.16029319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.880714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.80, Y:275.25, Z:2.16 [[-7.21398277e-02 -9.97393815e-01 -1.19325154e-03 3.01803080e+02] [ 9.97147573e-01 -7.21485355e-02 2.21654398e-02 2.75254283e+02] [-2.21937639e-02 4.09163127e-04 9.99753604e-01 2.16034904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.910714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:275.24, Z:2.16 [[-7.40982005e-02 -9.97250226e-01 -1.20156782e-03 3.01805293e+02] [ 9.97003974e-01 -7.41066095e-02 2.21649890e-02 2.75243078e+02] [-2.21930844e-02 4.44417909e-04 9.99753604e-01 2.16082678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9407140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:275.24, Z:2.16 [[-7.79579532e-02 -9.96955914e-01 -1.20985694e-03 3.01809233e+02] [ 9.96709637e-01 -7.79655931e-02 2.21645365e-02 2.75239787e+02] [-2.21913930e-02 5.22025828e-04 9.99753604e-01 2.16011454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9707140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:275.23, Z:2.16 [[-8.02856937e-02 -9.96771149e-01 -1.21811641e-03 3.01811638e+02] [ 9.96524860e-01 -8.02929421e-02 2.21640826e-02 2.75232720e+02] [-2.21903242e-02 5.65575463e-04 9.99753604e-01 2.15982196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.000714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:275.23, Z:2.16 [[-8.29398083e-02 -9.96553804e-01 -1.22636104e-03 3.01813270e+02] [ 9.96307502e-01 -8.29465840e-02 2.21636264e-02 2.75234204e+02] [-2.21889687e-02 6.16414223e-04 9.99753605e-01 2.15974836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.030714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:275.22, Z:2.16 [[-8.86740782e-02 -9.96059930e-01 -1.23460282e-03 3.01816588e+02] [ 9.95813597e-01 -8.86796194e-02 2.21631673e-02 2.75220966e+02] [-2.21853270e-02 7.35864159e-04 9.99753605e-01 2.15957886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0607140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:275.24, Z:2.16 [[-9.18219264e-02 -9.95774668e-01 -1.24282325e-03 3.01816305e+02] [ 9.95528322e-01 -9.18268717e-02 2.21627063e-02 2.75240251e+02] [-2.21831861e-02 7.97756641e-04 9.99753605e-01 2.15899904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0907140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:275.22, Z:2.16 [[-9.51260540e-02 -9.95464449e-01 -1.25107665e-03 3.01818365e+02] [ 9.95218091e-01 -9.51303652e-02 2.21622404e-02 2.75215483e+02] [-2.21807378e-02 8.63112358e-04 9.99753605e-01 2.15922788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.120714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:275.20, Z:2.16 [[-9.80584044e-02 -9.95179865e-01 -1.25932596e-03 3.01819676e+02] [ 9.94933498e-01 -9.80621731e-02 2.21617716e-02 2.75204573e+02] [-2.21784411e-02 9.20202382e-04 9.99753605e-01 2.15992782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.150714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:275.21, Z:2.16 [[-1.03336210e-01 -9.94645676e-01 -1.26748544e-03 3.01819994e+02] [ 9.94399295e-01 -1.03338853e-01 2.21613050e-02 2.75205387e+02] [-2.21736267e-02 1.02967863e-03 9.99753605e-01 2.15936250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:275.20, Z:2.16 [[-1.04978845e-01 -9.94473637e-01 -1.27563043e-03 3.01819968e+02] [ 9.94227254e-01 -1.04981262e-01 2.21608361e-02 2.75196364e+02] [-2.21722846e-02 1.05815244e-03 9.99753605e-01 2.16008019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2107140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:275.19, Z:2.16 [[-1.05941838e-01 -9.94371500e-01 -1.28376741e-03 3.01818810e+02] [ 9.94125116e-01 -1.05944198e-01 2.21603647e-02 2.75194913e+02] [-2.21716428e-02 1.07148435e-03 9.99753605e-01 2.16019180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.240714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:275.21, Z:2.16 [[-1.04165021e-01 -9.94559189e-01 -1.29188998e-03 3.01814014e+02] [ 9.94312811e-01 -1.04168002e-01 2.21598912e-02 2.75208923e+02] [-2.21738970e-02 1.02374278e-03 9.99753605e-01 2.16010133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.270714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:275.19, Z:2.16 [[-1.02036968e-01 -9.94779758e-01 -1.30006049e-03 3.01813195e+02] [ 9.94533391e-01 -1.02040657e-01 2.21594119e-02 2.75190112e+02] [-2.21763934e-02 9.68125621e-04 9.99753605e-01 2.16049211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:275.19, Z:2.16 [[-9.70112420e-02 -9.95282426e-01 -1.30823346e-03 3.01807955e+02] [ 9.95036084e-01 -9.70163573e-02 2.21589293e-02 2.75191321e+02] [-2.21813130e-02 8.47925753e-04 9.99753605e-01 2.16140664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:275.19, Z:2.16 [[-9.48207544e-02 -9.95493492e-01 -1.31637235e-03 3.01805374e+02] [ 9.95247166e-01 -9.48265927e-02 2.21584458e-02 2.75191347e+02] [-2.21834157e-02 7.90964699e-04 9.99753605e-01 2.16127337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3607140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.80, Y:275.21, Z:2.16 [[-9.25241493e-02 -9.95709560e-01 -1.32452797e-03 3.01801836e+02] [ 9.95463253e-01 -9.25307371e-02 2.21579583e-02 2.75206159e+02] [-2.21854505e-02 7.31627317e-04 9.99753605e-01 2.16105023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.390714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.80, Y:275.23, Z:2.16 [[-8.80968463e-02 -9.96111023e-01 -1.33274114e-03 3.01795678e+02] [ 9.95864753e-01 -8.81047115e-02 2.21574643e-02 2.75231804e+02] [-2.21887152e-02 6.24772799e-04 9.99753605e-01 2.16078975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4207140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.23, Z:2.16 [[-8.69382804e-02 -9.96212797e-01 -1.34108978e-03 3.01793528e+02] [ 9.95966543e-01 -8.69466175e-02 2.21569590e-02 2.75230757e+02] [-2.21896493e-02 5.90607357e-04 9.99753605e-01 2.16052528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.20, Z:2.16 [[-8.59294313e-02 -9.96300312e-01 -1.34952931e-03 3.01793385e+02] [ 9.96054073e-01 -8.59382054e-02 2.21564449e-02 2.75203904e+02] [-2.21904491e-02 5.59686546e-04 9.99753605e-01 2.16104755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:275.29, Z:2.16 [[-8.48718059e-02 -9.96390954e-01 -1.35790217e-03 3.01784770e+02] [ 9.96144731e-01 -8.48810274e-02 2.21559318e-02 2.75289629e+02] [-2.21912301e-02 5.27746847e-04 9.99753605e-01 2.15978825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.510714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.20, Z:2.16 [[-8.54583585e-02 -9.96340806e-01 -1.36647301e-03 3.01788978e+02] [ 9.96094585e-01 -8.54676256e-02 2.21554032e-02 2.75195634e+02] [-2.21911215e-02 5.32228022e-04 9.99753605e-01 2.16154217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.540714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.20, Z:2.16 [[-8.79730567e-02 -9.96121916e-01 -1.36753865e-03 3.01786415e+02] [ 9.95875673e-01 -8.79817259e-02 2.21553374e-02 2.75196337e+02] [-2.21897355e-02 5.87174282e-04 9.99753605e-01 2.16134061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5707140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.20, Z:2.16 [[-8.96709897e-02 -9.95970492e-01 -1.37581873e-03 3.01785301e+02] [ 9.95724241e-01 -8.96794232e-02 2.21548232e-02 2.75196821e+02] [-2.21889328e-02 6.16708865e-04 9.99753605e-01 2.16082883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:275.19, Z:2.16 [[-9.13744307e-02 -9.95815644e-01 -1.38411885e-03 3.01784519e+02] [ 9.95569386e-01 -9.13826275e-02 2.21543046e-02 2.75194064e+02] [-2.21880876e-02 6.46350624e-04 9.99753605e-01 2.16082869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.630714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:275.18, Z:2.16 [[-9.35088451e-02 -9.95617475e-01 -1.39242819e-03 3.01783360e+02] [ 9.95371206e-01 -9.35166986e-02 2.21537824e-02 2.75180761e+02] [-2.21869082e-02 6.85591680e-04 9.99753605e-01 2.16125909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.660714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:275.18, Z:2.16 [[-9.44292163e-02 -9.95530593e-01 -1.40070373e-03 3.01782196e+02] [ 9.95284322e-01 -9.44370262e-02 2.21532591e-02 2.75184153e+02] [-2.21865255e-02 6.97816434e-04 9.99753605e-01 2.16125959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6907140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:275.17, Z:2.16 [[-9.52338158e-02 -9.95453934e-01 -1.40896435e-03 3.01781907e+02] [ 9.95207663e-01 -9.52416103e-02 2.21527337e-02 2.75172271e+02] [-2.21862180e-02 7.07477245e-04 9.99753605e-01 2.16204797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7207140569999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:301.78, Y:275.17, Z:2.16 [[-9.60461990e-02 -9.95375868e-01 -1.41721670e-03 3.01781433e+02] [ 9.95129596e-01 -9.60539760e-02 2.21522058e-02 2.75165515e+02] [-2.21859004e-02 7.17320880e-04 9.99753605e-01 2.16253294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.750714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:275.17, Z:2.16 [[-9.72015473e-02 -9.95263697e-01 -1.42542772e-03 3.01779544e+02] [ 9.95017422e-01 -9.72092210e-02 2.21516774e-02 2.75167425e+02] [-2.21853251e-02 7.34851901e-04 9.99753605e-01 2.16273518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.780714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:275.16, Z:2.16 [[-9.78195545e-02 -9.95203135e-01 -1.43363855e-03 3.01779281e+02] [ 9.94956861e-01 -9.78272578e-02 2.21511460e-02 2.75162323e+02] [-2.21851389e-02 7.40406725e-04 9.99753605e-01 2.16274737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8107140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:275.17, Z:2.16 [[-9.96841128e-02 -9.95018090e-01 -1.44185450e-03 3.01777475e+02] [ 9.94771807e-01 -9.96915373e-02 2.21506112e-02 2.75167051e+02] [-2.21839995e-02 7.73747820e-04 9.99753605e-01 2.16319366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8407140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:275.16, Z:2.16 [[-1.00921917e-01 -9.94893293e-01 -1.45008482e-03 3.01777095e+02] [ 9.94647006e-01 -1.00929218e-01 2.21500724e-02 2.75161743e+02] [-2.21833144e-02 7.93105231e-04 9.99753605e-01 2.16349289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.870714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.77, Y:275.19, Z:2.16 [[-1.02693700e-01 -9.94711957e-01 -1.45832957e-03 3.01774303e+02] [ 9.94465663e-01 -1.02700746e-01 2.21495296e-02 2.75190399e+02] [-2.21821734e-02 8.24358458e-04 9.99753605e-01 2.16344381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.900714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.77, Y:275.22, Z:2.16 [[-1.05805376e-01 -9.94385776e-01 -1.46665748e-03 3.01770969e+02] [ 9.94139466e-01 -1.05811836e-01 2.21489781e-02 2.75222467e+02] [-2.21798185e-02 8.85418867e-04 9.99753605e-01 2.16290988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.77, Y:275.22, Z:2.16 [[-1.08362169e-01 -9.94110388e-01 -1.47518701e-03 3.01770409e+02] [ 9.93864067e-01 -1.08368185e-01 2.21484100e-02 2.75221151e+02] [-2.21778278e-02 9.33914381e-04 9.99753606e-01 2.16331852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9607140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.77, Y:275.15, Z:2.16 [[-1.09871740e-01 -9.93944666e-01 -1.48383045e-03 3.01774616e+02] [ 9.93698341e-01 -1.09877575e-01 2.21478309e-02 2.75151234e+02] [-2.21767581e-02 9.58940869e-04 9.99753606e-01 2.16465840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.990714057 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:301.77, Y:275.14, Z:2.16 [[-1.12452570e-01 -9.93655998e-01 -1.47541709e-03 3.01774641e+02] [ 9.93409655e-01 -1.12457577e-01 2.21483914e-02 2.75140445e+02] [-2.21738038e-02 1.02494993e-03 9.99753606e-01 2.16483852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.020714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.77, Y:275.14, Z:2.16 [[-1.16838010e-01 -9.93149877e-01 -1.48359774e-03 3.01772111e+02] [ 9.92903517e-01 -1.16842112e-01 2.21478434e-02 2.75144269e+02] [-2.21694746e-02 1.11464052e-03 9.99753606e-01 2.16472113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.77, Y:275.17, Z:2.16 [[-1.18646332e-01 -9.92935457e-01 -1.49177291e-03 3.01769267e+02] [ 9.92689093e-01 -1.18650167e-01 2.21472927e-02 2.75165446e+02] [-2.21678313e-02 1.14682834e-03 9.99753606e-01 2.16458415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.77, Y:275.13, Z:2.16 [[-1.21198812e-01 -9.92627119e-01 -1.50003792e-03 3.01767930e+02] [ 9.92380748e-01 -1.21202198e-01 2.21467329e-02 2.75129198e+02] [-2.21652556e-02 1.19554897e-03 9.99753606e-01 2.16498973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1107140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:301.76, Y:275.23, Z:2.16 [[-1.22342069e-01 -9.92486856e-01 -1.50311689e-03 3.01759034e+02] [ 9.92240482e-01 -1.22345240e-01 2.21465240e-02 2.75230341e+02] [-2.21640331e-02 1.21799812e-03 9.99753606e-01 2.16271666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.140714057 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:301.76, Y:275.12, Z:2.16 [[-1.22077543e-01 -9.92519415e-01 -1.51156216e-03 3.01764162e+02] [ 9.92273044e-01 -1.22080967e-01 2.21459475e-02 2.75123212e+02] [-2.21648158e-02 1.20364048e-03 9.99753606e-01 2.16468405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1707140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.75, Y:275.23, Z:2.16 [[-1.21930802e-01 -9.92537465e-01 -1.50313983e-03 3.01751871e+02] [ 9.92291093e-01 -1.21934075e-01 2.21465192e-02 2.75231511e+02] [-2.21645340e-02 1.20879057e-03 9.99753606e-01 2.16179768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2007140569999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:301.75, Y:275.22, Z:2.16 [[-1.21821573e-01 -9.92550865e-01 -1.51157255e-03 3.01749860e+02] [ 9.92304496e-01 -1.21825061e-01 2.21459436e-02 2.75219007e+02] [-2.21651229e-02 1.19791345e-03 9.99753606e-01 2.16116106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2307140569999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:301.75, Y:275.22, Z:2.16 [[-1.21577867e-01 -9.92580733e-01 -1.52032922e-03 3.01746923e+02] [ 9.92334367e-01 -1.21581610e-01 2.21453424e-02 2.75221131e+02] [-2.21658843e-02 1.18370855e-03 9.99753606e-01 2.16084505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.260714057 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:301.74, Y:275.21, Z:2.16 [[-1.20784851e-01 -9.92677532e-01 -1.52906915e-03 3.01741882e+02] [ 9.92431172e-01 -1.20788985e-01 2.21447390e-02 2.75212324e+02] [-2.21672795e-02 1.15725310e-03 9.99753606e-01 2.16090104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.290714057 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:301.74, Y:275.22, Z:2.16 [[-1.20619547e-01 -9.92697618e-01 -1.53780583e-03 3.01738552e+02] [ 9.92451262e-01 -1.20623917e-01 2.21441322e-02 2.75222818e+02] [-2.21679235e-02 1.14481785e-03 9.99753606e-01 2.16100778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3207140569999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:301.74, Y:275.24, Z:2.16 [[-1.20228382e-01 -9.92745055e-01 -1.54656620e-03 3.01735004e+02] [ 9.92498705e-01 -1.20233044e-01 2.21435204e-02 2.75239573e+02] [-2.21688187e-02 1.12731467e-03 9.99753606e-01 2.16037668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3507140569999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:301.73, Y:275.21, Z:2.16 [[-1.18858537e-01 -9.92909980e-01 -1.55543604e-03 3.01731396e+02] [ 9.92663641e-01 -1.18863736e-01 2.21428973e-02 2.75209276e+02] [-2.21707887e-02 1.08784758e-03 9.99753606e-01 2.16080187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.380714057 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:301.73, Y:275.22, Z:2.16 [[-1.18709213e-01 -9.92927858e-01 -1.54661754e-03 3.01727676e+02] [ 9.92681515e-01 -1.18714253e-01 2.21435132e-02 2.75224562e+02] [-2.21705167e-02 1.09334039e-03 9.99753606e-01 2.16008003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.410714057 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:301.72, Y:275.23, Z:2.16 [[-1.17743235e-01 -9.93042855e-01 -1.55539425e-03 3.01724689e+02] [ 9.92796522e-01 -1.17748710e-01 2.21428967e-02 2.75228004e+02] [-2.21719911e-02 1.06298630e-03 9.99753606e-01 2.15938555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4407140569999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:301.72, Y:275.20, Z:2.16 [[-1.14694796e-01 -9.93399565e-01 -1.55206056e-03 3.01720966e+02] [ 9.93153248e-01 -1.14700953e-01 2.21431304e-02 2.75202670e+02] [-2.21749989e-02 9.98267844e-04 9.99753606e-01 2.15844544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4707140569999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:301.72, Y:275.20, Z:2.16 [[-1.12612248e-01 -9.93637811e-01 -1.54331597e-03 3.01718106e+02] [ 9.93391503e-01 -1.12618727e-01 2.21437399e-02 2.75200522e+02] [-2.21766635e-02 9.60539354e-04 9.99753606e-01 2.15774061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.500714057 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:301.71, Y:275.22, Z:2.16 [[-1.10500739e-01 -9.93874857e-01 -1.53467484e-03 3.01713949e+02] [ 9.93628557e-01 -1.10507548e-01 2.21443387e-02 2.75219342e+02] [-2.21782946e-02 9.22069034e-04 9.99753606e-01 2.15700222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.530714057 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:301.71, Y:275.21, Z:2.16 [[-1.04518264e-01 -9.94521788e-01 -1.53139801e-03 3.01708664e+02] [ 9.94275532e-01 -1.04526483e-01 2.21445653e-02 2.75211071e+02] [-2.21833244e-02 7.91879951e-04 9.99753606e-01 2.15739389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5607140569999 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:301.71, Y:275.22, Z:2.16 [[-1.00866776e-01 -9.94898776e-01 -1.52269905e-03 3.01705324e+02] [ 9.94652544e-01 -1.00875706e-01 2.21451635e-02 2.75216502e+02] [-2.21857994e-02 7.19154760e-04 9.99753606e-01 2.15717081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5907140569999 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:301.70, Y:275.21, Z:2.16 [[-9.69291105e-02 -9.95290136e-01 -1.51402209e-03 3.01702610e+02] [ 9.95043934e-01 -9.69388212e-02 2.21457567e-02 2.75211483e+02] [-2.21882207e-02 6.40050000e-04 9.99753606e-01 2.15696489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.620714057 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:301.70, Y:275.21, Z:2.16 [[-8.97216689e-02 -9.95965740e-01 -1.50535814e-03 3.01697483e+02] [ 9.95719606e-01 -8.97329691e-02 2.21463456e-02 2.75207725e+02] [-2.21920818e-02 4.88092479e-04 9.99753606e-01 2.15661637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.650714057 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:301.70, Y:275.19, Z:2.16 [[-8.59567831e-02 -9.96297742e-01 -1.49673500e-03 3.01696448e+02] [ 9.96051643e-01 -8.59688218e-02 2.21469284e-02 2.75191069e+02] [-2.21936073e-02 4.12853364e-04 9.99753606e-01 2.15634562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6807140569999 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:301.69, Y:275.20, Z:2.16 [[-8.23783964e-02 -9.96600013e-01 -1.48819104e-03 3.01693678e+02] [ 9.96353948e-01 -8.23911290e-02 2.21475025e-02 2.75201721e+02] [-2.21948150e-02 3.41710717e-04 9.99753606e-01 2.15555102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7107140569999 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:301.69, Y:275.19, Z:2.15 [[-7.60288230e-02 -9.97104522e-01 -1.47968241e-03 3.01691938e+02] [ 9.96858533e-01 -7.60429337e-02 2.21480709e-02 2.75187475e+02] [-2.21964611e-02 2.08857729e-04 9.99753606e-01 2.15495620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.740714057 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:301.69, Y:275.17, Z:2.16 [[-7.33166654e-02 -9.97307627e-01 -1.47119766e-03 3.01692190e+02] [ 9.97061666e-01 -7.33312567e-02 2.21486345e-02 2.75172505e+02] [-2.21968869e-02 1.56989239e-04 9.99753606e-01 2.15550177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.770714057 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:301.69, Y:275.19, Z:2.15 [[-7.12242898e-02 -9.97459253e-01 -1.46281994e-03 3.01691010e+02] [ 9.97213311e-01 -7.12392110e-02 2.21491878e-02 2.75189718e+02] [-2.21971225e-02 1.18816655e-04 9.99753606e-01 2.15459403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8007140569999 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:301.69, Y:275.19, Z:2.15 [[-7.08454802e-02 -9.97486242e-01 -1.45444883e-03 3.01690766e+02] [ 9.97240295e-01 -7.08603089e-02 2.21497375e-02 2.75192245e+02] [-2.21971211e-02 1.18773804e-04 9.99753607e-01 2.15453813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8307140569999 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:301.69, Y:275.20, Z:2.16 [[-6.90935544e-02 -9.97609137e-01 -1.44603476e-03 3.01691447e+02] [ 9.97363205e-01 -6.91086282e-02 2.21502868e-02 2.75196784e+02] [-2.21972620e-02 8.82201860e-05 9.99753607e-01 2.15540772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8607140569999 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:301.69, Y:275.20, Z:2.16 [[-6.88558033e-02 -9.97625587e-01 -1.43761358e-03 3.01692257e+02] [ 9.97379647e-01 -6.88707487e-02 2.21508333e-02 2.75197865e+02] [-2.21972476e-02 9.13668954e-05 9.99753607e-01 2.15536672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.890714057 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:301.70, Y:275.20, Z:2.16 [[-6.96278603e-02 -9.97572012e-01 -1.42918941e-03 3.01695211e+02] [ 9.97326049e-01 -6.96424283e-02 2.21513769e-02 2.75199612e+02] [-2.21971258e-02 1.16985150e-04 9.99753607e-01 2.15556788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9207140569999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:301.70, Y:275.19, Z:2.16 [[-7.00901858e-02 -9.97539647e-01 -1.42077471e-03 3.01697780e+02] [ 9.97293667e-01 -7.01044530e-02 2.21519166e-02 2.75190240e+02] [-2.21970177e-02 1.35702328e-04 9.99753607e-01 2.15552769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9507140569999 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:301.70, Y:275.21, Z:2.15 [[-7.10423999e-02 -9.97472297e-01 -1.41239852e-03 3.01698602e+02] [ 9.97226293e-01 -7.10562463e-02 2.21524506e-02 2.75207332e+02] [-2.21968155e-02 1.65282311e-04 9.99753607e-01 2.15420136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9807140569999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:301.70, Y:275.21, Z:2.15 [[-7.34436854e-02 -9.97298378e-01 -1.40401383e-03 3.01703338e+02] [ 9.97052331e-01 -7.34567532e-02 2.21529820e-02 2.75213249e+02] [-2.21962673e-02 2.27121376e-04 9.99753607e-01 2.15337509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.010714057 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:301.71, Y:275.21, Z:2.15 [[-7.45809063e-02 -9.97213990e-01 -1.39557633e-03 3.01705979e+02] [ 9.96967919e-01 -7.45935061e-02 2.21535136e-02 2.75214783e+02] [-2.21958946e-02 2.60884292e-04 9.99753607e-01 2.15334147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.040714057 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:301.71, Y:275.20, Z:2.15 [[-7.59255810e-02 -9.97112522e-01 -1.38713300e-03 3.01709349e+02] [ 9.96866425e-01 -7.59376614e-02 2.21540422e-02 2.75201591e+02] [-2.21954085e-02 2.99272209e-04 9.99753607e-01 2.15425162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0707140569999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:301.71, Y:275.23, Z:2.15 [[-7.73504743e-02 -9.97003011e-01 -1.37874087e-03 3.01709627e+02] [ 9.96756888e-01 -7.73620166e-02 2.21545645e-02 2.75233085e+02] [-2.21948297e-02 3.39396612e-04 9.99753607e-01 2.15420259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1007140569999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:301.72, Y:275.20, Z:2.16 [[-7.95003871e-02 -9.96833885e-01 -1.37662743e-03 3.01716183e+02] [ 9.96587735e-01 -7.95113517e-02 2.21546958e-02 2.75198997e+02] [-2.21940090e-02 3.89376876e-04 9.99753607e-01 2.15652446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.130714057 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:301.72, Y:275.20, Z:2.16 [[-8.05008598e-02 -9.96753600e-01 -1.36821428e-03 3.01718682e+02] [ 9.96507432e-01 -8.05113904e-02 2.21552154e-02 2.75195918e+02] [-2.21934475e-02 4.20078191e-04 9.99753607e-01 2.15582621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.160714057 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:301.72, Y:275.19, Z:2.16 [[-8.12929139e-02 -9.96689326e-01 -1.35993058e-03 3.01721722e+02] [ 9.96443142e-01 -8.13030647e-02 2.21557238e-02 2.75193826e+02] [-2.21929400e-02 4.46009850e-04 9.99753607e-01 2.15629411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1907140569999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:301.73, Y:275.21, Z:2.16 [[-8.28660272e-02 -9.96559773e-01 -1.35681631e-03 3.01726146e+02] [ 9.96313570e-01 -8.28757202e-02 2.21559145e-02 2.75210311e+02] [-2.21921403e-02 4.84158119e-04 9.99753607e-01 2.15677051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2207140569999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:301.73, Y:275.21, Z:2.16 [[-8.30116085e-02 -9.96547655e-01 -1.35785027e-03 3.01728626e+02] [ 9.96301452e-01 -8.30212885e-02 2.21558512e-02 2.75213129e+02] [-2.21920920e-02 4.86364650e-04 9.99753607e-01 2.15727891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.250714057 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:301.73, Y:275.20, Z:2.16 [[-8.30991527e-02 -9.96540362e-01 -1.35576071e-03 3.01734736e+02] [ 9.96294156e-01 -8.31087647e-02 2.21559790e-02 2.75197676e+02] [-2.21920030e-02 4.90406610e-04 9.99753607e-01 2.15740006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.280714057 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:301.74, Y:275.22, Z:2.16 [[-8.35128562e-02 -9.96505782e-01 -1.35263302e-03 3.01736128e+02] [ 9.96259570e-01 -8.35222965e-02 2.21561700e-02 2.75216474e+02] [-2.21917265e-02 5.02751448e-04 9.99753607e-01 2.15667279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3107140569999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:301.74, Y:275.22, Z:2.16 [[-8.36429748e-02 -9.96494857e-01 -1.36093908e-03 3.01738886e+02] [ 9.96248651e-01 -8.36525675e-02 2.21556598e-02 2.75218772e+02] [-2.21918471e-02 4.97331565e-04 9.99753607e-01 2.15694036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3407140569999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:301.74, Y:275.20, Z:2.16 [[-8.30521334e-02 -9.96544263e-01 -1.36932400e-03 3.01742780e+02] [ 9.96298070e-01 -8.30620584e-02 2.21551415e-02 2.75203419e+02] [-2.21923181e-02 4.75776907e-04 9.99753607e-01 2.15789513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.370714057 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:301.75, Y:275.21, Z:2.16 [[-8.18660011e-02 -9.96642406e-01 -1.36828385e-03 3.01747245e+02] [ 9.96396224e-01 -8.18761960e-02 2.21552058e-02 2.75207875e+02] [-2.21928475e-02 4.50405237e-04 9.99753607e-01 2.15813825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.400714057 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:301.75, Y:275.20, Z:2.16 [[-8.11589035e-02 -9.96700224e-01 -1.37660172e-03 3.01750021e+02] [ 9.96454058e-01 -8.11694579e-02 2.21546889e-02 2.75199322e+02] [-2.21933215e-02 4.26329896e-04 9.99753607e-01 2.15809176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4307140569999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:301.75, Y:275.20, Z:2.16 [[-7.88055650e-02 -9.96889043e-01 -1.38492211e-03 3.01754466e+02] [ 9.96642911e-01 -7.88168854e-02 2.21541688e-02 2.75198337e+02] [-2.21944034e-02 3.65598986e-04 9.99753607e-01 2.15645263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4607140569999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:301.76, Y:275.19, Z:2.16 [[-7.75492093e-02 -9.96987552e-01 -1.39322742e-03 3.01757544e+02] [ 9.96741443e-01 -7.75610243e-02 2.21536465e-02 2.75193065e+02] [-2.21949699e-02 3.29310256e-04 9.99753607e-01 2.15660114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.490714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.76, Y:275.20, Z:2.16 [[-7.61030281e-02 -9.97098975e-01 -1.40152710e-03 3.01759839e+02] [ 9.96852892e-01 -7.61153845e-02 2.21531214e-02 2.75201410e+02] [-2.21955324e-02 2.88803281e-04 9.99753607e-01 2.15636463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.520714057 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:301.76, Y:275.20, Z:2.16 [[-7.40911328e-02 -9.97250478e-01 -1.40985090e-03 3.01762714e+02] [ 9.97004431e-01 -7.41041705e-02 2.21525917e-02 2.75202734e+02] [-2.21961585e-02 2.35683020e-04 9.99753607e-01 2.15633392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.77, Y:275.20, Z:2.16 [[-6.91499871e-02 -9.97605267e-01 -1.41821549e-03 3.01767124e+02] [ 9.97359297e-01 -6.91644293e-02 2.21520561e-02 2.75201902e+02] [-2.21970979e-02 1.17343990e-04 9.99753607e-01 2.15716985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5807140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.77, Y:275.19, Z:2.16 [[-6.64680227e-02 -9.97787536e-01 -1.42659498e-03 3.01769469e+02] [ 9.97541618e-01 -6.64833121e-02 2.21515165e-02 2.75194964e+02] [-2.21973518e-02 4.92796333e-05 9.99753607e-01 2.15774971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6107140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:301.77, Y:275.25, Z:2.16 [[-6.07205981e-02 -9.98153771e-01 -1.43496597e-03 3.01770755e+02] [ 9.97907958e-01 -6.07374892e-02 2.21509742e-02 2.75246791e+02] [-2.21972347e-02 -8.69435602e-05 9.99753607e-01 2.15760906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.640714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.78, Y:275.20, Z:2.16 [[-5.75024772e-02 -9.98344267e-01 -1.48012669e-03 3.01776379e+02] [ 9.98098582e-01 -5.75211626e-02 2.21480389e-02 2.75203176e+02] [-2.21965063e-02 -2.03745245e-04 9.99753606e-01 2.15951214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6707140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.78, Y:275.20, Z:2.16 [[-5.51323225e-02 -9.98478018e-01 -1.44013368e-03 3.01780019e+02] [ 9.98232312e-01 -5.51507040e-02 2.21506391e-02 2.75200717e+02] [-2.21963506e-02 -2.16371791e-04 9.99753607e-01 2.15948950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.20, Z:2.16 [[-5.16569909e-02 -9.98663836e-01 -1.44856237e-03 3.01787422e+02] [ 9.98418210e-01 -5.16764143e-02 2.21500879e-02 2.75202858e+02] [-2.21953482e-02 -3.02064158e-04 9.99753607e-01 2.15996948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.23, Z:2.16 [[-5.05744788e-02 -9.98719229e-01 -1.45700207e-03 3.01789975e+02] [ 9.98473640e-01 -5.05943556e-02 2.21495327e-02 2.75225078e+02] [-2.21948803e-02 -3.34577091e-04 9.99753607e-01 2.15959606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.760714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.80, Y:275.20, Z:2.16 [[-5.00750512e-02 -9.98744383e-01 -1.46553181e-03 3.01795799e+02] [ 9.98498818e-01 -5.00952399e-02 2.21489683e-02 2.75200995e+02] [-2.21945739e-02 -3.54221062e-04 9.99753607e-01 2.15990803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.790714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.80, Y:275.20, Z:2.16 [[-4.92397371e-02 -9.98785901e-01 -1.47406841e-03 3.01804560e+02] [ 9.98540369e-01 -4.92603204e-02 2.21484002e-02 2.75202404e+02] [-2.21941229e-02 -3.81335414e-04 9.99753607e-01 2.15898302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8207140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:275.20, Z:2.16 [[-4.93731131e-02 -9.98779304e-01 -1.48254809e-03 3.01809842e+02] [ 9.98533786e-01 -4.93938516e-02 2.21478326e-02 2.75198476e+02] [-2.21940255e-02 -3.86866920e-04 9.99753607e-01 2.15824092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:275.19, Z:2.16 [[-4.88996417e-02 -9.98802584e-01 -1.49103040e-03 3.01819783e+02] [ 9.98557092e-01 -4.89206847e-02 2.21472615e-02 2.75194941e+02] [-2.21936842e-02 -4.05885824e-04 9.99753607e-01 2.15701794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.880714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.83, Y:275.19, Z:2.16 [[-4.83571793e-02 -9.98828982e-01 -1.49950397e-03 3.01825041e+02] [ 9.98583517e-01 -4.83785434e-02 2.21466878e-02 2.75194618e+02] [-2.21932974e-02 -4.26428597e-04 9.99753608e-01 2.15700660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.910714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.83, Y:275.19, Z:2.16 [[-4.76619534e-02 -9.98862385e-01 -1.50797732e-03 3.01830530e+02] [ 9.98616952e-01 -4.76836761e-02 2.21461108e-02 2.75191115e+02] [-2.21928230e-02 -4.50364818e-04 9.99753608e-01 2.15721895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9407140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.84, Y:275.19, Z:2.16 [[-4.71004255e-02 -9.98889008e-01 -1.51645329e-03 3.01835741e+02] [ 9.98643604e-01 -4.71224741e-02 2.21455304e-02 2.75191594e+02] [-2.21923859e-02 -4.71332474e-04 9.99753608e-01 2.15725611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9707140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:301.85, Y:275.19, Z:2.16 [[-4.60547546e-02 -9.98937753e-01 -1.52493187e-03 3.01846674e+02] [ 9.98692389e-01 -4.60772479e-02 2.21449466e-02 2.75190762e+02] [-2.21916878e-02 -5.03057771e-04 9.99753608e-01 2.15873956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.000714057 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:301.85, Y:275.19, Z:2.16 [[-4.67277653e-02 -9.98906484e-01 -1.53342005e-03 3.01851713e+02] [ 9.98661123e-01 -4.67502813e-02 2.21443588e-02 2.75192809e+02] [-2.21918314e-02 -4.96610593e-04 9.99753608e-01 2.15942256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.030714057 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:301.86, Y:275.19, Z:2.16 [[-4.77578245e-02 -9.98857754e-01 -1.54192357e-03 3.01862728e+02] [ 9.98612387e-01 -4.77802760e-02 2.21437667e-02 2.75186395e+02] [-2.21921466e-02 -4.82245858e-04 9.99753608e-01 2.16004429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0607140569999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:301.87, Y:275.18, Z:2.16 [[-4.87784382e-02 -9.98808420e-01 -1.55042687e-03 3.01868029e+02] [ 9.98563047e-01 -4.88008274e-02 2.21431713e-02 2.75184732e+02] [-2.21924480e-02 -4.68089663e-04 9.99753608e-01 2.15955363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0907140569999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:301.87, Y:275.18, Z:2.16 [[-5.01225404e-02 -9.98741859e-01 -1.55891437e-03 3.01873100e+02] [ 9.98496473e-01 -5.01447875e-02 2.21425737e-02 2.75181046e+02] [-2.21928867e-02 -4.46728451e-04 9.99753608e-01 2.15932929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.120714057 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:301.88, Y:275.18, Z:2.16 [[-5.17782740e-02 -9.98657376e-01 -1.56739748e-03 3.01877649e+02] [ 9.98411970e-01 -5.18003021e-02 2.21419732e-02 2.75180727e+02] [-2.21934365e-02 -4.18435255e-04 9.99753608e-01 2.15919240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.150714057 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:301.89, Y:275.17, Z:2.16 [[-5.57030034e-02 -9.98446139e-01 -1.57588453e-03 3.01887543e+02] [ 9.98200665e-01 -5.57242550e-02 2.21413692e-02 2.75172310e+02] [-2.21947795e-02 -3.39708219e-04 9.99753608e-01 2.15928676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1807140569999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:301.89, Y:275.17, Z:2.16 [[-5.79165042e-02 -9.98320173e-01 -1.58435583e-03 3.01892604e+02] [ 9.98074669e-01 -5.79373994e-02 2.21407630e-02 2.75170571e+02] [-2.21953638e-02 -2.98989831e-04 9.99753608e-01 2.15955772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2107140569999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:301.90, Y:275.16, Z:2.16 [[-6.04409958e-02 -9.98170501e-01 -1.59280452e-03 3.01897387e+02] [ 9.97924960e-01 -6.04614575e-02 2.21401552e-02 2.75164790e+02] [-2.21959530e-02 -2.51326360e-04 9.99753608e-01 2.15989404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.240714057 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:301.91, Y:275.16, Z:2.16 [[-6.62574750e-02 -9.97801274e-01 -1.60124453e-03 3.01905501e+02] [ 9.97555633e-01 -6.62766925e-02 2.21395447e-02 2.75160504e+02] [-2.21969911e-02 -1.30420167e-04 9.99753608e-01 2.16086645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.270714057 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:301.91, Y:275.16, Z:2.16 [[-6.92291578e-02 -9.97599485e-01 -1.60966488e-03 3.01909639e+02] [ 9.97353802e-01 -6.92478305e-02 2.21389325e-02 2.75159627e+02] [-2.21972535e-02 -7.27457343e-05 9.99753608e-01 2.16186843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3007140569999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:301.92, Y:275.15, Z:2.16 [[-7.55611670e-02 -9.97139856e-01 -1.61808220e-03 3.01916865e+02] [ 9.96894072e-01 -7.55784664e-02 2.21383173e-02 2.75150426e+02] [-2.21972907e-02 5.97405391e-05 9.99753608e-01 2.16110271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3307140569999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:301.92, Y:275.14, Z:2.16 [[-7.90886640e-02 -9.96866259e-01 -1.62648125e-03 3.01920128e+02] [ 9.96620428e-01 -7.91052802e-02 2.21377002e-02 2.75142536e+02] [-2.21969896e-02 1.29856698e-04 9.99753608e-01 2.16077843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3607140569999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:301.92, Y:275.14, Z:2.16 [[-8.26680882e-02 -9.96575795e-01 -1.63484019e-03 3.01923034e+02] [ 9.96329918e-01 -8.26840071e-02 2.21370829e-02 2.75137574e+02] [-2.21964561e-02 2.01190133e-04 9.99753608e-01 2.15973353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.390714057 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:301.93, Y:275.14, Z:2.16 [[-8.59245806e-02 -9.96300289e-01 -1.64317561e-03 3.01925411e+02] [ 9.96054373e-01 -8.59398810e-02 2.21364642e-02 2.75135892e+02] [-2.21957800e-02 2.65374142e-04 9.99753608e-01 2.15966470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4207140569999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:301.93, Y:275.13, Z:2.16 [[-9.15396333e-02 -9.95800064e-01 -1.65150406e-03 3.01929613e+02] [ 9.95554076e-01 -9.15537323e-02 2.21358428e-02 2.75127530e+02] [-2.21940750e-02 3.82145332e-04 9.99753608e-01 2.15904732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4507140569999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:301.93, Y:275.12, Z:2.16 [[-9.39216095e-02 -9.95578212e-01 -1.65981461e-03 3.01931406e+02] [ 9.95332201e-01 -9.39353047e-02 2.21352196e-02 2.75123095e+02] [-2.21932576e-02 4.26908521e-04 9.99753608e-01 2.15978550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4807140569999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:301.93, Y:275.12, Z:2.16 [[-9.58703550e-02 -9.95392431e-01 -1.66810192e-03 3.01932926e+02] [ 9.95146404e-01 -9.58837528e-02 2.21345951e-02 2.75116218e+02] [-2.21925523e-02 4.62045860e-04 9.99753608e-01 2.15985158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.510714057 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:301.93, Y:275.12, Z:2.16 [[-9.83263110e-02 -9.95152816e-01 -1.67636756e-03 3.01933907e+02] [ 9.94906766e-01 -9.83392854e-02 2.21339691e-02 2.75115480e+02] [-2.21915344e-02 5.08522098e-04 9.99753608e-01 2.15998020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.540714057 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:301.93, Y:275.11, Z:2.16 [[-1.00002749e-01 -9.94985735e-01 -1.68462488e-03 3.01933930e+02] [ 9.94739673e-01 -1.00015492e-01 2.21333406e-02 2.75109498e+02] [-2.21908467e-02 5.37631695e-04 9.99753608e-01 2.16134066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5707140569999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:301.93, Y:275.11, Z:2.16 [[-1.01935987e-01 -9.94789520e-01 -1.69287534e-03 3.01933482e+02] [ 9.94543443e-01 -1.01948435e-01 2.21327095e-02 2.75105907e+02] [-2.21899735e-02 5.72481513e-04 9.99753608e-01 2.16119926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6007140569999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:301.93, Y:275.10, Z:2.16 [[-1.03734989e-01 -9.94603518e-01 -1.70111359e-03 3.01933287e+02] [ 9.94357428e-01 -1.03747176e-01 2.21320763e-02 2.75103402e+02] [-2.21891267e-02 6.04355760e-04 9.99753608e-01 2.16254859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.630714057 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:301.93, Y:275.10, Z:2.16 [[-1.05428884e-01 -9.94425376e-01 -1.70934893e-03 3.01932765e+02] [ 9.94179274e-01 -1.05440835e-01 2.21314403e-02 2.75103432e+02] [-2.21883010e-02 6.33893776e-04 9.99753608e-01 2.16181146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.660714057 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:301.93, Y:275.09, Z:2.16 [[-1.09990035e-01 -9.93931206e-01 -1.71759062e-03 3.01932141e+02] [ 9.93685060e-01 -1.10001040e-01 2.21308006e-02 2.75089924e+02] [-2.21854301e-02 7.27423403e-04 9.99753608e-01 2.16194322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6907140569999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:301.93, Y:275.09, Z:2.16 [[-1.10357590e-01 -9.93890449e-01 -1.72580821e-03 3.01932409e+02] [ 9.93644307e-01 -1.10368687e-01 2.21301598e-02 2.75087488e+02] [-2.21854296e-02 7.27391602e-04 9.99753608e-01 2.16199908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7207140569999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:301.93, Y:275.08, Z:2.16 [[-1.12259033e-01 -9.93677464e-01 -1.73399388e-03 3.01931697e+02] [ 9.93431310e-01 -1.12269841e-01 2.21295184e-02 2.75082939e+02] [-2.21842789e-02 7.61634523e-04 9.99753608e-01 2.16224427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.750714057 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:301.93, Y:275.08, Z:2.16 [[-1.14201333e-01 -9.93456099e-01 -1.74217280e-03 3.01930227e+02] [ 9.93209932e-01 -1.14211842e-01 2.21288744e-02 2.75078988e+02] [-2.21830420e-02 7.96803631e-04 9.99753609e-01 2.16246565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.780714057 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:301.93, Y:275.09, Z:2.16 [[-1.15198329e-01 -9.93340969e-01 -1.75034093e-03 3.01927460e+02] [ 9.93094799e-01 -1.15208772e-01 2.21282284e-02 2.75088053e+02] [-2.21825304e-02 8.10880449e-04 9.99753609e-01 2.16299545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8107140569999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:301.92, Y:275.07, Z:2.16 [[-1.16528450e-01 -9.93185806e-01 -1.75391968e-03 3.01924393e+02] [ 9.92939625e-01 -1.16538643e-01 2.21279447e-02 2.75073337e+02] [-2.21815600e-02 8.36998742e-04 9.99753609e-01 2.16230138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8407140569999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:301.92, Y:275.07, Z:2.16 [[-1.16402910e-01 -9.93200512e-01 -1.76212166e-03 3.01922737e+02] [ 9.92954341e-01 -1.16413317e-01 2.21272915e-02 2.75069989e+02] [-2.21819717e-02 8.25974779e-04 9.99753609e-01 2.16235577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.870714057 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:301.92, Y:275.07, Z:2.16 [[-1.15309666e-01 -9.93328016e-01 -1.77028921e-03 3.01918661e+02] [ 9.93081864e-01 -1.15320525e-01 2.21266381e-02 2.75067339e+02] [-2.21831602e-02 7.93373141e-04 9.99753609e-01 2.16239293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.900714057 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:301.92, Y:275.07, Z:2.16 [[-1.14285387e-01 -9.93446369e-01 -1.77845266e-03 3.01916159e+02] [ 9.93200236e-01 -1.14296682e-01 2.21259819e-02 2.75065665e+02] [-2.21842476e-02 7.62316809e-04 9.99753609e-01 2.16220575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9307140569999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:301.91, Y:275.08, Z:2.16 [[-1.10162173e-01 -9.93912020e-01 -1.78661972e-03 3.01909159e+02] [ 9.93665946e-01 -1.10174670e-01 2.21253224e-02 2.75076259e+02] [-2.21874641e-02 6.62070422e-04 9.99753609e-01 2.16132141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9607140569999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:301.91, Y:275.07, Z:2.16 [[-1.07653246e-01 -9.94186882e-01 -1.79482993e-03 3.01905820e+02] [ 9.93940850e-01 -1.07666547e-01 2.21246564e-02 2.75073705e+02] [-2.21892863e-02 5.97836290e-04 9.99753609e-01 2.16084830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.990714057 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:301.90, Y:275.08, Z:2.16 [[-1.05057893e-01 -9.94464473e-01 -1.80307714e-03 3.01902493e+02] [ 9.94218487e-01 -1.05072019e-01 2.21239842e-02 2.75075891e+02] [-2.21909693e-02 5.31646538e-04 9.99753609e-01 2.16035729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.020714057 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:301.90, Y:275.07, Z:2.16 [[-1.02825743e-01 -9.94697736e-01 -1.81134150e-03 3.01899896e+02] [ 9.94451793e-01 -1.02840606e-01 2.21233076e-02 2.75069166e+02] [-2.21922834e-02 4.73553753e-04 9.99753609e-01 2.16034427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0507140569999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:301.89, Y:275.07, Z:2.16 [[-9.85073397e-02 -9.95134661e-01 -1.81960560e-03 3.01894299e+02] [ 9.94888797e-01 -9.85234532e-02 2.21226279e-02 2.75073227e+02] [-2.21942676e-02 3.68935994e-04 9.99753609e-01 2.16013803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0807140569999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:301.89, Y:275.07, Z:2.16 [[-9.72420847e-02 -9.95259080e-01 -1.82787880e-03 3.01892030e+02] [ 9.95013249e-01 -9.72586946e-02 2.21219443e-02 2.75070566e+02] [-2.21948430e-02 3.32420358e-04 9.99753609e-01 2.16033142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1107140569999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:301.89, Y:275.07, Z:2.16 [[-9.76240899e-02 -9.95221667e-01 -1.83617196e-03 3.01886435e+02] [ 9.94975842e-01 -9.76407898e-02 2.21212559e-02 2.75072730e+02] [-2.21948384e-02 3.32620729e-04 9.99753609e-01 2.16166374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.140714057 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.88, Y:275.07, Z:2.16 [[-9.89685763e-02 -9.95088850e-01 -1.84447974e-03 3.01884315e+02] [ 9.94843015e-01 -9.89851286e-02 2.21205632e-02 2.75066703e+02] [-2.21945018e-02 3.54272858e-04 9.99753609e-01 2.16293273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1707140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:301.88, Y:275.07, Z:2.16 [[-1.00778459e-01 -9.94907166e-01 -1.85279397e-03 3.01881834e+02] [ 9.94661314e-01 -1.00794749e-01 2.21198668e-02 2.75065366e+02] [-2.21939659e-02 3.86303594e-04 9.99753609e-01 2.16323780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2007140569999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:301.88, Y:275.06, Z:2.16 [[-1.05356193e-01 -9.94432808e-01 -1.86110122e-03 3.01877622e+02] [ 9.94186895e-01 -1.05371536e-01 2.21191678e-02 2.75057279e+02] [-2.21921332e-02 4.80108863e-04 9.99753609e-01 2.16394270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2307140569999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:301.88, Y:275.05, Z:2.16 [[-1.07691908e-01 -9.94182558e-01 -1.86939732e-03 3.01877008e+02] [ 9.93936621e-01 -1.07706858e-01 2.21184666e-02 2.75045127e+02] [-2.21911406e-02 5.23917418e-04 9.99753609e-01 2.16437772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.260714057 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:301.87, Y:275.05, Z:2.16 [[-1.10120058e-01 -9.93916519e-01 -1.87764883e-03 3.01874679e+02] [ 9.93670557e-01 -1.10134591e-01 2.21177661e-02 2.75051779e+02] [-2.21900072e-02 5.69845332e-04 9.99753609e-01 2.16418987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.290714057 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:301.87, Y:275.04, Z:2.16 [[-1.12535169e-01 -9.93645953e-01 -1.88590008e-03 3.01873159e+02] [ 9.93399967e-01 -1.12549287e-01 2.21170625e-02 2.75044317e+02] [-2.21887864e-02 6.15494295e-04 9.99753609e-01 2.16400467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3207140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:301.87, Y:275.03, Z:2.16 [[-1.17513248e-01 -9.93069509e-01 -1.89416578e-03 3.01868666e+02] [ 9.92823465e-01 -1.17526317e-01 2.21163546e-02 2.75031133e+02] [-2.21856918e-02 7.18392424e-04 9.99753609e-01 2.16373659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.87, Y:275.03, Z:2.16 [[-1.20052532e-01 -9.92765718e-01 -1.90238331e-03 3.01865534e+02] [ 9.92519651e-01 -1.20065155e-01 2.21156478e-02 2.75034611e+02] [-2.21840669e-02 7.66886690e-04 9.99753609e-01 2.16340824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.380714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.86, Y:275.02, Z:2.16 [[-1.22720561e-01 -9.92439426e-01 -1.91058992e-03 3.01864273e+02] [ 9.92193334e-01 -1.22732705e-01 2.21149388e-02 2.75018855e+02] [-2.21822290e-02 8.18283102e-04 9.99753609e-01 2.16395379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.410714057 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.86, Y:275.02, Z:2.16 [[-1.27215112e-01 -9.91873295e-01 -1.91877523e-03 3.01859335e+02] [ 9.91627160e-01 -1.27226323e-01 2.21142286e-02 2.75020463e+02] [-2.21786315e-02 9.10554434e-04 9.99753609e-01 2.16445676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4407140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.86, Y:275.01, Z:2.16 [[-1.29439132e-01 -9.91585497e-01 -1.92693793e-03 3.01857610e+02] [ 9.91339345e-01 -1.29449973e-01 2.21135173e-02 2.75005464e+02] [-2.21768851e-02 9.52105102e-04 9.99753609e-01 2.16469084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4707140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.85, Y:275.01, Z:2.16 [[-1.32691721e-01 -9.91155468e-01 -1.93507694e-03 3.01850609e+02] [ 9.90909290e-01 -1.32701936e-01 2.21128050e-02 2.75012336e+02] [-2.21740161e-02 1.01670045e-03 9.99753609e-01 2.16329661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.500714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.85, Y:275.02, Z:2.16 [[-1.34737225e-01 -9.90879460e-01 -1.94321044e-03 3.01846364e+02] [ 9.90633268e-01 -1.34747112e-01 2.21120903e-02 2.75022824e+02] [-2.21722580e-02 1.05431277e-03 9.99753609e-01 2.16285608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.530714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.84, Y:275.05, Z:2.16 [[-1.36046335e-01 -9.90700554e-01 -1.95140918e-03 3.01840856e+02] [ 9.90454356e-01 -1.36056079e-01 2.21113667e-02 2.75046664e+02] [-2.21712443e-02 1.07538867e-03 9.99753609e-01 2.16257540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5607140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.83, Y:275.08, Z:2.16 [[-1.37220925e-01 -9.90538529e-01 -1.95972541e-03 3.01830404e+02] [ 9.90292327e-01 -1.37230563e-01 2.21106296e-02 2.75084296e+02] [-2.21703647e-02 1.09334002e-03 9.99753609e-01 2.16255344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5907140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.83, Y:275.00, Z:2.16 [[-1.37521985e-01 -9.90496759e-01 -1.96825003e-03 3.01834597e+02] [ 9.90250562e-01 -1.37531738e-01 2.21098707e-02 2.74995099e+02] [-2.21704521e-02 1.09153261e-03 9.99753609e-01 2.16475590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.620714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.83, Y:274.98, Z:2.16 [[-1.37156116e-01 -9.90547471e-01 -1.97663267e-03 3.01831920e+02] [ 9.90301285e-01 -1.37166146e-01 2.21091213e-02 2.74984913e+02] [-2.21712613e-02 1.07493933e-03 9.99753609e-01 2.16443756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.650714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.83, Y:274.99, Z:2.16 [[-1.36227979e-01 -9.90675526e-01 -1.98473896e-03 3.01827637e+02] [ 9.90429357e-01 -1.36238421e-01 2.21083936e-02 2.74992137e+02] [-2.21726421e-02 1.04603805e-03 9.99753610e-01 2.16426995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:275.02, Z:2.16 [[-1.32654132e-01 -9.91160386e-01 -1.99285018e-03 3.01817722e+02] [ 9.90914264e-01 -1.32665642e-01 2.21076624e-02 2.75020713e+02] [-2.21766219e-02 9.57929109e-04 9.99753610e-01 2.16412969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7107140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:275.00, Z:2.16 [[-1.30272382e-01 -9.91476224e-01 -2.00108298e-03 3.01816095e+02] [ 9.91230140e-01 -1.30284666e-01 2.21069172e-02 2.74996534e+02] [-2.21791932e-02 8.96386997e-04 9.99753610e-01 2.16495469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.740714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:275.03, Z:2.16 [[-1.24085278e-01 -9.92269523e-01 -2.00934757e-03 3.01805802e+02] [ 9.92023531e-01 -1.24099281e-01 2.21061660e-02 2.75025784e+02] [-2.21846333e-02 7.49729681e-04 9.99753610e-01 2.16494448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.770714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.80, Y:274.99, Z:2.17 [[-1.21304164e-01 -9.92613333e-01 -2.01764421e-03 3.01804830e+02] [ 9.92367392e-01 -1.21319041e-01 2.21054087e-02 2.74994636e+02] [-2.21869021e-02 6.79233805e-04 9.99753610e-01 2.16616829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.80, Y:275.01, Z:2.16 [[-1.17363538e-01 -9.93086953e-01 -2.02595272e-03 3.01796112e+02] [ 9.92841085e-01 -1.17379576e-01 2.21046472e-02 2.75011758e+02] [-2.21896422e-02 5.82830503e-04 9.99753610e-01 2.16452751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8307140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.79, Y:275.01, Z:2.16 [[-1.16849909e-01 -9.93147502e-01 -2.03423666e-03 3.01793882e+02] [ 9.92901655e-01 -1.16866259e-01 2.21038848e-02 2.75005122e+02] [-2.21901516e-02 5.63039985e-04 9.99753610e-01 2.16448142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8607140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.00, Z:2.16 [[-1.16584967e-01 -9.93178621e-01 -2.04256776e-03 3.01792122e+02] [ 9.92932791e-01 -1.16601567e-01 2.21031149e-02 2.74995853e+02] [-2.21905078e-02 5.48758412e-04 9.99753610e-01 2.16432901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.890714057 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.79, Y:275.00, Z:2.16 [[-1.16627939e-01 -9.93173559e-01 -2.05086869e-03 3.01789932e+02] [ 9.92927740e-01 -1.16644714e-01 2.21023447e-02 2.74995113e+02] [-2.21906873e-02 5.41386500e-04 9.99753610e-01 2.16442479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9207140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.00, Z:2.16 [[-1.16103012e-01 -9.93235043e-01 -2.05915448e-03 3.01785022e+02] [ 9.92989246e-01 -1.16120101e-01 2.21015727e-02 2.74997644e+02] [-2.21911658e-02 5.21340912e-04 9.99753610e-01 2.16382853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:274.98, Z:2.16 [[-1.15701062e-01 -9.93281929e-01 -2.06746428e-03 3.01784751e+02] [ 9.93036152e-01 -1.15718435e-01 2.21007954e-02 2.74979649e+02] [-2.21915644e-02 5.04018732e-04 9.99753610e-01 2.16416821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9807140569999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:301.78, Y:274.99, Z:2.16 [[-1.14309505e-01 -9.93443017e-01 -2.07574406e-03 3.01779915e+02] [ 9.93197278e-01 -1.14327406e-01 2.21000177e-02 2.74994616e+02] [-2.21924227e-02 4.64618726e-04 9.99753610e-01 2.16332279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.010714057 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:301.78, Y:274.99, Z:2.16 [[-1.13336545e-01 -9.93554470e-01 -2.08402897e-03 3.01779155e+02] [ 9.93308762e-01 -1.13354871e-01 2.20992364e-02 2.74990901e+02] [-2.21930299e-02 4.34566875e-04 9.99753610e-01 2.16390702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.040714057 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:301.78, Y:275.01, Z:2.16 [[-1.12252794e-01 -9.93677479e-01 -2.09236507e-03 3.01775878e+02] [ 9.93431806e-01 -1.12271573e-01 2.20984471e-02 2.75013887e+02] [-2.21936423e-02 4.01990425e-04 9.99753610e-01 2.16298659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0707140569999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:301.78, Y:275.00, Z:2.16 [[-1.09308812e-01 -9.94005619e-01 -2.10077660e-03 3.01775448e+02] [ 9.93760017e-01 -1.09328506e-01 2.20976475e-02 2.75003480e+02] [-2.21948605e-02 3.27799799e-04 9.99753610e-01 2.16186828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1007140569999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:301.78, Y:274.98, Z:2.16 [[-1.07921388e-01 -9.94157193e-01 -2.10923959e-03 3.01777108e+02] [ 9.93911635e-01 -1.07941612e-01 2.20968396e-02 2.74981363e+02] [-2.21954068e-02 2.88323823e-04 9.99753610e-01 2.16188055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.130714057 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:301.78, Y:274.99, Z:2.16 [[-1.06479877e-01 -9.94312614e-01 -2.11237261e-03 3.01776046e+02] [ 9.94067091e-01 -1.06500527e-01 2.20965401e-02 2.74989673e+02] [-2.21958374e-02 2.52996772e-04 9.99753610e-01 2.16084268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.160714057 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:301.78, Y:274.99, Z:2.16 [[-1.04528981e-01 -9.94519580e-01 -2.12072548e-03 3.01776388e+02] [ 9.94274114e-01 -1.04550299e-01 2.20957384e-02 2.74987818e+02] [-2.21963670e-02 2.01062575e-04 9.99753610e-01 2.16053515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1907140569999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:301.78, Y:274.98, Z:2.16 [[-1.04369377e-01 -9.94536324e-01 -2.12911386e-03 3.01777518e+02] [ 9.94290878e-01 -1.04390920e-01 2.20949301e-02 2.74980956e+02] [-2.21964707e-02 1.89075587e-04 9.99753610e-01 2.16066250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2207140569999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:301.78, Y:274.99, Z:2.16 [[-1.04759148e-01 -9.94495325e-01 -2.13749082e-03 3.01777587e+02] [ 9.94249887e-01 -1.04780781e-01 2.20941197e-02 2.74985577e+02] [-2.21964667e-02 1.89361137e-04 9.99753610e-01 2.16092487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.250714057 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:301.78, Y:274.98, Z:2.16 [[-1.06842160e-01 -9.94273679e-01 -2.14587581e-03 3.01779932e+02] [ 9.94028212e-01 -1.06863465e-01 2.20933053e-02 2.74975724e+02] [-2.21961076e-02 2.27435363e-04 9.99753610e-01 2.16131909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.280714057 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:301.78, Y:274.98, Z:2.16 [[-1.08676943e-01 -9.94074787e-01 -2.15425770e-03 3.01780861e+02] [ 9.93829297e-01 -1.08697982e-01 2.20924879e-02 2.74976808e+02] [-2.21957487e-02 2.59979635e-04 9.99753610e-01 2.16164326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3107140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.78, Y:274.97, Z:2.16 [[-1.12485339e-01 -9.93651031e-01 -2.16262690e-03 3.01784041e+02] [ 9.93405478e-01 -1.12505622e-01 2.20916686e-02 2.74965208e+02] [-2.21947170e-02 3.36623418e-04 9.99753610e-01 2.16317510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3407140569999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:301.71, Y:275.72, Z:2.15 [[-1.14431590e-01 -9.93428758e-01 -2.17097793e-03 3.01710562e+02] [ 9.93183181e-01 -1.14451578e-01 2.20908479e-02 2.75721967e+02] [-2.21941555e-02 3.71712096e-04 9.99753610e-01 2.14790875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.370714057 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:301.78, Y:275.05, Z:2.16 [[-1.15706366e-01 -9.93281065e-01 -2.18245115e-03 3.01777643e+02] [ 9.93035482e-01 -1.15726295e-01 2.20897144e-02 2.75050692e+02] [-2.21938620e-02 3.88669157e-04 9.99753610e-01 2.16199839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.400714057 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:301.79, Y:274.98, Z:2.16 [[-1.18815729e-01 -9.92913859e-01 -2.21183144e-03 3.01786342e+02] [ 9.92668266e-01 -1.18835542e-01 2.20868238e-02 2.74976382e+02] [-2.21931576e-02 4.28647200e-04 9.99753610e-01 2.16403535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4307140569999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:301.79, Y:275.00, Z:2.16 [[-1.20638015e-01 -9.92694197e-01 -2.16823999e-03 3.01785065e+02] [ 9.92448495e-01 -1.20656407e-01 2.20911023e-02 2.74995679e+02] [-2.21913211e-02 5.13160212e-04 9.99753611e-01 2.16358813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4607140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.79, Y:274.95, Z:2.16 [[-1.21843313e-01 -9.92546961e-01 -2.17666121e-03 3.01790498e+02] [ 9.92301251e-01 -1.21861594e-01 2.20902725e-02 2.74949467e+02] [-2.21908843e-02 5.31648339e-04 9.99753611e-01 2.16468383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.490714057 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.79, Y:274.96, Z:2.16 [[-1.24063188e-01 -9.92271930e-01 -2.17770138e-03 3.01790324e+02] [ 9.92026181e-01 -1.24080942e-01 2.20901700e-02 2.74959510e+02] [-2.21896669e-02 5.80240123e-04 9.99753611e-01 2.16398320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.520714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.02, Z:2.16 [[-1.28116721e-01 -9.91756688e-01 -2.18595036e-03 3.01785834e+02] [ 9.91510881e-01 -1.28133655e-01 2.20893537e-02 2.75021454e+02] [-2.21873581e-02 6.62622007e-04 9.99753611e-01 2.16206586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5507140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.79, Y:274.95, Z:2.16 [[-1.32267833e-01 -9.91211534e-01 -2.21714173e-03 3.01794373e+02] [ 9.90965704e-01 -1.32284432e-01 2.20862579e-02 2.74945544e+02] [-2.21854469e-02 7.24190053e-04 9.99753610e-01 2.16433825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5807140569999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:301.79, Y:274.95, Z:2.16 [[-1.34580289e-01 -9.90900281e-01 -2.18611249e-03 3.01794442e+02] [ 9.90654369e-01 -1.34595624e-01 2.20893288e-02 2.74946920e+02] [-2.21825633e-02 8.07106374e-04 9.99753611e-01 2.16448533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6107140569999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:301.79, Y:274.94, Z:2.16 [[-1.34949032e-01 -9.90850112e-01 -2.19432650e-03 3.01794767e+02] [ 9.90604206e-01 -1.34964458e-01 2.20885128e-02 2.74944434e+02] [-2.21825615e-02 8.07114368e-04 9.99753611e-01 2.16454117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.640714057 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:301.72, Y:275.71, Z:2.15 [[-1.37551931e-01 -9.90492108e-01 -2.20254823e-03 3.01717698e+02] [ 9.90246173e-01 -1.37566893e-01 2.20876929e-02 2.75713700e+02] [-2.21806833e-02 8.57139853e-04 9.99753611e-01 2.14806692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6707140569999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:301.79, Y:274.97, Z:2.16 [[-1.38599997e-01 -9.90345905e-01 -2.24257543e-03 3.01791185e+02] [ 9.90100010e-01 -1.38615591e-01 2.20836870e-02 2.74966585e+02] [-2.21813449e-02 8.40424995e-04 9.99753610e-01 2.16404682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7007140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.79, Y:274.93, Z:2.16 [[-1.42135007e-01 -9.89844868e-01 -2.18556706e-03 3.01793025e+02] [ 9.89598848e-01 -1.42148453e-01 2.20893276e-02 2.74929788e+02] [-2.21756825e-02 9.76832077e-04 9.99753612e-01 2.16418958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7307140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:301.79, Y:274.93, Z:2.16 [[-1.43805985e-01 -9.89603483e-01 -2.18761763e-03 3.01792561e+02] [ 9.89357442e-01 -1.43819061e-01 2.20891245e-02 2.74925830e+02] [-2.21740956e-02 1.01221251e-03 9.99753612e-01 2.16424371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.760714057 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:301.79, Y:274.95, Z:2.16 [[-1.45477569e-01 -9.89359114e-01 -2.19573597e-03 3.01789544e+02] [ 9.89113061e-01 -1.45490411e-01 2.20883175e-02 2.74947597e+02] [-2.21727367e-02 1.04152360e-03 9.99753612e-01 2.16390376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.790714057 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:301.71, Y:275.75, Z:2.15 [[-1.49507449e-01 -9.88758143e-01 -2.20392055e-03 3.01706205e+02] [ 9.88512049e-01 -1.49519470e-01 2.20875008e-02 2.75748839e+02] [-2.21687253e-02 1.12364387e-03 9.99753612e-01 2.14743949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8207140569999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:301.70, Y:275.75, Z:2.15 [[-1.51986829e-01 -9.88380011e-01 -2.22656913e-03 3.01704180e+02] [ 9.88133911e-01 -1.51998737e-01 2.20852523e-02 2.75747870e+02] [-2.21670577e-02 1.15651901e-03 9.99753612e-01 2.14650348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8507140569999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:301.71, Y:275.68, Z:2.15 [[-1.52380603e-01 -9.88319311e-01 -2.25660909e-03 3.01709348e+02] [ 9.88073238e-01 -1.52393083e-01 2.20822407e-02 2.75676871e+02] [-2.21681966e-02 1.13521012e-03 9.99753611e-01 2.14810462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.880714057 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:301.77, Y:275.03, Z:2.16 [[-1.53098345e-01 -9.88208287e-01 -2.29759737e-03 3.01770227e+02] [ 9.87962250e-01 -1.53111560e-01 2.20781130e-02 2.75026233e+02] [-2.21695629e-02 1.11018310e-03 9.99753609e-01 2.16201230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.910714057 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:301.70, Y:275.70, Z:2.15 [[-1.54445154e-01 -9.87998908e-01 -2.20270017e-03 3.01700145e+02] [ 9.87752757e-01 -1.54455919e-01 2.20875768e-02 2.75704659e+02] [-2.21627218e-02 1.23559604e-03 9.99753613e-01 2.14791821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9407140569999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:301.70, Y:275.67, Z:2.15 [[-1.54428271e-01 -9.88001497e-01 -2.22507550e-03 3.01700340e+02] [ 9.87755368e-01 -1.54439539e-01 2.20853553e-02 2.75673390e+02] [-2.21640037e-02 1.21277296e-03 9.99753613e-01 2.14668717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9707140569999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:301.76, Y:275.04, Z:2.16 [[-1.52920521e-01 -9.88235908e-01 -2.25931555e-03 3.01756681e+02] [ 9.87989832e-01 -1.52932927e-01 2.20819495e-02 2.75039346e+02] [-2.21676992e-02 1.14460244e-03 9.99753611e-01 2.15946427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.000714057 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:301.75, Y:275.04, Z:2.16 [[-1.52273697e-01 -9.88335968e-01 -2.17621341e-03 3.01753402e+02] [ 9.88089816e-01 -1.52284413e-01 2.20901364e-02 2.75035678e+02] [-2.21638797e-02 1.21345244e-03 9.99753615e-01 2.15947711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.030714057 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:301.75, Y:275.03, Z:2.16 [[-1.50690502e-01 -9.88578597e-01 -2.17512213e-03 3.01750628e+02] [ 9.88332461e-01 -1.50701587e-01 2.20902439e-02 2.75030238e+02] [-2.21657366e-02 1.17904614e-03 9.99753615e-01 2.15993218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0607140569999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:301.74, Y:275.04, Z:2.16 [[-1.48010993e-01 -9.88983331e-01 -2.17183416e-03 3.01741548e+02] [ 9.88737223e-01 -1.48022672e-01 2.20905671e-02 2.75043092e+02] [-2.21686834e-02 1.12227351e-03 9.99753615e-01 2.16008770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0907140569999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:301.74, Y:275.03, Z:2.16 [[-1.46086377e-01 -9.89269459e-01 -2.16964714e-03 3.01738862e+02] [ 9.89023372e-01 -1.46098487e-01 2.20907819e-02 2.75032239e+02] [-2.21707181e-02 1.08133057e-03 9.99753615e-01 2.16092318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.120714057 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:301.73, Y:275.03, Z:2.16 [[-1.43309138e-01 -9.89675614e-01 -2.16092313e-03 3.01731145e+02] [ 9.89429552e-01 -1.43321744e-01 2.20916353e-02 2.75034463e+02] [-2.21732600e-02 1.02785201e-03 9.99753615e-01 2.15970079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.150714057 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:301.73, Y:275.03, Z:2.16 [[-1.41729617e-01 -9.89902915e-01 -2.22125769e-03 3.01728014e+02] [ 9.89656946e-01 -1.41743959e-01 2.20857399e-02 2.75025710e+02] [-2.21775882e-02 9.31920360e-04 9.99753613e-01 2.15765195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1807140569999 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:301.72, Y:275.03, Z:2.16 [[-1.39279043e-01 -9.90250644e-01 -2.23820766e-03 3.01723274e+02] [ 9.90004733e-01 -1.39294371e-01 2.20840868e-02 2.75031981e+02] [-2.21805509e-02 8.60014294e-04 9.99753611e-01 2.15720413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2107140569999 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:301.72, Y:275.02, Z:2.16 [[-1.33907551e-01 -9.90991388e-01 -2.19948609e-03 3.01716317e+02] [ 9.90745509e-01 -1.33923350e-01 2.20878536e-02 2.75021061e+02] [-2.21834352e-02 7.78599407e-04 9.99753614e-01 2.15745940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.240714057 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:301.71, Y:275.02, Z:2.16 [[-1.31097523e-01 -9.91367168e-01 -2.13969811e-03 3.01712660e+02] [ 9.91121251e-01 -1.31112689e-01 2.20936439e-02 2.75020955e+02] [-2.21834548e-02 7.75721724e-04 9.99753616e-01 2.15740862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.270714057 meters Centerline goodness : 0.997517 Centerline is valid? [True, True] Translation: X:301.71, Y:275.02, Z:2.16 [[-1.28614720e-01 -9.91692348e-01 -2.13113442e-03 3.01708921e+02] [ 9.91446457e-01 -1.28630311e-01 2.20944699e-02 2.75021640e+02] [-2.21850452e-02 7.28768394e-04 9.99753616e-01 2.15775060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3007140569999 meters Centerline goodness : 0.997759 Centerline is valid? [True, True] Translation: X:301.70, Y:275.02, Z:2.16 [[-1.25207675e-01 -9.92128285e-01 -2.12258333e-03 3.01701442e+02] [ 9.91882437e-01 -1.25223920e-01 2.20952914e-02 2.75022483e+02] [-2.21871617e-02 6.61146932e-04 9.99753616e-01 2.15804180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3307140569999 meters Centerline goodness : 0.997594 Centerline is valid? [True, True] Translation: X:301.70, Y:275.02, Z:2.16 [[-1.24024057e-01 -9.92276959e-01 -2.11403770e-03 3.01698263e+02] [ 9.92031118e-01 -1.24040405e-01 2.20961090e-02 2.75020892e+02] [-2.21876859e-02 6.43257889e-04 9.99753616e-01 2.15787934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3607140569999 meters Centerline goodness : 0.997233 Centerline is valid? [True, True] Translation: X:301.70, Y:275.02, Z:2.16 [[-1.22983186e-01 -9.92406521e-01 -2.10550751e-03 3.01695416e+02] [ 9.92160685e-01 -1.22999602e-01 2.20969218e-02 2.75022275e+02] [-2.21881059e-02 6.28548060e-04 9.99753616e-01 2.15787543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.390714057 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:301.69, Y:275.03, Z:2.16 [[-1.22882897e-01 -9.92418962e-01 -2.09699270e-03 3.01692595e+02] [ 9.92173115e-01 -1.22899149e-01 2.20977298e-02 2.75025773e+02] [-2.21879247e-02 6.34853274e-04 9.99753616e-01 2.15843713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4207140569999 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:301.69, Y:275.03, Z:2.16 [[-1.24072890e-01 -9.92270909e-01 -2.08847472e-03 3.01688081e+02] [ 9.92025030e-01 -1.24088658e-01 2.20985348e-02 2.75030609e+02] [-2.21868893e-02 6.70009899e-04 9.99753616e-01 2.15795994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4507140569999 meters Centerline goodness : 0.996391 Centerline is valid? [True, True] Translation: X:301.69, Y:275.03, Z:2.16 [[-1.24916782e-01 -9.92165043e-01 -2.07994647e-03 3.01686113e+02] [ 9.91919138e-01 -1.24932150e-01 2.20993375e-02 2.75033592e+02] [-2.21860423e-02 6.97439410e-04 9.99753616e-01 2.15765805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4807140569999 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:301.68, Y:275.04, Z:2.16 [[-1.27844872e-01 -9.91792013e-01 -2.07140505e-03 3.01682626e+02] [ 9.91546054e-01 -1.27859325e-01 2.21001381e-02 2.75037671e+02] [-2.21835889e-02 7.71495826e-04 9.99753616e-01 2.15555492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.510714057 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:301.68, Y:275.04, Z:2.15 [[-1.29126219e-01 -9.91626020e-01 -2.06285756e-03 3.01680553e+02] [ 9.91380032e-01 -1.29140164e-01 2.21009359e-02 2.75041480e+02] [-2.21822608e-02 8.08734498e-04 9.99753616e-01 2.15465876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.540714057 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:301.68, Y:275.04, Z:2.15 [[-1.30143663e-01 -9.91493019e-01 -2.05429685e-03 3.01678850e+02] [ 9.91247006e-01 -1.30157164e-01 2.21017316e-02 2.75044151e+02] [-2.21810940e-02 8.40084706e-04 9.99753616e-01 2.15418255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5707140569999 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:301.68, Y:275.05, Z:2.15 [[-1.31664291e-01 -9.91292252e-01 -2.04573293e-03 3.01676209e+02] [ 9.91046208e-01 -1.31677225e-01 2.21025242e-02 2.75049013e+02] [-2.21794374e-02 8.82697320e-04 9.99753616e-01 2.15437665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6007140569999 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:301.67, Y:275.06, Z:2.15 [[-1.32080401e-01 -9.91236913e-01 -2.03715865e-03 3.01674158e+02] [ 9.90990854e-01 -1.32093040e-01 2.21033145e-02 2.75056493e+02] [-2.21787157e-02 9.00609042e-04 9.99753616e-01 2.15480637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.630714057 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:301.67, Y:275.06, Z:2.16 [[-1.32409481e-01 -9.91193026e-01 -2.02855940e-03 3.01672343e+02] [ 9.90946953e-01 -1.32421847e-01 2.21041036e-02 2.75057940e+02] [-2.21780590e-02 9.16598145e-04 9.99753616e-01 2.15541375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.660714057 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:301.67, Y:275.06, Z:2.16 [[-1.33295238e-01 -9.91074316e-01 -2.01994678e-03 3.01669405e+02] [ 9.90828222e-01 -1.33307193e-01 2.21048907e-02 2.75058768e+02] [-2.21768628e-02 9.45056398e-04 9.99753616e-01 2.15697812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6907140569999 meters Centerline goodness : 0.994497 Centerline is valid? [True, True] Translation: X:301.67, Y:275.06, Z:2.16 [[-1.33581760e-01 -9.91035755e-01 -2.01134399e-03 3.01667786e+02] [ 9.90789649e-01 -1.33593452e-01 2.21056734e-02 2.75060225e+02] [-2.21762151e-02 9.60095953e-04 9.99753617e-01 2.15747919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7207140569999 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:301.66, Y:275.07, Z:2.16 [[-1.34470974e-01 -9.90915509e-01 -2.00274675e-03 3.01664069e+02] [ 9.90669384e-01 -1.34482253e-01 2.21064523e-02 2.75066391e+02] [-2.21749603e-02 9.88616284e-04 9.99753617e-01 2.15695652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.750714057 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:301.65, Y:275.18, Z:2.16 [[-1.35082310e-01 -9.90832374e-01 -1.99413907e-03 3.01652619e+02] [ 9.90586233e-01 -1.35093246e-01 2.21072287e-02 2.75175582e+02] [-2.21739526e-02 1.01092881e-03 9.99753617e-01 2.15532593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.780714057 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:301.66, Y:275.07, Z:2.16 [[-1.34719727e-01 -9.90881661e-01 -2.03202512e-03 3.01660483e+02] [ 9.90635563e-01 -1.34731597e-01 2.21038114e-02 2.75067280e+02] [-2.21760394e-02 9.64823105e-04 9.99753616e-01 2.15603185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8107140569999 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:301.66, Y:275.07, Z:2.15 [[-1.33580534e-01 -9.91035967e-01 -1.98849092e-03 3.01655996e+02] [ 9.90789837e-01 -1.33591717e-01 2.21077271e-02 2.75068717e+02] [-2.21751986e-02 9.82985397e-04 9.99753617e-01 2.15497539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8407140569999 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:301.65, Y:275.07, Z:2.15 [[-1.32646009e-01 -9.91161499e-01 -1.97989288e-03 3.01653767e+02] [ 9.90915371e-01 -1.32657233e-01 2.21084971e-02 2.75070206e+02] [-2.21757383e-02 9.70697621e-04 9.99753617e-01 2.15466505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.870714057 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:301.65, Y:275.07, Z:2.15 [[-1.31026843e-01 -9.91376861e-01 -1.97129747e-03 3.01650281e+02] [ 9.91130743e-01 -1.31038278e-01 2.21092635e-02 2.75072106e+02] [-2.21769277e-02 9.43093483e-04 9.99753617e-01 2.15387564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.900714057 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:301.65, Y:275.08, Z:2.15 [[-1.30194304e-01 -9.91486556e-01 -1.96270894e-03 3.01647770e+02] [ 9.91240439e-01 -1.30205754e-01 2.21100259e-02 2.75080191e+02] [-2.21773494e-02 9.33082953e-04 9.99753617e-01 2.15338020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9307140569999 meters Centerline goodness : 0.992268 Centerline is valid? [True, True] Translation: X:301.65, Y:275.08, Z:2.15 [[-1.29013396e-01 -9.91640926e-01 -1.95409988e-03 3.01645661e+02] [ 9.91394813e-01 -1.29024948e-01 2.21107868e-02 2.75077539e+02] [-2.21780887e-02 9.15303206e-04 9.99753617e-01 2.15381668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9607140569999 meters Centerline goodness : 0.990553 Centerline is valid? [True, True] Translation: X:301.64, Y:275.07, Z:2.15 [[-1.26134842e-01 -9.92011198e-01 -1.94549052e-03 3.01641208e+02] [ 9.91765111e-01 -1.26146916e-01 2.21115443e-02 2.75074870e+02] [-2.21803171e-02 8.59566512e-04 9.99753617e-01 2.15479687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.990714057 meters Centerline goodness : 0.990586 Centerline is valid? [True, True] Translation: X:301.64, Y:275.08, Z:2.16 [[-1.23972657e-01 -9.92283744e-01 -1.93690985e-03 3.01638886e+02] [ 9.92037674e-01 -1.23985077e-01 2.21122959e-02 2.75076243e+02] [-2.21818197e-02 8.19832532e-04 9.99753617e-01 2.15527652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.020714057 meters Centerline goodness : 0.991081 Centerline is valid? [True, True] Translation: X:301.64, Y:275.08, Z:2.16 [[-1.21969950e-01 -9.92531920e-01 -1.92834765e-03 3.01636399e+02] [ 9.92285866e-01 -1.21982675e-01 2.21130425e-02 2.75078578e+02] [-2.21831256e-02 7.83654562e-04 9.99753617e-01 2.15555726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0507140569999 meters Centerline goodness : 0.990438 Centerline is valid? [True, True] Translation: X:301.63, Y:275.08, Z:2.15 [[-1.18168699e-01 -9.92991678e-01 -1.91978941e-03 3.01632597e+02] [ 9.92745664e-01 -1.18182176e-01 2.21137855e-02 2.75076300e+02] [-2.21856899e-02 7.07294659e-04 9.99753617e-01 2.15465260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0807140569999 meters Centerline goodness : 0.990668 Centerline is valid? [True, True] Translation: X:301.63, Y:275.08, Z:2.15 [[-1.15728324e-01 -9.93279066e-01 -1.91124666e-03 3.01630701e+02] [ 9.93033075e-01 -1.15742216e-01 2.21145238e-02 2.75078372e+02] [-2.21871055e-02 6.61345633e-04 9.99753617e-01 2.15401902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1107140569999 meters Centerline goodness : 0.990158 Centerline is valid? [True, True] Translation: X:301.63, Y:275.08, Z:2.15 [[-1.14116896e-01 -9.93465507e-01 -1.90271936e-03 3.01628466e+02] [ 9.93219528e-01 -1.14130996e-01 2.21152575e-02 2.75079636e+02] [-2.21879047e-02 6.33906504e-04 9.99753617e-01 2.15306295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.140714057 meters Centerline goodness : 0.989274 Centerline is valid? [True, True] Translation: X:301.62, Y:275.08, Z:2.15 [[-1.11110934e-01 -9.93806205e-01 -1.89419464e-03 3.01624876e+02] [ 9.93560258e-01 -1.11125590e-01 2.21159876e-02 2.75079837e+02] [-2.21894992e-02 5.75331522e-04 9.99753617e-01 2.15289245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1707140569999 meters Centerline goodness : 0.989681 Centerline is valid? [True, True] Translation: X:301.62, Y:275.08, Z:2.15 [[-1.09597875e-01 -9.93974220e-01 -1.88567825e-03 3.01622954e+02] [ 9.93728285e-01 -1.09612715e-01 2.21167137e-02 2.75080100e+02] [-2.21901376e-02 5.50093007e-04 9.99753617e-01 2.15333826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2007140569999 meters Centerline goodness : 0.987485 Centerline is valid? [True, True] Translation: X:301.62, Y:275.09, Z:2.15 [[-1.06885153e-01 -9.94269601e-01 -1.87717435e-03 3.01619216e+02] [ 9.94023696e-01 -1.06900475e-01 2.21174355e-02 2.75088964e+02] [-2.21913646e-02 4.98069689e-04 9.99753617e-01 2.15297733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2307140569999 meters Centerline goodness : 0.987682 Centerline is valid? [True, True] Translation: X:301.62, Y:275.08, Z:2.15 [[-1.05266503e-01 -9.94442292e-01 -1.86865740e-03 3.01619160e+02] [ 9.94196399e-01 -1.05282036e-01 2.21181550e-02 2.75080243e+02] [-2.21919648e-02 4.70488371e-04 9.99753617e-01 2.15318322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.260714057 meters Centerline goodness : 0.987825 Centerline is valid? [True, True] Translation: X:301.62, Y:275.09, Z:2.15 [[-1.03800061e-01 -9.94596444e-01 -1.86015580e-03 3.01617934e+02] [ 9.94350563e-01 -1.03815768e-01 2.21188700e-02 2.75085880e+02] [-2.21924630e-02 4.46293097e-04 9.99753617e-01 2.15266634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.290714057 meters Centerline goodness : 0.988310 Centerline is valid? [True, True] Translation: X:301.62, Y:275.08, Z:2.15 [[-1.01304073e-01 -9.94853786e-01 -1.85167935e-03 3.01617452e+02] [ 9.94607933e-01 -1.01320209e-01 2.21195796e-02 2.75083183e+02] [-2.21933600e-02 3.99108545e-04 9.99753617e-01 2.15257642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3207140569999 meters Centerline goodness : 0.986646 Centerline is valid? [True, True] Translation: X:301.62, Y:275.07, Z:2.16 [[-9.17444488e-02 -9.95780879e-01 -1.84320829e-03 3.01623209e+02] [ 9.95535177e-01 -9.17627566e-02 2.21202854e-02 2.75070838e+02] [-2.21960952e-02 1.94434704e-04 9.99753617e-01 2.15648917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3507140569999 meters Centerline goodness : 0.987149 Centerline is valid? [True, True] Translation: X:301.62, Y:275.08, Z:2.15 [[-9.96501981e-02 -9.95021303e-01 -1.56335548e-03 3.01616453e+02] [ 9.94775094e-01 -9.96603318e-02 2.21434190e-02 2.75084909e+02] [-2.21889781e-02 6.51408995e-04 9.99753582e-01 2.15242968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.380714057 meters Centerline goodness : 0.987382 Centerline is valid? [True, True] Translation: X:301.62, Y:275.09, Z:2.15 [[-9.90782585e-02 -9.95077957e-01 -1.83239418e-03 3.01615844e+02] [ 9.94832113e-01 -9.90945153e-02 2.21211341e-02 2.75089740e+02] [-2.21938331e-02 3.68798865e-04 9.99753619e-01 2.15172073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.410714057 meters Centerline goodness : 0.987593 Centerline is valid? [True, True] Translation: X:301.62, Y:275.09, Z:2.15 [[-9.89595039e-02 -9.95089790e-01 -1.82394777e-03 3.01615823e+02] [ 9.94843935e-01 -9.89756024e-02 2.21218305e-02 2.75091482e+02] [-2.21937340e-02 3.74621998e-04 9.99753619e-01 2.15130361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4407140569999 meters Centerline goodness : 0.988620 Centerline is valid? [True, True] Translation: X:301.63, Y:275.09, Z:2.15 [[-8.08778842e-02 -9.96722365e-01 -1.81549545e-03 3.01627986e+02] [ 9.96476827e-01 -8.08982558e-02 2.21225241e-02 2.75086284e+02] [-2.21968850e-02 -1.98761991e-05 9.99753619e-01 2.15093247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4707140569999 meters Centerline goodness : 0.988961 Centerline is valid? [True, True] Translation: X:301.62, Y:275.09, Z:2.15 [[-9.90862845e-02 -9.95078191e-01 -1.14075163e-03 3.01618659e+02] [ 9.94831602e-01 -9.90871536e-02 2.21770206e-02 2.75092507e+02] [-2.21809034e-02 1.06258280e-03 9.99753409e-01 2.15149622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.500714057 meters Centerline goodness : 0.988961 Centerline is valid? [True, True] Translation: X:301.62, Y:275.10, Z:2.15 [[-9.87065461e-02 -9.95114944e-01 -1.80718761e-03 3.01618636e+02] [ 9.94869083e-01 -9.87223348e-02 2.21225846e-02 2.75095081e+02] [-2.21929243e-02 3.85728834e-04 9.99753632e-01 2.15134930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.530714057 meters Centerline goodness : 0.988846 Centerline is valid? [True, True] Translation: X:301.62, Y:275.10, Z:2.15 [[-9.83459740e-02 -9.95150659e-01 -1.79874346e-03 3.01619715e+02] [ 9.94904791e-01 -9.83616641e-02 2.21232711e-02 2.75097663e+02] [-2.21929153e-02 3.86156161e-04 9.99753632e-01 2.15199643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5607140569999 meters Centerline goodness : 0.989053 Centerline is valid? [True, True] Translation: X:301.63, Y:275.09, Z:2.15 [[-9.02649389e-02 -9.95916179e-01 -1.79029905e-03 3.01625690e+02] [ 9.95670434e-01 -9.02824366e-02 2.21239545e-02 2.75094203e+02] [-2.21952368e-02 2.14469565e-04 9.99753632e-01 2.15409891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5907140569999 meters Centerline goodness : 0.989520 Centerline is valid? [True, True] Translation: X:301.62, Y:275.11, Z:2.15 [[-9.74771453e-02 -9.95236583e-01 -1.53325451e-03 3.01622206e+02] [ 9.94990389e-01 -9.74871480e-02 2.21445656e-02 2.75105273e+02] [-2.21885544e-02 6.33015545e-04 9.99753603e-01 2.15349603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.620714057 meters Centerline goodness : 0.990633 Centerline is valid? [True, True] Translation: X:301.62, Y:275.11, Z:2.15 [[-9.70733675e-02 -9.95275646e-01 -1.77488545e-03 3.01623446e+02] [ 9.95029765e-01 -9.70888417e-02 2.21251826e-02 2.75106088e+02] [-2.21929770e-02 3.81702129e-04 9.99753633e-01 2.15432077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.650714057 meters Centerline goodness : 0.991418 Centerline is valid? [True, True] Translation: X:301.63, Y:275.11, Z:2.15 [[-9.45017898e-02 -9.95523125e-01 -1.76642772e-03 3.01626911e+02] [ 9.95277272e-01 -9.45177113e-02 2.21258579e-02 2.75113038e+02] [-2.21937618e-02 3.32847802e-04 9.99753633e-01 2.15404494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6807140569999 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:301.63, Y:275.11, Z:2.15 [[-9.27391078e-02 -9.95688891e-01 -1.75796409e-03 3.01628575e+02] [ 9.95443055e-01 -9.27552765e-02 2.21265303e-02 2.75112254e+02] [-2.21942009e-02 3.02041535e-04 9.99753633e-01 2.15445762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7107140569999 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:301.63, Y:275.11, Z:2.15 [[-9.01854157e-02 -9.95923456e-01 -1.74949737e-03 3.01630676e+02] [ 9.95677649e-01 -9.02020267e-02 2.21271997e-02 2.75109883e+02] [-2.21948054e-02 2.53615278e-04 9.99753633e-01 2.15400091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.740714057 meters Centerline goodness : 0.990684 Centerline is valid? [True, True] Translation: X:301.63, Y:275.11, Z:2.15 [[-8.61409747e-02 -9.96281437e-01 -1.74105428e-03 3.01633627e+02] [ 9.96035686e-01 -8.61583961e-02 2.21278640e-02 2.75108603e+02] [-2.21955866e-02 1.71963581e-04 9.99753633e-01 2.15470529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.770714057 meters Centerline goodness : 0.990973 Centerline is valid? [True, True] Translation: X:301.64, Y:275.11, Z:2.15 [[-8.42092022e-02 -9.96446591e-01 -1.73264159e-03 3.01635148e+02] [ 9.96200861e-01 -8.42269132e-02 2.21285227e-02 2.75109434e+02] [-2.21958261e-02 1.37366202e-04 9.99753633e-01 2.15468656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8007140569999 meters Centerline goodness : 0.991281 Centerline is valid? [True, True] Translation: X:301.64, Y:275.12, Z:2.15 [[-8.24047248e-02 -9.96597456e-01 -1.72424797e-03 3.01636786e+02] [ 9.96351745e-01 -8.24226944e-02 2.21291768e-02 2.75117003e+02] [-2.21959984e-02 1.05591250e-04 9.99753633e-01 2.15455520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8307140569999 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:301.64, Y:275.11, Z:2.15 [[-8.00708958e-02 -9.96787694e-01 -1.71584445e-03 3.01643129e+02] [ 9.96542012e-01 -8.00892541e-02 2.21298283e-02 2.75111745e+02] [-2.21961613e-02 6.20440984e-05 9.99753633e-01 2.15453031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8607140569999 meters Centerline goodness : 0.992770 Centerline is valid? [True, True] Translation: X:301.65, Y:275.11, Z:2.15 [[-7.93171464e-02 -9.96847970e-01 -1.70745033e-03 3.01645802e+02] [ 9.96602288e-01 -7.93355042e-02 2.21304760e-02 2.75114883e+02] [-2.21961815e-02 5.36772941e-05 9.99753633e-01 2.15464191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.890714057 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:301.66, Y:275.11, Z:2.16 [[-6.83213977e-02 -9.97661917e-01 -1.69907945e-03 3.01658184e+02] [ 9.97416436e-01 -6.83422774e-02 2.21311186e-02 2.75107794e+02] [-2.21954932e-02 -1.82660814e-04 9.99753633e-01 2.15541341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9207140569999 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:301.66, Y:275.13, Z:2.16 [[-7.23540564e-02 -9.97378068e-01 -1.37117427e-03 3.01657051e+02] [ 9.97131974e-01 -7.23666635e-02 2.21560790e-02 2.75128488e+02] [-2.21972146e-02 2.35840486e-04 9.99753584e-01 2.15587256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9507140569999 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:301.66, Y:275.12, Z:2.16 [[-7.67147514e-02 -9.97051927e-01 -1.51740139e-03 3.01658098e+02] [ 9.96805989e-01 -7.67295307e-02 2.21449610e-02 2.75120946e+02] [-2.21961055e-02 1.86290382e-04 9.99753619e-01 2.15633293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9807140569999 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:301.66, Y:275.13, Z:2.16 [[-7.42436798e-02 -9.97238708e-01 -1.68363019e-03 3.01664667e+02] [ 9.96993081e-01 -7.42627588e-02 2.21323161e-02 2.75133930e+02] [-2.21962333e-02 -3.53830670e-05 9.99753633e-01 2.15743084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.010714057 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:301.67, Y:275.14, Z:2.16 [[-7.22855242e-02 -9.97382573e-01 -1.67523106e-03 3.01668828e+02] [ 9.97136969e-01 -7.23048991e-02 2.21329518e-02 2.75135243e+02] [-2.21961478e-02 -7.05427974e-05 9.99753633e-01 2.15783833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.040714057 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:301.67, Y:275.14, Z:2.16 [[-7.02791513e-02 -9.97525971e-01 -1.66680805e-03 3.01672554e+02] [ 9.97280391e-01 -7.02988332e-02 2.21335861e-02 2.75140103e+02] [-2.21960016e-02 -1.06745341e-04 9.99753633e-01 2.15834611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0707140569999 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:301.68, Y:275.14, Z:2.16 [[-6.66536883e-02 -9.97774792e-01 -1.65838481e-03 3.01681504e+02] [ 9.97529270e-01 -6.66740757e-02 2.21342172e-02 2.75136267e+02] [-2.21955353e-02 -1.78960171e-04 9.99753633e-01 2.15950191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1007140569999 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:301.68, Y:275.15, Z:2.16 [[-6.47980390e-02 -9.97897035e-01 -1.64997660e-03 3.01684914e+02] [ 9.97651535e-01 -6.48186965e-02 2.21348440e-02 2.75154112e+02] [-2.21952445e-02 -2.11807200e-04 9.99753633e-01 2.15988839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.130714057 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:301.69, Y:275.18, Z:2.16 [[-6.24136386e-02 -9.98049018e-01 -1.64154316e-03 3.01692241e+02] [ 9.97803553e-01 -6.24346956e-02 2.21354694e-02 2.75184370e+02] [-2.21947727e-02 -2.56382406e-04 9.99753633e-01 2.16104403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.160714057 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:301.70, Y:275.14, Z:2.16 [[-6.15703171e-02 -9.98101405e-01 -1.63749170e-03 3.01700726e+02] [ 9.97855950e-01 -6.15914917e-02 2.21357682e-02 2.75137886e+02] [-2.21945969e-02 -2.71074570e-04 9.99753633e-01 2.16243370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1907140569999 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:301.65, Y:275.97, Z:2.14 [[-6.14912879e-02 -9.98106298e-01 -1.62452068e-03 3.01645285e+02] [ 9.97860820e-01 -6.15121943e-02 2.21367201e-02 2.75969658e+02] [-2.21947276e-02 -2.59830109e-04 9.99753633e-01 2.14472042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2207140569999 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:301.71, Y:275.14, Z:2.16 [[-6.00605976e-02 -9.98193386e-01 -1.63972070e-03 3.01711846e+02] [ 9.97947967e-01 -6.00821928e-02 2.21355966e-02 2.75137182e+02] [-2.21941241e-02 -3.06878783e-04 9.99753633e-01 2.16246061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.250714057 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:301.72, Y:275.15, Z:2.16 [[-5.99814234e-02 -9.98198204e-01 -1.60443390e-03 3.01722570e+02] [ 9.97952720e-01 -6.00022557e-02 2.21381540e-02 2.75146195e+02] [-2.21945352e-02 -2.73271186e-04 9.99753634e-01 2.16217920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.280714057 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:301.73, Y:275.14, Z:2.16 [[-5.95436746e-02 -9.98224417e-01 -1.60129917e-03 3.01728966e+02] [ 9.97978936e-01 -5.95645450e-02 2.21383807e-02 2.75141781e+02] [-2.21944528e-02 -2.79862300e-04 9.99753634e-01 2.16215070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3107140569999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:301.74, Y:275.22, Z:2.16 [[-5.93779616e-02 -9.98234293e-01 -1.59816318e-03 3.01736052e+02] [ 9.97988810e-01 -5.93988032e-02 2.21386071e-02 2.75220051e+02] [-2.21944458e-02 -2.80403607e-04 9.99753634e-01 2.15987251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3407140569999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:301.69, Y:275.91, Z:2.14 [[-5.91923465e-02 -9.98245303e-01 -1.60669864e-03 3.01692348e+02] [ 9.97999840e-01 -5.92134230e-02 2.21379876e-02 2.75910774e+02] [-2.21942803e-02 -2.93085549e-04 9.99753634e-01 2.14475633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.370714057 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:301.75, Y:275.18, Z:2.16 [[-5.75320725e-02 -9.98342311e-01 -1.64034826e-03 3.01751172e+02] [ 9.98096950e-01 -5.75543031e-02 2.21355296e-02 2.75177988e+02] [-2.21932449e-02 -3.63723700e-04 9.99753633e-01 2.16174273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.400714057 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:301.76, Y:275.17, Z:2.16 [[-5.69244949e-02 -9.98377216e-01 -1.59260200e-03 3.01762879e+02] [ 9.98131775e-01 -5.69458165e-02 2.21389644e-02 2.75170995e+02] [-2.21937296e-02 -3.29377295e-04 9.99753635e-01 2.16342642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4307140569999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:301.77, Y:275.17, Z:2.16 [[-5.71219419e-02 -9.98365925e-01 -1.60107805e-03 3.01768446e+02] [ 9.98120496e-01 -5.71434028e-02 2.21383514e-02 2.75169868e+02] [-2.21936667e-02 -3.33483198e-04 9.99753635e-01 2.16455225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4607140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:275.17, Z:2.16 [[-5.75859140e-02 -9.98339257e-01 -1.60953841e-03 3.01779809e+02] [ 9.98093835e-01 -5.76074484e-02 2.21377363e-02 2.75169466e+02] [-2.21936926e-02 -3.31648582e-04 9.99753635e-01 2.16485076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.490714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.17, Z:2.16 [[-5.89212930e-02 -9.98261320e-01 -1.61800418e-03 3.01785506e+02] [ 9.98015886e-01 -5.89426868e-02 2.21371175e-02 2.75168514e+02] [-2.21939977e-02 -3.10446288e-04 9.99753635e-01 2.16465162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.520714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.16, Z:2.16 [[-6.08781267e-02 -9.98143882e-01 -1.62647952e-03 3.01791501e+02] [ 9.97898422e-01 -6.08992273e-02 2.21364948e-02 2.75164836e+02] [-2.21944582e-02 -2.75433013e-04 9.99753635e-01 2.16476623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.80, Y:275.23, Z:2.16 [[-6.54714956e-02 -9.97853101e-01 -1.63495179e-03 3.01798176e+02] [ 9.97607561e-01 -6.54916541e-02 2.21358690e-02 2.75226152e+02] [-2.21954212e-02 -1.81771816e-04 9.99753635e-01 2.16316068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5807140569999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:301.75, Y:275.96, Z:2.15 [[-6.85242499e-02 -9.97648083e-01 -1.65248324e-03 3.01748795e+02] [ 9.97402514e-01 -6.85440461e-02 2.21345774e-02 2.75959176e+02] [-2.21957866e-02 -1.31435626e-04 9.99753635e-01 2.14826093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6107140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:275.15, Z:2.17 [[-7.35731173e-02 -9.97288400e-01 -1.68643067e-03 3.01818189e+02] [ 9.97042791e-01 -7.35924237e-02 2.21320573e-02 2.75150218e+02] [-2.21961525e-02 -5.31190905e-05 9.99753634e-01 2.16587166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.640714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:275.15, Z:2.17 [[-7.74029848e-02 -9.96998572e-01 -1.62007268e-03 3.01822644e+02] [ 9.96752788e-01 -7.74198744e-02 2.21369137e-02 2.75154057e+02] [-2.21958972e-02 9.86512349e-05 9.99753636e-01 2.16593060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6707140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.83, Y:275.16, Z:2.17 [[-8.09781159e-02 -9.96714549e-01 -1.62844642e-03 3.01826781e+02] [ 9.96468718e-01 -8.09943099e-02 2.21362977e-02 2.75163698e+02] [-2.21954649e-02 1.69859767e-04 9.99753636e-01 2.16595568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.84, Y:275.13, Z:2.17 [[-8.87348918e-02 -9.96053934e-01 -1.63687523e-03 3.01837847e+02] [ 9.95807995e-01 -8.87493589e-02 2.21356744e-02 2.75132713e+02] [-2.21935972e-02 3.34193234e-04 9.99753636e-01 2.16613978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.84, Y:275.13, Z:2.17 [[-9.32187364e-02 -9.95644294e-01 -1.64525254e-03 3.01842176e+02] [ 9.95398303e-01 -9.32322821e-02 2.21350518e-02 2.75125331e+02] [-2.21920286e-02 4.25719964e-04 9.99753636e-01 2.16634470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.760714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.85, Y:275.12, Z:2.17 [[-1.01134092e-01 -9.94871430e-01 -1.65352501e-03 3.01849755e+02] [ 9.94625347e-01 -1.01145865e-01 2.21344338e-02 2.75117989e+02] [-2.21881630e-02 5.93907984e-04 9.99753636e-01 2.16580522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.790714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.85, Y:275.11, Z:2.17 [[-1.04600163e-01 -9.94512969e-01 -1.66176782e-03 3.01852937e+02] [ 9.94266855e-01 -1.04611262e-01 2.21338149e-02 2.75112848e+02] [-2.21862056e-02 6.62959982e-04 9.99753636e-01 2.16576327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8207140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.85, Y:275.12, Z:2.17 [[-1.08210088e-01 -9.94126646e-01 -1.66998387e-03 3.01854568e+02] [ 9.93880501e-01 -1.08220476e-01 2.21331950e-02 2.75116849e+02] [-2.21839254e-02 7.35270570e-04 9.99753636e-01 2.16573065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8507140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.86, Y:275.10, Z:2.17 [[-1.13557442e-01 -9.93530015e-01 -1.67821160e-03 3.01858325e+02] [ 9.93283825e-01 -1.13566689e-01 2.21325711e-02 2.75097623e+02] [-2.21799627e-02 8.46377741e-04 9.99753636e-01 2.16777926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.880714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.86, Y:275.09, Z:2.17 [[-1.15949690e-01 -9.93253656e-01 -1.68640611e-03 3.01859378e+02] [ 9.93007451e-01 -1.15958525e-01 2.21319467e-02 2.75093433e+02] [-2.21781902e-02 8.91578519e-04 9.99753636e-01 2.16864343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.910714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.86, Y:275.09, Z:2.17 [[-1.19944540e-01 -9.92779148e-01 -1.69454670e-03 3.01859537e+02] [ 9.92532915e-01 -1.19952566e-01 2.21313234e-02 2.75087316e+02] [-2.21747816e-02 9.72638029e-04 9.99753636e-01 2.17078721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9407140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.86, Y:275.08, Z:2.17 [[-1.21729315e-01 -9.92561875e-01 -1.70267278e-03 3.01859142e+02] [ 9.92315633e-01 -1.21737080e-01 2.21306982e-02 2.75082952e+02] [-2.21733657e-02 1.00436592e-03 9.99753636e-01 2.17154001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9707140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.86, Y:275.11, Z:2.17 [[-1.23424703e-01 -9.92352466e-01 -1.71078062e-03 3.01855933e+02] [ 9.92106217e-01 -1.23432227e-01 2.21300714e-02 2.75110824e+02] [-2.21719964e-02 1.03412140e-03 9.99753636e-01 2.17082094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.000714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.86, Y:275.07, Z:2.17 [[-1.26689117e-01 -9.91940906e-01 -1.76289096e-03 3.01855557e+02] [ 9.91694667e-01 -1.26696990e-01 2.21260201e-02 2.75071600e+02] [-2.21710574e-02 1.05487638e-03 9.99753635e-01 2.17286464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.030714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.85, Y:275.08, Z:2.17 [[-1.27613346e-01 -9.91822364e-01 -1.79796598e-03 3.01852601e+02] [ 9.91576141e-01 -1.27621771e-01 2.21232826e-02 2.75077433e+02] [-2.21718261e-02 1.04040595e-03 9.99753634e-01 2.17444006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0607140569999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:301.78, Y:275.95, Z:2.16 [[-1.30049910e-01 -9.91505941e-01 -1.72934514e-03 3.01778273e+02] [ 9.91259657e-01 -1.30056203e-01 2.21286454e-02 2.75953673e+02] [-2.21655954e-02 1.16359828e-03 9.99753636e-01 2.15695385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0907140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.84, Y:275.08, Z:2.17 [[-1.28629651e-01 -9.91691056e-01 -1.80604121e-03 3.01843815e+02] [ 9.91444832e-01 -1.28638003e-01 2.21226058e-02 2.75076770e+02] [-2.21711159e-02 1.05503285e-03 9.99753634e-01 2.17494974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.120714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.84, Y:275.08, Z:2.18 [[-1.28792690e-01 -9.91670049e-01 -1.71980648e-03 3.01840514e+02] [ 9.91423769e-01 -1.28799083e-01 2.21293078e-02 2.75077811e+02] [-2.21664812e-02 1.14503606e-03 9.99753638e-01 2.17516171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.150714057 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:301.77, Y:275.97, Z:2.16 [[-1.29470333e-01 -9.91581791e-01 -1.72789707e-03 3.01767559e+02] [ 9.91335512e-01 -1.29476737e-01 2.21286760e-02 2.75966170e+02] [-2.21661147e-02 1.15208132e-03 9.99753638e-01 2.15587779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.83, Y:275.10, Z:2.17 [[-1.24353501e-01 -9.92236187e-01 -1.88559722e-03 3.01827076e+02] [ 9.91990068e-01 -1.24364685e-01 2.21162768e-02 2.75102878e+02] [-2.21790719e-02 8.79742736e-04 9.99753627e-01 2.17376386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2107140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:275.13, Z:2.17 [[-1.25208059e-01 -9.92129039e-01 -1.70623435e-03 3.01819994e+02] [ 9.91882782e-01 -1.25215040e-01 2.21301061e-02 2.75132262e+02] [-2.21695671e-02 1.07848316e-03 9.99753643e-01 2.17260384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.240714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:275.11, Z:2.17 [[-1.21176816e-01 -9.92629281e-01 -1.81382785e-03 3.01818191e+02] [ 9.92383138e-01 -1.21187191e-01 2.21217592e-02 2.75114520e+02] [-2.21785186e-02 8.80632180e-04 9.99753639e-01 2.17210218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.270714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:275.10, Z:2.17 [[-1.17568089e-01 -9.93063332e-01 -1.72125507e-03 3.01811554e+02] [ 9.92817147e-01 -1.17577299e-01 2.21289599e-02 2.75102043e+02] [-2.21778391e-02 8.92767982e-04 9.99753643e-01 2.17060609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:275.10, Z:2.17 [[-1.16557312e-01 -9.93182462e-01 -1.72954273e-03 3.01808115e+02] [ 9.92936293e-01 -1.16566957e-01 2.21283121e-02 2.75097066e+02] [-2.21790590e-02 8.61890821e-04 9.99753643e-01 2.16998877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.80, Y:275.08, Z:2.17 [[-1.13473571e-01 -9.93539495e-01 -1.73779400e-03 3.01802509e+02] [ 9.93293366e-01 -1.13484163e-01 2.21276641e-02 2.75077997e+02] [-2.21819203e-02 7.84765803e-04 9.99753643e-01 2.17021665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3607140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.14, Z:2.17 [[-1.11879263e-01 -9.93720274e-01 -1.74599322e-03 3.01793654e+02] [ 9.93474170e-01 -1.11890433e-01 2.21270171e-02 2.75143992e+02] [-2.21834254e-02 7.40955199e-04 9.99753643e-01 2.16856468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.390714057 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:301.79, Y:275.11, Z:2.17 [[-1.09665395e-01 -9.93967013e-01 -1.75434811e-03 3.01792688e+02] [ 9.93720944e-01 -1.09677299e-01 2.21263547e-02 2.75112153e+02] [-2.21852788e-02 6.83162970e-04 9.99753643e-01 2.16938289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4207140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:301.79, Y:275.11, Z:2.17 [[-1.10041973e-01 -9.93925378e-01 -1.76282215e-03 3.01792963e+02] [ 9.93679313e-01 -1.10053972e-01 2.21256795e-02 2.75109667e+02] [-2.21852799e-02 6.83073529e-04 9.99753643e-01 2.16943873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4507140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:301.79, Y:275.08, Z:2.17 [[-1.04919314e-01 -9.94479160e-01 -1.77120676e-03 3.01787651e+02] [ 9.94233171e-01 -1.04932767e-01 2.21250083e-02 2.75083724e+02] [-2.21887173e-02 5.60348185e-04 9.99753643e-01 2.17069442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4807140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:301.78, Y:275.08, Z:2.17 [[-1.02283758e-01 -9.94753671e-01 -1.77952267e-03 3.01784974e+02] [ 9.94507729e-01 -1.02298048e-01 2.21243394e-02 2.75077791e+02] [-2.21903095e-02 4.93211526e-04 9.99753643e-01 2.17155476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.510714057 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:301.78, Y:275.09, Z:2.17 [[-9.96350472e-02 -9.95022443e-01 -1.78776171e-03 3.01780680e+02] [ 9.94776551e-01 -9.96501749e-02 2.21236736e-02 2.75092837e+02] [-2.21917025e-02 4.25869839e-04 9.99753643e-01 2.17195438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.540714057 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:301.78, Y:275.09, Z:2.17 [[-9.43856080e-02 -9.95534094e-01 -1.79604468e-03 3.01775387e+02] [ 9.95288297e-01 -9.44022165e-02 2.21230012e-02 2.75088563e+02] [-2.21937525e-02 3.00510670e-04 9.99753643e-01 2.17381705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5707140569999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:301.77, Y:275.08, Z:2.17 [[-9.22195961e-02 -9.95737059e-01 -1.80437478e-03 3.01773176e+02] [ 9.95491312e-01 -9.22369243e-02 2.21223218e-02 2.75082877e+02] [-2.21944456e-02 2.43872160e-04 9.99753643e-01 2.17419927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6007140569999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:301.77, Y:275.10, Z:2.17 [[-8.92886308e-02 -9.96004144e-01 -1.81269241e-03 3.01766895e+02] [ 9.95758463e-01 -8.93068669e-02 2.21216402e-02 2.75101397e+02] [-2.21951312e-02 1.70207154e-04 9.99753643e-01 2.17355374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.630714057 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:301.76, Y:275.18, Z:2.17 [[-8.85079361e-02 -9.96073807e-01 -1.82106439e-03 3.01758894e+02] [ 9.95828155e-01 -8.85265506e-02 2.21209510e-02 2.75178604e+02] [-2.21953124e-02 1.44412525e-04 9.99753643e-01 2.17231166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.660714057 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:301.76, Y:275.09, Z:2.17 [[-8.66503969e-02 -9.96237001e-01 -1.88323855e-03 3.01764426e+02] [ 9.95991493e-01 -8.66708498e-02 2.21158056e-02 2.75092353e+02] [-2.21958057e-02 4.06537589e-05 9.99753642e-01 2.17356837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6907140569999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:301.70, Y:275.90, Z:2.16 [[-8.64712649e-02 -9.96252680e-01 -1.82129734e-03 3.01696473e+02] [ 9.96007068e-01 -8.64903869e-02 2.21209055e-02 2.75897587e+02] [-2.21955361e-02 9.87976563e-05 9.99753644e-01 2.15737230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7207140569999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:301.76, Y:275.12, Z:2.17 [[-8.18408523e-02 -9.96643608e-01 -1.89586699e-03 3.01757370e+02] [ 9.96398227e-01 -8.18627702e-02 2.21147240e-02 2.75121908e+02] [-2.21956992e-02 -7.91506451e-05 9.99753642e-01 2.17208889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.750714057 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:301.76, Y:275.09, Z:2.17 [[-7.92499660e-02 -9.96853148e-01 -1.80118014e-03 3.01757519e+02] [ 9.96607645e-01 -7.92704207e-02 2.21224333e-02 2.75094069e+02] [-2.21955976e-02 -4.18678054e-05 9.99753647e-01 2.17095370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.780714057 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:301.76, Y:275.10, Z:2.17 [[-7.87676624e-02 -9.96891389e-01 -1.79274860e-03 3.01757213e+02] [ 9.96645881e-01 -7.87880489e-02 2.21231166e-02 2.75096039e+02] [-2.21955916e-02 -4.41493265e-05 9.99753647e-01 2.17009776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8107140569999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:301.69, Y:275.92, Z:2.15 [[-7.88879218e-02 -9.96881865e-01 -1.80111156e-03 3.01690313e+02] [ 9.96636369e-01 -7.89084642e-02 2.21224357e-02 2.75921613e+02] [-2.21955779e-02 -4.98603102e-05 9.99753647e-01 2.15140356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8407140569999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:301.75, Y:275.19, Z:2.17 [[-7.76931492e-02 -9.96975608e-01 -1.84714480e-03 3.01750052e+02] [ 9.96730225e-01 -7.77150071e-02 2.21186760e-02 2.75193594e+02] [-2.21953313e-02 -1.22635453e-04 9.99753646e-01 2.16639356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.870714057 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:301.76, Y:275.13, Z:2.17 [[-7.71298650e-02 -9.97019361e-01 -1.83815321e-03 3.01756887e+02] [ 9.96773973e-01 -7.71516621e-02 2.21194050e-02 2.75126908e+02] [-2.21952916e-02 -1.26156558e-04 9.99753646e-01 2.16809960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.900714057 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:301.76, Y:275.11, Z:2.17 [[-7.78225834e-02 -9.96965629e-01 -1.78338121e-03 3.01758989e+02] [ 9.96720124e-01 -7.78429947e-02 2.21238202e-02 2.75106977e+02] [-2.21955120e-02 -5.57990977e-05 9.99753648e-01 2.16798469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9307140569999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:301.76, Y:275.11, Z:2.17 [[-8.08120650e-02 -9.96727755e-01 -1.78654840e-03 3.01761324e+02] [ 9.96482196e-01 -8.08318103e-02 2.21235644e-02 2.75111622e+02] [-2.21955806e-02 7.58724821e-06 9.99753648e-01 2.16803789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9607140569999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:301.76, Y:275.11, Z:2.17 [[-8.34595477e-02 -9.96509549e-01 -1.79498487e-03 3.01763290e+02] [ 9.96263953e-01 -8.34788278e-02 2.21228799e-02 2.75114662e+02] [-2.21955043e-02 5.80868264e-05 9.99753648e-01 2.16818012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.990714057 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:301.77, Y:275.09, Z:2.17 [[-8.60586287e-02 -9.96288442e-01 -1.80346041e-03 3.01767632e+02] [ 9.96042811e-01 -8.60774564e-02 2.21221889e-02 2.75094160e+02] [-2.21953184e-02 1.07481471e-04 9.99753648e-01 2.16928396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.020714057 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:301.77, Y:275.10, Z:2.17 [[-9.18615220e-02 -9.95770153e-01 -1.80661410e-03 3.01772444e+02] [ 9.95524420e-01 -9.18789883e-02 2.21219314e-02 2.75099894e+02] [-2.21943489e-02 2.33625829e-04 9.99753648e-01 2.17007379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0507140569999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:301.78, Y:275.07, Z:2.17 [[-9.42916040e-02 -9.95542967e-01 -1.81501655e-03 3.01776565e+02] [ 9.95297206e-01 -9.43086572e-02 2.21212420e-02 2.75074743e+02] [-2.21938186e-02 2.79366486e-04 9.99753648e-01 2.17118524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0807140569999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:301.71, Y:275.87, Z:2.15 [[-9.82943927e-02 -9.95155720e-01 -1.81814002e-03 3.01714668e+02] [ 9.94909897e-01 -9.83105269e-02 2.21209853e-02 2.75866543e+02] [-2.21925673e-02 3.65483315e-04 9.99753648e-01 2.15468343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1107140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:301.78, Y:275.08, Z:2.17 [[-9.84192493e-02 -9.95143307e-01 -1.85737507e-03 3.01780954e+02] [ 9.94897540e-01 -9.84362245e-02 2.21177449e-02 2.75076518e+02] [-2.21931588e-02 3.28913969e-04 9.99753647e-01 2.17167688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.140714057 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:301.72, Y:275.89, Z:2.16 [[-1.00414103e-01 -9.94944100e-01 -1.80151747e-03 3.01718697e+02] [ 9.94698221e-01 -1.00429344e-01 2.21222937e-02 2.75889151e+02] [-2.21913708e-02 4.29424051e-04 9.99753649e-01 2.15740929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1707140569999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:301.79, Y:275.09, Z:2.17 [[-9.90019948e-02 -9.95085442e-01 -1.88886527e-03 3.01785725e+02] [ 9.94839713e-01 -9.90195258e-02 2.21151358e-02 2.75089806e+02] [-2.21934842e-02 3.10324375e-04 9.99753646e-01 2.17371982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.09, Z:2.17 [[-9.98325452e-02 -9.95002656e-01 -1.78250712e-03 3.01787006e+02] [ 9.94756763e-01 -9.98475075e-02 2.21237052e-02 2.75093799e+02] [-2.21911243e-02 4.35504786e-04 9.99753652e-01 2.17406502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2307140569999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:301.72, Y:275.90, Z:2.16 [[-1.01659456e-01 -9.94817646e-01 -1.79083475e-03 3.01724184e+02] [ 9.94571736e-01 -1.01674152e-01 2.21230311e-02 2.75901940e+02] [-2.21904633e-02 4.67901677e-04 9.99753652e-01 2.15996013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.260714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.09, Z:2.17 [[-1.01183332e-01 -9.94866074e-01 -1.85147708e-03 3.01790582e+02] [ 9.94620255e-01 -1.01199493e-01 2.21181031e-02 2.75090053e+02] [-2.21919190e-02 3.96466757e-04 9.99753650e-01 2.17425300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.290714057 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:301.73, Y:275.92, Z:2.16 [[-1.05355797e-01 -9.94433012e-01 -1.77240633e-03 3.01726613e+02] [ 9.94187028e-01 -1.05369169e-01 2.21244376e-02 2.75918176e+02] [-2.21880281e-02 5.68834375e-04 9.99753654e-01 2.15676067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3207140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.10, Z:2.18 [[-1.00408954e-01 -9.94944369e-01 -1.93526660e-03 3.01794281e+02] [ 9.94698685e-01 -1.00427169e-01 2.21112896e-02 2.75095691e+02] [-2.21938564e-02 2.95164333e-04 9.99753642e-01 2.17653382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3507140569999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.79, Y:275.08, Z:2.17 [[-1.06544788e-01 -9.94306576e-01 -1.62511334e-03 3.01794868e+02] [ 9.94060432e-01 -1.06554591e-01 2.21354387e-02 2.75078699e+02] [-2.21825756e-02 7.42954768e-04 9.99753660e-01 2.17086772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.380714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.19, Z:2.17 [[-1.09298472e-01 -9.94007474e-01 -1.72808463e-03 3.01786715e+02] [ 9.93761404e-01 -1.09309883e-01 2.21273971e-02 2.75190956e+02] [-2.21836948e-02 7.01186887e-04 9.99753666e-01 2.16949517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.410714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:275.09, Z:2.17 [[-1.10138223e-01 -9.93914594e-01 -1.83107456e-03 3.01794945e+02] [ 9.93668625e-01 -1.10151716e-01 2.21192989e-02 2.75085120e+02] [-2.21863900e-02 6.16698926e-04 9.99753662e-01 2.17107089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4407140569999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:301.80, Y:275.08, Z:2.17 [[-1.13959608e-01 -9.93483882e-01 -1.72767827e-03 3.01795667e+02] [ 9.93237762e-01 -1.13969856e-01 2.21273721e-02 2.75079688e+02] [-2.21800908e-02 8.05631348e-04 9.99753667e-01 2.17122538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4707140569999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:301.80, Y:275.08, Z:2.17 [[-1.16222572e-01 -9.93221677e-01 -1.73590917e-03 3.01795933e+02] [ 9.92975542e-01 -1.16232442e-01 2.21267264e-02 2.75075479e+02] [-2.21785132e-02 8.47909697e-04 9.99753667e-01 2.17226604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.500714057 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:301.80, Y:275.08, Z:2.17 [[-1.18676813e-01 -9.92931404e-01 -1.74412524e-03 3.01795073e+02] [ 9.92685252e-01 -1.18686258e-01 2.21260787e-02 2.75081644e+02] [-2.21766821e-02 8.94485103e-04 9.99753667e-01 2.17201745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.530714057 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:301.79, Y:275.07, Z:2.17 [[-1.22950318e-01 -9.92411280e-01 -1.75236101e-03 3.01793954e+02] [ 9.92165096e-01 -1.22958886e-01 2.21254264e-02 2.75069566e+02] [-2.21729911e-02 9.81696775e-04 9.99753667e-01 2.17175850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5607140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:301.79, Y:275.07, Z:2.17 [[-1.25691720e-01 -9.92067786e-01 -1.76059654e-03 3.01792306e+02] [ 9.91821585e-01 -1.25699791e-01 2.21247711e-02 2.75070722e+02] [-2.21705793e-02 1.03470288e-03 9.99753667e-01 2.17167423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5907140569999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:301.79, Y:275.07, Z:2.17 [[-1.27760580e-01 -9.91803461e-01 -1.76881455e-03 3.01790964e+02] [ 9.91557250e-01 -1.27768320e-01 2.21241141e-02 2.75071073e+02] [-2.21687714e-02 1.07270874e-03 9.99753667e-01 2.17267907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.620714057 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:301.72, Y:275.91, Z:2.16 [[-1.31810585e-01 -9.91273329e-01 -1.77705351e-03 3.01719808e+02] [ 9.91027093e-01 -1.31817503e-01 2.21234523e-02 2.75908276e+02] [-2.21646349e-02 1.15499701e-03 9.99753667e-01 2.15538080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.650714057 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:301.72, Y:275.91, Z:2.16 [[-1.30770538e-01 -9.91411048e-01 -1.78923386e-03 3.01718117e+02] [ 9.91164827e-01 -1.30777986e-01 2.21224740e-02 2.75908493e+02] [-2.21664575e-02 1.11954215e-03 9.99753667e-01 2.15747044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.76, Y:275.19, Z:2.91 [[-9.40456533e-02 9.95566278e-01 1.78923386e-03 3.01762785e+02] [ 9.95320501e-01 9.40621947e-02 -2.21224740e-02 2.75190681e+02] [-2.21926884e-02 -2.99661382e-04 -9.99753667e-01 2.91298583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7107140569999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:301.80, Y:275.18, Z:2.91 [[-1.72289572e-01 9.85040960e-01 3.25728147e-03 3.01804164e+02] [ 9.84797553e-01 1.72319431e-01 -2.19041914e-02 2.75179309e+02] [-2.21378186e-02 -5.66100951e-04 -9.99754768e-01 2.91373896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.740714057 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.83, Y:275.22, Z:2.91 [[-2.49773950e-01 9.68291536e-01 4.94720082e-03 3.01834331e+02] [ 9.68052642e-01 2.49822255e-01 -2.15156539e-02 2.75215171e+02] [-2.20693465e-02 -5.84899050e-04 -9.99756271e-01 2.91287335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.770714057 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:301.88, Y:275.20, Z:2.91 [[-3.27277678e-01 9.44905189e-01 6.59585239e-03 3.01884003e+02] [ 9.44672070e-01 3.27343509e-01 -2.09978124e-02 2.75200506e+02] [-2.20000514e-02 -6.41197760e-04 -9.99757764e-01 2.91338860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8007140569999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:301.92, Y:275.22, Z:2.91 [[-4.02164406e-01 9.15530788e-01 8.19558160e-03 3.01918151e+02] [ 9.15304768e-01 4.02247323e-01 -2.03537038e-02 2.75220064e+02] [-2.19310933e-02 -6.84080295e-04 -9.99759251e-01 2.91355093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8307140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.95, Y:275.24, Z:2.91 [[-4.77360248e-01 8.78653752e-01 9.73545277e-03 3.01952479e+02] [ 8.78435739e-01 4.77458843e-01 -1.95884235e-02 2.75244417e+02] [-2.18597198e-02 -7.98765040e-04 -9.99760729e-01 2.91410251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8607140569999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:301.52, Y:275.95, Z:2.89 [[-5.47323107e-01 8.36846368e-01 1.12059714e-02 3.01523187e+02] [ 8.36637684e-01 5.47437130e-01 -1.87076113e-02 2.75952102e+02] [-2.17899614e-02 -8.63769955e-04 -9.99762197e-01 2.89476356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.890714057 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:301.97, Y:275.42, Z:2.91 [[-6.09212516e-01 7.92927826e-01 1.12059714e-02 3.01965897e+02] [ 7.92711096e-01 6.09310384e-01 -1.87076113e-02 2.75423136e+02] [-2.16617003e-02 -2.51381306e-03 -9.99762197e-01 2.91301959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9207140569999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:302.01, Y:275.43, Z:2.91 [[-6.72019854e-01 7.40406892e-01 1.36729543e-02 3.02010848e+02] [ 7.40219648e-01 6.72158048e-01 -1.66862748e-02 2.75429123e+02] [-2.15450191e-02 -1.09251854e-03 -9.99767282e-01 2.91371506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9507140569999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:302.04, Y:275.46, Z:2.91 [[-7.30085522e-01 6.83193538e-01 1.48902681e-02 3.02035413e+02] [ 6.83018256e-01 7.30236432e-01 -1.55182660e-02 2.75459020e+02] [-2.14753953e-02 -1.15933637e-03 -9.99768705e-01 2.91354890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9807140569999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:302.05, Y:275.50, Z:2.91 [[-7.84120764e-01 6.20401713e-01 1.60107095e-02 3.02050409e+02] [ 6.20239062e-01 7.84283207e-01 -1.42603433e-02 2.75498816e+02] [-2.14040720e-02 -1.25136385e-03 -9.99770123e-01 2.91276484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.010714057 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:302.07, Y:275.53, Z:2.91 [[-8.31116788e-01 5.55837211e-01 1.70258505e-02 3.02072963e+02] [ 5.55688437e-01 8.31290177e-01 -1.29229562e-02 2.75528604e+02] [-2.13364822e-02 -1.27941758e-03 -9.99771533e-01 2.91219161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.040714057 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:302.06, Y:275.58, Z:2.91 [[-8.72924133e-01 4.87526362e-01 1.79305534e-02 3.02062197e+02] [ 4.87392140e-01 8.73107282e-01 -1.15141518e-02 2.75579546e+02] [-2.12687493e-02 -1.31177017e-03 -9.99772934e-01 2.91147296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0707140569999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:302.09, Y:275.61, Z:2.91 [[-9.08592599e-01 4.17263783e-01 1.87196322e-02 3.02085796e+02] [ 4.17144971e-01 9.08784464e-01 -1.00434832e-02 2.75607512e+02] [-2.12028927e-02 -1.31663402e-03 -9.99774326e-01 2.91093831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1007140569999 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:302.10, Y:275.64, Z:2.91 [[-9.38593257e-01 3.44480487e-01 1.93879490e-02 3.02096231e+02] [ 3.44377568e-01 9.38792545e-01 -8.52334349e-03 2.75641733e+02] [-2.11373875e-02 -1.32317801e-03 -9.99775705e-01 2.91050806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.130714057 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:302.11, Y:275.68, Z:2.91 [[-9.62869005e-01 2.69232033e-01 1.99346867e-02 3.02109099e+02] [ 2.69145441e-01 9.63074418e-01 -6.95674385e-03 2.75675382e+02] [-2.10715651e-02 -1.33310299e-03 -9.99777081e-01 2.91072932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.160714057 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:302.11, Y:275.71, Z:2.91 [[-9.81030241e-01 1.92783081e-01 2.03555680e-02 3.02114865e+02] [ 1.92713227e-01 9.81240493e-01 -5.35783971e-03 2.75709981e+02] [-2.10066084e-02 -1.33341558e-03 -9.99778448e-01 2.91187028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1907140569999 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:302.12, Y:275.74, Z:2.91 [[-9.93127134e-01 1.15204640e-01 2.06491286e-02 3.02116852e+02] [ 1.15151776e-01 9.93340887e-01 -3.73506403e-03 2.75744972e+02] [-2.09419204e-02 -1.33160962e-03 -9.99779807e-01 2.91197187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2207140569999 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:302.15, Y:275.78, Z:2.91 [[-9.99127601e-01 3.62050753e-02 2.08141524e-02 3.02149767e+02] [ 3.61691772e-02 9.99343478e-01 -2.09869737e-03 2.75777489e+02] [-2.08764709e-02 -1.34403571e-03 -9.99781159e-01 2.91347379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.250714057 meters Centerline goodness : 0.997648 Centerline is valid? [True, True] Translation: X:302.13, Y:275.81, Z:2.91 [[-9.98890374e-01 -4.22288554e-02 2.08505291e-02 3.02133609e+02] [-4.22476906e-02 9.99107060e-01 -4.63481802e-04 2.75811931e+02] [-2.08123385e-02 -1.34385421e-03 -9.99782497e-01 2.91358248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.280714057 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:302.11, Y:275.84, Z:2.91 [[-9.92521250e-01 -1.20293948e-01 2.07589697e-02 3.02111563e+02] [-1.20295751e-01 9.92737413e-01 1.16645766e-03 2.75842009e+02] [-2.07485237e-02 -1.33948183e-03 -9.99783829e-01 2.91319356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3107140569999 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:302.11, Y:275.88, Z:2.91 [[-9.80057319e-01 -1.97650543e-01 2.05405552e-02 3.02106260e+02] [-1.97635494e-01 9.80271637e-01 2.78029065e-03 2.75876014e+02] [-2.06848496e-02 -1.33469858e-03 -9.99785155e-01 2.91320953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3407140569999 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:302.12, Y:275.91, Z:2.91 [[-9.61862828e-01 -2.72785546e-01 2.01976557e-02 3.02120223e+02] [-2.72753737e-01 9.62073975e-01 4.36652451e-03 2.75914214e+02] [-2.06227636e-02 -1.30898844e-03 -9.99786471e-01 2.91416506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.370714057 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:302.16, Y:275.89, Z:2.16 [[-9.52529246e-01 3.03806832e-01 -1.97343484e-02 3.02155061e+02] [-3.03749502e-01 -9.52733582e-01 -5.91290761e-03 2.75891139e+02] [-2.05979581e-02 3.62081061e-04 9.99787774e-01 2.16171898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.400714057 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:302.15, Y:275.89, Z:2.16 [[-9.51954315e-01 3.05603598e-01 -1.97337936e-02 3.02153422e+02] [-3.05546615e-01 -9.52158748e-01 -5.91475839e-03 2.75892467e+02] [-2.05972757e-02 3.99014078e-04 9.99787774e-01 2.16162801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4307140569999 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:302.13, Y:275.89, Z:2.16 [[-9.51313437e-01 3.07592930e-01 -1.97315695e-02 3.02125372e+02] [-3.07536221e-01 -9.51517946e-01 -5.92216868e-03 2.75885721e+02] [-2.05965597e-02 4.34333696e-04 9.99787774e-01 2.16083350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4607140569999 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:302.15, Y:275.89, Z:2.16 [[-9.50171610e-01 3.11102340e-01 -1.97293143e-02 3.02145552e+02] [-3.11046231e-01 -9.50376284e-01 -5.92967230e-03 2.75894588e+02] [-2.05950074e-02 5.02522578e-04 9.99787774e-01 2.16110004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.490714057 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:302.16, Y:275.90, Z:2.16 [[-9.49560627e-01 3.12962394e-01 -1.97270461e-02 3.02160543e+02] [-3.12906529e-01 -9.49765368e-01 -5.93720859e-03 2.75900883e+02] [-2.05941882e-02 5.34982023e-04 9.99787774e-01 2.16137307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.520714057 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:302.18, Y:275.91, Z:2.16 [[-9.48203166e-01 3.17051554e-01 -1.97248023e-02 3.02181569e+02] [-3.16996417e-01 -9.48408104e-01 -5.94465394e-03 2.75910317e+02] [-2.05919241e-02 6.15951961e-04 9.99787774e-01 2.16236707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5507140569999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:302.18, Y:275.91, Z:2.16 [[-9.47414974e-01 3.19399123e-01 -1.97248023e-02 3.02180713e+02] [-3.19344494e-01 -9.47620048e-01 -5.94465394e-03 2.75911825e+02] [-2.05903353e-02 6.66952841e-04 9.99787774e-01 2.16358662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5807140569999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:302.17, Y:275.91, Z:2.16 [[-9.46441712e-01 3.22271786e-01 -1.97226000e-02 3.02168262e+02] [-3.22217627e-01 -9.46646911e-01 -5.95195141e-03 2.75909700e+02] [-2.05884844e-02 7.21794300e-04 9.99787774e-01 2.16344037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6107140569999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:302.16, Y:275.91, Z:2.16 [[-9.45502140e-01 3.25018168e-01 -1.97203808e-02 3.02156258e+02] [-3.24964452e-01 -9.45707456e-01 -5.95929519e-03 2.75907944e+02] [-2.05865904e-02 7.73896386e-04 9.99787774e-01 2.16416990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.640714057 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:302.19, Y:275.92, Z:2.16 [[-9.43741604e-01 3.30095411e-01 -1.97181359e-02 3.02193980e+02] [-3.30042645e-01 -9.43947165e-01 -5.96671374e-03 2.75921763e+02] [-2.05824634e-02 8.76789752e-04 9.99787774e-01 2.16486131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6707140569999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:302.10, Y:275.89, Z:2.16 [[-9.42617989e-01 3.33290317e-01 -1.97203539e-02 3.02098913e+02] [-3.33238401e-01 -9.42823766e-01 -5.95937423e-03 2.75894067e+02] [-2.05790201e-02 9.54165843e-04 9.99787774e-01 2.16340029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7007140569999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:302.09, Y:275.89, Z:2.16 [[-9.40270158e-01 3.39857657e-01 -1.97180834e-02 3.02091752e+02] [-3.39807021e-01 -9.40476254e-01 -5.96687722e-03 2.75893702e+02] [-2.05722782e-02 1.08986659e-03 9.99787774e-01 2.16158302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7307140569999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:302.10, Y:275.90, Z:2.16 [[-9.39312401e-01 3.42495992e-01 -1.97157145e-02 3.02095555e+02] [-3.42445771e-01 -9.39518599e-01 -5.97469432e-03 2.75895646e+02] [-2.05695893e-02 1.13945859e-03 9.99787774e-01 2.16104463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.760714057 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:302.09, Y:275.89, Z:2.16 [[-9.38208509e-01 3.45508477e-01 -1.97151222e-02 3.02090422e+02] [-3.45458877e-01 -9.38414857e-01 -5.97664805e-03 2.75894633e+02] [-2.05659462e-02 1.20342193e-03 9.99787774e-01 2.16019661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.790714057 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:302.09, Y:275.90, Z:2.16 [[-9.36709519e-01 3.49552122e-01 -1.97127388e-02 3.02093796e+02] [-3.49503247e-01 -9.36916040e-01 -5.98449912e-03 2.75895958e+02] [-2.05610755e-02 1.28392892e-03 9.99787774e-01 2.15992154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8207140569999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:302.10, Y:275.90, Z:2.16 [[-9.36161106e-01 3.51018271e-01 -1.97118452e-02 3.02104129e+02] [-3.50969658e-01 -9.36367689e-01 -5.98744097e-03 2.75898871e+02] [-2.05592361e-02 1.31305021e-03 9.99787774e-01 2.16034411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8507140569999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:302.10, Y:275.90, Z:2.16 [[-9.35242249e-01 3.53459211e-01 -1.97109540e-02 3.02101049e+02] [-3.53411076e-01 -9.35448944e-01 -5.99037325e-03 2.75896065e+02] [-2.05559437e-02 1.36361932e-03 9.99787774e-01 2.16029955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.880714057 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:302.11, Y:275.90, Z:2.16 [[-9.34940174e-01 3.54257594e-01 -1.97085688e-02 3.02108293e+02] [-3.54209471e-01 -9.35146872e-01 -5.99821049e-03 2.75896922e+02] [-2.05553181e-02 1.37299376e-03 9.99787774e-01 2.16057464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.910714057 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:302.11, Y:275.90, Z:2.16 [[-9.34494203e-01 3.55432401e-01 -1.97076766e-02 3.02110621e+02] [-3.55384477e-01 -9.34700947e-01 -6.00114058e-03 2.75896505e+02] [-2.05537838e-02 1.39577125e-03 9.99787774e-01 2.16083497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9407140569999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:302.11, Y:275.89, Z:2.16 [[-9.33806400e-01 3.57235650e-01 -1.97052896e-02 3.02111217e+02] [-3.57187960e-01 -9.34013198e-01 -6.00896835e-03 2.75894071e+02] [-2.05516182e-02 1.42727908e-03 9.99787774e-01 2.16117888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9707140569999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:302.11, Y:275.89, Z:2.16 [[-9.33462054e-01 3.58134598e-01 -1.97028969e-02 3.02113925e+02] [-3.58086943e-01 -9.33668860e-01 -6.01680333e-03 2.75893131e+02] [-2.05508068e-02 1.43889254e-03 9.99787774e-01 2.16003855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.000714057 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:302.11, Y:275.89, Z:2.16 [[-9.33192951e-01 3.58835349e-01 -1.97004983e-02 3.02113777e+02] [-3.58787684e-01 -9.33399754e-01 -6.02464680e-03 2.75890977e+02] [-2.05502965e-02 1.44613824e-03 9.99787774e-01 2.16014350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.030714057 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:302.12, Y:275.89, Z:2.16 [[-9.32603866e-01 3.60363726e-01 -1.96980937e-02 3.02119449e+02] [-3.60316236e-01 -9.32810709e-01 -6.03249877e-03 2.75887410e+02] [-2.05484865e-02 1.47161129e-03 9.99787775e-01 2.15922898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0607140569999 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:302.12, Y:275.89, Z:2.16 [[-9.32333658e-01 3.61062364e-01 -1.96956842e-02 3.02121258e+02] [-3.61014864e-01 -9.32540499e-01 -6.04035526e-03 2.75885234e+02] [-2.05479681e-02 1.47880824e-03 9.99787775e-01 2.15945733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0907140569999 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:302.12, Y:275.88, Z:2.16 [[-9.32050924e-01 3.61791723e-01 -1.96932725e-02 3.02124427e+02] [-3.61744220e-01 -9.32257764e-01 -6.04820804e-03 2.75881005e+02] [-2.05473978e-02 1.48668959e-03 9.99787775e-01 2.15938336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.120714057 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:302.13, Y:275.88, Z:2.16 [[-9.31910545e-01 3.62153291e-01 -1.96908550e-02 3.02132388e+02] [-3.62105702e-01 -9.32117366e-01 -6.05606808e-03 2.75880151e+02] [-2.05474129e-02 1.48645718e-03 9.99787775e-01 2.15963965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.150714057 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:302.14, Y:275.88, Z:2.16 [[-9.31774373e-01 3.62503631e-01 -1.96884391e-02 3.02135049e+02] [-3.62455955e-01 -9.31981174e-01 -6.06391220e-03 2.75877488e+02] [-2.05474448e-02 1.48599401e-03 9.99787775e-01 2.15942565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1807140569999 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:302.14, Y:275.87, Z:2.16 [[-9.31636829e-01 3.62857105e-01 -1.96860234e-02 3.02138900e+02] [-3.62809344e-01 -9.31843610e-01 -6.07174446e-03 2.75871425e+02] [-2.05474707e-02 1.48561248e-03 9.99787775e-01 2.16071646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2107140569999 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:302.14, Y:275.86, Z:2.16 [[-9.31681401e-01 3.62742779e-01 -1.96836029e-02 3.02141098e+02] [-3.62694827e-01 -9.31888138e-01 -6.07958120e-03 2.75863102e+02] [-2.05482402e-02 1.47490823e-03 9.99787775e-01 2.15970654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.240714057 meters Centerline goodness : 0.997093 Centerline is valid? [True, True] Translation: X:302.14, Y:275.86, Z:2.16 [[-9.31670442e-01 3.62771056e-01 -1.96811764e-02 3.02141547e+02] [-3.62722946e-01 -9.31877142e-01 -6.08742643e-03 2.75859143e+02] [-2.05487805e-02 1.46733900e-03 9.99787775e-01 2.15900575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.270714057 meters Centerline goodness : 0.997093 Centerline is valid? [True, True] Translation: X:302.14, Y:275.86, Z:2.16 [[-9.31525228e-01 3.63143907e-01 -1.96787412e-02 3.02143944e+02] [-3.63095714e-01 -9.31731909e-01 -6.09528838e-03 2.75859966e+02] [-2.05487779e-02 1.46735169e-03 9.99787775e-01 2.15905759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3007140569999 meters Centerline goodness : 0.996377 Centerline is valid? [True, True] Translation: X:302.15, Y:275.85, Z:2.16 [[-9.31764895e-01 3.62528653e-01 -1.96762991e-02 3.02154688e+02] [-3.62480159e-01 -9.31971505e-01 -6.10316163e-03 2.75854725e+02] [-2.05503211e-02 1.44555627e-03 9.99787775e-01 2.15906429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3307140569999 meters Centerline goodness : 0.996048 Centerline is valid? [True, True] Translation: X:302.17, Y:275.85, Z:2.16 [[-9.32274577e-01 3.61216074e-01 -1.96738598e-02 3.02165107e+02] [-3.61167124e-01 -9.32481080e-01 -6.11101489e-03 2.75848162e+02] [-2.05528988e-02 1.40840752e-03 9.99787775e-01 2.15834224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3607140569999 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:302.17, Y:275.84, Z:2.16 [[-9.32479237e-01 3.60687549e-01 -1.96714283e-02 3.02169920e+02] [-3.60638317e-01 -9.32685673e-01 -6.11883192e-03 2.75844209e+02] [-2.05542458e-02 1.38858706e-03 9.99787775e-01 2.15747286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.390714057 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:302.18, Y:275.84, Z:2.16 [[-9.32787971e-01 3.59888498e-01 -1.96689991e-02 3.02175691e+02] [-3.59838926e-01 -9.32994326e-01 -6.12663049e-03 2.75840699e+02] [-2.05559684e-02 1.36282428e-03 9.99787775e-01 2.15664206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4207140569999 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:302.18, Y:275.84, Z:2.16 [[-9.33061982e-01 3.59177622e-01 -1.96665698e-02 3.02181955e+02] [-3.59127729e-01 -9.33268259e-01 -6.13441875e-03 2.75837158e+02] [-2.05575313e-02 1.33901763e-03 9.99787775e-01 2.15621910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4507140569999 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:302.19, Y:275.83, Z:2.16 [[-9.33602590e-01 3.57770212e-01 -1.96641411e-02 3.02190513e+02] [-3.57719846e-01 -9.33808752e-01 -6.14219404e-03 2.75828819e+02] [-2.05600412e-02 1.29988526e-03 9.99787775e-01 2.15628855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4807140569999 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:302.20, Y:275.83, Z:2.16 [[-9.33605456e-01 3.57762868e-01 -1.96617148e-02 3.02195289e+02] [-3.57712337e-01 -9.33811577e-01 -6.14995105e-03 2.75825162e+02] [-2.05605611e-02 1.29161010e-03 9.99787775e-01 2.15686113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.510714057 meters Centerline goodness : 0.992363 Centerline is valid? [True, True] Translation: X:302.19, Y:275.82, Z:2.16 [[-9.33453999e-01 3.58157988e-01 -1.96592892e-02 3.02194037e+02] [-3.58107381e-01 -9.33660102e-01 -6.15769519e-03 2.75819307e+02] [-2.05605217e-02 1.29221138e-03 9.99787775e-01 2.15662214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.540714057 meters Centerline goodness : 0.991422 Centerline is valid? [True, True] Translation: X:302.20, Y:275.81, Z:2.16 [[-9.33195049e-01 3.58832286e-01 -1.96568560e-02 3.02203973e+02] [-3.58781666e-01 -9.33401148e-01 -6.16545295e-03 2.75811598e+02] [-2.05600955e-02 1.29894935e-03 9.99787775e-01 2.15650691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5707140569999 meters Centerline goodness : 0.990522 Centerline is valid? [True, True] Translation: X:302.21, Y:275.81, Z:2.16 [[-9.32894623e-01 3.59612745e-01 -1.96544184e-02 3.02207655e+02] [-3.59562135e-01 -9.33100725e-01 -6.17321367e-03 2.75807105e+02] [-2.05595184e-02 1.30802681e-03 9.99787775e-01 2.15522898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6007140569999 meters Centerline goodness : 0.989440 Centerline is valid? [True, True] Translation: X:302.21, Y:275.80, Z:2.15 [[-9.32495470e-01 3.60646638e-01 -1.96519824e-02 3.02210623e+02] [-3.60596094e-01 -9.32701588e-01 -6.18095883e-03 2.75797658e+02] [-2.05585772e-02 1.32271197e-03 9.99787775e-01 2.15280964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.630714057 meters Centerline goodness : 0.989834 Centerline is valid? [True, True] Translation: X:302.22, Y:275.79, Z:2.15 [[-9.32342771e-01 3.61041345e-01 -1.96495408e-02 3.02217150e+02] [-3.60990725e-01 -9.32548871e-01 -6.18871104e-03 2.75794862e+02] [-2.05585376e-02 1.32330199e-03 9.99787775e-01 2.15250073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.660714057 meters Centerline goodness : 0.988464 Centerline is valid? [True, True] Translation: X:302.21, Y:275.79, Z:2.16 [[-9.32332534e-01 3.61067913e-01 -1.96470962e-02 3.02207380e+02] [-3.61017137e-01 -9.32538595e-01 -6.19646228e-03 2.75787871e+02] [-2.05590191e-02 1.31577502e-03 9.99787775e-01 2.15766152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6907140569999 meters Centerline goodness : 0.987422 Centerline is valid? [True, True] Translation: X:302.23, Y:275.78, Z:2.16 [[-9.33600222e-01 3.57776751e-01 -1.96576383e-02 3.02226694e+02] [-3.57725948e-01 -9.33806277e-01 -6.16306749e-03 2.75784896e+02] [-2.05614283e-02 1.27820611e-03 9.99787774e-01 2.15785938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7207140569999 meters Centerline goodness : 0.986938 Centerline is valid? [True, True] Translation: X:302.23, Y:275.78, Z:2.16 [[-9.32849941e-01 3.59726729e-01 -1.96893135e-02 3.02230622e+02] [-3.59678463e-01 -9.33056615e-01 -6.06270639e-03 2.75779369e+02] [-2.05521618e-02 1.42622675e-03 9.99787765e-01 2.15926660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.750714057 meters Centerline goodness : 0.987387 Centerline is valid? [True, True] Translation: X:302.23, Y:275.77, Z:2.16 [[-9.33711291e-01 3.57485938e-01 -1.96730604e-02 3.02229383e+02] [-3.57436097e-01 -9.33917584e-01 -6.11412632e-03 2.75774729e+02] [-2.05587313e-02 1.32303317e-03 9.99787772e-01 2.15800372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.780714057 meters Centerline goodness : 0.985487 Centerline is valid? [True, True] Translation: X:302.24, Y:275.77, Z:2.16 [[-9.34050047e-01 3.56599772e-01 -1.96751960e-02 3.02242954e+02] [-3.56549877e-01 -9.34256327e-01 -6.10737333e-03 2.75769306e+02] [-2.05595643e-02 1.31059639e-03 9.99787771e-01 2.15984100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8107140569999 meters Centerline goodness : 0.985288 Centerline is valid? [True, True] Translation: X:302.25, Y:275.77, Z:2.16 [[-9.34584543e-01 3.55196894e-01 -1.96697357e-02 3.02248313e+02] [-3.55146328e-01 -9.34790658e-01 -6.12462368e-03 2.75767679e+02] [-2.05625325e-02 1.26165577e-03 9.99787773e-01 2.15824918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8407140569999 meters Centerline goodness : 0.986787 Centerline is valid? [True, True] Translation: X:302.25, Y:275.76, Z:2.15 [[-9.34444561e-01 3.55565910e-01 -1.96531392e-02 3.02249467e+02] [-3.55514328e-01 -9.34650420e-01 -6.17697531e-03 2.75758051e+02] [-2.05651367e-02 1.21493160e-03 9.99787777e-01 2.15343620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.870714057 meters Centerline goodness : 0.984404 Centerline is valid? [True, True] Translation: X:302.26, Y:275.76, Z:2.16 [[-9.36471925e-01 3.50192512e-01 -1.96351462e-02 3.02264017e+02] [-3.50138563e-01 -9.36677174e-01 -6.23365096e-03 2.75763240e+02] [-2.05747712e-02 1.03738277e-03 9.99787779e-01 2.15550485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.900714057 meters Centerline goodness : 0.984276 Centerline is valid? [True, True] Translation: X:302.27, Y:275.76, Z:2.16 [[-9.35962968e-01 3.51545329e-01 -1.97282440e-02 3.02266758e+02] [-3.51497831e-01 -9.36169852e-01 -5.93996369e-03 2.75760941e+02] [-2.05571538e-02 1.37484895e-03 9.99787734e-01 2.15534044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9307140569999 meters Centerline goodness : 0.985063 Centerline is valid? [True, True] Translation: X:302.27, Y:275.76, Z:2.15 [[-9.35935156e-01 3.51621997e-01 -1.96813372e-02 3.02268657e+02] [-3.51571418e-01 -9.36141271e-01 -6.08765098e-03 2.75757226e+02] [-2.05650640e-02 1.22174906e-03 9.99787770e-01 2.15276670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9607140569999 meters Centerline goodness : 0.982996 Centerline is valid? [True, True] Translation: X:302.28, Y:275.76, Z:2.15 [[-9.35468249e-01 3.52858949e-01 -1.97412541e-02 3.02279804e+02] [-3.52812606e-01 -9.35675408e-01 -5.89883851e-03 2.75759062e+02] [-2.05528639e-02 1.44678716e-03 9.99787721e-01 2.15221192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.990714057 meters Centerline goodness : 0.984525 Centerline is valid? [True, True] Translation: X:302.28, Y:275.76, Z:2.15 [[-9.35012664e-01 3.54066995e-01 -1.96947247e-02 3.02276380e+02] [-3.54017845e-01 -9.35219130e-01 -6.04519107e-03 2.75755516e+02] [-2.05592859e-02 1.31995378e-03 9.99787764e-01 2.15153497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.020714057 meters Centerline goodness : 0.984075 Centerline is valid? [True, True] Translation: X:302.28, Y:275.75, Z:2.15 [[-9.33723351e-01 3.57450285e-01 -1.97483503e-02 3.02275632e+02] [-3.57405429e-01 -9.33930846e-01 -5.87657015e-03 2.75750609e+02] [-2.05441752e-02 1.57107684e-03 9.99787712e-01 2.15129858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0507140569999 meters Centerline goodness : 0.984420 Centerline is valid? [True, True] Translation: X:302.28, Y:275.75, Z:2.15 [[-9.33000088e-01 3.59337524e-01 -1.96819717e-02 3.02283141e+02] [-3.59288706e-01 -9.33206622e-01 -6.08485865e-03 2.75749951e+02] [-2.05538644e-02 1.39433650e-03 9.99787775e-01 2.15169835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0807140569999 meters Centerline goodness : 0.981749 Centerline is valid? [True, True] Translation: X:302.29, Y:275.75, Z:2.15 [[-9.32302848e-01 3.61143137e-01 -1.96731927e-02 3.02287964e+02] [-3.61094141e-01 -9.32509335e-01 -6.11238201e-03 2.75745214e+02] [-2.05528807e-02 1.40528348e-03 9.99787780e-01 2.15185994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1107140569999 meters Centerline goodness : 0.983977 Centerline is valid? [True, True] Translation: X:302.29, Y:275.74, Z:2.15 [[-9.32368777e-01 3.60973056e-01 -1.96702063e-02 3.02289005e+02] [-3.60923826e-01 -9.32575207e-01 -6.12173297e-03 2.75743494e+02] [-2.05537273e-02 1.39173343e-03 9.99787781e-01 2.15274498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.140714057 meters Centerline goodness : 0.982885 Centerline is valid? [True, True] Translation: X:302.29, Y:275.74, Z:2.15 [[-9.32731820e-01 3.60034297e-01 -1.96635807e-02 3.02294046e+02] [-3.59984424e-01 -9.32938093e-01 -6.14245540e-03 2.75743052e+02] [-2.05563981e-02 1.34931919e-03 9.99787784e-01 2.15269696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1707140569999 meters Centerline goodness : 0.981924 Centerline is valid? [True, True] Translation: X:302.29, Y:275.74, Z:2.15 [[-9.34358336e-01 3.55793232e-01 -1.96386529e-02 3.02294246e+02] [-3.55740790e-01 -9.34563961e-01 -6.22034052e-03 2.75738429e+02] [-2.05667323e-02 1.17424290e-03 9.99787793e-01 2.15259425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2007140569999 meters Centerline goodness : 0.982768 Centerline is valid? [True, True] Translation: X:302.30, Y:275.74, Z:2.15 [[-9.35222357e-01 3.53516217e-01 -1.96322945e-02 3.02299186e+02] [-3.53462859e-01 -9.35427746e-01 -6.24018876e-03 2.75736288e+02] [-2.05706009e-02 1.10332292e-03 9.99787794e-01 2.15172655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2307140569999 meters Centerline goodness : 0.982768 Centerline is valid? [True, True] Translation: X:302.30, Y:275.74, Z:2.15 [[-9.35091194e-01 3.53860803e-01 -1.96720858e-02 3.02301647e+02] [-3.53810123e-01 -9.35297274e-01 -6.11601631e-03 2.75737107e+02] [-2.05634666e-02 1.24115009e-03 9.99787779e-01 2.15180724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.260714057 meters Centerline goodness : 0.982519 Centerline is valid? [True, True] Translation: X:302.31, Y:275.74, Z:2.15 [[-9.37117222e-01 3.48460066e-01 -1.96696182e-02 3.02310908e+02] [-3.48408037e-01 -9.37322965e-01 -6.12370725e-03 2.75735265e+02] [-2.05706523e-02 1.11442152e-03 9.99787781e-01 2.15378430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.290714057 meters Centerline goodness : 0.985500 Centerline is valid? [True, True] Translation: X:302.31, Y:275.73, Z:2.15 [[-9.39554687e-01 3.41834586e-01 -1.96495867e-02 3.02313017e+02] [-3.41779803e-01 -9.39759703e-01 -6.18606834e-03 2.75730893e+02] [-2.05805019e-02 9.03682375e-04 9.99787791e-01 2.15125344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3207140569999 meters Centerline goodness : 0.983611 Centerline is valid? [True, True] Translation: X:302.32, Y:275.73, Z:2.15 [[-9.40452386e-01 3.39351675e-01 -1.97420976e-02 3.02324966e+02] [-3.39302379e-01 -9.40658872e-01 -5.89762329e-03 2.75733745e+02] [-2.05719476e-02 1.15210678e-03 9.99787711e-01 2.15115822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3507140569999 meters Centerline goodness : 0.983611 Centerline is valid? [True, True] Translation: X:302.33, Y:275.73, Z:2.15 [[-9.40329427e-01 3.39695687e-01 -1.96827249e-02 3.02327390e+02] [-3.39642603e-01 -9.40534905e-01 -6.08232907e-03 2.75734688e+02] [-2.05784308e-02 9.65698927e-04 9.99787775e-01 2.15116912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.380714057 meters Centerline goodness : 0.983611 Centerline is valid? [True, True] Translation: X:302.33, Y:275.73, Z:2.15 [[-9.41102632e-01 3.37547761e-01 -1.96810686e-02 3.02331557e+02] [-3.37494100e-01 -9.41307960e-01 -6.08747530e-03 2.75731861e+02] [-2.05807601e-02 9.13305492e-04 9.99787777e-01 2.15369056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.410714057 meters Centerline goodness : 0.984138 Centerline is valid? [True, True] Translation: X:302.34, Y:275.73, Z:2.15 [[-9.41753319e-01 3.35730283e-01 -1.96433779e-02 3.02341227e+02] [-3.35673788e-01 -9.41957862e-01 -6.20441750e-03 2.75733244e+02] [-2.05862451e-02 7.50736292e-04 9.99787799e-01 2.15195211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4407140569999 meters Centerline goodness : 0.984555 Centerline is valid? [True, True] Translation: X:302.34, Y:275.73, Z:2.15 [[-9.42212429e-01 3.34438885e-01 -1.96563286e-02 3.02343252e+02] [-3.34382945e-01 -9.42417131e-01 -6.16426254e-03 2.75731847e+02] [-2.05860298e-02 7.64696264e-04 9.99787793e-01 2.15115343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4707140569999 meters Centerline goodness : 0.983119 Centerline is valid? [True, True] Translation: X:302.34, Y:275.73, Z:2.15 [[-9.41779510e-01 3.35656234e-01 -1.96531521e-02 3.02342426e+02] [-3.35600354e-01 -9.41984226e-01 -6.17409870e-03 2.75731210e+02] [-2.05853340e-02 7.80965150e-04 9.99787795e-01 2.15374283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.500714057 meters Centerline goodness : 0.985285 Centerline is valid? [True, True] Translation: X:302.34, Y:275.73, Z:2.15 [[-9.43063285e-01 3.32034116e-01 -1.96210723e-02 3.02343365e+02] [-3.31975387e-01 -9.43267189e-01 -6.27326494e-03 2.75732047e+02] [-2.05908517e-02 5.97627211e-04 9.99787807e-01 2.14707650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.530714057 meters Centerline goodness : 0.987786 Centerline is valid? [True, True] Translation: X:302.35, Y:275.73, Z:2.15 [[-9.43346282e-01 3.31225701e-01 -1.96806278e-02 3.02345087e+02] [-3.31170631e-01 -9.43551237e-01 -6.08903116e-03 2.75731671e+02] [-2.05865243e-02 7.73581025e-04 9.99787776e-01 2.14820943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5607140569999 meters Centerline goodness : 0.986602 Centerline is valid? [True, True] Translation: X:302.36, Y:275.74, Z:2.14 [[-9.44660090e-01 3.27457539e-01 -1.97199081e-02 3.02355896e+02] [-3.27404183e-01 -9.44865540e-01 -5.96753280e-03 2.75737201e+02] [-2.05867752e-02 8.19090334e-04 9.99787734e-01 2.14427905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5907140569999 meters Centerline goodness : 0.986857 Centerline is valid? [True, True] Translation: X:302.36, Y:275.74, Z:2.15 [[-9.44323331e-01 3.28430730e-01 -1.96647422e-02 3.02357605e+02] [-3.28374035e-01 -9.44527828e-01 -6.13795746e-03 2.75736164e+02] [-2.05897901e-02 6.61174331e-04 9.99787789e-01 2.14694399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.620714057 meters Centerline goodness : 0.987576 Centerline is valid? [True, True] Translation: X:302.36, Y:275.74, Z:2.15 [[-9.44377769e-01 3.28271275e-01 -1.97129411e-02 3.02357910e+02] [-3.28217649e-01 -9.44583139e-01 -5.98899801e-03 2.75736578e+02] [-2.05865278e-02 8.14258595e-04 9.99787743e-01 2.14616806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.650714057 meters Centerline goodness : 0.985649 Centerline is valid? [True, True] Translation: X:302.36, Y:275.74, Z:2.15 [[-9.43237943e-01 3.31531998e-01 -1.97159290e-02 3.02362338e+02] [-3.31479274e-01 -9.43443551e-01 -5.97977005e-03 2.75737599e+02] [-2.05833512e-02 8.95075836e-04 9.99787740e-01 2.14958173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6807140569999 meters Centerline goodness : 0.985243 Centerline is valid? [True, True] Translation: X:302.36, Y:275.74, Z:2.15 [[-9.44131649e-01 3.28983767e-01 -1.96242478e-02 3.02364755e+02] [-3.28924609e-01 -9.44335421e-01 -6.26221188e-03 2.75741070e+02] [-2.05920383e-02 5.42545599e-04 9.99787814e-01 2.14556473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7107140569999 meters Centerline goodness : 0.986506 Centerline is valid? [True, True] Translation: X:302.36, Y:275.74, Z:2.15 [[-9.43855468e-01 3.29772928e-01 -1.96639659e-02 3.02364011e+02] [-3.29716484e-01 -9.44060031e-01 -6.13987193e-03 2.75741756e+02] [-2.05887278e-02 6.88382024e-04 9.99787793e-01 2.14538958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.740714057 meters Centerline goodness : 0.985785 Centerline is valid? [True, True] Translation: X:302.37, Y:275.75, Z:2.14 [[-9.43738370e-01 3.30109082e-01 -1.96439221e-02 3.02366997e+02] [-3.30051428e-01 -9.43942581e-01 -6.20153228e-03 2.75745165e+02] [-2.05899167e-02 6.30880586e-04 9.99787806e-01 2.14371396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.770714057 meters Centerline goodness : 0.988499 Centerline is valid? [True, True] Translation: X:302.34, Y:275.73, Z:2.14 [[-9.39280487e-01 3.42587368e-01 -1.96484463e-02 3.02341440e+02] [-3.42532716e-01 -9.39485525e-01 -6.18762987e-03 2.75729790e+02] [-2.05792347e-02 9.18315670e-04 9.99787803e-01 2.13925339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8007140569999 meters Centerline goodness : 0.989349 Centerline is valid? [True, True] Translation: X:302.35, Y:275.73, Z:2.14 [[-9.39018195e-01 3.43310305e-01 -1.95669128e-02 3.02345359e+02] [-3.43250596e-01 -9.39221797e-01 -6.43772946e-03 2.75732390e+02] [-2.05878099e-02 6.71209376e-04 9.99787823e-01 2.13939405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8307140569999 meters Centerline goodness : 0.988769 Centerline is valid? [True, True] Translation: X:302.34, Y:275.73, Z:2.14 [[-9.38190603e-01 3.45564576e-01 -1.95836005e-02 3.02342782e+02] [-3.45506422e-01 -9.38394653e-01 -6.38655888e-03 2.75732508e+02] [-2.05841145e-02 7.74450199e-04 9.99787825e-01 2.13825865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8607140569999 meters Centerline goodness : 0.981488 Centerline is valid? [True, True] Translation: X:301.41, Y:275.43, Z:2.14 [[-9.35083914e-01 3.53885362e-01 -1.95761138e-02 3.01412885e+02] [-3.53828542e-01 -9.35288340e-01 -6.40960663e-03 2.75427854e+02] [-2.05775770e-02 9.33067762e-04 9.99787824e-01 2.13569364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.890714057 meters Centerline goodness : 0.988940 Centerline is valid? [True, True] Translation: X:302.33, Y:275.73, Z:2.14 [[-9.38063482e-01 3.45914897e-01 -1.94881763e-02 3.02325508e+02] [-3.45850720e-01 -9.38265773e-01 -6.67981531e-03 2.75727531e+02] [-2.05957364e-02 4.73908981e-04 9.99787773e-01 2.13850788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9207140569999 meters Centerline goodness : 0.988190 Centerline is valid? [True, True] Translation: X:302.32, Y:275.73, Z:2.14 [[-9.37245250e-01 3.48118870e-01 -1.96110795e-02 3.02324711e+02] [-3.48063139e-01 -9.37449945e-01 -6.29706022e-03 2.75728953e+02] [-2.05765309e-02 9.24004122e-04 9.99787854e-01 2.14047646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9507140569999 meters Centerline goodness : 0.983129 Centerline is valid? [True, True] Translation: X:301.40, Y:275.43, Z:2.13 [[-9.32632561e-01 3.60294334e-01 -1.96086291e-02 3.01403542e+02] [-3.60241113e-01 -9.32837924e-01 -6.30468146e-03 2.75431458e+02] [-2.05632139e-02 1.18388316e-03 9.99787854e-01 2.12847840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9807140569999 meters Centerline goodness : 0.988754 Centerline is valid? [True, True] Translation: X:302.30, Y:275.72, Z:2.14 [[-9.35728071e-01 3.52182377e-01 -1.95077067e-02 3.02301419e+02] [-3.52120840e-01 -9.35931149e-01 -6.61799672e-03 2.75723139e+02] [-2.05886121e-02 6.76424760e-04 9.99787803e-01 2.13679710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.010714057 meters Centerline goodness : 0.983503 Centerline is valid? [True, True] Translation: X:301.31, Y:275.40, Z:2.12 [[-9.31281219e-01 3.63771994e-01 -1.96271986e-02 3.01309352e+02] [-3.63720847e-01 -9.31487079e-01 -6.24229209e-03 2.75402831e+02] [-2.05532529e-02 1.32549190e-03 9.99787881e-01 2.12193284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.040714057 meters Centerline goodness : 0.988538 Centerline is valid? [True, True] Translation: X:302.28, Y:275.72, Z:2.14 [[-9.34339466e-01 3.55846313e-01 -1.95745800e-02 3.02281722e+02] [-3.55789966e-01 -9.34543977e-01 -6.40736910e-03 2.75715655e+02] [-2.05733445e-02 9.77781320e-04 9.99787868e-01 2.13558133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0707140569999 meters Centerline goodness : 0.988069 Centerline is valid? [True, True] Translation: X:302.03, Y:275.64, Z:2.14 [[-9.34863537e-01 3.54463260e-01 -1.96460057e-02 3.02029369e+02] [-3.54411358e-01 -9.35069192e-01 -6.18032288e-03 2.75638036e+02] [-2.05610721e-02 1.18500906e-03 9.99787897e-01 2.13605867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1007140569999 meters Centerline goodness : 0.988252 Centerline is valid? [True, True] Translation: X:301.95, Y:275.61, Z:2.13 [[-9.34013501e-01 3.56695885e-01 -1.96679132e-02 3.01951732e+02] [-3.56645930e-01 -9.34219641e-01 -6.11085872e-03 2.75612603e+02] [-2.05538689e-02 1.30685664e-03 9.99787893e-01 2.13484409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.130714057 meters Centerline goodness : 0.989807 Centerline is valid? [True, True] Translation: X:302.28, Y:275.71, Z:2.14 [[-9.32014300e-01 3.61885700e-01 -1.96998906e-02 3.02278938e+02] [-3.61839029e-01 -9.32221222e-01 -6.00915618e-03 2.75712453e+02] [-2.05392837e-02 1.52756978e-03 9.99787880e-01 2.13689898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.160714057 meters Centerline goodness : 0.989161 Centerline is valid? [True, True] Translation: X:302.28, Y:275.71, Z:2.14 [[-9.31629692e-01 3.62877565e-01 -1.96466268e-02 3.02280497e+02] [-3.62827557e-01 -9.31835817e-01 -6.17852672e-03 2.75712700e+02] [-2.05494792e-02 1.37223864e-03 9.99787895e-01 2.13713466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1907140569999 meters Centerline goodness : 0.986687 Centerline is valid? [True, True] Translation: X:301.91, Y:275.59, Z:2.13 [[-9.31030251e-01 3.64412922e-01 -1.96441878e-02 3.01910884e+02] [-3.64363091e-01 -9.31236419e-01 -6.18627147e-03 2.75594692e+02] [-2.05477404e-02 1.39801112e-03 9.99787895e-01 2.13374377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2207140569999 meters Centerline goodness : 0.987583 Centerline is valid? [True, True] Translation: X:301.93, Y:275.60, Z:2.13 [[-9.32091153e-01 3.61691730e-01 -1.96258911e-02 3.01925875e+02] [-3.61640077e-01 -9.32296874e-01 -6.24443467e-03 2.75597399e+02] [-2.05557173e-02 1.27712646e-03 9.99787893e-01 2.13414372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.250714057 meters Centerline goodness : 0.989849 Centerline is valid? [True, True] Translation: X:302.29, Y:275.71, Z:2.14 [[-9.31421223e-01 3.63409941e-01 -1.96905979e-02 3.02286616e+02] [-3.63363002e-01 -9.31628076e-01 -6.03800924e-03 2.75706218e+02] [-2.05385864e-02 1.53090480e-03 9.99787889e-01 2.13846989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.280714057 meters Centerline goodness : 0.990411 Centerline is valid? [True, True] Translation: X:302.29, Y:275.71, Z:2.14 [[-9.31034901e-01 3.64400613e-01 -1.96521325e-02 3.02290421e+02] [-3.64351316e-01 -9.31241196e-01 -6.16071114e-03 2.75705795e+02] [-2.05458423e-02 1.42444324e-03 9.99787897e-01 2.13884339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3107140569999 meters Centerline goodness : 0.989589 Centerline is valid? [True, True] Translation: X:302.29, Y:275.70, Z:2.14 [[-9.30737271e-01 3.65160269e-01 -1.96497014e-02 3.02291884e+02] [-3.65110978e-01 -9.30943567e-01 -6.16845539e-03 2.75704707e+02] [-2.05452379e-02 1.43311034e-03 9.99787897e-01 2.13969061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3407140569999 meters Centerline goodness : 0.990002 Centerline is valid? [True, True] Translation: X:302.30, Y:275.70, Z:2.14 [[-9.30332117e-01 3.66191395e-01 -1.96472664e-02 3.02295326e+02] [-3.66142169e-01 -9.30538428e-01 -6.17620136e-03 2.75702567e+02] [-2.05442082e-02 1.44777426e-03 9.99787897e-01 2.13940739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.370714057 meters Centerline goodness : 0.987688 Centerline is valid? [True, True] Translation: X:302.33, Y:275.72, Z:2.14 [[-9.34681612e-01 3.54942762e-01 -1.96448275e-02 3.02327522e+02] [-3.54890890e-01 -9.34887274e-01 -6.18394903e-03 2.75717797e+02] [-2.05606472e-02 1.19174687e-03 9.99787897e-01 2.14301775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.400714057 meters Centerline goodness : 0.988883 Centerline is valid? [True, True] Translation: X:302.31, Y:275.71, Z:2.14 [[-9.34135380e-01 3.56372879e-01 -1.97348099e-02 3.02314719e+02] [-3.56327332e-01 -9.34342577e-01 -5.89751044e-03 2.75711564e+02] [-2.05407860e-02 1.52297901e-03 9.99787856e-01 2.14225219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4307140569999 meters Centerline goodness : 0.988709 Centerline is valid? [True, True] Translation: X:302.33, Y:275.72, Z:2.14 [[-9.34701341e-01 3.54884489e-01 -1.97586351e-02 3.02333164e+02] [-3.54840206e-01 -9.34908838e-01 -5.82169554e-03 2.75715793e+02] [-2.05385520e-02 1.56961152e-03 9.99787830e-01 2.14159319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4607140569999 meters Centerline goodness : 0.982054 Centerline is valid? [True, True] Translation: X:301.33, Y:275.38, Z:2.13 [[-9.24050214e-01 3.81764920e-01 -1.96659358e-02 3.01328753e+02] [-3.81720606e-01 -9.24257581e-01 -6.10768848e-03 2.75379159e+02] [-2.05080915e-02 1.86308210e-03 9.99787951e-01 2.12867771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.490714057 meters Centerline goodness : 0.988177 Centerline is valid? [True, True] Translation: X:302.31, Y:275.70, Z:2.14 [[-9.34938728e-01 3.54272598e-01 -1.95064605e-02 3.02312368e+02] [-3.54211935e-01 -9.35141902e-01 -6.59758147e-03 2.75702841e+02] [-2.05786509e-02 7.41086702e-04 9.99787962e-01 2.14270760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.520714057 meters Centerline goodness : 0.989019 Centerline is valid? [True, True] Translation: X:302.32, Y:275.70, Z:2.14 [[-9.35574343e-01 3.52578030e-01 -1.97327573e-02 3.02324726e+02] [-3.52532069e-01 -9.35781281e-01 -5.87661046e-03 2.75702707e+02] [-2.05375086e-02 1.45842377e-03 9.99788019e-01 2.14339301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5507140569999 meters Centerline goodness : 0.987979 Centerline is valid? [True, True] Translation: X:302.32, Y:275.70, Z:2.14 [[-9.35853509e-01 3.51837164e-01 -1.97184931e-02 3.02321352e+02] [-3.51790086e-01 -9.36060182e-01 -5.92202381e-03 2.75699822e+02] [-2.05412843e-02 1.39462363e-03 9.99788033e-01 2.14229034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5807140569999 meters Centerline goodness : 0.987770 Centerline is valid? [True, True] Translation: X:302.33, Y:275.70, Z:2.14 [[-9.36247497e-01 3.50786885e-01 -1.97277874e-02 3.02329591e+02] [-3.50740196e-01 -9.36454267e-01 -5.89245644e-03 2.75700179e+02] [-2.05411671e-02 1.40253042e-03 9.99788024e-01 2.14138352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6107140569999 meters Centerline goodness : 0.990065 Centerline is valid? [True, True] Translation: X:302.34, Y:275.70, Z:2.14 [[-9.38589328e-01 3.44472159e-01 -1.97232036e-02 3.02337102e+02] [-3.44423772e-01 -9.38795703e-01 -5.90702755e-03 2.75699399e+02] [-2.05508653e-02 1.24886716e-03 9.99788029e-01 2.13542122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.640714057 meters Centerline goodness : 0.991168 Centerline is valid? [True, True] Translation: X:302.31, Y:275.68, Z:2.14 [[-9.33276142e-01 3.58613829e-01 -1.97930464e-02 3.02310551e+02] [-3.58573239e-01 -9.33484286e-01 -5.68510124e-03 2.75680399e+02] [-2.05152537e-02 1.79148739e-03 9.99787935e-01 2.13502085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6707140569999 meters Centerline goodness : 0.988077 Centerline is valid? [True, True] Translation: X:302.34, Y:275.70, Z:2.14 [[-9.38245015e-01 3.45414197e-01 -1.96296665e-02 3.02342432e+02] [-3.45359844e-01 -9.38449845e-01 -6.20220068e-03 2.75696492e+02] [-2.05637857e-02 9.60114704e-04 9.99788082e-01 2.14197594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7007140569999 meters Centerline goodness : 0.988807 Centerline is valid? [True, True] Translation: X:302.34, Y:275.69, Z:2.14 [[-9.38643861e-01 3.44324115e-01 -1.97130952e-02 3.02342001e+02] [-3.44275052e-01 -9.38850058e-01 -5.93777585e-03 2.75694567e+02] [-2.05521600e-02 1.21327001e-03 9.99788046e-01 2.14264121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7307140569999 meters Centerline goodness : 0.990045 Centerline is valid? [True, True] Translation: X:302.35, Y:275.69, Z:2.14 [[-9.39821233e-01 3.41096772e-01 -1.97241456e-02 3.02345822e+02] [-3.41047732e-01 -9.40027447e-01 -5.90277994e-03 2.75693079e+02] [-2.05546575e-02 1.17931722e-03 9.99788035e-01 2.13990582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.760714057 meters Centerline goodness : 0.988503 Centerline is valid? [True, True] Translation: X:302.35, Y:275.69, Z:2.14 [[-9.40087279e-01 3.40359954e-01 -1.97739729e-02 3.02348133e+02] [-3.40314060e-01 -9.40294282e-01 -5.74493920e-03 2.75692577e+02] [-2.05487009e-02 1.32861673e-03 9.99787970e-01 2.14104987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.790714057 meters Centerline goodness : 0.989663 Centerline is valid? [True, True] Translation: X:302.35, Y:275.69, Z:2.14 [[-9.41318925e-01 3.36941417e-01 -1.97272104e-02 3.02349595e+02] [-3.36891675e-01 -9.41524973e-01 -5.89279604e-03 2.75690617e+02] [-2.05591883e-02 1.09893253e-03 9.99788034e-01 2.13998924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8207140569999 meters Centerline goodness : 0.990154 Centerline is valid? [True, True] Translation: X:302.35, Y:275.69, Z:2.14 [[-9.41903361e-01 3.35301318e-01 -1.97758640e-02 3.02353813e+02] [-3.35254439e-01 -9.42110146e-01 -5.73887465e-03 2.75690424e+02] [-2.05552944e-02 1.22448088e-03 9.99787968e-01 2.13901738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8507140569999 meters Centerline goodness : 0.990447 Centerline is valid? [True, True] Translation: X:302.34, Y:275.67, Z:2.14 [[-9.36186999e-01 3.50945712e-01 -1.97740053e-02 3.02337130e+02] [-3.50902160e-01 -9.36394507e-01 -5.74474405e-03 2.75673148e+02] [-2.05323632e-02 1.56058648e-03 9.99787971e-01 2.13880784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.880714057 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:302.34, Y:275.67, Z:2.14 [[-9.36768872e-01 3.49400996e-01 -1.95710065e-02 3.02336294e+02] [-3.49343737e-01 -9.36972896e-01 -6.38314193e-03 2.75670002e+02] [-2.05677788e-02 8.57479906e-04 9.99788093e-01 2.13924035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.910714057 meters Centerline goodness : 0.988609 Centerline is valid? [True, True] Translation: X:302.37, Y:275.69, Z:2.14 [[-9.43607704e-01 3.30487127e-01 -1.95642733e-02 3.02367707e+02] [-3.30425338e-01 -9.43810405e-01 -6.40427759e-03 2.75690764e+02] [-2.05814960e-02 4.21405950e-04 9.99788090e-01 2.13959946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9407140569999 meters Centerline goodness : 0.987871 Centerline is valid? [True, True] Translation: X:302.37, Y:275.69, Z:2.14 [[-9.44420120e-01 3.28148943e-01 -1.97207495e-02 3.02371864e+02] [-3.28096890e-01 -9.44625579e-01 -5.91160881e-03 2.75691970e+02] [-2.05686126e-02 8.87274275e-04 9.99788050e-01 2.13646903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9707140569999 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:302.35, Y:275.67, Z:2.14 [[-9.37949842e-01 3.46210196e-01 -1.97128101e-02 3.02351076e+02] [-3.46161571e-01 -9.38156130e-01 -5.93655663e-03 2.75671672e+02] [-2.05489901e-02 1.25562499e-03 9.99788059e-01 2.13948061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.000714057 meters Centerline goodness : 0.988677 Centerline is valid? [True, True] Translation: X:302.38, Y:275.69, Z:2.14 [[-9.45714192e-01 3.24411210e-01 -1.95457062e-02 3.02381224e+02] [-3.24346983e-01 -9.45916124e-01 -6.45919971e-03 2.75691683e+02] [-2.05840354e-02 2.31033988e-04 9.99788100e-01 2.13980263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.030714057 meters Centerline goodness : 0.987865 Centerline is valid? [True, True] Translation: X:302.38, Y:275.69, Z:2.14 [[-9.45388850e-01 3.25348201e-01 -1.97096593e-02 3.02384657e+02] [-3.25294849e-01 -9.45593952e-01 -5.94470585e-03 2.75691561e+02] [-2.05714340e-02 7.91392029e-04 9.99788072e-01 2.14341803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0607140569999 meters Centerline goodness : 0.989102 Centerline is valid? [True, True] Translation: X:302.05, Y:275.58, Z:2.13 [[-9.44057305e-01 3.29195690e-01 -1.96469616e-02 3.02046778e+02] [-3.29139102e-01 -9.44261483e-01 -6.14027911e-03 2.75580112e+02] [-2.05732225e-02 6.69807948e-04 9.99788125e-01 2.13326137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0907140569999 meters Centerline goodness : 0.987248 Centerline is valid? [True, True] Translation: X:302.39, Y:275.69, Z:2.14 [[-9.47413712e-01 3.19408884e-01 -1.96271117e-02 3.02386684e+02] [-3.19348905e-01 -9.47616912e-01 -6.20209907e-03 2.75691643e+02] [-2.05799885e-02 3.91942928e-04 9.99788133e-01 2.14381562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.120714057 meters Centerline goodness : 0.987248 Centerline is valid? [True, True] Translation: X:302.39, Y:275.69, Z:2.14 [[-9.47298574e-01 3.19747839e-01 -1.96655045e-02 3.02389166e+02] [-3.19690425e-01 -9.47502530e-01 -6.08182266e-03 2.75692465e+02] [-2.05777649e-02 5.25571561e-04 9.99788117e-01 2.14390387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.150714057 meters Centerline goodness : 0.991236 Centerline is valid? [True, True] Translation: X:302.37, Y:275.68, Z:2.14 [[-9.42957461e-01 3.32332132e-01 -1.96616624e-02 3.02371562e+02] [-3.32277189e-01 -9.43162094e-01 -6.09383963e-03 2.75676731e+02] [-2.05693134e-02 7.86890365e-04 9.99788120e-01 2.13736122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1807140569999 meters Centerline goodness : 0.989827 Centerline is valid? [True, True] Translation: X:302.38, Y:275.68, Z:2.14 [[-9.43507685e-01 3.30770347e-01 -1.96016876e-02 3.02376408e+02] [-3.30711174e-01 -9.43711115e-01 -6.28100938e-03 2.75679706e+02] [-2.05759021e-02 5.56316509e-04 9.99788139e-01 2.13573238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2107140569999 meters Centerline goodness : 0.988855 Centerline is valid? [True, True] Translation: X:302.04, Y:275.58, Z:2.13 [[-9.46489068e-01 3.22140208e-01 -1.95992756e-02 3.02038810e+02] [-3.22079024e-01 -9.46691902e-01 -6.28852678e-03 2.75578880e+02] [-2.05802628e-02 3.60493714e-04 9.99788139e-01 2.13113928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.240714057 meters Centerline goodness : 0.988791 Centerline is valid? [True, True] Translation: X:302.01, Y:275.57, Z:2.13 [[-9.46358410e-01 3.22522980e-01 -1.96134551e-02 3.02009219e+02] [-3.22462791e-01 -9.46561543e-01 -6.24444030e-03 2.75570027e+02] [-2.05793178e-02 4.15130887e-04 9.99788137e-01 2.12944932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.270714057 meters Centerline goodness : 0.986144 Centerline is valid? [True, True] Translation: X:301.39, Y:275.36, Z:2.12 [[-9.38893174e-01 3.43650350e-01 -1.95970791e-02 3.01391274e+02] [-3.43593674e-01 -9.39097311e-01 -6.29507701e-03 2.75359232e+02] [-2.05668697e-02 8.23027563e-04 9.99788141e-01 2.11786869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3007140569999 meters Centerline goodness : 0.986606 Centerline is valid? [True, True] Translation: X:301.49, Y:275.39, Z:2.12 [[-9.39716109e-01 3.41395215e-01 -1.95688909e-02 3.01489447e+02] [-3.41336203e-01 -9.39919594e-01 -6.38378681e-03 2.75394942e+02] [-2.05725783e-02 6.80623632e-04 9.99788130e-01 2.11697413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3307140569999 meters Centerline goodness : 0.990014 Centerline is valid? [True, True] Translation: X:302.38, Y:275.70, Z:2.14 [[-9.50677255e-01 3.09571637e-01 -1.94463187e-02 3.02382944e+02] [-3.09498173e-01 -9.50876037e-01 -6.75592173e-03 2.75696691e+02] [-2.05824802e-02 -4.04100994e-04 9.99788077e-01 2.13735222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3607140569999 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:302.37, Y:275.68, Z:2.13 [[-9.46171063e-01 3.23062749e-01 -1.97681400e-02 3.02367816e+02] [-3.23013243e-01 -9.46377061e-01 -5.73608393e-03 2.75684975e+02] [-2.05612293e-02 9.58054377e-04 9.99788137e-01 2.13468071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.390714057 meters Centerline goodness : 0.991183 Centerline is valid? [True, True] Translation: X:302.37, Y:275.69, Z:2.13 [[-9.46199557e-01 3.22988518e-01 -1.96167459e-02 3.02370382e+02] [-3.22929057e-01 -9.46402774e-01 -6.21402133e-03 2.75687447e+02] [-2.05724002e-02 4.55113012e-04 9.99788262e-01 2.13447287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4207140569999 meters Centerline goodness : 0.989055 Centerline is valid? [True, True] Translation: X:302.05, Y:275.59, Z:2.13 [[-9.47611673e-01 3.18821883e-01 -1.96143675e-02 3.02048740e+02] [-3.18761373e-01 -9.47814581e-01 -6.22151957e-03 2.75591413e+02] [-2.05743401e-02 3.56718137e-04 9.99788262e-01 2.13439991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4507140569999 meters Centerline goodness : 0.990542 Centerline is valid? [True, True] Translation: X:302.39, Y:275.70, Z:2.14 [[-9.52098896e-01 3.05161818e-01 -1.95948229e-02 3.02388191e+02] [-3.05097130e-01 -9.52300512e-01 -6.28302732e-03 2.75703947e+02] [-2.05775000e-02 -3.73914324e-06 9.99788261e-01 2.13801275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4807140569999 meters Centerline goodness : 0.988214 Centerline is valid? [True, True] Translation: X:301.39, Y:275.37, Z:2.12 [[-9.41219906e-01 3.37221086e-01 -1.96730218e-02 3.01387358e+02] [-3.37168292e-01 -9.41425006e-01 -6.04155086e-03 2.75373686e+02] [-2.05580130e-02 9.46691234e-04 9.99788214e-01 2.11612313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.510714057 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:302.35, Y:275.69, Z:2.13 [[-9.45172762e-01 3.25989898e-01 -1.94688658e-02 3.02347688e+02] [-3.25921656e-01 -9.45373252e-01 -6.67003930e-03 2.75689869e+02] [-2.05797104e-02 4.09855147e-05 9.99788215e-01 2.13427357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.540714057 meters Centerline goodness : 0.987466 Centerline is valid? [True, True] Translation: X:301.37, Y:275.37, Z:2.11 [[-9.41912144e-01 3.35287229e-01 -1.95955809e-02 3.01367449e+02] [-3.35229166e-01 -9.42115725e-01 -6.27429441e-03 2.75372296e+02] [-2.05649957e-02 6.59176165e-04 9.99788301e-01 2.11449075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5707140569999 meters Centerline goodness : 0.986874 Centerline is valid? [True, True] Translation: X:302.36, Y:275.70, Z:2.14 [[-9.52107332e-01 3.05143695e-01 -1.94667333e-02 3.02356248e+02] [-3.05070958e-01 -9.52306228e-01 -6.67522282e-03 2.75704501e+02] [-2.05751935e-02 -4.16793609e-04 9.99788221e-01 2.13997134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6007140569999 meters Centerline goodness : 0.989847 Centerline is valid? [True, True] Translation: X:302.33, Y:275.69, Z:2.14 [[-9.46505172e-01 3.22086237e-01 -1.97082401e-02 3.02327162e+02] [-3.22033097e-01 -9.46710027e-01 -5.89999090e-03 2.75685741e+02] [-2.05582944e-02 7.62333684e-04 9.99788365e-01 2.13530647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.630714057 meters Centerline goodness : 0.990347 Centerline is valid? [True, True] Translation: X:302.33, Y:275.69, Z:2.13 [[-9.44902452e-01 3.26762617e-01 -1.96353681e-02 3.02325056e+02] [-3.26705639e-01 -9.45106242e-01 -6.13328840e-03 2.75689257e+02] [-2.05616383e-02 6.19626239e-04 9.99788395e-01 2.13421618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.660714057 meters Centerline goodness : 0.990620 Centerline is valid? [True, True] Translation: X:302.33, Y:275.69, Z:2.13 [[-9.44852922e-01 3.26909669e-01 -1.95709981e-02 3.02328159e+02] [-3.26848459e-01 -9.45055502e-01 -6.33896583e-03 2.75692793e+02] [-2.05679486e-02 4.07360173e-04 9.99788374e-01 2.13422119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6907140569999 meters Centerline goodness : 0.990280 Centerline is valid? [True, True] Translation: X:302.33, Y:275.69, Z:2.13 [[-9.44055213e-01 3.29202559e-01 -1.96323534e-02 3.02328397e+02] [-3.29145909e-01 -9.44259094e-01 -6.14287851e-03 2.75694892e+02] [-2.05602795e-02 6.62692319e-04 9.99788395e-01 2.13425980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7207140569999 meters Centerline goodness : 0.986750 Centerline is valid? [True, True] Translation: X:301.99, Y:275.59, Z:2.13 [[-9.42645856e-01 3.33216826e-01 -1.96299884e-02 3.01985377e+02] [-3.33160886e-01 -9.42849933e-01 -6.15042657e-03 2.75594423e+02] [-2.05575589e-02 7.42270227e-04 9.99788396e-01 2.13201573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.750714057 meters Centerline goodness : 0.989365 Centerline is valid? [True, True] Translation: X:302.32, Y:275.70, Z:2.14 [[-9.41142258e-01 3.37442500e-01 -1.95910313e-02 3.02318356e+02] [-3.37384895e-01 -9.41345878e-01 -6.27453571e-03 2.75698718e+02] [-2.05592316e-02 7.04487333e-04 9.99788388e-01 2.13517043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.780714057 meters Centerline goodness : 0.988518 Centerline is valid? [True, True] Translation: X:302.32, Y:275.70, Z:2.14 [[-9.39820320e-01 3.41104722e-01 -1.96299698e-02 3.02318555e+02] [-3.41050498e-01 -9.40024857e-01 -6.15025497e-03 2.75700794e+02] [-2.05505406e-02 9.14676389e-04 9.99788397e-01 2.13511698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8107140569999 meters Centerline goodness : 0.987576 Centerline is valid? [True, True] Translation: X:302.31, Y:275.70, Z:2.14 [[-9.37455789e-01 3.47550574e-01 -1.96275845e-02 3.02314057e+02] [-3.47497597e-01 -9.37660653e-01 -6.15785794e-03 2.75703826e+02] [-2.05441808e-02 1.04781888e-03 9.99788397e-01 2.13590110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8407140569999 meters Centerline goodness : 0.986335 Centerline is valid? [True, True] Translation: X:302.34, Y:275.72, Z:2.14 [[-9.41448200e-01 3.36586005e-01 -1.96251890e-02 3.02335133e+02] [-3.36530483e-01 -9.41652389e-01 -6.16548301e-03 2.75721379e+02] [-2.05553214e-02 7.99991442e-04 9.99788397e-01 2.13752250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.870714057 meters Centerline goodness : 0.987029 Centerline is valid? [True, True] Translation: X:302.31, Y:275.71, Z:2.14 [[-9.33605748e-01 3.57755250e-01 -1.97860468e-02 3.02307569e+02] [-3.57715129e-01 -9.33813653e-01 -5.65229799e-03 2.75705841e+02] [-2.04986199e-02 1.80075037e-03 9.99788260e-01 2.13508989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.900714057 meters Centerline goodness : 0.987784 Centerline is valid? [True, True] Translation: X:302.31, Y:275.71, Z:2.14 [[-9.32733704e-01 3.60031711e-01 -1.96215585e-02 3.02307163e+02] [-3.59981114e-01 -9.32939155e-01 -6.17498429e-03 2.75706861e+02] [-2.05289104e-02 1.30377451e-03 9.99788410e-01 2.13554065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9307140569999 meters Centerline goodness : 0.986728 Centerline is valid? [True, True] Translation: X:302.31, Y:275.71, Z:2.14 [[-9.32028139e-01 3.61854443e-01 -1.96191322e-02 3.02311635e+02] [-3.61804087e-01 -9.32233650e-01 -6.18268365e-03 2.75708391e+02] [-2.05268467e-02 1.33584706e-03 9.99788410e-01 2.13525298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9607140569999 meters Centerline goodness : 0.987160 Centerline is valid? [True, True] Translation: X:302.31, Y:275.71, Z:2.13 [[-9.31416756e-01 3.63425386e-01 -1.96167016e-02 3.02310643e+02] [-3.63375214e-01 -9.31622312e-01 -6.19038591e-03 2.75707860e+02] [-2.05251003e-02 1.36239397e-03 9.99788410e-01 2.13431956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.990714057 meters Centerline goodness : 0.987936 Centerline is valid? [True, True] Translation: X:302.31, Y:275.71, Z:2.13 [[-9.31208947e-01 3.63957660e-01 -1.96142671e-02 3.02314975e+02] [-3.63907445e-01 -9.31414492e-01 -6.19808987e-03 2.75707849e+02] [-2.05248549e-02 1.36606109e-03 9.99788410e-01 2.13462214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.020714057 meters Centerline goodness : 0.988520 Centerline is valid? [True, True] Translation: X:302.32, Y:275.71, Z:2.13 [[-9.31116094e-01 3.64195272e-01 -1.96118280e-02 3.02317328e+02] [-3.64144947e-01 -9.31321613e-01 -6.20579815e-03 2.75706862e+02] [-2.05250416e-02 1.36322952e-03 9.99788410e-01 2.13472305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0507140569999 meters Centerline goodness : 0.982432 Centerline is valid? [True, True] Translation: X:301.39, Y:275.40, Z:2.12 [[-9.28126465e-01 3.71748217e-01 -1.96093858e-02 3.01386733e+02] [-3.71699402e-01 -9.28332347e-01 -6.21350548e-03 2.75403684e+02] [-2.05138868e-02 1.52187811e-03 9.99788410e-01 2.11854609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0807140569999 meters Centerline goodness : 0.989112 Centerline is valid? [True, True] Translation: X:302.30, Y:275.70, Z:2.13 [[-9.32499660e-01 3.60642131e-01 -1.95355655e-02 3.02304988e+02] [-3.60586002e-01 -9.32703697e-01 -6.44587386e-03 2.75696917e+02] [-2.05455479e-02 1.03347629e-03 9.99788384e-01 2.13420747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1107140569999 meters Centerline goodness : 0.982971 Centerline is valid? [True, True] Translation: X:301.36, Y:275.39, Z:2.12 [[-9.29766902e-01 3.67625217e-01 -1.96267360e-02 3.01359515e+02] [-3.67576711e-01 -9.29972836e-01 -6.15516541e-03 2.75393550e+02] [-2.05151253e-02 1.49146199e-03 9.99788430e-01 2.11601161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.140714057 meters Centerline goodness : 0.988633 Centerline is valid? [True, True] Translation: X:302.29, Y:275.69, Z:2.13 [[-9.33804937e-01 3.57246744e-01 -1.95730498e-02 3.02290351e+02] [-3.57192376e-01 -9.34009416e-01 -6.32599592e-03 2.75687390e+02] [-2.05413542e-02 1.08409793e-03 9.99788416e-01 2.13322237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1707140569999 meters Centerline goodness : 0.989248 Centerline is valid? [True, True] Translation: X:302.30, Y:275.69, Z:2.13 [[-9.34328057e-01 3.55872406e-01 -1.96446398e-02 3.02295940e+02] [-3.55822560e-01 -9.34533656e-01 -6.09526799e-03 2.75685133e+02] [-2.05277148e-02 1.29502615e-03 9.99788446e-01 2.13313244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2007140569999 meters Centerline goodness : 0.989029 Centerline is valid? [True, True] Translation: X:301.91, Y:275.57, Z:2.13 [[-9.36201404e-01 3.50914681e-01 -1.96422456e-02 3.01911411e+02] [-3.50863585e-01 -9.36406695e-01 -6.10297377e-03 2.75565521e+02] [-2.05347534e-02 1.17813610e-03 9.99788446e-01 2.12694432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2307140569999 meters Centerline goodness : 0.988854 Centerline is valid? [True, True] Translation: X:302.32, Y:275.69, Z:2.14 [[-9.42744684e-01 3.32932094e-01 -1.97150119e-02 3.02318871e+02] [-3.32881963e-01 -9.42950242e-01 -5.86849922e-03 2.75691667e+02] [-2.05440870e-02 1.03027543e-03 9.99788417e-01 2.13515619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.260714057 meters Centerline goodness : 0.989279 Centerline is valid? [True, True] Translation: X:302.31, Y:275.68, Z:2.13 [[-9.38321474e-01 3.45194735e-01 -1.98344502e-02 3.02307562e+02] [-3.45155509e-01 -9.38529531e-01 -5.47666513e-03 2.75677233e+02] [-2.05057332e-02 1.70709727e-03 9.99788278e-01 2.13401429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.290714057 meters Centerline goodness : 0.984440 Centerline is valid? [True, True] Translation: X:301.42, Y:275.40, Z:2.12 [[-9.37146034e-01 3.48382685e-01 -1.96676548e-02 3.01419999e+02] [-3.48332738e-01 -9.37351613e-01 -6.02147260e-03 2.75400029e+02] [-2.05332848e-02 1.20788888e-03 9.99788440e-01 2.11689552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3207140569999 meters Centerline goodness : 0.990098 Centerline is valid? [True, True] Translation: X:302.30, Y:275.67, Z:2.13 [[-9.40983396e-01 3.37883451e-01 -1.96219575e-02 3.02297657e+02] [-3.37828107e-01 -9.41187599e-01 -6.17036117e-03 2.75669007e+02] [-2.05528060e-02 8.22641340e-04 9.99788430e-01 2.13408715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3507140569999 meters Centerline goodness : 0.989632 Centerline is valid? [True, True] Translation: X:302.30, Y:275.67, Z:2.13 [[-9.42224479e-01 3.34403336e-01 -1.96834984e-02 3.02302748e+02] [-3.34351462e-01 -9.42429568e-01 -5.96736858e-03 2.75666558e+02] [-2.05458189e-02 9.58605728e-04 9.99788453e-01 2.13232351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.380714057 meters Centerline goodness : 0.990262 Centerline is valid? [True, True] Translation: X:302.31, Y:275.67, Z:2.13 [[-9.43192047e-01 3.31666368e-01 -1.96515382e-02 3.02309393e+02] [-3.31611709e-01 -9.43396416e-01 -6.07259699e-03 2.75666421e+02] [-2.05532669e-02 7.89054985e-04 9.99788448e-01 2.13360039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.410714057 meters Centerline goodness : 0.984548 Centerline is valid? [True, True] Translation: X:301.42, Y:275.39, Z:2.12 [[-9.42691884e-01 3.33083609e-01 -1.96804599e-02 3.01421863e+02] [-3.33031240e-01 -9.42896847e-01 -5.97737263e-03 2.75391241e+02] [-2.05476085e-02 9.19387307e-04 9.99788453e-01 2.11560487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4407140569999 meters Centerline goodness : 0.985764 Centerline is valid? [True, True] Translation: X:301.38, Y:275.37, Z:2.12 [[-9.42251825e-01 3.34326477e-01 -1.96800713e-02 3.01380219e+02] [-3.34274352e-01 -9.42456850e-01 -5.97865639e-03 2.75374595e+02] [-2.05464411e-02 9.45143180e-04 9.99788453e-01 2.11568195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4707140569999 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:302.30, Y:275.66, Z:2.13 [[-9.46214368e-01 3.22946952e-01 -1.95866211e-02 3.02301215e+02] [-3.22886105e-01 -9.46416991e-01 -6.28032508e-03 2.75659716e+02] [-2.05653229e-02 3.81713979e-04 9.99788439e-01 2.13228520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.500714057 meters Centerline goodness : 0.985663 Centerline is valid? [True, True] Translation: X:301.37, Y:275.37, Z:2.11 [[-9.46662802e-01 3.21625063e-01 -1.96687147e-02 3.01371826e+02] [-3.21569497e-01 -9.46866895e-01 -6.01174104e-03 2.75370316e+02] [-2.05571814e-02 6.33767071e-04 9.99788478e-01 2.11106146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.530714057 meters Centerline goodness : 0.988211 Centerline is valid? [True, True] Translation: X:302.31, Y:275.66, Z:2.13 [[-9.56375466e-01 2.91479111e-01 -1.96442451e-02 3.02313118e+02] [-2.91415467e-01 -9.56577189e-01 -6.09160857e-03 2.75664563e+02] [-2.05668134e-02 -1.01228124e-04 9.99788476e-01 2.13274924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5607140569999 meters Centerline goodness : 0.990705 Centerline is valid? [True, True] Translation: X:302.30, Y:275.65, Z:2.13 [[-9.52671498e-01 3.03354609e-01 -1.98242052e-02 3.02301705e+02] [-3.03306105e-01 -9.52877409e-01 -5.48177011e-03 2.75650379e+02] [-2.05529575e-02 7.90476327e-04 9.99788453e-01 2.13069180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5907140569999 meters Centerline goodness : 0.989431 Centerline is valid? [True, True] Translation: X:302.34, Y:275.67, Z:2.13 [[-9.60218811e-01 2.78552814e-01 -1.97019193e-02 3.02335837e+02] [-2.78490493e-01 -9.60420897e-01 -5.89455294e-03 2.75670764e+02] [-2.05640793e-02 -1.73263412e-04 9.99788522e-01 2.13280450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.620714057 meters Centerline goodness : 0.991184 Centerline is valid? [True, True] Translation: X:302.31, Y:275.65, Z:2.13 [[-9.55446953e-01 2.94490804e-01 -1.99069281e-02 3.02310774e+02] [-2.94446253e-01 -9.55653896e-01 -5.19960844e-03 2.75652236e+02] [-2.05553703e-02 8.93570353e-04 9.99788317e-01 2.13208200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.650714057 meters Centerline goodness : 0.988890 Centerline is valid? [True, True] Translation: X:302.33, Y:275.67, Z:2.13 [[-9.61443171e-01 2.74296059e-01 -1.97155211e-02 3.02332414e+02] [-2.74233854e-01 -9.61645271e-01 -5.84522682e-03 2.75671289e+02] [-2.05626603e-02 -2.13190083e-04 9.99788543e-01 2.13226843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6807140569999 meters Centerline goodness : 0.988371 Centerline is valid? [True, True] Translation: X:302.33, Y:275.67, Z:2.13 [[-9.62806981e-01 2.69456739e-01 -1.98943090e-02 3.02332641e+02] [-2.69405988e-01 -9.63012443e-01 -5.23903317e-03 2.75674399e+02] [-2.05701599e-02 3.15468258e-04 9.99788362e-01 2.13155656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7107140569999 meters Centerline goodness : 0.989547 Centerline is valid? [True, True] Translation: X:302.32, Y:275.66, Z:2.13 [[-9.57678627e-01 2.87151404e-01 -1.98926901e-02 3.02322014e+02] [-2.87104334e-01 -9.57884960e-01 -5.24450942e-03 2.75661538e+02] [-2.05608769e-02 6.88722969e-04 9.99788366e-01 2.13083157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.740714057 meters Centerline goodness : 0.989875 Centerline is valid? [True, True] Translation: X:302.32, Y:275.66, Z:2.13 [[-9.57963833e-01 2.86211083e-01 -1.97106516e-02 3.02323004e+02] [-2.86151147e-01 -9.58166590e-01 -5.85712775e-03 2.75664487e+02] [-2.05624627e-02 2.93090283e-05 9.99788570e-01 2.13017817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.770714057 meters Centerline goodness : 0.990297 Centerline is valid? [True, True] Translation: X:302.33, Y:275.67, Z:2.13 [[-9.58283962e-01 2.85137555e-01 -1.97084322e-02 3.02326550e+02] [-2.85077239e-01 -9.58486606e-01 -5.86458642e-03 2.75670978e+02] [-2.05624821e-02 -1.51368699e-06 9.99788570e-01 2.13055692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8007140569999 meters Centerline goodness : 0.989713 Centerline is valid? [True, True] Translation: X:302.33, Y:275.68, Z:2.13 [[-9.58331700e-01 2.84977224e-01 -1.97062117e-02 3.02329453e+02] [-2.84916720e-01 -9.58534288e-01 -5.87203817e-03 2.75675007e+02] [-2.05624767e-02 -1.27311288e-05 9.99788570e-01 2.13097496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8307140569999 meters Centerline goodness : 0.989363 Centerline is valid? [True, True] Translation: X:302.33, Y:275.68, Z:2.13 [[-9.57982522e-01 2.86148981e-01 -1.97039917e-02 3.02326546e+02] [-2.86088573e-01 -9.58185139e-01 -5.87947812e-03 2.75681595e+02] [-2.05624787e-02 4.64957698e-06 9.99788570e-01 2.13046251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8607140569999 meters Centerline goodness : 0.989297 Centerline is valid? [True, True] Translation: X:302.33, Y:275.69, Z:2.13 [[-9.57773077e-01 2.86849393e-01 -1.97017671e-02 3.02329420e+02] [-2.86788979e-01 -9.57975692e-01 -5.88692328e-03 2.75687249e+02] [-2.05624743e-02 1.19130474e-05 9.99788570e-01 2.13066951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.890714057 meters Centerline goodness : 0.988584 Centerline is valid? [True, True] Translation: X:302.03, Y:275.60, Z:2.13 [[-9.58847314e-01 2.83237985e-01 -1.96995382e-02 3.02028017e+02] [-2.83176655e-01 -9.59049654e-01 -5.89437251e-03 2.75604809e+02] [-2.05623454e-02 -7.33539343e-05 9.99788570e-01 2.12662276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9207140569999 meters Centerline goodness : 0.987315 Centerline is valid? [True, True] Translation: X:302.04, Y:275.62, Z:2.13 [[-9.58908717e-01 2.83026890e-01 -1.97446998e-02 3.02037006e+02] [-2.82968607e-01 -9.59111971e-01 -5.74404232e-03 2.75617869e+02] [-2.05630964e-02 7.91179430e-05 9.99788554e-01 2.12645318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9507140569999 meters Centerline goodness : 0.988804 Centerline is valid? [True, True] Translation: X:302.32, Y:275.70, Z:2.13 [[-9.56860193e-01 2.89874876e-01 -1.97769383e-02 3.02322216e+02] [-2.89820275e-01 -9.57064492e-01 -5.63619955e-03 2.75703339e+02] [-2.05615980e-02 3.38702694e-04 9.99788531e-01 2.12983321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9807140569999 meters Centerline goodness : 0.987901 Centerline is valid? [True, True] Translation: X:302.33, Y:275.71, Z:2.13 [[-9.56724228e-01 2.90328556e-01 -1.96997969e-02 3.02325659e+02] [-2.90268732e-01 -9.56927021e-01 -5.89403404e-03 2.75709601e+02] [-2.05624743e-02 7.92698957e-05 9.99788567e-01 2.12994994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.010714057 meters Centerline goodness : 0.984987 Centerline is valid? [True, True] Translation: X:302.35, Y:275.73, Z:2.13 [[-9.60514160e-01 2.77532978e-01 -1.96975612e-02 3.02347749e+02] [-2.77470300e-01 -9.60716090e-01 -5.90149600e-03 2.75734202e+02] [-2.05616238e-02 -2.02982254e-04 9.99788567e-01 2.13263549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.040714057 meters Centerline goodness : 0.984987 Centerline is valid? [True, True] Translation: X:302.35, Y:275.73, Z:2.13 [[-9.60422063e-01 2.77841661e-01 -1.98361462e-02 3.02350257e+02] [-2.77788603e-01 -9.60626841e-01 -5.43724571e-03 2.75734834e+02] [-2.05658278e-02 2.88204603e-04 9.99788459e-01 2.13278990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0707140569999 meters Centerline goodness : 0.984126 Centerline is valid? [True, True] Translation: X:302.35, Y:275.74, Z:2.13 [[-9.59489387e-01 2.81046005e-01 -1.98307501e-02 3.02350323e+02] [-2.80993258e-01 -9.59694237e-01 -5.45529784e-03 2.75738591e+02] [-2.05646462e-02 3.38006688e-04 9.99788468e-01 2.13400511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1007140569999 meters Centerline goodness : 0.983685 Centerline is valid? [True, True] Translation: X:302.35, Y:275.75, Z:2.13 [[-9.59412798e-01 2.81309479e-01 -1.98004950e-02 3.02346500e+02] [-2.81254701e-01 -9.59617070e-01 -5.55632359e-03 2.75747826e+02] [-2.05639395e-02 2.38174347e-04 9.99788511e-01 2.13397421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.130714057 meters Centerline goodness : 0.986336 Centerline is valid? [True, True] Translation: X:302.33, Y:275.74, Z:2.13 [[-9.56184002e-01 2.92096548e-01 -1.97929683e-02 3.02325312e+02] [-2.92043555e-01 -9.56388734e-01 -5.58141108e-03 2.75740168e+02] [-2.05600828e-02 4.43552840e-04 9.99788521e-01 2.12901516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.160714057 meters Centerline goodness : 0.984449 Centerline is valid? [True, True] Translation: X:302.35, Y:275.76, Z:2.13 [[-9.60146359e-01 2.78803378e-01 -1.96887316e-02 3.02347115e+02] [-2.78740431e-01 -9.60348184e-01 -5.92763915e-03 2.75760676e+02] [-2.05606835e-02 -2.03355616e-04 9.99788586e-01 2.13070688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1907140569999 meters Centerline goodness : 0.983489 Centerline is valid? [True, True] Translation: X:302.35, Y:275.76, Z:2.13 [[-9.59123365e-01 2.82292737e-01 -1.98288094e-02 3.02349194e+02] [-2.82240144e-01 -9.59328245e-01 -5.46067134e-03 2.75764615e+02] [-2.05638448e-02 3.59028562e-04 9.99788477e-01 2.13477219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2207140569999 meters Centerline goodness : 0.985136 Centerline is valid? [True, True] Translation: X:302.35, Y:275.78, Z:2.13 [[-9.59669589e-01 2.80433123e-01 -1.97874511e-02 3.02345948e+02] [-2.80377291e-01 -9.59873551e-01 -5.59837389e-03 2.75775312e+02] [-2.05634205e-02 1.75362772e-04 9.99788535e-01 2.13205927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.250714057 meters Centerline goodness : 0.987361 Centerline is valid? [True, True] Translation: X:302.32, Y:275.77, Z:2.13 [[-9.56237451e-01 2.91920371e-01 -1.98099804e-02 3.02324159e+02] [-2.91868539e-01 -9.56442495e-01 -5.52348516e-03 2.75772168e+02] [-2.05595250e-02 5.00146680e-04 9.99788506e-01 2.12963124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.280714057 meters Centerline goodness : 0.986427 Centerline is valid? [True, True] Translation: X:302.34, Y:275.79, Z:2.13 [[-9.59782839e-01 2.80052589e-01 -1.96837543e-02 3.02342895e+02] [-2.79989618e-01 -9.59984641e-01 -5.94165864e-03 2.75791066e+02] [-2.05600787e-02 -1.91455141e-04 9.99788601e-01 2.13122672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3107140569999 meters Centerline goodness : 0.984465 Centerline is valid? [True, True] Translation: X:302.33, Y:275.80, Z:2.13 [[-9.60927563e-01 2.76090007e-01 -1.98123021e-02 3.02332326e+02] [-2.76034978e-01 -9.61131770e-01 -5.51463508e-03 2.75795671e+02] [-2.05647686e-02 1.69723526e-04 9.99788508e-01 2.13261428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3407140569999 meters Centerline goodness : 0.987694 Centerline is valid? [True, True] Translation: X:302.32, Y:275.79, Z:2.13 [[-9.55838541e-01 2.93222233e-01 -1.98344305e-02 3.02322384e+02] [-2.93172387e-01 -9.56044113e-01 -5.44121681e-03 2.75788033e+02] [-2.05580763e-02 6.13982598e-04 9.99788472e-01 2.13115798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.370714057 meters Centerline goodness : 0.988150 Centerline is valid? [True, True] Translation: X:302.31, Y:275.80, Z:2.13 [[-9.55482368e-01 2.94391188e-01 -1.96792794e-02 3.02314805e+02] [-2.94330990e-01 -9.55684999e-01 -5.95403271e-03 2.75796549e+02] [-2.05600069e-02 1.03248513e-04 9.99788615e-01 2.13266025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.400714057 meters Centerline goodness : 0.988657 Centerline is valid? [True, True] Translation: X:302.32, Y:275.80, Z:2.13 [[-9.55286378e-01 2.95026696e-01 -1.96770121e-02 3.02321422e+02] [-2.94966478e-01 -9.55489004e-01 -5.96151643e-03 2.75803149e+02] [-2.05599752e-02 1.09103520e-04 9.99788615e-01 2.13331721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4307140569999 meters Centerline goodness : 0.989315 Centerline is valid? [True, True] Translation: X:302.32, Y:275.81, Z:2.13 [[-9.55223230e-01 2.95231240e-01 -1.96747408e-02 3.02323417e+02] [-2.95170912e-01 -9.55425823e-01 -5.96900293e-03 2.75808829e+02] [-2.05599916e-02 1.05680928e-04 9.99788615e-01 2.13376529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4607140569999 meters Centerline goodness : 0.989646 Centerline is valid? [True, True] Translation: X:302.32, Y:275.82, Z:2.13 [[-9.55124089e-01 2.95551973e-01 -1.96724719e-02 3.02320692e+02] [-2.95491559e-01 -9.55326656e-01 -5.97647136e-03 2.75817897e+02] [-2.05599947e-02 1.04777629e-04 9.99788615e-01 2.13441383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.490714057 meters Centerline goodness : 0.989998 Centerline is valid? [True, True] Translation: X:302.32, Y:275.82, Z:2.13 [[-9.55023678e-01 2.95876423e-01 -1.96701991e-02 3.02320035e+02] [-2.95815924e-01 -9.55226220e-01 -5.98394255e-03 2.75822409e+02] [-2.05599974e-02 1.03951282e-04 9.99788616e-01 2.13446433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.520714057 meters Centerline goodness : 0.991161 Centerline is valid? [True, True] Translation: X:302.32, Y:275.83, Z:2.13 [[-9.55136532e-01 2.95512061e-01 -1.96679193e-02 3.02323833e+02] [-2.95451331e-01 -9.55339005e-01 -5.99142645e-03 2.75832838e+02] [-2.05600692e-02 8.82826343e-05 9.99788616e-01 2.13464020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5507140569999 meters Centerline goodness : 0.991514 Centerline is valid? [True, True] Translation: X:302.32, Y:275.84, Z:2.14 [[-9.55258861e-01 2.95116538e-01 -1.96656392e-02 3.02324077e+02] [-2.95055570e-01 -9.55461262e-01 -5.99890087e-03 2.75836954e+02] [-2.05601313e-02 7.19531664e-05 9.99788616e-01 2.13516724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5807140569999 meters Centerline goodness : 0.992095 Centerline is valid? [True, True] Translation: X:302.33, Y:275.84, Z:2.14 [[-9.55302979e-01 2.94973847e-01 -1.96633590e-02 3.02328906e+02] [-2.94912695e-01 -9.55505325e-01 -6.00636585e-03 2.75842003e+02] [-2.05601650e-02 6.10749994e-05 9.99788616e-01 2.13542881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6107140569999 meters Centerline goodness : 0.992947 Centerline is valid? [True, True] Translation: X:302.33, Y:275.85, Z:2.14 [[-9.55552761e-01 2.94163837e-01 -1.96610774e-02 3.02330886e+02] [-2.94102360e-01 -9.55755008e-01 -6.01382500e-03 2.75848888e+02] [-2.05602230e-02 3.58421768e-05 9.99788616e-01 2.13596823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.640714057 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:302.33, Y:275.85, Z:2.14 [[-9.55660836e-01 2.93812694e-01 -1.96587972e-02 3.02328059e+02] [-2.93750989e-01 -9.55863014e-01 -6.02126981e-03 2.75851013e+02] [-2.05602426e-02 2.04993756e-05 9.99788616e-01 2.13598321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6707140569999 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:302.33, Y:275.85, Z:2.14 [[-9.55718522e-01 2.93625149e-01 -1.96565114e-02 3.02330457e+02] [-2.93563252e-01 -9.55920641e-01 -6.02872229e-03 2.75854826e+02] [-2.05602495e-02 8.66785570e-06 9.99788616e-01 2.13611794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7007140569999 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:302.32, Y:275.86, Z:2.14 [[-9.56063315e-01 2.92500684e-01 -1.96542199e-02 3.02317197e+02] [-2.92438395e-01 -9.56265313e-01 -6.03618379e-03 2.75857436e+02] [-2.05602366e-02 -2.33253653e-05 9.99788616e-01 2.13642866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7307140569999 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:302.33, Y:275.87, Z:2.14 [[-9.56290690e-01 2.91756607e-01 -1.96519137e-02 3.02331888e+02] [-2.91694007e-01 -9.56492593e-01 -6.04368271e-03 2.75865290e+02] [-2.05601942e-02 -4.71720551e-05 9.99788616e-01 2.13752864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.760714057 meters Centerline goodness : 0.994250 Centerline is valid? [True, True] Translation: X:302.32, Y:275.87, Z:2.14 [[-9.56831530e-01 2.89978129e-01 -1.96496046e-02 3.02324599e+02] [-2.89915000e-01 -9.57033268e-01 -6.05118074e-03 2.75869344e+02] [-2.05600354e-02 -9.32453928e-05 9.99788616e-01 2.13799531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.790714057 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:302.33, Y:275.87, Z:2.14 [[-9.57085048e-01 2.89140440e-01 -1.96472969e-02 3.02326421e+02] [-2.89076980e-01 -9.57286682e-01 -6.05866425e-03 2.75872932e+02] [-2.05599005e-02 -1.19075701e-04 9.99788616e-01 2.13843610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8207140569999 meters Centerline goodness : 0.996041 Centerline is valid? [True, True] Translation: X:302.33, Y:275.88, Z:2.14 [[-9.57399079e-01 2.88099076e-01 -1.96449795e-02 3.02331529e+02] [-2.88035243e-01 -9.57600595e-01 -6.06616918e-03 2.75877546e+02] [-2.05597018e-02 -1.49298345e-04 9.99788616e-01 2.13797907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8507140569999 meters Centerline goodness : 0.996213 Centerline is valid? [True, True] Translation: X:302.33, Y:275.88, Z:2.14 [[-9.57845066e-01 2.86612971e-01 -1.96426626e-02 3.02326197e+02] [-2.86548672e-01 -9.58046434e-01 -6.07366207e-03 2.75882059e+02] [-2.05593732e-02 -1.89048349e-04 9.99788616e-01 2.14004414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.880714057 meters Centerline goodness : 0.996408 Centerline is valid? [True, True] Translation: X:302.34, Y:275.89, Z:2.14 [[-9.57939275e-01 2.86298101e-01 -1.96403414e-02 3.02340533e+02] [-2.86233582e-01 -9.58140572e-01 -6.08115906e-03 2.75890072e+02] [-2.05592322e-02 -2.03655833e-04 9.99788616e-01 2.13887901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.910714057 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:302.35, Y:275.90, Z:2.14 [[-9.57844251e-01 2.86616011e-01 -1.96380230e-02 3.02347963e+02] [-2.86551406e-01 -9.58045521e-01 -6.08863656e-03 2.75900133e+02] [-2.05592207e-02 -2.04662411e-04 9.99788616e-01 2.13979789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9407140569999 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:302.35, Y:275.90, Z:2.14 [[-9.57641593e-01 2.87292564e-01 -1.96357194e-02 3.02347081e+02] [-2.87227949e-01 -9.57842860e-01 -6.09605675e-03 2.75903940e+02] [-2.05592854e-02 -1.97910110e-04 9.99788616e-01 2.13971604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9707140569999 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:302.35, Y:275.91, Z:2.14 [[-9.57420513e-01 2.88028629e-01 -1.96334171e-02 3.02352677e+02] [-2.87964017e-01 -9.57621780e-01 -6.10346272e-03 2.75909763e+02] [-2.05593598e-02 -1.89862762e-04 9.99788616e-01 2.13983586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.000714057 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:302.35, Y:275.92, Z:2.14 [[-9.56832192e-01 2.89977200e-01 -1.96311139e-02 3.02351528e+02] [-2.89912845e-01 -9.57033542e-01 -6.11086181e-03 2.75917408e+02] [-2.05596450e-02 -1.55757228e-04 9.99788616e-01 2.13994870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.030714057 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:302.35, Y:275.92, Z:2.14 [[-9.56428525e-01 2.91306003e-01 -1.96288109e-02 3.02349677e+02] [-2.91241776e-01 -9.56629915e-01 -6.11825030e-03 2.75920975e+02] [-2.05597907e-02 -1.34939359e-04 9.99788616e-01 2.13988360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0607140569999 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:302.35, Y:275.93, Z:2.14 [[-9.55989727e-01 2.92742964e-01 -1.96265010e-02 3.02352157e+02] [-2.92678889e-01 -9.56191165e-01 -6.12565122e-03 2.75925830e+02] [-2.05599281e-02 -1.11797138e-04 9.99788616e-01 2.13983407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0907140569999 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:302.35, Y:275.93, Z:2.14 [[-9.55690131e-01 2.93719704e-01 -1.96241867e-02 3.02354488e+02] [-2.93655682e-01 -9.55891587e-01 -6.13305614e-03 2.75930837e+02] [-2.05599944e-02 -9.85472803e-05 9.99788616e-01 2.13960246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.120714057 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:302.35, Y:275.94, Z:2.14 [[-9.55278457e-01 2.95056014e-01 -1.96218724e-02 3.02351157e+02] [-2.94992122e-01 -9.55479954e-01 -6.14045175e-03 2.75937850e+02] [-2.05600829e-02 -7.75435099e-05 9.99788616e-01 2.13976708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.150714057 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:302.35, Y:275.94, Z:2.14 [[-9.54996050e-01 2.95968946e-01 -1.96195526e-02 3.02351946e+02] [-2.95905095e-01 -9.55197560e-01 -6.14785493e-03 2.75942028e+02] [-2.05601229e-02 -6.56516093e-05 9.99788616e-01 2.14003471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1807140569999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:302.35, Y:275.95, Z:2.14 [[-9.54528539e-01 2.97473414e-01 -1.96172265e-02 3.02353483e+02] [-2.97409728e-01 -9.54730101e-01 -6.15526814e-03 2.75950386e+02] [-2.05601853e-02 -4.10250990e-05 9.99788616e-01 2.13968486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2107140569999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:302.35, Y:275.95, Z:2.14 [[-9.54073226e-01 2.98930651e-01 -1.96148985e-02 3.02349541e+02] [-2.98867121e-01 -9.54274837e-01 -6.16267802e-03 2.75952972e+02] [-2.05602174e-02 -1.73978667e-05 9.99788616e-01 2.14016204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.240714057 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:302.35, Y:275.96, Z:2.14 [[-9.53134226e-01 3.01911401e-01 -1.96125645e-02 3.02348441e+02] [-3.01848349e-01 -9.53335987e-01 -6.17009682e-03 2.75960755e+02] [-2.05601861e-02 3.90897645e-05 9.99788616e-01 2.14014255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.270714057 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:302.35, Y:275.97, Z:2.14 [[-9.52434250e-01 3.04112544e-01 -1.96102216e-02 3.02352706e+02] [-3.04049805e-01 -9.52636108e-01 -6.17753421e-03 2.75965869e+02] [-2.05600708e-02 7.87888934e-05 9.99788616e-01 2.14063857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3007140569999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:302.35, Y:275.97, Z:2.14 [[-9.51577423e-01 3.06783118e-01 -1.96093455e-02 3.02354010e+02] [-3.06720888e-01 -9.51779439e-01 -6.18031411e-03 2.75969824e+02] [-2.05597879e-02 1.33548486e-04 9.99788616e-01 2.14096539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3307140569999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:302.32, Y:275.96, Z:2.14 [[-9.50486088e-01 3.10147874e-01 -1.96084704e-02 3.02316861e+02] [-3.10086302e-01 -9.50688306e-01 -6.18308924e-03 2.75961552e+02] [-2.05592155e-02 2.03377769e-04 9.99788616e-01 2.14070288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3607140569999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:302.33, Y:275.97, Z:2.14 [[-9.48179096e-01 3.17130893e-01 -1.96060924e-02 3.02334723e+02] [-3.17070654e-01 -9.48381715e-01 -6.19062052e-03 2.75973063e+02] [-2.05572965e-02 3.46699568e-04 9.99788616e-01 2.14120573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.390714057 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:302.35, Y:275.98, Z:2.14 [[-9.47022425e-01 3.20568299e-01 -1.96084808e-02 3.02345475e+02] [-3.20508953e-01 -9.47225306e-01 -6.18304611e-03 2.75979641e+02] [-2.05557378e-02 4.29210325e-04 9.99788616e-01 2.14101401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4207140569999 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:302.32, Y:275.97, Z:2.14 [[-9.45646193e-01 3.24605585e-01 -1.96084808e-02 3.02317189e+02] [-3.24547104e-01 -9.45849326e-01 -6.18304611e-03 2.75973568e+02] [-2.05537196e-02 5.16901639e-04 9.99788616e-01 2.14104508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4507140569999 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:302.37, Y:275.99, Z:2.14 [[-9.43600268e-01 3.30505877e-01 -1.96061012e-02 3.02365221e+02] [-3.30448510e-01 -9.43803718e-01 -6.19058246e-03 2.75993445e+02] [-2.05503351e-02 6.37371674e-04 9.99788616e-01 2.14177640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4807140569999 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:302.36, Y:275.99, Z:2.14 [[-9.42582469e-01 3.33397357e-01 -1.96084561e-02 3.02359195e+02] [-3.33340769e-01 -9.42786137e-01 -6.18311454e-03 2.75992779e+02] [-2.05480146e-02 7.08202465e-04 9.99788616e-01 2.14174392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.510714057 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:302.37, Y:276.00, Z:2.14 [[-9.41845042e-01 3.35474959e-01 -1.96078781e-02 3.02366433e+02] [-3.35418782e-01 -9.42048824e-01 -6.18494670e-03 2.75996054e+02] [-2.05464733e-02 7.51589228e-04 9.99788616e-01 2.14196127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.540714057 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:302.38, Y:276.00, Z:2.14 [[-9.40845556e-01 3.38267931e-01 -1.96072997e-02 3.02382761e+02] [-3.38212321e-01 -9.41049494e-01 -6.18677981e-03 2.76002327e+02] [-2.05442287e-02 8.10626060e-04 9.99788616e-01 2.14247620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5707140569999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:302.38, Y:276.00, Z:2.14 [[-9.40267880e-01 3.39870238e-01 -1.96095930e-02 3.02375651e+02] [-3.39815127e-01 -9.40471953e-01 -6.17950266e-03 2.76000609e+02] [-2.05425012e-02 8.53248450e-04 9.99788616e-01 2.14258065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6007140569999 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:302.38, Y:276.00, Z:2.14 [[-9.39822111e-01 3.41101008e-01 -1.96087371e-02 3.02380891e+02] [-3.41046108e-01 -9.40026240e-01 -6.18221727e-03 2.76002690e+02] [-2.05414880e-02 8.77298989e-04 9.99788616e-01 2.14206836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.630714057 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:302.39, Y:276.01, Z:2.14 [[-9.39391937e-01 3.42283958e-01 -1.96081651e-02 3.02390580e+02] [-3.42229277e-01 -9.39596126e-01 -6.18403103e-03 2.76005945e+02] [-2.05404506e-02 9.01259257e-04 9.99788616e-01 2.14238946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.660714057 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:302.36, Y:276.00, Z:2.14 [[-9.38918885e-01 3.43579334e-01 -1.96104404e-02 3.02361961e+02] [-3.43525086e-01 -9.39123188e-01 -6.17680710e-03 2.75995908e+02] [-2.05388426e-02 9.37157396e-04 9.99788617e-01 2.14216401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6907140569999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:302.39, Y:276.00, Z:2.14 [[-9.38849365e-01 3.43769387e-01 -1.96081442e-02 3.02387435e+02] [-3.43715028e-01 -9.39053639e-01 -6.18408793e-03 2.76002733e+02] [-2.05389993e-02 9.33686792e-04 9.99788617e-01 2.14312130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7207140569999 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:302.40, Y:276.00, Z:2.14 [[-9.38093186e-01 3.45827422e-01 -1.96104390e-02 3.02397960e+02] [-3.45773663e-01 -9.38297619e-01 -6.17680228e-03 2.76002902e+02] [-2.05365358e-02 9.86357188e-04 9.99788617e-01 2.14458991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.750714057 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:302.36, Y:275.99, Z:2.14 [[-9.37436970e-01 3.47602298e-01 -1.96104390e-02 3.02360592e+02] [-3.47548926e-01 -9.37641505e-01 -6.17680228e-03 2.75989526e+02] [-2.05346322e-02 1.02522419e-03 9.99788617e-01 2.14408188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.780714057 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:302.39, Y:276.00, Z:2.15 [[-9.36450669e-01 3.50250859e-01 -1.96081453e-02 3.02391366e+02] [-3.50197913e-01 -9.36655315e-01 -6.18407495e-03 2.75995622e+02] [-2.05320511e-02 1.07565045e-03 9.99788617e-01 2.14513619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8107140569999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:302.28, Y:275.96, Z:2.14 [[-9.35748910e-01 3.52121298e-01 -1.96104416e-02 3.02282003e+02] [-3.52068914e-01 -9.35953699e-01 -6.17678456e-03 2.75959250e+02] [-2.05294428e-02 1.12430745e-03 9.99788617e-01 2.14317641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8407140569999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:302.41, Y:276.00, Z:2.15 [[-9.35236783e-01 3.53479397e-01 -1.96080696e-02 3.02411563e+02] [-3.53427153e-01 -9.35441608e-01 -6.18430534e-03 2.75997732e+02] [-2.05282287e-02 1.14623437e-03 9.99788617e-01 2.14543929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.870714057 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:302.29, Y:275.96, Z:2.14 [[-9.33880985e-01 3.57045849e-01 -1.96104193e-02 3.02292421e+02] [-3.56994543e-01 -9.34086047e-01 -6.17684527e-03 2.75955088e+02] [-2.05232360e-02 1.23237434e-03 9.99788617e-01 2.14305435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.900714057 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:302.27, Y:275.94, Z:2.14 [[-9.33206995e-01 3.58803886e-01 -1.96080723e-02 3.02265535e+02] [-3.58752810e-01 -9.33412115e-01 -6.18428679e-03 2.75943871e+02] [-2.05213584e-02 1.26323136e-03 9.99788617e-01 2.14273037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9307140569999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:302.27, Y:275.94, Z:2.14 [[-9.33152294e-01 3.58946260e-01 -1.96055768e-02 3.02267931e+02] [-3.58895051e-01 -9.33357380e-01 -6.19218806e-03 2.75944594e+02] [-2.05216725e-02 1.25808999e-03 9.99788617e-01 2.14278194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9607140569999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:302.29, Y:275.94, Z:2.14 [[-9.32515100e-01 3.60598456e-01 -1.96046325e-02 3.02285257e+02] [-3.60547547e-01 -9.32720262e-01 -6.19517635e-03 2.75944130e+02] [-2.05196090e-02 1.29130665e-03 9.99788617e-01 2.14325822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.990714057 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:302.31, Y:275.95, Z:2.14 [[-9.32347306e-01 3.61032093e-01 -1.96043195e-02 3.02305015e+02] [-3.60981259e-01 -9.32552486e-01 -6.19616655e-03 2.75946859e+02] [-2.05190719e-02 1.29981275e-03 9.99788617e-01 2.14402957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.020714057 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:302.31, Y:275.94, Z:2.14 [[-9.32278758e-01 3.61209064e-01 -1.96043195e-02 3.02310188e+02] [-3.61158269e-01 -9.32483948e-01 -6.19616655e-03 2.75940562e+02] [-2.05188248e-02 1.30370764e-03 9.99788617e-01 2.14426034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0507140569999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:302.32, Y:275.94, Z:2.14 [[-9.32423874e-01 3.60834430e-01 -1.96018572e-02 3.02318457e+02] [-3.60783390e-01 -9.32629003e-01 -6.20394657e-03 2.75938801e+02] [-2.05198580e-02 1.28731657e-03 9.99788617e-01 2.14453609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0807140569999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:302.32, Y:275.93, Z:2.14 [[-9.32704861e-01 3.60107632e-01 -1.95993964e-02 3.02320039e+02] [-3.60056269e-01 -9.32909909e-01 -6.21171091e-03 2.75934725e+02] [-2.05213556e-02 1.26319256e-03 9.99788617e-01 2.14458950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1107140569999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:302.33, Y:275.93, Z:2.14 [[-9.33251263e-01 3.58689337e-01 -1.95969351e-02 3.02325531e+02] [-3.58637501e-01 -9.33456191e-01 -6.21946623e-03 2.75932239e+02] [-2.05237366e-02 1.22387111e-03 9.99788617e-01 2.14451926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.140714057 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:302.34, Y:275.93, Z:2.14 [[-9.34479779e-01 3.55476581e-01 -1.95944699e-02 3.02338298e+02] [-3.55423878e-01 -9.34684486e-01 -6.22722324e-03 2.75928177e+02] [-2.05282790e-02 1.14512826e-03 9.99788617e-01 2.14491324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1707140569999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:302.34, Y:275.92, Z:2.14 [[-9.35068385e-01 3.53925513e-01 -1.95920117e-02 3.02339906e+02] [-3.53872309e-01 -9.35272963e-01 -6.23494742e-03 2.75924524e+02] [-2.05305858e-02 1.10296821e-03 9.99788617e-01 2.14469133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2007140569999 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:302.35, Y:275.92, Z:2.14 [[-9.36478835e-01 3.50176585e-01 -1.95895560e-02 3.02349763e+02] [-3.50122401e-01 -9.36683156e-01 -6.24265347e-03 2.75919375e+02] [-2.05352382e-02 1.01262954e-03 9.99788617e-01 2.14473222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2307140569999 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:302.36, Y:275.92, Z:2.15 [[-9.37090020e-01 3.48537861e-01 -1.95871002e-02 3.02358497e+02] [-3.48483159e-01 -9.37294202e-01 -6.25034939e-03 2.75918065e+02] [-2.05373589e-02 9.68634512e-04 9.99788617e-01 2.14520791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.260714057 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:302.36, Y:275.91, Z:2.15 [[-9.37603026e-01 3.47155594e-01 -1.95846514e-02 3.02358975e+02] [-3.47100431e-01 -9.37807085e-01 -6.25801297e-03 2.75914113e+02] [-2.05391291e-02 9.30309038e-04 9.99788617e-01 2.14540147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.290714057 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:302.37, Y:275.91, Z:2.15 [[-9.38751072e-01 3.44039187e-01 -1.95822017e-02 3.02371671e+02] [-3.43983187e-01 -9.38954902e-01 -6.26566914e-03 2.75911241e+02] [-2.05424400e-02 8.54044508e-04 9.99788617e-01 2.14515090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3207140569999 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:302.37, Y:275.91, Z:2.15 [[-9.39229762e-01 3.42730344e-01 -1.95797544e-02 3.02368850e+02] [-3.42673901e-01 -9.39433469e-01 -6.27330749e-03 2.75907545e+02] [-2.05439294e-02 8.17393701e-04 9.99788617e-01 2.14508327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3507140569999 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:302.38, Y:275.91, Z:2.14 [[-9.39713964e-01 3.41400637e-01 -1.95773058e-02 3.02379684e+02] [-3.41343747e-01 -9.39917547e-01 -6.28093969e-03 2.75908086e+02] [-2.05453700e-02 7.80304182e-04 9.99788617e-01 2.14482214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.380714057 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:302.39, Y:275.91, Z:2.14 [[-9.39999310e-01 3.40614331e-01 -1.95748550e-02 3.02386696e+02] [-3.40557112e-01 -9.40202801e-01 -6.28856832e-03 2.75907039e+02] [-2.05463100e-02 7.55106207e-04 9.99788617e-01 2.14452753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.410714057 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:302.39, Y:275.90, Z:2.14 [[-9.40309181e-01 3.39758099e-01 -1.95724124e-02 3.02391234e+02] [-3.39700537e-01 -9.40512575e-01 -6.29616138e-03 2.75902633e+02] [-2.05472718e-02 7.28420656e-04 9.99788617e-01 2.14373413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4407140569999 meters Centerline goodness : 0.997183 Centerline is valid? [True, True] Translation: X:302.39, Y:275.90, Z:2.14 [[-9.40373174e-01 3.39581079e-01 -1.95699706e-02 3.02392354e+02] [-3.39523321e-01 -9.40576513e-01 -6.30374203e-03 2.75900670e+02] [-2.05476862e-02 7.16591514e-04 9.99788617e-01 2.14343017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4707140569999 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:302.40, Y:275.90, Z:2.14 [[-9.40499663e-01 3.39230740e-01 -1.95675246e-02 3.02398757e+02] [-3.39172749e-01 -9.40702936e-01 -6.31132548e-03 2.75898593e+02] [-2.05482235e-02 7.00971626e-04 9.99788617e-01 2.14254199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.500714057 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:302.40, Y:275.90, Z:2.14 [[-9.40562199e-01 3.39057456e-01 -1.95650769e-02 3.02400274e+02] [-3.38999270e-01 -9.40765415e-01 -6.31890423e-03 2.75897547e+02] [-2.05486193e-02 6.89224339e-04 9.99788617e-01 2.14248698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.530714057 meters Centerline goodness : 0.996883 Centerline is valid? [True, True] Translation: X:302.41, Y:275.90, Z:2.14 [[-9.40496227e-01 3.39240551e-01 -1.95626271e-02 3.02405833e+02] [-3.39182247e-01 -9.40699409e-01 -6.32647947e-03 2.75897484e+02] [-2.05487502e-02 6.85265764e-04 9.99788617e-01 2.14244292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5607140569999 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:302.41, Y:275.90, Z:2.14 [[-9.40738040e-01 3.38569550e-01 -1.95601752e-02 3.02411106e+02] [-3.38510944e-01 -9.40941136e-01 -6.33405119e-03 2.75895984e+02] [-2.05494904e-02 6.62650472e-04 9.99788617e-01 2.14192289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5907140569999 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:302.41, Y:275.90, Z:2.14 [[-9.40827650e-01 3.38320601e-01 -1.95577249e-02 3.02414436e+02] [-3.38261784e-01 -9.41030685e-01 -6.34160800e-03 2.75895496e+02] [-2.05499159e-02 6.49270767e-04 9.99788617e-01 2.14200460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.620714057 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:302.42, Y:275.89, Z:2.14 [[-9.40947718e-01 3.37986661e-01 -1.95552746e-02 3.02416987e+02] [-3.37927615e-01 -9.41150687e-01 -6.34915505e-03 2.75894694e+02] [-2.05503898e-02 6.34044343e-04 9.99788617e-01 2.14169323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.650714057 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:302.42, Y:275.89, Z:2.14 [[-9.41798958e-01 3.35607523e-01 -1.95528213e-02 3.02422830e+02] [-3.35547808e-01 -9.42001731e-01 -6.35670114e-03 2.75894196e+02] [-2.05521482e-02 5.74171827e-04 9.99788617e-01 2.14172992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6807140569999 meters Centerline goodness : 0.994588 Centerline is valid? [True, True] Translation: X:302.43, Y:275.89, Z:2.14 [[-9.42287707e-01 3.34232944e-01 -1.95503668e-02 3.02425447e+02] [-3.34172777e-01 -9.42490346e-01 -6.36424120e-03 2.75894106e+02] [-2.05531710e-02 5.36254111e-04 9.99788617e-01 2.14150526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7107140569999 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:302.43, Y:275.90, Z:2.14 [[-9.42804866e-01 3.32771489e-01 -1.95479122e-02 3.02432985e+02] [-3.32710852e-01 -9.43007365e-01 -6.37177152e-03 2.75895415e+02] [-2.05541691e-02 4.96465324e-04 9.99788617e-01 2.14188924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.740714057 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:302.43, Y:275.89, Z:2.14 [[-9.44179675e-01 3.28850600e-01 -1.95454593e-02 3.02434069e+02] [-3.28788966e-01 -9.44381872e-01 -6.37928708e-03 2.75893651e+02] [-2.05562098e-02 4.03138144e-04 9.99788618e-01 2.14287193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.770714057 meters Centerline goodness : 0.994389 Centerline is valid? [True, True] Translation: X:302.44, Y:275.89, Z:2.14 [[-9.44943963e-01 3.26648095e-01 -1.95430059e-02 3.02441454e+02] [-3.26585835e-01 -9.45145968e-01 -6.38679413e-03 2.75894874e+02] [-2.05572274e-02 3.47306349e-04 9.99788618e-01 2.14335605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8007140569999 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:302.45, Y:275.90, Z:2.14 [[-9.45677677e-01 3.24517948e-01 -1.95405525e-02 3.02445831e+02] [-3.24455077e-01 -9.45879493e-01 -6.39429152e-03 2.75895197e+02] [-2.05580703e-02 2.93092736e-04 9.99788618e-01 2.14418602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8307140569999 meters Centerline goodness : 0.992979 Centerline is valid? [True, True] Translation: X:302.46, Y:275.90, Z:2.14 [[-9.47330695e-01 3.19660472e-01 -1.95381016e-02 3.02456677e+02] [-3.19596413e-01 -9.47532137e-01 -6.40177176e-03 2.75897664e+02] [-2.05593725e-02 1.79712292e-04 9.99788618e-01 2.14416770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8607140569999 meters Centerline goodness : 0.992888 Centerline is valid? [True, True] Translation: X:302.46, Y:275.90, Z:2.14 [[-9.48076552e-01 3.17441664e-01 -1.95356567e-02 3.02461425e+02] [-3.17376979e-01 -9.48277794e-01 -6.40922383e-03 2.75899473e+02] [-2.05597842e-02 1.23732900e-04 9.99788618e-01 2.14401556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.890714057 meters Centerline goodness : 0.992989 Centerline is valid? [True, True] Translation: X:302.47, Y:275.90, Z:2.14 [[-9.49101982e-01 3.14362660e-01 -1.95332187e-02 3.02468234e+02] [-3.14297170e-01 -9.49302963e-01 -6.41664546e-03 2.75901877e+02] [-2.05600962e-02 4.91844582e-05 9.99788618e-01 2.14313129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9207140569999 meters Centerline goodness : 0.993052 Centerline is valid? [True, True] Translation: X:302.47, Y:275.90, Z:2.14 [[-9.49225408e-01 3.13989926e-01 -1.95307851e-02 3.02468933e+02] [-3.13924205e-01 -9.49426314e-01 -6.42404423e-03 2.75902778e+02] [-2.05601265e-02 3.33201997e-05 9.99788618e-01 2.14298877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9507140569999 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:302.47, Y:275.91, Z:2.14 [[-9.49204797e-01 3.14052380e-01 -1.95283512e-02 3.02472793e+02] [-3.13986520e-01 -9.49405657e-01 -6.43143475e-03 2.75905060e+02] [-2.05601345e-02 2.68903066e-05 9.99788618e-01 2.14284169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9807140569999 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:302.47, Y:275.91, Z:2.14 [[-9.49021319e-01 3.14606539e-01 -1.95259144e-02 3.02474058e+02] [-3.14540644e-01 -9.49222168e-01 -6.43882434e-03 2.75906617e+02] [-2.05601270e-02 3.11121217e-05 9.99788618e-01 2.14287233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.010714057 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:302.48, Y:275.91, Z:2.14 [[-9.48620781e-01 3.15812363e-01 -1.95234760e-02 3.02475275e+02] [-3.15746571e-01 -9.48821663e-01 -6.44620944e-03 2.75909506e+02] [-2.05600896e-02 4.94623804e-05 9.99788618e-01 2.14293960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.040714057 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:302.48, Y:275.91, Z:2.14 [[-9.48322742e-01 3.16706341e-01 -1.95210336e-02 3.02475558e+02] [-3.16640587e-01 -9.48523637e-01 -6.45359719e-03 2.75911341e+02] [-2.05600570e-02 6.10585732e-05 9.99788618e-01 2.14243266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0707140569999 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:302.48, Y:275.91, Z:2.14 [[-9.48077924e-01 3.17438615e-01 -1.95185860e-02 3.02477855e+02] [-3.17372864e-01 -9.48278820e-01 -6.46099134e-03 2.75913941e+02] [-2.05600299e-02 6.91462846e-05 9.99788618e-01 2.14219519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1007140569999 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:302.48, Y:275.92, Z:2.14 [[-9.47845405e-01 3.18132376e-01 -1.95161348e-02 3.02478389e+02] [-3.18066619e-01 -9.48046299e-01 -6.46838702e-03 2.75917815e+02] [-2.05600027e-02 7.64001121e-05 9.99788618e-01 2.14182285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.130714057 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:302.46, Y:275.91, Z:2.14 [[-9.47834483e-01 3.18165067e-01 -1.95136808e-02 3.02464168e+02] [-3.18099165e-01 -9.48035329e-01 -6.47578176e-03 2.75914983e+02] [-2.05600264e-02 6.93163212e-05 9.99788618e-01 2.14192143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.160714057 meters Centerline goodness : 0.995969 Centerline is valid? [True, True] Translation: X:302.47, Y:275.92, Z:2.14 [[-9.48140910e-01 3.17250890e-01 -1.95112077e-02 3.02465108e+02] [-3.17184641e-01 -9.48341643e-01 -6.48322450e-03 2.75919696e+02] [-2.05600995e-02 4.16450436e-05 9.99788618e-01 2.14329912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1907140569999 meters Centerline goodness : 0.996288 Centerline is valid? [True, True] Translation: X:302.48, Y:275.93, Z:2.14 [[-9.48246446e-01 3.16935463e-01 -1.95087165e-02 3.02477303e+02] [-3.16868994e-01 -9.48447105e-01 -6.49071219e-03 2.75926771e+02] [-2.05601226e-02 2.69126136e-05 9.99788618e-01 2.14411121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2207140569999 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:302.47, Y:275.93, Z:2.15 [[-9.48307214e-01 3.16753743e-01 -1.95062324e-02 3.02474423e+02] [-3.16687082e-01 -9.48507810e-01 -6.49816909e-03 2.75928975e+02] [-2.05601331e-02 1.51111844e-05 9.99788618e-01 2.14534093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.250714057 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:301.74, Y:275.69, Z:2.13 [[-9.48560786e-01 3.15993732e-01 -1.95037516e-02 3.01742696e+02] [-3.15926757e-01 -9.48761277e-01 -6.50560651e-03 2.75687587e+02] [-2.05601351e-02 -9.20623127e-06 9.99788618e-01 2.13121077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.280714057 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:302.28, Y:276.05, Z:2.94 [[-9.24732873e-01 -3.80116716e-01 1.95037516e-02 3.02276673e+02] [-3.80063608e-01 9.24937474e-01 6.50560651e-03 2.76049326e+02] [-2.05126405e-02 -1.39671800e-03 -9.99788618e-01 2.93844949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3107140569999 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:302.26, Y:276.08, Z:2.94 [[-8.92365363e-01 -4.50914926e-01 1.89681013e-02 3.02260140e+02] [-4.50850122e-01 8.92565525e-01 7.80707757e-03 2.76077464e+02] [-2.04506011e-02 -1.58500518e-03 -9.99789608e-01 2.93805635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3407140569999 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:302.34, Y:275.99, Z:2.15 [[-8.90990093e-01 4.53656130e-01 -1.82419984e-02 3.02339836e+02] [-4.53562011e-01 -8.91176814e-01 -9.24055315e-03 2.75990104e+02] [-2.04488796e-02 4.06361820e-05 9.99790899e-01 2.14576681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.370714057 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:302.34, Y:275.99, Z:2.15 [[-8.90765672e-01 4.54096681e-01 -1.82406786e-02 3.02341031e+02] [-4.54002601e-01 -8.90952413e-01 -9.24315782e-03 2.75993530e+02] [-2.04488639e-02 4.78278247e-05 9.99790899e-01 2.14597811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.400714057 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:302.34, Y:276.00, Z:2.15 [[-8.90567773e-01 4.54484817e-01 -1.82371640e-02 3.02343576e+02] [-4.54390676e-01 -8.90754483e-01 -9.25008699e-03 2.75997848e+02] [-2.04488597e-02 4.89679167e-05 9.99790899e-01 2.14593598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4307140569999 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:302.35, Y:276.01, Z:2.14 [[-8.90367875e-01 4.54876446e-01 -1.82336497e-02 3.02348993e+02] [-4.54782246e-01 -8.90554556e-01 -9.25700918e-03 2.76005778e+02] [-2.04488552e-02 5.01965612e-05 9.99790899e-01 2.14463106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4607140569999 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:302.35, Y:276.01, Z:2.14 [[-8.90055058e-01 4.55488370e-01 -1.82301414e-02 3.02351600e+02] [-4.55394157e-01 -8.90241732e-01 -9.26391294e-03 2.76009344e+02] [-2.04488373e-02 5.65073222e-05 9.99790899e-01 2.14401205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.490714057 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:302.35, Y:276.01, Z:2.14 [[-8.89594922e-01 4.56386529e-01 -1.82266392e-02 3.02349193e+02] [-4.56292364e-01 -8.89781620e-01 -9.27079836e-03 2.76012011e+02] [-2.04487961e-02 6.94211514e-05 9.99790899e-01 2.14447657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.520714057 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:302.35, Y:276.01, Z:2.14 [[-8.89319259e-01 4.56923597e-01 -1.82231321e-02 3.02346737e+02] [-4.56829403e-01 -8.89505942e-01 -9.27768701e-03 2.76013403e+02] [-2.04487784e-02 7.40368297e-05 9.99790899e-01 2.14419005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5507140569999 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:302.35, Y:276.02, Z:2.14 [[-8.88946823e-01 4.57647891e-01 -1.82196137e-02 3.02350771e+02] [-4.57553708e-01 -8.89133511e-01 -9.28459135e-03 2.76018199e+02] [-2.04487428e-02 8.29438228e-05 9.99790899e-01 2.14419795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5807140569999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:302.34, Y:276.01, Z:2.14 [[-8.88561940e-01 4.58394866e-01 -1.82160910e-02 3.02338231e+02] [-4.58300698e-01 -8.88748636e-01 -9.29149770e-03 2.76014737e+02] [-2.04487009e-02 9.23759815e-05 9.99790899e-01 2.14465175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6107140569999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:302.35, Y:276.03, Z:2.15 [[-8.87853298e-01 4.59766053e-01 -1.82125505e-02 3.02349396e+02] [-4.59672032e-01 -8.88040068e-01 -9.29843241e-03 2.76025594e+02] [-2.04485781e-02 1.16156189e-04 9.99790899e-01 2.14644392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.640714057 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:302.35, Y:276.03, Z:2.15 [[-8.87314834e-01 4.60804533e-01 -1.82090032e-02 3.02346911e+02] [-4.60710588e-01 -8.87501642e-01 -9.30537377e-03 2.76027029e+02] [-2.04484787e-02 1.32284394e-04 9.99790899e-01 2.14635020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6707140569999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:302.35, Y:276.03, Z:2.15 [[-8.86615541e-01 4.62148724e-01 -1.82054639e-02 3.02348771e+02] [-4.62054920e-01 -8.86802420e-01 -9.31229320e-03 2.76033910e+02] [-2.04483138e-02 1.55500263e-04 9.99790899e-01 2.14722685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7007140569999 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:302.36, Y:276.04, Z:2.15 [[-8.86157080e-01 4.63027342e-01 -1.82019207e-02 3.02358716e+02] [-4.62933581e-01 -8.86343981e-01 -9.31921358e-03 2.76041301e+02] [-2.04482135e-02 1.67993227e-04 9.99790899e-01 2.14742620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7307140569999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:302.35, Y:276.04, Z:2.15 [[-8.85731007e-01 4.63842001e-01 -1.81983901e-02 3.02350341e+02] [-4.63748269e-01 -8.85917923e-01 -9.32610304e-03 2.76039274e+02] [-2.04481182e-02 1.79053256e-04 9.99790899e-01 2.14810583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.760714057 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:302.36, Y:276.05, Z:2.15 [[-8.84915128e-01 4.65396780e-01 -1.81948545e-02 3.02364062e+02] [-4.65303235e-01 -8.85102138e-01 -9.33299571e-03 2.76050883e+02] [-2.04478508e-02 2.07215556e-04 9.99790899e-01 2.14941108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.790714057 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:302.35, Y:276.05, Z:2.15 [[-8.84280231e-01 4.66602131e-01 -1.81913215e-02 3.02351117e+02] [-4.66508700e-01 -8.84467297e-01 -9.33987689e-03 2.76046718e+02] [-2.04476354e-02 2.27341260e-04 9.99790899e-01 2.14954227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8207140569999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:302.36, Y:276.05, Z:2.15 [[-8.83464888e-01 4.68144204e-01 -1.81877860e-02 3.02357466e+02] [-4.68050958e-01 -8.83652047e-01 -9.34675672e-03 2.76052305e+02] [-2.04473043e-02 2.55279248e-04 9.99790899e-01 2.15019048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8507140569999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:302.36, Y:276.05, Z:2.15 [[-8.83287457e-01 4.68479031e-01 -1.81842332e-02 3.02359670e+02] [-4.68385714e-01 -8.83474579e-01 -9.35366349e-03 2.76053525e+02] [-2.04473030e-02 2.55261422e-04 9.99790899e-01 2.15024192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.880714057 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:302.36, Y:276.06, Z:2.15 [[-8.81473905e-01 4.71882631e-01 -1.81806860e-02 3.02359295e+02] [-4.71789893e-01 -8.81661316e-01 -9.36055308e-03 2.76058232e+02] [-2.04462900e-02 3.26380643e-04 9.99790899e-01 2.15060861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.910714057 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:302.37, Y:276.06, Z:2.15 [[-8.80480793e-01 4.73733221e-01 -1.81771345e-02 3.02366330e+02] [-4.73640735e-01 -8.80668328e-01 -9.36744467e-03 2.76064313e+02] [-2.04456964e-02 3.61576247e-04 9.99790900e-01 2.15120472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9407140569999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:302.34, Y:276.06, Z:2.15 [[-8.78689499e-01 4.77047675e-01 -1.81735885e-02 3.02344773e+02] [-4.76955755e-01 -8.78877312e-01 -9.37431913e-03 2.76057312e+02] [-2.04443518e-02 4.30881851e-04 9.99790900e-01 2.15027086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9707140569999 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:302.34, Y:276.06, Z:2.15 [[-8.77691158e-01 4.78882117e-01 -1.81700165e-02 3.02339238e+02] [-4.78790446e-01 -8.77879093e-01 -9.38123764e-03 2.76055679e+02] [-2.04435845e-02 4.65800964e-04 9.99790900e-01 2.14913892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.000714057 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:302.38, Y:276.08, Z:2.15 [[-8.77222655e-01 4.79739926e-01 -1.81663981e-02 3.02380834e+02] [-4.79648294e-01 -8.77410608e-01 -9.38823921e-03 2.76078087e+02] [-2.04433036e-02 4.77905745e-04 9.99790900e-01 2.14865419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.030714057 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:302.37, Y:276.08, Z:2.15 [[-8.76415219e-01 4.81213275e-01 -1.81699563e-02 3.02374910e+02] [-4.81122102e-01 -8.76603396e-01 -9.38134758e-03 2.76075838e+02] [-2.04422744e-02 5.20011784e-04 9.99790900e-01 2.14703084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0607140569999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:302.35, Y:276.07, Z:2.15 [[-8.74727947e-01 4.84273683e-01 -1.81664443e-02 3.02354304e+02] [-4.84183027e-01 -8.74916373e-01 -9.38814346e-03 2.76067231e+02] [-2.04405504e-02 5.83812556e-04 9.99790900e-01 2.14650579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0907140569999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:302.36, Y:276.07, Z:2.15 [[-8.73556130e-01 4.86384413e-01 -1.81628876e-02 3.02359694e+02] [-4.86294069e-01 -8.73744706e-01 -9.39501947e-03 2.76070926e+02] [-2.04393179e-02 6.25427672e-04 9.99790900e-01 2.14752335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.120714057 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:302.39, Y:276.09, Z:2.15 [[-8.71571520e-01 4.89931877e-01 -1.81615472e-02 3.02393908e+02] [-4.89842247e-01 -8.71760436e-01 -9.39760993e-03 2.76090210e+02] [-2.04367070e-02 7.05603918e-04 9.99790900e-01 2.14997032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.150714057 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:302.33, Y:276.06, Z:2.15 [[-8.70087669e-01 4.92562157e-01 -1.81650673e-02 3.02330885e+02] [-4.92473240e-01 -8.70276922e-01 -9.39080090e-03 2.76057909e+02] [-2.04341920e-02 7.74989456e-04 9.99790900e-01 2.14869308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1807140569999 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:302.39, Y:276.09, Z:2.15 [[-8.69078908e-01 4.94339976e-01 -1.81615007e-02 3.02392981e+02] [-4.94251302e-01 -8.69268275e-01 -9.39769341e-03 2.76090239e+02] [-2.04328719e-02 8.09008261e-04 9.99790900e-01 2.14978116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2107140569999 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:301.68, Y:275.72, Z:2.13 [[-8.65909430e-01 4.99870873e-01 -1.81650625e-02 3.01682354e+02] [-4.99783553e-01 -8.66099425e-01 -9.39080363e-03 2.75721333e+02] [-2.04269394e-02 9.47014072e-04 9.99790900e-01 2.13449047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.240714057 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:302.31, Y:276.04, Z:2.15 [[-8.65825457e-01 5.00017133e-01 -1.81423785e-02 3.02308301e+02] [-4.99928927e-01 -8.66015043e-01 -9.43466404e-03 2.76042684e+02] [-2.04290663e-02 9.01127499e-04 9.99790899e-01 2.14738093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.270714057 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:302.30, Y:276.04, Z:2.15 [[-8.64085376e-01 5.03016621e-01 -1.81863299e-02 3.02297120e+02] [-5.02930865e-01 -8.64276078e-01 -9.34916835e-03 2.76035267e+02] [-2.04207970e-02 1.06798698e-03 9.99790903e-01 2.14662587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3007140569999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:302.29, Y:276.03, Z:2.15 [[-8.60984860e-01 5.08305482e-01 -1.81826272e-02 3.02293936e+02] [-5.08220745e-01 -8.61176017e-01 -9.35636395e-03 2.76030345e+02] [-2.04143336e-02 1.18510065e-03 9.99790903e-01 2.14674098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3307140569999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:302.31, Y:276.04, Z:2.15 [[-8.59722647e-01 5.10437556e-01 -1.81788876e-02 3.02310647e+02] [-5.10353140e-01 -8.59913946e-01 -9.36362413e-03 2.76037047e+02] [-2.04118244e-02 1.22753267e-03 9.99790903e-01 2.14724673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3607140569999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:302.31, Y:276.04, Z:2.15 [[-8.58487993e-01 5.12511393e-01 -1.81779589e-02 3.02312154e+02] [-5.12427401e-01 -8.58679479e-01 -9.36542684e-03 2.76035973e+02] [-2.04089282e-02 1.27477773e-03 9.99790903e-01 2.14714503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.390714057 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:302.32, Y:276.03, Z:2.15 [[-8.56886799e-01 5.15184152e-01 -1.81742497e-02 3.02315200e+02] [-5.15100606e-01 -8.57078479e-01 -9.37261912e-03 2.76031578e+02] [-2.04053832e-02 1.33029347e-03 9.99790903e-01 2.14820231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4207140569999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:302.32, Y:276.03, Z:2.15 [[-8.56352455e-01 5.16071996e-01 -1.81705320e-02 3.02320673e+02] [-5.15988497e-01 -8.56544155e-01 -9.37982104e-03 2.76030580e+02] [-2.04045260e-02 1.34335274e-03 9.99790904e-01 2.14828700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4507140569999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:302.32, Y:276.02, Z:2.15 [[-8.56056898e-01 5.16562246e-01 -1.81668115e-02 3.02318942e+02] [-5.16478705e-01 -8.56248581e-01 -9.38702149e-03 2.76021037e+02] [-2.04042874e-02 1.34694676e-03 9.99790904e-01 2.14870277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4807140569999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:302.33, Y:276.02, Z:2.15 [[-8.56405929e-01 5.15983515e-01 -1.81630797e-02 3.02328698e+02] [-5.15899692e-01 -8.56597488e-01 -9.39423661e-03 2.76021860e+02] [-2.04057197e-02 1.32504729e-03 9.99790904e-01 2.14871085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.510714057 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:302.34, Y:276.02, Z:2.15 [[-8.56978554e-01 5.15032035e-01 -1.81593425e-02 3.02335831e+02] [-5.14947847e-01 -8.57169953e-01 -9.40145526e-03 2.76021284e+02] [-2.04076934e-02 1.29426877e-03 9.99790904e-01 2.14856253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.540714057 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:302.34, Y:276.02, Z:2.15 [[-8.58891955e-01 5.11834917e-01 -1.81556165e-02 3.02343942e+02] [-5.11749865e-01 -8.59082972e-01 -9.40864514e-03 2.76017349e+02] [-2.04128541e-02 1.21012468e-03 9.99790904e-01 2.14793495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5707140569999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:302.35, Y:276.01, Z:2.15 [[-8.59789660e-01 5.10325630e-01 -1.81518960e-02 3.02346568e+02] [-5.10240092e-01 -8.59980460e-01 -9.41581750e-03 2.76014485e+02] [-2.04154089e-02 1.16620257e-03 9.99790904e-01 2.14706596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6007140569999 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:302.35, Y:276.01, Z:2.15 [[-8.60603146e-01 5.08952718e-01 -1.81481753e-02 3.02351386e+02] [-5.08866725e-01 -8.60793741e-01 -9.42298345e-03 2.76012580e+02] [-2.04176887e-02 1.12555332e-03 9.99790904e-01 2.14608000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.630714057 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:302.36, Y:276.01, Z:2.14 [[-8.62738878e-01 5.05324062e-01 -1.81444505e-02 3.02364189e+02] [-5.05237116e-01 -8.62929040e-01 -9.43015039e-03 2.76011211e+02] [-2.04226551e-02 1.03149245e-03 9.99790904e-01 2.14424471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.660714057 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:302.37, Y:276.01, Z:2.14 [[-8.63751345e-01 5.03591628e-01 -1.81407355e-02 3.02371011e+02] [-5.03504151e-01 -8.63941264e-01 -9.43729141e-03 2.76011324e+02] [-2.04250709e-02 9.82462488e-04 9.99790904e-01 2.14356792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6907140569999 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:302.38, Y:276.01, Z:2.14 [[-8.64419135e-01 5.02444631e-01 -1.81370342e-02 3.02377735e+02] [-5.02356753e-01 -8.64608869e-01 -9.44439936e-03 2.76011546e+02] [-2.04267284e-02 9.47342101e-04 9.99790904e-01 2.14318671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7207140569999 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:302.39, Y:276.01, Z:2.14 [[-8.65822270e-01 5.00022978e-01 -1.81333402e-02 3.02386376e+02] [-4.99934422e-01 -8.66011688e-01 -9.45148662e-03 2.76010261e+02] [-2.04296450e-02 8.82173345e-04 9.99790904e-01 2.14241951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.750714057 meters Centerline goodness : 0.997211 Centerline is valid? [True, True] Translation: X:302.39, Y:276.01, Z:2.14 [[-8.66190775e-01 4.99384477e-01 -1.81296540e-02 3.02387722e+02] [-4.99295634e-01 -8.66380058e-01 -9.45855202e-03 2.76008057e+02] [-2.04306248e-02 8.59146601e-04 9.99790904e-01 2.14217476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.780714057 meters Centerline goodness : 0.996920 Centerline is valid? [True, True] Translation: X:302.40, Y:276.01, Z:2.14 [[-8.67668658e-01 4.96812389e-01 -1.81259682e-02 3.02397919e+02] [-4.96722838e-01 -8.67857606e-01 -9.46561007e-03 2.76007807e+02] [-2.04333918e-02 7.90569201e-04 9.99790904e-01 2.14220811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8107140569999 meters Centerline goodness : 0.996548 Centerline is valid? [True, True] Translation: X:302.40, Y:276.01, Z:2.14 [[-8.68481837e-01 4.95389627e-01 -1.81222853e-02 3.02401200e+02] [-4.95299619e-01 -8.68670569e-01 -9.47265598e-03 2.76006874e+02] [-2.04349514e-02 7.49131332e-04 9.99790904e-01 2.14155995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8407140569999 meters Centerline goodness : 0.996946 Centerline is valid? [True, True] Translation: X:302.40, Y:276.01, Z:2.14 [[-8.69425390e-01 4.93731919e-01 -1.81186077e-02 3.02404372e+02] [-4.93641405e-01 -8.69613879e-01 -9.47968503e-03 2.76006184e+02] [-2.04366158e-02 7.02216101e-04 9.99790904e-01 2.14117123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.870714057 meters Centerline goodness : 0.996417 Centerline is valid? [True, True] Translation: X:302.41, Y:276.01, Z:2.14 [[-8.70512653e-01 4.91812535e-01 -1.81149274e-02 3.02412184e+02] [-4.91721460e-01 -8.70700872e-01 -9.48671265e-03 2.76008106e+02] [-2.04383672e-02 6.49195121e-04 9.99790904e-01 2.14105926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.900714057 meters Centerline goodness : 0.996250 Centerline is valid? [True, True] Translation: X:302.42, Y:276.01, Z:2.14 [[-8.71440808e-01 4.90166197e-01 -1.81112511e-02 3.02418655e+02] [-4.90074620e-01 -8.71628784e-01 -9.49372585e-03 2.76009525e+02] [-2.04397913e-02 6.02644367e-04 9.99790904e-01 2.14107116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9307140569999 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:302.42, Y:276.01, Z:2.14 [[-8.73428426e-01 4.86615762e-01 -1.81075845e-02 3.02424462e+02] [-4.86523276e-01 -8.73615956e-01 -9.50071416e-03 2.76008820e+02] [-2.04422720e-02 5.11567507e-04 9.99790904e-01 2.14195539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9607140569999 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:302.43, Y:276.01, Z:2.14 [[-8.74290960e-01 4.85064497e-01 -1.81039244e-02 3.02429760e+02] [-4.84971534e-01 -8.74478253e-01 -9.50768352e-03 2.76010259e+02] [-2.04433279e-02 4.67406209e-04 9.99790904e-01 2.14222755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.990714057 meters Centerline goodness : 0.995945 Centerline is valid? [True, True] Translation: X:302.44, Y:276.01, Z:2.14 [[-8.75893704e-01 4.82164494e-01 -1.81002683e-02 3.02436270e+02] [-4.82070767e-01 -8.76080617e-01 -9.51463869e-03 2.76011311e+02] [-2.04449152e-02 3.91798091e-04 9.99790904e-01 2.14216417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.020714057 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:302.44, Y:276.01, Z:2.14 [[-8.76439512e-01 4.81171793e-01 -1.80966175e-02 3.02441016e+02] [-4.81077711e-01 -8.76626246e-01 -9.52157740e-03 2.76013223e+02] [-2.04454843e-02 3.60792671e-04 9.99790904e-01 2.14181705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0507140569999 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:302.44, Y:276.01, Z:2.14 [[-8.76857259e-01 4.80410233e-01 -1.80929719e-02 3.02438680e+02] [-4.80315846e-01 -8.77043839e-01 -9.52849971e-03 2.76011967e+02] [-2.04459183e-02 3.35206954e-04 9.99790904e-01 2.14173299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0807140569999 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:302.44, Y:276.02, Z:2.14 [[-8.77349849e-01 4.79510186e-01 -1.80893212e-02 3.02444091e+02] [-4.79415465e-01 -8.77536260e-01 -9.53542527e-03 2.76015027e+02] [-2.04463688e-02 3.06396423e-04 9.99790904e-01 2.14238018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1107140569999 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:302.45, Y:276.02, Z:2.14 [[-8.77925683e-01 4.78455227e-01 -1.80856655e-02 3.02448099e+02] [-4.78360139e-01 -8.78111907e-01 -9.54235406e-03 2.76018035e+02] [-2.04468274e-02 2.73983739e-04 9.99790904e-01 2.14344696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.140714057 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:302.45, Y:276.02, Z:2.14 [[-8.77942429e-01 4.78424637e-01 -1.80820149e-02 3.02451261e+02] [-4.78329400e-01 -8.78128576e-01 -9.54926649e-03 2.76020542e+02] [-2.04469384e-02 2.65453145e-04 9.99790904e-01 2.14366567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1707140569999 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:302.45, Y:276.02, Z:2.14 [[-8.77927929e-01 4.78451381e-01 -1.80783672e-02 3.02453628e+02] [-4.78356008e-01 -8.78114007e-01 -9.55616725e-03 2.76022809e+02] [-2.04470289e-02 2.58269466e-04 9.99790904e-01 2.14347624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2007140569999 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:302.46, Y:276.03, Z:2.14 [[-8.77772637e-01 4.78736359e-01 -1.80747193e-02 3.02455669e+02] [-4.78640905e-01 -8.77958673e-01 -9.56306201e-03 2.76025239e+02] [-2.04470421e-02 2.57105849e-04 9.99790904e-01 2.14302844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2307140569999 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:302.46, Y:276.03, Z:2.14 [[-8.77640899e-01 4.78977962e-01 -1.80710700e-02 3.02455963e+02] [-4.78882417e-01 -8.77826889e-01 -9.56995307e-03 2.76029147e+02] [-2.04470678e-02 2.54935456e-04 9.99790904e-01 2.14176717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.260714057 meters Centerline goodness : 0.996155 Centerline is valid? [True, True] Translation: X:302.46, Y:276.03, Z:2.14 [[-8.77726502e-01 4.78821214e-01 -1.80674180e-02 3.02455849e+02] [-4.78725494e-01 -8.77912402e-01 -9.57684275e-03 2.76031530e+02] [-2.04472058e-02 2.43484935e-04 9.99790904e-01 2.14193710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.290714057 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:302.46, Y:276.04, Z:2.14 [[-8.77800268e-01 4.78686108e-01 -1.80637610e-02 3.02461119e+02] [-4.78590217e-01 -8.77986080e-01 -9.58373563e-03 2.76036337e+02] [-2.04473318e-02 2.32533596e-04 9.99790904e-01 2.14238095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3207140569999 meters Centerline goodness : 0.997388 Centerline is valid? [True, True] Translation: X:302.42, Y:276.02, Z:2.14 [[-8.78542117e-01 4.77323352e-01 -1.80601050e-02 3.02424730e+02] [-4.77227031e-01 -8.78727706e-01 -9.59062022e-03 2.76021335e+02] [-2.04477417e-02 1.93006521e-04 9.99790904e-01 2.14281534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3507140569999 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:302.42, Y:276.02, Z:2.14 [[-8.78960706e-01 4.76552247e-01 -1.80563967e-02 3.02420084e+02] [-4.76455620e-01 -8.79146136e-01 -9.59759693e-03 2.76020956e+02] [-2.04479677e-02 1.67161102e-04 9.99790904e-01 2.14311337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.380714057 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:302.45, Y:276.04, Z:2.14 [[-8.79551491e-01 4.75461122e-01 -1.80526171e-02 3.02448814e+02] [-4.75364119e-01 -8.79736724e-01 -9.60470081e-03 2.76038331e+02] [-2.04482121e-02 1.33737524e-04 9.99790905e-01 2.14361673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.410714057 meters Centerline goodness : 0.997956 Centerline is valid? [True, True] Translation: X:302.47, Y:276.05, Z:2.15 [[-8.81233344e-01 4.72336778e-01 -1.80488687e-02 3.02471394e+02] [-4.72238975e-01 -8.81418156e-01 -9.61173952e-03 2.76054683e+02] [-2.04485787e-02 5.31939113e-05 9.99790905e-01 2.14551696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4407140569999 meters Centerline goodness : 0.997100 Centerline is valid? [True, True] Translation: X:302.45, Y:276.05, Z:2.15 [[-8.82206077e-01 4.70517596e-01 -1.80451942e-02 3.02453776e+02] [-4.70419271e-01 -8.82390612e-01 -9.61863328e-03 2.76048050e+02] [-2.04486461e-02 3.19034940e-06 9.99790905e-01 2.14602235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4707140569999 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:302.47, Y:276.06, Z:2.15 [[-8.82824263e-01 4.69356820e-01 -1.80415224e-02 3.02473306e+02] [-4.69258111e-01 -8.83008593e-01 -9.62551537e-03 2.76061145e+02] [-2.04486206e-02 -3.15077745e-05 9.99790905e-01 2.14632855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.500714057 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:302.47, Y:276.06, Z:2.15 [[-8.83603142e-01 4.67889007e-01 -1.80378481e-02 3.02474000e+02] [-4.67789851e-01 -8.83787232e-01 -9.63239607e-03 2.76064801e+02] [-2.04485120e-02 -7.32931691e-05 9.99790905e-01 2.14651314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.530714057 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:302.48, Y:276.08, Z:2.15 [[-8.85418690e-01 4.64444304e-01 -1.80341989e-02 3.02482551e+02] [-4.64344294e-01 -8.85602316e-01 -9.63922336e-03 2.76076572e+02] [-2.04480107e-02 -1.60671173e-04 9.99790905e-01 2.14699968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5607140569999 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:302.48, Y:276.08, Z:2.15 [[-8.86053415e-01 4.63232387e-01 -1.80305603e-02 3.02477288e+02] [-4.63131986e-01 -8.86236829e-01 -9.64602470e-03 2.76077335e+02] [-2.04476976e-02 -1.96363919e-04 9.99790905e-01 2.14628847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5907140569999 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:302.49, Y:276.09, Z:2.15 [[-8.86569610e-01 4.62243827e-01 -1.80269245e-02 3.02487538e+02] [-4.62143085e-01 -8.86752836e-01 -9.65281467e-03 2.76087155e+02] [-2.04473804e-02 -2.26873645e-04 9.99790905e-01 2.14743647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.620714057 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:302.49, Y:276.10, Z:2.15 [[-8.87577738e-01 4.60305246e-01 -1.80232915e-02 3.02488402e+02] [-4.60203966e-01 -8.87760667e-01 -9.65959332e-03 2.76097374e+02] [-2.04467308e-02 -2.79249769e-04 9.99790905e-01 2.14897142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.650714057 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:302.49, Y:276.10, Z:2.15 [[-8.87764365e-01 4.59945348e-01 -1.80196742e-02 3.02489081e+02] [-4.59843857e-01 -8.87947177e-01 -9.66633650e-03 2.76102802e+02] [-2.04465054e-02 -2.95192595e-04 9.99790905e-01 2.15082664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6807140569999 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:302.48, Y:276.10, Z:2.15 [[-8.87951455e-01 4.59584197e-01 -1.80160592e-02 3.02476857e+02] [-4.59482495e-01 -8.88134150e-01 -9.67306952e-03 2.76101419e+02] [-2.04462673e-02 -3.11152340e-04 9.99790905e-01 2.15089131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7107140569999 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:302.48, Y:276.11, Z:2.15 [[-8.87942782e-01 4.59601098e-01 -1.80124251e-02 3.02484623e+02] [-4.59499261e-01 -8.88125402e-01 -9.67983194e-03 2.76110919e+02] [-2.04461536e-02 -3.18440885e-04 9.99790905e-01 2.15227142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.740714057 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:302.49, Y:276.11, Z:2.15 [[-8.87770379e-01 4.59934167e-01 -1.80087819e-02 3.02486808e+02] [-4.59832262e-01 -8.87952961e-01 -9.68660513e-03 2.76112182e+02] [-2.04461519e-02 -3.18462188e-04 9.99790905e-01 2.15232287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.770714057 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:302.46, Y:276.11, Z:2.15 [[-8.87807139e-01 4.59863348e-01 -1.80051463e-02 3.02455413e+02] [-4.59761292e-01 -8.87989636e-01 -9.69335817e-03 2.76107304e+02] [-2.04460034e-02 -3.27763267e-04 9.99790905e-01 2.15253661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8007140569999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:302.46, Y:276.11, Z:2.15 [[-8.87473580e-01 4.60506886e-01 -1.80014662e-02 3.02458297e+02] [-4.60404824e-01 -8.87656074e-01 -9.70018767e-03 2.76114619e+02] [-2.04461140e-02 -3.20698422e-04 9.99790905e-01 2.15227091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8307140569999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:302.46, Y:276.12, Z:2.15 [[-8.87115663e-01 4.61196143e-01 -1.79977442e-02 3.02459299e+02] [-4.61094082e-01 -8.87298157e-01 -9.70708847e-03 2.76120861e+02] [-2.04462370e-02 -3.12656873e-04 9.99790905e-01 2.15205732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8607140569999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:302.46, Y:276.13, Z:2.15 [[-8.86686773e-01 4.62020325e-01 -1.79940264e-02 3.02458928e+02] [-4.61918294e-01 -8.86869285e-01 -9.71397523e-03 2.76131856e+02] [-2.04464034e-02 -3.01483355e-04 9.99790905e-01 2.15218680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.890714057 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:302.46, Y:276.14, Z:2.15 [[-8.86539346e-01 4.62303206e-01 -1.79926380e-02 3.02456507e+02] [-4.62201181e-01 -8.86721860e-01 -9.71654627e-03 2.76136401e+02] [-2.04464559e-02 -2.97882040e-04 9.99790905e-01 2.15221616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9207140569999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:302.46, Y:276.14, Z:2.15 [[-8.86246649e-01 4.62864118e-01 -1.79912484e-02 3.02458828e+02] [-4.62762157e-01 -8.86429199e-01 -9.71911855e-03 2.76143128e+02] [-2.04465992e-02 -2.87867319e-04 9.99790905e-01 2.15265800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9507140569999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:302.46, Y:276.15, Z:2.15 [[-8.86125403e-01 4.63096230e-01 -1.79903230e-02 3.02457122e+02] [-4.62994282e-01 -8.86307960e-01 -9.72083129e-03 2.76148080e+02] [-2.04466468e-02 -2.84458881e-04 9.99790905e-01 2.15336226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9807140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.45, Y:276.16, Z:2.15 [[-8.85596663e-01 4.64106613e-01 -1.79889345e-02 3.02452072e+02] [-4.64004821e-01 -8.85779308e-01 -9.72340001e-03 2.76156481e+02] [-2.04469202e-02 -2.64058258e-04 9.99790905e-01 2.15445840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.010714057 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:302.45, Y:276.16, Z:2.15 [[-8.85380951e-01 4.64518033e-01 -1.79880076e-02 3.02447078e+02] [-4.64416291e-01 -8.85563623e-01 -9.72511445e-03 2.76159467e+02] [-2.04470162e-02 -2.56507304e-04 9.99790905e-01 2.15478514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.040714057 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:302.44, Y:276.16, Z:2.16 [[-8.85116807e-01 4.65021185e-01 -1.79870787e-02 3.02440953e+02] [-4.64919512e-01 -8.85299518e-01 -9.72683217e-03 2.76161362e+02] [-2.04471352e-02 -2.46838763e-04 9.99790905e-01 2.15520418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0707140569999 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:302.45, Y:276.18, Z:2.16 [[-8.84355583e-01 4.66467238e-01 -1.79866126e-02 3.02450547e+02] [-4.66365846e-01 -8.84538450e-01 -9.72769410e-03 2.76178101e+02] [-2.04475010e-02 -2.14398790e-04 9.99790905e-01 2.15523156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1007140569999 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:302.44, Y:276.18, Z:2.15 [[-8.83783028e-01 4.67550968e-01 -1.79903295e-02 3.02437812e+02] [-4.67449940e-01 -8.83966096e-01 -9.72081516e-03 2.76176811e+02] [-2.04478179e-02 -1.81512996e-04 9.99790905e-01 2.15453121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.130714057 meters Centerline goodness : 0.997175 Centerline is valid? [True, True] Translation: X:302.44, Y:276.19, Z:2.15 [[-8.83253319e-01 4.68550893e-01 -1.79898670e-02 3.02444277e+02] [-4.68450055e-01 -8.83436492e-01 -9.72167098e-03 2.76185468e+02] [-2.04480026e-02 -1.59343963e-04 9.99790905e-01 2.15457469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.160714057 meters Centerline goodness : 0.996509 Centerline is valid? [True, True] Translation: X:302.44, Y:276.19, Z:2.15 [[-8.81975780e-01 4.70951117e-01 -1.79935737e-02 3.02441823e+02] [-4.70850918e-01 -8.82159303e-01 -9.71480562e-03 2.76193960e+02] [-2.04483970e-02 -9.59325947e-05 9.99790905e-01 2.15355365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1907140569999 meters Centerline goodness : 0.996171 Centerline is valid? [True, True] Translation: X:302.44, Y:276.20, Z:2.15 [[-8.81456413e-01 4.71922335e-01 -1.79972558e-02 3.02439803e+02] [-4.71822477e-01 -8.81640122e-01 -9.70797950e-03 2.76197256e+02] [-2.04485151e-02 -6.56509805e-05 9.99790905e-01 2.15302764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2207140569999 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:302.44, Y:276.20, Z:2.15 [[-8.80991865e-01 4.72788855e-01 -1.80009262e-02 3.02437027e+02] [-4.72689317e-01 -8.81175747e-01 -9.70116882e-03 2.76200042e+02] [-2.04485841e-02 -3.78052938e-05 9.99790905e-01 2.15240389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.250714057 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:302.43, Y:276.20, Z:2.15 [[-8.80583285e-01 4.73549273e-01 -1.80045899e-02 3.02425447e+02] [-4.73450032e-01 -8.80767328e-01 -9.69436456e-03 2.76197743e+02] [-2.04486138e-02 -1.24217067e-05 9.99790905e-01 2.15229825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.280714057 meters Centerline goodness : 0.995004 Centerline is valid? [True, True] Translation: X:302.43, Y:276.20, Z:2.15 [[-8.80269144e-01 4.74132826e-01 -1.80082606e-02 3.02429928e+02] [-4.74033847e-01 -8.80453328e-01 -9.68754104e-03 2.76204089e+02] [-2.04486142e-02 8.88160447e-06 9.99790905e-01 2.15294257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3107140569999 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:302.43, Y:276.21, Z:2.15 [[-8.79615905e-01 4.75343486e-01 -1.80119275e-02 3.02427759e+02] [-4.75244900e-01 -8.79800300e-01 -9.68071839e-03 2.76210345e+02] [-2.04485657e-02 4.47628317e-05 9.99790905e-01 2.15356224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3407140569999 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:302.42, Y:276.21, Z:2.15 [[-8.79597203e-01 4.75377955e-01 -1.80155745e-02 3.02423381e+02] [-4.75279516e-01 -8.79781676e-01 -9.67392671e-03 2.76210911e+02] [-2.04485438e-02 5.32746558e-05 9.99790905e-01 2.15409405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.370714057 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:302.42, Y:276.21, Z:2.15 [[-8.79703190e-01 4.75181655e-01 -1.80192165e-02 3.02417638e+02] [-4.75083314e-01 -8.79887715e-01 -9.66713813e-03 2.76210245e+02] [-2.04485339e-02 5.64168462e-05 9.99790905e-01 2.15427396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.400714057 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:302.41, Y:276.21, Z:2.15 [[-8.80068731e-01 4.74504167e-01 -1.80228608e-02 3.02405663e+02] [-4.74405823e-01 -8.80253255e-01 -9.66033922e-03 2.76206351e+02] [-2.04485531e-02 4.83876091e-05 9.99790905e-01 2.15407093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4307140569999 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:302.41, Y:276.21, Z:2.15 [[-8.81048647e-01 4.72682057e-01 -1.80265198e-02 3.02409324e+02] [-4.72583471e-01 -8.81233041e-01 -9.65350652e-03 2.76213317e+02] [-2.04486042e-02 1.38264266e-05 9.99790905e-01 2.15468191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4607140569999 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:302.40, Y:276.21, Z:2.16 [[-8.81785116e-01 4.71306611e-01 -1.80301774e-02 3.02402187e+02] [-4.71207877e-01 -8.81969432e-01 -9.64667017e-03 2.76212048e+02] [-2.04486048e-02 -1.03285586e-05 9.99790905e-01 2.15501784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.490714057 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:302.42, Y:276.22, Z:2.15 [[-8.75287513e-01 4.83266542e-01 -1.80338259e-02 3.02424909e+02] [-4.83170467e-01 -8.75473228e-01 -9.63984480e-03 2.76217504e+02] [-2.04467462e-02 2.75776283e-04 9.99790905e-01 2.15316603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.520714057 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:302.42, Y:276.22, Z:2.16 [[-8.80649978e-01 4.73431491e-01 -1.78392668e-02 3.02415128e+02] [-4.73325939e-01 -8.80830568e-01 -1.00033254e-02 2.76220293e+02] [-2.04492608e-02 -3.65640613e-04 9.99790825e-01 2.15536362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5507140569999 meters Centerline goodness : 0.993756 Centerline is valid? [True, True] Translation: X:302.42, Y:276.23, Z:2.16 [[-8.81113257e-01 4.72564402e-01 -1.79531095e-02 3.02420736e+02] [-4.72462998e-01 -8.81296128e-01 -9.79033573e-03 2.76225054e+02] [-2.04485701e-02 -1.44214653e-04 9.99790896e-01 2.15603709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5807140569999 meters Centerline goodness : 0.992945 Centerline is valid? [True, True] Translation: X:302.42, Y:276.22, Z:2.16 [[-8.81948088e-01 4.71004695e-01 -1.79484811e-02 3.02415354e+02] [-4.70902791e-01 -8.82130683e-01 -9.79899814e-03 2.76224824e+02] [-2.04482801e-02 -1.90217798e-04 9.99790894e-01 2.15702410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6107140569999 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:302.41, Y:276.23, Z:2.16 [[-8.81614789e-01 4.71627723e-01 -1.79626042e-02 3.02413069e+02] [-4.71526487e-01 -8.81797749e-01 -9.77254725e-03 2.76225256e+02] [-2.04483882e-02 -1.45778507e-04 9.99790899e-01 2.15763301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.640714057 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:302.42, Y:276.23, Z:2.16 [[-8.80313198e-01 4.74054016e-01 -1.79293875e-02 3.02420288e+02] [-4.73952016e-01 -8.80495749e-01 -9.83477813e-03 2.76230234e+02] [-2.04489655e-02 -1.60015667e-04 9.99790885e-01 2.15750831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6707140569999 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:302.40, Y:276.23, Z:2.16 [[-8.83266364e-01 4.68530669e-01 -1.78757462e-02 3.02402807e+02] [-4.68425489e-01 -8.83447141e-01 -9.93530517e-03 2.76229333e+02] [-2.04472721e-02 -4.02065718e-04 9.99790852e-01 2.15969791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7007140569999 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:302.39, Y:276.23, Z:2.16 [[-8.83817137e-01 4.67488217e-01 -1.79453705e-02 3.02392826e+02] [-4.67385472e-01 -8.83999259e-01 -9.80463305e-03 2.76226426e+02] [-2.04472447e-02 -2.78097232e-04 9.99790895e-01 2.15922796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7307140569999 meters Centerline goodness : 0.992898 Centerline is valid? [True, True] Translation: X:302.37, Y:276.22, Z:2.16 [[-8.87628098e-01 4.60210541e-01 -1.79615659e-02 3.02371313e+02] [-4.60106918e-01 -8.87809714e-01 -9.77421119e-03 2.76223545e+02] [-2.04446477e-02 -4.11623765e-04 9.99790902e-01 2.15766618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.760714057 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:302.40, Y:276.23, Z:2.16 [[-8.84927114e-01 4.65379427e-01 -1.80552652e-02 3.02395790e+02] [-4.65280452e-01 -8.85111282e-01 -9.59794878e-03 2.76234788e+02] [-2.04476068e-02 -9.27231690e-05 9.99790922e-01 2.15988171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.790714057 meters Centerline goodness : 0.992682 Centerline is valid? [True, True] Translation: X:302.39, Y:276.23, Z:2.16 [[-8.85034586e-01 4.65178840e-01 -1.79563051e-02 3.02388819e+02] [-4.65076037e-01 -8.85216669e-01 -9.78406182e-03 2.76233924e+02] [-2.04465591e-02 -3.08185882e-04 9.99790900e-01 2.15881207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8207140569999 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:302.38, Y:276.24, Z:2.16 [[-8.84988631e-01 4.65265559e-01 -1.79745072e-02 3.02384778e+02] [-4.65163469e-01 -8.85171107e-01 -9.74980965e-03 2.76235322e+02] [-2.04467651e-02 -2.67386544e-04 9.99790907e-01 2.15810276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8507140569999 meters Centerline goodness : 0.992295 Centerline is valid? [True, True] Translation: X:302.39, Y:276.24, Z:2.16 [[-8.83497395e-01 4.68091164e-01 -1.79726156e-02 3.02389770e+02] [-4.67989586e-01 -8.83680157e-01 -9.75337016e-03 2.76244083e+02] [-2.04475101e-02 -2.06080209e-04 9.99790907e-01 2.15655211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.880714057 meters Centerline goodness : 0.992243 Centerline is valid? [True, True] Translation: X:302.36, Y:276.23, Z:2.16 [[-8.85686331e-01 4.63935545e-01 -1.79870585e-02 3.02358948e+02] [-4.63833661e-01 -8.85868916e-01 -9.72616469e-03 2.76234911e+02] [-2.04464895e-02 -2.71327930e-04 9.99790912e-01 2.15557817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.910714057 meters Centerline goodness : 0.992488 Centerline is valid? [True, True] Translation: X:302.36, Y:276.24, Z:2.16 [[-8.84929519e-01 4.65374490e-01 -1.80646361e-02 3.02355702e+02] [-4.65275883e-01 -8.85113879e-01 -9.57987828e-03 2.76235437e+02] [-2.04474911e-02 -7.24775535e-05 9.99790926e-01 2.15531788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9407140569999 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:302.36, Y:276.24, Z:2.16 [[-8.84089797e-01 4.66967631e-01 -1.80682634e-02 3.02358124e+02] [-4.66869496e-01 -8.84274409e-01 -9.57303203e-03 2.76239080e+02] [-2.04475991e-02 -2.78988974e-05 9.99790926e-01 2.15578358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9707140569999 meters Centerline goodness : 0.992897 Centerline is valid? [True, True] Translation: X:302.36, Y:276.24, Z:2.16 [[-8.81953474e-01 4.70989891e-01 -1.80718787e-02 3.02358013e+02] [-4.70892737e-01 -8.82138605e-01 -9.56620233e-03 2.76244318e+02] [-2.04474864e-02 7.29710435e-05 9.99790926e-01 2.15732461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.000714057 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:302.36, Y:276.25, Z:2.16 [[-8.80992459e-01 4.72784903e-01 -1.80754772e-02 3.02356151e+02] [-4.72688266e-01 -8.81177860e-01 -9.55939807e-03 2.76246257e+02] [-2.04472494e-02 1.22308358e-04 9.99790926e-01 2.15854305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.030714057 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:302.35, Y:276.25, Z:2.16 [[-8.80023370e-01 4.74586153e-01 -1.80790655e-02 3.02350981e+02] [-4.74490035e-01 -8.80209040e-01 -9.55260690e-03 2.76246240e+02] [-2.04468918e-02 1.71819114e-04 9.99790926e-01 2.15956638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0607140569999 meters Centerline goodness : 0.993159 Centerline is valid? [True, True] Translation: X:302.39, Y:276.26, Z:2.16 [[-8.72258545e-01 4.88710599e-01 -1.80826513e-02 3.02391052e+02] [-4.88617627e-01 -8.72445810e-01 -9.54581438e-03 2.76264066e+02] [-2.04412740e-02 5.09083998e-04 9.99790926e-01 2.16217952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0907140569999 meters Centerline goodness : 0.992486 Centerline is valid? [True, True] Translation: X:302.35, Y:276.25, Z:2.16 [[-8.77116609e-01 4.79943345e-01 -1.79120340e-02 3.02354556e+02] [-4.79841877e-01 -8.77299483e-01 -9.86867273e-03 2.76253890e+02] [-2.04506220e-02 -6.10327413e-05 9.99790862e-01 2.16020518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.120714057 meters Centerline goodness : 0.992241 Centerline is valid? [True, True] Translation: X:302.39, Y:276.27, Z:2.16 [[-8.70494584e-01 4.91845583e-01 -1.80859639e-02 3.02391422e+02] [-4.91753430e-01 -8.70682246e-01 -9.53890097e-03 2.76266454e+02] [-2.04387940e-02 5.90273134e-04 9.99790932e-01 2.16196569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.150714057 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:302.39, Y:276.27, Z:2.16 [[-8.69639972e-01 4.93360975e-01 -1.79239379e-02 3.02389199e+02] [-4.93262799e-01 -8.69824620e-01 -9.84584301e-03 2.76266256e+02] [-2.04482372e-02 2.78873158e-04 9.99790874e-01 2.16182363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1807140569999 meters Centerline goodness : 0.992282 Centerline is valid? [True, True] Translation: X:302.35, Y:276.26, Z:2.16 [[-8.74271832e-01 4.85106154e-01 -1.79104040e-02 3.02351104e+02] [-4.85005709e-01 -8.74455268e-01 -9.87151044e-03 2.76255681e+02] [-2.04505776e-02 5.62646773e-05 9.99790863e-01 2.16025578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2107140569999 meters Centerline goodness : 0.992332 Centerline is valid? [True, True] Translation: X:302.35, Y:276.26, Z:2.16 [[-8.74064091e-01 4.85473566e-01 -1.80936761e-02 3.02352029e+02] [-4.85380367e-01 -8.74251226e-01 -9.52330857e-03 2.76256645e+02] [-2.04417331e-02 4.58333105e-04 9.99790941e-01 2.16001123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.240714057 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:302.38, Y:276.26, Z:2.16 [[-8.67973322e-01 4.96280973e-01 -1.80972140e-02 3.02381624e+02] [-4.96190242e-01 -8.68161666e-01 -9.51658076e-03 2.76264588e+02] [-2.04342054e-02 7.19522786e-04 9.99790941e-01 2.16028458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.270714057 meters Centerline goodness : 0.991921 Centerline is valid? [True, True] Translation: X:302.35, Y:276.25, Z:2.16 [[-8.73965982e-01 4.85656333e-01 -1.79273042e-02 3.02348212e+02] [-4.85556661e-01 -8.74149824e-01 -9.83943397e-03 2.76254251e+02] [-2.04497332e-02 1.05391392e-04 9.99790877e-01 2.15942343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3007140569999 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:302.35, Y:276.25, Z:2.16 [[-8.74324348e-01 4.85004406e-01 -1.81014146e-02 3.02347311e+02] [-4.84911423e-01 -8.74511584e-01 -9.50796278e-03 2.76252209e+02] [-2.04413006e-02 4.64539359e-04 9.99790947e-01 2.15919302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3307140569999 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:302.35, Y:276.25, Z:2.16 [[-8.74727960e-01 4.84275961e-01 -1.81049456e-02 3.02345517e+02] [-4.84182962e-01 -8.74915188e-01 -9.50123428e-03 2.76250018e+02] [-2.04415113e-02 4.55110922e-04 9.99790947e-01 2.15929938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3607140569999 meters Centerline goodness : 0.992333 Centerline is valid? [True, True] Translation: X:302.34, Y:276.25, Z:2.16 [[-8.75314555e-01 4.83214768e-01 -1.81084730e-02 3.02342889e+02] [-4.83121681e-01 -8.75501740e-01 -9.49450666e-03 2.76246611e+02] [-2.04418855e-02 4.37916050e-04 9.99790947e-01 2.16012297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.390714057 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:302.34, Y:276.24, Z:2.16 [[-8.75762890e-01 4.82401613e-01 -1.81120002e-02 3.02340940e+02] [-4.82308490e-01 -8.75950057e-01 -9.48777336e-03 2.76244772e+02] [-2.04421248e-02 4.26531661e-04 9.99790947e-01 2.16035893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4207140569999 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:302.33, Y:276.24, Z:2.16 [[-8.76118972e-01 4.81754475e-01 -1.81155260e-02 3.02333765e+02] [-4.81661354e-01 -8.76306140e-01 -9.48103655e-03 2.76239625e+02] [-2.04422785e-02 4.19032775e-04 9.99790947e-01 2.16120050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4507140569999 meters Centerline goodness : 0.991593 Centerline is valid? [True, True] Translation: X:302.36, Y:276.24, Z:2.16 [[-8.70368391e-01 4.92067641e-01 -1.81190573e-02 3.02362277e+02] [-4.91976877e-01 -8.70556713e-01 -9.47428323e-03 2.76244573e+02] [-2.04356551e-02 6.68040550e-04 9.99790947e-01 2.16216210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4807140569999 meters Centerline goodness : 0.992237 Centerline is valid? [True, True] Translation: X:302.33, Y:276.24, Z:2.16 [[-8.76764090e-01 4.80585073e-01 -1.79643770e-02 3.02331998e+02] [-4.80485759e-01 -8.76948108e-01 -9.76994857e-03 2.76235981e+02] [-2.04491178e-02 6.56872429e-05 9.99790893e-01 2.16228819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.510714057 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:302.33, Y:276.23, Z:2.16 [[-8.77546072e-01 4.79149693e-01 -1.81235428e-02 3.02333032e+02] [-4.79056344e-01 -8.77733120e-01 -9.46518704e-03 2.76233259e+02] [-2.04428753e-02 3.76060457e-04 9.99790952e-01 2.16275914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.540714057 meters Centerline goodness : 0.992451 Centerline is valid? [True, True] Translation: X:302.33, Y:276.23, Z:2.16 [[-8.77848848e-01 4.78594619e-01 -1.81270716e-02 3.02330384e+02] [-4.78501290e-01 -8.78035907e-01 -9.45842413e-03 2.76230416e+02] [-2.04429707e-02 3.70760438e-04 9.99790952e-01 2.16266642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5707140569999 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:302.33, Y:276.23, Z:2.16 [[-8.78818770e-01 4.76811128e-01 -1.81305967e-02 3.02328486e+02] [-4.76717559e-01 -8.79005708e-01 -9.45166210e-03 2.76227764e+02] [-2.04435557e-02 3.36875762e-04 9.99790952e-01 2.16281271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6007140569999 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:302.32, Y:276.23, Z:2.16 [[-8.79599335e-01 4.75369501e-01 -1.81341216e-02 3.02324633e+02] [-4.75275766e-01 -8.79786190e-01 -9.44489436e-03 2.76225041e+02] [-2.04439645e-02 3.10985740e-04 9.99790952e-01 2.16384161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.630714057 meters Centerline goodness : 0.992220 Centerline is valid? [True, True] Translation: X:302.32, Y:276.22, Z:2.16 [[-8.80369181e-01 4.73942118e-01 -1.81376468e-02 3.02323765e+02] [-4.73848219e-01 -8.80555954e-01 -9.43811985e-03 2.76223517e+02] [-2.04443354e-02 2.85461797e-04 9.99790952e-01 2.16350500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.660714057 meters Centerline goodness : 0.992220 Centerline is valid? [True, True] Translation: X:302.32, Y:276.22, Z:2.16 [[-8.80546162e-01 4.73613085e-01 -1.81411718e-02 3.02321619e+02] [-4.73519256e-01 -8.80732970e-01 -9.43133960e-03 2.76222314e+02] [-2.04443339e-02 2.85464270e-04 9.99790952e-01 2.16345350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6907140569999 meters Centerline goodness : 0.992244 Centerline is valid? [True, True] Translation: X:302.32, Y:276.22, Z:2.16 [[-8.81318414e-01 4.72174357e-01 -1.81446930e-02 3.02315472e+02] [-4.72080363e-01 -8.81505138e-01 -9.42456025e-03 2.76217775e+02] [-2.04446758e-02 2.59714787e-04 9.99790952e-01 2.16353859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7207140569999 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:302.31, Y:276.21, Z:2.16 [[-8.82939661e-01 4.69135585e-01 -1.81482181e-02 3.02310511e+02] [-4.69041087e-01 -8.83126132e-01 -9.41776746e-03 2.76213302e+02] [-2.04453755e-02 1.96939520e-04 9.99790952e-01 2.16184077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.750714057 meters Centerline goodness : 0.992531 Centerline is valid? [True, True] Translation: X:302.33, Y:276.22, Z:2.16 [[-8.81812817e-01 4.71250114e-01 -1.81517520e-02 3.02326177e+02] [-4.71156204e-01 -8.81999584e-01 -9.41095122e-03 2.76218491e+02] [-2.04447496e-02 2.53613165e-04 9.99790952e-01 2.16458346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.780714057 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:302.31, Y:276.21, Z:2.16 [[-8.84153163e-01 4.66846506e-01 -1.80976224e-02 3.02309548e+02] [-4.66749525e-01 -8.84338362e-01 -9.51537809e-03 2.76212372e+02] [-2.04466428e-02 3.40050249e-05 9.99790945e-01 2.16090998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8107140569999 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:302.32, Y:276.22, Z:2.16 [[-8.83198942e-01 4.68646978e-01 -1.81559503e-02 3.02322887e+02] [-4.68552686e-01 -8.83385515e-01 -9.40275201e-03 2.76217556e+02] [-2.04452748e-02 2.02518656e-04 9.99790953e-01 2.16343172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8407140569999 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:302.30, Y:276.21, Z:2.16 [[-8.85043258e-01 4.65156046e-01 -1.81186155e-02 3.02302911e+02] [-4.65059541e-01 -8.85228700e-01 -9.47482788e-03 2.76210275e+02] [-2.04463919e-02 4.06024555e-05 9.99790950e-01 2.15954707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.870714057 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:302.33, Y:276.22, Z:2.16 [[-8.81061222e-01 4.72653599e-01 -1.81575998e-02 3.02334375e+02] [-4.72560221e-01 -8.81248255e-01 -9.39951966e-03 2.76222159e+02] [-2.04440700e-02 2.99007115e-04 9.99790953e-01 2.16170516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.900714057 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:302.30, Y:276.21, Z:2.16 [[-8.84831648e-01 4.65561713e-01 -1.80345816e-02 3.02302442e+02] [-4.65461980e-01 -8.85015409e-01 -9.63697564e-03 2.76211137e+02] [-2.04474895e-02 -1.32688965e-04 9.99790919e-01 2.15974065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9307140569999 meters Centerline goodness : 0.992944 Centerline is valid? [True, True] Translation: X:302.30, Y:276.21, Z:2.16 [[-8.83619044e-01 4.67854195e-01 -1.81614513e-02 3.02301577e+02] [-4.67759963e-01 -8.83805643e-01 -9.39163814e-03 2.76212024e+02] [-2.04451104e-02 1.96569468e-04 9.99790958e-01 2.16027105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9607140569999 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:302.30, Y:276.21, Z:2.16 [[-8.82739678e-01 4.69511124e-01 -1.81649703e-02 3.02299202e+02] [-4.69417383e-01 -8.82926524e-01 -9.38482691e-03 2.76211635e+02] [-2.04446147e-02 2.42593708e-04 9.99790958e-01 2.16058540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.990714057 meters Centerline goodness : 0.992498 Centerline is valid? [True, True] Translation: X:302.30, Y:276.21, Z:2.16 [[-8.81693456e-01 4.71472752e-01 -1.81684844e-02 3.02300232e+02] [-4.71379566e-01 -8.81880580e-01 -9.37801883e-03 2.76212780e+02] [-2.04439139e-02 2.95714457e-04 9.99790958e-01 2.16095438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.020714057 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:302.30, Y:276.21, Z:2.16 [[-8.80661704e-01 4.73397024e-01 -1.81719908e-02 3.02299079e+02] [-4.73304388e-01 -8.80849100e-01 -9.37121937e-03 2.76213010e+02] [-2.04430891e-02 3.48008984e-04 9.99790958e-01 2.16189979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0507140569999 meters Centerline goodness : 0.992603 Centerline is valid? [True, True] Translation: X:302.30, Y:276.22, Z:2.16 [[-8.78112188e-01 4.78109440e-01 -1.81754874e-02 3.02300763e+02] [-4.78017950e-01 -8.78300146e-01 -9.36443294e-03 2.76216051e+02] [-2.04407570e-02 4.65186507e-04 9.99790958e-01 2.16241183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0807140569999 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:302.31, Y:276.22, Z:2.16 [[-8.72283823e-01 4.88663507e-01 -1.81358557e-02 3.02314000e+02] [-4.88572691e-01 -8.72472112e-01 -9.44139218e-03 2.76217365e+02] [-2.04366921e-02 6.25110147e-04 9.99790954e-01 2.16481397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1107140569999 meters Centerline goodness : 0.992815 Centerline is valid? [True, True] Translation: X:302.30, Y:276.22, Z:2.16 [[-8.75810874e-01 4.82317277e-01 -1.80376846e-02 3.02301220e+02] [-4.82221162e-01 -8.75996561e-01 -9.63200959e-03 2.76217364e+02] [-2.04466343e-02 2.62334467e-04 9.99790911e-01 2.16395994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.140714057 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:302.29, Y:276.21, Z:2.16 [[-8.74725029e-01 4.84278273e-01 -1.81845403e-02 3.02291530e+02] [-4.84188485e-01 -8.74913800e-01 -9.34628293e-03 2.76212321e+02] [-2.04361070e-02 6.29317406e-04 9.99790963e-01 2.16402255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1707140569999 meters Centerline goodness : 0.992520 Centerline is valid? [True, True] Translation: X:302.30, Y:276.21, Z:2.16 [[-8.72649141e-01 4.88008887e-01 -1.81880123e-02 3.02296664e+02] [-4.87920046e-01 -8.72838360e-01 -9.33952136e-03 2.76214405e+02] [-2.04329643e-02 7.24170529e-04 9.99790963e-01 2.16224760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2007140569999 meters Centerline goodness : 0.993276 Centerline is valid? [True, True] Translation: X:302.30, Y:276.21, Z:2.16 [[-8.72019293e-01 4.89133338e-01 -1.81914819e-02 3.02298789e+02] [-4.89044882e-01 -8.72208693e-01 -9.33275851e-03 2.76214996e+02] [-2.04317319e-02 7.58105620e-04 9.99790963e-01 2.16227454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2307140569999 meters Centerline goodness : 0.993138 Centerline is valid? [True, True] Translation: X:302.30, Y:276.21, Z:2.16 [[-8.71555704e-01 4.89958772e-01 -1.81949344e-02 3.02297428e+02] [-4.89870636e-01 -8.71745252e-01 -9.32602266e-03 2.76213991e+02] [-2.04307143e-02 7.85015850e-04 9.99790963e-01 2.16157263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.260714057 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:302.30, Y:276.22, Z:2.16 [[-8.70573110e-01 4.91702430e-01 -1.81983773e-02 3.02302258e+02] [-4.91614814e-01 -8.70762898e-01 -9.31929959e-03 2.76215341e+02] [-2.04287940e-02 8.33460238e-04 9.99790963e-01 2.16134674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.290714057 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:302.32, Y:276.22, Z:2.16 [[-8.64523117e-01 5.02263352e-01 -1.82018078e-02 3.02324570e+02] [-5.02178193e-01 -8.64714021e-01 -9.31259457e-03 2.76218564e+02] [-2.04167333e-02 1.08959765e-03 9.99790963e-01 2.16272282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3207140569999 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:302.30, Y:276.21, Z:2.16 [[-8.69678083e-01 4.93288995e-01 -1.80554500e-02 3.02301982e+02] [-4.93195917e-01 -8.69865310e-01 -9.59847031e-03 2.76212916e+02] [-2.04406293e-02 5.57294941e-04 9.99790913e-01 2.16126425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3507140569999 meters Centerline goodness : 0.992745 Centerline is valid? [True, True] Translation: X:302.32, Y:276.21, Z:2.16 [[-8.65082682e-01 5.01298814e-01 -1.82058304e-02 3.02315915e+02] [-5.01213617e-01 -8.65273565e-01 -9.30421908e-03 2.76213087e+02] [-2.04172178e-02 1.07609131e-03 9.99790968e-01 2.16047843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.380714057 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:302.29, Y:276.20, Z:2.16 [[-8.69382656e-01 4.93808289e-01 -1.80878497e-02 3.02286143e+02] [-4.93716641e-01 -8.69570562e-01 -9.53497849e-03 2.76200305e+02] [-2.04371130e-02 6.40727438e-04 9.99790935e-01 2.16132895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.410714057 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:302.30, Y:276.20, Z:2.16 [[-8.69970838e-01 4.92766779e-01 -1.82110447e-02 3.02296563e+02] [-4.92679931e-01 -8.70160971e-01 -9.29357580e-03 2.76203481e+02] [-2.04261057e-02 8.87076297e-04 9.99790972e-01 2.16150778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4407140569999 meters Centerline goodness : 0.993331 Centerline is valid? [True, True] Translation: X:302.29, Y:276.19, Z:2.16 [[-8.67043601e-01 4.97899214e-01 -1.82144755e-02 3.02290010e+02] [-4.97813632e-01 -8.67234306e-01 -9.28684678e-03 2.76193216e+02] [-2.04201318e-02 1.01531314e-03 9.99790972e-01 2.16124455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4707140569999 meters Centerline goodness : 0.993123 Centerline is valid? [True, True] Translation: X:302.29, Y:276.19, Z:2.16 [[-8.73391746e-01 4.86681326e-01 -1.81147718e-02 3.02292849e+02] [-4.86589234e-01 -8.73579420e-01 -9.48229687e-03 2.76194544e+02] [-2.04395487e-02 5.32693128e-04 9.99790949e-01 2.16217404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.500714057 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:302.32, Y:276.20, Z:2.16 [[-8.69837631e-01 4.93001602e-01 -1.82185690e-02 3.02323952e+02] [-4.92915121e-01 -8.70027927e-01 -9.27848945e-03 2.76200253e+02] [-2.04249740e-02 9.09428852e-04 9.99790975e-01 2.16092111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.530714057 meters Centerline goodness : 0.993023 Centerline is valid? [True, True] Translation: X:302.29, Y:276.18, Z:2.16 [[-8.76334347e-01 4.81364390e-01 -1.80675725e-02 3.02287899e+02] [-4.81269249e-01 -8.76520525e-01 -9.57486723e-03 2.76184674e+02] [-2.04455982e-02 3.04582019e-04 9.99790921e-01 2.16172742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5607140569999 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:302.27, Y:276.17, Z:2.16 [[-8.77854294e-01 4.78580897e-01 -1.82253588e-02 3.02266716e+02] [-4.78491577e-01 -8.78043268e-01 -9.26446768e-03 2.76170358e+02] [-2.04364508e-02 5.87827927e-04 9.99790981e-01 2.16048750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5907140569999 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:302.27, Y:276.17, Z:2.16 [[-8.79965692e-01 4.74687362e-01 -1.82288115e-02 3.02269093e+02] [-4.74597348e-01 -8.80154335e-01 -9.25766903e-03 2.76165864e+02] [-2.04386660e-02 5.04914471e-04 9.99790981e-01 2.16120134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.620714057 meters Centerline goodness : 0.993696 Centerline is valid? [True, True] Translation: X:302.28, Y:276.17, Z:2.16 [[-8.80983206e-01 4.72796123e-01 -1.82322876e-02 3.02275074e+02] [-4.72705845e-01 -8.81171724e-01 -9.25081805e-03 2.76166689e+02] [-2.04395272e-02 4.68693571e-04 9.99790981e-01 2.16029498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.650714057 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:302.31, Y:276.17, Z:2.16 [[-8.75772123e-01 4.82380188e-01 -1.82357476e-02 3.02306401e+02] [-4.82292114e-01 -8.75961680e-01 -9.24399251e-03 2.76171797e+02] [-2.04329350e-02 6.99326311e-04 9.99790981e-01 2.15921052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6807140569999 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:302.27, Y:276.16, Z:2.16 [[-8.82624247e-01 4.69732004e-01 -1.80633147e-02 3.02272123e+02] [-4.69634223e-01 -8.82809064e-01 -9.58394768e-03 2.76159760e+02] [-2.04483449e-02 2.41261834e-05 9.99790910e-01 2.15932878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7107140569999 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:302.27, Y:276.15, Z:2.16 [[-8.83583825e-01 4.67917585e-01 -1.82416593e-02 3.02267105e+02] [-4.67826663e-01 -8.83772025e-01 -9.23153972e-03 2.76151842e+02] [-2.04410679e-02 3.77095418e-04 9.99790988e-01 2.15755123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.740714057 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:302.27, Y:276.15, Z:2.16 [[-8.83698097e-01 4.67701603e-01 -1.82451143e-02 3.02268870e+02] [-4.67610777e-01 -8.83886342e-01 -9.22470620e-03 2.76150151e+02] [-2.04410172e-02 3.79756756e-04 9.99790988e-01 2.15753986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.770714057 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:302.30, Y:276.16, Z:2.16 [[-8.80730246e-01 4.73266546e-01 -1.82485707e-02 3.02297199e+02] [-4.73177050e-01 -8.80919128e-01 -9.21786363e-03 2.76158181e+02] [-2.04380214e-02 5.16353542e-04 9.99790988e-01 2.16049831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8007140569999 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:302.29, Y:276.15, Z:2.16 [[-8.81086922e-01 4.72605709e-01 -1.81571018e-02 3.02285336e+02] [-4.72512334e-01 -8.81273939e-01 -9.39890863e-03 2.76149639e+02] [-2.04433585e-02 2.98199056e-04 9.99790968e-01 2.16221000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8307140569999 meters Centerline goodness : 0.994633 Centerline is valid? [True, True] Translation: X:302.27, Y:276.14, Z:2.16 [[-8.82253218e-01 4.70423410e-01 -1.81954748e-02 3.02268706e+02] [-4.70331137e-01 -8.82440766e-01 -9.32290012e-03 2.76142367e+02] [-2.04421392e-02 3.32739742e-04 9.99790982e-01 2.15702688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8607140569999 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:302.26, Y:276.14, Z:2.16 [[-8.81783550e-01 4.71300934e-01 -1.82537791e-02 3.02263410e+02] [-4.71211236e-01 -8.81972333e-01 -9.20731051e-03 2.76137985e+02] [-2.04387422e-02 4.82530857e-04 9.99790991e-01 2.15767221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.890714057 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:302.27, Y:276.14, Z:2.16 [[-8.81335821e-01 4.72137527e-01 -1.82572239e-02 3.02272376e+02] [-4.72048149e-01 -8.81524757e-01 -9.20047469e-03 2.76140655e+02] [-2.04380842e-02 5.09580833e-04 9.99790991e-01 2.15774217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9207140569999 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:302.28, Y:276.14, Z:2.16 [[-8.80119502e-01 4.74400897e-01 -1.82606578e-02 3.02275125e+02] [-4.74312147e-01 -8.80308732e-01 -9.19365424e-03 2.76137005e+02] [-2.04364943e-02 5.69737407e-04 9.99790991e-01 2.15813751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9507140569999 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:302.27, Y:276.13, Z:2.16 [[-8.79774306e-01 4.75040624e-01 -1.82640709e-02 3.02274387e+02] [-4.74952152e-01 -8.79963667e-01 -9.18686881e-03 2.76134183e+02] [-2.04358547e-02 5.92188626e-04 9.99790991e-01 2.15834233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9807140569999 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:302.30, Y:276.14, Z:2.16 [[-8.75490276e-01 4.82890335e-01 -1.82674765e-02 3.02299268e+02] [-4.82803701e-01 -8.75680485e-01 -9.18009193e-03 2.76138991e+02] [-2.04294504e-02 7.82524052e-04 9.99790991e-01 2.15948323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.010714057 meters Centerline goodness : 0.995193 Centerline is valid? [True, True] Translation: X:302.28, Y:276.13, Z:2.16 [[-8.78559318e-01 4.77287830e-01 -1.81618369e-02 3.02275960e+02] [-4.77195631e-01 -8.78746922e-01 -9.39022121e-03 2.76130054e+02] [-2.04414966e-02 4.16882879e-04 9.99790964e-01 2.15808365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.040714057 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:302.28, Y:276.13, Z:2.16 [[-8.77893343e-01 4.78507515e-01 -1.82712197e-02 3.02277778e+02] [-4.78420092e-01 -8.78083187e-01 -9.17233277e-03 2.76128376e+02] [-2.04326810e-02 6.88988752e-04 9.99790994e-01 2.15788479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0707140569999 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:302.28, Y:276.13, Z:2.16 [[-8.77005329e-01 4.80132993e-01 -1.82746080e-02 3.02278673e+02] [-4.80046063e-01 -8.77195400e-01 -9.16557718e-03 2.76126152e+02] [-2.04310980e-02 7.34393573e-04 9.99790994e-01 2.15777931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1007140569999 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:302.30, Y:276.13, Z:2.16 [[-8.70463441e-01 4.91893600e-01 -1.82779878e-02 3.02303136e+02] [-4.91809377e-01 -8.70654727e-01 -9.15883224e-03 2.76127075e+02] [-2.04189874e-02 1.01685714e-03 9.99790994e-01 2.16089149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.130714057 meters Centerline goodness : 0.995926 Centerline is valid? [True, True] Translation: X:302.26, Y:276.11, Z:2.16 [[-8.73049848e-01 4.87291993e-01 -1.81790223e-02 3.02255256e+02] [-4.87202648e-01 -8.73238822e-01 -9.35629106e-03 2.76105351e+02] [-2.04338738e-02 6.88359333e-04 9.99790970e-01 2.15872796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.160714057 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:302.32, Y:276.13, Z:2.16 [[-8.67825729e-01 4.96532349e-01 -1.82792707e-02 3.02315417e+02] [-4.96449204e-01 -8.68017484e-01 -9.15615727e-03 2.76125591e+02] [-2.04130548e-02 1.12878054e-03 9.99790995e-01 2.16473768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1907140569999 meters Centerline goodness : 0.997178 Centerline is valid? [True, True] Translation: X:302.30, Y:276.12, Z:2.16 [[-8.69259564e-01 4.94020242e-01 -1.82156481e-02 3.02295478e+02] [-4.93933887e-01 -8.69449906e-01 -9.28311115e-03 2.76116044e+02] [-2.04236384e-02 9.27892730e-04 9.99790985e-01 2.16047542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2207140569999 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:302.30, Y:276.11, Z:2.16 [[-8.65965094e-01 4.99770208e-01 -1.82810116e-02 3.02297755e+02] [-4.99687856e-01 -8.66157190e-01 -9.15255690e-03 2.76110272e+02] [-2.04084049e-02 1.20900468e-03 9.99790996e-01 2.16358540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.250714057 meters Centerline goodness : 0.996685 Centerline is valid? [True, True] Translation: X:302.26, Y:276.09, Z:2.16 [[-8.67996152e-01 4.96236879e-01 -1.82109991e-02 3.02260480e+02] [-4.96150814e-01 -8.68186627e-01 -9.29244975e-03 2.76091366e+02] [-2.04218021e-02 9.69591397e-04 9.99790983e-01 2.15928519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.280714057 meters Centerline goodness : 0.997536 Centerline is valid? [True, True] Translation: X:302.30, Y:276.10, Z:2.16 [[-8.67906454e-01 4.96391118e-01 -1.82823422e-02 3.02303524e+02] [-4.96308074e-01 -8.68098252e-01 -9.14990025e-03 2.76104464e+02] [-2.04127985e-02 1.13241655e-03 9.99790996e-01 2.16019778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3107140569999 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:302.30, Y:276.10, Z:2.16 [[-8.68293871e-01 4.95713007e-01 -1.82857292e-02 3.02297311e+02] [-4.95629955e-01 -8.68485665e-01 -9.14312640e-03 2.76097072e+02] [-2.04132604e-02 1.12403453e-03 9.99790996e-01 2.16018698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3407140569999 meters Centerline goodness : 0.997956 Centerline is valid? [True, True] Translation: X:302.29, Y:276.09, Z:2.16 [[-8.69134695e-01 4.94237183e-01 -1.82890665e-02 3.02293348e+02] [-4.94153945e-01 -8.69326409e-01 -9.13644584e-03 2.76091043e+02] [-2.04147398e-02 1.09681231e-03 9.99790996e-01 2.16051151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.370714057 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:302.29, Y:276.08, Z:2.16 [[-8.71955902e-01 4.89242571e-01 -1.82924131e-02 3.02285579e+02] [-4.89158374e-01 -8.72147197e-01 -9.12974066e-03 2.76079081e+02] [-2.04203346e-02 9.87155802e-04 9.99790996e-01 2.16065855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.400714057 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:302.26, Y:276.06, Z:2.16 [[-8.73826804e-01 4.85893131e-01 -1.82915732e-02 3.02256312e+02] [-4.85808166e-01 -8.74017759e-01 -9.13142303e-03 2.76060221e+02] [-2.04240556e-02 9.06913453e-04 9.99790996e-01 2.16025912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4307140569999 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:302.26, Y:276.06, Z:2.16 [[-8.76312306e-01 4.81396185e-01 -1.82881385e-02 3.02258000e+02] [-4.81310097e-01 -8.76502757e-01 -9.13829676e-03 2.76056163e+02] [-2.04287450e-02 7.94263814e-04 9.99790996e-01 2.16011866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4607140569999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:302.26, Y:276.05, Z:2.16 [[-8.78557220e-01 4.77286753e-01 -1.82911720e-02 3.02258449e+02] [-4.77199900e-01 -8.78747323e-01 -9.13222091e-03 2.76051553e+02] [-2.04320065e-02 7.05366845e-04 9.99790996e-01 2.16042253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.490714057 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:302.25, Y:276.04, Z:2.16 [[-8.82732219e-01 4.69520282e-01 -1.82903041e-02 3.02251999e+02] [-4.69431720e-01 -8.82921532e-01 -9.13395882e-03 2.76039154e+02] [-2.04374823e-02 5.23209191e-04 9.99790996e-01 2.16019544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.520714057 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:302.28, Y:276.05, Z:2.16 [[-8.84833723e-01 4.65547844e-01 -1.82889945e-02 3.02284664e+02] [-4.65458378e-01 -8.85022611e-01 -9.13658027e-03 2.76051913e+02] [-2.04396889e-02 4.28411396e-04 9.99790996e-01 2.16056845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5507140569999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:302.29, Y:276.05, Z:2.16 [[-8.84790225e-01 4.65630372e-01 -1.82924624e-02 3.02286168e+02] [-4.65541067e-01 -8.84979189e-01 -9.12963189e-03 2.76052635e+02] [-2.04394825e-02 4.38083419e-04 9.99790996e-01 2.16060235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5807140569999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:302.29, Y:276.05, Z:2.16 [[-8.86228743e-01 4.62886631e-01 -1.82916091e-02 3.02287641e+02] [-4.62796706e-01 -8.86417412e-01 -9.13134128e-03 2.76050317e+02] [-2.04407766e-02 3.72839321e-04 9.99790996e-01 2.16031506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6107140569999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:302.30, Y:276.05, Z:2.16 [[-8.88363944e-01 4.58775509e-01 -1.82903272e-02 3.02296127e+02] [-4.58684658e-01 -8.88552169e-01 -9.13390816e-03 2.76050762e+02] [-2.04423233e-02 2.75257805e-04 9.99790996e-01 2.15968905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.640714057 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:302.29, Y:276.04, Z:2.16 [[-8.88883040e-01 4.57768977e-01 -1.82894736e-02 3.02285458e+02] [-4.57677877e-01 -8.89071145e-01 -9.13561712e-03 2.76043686e+02] [-2.04426453e-02 2.50192322e-04 9.99790996e-01 2.15937781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6707140569999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:302.27, Y:276.03, Z:2.16 [[-8.89464808e-01 4.56637686e-01 -1.82860351e-02 3.02267800e+02] [-4.56546206e-01 -8.89652728e-01 -9.14249459e-03 2.76033295e+02] [-2.04430286e-02 2.16492729e-04 9.99790996e-01 2.15895850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7007140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:302.28, Y:276.04, Z:2.16 [[-8.90245065e-01 4.55114790e-01 -1.82825461e-02 3.02281660e+02] [-4.55022845e-01 -8.90432759e-01 -9.14946630e-03 2.76037356e+02] [-2.04434354e-02 1.73708904e-04 9.99790996e-01 2.15909957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7307140569999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:302.29, Y:276.04, Z:2.16 [[-8.90671421e-01 4.54279826e-01 -1.82827639e-02 3.02292927e+02] [-4.54187714e-01 -8.90859032e-01 -9.14903095e-03 2.76042519e+02] [-2.04435856e-02 1.55026368e-04 9.99790996e-01 2.15904027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.760714057 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:302.30, Y:276.05, Z:2.16 [[-8.91131362e-01 4.53376942e-01 -1.82823321e-02 3.02298629e+02] [-4.53284622e-01 -8.91318872e-01 -9.14989381e-03 2.76045724e+02] [-2.04437385e-02 1.33342652e-04 9.99790996e-01 2.15917906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.790714057 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:302.26, Y:276.03, Z:2.16 [[-8.91901936e-01 4.51859203e-01 -1.82810437e-02 3.02260104e+02] [-4.51766511e-01 -8.92089262e-01 -9.15246716e-03 2.76028523e+02] [-2.04439493e-02 9.56601670e-05 9.99790996e-01 2.15811816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8207140569999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:302.25, Y:276.02, Z:2.16 [[-8.92054806e-01 4.51557478e-01 -1.82775434e-02 3.02248974e+02] [-4.51464579e-01 -8.92242029e-01 -9.15945201e-03 2.76023843e+02] [-2.04440115e-02 8.09302665e-05 9.99790996e-01 2.15768983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8507140569999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:302.28, Y:276.04, Z:2.16 [[-8.92476288e-01 4.50724015e-01 -1.82739632e-02 3.02276719e+02] [-4.50630796e-01 -8.92663352e-01 -9.16658936e-03 2.76038401e+02] [-2.04440992e-02 5.38469240e-05 9.99790996e-01 2.15843516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.880714057 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:302.29, Y:276.04, Z:2.16 [[-8.92431265e-01 4.50813010e-01 -1.82775120e-02 3.02285790e+02] [-4.50719954e-01 -8.92618410e-01 -9.15950776e-03 2.76043877e+02] [-2.04440690e-02 6.38082756e-05 9.99790996e-01 2.15921336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.910714057 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:302.29, Y:276.05, Z:2.16 [[-8.91554892e-01 4.52543725e-01 -1.82770763e-02 3.02293649e+02] [-4.52451015e-01 -8.91742209e-01 -9.16037713e-03 2.76051304e+02] [-2.04439116e-02 1.02502673e-04 9.99790996e-01 2.16025959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9407140569999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:302.30, Y:276.05, Z:2.16 [[-8.90468212e-01 4.54678234e-01 -1.82775084e-02 3.02295105e+02] [-4.54585990e-01 -8.90655759e-01 -9.15951490e-03 2.76053998e+02] [-2.04436002e-02 1.52442394e-04 9.99790996e-01 2.16114534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9707140569999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:302.30, Y:276.06, Z:2.16 [[-8.87488448e-01 4.60467408e-01 -1.82762164e-02 3.02298285e+02] [-4.60376335e-01 -8.87676566e-01 -9.16209219e-03 2.76061006e+02] [-2.04422138e-02 2.82686532e-04 9.99790996e-01 2.16114631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.000714057 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:302.30, Y:276.06, Z:2.16 [[-8.85589232e-01 4.64109552e-01 -1.82766459e-02 3.02298870e+02] [-4.64019271e-01 -8.85777731e-01 -9.16123522e-03 2.76064478e+02] [-2.04408627e-02 3.67624643e-04 9.99790996e-01 2.16082807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.030714057 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:302.30, Y:276.07, Z:2.16 [[-8.83105264e-01 4.68818823e-01 -1.82757887e-02 3.02298417e+02] [-4.68729511e-01 -8.83294224e-01 -9.16294502e-03 2.76066456e+02] [-2.04386597e-02 4.74556507e-04 9.99790996e-01 2.16101831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0607140569999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:302.30, Y:276.07, Z:2.16 [[-8.80979318e-01 4.72801722e-01 -1.82749308e-02 3.02300380e+02] [-4.72713229e-01 -8.81168663e-01 -9.16465567e-03 2.76069828e+02] [-2.04363613e-02 5.64929445e-04 9.99790996e-01 2.16072729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0907140569999 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:302.30, Y:276.08, Z:2.16 [[-8.76254469e-01 4.81501841e-01 -1.82779260e-02 3.02303724e+02] [-4.81415351e-01 -8.76444738e-01 -9.15867813e-03 2.76075322e+02] [-2.04295125e-02 7.73941535e-04 9.99790996e-01 2.16123057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.120714057 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:302.30, Y:276.08, Z:2.16 [[-8.74142248e-01 4.85325790e-01 -1.82813382e-02 3.02300599e+02] [-4.85240274e-01 -8.74332957e-01 -9.15186211e-03 2.76075987e+02] [-2.04256112e-02 8.70812248e-04 9.99790996e-01 2.16084436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.150714057 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:302.32, Y:276.09, Z:2.16 [[-8.72507448e-01 4.88258687e-01 -1.82813382e-02 3.02321585e+02] [-4.88173812e-01 -8.72698443e-01 -9.15186211e-03 2.76088809e+02] [-2.04225716e-02 9.39402711e-04 9.99790996e-01 2.16004681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1807140569999 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:302.31, Y:276.08, Z:2.16 [[-8.70921966e-01 4.91081052e-01 -1.82847118e-02 3.02306550e+02] [-4.90996937e-01 -8.71113296e-01 -9.14511686e-03 2.76082953e+02] [-2.04190492e-02 1.01305437e-03 9.99790996e-01 2.15916231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2107140569999 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:302.33, Y:276.09, Z:2.16 [[-8.69077948e-01 4.94337152e-01 -1.82838726e-02 3.02328419e+02] [-4.94253719e-01 -8.69269577e-01 -9.14679444e-03 2.76094516e+02] [-2.04152145e-02 1.08759470e-03 9.99790996e-01 2.15940665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.240714057 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:302.32, Y:276.09, Z:2.16 [[-8.68605525e-01 4.95166658e-01 -1.82872219e-02 3.02319342e+02] [-4.95083548e-01 -8.68797294e-01 -9.14009332e-03 2.76089220e+02] [-2.04137584e-02 1.11456714e-03 9.99790996e-01 2.15942152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.270714057 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:302.29, Y:276.08, Z:2.16 [[-8.68494662e-01 4.95361112e-01 -1.82863904e-02 3.02292565e+02] [-4.95278010e-01 -8.68686434e-01 -9.14175656e-03 2.76075041e+02] [-2.04136100e-02 1.11728028e-03 9.99790996e-01 2.15911809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3007140569999 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:302.33, Y:276.09, Z:2.16 [[-8.69630216e-01 4.93364996e-01 -1.82829994e-02 3.02326638e+02] [-4.93281312e-01 -8.69821735e-01 -9.14853332e-03 2.76089770e+02] [-2.04165164e-02 1.06282094e-03 9.99790996e-01 2.16079605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3307140569999 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:302.33, Y:276.09, Z:2.16 [[-8.70542787e-01 4.91752848e-01 -1.82863767e-02 3.02327738e+02] [-4.91668951e-01 -8.70734213e-01 -9.14177774e-03 2.76088906e+02] [-2.04180691e-02 1.03253497e-03 9.99790996e-01 2.16153139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3607140569999 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:302.33, Y:276.09, Z:2.16 [[-8.71387024e-01 4.90255180e-01 -1.82897019e-02 3.02326655e+02] [-4.90171093e-01 -8.71578367e-01 -9.13512016e-03 2.76086789e+02] [-2.04194485e-02 1.00485802e-03 9.99790996e-01 2.16165522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.390714057 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:302.30, Y:276.07, Z:2.16 [[-8.72032233e-01 4.89106636e-01 -1.82888719e-02 3.02302219e+02] [-4.89022263e-01 -8.72223449e-01 -9.13678163e-03 2.76072516e+02] [-2.04208435e-02 9.76097427e-04 9.99790996e-01 2.16113733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4207140569999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:302.33, Y:276.08, Z:2.16 [[-8.73928664e-01 4.85710130e-01 -1.82854996e-02 3.02325123e+02] [-4.85624873e-01 -8.74119488e-01 -9.14352570e-03 2.76079450e+02] [-2.04248146e-02 8.89104211e-04 9.99790996e-01 2.16159852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4507140569999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:302.33, Y:276.08, Z:2.16 [[-8.74616027e-01 4.84471179e-01 -1.82888712e-02 3.02325547e+02] [-4.84385792e-01 -8.74806793e-01 -9.13677674e-03 2.76077184e+02] [-2.04257338e-02 8.67697994e-04 9.99790996e-01 2.16222165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4807140569999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:302.31, Y:276.07, Z:2.16 [[-8.75063173e-01 4.83663097e-01 -1.82880367e-02 3.02313545e+02] [-4.83577499e-01 -8.75253844e-01 -9.13844683e-03 2.76068886e+02] [-2.04266039e-02 8.46964764e-04 9.99790996e-01 2.16195924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.510714057 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:302.31, Y:276.06, Z:2.16 [[-8.75111861e-01 4.83575046e-01 -1.82867757e-02 3.02305980e+02] [-4.83489377e-01 -8.75302499e-01 -9.14096953e-03 2.76060986e+02] [-2.04268052e-02 8.42090918e-04 9.99790996e-01 2.16172542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.540714057 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:302.32, Y:276.07, Z:2.16 [[-8.74897822e-01 4.83962231e-01 -1.82855016e-02 3.02318764e+02] [-4.83876593e-01 -8.75088475e-01 -9.14351752e-03 2.76065417e+02] [-2.04265488e-02 8.48282631e-04 9.99790996e-01 2.16230593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5707140569999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:302.33, Y:276.07, Z:2.16 [[-8.74217739e-01 4.85189510e-01 -1.82888993e-02 3.02327372e+02] [-4.85104281e-01 -8.74408575e-01 -9.13671624e-03 2.76067984e+02] [-2.04250093e-02 8.84543952e-04 9.99790996e-01 2.16226053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6007140569999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:302.30, Y:276.05, Z:2.16 [[-8.72441829e-01 4.88375647e-01 -1.82888993e-02 3.02296080e+02] [-4.88291114e-01 -8.72632975e-01 -9.13671624e-03 2.76049277e+02] [-2.04216463e-02 9.59053611e-04 9.99790996e-01 2.16182333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.630714057 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:302.25, Y:276.02, Z:2.16 [[-8.71721693e-01 4.89660015e-01 -1.82854899e-02 3.02246946e+02] [-4.89575622e-01 -8.71912900e-01 -9.14353453e-03 2.76022950e+02] [-2.04205778e-02 9.81512689e-04 9.99790996e-01 2.16072657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.660714057 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:302.25, Y:276.02, Z:2.16 [[-8.71505232e-01 4.90045304e-01 -1.82819542e-02 3.02246148e+02] [-4.89960848e-01 -8.71696412e-01 -9.15059839e-03 2.76020834e+02] [-2.04205217e-02 9.82647424e-04 9.99790997e-01 2.16059908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6907140569999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:302.25, Y:276.02, Z:2.16 [[-8.72604256e-01 4.88085681e-01 -1.82806004e-02 3.02253562e+02] [-4.88000739e-01 -8.72795220e-01 -9.15330214e-03 2.76020201e+02] [-2.04228164e-02 9.33736126e-04 9.99790997e-01 2.16054722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7207140569999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:302.35, Y:276.06, Z:2.16 [[-8.74174597e-01 4.85267599e-01 -1.82792463e-02 3.02345153e+02] [-4.85181985e-01 -8.74365261e-01 -9.15600569e-03 2.76063510e+02] [-2.04258508e-02 8.64813388e-04 9.99790997e-01 2.16259070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.750714057 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:302.35, Y:276.06, Z:2.16 [[-8.75763881e-01 4.82393373e-01 -1.82827204e-02 3.02346841e+02] [-4.82307277e-01 -8.75954328e-01 -9.14906332e-03 2.76061775e+02] [-2.04282755e-02 8.05469874e-04 9.99790997e-01 2.16272737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.780714057 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:302.32, Y:276.04, Z:2.16 [[-8.79943572e-01 4.74726421e-01 -1.82793645e-02 3.02321679e+02] [-4.74638526e-01 -8.80133195e-01 -9.15576325e-03 2.76044600e+02] [-2.04347582e-02 6.19535608e-04 9.99790997e-01 2.16261114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8107140569999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:302.33, Y:276.04, Z:2.16 [[-8.81925449e-01 4.71034490e-01 -1.82759661e-02 3.02325849e+02] [-4.70945661e-01 -8.82114637e-01 -9.16254179e-03 2.76044813e+02] [-2.04373704e-02 5.26308159e-04 9.99790997e-01 2.16358519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8407140569999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:302.32, Y:276.04, Z:2.16 [[-8.83632337e-01 4.67824763e-01 -1.82725270e-02 3.02323257e+02] [-4.67735105e-01 -8.83821132e-01 -9.16939511e-03 2.76041513e+02] [-2.04393156e-02 4.44328316e-04 9.99790997e-01 2.16391677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.870714057 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:302.32, Y:276.04, Z:2.17 [[-8.86307940e-01 4.62735860e-01 -1.82690792e-02 3.02323954e+02] [-4.62644976e-01 -8.86496149e-01 -9.17625943e-03 2.76040041e+02] [-2.04416527e-02 3.19106110e-04 9.99790997e-01 2.16574229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.900714057 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:302.33, Y:276.04, Z:2.17 [[-8.86831698e-01 4.61731423e-01 -1.82656180e-02 3.02330293e+02] [-4.61640184e-01 -8.87019735e-01 -9.18314384e-03 2.76042665e+02] [-2.04421097e-02 2.88240216e-04 9.99790997e-01 2.16639534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9307140569999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:302.32, Y:276.04, Z:2.17 [[-8.87009630e-01 4.61389651e-01 -1.82621565e-02 3.02319186e+02] [-4.61298198e-01 -8.87197563e-01 -9.19002242e-03 2.76037099e+02] [-2.04423220e-02 2.72661521e-04 9.99790997e-01 2.16561073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9607140569999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:302.32, Y:276.04, Z:2.17 [[-8.86972665e-01 4.61460846e-01 -1.82586788e-02 3.02317735e+02] [-4.61369266e-01 -8.87160536e-01 -9.19692679e-03 2.76036833e+02] [-2.04424009e-02 2.66570573e-04 9.99790997e-01 2.16523760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.990714057 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:302.33, Y:276.04, Z:2.16 [[-8.86538836e-01 4.62293890e-01 -1.82551743e-02 3.02329943e+02] [-4.62202343e-01 -8.86726724e-01 -9.20387772e-03 2.76044930e+02] [-2.04422473e-02 2.77989284e-04 9.99790997e-01 2.16323082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.020714057 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:302.34, Y:276.05, Z:2.16 [[-8.85965063e-01 4.63392603e-01 -1.82538668e-02 3.02339888e+02] [-4.63301236e-01 -8.86153037e-01 -9.20647013e-03 2.76050978e+02] [-2.04419296e-02 3.00428153e-04 9.99790997e-01 2.16249349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0507140569999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:302.32, Y:276.04, Z:2.16 [[-8.85103648e-01 4.65035886e-01 -1.82525690e-02 3.02318952e+02] [-4.64944816e-01 -8.85291767e-01 -9.20904232e-03 2.76041922e+02] [-2.04413842e-02 3.35480387e-04 9.99790997e-01 2.16110205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0807140569999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:302.32, Y:276.04, Z:2.16 [[-8.84147118e-01 4.66852059e-01 -1.82490766e-02 3.02321276e+02] [-4.66761232e-01 -8.84335354e-01 -9.21595783e-03 2.76044898e+02] [-2.04407925e-02 3.69698938e-04 9.99790997e-01 2.16094778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1107140569999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:302.34, Y:276.06, Z:2.16 [[-8.81804084e-01 4.71262833e-01 -1.82455509e-02 3.02344925e+02] [-4.71172804e-01 -8.81992702e-01 -9.22293278e-03 2.76059582e+02] [-2.04388681e-02 4.63987572e-04 9.99790997e-01 2.16237554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.140714057 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:302.36, Y:276.07, Z:2.16 [[-8.80404462e-01 4.73872299e-01 -1.82490315e-02 3.02357945e+02] [-4.73782971e-01 -8.80593414e-01 -9.21604068e-03 2.76067863e+02] [-2.04372033e-02 5.32237004e-04 9.99790997e-01 2.16379010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1707140569999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:302.34, Y:276.06, Z:2.16 [[-8.78585014e-01 4.77237233e-01 -1.82481763e-02 3.02339772e+02] [-4.77148594e-01 -8.78774290e-01 -9.21773370e-03 2.76060116e+02] [-2.04350739e-02 6.08528949e-04 9.99790997e-01 2.16446391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2007140569999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:302.37, Y:276.07, Z:2.17 [[-8.75684139e-01 4.82539552e-01 -1.82447327e-02 3.02365400e+02] [-4.82451916e-01 -8.75873882e-01 -9.22454448e-03 2.76074949e+02] [-2.04312924e-02 7.24418989e-04 9.99790997e-01 2.16834105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2307140569999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:302.37, Y:276.08, Z:2.17 [[-8.74125411e-01 4.85357365e-01 -1.82481584e-02 3.02370848e+02] [-4.85270482e-01 -8.74315499e-01 -9.21776276e-03 2.76078103e+02] [-2.04285568e-02 7.97811978e-04 9.99790997e-01 2.16918736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.260714057 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:302.37, Y:276.08, Z:2.17 [[-8.72670672e-01 4.87968185e-01 -1.82468923e-02 3.02369233e+02] [-4.87881819e-01 -8.72860996e-01 -9.22026844e-03 2.76077552e+02] [-2.04261982e-02 8.56069144e-04 9.99790997e-01 2.16994239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.290714057 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:302.35, Y:276.07, Z:2.17 [[-8.70016976e-01 4.92684036e-01 -1.82456258e-02 3.02349629e+02] [-4.92598649e-01 -8.70207741e-01 -9.22277394e-03 2.76067435e+02] [-2.04213983e-02 9.63800731e-04 9.99790997e-01 2.16931554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3207140569999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:302.29, Y:276.04, Z:2.17 [[-8.68682978e-01 4.95032429e-01 -1.82422010e-02 3.02292007e+02] [-4.94947416e-01 -8.68873910e-01 -9.22954317e-03 2.76037770e+02] [-2.04190956e-02 1.01138318e-03 9.99790997e-01 2.16724338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3507140569999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:302.36, Y:276.07, Z:2.17 [[-8.67886066e-01 4.96428372e-01 -1.82386582e-02 3.02361005e+02] [-4.96343519e-01 -8.68077069e-01 -9.23653868e-03 2.76072143e+02] [-2.04178409e-02 1.03637659e-03 9.99790997e-01 2.16816334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.380714057 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:302.29, Y:276.03, Z:2.17 [[-8.65997221e-01 4.99715956e-01 -1.82421797e-02 3.02288301e+02] [-4.99631974e-01 -8.66188608e-01 -9.22957847e-03 2.76034174e+02] [-2.04133359e-02 1.12158698e-03 9.99790997e-01 2.16523960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.410714057 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:302.29, Y:276.04, Z:2.16 [[-8.65242208e-01 5.01022229e-01 -1.82386459e-02 3.02292222e+02] [-5.00938390e-01 -8.65433658e-01 -9.23655653e-03 2.76035236e+02] [-2.04120581e-02 1.14457933e-03 9.99790997e-01 2.16482432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4407140569999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:302.29, Y:276.03, Z:2.17 [[-8.64371683e-01 5.02522632e-01 -1.82372827e-02 3.02288350e+02] [-5.02439068e-01 -8.64563254e-01 -9.23924724e-03 2.76032026e+02] [-2.04102153e-02 1.17697964e-03 9.99790997e-01 2.16515283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4707140569999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:302.29, Y:276.03, Z:2.17 [[-8.64297206e-01 5.02650848e-01 -1.82336266e-02 3.02290598e+02] [-5.02567162e-01 -8.64488722e-01 -9.24645687e-03 2.76033130e+02] [-2.04105040e-02 1.17193515e-03 9.99790997e-01 2.16520408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.500714057 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:302.30, Y:276.04, Z:2.17 [[-8.63810272e-01 5.03487237e-01 -1.82322559e-02 3.02300597e+02] [-5.03403679e-01 -8.64001845e-01 -9.24915894e-03 2.76036899e+02] [-2.04095362e-02 1.18866620e-03 9.99790997e-01 2.16569139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.530714057 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:302.28, Y:276.02, Z:2.17 [[-8.63912787e-01 5.03311367e-01 -1.82308883e-02 3.02277517e+02] [-5.03227713e-01 -8.64104318e-01 -9.25185377e-03 2.76022083e+02] [-2.04099525e-02 1.18149346e-03 9.99790997e-01 2.16643123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5607140569999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:302.30, Y:276.03, Z:2.17 [[-8.64728918e-01 5.01908027e-01 -1.82271975e-02 3.02297611e+02] [-5.01823909e-01 -8.64920247e-01 -9.25911940e-03 2.76030135e+02] [-2.04122985e-02 1.14021520e-03 9.99790997e-01 2.16770397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5907140569999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:302.31, Y:276.03, Z:2.17 [[-8.65365854e-01 5.00808937e-01 -1.82304220e-02 3.02305215e+02] [-5.00724710e-01 -8.65557134e-01 -9.25276627e-03 2.76031690e+02] [-2.04133398e-02 1.12139478e-03 9.99790997e-01 2.16841566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.620714057 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:302.31, Y:276.03, Z:2.17 [[-8.67539931e-01 4.97033453e-01 -1.82267618e-02 3.02309638e+02] [-4.96948242e-01 -8.67730775e-01 -9.25997070e-03 2.76028645e+02] [-2.04184374e-02 1.02436291e-03 9.99790997e-01 2.16875307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.650714057 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:302.31, Y:276.03, Z:2.17 [[-8.68686108e-01 4.95027641e-01 -1.82231057e-02 3.02314881e+02] [-4.94941839e-01 -8.68876686e-01 -9.26716012e-03 2.76028402e+02] [-2.04211321e-02 9.69124215e-04 9.99790997e-01 2.16848041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6807140569999 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:302.33, Y:276.03, Z:2.17 [[-8.70068488e-01 4.92594030e-01 -1.82194493e-02 3.02330761e+02] [-4.92507545e-01 -8.70258758e-01 -9.27434314e-03 2.76033659e+02] [-2.04241214e-02 9.03902536e-04 9.99790997e-01 2.16776823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7107140569999 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:302.33, Y:276.03, Z:2.17 [[-8.71387513e-01 4.90257061e-01 -1.82158119e-02 3.02329506e+02] [-4.90169917e-01 -8.71577482e-01 -9.28148197e-03 2.76030373e+02] [-2.04268035e-02 8.41075507e-04 9.99790997e-01 2.16728281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.740714057 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:302.32, Y:276.02, Z:2.17 [[-8.73653745e-01 4.86207209e-01 -1.82121840e-02 3.02324596e+02] [-4.86119035e-01 -8.73843238e-01 -9.28859519e-03 2.76022563e+02] [-2.04307758e-02 7.38273344e-04 9.99790997e-01 2.16611875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.770714057 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:302.35, Y:276.03, Z:2.17 [[-8.74329086e-01 4.84991854e-01 -1.82085316e-02 3.02345755e+02] [-4.84903269e-01 -8.74518387e-01 -9.29574944e-03 2.76031026e+02] [-2.04320585e-02 7.01832396e-04 9.99790997e-01 2.16687622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8007140569999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:302.35, Y:276.03, Z:2.17 [[-8.74745414e-01 4.84240688e-01 -1.82048901e-02 3.02350537e+02] [-4.84151792e-01 -8.74934569e-01 -9.30287554e-03 2.76031297e+02] [-2.04329185e-02 6.76282467e-04 9.99790997e-01 2.16779207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8307140569999 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:302.35, Y:276.03, Z:2.17 [[-8.74991733e-01 4.83795598e-01 -1.82012754e-02 3.02353457e+02] [-4.83706459e-01 -8.75180774e-01 -9.30994255e-03 2.76028949e+02] [-2.04335155e-02 6.57951686e-04 9.99790997e-01 2.16935866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8607140569999 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:302.34, Y:276.02, Z:2.17 [[-8.74858763e-01 4.84036145e-01 -1.81976596e-02 3.02335404e+02] [-4.83946911e-01 -8.75047759e-01 -9.31700466e-03 2.76018039e+02] [-2.04335883e-02 6.55638001e-04 9.99790997e-01 2.16983253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.890714057 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:302.36, Y:276.03, Z:2.17 [[-8.74663769e-01 4.84388552e-01 -1.81940086e-02 3.02357489e+02] [-4.84299246e-01 -8.74852731e-01 -9.32412893e-03 2.76028230e+02] [-2.04335794e-02 6.55866884e-04 9.99790998e-01 2.17011917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9207140569999 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:302.35, Y:276.02, Z:2.17 [[-8.74261393e-01 4.85114552e-01 -1.81903516e-02 3.02351649e+02] [-4.85025255e-01 -8.74450359e-01 -9.33125778e-03 2.76023920e+02] [-2.04332884e-02 6.64821514e-04 9.99790998e-01 2.16888141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9507140569999 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:302.36, Y:276.03, Z:2.17 [[-8.73846811e-01 4.85861086e-01 -1.81867086e-02 3.02358697e+02] [-4.85771803e-01 -8.74035783e-01 -9.33835266e-03 2.76027332e+02] [-2.04329763e-02 6.74300543e-04 9.99790998e-01 2.16847195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9807140569999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:302.35, Y:276.02, Z:2.17 [[-8.73237419e-01 4.86955631e-01 -1.81830573e-02 3.02354045e+02] [-4.86866438e-01 -8.73426433e-01 -9.34545693e-03 2.76024493e+02] [-2.04323857e-02 6.91917626e-04 9.99790998e-01 2.16828291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.010714057 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:302.37, Y:276.03, Z:2.17 [[-8.72466627e-01 4.88335433e-01 -1.81793988e-02 3.02370719e+02] [-4.88246390e-01 -8.72655712e-01 -9.35256818e-03 2.76031587e+02] [-2.04315466e-02 7.16222239e-04 9.99790998e-01 2.16785466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.040714057 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:302.35, Y:276.02, Z:2.17 [[-8.72239538e-01 4.88741067e-01 -1.81757475e-02 3.02351799e+02] [-4.88651964e-01 -8.72428596e-01 -9.35965879e-03 2.76021671e+02] [-2.04314915e-02 7.17750249e-04 9.99790998e-01 2.16759493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0707140569999 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:302.36, Y:276.02, Z:2.17 [[-8.72100396e-01 4.88989443e-01 -1.81720822e-02 3.02355886e+02] [-4.88900246e-01 -8.72289409e-01 -9.36676960e-03 2.76023415e+02] [-2.04315663e-02 7.15571994e-04 9.99790998e-01 2.16829970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1007140569999 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:302.37, Y:276.03, Z:2.17 [[-8.71883407e-01 4.89376374e-01 -1.81683840e-02 3.02372056e+02] [-4.89287112e-01 -8.72072389e-01 -9.37393744e-03 2.76031041e+02] [-2.04315295e-02 7.16575627e-04 9.99790998e-01 2.16872495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.130714057 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:302.36, Y:276.03, Z:2.17 [[-8.72301289e-01 4.88631256e-01 -1.81647063e-02 3.02364276e+02] [-4.88541685e-01 -8.72490125e-01 -9.38105867e-03 2.76026086e+02] [-2.04324053e-02 6.91106645e-04 9.99790998e-01 2.16998685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.160714057 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:302.36, Y:276.02, Z:2.17 [[-8.72581907e-01 4.88130098e-01 -1.81610314e-02 3.02356881e+02] [-4.88040270e-01 -8.72770621e-01 -9.38816759e-03 2.76021638e+02] [-2.04330618e-02 6.71369478e-04 9.99790998e-01 2.17077186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1907140569999 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:302.37, Y:276.03, Z:2.17 [[-8.72900896e-01 4.87559574e-01 -1.81573216e-02 3.02374505e+02] [-4.87469474e-01 -8.73089480e-01 -9.39533715e-03 2.76030176e+02] [-2.04337530e-02 6.49941780e-04 9.99790998e-01 2.17129557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2207140569999 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:302.38, Y:276.03, Z:2.17 [[-8.73340169e-01 4.86772427e-01 -1.81536178e-02 3.02382820e+02] [-4.86682008e-01 -8.73528601e-01 -9.40248815e-03 2.76033491e+02] [-2.04345763e-02 6.23468565e-04 9.99790998e-01 2.17148162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.250714057 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:302.38, Y:276.03, Z:2.17 [[-8.73491592e-01 4.86500791e-01 -1.81499439e-02 3.02383547e+02] [-4.86410167e-01 -8.73679924e-01 -9.40957464e-03 2.76033715e+02] [-2.04350071e-02 6.09132898e-04 9.99790998e-01 2.17101951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.280714057 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:302.39, Y:276.04, Z:2.17 [[-8.73466478e-01 4.86546014e-01 -1.81462728e-02 3.02387440e+02] [-4.86455253e-01 -8.73654745e-01 -9.41664893e-03 2.76035183e+02] [-2.04352104e-02 6.02222565e-04 9.99790998e-01 2.17040588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3107140569999 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:302.40, Y:276.04, Z:2.17 [[-8.73618652e-01 4.86272863e-01 -1.81425990e-02 3.02401905e+02] [-4.86181896e-01 -8.73806819e-01 -9.42372179e-03 2.76042218e+02] [-2.04356269e-02 5.87864070e-04 9.99790998e-01 2.16908408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3407140569999 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:302.41, Y:276.04, Z:2.17 [[-8.73331033e-01 4.86789365e-01 -1.81389429e-02 3.02405710e+02] [-4.86698364e-01 -8.73519183e-01 -9.43075395e-03 2.76044122e+02] [-2.04355053e-02 5.92023725e-04 9.99790998e-01 2.16784890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.370714057 meters Centerline goodness : 0.997993 Centerline is valid? [True, True] Translation: X:302.38, Y:276.03, Z:2.17 [[-8.72622167e-01 4.88059079e-01 -1.81353042e-02 3.02384692e+02] [-4.87968206e-01 -8.72810380e-01 -9.43774589e-03 2.76034351e+02] [-2.04348593e-02 6.13865598e-04 9.99790998e-01 2.16563225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.400714057 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:302.39, Y:276.04, Z:2.17 [[-8.71941572e-01 4.89274094e-01 -1.81316303e-02 3.02393915e+02] [-4.89183337e-01 -8.72129841e-01 -9.44479894e-03 2.76039919e+02] [-2.04342313e-02 6.34378555e-04 9.99790998e-01 2.16569166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4307140569999 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:302.40, Y:276.04, Z:2.17 [[-8.71153271e-01 4.90676427e-01 -1.81279304e-02 3.02395625e+02] [-4.90585826e-01 -8.71341615e-01 -9.45189491e-03 2.76041405e+02] [-2.04334422e-02 6.59256548e-04 9.99790998e-01 2.16591002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4607140569999 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:302.39, Y:276.04, Z:2.17 [[-8.70323990e-01 4.92145979e-01 -1.81242391e-02 3.02388145e+02] [-4.92055548e-01 -8.70512415e-01 -9.45896783e-03 2.76037841e+02] [-2.04325681e-02 6.85765783e-04 9.99790998e-01 2.16610322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.490714057 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:302.41, Y:276.05, Z:2.17 [[-8.69116466e-01 4.94275445e-01 -1.81205281e-02 3.02409459e+02] [-4.94185328e-01 -8.69305041e-01 -9.46607175e-03 2.76049834e+02] [-2.04311132e-02 7.27780283e-04 9.99790998e-01 2.16800804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.520714057 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:301.79, Y:275.73, Z:2.15 [[-8.68447702e-01 4.95449664e-01 -1.81168312e-02 3.01788388e+02] [-4.95359655e-01 -8.68636329e-01 -9.47314178e-03 2.75725167e+02] [-2.04304026e-02 7.47419049e-04 9.99790998e-01 2.15363607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5507140569999 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:301.74, Y:275.70, Z:2.15 [[-8.67857544e-01 4.96482949e-01 -1.81098192e-02 3.01735944e+02] [-4.96392885e-01 -8.68046145e-01 -9.48656530e-03 2.75698067e+02] [-2.04300766e-02 7.56598133e-04 9.99790998e-01 2.15313431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5807140569999 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:302.38, Y:276.04, Z:2.17 [[-8.69336812e-01 4.93889015e-01 -1.80872270e-02 3.02384576e+02] [-4.93797493e-01 -8.69524710e-01 -9.52965132e-03 2.76037206e+02] [-2.04338810e-02 6.46950661e-04 9.99790997e-01 2.16960489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6107140569999 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:302.39, Y:276.04, Z:2.17 [[-8.69407322e-01 4.93763302e-01 -1.81303849e-02 3.02386063e+02] [-4.93673474e-01 -8.69596032e-01 -9.44682278e-03 2.76037426e+02] [-2.04306052e-02 7.37353206e-04 9.99791002e-01 2.17005825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.640714057 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:302.39, Y:276.04, Z:2.17 [[-8.69715068e-01 4.93221172e-01 -1.81266773e-02 3.02391960e+02] [-4.93131079e-01 -8.69903651e-01 -9.45393154e-03 2.76039946e+02] [-2.04313420e-02 7.16601230e-04 9.99791002e-01 2.17041942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6707140569999 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:302.39, Y:276.04, Z:2.17 [[-8.70004147e-01 4.92711216e-01 -1.81229714e-02 3.02388190e+02] [-4.92620865e-01 -8.70192606e-01 -9.46103042e-03 2.76037304e+02] [-2.04320315e-02 6.96618147e-04 9.99791002e-01 2.17018322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7007140569999 meters Centerline goodness : 0.998171 Centerline is valid? [True, True] Translation: X:302.41, Y:276.04, Z:2.17 [[-8.70981227e-01 4.90982072e-01 -1.81192570e-02 3.02405563e+02] [-4.90891200e-01 -8.71169435e-01 -9.46813871e-03 2.76044905e+02] [-2.04336292e-02 6.48012727e-04 9.99791002e-01 2.17038195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7307140569999 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:302.41, Y:276.05, Z:2.17 [[-8.71469398e-01 4.90115205e-01 -1.81155537e-02 3.02413677e+02] [-4.90023998e-01 -8.71657445e-01 -9.47521902e-03 2.76048744e+02] [-2.04345061e-02 6.19692614e-04 9.99791002e-01 2.17043569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.760714057 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:302.40, Y:276.04, Z:2.17 [[-8.72126403e-01 4.88945291e-01 -1.81118776e-02 3.02403489e+02] [-4.88853686e-01 -8.72314256e-01 -9.48224070e-03 2.76043127e+02] [-2.04355459e-02 5.84345639e-04 9.99791002e-01 2.17034188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.790714057 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:302.41, Y:276.04, Z:2.17 [[-8.73013549e-01 4.87359659e-01 -1.81081894e-02 3.02407348e+02] [-4.87267566e-01 -8.73201164e-01 -9.48927874e-03 2.76044705e+02] [-2.04367837e-02 5.39264475e-04 9.99791002e-01 2.17043163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8207140569999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:302.42, Y:276.05, Z:2.17 [[-8.75644779e-01 4.82616255e-01 -1.81044804e-02 3.02417758e+02] [-4.82523000e-01 -8.75831818e-01 -9.49634989e-03 2.76049720e+02] [-2.04395728e-02 4.20398979e-04 9.99791002e-01 2.16939189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8507140569999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:302.42, Y:276.05, Z:2.17 [[-8.76954392e-01 4.80232607e-01 -1.81007836e-02 3.02423311e+02] [-4.80138698e-01 -8.77141104e-01 -9.50339094e-03 2.76052407e+02] [-2.04407795e-02 3.56846267e-04 9.99791002e-01 2.16889180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.880714057 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:302.45, Y:276.07, Z:2.17 [[-8.80150245e-01 4.74350124e-01 -1.80971009e-02 3.02447511e+02] [-4.74254824e-01 -8.80336251e-01 -9.51039866e-03 2.76065249e+02] [-2.04427928e-02 2.12057690e-04 9.99791002e-01 2.16875473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.910714057 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:302.45, Y:276.07, Z:2.17 [[-8.81806062e-01 4.71264996e-01 -1.80934548e-02 3.02448770e+02] [-4.71168903e-01 -8.81991659e-01 -9.51733044e-03 2.76066459e+02] [-2.04434609e-02 1.32633551e-04 9.99791002e-01 2.16846620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9407140569999 meters Centerline goodness : 0.997478 Centerline is valid? [True, True] Translation: X:301.77, Y:275.71, Z:2.15 [[-8.83179954e-01 4.68685317e-01 -1.80898373e-02 3.01767345e+02] [-4.68588540e-01 -8.83365196e-01 -9.52420136e-03 2.75708680e+02] [-2.04437860e-02 6.51067145e-05 9.99791002e-01 2.15225784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9707140569999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:302.44, Y:276.07, Z:2.17 [[-8.85687429e-01 4.63929841e-01 -1.80798326e-02 3.02444213e+02] [-4.63831682e-01 -8.85871942e-01 -9.54318212e-03 2.76066057e+02] [-2.04437834e-02 -6.62772803e-05 9.99791002e-01 2.16820993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.000714057 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:302.45, Y:276.07, Z:2.17 [[-8.86620467e-01 4.62143138e-01 -1.81071221e-02 3.02446078e+02] [-4.62045670e-01 -8.86805344e-01 -9.49111939e-03 2.76069339e+02] [-2.04437483e-02 -4.87033500e-05 9.99791004e-01 2.16813140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.030714057 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:302.44, Y:276.07, Z:2.17 [[-8.88500012e-01 4.58519347e-01 -1.81035382e-02 3.02440686e+02] [-4.58420985e-01 -8.88684415e-01 -9.49795050e-03 2.76072019e+02] [-2.04433263e-02 -1.39887323e-04 9.99791004e-01 2.16829365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0607140569999 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:302.45, Y:276.08, Z:2.17 [[-8.89280576e-01 4.57003774e-01 -1.80999452e-02 3.02453029e+02] [-4.56904959e-01 -8.89464737e-01 -9.50479258e-03 2.76081543e+02] [-2.04429891e-02 -1.82472709e-04 9.99791004e-01 2.16892076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0907140569999 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:302.44, Y:276.08, Z:2.17 [[-8.89935036e-01 4.55728158e-01 -1.80963585e-02 3.02441469e+02] [-4.55628940e-01 -8.90118980e-01 -9.51161649e-03 2.76078877e+02] [-2.04426236e-02 -2.19496122e-04 9.99791004e-01 2.16899563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.120714057 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:302.40, Y:276.06, Z:2.17 [[-8.91344491e-01 4.52965396e-01 -1.80927680e-02 3.02397919e+02] [-4.52865470e-01 -8.91528051e-01 -9.51844128e-03 2.76063382e+02] [-2.04417347e-02 -2.90620302e-04 9.99791004e-01 2.16898867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.150714057 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:301.73, Y:275.72, Z:2.15 [[-8.91915373e-01 4.51840406e-01 -1.80890919e-02 3.01734684e+02] [-4.51740107e-01 -8.92098729e-01 -9.52542246e-03 2.75717916e+02] [-2.04412266e-02 -3.24302430e-04 9.99791004e-01 2.15387944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1807140569999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:301.73, Y:275.72, Z:2.15 [[-8.91863305e-01 4.51943366e-01 -1.80842153e-02 3.01730131e+02] [-4.51842901e-01 -8.92046570e-01 -9.53466651e-03 2.75720035e+02] [-2.04410915e-02 -3.32394903e-04 9.99791004e-01 2.15421597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2107140569999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:302.41, Y:276.09, Z:2.17 [[-8.93714817e-01 4.48271316e-01 -1.80735319e-02 3.02408126e+02] [-4.48169689e-01 -8.93897441e-01 -9.55487457e-03 2.76088235e+02] [-2.04390601e-02 -4.39323790e-04 9.99791004e-01 2.16927689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.240714057 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:302.38, Y:276.08, Z:2.17 [[-8.93270376e-01 4.49155377e-01 -1.80964962e-02 3.02383119e+02] [-4.49054815e-01 -8.93453586e-01 -9.51118151e-03 2.76080814e+02] [-2.04403778e-02 -3.69737902e-04 9.99791005e-01 2.16958824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.270714057 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:302.39, Y:276.10, Z:2.17 [[-8.91719180e-01 4.52227443e-01 -1.80898769e-02 3.02394727e+02] [-4.52127257e-01 -8.91902597e-01 -9.52376488e-03 2.76098669e+02] [-2.04413160e-02 -3.13597385e-04 9.99791005e-01 2.16935165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3007140569999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.41, Y:276.11, Z:2.17 [[-8.90370779e-01 4.54876025e-01 -1.81018782e-02 3.02405157e+02] [-4.54776849e-01 -8.90554743e-01 -9.50093308e-03 2.76110592e+02] [-2.04424601e-02 -2.27038082e-04 9.99791005e-01 2.16944768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3307140569999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:302.41, Y:276.12, Z:2.17 [[-8.88682430e-01 4.58165929e-01 -1.80975135e-02 3.02407037e+02] [-4.58067265e-01 -8.88866669e-01 -9.50923976e-03 2.76118520e+02] [-2.04430862e-02 -1.60815804e-04 9.99791005e-01 2.16881390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3607140569999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:302.41, Y:276.12, Z:2.17 [[-8.88639004e-01 4.58250186e-01 -1.80966113e-02 3.02408523e+02] [-4.58151504e-01 -8.88823234e-01 -9.51095638e-03 2.76119276e+02] [-2.04430861e-02 -1.60817146e-04 9.99791005e-01 2.16884805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.390714057 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:302.37, Y:276.11, Z:2.17 [[-8.87022016e-01 4.61372396e-01 -1.80957095e-02 3.02373330e+02] [-4.61274328e-01 -8.87206573e-01 -9.51267172e-03 2.76107903e+02] [-2.04435166e-02 -9.08630085e-05 9.99791005e-01 2.16730183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4207140569999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:302.41, Y:276.14, Z:2.17 [[-8.83913185e-01 4.67300692e-01 -1.80981945e-02 3.02408902e+02] [-4.67203958e-01 -8.84098445e-01 -9.50794607e-03 2.76139460e+02] [-2.04436554e-02 5.13492295e-05 9.99791005e-01 2.16747061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4507140569999 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:302.41, Y:276.14, Z:2.17 [[-8.82649581e-01 4.69683045e-01 -1.80984572e-02 3.02405548e+02] [-4.69586821e-01 -8.82835107e-01 -9.50744601e-03 2.76143846e+02] [-2.04434396e-02 1.07053760e-04 9.99791005e-01 2.16753578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4807140569999 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:302.41, Y:276.15, Z:2.17 [[-8.81616801e-01 4.71618631e-01 -1.81020365e-02 3.02405675e+02] [-4.71522954e-01 -8.81802609e-01 -9.50062623e-03 2.76149735e+02] [-2.04430953e-02 1.59614028e-04 9.99791005e-01 2.16743558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.510714057 meters Centerline goodness : 0.997684 Centerline is valid? [True, True] Translation: X:302.39, Y:276.15, Z:2.17 [[-8.79590889e-01 4.75386217e-01 -1.81056039e-02 3.02394427e+02] [-4.75291476e-01 -8.79777176e-01 -9.49382285e-03 2.76154537e+02] [-2.04421296e-02 2.54759121e-04 9.99791005e-01 2.16779165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.540714057 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:302.40, Y:276.16, Z:2.17 [[-8.78884688e-01 4.76690426e-01 -1.81091688e-02 3.02395162e+02] [-4.76596102e-01 -8.79071187e-01 -9.48701814e-03 2.76159576e+02] [-2.04416192e-02 2.92764259e-04 9.99791005e-01 2.16762849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5707140569999 meters Centerline goodness : 0.996934 Centerline is valid? [True, True] Translation: X:302.39, Y:276.16, Z:2.17 [[-8.78113247e-01 4.78109877e-01 -1.81127310e-02 3.02386171e+02] [-4.78015995e-01 -8.78299968e-01 -9.48021209e-03 2.76159308e+02] [-2.04409941e-02 3.33475336e-04 9.99791005e-01 2.16810230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6007140569999 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:302.38, Y:276.16, Z:2.17 [[-8.77240333e-01 4.79709493e-01 -1.81162908e-02 3.02383900e+02] [-4.79616092e-01 -8.77427296e-01 -9.47340470e-03 2.76162116e+02] [-2.04402102e-02 3.78411877e-04 9.99791005e-01 2.16807263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.630714057 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:302.41, Y:276.18, Z:2.17 [[-8.72185889e-01 4.88838875e-01 -1.81198532e-02 3.02409287e+02] [-4.88747571e-01 -8.72373885e-01 -9.46658598e-03 2.76178035e+02] [-2.04349219e-02 5.99411507e-04 9.99791006e-01 2.17050891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.660714057 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:302.39, Y:276.18, Z:2.17 [[-8.73907028e-01 4.85757887e-01 -1.80494433e-02 3.02393322e+02] [-4.85663134e-01 -8.74093321e-01 -9.60133170e-03 2.76176515e+02] [-2.04408205e-02 3.75277973e-04 9.99790994e-01 2.16654183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6907140569999 meters Centerline goodness : 0.996962 Centerline is valid? [True, True] Translation: X:302.39, Y:276.18, Z:2.17 [[-8.72909714e-01 4.87545052e-01 -1.81232846e-02 3.02393543e+02] [-4.87453609e-01 -8.73097640e-01 -9.45986655e-03 2.76179094e+02] [-2.04355082e-02 5.76651099e-04 9.99791007e-01 2.16605246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7207140569999 meters Centerline goodness : 0.996249 Centerline is valid? [True, True] Translation: X:302.39, Y:276.18, Z:2.16 [[-8.71260279e-01 4.90486438e-01 -1.81267876e-02 3.02386344e+02] [-4.90395769e-01 -8.71448580e-01 -9.45314941e-03 2.76180232e+02] [-2.04332049e-02 6.53146357e-04 9.99791007e-01 2.16445340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.750714057 meters Centerline goodness : 0.996733 Centerline is valid? [True, True] Translation: X:302.39, Y:276.18, Z:2.16 [[-8.70931944e-01 4.91069080e-01 -1.81302881e-02 3.02391727e+02] [-4.90978677e-01 -8.71120373e-01 -9.44643097e-03 2.76184761e+02] [-2.04325135e-02 6.74386396e-04 9.99791007e-01 2.16447955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.780714057 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:302.35, Y:276.16, Z:2.16 [[-8.70605014e-01 4.91648324e-01 -1.81337789e-02 3.02345248e+02] [-4.91558186e-01 -8.70793570e-01 -9.43972527e-03 2.76161872e+02] [-2.04318031e-02 6.95535282e-04 9.99791007e-01 2.16263423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8107140569999 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:302.38, Y:276.18, Z:2.16 [[-8.71452996e-01 4.90143745e-01 -1.81324506e-02 3.02384744e+02] [-4.90053228e-01 -8.71641370e-01 -9.44227596e-03 2.76183850e+02] [-2.04330666e-02 6.57366278e-04 9.99791007e-01 2.16324770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8407140569999 meters Centerline goodness : 0.996499 Centerline is valid? [True, True] Translation: X:302.38, Y:276.18, Z:2.16 [[-8.72270438e-01 4.88687393e-01 -1.81360036e-02 3.02382328e+02] [-4.88596703e-01 -8.72458729e-01 -9.43544667e-03 2.76182852e+02] [-2.04338985e-02 6.30930372e-04 9.99791007e-01 2.16323488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.870714057 meters Centerline goodness : 0.996451 Centerline is valid? [True, True] Translation: X:302.38, Y:276.18, Z:2.16 [[-8.73307568e-01 4.86831439e-01 -1.81394953e-02 3.02379916e+02] [-4.86740489e-01 -8.73495733e-01 -9.42872917e-03 2.76181701e+02] [-2.04349735e-02 5.95046269e-04 9.99791007e-01 2.16350113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.900714057 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:302.39, Y:276.18, Z:2.16 [[-8.71237494e-01 4.90526310e-01 -1.81429845e-02 3.02392679e+02] [-4.90436297e-01 -8.71426109e-01 -9.42201037e-03 2.76183856e+02] [-2.04320144e-02 6.89169442e-04 9.99791007e-01 2.16428313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9307140569999 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:302.37, Y:276.17, Z:2.17 [[-8.75332416e-01 4.83184913e-01 -1.80416571e-02 3.02370180e+02] [-4.83089289e-01 -8.75518276e-01 -9.61704705e-03 2.76174003e+02] [-2.04426126e-02 2.97618264e-04 9.99790984e-01 2.16723849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9607140569999 meters Centerline goodness : 0.996435 Centerline is valid? [True, True] Translation: X:302.35, Y:276.16, Z:2.16 [[-8.77916136e-01 4.78472345e-01 -1.80962295e-02 3.02346247e+02] [-4.78377887e-01 -8.78102569e-01 -9.51188116e-03 2.76163775e+02] [-2.04415177e-02 3.06202082e-04 9.99791003e-01 2.16229281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.990714057 meters Centerline goodness : 0.996418 Centerline is valid? [True, True] Translation: X:302.36, Y:276.17, Z:2.16 [[-8.78825440e-01 4.76798101e-01 -1.81498492e-02 3.02358739e+02] [-4.76705421e-01 -8.79012755e-01 -9.40844351e-03 2.76170170e+02] [-2.04398770e-02 3.83752010e-04 9.99791010e-01 2.16164619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.020714057 meters Centerline goodness : 0.996188 Centerline is valid? [True, True] Translation: X:302.36, Y:276.17, Z:2.16 [[-8.78462642e-01 4.77466062e-01 -1.81533924e-02 3.02356009e+02] [-4.77373665e-01 -8.78650098e-01 -9.40160212e-03 2.76166893e+02] [-2.04394259e-02 4.06995206e-04 9.99791010e-01 2.16475885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0507140569999 meters Centerline goodness : 0.996875 Centerline is valid? [True, True] Translation: X:302.35, Y:276.17, Z:2.16 [[-8.80035776e-01 4.74561468e-01 -1.81230609e-02 3.02351659e+02] [-4.74467245e-01 -8.80222323e-01 -9.46018689e-03 2.76166095e+02] [-2.04417629e-02 2.73495842e-04 9.99791008e-01 2.16084014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0807140569999 meters Centerline goodness : 0.996354 Centerline is valid? [True, True] Translation: X:302.35, Y:276.17, Z:2.16 [[-8.80277619e-01 4.74111383e-01 -1.81579134e-02 3.02354916e+02] [-4.74018452e-01 -8.80464810e-01 -9.39281107e-03 2.76166849e+02] [-2.04406424e-02 3.38904653e-04 9.99791011e-01 2.16124109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1107140569999 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:302.36, Y:276.17, Z:2.17 [[-8.79831428e-01 4.74938754e-01 -1.81614328e-02 3.02361894e+02] [-4.74846140e-01 -8.80018776e-01 -9.38600117e-03 2.76168720e+02] [-2.04401776e-02 3.65787468e-04 9.99791011e-01 2.16536233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.140714057 meters Centerline goodness : 0.996399 Centerline is valid? [True, True] Translation: X:302.35, Y:276.16, Z:2.16 [[-8.81517422e-01 4.71802993e-01 -1.81375505e-02 3.02349853e+02] [-4.71708761e-01 -8.81703963e-01 -9.43222409e-03 2.76163444e+02] [-2.04421017e-02 2.40971617e-04 9.99791009e-01 2.16195929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1707140569999 meters Centerline goodness : 0.997006 Centerline is valid? [True, True] Translation: X:302.35, Y:276.16, Z:2.16 [[-8.82063975e-01 4.70779297e-01 -1.81658527e-02 3.02347084e+02] [-4.70685976e-01 -8.82250971e-01 -9.37739725e-03 2.76162077e+02] [-2.04415257e-02 2.78947821e-04 9.99791011e-01 2.16298371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2007140569999 meters Centerline goodness : 0.997322 Centerline is valid? [True, True] Translation: X:302.34, Y:276.16, Z:2.16 [[-8.82506504e-01 4.69949088e-01 -1.81693641e-02 3.02343871e+02] [-4.69855732e-01 -8.82693482e-01 -9.37058884e-03 2.76160736e+02] [-2.04416789e-02 2.67374242e-04 9.99791011e-01 2.16334446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2307140569999 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:302.35, Y:276.16, Z:2.17 [[-8.81296862e-01 4.72213498e-01 -1.81728751e-02 3.02354672e+02] [-4.72120763e-01 -8.81484149e-01 -9.36377465e-03 2.76164934e+02] [-2.04408022e-02 3.27526462e-04 9.99791011e-01 2.16710906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.260714057 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:302.34, Y:276.16, Z:2.17 [[-8.82154542e-01 4.70612191e-01 -1.80977763e-02 3.02338163e+02] [-4.70516120e-01 -8.82340155e-01 -9.50954711e-03 2.76157117e+02] [-2.04437035e-02 1.26405297e-04 9.99790998e-01 2.16638017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.290714057 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:302.35, Y:276.16, Z:2.17 [[-8.81730824e-01 4.71403574e-01 -1.81500710e-02 3.02354530e+02] [-4.71309757e-01 -8.81917572e-01 -9.40793672e-03 2.76164685e+02] [-2.04418015e-02 2.59037752e-04 9.99791011e-01 2.16689632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3207140569999 meters Centerline goodness : 0.997010 Centerline is valid? [True, True] Translation: X:302.35, Y:276.16, Z:2.17 [[-8.82049478e-01 4.70807375e-01 -1.81420570e-02 3.02350737e+02] [-4.70713112e-01 -8.82236002e-01 -9.42351438e-03 2.76162824e+02] [-2.04422359e-02 2.27698175e-04 9.99791010e-01 2.16680677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3507140569999 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:302.34, Y:276.16, Z:2.16 [[-8.82387860e-01 4.70172284e-01 -1.81573284e-02 3.02344495e+02] [-4.70078497e-01 -8.82574622e-01 -9.39381093e-03 2.76160052e+02] [-2.04419068e-02 2.46384927e-04 9.99791012e-01 2.16482979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.380714057 meters Centerline goodness : 0.996676 Centerline is valid? [True, True] Translation: X:302.34, Y:276.16, Z:2.16 [[-8.81024539e-01 4.72721658e-01 -1.81657899e-02 3.02344202e+02] [-4.72628751e-01 -8.81211739e-01 -9.37733977e-03 2.76159449e+02] [-2.04407789e-02 3.24008147e-04 9.99791013e-01 2.16417442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.410714057 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:302.35, Y:276.16, Z:2.16 [[-8.80955112e-01 4.72851886e-01 -1.81434608e-02 3.02350848e+02] [-4.72758111e-01 -8.81141882e-01 -9.42081325e-03 2.76164388e+02] [-2.04416125e-02 2.78154666e-04 9.99791010e-01 2.16397498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4407140569999 meters Centerline goodness : 0.996614 Centerline is valid? [True, True] Translation: X:302.35, Y:276.16, Z:2.16 [[-8.80256091e-01 4.74152038e-01 -1.81400116e-02 3.02347064e+02] [-4.74058400e-01 -8.80442931e-01 -9.42753074e-03 2.76162459e+02] [-2.04413279e-02 3.00783528e-04 9.99791009e-01 2.16337701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4707140569999 meters Centerline goodness : 0.996406 Centerline is valid? [True, True] Translation: X:302.33, Y:276.16, Z:2.16 [[-8.80741730e-01 4.73249052e-01 -1.81477083e-02 3.02332814e+02] [-4.73155532e-01 -8.80928628e-01 -9.41252773e-03 2.76157548e+02] [-2.04413056e-02 2.96682635e-04 9.99791011e-01 2.16014269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.500714057 meters Centerline goodness : 0.996782 Centerline is valid? [True, True] Translation: X:302.32, Y:276.15, Z:2.16 [[-8.80805267e-01 4.73129108e-01 -1.81914546e-02 3.02324954e+02] [-4.73037322e-01 -8.80993017e-01 -9.32720675e-03 2.76153618e+02] [-2.04395175e-02 3.89784133e-04 9.99791015e-01 2.15950585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.530714057 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:302.33, Y:276.16, Z:2.16 [[-8.80882567e-01 4.72985040e-01 -1.81949381e-02 3.02328663e+02] [-4.72893363e-01 -8.81070370e-01 -9.32040641e-03 2.76155779e+02] [-2.04394336e-02 3.94081952e-04 9.99791015e-01 2.15918847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5607140569999 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:302.33, Y:276.15, Z:2.16 [[-8.81274503e-01 4.72254241e-01 -1.81984191e-02 3.02326318e+02] [-4.72162550e-01 -8.81462298e-01 -9.31360476e-03 2.76154722e+02] [-2.04396096e-02 3.84769539e-04 9.99791015e-01 2.15955453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5907140569999 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:302.31, Y:276.15, Z:2.16 [[-8.81602392e-01 4.71641721e-01 -1.82018890e-02 3.02308998e+02] [-4.71550039e-01 -8.81790193e-01 -9.30681836e-03 2.76145711e+02] [-2.04397311e-02 3.78188143e-04 9.99791015e-01 2.15957713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.620714057 meters Centerline goodness : 0.996212 Centerline is valid? [True, True] Translation: X:302.33, Y:276.15, Z:2.16 [[-8.79543444e-01 4.75470182e-01 -1.82053773e-02 3.02325964e+02] [-4.75379459e-01 -8.79731710e-01 -9.29998975e-03 2.76150910e+02] [-2.04377155e-02 4.74717403e-04 9.99791015e-01 2.15822804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.650714057 meters Centerline goodness : 0.996294 Centerline is valid? [True, True] Translation: X:302.31, Y:276.15, Z:2.16 [[-8.82462743e-01 4.70032704e-01 -1.81318496e-02 3.02314397e+02] [-4.69937858e-01 -8.82648980e-01 -9.44392395e-03 2.76148477e+02] [-2.04430116e-02 1.86931500e-04 9.99791002e-01 2.15911061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6807140569999 meters Centerline goodness : 0.996401 Centerline is valid? [True, True] Translation: X:302.30, Y:276.14, Z:2.16 [[-8.83508469e-01 4.68061124e-01 -1.82090629e-02 3.02298297e+02] [-4.67968973e-01 -8.83696038e-01 -9.29262365e-03 2.76140103e+02] [-2.04407926e-02 3.11164773e-04 9.99791017e-01 2.15878532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7107140569999 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:302.31, Y:276.14, Z:2.16 [[-8.84691939e-01 4.65820219e-01 -1.82125635e-02 3.02306532e+02] [-4.65727734e-01 -8.84879343e-01 -9.28575770e-03 2.76144059e+02] [-2.04414150e-02 2.67060974e-04 9.99791017e-01 2.15786858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.740714057 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:302.31, Y:276.14, Z:2.16 [[-8.86476479e-01 4.62414994e-01 -1.82160667e-02 3.02306046e+02] [-4.62321931e-01 -8.86663597e-01 -9.27888033e-03 2.76143030e+02] [-2.04422166e-02 1.96177977e-04 9.99791017e-01 2.15742422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.770714057 meters Centerline goodness : 0.996696 Centerline is valid? [True, True] Translation: X:302.30, Y:276.14, Z:2.16 [[-8.87263747e-01 4.60902475e-01 -1.82195508e-02 3.02302036e+02] [-4.60809233e-01 -8.87450776e-01 -9.27203414e-03 2.76140721e+02] [-2.04424580e-02 1.68997486e-04 9.99791017e-01 2.15736059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8007140569999 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:302.30, Y:276.14, Z:2.16 [[-8.87758226e-01 4.59949186e-01 -1.82230334e-02 3.02297199e+02] [-4.59855884e-01 -8.87945225e-01 -9.26518439e-03 2.76138281e+02] [-2.04425695e-02 1.54725487e-04 9.99791017e-01 2.15727242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8307140569999 meters Centerline goodness : 0.996213 Centerline is valid? [True, True] Translation: X:302.32, Y:276.15, Z:2.16 [[-8.85264336e-01 4.64730942e-01 -1.82265197e-02 3.02317637e+02] [-4.64638792e-01 -8.85451906e-01 -9.25832102e-03 2.76145608e+02] [-2.04413349e-02 2.72686694e-04 9.99791017e-01 2.16020679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8607140569999 meters Centerline goodness : 0.996338 Centerline is valid? [True, True] Translation: X:302.30, Y:276.14, Z:2.16 [[-8.87898936e-01 4.59680382e-01 -1.81501107e-02 3.02296147e+02] [-4.59584083e-01 -8.88084425e-01 -9.40876608e-03 2.76139024e+02] [-2.04438558e-02 -1.25314289e-05 9.99791002e-01 2.15883293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.890714057 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:302.29, Y:276.14, Z:2.16 [[-8.86892519e-01 4.61615970e-01 -1.82306214e-02 3.02291066e+02] [-4.61523330e-01 -8.87079845e-01 -9.25009158e-03 2.76138320e+02] [-2.04420068e-02 2.10020061e-04 9.99791018e-01 2.15948422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9207140569999 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:302.28, Y:276.13, Z:2.16 [[-8.86190711e-01 4.62961706e-01 -1.82340997e-02 3.02279159e+02] [-4.62869491e-01 -8.86378247e-01 -9.24322986e-03 2.76133451e+02] [-2.04415708e-02 2.48744016e-04 9.99791018e-01 2.16004478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9507140569999 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:302.29, Y:276.14, Z:2.16 [[-8.85196171e-01 4.64860332e-01 -1.82375903e-02 3.02289337e+02] [-4.64768662e-01 -8.85383974e-01 -9.23633754e-03 2.76139383e+02] [-2.04408771e-02 3.00289806e-04 9.99791018e-01 2.16058578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9807140569999 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:302.28, Y:276.14, Z:2.16 [[-8.83560182e-01 4.67962250e-01 -1.82410737e-02 3.02278451e+02] [-4.67871381e-01 -8.83748374e-01 -9.22945300e-03 2.76135423e+02] [-2.04395548e-02 3.79699158e-04 9.99791018e-01 2.15862123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.010714057 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:302.29, Y:276.14, Z:2.16 [[-8.82517195e-01 4.69926097e-01 -1.82445482e-02 3.02286974e+02] [-4.69835788e-01 -8.82705657e-01 -9.22257952e-03 2.76140325e+02] [-2.04384967e-02 4.32856675e-04 9.99791018e-01 2.15798376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.040714057 meters Centerline goodness : 0.996200 Centerline is valid? [True, True] Translation: X:302.30, Y:276.15, Z:2.17 [[-8.83856692e-01 4.67401710e-01 -1.82480162e-02 3.02296294e+02] [-4.67311005e-01 -8.84044962e-01 -9.21571257e-03 2.76148542e+02] [-2.04395066e-02 3.82129565e-04 9.99791018e-01 2.16701740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0707140569999 meters Centerline goodness : 0.996600 Centerline is valid? [True, True] Translation: X:302.28, Y:276.14, Z:2.16 [[-8.81236688e-01 4.72320726e-01 -1.83038874e-02 3.02280378e+02] [-4.72233366e-01 -8.81426541e-01 -9.10500873e-03 2.76139536e+02] [-2.04340165e-02 6.20038622e-04 9.99791011e-01 2.15828289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1007140569999 meters Centerline goodness : 0.995823 Centerline is valid? [True, True] Translation: X:302.30, Y:276.15, Z:2.17 [[-8.84292400e-01 4.66576744e-01 -1.82508582e-02 3.02295886e+02] [-4.66485979e-01 -8.84480642e-01 -9.21009253e-03 2.76151900e+02] [-2.04397458e-02 3.69354637e-04 9.99791018e-01 2.16944903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.130714057 meters Centerline goodness : 0.996584 Centerline is valid? [True, True] Translation: X:302.28, Y:276.14, Z:2.16 [[-8.81973088e-01 4.70943290e-01 -1.83272886e-02 3.02278618e+02] [-4.70856597e-01 -8.82163255e-01 -9.05852239e-03 2.76138715e+02] [-2.04337109e-02 6.40151765e-04 9.99791005e-01 2.15807372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.160714057 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:302.28, Y:276.14, Z:2.16 [[-8.84158128e-01 4.66831037e-01 -1.82534416e-02 3.02284780e+02] [-4.66740432e-01 -8.84346447e-01 -9.20496166e-03 2.76140975e+02] [-2.04395280e-02 3.80977539e-04 9.99791018e-01 2.15694356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1907140569999 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:302.28, Y:276.14, Z:2.16 [[-8.85559090e-01 4.64167841e-01 -1.82568844e-02 3.02280775e+02] [-4.64076810e-01 -8.85747204e-01 -9.19812820e-03 2.76138208e+02] [-2.04404596e-02 3.27110627e-04 9.99791018e-01 2.15628155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2207140569999 meters Centerline goodness : 0.996440 Centerline is valid? [True, True] Translation: X:302.28, Y:276.14, Z:2.16 [[-8.87002338e-01 4.61403742e-01 -1.82603174e-02 3.02275220e+02] [-4.61312266e-01 -8.87190235e-01 -9.19130787e-03 2.76135107e+02] [-2.04412791e-02 2.70996806e-04 9.99791019e-01 2.15753647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.250714057 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:302.27, Y:276.13, Z:2.16 [[-8.89438975e-01 4.56688892e-01 -1.82637551e-02 3.02267002e+02] [-4.56596560e-01 -8.89626454e-01 -9.18447184e-03 2.76130750e+02] [-2.04423659e-02 1.70140514e-04 9.99791019e-01 2.15661156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.280714057 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:302.26, Y:276.13, Z:2.16 [[-8.89610931e-01 4.56353701e-01 -1.82672037e-02 3.02264822e+02] [-4.56261439e-01 -8.89798444e-01 -9.17760775e-03 2.76129568e+02] [-2.04423646e-02 1.70120458e-04 9.99791019e-01 2.15656007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3107140569999 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:302.26, Y:276.13, Z:2.15 [[-8.90686605e-01 4.54250543e-01 -1.82706586e-02 3.02263391e+02] [-4.54157979e-01 -8.90873969e-01 -9.17072444e-03 2.76128879e+02] [-2.04426607e-02 1.29523998e-04 9.99791019e-01 2.15389968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3407140569999 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:302.26, Y:276.13, Z:2.15 [[-8.91517418e-01 4.52617664e-01 -1.82741094e-02 3.02257530e+02] [-4.52524899e-01 -8.91704682e-01 -9.16384314e-03 2.76125802e+02] [-2.04428262e-02 9.97637159e-05 9.99791019e-01 2.15306915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.370714057 meters Centerline goodness : 0.995755 Centerline is valid? [True, True] Translation: X:302.25, Y:276.12, Z:2.15 [[-8.92272221e-01 4.51127714e-01 -1.82775615e-02 3.02254242e+02] [-4.51034777e-01 -8.92459400e-01 -9.15695270e-03 2.76124760e+02] [-2.04429367e-02 7.33213352e-05 9.99791019e-01 2.15199083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.400714057 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:302.24, Y:276.12, Z:2.15 [[-8.92558458e-01 4.50560987e-01 -1.82810171e-02 3.02236447e+02] [-4.50468073e-01 -8.92745648e-01 -9.15004852e-03 2.76117259e+02] [-2.04429534e-02 6.80613572e-05 9.99791019e-01 2.15047010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4307140569999 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:302.25, Y:276.13, Z:2.15 [[-8.92428650e-01 4.50817903e-01 -1.82844930e-02 3.02251544e+02] [-4.50725185e-01 -8.92615937e-01 -9.14309749e-03 2.76125742e+02] [-2.04429019e-02 8.17193234e-05 9.99791019e-01 2.15030096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4607140569999 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:302.24, Y:276.12, Z:2.15 [[-8.92015309e-01 4.51635072e-01 -1.82879622e-02 3.02235236e+02] [-4.51542668e-01 -8.92202752e-01 -9.13615313e-03 2.76118234e+02] [-2.04427774e-02 1.08206778e-04 9.99791019e-01 2.15031224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.490714057 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:302.25, Y:276.13, Z:2.15 [[-8.91728973e-01 4.52200025e-01 -1.82914236e-02 3.02249786e+02] [-4.52107882e-01 -8.91916544e-01 -9.12921773e-03 2.76126540e+02] [-2.04426558e-02 1.28908846e-04 9.99791019e-01 2.15100424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.520714057 meters Centerline goodness : 0.995738 Centerline is valid? [True, True] Translation: X:302.23, Y:276.12, Z:2.15 [[-8.90887972e-01 4.53854513e-01 -1.82948774e-02 3.02231664e+02] [-4.53762860e-01 -8.91075783e-01 -9.12229127e-03 2.76120082e+02] [-2.04423152e-02 1.74596306e-04 9.99791019e-01 2.15175034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5507140569999 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:302.25, Y:276.13, Z:2.15 [[-8.90443160e-01 4.54726457e-01 -1.82983250e-02 3.02245007e+02] [-4.54635130e-01 -8.90631129e-01 -9.11537036e-03 2.76128023e+02] [-2.04420580e-02 2.02342200e-04 9.99791019e-01 2.15357777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5807140569999 meters Centerline goodness : 0.995957 Centerline is valid? [True, True] Translation: X:302.24, Y:276.13, Z:2.15 [[-8.89938263e-01 4.55713652e-01 -1.83017689e-02 3.02243119e+02] [-4.55622676e-01 -8.90126403e-01 -9.10845044e-03 2.76128176e+02] [-2.04417330e-02 2.32742387e-04 9.99791019e-01 2.15110868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6107140569999 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:302.23, Y:276.12, Z:2.15 [[-8.89268189e-01 4.57019703e-01 -1.83051867e-02 3.02233460e+02] [-4.56929144e-01 -8.89456530e-01 -9.10157658e-03 2.76124548e+02] [-2.04412677e-02 2.70430783e-04 9.99791019e-01 2.15114424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.640714057 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:302.23, Y:276.12, Z:2.15 [[-8.87560265e-01 4.60327677e-01 -1.83086103e-02 3.02229405e+02] [-4.60237963e-01 -8.87749010e-01 -9.09468456e-03 2.76124447e+02] [-2.04399857e-02 3.54236861e-04 9.99791019e-01 2.15112222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6707140569999 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:302.26, Y:276.13, Z:2.15 [[-8.78498429e-01 4.77394155e-01 -1.83120425e-02 3.02264257e+02] [-4.77308249e-01 -8.78688937e-01 -9.08776867e-03 2.76132388e+02] [-2.04290368e-02 7.56898426e-04 9.99791019e-01 2.15131327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7007140569999 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:302.27, Y:276.14, Z:2.15 [[-8.76469813e-01 4.81116952e-01 -1.80871479e-02 3.02273486e+02] [-4.81022481e-01 -8.76656354e-01 -9.53985697e-03 2.76137456e+02] [-2.04460001e-02 3.38928104e-04 9.99790901e-01 2.15225453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7307140569999 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:302.24, Y:276.13, Z:2.15 [[-8.81552619e-01 4.71740027e-01 -1.80645306e-02 3.02242779e+02] [-4.71642639e-01 -8.81737684e-01 -9.58532967e-03 2.76133809e+02] [-2.04499610e-02 7.00303979e-05 9.99790875e-01 2.15088354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.760714057 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:302.25, Y:276.14, Z:2.15 [[-8.79653962e-01 4.75261534e-01 -1.83134332e-02 3.02251851e+02] [-4.75175254e-01 -8.79844286e-01 -9.08352027e-03 2.76137924e+02] [-2.04300173e-02 7.11735678e-04 9.99791032e-01 2.15204179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.790714057 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:302.25, Y:276.14, Z:2.15 [[-8.77929950e-01 4.78438604e-01 -1.83167983e-02 3.02254789e+02] [-4.78353154e-01 -8.78120648e-01 -9.07672950e-03 2.76139175e+02] [-2.04270166e-02 7.93165566e-04 9.99791032e-01 2.15131365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8207140569999 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:302.29, Y:276.15, Z:2.15 [[-8.68953078e-01 4.94555275e-01 -1.83201394e-02 3.02286857e+02] [-4.94473500e-01 -8.69145381e-01 -9.06998089e-03 2.76145177e+02] [-2.04084715e-02 1.17743564e-03 9.99791032e-01 2.15266921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8507140569999 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:302.25, Y:276.14, Z:2.15 [[-8.73823351e-01 4.85906018e-01 -1.81133559e-02 3.02252027e+02] [-4.85813663e-01 -8.74010916e-01 -9.48698007e-03 2.76135172e+02] [-2.04410515e-02 5.09771085e-04 9.99790930e-01 2.15374350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.880714057 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:302.26, Y:276.14, Z:2.15 [[-8.73379528e-01 4.86695421e-01 -1.83239665e-02 3.02258144e+02] [-4.86612099e-01 -8.73571154e-01 -9.06107313e-03 2.76135955e+02] [-2.04172714e-02 1.00290803e-03 9.99791043e-01 2.15428096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.910714057 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:302.29, Y:276.14, Z:2.15 [[-8.67127641e-01 4.97748697e-01 -1.83272880e-02 3.02294385e+02] [-4.97667958e-01 -8.67320369e-01 -9.05434987e-03 2.76143428e+02] [-2.04024211e-02 1.26962697e-03 9.99791043e-01 2.15448596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9407140569999 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:302.26, Y:276.13, Z:2.16 [[-8.74244964e-01 4.85145378e-01 -1.81578101e-02 3.02257329e+02] [-4.85054724e-01 -8.74433309e-01 -9.39698498e-03 2.76127948e+02] [-2.04366978e-02 5.92264769e-04 9.99790973e-01 2.15638245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9707140569999 meters Centerline goodness : 0.997043 Centerline is valid? [True, True] Translation: X:302.29, Y:276.13, Z:2.15 [[-8.69261927e-01 4.94011937e-01 -1.83278255e-02 3.02290597e+02] [-4.93930401e-01 -8.69454315e-01 -9.05278346e-03 2.76132423e+02] [-2.04073901e-02 1.18343022e-03 9.99791047e-01 2.15484893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.000714057 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:302.26, Y:276.12, Z:2.16 [[-8.76466555e-01 4.81120191e-01 -1.81587548e-02 3.02259735e+02] [-4.81028720e-01 -8.76654499e-01 -9.39463064e-03 2.76121700e+02] [-2.04389006e-02 5.00803025e-04 9.99790978e-01 2.15718010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.030714057 meters Centerline goodness : 0.997494 Centerline is valid? [True, True] Translation: X:302.24, Y:276.11, Z:2.16 [[-8.79711539e-01 4.75154369e-01 -1.83284912e-02 3.02243998e+02] [-4.75068743e-01 -8.79902137e-01 -9.05091030e-03 2.76106787e+02] [-2.04278582e-02 7.45103044e-04 9.99791052e-01 2.15692397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0607140569999 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:302.25, Y:276.11, Z:2.16 [[-8.81549869e-01 4.71735092e-01 -1.83257243e-02 3.02248667e+02] [-4.71648610e-01 -8.81740080e-01 -9.05651532e-03 2.76105659e+02] [-2.04308017e-02 6.59532509e-04 9.99791052e-01 2.15690624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0907140569999 meters Centerline goodness : 0.997533 Centerline is valid? [True, True] Translation: X:302.25, Y:276.10, Z:2.16 [[-8.83341759e-01 4.68370846e-01 -1.83327017e-02 3.02246126e+02] [-4.68283933e-01 -8.83531773e-01 -9.04236910e-03 2.76101107e+02] [-2.04327065e-02 5.97407451e-04 9.99791052e-01 2.15727424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.120714057 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:302.24, Y:276.09, Z:2.16 [[-8.84922189e-01 4.65377814e-01 -1.83360441e-02 3.02238099e+02] [-4.65290399e-01 -8.85111972e-01 -9.03558641e-03 2.76093614e+02] [-2.04344136e-02 5.35794360e-04 9.99791052e-01 2.15743543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.150714057 meters Centerline goodness : 0.997188 Centerline is valid? [True, True] Translation: X:302.24, Y:276.09, Z:2.16 [[-8.86446162e-01 4.62468234e-01 -1.83393958e-02 3.02239188e+02] [-4.62380337e-01 -8.86635723e-01 -9.02877844e-03 2.76090912e+02] [-2.04358867e-02 4.76249986e-04 9.99791052e-01 2.15745908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1807140569999 meters Centerline goodness : 0.997684 Centerline is valid? [True, True] Translation: X:302.23, Y:276.08, Z:2.16 [[-8.88588717e-01 4.58337906e-01 -1.83427525e-02 3.02225244e+02] [-4.58249268e-01 -8.88777932e-01 -9.02195389e-03 2.76078061e+02] [-2.04377371e-02 3.88746458e-04 9.99791052e-01 2.15675615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2107140569999 meters Centerline goodness : 0.997684 Centerline is valid? [True, True] Translation: X:302.22, Y:276.08, Z:2.16 [[-8.88760985e-01 4.58003654e-01 -1.83456957e-02 3.02223044e+02] [-4.57915069e-01 -8.88950225e-01 -9.01596487e-03 2.76076894e+02] [-2.04377552e-02 3.87732708e-04 9.99791052e-01 2.15670473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.240714057 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:302.23, Y:276.08, Z:2.16 [[-8.90147077e-01 4.55303737e-01 -1.83490837e-02 3.02229968e+02] [-4.55214719e-01 -8.90336114e-01 -9.00906443e-03 2.76075450e+02] [-2.04387126e-02 3.33380640e-04 9.99791052e-01 2.15628154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.270714057 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:302.22, Y:276.07, Z:2.16 [[-8.90514583e-01 4.54584386e-01 -1.83524592e-02 3.02222630e+02] [-4.54495358e-01 -8.90703615e-01 -9.00218290e-03 2.76069999e+02] [-2.04388536e-02 3.24532382e-04 9.99791052e-01 2.15543219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3007140569999 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:302.22, Y:276.07, Z:2.16 [[-8.90783831e-01 4.54056417e-01 -1.83558311e-02 3.02223984e+02] [-4.53967418e-01 -8.90972877e-01 -8.99530236e-03 2.76068962e+02] [-2.04389224e-02 3.20079338e-04 9.99791052e-01 2.15507569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3307140569999 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:302.22, Y:276.06, Z:2.15 [[-8.90866754e-01 4.53893562e-01 -1.83592036e-02 3.02218389e+02] [-4.53804671e-01 -8.91055851e-01 -8.98841379e-03 2.76064517e+02] [-2.04388589e-02 3.24013330e-04 9.99791052e-01 2.15417831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3607140569999 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:302.22, Y:276.06, Z:2.15 [[-8.90622004e-01 4.54373484e-01 -1.83625752e-02 3.02217229e+02] [-4.54284836e-01 -8.90811215e-01 -8.98152065e-03 2.76061089e+02] [-2.04385527e-02 3.42699549e-04 9.99791052e-01 2.15333875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.390714057 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:302.23, Y:276.06, Z:2.15 [[-8.90548126e-01 4.54518126e-01 -1.83659502e-02 3.02226049e+02] [-4.54429652e-01 -8.90737418e-01 -8.97461386e-03 2.76064312e+02] [-2.04383638e-02 3.53706816e-04 9.99791052e-01 2.15300376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4207140569999 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:302.22, Y:276.06, Z:2.15 [[-8.90401757e-01 4.54804662e-01 -1.83693079e-02 3.02224559e+02] [-4.54716390e-01 -8.90591143e-01 -8.96773607e-03 2.76062707e+02] [-2.04381111e-02 3.67937433e-04 9.99791052e-01 2.15250863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4507140569999 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:302.22, Y:276.06, Z:2.15 [[-8.90325981e-01 4.54952847e-01 -1.83726489e-02 3.02223820e+02] [-4.54864748e-01 -8.90515448e-01 -8.96088600e-03 2.76061457e+02] [-2.04379083e-02 3.78960686e-04 9.99791052e-01 2.15162077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4807140569999 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:302.22, Y:276.06, Z:2.15 [[-8.89855682e-01 4.55871899e-01 -1.83759846e-02 3.02223864e+02] [-4.55784137e-01 -8.90045305e-01 -8.95404019e-03 2.76060332e+02] [-2.04373542e-02 4.07678771e-04 9.99791052e-01 2.15068237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.510714057 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:302.22, Y:276.06, Z:2.15 [[-8.89613126e-01 4.56344921e-01 -1.83793146e-02 3.02219897e+02] [-4.56257401e-01 -8.89802861e-01 -8.94719981e-03 2.76058204e+02] [-2.04369759e-02 4.26151914e-04 9.99791052e-01 2.15075109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.540714057 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:302.22, Y:276.06, Z:2.15 [[-8.89270804e-01 4.57011505e-01 -1.83826420e-02 3.02218545e+02] [-4.56924269e-01 -8.89460669e-01 -8.94035819e-03 2.76057710e+02] [-2.04364836e-02 4.49075745e-04 9.99791052e-01 2.15053092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5707140569999 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:302.22, Y:276.06, Z:2.15 [[-8.88721294e-01 4.58079052e-01 -1.83859679e-02 3.02219644e+02] [-4.57992185e-01 -8.88911329e-01 -8.93351311e-03 2.76059144e+02] [-2.04357504e-02 4.81226291e-04 9.99791052e-01 2.15130739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6007140569999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:302.22, Y:276.06, Z:2.15 [[-8.88460271e-01 4.58584977e-01 -1.83892854e-02 3.02217493e+02] [-4.58498360e-01 -8.88650420e-01 -8.92667895e-03 2.76058019e+02] [-2.04352871e-02 5.00457628e-04 9.99791052e-01 2.15203130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.630714057 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:302.21, Y:276.06, Z:2.15 [[-8.88445190e-01 4.58614062e-01 -1.83925945e-02 3.02212123e+02] [-4.58527592e-01 -8.88635405e-01 -8.91985565e-03 2.76055626e+02] [-2.04350819e-02 5.08709230e-04 9.99791053e-01 2.15209517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.660714057 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:302.21, Y:276.06, Z:2.15 [[-8.88196852e-01 4.59094700e-01 -1.83959059e-02 3.02214788e+02] [-4.59008474e-01 -8.88387178e-01 -8.91302124e-03 2.76056811e+02] [-2.04346077e-02 5.27359288e-04 9.99791053e-01 2.15303883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6907140569999 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:302.20, Y:276.05, Z:2.15 [[-8.87006477e-01 4.61390268e-01 -1.83992120e-02 3.02204816e+02] [-4.61304676e-01 -8.87197089e-01 -8.90619107e-03 2.76052083e+02] [-2.04329573e-02 5.87793394e-04 9.99791053e-01 2.15365593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7207140569999 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:302.22, Y:276.06, Z:2.15 [[-8.86152733e-01 4.63027733e-01 -1.84025194e-02 3.02215400e+02] [-4.62942636e-01 -8.86343566e-01 -8.89935198e-03 2.76057504e+02] [-2.04316014e-02 6.33125748e-04 9.99791053e-01 2.15447885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.750714057 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:302.21, Y:276.06, Z:2.15 [[-8.84904463e-01 4.65408764e-01 -1.84058173e-02 3.02214019e+02] [-4.65324322e-01 -8.85095587e-01 -8.89252600e-03 2.76057293e+02] [-2.04295672e-02 6.95638510e-04 9.99791053e-01 2.15449533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.780714057 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:302.18, Y:276.04, Z:2.15 [[-8.83307232e-01 4.68432961e-01 -1.84090942e-02 3.02176116e+02] [-4.68349314e-01 -8.83498706e-01 -8.88573705e-03 2.76039611e+02] [-2.04267830e-02 7.73050833e-04 9.99791053e-01 2.15392864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8107140569999 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:302.18, Y:276.04, Z:2.15 [[-8.79680601e-01 4.75208576e-01 -1.84078483e-02 3.02175810e+02] [-4.75126350e-01 -8.79872689e-01 -8.88831723e-03 2.76039393e+02] [-2.04203676e-02 9.27173529e-04 9.99791053e-01 2.15460795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8407140569999 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:302.23, Y:276.06, Z:2.16 [[-8.78020336e-01 4.78269084e-01 -1.84112258e-02 3.02226397e+02] [-4.78187673e-01 -8.78212771e-01 -8.88131570e-03 2.76063079e+02] [-2.04166323e-02 1.00604542e-03 9.99791053e-01 2.15633492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.870714057 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:302.21, Y:276.06, Z:2.16 [[-8.76260520e-01 4.81485623e-01 -1.84145276e-02 3.02213659e+02] [-4.81405063e-01 -8.76453313e-01 -8.87446444e-03 2.76055732e+02] [-2.04124007e-02 1.08850397e-03 9.99791053e-01 2.15688539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.900714057 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:302.23, Y:276.06, Z:2.16 [[-8.71071647e-01 4.90810541e-01 -1.84173638e-02 3.02232001e+02] [-4.90732166e-01 -8.71265338e-01 -8.86857438e-03 2.76058953e+02] [-2.03992005e-02 1.31282916e-03 9.99791053e-01 2.16019403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9307140569999 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:302.23, Y:276.06, Z:2.16 [[-8.70979605e-01 4.90976457e-01 -1.83479238e-02 3.02227578e+02] [-4.90895091e-01 -8.71172073e-01 -9.01277775e-03 2.76056233e+02] [-2.04092605e-02 1.15696010e-03 9.99791040e-01 2.15980456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9607140569999 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:302.21, Y:276.05, Z:2.16 [[-8.71815634e-01 4.89489096e-01 -1.83827607e-02 3.02209894e+02] [-4.89408919e-01 -8.72008589e-01 -8.94037170e-03 2.76047927e+02] [-2.04061397e-02 1.20233122e-03 9.99791050e-01 2.15957894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.990714057 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:302.21, Y:276.05, Z:2.16 [[-8.69751946e-01 4.93145249e-01 -1.84205323e-02 3.02214478e+02] [-4.93067535e-01 -8.69945902e-01 -8.86185859e-03 2.76046117e+02] [-2.03950501e-02 1.37494772e-03 9.99791054e-01 2.15966102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.020714057 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:302.24, Y:276.06, Z:2.16 [[-8.71249948e-01 4.90495356e-01 -1.83802945e-02 3.02235936e+02] [-4.90415294e-01 -8.71442951e-01 -8.94548569e-03 2.76056284e+02] [-2.04050973e-02 1.22022360e-03 9.99791050e-01 2.15932619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0507140569999 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:302.24, Y:276.05, Z:2.16 [[-8.71174618e-01 4.90627494e-01 -1.84240701e-02 3.02237207e+02] [-4.90549377e-01 -8.71368412e-01 -8.85439842e-03 2.76052156e+02] [-2.03983640e-02 1.32418896e-03 9.99791055e-01 2.15844980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0807140569999 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:302.22, Y:276.04, Z:2.16 [[-8.71072614e-01 4.90808453e-01 -1.84272620e-02 3.02219784e+02] [-4.90730515e-01 -8.71266480e-01 -8.84775064e-03 2.76041136e+02] [-2.03976065e-02 1.33578652e-03 9.99791055e-01 2.15758511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1107140569999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:302.21, Y:276.03, Z:2.16 [[-8.71057849e-01 4.90834702e-01 -1.84260580e-02 3.02212465e+02] [-4.90756718e-01 -8.71251695e-01 -8.85025733e-03 2.76034519e+02] [-2.03977477e-02 1.33362566e-03 9.99791055e-01 2.15800324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.140714057 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:302.13, Y:275.99, Z:2.16 [[-8.71092712e-01 4.90772858e-01 -1.84252458e-02 3.02130026e+02] [-4.90694825e-01 -8.71286539e-01 -8.85194789e-03 2.75991448e+02] [-2.03979644e-02 1.33030549e-03 9.99791055e-01 2.15559411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1707140569999 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:302.13, Y:275.99, Z:2.16 [[-8.71262193e-01 4.90472045e-01 -1.84218581e-02 3.02128559e+02] [-4.90393796e-01 -8.71455933e-01 -8.85899259e-03 2.75990651e+02] [-2.03989257e-02 1.31545961e-03 9.99791055e-01 2.15556036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2007140569999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:302.23, Y:276.03, Z:2.16 [[-8.72116638e-01 4.88951013e-01 -1.84249169e-02 3.02231173e+02] [-4.88872560e-01 -8.72310295e-01 -8.85262619e-03 2.76031749e+02] [-2.04007453e-02 1.28691373e-03 9.99791055e-01 2.15828935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2307140569999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:302.23, Y:276.03, Z:2.16 [[-8.72499197e-01 4.88267908e-01 -1.84282747e-02 3.02228583e+02] [-4.88189450e-01 -8.72692853e-01 -8.84563087e-03 2.76026745e+02] [-2.04012613e-02 1.27868348e-03 9.99791055e-01 2.15888532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.260714057 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:302.24, Y:276.03, Z:2.16 [[-8.72736393e-01 4.87843845e-01 -1.84274681e-02 3.02235522e+02] [-4.87765258e-01 -8.72929996e-01 -8.84731098e-03 2.76026086e+02] [-2.04019958e-02 1.26690846e-03 9.99791055e-01 2.15913963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.290714057 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:302.23, Y:276.02, Z:2.16 [[-8.72778653e-01 4.87768220e-01 -1.84278713e-02 3.02234334e+02] [-4.87689635e-01 -8.72972256e-01 -8.84647099e-03 2.76021312e+02] [-2.04020478e-02 1.26607080e-03 9.99791055e-01 2.16003953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3207140569999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:302.15, Y:275.97, Z:2.16 [[-8.72261883e-01 4.88691790e-01 -1.84266612e-02 3.02145084e+02] [-4.88613357e-01 -8.72455548e-01 -8.84899086e-03 2.75970058e+02] [-2.04008720e-02 1.28487536e-03 9.99791055e-01 2.15920180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3507140569999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:302.15, Y:275.97, Z:2.16 [[-8.71529075e-01 4.89997605e-01 -1.84232930e-02 3.02148030e+02] [-4.89919314e-01 -8.71722798e-01 -8.85599774e-03 2.75966580e+02] [-2.03994222e-02 1.30766757e-03 9.99791055e-01 2.16007593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.380714057 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:302.14, Y:275.96, Z:2.16 [[-8.70407208e-01 4.91987726e-01 -1.84219834e-02 3.02144721e+02] [-4.91909820e-01 -8.70601087e-01 -8.85872119e-03 2.75960282e+02] [-2.03965808e-02 1.35125975e-03 9.99791055e-01 2.15950883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.410714057 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:302.15, Y:275.95, Z:2.16 [[-8.67515144e-01 4.97069649e-01 -1.84184627e-02 3.02151635e+02] [-4.96992724e-01 -8.67709413e-01 -8.86603522e-03 2.75953878e+02] [-2.03889104e-02 1.46242212e-03 9.99791055e-01 2.15898185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4407140569999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:302.15, Y:275.95, Z:2.16 [[-8.65398829e-01 5.00745201e-01 -1.84149299e-02 3.02151467e+02] [-5.00668946e-01 -8.65593363e-01 -8.87336684e-03 2.75948826e+02] [-2.03831369e-02 1.54078226e-03 9.99791055e-01 2.15886950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4707140569999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:302.15, Y:275.94, Z:2.16 [[-8.63296715e-01 5.04360786e-01 -1.84113887e-02 3.02151425e+02] [-5.04285190e-01 -8.63491505e-01 -8.88070844e-03 2.75943967e+02] [-2.03771588e-02 1.61790420e-03 9.99791055e-01 2.15888861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.500714057 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:302.16, Y:275.94, Z:2.16 [[-8.61286405e-01 5.07786254e-01 -1.84078322e-02 3.02156746e+02] [-5.07711277e-01 -8.61481434e-01 -8.88807410e-03 2.75941564e+02] [-2.03712475e-02 1.69068660e-03 9.99791055e-01 2.15905321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.530714057 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:302.16, Y:275.93, Z:2.16 [[-8.57973932e-01 5.13363434e-01 -1.84042678e-02 3.02158533e+02] [-5.13289567e-01 -8.58169384e-01 -8.89544865e-03 2.75931825e+02] [-2.03605772e-02 1.81465561e-03 9.99791055e-01 2.16001922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5607140569999 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:302.16, Y:275.93, Z:2.16 [[-8.56613246e-01 5.15630838e-01 -1.84006949e-02 3.02161821e+02] [-5.15557331e-01 -8.56808834e-01 -8.90283331e-03 2.75927479e+02] [-2.03564533e-02 1.86032819e-03 9.99791055e-01 2.16073937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5907140569999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:302.16, Y:275.92, Z:2.16 [[-8.55494503e-01 5.17484977e-01 -1.83971109e-02 3.02162128e+02] [-5.17411736e-01 -8.55690191e-01 -8.91023330e-03 2.75921626e+02] [-2.03531392e-02 1.89622545e-03 9.99791055e-01 2.16064092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.620714057 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:302.17, Y:275.92, Z:2.16 [[-8.54789515e-01 5.18648787e-01 -1.83935138e-02 3.02166134e+02] [-5.18575655e-01 -8.54985243e-01 -8.91765252e-03 2.75917787e+02] [-2.03513126e-02 1.91571262e-03 9.99791055e-01 2.16091315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.650714057 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:302.18, Y:275.91, Z:2.16 [[-8.54181622e-01 5.19649467e-01 -1.83899069e-02 3.02176479e+02] [-5.19576405e-01 -8.54377377e-01 -8.92508459e-03 2.75910948e+02] [-2.03498358e-02 1.93131847e-03 9.99791055e-01 2.16078694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6807140569999 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:302.18, Y:275.91, Z:2.16 [[-8.54049740e-01 5.19866315e-01 -1.83863013e-02 3.02180906e+02] [-5.19793146e-01 -8.54245454e-01 -8.93250613e-03 2.75907033e+02] [-2.03501234e-02 1.92826886e-03 9.99791055e-01 2.16004586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7107140569999 meters Centerline goodness : 0.997732 Centerline is valid? [True, True] Translation: X:302.18, Y:275.90, Z:2.16 [[-8.53957774e-01 5.20017497e-01 -1.83826984e-02 3.02184750e+02] [-5.19944204e-01 -8.54153442e-01 -8.93991455e-03 2.75902443e+02] [-2.03505571e-02 1.92366798e-03 9.99791055e-01 2.15907277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.740714057 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:302.19, Y:275.89, Z:2.16 [[-8.54545149e-01 5.19051825e-01 -1.83790894e-02 3.02193921e+02] [-5.18978153e-01 -8.54740675e-01 -8.94732795e-03 2.75893824e+02] [-2.03534822e-02 1.89245019e-03 9.99791055e-01 2.15694387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.770714057 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:302.20, Y:275.89, Z:2.16 [[-8.54974805e-01 5.18343925e-01 -1.83754787e-02 3.02198920e+02] [-5.18269934e-01 -8.55170210e-01 -8.95473728e-03 2.75889922e+02] [-2.03557957e-02 1.86738338e-03 9.99791055e-01 2.15608128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8007140569999 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:302.21, Y:275.89, Z:2.16 [[-8.55352061e-01 5.17721283e-01 -1.83718682e-02 3.02209372e+02] [-5.17646992e-01 -8.55547352e-01 -8.96213873e-03 2.75888842e+02] [-2.03578931e-02 1.84435846e-03 9.99791055e-01 2.15597401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8307140569999 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:302.22, Y:275.88, Z:2.16 [[-8.56261981e-01 5.16215097e-01 -1.83682641e-02 3.02215109e+02] [-5.16140306e-01 -8.56457081e-01 -8.96951934e-03 2.75878269e+02] [-2.03618311e-02 1.80034305e-03 9.99791055e-01 2.15539836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8607140569999 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:302.23, Y:275.88, Z:2.16 [[-8.56825274e-01 5.15279719e-01 -1.83646627e-02 3.02226002e+02] [-5.15204558e-01 -8.57020233e-01 -8.97688695e-03 2.75877212e+02] [-2.03644953e-02 1.76993430e-03 9.99791056e-01 2.15505323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.890714057 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:302.23, Y:275.87, Z:2.15 [[-8.57418798e-01 5.14291625e-01 -1.83610653e-02 3.02230136e+02] [-5.14216084e-01 -8.57613609e-01 -8.98423904e-03 2.75872904e+02] [-2.03672183e-02 1.73829963e-03 9.99791056e-01 2.15417043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9207140569999 meters Centerline goodness : 0.991880 Centerline is valid? [True, True] Translation: X:302.25, Y:275.88, Z:2.16 [[-8.64282677e-01 5.02671322e-01 -1.83574730e-02 3.02246413e+02] [-5.02593003e-01 -8.64476388e-01 -8.99157311e-03 2.75881844e+02] [-2.03894079e-02 1.45507661e-03 9.99791056e-01 2.15522658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9507140569999 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:302.26, Y:275.88, Z:2.15 [[-8.66402052e-01 4.99003339e-01 -1.85243492e-02 3.02261831e+02] [-4.98931416e-01 -8.66598300e-01 -8.65037287e-03 2.75876358e+02] [-2.03697345e-02 1.74767900e-03 9.99790988e-01 2.15430871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9807140569999 meters Centerline goodness : 0.990699 Centerline is valid? [True, True] Translation: X:302.26, Y:275.86, Z:2.15 [[-8.61587967e-01 5.07270856e-01 -1.85055224e-02 3.02255732e+02] [-5.07199994e-01 -8.61784584e-01 -8.68883175e-03 2.75859319e+02] [-2.03553650e-02 1.89980797e-03 9.99791003e-01 2.15157802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.010714057 meters Centerline goodness : 0.988283 Centerline is valid? [True, True] Translation: X:302.27, Y:275.87, Z:2.15 [[-8.70429646e-01 4.91950674e-01 -1.83511671e-02 3.02267979e+02] [-4.91869717e-01 -8.70622260e-01 -9.00344739e-03 2.75868288e+02] [-2.04061866e-02 1.18951583e-03 9.99791064e-01 2.15144555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.040714057 meters Centerline goodness : 0.987721 Centerline is valid? [True, True] Translation: X:302.30, Y:275.88, Z:2.15 [[-8.73747962e-01 4.86023799e-01 -1.85840034e-02 3.02295453e+02] [-4.85951554e-01 -8.73944146e-01 -8.52740611e-03 2.75876215e+02] [-2.03859033e-02 1.58012165e-03 9.99790937e-01 2.15014939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0707140569999 meters Centerline goodness : 0.985265 Centerline is valid? [True, True] Translation: X:302.29, Y:275.86, Z:2.15 [[-8.73893856e-01 4.85759462e-01 -1.86352782e-02 3.02290401e+02] [-4.85689380e-01 -8.74090892e-01 -8.42253519e-03 2.75860911e+02] [-2.03802531e-02 1.69055499e-03 9.99790872e-01 2.14976694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1007140569999 meters Centerline goodness : 0.983461 Centerline is valid? [True, True] Translation: X:302.30, Y:275.86, Z:2.15 [[-8.75472474e-01 4.82910100e-01 -1.85952179e-02 3.02302908e+02] [-4.82837644e-01 -8.75668593e-01 -8.50440044e-03 2.75862449e+02] [-2.03901092e-02 1.53310272e-03 9.99790925e-01 2.14888384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.130714057 meters Centerline goodness : 0.984675 Centerline is valid? [True, True] Translation: X:302.09, Y:275.75, Z:2.14 [[-8.70813632e-01 4.91262957e-01 -1.85560175e-02 3.02092320e+02] [-4.91190692e-01 -8.71009770e-01 -8.58396341e-03 2.75749383e+02] [-2.03794557e-02 1.63951071e-03 9.99790973e-01 2.14464444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.160714057 meters Centerline goodness : 0.981741 Centerline is valid? [True, True] Translation: X:301.37, Y:275.37, Z:2.13 [[-8.60919300e-01 5.08410925e-01 -1.83382303e-02 3.01369123e+02] [-5.08333346e-01 -8.61113176e-01 -9.01712181e-03 2.75369203e+02] [-2.03756950e-02 1.55891977e-03 9.99791179e-01 2.12873752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1907140569999 meters Centerline goodness : 0.984635 Centerline is valid? [True, True] Translation: X:302.28, Y:275.83, Z:2.15 [[-8.67056703e-01 4.97879513e-01 -1.81291249e-02 3.02281091e+02] [-4.97790915e-01 -8.67245797e-01 -9.43043960e-03 2.75828062e+02] [-2.04176301e-02 8.47787831e-04 9.99791179e-01 2.14987935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2207140569999 meters Centerline goodness : 0.984168 Centerline is valid? [True, True] Translation: X:302.29, Y:275.83, Z:2.15 [[-8.67874735e-01 4.96447124e-01 -1.82674020e-02 3.02285220e+02] [-4.96363981e-01 -8.68066238e-01 -9.15451656e-03 2.75826129e+02] [-2.04020483e-02 1.12230673e-03 9.99791227e-01 2.15153602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.250714057 meters Centerline goodness : 0.980547 Centerline is valid? [True, True] Translation: X:301.40, Y:275.38, Z:2.14 [[-8.66182589e-01 4.99393787e-01 -1.82638170e-02 3.01403941e+02] [-4.99311145e-01 -8.66374309e-01 -9.16166327e-03 2.75376811e+02] [-2.03985795e-02 1.18365415e-03 9.99791227e-01 2.13531005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.280714057 meters Centerline goodness : 0.980118 Centerline is valid? [True, True] Translation: X:301.41, Y:275.37, Z:2.13 [[-8.65812177e-01 5.00035478e-01 -1.82700656e-02 3.01410882e+02] [-4.99953241e-01 -8.66004071e-01 -9.14912102e-03 2.75373257e+02] [-2.03968363e-02 1.21275813e-03 9.99791227e-01 2.13259687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3107140569999 meters Centerline goodness : 0.980609 Centerline is valid? [True, True] Translation: X:302.31, Y:275.84, Z:2.15 [[-8.91636852e-01 4.52386094e-01 -1.81809404e-02 3.02310881e+02] [-4.52289972e-01 -8.91822187e-01 -9.32561424e-03 2.75835624e+02] [-2.04329442e-02 -9.20042895e-05 9.99791221e-01 2.14917229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3407140569999 meters Centerline goodness : 0.981807 Centerline is valid? [True, True] Translation: X:302.31, Y:275.82, Z:2.15 [[-8.86380736e-01 4.62577184e-01 -1.87494140e-02 3.02313887e+02] [-4.62507782e-01 -8.86577823e-01 -8.14346045e-03 2.75824598e+02] [-2.03897937e-02 1.45354343e-03 9.99791050e-01 2.14876413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.370714057 meters Centerline goodness : 0.983829 Centerline is valid? [True, True] Translation: X:302.01, Y:275.67, Z:2.14 [[-8.82530321e-01 4.69891819e-01 -1.84908580e-02 3.02006820e+02] [-4.69812827e-01 -8.82723410e-01 -8.67691427e-03 2.75669053e+02] [-2.03995242e-02 1.02960234e-03 9.99791378e-01 2.14128083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.400714057 meters Centerline goodness : 0.984582 Centerline is valid? [True, True] Translation: X:302.00, Y:275.66, Z:2.14 [[-8.84014978e-01 4.67094563e-01 -1.84441742e-02 3.02004362e+02] [-4.67012962e-01 -8.84206951e-01 -8.77274205e-03 2.75664056e+02] [-2.04061672e-02 8.58433077e-04 9.99791404e-01 2.14141366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4307140569999 meters Centerline goodness : 0.987168 Centerline is valid? [True, True] Translation: X:302.30, Y:275.80, Z:2.15 [[-8.80954138e-01 4.72837587e-01 -1.85586268e-02 3.02303480e+02] [-4.72762191e-01 -8.81148707e-01 -8.53618300e-03 2.75797214e+02] [-2.03891382e-02 1.25383133e-03 9.99791334e-01 2.14647813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4607140569999 meters Centerline goodness : 0.984621 Centerline is valid? [True, True] Translation: X:302.33, Y:275.82, Z:2.15 [[-8.89972092e-01 4.55644372e-01 -1.83815566e-02 3.02331407e+02] [-4.55557631e-01 -8.90161784e-01 -8.90182282e-03 2.75821669e+02] [-2.04186247e-02 4.51484484e-04 9.99791416e-01 2.14809082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.490714057 meters Centerline goodness : 0.987032 Centerline is valid? [True, True] Translation: X:302.31, Y:275.80, Z:2.15 [[-8.82516884e-01 4.69914143e-01 -1.85646581e-02 3.02311663e+02] [-4.69838378e-01 -8.82711310e-01 -8.52306393e-03 2.75800010e+02] [-2.03923420e-02 1.20064104e-03 9.99791334e-01 2.14667355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.520714057 meters Centerline goodness : 0.986822 Centerline is valid? [True, True] Translation: X:302.31, Y:275.80, Z:2.15 [[-8.82842145e-01 4.69310126e-01 -1.83780253e-02 3.02314242e+02] [-4.69226189e-01 -8.83033085e-01 -8.90810452e-03 2.75800964e+02] [-2.04090680e-02 7.59000656e-04 9.99791425e-01 2.14649515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5507140569999 meters Centerline goodness : 0.986716 Centerline is valid? [True, True] Translation: X:302.32, Y:275.80, Z:2.15 [[-8.82971733e-01 4.69066407e-01 -1.83745794e-02 3.02316134e+02] [-4.68982269e-01 -8.83162584e-01 -8.91520656e-03 2.75801617e+02] [-2.04095650e-02 7.45476563e-04 9.99791425e-01 2.14684597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5807140569999 meters Centerline goodness : 0.987271 Centerline is valid? [True, True] Translation: X:302.32, Y:275.80, Z:2.15 [[-8.82741120e-01 4.69500390e-01 -1.83711297e-02 3.02318907e+02] [-4.69416199e-01 -8.82931948e-01 -8.92230967e-03 2.75802883e+02] [-2.04094852e-02 7.47616212e-04 9.99791425e-01 2.14734096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6107140569999 meters Centerline goodness : 0.982277 Centerline is valid? [True, True] Translation: X:301.45, Y:275.38, Z:2.13 [[-8.80170934e-01 4.74301335e-01 -1.83676771e-02 3.01450417e+02] [-4.74218036e-01 -8.80362153e-01 -8.92941144e-03 2.75378171e+02] [-2.04054396e-02 8.50875374e-04 9.99791425e-01 2.13010431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.640714057 meters Centerline goodness : 0.984953 Centerline is valid? [True, True] Translation: X:302.03, Y:275.67, Z:2.14 [[-8.90793176e-01 4.54039094e-01 -1.83308230e-02 3.02031308e+02] [-4.53949879e-01 -8.90981712e-01 -9.00533428e-03 2.75668509e+02] [-2.04212019e-02 2.99384560e-04 9.99791421e-01 2.14078883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6707140569999 meters Centerline goodness : 0.985751 Centerline is valid? [True, True] Translation: X:302.31, Y:275.80, Z:2.14 [[-8.85479216e-01 4.64305752e-01 -1.86206354e-02 3.02309773e+02] [-4.64231488e-01 -8.85674149e-01 -8.39217249e-03 2.75795168e+02] [-2.03883494e-02 1.21319096e-03 9.99791400e-01 2.14377047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7007140569999 meters Centerline goodness : 0.981013 Centerline is valid? [True, True] Translation: X:301.37, Y:275.34, Z:2.13 [[-8.80133874e-01 4.74366591e-01 -1.84580877e-02 3.01366311e+02] [-4.74287347e-01 -8.80326758e-01 -8.73563360e-03 2.75344837e+02] [-2.03930412e-02 1.06591038e-03 9.99791472e-01 2.12957206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7307140569999 meters Centerline goodness : 0.985354 Centerline is valid? [True, True] Translation: X:302.29, Y:275.79, Z:2.14 [[-8.83682699e-01 4.67728162e-01 -1.83099462e-02 3.02288529e+02] [-4.67640978e-01 -8.83872189e-01 -9.04819191e-03 2.75788120e+02] [-2.04157464e-02 5.66750497e-04 9.99791416e-01 2.14132103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.760714057 meters Centerline goodness : 0.984054 Centerline is valid? [True, True] Translation: X:302.29, Y:275.79, Z:2.14 [[-8.82184293e-01 4.70541364e-01 -1.84850524e-02 3.02288495e+02] [-4.70462546e-01 -8.82377321e-01 -8.67507550e-03 2.75789155e+02] [-2.03927729e-02 1.04350948e-03 9.99791501e-01 2.14059474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.790714057 meters Centerline goodness : 0.985283 Centerline is valid? [True, True] Translation: X:302.29, Y:275.79, Z:2.14 [[-8.80629808e-01 4.73444368e-01 -1.84816705e-02 3.02288624e+02] [-4.73366035e-01 -8.80823033e-01 -8.68227450e-03 2.75790905e+02] [-2.03896550e-02 1.10272536e-03 9.99791501e-01 2.14103049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8207140569999 meters Centerline goodness : 0.982881 Centerline is valid? [True, True] Translation: X:302.31, Y:275.82, Z:2.14 [[-8.87894520e-01 4.59675836e-01 -1.84782806e-02 3.02314780e+02] [-4.59594355e-01 -8.88086438e-01 -8.68948313e-03 2.75816928e+02] [-2.04046558e-02 7.77169011e-04 9.99791501e-01 2.14251326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8507140569999 meters Centerline goodness : 0.982118 Centerline is valid? [True, True] Translation: X:301.35, Y:275.34, Z:2.12 [[-8.68567362e-01 4.95224817e-01 -1.85234496e-02 3.01345558e+02] [-4.95153155e-01 -8.68763184e-01 -8.59554931e-03 2.75342254e+02] [-2.03492203e-02 1.70613089e-03 9.99791477e-01 2.12295891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.880714057 meters Centerline goodness : 0.981194 Centerline is valid? [True, True] Translation: X:301.38, Y:275.36, Z:2.12 [[-8.66885154e-01 4.98167933e-01 -1.84076198e-02 3.01382078e+02] [-4.98091807e-01 -8.67079258e-01 -8.83810255e-03 2.75362558e+02] [-2.03637246e-02 1.50706474e-03 9.99791502e-01 2.12452469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.910714057 meters Centerline goodness : 0.981220 Centerline is valid? [True, True] Translation: X:301.43, Y:275.39, Z:2.13 [[-8.64599555e-01 5.02124833e-01 -1.83918911e-02 3.01425476e+02] [-5.02048902e-01 -8.64793737e-01 -8.87088962e-03 2.75385778e+02] [-2.03594862e-02 1.56386152e-03 9.99791501e-01 2.13104322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9407140569999 meters Centerline goodness : 0.985532 Centerline is valid? [True, True] Translation: X:302.25, Y:275.79, Z:2.14 [[-8.66146329e-01 4.99455325e-01 -1.83006841e-02 3.02254025e+02] [-4.99374845e-01 -8.66338679e-01 -9.05856338e-03 2.75791783e+02] [-2.03789382e-02 1.29285987e-03 9.99791492e-01 2.13999336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9707140569999 meters Centerline goodness : 0.986123 Centerline is valid? [True, True] Translation: X:302.26, Y:275.79, Z:2.14 [[-8.64815750e-01 5.01752371e-01 -1.83922950e-02 3.02255406e+02] [-5.01676405e-01 -8.65009903e-01 -8.86857514e-03 2.75791716e+02] [-2.03593459e-02 1.55729698e-03 9.99791514e-01 2.13888928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.000714057 meters Centerline goodness : 0.985333 Centerline is valid? [True, True] Translation: X:302.26, Y:275.79, Z:2.14 [[-8.63696976e-01 5.03675874e-01 -1.83887788e-02 3.02258004e+02] [-5.03600187e-01 -8.63891238e-01 -8.87585987e-03 2.75791798e+02] [-2.03564614e-02 1.59453912e-03 9.99791514e-01 2.13699733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.030714057 meters Centerline goodness : 0.978127 Centerline is valid? [True, True] Translation: X:301.32, Y:275.33, Z:2.12 [[-8.58257272e-01 5.12890279e-01 -1.83852568e-02 3.01319767e+02] [-5.12816520e-01 -8.58452274e-01 -8.88314942e-03 2.75328626e+02] [-2.03389465e-02 1.80423580e-03 9.99791514e-01 2.12467434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0607140569999 meters Centerline goodness : 0.977485 Centerline is valid? [True, True] Translation: X:301.32, Y:275.32, Z:2.13 [[-8.55548021e-01 5.17396375e-01 -1.84004041e-02 3.01315343e+02] [-5.17324315e-01 -8.55743655e-01 -8.85149672e-03 2.75324126e+02] [-2.03257613e-02 1.94609593e-03 9.99791516e-01 2.12535897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0907140569999 meters Centerline goodness : 0.977485 Centerline is valid? [True, True] Translation: X:301.32, Y:275.33, Z:2.13 [[-8.54494739e-01 5.19134954e-01 -1.83749816e-02 3.01317940e+02] [-5.19062168e-01 -8.54690107e-01 -8.90437218e-03 2.75325463e+02] [-2.03274858e-02 1.92901857e-03 9.99791514e-01 2.12540678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.120714057 meters Centerline goodness : 0.983327 Centerline is valid? [True, True] Translation: X:302.25, Y:275.78, Z:2.13 [[-8.59956660e-01 5.10040944e-01 -1.82422031e-02 3.02245015e+02] [-5.09960378e-01 -8.60148963e-01 -9.17464185e-03 2.75782197e+02] [-2.03704551e-02 1.41300645e-03 9.99791502e-01 2.12886275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.150714057 meters Centerline goodness : 0.976803 Centerline is valid? [True, True] Translation: X:302.29, Y:275.81, Z:2.14 [[-8.66783851e-01 4.98345959e-01 -1.83591996e-02 3.02286209e+02] [-4.98267845e-01 -8.66977124e-01 -8.93422412e-03 2.75810697e+02] [-2.03693405e-02 1.40375762e-03 9.99791538e-01 2.13925778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1807140569999 meters Centerline goodness : 0.990165 Centerline is valid? [True, True] Translation: X:301.70, Y:275.51, Z:2.13 [[-8.58723663e-01 5.12108106e-01 -1.84108212e-02 3.01696918e+02] [-5.12035323e-01 -8.58919019e-01 -8.82876559e-03 2.75513569e+02] [-2.03346869e-02 1.84552083e-03 9.99791526e-01 2.13044461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2107140569999 meters Centerline goodness : 0.984786 Centerline is valid? [True, True] Translation: X:301.55, Y:275.43, Z:2.10 [[-8.60092602e-01 5.09808834e-01 -1.83212998e-02 3.01550691e+02] [-5.09731639e-01 -8.60286251e-01 -9.01237426e-03 2.75429716e+02] [-2.03561504e-02 1.58746978e-03 9.99791532e-01 2.09527412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.240714057 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:301.93, Y:276.13, Z:2.94 [[-9.03184536e-01 -4.28861310e-01 1.83212998e-02 3.01933691e+02] [-4.28766698e-01 9.03370298e-01 9.01237426e-03 2.76128306e+02] [-2.04159767e-02 2.84273827e-04 -9.99791532e-01 2.94063170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.270714057 meters Centerline goodness : 0.981160 Centerline is valid? [True, True] Translation: X:301.95, Y:276.17, Z:2.95 [[-8.58733264e-01 -5.12116523e-01 1.77157593e-02 3.01946041e+02] [-5.12017541e-01 8.58915882e-01 1.00769721e-02 2.76171361e+02] [-2.03769309e-02 -4.17348363e-04 -9.99792282e-01 2.94650088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3007140569999 meters Centerline goodness : 0.985025 Centerline is valid? [True, True] Translation: X:302.14, Y:275.79, Z:2.13 [[-7.85948463e-01 6.18075559e-01 -1.63589815e-02 3.02135845e+02] [-6.17957615e-01 -7.86118460e-01 -1.20893282e-02 2.75794020e+02] [-2.03322156e-02 6.07568298e-04 9.99793095e-01 2.13256635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3307140569999 meters Centerline goodness : 0.983591 Centerline is valid? [True, True] Translation: X:302.14, Y:275.80, Z:2.13 [[-7.88378464e-01 6.14959230e-01 -1.68684265e-02 3.02140718e+02] [-6.14856515e-01 -7.88557592e-01 -1.13309294e-02 2.75795641e+02] [-2.02697854e-02 1.43860119e-03 9.99793512e-01 2.13110816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3607140569999 meters Centerline goodness : 0.978905 Centerline is valid? [True, True] Translation: X:301.28, Y:275.21, Z:2.13 [[-7.84116518e-01 6.20384457e-01 -1.68645186e-02 3.01276665e+02] [-6.20282856e-01 -7.84296281e-01 -1.13367428e-02 2.75205776e+02] [-2.02599182e-02 1.57144447e-03 9.99793512e-01 2.12526571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.390714057 meters Centerline goodness : 0.983894 Centerline is valid? [True, True] Translation: X:302.13, Y:275.78, Z:2.13 [[-7.92164300e-01 6.10078959e-01 -1.67148278e-02 3.02133081e+02] [-6.09970329e-01 -7.92339942e-01 -1.15591192e-02 2.75780008e+02] [-2.02958012e-02 1.03882745e-03 9.99793479e-01 2.12572453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4207140569999 meters Centerline goodness : 0.977563 Centerline is valid? [True, True] Translation: X:301.84, Y:275.58, Z:2.13 [[-7.95950244e-01 6.05126146e-01 -1.68984327e-02 3.01836051e+02] [-6.05022201e-01 -7.96128636e-01 -1.12841666e-02 2.75583036e+02] [-2.02816704e-02 1.24229180e-03 9.99793534e-01 2.12820473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4507140569999 meters Centerline goodness : 0.979245 Centerline is valid? [True, True] Translation: X:301.83, Y:275.57, Z:2.13 [[-7.96044227e-01 6.05002649e-01 -1.68932922e-02 3.01826975e+02] [-6.04898514e-01 -7.96222508e-01 -1.12918571e-02 2.75571308e+02] [-2.02824229e-02 1.22990971e-03 9.99793534e-01 2.13015436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4807140569999 meters Centerline goodness : 0.979149 Centerline is valid? [True, True] Translation: X:301.30, Y:275.20, Z:2.12 [[-7.86919592e-01 6.16824433e-01 -1.68871427e-02 3.01295234e+02] [-6.16722776e-01 -7.87099297e-01 -1.13010462e-02 2.75201803e+02] [-2.02626196e-02 1.52167088e-03 9.99793534e-01 2.12099141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.510714057 meters Centerline goodness : 0.976650 Centerline is valid? [True, True] Translation: X:301.30, Y:275.20, Z:2.13 [[-7.87989161e-01 6.15457394e-01 -1.68901839e-02 3.01300413e+02] [-6.15355523e-01 -7.88168745e-01 -1.12964420e-02 2.75198805e+02] [-2.02647938e-02 1.49199411e-03 9.99793535e-01 2.12507628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.540714057 meters Centerline goodness : 0.980006 Centerline is valid? [True, True] Translation: X:301.83, Y:275.56, Z:2.13 [[-7.93484350e-01 6.08361536e-01 -1.66981130e-02 3.01828969e+02] [-6.08252055e-01 -7.93659440e-01 -1.15815174e-02 2.75560980e+02] [-2.02983647e-02 9.66908691e-04 9.99793499e-01 2.13451966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5707140569999 meters Centerline goodness : 0.977141 Centerline is valid? [True, True] Translation: X:301.34, Y:275.22, Z:2.13 [[-7.95533756e-01 6.05676743e-01 -1.67847057e-02 3.01337478e+02] [-6.05569373e-01 -7.95710106e-01 -1.14525694e-02 2.75218066e+02] [-2.02923149e-02 1.05339814e-03 9.99793535e-01 2.13370500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6007140569999 meters Centerline goodness : 0.985993 Centerline is valid? [True, True] Translation: X:302.15, Y:275.77, Z:2.13 [[-8.05561274e-01 5.92279707e-01 -1.66066844e-02 3.02150599e+02] [-5.92163974e-01 -8.05732332e-01 -1.17147975e-02 2.75774107e+02] [-2.03189794e-02 3.96893061e-04 9.99793469e-01 2.13310547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.630714057 meters Centerline goodness : 0.978237 Centerline is valid? [True, True] Translation: X:301.27, Y:275.17, Z:2.13 [[-8.01617798e-01 5.97599358e-01 -1.68497298e-02 3.01271704e+02] [-5.97492268e-01 -8.01794284e-01 -1.13541168e-02 2.75171301e+02] [-2.02952300e-02 9.65921177e-04 9.99793564e-01 2.12944702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.660714057 meters Centerline goodness : 0.979550 Centerline is valid? [True, True] Translation: X:301.32, Y:275.21, Z:2.13 [[-8.02575830e-01 5.96310933e-01 -1.68910607e-02 3.01323647e+02] [-5.96204871e-01 -8.02752923e-01 -1.12914467e-02 2.75205772e+02] [-2.02925615e-02 1.00829040e-03 9.99793576e-01 2.12634078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6907140569999 meters Centerline goodness : 0.984203 Centerline is valid? [True, True] Translation: X:301.85, Y:275.57, Z:2.13 [[-8.08732819e-01 5.87938588e-01 -1.67166263e-02 3.01850279e+02] [-5.87825309e-01 -8.08905422e-01 -1.15509434e-02 2.75566111e+02] [-2.03134150e-02 4.84829011e-04 9.99793544e-01 2.13112301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7207140569999 meters Centerline goodness : 0.984329 Centerline is valid? [True, True] Translation: X:301.86, Y:275.57, Z:2.13 [[-8.09392082e-01 5.87029606e-01 -1.67540572e-02 3.01857684e+02] [-5.86917280e-01 -8.09565292e-01 -1.14954323e-02 2.75573124e+02] [-2.03116623e-02 5.28933805e-04 9.99793557e-01 2.13282984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.750714057 meters Centerline goodness : 0.983509 Centerline is valid? [True, True] Translation: X:301.87, Y:275.58, Z:2.13 [[-8.08715461e-01 5.87961784e-01 -1.67404619e-02 3.01867190e+02] [-5.87849241e-01 -8.08888535e-01 -1.15155712e-02 2.75579382e+02] [-2.03118835e-02 5.28047360e-04 9.99793553e-01 2.13339225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.780714057 meters Centerline goodness : 0.988320 Centerline is valid? [True, True] Translation: X:302.16, Y:275.78, Z:2.13 [[-8.08129140e-01 5.88768206e-01 -1.67120281e-02 3.02155408e+02] [-5.88654969e-01 -8.08301770e-01 -1.15575301e-02 2.75777405e+02] [-2.03130682e-02 4.97641499e-04 9.99793545e-01 2.13097485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8107140569999 meters Centerline goodness : 0.981775 Centerline is valid? [True, True] Translation: X:301.85, Y:275.57, Z:2.14 [[-8.06632940e-01 5.90813174e-01 -1.68253748e-02 3.01846731e+02] [-5.90703848e-01 -8.06808050e-01 -1.13900959e-02 2.75571181e+02] [-2.03042665e-02 7.51187077e-04 9.99793565e-01 2.13637133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8407140569999 meters Centerline goodness : 0.978469 Centerline is valid? [True, True] Translation: X:301.25, Y:275.16, Z:2.13 [[-8.02160151e-01 5.96872129e-01 -1.68152782e-02 3.01246282e+02] [-5.96763810e-01 -8.02335888e-01 -1.14051693e-02 2.75160804e+02] [-2.02989289e-02 8.85977147e-04 9.99793563e-01 2.13093241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.870714057 meters Centerline goodness : 0.976942 Centerline is valid? [True, True] Translation: X:301.26, Y:275.17, Z:2.13 [[-7.95296617e-01 6.05984917e-01 -1.68988520e-02 3.01258715e+02] [-6.05881279e-01 -7.95475122e-01 -1.12785651e-02 2.75171633e+02] [-2.02772567e-02 1.26889335e-03 9.99793590e-01 2.13074756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.900714057 meters Centerline goodness : 0.984861 Centerline is valid? [True, True] Translation: X:302.13, Y:275.78, Z:2.13 [[-8.03889085e-01 5.94550411e-01 -1.64969133e-02 3.02132158e+02] [-5.94432078e-01 -8.04058292e-01 -1.18645891e-02 2.75778261e+02] [-2.03185762e-02 2.68480804e-04 9.99793520e-01 2.13441607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9307140569999 meters Centerline goodness : 0.985655 Centerline is valid? [True, True] Translation: X:302.13, Y:275.78, Z:2.13 [[-8.02474280e-01 5.96450160e-01 -1.67999116e-02 3.02130837e+02] [-5.96341459e-01 -8.02649659e-01 -1.14188083e-02 2.75776103e+02] [-2.02951934e-02 8.55183834e-04 9.99793666e-01 2.13197594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9607140569999 meters Centerline goodness : 0.979871 Centerline is valid? [True, True] Translation: X:301.86, Y:275.59, Z:2.14 [[-8.01558211e-01 5.97680806e-01 -1.67954777e-02 3.01859073e+02] [-5.97572238e-01 -8.01733673e-01 -1.14253262e-02 2.75592995e+02] [-2.02941982e-02 8.78447145e-04 9.99793666e-01 2.13778473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.990714057 meters Centerline goodness : 0.984706 Centerline is valid? [True, True] Translation: X:302.13, Y:275.78, Z:2.13 [[-8.03241413e-01 5.95421101e-01 -1.66416569e-02 3.02130198e+02] [-5.95307350e-01 -8.03413599e-01 -1.16510632e-02 2.75780508e+02] [-2.03074224e-02 5.48284203e-04 9.99793633e-01 2.13392473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.020714057 meters Centerline goodness : 0.977383 Centerline is valid? [True, True] Translation: X:301.24, Y:275.17, Z:2.13 [[-7.97408662e-01 6.03205890e-01 -1.67952342e-02 3.01241632e+02] [-6.03098537e-01 -7.97584865e-01 -1.14253055e-02 2.75172184e+02] [-2.02874362e-02 1.01854363e-03 9.99793670e-01 2.13084226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0507140569999 meters Centerline goodness : 0.976196 Centerline is valid? [True, True] Translation: X:301.24, Y:275.18, Z:2.13 [[-7.95835399e-01 6.05277846e-01 -1.68744718e-02 3.01244958e+02] [-6.05173479e-01 -7.96013350e-01 -1.13051706e-02 2.75175730e+02] [-2.02750742e-02 1.21492788e-03 9.99793701e-01 2.13133653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0807140569999 meters Centerline goodness : 0.982257 Centerline is valid? [True, True] Translation: X:302.12, Y:275.78, Z:2.14 [[-8.04386668e-01 5.93877082e-01 -1.64954370e-02 3.02118293e+02] [-5.93758739e-01 -8.04555744e-01 -1.18580660e-02 2.75782676e+02] [-2.03137322e-02 2.55839669e-04 9.99793622e-01 2.13755356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1107140569999 meters Centerline goodness : 0.976951 Centerline is valid? [True, True] Translation: X:301.34, Y:275.25, Z:2.12 [[-7.98723556e-01 6.01463656e-01 -1.67973781e-02 3.01337700e+02] [-6.01356156e-01 -7.98899556e-01 -1.14137091e-02 2.75247693e+02] [-2.02843491e-02 9.84808418e-04 9.99793766e-01 2.12365221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.140714057 meters Centerline goodness : 0.973754 Centerline is valid? [True, True] Translation: X:302.14, Y:275.81, Z:2.15 [[-8.13006060e-01 5.82021283e-01 -1.65037222e-02 3.02137384e+02] [-5.81900751e-01 -8.13173552e-01 -1.18444261e-02 2.75807192e+02] [-2.03140985e-02 -2.60618081e-05 9.99793647e-01 2.14728612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1707140569999 meters Centerline goodness : 0.984445 Centerline is valid? [True, True] Translation: X:302.10, Y:275.78, Z:2.13 [[-8.05945166e-01 5.91750111e-01 -1.68581174e-02 3.02103582e+02] [-5.91642448e-01 -8.06121010e-01 -1.13195100e-02 2.75775770e+02] [-2.02880039e-02 8.51073549e-04 9.99793815e-01 2.13337812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2007140569999 meters Centerline goodness : 0.976558 Centerline is valid? [True, True] Translation: X:301.86, Y:275.62, Z:2.14 [[-8.08144507e-01 5.88743900e-01 -1.68248344e-02 3.01861451e+02] [-5.88634559e-01 -8.08319310e-01 -1.13687662e-02 2.75617255e+02] [-2.02931303e-02 7.16073040e-04 9.99793817e-01 2.13958810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2307140569999 meters Centerline goodness : 0.976280 Centerline is valid? [True, True] Translation: X:301.88, Y:275.63, Z:2.14 [[-8.09781721e-01 5.86492803e-01 -1.67259295e-02 3.01880543e+02] [-5.86379944e-01 -8.09954294e-01 -1.15153308e-02 2.75634555e+02] [-2.03008970e-02 4.82845254e-04 9.99793799e-01 2.14309769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.260714057 meters Centerline goodness : 0.976628 Centerline is valid? [True, True] Translation: X:301.23, Y:275.19, Z:2.13 [[-8.05162733e-01 5.92815998e-01 -1.67978034e-02 3.01231866e+02] [-5.92706721e-01 -8.05337568e-01 -1.14080770e-02 2.75190935e+02] [-2.02907927e-02 7.70812497e-04 9.99793824e-01 2.13228455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.290714057 meters Centerline goodness : 0.976602 Centerline is valid? [True, True] Translation: X:301.20, Y:275.17, Z:2.13 [[-8.03963491e-01 5.94438304e-01 -1.69058803e-02 3.01202693e+02] [-5.94332830e-01 -8.04140588e-01 -1.12428589e-02 2.75173515e+02] [-2.02778905e-02 1.00887163e-03 9.99793873e-01 2.13035998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3207140569999 meters Centerline goodness : 0.977853 Centerline is valid? [True, True] Translation: X:301.23, Y:275.20, Z:2.13 [[-8.02976791e-01 5.95771277e-01 -1.68777522e-02 3.01230258e+02] [-5.95665200e-01 -8.03153536e-01 -1.12856825e-02 2.75197878e+02] [-2.02791118e-02 9.91348549e-04 9.99793866e-01 2.12709793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3507140569999 meters Centerline goodness : 0.977627 Centerline is valid? [True, True] Translation: X:301.25, Y:275.21, Z:2.13 [[-8.01030206e-01 5.98387129e-01 -1.68360636e-02 3.01249099e+02] [-5.98280307e-01 -8.01206515e-01 -1.13487834e-02 2.75212918e+02] [-2.02801298e-02 9.81966937e-04 9.99793855e-01 2.12925073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.380714057 meters Centerline goodness : 0.976745 Centerline is valid? [True, True] Translation: X:301.89, Y:275.66, Z:2.14 [[-8.11167567e-01 5.84580428e-01 -1.65197233e-02 3.01888592e+02] [-5.84461065e-01 -8.11335761e-01 -1.18129811e-02 2.75664153e+02] [-2.03086798e-02 7.28279655e-05 9.99793755e-01 2.13855358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.410714057 meters Centerline goodness : 0.977817 Centerline is valid? [True, True] Translation: X:301.19, Y:275.18, Z:2.13 [[-8.03618072e-01 5.94909411e-01 -1.67566987e-02 3.01190145e+02] [-5.94799451e-01 -8.03792400e-01 -1.14625475e-02 2.75181772e+02] [-2.02880845e-02 7.55364915e-04 9.99793890e-01 2.12628454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4407140569999 meters Centerline goodness : 0.973651 Centerline is valid? [True, True] Translation: X:302.10, Y:275.82, Z:2.15 [[-8.18086770e-01 5.74858855e-01 -1.64722193e-02 3.02102166e+02] [-5.74736168e-01 -8.18252549e-01 -1.18786479e-02 2.75824423e+02] [-2.03069814e-02 -2.50584505e-04 9.99793761e-01 2.14745793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4707140569999 meters Centerline goodness : 0.972995 Centerline is valid? [True, True] Translation: X:302.10, Y:275.83, Z:2.15 [[-8.18930241e-01 5.73645223e-01 -1.68647210e-02 3.02103283e+02] [-5.73534123e-01 -8.19103767e-01 -1.12972909e-02 2.75830783e+02] [-2.02945935e-02 4.20799859e-04 9.99793955e-01 2.14697190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.500714057 meters Centerline goodness : 0.972104 Centerline is valid? [True, True] Translation: X:302.10, Y:275.83, Z:2.15 [[-8.18378283e-01 5.74432131e-01 -1.68734196e-02 3.02099811e+02] [-5.74321463e-01 -8.18552087e-01 -1.12844103e-02 2.75832850e+02] [-2.02939007e-02 4.55850727e-04 9.99793954e-01 2.14731639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.530714057 meters Centerline goodness : 0.972699 Centerline is valid? [True, True] Translation: X:302.10, Y:275.84, Z:2.15 [[-8.18519716e-01 5.74231528e-01 -1.68412202e-02 3.02100644e+02] [-5.74119837e-01 -8.18692859e-01 -1.13320500e-02 2.75840441e+02] [-2.02950071e-02 3.93372245e-04 9.99793958e-01 2.15022172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5607140569999 meters Centerline goodness : 0.971272 Centerline is valid? [True, True] Translation: X:302.10, Y:275.84, Z:2.15 [[-8.19210004e-01 5.73245973e-01 -1.68529963e-02 3.02098199e+02] [-5.73134432e-01 -8.19383245e-01 -1.13146345e-02 2.75843285e+02] [-2.02951315e-02 3.89970725e-04 9.99793957e-01 2.15014511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5907140569999 meters Centerline goodness : 0.972552 Centerline is valid? [True, True] Translation: X:302.10, Y:275.85, Z:2.15 [[-8.19729108e-01 5.72504292e-01 -1.68233624e-02 3.02097649e+02] [-5.72391695e-01 -8.19901661e-01 -1.13584205e-02 2.75846442e+02] [-2.02962473e-02 3.18725018e-04 9.99793959e-01 2.15002242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.620714057 meters Centerline goodness : 0.973660 Centerline is valid? [True, True] Translation: X:302.09, Y:275.85, Z:2.15 [[-8.21260516e-01 5.70305210e-01 -1.68265661e-02 3.02094038e+02] [-5.70192247e-01 -8.21432831e-01 -1.13536882e-02 2.75851990e+02] [-2.02969614e-02 2.70041726e-04 9.99793959e-01 2.14942989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.650714057 meters Centerline goodness : 0.981616 Centerline is valid? [True, True] Translation: X:302.07, Y:275.83, Z:2.14 [[-8.15755361e-01 5.78152026e-01 -1.68352550e-02 3.02073246e+02] [-5.78040985e-01 -8.15928921e-01 -1.13408594e-02 2.75833068e+02] [-2.02931123e-02 4.80100499e-04 9.99793958e-01 2.13933574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6807140569999 meters Centerline goodness : 0.975227 Centerline is valid? [True, True] Translation: X:302.08, Y:275.85, Z:2.15 [[-8.22887555e-01 5.67955754e-01 -1.68027925e-02 3.02083863e+02] [-5.67841583e-01 -8.23059070e-01 -1.13887542e-02 2.75853355e+02] [-2.02979992e-02 1.69660206e-04 9.99793960e-01 2.14795159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7107140569999 meters Centerline goodness : 0.981583 Centerline is valid? [True, True] Translation: X:302.07, Y:275.84, Z:2.14 [[-8.17023130e-01 5.76359132e-01 -1.68331922e-02 3.02072676e+02] [-5.76247647e-01 -8.17196405e-01 -1.13439080e-02 2.75841067e+02] [-2.02941891e-02 4.31852203e-04 9.99793958e-01 2.14074916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.740714057 meters Centerline goodness : 0.983272 Centerline is valid? [True, True] Translation: X:302.06, Y:275.84, Z:2.14 [[-8.14255100e-01 5.80264123e-01 -1.67982189e-02 3.02064933e+02] [-5.80152405e-01 -8.14428223e-01 -1.13954626e-02 2.75842168e+02] [-2.02933217e-02 4.66713558e-04 9.99793960e-01 2.14251481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.770714057 meters Centerline goodness : 0.983071 Centerline is valid? [True, True] Translation: X:302.07, Y:275.85, Z:2.14 [[-8.15843294e-01 5.78033712e-01 -1.66357125e-02 3.02072484e+02] [-5.77916623e-01 -8.16012876e-01 -1.16346071e-02 2.75854466e+02] [-2.03001507e-02 1.22038624e-04 9.99793923e-01 2.14393095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8007140569999 meters Centerline goodness : 0.982758 Centerline is valid? [True, True] Translation: X:302.07, Y:275.86, Z:2.14 [[-8.13673920e-01 5.81078974e-01 -1.67921978e-02 3.02066093e+02] [-5.80967250e-01 -8.13847037e-01 -1.14041904e-02 2.75859875e+02] [-2.02930157e-02 4.76424658e-04 9.99793962e-01 2.14463397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8307140569999 meters Centerline goodness : 0.983552 Centerline is valid? [True, True] Translation: X:302.06, Y:275.86, Z:2.15 [[-8.12113417e-01 5.83258062e-01 -1.67878263e-02 3.02064224e+02] [-5.83146670e-01 -8.12286747e-01 -1.14106220e-02 2.75863611e+02] [-2.02918661e-02 5.23045800e-04 9.99793962e-01 2.14517314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8607140569999 meters Centerline goodness : 0.984640 Centerline is valid? [True, True] Translation: X:302.06, Y:275.87, Z:2.15 [[-8.10038613e-01 5.86136300e-01 -1.67834407e-02 3.02061777e+02] [-5.86025390e-01 -8.10212252e-01 -1.14170689e-02 2.75866221e+02] [-2.02901078e-02 5.87255672e-04 9.99793962e-01 2.14507819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.890714057 meters Centerline goodness : 0.982444 Centerline is valid? [True, True] Translation: X:302.07, Y:275.89, Z:2.15 [[-8.14739886e-01 5.79583800e-01 -1.67790445e-02 3.02074305e+02] [-5.79471360e-01 -8.14912539e-01 -1.14235261e-02 2.75887679e+02] [-2.02943444e-02 4.15773417e-04 9.99793962e-01 2.14917710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9207140569999 meters Centerline goodness : 0.984943 Centerline is valid? [True, True] Translation: X:302.06, Y:275.87, Z:2.15 [[-8.05994600e-01 5.91680498e-01 -1.69379599e-02 3.02057957e+02] [-5.91575522e-01 -8.06171934e-01 -1.11899388e-02 2.75871739e+02] [-2.02757765e-02 1.00105226e-03 9.99793924e-01 2.14546826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9507140569999 meters Centerline goodness : 0.985455 Centerline is valid? [True, True] Translation: X:302.05, Y:275.87, Z:2.14 [[-8.01897859e-01 5.97225636e-01 -1.67739067e-02 3.02049390e+02] [-5.97116841e-01 -8.02072826e-01 -1.14306796e-02 2.75873322e+02] [-2.02805897e-02 8.49744725e-04 9.99793967e-01 2.14476121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9807140569999 meters Centerline goodness : 0.985455 Centerline is valid? [True, True] Translation: X:302.05, Y:275.87, Z:2.14 [[-8.01665641e-01 5.97537434e-01 -1.67694743e-02 3.02051461e+02] [-5.97428571e-01 -8.01840566e-01 -1.14371786e-02 2.75874828e+02] [-2.02805871e-02 8.49769927e-04 9.99793967e-01 2.14481228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.010714057 meters Centerline goodness : 0.986759 Centerline is valid? [True, True] Translation: X:302.05, Y:275.88, Z:2.15 [[-7.99783382e-01 6.00054560e-01 -1.67650250e-02 3.02051718e+02] [-5.99946112e-01 -7.99958564e-01 -1.14436968e-02 2.75878676e+02] [-2.02781678e-02 9.05633025e-04 9.99793967e-01 2.14531743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.040714057 meters Centerline goodness : 0.985632 Centerline is valid? [True, True] Translation: X:302.04, Y:275.90, Z:2.14 [[-8.17956570e-01 5.75035766e-01 -1.67605732e-02 3.02040978e+02] [-5.74921819e-01 -8.18128226e-01 -1.14502133e-02 2.75896736e+02] [-2.02965802e-02 2.70242052e-04 9.99793967e-01 2.14256689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0707140569999 meters Centerline goodness : 0.988336 Centerline is valid? [True, True] Translation: X:302.05, Y:275.88, Z:2.15 [[-7.96677482e-01 6.04159861e-01 -1.72003584e-02 3.02047455e+02] [-6.04065866e-01 -7.96861146e-01 -1.08048145e-02 2.75881483e+02] [-2.02341325e-02 1.78219699e-03 9.99793681e-01 2.14613745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1007140569999 meters Centerline goodness : 0.988331 Centerline is valid? [True, True] Translation: X:302.04, Y:275.88, Z:2.15 [[-7.93905649e-01 6.07810100e-01 -1.67542061e-02 3.02043852e+02] [-6.07703075e-01 -7.94081673e-01 -1.14572450e-02 2.75884019e+02] [-2.02680372e-02 1.08561099e-03 9.99793993e-01 2.14754719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.130714057 meters Centerline goodness : 0.988600 Centerline is valid? [True, True] Translation: X:302.04, Y:275.89, Z:2.15 [[-7.92433320e-01 6.09728530e-01 -1.67497271e-02 3.02044527e+02] [-6.09621794e-01 -7.92609519e-01 -1.14637893e-02 2.75886155e+02] [-2.02657925e-02 1.12671007e-03 9.99793993e-01 2.14726822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.160714057 meters Centerline goodness : 0.989237 Centerline is valid? [True, True] Translation: X:302.04, Y:275.89, Z:2.15 [[-7.90825817e-01 6.11812164e-01 -1.67452372e-02 3.02040301e+02] [-6.11705753e-01 -7.91002214e-01 -1.14703440e-02 2.75886389e+02] [-2.02632156e-02 1.17211376e-03 9.99793993e-01 2.14797924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1907140569999 meters Centerline goodness : 0.988692 Centerline is valid? [True, True] Translation: X:302.04, Y:275.89, Z:2.15 [[-7.90664748e-01 6.12020428e-01 -1.67407347e-02 3.02039421e+02] [-6.11913926e-01 -7.90841089e-01 -1.14769115e-02 2.75887446e+02] [-2.02633651e-02 1.16949941e-03 9.99793993e-01 2.14783939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2207140569999 meters Centerline goodness : 0.988626 Centerline is valid? [True, True] Translation: X:302.04, Y:275.89, Z:2.15 [[-7.90510259e-01 6.12220083e-01 -1.67362143e-02 3.02039665e+02] [-6.12113486e-01 -7.90686543e-01 -1.14834996e-02 2.75888804e+02] [-2.02635285e-02 1.16663828e-03 9.99793993e-01 2.14851876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.250714057 meters Centerline goodness : 0.989420 Centerline is valid? [True, True] Translation: X:302.04, Y:275.89, Z:2.15 [[-7.90681692e-01 6.11999260e-01 -1.67142880e-02 3.02043557e+02] [-6.11891942e-01 -7.90857538e-01 -1.15154382e-02 2.75892016e+02] [-2.02660603e-02 1.12229200e-03 9.99793992e-01 2.14861208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.280714057 meters Centerline goodness : 0.989281 Centerline is valid? [True, True] Translation: X:302.03, Y:275.88, Z:2.15 [[-7.92274100e-01 6.09935932e-01 -1.67305209e-02 3.02030654e+02] [-6.09828652e-01 -7.92449969e-01 -1.14918053e-02 2.75883751e+02] [-2.02673657e-02 1.09809130e-03 9.99793993e-01 2.14817380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3107140569999 meters Centerline goodness : 0.988503 Centerline is valid? [True, True] Translation: X:302.05, Y:275.90, Z:2.15 [[-7.93618668e-01 6.08186233e-01 -1.67007731e-02 3.02052946e+02] [-6.08077658e-01 -7.93793742e-01 -1.15350711e-02 2.75898357e+02] [-2.02724406e-02 1.00091923e-03 9.99793992e-01 2.14920430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3407140569999 meters Centerline goodness : 0.988137 Centerline is valid? [True, True] Translation: X:302.06, Y:275.90, Z:2.15 [[-7.95552022e-01 6.05654489e-01 -1.67218811e-02 3.02060100e+02] [-6.05545998e-01 -7.95727147e-01 -1.15043902e-02 2.75902309e+02] [-2.02737403e-02 9.73527310e-04 9.99793993e-01 2.14979333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.370714057 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:302.06, Y:275.90, Z:2.15 [[-7.97995223e-01 6.02431865e-01 -1.67173852e-02 3.02064062e+02] [-6.02322532e-01 -7.98169823e-01 -1.15109196e-02 2.75903881e+02] [-2.02778572e-02 8.83598968e-04 9.99793993e-01 2.14989915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.400714057 meters Centerline goodness : 0.986860 Centerline is valid? [True, True] Translation: X:302.09, Y:275.92, Z:2.15 [[-8.09167165e-01 5.87340768e-01 -1.67128990e-02 3.02086281e+02] [-5.87228040e-01 -8.09339593e-01 -1.15174296e-02 2.75923105e+02] [-2.02910668e-02 4.94757074e-04 9.99793993e-01 2.14995974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4307140569999 meters Centerline goodness : 0.985706 Centerline is valid? [True, True] Translation: X:301.44, Y:275.47, Z:2.13 [[-8.05291407e-01 5.92642212e-01 -1.67618004e-02 3.01438166e+02] [-5.92532083e-01 -8.05465517e-01 -1.14469171e-02 2.75467714e+02] [-2.02849785e-02 7.13800497e-04 9.99793984e-01 2.13482849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4607140569999 meters Centerline goodness : 0.986435 Centerline is valid? [True, True] Translation: X:302.08, Y:275.91, Z:2.15 [[-8.09943349e-01 5.86271492e-01 -1.66585814e-02 3.02075385e+02] [-5.86156928e-01 -8.10114559e-01 -1.15955920e-02 2.75908230e+02] [-2.02935243e-02 3.72770289e-04 9.99793996e-01 2.15114616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.490714057 meters Centerline goodness : 0.986596 Centerline is valid? [True, True] Translation: X:302.08, Y:275.91, Z:2.15 [[-8.12938597e-01 5.82110009e-01 -1.66965531e-02 3.02081877e+02] [-5.81995695e-01 -8.13109971e-01 -1.15406560e-02 2.75912227e+02] [-2.02940652e-02 3.35477343e-04 9.99793998e-01 2.15188418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.520714057 meters Centerline goodness : 0.985576 Centerline is valid? [True, True] Translation: X:301.36, Y:275.41, Z:2.14 [[-8.17266843e-01 5.76017604e-01 -1.66921389e-02 3.01364583e+02] [-5.75901881e-01 -8.17437269e-01 -1.15470371e-02 2.75414271e+02] [-2.02960731e-02 1.76023648e-04 9.99793998e-01 2.13579920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5507140569999 meters Centerline goodness : 0.985329 Centerline is valid? [True, True] Translation: X:301.42, Y:275.45, Z:2.14 [[-8.18581100e-01 5.74148564e-01 -1.66855881e-02 3.01418271e+02] [-5.74032259e-01 -8.18751130e-01 -1.15565069e-02 2.75452661e+02] [-2.02964959e-02 1.18127662e-04 9.99793998e-01 2.13798926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5807140569999 meters Centerline goodness : 0.986477 Centerline is valid? [True, True] Translation: X:301.38, Y:275.43, Z:2.14 [[-8.20969776e-01 5.70728262e-01 -1.66696915e-02 3.01378937e+02] [-5.70610783e-01 -8.21138996e-01 -1.15794388e-02 2.75426661e+02] [-2.02968468e-02 5.53643259e-06 9.99793998e-01 2.13759722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6107140569999 meters Centerline goodness : 0.986112 Centerline is valid? [True, True] Translation: X:301.39, Y:275.44, Z:2.14 [[-8.22070373e-01 5.69141527e-01 -1.66800374e-02 3.01393594e+02] [-5.69024024e-01 -8.22239577e-01 -1.15645258e-02 2.75438511e+02] [-2.02968388e-02 -1.55120532e-05 9.99793998e-01 2.13718563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.640714057 meters Centerline goodness : 0.987625 Centerline is valid? [True, True] Translation: X:301.84, Y:276.05, Z:2.92 [[-7.77308867e-01 -6.28898006e-01 1.66800374e-02 3.01844331e+02] [-6.28793457e-01 7.77486367e-01 1.15645258e-02 2.76046378e+02] [-2.02414089e-02 -1.49908992e-03 -9.99793998e-01 2.91768123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6707140569999 meters Centerline goodness : 0.987491 Centerline is valid? [True, True] Translation: X:301.96, Y:275.90, Z:2.15 [[-7.84726774e-01 6.19640199e-01 -1.58086675e-02 3.01960512e+02] [-6.19511009e-01 -7.84885982e-01 -1.26532279e-02 2.75899530e+02] [-2.02484502e-02 -1.35683163e-04 9.99794970e-01 2.15016802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7007140569999 meters Centerline goodness : 0.987748 Centerline is valid? [True, True] Translation: X:301.30, Y:275.37, Z:2.13 [[-7.85609607e-01 6.18520641e-01 -1.58038632e-02 3.01300666e+02] [-6.18391104e-01 -7.85768533e-01 -1.26592256e-02 2.75374886e+02] [-2.02481707e-02 -1.72240878e-04 9.99794970e-01 2.13404721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7307140569999 meters Centerline goodness : 0.988482 Centerline is valid? [True, True] Translation: X:301.96, Y:275.91, Z:2.15 [[-7.88440948e-01 6.14907580e-01 -1.57968608e-02 3.01963409e+02] [-6.14777139e-01 -7.88599133e-01 -1.26679576e-02 2.75909537e+02] [-2.02470138e-02 -2.76387592e-04 9.99794970e-01 2.15108001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.760714057 meters Centerline goodness : 0.988916 Centerline is valid? [True, True] Translation: X:301.96, Y:275.91, Z:2.15 [[-7.89137180e-01 6.14013024e-01 -1.58277705e-02 3.01962060e+02] [-6.13883180e-01 -7.89295853e-01 -1.26292195e-02 2.75913231e+02] [-2.02472989e-02 -2.49784592e-04 9.99794971e-01 2.15230630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.790714057 meters Centerline goodness : 0.990719 Centerline is valid? [True, True] Translation: X:301.90, Y:275.88, Z:2.15 [[-7.91213627e-01 6.11335119e-01 -1.58230168e-02 3.01903572e+02] [-6.11204620e-01 -7.91371762e-01 -1.26351726e-02 2.75877345e+02] [-2.02462134e-02 -3.26019757e-04 9.99794971e-01 2.15151260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8207140569999 meters Centerline goodness : 0.991079 Centerline is valid? [True, True] Translation: X:301.95, Y:275.92, Z:2.15 [[-7.91748338e-01 6.10642109e-01 -1.58361675e-02 3.01949695e+02] [-6.10511799e-01 -7.91906630e-01 -1.26187111e-02 2.75920311e+02] [-2.02462824e-02 -3.22676413e-04 9.99794971e-01 2.15420803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8507140569999 meters Centerline goodness : 0.992645 Centerline is valid? [True, True] Translation: X:301.96, Y:275.93, Z:2.16 [[-7.92110296e-01 6.10173013e-01 -1.58168557e-02 3.01956440e+02] [-6.10042128e-01 -7.92268111e-01 -1.26428711e-02 2.75932254e+02] [-2.02455291e-02 -3.65600067e-04 9.99794971e-01 2.15584522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.880714057 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:301.28, Y:275.41, Z:2.14 [[-7.91795793e-01 6.10581199e-01 -1.58120797e-02 3.01283079e+02] [-6.10450276e-01 -7.91953577e-01 -1.26488415e-02 2.75406147e+02] [-2.02455779e-02 -3.62811056e-04 9.99794971e-01 2.14136237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.910714057 meters Centerline goodness : 0.995173 Centerline is valid? [True, True] Translation: X:301.75, Y:275.98, Z:2.91 [[-7.24251584e-01 -6.89354496e-01 1.58120797e-02 3.01754407e+02] [-6.89240630e-01 7.24422087e-01 1.26488415e-02 2.75977073e+02] [-2.01741555e-02 -1.73738430e-03 -9.99794971e-01 2.90875032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9407140569999 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:301.65, Y:275.92, Z:2.91 [[-6.68633530e-01 -7.43443305e-01 1.48746740e-02 3.01652157e+02] [-7.43320107e-01 6.68796215e-01 1.36689625e-02 2.75916048e+02] [-2.01102243e-02 -1.91711770e-03 -9.99795931e-01 2.90643245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9707140569999 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:301.21, Y:275.33, Z:2.14 [[-6.93299521e-01 7.20519153e-01 -1.37085852e-02 3.01214142e+02] [-7.20368136e-01 -6.93434946e-01 -1.47554720e-02 2.75327314e+02] [-2.01376122e-02 -3.54733682e-04 9.99797155e-01 2.13906699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.000714057 meters Centerline goodness : 0.996989 Centerline is valid? [True, True] Translation: X:301.60, Y:275.91, Z:2.91 [[-6.19639599e-01 -7.84766744e-01 1.37085852e-02 3.01602464e+02] [-7.84629671e-01 6.19789122e-01 1.47554720e-02 2.75908189e+02] [-2.00760357e-02 -1.61308795e-03 -9.99797155e-01 2.90696846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.030714057 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:301.66, Y:275.91, Z:2.15 [[-6.38703549e-01 7.69349091e-01 -1.26393286e-02 3.01664473e+02] [-7.69190496e-01 -6.38828546e-01 -1.56227238e-02 2.75909518e+02] [-2.00936923e-02 -2.56237688e-04 9.99798069e-01 2.15242051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0607140569999 meters Centerline goodness : 0.997824 Centerline is valid? [True, True] Translation: X:301.66, Y:275.91, Z:2.15 [[-6.36871885e-01 7.70865720e-01 -1.26587493e-02 3.01658201e+02] [-7.70707736e-01 -6.36997651e-01 -1.56069717e-02 2.75911071e+02] [-2.00944731e-02 -1.83445476e-04 9.99798069e-01 2.15245401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0907140569999 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:301.65, Y:275.92, Z:2.15 [[-6.33012680e-01 7.74038017e-01 -1.26528816e-02 3.01650327e+02] [-7.73880568e-01 -6.33139116e-01 -1.56117274e-02 2.75920135e+02] [-2.00951048e-02 -9.06022088e-05 9.99798069e-01 2.15382702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.120714057 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:301.64, Y:275.92, Z:2.16 [[-6.30458628e-01 7.76119818e-01 -1.26470015e-02 3.01642794e+02] [-7.75962691e-01 -6.30585464e-01 -1.56164894e-02 2.75919835e+02] [-2.00952822e-02 -3.19491517e-05 9.99798069e-01 2.15522984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.150714057 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:301.63, Y:275.91, Z:2.16 [[-6.28019623e-01 7.78094824e-01 -1.26411032e-02 3.01625971e+02] [-7.77938000e-01 -6.28146833e-01 -1.56212624e-02 2.75907805e+02] [-2.00952924e-02 2.35351763e-05 9.99798069e-01 2.15533947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1807140569999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:301.64, Y:275.93, Z:2.16 [[-6.25701690e-01 7.79960094e-01 -1.26351385e-02 3.01638770e+02] [-7.79803552e-01 -6.25829247e-01 -1.56260854e-02 2.75931853e+02] [-2.00951623e-02 7.56578665e-05 9.99798069e-01 2.15640803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2107140569999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:301.63, Y:275.94, Z:2.16 [[-6.20673634e-01 7.83967119e-01 -1.26410810e-02 3.01632159e+02] [-7.83811498e-01 -6.20802313e-01 -1.56212766e-02 2.75942042e+02] [-2.00941795e-02 2.12510126e-04 9.99798069e-01 2.15714222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.240714057 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:301.63, Y:275.94, Z:2.16 [[-6.18036796e-01 7.86047438e-01 -1.26469471e-02 3.01625902e+02] [-7.85892347e-01 -6.18166113e-01 -1.56165260e-02 2.75943326e+02] [-2.00932444e-02 2.87551294e-04 9.99798069e-01 2.15777534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.270714057 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:301.59, Y:275.91, Z:2.16 [[-6.14382662e-01 7.88906744e-01 -1.26527990e-02 3.01593685e+02] [-7.88752353e-01 -6.14512813e-01 -1.56117832e-02 2.75911785e+02] [-2.00915482e-02 3.88316092e-04 9.99798069e-01 2.15664348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3007140569999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:301.62, Y:275.95, Z:2.16 [[-6.11565328e-01 7.91092980e-01 -1.26390834e-02 3.01622696e+02] [-7.90938824e-01 -6.11695759e-01 -1.56228917e-02 2.75954388e+02] [-2.00904336e-02 4.42322855e-04 9.99798069e-01 2.15587816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3307140569999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:301.62, Y:275.97, Z:2.15 [[-6.05698221e-01 7.95593849e-01 -1.26527630e-02 3.01622678e+02] [-7.95440893e-01 -6.05830056e-01 -1.56118049e-02 2.75965615e+02] [-2.00860801e-02 6.08482647e-04 9.99798069e-01 2.15411775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3607140569999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:301.61, Y:275.95, Z:2.15 [[-6.03543869e-01 7.97229301e-01 -1.26585631e-02 3.01607103e+02] [-7.97076801e-01 -6.03676231e-01 -1.56071005e-02 2.75951521e+02] [-2.00841115e-02 6.70277195e-04 9.99798069e-01 2.15275917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.390714057 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:301.60, Y:275.95, Z:2.15 [[-6.01582548e-01 7.98710243e-01 -1.26643756e-02 3.01601826e+02] [-7.98558167e-01 -6.01715397e-01 -1.56023825e-02 2.75949798e+02] [-2.00821326e-02 7.27119558e-04 9.99798069e-01 2.15286820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4207140569999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:301.62, Y:275.98, Z:2.15 [[-5.98275117e-01 8.01190582e-01 -1.26702308e-02 3.01618091e+02] [-8.01039158e-01 -5.98408708e-01 -1.55976263e-02 2.75976487e+02] [-2.00786477e-02 8.17679317e-04 9.99798069e-01 2.15417647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4507140569999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:301.60, Y:275.96, Z:2.15 [[-5.97084751e-01 8.02078000e-01 -1.26760173e-02 3.01602660e+02] [-8.01926873e-01 -5.97218679e-01 -1.55929222e-02 2.75959446e+02] [-2.00770942e-02 8.54942837e-04 9.99798069e-01 2.15456502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4807140569999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:301.59, Y:275.95, Z:2.16 [[-5.96489340e-01 8.02520803e-01 -1.26817761e-02 3.01594452e+02] [-8.02369875e-01 -5.96623492e-01 -1.55882372e-02 2.75951090e+02] [-2.00761302e-02 8.77257754e-04 9.99798069e-01 2.15505554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.510714057 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:301.60, Y:275.96, Z:2.16 [[-5.95853538e-01 8.02992893e-01 -1.26875947e-02 3.01600132e+02] [-8.02842172e-01 -5.95987921e-01 -1.55834999e-02 2.75959700e+02] [-2.00750928e-02 9.00652500e-04 9.99798069e-01 2.15570875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.540714057 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:301.61, Y:275.97, Z:2.16 [[-5.94314309e-01 8.04132688e-01 -1.26934030e-02 3.01610364e+02] [-8.03982325e-01 -5.94449093e-01 -1.55787673e-02 2.75972757e+02] [-2.00729779e-02 9.46587329e-04 9.99798069e-01 2.15640024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5707140569999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:301.61, Y:275.97, Z:2.16 [[-5.94087430e-01 8.04300240e-01 -1.26984189e-02 3.01610321e+02] [-8.04150001e-01 -5.94222353e-01 -1.55746777e-02 2.75972272e+02] [-2.00724014e-02 9.58713339e-04 9.99798069e-01 2.15662448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6007140569999 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:301.60, Y:275.96, Z:2.15 [[-5.93936950e-01 8.04411278e-01 -1.27041207e-02 3.01604175e+02] [-8.04261164e-01 -5.94072012e-01 -1.55700255e-02 2.75963519e+02] [-2.00718666e-02 9.69817441e-04 9.99798069e-01 2.15423552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.630714057 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:301.61, Y:275.97, Z:2.15 [[-5.93915514e-01 8.04427015e-01 -1.27098325e-02 3.01607626e+02] [-8.04277003e-01 -5.94050690e-01 -1.55653615e-02 2.75966627e+02] [-2.00714821e-02 9.77716362e-04 9.99798069e-01 2.15463676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.660714057 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:301.59, Y:275.94, Z:2.15 [[-5.94034856e-01 8.04338800e-01 -1.27155445e-02 3.01587788e+02] [-8.04188868e-01 -5.94170119e-01 -1.55606939e-02 2.75938620e+02] [-2.00712664e-02 9.82104797e-04 9.99798069e-01 2.15255264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6907140569999 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:301.56, Y:275.91, Z:2.15 [[-5.94186659e-01 8.04226574e-01 -1.27213052e-02 3.01562459e+02] [-8.04076716e-01 -5.94322005e-01 -1.55559829e-02 2.75905254e+02] [-2.00710865e-02 9.85747828e-04 9.99798070e-01 2.15216261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7207140569999 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:301.57, Y:275.91, Z:2.15 [[-5.94101579e-01 8.04289439e-01 -1.27205674e-02 3.01572036e+02] [-8.04139582e-01 -5.94236926e-01 -1.55565862e-02 2.75914123e+02] [-2.00710289e-02 9.86919376e-04 9.99798070e-01 2.15221568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.750714057 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:301.61, Y:275.96, Z:2.15 [[-5.94985199e-01 8.03635893e-01 -1.27265417e-02 3.01611523e+02] [-8.03485992e-01 -5.95120497e-01 -1.55516973e-02 2.75956797e+02] [-2.00717279e-02 9.72568279e-04 9.99798070e-01 2.15294047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.780714057 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:301.61, Y:275.95, Z:2.15 [[-5.95690511e-01 8.03113132e-01 -1.27323523e-02 3.01612222e+02] [-8.02963213e-01 -5.95825790e-01 -1.55469386e-02 2.75953844e+02] [-2.00722144e-02 9.62446715e-04 9.99798070e-01 2.15256193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8107140569999 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:301.61, Y:275.95, Z:2.15 [[-5.96518508e-01 8.02498232e-01 -1.27380358e-02 3.01612656e+02] [-8.02348273e-01 -5.96653741e-01 -1.55422806e-02 2.75949612e+02] [-2.00728494e-02 9.49082989e-04 9.99798070e-01 2.15351797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8407140569999 meters Centerline goodness : 0.998486 Centerline is valid? [True, True] Translation: X:301.61, Y:275.94, Z:2.15 [[-5.97390277e-01 8.01849397e-01 -1.27437175e-02 3.01606917e+02] [-8.01699389e-01 -5.97525457e-01 -1.55376205e-02 2.75937822e+02] [-2.00735272e-02 9.34607188e-04 9.99798070e-01 2.15230030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.870714057 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:301.60, Y:275.92, Z:2.15 [[-5.98218616e-01 8.01231514e-01 -1.27494193e-02 3.01600223e+02] [-8.01081466e-01 -5.98353752e-01 -1.55329404e-02 2.75920275e+02] [-2.00741443e-02 9.21229398e-04 9.99798070e-01 2.15201811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.900714057 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:301.60, Y:275.92, Z:2.15 [[-5.98517245e-01 8.01008453e-01 -1.27501373e-02 3.01598692e+02] [-8.00858367e-01 -5.98652338e-01 -1.55323511e-02 2.75918292e+02] [-2.00744440e-02 9.14674216e-04 9.99798070e-01 2.15196774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9307140569999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:301.61, Y:275.92, Z:2.15 [[-5.99110806e-01 8.00564506e-01 -1.27559266e-02 3.01606353e+02] [-8.00414421e-01 -5.99245900e-01 -1.55275952e-02 2.75923426e+02] [-2.00747783e-02 9.07277559e-04 9.99798070e-01 2.15091855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9607140569999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:301.61, Y:275.92, Z:2.15 [[-5.99891692e-01 7.99979436e-01 -1.27616917e-02 3.01607963e+02] [-7.99829319e-01 -6.00026750e-01 -1.55228555e-02 2.75921419e+02] [-2.00753216e-02 8.95143139e-04 9.99798070e-01 2.15129962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.990714057 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:301.61, Y:275.92, Z:2.15 [[-6.00914432e-01 7.99211385e-01 -1.27674283e-02 3.01614786e+02] [-7.99061196e-01 -6.01049410e-01 -1.55181358e-02 2.75920230e+02] [-2.00761261e-02 8.76884747e-04 9.99798070e-01 2.14950987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.020714057 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:301.60, Y:275.90, Z:2.15 [[-6.01779943e-01 7.98559796e-01 -1.27731466e-02 3.01599662e+02] [-7.98409560e-01 -6.01914868e-01 -1.55134276e-02 2.75897487e+02] [-2.00767464e-02 8.62532816e-04 9.99798070e-01 2.15066553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0507140569999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:301.62, Y:275.91, Z:2.15 [[-6.02512281e-01 7.98007427e-01 -1.27709885e-02 3.01616926e+02] [-7.97857030e-01 -6.02647027e-01 -1.55152040e-02 2.75912759e+02] [-2.00776462e-02 8.41322017e-04 9.99798070e-01 2.14928259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0807140569999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:301.62, Y:275.91, Z:2.15 [[-6.04017919e-01 7.96868313e-01 -1.27767630e-02 3.01619299e+02] [-7.96717762e-01 -6.04152493e-01 -1.55104472e-02 2.75910645e+02] [-2.00788971e-02 8.10885950e-04 9.99798070e-01 2.14961444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1107140569999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:301.63, Y:275.91, Z:2.15 [[-6.07635809e-01 7.94113036e-01 -1.27753340e-02 3.01626255e+02] [-7.93961850e-01 -6.07769669e-01 -1.55116241e-02 2.75909408e+02] [-2.00824435e-02 7.17709524e-04 9.99798070e-01 2.15039133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.140714057 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:301.63, Y:275.90, Z:2.15 [[-6.09898228e-01 7.92376791e-01 -1.27739049e-02 3.01625084e+02] [-7.92225199e-01 -6.10031628e-01 -1.55128009e-02 2.75903387e+02] [-2.00844694e-02 6.58579542e-04 9.99798070e-01 2.15062772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1707140569999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:301.62, Y:275.89, Z:2.15 [[-6.12236773e-01 7.90571323e-01 -1.27717559e-02 3.01617931e+02] [-7.90419300e-01 -6.12369682e-01 -1.55145700e-02 2.75890901e+02] [-2.00864102e-02 5.96452134e-04 9.99798070e-01 2.15035376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2007140569999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:301.61, Y:275.87, Z:2.15 [[-6.14287742e-01 7.88978834e-01 -1.27659588e-02 3.01607777e+02] [-7.88826368e-01 -6.14420143e-01 -1.55193386e-02 2.75874497e+02] [-2.00880919e-02 5.36785441e-04 9.99798070e-01 2.15128037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2307140569999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:301.61, Y:275.87, Z:2.15 [[-6.17379386e-01 7.86562060e-01 -1.27600798e-02 3.01608826e+02] [-7.86408976e-01 -6.17511071e-01 -1.55241708e-02 2.75868354e+02] [-2.00902143e-02 4.50338283e-04 9.99798070e-01 2.15148907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.260714057 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:301.61, Y:275.87, Z:2.15 [[-6.18084799e-01 7.86007948e-01 -1.27548866e-02 3.01611754e+02] [-7.85854658e-01 -6.18216244e-01 -1.55284365e-02 2.75869304e+02] [-2.00907526e-02 4.25596440e-04 9.99798070e-01 2.14901540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.290714057 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:301.62, Y:275.87, Z:2.15 [[-6.18260365e-01 7.85869955e-01 -1.27489307e-02 3.01617544e+02] [-7.85716534e-01 -6.18391659e-01 -1.55333247e-02 2.75874389e+02] [-2.00910056e-02 4.13406635e-04 9.99798070e-01 2.14917229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3207140569999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:301.64, Y:275.89, Z:2.15 [[-6.16690941e-01 7.87102217e-01 -1.27429859e-02 3.01635970e+02] [-7.86948958e-01 -6.16822423e-01 -1.55382001e-02 2.75893338e+02] [-2.00903112e-02 4.45812208e-04 9.99798070e-01 2.14794080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3507140569999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:301.64, Y:275.90, Z:2.15 [[-6.15208424e-01 7.88261524e-01 -1.27422533e-02 3.01641385e+02] [-7.88108501e-01 -6.15340180e-01 -1.55388009e-02 2.75898967e+02] [-2.00894593e-02 4.82676981e-04 9.99798070e-01 2.14608803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.380714057 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:301.62, Y:275.87, Z:2.15 [[-6.12881478e-01 7.90072186e-01 -1.27371711e-02 3.01620081e+02] [-7.89919465e-01 -6.13013584e-01 -1.55429656e-02 2.75871908e+02] [-2.00881238e-02 5.35343681e-04 9.99798070e-01 2.14554830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.410714057 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:301.64, Y:275.89, Z:2.15 [[-6.10966308e-01 7.91554221e-01 -1.27312900e-02 3.01638340e+02] [-7.91401721e-01 -6.11098668e-01 -1.55477814e-02 2.75893806e+02] [-2.00869864e-02 5.76394201e-04 9.99798070e-01 2.14587829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4407140569999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:301.65, Y:275.90, Z:2.15 [[-6.06959473e-01 7.94630791e-01 -1.27320247e-02 3.01645725e+02] [-7.94478974e-01 -6.07092617e-01 -1.55471797e-02 2.75902202e+02] [-2.00837859e-02 6.78817938e-04 9.99798070e-01 2.14599991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4707140569999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:301.64, Y:275.90, Z:2.15 [[-6.05287462e-01 7.95905229e-01 -1.27262050e-02 3.01642794e+02] [-7.95753592e-01 -6.05420811e-01 -1.55519420e-02 2.75898967e+02] [-2.00825813e-02 7.13527895e-04 9.99798070e-01 2.14642187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.500714057 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:301.61, Y:275.86, Z:2.14 [[-6.03879431e-01 7.96974168e-01 -1.27203874e-02 3.01609631e+02] [-7.96822668e-01 -6.04012935e-01 -1.55566990e-02 2.75857449e+02] [-2.00815657e-02 7.41522496e-04 9.99798070e-01 2.14482602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.530714057 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:301.65, Y:275.90, Z:2.15 [[-6.03756081e-01 7.97067712e-01 -1.27144336e-02 3.01645336e+02] [-7.96916130e-01 -6.03889492e-01 -1.55615634e-02 2.75900458e+02] [-2.00817326e-02 7.36948689e-04 9.99798070e-01 2.14620161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5607140569999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:301.61, Y:275.86, Z:2.14 [[-6.03585305e-01 7.97196947e-01 -1.27203731e-02 3.01610052e+02] [-7.97045496e-01 -6.03718864e-01 -1.55567068e-02 2.75856476e+02] [-2.00812884e-02 7.48916466e-04 9.99798070e-01 2.14450396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5907140569999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:301.62, Y:275.86, Z:2.15 [[-6.05013702e-01 7.96113537e-01 -1.27144262e-02 3.01615913e+02] [-7.95961745e-01 -6.05146873e-01 -1.55615657e-02 2.75861067e+02] [-2.00828684e-02 7.05236441e-04 9.99798070e-01 2.14551806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.620714057 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:301.64, Y:275.89, Z:2.15 [[-6.06373515e-01 7.95078398e-01 -1.27083577e-02 3.01636702e+02] [-7.94926274e-01 -6.06506309e-01 -1.55665200e-02 2.75885147e+02] [-2.00843029e-02 6.63082012e-04 9.99798070e-01 2.14593404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.650714057 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:301.66, Y:275.91, Z:2.15 [[-6.08858611e-01 7.93177056e-01 -1.27023633e-02 3.01660293e+02] [-7.93024416e-01 -6.08990810e-01 -1.55714099e-02 2.75912984e+02] [-2.00865076e-02 5.92497266e-04 9.99798070e-01 2.14600718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6807140569999 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:301.66, Y:275.91, Z:2.15 [[-6.14368745e-01 7.88916774e-01 -1.27030922e-02 3.01659099e+02] [-7.88763229e-01 -6.14499892e-01 -1.55708152e-02 2.75909126e+02] [-2.00901261e-02 4.53509800e-04 9.99798070e-01 2.14558022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7107140569999 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:301.64, Y:275.88, Z:2.14 [[-6.16869037e-01 7.86963374e-01 -1.26980341e-02 3.01638973e+02] [-7.86809329e-01 -6.16999596e-01 -1.55749390e-02 2.75883898e+02] [-2.00915885e-02 3.83234102e-04 9.99798070e-01 2.14416210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.740714057 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:301.66, Y:275.90, Z:2.14 [[-6.18800089e-01 7.85445962e-01 -1.26921621e-02 3.01655984e+02] [-7.85291498e-01 -6.18930154e-01 -1.55797227e-02 2.75904899e+02] [-2.00925921e-02 3.26313190e-04 9.99798070e-01 2.14498082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.770714057 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:301.64, Y:275.89, Z:2.15 [[-6.22481649e-01 7.82531568e-01 -1.26862670e-02 3.01641435e+02] [-7.82376398e-01 -6.22610869e-01 -1.55845215e-02 2.75889372e+02] [-2.00939878e-02 2.24357286e-04 9.99798070e-01 2.14511713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8007140569999 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:301.65, Y:275.90, Z:2.15 [[-6.23508422e-01 7.81713794e-01 -1.26803702e-02 3.01650129e+02] [-7.81558357e-01 -6.23637321e-01 -1.55893180e-02 2.75901772e+02] [-2.00943370e-02 1.90378197e-04 9.99798070e-01 2.14583176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8307140569999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:301.64, Y:275.90, Z:2.15 [[-6.24472433e-01 7.80944005e-01 -1.26744472e-02 3.01643492e+02] [-7.80788311e-01 -6.24601022e-01 -1.55941320e-02 2.75895410e+02] [-2.00946166e-02 1.57954682e-04 9.99798070e-01 2.14545864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8607140569999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:301.64, Y:275.90, Z:2.15 [[-6.24678577e-01 7.80779216e-01 -1.26685253e-02 3.01644234e+02] [-7.80623391e-01 -6.24807006e-01 -1.55989414e-02 2.75898017e+02] [-2.00947126e-02 1.45022651e-04 9.99798070e-01 2.14546327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.890714057 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:301.64, Y:275.90, Z:2.14 [[-6.25109364e-01 7.80434458e-01 -1.26625751e-02 3.01641337e+02] [-7.80278464e-01 -6.25237588e-01 -1.56037700e-02 2.75896780e+02] [-2.00948377e-02 1.26271932e-04 9.99798070e-01 2.14446833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9207140569999 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:301.65, Y:275.91, Z:2.14 [[-6.26246468e-01 7.79522399e-01 -1.26566123e-02 3.01650367e+02] [-7.79366121e-01 -6.26374346e-01 -1.56086052e-02 2.75914081e+02] [-2.00950346e-02 8.93009587e-05 9.99798070e-01 2.14423108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9507140569999 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:301.65, Y:275.91, Z:2.15 [[-6.26684509e-01 7.79170384e-01 -1.26506712e-02 3.01648065e+02] [-7.79013936e-01 -6.26812179e-01 -1.56134189e-02 2.75914449e+02] [-2.00951084e-02 7.03614572e-05 9.99798070e-01 2.14508015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9807140569999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:301.65, Y:275.92, Z:2.14 [[-6.27537362e-01 7.78483763e-01 -1.26447566e-02 3.01646527e+02] [-7.78327079e-01 -6.27664743e-01 -1.56182074e-02 2.75916176e+02] [-2.00951888e-02 4.07478442e-05 9.99798070e-01 2.14447983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.010714057 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:301.64, Y:275.92, Z:2.14 [[-6.30356692e-01 7.76202745e-01 -1.26388276e-02 3.01644890e+02] [-7.76045504e-01 -6.30483384e-01 -1.56230039e-02 2.75921613e+02] [-2.00951893e-02 -3.97597747e-05 9.99798071e-01 2.14440805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.040714057 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:301.64, Y:275.92, Z:2.14 [[-6.32356749e-01 7.74574231e-01 -1.26373492e-02 3.01641402e+02] [-7.74416641e-01 -6.32483005e-01 -1.56241997e-02 2.75921176e+02] [-2.00950111e-02 -9.34946134e-05 9.99798071e-01 2.14472424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0707140569999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:301.64, Y:275.92, Z:2.14 [[-6.34310757e-01 7.72974901e-01 -1.26358697e-02 3.01638003e+02] [-7.72816968e-01 -6.34436585e-01 -1.56253961e-02 2.75920636e+02] [-2.00946971e-02 -1.46142365e-04 9.99798071e-01 2.14456553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1007140569999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:301.63, Y:275.92, Z:2.15 [[-6.38914807e-01 7.69173752e-01 -1.26336432e-02 3.01632970e+02] [-7.69015035e-01 -6.39039644e-01 -1.56271961e-02 2.75922478e+02] [-2.00934279e-02 -2.68985392e-04 9.99798071e-01 2.14564194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.130714057 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:301.63, Y:275.92, Z:2.15 [[-6.40954781e-01 7.67474701e-01 -1.26314074e-02 3.01629370e+02] [-7.67315618e-01 -6.41079151e-01 -1.56290031e-02 2.75922406e+02] [-2.00925964e-02 -3.25208029e-04 9.99798071e-01 2.14623748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.160714057 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:301.63, Y:275.92, Z:2.15 [[-6.42533535e-01 7.66153484e-01 -1.26291645e-02 3.01627583e+02] [-7.65994109e-01 -6.42657531e-01 -1.56308153e-02 2.75924916e+02] [-2.00918313e-02 -3.69457394e-04 9.99798071e-01 2.14621412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1907140569999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:301.62, Y:275.93, Z:2.15 [[-6.43830349e-01 7.65064066e-01 -1.26276656e-02 3.01623380e+02] [-7.64904457e-01 -6.43954045e-01 -1.56320261e-02 2.75925537e+02] [-2.00911378e-02 -4.05415142e-04 9.99798071e-01 2.14609726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2207140569999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:301.62, Y:275.93, Z:2.15 [[-6.45237381e-01 7.63877794e-01 -1.26269152e-02 3.01622418e+02] [-7.63717946e-01 -6.45360767e-01 -1.56326322e-02 2.75930576e+02] [-2.00903363e-02 -4.43356940e-04 9.99798071e-01 2.14611869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.250714057 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:301.59, Y:275.90, Z:2.15 [[-6.45312639e-01 7.63814118e-01 -1.26329216e-02 3.01586354e+02] [-7.63654353e-01 -6.45436133e-01 -1.56277769e-02 2.75899144e+02] [-2.00904607e-02 -4.37616352e-04 9.99798071e-01 2.14571601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.280714057 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:301.61, Y:275.94, Z:2.15 [[-6.45056923e-01 7.64030209e-01 -1.26256225e-02 3.01612039e+02] [-7.63870370e-01 -6.45180321e-01 -1.56336726e-02 2.75937973e+02] [-2.00904013e-02 -4.40269789e-04 9.99798071e-01 2.14592580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3107140569999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:301.60, Y:275.94, Z:2.15 [[-6.44186699e-01 7.64763954e-01 -1.26329193e-02 3.01604699e+02] [-7.64604372e-01 -6.44310428e-01 -1.56277741e-02 2.75936498e+02] [-2.00910800e-02 -4.08018898e-04 9.99798071e-01 2.14596450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3407140569999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:301.60, Y:275.94, Z:2.15 [[-6.40779922e-01 7.67620577e-01 -1.26389209e-02 3.01598028e+02] [-7.67461641e-01 -6.40904481e-01 -1.56229188e-02 2.75944419e+02] [-2.00928150e-02 -3.10965726e-04 9.99798071e-01 2.14577697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.370714057 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:301.59, Y:275.94, Z:2.15 [[-6.38993341e-01 7.69108325e-01 -1.26449186e-02 3.01586241e+02] [-7.68949776e-01 -6.39118392e-01 -1.56180629e-02 2.75937761e+02] [-2.00935822e-02 -2.56530845e-04 9.99798071e-01 2.14549124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.400714057 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:301.60, Y:275.96, Z:2.15 [[-6.36922319e-01 7.70824178e-01 -1.26509255e-02 3.01595197e+02] [-7.70666063e-01 -6.37047917e-01 -1.56131957e-02 2.75955669e+02] [-2.00942745e-02 -1.94753872e-04 9.99798071e-01 2.14563952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4307140569999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:301.58, Y:275.95, Z:2.15 [[-6.35206659e-01 7.72238502e-01 -1.26569065e-02 3.01582730e+02] [-7.72080762e-01 -6.35332729e-01 -1.56083456e-02 2.75946871e+02] [-2.00947124e-02 -1.42371068e-04 9.99798071e-01 2.14540003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4607140569999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:301.58, Y:275.96, Z:2.14 [[-6.32397972e-01 7.74540159e-01 -1.26628639e-02 3.01583333e+02] [-7.74382975e-01 -6.32524734e-01 -1.56035110e-02 2.75959963e+02] [-2.00951205e-02 -6.17225259e-05 9.99798071e-01 2.14456549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.490714057 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:301.58, Y:275.97, Z:2.14 [[-6.31411512e-01 7.75344442e-01 -1.26688174e-02 3.01583315e+02] [-7.75187517e-01 -6.31538594e-01 -1.55986757e-02 2.75966416e+02] [-2.00951936e-02 -2.84743062e-05 9.99798071e-01 2.14426547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.520714057 meters Centerline goodness : 0.998075 Centerline is valid? [True, True] Translation: X:301.58, Y:275.97, Z:2.14 [[-6.30420930e-01 7.76149987e-01 -1.26747241e-02 3.01578567e+02] [-7.75993321e-01 -6.30548331e-01 -1.55938747e-02 2.75966479e+02] [-2.00952118e-02 4.79621289e-06 9.99798071e-01 2.14334466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5507140569999 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:301.57, Y:275.96, Z:2.14 [[-6.29054485e-01 7.77257781e-01 -1.26806135e-02 3.01572934e+02] [-7.77101435e-01 -6.29182279e-01 -1.55890841e-02 2.75964570e+02] [-2.00951542e-02 4.77396650e-05 9.99798071e-01 2.14324575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5807140569999 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:301.57, Y:275.97, Z:2.14 [[-6.26796690e-01 7.79079561e-01 -1.26865078e-02 3.01570083e+02] [-7.78923684e-01 -6.26925055e-01 -1.55842858e-02 2.75970701e+02] [-2.00948882e-02 1.13642677e-04 9.99798071e-01 2.14398085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6107140569999 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:301.56, Y:275.97, Z:2.14 [[-6.25952400e-01 7.79757973e-01 -1.26923936e-02 3.01562614e+02] [-7.79602332e-01 -6.26081052e-01 -1.55794907e-02 2.75965803e+02] [-2.00946993e-02 1.43000064e-04 9.99798071e-01 2.14453916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.640714057 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:301.57, Y:275.97, Z:2.15 [[-6.25227746e-01 7.80339042e-01 -1.26982796e-02 3.01566197e+02] [-7.80183618e-01 -6.25356660e-01 -1.55746918e-02 2.75973962e+02] [-2.00944938e-02 1.69260217e-04 9.99798071e-01 2.14570962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6707140569999 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:301.56, Y:275.97, Z:2.15 [[-6.24583766e-01 7.80854483e-01 -1.27041531e-02 3.01558070e+02] [-7.80699263e-01 -6.24712925e-01 -1.55698994e-02 2.75968111e+02] [-2.00942744e-02 1.93416545e-04 9.99798071e-01 2.14617227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7007140569999 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:301.56, Y:275.98, Z:2.15 [[-6.23119973e-01 7.82022989e-01 -1.27100171e-02 3.01558959e+02] [-7.81868109e-01 -6.23249539e-01 -1.55651110e-02 2.75976634e+02] [-2.00937869e-02 2.38625428e-04 9.99798071e-01 2.14725711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7307140569999 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:301.55, Y:275.97, Z:2.15 [[-6.22939813e-01 7.82166412e-01 -1.27158745e-02 3.01554105e+02] [-7.82011659e-01 -6.23069531e-01 -1.55603244e-02 2.75974580e+02] [-2.00936370e-02 2.50816560e-04 9.99798071e-01 2.14801544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.760714057 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:301.55, Y:275.97, Z:2.15 [[-6.22860705e-01 7.82229315e-01 -1.27217138e-02 3.01545958e+02] [-7.82074672e-01 -6.22990555e-01 -1.55555488e-02 2.75967855e+02] [-2.00935138e-02 2.60390118e-04 9.99798071e-01 2.14782149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.790714057 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:301.54, Y:275.97, Z:2.15 [[-6.23156121e-01 7.81993899e-01 -1.27275724e-02 3.01544449e+02] [-7.81839305e-01 -6.23286030e-01 -1.55507538e-02 2.75965890e+02] [-2.00935127e-02 2.60368957e-04 9.99798071e-01 2.14777088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8207140569999 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:301.55, Y:275.98, Z:2.15 [[-6.24033815e-01 7.81293579e-01 -1.27334455e-02 3.01547396e+02] [-7.81138938e-01 -6.24163667e-01 -1.55459432e-02 2.75975210e+02] [-2.00936997e-02 2.45395859e-04 9.99798071e-01 2.14844498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8507140569999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:301.55, Y:275.97, Z:2.15 [[-6.24963672e-01 7.80549883e-01 -1.27392919e-02 3.01545111e+02] [-7.80395185e-01 -6.25093456e-01 -1.55411509e-02 2.75973833e+02] [-2.00938915e-02 2.29027329e-04 9.99798071e-01 2.14881648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.880714057 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:301.54, Y:275.97, Z:2.15 [[-6.26324492e-01 7.79458269e-01 -1.27451136e-02 3.01541750e+02] [-7.79303442e-01 -6.26454121e-01 -1.55363751e-02 2.75970412e+02] [-2.00941850e-02 2.01498705e-04 9.99798071e-01 2.14826874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.910714057 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:301.54, Y:275.96, Z:2.15 [[-6.27658086e-01 7.78384699e-01 -1.27509374e-02 3.01535023e+02] [-7.78229748e-01 -6.27787567e-01 -1.55315940e-02 2.75962189e+02] [-2.00944351e-02 1.74628252e-04 9.99798071e-01 2.14839502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9407140569999 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:301.53, Y:275.96, Z:2.15 [[-6.29999356e-01 7.76490873e-01 -1.27567822e-02 3.01532216e+02] [-7.76335629e-01 -6.30128486e-01 -1.55267919e-02 2.75960366e+02] [-2.00948240e-02 1.21675653e-04 9.99798071e-01 2.14824221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9707140569999 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:301.53, Y:275.96, Z:2.15 [[-6.31225785e-01 7.75494035e-01 -1.27675166e-02 3.01532583e+02] [-7.75338766e-01 -6.31354885e-01 -1.55179663e-02 2.75962385e+02] [-2.00949243e-02 1.03810106e-04 9.99798071e-01 2.14725221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.000714057 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:301.53, Y:275.96, Z:2.15 [[-6.32224408e-01 7.74680104e-01 -1.27684976e-02 3.01529125e+02] [-7.74524685e-01 -6.32353327e-01 -1.55171590e-02 2.75960071e+02] [-2.00950363e-02 7.91899132e-05 9.99798071e-01 2.14724831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.030714057 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:301.52, Y:275.95, Z:2.15 [[-6.33857040e-01 7.73344729e-01 -1.27743417e-02 3.01521969e+02] [-7.73189135e-01 -6.33985748e-01 -1.55123464e-02 2.75954779e+02] [-2.00951419e-02 4.43722231e-05 9.99798071e-01 2.14683618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0607140569999 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:301.52, Y:275.96, Z:2.15 [[-6.34790097e-01 7.72578858e-01 -1.27844101e-02 3.01522821e+02] [-7.72423276e-01 -6.34918820e-01 -1.55040493e-02 2.75957478e+02] [-2.00951632e-02 3.31589869e-05 9.99798071e-01 2.14616241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0907140569999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:301.52, Y:275.95, Z:2.15 [[-6.35350644e-01 7.72117916e-01 -1.27860506e-02 3.01518845e+02] [-7.71962268e-01 -6.35479286e-01 -1.55026962e-02 2.75953619e+02] [-2.00951798e-02 2.07006115e-05 9.99798071e-01 2.14588677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.120714057 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:301.52, Y:275.95, Z:2.15 [[-6.35147117e-01 7.72285250e-01 -1.27919036e-02 3.01518885e+02] [-7.72129733e-01 -6.35275918e-01 -1.54978652e-02 2.75954649e+02] [-2.00951610e-02 3.35847784e-05 9.99798071e-01 2.14503319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.150714057 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:301.51, Y:275.95, Z:2.15 [[-6.35250919e-01 7.72199772e-01 -1.27977548e-02 3.01514268e+02] [-7.72044335e-01 -6.35379817e-01 -1.54930319e-02 2.75951290e+02] [-2.00951508e-02 3.84713885e-05 9.99798071e-01 2.14656548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1807140569999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:301.51, Y:275.95, Z:2.14 [[-6.34450003e-01 7.72857853e-01 -1.28036042e-02 3.01513243e+02] [-7.72702647e-01 -6.34579179e-01 -1.54881964e-02 2.75954346e+02] [-2.00950749e-02 6.68926274e-05 9.99798071e-01 2.14421629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2107140569999 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:301.51, Y:275.95, Z:2.14 [[-6.34481904e-01 7.72831567e-01 -1.28094479e-02 3.01510543e+02] [-7.72676454e-01 -6.34611191e-01 -1.54833619e-02 2.75953429e+02] [-2.00950498e-02 7.36458644e-05 9.99798071e-01 2.14458393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.240714057 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:301.50, Y:275.95, Z:2.14 [[-6.34689074e-01 7.72661341e-01 -1.28152812e-02 3.01504617e+02] [-7.72506291e-01 -6.34818436e-01 -1.54785323e-02 2.75948053e+02] [-2.00950403e-02 7.58300186e-05 9.99798071e-01 2.14479170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.270714057 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:301.50, Y:275.95, Z:2.15 [[-6.35625606e-01 7.71890995e-01 -1.28211251e-02 3.01503956e+02] [-7.71735885e-01 -6.35754896e-01 -1.54736902e-02 2.75950912e+02] [-2.00950951e-02 5.90486368e-05 9.99798071e-01 2.14520524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3007140569999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:301.50, Y:275.95, Z:2.15 [[-6.36049538e-01 7.71541609e-01 -1.28269691e-02 3.01501962e+02] [-7.71386526e-01 -6.36178861e-01 -1.54688442e-02 2.75949861e+02] [-2.00951036e-02 5.55998649e-05 9.99798071e-01 2.14591914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3307140569999 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:301.50, Y:275.95, Z:2.15 [[-6.36282276e-01 7.71349586e-01 -1.28328007e-02 3.01498126e+02] [-7.71194562e-01 -6.36411669e-01 -1.54640049e-02 2.75946692e+02] [-2.00950979e-02 5.71139066e-05 9.99798072e-01 2.14715678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3607140569999 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:301.50, Y:275.95, Z:2.15 [[-6.35553618e-01 7.71949693e-01 -1.28557285e-02 3.01495932e+02] [-7.71795176e-01 -6.35683616e-01 -1.54449680e-02 2.75947575e+02] [-2.00949143e-02 1.05883988e-04 9.99798071e-01 2.14576362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.390714057 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:301.50, Y:275.95, Z:2.15 [[-6.35378869e-01 7.72093794e-01 -1.28400640e-02 3.01495485e+02] [-7.71939042e-01 -6.35508588e-01 -1.54579795e-02 2.75949208e+02] [-2.00949810e-02 9.00731897e-05 9.99798071e-01 2.14600462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4207140569999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:301.49, Y:275.94, Z:2.15 [[-6.35046726e-01 7.72366907e-01 -1.28458897e-02 3.01488432e+02] [-7.72212310e-01 -6.35176628e-01 -1.54531368e-02 2.75943470e+02] [-2.00949004e-02 1.06290201e-04 9.99798071e-01 2.14599496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4507140569999 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:301.52, Y:275.98, Z:2.15 [[-6.25091111e-01 7.80445985e-01 -1.28517201e-02 3.01522926e+02] [-7.80293166e-01 -6.25223101e-01 -1.54482864e-02 2.75975867e+02] [-2.00917454e-02 3.71522892e-04 9.99798071e-01 2.14931947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4807140569999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:301.53, Y:275.98, Z:2.15 [[-6.22554967e-01 7.82474811e-01 -1.25889807e-02 3.01525597e+02] [-7.82317963e-01 -6.22682231e-01 -1.56666323e-02 2.75978977e+02] [-2.00976797e-02 9.52459789e-05 9.99798017e-01 2.14508405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.510714057 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:301.49, Y:275.95, Z:2.14 [[-6.33316367e-01 7.73791309e-01 -1.25454954e-02 3.01486656e+02] [-7.73631998e-01 -6.33440568e-01 -1.57027992e-02 2.75949763e+02] [-2.00975153e-02 -2.39243015e-04 9.99797996e-01 2.14355544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.540714057 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:301.48, Y:275.95, Z:2.14 [[-6.32586355e-01 7.74383011e-01 -1.28629708e-02 3.01483532e+02] [-7.74229129e-01 -6.32717090e-01 -1.54382853e-02 2.75947938e+02] [-2.00937672e-02 1.92838044e-04 9.99798081e-01 2.14351885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5707140569999 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:301.48, Y:275.95, Z:2.14 [[-6.32231702e-01 7.74672492e-01 -1.28687766e-02 3.01481894e+02] [-7.74518768e-01 -6.32362623e-01 -1.54334442e-02 2.75948532e+02] [-2.00935980e-02 2.09596292e-04 9.99798081e-01 2.14414216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6007140569999 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:301.48, Y:275.95, Z:2.15 [[-6.31392556e-01 7.75356489e-01 -1.28745787e-02 3.01479879e+02] [-7.75203006e-01 -6.31523758e-01 -1.54286026e-02 2.75950098e+02] [-2.00932695e-02 2.38907319e-04 9.99798081e-01 2.14586780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.630714057 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:301.48, Y:275.95, Z:2.15 [[-6.31280354e-01 7.75447761e-01 -1.28796366e-02 3.01478034e+02] [-7.75294383e-01 -6.31411679e-01 -1.54243792e-02 2.75949347e+02] [-2.00931532e-02 2.48402357e-04 9.99798081e-01 2.14674964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.660714057 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:301.48, Y:275.95, Z:2.15 [[-6.31130753e-01 7.75569428e-01 -1.28854221e-02 3.01475748e+02] [-7.75416174e-01 -6.31262223e-01 -1.54195444e-02 2.75947889e+02] [-2.00930075e-02 2.59816017e-04 9.99798081e-01 2.14623492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6907140569999 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:301.47, Y:275.95, Z:2.15 [[-6.29813599e-01 7.76639329e-01 -1.28912039e-02 3.01472680e+02] [-7.76486397e-01 -6.29945443e-01 -1.54147091e-02 2.75945417e+02] [-2.00924246e-02 3.01451061e-04 9.99798081e-01 2.14593458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7207140569999 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:301.48, Y:275.95, Z:2.14 [[-6.28956447e-01 7.77333555e-01 -1.28969886e-02 3.01475361e+02] [-7.77180867e-01 -6.29088575e-01 -1.54098678e-02 2.75948970e+02] [-2.00919555e-02 3.31157119e-04 9.99798081e-01 2.14437516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.750714057 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:301.47, Y:275.95, Z:2.14 [[-6.27867500e-01 7.78213288e-01 -1.29027584e-02 3.01474922e+02] [-7.78060885e-01 -6.27999956e-01 -1.54050352e-02 2.75948546e+02] [-2.00913348e-02 3.66810653e-04 9.99798081e-01 2.14337935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.780714057 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:301.50, Y:275.97, Z:2.15 [[-6.13322403e-01 7.89727168e-01 -1.29085104e-02 3.01503147e+02] [-7.89577350e-01 -6.13457775e-01 -1.54002138e-02 2.75967920e+02] [-2.00807933e-02 7.46971280e-04 9.99798082e-01 2.14591918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8107140569999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:301.47, Y:275.95, Z:2.14 [[-6.24081254e-01 7.81258667e-01 -1.25492990e-02 3.01473595e+02] [-7.81100881e-01 -6.24207414e-01 -1.57009055e-02 2.75946673e+02] [-2.00998340e-02 3.62766558e-06 9.99797978e-01 2.14293582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8407140569999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:301.48, Y:275.95, Z:2.14 [[-6.22844109e-01 7.82239370e-01 -1.29144439e-02 3.01475611e+02] [-7.82088039e-01 -6.22977773e-01 -1.53945903e-02 2.75948279e+02] [-2.00876661e-02 5.11802240e-04 9.99798091e-01 2.14323254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.870714057 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:301.47, Y:275.95, Z:2.14 [[-6.21787114e-01 7.83079724e-01 -1.29201772e-02 3.01474567e+02] [-7.82928673e-01 -6.21921094e-01 -1.53897770e-02 2.75946052e+02] [-2.00867531e-02 5.46412155e-04 9.99798092e-01 2.14337682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.900714057 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:301.47, Y:275.94, Z:2.14 [[-6.19537588e-01 7.84860559e-01 -1.29258985e-02 3.01471915e+02] [-7.84709994e-01 -6.19672114e-01 -1.53849702e-02 2.75939757e+02] [-2.00848752e-02 6.11514433e-04 9.99798092e-01 2.14429090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9307140569999 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:301.47, Y:275.94, Z:2.14 [[-6.18863007e-01 7.85392483e-01 -1.29316264e-02 3.01473483e+02] [-7.85242133e-01 -6.18997773e-01 -1.53801542e-02 2.75939982e+02] [-2.00841054e-02 6.36249391e-04 9.99798092e-01 2.14471606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9607140569999 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:301.47, Y:275.94, Z:2.14 [[-6.18368167e-01 7.85782053e-01 -1.29373524e-02 3.01473451e+02] [-7.85631889e-01 -6.18503140e-01 -1.53753361e-02 2.75937479e+02] [-2.00834563e-02 6.56378198e-04 9.99798092e-01 2.14426927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.990714057 meters Centerline goodness : 0.998054 Centerline is valid? [True, True] Translation: X:301.47, Y:275.93, Z:2.14 [[-6.18272018e-01 7.85857614e-01 -1.29430684e-02 3.01472954e+02] [-7.85707567e-01 -6.18407121e-01 -1.53705229e-02 2.75934141e+02] [-2.00831281e-02 6.66302560e-04 9.99798092e-01 2.14437090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.020714057 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:301.47, Y:275.93, Z:2.15 [[-6.18482356e-01 7.85691991e-01 -1.29487825e-02 3.01472571e+02] [-7.85542008e-01 -6.18617530e-01 -1.53657075e-02 2.75927155e+02] [-2.00830572e-02 6.68393650e-04 9.99798092e-01 2.14542246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0507140569999 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:301.48, Y:275.93, Z:2.15 [[-6.19092100e-01 7.85211534e-01 -1.29545013e-02 3.01475813e+02] [-7.85061547e-01 -6.19227269e-01 -1.53608846e-02 2.75927783e+02] [-2.00833242e-02 6.60278555e-04 9.99798092e-01 2.14673482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0807140569999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:301.48, Y:275.93, Z:2.15 [[-6.20047499e-01 7.84457221e-01 -1.29602146e-02 3.01479421e+02] [-7.84307170e-01 -6.20182598e-01 -1.53560627e-02 2.75929316e+02] [-2.00838738e-02 6.43300981e-04 9.99798092e-01 2.14648496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1107140569999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:301.47, Y:275.92, Z:2.15 [[-6.20717282e-01 7.83927255e-01 -1.29659032e-02 3.01474615e+02] [-7.83777189e-01 -6.20852364e-01 -1.53512580e-02 2.75917000e+02] [-2.00841812e-02 6.33588010e-04 9.99798092e-01 2.14683778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.140714057 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:301.50, Y:275.93, Z:2.15 [[-6.09231221e-01 7.92886535e-01 -1.29715983e-02 3.01502943e+02] [-7.92738555e-01 -6.09368584e-01 -1.53464443e-02 2.75933284e+02] [-2.00724735e-02 9.33553059e-04 9.99798092e-01 2.14813858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1707140569999 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:301.47, Y:275.91, Z:2.15 [[-6.21012447e-01 7.83698868e-01 -1.26343156e-02 3.01474270e+02] [-7.83542989e-01 -6.21140924e-01 -1.56312751e-02 2.75909377e+02] [-2.00979031e-02 1.92313075e-04 9.99797998e-01 2.14565998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2007140569999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:301.48, Y:275.92, Z:2.15 [[-6.21576231e-01 7.83246155e-01 -1.29788347e-02 3.01483480e+02] [-7.83096179e-01 -6.21711401e-01 -1.53397836e-02 2.75915438e+02] [-2.00839161e-02 6.28830984e-04 9.99798100e-01 2.14544464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2307140569999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:301.48, Y:275.90, Z:2.14 [[-6.22445273e-01 7.82555611e-01 -1.29845319e-02 3.01480636e+02] [-7.82405586e-01 -6.22580387e-01 -1.53349597e-02 2.75902075e+02] [-2.00843737e-02 6.13997126e-04 9.99798100e-01 2.14463999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.260714057 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:301.49, Y:275.91, Z:2.14 [[-6.23118329e-01 7.82019694e-01 -1.29902209e-02 3.01487423e+02] [-7.81869653e-01 -6.23253426e-01 -1.53301390e-02 2.75905784e+02] [-2.00846703e-02 6.04168873e-04 9.99798100e-01 2.14499522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.290714057 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:301.48, Y:275.89, Z:2.14 [[-6.23887921e-01 7.81405764e-01 -1.29959062e-02 3.01479317e+02] [-7.81255690e-01 -6.24022981e-01 -1.53253178e-02 2.75892669e+02] [-2.00850359e-02 5.91845017e-04 9.99798100e-01 2.14463562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3207140569999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:301.48, Y:275.88, Z:2.15 [[-6.24696717e-01 7.80759227e-01 -1.30015980e-02 3.01475040e+02] [-7.80609113e-01 -6.24831733e-01 -1.53204876e-02 2.75884119e+02] [-2.00854231e-02 5.78507639e-04 9.99798100e-01 2.14554055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3507140569999 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:301.48, Y:275.87, Z:2.15 [[-6.15163794e-01 7.88292024e-01 -1.30073268e-02 3.01484993e+02] [-7.88143665e-01 -6.15300736e-01 -1.53156222e-02 2.75874828e+02] [-2.00766006e-02 8.30025964e-04 9.99798100e-01 2.14861689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.380714057 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:301.48, Y:275.88, Z:2.15 [[-6.25494984e-01 7.80124223e-01 -1.27365959e-02 3.01484285e+02] [-7.79969353e-01 -6.25624609e-01 -1.55453294e-02 2.75882175e+02] [-2.00956158e-02 2.10628907e-04 9.99798041e-01 2.14677952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.410714057 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:301.50, Y:275.89, Z:2.15 [[-6.14778322e-01 7.88592595e-01 -1.30128464e-02 3.01503098e+02] [-7.88444409e-01 -6.14915443e-01 -1.53105382e-02 2.75885081e+02] [-2.00755772e-02 8.47319021e-04 9.99798106e-01 2.14893096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4407140569999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:301.48, Y:275.87, Z:2.15 [[-6.22672545e-01 7.82378376e-01 -1.27663233e-02 3.01479593e+02] [-7.82224492e-01 -6.22803319e-01 -1.55200038e-02 2.75865103e+02] [-2.00934239e-02 3.22250485e-04 9.99798055e-01 2.14744471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4707140569999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:301.50, Y:275.88, Z:2.15 [[-6.20248178e-01 7.84297539e-01 -1.30218175e-02 3.01499916e+02] [-7.84148569e-01 -6.20384439e-01 -1.53025912e-02 2.75883933e+02] [-2.00803176e-02 7.19635300e-04 9.99798111e-01 2.14767106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.500714057 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:301.50, Y:275.88, Z:2.15 [[-6.17634618e-01 7.86357274e-01 -1.30275128e-02 3.01499608e+02] [-7.86208860e-01 -6.17771485e-01 -1.52977411e-02 2.75879870e+02] [-2.00775159e-02 7.93931546e-04 9.99798111e-01 2.14818780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.530714057 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:301.50, Y:275.88, Z:2.15 [[-6.14944252e-01 7.88462874e-01 -1.30331481e-02 3.01504606e+02] [-7.88315030e-01 -6.15081734e-01 -1.52929385e-02 2.75882001e+02] [-2.00743656e-02 8.69921877e-04 9.99798111e-01 2.14861307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5607140569999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:301.51, Y:275.88, Z:2.15 [[-6.08958017e-01 7.93095281e-01 -1.30387680e-02 3.01509657e+02] [-7.92948584e-01 -6.09096722e-01 -1.52881454e-02 2.75878880e+02] [-2.00668269e-02 1.02923393e-03 9.99798111e-01 2.14913446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5907140569999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:301.52, Y:275.88, Z:2.15 [[-6.02118771e-01 7.98299963e-01 -1.30443666e-02 3.01515454e+02] [-7.98154566e-01 -6.02258838e-01 -1.52833670e-02 2.75875046e+02] [-2.00567964e-02 1.20901859e-03 9.99798111e-01 2.15319064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.620714057 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:301.51, Y:275.87, Z:2.15 [[-6.00623398e-01 7.99428012e-01 -1.28991716e-02 3.01511236e+02] [-7.99280224e-01 -6.00760967e-01 -1.54072929e-02 2.75865116e+02] [-2.00663404e-02 1.05607216e-03 9.99798093e-01 2.15326766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.650714057 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:301.51, Y:275.87, Z:2.15 [[-6.03748355e-01 7.97070450e-01 -1.29082219e-02 3.01514059e+02] [-7.96922289e-01 -6.03885518e-01 -1.53995632e-02 2.75867368e+02] [-2.00696250e-02 9.89388837e-04 9.99798095e-01 2.15105782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6807140569999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:301.51, Y:275.85, Z:2.15 [[-6.03850787e-01 7.96990413e-01 -1.30578748e-02 3.01509142e+02] [-7.96844964e-01 -6.03990796e-01 -1.52716040e-02 2.75847612e+02] [-2.00581582e-02 1.18333167e-03 9.99798115e-01 2.15235112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7107140569999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:301.51, Y:275.85, Z:2.15 [[-6.04145314e-01 7.96767083e-01 -1.30634870e-02 3.01507579e+02] [-7.96621685e-01 -6.04285376e-01 -1.52668019e-02 2.75845667e+02] [-2.00581593e-02 1.18329018e-03 9.99798115e-01 2.15230051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.740714057 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:301.52, Y:275.85, Z:2.15 [[-6.04952346e-01 7.96154418e-01 -1.30691288e-02 3.01519965e+02] [-7.96008982e-01 -6.05092368e-01 -1.52619706e-02 2.75852925e+02] [-2.00589154e-02 1.17037899e-03 9.99798115e-01 2.15295803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.770714057 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:301.50, Y:275.82, Z:2.15 [[-6.06523126e-01 7.94958331e-01 -1.30747374e-02 3.01502701e+02] [-7.94812722e-01 -6.06662967e-01 -1.52571643e-02 2.75818635e+02] [-2.00607689e-02 1.13814464e-03 9.99798115e-01 2.15280212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8007140569999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:301.53, Y:275.85, Z:2.15 [[-6.07914230e-01 7.93895067e-01 -1.30733260e-02 3.01532403e+02] [-7.93749187e-01 -6.08053789e-01 -1.52583736e-02 2.75846360e+02] [-2.00628329e-02 1.10115948e-03 9.99798115e-01 2.15338337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8307140569999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:301.53, Y:275.83, Z:2.15 [[-6.09814102e-01 7.92436560e-01 -1.30789711e-02 3.01525612e+02] [-7.92290449e-01 -6.09953420e-01 -1.52535333e-02 2.75832050e+02] [-2.00650206e-02 1.06052417e-03 9.99798115e-01 2.15263516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8607140569999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:301.53, Y:275.83, Z:2.15 [[-6.11977091e-01 7.90767245e-01 -1.30845552e-02 3.01526454e+02] [-7.90620856e-01 -6.12116115e-01 -1.52487417e-02 2.75826249e+02] [-2.00674726e-02 1.01304163e-03 9.99798115e-01 2.15189015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.890714057 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:301.51, Y:275.80, Z:2.15 [[-6.16101764e-01 7.87557785e-01 -1.30901643e-02 3.01513524e+02] [-7.87410773e-01 -6.16240130e-01 -1.52439251e-02 2.75797724e+02] [-2.00721564e-02 9.15527263e-04 9.99798115e-01 2.15033290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9207140569999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:301.54, Y:275.82, Z:2.15 [[-6.18444208e-01 7.85719712e-01 -1.30880387e-02 3.01537949e+02] [-7.85572250e-01 -6.18582094e-01 -1.52457498e-02 2.75819251e+02] [-2.00749126e-02 8.52954381e-04 9.99798115e-01 2.15081075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9507140569999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:301.54, Y:275.82, Z:2.15 [[-6.20039202e-01 7.84461562e-01 -1.30937110e-02 3.01540656e+02] [-7.84313923e-01 -6.20176899e-01 -1.52408767e-02 2.75815269e+02] [-2.00762990e-02 8.19638861e-04 9.99798115e-01 2.15089529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9807140569999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:301.54, Y:275.80, Z:2.15 [[-6.22355201e-01 7.82625438e-01 -1.30930115e-02 3.01536682e+02] [-7.82477380e-01 -6.22492447e-01 -1.52414776e-02 2.75797807e+02] [-2.00786688e-02 7.59372451e-04 9.99798115e-01 2.15099459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.010714057 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:301.53, Y:275.79, Z:2.15 [[-6.23324347e-01 7.81853873e-01 -1.30873585e-02 3.01533791e+02] [-7.81705544e-01 -6.23461300e-01 -1.52463301e-02 2.75789337e+02] [-2.00798638e-02 7.27051938e-04 9.99798115e-01 2.15106101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.040714057 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:301.53, Y:275.78, Z:2.15 [[-6.24016462e-01 7.81301627e-01 -1.30852212e-02 3.01533217e+02] [-7.81153138e-01 -6.24153241e-01 -1.52481642e-02 2.75784192e+02] [-2.00805987e-02 7.06456147e-04 9.99798115e-01 2.15143366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0707140569999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:301.51, Y:275.75, Z:2.15 [[-6.25592418e-01 7.80040358e-01 -1.30830719e-02 3.01514168e+02] [-7.79891555e-01 -6.25728855e-01 -1.52500081e-02 2.75752585e+02] [-2.00820774e-02 6.63087827e-04 9.99798115e-01 2.15076484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1007140569999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:301.54, Y:275.78, Z:2.15 [[-6.26598811e-01 7.79232261e-01 -1.30772228e-02 3.01542724e+02] [-7.79083177e-01 -6.26734942e-01 -1.52550222e-02 2.75781080e+02] [-2.00831579e-02 6.29465467e-04 9.99798115e-01 2.15107802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.130714057 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:301.52, Y:275.75, Z:2.15 [[-6.27250984e-01 7.78707347e-01 -1.30794246e-02 3.01523852e+02] [-7.78558188e-01 -6.27387033e-01 -1.52531342e-02 2.75754678e+02] [-2.00835890e-02 6.15549651e-04 9.99798115e-01 2.15048922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.160714057 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:301.55, Y:275.77, Z:2.15 [[-6.27732629e-01 7.78319232e-01 -1.30736004e-02 3.01545729e+02] [-7.78169886e-01 -6.27868472e-01 -1.52581245e-02 2.75771510e+02] [-2.00841933e-02 5.95459488e-04 9.99798115e-01 2.15003536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1907140569999 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:301.07, Y:275.21, Z:2.13 [[-6.26487017e-01 7.79322297e-01 -1.30681209e-02 3.01071330e+02] [-7.79173070e-01 -6.26622991e-01 -1.52628161e-02 2.75213621e+02] [-2.00834379e-02 6.20371829e-04 9.99798115e-01 2.13474600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2207140569999 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:301.08, Y:275.22, Z:2.14 [[-6.24405912e-01 7.80991058e-01 -1.30470344e-02 3.01075613e+02] [-7.80841818e-01 -6.24541872e-01 -1.52808997e-02 2.75216043e+02] [-2.00826653e-02 6.46185904e-04 9.99798114e-01 2.13603844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.250714057 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:301.07, Y:275.21, Z:2.14 [[-6.23712965e-01 7.81544877e-01 -1.30285154e-02 3.01074817e+02] [-7.81395427e-01 -6.23848697e-01 -1.52967567e-02 2.75213049e+02] [-2.00829241e-02 6.39636866e-04 9.99798113e-01 2.13653228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.280714057 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:301.58, Y:275.79, Z:2.15 [[-6.21239996e-01 7.83512110e-01 -1.30245957e-02 3.01575408e+02] [-7.83363020e-01 -6.21376123e-01 -1.53001057e-02 2.75794062e+02] [-2.00809909e-02 6.97949018e-04 9.99798113e-01 2.14938271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3107140569999 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:301.58, Y:275.80, Z:2.15 [[-6.18206326e-01 7.85907004e-01 -1.30812732e-02 3.01579322e+02] [-7.85759463e-01 -6.18344126e-01 -1.52514933e-02 2.75796690e+02] [-2.00749838e-02 8.50164611e-04 9.99798116e-01 2.14931603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3407140569999 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:301.57, Y:275.79, Z:2.15 [[-6.15734219e-01 7.87845415e-01 -1.30756617e-02 3.01573171e+02] [-7.87698206e-01 -6.15872374e-01 -1.52563027e-02 2.75789021e+02] [-2.00725470e-02 9.05847675e-04 9.99798116e-01 2.14898010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.370714057 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:301.53, Y:275.73, Z:2.15 [[-6.13352696e-01 7.89700984e-01 -1.30700287e-02 3.01526042e+02] [-7.89554091e-01 -6.13491187e-01 -1.52611270e-02 2.75733102e+02] [-2.00700744e-02 9.59041242e-04 9.99798116e-01 2.14755224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.400714057 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:301.53, Y:275.73, Z:2.15 [[-6.09441710e-01 7.92723236e-01 -1.30642140e-02 3.01526384e+02] [-7.92576923e-01 -6.09580813e-01 -1.52661030e-02 2.75730661e+02] [-2.00654888e-02 1.05059463e-03 9.99798116e-01 2.14804925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4307140569999 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:301.53, Y:275.73, Z:2.15 [[-6.08118930e-01 7.93738528e-01 -1.30582231e-02 3.01529403e+02] [-7.93592337e-01 -6.08258162e-01 -1.52712258e-02 2.75731933e+02] [-2.00641310e-02 1.07618428e-03 9.99798116e-01 2.14807969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4607140569999 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:301.53, Y:275.73, Z:2.15 [[-6.07188447e-01 7.94450646e-01 -1.30522209e-02 3.01530016e+02] [-7.94304510e-01 -6.07327736e-01 -1.52763540e-02 2.75729654e+02] [-2.00632851e-02 1.09181225e-03 9.99798116e-01 2.14835922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.490714057 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:301.53, Y:275.73, Z:2.15 [[-6.06744379e-01 7.94789944e-01 -1.30462096e-02 3.01533185e+02] [-7.94643776e-01 -6.06883635e-01 -1.52814861e-02 2.75730465e+02] [-2.00631026e-02 1.09513349e-03 9.99798116e-01 2.14879277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.520714057 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:301.54, Y:275.73, Z:2.15 [[-6.07352847e-01 7.94325168e-01 -1.30401880e-02 3.01539374e+02] [-7.94178784e-01 -6.07491875e-01 -1.52866228e-02 2.75731133e+02] [-2.00643575e-02 1.07186681e-03 9.99798116e-01 2.14759134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5507140569999 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:301.54, Y:275.73, Z:2.15 [[-6.07876409e-01 7.93924671e-01 -1.30341685e-02 3.01544948e+02] [-7.93778085e-01 -6.08015225e-01 -1.52917536e-02 2.75734229e+02] [-2.00654733e-02 1.05074111e-03 9.99798116e-01 2.14755057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5807140569999 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:301.55, Y:275.73, Z:2.15 [[-6.08881887e-01 7.93153904e-01 -1.30281604e-02 3.01547816e+02] [-7.93007034e-01 -6.09020402e-01 -1.52968706e-02 2.75734192e+02] [-2.00671881e-02 1.01743539e-03 9.99798116e-01 2.14700283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6107140569999 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:301.55, Y:275.73, Z:2.15 [[-6.09961600e-01 7.92323968e-01 -1.30221574e-02 3.01549953e+02] [-7.92176801e-01 -6.10099799e-01 -1.53019792e-02 2.75733374e+02] [-2.00689405e-02 9.82231239e-04 9.99798116e-01 2.14605016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.640714057 meters Centerline goodness : 0.996867 Centerline is valid? [True, True] Translation: X:301.56, Y:275.74, Z:2.15 [[-6.13355418e-01 7.89699760e-01 -1.30161452e-02 3.01559084e+02] [-7.89551894e-01 -6.13492869e-01 -1.53070916e-02 2.75735896e+02] [-2.00733188e-02 8.88234551e-04 9.99798116e-01 2.14610833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6707140569999 meters Centerline goodness : 0.996142 Centerline is valid? [True, True] Translation: X:301.56, Y:275.74, Z:2.15 [[-6.14902429e-01 7.88495872e-01 -1.30101403e-02 3.01563163e+02] [-7.88347629e-01 -6.15039473e-01 -1.53121938e-02 2.75736212e+02] [-2.00753514e-02 8.41008109e-04 9.99798116e-01 2.14554183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7007140569999 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:301.57, Y:275.74, Z:2.14 [[-6.16949640e-01 7.86895186e-01 -1.30041445e-02 3.01571636e+02] [-7.86746481e-01 -6.17086182e-01 -1.53172840e-02 2.75742766e+02] [-2.00777750e-02 7.80972089e-04 9.99798116e-01 2.14493377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7307140569999 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:301.57, Y:275.74, Z:2.14 [[-6.18533177e-01 7.85651168e-01 -1.29981651e-02 3.01574381e+02] [-7.85502081e-01 -6.18669303e-01 -1.53223565e-02 2.75742611e+02] [-2.00795930e-02 7.32699891e-04 9.99798116e-01 2.14468431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.760714057 meters Centerline goodness : 0.995742 Centerline is valid? [True, True] Translation: X:301.58, Y:275.74, Z:2.14 [[-6.21628797e-01 7.83204214e-01 -1.29921988e-02 3.01579578e+02] [-7.83054486e-01 -6.21764217e-01 -1.53274137e-02 2.75743835e+02] [-2.00825794e-02 6.45637814e-04 9.99798116e-01 2.14309255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.790714057 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:301.58, Y:275.75, Z:2.14 [[-6.22295225e-01 7.82674908e-01 -1.29862327e-02 3.01584352e+02] [-7.82524959e-01 -6.22430401e-01 -1.53324670e-02 2.75747166e+02] [-2.00833632e-02 6.20730203e-04 9.99798116e-01 2.14194143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8207140569999 meters Centerline goodness : 0.995737 Centerline is valid? [True, True] Translation: X:301.59, Y:275.75, Z:2.14 [[-6.22972433e-01 7.82136088e-01 -1.29802756e-02 3.01590213e+02] [-7.81985918e-01 -6.23107362e-01 -1.53375085e-02 2.75752410e+02] [-2.00841242e-02 5.95547729e-04 9.99798116e-01 2.14106611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8507140569999 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:301.59, Y:275.75, Z:2.14 [[-6.23194741e-01 7.81959067e-01 -1.29743345e-02 3.01593324e+02] [-7.81808754e-01 -6.23329511e-01 -1.53425325e-02 2.75752912e+02] [-2.00845180e-02 5.82062759e-04 9.99798116e-01 2.14045060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.880714057 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:301.59, Y:275.75, Z:2.14 [[-6.22241408e-01 7.82717990e-01 -1.29684025e-02 3.01591272e+02] [-7.82567737e-01 -6.22376245e-01 -1.53475449e-02 2.75749043e+02] [-2.00840252e-02 5.98775454e-04 9.99798116e-01 2.13989860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.910714057 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:301.60, Y:275.75, Z:2.14 [[-6.21614489e-01 7.83216063e-01 -1.29624527e-02 3.01595610e+02] [-7.83065814e-01 -6.21749330e-01 -1.53525685e-02 2.75753829e+02] [-2.00837746e-02 6.07074500e-04 9.99798116e-01 2.14018720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9407140569999 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:301.60, Y:275.76, Z:2.14 [[-6.20547978e-01 7.84061437e-01 -1.29564968e-02 3.01598450e+02] [-7.83911266e-01 -6.20682907e-01 -1.53575932e-02 2.75756784e+02] [-2.00831727e-02 6.26620399e-04 9.99798116e-01 2.13960917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9707140569999 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:301.60, Y:275.76, Z:2.14 [[-6.19504756e-01 7.84886068e-01 -1.29505500e-02 3.01600972e+02] [-7.84735973e-01 -6.19639769e-01 -1.53626063e-02 2.75757559e+02] [-2.00825715e-02 6.45554779e-04 9.99798116e-01 2.14016563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.000714057 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:301.60, Y:275.76, Z:2.14 [[-6.19352696e-01 7.85006162e-01 -1.29446033e-02 3.01603134e+02] [-7.84855989e-01 -6.19487622e-01 -1.53676154e-02 2.75758261e+02] [-2.00826943e-02 6.41675372e-04 9.99798116e-01 2.13963062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.030714057 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:301.61, Y:275.76, Z:2.14 [[-6.19585684e-01 7.84822382e-01 -1.29386526e-02 3.01605926e+02] [-7.84672064e-01 -6.19720448e-01 -1.53726239e-02 2.75759832e+02] [-2.00831269e-02 6.27941561e-04 9.99798116e-01 2.13906085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0607140569999 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:301.61, Y:275.76, Z:2.14 [[-6.20633300e-01 7.83994294e-01 -1.29327000e-02 3.01609097e+02] [-7.83843692e-01 -6.20767747e-01 -1.53776301e-02 2.75762401e+02] [-2.00841773e-02 5.93346005e-04 9.99798117e-01 2.13927812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0907140569999 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:301.62, Y:275.77, Z:2.14 [[-6.24048873e-01 7.81278378e-01 -1.29267495e-02 3.01615455e+02] [-7.81127087e-01 -6.24182544e-01 -1.53826306e-02 2.75769082e+02] [-2.00867681e-02 4.97920892e-04 9.99798117e-01 2.13980142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.120714057 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:301.62, Y:275.77, Z:2.14 [[-6.25932818e-01 7.79769941e-01 -1.29208150e-02 3.01615716e+02] [-7.79618225e-01 -6.26066007e-01 -1.53876138e-02 2.75769116e+02] [-2.00880817e-02 4.41690377e-04 9.99798117e-01 2.13933393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.150714057 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:301.61, Y:275.77, Z:2.14 [[-6.29526489e-01 7.76871679e-01 -1.29148874e-02 3.01614913e+02] [-7.76719248e-01 -6.29658859e-01 -1.53925872e-02 2.75768017e+02] [-2.00900383e-02 3.41200267e-04 9.99798117e-01 2.13895246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1807140569999 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:301.62, Y:275.78, Z:2.14 [[-6.31616434e-01 7.75174860e-01 -1.28303001e-02 3.01622616e+02] [-7.75020629e-01 -6.31746710e-01 -1.54634880e-02 2.75777339e+02] [-2.00924070e-02 1.76754067e-04 9.99798112e-01 2.13967455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2107140569999 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:301.62, Y:275.77, Z:2.14 [[-6.32650603e-01 7.74329789e-01 -1.29070648e-02 3.01619520e+02] [-7.74176692e-01 -6.32782202e-01 -1.53991464e-02 2.75774533e+02] [-2.00913787e-02 2.50069448e-04 9.99798117e-01 2.13836729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.240714057 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:301.63, Y:275.79, Z:2.14 [[-6.33725116e-01 7.73450734e-01 -1.29011417e-02 3.01630644e+02] [-7.73297354e-01 -6.33856384e-01 -1.54041071e-02 2.75789636e+02] [-2.00917890e-02 2.14449191e-04 9.99798117e-01 2.13843495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.270714057 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:301.63, Y:275.79, Z:2.14 [[-6.36200441e-01 7.71416043e-01 -1.28952384e-02 3.01628583e+02] [-7.71262143e-01 -6.36331100e-01 -1.54090473e-02 2.75792690e+02] [-2.00924276e-02 1.42366483e-04 9.99798117e-01 2.13789368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3007140569999 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:301.63, Y:275.81, Z:2.14 [[-6.48730054e-01 7.60909444e-01 -1.28893654e-02 3.01630849e+02] [-7.60753330e-01 -6.48858059e-01 -1.54139584e-02 2.75812611e+02] [-2.00919952e-02 -1.93870398e-04 9.99798117e-01 2.13823885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3307140569999 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:301.63, Y:275.80, Z:2.14 [[-6.38552371e-01 7.69465535e-01 -1.31780408e-02 3.01633565e+02] [-7.69316068e-01 -6.38688178e-01 -1.51723038e-02 2.75804884e+02] [-2.00912237e-02 4.49767977e-04 9.99798050e-01 2.13751834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3607140569999 meters Centerline goodness : 0.995553 Centerline is valid? [True, True] Translation: X:301.63, Y:275.81, Z:2.14 [[-6.44150224e-01 7.64790491e-01 -1.28838299e-02 3.01632128e+02] [-7.64635065e-01 -6.44279053e-01 -1.54181564e-02 2.75811571e+02] [-2.00924411e-02 -8.01807931e-05 9.99798123e-01 2.13683679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.390714057 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:301.62, Y:275.80, Z:2.14 [[-6.45520361e-01 7.63632573e-01 -1.29906238e-02 3.01623195e+02] [-7.63478704e-01 -6.45651061e-01 -1.53289005e-02 2.75803897e+02] [-2.00930578e-02 2.29471760e-05 9.99798114e-01 2.14107162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4207140569999 meters Centerline goodness : 0.996061 Centerline is valid? [True, True] Translation: X:301.63, Y:275.82, Z:2.14 [[-6.45524762e-01 7.63629917e-01 -1.29279289e-02 3.01630206e+02] [-7.63474996e-01 -6.45654200e-01 -1.53812683e-02 2.75815023e+02] [-2.00925682e-02 -5.88390642e-05 9.99798122e-01 2.13906145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4507140569999 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:301.63, Y:275.82, Z:2.14 [[-6.46656769e-01 7.62672439e-01 -1.28753546e-02 3.01634873e+02] [-7.62516451e-01 -6.46784915e-01 -1.54251520e-02 2.75824759e+02] [-2.00919234e-02 -1.57109308e-04 9.99798125e-01 2.13898627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4807140569999 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:301.63, Y:275.83, Z:2.14 [[-6.47435564e-01 7.62011526e-01 -1.28695257e-02 3.01632495e+02] [-7.61855311e-01 -6.47563434e-01 -1.54300137e-02 2.75826483e+02] [-2.00916825e-02 -1.85223160e-04 9.99798125e-01 2.13843449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.510714057 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:301.63, Y:275.83, Z:2.14 [[-6.47845958e-01 7.61662747e-01 -1.28637054e-02 3.01626896e+02] [-7.61506366e-01 -6.47973625e-01 -1.54348644e-02 2.75830210e+02] [-2.00915030e-02 -2.03620952e-04 9.99798125e-01 2.13683291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.540714057 meters Centerline goodness : 0.997076 Centerline is valid? [True, True] Translation: X:301.63, Y:275.83, Z:2.14 [[-6.47107776e-01 7.62290104e-01 -1.28578709e-02 3.01626144e+02] [-7.62133751e-01 -6.47235476e-01 -1.54397232e-02 2.75834651e+02] [-2.00916184e-02 -1.91747589e-04 9.99798125e-01 2.13724335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5707140569999 meters Centerline goodness : 0.997266 Centerline is valid? [True, True] Translation: X:301.62, Y:275.84, Z:2.14 [[-6.46138506e-01 7.63111943e-01 -1.28527664e-02 3.01623243e+02] [-7.62955668e-01 -6.46266301e-01 -1.54439713e-02 2.75837516e+02] [-2.00917888e-02 -1.72853512e-04 9.99798125e-01 2.13660820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6007140569999 meters Centerline goodness : 0.997266 Centerline is valid? [True, True] Translation: X:301.62, Y:275.84, Z:2.14 [[-6.45849626e-01 7.63356547e-01 -1.28469227e-02 3.01624800e+02] [-7.63200223e-01 -6.45977362e-01 -1.54488308e-02 2.75839508e+02] [-2.00917874e-02 -1.72847309e-04 9.99798125e-01 2.13665875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.630714057 meters Centerline goodness : 0.997728 Centerline is valid? [True, True] Translation: X:301.62, Y:275.85, Z:2.14 [[-6.44208898e-01 7.64741788e-01 -1.28410724e-02 3.01624120e+02] [-7.64585642e-01 -6.44336852e-01 -1.54536921e-02 2.75851885e+02] [-2.00920603e-02 -1.37306379e-04 9.99798125e-01 2.13530091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.660714057 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:301.62, Y:275.85, Z:2.13 [[-6.43150115e-01 7.65632527e-01 -1.28359710e-02 3.01618800e+02] [-7.65476474e-01 -6.43278182e-01 -1.54579282e-02 2.75852368e+02] [-2.00921927e-02 -1.16134485e-04 9.99798125e-01 2.13464666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6907140569999 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:301.55, Y:275.78, Z:2.13 [[-6.42134252e-01 7.66484815e-01 -1.28308727e-02 3.01550566e+02] [-7.66328847e-01 -6.42262423e-01 -1.54621588e-02 2.75776699e+02] [-2.00922974e-02 -9.61138669e-05 9.99798125e-01 2.13281787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7207140569999 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:301.61, Y:275.85, Z:2.13 [[-6.42009591e-01 7.66590139e-01 -1.27767155e-02 3.01608594e+02] [-7.66433297e-01 -6.42136693e-01 -1.55070685e-02 2.75853117e+02] [-2.00919637e-02 -1.63186541e-04 9.99798123e-01 2.13487266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.750714057 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:301.60, Y:275.86, Z:2.14 [[-6.41251847e-01 7.67223196e-01 -1.28310424e-02 3.01603709e+02] [-7.67067380e-01 -6.41380201e-01 -1.54619857e-02 2.75858325e+02] [-2.00923706e-02 -7.27528508e-05 9.99798125e-01 2.13661219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.780714057 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:301.61, Y:275.87, Z:2.14 [[-6.40866306e-01 7.67545369e-01 -1.28251678e-02 3.01607722e+02] [-7.67389519e-01 -6.40994620e-01 -1.54668570e-02 2.75868540e+02] [-2.00923780e-02 -7.02881734e-05 9.99798125e-01 2.13723894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8107140569999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:301.59, Y:275.86, Z:2.14 [[-6.40428991e-01 7.67910320e-01 -1.28237076e-02 3.01592367e+02] [-7.67754520e-01 -6.40557364e-01 -1.54680675e-02 2.75856130e+02] [-2.00924090e-02 -6.07393873e-05 9.99798125e-01 2.13777212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8407140569999 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:301.59, Y:275.86, Z:2.14 [[-6.40005981e-01 7.68263007e-01 -1.28178181e-02 3.01594066e+02] [-7.68107180e-01 -6.40134321e-01 -1.54729464e-02 2.75863587e+02] [-2.00924176e-02 -5.73201741e-05 9.99798125e-01 2.13815758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.870714057 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:301.54, Y:275.81, Z:2.14 [[-6.38729037e-01 7.69325014e-01 -1.28156016e-02 3.01537878e+02] [-7.69169363e-01 -6.38857591e-01 -1.54747821e-02 2.75807373e+02] [-2.00924813e-02 -2.68245591e-05 9.99798125e-01 2.13718052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.900714057 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:301.59, Y:275.87, Z:2.14 [[-6.38385223e-01 7.69610501e-01 -1.28056170e-02 3.01586728e+02] [-7.69454742e-01 -6.38513646e-01 -1.54830447e-02 2.75871599e+02] [-2.00924750e-02 -3.08042281e-05 9.99798125e-01 2.13729692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9307140569999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:301.59, Y:275.88, Z:2.14 [[-6.37781557e-01 7.70110672e-01 -1.28155939e-02 3.01585219e+02] [-7.69955179e-01 -6.37910302e-01 -1.54747822e-02 2.75875462e+02] [-2.00924943e-02 -2.09775891e-06 9.99798125e-01 2.13804669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9607140569999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:301.58, Y:275.88, Z:2.14 [[-6.37030714e-01 7.70732276e-01 -1.27917111e-02 3.01581126e+02] [-7.70576511e-01 -6.37159131e-01 -1.54945712e-02 2.75875019e+02] [-2.00925217e-02 -1.35256389e-05 9.99798125e-01 2.13732420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.990714057 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:301.57, Y:275.87, Z:2.14 [[-6.36565648e-01 7.71115948e-01 -1.28207344e-02 3.01569623e+02] [-7.70960744e-01 -6.36694742e-01 -1.54705191e-02 2.75865872e+02] [-2.00924582e-02 3.62818649e-05 9.99798126e-01 2.13708966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.020714057 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:301.57, Y:275.88, Z:2.14 [[-6.34928619e-01 7.72464455e-01 -1.28185126e-02 3.01573045e+02] [-7.72309489e-01 -6.35057997e-01 -1.54723598e-02 2.75880303e+02] [-2.00923469e-02 7.60148512e-05 9.99798126e-01 2.13644163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0507140569999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:301.56, Y:275.87, Z:2.14 [[-6.34110781e-01 7.73135856e-01 -1.28244505e-02 3.01562023e+02] [-7.72981126e-01 -6.34240441e-01 -1.54674366e-02 2.75871638e+02] [-2.00922149e-02 1.04989893e-04 9.99798126e-01 2.13578780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0807140569999 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:301.58, Y:275.90, Z:2.14 [[-6.33491545e-01 7.73643452e-01 -1.28168660e-02 3.01578182e+02] [-7.73488698e-01 -6.33621178e-01 -1.54737270e-02 2.75895352e+02] [-2.00921853e-02 1.11225782e-04 9.99798125e-01 2.13633980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1107140569999 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:301.57, Y:275.90, Z:2.14 [[-6.32360284e-01 7.74568149e-01 -1.28317608e-02 3.01572763e+02] [-7.74413835e-01 -6.32490441e-01 -1.54613654e-02 2.75897050e+02] [-2.00918472e-02 1.59939705e-04 9.99798126e-01 2.13528216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.140714057 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:301.57, Y:275.89, Z:2.14 [[-6.32449101e-01 7.74495533e-01 -1.28375792e-02 3.01566155e+02] [-7.74341303e-01 -6.32579356e-01 -1.54565329e-02 2.75893709e+02] [-2.00918033e-02 1.65197450e-04 9.99798126e-01 2.13581898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1707140569999 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:301.57, Y:275.90, Z:2.14 [[-6.33017364e-01 7.74031049e-01 -1.28434043e-02 3.01566600e+02] [-7.73876821e-01 -6.33147622e-01 -1.54516911e-02 2.75899085e+02] [-2.00918595e-02 1.58024098e-04 9.99798126e-01 2.13570941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2007140569999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:301.55, Y:275.88, Z:2.13 [[-6.34254032e-01 7.73017931e-01 -1.28492209e-02 3.01550496e+02] [-7.72863593e-01 -6.34384159e-01 -1.54468526e-02 2.75884553e+02] [-2.00920362e-02 1.33466457e-04 9.99798126e-01 2.13373574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2307140569999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:301.55, Y:275.90, Z:2.13 [[-6.36970305e-01 7.70781148e-01 -1.28550633e-02 3.01553373e+02] [-7.70626452e-01 -6.37100005e-01 -1.54419889e-02 2.75895948e+02] [-2.00923549e-02 7.03634421e-05 9.99798126e-01 2.13390474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.260714057 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:301.57, Y:275.91, Z:2.13 [[-6.31688022e-01 7.75116017e-01 -1.28609145e-02 3.01565019e+02] [-7.74962310e-01 -6.31818893e-01 -1.54371142e-02 2.75905763e+02] [-2.00913233e-02 2.15283870e-04 9.99798126e-01 2.13227810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.290714057 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:301.54, Y:275.89, Z:2.13 [[-6.40422907e-01 7.67918321e-01 -1.26472697e-02 3.01541715e+02] [-7.67759599e-01 -6.40547710e-01 -1.56150307e-02 2.75890165e+02] [-2.00922478e-02 -2.90160678e-04 9.99798088e-01 2.13300207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3207140569999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:301.54, Y:275.89, Z:2.13 [[-6.42216580e-01 7.66415208e-01 -1.28682792e-02 3.01538094e+02] [-7.66259856e-01 -6.42345488e-01 -1.54307234e-02 2.75890417e+02] [-2.00922222e-02 -4.94206223e-05 9.99798130e-01 2.13315439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3507140569999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:301.52, Y:275.88, Z:2.13 [[-6.44955787e-01 7.64111438e-01 -1.28741387e-02 3.01521266e+02] [-7.63955723e-01 -6.45084256e-01 -1.54258332e-02 2.75881567e+02] [-2.00919597e-02 -1.13708471e-04 9.99798130e-01 2.13434134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.380714057 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:301.53, Y:275.89, Z:2.13 [[-6.45907980e-01 7.63306614e-01 -1.28800283e-02 3.01527198e+02] [-7.63150836e-01 -6.46036374e-01 -1.54209140e-02 2.75893349e+02] [-2.00918524e-02 -1.31087054e-04 9.99798130e-01 2.13346886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.410714057 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:301.52, Y:275.89, Z:2.13 [[-6.46726797e-01 7.62612879e-01 -1.28859160e-02 3.01521877e+02] [-7.62457062e-01 -6.46855143e-01 -1.54159926e-02 2.75891598e+02] [-2.00917555e-02 -1.44977827e-04 9.99798130e-01 2.13386396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4407140569999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:301.51, Y:275.89, Z:2.13 [[-6.48464456e-01 7.61135764e-01 -1.28917747e-02 3.01508620e+02] [-7.60979752e-01 -6.48592565e-01 -1.54110917e-02 2.75887049e+02] [-2.00914422e-02 -1.83165696e-04 9.99798130e-01 2.13215931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4707140569999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:301.53, Y:275.91, Z:2.14 [[-6.44388252e-01 7.64589714e-01 -1.28976547e-02 3.01526236e+02] [-7.64434487e-01 -6.44517311e-01 -1.54061690e-02 2.75907811e+02] [-2.00921601e-02 -6.81422560e-05 9.99798130e-01 2.13783584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.500714057 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:301.50, Y:275.89, Z:2.13 [[-6.50159941e-01 7.59690656e-01 -1.27341327e-02 3.01503619e+02] [-7.59531760e-01 -6.50284491e-01 -1.55430543e-02 2.75892807e+02] [-2.00887221e-02 -4.33493048e-04 9.99798107e-01 2.13190072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.530714057 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:301.52, Y:275.91, Z:2.14 [[-6.46077513e-01 7.63162728e-01 -1.29033823e-02 3.01521191e+02] [-7.63007314e-01 -6.46206344e-01 -1.54012552e-02 2.75913651e+02] [-2.00919115e-02 -1.05029569e-04 9.99798132e-01 2.13896740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5607140569999 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:301.51, Y:275.92, Z:2.14 [[-6.48318590e-01 7.61262568e-01 -1.27399861e-02 3.01511707e+02] [-7.61104071e-01 -6.48443644e-01 -1.55381148e-02 2.75917840e+02] [-2.00897482e-02 -3.77193387e-04 9.99798110e-01 2.14206126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5907140569999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:301.49, Y:275.90, Z:2.13 [[-6.51101258e-01 7.58882887e-01 -1.28029883e-02 3.01489493e+02] [-7.58724968e-01 -6.51227018e-01 -1.54853109e-02 2.75901872e+02] [-2.00891893e-02 -3.68558493e-04 9.99798124e-01 2.13155646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.620714057 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:301.48, Y:275.90, Z:2.13 [[-6.50962352e-01 7.59000153e-01 -1.29144832e-02 3.01483980e+02] [-7.58844104e-01 -6.51090408e-01 -1.53917612e-02 2.75901863e+02] [-2.00908452e-02 -2.19377663e-04 9.99798135e-01 2.13137412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.650714057 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:301.48, Y:275.90, Z:2.13 [[-6.51027456e-01 7.58944211e-01 -1.29203510e-02 3.01480318e+02] [-7.58788249e-01 -6.51155618e-01 -1.53868340e-02 2.75903378e+02] [-2.00909077e-02 -2.13440842e-04 9.99798135e-01 2.13049685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6807140569999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:301.47, Y:275.91, Z:2.13 [[-6.50624601e-01 7.59289497e-01 -1.29262170e-02 3.01474153e+02] [-7.59133701e-01 -6.50752965e-01 -1.53819045e-02 2.75908125e+02] [-2.00910925e-02 -1.95118510e-04 9.99798135e-01 2.12823744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7107140569999 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:301.51, Y:275.94, Z:2.14 [[-6.40019739e-01 7.68249631e-01 -1.29320750e-02 3.01507555e+02] [-7.68095731e-01 -6.40150370e-01 -1.53769779e-02 2.75943461e+02] [-2.00918302e-02 9.15022324e-05 9.99798135e-01 2.13633828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.740714057 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:301.47, Y:275.92, Z:2.13 [[-6.48374464e-01 7.61217193e-01 -1.26071198e-02 3.01465562e+02] [-7.61056502e-01 -6.48496785e-01 -1.56499520e-02 2.75918354e+02] [-2.00886892e-02 -5.52298725e-04 9.99798049e-01 2.12786747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.770714057 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:301.51, Y:275.96, Z:2.13 [[-6.29963154e-01 7.76517292e-01 -1.29352277e-02 3.01511593e+02] [-7.76365169e-01 -6.30095840e-01 -1.53738922e-02 2.75961452e+02] [-2.00885263e-02 3.57474602e-04 9.99798141e-01 2.12848921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8007140569999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:301.46, Y:275.92, Z:2.13 [[-6.45923805e-01 7.63301187e-01 -1.23990693e-02 3.01456076e+02] [-7.63137523e-01 -6.46042353e-01 -1.58239794e-02 2.75920632e+02] [-2.00887862e-02 -7.58889952e-04 9.99797912e-01 2.12734415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8307140569999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:301.46, Y:275.93, Z:2.13 [[-6.44812387e-01 7.64231365e-01 -1.29385967e-02 3.01456234e+02] [-7.64076795e-01 -6.44942184e-01 -1.53698013e-02 2.75926079e+02] [-2.00907310e-02 -2.45567509e-05 9.99798161e-01 2.12675515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8607140569999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:301.45, Y:275.93, Z:2.13 [[-6.42603795e-01 7.66089293e-01 -1.29444244e-02 3.01450829e+02] [-7.65935197e-01 -6.42734155e-01 -1.53648917e-02 2.75930130e+02] [-2.00907027e-02 4.10525229e-05 9.99798161e-01 2.12595029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.890714057 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:301.45, Y:275.93, Z:2.13 [[-6.42355272e-01 7.66297589e-01 -1.29502320e-02 3.01446605e+02] [-7.66143635e-01 -6.42485799e-01 -1.53599952e-02 2.75930197e+02] [-2.00906674e-02 5.51638733e-05 9.99798161e-01 2.12547542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9207140569999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:301.44, Y:275.93, Z:2.12 [[-6.42365288e-01 7.66289096e-01 -1.29560330e-02 3.01443976e+02] [-7.66135238e-01 -6.42495928e-01 -1.53551005e-02 2.75932080e+02] [-2.00906446e-02 6.24898310e-05 9.99798161e-01 2.12402450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9507140569999 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:301.44, Y:275.93, Z:2.12 [[-6.42679473e-01 7.66025512e-01 -1.29618283e-02 3.01440744e+02] [-7.65871700e-01 -6.42810167e-01 -1.53502069e-02 2.75932473e+02] [-2.00906451e-02 6.18345947e-05 9.99798161e-01 2.12410224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9807140569999 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:301.44, Y:275.93, Z:2.12 [[-6.43107354e-01 7.65666227e-01 -1.29676152e-02 3.01435182e+02] [-7.65512440e-01 -6.43238078e-01 -1.53453167e-02 2.75929672e+02] [-2.00906546e-02 5.81847518e-05 9.99798161e-01 2.12380015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.010714057 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:301.43, Y:275.93, Z:2.12 [[-6.44172952e-01 7.64769834e-01 -1.29734069e-02 3.01431434e+02] [-7.64615964e-01 -6.44303577e-01 -1.53404187e-02 2.75931390e+02] [-2.00907019e-02 3.77912123e-05 9.99798161e-01 2.12423905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.040714057 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:301.48, Y:275.98, Z:2.13 [[-6.29707973e-01 7.76723509e-01 -1.29792005e-02 3.01481367e+02] [-7.76572218e-01 -6.29841577e-01 -1.53355153e-02 2.75976890e+02] [-2.00862953e-02 4.22390281e-04 9.99798161e-01 2.12988814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0707140569999 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:301.42, Y:275.93, Z:2.12 [[-6.45287268e-01 7.63836987e-01 -1.25459030e-02 3.01422614e+02] [-7.63675783e-01 -6.45408982e-01 -1.57017335e-02 2.75931050e+02] [-2.00908033e-02 -5.51126371e-04 9.99798008e-01 2.12466115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1007140569999 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:301.48, Y:275.98, Z:2.13 [[-6.29321084e-01 7.77036894e-01 -1.29860463e-02 3.01475725e+02] [-7.76885807e-01 -6.29454899e-01 -1.53288648e-02 2.75978943e+02] [-2.00852239e-02 4.41897249e-04 9.99798174e-01 2.12835299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.130714057 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:301.42, Y:275.93, Z:2.12 [[-6.45326495e-01 7.63804057e-01 -1.25330107e-02 3.01418601e+02] [-7.63642649e-01 -6.45447936e-01 -1.57119993e-02 2.75932078e+02] [-2.00902947e-02 -5.68627988e-04 9.99798008e-01 2.12437862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.160714057 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:301.41, Y:275.93, Z:2.12 [[-6.44821618e-01 7.64222670e-01 -1.29920053e-02 3.01414030e+02] [-7.64069043e-01 -6.44952486e-01 -1.53228293e-02 2.75927896e+02] [-2.00892796e-02 4.62974634e-05 9.99798189e-01 2.12375757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1907140569999 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:301.42, Y:275.94, Z:2.12 [[-6.43099120e-01 7.65672632e-01 -1.29978112e-02 3.01417718e+02] [-7.65519400e-01 -6.43230449e-01 -1.53179027e-02 2.75935911e+02] [-2.00890868e-02 9.91469526e-05 9.99798189e-01 2.12232082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2207140569999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:301.41, Y:275.93, Z:2.12 [[-6.42366930e-01 7.66286920e-01 -1.30032442e-02 3.01414983e+02] [-7.66133906e-01 -6.42498514e-01 -1.53132893e-02 2.75934810e+02] [-2.00889383e-02 1.25475607e-04 9.99798189e-01 2.12275919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.250714057 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:301.41, Y:275.93, Z:2.12 [[-6.41257192e-01 7.67215732e-01 -1.30090133e-02 3.01411695e+02] [-7.67063008e-01 -6.41389113e-01 -1.53083867e-02 2.75933102e+02] [-2.00886746e-02 1.62119826e-04 9.99798189e-01 2.12203091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.280714057 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:301.41, Y:275.94, Z:2.12 [[-6.40300094e-01 7.68014587e-01 -1.30147825e-02 3.01411313e+02] [-7.67862127e-01 -6.40432320e-01 -1.53034803e-02 2.75935233e+02] [-2.00883835e-02 1.94738723e-04 9.99798189e-01 2.12247887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3107140569999 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:301.41, Y:275.94, Z:2.12 [[-6.37537974e-01 7.70308897e-01 -1.30205433e-02 3.01411834e+02] [-7.70157014e-01 -6.37670862e-01 -1.52985773e-02 2.75940282e+02] [-2.00874513e-02 2.74438761e-04 9.99798189e-01 2.12328707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3407140569999 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:301.41, Y:275.94, Z:2.12 [[-6.36047626e-01 7.71539845e-01 -1.30262816e-02 3.01410733e+02] [-7.71388319e-01 -6.36180921e-01 -1.52936898e-02 2.75939829e+02] [-2.00867629e-02 3.20806424e-04 9.99798189e-01 2.12399509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.370714057 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:301.41, Y:275.94, Z:2.12 [[-6.34442011e-01 7.72860597e-01 -1.30320022e-02 3.01409728e+02] [-7.72709448e-01 -6.34575733e-01 -1.52888136e-02 2.75938249e+02] [-2.00859140e-02 3.70085633e-04 9.99798189e-01 2.12420520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.400714057 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:301.41, Y:275.94, Z:2.12 [[-6.30662584e-01 7.75947629e-01 -1.30377164e-02 3.01412933e+02] [-7.75797236e-01 -6.30797155e-01 -1.52839392e-02 2.75939420e+02] [-2.00836908e-02 4.75615787e-04 9.99798189e-01 2.12489940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4307140569999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:301.41, Y:275.94, Z:2.13 [[-6.29130620e-01 7.77190152e-01 -1.30434168e-02 3.01411832e+02] [-7.77040125e-01 -6.29265599e-01 -1.52790729e-02 2.75937408e+02] [-2.00825185e-02 5.22725565e-04 9.99798189e-01 2.12516805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4607140569999 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:301.42, Y:275.94, Z:2.13 [[-6.25055356e-01 7.80471347e-01 -1.30491033e-02 3.01415771e+02] [-7.80322129e-01 -6.25191230e-01 -1.52742148e-02 2.75938230e+02] [-2.00792719e-02 6.35274297e-04 9.99798189e-01 2.12652090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.490714057 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:301.41, Y:275.94, Z:2.12 [[-6.25599284e-01 7.80035705e-01 -1.30320780e-02 3.01414928e+02] [-7.79886090e-01 -6.25734720e-01 -1.52887645e-02 2.75940291e+02] [-2.00804059e-02 5.98896213e-04 9.99798189e-01 2.12469247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.520714057 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:301.41, Y:275.94, Z:2.12 [[-6.25888059e-01 7.79803625e-01 -1.30554249e-02 3.01413405e+02] [-7.79654375e-01 -6.26023897e-01 -1.52688021e-02 2.75938376e+02] [-2.00796751e-02 6.22158220e-04 9.99798189e-01 2.12463732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5507140569999 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:301.41, Y:275.94, Z:2.12 [[-6.22119358e-01 7.82813460e-01 -1.30610774e-02 3.01414437e+02] [-7.82664968e-01 -6.22256024e-01 -1.52639653e-02 2.75936775e+02] [-2.00761716e-02 7.26439495e-04 9.99798189e-01 2.12392916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5807140569999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:301.42, Y:275.94, Z:2.12 [[-6.20989718e-01 7.83709787e-01 -1.30667246e-02 3.01416851e+02] [-7.83561594e-01 -6.21126708e-01 -1.52591295e-02 2.75936411e+02] [-2.00748207e-02 7.62821021e-04 9.99798189e-01 2.12435482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6107140569999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:301.41, Y:275.93, Z:2.12 [[-6.19636568e-01 7.84779993e-01 -1.30723573e-02 3.01414684e+02] [-7.84632137e-01 -6.19773923e-01 -1.52543024e-02 2.75931031e+02] [-2.00731775e-02 8.04868040e-04 9.99798190e-01 2.12416049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.640714057 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:301.42, Y:275.93, Z:2.12 [[-6.18714067e-01 7.85507396e-01 -1.30779883e-02 3.01416497e+02] [-7.85359804e-01 -6.18851704e-01 -1.52494733e-02 2.75930101e+02] [-2.00719094e-02 8.35862633e-04 9.99798190e-01 2.12481385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6707140569999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:301.42, Y:275.93, Z:2.13 [[-6.17016950e-01 7.86841091e-01 -1.30836174e-02 3.01421756e+02] [-7.86693898e-01 -6.17155014e-01 -1.52446421e-02 2.75929998e+02] [-2.00697310e-02 8.86599408e-04 9.99798190e-01 2.12508136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7007140569999 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:301.42, Y:275.93, Z:2.13 [[-6.16470601e-01 7.87269122e-01 -1.30892277e-02 3.01422555e+02] [-7.87122126e-01 -6.16608876e-01 -1.52398236e-02 2.75926361e+02] [-2.00687765e-02 9.07917518e-04 9.99798190e-01 2.12587302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7307140569999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:301.43, Y:275.92, Z:2.13 [[-6.15945071e-01 7.87680262e-01 -1.30948237e-02 3.01425368e+02] [-7.87533461e-01 -6.16083551e-01 -1.52350137e-02 2.75919697e+02] [-2.00678251e-02 9.28680242e-04 9.99798190e-01 2.12835511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.760714057 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:301.42, Y:275.91, Z:2.13 [[-6.16249630e-01 7.87441917e-01 -1.31004179e-02 3.01422566e+02] [-7.87295164e-01 -6.16388162e-01 -1.52302017e-02 2.75911109e+02] [-2.00678418e-02 9.28289500e-04 9.99798190e-01 2.12687446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.790714057 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:301.42, Y:275.90, Z:2.13 [[-6.16959131e-01 7.86886054e-01 -1.31060247e-02 3.01418238e+02] [-7.86739279e-01 -6.17097639e-01 -1.52253755e-02 2.75900660e+02] [-2.00683325e-02 9.17589996e-04 9.99798190e-01 2.12767790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8207140569999 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:301.42, Y:275.90, Z:2.13 [[-6.18279969e-01 7.85848186e-01 -1.31342431e-02 3.01424184e+02] [-7.85701691e-01 -6.18418774e-01 -1.52010742e-02 2.75901562e+02] [-2.00681991e-02 9.21077372e-04 9.99798189e-01 2.12826662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8507140569999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:301.43, Y:275.89, Z:2.13 [[-6.21418506e-01 7.83369063e-01 -1.31130267e-02 3.01426582e+02] [-7.83221629e-01 -6.21556313e-01 -1.52193542e-02 2.75890562e+02] [-2.00728558e-02 8.12817794e-04 9.99798190e-01 2.12929863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.880714057 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:301.43, Y:275.88, Z:2.13 [[-6.21648874e-01 7.83186171e-01 -1.31186574e-02 3.01427726e+02] [-7.83038799e-01 -6.21786747e-01 -1.52144992e-02 2.75882724e+02] [-2.00727927e-02 8.14341383e-04 9.99798190e-01 2.12979347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.910714057 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:301.43, Y:275.88, Z:2.13 [[-6.25486709e-01 7.80124941e-01 -1.30940479e-02 3.01428984e+02] [-7.79976450e-01 -6.25623377e-01 -1.52357278e-02 2.75880533e+02] [-2.00777137e-02 6.83303718e-04 9.99798189e-01 2.13025668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9407140569999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:301.43, Y:275.88, Z:2.13 [[-6.27336211e-01 7.78637920e-01 -1.31250914e-02 3.01430114e+02] [-7.78489664e-01 -6.27473132e-01 -1.52089377e-02 2.75875998e+02] [-2.00778978e-02 6.76630633e-04 9.99798190e-01 2.13084731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9707140569999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:301.43, Y:275.86, Z:2.13 [[-6.30754905e-01 7.75871016e-01 -1.31307381e-02 3.01426313e+02] [-7.75722261e-01 -6.30891283e-01 -1.52040610e-02 2.75860361e+02] [-2.00804585e-02 5.95769779e-04 9.99798190e-01 2.13059510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.000714057 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:301.43, Y:275.86, Z:2.13 [[-6.32542864e-01 7.74413946e-01 -1.31364068e-02 3.01431690e+02] [-7.74264978e-01 -6.32679010e-01 -1.51991617e-02 2.75861064e+02] [-2.00815716e-02 5.56938427e-04 9.99798190e-01 2.12988932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.030714057 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:301.44, Y:275.86, Z:2.13 [[-6.33716416e-01 7.73453806e-01 -1.31420856e-02 3.01435573e+02] [-7.73304733e-01 -6.33852447e-01 -1.51942499e-02 2.75860494e+02] [-2.00821935e-02 5.33991402e-04 9.99798190e-01 2.12991970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0607140569999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:301.44, Y:275.85, Z:2.13 [[-6.34751585e-01 7.72604403e-01 -1.31477405e-02 3.01435918e+02] [-7.72455249e-01 -6.34887527e-01 -1.51893550e-02 2.75851338e+02] [-2.00826990e-02 5.14573998e-04 9.99798190e-01 2.13062022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0907140569999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:301.44, Y:275.85, Z:2.13 [[-6.34752989e-01 7.72603153e-01 -1.31533918e-02 3.01438792e+02] [-7.72454100e-01 -6.34889042e-01 -1.51844597e-02 2.75850944e+02] [-2.00825057e-02 5.22010280e-04 9.99798190e-01 2.13123755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.120714057 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:301.44, Y:275.85, Z:2.13 [[-6.34318914e-01 7.72959478e-01 -1.31590413e-02 3.01436624e+02] [-7.72810603e-01 -6.34455162e-01 -1.51795622e-02 2.75845035e+02] [-2.00820081e-02 5.40763217e-04 9.99798190e-01 2.13174483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.150714057 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:301.43, Y:275.84, Z:2.13 [[-6.33532945e-01 7.73603709e-01 -1.31646889e-02 3.01432684e+02] [-7.73455074e-01 -6.33669455e-01 -1.51746626e-02 2.75837352e+02] [-2.00812365e-02 5.68646731e-04 9.99798190e-01 2.13207421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1807140569999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:301.44, Y:275.84, Z:2.13 [[-6.31399314e-01 7.75346018e-01 -1.31703530e-02 3.01437363e+02] [-7.75197862e-01 -6.31536343e-01 -1.51697451e-02 2.75835936e+02] [-2.00793580e-02 6.31462868e-04 9.99798190e-01 2.13275020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2107140569999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:301.44, Y:275.83, Z:2.13 [[-6.30077375e-01 7.76420565e-01 -1.31760171e-02 3.01436058e+02] [-7.76272746e-01 -6.30214767e-01 -1.51648238e-02 2.75830605e+02] [-2.00780016e-02 6.73170609e-04 9.99798190e-01 2.13277493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.240714057 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:301.44, Y:275.84, Z:2.13 [[-6.28480806e-01 7.77713392e-01 -1.31816748e-02 3.01444158e+02] [-7.77565957e-01 -6.28618612e-01 -1.51599043e-02 2.75836461e+02] [-2.00763067e-02 7.21912686e-04 9.99798190e-01 2.13294610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.270714057 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:301.45, Y:275.84, Z:2.13 [[-6.24004349e-01 7.81309585e-01 -1.31873106e-02 3.01453591e+02] [-7.81163047e-01 -6.24143108e-01 -1.51550003e-02 2.75840639e+02] [-2.00715160e-02 8.44653663e-04 9.99798190e-01 2.13251999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3007140569999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:301.46, Y:275.84, Z:2.13 [[-6.21440512e-01 7.83350265e-01 -1.31928977e-02 3.01457203e+02] [-7.83204286e-01 -6.21579858e-01 -1.51501350e-02 2.75840897e+02] [-2.00683017e-02 9.17826336e-04 9.99798190e-01 2.13192927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3307140569999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:301.46, Y:275.84, Z:2.13 [[-6.18678689e-01 7.85533246e-01 -1.31984510e-02 3.01457802e+02] [-7.85387861e-01 -6.18818655e-01 -1.51452955e-02 2.75838035e+02] [-2.00645809e-02 9.95831603e-04 9.99798190e-01 2.13158878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3607140569999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:301.46, Y:275.83, Z:2.13 [[-6.12403191e-01 7.90435314e-01 -1.32039911e-02 3.01461528e+02] [-7.90291152e-01 -6.12544416e-01 -1.51404640e-02 2.75834955e+02] [-2.00555884e-02 1.16292882e-03 9.99798190e-01 2.13173385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.390714057 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:301.47, Y:275.84, Z:2.13 [[-6.09457427e-01 7.92708744e-01 -1.32095215e-02 3.01469416e+02] [-7.92565212e-01 -6.09599292e-01 -1.51356374e-02 2.75840411e+02] [-2.00506671e-02 1.24488057e-03 9.99798190e-01 2.13235421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4207140569999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:301.47, Y:275.84, Z:2.13 [[-6.06382116e-01 7.95063578e-01 -1.32150239e-02 3.01469182e+02] [-7.94920700e-01 -6.06524640e-01 -1.51308317e-02 2.75836206e+02] [-2.00452108e-02 1.32983036e-03 9.99798190e-01 2.13300973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4507140569999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:301.45, Y:275.81, Z:2.13 [[-6.01097564e-01 7.99066291e-01 -1.32205031e-02 3.01451667e+02] [-7.98924465e-01 -6.01241135e-01 -1.51260428e-02 2.75808754e+02] [-2.00354212e-02 1.46995586e-03 9.99798190e-01 2.13122217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4807140569999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:301.45, Y:275.80, Z:2.13 [[-5.98575153e-01 8.00957463e-01 -1.32260405e-02 3.01453298e+02] [-8.00816196e-01 -5.98719274e-01 -1.51211994e-02 2.75804913e+02] [-2.00301228e-02 1.54045317e-03 9.99798190e-01 2.13183443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.510714057 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:301.38, Y:275.72, Z:2.13 [[-5.96405598e-01 8.02574163e-01 -1.32316321e-02 3.01382341e+02] [-8.02433394e-01 -5.96550204e-01 -1.51163049e-02 2.75718728e+02] [-2.00252886e-02 1.60205457e-03 9.99798190e-01 2.13093941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.540714057 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:301.47, Y:275.82, Z:2.13 [[-5.95408815e-01 8.03314024e-01 -1.32258002e-02 3.01472289e+02] [-8.03173323e-01 -5.95553488e-01 -1.51214057e-02 2.75815382e+02] [-2.00239087e-02 1.61919165e-03 9.99798190e-01 2.13415356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5707140569999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:301.49, Y:275.83, Z:2.14 [[-5.94598823e-01 8.03913655e-01 -1.32315821e-02 3.01493789e+02] [-8.03773210e-01 -5.94743745e-01 -1.51163447e-02 2.75827522e+02] [-2.00216366e-02 1.64703045e-03 9.99798190e-01 2.13619320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6007140569999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:301.39, Y:275.70, Z:2.13 [[-5.94529383e-01 8.03964921e-01 -1.32370414e-02 3.01389835e+02] [-8.03824593e-01 -5.94674419e-01 -1.51115627e-02 2.75702481e+02] [-2.00208962e-02 1.65599137e-03 9.99798190e-01 2.13416902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.630714057 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:301.49, Y:275.81, Z:2.14 [[-5.95207482e-01 8.03463120e-01 -1.32312979e-02 3.01493358e+02] [-8.03322561e-01 -5.95352293e-01 -1.51165898e-02 2.75813731e+02] [-2.00229060e-02 1.63149273e-03 9.99798190e-01 2.13636215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.660714057 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:301.41, Y:275.70, Z:2.14 [[-5.96492555e-01 8.02509447e-01 -1.32370550e-02 3.01405380e+02] [-8.02368766e-01 -5.96637248e-01 -1.51115468e-02 2.75699297e+02] [-2.00248792e-02 1.60707431e-03 9.99798190e-01 2.13524184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6907140569999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:301.41, Y:275.69, Z:2.14 [[-5.98123152e-01 8.01294969e-01 -1.32313077e-02 3.01405043e+02] [-8.01153884e-01 -5.98267451e-01 -1.51165774e-02 2.75692096e+02] [-2.00286981e-02 1.55873868e-03 9.99798190e-01 2.13536674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7207140569999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:301.41, Y:275.69, Z:2.14 [[-5.99463713e-01 8.00292464e-01 -1.32373779e-02 3.01407752e+02] [-8.00151254e-01 -5.99607889e-01 -1.51112599e-02 2.75687455e+02] [-2.00306637e-02 1.53325254e-03 9.99798190e-01 2.13614299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.750714057 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:301.41, Y:275.68, Z:2.14 [[-6.01902344e-01 7.98459880e-01 -1.32434512e-02 3.01413819e+02] [-7.98318346e-01 -6.02046202e-01 -1.51059354e-02 2.75680321e+02] [-2.00346529e-02 1.48019211e-03 9.99798191e-01 2.13779525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.780714057 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:301.42, Y:275.68, Z:2.14 [[-6.03349695e-01 7.97366664e-01 -1.32495171e-02 3.01416311e+02] [-7.97224984e-01 -6.03493410e-01 -1.51006131e-02 2.75677076e+02] [-2.00367218e-02 1.45189575e-03 9.99798191e-01 2.13804932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8107140569999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:301.42, Y:275.68, Z:2.14 [[-6.04301118e-01 7.96645749e-01 -1.32555766e-02 3.01420743e+02] [-7.96504013e-01 -6.04444778e-01 -1.50952921e-02 2.75676296e+02] [-2.00378643e-02 1.43601808e-03 9.99798191e-01 2.13876865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8407140569999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:301.41, Y:275.66, Z:2.14 [[-6.04351658e-01 7.96607308e-01 -1.32616172e-02 3.01412676e+02] [-7.96465679e-01 -6.04495422e-01 -1.50899834e-02 2.75660850e+02] [-2.00373780e-02 1.44276644e-03 9.99798191e-01 2.13831289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.870714057 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:301.43, Y:275.67, Z:2.14 [[-6.04643198e-01 7.96386071e-01 -1.32601016e-02 3.01429520e+02] [-7.96244360e-01 -6.04786881e-01 -1.50913151e-02 2.75667884e+02] [-2.00380486e-02 1.43342010e-03 9.99798191e-01 2.13845692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.900714057 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:301.44, Y:275.67, Z:2.14 [[-6.04506926e-01 7.96489413e-01 -1.32661711e-02 3.01436062e+02] [-7.96347842e-01 -6.04650748e-01 -1.50859777e-02 2.75669139e+02] [-2.00372219e-02 1.44490873e-03 9.99798191e-01 2.13733565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9307140569999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:301.44, Y:275.67, Z:2.14 [[-6.04217721e-01 7.96708864e-01 -1.32639181e-02 3.01438953e+02] [-7.96567303e-01 -6.04361553e-01 -1.50879584e-02 2.75666523e+02] [-2.00369123e-02 1.44919160e-03 9.99798191e-01 2.13734201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9607140569999 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:301.45, Y:275.66, Z:2.14 [[-6.04671783e-01 7.96364403e-01 -1.32578882e-02 3.01448927e+02] [-7.96222645e-01 -6.04815421e-01 -1.50932551e-02 2.75664832e+02] [-2.00383063e-02 1.42976531e-03 9.99798191e-01 2.13643649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.990714057 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:301.45, Y:275.66, Z:2.14 [[-6.04644110e-01 7.96385446e-01 -1.32560097e-02 3.01453465e+02] [-7.96243657e-01 -6.04787717e-01 -1.50949047e-02 2.75663524e+02] [-2.00384343e-02 1.42796836e-03 9.99798191e-01 2.13656301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.020714057 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:301.46, Y:275.66, Z:2.13 [[-6.05785447e-01 7.95517700e-01 -1.32507437e-02 3.01463178e+02] [-7.95375605e-01 -6.05928751e-01 -1.50995260e-02 2.75661061e+02] [-2.00409467e-02 1.39224516e-03 9.99798191e-01 2.13447502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0507140569999 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:301.47, Y:275.66, Z:2.13 [[-6.06495370e-01 7.94976681e-01 -1.32454844e-02 3.01467920e+02] [-7.94834359e-01 -6.06638448e-01 -1.51041381e-02 2.75659466e+02] [-2.00426576e-02 1.36737630e-03 9.99798191e-01 2.13423090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0807140569999 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:301.47, Y:275.66, Z:2.13 [[-6.07868244e-01 7.93927525e-01 -1.32394689e-02 3.01474603e+02] [-7.93784842e-01 -6.08010962e-01 -1.51094091e-02 2.75660492e+02] [-2.00455180e-02 1.32475973e-03 9.99798191e-01 2.13384064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1107140569999 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] Translation: X:301.49, Y:275.66, Z:2.13 [[-6.10947121e-01 7.91560794e-01 -1.32334554e-02 3.01485760e+02] [-7.91417445e-01 -6.11089170e-01 -1.51146741e-02 2.75660314e+02] [-2.00510047e-02 1.23892086e-03 9.99798191e-01 2.13258824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.140714057 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:301.49, Y:275.66, Z:2.13 [[-6.12079026e-01 7.90685969e-01 -1.32274564e-02 3.01487886e+02] [-7.90542304e-01 -6.12220756e-01 -1.51199222e-02 2.75657016e+02] [-2.00532337e-02 1.20227661e-03 9.99798191e-01 2.13236158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1707140569999 meters Centerline goodness : 0.996590 Centerline is valid? [True, True] Translation: X:301.49, Y:275.66, Z:2.13 [[-6.12447586e-01 7.90400625e-01 -1.32214574e-02 3.01494613e+02] [-7.90256782e-01 -6.12589135e-01 -1.51251662e-02 2.75659016e+02] [-2.00542620e-02 1.18497488e-03 9.99798191e-01 2.13255390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2007140569999 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:301.50, Y:275.66, Z:2.13 [[-6.12703811e-01 7.90202121e-01 -1.32154564e-02 3.01501399e+02] [-7.90058120e-01 -6.12845199e-01 -1.51304077e-02 2.75661094e+02] [-2.00551093e-02 1.17052012e-03 9.99798191e-01 2.13141993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2307140569999 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:301.51, Y:275.66, Z:2.13 [[-6.13827438e-01 7.89329707e-01 -1.32094687e-02 3.01510644e+02] [-7.89185394e-01 -6.13968507e-01 -1.51356334e-02 2.75660072e+02] [-2.00572029e-02 1.13405267e-03 9.99798191e-01 2.13179472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.260714057 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:301.52, Y:275.66, Z:2.13 [[-6.14230276e-01 7.89016372e-01 -1.32034933e-02 3.01517088e+02] [-7.88871876e-01 -6.14371157e-01 -1.51408442e-02 2.75661823e+02] [-2.00582194e-02 1.11589956e-03 9.99798191e-01 2.13015377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.290714057 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:301.53, Y:275.66, Z:2.13 [[-6.15393296e-01 7.88109711e-01 -1.31975291e-02 3.01525413e+02] [-7.87964896e-01 -6.15533850e-01 -1.51460411e-02 2.75661190e+02] [-2.00602680e-02 1.07841747e-03 9.99798191e-01 2.13050160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3207140569999 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:301.53, Y:275.66, Z:2.13 [[-6.15382797e-01 7.88118009e-01 -1.31915741e-02 3.01530228e+02] [-7.87973085e-01 -6.15523239e-01 -1.51512259e-02 2.75661625e+02] [-2.00606744e-02 1.07080153e-03 9.99798191e-01 2.13046880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3507140569999 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:301.54, Y:275.66, Z:2.13 [[-6.15005379e-01 7.88412661e-01 -1.31856261e-02 3.01536655e+02] [-7.88267694e-01 -6.15145776e-01 -1.51564005e-02 2.75659140e+02] [-2.00605803e-02 1.07253530e-03 9.99798191e-01 2.12867758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.380714057 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:301.54, Y:275.66, Z:2.13 [[-6.14440011e-01 7.88853452e-01 -1.31796762e-02 3.01539891e+02] [-7.88708476e-01 -6.14580399e-01 -1.51615727e-02 2.75658361e+02] [-2.00602296e-02 1.07904543e-03 9.99798191e-01 2.12821322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.410714057 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:301.54, Y:275.66, Z:2.13 [[-6.14130183e-01 7.89094780e-01 -1.31737212e-02 3.01541503e+02] [-7.88949748e-01 -6.14270514e-01 -1.51667451e-02 2.75660335e+02] [-2.00602279e-02 1.07904805e-03 9.99798191e-01 2.12826377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4407140569999 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:301.55, Y:275.66, Z:2.13 [[-6.13594664e-01 7.89511367e-01 -1.31677621e-02 3.01546726e+02] [-7.89366321e-01 -6.13734979e-01 -1.51719170e-02 2.75662071e+02] [-2.00599172e-02 1.08478062e-03 9.99798191e-01 2.12728711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4707140569999 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:301.55, Y:275.66, Z:2.13 [[-6.12570142e-01 7.90306642e-01 -1.31618061e-02 3.01551485e+02] [-7.90161668e-01 -6.12710531e-01 -1.51770822e-02 2.75661068e+02] [-2.00589261e-02 1.10292725e-03 9.99798191e-01 2.12568143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.500714057 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:301.55, Y:275.66, Z:2.12 [[-6.11947725e-01 7.90788787e-01 -1.31558521e-02 3.01552114e+02] [-7.90643813e-01 -6.12088115e-01 -1.51822415e-02 2.75658342e+02] [-2.00584870e-02 1.11085490e-03 9.99798191e-01 2.12423972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.530714057 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:301.56, Y:275.66, Z:2.12 [[-6.11155911e-01 7.91400994e-01 -1.31498869e-02 3.01558054e+02] [-7.91256050e-01 -6.11296332e-01 -1.51874064e-02 2.75661647e+02] [-2.00578062e-02 1.12305442e-03 9.99798191e-01 2.12319996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5607140569999 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:301.56, Y:275.66, Z:2.12 [[-6.10660291e-01 7.91783586e-01 -1.31439177e-02 3.01560352e+02] [-7.91638620e-01 -6.10800689e-01 -1.51925707e-02 2.75661398e+02] [-2.00575421e-02 1.12773326e-03 9.99798191e-01 2.12164086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5907140569999 meters Centerline goodness : 0.992226 Centerline is valid? [True, True] Translation: X:301.56, Y:275.66, Z:2.12 [[-6.10055540e-01 7.92249729e-01 -1.31379536e-02 3.01564037e+02] [-7.92104760e-01 -6.10195935e-01 -1.51977265e-02 2.75660786e+02] [-2.00571206e-02 1.13517831e-03 9.99798191e-01 2.11949108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.620714057 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:301.57, Y:275.66, Z:2.12 [[-6.09508891e-01 7.92670463e-01 -1.31319823e-02 3.01569170e+02] [-7.92525480e-01 -6.09649272e-01 -1.52028843e-02 2.75664125e+02] [-2.00567808e-02 1.14113744e-03 9.99798191e-01 2.11890018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.650714057 meters Centerline goodness : 0.991785 Centerline is valid? [True, True] Translation: X:301.57, Y:275.66, Z:2.12 [[-6.08823749e-01 7.93196918e-01 -1.31260162e-02 3.01572674e+02] [-7.93051947e-01 -6.08964141e-01 -1.52080337e-02 2.75663080e+02] [-2.00562386e-02 1.15060061e-03 9.99798191e-01 2.11673771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6807140569999 meters Centerline goodness : 0.991064 Centerline is valid? [True, True] Translation: X:301.58, Y:275.66, Z:2.12 [[-6.08032398e-01 7.93803797e-01 -1.31200521e-02 3.01575231e+02] [-7.93658855e-01 -6.08172822e-01 -1.52131772e-02 2.75663841e+02] [-2.00555369e-02 1.16274092e-03 9.99798191e-01 2.11636400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7107140569999 meters Centerline goodness : 0.991064 Centerline is valid? [True, True] Translation: X:301.58, Y:275.66, Z:2.12 [[-6.07130418e-01 7.94493975e-01 -1.31140819e-02 3.01576197e+02] [-7.94349083e-01 -6.07270892e-01 -1.52183219e-02 2.75663449e+02] [-2.00546653e-02 1.17765282e-03 9.99798191e-01 2.11611590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.740714057 meters Centerline goodness : 0.991709 Centerline is valid? [True, True] Translation: X:301.58, Y:275.66, Z:2.12 [[-6.05407591e-01 7.95807656e-01 -1.31081047e-02 3.01579447e+02] [-7.95662959e-01 -6.05548266e-01 -1.52234686e-02 2.75663686e+02] [-2.00525429e-02 1.21322989e-03 9.99798191e-01 2.11771616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.770714057 meters Centerline goodness : 0.989963 Centerline is valid? [True, True] Translation: X:301.58, Y:275.66, Z:2.12 [[-6.04091575e-01 7.96807194e-01 -1.31021192e-02 3.01581603e+02] [-7.96662618e-01 -6.04232375e-01 -1.52286182e-02 2.75663900e+02] [-2.00509972e-02 1.23848863e-03 9.99798191e-01 2.11788075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8007140569999 meters Centerline goodness : 0.989715 Centerline is valid? [True, True] Translation: X:301.58, Y:275.66, Z:2.12 [[-6.01527996e-01 7.98744366e-01 -1.30961297e-02 3.01583977e+02] [-7.98600132e-01 -6.01669146e-01 -1.52337673e-02 2.75662911e+02] [-2.00474230e-02 1.29503341e-03 9.99798192e-01 2.11714160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8307140569999 meters Centerline goodness : 0.989208 Centerline is valid? [True, True] Translation: X:301.59, Y:275.66, Z:2.12 [[-6.00265053e-01 7.99694013e-01 -1.30901310e-02 3.01587427e+02] [-7.99549892e-01 -6.00406317e-01 -1.52389201e-02 2.75664927e+02] [-2.00458706e-02 1.31882165e-03 9.99798192e-01 2.11691901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8607140569999 meters Centerline goodness : 0.989159 Centerline is valid? [True, True] Translation: X:301.59, Y:275.66, Z:2.12 [[-5.99095501e-01 8.00570663e-01 -1.30841303e-02 3.01586187e+02] [-8.00426637e-01 -5.99236862e-01 -1.52440706e-02 2.75661259e+02] [-2.00444489e-02 1.34023232e-03 9.99798192e-01 2.11650217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.890714057 meters Centerline goodness : 0.988506 Centerline is valid? [True, True] Translation: X:301.60, Y:275.68, Z:2.12 [[-6.03814757e-01 7.97017379e-01 -1.30781163e-02 3.01600326e+02] [-7.96872410e-01 -6.03955151e-01 -1.52492284e-02 2.75679887e+02] [-2.00524957e-02 1.21388090e-03 9.99798192e-01 2.11712291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9207140569999 meters Centerline goodness : 0.988060 Centerline is valid? [True, True] Translation: X:301.59, Y:275.66, Z:2.12 [[-5.94735096e-01 8.03811797e-01 -1.32951738e-02 3.01592417e+02] [-8.03672504e-01 -5.94881177e-01 -1.50629370e-02 2.75660357e+02] [-2.00168151e-02 1.72650836e-03 9.99798153e-01 2.11709910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9507140569999 meters Centerline goodness : 0.988586 Centerline is valid? [True, True] Translation: X:301.60, Y:275.68, Z:2.12 [[-5.99515058e-01 8.00256722e-01 -1.30718892e-02 3.01604814e+02] [-8.00112401e-01 -5.99656112e-01 -1.52542780e-02 2.75678525e+02] [-2.00459768e-02 1.31381131e-03 9.99798196e-01 2.11783013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9807140569999 meters Centerline goodness : 0.987018 Centerline is valid? [True, True] Translation: X:301.61, Y:275.67, Z:2.12 [[-5.96297408e-01 8.02653885e-01 -1.32718145e-02 3.01606323e+02] [-8.02513871e-01 -5.96442784e-01 -1.50828356e-02 2.75673792e+02] [-2.00221746e-02 1.65695947e-03 9.99798163e-01 2.11867983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.010714057 meters Centerline goodness : 0.987102 Centerline is valid? [True, True] Translation: X:301.61, Y:275.68, Z:2.12 [[-5.95172081e-01 8.03488933e-01 -1.32562874e-02 3.01610751e+02] [-8.03348830e-01 -5.95317364e-01 -1.50961417e-02 2.75676084e+02] [-2.00212808e-02 1.66462092e-03 9.99798168e-01 2.11934953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.040714057 meters Centerline goodness : 0.985518 Centerline is valid? [True, True] Translation: X:301.62, Y:275.68, Z:2.12 [[-5.92242100e-01 8.05650695e-01 -1.32760391e-02 3.01619291e+02] [-8.05511495e-01 -5.92388258e-01 -1.50792215e-02 2.75676828e+02] [-2.00131550e-02 1.76345232e-03 9.99798162e-01 2.12192568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0707140569999 meters Centerline goodness : 0.986322 Centerline is valid? [True, True] Translation: X:301.61, Y:275.66, Z:2.12 [[-5.87900360e-01 8.08825462e-01 -1.32113168e-02 3.01608679e+02] [-8.08685823e-01 -5.88046072e-01 -1.51346247e-02 2.75656200e+02] [-2.00101328e-02 1.78615323e-03 9.99798182e-01 2.12042977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1007140569999 meters Centerline goodness : 0.985625 Centerline is valid? [True, True] Translation: X:301.63, Y:275.68, Z:2.12 [[-5.95838432e-01 8.02998208e-01 -1.30552911e-02 3.01628439e+02] [-8.02854237e-01 -5.95979833e-01 -1.52680386e-02 2.75679803e+02] [-2.00408979e-02 1.38421162e-03 9.99798203e-01 2.12252592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.130714057 meters Centerline goodness : 0.984071 Centerline is valid? [True, True] Translation: X:301.63, Y:275.67, Z:2.12 [[-5.99138508e-01 8.00534773e-01 -1.33088542e-02 3.01629142e+02] [-8.00394943e-01 -5.99284077e-01 -1.50509202e-02 2.75672663e+02] [-2.00245694e-02 1.63475372e-03 9.99798152e-01 2.12316535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.160714057 meters Centerline goodness : 0.983273 Centerline is valid? [True, True] Translation: X:301.64, Y:275.67, Z:2.12 [[-6.00130040e-01 7.99792741e-01 -1.32479123e-02 3.01635306e+02] [-7.99651590e-01 -6.00274297e-01 -1.51030676e-02 2.75674157e+02] [-2.00317050e-02 1.52990958e-03 9.99798175e-01 2.12405723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1907140569999 meters Centerline goodness : 0.982151 Centerline is valid? [True, True] Translation: X:301.64, Y:275.67, Z:2.13 [[-6.02831361e-01 7.97758568e-01 -1.32520815e-02 3.01642941e+02] [-7.97617008e-01 -6.02975218e-01 -1.50995006e-02 2.75673463e+02] [-2.00364327e-02 1.46763311e-03 9.99798173e-01 2.12561847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2207140569999 meters Centerline goodness : 0.982215 Centerline is valid? [True, True] Translation: X:301.65, Y:275.67, Z:2.12 [[-6.06852179e-01 7.94704389e-01 -1.32426336e-02 3.01645030e+02] [-7.94561930e-01 -6.06995141e-01 -1.51075792e-02 2.75673500e+02] [-2.00442738e-02 1.35402516e-03 9.99798176e-01 2.12493169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.250714057 meters Centerline goodness : 0.978547 Centerline is valid? [True, True] Translation: X:301.65, Y:275.68, Z:2.13 [[-6.07759874e-01 7.94009052e-01 -1.33251954e-02 3.01651184e+02] [-7.93867959e-01 -6.07904230e-01 -1.50369749e-02 2.75675431e+02] [-2.00399368e-02 1.43957570e-03 9.99798144e-01 2.12983980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.280714057 meters Centerline goodness : 0.981722 Centerline is valid? [True, True] Translation: X:301.66, Y:275.68, Z:2.13 [[-6.10821068e-01 7.91659216e-01 -1.31647149e-02 3.01661309e+02] [-7.91514616e-01 -6.10961832e-01 -1.51740535e-02 2.75675909e+02] [-2.00558177e-02 1.15143271e-03 9.99798199e-01 2.12712053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3107140569999 meters Centerline goodness : 0.979093 Centerline is valid? [True, True] Translation: X:301.67, Y:275.67, Z:2.13 [[-6.09807767e-01 7.92438143e-01 -1.32769359e-02 3.01665061e+02] [-7.92295786e-01 -6.09950847e-01 -1.50781729e-02 2.75673975e+02] [-2.00467976e-02 1.32447343e-03 9.99798165e-01 2.13160751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3407140569999 meters Centerline goodness : 0.980696 Centerline is valid? [True, True] Translation: X:301.67, Y:275.67, Z:2.13 [[-6.14136544e-01 7.89091306e-01 -1.30849845e-02 3.01666545e+02] [-7.88944674e-01 -6.14275170e-01 -1.52419411e-02 2.75667307e+02] [-2.00650643e-02 9.62695844e-04 9.99798213e-01 2.12724971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.370714057 meters Centerline goodness : 0.978502 Centerline is valid? [True, True] Translation: X:301.67, Y:275.67, Z:2.13 [[-6.14932271e-01 7.88468220e-01 -1.32728777e-02 3.01670380e+02] [-7.88324866e-01 -6.15074347e-01 -1.50815525e-02 2.75667223e+02] [-2.00551315e-02 1.18920621e-03 9.99798168e-01 2.13223099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.400714057 meters Centerline goodness : 0.978254 Centerline is valid? [True, True] Translation: X:301.67, Y:275.66, Z:2.13 [[-6.16414794e-01 7.87312451e-01 -1.31112928e-02 3.01672097e+02] [-7.87165898e-01 -6.16553503e-01 -1.52193171e-02 2.75664563e+02] [-2.00661714e-02 9.39350357e-04 9.99798213e-01 2.13319059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4307140569999 meters Centerline goodness : 0.981378 Centerline is valid? [True, True] Translation: X:301.68, Y:275.67, Z:2.12 [[-6.21065530e-01 7.83649849e-01 -1.30584070e-02 3.01682950e+02] [-7.83501531e-01 -6.21202342e-01 -1.52643758e-02 2.75669110e+02] [-2.00738388e-02 7.51104212e-04 9.99798218e-01 2.12364949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4607140569999 meters Centerline goodness : 0.982314 Centerline is valid? [True, True] Translation: X:301.68, Y:275.67, Z:2.12 [[-6.21698538e-01 7.83146706e-01 -1.31211618e-02 3.01684052e+02] [-7.82999399e-01 -6.21836449e-01 -1.52109256e-02 2.75665213e+02] [-2.00716029e-02 8.17251663e-04 9.99798211e-01 2.12196379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.490714057 meters Centerline goodness : 0.982972 Centerline is valid? [True, True] Translation: X:301.69, Y:275.67, Z:2.12 [[-6.24532467e-01 7.80888790e-01 -1.31108677e-02 3.01688825e+02] [-7.80740801e-01 -6.24669643e-01 -1.52196872e-02 2.75668660e+02] [-2.00748442e-02 7.31000510e-04 9.99798213e-01 2.12354325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.520714057 meters Centerline goodness : 0.981489 Centerline is valid? [True, True] Translation: X:301.70, Y:275.68, Z:2.13 [[-6.28511981e-01 7.77689009e-01 -1.31337663e-02 3.01701227e+02] [-7.77540727e-01 -6.28648846e-01 -1.52002044e-02 2.75677198e+02] [-2.00775589e-02 6.58527602e-04 9.99798209e-01 2.12894732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5507140569999 meters Centerline goodness : 0.979578 Centerline is valid? [True, True] Translation: X:301.70, Y:275.68, Z:2.13 [[-6.27068123e-01 7.78853072e-01 -1.31704705e-02 3.01704919e+02] [-7.78705698e-01 -6.27205978e-01 -1.51689719e-02 2.75682450e+02] [-2.00749982e-02 7.43941653e-04 9.99798200e-01 2.12973170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5807140569999 meters Centerline goodness : 0.983075 Centerline is valid? [True, True] Translation: X:301.71, Y:275.68, Z:2.12 [[-6.28752182e-01 7.77496910e-01 -1.30095721e-02 3.01706620e+02] [-7.77346396e-01 -6.28886568e-01 -1.53057329e-02 2.75679961e+02] [-2.00817052e-02 4.89431002e-04 9.99798222e-01 2.12361138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6107140569999 meters Centerline goodness : 0.981230 Centerline is valid? [True, True] Translation: X:301.71, Y:275.68, Z:2.13 [[-6.26001235e-01 7.79707945e-01 -1.33406727e-02 3.01707289e+02] [-7.79563820e-01 -6.26142580e-01 -1.50239848e-02 2.75678819e+02] [-2.00674836e-02 9.94872755e-04 9.99798133e-01 2.12843060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.640714057 meters Centerline goodness : 0.982404 Centerline is valid? [True, True] Translation: X:301.70, Y:275.68, Z:2.13 [[-6.24963038e-01 7.80543352e-01 -1.31634742e-02 3.01704282e+02] [-7.80396232e-01 -6.25101154e-01 -1.51746028e-02 2.75676356e+02] [-2.00729383e-02 7.89159811e-04 9.99798207e-01 2.12630886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6707140569999 meters Centerline goodness : 0.982186 Centerline is valid? [True, True] Translation: X:301.71, Y:275.68, Z:2.13 [[-6.20542264e-01 7.84062244e-01 -1.31793611e-02 3.01708634e+02] [-7.83916192e-01 -6.20681516e-01 -1.51611032e-02 2.75678857e+02] [-2.00674344e-02 9.23409247e-04 9.99798202e-01 2.12600725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7007140569999 meters Centerline goodness : 0.978658 Centerline is valid? [True, True] Translation: X:301.71, Y:275.68, Z:2.13 [[-6.17157347e-01 7.86726237e-01 -1.33655065e-02 3.01713997e+02] [-7.86584172e-01 -6.17300782e-01 -1.50028336e-02 2.75684497e+02] [-2.00536605e-02 1.25398690e-03 9.99798119e-01 2.13315350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7307140569999 meters Centerline goodness : 0.981967 Centerline is valid? [True, True] Translation: X:301.55, Y:275.49, Z:2.12 [[-6.08430642e-01 7.93499767e-01 -1.30488946e-02 3.01548050e+02] [-7.93353511e-01 -6.08569630e-01 -1.52712856e-02 2.75485125e+02] [-2.00589225e-02 1.06086817e-03 9.99798237e-01 2.12333600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.760714057 meters Centerline goodness : 0.984138 Centerline is valid? [True, True] Translation: X:301.70, Y:275.66, Z:2.13 [[-6.02121040e-01 7.98299068e-01 -1.29942732e-02 3.01699380e+02] [-7.98152926e-01 -6.02260142e-01 -1.53175599e-02 2.75657440e+02] [-2.00539266e-02 1.14839203e-03 9.99798240e-01 2.12631015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.790714057 meters Centerline goodness : 0.979588 Centerline is valid? [True, True] Translation: X:301.54, Y:275.47, Z:2.13 [[-6.06435765e-01 7.95026562e-01 -1.29780311e-02 3.01539503e+02] [-7.94879376e-01 -6.06573762e-01 -1.53313090e-02 2.75474734e+02] [-2.00609310e-02 1.01851517e-03 9.99798240e-01 2.12912353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8207140569999 meters Centerline goodness : 0.984160 Centerline is valid? [True, True] Translation: X:301.70, Y:275.66, Z:2.13 [[-6.00001521e-01 7.99893678e-01 -1.29722577e-02 3.01701916e+02] [-7.99747505e-01 -6.00140591e-01 -1.53361924e-02 2.75657847e+02] [-2.00525018e-02 1.17279201e-03 9.99798241e-01 2.12676449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8507140569999 meters Centerline goodness : 0.978157 Centerline is valid? [True, True] Translation: X:301.01, Y:274.84, Z:2.11 [[-5.94767698e-01 8.03793043e-01 -1.29664786e-02 3.01014252e+02] [-8.03647676e-01 -5.94907610e-01 -1.53410770e-02 2.74836150e+02] [-2.00449077e-02 1.29610340e-03 9.99798241e-01 2.11487843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.880714057 meters Centerline goodness : 0.979155 Centerline is valid? [True, True] Translation: X:301.06, Y:274.89, Z:2.11 [[-6.03253177e-01 7.97443255e-01 -1.30330371e-02 3.01064847e+02] [-7.97297642e-01 -6.03392810e-01 -1.52835538e-02 2.74894845e+02] [-2.00518078e-02 1.17135735e-03 9.99798256e-01 2.11336846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.910714057 meters Centerline goodness : 0.985224 Centerline is valid? [True, True] Translation: X:301.71, Y:275.65, Z:2.12 [[-6.08601515e-01 7.93370728e-01 -1.29261150e-02 3.01707074e+02] [-7.93222244e-01 -6.08738109e-01 -1.53748502e-02 2.75648545e+02] [-2.00665749e-02 8.96124802e-04 9.99798244e-01 2.12432197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9407140569999 meters Centerline goodness : 0.978507 Centerline is valid? [True, True] Translation: X:301.73, Y:275.68, Z:2.14 [[-6.17281292e-01 7.86633889e-01 -1.30740934e-02 3.01727509e+02] [-7.86486575e-01 -6.17419118e-01 -1.52479693e-02 2.75679918e+02] [-2.00667646e-02 8.70312711e-04 9.99798263e-01 2.13506048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9707140569999 meters Centerline goodness : 0.980095 Centerline is valid? [True, True] Translation: X:301.01, Y:274.82, Z:2.11 [[-6.04845295e-01 7.96235545e-01 -1.30815365e-02 3.01005882e+02] [-7.96090551e-01 -6.04985560e-01 -1.52416111e-02 2.74819386e+02] [-2.00500532e-02 1.19527087e-03 9.99798263e-01 2.11227663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.000714057 meters Centerline goodness : 0.979172 Centerline is valid? [True, True] Translation: X:301.01, Y:274.82, Z:2.11 [[-6.03212896e-01 7.97471427e-01 -1.31728820e-02 3.01006643e+02] [-7.97328451e-01 -6.03355186e-01 -1.51611861e-02 2.74819055e+02] [-2.00385393e-02 1.35769066e-03 9.99798286e-01 2.11346939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.030714057 meters Centerline goodness : 0.985103 Centerline is valid? [True, True] Translation: X:301.71, Y:275.64, Z:2.12 [[-6.13850643e-01 7.89320746e-01 -1.26549168e-02 3.01705779e+02] [-7.89166666e-01 -6.13980937e-01 -1.56007269e-02 2.75644588e+02] [-2.00838551e-02 4.10322220e-04 9.99798215e-01 2.12361324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0607140569999 meters Centerline goodness : 0.985110 Centerline is valid? [True, True] Translation: X:301.71, Y:275.64, Z:2.12 [[-6.13810464e-01 7.89345615e-01 -1.30466222e-02 3.01707149e+02] [-7.89198522e-01 -6.13948404e-01 -1.52659706e-02 2.75644866e+02] [-2.00600799e-02 9.25962435e-04 9.99798348e-01 2.12302207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0907140569999 meters Centerline goodness : 0.979766 Centerline is valid? [True, True] Translation: X:301.06, Y:274.88, Z:2.11 [[-6.06775123e-01 7.94766564e-01 -1.30406820e-02 3.01057930e+02] [-7.94620593e-01 -6.06914251e-01 -1.52710433e-02 2.74877245e+02] [-2.00514903e-02 1.09630524e-03 9.99798348e-01 2.11401897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.120714057 meters Centerline goodness : 0.980616 Centerline is valid? [True, True] Translation: X:301.05, Y:274.87, Z:2.11 [[-6.06607407e-01 7.94893350e-01 -1.31154783e-02 3.01051489e+02] [-7.94748813e-01 -6.06747989e-01 -1.52053276e-02 2.74871267e+02] [-2.00444039e-02 1.19984649e-03 9.99798371e-01 2.11384149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.150714057 meters Centerline goodness : 0.980556 Centerline is valid? [True, True] Translation: X:301.02, Y:274.83, Z:2.11 [[-6.07111236e-01 7.94508236e-01 -1.31381351e-02 3.01017467e+02] [-7.94364036e-01 -6.07252157e-01 -1.51854060e-02 2.74832190e+02] [-2.00430910e-02 1.21723137e-03 9.99798376e-01 2.11269541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1807140569999 meters Centerline goodness : 0.976996 Centerline is valid? [True, True] Translation: X:301.73, Y:275.68, Z:2.14 [[-6.21840131e-01 7.83040784e-01 -1.27271988e-02 3.01725599e+02] [-7.82886709e-01 -6.21970288e-01 -1.55358485e-02 2.75675046e+02] [-2.00811425e-02 3.03140674e-04 9.99798308e-01 2.13829343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2107140569999 meters Centerline goodness : 0.981623 Centerline is valid? [True, True] Translation: X:301.04, Y:274.86, Z:2.11 [[-6.06034191e-01 7.95330813e-01 -1.30941956e-02 3.01043663e+02] [-7.95186044e-01 -6.06174469e-01 -1.52206492e-02 2.74864827e+02] [-2.00428184e-02 1.18808775e-03 9.99798417e-01 2.11384688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.240714057 meters Centerline goodness : 0.979594 Centerline is valid? [True, True] Translation: X:301.71, Y:275.66, Z:2.14 [[-6.24225219e-01 7.81140686e-01 -1.27320343e-02 3.01712567e+02] [-7.80986307e-01 -6.24355001e-01 -1.55313301e-02 2.75656920e+02] [-2.00814631e-02 2.48496520e-04 9.99798316e-01 2.13608942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.270714057 meters Centerline goodness : 0.977600 Centerline is valid? [True, True] Translation: X:301.71, Y:275.66, Z:2.14 [[-6.22707496e-01 7.82342883e-01 -1.32282958e-02 3.01712158e+02] [-7.82197696e-01 -6.22847271e-01 -1.51010419e-02 2.75658260e+02] [-2.00534006e-02 9.43610484e-04 9.99798465e-01 2.13766701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3007140569999 meters Centerline goodness : 0.985184 Centerline is valid? [True, True] Translation: X:301.69, Y:275.63, Z:2.13 [[-6.13086283e-01 7.89906413e-01 -1.31555346e-02 3.01692416e+02] [-7.89761602e-01 -6.13226438e-01 -1.51640683e-02 2.75625113e+02] [-2.00455164e-02 1.09285377e-03 9.99798471e-01 2.12585503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3307140569999 meters Centerline goodness : 0.985184 Centerline is valid? [True, True] Translation: X:301.69, Y:275.63, Z:2.13 [[-6.12777874e-01 7.90145943e-01 -1.31402379e-02 3.01694056e+02] [-7.90000904e-01 -6.12917793e-01 -1.51773119e-02 2.75627132e+02] [-2.00461771e-02 1.08047890e-03 9.99798471e-01 2.12590289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3607140569999 meters Centerline goodness : 0.979009 Centerline is valid? [True, True] Translation: X:301.03, Y:274.85, Z:2.12 [[-6.02606783e-01 7.97930169e-01 -1.31343101e-02 3.01031472e+02] [-7.97786823e-01 -6.02748437e-01 -1.51824401e-02 2.74851449e+02] [-2.00312118e-02 1.32933817e-03 9.99798471e-01 2.12089070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.390714057 meters Centerline goodness : 0.979725 Centerline is valid? [True, True] Translation: X:301.04, Y:274.86, Z:2.12 [[-6.02172737e-01 7.98256213e-01 -1.32293009e-02 3.01040549e+02] [-7.98114781e-01 -6.02316251e-01 -1.50973741e-02 2.74861540e+02] [-2.00197956e-02 1.46727352e-03 9.99798507e-01 2.11918167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4207140569999 meters Centerline goodness : 0.974856 Centerline is valid? [True, True] Translation: X:301.69, Y:275.64, Z:2.14 [[-6.26179264e-01 7.79575644e-01 -1.27021498e-02 3.01692981e+02] [-7.79420528e-01 -6.26308062e-01 -1.55515908e-02 2.75637802e+02] [-2.00791002e-02 1.62232619e-04 9.99798381e-01 2.14004771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4507140569999 meters Centerline goodness : 0.975028 Centerline is valid? [True, True] Translation: X:301.70, Y:275.65, Z:2.14 [[-6.29578608e-01 7.76824381e-01 -1.32157768e-02 3.01702327e+02] [-7.76677880e-01 -6.29716850e-01 -1.51049596e-02 2.75650339e+02] [-2.00560982e-02 7.54642052e-04 9.99798571e-01 2.13783745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4807140569999 meters Centerline goodness : 0.972884 Centerline is valid? [True, True] Translation: X:301.71, Y:275.66, Z:2.14 [[-6.30543099e-01 7.76042591e-01 -1.31642276e-02 3.01706099e+02] [-7.75894984e-01 -6.30680156e-01 -1.51497528e-02 2.75655039e+02] [-2.00592705e-02 6.61486041e-04 9.99798574e-01 2.13912122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.510714057 meters Centerline goodness : 0.982529 Centerline is valid? [True, True] Translation: X:301.70, Y:275.63, Z:2.13 [[-6.19406952e-01 7.84959797e-01 -1.31584534e-02 3.01698679e+02] [-7.84814054e-01 -6.19545990e-01 -1.51547664e-02 2.75627201e+02] [-2.00481494e-02 9.39971453e-04 9.99798574e-01 2.12744429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.540714057 meters Centerline goodness : 0.973080 Centerline is valid? [True, True] Translation: X:301.71, Y:275.67, Z:2.14 [[-6.36020126e-01 7.71565114e-01 -1.28714396e-02 3.01714683e+02] [-7.71411353e-01 -6.36150342e-01 -1.54034781e-02 2.75668387e+02] [-2.00729570e-02 1.32252515e-04 9.99798509e-01 2.14004705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5707140569999 meters Centerline goodness : 0.973125 Centerline is valid? [True, True] Translation: X:301.72, Y:275.67, Z:2.14 [[-6.38937044e-01 7.69146627e-01 -1.31498849e-02 3.01716069e+02] [-7.68997288e-01 -6.39072207e-01 -1.51619862e-02 2.75670594e+02] [-2.00655165e-02 4.24671183e-04 9.99798577e-01 2.14008265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6007140569999 meters Centerline goodness : 0.978393 Centerline is valid? [True, True] Translation: X:301.71, Y:275.66, Z:2.14 [[-6.45169242e-01 7.63926619e-01 -1.31441619e-02 3.01710530e+02] [-7.63776085e-01 -6.45303073e-01 -1.51669460e-02 2.75664206e+02] [-2.00684018e-02 2.53949518e-04 9.99798577e-01 2.13633047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.630714057 meters Centerline goodness : 0.983948 Centerline is valid? [True, True] Translation: X:301.71, Y:275.65, Z:2.13 [[-6.33023383e-01 7.74016917e-01 -1.33868648e-02 3.01711460e+02] [-7.73872913e-01 -6.33164289e-01 -1.49565419e-02 2.75647952e+02] [-2.00527012e-02 8.91891303e-04 9.99798527e-01 2.13280785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.660714057 meters Centerline goodness : 0.982398 Centerline is valid? [True, True] Translation: X:301.72, Y:275.67, Z:2.13 [[-6.42102604e-01 7.66510026e-01 -1.29083881e-02 3.01717492e+02] [-7.66355907e-01 -6.42232341e-01 -1.53702186e-02 2.75665837e+02] [-2.00716110e-02 2.31620880e-05 9.99798545e-01 2.13451255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6907140569999 meters Centerline goodness : 0.982835 Centerline is valid? [True, True] Translation: X:301.72, Y:275.66, Z:2.13 [[-6.40347312e-01 7.67975057e-01 -1.30243270e-02 3.01716897e+02] [-7.67823264e-01 -6.40479713e-01 -1.52699970e-02 2.75662870e+02] [-2.00687941e-02 2.22279769e-04 9.99798577e-01 2.13253173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7207140569999 meters Centerline goodness : 0.984153 Centerline is valid? [True, True] Translation: X:301.71, Y:275.66, Z:2.13 [[-6.42719520e-01 7.65992230e-01 -1.29429911e-02 3.01708834e+02] [-7.65838610e-01 -6.42849827e-01 -1.53402553e-02 2.75657670e+02] [-2.00709160e-02 5.27607792e-05 9.99798557e-01 2.13216867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.750714057 meters Centerline goodness : 0.985043 Centerline is valid? [True, True] Translation: X:301.72, Y:275.67, Z:2.13 [[-6.43848193e-01 7.65044134e-01 -1.29219885e-02 3.01715501e+02] [-7.64889957e-01 -6.43977851e-01 -1.53583862e-02 2.75668937e+02] [-2.00713177e-02 -4.56992226e-06 9.99798551e-01 2.12813172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.780714057 meters Centerline goodness : 0.984416 Centerline is valid? [True, True] Translation: X:301.72, Y:275.68, Z:2.13 [[-6.47601386e-01 7.61869887e-01 -1.29119959e-02 3.01717478e+02] [-7.61714903e-01 -6.47730084e-01 -1.53670038e-02 2.75680527e+02] [-2.00711456e-02 -1.16433256e-04 9.99798547e-01 2.12681562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8107140569999 meters Centerline goodness : 0.979960 Centerline is valid? [True, True] Translation: X:301.72, Y:275.71, Z:2.13 [[-6.61073869e-01 7.50209371e-01 -1.29320698e-02 3.01724802e+02] [-7.50052457e-01 -6.61200196e-01 -1.53497091e-02 2.75710224e+02] [-2.00661828e-02 -4.47560858e-04 9.99798554e-01 2.13428470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8407140569999 meters Centerline goodness : 0.982562 Centerline is valid? [True, True] Translation: X:301.72, Y:275.72, Z:2.13 [[-6.63544829e-01 7.48019415e-01 -1.32369078e-02 3.01722413e+02] [-7.47867267e-01 -6.63676836e-01 -1.50866870e-02 2.75719110e+02] [-2.00701639e-02 -1.11243082e-04 9.99798568e-01 2.12998269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.870714057 meters Centerline goodness : 0.986198 Centerline is valid? [True, True] Translation: X:301.71, Y:275.70, Z:2.13 [[-6.54098156e-01 7.56290347e-01 -1.34355014e-02 3.01710865e+02] [-7.56143363e-01 -6.54236003e-01 -1.49153035e-02 2.75699946e+02] [-2.00702888e-02 4.03092685e-04 9.99798490e-01 2.12655678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.900714057 meters Centerline goodness : 0.981622 Centerline is valid? [True, True] Translation: X:301.72, Y:275.73, Z:2.13 [[-6.65091297e-01 7.46647222e-01 -1.30955315e-02 3.01717758e+02] [-7.46492400e-01 -6.65220123e-01 -1.52080515e-02 2.75727564e+02] [-2.00664605e-02 -3.39028009e-04 9.99798591e-01 2.13352156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9307140569999 meters Centerline goodness : 0.981713 Centerline is valid? [True, True] Translation: X:301.70, Y:275.73, Z:2.14 [[-6.63396613e-01 7.48149442e-01 -1.33171697e-02 3.01704130e+02] [-7.47998713e-01 -6.63530265e-01 -1.50170549e-02 2.75725578e+02] [-2.00713464e-02 -1.03753529e-06 9.99798550e-01 2.13865853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9607140569999 meters Centerline goodness : 0.984444 Centerline is valid? [True, True] Translation: X:301.70, Y:275.73, Z:2.14 [[-6.63508630e-01 7.48051776e-01 -1.32226634e-02 3.01699777e+02] [-7.47899401e-01 -6.63640358e-01 -1.50984246e-02 2.75729776e+02] [-2.00694964e-02 -1.28712997e-04 9.99798579e-01 2.13540181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.990714057 meters Centerline goodness : 0.984877 Centerline is valid? [True, True] Translation: X:301.68, Y:275.74, Z:2.13 [[-6.72697864e-01 7.39797214e-01 -1.33291539e-02 3.01684046e+02] [-7.39645031e-01 -6.72829864e-01 -1.50067023e-02 2.75739743e+02] [-2.00701694e-02 -2.36134179e-04 9.99798546e-01 2.13356507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.020714057 meters Centerline goodness : 0.987008 Centerline is valid? [True, True] Translation: X:301.68, Y:275.73, Z:2.13 [[-6.55011040e-01 7.55496369e-01 -1.36299004e-02 3.01681275e+02] [-7.55352685e-01 -6.55152526e-01 -1.47474754e-02 2.75727762e+02] [-2.00713278e-02 6.35622656e-04 9.99798349e-01 2.13392915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0507140569999 meters Centerline goodness : 0.986227 Centerline is valid? [True, True] Translation: X:301.66, Y:275.74, Z:2.14 [[-6.67600421e-01 7.44404842e-01 -1.30808866e-02 3.01658873e+02] [-7.44249367e-01 -6.67728426e-01 -1.52193543e-02 2.75739984e+02] [-2.00638409e-02 -4.25005744e-04 9.99798611e-01 2.13507375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0807140569999 meters Centerline goodness : 0.988319 Centerline is valid? [True, True] Translation: X:301.67, Y:275.75, Z:2.14 [[-6.49840368e-01 7.59950278e-01 -1.35303522e-02 3.01670340e+02] [-7.59805793e-01 -6.49980894e-01 -1.48322144e-02 2.75745173e+02] [-2.00662159e-02 6.41868261e-04 9.99798447e-01 2.13605360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1107140569999 meters Centerline goodness : 0.987684 Centerline is valid? [True, True] Translation: X:301.66, Y:275.75, Z:2.14 [[-6.47303413e-01 7.62120200e-01 -1.30802416e-02 3.01664073e+02] [-7.61968236e-01 -6.47435547e-01 -1.52190728e-02 2.75748416e+02] [-2.00673762e-02 1.15370806e-04 9.99798623e-01 2.13550902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.140714057 meters Centerline goodness : 0.989271 Centerline is valid? [True, True] Translation: X:301.66, Y:275.75, Z:2.14 [[-6.44752883e-01 7.64279254e-01 -1.30744697e-02 3.01660527e+02] [-7.64127632e-01 -6.44885409e-01 -1.52240298e-02 2.75754090e+02] [-2.00669449e-02 1.74826446e-04 9.99798623e-01 2.13652016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1707140569999 meters Centerline goodness : 0.990000 Centerline is valid? [True, True] Translation: X:301.65, Y:275.76, Z:2.14 [[-6.41266214e-01 7.67207177e-01 -1.30686854e-02 3.01650111e+02] [-7.67056059e-01 -6.41399314e-01 -1.52289935e-02 2.75760244e+02] [-2.00660390e-02 2.58575298e-04 9.99798623e-01 2.13833563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2007140569999 meters Centerline goodness : 0.991085 Centerline is valid? [True, True] Translation: X:301.64, Y:275.75, Z:2.14 [[-6.40565280e-01 7.67792604e-01 -1.30628887e-02 3.01635985e+02] [-7.67641506e-01 -6.40698404e-01 -1.52339641e-02 2.75752733e+02] [-2.00658969e-02 2.69267109e-04 9.99798623e-01 2.13935438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2307140569999 meters Centerline goodness : 0.991915 Centerline is valid? [True, True] Translation: X:301.64, Y:275.77, Z:2.14 [[-6.41731977e-01 7.66818108e-01 -1.30406783e-02 3.01640938e+02] [-7.66666421e-01 -6.41864429e-01 -1.52529984e-02 2.75774644e+02] [-2.00666229e-02 2.09513294e-04 9.99798623e-01 2.14164549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.260714057 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:301.63, Y:275.77, Z:2.14 [[-6.42725832e-01 7.65985024e-01 -1.30555622e-02 3.01630836e+02] [-7.65833424e-01 -6.42858384e-01 -1.52402481e-02 2.75770590e+02] [-2.00666794e-02 2.03084811e-04 9.99798623e-01 2.14278072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.290714057 meters Centerline goodness : 0.992681 Centerline is valid? [True, True] Translation: X:301.62, Y:275.76, Z:2.14 [[-6.44218248e-01 7.64730380e-01 -1.30497295e-02 3.01617461e+02] [-7.64578420e-01 -6.44350387e-01 -1.52452408e-02 2.75762499e+02] [-2.00670970e-02 1.56279248e-04 9.99798623e-01 2.14248581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3207140569999 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] Translation: X:301.63, Y:275.79, Z:2.14 [[-6.49161072e-01 7.60539125e-01 -1.30438302e-02 3.01626491e+02] [-7.60386211e-01 -6.49292106e-01 -1.52502866e-02 2.75788198e+02] [-2.00676956e-02 1.84562064e-05 9.99798623e-01 2.14462677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3507140569999 meters Centerline goodness : 0.994389 Centerline is valid? [True, True] Translation: X:301.63, Y:275.80, Z:2.14 [[-6.51840323e-01 7.58244159e-01 -1.30379427e-02 3.01634794e+02] [-7.58090683e-01 -6.51970698e-01 -1.52553183e-02 2.75804940e+02] [-2.00676126e-02 -6.00887409e-05 9.99798623e-01 2.14458061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.380714057 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:301.63, Y:275.80, Z:2.14 [[-6.54661146e-01 7.55810127e-01 -1.30321341e-02 3.01627811e+02] [-7.55656067e-01 -6.54790831e-01 -1.52602788e-02 2.75804411e+02] [-2.00671952e-02 -1.42500429e-04 9.99798623e-01 2.14472618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.410714057 meters Centerline goodness : 0.996062 Centerline is valid? [True, True] Translation: X:301.63, Y:275.82, Z:2.14 [[-6.59409583e-01 7.51671016e-01 -1.30263408e-02 3.01630015e+02] [-7.51516045e-01 -6.59538178e-01 -1.52652224e-02 2.75822858e+02] [-2.00657943e-02 -2.76529856e-04 9.99798623e-01 2.14471074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4407140569999 meters Centerline goodness : 0.996817 Centerline is valid? [True, True] Translation: X:301.64, Y:275.84, Z:2.14 [[-6.60763125e-01 7.50481550e-01 -1.30205580e-02 3.01635741e+02] [-7.50326251e-01 -6.60891323e-01 -1.52701533e-02 2.75837946e+02] [-2.00651421e-02 -3.20287720e-04 9.99798623e-01 2.14490416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4707140569999 meters Centerline goodness : 0.997546 Centerline is valid? [True, True] Translation: X:301.53, Y:275.74, Z:2.14 [[-6.62400248e-01 7.49037066e-01 -1.30148252e-02 3.01534275e+02] [-7.48881390e-01 -6.62527989e-01 -1.52750378e-02 2.75737665e+02] [-2.00642555e-02 -3.71628417e-04 9.99798624e-01 2.14398961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.500714057 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:301.60, Y:275.82, Z:2.15 [[-6.63106113e-01 7.48412507e-01 -1.30000660e-02 3.01596285e+02] [-7.48256466e-01 -6.63233406e-01 -1.52876049e-02 2.75819768e+02] [-2.00635128e-02 -4.09920813e-04 9.99798623e-01 2.14532942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.530714057 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:301.53, Y:275.76, Z:2.14 [[-6.62953394e-01 7.48547530e-01 -1.30150914e-02 3.01534694e+02] [-7.48391765e-01 -6.63081026e-01 -1.52748023e-02 2.75757636e+02] [-2.00639757e-02 -3.86094783e-04 9.99798624e-01 2.14450293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5607140569999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:301.58, Y:275.84, Z:2.15 [[-6.62579802e-01 7.48878466e-01 -1.30019104e-02 3.01584884e+02] [-7.48722544e-01 -6.62707242e-01 -1.52860254e-02 2.75836134e+02] [-2.00638354e-02 -3.93388222e-04 9.99798624e-01 2.14611206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5907140569999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:301.58, Y:275.84, Z:2.15 [[-6.61668369e-01 7.49683652e-01 -1.30150651e-02 3.01582625e+02] [-7.49528106e-01 -6.61796267e-01 -1.52748168e-02 2.75842150e+02] [-2.00646019e-02 -3.51706000e-04 9.99798624e-01 2.14596446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.620714057 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:301.57, Y:275.85, Z:2.15 [[-6.59621697e-01 7.51485118e-01 -1.30128782e-02 3.01574622e+02] [-7.51329884e-01 -6.59749974e-01 -1.52766796e-02 2.75850312e+02] [-2.00654434e-02 -2.99865037e-04 9.99798624e-01 2.14639532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.650714057 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:301.57, Y:275.85, Z:2.15 [[-6.58528217e-01 7.52443522e-01 -1.30128782e-02 3.01568608e+02] [-7.52288475e-01 -6.58656719e-01 -1.52766796e-02 2.75852349e+02] [-2.00658583e-02 -2.70686268e-04 9.99798624e-01 2.14681709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6807140569999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:301.55, Y:275.85, Z:2.15 [[-6.56947288e-01 7.53824113e-01 -1.30179759e-02 3.01554667e+02] [-7.53669422e-01 -6.57076219e-01 -1.52723344e-02 2.75845156e+02] [-2.00664563e-02 -2.21868283e-04 9.99798624e-01 2.14689732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7107140569999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:301.55, Y:275.85, Z:2.15 [[-6.55267408e-01 7.55284844e-01 -1.30165103e-02 3.01554056e+02] [-7.55130416e-01 -6.55396653e-01 -1.52735834e-02 2.75853242e+02] [-2.00668833e-02 -1.79118527e-04 9.99798624e-01 2.14718570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.740714057 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:301.54, Y:275.86, Z:2.15 [[-6.51599423e-01 7.58451454e-01 -1.30224003e-02 3.01543437e+02] [-7.58297755e-01 -6.51729534e-01 -1.52685599e-02 2.75856425e+02] [-2.00675443e-02 -7.41279040e-05 9.99798624e-01 2.14585967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.770714057 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:301.54, Y:275.86, Z:2.15 [[-6.48452356e-01 7.61143749e-01 -1.30282746e-02 3.01538733e+02] [-7.60990690e-01 -6.48583220e-01 -1.52635458e-02 2.75855580e+02] [-2.00676728e-02 1.67134306e-05 9.99798624e-01 2.14666624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8007140569999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:301.55, Y:275.88, Z:2.15 [[-6.44630925e-01 7.64383867e-01 -1.29720799e-02 3.01553089e+02] [-7.64230499e-01 -6.44761430e-01 -1.53115268e-02 2.75884063e+02] [-2.00677808e-02 4.33754279e-05 9.99798621e-01 2.14680819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8307140569999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:301.55, Y:275.89, Z:2.14 [[-6.45928278e-01 7.63288388e-01 -1.29420687e-02 3.01546370e+02] [-7.63134284e-01 -6.46057920e-01 -1.53371623e-02 2.75885888e+02] [-2.00680039e-02 -3.01705466e-05 9.99798617e-01 2.14435274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8607140569999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:301.53, Y:275.87, Z:2.14 [[-6.44606863e-01 7.64403014e-01 -1.30393460e-02 3.01529943e+02] [-7.64250810e-01 -6.44738719e-01 -1.52540085e-02 2.75872436e+02] [-2.00671813e-02 1.32492197e-04 9.99798625e-01 2.14337562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.890714057 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:301.53, Y:275.89, Z:2.14 [[-6.40205693e-01 7.68092152e-01 -1.30811555e-02 3.01534676e+02] [-7.67941437e-01 -6.40339249e-01 -1.52182400e-02 2.75890174e+02] [-2.00653880e-02 3.02757447e-04 9.99798624e-01 2.14345363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9207140569999 meters Centerline goodness : 0.998200 Centerline is valid? [True, True] Translation: X:301.53, Y:275.90, Z:2.14 [[-6.38115702e-01 7.69829881e-01 -1.30501333e-02 3.01534752e+02] [-7.69678986e-01 -6.38249054e-01 -1.52447961e-02 2.75895911e+02] [-2.00651348e-02 3.16469619e-04 9.99798625e-01 2.14337592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9507140569999 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:301.55, Y:275.91, Z:2.15 [[-6.27721269e-01 7.78328692e-01 -1.30558580e-02 3.01548016e+02] [-7.78179703e-01 -6.27856747e-01 -1.52398919e-02 2.75913865e+02] [-2.00588537e-02 5.93399388e-04 9.99798625e-01 2.14674095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9807140569999 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:301.56, Y:275.93, Z:2.15 [[-6.24611308e-01 7.80828989e-01 -1.29152397e-02 3.01558808e+02] [-7.80678045e-01 -6.24744629e-01 -1.53602844e-02 2.75930200e+02] [-2.00624819e-02 4.88436730e-04 9.99798609e-01 2.14788685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.010714057 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:301.53, Y:275.91, Z:2.14 [[-6.26458424e-01 7.79347570e-01 -1.29309115e-02 3.01530362e+02] [-7.79196588e-01 -6.26591695e-01 -1.53468592e-02 2.75906473e+02] [-2.00629392e-02 4.61552937e-04 9.99798612e-01 2.14371599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.040714057 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:301.54, Y:275.92, Z:2.15 [[-6.21034745e-01 7.83673869e-01 -1.30810113e-02 3.01542311e+02] [-7.83526502e-01 -6.21171981e-01 -1.52181336e-02 2.75924806e+02] [-2.00516113e-02 7.98329333e-04 9.99798628e-01 2.15109456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0707140569999 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:301.54, Y:275.92, Z:2.14 [[-6.17830493e-01 7.86202626e-01 -1.30733476e-02 3.01538469e+02] [-7.86055682e-01 -6.17968182e-01 -1.52247071e-02 2.75922716e+02] [-2.00486175e-02 8.70090840e-04 9.99798628e-01 2.14486795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1007140569999 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:301.52, Y:275.91, Z:2.14 [[-6.13138061e-01 7.89867710e-01 -1.30659155e-02 3.01523597e+02] [-7.89721453e-01 -6.13276480e-01 -1.52310827e-02 2.75906961e+02] [-2.00435591e-02 9.79677299e-04 9.99798628e-01 2.14428947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.130714057 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:301.54, Y:275.92, Z:2.14 [[-6.11318371e-01 7.91276806e-01 -1.30715460e-02 3.01538329e+02] [-7.91130971e-01 -6.11457234e-01 -1.52262490e-02 2.75922953e+02] [-2.00408690e-02 1.03321916e-03 9.99798628e-01 2.14473622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.160714057 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:301.54, Y:275.92, Z:2.14 [[-6.09971374e-01 7.92315537e-01 -1.30771648e-02 3.01535796e+02] [-7.92170041e-01 -6.10110592e-01 -1.52214217e-02 2.75918539e+02] [-2.00386857e-02 1.07470664e-03 9.99798628e-01 2.14458512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1907140569999 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:301.54, Y:275.92, Z:2.15 [[-6.04077614e-01 7.96818096e-01 -1.30827389e-02 3.01540764e+02] [-7.96673740e-01 -6.04218013e-01 -1.52166293e-02 2.75917580e+02] [-2.00297121e-02 1.23064942e-03 9.99798628e-01 2.14981829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2207140569999 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:301.54, Y:275.92, Z:2.15 [[-6.04377095e-01 7.96592481e-01 -1.29902498e-02 3.01539165e+02] [-7.96446372e-01 -6.04515679e-01 -1.52961198e-02 2.75915681e+02] [-2.00375837e-02 1.10141287e-03 9.99798621e-01 2.14977948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.250714057 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] Translation: X:301.53, Y:275.90, Z:2.14 [[-6.06915431e-01 7.94660150e-01 -1.29963676e-02 3.01525828e+02] [-7.94513711e-01 -6.07053666e-01 -1.52908576e-02 2.75903163e+02] [-2.00405277e-02 1.04553480e-03 9.99798622e-01 2.14476334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.280714057 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:301.55, Y:275.92, Z:2.14 [[-6.06274722e-01 7.95147535e-01 -1.30904107e-02 3.01546136e+02] [-7.95002935e-01 -6.06414868e-01 -1.52099195e-02 2.75921522e+02] [-2.00323497e-02 1.18552519e-03 9.99798629e-01 2.14494722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3107140569999 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:301.55, Y:275.91, Z:2.15 [[-6.04872404e-01 7.96214713e-01 -1.30959824e-02 3.01545231e+02] [-7.96070463e-01 -6.05012911e-01 -1.52051207e-02 2.75914415e+02] [-2.00297793e-02 1.22816685e-03 9.99798630e-01 2.15072901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3407140569999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:301.53, Y:275.89, Z:2.14 [[-6.05850820e-01 7.95471050e-01 -1.30611440e-02 3.01529676e+02] [-7.95325985e-01 -6.05990486e-01 -1.52351266e-02 2.75894093e+02] [-2.00340312e-02 1.15765331e-03 9.99798628e-01 2.14413228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.370714057 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:301.52, Y:275.88, Z:2.14 [[-6.05044510e-01 7.96083890e-01 -1.30988725e-02 3.01523671e+02] [-7.95939663e-01 -6.05185040e-01 -1.52026191e-02 2.75879719e+02] [-2.00298018e-02 1.22765094e-03 9.99798630e-01 2.14333600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.400714057 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:301.55, Y:275.91, Z:2.14 [[-6.04305581e-01 7.96644862e-01 -1.31045305e-02 3.01552610e+02] [-7.96500871e-01 -6.04446351e-01 -1.51977403e-02 2.75910091e+02] [-2.00281874e-02 1.25369070e-03 9.99798630e-01 2.14430740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4307140569999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:301.52, Y:275.86, Z:2.14 [[-6.02459588e-01 7.98041710e-01 -1.31101235e-02 3.01517491e+02] [-7.97898148e-01 -6.02600797e-01 -1.51929141e-02 2.75862844e+02] [-2.00247500e-02 1.30742654e-03 9.99798630e-01 2.14320517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4607140569999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:301.55, Y:275.90, Z:2.15 [[-6.01970704e-01 7.98410567e-01 -1.31087204e-02 3.01553573e+02] [-7.98267066e-01 -6.02111975e-01 -1.51941246e-02 2.75899385e+02] [-2.00240672e-02 1.31784184e-03 9.99798630e-01 2.14885475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.490714057 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:301.55, Y:275.89, Z:2.14 [[-6.02625481e-01 7.97916718e-01 -1.30935454e-02 3.01551857e+02] [-7.97772819e-01 -6.02766347e-01 -1.52072201e-02 2.75893054e+02] [-2.00264436e-02 1.28141630e-03 9.99798630e-01 2.14409019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.520714057 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:301.56, Y:275.89, Z:2.15 [[-6.03841182e-01 7.96996770e-01 -1.31139507e-02 3.01556289e+02] [-7.96853035e-01 -6.03982215e-01 -1.51896031e-02 2.75892717e+02] [-2.00266576e-02 1.27778358e-03 9.99798630e-01 2.14513893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5507140569999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:301.55, Y:275.87, Z:2.15 [[-6.06193736e-01 7.95208799e-01 -1.31194921e-02 3.01554082e+02] [-7.95064751e-01 -6.06334449e-01 -1.51848154e-02 2.75874241e+02] [-2.00298988e-02 1.22590568e-03 9.99798630e-01 2.15019985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5807140569999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:301.56, Y:275.86, Z:2.15 [[-6.14984367e-01 7.88430887e-01 -1.30753570e-02 3.01556197e+02] [-7.88284478e-01 -6.15122624e-01 -1.52229603e-02 2.75864176e+02] [-2.00452000e-02 9.45218374e-04 9.99798628e-01 2.14899961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6107140569999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:301.03, Y:275.25, Z:2.14 [[-6.19054417e-01 7.85238380e-01 -1.31268915e-02 3.01033248e+02] [-7.85092197e-01 -6.19192910e-01 -1.51783913e-02 2.75252111e+02] [-2.00467335e-02 9.09569955e-04 9.99798630e-01 2.13570756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.640714057 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:301.55, Y:275.84, Z:2.15 [[-6.25283413e-01 7.80287503e-01 -1.31174058e-02 3.01549150e+02] [-7.80140051e-01 -6.25420553e-01 -1.51865865e-02 2.75841042e+02] [-2.00537989e-02 7.37492978e-04 9.99798630e-01 2.15219043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6707140569999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:301.52, Y:275.80, Z:2.15 [[-6.32673907e-01 7.74306376e-01 -1.31667954e-02 3.01521722e+02] [-7.74158515e-01 -6.32810605e-01 -1.51437035e-02 2.75796908e+02] [-2.00579539e-02 6.12160727e-04 9.99798632e-01 2.14651132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7007140569999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:301.56, Y:275.83, Z:2.15 [[-6.36893472e-01 7.70839632e-01 -1.31516757e-02 3.01559015e+02] [-7.70690757e-01 -6.37029064e-01 -1.51568229e-02 2.75834409e+02] [-2.00614795e-02 4.82593365e-04 9.99798632e-01 2.14702235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7307140569999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:301.56, Y:275.83, Z:2.15 [[-6.40248605e-01 7.68055081e-01 -1.31574046e-02 3.01556514e+02] [-7.67905717e-01 -6.40383659e-01 -1.51518481e-02 2.75825998e+02] [-2.00632408e-02 4.02696629e-04 9.99798632e-01 2.14664462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.760714057 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:301.04, Y:275.22, Z:2.13 [[-6.46208523e-01 7.63047497e-01 -1.31552954e-02 3.01040336e+02] [-7.62897050e-01 -6.46342369e-01 -1.51536792e-02 2.75223073e+02] [-2.00658018e-02 2.43699375e-04 9.99798632e-01 2.13317061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.790714057 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:301.54, Y:275.80, Z:2.15 [[-6.51280423e-01 7.58724370e-01 -1.30821125e-02 3.01543032e+02] [-7.58571755e-01 -6.51411798e-01 -1.52171677e-02 2.75798143e+02] [-2.00674784e-02 1.30775794e-05 9.99798628e-01 2.14709162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8207140569999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:301.54, Y:275.79, Z:2.15 [[-6.55936668e-01 7.54700792e-01 -1.31834009e-02 3.01542869e+02] [-7.54549139e-01 -6.56069138e-01 -1.51289047e-02 2.75794228e+02] [-2.00670188e-02 2.39205099e-05 9.99798637e-01 2.14679984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8507140569999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:301.54, Y:275.79, Z:2.15 [[-6.57517296e-01 7.53324140e-01 -1.31812557e-02 3.01539838e+02] [-7.53172171e-01 -6.57649405e-01 -1.51307735e-02 2.75790398e+02] [-2.00670219e-02 -2.09903347e-05 9.99798637e-01 2.14618690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.880714057 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:301.55, Y:275.80, Z:2.15 [[-6.59036353e-01 7.51995641e-01 -1.31773071e-02 3.01545654e+02] [-7.51843338e-01 -6.59168075e-01 -1.51342115e-02 2.75798764e+02] [-2.00669213e-02 -6.67249901e-05 9.99798637e-01 2.14619539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.910714057 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:301.02, Y:275.20, Z:2.13 [[-6.58554450e-01 7.52417688e-01 -1.31780249e-02 3.01018631e+02] [-7.52265481e-01 -6.58686284e-01 -1.51335865e-02 2.75195258e+02] [-2.00669624e-02 -5.29174656e-05 9.99798637e-01 2.13203218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9407140569999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:301.53, Y:275.79, Z:2.14 [[-6.63181759e-01 7.48344348e-01 -1.30648893e-02 3.01529148e+02] [-7.48189385e-01 -6.63310357e-01 -1.52320013e-02 2.75786412e+02] [-2.00648585e-02 -3.26573922e-04 9.99798627e-01 2.14368951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9707140569999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:301.53, Y:275.79, Z:2.14 [[-6.64094682e-01 7.47531807e-01 -1.32079806e-02 3.01531233e+02] [-7.47379161e-01 -6.64225994e-01 -1.51068969e-02 2.75790668e+02] [-2.00659699e-02 -1.61040408e-04 9.99798645e-01 2.14315938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.000714057 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:301.52, Y:275.78, Z:2.14 [[-6.66132444e-01 7.45716512e-01 -1.32079806e-02 3.01520243e+02] [-7.45563508e-01 -6.66263340e-01 -1.51068969e-02 2.75783204e+02] [-2.00654557e-02 -2.15805789e-04 9.99798645e-01 2.14290225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.030714057 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:301.52, Y:275.79, Z:2.14 [[-6.67206238e-01 7.44755961e-01 -1.32058229e-02 3.01519861e+02] [-7.44602731e-01 -6.67336869e-01 -1.51087828e-02 2.75786776e+02] [-2.00650886e-02 -2.47582364e-04 9.99798645e-01 2.14303750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0607140569999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:301.51, Y:275.78, Z:2.14 [[-6.67766940e-01 7.44253161e-01 -1.32116086e-02 3.01512116e+02] [-7.44099933e-01 -6.67897573e-01 -1.51037219e-02 2.75783215e+02] [-2.00649941e-02 -2.55009103e-04 9.99798645e-01 2.14413827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0907140569999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:301.51, Y:275.79, Z:2.14 [[-6.68189531e-01 7.43874302e-01 -1.31823361e-02 3.01511382e+02] [-7.43720494e-01 -6.68319482e-01 -1.51293182e-02 2.75793826e+02] [-2.00643230e-02 -3.05278485e-04 9.99798645e-01 2.14376259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.120714057 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:301.50, Y:275.78, Z:2.14 [[-6.67889949e-01 7.44142761e-01 -1.32123571e-02 3.01497553e+02] [-7.43989525e-01 -6.68020572e-01 -1.51030554e-02 2.75784361e+02] [-2.00649557e-02 -2.57323621e-04 9.99798645e-01 2.14287075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.150714057 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:301.51, Y:275.80, Z:2.14 [[-6.66905278e-01 7.45025268e-01 -1.32174245e-02 3.01506335e+02] [-7.44872292e-01 -6.67036206e-01 -1.50986194e-02 2.75800120e+02] [-2.00653537e-02 -2.24055683e-04 9.99798645e-01 2.14345591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1807140569999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:301.51, Y:275.81, Z:2.14 [[-6.58922007e-01 7.52095031e-01 -1.32232121e-02 3.01512589e+02] [-7.51943562e-01 -6.59054675e-01 -1.50935489e-02 2.75813747e+02] [-2.00666029e-02 -2.36235049e-06 9.99798645e-01 2.14431580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2107140569999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:301.49, Y:275.81, Z:2.14 [[-6.63219991e-01 7.48310648e-01 -1.30544581e-02 3.01494222e+02] [-7.48155495e-01 -6.63348369e-01 -1.52413273e-02 2.75805433e+02] [-2.00649010e-02 -3.41588364e-04 9.99798621e-01 2.14385881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.240714057 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:301.49, Y:275.81, Z:2.14 [[-6.59738439e-01 7.51378828e-01 -1.32305925e-02 3.01488367e+02] [-7.51227349e-01 -6.59871091e-01 -1.50868651e-02 2.75812668e+02] [-2.00664365e-02 -1.42018858e-05 9.99798649e-01 2.14424578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.270714057 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:301.48, Y:275.81, Z:2.14 [[-6.58283774e-01 7.52653488e-01 -1.32363232e-02 3.01477972e+02] [-7.52502367e-01 -6.58416833e-01 -1.50818356e-02 2.75808955e+02] [-2.00664142e-02 3.22368232e-05 9.99798649e-01 2.14362620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3007140569999 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:301.49, Y:275.82, Z:2.14 [[-6.56626098e-01 7.54100004e-01 -1.32420585e-02 3.01485083e+02] [-7.53949277e-01 -6.56759604e-01 -1.50767982e-02 2.75824677e+02] [-2.00662627e-02 8.40212581e-05 9.99798649e-01 2.14433799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3307140569999 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:301.48, Y:275.82, Z:2.14 [[-6.55498415e-01 7.55080343e-01 -1.32477693e-02 3.01476739e+02] [-7.54929918e-01 -6.55632260e-01 -1.50717786e-02 2.75822598e+02] [-2.00660687e-02 1.21610473e-04 9.99798649e-01 2.14412716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3607140569999 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:301.46, Y:275.82, Z:2.14 [[-6.52894404e-01 7.57332980e-01 -1.32534474e-02 3.01459747e+02] [-7.57183118e-01 -6.53028880e-01 -1.50667838e-02 2.75815638e+02] [-2.00654562e-02 1.98267805e-04 9.99798649e-01 2.14495245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.390714057 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:301.47, Y:275.83, Z:2.15 [[-6.52390891e-01 7.57766679e-01 -1.32584402e-02 3.01465427e+02] [-7.57616995e-01 -6.52525565e-01 -1.50623890e-02 2.75828281e+02] [-2.00652477e-02 2.18254214e-04 9.99798649e-01 2.14549283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4207140569999 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:301.46, Y:275.83, Z:2.15 [[-6.51662532e-01 7.58393043e-01 -1.32641540e-02 3.01458804e+02] [-7.58243591e-01 -6.51797463e-01 -1.50573557e-02 2.75832301e+02] [-2.00649357e-02 2.45145198e-04 9.99798649e-01 2.14614565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4507140569999 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:301.45, Y:275.83, Z:2.15 [[-6.51802569e-01 7.58272591e-01 -1.32698304e-02 3.01451720e+02] [-7.58123217e-01 -6.51937585e-01 -1.50523515e-02 2.75829633e+02] [-2.00648868e-02 2.49005106e-04 9.99798649e-01 2.14601233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4807140569999 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:301.45, Y:275.83, Z:2.15 [[-6.52101602e-01 7.58015344e-01 -1.32755114e-02 3.01452003e+02] [-7.57866017e-01 -6.52236673e-01 -1.50473395e-02 2.75834953e+02] [-2.00648896e-02 2.48664765e-04 9.99798649e-01 2.14543642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.510714057 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:301.45, Y:275.84, Z:2.14 [[-6.52097589e-01 7.58018697e-01 -1.32811840e-02 3.01448524e+02] [-7.57869474e-01 -6.52232773e-01 -1.50423310e-02 2.75838872e+02] [-2.00647916e-02 2.56336164e-04 9.99798649e-01 2.14451779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.540714057 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:301.45, Y:275.84, Z:2.14 [[-6.52457902e-01 7.57708484e-01 -1.32868363e-02 3.01445927e+02] [-7.57559298e-01 -6.52593126e-01 -1.50373367e-02 2.75839061e+02] [-2.00648156e-02 2.54337187e-04 9.99798649e-01 2.14417517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5707140569999 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:301.44, Y:275.84, Z:2.14 [[-6.53251747e-01 7.57024085e-01 -1.32924792e-02 3.01442773e+02] [-7.56874859e-01 -6.53386927e-01 -1.50323469e-02 2.75840830e+02] [-2.00649808e-02 2.40836479e-04 9.99798649e-01 2.14371442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6007140569999 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:301.44, Y:275.84, Z:2.14 [[-6.53518790e-01 7.56793466e-01 -1.32981139e-02 3.01439606e+02] [-7.56644294e-01 -6.53654030e-01 -1.50273606e-02 2.75839777e+02] [-2.00649741e-02 2.41279492e-04 9.99798649e-01 2.14287698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.630714057 meters Centerline goodness : 0.997615 Centerline is valid? [True, True] Translation: X:301.44, Y:275.84, Z:2.14 [[-6.53417745e-01 7.56880612e-01 -1.33037449e-02 3.01435841e+02] [-7.56731559e-01 -6.53553116e-01 -1.50223738e-02 2.75841903e+02] [-2.00648474e-02 2.51477980e-04 9.99798649e-01 2.14345876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.660714057 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:301.45, Y:275.85, Z:2.14 [[-6.46447188e-01 7.62842640e-01 -1.33093721e-02 3.01450568e+02] [-7.62694938e-01 -6.46584032e-01 -1.50173866e-02 2.75853821e+02] [-2.00615303e-02 4.43043434e-04 9.99798649e-01 2.14151751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6907140569999 meters Centerline goodness : 0.998371 Centerline is valid? [True, True] Translation: X:301.43, Y:275.84, Z:2.14 [[-6.52610210e-01 7.57580335e-01 -1.31129419e-02 3.01431740e+02] [-7.57428008e-01 -6.52741936e-01 -1.51913778e-02 2.75842335e+02] [-2.00680562e-02 1.80612457e-05 9.99798616e-01 2.14269892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7207140569999 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:301.43, Y:275.84, Z:2.14 [[-6.51519397e-01 7.58515097e-01 -1.33162463e-02 3.01429374e+02] [-7.58366616e-01 -6.51655389e-01 -1.50110279e-02 2.75841865e+02] [-2.00636950e-02 3.18620786e-04 9.99798653e-01 2.14328964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.750714057 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:301.43, Y:275.84, Z:2.14 [[-6.50698635e-01 7.59219214e-01 -1.33218611e-02 3.01428139e+02] [-7.59070981e-01 -6.50834898e-01 -1.50060433e-02 2.75840917e+02] [-2.00632085e-02 3.47826303e-04 9.99798653e-01 2.14314402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.780714057 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:301.43, Y:275.84, Z:2.14 [[-6.50005272e-01 7.59812823e-01 -1.33274722e-02 3.01427147e+02] [-7.59664816e-01 -6.50141781e-01 -1.50010582e-02 2.75840697e+02] [-2.00627429e-02 3.73644843e-04 9.99798653e-01 2.14316330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8107140569999 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:301.43, Y:275.84, Z:2.14 [[-6.48461600e-01 7.61130595e-01 -1.33330751e-02 3.01426289e+02] [-7.60982968e-01 -6.48598520e-01 -1.49960766e-02 2.75844655e+02] [-2.00617855e-02 4.21863239e-04 9.99798653e-01 2.14343353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8407140569999 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:301.42, Y:275.84, Z:2.14 [[-6.47888217e-01 7.61618630e-01 -1.33386644e-02 3.01419949e+02] [-7.61471209e-01 -6.48025358e-01 -1.49911035e-02 2.75839618e+02] [-2.00612965e-02 4.44449598e-04 9.99798653e-01 2.14146112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.870714057 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:301.42, Y:275.84, Z:2.14 [[-6.46787230e-01 7.62553743e-01 -1.33442518e-02 3.01417594e+02] [-7.62406622e-01 -6.46924693e-01 -1.49861282e-02 2.75837013e+02] [-2.00604542e-02 4.80909563e-04 9.99798653e-01 2.14021456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.900714057 meters Centerline goodness : 0.997821 Centerline is valid? [True, True] Translation: X:301.43, Y:275.85, Z:2.14 [[-6.42316966e-01 7.66322755e-01 -1.33548245e-02 3.01431566e+02] [-7.66176636e-01 -6.42455493e-01 -1.49767074e-02 2.75845659e+02] [-2.00568720e-02 6.12361193e-04 9.99798653e-01 2.14247665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9307140569999 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:301.42, Y:275.84, Z:2.14 [[-6.48111050e-01 7.61431466e-01 -1.31980834e-02 3.01422223e+02] [-7.61281443e-01 -6.48245370e-01 -1.51163586e-02 2.75840363e+02] [-2.00656676e-02 2.50376899e-04 9.99798633e-01 2.14101047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9607140569999 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:301.42, Y:275.83, Z:2.14 [[-6.49231415e-01 7.60473664e-01 -1.33558028e-02 3.01416130e+02] [-7.60326317e-01 -6.49368632e-01 -1.49757001e-02 2.75832542e+02] [-2.00614649e-02 4.32073441e-04 9.99798655e-01 2.14131124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.990714057 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:301.42, Y:275.83, Z:2.14 [[-6.51978105e-01 7.58120059e-01 -1.33613800e-02 3.01416755e+02] [-7.57972319e-01 -6.52114899e-01 -1.49707224e-02 2.75832059e+02] [-2.00627599e-02 3.66972938e-04 9.99798655e-01 2.14328185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.020714057 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:301.41, Y:275.83, Z:2.14 [[-6.52828235e-01 7.57388025e-01 -1.33669634e-02 3.01414518e+02] [-7.57240233e-01 -6.52964973e-01 -1.49657355e-02 2.75828803e+02] [-2.00630277e-02 3.51947822e-04 9.99798655e-01 2.14343541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0507140569999 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:301.41, Y:275.82, Z:2.14 [[-6.53292566e-01 7.56987449e-01 -1.33725432e-02 3.01411371e+02] [-7.56839676e-01 -6.53429324e-01 -1.49607481e-02 2.75824307e+02] [-2.00631104e-02 3.47125756e-04 9.99798655e-01 2.14372811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0807140569999 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:301.41, Y:275.82, Z:2.15 [[-6.53005101e-01 7.57235342e-01 -1.33781310e-02 3.01411764e+02] [-7.57087723e-01 -6.53142025e-01 -1.49557497e-02 2.75823746e+02] [-2.00628418e-02 3.62237926e-04 9.99798655e-01 2.14545843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1107140569999 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:301.41, Y:275.82, Z:2.15 [[-6.52370257e-01 7.57782240e-01 -1.33837170e-02 3.01410652e+02] [-7.57634838e-01 -6.52507415e-01 -1.49507492e-02 2.75821272e+02] [-2.00623868e-02 3.86546159e-04 9.99798655e-01 2.14621751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.140714057 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:301.41, Y:275.82, Z:2.15 [[-6.52653098e-01 7.57538554e-01 -1.33892974e-02 3.01409062e+02] [-7.57391203e-01 -6.52790311e-01 -1.49457499e-02 2.75819381e+02] [-2.00623854e-02 3.86546133e-04 9.99798655e-01 2.14616697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1707140569999 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:301.41, Y:275.82, Z:2.15 [[-6.51884001e-01 7.58200387e-01 -1.33948760e-02 3.01408127e+02] [-7.58053278e-01 -6.52021473e-01 -1.49407485e-02 2.75815321e+02] [-2.00618281e-02 4.14394780e-04 9.99798655e-01 2.14695383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2007140569999 meters Centerline goodness : 0.998075 Centerline is valid? [True, True] Translation: X:301.41, Y:275.81, Z:2.15 [[-6.52152102e-01 7.57969699e-01 -1.34004545e-02 3.01405193e+02] [-7.57822644e-01 -6.52289632e-01 -1.49357434e-02 2.75810467e+02] [-2.00618185e-02 4.14791463e-04 9.99798655e-01 2.14655557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2307140569999 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:301.41, Y:275.81, Z:2.15 [[-6.52361279e-01 7.57789575e-01 -1.34060412e-02 3.01406955e+02] [-7.57642585e-01 -6.52498879e-01 -1.49307272e-02 2.75810618e+02] [-2.00617763e-02 4.16759361e-04 9.99798655e-01 2.14585775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.260714057 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:301.41, Y:275.81, Z:2.14 [[-6.52619135e-01 7.57567418e-01 -1.34116241e-02 3.01405055e+02] [-7.57420485e-01 -6.52756795e-01 -1.49257107e-02 2.75805379e+02] [-2.00617608e-02 4.17434442e-04 9.99798655e-01 2.14451830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.290714057 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:301.40, Y:275.80, Z:2.14 [[-6.53204727e-01 7.57062457e-01 -1.34172025e-02 3.01399745e+02] [-7.56915520e-01 -6.53342383e-01 -1.49206944e-02 2.75798787e+02] [-2.00619246e-02 4.09420680e-04 9.99798656e-01 2.14474758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3207140569999 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:301.40, Y:275.80, Z:2.14 [[-6.54474949e-01 7.55964530e-01 -1.34227971e-02 3.01399860e+02] [-7.55817465e-01 -6.54612468e-01 -1.49156597e-02 2.75798566e+02] [-2.00624400e-02 3.83258868e-04 9.99798656e-01 2.14492147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3507140569999 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:301.40, Y:275.79, Z:2.14 [[-6.56078103e-01 7.54573523e-01 -1.34283962e-02 3.01395225e+02] [-7.54426270e-01 -6.56215420e-01 -1.49106172e-02 2.75793538e+02] [-2.00630776e-02 3.48205433e-04 9.99798656e-01 2.14496706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.380714057 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:301.40, Y:275.79, Z:2.15 [[-6.57499694e-01 7.53335038e-01 -1.34339971e-02 3.01396991e+02] [-7.53187629e-01 -6.57636845e-01 -1.49055693e-02 2.75794683e+02] [-2.00635791e-02 3.17913192e-04 9.99798656e-01 2.14520094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.410714057 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:301.40, Y:275.79, Z:2.15 [[-6.60050163e-01 7.51101298e-01 -1.34395961e-02 3.01397975e+02] [-7.50953527e-01 -6.60186924e-01 -1.49005192e-02 2.75794987e+02] [-2.00644449e-02 2.57421938e-04 9.99798656e-01 2.14551228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4407140569999 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:301.40, Y:275.79, Z:2.15 [[-6.60988828e-01 7.50275280e-01 -1.34451777e-02 3.01397148e+02] [-7.50127441e-01 -6.61125515e-01 -1.48954811e-02 2.75794043e+02] [-2.00646613e-02 2.39850129e-04 9.99798656e-01 2.14547601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4707140569999 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:301.39, Y:275.79, Z:2.15 [[-6.61516097e-01 7.49810330e-01 -1.34507492e-02 3.01393645e+02] [-7.49662497e-01 -6.61652791e-01 -1.48904482e-02 2.75790483e+02] [-2.00647377e-02 2.33251042e-04 9.99798656e-01 2.14563910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.500714057 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:301.39, Y:275.79, Z:2.15 [[-6.62073925e-01 7.49317720e-01 -1.34563207e-02 3.01391563e+02] [-7.49169888e-01 -6.62210619e-01 -1.48854116e-02 2.75791021e+02] [-2.00648212e-02 2.25827366e-04 9.99798656e-01 2.14685180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.530714057 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:301.39, Y:275.79, Z:2.15 [[-6.62543291e-01 7.48902641e-01 -1.34618921e-02 3.01387238e+02] [-7.48754826e-01 -6.62680003e-01 -1.48803713e-02 2.75787613e+02] [-2.00648761e-02 2.20766525e-04 9.99798656e-01 2.14732390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5607140569999 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:301.38, Y:275.78, Z:2.15 [[-6.63378856e-01 7.48162497e-01 -1.34674635e-02 3.01383008e+02] [-7.48014631e-01 -6.63515513e-01 -1.48753273e-02 2.75784305e+02] [-2.00650329e-02 2.05882167e-04 9.99798656e-01 2.14808791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5907140569999 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:301.38, Y:275.79, Z:2.15 [[-6.63785668e-01 7.47801487e-01 -1.34730456e-02 3.01383498e+02] [-7.47653650e-01 -6.63922356e-01 -1.48702696e-02 2.75785031e+02] [-2.00650659e-02 2.02499878e-04 9.99798656e-01 2.14811936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.620714057 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:301.38, Y:275.78, Z:2.15 [[-6.63872779e-01 7.47724053e-01 -1.34786259e-02 3.01382090e+02] [-7.47576303e-01 -6.64009561e-01 -1.48652099e-02 2.75783018e+02] [-2.00650115e-02 2.07693056e-04 9.99798656e-01 2.14832709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.650714057 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:301.38, Y:275.78, Z:2.15 [[-6.64006974e-01 7.47604785e-01 -1.34841960e-02 3.01379361e+02] [-7.47457113e-01 -6.64143840e-01 -1.48601555e-02 2.75780458e+02] [-2.00649691e-02 2.11611334e-04 9.99798656e-01 2.14860707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6807140569999 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:301.38, Y:275.78, Z:2.15 [[-6.62279461e-01 7.49135463e-01 -1.34897661e-02 3.01376299e+02] [-7.48988210e-01 -6.62416778e-01 -1.48550974e-02 2.75779367e+02] [-2.00643277e-02 2.65449900e-04 9.99798656e-01 2.14946122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7107140569999 meters Centerline goodness : 0.997637 Centerline is valid? [True, True] Translation: X:301.38, Y:275.78, Z:2.15 [[-6.61263229e-01 7.50032544e-01 -1.34953380e-02 3.01377080e+02] [-7.49885581e-01 -6.61400856e-01 -1.48500338e-02 2.75782992e+02] [-2.00638367e-02 3.00178032e-04 9.99798656e-01 2.15019760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.740714057 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:301.38, Y:275.79, Z:2.15 [[-6.57479652e-01 7.53351334e-01 -1.35008980e-02 3.01377818e+02] [-7.53205169e-01 -6.57618127e-01 -1.48449772e-02 2.75788052e+02] [-2.00619186e-02 4.08675663e-04 9.99798656e-01 2.15145544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.770714057 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:301.39, Y:275.80, Z:2.16 [[-6.53424665e-01 7.56871048e-01 -1.35064309e-02 3.01390162e+02] [-7.56725733e-01 -6.53564030e-01 -1.48399415e-02 2.75799324e+02] [-2.00592395e-02 5.23879966e-04 9.99798656e-01 2.15649330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8007140569999 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:301.38, Y:275.79, Z:2.15 [[-6.52474135e-01 7.57691589e-01 -1.34521307e-02 3.01375005e+02] [-7.57545429e-01 -6.52612619e-01 -1.48893736e-02 2.75786124e+02] [-2.00605833e-02 4.75668939e-04 9.99798653e-01 2.15144562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8307140569999 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:301.38, Y:275.80, Z:2.15 [[-6.47365704e-01 7.62059759e-01 -1.35118102e-02 3.01382803e+02] [-7.61915663e-01 -6.47506329e-01 -1.48350172e-02 2.75796835e+02] [-2.00541523e-02 6.91178449e-04 9.99798656e-01 2.15109144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8607140569999 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:301.38, Y:275.79, Z:2.15 [[-6.39848309e-01 7.68382343e-01 -1.35173003e-02 3.01377740e+02] [-7.68239740e-01 -6.39990448e-01 -1.48300131e-02 2.75786337e+02] [-2.00460633e-02 8.95568464e-04 9.99798656e-01 2.15191479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.890714057 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:301.38, Y:275.80, Z:2.15 [[-6.41904675e-01 7.66667889e-01 -1.33692292e-02 3.01379783e+02] [-7.66522089e-01 -6.42043562e-01 -1.49649755e-02 2.75796926e+02] [-2.00567938e-02 6.41721768e-04 9.99798636e-01 2.15076560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9207140569999 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:301.38, Y:275.80, Z:2.15 [[-6.41226949e-01 7.67232099e-01 -1.35243105e-02 3.01379213e+02] [-7.67089377e-01 -6.41368967e-01 -1.48234866e-02 2.75795819e+02] [-2.00471278e-02 8.69135854e-04 9.99798658e-01 2.15125532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9507140569999 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:301.37, Y:275.78, Z:2.15 [[-6.41526434e-01 7.66981604e-01 -1.35297561e-02 3.01369914e+02] [-7.66838931e-01 -6.41668501e-01 -1.48185146e-02 2.75784625e+02] [-2.00471464e-02 8.68674885e-04 9.99798658e-01 2.15186094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9807140569999 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:301.38, Y:275.79, Z:2.15 [[-6.43492573e-01 7.65332677e-01 -1.35352208e-02 3.01375456e+02] [-7.65189745e-01 -6.43634379e-01 -1.48135215e-02 2.75786878e+02] [-2.00490055e-02 8.24621082e-04 9.99798658e-01 2.15283989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.010714057 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:301.37, Y:275.78, Z:2.15 [[-6.45608885e-01 7.63548176e-01 -1.35406915e-02 3.01370655e+02] [-7.63404957e-01 -6.45750401e-01 -1.48085192e-02 2.75778991e+02] [-2.00509248e-02 7.76519457e-04 9.99798658e-01 2.15290986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.040714057 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:301.37, Y:275.77, Z:2.15 [[-6.51061900e-01 7.58903752e-01 -1.35461560e-02 3.01368161e+02] [-7.58759626e-01 -6.51202492e-01 -1.48035188e-02 2.75771414e+02] [-2.00557365e-02 6.40269206e-04 9.99798658e-01 2.15394474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0707140569999 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:301.37, Y:275.77, Z:2.15 [[-6.54373477e-01 7.56050068e-01 -1.35516424e-02 3.01369679e+02] [-7.55905433e-01 -6.54513545e-01 -1.47984947e-02 2.75770617e+02] [-2.00581364e-02 5.60017667e-04 9.99798659e-01 2.15489038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1007140569999 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:301.36, Y:275.76, Z:2.15 [[-6.57954345e-01 7.52935777e-01 -1.35571304e-02 3.01362947e+02] [-7.52790582e-01 -6.58093833e-01 -1.47934653e-02 2.75761118e+02] [-2.00603932e-02 4.72255326e-04 9.99798659e-01 2.15474976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.130714057 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:301.36, Y:275.75, Z:2.15 [[-6.61120729e-01 7.50156941e-01 -1.35626281e-02 3.01355371e+02] [-7.50011263e-01 -6.61259713e-01 -1.47884233e-02 2.75750262e+02] [-2.00620580e-02 3.95190638e-04 9.99798659e-01 2.15489127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.160714057 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:301.38, Y:275.76, Z:2.15 [[-6.57958946e-01 7.52931558e-01 -1.35681632e-02 3.01380478e+02] [-7.52786571e-01 -6.58098649e-01 -1.47833432e-02 2.75763645e+02] [-2.00600355e-02 4.87098150e-04 9.99798659e-01 2.15376762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1907140569999 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:301.36, Y:275.75, Z:2.15 [[-6.69031564e-01 7.43114414e-01 -1.33317189e-02 3.01357268e+02] [-7.42963015e-01 -6.69164368e-01 -1.50002336e-02 2.75746959e+02] [-2.00680011e-02 -1.30655699e-04 9.99798609e-01 2.15426793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2207140569999 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:301.37, Y:275.76, Z:2.16 [[-6.69294673e-01 7.42873054e-01 -1.35744843e-02 3.01372159e+02] [-7.42726090e-01 -6.69432289e-01 -1.47772288e-02 2.75757676e+02] [-2.00648032e-02 1.91803088e-04 9.99798663e-01 2.15962792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.250714057 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:301.37, Y:275.75, Z:2.16 [[-6.70475172e-01 7.41809548e-01 -1.34773309e-02 3.01368325e+02] [-7.41660566e-01 -6.70610613e-01 -1.48664396e-02 2.75753847e+02] [-2.00661080e-02 2.80262515e-05 9.99798655e-01 2.15926136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.280714057 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:301.35, Y:275.73, Z:2.15 [[-6.74540311e-01 7.38115110e-01 -1.34704245e-02 3.01345811e+02] [-7.37965260e-01 -6.74674793e-01 -1.48727844e-02 2.75734328e+02] [-2.00659828e-02 -9.15873301e-05 9.99798654e-01 2.15113872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3107140569999 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:301.37, Y:275.76, Z:2.16 [[-6.69565941e-01 7.42628418e-01 -1.35824649e-02 3.01368384e+02] [-7.42481555e-01 -6.69703662e-01 -1.47697509e-02 2.75755888e+02] [-2.00646632e-02 1.95407534e-04 9.99798665e-01 2.15772121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3407140569999 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:301.34, Y:275.74, Z:2.15 [[-6.75417428e-01 7.37313691e-01 -1.34096823e-02 3.01342754e+02] [-7.37162570e-01 -6.75550503e-01 -1.49285911e-02 2.75736691e+02] [-2.00659722e-02 -1.97914757e-04 9.99798639e-01 2.14986707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.370714057 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:301.34, Y:275.74, Z:2.15 [[-6.75617769e-01 7.37126827e-01 -1.35893950e-02 3.01342036e+02] [-7.36978975e-01 -6.75754422e-01 -1.47631676e-02 2.75737857e+02] [-2.00654207e-02 4.08400143e-05 9.99798668e-01 2.14918739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.400714057 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:301.34, Y:275.74, Z:2.15 [[-6.77080503e-01 7.35783371e-01 -1.35949649e-02 3.01336040e+02] [-7.35635351e-01 -6.77216975e-01 -1.47580367e-02 2.75737495e+02] [-2.00654590e-02 8.55789723e-06 9.99798668e-01 2.14793850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4307140569999 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:301.33, Y:275.74, Z:2.15 [[-6.78050207e-01 7.34889748e-01 -1.36005302e-02 3.01331832e+02] [-7.34741651e-01 -6.78186595e-01 -1.47529061e-02 2.75735847e+02] [-2.00654567e-02 -1.03349813e-05 9.99798668e-01 2.14742674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4607140569999 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:301.36, Y:275.76, Z:2.15 [[-6.68372806e-01 7.43702001e-01 -1.36061000e-02 3.01358263e+02] [-7.43555807e-01 -6.68511231e-01 -1.47477675e-02 2.75758626e+02] [-2.00637748e-02 2.59887895e-04 9.99798668e-01 2.14878453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.490714057 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:301.37, Y:275.77, Z:2.15 [[-6.59428057e-01 7.51650669e-01 -1.32631378e-02 3.01371686e+02] [-7.51499709e-01 -6.59561424e-01 -1.50637256e-02 2.75767382e+02] [-2.00705135e-02 3.38008614e-05 9.99798566e-01 2.15143340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.520714057 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:301.34, Y:275.75, Z:2.15 [[-6.69262001e-01 7.42912482e-01 -1.30160846e-02 3.01343654e+02] [-7.42755313e-01 -6.69388321e-01 -1.52912253e-02 2.75749987e+02] [-2.00728571e-02 -5.66070031e-04 9.99798360e-01 2.14993007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5507140569999 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:301.32, Y:275.74, Z:2.15 [[-6.80298311e-01 7.32815521e-01 -1.32522103e-02 3.01316146e+02] [-7.32660685e-01 -6.80427157e-01 -1.50733502e-02 2.75740736e+02] [-2.00631488e-02 -5.45001237e-04 9.99798566e-01 2.14787612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5807140569999 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:301.34, Y:275.76, Z:2.15 [[-6.68364391e-01 7.43709256e-01 -1.36228886e-02 3.01338373e+02] [-7.43563413e-01 -6.68503150e-01 -1.47305485e-02 2.75755973e+02] [-2.00621892e-02 2.84107502e-04 9.99798694e-01 2.14955168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6107140569999 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:301.31, Y:275.74, Z:2.15 [[-6.79338877e-01 7.33705326e-01 -1.32357775e-02 3.01309606e+02] [-7.33550371e-01 -6.79467588e-01 -1.50880825e-02 2.75743230e+02] [-2.00634883e-02 -5.40811562e-04 9.99798562e-01 2.14972468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.640714057 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:301.30, Y:275.74, Z:2.15 [[-6.78379170e-01 7.34585300e-01 -1.36432667e-02 3.01304833e+02] [-7.34437984e-01 -6.78516349e-01 -1.47109637e-02 2.75743411e+02] [-2.00636372e-02 4.05219933e-05 9.99798704e-01 2.14782492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6707140569999 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:301.30, Y:275.75, Z:2.15 [[-6.75270001e-01 7.37444664e-01 -1.36306298e-02 3.01302510e+02] [-7.37297692e-01 -6.75407548e-01 -1.47226633e-02 2.75749690e+02] [-2.00633797e-02 1.08059066e-04 9.99798704e-01 2.14791566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7007140569999 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:301.30, Y:275.75, Z:2.15 [[-6.73461132e-01 7.39096853e-01 -1.36361881e-02 3.01300311e+02] [-7.38950323e-01 -6.73599150e-01 -1.47175133e-02 2.75750536e+02] [-2.00629925e-02 1.64792416e-04 9.99798704e-01 2.14726971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7307140569999 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:301.30, Y:275.76, Z:2.15 [[-6.69054905e-01 7.43087773e-01 -1.36417308e-02 3.01299936e+02] [-7.42942171e-01 -6.69193901e-01 -1.47123740e-02 2.75757770e+02] [-2.00615483e-02 2.91631142e-04 9.99798704e-01 2.14697416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.760714057 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:301.30, Y:275.76, Z:2.15 [[-6.67067705e-01 7.44872089e-01 -1.36472536e-02 3.01297357e+02] [-7.44726964e-01 -6.67207199e-01 -1.47072493e-02 2.75759716e+02] [-2.00605653e-02 3.52746679e-04 9.99798704e-01 2.14586711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.790714057 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:301.30, Y:275.76, Z:2.15 [[-6.63960371e-01 7.47643116e-01 -1.36527547e-02 3.01295318e+02] [-7.47498677e-01 -6.64100576e-01 -1.47021408e-02 2.75760310e+02] [-2.00587566e-02 4.43777164e-04 9.99798704e-01 2.14783182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8207140569999 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:301.29, Y:275.76, Z:2.15 [[-6.61610190e-01 7.49723711e-01 -1.36496825e-02 3.01291937e+02] [-7.49579655e-01 -6.61750787e-01 -1.47049944e-02 2.75762984e+02] [-2.00573711e-02 5.02550206e-04 9.99798704e-01 2.14683434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8507140569999 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:301.32, Y:275.78, Z:2.15 [[-6.52704289e-01 7.57489621e-01 -1.36596194e-02 3.01315666e+02] [-7.57347429e-01 -6.52846771e-01 -1.46957581e-02 2.75779930e+02] [-2.00495227e-02 7.53093281e-04 9.99798704e-01 2.15234454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.880714057 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:301.29, Y:275.77, Z:2.15 [[-6.60982042e-01 7.50281109e-01 -1.34535522e-02 3.01292418e+02] [-7.50133440e-01 -6.61118896e-01 -1.48872090e-02 2.75766010e+02] [-2.00639893e-02 2.51781587e-04 9.99798666e-01 2.14549903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.910714057 meters Centerline goodness : 0.997482 Centerline is valid? [True, True] Translation: X:301.29, Y:275.77, Z:2.14 [[-6.61627496e-01 7.49708151e-01 -1.36654818e-02 3.01292362e+02] [-7.49564399e-01 -6.61768399e-01 -1.46900619e-02 2.75767554e+02] [-2.00566432e-02 5.23809742e-04 9.99798708e-01 2.14376214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9407140569999 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:301.29, Y:275.77, Z:2.14 [[-6.62307684e-01 7.49107260e-01 -1.36691345e-02 3.01289886e+02] [-7.48963450e-01 -6.62448528e-01 -1.46866617e-02 2.75765987e+02] [-2.00569830e-02 5.10593257e-04 9.99798708e-01 2.14321866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9707140569999 meters Centerline goodness : 0.997473 Centerline is valid? [True, True] Translation: X:301.28, Y:275.76, Z:2.14 [[-6.64498218e-01 7.47164681e-01 -1.36769573e-02 3.01282819e+02] [-7.47020609e-01 -6.64638794e-01 -1.46793746e-02 2.75761837e+02] [-2.00581466e-02 4.62550703e-04 9.99798708e-01 2.14145260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.000714057 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:301.28, Y:275.76, Z:2.14 [[-6.66433150e-01 7.45439268e-01 -1.36804401e-02 3.01280449e+02] [-7.45294899e-01 -6.66573420e-01 -1.46761280e-02 2.75760820e+02] [-2.00591799e-02 4.15303976e-04 9.99798708e-01 2.14169562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.030714057 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:301.28, Y:275.76, Z:2.14 [[-6.66710664e-01 7.45190973e-01 -1.36859038e-02 3.01278837e+02] [-7.45046656e-01 -6.66850989e-01 -1.46710312e-02 2.75758977e+02] [-2.00591785e-02 4.15303947e-04 9.99798708e-01 2.14164509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0607140569999 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:301.27, Y:275.75, Z:2.14 [[-6.68502219e-01 7.43584111e-01 -1.36913657e-02 3.01273189e+02] [-7.43439561e-01 -6.68642303e-01 -1.46659323e-02 2.75753437e+02] [-2.00599805e-02 3.74494631e-04 9.99798708e-01 2.14109450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0907140569999 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:301.27, Y:275.75, Z:2.14 [[-6.71794078e-01 7.40611310e-01 -1.36968354e-02 3.01270170e+02] [-7.40466244e-01 -6.71933629e-01 -1.46608223e-02 2.75750919e+02] [-2.00613351e-02 2.92990659e-04 9.99798708e-01 2.13992379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.120714057 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:301.27, Y:275.75, Z:2.14 [[-6.73248234e-01 7.39289565e-01 -1.37023173e-02 3.01266948e+02] [-7.39144330e-01 -6.73387608e-01 -1.46556969e-02 2.75747442e+02] [-2.00617745e-02 2.61068036e-04 9.99798708e-01 2.14007539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.150714057 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:301.26, Y:275.74, Z:2.14 [[-6.74449517e-01 7.38193704e-01 -1.37078045e-02 3.01262712e+02] [-7.38048347e-01 -6.74588763e-01 -1.46505629e-02 2.75743909e+02] [-2.00620841e-02 2.35957372e-04 9.99798708e-01 2.14067246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1807140569999 meters Centerline goodness : 0.997752 Centerline is valid? [True, True] Translation: X:301.26, Y:275.74, Z:2.14 [[-6.75405148e-01 7.37319356e-01 -1.37132995e-02 3.01261030e+02] [-7.37173922e-01 -6.75544314e-01 -1.46454175e-02 2.75744906e+02] [-2.00622913e-02 2.17496417e-04 9.99798708e-01 2.14112073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2107140569999 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:301.26, Y:275.74, Z:2.14 [[-6.75623417e-01 7.37119266e-01 -1.37181005e-02 3.01259260e+02] [-7.36973882e-01 -6.75762636e-01 -1.46409192e-02 2.75744994e+02] [-2.00622833e-02 2.18133923e-04 9.99798708e-01 2.14216876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.240714057 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:301.26, Y:275.74, Z:2.14 [[-6.74241346e-01 7.38383552e-01 -1.37235901e-02 3.01257235e+02] [-7.38238534e-01 -6.74380946e-01 -1.46357717e-02 2.75742017e+02] [-2.00617408e-02 2.63240677e-04 9.99798708e-01 2.14253878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.270714057 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:301.25, Y:275.74, Z:2.14 [[-6.75868914e-01 7.36894149e-01 -1.37194828e-02 3.01252326e+02] [-7.36748746e-01 -6.76008112e-01 -1.46396240e-02 2.75741874e+02] [-2.00623350e-02 2.13344989e-04 9.99798708e-01 2.14310566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3007140569999 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] Translation: X:301.25, Y:275.74, Z:2.14 [[-6.76166728e-01 7.36620695e-01 -1.37297824e-02 3.01252836e+02] [-7.36475432e-01 -6.76306072e-01 -1.46299581e-02 2.75743282e+02] [-2.00622652e-02 2.19356523e-04 9.99798708e-01 2.14275497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3307140569999 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:301.25, Y:275.74, Z:2.14 [[-6.76456620e-01 7.36354388e-01 -1.37352742e-02 3.01248986e+02] [-7.36209174e-01 -6.76596015e-01 -1.46248004e-02 2.75739878e+02] [-2.00622677e-02 2.18991851e-04 9.99798708e-01 2.14178084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3607140569999 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:301.24, Y:275.73, Z:2.14 [[-6.77272175e-01 7.35604236e-01 -1.37407623e-02 3.01243190e+02] [-7.35458972e-01 -6.77411519e-01 -1.46196423e-02 2.75734440e+02] [-2.00624214e-02 2.04289968e-04 9.99798709e-01 2.14107034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.390714057 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:301.24, Y:275.73, Z:2.14 [[-6.77298664e-01 7.35579744e-01 -1.37462636e-02 3.01238706e+02] [-7.35434580e-01 -6.77438112e-01 -1.46144677e-02 2.75729323e+02] [-2.00623493e-02 2.11118150e-04 9.99798709e-01 2.14118271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4207140569999 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:301.24, Y:275.74, Z:2.14 [[-6.79111431e-01 7.33906214e-01 -1.37598324e-02 3.01244022e+02] [-7.33760966e-01 -6.79250790e-01 -1.46016974e-02 2.75737329e+02] [-2.00626535e-02 1.80248231e-04 9.99798708e-01 2.14023091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4507140569999 meters Centerline goodness : 0.997224 Centerline is valid? [True, True] Translation: X:301.24, Y:275.73, Z:2.14 [[-6.81999651e-01 7.31223178e-01 -1.37528166e-02 3.01239346e+02] [-7.31077247e-01 -6.82138297e-01 -1.46083024e-02 2.75734063e+02] [-2.00632522e-02 9.15141338e-05 9.99798709e-01 2.13948584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4807140569999 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:301.24, Y:275.73, Z:2.14 [[-6.83847161e-01 7.29495558e-01 -1.37583038e-02 3.01235711e+02] [-7.29349381e-01 -6.83985547e-01 -1.46031326e-02 2.75730611e+02] [-2.00634013e-02 4.82995910e-05 9.99798709e-01 2.13754401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.510714057 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:301.23, Y:275.73, Z:2.14 [[-6.85595297e-01 7.27852764e-01 -1.37637989e-02 3.01231910e+02] [-7.27706360e-01 -6.85733442e-01 -1.45979515e-02 2.75728147e+02] [-2.00634565e-02 7.71715731e-06 9.99798709e-01 2.13621680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.540714057 meters Centerline goodness : 0.996867 Centerline is valid? [True, True] Translation: X:301.23, Y:275.73, Z:2.14 [[-6.85689117e-01 7.27764276e-01 -1.37693020e-02 3.01228473e+02] [-7.27617958e-01 -6.85827353e-01 -1.45927589e-02 2.75726309e+02] [-2.00634526e-02 1.26954660e-05 9.99798709e-01 2.13622408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5707140569999 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:301.23, Y:275.73, Z:2.14 [[-6.85416457e-01 7.28020972e-01 -1.37748094e-02 3.01225081e+02] [-7.27874810e-01 -6.85554858e-01 -1.45875583e-02 2.75725790e+02] [-2.00634359e-02 2.77842577e-05 9.99798709e-01 2.13666593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6007140569999 meters Centerline goodness : 0.996906 Centerline is valid? [True, True] Translation: X:301.23, Y:275.73, Z:2.14 [[-6.83087591e-01 7.30206441e-01 -1.37803185e-02 3.01225065e+02] [-7.30060827e-01 -6.83226569e-01 -1.45823523e-02 2.75731914e+02] [-2.00632073e-02 9.94468519e-05 9.99798709e-01 2.13744172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.630714057 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:301.22, Y:275.73, Z:2.14 [[-6.81886450e-01 7.31328121e-01 -1.37858121e-02 3.01223284e+02] [-7.31182841e-01 -6.82025777e-01 -1.45771569e-02 2.75732148e+02] [-2.00629640e-02 1.39983478e-04 9.99798709e-01 2.13782985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.660714057 meters Centerline goodness : 0.996007 Centerline is valid? [True, True] Translation: X:301.26, Y:275.76, Z:2.14 [[-6.66785822e-01 7.45121781e-01 -1.37912876e-02 3.01262072e+02] [-7.44979488e-01 -6.66928197e-01 -1.45719747e-02 2.75759478e+02] [-2.00556944e-02 5.57840259e-04 9.99798709e-01 2.14049458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6907140569999 meters Centerline goodness : 0.996095 Centerline is valid? [True, True] Translation: X:301.22, Y:275.74, Z:2.14 [[-6.77992484e-01 7.34947204e-01 -1.33715576e-02 3.01222238e+02] [-7.34794826e-01 -6.78124253e-01 -1.49686716e-02 2.75735817e+02] [-2.00687608e-02 -3.23295517e-04 9.99798550e-01 2.13889220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7207140569999 meters Centerline goodness : 0.996878 Centerline is valid? [True, True] Translation: X:301.22, Y:275.73, Z:2.14 [[-6.76878767e-01 7.35965202e-01 -1.37969267e-02 3.01219524e+02] [-7.35821108e-01 -6.77019302e-01 -1.45657597e-02 2.75734339e+02] [-2.00606779e-02 2.92816436e-04 9.99798721e-01 2.13910409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.750714057 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:301.22, Y:275.74, Z:2.14 [[-6.74566699e-01 7.38084862e-01 -1.38023766e-02 3.01219744e+02] [-7.37941315e-01 -6.74707792e-01 -1.45605936e-02 2.75736941e+02] [-2.00595247e-02 3.63252407e-04 9.99798722e-01 2.14068135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.780714057 meters Centerline goodness : 0.996239 Centerline is valid? [True, True] Translation: X:301.22, Y:275.74, Z:2.14 [[-6.73298601e-01 7.39241732e-01 -1.38078166e-02 3.01218383e+02] [-7.39098533e-01 -6.73440048e-01 -1.45554329e-02 2.75736367e+02] [-2.00587202e-02 4.05184390e-04 9.99798722e-01 2.14003663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8107140569999 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:301.22, Y:275.74, Z:2.14 [[-6.72246691e-01 7.40198338e-01 -1.38132433e-02 3.01217896e+02] [-7.40055447e-01 -6.72388448e-01 -1.45502812e-02 2.75736874e+02] [-2.00579592e-02 4.41187576e-04 9.99798722e-01 2.14036143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8407140569999 meters Centerline goodness : 0.996790 Centerline is valid? [True, True] Translation: X:301.22, Y:275.74, Z:2.14 [[-6.69928168e-01 7.42297309e-01 -1.38186619e-02 3.01217488e+02] [-7.42154967e-01 -6.70070477e-01 -1.45451332e-02 2.75737385e+02] [-2.00562906e-02 5.11394167e-04 9.99798722e-01 2.14126141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.870714057 meters Centerline goodness : 0.996454 Centerline is valid? [True, True] Translation: X:301.22, Y:275.74, Z:2.14 [[-6.69073337e-01 7.43067806e-01 -1.38240690e-02 3.01216967e+02] [-7.42925734e-01 -6.69215916e-01 -1.45399923e-02 2.75736340e+02] [-2.00554872e-02 5.41935445e-04 9.99798722e-01 2.14083434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.900714057 meters Centerline goodness : 0.996622 Centerline is valid? [True, True] Translation: X:301.21, Y:275.73, Z:2.14 [[-6.68899112e-01 7.43224545e-01 -1.38294672e-02 3.01213053e+02] [-7.43082612e-01 -6.69041829e-01 -1.45348561e-02 2.75731669e+02] [-2.00551539e-02 5.54084249e-04 9.99798722e-01 2.14146391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9307140569999 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:301.20, Y:275.72, Z:2.14 [[-6.69169536e-01 7.42980974e-01 -1.38348670e-02 3.01203105e+02] [-7.42839096e-01 -6.69312307e-01 -1.45297146e-02 2.75718543e+02] [-2.00551482e-02 5.54237681e-04 9.99798722e-01 2.13979082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9607140569999 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:301.22, Y:275.73, Z:2.14 [[-6.69036068e-01 7.43101060e-01 -1.38402998e-02 3.01215556e+02] [-7.42959314e-01 -6.69178971e-01 -1.45245377e-02 2.75730020e+02] [-2.00548369e-02 5.65340086e-04 9.99798722e-01 2.13940836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.990714057 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:301.21, Y:275.72, Z:2.14 [[-6.67658245e-01 7.44339146e-01 -1.38457185e-02 3.01211264e+02] [-7.44197772e-01 -6.67801515e-01 -1.45193704e-02 2.75724845e+02] [-2.00535276e-02 6.09975478e-04 9.99798722e-01 2.13734711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.020714057 meters Centerline goodness : 0.997081 Centerline is valid? [True, True] Translation: X:301.22, Y:275.73, Z:2.14 [[-6.66805665e-01 7.45102913e-01 -1.38511064e-02 3.01215321e+02] [-7.44961810e-01 -6.66949202e-01 -1.45142286e-02 2.75728567e+02] [-2.00525784e-02 6.40375435e-04 9.99798722e-01 2.13693521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0507140569999 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:301.21, Y:275.73, Z:2.14 [[-6.65406397e-01 7.46352681e-01 -1.38564872e-02 3.01213669e+02] [-7.46211955e-01 -6.65550303e-01 -1.45090899e-02 2.75725576e+02] [-2.00510874e-02 6.85435224e-04 9.99798722e-01 2.13704811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0807140569999 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:301.22, Y:275.73, Z:2.14 [[-6.63839856e-01 7.47746277e-01 -1.38618524e-02 3.01216509e+02] [-7.47605959e-01 -6.63984161e-01 -1.45039623e-02 2.75726969e+02] [-2.00493342e-02 7.34895195e-04 9.99798722e-01 2.13682681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1107140569999 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:301.22, Y:275.73, Z:2.14 [[-6.59792548e-01 7.51319835e-01 -1.38672061e-02 3.01218892e+02] [-7.51180405e-01 -6.59937711e-01 -1.44988417e-02 2.75726691e+02] [-2.00447596e-02 8.50545786e-04 9.99798722e-01 2.13647958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.140714057 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:301.22, Y:275.72, Z:2.14 [[-6.58000016e-01 7.52890119e-01 -1.38725417e-02 3.01218289e+02] [-7.52751143e-01 -6.58145614e-01 -1.44937348e-02 2.75724785e+02] [-2.00423422e-02 9.05693893e-04 9.99798722e-01 2.13638522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1707140569999 meters Centerline goodness : 0.997050 Centerline is valid? [True, True] Translation: X:301.22, Y:275.72, Z:2.14 [[-6.55038915e-01 7.55467686e-01 -1.38778661e-02 3.01220774e+02] [-7.55329391e-01 -6.55185158e-01 -1.44886349e-02 2.75724051e+02] [-2.00382674e-02 9.91740450e-04 9.99798722e-01 2.13756658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2007140569999 meters Centerline goodness : 0.996768 Centerline is valid? [True, True] Translation: X:301.22, Y:275.72, Z:2.14 [[-6.53878429e-01 7.56472245e-01 -1.38831810e-02 3.01222585e+02] [-7.56334281e-01 -6.54024986e-01 -1.44835403e-02 2.75723552e+02] [-2.00363435e-02 1.02985108e-03 9.99798722e-01 2.13791141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2307140569999 meters Centerline goodness : 0.997238 Centerline is valid? [True, True] Translation: X:301.22, Y:275.72, Z:2.14 [[-6.53142730e-01 7.57107446e-01 -1.38884805e-02 3.01220300e+02] [-7.56969732e-01 -6.53289522e-01 -1.44784568e-02 2.75718120e+02] [-2.00349462e-02 1.05666058e-03 9.99798722e-01 2.13894062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.260714057 meters Centerline goodness : 0.997309 Centerline is valid? [True, True] Translation: X:301.22, Y:275.71, Z:2.14 [[-6.52273632e-01 7.57856234e-01 -1.38937782e-02 3.01219741e+02] [-7.57718797e-01 -6.52420682e-01 -1.44733712e-02 2.75709450e+02] [-2.00333228e-02 1.08697845e-03 9.99798722e-01 2.13845993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.290714057 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:301.23, Y:275.71, Z:2.14 [[-6.52339054e-01 7.57799825e-01 -1.38990874e-02 3.01226537e+02] [-7.57662483e-01 -6.52486193e-01 -1.44682708e-02 2.75712526e+02] [-2.00330157e-02 1.09259898e-03 9.99798722e-01 2.13790946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3207140569999 meters Centerline goodness : 0.997660 Centerline is valid? [True, True] Translation: X:301.22, Y:275.70, Z:2.14 [[-6.51957842e-01 7.58127720e-01 -1.39043855e-02 3.01223249e+02] [-7.57990560e-01 -6.52105151e-01 -1.44631774e-02 2.75702661e+02] [-2.00320571e-02 1.11001105e-03 9.99798722e-01 2.13750300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3507140569999 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:301.23, Y:275.71, Z:2.14 [[-6.51767587e-01 7.58291193e-01 -1.39096759e-02 3.01228711e+02] [-7.58154178e-01 -6.51915030e-01 -1.44580877e-02 2.75705137e+02] [-2.00313674e-02 1.12236598e-03 9.99798722e-01 2.13715874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.380714057 meters Centerline goodness : 0.997594 Centerline is valid? [True, True] Translation: X:301.23, Y:275.70, Z:2.14 [[-6.51788230e-01 7.58273353e-01 -1.39149628e-02 3.01230057e+02] [-7.58136441e-01 -6.51935770e-01 -1.44529977e-02 2.75702569e+02] [-2.00309850e-02 1.12914658e-03 9.99798722e-01 2.13676783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.410714057 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:301.23, Y:275.70, Z:2.14 [[-6.51377673e-01 7.58625965e-01 -1.39202310e-02 3.01233496e+02] [-7.58489241e-01 -6.51525386e-01 -1.44479218e-02 2.75695742e+02] [-2.00299525e-02 1.14729176e-03 9.99798722e-01 2.13620727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4407140569999 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:301.23, Y:275.69, Z:2.14 [[-6.51301241e-01 7.58691488e-01 -1.39254941e-02 3.01233982e+02] [-7.58554887e-01 -6.51449068e-01 -1.44428473e-02 2.75690777e+02] [-2.00294154e-02 1.15660722e-03 9.99798722e-01 2.13596243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4707140569999 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:301.24, Y:275.68, Z:2.14 [[-6.51498665e-01 7.58521868e-01 -1.39307570e-02 3.01237022e+02] [-7.58385335e-01 -6.51646556e-01 -1.44377692e-02 2.75683285e+02] [-2.00292935e-02 1.15869441e-03 9.99798722e-01 2.13709470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.500714057 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:301.23, Y:275.67, Z:2.14 [[-6.52069322e-01 7.58031257e-01 -1.39360213e-02 3.01234197e+02] [-7.57894721e-01 -6.52217210e-01 -1.44326860e-02 2.75674849e+02] [-2.00297401e-02 1.15092522e-03 9.99798722e-01 2.13754685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.530714057 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:301.24, Y:275.68, Z:2.14 [[-6.52903288e-01 7.57312972e-01 -1.39412955e-02 3.01240673e+02] [-7.57176381e-01 -6.53051125e-01 -1.44275896e-02 2.75675878e+02] [-2.00305795e-02 1.13619899e-03 9.99798722e-01 2.13833058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5607140569999 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:301.24, Y:275.67, Z:2.14 [[-6.54329093e-01 7.56081300e-01 -1.39465637e-02 3.01243514e+02] [-7.55944539e-01 -6.54476772e-01 -1.44224953e-02 2.75672728e+02] [-2.00322810e-02 1.10577038e-03 9.99798722e-01 2.13873009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5907140569999 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:301.25, Y:275.66, Z:2.14 [[-6.58672235e-01 7.52300627e-01 -1.39518117e-02 3.01245710e+02] [-7.52163125e-01 -6.58819225e-01 -1.44174168e-02 2.75660728e+02] [-2.00379534e-02 9.97686127e-04 9.99798722e-01 2.13904364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.620714057 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:301.24, Y:275.64, Z:2.14 [[-6.65245320e-01 7.46494384e-01 -1.39570636e-02 3.01242137e+02] [-7.46355704e-01 -6.65391199e-01 -1.44123307e-02 2.75641872e+02] [-2.00456312e-02 8.29198453e-04 9.99798722e-01 2.13856983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.650714057 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:301.24, Y:275.64, Z:2.14 [[-6.68800818e-01 7.43310513e-01 -1.39623463e-02 3.01244891e+02] [-7.43171245e-01 -6.68946136e-01 -1.44072112e-02 2.75637308e+02] [-2.00490891e-02 7.40859650e-04 9.99798722e-01 2.13875501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6807140569999 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:301.24, Y:275.63, Z:2.14 [[-6.72145287e-01 7.40287524e-01 -1.39676498e-02 3.01244597e+02] [-7.40147709e-01 -6.72290078e-01 -1.44020676e-02 2.75629181e+02] [-2.00519834e-02 6.57842186e-04 9.99798722e-01 2.13925065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7107140569999 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:301.24, Y:275.61, Z:2.14 [[-6.75366985e-01 7.37349437e-01 -1.39729566e-02 3.01236521e+02] [-7.37209098e-01 -6.75511269e-01 -1.43969171e-02 2.75613578e+02] [-2.00544484e-02 5.77788261e-04 9.99798722e-01 2.13981300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.740714057 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:301.23, Y:275.60, Z:2.14 [[-6.81346520e-01 7.31827582e-01 -1.39753010e-02 3.01234489e+02] [-7.31686121e-01 -6.81489703e-01 -1.43946410e-02 2.75598636e+02] [-2.00584191e-02 4.17795191e-04 9.99798722e-01 2.13907984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.770714057 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:301.23, Y:275.59, Z:2.14 [[-6.83825646e-01 7.29511499e-01 -1.39806790e-02 3.01232521e+02] [-7.29369659e-01 -6.83968454e-01 -1.43894158e-02 2.75591695e+02] [-2.00595877e-02 3.57231497e-04 9.99798722e-01 2.13957255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8007140569999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:301.23, Y:275.58, Z:2.14 [[-6.87921163e-01 7.25650648e-01 -1.39860822e-02 3.01232576e+02] [-7.25508114e-01 -6.88063277e-01 -1.43841622e-02 2.75583452e+02] [-2.00611861e-02 2.51846541e-04 9.99798722e-01 2.14042025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8307140569999 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:301.23, Y:275.58, Z:2.14 [[-6.89737073e-01 7.23924726e-01 -1.39914966e-02 3.01230588e+02] [-7.23781942e-01 -6.89878937e-01 -1.43788936e-02 2.75578268e+02] [-2.00616754e-02 2.09136656e-04 9.99798722e-01 2.14072276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8607140569999 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:301.23, Y:275.58, Z:2.14 [[-6.91222810e-01 7.22506134e-01 -1.39969215e-02 3.01234783e+02] [-7.22363166e-01 -6.91364489e-01 -1.43736109e-02 2.75579695e+02] [-2.00619965e-02 1.75492811e-04 9.99798723e-01 2.14105257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.890714057 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:301.25, Y:275.58, Z:2.14 [[-6.84885160e-01 7.28516474e-01 -1.40023364e-02 3.01250198e+02] [-7.28374857e-01 -6.85028189e-01 -1.43683339e-02 2.75580772e+02] [-2.00595631e-02 3.58291070e-04 9.99798723e-01 2.14224949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9207140569999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:301.23, Y:275.57, Z:2.14 [[-6.95240311e-01 7.18645791e-01 -1.37527274e-02 3.01232683e+02] [-7.18497290e-01 -6.95376266e-01 -1.46113998e-02 2.75571093e+02] [-2.00637412e-02 -2.77136810e-04 9.99798664e-01 2.14033246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9507140569999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:301.23, Y:275.57, Z:2.14 [[-6.95511145e-01 7.18378717e-01 -1.40094854e-02 3.01231101e+02] [-7.18235164e-01 -6.95652222e-01 -1.43609270e-02 2.75569170e+02] [-2.00623140e-02 7.39202496e-05 9.99798729e-01 2.14024762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9807140569999 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:301.23, Y:275.56, Z:2.14 [[-6.97430746e-01 7.16515134e-01 -1.40148973e-02 3.01227180e+02] [-7.16371310e-01 -6.97571547e-01 -1.43556436e-02 2.75564326e+02] [-2.00624295e-02 2.78031034e-05 9.99798729e-01 2.13963899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.010714057 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:301.23, Y:275.56, Z:2.14 [[-7.00857231e-01 7.13163777e-01 -1.40203134e-02 3.01225156e+02] [-7.13019385e-01 -7.00997450e-01 -1.43503521e-02 2.75562366e+02] [-2.00623552e-02 -6.07928221e-05 9.99798729e-01 2.13878458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.040714057 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:301.24, Y:275.57, Z:2.14 [[-6.94818709e-01 7.19048149e-01 -1.40257372e-02 3.01244432e+02] [-7.18905052e-01 -6.94960248e-01 -1.43450490e-02 2.75573644e+02] [-2.00621107e-02 1.15964929e-04 9.99798729e-01 2.13787986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0707140569999 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:301.22, Y:275.56, Z:2.14 [[-7.03234178e-01 7.10824190e-01 -1.38080473e-02 3.01218196e+02] [-7.10675228e-01 -7.03369598e-01 -1.45577607e-02 2.75555539e+02] [-2.00601691e-02 -4.24477692e-04 9.99798684e-01 2.13897472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1007140569999 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:301.22, Y:275.56, Z:2.14 [[-7.03277010e-01 7.10777412e-01 -1.40327395e-02 3.01216969e+02] [-7.10632794e-01 -7.03416988e-01 -1.43378514e-02 2.75557119e+02] [-2.00618883e-02 -1.11356392e-04 9.99798734e-01 2.13826399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.130714057 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:301.21, Y:275.55, Z:2.14 [[-7.02587538e-01 7.11458841e-01 -1.40381782e-02 3.01210793e+02] [-7.11314465e-01 -7.02727765e-01 -1.43325244e-02 2.75554003e+02] [-2.00620188e-02 -8.42937558e-05 9.99798734e-01 2.13866977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.160714057 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:301.21, Y:275.56, Z:2.14 [[-6.99060765e-01 7.14923989e-01 -1.40619065e-02 3.01211465e+02] [-7.14780775e-01 -6.99202180e-01 -1.43092716e-02 2.75562467e+02] [-2.00621572e-02 4.81300778e-05 9.99798734e-01 2.13874975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1907140569999 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:301.20, Y:275.56, Z:2.14 [[-6.97344547e-01 7.16598438e-01 -1.40449924e-02 3.01201758e+02] [-7.16455230e-01 -6.97485966e-01 -1.43258540e-02 2.75556324e+02] [-2.00620697e-02 7.25520744e-05 9.99798734e-01 2.13925233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2207140569999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:301.20, Y:275.56, Z:2.14 [[-6.95625421e-01 7.18267262e-01 -1.40504222e-02 3.01203832e+02] [-7.18124501e-01 -6.95767292e-01 -1.43205267e-02 2.75561283e+02] [-2.00617897e-02 1.28229970e-04 9.99798734e-01 2.13968683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.250714057 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:301.20, Y:275.56, Z:2.14 [[-6.94210574e-01 7.19634707e-01 -1.40558517e-02 3.01201107e+02] [-7.19492333e-01 -6.94352834e-01 -1.43151956e-02 2.75560948e+02] [-2.00614320e-02 1.75317394e-04 9.99798734e-01 2.14013414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.280714057 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:301.20, Y:275.57, Z:2.14 [[-6.91826104e-01 7.21927228e-01 -1.40612640e-02 3.01203892e+02] [-7.21785434e-01 -6.91968941e-01 -1.43098773e-02 2.75569171e+02] [-2.00606480e-02 2.49268909e-04 9.99798734e-01 2.13914292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3107140569999 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:301.20, Y:275.57, Z:2.14 [[-6.90813540e-01 7.22896108e-01 -1.40666549e-02 3.01203146e+02] [-7.22754622e-01 -6.90956682e-01 -1.43045761e-02 2.75571092e+02] [-2.00601715e-02 2.84944994e-04 9.99798734e-01 2.13827077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3407140569999 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:301.19, Y:275.57, Z:2.14 [[-6.89296967e-01 7.24342233e-01 -1.40720166e-02 3.01193145e+02] [-7.24201155e-01 -6.89440511e-01 -1.42992996e-02 2.75566145e+02] [-2.00594049e-02 3.34506809e-04 9.99798734e-01 2.13700350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.370714057 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:301.20, Y:275.57, Z:2.14 [[-6.89031379e-01 7.24594774e-01 -1.40773859e-02 3.01198631e+02] [-7.24453856e-01 -6.89175080e-01 -1.42940116e-02 2.75573914e+02] [-2.00591497e-02 3.49393946e-04 9.99798734e-01 2.13744594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.400714057 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:301.20, Y:275.57, Z:2.15 [[-6.85828216e-01 7.27627195e-01 -1.40827454e-02 3.01200767e+02] [-7.27487020e-01 -6.85972643e-01 -1.42887294e-02 2.75574486e+02] [-2.00572462e-02 4.45400664e-04 9.99798734e-01 2.14501604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4307140569999 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:301.19, Y:275.57, Z:2.14 [[-6.89344916e-01 7.24298422e-01 -1.39779452e-02 3.01190196e+02] [-7.24155449e-01 -6.89486588e-01 -1.43920154e-02 2.75572514e+02] [-2.00617198e-02 2.01142549e-04 9.99798723e-01 2.13987566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4607140569999 meters Centerline goodness : 0.997826 Centerline is valid? [True, True] Translation: X:301.19, Y:275.57, Z:2.14 [[-6.89975183e-01 7.23695892e-01 -1.40890885e-02 3.01188904e+02] [-7.23555024e-01 -6.90118932e-01 -1.42823766e-02 2.75572620e+02] [-2.00592440e-02 3.39745330e-04 9.99798735e-01 2.14068011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.490714057 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:301.18, Y:275.57, Z:2.14 [[-6.91923478e-01 7.21833255e-01 -1.40944323e-02 3.01184463e+02] [-7.21692108e-01 -6.92066952e-01 -1.42771012e-02 2.75569967e+02] [-2.00599772e-02 2.93179035e-04 9.99798735e-01 2.14033846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.520714057 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:301.20, Y:275.58, Z:2.14 [[-6.85125164e-01 7.28288889e-01 -1.40997759e-02 3.01198815e+02] [-7.28149202e-01 -6.85270060e-01 -1.42718220e-02 2.75575788e+02] [-2.00561637e-02 4.88756136e-04 9.99798735e-01 2.13825901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5507140569999 meters Centerline goodness : 0.997034 Centerline is valid? [True, True] Translation: X:301.18, Y:275.57, Z:2.14 [[-6.93427060e-01 7.20393289e-01 -1.38716004e-02 3.01182542e+02] [-7.20247408e-01 -6.93565790e-01 -1.44971227e-02 2.75569230e+02] [-2.00644974e-02 -6.17128990e-05 9.99798686e-01 2.13914853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5807140569999 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:301.18, Y:275.57, Z:2.14 [[-6.93370058e-01 7.20443604e-01 -1.41058760e-02 3.01176228e+02] [-7.20302406e-01 -6.93513475e-01 -1.42654696e-02 2.75567197e+02] [-2.00600814e-02 2.69246905e-04 9.99798740e-01 2.13921547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6107140569999 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:301.18, Y:275.57, Z:2.14 [[-6.92897084e-01 7.20898401e-01 -1.41112213e-02 3.01176051e+02] [-7.20757404e-01 -6.93040700e-01 -1.42601802e-02 2.75569179e+02] [-2.00597917e-02 2.89929921e-04 9.99798740e-01 2.13938985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.640714057 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:301.17, Y:275.57, Z:2.14 [[-6.91394881e-01 7.22339146e-01 -1.41165628e-02 3.01174365e+02] [-7.22198556e-01 -6.91538895e-01 -1.42548905e-02 2.75569823e+02] [-2.00590177e-02 3.39202967e-04 9.99798740e-01 2.13901425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6707140569999 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:301.17, Y:275.56, Z:2.14 [[-6.90966752e-01 7.22748587e-01 -1.41218928e-02 3.01168236e+02] [-7.22608191e-01 -6.91110954e-01 -1.42496082e-02 2.75563758e+02] [-2.00586790e-02 3.58589921e-04 9.99798740e-01 2.13848591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7007140569999 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:301.17, Y:275.56, Z:2.14 [[-6.90726438e-01 7.22978153e-01 -1.41272279e-02 3.01168512e+02] [-7.22837913e-01 -6.90870792e-01 -1.42443171e-02 2.75564140e+02] [-2.00584191e-02 3.72769516e-04 9.99798740e-01 2.13884679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7307140569999 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:301.17, Y:275.57, Z:2.14 [[-6.90593930e-01 7.23104622e-01 -1.41325687e-02 3.01168717e+02] [-7.22964517e-01 -6.90738415e-01 -1.42390161e-02 2.75565823e+02] [-2.00582065e-02 3.83967579e-04 9.99798740e-01 2.13761322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.760714057 meters Centerline goodness : 0.997571 Centerline is valid? [True, True] Translation: X:301.17, Y:275.57, Z:2.14 [[-6.90874865e-01 7.22836109e-01 -1.41378945e-02 3.01167997e+02] [-7.22696056e-01 -6.91019401e-01 -1.42337262e-02 2.75565827e+02] [-2.00582106e-02 3.83676956e-04 9.99798740e-01 2.13726273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.790714057 meters Centerline goodness : 0.997563 Centerline is valid? [True, True] Translation: X:301.17, Y:275.56, Z:2.14 [[-6.91252090e-01 7.22475272e-01 -1.41432071e-02 3.01165851e+02] [-7.22335251e-01 -6.91396657e-01 -1.42284454e-02 2.75564418e+02] [-2.00582661e-02 3.80694490e-04 9.99798740e-01 2.13807656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8207140569999 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:301.16, Y:275.56, Z:2.14 [[-6.91546505e-01 7.22193362e-01 -1.41485135e-02 3.01160159e+02] [-7.22053390e-01 -6.91691119e-01 -1.42231668e-02 2.75558322e+02] [-2.00582778e-02 3.80000845e-04 9.99798740e-01 2.13720552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8507140569999 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:301.16, Y:275.56, Z:2.14 [[-6.91642131e-01 7.22101677e-01 -1.41538292e-02 3.01161588e+02] [-7.21961794e-01 -6.91786832e-01 -1.42178752e-02 2.75558926e+02] [-2.00581841e-02 3.84842405e-04 9.99798740e-01 2.13687018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.880714057 meters Centerline goodness : 0.997949 Centerline is valid? [True, True] Translation: X:301.16, Y:275.56, Z:2.14 [[-6.91322705e-01 7.22407389e-01 -1.41591471e-02 3.01161935e+02] [-7.22267679e-01 -6.91467572e-01 -1.42125772e-02 2.75558522e+02] [-2.00578619e-02 4.01216937e-04 9.99798740e-01 2.13580596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.910714057 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:301.16, Y:275.56, Z:2.14 [[-6.91348173e-01 7.22382912e-01 -1.41644518e-02 3.01158918e+02] [-7.22243305e-01 -6.91493139e-01 -1.42072885e-02 2.75556908e+02] [-2.00577237e-02 4.07997516e-04 9.99798740e-01 2.13513152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9407140569999 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:301.16, Y:275.56, Z:2.13 [[-6.90119362e-01 7.23556829e-01 -1.41697503e-02 3.01160831e+02] [-7.23417576e-01 -6.90264669e-01 -1.42020021e-02 2.75559364e+02] [-2.00568336e-02 4.49569820e-04 9.99798740e-01 2.13430144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9707140569999 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:301.16, Y:275.56, Z:2.13 [[-6.89682605e-01 7.23973060e-01 -1.41743686e-02 3.01159427e+02] [-7.23833990e-01 -6.89828086e-01 -1.41973912e-02 2.75557391e+02] [-2.00564063e-02 4.68196004e-04 9.99798740e-01 2.13410418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.000714057 meters Centerline goodness : 0.997582 Centerline is valid? [True, True] Translation: X:301.16, Y:275.55, Z:2.13 [[-6.89312014e-01 7.24325814e-01 -1.41796488e-02 3.01155251e+02] [-7.24186926e-01 -6.89457671e-01 -1.41921156e-02 2.75552808e+02] [-2.00559834e-02 4.85920486e-04 9.99798740e-01 2.13307871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.030714057 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:301.16, Y:275.56, Z:2.13 [[-6.88167216e-01 7.25413448e-01 -1.41849323e-02 3.01158920e+02] [-7.25274900e-01 -6.88313194e-01 -1.41868329e-02 2.75556336e+02] [-2.00549954e-02 5.25062004e-04 9.99798740e-01 2.13422226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0607140569999 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:301.16, Y:275.56, Z:2.13 [[-6.87531110e-01 7.26016261e-01 -1.41902060e-02 3.01157821e+02] [-7.25877949e-01 -6.87677313e-01 -1.41815559e-02 2.75555122e+02] [-2.00543230e-02 5.50096789e-04 9.99798741e-01 2.13484348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0907140569999 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:301.16, Y:275.55, Z:2.13 [[-6.86756634e-01 7.26748797e-01 -1.41954634e-02 3.01156969e+02] [-7.26610750e-01 -6.86903087e-01 -1.41762914e-02 2.75554339e+02] [-2.00535104e-02 5.78914159e-04 9.99798741e-01 2.13468615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.120714057 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:301.16, Y:275.55, Z:2.14 [[-6.84886835e-01 7.28511059e-01 -1.42007147e-02 3.01155432e+02] [-7.28373498e-01 -6.85033743e-01 -1.41710292e-02 2.75553724e+02] [-2.00517202e-02 6.37872902e-04 9.99798741e-01 2.13513297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.150714057 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:301.15, Y:275.55, Z:2.13 [[-6.83947555e-01 7.29392852e-01 -1.42059606e-02 3.01150394e+02] [-7.29255589e-01 -6.84094743e-01 -1.41657684e-02 2.75549048e+02] [-2.00506332e-02 6.71133473e-04 9.99798741e-01 2.13411785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1807140569999 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:301.15, Y:275.55, Z:2.14 [[-6.83439495e-01 7.29868823e-01 -1.42112104e-02 3.01148563e+02] [-7.29731771e-01 -6.83586880e-01 -1.41604998e-02 2.75548158e+02] [-2.00499043e-02 6.92526915e-04 9.99798741e-01 2.13649284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2107140569999 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:301.15, Y:275.55, Z:2.14 [[-6.82867091e-01 7.30404291e-01 -1.42164651e-02 3.01152014e+02] [-7.30267465e-01 -6.83014685e-01 -1.41552224e-02 2.75552540e+02] [-2.00490896e-02 7.15686379e-04 9.99798741e-01 2.13554363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.240714057 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:301.14, Y:275.54, Z:2.13 [[-6.83095528e-01 7.30190553e-01 -1.42217017e-02 3.01137057e+02] [-7.30053790e-01 -6.83243180e-01 -1.41499592e-02 2.75537165e+02] [-2.00490472e-02 7.16833412e-04 9.99798741e-01 2.13462315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.270714057 meters Centerline goodness : 0.997239 Centerline is valid? [True, True] Translation: X:301.14, Y:275.54, Z:2.13 [[-6.83881783e-01 7.29454111e-01 -1.42269567e-02 3.01142937e+02] [-7.29317299e-01 -6.84029389e-01 -1.41446736e-02 2.75541996e+02] [-2.00495468e-02 7.02680989e-04 9.99798741e-01 2.13441760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3007140569999 meters Centerline goodness : 0.997615 Centerline is valid? [True, True] Translation: X:301.15, Y:275.54, Z:2.13 [[-6.85880581e-01 7.27574926e-01 -1.42322267e-02 3.01147698e+02] [-7.27437819e-01 -6.86027914e-01 -1.41393691e-02 2.75544099e+02] [-2.00511551e-02 6.55141248e-04 9.99798741e-01 2.13387086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3307140569999 meters Centerline goodness : 0.997242 Centerline is valid? [True, True] Translation: X:301.14, Y:275.54, Z:2.13 [[-6.87689066e-01 7.25865720e-01 -1.42374625e-02 3.01143884e+02] [-7.25728355e-01 -6.87836159e-01 -1.41340949e-02 2.75540193e+02] [-2.00524965e-02 6.12667724e-04 9.99798741e-01 2.13347287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3607140569999 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:301.14, Y:275.53, Z:2.13 [[-6.91104934e-01 7.22614085e-01 -1.42426889e-02 3.01138375e+02] [-7.22476137e-01 -6.91251480e-01 -1.41288264e-02 2.75533744e+02] [-2.00549687e-02 5.25501154e-04 9.99798741e-01 2.13390217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.390714057 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:301.13, Y:275.52, Z:2.13 [[-6.92888922e-01 7.20903557e-01 -1.42479301e-02 3.01130452e+02] [-7.20765356e-01 -6.93035228e-01 -1.41235391e-02 2.75524825e+02] [-2.00560270e-02 4.83370639e-04 9.99798741e-01 2.13480323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4207140569999 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:301.13, Y:275.52, Z:2.13 [[-6.94202479e-01 7.19638635e-01 -1.42531973e-02 3.01131347e+02] [-7.19500276e-01 -6.94348637e-01 -1.41182215e-02 2.75524008e+02] [-2.00567057e-02 4.54275053e-04 9.99798741e-01 2.13479447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4507140569999 meters Centerline goodness : 0.997678 Centerline is valid? [True, True] Translation: X:301.13, Y:275.52, Z:2.14 [[-6.95111549e-01 7.18760482e-01 -1.42584762e-02 3.01131964e+02] [-7.18622048e-01 -6.95257635e-01 -1.41128881e-02 2.75523382e+02] [-2.00571007e-02 4.36423849e-04 9.99798741e-01 2.13575211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4807140569999 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:301.13, Y:275.52, Z:2.14 [[-6.95937000e-01 7.17961167e-01 -1.42637437e-02 3.01125036e+02] [-7.17822674e-01 -6.96083031e-01 -1.41075623e-02 2.75515569e+02] [-2.00574318e-02 4.20864035e-04 9.99798741e-01 2.13569688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.510714057 meters Centerline goodness : 0.997679 Centerline is valid? [True, True] Translation: X:301.12, Y:275.51, Z:2.14 [[-6.95705375e-01 7.18185510e-01 -1.42690186e-02 3.01115734e+02] [-7.18047173e-01 -6.95851553e-01 -1.41022250e-02 2.75505735e+02] [-2.00571324e-02 4.34834725e-04 9.99798741e-01 2.13580906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.540714057 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:301.15, Y:275.54, Z:2.14 [[-6.89405128e-01 7.24235330e-01 -1.42743269e-02 3.01153101e+02] [-7.24098387e-01 -6.89552613e-01 -1.40968499e-02 2.75538507e+02] [-2.00523361e-02 6.17576417e-04 9.99798741e-01 2.14285584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5707140569999 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:301.13, Y:275.52, Z:2.14 [[-6.91817340e-01 7.21933954e-01 -1.41468924e-02 3.01129347e+02] [-7.21793874e-01 -6.91961870e-01 -1.42258232e-02 2.75519608e+02] [-2.00592149e-02 3.69469130e-04 9.99798725e-01 2.13619897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6007140569999 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:301.13, Y:275.52, Z:2.14 [[-6.86904392e-01 7.26607504e-01 -1.42790397e-02 3.01128978e+02] [-7.26471172e-01 -6.87052439e-01 -1.40919217e-02 2.75516787e+02] [-2.00497451e-02 6.93507816e-04 9.99798743e-01 2.13552401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.630714057 meters Centerline goodness : 0.997472 Centerline is valid? [True, True] Translation: X:301.15, Y:275.53, Z:2.14 [[-6.82119159e-01 7.31101506e-01 -1.42842807e-02 3.01150135e+02] [-7.30966260e-01 -6.82268199e-01 -1.40866071e-02 2.75532918e+02] [-2.00444501e-02 8.32582596e-04 9.99798743e-01 2.14455988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.660714057 meters Centerline goodness : 0.997949 Centerline is valid? [True, True] Translation: X:301.12, Y:275.51, Z:2.13 [[-6.81770606e-01 7.31427794e-01 -1.42205080e-02 3.01123962e+02] [-7.31291271e-01 -6.81918483e-01 -1.41512707e-02 2.75507489e+02] [-2.00478599e-02 7.51412956e-04 9.99798739e-01 2.13402144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6907140569999 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:301.14, Y:275.53, Z:2.13 [[-6.79237017e-01 7.33779853e-01 -1.42899311e-02 3.01144532e+02] [-7.33645316e-01 -6.79386695e-01 -1.40808167e-02 2.75525212e+02] [-2.00406087e-02 9.19529133e-04 9.99798744e-01 2.13478260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7207140569999 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:301.16, Y:275.53, Z:2.14 [[-6.71508006e-01 7.40859397e-01 -1.42951378e-02 3.01157537e+02] [-7.40726548e-01 -6.71659185e-01 -1.40755288e-02 2.75528597e+02] [-2.00294483e-02 1.13695777e-03 9.99798744e-01 2.14207988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.750714057 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:301.14, Y:275.52, Z:2.14 [[-6.73239329e-01 7.39288226e-01 -1.42030157e-02 3.01144001e+02] [-7.39153054e-01 -6.73388446e-01 -1.41690735e-02 2.75515876e+02] [-2.00391758e-02 9.59024915e-04 9.99798736e-01 2.13644254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.780714057 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:301.15, Y:275.52, Z:2.14 [[-6.71955183e-01 7.40453718e-01 -1.43011916e-02 3.01150831e+02] [-7.40320909e-01 -6.72106396e-01 -1.40692795e-02 2.75518706e+02] [-2.00295727e-02 1.13354590e-03 9.99798745e-01 2.13748218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8107140569999 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:301.14, Y:275.49, Z:2.14 [[-6.69141312e-01 7.42997465e-01 -1.43063362e-02 3.01136495e+02] [-7.42865342e-01 -6.69293125e-01 -1.40640463e-02 2.75494694e+02] [-2.00246832e-02 1.21684690e-03 9.99798745e-01 2.13711381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8407140569999 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:301.13, Y:275.49, Z:2.14 [[-6.69416853e-01 7.42749122e-01 -1.43115059e-02 3.01134784e+02] [-7.42617054e-01 -6.69568713e-01 -1.40587837e-02 2.75492905e+02] [-2.00246858e-02 1.21678163e-03 9.99798745e-01 2.13706329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.870714057 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:301.16, Y:275.51, Z:2.14 [[-6.68386655e-01 7.43676213e-01 -1.43167194e-02 3.01158364e+02] [-7.43544469e-01 -6.68538796e-01 -1.40534725e-02 2.75510409e+02] [-2.00225156e-02 1.25196406e-03 9.99798745e-01 2.13684347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.900714057 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:301.17, Y:275.51, Z:2.13 [[-6.66242212e-01 7.45597880e-01 -1.43218729e-02 3.01165195e+02] [-7.45466687e-01 -6.66394828e-01 -1.40482186e-02 2.75506167e+02] [-2.00183441e-02 1.31696287e-03 9.99798746e-01 2.13460983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9307140569999 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:301.16, Y:275.50, Z:2.13 [[-6.64979109e-01 7.46724529e-01 -1.43269597e-02 3.01160772e+02] [-7.46593705e-01 -6.65132042e-01 -1.40430290e-02 2.75496034e+02] [-2.00155942e-02 1.35809704e-03 9.99798746e-01 2.13334604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9607140569999 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:301.15, Y:275.48, Z:2.13 [[-6.63816168e-01 7.47758442e-01 -1.43320518e-02 3.01152259e+02] [-7.47627967e-01 -6.63969399e-01 -1.40378301e-02 2.75481466e+02] [-2.00129498e-02 1.39650419e-03 9.99798746e-01 2.13306510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.990714057 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:301.17, Y:275.49, Z:2.13 [[-6.61563629e-01 7.49751965e-01 -1.43371792e-02 3.01174393e+02] [-7.49622064e-01 -6.61717347e-01 -1.40325914e-02 2.75488334e+02] [-2.00081232e-02 1.46401376e-03 9.99798746e-01 2.13376466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.020714057 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:301.16, Y:275.46, Z:2.13 [[-6.60892751e-01 7.50343302e-01 -1.43422892e-02 3.01158244e+02] [-7.50213650e-01 -6.61046679e-01 -1.40273667e-02 2.75464726e+02] [-2.00062633e-02 1.48919620e-03 9.99798746e-01 2.13390187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0507140569999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:301.08, Y:275.38, Z:2.13 [[-6.59026393e-01 7.51982956e-01 -1.43474006e-02 3.01082792e+02] [-7.51853800e-01 -6.59180737e-01 -1.40221368e-02 2.75376211e+02] [-2.00019380e-02 1.54618947e-03 9.99798746e-01 2.13188823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0807140569999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:301.09, Y:275.37, Z:2.13 [[-6.58376832e-01 7.52551828e-01 -1.43420122e-02 3.01085877e+02] [-7.52422687e-01 -6.58531188e-01 -1.40276459e-02 2.75371776e+02] [-2.00011929e-02 1.55577834e-03 9.99798746e-01 2.13194465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1107140569999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:301.08, Y:275.35, Z:2.13 [[-6.56708593e-01 7.54007937e-01 -1.43476340e-02 3.01079904e+02] [-7.53879262e-01 -6.56863338e-01 -1.40218935e-02 2.75350649e+02] [-1.99970538e-02 1.60808581e-03 9.99798746e-01 2.13129463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.140714057 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:301.09, Y:275.35, Z:2.13 [[-6.56019295e-01 7.54607625e-01 -1.43532860e-02 3.01087025e+02] [-7.54479217e-01 -6.56174261e-01 -1.40161056e-02 2.75349478e+02] [-1.99949170e-02 1.63442024e-03 9.99798746e-01 2.13124201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1707140569999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:301.08, Y:275.34, Z:2.13 [[-6.55471453e-01 7.55083436e-01 -1.43589574e-02 3.01082777e+02] [-7.54955265e-01 -6.55626616e-01 -1.40102930e-02 2.75337229e+02] [-1.99930548e-02 1.65702335e-03 9.99798746e-01 2.12973811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2007140569999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:301.10, Y:275.34, Z:2.13 [[-6.55063746e-01 7.55437056e-01 -1.43646314e-02 3.01097194e+02] [-7.55309095e-01 -6.55219082e-01 -1.40044731e-02 2.75335209e+02] [-1.99914785e-02 1.67591413e-03 9.99798746e-01 2.12892778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2307140569999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:301.10, Y:275.33, Z:2.13 [[-6.54948256e-01 7.55537078e-01 -1.43702981e-02 3.01099482e+02] [-7.55409267e-01 -6.55103715e-01 -1.39986560e-02 2.75329102e+02] [-1.99905393e-02 1.68706105e-03 9.99798746e-01 2.12834115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.260714057 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:301.12, Y:275.33, Z:2.13 [[-6.57754892e-01 7.53094932e-01 -1.43710020e-02 3.01117475e+02] [-7.52966559e-01 -6.57909887e-01 -1.39979334e-02 2.75330510e+02] [-1.99965969e-02 1.61367475e-03 9.99798746e-01 2.12779873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.290714057 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:301.12, Y:275.32, Z:2.13 [[-6.55864933e-01 7.54740336e-01 -1.44296442e-02 3.01116646e+02] [-7.54613656e-01 -6.56021319e-01 -1.39376897e-02 2.75319028e+02] [-1.99854908e-02 1.74756459e-03 9.99798743e-01 2.12803837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3207140569999 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:301.12, Y:275.32, Z:2.13 [[-6.56238466e-01 7.54416692e-01 -1.43711709e-02 3.01123505e+02] [-7.54288635e-01 -6.56393722e-01 -1.39977231e-02 2.75317454e+02] [-1.99932623e-02 1.65416660e-03 9.99798746e-01 2.12796991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3507140569999 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:301.09, Y:275.28, Z:2.13 [[-6.56167597e-01 7.54478373e-01 -1.43690659e-02 3.01093132e+02] [-7.54350284e-01 -6.56322827e-01 -1.39998836e-02 2.75279968e+02] [-1.99933554e-02 1.65303892e-03 9.99798746e-01 2.12769343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.380714057 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:301.14, Y:275.31, Z:2.13 [[-6.57364873e-01 7.53436004e-01 -1.43391809e-02 3.01136534e+02] [-7.53307008e-01 -6.57519350e-01 -1.40305420e-02 2.75307205e+02] [-1.99994044e-02 1.57862003e-03 9.99798746e-01 2.12812288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.410714057 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:301.14, Y:275.30, Z:2.13 [[-6.57262451e-01 7.53524784e-01 -1.43690690e-02 3.01140678e+02] [-7.53396471e-01 -6.57417494e-01 -1.39998657e-02 2.75304047e+02] [-1.99957232e-02 1.62401983e-03 9.99798747e-01 2.12816691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4407140569999 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:301.15, Y:275.30, Z:2.13 [[-6.57351691e-01 7.53447042e-01 -1.43634463e-02 3.01150743e+02] [-7.53318586e-01 -6.57506617e-01 -1.40056321e-02 2.75298957e+02] [-1.99965631e-02 1.61362509e-03 9.99798747e-01 2.12820633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4707140569999 meters Centerline goodness : 0.997289 Centerline is valid? [True, True] Translation: X:301.16, Y:275.30, Z:2.13 [[-6.57280318e-01 7.53509414e-01 -1.43578184e-02 3.01157483e+02] [-7.53380848e-01 -6.57435152e-01 -1.40113992e-02 2.75298542e+02] [-1.99970557e-02 1.60748844e-03 9.99798747e-01 2.12797731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.500714057 meters Centerline goodness : 0.997062 Centerline is valid? [True, True] Translation: X:301.16, Y:275.30, Z:2.13 [[-6.57108840e-01 7.53659065e-01 -1.43521949e-02 3.01163652e+02] [-7.53530410e-01 -6.57263601e-01 -1.40171570e-02 2.75297570e+02] [-1.99973328e-02 1.60401752e-03 9.99798747e-01 2.12798529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.530714057 meters Centerline goodness : 0.996542 Centerline is valid? [True, True] Translation: X:301.17, Y:275.30, Z:2.13 [[-6.56497419e-01 7.54191829e-01 -1.43465760e-02 3.01173980e+02] [-7.54063175e-01 -6.56652180e-01 -1.40229056e-02 2.75295277e+02] [-1.99966713e-02 1.61222333e-03 9.99798747e-01 2.12640614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5607140569999 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:301.18, Y:275.29, Z:2.13 [[-6.55902864e-01 7.54709063e-01 -1.43409656e-02 3.01177247e+02] [-7.54580408e-01 -6.56057624e-01 -1.40286410e-02 2.75292717e+02] [-1.99960423e-02 1.61998582e-03 9.99798747e-01 2.12527547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5907140569999 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:301.18, Y:275.29, Z:2.12 [[-6.55342489e-01 7.55195815e-01 -1.43353548e-02 3.01184780e+02] [-7.55067151e-01 -6.55497242e-01 -1.40343722e-02 2.75288710e+02] [-1.99954846e-02 1.62683510e-03 9.99798747e-01 2.12371360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.620714057 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:301.19, Y:275.29, Z:2.12 [[-6.54787951e-01 7.55676782e-01 -1.43297368e-02 3.01189133e+02] [-7.55548107e-01 -6.54942695e-01 -1.40401060e-02 2.75287510e+02] [-1.99949386e-02 1.63351333e-03 9.99798747e-01 2.12409406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.650714057 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:301.19, Y:275.29, Z:2.12 [[-6.54304537e-01 7.56095492e-01 -1.43241166e-02 3.01193339e+02] [-7.55966792e-01 -6.54459260e-01 -1.40458375e-02 2.75286579e+02] [-1.99945452e-02 1.63830126e-03 9.99798747e-01 2.12346578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6807140569999 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:301.20, Y:275.28, Z:2.12 [[-6.54258240e-01 7.56135660e-01 -1.43184921e-02 3.01199499e+02] [-7.56006847e-01 -6.54412868e-01 -1.40515689e-02 2.75283327e+02] [-1.99950978e-02 1.63152338e-03 9.99798747e-01 2.12271036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7107140569999 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:301.21, Y:275.29, Z:2.12 [[-6.54234796e-01 7.56156051e-01 -1.43128654e-02 3.01206735e+02] [-7.56027118e-01 -6.54389325e-01 -1.40572979e-02 2.75285026e+02] [-1.99956972e-02 1.62414090e-03 9.99798747e-01 2.12167482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.740714057 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:301.21, Y:275.28, Z:2.12 [[-6.54435922e-01 7.55982094e-01 -1.43072431e-02 3.01208962e+02] [-7.55852997e-01 -6.54590314e-01 -1.40630178e-02 2.75282209e+02] [-1.99967724e-02 1.61082854e-03 9.99798747e-01 2.12190837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.770714057 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:301.22, Y:275.28, Z:2.12 [[-6.55051380e-01 7.55448975e-01 -1.43016205e-02 3.01215910e+02] [-7.55319628e-01 -6.55205563e-01 -1.40687335e-02 2.75280823e+02] [-1.99987116e-02 1.58655143e-03 9.99798747e-01 2.12004613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8007140569999 meters Centerline goodness : 0.992898 Centerline is valid? [True, True] Translation: X:301.22, Y:275.28, Z:2.12 [[-6.55010053e-01 7.55484914e-01 -1.42959917e-02 3.01223206e+02] [-7.55355453e-01 -6.55164139e-01 -1.40744509e-02 2.75284506e+02] [-1.99992564e-02 1.57964852e-03 9.99798747e-01 2.11950461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8307140569999 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:301.23, Y:275.28, Z:2.12 [[-6.55258369e-01 7.55269658e-01 -1.42903753e-02 3.01229147e+02] [-7.55140023e-01 -6.55412309e-01 -1.40801511e-02 2.75283539e+02] [-2.00003988e-02 1.56509748e-03 9.99798747e-01 2.11800431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8607140569999 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:301.23, Y:275.28, Z:2.12 [[-6.55873870e-01 7.54735326e-01 -1.42847693e-02 3.01233424e+02] [-7.54605444e-01 -6.56027601e-01 -1.40858364e-02 2.75284068e+02] [-2.00022812e-02 1.54083263e-03 9.99798747e-01 2.11764376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.890714057 meters Centerline goodness : 0.991122 Centerline is valid? [True, True] Translation: X:301.24, Y:275.28, Z:2.12 [[-6.56416258e-01 7.54263748e-01 -1.42791657e-02 3.01237023e+02] [-7.54133633e-01 -6.56569793e-01 -1.40915145e-02 2.75283375e+02] [-2.00039875e-02 1.51849990e-03 9.99798747e-01 2.11661279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9207140569999 meters Centerline goodness : 0.990981 Centerline is valid? [True, True] Translation: X:301.24, Y:275.28, Z:2.12 [[-6.57351188e-01 7.53449190e-01 -1.42735600e-02 3.01242047e+02] [-7.53318762e-01 -6.57504457e-01 -1.40971904e-02 2.75284538e+02] [-2.00064460e-02 1.48573565e-03 9.99798747e-01 2.11619135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9507140569999 meters Centerline goodness : 0.989593 Centerline is valid? [True, True] Translation: X:301.24, Y:275.29, Z:2.12 [[-6.78269477e-01 7.34674718e-01 -1.42679558e-02 3.01235698e+02] [-7.34539916e-01 -6.78418913e-01 -1.41028602e-02 2.75288649e+02] [-2.00406659e-02 9.14843476e-04 9.99798747e-01 2.11634783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9807140569999 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:301.25, Y:275.28, Z:2.12 [[-6.58555338e-01 7.52385611e-01 -1.48579452e-02 3.01249627e+02] [-7.52267879e-01 -6.58718966e-01 -1.35041523e-02 2.75279707e+02] [-1.99475402e-02 2.28392338e-03 9.99798419e-01 2.11626958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.010714057 meters Centerline goodness : 0.987755 Centerline is valid? [True, True] Translation: X:301.25, Y:275.29, Z:2.12 [[-6.75118490e-01 7.37571417e-01 -1.42628821e-02 3.01252196e+02] [-7.37437191e-01 -6.75268402e-01 -1.41058501e-02 2.75294341e+02] [-2.00353455e-02 9.94859537e-04 9.99798777e-01 2.12036481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.040714057 meters Centerline goodness : 0.989635 Centerline is valid? [True, True] Translation: X:301.26, Y:275.28, Z:2.12 [[-6.56969279e-01 7.53773898e-01 -1.47064066e-02 3.01255452e+02] [-7.53653135e-01 -6.57130468e-01 -1.36564831e-02 2.75278362e+02] [-1.99579283e-02 2.11163960e-03 9.99798591e-01 2.11624496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0707140569999 meters Centerline goodness : 0.987713 Centerline is valid? [True, True] Translation: X:301.25, Y:275.29, Z:2.12 [[-6.69921163e-01 7.42295287e-01 -1.42598176e-02 3.01254625e+02] [-7.42162073e-01 -6.70071955e-01 -1.41078872e-02 2.75289372e+02] [-2.00273221e-02 1.13192364e-03 9.99798792e-01 2.11794623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1007140569999 meters Centerline goodness : 0.989239 Centerline is valid? [True, True] Translation: X:301.26, Y:275.27, Z:2.11 [[-6.51871604e-01 7.58186641e-01 -1.47115374e-02 3.01257321e+02] [-7.58067102e-01 -6.52033693e-01 -1.36503476e-02 2.75273312e+02] [-1.99419293e-02 2.25405856e-03 9.99798599e-01 2.11468011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.130714057 meters Centerline goodness : 0.988576 Centerline is valid? [True, True] Translation: X:301.26, Y:275.27, Z:2.12 [[-6.49952049e-01 7.59841498e-01 -1.42559578e-02 3.01262317e+02] [-7.59712278e-01 -6.50106257e-01 -1.41106254e-02 2.75274738e+02] [-1.99897261e-02 1.65919633e-03 9.99798809e-01 2.11550338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.160714057 meters Centerline goodness : 0.988119 Centerline is valid? [True, True] Translation: X:301.26, Y:275.27, Z:2.12 [[-6.47117785e-01 7.62256847e-01 -1.42503377e-02 3.01262063e+02] [-7.62128079e-01 -6.47272371e-01 -1.41162989e-02 2.75267578e+02] [-1.99840953e-02 1.72567443e-03 9.99798809e-01 2.11506956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1907140569999 meters Centerline goodness : 0.988016 Centerline is valid? [True, True] Translation: X:301.27, Y:275.27, Z:2.11 [[-6.45899233e-01 7.63289768e-01 -1.42447026e-02 3.01265231e+02] [-7.63161124e-01 -6.46053921e-01 -1.41219829e-02 2.75268231e+02] [-1.99820111e-02 1.74962533e-03 9.99798809e-01 2.11489329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2207140569999 meters Centerline goodness : 0.985921 Centerline is valid? [True, True] Translation: X:301.27, Y:275.28, Z:2.12 [[-6.59312891e-01 7.51733837e-01 -1.42390477e-02 3.01266492e+02] [-7.51602352e-01 -6.59465172e-01 -1.41276825e-02 2.75278027e+02] [-2.00104130e-02 1.38753857e-03 9.99798809e-01 2.11941002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.250714057 meters Centerline goodness : 0.986496 Centerline is valid? [True, True] Translation: X:301.28, Y:275.29, Z:2.12 [[-6.60102177e-01 7.51033346e-01 -1.46297456e-02 3.01279531e+02] [-7.50910236e-01 -6.60261483e-01 -1.37328676e-02 2.75285819e+02] [-1.99732990e-02 1.92052988e-03 9.99798669e-01 2.12070444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.280714057 meters Centerline goodness : 0.986788 Centerline is valid? [True, True] Translation: X:301.04, Y:275.04, Z:2.11 [[-6.51452393e-01 7.58550716e-01 -1.45117625e-02 3.01044160e+02] [-7.58426834e-01 -6.51610989e-01 -1.38512184e-02 2.75042333e+02] [-1.99628755e-02 1.98270074e-03 9.99798756e-01 2.11470665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3107140569999 meters Centerline goodness : 0.984234 Centerline is valid? [True, True] Translation: X:301.29, Y:275.28, Z:2.12 [[-6.65172429e-01 7.46551345e-01 -1.43780764e-02 3.01291552e+02] [-7.46421711e-01 -6.65326270e-01 -1.39851603e-02 2.75284429e+02] [-2.00067522e-02 1.42956533e-03 9.99798823e-01 2.12109965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3407140569999 meters Centerline goodness : 0.984458 Centerline is valid? [True, True] Translation: X:301.29, Y:275.28, Z:2.12 [[-6.69515660e-01 7.42654549e-01 -1.45945422e-02 3.01294758e+02] [-7.42528712e-01 -6.69672753e-01 -1.37664690e-02 2.75284624e+02] [-1.99972981e-02 1.61999998e-03 9.99798722e-01 2.12114938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.370714057 meters Centerline goodness : 0.984498 Centerline is valid? [True, True] Translation: X:301.31, Y:275.29, Z:2.12 [[-6.74826731e-01 7.37830966e-01 -1.46406760e-02 3.01308529e+02] [-7.37705007e-01 -6.74983769e-01 -1.37198535e-02 2.75289584e+02] [-2.00051514e-02 1.54197605e-03 9.99798688e-01 2.12019131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.400714057 meters Centerline goodness : 0.983860 Centerline is valid? [True, True] Translation: X:301.31, Y:275.29, Z:2.12 [[-6.79535313e-01 7.33498211e-01 -1.45647627e-02 3.01313981e+02] [-7.33369612e-01 -6.79690126e-01 -1.37965236e-02 2.75293176e+02] [-2.00192508e-02 1.30612944e-03 9.99798742e-01 2.12022752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4307140569999 meters Centerline goodness : 0.984130 Centerline is valid? [True, True] Translation: X:301.32, Y:275.30, Z:2.12 [[-6.83250197e-01 7.30038548e-01 -1.45906081e-02 3.01321175e+02] [-7.29909719e-01 -6.83404841e-01 -1.37704255e-02 2.75296993e+02] [-2.00242337e-02 1.24118074e-03 9.99798725e-01 2.11888196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4607140569999 meters Centerline goodness : 0.983508 Centerline is valid? [True, True] Translation: X:301.33, Y:275.30, Z:2.12 [[-6.90850258e-01 7.22850305e-01 -1.46067682e-02 3.01329204e+02] [-7.22720209e-01 -6.91003852e-01 -1.37541097e-02 2.75300105e+02] [-2.00354955e-02 1.05457634e-03 9.99798713e-01 2.11867068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.490714057 meters Centerline goodness : 0.983701 Centerline is valid? [True, True] Translation: X:301.34, Y:275.31, Z:2.12 [[-6.95031900e-01 7.18832152e-01 -1.45256556e-02 3.01340456e+02] [-7.18699455e-01 -6.95183184e-01 -1.38359607e-02 2.75311910e+02] [-2.00437249e-02 8.23146708e-04 9.99798766e-01 2.11700723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.520714057 meters Centerline goodness : 0.984242 Centerline is valid? [True, True] Translation: X:301.34, Y:275.31, Z:2.12 [[-6.99450095e-01 7.14533636e-01 -1.45343894e-02 3.01343260e+02] [-7.14400191e-01 -6.99600727e-01 -1.38271470e-02 2.75311145e+02] [-2.00482311e-02 7.11971282e-04 9.99798761e-01 2.11647116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5507140569999 meters Centerline goodness : 0.983516 Centerline is valid? [True, True] Translation: X:301.35, Y:275.32, Z:2.12 [[-7.01494459e-01 7.12526467e-01 -1.45450081e-02 3.01350732e+02] [-7.12392814e-01 -7.01644914e-01 -1.38164334e-02 2.75317899e+02] [-2.00500054e-02 6.69607791e-04 9.99798754e-01 2.11851104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5807140569999 meters Centerline goodness : 0.983822 Centerline is valid? [True, True] Translation: X:301.35, Y:275.32, Z:2.12 [[-7.05228797e-01 7.08831739e-01 -1.44882713e-02 3.01353420e+02] [-7.08696119e-01 -7.05377440e-01 -1.38736599e-02 2.75321857e+02] [-2.00537902e-02 4.83677137e-04 9.99798786e-01 2.11604079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6107140569999 meters Centerline goodness : 0.984352 Centerline is valid? [True, True] Translation: X:301.36, Y:275.33, Z:2.12 [[-7.09938894e-01 7.04112023e-01 -1.45953824e-02 3.01356493e+02] [-7.03977629e-01 -7.10088732e-01 -1.37655664e-02 2.75328407e+02] [-2.00565174e-02 5.02111705e-04 9.99798722e-01 2.11641916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.640714057 meters Centerline goodness : 0.984051 Centerline is valid? [True, True] Translation: X:301.36, Y:275.34, Z:2.12 [[-7.11452312e-01 7.02582944e-01 -1.45881499e-02 3.01363866e+02] [-7.02448078e-01 -7.11601718e-01 -1.37728623e-02 2.75336853e+02] [-2.00575307e-02 4.48683161e-04 9.99798727e-01 2.11550224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6707140569999 meters Centerline goodness : 0.983577 Centerline is valid? [True, True] Translation: X:301.37, Y:275.34, Z:2.12 [[-7.14391560e-01 6.99594208e-01 -1.45823019e-02 3.01366134e+02] [-6.99458597e-01 -7.14540284e-01 -1.37787613e-02 2.75343144e+02] [-2.00591837e-02 3.56285629e-04 9.99798731e-01 2.11769108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7007140569999 meters Centerline goodness : 0.982443 Centerline is valid? [True, True] Translation: X:301.36, Y:275.34, Z:2.12 [[-7.15558594e-01 6.98400362e-01 -1.45887754e-02 3.01358605e+02] [-6.98264636e-01 -7.15707220e-01 -1.37722331e-02 2.75342004e+02] [-2.00598245e-02 3.31986123e-04 9.99798726e-01 2.11701826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7307140569999 meters Centerline goodness : 0.985549 Centerline is valid? [True, True] Translation: X:301.34, Y:275.31, Z:2.12 [[-6.96587100e-01 7.17324522e-01 -1.45582304e-02 3.01338984e+02] [-7.17192185e-01 -6.96738722e-01 -1.38029814e-02 2.75306873e+02] [-2.00444998e-02 8.26070267e-04 9.99798748e-01 2.11548650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.760714057 meters Centerline goodness : 0.985549 Centerline is valid? [True, True] Translation: X:301.34, Y:275.31, Z:2.12 [[-6.96297998e-01 7.17614760e-01 -1.40767260e-02 3.01340571e+02] [-7.17472554e-01 -6.96440258e-01 -1.42863926e-02 2.75308939e+02] [-2.00557249e-02 1.52078035e-04 9.99798852e-01 2.11542785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.790714057 meters Centerline goodness : 0.985223 Centerline is valid? [True, True] Translation: X:301.36, Y:275.36, Z:2.11 [[-7.10092207e-01 7.03968306e-01 -1.40599545e-02 3.01362520e+02] [-7.03823033e-01 -7.10231340e-01 -1.43032084e-02 2.75356984e+02] [-2.00548257e-02 -2.60876966e-04 9.99798848e-01 2.11268179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8207140569999 meters Centerline goodness : 0.986977 Centerline is valid? [True, True] Translation: X:301.34, Y:275.32, Z:2.11 [[-6.95211242e-01 7.18659901e-01 -1.44664123e-02 3.01335739e+02] [-7.18525935e-01 -6.95361351e-01 -1.38950554e-02 2.75320939e+02] [-2.00452031e-02 7.34493766e-04 9.99798805e-01 2.11402076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8507140569999 meters Centerline goodness : 0.987329 Centerline is valid? [True, True] Translation: X:301.34, Y:275.33, Z:2.12 [[-6.96714514e-01 7.17210834e-01 -1.40536551e-02 3.01337837e+02] [-7.17068097e-01 -6.96856232e-01 -1.43086321e-02 2.75331813e+02] [-2.00556831e-02 1.08396035e-04 9.99798859e-01 2.11544639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.880714057 meters Centerline goodness : 0.988388 Centerline is valid? [True, True] Translation: X:301.33, Y:275.34, Z:2.12 [[-6.95007860e-01 7.18861976e-01 -1.41962350e-02 3.01331552e+02] [-7.18722478e-01 -6.95152739e-01 -1.41657460e-02 2.75337876e+02] [-2.00517678e-02 3.57848374e-04 9.99798879e-01 2.11742714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.910714057 meters Centerline goodness : 0.988401 Centerline is valid? [True, True] Translation: X:301.32, Y:275.33, Z:2.12 [[-6.93750928e-01 7.20075184e-01 -1.41908176e-02 3.01319938e+02] [-7.19935828e-01 -6.93895944e-01 -1.41711708e-02 2.75333281e+02] [-2.00512592e-02 3.85215110e-04 9.99798879e-01 2.11642690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9407140569999 meters Centerline goodness : 0.989232 Centerline is valid? [True, True] Translation: X:301.32, Y:275.34, Z:2.12 [[-6.92340447e-01 7.21432733e-01 -1.41250276e-02 3.01315284e+02] [-7.21292317e-01 -6.92484441e-01 -1.42369893e-02 2.75344507e+02] [-2.00523920e-02 3.31430363e-04 9.99798876e-01 2.11870133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9707140569999 meters Centerline goodness : 0.989333 Centerline is valid? [True, True] Translation: X:301.31, Y:275.35, Z:2.12 [[-6.91318476e-01 7.22410998e-01 -1.41814873e-02 3.01312215e+02] [-7.22271940e-01 -6.91463779e-01 -1.41805259e-02 2.75349627e+02] [-2.00501527e-02 4.39630768e-04 9.99798879e-01 2.11885197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.000714057 meters Centerline goodness : 0.991068 Centerline is valid? [True, True] Translation: X:301.31, Y:275.36, Z:2.12 [[-6.90254339e-01 7.23427943e-01 -1.41760162e-02 3.01314307e+02] [-7.23288987e-01 -6.90399739e-01 -1.41859932e-02 2.75359040e+02] [-2.00496617e-02 4.61413041e-04 9.99798879e-01 2.11939788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.030714057 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:301.31, Y:275.37, Z:2.12 [[-6.89186392e-01 7.24445521e-01 -1.41705530e-02 3.01308083e+02] [-7.24306668e-01 -6.89331889e-01 -1.41914483e-02 2.75365569e+02] [-2.00491452e-02 4.83273019e-04 9.99798879e-01 2.12056719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0607140569999 meters Centerline goodness : 0.992041 Centerline is valid? [True, True] Translation: X:301.31, Y:275.37, Z:2.12 [[-6.88538420e-01 7.25061511e-01 -1.41650941e-02 3.01305292e+02] [-7.24922676e-01 -6.88683935e-01 -1.41968949e-02 2.75368488e+02] [-2.00488949e-02 4.93490338e-04 9.99798879e-01 2.12085884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0907140569999 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:301.30, Y:275.38, Z:2.12 [[-6.88940846e-01 7.24679250e-01 -1.41596231e-02 3.01304836e+02] [-7.24540222e-01 -6.89086177e-01 -1.42023495e-02 2.75380491e+02] [-2.00493486e-02 4.74637778e-04 9.99798879e-01 2.12180964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.120714057 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:301.30, Y:275.39, Z:2.12 [[-6.89024358e-01 7.24599955e-01 -1.41541555e-02 3.01303045e+02] [-7.24460798e-01 -6.89169566e-01 -1.42077965e-02 2.75385153e+02] [-2.00495819e-02 4.64612949e-04 9.99798879e-01 2.12288065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.150714057 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:301.30, Y:275.39, Z:2.12 [[-6.89159576e-01 7.24471458e-01 -1.41486977e-02 3.01301606e+02] [-7.24332163e-01 -6.89304651e-01 -1.42132295e-02 2.75390346e+02] [-2.00498422e-02 4.53173550e-04 9.99798879e-01 2.12385595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1807140569999 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:301.30, Y:275.40, Z:2.13 [[-6.88922986e-01 7.24696549e-01 -1.41432359e-02 3.01296309e+02] [-7.24557190e-01 -6.89068000e-01 -1.42186623e-02 2.75396126e+02] [-2.00498668e-02 4.52019968e-04 9.99798879e-01 2.12600783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2107140569999 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:301.30, Y:275.40, Z:2.13 [[-6.88440589e-01 7.25154934e-01 -1.41377684e-02 3.01296540e+02] [-7.25015561e-01 -6.88585588e-01 -1.42240966e-02 2.75401680e+02] [-2.00497374e-02 4.57656610e-04 9.99798879e-01 2.12744140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.240714057 meters Centerline goodness : 0.995621 Centerline is valid? [True, True] Translation: X:301.29, Y:275.40, Z:2.13 [[-6.87269944e-01 7.26264622e-01 -1.41322988e-02 3.01291901e+02] [-7.26125371e-01 -6.87415061e-01 -1.42295289e-02 2.75401800e+02] [-2.00491585e-02 4.82293201e-04 9.99798879e-01 2.12835827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.270714057 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:301.28, Y:275.40, Z:2.13 [[-6.84949106e-01 7.28454596e-01 -1.40934136e-02 3.01279146e+02] [-7.28315014e-01 -6.85093906e-01 -1.42681172e-02 2.75400254e+02] [-2.00489873e-02 4.91510595e-04 9.99798878e-01 2.12803289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3007140569999 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:301.27, Y:275.40, Z:2.13 [[-6.81514612e-01 7.31668229e-01 -1.41222224e-02 3.01266219e+02] [-7.31529921e-01 -6.81660627e-01 -1.42395458e-02 2.75398511e+02] [-2.00451862e-02 6.26369726e-04 9.99798879e-01 2.12779233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3307140569999 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:301.26, Y:275.40, Z:2.13 [[-6.79006271e-01 7.33996733e-01 -1.41166502e-02 3.01262192e+02] [-7.33858811e-01 -6.79152651e-01 -1.42450677e-02 2.75398904e+02] [-2.00431936e-02 6.87137790e-04 9.99798879e-01 2.12749977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3607140569999 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:301.28, Y:275.42, Z:2.13 [[-6.76302878e-01 7.36488490e-01 -1.41110386e-02 3.01276371e+02] [-7.36350991e-01 -6.76449656e-01 -1.42506244e-02 2.75416949e+02] [-2.00408280e-02 7.52939007e-04 9.99798879e-01 2.12750143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.390714057 meters Centerline goodness : 0.997434 Centerline is valid? [True, True] Translation: X:301.27, Y:275.42, Z:2.13 [[-6.73261177e-01 7.39270197e-01 -1.41054583e-02 3.01273377e+02] [-7.39133189e-01 -6.73408413e-01 -1.42561457e-02 2.75417180e+02] [-2.00378779e-02 8.27702900e-04 9.99798879e-01 2.12721994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4207140569999 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:301.27, Y:275.42, Z:2.13 [[-6.67162911e-01 7.44778385e-01 -1.40999069e-02 3.01268674e+02] [-7.44642476e-01 -6.67311163e-01 -1.42616342e-02 2.75419122e+02] [-2.00307821e-02 9.84556208e-04 9.99798879e-01 2.12648239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4507140569999 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:301.26, Y:275.42, Z:2.13 [[-6.60592215e-01 7.50612600e-01 -1.40943345e-02 3.01262098e+02] [-7.50477883e-01 -6.60741550e-01 -1.42671390e-02 2.75418293e+02] [-2.00218068e-02 1.15272539e-03 9.99798879e-01 2.12640922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4807140569999 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:301.26, Y:275.42, Z:2.13 [[-6.57612221e-01 7.53224850e-01 -1.40887353e-02 3.01258946e+02] [-7.53090608e-01 -6.57761983e-01 -1.42726661e-02 2.75417939e+02] [-2.00175612e-02 1.22421464e-03 9.99798879e-01 2.12666805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.510714057 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:301.26, Y:275.42, Z:2.13 [[-6.54421631e-01 7.55998674e-01 -1.40831062e-02 3.01255957e+02] [-7.55864948e-01 -6.54571855e-01 -1.42782183e-02 2.75416698e+02] [-2.00127190e-02 1.30095143e-03 9.99798879e-01 2.12716064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.540714057 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:301.25, Y:275.42, Z:2.13 [[-6.51584086e-01 7.58445782e-01 -1.40774536e-02 3.01253780e+02] [-7.58312501e-01 -6.51734704e-01 -1.42837893e-02 2.75416263e+02] [-2.00082447e-02 1.36801925e-03 9.99798879e-01 2.12750342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5707140569999 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:301.25, Y:275.42, Z:2.13 [[-6.46767495e-01 7.62557403e-01 -1.40717773e-02 3.01252709e+02] [-7.62424958e-01 -6.46918849e-01 -1.42893791e-02 2.75416379e+02] [-1.99997698e-02 1.48676827e-03 9.99798879e-01 2.12750544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6007140569999 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:301.25, Y:275.42, Z:2.13 [[-6.44354540e-01 7.64597523e-01 -1.40660840e-02 3.01253308e+02] [-7.64465436e-01 -6.44506207e-01 -1.42949812e-02 2.75417021e+02] [-1.99955857e-02 1.54199903e-03 9.99798879e-01 2.12686865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.630714057 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:301.25, Y:275.42, Z:2.13 [[-6.40524574e-01 7.67808945e-01 -1.40603777e-02 3.01251903e+02] [-7.67677496e-01 -6.40676794e-01 -1.43005917e-02 2.75415831e+02] [-1.99882799e-02 1.63395514e-03 9.99798879e-01 2.12708005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.660714057 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:301.25, Y:275.42, Z:2.13 [[-6.38712352e-01 7.69317229e-01 -1.40546562e-02 3.01254346e+02] [-7.69186018e-01 -6.38864776e-01 -1.43062126e-02 2.75417575e+02] [-1.99850406e-02 1.67309038e-03 9.99798879e-01 2.12724977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6907140569999 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:301.25, Y:275.41, Z:2.13 [[-6.37079994e-01 7.70669650e-01 -1.40489235e-02 3.01251508e+02] [-7.70538640e-01 -6.37232591e-01 -1.43118399e-02 2.75412909e+02] [-1.99821326e-02 1.70745155e-03 9.99798879e-01 2.12788504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7207140569999 meters Centerline goodness : 0.998070 Centerline is valid? [True, True] Translation: X:301.25, Y:275.41, Z:2.13 [[-6.34755287e-01 7.72585604e-01 -1.40431706e-02 3.01254950e+02] [-7.72454932e-01 -6.34908173e-01 -1.43174826e-02 2.75410870e+02] [-1.99776048e-02 1.75961864e-03 9.99798879e-01 2.12834013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.750714057 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:301.26, Y:275.41, Z:2.13 [[-6.33703436e-01 7.73448710e-01 -1.40373953e-02 3.01259164e+02] [-7.73318123e-01 -6.33856395e-01 -1.43231427e-02 2.75412279e+02] [-1.99759090e-02 1.77874747e-03 9.99798879e-01 2.12843037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.780714057 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:301.26, Y:275.41, Z:2.13 [[-6.32410084e-01 7.74506681e-01 -1.40316177e-02 3.01263120e+02] [-7.74376226e-01 -6.32563156e-01 -1.43288004e-02 2.75412986e+02] [-1.99736361e-02 1.80407330e-03 9.99798879e-01 2.12847161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8107140569999 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:301.27, Y:275.41, Z:2.13 [[-6.31019179e-01 7.75640427e-01 -1.40258429e-02 3.01268275e+02] [-7.75510123e-01 -6.31172380e-01 -1.43344510e-02 2.75410991e+02] [-1.99711043e-02 1.83186964e-03 9.99798879e-01 2.12904605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8407140569999 meters Centerline goodness : 0.997282 Centerline is valid? [True, True] Translation: X:301.27, Y:275.41, Z:2.13 [[-6.30427589e-01 7.76121442e-01 -1.40200657e-02 3.01271661e+02] [-7.75991132e-01 -6.30580784e-01 -1.43400992e-02 2.75409752e+02] [-1.99704425e-02 1.83905253e-03 9.99798879e-01 2.12931239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.870714057 meters Centerline goodness : 0.996771 Centerline is valid? [True, True] Translation: X:301.28, Y:275.41, Z:2.13 [[-6.30693359e-01 7.75905591e-01 -1.40142843e-02 3.01280178e+02] [-7.75775105e-01 -6.30846404e-01 -1.43457470e-02 2.75407618e+02] [-1.99718062e-02 1.82416550e-03 9.99798879e-01 2.12975047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.900714057 meters Centerline goodness : 0.996596 Centerline is valid? [True, True] Translation: X:301.28, Y:275.41, Z:2.13 [[-6.31129229e-01 7.75551196e-01 -1.40085026e-02 3.01284385e+02] [-7.75420501e-01 -6.31282096e-01 -1.43513906e-02 2.75407025e+02] [-1.99735550e-02 1.80489805e-03 9.99798880e-01 2.12874444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9307140569999 meters Centerline goodness : 0.996831 Centerline is valid? [True, True] Translation: X:301.29, Y:275.41, Z:2.13 [[-6.31218663e-01 7.75478512e-01 -1.40027227e-02 3.01290451e+02] [-7.75347677e-01 -6.31371409e-01 -1.43570278e-02 2.75407651e+02] [-1.99744854e-02 1.79455464e-03 9.99798880e-01 2.12710789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9607140569999 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:301.30, Y:275.40, Z:2.12 [[-6.32812956e-01 7.74178176e-01 -1.39969456e-02 3.01298138e+02] [-7.74046904e-01 -6.32965327e-01 -1.43626579e-02 2.75403374e+02] [-1.99788375e-02 1.74541644e-03 9.99798880e-01 2.12407283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.990714057 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:301.31, Y:275.41, Z:2.12 [[-6.33880572e-01 7.73304382e-01 -1.39911703e-02 3.01308160e+02] [-7.73172777e-01 -6.34032656e-01 -1.43682816e-02 2.75406535e+02] [-1.99819140e-02 1.70981739e-03 9.99798880e-01 2.12356825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.020714057 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:301.32, Y:275.41, Z:2.12 [[-6.34826299e-01 7.72528303e-01 -1.39854057e-02 3.01315601e+02] [-7.72396390e-01 -6.34978116e-01 -1.43738903e-02 2.75406402e+02] [-1.99846637e-02 1.67735330e-03 9.99798880e-01 2.12312381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0507140569999 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:301.32, Y:275.40, Z:2.12 [[-6.37903150e-01 7.69989702e-01 -1.39796590e-02 3.01322160e+02] [-7.69857064e-01 -6.38054333e-01 -1.43794773e-02 2.75399223e+02] [-1.99918315e-02 1.58962534e-03 9.99798880e-01 2.12341306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0807140569999 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:301.33, Y:275.40, Z:2.12 [[-6.39451747e-01 7.68704230e-01 -1.39739100e-02 3.01332877e+02] [-7.68571167e-01 -6.39602557e-01 -1.43850620e-02 2.75403628e+02] [-1.99956066e-02 1.54139128e-03 9.99798880e-01 2.12379323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1107140569999 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:301.34, Y:275.40, Z:2.12 [[-6.42861983e-01 7.65854660e-01 -1.39681697e-02 3.01343463e+02] [-7.65720809e-01 -6.43012094e-01 -1.43906338e-02 2.75401109e+02] [-2.00028360e-02 1.44452686e-03 9.99798880e-01 2.12319502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.140714057 meters Centerline goodness : 0.992526 Centerline is valid? [True, True] Translation: X:301.35, Y:275.40, Z:2.12 [[-6.44232085e-01 7.64702602e-01 -1.39624510e-02 3.01351865e+02] [-7.64568363e-01 -6.44381849e-01 -1.43961802e-02 2.75403043e+02] [-2.00059464e-02 1.40076715e-03 9.99798880e-01 2.12280873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1707140569999 meters Centerline goodness : 0.990997 Centerline is valid? [True, True] Translation: X:301.36, Y:275.40, Z:2.12 [[-6.45552397e-01 7.63588444e-01 -1.39567458e-02 3.01357083e+02] [-7.63453828e-01 -6.45701822e-01 -1.44017091e-02 2.75401660e+02] [-2.00088748e-02 1.35827319e-03 9.99798880e-01 2.12265764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2007140569999 meters Centerline goodness : 0.990258 Centerline is valid? [True, True] Translation: X:301.36, Y:275.40, Z:2.12 [[-6.46951798e-01 7.62403266e-01 -1.39510492e-02 3.01363755e+02] [-7.62268258e-01 -6.47100869e-01 -1.44072254e-02 2.75401943e+02] [-2.00118517e-02 1.31366162e-03 9.99798880e-01 2.12243184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2307140569999 meters Centerline goodness : 0.988876 Centerline is valid? [True, True] Translation: X:301.37, Y:275.40, Z:2.12 [[-6.50114867e-01 7.59707961e-01 -1.39453543e-02 3.01373892e+02] [-7.59572218e-01 -6.50263269e-01 -1.44127355e-02 2.75399551e+02] [-2.00176216e-02 1.22257007e-03 9.99798880e-01 2.12261359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.260714057 meters Centerline goodness : 0.988184 Centerline is valid? [True, True] Translation: X:301.38, Y:275.40, Z:2.12 [[-6.51299854e-01 7.58692412e-01 -1.39400275e-02 3.01379303e+02] [-7.58556328e-01 -6.51447943e-01 -1.44178858e-02 2.75399386e+02] [-2.00199428e-02 1.18392919e-03 9.99798880e-01 2.12263231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.290714057 meters Centerline goodness : 0.986373 Centerline is valid? [True, True] Translation: X:301.40, Y:275.42, Z:2.13 [[-6.62870507e-01 7.48604385e-01 -1.39343518e-02 3.01398873e+02] [-7.48465929e-01 -6.63016380e-01 -1.44233690e-02 2.75418759e+02] [-2.00361008e-02 8.68561646e-04 9.99798880e-01 2.12725955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3207140569999 meters Centerline goodness : 0.985103 Centerline is valid? [True, True] Translation: X:301.40, Y:275.41, Z:2.13 [[-6.64509478e-01 7.47144588e-01 -1.42168551e-02 3.01396771e+02] [-7.47011575e-01 -6.64660427e-01 -1.41500430e-02 2.75412896e+02] [-2.00215090e-02 1.21731758e-03 9.99798808e-01 2.12574954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3507140569999 meters Centerline goodness : 0.985445 Centerline is valid? [True, True] Translation: X:301.40, Y:275.42, Z:2.12 [[-6.66403988e-01 7.45455094e-01 -1.42276869e-02 3.01402759e+02] [-7.45321921e-01 -6.66554804e-01 -1.41395671e-02 2.75415520e+02] [-2.00239454e-02 1.18154303e-03 9.99798803e-01 2.12440514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.380714057 meters Centerline goodness : 0.983106 Centerline is valid? [True, True] Translation: X:300.68, Y:274.64, Z:2.10 [[-6.46380093e-01 7.62887318e-01 -1.39898049e-02 3.00683641e+02] [-7.62753315e-01 -6.46529984e-01 -1.43652319e-02 2.74639957e+02] [-2.00038816e-02 1.38537011e-03 9.99798943e-01 2.10157568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.410714057 meters Centerline goodness : 0.982057 Centerline is valid? [True, True] Translation: X:301.40, Y:275.41, Z:2.13 [[-6.65611862e-01 7.46172302e-01 -1.37020097e-02 3.01403192e+02] [-7.46028869e-01 -6.65752706e-01 -1.46376599e-02 2.75405264e+02] [-2.00443664e-02 4.79094688e-04 9.99798977e-01 2.12561876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4407140569999 meters Centerline goodness : 0.982263 Centerline is valid? [True, True] Translation: X:301.41, Y:275.41, Z:2.13 [[-6.64454005e-01 7.47196152e-01 -1.40991150e-02 3.01407955e+02] [-7.47060916e-01 -6.64602726e-01 -1.42549413e-02 2.75405003e+02] [-2.00215476e-02 1.06114495e-03 9.99798986e-01 2.12689235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4707140569999 meters Centerline goodness : 0.983778 Centerline is valid? [True, True] Translation: X:301.41, Y:275.40, Z:2.12 [[-6.68722199e-01 7.43379229e-01 -1.40692317e-02 3.01409252e+02] [-7.43242539e-01 -6.68869571e-01 -1.42837306e-02 2.75402821e+02] [-2.00287096e-02 9.05003753e-04 9.99798996e-01 2.12252360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.500714057 meters Centerline goodness : 0.981865 Centerline is valid? [True, True] Translation: X:301.42, Y:275.41, Z:2.12 [[-6.70237122e-01 7.42011165e-01 -1.41997339e-02 3.01419166e+02] [-7.41876817e-01 -6.70386709e-01 -1.41579892e-02 2.75411824e+02] [-2.00246989e-02 1.04524349e-03 9.99798939e-01 2.12461786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.530714057 meters Centerline goodness : 0.983273 Centerline is valid? [True, True] Translation: X:301.42, Y:275.41, Z:2.12 [[-6.74268486e-01 7.38351517e-01 -1.41084094e-02 3.01419803e+02] [-7.38214516e-01 -6.74415586e-01 -1.42459288e-02 2.75413739e+02] [-2.00334343e-02 8.09451786e-04 9.99798983e-01 2.12022691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5607140569999 meters Centerline goodness : 0.983891 Centerline is valid? [True, True] Translation: X:301.42, Y:275.41, Z:2.12 [[-6.72795383e-01 7.39691379e-01 -1.42490715e-02 3.01424009e+02] [-7.39557519e-01 -6.72945445e-01 -1.41104016e-02 2.75414524e+02] [-2.00261902e-02 1.04459492e-03 9.99798910e-01 2.12277402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5907140569999 meters Centerline goodness : 0.982487 Centerline is valid? [True, True] Translation: X:301.43, Y:275.42, Z:2.13 [[-6.74617344e-01 7.38031832e-01 -1.41581505e-02 3.01428649e+02] [-7.37895765e-01 -6.74765336e-01 -1.41979397e-02 2.75419324e+02] [-2.00319606e-02 8.69062954e-04 9.99798962e-01 2.12758487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.620714057 meters Centerline goodness : 0.984586 Centerline is valid? [True, True] Translation: X:301.43, Y:275.42, Z:2.12 [[-6.75920236e-01 7.36840312e-01 -1.40779529e-02 3.01427834e+02] [-7.36702375e-01 -6.76066441e-01 -1.42750892e-02 2.75419481e+02] [-2.00360927e-02 7.22439675e-04 9.99798996e-01 2.12475591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.650714057 meters Centerline goodness : 0.984586 Centerline is valid? [True, True] Translation: X:301.43, Y:275.42, Z:2.12 [[-6.75663213e-01 7.37074852e-01 -1.41380663e-02 3.01429578e+02] [-7.36938170e-01 -6.75810626e-01 -1.42172779e-02 2.75421367e+02] [-2.00338534e-02 8.12789039e-04 9.99798972e-01 2.12482003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6807140569999 meters Centerline goodness : 0.986296 Centerline is valid? [True, True] Translation: X:301.42, Y:275.40, Z:2.12 [[-6.67511005e-01 7.44465916e-01 -1.41265209e-02 3.01419461e+02] [-7.44330631e-01 -6.67659693e-01 -1.42283683e-02 2.75402162e+02] [-2.00242438e-02 1.01720980e-03 9.99798977e-01 2.12020532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7107140569999 meters Centerline goodness : 0.984397 Centerline is valid? [True, True] Translation: X:301.43, Y:275.43, Z:2.12 [[-6.81291540e-01 7.31880657e-01 -1.38759333e-02 3.01428394e+02] [-7.31737686e-01 -6.81432768e-01 -1.44686913e-02 2.75427676e+02] [-2.00448710e-02 2.96146300e-04 9.99799038e-01 2.12272198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.740714057 meters Centerline goodness : 0.984036 Centerline is valid? [True, True] Translation: X:301.43, Y:275.43, Z:2.12 [[-6.79179918e-01 7.33834407e-01 -1.42021849e-02 3.01427754e+02] [-7.33698313e-01 -6.79327913e-01 -1.41552871e-02 2.75427788e+02] [-2.00355773e-02 8.06132376e-04 9.99798943e-01 2.12413879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.770714057 meters Centerline goodness : 0.984561 Centerline is valid? [True, True] Translation: X:301.43, Y:275.43, Z:2.13 [[-6.74949351e-01 7.37726784e-01 -1.42325836e-02 3.01425304e+02] [-7.37592157e-01 -6.75098707e-01 -1.41260928e-02 2.75425011e+02] [-2.00295958e-02 9.63444849e-04 9.99798923e-01 2.12552690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8007140569999 meters Centerline goodness : 0.983082 Centerline is valid? [True, True] Translation: X:301.42, Y:275.43, Z:2.13 [[-6.78157170e-01 7.34781667e-01 -1.40980721e-02 3.01424650e+02] [-7.34643700e-01 -6.78303344e-01 -1.42550942e-02 2.75431900e+02] [-2.00371514e-02 6.89865488e-04 9.99798998e-01 2.12696145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8307140569999 meters Centerline goodness : 0.984070 Centerline is valid? [True, True] Translation: X:301.42, Y:275.43, Z:2.13 [[-6.73745599e-01 7.38827479e-01 -1.41712414e-02 3.01420468e+02] [-7.38691859e-01 -6.73894002e-01 -1.41849218e-02 2.75429872e+02] [-2.00301246e-02 9.11151977e-04 9.99798962e-01 2.12810192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8607140569999 meters Centerline goodness : 0.983504 Centerline is valid? [True, True] Translation: X:301.42, Y:275.43, Z:2.13 [[-6.70590209e-01 7.41693953e-01 -1.41014829e-02 3.01420793e+02] [-7.41557562e-01 -6.70737855e-01 -1.42517399e-02 2.75431413e+02] [-2.00288277e-02 8.99984019e-04 9.99798998e-01 2.12716389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.890714057 meters Centerline goodness : 0.985151 Centerline is valid? [True, True] Translation: X:301.42, Y:275.43, Z:2.13 [[-6.66496353e-01 7.45376366e-01 -1.40244688e-02 3.01416298e+02] [-7.45239240e-01 -6.66643276e-01 -1.43254332e-02 2.75430648e+02] [-2.00271572e-02 9.03735440e-04 9.99799028e-01 2.12901443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9207140569999 meters Centerline goodness : 0.985618 Centerline is valid? [True, True] Translation: X:301.42, Y:275.43, Z:2.13 [[-6.64827149e-01 7.46864460e-01 -1.40833557e-02 3.01415132e+02] [-7.46728849e-01 -6.64975502e-01 -1.42691048e-02 2.75432455e+02] [-2.00221737e-02 1.02995973e-03 9.99799006e-01 2.12906589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9507140569999 meters Centerline goodness : 0.985362 Centerline is valid? [True, True] Translation: X:301.41, Y:275.43, Z:2.13 [[-6.63265359e-01 7.48251464e-01 -1.40999808e-02 3.01413629e+02] [-7.48116500e-01 -6.63414311e-01 -1.42532090e-02 2.75434224e+02] [-2.00191135e-02 1.09476851e-03 9.99798998e-01 2.12930399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9807140569999 meters Centerline goodness : 0.985875 Centerline is valid? [True, True] Translation: X:301.42, Y:275.44, Z:2.13 [[-6.60534480e-01 7.50663859e-01 -1.40702571e-02 3.01416088e+02] [-7.50528836e-01 -6.60683360e-01 -1.42816173e-02 2.75437927e+02] [-2.00166786e-02 1.12663302e-03 9.99799011e-01 2.12950645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.010714057 meters Centerline goodness : 0.986128 Centerline is valid? [True, True] Translation: X:301.42, Y:275.44, Z:2.13 [[-6.58634258e-01 7.52333304e-01 -1.39826174e-02 3.01416486e+02] [-7.52196885e-01 -6.58781818e-01 -1.43653140e-02 2.75442652e+02] [-2.00189982e-02 1.05619332e-03 9.99799042e-01 2.12836908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.040714057 meters Centerline goodness : 0.985718 Centerline is valid? [True, True] Translation: X:301.41, Y:275.43, Z:2.13 [[-6.55210416e-01 7.55314992e-01 -1.40916287e-02 3.01407412e+02] [-7.55181461e-01 -6.55360648e-01 -1.42612023e-02 2.75433273e+02] [-2.00067989e-02 1.29764846e-03 9.99799002e-01 2.12787938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0707140569999 meters Centerline goodness : 0.986537 Centerline is valid? [True, True] Translation: X:301.41, Y:275.43, Z:2.13 [[-6.52245131e-01 7.57878013e-01 -1.40430380e-02 3.01405647e+02] [-7.57744079e-01 -6.52394975e-01 -1.43075616e-02 2.75432203e+02] [-2.00049938e-02 1.30899150e-03 9.99799023e-01 2.12846802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1007140569999 meters Centerline goodness : 0.985599 Centerline is valid? [True, True] Translation: X:301.41, Y:275.44, Z:2.13 [[-6.49614843e-01 7.60134549e-01 -1.40008387e-02 3.01409669e+02] [-7.60000274e-01 -6.49764361e-01 -1.43477915e-02 2.75438354e+02] [-2.00034980e-02 1.32010295e-03 9.99799039e-01 2.12850801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.130714057 meters Centerline goodness : 0.986607 Centerline is valid? [True, True] Translation: X:301.41, Y:275.44, Z:2.13 [[-6.48052281e-01 7.61467315e-01 -1.39917581e-02 3.01411520e+02] [-7.61333162e-01 -6.48201905e-01 -1.43564427e-02 2.75440300e+02] [-2.00014462e-02 1.34866397e-03 9.99799041e-01 2.12887352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.160714057 meters Centerline goodness : 0.986663 Centerline is valid? [True, True] Translation: X:301.41, Y:275.44, Z:2.13 [[-6.46014065e-01 7.63197575e-01 -1.39746246e-02 3.01410026e+02] [-7.63063472e-01 -6.46163727e-01 -1.43727556e-02 2.75437810e+02] [-1.99991477e-02 1.37852327e-03 9.99799047e-01 2.12935158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1907140569999 meters Centerline goodness : 0.987310 Centerline is valid? [True, True] Translation: X:301.41, Y:275.44, Z:2.13 [[-6.46020653e-01 7.63192310e-01 -1.39575865e-02 3.01413656e+02] [-7.63057858e-01 -6.46169995e-01 -1.43889680e-02 2.75441485e+02] [-2.00005233e-02 1.35487560e-03 9.99799052e-01 2.12931361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2207140569999 meters Centerline goodness : 0.986900 Centerline is valid? [True, True] Translation: X:301.41, Y:275.44, Z:2.13 [[-6.44685594e-01 7.64319841e-01 -1.39880560e-02 3.01410635e+02] [-7.64186273e-01 -6.44835739e-01 -1.43599929e-02 2.75437369e+02] [-1.99956260e-02 1.43179984e-03 9.99799042e-01 2.12911094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.250714057 meters Centerline goodness : 0.987199 Centerline is valid? [True, True] Translation: X:301.41, Y:275.43, Z:2.13 [[-6.41814888e-01 7.66731970e-01 -1.39905566e-02 3.01410576e+02] [-7.66599017e-01 -6.41965580e-01 -1.43576158e-02 2.75434510e+02] [-1.99898989e-02 1.51021536e-03 9.99799041e-01 2.12951332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.280714057 meters Centerline goodness : 0.988152 Centerline is valid? [True, True] Translation: X:301.41, Y:275.42, Z:2.13 [[-6.34131479e-01 7.73099066e-01 -1.39678739e-02 3.01408961e+02] [-7.72967155e-01 -6.34283074e-01 -1.43791622e-02 2.75424811e+02] [-1.99761028e-02 1.67842834e-03 9.99799049e-01 2.12843525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3107140569999 meters Centerline goodness : 0.988270 Centerline is valid? [True, True] Translation: X:301.41, Y:275.42, Z:2.13 [[-6.32726072e-01 7.74252831e-01 -1.37938818e-02 3.01408644e+02] [-7.74117621e-01 -6.32874692e-01 -1.45441792e-02 2.75422383e+02] [-1.99906706e-02 1.47560558e-03 9.99799078e-01 2.12773129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3407140569999 meters Centerline goodness : 0.987198 Centerline is valid? [True, True] Translation: X:301.41, Y:275.43, Z:2.13 [[-6.31562087e-01 7.75202695e-01 -1.37881131e-02 3.01413493e+02] [-7.75067590e-01 -6.31710803e-01 -1.45496460e-02 2.75425347e+02] [-1.99890248e-02 1.49771478e-03 9.99799078e-01 2.12755322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.370714057 meters Centerline goodness : 0.987361 Centerline is valid? [True, True] Translation: X:301.42, Y:275.43, Z:2.13 [[-6.29411082e-01 7.76950280e-01 -1.37823402e-02 3.01418820e+02] [-7.76815469e-01 -6.29560065e-01 -1.45551124e-02 2.75425186e+02] [-1.99854096e-02 1.54518600e-03 9.99799078e-01 2.12681735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.400714057 meters Centerline goodness : 0.987530 Centerline is valid? [True, True] Translation: X:301.26, Y:275.25, Z:2.12 [[-6.27518294e-01 7.78479927e-01 -1.37765721e-02 3.01260314e+02] [-7.78345361e-01 -6.27667498e-01 -1.45605700e-02 2.75252264e+02] [-1.99822180e-02 1.58590692e-03 9.99799078e-01 2.12250349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4307140569999 meters Centerline goodness : 0.986737 Centerline is valid? [True, True] Translation: X:301.42, Y:275.42, Z:2.13 [[-6.25429676e-01 7.80158498e-01 -1.37999197e-02 3.01417984e+02] [-7.80024813e-01 -6.25579670e-01 -1.45384922e-02 2.75415010e+02] [-1.99752774e-02 1.67147532e-03 9.99799077e-01 2.12648251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4607140569999 meters Centerline goodness : 0.986953 Centerline is valid? [True, True] Translation: X:301.42, Y:275.42, Z:2.13 [[-6.23301591e-01 7.81860246e-01 -1.37724968e-02 3.01421057e+02] [-7.81726405e-01 -6.23451446e-01 -1.45644240e-02 2.75415011e+02] [-1.99738272e-02 1.68829578e-03 9.99799078e-01 2.12634072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.490714057 meters Centerline goodness : 0.986698 Centerline is valid? [True, True] Translation: X:301.26, Y:275.24, Z:2.12 [[-6.22141878e-01 7.82783470e-01 -1.37666920e-02 3.01261262e+02] [-7.82649732e-01 -6.22291824e-01 -1.45699088e-02 2.75243877e+02] [-1.99719836e-02 1.70994744e-03 9.99799078e-01 2.12209868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.520714057 meters Centerline goodness : 0.986981 Centerline is valid? [True, True] Translation: X:301.42, Y:275.41, Z:2.13 [[-6.15969936e-01 7.87648922e-01 -1.37918353e-02 3.01421173e+02] [-7.87516887e-01 -6.16121385e-01 -1.45461658e-02 2.75405077e+02] [-1.99547165e-02 1.90130237e-03 9.99799077e-01 2.12581434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5507140569999 meters Centerline goodness : 0.985757 Centerline is valid? [True, True] Translation: X:301.20, Y:275.17, Z:2.12 [[-6.14122044e-01 7.89091105e-01 -1.37601850e-02 3.01202644e+02] [-7.88958769e-01 -6.14273229e-01 -1.45760446e-02 2.75170943e+02] [-1.99543404e-02 1.90474832e-03 9.99799078e-01 2.12026160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5807140569999 meters Centerline goodness : 0.983387 Centerline is valid? [True, True] Translation: X:301.08, Y:275.03, Z:2.12 [[-6.08312382e-01 7.93578162e-01 -1.37748491e-02 3.01082277e+02] [-7.93447245e-01 -6.08464799e-01 -1.45622269e-02 2.75033740e+02] [-1.99377760e-02 2.07123313e-03 9.99799077e-01 2.11686331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6107140569999 meters Centerline goodness : 0.985667 Centerline is valid? [True, True] Translation: X:301.43, Y:275.40, Z:2.13 [[-6.06782321e-01 7.94748801e-01 -1.37680281e-02 3.01428403e+02] [-7.94618036e-01 -6.06934866e-01 -1.45686508e-02 2.75395637e+02] [-1.99347140e-02 2.10032372e-03 9.99799078e-01 2.12638181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.640714057 meters Centerline goodness : 0.981610 Centerline is valid? [True, True] Translation: X:300.78, Y:274.70, Z:2.11 [[-6.00569746e-01 7.99454191e-01 -1.37468661e-02 3.00778496e+02] [-7.99324174e-01 -6.00722929e-01 -1.45885917e-02 2.74697027e+02] [-1.99209685e-02 2.22673556e-03 9.99799078e-01 2.11046897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6707140569999 meters Centerline goodness : 0.980842 Centerline is valid? [True, True] Translation: X:300.74, Y:274.64, Z:2.11 [[-5.97652251e-01 8.01636469e-01 -1.38115198e-02 3.00735481e+02] [-8.01508403e-01 -5.97807048e-01 -1.45262982e-02 2.74638002e+02] [-1.99014343e-02 2.38837441e-03 9.99799094e-01 2.10761020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7007140569999 meters Centerline goodness : 0.985056 Centerline is valid? [True, True] Translation: X:301.43, Y:275.38, Z:2.13 [[-6.06407796e-01 7.95040336e-01 -1.34331589e-02 3.01431375e+02] [-7.94902770e-01 -6.06554309e-01 -1.48814326e-02 2.75376042e+02] [-1.99792796e-02 1.65383849e-03 9.99799026e-01 2.12506291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7307140569999 meters Centerline goodness : 0.986342 Centerline is valid? [True, True] Translation: X:301.44, Y:275.38, Z:2.13 [[-6.07817373e-01 7.93957546e-01 -1.37642804e-02 3.01443467e+02] [-7.93826576e-01 -6.07969674e-01 -1.45685948e-02 2.75376733e+02] [-1.99351108e-02 2.07140658e-03 9.99799130e-01 2.12690077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.760714057 meters Centerline goodness : 0.986193 Centerline is valid? [True, True] Translation: X:301.45, Y:275.38, Z:2.13 [[-6.08578273e-01 7.93374559e-01 -1.37584152e-02 3.01447757e+02] [-7.93243320e-01 -6.08730342e-01 -1.45741317e-02 2.75375555e+02] [-1.99379101e-02 2.04427104e-03 9.99799130e-01 2.12751423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.790714057 meters Centerline goodness : 0.986268 Centerline is valid? [True, True] Translation: X:301.45, Y:275.38, Z:2.13 [[-6.10183602e-01 7.92140668e-01 -1.37525590e-02 3.01453366e+02] [-7.92009000e-01 -6.10335300e-01 -1.45796557e-02 2.75375407e+02] [-1.99428104e-02 1.99588367e-03 9.99799130e-01 2.12747966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8207140569999 meters Centerline goodness : 0.988170 Centerline is valid? [True, True] Translation: X:301.46, Y:275.37, Z:2.13 [[-6.14527502e-01 7.88775619e-01 -1.37467036e-02 3.01464761e+02] [-7.88642998e-01 -6.14678367e-01 -1.45851745e-02 2.75374417e+02] [-1.99542314e-02 1.87825070e-03 9.99799130e-01 2.12702423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8507140569999 meters Centerline goodness : 0.988192 Centerline is valid? [True, True] Translation: X:301.47, Y:275.38, Z:2.13 [[-6.17205162e-01 7.86682259e-01 -1.37408593e-02 3.01472725e+02] [-7.86549005e-01 -6.17355469e-01 -1.45906784e-02 2.75376410e+02] [-1.99612225e-02 1.80241712e-03 9.99799130e-01 2.12704928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.880714057 meters Centerline goodness : 0.988393 Centerline is valid? [True, True] Translation: X:301.48, Y:275.38, Z:2.13 [[-6.23585196e-01 7.81634731e-01 -1.37350300e-02 3.01483991e+02] [-7.81500139e-01 -6.23734306e-01 -1.45961638e-02 2.75375791e+02] [-1.99758780e-02 1.63197616e-03 9.99799130e-01 2.12701470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.910714057 meters Centerline goodness : 0.988299 Centerline is valid? [True, True] Translation: X:301.49, Y:275.38, Z:2.13 [[-6.26662171e-01 7.79170092e-01 -1.37292186e-02 3.01492003e+02] [-7.79034795e-01 -6.26810642e-01 -1.46016279e-02 2.75378215e+02] [-1.99827721e-02 1.54525114e-03 9.99799130e-01 2.12746480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9407140569999 meters Centerline goodness : 0.983837 Centerline is valid? [True, True] Translation: X:301.52, Y:275.42, Z:2.14 [[-6.43448988e-01 7.65365970e-01 -1.37234271e-02 3.01519175e+02] [-7.65227363e-01 -6.43594373e-01 -1.46070691e-02 2.75415802e+02] [-2.00120741e-02 1.10263813e-03 9.99799130e-01 2.13540911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9707140569999 meters Centerline goodness : 0.984219 Centerline is valid? [True, True] Translation: X:300.81, Y:274.63, Z:2.12 [[-6.23422418e-01 7.81764203e-01 -1.37557338e-02 3.00814666e+02] [-7.81630060e-01 -6.23571938e-01 -1.45769550e-02 2.74632872e+02] [-1.99734312e-02 1.66429448e-03 9.99799126e-01 2.11533236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.000714057 meters Centerline goodness : 0.984563 Centerline is valid? [True, True] Translation: X:300.83, Y:274.64, Z:2.12 [[-6.30971683e-01 7.75684195e-01 -1.37391946e-02 3.00830583e+02] [-7.75548268e-01 -6.31119588e-01 -1.45927816e-02 2.74638150e+02] [-1.99904649e-02 1.44777660e-03 9.99799122e-01 2.11502393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.030714057 meters Centerline goodness : 0.988876 Centerline is valid? [True, True] Translation: X:301.52, Y:275.38, Z:2.13 [[-6.44308588e-01 7.64649475e-01 -1.33275627e-02 3.01515410e+02] [-7.64503015e-01 -6.44446187e-01 -1.49750616e-02 2.75377024e+02] [-2.00395700e-02 5.40401074e-04 9.99799042e-01 2.12667239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0607140569999 meters Centerline goodness : 0.989137 Centerline is valid? [True, True] Translation: X:301.52, Y:275.38, Z:2.13 [[-6.48407895e-01 7.61170260e-01 -1.36761584e-02 3.01522557e+02] [-7.61029815e-01 -6.48551470e-01 -1.46496334e-02 2.75380125e+02] [-2.00205579e-02 9.09026395e-04 9.99799155e-01 2.12594865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0907140569999 meters Centerline goodness : 0.988285 Centerline is valid? [True, True] Translation: X:301.53, Y:275.38, Z:2.13 [[-6.56429890e-01 7.54263162e-01 -1.36704645e-02 3.01533548e+02] [-7.54121095e-01 -6.56571860e-01 -1.46549447e-02 2.75384938e+02] [-2.00293273e-02 6.89241919e-04 9.99799155e-01 2.12590731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.120714057 meters Centerline goodness : 0.987791 Centerline is valid? [True, True] Translation: X:301.54, Y:275.39, Z:2.13 [[-6.60073510e-01 7.51076717e-01 -1.36647935e-02 3.01540131e+02] [-7.50933854e-01 -6.60214680e-01 -1.46602307e-02 2.75390027e+02] [-2.00326552e-02 5.84526065e-04 9.99799155e-01 2.12561710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.150714057 meters Centerline goodness : 0.987535 Centerline is valid? [True, True] Translation: X:301.54, Y:275.39, Z:2.13 [[-6.66243443e-01 7.45609216e-01 -1.36591497e-02 3.01544796e+02] [-7.45465087e-01 -6.66383319e-01 -1.46654872e-02 2.75393626e+02] [-2.00369520e-02 4.11634553e-04 9.99799155e-01 2.12615714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1807140569999 meters Centerline goodness : 0.983138 Centerline is valid? [True, True] Translation: X:301.56, Y:275.43, Z:2.13 [[-6.84255283e-01 7.29114730e-01 -1.36535228e-02 3.01564596e+02] [-7.28967123e-01 -6.84391484e-01 -1.46707240e-02 2.75433277e+02] [-2.00409957e-02 -8.55512058e-05 9.99799155e-01 2.13363447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2107140569999 meters Centerline goodness : 0.983498 Centerline is valid? [True, True] Translation: X:300.83, Y:274.62, Z:2.12 [[-6.59904006e-01 7.51224775e-01 -1.37127679e-02 3.00831582e+02] [-7.51082854e-01 -6.60046142e-01 -1.46163148e-02 2.74615796e+02] [-2.00311974e-02 6.54060196e-04 9.99799142e-01 2.11639051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.240714057 meters Centerline goodness : 0.984767 Centerline is valid? [True, True] Translation: X:301.56, Y:275.42, Z:2.13 [[-6.98118095e-01 7.15860422e-01 -1.32281044e-02 3.01562615e+02] [-7.15702753e-01 -6.98242624e-01 -1.50601279e-02 2.75424658e+02] [-2.00173759e-02 -1.04635707e-03 9.99799085e-01 2.12909872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.270714057 meters Centerline goodness : 0.981819 Centerline is valid? [True, True] Translation: X:300.84, Y:274.64, Z:2.12 [[-6.66300051e-01 7.45552716e-01 -1.39781688e-02 3.00841614e+02] [-7.45414764e-01 -6.66446119e-01 -1.43666479e-02 2.74635264e+02] [-2.00267897e-02 8.47035214e-04 9.99799085e-01 2.11659990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3007140569999 meters Centerline goodness : 0.982921 Centerline is valid? [True, True] Translation: X:301.55, Y:275.43, Z:2.13 [[-6.99843558e-01 7.14173194e-01 -1.32530749e-02 3.01551582e+02] [-7.14015712e-01 -6.99968234e-01 -1.50344569e-02 2.75425862e+02] [-2.00139375e-02 -1.05886411e-03 9.99799140e-01 2.13060069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3307140569999 meters Centerline goodness : 0.980993 Centerline is valid? [True, True] Translation: X:301.54, Y:275.43, Z:2.13 [[-6.98520728e-01 7.15448895e-01 -1.42011363e-02 3.01543148e+02] [-7.15309322e-01 -6.98665011e-01 -1.41342104e-02 2.75429051e+02] [-2.00341422e-02 2.85166241e-04 9.99799256e-01 2.13264595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3607140569999 meters Centerline goodness : 0.982756 Centerline is valid? [True, True] Translation: X:300.81, Y:274.63, Z:2.12 [[-6.67669435e-01 7.44328986e-01 -1.38522696e-02 3.00810147e+02] [-7.44188850e-01 -6.67812796e-01 -1.44576940e-02 2.74625835e+02] [-2.00120037e-02 6.55744207e-04 9.99799525e-01 2.11694586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.390714057 meters Centerline goodness : 0.979987 Centerline is valid? [True, True] Translation: X:300.85, Y:274.69, Z:2.12 [[-6.68102533e-01 7.43943950e-01 -1.36530225e-02 3.00853486e+02] [-7.43799850e-01 -6.68241920e-01 -1.46464984e-02 2.74687871e+02] [-2.00196958e-02 3.69753434e-04 9.99799517e-01 2.11985960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4207140569999 meters Centerline goodness : 0.978803 Centerline is valid? [True, True] Translation: X:300.82, Y:274.66, Z:2.12 [[-6.68340295e-01 7.43730226e-01 -1.36601983e-02 3.00817646e+02] [-7.43586220e-01 -6.68479777e-01 -1.46397095e-02 2.74655564e+02] [-2.00195608e-02 3.73227472e-04 9.99799519e-01 2.12127942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4507140569999 meters Centerline goodness : 0.979293 Centerline is valid? [True, True] Translation: X:301.52, Y:275.43, Z:2.13 [[-6.93218028e-01 7.20602814e-01 -1.34294650e-02 3.01516765e+02] [-7.20449968e-01 -6.93347819e-01 -1.48541509e-02 2.75429385e+02] [-2.00152332e-02 -6.21907582e-04 9.99799482e-01 2.13227722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4807140569999 meters Centerline goodness : 0.982617 Centerline is valid? [True, True] Translation: X:301.50, Y:275.41, Z:2.13 [[-6.84930120e-01 7.28473443e-01 -1.40418246e-02 3.01502618e+02] [-7.28333745e-01 -6.85073893e-01 -1.42729347e-02 2.75412253e+02] [-2.00171413e-02 4.51171848e-04 9.99799535e-01 2.12758532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.510714057 meters Centerline goodness : 0.979537 Centerline is valid? [True, True] Translation: X:301.50, Y:275.43, Z:2.13 [[-6.90389176e-01 7.23305319e-01 -1.38636721e-02 3.01500802e+02] [-7.23161130e-01 -6.90528358e-01 -1.44418493e-02 2.75433403e+02] [-2.00191251e-02 5.51722993e-05 9.99799596e-01 2.13240009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.540714057 meters Centerline goodness : 0.979902 Centerline is valid? [True, True] Translation: X:301.50, Y:275.44, Z:2.13 [[-6.90449944e-01 7.23243941e-01 -1.40384258e-02 3.01502358e+02] [-7.23103092e-01 -6.90592583e-01 -1.42759827e-02 2.75443334e+02] [-2.00198507e-02 2.94377669e-04 9.99799539e-01 2.13015066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5707140569999 meters Centerline goodness : 0.979902 Centerline is valid? [True, True] Translation: X:301.50, Y:275.45, Z:2.13 [[-6.90206672e-01 7.23475534e-01 -1.40677485e-02 3.01504083e+02] [-7.23335299e-01 -6.90349937e-01 -1.42481624e-02 2.75445254e+02] [-2.00198661e-02 3.41522294e-04 9.99799524e-01 2.13020992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6007140569999 meters Centerline goodness : 0.979489 Centerline is valid? [True, True] Translation: X:301.50, Y:275.44, Z:2.13 [[-6.87350432e-01 7.26189860e-01 -1.40595386e-02 3.01495172e+02] [-7.26050031e-01 -6.87494087e-01 -1.42559445e-02 2.75441094e+02] [-2.00183721e-02 4.09098834e-04 9.99799529e-01 2.13202219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.630714057 meters Centerline goodness : 0.985540 Centerline is valid? [True, True] Translation: X:301.48, Y:275.43, Z:2.12 [[-6.75347491e-01 7.37366779e-01 -1.39999843e-02 3.01479311e+02] [-7.37228156e-01 -6.75492268e-01 -1.43123278e-02 2.75427798e+02] [-2.00103162e-02 6.55387920e-04 9.99799559e-01 2.12439888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.660714057 meters Centerline goodness : 0.985381 Centerline is valid? [True, True] Translation: X:301.48, Y:275.43, Z:2.12 [[-6.74220882e-01 7.38401722e-01 -1.37513187e-02 3.01476611e+02] [-7.38258488e-01 -6.74361015e-01 -1.45473874e-02 2.75432439e+02] [-2.00151692e-02 3.43875367e-04 9.99799617e-01 2.12406099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6907140569999 meters Centerline goodness : 0.985567 Centerline is valid? [True, True] Translation: X:301.47, Y:275.44, Z:2.13 [[-6.71762296e-01 7.40639232e-01 -1.37457611e-02 3.01466158e+02] [-7.40496357e-01 -6.71902795e-01 -1.45526369e-02 2.75436992e+02] [-2.00140691e-02 4.02773262e-04 9.99799617e-01 2.12542992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7207140569999 meters Centerline goodness : 0.981866 Centerline is valid? [True, True] Translation: X:301.47, Y:275.48, Z:2.13 [[-6.90872758e-01 7.22845792e-01 -1.37401858e-02 3.01474923e+02] [-7.22699193e-01 -6.91009366e-01 -1.45578991e-02 2.75475375e+02] [-2.00177131e-02 -1.27634740e-04 9.99799617e-01 2.13124234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.750714057 meters Centerline goodness : 0.982584 Centerline is valid? [True, True] Translation: X:301.47, Y:275.48, Z:2.13 [[-6.89127703e-01 7.24498743e-01 -1.43031388e-02 3.01474653e+02] [-7.24363329e-01 -6.89275769e-01 -1.40243309e-02 2.75482916e+02] [-2.00194171e-02 6.96114271e-04 9.99799349e-01 2.13168843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.780714057 meters Centerline goodness : 0.986572 Centerline is valid? [True, True] Translation: X:301.45, Y:275.45, Z:2.13 [[-6.63500587e-01 7.48039874e-01 -1.42589739e-02 3.01446064e+02] [-7.47908799e-01 -6.63652450e-01 -1.40660822e-02 2.75446136e+02] [-1.99849933e-02 1.33155828e-03 9.99799393e-01 2.12687150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8107140569999 meters Centerline goodness : 0.987600 Centerline is valid? [True, True] Translation: X:301.44, Y:275.45, Z:2.13 [[-6.61186132e-01 7.50096795e-01 -1.37002558e-02 3.01442402e+02] [-7.49955098e-01 -6.61327760e-01 -1.45926678e-02 2.75449569e+02] [-2.00062728e-02 6.26107077e-04 9.99799658e-01 2.12698309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8407140569999 meters Centerline goodness : 0.985393 Centerline is valid? [True, True] Translation: X:301.45, Y:275.49, Z:2.13 [[-6.78784799e-01 7.34209392e-01 -1.37027729e-02 3.01454380e+02] [-7.34064424e-01 -6.78923077e-01 -1.45902963e-02 2.75489311e+02] [-2.00154613e-02 1.55046769e-04 9.99799659e-01 2.13024771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.870714057 meters Centerline goodness : 0.986214 Centerline is valid? [True, True] Translation: X:301.45, Y:275.49, Z:2.13 [[-6.70922687e-01 7.41391216e-01 -1.42061057e-02 3.01448385e+02] [-7.41257607e-01 -6.71072232e-01 -1.41145585e-02 2.75487663e+02] [-1.99977327e-02 1.06060646e-03 9.99799463e-01 2.13058109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.900714057 meters Centerline goodness : 0.988961 Centerline is valid? [True, True] Translation: X:301.43, Y:275.45, Z:2.13 [[-6.52726373e-01 7.57462529e-01 -1.40996097e-02 3.01430007e+02] [-7.57330427e-01 -6.52877138e-01 -1.42150155e-02 2.75454776e+02] [-1.99726545e-02 1.39954796e-03 9.99799547e-01 2.12769556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9307140569999 meters Centerline goodness : 0.989120 Centerline is valid? [True, True] Translation: X:301.43, Y:275.46, Z:2.13 [[-6.50588989e-01 7.59306125e-01 -1.37177601e-02 3.01428681e+02] [-7.59166810e-01 -6.50732925e-01 -1.45744244e-02 2.75457831e+02] [-1.99930478e-02 9.32108161e-04 9.99799685e-01 2.12860610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9607140569999 meters Centerline goodness : 0.989319 Centerline is valid? [True, True] Translation: X:301.42, Y:275.46, Z:2.13 [[-6.46273438e-01 7.62982715e-01 -1.37120810e-02 3.01424006e+02] [-7.62844106e-01 -6.46418054e-01 -1.45797655e-02 2.75459690e+02] [-1.99878457e-02 1.03766503e-03 9.99799685e-01 2.12949854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.990714057 meters Centerline goodness : 0.988493 Centerline is valid? [True, True] Translation: X:301.43, Y:275.49, Z:2.13 [[-6.66787994e-01 7.45121404e-01 -1.37063864e-02 3.01432522e+02] [-7.44978803e-01 -6.66928675e-01 -1.45851170e-02 2.75491782e+02] [-2.00088649e-02 4.85786465e-04 9.99799685e-01 2.13018050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.020714057 meters Centerline goodness : 0.990580 Centerline is valid? [True, True] Translation: X:301.42, Y:275.46, Z:2.13 [[-6.42637657e-01 7.66035168e-01 -1.43862211e-02 3.01421052e+02] [-7.65911009e-01 -6.42795370e-01 -1.39441367e-02 2.75459232e+02] [-1.99290954e-02 2.05753772e-03 9.99799279e-01 2.12977647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0507140569999 meters Centerline goodness : 0.988487 Centerline is valid? [True, True] Translation: X:301.43, Y:275.49, Z:2.13 [[-6.59283366e-01 7.51769702e-01 -1.37025283e-02 3.01429539e+02] [-7.51628490e-01 -6.59425394e-01 -1.45864123e-02 2.75487217e+02] [-2.00014179e-02 6.82631674e-04 9.99799719e-01 2.13121933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0807140569999 meters Centerline goodness : 0.988205 Centerline is valid? [True, True] Translation: X:301.43, Y:275.49, Z:2.13 [[-6.58131665e-01 7.52766283e-01 -1.43399843e-02 3.01434372e+02] [-7.52638048e-01 -6.58285955e-01 -1.39846367e-02 2.75492218e+02] [-1.99669733e-02 1.58908554e-03 9.99799377e-01 2.13097626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1107140569999 meters Centerline goodness : 0.989048 Centerline is valid? [True, True] Translation: X:301.43, Y:275.48, Z:2.13 [[-6.46853515e-01 7.62479755e-01 -1.43231648e-02 3.01434383e+02] [-7.62353484e-01 -6.47009391e-01 -1.40005027e-02 2.75483179e+02] [-1.99423220e-02 1.86304018e-03 9.99799396e-01 2.13033475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.140714057 meters Centerline goodness : 0.989307 Centerline is valid? [True, True] Translation: X:301.42, Y:275.45, Z:2.13 [[-6.31769692e-01 7.75029320e-01 -1.40217351e-02 3.01418972e+02] [-7.74899867e-01 -6.31922592e-01 -1.42840463e-02 2.75452643e+02] [-1.99312059e-02 1.84121313e-03 9.99799658e-01 2.12680138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1707140569999 meters Centerline goodness : 0.989000 Centerline is valid? [True, True] Translation: X:301.42, Y:275.45, Z:2.13 [[-6.29043029e-01 7.77249849e-01 -1.36945497e-02 3.01419041e+02] [-7.77114257e-01 -6.29190377e-01 -1.45911299e-02 2.75449825e+02] [-1.99574324e-02 1.46378131e-03 9.99799759e-01 2.12544312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2007140569999 meters Centerline goodness : 0.987919 Centerline is valid? [True, True] Translation: X:301.45, Y:275.49, Z:2.13 [[-6.37298100e-01 7.70495781e-01 -1.36887674e-02 3.01446021e+02] [-7.70358510e-01 -6.37443885e-01 -1.45965527e-02 2.75485206e+02] [-1.99724033e-02 1.24290314e-03 9.99799759e-01 2.12616911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2307140569999 meters Centerline goodness : 0.988986 Centerline is valid? [True, True] Translation: X:301.42, Y:275.44, Z:2.12 [[-6.22788284e-01 7.82264657e-01 -1.40270871e-02 3.01421791e+02] [-7.82137090e-01 -6.22942763e-01 -1.42788511e-02 2.75444307e+02] [-1.99079130e-02 2.07840391e-03 9.99799658e-01 2.12487155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.260714057 meters Centerline goodness : 0.988605 Centerline is valid? [True, True] Translation: X:301.43, Y:275.45, Z:2.13 [[-6.20778663e-01 7.83866483e-01 -1.36816612e-02 3.01427607e+02] [-7.83732211e-01 -6.20927200e-01 -1.46024975e-02 2.75446280e+02] [-1.99417239e-02 1.65783969e-03 9.99799770e-01 2.12545840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.290714057 meters Centerline goodness : 0.987198 Centerline is valid? [True, True] Translation: X:301.43, Y:275.44, Z:2.13 [[-6.17900652e-01 7.86137237e-01 -1.36758473e-02 3.01431297e+02] [-7.86003392e-01 -6.18049574e-01 -1.46079404e-02 2.75438930e+02] [-1.99361975e-02 1.72300650e-03 9.99799770e-01 2.12624592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3207140569999 meters Centerline goodness : 0.985797 Centerline is valid? [True, True] Translation: X:301.43, Y:275.44, Z:2.13 [[-6.16500536e-01 7.87235809e-01 -1.36700252e-02 3.01434243e+02] [-7.87102111e-01 -6.16649590e-01 -1.46133866e-02 2.75435947e+02] [-1.99337967e-02 1.75054502e-03 9.99799770e-01 2.12591658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3507140569999 meters Centerline goodness : 0.986361 Centerline is valid? [True, True] Translation: X:301.44, Y:275.44, Z:2.13 [[-6.15738656e-01 7.87831960e-01 -1.36641828e-02 3.01440716e+02] [-7.87698287e-01 -6.15887732e-01 -1.46188475e-02 2.75437699e+02] [-1.99327978e-02 1.76186388e-03 9.99799770e-01 2.12630000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.380714057 meters Centerline goodness : 0.984521 Centerline is valid? [True, True] Translation: X:301.45, Y:275.43, Z:2.13 [[-6.14972456e-01 7.88430294e-01 -1.36583382e-02 3.01448197e+02] [-7.88296646e-01 -6.15121555e-01 -1.46243061e-02 2.75432870e+02] [-1.99317842e-02 1.77327679e-03 9.99799770e-01 2.12543304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.410714057 meters Centerline goodness : 0.984909 Centerline is valid? [True, True] Translation: X:301.45, Y:275.43, Z:2.13 [[-6.14884334e-01 7.88499122e-01 -1.36524955e-02 3.01451677e+02] [-7.88365372e-01 -6.15033341e-01 -1.46297585e-02 2.75429528e+02] [-1.99322916e-02 1.76754541e-03 9.99799770e-01 2.12542716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4407140569999 meters Centerline goodness : 0.984879 Centerline is valid? [True, True] Translation: X:301.46, Y:275.43, Z:2.13 [[-6.15767776e-01 7.87809504e-01 -1.36466445e-02 3.01464671e+02] [-7.87675468e-01 -6.15916526e-01 -1.46352143e-02 2.75428302e+02] [-1.99349548e-02 1.73723376e-03 9.99799770e-01 2.12564856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4707140569999 meters Centerline goodness : 0.984868 Centerline is valid? [True, True] Translation: X:301.47, Y:275.43, Z:2.13 [[-6.15931891e-01 7.87681302e-01 -1.36407954e-02 3.01470980e+02] [-7.87547117e-01 -6.16080506e-01 -1.46406639e-02 2.75427397e+02] [-1.99360053e-02 1.72511729e-03 9.99799770e-01 2.12590288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.500714057 meters Centerline goodness : 0.984809 Centerline is valid? [True, True] Translation: X:301.48, Y:275.43, Z:2.13 [[-6.15850258e-01 7.87745231e-01 -1.36349603e-02 3.01477406e+02] [-7.87610942e-01 -6.15998779e-01 -1.46460962e-02 2.75426731e+02] [-1.99365113e-02 1.71924181e-03 9.99799770e-01 2.12534180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.530714057 meters Centerline goodness : 0.985302 Centerline is valid? [True, True] Translation: X:301.49, Y:275.42, Z:2.12 [[-6.15029466e-01 7.88386328e-01 -1.36291271e-02 3.01485623e+02] [-7.88252076e-01 -6.15178021e-01 -1.46515223e-02 2.75420093e+02] [-1.99353993e-02 1.73206973e-03 9.99799770e-01 2.12443039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5607140569999 meters Centerline goodness : 0.985930 Centerline is valid? [True, True] Translation: X:301.49, Y:275.42, Z:2.12 [[-6.13884787e-01 7.89278072e-01 -1.36232917e-02 3.01490518e+02] [-7.89143917e-01 -6.14033429e-01 -1.46569462e-02 2.75418274e+02] [-1.99335627e-02 1.75306147e-03 9.99799770e-01 2.12430845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5907140569999 meters Centerline goodness : 0.986370 Centerline is valid? [True, True] Translation: X:301.50, Y:275.42, Z:2.12 [[-6.12424025e-01 7.90412157e-01 -1.36174471e-02 3.01497564e+02] [-7.90278159e-01 -6.12572809e-01 -1.46623743e-02 2.75419563e+02] [-1.99309967e-02 1.78198075e-03 9.99799770e-01 2.12451448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.620714057 meters Centerline goodness : 0.986439 Centerline is valid? [True, True] Translation: X:301.50, Y:275.41, Z:2.13 [[-6.09393660e-01 7.92750964e-01 -1.36116074e-02 3.01504098e+02] [-7.92617417e-01 -6.09542850e-01 -1.46677935e-02 2.75413504e+02] [-1.99247654e-02 1.85033675e-03 9.99799770e-01 2.12513818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.650714057 meters Centerline goodness : 0.978448 Centerline is valid? [True, True] Translation: X:300.78, Y:274.62, Z:2.12 [[-5.99041772e-01 8.00602173e-01 -1.36057655e-02 3.00781314e+02] [-8.00470456e-01 -5.99192579e-01 -1.46732103e-02 2.74617168e+02] [-1.98998778e-02 2.10114742e-03 9.99799770e-01 2.12016099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6807140569999 meters Centerline goodness : 0.987749 Centerline is valid? [True, True] Translation: X:301.51, Y:275.39, Z:2.12 [[-6.06165497e-01 7.95227024e-01 -1.33180220e-02 3.01505696e+02] [-7.95088158e-01 -6.06309846e-01 -1.49395913e-02 2.75391629e+02] [-1.99552146e-02 1.53313683e-03 9.99799699e-01 2.12354606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7107140569999 meters Centerline goodness : 0.980215 Centerline is valid? [True, True] Translation: X:300.78, Y:274.60, Z:2.11 [[-5.94866495e-01 8.03708800e-01 -1.36388863e-02 3.00781356e+02] [-8.03578590e-01 -5.95018571e-01 -1.46406850e-02 2.74596254e+02] [-1.98822380e-02 2.25066408e-03 9.99799796e-01 2.11207405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.740714057 meters Centerline goodness : 0.987936 Centerline is valid? [True, True] Translation: X:301.50, Y:275.37, Z:2.12 [[-6.05036368e-01 7.96086331e-01 -1.33246438e-02 3.01504651e+02] [-7.95947813e-01 -6.05181036e-01 -1.49329550e-02 2.75374789e+02] [-1.99517431e-02 1.57074021e-03 9.99799710e-01 2.12132644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.770714057 meters Centerline goodness : 0.987730 Centerline is valid? [True, True] Translation: X:301.51, Y:275.37, Z:2.12 [[-6.03564967e-01 7.97196569e-01 -1.36733996e-02 3.01509241e+02] [-7.97065466e-01 -6.03716236e-01 -1.46064814e-02 2.75372521e+02] [-1.98990901e-02 2.08263415e-03 9.99799824e-01 2.12167893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8007140569999 meters Centerline goodness : 0.988245 Centerline is valid? [True, True] Translation: X:301.52, Y:275.37, Z:2.12 [[-6.01909376e-01 7.98447431e-01 -1.36675487e-02 3.01520839e+02] [-7.98316522e-01 -6.02060813e-01 -1.46119540e-02 2.75369694e+02] [-1.98955727e-02 2.11595782e-03 9.99799824e-01 2.12266057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8307140569999 meters Centerline goodness : 0.989655 Centerline is valid? [True, True] Translation: X:301.53, Y:275.37, Z:2.12 [[-6.01562223e-01 7.98709115e-01 -1.36616998e-02 3.01526686e+02] [-7.98578150e-01 -6.01713611e-01 -1.46174206e-02 2.75367974e+02] [-1.98954978e-02 2.11664696e-03 9.99799824e-01 2.12366230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8607140569999 meters Centerline goodness : 0.986837 Centerline is valid? [True, True] Translation: X:301.56, Y:275.40, Z:2.14 [[-6.13909332e-01 7.89258417e-01 -1.36558578e-02 3.01562742e+02] [-7.89124995e-01 -6.14058559e-01 -1.46228762e-02 2.75401924e+02] [-1.99267245e-02 1.79905855e-03 9.99799824e-01 2.13547103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.890714057 meters Centerline goodness : 0.987044 Centerline is valid? [True, True] Translation: X:301.56, Y:275.39, Z:2.14 [[-6.11346990e-01 7.91241107e-01 -1.38697326e-02 3.01563577e+02] [-7.91112579e-01 -6.11500504e-01 -1.44229133e-02 2.75391487e+02] [-1.98933504e-02 2.15511529e-03 9.99799785e-01 2.13678086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9207140569999 meters Centerline goodness : 0.985641 Centerline is valid? [True, True] Translation: X:301.57, Y:275.39, Z:2.14 [[-6.12071924e-01 7.90681417e-01 -1.38151120e-02 3.01573817e+02] [-7.90551619e-01 -6.12224341e-01 -1.44739433e-02 2.75388631e+02] [-1.99022258e-02 2.06246484e-03 9.99799804e-01 2.13662252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9507140569999 meters Centerline goodness : 0.985341 Centerline is valid? [True, True] Translation: X:301.57, Y:275.38, Z:2.14 [[-6.12456713e-01 7.90384786e-01 -1.37355392e-02 3.01573477e+02] [-7.90253276e-01 -6.12607631e-01 -1.45482118e-02 2.75382193e+02] [-1.99131813e-02 1.94440485e-03 9.99799822e-01 2.13855035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9807140569999 meters Centerline goodness : 0.985410 Centerline is valid? [True, True] Translation: X:301.57, Y:275.38, Z:2.14 [[-6.15672408e-01 7.87882606e-01 -1.37290089e-02 3.01573670e+02] [-7.87750349e-01 -6.15822670e-01 -1.45543025e-02 2.75376293e+02] [-1.99217167e-02 1.85434909e-03 9.99799823e-01 2.13706617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.010714057 meters Centerline goodness : 0.986131 Centerline is valid? [True, True] Translation: X:301.58, Y:275.38, Z:2.14 [[-6.14385398e-01 7.88885071e-01 -1.38176521e-02 3.01580484e+02] [-7.88754878e-01 -6.14537480e-01 -1.44716292e-02 2.75375623e+02] [-1.99079173e-02 2.00758285e-03 9.99799802e-01 2.13723680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.040714057 meters Centerline goodness : 0.988005 Centerline is valid? [True, True] Translation: X:301.58, Y:275.36, Z:2.13 [[-6.15628970e-01 7.87915971e-01 -1.37620476e-02 3.01582555e+02] [-7.87784398e-01 -6.15779840e-01 -1.45234540e-02 2.75363543e+02] [-1.99176529e-02 1.90046740e-03 9.99799818e-01 2.12832158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0707140569999 meters Centerline goodness : 0.987921 Centerline is valid? [True, True] Translation: X:301.59, Y:275.36, Z:2.13 [[-6.15738378e-01 7.87827505e-01 -1.39309884e-02 3.01589980e+02] [-7.87699389e-01 -6.15892275e-01 -1.43658895e-02 2.75364588e+02] [-1.98978310e-02 2.12780156e-03 9.99799754e-01 2.12725473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1007140569999 meters Centerline goodness : 0.987625 Centerline is valid? [True, True] Translation: X:301.60, Y:275.36, Z:2.13 [[-6.18081003e-01 7.85991353e-01 -1.39092529e-02 3.01600124e+02] [-7.85862330e-01 -6.18234127e-01 -1.43861532e-02 2.75364354e+02] [-1.99065668e-02 2.03894988e-03 9.99799766e-01 2.12788112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.130714057 meters Centerline goodness : 0.985563 Centerline is valid? [True, True] Translation: X:301.60, Y:275.36, Z:2.14 [[-6.17548422e-01 7.86409416e-01 -1.39347153e-02 3.01603957e+02] [-7.86281023e-01 -6.17702092e-01 -1.43624197e-02 2.75361362e+02] [-1.99022449e-02 2.08711260e-03 9.99799752e-01 2.13624434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.160714057 meters Centerline goodness : 0.987550 Centerline is valid? [True, True] Translation: X:301.61, Y:275.36, Z:2.13 [[-6.19634592e-01 7.84769725e-01 -1.37640795e-02 3.01609836e+02] [-7.84637434e-01 -6.19784826e-01 -1.45212354e-02 2.75361087e+02] [-1.99265936e-02 1.80195225e-03 9.99799822e-01 2.12926795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1907140569999 meters Centerline goodness : 0.987404 Centerline is valid? [True, True] Translation: X:301.62, Y:275.36, Z:2.13 [[-6.23406862e-01 7.81773141e-01 -1.39513568e-02 3.01620378e+02] [-7.81643946e-01 -6.23559869e-01 -1.43468248e-02 2.75360529e+02] [-1.99154686e-02 1.96108456e-03 9.99799744e-01 2.13329357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2207140569999 meters Centerline goodness : 0.985367 Centerline is valid? [True, True] Translation: X:301.62, Y:275.36, Z:2.13 [[-6.26010436e-01 7.79692701e-01 -1.37922318e-02 3.01621620e+02] [-7.79559763e-01 -6.26160104e-01 -1.44948347e-02 2.75357258e+02] [-1.99376621e-02 1.67795122e-03 9.99799817e-01 2.13351980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.250714057 meters Centerline goodness : 0.985325 Centerline is valid? [True, True] Translation: X:301.63, Y:275.36, Z:2.13 [[-6.27932837e-01 7.78144977e-01 -1.38111100e-02 3.01631262e+02] [-7.78012050e-01 -6.28082525e-01 -1.44772812e-02 2.75360769e+02] [-1.99399405e-02 1.65444976e-03 9.99799811e-01 2.13344229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.280714057 meters Centerline goodness : 0.985628 Centerline is valid? [True, True] Translation: X:301.64, Y:275.36, Z:2.14 [[-6.37747564e-01 7.70121649e-01 -1.38090808e-02 3.01636165e+02] [-7.69986795e-01 -6.37895517e-01 -1.44791668e-02 2.75357635e+02] [-1.99594705e-02 1.39875646e-03 9.99799811e-01 2.13601457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3107140569999 meters Centerline goodness : 0.985363 Centerline is valid? [True, True] Translation: X:301.65, Y:275.36, Z:2.14 [[-6.40557436e-01 7.67784468e-01 -1.38989531e-02 3.01645211e+02] [-7.67650866e-01 -6.40706573e-01 -1.43956549e-02 2.75360582e+02] [-1.99579109e-02 1.44829956e-03 9.99799772e-01 2.13622620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3407140569999 meters Centerline goodness : 0.985554 Centerline is valid? [True, True] Translation: X:301.66, Y:275.37, Z:2.14 [[-6.48852718e-01 7.60787200e-01 -1.38920030e-02 3.01659514e+02] [-7.60651849e-01 -6.49000265e-01 -1.44021117e-02 2.75365147e+02] [-1.99728558e-02 1.22212844e-03 9.99799776e-01 2.13768905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.370714057 meters Centerline goodness : 0.984355 Centerline is valid? [True, True] Translation: X:301.66, Y:275.37, Z:2.14 [[-6.52044165e-01 7.58052154e-01 -1.39763602e-02 3.01663387e+02] [-7.57917852e-01 -6.52192733e-01 -1.43237157e-02 2.75366938e+02] [-1.99734041e-02 1.25323771e-03 9.99799726e-01 2.13953664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.400714057 meters Centerline goodness : 0.985318 Centerline is valid? [True, True] Translation: X:301.67, Y:275.37, Z:2.14 [[-6.55894036e-01 7.54724411e-01 -1.39311652e-02 3.01665937e+02] [-7.54588465e-01 -6.56041063e-01 -1.43656880e-02 2.75366528e+02] [-1.99815519e-02 1.08992749e-03 9.99799755e-01 2.13980161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4307140569999 meters Centerline goodness : 0.985296 Centerline is valid? [True, True] Translation: X:301.68, Y:275.37, Z:2.14 [[-6.59509382e-01 7.51565928e-01 -1.40011108e-02 3.01677583e+02] [-7.51430649e-01 -6.59657085e-01 -1.43007262e-02 2.75373710e+02] [-1.99838705e-02 1.08940063e-03 9.99799709e-01 2.13975780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4607140569999 meters Centerline goodness : 0.985296 Centerline is valid? [True, True] Translation: X:301.68, Y:275.38, Z:2.14 [[-6.59252761e-01 7.51792771e-01 -1.39078094e-02 3.01679283e+02] [-7.51655715e-01 -6.59398734e-01 -1.43873315e-02 2.75375738e+02] [-1.99870838e-02 9.68996393e-04 9.99799769e-01 2.13976404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.490714057 meters Centerline goodness : 0.985899 Centerline is valid? [True, True] Translation: X:301.68, Y:275.38, Z:2.14 [[-6.61745535e-01 7.49599561e-01 -1.39048689e-02 3.01680934e+02] [-7.49461964e-01 -6.61890997e-01 -1.43900593e-02 2.75375027e+02] [-1.99902896e-02 8.98612820e-04 9.99799770e-01 2.13991288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.520714057 meters Centerline goodness : 0.986619 Centerline is valid? [True, True] Translation: X:301.68, Y:275.38, Z:2.14 [[-6.64206167e-01 7.47417849e-01 -1.40259706e-02 3.01681597e+02] [-7.47282131e-01 -6.64353493e-01 -1.42777002e-02 2.75375771e+02] [-1.99896105e-02 9.98020673e-04 9.99799690e-01 2.13842909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5507140569999 meters Centerline goodness : 0.985594 Centerline is valid? [True, True] Translation: X:301.68, Y:275.38, Z:2.13 [[-6.72100467e-01 7.40326528e-01 -1.40568218e-02 3.01683224e+02] [-7.40189852e-01 -6.72246939e-01 -1.42490833e-02 2.75382060e+02] [-1.99986298e-02 8.27901304e-04 9.99799665e-01 2.13306357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5807140569999 meters Centerline goodness : 0.988878 Centerline is valid? [True, True] Translation: X:301.69, Y:275.38, Z:2.13 [[-6.67766936e-01 7.44235253e-01 -1.41847836e-02 3.01692150e+02] [-7.44101941e-01 -6.67916638e-01 -1.41302988e-02 2.75382941e+02] [-1.99905195e-02 1.11917867e-03 9.99799543e-01 2.12630461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6107140569999 meters Centerline goodness : 0.986478 Centerline is valid? [True, True] Translation: X:301.68, Y:275.38, Z:2.13 [[-6.76973819e-01 7.35869248e-01 -1.42442455e-02 3.01683867e+02] [-7.35735242e-01 -6.77122991e-01 -1.40750952e-02 2.75381322e+02] [-2.00025358e-02 9.51522449e-04 9.99799476e-01 2.12844226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.640714057 meters Centerline goodness : 0.988953 Centerline is valid? [True, True] Translation: X:301.70, Y:275.36, Z:2.13 [[-6.51350576e-01 7.58643095e-01 -1.42506472e-02 3.01695394e+02] [-7.58514411e-01 -6.51504372e-01 -1.40691642e-02 2.75364921e+02] [-1.99578332e-02 1.64536308e-03 9.99799469e-01 2.13029757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6707140569999 meters Centerline goodness : 0.988150 Centerline is valid? [True, True] Translation: X:301.70, Y:275.39, Z:2.12 [[-6.77807926e-01 7.35113911e-01 -1.35629405e-02 3.01697591e+02] [-7.34966849e-01 -6.77943609e-01 -1.47035355e-02 2.75393164e+02] [-2.00036823e-02 2.13869218e-06 9.99799906e-01 2.12149400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7007140569999 meters Centerline goodness : 0.987995 Centerline is valid? [True, True] Translation: X:301.70, Y:275.37, Z:2.13 [[-6.57230297e-01 7.53553418e-01 -1.43381402e-02 3.01699346e+02] [-7.53425346e-01 -6.57384705e-01 -1.39856149e-02 2.75373265e+02] [-1.99645820e-02 1.61094845e-03 9.99799390e-01 2.13035065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7307140569999 meters Centerline goodness : 0.988347 Centerline is valid? [True, True] Translation: X:301.70, Y:275.37, Z:2.13 [[-6.58432481e-01 7.52517672e-01 -1.35580686e-02 3.01697534e+02] [-7.52374164e-01 -6.58571852e-01 -1.47048659e-02 2.75373815e+02] [-1.99946338e-02 5.18579232e-04 9.99799953e-01 2.13000908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.760714057 meters Centerline goodness : 0.984390 Centerline is valid? [True, True] Translation: X:301.44, Y:275.12, Z:2.12 [[-6.76256390e-01 7.36541666e-01 -1.35524537e-02 3.01444275e+02] [-7.36394760e-01 -6.76392174e-01 -1.47100390e-02 2.75122031e+02] [-2.00013302e-02 3.21980055e-05 9.99799953e-01 2.12383483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.790714057 meters Centerline goodness : 0.986703 Centerline is valid? [True, True] Translation: X:301.44, Y:275.12, Z:2.12 [[-6.79572638e-01 7.33478683e-01 -1.37858958e-02 3.01441809e+02] [-7.33335466e-01 -6.79712406e-01 -1.44961999e-02 2.75122583e+02] [-2.00030980e-02 2.58465504e-04 9.99799885e-01 2.11988908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8207140569999 meters Centerline goodness : 0.988097 Centerline is valid? [True, True] Translation: X:301.70, Y:275.38, Z:2.13 [[-6.61366743e-01 7.49926696e-01 -1.42822177e-02 3.01695409e+02] [-7.49796714e-01 -6.61519399e-01 -1.40347202e-02 2.75382265e+02] [-1.99729754e-02 1.42666271e-03 9.99799502e-01 2.13138061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8507140569999 meters Centerline goodness : 0.988019 Centerline is valid? [True, True] Translation: X:301.69, Y:275.39, Z:2.13 [[-6.57969523e-01 7.52921884e-01 -1.35920509e-02 3.01692435e+02] [-7.52779098e-01 -6.58109644e-01 -1.46740109e-02 2.75390667e+02] [-1.99934437e-02 5.76759910e-04 9.99799945e-01 2.13149898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.880714057 meters Centerline goodness : 0.984561 Centerline is valid? [True, True] Translation: X:301.70, Y:275.43, Z:2.14 [[-6.69603106e-01 7.42594835e-01 -1.35864347e-02 3.01702977e+02] [-7.42449780e-01 -6.69740879e-01 -1.46792089e-02 2.75425582e+02] [-2.00000955e-02 2.58001597e-04 9.99799945e-01 2.13501047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.910714057 meters Centerline goodness : 0.984079 Centerline is valid? [True, True] Translation: X:301.70, Y:275.42, Z:2.14 [[-6.66823340e-01 7.45085989e-01 -1.39105096e-02 3.01695513e+02] [-7.44947637e-01 -6.66967967e-01 -1.43787760e-02 2.75423756e+02] [-1.99912889e-02 7.74497769e-04 9.99799854e-01 2.13627832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9407140569999 meters Centerline goodness : 0.987724 Centerline is valid? [True, True] Translation: X:301.68, Y:275.40, Z:2.13 [[-6.49826765e-01 7.59956844e-01 -1.38119829e-02 3.01681395e+02] [-7.59819858e-01 -6.49972618e-01 -1.44699794e-02 2.75398053e+02] [-1.99739706e-02 1.09163898e-03 9.99799904e-01 2.13186169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9707140569999 meters Centerline goodness : 0.984109 Centerline is valid? [True, True] Translation: X:301.66, Y:275.42, Z:2.13 [[-6.69443527e-01 7.42738923e-01 -1.35741302e-02 3.01658353e+02] [-7.42593683e-01 -6.69581087e-01 -1.46897694e-02 2.75415090e+02] [-1.99996444e-02 2.46092240e-04 9.99799957e-01 2.13155551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.000714057 meters Centerline goodness : 0.981510 Centerline is valid? [True, True] Translation: X:300.98, Y:274.64, Z:2.11 [[-6.22469011e-01 7.82524498e-01 -1.37018336e-02 3.00982482e+02] [-7.82390489e-01 -6.22617616e-01 -1.45748792e-02 2.74644095e+02] [-1.99362030e-02 1.64777367e-03 9.99799896e-01 2.11018531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.030714057 meters Centerline goodness : 0.988474 Centerline is valid? [True, True] Translation: X:301.65, Y:275.40, Z:2.13 [[-6.25761913e-01 7.79903881e-01 -1.31135236e-02 3.01646510e+02] [-7.79758026e-01 -6.25898822e-01 -1.51024838e-02 2.75404909e+02] [-1.99862247e-02 7.74816102e-04 9.99799955e-01 2.12908456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0607140569999 meters Centerline goodness : 0.988111 Centerline is valid? [True, True] Translation: X:301.64, Y:275.41, Z:2.13 [[-6.23022782e-01 7.82089285e-01 -1.33777343e-02 3.01643905e+02] [-7.81948930e-01 -6.23165236e-01 -1.48647047e-02 2.75408012e+02] [-1.99620652e-02 1.19965532e-03 9.99800018e-01 2.12833180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0907140569999 meters Centerline goodness : 0.988330 Centerline is valid? [True, True] Translation: X:301.64, Y:275.41, Z:2.13 [[-6.20752237e-01 7.83892755e-01 -1.33719481e-02 3.01640487e+02] [-7.83752703e-01 -6.20894988e-01 -1.48699080e-02 2.75410156e+02] [-1.99589887e-02 1.24977183e-03 9.99800018e-01 2.12807939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.120714057 meters Centerline goodness : 0.986280 Centerline is valid? [True, True] Translation: X:301.62, Y:275.43, Z:2.13 [[-6.44531226e-01 7.64461147e-01 -1.33661491e-02 3.01623770e+02] [-7.64316669e-01 -6.44669497e-01 -1.48751187e-02 2.75428815e+02] [-1.99881989e-02 6.28492072e-04 9.99800018e-01 2.12501837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.150714057 meters Centerline goodness : 0.987870 Centerline is valid? [True, True] Translation: X:301.64, Y:275.42, Z:2.13 [[-6.17155313e-01 7.86713737e-01 -1.41709688e-02 3.01635622e+02] [-7.86590197e-01 -6.17313264e-01 -1.41490501e-02 2.75418396e+02] [-1.98791791e-02 2.41458370e-03 9.99799474e-01 2.12933551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1807140569999 meters Centerline goodness : 0.987744 Centerline is valid? [True, True] Translation: X:301.63, Y:275.42, Z:2.13 [[-6.16184503e-01 7.87488527e-01 -1.33595836e-02 3.01633291e+02] [-7.87349136e-01 -6.16327830e-01 -1.48776597e-02 2.75419458e+02] [-1.99498695e-02 1.35127328e-03 9.99800068e-01 2.12898021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2107140569999 meters Centerline goodness : 0.988212 Centerline is valid? [True, True] Translation: X:301.63, Y:275.42, Z:2.13 [[-6.15214880e-01 7.88246363e-01 -1.33537619e-02 3.01632474e+02] [-7.88107036e-01 -6.15358270e-01 -1.48828833e-02 2.75424459e+02] [-1.99487264e-02 1.36802250e-03 9.99800068e-01 2.12838651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.240714057 meters Centerline goodness : 0.987770 Centerline is valid? [True, True] Translation: X:301.63, Y:275.43, Z:2.13 [[-6.14559836e-01 7.88757276e-01 -1.33479322e-02 3.01630051e+02] [-7.88617956e-01 -6.14703232e-01 -1.48881099e-02 2.75425160e+02] [-1.99481221e-02 1.37678465e-03 9.99800068e-01 2.12785015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.270714057 meters Centerline goodness : 0.981971 Centerline is valid? [True, True] Translation: X:300.96, Y:274.68, Z:2.11 [[-6.06205398e-01 7.95196205e-01 -1.33420935e-02 3.00962820e+02] [-7.95058291e-01 -6.06350148e-01 -1.48933404e-02 2.74678012e+02] [-1.99331082e-02 1.57931872e-03 9.99800069e-01 2.10956266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3007140569999 meters Centerline goodness : 0.988681 Centerline is valid? [True, True] Translation: X:301.62, Y:275.43, Z:2.13 [[-6.13646255e-01 7.89471779e-01 -1.31371635e-02 3.01624282e+02] [-7.89328596e-01 -6.13785843e-01 -1.50766661e-02 2.75426621e+02] [-1.99660074e-02 1.11779913e-03 9.99800035e-01 2.12804622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3307140569999 meters Centerline goodness : 0.988390 Centerline is valid? [True, True] Translation: X:301.62, Y:275.43, Z:2.13 [[-6.12207452e-01 7.90584367e-01 -1.33564736e-02 3.01622878e+02] [-7.90445652e-01 -6.12351421e-01 -1.48798093e-02 2.75427157e+02] [-1.99426002e-02 1.44803630e-03 9.99800078e-01 2.12798777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3607140569999 meters Centerline goodness : 0.988747 Centerline is valid? [True, True] Translation: X:301.62, Y:275.43, Z:2.13 [[-6.10477806e-01 7.91920835e-01 -1.33506341e-02 3.01621259e+02] [-7.91782322e-01 -6.10621969e-01 -1.48850468e-02 2.75427340e+02] [-1.99399692e-02 1.48380537e-03 9.99800078e-01 2.12763895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.390714057 meters Centerline goodness : 0.988082 Centerline is valid? [True, True] Translation: X:301.62, Y:275.43, Z:2.13 [[-6.06366469e-01 7.95073344e-01 -1.33447797e-02 3.01621717e+02] [-7.94935466e-01 -6.06511239e-01 -1.48902936e-02 2.75429241e+02] [-1.99326344e-02 1.57926388e-03 9.99800078e-01 2.12735535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4207140569999 meters Centerline goodness : 0.988610 Centerline is valid? [True, True] Translation: X:301.62, Y:275.43, Z:2.13 [[-6.03914117e-01 7.96937772e-01 -1.33389121e-02 3.01621118e+02] [-7.96800227e-01 -6.04059203e-01 -1.48955480e-02 2.75428964e+02] [-1.99283175e-02 1.63281650e-03 9.99800078e-01 2.12666607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4507140569999 meters Centerline goodness : 0.986430 Centerline is valid? [True, True] Translation: X:301.63, Y:275.47, Z:2.12 [[-6.24721081e-01 7.80734143e-01 -1.33330335e-02 3.01629896e+02] [-7.80592707e-01 -6.24862378e-01 -1.49008081e-02 2.75469046e+02] [-1.99648806e-02 1.09881974e-03 9.99800078e-01 2.12351492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4807140569999 meters Centerline goodness : 0.988613 Centerline is valid? [True, True] Translation: X:301.62, Y:275.43, Z:2.12 [[-5.96147588e-01 8.02754230e-01 -1.39175824e-02 3.01617826e+02] [-8.02629696e-01 -5.96304356e-01 -1.43765615e-02 2.75429438e+02] [-1.98399605e-02 2.60011250e-03 9.99799788e-01 2.12455476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.510714057 meters Centerline goodness : 0.988243 Centerline is valid? [True, True] Translation: X:301.62, Y:275.43, Z:2.12 [[-5.93857269e-01 8.04460063e-01 -1.33248419e-02 3.01618132e+02] [-8.04324108e-01 -5.94003812e-01 -1.49064204e-02 2.75430620e+02] [-1.99066268e-02 1.86520551e-03 9.99800104e-01 2.12409205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.540714057 meters Centerline goodness : 0.988055 Centerline is valid? [True, True] Translation: X:301.62, Y:275.43, Z:2.13 [[-5.91307869e-01 8.06335916e-01 -1.33189255e-02 3.01622025e+02] [-8.06200309e-01 -5.91454734e-01 -1.49117048e-02 2.75432393e+02] [-1.99013847e-02 1.92031351e-03 9.99800104e-01 2.12535516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5707140569999 meters Centerline goodness : 0.988926 Centerline is valid? [True, True] Translation: X:301.62, Y:275.43, Z:2.13 [[-5.90621932e-01 8.06838582e-01 -1.33130071e-02 3.01623841e+02] [-8.06702983e-01 -5.90768805e-01 -1.49169869e-02 2.75432964e+02] [-1.99005098e-02 1.92934293e-03 9.99800104e-01 2.12644752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6007140569999 meters Centerline goodness : 0.986033 Centerline is valid? [True, True] Translation: X:301.35, Y:275.13, Z:2.12 [[-5.92951829e-01 8.05127971e-01 -1.33070865e-02 3.01351359e+02] [-8.04991832e-01 -5.93098201e-01 -1.49222666e-02 2.75129333e+02] [-1.99067433e-02 1.86391068e-03 9.99800104e-01 2.12061465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.630714057 meters Centerline goodness : 0.983580 Centerline is valid? [True, True] Translation: X:301.63, Y:275.45, Z:2.13 [[-6.16571724e-01 7.87186831e-01 -1.32741558e-02 3.01628961e+02] [-7.87045783e-01 -6.16713373e-01 -1.49516134e-02 2.75453714e+02] [-1.99560626e-02 1.22862631e-03 9.99800103e-01 2.13394080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.660714057 meters Centerline goodness : 0.978178 Centerline is valid? [True, True] Translation: X:300.96, Y:274.67, Z:2.12 [[-5.80070322e-01 8.14455178e-01 -1.34604494e-02 3.00961898e+02] [-8.14324413e-01 -5.80221580e-01 -1.47874456e-02 2.74671175e+02] [-1.98537548e-02 2.38341421e-03 9.99800054e-01 2.12224225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6907140569999 meters Centerline goodness : 0.987386 Centerline is valid? [True, True] Translation: X:301.63, Y:275.43, Z:2.13 [[-5.90681041e-01 8.06801149e-01 -1.29543225e-02 3.01625622e+02] [-8.06658650e-01 -5.90821290e-01 -1.52323591e-02 2.75428396e+02] [-1.99431743e-02 1.45225057e-03 9.99800060e-01 2.12657122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7207140569999 meters Centerline goodness : 0.988581 Centerline is valid? [True, True] Translation: X:301.63, Y:275.43, Z:2.13 [[-5.91527383e-01 8.06176411e-01 -1.32268439e-02 3.01630660e+02] [-8.06038996e-01 -5.91672527e-01 -1.49919249e-02 2.75431492e+02] [-1.99120963e-02 1.79321785e-03 9.99800126e-01 2.12735168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.750714057 meters Centerline goodness : 0.978848 Centerline is valid? [True, True] Translation: X:300.99, Y:274.69, Z:2.12 [[-5.84549818e-01 8.11250096e-01 -1.32209028e-02 3.00988610e+02] [-8.11113823e-01 -5.84696033e-01 -1.49971623e-02 2.74691440e+02] [-1.98966588e-02 1.95706849e-03 9.99800126e-01 2.12099615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.780714057 meters Centerline goodness : 0.988493 Centerline is valid? [True, True] Translation: X:301.64, Y:275.43, Z:2.13 [[-5.93698974e-01 8.04582508e-01 -1.29813732e-02 3.01635221e+02] [-8.04440011e-01 -5.93839195e-01 -1.52079133e-02 2.75428625e+02] [-1.99448692e-02 1.41381349e-03 9.99800082e-01 2.12728283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8107140569999 meters Centerline goodness : 0.988231 Centerline is valid? [True, True] Translation: X:301.63, Y:275.43, Z:2.13 [[-5.92989938e-01 8.05101180e-01 -1.32296632e-02 3.01634437e+02] [-8.04963570e-01 -5.93134882e-01 -1.49887644e-02 2.75425083e+02] [-1.99144466e-02 1.76121045e-03 9.99800137e-01 2.12716373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8407140569999 meters Centerline goodness : 0.979259 Centerline is valid? [True, True] Translation: X:300.98, Y:274.68, Z:2.12 [[-5.84431712e-01 8.11335138e-01 -1.32237316e-02 3.00984936e+02] [-8.11198955e-01 -5.84577998e-01 -1.49939957e-02 2.74676471e+02] [-1.98954581e-02 1.96411067e-03 9.99800137e-01 2.11938490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.870714057 meters Centerline goodness : 0.983927 Centerline is valid? [True, True] Translation: X:301.64, Y:275.43, Z:2.13 [[-6.35112321e-01 7.72310960e-01 -1.29661678e-02 3.01637021e+02] [-7.72161039e-01 -6.35244569e-01 -1.52206142e-02 2.75430377e+02] [-1.99917348e-02 3.45170007e-04 9.99800086e-01 2.13321646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.900714057 meters Centerline goodness : 0.984127 Centerline is valid? [True, True] Translation: X:301.65, Y:275.44, Z:2.13 [[-6.32673773e-01 7.74287362e-01 -1.42470336e-02 3.01651015e+02] [-7.74163013e-01 -6.32830527e-01 -1.40411634e-02 2.75439877e+02] [-1.98878531e-02 2.14605066e-03 9.99799914e-01 2.13375747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9307140569999 meters Centerline goodness : 0.988375 Centerline is valid? [True, True] Translation: X:301.65, Y:275.41, Z:2.12 [[-6.05412890e-01 7.95787273e-01 -1.40658687e-02 3.01653351e+02] [-7.95664651e-01 -6.05570728e-01 -1.42076072e-02 2.75408438e+02] [-1.98241113e-02 2.59024603e-03 9.99800128e-01 2.12408009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9607140569999 meters Centerline goodness : 0.988034 Centerline is valid? [True, True] Translation: X:301.66, Y:275.41, Z:2.12 [[-6.04746187e-01 7.96303998e-01 -1.34904614e-02 3.01657935e+02] [-7.96169770e-01 -6.04893870e-01 -1.47344430e-02 2.75410555e+02] [-1.98933932e-02 1.83009928e-03 9.99800432e-01 2.12338316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.990714057 meters Centerline goodness : 0.987364 Centerline is valid? [True, True] Translation: X:301.66, Y:275.41, Z:2.12 [[-6.03944342e-01 7.96912415e-01 -1.34846283e-02 3.01660265e+02] [-7.96778219e-01 -6.04092054e-01 -1.47397794e-02 2.75409936e+02] [-1.98922700e-02 1.84225177e-03 9.99800432e-01 2.12318350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.020714057 meters Centerline goodness : 0.987502 Centerline is valid? [True, True] Translation: X:301.67, Y:275.41, Z:2.12 [[-6.02593801e-01 7.97934229e-01 -1.34787931e-02 3.01668673e+02] [-7.97800166e-01 -6.02741633e-01 -1.47451134e-02 2.75410518e+02] [-1.98898605e-02 1.86806946e-03 9.99800432e-01 2.12370248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0507140569999 meters Centerline goodness : 0.978173 Centerline is valid? [True, True] Translation: X:301.01, Y:274.67, Z:2.11 [[-5.93192529e-01 8.04947888e-01 -1.34729608e-02 3.01009136e+02] [-8.04815451e-01 -5.93341820e-01 -1.47504406e-02 2.74673927e+02] [-1.98674071e-02 2.09339584e-03 9.99800432e-01 2.11045328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0807140569999 meters Centerline goodness : 0.987049 Centerline is valid? [True, True] Translation: X:301.67, Y:275.40, Z:2.12 [[-6.01937355e-01 7.98434557e-01 -1.31787400e-02 3.01668613e+02] [-7.98294665e-01 -6.02079785e-01 -1.50186792e-02 2.75396334e+02] [-1.99260854e-02 1.48021382e-03 9.99800360e-01 2.12388094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1107140569999 meters Centerline goodness : 0.976228 Centerline is valid? [True, True] Translation: X:300.97, Y:274.61, Z:2.11 [[-5.91628770e-01 8.06097851e-01 -1.34779071e-02 3.00966925e+02] [-8.05965817e-01 -5.91778404e-01 -1.47452270e-02 2.74613424e+02] [-1.98620302e-02 2.13903189e-03 9.99800442e-01 2.11252124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.140714057 meters Centerline goodness : 0.976808 Centerline is valid? [True, True] Translation: X:300.43, Y:275.11, Z:2.89 [[-7.12820920e-01 -7.01214698e-01 1.35750917e-02 3.00431106e+02] [-7.01062170e-01 7.12949566e-01 1.46543338e-02 2.75106400e+02] [-1.99541901e-02 9.28932458e-04 -9.99800464e-01 2.89181813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1707140569999 meters Centerline goodness : 0.982849 Centerline is valid? [True, True] Translation: X:301.00, Y:275.86, Z:2.91 [[-6.17088962e-01 -7.86776289e-01 1.35750917e-02 3.01001154e+02] [-7.86641504e-01 6.17236093e-01 1.46543338e-02 2.75856051e+02] [-1.99087190e-02 -1.63570292e-03 -9.99800464e-01 2.91438365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2007140569999 meters Centerline goodness : 0.987006 Centerline is valid? [True, True] Translation: X:301.55, Y:275.42, Z:2.12 [[-4.87572431e-01 8.73016526e-01 -1.07363652e-02 3.01551371e+02] [-8.72859321e-01 -4.87688970e-01 -1.66155073e-02 2.75424828e+02] [-1.97416193e-02 1.27007317e-03 9.99804309e-01 2.12189790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2307140569999 meters Centerline goodness : 0.983095 Centerline is valid? [True, True] Translation: X:301.55, Y:275.46, Z:2.12 [[-5.19456458e-01 8.54422755e-01 -1.12580342e-02 3.01552335e+02] [-8.54268942e-01 -5.19577113e-01 -1.62541919e-02 2.75455642e+02] [-1.97373684e-02 1.17404403e-03 9.99804510e-01 2.12486045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.260714057 meters Centerline goodness : 0.985487 Centerline is valid? [True, True] Translation: X:301.55, Y:275.45, Z:2.12 [[-5.20443553e-01 8.53810911e-01 -1.20596646e-02 3.01551255e+02] [-8.53669276e-01 -5.20578915e-01 -1.56958463e-02 2.75446166e+02] [-1.96792919e-02 2.12616318e-03 9.99804083e-01 2.12249663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.290714057 meters Centerline goodness : 0.983281 Centerline is valid? [True, True] Translation: X:301.55, Y:275.45, Z:2.12 [[-5.17637593e-01 8.55513281e-01 -1.21797980e-02 3.01553007e+02] [-8.55374009e-01 -5.17775593e-01 -1.56121664e-02 2.75446097e+02] [-1.96628178e-02 2.33683842e-03 9.99803937e-01 2.12442631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3207140569999 meters Centerline goodness : 0.984545 Centerline is valid? [True, True] Translation: X:301.56, Y:275.44, Z:2.12 [[-5.08080153e-01 8.61226722e-01 -1.19620807e-02 3.01559456e+02] [-8.61085494e-01 -5.08215784e-01 -1.57635052e-02 2.75439740e+02] [-1.96552701e-02 2.29125007e-03 9.99804191e-01 2.12331426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3507140569999 meters Centerline goodness : 0.985140 Centerline is valid? [True, True] Translation: X:301.58, Y:275.46, Z:2.12 [[-5.04983816e-01 8.63047264e-01 -1.18644461e-02 3.01578574e+02] [-8.62904967e-01 -5.05118191e-01 -1.58313167e-02 2.75462021e+02] [-1.96561222e-02 2.24333077e-03 9.99804283e-01 2.12184064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.380714057 meters Centerline goodness : 0.985140 Centerline is valid? [True, True] Translation: X:301.58, Y:275.46, Z:2.12 [[-5.04697214e-01 8.63216937e-01 -1.17150710e-02 3.01579946e+02] [-8.63072323e-01 -5.04828923e-01 -1.59349900e-02 2.75464280e+02] [-1.96694599e-02 2.06860849e-03 9.99804397e-01 2.12182719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.410714057 meters Centerline goodness : 0.985360 Centerline is valid? [True, True] Translation: X:301.58, Y:275.47, Z:2.12 [[-5.06671635e-01 8.62059523e-01 -1.17146699e-02 3.01581123e+02] [-8.61914602e-01 -5.06803006e-01 -1.59352681e-02 2.75466027e+02] [-1.96741796e-02 2.02309671e-03 9.99804398e-01 2.12258559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4407140569999 meters Centerline goodness : 0.988757 Centerline is valid? [True, True] Translation: X:301.57, Y:275.41, Z:2.12 [[-4.79503185e-01 8.77460703e-01 -1.18072675e-02 3.01570286e+02] [-8.77321461e-01 -4.79640659e-01 -1.58711567e-02 2.75414045e+02] [-1.95895619e-02 2.74849900e-03 9.99804328e-01 2.12034872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4707140569999 meters Centerline goodness : 0.988408 Centerline is valid? [True, True] Translation: X:301.59, Y:275.46, Z:2.12 [[-5.00943917e-01 8.65406905e-01 -1.12285943e-02 3.01586430e+02] [-8.65255356e-01 -5.01067301e-01 -1.62705161e-02 2.75455434e+02] [-1.97068984e-02 1.56498528e-03 9.99804575e-01 2.11765094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.500714057 meters Centerline goodness : 0.985666 Centerline is valid? [True, True] Translation: X:301.58, Y:275.45, Z:2.12 [[-5.05206259e-01 8.62916528e-01 -1.19038851e-02 3.01582072e+02] [-8.62774856e-01 -5.05341306e-01 -1.58022720e-02 2.75451610e+02] [-1.96515666e-02 2.28696603e-03 9.99804274e-01 2.12174061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.530714057 meters Centerline goodness : 0.989612 Centerline is valid? [True, True] Translation: X:301.60, Y:275.46, Z:2.12 [[-4.95676662e-01 8.68428695e-01 -1.16725700e-02 3.01604569e+02] [-8.68284826e-01 -4.95809097e-01 -1.59624685e-02 2.75463341e+02] [-1.96496321e-02 2.22289227e-03 9.99804456e-01 2.12088394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5607140569999 meters Centerline goodness : 0.990226 Centerline is valid? [True, True] Translation: X:301.59, Y:275.42, Z:2.12 [[-4.80229170e-01 8.77065038e-01 -1.16988943e-02 3.01591286e+02] [-8.76923960e-01 -4.80364600e-01 -1.59442647e-02 2.75424524e+02] [-1.96038918e-02 2.60213972e-03 9.99804439e-01 2.12208075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5907140569999 meters Centerline goodness : 0.986222 Centerline is valid? [True, True] Translation: X:301.59, Y:275.44, Z:2.12 [[-4.99880181e-01 8.66021897e-01 -1.12196144e-02 3.01590898e+02] [-8.65870403e-01 -5.00003580e-01 -1.62746799e-02 2.75440752e+02] [-1.97040765e-02 1.57934211e-03 9.99804608e-01 2.12470258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.620714057 meters Centerline goodness : 0.986515 Centerline is valid? [True, True] Translation: X:301.60, Y:275.44, Z:2.13 [[-4.92032038e-01 8.70500068e-01 -1.15803747e-02 3.01597457e+02] [-8.70355309e-01 -4.92163406e-01 -1.60255455e-02 2.75439650e+02] [-1.96496751e-02 2.19395879e-03 9.99804519e-01 2.12615380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.650714057 meters Centerline goodness : 0.988605 Centerline is valid? [True, True] Translation: X:301.60, Y:275.43, Z:2.13 [[-4.92331270e-01 8.70333954e-01 -1.13459235e-02 3.01595530e+02] [-8.70185492e-01 -4.92458308e-01 -1.61871450e-02 2.75432210e+02] [-1.96756162e-02 1.90362042e-03 9.99804604e-01 2.12605496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6807140569999 meters Centerline goodness : 0.990569 Centerline is valid? [True, True] Translation: X:301.60, Y:275.42, Z:2.12 [[-4.81057649e-01 8.76614388e-01 -1.14347614e-02 3.01603377e+02] [-8.76468977e-01 -4.81188202e-01 -1.61259305e-02 2.75423468e+02] [-1.96384950e-02 2.26471145e-03 9.99804581e-01 2.12435287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7107140569999 meters Centerline goodness : 0.986967 Centerline is valid? [True, True] Translation: X:301.22, Y:274.86, Z:2.11 [[-4.79096127e-01 8.77690958e-01 -1.12019479e-02 3.01217703e+02] [-8.77542189e-01 -4.79222779e-01 -1.62860662e-02 2.74860766e+02] [-1.96623617e-02 2.02759065e-03 9.99804621e-01 2.11384797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.740714057 meters Centerline goodness : 0.989828 Centerline is valid? [True, True] Translation: X:301.61, Y:275.44, Z:2.12 [[-4.99431598e-01 8.66282483e-01 -1.10787083e-02 3.01614748e+02] [-8.66128949e-01 -4.99552444e-01 -1.63706872e-02 2.75443874e+02] [-1.97160354e-02 1.41955150e-03 9.99804612e-01 2.12323114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.770714057 meters Centerline goodness : 0.987273 Centerline is valid? [True, True] Translation: X:301.22, Y:274.86, Z:2.11 [[-4.77614562e-01 8.78494222e-01 -1.14992550e-02 3.01224264e+02] [-8.78350351e-01 -4.77746845e-01 -1.60814684e-02 2.74864490e+02] [-1.96212098e-02 2.41963119e-03 9.99804558e-01 2.11140436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8007140569999 meters Centerline goodness : 0.988291 Centerline is valid? [True, True] Translation: X:301.23, Y:274.86, Z:2.11 [[-4.82932010e-01 8.75586802e-01 -1.11545918e-02 3.01225448e+02] [-8.75436742e-01 -4.83057141e-01 -1.63189878e-02 2.74864391e+02] [-1.96769955e-02 1.88417794e-03 9.99804614e-01 2.10939436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8307140569999 meters Centerline goodness : 0.988840 Centerline is valid? [True, True] Translation: X:301.24, Y:274.88, Z:2.11 [[-4.83302431e-01 8.75380782e-01 -1.12804034e-02 3.01241679e+02] [-8.75232619e-01 -4.83429804e-01 -1.62323218e-02 2.74884607e+02] [-1.96627457e-02 2.02785640e-03 9.99804613e-01 2.10699017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8607140569999 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:301.33, Y:275.02, Z:2.11 [[-4.85658304e-01 8.74075297e-01 -1.13308355e-02 3.01332275e+02] [-8.73927576e-01 -4.85786199e-01 -1.61975401e-02 2.75015945e+02] [-1.96622332e-02 2.03585978e-03 9.99804607e-01 2.10952209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.890714057 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:301.65, Y:275.48, Z:2.12 [[-5.08263937e-01 8.61125002e-01 -1.14673960e-02 3.01652715e+02] [-8.60976090e-01 -5.08390479e-01 -1.61025877e-02 2.75483315e+02] [-1.96962558e-02 1.68878913e-03 9.99804584e-01 2.12066157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9207140569999 meters Centerline goodness : 0.989532 Centerline is valid? [True, True] Translation: X:301.66, Y:275.50, Z:2.12 [[-5.06132176e-01 8.62371146e-01 -1.20924415e-02 3.01663342e+02] [-8.62232593e-01 -5.06270433e-01 -1.56590013e-02 2.75495632e+02] [-1.96259165e-02 2.50097275e-03 9.99804265e-01 2.12171686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9507140569999 meters Centerline goodness : 0.988241 Centerline is valid? [True, True] Translation: X:301.24, Y:274.87, Z:2.11 [[-4.83171534e-01 8.75449102e-01 -1.15818333e-02 3.01235942e+02] [-8.75305889e-01 -4.83304368e-01 -1.60152452e-02 2.74868471e+02] [-1.96180827e-02 2.39953632e-03 9.99804667e-01 2.10531060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9807140569999 meters Centerline goodness : 0.991249 Centerline is valid? [True, True] Translation: X:301.64, Y:275.46, Z:2.12 [[-5.07026875e-01 8.61854700e-01 -1.14115578e-02 3.01643862e+02] [-8.61705261e-01 -5.07152584e-01 -1.61338174e-02 2.75457944e+02] [-1.96924074e-02 1.65312037e-03 9.99804719e-01 2.12277565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.010714057 meters Centerline goodness : 0.990395 Centerline is valid? [True, True] Translation: X:301.66, Y:275.48, Z:2.12 [[-5.15821488e-01 8.56612608e-01 -1.19596040e-02 3.01658936e+02] [-8.56470539e-01 -5.15955751e-01 -1.57441440e-02 2.75484539e+02] [-1.96572587e-02 2.12188070e-03 9.99804526e-01 2.12259515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.040714057 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:301.65, Y:275.45, Z:2.12 [[-5.10376885e-01 8.59867572e-01 -1.19663609e-02 3.01645018e+02] [-8.59726468e-01 -5.10512168e-01 -1.57393422e-02 2.75454742e+02] [-1.96427228e-02 2.25480073e-03 9.99804521e-01 2.12399750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0707140569999 meters Centerline goodness : 0.990261 Centerline is valid? [True, True] Translation: X:301.65, Y:275.46, Z:2.13 [[-5.10745628e-01 8.59648664e-01 -1.19615373e-02 3.01649721e+02] [-8.59507423e-01 -5.10880764e-01 -1.57427653e-02 2.75456728e+02] [-1.96441664e-02 2.24048157e-03 9.99804524e-01 2.12689395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1007140569999 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:301.64, Y:275.44, Z:2.13 [[-5.11498744e-01 8.59203315e-01 -1.17770282e-02 3.01637621e+02] [-8.59058997e-01 -5.11630406e-01 -1.58735013e-02 2.75437860e+02] [-1.96640507e-02 1.99788603e-03 9.99804648e-01 2.12534476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.130714057 meters Centerline goodness : 0.991184 Centerline is valid? [True, True] Translation: X:301.67, Y:275.49, Z:2.13 [[-5.14845041e-01 8.57200246e-01 -1.19298492e-02 3.01671336e+02] [-8.57057856e-01 -5.14978926e-01 -1.57650830e-02 2.75486123e+02] [-1.96574540e-02 2.10799618e-03 9.99804551e-01 2.12562434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.160714057 meters Centerline goodness : 0.991143 Centerline is valid? [True, True] Translation: X:301.65, Y:275.45, Z:2.13 [[-5.11116174e-01 8.59427900e-01 -1.19975196e-02 3.01649870e+02] [-8.59287187e-01 -5.11251898e-01 -1.57170627e-02 2.75452958e+02] [-1.96414369e-02 2.27606995e-03 9.99804498e-01 2.12518564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1907140569999 meters Centerline goodness : 0.991533 Centerline is valid? [True, True] Translation: X:301.66, Y:275.46, Z:2.12 [[-5.11314082e-01 8.59311211e-01 -1.19227320e-02 3.01656695e+02] [-8.59169259e-01 -5.11448423e-01 -1.57700512e-02 2.75462311e+02] [-1.96492443e-02 2.18019560e-03 9.99804558e-01 2.12440732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2207140569999 meters Centerline goodness : 0.991092 Centerline is valid? [True, True] Translation: X:301.66, Y:275.46, Z:2.12 [[-5.08824945e-01 8.60787589e-01 -1.19122925e-02 3.01658659e+02] [-8.60645858e-01 -5.08959507e-01 -1.57774439e-02 2.75460610e+02] [-1.96439024e-02 2.22430820e-03 9.99804566e-01 2.12411244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.250714057 meters Centerline goodness : 0.989968 Centerline is valid? [True, True] Translation: X:301.67, Y:275.47, Z:2.12 [[-5.10488626e-01 8.59802796e-01 -1.18539152e-02 3.01666875e+02] [-8.59659867e-01 -5.10621855e-01 -1.58187669e-02 2.75473112e+02] [-1.96538882e-02 2.11503462e-03 9.99804607e-01 2.12183470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.280714057 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:301.66, Y:275.46, Z:2.12 [[-5.08647264e-01 8.60893701e-01 -1.18320054e-02 3.01657540e+02] [-8.60750707e-01 -5.08780402e-01 -1.58342652e-02 2.75458158e+02] [-1.96515117e-02 2.13035135e-03 9.99804621e-01 2.12136448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3107140569999 meters Centerline goodness : 0.991916 Centerline is valid? [True, True] Translation: X:301.67, Y:275.47, Z:2.12 [[-5.10119863e-01 8.60022159e-01 -1.18157027e-02 3.01667063e+02] [-8.59878677e-01 -5.10252459e-01 -1.58457893e-02 2.75471124e+02] [-1.96567213e-02 2.07681895e-03 9.99804631e-01 2.12125985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3407140569999 meters Centerline goodness : 0.990979 Centerline is valid? [True, True] Translation: X:301.67, Y:275.47, Z:2.12 [[-5.09635339e-01 8.60308217e-01 -1.18992492e-02 3.01665831e+02] [-8.60166149e-01 -5.09769532e-01 -1.57867170e-02 2.75466083e+02] [-1.96473170e-02 2.18986251e-03 9.99804575e-01 2.12316584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.370714057 meters Centerline goodness : 0.991298 Centerline is valid? [True, True] Translation: X:301.66, Y:275.46, Z:2.12 [[-5.08499722e-01 8.60981463e-01 -1.17878423e-02 3.01662982e+02] [-8.60837786e-01 -5.08632082e-01 -1.58653935e-02 2.75459220e+02] [-1.96554845e-02 2.07987189e-03 9.99804649e-01 2.12287616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.400714057 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:301.67, Y:275.47, Z:2.12 [[-5.12966405e-01 8.58327848e-01 -1.17801775e-02 3.01674097e+02] [-8.58183364e-01 -5.13097877e-01 -1.58708038e-02 2.75474968e+02] [-1.96667369e-02 1.96836315e-03 9.99804653e-01 2.12327478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4307140569999 meters Centerline goodness : 0.990436 Centerline is valid? [True, True] Translation: X:301.67, Y:275.46, Z:2.12 [[-5.12436416e-01 8.58644227e-01 -1.17902677e-02 3.01668541e+02] [-8.58499985e-01 -5.12568161e-01 -1.58636830e-02 2.75464514e+02] [-1.96645757e-02 1.99281578e-03 9.99804648e-01 2.12352723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4607140569999 meters Centerline goodness : 0.990562 Centerline is valid? [True, True] Translation: X:301.67, Y:275.46, Z:2.12 [[-5.14168694e-01 8.57608748e-01 -1.17384008e-02 3.01668592e+02] [-8.57463421e-01 -5.14299197e-01 -1.59002456e-02 2.75463475e+02] [-1.96732398e-02 1.88984079e-03 9.99804677e-01 2.12402811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.490714057 meters Centerline goodness : 0.990651 Centerline is valid? [True, True] Translation: X:301.68, Y:275.47, Z:2.12 [[-5.16136793e-01 8.56424776e-01 -1.18073712e-02 3.01676247e+02] [-8.56280236e-01 -5.16268228e-01 -1.58516270e-02 2.75473339e+02] [-1.96714967e-02 1.92881063e-03 9.99804637e-01 2.12431329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.520714057 meters Centerline goodness : 0.989349 Centerline is valid? [True, True] Translation: X:301.67, Y:275.46, Z:2.12 [[-5.19540683e-01 8.54363941e-01 -1.18209150e-02 3.01668248e+02] [-8.54219093e-01 -5.19671791e-01 -1.58420857e-02 2.75462245e+02] [-1.96779029e-02 1.86704325e-03 9.99804628e-01 2.12274208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5507140569999 meters Centerline goodness : 0.987182 Centerline is valid? [True, True] Translation: X:301.27, Y:274.88, Z:2.11 [[-5.05336408e-01 8.62846094e-01 -1.14774996e-02 3.01271007e+02] [-8.62698054e-01 -5.05463616e-01 -1.60810694e-02 2.74879222e+02] [-1.96769464e-02 1.77526676e-03 9.99804814e-01 2.11069913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5807140569999 meters Centerline goodness : 0.991015 Centerline is valid? [True, True] Translation: X:301.68, Y:275.48, Z:2.12 [[-5.28443068e-01 8.48894029e-01 -1.12628463e-02 3.01680767e+02] [-8.48739430e-01 -5.28562165e-01 -1.62301575e-02 2.75475595e+02] [-1.97307982e-02 9.82507516e-04 9.99804846e-01 2.12439049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6107140569999 meters Centerline goodness : 0.989440 Centerline is valid? [True, True] Translation: X:301.71, Y:275.53, Z:2.12 [[-5.43768799e-01 8.39150568e-01 -1.19087626e-02 3.01713525e+02] [-8.39003530e-01 -5.43897345e-01 -1.57719372e-02 2.75532780e+02] [-1.97121744e-02 1.41520651e-03 9.99804695e-01 2.12408973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.640714057 meters Centerline goodness : 0.988302 Centerline is valid? [True, True] Translation: X:301.26, Y:274.86, Z:2.11 [[-5.06475702e-01 8.62174585e-01 -1.17195730e-02 3.01264121e+02] [-8.62030343e-01 -5.06607135e-01 -1.59027537e-02 2.74864540e+02] [-1.96481694e-02 2.04826921e-03 9.99804858e-01 2.10795517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6707140569999 meters Centerline goodness : 0.991539 Centerline is valid? [True, True] Translation: X:301.71, Y:275.53, Z:2.12 [[-5.52001872e-01 8.33765553e-01 -1.13550397e-02 3.01713127e+02] [-8.33609226e-01 -5.52118377e-01 -1.61541249e-02 2.75526224e+02] [-1.97380789e-02 5.48558705e-04 9.99805035e-01 2.11651888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7007140569999 meters Centerline goodness : 0.987209 Centerline is valid? [True, True] Translation: X:301.26, Y:274.86, Z:2.10 [[-5.09019022e-01 8.60672200e-01 -1.19582270e-02 3.01260846e+02] [-8.60531338e-01 -5.09154363e-01 -1.57369242e-02 2.74858917e+02] [-1.96329166e-02 2.28003531e-03 9.99804656e-01 2.10181032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7307140569999 meters Centerline goodness : 0.991352 Centerline is valid? [True, True] Translation: X:301.72, Y:275.54, Z:2.11 [[-5.54667354e-01 8.31994812e-01 -1.13472359e-02 3.01721022e+02] [-8.31838035e-01 -5.54783206e-01 -1.61579044e-02 2.75537062e+02] [-1.97385485e-02 4.76800342e-04 9.99805062e-01 2.11471037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.760714057 meters Centerline goodness : 0.991366 Centerline is valid? [True, True] Translation: X:301.73, Y:275.54, Z:2.12 [[-5.54337251e-01 8.32196929e-01 -1.25890094e-02 3.01727032e+02] [-8.32059419e-01 -5.54476520e-01 -1.52614485e-02 2.75544133e+02] [-1.96808407e-02 2.01481446e-03 9.99804283e-01 2.11683298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.790714057 meters Centerline goodness : 0.989354 Centerline is valid? [True, True] Translation: X:301.73, Y:275.55, Z:2.12 [[-5.55562441e-01 8.31381767e-01 -1.24390997e-02 3.01729705e+02] [-8.31241639e-01 -5.55698761e-01 -1.53695900e-02 2.75549405e+02] [-1.96903892e-02 1.80113073e-03 9.99804503e-01 2.12125804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8207140569999 meters Centerline goodness : 0.991174 Centerline is valid? [True, True] Translation: X:301.71, Y:275.50, Z:2.12 [[-5.44572232e-01 8.38625026e-01 -1.22127352e-02 3.01707431e+02] [-8.38483068e-01 -5.44706244e-01 -1.55322968e-02 2.75502925e+02] [-1.96781259e-02 1.78171419e-03 9.99804779e-01 2.12091463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8507140569999 meters Centerline goodness : 0.988735 Centerline is valid? [True, True] Translation: X:301.70, Y:275.49, Z:2.12 [[-5.44818685e-01 8.38467392e-01 -1.20429752e-02 3.01702239e+02] [-8.38322719e-01 -5.44949517e-01 -1.56538613e-02 2.75493263e+02] [-1.96880657e-02 1.56738358e-03 9.99804943e-01 2.12334530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.880714057 meters Centerline goodness : 0.988468 Centerline is valid? [True, True] Translation: X:301.70, Y:275.49, Z:2.12 [[-5.45430507e-01 8.38072793e-01 -1.18133685e-02 3.01700308e+02] [-8.37924469e-01 -5.45556943e-01 -1.58179147e-02 2.75489073e+02] [-1.97014292e-02 1.27113731e-03 9.99805100e-01 2.12466497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.910714057 meters Centerline goodness : 0.987852 Centerline is valid? [True, True] Translation: X:301.71, Y:275.50, Z:2.13 [[-5.47957944e-01 8.36423139e-01 -1.17653566e-02 3.01710689e+02] [-8.36273702e-01 -5.48083026e-01 -1.58521997e-02 2.75504130e+02] [-1.97075389e-02 1.15271956e-03 9.99805123e-01 2.12512356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9407140569999 meters Centerline goodness : 0.989719 Centerline is valid? [True, True] Translation: X:301.71, Y:275.50, Z:2.12 [[-5.49175260e-01 8.35624507e-01 -1.17565584e-02 3.01711031e+02] [-8.35474754e-01 -5.49299958e-01 -1.58584796e-02 2.75501630e+02] [-1.97096112e-02 1.11322310e-03 9.99805127e-01 2.12362317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9707140569999 meters Centerline goodness : 0.988956 Centerline is valid? [True, True] Translation: X:301.71, Y:275.49, Z:2.13 [[-5.48368196e-01 8.36153229e-01 -1.18363984e-02 3.01709086e+02] [-8.36004813e-01 -5.48494544e-01 -1.58015073e-02 2.75494971e+02] [-1.97046812e-02 1.23024199e-03 9.99805087e-01 2.12590312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.000714057 meters Centerline goodness : 0.987430 Centerline is valid? [True, True] Translation: X:301.69, Y:275.47, Z:2.13 [[-5.47322559e-01 8.36840352e-01 -1.16722155e-02 3.01693152e+02] [-8.36689601e-01 -5.47445993e-01 -1.59184412e-02 2.75471175e+02] [-1.97111015e-02 1.05349941e-03 9.99805162e-01 2.12738732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.030714057 meters Centerline goodness : 0.988778 Centerline is valid? [True, True] Translation: X:301.72, Y:275.51, Z:2.12 [[-5.49334514e-01 8.35521406e-01 -1.16435822e-02 3.01716375e+02] [-8.35369927e-01 -5.49457039e-01 -1.59388271e-02 2.75505564e+02] [-1.97148794e-02 9.70950546e-04 9.99805171e-01 2.12362290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0607140569999 meters Centerline goodness : 0.987894 Centerline is valid? [True, True] Translation: X:301.71, Y:275.50, Z:2.13 [[-5.47172879e-01 8.36937947e-01 -1.16924789e-02 3.01714563e+02] [-8.36787524e-01 -5.47296723e-01 -1.59040048e-02 2.75502518e+02] [-1.97099204e-02 1.08188037e-03 9.99805155e-01 2.12555546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0907140569999 meters Centerline goodness : 0.988198 Centerline is valid? [True, True] Translation: X:301.71, Y:275.49, Z:2.12 [[-5.47388472e-01 8.36798062e-01 -1.16131107e-02 3.01706614e+02] [-8.36646413e-01 -5.47510771e-01 -1.59604516e-02 2.75491108e+02] [-1.97139782e-02 9.79500219e-04 9.99805181e-01 2.12453541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.120714057 meters Centerline goodness : 0.990006 Centerline is valid? [True, True] Translation: X:301.71, Y:275.49, Z:2.12 [[-5.48252836e-01 8.36231327e-01 -1.16617106e-02 3.01709077e+02] [-8.36080281e-01 -5.48375902e-01 -1.59258946e-02 2.75492868e+02] [-1.97127330e-02 1.01870941e-03 9.99805166e-01 2.12210947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.150714057 meters Centerline goodness : 0.989837 Centerline is valid? [True, True] Translation: X:301.72, Y:275.51, Z:2.12 [[-5.49501730e-01 8.35409387e-01 -1.17900194e-02 3.01723568e+02] [-8.35260094e-01 -5.49627002e-01 -1.58345927e-02 2.75514191e+02] [-1.97084804e-02 1.14659666e-03 9.99805112e-01 2.12244146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1807140569999 meters Centerline goodness : 0.989818 Centerline is valid? [True, True] Translation: X:301.71, Y:275.50, Z:2.12 [[-5.49411131e-01 8.35469653e-01 -1.17417084e-02 3.01713980e+02] [-8.35319642e-01 -5.49535506e-01 -1.58689472e-02 2.75500906e+02] [-1.97105094e-02 1.08950343e-03 9.99805135e-01 2.12175641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2107140569999 meters Centerline goodness : 0.989954 Centerline is valid? [True, True] Translation: X:301.73, Y:275.52, Z:2.12 [[-5.49479474e-01 8.35423343e-01 -1.18383312e-02 3.01726976e+02] [-8.35274787e-01 -5.49605661e-01 -1.58002316e-02 2.75519611e+02] [-1.97062962e-02 1.20635659e-03 9.99805084e-01 2.12199136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.240714057 meters Centerline goodness : 0.989938 Centerline is valid? [True, True] Translation: X:301.73, Y:275.53, Z:2.12 [[-5.48931085e-01 8.35783685e-01 -1.18446400e-02 3.01733570e+02] [-8.35635308e-01 -5.49057489e-01 -1.57957447e-02 2.75530694e+02] [-1.97052140e-02 1.22702414e-03 9.99805080e-01 2.12117179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.270714057 meters Centerline goodness : 0.989938 Centerline is valid? [True, True] Translation: X:301.74, Y:275.53, Z:2.12 [[-5.48658894e-01 8.35961678e-01 -1.18949985e-02 3.01735060e+02] [-8.35814112e-01 -5.48786293e-01 -1.57599183e-02 2.75532899e+02] [-1.97024999e-02 1.29518830e-03 9.99805048e-01 2.12125130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3007140569999 meters Centerline goodness : 0.990230 Centerline is valid? [True, True] Translation: X:301.74, Y:275.54, Z:2.12 [[-5.47910336e-01 8.36452585e-01 -1.18885526e-02 3.01735988e+02] [-8.36305034e-01 -5.48037746e-01 -1.57645012e-02 2.75535014e+02] [-1.97016334e-02 1.30492320e-03 9.99805052e-01 2.12086508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3307140569999 meters Centerline goodness : 0.988545 Centerline is valid? [True, True] Translation: X:301.72, Y:275.51, Z:2.12 [[-5.43948615e-01 8.39033229e-01 -1.19643123e-02 3.01717690e+02] [-8.38887451e-01 -5.44078136e-01 -1.57106979e-02 2.75510346e+02] [-1.96913183e-02 1.49089909e-03 9.99804996e-01 2.12277153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3607140569999 meters Centerline goodness : 0.990189 Centerline is valid? [True, True] Translation: X:301.73, Y:275.53, Z:2.12 [[-5.41586256e-01 8.40563359e-01 -1.17288902e-02 3.01733050e+02] [-8.40414330e-01 -5.41711784e-01 -1.58775781e-02 2.75533618e+02] [-1.96997884e-02 1.25804932e-03 9.99805149e-01 2.12134707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.390714057 meters Centerline goodness : 0.988479 Centerline is valid? [True, True] Translation: X:301.72, Y:275.52, Z:2.12 [[-5.40220039e-01 8.41441231e-01 -1.17883126e-02 3.01720138e+02] [-8.41293314e-01 -5.40346923e-01 -1.58354587e-02 2.75517832e+02] [-1.96943863e-02 1.36279646e-03 9.99805118e-01 2.12118901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4207140569999 meters Centerline goodness : 0.989981 Centerline is valid? [True, True] Translation: X:301.72, Y:275.52, Z:2.12 [[-5.37198765e-01 8.43373887e-01 -1.17461872e-02 3.01724819e+02] [-8.43225780e-01 -5.37325392e-01 -1.58652841e-02 2.75523468e+02] [-1.96918910e-02 1.38187678e-03 9.99805141e-01 2.11885821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4507140569999 meters Centerline goodness : 0.990590 Centerline is valid? [True, True] Translation: X:301.71, Y:275.51, Z:2.12 [[-5.36568027e-01 8.43774727e-01 -1.17882094e-02 3.01714596e+02] [-8.43627360e-01 -5.36695550e-01 -1.58355382e-02 2.75509538e+02] [-1.96883065e-02 1.44801249e-03 9.99805118e-01 2.11875709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4807140569999 meters Centerline goodness : 0.991012 Centerline is valid? [True, True] Translation: X:301.73, Y:275.53, Z:2.12 [[-5.35527188e-01 8.44434421e-01 -1.18802245e-02 3.01730263e+02] [-8.44288634e-01 -5.35656604e-01 -1.57703873e-02 2.75531652e+02] [-1.96807786e-02 1.58486734e-03 9.99805059e-01 2.11959129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.510714057 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:301.74, Y:275.55, Z:2.12 [[-5.33844174e-01 8.45499130e-01 -1.19003555e-02 3.01739472e+02] [-8.45353915e-01 -5.33974252e-01 -1.57561236e-02 2.75548272e+02] [-1.96762723e-02 1.64869734e-03 9.99805044e-01 2.12021712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.540714057 meters Centerline goodness : 0.990343 Centerline is valid? [True, True] Translation: X:301.73, Y:275.54, Z:2.12 [[-5.29969414e-01 8.47935518e-01 -1.17378676e-02 3.01731162e+02] [-8.47788371e-01 -5.30097147e-01 -1.58711094e-02 2.75537057e+02] [-1.96798875e-02 1.54002512e-03 9.99805146e-01 2.12158419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5707140569999 meters Centerline goodness : 0.990089 Centerline is valid? [True, True] Translation: X:301.73, Y:275.54, Z:2.12 [[-5.27790272e-01 8.49292421e-01 -1.18242734e-02 3.01733490e+02] [-8.49146947e-01 -5.27919982e-01 -1.58099883e-02 2.75540484e+02] [-1.96695734e-02 1.69618762e-03 9.99805096e-01 2.12371277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6007140569999 meters Centerline goodness : 0.989758 Centerline is valid? [True, True] Translation: X:301.73, Y:275.53, Z:2.12 [[-5.25634215e-01 8.50630814e-01 -1.16572182e-02 3.01728002e+02] [-8.50483074e-01 -5.25761201e-01 -1.59279799e-02 2.75531335e+02] [-1.96777435e-02 1.54197554e-03 9.99805185e-01 2.12400518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.630714057 meters Centerline goodness : 0.989050 Centerline is valid? [True, True] Translation: X:301.73, Y:275.53, Z:2.12 [[-5.24940720e-01 8.51059277e-01 -1.16339174e-02 3.01727495e+02] [-8.50911280e-01 -5.25067394e-01 -1.59444248e-02 2.75531808e+02] [-1.96782413e-02 1.52955372e-03 9.99805195e-01 2.12419575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.660714057 meters Centerline goodness : 0.990131 Centerline is valid? [True, True] Translation: X:301.72, Y:275.52, Z:2.12 [[-5.22734295e-01 8.52416351e-01 -1.16284541e-02 3.01722506e+02] [-8.52268599e-01 -5.22861251e-01 -1.59482766e-02 2.75524251e+02] [-1.96746398e-02 1.57385511e-03 9.99805197e-01 2.12321858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6907140569999 meters Centerline goodness : 0.991030 Centerline is valid? [True, True] Translation: X:301.72, Y:275.53, Z:2.12 [[-5.24423993e-01 8.51378985e-01 -1.15455204e-02 3.01723813e+02] [-8.51229709e-01 -5.24549109e-01 -1.60066818e-02 2.75526931e+02] [-1.96839450e-02 1.43360198e-03 9.99805225e-01 2.12183722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7207140569999 meters Centerline goodness : 0.990056 Centerline is valid? [True, True] Translation: X:301.73, Y:275.54, Z:2.12 [[-5.24585218e-01 8.51276795e-01 -1.17544675e-02 3.01734338e+02] [-8.51130718e-01 -5.24714188e-01 -1.58594037e-02 2.75542136e+02] [-1.96684782e-02 1.68497964e-03 9.99805137e-01 2.12303706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.750714057 meters Centerline goodness : 0.990253 Centerline is valid? [True, True] Translation: X:301.74, Y:275.55, Z:2.12 [[-5.25952676e-01 8.50434411e-01 -1.16230688e-02 3.01737959e+02] [-8.50286100e-01 -5.26078971e-01 -1.59519457e-02 2.75546796e+02] [-1.96807356e-02 1.49296532e-03 9.99805201e-01 2.12256587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.780714057 meters Centerline goodness : 0.991428 Centerline is valid? [True, True] Translation: X:301.74, Y:275.55, Z:2.12 [[-5.31535937e-01 8.46955445e-01 -1.16628768e-02 3.01744583e+02] [-8.46806913e-01 -5.31661999e-01 -1.59239158e-02 2.75554812e+02] [-1.96875556e-02 1.41207119e-03 9.99805184e-01 2.12067171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8107140569999 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:301.75, Y:275.56, Z:2.12 [[-5.31649035e-01 8.46881384e-01 -1.18838403e-02 3.01747604e+02] [-8.46736242e-01 -5.31779185e-01 -1.57681617e-02 2.75558263e+02] [-1.96733415e-02 1.67935034e-03 9.99805051e-01 2.12130858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8407140569999 meters Centerline goodness : 0.990380 Centerline is valid? [True, True] Translation: X:301.73, Y:275.52, Z:2.12 [[-5.28061060e-01 8.49124117e-01 -1.18216024e-02 3.01725651e+02] [-8.48978559e-01 -5.28190675e-01 -1.58119353e-02 2.75523487e+02] [-1.96703557e-02 1.68661960e-03 9.99805097e-01 2.12205968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.870714057 meters Centerline goodness : 0.991530 Centerline is valid? [True, True] Translation: X:301.73, Y:275.53, Z:2.12 [[-5.30340351e-01 8.47705768e-01 -1.15776740e-02 3.01732123e+02] [-8.47556130e-01 -5.30465027e-01 -1.59831352e-02 2.75533901e+02] [-1.96905470e-02 1.33622702e-03 9.99805229e-01 2.12018912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.900714057 meters Centerline goodness : 0.991635 Centerline is valid? [True, True] Translation: X:301.75, Y:275.56, Z:2.12 [[-5.28085478e-01 8.49110333e-01 -1.17205069e-02 3.01749651e+02] [-8.48963213e-01 -5.28213215e-01 -1.58827863e-02 2.75555738e+02] [-1.96771646e-02 1.56281043e-03 9.99805164e-01 2.12248248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9307140569999 meters Centerline goodness : 0.990591 Centerline is valid? [True, True] Translation: X:301.75, Y:275.56, Z:2.12 [[-5.27401329e-01 8.49535652e-01 -1.17053202e-02 3.01753795e+02] [-8.49388401e-01 -5.27528902e-01 -1.58934542e-02 2.75560899e+02] [-1.96769507e-02 1.56013430e-03 9.99805173e-01 2.12191521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9607140569999 meters Centerline goodness : 0.990319 Centerline is valid? [True, True] Translation: X:301.75, Y:275.56, Z:2.12 [[-5.26051990e-01 8.50374328e-01 -1.15241296e-02 3.01751226e+02] [-8.50224511e-01 -5.26176419e-01 -1.60205128e-02 2.75555644e+02] [-1.96871581e-02 1.37047478e-03 9.99805250e-01 2.12419302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.990714057 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:301.76, Y:275.56, Z:2.12 [[-5.26278452e-01 8.50234482e-01 -1.15028992e-02 3.01758137e+02] [-8.50084310e-01 -5.26402442e-01 -1.60353929e-02 2.75562220e+02] [-1.96889982e-02 1.33935235e-03 9.99805256e-01 2.12142337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.020714057 meters Centerline goodness : 0.990915 Centerline is valid? [True, True] Translation: X:301.76, Y:275.57, Z:2.12 [[-5.26404770e-01 8.50154055e-01 -1.16662519e-02 3.01762073e+02] [-8.50006354e-01 -5.26531789e-01 -1.59208404e-02 2.75567428e+02] [-1.96778195e-02 1.53558194e-03 9.99805194e-01 2.12479813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0507140569999 meters Centerline goodness : 0.992011 Centerline is valid? [True, True] Translation: X:301.77, Y:275.57, Z:2.12 [[-5.27428677e-01 8.49520947e-01 -1.15390987e-02 3.01765343e+02] [-8.49371158e-01 -5.27553143e-01 -1.60099220e-02 2.75570021e+02] [-1.96882519e-02 1.35688559e-03 9.99805247e-01 2.12231268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0807140569999 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:301.77, Y:275.56, Z:2.13 [[-5.24271576e-01 8.51471104e-01 -1.16736181e-02 3.01765954e+02] [-8.51323836e-01 -5.24399102e-01 -1.59156824e-02 2.75564802e+02] [-1.96733785e-02 1.59388946e-03 9.99805190e-01 2.12670246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1107140569999 meters Centerline goodness : 0.992225 Centerline is valid? [True, True] Translation: X:301.77, Y:275.57, Z:2.12 [[-5.24934266e-01 8.51064791e-01 -1.15212445e-02 3.01767278e+02] [-8.50915099e-01 -5.25058837e-01 -1.60222665e-02 2.75565159e+02] [-1.96853182e-02 1.39296423e-03 9.99805255e-01 2.12221891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.140714057 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:301.77, Y:275.57, Z:2.12 [[-5.24522846e-01 8.51316791e-01 -1.16406714e-02 3.01772197e+02] [-8.51168980e-01 -5.24649716e-01 -1.59386951e-02 2.75570468e+02] [-1.96761538e-02 1.54796868e-03 9.99805207e-01 2.12164609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1707140569999 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:301.76, Y:275.55, Z:2.12 [[-5.20104492e-01 8.54023039e-01 -1.16604506e-02 3.01760957e+02] [-8.53876192e-01 -5.20232493e-01 -1.59248665e-02 2.75552254e+02] [-1.96663482e-02 1.67398652e-03 9.99805197e-01 2.12136040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2007140569999 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:301.76, Y:275.55, Z:2.12 [[-5.20474150e-01 8.53799255e-01 -1.15538731e-02 3.01759912e+02] [-8.53650718e-01 -5.20600110e-01 -1.59992887e-02 2.75550858e+02] [-1.96751284e-02 1.53575589e-03 9.99805246e-01 2.12081501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2307140569999 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:301.76, Y:275.55, Z:2.12 [[-5.19370673e-01 8.54470317e-01 -1.16009342e-02 3.01764465e+02] [-8.54322664e-01 -5.19497698e-01 -1.59664307e-02 2.75554623e+02] [-1.96694997e-02 1.61844511e-03 9.99805227e-01 2.12121721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.260714057 meters Centerline goodness : 0.991643 Centerline is valid? [True, True] Translation: X:301.77, Y:275.57, Z:2.12 [[-5.18480381e-01 8.55011150e-01 -1.15770701e-02 3.01772665e+02] [-8.54863264e-01 -5.18607117e-01 -1.59830863e-02 2.75566075e+02] [-1.96696679e-02 1.60989526e-03 9.99805237e-01 2.11981509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.290714057 meters Centerline goodness : 0.991562 Centerline is valid? [True, True] Translation: X:301.76, Y:275.55, Z:2.12 [[-5.19426222e-01 8.54438686e-01 -1.14425261e-02 3.01763612e+02] [-8.54288611e-01 -5.19550289e-01 -1.60768803e-02 2.75551459e+02] [-1.96816762e-02 1.42446652e-03 9.99805282e-01 2.12029199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3207140569999 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:301.78, Y:275.57, Z:2.12 [[-5.19509706e-01 8.54386255e-01 -1.15669108e-02 3.01776179e+02] [-8.54238061e-01 -5.19636076e-01 -1.59901427e-02 2.75569096e+02] [-1.96723423e-02 1.57386113e-03 9.99805242e-01 2.12042338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3507140569999 meters Centerline goodness : 0.992454 Centerline is valid? [True, True] Translation: X:301.78, Y:275.58, Z:2.12 [[-5.20571036e-01 8.53740218e-01 -1.15515029e-02 3.01781174e+02] [-8.53591632e-01 -5.20696934e-01 -1.60008846e-02 2.75576155e+02] [-1.96754308e-02 1.53066914e-03 9.99805248e-01 2.12040192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.380714057 meters Centerline goodness : 0.990047 Centerline is valid? [True, True] Translation: X:301.77, Y:275.55, Z:2.12 [[-5.19625712e-01 8.54315721e-01 -1.15658359e-02 3.01768002e+02] [-8.54167494e-01 -5.19752041e-01 -1.59909004e-02 2.75554397e+02] [-1.96726444e-02 1.56987806e-03 9.99805242e-01 2.12407661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.410714057 meters Centerline goodness : 0.991195 Centerline is valid? [True, True] Translation: X:301.78, Y:275.57, Z:2.12 [[-5.18935141e-01 8.54737781e-01 -1.13862042e-02 3.01782055e+02] [-8.54586931e-01 -5.19058240e-01 -1.61158717e-02 2.75572465e+02] [-1.96849475e-02 1.36740918e-03 9.99805298e-01 2.12003459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4407140569999 meters Centerline goodness : 0.990307 Centerline is valid? [True, True] Translation: X:301.78, Y:275.57, Z:2.12 [[-5.21208220e-01 8.53353724e-01 -1.13759991e-02 3.01782234e+02] [-8.53202394e-01 -5.21330726e-01 -1.61229674e-02 2.75572943e+02] [-1.96892522e-02 1.30260650e-03 9.99805299e-01 2.11849995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4707140569999 meters Centerline goodness : 0.989997 Centerline is valid? [True, True] Translation: X:301.78, Y:275.57, Z:2.13 [[-5.21688944e-01 8.53059602e-01 -1.14000423e-02 3.01779474e+02] [-8.52908563e-01 -5.21811816e-01 -1.61062592e-02 2.75567712e+02] [-1.96882758e-02 1.32073633e-03 9.99805295e-01 2.12524754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.500714057 meters Centerline goodness : 0.991274 Centerline is valid? [True, True] Translation: X:301.78, Y:275.57, Z:2.12 [[-5.22363600e-01 8.52647029e-01 -1.13715778e-02 3.01779506e+02] [-8.52495468e-01 -5.22485817e-01 -1.61260288e-02 2.75566041e+02] [-1.96912987e-02 1.27056812e-03 9.99805300e-01 2.12043168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.530714057 meters Centerline goodness : 0.990494 Centerline is valid? [True, True] Translation: X:301.79, Y:275.58, Z:2.13 [[-5.25906927e-01 8.50463839e-01 -1.15395952e-02 3.01791724e+02] [-8.50314286e-01 -5.26031670e-01 -1.60092754e-02 2.75582839e+02] [-1.96855023e-02 1.39289381e-03 9.99805251e-01 2.12522938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5607140569999 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:301.81, Y:275.61, Z:2.12 [[-5.35881514e-01 8.44215984e-01 -1.14182058e-02 3.01808888e+02] [-8.44063180e-01 -5.36002188e-01 -1.60935844e-02 2.75610128e+02] [-1.97066445e-02 1.01343268e-03 9.99805292e-01 2.12025247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5907140569999 meters Centerline goodness : 0.991008 Centerline is valid? [True, True] Translation: X:301.81, Y:275.62, Z:2.12 [[-5.37908479e-01 8.42918869e-01 -1.19267549e-02 3.01814915e+02] [-8.42773408e-01 -5.38038350e-01 -1.57389998e-02 2.75617428e+02] [-1.96837514e-02 1.58541043e-03 9.99804999e-01 2.12084864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.620714057 meters Centerline goodness : 0.989772 Centerline is valid? [True, True] Translation: X:301.81, Y:275.62, Z:2.12 [[-5.34450870e-01 8.45116982e-01 -1.18132815e-02 3.01814384e+02] [-8.44970318e-01 -5.34579229e-01 -1.58180338e-02 2.75615527e+02] [-1.96832238e-02 1.52791029e-03 9.99805099e-01 2.12282124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.650714057 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:301.80, Y:275.60, Z:2.12 [[-5.32907039e-01 8.46094825e-01 -1.15600055e-02 3.01804930e+02] [-8.45944574e-01 -5.33030927e-01 -1.59940133e-02 2.75600607e+02] [-1.96942924e-02 1.25580162e-03 9.99805260e-01 2.12108696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6807140569999 meters Centerline goodness : 0.990202 Centerline is valid? [True, True] Translation: X:301.80, Y:275.60, Z:2.12 [[-5.33099504e-01 8.45972153e-01 -1.16634220e-02 3.01801811e+02] [-8.45823423e-01 -5.33225300e-01 -1.59222122e-02 2.75596393e+02] [-1.96889798e-02 1.37707208e-03 9.99805205e-01 2.12094568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7107140569999 meters Centerline goodness : 0.991294 Centerline is valid? [True, True] Translation: X:301.81, Y:275.60, Z:2.12 [[-5.34039935e-01 8.45378871e-01 -1.16581791e-02 3.01805041e+02] [-8.45229922e-01 -5.34165467e-01 -1.59258498e-02 2.75601696e+02] [-1.96907736e-02 1.34880204e-03 9.99805208e-01 2.12038599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.740714057 meters Centerline goodness : 0.989473 Centerline is valid? [True, True] Translation: X:301.81, Y:275.60, Z:2.12 [[-5.35086871e-01 8.44716151e-01 -1.16903671e-02 3.01805711e+02] [-8.44567530e-01 -5.35212822e-01 -1.59035289e-02 2.75603475e+02] [-1.96908021e-02 1.36353501e-03 9.99805188e-01 2.12223030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.770714057 meters Centerline goodness : 0.990268 Centerline is valid? [True, True] Translation: X:301.77, Y:275.55, Z:2.12 [[-5.35960173e-01 8.44164423e-01 -1.15377716e-02 3.01770106e+02] [-8.44013401e-01 -5.36083096e-01 -1.60091213e-02 2.75551826e+02] [-1.96995350e-02 1.15778249e-03 9.99805275e-01 2.11845941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8007140569999 meters Centerline goodness : 0.990999 Centerline is valid? [True, True] Translation: X:301.81, Y:275.61, Z:2.12 [[-5.42505318e-01 8.39971446e-01 -1.16597698e-02 3.01810883e+02] [-8.39821269e-01 -5.42629377e-01 -1.59246729e-02 2.75612989e+02] [-1.97032041e-02 1.15290291e-03 9.99805208e-01 2.12087221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8307140569999 meters Centerline goodness : 0.990562 Centerline is valid? [True, True] Translation: X:301.81, Y:275.61, Z:2.12 [[-5.42342732e-01 8.40074733e-01 -1.17815247e-02 3.01812669e+02] [-8.39926394e-01 -5.42469115e-01 -1.58402212e-02 2.75613379e+02] [-1.96980829e-02 1.30478478e-03 9.99805123e-01 2.12312611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8607140569999 meters Centerline goodness : 0.990599 Centerline is valid? [True, True] Translation: X:301.81, Y:275.62, Z:2.12 [[-5.42640213e-01 8.39883258e-01 -1.17351189e-02 3.01814952e+02] [-8.39734181e-01 -5.42765670e-01 -1.58723825e-02 2.75616569e+02] [-1.97003679e-02 1.24138746e-03 9.99805158e-01 2.12315666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.890714057 meters Centerline goodness : 0.990401 Centerline is valid? [True, True] Translation: X:301.82, Y:275.62, Z:2.12 [[-5.41023638e-01 8.40925552e-01 -1.17320166e-02 3.01819670e+02] [-8.40776671e-01 -5.41149323e-01 -1.58745313e-02 2.75624225e+02] [-1.96980719e-02 1.27550916e-03 9.99805161e-01 2.12326493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9207140569999 meters Centerline goodness : 0.989367 Centerline is valid? [True, True] Translation: X:301.81, Y:275.62, Z:2.12 [[-5.39078893e-01 8.42174463e-01 -1.16671376e-02 3.01814095e+02] [-8.42024905e-01 -5.39203701e-01 -1.59194318e-02 2.75617152e+02] [-1.96979027e-02 1.24219073e-03 9.99805206e-01 2.12027057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9507140569999 meters Centerline goodness : 0.989594 Centerline is valid? [True, True] Translation: X:301.81, Y:275.62, Z:2.12 [[-5.38844594e-01 8.42325195e-01 -1.16090191e-02 3.01813897e+02] [-8.42174810e-01 -5.38968348e-01 -1.59596151e-02 2.75619768e+02] [-1.97000797e-02 1.17707113e-03 9.99805242e-01 2.11864461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9807140569999 meters Centerline goodness : 0.990332 Centerline is valid? [True, True] Translation: X:301.79, Y:275.59, Z:2.12 [[-5.39768076e-01 8.41734199e-01 -1.15742036e-02 3.01793859e+02] [-8.41583165e-01 -5.39891007e-01 -1.59836571e-02 2.75592441e+02] [-1.97027992e-02 1.11318705e-03 9.99805261e-01 2.11831669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.010714057 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:301.81, Y:275.62, Z:2.12 [[-5.41243172e-01 8.40786715e-01 -1.15555190e-02 3.01810873e+02] [-8.40635191e-01 -5.41365483e-01 -1.59965506e-02 2.75615521e+02] [-1.97054463e-02 1.05595211e-03 9.99805271e-01 2.12300006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.040714057 meters Centerline goodness : 0.989599 Centerline is valid? [True, True] Translation: X:301.82, Y:275.61, Z:2.12 [[-5.32119988e-01 8.46589203e-01 -1.16206833e-02 3.01815753e+02] [-8.46439982e-01 -5.32245154e-01 -1.59515861e-02 2.75611601e+02] [-1.96894929e-02 1.34805315e-03 9.99805234e-01 2.12161197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0707140569999 meters Centerline goodness : 0.990169 Centerline is valid? [True, True] Translation: X:301.83, Y:275.65, Z:2.12 [[-5.44080368e-01 8.38958581e-01 -1.11826743e-02 3.01832339e+02] [-8.38801306e-01 -5.44195012e-01 -1.62529569e-02 2.75648496e+02] [-1.97211132e-02 5.37127045e-04 9.99805376e-01 2.12311845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1007140569999 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:301.82, Y:275.63, Z:2.12 [[-5.46416048e-01 8.37433582e-01 -1.15973379e-02 3.01819599e+02] [-8.37281931e-01 -5.46538218e-01 -1.59669604e-02 2.75633803e+02] [-1.97096573e-02 9.85638069e-04 9.99805260e-01 2.12336498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.130714057 meters Centerline goodness : 0.990270 Centerline is valid? [True, True] Translation: X:301.82, Y:275.64, Z:2.12 [[-5.48852929e-01 8.35837897e-01 -1.16392638e-02 3.01822495e+02] [-8.35686500e-01 -5.48975456e-01 -1.59380555e-02 2.75640931e+02] [-1.97113009e-02 9.79127175e-04 9.99805234e-01 2.12313776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.160714057 meters Centerline goodness : 0.989637 Centerline is valid? [True, True] Translation: X:301.82, Y:275.64, Z:2.12 [[-5.48016121e-01 8.36386304e-01 -1.16739942e-02 3.01823445e+02] [-8.36235537e-01 -5.48139460e-01 -1.59141218e-02 2.75643185e+02] [-1.97093304e-02 1.04101355e-03 9.99805210e-01 2.12406189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1907140569999 meters Centerline goodness : 0.989637 Centerline is valid? [True, True] Translation: X:301.82, Y:275.65, Z:2.12 [[-5.47737892e-01 8.36569957e-01 -1.15719049e-02 3.01824846e+02] [-8.36417745e-01 -5.47859338e-01 -1.59844159e-02 2.75645459e+02] [-1.97118583e-02 9.23676300e-04 9.99805276e-01 2.12405860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2207140569999 meters Centerline goodness : 0.987499 Centerline is valid? [True, True] Translation: X:301.82, Y:275.65, Z:2.13 [[-5.49548445e-01 8.35381771e-01 -1.15673279e-02 3.01822370e+02] [-8.35229230e-01 -5.49669474e-01 -1.59875646e-02 2.75648923e+02] [-1.97139271e-02 8.75429122e-04 9.99805278e-01 2.12810071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.250714057 meters Centerline goodness : 0.988468 Centerline is valid? [True, True] Translation: X:301.82, Y:275.64, Z:2.13 [[-5.48894759e-01 8.35813775e-01 -1.13963240e-02 3.01816711e+02] [-8.35658879e-01 -5.49012628e-01 -1.61050369e-02 2.75642388e+02] [-1.97175375e-02 6.83468997e-04 9.99805357e-01 2.12674761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.280714057 meters Centerline goodness : 0.988711 Centerline is valid? [True, True] Translation: X:301.82, Y:275.65, Z:2.13 [[-5.50374110e-01 8.34840359e-01 -1.13979847e-02 3.01824802e+02] [-8.34685278e-01 -5.50491736e-01 -1.61038969e-02 2.75654130e+02] [-1.97186795e-02 6.50562097e-04 9.99805356e-01 2.12850735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3107140569999 meters Centerline goodness : 0.987409 Centerline is valid? [True, True] Translation: X:301.81, Y:275.64, Z:2.13 [[-5.54815001e-01 8.31895784e-01 -1.13894205e-02 3.01813263e+02] [-8.31739958e-01 -5.54931633e-01 -1.61097722e-02 2.75644662e+02] [-1.97220013e-02 5.35092839e-04 9.99805359e-01 2.12888218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3407140569999 meters Centerline goodness : 0.986851 Centerline is valid? [True, True] Translation: X:301.82, Y:275.65, Z:2.13 [[-5.54395943e-01 8.32175219e-01 -1.13817086e-02 3.01815613e+02] [-8.32019343e-01 -5.54512505e-01 -1.61150579e-02 2.75648847e+02] [-1.97218516e-02 5.35678987e-04 9.99805362e-01 2.12923849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.370714057 meters Centerline goodness : 0.987512 Centerline is valid? [True, True] Translation: X:301.82, Y:275.67, Z:2.13 [[-5.58522113e-01 8.29411787e-01 -1.13638612e-02 3.01824381e+02] [-8.29255085e-01 -5.58637552e-01 -1.61272879e-02 2.75667714e+02] [-1.97244422e-02 4.16092765e-04 9.99805368e-01 2.12769082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.400714057 meters Centerline goodness : 0.988592 Centerline is valid? [True, True] Translation: X:301.82, Y:275.67, Z:2.12 [[-5.59705821e-01 8.28612144e-01 -1.14589859e-02 3.01818096e+02] [-8.28456606e-01 -5.59822884e-01 -1.60620911e-02 2.75666184e+02] [-1.97242463e-02 5.03226730e-04 9.99805332e-01 2.12389390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4307140569999 meters Centerline goodness : 0.987895 Centerline is valid? [True, True] Translation: X:301.82, Y:275.68, Z:2.12 [[-5.61721393e-01 8.27246323e-01 -1.15151095e-02 3.01822451e+02] [-8.27091286e-01 -5.61839165e-01 -1.60236275e-02 2.75677212e+02] [-1.97251264e-02 5.23232356e-04 9.99805304e-01 2.12257358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4607140569999 meters Centerline goodness : 0.985767 Centerline is valid? [True, True] Translation: X:301.82, Y:275.68, Z:2.12 [[-5.59840799e-01 8.28519651e-01 -1.15528342e-02 3.01823550e+02] [-8.28365414e-01 -5.59959651e-01 -1.59977841e-02 2.75682015e+02] [-1.97235995e-02 6.13756024e-04 9.99805283e-01 2.12322546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.490714057 meters Centerline goodness : 0.987656 Centerline is valid? [True, True] Translation: X:301.82, Y:275.68, Z:2.12 [[-5.60853067e-01 8.27836435e-01 -1.14312784e-02 3.01822355e+02] [-8.27680350e-01 -5.60969376e-01 -1.60809614e-02 2.75682310e+02] [-1.97250029e-02 4.42387954e-04 9.99805345e-01 2.12381170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.520714057 meters Centerline goodness : 0.986934 Centerline is valid? [True, True] Translation: X:301.82, Y:275.69, Z:2.12 [[-5.63644640e-01 8.25938160e-01 -1.14400667e-02 3.01824073e+02] [-8.25781805e-01 -5.63760593e-01 -1.60749486e-02 2.75692902e+02] [-1.97263723e-02 3.86440289e-04 9.99805342e-01 2.12375308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5507140569999 meters Centerline goodness : 0.987514 Centerline is valid? [True, True] Translation: X:301.82, Y:275.69, Z:2.12 [[-5.64876545e-01 8.25096001e-01 -1.14489524e-02 3.01821816e+02] [-8.24939596e-01 -5.64992437e-01 -1.60688702e-02 2.75692658e+02] [-1.97269320e-02 3.67766302e-04 9.99805338e-01 2.12362128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5807140569999 meters Centerline goodness : 0.987409 Centerline is valid? [True, True] Translation: X:301.82, Y:275.69, Z:2.12 [[-5.64952640e-01 8.25043600e-01 -1.14705237e-02 3.01816441e+02] [-8.24887484e-01 -5.65068938e-01 -1.60541222e-02 2.75693831e+02] [-1.97269874e-02 3.92072731e-04 9.99805327e-01 2.12449245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6107140569999 meters Centerline goodness : 0.986962 Centerline is valid? [True, True] Translation: X:301.82, Y:275.70, Z:2.13 [[-5.64047832e-01 8.25662587e-01 -1.14601638e-02 3.01816074e+02] [-8.25506454e-01 -5.64164100e-01 -1.60612004e-02 2.75699455e+02] [-1.97265453e-02 4.01153932e-04 9.99805332e-01 2.12541316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.640714057 meters Centerline goodness : 0.986667 Centerline is valid? [True, True] Translation: X:301.81, Y:275.70, Z:2.13 [[-5.61988328e-01 8.27066899e-01 -1.13782262e-02 3.01812810e+02] [-8.26909921e-01 -5.62103390e-01 -1.61171232e-02 2.75701354e+02] [-1.97256786e-02 3.51133019e-04 9.99805368e-01 2.12564925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6707140569999 meters Centerline goodness : 0.989047 Centerline is valid? [True, True] Translation: X:301.80, Y:275.70, Z:2.12 [[-5.57652833e-01 8.29996830e-01 -1.13393129e-02 3.01800402e+02] [-8.29839916e-01 -5.57767959e-01 -1.61436553e-02 2.75696171e+02] [-1.97238882e-02 4.07259363e-04 9.99805382e-01 2.12190720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7007140569999 meters Centerline goodness : 0.987765 Centerline is valid? [True, True] Translation: X:301.80, Y:275.70, Z:2.12 [[-5.53264713e-01 8.32925239e-01 -1.15630324e-02 3.01797455e+02] [-8.32772089e-01 -5.53384979e-01 -1.59910411e-02 2.75698357e+02] [-1.97181501e-02 7.82091866e-04 9.99805272e-01 2.12315933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7307140569999 meters Centerline goodness : 0.987071 Centerline is valid? [True, True] Translation: X:301.79, Y:275.70, Z:2.12 [[-5.47568314e-01 8.36683504e-01 -1.13866616e-02 3.01786703e+02] [-8.36528666e-01 -5.47686243e-01 -1.61111754e-02 2.75695027e+02] [-1.97162726e-02 7.03299645e-04 9.99805368e-01 2.12233352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.760714057 meters Centerline goodness : 0.987760 Centerline is valid? [True, True] Translation: X:301.79, Y:275.70, Z:2.12 [[-5.45007626e-01 8.38353876e-01 -1.13782903e-02 3.01786482e+02] [-8.38199282e-01 -5.45125867e-01 -1.61168731e-02 2.75698859e+02] [-1.97142434e-02 7.53455949e-04 9.99805372e-01 2.11884129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.790714057 meters Centerline goodness : 0.987332 Centerline is valid? [True, True] Translation: X:301.78, Y:275.70, Z:2.12 [[-5.40143215e-01 8.41493784e-01 -1.15550216e-02 3.01782457e+02] [-8.41342420e-01 -5.40265715e-01 -1.59965450e-02 2.75704131e+02] [-1.97037752e-02 1.08130462e-03 9.99805277e-01 2.11965140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8207140569999 meters Centerline goodness : 0.988567 Centerline is valid? [True, True] Translation: X:301.78, Y:275.71, Z:2.12 [[-5.38702923e-01 8.42418948e-01 -1.13788333e-02 3.01782223e+02] [-8.42265255e-01 -5.38822330e-01 -1.61163667e-02 2.75709277e+02] [-1.97079022e-02 9.02062075e-04 9.99805374e-01 2.11807405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8507140569999 meters Centerline goodness : 0.989153 Centerline is valid? [True, True] Translation: X:301.78, Y:275.71, Z:2.12 [[-5.34651414e-01 8.44994243e-01 -1.15149473e-02 3.01784431e+02] [-8.44843097e-01 -5.34774140e-01 -1.60237614e-02 2.75714438e+02] [-1.96978822e-02 1.16119708e-03 9.99805304e-01 2.12115380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.880714057 meters Centerline goodness : 0.987988 Centerline is valid? [True, True] Translation: X:301.77, Y:275.71, Z:2.12 [[-5.33385771e-01 8.45794086e-01 -1.14883728e-02 3.01773000e+02] [-8.45642737e-01 -5.33508220e-01 -1.60418260e-02 2.75706179e+02] [-1.96972229e-02 1.15857726e-03 9.99805320e-01 2.12107608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.910714057 meters Centerline goodness : 0.987599 Centerline is valid? [True, True] Translation: X:301.78, Y:275.71, Z:2.12 [[-5.32335981e-01 8.46455072e-01 -1.14984482e-02 3.01777381e+02] [-8.46304022e-01 -5.32458808e-01 -1.60349800e-02 2.75714620e+02] [-1.96953402e-02 1.19518618e-03 9.99805314e-01 2.12310637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9407140569999 meters Centerline goodness : 0.988269 Centerline is valid? [True, True] Translation: X:301.77, Y:275.72, Z:2.12 [[-5.32401275e-01 8.46414080e-01 -1.14929911e-02 3.01774995e+02] [-8.46262940e-01 -5.32523987e-01 -1.60386857e-02 2.75716608e+02] [-1.96956629e-02 1.18707570e-03 9.99805317e-01 2.12094540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9707140569999 meters Centerline goodness : 0.986391 Centerline is valid? [True, True] Translation: X:301.78, Y:275.73, Z:2.12 [[-5.32232306e-01 8.46520399e-01 -1.14885554e-02 3.01782366e+02] [-8.46369219e-01 -5.32354965e-01 -1.60416963e-02 2.75731100e+02] [-1.96956127e-02 1.18565067e-03 9.99805320e-01 2.11997747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.000714057 meters Centerline goodness : 0.988280 Centerline is valid? [True, True] Translation: X:301.78, Y:275.73, Z:2.12 [[-5.31868347e-01 8.46751340e-01 -1.13238722e-02 3.01780947e+02] [-8.46597833e-01 -5.31987949e-01 -1.61533530e-02 2.75730980e+02] [-1.97020369e-02 9.95308529e-04 9.99805401e-01 2.12062295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.030714057 meters Centerline goodness : 0.987707 Centerline is valid? [True, True] Translation: X:301.78, Y:275.73, Z:2.12 [[-5.30078244e-01 8.47870675e-01 -1.15053744e-02 3.01777297e+02] [-8.47720054e-01 -5.30201604e-01 -1.60302789e-02 2.75728075e+02] [-1.96917714e-02 1.25603457e-03 9.99805309e-01 2.12114339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0607140569999 meters Centerline goodness : 0.987581 Centerline is valid? [True, True] Translation: X:301.78, Y:275.73, Z:2.12 [[-5.30891506e-01 8.47362486e-01 -1.14466839e-02 3.01778339e+02] [-8.47210893e-01 -5.31013613e-01 -1.60700423e-02 2.75731574e+02] [-1.96954960e-02 1.16630635e-03 9.99805345e-01 2.11972682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0907140569999 meters Centerline goodness : 0.987857 Centerline is valid? [True, True] Translation: X:301.78, Y:275.73, Z:2.12 [[-5.31147875e-01 8.47201826e-01 -1.14455329e-02 3.01778146e+02] [-8.47050180e-01 -5.31269915e-01 -1.60708216e-02 2.75731926e+02] [-1.96958967e-02 1.15895800e-03 9.99805345e-01 2.12065696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.120714057 meters Centerline goodness : 0.988378 Centerline is valid? [True, True] Translation: X:301.78, Y:275.73, Z:2.12 [[-5.33172252e-01 8.45928976e-01 -1.14680626e-02 3.01776988e+02] [-8.45777364e-01 -5.33294356e-01 -1.60555750e-02 2.75731900e+02] [-1.96977292e-02 1.13904068e-03 9.99805332e-01 2.11860332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.150714057 meters Centerline goodness : 0.988488 Centerline is valid? [True, True] Translation: X:301.78, Y:275.73, Z:2.12 [[-5.33693267e-01 8.45599689e-01 -1.15179112e-02 3.01775074e+02] [-8.45448723e-01 -5.33816220e-01 -1.60218477e-02 2.75730098e+02] [-1.96965173e-02 1.18705110e-03 9.99805300e-01 2.11786543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1807140569999 meters Centerline goodness : 0.988085 Centerline is valid? [True, True] Translation: X:301.78, Y:275.74, Z:2.12 [[-5.34761510e-01 8.44924627e-01 -1.15109586e-02 3.01778597e+02] [-8.44773405e-01 -5.34884140e-01 -1.60265481e-02 2.75735508e+02] [-1.96982543e-02 1.15377063e-03 9.99805305e-01 2.11896342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2107140569999 meters Centerline goodness : 0.987668 Centerline is valid? [True, True] Translation: X:301.78, Y:275.74, Z:2.12 [[-5.34709844e-01 8.44957731e-01 -1.14810733e-02 3.01781819e+02] [-8.44806085e-01 -5.34831918e-01 -1.60467478e-02 2.75741074e+02] [-1.96992680e-02 1.11892656e-03 9.99805324e-01 2.12005670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.240714057 meters Centerline goodness : 0.987833 Centerline is valid? [True, True] Translation: X:301.78, Y:275.74, Z:2.12 [[-5.33722603e-01 8.45581777e-01 -1.14735389e-02 3.01781438e+02] [-8.45430165e-01 -5.33844711e-01 -1.60518366e-02 2.75739069e+02] [-1.96982285e-02 1.13284788e-03 9.99805329e-01 2.12255498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.270714057 meters Centerline goodness : 0.987901 Centerline is valid? [True, True] Translation: X:301.79, Y:275.76, Z:2.12 [[-5.37370664e-01 8.43268467e-01 -1.14482805e-02 3.01793120e+02] [-8.43115966e-01 -5.37491636e-01 -1.60688940e-02 2.75756527e+02] [-1.97037466e-02 1.01727586e-03 9.99805345e-01 2.12200500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3007140569999 meters Centerline goodness : 0.988580 Centerline is valid? [True, True] Translation: X:301.79, Y:275.75, Z:2.12 [[-5.38869111e-01 8.42311553e-01 -1.14599004e-02 3.01790860e+02] [-8.42159004e-01 -5.38990033e-01 -1.60610458e-02 2.75753893e+02] [-1.97051765e-02 9.96256809e-04 9.99805338e-01 2.12285094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3307140569999 meters Centerline goodness : 0.989696 Centerline is valid? [True, True] Translation: X:301.80, Y:275.76, Z:2.13 [[-5.38993902e-01 8.42231372e-01 -1.14843031e-02 3.01796933e+02] [-8.42079154e-01 -5.39115266e-01 -1.60445679e-02 2.75763573e+02] [-1.97046015e-02 1.02276798e-03 9.99805322e-01 2.12634577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3607140569999 meters Centerline goodness : 0.988998 Centerline is valid? [True, True] Translation: X:301.79, Y:275.75, Z:2.13 [[-5.35961187e-01 8.44163701e-01 -1.15434948e-02 3.01789716e+02] [-8.44012774e-01 -5.36084218e-01 -1.60046152e-02 2.75753667e+02] [-1.96988006e-02 1.16500451e-03 9.99805281e-01 2.12826325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.390714057 meters Centerline goodness : 0.989627 Centerline is valid? [True, True] Translation: X:301.79, Y:275.75, Z:2.13 [[-5.35670244e-01 8.44350017e-01 -1.14209997e-02 3.01788079e+02] [-8.44197372e-01 -5.35791005e-01 -1.60871620e-02 2.75753891e+02] [-1.97024645e-02 1.02416395e-03 9.99805363e-01 2.12845239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4207140569999 meters Centerline goodness : 0.989582 Centerline is valid? [True, True] Translation: X:301.80, Y:275.77, Z:2.13 [[-5.42507559e-01 8.39973302e-01 -1.14192736e-02 3.01795141e+02] [-8.39819658e-01 -5.42627043e-01 -1.60883249e-02 2.75769309e+02] [-1.97101700e-02 8.62092575e-04 9.99805364e-01 2.12723325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4507140569999 meters Centerline goodness : 0.990345 Centerline is valid? [True, True] Translation: X:301.80, Y:275.77, Z:2.13 [[-5.43082428e-01 8.39599448e-01 -1.15863552e-02 3.01795375e+02] [-8.39448101e-01 -5.43204993e-01 -1.59756469e-02 2.75769212e+02] [-1.97069103e-02 1.05005083e-03 9.99805249e-01 2.12667589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4807140569999 meters Centerline goodness : 0.989353 Centerline is valid? [True, True] Translation: X:301.79, Y:275.75, Z:2.13 [[-5.39018615e-01 8.42214445e-01 -1.15655129e-02 3.01787353e+02] [-8.42063392e-01 -5.39141516e-01 -1.59896815e-02 2.75753874e+02] [-1.97021889e-02 1.12015907e-03 9.99805266e-01 2.12741479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.510714057 meters Centerline goodness : 0.988831 Centerline is valid? [True, True] Translation: X:301.80, Y:275.78, Z:2.12 [[-5.45018955e-01 8.38345735e-01 -1.14353264e-02 3.01797330e+02] [-8.38191965e-01 -5.45138287e-01 -1.60772648e-02 2.75776231e+02] [-1.97121407e-02 8.22584607e-04 9.99805359e-01 2.12287155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.540714057 meters Centerline goodness : 0.986780 Centerline is valid? [True, True] Translation: X:301.79, Y:275.77, Z:2.13 [[-5.43146320e-01 8.39558826e-01 -1.15348490e-02 3.01791562e+02] [-8.39406734e-01 -5.43267894e-01 -1.60103030e-02 2.75768673e+02] [-1.97081043e-02 9.86492801e-04 9.99805290e-01 2.12948133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5707140569999 meters Centerline goodness : 0.989141 Centerline is valid? [True, True] Translation: X:301.79, Y:275.77, Z:2.12 [[-5.42367327e-01 8.40065254e-01 -1.13159640e-02 3.01793026e+02] [-8.39910186e-01 -5.42484856e-01 -1.61573596e-02 2.75773804e+02] [-1.97119755e-02 7.41169535e-04 9.99805425e-01 2.12336648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6007140569999 meters Centerline goodness : 0.988488 Centerline is valid? [True, True] Translation: X:301.79, Y:275.78, Z:2.13 [[-5.41731737e-01 8.40472613e-01 -1.15113479e-02 3.01794078e+02] [-8.40320394e-01 -5.41853120e-01 -1.60259759e-02 2.75775648e+02] [-1.97068536e-02 9.91440580e-04 9.99805310e-01 2.12542814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.630714057 meters Centerline goodness : 0.987659 Centerline is valid? [True, True] Translation: X:301.80, Y:275.78, Z:2.13 [[-5.42176003e-01 8.40186775e-01 -1.14614624e-02 3.01797225e+02] [-8.40033784e-01 -5.42296354e-01 -1.60594875e-02 2.75781084e+02] [-1.97084783e-02 9.20946899e-04 9.99805345e-01 2.12885603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.660714057 meters Centerline goodness : 0.989565 Centerline is valid? [True, True] Translation: X:301.80, Y:275.78, Z:2.13 [[-5.44467289e-01 8.38706994e-01 -1.12227340e-02 3.01798953e+02] [-8.38550345e-01 -5.44582632e-01 -1.62196246e-02 2.75784975e+02] [-1.97152186e-02 5.79772369e-04 9.99805468e-01 2.12661905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6907140569999 meters Centerline goodness : 0.987232 Centerline is valid? [True, True] Translation: X:301.80, Y:275.80, Z:2.13 [[-5.47580431e-01 8.36675286e-01 -1.14077916e-02 3.01803799e+02] [-8.36520773e-01 -5.47698762e-01 -1.60954201e-02 2.75795786e+02] [-1.97146736e-02 7.29317627e-04 9.99805381e-01 2.13130392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7207140569999 meters Centerline goodness : 0.988149 Centerline is valid? [True, True] Translation: X:301.81, Y:275.81, Z:2.13 [[-5.50071669e-01 8.35041068e-01 -1.12948824e-02 3.01806667e+02] [-8.34884642e-01 -5.50187359e-01 -1.61711281e-02 2.75805744e+02] [-1.97178576e-02 5.34644458e-04 9.99805441e-01 2.13164537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.750714057 meters Centerline goodness : 0.988794 Centerline is valid? [True, True] Translation: X:301.80, Y:275.80, Z:2.13 [[-5.48286961e-01 8.36213593e-01 -1.13240819e-02 3.01801964e+02] [-8.36057818e-01 -5.48403549e-01 -1.61515568e-02 2.75802524e+02] [-1.97163181e-02 6.11899218e-04 9.99805427e-01 2.12670074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.780714057 meters Centerline goodness : 0.987754 Centerline is valid? [True, True] Translation: X:301.80, Y:275.80, Z:2.13 [[-5.48192735e-01 8.36274604e-01 -1.13803641e-02 3.01797192e+02] [-8.36119621e-01 -5.48310425e-01 -1.61138544e-02 2.75800378e+02] [-1.97155795e-02 6.81847861e-04 9.99805397e-01 2.13081436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8107140569999 meters Centerline goodness : 0.988600 Centerline is valid? [True, True] Translation: X:301.79, Y:275.80, Z:2.13 [[-5.46764569e-01 8.37210990e-01 -1.12367428e-02 3.01788904e+02] [-8.37054224e-01 -5.46879752e-01 -1.62099577e-02 2.75796308e+02] [-1.97163018e-02 5.42732488e-04 9.99805468e-01 2.12730641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8407140569999 meters Centerline goodness : 0.988738 Centerline is valid? [True, True] Translation: X:301.79, Y:275.81, Z:2.13 [[-5.52613475e-01 8.33358647e-01 -1.14765841e-02 3.01791519e+02] [-8.33204379e-01 -5.52732200e-01 -1.60492554e-02 2.75809941e+02] [-1.97182634e-02 6.93305324e-04 9.99805336e-01 2.12651742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.870714057 meters Centerline goodness : 0.988178 Centerline is valid? [True, True] Translation: X:301.78, Y:275.80, Z:2.13 [[-5.45289160e-01 8.38166430e-01 -1.16947780e-02 3.01781878e+02] [-8.38016310e-01 -5.45413386e-01 -1.59029021e-02 2.75803554e+02] [-1.97077672e-02 1.12873455e-03 9.99805146e-01 2.12669486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.900714057 meters Centerline goodness : 0.988695 Centerline is valid? [True, True] Translation: X:301.79, Y:275.81, Z:2.13 [[-5.42359154e-01 8.40067100e-01 -1.15678940e-02 3.01785413e+02] [-8.39915598e-01 -5.42481498e-01 -1.59878752e-02 2.75811750e+02] [-1.97062564e-02 1.04488414e-03 9.99805267e-01 2.12673264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9307140569999 meters Centerline goodness : 0.988736 Centerline is valid? [True, True] Translation: X:301.78, Y:275.79, Z:2.13 [[-5.23866537e-01 8.51722898e-01 -1.14872624e-02 3.01779172e+02] [-8.51572930e-01 -5.23990654e-01 -1.60417784e-02 2.75790542e+02] [-1.96823682e-02 1.37849083e-03 9.99805333e-01 2.12765783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9607140569999 meters Centerline goodness : 0.989038 Centerline is valid? [True, True] Translation: X:301.78, Y:275.82, Z:2.13 [[-5.41193772e-01 8.40826818e-01 -1.09344784e-02 3.01780231e+02] [-8.40666726e-01 -5.41304133e-01 -1.64101177e-02 2.75815070e+02] [-1.97169454e-02 3.11198617e-04 9.99805554e-01 2.12517113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.990714057 meters Centerline goodness : 0.988664 Centerline is valid? [True, True] Translation: X:301.78, Y:275.83, Z:2.13 [[-5.43804755e-01 8.39133046e-01 -1.14942954e-02 3.01784234e+02] [-8.38980318e-01 -5.43925435e-01 -1.60357972e-02 2.75825528e+02] [-1.97082070e-02 9.23144859e-04 9.99805348e-01 2.12650875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.020714057 meters Centerline goodness : 0.988401 Centerline is valid? [True, True] Translation: X:301.78, Y:275.82, Z:2.13 [[-5.46937393e-01 8.37095634e-01 -1.14187165e-02 3.01780897e+02] [-8.36941400e-01 -5.47056052e-01 -1.60863064e-02 2.75824453e+02] [-1.97124548e-02 7.58594071e-04 9.99805403e-01 2.12574267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0507140569999 meters Centerline goodness : 0.988480 Centerline is valid? [True, True] Translation: X:301.78, Y:275.81, Z:2.13 [[-5.32242579e-01 8.46514839e-01 -1.14220962e-02 3.01778755e+02] [-8.46362747e-01 -5.32363976e-01 -1.60840510e-02 2.75805652e+02] [-1.96961004e-02 1.10661998e-03 9.99805401e-01 2.12854348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0807140569999 meters Centerline goodness : 0.988480 Centerline is valid? [True, True] Translation: X:301.78, Y:275.81, Z:2.13 [[-5.31918826e-01 8.46724880e-01 -1.09243111e-02 3.01779959e+02] [-8.46565902e-01 -5.32030742e-01 -1.64153285e-02 2.75808027e+02] [-1.97113364e-02 5.16527048e-04 9.99805579e-01 2.12840001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1107140569999 meters Centerline goodness : 0.989362 Centerline is valid? [True, True] Translation: X:301.78, Y:275.81, Z:2.13 [[-5.33632445e-01 8.45646032e-01 -1.09180343e-02 3.01780824e+02] [-8.45486742e-01 -5.33743917e-01 -1.64195022e-02 2.75813464e+02] [-1.97125213e-02 4.69074179e-04 9.99805579e-01 2.12839083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.140714057 meters Centerline goodness : 0.986831 Centerline is valid? [True, True] Translation: X:301.78, Y:275.84, Z:2.13 [[-5.51158792e-01 8.34329024e-01 -1.09117601e-02 3.01781554e+02] [-8.34167360e-01 -5.51266794e-01 -1.64236707e-02 2.75841478e+02] [-1.97180362e-02 5.01836350e-05 9.99805579e-01 2.13110907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1707140569999 meters Centerline goodness : 0.988547 Centerline is valid? [True, True] Translation: X:301.78, Y:275.82, Z:2.13 [[-5.36572896e-01 8.43779151e-01 -1.12370813e-02 3.01775496e+02] [-8.43623845e-01 -5.36689976e-01 -1.62073398e-02 2.75824451e+02] [-1.97062443e-02 7.83450434e-04 9.99805506e-01 2.12995908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2007140569999 meters Centerline goodness : 0.989087 Centerline is valid? [True, True] Translation: X:301.77, Y:275.83, Z:2.13 [[-5.35866040e-01 8.44232645e-01 -1.09008481e-02 3.01773731e+02] [-8.44072839e-01 -5.35976757e-01 -1.64304175e-02 2.75826748e+02] [-1.97136960e-02 3.96607004e-04 9.99805588e-01 2.12949579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2307140569999 meters Centerline goodness : 0.988813 Centerline is valid? [True, True] Translation: X:301.77, Y:275.83, Z:2.13 [[-5.35035767e-01 8.44759159e-01 -1.08945790e-02 3.01772682e+02] [-8.44599377e-01 -5.35146519e-01 -1.64345733e-02 2.75830895e+02] [-1.97134523e-02 4.08470171e-04 9.99805588e-01 2.12899246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.260714057 meters Centerline goodness : 0.988931 Centerline is valid? [True, True] Translation: X:301.77, Y:275.83, Z:2.13 [[-5.33814771e-01 8.45531333e-01 -1.08883063e-02 3.01770886e+02] [-8.45371627e-01 -5.33925632e-01 -1.64387280e-02 2.75832929e+02] [-1.97130055e-02 4.29429417e-04 9.99805588e-01 2.12821609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.290714057 meters Centerline goodness : 0.988543 Centerline is valid? [True, True] Translation: X:301.79, Y:275.89, Z:2.13 [[-5.48041691e-01 8.36380228e-01 -1.08820269e-02 3.01789126e+02] [-8.36218587e-01 -5.48149711e-01 -1.64428838e-02 2.75888277e+02] [-1.97174828e-02 8.83673159e-05 9.99805588e-01 2.12889492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3207140569999 meters Centerline goodness : 0.988705 Centerline is valid? [True, True] Translation: X:301.76, Y:275.84, Z:2.13 [[-5.30943895e-01 8.47329007e-01 -1.14949991e-02 3.01763748e+02] [-8.47178129e-01 -5.31066904e-01 -1.60362494e-02 2.75839304e+02] [-1.96925928e-02 1.22396309e-03 9.99805333e-01 2.12645000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3507140569999 meters Centerline goodness : 0.988322 Centerline is valid? [True, True] Translation: X:301.76, Y:275.84, Z:2.13 [[-5.28374827e-01 8.48941572e-01 -1.08743088e-02 3.01760475e+02] [-8.48782417e-01 -5.28486440e-01 -1.64466482e-02 2.75844627e+02] [-1.97091681e-02 5.39927248e-04 9.99805610e-01 2.12660731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.380714057 meters Centerline goodness : 0.988426 Centerline is valid? [True, True] Translation: X:301.76, Y:275.85, Z:2.13 [[-5.27004281e-01 8.49793136e-01 -1.08680034e-02 3.01759120e+02] [-8.49634076e-01 -5.27116029e-01 -1.64508138e-02 2.75846621e+02] [-1.97084874e-02 5.64176709e-04 9.99805610e-01 2.12709689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.410714057 meters Centerline goodness : 0.988626 Centerline is valid? [True, True] Translation: X:301.76, Y:275.85, Z:2.13 [[-5.24498014e-01 8.51342386e-01 -1.08616942e-02 3.01757577e+02] [-8.51183569e-01 -5.24610108e-01 -1.64549784e-02 2.75847784e+02] [-1.97069751e-02 6.14692170e-04 9.99805610e-01 2.12668196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4407140569999 meters Centerline goodness : 0.986804 Centerline is valid? [True, True] Translation: X:301.76, Y:275.88, Z:2.13 [[-5.38710335e-01 8.42422409e-01 -1.07544956e-02 3.01762206e+02] [-8.42260317e-01 -5.38817650e-01 -1.65256633e-02 2.75883402e+02] [-1.97163011e-02 1.55539253e-04 9.99805603e-01 2.13024234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4707140569999 meters Centerline goodness : 0.983621 Centerline is valid? [True, True] Translation: X:301.20, Y:275.00, Z:2.11 [[-5.06373076e-01 8.62244868e-01 -1.09588003e-02 3.01201841e+02] [-8.62089778e-01 -5.06490349e-01 -1.63933544e-02 2.75003917e+02] [-1.96856123e-02 1.14631641e-03 9.99805562e-01 2.11197895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.500714057 meters Centerline goodness : 0.988838 Centerline is valid? [True, True] Translation: X:301.74, Y:275.85, Z:2.12 [[-5.10884270e-01 8.59586147e-01 -1.04363741e-02 3.01738752e+02] [-8.59423411e-01 -5.10990683e-01 -1.67309193e-02 2.75849938e+02] [-1.97145564e-02 4.21700757e-04 9.99805560e-01 2.12496962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.530714057 meters Centerline goodness : 0.987610 Centerline is valid? [True, True] Translation: X:301.74, Y:275.86, Z:2.13 [[-5.08915653e-01 8.60749571e-01 -1.07254077e-02 3.01742024e+02] [-8.60590956e-01 -5.09028014e-01 -1.65435361e-02 2.75858419e+02] [-1.96993746e-02 8.10924400e-04 9.99805620e-01 2.12905463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5607140569999 meters Centerline goodness : 0.988292 Centerline is valid? [True, True] Translation: X:301.74, Y:275.85, Z:2.12 [[-5.06978546e-01 8.61892969e-01 -1.06425725e-02 3.01735693e+02] [-8.61733483e-01 -5.07089675e-01 -1.65971806e-02 2.75850533e+02] [-1.97017319e-02 7.56646601e-04 9.99805616e-01 2.12468880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5907140569999 meters Centerline goodness : 0.987475 Centerline is valid? [True, True] Translation: X:301.73, Y:275.87, Z:2.13 [[-5.24413600e-01 8.51397132e-01 -1.06442852e-02 3.01730769e+02] [-8.51235440e-01 -5.24521493e-01 -1.65960718e-02 2.75869132e+02] [-1.97130043e-02 3.57587045e-04 9.99805616e-01 2.12694647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.620714057 meters Centerline goodness : 0.985660 Centerline is valid? [True, True] Translation: X:301.73, Y:275.87, Z:2.13 [[-5.24449943e-01 8.51368591e-01 -1.11256248e-02 3.01730109e+02] [-8.51213359e-01 -5.24567113e-01 -1.62837464e-02 2.75868910e+02] [-1.96996071e-02 9.30270618e-04 9.99805511e-01 2.13083370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.650714057 meters Centerline goodness : 0.986484 Centerline is valid? [True, True] Translation: X:301.73, Y:275.87, Z:2.13 [[-5.23340410e-01 8.52052224e-01 -1.10373507e-02 3.01733692e+02] [-8.51895938e-01 -5.23456096e-01 -1.63409729e-02 2.75874853e+02] [-1.97009308e-02 8.50782760e-04 9.99805556e-01 2.12806935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6807140569999 meters Centerline goodness : 0.986350 Centerline is valid? [True, True] Translation: X:301.73, Y:275.88, Z:2.13 [[-5.21324148e-01 8.53286750e-01 -1.10840309e-02 3.01734203e+02] [-8.53131377e-01 -5.21441094e-01 -1.63107108e-02 2.75877314e+02] [-1.96973826e-02 9.52967085e-04 9.99805534e-01 2.13083619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7107140569999 meters Centerline goodness : 0.985127 Centerline is valid? [True, True] Translation: X:301.73, Y:275.87, Z:2.13 [[-5.21800284e-01 8.52997952e-01 -1.09067954e-02 3.01728961e+02] [-8.52840105e-01 -5.21913748e-01 -1.64254531e-02 2.75870659e+02] [-1.97032844e-02 7.30946447e-04 9.99805604e-01 2.13325249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.740714057 meters Centerline goodness : 0.986433 Centerline is valid? [True, True] Translation: X:301.74, Y:275.88, Z:2.14 [[-5.17930903e-01 8.55352857e-01 -1.09118914e-02 3.01737275e+02] [-8.55195595e-01 -5.18045179e-01 -1.64221549e-02 2.75880245e+02] [-1.96995899e-02 8.26259887e-04 9.99805603e-01 2.13756687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.770714057 meters Centerline goodness : 0.985634 Centerline is valid? [True, True] Translation: X:301.74, Y:275.88, Z:2.14 [[-5.16396127e-01 8.56281568e-01 -1.08128289e-02 3.01735642e+02] [-8.56123169e-01 -5.16508784e-01 -1.64862123e-02 2.75875739e+02] [-1.97017608e-02 7.43697195e-04 9.99805625e-01 2.13872250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8007140569999 meters Centerline goodness : 0.985806 Centerline is valid? [True, True] Translation: X:301.73, Y:275.87, Z:2.14 [[-5.16202838e-01 8.56398293e-01 -1.07978627e-02 3.01734885e+02] [-8.56239718e-01 -5.16315244e-01 -1.64958826e-02 2.75873630e+02] [-1.97021468e-02 7.30337525e-04 9.99805627e-01 2.13731787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8307140569999 meters Centerline goodness : 0.985323 Centerline is valid? [True, True] Translation: X:301.74, Y:275.88, Z:2.14 [[-5.16622308e-01 8.56144866e-01 -1.08332689e-02 3.01740151e+02] [-8.55986713e-01 -5.16735317e-01 -1.64730192e-02 2.75882842e+02] [-1.97012235e-02 7.62805005e-04 9.99805621e-01 2.13888671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8607140569999 meters Centerline goodness : 0.985059 Centerline is valid? [True, True] Translation: X:301.74, Y:275.89, Z:2.14 [[-5.16357535e-01 8.56304971e-01 -1.08024113e-02 3.01743956e+02] [-8.56146438e-01 -5.16469999e-01 -1.64929364e-02 2.75887583e+02] [-1.97021048e-02 7.32193984e-04 9.99805627e-01 2.13883088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.890714057 meters Centerline goodness : 0.987043 Centerline is valid? [True, True] Translation: X:301.75, Y:275.88, Z:2.13 [[-5.08286685e-01 8.61120930e-01 -1.07419201e-02 3.01745617e+02] [-8.60962639e-01 -5.08399477e-01 -1.65319507e-02 2.75876013e+02] [-1.96971953e-02 8.45421463e-04 9.99805634e-01 2.13440801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9207140569999 meters Centerline goodness : 0.987756 Centerline is valid? [True, True] Translation: X:301.75, Y:275.88, Z:2.13 [[-5.10840523e-01 8.59610916e-01 -1.05372281e-02 3.01747514e+02] [-8.59449556e-01 -5.10948900e-01 -1.66638084e-02 2.75875466e+02] [-1.97083767e-02 5.43667466e-04 9.99805623e-01 2.13078582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9507140569999 meters Centerline goodness : 0.985547 Centerline is valid? [True, True] Translation: X:301.76, Y:275.90, Z:2.14 [[-5.19944584e-01 8.54135287e-01 -1.05138259e-02 3.01761849e+02] [-8.53972481e-01 -5.20050783e-01 -1.66788679e-02 2.75904420e+02] [-1.97137330e-02 3.06430927e-04 9.99805619e-01 2.14095483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9807140569999 meters Centerline goodness : 0.986979 Centerline is valid? [True, True] Translation: X:301.76, Y:275.90, Z:2.14 [[-5.23236402e-01 8.52119799e-01 -1.07478731e-02 3.01759725e+02] [-8.51959642e-01 -5.23346530e-01 -1.65281271e-02 2.75901767e+02] [-1.97088064e-02 5.08636363e-04 9.99805633e-01 2.13972730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.010714057 meters Centerline goodness : 0.987874 Centerline is valid? [True, True] Translation: X:301.76, Y:275.90, Z:2.14 [[-5.21194857e-01 8.53370209e-01 -1.07334844e-02 3.01761246e+02] [-8.53210125e-01 -5.21305090e-01 -1.65373882e-02 2.75900182e+02] [-1.97079345e-02 5.38715905e-04 9.99805635e-01 2.13551371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.040714057 meters Centerline goodness : 0.985585 Centerline is valid? [True, True] Translation: X:301.78, Y:275.93, Z:2.14 [[-5.28125573e-01 8.49099696e-01 -1.06341504e-02 3.01775115e+02] [-8.48937430e-01 -5.28232561e-01 -1.66012695e-02 2.75927712e+02] [-1.97134373e-02 2.60173330e-04 9.99805637e-01 2.14250546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0707140569999 meters Centerline goodness : 0.989086 Centerline is valid? [True, True] Translation: X:301.76, Y:275.90, Z:2.13 [[-5.22259609e-01 8.52718857e-01 -1.07448293e-02 3.01760254e+02] [-8.52558786e-01 -5.22369862e-01 -1.65300763e-02 2.75895490e+02] [-1.97082828e-02 5.27607447e-04 9.99805634e-01 2.13019960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1007140569999 meters Centerline goodness : 0.984972 Centerline is valid? [True, True] Translation: X:301.76, Y:275.91, Z:2.15 [[-5.29667469e-01 8.48138390e-01 -1.06603837e-02 3.01761591e+02] [-8.47976269e-01 -5.29774675e-01 -1.65843579e-02 2.75905885e+02] [-1.97134319e-02 2.55557563e-04 9.99805639e-01 2.14545338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.130714057 meters Centerline goodness : 0.987045 Centerline is valid? [True, True] Translation: X:301.76, Y:275.90, Z:2.14 [[-5.29124408e-01 8.48477220e-01 -1.06662378e-02 3.01760235e+02] [-8.48315243e-01 -5.29231832e-01 -1.65805958e-02 2.75902608e+02] [-1.97131704e-02 2.75134216e-04 9.99805639e-01 2.13574075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.160714057 meters Centerline goodness : 0.987295 Centerline is valid? [True, True] Translation: X:301.75, Y:275.89, Z:2.13 [[-5.26540584e-01 8.50083848e-01 -1.06049023e-02 3.01751614e+02] [-8.49921405e-01 -5.26647303e-01 -1.66199909e-02 2.75892782e+02] [-1.97134290e-02 2.62233772e-04 9.99805637e-01 2.13454960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1907140569999 meters Centerline goodness : 0.987744 Centerline is valid? [True, True] Translation: X:301.76, Y:275.91, Z:2.13 [[-5.25626620e-01 8.50650354e-01 -1.05181487e-02 3.01758997e+02] [-8.50486908e-01 -5.25731816e-01 -1.66756522e-02 2.75909050e+02] [-1.97148748e-02 1.80381099e-04 9.99805627e-01 2.13334645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2207140569999 meters Centerline goodness : 0.986949 Centerline is valid? [True, True] Translation: X:301.76, Y:275.91, Z:2.13 [[-5.25516831e-01 8.50718387e-01 -1.05017098e-02 3.01758480e+02] [-8.50554744e-01 -5.25621726e-01 -1.66861899e-02 2.75914160e+02] [-1.97151754e-02 1.63405427e-04 9.99805624e-01 2.13292458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.250714057 meters Centerline goodness : 0.985478 Centerline is valid? [True, True] Translation: X:301.76, Y:275.92, Z:2.14 [[-5.26562056e-01 8.50071665e-01 -1.05150762e-02 3.01755013e+02] [-8.49908063e-01 -5.26667012e-01 -1.66776259e-02 2.75922017e+02] [-1.97151210e-02 1.55043037e-04 9.99805626e-01 2.14138651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.280714057 meters Centerline goodness : 0.985586 Centerline is valid? [True, True] Translation: X:301.75, Y:275.92, Z:2.14 [[-5.25020001e-01 8.51024016e-01 -1.05888382e-02 3.01754693e+02] [-8.50861554e-01 -5.25126697e-01 -1.66303626e-02 2.75924161e+02] [-1.97133196e-02 2.78362306e-04 9.99805635e-01 2.14165510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3107140569999 meters Centerline goodness : 0.986219 Centerline is valid? [True, True] Translation: X:301.75, Y:275.92, Z:2.14 [[-5.23506549e-01 8.51955696e-01 -1.06012291e-02 3.01750869e+02] [-8.51793584e-01 -5.23613775e-01 -1.66224261e-02 2.75922201e+02] [-1.97125201e-02 3.28110003e-04 9.99805636e-01 2.14251852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3407140569999 meters Centerline goodness : 0.986160 Centerline is valid? [True, True] Translation: X:301.75, Y:275.93, Z:2.14 [[-5.21121941e-01 8.53416168e-01 -1.06192315e-02 3.01751904e+02] [-8.53254591e-01 -5.21229970e-01 -1.66109007e-02 2.75934846e+02] [-1.97110730e-02 4.04603250e-04 9.99805636e-01 2.14317604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.370714057 meters Centerline goodness : 0.985451 Centerline is valid? [True, True] Translation: X:301.75, Y:275.94, Z:2.15 [[-5.19832213e-01 8.54202331e-01 -1.06230342e-02 3.01752502e+02] [-8.54040967e-01 -5.19940560e-01 -1.66084666e-02 2.75940218e+02] [-1.97103372e-02 4.38890444e-04 9.99805636e-01 2.14571825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.400714057 meters Centerline goodness : 0.985528 Centerline is valid? [True, True] Translation: X:301.75, Y:275.94, Z:2.15 [[-5.19760278e-01 8.54245885e-01 -1.06405754e-02 3.01751796e+02] [-8.54084759e-01 -5.19868980e-01 -1.65972433e-02 2.75942206e+02] [-1.97098318e-02 4.61365523e-04 9.99805636e-01 2.14594117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4307140569999 meters Centerline goodness : 0.984775 Centerline is valid? [True, True] Translation: X:301.75, Y:275.94, Z:2.15 [[-5.19838086e-01 8.54198327e-01 -1.06575158e-02 3.01748658e+02] [-8.54037413e-01 -5.19947101e-01 -1.65864079e-02 2.75944664e+02] [-1.97094263e-02 4.79670692e-04 9.99805635e-01 2.14998601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4607140569999 meters Centerline goodness : 0.984590 Centerline is valid? [True, True] Translation: X:301.75, Y:275.95, Z:2.15 [[-5.19438145e-01 8.54441816e-01 -1.06393808e-02 3.01748863e+02] [-8.54280716e-01 -5.19546883e-01 -1.65980008e-02 2.75947478e+02] [-1.97096831e-02 4.67383120e-04 9.99805636e-01 2.15028897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.490714057 meters Centerline goodness : 0.985631 Centerline is valid? [True, True] Translation: X:301.75, Y:275.95, Z:2.15 [[-5.20635871e-01 8.53712748e-01 -1.06223816e-02 3.01748043e+02] [-8.53551274e-01 -5.20744053e-01 -1.66088601e-02 2.75952468e+02] [-1.97107376e-02 4.19578986e-04 9.99805637e-01 2.14760197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.520714057 meters Centerline goodness : 0.985706 Centerline is valid? [True, True] Translation: X:301.75, Y:275.96, Z:2.15 [[-5.20531901e-01 8.53775989e-01 -1.06348446e-02 3.01750023e+02] [-8.53614691e-01 -5.20640346e-01 -1.66009016e-02 2.75959837e+02] [-1.97103803e-02 4.36760696e-04 9.99805636e-01 2.14728633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5507140569999 meters Centerline goodness : 0.984169 Centerline is valid? [True, True] Translation: X:301.74, Y:275.95, Z:2.15 [[-5.21669292e-01 8.53081858e-01 -1.06062984e-02 3.01739592e+02] [-8.52920045e-01 -5.21776965e-01 -1.66191206e-02 2.75947719e+02] [-1.97115924e-02 3.76639646e-04 9.99805637e-01 2.14608047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5807140569999 meters Centerline goodness : 0.985375 Centerline is valid? [True, True] Translation: X:301.74, Y:275.96, Z:2.15 [[-5.19758205e-01 8.54246714e-01 -1.06752321e-02 3.01741722e+02] [-8.54086041e-01 -5.19867579e-01 -1.65751352e-02 2.75959942e+02] [-1.97089618e-02 5.02504237e-04 9.99805633e-01 2.14574222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6107140569999 meters Centerline goodness : 0.985084 Centerline is valid? [True, True] Translation: X:301.74, Y:275.97, Z:2.14 [[-5.20043312e-01 8.54073366e-01 -1.06601537e-02 3.01744116e+02] [-8.53912460e-01 -5.20152340e-01 -1.65847502e-02 2.75969689e+02] [-1.97094973e-02 4.78049632e-04 9.99805635e-01 2.14437560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.640714057 meters Centerline goodness : 0.985595 Centerline is valid? [True, True] Translation: X:301.74, Y:275.97, Z:2.14 [[-5.20381689e-01 8.53867028e-01 -1.06768878e-02 3.01739128e+02] [-8.53706297e-01 -5.20490978e-01 -1.65740829e-02 2.75968383e+02] [-1.97092866e-02 4.90077079e-04 9.99805633e-01 2.14259074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6707140569999 meters Centerline goodness : 0.983893 Centerline is valid? [True, True] Translation: X:301.73, Y:275.97, Z:2.14 [[-5.18985668e-01 8.54715632e-01 -1.07268569e-02 3.01731671e+02] [-8.54555735e-01 -5.19096186e-01 -1.65422366e-02 2.75967730e+02] [-1.97071788e-02 5.81513400e-04 9.99805626e-01 2.14260700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7007140569999 meters Centerline goodness : 0.983317 Centerline is valid? [True, True] Translation: X:301.73, Y:275.97, Z:2.14 [[-5.17868502e-01 8.55392749e-01 -1.07452271e-02 3.01730594e+02] [-8.55233238e-01 -5.17979584e-01 -1.65305348e-02 2.75969424e+02] [-1.97059079e-02 6.29032076e-04 9.99805622e-01 2.14029891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7307140569999 meters Centerline goodness : 0.984007 Centerline is valid? [True, True] Translation: X:301.73, Y:275.97, Z:2.14 [[-5.15956767e-01 8.56547275e-01 -1.07415359e-02 3.01728037e+02] [-8.56387964e-01 -5.16068134e-01 -1.65328840e-02 2.75970933e+02] [-1.97045612e-02 6.68668640e-04 9.99805623e-01 2.13889929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.760714057 meters Centerline goodness : 0.983573 Centerline is valid? [True, True] Translation: X:301.73, Y:275.97, Z:2.14 [[-5.15704155e-01 8.56699707e-01 -1.07161421e-02 3.01727625e+02] [-8.56540094e-01 -5.15815080e-01 -1.65490361e-02 2.75973714e+02] [-1.97051020e-02 6.44398658e-04 9.99805628e-01 2.13780917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.790714057 meters Centerline goodness : 0.983572 Centerline is valid? [True, True] Translation: X:301.73, Y:275.98, Z:2.14 [[-5.15558270e-01 8.56787784e-01 -1.06940865e-02 3.01727510e+02] [-8.56627900e-01 -5.15668795e-01 -1.65630561e-02 2.75976457e+02] [-1.97056308e-02 6.21632295e-04 9.99805632e-01 2.13624115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8207140569999 meters Centerline goodness : 0.983984 Centerline is valid? [True, True] Translation: X:301.73, Y:275.98, Z:2.13 [[-5.20554517e-01 8.53761796e-01 -1.06672986e-02 3.01728473e+02] [-8.53600920e-01 -5.20663587e-01 -1.65800758e-02 2.75984880e+02] [-1.97095092e-02 4.74782572e-04 9.99805636e-01 2.13308711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8507140569999 meters Centerline goodness : 0.982789 Centerline is valid? [True, True] Translation: X:301.73, Y:275.99, Z:2.13 [[-5.21348818e-01 8.53275438e-01 -1.07906051e-02 3.01727635e+02] [-8.53116070e-01 -5.21460127e-01 -1.65017084e-02 2.75987606e+02] [-1.97073727e-02 6.02492428e-04 9.99805609e-01 2.13324567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.880714057 meters Centerline goodness : 0.984049 Centerline is valid? [True, True] Translation: X:301.73, Y:275.99, Z:2.13 [[-5.21304340e-01 8.53303023e-01 -1.07580615e-02 3.01729434e+02] [-8.53143235e-01 -5.21415028e-01 -1.65223813e-02 2.75990475e+02] [-1.97080129e-02 5.64978323e-04 9.99805619e-01 2.13354066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.910714057 meters Centerline goodness : 0.983222 Centerline is valid? [True, True] Translation: X:301.72, Y:275.99, Z:2.14 [[-5.25613057e-01 8.50656091e-01 -1.07298263e-02 3.01724927e+02] [-8.50495379e-01 -5.25722387e-01 -1.65403077e-02 2.75988153e+02] [-1.97110234e-02 4.31865976e-04 9.99805626e-01 2.13646070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9407140569999 meters Centerline goodness : 0.983622 Centerline is valid? [True, True] Translation: X:301.73, Y:275.99, Z:2.14 [[-5.26324373e-01 8.50215117e-01 -1.08124383e-02 3.01726792e+02] [-8.50055386e-01 -5.26435173e-01 -1.64878566e-02 2.75992968e+02] [-1.97102728e-02 5.13210658e-04 9.99805602e-01 2.13955802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9707140569999 meters Centerline goodness : 0.983414 Centerline is valid? [True, True] Translation: X:301.72, Y:275.99, Z:2.14 [[-5.26296925e-01 8.50232355e-01 -1.07930043e-02 3.01723928e+02] [-8.50072375e-01 -5.26407353e-01 -1.65001865e-02 2.75988964e+02] [-1.97105093e-02 4.90837394e-04 9.99805609e-01 2.14025827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.000714057 meters Centerline goodness : 0.983414 Centerline is valid? [True, True] Translation: X:301.73, Y:275.99, Z:2.14 [[-5.25993826e-01 8.50420147e-01 -1.07735215e-02 3.01725235e+02] [-8.50259953e-01 -5.26103933e-01 -1.65125386e-02 2.75991194e+02] [-1.97105876e-02 4.74800513e-04 9.99805615e-01 2.14030484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.030714057 meters Centerline goodness : 0.982694 Centerline is valid? [True, True] Translation: X:301.73, Y:276.00, Z:2.14 [[-5.29190002e-01 8.48435011e-01 -1.07691057e-02 3.01726281e+02] [-8.48274347e-01 -5.29299420e-01 -1.65153364e-02 2.76002069e+02] [-1.97122710e-02 3.95405196e-04 9.99805616e-01 2.14268566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0607140569999 meters Centerline goodness : 0.982985 Centerline is valid? [True, True] Translation: X:301.73, Y:276.01, Z:2.14 [[-5.29576360e-01 8.48193458e-01 -1.08045067e-02 3.01726863e+02] [-8.48033200e-01 -5.29686393e-01 -1.64929174e-02 2.76007773e+02] [-1.97121848e-02 4.28321252e-04 9.99805604e-01 2.14245767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0907140569999 meters Centerline goodness : 0.982259 Centerline is valid? [True, True] Translation: X:301.73, Y:276.01, Z:2.14 [[-5.28472834e-01 8.48881488e-01 -1.08020501e-02 3.01727812e+02] [-8.48721342e-01 -5.28583027e-01 -1.64944721e-02 2.76011073e+02] [-1.97116324e-02 4.51049989e-04 9.99805605e-01 2.14049710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.120714057 meters Centerline goodness : 0.984090 Centerline is valid? [True, True] Translation: X:301.73, Y:276.02, Z:2.14 [[-5.28111932e-01 8.49106462e-01 -1.07704457e-02 3.01726834e+02] [-8.48945955e-01 -5.28221580e-01 -1.65144673e-02 2.76017856e+02] [-1.97117228e-02 4.22039021e-04 9.99805616e-01 2.13986763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.150714057 meters Centerline goodness : 0.983148 Centerline is valid? [True, True] Translation: X:301.72, Y:276.02, Z:2.14 [[-5.29831864e-01 8.48034700e-01 -1.07398192e-02 3.01724935e+02] [-8.47873578e-01 -5.29940590e-01 -1.65338345e-02 2.76020049e+02] [-1.97127315e-02 3.45856614e-04 9.99805625e-01 2.13876052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1807140569999 meters Centerline goodness : 0.985160 Centerline is valid? [True, True] Translation: X:301.72, Y:276.02, Z:2.13 [[-5.26028979e-01 8.50397490e-01 -1.08453638e-02 3.01723542e+02] [-8.50238225e-01 -5.26140472e-01 -1.64671055e-02 2.76021752e+02] [-1.97097700e-02 5.58968157e-04 9.99805587e-01 2.13494904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2107140569999 meters Centerline goodness : 0.983379 Centerline is valid? [True, True] Translation: X:301.72, Y:276.03, Z:2.14 [[-5.26961264e-01 8.49819926e-01 -1.08590690e-02 3.01723286e+02] [-8.49660717e-01 -5.27072847e-01 -1.64584423e-02 2.76027527e+02] [-1.97102327e-02 5.53562753e-04 9.99805581e-01 2.13636315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.240714057 meters Centerline goodness : 0.983526 Centerline is valid? [True, True] Translation: X:301.72, Y:276.02, Z:2.14 [[-5.24162145e-01 8.51549966e-01 -1.08028340e-02 3.01720623e+02] [-8.51390391e-01 -5.24273165e-01 -1.64939603e-02 2.76024429e+02] [-1.97090673e-02 5.51919461e-04 9.99805605e-01 2.13828704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.270714057 meters Centerline goodness : 0.984069 Centerline is valid? [True, True] Translation: X:301.72, Y:276.03, Z:2.14 [[-5.24245168e-01 8.51498345e-01 -1.08430391e-02 3.01716716e+02] [-8.51339283e-01 -5.24356950e-01 -1.64685696e-02 2.76027084e+02] [-1.97085827e-02 5.97537144e-04 9.99805588e-01 2.13687345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3007140569999 meters Centerline goodness : 0.985311 Centerline is valid? [True, True] Translation: X:301.72, Y:276.03, Z:2.14 [[-5.21060114e-01 8.53451260e-01 -1.08306993e-02 3.01716500e+02] [-8.53292455e-01 -5.21172252e-01 -1.64763582e-02 2.76026765e+02] [-1.97064286e-02 6.56580929e-04 9.99805594e-01 2.13830191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3307140569999 meters Centerline goodness : 0.983785 Centerline is valid? [True, True] Translation: X:301.72, Y:276.03, Z:2.14 [[-5.21105608e-01 8.53422633e-01 -1.08974352e-02 3.01717147e+02] [-8.53264699e-01 -5.21219023e-01 -1.64342454e-02 2.76033403e+02] [-1.97053076e-02 7.34419337e-04 9.99805562e-01 2.13829986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3607140569999 meters Centerline goodness : 0.983119 Centerline is valid? [True, True] Translation: X:301.71, Y:276.03, Z:2.14 [[-5.19037168e-01 8.54682513e-01 -1.08729579e-02 3.01713704e+02] [-8.54524530e-01 -5.19150494e-01 -1.64496840e-02 2.76033487e+02] [-1.97039587e-02 7.53211803e-04 9.99805574e-01 2.13895008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.390714057 meters Centerline goodness : 0.983530 Centerline is valid? [True, True] Translation: X:301.71, Y:276.04, Z:2.14 [[-5.15542130e-01 8.56793767e-01 -1.09887710e-02 3.01714243e+02] [-8.56637793e-01 -5.15658316e-01 -1.63766103e-02 2.76035879e+02] [-1.96978288e-02 9.70563989e-04 9.99805508e-01 2.13979378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4207140569999 meters Centerline goodness : 0.984189 Centerline is valid? [True, True] Translation: X:301.71, Y:276.03, Z:2.14 [[-5.11641846e-01 8.59128784e-01 -1.09706021e-02 3.01708213e+02] [-8.58973095e-01 -5.11758394e-01 -1.63880632e-02 2.76030118e+02] [-1.96937545e-02 1.03863313e-03 9.99805520e-01 2.13865016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4507140569999 meters Centerline goodness : 0.984456 Centerline is valid? [True, True] Translation: X:301.71, Y:276.03, Z:2.14 [[-5.08460298e-01 8.61015879e-01 -1.09444798e-02 3.01706781e+02] [-8.60860269e-01 -5.08576925e-01 -1.64045172e-02 2.76027218e+02] [-1.96906597e-02 1.08062208e-03 9.99805536e-01 2.14040309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4807140569999 meters Centerline goodness : 0.982454 Centerline is valid? [True, True] Translation: X:301.14, Y:275.08, Z:2.12 [[-4.70323382e-01 8.82430966e-01 -1.05597081e-02 3.01136073e+02] [-8.82275319e-01 -4.70439550e-01 -1.66400592e-02 2.75076093e+02] [-1.96514078e-02 1.49036085e-03 9.99805782e-01 2.12326014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.510714057 meters Centerline goodness : 0.984946 Centerline is valid? [True, True] Translation: X:301.70, Y:276.03, Z:2.13 [[-5.03990779e-01 8.63650656e-01 -1.00418354e-02 3.01704950e+02] [-8.63484200e-01 -5.04090794e-01 -1.69560764e-02 2.76025490e+02] [-1.97061233e-02 1.25260017e-04 9.99805808e-01 2.13185324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.540714057 meters Centerline goodness : 0.987198 Centerline is valid? [True, True] Translation: X:301.69, Y:275.98, Z:2.13 [[-4.78608533e-01 8.77959859e-01 -1.09707798e-02 3.01691270e+02] [-8.77809070e-01 -4.78730887e-01 -1.63699350e-02 2.75979022e+02] [-1.96241970e-02 1.79545948e-03 9.99805815e-01 2.13255677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5707140569999 meters Centerline goodness : 0.986183 Centerline is valid? [True, True] Translation: X:301.69, Y:275.98, Z:2.13 [[-4.75788891e-01 8.79496951e-01 -1.04901771e-02 3.01692126e+02] [-8.79339860e-01 -4.75902767e-01 -1.66723325e-02 2.75982284e+02] [-1.96555698e-02 1.29192026e-03 9.99805976e-01 2.13315899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6007140569999 meters Centerline goodness : 0.981203 Centerline is valid? [True, True] Translation: X:301.16, Y:275.13, Z:2.12 [[-4.66999214e-01 8.84195582e-01 -1.04836103e-02 3.01160930e+02] [-8.84039543e-01 -4.67114528e-01 -1.66764606e-02 2.75130308e+02] [-1.96422995e-02 1.48003204e-03 9.99805976e-01 2.12259726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.630714057 meters Centerline goodness : 0.980122 Centerline is valid? [True, True] Translation: X:301.20, Y:275.19, Z:2.12 [[-4.63042836e-01 8.86273554e-01 -1.05128623e-02 3.01201178e+02] [-8.86118445e-01 -4.63159390e-01 -1.66577498e-02 2.75190879e+02] [-1.96324540e-02 1.60238946e-03 9.99805981e-01 2.12241736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.660714057 meters Centerline goodness : 0.981379 Centerline is valid? [True, True] Translation: X:301.53, Y:275.72, Z:2.14 [[-4.82144502e-01 8.76030872e-01 -1.03242531e-02 3.01530182e+02] [-8.75870734e-01 -4.82254083e-01 -1.67766789e-02 2.75723122e+02] [-1.96758019e-02 9.53927631e-04 9.99805958e-01 2.13575954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6907140569999 meters Centerline goodness : 0.979987 Centerline is valid? [True, True] Translation: X:301.14, Y:275.08, Z:2.12 [[-4.56635356e-01 8.89590773e-01 -1.06023140e-02 3.01139803e+02] [-8.89437783e-01 -4.56754679e-01 -1.66010365e-02 2.75077693e+02] [-1.96107855e-02 1.84947847e-03 9.99805979e-01 2.12203063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7207140569999 meters Centerline goodness : 0.979039 Centerline is valid? [True, True] Translation: X:301.22, Y:275.21, Z:2.12 [[-4.57305068e-01 8.89247919e-01 -1.04982378e-02 3.01221072e+02] [-8.89093352e-01 -4.57422352e-01 -1.66674599e-02 2.75207102e+02] [-1.96236327e-02 1.71179959e-03 9.99805973e-01 2.12253436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.750714057 meters Centerline goodness : 0.981457 Centerline is valid? [True, True] Translation: X:301.51, Y:275.68, Z:2.13 [[-4.74232524e-01 8.80338872e-01 -1.03433151e-02 3.01513522e+02] [-8.80179977e-01 -4.74343905e-01 -1.67650793e-02 2.75678819e+02] [-1.96652394e-02 1.15343297e-03 9.99805955e-01 2.12699968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.780714057 meters Centerline goodness : 0.978045 Centerline is valid? [True, True] Translation: X:301.19, Y:275.15, Z:2.12 [[-4.51133469e-01 8.92393673e-01 -1.05889488e-02 3.01194084e+02] [-8.92241220e-01 -4.51253490e-01 -1.66100385e-02 2.75147661e+02] [-1.96009934e-02 1.95455227e-03 9.99805972e-01 2.12349803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8107140569999 meters Centerline goodness : 0.982018 Centerline is valid? [True, True] Translation: X:301.51, Y:275.67, Z:2.13 [[-4.65029618e-01 8.85234820e-01 -1.03328082e-02 3.01513861e+02] [-8.85076957e-01 -4.65142452e-01 -1.67713734e-02 2.75665509e+02] [-1.96528315e-02 1.34614503e-03 9.99805958e-01 2.12759916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8407140569999 meters Centerline goodness : 0.986064 Centerline is valid? [True, True] Translation: X:301.71, Y:275.95, Z:2.13 [[-4.57401710e-01 8.89197344e-01 -1.05716129e-02 3.01706474e+02] [-8.89043817e-01 -4.57520334e-01 -1.66203164e-02 2.75954547e+02] [-1.96154690e-02 1.79646597e-03 9.99805984e-01 2.12959097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.870714057 meters Centerline goodness : 0.979107 Centerline is valid? [True, True] Translation: X:301.18, Y:275.10, Z:2.12 [[-4.50732108e-01 8.92597171e-01 -1.05288710e-02 3.01177567e+02] [-8.92443925e-01 -4.50851092e-01 -1.66473492e-02 2.75102332e+02] [-1.96063298e-02 1.89293219e-03 9.99805986e-01 2.12105896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.900714057 meters Centerline goodness : 0.976406 Centerline is valid? [True, True] Translation: X:301.18, Y:275.09, Z:2.12 [[-4.45231522e-01 8.95353130e-01 -1.05671937e-02 3.01181359e+02] [-8.95201177e-01 -4.45352147e-01 -1.66227920e-02 2.75092233e+02] [-1.95893913e-02 2.05877323e-03 9.99805990e-01 2.12490138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9307140569999 meters Centerline goodness : 0.983278 Centerline is valid? [True, True] Translation: X:301.52, Y:275.63, Z:2.13 [[-4.59237669e-01 8.88253272e-01 -1.03386581e-02 3.01516196e+02] [-8.88096241e-01 -4.59351640e-01 -1.67671670e-02 2.75628332e+02] [-1.96425705e-02 1.48160868e-03 9.99805968e-01 2.12665787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9607140569999 meters Centerline goodness : 0.985438 Centerline is valid? [True, True] Translation: X:301.73, Y:275.95, Z:2.13 [[-4.54896119e-01 8.90481942e-01 -1.05561409e-02 3.01729897e+02] [-8.90328544e-01 -4.55014888e-01 -1.66293712e-02 2.75946829e+02] [-1.96113560e-02 1.83379713e-03 9.99805997e-01 2.13177290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.990714057 meters Centerline goodness : 0.983923 Centerline is valid? [True, True] Translation: X:301.52, Y:275.62, Z:2.13 [[-4.57992985e-01 8.88893374e-01 -1.05354057e-02 3.01520312e+02] [-8.88739270e-01 -4.58110835e-01 -1.66424974e-02 2.75615578e+02] [-1.96197892e-02 1.74108173e-03 9.99805997e-01 2.12627267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.020714057 meters Centerline goodness : 0.978235 Centerline is valid? [True, True] Translation: X:301.22, Y:275.11, Z:2.12 [[-4.44075770e-01 8.95927374e-01 -1.05286335e-02 3.01217433e+02] [-8.95775028e-01 -4.44195885e-01 -1.66467807e-02 2.75113977e+02] [-1.95910822e-02 2.03885505e-03 9.99805997e-01 2.12408575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0507140569999 meters Centerline goodness : 0.981319 Centerline is valid? [True, True] Translation: X:301.39, Y:275.39, Z:2.12 [[-4.53325699e-01 8.91284053e-01 -1.04186256e-02 3.01391932e+02] [-8.91128908e-01 -4.53442196e-01 -1.67165593e-02 2.75387119e+02] [-1.96234472e-02 1.70629249e-03 9.99805986e-01 2.12055556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0807140569999 meters Centerline goodness : 0.978069 Centerline is valid? [True, True] Translation: X:301.17, Y:275.02, Z:2.12 [[-4.41359675e-01 8.97268671e-01 -1.05151902e-02 3.01174829e+02] [-8.97116496e-01 -4.41480006e-01 -1.66552446e-02 2.75020179e+02] [-1.95864755e-02 2.08239723e-03 9.99805998e-01 2.12378659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1107140569999 meters Centerline goodness : 0.980446 Centerline is valid? [True, True] Translation: X:301.21, Y:275.06, Z:2.12 [[-4.40648501e-01 8.97618034e-01 -1.05244002e-02 3.01207417e+02] [-8.97466089e-01 -4.40769120e-01 -1.66493569e-02 2.75055128e+02] [-1.95835937e-02 2.10877814e-03 9.99805999e-01 2.12330173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.140714057 meters Centerline goodness : 0.980979 Centerline is valid? [True, True] Translation: X:301.25, Y:275.11, Z:2.90 [[ 5.59113248e-01 8.29024816e-01 1.04990538e-02 3.01248658e+02] [ 8.28857517e-01 -5.59211476e-01 1.66655666e-02 2.75109195e+02] [ 1.96873597e-02 -6.15719458e-04 -9.99805996e-01 2.89835817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1707140569999 meters Centerline goodness : 0.981691 Centerline is valid? [True, True] Translation: X:301.23, Y:275.17, Z:2.90 [[ 4.91626721e-01 8.70747388e-01 1.01070954e-02 3.01230403e+02] [ 8.70583790e-01 -4.91730352e-01 1.68856928e-02 2.75168743e+02] [ 1.96731385e-02 4.97615640e-04 -9.99806341e-01 2.90036787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2007140569999 meters Centerline goodness : 0.982386 Centerline is valid? [True, True] Translation: X:301.21, Y:275.23, Z:2.90 [[ 4.20668867e-01 9.07170310e-01 8.92935271e-03 3.01206527e+02] [ 9.07003167e-01 -4.20762928e-01 1.74302284e-02 2.75226197e+02] [ 1.95693263e-02 7.66596759e-04 -9.99808209e-01 2.90388452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2307140569999 meters Centerline goodness : 0.983761 Centerline is valid? [True, True] Translation: X:301.18, Y:275.28, Z:2.91 [[ 3.48221820e-01 9.37381813e-01 7.54319919e-03 3.01183985e+02] [ 9.37210418e-01 -3.48302543e-01 1.79435544e-02 2.75281844e+02] [ 1.94472770e-02 8.21227675e-04 -9.99810547e-01 2.90573870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.260714057 meters Centerline goodness : 0.982214 Centerline is valid? [True, True] Translation: X:301.16, Y:275.34, Z:2.90 [[ 2.72973056e-01 9.62002487e-01 6.07668985e-03 3.01155080e+02] [ 9.61827679e-01 -2.73039412e-01 1.83574451e-02 2.75336714e+02] [ 1.93190837e-02 8.33640611e-04 -9.99813022e-01 2.90375057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.290714057 meters Centerline goodness : 0.981581 Centerline is valid? [True, True] Translation: X:301.12, Y:275.39, Z:2.90 [[ 1.96424859e-01 9.80508308e-01 4.55328405e-03 3.01123489e+02] [ 9.80331080e-01 -1.96476003e-01 1.86588729e-02 2.75388536e+02] [ 1.91897910e-02 7.98659391e-04 -9.99815540e-01 2.90493116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3207140569999 meters Centerline goodness : 0.987457 Centerline is valid? [True, True] Translation: X:301.09, Y:275.44, Z:2.91 [[ 1.19816476e-01 9.92791620e-01 2.96828333e-03 3.01094046e+02] [ 9.92613049e-01 -1.19851259e-01 1.88417436e-02 2.75441237e+02] [ 1.90616776e-02 6.88805443e-04 -9.99818072e-01 2.90517868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3507140569999 meters Centerline goodness : 0.987226 Centerline is valid? [True, True] Translation: X:301.11, Y:275.49, Z:2.91 [[ 4.16905370e-02 9.99130547e-01 2.21865447e-04 3.01109739e+02] [ 9.98951338e-01 -4.16872631e-02 1.89313465e-02 2.75494401e+02] [ 1.89241355e-02 -5.67625217e-04 -9.99820761e-01 2.90703978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.380714057 meters Centerline goodness : 0.987593 Centerline is valid? [True, True] Translation: X:300.53, Y:275.53, Z:2.12 [[-1.31411433e-01 -9.91327450e-01 9.60342477e-04 3.00531395e+02] [ 9.91148720e-01 -1.31406036e-01 -1.88856531e-02 2.75534583e+02] [ 1.88480612e-02 -1.52994853e-03 9.99821189e-01 2.12326084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.410714057 meters Centerline goodness : 0.987260 Centerline is valid? [True, True] Translation: X:300.53, Y:275.51, Z:2.12 [[-1.25092889e-01 -9.92144694e-01 8.21610155e-04 3.00533697e+02] [ 9.91966039e-01 -1.25086008e-01 -1.88909393e-02 2.75506167e+02] [ 1.88453171e-02 -1.54811281e-03 9.99821213e-01 2.12456886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4407140569999 meters Centerline goodness : 0.985856 Centerline is valid? [True, True] Translation: X:300.53, Y:275.51, Z:2.13 [[-1.24779613e-01 -9.92184261e-01 6.63959895e-04 3.00529383e+02] [ 9.92005748e-01 -1.24769808e-01 -1.88968618e-02 2.75512066e+02] [ 1.88320110e-02 -1.69929107e-03 9.99821218e-01 2.12764471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4707140569999 meters Centerline goodness : 0.986655 Centerline is valid? [True, True] Translation: X:300.53, Y:275.50, Z:2.13 [[-1.21967669e-01 -9.92533863e-01 6.46769178e-04 3.00525878e+02] [ 9.92355339e-01 -1.21958045e-01 -1.88975028e-02 2.75497426e+02] [ 1.88352902e-02 -1.66305952e-03 9.99821217e-01 2.12691486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.500714057 meters Centerline goodness : 0.986459 Centerline is valid? [True, True] Translation: X:300.52, Y:275.50, Z:2.13 [[-1.21042555e-01 -9.92647174e-01 5.37417892e-04 3.00518163e+02] [ 9.92468751e-01 -1.21031032e-01 -1.89015250e-02 2.75499859e+02] [ 1.88275896e-02 -1.75451841e-03 9.99821206e-01 2.12584022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.530714057 meters Centerline goodness : 0.986766 Centerline is valid? [True, True] Translation: X:300.51, Y:275.52, Z:2.12 [[-1.25320651e-01 -9.92116188e-01 4.51488260e-04 3.00514063e+02] [ 9.91937920e-01 -1.25306736e-01 -1.89046492e-02 2.75516574e+02] [ 1.88121830e-02 -1.92129462e-03 9.99821189e-01 2.12385911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5607140569999 meters Centerline goodness : 0.986599 Centerline is valid? [True, True] Translation: X:300.51, Y:275.51, Z:2.12 [[-1.23563922e-01 -9.92336426e-01 6.12910400e-04 3.00509248e+02] [ 9.92157952e-01 -1.23553372e-01 -1.88987738e-02 2.75512348e+02] [ 1.88296688e-02 -1.72710269e-03 9.99821214e-01 2.12286395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5907140569999 meters Centerline goodness : 0.985214 Centerline is valid? [True, True] Translation: X:300.51, Y:275.52, Z:2.13 [[-1.23767364e-01 -9.92311103e-01 5.60548132e-04 3.00505542e+02] [ 9.92132688e-01 -1.23755788e-01 -1.89006653e-02 2.75516822e+02] [ 1.88247111e-02 -1.78314740e-03 9.99821209e-01 2.12517686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.620714057 meters Centerline goodness : 0.985537 Centerline is valid? [True, True] Translation: X:300.50, Y:275.52, Z:2.12 [[-1.22680849e-01 -9.92445993e-01 5.99471187e-04 3.00498438e+02] [ 9.92267524e-01 -1.22670204e-01 -1.88992708e-02 2.75516897e+02] [ 1.88300428e-02 -1.72374280e-03 9.99821213e-01 2.12376898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.650714057 meters Centerline goodness : 0.986680 Centerline is valid? [True, True] Translation: X:300.49, Y:275.52, Z:2.12 [[-1.22120593e-01 -9.92515091e-01 5.95431387e-04 3.00494580e+02] [ 9.92336620e-01 -1.22109972e-01 -1.88994141e-02 2.75522189e+02] [ 1.88306619e-02 -1.71713930e-03 9.99821213e-01 2.12317550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6807140569999 meters Centerline goodness : 0.986731 Centerline is valid? [True, True] Translation: X:300.49, Y:275.51, Z:2.12 [[-1.16379938e-01 -9.93204612e-01 5.56075127e-04 3.00493588e+02] [ 9.93026120e-01 -1.16369605e-01 -1.89008004e-02 2.75509916e+02] [ 1.88370723e-02 -1.64747684e-03 9.99821209e-01 2.12113267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7107140569999 meters Centerline goodness : 0.986683 Centerline is valid? [True, True] Translation: X:300.49, Y:275.53, Z:2.12 [[-1.20734870e-01 -9.92684709e-01 3.98915660e-04 3.00487409e+02] [ 9.92506446e-01 -1.20720787e-01 -1.89062630e-02 2.75529346e+02] [ 1.88161156e-02 -1.88671885e-03 9.99821181e-01 2.12294574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.740714057 meters Centerline goodness : 0.986825 Centerline is valid? [True, True] Translation: X:300.48, Y:275.53, Z:2.12 [[-1.19320586e-01 -9.92855622e-01 5.57871614e-04 3.00484196e+02] [ 9.92677160e-01 -1.19309758e-01 -1.89007310e-02 2.75528219e+02] [ 1.88322566e-02 -1.70145988e-03 9.99821210e-01 2.12298099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.770714057 meters Centerline goodness : 0.986470 Centerline is valid? [True, True] Translation: X:300.48, Y:275.52, Z:2.12 [[-1.16372555e-01 -9.93205562e-01 3.73356269e-04 3.00480091e+02] [ 9.93027271e-01 -1.16358772e-01 -1.89070127e-02 2.75523166e+02] [ 1.88219934e-02 -1.82950441e-03 9.99821177e-01 2.12223298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8007140569999 meters Centerline goodness : 0.988629 Centerline is valid? [True, True] Translation: X:300.48, Y:275.54, Z:2.12 [[-1.19178974e-01 -9.92872749e-01 2.77192534e-04 3.00476067e+02] [ 9.92694622e-01 -1.19162872e-01 -1.89102422e-02 2.75540846e+02] [ 1.88084952e-02 -1.97853572e-03 9.99821147e-01 2.11601538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8307140569999 meters Centerline goodness : 0.985858 Centerline is valid? [True, True] Translation: X:300.47, Y:275.55, Z:2.12 [[-1.22116386e-01 -9.92515759e-01 2.38648155e-04 3.00473682e+02] [ 9.92337735e-01 -1.22099029e-01 -1.89115317e-02 2.75547492e+02] [ 1.87991319e-02 -2.07258832e-03 9.99821133e-01 2.12153784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8607140569999 meters Centerline goodness : 0.987244 Centerline is valid? [True, True] Translation: X:300.47, Y:275.54, Z:2.12 [[-1.14610784e-01 -9.93410308e-01 5.72270460e-04 3.00471713e+02] [ 9.93231782e-01 -1.14601075e-01 -1.89002671e-02 2.75535550e+02] [ 1.88413030e-02 -1.59777722e-03 9.99821210e-01 2.12269320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.890714057 meters Centerline goodness : 0.987244 Centerline is valid? [True, True] Translation: X:300.47, Y:275.54, Z:2.12 [[-1.14254728e-01 -9.93451431e-01 3.35190454e-04 3.00471637e+02] [ 9.93273159e-01 -1.14240605e-01 -1.89080657e-02 2.75538197e+02] [ 1.88225373e-02 -1.82740022e-03 9.99821170e-01 2.12265930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9207140569999 meters Centerline goodness : 0.986312 Centerline is valid? [True, True] Translation: X:300.47, Y:275.54, Z:2.12 [[-1.19351331e-01 -9.92852027e-01 3.34022645e-04 3.00467960e+02] [ 9.92673833e-01 -1.19336271e-01 -1.89081037e-02 2.75543563e+02] [ 1.88128102e-02 -1.92513181e-03 9.99821170e-01 2.12360977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9507140569999 meters Centerline goodness : 0.989764 Centerline is valid? [True, True] Translation: X:300.47, Y:275.53, Z:2.12 [[-1.07469430e-01 -9.94208245e-01 5.36260073e-04 3.00466462e+02] [ 9.94029684e-01 -1.07460324e-01 -1.89015020e-02 2.75532817e+02] [ 1.88496558e-02 -1.49827522e-03 9.99821207e-01 2.11908169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9807140569999 meters Centerline goodness : 0.989692 Centerline is valid? [True, True] Translation: X:300.47, Y:275.53, Z:2.12 [[-1.03742722e-01 -9.94604166e-01 6.52075489e-06 3.00465409e+02] [ 9.94426159e-01 -1.03724279e-01 -1.89179108e-02 2.75532586e+02] [ 1.88165093e-02 -1.95611116e-03 9.99821040e-01 2.11995802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.010714057 meters Centerline goodness : 0.988120 Centerline is valid? [True, True] Translation: X:300.47, Y:275.53, Z:2.12 [[-1.00583255e-01 -9.94928642e-01 -7.98244614e-05 3.00465398e+02] [ 9.94750695e-01 -1.00563747e-01 -1.89205453e-02 2.75532623e+02] [ 1.88165650e-02 -1.98249548e-03 9.99820987e-01 2.11954430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.040714057 meters Centerline goodness : 0.989694 Centerline is valid? [True, True] Translation: X:300.45, Y:275.56, Z:2.11 [[-1.15853712e-01 -9.93266279e-01 1.28802172e-04 3.00453962e+02] [ 9.93088323e-01 -1.15835408e-01 -1.89140457e-02 2.75558811e+02] [ 1.88016037e-02 -2.06335046e-03 9.99821105e-01 2.11053702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0707140569999 meters Centerline goodness : 0.988687 Centerline is valid? [True, True] Translation: X:300.46, Y:275.53, Z:2.12 [[-9.61363732e-02 -9.95367990e-01 6.02188451e-04 3.00457831e+02] [ 9.95189302e-01 -9.61305485e-02 -1.88989641e-02 2.75532939e+02] [ 1.88693126e-02 -1.21758636e-03 9.99821217e-01 2.11927641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1007140569999 meters Centerline goodness : 0.989965 Centerline is valid? [True, True] Translation: X:300.46, Y:275.53, Z:2.12 [[-9.15931094e-02 -9.95796517e-01 -2.08051319e-06 3.00457504e+02] [ 9.95618331e-01 -9.15766804e-02 -1.89169510e-02 2.75527629e+02] [ 1.88372433e-02 -1.73473376e-03 9.99821058e-01 2.11823882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.130714057 meters Centerline goodness : 0.988801 Centerline is valid? [True, True] Translation: X:300.45, Y:275.55, Z:2.12 [[-9.68228275e-02 -9.95301632e-01 -4.21193437e-05 3.00450515e+02] [ 9.95123587e-01 -9.68047067e-02 -1.89181436e-02 2.75549385e+02] [ 1.88251818e-02 -1.87362211e-03 9.99821035e-01 2.12427286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.160714057 meters Centerline goodness : 0.989039 Centerline is valid? [True, True] Translation: X:300.45, Y:275.55, Z:2.12 [[-9.88601182e-02 -9.95101282e-01 3.39181934e-04 3.00448097e+02] [ 9.94922836e-01 -9.88488345e-02 -1.89065535e-02 2.75550157e+02] [ 1.88474634e-02 -1.53164426e-03 9.99821198e-01 2.12440094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1907140569999 meters Centerline goodness : 0.987667 Centerline is valid? [True, True] Translation: X:300.45, Y:275.56, Z:2.13 [[-9.91038129e-02 -9.95077002e-01 4.41790480e-04 3.00446551e+02] [ 9.94898465e-01 -9.90944243e-02 -1.89034371e-02 2.75556049e+02] [ 1.88541544e-02 -1.43386602e-03 9.99821216e-01 2.12739486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2207140569999 meters Centerline goodness : 0.990401 Centerline is valid? [True, True] Translation: X:300.44, Y:275.56, Z:2.12 [[-9.92781799e-02 -9.95059574e-01 5.36294189e-04 3.00442635e+02] [ 9.94880961e-01 -9.92705461e-02 -1.89005683e-02 2.75563141e+02] [ 1.88604297e-02 -1.34286515e-03 9.99821224e-01 2.11811549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.250714057 meters Centerline goodness : 0.988793 Centerline is valid? [True, True] Translation: X:300.44, Y:275.58, Z:2.13 [[-1.01630884e-01 -9.94822120e-01 3.36798785e-04 3.00441705e+02] [ 9.94643710e-01 -1.01619059e-01 -1.89065272e-02 2.75575985e+02] [ 1.88428566e-02 -1.58649228e-03 9.99821199e-01 2.12753323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.280714057 meters Centerline goodness : 0.987658 Centerline is valid? [True, True] Translation: X:300.44, Y:275.57, Z:2.13 [[-1.00881039e-01 -9.94898348e-01 5.41877078e-04 3.00443330e+02] [ 9.94719744e-01 -1.00873223e-01 -1.89003862e-02 2.75567887e+02] [ 1.88586239e-02 -1.36767476e-03 9.99821225e-01 2.12626260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3107140569999 meters Centerline goodness : 0.988882 Centerline is valid? [True, True] Translation: X:300.44, Y:275.57, Z:2.12 [[-1.02405706e-01 -9.94742615e-01 4.48810131e-04 3.00442867e+02] [ 9.94564106e-01 -1.02395857e-01 -1.89031191e-02 2.75572806e+02] [ 1.88496945e-02 -1.48941680e-03 9.99821219e-01 2.11717611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3407140569999 meters Centerline goodness : 0.987984 Centerline is valid? [True, True] Translation: X:300.44, Y:275.58, Z:2.12 [[-1.05885778e-01 -9.94378256e-01 2.92307118e-04 3.00441926e+02] [ 9.94199953e-01 -1.05872349e-01 -1.89076496e-02 2.75583503e+02] [ 1.88323029e-02 -1.71143946e-03 9.99821192e-01 2.12337785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.370714057 meters Centerline goodness : 0.988812 Centerline is valid? [True, True] Translation: X:300.44, Y:275.58, Z:2.12 [[-1.08047062e-01 -9.94145651e-01 5.07606426e-04 3.00441608e+02] [ 9.93967140e-01 -1.08037312e-01 -1.89014112e-02 2.75576391e+02] [ 1.88455962e-02 -1.53769785e-03 9.99821224e-01 2.12123960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.400714057 meters Centerline goodness : 0.988147 Centerline is valid? [True, True] Translation: X:300.44, Y:275.58, Z:2.12 [[-1.05896299e-01 -9.94377081e-01 4.41518125e-04 3.00442664e+02] [ 9.94198615e-01 -1.05885686e-01 -1.89032995e-02 2.75577327e+02] [ 1.88437583e-02 -1.56283275e-03 9.99821219e-01 2.11954296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4307140569999 meters Centerline goodness : 0.987777 Centerline is valid? [True, True] Translation: X:300.44, Y:275.57, Z:2.12 [[-1.07593368e-01 -9.94194921e-01 3.55549124e-04 3.00441876e+02] [ 9.94016569e-01 -1.07580828e-01 -1.89057137e-02 2.75574846e+02] [ 1.88342148e-02 -1.68070769e-03 9.99821208e-01 2.11921075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4607140569999 meters Centerline goodness : 0.988163 Centerline is valid? [True, True] Translation: X:300.44, Y:275.58, Z:2.12 [[-1.06023333e-01 -9.94363576e-01 3.64037900e-04 3.00442022e+02] [ 9.94185195e-01 -1.06011234e-01 -1.89054766e-02 2.75581493e+02] [ 1.88375094e-02 -1.64250054e-03 9.99821209e-01 2.12039943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.490714057 meters Centerline goodness : 0.988448 Centerline is valid? [True, True] Translation: X:300.44, Y:275.59, Z:2.12 [[-1.06215788e-01 -9.94343066e-01 2.69631459e-04 3.00441051e+02] [ 9.94164799e-01 -1.06201873e-01 -1.89080660e-02 2.75589157e+02] [ 1.88297397e-02 -1.74027703e-03 9.99821190e-01 2.12001130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.520714057 meters Centerline goodness : 0.986838 Centerline is valid? [True, True] Translation: X:300.44, Y:275.58, Z:2.12 [[-1.08337864e-01 -9.94114128e-01 8.87804633e-05 3.00441138e+02] [ 9.93936138e-01 -1.08320156e-01 -1.89129026e-02 2.75579182e+02] [ 1.88112004e-02 -1.96074136e-03 9.99821131e-01 2.12310760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5507140569999 meters Centerline goodness : 0.987036 Centerline is valid? [True, True] Translation: X:300.44, Y:275.58, Z:2.13 [[-1.06460154e-01 -9.94316905e-01 3.58656548e-04 3.00440017e+02] [ 9.94138536e-01 -1.06447876e-01 -1.89056053e-02 2.75583704e+02] [ 1.88363412e-02 -1.65613936e-03 9.99821209e-01 2.12524187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5807140569999 meters Centerline goodness : 0.988350 Centerline is valid? [True, True] Translation: X:300.44, Y:275.60, Z:2.13 [[-1.05810210e-01 -9.94386291e-01 3.23062806e-04 3.00437309e+02] [ 9.94207955e-01 -1.05797377e-01 -1.89065605e-02 2.75595114e+02] [ 1.88346038e-02 -1.67931554e-03 9.99821203e-01 2.12588517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6107140569999 meters Centerline goodness : 0.989339 Centerline is valid? [True, True] Translation: X:300.44, Y:275.60, Z:2.13 [[-1.03145927e-01 -9.94666209e-01 2.23928129e-04 3.00436977e+02] [ 9.94487957e-01 -1.03131699e-01 -1.89091804e-02 2.75597931e+02] [ 1.88314169e-02 -1.72771110e-03 9.99821180e-01 2.12561080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.640714057 meters Centerline goodness : 0.988689 Centerline is valid? [True, True] Translation: X:300.44, Y:275.59, Z:2.12 [[-1.01535565e-01 -9.94831860e-01 3.16792054e-04 3.00436215e+02] [ 9.94653477e-01 -1.01523379e-01 -1.89067280e-02 2.75590854e+02] [ 1.88411771e-02 -1.60460698e-03 9.99821202e-01 2.12456342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6707140569999 meters Centerline goodness : 0.988449 Centerline is valid? [True, True] Translation: X:300.44, Y:275.59, Z:2.12 [[-9.69662314e-02 -9.95287649e-01 2.15282077e-04 3.00437627e+02] [ 9.95109322e-01 -9.69529479e-02 -1.89093481e-02 2.75589896e+02] [ 1.88411128e-02 -1.61933902e-03 9.99821179e-01 2.12415847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7007140569999 meters Centerline goodness : 0.988914 Centerline is valid? [True, True] Translation: X:300.43, Y:275.60, Z:2.12 [[-1.00003381e-01 -9.94987089e-01 1.30076155e-04 3.00434004e+02] [ 9.94808909e-01 -9.99879448e-02 -1.89115098e-02 2.75604683e+02] [ 1.88297141e-02 -1.76181399e-03 9.99821153e-01 2.12335788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7307140569999 meters Centerline goodness : 0.988628 Centerline is valid? [True, True] Translation: X:300.43, Y:275.59, Z:2.12 [[-9.74964393e-02 -9.95235844e-01 2.42168608e-04 3.00433956e+02] [ 9.95057494e-01 -9.74835685e-02 -1.89086728e-02 2.75593344e+02] [ 1.88421964e-02 -1.60255658e-03 9.99821186e-01 2.12253245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.760714057 meters Centerline goodness : 0.989419 Centerline is valid? [True, True] Translation: X:300.43, Y:275.60, Z:2.12 [[-9.61575538e-02 -9.95366109e-01 1.86949498e-04 3.00433315e+02] [ 9.95187804e-01 -9.61438803e-02 -1.89100431e-02 2.75595927e+02] [ 1.88403900e-02 -1.63229362e-03 9.99821172e-01 2.12194854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.790714057 meters Centerline goodness : 0.989746 Centerline is valid? [True, True] Translation: X:300.43, Y:275.60, Z:2.12 [[-9.44339237e-02 -9.95531115e-01 1.83237946e-04 3.00431169e+02] [ 9.95352791e-01 -9.44204889e-02 -1.89101339e-02 2.75601384e+02] [ 1.88429281e-02 -1.60337174e-03 9.99821171e-01 2.12049544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8207140569999 meters Centerline goodness : 0.989157 Centerline is valid? [True, True] Translation: X:300.43, Y:275.60, Z:2.12 [[-8.85661868e-02 -9.96070264e-01 2.46459698e-04 3.00431288e+02] [ 9.95891800e-01 -8.85549972e-02 -1.89085949e-02 2.75601275e+02] [ 1.88561144e-02 -1.42921496e-03 9.99821186e-01 2.11982457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8507140569999 meters Centerline goodness : 0.989020 Centerline is valid? [True, True] Translation: X:300.43, Y:275.60, Z:2.12 [[-7.23268381e-02 -9.97380975e-01 1.41755061e-04 3.00432007e+02] [ 9.97202429e-01 -7.23165783e-02 -1.89110817e-02 2.75601130e+02] [ 1.88718043e-02 -1.22642026e-03 9.99821159e-01 2.11914002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.880714057 meters Centerline goodness : 0.988681 Centerline is valid? [True, True] Translation: X:300.43, Y:275.60, Z:2.12 [[-7.54085508e-02 -9.97152708e-01 -1.67045065e-04 3.00427155e+02] [ 9.96974507e-01 -7.53919053e-02 -1.89180893e-02 2.75601342e+02] [ 1.88516301e-02 -1.59312537e-03 9.99821023e-01 2.12073461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.910714057 meters Centerline goodness : 0.988788 Centerline is valid? [True, True] Translation: X:300.43, Y:275.63, Z:2.12 [[-6.80325443e-02 -9.97683102e-01 3.08608159e-05 3.00425792e+02] [ 9.97504601e-01 -6.80209573e-02 -1.89135108e-02 2.75632646e+02] [ 1.88717893e-02 -1.25595045e-03 9.99821123e-01 2.12121591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9407140569999 meters Centerline goodness : 0.987050 Centerline is valid? [True, True] Translation: X:300.42, Y:275.60, Z:2.12 [[-6.77168598e-02 -9.97704575e-01 -8.69956925e-05 3.00424220e+02] [ 9.97526174e-01 -6.77031018e-02 -1.89161929e-02 2.75600087e+02] [ 1.88668824e-02 -1.36772567e-03 9.99821069e-01 2.12077948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9707140569999 meters Centerline goodness : 0.988496 Centerline is valid? [True, True] Translation: X:300.42, Y:275.60, Z:2.12 [[-6.30962032e-02 -9.98007426e-01 2.16969110e-04 3.00422778e+02] [ 9.97828751e-01 -6.30890179e-02 -1.89092241e-02 2.75604085e+02] [ 1.88852344e-02 -9.76602229e-04 9.99821181e-01 2.12395796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.000714057 meters Centerline goodness : 0.987522 Centerline is valid? [True, True] Translation: X:300.42, Y:275.62, Z:2.12 [[-4.96827903e-02 -9.98765045e-01 7.92991657e-05 3.00421802e+02] [ 9.98586340e-01 -4.96754024e-02 -1.89123021e-02 2.75615677e+02] [ 1.88928855e-02 -8.60428874e-04 9.99821143e-01 2.12425976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.030714057 meters Centerline goodness : 0.987949 Centerline is valid? [True, True] Translation: X:300.42, Y:275.62, Z:2.13 [[-5.06669052e-02 -9.98715603e-01 -9.59751513e-05 3.00417747e+02] [ 9.98537004e-01 -5.06560267e-02 -1.89161067e-02 2.75615241e+02] [ 1.88869492e-02 -1.05425533e-03 9.99821070e-01 2.12520758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0607140569999 meters Centerline goodness : 0.987452 Centerline is valid? [True, True] Translation: X:300.42, Y:275.61, Z:2.12 [[-4.50271160e-02 -9.98985765e-01 -1.67067105e-05 3.00418482e+02] [ 9.98807067e-01 -4.50187453e-02 -1.89144028e-02 2.75614500e+02] [ 1.88944671e-02 -8.68347791e-04 9.99821107e-01 2.12427275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0907140569999 meters Centerline goodness : 0.987256 Centerline is valid? [True, True] Translation: X:300.42, Y:275.61, Z:2.12 [[-4.11306346e-02 -9.99153774e-01 -8.75123015e-05 3.00416728e+02] [ 9.98975076e-01 -4.11216217e-02 -1.89158875e-02 2.75606151e+02] [ 1.88962817e-02 -8.65445066e-04 9.99821075e-01 2.12086539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.120714057 meters Centerline goodness : 0.986768 Centerline is valid? [True, True] Translation: X:300.42, Y:275.63, Z:2.12 [[-3.92616164e-02 -9.99228964e-01 -6.26120224e-05 3.00415491e+02] [ 9.99050238e-01 -3.92534087e-02 -1.89153677e-02 2.75628449e+02] [ 1.88983255e-02 -8.05200467e-04 9.99821086e-01 2.11991074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.150714057 meters Centerline goodness : 0.987837 Centerline is valid? [True, True] Translation: X:300.42, Y:275.61, Z:2.12 [[-3.42356304e-02 -9.99413786e-01 -8.21700514e-05 3.00415816e+02] [ 9.99235028e-01 -3.42279517e-02 -1.89157702e-02 2.75612881e+02] [ 1.89018689e-02 -7.29700508e-04 9.99821077e-01 2.11836359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1807140569999 meters Centerline goodness : 0.988571 Centerline is valid? [True, True] Translation: X:300.41, Y:275.62, Z:2.11 [[-2.82343723e-02 -9.99601314e-01 -1.83701086e-04 3.00414572e+02] [ 9.99422543e-01 -2.82258462e-02 -1.89177842e-02 2.75622033e+02] [ 1.89050568e-02 -7.17726769e-04 9.99821026e-01 2.11298199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2107140569999 meters Centerline goodness : 0.987105 Centerline is valid? [True, True] Translation: X:300.41, Y:275.61, Z:2.12 [[-2.68542043e-02 -9.99639274e-01 -4.16101507e-04 3.00414609e+02] [ 9.99460596e-01 -2.68415279e-02 -1.89222180e-02 2.75614918e+02] [ 1.89042235e-02 -9.24018169e-04 9.99820872e-01 2.11741471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.240714057 meters Centerline goodness : 0.985918 Centerline is valid? [True, True] Translation: X:300.42, Y:275.63, Z:2.12 [[-2.35489996e-02 -9.99722661e-01 -2.16323640e-04 3.00416000e+02] [ 9.99543862e-01 -2.35406943e-02 -1.89183543e-02 2.75628262e+02] [ 1.89080151e-02 -6.61733286e-04 9.99821009e-01 2.11743292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.270714057 meters Centerline goodness : 0.986032 Centerline is valid? [True, True] Translation: X:300.42, Y:275.63, Z:2.12 [[-2.02924621e-02 -9.99794066e-01 -2.03663424e-04 3.00416833e+02] [ 9.99615238e-01 -2.02849788e-02 -1.89181110e-02 2.75625245e+02] [ 1.89100838e-02 -5.87480113e-04 9.99821016e-01 2.11723961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3007140569999 meters Centerline goodness : 0.987170 Centerline is valid? [True, True] Translation: X:300.42, Y:275.64, Z:2.12 [[-1.83807592e-02 -9.99831016e-01 -2.94931019e-04 3.00417567e+02] [ 9.99652197e-01 -1.83718908e-02 -1.89198250e-02 2.75640720e+02] [ 1.89112094e-02 -6.42589188e-04 9.99820961e-01 2.11794566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3307140569999 meters Centerline goodness : 0.986880 Centerline is valid? [True, True] Translation: X:300.42, Y:275.63, Z:2.12 [[-1.65043430e-02 -9.99863717e-01 -3.91953739e-04 3.00418479e+02] [ 9.99684911e-01 -1.64939741e-02 -1.89216053e-02 2.75633597e+02] [ 1.89125617e-02 -7.04118902e-04 9.99820894e-01 2.11784128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3607140569999 meters Centerline goodness : 0.985991 Centerline is valid? [True, True] Translation: X:300.42, Y:275.63, Z:2.12 [[-1.69411745e-02 -9.99856405e-01 -4.08222040e-04 3.00419691e+02] [ 9.99677609e-01 -1.69304196e-02 -1.89218943e-02 2.75628364e+02] [ 1.89122658e-02 -7.28649545e-04 9.99820882e-01 2.11927148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.390714057 meters Centerline goodness : 0.986533 Centerline is valid? [True, True] Translation: X:300.42, Y:275.63, Z:2.12 [[-1.57979389e-02 -9.99875132e-01 -3.80780807e-04 3.00420709e+02] [ 9.99696315e-01 -1.57879078e-02 -1.89214172e-02 2.75627625e+02] [ 1.89130428e-02 -6.79584562e-04 9.99820901e-01 2.11994735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4207140569999 meters Centerline goodness : 0.985913 Centerline is valid? [True, True] Translation: X:300.42, Y:275.63, Z:2.12 [[-1.83761799e-02 -9.99831054e-01 -4.23192291e-04 3.00420218e+02] [ 9.99652281e-01 -1.83648851e-02 -1.89221362e-02 2.75630127e+02] [ 1.89111675e-02 -7.70761717e-04 9.99820871e-01 2.12152755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4507140569999 meters Centerline goodness : 0.985622 Centerline is valid? [True, True] Translation: X:300.42, Y:275.64, Z:2.12 [[-1.98363088e-02 -9.99803166e-01 -3.87216014e-04 3.00423696e+02] [ 9.99624393e-01 -1.98254337e-02 -1.89215288e-02 2.75637354e+02] [ 1.89101277e-02 -7.62403862e-04 9.99820897e-01 2.12224218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4807140569999 meters Centerline goodness : 0.985720 Centerline is valid? [True, True] Translation: X:300.43, Y:275.64, Z:2.12 [[-1.62471491e-02 -9.99867940e-01 -3.63791443e-04 3.00428090e+02] [ 9.99689121e-01 -1.62373591e-02 -1.89211375e-02 2.75637981e+02] [ 1.89127318e-02 -6.71092890e-04 9.99820913e-01 2.12177898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.510714057 meters Centerline goodness : 0.985213 Centerline is valid? [True, True] Translation: X:300.43, Y:275.64, Z:2.12 [[-2.55933938e-02 -9.99672329e-01 -4.61501236e-04 3.00429672e+02] [ 9.99493667e-01 -2.55800840e-02 -1.89227354e-02 2.75643977e+02] [ 1.89047297e-02 -9.45564581e-04 9.99820843e-01 2.12172209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.540714057 meters Centerline goodness : 0.985425 Centerline is valid? [True, True] Translation: X:300.43, Y:275.65, Z:2.12 [[-2.81712269e-02 -9.99603077e-01 -2.65257940e-04 3.00431055e+02] [ 9.99424336e-01 -2.81611690e-02 -1.89194520e-02 2.75647958e+02] [ 1.89044724e-02 -7.98089415e-04 9.99820976e-01 2.12061546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5707140569999 meters Centerline goodness : 0.985535 Centerline is valid? [True, True] Translation: X:300.43, Y:275.65, Z:2.12 [[-3.27496836e-02 -9.99463562e-01 -2.13789690e-04 3.00431263e+02] [ 9.99284841e-01 -3.27397806e-02 -1.89185898e-02 2.75649506e+02] [ 1.89014417e-02 -8.33214624e-04 9.99821005e-01 2.12151738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6007140569999 meters Centerline goodness : 0.985631 Centerline is valid? [True, True] Translation: X:300.43, Y:275.66, Z:2.12 [[-3.41684225e-02 -9.99416081e-01 -1.23189501e-04 3.00434931e+02] [ 9.99237330e-01 -3.41599795e-02 -1.89170611e-02 2.75663086e+02] [ 1.89018069e-02 -7.69461682e-04 9.99821049e-01 2.12260690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.630714057 meters Centerline goodness : 0.985322 Centerline is valid? [True, True] Translation: X:300.44, Y:275.65, Z:2.12 [[-3.39572926e-02 -9.99423271e-01 -1.66318881e-04 3.00437864e+02] [ 9.99244538e-01 -3.39480716e-02 -1.89177774e-02 2.75652206e+02] [ 1.89012208e-02 -8.08589737e-04 9.99821029e-01 2.11972500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.660714057 meters Centerline goodness : 0.989027 Centerline is valid? [True, True] Translation: X:300.44, Y:275.67, Z:2.12 [[-4.31220959e-02 -9.99069782e-01 -2.35211509e-04 3.00438482e+02] [ 9.98891190e-01 -4.31099334e-02 -1.89188921e-02 2.75666091e+02] [ 1.88911534e-02 -1.05077298e-03 9.99820994e-01 2.11625492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6907140569999 meters Centerline goodness : 0.986863 Centerline is valid? [True, True] Translation: X:300.44, Y:275.66, Z:2.12 [[-4.64610519e-02 -9.98920052e-01 -3.17478360e-04 3.00440118e+02] [ 9.98741572e-01 -4.64467374e-02 -1.89201935e-02 2.75661380e+02] [ 1.88850149e-02 -1.19613093e-03 9.99820947e-01 2.12189247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7207140569999 meters Centerline goodness : 0.986731 Centerline is valid? [True, True] Translation: X:300.44, Y:275.66, Z:2.12 [[-5.00108871e-02 -9.98748671e-01 -6.65121918e-05 3.00441499e+02] [ 9.98570032e-01 -5.00006823e-02 -1.89161867e-02 2.75658461e+02] [ 1.88891906e-02 -1.01243236e-03 9.99821071e-01 2.12352494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.750714057 meters Centerline goodness : 0.987692 Centerline is valid? [True, True] Translation: X:300.44, Y:275.67, Z:2.12 [[-5.13819791e-02 -9.98679074e-01 -1.04319751e-05 3.00443904e+02] [ 9.98500410e-01 -5.13725893e-02 -1.89152966e-02 2.75670186e+02] [ 1.88897750e-02 -9.82321705e-04 9.99821090e-01 2.12447950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.780714057 meters Centerline goodness : 0.986495 Centerline is valid? [True, True] Translation: X:300.44, Y:275.67, Z:2.12 [[-5.36252660e-02 -9.98561127e-01 -7.50844678e-05 3.00444621e+02] [ 9.98382535e-01 -5.36142528e-02 -1.89163031e-02 2.75666851e+02] [ 1.88850593e-02 -1.08935481e-03 9.99821068e-01 2.12345195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8107140569999 meters Centerline goodness : 0.986495 Centerline is valid? [True, True] Translation: X:300.44, Y:275.67, Z:2.12 [[-5.32726854e-02 -9.98580002e-01 2.04871157e-07 3.00444469e+02] [ 9.98401349e-01 -5.32631584e-02 -1.89151429e-02 2.75669499e+02] [ 1.88882943e-02 -1.00745591e-03 9.99821093e-01 2.12353026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8407140569999 meters Centerline goodness : 0.985987 Centerline is valid? [True, True] Translation: X:300.45, Y:275.67, Z:2.13 [[-5.25339722e-02 -9.98619138e-01 -7.35415171e-06 3.00445709e+02] [ 9.98440482e-01 -5.25244345e-02 -1.89152567e-02 2.75674595e+02] [ 1.88887510e-02 -1.00103625e-03 9.99821091e-01 2.12716256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.870714057 meters Centerline goodness : 0.985968 Centerline is valid? [True, True] Translation: X:300.45, Y:275.67, Z:2.12 [[-4.40032706e-02 -9.99031384e-01 -7.42154979e-05 3.00452423e+02] [ 9.98852694e-01 -4.39939947e-02 -1.89162381e-02 2.75673337e+02] [ 1.88946505e-02 -9.06506694e-04 9.99821069e-01 2.12131902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.900714057 meters Centerline goodness : 0.985296 Centerline is valid? [True, True] Translation: X:300.45, Y:275.67, Z:2.12 [[-5.07016516e-02 -9.98713822e-01 -2.12639939e-04 3.00448971e+02] [ 9.98535313e-01 -5.06885613e-02 -1.89182039e-02 2.75673406e+02] [ 1.88830933e-02 -1.17151267e-03 9.99821012e-01 2.12495560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9307140569999 meters Centerline goodness : 0.980916 Centerline is valid? [True, True] Translation: X:300.41, Y:276.72, Z:2.15 [[-8.78835314e-02 -9.96130734e-01 2.12810030e-04 3.00413211e+02] [ 9.95952305e-01 -8.78718291e-02 -1.89089527e-02 2.76723415e+02] [ 1.88544889e-02 -1.44983690e-03 9.99821187e-01 2.14584542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9607140569999 meters Centerline goodness : 0.987585 Centerline is valid? [True, True] Translation: X:300.45, Y:275.69, Z:2.13 [[-4.52933238e-02 -9.98973471e-01 7.20438395e-04 3.00447473e+02] [ 9.98794724e-01 -4.52988479e-02 -1.88974429e-02 2.75688276e+02] [ 1.89106792e-02 -1.36357932e-04 9.99821168e-01 2.12758427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.990714057 meters Centerline goodness : 0.986351 Centerline is valid? [True, True] Translation: X:300.45, Y:275.70, Z:2.13 [[-3.85379227e-02 -9.99257115e-01 -2.17257136e-04 3.00451780e+02] [ 9.99078687e-01 -3.85269307e-02 -1.89064417e-02 2.75698825e+02] [ 1.88840261e-02 -9.45671962e-04 9.99821234e-01 2.12780468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.020714057 meters Centerline goodness : 0.985939 Centerline is valid? [True, True] Translation: X:300.45, Y:275.70, Z:2.13 [[-3.52586981e-02 -9.99378170e-01 -3.12319830e-04 3.00453665e+02] [ 9.99199779e-01 -3.52464955e-02 -1.89073144e-02 2.75696950e+02] [ 1.88845490e-02 -9.78717193e-04 9.99821192e-01 2.12572529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0507140569999 meters Centerline goodness : 0.986674 Centerline is valid? [True, True] Translation: X:300.45, Y:275.73, Z:2.13 [[-3.40066264e-02 -9.99421336e-01 -7.36906614e-04 3.00454543e+02] [ 9.99243439e-01 -3.39866327e-02 -1.89065974e-02 2.75727437e+02] [ 1.88706119e-02 -1.37929869e-03 9.99820983e-01 2.12591013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0807140569999 meters Centerline goodness : 0.985720 Centerline is valid? [True, True] Translation: X:300.46, Y:275.73, Z:2.13 [[-3.14742936e-02 -9.99504487e-01 -3.86336243e-04 3.00455121e+02] [ 9.99326207e-01 -3.14613731e-02 -1.89027545e-02 2.75728370e+02] [ 1.88812333e-02 -9.81026778e-04 9.99821252e-01 2.12685926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1107140569999 meters Centerline goodness : 0.985594 Centerline is valid? [True, True] Translation: X:300.46, Y:275.74, Z:2.13 [[-2.58319722e-02 -9.99666218e-01 -4.01916974e-04 3.00458796e+02] [ 9.99487879e-01 -2.58197639e-02 -1.89029207e-02 2.75736206e+02] [ 1.88862338e-02 -8.90010866e-04 9.99821243e-01 2.12587093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.140714057 meters Centerline goodness : 0.985787 Centerline is valid? [True, True] Translation: X:300.46, Y:275.76, Z:2.12 [[-2.53678849e-02 -9.99677722e-01 -9.60937512e-04 3.00459794e+02] [ 9.99500052e-01 -2.53452074e-02 -1.89015034e-02 2.75764851e+02] [ 1.88710567e-02 -1.43994826e-03 9.99820889e-01 2.12419443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1707140569999 meters Centerline goodness : 0.985168 Centerline is valid? [True, True] Translation: X:300.46, Y:275.77, Z:2.12 [[-1.91342024e-02 -9.99816821e-01 -4.55346339e-04 3.00462963e+02] [ 9.99638583e-01 -1.91221857e-02 -1.88956473e-02 2.75768991e+02] [ 1.88834788e-02 -8.16734908e-04 9.99821358e-01 2.12419608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2007140569999 meters Centerline goodness : 0.984913 Centerline is valid? [True, True] Translation: X:300.46, Y:275.80, Z:2.12 [[-1.79888147e-02 -9.99837684e-01 -1.00456209e-03 3.00464409e+02] [ 9.99660042e-01 -1.79666349e-02 -1.88944481e-02 2.75800840e+02] [ 1.88733326e-02 -1.34410931e-03 9.99820979e-01 2.12472980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2307140569999 meters Centerline goodness : 0.985793 Centerline is valid? [True, True] Translation: X:300.46, Y:275.80, Z:2.12 [[-1.73341123e-02 -9.99849602e-01 -5.49150083e-04 3.00464566e+02] [ 9.99671567e-01 -1.73206519e-02 -1.88878930e-02 2.75802998e+02] [ 1.88755407e-02 -8.76374583e-04 9.99821457e-01 2.12472919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.260714057 meters Centerline goodness : 0.985678 Centerline is valid? [True, True] Translation: X:300.46, Y:276.18, Z:2.14 [[-3.54248343e-02 -9.99372293e-01 -3.17729640e-04 3.00455501e+02] [ 9.99194368e-01 -3.54125239e-02 -1.88830379e-02 2.76177507e+02] [ 1.88599333e-02 -9.86402156e-04 9.99821649e-01 2.13519319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.290714057 meters Centerline goodness : 0.985356 Centerline is valid? [True, True] Translation: X:301.20, Y:275.96, Z:2.92 [[-9.12704989e-02 9.95826087e-01 3.17729640e-04 3.01199210e+02] [ 9.95649128e-01 9.12482553e-02 1.88830379e-02 2.75955124e+02] [ 1.87752295e-02 2.03981153e-03 -9.99821649e-01 2.91680769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3207140569999 meters Centerline goodness : 0.986795 Centerline is valid? [True, True] Translation: X:300.51, Y:275.93, Z:2.13 [[-9.13339955e-02 -9.95817699e-01 2.28284776e-03 3.00505664e+02] [ 9.95643401e-01 -9.13607393e-02 -1.86395928e-02 2.75928809e+02] [ 1.87701991e-02 5.70473817e-04 9.99823662e-01 2.12885655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3507140569999 meters Centerline goodness : 0.988891 Centerline is valid? [True, True] Translation: X:300.49, Y:275.95, Z:2.13 [[-1.22523271e-01 -9.92465267e-01 8.61013594e-04 3.00489841e+02] [ 9.92288845e-01 -1.22517774e-01 -1.87681403e-02 2.75945548e+02] [ 1.87322168e-02 -1.44515976e-03 9.99823492e-01 2.12931110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.380714057 meters Centerline goodness : 0.986227 Centerline is valid? [True, True] Translation: X:300.46, Y:276.36, Z:2.14 [[-1.14873473e-01 -9.93378649e-01 1.71625855e-03 3.00460777e+02] [ 9.93202917e-01 -1.14885442e-01 -1.86896105e-02 2.76356929e+02] [ 1.87630331e-02 -4.42347473e-04 9.99823861e-01 2.13818044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.410714057 meters Centerline goodness : 0.981955 Centerline is valid? [True, True] Translation: X:300.39, Y:276.97, Z:2.15 [[-1.38734387e-01 -9.90328133e-01 1.72024565e-03 3.00393714e+02] [ 9.90152167e-01 -1.38742200e-01 -1.86892435e-02 2.76966817e+02] [ 1.87471543e-02 -8.89535777e-04 9.99823861e-01 2.15168950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4407140569999 meters Centerline goodness : 0.987183 Centerline is valid? [True, True] Translation: X:300.46, Y:276.39, Z:2.14 [[-1.20125659e-01 -9.92756705e-01 1.98779829e-03 3.00458278e+02] [ 9.92581275e-01 -1.20141803e-01 -1.86644225e-02 2.76385695e+02] [ 1.87680482e-02 -2.69024683e-04 9.99823828e-01 2.14097916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4707140569999 meters Centerline goodness : 0.989476 Centerline is valid? [True, True] Translation: X:300.49, Y:275.97, Z:2.13 [[-1.25570006e-01 -9.92083264e-01 1.72353985e-03 3.00492962e+02] [ 9.91907434e-01 -1.25580218e-01 -1.86882473e-02 2.75973376e+02] [ 1.87567399e-02 -6.37091333e-04 9.99823874e-01 2.12975015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.500714057 meters Centerline goodness : 0.986978 Centerline is valid? [True, True] Translation: X:300.46, Y:276.38, Z:2.14 [[-1.27171698e-01 -9.91879334e-01 1.65698598e-03 3.00464762e+02] [ 9.91703424e-01 -1.27180374e-01 -1.86941465e-02 2.76381419e+02] [ 1.87530737e-02 -7.34127686e-04 9.99823876e-01 2.13939058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.530714057 meters Centerline goodness : 0.987127 Centerline is valid? [True, True] Translation: X:301.21, Y:276.17, Z:2.92 [[-1.27112965e-01 9.91886863e-01 -1.65698598e-03 3.01207948e+02] [ 9.91710953e-01 1.27121651e-01 1.86941465e-02 2.76167685e+02] [ 1.87531171e-02 7.33017246e-04 -9.99823876e-01 2.92105676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5607140569999 meters Centerline goodness : 0.988621 Centerline is valid? [True, True] Translation: X:300.54, Y:276.09, Z:2.13 [[-1.92999333e-01 -9.81193574e-01 3.22921676e-03 3.00540067e+02] [ 9.81020306e-01 -1.93025950e-01 -1.84429660e-02 2.76094675e+02] [ 1.87194423e-02 -3.91552925e-04 9.99824699e-01 2.13182339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5907140569999 meters Centerline goodness : 0.989033 Centerline is valid? [True, True] Translation: X:300.54, Y:276.09, Z:2.13 [[-1.95931803e-01 -9.80614393e-01 2.47824952e-03 3.00542388e+02] [ 9.80439451e-01 -1.95943758e-01 -1.85614360e-02 2.76091728e+02] [ 1.86872088e-02 -1.20700202e-03 9.99824650e-01 2.13144689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.620714057 meters Centerline goodness : 0.988430 Centerline is valid? [True, True] Translation: X:300.54, Y:276.10, Z:2.13 [[-1.98369611e-01 -9.80124160e-01 2.47544603e-03 3.00542369e+02] [ 9.79949185e-01 -1.98381078e-01 -1.85618775e-02 2.76099504e+02] [ 1.86840262e-02 -1.25630109e-03 9.99824649e-01 2.13112223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.650714057 meters Centerline goodness : 0.988130 Centerline is valid? [True, True] Translation: X:300.55, Y:276.10, Z:2.13 [[-1.99781355e-01 -9.79837384e-01 2.47202578e-03 3.00547851e+02] [ 9.79662387e-01 -1.99792505e-01 -1.85624152e-02 2.76096976e+02] [ 1.86820405e-02 -1.28667377e-03 9.99824648e-01 2.13100021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6807140569999 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:300.54, Y:276.12, Z:2.13 [[-2.16569258e-01 -9.76263784e-01 2.60394933e-03 3.00536360e+02] [ 9.76088805e-01 -2.16579897e-01 -1.85416407e-02 2.76122559e+02] [ 1.86654954e-02 -1.47386357e-03 9.99824698e-01 2.13049570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7107140569999 meters Centerline goodness : 0.988727 Centerline is valid? [True, True] Translation: X:300.55, Y:276.11, Z:2.13 [[-2.00298581e-01 -9.79730556e-01 2.91827551e-03 3.00549808e+02] [ 9.79556390e-01 -2.00318056e-01 -1.84920370e-02 2.76112398e+02] [ 1.87017970e-02 -8.45313362e-04 9.99824749e-01 2.12871245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.740714057 meters Centerline goodness : 0.987182 Centerline is valid? [True, True] Translation: X:300.55, Y:276.12, Z:2.13 [[-2.01177630e-01 -9.79551926e-01 2.36355011e-03 3.00550627e+02] [ 9.79376756e-01 -2.01186482e-01 -1.85787359e-02 2.76117897e+02] [ 1.86743508e-02 -1.42282001e-03 9.99824607e-01 2.13325944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.770714057 meters Centerline goodness : 0.987255 Centerline is valid? [True, True] Translation: X:300.55, Y:276.11, Z:2.13 [[-2.01724911e-01 -9.79438901e-01 2.54960220e-03 3.00552866e+02] [ 9.79264021e-01 -2.01737180e-01 -1.85496152e-02 2.76114284e+02] [ 1.86825643e-02 -1.24518578e-03 9.99824690e-01 2.13100358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8007140569999 meters Centerline goodness : 0.988757 Centerline is valid? [True, True] Translation: X:300.55, Y:276.12, Z:2.13 [[-2.01563951e-01 -9.79471996e-01 2.56571039e-03 3.00554252e+02] [ 9.79297145e-01 -2.01576553e-01 -1.85470984e-02 2.76120493e+02] [ 1.86835506e-02 -1.22583359e-03 9.99824696e-01 2.12805461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8307140569999 meters Centerline goodness : 0.988763 Centerline is valid? [True, True] Translation: X:300.56, Y:276.12, Z:2.13 [[-2.02727922e-01 -9.79232449e-01 2.28045783e-03 3.00555299e+02] [ 9.79057152e-01 -2.02734927e-01 -1.85914347e-02 2.76120202e+02] [ 1.86676645e-02 -1.53630437e-03 9.99824564e-01 2.12849105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8607140569999 meters Centerline goodness : 0.988860 Centerline is valid? [True, True] Translation: X:300.55, Y:276.13, Z:2.13 [[-2.05236016e-01 -9.78709744e-01 2.32695941e-03 3.00554901e+02] [ 9.78534492e-01 -2.05243451e-01 -1.85842156e-02 2.76126287e+02] [ 1.86661461e-02 -1.53714034e-03 9.99824591e-01 2.12894515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.890714057 meters Centerline goodness : 0.989492 Centerline is valid? [True, True] Translation: X:300.55, Y:276.13, Z:2.13 [[-2.05044457e-01 -9.78749779e-01 2.37520714e-03 3.00554795e+02] [ 9.78574596e-01 -2.05052838e-01 -1.85767253e-02 2.76127106e+02] [ 1.86690087e-02 -1.48473717e-03 9.99824616e-01 2.12871173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9207140569999 meters Centerline goodness : 0.988416 Centerline is valid? [True, True] Translation: X:300.55, Y:276.13, Z:2.13 [[-2.05851307e-01 -9.78580382e-01 2.38250052e-03 3.00554333e+02] [ 9.78405202e-01 -2.05859682e-01 -1.85755941e-02 2.76125532e+02] [ 1.86681728e-02 -1.49275942e-03 9.99824620e-01 2.12830461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9507140569999 meters Centerline goodness : 0.988192 Centerline is valid? [True, True] Translation: X:300.55, Y:276.13, Z:2.13 [[-2.05656085e-01 -9.78621378e-01 2.40288293e-03 3.00554097e+02] [ 9.78446228e-01 -2.05664880e-01 -1.85724365e-02 2.76130328e+02] [ 1.86695720e-02 -1.46844285e-03 9.99824630e-01 2.12723896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9807140569999 meters Centerline goodness : 0.988179 Centerline is valid? [True, True] Translation: X:300.56, Y:276.13, Z:2.13 [[-2.04254935e-01 -9.78914774e-01 2.40576913e-03 3.00555535e+02] [ 9.78739641e-01 -2.04264035e-01 -1.85719897e-02 2.76128705e+02] [ 1.86718072e-02 -1.43879893e-03 9.99824631e-01 2.12636826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.010714057 meters Centerline goodness : 0.988279 Centerline is valid? [True, True] Translation: X:300.56, Y:276.14, Z:2.13 [[-2.04842398e-01 -9.78792058e-01 2.38735052e-03 3.00555570e+02] [ 9.78616894e-01 -2.04851045e-01 -1.85748359e-02 2.76136064e+02] [ 1.86699531e-02 -1.46861238e-03 9.99824623e-01 2.12668891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.040714057 meters Centerline goodness : 0.988312 Centerline is valid? [True, True] Translation: X:300.55, Y:276.14, Z:2.13 [[-2.07948562e-01 -9.78136809e-01 2.40396928e-03 3.00553532e+02] [ 9.77961641e-01 -2.07956967e-01 -1.85722681e-02 2.76141056e+02] [ 1.86661412e-02 -1.51108670e-03 9.99824631e-01 2.12912402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0707140569999 meters Centerline goodness : 0.987882 Centerline is valid? [True, True] Translation: X:300.55, Y:276.15, Z:2.13 [[-2.08159977e-01 -9.78091679e-01 2.46807120e-03 3.00551657e+02] [ 9.77916599e-01 -2.08169555e-01 -1.85623607e-02 2.76150575e+02] [ 1.86694678e-02 -1.45037278e-03 9.99824658e-01 2.12988968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1007140569999 meters Centerline goodness : 0.988633 Centerline is valid? [True, True] Translation: X:300.55, Y:276.15, Z:2.13 [[-2.08838220e-01 -9.77947134e-01 2.44951989e-03 3.00551072e+02] [ 9.77772022e-01 -2.08847327e-01 -1.85652223e-02 2.76145613e+02] [ 1.86673816e-02 -1.48205597e-03 9.99824651e-01 2.13212449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.130714057 meters Centerline goodness : 0.989124 Centerline is valid? [True, True] Translation: X:300.55, Y:276.16, Z:2.13 [[-2.07738307e-01 -9.78181378e-01 2.44682529e-03 3.00548626e+02] [ 9.78006272e-01 -2.07747560e-01 -1.85656370e-02 2.76157668e+02] [ 1.86688824e-02 -1.46378354e-03 9.99824650e-01 2.13284197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.160714057 meters Centerline goodness : 0.988685 Centerline is valid? [True, True] Translation: X:300.55, Y:276.16, Z:2.13 [[-2.08882218e-01 -9.77938160e-01 2.27485319e-03 3.00548255e+02] [ 9.77762821e-01 -2.08888015e-01 -1.85919977e-02 2.76156423e+02] [ 1.86570136e-02 -1.65927085e-03 9.99824566e-01 2.13440126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1907140569999 meters Centerline goodness : 0.988922 Centerline is valid? [True, True] Translation: X:300.55, Y:276.16, Z:2.13 [[-2.08554900e-01 -9.78007952e-01 2.30221806e-03 3.00547336e+02] [ 9.77832649e-01 -2.08561273e-01 -1.85878083e-02 2.76158788e+02] [ 1.86591778e-02 -1.62539453e-03 9.99824581e-01 2.13414875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2207140569999 meters Centerline goodness : 0.987929 Centerline is valid? [True, True] Translation: X:300.55, Y:276.15, Z:2.14 [[-2.09763411e-01 -9.77749451e-01 2.30731021e-03 3.00547579e+02] [ 9.77574146e-01 -2.09769663e-01 -1.85870291e-02 2.76152812e+02] [ 1.86574611e-02 -1.64331180e-03 9.99824584e-01 2.13505254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.250714057 meters Centerline goodness : 0.989484 Centerline is valid? [True, True] Translation: X:300.54, Y:276.16, Z:2.14 [[-2.08847362e-01 -9.77944812e-01 2.59302843e-03 3.00542875e+02] [ 9.77769908e-01 -2.08859177e-01 -1.85432265e-02 2.76162549e+02] [ 1.86758300e-02 -1.33731876e-03 9.99824697e-01 2.13616176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.280714057 meters Centerline goodness : 0.988480 Centerline is valid? [True, True] Translation: X:300.54, Y:276.16, Z:2.14 [[-2.09228467e-01 -9.77863821e-01 2.40764440e-03 3.00543371e+02] [ 9.77688650e-01 -2.09236712e-01 -1.85715289e-02 2.76157488e+02] [ 1.86641938e-02 -1.53176592e-03 9.99824635e-01 2.13615093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3107140569999 meters Centerline goodness : 0.988813 Centerline is valid? [True, True] Translation: X:300.54, Y:276.14, Z:2.13 [[-2.04095507e-01 -9.78947565e-01 2.58630109e-03 3.00544993e+02] [ 9.78772710e-01 -2.04108045e-01 -1.85442431e-02 2.76143817e+02] [ 1.86817265e-02 -1.25339577e-03 9.99824696e-01 2.13253060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3407140569999 meters Centerline goodness : 0.989504 Centerline is valid? [True, True] Translation: X:300.54, Y:276.16, Z:2.14 [[-2.08525245e-01 -9.78014360e-01 2.26573028e-03 3.00540622e+02] [ 9.77839022e-01 -2.08530935e-01 -1.85929028e-02 2.76161530e+02] [ 1.86566007e-02 -1.66157013e-03 9.99824570e-01 2.13596037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.370714057 meters Centerline goodness : 0.987941 Centerline is valid? [True, True] Translation: X:300.54, Y:276.16, Z:2.14 [[-2.08924163e-01 -9.77929034e-01 2.34501222e-03 3.00541767e+02] [ 9.77753789e-01 -2.08931279e-01 -1.85808579e-02 2.76156578e+02] [ 1.86607068e-02 -1.58914559e-03 9.99824611e-01 2.13606778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.400714057 meters Centerline goodness : 0.989542 Centerline is valid? [True, True] Translation: X:300.47, Y:276.55, Z:2.14 [[-2.20271719e-01 -9.75434932e-01 2.65783983e-03 3.00473099e+02] [ 9.75260000e-01 -2.20282714e-01 -1.85326284e-02 2.76551142e+02] [ 1.86628493e-02 -1.49012905e-03 9.99824723e-01 2.14011823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4307140569999 meters Centerline goodness : 0.988738 Centerline is valid? [True, True] Translation: X:301.20, Y:276.39, Z:2.92 [[-1.63275730e-01 9.86576896e-01 -2.65783983e-03 3.01201066e+02] [ 9.86402898e-01 1.63296861e-01 1.85326284e-02 2.76392843e+02] [ 1.87178800e-02 4.04227527e-04 -9.99824723e-01 2.92329221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4607140569999 meters Centerline goodness : 0.989019 Centerline is valid? [True, True] Translation: X:300.55, Y:276.28, Z:2.14 [[-2.75911669e-01 -9.61172477e-01 4.49681198e-03 3.00553977e+02] [ 9.61002010e-01 -2.75947482e-01 -1.81141864e-02 2.76277920e+02] [ 1.86517413e-02 -6.76470038e-04 9.99825812e-01 2.13788546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.490714057 meters Centerline goodness : 0.989177 Centerline is valid? [True, True] Translation: X:300.55, Y:276.28, Z:2.14 [[-2.74383548e-01 -9.61613145e-01 3.71866403e-03 3.00553402e+02] [ 9.61440281e-01 -2.74404952e-01 -1.82895532e-02 2.76278488e+02] [ 1.86078946e-02 -1.44307911e-03 9.99825817e-01 2.13850842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.520714057 meters Centerline goodness : 0.988688 Centerline is valid? [True, True] Translation: X:300.55, Y:276.27, Z:2.14 [[-2.67577210e-01 -9.63529193e-01 3.73235307e-03 3.00554774e+02] [ 9.63356525e-01 -2.67600094e-01 -1.82864718e-02 2.76265929e+02] [ 1.86183275e-02 -1.29745643e-03 9.99825822e-01 2.13990290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5507140569999 meters Centerline goodness : 0.988490 Centerline is valid? [True, True] Translation: X:300.55, Y:276.28, Z:2.14 [[-2.66266033e-01 -9.63892769e-01 3.62348295e-03 3.00551165e+02] [ 9.63719821e-01 -2.66287093e-01 -1.83109223e-02 2.76277373e+02] [ 1.86146524e-02 -1.38355431e-03 9.99825775e-01 2.14018623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5807140569999 meters Centerline goodness : 0.988373 Centerline is valid? [True, True] Translation: X:300.55, Y:276.28, Z:2.14 [[-2.71078498e-01 -9.62550434e-01 3.62076647e-03 3.00546099e+02] [ 9.62377376e-01 -2.71098642e-01 -1.83115320e-02 2.76281424e+02] [ 1.86073580e-02 -1.47931887e-03 9.99825774e-01 2.13955796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6107140569999 meters Centerline goodness : 0.988546 Centerline is valid? [True, True] Translation: X:300.54, Y:276.29, Z:2.14 [[-2.68540476e-01 -9.63260949e-01 3.78897087e-03 3.00542425e+02] [ 9.63088423e-01 -2.68564258e-01 -1.82737229e-02 2.76285696e+02] [ 1.86199458e-02 -1.25812026e-03 9.99825842e-01 2.14072584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.640714057 meters Centerline goodness : 0.988071 Centerline is valid? [True, True] Translation: X:300.54, Y:276.30, Z:2.14 [[-2.68526307e-01 -9.63264941e-01 3.77847887e-03 3.00538564e+02] [ 9.63092384e-01 -2.68549893e-01 -1.82760784e-02 2.76295577e+02] [ 1.86194157e-02 -1.26858361e-03 9.99825839e-01 2.14077777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6707140569999 meters Centerline goodness : 0.989369 Centerline is valid? [True, True] Translation: X:300.53, Y:276.31, Z:2.14 [[-2.77780685e-01 -9.60636971e-01 3.80809740e-03 3.00527517e+02] [ 9.60464277e-01 -2.77803171e-01 -1.82694291e-02 2.76305925e+02] [ 1.86081905e-02 -1.41735301e-03 9.99825848e-01 2.14020381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7007140569999 meters Centerline goodness : 0.989369 Centerline is valid? [True, True] Translation: X:300.53, Y:276.31, Z:2.14 [[-2.77406525e-01 -9.60743905e-01 4.09488806e-03 3.00526751e+02] [ 9.60572059e-01 -2.77434499e-01 -1.82049212e-02 2.76308472e+02] [ 1.86263303e-02 -1.11672888e-03 9.99825891e-01 2.14035606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7307140569999 meters Centerline goodness : 0.989082 Centerline is valid? [True, True] Translation: X:300.54, Y:276.28, Z:2.14 [[-2.64725464e-01 -9.64315155e-01 4.08779727e-03 3.00537997e+02] [ 9.64143668e-01 -2.64755566e-01 -1.82065133e-02 2.76279792e+02] [ 1.86390838e-02 -8.78503812e-04 9.99825891e-01 2.14143854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.760714057 meters Centerline goodness : 0.988573 Centerline is valid? [True, True] Translation: X:300.52, Y:276.31, Z:2.14 [[-2.76361893e-01 -9.61046671e-01 3.66060905e-03 3.00524571e+02] [ 9.60873622e-01 -2.76381842e-01 -1.83019239e-02 2.76309899e+02] [ 1.86007289e-02 -1.54057164e-03 9.99825805e-01 2.14216034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.790714057 meters Centerline goodness : 0.989007 Centerline is valid? [True, True] Translation: X:300.52, Y:276.31, Z:2.14 [[-2.75548081e-01 -9.61278637e-01 4.07889220e-03 3.00524160e+02] [ 9.61106800e-01 -2.75576085e-01 -1.82082245e-02 2.76305976e+02] [ 1.86272223e-02 -1.09699027e-03 9.99825896e-01 2.14318637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8207140569999 meters Centerline goodness : 0.988533 Centerline is valid? [True, True] Translation: X:300.52, Y:276.31, Z:2.14 [[-2.74275223e-01 -9.61642617e-01 4.07182880e-03 3.00520923e+02] [ 9.61470796e-01 -2.74303322e-01 -1.82098039e-02 2.76312354e+02] [ 1.86282396e-02 -1.07955355e-03 9.99825896e-01 2.14440159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8507140569999 meters Centerline goodness : 0.989556 Centerline is valid? [True, True] Translation: X:300.52, Y:276.31, Z:2.15 [[-2.72501878e-01 -9.62146665e-01 4.06477068e-03 3.00518825e+02] [ 9.61974874e-01 -2.72530160e-01 -1.82113792e-02 2.76310534e+02] [ 1.86297904e-02 -1.05242778e-03 9.99825897e-01 2.14672080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.880714057 meters Centerline goodness : 0.990413 Centerline is valid? [True, True] Translation: X:300.53, Y:276.28, Z:2.15 [[-2.62570335e-01 -9.64904324e-01 4.05770956e-03 3.00528475e+02] [ 9.64732810e-01 -2.62600254e-01 -1.82129524e-02 2.76275465e+02] [ 1.86393121e-02 -8.67575470e-04 9.99825897e-01 2.14684079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.910714057 meters Centerline goodness : 0.990678 Centerline is valid? [True, True] Translation: X:300.53, Y:276.27, Z:2.15 [[-2.58526190e-01 -9.65997162e-01 3.70020721e-03 3.00529368e+02] [ 9.65824649e-01 -2.58550088e-01 -1.82920788e-02 2.76270535e+02] [ 1.86267851e-02 -1.15523012e-03 9.99825839e-01 2.15001199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9407140569999 meters Centerline goodness : 0.989815 Centerline is valid? [True, True] Translation: X:300.51, Y:276.32, Z:2.15 [[-2.69644202e-01 -9.62953371e-01 3.57911380e-03 3.00514017e+02] [ 9.62780268e-01 -2.69663818e-01 -1.83188905e-02 2.76318239e+02] [ 1.86053948e-02 -1.49368247e-03 9.99825789e-01 2.14720826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9707140569999 meters Centerline goodness : 0.990083 Centerline is valid? [True, True] Translation: X:300.53, Y:276.27, Z:2.15 [[-2.56575264e-01 -9.66515783e-01 4.04658814e-03 3.00527697e+02] [ 9.66344428e-01 -2.56606038e-01 -1.82150402e-02 2.76269489e+02] [ 1.86435028e-02 -7.63130851e-04 9.99825904e-01 2.14883537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.000714057 meters Centerline goodness : 0.990228 Centerline is valid? [True, True] Translation: X:300.53, Y:276.27, Z:2.15 [[-2.53945009e-01 -9.67212133e-01 3.55271745e-03 3.00527018e+02] [ 9.67039313e-01 -2.53966940e-01 -1.83237853e-02 2.76271634e+02] [ 1.86252603e-02 -1.21761638e-03 9.99825793e-01 2.14972414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.030714057 meters Centerline goodness : 0.988483 Centerline is valid? [True, True] Translation: X:300.53, Y:276.26, Z:2.15 [[-2.54755865e-01 -9.66999330e-01 3.42699702e-03 3.00530566e+02] [ 9.66826141e-01 -2.54775275e-01 -1.83513859e-02 2.76256636e+02] [ 1.86188920e-02 -1.36181288e-03 9.99825726e-01 2.15233252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0607140569999 meters Centerline goodness : 0.989193 Centerline is valid? [True, True] Translation: X:300.51, Y:276.32, Z:2.15 [[-2.70750194e-01 -9.62642274e-01 3.76627130e-03 3.00508747e+02] [ 9.62469670e-01 -2.70773153e-01 -1.82765721e-02 2.76320719e+02] [ 1.86136061e-02 -1.32346355e-03 9.99825876e-01 2.14958585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0907140569999 meters Centerline goodness : 0.988339 Centerline is valid? [True, True] Translation: X:300.53, Y:276.27, Z:2.15 [[-2.50404741e-01 -9.68132886e-01 4.02242372e-03 3.00527203e+02] [ 9.67961654e-01 -2.50436153e-01 -1.82200222e-02 2.76274512e+02] [ 1.86467630e-02 -6.68828009e-04 9.99825910e-01 2.15332437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.120714057 meters Centerline goodness : 0.988934 Centerline is valid? [True, True] Translation: X:300.51, Y:276.33, Z:2.15 [[-2.73101769e-01 -9.61978778e-01 3.50065412e-03 3.00506364e+02] [ 9.61805440e-01 -2.73119278e-01 -1.83345390e-02 2.76325829e+02] [ 1.85935336e-02 -1.64024687e-03 9.99825780e-01 2.14860263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.150714057 meters Centerline goodness : 0.987787 Centerline is valid? [True, True] Translation: X:300.52, Y:276.30, Z:2.15 [[-2.54347523e-01 -9.67104558e-01 4.01393072e-03 3.00521329e+02] [ 9.66933178e-01 -2.54378078e-01 -1.82214742e-02 2.76297232e+02] [ 1.86431267e-02 -7.53384034e-04 9.99825918e-01 2.15103724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1807140569999 meters Centerline goodness : 0.988967 Centerline is valid? [True, True] Translation: X:300.50, Y:276.33, Z:2.15 [[-2.76082261e-01 -9.61127474e-01 3.54451505e-03 3.00504256e+02] [ 9.60954200e-01 -2.76100066e-01 -1.83242846e-02 2.76327323e+02] [ 1.85906142e-02 -1.65289330e-03 9.99825813e-01 2.14784781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2107140569999 meters Centerline goodness : 0.989596 Centerline is valid? [True, True] Translation: X:300.50, Y:276.33, Z:2.15 [[-2.77856225e-01 -9.60614320e-01 4.00594643e-03 3.00502696e+02] [ 9.60442230e-01 -2.77882441e-01 -1.82228498e-02 2.76329963e+02] [ 1.86183127e-02 -1.21585214e-03 9.99825925e-01 2.14978264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.240714057 meters Centerline goodness : 0.988635 Centerline is valid? [True, True] Translation: X:300.52, Y:276.29, Z:2.15 [[-2.56755039e-01 -9.66467704e-01 4.12637398e-03 3.00521682e+02] [ 9.66296634e-01 -2.56787282e-01 -1.81963678e-02 2.76287228e+02] [ 1.86458022e-02 -6.84707838e-04 9.99825917e-01 2.15096346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.270714057 meters Centerline goodness : 0.989133 Centerline is valid? [True, True] Translation: X:300.52, Y:276.30, Z:2.15 [[-2.58891657e-01 -9.65900137e-01 3.46913321e-03 3.00519557e+02] [ 9.65727030e-01 -2.58911127e-01 -1.83393727e-02 2.76295006e+02] [ 1.86121998e-02 -1.39767489e-03 9.99825801e-01 2.15132354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3007140569999 meters Centerline goodness : 0.989390 Centerline is valid? [True, True] Translation: X:300.52, Y:276.29, Z:2.15 [[-2.52291373e-01 -9.67644970e-01 3.50374935e-03 3.00522128e+02] [ 9.67472096e-01 -2.52312678e-01 -1.83318493e-02 2.76292667e+02] [ 1.86227621e-02 -1.23518770e-03 9.99825818e-01 2.14969556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3307140569999 meters Centerline goodness : 0.989261 Centerline is valid? [True, True] Translation: X:300.52, Y:276.30, Z:2.15 [[-2.56231054e-01 -9.66610050e-01 3.26463355e-03 3.00519000e+02] [ 9.66436470e-01 -2.56247130e-01 -1.83836551e-02 2.76298156e+02] [ 1.86063787e-02 -1.55540239e-03 9.99825677e-01 2.15057788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3607140569999 meters Centerline goodness : 0.986927 Centerline is valid? [True, True] Translation: X:300.51, Y:276.32, Z:2.15 [[-2.70471893e-01 -9.62721777e-01 3.42561718e-03 3.00508792e+02] [ 9.62548347e-01 -2.70488458e-01 -1.83486528e-02 2.76323132e+02] [ 1.85912376e-02 -1.66547270e-03 9.99825781e-01 2.15350630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.390714057 meters Centerline goodness : 0.987950 Centerline is valid? [True, True] Translation: X:300.51, Y:276.33, Z:2.15 [[-2.70940554e-01 -9.62588424e-01 3.83942998e-03 3.00507193e+02] [ 9.62416062e-01 -2.70964865e-01 -1.82583187e-02 2.76330468e+02] [ 1.86155969e-02 -1.25178992e-03 9.99825931e-01 2.15281170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4207140569999 meters Centerline goodness : 0.988106 Centerline is valid? [True, True] Translation: X:300.51, Y:276.33, Z:2.15 [[-2.71580607e-01 -9.62408171e-01 3.80598991e-03 3.00507205e+02] [ 9.62235699e-01 -2.71604172e-01 -1.82656092e-02 2.76325338e+02] [ 1.86126943e-02 -1.29832588e-03 9.99825926e-01 2.15185070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4507140569999 meters Centerline goodness : 0.987314 Centerline is valid? [True, True] Translation: X:300.50, Y:276.33, Z:2.15 [[-2.74687306e-01 -9.61526346e-01 3.73773267e-03 3.00504525e+02] [ 9.61353617e-01 -2.74709023e-01 -1.82804701e-02 2.76334768e+02] [ 1.86039425e-02 -1.42813027e-03 9.99825912e-01 2.15089526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4807140569999 meters Centerline goodness : 0.987213 Centerline is valid? [True, True] Translation: X:300.50, Y:276.33, Z:2.15 [[-2.75545376e-01 -9.61280389e-01 3.84187710e-03 3.00504541e+02] [ 9.61107918e-01 -2.75568908e-01 -1.82578017e-02 2.76331370e+02] [ 1.86095685e-02 -1.33839432e-03 9.99825931e-01 2.15204039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.510714057 meters Centerline goodness : 0.988294 Centerline is valid? [True, True] Translation: X:300.50, Y:276.34, Z:2.15 [[-2.78791607e-01 -9.60344043e-01 3.81563333e-03 3.00500359e+02] [ 9.60171425e-01 -2.78814059e-01 -1.82635071e-02 2.76340992e+02] [ 1.86031025e-02 -1.42805039e-03 9.99825927e-01 2.15340143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.540714057 meters Centerline goodness : 0.987499 Centerline is valid? [True, True] Translation: X:300.50, Y:276.34, Z:2.15 [[-2.79642847e-01 -9.60096470e-01 3.82714253e-03 3.00500422e+02] [ 9.59923861e-01 -2.79665365e-01 -1.82610063e-02 2.76340784e+02] [ 1.86026469e-02 -1.43279436e-03 9.99825929e-01 2.15468605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5707140569999 meters Centerline goodness : 0.987021 Centerline is valid? [True, True] Translation: X:300.50, Y:276.34, Z:2.15 [[-2.81234806e-01 -9.59631272e-01 3.84774104e-03 3.00497942e+02] [ 9.59458680e-01 -2.81257427e-01 -1.82565350e-02 2.76344174e+02] [ 1.86017477e-02 -1.44262455e-03 9.99825932e-01 2.15363304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6007140569999 meters Centerline goodness : 0.989469 Centerline is valid? [True, True] Translation: X:300.50, Y:276.34, Z:2.15 [[-2.77497419e-01 -9.60718578e-01 3.87262755e-03 3.00499465e+02] [ 9.60546141e-01 -2.77521182e-01 -1.82511396e-02 2.76337744e+02] [ 1.86089451e-02 -1.34480668e-03 9.99825934e-01 2.14729462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.630714057 meters Centerline goodness : 0.987887 Centerline is valid? [True, True] Translation: X:300.50, Y:276.34, Z:2.15 [[-2.80889599e-01 -9.59733629e-01 3.52052791e-03 3.00497419e+02] [ 9.59560258e-01 -2.80906085e-01 -1.83271134e-02 2.76343464e+02] [ 1.85780848e-02 -1.76973686e-03 9.99825846e-01 2.15229506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.660714057 meters Centerline goodness : 0.988979 Centerline is valid? [True, True] Translation: X:300.49, Y:276.36, Z:2.15 [[-2.83220591e-01 -9.59047150e-01 3.82902808e-03 3.00491680e+02] [ 9.58874467e-01 -2.83242501e-01 -1.82603857e-02 2.76359622e+02] [ 1.85971143e-02 -1.50015996e-03 9.99825933e-01 2.15279968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6907140569999 meters Centerline goodness : 0.989220 Centerline is valid? [True, True] Translation: X:300.49, Y:276.35, Z:2.15 [[-2.79566743e-01 -9.60118493e-01 3.86221360e-03 3.00493580e+02] [ 9.59945981e-01 -2.79589937e-01 -1.82532162e-02 2.76348104e+02] [ 1.86050864e-02 -1.39547577e-03 9.99825937e-01 2.14617629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7207140569999 meters Centerline goodness : 0.988884 Centerline is valid? [True, True] Translation: X:300.49, Y:276.36, Z:2.15 [[-2.83373882e-01 -9.59002988e-01 3.53727956e-03 3.00490693e+02] [ 9.58829618e-01 -2.83390238e-01 -1.83231057e-02 2.76355550e+02] [ 1.85743437e-02 -1.80064120e-03 9.99825861e-01 2.15158998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.750714057 meters Centerline goodness : 0.987922 Centerline is valid? [True, True] Translation: X:300.49, Y:276.36, Z:2.15 [[-2.82090629e-01 -9.59380349e-01 3.77135199e-03 3.00490715e+02] [ 9.59207551e-01 -2.82111651e-01 -1.82726927e-02 2.76356722e+02] [ 1.85944047e-02 -1.53704609e-03 9.99825928e-01 2.15041053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.780714057 meters Centerline goodness : 0.988191 Centerline is valid? [True, True] Translation: X:300.49, Y:276.37, Z:2.15 [[-2.82286946e-01 -9.59322718e-01 3.74195351e-03 3.00487946e+02] [ 9.59149844e-01 -2.82307376e-01 -1.82790189e-02 2.76365884e+02] [ 1.85918591e-02 -1.57083428e-03 9.99825922e-01 2.14694820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8107140569999 meters Centerline goodness : 0.989404 Centerline is valid? [True, True] Translation: X:300.49, Y:276.36, Z:2.15 [[-2.76082471e-01 -9.61126486e-01 3.78771230e-03 3.00489927e+02] [ 9.60953865e-01 -2.76104883e-01 -1.82691775e-02 2.76360806e+02] [ 1.86047962e-02 -1.40398289e-03 9.99825930e-01 2.14671956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8407140569999 meters Centerline goodness : 0.987482 Centerline is valid? [True, True] Translation: X:300.34, Y:276.99, Z:2.15 [[-2.99890457e-01 -9.53966527e-01 3.68495223e-03 3.00343611e+02] [ 9.53793179e-01 -2.99906620e-01 -1.82918603e-02 2.76989546e+02] [ 1.85549640e-02 -1.97087205e-03 9.99825899e-01 2.15419526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.870714057 meters Centerline goodness : 0.989418 Centerline is valid? [True, True] Translation: X:300.48, Y:276.39, Z:2.15 [[-2.74481894e-01 -9.61583511e-01 4.10373861e-03 3.00477553e+02] [ 9.61411851e-01 -2.74510561e-01 -1.81990083e-02 2.76391471e+02] [ 1.86263859e-02 -1.04991533e-03 9.99825963e-01 2.14698462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.900714057 meters Centerline goodness : 0.989646 Centerline is valid? [True, True] Translation: X:300.47, Y:276.39, Z:2.15 [[-2.87861831e-01 -9.57666020e-01 3.37058988e-03 3.00468708e+02] [ 9.57492330e-01 -2.87874221e-01 -1.83540702e-02 2.76393661e+02] [ 1.85473753e-02 -2.05612229e-03 9.99825868e-01 2.14643168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9307140569999 meters Centerline goodness : 0.988687 Centerline is valid? [True, True] Translation: X:300.48, Y:276.38, Z:2.15 [[-2.72985360e-01 -9.62010384e-01 3.87478473e-03 3.00477421e+02] [ 9.61838136e-01 -2.73009978e-01 -1.82470060e-02 2.76382922e+02] [ 1.86116641e-02 -1.25424980e-03 9.99826001e-01 2.14795260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9607140569999 meters Centerline goodness : 0.986507 Centerline is valid? [True, True] Translation: X:300.31, Y:277.10, Z:2.16 [[-2.94636766e-01 -9.55602119e-01 3.71043337e-03 3.00312844e+02] [ 9.55428985e-01 -2.94654372e-01 -1.82826415e-02 2.77096685e+02] [ 1.85642263e-02 -1.84168275e-03 9.99825974e-01 2.15822822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.990714057 meters Centerline goodness : 0.989501 Centerline is valid? [True, True] Translation: X:300.47, Y:276.41, Z:2.15 [[-2.40798308e-01 -9.70566706e-01 4.05527592e-03 3.00468595e+02] [ 9.70396011e-01 -2.40832034e-01 -1.82074889e-02 2.76414587e+02] [ 1.86482229e-02 -4.49108945e-04 9.99826006e-01 2.14657931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.020714057 meters Centerline goodness : 0.988759 Centerline is valid? [True, True] Translation: X:300.46, Y:276.43, Z:2.15 [[-2.45952294e-01 -9.69278158e-01 2.70598270e-03 3.00461618e+02] [ 9.69103969e-01 -2.45959672e-01 -1.84752929e-02 2.76429646e+02] [ 1.85732605e-02 -1.92166210e-03 9.99825655e-01 2.14745782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0507140569999 meters Centerline goodness : 0.989005 Centerline is valid? [True, True] Translation: X:300.46, Y:276.43, Z:2.15 [[-2.38517601e-01 -9.71133425e-01 3.03716089e-03 3.00460747e+02] [ 9.70959992e-01 -2.38532578e-01 -1.84093284e-02 2.76432059e+02] [ 1.86023760e-02 -1.44198714e-03 9.99825921e-01 2.14728619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0807140569999 meters Centerline goodness : 0.988016 Centerline is valid? [True, True] Translation: X:300.46, Y:276.42, Z:2.14 [[-2.35864400e-01 -9.71781845e-01 2.83385140e-03 3.00462345e+02] [ 9.71608007e-01 -2.35876009e-01 -1.84496663e-02 2.76422007e+02] [ 1.85974883e-02 -1.59822675e-03 9.99825774e-01 2.14409088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1107140569999 meters Centerline goodness : 0.988572 Centerline is valid? [True, True] Translation: X:300.46, Y:276.44, Z:2.15 [[-2.35805249e-01 -9.71795846e-01 2.95258181e-03 3.00456559e+02] [ 9.71622265e-01 -2.35819113e-01 -1.84260970e-02 2.76438723e+02] [ 1.86026798e-02 -1.47617617e-03 9.99825865e-01 2.14627743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.140714057 meters Centerline goodness : 0.987308 Centerline is valid? [True, True] Translation: X:300.46, Y:276.43, Z:2.14 [[-2.30256335e-01 -9.73125644e-01 2.91581088e-03 3.00456198e+02] [ 9.72952059e-01 -2.30270495e-01 -1.84333926e-02 2.76431354e+02] [ 1.86094322e-02 -1.40746122e-03 9.99825839e-01 2.14426814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1707140569999 meters Centerline goodness : 0.988249 Centerline is valid? [True, True] Translation: X:300.45, Y:276.43, Z:2.14 [[-2.31440247e-01 -9.72844818e-01 2.89340838e-03 3.00452812e+02] [ 9.72671166e-01 -2.31453772e-01 -1.84378283e-02 2.76430862e+02] [ 1.86068360e-02 -1.45292064e-03 9.99825822e-01 2.14457343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2007140569999 meters Centerline goodness : 0.987783 Centerline is valid? [True, True] Translation: X:300.45, Y:276.42, Z:2.15 [[-2.27356269e-01 -9.73807281e-01 2.91660369e-03 3.00450782e+02] [ 9.73633741e-01 -2.27370961e-01 -1.84332440e-02 2.76420202e+02] [ 1.86135782e-02 -1.35120982e-03 9.99825839e-01 2.14541610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2307140569999 meters Centerline goodness : 0.988030 Centerline is valid? [True, True] Translation: X:300.45, Y:276.42, Z:2.15 [[-2.26677795e-01 -9.73965377e-01 2.93618027e-03 3.00450112e+02] [ 9.73791894e-01 -2.26692977e-01 -1.84293842e-02 2.76415087e+02] [ 1.86151936e-02 -1.31830362e-03 9.99825853e-01 2.14654985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.260714057 meters Centerline goodness : 0.988723 Centerline is valid? [True, True] Translation: X:300.45, Y:276.42, Z:2.15 [[-2.24305823e-01 -9.74514345e-01 2.94785176e-03 3.00446053e+02] [ 9.74340927e-01 -2.24321648e-01 -1.84270850e-02 2.76420686e+02] [ 1.86187256e-02 -1.26108984e-03 9.99825861e-01 2.14780187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.290714057 meters Centerline goodness : 0.987896 Centerline is valid? [True, True] Translation: X:300.45, Y:276.42, Z:2.15 [[-2.21952369e-01 -9.75053039e-01 2.95244724e-03 3.00445560e+02] [ 9.74879671e-01 -2.21968699e-01 -1.84261802e-02 2.76418537e+02] [ 1.86218539e-02 -1.21145356e-03 9.99825864e-01 2.14729239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3207140569999 meters Centerline goodness : 0.987426 Centerline is valid? [True, True] Translation: X:300.44, Y:276.42, Z:2.15 [[-2.17995916e-01 -9.75945082e-01 2.99642945e-03 3.00441732e+02] [ 9.75771893e-01 -2.18013778e-01 -1.84175281e-02 2.76424886e+02] [ 1.86277589e-02 -1.09111427e-03 9.99825893e-01 2.14866006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3507140569999 meters Centerline goodness : 0.987501 Centerline is valid? [True, True] Translation: X:300.44, Y:276.42, Z:2.15 [[-2.17267232e-01 -9.76107548e-01 3.00082187e-03 3.00441190e+02] [ 9.75934384e-01 -2.17285306e-01 -1.84166647e-02 2.76418920e+02] [ 1.86286799e-02 -1.07273250e-03 9.99825896e-01 2.14890953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.380714057 meters Centerline goodness : 0.986470 Centerline is valid? [True, True] Translation: X:300.44, Y:276.41, Z:2.15 [[-2.17226236e-01 -9.76116952e-01 2.90842658e-03 3.00441147e+02] [ 9.75943555e-01 -2.17242576e-01 -1.84347608e-02 2.76413113e+02] [ 1.86263166e-02 -1.16605353e-03 9.99825835e-01 2.15092832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.410714057 meters Centerline goodness : 0.985932 Centerline is valid? [True, True] Translation: X:300.44, Y:276.43, Z:2.15 [[-2.14515383e-01 -9.76715776e-01 3.07308743e-03 3.00438000e+02] [ 9.76542857e-01 -2.14535306e-01 -1.84024885e-02 2.76428637e+02] [ 1.86332866e-02 -9.46615295e-04 9.99825937e-01 2.15221867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4407140569999 meters Centerline goodness : 0.987324 Centerline is valid? [True, True] Translation: X:300.43, Y:276.44, Z:2.15 [[-2.12523497e-01 -9.77151145e-01 3.06661064e-03 3.00431230e+02] [ 9.76978249e-01 -2.12543650e-01 -1.84037588e-02 2.76444973e+02] [ 1.86350426e-02 -9.15219276e-04 9.99825934e-01 2.15087752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4707140569999 meters Centerline goodness : 0.985911 Centerline is valid? [True, True] Translation: X:300.43, Y:276.42, Z:2.15 [[-2.12615980e-01 -9.77131515e-01 2.90644571e-03 3.00434937e+02] [ 9.76958194e-01 -2.12633101e-01 -1.84350728e-02 2.76423572e+02] [ 1.86314972e-02 -1.08011513e-03 9.99825835e-01 2.15173570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.500714057 meters Centerline goodness : 0.986985 Centerline is valid? [True, True] Translation: X:300.43, Y:276.42, Z:2.15 [[-2.07957810e-01 -9.78132986e-01 3.06769749e-03 3.00434798e+02] [ 9.77960188e-01 -2.07978791e-01 -1.84035986e-02 2.76420014e+02] [ 1.86391829e-02 -8.27086060e-04 9.99825933e-01 2.15104009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.530714057 meters Centerline goodness : 0.987795 Centerline is valid? [True, True] Translation: X:300.43, Y:276.42, Z:2.15 [[-2.09914283e-01 -9.77715231e-01 2.98686288e-03 3.00431463e+02] [ 9.77542171e-01 -2.09933397e-01 -1.84193386e-02 2.76421873e+02] [ 1.86359101e-02 -9.46697818e-04 9.99825888e-01 2.14845007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5607140569999 meters Centerline goodness : 0.985398 Centerline is valid? [True, True] Translation: X:300.43, Y:276.42, Z:2.15 [[-2.10728420e-01 -9.77540622e-01 2.80448689e-03 3.00434353e+02] [ 9.77367080e-01 -2.10743955e-01 -1.84547137e-02 2.76415013e+02] [ 1.86312610e-02 -1.14791950e-03 9.99825764e-01 2.14949156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5907140569999 meters Centerline goodness : 0.986264 Centerline is valid? [True, True] Translation: X:300.43, Y:276.44, Z:2.15 [[-2.15485980e-01 -9.76502042e-01 3.09091346e-03 3.00427547e+02] [ 9.76329152e-01 -2.15506066e-01 -1.83989959e-02 2.76435543e+02] [ 1.86327677e-02 -9.46976756e-04 9.99825946e-01 2.14914334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.620714057 meters Centerline goodness : 0.986264 Centerline is valid? [True, True] Translation: X:300.43, Y:276.44, Z:2.15 [[-2.15153334e-01 -9.76575344e-01 3.10500152e-03 3.00426949e+02] [ 9.76402498e-01 -2.15173744e-01 -1.83962543e-02 2.76438135e+02] [ 1.86334432e-02 -9.26284202e-04 9.99825953e-01 2.14919878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.650714057 meters Centerline goodness : 0.987204 Centerline is valid? [True, True] Translation: X:300.43, Y:276.43, Z:2.15 [[-2.16652865e-01 -9.76243803e-01 3.09389943e-03 3.00427388e+02] [ 9.76070897e-01 -2.16672801e-01 -1.83984093e-02 2.76427807e+02] [ 1.86316969e-02 -9.66202890e-04 9.99825948e-01 2.14938599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6807140569999 meters Centerline goodness : 0.985726 Centerline is valid? [True, True] Translation: X:300.43, Y:276.43, Z:2.15 [[-2.18457242e-01 -9.75841800e-01 3.03554723e-03 3.00427586e+02] [ 9.75668707e-01 -2.18475760e-01 -1.84097072e-02 2.76428843e+02] [ 1.86281553e-02 -1.06004541e-03 9.99825919e-01 2.14955834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7107140569999 meters Centerline goodness : 0.988017 Centerline is valid? [True, True] Translation: X:300.43, Y:276.43, Z:2.15 [[-2.19417270e-01 -9.75625888e-01 3.19189098e-03 3.00425507e+02] [ 9.75453184e-01 -2.19438560e-01 -1.83794279e-02 2.76433236e+02] [ 1.86318697e-02 -9.19223681e-04 9.99825989e-01 2.14807929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.740714057 meters Centerline goodness : 0.986467 Centerline is valid? [True, True] Translation: X:300.43, Y:276.42, Z:2.15 [[-2.22694922e-01 -9.74883480e-01 3.02840689e-03 3.00427436e+02] [ 9.74710292e-01 -2.22712553e-01 -1.84110036e-02 2.76424303e+02] [ 1.86230475e-02 -1.14821764e-03 9.99825917e-01 2.15162590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.770714057 meters Centerline goodness : 0.987435 Centerline is valid? [True, True] Translation: X:300.42, Y:276.43, Z:2.15 [[-2.22417267e-01 -9.74946024e-01 3.28798196e-03 3.00424443e+02] [ 9.74773513e-01 -2.22439833e-01 -1.83607878e-02 2.76431645e+02] [ 1.86321553e-02 -8.78718522e-04 9.99826020e-01 2.14732764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8007140569999 meters Centerline goodness : 0.987865 Centerline is valid? [True, True] Translation: X:300.42, Y:276.43, Z:2.15 [[-2.24340205e-01 -9.74505944e-01 3.10451575e-03 3.00423751e+02] [ 9.74332915e-01 -2.24358977e-01 -1.83961732e-02 2.76434885e+02] [ 1.86237061e-02 -1.10216939e-03 9.99825956e-01 2.14756551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8307140569999 meters Centerline goodness : 0.988020 Centerline is valid? [True, True] Translation: X:300.42, Y:276.43, Z:2.15 [[-2.27350839e-01 -9.73807759e-01 3.16940672e-03 3.00422724e+02] [ 9.73634833e-01 -2.27370299e-01 -1.83836639e-02 2.76432866e+02] [ 1.86227835e-02 -1.09369662e-03 9.99825983e-01 2.14525622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8607140569999 meters Centerline goodness : 0.987793 Centerline is valid? [True, True] Translation: X:300.42, Y:276.43, Z:2.15 [[-2.28077797e-01 -9.73637591e-01 3.21881140e-03 3.00422694e+02] [ 9.73464774e-01 -2.28098059e-01 -1.83741460e-02 2.76434072e+02] [ 1.86239639e-02 -1.05733523e-03 9.99826000e-01 2.14610731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.890714057 meters Centerline goodness : 0.987951 Centerline is valid? [True, True] Translation: X:300.42, Y:276.43, Z:2.15 [[-2.27820238e-01 -9.73697847e-01 3.23143737e-03 3.00422830e+02] [ 9.73525068e-01 -2.27840783e-01 -1.83717158e-02 2.76434273e+02] [ 1.86247533e-02 -1.03956337e-03 9.99826004e-01 2.14561681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9207140569999 meters Centerline goodness : 0.987111 Centerline is valid? [True, True] Translation: X:300.42, Y:276.44, Z:2.15 [[-2.24290065e-01 -9.74517115e-01 3.21856231e-03 3.00424384e+02] [ 9.74344378e-01 -2.24310993e-01 -1.83741888e-02 2.76437896e+02] [ 1.86279204e-02 -9.85159910e-04 9.99826000e-01 2.14722429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9507140569999 meters Centerline goodness : 0.987510 Centerline is valid? [True, True] Translation: X:300.42, Y:276.44, Z:2.14 [[-2.30159116e-01 -9.73148142e-01 3.07820514e-03 3.00423493e+02] [ 9.72974946e-01 -2.30176359e-01 -1.84010678e-02 2.76435409e+02] [ 1.86154950e-02 -1.24015703e-03 9.99825948e-01 2.14252477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9807140569999 meters Centerline goodness : 0.987362 Centerline is valid? [True, True] Translation: X:300.42, Y:276.46, Z:2.14 [[-2.31398529e-01 -9.72853791e-01 3.19719599e-03 3.00419477e+02] [ 9.72680855e-01 -2.31417793e-01 -1.83782550e-02 2.76461477e+02] [ 1.86192431e-02 -1.14284985e-03 9.99825994e-01 2.14365142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.010714057 meters Centerline goodness : 0.987460 Centerline is valid? [True, True] Translation: X:300.42, Y:276.44, Z:2.14 [[-2.32361353e-01 -9.72624209e-01 3.21698600e-03 3.00422951e+02] [ 9.72451302e-01 -2.32380819e-01 -1.83744641e-02 2.76443516e+02] [ 1.86190145e-02 -1.14115312e-03 9.99826000e-01 2.14194852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.040714057 meters Centerline goodness : 0.988088 Centerline is valid? [True, True] Translation: X:300.42, Y:276.46, Z:2.14 [[-2.35050884e-01 -9.71977838e-01 3.18836946e-03 3.00420573e+02] [ 9.71804809e-01 -2.35069332e-01 -1.83799362e-02 2.76456500e+02] [ 1.86143785e-02 -1.22174746e-03 9.99825991e-01 2.14203798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0707140569999 meters Centerline goodness : 0.987283 Centerline is valid? [True, True] Translation: X:300.42, Y:276.45, Z:2.14 [[-2.35365874e-01 -9.71901546e-01 3.20787988e-03 3.00421756e+02] [ 9.71728557e-01 -2.35384634e-01 -1.83762081e-02 2.76451374e+02] [ 1.86149507e-02 -1.20794379e-03 9.99825997e-01 2.14290649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1007140569999 meters Centerline goodness : 0.987960 Centerline is valid? [True, True] Translation: X:300.42, Y:276.45, Z:2.14 [[-2.33106786e-01 -9.72445754e-01 3.23760895e-03 3.00423060e+02] [ 9.72272881e-01 -2.33126508e-01 -1.83705384e-02 2.76447247e+02] [ 1.86191245e-02 -1.13445778e-03 9.99826005e-01 2.14129441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.130714057 meters Centerline goodness : 0.991456 Centerline is valid? [True, True] Translation: X:300.42, Y:276.46, Z:2.14 [[-2.29839717e-01 -9.73223499e-01 3.11855941e-03 3.00419848e+02] [ 9.73050406e-01 -2.29857777e-01 -1.83931858e-02 2.76459975e+02] [ 1.86175058e-02 -1.19296912e-03 9.99825968e-01 2.13608737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.160714057 meters Centerline goodness : 0.990809 Centerline is valid? [True, True] Translation: X:300.42, Y:276.47, Z:2.14 [[-2.29314040e-01 -9.73348662e-01 2.73015463e-03 3.00418627e+02] [ 9.73174748e-01 -2.29324864e-01 -1.84666453e-02 2.76466343e+02] [ 1.86005768e-02 -1.57774349e-03 9.99825749e-01 2.13670728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1907140569999 meters Centerline goodness : 0.987184 Centerline is valid? [True, True] Translation: X:300.42, Y:276.45, Z:2.14 [[-2.32365841e-01 -9.72624620e-01 2.73217464e-03 3.00422171e+02] [ 9.72450677e-01 -2.32376158e-01 -1.84662636e-02 2.76452975e+02] [ 1.85956349e-02 -1.63402380e-03 9.99825751e-01 2.14443015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2207140569999 meters Centerline goodness : 0.989135 Centerline is valid? [True, True] Translation: X:300.42, Y:276.47, Z:2.14 [[-2.33283056e-01 -9.72403493e-01 3.23468432e-03 3.00417164e+02] [ 9.72230614e-01 -2.33302692e-01 -1.83708494e-02 2.76466845e+02] [ 1.86185387e-02 -1.14074877e-03 9.99826009e-01 2.14369958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.250714057 meters Centerline goodness : 0.988259 Centerline is valid? [True, True] Translation: X:300.42, Y:276.46, Z:2.14 [[-2.31755906e-01 -9.72768956e-01 3.12396448e-03 3.00417583e+02] [ 9.72595846e-01 -2.31773727e-01 -1.83918266e-02 2.76462888e+02] [ 1.86150509e-02 -1.22405956e-03 9.99825976e-01 2.14395725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.280714057 meters Centerline goodness : 0.989212 Centerline is valid? [True, True] Translation: X:300.42, Y:276.46, Z:2.14 [[-2.32454757e-01 -9.72602246e-01 3.10748806e-03 3.00416510e+02] [ 9.72429087e-01 -2.32472144e-01 -1.83949419e-02 2.76463037e+02] [ 1.86133662e-02 -1.25417998e-03 9.99825970e-01 2.14042654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3107140569999 meters Centerline goodness : 0.988424 Centerline is valid? [True, True] Translation: X:300.41, Y:276.47, Z:2.14 [[-2.32557956e-01 -9.72577636e-01 3.08840260e-03 3.00414079e+02] [ 9.72404432e-01 -2.32574965e-01 -1.83985458e-02 2.76472463e+02] [ 1.86122993e-02 -1.27555185e-03 9.99825963e-01 2.14238549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3407140569999 meters Centerline goodness : 0.988279 Centerline is valid? [True, True] Translation: X:300.42, Y:276.45, Z:2.14 [[-2.22613219e-01 -9.74901936e-01 3.09344231e-03 3.00423208e+02] [ 9.74728927e-01 -2.22632090e-01 -1.83975959e-02 2.76450763e+02] [ 1.86245514e-02 -1.08028034e-03 9.99825964e-01 2.14063979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.370714057 meters Centerline goodness : 0.988625 Centerline is valid? [True, True] Translation: X:300.41, Y:276.49, Z:2.14 [[-2.35706679e-01 -9.71819954e-01 2.88750924e-03 3.00409516e+02] [ 9.71646282e-01 -2.35719335e-01 -1.84363025e-02 2.76491796e+02] [ 1.85974084e-02 -1.53992201e-03 9.99825867e-01 2.14061126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.400714057 meters Centerline goodness : 0.988335 Centerline is valid? [True, True] Translation: X:300.41, Y:276.50, Z:2.14 [[-2.36232194e-01 -9.71691340e-01 3.20789264e-03 3.00406820e+02] [ 9.71518342e-01 -2.36250801e-01 -1.83758230e-02 2.76503676e+02] [ 1.86134953e-02 -1.22443446e-03 9.99826004e-01 2.13957929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4307140569999 meters Centerline goodness : 0.987533 Centerline is valid? [True, True] Translation: X:300.41, Y:276.48, Z:2.14 [[-2.35253904e-01 -9.71928573e-01 3.23252002e-03 3.00409783e+02] [ 9.71755651e-01 -2.35273149e-01 -1.83711821e-02 2.76483349e+02] [ 1.86160020e-02 -1.18067271e-03 9.99826010e-01 2.13967580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4607140569999 meters Centerline goodness : 0.988314 Centerline is valid? [True, True] Translation: X:300.41, Y:276.49, Z:2.14 [[-2.38192637e-01 -9.71212778e-01 3.16354445e-03 3.00406234e+02] [ 9.71039645e-01 -2.38210058e-01 -1.83841459e-02 2.76492439e+02] [ 1.86085055e-02 -1.30704110e-03 9.99825992e-01 2.13941051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.490714057 meters Centerline goodness : 0.988056 Centerline is valid? [True, True] Translation: X:300.41, Y:276.49, Z:2.14 [[-2.38495182e-01 -9.71138412e-01 3.19896496e-03 3.00406774e+02] [ 9.70965351e-01 -2.38513218e-01 -1.83774980e-02 2.76488268e+02] [ 1.86100896e-02 -1.27686060e-03 9.99826002e-01 2.13992984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.520714057 meters Centerline goodness : 0.988186 Centerline is valid? [True, True] Translation: X:300.40, Y:276.53, Z:2.14 [[-2.38914697e-01 -9.71035339e-01 3.18411478e-03 3.00398551e+02] [ 9.70862237e-01 -2.38932378e-01 -1.83802832e-02 2.76526839e+02] [ 1.86086927e-02 -1.29998301e-03 9.99825998e-01 2.14052371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5507140569999 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:300.40, Y:276.52, Z:2.14 [[-2.39401340e-01 -9.70915520e-01 3.17050707e-03 3.00398600e+02] [ 9.70742380e-01 -2.39418678e-01 -1.83828324e-02 2.76516464e+02] [ 1.86072559e-02 -1.32312914e-03 9.99825995e-01 2.13669058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5807140569999 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:300.40, Y:276.50, Z:2.14 [[-2.40955119e-01 -9.70531816e-01 2.93670596e-03 3.00399814e+02] [ 9.70358184e-01 -2.40967767e-01 -1.84263431e-02 2.76500488e+02] [ 1.85910038e-02 -1.59026505e-03 9.99825908e-01 2.13740409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6107140569999 meters Centerline goodness : 0.988503 Centerline is valid? [True, True] Translation: X:300.40, Y:276.52, Z:2.14 [[-2.40857224e-01 -9.70556049e-01 2.95861843e-03 3.00397184e+02] [ 9.70382459e-01 -2.40870303e-01 -1.84222673e-02 2.76517611e+02] [ 1.85924862e-02 -1.56614473e-03 9.99825918e-01 2.14208078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.640714057 meters Centerline goodness : 0.988017 Centerline is valid? [True, True] Translation: X:300.39, Y:276.54, Z:2.14 [[-2.44496331e-01 -9.69645111e-01 3.14674979e-03 3.00392550e+02] [ 9.69471836e-01 -2.44512311e-01 -1.83871832e-02 2.76536289e+02] [ 1.85984614e-02 -1.44491354e-03 9.99825990e-01 2.14156207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6707140569999 meters Centerline goodness : 0.988402 Centerline is valid? [True, True] Translation: X:300.40, Y:276.52, Z:2.14 [[-2.42923817e-01 -9.70040051e-01 3.21238159e-03 3.00396935e+02] [ 9.69866938e-01 -2.42941316e-01 -1.83749523e-02 2.76520151e+02] [ 1.86048599e-02 -1.34813085e-03 9.99826006e-01 2.13872645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7007140569999 meters Centerline goodness : 0.989924 Centerline is valid? [True, True] Translation: X:300.38, Y:276.58, Z:2.14 [[-2.44840284e-01 -9.69558177e-01 3.19012375e-03 3.00384283e+02] [ 9.69384985e-01 -2.44857020e-01 -1.83790981e-02 2.76583726e+02] [ 1.86007291e-02 -1.40748554e-03 9.99826001e-01 2.13960255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7307140569999 meters Centerline goodness : 0.990036 Centerline is valid? [True, True] Translation: X:300.39, Y:276.57, Z:2.14 [[-2.42898055e-01 -9.70047250e-01 2.97776274e-03 3.00386655e+02] [ 9.69873672e-01 -2.42911131e-01 -1.84185684e-02 2.76572258e+02] [ 1.85902133e-02 -1.58578076e-03 9.99825929e-01 2.13797938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.760714057 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:300.40, Y:276.51, Z:2.14 [[-2.40132173e-01 -9.70735861e-01 2.90297928e-03 3.00397742e+02] [ 9.70562181e-01 -2.40144332e-01 -1.84323604e-02 2.76507044e+02] [ 1.85900873e-02 -1.60868087e-03 9.99825895e-01 2.13507526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.790714057 meters Centerline goodness : 0.990091 Centerline is valid? [True, True] Translation: X:300.40, Y:276.51, Z:2.14 [[-2.42085066e-01 -9.70251081e-01 2.76781320e-03 3.00395878e+02] [ 9.70077149e-01 -2.42094321e-01 -1.84570951e-02 2.76509945e+02] [ 1.85780883e-02 -1.78319474e-03 9.99825822e-01 2.13506528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8207140569999 meters Centerline goodness : 0.986912 Centerline is valid? [True, True] Translation: X:300.27, Y:277.18, Z:2.15 [[-2.62063284e-01 -9.65045657e-01 3.11694042e-03 3.00265540e+02] [ 9.64872114e-01 -2.62075556e-01 -1.83903769e-02 2.77175103e+02] [ 1.85644272e-02 -1.81199366e-03 9.99826024e-01 2.14796242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8507140569999 meters Centerline goodness : 0.989825 Centerline is valid? [True, True] Translation: X:301.26, Y:276.82, Z:2.94 [[-1.99241468e-01 9.79945469e-01 -3.11694042e-03 3.01255349e+02] [ 9.79773080e-01 1.99264913e-01 1.83903769e-02 2.76823536e+02] [ 1.86426633e-02 6.10231367e-04 -9.99826024e-01 2.93919652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.880714057 meters Centerline goodness : 0.989817 Centerline is valid? [True, True] Translation: X:300.44, Y:276.59, Z:2.13 [[-3.11132280e-01 -9.50351841e-01 5.29926198e-03 3.00435496e+02] [ 9.50185287e-01 -3.11177000e-01 -1.77987173e-02 2.76591762e+02] [ 1.85640522e-02 -5.02474710e-04 9.99827547e-01 2.13293931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.910714057 meters Centerline goodness : 0.987208 Centerline is valid? [True, True] Translation: X:300.23, Y:277.32, Z:2.15 [[-3.39786188e-01 -9.40491990e-01 4.49046265e-03 3.00225641e+02] [ 9.40321192e-01 -3.39810537e-01 -1.80237546e-02 2.77320628e+02] [ 1.84771033e-02 -1.90174567e-03 9.99827475e-01 2.14992988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9407140569999 meters Centerline goodness : 0.987307 Centerline is valid? [True, True] Translation: X:300.22, Y:277.34, Z:2.15 [[-3.36848458e-01 -9.41545799e-01 4.96235190e-03 3.00220455e+02] [ 9.41376797e-01 -3.36882284e-01 -1.78900224e-02 2.77335530e+02] [ 1.85160039e-02 -1.35478353e-03 9.99827646e-01 2.15054515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9707140569999 meters Centerline goodness : 0.988493 Centerline is valid? [True, True] Translation: X:301.26, Y:277.00, Z:2.94 [[-2.88723977e-01 9.57399520e-01 -4.96235190e-03 3.01262700e+02] [ 9.57232448e-01 2.88766320e-01 1.78900224e-02 2.76997776e+02] [ 1.85608589e-02 4.15154156e-04 -9.99827646e-01 2.93882216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.000714057 meters Centerline goodness : 0.990570 Centerline is valid? [True, True] Translation: X:300.44, Y:276.74, Z:2.14 [[-3.81662343e-01 -9.24278021e-01 6.63294719e-03 3.00442383e+02] [ 9.24116437e-01 -3.81719688e-01 -1.72884841e-02 2.76739613e+02] [ 1.85112924e-02 -4.68747825e-04 9.99828541e-01 2.13872164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.030714057 meters Centerline goodness : 0.990586 Centerline is valid? [True, True] Translation: X:300.45, Y:276.71, Z:2.14 [[-3.76995687e-01 -9.26197730e-01 5.65827092e-03 3.00451522e+02] [ 9.26030882e-01 -3.77035515e-01 -1.76359584e-02 2.76713790e+02] [ 1.84677537e-02 -1.40894666e-03 9.99828464e-01 2.13844059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0607140569999 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:300.42, Y:276.77, Z:2.15 [[-3.96966964e-01 -9.17815660e-01 5.62524680e-03 3.00419530e+02] [ 9.17647831e-01 -3.97002538e-01 -1.76477389e-02 2.76765282e+02] [ 1.84306084e-02 -1.84357381e-03 9.99828442e-01 2.14537583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0907140569999 meters Centerline goodness : 0.990746 Centerline is valid? [True, True] Translation: X:300.43, Y:276.77, Z:2.14 [[-3.73710038e-01 -9.27524590e-01 6.24035169e-03 3.00427986e+02] [ 9.27361135e-01 -3.73761431e-01 -1.74274893e-02 2.76768503e+02] [ 1.84968277e-02 -7.25768054e-04 9.99828656e-01 2.14160781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.120714057 meters Centerline goodness : 0.989740 Centerline is valid? [True, True] Translation: X:300.43, Y:276.75, Z:2.14 [[-3.69948758e-01 -9.29034841e-01 5.67286038e-03 3.00434088e+02] [ 9.28868400e-01 -3.69990130e-01 -1.76294963e-02 2.76748865e+02] [ 1.84773187e-02 -1.25266954e-03 9.99828495e-01 2.14041137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.150714057 meters Centerline goodness : 0.988023 Centerline is valid? [True, True] Translation: X:300.21, Y:277.35, Z:2.16 [[-3.90489814e-01 -9.20588093e-01 5.93875792e-03 3.00207967e+02] [ 9.20422157e-01 -3.90532532e-01 -1.75326810e-02 2.77352868e+02] [ 1.84596555e-02 -1.38016895e-03 9.99828653e-01 2.15546194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1807140569999 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:301.26, Y:277.17, Z:2.95 [[-3.88979227e-01 9.21227383e-01 -5.93875792e-03 3.01262111e+02] [ 9.21061518e-01 3.89022218e-01 1.75326810e-02 2.77168266e+02] [ 1.84618946e-02 1.34988731e-03 -9.99828653e-01 2.94577994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2107140569999 meters Centerline goodness : 0.989952 Centerline is valid? [True, True] Translation: X:300.42, Y:276.89, Z:2.15 [[-4.55804446e-01 -8.90042262e-01 8.19018739e-03 3.00419846e+02] [ 8.89889116e-01 -4.55877962e-01 -1.65119750e-02 2.76888371e+02] [ 1.84300815e-02 -2.37873026e-04 9.99830123e-01 2.14746863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.240714057 meters Centerline goodness : 0.987717 Centerline is valid? [True, True] Translation: X:300.20, Y:277.39, Z:2.16 [[-4.52875674e-01 -8.91541504e-01 7.57433572e-03 3.00196993e+02] [ 8.91383802e-01 -4.52938208e-01 -1.67898070e-02 2.77387716e+02] [ 1.83995158e-02 -8.52054982e-04 9.99830352e-01 2.15707075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.270714057 meters Centerline goodness : 0.989229 Centerline is valid? [True, True] Translation: X:300.44, Y:276.86, Z:2.15 [[-4.29699905e-01 -9.02939780e-01 7.59903623e-03 3.00442097e+02] [ 9.02783942e-01 -4.29766950e-01 -1.67786518e-02 2.76857086e+02] [ 1.84159268e-02 -3.49497185e-04 9.99830351e-01 2.14601044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3007140569999 meters Centerline goodness : 0.988985 Centerline is valid? [True, True] Translation: X:300.18, Y:277.42, Z:2.16 [[-4.47298709e-01 -8.94355359e-01 7.23582421e-03 3.00183037e+02] [ 8.94195576e-01 -4.47355860e-01 -1.69412368e-02 2.77415974e+02] [ 1.83884743e-02 -1.10755137e-03 9.99830304e-01 2.15596288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3307140569999 meters Centerline goodness : 0.987213 Centerline is valid? [True, True] Translation: X:300.13, Y:277.53, Z:2.16 [[-4.45959631e-01 -8.95021575e-01 7.50914061e-03 3.00133090e+02] [ 8.94863894e-01 -4.46022164e-01 -1.68178740e-02 2.77527564e+02] [ 1.84016032e-02 -7.80434070e-04 9.99830372e-01 2.15880346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3607140569999 meters Centerline goodness : 0.989779 Centerline is valid? [True, True] Translation: X:301.22, Y:277.39, Z:2.94 [[-4.57680450e-01 8.89085046e-01 -7.50914061e-03 3.01219515e+02] [ 8.88926556e-01 4.57740906e-01 1.68178740e-02 2.77385999e+02] [ 1.83897611e-02 1.02213763e-03 -9.99830372e-01 2.94120623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.390714057 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:300.44, Y:276.99, Z:2.15 [[-4.91026948e-01 -8.71096399e-01 9.14329832e-03 3.00440428e+02] [ 8.70950678e-01 -4.91112048e-01 -1.59333771e-02 2.76992718e+02] [ 1.83698913e-02 1.39644375e-04 9.99831250e-01 2.14655542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4207140569999 meters Centerline goodness : 0.990203 Centerline is valid? [True, True] Translation: X:300.44, Y:276.99, Z:2.15 [[-4.91382445e-01 -8.70905736e-01 8.15421367e-03 3.00444184e+02] [ 8.70750654e-01 -4.91449100e-01 -1.64645493e-02 2.76986225e+02] [ 1.83464514e-02 -9.90103587e-04 9.99831199e-01 2.14854949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4507140569999 meters Centerline goodness : 0.991013 Centerline is valid? [True, True] Translation: X:300.41, Y:277.03, Z:2.15 [[-5.08941512e-01 -8.60761424e-01 8.26486128e-03 3.00409744e+02] [ 8.60605968e-01 -5.09007114e-01 -1.64050415e-02 2.77030070e+02] [ 1.83277000e-02 -1.23641767e-03 9.99831269e-01 2.15355790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4807140569999 meters Centerline goodness : 0.987963 Centerline is valid? [True, True] Translation: X:300.12, Y:277.57, Z:2.16 [[-5.08578178e-01 -8.60971729e-01 8.71315799e-03 3.00118226e+02] [ 8.60820296e-01 -5.08652302e-01 -1.61633819e-02 2.77574133e+02] [ 1.83481827e-02 -7.19880060e-04 9.99831399e-01 2.16309180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.510714057 meters Centerline goodness : 0.987963 Centerline is valid? [True, True] Translation: X:300.12, Y:277.58, Z:2.16 [[-5.07985253e-01 -8.61322010e-01 8.68206097e-03 3.00116830e+02] [ 8.61170341e-01 -5.08058898e-01 -1.61802258e-02 2.77576590e+02] [ 1.83473829e-02 -7.42582690e-04 9.99831397e-01 2.16312799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.540714057 meters Centerline goodness : 0.989134 Centerline is valid? [True, True] Translation: X:301.17, Y:277.57, Z:2.94 [[-5.21353823e-01 8.53296439e-01 -8.68206097e-03 3.01167280e+02] [ 8.53143641e-01 5.21425094e-01 1.61802258e-02 2.77565393e+02] [ 1.83335735e-02 1.02857746e-03 -9.99831397e-01 2.94151989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5707140569999 meters Centerline goodness : 0.989393 Centerline is valid? [True, True] Translation: X:300.40, Y:277.17, Z:2.16 [[-5.55603775e-01 -8.31384652e-01 1.01983089e-02 3.00401431e+02] [ 8.31245420e-01 -5.55697364e-01 -1.52148724e-02 2.77165195e+02] [ 1.83165848e-02 2.38569685e-05 9.99832237e-01 2.15767727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6007140569999 meters Centerline goodness : 0.982721 Centerline is valid? [True, True] Translation: X:299.91, Y:277.92, Z:2.17 [[-5.82878108e-01 -8.12501596e-01 9.70911996e-03 2.99909226e+02] [ 8.12354001e-01 -5.82957802e-01 -1.55299011e-02 2.77917241e+02] [ 1.82780767e-02 -1.16479692e-03 9.99832264e-01 2.17372791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.630714057 meters Centerline goodness : 0.991105 Centerline is valid? [True, True] Translation: X:300.41, Y:277.16, Z:2.15 [[-5.45003005e-01 -8.38372880e-01 1.01310460e-02 3.00405783e+02] [ 8.38234055e-01 -5.45097131e-01 -1.52573391e-02 2.77161186e+02] [ 1.83137435e-02 1.76892078e-04 9.99832274e-01 2.15231348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.660714057 meters Centerline goodness : 0.989222 Centerline is valid? [True, True] Translation: X:300.40, Y:277.17, Z:2.16 [[-5.51039594e-01 -8.34430354e-01 9.01939816e-03 3.00402985e+02] [ 8.34278928e-01 -5.51111959e-01 -1.59461432e-02 2.77165938e+02] [ 1.82766441e-02 -1.26226244e-03 9.99832171e-01 2.15703921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6907140569999 meters Centerline goodness : 0.988969 Centerline is valid? [True, True] Translation: X:300.40, Y:277.17, Z:2.16 [[-5.53998870e-01 -8.32464755e-01 9.36392897e-03 3.00402524e+02] [ 8.32316593e-01 -5.54077234e-01 -1.57323534e-02 2.77173240e+02] [ 1.82849696e-02 -9.21952556e-04 9.99832391e-01 2.15716762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7207140569999 meters Centerline goodness : 0.988807 Centerline is valid? [True, True] Translation: X:300.40, Y:277.18, Z:2.16 [[-5.54512017e-01 -8.32122601e-01 9.40212455e-03 3.00400475e+02] [ 8.31974790e-01 -5.54591009e-01 -1.57086528e-02 2.77180904e+02] [ 1.82858587e-02 -8.88306135e-04 9.99832405e-01 2.15675222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.750714057 meters Centerline goodness : 0.989470 Centerline is valid? [True, True] Translation: X:300.40, Y:277.19, Z:2.15 [[-5.56272927e-01 -8.30946662e-01 9.38487357e-03 3.00395657e+02] [ 8.30798504e-01 -5.56351280e-01 -1.57193522e-02 2.77191413e+02] [ 1.82832297e-02 -9.47311122e-04 9.99832399e-01 2.15342386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.780714057 meters Centerline goodness : 0.988948 Centerline is valid? [True, True] Translation: X:300.39, Y:277.20, Z:2.16 [[-5.57251872e-01 -8.30291507e-01 9.29324394e-03 3.00394944e+02] [ 8.30142313e-01 -5.57328318e-01 -1.57761501e-02 2.77196408e+02] [ 1.82781915e-02 -1.07657416e-03 9.99832360e-01 2.15519763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8107140569999 meters Centerline goodness : 0.989954 Centerline is valid? [True, True] Translation: X:300.39, Y:277.21, Z:2.15 [[-5.58142116e-01 -8.29691837e-01 9.42520778e-03 3.00391979e+02] [ 8.29543921e-01 -5.58220898e-01 -1.56943238e-02 2.77206806e+02] [ 1.82828003e-02 -9.41039277e-04 9.99832413e-01 2.15425665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8407140569999 meters Centerline goodness : 0.989061 Centerline is valid? [True, True] Translation: X:300.40, Y:277.20, Z:2.15 [[-5.55682251e-01 -8.31342818e-01 9.29267017e-03 3.00400475e+02] [ 8.31193764e-01 -5.55758969e-01 -1.57763997e-02 2.77197708e+02] [ 1.82800814e-02 -1.04265580e-03 9.99832362e-01 2.15374969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.870714057 meters Centerline goodness : 0.988588 Centerline is valid? [True, True] Translation: X:300.41, Y:277.19, Z:2.15 [[-5.55413445e-01 -8.31521490e-01 9.37643506e-03 3.00409212e+02] [ 8.31373326e-01 -5.55491793e-01 -1.57245460e-02 2.77185419e+02] [ 1.82838307e-02 -9.38306279e-04 9.99832397e-01 2.15335604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.900714057 meters Centerline goodness : 0.988718 Centerline is valid? [True, True] Translation: X:300.40, Y:277.20, Z:2.16 [[-5.55850068e-01 -8.31229802e-01 9.36579526e-03 3.00399272e+02] [ 8.31081487e-01 -5.55928137e-01 -1.57311279e-02 2.77204212e+02] [ 1.82828914e-02 -9.60409446e-04 9.99832393e-01 2.15550898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9307140569999 meters Centerline goodness : 0.989125 Centerline is valid? [True, True] Translation: X:300.40, Y:277.22, Z:2.15 [[-5.55456391e-01 -8.31492799e-01 9.37675157e-03 3.00395433e+02] [ 8.31344634e-01 -5.55534737e-01 -1.57243501e-02 2.77215430e+02] [ 1.82837951e-02 -9.38878645e-04 9.99832397e-01 2.15453399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9607140569999 meters Centerline goodness : 0.990193 Centerline is valid? [True, True] Translation: X:300.40, Y:277.21, Z:2.15 [[-5.54473308e-01 -8.32150236e-01 9.23774320e-03 3.00402531e+02] [ 8.32000733e-01 -5.54549202e-01 -1.58102405e-02 2.77207459e+02] [ 1.82792785e-02 -1.08054723e-03 9.99832336e-01 2.15385672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.990714057 meters Centerline goodness : 0.989384 Centerline is valid? [True, True] Translation: X:300.40, Y:277.21, Z:2.15 [[-5.52838887e-01 -8.33236917e-01 9.24151327e-03 3.00402553e+02] [ 8.33087601e-01 -5.52915146e-01 -1.58079122e-02 2.77211260e+02] [ 1.82815087e-02 -1.04023845e-03 9.99832338e-01 2.15319740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.020714057 meters Centerline goodness : 0.987815 Centerline is valid? [True, True] Translation: X:300.41, Y:277.21, Z:2.16 [[-5.52788715e-01 -8.33270628e-01 9.20308613e-03 3.00407800e+02] [ 8.33120925e-01 -5.52864255e-01 -1.58316188e-02 2.77206419e+02] [ 1.82800803e-02 -1.08425657e-03 9.99832317e-01 2.15878382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0507140569999 meters Centerline goodness : 0.988597 Centerline is valid? [True, True] Translation: X:300.40, Y:277.22, Z:2.15 [[-5.53765233e-01 -8.32621357e-01 9.25972076e-03 3.00403087e+02] [ 8.32472143e-01 -5.53841670e-01 -1.57966856e-02 2.77216494e+02] [ 1.82810770e-02 -1.03919571e-03 9.99832347e-01 2.15427366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0807140569999 meters Centerline goodness : 0.988784 Centerline is valid? [True, True] Translation: X:300.41, Y:277.21, Z:2.15 [[-5.53275374e-01 -8.32947163e-01 9.24037996e-03 3.00407132e+02] [ 8.32797796e-01 -5.53351533e-01 -1.58086071e-02 2.77212662e+02] [ 1.82809129e-02 -1.05114495e-03 9.99832338e-01 2.15420627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1107140569999 meters Centerline goodness : 0.988045 Centerline is valid? [True, True] Translation: X:300.41, Y:277.21, Z:2.16 [[-5.54898133e-01 -8.31868129e-01 9.13656656e-03 3.00411098e+02] [ 8.31717565e-01 -5.54972030e-01 -1.58725369e-02 2.77210705e+02] [ 1.82743965e-02 -1.20859822e-03 9.99832279e-01 2.15512566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.140714057 meters Centerline goodness : 0.988464 Centerline is valid? [True, True] Translation: X:300.13, Y:277.65, Z:2.16 [[-5.67886831e-01 -8.23052233e-01 9.46405914e-03 3.00133968e+02] [ 8.22903813e-01 -5.67964601e-01 -1.56692853e-02 2.77654346e+02] [ 1.82718909e-02 -1.11037044e-03 9.99832439e-01 2.16300482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1707140569999 meters Centerline goodness : 0.989717 Centerline is valid? [True, True] Translation: X:301.02, Y:277.80, Z:2.95 [[-5.40093783e-01 8.41551625e-01 -9.46405914e-03 3.01024927e+02] [ 8.41405884e-01 5.40176464e-01 1.56692853e-02 2.77798825e+02] [ 1.82987745e-02 4.99768543e-04 -9.99832439e-01 2.94734224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2007140569999 meters Centerline goodness : 0.989958 Centerline is valid? [True, True] Translation: X:300.37, Y:277.35, Z:2.16 [[-6.28279057e-01 -7.77914875e-01 1.06711967e-02 3.00370860e+02] [ 7.77774737e-01 -6.28368882e-01 -1.47988649e-02 2.77348312e+02] [ 1.82177051e-02 -9.98029673e-04 9.99833546e-01 2.15893007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2307140569999 meters Centerline goodness : 0.988243 Centerline is valid? [True, True] Translation: X:300.18, Y:277.62, Z:2.16 [[-6.23839506e-01 -7.81479698e-01 1.06654604e-02 3.00183831e+02] [ 7.81340005e-01 -6.23930019e-01 -1.48029979e-02 2.77622189e+02] [ 1.82227433e-02 -9.01343989e-04 9.99833546e-01 2.16377340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.260714057 meters Centerline goodness : 0.988693 Centerline is valid? [True, True] Translation: X:300.39, Y:277.34, Z:2.16 [[-6.10844895e-01 -7.91679106e-01 1.06163519e-02 3.00388702e+02] [ 7.91540312e-01 -6.10936786e-01 -1.48383876e-02 2.77344970e+02] [ 1.82331614e-02 -6.60682817e-04 9.99833544e-01 2.15656686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.290714057 meters Centerline goodness : 0.989361 Centerline is valid? [True, True] Translation: X:300.37, Y:277.36, Z:2.16 [[-6.25982178e-01 -7.79771416e-01 1.01415971e-02 3.00368938e+02] [ 7.79625344e-01 -6.26062297e-01 -1.51764369e-02 2.77358161e+02] [ 1.81834232e-02 -1.59353287e-03 9.99833398e-01 2.16027491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3207140569999 meters Centerline goodness : 0.987483 Centerline is valid? [True, True] Translation: X:300.39, Y:277.35, Z:2.16 [[-6.11828854e-01 -7.90919201e-01 1.05958432e-02 3.00387077e+02] [ 7.90780052e-01 -6.11920188e-01 -1.48523763e-02 2.77354543e+02] [ 1.82308400e-02 -7.08130934e-04 9.99833554e-01 2.16245766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3507140569999 meters Centerline goodness : 0.989513 Centerline is valid? [True, True] Translation: X:300.36, Y:277.37, Z:2.16 [[-6.25136998e-01 -7.80446847e-01 1.03175368e-02 3.00363192e+02] [ 7.80302894e-01 -6.25220661e-01 -1.50505469e-02 2.77373089e+02] [ 1.81968891e-02 -1.35784994e-03 9.99833501e-01 2.15967713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.380714057 meters Centerline goodness : 0.989109 Centerline is valid? [True, True] Translation: X:300.39, Y:277.35, Z:2.16 [[-6.10041173e-01 -7.92298936e-01 1.05907148e-02 3.00390234e+02] [ 7.92159935e-01 -6.10132726e-01 -1.48557993e-02 2.77353055e+02] [ 1.82319757e-02 -6.73109295e-04 9.99833557e-01 2.15910561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.410714057 meters Centerline goodness : 0.988612 Centerline is valid? [True, True] Translation: X:300.38, Y:277.36, Z:2.16 [[-6.10187422e-01 -7.92192130e-01 1.01458930e-02 3.00382955e+02] [ 7.92047776e-01 -6.10270543e-01 -1.51718059e-02 2.77363497e+02] [ 1.82107249e-02 -1.22161310e-03 9.99833425e-01 2.16087601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4407140569999 meters Centerline goodness : 0.987524 Centerline is valid? [True, True] Translation: X:300.38, Y:277.37, Z:2.16 [[-6.07458314e-01 -7.94286258e-01 1.01851761e-02 3.00383194e+02] [ 7.94142654e-01 -6.07542679e-01 -1.51439040e-02 2.77366712e+02] [ 1.82165240e-02 -1.11080760e-03 9.99833448e-01 2.16020905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4707140569999 meters Centerline goodness : 0.987435 Centerline is valid? [True, True] Translation: X:300.38, Y:277.37, Z:2.16 [[-6.06961654e-01 -7.94665936e-01 1.01784516e-02 3.00383184e+02] [ 7.94522306e-01 -6.07045982e-01 -1.51486765e-02 2.77367852e+02] [ 1.82169254e-02 -1.10765893e-03 9.99833445e-01 2.16133636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.500714057 meters Centerline goodness : 0.987505 Centerline is valid? [True, True] Translation: X:300.39, Y:277.37, Z:2.16 [[-6.06165224e-01 -7.95274212e-01 1.01315457e-02 3.00386100e+02] [ 7.95130113e-01 -6.06248804e-01 -1.51819378e-02 2.77366244e+02] [ 1.82160411e-02 -1.14686567e-03 9.99833416e-01 2.16006958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.530714057 meters Centerline goodness : 0.987902 Centerline is valid? [True, True] Translation: X:300.39, Y:277.37, Z:2.16 [[-6.04278534e-01 -7.96707976e-01 1.01908920e-02 3.00388826e+02] [ 7.96564778e-01 -6.04363581e-01 -1.51398758e-02 2.77366450e+02] [ 1.82210638e-02 -1.03099637e-03 9.99833451e-01 2.15966832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5607140569999 meters Centerline goodness : 0.987687 Centerline is valid? [True, True] Translation: X:300.39, Y:277.37, Z:2.16 [[-6.04868627e-01 -7.96261272e-01 1.00960905e-02 3.00386435e+02] [ 7.96116893e-01 -6.04951767e-01 -1.52070114e-02 2.77370300e+02] [ 1.82164020e-02 -1.16057588e-03 9.99833394e-01 2.16149545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5907140569999 meters Centerline goodness : 0.987244 Centerline is valid? [True, True] Translation: X:300.39, Y:277.37, Z:2.16 [[-6.03045822e-01 -7.97642202e-01 1.01318520e-02 3.00386114e+02] [ 7.97498435e-01 -6.03129971e-01 -1.51816936e-02 2.77373606e+02] [ 1.82203831e-02 -1.07512077e-03 9.99833417e-01 2.16173049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.620714057 meters Centerline goodness : 0.987873 Centerline is valid? [True, True] Translation: X:300.39, Y:277.37, Z:2.16 [[-6.02934782e-01 -7.97725199e-01 1.02056986e-02 3.00387373e+02] [ 7.97582321e-01 -6.03020350e-01 -1.51294065e-02 2.77371992e+02] [ 1.82233528e-02 -9.82160672e-04 9.99833459e-01 2.16053754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.650714057 meters Centerline goodness : 0.987557 Centerline is valid? [True, True] Translation: X:300.39, Y:277.37, Z:2.16 [[-6.01252160e-01 -7.98994979e-01 1.01421704e-02 3.00390321e+02] [ 7.98851525e-01 -6.01336828e-01 -1.51743516e-02 2.77371449e+02] [ 1.82230913e-02 -1.02152341e-03 9.99833424e-01 2.16139183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6807140569999 meters Centerline goodness : 0.988110 Centerline is valid? [True, True] Translation: X:300.39, Y:277.37, Z:2.16 [[-6.00060288e-01 -7.99890169e-01 1.01670067e-02 3.00390525e+02] [ 7.99747138e-01 -6.00145639e-01 -1.51567910e-02 2.77372526e+02] [ 1.82254528e-02 -9.63953866e-04 9.99833438e-01 2.16300487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7107140569999 meters Centerline goodness : 0.987377 Centerline is valid? [True, True] Translation: X:300.39, Y:277.37, Z:2.16 [[-5.97507715e-01 -8.01799623e-01 1.00942588e-02 3.00392139e+02] [ 8.01655997e-01 -5.97592147e-01 -1.52081653e-02 2.77373443e+02] [ 1.82261510e-02 -9.94872966e-04 9.99833395e-01 2.16108599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.740714057 meters Centerline goodness : 0.988434 Centerline is valid? [True, True] Translation: X:300.39, Y:277.37, Z:2.16 [[-5.97427448e-01 -8.01859581e-01 1.00824503e-02 3.00393171e+02] [ 8.01715823e-01 -5.97511671e-01 -1.52164981e-02 2.77372427e+02] [ 1.82258765e-02 -1.00749371e-03 9.99833387e-01 2.16286827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.770714057 meters Centerline goodness : 0.986028 Centerline is valid? [True, True] Translation: X:300.41, Y:277.36, Z:2.17 [[-5.90762171e-01 -8.06782557e-01 1.00976794e-02 3.00406848e+02] [ 8.06639684e-01 -5.90847869e-01 -1.52057619e-02 2.77358675e+02] [ 1.82339359e-02 -8.37799992e-04 9.99833397e-01 2.16579503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8007140569999 meters Centerline goodness : 0.987741 Centerline is valid? [True, True] Translation: X:300.37, Y:277.39, Z:2.17 [[-6.08090562e-01 -7.93803047e-01 1.01287907e-02 3.00373982e+02] [ 7.93658714e-01 -6.08173739e-01 -1.51838171e-02 2.77385924e+02] [ 1.82130248e-02 -1.19433287e-03 9.99833416e-01 2.16546997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8307140569999 meters Centerline goodness : 0.988671 Centerline is valid? [True, True] Translation: X:300.37, Y:277.39, Z:2.17 [[-6.07134086e-01 -7.94529642e-01 1.05285404e-02 3.00372709e+02] [ 7.94390186e-01 -6.07224984e-01 -1.49013774e-02 2.77388495e+02] [ 1.82327788e-02 -6.83364991e-04 9.99833536e-01 2.16615115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8607140569999 meters Centerline goodness : 0.988672 Centerline is valid? [True, True] Translation: X:300.39, Y:277.38, Z:2.16 [[-5.89630373e-01 -8.07604664e-01 1.05228251e-02 3.00394421e+02] [ 8.07467156e-01 -5.89724191e-01 -1.49054122e-02 2.77380716e+02] [ 1.82432450e-02 -2.91848114e-04 9.99833536e-01 2.16108436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.890714057 meters Centerline goodness : 0.987746 Centerline is valid? [True, True] Translation: X:300.39, Y:277.39, Z:2.16 [[-5.93091938e-01 -8.05073307e-01 9.94602350e-03 3.00390552e+02] [ 8.04928421e-01 -5.93174354e-01 -1.53108404e-02 2.77387199e+02] [ 1.82260750e-02 -1.07489904e-03 9.99833314e-01 2.16318491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9207140569999 meters Centerline goodness : 0.987924 Centerline is valid? [True, True] Translation: X:300.39, Y:277.39, Z:2.16 [[-5.93613768e-01 -8.04686830e-01 1.00896276e-02 3.00390114e+02] [ 8.04543588e-01 -5.93698809e-01 -1.52098656e-02 2.77389359e+02] [ 1.82293785e-02 -9.11240425e-04 9.99833416e-01 2.16436114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9507140569999 meters Centerline goodness : 0.987927 Centerline is valid? [True, True] Translation: X:300.39, Y:277.39, Z:2.16 [[-5.92919679e-01 -8.05198408e-01 1.00885216e-02 3.00390898e+02] [ 8.05055226e-01 -5.93004823e-01 -1.52106431e-02 2.77390428e+02] [ 1.82301276e-02 -8.96872591e-04 9.99833415e-01 2.16176048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9807140569999 meters Centerline goodness : 0.987118 Centerline is valid? [True, True] Translation: X:300.39, Y:277.39, Z:2.17 [[-5.95928557e-01 -8.02974660e-01 1.00423972e-02 3.00390492e+02] [ 8.02830616e-01 -5.96012291e-01 -1.52430428e-02 2.77393101e+02] [ 1.82251692e-02 -1.02142057e-03 9.99833386e-01 2.16573990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.010714057 meters Centerline goodness : 0.987251 Centerline is valid? [True, True] Translation: X:300.39, Y:277.40, Z:2.16 [[-5.95783963e-01 -8.03081335e-01 1.00915189e-02 3.00386633e+02] [ 8.02937887e-01 -5.95868652e-01 -1.52085333e-02 2.77401938e+02] [ 1.82269090e-02 -9.58137370e-04 9.99833417e-01 2.16372601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.040714057 meters Centerline goodness : 0.987301 Centerline is valid? [True, True] Translation: X:300.39, Y:277.40, Z:2.16 [[-5.98880963e-01 -8.00774904e-01 1.00571006e-02 3.00386366e+02] [ 8.00630725e-01 -5.98964446e-01 -1.52327009e-02 2.77403792e+02] [ 1.82218102e-02 -1.07055083e-03 9.99833396e-01 2.16418962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0707140569999 meters Centerline goodness : 0.987254 Centerline is valid? [True, True] Translation: X:300.39, Y:277.40, Z:2.17 [[-5.99049179e-01 -8.00646503e-01 1.02595236e-02 3.00391528e+02] [ 8.00504707e-01 -5.99136456e-01 -1.50904539e-02 2.77402178e+02] [ 1.82289738e-02 -8.27127155e-04 9.99833496e-01 2.16528846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1007140569999 meters Centerline goodness : 0.988212 Centerline is valid? [True, True] Translation: X:300.39, Y:277.41, Z:2.16 [[-6.01407720e-01 -7.98878651e-01 1.00824117e-02 3.00387656e+02] [ 7.98734509e-01 -6.01491228e-01 -1.52147037e-02 2.77408818e+02] [ 1.82191841e-02 -1.09707014e-03 9.99833415e-01 2.16468672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.130714057 meters Centerline goodness : 0.986553 Centerline is valid? [True, True] Translation: X:300.39, Y:277.40, Z:2.17 [[-6.00734928e-01 -7.99383880e-01 1.01468598e-02 3.00394019e+02] [ 7.99240564e-01 -6.00819779e-01 -1.51695035e-02 2.77402877e+02] [ 1.82226906e-02 -1.00306865e-03 9.99833450e-01 2.16577175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.160714057 meters Centerline goodness : 0.987010 Centerline is valid? [True, True] Translation: X:300.37, Y:277.42, Z:2.17 [[-6.14928313e-01 -7.88516543e-01 1.02387390e-02 3.00370163e+02] [ 7.88372790e-01 -6.15012343e-01 -1.51050351e-02 2.77424798e+02] [ 1.82075209e-02 -1.21657046e-03 9.99833489e-01 2.16574394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1907140569999 meters Centerline goodness : 0.987060 Centerline is valid? [True, True] Translation: X:300.41, Y:277.39, Z:2.17 [[-5.97087483e-01 -8.02107602e-01 1.04849036e-02 3.00407545e+02] [ 8.01968760e-01 -5.97179318e-01 -1.49321872e-02 2.77393391e+02] [ 1.82385884e-02 -5.07256964e-04 9.99833534e-01 2.16672958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2207140569999 meters Centerline goodness : 0.987466 Centerline is valid? [True, True] Translation: X:300.39, Y:277.42, Z:2.17 [[-6.06249391e-01 -7.95212107e-01 9.96899336e-03 3.00387765e+02] [ 7.95066178e-01 -6.06329857e-01 -1.52930370e-02 2.77416245e+02] [ 1.82057065e-02 -1.34538494e-03 9.99833357e-01 2.16594140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.250714057 meters Centerline goodness : 0.988279 Centerline is valid? [True, True] Translation: X:300.40, Y:277.41, Z:2.16 [[-5.98200467e-01 -8.01282565e-01 1.01218596e-02 3.00401162e+02] [ 8.01139242e-01 -5.98285300e-01 -1.51860487e-02 2.77405395e+02] [ 1.82240759e-02 -9.75282535e-04 9.99833452e-01 2.16162326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.280714057 meters Centerline goodness : 0.987948 Centerline is valid? [True, True] Translation: X:300.38, Y:277.43, Z:2.17 [[-6.06325617e-01 -7.95155329e-01 9.86146035e-03 3.00384607e+02] [ 7.95008180e-01 -6.06404006e-01 -1.53680181e-02 2.77425380e+02] [ 1.81999906e-02 -1.47808142e-03 9.99833274e-01 2.16646439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3107140569999 meters Centerline goodness : 0.987997 Centerline is valid? [True, True] Translation: X:300.39, Y:277.42, Z:2.17 [[-6.07135658e-01 -7.94534092e-01 1.00930418e-02 3.00388470e+02] [ 7.94389499e-01 -6.07218332e-01 -1.52059547e-02 2.77422630e+02] [ 1.82103294e-02 -1.21427091e-03 9.99833441e-01 2.16617784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3407140569999 meters Centerline goodness : 0.988473 Centerline is valid? [True, True] Translation: X:300.37, Y:277.44, Z:2.16 [[-6.19564820e-01 -7.84880803e-01 1.00776418e-02 3.00368491e+02] [ 7.84734755e-01 -6.19644911e-01 -1.52167341e-02 2.77440009e+02] [ 1.81878819e-02 -1.51947729e-03 9.99833432e-01 2.16492375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.370714057 meters Centerline goodness : 0.988898 Centerline is valid? [True, True] Translation: X:300.37, Y:277.44, Z:2.17 [[-6.20137330e-01 -7.84423328e-01 1.04753718e-02 3.00367448e+02] [ 7.84281785e-01 -6.20224914e-01 -1.49378226e-02 2.77442906e+02] [ 1.82146631e-02 -1.04785808e-03 9.99833550e-01 2.16612134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.400714057 meters Centerline goodness : 0.989321 Centerline is valid? [True, True] Translation: X:300.36, Y:277.45, Z:2.17 [[-6.21429217e-01 -7.83400355e-01 1.04695897e-02 3.00364575e+02] [ 7.83258600e-01 -6.21516457e-01 -1.49418741e-02 2.77449083e+02] [ 1.82124917e-02 -1.08492096e-03 9.99833550e-01 2.16626890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4307140569999 meters Centerline goodness : 0.989321 Centerline is valid? [True, True] Translation: X:300.36, Y:277.45, Z:2.17 [[-6.21125045e-01 -7.83641620e-01 1.04637952e-02 3.00362996e+02] [ 7.83499830e-01 -6.21212230e-01 -1.49459308e-02 2.77451213e+02] [ 1.82124910e-02 -1.08491019e-03 9.99833550e-01 2.16631485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4607140569999 meters Centerline goodness : 0.989075 Centerline is valid? [True, True] Translation: X:300.38, Y:277.44, Z:2.16 [[-6.04196132e-01 -7.96767007e-01 1.04579904e-02 3.00384541e+02] [ 7.96627048e-01 -6.04286227e-01 -1.49499915e-02 2.77439553e+02] [ 1.82312795e-02 -7.01609013e-04 9.99833550e-01 2.16238470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.490714057 meters Centerline goodness : 0.989365 Centerline is valid? [True, True] Translation: X:300.15, Y:277.76, Z:2.17 [[-6.23436831e-01 -7.81809169e-01 1.00469220e-02 3.00148574e+02] [ 7.81662358e-01 -6.23515604e-01 -1.52397637e-02 2.77764148e+02] [ 1.81789996e-02 -1.64772932e-03 9.99833391e-01 2.17058771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.520714057 meters Centerline goodness : 0.989667 Centerline is valid? [True, True] Translation: X:300.36, Y:277.46, Z:2.17 [[-6.26413330e-01 -7.79422140e-01 1.03666857e-02 3.00359637e+02] [ 7.79278652e-01 -6.26497701e-01 -1.50137703e-02 2.77462229e+02] [ 1.81967697e-02 -1.32628905e-03 9.99833545e-01 2.16615091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5507140569999 meters Centerline goodness : 0.988463 Centerline is valid? [True, True] Translation: X:300.36, Y:277.46, Z:2.17 [[-6.26364958e-01 -7.79458933e-01 1.05219232e-02 3.00360375e+02] [ 7.79317255e-01 -6.26452298e-01 -1.49041775e-02 2.77462090e+02] [ 1.82086773e-02 -1.13553823e-03 9.99833563e-01 2.16787561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5807140569999 meters Centerline goodness : 0.988609 Centerline is valid? [True, True] Translation: X:300.38, Y:277.46, Z:2.16 [[-6.09885507e-01 -7.92419762e-01 1.05161326e-02 3.00375015e+02] [ 7.92279876e-01 -6.09975690e-01 -1.49082621e-02 2.77461284e+02] [ 1.82281868e-02 -7.60612754e-04 9.99833564e-01 2.16403994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6107140569999 meters Centerline goodness : 0.989138 Centerline is valid? [True, True] Translation: X:300.38, Y:277.46, Z:2.16 [[-6.09979157e-01 -7.92354259e-01 1.00078381e-02 3.00376845e+02] [ 7.92208402e-01 -6.10059682e-01 -1.52653929e-02 2.77459972e+02] [ 1.82009776e-02 -1.38327807e-03 9.99833392e-01 2.16486090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.640714057 meters Centerline goodness : 0.988460 Centerline is valid? [True, True] Translation: X:300.36, Y:277.47, Z:2.17 [[-6.25920393e-01 -7.79822219e-01 1.00482707e-02 3.00357948e+02] [ 7.79675206e-01 -6.25998728e-01 -1.52369706e-02 2.77467284e+02] [ 1.81723329e-02 -1.70274311e-03 9.99833420e-01 2.17015773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6707140569999 meters Centerline goodness : 0.987378 Centerline is valid? [True, True] Translation: X:300.38, Y:277.46, Z:2.17 [[-6.11144429e-01 -7.91449346e-01 1.05081359e-02 3.00378695e+02] [ 7.91309237e-01 -6.11234239e-01 -1.49129383e-02 2.77455222e+02] [ 1.82257677e-02 -7.98774149e-04 9.99833578e-01 2.16585288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7007140569999 meters Centerline goodness : 0.987172 Centerline is valid? [True, True] Translation: X:300.37, Y:277.46, Z:2.17 [[-6.12730502e-01 -7.90225797e-01 1.02235718e-02 3.00373092e+02] [ 7.90082153e-01 -6.12814647e-01 -1.51129433e-02 2.77460775e+02] [ 1.82077922e-02 -1.18269966e-03 9.99833525e-01 2.17141927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7307140569999 meters Centerline goodness : 0.988370 Centerline is valid? [True, True] Translation: X:300.37, Y:277.47, Z:2.17 [[-6.11696718e-01 -7.91028148e-01 1.00794290e-02 3.00368922e+02] [ 7.90882951e-01 -6.11778300e-01 -1.52141496e-02 2.77467749e+02] [ 1.82011965e-02 -1.33479682e-03 9.99833454e-01 2.16993075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.760714057 meters Centerline goodness : 0.988319 Centerline is valid? [True, True] Translation: X:300.35, Y:277.47, Z:2.17 [[-6.22690126e-01 -7.82403524e-01 1.00862535e-02 3.00352929e+02] [ 7.82257278e-01 -6.22769803e-01 -1.52093575e-02 2.77473606e+02] [ 1.81812690e-02 -1.58067150e-03 9.99833458e-01 2.16929163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.790714057 meters Centerline goodness : 0.987895 Centerline is valid? [True, True] Translation: X:300.37, Y:277.46, Z:2.17 [[-6.10158543e-01 -7.92209814e-01 1.04958438e-02 3.00369661e+02] [ 7.92069676e-01 -6.10248298e-01 -1.49212479e-02 2.77461390e+02] [ 1.82258298e-02 -7.90887273e-04 9.99833583e-01 2.17060665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8207140569999 meters Centerline goodness : 0.987771 Centerline is valid? [True, True] Translation: X:300.37, Y:277.47, Z:2.17 [[-6.08601263e-01 -7.93411936e-01 1.00996405e-02 3.00366326e+02] [ 7.93267308e-01 -6.08683799e-01 -1.51990594e-02 2.77465388e+02] [ 1.82066027e-02 -1.23845207e-03 9.99833479e-01 2.17028382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8507140569999 meters Centerline goodness : 0.988774 Centerline is valid? [True, True] Translation: X:300.35, Y:277.47, Z:2.17 [[-6.16975984e-01 -7.86916550e-01 1.01478078e-02 3.00352092e+02] [ 7.86771603e-01 -6.17057906e-01 -1.51652869e-02 2.77470232e+02] [ 1.81956003e-02 -1.37261084e-03 9.99833504e-01 2.17008718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.880714057 meters Centerline goodness : 0.988235 Centerline is valid? [True, True] Translation: X:300.36, Y:277.47, Z:2.17 [[-6.07229203e-01 -7.94457546e-01 1.04834211e-02 3.00361481e+02] [ 7.94317597e-01 -6.07319242e-01 -1.49296247e-02 2.77466148e+02] [ 1.82277364e-02 -7.38538250e-04 9.99833588e-01 2.16938221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.910714057 meters Centerline goodness : 0.987363 Centerline is valid? [True, True] Translation: X:300.36, Y:277.46, Z:2.17 [[-6.04673052e-01 -7.96408215e-01 1.02203421e-02 3.00362543e+02] [ 7.96265417e-01 -6.04758591e-01 -1.51139696e-02 2.77464393e+02] [ 1.82177292e-02 -1.00090513e-03 9.99833542e-01 2.16958501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9407140569999 meters Centerline goodness : 0.988429 Centerline is valid? [True, True] Translation: X:300.36, Y:277.47, Z:2.17 [[-6.00145362e-01 -7.99826269e-01 1.01727110e-02 3.00360484e+02] [ 7.99683395e-01 -6.00230811e-01 -1.51473188e-02 2.77465718e+02] [ 1.82211981e-02 -9.55645034e-04 9.99833523e-01 2.17147832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9707140569999 meters Centerline goodness : 0.988354 Centerline is valid? [True, True] Translation: X:300.36, Y:277.47, Z:2.17 [[-5.97868321e-01 -8.01530150e-01 1.01434409e-02 3.00356491e+02] [ 8.01387174e-01 -5.97953623e-01 -1.51678054e-02 2.77469388e+02] [ 1.82227606e-02 -9.39526914e-04 9.99833510e-01 2.17094398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.000714057 meters Centerline goodness : 0.988516 Centerline is valid? [True, True] Translation: X:300.36, Y:277.47, Z:2.17 [[-5.95315596e-01 -8.03427561e-01 1.01732794e-02 3.00358987e+02] [ 8.03285211e-01 -5.95401915e-01 -1.51469347e-02 2.77465177e+02] [ 1.82266549e-02 -8.45161549e-04 9.99833524e-01 2.17241712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.030714057 meters Centerline goodness : 0.989516 Centerline is valid? [True, True] Translation: X:300.34, Y:277.47, Z:2.17 [[-6.05135682e-01 -7.96057891e-01 1.01311644e-02 3.00344768e+02] [ 7.95914002e-01 -6.05219447e-01 -1.51763792e-02 2.77471259e+02] [ 1.82128541e-02 -1.12023296e-03 9.99833505e-01 2.17235793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0607140569999 meters Centerline goodness : 0.988955 Centerline is valid? [True, True] Translation: X:300.36, Y:277.47, Z:2.17 [[-5.89525209e-01 -8.07682202e-01 1.04636600e-02 3.00359982e+02] [ 8.07544029e-01 -5.89617954e-01 -1.49435636e-02 2.77465657e+02] [ 1.82392122e-02 -3.59741314e-04 9.99833587e-01 2.16849246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0907140569999 meters Centerline goodness : 0.988489 Centerline is valid? [True, True] Translation: X:300.36, Y:277.47, Z:2.17 [[-5.87807284e-01 -8.08939048e-01 1.00106339e-02 3.00356602e+02] [ 8.08795580e-01 -5.87891873e-01 -1.52595975e-02 2.77471730e+02] [ 1.82292546e-02 -8.73146155e-04 9.99833452e-01 2.16733958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.120714057 meters Centerline goodness : 0.988596 Centerline is valid? [True, True] Translation: X:300.36, Y:277.47, Z:2.17 [[-5.89015167e-01 -8.08059999e-01 1.00085585e-02 3.00356816e+02] [ 8.07916380e-01 -5.89099502e-01 -1.52610445e-02 2.77471104e+02] [ 1.82278764e-02 -9.02908325e-04 9.99833451e-01 2.16778536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.150714057 meters Centerline goodness : 0.988215 Centerline is valid? [True, True] Translation: X:300.36, Y:277.48, Z:2.17 [[-5.88823960e-01 -8.08198946e-01 1.00402559e-02 3.00355490e+02] [ 8.08055723e-01 -5.88908926e-01 -1.52389570e-02 2.77475089e+02] [ 1.82289053e-02 -8.59976829e-04 9.99833470e-01 2.16687770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1807140569999 meters Centerline goodness : 0.988009 Centerline is valid? [True, True] Translation: X:300.35, Y:277.48, Z:2.17 [[-5.90733546e-01 -8.06804573e-01 1.00129216e-02 3.00353500e+02] [ 8.06660827e-01 -5.90817658e-01 -1.52579978e-02 2.77477575e+02] [ 1.82260333e-02 -9.36379557e-04 9.99833454e-01 2.16703157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2107140569999 meters Centerline goodness : 0.988831 Centerline is valid? [True, True] Translation: X:300.36, Y:277.47, Z:2.16 [[-5.87948758e-01 -8.08835818e-01 1.00437961e-02 3.00360979e+02] [ 8.08692728e-01 -5.88033945e-01 -1.52365110e-02 2.77470922e+02] [ 1.82299289e-02 -8.35942909e-04 9.99833472e-01 2.16465054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.240714057 meters Centerline goodness : 0.988233 Centerline is valid? [True, True] Translation: X:300.36, Y:277.48, Z:2.16 [[-5.89296818e-01 -8.07856000e-01 9.89668799e-03 3.00358289e+02] [ 8.07711045e-01 -5.89378987e-01 -1.53387345e-02 2.77476611e+02] [ 1.82243886e-02 -1.04540320e-03 9.99833376e-01 2.16397949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.270714057 meters Centerline goodness : 0.989712 Centerline is valid? [True, True] Translation: X:300.34, Y:277.49, Z:2.17 [[-6.09815224e-01 -7.92481096e-01 9.95514990e-03 3.00335522e+02] [ 7.92334736e-01 -6.09894774e-01 -1.52980583e-02 2.77491915e+02] [ 1.81950159e-02 -1.44117779e-03 9.99833418e-01 2.16907978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3007140569999 meters Centerline goodness : 0.989518 Centerline is valid? [True, True] Translation: X:300.33, Y:277.49, Z:2.17 [[-6.10917273e-01 -7.91625681e-01 1.04339225e-02 3.00334663e+02] [ 7.91484726e-01 -6.11005728e-01 -1.49642344e-02 2.77493210e+02] [ 1.82212587e-02 -8.83618923e-04 9.99833589e-01 2.16973671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3307140569999 meters Centerline goodness : 0.989304 Centerline is valid? [True, True] Translation: X:300.35, Y:277.48, Z:2.17 [[-6.01152830e-01 -7.99066035e-01 1.04281408e-02 3.00352975e+02] [ 7.98926107e-01 -6.01242902e-01 -1.49682624e-02 2.77479817e+02] [ 1.82304757e-02 -6.66899346e-04 9.99833589e-01 2.16848121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3607140569999 meters Centerline goodness : 0.989264 Centerline is valid? [True, True] Translation: X:300.35, Y:277.48, Z:2.17 [[-5.99155297e-01 -8.00569545e-01 1.00664258e-02 3.00351752e+02] [ 8.00425568e-01 -5.99238915e-01 -1.52194801e-02 2.77484772e+02] [ 1.82164463e-02 -1.06140754e-03 9.99833503e-01 2.16753753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.390714057 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:300.35, Y:277.49, Z:2.17 [[-5.99478977e-01 -8.00328340e-01 9.97519754e-03 3.00352452e+02] [ 8.00183279e-01 -5.99560803e-01 -1.52827832e-02 2.77486159e+02] [ 1.82119820e-02 -1.17972097e-03 9.99833452e-01 2.16789054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4207140569999 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:300.35, Y:277.49, Z:2.17 [[-6.01933835e-01 -7.98484904e-01 9.87502171e-03 3.00348944e+02] [ 7.98338458e-01 -6.02013302e-01 -1.53522178e-02 2.77491579e+02] [ 1.82034086e-02 -1.35740975e-03 9.99833383e-01 2.16836598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4507140569999 meters Centerline goodness : 0.989114 Centerline is valid? [True, True] Translation: X:300.35, Y:277.50, Z:2.17 [[-5.99931007e-01 -7.99990167e-01 9.92572056e-03 3.00345183e+02] [ 7.99844495e-01 -6.00011809e-01 -1.53170726e-02 2.77503305e+02] [ 1.82090570e-02 -1.25015384e-03 9.99833420e-01 2.16606599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4807140569999 meters Centerline goodness : 0.989637 Centerline is valid? [True, True] Translation: X:300.35, Y:277.50, Z:2.17 [[-6.01394347e-01 -7.98892078e-01 9.81267091e-03 3.00345040e+02] [ 7.98744986e-01 -6.01472717e-01 -1.53953783e-02 2.77503916e+02] [ 1.82012996e-02 -1.42087181e-03 9.99833333e-01 2.16658595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.510714057 meters Centerline goodness : 0.990125 Centerline is valid? [True, True] Translation: X:300.34, Y:277.51, Z:2.17 [[-6.03143623e-01 -7.97571756e-01 9.85214047e-03 3.00340860e+02] [ 7.97424934e-01 -6.03222429e-01 -1.53680479e-02 2.77509323e+02] [ 1.82001531e-02 -1.41279766e-03 9.99833365e-01 2.16676831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.540714057 meters Centerline goodness : 0.990148 Centerline is valid? [True, True] Translation: X:300.34, Y:277.51, Z:2.17 [[-6.06162686e-01 -7.95279652e-01 9.85261648e-03 3.00337503e+02] [ 7.95132537e-01 -6.06240943e-01 -1.53677185e-02 2.77514400e+02] [ 1.81946933e-02 -1.48120155e-03 9.99833366e-01 2.16651787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5707140569999 meters Centerline goodness : 0.989796 Centerline is valid? [True, True] Translation: X:300.34, Y:277.52, Z:2.17 [[-6.09322536e-01 -7.92861331e-01 9.84668888e-03 3.00336664e+02] [ 7.92713841e-01 -6.09400093e-01 -1.53718195e-02 2.77515051e+02] [ 1.81882944e-02 -1.56078948e-03 9.99833361e-01 2.16701880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6007140569999 meters Centerline goodness : 0.989649 Centerline is valid? [True, True] Translation: X:300.34, Y:277.51, Z:2.17 [[-6.09215866e-01 -7.92942203e-01 9.93436442e-03 3.00341646e+02] [ 7.92795694e-01 -6.09295130e-01 -1.53111755e-02 2.77508846e+02] [ 1.81938371e-02 -1.45188971e-03 9.99833424e-01 2.16559717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.630714057 meters Centerline goodness : 0.989386 Centerline is valid? [True, True] Translation: X:300.34, Y:277.51, Z:2.17 [[-6.13333939e-01 -7.89761954e-01 9.87603692e-03 3.00339088e+02] [ 7.89614394e-01 -6.13411315e-01 -1.53514854e-02 2.77510899e+02] [ 1.81820919e-02 -1.61732611e-03 9.99833384e-01 2.16592704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.660714057 meters Centerline goodness : 0.990316 Centerline is valid? [True, True] Translation: X:300.31, Y:277.53, Z:2.17 [[-6.30734003e-01 -7.75935272e-01 9.95346433e-03 3.00314591e+02] [ 7.75786849e-01 -6.30809591e-01 -1.52979050e-02 2.77528901e+02] [ 1.81489249e-02 -1.92714215e-03 9.99833437e-01 2.17008647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6907140569999 meters Centerline goodness : 0.989473 Centerline is valid? [True, True] Translation: X:300.31, Y:277.53, Z:2.17 [[-6.31449538e-01 -7.75347291e-01 1.03951452e-02 3.00312538e+02] [ 7.75203622e-01 -6.31533527e-01 -1.49916486e-02 2.77530484e+02] [ 1.81886169e-02 -1.40811534e-03 9.99833582e-01 2.17052457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7207140569999 meters Centerline goodness : 0.989254 Centerline is valid? [True, True] Translation: X:300.31, Y:277.54, Z:2.17 [[-6.32702218e-01 -7.74325491e-01 1.03892722e-02 3.00305539e+02] [ 7.74181621e-01 -6.32785862e-01 -1.49957175e-02 2.77537278e+02] [ 1.81857509e-02 -1.44464012e-03 9.99833582e-01 2.17077570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.750714057 meters Centerline goodness : 0.988277 Centerline is valid? [True, True] Translation: X:300.34, Y:277.51, Z:2.17 [[-6.19052823e-01 -7.85280707e-01 1.03833826e-02 3.00335839e+02] [ 7.85138254e-01 -6.19138860e-01 -1.49997945e-02 2.77508136e+02] [ 1.82078049e-02 -1.13327428e-03 9.99833582e-01 2.16802319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.780714057 meters Centerline goodness : 0.988667 Centerline is valid? [True, True] Translation: X:300.33, Y:277.51, Z:2.17 [[-6.19825144e-01 -7.84677667e-01 9.88686111e-03 3.00331084e+02] [ 7.84529626e-01 -6.19901514e-01 -1.53420518e-02 2.77513997e+02] [ 1.81674456e-02 -1.75285399e-03 9.99833422e-01 2.16836797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8107140569999 meters Centerline goodness : 0.989069 Centerline is valid? [True, True] Translation: X:300.33, Y:277.52, Z:2.17 [[-6.20287155e-01 -7.84311893e-01 9.93481943e-03 3.00326107e+02] [ 7.84164325e-01 -6.20364366e-01 -1.53090011e-02 2.77518970e+02] [ 1.81702396e-02 -1.70544577e-03 9.99833453e-01 2.16866030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8407140569999 meters Centerline goodness : 0.988205 Centerline is valid? [True, True] Translation: X:300.32, Y:277.52, Z:2.17 [[-6.21790914e-01 -7.83119918e-01 9.96264269e-03 3.00321823e+02] [ 7.82972502e-01 -6.21868380e-01 -1.52898314e-02 2.77521532e+02] [ 1.81692240e-02 -1.70660298e-03 9.99833470e-01 2.16963299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.870714057 meters Centerline goodness : 0.988266 Centerline is valid? [True, True] Translation: X:300.31, Y:277.53, Z:2.17 [[-6.22798664e-01 -7.82318155e-01 1.00064137e-02 3.00314183e+02] [ 7.82171113e-01 -6.22876787e-01 -1.52596704e-02 2.77525042e+02] [ 1.81706800e-02 -1.67697454e-03 9.99833493e-01 2.17298335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.900714057 meters Centerline goodness : 0.989067 Centerline is valid? [True, True] Translation: X:300.29, Y:277.54, Z:2.17 [[-6.30791175e-01 -7.75887858e-01 1.00262026e-02 3.00294467e+02] [ 7.75740234e-01 -6.30868170e-01 -1.52460260e-02 2.77538127e+02] [ 1.81544185e-02 -1.83932987e-03 9.99833503e-01 2.17233459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9307140569999 meters Centerline goodness : 0.989067 Centerline is valid? [True, True] Translation: X:300.29, Y:277.54, Z:2.17 [[-6.30486407e-01 -7.76131070e-01 1.03659739e-02 3.00292768e+02] [ 7.75987186e-01 -6.30570016e-01 -1.50114022e-02 2.77540177e+02] [ 1.81872880e-02 -1.42062215e-03 9.99833588e-01 2.17252664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9607140569999 meters Centerline goodness : 0.989473 Centerline is valid? [True, True] Translation: X:300.31, Y:277.52, Z:2.17 [[-6.19809318e-01 -7.84684063e-01 1.03600821e-02 3.00310849e+02] [ 7.84541270e-01 -6.19894775e-01 -1.50154673e-02 2.77520917e+02] [ 1.82045587e-02 -1.17881459e-03 9.99833588e-01 2.17302950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.990714057 meters Centerline goodness : 0.989111 Centerline is valid? [True, True] Translation: X:300.31, Y:277.52, Z:2.17 [[-6.20358107e-01 -7.84255275e-01 9.97410787e-03 3.00308907e+02] [ 7.84108143e-01 -6.20436066e-01 -1.52809934e-02 2.77519873e+02] [ 1.81724959e-02 -1.65890893e-03 9.99833490e-01 2.17282101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.020714057 meters Centerline goodness : 0.989031 Centerline is valid? [True, True] Translation: X:300.31, Y:277.52, Z:2.17 [[-6.18400250e-01 -7.85799336e-01 1.00267499e-02 3.00307133e+02] [ 7.85652973e-01 -6.18479589e-01 -1.52447781e-02 2.77519540e+02] [ 1.81806767e-02 -1.54982874e-03 9.99833517e-01 2.17180602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0507140569999 meters Centerline goodness : 0.988525 Centerline is valid? [True, True] Translation: X:300.30, Y:277.52, Z:2.17 [[-6.15319750e-01 -7.88214101e-01 1.00067853e-02 3.00302965e+02] [ 7.88067831e-01 -6.15399279e-01 -1.52585043e-02 2.77519543e+02] [ 1.81851367e-02 -1.50283349e-03 9.99833507e-01 2.17053709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0807140569999 meters Centerline goodness : 0.988228 Centerline is valid? [True, True] Translation: X:300.30, Y:277.52, Z:2.17 [[-6.12812403e-01 -7.90164929e-01 1.00171761e-02 3.00303104e+02] [ 7.90019027e-01 -6.12892595e-01 -1.52513632e-02 2.77516832e+02] [ 1.81905454e-02 -1.43246479e-03 9.99833512e-01 2.17161538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1107140569999 meters Centerline goodness : 0.988702 Centerline is valid? [True, True] Translation: X:300.30, Y:277.52, Z:2.17 [[-6.11571959e-01 -7.91125809e-01 9.98468037e-03 3.00298299e+02] [ 7.90979673e-01 -6.11651757e-01 -1.52736858e-02 2.77520056e+02] [ 1.81905543e-02 -1.44327872e-03 9.99833496e-01 2.17255519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.140714057 meters Centerline goodness : 0.986268 Centerline is valid? [True, True] Translation: X:300.30, Y:277.51, Z:2.18 [[-6.08595248e-01 -7.93418204e-01 9.96880246e-03 3.00299143e+02] [ 7.93272193e-01 -6.08675291e-01 -1.52845878e-02 2.77513257e+02] [ 1.81948339e-02 -1.39415372e-03 9.99833488e-01 2.18086295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1707140569999 meters Centerline goodness : 0.987948 Centerline is valid? [True, True] Translation: X:300.30, Y:277.51, Z:2.17 [[-6.05812890e-01 -7.95541848e-01 1.01936936e-02 3.00296771e+02] [ 7.95398661e-01 -6.05897722e-01 -1.51301084e-02 2.77514627e+02] [ 1.82129701e-02 -1.05796445e-03 9.99833570e-01 2.17369652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2007140569999 meters Centerline goodness : 0.987231 Centerline is valid? [True, True] Translation: X:300.30, Y:277.52, Z:2.17 [[-6.03268687e-01 -7.97476173e-01 9.93197908e-03 3.00295415e+02] [ 7.97330295e-01 -6.03349003e-01 -1.53095156e-02 2.77515550e+02] [ 1.82014236e-02 -1.31668355e-03 9.99833473e-01 2.17492956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2307140569999 meters Centerline goodness : 0.987042 Centerline is valid? [True, True] Translation: X:300.29, Y:277.52, Z:2.18 [[-6.00717265e-01 -7.99400336e-01 9.89293465e-03 3.00290105e+02] [ 7.99254278e-01 -6.00797302e-01 -1.53362605e-02 2.77520206e+02] [ 1.82034603e-02 -1.30578614e-03 9.99833451e-01 2.17750272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.260714057 meters Centerline goodness : 0.987039 Centerline is valid? [True, True] Translation: X:300.29, Y:277.52, Z:2.18 [[-5.98396370e-01 -8.01140144e-01 9.81090181e-03 3.00290438e+02] [ 8.00993404e-01 -5.98475264e-01 -1.53923994e-02 2.77519991e+02] [ 1.82030511e-02 -1.35228828e-03 9.99833396e-01 2.17532832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.290714057 meters Centerline goodness : 0.985147 Centerline is valid? [True, True] Translation: X:300.29, Y:277.52, Z:2.18 [[-5.96432103e-01 -8.02603516e-01 9.81549017e-03 3.00291221e+02] [ 8.02457020e-01 -5.96511443e-01 -1.53892597e-02 2.77519745e+02] [ 1.82065261e-02 -1.30213952e-03 9.99833400e-01 2.17890410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3207140569999 meters Centerline goodness : 0.985147 Centerline is valid? [True, True] Translation: X:300.29, Y:277.52, Z:2.18 [[-5.96158602e-01 -8.02804598e-01 9.98496232e-03 3.00289594e+02] [ 8.02660041e-01 -5.96241216e-01 -1.52731853e-02 2.77521832e+02] [ 1.82148295e-02 -1.09071054e-03 9.99833501e-01 2.17902619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3507140569999 meters Centerline goodness : 0.984503 Centerline is valid? [True, True] Translation: X:300.28, Y:277.53, Z:2.18 [[-5.94126959e-01 -8.04309395e-01 9.97769143e-03 3.00283638e+02] [ 8.04164964e-01 -5.94209801e-01 -1.52781621e-02 2.77528448e+02] [ 1.82172114e-02 -1.05345815e-03 9.99833498e-01 2.17985659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.380714057 meters Centerline goodness : 0.984824 Centerline is valid? [True, True] Translation: X:300.28, Y:277.53, Z:2.18 [[-5.93287552e-01 -8.04929052e-01 9.95501521e-03 3.00280487e+02] [ 8.04784449e-01 -5.93370116e-01 -1.52936817e-02 2.77530951e+02] [ 1.82173372e-02 -1.06190952e-03 9.99833487e-01 2.18021496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.410714057 meters Centerline goodness : 0.986617 Centerline is valid? [True, True] Translation: X:300.27, Y:277.56, Z:2.17 [[-5.87345733e-01 -8.09274786e-01 9.96545444e-03 3.00266223e+02] [ 8.09130916e-01 -5.87429556e-01 -1.52865369e-02 2.77555942e+02] [ 1.82250114e-02 -9.15124957e-04 9.99833492e-01 2.16776608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4407140569999 meters Centerline goodness : 0.985165 Centerline is valid? [True, True] Translation: X:300.27, Y:277.54, Z:2.18 [[-5.89366333e-01 -8.07808509e-01 9.63009494e-03 3.00273531e+02] [ 8.07660646e-01 -5.89443420e-01 -1.55156455e-02 2.77540237e+02] [ 1.82100666e-02 -1.36655041e-03 9.99833249e-01 2.17867841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4707140569999 meters Centerline goodness : 0.987810 Centerline is valid? [True, True] Translation: X:300.27, Y:277.55, Z:2.17 [[-5.86305909e-01 -8.10028872e-01 9.93011960e-03 3.00266147e+02] [ 8.09884706e-01 -5.86389251e-01 -1.53104509e-02 2.77551822e+02] [ 1.82248227e-02 -9.34355852e-04 9.99833478e-01 2.16759249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.500714057 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:300.26, Y:277.53, Z:2.18 [[-6.09070310e-01 -7.93057319e-01 9.66681673e-03 3.00259595e+02] [ 7.92907997e-01 -6.09144447e-01 -1.54903269e-02 2.77530920e+02] [ 1.81732049e-02 -1.76980193e-03 9.99833287e-01 2.17653877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.530714057 meters Centerline goodness : 0.980944 Centerline is valid? [True, True] Translation: X:299.67, Y:278.38, Z:2.20 [[-6.16665933e-01 -7.87157396e-01 1.03131127e-02 2.99667753e+02] [ 7.87014418e-01 -6.16751069e-01 -1.50473779e-02 2.78381751e+02] [ 1.82052781e-02 -1.16263692e-03 9.99833594e-01 2.19981215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5607140569999 meters Centerline goodness : 0.990335 Centerline is valid? [True, True] Translation: X:300.24, Y:277.55, Z:2.18 [[-6.05198541e-01 -7.96004347e-01 1.05737610e-02 3.00242465e+02] [ 7.95865684e-01 -6.05290624e-01 -1.48685438e-02 2.77546110e+02] [ 1.82356238e-02 -5.83127482e-04 9.99833547e-01 2.17614791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5907140569999 meters Centerline goodness : 0.990055 Centerline is valid? [True, True] Translation: X:300.24, Y:277.55, Z:2.18 [[-6.04618924e-01 -7.96448884e-01 1.02533645e-02 3.00240918e+02] [ 7.96306564e-01 -6.04705101e-01 -1.50863020e-02 2.77548300e+02] [ 1.82157302e-02 -9.56642235e-04 9.99833622e-01 2.17799403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.620714057 meters Centerline goodness : 0.987368 Centerline is valid? [True, True] Translation: X:300.26, Y:277.54, Z:2.18 [[-5.84152663e-01 -8.11579112e-01 1.02475249e-02 3.00262469e+02] [ 8.11438961e-01 -5.84242327e-01 -1.50902676e-02 2.77543190e+02] [ 1.82339837e-02 -4.99779050e-04 9.99833622e-01 2.18025884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.650714057 meters Centerline goodness : 0.987537 Centerline is valid? [True, True] Translation: X:300.26, Y:277.54, Z:2.18 [[-5.86517708e-01 -8.09877140e-01 9.79780804e-03 3.00264163e+02] [ 8.09731554e-01 -5.86598515e-01 -1.53945763e-02 2.77539635e+02] [ 1.82150951e-02 -1.09559728e-03 9.99833491e-01 2.17785873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6807140569999 meters Centerline goodness : 0.987057 Centerline is valid? [True, True] Translation: X:300.07, Y:277.82, Z:2.18 [[-5.99345745e-01 -8.00428518e-01 9.94311823e-03 3.00066126e+02] [ 8.00283276e-01 -5.99426996e-01 -1.52955734e-02 2.77823315e+02] [ 1.82031867e-02 -1.21002562e-03 9.99833576e-01 2.18408962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7107140569999 meters Centerline goodness : 0.988801 Centerline is valid? [True, True] Translation: X:300.06, Y:277.82, Z:2.19 [[-6.01618714e-01 -7.98718380e-01 1.01918185e-02 3.00063770e+02] [ 7.98575731e-01 -6.01704269e-01 -1.51253151e-02 2.77823701e+02] [ 1.82133279e-02 -9.60733739e-04 9.99833662e-01 2.18516441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.740714057 meters Centerline goodness : 0.987010 Centerline is valid? [True, True] Translation: X:299.99, Y:277.93, Z:2.19 [[-6.03976407e-01 -7.96936598e-01 1.02254185e-02 2.99991300e+02] [ 7.96794082e-01 -6.04062175e-01 -1.51023089e-02 2.77926069e+02] [ 1.82123712e-02 -9.73885289e-04 9.99833667e-01 2.18737483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.770714057 meters Centerline goodness : 0.988323 Centerline is valid? [True, True] Translation: X:300.06, Y:277.83, Z:2.18 [[-6.03935567e-01 -7.96967510e-01 1.02283082e-02 3.00055233e+02] [ 7.96825032e-01 -6.04021397e-01 -1.51003309e-02 2.77833243e+02] [ 1.82125901e-02 -9.69454841e-04 9.99833667e-01 2.18407864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8007140569999 meters Centerline goodness : 0.986747 Centerline is valid? [True, True] Translation: X:300.24, Y:277.58, Z:2.18 [[-5.92220352e-01 -8.05711872e-01 1.01702632e-02 3.00236887e+02] [ 8.05569986e-01 -5.92307168e-01 -1.51399064e-02 2.77575551e+02] [ 1.82223221e-02 -7.73301946e-04 9.99833661e-01 2.17779215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8307140569999 meters Centerline goodness : 0.987944 Centerline is valid? [True, True] Translation: X:300.24, Y:277.56, Z:2.18 [[-5.92271906e-01 -8.05678018e-01 9.84482425e-03 3.00244873e+02] [ 8.05532441e-01 -5.92352573e-01 -1.53595803e-02 2.77564101e+02] [ 1.82064832e-02 -1.16672261e-03 9.99833568e-01 2.17688789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8607140569999 meters Centerline goodness : 0.980638 Centerline is valid? [True, True] Translation: X:299.64, Y:278.42, Z:2.20 [[-6.27268639e-01 -7.78737224e-01 1.01188755e-02 2.99637494e+02] [ 7.78591173e-01 -6.27348114e-01 -1.51699937e-02 2.78421531e+02] [ 1.81614962e-02 -1.63719414e-03 9.99833726e-01 2.19761429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.890714057 meters Centerline goodness : 0.988121 Centerline is valid? [True, True] Translation: X:300.02, Y:277.88, Z:2.19 [[-6.10906862e-01 -7.91632807e-01 1.05026258e-02 3.00017501e+02] [ 7.91492864e-01 -6.10996620e-01 -1.49056089e-02 2.77884194e+02] [ 1.82168379e-02 -7.93185418e-04 9.99833745e-01 2.18553345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9207140569999 meters Centerline goodness : 0.980315 Centerline is valid? [True, True] Translation: X:299.64, Y:278.43, Z:2.20 [[-6.28154027e-01 -7.78021553e-01 1.02460629e-02 2.99635696e+02] [ 7.77876833e-01 -6.28235787e-01 -1.50807506e-02 2.78425487e+02] [ 1.81700924e-02 -1.50285930e-03 9.99833781e-01 2.19939993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9507140569999 meters Centerline goodness : 0.980831 Centerline is valid? [True, True] Translation: X:299.68, Y:278.36, Z:2.20 [[-6.25549953e-01 -7.80116088e-01 1.03027293e-02 2.99678613e+02] [ 7.79972257e-01 -6.25633281e-01 -1.50424764e-02 2.78364166e+02] [ 1.81806081e-02 -1.37397739e-03 9.99833775e-01 2.19664947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9807140569999 meters Centerline goodness : 0.987542 Centerline is valid? [True, True] Translation: X:300.02, Y:277.88, Z:2.18 [[-6.07614923e-01 -7.94163632e-01 1.04034358e-02 3.00017474e+02] [ 7.94022892e-01 -6.07703402e-01 -1.49740697e-02 2.77879827e+02] [ 1.82140649e-02 -8.37902002e-04 9.99833759e-01 2.18455178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.010714057 meters Centerline goodness : 0.980378 Centerline is valid? [True, True] Translation: X:299.62, Y:278.45, Z:2.20 [[-6.24003094e-01 -7.81355939e-01 1.01506381e-02 2.99618065e+02] [ 7.81210638e-01 -6.24083796e-01 -1.51444607e-02 2.78454059e+02] [ 1.81680631e-02 -1.52040391e-03 9.99833791e-01 2.19765973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.040714057 meters Centerline goodness : 0.985982 Centerline is valid? [True, True] Translation: X:300.20, Y:277.61, Z:2.18 [[-5.93949444e-01 -8.04434438e-01 1.04542938e-02 3.00202638e+02] [ 8.04295860e-01 -5.94041260e-01 -1.49382156e-02 2.77609545e+02] [ 1.82270970e-02 -4.64199634e-04 9.99833765e-01 2.17968848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0707140569999 meters Centerline goodness : 0.985728 Centerline is valid? [True, True] Translation: X:300.20, Y:277.61, Z:2.18 [[-5.91301909e-01 -8.06390860e-01 9.78944028e-03 3.00202440e+02] [ 8.06245105e-01 -5.91381720e-01 -1.53782632e-02 2.77610844e+02] [ 1.81901869e-02 -1.20050806e-03 9.99833824e-01 2.17900930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1007140569999 meters Centerline goodness : 0.980932 Centerline is valid? [True, True] Translation: X:299.70, Y:278.33, Z:2.20 [[-6.16924885e-01 -7.86959039e-01 9.95776158e-03 2.99702740e+02] [ 7.86812563e-01 -6.17003214e-01 -1.52651583e-02 2.78328526e+02] [ 1.81570252e-02 -1.58256410e-03 9.99833895e-01 2.19597914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.130714057 meters Centerline goodness : 0.980861 Centerline is valid? [True, True] Translation: X:299.69, Y:278.34, Z:2.20 [[-6.14146664e-01 -7.89126202e-01 1.01838849e-02 2.99694804e+02] [ 7.88982416e-01 -6.14229826e-01 -1.51151426e-02 2.78339184e+02] [ 1.81830010e-02 -1.24800831e-03 9.99833897e-01 2.19586075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.160714057 meters Centerline goodness : 0.988685 Centerline is valid? [True, True] Translation: X:300.17, Y:277.64, Z:2.18 [[-6.05753319e-01 -7.95584859e-01 1.03754308e-02 3.00169713e+02] [ 7.95444124e-01 -6.05841606e-01 -1.49864781e-02 2.77636272e+02] [ 1.82088827e-02 -8.25033369e-04 9.99833864e-01 2.18087148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1907140569999 meters Centerline goodness : 0.985369 Centerline is valid? [True, True] Translation: X:300.20, Y:277.61, Z:2.18 [[-5.87863232e-01 -8.08895725e-01 1.02238329e-02 3.00197213e+02] [ 8.08755222e-01 -5.87951822e-01 -1.50879483e-02 2.77614031e+02] [ 1.82156980e-02 -6.01071772e-04 9.99833900e-01 2.17829078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2207140569999 meters Centerline goodness : 0.985856 Centerline is valid? [True, True] Translation: X:300.20, Y:277.60, Z:2.18 [[-5.84763751e-01 -8.11144250e-01 9.81638928e-03 3.00202363e+02] [ 8.10999455e-01 -5.84845248e-01 -1.53596966e-02 2.77603450e+02] [ 1.81999982e-02 -1.02070746e-03 9.99833845e-01 2.17929960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.250714057 meters Centerline goodness : 0.984770 Centerline is valid? [True, True] Translation: X:300.20, Y:277.60, Z:2.18 [[-5.80338890e-01 -8.14315311e-01 9.86650546e-03 3.00203719e+02] [ 8.14171525e-01 -5.80422116e-01 -1.53262834e-02 2.77601765e+02] [ 1.82071652e-02 -8.61410464e-04 9.99833865e-01 2.17726970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.280714057 meters Centerline goodness : 0.985443 Centerline is valid? [True, True] Translation: X:300.20, Y:277.60, Z:2.18 [[-5.78191342e-01 -8.15842174e-01 9.81423153e-03 3.00199790e+02] [ 8.15698018e-01 -5.78273966e-01 -1.53611099e-02 2.77603980e+02] [ 1.82075559e-02 -8.76211540e-04 9.99833845e-01 2.17932925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3107140569999 meters Centerline goodness : 0.984957 Centerline is valid? [True, True] Translation: X:300.19, Y:277.61, Z:2.18 [[-5.77561927e-01 -8.16287141e-01 9.87541305e-03 3.00191991e+02] [ 8.16143741e-01 -5.77645809e-01 -1.53203522e-02 2.77612433e+02] [ 1.82102975e-02 -7.88695599e-04 9.99833868e-01 2.17941980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3407140569999 meters Centerline goodness : 0.984582 Centerline is valid? [True, True] Translation: X:300.19, Y:277.61, Z:2.18 [[-5.76044639e-01 -8.17358242e-01 9.90346783e-03 3.00192186e+02] [ 8.17215317e-01 -5.76129312e-01 -1.53016720e-02 2.77610353e+02] [ 1.82126259e-02 -7.21180533e-04 9.99833876e-01 2.17896170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.370714057 meters Centerline goodness : 0.984973 Centerline is valid? [True, True] Translation: X:300.19, Y:277.61, Z:2.18 [[-5.74077553e-01 -8.18741089e-01 9.89911811e-03 3.00194256e+02] [ 8.18598319e-01 -5.74162488e-01 -1.53045659e-02 2.77607032e+02] [ 1.82141793e-02 -6.82606322e-04 9.99833875e-01 2.17771266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.400714057 meters Centerline goodness : 0.983701 Centerline is valid? [True, True] Translation: X:300.19, Y:277.61, Z:2.18 [[-5.74456461e-01 -8.18475468e-01 9.88351323e-03 3.00190979e+02] [ 8.18332480e-01 -5.74541039e-01 -1.53149411e-02 2.77610359e+02] [ 1.82133876e-02 -7.09766985e-04 9.99833871e-01 2.17820419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4307140569999 meters Centerline goodness : 0.984193 Centerline is valid? [True, True] Translation: X:300.19, Y:277.61, Z:2.18 [[-5.73397213e-01 -8.19217291e-01 9.93311843e-03 3.00189804e+02] [ 8.19074981e-01 -5.73482901e-01 -1.52819595e-02 2.77612836e+02] [ 1.82157191e-02 -6.26664217e-04 9.99833884e-01 2.17774245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4607140569999 meters Centerline goodness : 0.984564 Centerline is valid? [True, True] Translation: X:300.19, Y:277.61, Z:2.18 [[-5.73401114e-01 -8.19215136e-01 9.88553709e-03 3.00194742e+02] [ 8.19072281e-01 -5.73485914e-01 -1.53135685e-02 2.77605571e+02] [ 1.82143234e-02 -6.83847849e-04 9.99833872e-01 2.17886417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.490714057 meters Centerline goodness : 0.985792 Centerline is valid? [True, True] Translation: X:300.19, Y:277.61, Z:2.18 [[-5.72656464e-01 -8.19735966e-01 9.87526526e-03 3.00188140e+02] [ 8.19593071e-01 -5.72741202e-01 -1.53203871e-02 2.77613586e+02] [ 1.82146437e-02 -6.79619746e-04 9.99833869e-01 2.17986824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.520714057 meters Centerline goodness : 0.985560 Centerline is valid? [True, True] Translation: X:300.19, Y:277.62, Z:2.18 [[-5.71339534e-01 -8.20654616e-01 9.85584479e-03 3.00188031e+02] [ 8.20511635e-01 -5.71424139e-01 -1.53332721e-02 2.77615735e+02] [ 1.82151882e-02 -6.73669232e-04 9.99833863e-01 2.17713713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5507140569999 meters Centerline goodness : 0.985139 Centerline is valid? [True, True] Translation: X:300.19, Y:277.62, Z:2.18 [[-5.70778547e-01 -8.21045620e-01 9.79492187e-03 3.00187764e+02] [ 8.20902004e-01 -5.70862112e-01 -1.53736632e-02 2.77617533e+02] [ 1.82140286e-02 -7.34286146e-04 9.99833841e-01 2.17817123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5807140569999 meters Centerline goodness : 0.984574 Centerline is valid? [True, True] Translation: X:300.18, Y:277.64, Z:2.18 [[-5.70411082e-01 -8.21301087e-01 9.78372823e-03 3.00179465e+02] [ 8.21157382e-01 -5.70494502e-01 -1.53810816e-02 2.77636351e+02] [ 1.82140622e-02 -7.39558770e-04 9.99833837e-01 2.17559127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6107140569999 meters Centerline goodness : 0.987816 Centerline is valid? [True, True] Translation: X:300.18, Y:277.64, Z:2.17 [[-5.73947201e-01 -8.18834133e-01 9.76079066e-03 3.00175467e+02] [ 8.18689811e-01 -5.74029570e-01 -1.53962807e-02 2.77637722e+02] [ 1.82099826e-02 -8.45592348e-04 9.99833827e-01 2.17371438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.640714057 meters Centerline goodness : 0.985654 Centerline is valid? [True, True] Translation: X:299.95, Y:277.97, Z:2.18 [[-5.87915421e-01 -8.08863918e-01 9.72726653e-03 2.99950560e+02] [ 8.08717835e-01 -5.87994665e-01 -1.54187141e-02 2.77970231e+02] [ 1.81912223e-02 -1.19828587e-03 9.99833808e-01 2.18490952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6707140569999 meters Centerline goodness : 0.986065 Centerline is valid? [True, True] Translation: X:299.98, Y:277.93, Z:2.18 [[-5.87313396e-01 -8.09296267e-01 1.01255691e-02 2.99975687e+02] [ 8.09154734e-01 -5.87400251e-01 -1.51512868e-02 2.77934885e+02] [ 1.82096416e-02 -7.05401519e-04 9.99833942e-01 2.18461641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7007140569999 meters Centerline goodness : 0.981122 Centerline is valid? [True, True] Translation: X:299.58, Y:278.50, Z:2.19 [[-6.07464746e-01 -7.94281986e-01 1.01345728e-02 2.99579321e+02] [ 7.94138415e-01 -6.07548187e-01 -1.51452291e-02 2.78502594e+02] [ 1.81868240e-02 -1.15193923e-03 9.99833942e-01 2.19386632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7307140569999 meters Centerline goodness : 0.986090 Centerline is valid? [True, True] Translation: X:300.16, Y:277.66, Z:2.18 [[-5.70869794e-01 -8.20973850e-01 1.04697278e-02 3.00161100e+02] [ 8.20838310e-01 -5.70965788e-01 -1.49176912e-02 2.77662076e+02] [ 1.82248907e-02 7.78943603e-05 9.99833910e-01 2.17822639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.760714057 meters Centerline goodness : 0.987643 Centerline is valid? [True, True] Translation: X:300.16, Y:277.66, Z:2.17 [[-5.70307078e-01 -8.21375556e-01 9.59335269e-03 3.00161722e+02] [ 8.21229985e-01 -5.70386956e-01 -1.54929963e-02 2.77663124e+02] [ 1.81974917e-02 -9.57416547e-04 9.99833954e-01 2.17379301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.790714057 meters Centerline goodness : 0.986324 Centerline is valid? [True, True] Translation: X:300.16, Y:277.66, Z:2.17 [[-5.70387494e-01 -8.21319363e-01 9.62347488e-03 3.00161272e+02] [ 8.21174115e-01 -5.70467924e-01 -1.54732282e-02 2.77663954e+02] [ 1.81983456e-02 -9.23187384e-04 9.99833970e-01 2.17407487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8207140569999 meters Centerline goodness : 0.986114 Centerline is valid? [True, True] Translation: X:300.15, Y:277.67, Z:2.17 [[-5.71576599e-01 -8.20491779e-01 9.66602734e-03 3.00153134e+02] [ 8.20346884e-01 -5.71657619e-01 -1.54452945e-02 2.77674782e+02] [ 1.81983953e-02 -8.98673473e-04 9.99833992e-01 2.17432567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8507140569999 meters Centerline goodness : 0.986704 Centerline is valid? [True, True] Translation: X:300.16, Y:277.66, Z:2.18 [[-5.68975074e-01 -8.22297032e-01 9.74454212e-03 3.00160314e+02] [ 8.22153270e-01 -5.69058023e-01 -1.53937562e-02 2.77663455e+02] [ 1.82034499e-02 -7.47156403e-04 9.99834024e-01 2.17833999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.880714057 meters Centerline goodness : 0.986605 Centerline is valid? [True, True] Translation: X:300.17, Y:277.65, Z:2.18 [[-5.65606848e-01 -8.24618285e-01 9.67353856e-03 3.00166253e+02] [ 8.24474067e-01 -5.65689057e-01 -1.54403100e-02 2.77653686e+02] [ 1.82045768e-02 -7.57563372e-04 9.99833996e-01 2.17837432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.910714057 meters Centerline goodness : 0.980708 Centerline is valid? [True, True] Translation: X:299.56, Y:278.53, Z:2.20 [[-5.94418608e-01 -8.04094463e-01 9.93047096e-03 2.99564420e+02] [ 8.03950221e-01 -5.94500548e-01 -1.52689449e-02 2.78533509e+02] [ 1.81813445e-02 -1.09254066e-03 9.99834109e-01 2.20139986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9407140569999 meters Centerline goodness : 0.987091 Centerline is valid? [True, True] Translation: X:299.95, Y:277.97, Z:2.18 [[-5.68715502e-01 -8.22470061e-01 1.02799196e-02 2.99947280e+02] [ 8.22332589e-01 -5.68808394e-01 -1.50373936e-02 2.77970938e+02] [ 1.82151106e-02 -9.84859685e-05 9.99834086e-01 2.18395232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9707140569999 meters Centerline goodness : 0.986245 Centerline is valid? [True, True] Translation: X:300.15, Y:277.67, Z:2.18 [[-5.51037586e-01 -8.34422464e-01 9.83513492e-03 3.00151630e+02] [ 8.34281716e-01 -5.51125297e-01 -1.53272554e-02 2.77669144e+02] [ 1.82097979e-02 -2.40620595e-04 9.99834159e-01 2.17654530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.000714057 meters Centerline goodness : 0.986495 Centerline is valid? [True, True] Translation: X:299.93, Y:277.99, Z:2.18 [[-5.66634049e-01 -8.23913706e-01 9.59478563e-03 2.99934709e+02] [ 8.23768667e-01 -5.66714610e-01 -1.54833454e-02 2.77991237e+02] [ 1.81944457e-02 -8.69506939e-04 9.99834089e-01 2.18349093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.030714057 meters Centerline goodness : 0.986110 Centerline is valid? [True, True] Translation: X:299.94, Y:277.98, Z:2.18 [[-5.61738467e-01 -8.27255958e-01 9.87288855e-03 2.99942660e+02] [ 8.27114535e-01 -5.61825057e-01 -1.53019789e-02 2.77981572e+02] [ 1.82054894e-02 -4.29700558e-04 9.99834174e-01 2.18183521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0607140569999 meters Centerline goodness : 0.986255 Centerline is valid? [True, True] Translation: X:299.95, Y:277.97, Z:2.18 [[-5.60375235e-01 -8.28180720e-01 9.81281352e-03 2.99947373e+02] [ 8.28038754e-01 -5.60460947e-01 -1.53411001e-02 2.77974661e+02] [ 1.82049021e-02 -4.71382679e-04 9.99834166e-01 2.18196892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0907140569999 meters Centerline goodness : 0.980857 Centerline is valid? [True, True] Translation: X:299.58, Y:278.52, Z:2.20 [[-5.83832831e-01 -8.11813698e-01 9.88663071e-03 2.99575784e+02] [ 8.11670148e-01 -5.83915836e-01 -1.52927368e-02 2.78522896e+02] [ 1.81878135e-02 -9.03718835e-04 9.99834180e-01 2.19854523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.120714057 meters Centerline goodness : 0.988883 Centerline is valid? [True, True] Translation: X:300.12, Y:277.70, Z:2.17 [[-5.71532657e-01 -8.20513925e-01 1.03595889e-02 3.00122888e+02] [ 8.20377183e-01 -5.71626535e-01 -1.49793662e-02 2.77703300e+02] [ 1.82125945e-02 -6.24266475e-05 9.99834135e-01 2.17411802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.150714057 meters Centerline goodness : 0.987030 Centerline is valid? [True, True] Translation: X:299.93, Y:278.01, Z:2.18 [[-5.62678743e-01 -8.26615287e-01 9.98999495e-03 2.99932153e+02] [ 8.26475178e-01 -5.62767335e-01 -1.52219290e-02 2.78008705e+02] [ 1.82047221e-02 -3.08573039e-04 9.99834233e-01 2.18147470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1807140569999 meters Centerline goodness : 0.986983 Centerline is valid? [True, True] Translation: X:299.93, Y:278.01, Z:2.18 [[-5.63015537e-01 -8.26386949e-01 9.90533367e-03 2.99930153e+02] [ 8.26245822e-01 -5.63102510e-01 -1.52776354e-02 2.78012784e+02] [ 1.82029567e-02 -4.17305518e-04 9.99834225e-01 2.18033752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2107140569999 meters Centerline goodness : 0.988768 Centerline is valid? [True, True] Translation: X:300.12, Y:277.71, Z:2.17 [[-5.69595843e-01 -8.21865485e-01 9.88434431e-03 3.00121806e+02] [ 8.21723429e-01 -5.69681296e-01 -1.52914095e-02 2.77711380e+02] [ 1.81984077e-02 -5.87725968e-04 9.99834223e-01 2.17397899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.240714057 meters Centerline goodness : 0.988768 Centerline is valid? [True, True] Translation: X:300.12, Y:277.71, Z:2.17 [[-5.69281582e-01 -8.22082060e-01 9.97830065e-03 3.00120248e+02] [ 8.21941108e-01 -5.69368832e-01 -1.52298513e-02 2.77713544e+02] [ 1.82015209e-02 -4.68498335e-04 9.99834229e-01 2.17407063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.270714057 meters Centerline goodness : 0.980774 Centerline is valid? [True, True] Translation: X:299.55, Y:278.58, Z:2.20 [[-5.75714704e-01 -8.17589830e-01 9.97247602e-03 2.99550280e+02] [ 8.17448131e-01 -5.75800736e-01 -1.52336643e-02 2.78579772e+02] [ 1.81970480e-02 -6.18262612e-04 9.99834229e-01 2.19505599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3007140569999 meters Centerline goodness : 0.985847 Centerline is valid? [True, True] Translation: X:299.92, Y:278.04, Z:2.18 [[-5.54353736e-01 -8.32219257e-01 1.01510356e-02 2.99916489e+02] [ 8.32081937e-01 -5.54446664e-01 -1.51177745e-02 2.78037893e+02] [ 1.82095109e-02 6.58985990e-05 9.99834191e-01 2.18184924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3307140569999 meters Centerline goodness : 0.989921 Centerline is valid? [True, True] Translation: X:300.10, Y:277.73, Z:2.17 [[-5.59062937e-01 -8.29066790e-01 9.84324153e-03 3.00104932e+02] [ 8.28925412e-01 -5.59149439e-01 -1.53155934e-02 2.77732193e+02] [ 1.82014928e-02 -4.03067589e-04 9.99834258e-01 2.17318917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3607140569999 meters Centerline goodness : 0.988124 Centerline is valid? [True, True] Translation: X:299.92, Y:278.03, Z:2.18 [[-5.48887398e-01 -8.35838556e-01 9.82510529e-03 2.99922257e+02] [ 8.35698037e-01 -5.48975289e-01 -1.53272191e-02 2.78034855e+02] [ 1.82048207e-02 -2.02096226e-04 9.99834258e-01 2.17883300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.390714057 meters Centerline goodness : 0.989254 Centerline is valid? [True, True] Translation: X:300.10, Y:277.74, Z:2.17 [[-5.56388596e-01 -8.30866129e-01 9.65432030e-03 3.00104319e+02] [ 8.30722912e-01 -5.56472059e-01 -1.54366685e-02 2.77740894e+02] [ 1.81981645e-02 -5.68721238e-04 9.99834238e-01 2.17361935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4207140569999 meters Centerline goodness : 0.988824 Centerline is valid? [True, True] Translation: X:300.10, Y:277.74, Z:2.17 [[-5.55926467e-01 -8.31173518e-01 9.81560444e-03 3.00103960e+02] [ 8.31032152e-01 -5.56012993e-01 -1.53334238e-02 2.77744048e+02] [ 1.82023394e-02 -3.67173233e-04 9.99834256e-01 2.17240947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4507140569999 meters Centerline goodness : 0.988606 Centerline is valid? [True, True] Translation: X:299.88, Y:278.11, Z:2.18 [[-5.46135575e-01 -8.37639363e-01 9.80974219e-03 2.99878299e+02] [ 8.37498955e-01 -5.46223646e-01 -1.53371733e-02 2.78114129e+02] [ 1.82053332e-02 -1.60527123e-04 9.99834256e-01 2.18120945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4807140569999 meters Centerline goodness : 0.989683 Centerline is valid? [True, True] Translation: X:300.68, Y:278.29, Z:2.95 [[-5.78908575e-01 8.15333448e-01 -9.80974219e-03 3.00680873e+02] [ 8.15189659e-01 5.78991011e-01 1.53371733e-02 2.78289231e+02] [ 1.81846629e-02 8.82020751e-04 -9.99834256e-01 2.95407173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.510714057 meters Centerline goodness : 0.987663 Centerline is valid? [True, True] Translation: X:300.44, Y:278.63, Z:2.96 [[-6.50254923e-01 7.59639145e-01 -1.08122307e-02 3.00435288e+02] [ 7.59500010e-01 6.50343551e-01 1.45945047e-02 2.78627415e+02] [ 1.81182216e-02 1.27825916e-03 -9.99835034e-01 2.95936738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.540714057 meters Centerline goodness : 0.989148 Centerline is valid? [True, True] Translation: X:300.12, Y:277.88, Z:2.17 [[-6.68920083e-01 -7.43234812e-01 1.21629354e-02 3.00124039e+02] [ 7.43113606e-01 -6.69030650e-01 -1.34222699e-02 2.77884926e+02] [ 1.81132748e-02 6.00169380e-05 9.99835939e-01 2.17306540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5707140569999 meters Centerline goodness : 0.989480 Centerline is valid? [True, True] Translation: X:300.12, Y:277.89, Z:2.17 [[-6.69154679e-01 -7.43028861e-01 1.18375548e-02 3.00119635e+02] [ 7.42902583e-01 -6.69259270e-01 -1.37033501e-02 2.77892584e+02] [ 1.81043779e-02 -3.75510827e-04 9.99836032e-01 2.17244341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6007140569999 meters Centerline goodness : 0.987349 Centerline is valid? [True, True] Translation: X:299.85, Y:278.22, Z:2.18 [[-6.63754554e-01 -7.47856864e-01 1.18323196e-02 2.99846436e+02] [ 7.47731266e-01 -6.63859961e-01 -1.37078690e-02 2.78218539e+02] [ 1.81065272e-02 -2.51265132e-04 9.99836032e-01 2.17985816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.630714057 meters Centerline goodness : 0.988772 Centerline is valid? [True, True] Translation: X:300.60, Y:278.49, Z:2.96 [[-6.86619351e-01 7.26920809e-01 -1.18323196e-02 3.00597244e+02] [ 7.26792004e-01 6.86720814e-01 1.37078690e-02 2.78494256e+02] [ 1.80900354e-02 8.12452819e-04 -9.99836032e-01 2.95937366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.660714057 meters Centerline goodness : 0.982743 Centerline is valid? [True, True] Translation: X:299.85, Y:279.22, Z:2.98 [[-7.37227218e-01 6.75525340e-01 -1.27099909e-02 2.99852593e+02] [ 6.75403894e-01 7.37336245e-01 1.28390388e-02 2.79222280e+02] [ 1.80446330e-02 8.80911493e-04 -9.99836794e-01 2.97615845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6907140569999 meters Centerline goodness : 0.989011 Centerline is valid? [True, True] Translation: X:300.54, Y:278.69, Z:2.96 [[-7.84798928e-01 6.19620125e-01 -1.27099909e-02 3.00543617e+02] [ 6.19491008e-01 7.84898752e-01 1.28390388e-02 2.78686407e+02] [ 1.79313828e-02 2.20233879e-03 -9.99836794e-01 2.96182022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7207140569999 meters Centerline goodness : 0.988766 Centerline is valid? [True, True] Translation: X:300.11, Y:278.14, Z:2.18 [[-8.15491077e-01 -5.78592919e-01 1.43016644e-02 3.00109450e+02] [ 5.78493889e-01 -8.15616342e-01 -1.07146066e-02 2.78137201e+02] [ 1.78640667e-02 -4.64240603e-04 9.99840317e-01 2.17633789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.750714057 meters Centerline goodness : 0.989093 Centerline is valid? [True, True] Translation: X:300.11, Y:278.14, Z:2.18 [[-8.15813627e-01 -5.78137134e-01 1.43380839e-02 3.00110920e+02] [ 5.78038885e-01 -8.15939510e-01 -1.06660136e-02 2.78141107e+02] [ 1.78654276e-02 -4.13509199e-04 9.99840315e-01 2.17731454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.780714057 meters Centerline goodness : 0.988957 Centerline is valid? [True, True] Translation: X:300.11, Y:278.14, Z:2.18 [[-8.15848627e-01 -5.78088773e-01 1.42964266e-02 3.00109867e+02] [ 5.77989543e-01 -8.15973735e-01 -1.07215605e-02 2.78144262e+02] [ 1.78635224e-02 -4.83985357e-04 9.99840317e-01 2.17744883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8107140569999 meters Centerline goodness : 0.989294 Centerline is valid? [True, True] Translation: X:300.11, Y:278.15, Z:2.18 [[-8.16203127e-01 -5.77588249e-01 1.42923163e-02 3.00109997e+02] [ 5.77488846e-01 -8.16328098e-01 -1.07270370e-02 2.78148589e+02] [ 1.78630299e-02 -5.01787937e-04 9.99840317e-01 2.17720628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8407140569999 meters Centerline goodness : 0.989439 Centerline is valid? [True, True] Translation: X:300.11, Y:278.15, Z:2.18 [[-8.16387593e-01 -5.77327589e-01 1.42882038e-02 3.00107440e+02] [ 5.77228051e-01 -8.16512456e-01 -1.07325119e-02 2.78152844e+02] [ 1.78626716e-02 -5.14337560e-04 9.99840317e-01 2.17718050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.870714057 meters Centerline goodness : 0.986738 Centerline is valid? [True, True] Translation: X:299.82, Y:278.38, Z:2.19 [[-8.11133296e-01 -5.84686874e-01 1.42840865e-02 2.99818968e+02] [ 5.84588373e-01 -8.11258978e-01 -1.07379889e-02 2.78382041e+02] [ 1.78664546e-02 -3.59629474e-04 9.99840317e-01 2.18670743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.900714057 meters Centerline goodness : 0.989146 Centerline is valid? [True, True] Translation: X:300.11, Y:278.16, Z:2.18 [[-8.17087923e-01 -5.76337514e-01 1.42265706e-02 3.00107128e+02] [ 5.76236397e-01 -8.17211516e-01 -1.08144987e-02 2.78158399e+02] [ 1.78589186e-02 -6.38528537e-04 9.99840313e-01 2.17554212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9307140569999 meters Centerline goodness : 0.989291 Centerline is valid? [True, True] Translation: X:300.11, Y:278.16, Z:2.17 [[-8.17896003e-01 -5.75188859e-01 1.42795051e-02 3.00106862e+02] [ 5.75088792e-01 -8.18020443e-01 -1.07441463e-02 2.78164032e+02] [ 1.78608403e-02 -5.75610959e-04 9.99840317e-01 2.17485971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9607140569999 meters Centerline goodness : 0.988923 Centerline is valid? [True, True] Translation: X:300.10, Y:278.17, Z:2.17 [[-8.18277106e-01 -5.74646667e-01 1.42753771e-02 3.00103677e+02] [ 5.74546421e-01 -8.18401402e-01 -1.07496281e-02 2.78168729e+02] [ 1.78602266e-02 -5.94307747e-04 9.99840317e-01 2.17488996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.990714057 meters Centerline goodness : 0.989171 Centerline is valid? [True, True] Translation: X:300.10, Y:278.17, Z:2.18 [[-8.19289351e-01 -5.73202661e-01 1.42712409e-02 3.00103512e+02] [ 5.73102101e-01 -8.19413393e-01 -1.07551166e-02 2.78173192e+02] [ 1.78589074e-02 -6.32674377e-04 9.99840317e-01 2.17541766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.020714057 meters Centerline goodness : 0.989693 Centerline is valid? [True, True] Translation: X:300.10, Y:278.18, Z:2.18 [[-8.19632104e-01 -5.72712549e-01 1.42670977e-02 3.00102383e+02] [ 5.72611820e-01 -8.19756008e-01 -1.07606099e-02 2.78175957e+02] [ 1.78582754e-02 -6.50232573e-04 9.99840317e-01 2.17552843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0507140569999 meters Centerline goodness : 0.981737 Centerline is valid? [True, True] Translation: X:299.35, Y:278.74, Z:2.20 [[-8.24718406e-01 -5.65363705e-01 1.42629524e-02 2.99347447e+02] [ 5.65261777e-01 -8.24841327e-01 -1.07661016e-02 2.78742544e+02] [ 1.78514357e-02 -8.16700348e-04 9.99840317e-01 2.20087962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0807140569999 meters Centerline goodness : 0.981380 Centerline is valid? [True, True] Translation: X:299.31, Y:278.77, Z:2.20 [[-8.27018108e-01 -5.61994789e-01 1.42445391e-02 2.99310875e+02] [ 5.61891949e-01 -8.27140261e-01 -1.07900838e-02 2.78773734e+02] [ 1.78462027e-02 -9.19702843e-04 9.99840321e-01 2.20226080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1107140569999 meters Centerline goodness : 0.987845 Centerline is valid? [True, True] Translation: X:300.09, Y:278.19, Z:2.18 [[-8.20983579e-01 -5.70768855e-01 1.44525976e-02 3.00087883e+02] [ 5.70672151e-01 -8.21110691e-01 -1.05132804e-02 2.78194315e+02] [ 1.78678354e-02 -3.83535621e-04 9.99840284e-01 2.17549527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.140714057 meters Centerline goodness : 0.989563 Centerline is valid? [True, True] Translation: X:300.09, Y:278.20, Z:2.17 [[-8.21594333e-01 -5.69894782e-01 1.42369345e-02 3.00088228e+02] [ 5.69792988e-01 -8.21717325e-01 -1.07976391e-02 2.78196446e+02] [ 1.78522539e-02 -7.59173632e-04 9.99840348e-01 2.17452904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1707140569999 meters Centerline goodness : 0.990608 Centerline is valid? [True, True] Translation: X:300.09, Y:278.20, Z:2.17 [[-8.22196407e-01 -5.69025919e-01 1.42327581e-02 3.00085646e+02] [ 5.68923901e-01 -8.22319213e-01 -1.08031412e-02 2.78200418e+02] [ 1.78511378e-02 -7.84947625e-04 9.99840348e-01 2.17442568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2007140569999 meters Centerline goodness : 0.982245 Centerline is valid? [True, True] Translation: X:299.37, Y:278.74, Z:2.19 [[-8.27834271e-01 -5.60792267e-01 1.42285797e-02 2.99374354e+02] [ 5.60688934e-01 -8.27955973e-01 -1.08086418e-02 2.78739831e+02] [ 1.78420403e-02 -9.69956895e-04 9.99840348e-01 2.19299810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2307140569999 meters Centerline goodness : 0.981675 Centerline is valid? [True, True] Translation: X:299.30, Y:278.80, Z:2.20 [[-8.32068680e-01 -5.54490244e-01 1.42225799e-02 2.99297503e+02] [ 5.54385857e-01 -8.32189477e-01 -1.08164610e-02 2.78797601e+02] [ 1.78335034e-02 -1.11524127e-03 9.99840348e-01 2.20013061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.260714057 meters Centerline goodness : 0.982273 Centerline is valid? [True, True] Translation: X:299.27, Y:278.82, Z:2.20 [[-8.33979583e-01 -5.51611667e-01 1.42346279e-02 2.99269429e+02] [ 5.51507129e-01 -8.34100252e-01 -1.08007708e-02 2.78821123e+02] [ 1.78309379e-02 -1.15712359e-03 9.99840347e-01 2.20036760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.290714057 meters Centerline goodness : 0.987923 Centerline is valid? [True, True] Translation: X:300.09, Y:278.21, Z:2.17 [[-8.10802055e-01 -5.85141939e-01 1.44547313e-02 3.00094120e+02] [ 5.85047590e-01 -8.10930889e-01 -1.05076433e-02 2.78213905e+02] [ 1.78702509e-02 -6.29131110e-05 9.99840312e-01 2.17403138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3207140569999 meters Centerline goodness : 0.989787 Centerline is valid? [True, True] Translation: X:300.07, Y:278.22, Z:2.17 [[-8.24178382e-01 -5.66164109e-01 1.37184675e-02 3.00070971e+02] [ 5.66050744e-01 -8.24290848e-01 -1.14522396e-02 2.78219213e+02] [ 1.77918542e-02 -1.67333962e-03 9.99840312e-01 2.17241622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3507140569999 meters Centerline goodness : 0.989592 Centerline is valid? [True, True] Translation: X:300.07, Y:278.22, Z:2.17 [[-8.25005596e-01 -5.64948686e-01 1.40978434e-02 3.00068554e+02] [ 5.64843315e-01 -8.25125330e-01 -1.09644523e-02 2.78221595e+02] [ 1.78268406e-02 -1.08266187e-03 9.99840503e-01 2.17276131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.380714057 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:300.07, Y:278.22, Z:2.17 [[-8.25812102e-01 -5.63769229e-01 1.40935696e-02 3.00065231e+02] [ 5.63663595e-01 -8.25931603e-01 -1.09699430e-02 2.78224309e+02] [ 1.78248408e-02 -1.11507958e-03 9.99840503e-01 2.17307536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.410714057 meters Centerline goodness : 0.990043 Centerline is valid? [True, True] Translation: X:300.06, Y:278.23, Z:2.17 [[-8.27231018e-01 -5.61685264e-01 1.40892886e-02 3.00062883e+02] [ 5.61579235e-01 -8.27350169e-01 -1.09754386e-02 2.78226704e+02] [ 1.78215174e-02 -1.16697127e-03 9.99840503e-01 2.17350132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4407140569999 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:300.06, Y:278.23, Z:2.17 [[-8.27842436e-01 -5.60783839e-01 1.40850026e-02 3.00058981e+02] [ 5.60677588e-01 -8.27961389e-01 -1.09809362e-02 2.78230135e+02] [ 1.78197698e-02 -1.19333968e-03 9.99840503e-01 2.17355375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4707140569999 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:300.06, Y:278.23, Z:2.17 [[-8.28260018e-01 -5.60167007e-01 1.40807093e-02 3.00055904e+02] [ 5.60060574e-01 -8.28378809e-01 -1.09864386e-02 2.78233396e+02] [ 1.78184016e-02 -1.21357772e-03 9.99840503e-01 2.17293769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.500714057 meters Centerline goodness : 0.982729 Centerline is valid? [True, True] Translation: X:299.25, Y:278.86, Z:2.20 [[-8.34911762e-01 -5.50203785e-01 1.40764080e-02 2.99247424e+02] [ 5.50095845e-01 -8.35029185e-01 -1.09919469e-02 2.78859750e+02] [ 1.78020223e-02 -1.43393221e-03 9.99840503e-01 2.19618369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.530714057 meters Centerline goodness : 0.989251 Centerline is valid? [True, True] Translation: X:299.73, Y:278.49, Z:2.18 [[-8.22393855e-01 -5.68741681e-01 1.41861438e-02 2.99732367e+02] [ 5.68638779e-01 -8.22515753e-01 -1.08524576e-02 2.78487959e+02] [ 1.78405717e-02 -8.58202974e-04 9.99840476e-01 2.18273556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5607140569999 meters Centerline goodness : 0.990274 Centerline is valid? [True, True] Translation: X:300.04, Y:278.24, Z:2.17 [[-8.25767935e-01 -5.63837298e-01 1.39577904e-02 3.00035231e+02] [ 5.63728813e-01 -8.25884818e-01 -1.11397512e-02 2.78240765e+02] [ 1.78085344e-02 -1.33044076e-03 9.99840530e-01 2.17399844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5907140569999 meters Centerline goodness : 0.989610 Centerline is valid? [True, True] Translation: X:300.05, Y:278.24, Z:2.17 [[-8.19175522e-01 -5.73372645e-01 1.39740466e-02 3.00047171e+02] [ 5.73265869e-01 -8.19293967e-01 -1.11193214e-02 2.78238615e+02] [ 1.78243668e-02 -1.09783196e-03 9.99840531e-01 2.17274313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.620714057 meters Centerline goodness : 0.989403 Centerline is valid? [True, True] Translation: X:300.04, Y:278.24, Z:2.17 [[-8.19442085e-01 -5.72998104e-01 1.37055275e-02 3.00043955e+02] [ 5.72885634e-01 -8.19555254e-01 -1.14558221e-02 2.78241290e+02] [ 1.77966014e-02 -1.53568291e-03 9.99840449e-01 2.17214952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.650714057 meters Centerline goodness : 0.990069 Centerline is valid? [True, True] Translation: X:300.04, Y:278.24, Z:2.17 [[-8.21233142e-01 -5.70427966e-01 1.37135980e-02 3.00044617e+02] [ 5.70315309e-01 -8.21346117e-01 -1.14457112e-02 2.78238023e+02] [ 1.77925643e-02 -1.57852248e-03 9.99840454e-01 2.17313443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6807140569999 meters Centerline goodness : 0.990109 Centerline is valid? [True, True] Translation: X:300.04, Y:278.24, Z:2.17 [[-8.21942125e-01 -5.69405342e-01 1.37368153e-02 3.00037284e+02] [ 5.69293025e-01 -8.22055419e-01 -1.14166390e-02 2.78242673e+02] [ 1.77931187e-02 -1.56354340e-03 9.99840467e-01 2.17128727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7107140569999 meters Centerline goodness : 0.988705 Centerline is valid? [True, True] Translation: X:300.04, Y:278.24, Z:2.17 [[-8.22153739e-01 -5.69100000e-01 1.37266387e-02 3.00037274e+02] [ 5.68987430e-01 -8.22266790e-01 -1.14293759e-02 2.78241675e+02] [ 1.77914169e-02 -1.58641921e-03 9.99840462e-01 2.17181392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.740714057 meters Centerline goodness : 0.989956 Centerline is valid? [True, True] Translation: X:300.03, Y:278.25, Z:2.17 [[-8.23189364e-01 -5.67598825e-01 1.38146628e-02 3.00027595e+02] [ 5.67487874e-01 -8.23303947e-01 -1.13191845e-02 2.78245437e+02] [ 1.77984222e-02 -1.47817870e-03 9.99840503e-01 2.17319155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.770714057 meters Centerline goodness : 0.989589 Centerline is valid? [True, True] Translation: X:300.02, Y:278.25, Z:2.17 [[-8.24407581e-01 -5.65829415e-01 1.37554647e-02 3.00019243e+02] [ 5.65716994e-01 -8.24520756e-01 -1.13932342e-02 2.78248125e+02] [ 1.77882932e-02 -1.61096851e-03 9.99840478e-01 2.17396148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8007140569999 meters Centerline goodness : 0.988226 Centerline is valid? [True, True] Translation: X:300.03, Y:278.24, Z:2.18 [[-8.24364083e-01 -5.65891669e-01 1.38013849e-02 3.00027367e+02] [ 5.65780205e-01 -8.24478174e-01 -1.13358112e-02 2.78240916e+02] [ 1.77937817e-02 -1.53628525e-03 9.99840498e-01 2.17506261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8307140569999 meters Centerline goodness : 0.990088 Centerline is valid? [True, True] Translation: X:300.02, Y:278.24, Z:2.17 [[-8.23555831e-01 -5.67065643e-01 1.38690042e-02 3.00024980e+02] [ 5.66955748e-01 -8.23671408e-01 -1.12512812e-02 2.78240220e+02] [ 1.78037172e-02 -1.40294655e-03 9.99840517e-01 2.17268186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8607140569999 meters Centerline goodness : 0.989131 Centerline is valid? [True, True] Translation: X:300.02, Y:278.24, Z:2.17 [[-8.23162704e-01 -5.67638942e-01 1.37548128e-02 3.00022309e+02] [ 5.67526759e-01 -8.23276113e-01 -1.13938349e-02 2.78236716e+02] [ 1.77915932e-02 -1.57275560e-03 9.99840480e-01 2.17251677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.890714057 meters Centerline goodness : 0.988972 Centerline is valid? [True, True] Translation: X:300.02, Y:278.23, Z:2.17 [[-8.23206046e-01 -5.67576476e-01 1.37386398e-02 3.00021416e+02] [ 5.67463952e-01 -8.23319127e-01 -1.14140128e-02 2.78234089e+02] [ 1.77896101e-02 -1.59990156e-03 9.99840472e-01 2.17287776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9207140569999 meters Centerline goodness : 0.988993 Centerline is valid? [True, True] Translation: X:300.01, Y:278.24, Z:2.17 [[-8.22605534e-01 -5.68445936e-01 1.37606003e-02 3.00013439e+02] [ 5.68333984e-01 -8.22719167e-01 -1.13866276e-02 2.78238082e+02] [ 1.77937918e-02 -1.54608605e-03 9.99840483e-01 2.17285833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9507140569999 meters Centerline goodness : 0.988950 Centerline is valid? [True, True] Translation: X:300.01, Y:278.24, Z:2.17 [[-8.21801041e-01 -5.69609070e-01 1.37315667e-02 3.00007788e+02] [ 5.69496680e-01 -8.21914260e-01 -1.14228080e-02 2.78238765e+02] [ 1.77927055e-02 -1.56719383e-03 9.99840469e-01 2.17279817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9807140569999 meters Centerline goodness : 0.987793 Centerline is valid? [True, True] Translation: X:300.01, Y:278.24, Z:2.17 [[-8.21943243e-01 -5.69403462e-01 1.37478648e-02 3.00008601e+02] [ 5.69291379e-01 -8.22056755e-01 -1.14025056e-02 2.78236451e+02] [ 1.77941513e-02 -1.54567152e-03 9.99840477e-01 2.17445984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.010714057 meters Centerline goodness : 0.988974 Centerline is valid? [True, True] Translation: X:300.00, Y:278.24, Z:2.17 [[-8.21249572e-01 -5.70401373e-01 1.38352607e-02 3.00003823e+02] [ 5.70291239e-01 -8.21364935e-01 -1.12936290e-02 2.78237054e+02] [ 1.78056995e-02 -1.38476000e-03 9.99840507e-01 2.17432739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.040714057 meters Centerline goodness : 0.989065 Centerline is valid? [True, True] Translation: X:300.00, Y:278.24, Z:2.17 [[-8.21250277e-01 -5.70402514e-01 1.37460866e-02 3.00000291e+02] [ 5.70290535e-01 -8.21363891e-01 -1.14046032e-02 2.78237951e+02] [ 1.77957535e-02 -1.52677043e-03 9.99840477e-01 2.17443730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0707140569999 meters Centerline goodness : 0.988643 Centerline is valid? [True, True] Translation: X:299.99, Y:278.24, Z:2.18 [[-8.21113325e-01 -5.70597466e-01 1.38361797e-02 2.99989729e+02] [ 5.70487379e-01 -8.21228732e-01 -1.12924675e-02 2.78242447e+02] [ 1.78061216e-02 -1.37902964e-03 9.99840507e-01 2.17539929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1007140569999 meters Centerline goodness : 0.987750 Centerline is valid? [True, True] Translation: X:299.99, Y:278.24, Z:2.17 [[-8.20883667e-01 -5.70930109e-01 1.37410672e-02 2.99991948e+02] [ 5.70818101e-01 -8.20997254e-01 -1.14107321e-02 2.78237842e+02] [ 1.77961090e-02 -1.52323376e-03 9.99840476e-01 2.17430757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.130714057 meters Centerline goodness : 0.987750 Centerline is valid? [True, True] Translation: X:299.99, Y:278.24, Z:2.17 [[-8.20668873e-01 -5.71236515e-01 1.38363384e-02 2.99989803e+02] [ 5.71126522e-01 -8.20784369e-01 -1.12922720e-02 2.78239390e+02] [ 1.78072084e-02 -1.36491637e-03 9.99840507e-01 2.17440449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.160714057 meters Centerline goodness : 0.988418 Centerline is valid? [True, True] Translation: X:299.99, Y:278.24, Z:2.17 [[-8.20387042e-01 -5.71641322e-01 1.38311023e-02 2.99987948e+02] [ 5.71531277e-01 -8.20502491e-01 -1.12987772e-02 2.78238537e+02] [ 1.78073018e-02 -1.36446286e-03 9.99840506e-01 2.17323931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1907140569999 meters Centerline goodness : 0.987584 Centerline is valid? [True, True] Translation: X:299.99, Y:278.24, Z:2.17 [[-8.19915315e-01 -5.72320535e-01 1.37142598e-02 2.99986450e+02] [ 5.72208173e-01 -8.20028565e-01 -1.14437522e-02 2.78238819e+02] [ 1.77955792e-02 -1.53549615e-03 9.99840467e-01 2.17221980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2207140569999 meters Centerline goodness : 0.987203 Centerline is valid? [True, True] Translation: X:299.98, Y:278.24, Z:2.17 [[-8.19325389e-01 -5.73164310e-01 1.37324709e-02 2.99982610e+02] [ 5.73052439e-01 -8.19439112e-01 -1.14211672e-02 2.78236840e+02] [ 1.77991291e-02 -1.48822631e-03 9.99840475e-01 2.17180352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.250714057 meters Centerline goodness : 0.988421 Centerline is valid? [True, True] Translation: X:299.98, Y:278.24, Z:2.17 [[-8.18773646e-01 -5.73952536e-01 1.37187201e-02 2.99978771e+02] [ 5.73840492e-01 -8.18887207e-01 -1.14382109e-02 2.78236976e+02] [ 1.77990745e-02 -1.49294853e-03 9.99840469e-01 2.17202420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.280714057 meters Centerline goodness : 0.988292 Centerline is valid? [True, True] Translation: X:299.98, Y:278.23, Z:2.17 [[-8.18241763e-01 -5.74710749e-01 1.37103031e-02 2.99978462e+02] [ 5.74598637e-01 -8.18355262e-01 -1.14486356e-02 2.78234540e+02] [ 1.77995526e-02 -1.48983032e-03 9.99840465e-01 2.17196320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3107140569999 meters Centerline goodness : 0.988087 Centerline is valid? [True, True] Translation: X:299.97, Y:278.24, Z:2.17 [[-8.18642725e-01 -5.74140271e-01 1.36761749e-02 2.99968107e+02] [ 5.74027380e-01 -8.18755474e-01 -1.14908774e-02 2.78240278e+02] [ 1.77948185e-02 -1.55642428e-03 9.99840448e-01 2.17302513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3407140569999 meters Centerline goodness : 0.987543 Centerline is valid? [True, True] Translation: X:299.97, Y:278.24, Z:2.17 [[-8.17959130e-01 -5.75113362e-01 1.36924279e-02 2.99967297e+02] [ 5.75000938e-01 -8.18072334e-01 -1.14707662e-02 2.78237755e+02] [ 1.77983874e-02 -1.50945910e-03 9.99840457e-01 2.17281388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.370714057 meters Centerline goodness : 0.986927 Centerline is valid? [True, True] Translation: X:299.97, Y:278.24, Z:2.17 [[-8.17540996e-01 -5.75707768e-01 1.36852038e-02 2.99969021e+02] [ 5.75595279e-01 -8.17654139e-01 -1.14796976e-02 2.78235385e+02] [ 1.77987146e-02 -1.50798472e-03 9.99840453e-01 2.17333935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.400714057 meters Centerline goodness : 0.987194 Centerline is valid? [True, True] Translation: X:299.96, Y:278.24, Z:2.17 [[-8.17614684e-01 -5.75602792e-01 1.36987318e-02 2.99962943e+02] [ 5.75490565e-01 -8.17728078e-01 -1.14629798e-02 2.78238710e+02] [ 1.77999607e-02 -1.48880968e-03 9.99840460e-01 2.17334354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4307140569999 meters Centerline goodness : 0.987855 Centerline is valid? [True, True] Translation: X:299.96, Y:278.24, Z:2.17 [[-8.17591234e-01 -5.75637071e-01 1.36578297e-02 2.99959827e+02] [ 5.75524012e-01 -8.17703829e-01 -1.15134996e-02 2.78239728e+02] [ 1.77956568e-02 -1.55292740e-03 9.99840439e-01 2.17331736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4607140569999 meters Centerline goodness : 0.988065 Centerline is valid? [True, True] Translation: X:299.96, Y:278.24, Z:2.17 [[-8.18737498e-01 -5.74005164e-01 1.36740667e-02 2.99959607e+02] [ 5.73892212e-01 -8.18850187e-01 -1.14934546e-02 2.78235722e+02] [ 1.77943144e-02 -1.56268187e-03 9.99840447e-01 2.17318781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.490714057 meters Centerline goodness : 0.986261 Centerline is valid? [True, True] Translation: X:299.95, Y:278.24, Z:2.17 [[-8.19667047e-01 -5.72677540e-01 1.36516382e-02 2.99954366e+02] [ 5.72563948e-01 -8.19779110e-01 -1.15211358e-02 2.78239241e+02] [ 1.77892235e-02 -1.62705949e-03 9.99840435e-01 2.17312717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.520714057 meters Centerline goodness : 0.987959 Centerline is valid? [True, True] Translation: X:299.96, Y:278.23, Z:2.17 [[-8.20793634e-01 -5.71057687e-01 1.38177007e-02 2.99957803e+02] [ 5.70947271e-01 -8.20908741e-01 -1.13160667e-02 2.78233049e+02] [ 1.78051981e-02 -1.39897705e-03 9.99840496e-01 2.17165589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5507140569999 meters Centerline goodness : 0.986837 Centerline is valid? [True, True] Translation: X:299.95, Y:278.24, Z:2.17 [[-8.21756928e-01 -5.69674234e-01 1.36681239e-02 2.99951410e+02] [ 5.69560573e-01 -8.21868902e-01 -1.15005316e-02 2.78238232e+02] [ 1.77849625e-02 -1.66581700e-03 9.99840447e-01 2.17393650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5807140569999 meters Centerline goodness : 0.987463 Centerline is valid? [True, True] Translation: X:299.95, Y:278.24, Z:2.17 [[-8.21832702e-01 -5.69561126e-01 1.38251055e-02 2.99947517e+02] [ 5.69450655e-01 -8.21947753e-01 -1.13067801e-02 2.78239035e+02] [ 1.78034168e-02 -1.41956631e-03 9.99840499e-01 2.17115424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6107140569999 meters Centerline goodness : 0.987174 Centerline is valid? [True, True] Translation: X:299.94, Y:278.24, Z:2.17 [[-8.22969945e-01 -5.67919881e-01 1.36922615e-02 2.99944454e+02] [ 5.67806475e-01 -8.23082156e-01 -1.14704713e-02 2.78239742e+02] [ 1.77841648e-02 -1.66529845e-03 9.99840462e-01 2.17116104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.640714057 meters Centerline goodness : 0.986340 Centerline is valid? [True, True] Translation: X:299.95, Y:278.23, Z:2.17 [[-8.23244068e-01 -5.67522072e-01 1.37077737e-02 2.99949551e+02] [ 5.67408925e-01 -8.23356532e-01 -1.14513647e-02 2.78234586e+02] [ 1.77852872e-02 -1.64935491e-03 9.99840469e-01 2.17441543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6707140569999 meters Centerline goodness : 0.988709 Centerline is valid? [True, True] Translation: X:299.94, Y:278.24, Z:2.17 [[-8.23024673e-01 -5.67837090e-01 1.38356891e-02 2.99941376e+02] [ 5.67726595e-01 -8.23139700e-01 -1.12937240e-02 2.78239265e+02] [ 1.78017003e-02 -1.44012481e-03 9.99840500e-01 2.17117384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7007140569999 meters Centerline goodness : 0.988552 Centerline is valid? [True, True] Translation: X:299.94, Y:278.24, Z:2.17 [[-8.23696270e-01 -5.66866365e-01 1.36740419e-02 2.99938686e+02] [ 5.66752452e-01 -8.23807974e-01 -1.14926160e-02 2.78239881e+02] [ 1.77795622e-02 -1.71662812e-03 9.99840457e-01 2.17076771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7307140569999 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:299.93, Y:278.24, Z:2.17 [[-8.23988111e-01 -5.66441475e-01 1.36984946e-02 2.99933342e+02] [ 5.66327998e-01 -8.24100242e-01 -1.14625429e-02 2.78243426e+02] [ 1.77817924e-02 -1.68715806e-03 9.99840468e-01 2.17089856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.760714057 meters Centerline goodness : 0.988694 Centerline is valid? [True, True] Translation: X:299.93, Y:278.24, Z:2.17 [[-8.24116764e-01 -5.66253930e-01 1.37129790e-02 2.99933193e+02] [ 5.66140720e-01 -8.24229157e-01 -1.14447363e-02 2.78242891e+02] [ 1.77832640e-02 -1.66832324e-03 9.99840473e-01 2.17044016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.790714057 meters Centerline goodness : 0.988694 Centerline is valid? [True, True] Translation: X:299.93, Y:278.24, Z:2.17 [[-8.23908458e-01 -5.66556778e-01 1.37211779e-02 2.99931083e+02] [ 5.66443775e-01 -8.24021055e-01 -1.14346601e-02 2.78244499e+02] [ 1.77849237e-02 -1.64883735e-03 9.99840476e-01 2.17049216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8207140569999 meters Centerline goodness : 0.989519 Centerline is valid? [True, True] Translation: X:299.93, Y:278.24, Z:2.17 [[-8.22835642e-01 -5.68113874e-01 1.37161506e-02 2.99932896e+02] [ 5.68000982e-01 -8.22948353e-01 -1.14408333e-02 2.78242015e+02] [ 1.77873796e-02 -1.62313845e-03 9.99840475e-01 2.17203865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8507140569999 meters Centerline goodness : 0.988609 Centerline is valid? [True, True] Translation: X:299.93, Y:278.24, Z:2.17 [[-8.24012790e-01 -5.66406643e-01 1.36542043e-02 2.99929393e+02] [ 5.66292272e-01 -8.24124035e-01 -1.15168266e-02 2.78243239e+02] [ 1.77759650e-02 -1.75774204e-03 9.99840450e-01 2.17303037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.880714057 meters Centerline goodness : 0.989458 Centerline is valid? [True, True] Translation: X:299.92, Y:278.25, Z:2.17 [[-8.23972687e-01 -5.66462061e-01 1.37747872e-02 2.99917060e+02] [ 5.66350129e-01 -8.24086331e-01 -1.13688534e-02 2.78251778e+02] [ 1.77916379e-02 -1.56627215e-03 9.99840489e-01 2.17142785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.910714057 meters Centerline goodness : 0.989062 Centerline is valid? [True, True] Translation: X:299.92, Y:278.25, Z:2.17 [[-8.23677900e-01 -5.66891935e-01 1.37204755e-02 2.99918750e+02] [ 5.66778964e-01 -8.23790529e-01 -1.14354671e-02 2.78249882e+02] [ 1.77854719e-02 -1.64266463e-03 9.99840477e-01 2.17177125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9407140569999 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:299.93, Y:278.24, Z:2.17 [[-8.21828275e-01 -5.69570824e-01 1.36880803e-02 2.99926291e+02] [ 5.69457566e-01 -8.21940631e-01 -1.14751575e-02 2.78243142e+02] [ 1.77867043e-02 -1.63582795e-03 9.99840466e-01 2.17279528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9707140569999 meters Centerline goodness : 0.990287 Centerline is valid? [True, True] Translation: X:299.92, Y:278.25, Z:2.17 [[-8.22529910e-01 -5.68558648e-01 1.36239108e-02 2.99916969e+02] [ 5.68443965e-01 -8.22640852e-01 -1.15536986e-02 2.78249800e+02] [ 1.77765408e-02 -1.75883279e-03 9.99840438e-01 2.17231263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.000714057 meters Centerline goodness : 0.990421 Centerline is valid? [True, True] Translation: X:299.92, Y:278.25, Z:2.17 [[-8.21706413e-01 -5.69747680e-01 1.36437490e-02 2.99917130e+02] [ 5.69633555e-01 -8.21817915e-01 -1.15294262e-02 2.78249340e+02] [ 1.77815412e-02 -1.70186616e-03 9.99840448e-01 2.17258990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.030714057 meters Centerline goodness : 0.990026 Centerline is valid? [True, True] Translation: X:299.91, Y:278.25, Z:2.17 [[-8.23506675e-01 -5.67142525e-01 1.36423232e-02 2.99907103e+02] [ 5.67028019e-01 -8.23617786e-01 -1.15311698e-02 2.78254594e+02] [ 1.77758768e-02 -1.76041578e-03 9.99840447e-01 2.17309400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0607140569999 meters Centerline goodness : 0.989591 Centerline is valid? [True, True] Translation: X:299.91, Y:278.25, Z:2.17 [[-8.23013090e-01 -5.67858830e-01 1.36309636e-02 2.99909244e+02] [ 5.67744194e-01 -8.23124075e-01 -1.15450537e-02 2.78252951e+02] [ 1.77759350e-02 -1.76282987e-03 9.99840442e-01 2.17187665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0907140569999 meters Centerline goodness : 0.990039 Centerline is valid? [True, True] Translation: X:299.90, Y:278.26, Z:2.17 [[-8.23646698e-01 -5.66940089e-01 1.36034258e-02 2.99902888e+02] [ 5.66824781e-01 -8.23757004e-01 -1.15786803e-02 2.78257387e+02] [ 1.77703353e-02 -1.82598298e-03 9.99840428e-01 2.17229155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.120714057 meters Centerline goodness : 0.990345 Centerline is valid? [True, True] Translation: X:299.90, Y:278.26, Z:2.17 [[-8.23933481e-01 -5.66523429e-01 1.35949742e-02 2.99902535e+02] [ 5.66407898e-01 -8.24043560e-01 -1.15889945e-02 2.78257192e+02] [ 1.77682878e-02 -1.84825979e-03 9.99840423e-01 2.17177917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.150714057 meters Centerline goodness : 0.990200 Centerline is valid? [True, True] Translation: X:299.89, Y:278.26, Z:2.17 [[-8.25005959e-01 -5.64960543e-01 1.35923628e-02 2.99891696e+02] [ 5.64844752e-01 -8.25115766e-01 -1.15921796e-02 2.78264190e+02] [ 1.77643969e-02 -1.88604241e-03 9.99840422e-01 2.17206505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1807140569999 meters Centerline goodness : 0.990704 Centerline is valid? [True, True] Translation: X:299.89, Y:278.26, Z:2.17 [[-8.31413632e-01 -5.55486859e-01 1.36279926e-02 2.99889780e+02] [ 5.55370517e-01 -8.31522830e-01 -1.15487205e-02 2.78255844e+02] [ 1.77471494e-02 -2.03317832e-03 9.99840440e-01 2.17229773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2107140569999 meters Centerline goodness : 0.990699 Centerline is valid? [True, True] Translation: X:299.92, Y:278.24, Z:2.17 [[-8.22778697e-01 -5.68193901e-01 1.38169023e-02 2.99916717e+02] [ 5.68083049e-01 -8.22893402e-01 -1.13181048e-02 2.78241279e+02] [ 1.78007158e-02 -1.46314754e-03 9.99840484e-01 2.16980052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.240714057 meters Centerline goodness : 0.990731 Centerline is valid? [True, True] Translation: X:299.91, Y:278.25, Z:2.17 [[-8.21879044e-01 -5.69501413e-01 1.35269107e-02 2.99909253e+02] [ 5.69384947e-01 -8.21988180e-01 -1.16710847e-02 2.78247332e+02] [ 1.77656599e-02 -1.89020056e-03 9.99840392e-01 2.16893637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.270714057 meters Centerline goodness : 0.990321 Centerline is valid? [True, True] Translation: X:299.88, Y:278.26, Z:2.17 [[-8.31659055e-01 -5.55121854e-01 1.35256531e-02 2.99884549e+02] [ 5.55003484e-01 -8.31766123e-01 -1.16726161e-02 2.78257457e+02] [ 1.77299044e-02 -2.20085225e-03 9.99840391e-01 2.17325803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3007140569999 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:299.89, Y:278.26, Z:2.17 [[-8.22054583e-01 -5.69241159e-01 1.38117902e-02 2.99893837e+02] [ 5.69130362e-01 -8.22169330e-01 -1.13236078e-02 2.78259272e+02] [ 1.78014939e-02 -1.44791457e-03 9.99840492e-01 2.16938446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3307140569999 meters Centerline goodness : 0.990805 Centerline is valid? [True, True] Translation: X:299.90, Y:278.25, Z:2.17 [[-8.21013343e-01 -5.70750515e-01 1.34514301e-02 2.99904573e+02] [ 5.70632756e-01 -8.21121141e-01 -1.17613742e-02 2.78251061e+02] [ 1.77580640e-02 -1.98041854e-03 9.99840352e-01 2.16839367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3607140569999 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:299.90, Y:278.25, Z:2.17 [[-8.22957851e-01 -5.67944021e-01 1.34150708e-02 2.99901201e+02] [ 5.67825187e-01 -8.23064510e-01 -1.18055028e-02 2.78252218e+02] [ 1.77463334e-02 -2.09801614e-03 9.99840320e-01 2.16890555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.390714057 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:299.90, Y:278.25, Z:2.17 [[-8.22391909e-01 -5.68761281e-01 1.34964554e-02 2.99899991e+02] [ 5.68644143e-01 -8.22500330e-01 -1.17066848e-02 2.78253410e+02] [ 1.77591480e-02 -1.95280250e-03 9.99840387e-01 2.16782699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4207140569999 meters Centerline goodness : 0.990256 Centerline is valid? [True, True] Translation: X:299.90, Y:278.26, Z:2.17 [[-8.23757480e-01 -5.66781726e-01 1.34940201e-02 2.99895200e+02] [ 5.66664280e-01 -8.23865570e-01 -1.17096403e-02 2.78256732e+02] [ 1.77540687e-02 -1.99932457e-03 9.99840385e-01 2.16841722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4507140569999 meters Centerline goodness : 0.990283 Centerline is valid? [True, True] Translation: X:299.87, Y:278.28, Z:2.17 [[-8.24454403e-01 -5.65766481e-01 1.35361252e-02 2.99867727e+02] [ 5.65649726e-01 -8.24563197e-01 -1.16585090e-02 2.78280130e+02] [ 1.77573843e-02 -1.95520356e-03 9.99840414e-01 2.16842069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4807140569999 meters Centerline goodness : 0.990086 Centerline is valid? [True, True] Translation: X:299.89, Y:278.26, Z:2.17 [[-8.24153069e-01 -5.66204763e-01 1.35604027e-02 2.99887980e+02] [ 5.66088543e-01 -8.24262414e-01 -1.16290222e-02 2.78262914e+02] [ 1.77617380e-02 -1.90770571e-03 9.99840428e-01 2.16927528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.510714057 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:299.88, Y:278.27, Z:2.17 [[-8.22944651e-01 -5.67960863e-01 1.35114812e-02 2.99881043e+02] [ 5.67843915e-01 -8.23053261e-01 -1.16883802e-02 2.78269576e+02] [ 1.77592112e-02 -1.94647760e-03 9.99840398e-01 2.16803008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.540714057 meters Centerline goodness : 0.989658 Centerline is valid? [True, True] Translation: X:299.89, Y:278.26, Z:2.17 [[-8.22398360e-01 -5.68751114e-01 1.35317578e-02 2.99885675e+02] [ 5.68634669e-01 -8.22507489e-01 -1.16637906e-02 2.78263844e+02] [ 1.77637661e-02 -1.89765563e-03 9.99840411e-01 2.16950280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5707140569999 meters Centerline goodness : 0.989636 Centerline is valid? [True, True] Translation: X:299.89, Y:278.26, Z:2.17 [[-8.20295936e-01 -5.71779945e-01 1.35008419e-02 2.99886706e+02] [ 5.71663295e-01 -8.20404875e-01 -1.17012400e-02 2.78263283e+02] [ 1.77666908e-02 -1.88054386e-03 9.99840391e-01 2.16858117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6007140569999 meters Centerline goodness : 0.989095 Centerline is valid? [True, True] Translation: X:299.88, Y:278.27, Z:2.17 [[-8.20742784e-01 -5.71138266e-01 1.35042268e-02 2.99882099e+02] [ 5.71021597e-01 -8.20851699e-01 -1.16971403e-02 2.78265805e+02] [ 1.77656519e-02 -1.88913830e-03 9.99840394e-01 2.17032989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.630714057 meters Centerline goodness : 0.990024 Centerline is valid? [True, True] Translation: X:299.88, Y:278.27, Z:2.17 [[-8.17959692e-01 -5.75115663e-01 1.35615760e-02 2.99878872e+02] [ 5.75000659e-01 -8.18070315e-01 -1.16276722e-02 2.78268759e+02] [ 1.77815791e-02 -1.71305200e-03 9.99840428e-01 2.16885360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.660714057 meters Centerline goodness : 0.988900 Centerline is valid? [True, True] Translation: X:299.88, Y:278.27, Z:2.17 [[-8.16412973e-01 -5.77311732e-01 1.34544179e-02 2.99876298e+02] [ 5.77194908e-01 -8.16521772e-01 -1.17572965e-02 2.78270321e+02] [ 1.77734504e-02 -1.83298787e-03 9.99840360e-01 2.16893069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6907140569999 meters Centerline goodness : 0.989073 Centerline is valid? [True, True] Translation: X:299.87, Y:278.27, Z:2.17 [[-8.16456256e-01 -5.77249630e-01 1.34924871e-02 2.99871516e+02] [ 5.77133548e-01 -8.16565806e-01 -1.17112395e-02 2.78273233e+02] [ 1.77778122e-02 -1.77474786e-03 9.99840387e-01 2.17040684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7207140569999 meters Centerline goodness : 0.989342 Centerline is valid? [True, True] Translation: X:299.87, Y:278.27, Z:2.17 [[-8.15236729e-01 -5.78969247e-01 1.35531035e-02 2.99869465e+02] [ 5.78854598e-01 -8.15347726e-01 -1.16378967e-02 2.78273411e+02] [ 1.77884764e-02 -1.64236457e-03 9.99840424e-01 2.17050139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.750714057 meters Centerline goodness : 0.988871 Centerline is valid? [True, True] Translation: X:299.86, Y:278.28, Z:2.17 [[-8.14260210e-01 -5.80341907e-01 1.35492265e-02 2.99863350e+02] [ 5.80227368e-01 -8.14371323e-01 -1.16425845e-02 2.78277047e+02] [ 1.77907812e-02 -1.61846125e-03 9.99840422e-01 2.17154446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.780714057 meters Centerline goodness : 0.989839 Centerline is valid? [True, True] Translation: X:299.88, Y:278.27, Z:2.17 [[-8.09734781e-01 -5.86639883e-01 1.35363494e-02 2.99878258e+02] [ 5.86525951e-01 -8.09846527e-01 -1.16581394e-02 2.78265433e+02] [ 1.78014951e-02 -1.50058075e-03 9.99840415e-01 2.16983529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8107140569999 meters Centerline goodness : 0.989871 Centerline is valid? [True, True] Translation: X:299.86, Y:278.27, Z:2.17 [[-8.18412468e-01 -5.74473157e-01 1.34768181e-02 2.99858668e+02] [ 5.74356399e-01 -8.18521309e-01 -1.17299954e-02 2.78271500e+02] [ 1.77696303e-02 -1.85947774e-03 9.99840379e-01 2.17432313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8407140569999 meters Centerline goodness : 0.988700 Centerline is valid? [True, True] Translation: X:299.87, Y:278.27, Z:2.17 [[-8.09310367e-01 -5.87219992e-01 1.37626698e-02 2.99871727e+02] [ 5.87110721e-01 -8.09426585e-01 -1.13844314e-02 2.78271045e+02] [ 1.78250365e-02 -1.13332736e-03 9.99840479e-01 2.17069818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.870714057 meters Centerline goodness : 0.990016 Centerline is valid? [True, True] Translation: X:299.87, Y:278.27, Z:2.17 [[-8.08053275e-01 -5.88954654e-01 1.35026155e-02 2.99869093e+02] [ 5.88840381e-01 -8.08164687e-01 -1.16980625e-02 2.78273811e+02] [ 1.78019654e-02 -1.50177249e-03 9.99840405e-01 2.16994174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.900714057 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:299.89, Y:278.26, Z:2.17 [[-7.98380670e-01 -6.02002038e-01 1.34852525e-02 2.99889642e+02] [ 6.01889239e-01 -7.98493588e-01 -1.17189766e-02 2.78262229e+02] [ 1.78227355e-02 -1.23957600e-03 9.99840394e-01 2.16603843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9307140569999 meters Centerline goodness : 0.990426 Centerline is valid? [True, True] Translation: X:299.88, Y:278.27, Z:2.17 [[-8.04628511e-01 -5.93630514e-01 1.32579100e-02 2.99876970e+02] [ 5.93512042e-01 -8.04735759e-01 -1.19922193e-02 2.78267147e+02] [ 1.77880616e-02 -1.78055229e-03 9.99840194e-01 2.16987734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9607140569999 meters Centerline goodness : 0.988626 Centerline is valid? [True, True] Translation: X:299.88, Y:278.26, Z:2.17 [[-8.03968301e-01 -5.94520309e-01 1.34377306e-02 2.99880938e+02] [ 5.94405517e-01 -8.04079232e-01 -1.17758031e-02 2.78264097e+02] [ 1.78059542e-02 -1.47991116e-03 9.99840366e-01 2.16987353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.990714057 meters Centerline goodness : 0.990358 Centerline is valid? [True, True] Translation: X:299.88, Y:278.27, Z:2.17 [[-8.00198203e-01 -5.99582632e-01 1.35463824e-02 2.99876026e+02] [ 5.99470734e-01 -8.00311960e-01 -1.16449967e-02 2.78267997e+02] [ 1.78234696e-02 -1.19764567e-03 9.99840432e-01 2.16967337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.020714057 meters Centerline goodness : 0.990025 Centerline is valid? [True, True] Translation: X:299.87, Y:278.27, Z:2.17 [[-7.98074198e-01 -6.02409112e-01 1.34475312e-02 2.99871746e+02] [ 6.02295617e-01 -7.98186445e-01 -1.17638943e-02 2.78271749e+02] [ 1.78203142e-02 -1.28907134e-03 9.99840375e-01 2.16900654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0507140569999 meters Centerline goodness : 0.990025 Centerline is valid? [True, True] Translation: X:299.87, Y:278.27, Z:2.17 [[-7.97872373e-01 -6.02676766e-01 1.34310283e-02 2.99869663e+02] [ 6.02562977e-01 -7.97984337e-01 -1.17837349e-02 2.78273382e+02] [ 1.78195335e-02 -1.30887612e-03 9.99840363e-01 2.16904411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0807140569999 meters Centerline goodness : 0.989902 Centerline is valid? [True, True] Translation: X:299.87, Y:278.27, Z:2.17 [[-7.95526933e-01 -6.05769449e-01 1.34265937e-02 2.99870566e+02] [ 6.05656006e-01 -7.95639253e-01 -1.17890621e-02 2.78272121e+02] [ 1.78241787e-02 -1.24661928e-03 9.99840360e-01 2.16866959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1107140569999 meters Centerline goodness : 0.989468 Centerline is valid? [True, True] Translation: X:299.86, Y:278.28, Z:2.17 [[-7.93850660e-01 -6.07965294e-01 1.33914653e-02 2.99864063e+02] [ 6.07851453e-01 -7.93962615e-01 -1.18312291e-02 2.78275087e+02] [ 1.78252995e-02 -1.25220739e-03 9.99840333e-01 2.16936959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.140714057 meters Centerline goodness : 0.990208 Centerline is valid? [True, True] Translation: X:299.86, Y:278.28, Z:2.17 [[-7.93613063e-01 -6.08276157e-01 1.33575449e-02 2.99862909e+02] [ 6.08161677e-01 -7.93724406e-01 -1.18719244e-02 2.78275355e+02] [ 1.78236179e-02 -1.29816740e-03 9.99840304e-01 2.16929417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1707140569999 meters Centerline goodness : 0.989268 Centerline is valid? [True, True] Translation: X:299.86, Y:278.27, Z:2.17 [[-7.92810769e-01 -6.09320352e-01 1.34086980e-02 2.99864125e+02] [ 6.09207050e-01 -7.92923250e-01 -1.18105784e-02 2.78274077e+02] [ 1.78284942e-02 -1.19488042e-03 9.99840346e-01 2.16913581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2007140569999 meters Centerline goodness : 0.989243 Centerline is valid? [True, True] Translation: X:299.86, Y:278.28, Z:2.17 [[-7.94164138e-01 -6.07555704e-01 1.33935902e-02 2.99858256e+02] [ 6.07441847e-01 -7.94276076e-01 -1.18286878e-02 2.78276916e+02] [ 1.78247950e-02 -1.25809247e-03 9.99840334e-01 2.17109647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2307140569999 meters Centerline goodness : 0.989383 Centerline is valid? [True, True] Translation: X:299.85, Y:278.28, Z:2.17 [[-7.93137268e-01 -6.08894575e-01 1.34413728e-02 2.99854437e+02] [ 6.08781872e-01 -7.93250318e-01 -1.17714163e-02 2.78280714e+02] [ 1.78299248e-02 -1.15348482e-03 9.99840369e-01 2.17136440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.260714057 meters Centerline goodness : 0.989450 Centerline is valid? [True, True] Translation: X:299.85, Y:278.28, Z:2.17 [[-7.93648215e-01 -6.08229127e-01 1.34104743e-02 2.99849480e+02] [ 6.08115706e-01 -7.93760574e-01 -1.18084260e-02 2.78283971e+02] [ 1.78269345e-02 -1.21661617e-03 9.99840347e-01 2.17241431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.290714057 meters Centerline goodness : 0.989959 Centerline is valid? [True, True] Translation: X:299.84, Y:278.29, Z:2.17 [[-7.92966566e-01 -6.09117910e-01 1.33939116e-02 2.99842405e+02] [ 6.09004281e-01 -7.93078734e-01 -1.18282603e-02 2.78291036e+02] [ 1.78272316e-02 -1.22246546e-03 9.99840335e-01 2.17224469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3207140569999 meters Centerline goodness : 0.989105 Centerline is valid? [True, True] Translation: X:299.85, Y:278.29, Z:2.17 [[-7.93483393e-01 -6.08444722e-01 1.33837695e-02 2.99845485e+02] [ 6.08330795e-01 -7.93595268e-01 -1.18404006e-02 2.78288147e+02] [ 1.78255254e-02 -1.25340210e-03 9.99840327e-01 2.17273614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3507140569999 meters Centerline goodness : 0.990062 Centerline is valid? [True, True] Translation: X:299.84, Y:278.29, Z:2.17 [[-7.95896323e-01 -6.05284581e-01 1.34022292e-02 2.99839913e+02] [ 6.05170579e-01 -7.96008102e-01 -1.18183128e-02 2.78292665e+02] [ 1.78217255e-02 -1.29551686e-03 9.99840341e-01 2.17258385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.380714057 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:299.84, Y:278.29, Z:2.17 [[-7.97115746e-01 -6.03677317e-01 1.34233143e-02 2.99839054e+02] [ 6.03563511e-01 -7.97227703e-01 -1.17930924e-02 2.78293736e+02] [ 1.78206604e-02 -1.29863698e-03 9.99840356e-01 2.17241240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.410714057 meters Centerline goodness : 0.990172 Centerline is valid? [True, True] Translation: X:299.83, Y:278.30, Z:2.17 [[-7.98284310e-01 -6.02131237e-01 1.34214305e-02 2.99828806e+02] [ 6.02017177e-01 -7.98396010e-01 -1.17953449e-02 2.78303647e+02] [ 1.78179622e-02 -1.33610705e-03 9.99840355e-01 2.17216373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4407140569999 meters Centerline goodness : 0.989792 Centerline is valid? [True, True] Translation: X:299.83, Y:278.30, Z:2.17 [[-8.00354704e-01 -5.99376031e-01 1.34432858e-02 2.99832170e+02] [ 5.99262022e-01 -8.00466436e-01 -1.17692215e-02 2.78301266e+02] [ 1.78150884e-02 -1.36350114e-03 9.99840369e-01 2.17173176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4707140569999 meters Centerline goodness : 0.990564 Centerline is valid? [True, True] Translation: X:299.83, Y:278.30, Z:2.17 [[-8.01297390e-01 -5.98115128e-01 1.34456804e-02 2.99830837e+02] [ 5.98000991e-01 -8.01408989e-01 -1.17663605e-02 2.78302526e+02] [ 1.78131273e-02 -1.38782375e-03 9.99840370e-01 2.17169705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.500714057 meters Centerline goodness : 0.989512 Centerline is valid? [True, True] Translation: X:299.83, Y:278.31, Z:2.17 [[-8.02958411e-01 -5.95883296e-01 1.34494294e-02 2.99825943e+02] [ 5.95768924e-01 -8.03069765e-01 -1.17618814e-02 2.78306300e+02] [ 1.78095388e-02 -1.43154953e-03 9.99840373e-01 2.17231539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.530714057 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:299.83, Y:278.31, Z:2.17 [[-8.03575732e-01 -5.95050119e-01 1.34684186e-02 2.99828163e+02] [ 5.94936007e-01 -8.03687339e-01 -1.17392065e-02 2.78305287e+02] [ 1.78098137e-02 -1.42049421e-03 9.99840384e-01 2.17242406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5607140569999 meters Centerline goodness : 0.989976 Centerline is valid? [True, True] Translation: X:299.83, Y:278.31, Z:2.17 [[-8.05522878e-01 -5.92412781e-01 1.34160228e-02 2.99830807e+02] [ 5.92297270e-01 -8.05633082e-01 -1.18017312e-02 2.78305078e+02] [ 1.77998882e-02 -1.56029076e-03 9.99840352e-01 2.17238457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5907140569999 meters Centerline goodness : 0.989638 Centerline is valid? [True, True] Translation: X:299.83, Y:278.31, Z:2.17 [[-8.06632606e-01 -5.90900364e-01 1.34387010e-02 2.99827349e+02] [ 5.90785093e-01 -8.06743039e-01 -1.17746818e-02 2.78307563e+02] [ 1.77992423e-02 -1.55845806e-03 9.99840366e-01 2.17259502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.620714057 meters Centerline goodness : 0.989823 Centerline is valid? [True, True] Translation: X:299.83, Y:278.31, Z:2.17 [[-8.06433235e-01 -5.91171348e-01 1.34861047e-02 2.99825545e+02] [ 5.91057049e-01 -8.06544636e-01 -1.17181537e-02 2.78309681e+02] [ 1.78045822e-02 -1.47885137e-03 9.99840392e-01 2.17161071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.650714057 meters Centerline goodness : 0.990625 Centerline is valid? [True, True] Translation: X:299.83, Y:278.30, Z:2.17 [[-8.06680570e-01 -5.90833468e-01 1.35007708e-02 2.99831542e+02] [ 5.90719412e-01 -8.06792211e-01 -1.17006750e-02 2.78303346e+02] [ 1.78054671e-02 -1.46353979e-03 9.99840399e-01 2.17333883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6807140569999 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:299.83, Y:278.30, Z:2.17 [[-8.05981245e-01 -5.91787485e-01 1.34835606e-02 2.99832245e+02] [ 5.91673221e-01 -8.06092684e-01 -1.17211699e-02 2.78302757e+02] [ 1.78054412e-02 -1.46918140e-03 9.99840391e-01 2.17403555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7107140569999 meters Centerline goodness : 0.990751 Centerline is valid? [True, True] Translation: X:299.82, Y:278.31, Z:2.17 [[-8.05628783e-01 -5.92267941e-01 1.34517333e-02 2.99823922e+02] [ 5.92153116e-01 -8.05739667e-01 -1.17590454e-02 2.78309609e+02] [ 1.78031007e-02 -1.50793966e-03 9.99840375e-01 2.17467978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.740714057 meters Centerline goodness : 0.990674 Centerline is valid? [True, True] Translation: X:299.84, Y:278.29, Z:2.18 [[-8.05191157e-01 -5.92863042e-01 1.34392554e-02 2.99839687e+02] [ 5.92748053e-01 -8.05301882e-01 -1.17738816e-02 2.78294450e+02] [ 1.78029569e-02 -1.51413286e-03 9.99840368e-01 2.17598106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.770714057 meters Centerline goodness : 0.989932 Centerline is valid? [True, True] Translation: X:299.84, Y:278.30, Z:2.18 [[-8.05059551e-01 -5.93040908e-01 1.34759271e-02 2.99835839e+02] [ 5.92926666e-01 -8.05171019e-01 -1.17302981e-02 2.78296768e+02] [ 1.78069726e-02 -1.45335200e-03 9.99840387e-01 2.17640496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8007140569999 meters Centerline goodness : 0.990593 Centerline is valid? [True, True] Translation: X:299.84, Y:278.30, Z:2.18 [[-8.04046532e-01 -5.94413997e-01 1.34601118e-02 2.99836657e+02] [ 5.94299633e-01 -8.04157886e-01 -1.17490836e-02 2.78295858e+02] [ 1.78078748e-02 -1.44747042e-03 9.99840379e-01 2.17612392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8307140569999 meters Centerline goodness : 0.990276 Centerline is valid? [True, True] Translation: X:299.83, Y:278.30, Z:2.18 [[-8.03950808e-01 -5.94543604e-01 1.34536727e-02 2.99827867e+02] [ 5.94429131e-01 -8.04062054e-01 -1.17567277e-02 2.78302265e+02] [ 1.78074749e-02 -1.45457576e-03 9.99840376e-01 2.17629676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8607140569999 meters Centerline goodness : 0.990006 Centerline is valid? [True, True] Translation: X:299.83, Y:278.30, Z:2.18 [[-8.02963557e-01 -5.95875516e-01 1.34869016e-02 2.99827403e+02] [ 5.95761884e-01 -8.03075640e-01 -1.17172834e-02 2.78301843e+02] [ 1.78130444e-02 -1.37356964e-03 9.99840392e-01 2.17686310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.890714057 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:299.83, Y:278.30, Z:2.18 [[-8.00990268e-01 -5.98525612e-01 1.34789588e-02 2.99827977e+02] [ 5.98412193e-01 -8.01102572e-01 -1.17267045e-02 2.78303154e+02] [ 1.78167615e-02 -1.32700286e-03 9.99840388e-01 2.17621145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9207140569999 meters Centerline goodness : 0.990456 Centerline is valid? [True, True] Translation: X:299.82, Y:278.31, Z:2.18 [[-8.02133493e-01 -5.96993524e-01 1.34384211e-02 2.99821964e+02] [ 5.96879092e-01 -8.02244791e-01 -1.17747583e-02 2.78306384e+02] [ 1.78103577e-02 -1.42381543e-03 9.99840369e-01 2.17707107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9507140569999 meters Centerline goodness : 0.989209 Centerline is valid? [True, True] Translation: X:299.82, Y:278.31, Z:2.18 [[-8.00508434e-01 -5.99170385e-01 1.34572132e-02 2.99819833e+02] [ 5.99056627e-01 -8.00620408e-01 -1.17524900e-02 2.78308811e+02] [ 1.78158634e-02 -1.34633467e-03 9.99840378e-01 2.17761880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9807140569999 meters Centerline goodness : 0.989964 Centerline is valid? [True, True] Translation: X:299.82, Y:278.31, Z:2.18 [[-7.99808335e-01 -6.00105218e-01 1.34296527e-02 2.99816565e+02] [ 5.99991046e-01 -7.99919906e-01 -1.17851210e-02 2.78311321e+02] [ 1.78149591e-02 -1.36816663e-03 9.99840365e-01 2.17736628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.010714057 meters Centerline goodness : 0.990599 Centerline is valid? [True, True] Translation: X:299.81, Y:278.32, Z:2.18 [[-7.98416069e-01 -6.01956483e-01 1.34228300e-02 2.99811485e+02] [ 6.01842436e-01 -7.98527773e-01 -1.17931939e-02 2.78315802e+02] [ 1.78174921e-02 -1.33744682e-03 9.99840361e-01 2.17596293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.040714057 meters Centerline goodness : 0.990553 Centerline is valid? [True, True] Translation: X:299.81, Y:278.32, Z:2.18 [[-7.97277738e-01 -6.03464721e-01 1.33618643e-02 2.99808651e+02] [ 6.03349682e-01 -7.97388473e-01 -1.18652685e-02 2.78317457e+02] [ 1.78148675e-02 -1.39803785e-03 9.99840325e-01 2.17669718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0707140569999 meters Centerline goodness : 0.990560 Centerline is valid? [True, True] Translation: X:299.81, Y:278.32, Z:2.18 [[-7.95959311e-01 -6.05202930e-01 1.33487377e-02 2.99810735e+02] [ 6.05087875e-01 -7.96070042e-01 -1.18807767e-02 2.78315833e+02] [ 1.78168111e-02 -1.37945549e-03 9.99840316e-01 2.17637332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1007140569999 meters Centerline goodness : 0.990337 Centerline is valid? [True, True] Translation: X:299.80, Y:278.32, Z:2.18 [[-7.95574090e-01 -6.05709506e-01 1.33365150e-02 2.99801831e+02] [ 6.05594281e-01 -7.95684655e-01 -1.18952108e-02 2.78322994e+02] [ 1.78167026e-02 -1.38700424e-03 9.99840308e-01 2.17652155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.130714057 meters Centerline goodness : 0.990640 Centerline is valid? [True, True] Translation: X:299.80, Y:278.32, Z:2.18 [[-7.94234298e-01 -6.07464377e-01 1.33757600e-02 2.99802708e+02] [ 6.07350171e-01 -7.94345878e-01 -1.18488653e-02 2.78320310e+02] [ 1.78227434e-02 -1.28700506e-03 9.99840334e-01 2.17666226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.160714057 meters Centerline goodness : 0.989782 Centerline is valid? [True, True] Translation: X:299.80, Y:278.32, Z:2.18 [[-7.93709591e-01 -6.08149925e-01 1.33698916e-02 2.99803302e+02] [ 6.08035699e-01 -7.93821157e-01 -1.18557905e-02 2.78318764e+02] [ 1.78234009e-02 -1.28068325e-03 9.99840330e-01 2.17699022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1907140569999 meters Centerline goodness : 0.989307 Centerline is valid? [True, True] Translation: X:299.80, Y:278.32, Z:2.18 [[-7.92172346e-01 -6.10150484e-01 1.33925841e-02 2.99801477e+02] [ 6.10036990e-01 -7.92284636e-01 -1.18290268e-02 2.78320586e+02] [ 1.78282251e-02 -1.20065619e-03 9.99840344e-01 2.17760595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2207140569999 meters Centerline goodness : 0.990917 Centerline is valid? [True, True] Translation: X:299.80, Y:278.32, Z:2.18 [[-7.92432378e-01 -6.09813171e-01 1.33724874e-02 2.99804234e+02] [ 6.09699231e-01 -7.92544233e-01 -1.18527149e-02 2.78315193e+02] [ 1.78262294e-02 -1.23927975e-03 9.99840332e-01 2.17948093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.250714057 meters Centerline goodness : 0.989620 Centerline is valid? [True, True] Translation: X:299.80, Y:278.32, Z:2.18 [[-7.91096644e-01 -6.11543997e-01 1.34178920e-02 2.99796545e+02] [ 6.11431204e-01 -7.91209619e-01 -1.17992079e-02 2.78322663e+02] [ 1.78321000e-02 -1.13019591e-03 9.99840357e-01 2.17945266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.280714057 meters Centerline goodness : 0.989917 Centerline is valid? [True, True] Translation: X:299.81, Y:278.31, Z:2.18 [[-7.89922813e-01 -6.13059832e-01 1.34012216e-02 2.99808430e+02] [ 6.12946923e-01 -7.90035686e-01 -1.18188384e-02 2.78311918e+02] [ 1.78330984e-02 -1.12173250e-03 9.99840348e-01 2.17941255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3107140569999 meters Centerline goodness : 0.989929 Centerline is valid? [True, True] Translation: X:299.80, Y:278.32, Z:2.18 [[-7.88155939e-01 -6.15330516e-01 1.33630905e-02 2.99801192e+02] [ 6.15217175e-01 -7.88268407e-01 -1.18636995e-02 2.78320401e+02] [ 1.78337985e-02 -1.12924244e-03 9.99840327e-01 2.17897112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3407140569999 meters Centerline goodness : 0.989077 Centerline is valid? [True, True] Translation: X:299.80, Y:278.32, Z:2.18 [[-7.86527311e-01 -6.17411101e-01 1.33537097e-02 2.99803470e+02] [ 6.17297870e-01 -7.86639899e-01 -1.18747301e-02 2.78319285e+02] [ 1.78361510e-02 -1.09658303e-03 9.99840322e-01 2.17802378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.370714057 meters Centerline goodness : 0.989918 Centerline is valid? [True, True] Translation: X:299.80, Y:278.32, Z:2.18 [[-7.85737981e-01 -6.18415660e-01 1.33378204e-02 2.99798465e+02] [ 6.18302258e-01 -7.85850409e-01 -1.18934041e-02 2.78324238e+02] [ 1.78365989e-02 -1.09829483e-03 9.99840312e-01 2.17797762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.400714057 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:299.80, Y:278.32, Z:2.18 [[-7.83742198e-01 -6.20943306e-01 1.33258023e-02 2.99802967e+02] [ 6.20830028e-01 -7.83854762e-01 -1.19075183e-02 2.78322255e+02] [ 1.78393874e-02 -1.05936638e-03 9.99840304e-01 2.17759131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4307140569999 meters Centerline goodness : 0.990062 Centerline is valid? [True, True] Translation: X:299.80, Y:278.32, Z:2.18 [[-7.82779633e-01 -6.22156734e-01 1.33058270e-02 2.99804726e+02] [ 6.22043232e-01 -7.82891991e-01 -1.19309606e-02 2.78322478e+02] [ 1.78399528e-02 -1.06251334e-03 9.99840291e-01 2.17675906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4607140569999 meters Centerline goodness : 0.989293 Centerline is valid? [True, True] Translation: X:299.80, Y:278.33, Z:2.18 [[-7.83002284e-01 -6.21876795e-01 1.32919457e-02 2.99801988e+02] [ 6.21762977e-01 -7.83114336e-01 -1.19472410e-02 2.78325321e+02] [ 1.78388252e-02 -1.09027728e-03 9.99840281e-01 2.17668534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.490714057 meters Centerline goodness : 0.990408 Centerline is valid? [True, True] Translation: X:299.80, Y:278.33, Z:2.17 [[-7.80672140e-01 -6.24800382e-01 1.32473542e-02 2.99800637e+02] [ 6.24686099e-01 -7.80783767e-01 -1.19995105e-02 2.78330093e+02] [ 1.78406178e-02 -1.09224550e-03 9.99840247e-01 2.17479645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.520714057 meters Centerline goodness : 0.989554 Centerline is valid? [True, True] Translation: X:299.80, Y:278.33, Z:2.18 [[-7.82387059e-01 -6.22652922e-01 1.31844022e-02 2.99798462e+02] [ 6.22537092e-01 -7.82497160e-01 -1.20732386e-02 2.78332284e+02] [ 1.78341945e-02 -1.23816624e-03 9.99840191e-01 2.17596818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5507140569999 meters Centerline goodness : 0.988977 Centerline is valid? [True, True] Translation: X:299.80, Y:278.33, Z:2.18 [[-7.85668191e-01 -6.18506676e-01 1.32282366e-02 2.99797038e+02] [ 6.18391124e-01 -7.85778526e-01 -1.20218942e-02 2.78333857e+02] [ 1.78300861e-02 -1.26499582e-03 9.99840231e-01 2.17698719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5807140569999 meters Centerline goodness : 0.988088 Centerline is valid? [True, True] Translation: X:299.79, Y:278.34, Z:2.18 [[-7.84793386e-01 -6.19613928e-01 1.33387279e-02 2.99790910e+02] [ 6.19500714e-01 -7.84906005e-01 -1.18923851e-02 2.78342631e+02] [ 1.78383351e-02 -1.06971372e-03 9.99840312e-01 2.17587044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6107140569999 meters Centerline goodness : 0.989569 Centerline is valid? [True, True] Translation: X:299.77, Y:278.35, Z:2.18 [[-7.96261697e-01 -6.04805757e-01 1.33156504e-02 2.99771579e+02] [ 6.04690005e-01 -7.96371726e-01 -1.19194340e-02 2.78348871e+02] [ 1.78131498e-02 -1.43914805e-03 9.99840298e-01 2.17923950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.640714057 meters Centerline goodness : 0.988904 Centerline is valid? [True, True] Translation: X:299.79, Y:278.35, Z:2.18 [[-7.88423907e-01 -6.14981929e-01 1.36003492e-02 2.99794690e+02] [ 6.14873281e-01 -7.88540824e-01 -1.15852174e-02 2.78345200e+02] [ 1.78491299e-02 -7.71570997e-04 9.99840394e-01 2.17772851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6707140569999 meters Centerline goodness : 0.989200 Centerline is valid? [True, True] Translation: X:299.77, Y:278.35, Z:2.18 [[-7.99751715e-01 -6.00184554e-01 1.32549770e-02 2.99773562e+02] [ 6.00067013e-01 -7.99859880e-01 -1.19896965e-02 2.78353777e+02] [ 1.77981549e-02 -1.63490590e-03 9.99840264e-01 2.17933462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7007140569999 meters Centerline goodness : 0.989238 Centerline is valid? [True, True] Translation: X:299.79, Y:278.35, Z:2.18 [[-7.92362259e-01 -6.09899294e-01 1.35978553e-02 2.99792437e+02] [ 6.09789861e-01 -7.92478428e-01 -1.15873289e-02 2.78349649e+02] [ 1.78431107e-02 -8.89527806e-04 9.99840403e-01 2.17823646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7307140569999 meters Centerline goodness : 0.988372 Centerline is valid? [True, True] Translation: X:299.79, Y:278.35, Z:2.18 [[-7.95268891e-01 -6.06111251e-01 1.32869048e-02 2.99792438e+02] [ 6.05995157e-01 -7.95378552e-01 -1.19511104e-02 2.78354594e+02] [ 1.78118216e-02 -1.45254638e-03 9.99840302e-01 2.17775317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.760714057 meters Centerline goodness : 0.988733 Centerline is valid? [True, True] Translation: X:299.79, Y:278.36, Z:2.18 [[-7.95507863e-01 -6.05796045e-01 1.33563811e-02 2.99790316e+02] [ 6.05681257e-01 -7.95618830e-01 -1.18698131e-02 2.78359021e+02] [ 1.78172742e-02 -1.35281994e-03 9.99840345e-01 2.17678898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.790714057 meters Centerline goodness : 0.988694 Centerline is valid? [True, True] Translation: X:299.77, Y:278.37, Z:2.18 [[-8.04438506e-01 -5.93886096e-01 1.33414694e-02 2.99768274e+02] [ 5.93769383e-01 -8.04547459e-01 -1.18872656e-02 2.78371515e+02] [ 1.77935271e-02 -1.64081813e-03 9.99840336e-01 2.17718746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8207140569999 meters Centerline goodness : 0.989396 Centerline is valid? [True, True] Translation: X:299.79, Y:278.36, Z:2.18 [[-7.96981323e-01 -6.03851078e-01 1.35884644e-02 2.99791608e+02] [ 6.03740585e-01 -7.97096478e-01 -1.15978800e-02 2.78361819e+02] [ 1.78347095e-02 -1.03938630e-03 9.99840409e-01 2.17589651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8507140569999 meters Centerline goodness : 0.989609 Centerline is valid? [True, True] Translation: X:299.77, Y:278.37, Z:2.18 [[-8.04581159e-01 -5.93693577e-01 1.33076859e-02 2.99770722e+02] [ 5.93576204e-01 -8.04689417e-01 -1.19260891e-02 2.78372507e+02] [ 1.77889965e-02 -1.69638093e-03 9.99840324e-01 2.17664016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.880714057 meters Centerline goodness : 0.989190 Centerline is valid? [True, True] Translation: X:299.79, Y:278.37, Z:2.18 [[-7.96638540e-01 -6.04303362e-01 1.35824898e-02 2.99788951e+02] [ 6.04192823e-01 -7.96753644e-01 -1.16044457e-02 2.78370143e+02] [ 1.78345038e-02 -1.03810583e-03 9.99840414e-01 2.17574676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.910714057 meters Centerline goodness : 0.989938 Centerline is valid? [True, True] Translation: X:299.79, Y:278.37, Z:2.18 [[-7.96472534e-01 -6.04529056e-01 1.32711079e-02 2.99790245e+02] [ 6.04412471e-01 -7.96581658e-01 -1.19677553e-02 2.78371031e+02] [ 1.78063769e-02 -1.51076529e-03 9.99840313e-01 2.17565268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9407140569999 meters Centerline goodness : 0.989938 Centerline is valid? [True, True] Translation: X:299.79, Y:278.37, Z:2.18 [[-7.96265460e-01 -6.04800900e-01 1.33112191e-02 2.99788170e+02] [ 6.04685126e-01 -7.96375407e-01 -1.19209628e-02 2.78372665e+02] [ 1.78105365e-02 -1.44315473e-03 9.99840338e-01 2.17572123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9707140569999 meters Centerline goodness : 0.989947 Centerline is valid? [True, True] Translation: X:299.77, Y:278.38, Z:2.18 [[-8.03884759e-01 -5.94636087e-01 1.33123518e-02 2.99766427e+02] [ 5.94518947e-01 -8.03993249e-01 -1.19196415e-02 2.78382999e+02] [ 1.77908899e-02 -1.66757278e-03 9.99840339e-01 2.17745705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.000714057 meters Centerline goodness : 0.989320 Centerline is valid? [True, True] Translation: X:299.77, Y:278.39, Z:2.18 [[-7.93097055e-01 -6.08944070e-01 1.35713287e-02 2.99770467e+02] [ 6.08833990e-01 -7.93212592e-01 -1.16171017e-02 2.78392815e+02] [ 1.78391140e-02 -9.50802982e-04 9.99840418e-01 2.17633712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.030714057 meters Centerline goodness : 0.989331 Centerline is valid? [True, True] Translation: X:299.78, Y:278.39, Z:2.18 [[-7.91931995e-01 -6.10466210e-01 1.32182799e-02 2.99777265e+02] [ 6.10349440e-01 -7.92040960e-01 -1.20282902e-02 2.78386863e+02] [ 1.78122838e-02 -1.45781806e-03 9.99840286e-01 2.17632323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0607140569999 meters Centerline goodness : 0.987829 Centerline is valid? [True, True] Translation: X:299.78, Y:278.38, Z:2.18 [[-7.90241945e-01 -6.12651838e-01 1.32436426e-02 2.99780679e+02] [ 6.12535861e-01 -7.90351725e-01 -1.19987745e-02 2.78384156e+02] [ 1.78182070e-02 -1.36972884e-03 9.99840305e-01 2.17605552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0907140569999 meters Centerline goodness : 0.988953 Centerline is valid? [True, True] Translation: X:299.78, Y:278.39, Z:2.17 [[-7.86566158e-01 -6.17363746e-01 1.32546386e-02 2.99779381e+02] [ 6.17248640e-01 -7.86676841e-01 -1.19859853e-02 2.78385742e+02] [ 1.78268300e-02 -1.24636280e-03 9.99840313e-01 2.17388334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.120714057 meters Centerline goodness : 0.988821 Centerline is valid? [True, True] Translation: X:299.77, Y:278.40, Z:2.17 [[-7.85603308e-01 -6.18589996e-01 1.31855676e-02 2.99766311e+02] [ 6.18473719e-01 -7.85712838e-01 -1.20662873e-02 2.78397217e+02] [ 1.78241544e-02 -1.32438819e-03 9.99840260e-01 2.17354454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.150714057 meters Centerline goodness : 0.988813 Centerline is valid? [True, True] Translation: X:299.76, Y:278.38, Z:2.18 [[-7.95736707e-01 -6.05498854e-01 1.31996581e-02 2.99764322e+02] [ 6.05381049e-01 -7.95844574e-01 -1.20498982e-02 2.78384601e+02] [ 1.78010759e-02 -1.59772344e-03 9.99840272e-01 2.17519785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1807140569999 meters Centerline goodness : 0.989376 Centerline is valid? [True, True] Translation: X:299.76, Y:278.38, Z:2.17 [[-7.93822438e-01 -6.07998425e-01 1.35592138e-02 2.99763798e+02] [ 6.07887976e-01 -7.93937614e-01 -1.16307290e-02 2.78383238e+02] [ 1.78366348e-02 -9.90250661e-04 9.99840424e-01 2.17497117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2107140569999 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:299.76, Y:278.39, Z:2.18 [[-7.92974542e-01 -6.09103939e-01 1.35560971e-02 2.99757677e+02] [ 6.08993589e-01 -7.93089812e-01 -1.16343606e-02 2.78387850e+02] [ 1.78377373e-02 -9.70175536e-04 9.99840424e-01 2.17531568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.240714057 meters Centerline goodness : 0.989712 Centerline is valid? [True, True] Translation: X:299.76, Y:278.39, Z:2.18 [[-7.92255935e-01 -6.10038432e-01 1.35515906e-02 2.99758582e+02] [ 6.09928129e-01 -7.92371250e-01 -1.16396073e-02 2.78386345e+02] [ 1.78384986e-02 -9.56051676e-04 9.99840424e-01 2.17544844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.270714057 meters Centerline goodness : 0.988119 Centerline is valid? [True, True] Translation: X:299.76, Y:278.40, Z:2.17 [[-7.79636978e-01 -6.26085185e-01 1.35470806e-02 2.99758477e+02] [ 6.25977168e-01 -7.79754438e-01 -1.16448541e-02 2.78400139e+02] [ 1.78540668e-02 -5.98595724e-04 9.99840424e-01 2.17210661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3007140569999 meters Centerline goodness : 0.988830 Centerline is valid? [True, True] Translation: X:299.76, Y:278.40, Z:2.17 [[-7.77510218e-01 -6.28731767e-01 1.31994495e-02 2.99761357e+02] [ 6.28617231e-01 -7.77621515e-01 -1.20481294e-02 2.78399269e+02] [ 1.78392176e-02 -1.07014234e-03 9.99840296e-01 2.17126559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3307140569999 meters Centerline goodness : 0.989043 Centerline is valid? [True, True] Translation: X:299.76, Y:278.40, Z:2.17 [[-7.78010733e-01 -6.28113212e-01 1.31564848e-02 2.99762661e+02] [ 6.27997746e-01 -7.78121116e-01 -1.20979268e-02 2.78396409e+02] [ 1.78362063e-02 -1.15007413e-03 9.99840261e-01 2.17188959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3607140569999 meters Centerline goodness : 0.988768 Centerline is valid? [True, True] Translation: X:299.77, Y:278.39, Z:2.17 [[-7.76710396e-01 -6.29721004e-01 1.31307766e-02 2.99772873e+02] [ 6.29605266e-01 -7.76820525e-01 -1.21276934e-02 2.78387782e+02] [ 1.78373201e-02 -1.15249945e-03 9.99840238e-01 2.17078484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.390714057 meters Centerline goodness : 0.989177 Centerline is valid? [True, True] Translation: X:299.78, Y:278.38, Z:2.17 [[-7.77498327e-01 -6.28747841e-01 1.31340476e-02 2.99777463e+02] [ 6.28632028e-01 -7.77608374e-01 -1.21239094e-02 2.78381671e+02] [ 1.78360273e-02 -1.16983630e-03 9.99840241e-01 2.17118247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4207140569999 meters Centerline goodness : 0.990616 Centerline is valid? [True, True] Translation: X:299.77, Y:278.39, Z:2.17 [[-7.77388092e-01 -6.28883639e-01 1.31576455e-02 2.99772567e+02] [ 6.28768305e-01 -7.77498611e-01 -1.20966278e-02 2.78385849e+02] [ 1.78374224e-02 -1.13066395e-03 9.99840261e-01 2.17100589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4507140569999 meters Centerline goodness : 0.990132 Centerline is valid? [True, True] Translation: X:299.75, Y:278.39, Z:2.18 [[-7.91836335e-01 -6.10591801e-01 1.31480708e-02 2.99745981e+02] [ 6.10473740e-01 -7.91943948e-01 -1.21077068e-02 2.78394175e+02] [ 1.78054016e-02 -1.56077024e-03 9.99840253e-01 2.17698518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4807140569999 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:299.78, Y:278.37, Z:2.17 [[-7.79596666e-01 -6.26135756e-01 1.35297088e-02 2.99784068e+02] [ 6.26027396e-01 -7.79713810e-01 -1.16650695e-02 2.78374302e+02] [ 1.78532179e-02 -6.24080944e-04 9.99840424e-01 2.17068744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.510714057 meters Centerline goodness : 0.990024 Centerline is valid? [True, True] Translation: X:299.76, Y:278.39, Z:2.17 [[-7.85144787e-01 -6.19172545e-01 1.31538296e-02 2.99758981e+02] [ 6.19055798e-01 -7.85253792e-01 -1.20996164e-02 2.78392745e+02] [ 1.78208449e-02 -1.35699625e-03 9.99840275e-01 2.17479870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.540714057 meters Centerline goodness : 0.989712 Centerline is valid? [True, True] Translation: X:299.79, Y:278.37, Z:2.17 [[-7.82023903e-01 -6.23106517e-01 1.32997931e-02 2.99786427e+02] [ 6.22993161e-01 -7.82136291e-01 -1.19307809e-02 2.78369294e+02] [ 1.78363982e-02 -1.04447575e-03 9.99840373e-01 2.17351490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5707140569999 meters Centerline goodness : 0.990524 Centerline is valid? [True, True] Translation: X:299.75, Y:278.40, Z:2.18 [[-7.88687382e-01 -6.14652684e-01 1.32019446e-02 2.99751336e+02] [ 6.14536238e-01 -7.88796652e-01 -1.20438657e-02 2.78395341e+02] [ 1.78164441e-02 -1.38577157e-03 9.99840314e-01 2.17502068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6007140569999 meters Centerline goodness : 0.991293 Centerline is valid? [True, True] Translation: X:299.78, Y:278.37, Z:2.17 [[-7.85484864e-01 -6.18737070e-01 1.33404176e-02 2.99779209e+02] [ 6.18623884e-01 -7.85597396e-01 -1.18837204e-02 2.78371738e+02] [ 1.78330957e-02 -1.08178150e-03 9.99840393e-01 2.17443123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.630714057 meters Centerline goodness : 0.991108 Centerline is valid? [True, True] Translation: X:299.77, Y:278.38, Z:2.17 [[-7.87136602e-01 -6.16638238e-01 1.31625866e-02 2.99768935e+02] [ 6.16521318e-01 -7.87245402e-01 -1.20889202e-02 2.78379879e+02] [ 1.78166763e-02 -1.40061632e-03 9.99840289e-01 2.17479895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.660714057 meters Centerline goodness : 0.990260 Centerline is valid? [True, True] Translation: X:299.76, Y:278.39, Z:2.18 [[-7.90398729e-01 -6.12450353e-01 1.32065643e-02 2.99756072e+02] [ 6.12333698e-01 -7.90507764e-01 -1.20381425e-02 2.78389038e+02] [ 1.78126563e-02 -1.42810817e-03 9.99840322e-01 2.17512289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6907140569999 meters Centerline goodness : 0.990219 Centerline is valid? [True, True] Translation: X:299.75, Y:278.39, Z:2.18 [[-7.91466793e-01 -6.11067095e-01 1.33162287e-02 2.99747966e+02] [ 6.10952356e-01 -7.91577752e-01 -1.19114061e-02 2.78394941e+02] [ 1.78194987e-02 -1.29190106e-03 9.99840386e-01 2.17554906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7207140569999 meters Centerline goodness : 0.990571 Centerline is valid? [True, True] Translation: X:299.76, Y:278.38, Z:2.17 [[-7.88761576e-01 -6.14554829e-01 1.33243161e-02 2.99763568e+02] [ 6.14440739e-01 -7.88873196e-01 -1.19020641e-02 2.78383243e+02] [ 1.78256668e-02 -1.20088823e-03 9.99840389e-01 2.17454874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.750714057 meters Centerline goodness : 0.990608 Centerline is valid? [True, True] Translation: X:299.76, Y:278.39, Z:2.17 [[-7.89896580e-01 -6.13097377e-01 1.32287301e-02 2.99759587e+02] [ 6.12981240e-01 -7.90006141e-01 -1.20123267e-02 2.78385816e+02] [ 1.78155040e-02 -1.37953247e-03 9.99840340e-01 2.17443640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.780714057 meters Centerline goodness : 0.991284 Centerline is valid? [True, True] Translation: X:299.72, Y:278.41, Z:2.18 [[-7.96933977e-01 -6.03920306e-01 1.32853782e-02 2.99720110e+02] [ 6.03803986e-01 -7.97043297e-01 -1.19469338e-02 2.78412361e+02] [ 1.78040175e-02 -1.49915313e-03 9.99840372e-01 2.17661699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8107140569999 meters Centerline goodness : 0.990537 Centerline is valid? [True, True] Translation: X:299.72, Y:278.41, Z:2.18 [[-7.96360702e-01 -6.04671090e-01 1.35094299e-02 2.99722345e+02] [ 6.04559195e-01 -7.96474464e-01 -1.16879673e-02 2.78409364e+02] [ 1.78272918e-02 -1.14058777e-03 9.99840431e-01 2.17696129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8407140569999 meters Centerline goodness : 0.990486 Centerline is valid? [True, True] Translation: X:299.74, Y:278.40, Z:2.17 [[-7.91227426e-01 -6.11372864e-01 1.35048743e-02 2.99736087e+02] [ 6.11261843e-01 -7.91342042e-01 -1.16932286e-02 2.78401835e+02] [ 1.78358975e-02 -9.96988844e-04 9.99840431e-01 2.17482676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.870714057 meters Centerline goodness : 0.989824 Centerline is valid? [True, True] Translation: X:299.74, Y:278.40, Z:2.17 [[-7.89394540e-01 -6.13741625e-01 1.33221063e-02 2.99738548e+02] [ 6.13627388e-01 -7.89506000e-01 -1.19039740e-02 2.78398485e+02] [ 1.78238472e-02 -1.22212274e-03 9.99840396e-01 2.17424910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.900714057 meters Centerline goodness : 0.989454 Centerline is valid? [True, True] Translation: X:299.72, Y:278.41, Z:2.18 [[-7.92923960e-01 -6.09174729e-01 1.33320553e-02 2.99719978e+02] [ 6.09060042e-01 -7.93034951e-01 -1.18925021e-02 2.78408253e+02] [ 1.78173976e-02 -1.30982771e-03 9.99840400e-01 2.17690662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9307140569999 meters Centerline goodness : 0.990222 Centerline is valid? [True, True] Translation: X:299.73, Y:278.40, Z:2.18 [[-7.84983053e-01 -6.19370156e-01 1.34987668e-02 2.99733832e+02] [ 6.19260185e-01 -7.85098675e-01 -1.17001638e-02 2.78400805e+02] [ 1.78445962e-02 -8.25181489e-04 9.99840432e-01 2.17670616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9607140569999 meters Centerline goodness : 0.990159 Centerline is valid? [True, True] Translation: X:299.73, Y:278.40, Z:2.18 [[-7.82489072e-01 -6.22522821e-01 1.32736200e-02 2.99732120e+02] [ 6.22408900e-01 -7.82600878e-01 -1.19593445e-02 2.78402631e+02] [ 1.78329116e-02 -1.09643716e-03 9.99840380e-01 2.17858325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.990714057 meters Centerline goodness : 0.990403 Centerline is valid? [True, True] Translation: X:299.74, Y:278.40, Z:2.18 [[-7.81684957e-01 -6.23532807e-01 1.32463852e-02 2.99736758e+02] [ 6.23418502e-01 -7.81796390e-01 -1.19906651e-02 2.78396669e+02] [ 1.78325492e-02 -1.11488092e-03 9.99840366e-01 2.17808808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.020714057 meters Centerline goodness : 0.990189 Centerline is valid? [True, True] Translation: X:299.74, Y:278.40, Z:2.18 [[-7.78123909e-01 -6.27970301e-01 1.32847105e-02 2.99736680e+02] [ 6.27857380e-01 -7.78236718e-01 -1.19466001e-02 2.78396254e+02] [ 1.78407596e-02 -9.55031633e-04 9.99840385e-01 2.17948509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0507140569999 meters Centerline goodness : 0.989746 Centerline is valid? [True, True] Translation: X:299.74, Y:278.39, Z:2.18 [[-7.76809187e-01 -6.29597037e-01 1.32309417e-02 2.99740268e+02] [ 6.29483302e-01 -7.76921213e-01 -1.20083800e-02 2.78392551e+02] [ 1.78398398e-02 -9.99563012e-04 9.99840358e-01 2.17945295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0807140569999 meters Centerline goodness : 0.989656 Centerline is valid? [True, True] Translation: X:299.72, Y:278.41, Z:2.18 [[-7.82296730e-01 -6.22765508e-01 1.32268109e-02 2.99716212e+02] [ 6.22650715e-01 -7.82407676e-01 -1.20131260e-02 2.78405314e+02] [ 1.78301189e-02 -1.16214596e-03 9.99840355e-01 2.18025450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1107140569999 meters Centerline goodness : 0.989133 Centerline is valid? [True, True] Translation: X:299.73, Y:278.40, Z:2.18 [[-7.73481448e-01 -6.33675582e-01 1.34798316e-02 2.99734586e+02] [ 6.33567369e-01 -7.73598720e-01 -1.17221684e-02 2.78398631e+02] [ 1.78560324e-02 -5.26498338e-04 9.99840430e-01 2.17938962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.140714057 meters Centerline goodness : 0.989550 Centerline is valid? [True, True] Translation: X:299.72, Y:278.41, Z:2.18 [[-7.80577124e-01 -6.24920197e-01 1.31947102e-02 2.99715948e+02] [ 6.24805101e-01 -7.80687773e-01 -1.20493485e-02 2.78406038e+02] [ 1.78308302e-02 -1.16132354e-03 9.99840344e-01 2.17892376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1707140569999 meters Centerline goodness : 0.989602 Centerline is valid? [True, True] Translation: X:299.71, Y:278.41, Z:2.18 [[-7.80229528e-01 -6.25348165e-01 1.34743150e-02 2.99712733e+02] [ 6.25238599e-01 -7.80345530e-01 -1.17281159e-02 2.78408882e+02] [ 1.78487772e-02 -7.25960477e-04 9.99840434e-01 2.17838041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2007140569999 meters Centerline goodness : 0.988892 Centerline is valid? [True, True] Translation: X:299.73, Y:278.42, Z:2.17 [[-7.58528728e-01 -6.51500371e-01 1.34698078e-02 2.99725639e+02] [ 6.51394718e-01 -7.58648305e-01 -1.17332901e-02 2.78421335e+02] [ 1.78630897e-02 -1.25875973e-04 9.99840434e-01 2.17136356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2307140569999 meters Centerline goodness : 0.989504 Centerline is valid? [True, True] Translation: X:299.71, Y:278.41, Z:2.18 [[-7.80275042e-01 -6.25304562e-01 1.28477470e-02 2.99712955e+02] [ 6.25182970e-01 -7.80379004e-01 -1.24444447e-02 2.78412596e+02] [ 1.78076800e-02 -1.67789693e-03 9.99840023e-01 2.17674398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.260714057 meters Centerline goodness : 0.988548 Centerline is valid? [True, True] Translation: X:299.73, Y:278.41, Z:2.18 [[-7.70901251e-01 -6.36812311e-01 1.34663245e-02 2.99727559e+02] [ 6.36704360e-01 -7.71018714e-01 -1.17345927e-02 2.78412094e+02] [ 1.78555213e-02 -4.72144714e-04 9.99840466e-01 2.17765002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.290714057 meters Centerline goodness : 0.989109 Centerline is valid? [True, True] Translation: X:299.73, Y:278.42, Z:2.17 [[-7.65286279e-01 -6.43554755e-01 1.31980416e-02 2.99725534e+02] [ 6.43442494e-01 -7.65399735e-01 -1.20417195e-02 2.78419419e+02] [ 1.78512833e-02 -7.23181942e-04 9.99840392e-01 2.17374064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3207140569999 meters Centerline goodness : 0.988808 Centerline is valid? [True, True] Translation: X:299.72, Y:278.42, Z:2.17 [[-7.66508865e-01 -6.42102780e-01 1.29684048e-02 2.99724326e+02] [ 6.41985834e-01 -7.66617765e-01 -1.23041418e-02 2.78421637e+02] [ 1.78423332e-02 -1.10570166e-03 9.99840202e-01 2.17491152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3507140569999 meters Centerline goodness : 0.988723 Centerline is valid? [True, True] Translation: X:299.72, Y:278.42, Z:2.18 [[-7.70710318e-01 -6.37052344e-01 1.30352298e-02 2.99724379e+02] [ 6.36935969e-01 -7.70819728e-01 -1.22277478e-02 2.78418597e+02] [ 1.78375276e-02 -1.12144468e-03 9.99840270e-01 2.17802645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.380714057 meters Centerline goodness : 0.989371 Centerline is valid? [True, True] Translation: X:299.74, Y:278.41, Z:2.18 [[-7.67488733e-01 -6.40927428e-01 1.31558671e-02 2.99735189e+02] [ 6.40813954e-01 -7.67601011e-01 -1.20898584e-02 2.78412300e+02] [ 1.78471787e-02 -8.48366862e-04 9.99840367e-01 2.17635835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.410714057 meters Centerline goodness : 0.989158 Centerline is valid? [True, True] Translation: X:299.72, Y:278.43, Z:2.18 [[-7.73752481e-01 -6.33354761e-01 1.29940363e-02 2.99717454e+02] [ 6.33237080e-01 -7.73860540e-01 -1.22745693e-02 2.78425020e+02] [ 1.78297289e-02 -1.26917286e-03 9.99840232e-01 2.18082842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4407140569999 meters Centerline goodness : 0.989332 Centerline is valid? [True, True] Translation: X:299.72, Y:278.43, Z:2.18 [[-7.76663485e-01 -6.29777951e-01 1.31743589e-02 2.99715845e+02] [ 6.29663228e-01 -7.76774466e-01 -1.20684828e-02 2.78425284e+02] [ 1.78339699e-02 -1.07774056e-03 9.99840381e-01 2.17961295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4707140569999 meters Centerline goodness : 0.990310 Centerline is valid? [True, True] Translation: X:299.72, Y:278.42, Z:2.18 [[-7.78430522e-01 -6.27590785e-01 1.32563254e-02 2.99720873e+02] [ 6.27477334e-01 -7.78542741e-01 -1.19747790e-02 2.78424106e+02] [ 1.78358769e-02 -1.00348974e-03 9.99840425e-01 2.18004165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.500714057 meters Centerline goodness : 0.990229 Centerline is valid? [True, True] Translation: X:299.72, Y:278.43, Z:2.18 [[-7.80314034e-01 -6.25248006e-01 1.32264974e-02 2.99716092e+02] [ 6.25133643e-01 -7.80425343e-01 -1.20088478e-02 2.78428532e+02] [ 1.78308019e-02 -1.10234402e-03 9.99840411e-01 2.17963079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.530714057 meters Centerline goodness : 0.990689 Centerline is valid? [True, True] Translation: X:299.72, Y:278.43, Z:2.18 [[-7.81535728e-01 -6.23720454e-01 1.32174792e-02 2.99719696e+02] [ 6.23605700e-01 -7.81646641e-01 -1.20191414e-02 2.78426906e+02] [ 1.78279825e-02 -1.15089310e-03 9.99840407e-01 2.17927507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5607140569999 meters Centerline goodness : 0.990120 Centerline is valid? [True, True] Translation: X:299.72, Y:278.42, Z:2.18 [[-7.85513842e-01 -6.18703184e-01 1.32050492e-02 2.99722430e+02] [ 6.18587486e-01 -7.85623779e-01 -1.20333179e-02 2.78424737e+02] [ 1.78192528e-02 -1.28385955e-03 9.99840400e-01 2.17903964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5907140569999 meters Centerline goodness : 0.989703 Centerline is valid? [True, True] Translation: X:299.71, Y:278.43, Z:2.18 [[-7.88963224e-01 -6.14298256e-01 1.32168132e-02 2.99710534e+02] [ 6.14182167e-01 -7.89072739e-01 -1.20199013e-02 2.78433809e+02] [ 1.78128314e-02 -1.36572914e-03 9.99840406e-01 2.18019241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.620714057 meters Centerline goodness : 0.990051 Centerline is valid? [True, True] Translation: X:299.71, Y:278.44, Z:2.18 [[-7.90040069e-01 -6.12911479e-01 1.32743372e-02 2.99709301e+02] [ 6.12796290e-01 -7.90150494e-01 -1.19542689e-02 2.78435349e+02] [ 1.78156327e-02 -1.30988688e-03 9.99840431e-01 2.18059776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.650714057 meters Centerline goodness : 0.989774 Centerline is valid? [True, True] Translation: X:299.71, Y:278.44, Z:2.18 [[-7.90317140e-01 -6.12554409e-01 1.32632796e-02 2.99708627e+02] [ 6.12438959e-01 -7.90427299e-01 -1.19668783e-02 2.78436365e+02] [ 1.78140224e-02 -1.33467988e-03 9.99840427e-01 2.18067999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6807140569999 meters Centerline goodness : 0.988894 Centerline is valid? [True, True] Translation: X:299.71, Y:278.43, Z:2.18 [[-7.91394454e-01 -6.11162411e-01 1.32410690e-02 2.99711277e+02] [ 6.11046348e-01 -7.91503978e-01 -1.19921955e-02 2.78434661e+02] [ 1.78095379e-02 -1.39965016e-03 9.99840418e-01 2.17776788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7107140569999 meters Centerline goodness : 0.989922 Centerline is valid? [True, True] Translation: X:299.71, Y:278.43, Z:2.18 [[-7.90227384e-01 -6.12667735e-01 1.33763608e-02 2.99713309e+02] [ 6.12554459e-01 -7.90339736e-01 -1.18379136e-02 2.78431469e+02] [ 1.78245772e-02 -1.16089406e-03 9.99840456e-01 2.18050884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.740714057 meters Centerline goodness : 0.989058 Centerline is valid? [True, True] Translation: X:299.71, Y:278.43, Z:2.18 [[-7.89810912e-01 -6.13207708e-01 1.32298915e-02 2.99707994e+02] [ 6.13091721e-01 -7.89920521e-01 -1.20046965e-02 2.78434997e+02] [ 1.78119352e-02 -1.37030333e-03 9.99840416e-01 2.18019711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.770714057 meters Centerline goodness : 0.989091 Centerline is valid? [True, True] Translation: X:299.71, Y:278.44, Z:2.18 [[-7.89651559e-01 -6.13412743e-01 1.32371255e-02 2.99705885e+02] [ 6.13296921e-01 -7.89761338e-01 -1.19964607e-02 2.78436341e+02] [ 1.78129518e-02 -1.35473554e-03 9.99840419e-01 2.18010459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8007140569999 meters Centerline goodness : 0.988051 Centerline is valid? [True, True] Translation: X:299.70, Y:278.44, Z:2.18 [[-7.89719748e-01 -6.13324870e-01 1.32409716e-02 2.99704901e+02] [ 6.13209109e-01 -7.89829589e-01 -1.19920829e-02 2.78436724e+02] [ 1.78131539e-02 -1.35090029e-03 9.99840421e-01 2.18075335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8307140569999 meters Centerline goodness : 0.988305 Centerline is valid? [True, True] Translation: X:299.70, Y:278.44, Z:2.18 [[-7.90385971e-01 -6.12466350e-01 1.32282565e-02 2.99698955e+02] [ 6.12350229e-01 -7.90495440e-01 -1.20065493e-02 2.78440956e+02] [ 1.78104839e-02 -1.38948222e-03 9.99840415e-01 2.17931828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8607140569999 meters Centerline goodness : 0.988305 Centerline is valid? [True, True] Translation: X:299.70, Y:278.44, Z:2.18 [[-7.90167618e-01 -6.12747468e-01 1.32543066e-02 2.99696905e+02] [ 6.12631878e-01 -7.90277632e-01 -1.19769089e-02 2.78442628e+02] [ 1.78134027e-02 -1.34375482e-03 9.99840426e-01 2.17937943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.890714057 meters Centerline goodness : 0.988726 Centerline is valid? [True, True] Translation: X:299.69, Y:278.44, Z:2.18 [[-7.90588314e-01 -6.12204669e-01 1.32499104e-02 2.99694052e+02] [ 6.12088921e-01 -7.90698164e-01 -1.19819075e-02 2.78444166e+02] [ 1.78120595e-02 -1.36263265e-03 9.99840424e-01 2.17966862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9207140569999 meters Centerline goodness : 0.988731 Centerline is valid? [True, True] Translation: X:299.68, Y:278.45, Z:2.18 [[-7.93912095e-01 -6.07887954e-01 1.32597632e-02 2.99677334e+02] [ 6.07771794e-01 -7.94021504e-01 -1.19707039e-02 2.78453709e+02] [ 1.78053838e-02 -1.44477654e-03 9.99840428e-01 2.17966204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9507140569999 meters Centerline goodness : 0.988482 Centerline is valid? [True, True] Translation: X:299.70, Y:278.44, Z:2.18 [[-7.84267479e-01 -6.20277741e-01 1.34181246e-02 2.99701054e+02] [ 6.20166362e-01 -7.84381711e-01 -1.17904819e-02 2.78439537e+02] [ 1.78383050e-02 -9.25422023e-04 9.99840457e-01 2.18167767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9807140569999 meters Centerline goodness : 0.987156 Centerline is valid? [True, True] Translation: X:299.70, Y:278.44, Z:2.19 [[-7.84366221e-01 -6.20160475e-01 1.30620159e-02 2.99699428e+02] [ 6.20042305e-01 -7.84473605e-01 -1.21944117e-02 2.78439909e+02] [ 1.78092989e-02 -1.46588215e-03 9.99840327e-01 2.18780126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.010714057 meters Centerline goodness : 0.988454 Centerline is valid? [True, True] Translation: X:299.69, Y:278.44, Z:2.18 [[-7.86121239e-01 -6.17931903e-01 1.31742566e-02 2.99692380e+02] [ 6.17815537e-01 -7.86230468e-01 -1.20670636e-02 2.78442449e+02] [ 1.78146255e-02 -1.34691462e-03 9.99840400e-01 2.17968773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.040714057 meters Centerline goodness : 0.986217 Centerline is valid? [True, True] Translation: X:299.69, Y:278.44, Z:2.19 [[-7.81096432e-01 -6.24271096e-01 1.31895029e-02 2.99693239e+02] [ 6.24155907e-01 -7.81206891e-01 -1.20497691e-02 2.78444115e+02] [ 1.78260531e-02 -1.17972550e-03 9.99840407e-01 2.18830713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0707140569999 meters Centerline goodness : 0.985414 Centerline is valid? [True, True] Translation: X:299.69, Y:278.44, Z:2.19 [[-7.80870480e-01 -6.24554834e-01 1.31359022e-02 2.99687975e+02] [ 6.24438667e-01 -7.80979952e-01 -1.21105546e-02 2.78444397e+02] [ 1.78225817e-02 -1.25420931e-03 9.99840379e-01 2.18957014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1007140569999 meters Centerline goodness : 0.987017 Centerline is valid? [True, True] Translation: X:299.69, Y:278.44, Z:2.18 [[-7.72522026e-01 -6.34849724e-01 1.32493820e-02 2.99694839e+02] [ 6.34737209e-01 -7.72635173e-01 -1.19818172e-02 2.78442093e+02] [ 1.78435919e-02 -8.46341907e-04 9.99840432e-01 2.18353025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.130714057 meters Centerline goodness : 0.986676 Centerline is valid? [True, True] Translation: X:299.68, Y:278.44, Z:2.18 [[-7.82921350e-01 -6.21985396e-01 1.29741114e-02 2.99678358e+02] [ 6.21865841e-01 -7.83027295e-01 -1.22935383e-02 2.78443614e+02] [ 1.78054847e-02 -1.55671693e-03 9.99840258e-01 2.18190954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.160714057 meters Centerline goodness : 0.987450 Centerline is valid? [True, True] Translation: X:299.67, Y:278.45, Z:2.18 [[-7.79252498e-01 -6.26566761e-01 1.34029394e-02 2.99671637e+02] [ 6.26456027e-01 -7.79367338e-01 -1.18067411e-02 2.78447051e+02] [ 1.78435248e-02 -8.04080297e-04 9.99840468e-01 2.18234642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1907140569999 meters Centerline goodness : 0.986407 Centerline is valid? [True, True] Translation: X:299.68, Y:278.45, Z:2.19 [[-7.66931785e-01 -6.41588748e-01 1.33983915e-02 2.99684647e+02] [ 6.41480176e-01 -7.67048671e-01 -1.18118999e-02 2.78446627e+02] [ 1.78556004e-02 -4.64118960e-04 9.99840468e-01 2.18845577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2207140569999 meters Centerline goodness : 0.986877 Centerline is valid? [True, True] Translation: X:299.68, Y:278.45, Z:2.19 [[-7.69124830e-01 -6.38963542e-01 1.31372870e-02 2.99681532e+02] [ 6.38849485e-01 -7.69236470e-01 -1.21073880e-02 2.78445392e+02] [ 1.78418597e-02 -9.19343687e-04 9.99840399e-01 2.18984385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.250714057 meters Centerline goodness : 0.987427 Centerline is valid? [True, True] Translation: X:299.67, Y:278.45, Z:2.19 [[-7.67396496e-01 -6.41036712e-01 1.32117870e-02 2.99674625e+02] [ 6.40924401e-01 -7.67509842e-01 -1.20230731e-02 2.78450532e+02] [ 1.78474078e-02 -7.58707474e-04 9.99840434e-01 2.18805930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.280714057 meters Centerline goodness : 0.988607 Centerline is valid? [True, True] Translation: X:299.67, Y:278.44, Z:2.18 [[-7.73702233e-01 -6.33413612e-01 1.31168388e-02 2.99671705e+02] [ 6.33298365e-01 -7.73812660e-01 -1.21304541e-02 2.78443208e+02] [ 1.78335707e-02 -1.07848686e-03 9.99840388e-01 2.18404603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3107140569999 meters Centerline goodness : 0.987269 Centerline is valid? [True, True] Translation: X:299.68, Y:278.45, Z:2.19 [[-7.63416050e-01 -6.45768286e-01 1.33886139e-02 2.99681791e+02] [ 6.45660165e-01 -7.63533350e-01 -1.18226843e-02 2.78445509e+02] [ 1.78573678e-02 -3.81132261e-04 9.99840472e-01 2.18732833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3407140569999 meters Centerline goodness : 0.988650 Centerline is valid? [True, True] Translation: X:299.67, Y:278.44, Z:2.18 [[-7.73447531e-01 -6.33725357e-01 1.30801223e-02 2.99671394e+02] [ 6.33609468e-01 -7.73557305e-01 -1.21712134e-02 2.78443642e+02] [ 1.78314307e-02 -1.12610560e-03 9.99840373e-01 2.18284298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.370714057 meters Centerline goodness : 0.988897 Centerline is valid? [True, True] Translation: X:299.67, Y:278.45, Z:2.18 [[-7.73467854e-01 -6.33694218e-01 1.33834727e-02 2.99668762e+02] [ 6.33584177e-01 -7.73583344e-01 -1.18279721e-02 2.78445973e+02] [ 1.78485491e-02 -6.68999635e-04 9.99840478e-01 2.18299586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.400714057 meters Centerline goodness : 0.987146 Centerline is valid? [True, True] Translation: X:299.68, Y:278.45, Z:2.19 [[-7.62539823e-01 -6.46802924e-01 1.33789438e-02 2.99681366e+02] [ 6.46694780e-01 -7.62657092e-01 -1.18330926e-02 2.78449146e+02] [ 1.78572253e-02 -3.71111263e-04 9.99840478e-01 2.18552896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4307140569999 meters Centerline goodness : 0.987008 Centerline is valid? [True, True] Translation: X:299.68, Y:278.45, Z:2.19 [[-7.64764471e-01 -6.44177153e-01 1.30804881e-02 2.99678933e+02] [ 6.44062792e-01 -7.64875818e-01 -1.21697419e-02 2.78451194e+02] [ 1.78444187e-02 -8.82330562e-04 9.99840386e-01 2.18655403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4607140569999 meters Centerline goodness : 0.987575 Centerline is valid? [True, True] Translation: X:299.68, Y:278.45, Z:2.19 [[-7.63221501e-01 -6.46003174e-01 1.31468595e-02 2.99683504e+02] [ 6.45890363e-01 -7.63334365e-01 -1.20948818e-02 2.78452503e+02] [ 1.78487817e-02 -7.39644022e-04 9.99840424e-01 2.18534709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.490714057 meters Centerline goodness : 0.987302 Centerline is valid? [True, True] Translation: X:299.68, Y:278.46, Z:2.19 [[-7.64595698e-01 -6.44377967e-01 1.30558464e-02 2.99678180e+02] [ 6.44263163e-01 -7.64706610e-01 -1.21974219e-02 2.78457253e+02] [ 1.78436420e-02 -9.14695427e-04 9.99840371e-01 2.18595955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.520714057 meters Centerline goodness : 0.989018 Centerline is valid? [True, True] Translation: X:299.68, Y:278.46, Z:2.18 [[-7.63242607e-01 -6.45980714e-01 1.30246166e-02 2.99680366e+02] [ 6.45865544e-01 -7.63353170e-01 -1.22325738e-02 2.78457327e+02] [ 1.78443891e-02 -9.24270451e-04 9.99840349e-01 2.17968389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5507140569999 meters Centerline goodness : 0.987239 Centerline is valid? [True, True] Translation: X:299.68, Y:278.46, Z:2.19 [[-7.65508778e-01 -6.43296539e-01 1.28791503e-02 2.99677705e+02] [ 6.43178224e-01 -7.65616163e-01 -1.23961090e-02 2.78460898e+02] [ 1.78348596e-02 -1.20574126e-03 9.99840219e-01 2.18627299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5807140569999 meters Centerline goodness : 0.988550 Centerline is valid? [True, True] Translation: X:299.68, Y:278.45, Z:2.19 [[-7.66377117e-01 -6.42257834e-01 1.30762767e-02 2.99684490e+02] [ 6.42143118e-01 -7.66488097e-01 -1.21742708e-02 2.78453828e+02] [ 1.78418313e-02 -9.33241453e-04 9.99840386e-01 2.18582688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6107140569999 meters Centerline goodness : 0.987681 Centerline is valid? [True, True] Translation: X:299.67, Y:278.47, Z:2.19 [[-7.67321721e-01 -6.41129053e-01 1.30734090e-02 2.99673128e+02] [ 6.41014118e-01 -7.67432479e-01 -1.21774976e-02 2.78465517e+02] [ 1.78403061e-02 -9.63818664e-04 9.99840385e-01 2.18592916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.640714057 meters Centerline goodness : 0.988443 Centerline is valid? [True, True] Translation: X:299.67, Y:278.47, Z:2.18 [[-7.69322242e-01 -6.38728301e-01 1.30171263e-02 2.99666794e+02] [ 6.38611951e-01 -7.69431569e-01 -1.22408053e-02 2.78471096e+02] [ 1.78343366e-02 -1.10423134e-03 9.99840346e-01 2.18170330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6707140569999 meters Centerline goodness : 0.986608 Centerline is valid? [True, True] Translation: X:299.68, Y:278.46, Z:2.18 [[-7.68726460e-01 -6.39444997e-01 1.30278347e-02 2.99678794e+02] [ 6.39328953e-01 -7.68836099e-01 -1.22287662e-02 2.78463061e+02] [ 1.78358930e-02 -1.07150425e-03 9.99840354e-01 2.18414474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7007140569999 meters Centerline goodness : 0.987515 Centerline is valid? [True, True] Translation: X:299.67, Y:278.47, Z:2.18 [[-7.71777459e-01 -6.35758583e-01 1.30605868e-02 2.99671474e+02] [ 6.35642635e-01 -7.71887166e-01 -1.21919486e-02 2.78469122e+02] [ 1.78324353e-02 -1.10760528e-03 9.99840376e-01 2.18490962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7307140569999 meters Centerline goodness : 0.987298 Centerline is valid? [True, True] Translation: X:299.67, Y:278.47, Z:2.19 [[-7.73292047e-01 -6.33914102e-01 1.31271209e-02 2.99674142e+02] [ 6.33799153e-01 -7.73402747e-01 -1.21171575e-02 2.78467593e+02] [ 1.78337884e-02 -1.05014346e-03 9.99840414e-01 2.18516074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.760714057 meters Centerline goodness : 0.987500 Centerline is valid? [True, True] Translation: X:299.67, Y:278.47, Z:2.18 [[-7.74046992e-01 -6.32992933e-01 1.30843698e-02 2.99666940e+02] [ 6.32877042e-01 -7.74156740e-01 -1.21651868e-02 2.78474332e+02] [ 1.78298304e-02 -1.13562899e-03 9.99840391e-01 2.18490467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.790714057 meters Centerline goodness : 0.986403 Centerline is valid? [True, True] Translation: X:299.66, Y:278.48, Z:2.19 [[-7.75876201e-01 -6.30748514e-01 1.31314062e-02 2.99657219e+02] [ 6.30633194e-01 -7.75986511e-01 -1.21123393e-02 2.78481914e+02] [ 1.78296341e-02 -1.11657518e-03 9.99840416e-01 2.18544435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8207140569999 meters Centerline goodness : 0.986246 Centerline is valid? [True, True] Translation: X:299.66, Y:278.48, Z:2.19 [[-7.76466891e-01 -6.30021317e-01 1.31266001e-02 2.99657709e+02] [ 6.29905803e-01 -7.76577002e-01 -1.21177368e-02 2.78481318e+02] [ 1.78282482e-02 -1.14049985e-03 9.99840414e-01 2.18572120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8507140569999 meters Centerline goodness : 0.987320 Centerline is valid? [True, True] Translation: X:299.66, Y:278.48, Z:2.19 [[-7.78492989e-01 -6.27515804e-01 1.31370244e-02 2.99658093e+02] [ 6.27400133e-01 -7.78602927e-01 -1.21060341e-02 2.78479124e+02] [ 1.78252534e-02 -1.18229183e-03 9.99840419e-01 2.18639897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.880714057 meters Centerline goodness : 0.987178 Centerline is valid? [True, True] Translation: X:299.66, Y:278.48, Z:2.19 [[-7.77997054e-01 -6.28129239e-01 1.32001048e-02 2.99658422e+02] [ 6.28014846e-01 -7.78108287e-01 -1.20352196e-02 2.78479248e+02] [ 1.78307842e-02 -1.07350362e-03 9.99840443e-01 2.18699295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.910714057 meters Centerline goodness : 0.987037 Centerline is valid? [True, True] Translation: X:299.67, Y:278.47, Z:2.18 [[-7.69999119e-01 -6.37908678e-01 1.31861707e-02 2.99673218e+02] [ 6.37795433e-01 -7.70111527e-01 -1.20508466e-02 2.78471016e+02] [ 1.78421617e-02 -8.69061789e-04 9.99840438e-01 2.18492342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9407140569999 meters Centerline goodness : 0.986718 Centerline is valid? [True, True] Translation: X:299.65, Y:278.49, Z:2.19 [[-7.77132195e-01 -6.29204386e-01 1.29380381e-02 2.99650693e+02] [ 6.29085243e-01 -7.77238549e-01 -1.23286024e-02 2.78485778e+02] [ 1.78131527e-02 -1.44182501e-03 9.99840294e-01 2.18770245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9707140569999 meters Centerline goodness : 0.987158 Centerline is valid? [True, True] Translation: X:299.65, Y:278.49, Z:2.19 [[-7.78800172e-01 -6.27133179e-01 1.32010775e-02 2.99647250e+02] [ 6.27018670e-01 -7.78911277e-01 -1.20336936e-02 2.78485416e+02] [ 1.78291966e-02 -1.09452061e-03 9.99840448e-01 2.18927803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.000714057 meters Centerline goodness : 0.987581 Centerline is valid? [True, True] Translation: X:299.66, Y:278.47, Z:2.19 [[-7.78083272e-01 -6.28020899e-01 1.32729857e-02 2.99660084e+02] [ 6.27907882e-01 -7.78195873e-01 -1.19530504e-02 2.78474463e+02] [ 1.78357482e-02 -9.66256259e-04 9.99840464e-01 2.18782108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.030714057 meters Centerline goodness : 0.987476 Centerline is valid? [True, True] Translation: X:299.66, Y:278.47, Z:2.19 [[-7.78177389e-01 -6.27904735e-01 1.32512187e-02 2.99660449e+02] [ 6.27791287e-01 -7.78289561e-01 -1.19774468e-02 2.78473785e+02] [ 1.78339808e-02 -1.00157865e-03 9.99840460e-01 2.18749785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0607140569999 meters Centerline goodness : 0.987574 Centerline is valid? [True, True] Translation: X:299.66, Y:278.48, Z:2.19 [[-7.79823501e-01 -6.25858950e-01 1.32620197e-02 2.99655611e+02] [ 6.25745413e-01 -7.79935580e-01 -1.19653440e-02 2.78476824e+02] [ 1.78321387e-02 -1.03220842e-03 9.99840462e-01 2.18968146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0907140569999 meters Centerline goodness : 0.988937 Centerline is valid? [True, True] Translation: X:299.65, Y:278.48, Z:2.18 [[-7.78762598e-01 -6.27177864e-01 1.32945113e-02 2.99652362e+02] [ 6.27065134e-01 -7.78875483e-01 -1.19289363e-02 2.78479336e+02] [ 1.78363337e-02 -9.53284859e-04 9.99840466e-01 2.18180141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.120714057 meters Centerline goodness : 0.988214 Centerline is valid? [True, True] Translation: X:299.65, Y:278.48, Z:2.19 [[-7.79537638e-01 -6.26216970e-01 1.31672907e-02 2.99651762e+02] [ 6.26101697e-01 -7.79647964e-01 -1.20713426e-02 2.78479274e+02] [ 1.78251310e-02 -1.16600286e-03 9.99840440e-01 2.19051639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.150714057 meters Centerline goodness : 0.989305 Centerline is valid? [True, True] Translation: X:299.66, Y:278.47, Z:2.18 [[-7.74288397e-01 -6.32692997e-01 1.33060115e-02 2.99663753e+02] [ 6.32581293e-01 -7.74402297e-01 -1.19159778e-02 2.78471201e+02] [ 1.78433615e-02 -8.09269367e-04 9.99840467e-01 2.18489181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1807140569999 meters Centerline goodness : 0.987261 Centerline is valid? [True, True] Translation: X:299.65, Y:278.48, Z:2.19 [[-7.77479380e-01 -6.28772893e-01 1.30561334e-02 2.99654415e+02] [ 6.28655907e-01 -7.77587954e-01 -1.21952726e-02 2.78477108e+02] [ 1.78203489e-02 -1.27375761e-03 9.99840394e-01 2.19016374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2107140569999 meters Centerline goodness : 0.988579 Centerline is valid? [True, True] Translation: X:299.61, Y:278.51, Z:2.19 [[-7.77695978e-01 -6.28499381e-01 1.33227041e-02 2.99612366e+02] [ 6.28387389e-01 -7.77809587e-01 -1.18968971e-02 2.78513349e+02] [ 1.78397195e-02 -8.80349744e-04 9.99840472e-01 2.19120639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.240714057 meters Centerline goodness : 0.989031 Centerline is valid? [True, True] Translation: X:299.65, Y:278.48, Z:2.18 [[-7.75192318e-01 -6.31584239e-01 1.33498568e-02 2.99648354e+02] [ 6.31473220e-01 -7.75306880e-01 -1.18665086e-02 2.78482467e+02] [ 1.78449357e-02 -7.68749254e-04 9.99840471e-01 2.18453912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.270714057 meters Centerline goodness : 0.989058 Centerline is valid? [True, True] Translation: X:299.65, Y:278.48, Z:2.19 [[-7.74824367e-01 -6.32039055e-01 1.31846058e-02 2.99646723e+02] [ 6.31924954e-01 -7.74935882e-01 -1.20511522e-02 2.78482753e+02] [ 1.78340230e-02 -1.00584495e-03 9.99840455e-01 2.18713059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3007140569999 meters Centerline goodness : 0.988652 Centerline is valid? [True, True] Translation: X:299.65, Y:278.48, Z:2.19 [[-7.72962339e-01 -6.34314534e-01 1.32021145e-02 2.99646879e+02] [ 6.34201094e-01 -7.73074520e-01 -1.20315949e-02 2.78482849e+02] [ 1.78380338e-02 -9.27174262e-04 9.99840460e-01 2.18658847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3307140569999 meters Centerline goodness : 0.987362 Centerline is valid? [True, True] Translation: X:299.64, Y:278.48, Z:2.19 [[-7.72385088e-01 -6.35017671e-01 1.31845861e-02 2.99644898e+02] [ 6.34904001e-01 -7.72497042e-01 -1.20511667e-02 2.78483796e+02] [ 1.78377576e-02 -9.37195037e-04 9.99840455e-01 2.19289491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3607140569999 meters Centerline goodness : 0.988733 Centerline is valid? [True, True] Translation: X:299.63, Y:278.50, Z:2.19 [[-7.72726146e-01 -6.34599684e-01 1.33245487e-02 2.99626964e+02] [ 6.34488626e-01 -7.72840667e-01 -1.18948167e-02 2.78495666e+02] [ 1.78462000e-02 -7.37161240e-04 9.99840472e-01 2.18834531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.390714057 meters Centerline goodness : 0.988794 Centerline is valid? [True, True] Translation: X:299.63, Y:278.50, Z:2.19 [[-7.71568295e-01 -6.36007320e-01 1.33062094e-02 2.99627632e+02] [ 6.35896118e-01 -7.71682676e-01 -1.19152968e-02 2.78495315e+02] [ 1.78463873e-02 -7.32098356e-04 9.99840473e-01 2.18693070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4207140569999 meters Centerline goodness : 0.989288 Centerline is valid? [True, True] Translation: X:299.62, Y:278.50, Z:2.19 [[-7.70583558e-01 -6.37200162e-01 1.33016219e-02 2.99620477e+02] [ 6.37089049e-01 -7.70698026e-01 -1.19204159e-02 2.78502452e+02] [ 1.78472247e-02 -7.11358820e-04 9.99840473e-01 2.18652904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4507140569999 meters Centerline goodness : 0.988632 Centerline is valid? [True, True] Translation: X:299.62, Y:278.50, Z:2.19 [[-7.69767768e-01 -6.38185531e-01 1.32970256e-02 2.99624430e+02] [ 6.38074476e-01 -7.69882292e-01 -1.19255408e-02 2.78498914e+02] [ 1.78478521e-02 -6.95404326e-04 9.99840473e-01 2.18793926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4807140569999 meters Centerline goodness : 0.988937 Centerline is valid? [True, True] Translation: X:299.62, Y:278.50, Z:2.19 [[-7.68477458e-01 -6.39738781e-01 1.32924288e-02 2.99623765e+02] [ 6.39627869e-01 -7.68592121e-01 -1.19306623e-02 2.78498995e+02] [ 1.78489634e-02 -6.66237147e-04 9.99840473e-01 2.18606390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.510714057 meters Centerline goodness : 0.988196 Centerline is valid? [True, True] Translation: X:299.62, Y:278.50, Z:2.19 [[-7.68908492e-01 -6.39220747e-01 1.32878469e-02 2.99619357e+02] [ 6.39109670e-01 -7.69022995e-01 -1.19357632e-02 2.78502415e+02] [ 1.78482473e-02 -6.85118263e-04 9.99840473e-01 2.18634735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.540714057 meters Centerline goodness : 0.987067 Centerline is valid? [True, True] Translation: X:299.64, Y:278.50, Z:2.19 [[-7.52632214e-01 -6.58305163e-01 1.33814116e-02 2.99639450e+02] [ 6.58198839e-01 -7.52751156e-01 -1.18315763e-02 2.78499336e+02] [ 1.78616608e-02 -9.71959140e-05 9.99840463e-01 2.18784121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5707140569999 meters Centerline goodness : 0.987212 Centerline is valid? [True, True] Translation: X:299.65, Y:278.49, Z:2.19 [[-7.54377075e-01 -6.56312842e-01 1.29877608e-02 2.99645575e+02] [ 6.56198577e-01 -7.54488514e-01 -1.22682666e-02 2.78492226e+02] [ 1.78509372e-02 -7.32348897e-04 9.99840391e-01 2.18806273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6007140569999 meters Centerline goodness : 0.987658 Centerline is valid? [True, True] Translation: X:299.64, Y:278.50, Z:2.19 [[-7.54193639e-01 -6.56523032e-01 1.30178292e-02 2.99635311e+02] [ 6.56409372e-01 -7.54305670e-01 -1.22349273e-02 2.78502041e+02] [ 1.78519339e-02 -6.82479200e-04 9.99840409e-01 2.18780976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.630714057 meters Centerline goodness : 0.988170 Centerline is valid? [True, True] Translation: X:299.64, Y:278.50, Z:2.19 [[-7.53771795e-01 -6.57008455e-01 1.29603526e-02 2.99637225e+02] [ 6.56893772e-01 -7.53882827e-01 -1.22985976e-02 2.78500262e+02] [ 1.78508699e-02 -7.56761116e-04 9.99840374e-01 2.18833741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.660714057 meters Centerline goodness : 0.988315 Centerline is valid? [True, True] Translation: X:299.64, Y:278.50, Z:2.19 [[-7.52560662e-01 -6.58395458e-01 1.29564967e-02 2.99635992e+02] [ 6.58280906e-01 -7.52671833e-01 -1.23028662e-02 2.78502416e+02] [ 1.78521413e-02 -7.29638753e-04 9.99840372e-01 2.18651920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6907140569999 meters Centerline goodness : 0.988333 Centerline is valid? [True, True] Translation: X:299.64, Y:278.51, Z:2.18 [[-7.47183824e-01 -6.64491549e-01 1.29349706e-02 2.99635176e+02] [ 6.64377492e-01 -7.47295524e-01 -1.23266831e-02 2.78508480e+02] [ 1.78572224e-02 -6.16594922e-04 9.99840357e-01 2.18231378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7207140569999 meters Centerline goodness : 0.987325 Centerline is valid? [True, True] Translation: X:299.63, Y:278.51, Z:2.18 [[-7.49111313e-01 -6.62320192e-01 1.28141879e-02 2.99632022e+02] [ 6.62203519e-01 -7.49220424e-01 -1.24601811e-02 2.78511371e+02] [ 1.78532808e-02 -8.48462345e-04 9.99840257e-01 2.18235165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.750714057 meters Centerline goodness : 0.987325 Centerline is valid? [True, True] Translation: X:299.63, Y:278.51, Z:2.18 [[-7.48895331e-01 -6.62562581e-01 1.29077501e-02 2.99629973e+02] [ 6.62447718e-01 -7.49006230e-01 -1.23567239e-02 2.78513029e+02] [ 1.78550881e-02 -7.03183253e-04 9.99840338e-01 2.18244643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.780714057 meters Centerline goodness : 0.987002 Centerline is valid? [True, True] Translation: X:299.63, Y:278.52, Z:2.18 [[-7.46910668e-01 -6.64799211e-01 1.29020952e-02 2.99625457e+02] [ 6.64684572e-01 -7.47021804e-01 -1.23629727e-02 2.78520299e+02] [ 1.78570409e-02 -6.58212515e-04 9.99840334e-01 2.18173671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8107140569999 meters Centerline goodness : 0.988043 Centerline is valid? [True, True] Translation: X:299.63, Y:278.52, Z:2.18 [[-7.44827645e-01 -6.67133886e-01 1.28123727e-02 2.99629368e+02] [ 6.67017888e-01 -7.44937471e-01 -1.24619929e-02 2.78520910e+02] [ 1.78582343e-02 -7.35955083e-04 9.99840258e-01 2.18010090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8407140569999 meters Centerline goodness : 0.987886 Centerline is valid? [True, True] Translation: X:299.63, Y:278.52, Z:2.18 [[-7.47292326e-01 -6.64374294e-01 1.26876824e-02 2.99630628e+02] [ 6.64255547e-01 -7.47399373e-01 -1.25994307e-02 2.78519370e+02] [ 1.78535037e-02 -9.87594475e-04 9.99840126e-01 2.18032434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.870714057 meters Centerline goodness : 0.986087 Centerline is valid? [True, True] Translation: X:299.64, Y:278.52, Z:2.19 [[-7.47847561e-01 -6.63747313e-01 1.27878997e-02 2.99635342e+02] [ 6.63630357e-01 -7.47956400e-01 -1.24889529e-02 2.78515991e+02] [ 1.78543004e-02 -8.53394546e-04 9.99840235e-01 2.18692633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.900714057 meters Centerline goodness : 0.987764 Centerline is valid? [True, True] Translation: X:299.61, Y:278.52, Z:2.19 [[-7.65417958e-01 -6.43404022e-01 1.29079093e-02 2.99612503e+02] [ 6.43286395e-01 -7.65525919e-01 -1.23564475e-02 2.78518835e+02] [ 1.78315271e-02 -1.15436443e-03 9.99840339e-01 2.19142471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9307140569999 meters Centerline goodness : 0.988602 Centerline is valid? [True, True] Translation: X:299.62, Y:278.53, Z:2.18 [[-7.48542286e-01 -6.62952670e-01 1.33492501e-02 2.99624231e+02] [ 6.62846434e-01 -7.48661309e-01 -1.18679969e-02 2.78527767e+02] [ 1.78619873e-02 -3.51947504e-05 9.99840461e-01 2.18263154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9607140569999 meters Centerline goodness : 0.987502 Centerline is valid? [True, True] Translation: X:299.63, Y:278.53, Z:2.18 [[-7.49722714e-01 -6.61629616e-01 1.27319550e-02 2.99628308e+02] [ 6.61511360e-01 -7.49830168e-01 -1.25474792e-02 2.78525316e+02] [ 1.78485878e-02 -9.84797309e-04 9.99840216e-01 2.18254801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.990714057 meters Centerline goodness : 0.987702 Centerline is valid? [True, True] Translation: X:299.62, Y:278.53, Z:2.18 [[-7.49887969e-01 -6.61440949e-01 1.28025178e-02 2.99624255e+02] [ 6.61323986e-01 -7.49996726e-01 -1.24698244e-02 2.78530220e+02] [ 1.78498989e-02 -8.84359209e-04 9.99840287e-01 2.18242938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.020714057 meters Centerline goodness : 0.987627 Centerline is valid? [True, True] Translation: X:299.62, Y:278.53, Z:2.18 [[-7.50354238e-01 -6.60911741e-01 1.28136365e-02 2.99623060e+02] [ 6.60794910e-01 -7.50463121e-01 -1.24575898e-02 2.78532080e+02] [ 1.78495290e-02 -8.80419514e-04 9.99840297e-01 2.18220711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0507140569999 meters Centerline goodness : 0.987344 Centerline is valid? [True, True] Translation: X:299.62, Y:278.53, Z:2.18 [[-7.51999948e-01 -6.59038114e-01 1.28391263e-02 2.99623084e+02] [ 6.58921489e-01 -7.52109020e-01 -1.24295568e-02 2.78534095e+02] [ 1.78479743e-02 -8.87049862e-04 9.99840319e-01 2.18175579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0807140569999 meters Centerline goodness : 0.980160 Centerline is valid? [True, True] Translation: X:298.84, Y:279.21, Z:2.21 [[-7.80867833e-01 -6.24558278e-01 1.31295692e-02 2.98844311e+02] [ 6.24442288e-01 -7.80977204e-01 -1.21010323e-02 2.79212112e+02] [ 1.78116941e-02 -1.25064859e-03 9.99840577e-01 2.20794156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1107140569999 meters Centerline goodness : 0.980649 Centerline is valid? [True, True] Translation: X:298.84, Y:279.22, Z:2.21 [[-7.80863064e-01 -6.24559778e-01 1.33401270e-02 2.98835788e+02] [ 6.24447719e-01 -7.80976444e-01 -1.18676096e-02 2.79221506e+02] [ 1.78303565e-02 -9.36766096e-04 9.99840588e-01 2.20811665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.140714057 meters Centerline goodness : 0.985015 Centerline is valid? [True, True] Translation: X:299.61, Y:278.55, Z:2.19 [[-7.55868001e-01 -6.54583087e-01 1.35847788e-02 2.99612186e+02] [ 6.54480472e-01 -7.55990056e-01 -1.15907995e-02 2.78550085e+02] [ 1.78570991e-02 1.29857971e-04 9.99840541e-01 2.18856170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1707140569999 meters Centerline goodness : 0.981430 Centerline is valid? [True, True] Translation: X:298.83, Y:279.23, Z:2.21 [[-7.82106767e-01 -6.23005805e-01 1.31442915e-02 2.98832150e+02] [ 6.22889885e-01 -7.82216192e-01 -1.20839100e-02 2.79231472e+02] [ 1.78100237e-02 -1.26346158e-03 9.99840591e-01 2.20808998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2007140569999 meters Centerline goodness : 0.987179 Centerline is valid? [True, True] Translation: X:299.60, Y:278.56, Z:2.19 [[-7.56753887e-01 -6.53559935e-01 1.35265185e-02 2.99601591e+02] [ 6.53456007e-01 -7.56874766e-01 -1.16548574e-02 2.78557732e+02] [ 1.78550283e-02 1.91261060e-05 9.99840586e-01 2.18760383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2307140569999 meters Centerline goodness : 0.988295 Centerline is valid? [True, True] Translation: X:299.32, Y:278.81, Z:2.19 [[-7.68799218e-01 -6.39359270e-01 1.29416234e-02 2.99321684e+02] [ 6.39242101e-01 -7.68907231e-01 -1.22966402e-02 2.78806865e+02] [ 1.78128787e-02 -1.18081685e-03 9.99840641e-01 2.18972081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.260714057 meters Centerline goodness : 0.988985 Centerline is valid? [True, True] Translation: X:299.57, Y:278.58, Z:2.19 [[-7.75103205e-01 -6.31700272e-01 1.30302784e-02 2.99566740e+02] [ 6.31583658e-01 -7.75211754e-01 -1.21991708e-02 2.78578903e+02] [ 1.78074445e-02 -1.22590553e-03 9.99840683e-01 2.18513413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.290714057 meters Centerline goodness : 0.988431 Centerline is valid? [True, True] Translation: X:299.56, Y:278.59, Z:2.19 [[-7.76933751e-01 -6.29443911e-01 1.32026309e-02 2.99562154e+02] [ 6.29330158e-01 -7.77045249e-01 -1.20096993e-02 2.78585709e+02] [ 1.78184737e-02 -1.02192694e-03 9.99840716e-01 2.18528472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3207140569999 meters Centerline goodness : 0.988191 Centerline is valid? [True, True] Translation: X:299.56, Y:278.59, Z:2.19 [[-7.77530627e-01 -6.28706560e-01 1.31979674e-02 2.99561381e+02] [ 6.28592615e-01 -7.77641928e-01 -1.20148220e-02 2.78587091e+02] [ 1.78170902e-02 -1.04574730e-03 9.99840716e-01 2.18540367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3507140569999 meters Centerline goodness : 0.988943 Centerline is valid? [True, True] Translation: X:299.56, Y:278.59, Z:2.19 [[-7.78845734e-01 -6.27076758e-01 1.31932932e-02 2.99560401e+02] [ 6.26962494e-01 -7.78956707e-01 -1.20199525e-02 2.78589126e+02] [ 1.78144371e-02 -1.08998873e-03 9.99840716e-01 2.18570707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.380714057 meters Centerline goodness : 0.988888 Centerline is valid? [True, True] Translation: X:299.56, Y:278.59, Z:2.19 [[-7.79078106e-01 -6.26788134e-01 1.31886202e-02 2.99556253e+02] [ 6.26673743e-01 -7.79188948e-01 -1.20250777e-02 2.78593418e+02] [ 1.78136031e-02 -1.10351274e-03 9.99840716e-01 2.18640317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.410714057 meters Centerline goodness : 0.988359 Centerline is valid? [True, True] Translation: X:299.60, Y:278.56, Z:2.19 [[-7.68906990e-01 -6.39224706e-01 1.31839404e-02 2.99604355e+02] [ 6.39112024e-01 -7.69019568e-01 -1.20302062e-02 2.78560705e+02] [ 1.78287132e-02 -8.24094788e-04 9.99840716e-01 2.18521368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4407140569999 meters Centerline goodness : 0.989424 Centerline is valid? [True, True] Translation: X:299.56, Y:278.59, Z:2.19 [[-7.79630737e-01 -6.26107182e-01 1.28728796e-02 2.99556466e+02] [ 6.25986977e-01 -7.79735392e-01 -1.23702731e-02 2.78593932e+02] [ 1.77825566e-02 -1.58599012e-03 9.99840620e-01 2.18667102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4707140569999 meters Centerline goodness : 0.988722 Centerline is valid? [True, True] Translation: X:299.55, Y:278.60, Z:2.19 [[-7.79635969e-01 -6.26094313e-01 1.31782508e-02 2.99553597e+02] [ 6.25979642e-01 -7.79746513e-01 -1.20359218e-02 2.78596204e+02] [ 1.78113173e-02 -1.13432083e-03 9.99840722e-01 2.18785049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.500714057 meters Centerline goodness : 0.988840 Centerline is valid? [True, True] Translation: X:299.55, Y:278.60, Z:2.19 [[-7.79270226e-01 -6.26549577e-01 1.31735716e-02 2.99554022e+02] [ 6.26434884e-01 -7.79380747e-01 -1.20410411e-02 2.78595046e+02] [ 1.78115373e-02 -1.13084002e-03 9.99840722e-01 2.18811477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.530714057 meters Centerline goodness : 0.988864 Centerline is valid? [True, True] Translation: X:299.55, Y:278.60, Z:2.19 [[-7.78743730e-01 -6.27203886e-01 1.31715179e-02 2.99546752e+02] [ 6.27089249e-01 -7.78854308e-01 -1.20432872e-02 2.78600694e+02] [ 1.78122900e-02 -1.11891709e-03 9.99840723e-01 2.18805262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5607140569999 meters Centerline goodness : 0.988449 Centerline is valid? [True, True] Translation: X:299.54, Y:278.60, Z:2.19 [[-7.78083625e-01 -6.28022696e-01 1.31668398e-02 2.99544577e+02] [ 6.27908089e-01 -7.78194235e-01 -1.20483996e-02 2.78601828e+02] [ 1.78130272e-02 -1.10709722e-03 9.99840723e-01 2.18789397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5907140569999 meters Centerline goodness : 0.988586 Centerline is valid? [True, True] Translation: X:299.56, Y:278.59, Z:2.19 [[-7.73014785e-01 -6.34251448e-01 1.31621470e-02 2.99560863e+02] [ 6.34137647e-01 -7.73126224e-01 -1.20535240e-02 2.78589472e+02] [ 1.78209661e-02 -9.70939293e-04 9.99840723e-01 2.18874165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.620714057 meters Centerline goodness : 0.988881 Centerline is valid? [True, True] Translation: X:299.55, Y:278.60, Z:2.19 [[-7.72307611e-01 -6.35115881e-01 1.29912469e-02 2.99552061e+02] [ 6.34999069e-01 -7.72415930e-01 -1.22398226e-02 2.78597060e+02] [ 1.78083518e-02 -1.20347846e-03 9.99840694e-01 2.18816465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.650714057 meters Centerline goodness : 0.988577 Centerline is valid? [True, True] Translation: X:299.56, Y:278.59, Z:2.19 [[-7.71960092e-01 -6.35538386e-01 1.29836632e-02 2.99560574e+02] [ 6.35421495e-01 -7.72068331e-01 -1.22480837e-02 2.78588072e+02] [ 1.78084025e-02 -1.20493317e-03 9.99840692e-01 2.18624105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6807140569999 meters Centerline goodness : 0.989017 Centerline is valid? [True, True] Translation: X:299.54, Y:278.60, Z:2.19 [[-7.75951795e-01 -6.30658418e-01 1.29911854e-02 2.99539176e+02] [ 6.30540983e-01 -7.76059440e-01 -1.22398904e-02 2.78600606e+02] [ 1.78011220e-02 -1.30609017e-03 9.99840694e-01 2.18701549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7107140569999 meters Centerline goodness : 0.989520 Centerline is valid? [True, True] Translation: X:299.56, Y:278.59, Z:2.19 [[-7.68880991e-01 -6.39256636e-01 1.31519861e-02 2.99557369e+02] [ 6.39143372e-01 -7.68992975e-01 -1.20645974e-02 2.78589211e+02] [ 1.78261589e-02 -8.70234903e-04 9.99840723e-01 2.18709419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.740714057 meters Centerline goodness : 0.988537 Centerline is valid? [True, True] Translation: X:299.56, Y:278.59, Z:2.19 [[-7.66210294e-01 -6.42460138e-01 1.29134123e-02 2.99559225e+02] [ 6.42342949e-01 -7.66318245e-01 -1.23240757e-02 2.78587987e+02] [ 1.78135108e-02 -1.14799438e-03 9.99840668e-01 2.19022204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.770714057 meters Centerline goodness : 0.989033 Centerline is valid? [True, True] Translation: X:299.56, Y:278.59, Z:2.19 [[-7.65528757e-01 -6.43273889e-01 1.28228456e-02 2.99558772e+02] [ 6.43155170e-01 -7.65635102e-01 -1.24224668e-02 2.78586436e+02] [ 1.78086692e-02 -1.26267617e-03 9.99840616e-01 2.18880126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8007140569999 meters Centerline goodness : 0.987964 Centerline is valid? [True, True] Translation: X:299.55, Y:278.59, Z:2.19 [[-7.62858300e-01 -6.46437986e-01 1.28508695e-02 2.99553235e+02] [ 6.46320218e-01 -7.62965670e-01 -1.23920381e-02 2.78590582e+02] [ 1.78154565e-02 -1.14759234e-03 9.99840634e-01 2.19117065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8307140569999 meters Centerline goodness : 0.988291 Centerline is valid? [True, True] Translation: X:299.57, Y:278.58, Z:2.19 [[-7.55990188e-01 -6.54457788e-01 1.27999775e-02 2.99565805e+02] [ 6.54340227e-01 -7.56097833e-01 -1.24472455e-02 2.78582480e+02] [ 1.78242320e-02 -1.03445529e-03 9.99840601e-01 2.19142586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8607140569999 meters Centerline goodness : 0.987156 Centerline is valid? [True, True] Translation: X:299.56, Y:278.59, Z:2.19 [[-7.57677059e-01 -6.52505486e-01 1.27304978e-02 2.99560190e+02] [ 6.52386384e-01 -7.57783077e-01 -1.25225319e-02 2.78585777e+02] [ 1.78179765e-02 -1.18283168e-03 9.99840548e-01 2.19264637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.890714057 meters Centerline goodness : 0.988556 Centerline is valid? [True, True] Translation: X:299.56, Y:278.58, Z:2.19 [[-7.54737359e-01 -6.55901931e-01 1.28131070e-02 2.99564468e+02] [ 6.55784817e-01 -7.54845477e-01 -1.24330102e-02 2.78579895e+02] [ 1.78267513e-02 -9.81016222e-04 9.99840610e-01 2.18576737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9207140569999 meters Centerline goodness : 0.981730 Centerline is valid? [True, True] Translation: X:298.78, Y:279.27, Z:2.21 [[-7.86329338e-01 -6.17670619e-01 1.30069171e-02 2.98777018e+02] [ 6.17551810e-01 -7.86435332e-01 -1.22160129e-02 2.79271739e+02] [ 1.77745714e-02 -1.57336412e-03 9.99840782e-01 2.20886861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9507140569999 meters Centerline goodness : 0.988205 Centerline is valid? [True, True] Translation: X:299.54, Y:278.60, Z:2.19 [[-7.56393473e-01 -6.53976747e-01 1.35398785e-02 2.99538528e+02] [ 6.53873555e-01 -7.56514646e-01 -1.16173967e-02 2.78598201e+02] [ 1.78406237e-02 6.60454968e-05 9.99840841e-01 2.19044164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9807140569999 meters Centerline goodness : 0.988559 Centerline is valid? [True, True] Translation: X:299.51, Y:278.61, Z:2.19 [[-7.68580085e-01 -6.39627952e-01 1.26781799e-02 2.99509903e+02] [ 6.39506667e-01 -7.68683106e-01 -1.25501538e-02 2.78610985e+02] [ 1.77729319e-02 -1.53801768e-03 9.99840866e-01 2.18951587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.010714057 meters Centerline goodness : 0.987239 Centerline is valid? [True, True] Translation: X:299.54, Y:278.60, Z:2.19 [[-7.55366062e-01 -6.55171948e-01 1.31084340e-02 2.99535878e+02] [ 6.55060733e-01 -7.55479601e-01 -1.20834068e-02 2.78597280e+02] [ 1.78198637e-02 -5.40574986e-04 9.99841068e-01 2.19133215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.040714057 meters Centerline goodness : 0.987775 Centerline is valid? [True, True] Translation: X:299.54, Y:278.59, Z:2.19 [[-7.52896384e-01 -6.58015895e-01 1.27325476e-02 2.99542748e+02] [ 6.57898156e-01 -7.53003339e-01 -1.24895293e-02 2.78590950e+02] [ 1.78059597e-02 -1.02660185e-03 9.99840934e-01 2.19158282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0707140569999 meters Centerline goodness : 0.988022 Centerline is valid? [True, True] Translation: X:299.54, Y:278.59, Z:2.19 [[-7.54108279e-01 -6.56627694e-01 1.26797390e-02 2.99536435e+02] [ 6.56508801e-01 -7.54214014e-01 -1.25465213e-02 2.78594259e+02] [ 1.78016302e-02 -1.13707534e-03 9.99840892e-01 2.19078594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1007140569999 meters Centerline goodness : 0.987637 Centerline is valid? [True, True] Translation: X:299.53, Y:278.60, Z:2.19 [[-7.55571309e-01 -6.54942640e-01 1.27331956e-02 2.99525807e+02] [ 6.54824479e-01 -7.55677796e-01 -1.24888061e-02 2.78601372e+02] [ 1.78016449e-02 -1.09817541e-03 9.99840935e-01 2.18963023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.130714057 meters Centerline goodness : 0.987567 Centerline is valid? [True, True] Translation: X:299.53, Y:278.60, Z:2.19 [[-7.53755793e-01 -6.57029890e-01 1.28034380e-02 2.99528098e+02] [ 6.56913304e-01 -7.53863933e-01 -1.24129463e-02 2.78600494e+02] [ 1.78077268e-02 -9.45581452e-04 9.99840983e-01 2.19097253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.160714057 meters Centerline goodness : 0.987701 Centerline is valid? [True, True] Translation: X:299.53, Y:278.60, Z:2.19 [[-7.54270755e-01 -6.56439759e-01 1.27464254e-02 2.99526264e+02] [ 6.56322049e-01 -7.54377727e-01 -1.24744818e-02 2.78600697e+02] [ 1.78043652e-02 -1.04337678e-03 9.99840945e-01 2.19132223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1907140569999 meters Centerline goodness : 0.987512 Centerline is valid? [True, True] Translation: X:299.53, Y:278.60, Z:2.19 [[-7.51884082e-01 -6.59172369e-01 1.27324144e-02 2.99525746e+02] [ 6.59054794e-01 -7.51991216e-01 -1.24895948e-02 2.78602999e+02] [ 1.78074596e-02 -9.99368753e-04 9.99840935e-01 2.19070633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2207140569999 meters Centerline goodness : 0.986351 Centerline is valid? [True, True] Translation: X:299.52, Y:278.61, Z:2.19 [[-7.52575958e-01 -6.58383161e-01 1.26901871e-02 2.99521244e+02] [ 6.58264707e-01 -7.52682168e-01 -1.25351203e-02 2.78606207e+02] [ 1.78045897e-02 -1.08012787e-03 9.99840902e-01 2.19294756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.250714057 meters Centerline goodness : 0.988313 Centerline is valid? [True, True] Translation: X:299.50, Y:278.61, Z:2.19 [[-7.65402392e-01 -6.43426161e-01 1.27261080e-02 2.99499102e+02] [ 6.43306275e-01 -7.65506941e-01 -1.24963738e-02 2.78612066e+02] [ 1.77824178e-02 -1.37796931e-03 9.99840931e-01 2.18978744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.280714057 meters Centerline goodness : 0.988031 Centerline is valid? [True, True] Translation: X:299.50, Y:278.62, Z:2.19 [[-7.65420889e-01 -6.43396965e-01 1.30846932e-02 2.99495398e+02] [ 6.43283571e-01 -7.65532247e-01 -1.21088956e-02 2.78615418e+02] [ 1.78075813e-02 -8.51233494e-04 9.99841070e-01 2.19056314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3107140569999 meters Centerline goodness : 0.981327 Centerline is valid? [True, True] Translation: X:298.75, Y:279.30, Z:2.21 [[-7.71799234e-01 -6.35731748e-01 1.30800188e-02 2.98748873e+02] [ 6.35617165e-01 -7.71909368e-01 -1.21139428e-02 2.79299734e+02] [ 1.77978071e-02 -1.03564737e-03 9.99841070e-01 2.21112185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3407140569999 meters Centerline goodness : 0.981135 Centerline is valid? [True, True] Translation: X:298.81, Y:279.25, Z:2.21 [[-7.71282346e-01 -6.36359007e-01 1.30674094e-02 2.98807452e+02] [ 6.36244287e-01 -7.71392335e-01 -1.21273579e-02 2.79246982e+02] [ 1.77974529e-02 -1.03955243e-03 9.99841072e-01 2.20934889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.370714057 meters Centerline goodness : 0.988222 Centerline is valid? [True, True] Translation: X:299.47, Y:278.63, Z:2.19 [[-7.65088891e-01 -6.43789226e-01 1.32068600e-02 2.99473538e+02] [ 6.43678143e-01 -7.65202583e-01 -1.19772606e-02 2.78631266e+02] [ 1.78167547e-02 -6.62701866e-04 9.99841049e-01 2.19202210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.400714057 meters Centerline goodness : 0.988527 Centerline is valid? [True, True] Translation: X:299.47, Y:278.63, Z:2.19 [[-7.65831211e-01 -6.42910023e-01 1.30099481e-02 2.99471929e+02] [ 6.42795228e-01 -7.65941095e-01 -1.21874624e-02 2.78633643e+02] [ 1.78002956e-02 -9.70806477e-04 9.99841091e-01 2.19190601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4307140569999 meters Centerline goodness : 0.980631 Centerline is valid? [True, True] Translation: X:298.72, Y:279.34, Z:2.21 [[-7.73427629e-01 -6.33751187e-01 1.30052276e-02 2.98715031e+02] [ 6.33635010e-01 -7.73536048e-01 -1.21924976e-02 2.79336972e+02] [ 1.77870222e-02 -1.18944696e-03 9.99841091e-01 2.20991474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4607140569999 meters Centerline goodness : 0.979928 Centerline is valid? [True, True] Translation: X:298.73, Y:279.33, Z:2.21 [[-7.73459946e-01 -6.33712261e-01 1.29800866e-02 2.98726388e+02] [ 6.33595637e-01 -7.73567880e-01 -1.22189754e-02 2.79327340e+02] [ 1.77842926e-02 -1.22676185e-03 9.99841094e-01 2.20947860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.490714057 meters Centerline goodness : 0.987972 Centerline is valid? [True, True] Translation: X:299.45, Y:278.65, Z:2.19 [[-7.66913563e-01 -6.41615956e-01 1.31359449e-02 2.99453220e+02] [ 6.41503256e-01 -7.67025618e-01 -1.20529482e-02 2.78648540e+02] [ 1.78089701e-02 -8.16817997e-04 9.99841074e-01 2.19032662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.520714057 meters Centerline goodness : 0.981236 Centerline is valid? [True, True] Translation: X:298.70, Y:279.36, Z:2.21 [[-7.72790444e-01 -6.34529284e-01 1.29428502e-02 2.98699207e+02] [ 6.34412147e-01 -7.72897793e-01 -1.22568511e-02 2.79356664e+02] [ 1.77808313e-02 -1.26087607e-03 9.99841114e-01 2.20923875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5507140569999 meters Centerline goodness : 0.987698 Centerline is valid? [True, True] Translation: X:299.46, Y:278.64, Z:2.19 [[-7.47312287e-01 -6.64344112e-01 1.30861434e-02 2.99461476e+02] [ 6.64233909e-01 -7.47426769e-01 -1.21052959e-02 2.78642681e+02] [ 1.78230159e-02 -3.54176150e-04 9.99841095e-01 2.19498495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5807140569999 meters Centerline goodness : 0.981287 Centerline is valid? [True, True] Translation: X:298.78, Y:279.29, Z:2.21 [[-7.68942683e-01 -6.39192031e-01 1.26766551e-02 2.98776863e+02] [ 6.39070992e-01 -7.69045635e-01 -1.25331008e-02 2.79286126e+02] [ 1.77599844e-02 -1.53595365e-03 9.99841099e-01 2.20832174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6107140569999 meters Centerline goodness : 0.988435 Centerline is valid? [True, True] Translation: X:299.42, Y:278.68, Z:2.19 [[-7.62215906e-01 -6.47192317e-01 1.30006726e-02 2.99417899e+02] [ 6.47078033e-01 -7.62326260e-01 -1.21939468e-02 2.78675222e+02] [ 1.78025828e-02 -8.81970551e-04 9.99841132e-01 2.19284044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.640714057 meters Centerline goodness : 0.987686 Centerline is valid? [True, True] Translation: X:299.45, Y:278.66, Z:2.20 [[-7.50505153e-01 -6.60739866e-01 1.28392116e-02 2.99445654e+02] [ 6.60624699e-01 -7.50614546e-01 -1.23616462e-02 2.78658687e+02] [ 1.78051314e-02 -7.95578912e-04 9.99841160e-01 2.19565573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6707140569999 meters Centerline goodness : 0.987686 Centerline is valid? [True, True] Translation: X:299.44, Y:278.66, Z:2.20 [[-7.50288163e-01 -6.60993269e-01 1.24727830e-02 2.99443839e+02] [ 6.60871776e-01 -7.50390675e-01 -1.27408808e-02 2.78660603e+02] [ 1.77810965e-02 -1.31642177e-03 9.99841037e-01 2.19552142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7007140569999 meters Centerline goodness : 0.987273 Centerline is valid? [True, True] Translation: X:299.43, Y:278.67, Z:2.20 [[-7.54611522e-01 -6.56053031e-01 1.24848473e-02 2.99428620e+02] [ 6.55931072e-01 -7.54713467e-01 -1.27283955e-02 2.78669470e+02] [ 1.77729849e-02 -1.41579463e-03 9.99841046e-01 2.20091351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7307140569999 meters Centerline goodness : 0.988341 Centerline is valid? [True, True] Translation: X:299.41, Y:278.68, Z:2.19 [[-7.58056856e-01 -6.52064154e-01 1.27335333e-02 2.99413325e+02] [ 6.51945911e-01 -7.58162920e-01 -1.24706180e-02 2.78677858e+02] [ 1.77857357e-02 -1.15186248e-03 9.99841158e-01 2.19426861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.760714057 meters Centerline goodness : 0.990047 Centerline is valid? [True, True] Translation: X:299.42, Y:278.67, Z:2.19 [[-7.55961238e-01 -6.54490684e-01 1.28277586e-02 2.99415908e+02] [ 6.54374424e-01 -7.56069457e-01 -1.23729292e-02 2.78674558e+02] [ 1.77966433e-02 -9.59297735e-04 9.99841167e-01 2.19389201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.790714057 meters Centerline goodness : 0.980763 Centerline is valid? [True, True] Translation: X:298.71, Y:279.35, Z:2.21 [[-7.60065660e-01 -6.49719758e-01 1.28229646e-02 2.98708682e+02] [ 6.49602736e-01 -7.60173055e-01 -1.23778955e-02 2.79351194e+02] [ 1.77898355e-02 -1.07818041e-03 9.99841167e-01 2.21464654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8207140569999 meters Centerline goodness : 0.987697 Centerline is valid? [True, True] Translation: X:299.41, Y:278.68, Z:2.20 [[-7.36095469e-01 -6.76753490e-01 1.29682294e-02 2.99411304e+02] [ 6.76643062e-01 -7.36209660e-01 -1.22271703e-02 2.78681111e+02] [ 1.78221159e-02 -2.25502156e-04 9.99841148e-01 2.19694056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8507140569999 meters Centerline goodness : 0.989154 Centerline is valid? [True, True] Translation: X:299.39, Y:278.69, Z:2.19 [[-7.46157246e-01 -6.65654677e-01 1.23779879e-02 2.99394648e+02] [ 6.65532475e-01 -7.46258722e-01 -1.28235837e-02 2.78686802e+02] [ 1.77732599e-02 -1.33045697e-03 9.99841158e-01 2.19193319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.880714057 meters Centerline goodness : 0.988940 Centerline is valid? [True, True] Translation: X:299.41, Y:278.68, Z:2.19 [[-7.39401180e-01 -6.73145811e-01 1.26733122e-02 2.99410043e+02] [ 6.73029678e-01 -7.39509420e-01 -1.25247588e-02 2.78678389e+02] [ 1.78030227e-02 -7.31306237e-04 9.99841246e-01 2.19201797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.910714057 meters Centerline goodness : 0.988367 Centerline is valid? [True, True] Translation: X:299.40, Y:278.68, Z:2.20 [[-7.44140697e-01 -6.67906124e-01 1.24912706e-02 2.99400806e+02] [ 6.67786137e-01 -7.44244694e-01 -1.27086846e-02 2.78680718e+02] [ 1.77847701e-02 -1.11555201e-03 9.99841216e-01 2.19603421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9407140569999 meters Centerline goodness : 0.987939 Centerline is valid? [True, True] Translation: X:299.41, Y:278.68, Z:2.20 [[-7.37662428e-01 -6.75049987e-01 1.27144517e-02 2.99413259e+02] [ 6.74934852e-01 -7.37771728e-01 -1.24829226e-02 2.78675254e+02] [ 1.78069597e-02 -6.26756415e-04 9.99841247e-01 2.19871161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9707140569999 meters Centerline goodness : 0.988416 Centerline is valid? [True, True] Translation: X:299.41, Y:278.68, Z:2.19 [[-7.37270940e-01 -6.75479730e-01 1.25974206e-02 2.99407822e+02] [ 6.75362635e-01 -7.37378140e-01 -1.26011588e-02 2.78678837e+02] [ 1.78008900e-02 -7.82640998e-04 9.99841245e-01 2.19393850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.000714057 meters Centerline goodness : 0.989509 Centerline is valid? [True, True] Translation: X:299.40, Y:278.68, Z:2.19 [[-7.36533775e-01 -6.76284346e-01 1.25491800e-02 2.99397856e+02] [ 6.76166539e-01 -7.36640205e-01 -1.26498824e-02 2.78684380e+02] [ 1.77991480e-02 -8.31730044e-04 9.99841237e-01 2.19365366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.030714057 meters Centerline goodness : 0.988969 Centerline is valid? [True, True] Translation: X:299.40, Y:278.68, Z:2.20 [[-7.32931565e-01 -6.80184481e-01 1.26646246e-02 2.99404790e+02] [ 6.80069243e-01 -7.33040751e-01 -1.25332279e-02 2.78680988e+02] [ 1.78085930e-02 -5.73176645e-04 9.99841250e-01 2.19702319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0607140569999 meters Centerline goodness : 0.989373 Centerline is valid? [True, True] Translation: X:299.40, Y:278.68, Z:2.19 [[-7.32556792e-01 -6.80589651e-01 1.25807108e-02 2.99403345e+02] [ 6.80473016e-01 -7.32664494e-01 -1.26179681e-02 2.78680734e+02] [ 1.78050986e-02 -6.82543953e-04 9.99841244e-01 2.19415692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0907140569999 meters Centerline goodness : 0.986541 Centerline is valid? [True, True] Translation: X:299.41, Y:278.68, Z:2.21 [[-7.29057646e-01 -6.84335202e-01 1.26601765e-02 2.99410150e+02] [ 6.84220507e-01 -7.29167404e-01 -1.25377264e-02 2.78678583e+02] [ 1.78113956e-02 -4.78372912e-04 9.99841250e-01 2.20559903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.120714057 meters Centerline goodness : 0.988458 Centerline is valid? [True, True] Translation: X:299.40, Y:278.69, Z:2.20 [[-7.28656468e-01 -6.84761638e-01 1.26984472e-02 2.99403101e+02] [ 6.84647680e-01 -7.28766991e-01 -1.24990858e-02 2.78685063e+02] [ 1.78131036e-02 -4.13577253e-04 9.99841249e-01 2.19631183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.150714057 meters Centerline goodness : 0.989007 Centerline is valid? [True, True] Translation: X:299.40, Y:278.69, Z:2.20 [[-7.27820386e-01 -6.85651018e-01 1.26557336e-02 2.99403340e+02] [ 6.85536444e-01 -7.27930270e-01 -1.25421861e-02 2.78686354e+02] [ 1.78120543e-02 -4.52492122e-04 9.99841250e-01 2.19671298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1807140569999 meters Centerline goodness : 0.987686 Centerline is valid? [True, True] Translation: X:299.44, Y:278.65, Z:2.20 [[-7.20725203e-01 -6.93105429e-01 1.26509315e-02 2.99443417e+02] [ 6.92991908e-01 -7.20836173e-01 -1.25470280e-02 2.78652687e+02] [ 1.78156623e-02 -2.75966206e-04 9.99841250e-01 2.20463333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2107140569999 meters Centerline goodness : 0.986389 Centerline is valid? [True, True] Translation: X:299.42, Y:278.67, Z:2.21 [[-7.27041450e-01 -6.86479784e-01 1.24994387e-02 2.99423263e+02] [ 6.86362618e-01 -7.27148594e-01 -1.26995496e-02 2.78673994e+02] [ 1.78069333e-02 -6.53951481e-04 9.99841230e-01 2.20682583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.240714057 meters Centerline goodness : 0.988910 Centerline is valid? [True, True] Translation: X:299.41, Y:278.69, Z:2.19 [[-7.28500830e-01 -6.84927708e-01 1.26718579e-02 2.99406602e+02] [ 6.84813309e-01 -7.28610894e-01 -1.25258274e-02 2.78692732e+02] [ 1.78121400e-02 -4.47218756e-04 9.99841251e-01 2.19487093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.270714057 meters Centerline goodness : 0.989598 Centerline is valid? [True, True] Translation: X:299.41, Y:278.70, Z:2.19 [[-7.28906159e-01 -6.84496833e-01 1.26450228e-02 2.99406072e+02] [ 6.84381901e-01 -7.29015665e-01 -1.25528595e-02 2.78696146e+02] [ 1.78108123e-02 -4.95831874e-04 9.99841252e-01 2.19400791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3007140569999 meters Centerline goodness : 0.987820 Centerline is valid? [True, True] Translation: X:299.42, Y:278.69, Z:2.20 [[-7.31194728e-01 -6.82051681e-01 1.26402214e-02 2.99419502e+02] [ 6.81936299e-01 -7.31303759e-01 -1.25576925e-02 2.78688582e+02] [ 1.78088367e-02 -5.62292761e-04 9.99841252e-01 2.20318927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3307140569999 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:299.41, Y:278.70, Z:2.19 [[-7.31694017e-01 -6.81514558e-01 1.27189602e-02 2.99407224e+02] [ 6.81400467e-01 -7.31804408e-01 -1.24784335e-02 2.78704613e+02] [ 1.78120252e-02 -4.63689782e-04 9.99841246e-01 2.19275702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3607140569999 meters Centerline goodness : 0.988112 Centerline is valid? [True, True] Translation: X:299.42, Y:278.70, Z:2.20 [[-7.33361833e-01 -6.79721070e-01 1.26368049e-02 2.99416284e+02] [ 6.79605284e-01 -7.33470434e-01 -1.25610843e-02 2.78698110e+02] [ 1.78067564e-02 -6.23780419e-04 9.99841253e-01 2.20275457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.390714057 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:299.44, Y:278.68, Z:2.20 [[-7.30795879e-01 -6.82477350e-01 1.27298960e-02 2.99440614e+02] [ 6.82363597e-01 -7.30906619e-01 -1.24673758e-02 2.78682051e+02] [ 1.78130668e-02 -4.24689256e-04 9.99841245e-01 2.19800651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4207140569999 meters Centerline goodness : 0.990632 Centerline is valid? [True, True] Translation: X:299.41, Y:278.71, Z:2.19 [[-7.34875444e-01 -6.78087759e-01 1.24528420e-02 2.99410688e+02] [ 6.77968589e-01 -7.34980365e-01 -1.27457965e-02 2.78714806e+02] [ 1.77953630e-02 -9.23937140e-04 9.99841223e-01 2.19295921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4507140569999 meters Centerline goodness : 0.989749 Centerline is valid? [True, True] Translation: X:299.41, Y:278.72, Z:2.20 [[-7.38065372e-01 -6.74610918e-01 1.26339168e-02 2.99406305e+02] [ 6.74494335e-01 -7.38173113e-01 -1.25637107e-02 2.78719169e+02] [ 1.78016341e-02 -7.51334450e-04 9.99841256e-01 2.19774275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4807140569999 meters Centerline goodness : 0.989639 Centerline is valid? [True, True] Translation: X:299.41, Y:278.72, Z:2.19 [[-7.36488712e-01 -6.76329348e-01 1.27667398e-02 2.99408067e+02] [ 6.76215314e-01 -7.36599172e-01 -1.24301547e-02 2.78723336e+02] [ 1.78108484e-02 -5.21603695e-04 9.99841238e-01 2.19364780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.510714057 meters Centerline goodness : 0.990268 Centerline is valid? [True, True] Translation: X:299.41, Y:278.73, Z:2.19 [[-7.38765130e-01 -6.73844720e-01 1.26244132e-02 2.99407531e+02] [ 6.73727867e-01 -7.38872574e-01 -1.25730631e-02 2.78730131e+02] [ 1.78001248e-02 -7.83121603e-04 9.99841259e-01 2.19470690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.540714057 meters Centerline goodness : 0.992127 Centerline is valid? [True, True] Translation: X:299.40, Y:278.74, Z:2.20 [[-7.42108913e-01 -6.70160509e-01 1.26195597e-02 2.99399873e+02] [ 6.70043040e-01 -7.42215683e-01 -1.25779326e-02 2.78737592e+02] [ 1.77956688e-02 -8.78547721e-04 9.99841259e-01 2.19933913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5707140569999 meters Centerline goodness : 0.992055 Centerline is valid? [True, True] Translation: X:299.41, Y:278.74, Z:2.20 [[-7.40894766e-01 -6.71499971e-01 1.27567583e-02 2.99405279e+02] [ 6.71385043e-01 -7.41004294e-01 -1.24402822e-02 2.78736628e+02] [ 1.78064618e-02 -6.52243216e-04 9.99841240e-01 2.19599567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6007140569999 meters Centerline goodness : 0.992150 Centerline is valid? [True, True] Translation: X:299.41, Y:278.74, Z:2.20 [[-7.42775258e-01 -6.69422059e-01 1.26104109e-02 2.99405135e+02] [ 6.69304333e-01 -7.42881740e-01 -1.25869034e-02 2.78741934e+02] [ 1.77939948e-02 -9.09037776e-04 9.99841261e-01 2.19638458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.630714057 meters Centerline goodness : 0.992292 Centerline is valid? [True, True] Translation: X:299.40, Y:278.75, Z:2.20 [[-7.43506626e-01 -6.68609749e-01 1.26055358e-02 2.99402797e+02] [ 6.68491824e-01 -7.43612889e-01 -1.25917839e-02 2.78746161e+02] [ 1.77926284e-02 -9.35377137e-04 9.99841261e-01 2.19682696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.660714057 meters Centerline goodness : 0.991986 Centerline is valid? [True, True] Translation: X:299.40, Y:278.75, Z:2.20 [[-7.44683990e-01 -6.67298268e-01 1.26006522e-02 2.99400648e+02] [ 6.67180074e-01 -7.44789953e-01 -1.25966691e-02 2.78749302e+02] [ 1.77905746e-02 -9.73633726e-04 9.99841261e-01 2.19658129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6907140569999 meters Centerline goodness : 0.992159 Centerline is valid? [True, True] Translation: X:299.40, Y:278.75, Z:2.20 [[-7.45797735e-01 -6.66053365e-01 1.25957609e-02 2.99396661e+02] [ 6.65934911e-01 -7.45903408e-01 -1.26015581e-02 2.78754495e+02] [ 1.77885312e-02 -1.01025654e-03 9.99841261e-01 2.19662173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7207140569999 meters Centerline goodness : 0.992543 Centerline is valid? [True, True] Translation: X:299.39, Y:278.76, Z:2.20 [[-7.51871304e-01 -6.59189664e-01 1.25908587e-02 2.99390065e+02] [ 6.59070166e-01 -7.51975794e-01 -1.26064543e-02 2.78761332e+02] [ 1.77780653e-02 -1.18017188e-03 9.99841261e-01 2.19986691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.750714057 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:299.44, Y:278.72, Z:2.20 [[-7.40657783e-01 -6.71761629e-01 1.27421710e-02 2.99439492e+02] [ 6.71646484e-01 -7.40767082e-01 -1.24551718e-02 2.78724018e+02] [ 1.78058873e-02 -6.66785571e-04 9.99841240e-01 2.19905095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.780714057 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:299.43, Y:278.74, Z:2.20 [[-7.45295417e-01 -6.66620732e-01 1.23102169e-02 2.99428580e+02] [ 6.66497654e-01 -7.45395763e-01 -1.28853996e-02 2.78735205e+02] [ 1.77656580e-02 -1.39869863e-03 9.99841200e-01 2.19961781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8107140569999 meters Centerline goodness : 0.991266 Centerline is valid? [True, True] Translation: X:299.43, Y:278.73, Z:2.20 [[-7.44897569e-01 -6.67063177e-01 1.24229593e-02 2.99434340e+02] [ 6.66942007e-01 -7.45000139e-01 -1.27730827e-02 2.78732130e+02] [ 1.77755595e-02 -1.22924481e-03 9.99841247e-01 2.19800336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8407140569999 meters Centerline goodness : 0.993140 Centerline is valid? [True, True] Translation: X:299.42, Y:278.75, Z:2.20 [[-7.51281436e-01 -6.59865771e-01 1.23842166e-02 2.99418798e+02] [ 6.59742990e-01 -7.51382092e-01 -1.28116580e-02 2.78746154e+02] [ 1.77592532e-02 -1.45476078e-03 9.99841234e-01 2.19963425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.870714057 meters Centerline goodness : 0.991518 Centerline is valid? [True, True] Translation: X:299.41, Y:278.75, Z:2.20 [[-7.54296929e-01 -6.56414575e-01 1.24919819e-02 2.99409033e+02] [ 6.56293083e-01 -7.54399092e-01 -1.27043227e-02 2.78753400e+02] [ 1.77632424e-02 -1.38443032e-03 9.99841263e-01 2.20403981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.900714057 meters Centerline goodness : 0.992027 Centerline is valid? [True, True] Translation: X:299.41, Y:278.75, Z:2.21 [[-7.55133145e-01 -6.55450363e-01 1.25997932e-02 2.99409806e+02] [ 6.55330506e-01 -7.55237212e-01 -1.25968841e-02 2.78751516e+02] [ 1.77724649e-02 -1.25529586e-03 9.99841269e-01 2.20505259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9307140569999 meters Centerline goodness : 0.991461 Centerline is valid? [True, True] Translation: X:299.40, Y:278.76, Z:2.21 [[-7.55954953e-01 -6.54501979e-01 1.26201547e-02 2.99397821e+02] [ 6.54382327e-01 -7.56059256e-01 -1.25766045e-02 2.78760617e+02] [ 1.77729973e-02 -1.24894022e-03 9.99841268e-01 2.20598242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9607140569999 meters Centerline goodness : 0.991230 Centerline is valid? [True, True] Translation: X:299.39, Y:278.76, Z:2.20 [[-7.55864764e-01 -6.54606216e-01 1.26158960e-02 2.99394724e+02] [ 6.54486507e-01 -7.55969003e-01 -1.25808444e-02 2.78763117e+02] [ 1.77727253e-02 -1.25248330e-03 9.99841268e-01 2.20491108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.990714057 meters Centerline goodness : 0.990675 Centerline is valid? [True, True] Translation: X:299.39, Y:278.76, Z:2.21 [[-7.55820499e-01 -6.54657148e-01 1.26251038e-02 2.99393430e+02] [ 6.54537598e-01 -7.55924921e-01 -1.25716807e-02 2.78763615e+02] [ 1.77737712e-02 -1.23832884e-03 9.99841267e-01 2.20640558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.020714057 meters Centerline goodness : 0.989767 Centerline is valid? [True, True] Translation: X:299.39, Y:278.77, Z:2.21 [[-7.56038719e-01 -6.54405144e-01 1.26239057e-02 2.99389027e+02] [ 6.54285540e-01 -7.56143079e-01 -1.25728726e-02 2.78765634e+02] [ 1.77732314e-02 -1.24593951e-03 9.99841267e-01 2.20654933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0507140569999 meters Centerline goodness : 0.990932 Centerline is valid? [True, True] Translation: X:299.38, Y:278.77, Z:2.21 [[-7.56019215e-01 -6.54427679e-01 1.26237809e-02 2.99382349e+02] [ 6.54308076e-01 -7.56123576e-01 -1.25729967e-02 2.78770899e+02] [ 1.77732554e-02 -1.24558529e-03 9.99841267e-01 2.20712669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0807140569999 meters Centerline goodness : 0.990753 Centerline is valid? [True, True] Translation: X:299.38, Y:278.77, Z:2.21 [[-7.56807276e-01 -6.53516462e-01 1.26087718e-02 2.99384931e+02] [ 6.53396487e-01 -7.56911207e-01 -1.25879165e-02 2.78767192e+02] [ 1.77701313e-02 -1.28809962e-03 9.99841269e-01 2.20716470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1107140569999 meters Centerline goodness : 0.989568 Centerline is valid? [True, True] Translation: X:299.38, Y:278.77, Z:2.21 [[-7.56832924e-01 -6.53486596e-01 1.26172332e-02 2.99382768e+02] [ 6.53366755e-01 -7.56937011e-01 -1.25795078e-02 2.78769350e+02] [ 1.77709905e-02 -1.27690493e-03 9.99841268e-01 2.20780136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.140714057 meters Centerline goodness : 0.989245 Centerline is valid? [True, True] Translation: X:299.37, Y:278.78, Z:2.20 [[-7.57252641e-01 -6.53000546e-01 1.25985972e-02 2.99374150e+02] [ 6.52880335e-01 -7.57356296e-01 -1.25980193e-02 2.78775352e+02] [ 1.77681404e-02 -1.31450704e-03 9.99841270e-01 2.20401852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1707140569999 meters Centerline goodness : 0.989133 Centerline is valid? [True, True] Translation: X:299.37, Y:278.77, Z:2.20 [[-7.57200661e-01 -6.53061318e-01 1.25727808e-02 2.99374108e+02] [ 6.52940693e-01 -7.57303833e-01 -1.26236514e-02 2.78774140e+02] [ 1.77654335e-02 -1.34935701e-03 9.99841272e-01 2.20333114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2007140569999 meters Centerline goodness : 0.989435 Centerline is valid? [True, True] Translation: X:299.37, Y:278.77, Z:2.20 [[-7.55997643e-01 -6.54453772e-01 1.25628291e-02 2.99371769e+02] [ 6.54333175e-01 -7.56100846e-01 -1.26335257e-02 2.78770522e+02] [ 1.77668242e-02 -1.33063979e-03 9.99841272e-01 2.20131329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2307140569999 meters Centerline goodness : 0.989916 Centerline is valid? [True, True] Translation: X:299.37, Y:278.77, Z:2.20 [[-7.54894186e-01 -6.55727603e-01 1.24931664e-02 2.99370308e+02] [ 6.55606047e-01 -7.54996262e-01 -1.27025785e-02 2.78770650e+02] [ 1.77617253e-02 -1.39850719e-03 9.99841270e-01 2.20024861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.260714057 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:299.36, Y:278.78, Z:2.20 [[-7.54806970e-01 -6.55827874e-01 1.24995394e-02 2.99359945e+02] [ 6.55706435e-01 -7.54909184e-01 -1.26962631e-02 2.78778397e+02] [ 1.77625803e-02 -1.38719946e-03 9.99841271e-01 2.20144644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.290714057 meters Centerline goodness : 0.990027 Centerline is valid? [True, True] Translation: X:299.36, Y:278.78, Z:2.20 [[-7.53523020e-01 -6.57302480e-01 1.25103086e-02 2.99358864e+02] [ 6.57181417e-01 -7.53625677e-01 -1.26855950e-02 2.78777682e+02] [ 1.77663628e-02 -1.33734552e-03 9.99841271e-01 2.20083177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3207140569999 meters Centerline goodness : 0.989252 Centerline is valid? [True, True] Translation: X:299.36, Y:278.77, Z:2.20 [[-7.53397580e-01 -6.57446541e-01 1.24952587e-02 2.99362637e+02] [ 6.57325253e-01 -7.53499973e-01 -1.27004939e-02 2.78770785e+02] [ 1.77650729e-02 -1.35507224e-03 9.99841270e-01 2.20064508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3507140569999 meters Centerline goodness : 0.988346 Centerline is valid? [True, True] Translation: X:299.36, Y:278.77, Z:2.20 [[-7.53337607e-01 -6.57514545e-01 1.25329184e-02 2.99364322e+02] [ 6.57393878e-01 -7.53440729e-01 -1.26632218e-02 2.78765172e+02] [ 1.77690637e-02 -1.30061735e-03 9.99841272e-01 2.20110403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.380714057 meters Centerline goodness : 0.988878 Centerline is valid? [True, True] Translation: X:299.36, Y:278.76, Z:2.20 [[-7.49090375e-01 -6.62349348e-01 1.25280047e-02 2.99364852e+02] [ 6.62229267e-01 -7.49194179e-01 -1.26680812e-02 2.78762310e+02] [ 1.77766035e-02 -1.19312636e-03 9.99841272e-01 2.20269137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.410714057 meters Centerline goodness : 0.988360 Centerline is valid? [True, True] Translation: X:299.36, Y:278.76, Z:2.20 [[-7.50560216e-01 -6.60686600e-01 1.23522560e-02 2.99357788e+02] [ 6.60563445e-01 -7.50660396e-01 -1.28415890e-02 2.78764269e+02] [ 1.77566151e-02 -1.47893705e-03 9.99841245e-01 2.20337219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4407140569999 meters Centerline goodness : 0.987287 Centerline is valid? [True, True] Translation: X:299.35, Y:278.77, Z:2.21 [[-7.51914007e-01 -6.59144673e-01 1.23945909e-02 2.99347286e+02] [ 6.59021992e-01 -7.52014747e-01 -1.27997982e-02 2.78771668e+02] [ 1.77578339e-02 -1.45603953e-03 9.99841257e-01 2.20567263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4707140569999 meters Centerline goodness : 0.987664 Centerline is valid? [True, True] Translation: X:299.34, Y:278.77, Z:2.20 [[-7.52247265e-01 -6.58763689e-01 1.24279961e-02 2.99343883e+02] [ 6.58641493e-01 -7.52348584e-01 -1.27668253e-02 2.78772232e+02] [ 1.77605062e-02 -1.41821550e-03 9.99841264e-01 2.20484795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.500714057 meters Centerline goodness : 0.988214 Centerline is valid? [True, True] Translation: X:299.34, Y:278.77, Z:2.20 [[-7.53054241e-01 -6.57841256e-01 1.24174281e-02 2.99340289e+02] [ 6.57718767e-01 -7.53155207e-01 -1.27772495e-02 2.78772546e+02] [ 1.77576525e-02 -1.45478644e-03 9.99841262e-01 2.20217310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.530714057 meters Centerline goodness : 0.987635 Centerline is valid? [True, True] Translation: X:299.34, Y:278.77, Z:2.20 [[-7.53479507e-01 -6.57354765e-01 1.23832854e-02 2.99339879e+02] [ 6.57231664e-01 -7.53579738e-01 -1.28108979e-02 2.78767798e+02] [ 1.77530978e-02 -1.51406177e-03 9.99841255e-01 2.20375711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5607140569999 meters Centerline goodness : 0.987635 Centerline is valid? [True, True] Translation: X:299.34, Y:278.77, Z:2.20 [[-7.53232233e-01 -6.57637335e-01 1.24233352e-02 2.99337953e+02] [ 6.57514913e-01 -7.53333279e-01 -1.27714348e-02 2.78769612e+02] [ 1.77578841e-02 -1.45132817e-03 9.99841263e-01 2.20382290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5907140569999 meters Centerline goodness : 0.988751 Centerline is valid? [True, True] Translation: X:299.33, Y:278.78, Z:2.20 [[-7.52865386e-01 -6.58057364e-01 1.24183772e-02 2.99329083e+02] [ 6.57934919e-01 -7.52966406e-01 -1.27763163e-02 2.78775408e+02] [ 1.77581699e-02 -1.44836233e-03 9.99841262e-01 2.20185888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.620714057 meters Centerline goodness : 0.987193 Centerline is valid? [True, True] Translation: X:299.34, Y:278.77, Z:2.20 [[-7.53189210e-01 -6.57690198e-01 1.22318399e-02 2.99336354e+02] [ 6.57564745e-01 -7.53286567e-01 -1.29596830e-02 2.78766409e+02] [ 1.77375372e-02 -1.71786671e-03 9.99841202e-01 2.20204496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.650714057 meters Centerline goodness : 0.986081 Centerline is valid? [True, True] Translation: X:299.33, Y:278.77, Z:2.20 [[-7.53802972e-01 -6.56983290e-01 1.24111176e-02 2.99330657e+02] [ 6.56860588e-01 -7.53903677e-01 -1.27833233e-02 2.78767216e+02] [ 1.77552170e-02 -1.48373312e-03 9.99841263e-01 2.20387308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6807140569999 meters Centerline goodness : 0.985907 Centerline is valid? [True, True] Translation: X:299.33, Y:278.77, Z:2.20 [[-7.54064309e-01 -6.56683602e-01 1.23961409e-02 2.99326426e+02] [ 6.56560621e-01 -7.54164678e-01 -1.27980475e-02 2.78769298e+02] [ 1.77529996e-02 -1.51173290e-03 9.99841260e-01 2.20415592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7107140569999 meters Centerline goodness : 0.986058 Centerline is valid? [True, True] Translation: X:299.33, Y:278.77, Z:2.20 [[-7.52899328e-01 -6.58019299e-01 1.23775425e-02 2.99329005e+02] [ 6.57896199e-01 -7.52999557e-01 -1.28163216e-02 2.78765655e+02] [ 1.77536710e-02 -1.50626181e-03 9.99841257e-01 2.20353295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.740714057 meters Centerline goodness : 0.986625 Centerline is valid? [True, True] Translation: X:299.32, Y:278.77, Z:2.20 [[-7.53751418e-01 -6.57044031e-01 1.23264594e-02 2.99320556e+02] [ 6.56919991e-01 -7.53850502e-01 -1.28664805e-02 2.78772175e+02] [ 1.77461518e-02 -1.60063034e-03 9.99841243e-01 2.20133943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.770714057 meters Centerline goodness : 0.987128 Centerline is valid? [True, True] Translation: X:299.32, Y:278.77, Z:2.20 [[-7.52603964e-01 -6.58357118e-01 1.23765549e-02 2.99322986e+02] [ 6.58234047e-01 -7.52704229e-01 -1.28173059e-02 2.78765723e+02] [ 1.77542498e-02 -1.49968541e-03 9.99841256e-01 2.20005466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8007140569999 meters Centerline goodness : 0.986722 Centerline is valid? [True, True] Translation: X:299.32, Y:278.77, Z:2.20 [[-7.52260420e-01 -6.58750410e-01 1.23352300e-02 2.99319477e+02] [ 6.58626735e-01 -7.52359954e-01 -1.28578378e-02 2.78766074e+02] [ 1.77506390e-02 -1.54813022e-03 9.99841246e-01 2.20236195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8307140569999 meters Centerline goodness : 0.987585 Centerline is valid? [True, True] Translation: X:299.31, Y:278.77, Z:2.20 [[-7.51863557e-01 -6.59203583e-01 1.23218731e-02 2.99310767e+02] [ 6.59079756e-01 -7.51962908e-01 -1.28709318e-02 2.78774268e+02] [ 1.77501559e-02 -1.55608747e-03 9.99841243e-01 2.20061659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8607140569999 meters Centerline goodness : 0.986853 Centerline is valid? [True, True] Translation: X:299.31, Y:278.77, Z:2.20 [[-7.52369948e-01 -6.58625971e-01 1.23000944e-02 2.99314170e+02] [ 6.58501723e-01 -7.52468784e-01 -1.28922718e-02 2.78766210e+02] [ 1.77466220e-02 -1.60012451e-03 9.99841236e-01 2.20302202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.890714057 meters Centerline goodness : 0.986166 Centerline is valid? [True, True] Translation: X:299.31, Y:278.77, Z:2.20 [[-7.51933164e-01 -6.59124165e-01 1.23228645e-02 2.99307491e+02] [ 6.59000342e-01 -7.52032521e-01 -1.28699723e-02 2.78771782e+02] [ 1.77501046e-02 -1.55658701e-03 9.99841243e-01 2.20391999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9207140569999 meters Centerline goodness : 0.985733 Centerline is valid? [True, True] Translation: X:299.30, Y:278.77, Z:2.20 [[-7.52345557e-01 -6.58652996e-01 1.23448050e-02 2.99304257e+02] [ 6.58529458e-01 -7.52445260e-01 -1.28484946e-02 2.78772805e+02] [ 1.77514895e-02 -1.53709012e-03 9.99841248e-01 2.20455608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9507140569999 meters Centerline goodness : 0.988518 Centerline is valid? [True, True] Translation: X:299.28, Y:278.78, Z:2.21 [[-7.61101866e-01 -6.48514583e-01 1.23606261e-02 2.99280246e+02] [ 6.48389968e-01 -7.61200213e-01 -1.28330104e-02 2.78782864e+02] [ 1.77313056e-02 -1.75272224e-03 9.99841252e-01 2.20528630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9807140569999 meters Centerline goodness : 0.985922 Centerline is valid? [True, True] Translation: X:299.30, Y:278.77, Z:2.20 [[-7.52979188e-01 -6.57926310e-01 1.24625251e-02 2.99302216e+02] [ 6.57804549e-01 -7.53081031e-01 -1.27332784e-02 2.78771271e+02] [ 1.77628501e-02 -1.38998786e-03 9.99841262e-01 2.20204481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.010714057 meters Centerline goodness : 0.985938 Centerline is valid? [True, True] Translation: X:299.31, Y:278.77, Z:2.20 [[-7.50943094e-01 -6.60250867e-01 1.23799072e-02 2.99307020e+02] [ 6.60128102e-01 -7.51043733e-01 -1.28140587e-02 2.78766602e+02] [ 1.77583452e-02 -1.45030424e-03 9.99841256e-01 2.20054046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.040714057 meters Centerline goodness : 0.986312 Centerline is valid? [True, True] Translation: X:299.30, Y:278.77, Z:2.20 [[-7.52030328e-01 -6.59013521e-01 1.23111770e-02 2.99301987e+02] [ 6.58889503e-01 -7.52129442e-01 -1.28811944e-02 2.78771093e+02] [ 1.77484799e-02 -1.57534361e-03 9.99841242e-01 2.20270490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0707140569999 meters Centerline goodness : 0.988740 Centerline is valid? [True, True] Translation: X:299.27, Y:278.79, Z:2.20 [[-7.60944078e-01 -6.48699846e-01 1.23539682e-02 2.99272051e+02] [ 6.48575153e-01 -7.61042325e-01 -1.28393908e-02 2.78788719e+02] [ 1.77308035e-02 -1.75758152e-03 9.99841252e-01 2.20123177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1007140569999 meters Centerline goodness : 0.986317 Centerline is valid? [True, True] Translation: X:299.30, Y:278.77, Z:2.20 [[-7.50022344e-01 -6.61295280e-01 1.24513351e-02 2.99303533e+02] [ 6.61173797e-01 -7.50124519e-01 -1.27442621e-02 2.78767122e+02] [ 1.77677721e-02 -1.32598487e-03 9.99841261e-01 2.19814773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.130714057 meters Centerline goodness : 0.986660 Centerline is valid? [True, True] Translation: X:299.30, Y:278.77, Z:2.20 [[-7.49135019e-01 -6.62302432e-01 1.23374273e-02 2.99296532e+02] [ 6.62179269e-01 -7.49235180e-01 -1.28554136e-02 2.78771310e+02] [ 1.77578062e-02 -1.46085190e-03 9.99841251e-01 2.20131671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.160714057 meters Centerline goodness : 0.986337 Centerline is valid? [True, True] Translation: X:299.29, Y:278.78, Z:2.20 [[-7.48030983e-01 -6.63549710e-01 1.23057483e-02 2.99287578e+02] [ 6.63426211e-01 -7.48130741e-01 -1.28863045e-02 2.78778284e+02] [ 1.77570122e-02 -1.47539906e-03 9.99841243e-01 2.19861439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1907140569999 meters Centerline goodness : 0.986532 Centerline is valid? [True, True] Translation: X:299.28, Y:278.78, Z:2.20 [[-7.47983997e-01 -6.63602357e-01 1.23228689e-02 2.99284114e+02] [ 6.63479136e-01 -7.48084092e-01 -1.28696154e-02 2.78779045e+02] [ 1.77588493e-02 -1.45029997e-03 9.99841247e-01 2.19917448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2207140569999 meters Centerline goodness : 0.985773 Centerline is valid? [True, True] Translation: X:299.29, Y:278.77, Z:2.20 [[-7.46250550e-01 -6.65550847e-01 1.23363918e-02 2.99289328e+02] [ 6.65428103e-01 -7.46351225e-01 -1.28564391e-02 2.78773039e+02] [ 1.77638951e-02 -1.38514292e-03 9.99841250e-01 2.20366517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.250714057 meters Centerline goodness : 0.988241 Centerline is valid? [True, True] Translation: X:299.28, Y:278.77, Z:2.20 [[-7.45006032e-01 -6.66942738e-01 1.23853672e-02 2.99284048e+02] [ 6.66820965e-01 -7.45107869e-01 -1.28087343e-02 2.78774069e+02] [ 1.77711268e-02 -1.28376180e-03 9.99841257e-01 2.20097956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.280714057 meters Centerline goodness : 0.988611 Centerline is valid? [True, True] Translation: X:299.28, Y:278.77, Z:2.20 [[-7.42708108e-01 -6.69504668e-01 1.21723438e-02 2.99281184e+02] [ 6.69379859e-01 -7.42806295e-01 -1.30158353e-02 2.78773084e+02] [ 1.77558561e-02 -1.51904465e-03 9.99841198e-01 2.20338887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3107140569999 meters Centerline goodness : 0.986540 Centerline is valid? [True, True] Translation: X:299.28, Y:278.77, Z:2.21 [[-7.42044394e-01 -6.70240026e-01 1.21829776e-02 2.99281420e+02] [ 6.70115482e-01 -7.42142909e-01 -1.30054987e-02 2.78772373e+02] [ 1.77583162e-02 -1.48665553e-03 9.99841203e-01 2.20518592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3407140569999 meters Centerline goodness : 0.988379 Centerline is valid? [True, True] Translation: X:299.27, Y:278.78, Z:2.20 [[-7.40547420e-01 -6.71890685e-01 1.23460910e-02 2.99271430e+02] [ 6.71768963e-01 -7.40649322e-01 -1.28468758e-02 2.78779507e+02] [ 1.77758201e-02 -1.22000003e-03 9.99841253e-01 2.20403388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.370714057 meters Centerline goodness : 0.987036 Centerline is valid? [True, True] Translation: X:299.28, Y:278.77, Z:2.21 [[-7.39951102e-01 -6.72550196e-01 1.21901652e-02 2.99276149e+02] [ 6.72426078e-01 -7.40050143e-01 -1.29982880e-02 2.78773814e+02] [ 1.77633347e-02 -1.42111254e-03 9.99841210e-01 2.20910514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.400714057 meters Centerline goodness : 0.987939 Centerline is valid? [True, True] Translation: X:299.27, Y:278.78, Z:2.20 [[-7.38326585e-01 -6.74330634e-01 1.23308939e-02 2.99268753e+02] [ 6.74209003e-01 -7.38428601e-01 -1.28616166e-02 2.78777952e+02] [ 1.77784668e-02 -1.18247373e-03 9.99841251e-01 2.20218753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4307140569999 meters Centerline goodness : 0.986645 Centerline is valid? [True, True] Translation: X:299.27, Y:278.77, Z:2.21 [[-7.38434319e-01 -6.74215353e-01 1.21825228e-02 2.99273780e+02] [ 6.74091342e-01 -7.38533493e-01 -1.30054730e-02 2.78771694e+02] [ 1.77656907e-02 -1.39155447e-03 9.99841209e-01 2.20518712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4607140569999 meters Centerline goodness : 0.988653 Centerline is valid? [True, True] Translation: X:299.27, Y:278.78, Z:2.20 [[-7.36689707e-01 -6.76119000e-01 1.23033984e-02 2.99266515e+02] [ 6.75997177e-01 -7.36791498e-01 -1.28882181e-02 2.78778759e+02] [ 1.77790085e-02 -1.17755505e-03 9.99841248e-01 2.20128549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.490714057 meters Centerline goodness : 0.988800 Centerline is valid? [True, True] Translation: X:299.26, Y:278.78, Z:2.20 [[-7.35894408e-01 -6.76986869e-01 1.21736962e-02 2.99263616e+02] [ 6.76863094e-01 -7.35993880e-01 -1.30138818e-02 2.78777999e+02] [ 1.77699929e-02 -1.33691718e-03 9.99841207e-01 2.20182254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.520714057 meters Centerline goodness : 0.989395 Centerline is valid? [True, True] Translation: X:299.26, Y:278.78, Z:2.20 [[-7.35374983e-01 -6.77552147e-01 1.21129092e-02 2.99258613e+02] [ 6.77427485e-01 -7.35473389e-01 -1.30727184e-02 2.78781205e+02] [ 1.77661708e-02 -1.40773243e-03 9.99841178e-01 2.20189850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5507140569999 meters Centerline goodness : 0.989418 Centerline is valid? [True, True] Translation: X:299.26, Y:278.78, Z:2.20 [[-7.33570678e-01 -6.79505434e-01 1.21006323e-02 2.99261070e+02] [ 6.79380840e-01 -7.33669181e-01 -1.30845933e-02 2.78777601e+02] [ 1.77689132e-02 -1.37753621e-03 9.99841171e-01 2.20198135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5807140569999 meters Centerline goodness : 0.989774 Centerline is valid? [True, True] Translation: X:299.27, Y:278.77, Z:2.20 [[-7.31324159e-01 -6.81923429e-01 1.20586875e-02 2.99269302e+02] [ 6.81798497e-01 -7.31422272e-01 -1.31251136e-02 2.78768220e+02] [ 1.77703151e-02 -1.37711763e-03 9.99841147e-01 2.19888331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6107140569999 meters Centerline goodness : 0.988990 Centerline is valid? [True, True] Translation: X:299.26, Y:278.77, Z:2.20 [[-7.30565605e-01 -6.82736117e-01 1.20537003e-02 2.99261335e+02] [ 6.82611215e-01 -7.30663763e-01 -1.31299278e-02 2.78773531e+02] [ 1.77714779e-02 -1.36428268e-03 9.99841144e-01 2.20037215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.640714057 meters Centerline goodness : 0.990362 Centerline is valid? [True, True] Translation: X:299.26, Y:278.78, Z:2.20 [[-7.29587608e-01 -6.83781740e-01 1.20188981e-02 2.99258247e+02] [ 6.83656430e-01 -7.29685280e-01 -1.31635034e-02 2.78775619e+02] [ 1.77709762e-02 -1.38713200e-03 9.99841122e-01 2.19985445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6707140569999 meters Centerline goodness : 0.989019 Centerline is valid? [True, True] Translation: X:299.26, Y:278.77, Z:2.20 [[-7.26652497e-01 -6.86900265e-01 1.20073074e-02 2.99259682e+02] [ 6.86775191e-01 -7.26750484e-01 -1.31746774e-02 2.78774859e+02] [ 1.77760059e-02 -1.32709141e-03 9.99841114e-01 2.19751433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7007140569999 meters Centerline goodness : 0.989704 Centerline is valid? [True, True] Translation: X:299.26, Y:278.78, Z:2.20 [[-7.28085986e-01 -6.85381547e-01 1.19554571e-02 2.99255063e+02] [ 6.85255453e-01 -7.28182720e-01 -1.32246375e-02 2.78776963e+02] [ 1.77696798e-02 -1.43613107e-03 9.99841075e-01 2.19955675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7307140569999 meters Centerline goodness : 0.989645 Centerline is valid? [True, True] Translation: X:299.25, Y:278.78, Z:2.20 [[-7.26584573e-01 -6.86971985e-01 1.20146118e-02 2.99249786e+02] [ 6.86847036e-01 -7.26682711e-01 -1.31676459e-02 2.78779943e+02] [ 1.77766145e-02 -1.31520780e-03 9.99841118e-01 2.20008916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.760714057 meters Centerline goodness : 0.990428 Centerline is valid? [True, True] Translation: X:299.25, Y:278.78, Z:2.20 [[-7.25864246e-01 -6.87733613e-01 1.19822496e-02 2.99249617e+02] [ 6.87608256e-01 -7.25961899e-01 -1.31987984e-02 2.78778840e+02] [ 1.77759140e-02 -1.34144213e-03 9.99841096e-01 2.20072626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.790714057 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:299.25, Y:278.78, Z:2.20 [[-7.25691685e-01 -6.87915718e-01 1.19809614e-02 2.99246632e+02] [ 6.87790365e-01 -7.25789345e-01 -1.32000377e-02 2.78780025e+02] [ 1.77761675e-02 -1.33876784e-03 9.99841095e-01 2.20128448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8207140569999 meters Centerline goodness : 0.990049 Centerline is valid? [True, True] Translation: X:299.24, Y:278.78, Z:2.20 [[-7.24923841e-01 -6.88724873e-01 1.19780460e-02 2.99243760e+02] [ 6.88599583e-01 -7.25021585e-01 -1.32028405e-02 2.78781194e+02] [ 1.77774666e-02 -1.32297642e-03 9.99841093e-01 2.20013069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8507140569999 meters Centerline goodness : 0.990620 Centerline is valid? [True, True] Translation: X:299.24, Y:278.78, Z:2.20 [[-7.25567822e-01 -6.88045926e-01 1.20058277e-02 2.99244210e+02] [ 6.87920983e-01 -7.25665978e-01 -1.31761467e-02 2.78778950e+02] [ 1.77780147e-02 -1.30112729e-03 9.99841112e-01 2.19937970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.880714057 meters Centerline goodness : 0.990658 Centerline is valid? [True, True] Translation: X:299.23, Y:278.79, Z:2.20 [[-7.24790873e-01 -6.88864169e-01 1.20144797e-02 2.99231575e+02] [ 6.88739473e-01 -7.24889334e-01 -1.31678330e-02 2.78792536e+02] [ 1.77800166e-02 -1.26907873e-03 9.99841118e-01 2.19857472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.910714057 meters Centerline goodness : 0.990374 Centerline is valid? [True, True] Translation: X:299.24, Y:278.78, Z:2.20 [[-7.25923167e-01 -6.87671079e-01 1.20018021e-02 2.99240509e+02] [ 6.87546021e-01 -7.26021181e-01 -1.31800082e-02 2.78781109e+02] [ 1.77770729e-02 -1.31588201e-03 9.99841109e-01 2.19923672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9407140569999 meters Centerline goodness : 0.990407 Centerline is valid? [True, True] Translation: X:299.24, Y:278.78, Z:2.20 [[-7.25141747e-01 -6.88494367e-01 1.20396103e-02 2.99244111e+02] [ 6.88370019e-01 -7.25240622e-01 -1.31437187e-02 2.78776749e+02] [ 1.77809907e-02 -1.24335240e-03 9.99841133e-01 2.19982261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9707140569999 meters Centerline goodness : 0.990310 Centerline is valid? [True, True] Translation: X:299.22, Y:278.79, Z:2.20 [[-7.35103380e-01 -6.77848412e-01 1.20229018e-02 2.99221705e+02] [ 6.77722376e-01 -7.35200110e-01 -1.31597584e-02 2.78787289e+02] [ 1.77595601e-02 -1.52559326e-03 9.99841123e-01 2.20014315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.000714057 meters Centerline goodness : 0.990098 Centerline is valid? [True, True] Translation: X:299.24, Y:278.78, Z:2.20 [[-7.25548298e-01 -6.88060429e-01 1.23496545e-02 2.99236228e+02] [ 6.87941003e-01 -7.25652925e-01 -1.28456241e-02 2.78781757e+02] [ 1.78001286e-02 -8.24286983e-04 9.99841225e-01 2.20008872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.030714057 meters Centerline goodness : 0.990440 Centerline is valid? [True, True] Translation: X:299.24, Y:278.78, Z:2.20 [[-7.25295170e-01 -6.88332677e-01 1.20433629e-02 2.99238253e+02] [ 6.88208381e-01 -7.25394090e-01 -1.31392194e-02 2.78779005e+02] [ 1.77803383e-02 -1.24146908e-03 9.99841147e-01 2.20017871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0607140569999 meters Centerline goodness : 0.991111 Centerline is valid? [True, True] Translation: X:299.24, Y:278.78, Z:2.20 [[-7.23912778e-01 -6.89786212e-01 1.20528394e-02 2.99236941e+02] [ 6.89662266e-01 -7.24012126e-01 -1.31301388e-02 2.78780142e+02] [ 1.77833906e-02 -1.19268670e-03 9.99841152e-01 2.20108713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0907140569999 meters Centerline goodness : 0.990872 Centerline is valid? [True, True] Translation: X:299.22, Y:278.79, Z:2.20 [[-7.33758388e-01 -6.79304309e-01 1.20118398e-02 2.99216278e+02] [ 6.79178309e-01 -7.33855156e-01 -1.31694293e-02 2.78789650e+02] [ 1.77610007e-02 -1.50499818e-03 9.99841128e-01 2.20254743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.120714057 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:299.24, Y:278.78, Z:2.20 [[-7.21489503e-01 -6.92315434e-01 1.23384360e-02 2.99235199e+02] [ 6.92196449e-01 -7.21594623e-01 -1.28559835e-02 2.78781705e+02] [ 1.78037449e-02 -7.34835574e-04 9.99841231e-01 2.20050801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.150714057 meters Centerline goodness : 0.991236 Centerline is valid? [True, True] Translation: X:299.22, Y:278.79, Z:2.20 [[-7.33312998e-01 -6.79786184e-01 1.19494917e-02 2.99215050e+02] [ 6.79659299e-01 -7.33408652e-01 -1.32282359e-02 2.78789761e+02] [ 1.77562326e-02 -1.57885423e-03 9.99841099e-01 2.20385901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1807140569999 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:299.22, Y:278.79, Z:2.20 [[-7.21019914e-01 -6.92804581e-01 1.23327260e-02 2.99223088e+02] [ 6.92685587e-01 -7.21125009e-01 -1.28607392e-02 2.78793779e+02] [ 1.78034162e-02 -7.30147570e-04 9.99841240e-01 2.20041255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2107140569999 meters Centerline goodness : 0.991209 Centerline is valid? [True, True] Translation: X:299.22, Y:278.80, Z:2.20 [[-7.22206242e-01 -6.91575089e-01 1.19180918e-02 2.99215513e+02] [ 6.91449297e-01 -7.22303342e-01 -1.32571702e-02 2.78801665e+02] [ 1.77768062e-02 -1.33365484e-03 9.99841091e-01 2.20038721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.240714057 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:299.21, Y:278.79, Z:2.20 [[-7.33834977e-01 -6.79222452e-01 1.19619276e-02 2.99210247e+02] [ 6.79095704e-01 -7.33930775e-01 -1.32152553e-02 2.78794646e+02] [ 1.77553249e-02 -1.57452296e-03 9.99841122e-01 2.20194956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.270714057 meters Centerline goodness : 0.990603 Centerline is valid? [True, True] Translation: X:299.22, Y:278.80, Z:2.20 [[-7.22009450e-01 -6.91773419e-01 1.23243941e-02 2.99217862e+02] [ 6.91654150e-01 -7.22114222e-01 -1.28681071e-02 2.78800782e+02] [ 1.78014347e-02 -7.66676606e-04 9.99841248e-01 2.19899793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3007140569999 meters Centerline goodness : 0.990271 Centerline is valid? [True, True] Translation: X:299.20, Y:278.82, Z:2.20 [[-7.23123675e-01 -6.90615539e-01 1.19301183e-02 2.99203991e+02] [ 6.90489824e-01 -7.23220839e-01 -1.32446639e-02 2.78816595e+02] [ 1.77750808e-02 -1.33990476e-03 9.99841113e-01 2.19873156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3307140569999 meters Centerline goodness : 0.990270 Centerline is valid? [True, True] Translation: X:299.21, Y:278.80, Z:2.20 [[-7.33262753e-01 -6.79839642e-01 1.19914733e-02 2.99209208e+02] [ 6.79713448e-01 -7.33359227e-01 -1.31860535e-02 2.78798930e+02] [ 1.77584594e-02 -1.51807621e-03 9.99841154e-01 2.20136437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3607140569999 meters Centerline goodness : 0.989879 Centerline is valid? [True, True] Translation: X:299.21, Y:278.81, Z:2.20 [[-7.22745377e-01 -6.91004634e-01 1.23173431e-02 2.99211219e+02] [ 6.90885149e-01 -7.22849891e-01 -1.28742832e-02 2.78810137e+02] [ 1.77997795e-02 -7.94959253e-04 9.99841255e-01 2.19732882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.390714057 meters Centerline goodness : 0.990019 Centerline is valid? [True, True] Translation: X:299.21, Y:278.80, Z:2.20 [[-7.30759420e-01 -6.82529058e-01 1.20314160e-02 2.99206209e+02] [ 6.82403850e-01 -7.30857122e-01 -1.31473337e-02 2.78804752e+02] [ 1.77666833e-02 -1.39725334e-03 9.99841184e-01 2.20106864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4207140569999 meters Centerline goodness : 0.990976 Centerline is valid? [True, True] Translation: X:299.22, Y:278.81, Z:2.20 [[-7.17622852e-01 -6.96323095e-01 1.23122023e-02 2.99217548e+02] [ 6.96204306e-01 -7.17728151e-01 -1.28789045e-02 2.78805404e+02] [ 1.78046928e-02 -6.70387927e-04 9.99841259e-01 2.19722709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4507140569999 meters Centerline goodness : 0.990894 Centerline is valid? [True, True] Translation: X:299.21, Y:278.81, Z:2.20 [[-7.20158827e-01 -6.93706477e-01 1.19409952e-02 2.99211339e+02] [ 6.93581378e-01 -7.20256737e-01 -1.32327676e-02 2.78809867e+02] [ 1.77802388e-02 -1.24764253e-03 9.99841141e-01 2.20121924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4807140569999 meters Centerline goodness : 0.990894 Centerline is valid? [True, True] Translation: X:299.21, Y:278.81, Z:2.20 [[-7.19911391e-01 -6.93960571e-01 1.20960271e-02 2.99209385e+02] [ 6.93837960e-01 -7.20012271e-01 -1.30849343e-02 2.78811677e+02] [ 1.77897165e-02 -1.02731052e-03 9.99841223e-01 2.20135072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.510714057 meters Centerline goodness : 0.989996 Centerline is valid? [True, True] Translation: X:299.21, Y:278.81, Z:2.20 [[-7.18429818e-01 -6.95494398e-01 1.20887975e-02 2.99209839e+02] [ 6.95371887e-01 -7.18530823e-01 -1.30918234e-02 2.78812836e+02] [ 1.77914634e-02 -9.99346402e-04 9.99841220e-01 2.20163483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.540714057 meters Centerline goodness : 0.990805 Centerline is valid? [True, True] Translation: X:299.21, Y:278.81, Z:2.20 [[-7.21957233e-01 -6.91831156e-01 1.21410879e-02 2.99207827e+02] [ 6.91708963e-01 -7.22058596e-01 -1.30420096e-02 2.78808041e+02] [ 1.77894455e-02 -1.01767384e-03 9.99841237e-01 2.20246444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5707140569999 meters Centerline goodness : 0.989856 Centerline is valid? [True, True] Translation: X:299.21, Y:278.81, Z:2.20 [[-7.19861539e-01 -6.94008824e-01 1.22929548e-02 2.99207339e+02] [ 6.93889384e-01 -7.19966099e-01 -1.28972590e-02 2.78809627e+02] [ 1.78013223e-02 -7.54289919e-04 9.99841259e-01 2.20298208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6007140569999 meters Centerline goodness : 0.989899 Centerline is valid? [True, True] Translation: X:299.21, Y:278.81, Z:2.20 [[-7.17794207e-01 -6.96146882e-01 1.22879871e-02 2.99209643e+02] [ 6.96027673e-01 -7.17899030e-01 -1.29019903e-02 2.78808375e+02] [ 1.78032144e-02 -7.08194823e-04 9.99841259e-01 2.20197102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.630714057 meters Centerline goodness : 0.989267 Centerline is valid? [True, True] Translation: X:299.21, Y:278.81, Z:2.20 [[-7.15667951e-01 -6.98332665e-01 1.22830292e-02 2.99207249e+02] [ 6.98213695e-01 -7.15773045e-01 -1.29067087e-02 2.78812008e+02] [ 1.78050375e-02 -6.60738566e-04 9.99841259e-01 2.20212890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.660714057 meters Centerline goodness : 0.989612 Centerline is valid? [True, True] Translation: X:299.21, Y:278.81, Z:2.20 [[-7.11759577e-01 -7.02315850e-01 1.22780761e-02 2.99210355e+02] [ 7.02197388e-01 -7.11865243e-01 -1.29114188e-02 2.78812674e+02] [ 1.78082297e-02 -5.68193057e-04 9.99841259e-01 2.20169793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6907140569999 meters Centerline goodness : 0.989547 Centerline is valid? [True, True] Translation: X:299.21, Y:278.81, Z:2.20 [[-7.10073778e-01 -7.04020313e-01 1.22731269e-02 2.99212443e+02] [ 7.03902023e-01 -7.10179636e-01 -1.29161216e-02 2.78812556e+02] [ 1.78093368e-02 -5.32320389e-04 9.99841259e-01 2.20197049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7207140569999 meters Centerline goodness : 0.988677 Centerline is valid? [True, True] Translation: X:299.21, Y:278.82, Z:2.20 [[-7.07239769e-01 -7.06867314e-01 1.22681907e-02 2.99211390e+02] [ 7.06749370e-01 -7.07346013e-01 -1.29208085e-02 2.78818302e+02] [ 1.78111530e-02 -4.67573554e-04 9.99841260e-01 2.20160050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.750714057 meters Centerline goodness : 0.988462 Centerline is valid? [True, True] Translation: X:299.21, Y:278.82, Z:2.20 [[-7.06041702e-01 -7.08064071e-01 1.22632560e-02 2.99213054e+02] [ 7.07946225e-01 -7.06148054e-01 -1.29254903e-02 2.78819168e+02] [ 1.78117497e-02 -4.44209389e-04 9.99841260e-01 2.20145315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.780714057 meters Centerline goodness : 0.989711 Centerline is valid? [True, True] Translation: X:299.21, Y:278.82, Z:2.20 [[-7.05186579e-01 -7.08915808e-01 1.22583212e-02 2.99211882e+02] [ 7.08798009e-01 -7.05292984e-01 -1.29301688e-02 2.78823312e+02] [ 1.78121090e-02 -4.29507819e-04 9.99841260e-01 2.20156533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8107140569999 meters Centerline goodness : 0.988901 Centerline is valid? [True, True] Translation: X:299.21, Y:278.83, Z:2.20 [[-7.04889424e-01 -7.09211361e-01 1.22533886e-02 2.99211110e+02] [ 7.09093526e-01 -7.04995789e-01 -1.29348415e-02 2.78827032e+02] [ 1.78121239e-02 -4.28834416e-04 9.99841260e-01 2.20147486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8407140569999 meters Centerline goodness : 0.987119 Centerline is valid? [True, True] Translation: X:299.21, Y:278.83, Z:2.20 [[-7.05615571e-01 -7.08488985e-01 1.22484502e-02 2.99212545e+02] [ 7.08370960e-01 -7.05721724e-01 -1.29395161e-02 2.78833016e+02] [ 1.78115021e-02 -4.53877611e-04 9.99841260e-01 2.20231586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.870714057 meters Centerline goodness : 0.989022 Centerline is valid? [True, True] Translation: X:299.21, Y:278.84, Z:2.20 [[-7.06738447e-01 -7.07368973e-01 1.22435084e-02 2.99211166e+02] [ 7.07250699e-01 -7.06844323e-01 -1.29441905e-02 2.78838335e+02] [ 1.78105731e-02 -4.88927203e-04 9.99841260e-01 2.20208556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.900714057 meters Centerline goodness : 0.987409 Centerline is valid? [True, True] Translation: X:299.21, Y:278.84, Z:2.20 [[-7.08268198e-01 -7.05837359e-01 1.22385590e-02 2.99210852e+02] [ 7.05718775e-01 -7.08373727e-01 -1.29488683e-02 2.78843203e+02] [ 1.78092687e-02 -5.34290719e-04 9.99841260e-01 2.20188912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9307140569999 meters Centerline goodness : 0.986106 Centerline is valid? [True, True] Translation: X:299.23, Y:278.84, Z:2.20 [[-7.00468406e-01 -7.13578553e-01 1.22336030e-02 2.99225703e+02] [ 7.13461054e-01 -7.00575142e-01 -1.29535489e-02 2.78842595e+02] [ 1.78139328e-02 -3.45352525e-04 9.99841260e-01 2.20339199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9607140569999 meters Centerline goodness : 0.987962 Centerline is valid? [True, True] Translation: X:299.24, Y:278.84, Z:2.20 [[-7.03803023e-01 -7.10294701e-01 1.19474553e-02 2.99235349e+02] [ 7.10172083e-01 -7.03903944e-01 -1.32231073e-02 2.78842335e+02] [ 1.78021639e-02 -8.21713689e-04 9.99841191e-01 2.20102903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.990714057 meters Centerline goodness : 0.987767 Centerline is valid? [True, True] Translation: X:299.23, Y:278.85, Z:2.20 [[-7.07904461e-01 -7.06208224e-01 1.18835153e-02 2.99229375e+02] [ 7.06084014e-01 -7.08003474e-01 -1.32832903e-02 2.78852778e+02] [ 1.77943390e-02 -1.01254024e-03 9.99841156e-01 2.20227881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.020714057 meters Centerline goodness : 0.987232 Centerline is valid? [True, True] Translation: X:299.23, Y:278.86, Z:2.20 [[-7.10925725e-01 -7.03165092e-01 1.19777835e-02 2.99225271e+02] [ 7.03041942e-01 -7.11025972e-01 -1.31945107e-02 2.78861693e+02] [ 1.77944345e-02 -9.59432907e-04 9.99841206e-01 2.20175583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0507140569999 meters Centerline goodness : 0.987398 Centerline is valid? [True, True] Translation: X:299.23, Y:278.87, Z:2.20 [[-7.15092775e-01 -6.98926591e-01 1.19976284e-02 2.99226425e+02] [ 6.98803159e-01 -7.15192661e-01 -1.31758256e-02 2.78869666e+02] [ 1.77895506e-02 -1.03795704e-03 9.99841215e-01 2.20090688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0807140569999 meters Centerline goodness : 0.987056 Centerline is valid? [True, True] Translation: X:299.22, Y:278.88, Z:2.20 [[-7.17792033e-01 -6.96153844e-01 1.20176034e-02 2.99221361e+02] [ 6.96030339e-01 -7.17891816e-01 -1.31570234e-02 2.78878110e+02] [ 1.77866516e-02 -1.07938997e-03 9.99841222e-01 2.20280911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1107140569999 meters Centerline goodness : 0.988736 Centerline is valid? [True, True] Translation: X:299.21, Y:278.89, Z:2.20 [[-7.24961110e-01 -6.88685031e-01 1.20132315e-02 2.99210066e+02] [ 6.88560431e-01 -7.25059527e-01 -1.31611379e-02 2.78887304e+02] [ 1.77741866e-02 -1.26947731e-03 9.99841221e-01 2.20168299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.140714057 meters Centerline goodness : 0.987694 Centerline is valid? [True, True] Translation: X:299.23, Y:278.88, Z:2.20 [[-7.17575023e-01 -6.96374124e-01 1.22133285e-02 2.99229854e+02] [ 6.96253744e-01 -7.17678501e-01 -1.29727556e-02 2.78877935e+02] [ 1.77991346e-02 -8.05349714e-04 9.99841259e-01 2.20454421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1707140569999 meters Centerline goodness : 0.987312 Centerline is valid? [True, True] Translation: X:299.23, Y:278.89, Z:2.20 [[-7.15614098e-01 -6.98394014e-01 1.19274234e-02 2.99232109e+02] [ 6.98269421e-01 -7.15712572e-01 -1.32412542e-02 2.78886720e+02] [ 1.77842195e-02 -1.14707320e-03 9.99841190e-01 2.20483284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2007140569999 meters Centerline goodness : 0.987722 Centerline is valid? [True, True] Translation: X:299.23, Y:278.89, Z:2.20 [[-7.20368904e-01 -6.93487143e-01 1.20093357e-02 2.99226832e+02] [ 6.93363148e-01 -7.20468074e-01 -1.31643115e-02 2.78891366e+02] [ 1.77816237e-02 -1.15632982e-03 9.99841226e-01 2.20376043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2307140569999 meters Centerline goodness : 0.989459 Centerline is valid? [True, True] Translation: X:299.23, Y:278.89, Z:2.20 [[-7.18400527e-01 -6.95526842e-01 1.19622127e-02 2.99231690e+02] [ 6.95402396e-01 -7.18499159e-01 -1.32085445e-02 2.78890146e+02] [ 1.77817370e-02 -1.17047399e-03 9.99841207e-01 2.20111395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.260714057 meters Centerline goodness : 0.988894 Centerline is valid? [True, True] Translation: X:299.24, Y:278.89, Z:2.20 [[-7.15925360e-01 -6.98076206e-01 1.18528473e-02 2.99239370e+02] [ 6.97950417e-01 -7.16022368e-01 -1.33110464e-02 2.78886018e+02] [ 1.77790286e-02 -1.25701595e-03 9.99841150e-01 2.19820390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.290714057 meters Centerline goodness : 0.990439 Centerline is valid? [True, True] Translation: X:299.24, Y:278.89, Z:2.20 [[-7.15099058e-01 -6.98923388e-01 1.18082659e-02 2.99241361e+02] [ 6.98797029e-01 -7.15195369e-01 -1.33527838e-02 2.78887264e+02] [ 1.77777899e-02 -1.29698199e-03 9.99841121e-01 2.19751117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3207140569999 meters Centerline goodness : 0.987666 Centerline is valid? [True, True] Translation: X:299.24, Y:278.89, Z:2.20 [[-7.18693146e-01 -6.95228760e-01 1.17104108e-02 2.99236591e+02] [ 6.95100422e-01 -7.18786932e-01 -1.34443371e-02 2.78892370e+02] [ 1.77641801e-02 -1.52244149e-03 9.99841045e-01 2.20369981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3507140569999 meters Centerline goodness : 0.987540 Centerline is valid? [True, True] Translation: X:299.22, Y:278.91, Z:2.20 [[-7.21568851e-01 -6.92239404e-01 1.19583003e-02 2.99221520e+02] [ 6.92114452e-01 -7.21666840e-01 -1.32120128e-02 2.78909042e+02] [ 1.77757847e-02 -1.25686442e-03 9.99841208e-01 2.20267275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.380714057 meters Centerline goodness : 0.987982 Centerline is valid? [True, True] Translation: X:299.22, Y:278.91, Z:2.20 [[-7.20736495e-01 -6.93105544e-01 1.19837278e-02 2.99222383e+02] [ 6.92981102e-01 -7.20835115e-01 -1.31881901e-02 2.78909311e+02] [ 1.77790995e-02 -1.20071298e-03 9.99841218e-01 2.20273656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.410714057 meters Centerline goodness : 0.988264 Centerline is valid? [True, True] Translation: X:299.24, Y:278.89, Z:2.20 [[-7.15021637e-01 -6.98999901e-01 1.19665020e-02 2.99241828e+02] [ 6.98876005e-01 -7.15120952e-01 -1.32043117e-02 2.78891696e+02] [ 1.77873089e-02 -1.07826744e-03 9.99841212e-01 2.20069058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4407140569999 meters Centerline goodness : 0.988686 Centerline is valid? [True, True] Translation: X:299.24, Y:278.89, Z:2.20 [[-7.13108131e-01 -7.00952883e-01 1.19101009e-02 2.99241089e+02] [ 7.00828381e-01 -7.13206724e-01 -1.32570368e-02 2.78893937e+02] [ 1.77869223e-02 -1.10676400e-03 9.99841188e-01 2.19523035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4707140569999 meters Centerline goodness : 0.988599 Centerline is valid? [True, True] Translation: X:299.24, Y:278.90, Z:2.20 [[-7.13523008e-01 -7.00532818e-01 1.17766106e-02 2.99235254e+02] [ 7.00406202e-01 -7.13619004e-01 -1.33816948e-02 2.78899429e+02] [ 1.77783295e-02 -1.29973606e-03 9.99841108e-01 2.19656769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.500714057 meters Centerline goodness : 0.988691 Centerline is valid? [True, True] Translation: X:299.23, Y:278.90, Z:2.20 [[-7.12232545e-01 -7.01844363e-01 1.18022571e-02 2.99231298e+02] [ 7.01718318e-01 -7.12329259e-01 -1.33577488e-02 2.78903820e+02] [ 1.77821538e-02 -1.23196341e-03 9.99841126e-01 2.19659770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.530714057 meters Centerline goodness : 0.989466 Centerline is valid? [True, True] Translation: X:299.23, Y:278.91, Z:2.20 [[-7.13676258e-01 -7.00376297e-01 1.18000685e-02 2.99225764e+02] [ 7.00250020e-01 -7.13772671e-01 -1.33597916e-02 2.78907710e+02] [ 1.77794478e-02 -1.27156784e-03 9.99841125e-01 2.19882625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5607140569999 meters Centerline goodness : 0.988306 Centerline is valid? [True, True] Translation: X:299.23, Y:278.90, Z:2.20 [[-7.13183422e-01 -7.00877726e-01 1.18245460e-02 2.99233486e+02] [ 7.00751892e-01 -7.13280388e-01 -1.33369569e-02 2.78900043e+02] [ 1.77817928e-02 -1.22562360e-03 9.99841140e-01 2.20318702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5907140569999 meters Centerline goodness : 0.988246 Centerline is valid? [True, True] Translation: X:299.23, Y:278.91, Z:2.20 [[-7.13010620e-01 -7.01051560e-01 1.19401003e-02 2.99227776e+02] [ 7.00927537e-01 -7.13109795e-01 -1.32291030e-02 2.78906457e+02] [ 1.77888858e-02 -1.06334578e-03 9.99841200e-01 2.20417540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.620714057 meters Centerline goodness : 0.988365 Centerline is valid? [True, True] Translation: X:299.23, Y:278.91, Z:2.20 [[-7.11607912e-01 -7.02476232e-01 1.18879723e-02 2.99226191e+02] [ 7.02351597e-01 -7.11706355e-01 -1.32777291e-02 2.78910155e+02] [ 1.77880346e-02 -1.09900072e-03 9.99841176e-01 2.20447561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.650714057 meters Centerline goodness : 0.983033 Centerline is valid? [True, True] Translation: X:298.67, Y:279.49, Z:2.22 [[-7.32065017e-01 -6.81128381e-01 1.20390698e-02 2.98666259e+02] [ 6.81003199e-01 -7.32162633e-01 -1.31347803e-02 2.79492018e+02] [ 1.77610287e-02 -1.41686812e-03 9.99841257e-01 2.22057368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6807140569999 meters Centerline goodness : 0.986957 Centerline is valid? [True, True] Translation: X:299.20, Y:278.93, Z:2.21 [[-7.19542751e-01 -6.94336934e-01 1.24278395e-02 2.99201287e+02] [ 6.94219787e-01 -7.19649853e-01 -1.27662387e-02 2.78934761e+02] [ 1.78077639e-02 -5.58202403e-04 9.99841273e-01 2.20815256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7107140569999 meters Centerline goodness : 0.987665 Centerline is valid? [True, True] Translation: X:299.21, Y:278.93, Z:2.21 [[-7.17143554e-01 -6.96819843e-01 1.21338149e-02 2.99205677e+02] [ 6.96698359e-01 -7.17245633e-01 -1.30421949e-02 2.78930868e+02] [ 1.77909859e-02 -8.99517059e-04 9.99841323e-01 2.20547600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.740714057 meters Centerline goodness : 0.986894 Centerline is valid? [True, True] Translation: X:299.20, Y:278.94, Z:2.21 [[-7.18478004e-01 -6.95445222e-01 1.20541137e-02 2.99199566e+02] [ 6.95322292e-01 -7.18578358e-01 -1.31169408e-02 2.78937563e+02] [ 1.77839390e-02 -1.04273948e-03 9.99841310e-01 2.20784418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.770714057 meters Centerline goodness : 0.988053 Centerline is valid? [True, True] Translation: X:299.22, Y:278.92, Z:2.21 [[-7.13730954e-01 -7.00314375e-01 1.21614362e-02 2.99215594e+02] [ 7.00193831e-01 -7.13834137e-01 -1.30162975e-02 2.78922175e+02] [ 1.77967486e-02 -7.74771871e-04 9.99841325e-01 2.20629950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8007140569999 meters Centerline goodness : 0.987326 Centerline is valid? [True, True] Translation: X:299.20, Y:278.94, Z:2.21 [[-7.17182180e-01 -6.96783051e-01 1.19624775e-02 2.99199108e+02] [ 6.96658884e-01 -7.17281041e-01 -1.32025943e-02 2.78939048e+02] [ 1.77798023e-02 -1.13489915e-03 9.99841283e-01 2.20937867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8307140569999 meters Centerline goodness : 0.987074 Centerline is valid? [True, True] Translation: X:299.20, Y:278.94, Z:2.21 [[-7.17239436e-01 -6.96721457e-01 1.21161953e-02 2.99196670e+02] [ 6.96599684e-01 -7.17341170e-01 -1.30585706e-02 2.78941681e+02] [ 1.77896321e-02 -9.25983957e-04 9.99841323e-01 2.20828202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8607140569999 meters Centerline goodness : 0.987997 Centerline is valid? [True, True] Translation: X:299.21, Y:278.93, Z:2.21 [[-7.13579061e-01 -7.00469382e-01 1.21478100e-02 2.99209491e+02] [ 7.00348645e-01 -7.13682017e-01 -1.30289558e-02 2.78929813e+02] [ 1.77960582e-02 -7.89487739e-04 9.99841326e-01 2.20654493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.890714057 meters Centerline goodness : 0.989635 Centerline is valid? [True, True] Translation: X:299.21, Y:278.93, Z:2.20 [[-7.08998933e-01 -7.05106228e-01 1.20714638e-02 2.99208135e+02] [ 7.04984948e-01 -7.09101264e-01 -1.31003963e-02 2.78933833e+02] [ 1.77970612e-02 -7.77966734e-04 9.99841317e-01 2.20298198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9207140569999 meters Centerline goodness : 0.988982 Centerline is valid? [True, True] Translation: X:299.19, Y:278.95, Z:2.21 [[-7.12113235e-01 -7.01964952e-01 1.18299157e-02 2.99194487e+02] [ 7.01839454e-01 -7.12210501e-01 -1.33260389e-02 2.78946675e+02] [ 1.77798024e-02 -1.18694706e-03 9.99841222e-01 2.20609257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9507140569999 meters Centerline goodness : 0.989564 Centerline is valid? [True, True] Translation: X:299.21, Y:278.93, Z:2.21 [[-7.06410009e-01 -7.07702111e-01 1.19423727e-02 2.99213951e+02] [ 7.07579165e-01 -7.06510390e-01 -1.32209962e-02 2.78930177e+02] [ 1.77939373e-02 -8.89269979e-04 9.99841280e-01 2.20749402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9807140569999 meters Centerline goodness : 0.990151 Centerline is valid? [True, True] Translation: X:299.20, Y:278.95, Z:2.21 [[-7.12320415e-01 -7.01753753e-01 1.18868766e-02 2.99195880e+02] [ 7.01629107e-01 -7.12418718e-01 -1.32728059e-02 2.78945322e+02] [ 1.77826747e-02 -1.11431205e-03 9.99841255e-01 2.20564542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.010714057 meters Centerline goodness : 0.989332 Centerline is valid? [True, True] Translation: X:299.21, Y:278.94, Z:2.21 [[-7.06447929e-01 -7.07664145e-01 1.19491077e-02 2.99205677e+02] [ 7.07541299e-01 -7.06548428e-01 -1.32146974e-02 2.78942326e+02] [ 1.77941908e-02 -8.81008448e-04 9.99841283e-01 2.20631304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.040714057 meters Centerline goodness : 0.989820 Centerline is valid? [True, True] Translation: X:299.18, Y:278.96, Z:2.21 [[-7.14716851e-01 -6.99313395e-01 1.18574324e-02 2.99180940e+02] [ 6.99187961e-01 -7.14814171e-01 -1.33002580e-02 2.78963258e+02] [ 1.77769093e-02 -1.21534451e-03 9.99841240e-01 2.20580868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0707140569999 meters Centerline goodness : 0.989252 Centerline is valid? [True, True] Translation: X:299.21, Y:278.94, Z:2.21 [[-7.09510463e-01 -7.04592606e-01 1.20067806e-02 2.99206231e+02] [ 7.04470232e-01 -7.09611504e-01 -1.31607936e-02 2.78941434e+02] [ 1.77931475e-02 -8.79301296e-04 9.99841303e-01 2.20662964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1007140569999 meters Centerline goodness : 0.989037 Centerline is valid? [True, True] Translation: X:299.18, Y:278.96, Z:2.21 [[-7.16388286e-01 -6.97599373e-01 1.19557091e-02 2.99184085e+02] [ 6.97475221e-01 -7.16487162e-01 -1.32084566e-02 2.78961609e+02] [ 1.77803231e-02 -1.12357278e-03 9.99841286e-01 2.20650771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.130714057 meters Centerline goodness : 0.988965 Centerline is valid? [True, True] Translation: X:299.19, Y:278.96, Z:2.21 [[-7.15882608e-01 -6.98115505e-01 1.21174889e-02 2.99186246e+02] [ 6.97993949e-01 -7.15984602e-01 -1.30574147e-02 2.78962231e+02] [ 1.77915191e-02 -8.89642209e-04 9.99841323e-01 2.20504157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.160714057 meters Centerline goodness : 0.988613 Centerline is valid? [True, True] Translation: X:299.18, Y:278.97, Z:2.20 [[-7.14639653e-01 -6.99388434e-01 1.20824252e-02 2.99184377e+02] [ 6.99266509e-01 -7.14741211e-01 -1.30901228e-02 2.78966135e+02] [ 1.77908877e-02 -9.05885504e-04 9.99841319e-01 2.20430152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1907140569999 meters Centerline goodness : 0.989409 Centerline is valid? [True, True] Translation: X:299.20, Y:278.96, Z:2.20 [[-7.08266453e-01 -7.05842681e-01 1.20308403e-02 2.99198687e+02] [ 7.05720867e-01 -7.08368157e-01 -1.31382021e-02 2.78956649e+02] [ 1.77957680e-02 -8.14932754e-04 9.99841311e-01 2.20363304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2207140569999 meters Centerline goodness : 0.989798 Centerline is valid? [True, True] Translation: X:299.18, Y:278.97, Z:2.20 [[-7.16433312e-01 -6.97555826e-01 1.17973806e-02 2.99180810e+02] [ 6.97429249e-01 -7.16529184e-01 -1.33555277e-02 2.78970718e+02] [ 1.77693937e-02 -1.34050667e-03 9.99841213e-01 2.20342015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.250714057 meters Centerline goodness : 0.989084 Centerline is valid? [True, True] Translation: X:299.18, Y:278.97, Z:2.20 [[-7.14851217e-01 -6.99172469e-01 1.20663102e-02 2.99180760e+02] [ 6.99050267e-01 -7.14952438e-01 -1.31048165e-02 2.78972744e+02] [ 1.77893648e-02 -9.33036653e-04 9.99841321e-01 2.20466750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.280714057 meters Centerline goodness : 0.989364 Centerline is valid? [True, True] Translation: X:299.18, Y:278.97, Z:2.21 [[-7.13013100e-01 -7.01047868e-01 1.20086187e-02 2.99183971e+02] [ 7.00925029e-01 -7.13113565e-01 -1.31585660e-02 2.78971360e+02] [ 1.77882935e-02 -9.65088526e-04 9.99841310e-01 2.20526915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3107140569999 meters Centerline goodness : 0.986802 Centerline is valid? [True, True] Translation: X:298.73, Y:279.44, Z:2.22 [[-7.28657607e-01 -6.84772408e-01 1.20349645e-02 2.98732888e+02] [ 6.84647737e-01 -7.28755775e-01 -1.31338291e-02 2.79441286e+02] [ 1.77642336e-02 -1.33035333e-03 9.99841319e-01 2.21644509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3407140569999 meters Centerline goodness : 0.988767 Centerline is valid? [True, True] Translation: X:299.17, Y:278.98, Z:2.20 [[-7.10559340e-01 -7.03529607e-01 1.23092114e-02 2.99174236e+02] [ 7.03411944e-01 -7.10665780e-01 -1.28757862e-02 2.78983393e+02] [ 1.78062321e-02 -4.90563829e-04 9.99841336e-01 2.20444430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.370714057 meters Centerline goodness : 0.988767 Centerline is valid? [True, True] Translation: X:299.17, Y:278.99, Z:2.20 [[-7.10310469e-01 -7.03788127e-01 1.18874423e-02 2.99172552e+02] [ 7.03663870e-01 -7.10409144e-01 -1.32667399e-02 2.78985415e+02] [ 1.77819217e-02 -1.05874059e-03 9.99841329e-01 2.20431890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.400714057 meters Centerline goodness : 0.989419 Centerline is valid? [True, True] Translation: X:299.19, Y:278.97, Z:2.20 [[-7.07459625e-01 -7.06653804e-01 1.18861415e-02 2.99185580e+02] [ 7.06529927e-01 -7.07558778e-01 -1.32679444e-02 2.78972034e+02] [ 1.77859871e-02 -9.88620292e-04 9.99841328e-01 2.20218650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4307140569999 meters Centerline goodness : 0.989345 Centerline is valid? [True, True] Translation: X:299.10, Y:279.06, Z:2.20 [[-7.14742928e-01 -6.99288028e-01 1.17813745e-02 2.99101045e+02] [ 6.99161535e-01 -7.14838810e-01 -1.33650439e-02 2.79058855e+02] [ 1.77677989e-02 -1.31548678e-03 9.99841275e-01 2.20386282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4607140569999 meters Centerline goodness : 0.988381 Centerline is valid? [True, True] Translation: X:299.17, Y:278.99, Z:2.20 [[-7.12060849e-01 -7.02016958e-01 1.18970214e-02 2.99168586e+02] [ 7.01892605e-01 -7.12159395e-01 -1.32577225e-02 2.78987168e+02] [ 1.77797216e-02 -1.08987382e-03 9.99841334e-01 2.20327398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.490714057 meters Centerline goodness : 0.989240 Centerline is valid? [True, True] Translation: X:299.17, Y:278.99, Z:2.20 [[-7.13880395e-01 -7.00167115e-01 1.18656189e-02 2.99167182e+02] [ 7.00042027e-01 -7.13978026e-01 -1.32868037e-02 2.78985803e+02] [ 1.77747742e-02 -1.17875680e-03 9.99841321e-01 2.20042777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.520714057 meters Centerline goodness : 0.988954 Centerline is valid? [True, True] Translation: X:299.17, Y:278.99, Z:2.20 [[-7.13070300e-01 -7.00991435e-01 1.19060979e-02 2.99167934e+02] [ 7.00867081e-01 -7.13168837e-01 -1.32493242e-02 2.78986034e+02] [ 1.77787208e-02 -1.10310747e-03 9.99841338e-01 2.19974361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5507140569999 meters Centerline goodness : 0.988096 Centerline is valid? [True, True] Translation: X:299.16, Y:278.99, Z:2.20 [[-7.14143381e-01 -6.99898906e-01 1.18639134e-02 2.99163829e+02] [ 6.99773755e-01 -7.14240933e-01 -1.32883579e-02 2.78989190e+02] [ 1.77741997e-02 -1.18773767e-03 9.99841321e-01 2.20024293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5807140569999 meters Centerline goodness : 0.988541 Centerline is valid? [True, True] Translation: X:299.16, Y:278.99, Z:2.20 [[-7.16175312e-01 -6.97818212e-01 1.19442392e-02 2.99162729e+02] [ 6.97694004e-01 -7.16274016e-01 -1.32140405e-02 2.78988484e+02] [ 1.77763463e-02 -1.13014549e-03 9.99841350e-01 2.19927215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6107140569999 meters Centerline goodness : 0.989269 Centerline is valid? [True, True] Translation: X:299.16, Y:278.99, Z:2.20 [[-7.14598390e-01 -6.99431905e-01 1.20063387e-02 2.99157972e+02] [ 6.99308877e-01 -7.14698538e-01 -1.31565805e-02 2.78993094e+02] [ 1.77830449e-02 -1.00553198e-03 9.99841364e-01 2.19757105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.640714057 meters Centerline goodness : 0.988630 Centerline is valid? [True, True] Translation: X:299.16, Y:279.00, Z:2.20 [[-7.13747011e-01 -7.00301926e-01 1.19338810e-02 2.99155650e+02] [ 7.00177903e-01 -7.13845951e-01 -1.32235666e-02 2.78996224e+02] [ 1.77794418e-02 -1.08244133e-03 9.99841347e-01 2.19958099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6707140569999 meters Centerline goodness : 0.987791 Centerline is valid? [True, True] Translation: X:299.15, Y:279.00, Z:2.20 [[-7.13974468e-01 -7.00069956e-01 1.19379806e-02 2.99152744e+02] [ 6.99945964e-01 -7.14073445e-01 -1.32197772e-02 2.78998490e+02] [ 1.77793638e-02 -1.08264210e-03 9.99841348e-01 2.20215618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7007140569999 meters Centerline goodness : 0.989061 Centerline is valid? [True, True] Translation: X:299.16, Y:278.99, Z:2.20 [[-7.14471318e-01 -6.99562537e-01 1.19579744e-02 2.99155441e+02] [ 6.99438782e-01 -7.14570582e-01 -1.32013060e-02 2.78993947e+02] [ 1.77799558e-02 -1.06808349e-03 9.99841354e-01 2.19794414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7307140569999 meters Centerline goodness : 0.987513 Centerline is valid? [True, True] Translation: X:299.15, Y:279.00, Z:2.20 [[-7.14247559e-01 -6.99790829e-01 1.19674346e-02 2.99153885e+02] [ 6.99667251e-01 -7.14347040e-01 -1.31925695e-02 2.78996611e+02] [ 1.77809406e-02 -1.04953854e-03 9.99841356e-01 2.19957009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.760714057 meters Centerline goodness : 0.988192 Centerline is valid? [True, True] Translation: X:299.15, Y:279.00, Z:2.20 [[-7.12145934e-01 -7.01929407e-01 1.19697803e-02 2.99151936e+02] [ 7.01806164e-01 -7.12245829e-01 -1.31904037e-02 2.79001667e+02] [ 1.77841583e-02 -9.93026753e-04 9.99841356e-01 2.20145416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.790714057 meters Centerline goodness : 0.987317 Centerline is valid? [True, True] Translation: X:299.15, Y:279.00, Z:2.20 [[-7.11327062e-01 -7.02759984e-01 1.19254822e-02 2.99153659e+02] [ 7.02636174e-01 -7.11426271e-01 -1.32312801e-02 2.79000353e+02] [ 1.77825155e-02 -1.03249239e-03 9.99841345e-01 2.20162617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8207140569999 meters Centerline goodness : 0.987475 Centerline is valid? [True, True] Translation: X:299.15, Y:279.00, Z:2.20 [[-7.09606599e-01 -7.04497420e-01 1.19105374e-02 2.99152724e+02] [ 7.04373623e-01 -7.09705831e-01 -1.32450611e-02 2.79002301e+02] [ 1.77840892e-02 -1.00931432e-03 9.99841341e-01 2.20013890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8507140569999 meters Centerline goodness : 0.986645 Centerline is valid? [True, True] Translation: X:299.15, Y:279.01, Z:2.20 [[-7.08478824e-01 -7.05632646e-01 1.18458921e-02 2.99150427e+02] [ 7.05508016e-01 -7.08577044e-01 -1.33046192e-02 2.79006929e+02] [ 1.77819008e-02 -1.06866913e-03 9.99841318e-01 2.20255357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.880714057 meters Centerline goodness : 0.987434 Centerline is valid? [True, True] Translation: X:299.15, Y:279.00, Z:2.20 [[-7.08647190e-01 -7.05463484e-01 1.18504254e-02 2.99153654e+02] [ 7.05338900e-01 -7.08745465e-01 -1.33004432e-02 2.79003860e+02] [ 1.77819123e-02 -1.06675572e-03 9.99841320e-01 2.20097854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.910714057 meters Centerline goodness : 0.985694 Centerline is valid? [True, True] Translation: X:299.15, Y:279.01, Z:2.20 [[-7.08610644e-01 -7.05500597e-01 1.18263509e-02 2.99147504e+02] [ 7.05375650e-01 -7.08708474e-01 -1.33226107e-02 2.79011227e+02] [ 1.77805449e-02 -1.09852376e-03 9.99841310e-01 2.20205438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9407140569999 meters Centerline goodness : 0.987092 Centerline is valid? [True, True] Translation: X:299.15, Y:279.01, Z:2.20 [[-7.09623997e-01 -7.04480830e-01 1.18550619e-02 2.99151630e+02] [ 7.04356181e-01 -7.09722187e-01 -1.32961903e-02 2.79005070e+02] [ 1.77807116e-02 -1.08510963e-03 9.99841322e-01 2.19779080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9707140569999 meters Centerline goodness : 0.986652 Centerline is valid? [True, True] Translation: X:299.15, Y:279.01, Z:2.20 [[-7.10376064e-01 -7.03722964e-01 1.18252568e-02 2.99148016e+02] [ 7.03597756e-01 -7.10473560e-01 -1.33236111e-02 2.79009707e+02] [ 1.77776635e-02 -1.14455027e-03 9.99841310e-01 2.20210303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.000714057 meters Centerline goodness : 0.988758 Centerline is valid? [True, True] Translation: X:299.15, Y:279.01, Z:2.20 [[-7.09613021e-01 -7.04490586e-01 1.19321032e-02 2.99150705e+02] [ 7.04367119e-01 -7.09712656e-01 -1.32252987e-02 2.79006728e+02] [ 1.77854630e-02 -9.80262990e-04 9.99841346e-01 2.19766275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.030714057 meters Centerline goodness : 0.987000 Centerline is valid? [True, True] Translation: X:299.15, Y:279.01, Z:2.20 [[-7.09315324e-01 -7.04792721e-01 1.17895148e-02 2.99153482e+02] [ 7.04667118e-01 -7.09412335e-01 -1.33563276e-02 2.79005652e+02] [ 1.77770697e-02 -1.16616442e-03 9.99841295e-01 2.20017552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0607140569999 meters Centerline goodness : 0.987210 Centerline is valid? [True, True] Translation: X:299.15, Y:279.01, Z:2.20 [[-7.10078880e-01 -7.04021841e-01 1.18840999e-02 2.99149707e+02] [ 7.03897573e-01 -7.10177534e-01 -1.32693862e-02 2.79008768e+02] [ 1.77817584e-02 -1.05712181e-03 9.99841333e-01 2.19783845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0907140569999 meters Centerline goodness : 0.987007 Centerline is valid? [True, True] Translation: X:299.15, Y:279.01, Z:2.20 [[-7.09044461e-01 -7.05064224e-01 1.18487318e-02 2.99150713e+02] [ 7.04939561e-01 -7.09142635e-01 -1.33018686e-02 2.79007830e+02] [ 1.77811126e-02 -1.07897650e-03 9.99841321e-01 2.19941027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.120714057 meters Centerline goodness : 0.988317 Centerline is valid? [True, True] Translation: X:299.15, Y:279.01, Z:2.20 [[-7.08790365e-01 -7.05319567e-01 1.18544261e-02 2.99149870e+02] [ 7.05195026e-01 -7.08888690e-01 -1.32966405e-02 2.79008251e+02] [ 1.77818493e-02 -1.06484838e-03 9.99841323e-01 2.19855349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.150714057 meters Centerline goodness : 0.987521 Centerline is valid? [True, True] Translation: X:299.15, Y:279.01, Z:2.20 [[-7.09297970e-01 -7.04809471e-01 1.18321118e-02 2.99145505e+02] [ 7.04684520e-01 -7.09395786e-01 -1.33171187e-02 2.79011380e+02] [ 1.77796817e-02 -1.10789925e-03 9.99841315e-01 2.19772651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1807140569999 meters Centerline goodness : 0.988999 Centerline is valid? [True, True] Translation: X:299.14, Y:279.01, Z:2.19 [[-7.08875073e-01 -7.05234756e-01 1.18351053e-02 2.99140233e+02] [ 7.05109909e-01 -7.08973021e-01 -1.33143722e-02 2.79014810e+02] [ 1.77805284e-02 -1.09317652e-03 9.99841316e-01 2.19483863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2107140569999 meters Centerline goodness : 0.987244 Centerline is valid? [True, True] Translation: X:299.15, Y:279.01, Z:2.20 [[-7.08469300e-01 -7.05645543e-01 1.16455284e-02 2.99146595e+02] [ 7.05517895e-01 -7.08563739e-01 -1.34880271e-02 2.79009500e+02] [ 1.77693654e-02 -1.33972444e-03 9.99841215e-01 2.20043382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.240714057 meters Centerline goodness : 0.987825 Centerline is valid? [True, True] Translation: X:299.14, Y:279.02, Z:2.20 [[-7.08505801e-01 -7.05605704e-01 1.18372763e-02 2.99140891e+02] [ 7.05480944e-01 -7.08603854e-01 -1.33122339e-02 2.79015078e+02] [ 1.77811278e-02 -1.08082213e-03 9.99841319e-01 2.19852294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.270714057 meters Centerline goodness : 0.987850 Centerline is valid? [True, True] Translation: X:299.14, Y:279.02, Z:2.20 [[-7.08883295e-01 -7.05227663e-01 1.17650669e-02 2.99140346e+02] [ 7.05101757e-01 -7.08979923e-01 -1.33783773e-02 2.79015558e+02] [ 1.77759980e-02 -1.18813888e-03 9.99841289e-01 2.19786202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3007140569999 meters Centerline goodness : 0.987853 Centerline is valid? [True, True] Translation: X:299.14, Y:279.02, Z:2.20 [[-7.07640072e-01 -7.06474501e-01 1.18028518e-02 2.99138128e+02] [ 7.06349338e-01 -7.07737633e-01 -1.33437690e-02 2.79017672e+02] [ 1.77803550e-02 -1.10564909e-03 9.99841306e-01 2.20137721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3307140569999 meters Centerline goodness : 0.987803 Centerline is valid? [True, True] Translation: X:299.14, Y:279.02, Z:2.20 [[-7.08842151e-01 -7.05269041e-01 1.17637007e-02 2.99136675e+02] [ 7.05143120e-01 -7.08938761e-01 -1.33796044e-02 2.79017797e+02] [ 1.77759641e-02 -1.18893494e-03 9.99841288e-01 2.19754378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3607140569999 meters Centerline goodness : 0.986425 Centerline is valid? [True, True] Translation: X:299.14, Y:279.02, Z:2.20 [[-7.09943918e-01 -7.04160446e-01 1.17345537e-02 2.99136811e+02] [ 7.04033936e-01 -7.10039780e-01 -1.34062751e-02 2.79016490e+02] [ 1.77721686e-02 -1.25617948e-03 9.99841273e-01 2.19877165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.390714057 meters Centerline goodness : 0.987647 Centerline is valid? [True, True] Translation: X:299.13, Y:279.02, Z:2.20 [[-7.11976293e-01 -7.02104745e-01 1.17765008e-02 2.99130884e+02] [ 7.01978587e-01 -7.12072583e-01 -1.33678916e-02 2.79021093e+02] [ 1.77713835e-02 -1.25077050e-03 9.99841294e-01 2.19861461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4207140569999 meters Centerline goodness : 0.986625 Centerline is valid? [True, True] Translation: X:299.13, Y:279.02, Z:2.20 [[-7.12322174e-01 -7.01752939e-01 1.18293506e-02 2.99132026e+02] [ 7.01627528e-01 -7.12419400e-01 -1.33195468e-02 2.79017775e+02] [ 1.77744900e-02 -1.18801046e-03 9.99841315e-01 2.19679178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4507140569999 meters Centerline goodness : 0.988167 Centerline is valid? [True, True] Translation: X:299.13, Y:279.02, Z:2.20 [[-7.14344995e-01 -6.99694495e-01 1.17831280e-02 2.99127571e+02] [ 6.99568112e-01 -7.14440984e-01 -1.33617977e-02 2.79019018e+02] [ 1.77675259e-02 -1.30183268e-03 9.99841298e-01 2.19519103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4807140569999 meters Centerline goodness : 0.987628 Centerline is valid? [True, True] Translation: X:299.13, Y:279.02, Z:2.20 [[-7.14551503e-01 -6.99483668e-01 1.17791209e-02 2.99125903e+02] [ 6.99357197e-01 -7.14647378e-01 -1.33654586e-02 2.79020283e+02] [ 1.77668379e-02 -1.31249561e-03 9.99841296e-01 2.19775496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.510714057 meters Centerline goodness : 0.987481 Centerline is valid? [True, True] Translation: X:299.12, Y:279.02, Z:2.20 [[-7.14836088e-01 -6.99191773e-01 1.18419609e-02 2.99124089e+02] [ 6.99066203e-01 -7.14933102e-01 -1.33080427e-02 2.79019994e+02] [ 1.77710838e-02 -1.23475457e-03 9.99841319e-01 2.19705328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.540714057 meters Centerline goodness : 0.987361 Centerline is valid? [True, True] Translation: X:299.12, Y:279.02, Z:2.20 [[-7.15296360e-01 -6.98721023e-01 1.18342379e-02 2.99122610e+02] [ 6.98595273e-01 -7.15393145e-01 -1.33150939e-02 2.79020354e+02] [ 1.77696687e-02 -1.25689554e-03 9.99841317e-01 2.19825454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5707140569999 meters Centerline goodness : 0.988152 Centerline is valid? [True, True] Translation: X:299.12, Y:279.02, Z:2.20 [[-7.15862315e-01 -6.98141481e-01 1.18159971e-02 2.99120350e+02] [ 6.98015381e-01 -7.15958653e-01 -1.33317388e-02 2.79021518e+02] [ 1.77672052e-02 -1.29594167e-03 9.99841311e-01 2.19667248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6007140569999 meters Centerline goodness : 0.988446 Centerline is valid? [True, True] Translation: X:299.12, Y:279.02, Z:2.20 [[-7.17144133e-01 -6.96824796e-01 1.18108832e-02 2.99117878e+02] [ 6.96698442e-01 -7.17240142e-01 -1.33364019e-02 2.79022002e+02] [ 1.77643750e-02 -1.33549842e-03 9.99841309e-01 2.19595601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.630714057 meters Centerline goodness : 0.988860 Centerline is valid? [True, True] Translation: X:299.11, Y:279.03, Z:2.19 [[-7.17337326e-01 -6.96625953e-01 1.18085826e-02 2.99110389e+02] [ 6.96499539e-01 -7.17433256e-01 -1.33384982e-02 2.79027959e+02] [ 1.77638139e-02 -1.34353034e-03 9.99841308e-01 2.19465590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.660714057 meters Centerline goodness : 0.988727 Centerline is valid? [True, True] Translation: X:299.12, Y:279.03, Z:2.19 [[-7.11637053e-01 -7.02451225e-01 1.16181432e-02 2.99115152e+02] [ 7.02322772e-01 -7.11730397e-01 -1.35116957e-02 2.79026273e+02] [ 1.77602928e-02 -1.45573676e-03 9.99841214e-01 2.19181972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6907140569999 meters Centerline goodness : 0.990097 Centerline is valid? [True, True] Translation: X:299.09, Y:279.04, Z:2.20 [[-7.29420550e-01 -6.83969393e-01 1.14687097e-02 2.99089157e+02] [ 6.83836482e-01 -7.29507648e-01 -1.36475927e-02 2.79037003e+02] [ 1.77010471e-02 -2.11211247e-03 9.99841093e-01 2.19689026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7207140569999 meters Centerline goodness : 0.989474 Centerline is valid? [True, True] Translation: X:299.08, Y:279.04, Z:2.20 [[-7.29085987e-01 -6.84316855e-01 1.20027495e-02 2.99084831e+02] [ 6.84191692e-01 -7.29183467e-01 -1.31605410e-02 2.79039010e+02] [ 1.77581865e-02 -1.38298455e-03 9.99841355e-01 2.19648101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.750714057 meters Centerline goodness : 0.988170 Centerline is valid? [True, True] Translation: X:299.10, Y:279.04, Z:2.19 [[-7.15171750e-01 -6.98845782e-01 1.19975952e-02 2.99101856e+02] [ 6.98722526e-01 -7.15271632e-01 -1.31652382e-02 2.79035521e+02] [ 1.77820107e-02 -1.03241642e-03 9.99841355e-01 2.19278105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.780714057 meters Centerline goodness : 0.988676 Centerline is valid? [True, True] Translation: X:299.10, Y:279.04, Z:2.19 [[-7.17291827e-01 -6.96675780e-01 1.16315512e-02 2.99095348e+02] [ 6.96546801e-01 -7.17384389e-01 -1.34978523e-02 2.79039426e+02] [ 1.77479200e-02 -1.57997934e-03 9.99841245e-01 2.19494394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8107140569999 meters Centerline goodness : 0.987836 Centerline is valid? [True, True] Translation: X:299.09, Y:279.04, Z:2.20 [[-7.17952634e-01 -6.95994615e-01 1.16409420e-02 2.99091735e+02] [ 6.95865685e-01 -7.18045254e-01 -1.34893226e-02 2.79042309e+02] [ 1.77472190e-02 -1.58416261e-03 9.99841251e-01 2.19591397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8407140569999 meters Centerline goodness : 0.988503 Centerline is valid? [True, True] Translation: X:299.09, Y:279.04, Z:2.20 [[-7.17235864e-01 -6.96732916e-01 1.16601651e-02 2.99088415e+02] [ 6.96604361e-01 -7.17328985e-01 -1.34718677e-02 2.79043466e+02] [ 1.77504681e-02 -1.53998485e-03 9.99841262e-01 2.19617174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.870714057 meters Centerline goodness : 0.989304 Centerline is valid? [True, True] Translation: X:299.09, Y:279.04, Z:2.19 [[-7.14010597e-01 -7.00037970e-01 1.16493811e-02 2.99091048e+02] [ 6.99909689e-01 -7.14104104e-01 -1.34816519e-02 2.79041085e+02] [ 1.77565391e-02 -1.47252756e-03 9.99841256e-01 2.19368033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.900714057 meters Centerline goodness : 0.988964 Centerline is valid? [True, True] Translation: X:299.09, Y:279.04, Z:2.20 [[-7.16096928e-01 -6.97904394e-01 1.16037319e-02 2.99085377e+02] [ 6.97775171e-01 -7.16189178e-01 -1.35230424e-02 2.79043782e+02] [ 1.77482580e-02 -1.58701310e-03 9.99841228e-01 2.19635538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9307140569999 meters Centerline goodness : 0.988711 Centerline is valid? [True, True] Translation: X:299.08, Y:279.04, Z:2.20 [[-7.14060661e-01 -6.99986421e-01 1.16783577e-02 2.99084193e+02] [ 6.99858557e-01 -7.14154712e-01 -1.34553737e-02 2.79042808e+02] [ 1.77587330e-02 -1.43475443e-03 9.99841272e-01 2.19666489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9607140569999 meters Centerline goodness : 0.988366 Centerline is valid? [True, True] Translation: X:299.08, Y:279.04, Z:2.20 [[-7.13951474e-01 -7.00097905e-01 1.16711955e-02 2.99083438e+02] [ 6.99969952e-01 -7.14045408e-01 -1.34618630e-02 2.79040933e+02] [ 1.77583856e-02 -1.44163077e-03 9.99841268e-01 2.19937283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.990714057 meters Centerline goodness : 0.989005 Centerline is valid? [True, True] Translation: X:299.09, Y:279.03, Z:2.19 [[-7.07693130e-01 -7.06423927e-01 1.16477142e-02 2.99091384e+02] [ 7.06296468e-01 -7.07787754e-01 -1.34831184e-02 2.79034552e+02] [ 1.77689069e-02 -1.31517086e-03 9.99841256e-01 2.19357546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.020714057 meters Centerline goodness : 0.988911 Centerline is valid? [True, True] Translation: X:299.09, Y:279.03, Z:2.20 [[-7.09810332e-01 -7.04298221e-01 1.15459147e-02 2.99085430e+02] [ 7.04168990e-01 -7.09902634e-01 -1.35751514e-02 2.79034676e+02] [ 1.77574302e-02 -1.50550760e-03 9.99841191e-01 2.19807743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0507140569999 meters Centerline goodness : 0.989012 Centerline is valid? [True, True] Translation: X:299.08, Y:279.03, Z:2.20 [[-7.07482692e-01 -7.06634433e-01 1.16627470e-02 2.99084263e+02] [ 7.06507223e-01 -7.07577639e-01 -1.34695095e-02 2.79034877e+02] [ 1.77703182e-02 -1.28962989e-03 9.99841264e-01 2.19617086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0807140569999 meters Centerline goodness : 0.989092 Centerline is valid? [True, True] Translation: X:299.08, Y:279.04, Z:2.20 [[-7.04880445e-01 -7.09231833e-01 1.15656784e-02 2.99079625e+02] [ 7.09103541e-01 -7.04974021e-01 -1.35571797e-02 2.79039052e+02] [ 1.77686862e-02 -1.35492734e-03 9.99841206e-01 2.19512004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1107140569999 meters Centerline goodness : 0.989188 Centerline is valid? [True, True] Translation: X:299.08, Y:279.04, Z:2.19 [[-7.00914479e-01 -7.13152298e-01 1.15192385e-02 2.99080562e+02] [ 7.13023844e-01 -7.01007890e-01 -1.35990910e-02 2.79036044e+02] [ 1.77733000e-02 -1.31830808e-03 9.99841173e-01 2.19310621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.140714057 meters Centerline goodness : 0.989465 Centerline is valid? [True, True] Translation: X:299.08, Y:279.04, Z:2.19 [[-7.01840093e-01 -7.12241607e-01 1.15055642e-02 2.99076058e+02] [ 7.12112831e-01 -7.01933077e-01 -1.36114246e-02 2.79037484e+02] [ 1.77707590e-02 -1.35978366e-03 9.99841163e-01 2.19474417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1707140569999 meters Centerline goodness : 0.989240 Centerline is valid? [True, True] Translation: X:299.08, Y:279.04, Z:2.19 [[-6.98289236e-01 -7.15722564e-01 1.15479214e-02 2.99077366e+02] [ 7.15594879e-01 -6.98383661e-01 -1.35732260e-02 2.79036791e+02] [ 1.77795437e-02 -1.21440423e-03 9.99841194e-01 2.19318657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2007140569999 meters Centerline goodness : 0.989620 Centerline is valid? [True, True] Translation: X:299.08, Y:279.03, Z:2.19 [[-6.95383949e-01 -7.18546807e-01 1.14738439e-02 2.99077582e+02] [ 7.18418408e-01 -6.95477493e-01 -1.36399468e-02 2.79034495e+02] [ 1.77807404e-02 -1.24197941e-03 9.99841139e-01 2.19334576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2307140569999 meters Centerline goodness : 0.989861 Centerline is valid? [True, True] Translation: X:299.07, Y:279.04, Z:2.19 [[-6.94295614e-01 -7.19599062e-01 1.14363783e-02 2.99072543e+02] [ 7.19470251e-01 -6.94388644e-01 -1.36736686e-02 2.79038812e+02] [ 1.77808503e-02 -1.26543410e-03 9.99841107e-01 2.19363432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.260714057 meters Centerline goodness : 0.989248 Centerline is valid? [True, True] Translation: X:299.08, Y:279.04, Z:2.19 [[-6.90450685e-01 -7.23288745e-01 1.14561219e-02 2.99075960e+02] [ 7.23160725e-01 -6.90544772e-01 -1.36559074e-02 2.79035990e+02] [ 1.77881292e-02 -1.14411322e-03 9.99841124e-01 2.19308647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.290714057 meters Centerline goodness : 0.989248 Centerline is valid? [True, True] Translation: X:299.07, Y:279.04, Z:2.19 [[-6.90229822e-01 -7.23500957e-01 1.13648009e-02 2.99074172e+02] [ 7.23371615e-01 -6.90322225e-01 -1.37379873e-02 2.79037909e+02] [ 1.77848216e-02 -1.26139418e-03 9.99841042e-01 2.19309225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3207140569999 meters Centerline goodness : 0.989639 Centerline is valid? [True, True] Translation: X:299.05, Y:279.04, Z:2.20 [[-7.08058239e-01 -7.06062353e-01 1.13791261e-02 2.99049746e+02] [ 7.05930951e-01 -7.08147664e-01 -1.37251000e-02 2.79041994e+02] [ 1.77488779e-02 -1.68529283e-03 9.99841056e-01 2.19912800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3507140569999 meters Centerline goodness : 0.989710 Centerline is valid? [True, True] Translation: X:299.05, Y:279.04, Z:2.20 [[-7.07156356e-01 -7.06956494e-01 1.19332842e-02 2.99050994e+02] [ 7.06833378e-01 -7.07256441e-01 -1.32250773e-02 2.79039132e+02] [ 1.77894464e-02 -9.17353921e-04 9.99841334e-01 2.19978226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.380714057 meters Centerline goodness : 0.988726 Centerline is valid? [True, True] Translation: X:299.07, Y:279.04, Z:2.19 [[-6.83307032e-01 -7.30033711e-01 1.19281715e-02 2.99074863e+02] [ 7.29913903e-01 -6.83411055e-01 -1.32296870e-02 2.79035172e+02] [ 1.78099618e-02 -3.33399911e-04 9.99841334e-01 2.19116134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.410714057 meters Centerline goodness : 0.989535 Centerline is valid? [True, True] Translation: X:299.05, Y:279.04, Z:2.20 [[-7.06073511e-01 -7.08048772e-01 1.12753558e-02 2.99048263e+02] [ 7.07916187e-01 -7.06161308e-01 -1.38159028e-02 2.79041402e+02] [ 1.77445530e-02 -1.77303610e-03 9.99840981e-01 2.19868682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4407140569999 meters Centerline goodness : 0.988645 Centerline is valid? [True, True] Translation: X:299.07, Y:279.04, Z:2.19 [[-6.87800249e-01 -7.25802077e-01 1.19231967e-02 2.99065385e+02] [ 7.25681588e-01 -6.87903440e-01 -1.32321571e-02 2.79039275e+02] [ 1.78059352e-02 -4.48636622e-04 9.99841361e-01 2.19277211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4707140569999 meters Centerline goodness : 0.989154 Centerline is valid? [True, True] Translation: X:299.05, Y:279.04, Z:2.20 [[-7.04529017e-01 -7.09583729e-01 1.13928222e-02 2.99047454e+02] [ 7.09453050e-01 -7.04619366e-01 -1.37083549e-02 2.79040437e+02] [ 1.77548287e-02 -1.57526135e-03 9.99841130e-01 2.19870208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.500714057 meters Centerline goodness : 0.987627 Centerline is valid? [True, True] Translation: X:299.04, Y:279.05, Z:2.20 [[-7.03717215e-01 -7.10380243e-01 1.19160176e-02 2.99041198e+02] [ 7.10257409e-01 -7.03817579e-01 -1.32373915e-02 2.79045155e+02] [ 1.77902840e-02 -8.51940485e-04 9.99841377e-01 2.19914268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.530714057 meters Centerline goodness : 0.988528 Centerline is valid? [True, True] Translation: X:299.04, Y:279.04, Z:2.20 [[-7.03048428e-01 -7.11042219e-01 1.19109062e-02 2.99040962e+02] [ 7.10919402e-01 -7.03148813e-01 -1.32419891e-02 2.79044474e+02] [ 1.77907528e-02 -8.42065333e-04 9.99841377e-01 2.19883208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5607140569999 meters Centerline goodness : 0.988440 Centerline is valid? [True, True] Translation: X:299.05, Y:279.05, Z:2.19 [[-6.82738138e-01 -7.30566141e-01 1.19057895e-02 2.99052017e+02] [ 7.30446121e-01 -6.82841850e-01 -1.32465878e-02 2.79052539e+02] [ 1.78072799e-02 -3.47412960e-04 9.99841377e-01 2.19267744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5907140569999 meters Centerline goodness : 0.987235 Centerline is valid? [True, True] Translation: X:299.05, Y:279.05, Z:2.19 [[-6.81134930e-01 -7.32069914e-01 1.13511734e-02 2.99054260e+02] [ 7.31941665e-01 -6.81228694e-01 -1.37428367e-02 2.79048832e+02] [ 1.77934623e-02 -1.05232939e-03 9.99841130e-01 2.19112701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.620714057 meters Centerline goodness : 0.988077 Centerline is valid? [True, True] Translation: X:299.04, Y:279.05, Z:2.20 [[-7.00554509e-01 -7.13508252e-01 1.13734006e-02 2.99037679e+02] [ 7.13377850e-01 -7.00645219e-01 -1.37229445e-02 2.79045214e+02] [ 1.77601529e-02 -1.50013852e-03 9.99841151e-01 2.19848367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.650714057 meters Centerline goodness : 0.988124 Centerline is valid? [True, True] Translation: X:299.04, Y:279.05, Z:2.20 [[-6.99402929e-01 -7.14628607e-01 1.18952965e-02 2.99037160e+02] [ 7.14506092e-01 -6.99503653e-01 -1.32545758e-02 2.79045880e+02] [ 1.77929024e-02 -7.71027271e-04 9.99841397e-01 2.19944061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6807140569999 meters Centerline goodness : 0.988815 Centerline is valid? [True, True] Translation: X:299.03, Y:279.05, Z:2.20 [[-6.97547704e-01 -7.16439686e-01 1.18901938e-02 2.99034878e+02] [ 7.16317356e-01 -6.97648651e-01 -1.32591516e-02 2.79048196e+02] [ 1.77945601e-02 -7.31738553e-04 9.99841397e-01 2.20042670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7107140569999 meters Centerline goodness : 0.988928 Centerline is valid? [True, True] Translation: X:299.04, Y:279.05, Z:2.20 [[-6.96565013e-01 -7.17395238e-01 1.18850911e-02 2.99035160e+02] [ 7.17272968e-01 -6.96666034e-01 -1.32637240e-02 2.79047164e+02] [ 1.77952717e-02 -7.14191477e-04 9.99841397e-01 2.20103726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.740714057 meters Centerline goodness : 0.989116 Centerline is valid? [True, True] Translation: X:299.03, Y:279.05, Z:2.20 [[-6.95513358e-01 -7.18414946e-01 1.18799918e-02 2.99032487e+02] [ 7.18292747e-01 -6.95614464e-01 -1.32682897e-02 2.79049775e+02] [ 1.77960318e-02 -6.94960845e-04 9.99841397e-01 2.20238836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.770714057 meters Centerline goodness : 0.989004 Centerline is valid? [True, True] Translation: X:299.03, Y:279.05, Z:2.20 [[-6.94455964e-01 -7.19437211e-01 1.18748949e-02 2.99028397e+02] [ 7.19315083e-01 -6.94557156e-01 -1.32728498e-02 2.79054953e+02] [ 1.77967753e-02 -6.75618706e-04 9.99841397e-01 2.20126356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8007140569999 meters Centerline goodness : 0.988008 Centerline is valid? [True, True] Translation: X:299.03, Y:279.06, Z:2.20 [[-6.93886824e-01 -7.19986239e-01 1.18697869e-02 2.99029933e+02] [ 7.19864113e-01 -6.93988018e-01 -1.32774163e-02 2.79055288e+02] [ 1.77970469e-02 -6.68390594e-04 9.99841397e-01 2.20087388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8307140569999 meters Centerline goodness : 0.988797 Centerline is valid? [True, True] Translation: X:299.03, Y:279.06, Z:2.20 [[-6.93820529e-01 -7.20050209e-01 1.18646771e-02 2.99029999e+02] [ 7.19928015e-01 -6.93921640e-01 -1.32819808e-02 2.79060036e+02] [ 1.77968492e-02 -6.73597459e-04 9.99841397e-01 2.19916928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8607140569999 meters Centerline goodness : 0.989335 Centerline is valid? [True, True] Translation: X:299.03, Y:279.06, Z:2.20 [[-6.93382504e-01 -7.20472105e-01 1.18595708e-02 2.99030921e+02] [ 7.20349894e-01 -6.93483596e-01 -1.32865387e-02 2.79061853e+02] [ 1.77969983e-02 -6.69612921e-04 9.99841397e-01 2.19837398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.890714057 meters Centerline goodness : 0.988264 Centerline is valid? [True, True] Translation: X:298.81, Y:279.32, Z:2.20 [[-6.80915984e-01 -7.32265590e-01 1.18544652e-02 2.98811402e+02] [ 7.32145053e-01 -6.81019066e-01 -1.32910924e-02 2.79324464e+02] [ 1.78057265e-02 -3.70929253e-04 9.99841397e-01 2.20116388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9207140569999 meters Centerline goodness : 0.989935 Centerline is valid? [True, True] Translation: X:299.03, Y:279.07, Z:2.20 [[-6.92234834e-01 -7.21581704e-01 1.14358395e-02 2.99030412e+02] [ 7.21453335e-01 -6.92328235e-01 -1.36638480e-02 2.79068039e+02] [ 1.77769373e-02 -1.20816696e-03 9.99841248e-01 2.19928456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9507140569999 meters Centerline goodness : 0.990155 Centerline is valid? [True, True] Translation: X:299.03, Y:279.07, Z:2.20 [[-6.91390894e-01 -7.22383714e-01 1.18490943e-02 2.99031526e+02] [ 7.22261629e-01 -6.91492131e-01 -1.32955560e-02 2.79068238e+02] [ 1.77980486e-02 -6.34280172e-04 9.99841401e-01 2.19973327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9807140569999 meters Centerline goodness : 0.989637 Centerline is valid? [True, True] Translation: X:298.77, Y:279.37, Z:2.20 [[-6.81033079e-01 -7.32156859e-01 1.18439853e-02 2.98774012e+02] [ 7.32036149e-01 -6.81135951e-01 -1.33001057e-02 2.79371063e+02] [ 1.78051278e-02 -3.87586573e-04 9.99841401e-01 2.20287355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.010714057 meters Centerline goodness : 0.988997 Centerline is valid? [True, True] Translation: X:299.03, Y:279.07, Z:2.20 [[-6.89990260e-01 -7.23727544e-01 1.14840747e-02 2.99030368e+02] [ 7.23600187e-01 -6.90084965e-01 -1.36202097e-02 2.79074622e+02] [ 1.77823082e-02 -1.08793346e-03 9.99841290e-01 2.19888543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.040714057 meters Centerline goodness : 0.989847 Centerline is valid? [True, True] Translation: X:299.03, Y:279.08, Z:2.20 [[-6.89000195e-01 -7.24664509e-01 1.18355354e-02 2.99031285e+02] [ 7.24542552e-01 -6.89101587e-01 -1.33076304e-02 2.79078656e+02] [ 1.77994536e-02 -5.93610923e-04 9.99841401e-01 2.19784398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0707140569999 meters Centerline goodness : 0.989411 Centerline is valid? [True, True] Translation: X:299.03, Y:279.08, Z:2.20 [[-6.88628830e-01 -7.25017500e-01 1.18304268e-02 2.99030052e+02] [ 7.24895517e-01 -6.88730191e-01 -1.33121703e-02 2.79082598e+02] [ 1.77995285e-02 -5.91320900e-04 9.99841401e-01 2.19818200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1007140569999 meters Centerline goodness : 0.989575 Centerline is valid? [True, True] Translation: X:299.03, Y:279.08, Z:2.20 [[-6.88620079e-01 -7.25025896e-01 1.18253148e-02 2.99030658e+02] [ 7.24903836e-01 -6.88721347e-01 -1.33167098e-02 2.79083853e+02] [ 1.77993062e-02 -5.97937673e-04 9.99841401e-01 2.19806054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.130714057 meters Centerline goodness : 0.989475 Centerline is valid? [True, True] Translation: X:299.03, Y:279.09, Z:2.20 [[-6.89159994e-01 -7.24512791e-01 1.18202028e-02 2.99030624e+02] [ 7.24390579e-01 -6.89261078e-01 -1.33212458e-02 2.79087965e+02] [ 1.77986187e-02 -6.18026146e-04 9.99841401e-01 2.19898082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.160714057 meters Centerline goodness : 0.989431 Centerline is valid? [True, True] Translation: X:299.03, Y:279.09, Z:2.20 [[-6.89451834e-01 -7.24235164e-01 1.18150932e-02 2.99029914e+02] [ 7.24112833e-01 -6.89552774e-01 -1.33257761e-02 2.79091888e+02] [ 1.77981259e-02 -6.32020145e-04 9.99841401e-01 2.19940107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1907140569999 meters Centerline goodness : 0.988852 Centerline is valid? [True, True] Translation: X:298.80, Y:279.36, Z:2.20 [[-6.85514030e-01 -7.27963625e-01 1.18099777e-02 2.98799159e+02] [ 7.27841766e-01 -6.85615539e-01 -1.33303082e-02 2.79361640e+02] [ 1.78010837e-02 -5.42318256e-04 9.99841401e-01 2.20425957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2207140569999 meters Centerline goodness : 0.989362 Centerline is valid? [True, True] Translation: X:299.03, Y:279.10, Z:2.20 [[-6.92078240e-01 -7.21729133e-01 1.16089748e-02 2.99029758e+02] [ 7.21603361e-01 -6.92174916e-01 -1.35083794e-02 2.79102109e+02] [ 1.77848322e-02 -9.71780202e-04 9.99841365e-01 2.20006697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.250714057 meters Centerline goodness : 0.988975 Centerline is valid? [True, True] Translation: X:299.03, Y:279.11, Z:2.20 [[-6.92666900e-01 -7.21160966e-01 1.18079207e-02 2.99028568e+02] [ 7.21038079e-01 -6.92767163e-01 -1.33321798e-02 2.79106384e+02] [ 1.77947874e-02 -7.20799176e-04 9.99841400e-01 2.20066963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.280714057 meters Centerline goodness : 0.988759 Centerline is valid? [True, True] Translation: X:299.03, Y:279.11, Z:2.20 [[-6.93713527e-01 -7.20154314e-01 1.18027839e-02 2.99028483e+02] [ 7.20031205e-01 -6.93813517e-01 -1.33367257e-02 2.79109255e+02] [ 1.77934316e-02 -7.53494350e-04 9.99841400e-01 2.20000940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3107140569999 meters Centerline goodness : 0.988741 Centerline is valid? [True, True] Translation: X:299.03, Y:279.12, Z:2.20 [[-6.96255067e-01 -7.17697497e-01 1.17976436e-02 2.99025577e+02] [ 7.17573958e-01 -6.96354526e-01 -1.33412713e-02 2.79118836e+02] [ 1.77903395e-02 -8.23245899e-04 9.99841400e-01 2.20036597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3407140569999 meters Centerline goodness : 0.988022 Centerline is valid? [True, True] Translation: X:298.75, Y:279.43, Z:2.21 [[-6.98300722e-01 -7.15707370e-01 1.17924904e-02 2.98751112e+02] [ 7.15583471e-01 -6.98399731e-01 -1.33458247e-02 2.79432915e+02] [ 1.77875772e-02 -8.80887835e-04 9.99841401e-01 2.20660335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.370714057 meters Centerline goodness : 0.989406 Centerline is valid? [True, True] Translation: X:299.43, Y:279.66, Z:2.99 [[-6.75260058e-01 7.37485452e-01 -1.17924904e-02 2.99432597e+02] [ 7.37364754e-01 6.75362946e-01 1.33458247e-02 2.79660326e+02] [ 1.78065626e-02 3.16535604e-04 -9.99841401e-01 2.99128785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.400714057 meters Centerline goodness : 0.989362 Centerline is valid? [True, True] Translation: X:299.15, Y:279.96, Z:3.00 [[-7.28785385e-01 6.84625397e-01 -1.26462799e-02 2.99145530e+02] [ 6.84511767e-01 7.28894967e-01 1.24807287e-02 2.79957441e+02] [ 1.77624337e-02 4.39245284e-04 -9.99842139e-01 2.99956306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4307140569999 meters Centerline goodness : 0.989164 Centerline is valid? [True, True] Translation: X:299.03, Y:279.26, Z:2.20 [[-7.98049371e-01 -6.02439035e-01 1.35797992e-02 2.99026587e+02] [ 6.02332330e-01 -7.98164397e-01 -1.13736283e-02 2.79256881e+02] [ 1.76908299e-02 -8.97164848e-04 9.99843103e-01 2.20242656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4607140569999 meters Centerline goodness : 0.989950 Centerline is valid? [True, True] Translation: X:299.03, Y:279.26, Z:2.20 [[-7.98335300e-01 -6.02061249e-01 1.35277954e-02 2.99025357e+02] [ 6.01953450e-01 -7.98449298e-01 -1.14351490e-02 2.79259599e+02] [ 1.76859188e-02 -9.85980029e-04 9.99843106e-01 2.20324109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.490714057 meters Centerline goodness : 0.990103 Centerline is valid? [True, True] Translation: X:299.02, Y:279.26, Z:2.20 [[-7.98997270e-01 -6.01182569e-01 1.35233548e-02 2.99023455e+02] [ 6.01074558e-01 -7.99111065e-01 -1.14403981e-02 2.79264461e+02] [ 1.76844304e-02 -1.01230230e-03 9.99843106e-01 2.20304671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.520714057 meters Centerline goodness : 0.989853 Centerline is valid? [True, True] Translation: X:299.02, Y:279.27, Z:2.20 [[-7.98871791e-01 -6.01349400e-01 1.35189092e-02 2.99022498e+02] [ 6.01241324e-01 -7.98985524e-01 -1.14456489e-02 2.79266883e+02] [ 1.76842469e-02 -1.01547919e-03 9.99843106e-01 2.20261188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5507140569999 meters Centerline goodness : 0.989358 Centerline is valid? [True, True] Translation: X:298.70, Y:279.55, Z:2.21 [[-7.97539426e-01 -6.03115431e-01 1.35144578e-02 2.98697992e+02] [ 6.03007518e-01 -7.97653315e-01 -1.14509025e-02 2.79545347e+02] [ 1.76860681e-02 -9.83226519e-04 9.99843106e-01 2.20868517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5807140569999 meters Centerline goodness : 0.990441 Centerline is valid? [True, True] Translation: X:299.02, Y:279.27, Z:2.20 [[-7.97943254e-01 -6.02582719e-01 1.34399193e-02 2.99021367e+02] [ 6.02473252e-01 -7.98055659e-01 -1.15388914e-02 2.79270541e+02] [ 1.76789402e-02 -1.11018867e-03 9.99843099e-01 2.20207801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6107140569999 meters Centerline goodness : 0.990949 Centerline is valid? [True, True] Translation: X:299.02, Y:279.27, Z:2.20 [[-7.97513742e-01 -6.03149553e-01 1.35073197e-02 2.99017585e+02] [ 6.03041501e-01 -7.97627500e-01 -1.14594463e-02 2.79274310e+02] [ 1.76855695e-02 -9.93591540e-04 9.99843104e-01 2.20205866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.640714057 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:299.02, Y:279.27, Z:2.20 [[-7.96847616e-01 -6.04029428e-01 1.35028667e-02 2.99018822e+02] [ 6.03921413e-01 -7.96961410e-01 -1.14646909e-02 2.79274707e+02] [ 1.76862744e-02 -9.80941309e-04 9.99843104e-01 2.20245724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6707140569999 meters Centerline goodness : 0.990914 Centerline is valid? [True, True] Translation: X:299.01, Y:279.28, Z:2.20 [[-7.96353208e-01 -6.04681206e-01 1.34984116e-02 2.99014136e+02] [ 6.04573196e-01 -7.96467006e-01 -1.14699338e-02 2.79279287e+02] [ 1.76866929e-02 -9.73340733e-04 9.99843104e-01 2.20264864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7007140569999 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:299.01, Y:279.28, Z:2.20 [[-7.96058704e-01 -6.05068966e-01 1.34939546e-02 2.99013716e+02] [ 6.04960923e-01 -7.96172470e-01 -1.14751750e-02 2.79280333e+02] [ 1.76867874e-02 -9.71597745e-04 9.99843104e-01 2.20257738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7307140569999 meters Centerline goodness : 0.991076 Centerline is valid? [True, True] Translation: X:299.01, Y:279.28, Z:2.20 [[-7.95872799e-01 -6.05313572e-01 1.34894917e-02 2.99009677e+02] [ 6.05205476e-01 -7.95986515e-01 -1.14804189e-02 2.79284229e+02] [ 1.76867069e-02 -9.73038837e-04 9.99843105e-01 2.20302633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.760714057 meters Centerline goodness : 0.991062 Centerline is valid? [True, True] Translation: X:299.01, Y:279.29, Z:2.20 [[-7.95794617e-01 -6.05416454e-01 1.34850238e-02 2.99008741e+02] [ 6.05308283e-01 -7.95908262e-01 -1.14856645e-02 2.79285638e+02] [ 1.76864522e-02 -9.77633385e-04 9.99843105e-01 2.20315529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.790714057 meters Centerline goodness : 0.990614 Centerline is valid? [True, True] Translation: X:299.01, Y:279.29, Z:2.20 [[-7.95904130e-01 -6.05272575e-01 1.34805501e-02 2.99009725e+02] [ 6.05164296e-01 -7.96017672e-01 -1.14909128e-02 2.79285683e+02] [ 1.76858905e-02 -9.87717385e-04 9.99843105e-01 2.20348933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8207140569999 meters Centerline goodness : 0.990070 Centerline is valid? [True, True] Translation: X:298.67, Y:279.58, Z:2.21 [[-7.93561425e-01 -6.08340907e-01 1.34760827e-02 2.98666642e+02] [ 6.08232978e-01 -7.93675301e-01 -1.14961497e-02 2.79582695e+02] [ 1.76892121e-02 -9.26303043e-04 9.99843105e-01 2.20932850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8507140569999 meters Centerline goodness : 0.989815 Centerline is valid? [True, True] Translation: X:299.32, Y:279.83, Z:3.00 [[-7.79650697e-01 6.26069634e-01 -1.34760827e-02 2.99321632e+02] [ 6.25964299e-01 7.79766975e-01 1.14961497e-02 2.79832332e+02] [ 1.77055945e-02 5.27434486e-04 -9.99843105e-01 2.99540878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.880714057 meters Centerline goodness : 0.991475 Centerline is valid? [True, True] Translation: X:299.02, Y:280.08, Z:3.00 [[-8.18538692e-01 5.74263969e-01 -1.46732315e-02 2.99018270e+02] [ 5.74179285e-01 8.18670125e-01 9.86789516e-03 2.80082894e+02] [ 1.76793129e-02 -3.47811569e-04 -9.99843648e-01 3.00249605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.910714057 meters Centerline goodness : 0.990388 Centerline is valid? [True, True] Translation: X:299.01, Y:279.41, Z:2.20 [[-8.68449699e-01 -4.95548941e-01 1.50455192e-02 2.99005684e+02] [ 4.95462528e-01 -8.68579811e-01 -9.27334427e-03 2.79408380e+02] [ 1.76636302e-02 -5.98942050e-04 9.99843807e-01 2.20478677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9407140569999 meters Centerline goodness : 0.990396 Centerline is valid? [True, True] Translation: X:298.99, Y:279.41, Z:2.21 [[-8.73702249e-01 -4.86236393e-01 1.47834238e-02 2.98988532e+02] [ 4.86141545e-01 -8.73826377e-01 -9.68818634e-03 2.79411324e+02] [ 1.76288944e-02 -1.27775373e-03 9.99843783e-01 2.20588107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9707140569999 meters Centerline goodness : 0.992000 Centerline is valid? [True, True] Translation: X:299.05, Y:279.38, Z:2.20 [[-8.62259627e-01 -5.06245875e-01 1.49482267e-02 2.99046945e+02] [ 5.06158411e-01 -8.62389006e-01 -9.42685890e-03 2.79384424e+02] [ 1.76634948e-02 -5.62229153e-04 9.99843830e-01 2.20234517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.000714057 meters Centerline goodness : 0.990479 Centerline is valid? [True, True] Translation: X:298.99, Y:279.41, Z:2.21 [[-8.73202133e-01 -4.87140908e-01 1.45523136e-02 2.98986401e+02] [ 4.87040117e-01 -8.73321750e-01 -1.00521398e-02 2.79412451e+02] [ 1.76056605e-02 -1.68998938e-03 9.99843580e-01 2.20746003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.030714057 meters Centerline goodness : 0.990329 Centerline is valid? [True, True] Translation: X:298.99, Y:279.41, Z:2.21 [[-8.72954468e-01 -4.87572668e-01 1.49462463e-02 2.98987309e+02] [ 4.87482428e-01 -8.73081899e-01 -9.42762057e-03 2.79412432e+02] [ 1.76459473e-02 -9.43851035e-04 9.99843853e-01 2.20868185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0607140569999 meters Centerline goodness : 0.990837 Centerline is valid? [True, True] Translation: X:299.03, Y:279.39, Z:2.20 [[-8.61532262e-01 -5.07482824e-01 1.49447573e-02 2.99034968e+02] [ 5.07395492e-01 -8.61661703e-01 -9.42998049e-03 2.79394276e+02] [ 1.76628781e-02 -5.41329956e-04 9.99843853e-01 2.20419429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0907140569999 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:299.03, Y:279.40, Z:2.20 [[-8.62154906e-01 -5.06436625e-01 1.45211360e-02 2.99032534e+02] [ 5.06337767e-01 -8.62276125e-01 -1.00970467e-02 2.79396544e+02] [ 1.76347432e-02 -1.35261878e-03 9.99843581e-01 2.20390854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.120714057 meters Centerline goodness : 0.990612 Centerline is valid? [True, True] Translation: X:298.99, Y:279.41, Z:2.21 [[-8.73651881e-01 -4.86331929e-01 1.46166244e-02 2.98988284e+02] [ 4.86232784e-01 -8.73772711e-01 -9.94630038e-03 2.79413567e+02] [ 1.76088110e-02 -1.58252204e-03 9.99843700e-01 2.20764466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.150714057 meters Centerline goodness : 0.990290 Centerline is valid? [True, True] Translation: X:299.01, Y:279.41, Z:2.20 [[-8.63788742e-01 -5.03632599e-01 1.49403685e-02 2.99013157e+02] [ 5.03544629e-01 -8.63917713e-01 -9.43357898e-03 2.79410084e+02] [ 1.76583069e-02 -6.25477017e-04 9.99843884e-01 2.20468033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1807140569999 meters Centerline goodness : 0.990290 Centerline is valid? [True, True] Translation: X:299.01, Y:279.41, Z:2.20 [[-8.63758957e-01 -5.03692781e-01 1.46303080e-02 2.99011860e+02] [ 5.03596472e-01 -8.63882015e-01 -9.92263787e-03 2.79411191e+02] [ 1.76368210e-02 -1.20299585e-03 9.99843735e-01 2.20454774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2107140569999 meters Centerline goodness : 0.990673 Centerline is valid? [True, True] Translation: X:299.02, Y:279.41, Z:2.20 [[-8.63816648e-01 -5.03593622e-01 1.46376853e-02 2.99015621e+02] [ 5.03497495e-01 -8.63939838e-01 -9.91100497e-03 2.79409774e+02] [ 1.76371984e-02 -1.19125322e-03 9.99843743e-01 2.20408870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.240714057 meters Centerline goodness : 0.991381 Centerline is valid? [True, True] Translation: X:298.98, Y:279.42, Z:2.21 [[-8.73884541e-01 -4.85912634e-01 1.46533788e-02 2.98982956e+02] [ 4.85814432e-01 -8.74006064e-01 -9.88623772e-03 2.79419582e+02] [ 1.76109897e-02 -1.52060744e-03 9.99843758e-01 2.20859960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.270714057 meters Centerline goodness : 0.990735 Centerline is valid? [True, True] Translation: X:298.98, Y:279.42, Z:2.21 [[-8.73883825e-01 -4.85905292e-01 1.49368072e-02 2.98982047e+02] [ 4.85814641e-01 -8.74010907e-01 -9.43766581e-03 2.79420237e+02] [ 1.76407441e-02 -9.90903876e-04 9.99843899e-01 2.20849156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3007140569999 meters Centerline goodness : 0.991108 Centerline is valid? [True, True] Translation: X:298.98, Y:279.42, Z:2.21 [[-8.73821402e-01 -4.86017569e-01 1.49358889e-02 2.98981346e+02] [ 4.85926909e-01 -8.73948478e-01 -9.43911878e-03 2.79421082e+02] [ 1.76407750e-02 -9.90353663e-04 9.99843899e-01 2.20814028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3307140569999 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:298.99, Y:279.43, Z:2.20 [[-8.63474096e-01 -5.04172026e-01 1.49349711e-02 2.98989952e+02] [ 5.04084017e-01 -8.63603022e-01 -9.44057084e-03 2.79428759e+02] [ 1.76575579e-02 -6.23208172e-04 9.99843899e-01 2.20392543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3607140569999 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:298.99, Y:279.43, Z:2.20 [[-8.65217287e-01 -5.01184284e-01 1.46068725e-02 2.98987675e+02] [ 5.01087028e-01 -8.65339606e-01 -9.95775275e-03 2.79429431e+02] [ 1.76305745e-02 -1.29630546e-03 9.99843729e-01 2.20469572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.390714057 meters Centerline goodness : 0.989712 Centerline is valid? [True, True] Translation: X:298.98, Y:279.43, Z:2.20 [[-8.65110197e-01 -5.01367291e-01 1.46692469e-02 2.98983348e+02] [ 5.01271719e-01 -8.65233758e-01 -9.85941083e-03 2.79433103e+02] [ 1.76355138e-02 -1.17619821e-03 9.99843790e-01 2.20453511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4207140569999 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:298.99, Y:279.43, Z:2.20 [[-8.65087641e-01 -5.01406557e-01 1.46573862e-02 2.98987344e+02] [ 5.01310675e-01 -8.65210975e-01 -9.87811074e-03 2.79431222e+02] [ 1.76346809e-02 -1.19752733e-03 9.99843780e-01 2.20421051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4507140569999 meters Centerline goodness : 0.988832 Centerline is valid? [True, True] Translation: X:298.98, Y:279.43, Z:2.20 [[-8.65575232e-01 -5.00564510e-01 1.46523031e-02 2.98982767e+02] [ 5.00468372e-01 -8.65698373e-01 -9.88612391e-03 2.79433909e+02] [ 1.76331177e-02 -1.22416970e-03 9.99843775e-01 2.20468439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4807140569999 meters Centerline goodness : 0.989796 Centerline is valid? [True, True] Translation: X:298.97, Y:279.43, Z:2.21 [[-8.75171387e-01 -4.83591316e-01 1.46452580e-02 2.98973154e+02] [ 4.83492611e-01 -8.75292488e-01 -9.89723849e-03 2.79427503e+02] [ 1.76051029e-02 -1.58090591e-03 9.99843768e-01 2.20856642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.510714057 meters Centerline goodness : 0.989644 Centerline is valid? [True, True] Translation: X:298.99, Y:279.43, Z:2.20 [[-8.66004302e-01 -4.99813490e-01 1.49339647e-02 2.98994275e+02] [ 4.99724834e-01 -8.66132765e-01 -9.44053880e-03 2.79426282e+02] [ 1.76533048e-02 -7.12674172e-04 9.99843914e-01 2.20445529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.540714057 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:298.99, Y:279.43, Z:2.20 [[-8.66487697e-01 -4.98983314e-01 1.46534605e-02 2.98990107e+02] [ 4.98887011e-01 -8.66610687e-01 -9.88269097e-03 2.79428675e+02] [ 1.76301434e-02 -1.25280902e-03 9.99843792e-01 2.20453655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5707140569999 meters Centerline goodness : 0.990715 Centerline is valid? [True, True] Translation: X:299.00, Y:279.43, Z:2.20 [[-8.66012268e-01 -4.99807688e-01 1.46637865e-02 2.98996137e+02] [ 4.99711776e-01 -8.66135552e-01 -9.86642054e-03 2.79425494e+02] [ 1.76321397e-02 -1.21677444e-03 9.99843801e-01 2.20449836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6007140569999 meters Centerline goodness : 0.988940 Centerline is valid? [True, True] Translation: X:298.99, Y:279.43, Z:2.20 [[-8.65505834e-01 -5.00684666e-01 1.46464169e-02 2.98994934e+02] [ 5.00588418e-01 -8.65628875e-01 -9.89376654e-03 2.79426345e+02] [ 1.76320186e-02 -1.23128601e-03 9.99843786e-01 2.20475509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.630714057 meters Centerline goodness : 0.989732 Centerline is valid? [True, True] Translation: X:298.99, Y:279.43, Z:2.20 [[-8.64279215e-01 -5.02800368e-01 1.46023481e-02 2.98991315e+02] [ 5.02703252e-01 -8.64401629e-01 -9.96310421e-03 2.79429533e+02] [ 1.76317459e-02 -1.27025602e-03 9.99843742e-01 2.20449954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.660714057 meters Centerline goodness : 0.989456 Centerline is valid? [True, True] Translation: X:298.99, Y:279.43, Z:2.21 [[-8.64223839e-01 -5.02896853e-01 1.45571513e-02 2.98994668e+02] [ 5.02798557e-01 -8.64345374e-01 -1.00341674e-02 2.79427494e+02] [ 1.76285576e-02 -1.35245203e-03 9.99843690e-01 2.20514541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6907140569999 meters Centerline goodness : 0.989103 Centerline is valid? [True, True] Translation: X:298.99, Y:279.43, Z:2.21 [[-8.62988942e-01 -5.05011782e-01 1.46009063e-02 2.98993976e+02] [ 5.04914942e-01 -8.63111576e-01 -9.96537289e-03 2.79429784e+02] [ 1.76348420e-02 -1.22779086e-03 9.99843740e-01 2.20547477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7207140569999 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:299.00, Y:279.43, Z:2.21 [[-8.62636033e-01 -5.05615744e-01 1.45531751e-02 2.98995997e+02] [ 5.05517727e-01 -8.62757798e-01 -1.00403747e-02 2.79429191e+02] [ 1.76324368e-02 -1.30430103e-03 9.99843686e-01 2.20529165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.750714057 meters Centerline goodness : 0.987418 Centerline is valid? [True, True] Translation: X:298.99, Y:279.43, Z:2.21 [[-8.62451043e-01 -5.05930906e-01 1.45642348e-02 2.98992683e+02] [ 5.05833226e-01 -8.62573062e-01 -1.00230025e-02 2.79433252e+02] [ 1.76336633e-02 -1.27727510e-03 9.99843699e-01 2.20536484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.780714057 meters Centerline goodness : 0.988503 Centerline is valid? [True, True] Translation: X:298.98, Y:279.44, Z:2.21 [[-8.62736749e-01 -5.05444062e-01 1.45465545e-02 2.98983582e+02] [ 5.05345846e-01 -8.62858365e-01 -1.00507706e-02 2.79439230e+02] [ 1.76317185e-02 -1.32012828e-03 9.99843678e-01 2.20547965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8107140569999 meters Centerline goodness : 0.987639 Centerline is valid? [True, True] Translation: X:298.99, Y:279.44, Z:2.21 [[-8.62657040e-01 -5.05581122e-01 1.45107011e-02 2.98987985e+02] [ 5.05481982e-01 -8.62777963e-01 -1.01070564e-02 2.79437215e+02] [ 1.76294501e-02 -1.38402543e-03 9.99843631e-01 2.20549765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8407140569999 meters Centerline goodness : 0.986050 Centerline is valid? [True, True] Translation: X:298.99, Y:279.44, Z:2.21 [[-8.62840326e-01 -5.05266498e-01 1.45718060e-02 2.98985501e+02] [ 5.05168925e-01 -8.62962419e-01 -1.00110667e-02 2.79439067e+02] [ 1.76331776e-02 -1.27672850e-03 9.99843708e-01 2.20996113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.870714057 meters Centerline goodness : 0.985564 Centerline is valid? [True, True] Translation: X:298.98, Y:279.44, Z:2.21 [[-8.62517772e-01 -5.05814896e-01 1.46418648e-02 2.98978603e+02] [ 5.05719259e-01 -8.62641294e-01 -9.90093098e-03 2.79444630e+02] [ 1.76387156e-02 -1.13505589e-03 9.99843781e-01 2.21101107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.900714057 meters Centerline goodness : 0.985704 Centerline is valid? [True, True] Translation: X:298.97, Y:279.45, Z:2.21 [[-8.63666686e-01 -5.03851443e-01 1.46143361e-02 2.98974258e+02] [ 5.03754795e-01 -8.63789453e-01 -9.94421589e-03 2.79447697e+02] [ 1.76341169e-02 -1.22644611e-03 9.99843755e-01 2.21103174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9307140569999 meters Centerline goodness : 0.981987 Centerline is valid? [True, True] Translation: X:298.14, Y:279.95, Z:2.22 [[-8.82739033e-01 -4.69628921e-01 1.48484667e-02 2.98143005e+02] [ 4.69533769e-01 -8.82862676e-01 -9.56734086e-03 2.79953156e+02] [ 1.76022570e-02 -1.47360867e-03 9.99843982e-01 2.22340499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9607140569999 meters Centerline goodness : 0.985135 Centerline is valid? [True, True] Translation: X:298.64, Y:279.65, Z:2.22 [[-8.69346468e-01 -4.93974075e-01 1.50443316e-02 2.98644391e+02] [ 4.93887799e-01 -8.69476416e-01 -9.25226390e-03 2.79653335e+02] [ 1.76510700e-02 -6.13211129e-04 9.99844020e-01 2.21963194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.990714057 meters Centerline goodness : 0.981825 Centerline is valid? [True, True] Translation: X:298.17, Y:279.94, Z:2.23 [[-8.83960364e-01 -4.67324559e-01 1.48940086e-02 2.98172233e+02] [ 4.67230344e-01 -8.84084672e-01 -9.49201362e-03 2.79935937e+02] [ 1.76034158e-02 -1.43163105e-03 9.99844023e-01 2.23104612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.020714057 meters Centerline goodness : 0.982995 Centerline is valid? [True, True] Translation: X:298.17, Y:279.94, Z:2.23 [[-8.84541742e-01 -4.66220061e-01 1.49920615e-02 2.98168452e+02] [ 4.66128286e-01 -8.84667870e-01 -9.33708464e-03 2.79940006e+02] [ 1.76161313e-02 -1.27081718e-03 9.99844016e-01 2.22555339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0507140569999 meters Centerline goodness : 0.986294 Centerline is valid? [True, True] Translation: X:298.94, Y:279.47, Z:2.21 [[-8.69112050e-01 -4.94383278e-01 1.51465805e-02 2.98936252e+02] [ 4.94299908e-01 -8.69243927e-01 -9.08825363e-03 2.79474492e+02] [ 1.76591537e-02 -4.11757423e-04 9.99843980e-01 2.21330656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0807140569999 meters Centerline goodness : 0.983666 Centerline is valid? [True, True] Translation: X:298.08, Y:280.00, Z:2.23 [[-8.82642515e-01 -4.69809016e-01 1.48889033e-02 2.98084220e+02] [ 4.69715024e-01 -8.82766987e-01 -9.49965304e-03 2.79995027e+02] [ 1.76064550e-02 -1.39125607e-03 9.99844026e-01 2.22641074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1107140569999 meters Centerline goodness : 0.988327 Centerline is valid? [True, True] Translation: X:298.59, Y:279.68, Z:2.22 [[-8.70184961e-01 -4.92496668e-01 1.50055141e-02 2.98591951e+02] [ 4.92409115e-01 -8.70314035e-01 -9.31366380e-03 2.79682860e+02] [ 1.76464579e-02 -7.15758244e-04 9.99844033e-01 2.21571942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.140714057 meters Centerline goodness : 0.982457 Centerline is valid? [True, True] Translation: X:298.03, Y:280.03, Z:2.24 [[-8.85331383e-01 -4.64723864e-01 1.48348164e-02 2.98026563e+02] [ 4.64627758e-01 -8.85454231e-01 -9.58395383e-03 2.80030611e+02] [ 1.75894430e-02 -1.59230764e-03 9.99844026e-01 2.23647646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1707140569999 meters Centerline goodness : 0.982548 Centerline is valid? [True, True] Translation: X:298.14, Y:279.96, Z:2.23 [[-8.83262699e-01 -4.68639701e-01 1.49610888e-02 2.98143534e+02] [ 4.68547446e-01 -8.83388471e-01 -9.38619304e-03 2.79958690e+02] [ 1.76151960e-02 -1.28049427e-03 9.99844020e-01 2.23079356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2007140569999 meters Centerline goodness : 0.989936 Centerline is valid? [True, True] Translation: X:298.89, Y:279.49, Z:2.21 [[-8.79820342e-01 -4.75067449e-01 1.50692925e-02 2.98893229e+02] [ 4.74979032e-01 -8.79948872e-01 -9.21421996e-03 2.79489346e+02] [ 1.76375829e-02 -9.49260213e-04 9.99843995e-01 2.20824697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2307140569999 meters Centerline goodness : 0.990315 Centerline is valid? [True, True] Translation: X:298.89, Y:279.49, Z:2.21 [[-8.80068004e-01 -4.74611849e-01 1.49633284e-02 2.98891513e+02] [ 4.74520522e-01 -8.80194442e-01 -9.38176835e-03 2.79490328e+02] [ 1.76233369e-02 -1.15618773e-03 9.99844028e-01 2.20808747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.260714057 meters Centerline goodness : 0.990051 Centerline is valid? [True, True] Translation: X:298.89, Y:279.49, Z:2.21 [[-8.80987619e-01 -4.72903901e-01 1.49236768e-02 2.98888399e+02] [ 4.72811275e-01 -8.81113104e-01 -9.44442428e-03 2.79491861e+02] [ 1.76157522e-02 -1.26433822e-03 9.99844031e-01 2.20741283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.290714057 meters Centerline goodness : 0.983280 Centerline is valid? [True, True] Translation: X:298.10, Y:279.99, Z:2.23 [[-8.85377902e-01 -4.64632401e-01 1.49232154e-02 2.98101056e+02] [ 4.64538590e-01 -8.85502505e-01 -9.44515318e-03 2.79985555e+02] [ 1.76030689e-02 -1.43012045e-03 9.99844031e-01 2.22668560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3207140569999 meters Centerline goodness : 0.982623 Centerline is valid? [True, True] Translation: X:298.10, Y:279.98, Z:2.23 [[-8.85324549e-01 -4.64734424e-01 1.49116734e-02 2.98101964e+02] [ 4.64640331e-01 -8.85448934e-01 -9.46300116e-03 2.79984518e+02] [ 1.76013077e-02 -1.44926236e-03 9.99844035e-01 2.22727079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3507140569999 meters Centerline goodness : 0.982420 Centerline is valid? [True, True] Translation: X:298.10, Y:279.98, Z:2.23 [[-8.83968566e-01 -4.67308490e-01 1.49113955e-02 2.98102549e+02] [ 4.67214752e-01 -8.84093219e-01 -9.46343139e-03 2.79982288e+02] [ 1.76054055e-02 -1.39855195e-03 9.99844035e-01 2.22997064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.380714057 meters Centerline goodness : 0.982151 Centerline is valid? [True, True] Translation: X:298.11, Y:279.97, Z:2.23 [[-8.83093467e-01 -4.68960448e-01 1.49005622e-02 2.98114087e+02] [ 4.68866663e-01 -8.83218081e-01 -9.48020754e-03 2.79973849e+02] [ 1.76062883e-02 -1.38553248e-03 9.99844037e-01 2.22906814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.410714057 meters Centerline goodness : 0.986607 Centerline is valid? [True, True] Translation: X:298.51, Y:279.72, Z:2.22 [[-8.75714931e-01 -4.82596253e-01 1.49738631e-02 2.98514353e+02] [ 4.82506353e-01 -8.75842396e-01 -9.36575612e-03 2.79721389e+02] [ 1.76346230e-02 -9.76748382e-04 9.99844021e-01 2.22142553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4407140569999 meters Centerline goodness : 0.983803 Centerline is valid? [True, True] Translation: X:298.09, Y:279.98, Z:2.22 [[-8.78094347e-01 -4.78256455e-01 1.48688075e-02 2.98094781e+02] [ 4.78163174e-01 -8.78219325e-01 -9.52870110e-03 2.79983005e+02] [ 1.76152369e-02 -1.25738239e-03 9.99844049e-01 2.22430185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4707140569999 meters Centerline goodness : 0.982765 Centerline is valid? [True, True] Translation: X:298.10, Y:279.98, Z:2.23 [[-8.79627927e-01 -4.75430236e-01 1.48593702e-02 2.98101962e+02] [ 4.75336310e-01 -8.79752419e-01 -9.54329766e-03 2.79976357e+02] [ 1.76097391e-02 -1.33135295e-03 9.99844050e-01 2.23228623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.500714057 meters Centerline goodness : 0.988105 Centerline is valid? [True, True] Translation: X:298.54, Y:279.70, Z:2.22 [[-8.70507644e-01 -4.91927265e-01 1.49668811e-02 2.98539215e+02] [ 4.91838562e-01 -8.70635932e-01 -9.37564327e-03 2.79698549e+02] [ 1.76428390e-02 -8.00279870e-04 9.99844033e-01 2.21889021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.530714057 meters Centerline goodness : 0.988518 Centerline is valid? [True, True] Translation: X:298.55, Y:279.69, Z:2.22 [[-8.69777665e-01 -4.93220746e-01 1.48360649e-02 2.98545897e+02] [ 4.93128779e-01 -8.69903596e-01 -9.57818164e-03 2.79691800e+02] [ 1.76301041e-02 -1.01479790e-03 9.99844063e-01 2.21906854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5607140569999 meters Centerline goodness : 0.990266 Centerline is valid? [True, True] Translation: X:298.86, Y:279.49, Z:2.21 [[-8.70409890e-01 -4.92104238e-01 1.48338362e-02 2.98855027e+02] [ 4.92012050e-01 -8.70535660e-01 -9.58163114e-03 2.79487010e+02] [ 1.76285447e-02 -1.04152033e-03 9.99844063e-01 2.21155461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5907140569999 meters Centerline goodness : 0.982514 Centerline is valid? [True, True] Translation: X:298.07, Y:279.99, Z:2.23 [[-8.71827118e-01 -4.89589259e-01 1.48268080e-02 2.98068040e+02] [ 4.89496526e-01 -8.71952485e-01 -9.59249444e-03 2.79992041e+02] [ 1.76246543e-02 -1.10532578e-03 9.99844063e-01 2.22651257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.620714057 meters Centerline goodness : 0.990203 Centerline is valid? [True, True] Translation: X:298.84, Y:279.49, Z:2.21 [[-8.68063674e-01 -4.96229812e-01 1.48805943e-02 2.98840709e+02] [ 4.96139456e-01 -8.68190771e-01 -9.50927286e-03 2.79492329e+02] [ 1.76379793e-02 -8.71804371e-04 9.99844059e-01 2.21085305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.650714057 meters Centerline goodness : 0.991117 Centerline is valid? [True, True] Translation: X:298.84, Y:279.49, Z:2.21 [[-8.67922961e-01 -4.96478457e-01 1.47944328e-02 2.98837241e+02] [ 4.96385887e-01 -8.68048439e-01 -9.64148437e-03 2.79492955e+02] [ 1.76290735e-02 -1.02431803e-03 9.99844071e-01 2.21084563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6807140569999 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:298.84, Y:279.49, Z:2.21 [[-8.67863373e-01 -4.96582653e-01 1.47930173e-02 2.98836166e+02] [ 4.96490062e-01 -8.67988835e-01 -9.64365556e-03 2.79492758e+02] [ 1.76290460e-02 -1.02478934e-03 9.99844071e-01 2.21070971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7107140569999 meters Centerline goodness : 0.990727 Centerline is valid? [True, True] Translation: X:298.50, Y:279.71, Z:2.22 [[-8.67740977e-01 -4.96796544e-01 1.47916024e-02 2.98498717e+02] [ 4.96703947e-01 -8.67866434e-01 -9.64582531e-03 2.79711896e+02] [ 1.76291479e-02 -1.02303058e-03 9.99844071e-01 2.21746973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.740714057 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:298.83, Y:279.49, Z:2.21 [[-8.66880926e-01 -4.98296813e-01 1.47562215e-02 2.98831140e+02] [ 4.98203512e-01 -8.67005864e-01 -9.70010002e-03 2.79493639e+02] [ 1.76272595e-02 -1.05723031e-03 9.99844069e-01 2.21122555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.770714057 meters Centerline goodness : 0.990864 Centerline is valid? [True, True] Translation: X:298.49, Y:279.71, Z:2.22 [[-8.66369136e-01 -4.99185217e-01 1.47864861e-02 2.98494771e+02] [ 4.99092831e-01 -8.66494750e-01 -9.65374432e-03 2.79712858e+02] [ 1.76314190e-02 -9.83876923e-04 9.99844070e-01 2.21781479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8007140569999 meters Centerline goodness : 0.992013 Centerline is valid? [True, True] Translation: X:298.83, Y:279.49, Z:2.21 [[-8.65322905e-01 -5.00997846e-01 1.47454394e-02 2.98826715e+02] [ 5.00904654e-01 -8.65447927e-01 -9.71664057e-03 2.79494664e+02] [ 1.76294260e-02 -1.02197241e-03 9.99844067e-01 2.21223393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8307140569999 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:298.48, Y:279.72, Z:2.22 [[-8.63261345e-01 -5.04540751e-01 1.47811081e-02 2.98481277e+02] [ 5.04449003e-01 -8.63387426e-01 -9.66207437e-03 2.79723924e+02] [ 1.76367332e-02 -8.84580044e-04 9.99844069e-01 2.22323284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8607140569999 meters Centerline goodness : 0.991688 Centerline is valid? [True, True] Translation: X:298.83, Y:279.49, Z:2.21 [[-8.64035929e-01 -5.03212910e-01 1.47878207e-02 2.98825103e+02] [ 5.03121143e-01 -8.64161998e-01 -9.65179721e-03 2.79494966e+02] [ 1.76359816e-02 -8.99434333e-04 9.99844069e-01 2.21292961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.890714057 meters Centerline goodness : 0.989052 Centerline is valid? [True, True] Translation: X:298.51, Y:279.71, Z:2.22 [[-8.61083986e-01 -5.08247945e-01 1.47781836e-02 2.98506231e+02] [ 5.08156664e-01 -8.61210406e-01 -9.66653039e-03 2.79707079e+02] [ 1.76401197e-02 -8.14062071e-04 9.99844070e-01 2.22223492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9207140569999 meters Centerline goodness : 0.990308 Centerline is valid? [True, True] Translation: X:298.82, Y:279.50, Z:2.21 [[-8.62683060e-01 -5.05529427e-01 1.47626982e-02 2.98823512e+02] [ 5.05437342e-01 -8.62808897e-01 -9.69021915e-03 2.79495304e+02] [ 1.76360783e-02 -8.97968957e-04 9.99844069e-01 2.21283013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9507140569999 meters Centerline goodness : 0.990707 Centerline is valid? [True, True] Translation: X:298.82, Y:279.50, Z:2.21 [[-8.62259540e-01 -5.06251063e-01 1.47765511e-02 2.98822881e+02] [ 5.06159446e-01 -8.62385717e-01 -9.66904870e-03 2.79496322e+02] [ 1.76380528e-02 -8.57938566e-04 9.99844069e-01 2.21292774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9807140569999 meters Centerline goodness : 0.990829 Centerline is valid? [True, True] Translation: X:298.49, Y:279.71, Z:2.22 [[-8.60764338e-01 -5.08789200e-01 1.47751385e-02 2.98494664e+02] [ 5.08697918e-01 -8.60890758e-01 -9.67120676e-03 2.79713977e+02] [ 1.76403858e-02 -8.08547668e-04 9.99844069e-01 2.21990140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.010714057 meters Centerline goodness : 0.991258 Centerline is valid? [True, True] Translation: X:298.82, Y:279.50, Z:2.21 [[-8.62046927e-01 -5.06614897e-01 1.47119873e-02 2.98818882e+02] [ 5.06521651e-01 -8.62171914e-01 -9.76770983e-03 2.79499382e+02] [ 1.76327295e-02 -9.68284161e-04 9.99844062e-01 2.21260102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.040714057 meters Centerline goodness : 0.991088 Centerline is valid? [True, True] Translation: X:298.82, Y:279.50, Z:2.21 [[-8.62637905e-01 -5.05606249e-01 1.47704731e-02 2.98815554e+02] [ 5.05514376e-01 -8.62763898e-01 -9.67845366e-03 2.79501603e+02] [ 1.76369176e-02 -8.82314485e-04 9.99844068e-01 2.21204618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0707140569999 meters Centerline goodness : 0.990870 Centerline is valid? [True, True] Translation: X:298.81, Y:279.51, Z:2.21 [[-8.63031427e-01 -5.04934284e-01 1.47690568e-02 2.98810248e+02] [ 5.04842277e-01 -8.63157321e-01 -9.68061449e-03 2.79505032e+02] [ 1.76360936e-02 -8.98630295e-04 9.99844068e-01 2.21219954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1007140569999 meters Centerline goodness : 0.990870 Centerline is valid? [True, True] Translation: X:298.81, Y:279.51, Z:2.21 [[-8.62957321e-01 -5.05060966e-01 1.47676374e-02 2.98808135e+02] [ 5.04968940e-01 -8.63083202e-01 -9.68277914e-03 2.79506460e+02] [ 1.76360936e-02 -8.98626924e-04 9.99844068e-01 2.21224381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.130714057 meters Centerline goodness : 0.990458 Centerline is valid? [True, True] Translation: X:298.81, Y:279.51, Z:2.21 [[-8.63409056e-01 -5.04288371e-01 1.47662160e-02 2.98807789e+02] [ 5.04196196e-01 -8.63534827e-01 -9.68494640e-03 2.79506865e+02] [ 1.76351476e-02 -9.17000503e-04 9.99844068e-01 2.21246575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.160714057 meters Centerline goodness : 0.990506 Centerline is valid? [True, True] Translation: X:298.80, Y:279.51, Z:2.21 [[-8.63895717e-01 -5.03454260e-01 1.47647958e-02 2.98803732e+02] [ 5.03361926e-01 -8.64021372e-01 -9.68711099e-03 2.79509765e+02] [ 1.76341164e-02 -9.36617645e-04 9.99844068e-01 2.21303127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1907140569999 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:298.80, Y:279.51, Z:2.21 [[-8.65026126e-01 -5.01509566e-01 1.47633753e-02 2.98803146e+02] [ 5.01416913e-01 -8.65151546e-01 -9.68927538e-03 2.79510605e+02] [ 1.76318212e-02 -9.78870278e-04 9.99844068e-01 2.21363809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2207140569999 meters Centerline goodness : 0.990006 Centerline is valid? [True, True] Translation: X:298.48, Y:279.73, Z:2.22 [[-8.64245265e-01 -5.02854060e-01 1.47619537e-02 2.98477551e+02] [ 5.02761566e-01 -8.64370802e-01 -9.69144078e-03 2.79727033e+02] [ 1.76331821e-02 -9.54038864e-04 9.99844068e-01 2.22096135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.250714057 meters Centerline goodness : 0.990657 Centerline is valid? [True, True] Translation: X:298.80, Y:279.51, Z:2.21 [[-8.67267678e-01 -4.97625113e-01 1.46976966e-02 2.98796911e+02] [ 4.97530208e-01 -8.67391412e-01 -9.78934419e-03 2.79514446e+02] [ 1.76200793e-02 -1.17743377e-03 9.99844061e-01 2.21384116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.280714057 meters Centerline goodness : 0.989519 Centerline is valid? [True, True] Translation: X:298.80, Y:279.52, Z:2.21 [[-8.68030524e-01 -4.96291380e-01 1.47605927e-02 2.98795364e+02] [ 4.96197901e-01 -8.68155330e-01 -9.69357131e-03 2.79515289e+02] [ 1.76253231e-02 -1.09014069e-03 9.99844068e-01 2.21375664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3107140569999 meters Centerline goodness : 0.989942 Centerline is valid? [True, True] Translation: X:298.79, Y:279.52, Z:2.21 [[-8.68508812e-01 -4.95453944e-01 1.47591661e-02 2.98792750e+02] [ 4.95360308e-01 -8.68633500e-01 -9.69574282e-03 2.79517027e+02] [ 1.76241002e-02 -1.10973300e-03 9.99844068e-01 2.21371051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3407140569999 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:298.79, Y:279.52, Z:2.21 [[-8.69527722e-01 -4.93663601e-01 1.47577393e-02 2.98790176e+02] [ 4.93569671e-01 -8.69652189e-01 -9.69791413e-03 2.79519189e+02] [ 1.76216075e-02 -1.14863266e-03 9.99844068e-01 2.21285449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.370714057 meters Centerline goodness : 0.990245 Centerline is valid? [True, True] Translation: X:298.79, Y:279.52, Z:2.21 [[-8.69956100e-01 -4.92908330e-01 1.47567920e-02 2.98787552e+02] [ 4.92814268e-01 -8.70080468e-01 -9.69935525e-03 2.79520846e+02] [ 1.76204895e-02 -1.16565560e-03 9.99844068e-01 2.21267784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.400714057 meters Centerline goodness : 0.989493 Centerline is valid? [True, True] Translation: X:298.45, Y:279.75, Z:2.22 [[-8.67242665e-01 -4.97666996e-01 1.47553620e-02 2.98453728e+02] [ 4.97573580e-01 -8.67367519e-01 -9.70153028e-03 2.79745359e+02] [ 1.76264531e-02 -1.07170269e-03 9.99844068e-01 2.21931663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4307140569999 meters Centerline goodness : 0.990310 Centerline is valid? [True, True] Translation: X:298.78, Y:279.52, Z:2.21 [[-8.70360436e-01 -4.92197734e-01 1.46322170e-02 2.98782803e+02] [ 4.92100395e-01 -8.70482287e-01 -9.88881155e-03 2.79523589e+02] [ 1.76043364e-02 -1.40631058e-03 9.99844043e-01 2.21241547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4607140569999 meters Centerline goodness : 0.990424 Centerline is valid? [True, True] Translation: X:298.78, Y:279.52, Z:2.21 [[-8.70149201e-01 -4.92567459e-01 1.47535202e-02 2.98780424e+02] [ 4.92473264e-01 -8.70273468e-01 -9.70439603e-03 2.79524580e+02] [ 1.76196669e-02 -1.17855822e-03 9.99844067e-01 2.21227412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4907140569999 meters Centerline goodness : 0.990244 Centerline is valid? [True, True] Translation: X:298.78, Y:279.52, Z:2.21 [[-8.69300301e-01 -4.94064129e-01 1.47520875e-02 2.98779882e+02] [ 4.93970110e-01 -8.69424702e-01 -9.70657342e-03 2.79523862e+02] [ 1.76214990e-02 -1.15083691e-03 9.99844067e-01 2.21147864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.520714057 meters Centerline goodness : 0.989872 Centerline is valid? [True, True] Translation: X:298.78, Y:279.52, Z:2.21 [[-8.68734728e-01 -4.95057967e-01 1.47506561e-02 2.98778411e+02] [ 4.94964055e-01 -8.68859209e-01 -9.70874811e-03 2.79524173e+02] [ 1.76226365e-02 -1.13328208e-03 9.99844067e-01 2.21191603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5507140569999 meters Centerline goodness : 0.989611 Centerline is valid? [True, True] Translation: X:298.78, Y:279.52, Z:2.21 [[-8.67458738e-01 -4.97290456e-01 1.47492263e-02 2.98776433e+02] [ 4.97196828e-01 -8.67583433e-01 -9.71091976e-03 2.79523579e+02] [ 1.76253321e-02 -1.09055367e-03 9.99844067e-01 2.21281997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5807140569999 meters Centerline goodness : 0.988959 Centerline is valid? [True, True] Translation: X:298.78, Y:279.52, Z:2.21 [[-8.66621545e-01 -4.98748033e-01 1.47477964e-02 2.98775323e+02] [ 4.98654578e-01 -8.66746369e-01 -9.71309084e-03 2.79523229e+02] [ 1.76269839e-02 -1.06351760e-03 9.99844067e-01 2.21301165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6107140569999 meters Centerline goodness : 0.990440 Centerline is valid? [True, True] Translation: X:298.77, Y:279.52, Z:2.21 [[-8.65118110e-01 -5.01351375e-01 1.47463686e-02 2.98773562e+02] [ 5.01258258e-01 -8.65243187e-01 -9.71525800e-03 2.79521237e+02] [ 1.76299529e-02 -1.01310659e-03 9.99844067e-01 2.21433555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.640714057 meters Centerline goodness : 0.989295 Centerline is valid? [True, True] Translation: X:298.77, Y:279.52, Z:2.21 [[-8.64341333e-01 -5.02689414e-01 1.47449424e-02 2.98769572e+02] [ 5.02596454e-01 -8.64466527e-01 -9.71742214e-03 2.79522340e+02] [ 1.76313544e-02 -9.88413845e-04 9.99844067e-01 2.21497507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6707140569999 meters Centerline goodness : 0.989526 Centerline is valid? [True, True] Translation: X:298.77, Y:279.52, Z:2.22 [[-8.63873793e-01 -5.03492501e-01 1.47435166e-02 2.98768411e+02] [ 5.03399621e-01 -8.63999046e-01 -9.71958484e-03 2.79521478e+02] [ 1.76321224e-02 -9.74613939e-04 9.99844067e-01 2.21582573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7007140569999 meters Centerline goodness : 0.989455 Centerline is valid? [True, True] Translation: X:298.77, Y:279.52, Z:2.22 [[-8.63501566e-01 -5.04130654e-01 1.47420914e-02 2.98766287e+02] [ 5.04037830e-01 -8.63626860e-01 -9.72174610e-03 2.79521490e+02] [ 1.76326963e-02 -9.64171239e-04 9.99844067e-01 2.21575818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7307140569999 meters Centerline goodness : 0.989730 Centerline is valid? [True, True] Translation: X:298.76, Y:279.52, Z:2.22 [[-8.63531100e-01 -5.04080105e-01 1.47406668e-02 2.98764344e+02] [ 5.03987236e-01 -8.63656362e-01 -9.72390558e-03 2.79520964e+02] [ 1.76324980e-02 -9.67786938e-04 9.99844067e-01 2.21527181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.760714057 meters Centerline goodness : 0.989775 Centerline is valid? [True, True] Translation: X:298.76, Y:279.52, Z:2.21 [[-8.64709248e-01 -5.02056443e-01 1.47392436e-02 2.98758232e+02] [ 5.01963245e-01 -8.64834264e-01 -9.72606240e-03 2.79523830e+02] [ 1.76300352e-02 -1.01165755e-03 9.99844067e-01 2.21387009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.790714057 meters Centerline goodness : 0.990546 Centerline is valid? [True, True] Translation: X:298.76, Y:279.52, Z:2.21 [[-8.65546165e-01 -5.00612244e-01 1.47382968e-02 2.98756199e+02] [ 5.00518813e-01 -8.65671008e-01 -9.72749697e-03 2.79524851e+02] [ 1.76282203e-02 -1.04280289e-03 9.99844067e-01 2.21302629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8207140569999 meters Centerline goodness : 0.990336 Centerline is valid? [True, True] Translation: X:298.75, Y:279.53, Z:2.21 [[-8.66335703e-01 -4.99244705e-01 1.47368671e-02 2.98754492e+02] [ 4.99151040e-01 -8.66460370e-01 -9.72966238e-03 2.79525963e+02] [ 1.76263938e-02 -1.07323134e-03 9.99844067e-01 2.21305295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8507140569999 meters Centerline goodness : 0.983468 Centerline is valid? [True, True] Translation: X:297.92, Y:280.07, Z:2.23 [[-8.71227832e-01 -4.90657652e-01 1.47354380e-02 2.97924305e+02] [ 4.90562723e-01 -8.71351540e-01 -9.73182635e-03 2.80069150e+02] [ 1.76147416e-02 -1.24998140e-03 9.99844067e-01 2.22974038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.880714057 meters Centerline goodness : 0.989971 Centerline is valid? [True, True] Translation: X:298.73, Y:279.54, Z:2.21 [[-8.66979729e-01 -4.98121055e-01 1.48850501e-02 2.98731780e+02] [ 4.98031048e-01 -8.67107104e-01 -9.50498818e-03 2.79537106e+02] [ 1.76415674e-02 -8.27414971e-04 9.99844033e-01 2.21456415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.910714057 meters Centerline goodness : 0.989834 Centerline is valid? [True, True] Translation: X:298.75, Y:279.54, Z:2.21 [[-8.56520292e-01 -5.15904061e-01 1.46965918e-02 2.98752454e+02] [ 5.15811827e-01 -8.56645992e-01 -9.78795964e-03 2.79536581e+02] [ 1.76394245e-02 -8.02910208e-04 9.99844091e-01 2.21088530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9407140569999 meters Centerline goodness : 0.989421 Centerline is valid? [True, True] Translation: X:298.73, Y:279.54, Z:2.21 [[-8.66809645e-01 -4.98431707e-01 1.43830703e-02 2.98729718e+02] [ 4.98329134e-01 -8.66927253e-01 -1.02573181e-02 2.79536208e+02] [ 1.75816482e-02 -1.72363933e-03 9.99843945e-01 2.21484658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9707140569999 meters Centerline goodness : 0.989227 Centerline is valid? [True, True] Translation: X:298.73, Y:279.54, Z:2.21 [[-8.66135104e-01 -4.99593879e-01 1.46948606e-02 2.98727145e+02] [ 4.99499259e-01 -8.66259003e-01 -9.78928971e-03 2.79536682e+02] [ 1.76202245e-02 -1.13877548e-03 9.99844103e-01 2.21474876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.000714057 meters Centerline goodness : 0.988992 Centerline is valid? [True, True] Translation: X:298.39, Y:279.77, Z:2.22 [[-8.62463929e-01 -5.05905203e-01 1.46934181e-02 2.98387984e+02] [ 5.05811454e-01 -8.62588489e-01 -9.79145438e-03 2.79766103e+02] [ 1.76279210e-02 -1.01267705e-03 9.99844103e-01 2.22053439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.030714057 meters Centerline goodness : 0.989365 Centerline is valid? [True, True] Translation: X:298.38, Y:279.77, Z:2.22 [[-8.61605271e-01 -5.07368463e-01 1.46150759e-02 2.98383235e+02] [ 5.07272925e-01 -8.61728483e-01 -9.90962470e-03 2.79766513e+02] [ 1.76220582e-02 -1.12435258e-03 9.99844087e-01 2.22082456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0607140569999 meters Centerline goodness : 0.990415 Centerline is valid? [True, True] Translation: X:298.72, Y:279.54, Z:2.22 [[-8.64062769e-01 -5.03172875e-01 1.45804166e-02 2.98720202e+02] [ 5.03075867e-01 -8.64184840e-01 -9.96163445e-03 2.79536184e+02] [ 1.76125992e-02 -1.27242175e-03 9.99844077e-01 2.21561959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0907140569999 meters Centerline goodness : 0.990415 Centerline is valid? [True, True] Translation: X:298.72, Y:279.54, Z:2.22 [[-8.63670725e-01 -5.03842331e-01 1.46896052e-02 2.98719107e+02] [ 5.03748175e-01 -8.63794986e-01 -9.79793336e-03 2.79535318e+02] [ 1.76254209e-02 -1.06232638e-03 9.99844096e-01 2.21603357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.120714057 meters Centerline goodness : 0.990226 Centerline is valid? [True, True] Translation: X:298.72, Y:279.54, Z:2.22 [[-8.63505774e-01 -5.04125020e-01 1.46881633e-02 2.98718483e+02] [ 5.04030868e-01 -8.63630038e-01 -9.80009442e-03 2.79535116e+02] [ 1.76256119e-02 -1.05915040e-03 9.99844096e-01 2.21578261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.150714057 meters Centerline goodness : 0.990699 Centerline is valid? [True, True] Translation: X:298.72, Y:279.54, Z:2.22 [[-8.63294325e-01 -5.04487074e-01 1.46867230e-02 2.98716927e+02] [ 5.04392938e-01 -8.63418601e-01 -9.80225247e-03 2.79536076e+02] [ 1.76258995e-02 -1.05434956e-03 9.99844096e-01 2.21613055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1807140569999 meters Centerline goodness : 0.990905 Centerline is valid? [True, True] Translation: X:298.71, Y:279.54, Z:2.22 [[-8.63098769e-01 -5.04821609e-01 1.46852848e-02 2.98709121e+02] [ 5.04727484e-01 -8.63223054e-01 -9.80440662e-03 2.79540348e+02] [ 1.76261527e-02 -1.05010443e-03 9.99844096e-01 2.21575722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2107140569999 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:298.71, Y:279.54, Z:2.22 [[-8.63107847e-01 -5.04806130e-01 1.46838428e-02 2.98709160e+02] [ 5.04711967e-01 -8.63232102e-01 -9.80656583e-03 2.79539829e+02] [ 1.76259790e-02 -1.05301274e-03 9.99844096e-01 2.21544329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2407140569999 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:298.71, Y:279.54, Z:2.21 [[-8.63151004e-01 -5.04732377e-01 1.46823994e-02 2.98709130e+02] [ 5.04638166e-01 -8.63275223e-01 -9.80872640e-03 2.79538807e+02] [ 1.76257334e-02 -1.05711293e-03 9.99844096e-01 2.21331331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.270714057 meters Centerline goodness : 0.989610 Centerline is valid? [True, True] Translation: X:298.71, Y:279.54, Z:2.21 [[-8.63197857e-01 -5.04652272e-01 1.46814431e-02 2.98707978e+02] [ 5.04558026e-01 -8.63322049e-01 -9.81015750e-03 2.79539264e+02] [ 1.76255318e-02 -1.06046696e-03 9.99844096e-01 2.21216587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3007140569999 meters Centerline goodness : 0.989628 Centerline is valid? [True, True] Translation: X:298.41, Y:279.75, Z:2.22 [[-8.60307645e-01 -5.09563788e-01 1.46800038e-02 2.98405367e+02] [ 5.09470214e-01 -8.60432345e-01 -9.81231088e-03 2.79745899e+02] [ 1.76311484e-02 -9.62581387e-04 9.99844096e-01 2.21789705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3307140569999 meters Centerline goodness : 0.989665 Centerline is valid? [True, True] Translation: X:298.70, Y:279.54, Z:2.21 [[-8.63506039e-01 -5.04128292e-01 1.45597441e-02 2.98703074e+02] [ 5.04030906e-01 -8.63627815e-01 -9.99217337e-03 2.79541668e+02] [ 1.76115373e-02 -1.28974104e-03 9.99844073e-01 2.21353856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3607140569999 meters Centerline goodness : 0.990554 Centerline is valid? [True, True] Translation: X:298.70, Y:279.54, Z:2.21 [[-8.63607710e-01 -5.03950675e-01 1.46778890e-02 2.98703976e+02] [ 5.03856237e-01 -8.63731757e-01 -9.81550281e-03 2.79540602e+02] [ 1.76242881e-02 -1.08119800e-03 9.99844096e-01 2.21483636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.390714057 meters Centerline goodness : 0.990655 Centerline is valid? [True, True] Translation: X:298.70, Y:279.54, Z:2.22 [[-8.63612764e-01 -5.03942057e-01 1.46764464e-02 2.98698811e+02] [ 5.03847581e-01 -8.63736782e-01 -9.81765934e-03 2.79543809e+02] [ 1.76241180e-02 -1.08396391e-03 9.99844096e-01 2.21540905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4207140569999 meters Centerline goodness : 0.989887 Centerline is valid? [True, True] Translation: X:298.70, Y:279.54, Z:2.22 [[-8.63407846e-01 -5.04293105e-01 1.46750043e-02 2.98697077e+02] [ 5.04198643e-01 -8.63531875e-01 -9.81981444e-03 2.79544294e+02] [ 1.76243987e-02 -1.07938758e-03 9.99844096e-01 2.21571008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4507140569999 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:298.70, Y:279.54, Z:2.21 [[-8.63420748e-01 -5.04271057e-01 1.46735608e-02 2.98695874e+02] [ 5.04176556e-01 -8.63544747e-01 -9.82197090e-03 2.79544287e+02] [ 1.76242120e-02 -1.08242809e-03 9.99844096e-01 2.21499443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4807140569999 meters Centerline goodness : 0.989861 Centerline is valid? [True, True] Translation: X:298.69, Y:279.55, Z:2.21 [[-8.63512574e-01 -5.04113840e-01 1.46721173e-02 2.98692016e+02] [ 5.04019280e-01 -8.63636528e-01 -9.82412680e-03 2.79546247e+02] [ 1.76238547e-02 -1.08822703e-03 9.99844096e-01 2.21463912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.510714057 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:298.69, Y:279.55, Z:2.21 [[-8.63929550e-01 -5.03398951e-01 1.46706734e-02 2.98690160e+02] [ 5.03304251e-01 -8.64053398e-01 -9.82628248e-03 2.79547018e+02] [ 1.76227855e-02 -1.10540350e-03 9.99844096e-01 2.21441008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.540714057 meters Centerline goodness : 0.989810 Centerline is valid? [True, True] Translation: X:298.69, Y:279.55, Z:2.21 [[-8.64307266e-01 -5.02750200e-01 1.46692298e-02 2.98685466e+02] [ 5.02655371e-01 -8.64431015e-01 -9.82843709e-03 2.79549949e+02] [ 1.76217860e-02 -1.12122242e-03 9.99844096e-01 2.21462456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5707140569999 meters Centerline goodness : 0.990398 Centerline is valid? [True, True] Translation: X:298.68, Y:279.55, Z:2.22 [[-8.65122018e-01 -5.01346937e-01 1.46677843e-02 2.98683642e+02] [ 5.01251871e-01 -8.65245584e-01 -9.83059393e-03 2.79551013e+02] [ 1.76197737e-02 -1.15240893e-03 9.99844096e-01 2.21548095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6007140569999 meters Centerline goodness : 0.990143 Centerline is valid? [True, True] Translation: X:298.68, Y:279.55, Z:2.22 [[-8.65491477e-01 -5.00708899e-01 1.46663374e-02 2.98679593e+02] [ 5.00613706e-01 -8.65614946e-01 -9.83275214e-03 2.79553730e+02] [ 1.76187473e-02 -1.16799367e-03 9.99844096e-01 2.21625447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.630714057 meters Centerline goodness : 0.988763 Centerline is valid? [True, True] Translation: X:298.68, Y:279.55, Z:2.22 [[-8.65965603e-01 -4.99888503e-01 1.46648885e-02 2.98678806e+02] [ 4.99793157e-01 -8.66088953e-01 -9.83491260e-03 2.79554500e+02] [ 1.76174576e-02 -1.18728511e-03 9.99844096e-01 2.21697691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.660714057 meters Centerline goodness : 0.989176 Centerline is valid? [True, True] Translation: X:298.70, Y:279.55, Z:2.21 [[-8.56114192e-01 -5.16578622e-01 1.46634384e-02 2.98699336e+02] [ 5.16485648e-01 -8.56239340e-01 -9.83707408e-03 2.79552566e+02] [ 1.76370350e-02 -8.48203237e-04 9.99844096e-01 2.21452434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6907140569999 meters Centerline goodness : 0.989304 Centerline is valid? [True, True] Translation: X:298.68, Y:279.56, Z:2.22 [[-8.65667128e-01 -5.00414777e-01 1.43343816e-02 2.98676893e+02] [ 5.00311349e-01 -8.65783996e-01 -1.03260096e-02 2.79556115e+02] [ 1.75777659e-02 -1.76723330e-03 9.99843937e-01 2.21604827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7207140569999 meters Centerline goodness : 0.989672 Centerline is valid? [True, True] Translation: X:298.68, Y:279.56, Z:2.22 [[-8.64664582e-01 -5.02135617e-01 1.46622745e-02 2.98678260e+02] [ 5.02040552e-01 -8.64788131e-01 -9.83729797e-03 2.79555250e+02] [ 1.76194186e-02 -1.14490677e-03 9.99844111e-01 2.21527481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.750714057 meters Centerline goodness : 0.990078 Centerline is valid? [True, True] Translation: X:298.68, Y:279.56, Z:2.21 [[-8.64181250e-01 -5.02967023e-01 1.46608265e-02 2.98675267e+02] [ 5.02872041e-01 -8.64304863e-01 -9.83945537e-03 2.79557263e+02] [ 1.76203453e-02 -1.13055307e-03 9.99844111e-01 2.21483452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.780714057 meters Centerline goodness : 0.982620 Centerline is valid? [True, True] Translation: X:297.93, Y:280.06, Z:2.23 [[-8.65548817e-01 -5.00609977e-01 1.46593794e-02 2.97928237e+02] [ 5.00514622e-01 -8.65672141e-01 -9.84161098e-03 2.80056036e+02] [ 1.76170250e-02 -1.18116101e-03 9.99844111e-01 2.22824784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8107140569999 meters Centerline goodness : 0.989947 Centerline is valid? [True, True] Translation: X:298.66, Y:279.57, Z:2.21 [[-8.60928967e-01 -5.08511731e-01 1.47354508e-02 2.98659800e+02] [ 5.08419437e-01 -8.61054609e-01 -9.72814058e-03 2.79565930e+02] [ 1.76349014e-02 -8.83448413e-04 9.99844103e-01 2.21422846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8407140569999 meters Centerline goodness : 0.983689 Centerline is valid? [True, True] Translation: X:297.91, Y:280.07, Z:2.23 [[-8.62663160e-01 -5.05567254e-01 1.46295526e-02 2.97911137e+02] [ 5.05471879e-01 -8.62786456e-01 -9.88486987e-03 2.80068592e+02] [ 1.76196464e-02 -1.13248563e-03 9.99844121e-01 2.22877265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.870714057 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:298.65, Y:279.57, Z:2.21 [[-8.57510670e-01 -5.14256425e-01 1.46894721e-02 2.98645007e+02] [ 5.14163811e-01 -8.57636060e-01 -9.79611040e-03 2.79572735e+02] [ 1.76359337e-02 -8.47474232e-04 9.99844116e-01 2.21480833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.900714057 meters Centerline goodness : 0.983339 Centerline is valid? [True, True] Translation: X:297.87, Y:280.10, Z:2.23 [[-8.59792542e-01 -5.10434830e-01 1.45969289e-02 2.97871255e+02] [ 5.10339355e-01 -8.59915750e-01 -9.93211866e-03 2.80095517e+02] [ 1.76218284e-02 -1.09017425e-03 9.99844129e-01 2.23001525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9307140569999 meters Centerline goodness : 0.990812 Centerline is valid? [True, True] Translation: X:298.63, Y:279.58, Z:2.21 [[-8.55260682e-01 -5.17990407e-01 1.46664529e-02 2.98630008e+02] [ 5.17897765e-01 -8.55386042e-01 -9.82979847e-03 2.79580874e+02] [ 1.76372204e-02 -8.11316990e-04 9.99844123e-01 2.21347475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9607140569999 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:298.63, Y:279.58, Z:2.21 [[-8.55390559e-01 -5.17778756e-01 1.45654451e-02 2.98629014e+02] [ 5.17683574e-01 -8.55513981e-01 -9.97725667e-03 2.79582087e+02] [ 1.76269535e-02 -9.94159485e-04 9.99844139e-01 2.21295801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9907140569999 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:298.63, Y:279.58, Z:2.21 [[-8.55314753e-01 -5.17904010e-01 1.45639831e-02 2.98626926e+02] [ 5.17808810e-01 -8.55438161e-01 -9.97939026e-03 2.79583561e+02] [ 1.76269532e-02 -9.94160937e-04 9.99844139e-01 2.21300227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.020714057 meters Centerline goodness : 0.991151 Centerline is valid? [True, True] Translation: X:298.62, Y:279.58, Z:2.21 [[-8.55573178e-01 -5.17477025e-01 1.45625217e-02 2.98624952e+02] [ 5.17381727e-01 -8.55696510e-01 -9.98152243e-03 2.79584590e+02] [ 1.76263075e-02 -1.00554024e-03 9.99844139e-01 2.21278444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0507140569999 meters Centerline goodness : 0.984914 Centerline is valid? [True, True] Translation: X:297.85, Y:280.11, Z:2.23 [[-8.58867082e-01 -5.11991515e-01 1.45610599e-02 2.97852367e+02] [ 5.11895394e-01 -8.58989774e-01 -9.98365438e-03 2.80111046e+02] [ 1.76193479e-02 -1.12089259e-03 9.99844139e-01 2.22900723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0807140569999 meters Centerline goodness : 0.983055 Centerline is valid? [True, True] Translation: X:297.78, Y:280.16, Z:2.23 [[-8.59971092e-01 -5.10135055e-01 1.45583909e-02 2.97779347e+02] [ 5.10038604e-01 -8.60093525e-01 -9.98753096e-03 2.80160596e+02] [ 1.76165674e-02 -1.16364655e-03 9.99844139e-01 2.23247640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1107140569999 meters Centerline goodness : 0.990008 Centerline is valid? [True, True] Translation: X:298.62, Y:279.59, Z:2.22 [[-8.40307604e-01 -5.41912748e-01 1.46186051e-02 2.98617424e+02] [ 5.41822467e-01 -8.40434659e-01 -9.89942441e-03 2.79592384e+02] [ 1.76506067e-02 -3.97872924e-04 9.99844137e-01 2.21610563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.140714057 meters Centerline goodness : 0.990146 Centerline is valid? [True, True] Translation: X:298.32, Y:279.80, Z:2.22 [[-8.49089701e-01 -5.28058456e-01 1.41755725e-02 2.98317614e+02] [ 5.27955464e-01 -8.49206773e-01 -1.05301306e-02 2.79798078e+02] [ 1.75985168e-02 -1.45695449e-03 9.99844073e-01 2.22390730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1707140569999 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:298.61, Y:279.59, Z:2.22 [[-8.51833462e-01 -5.23616515e-01 1.43352003e-02 2.98606617e+02] [ 5.23516696e-01 -8.51953127e-01 -1.03023663e-02 2.79592068e+02] [ 1.76074079e-02 -1.27118368e-03 9.99844170e-01 2.21616581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2007140569999 meters Centerline goodness : 0.991080 Centerline is valid? [True, True] Translation: X:298.60, Y:279.60, Z:2.22 [[-8.51744543e-01 -5.23757866e-01 1.44544894e-02 2.98600933e+02] [ 5.23660927e-01 -8.51866523e-01 -1.01321903e-02 2.79596225e+02] [ 1.76201100e-02 -1.06078643e-03 9.99844191e-01 2.21578935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2307140569999 meters Centerline goodness : 0.990202 Centerline is valid? [True, True] Translation: X:298.60, Y:279.60, Z:2.22 [[-8.51370215e-01 -5.24366158e-01 1.44530012e-02 2.98600754e+02] [ 5.24269270e-01 -8.51492236e-01 -1.01343128e-02 2.79597076e+02] [ 1.76207089e-02 -1.05078767e-03 9.99844191e-01 2.21542801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.260714057 meters Centerline goodness : 0.989890 Centerline is valid? [True, True] Translation: X:298.30, Y:279.81, Z:2.22 [[-8.47931797e-01 -5.29908314e-01 1.44515115e-02 2.98300245e+02] [ 5.29812187e-01 -8.48054420e-01 -1.01364366e-02 2.79812112e+02] [ 1.76270502e-02 -9.38419991e-04 9.99844191e-01 2.22150731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.290714057 meters Centerline goodness : 0.989694 Centerline is valid? [True, True] Translation: X:298.60, Y:279.60, Z:2.22 [[-8.49801332e-01 -5.26908042e-01 1.43391690e-02 2.98600717e+02] [ 5.26808785e-01 -8.49921458e-01 -1.02965442e-02 2.79597380e+02] [ 1.76124994e-02 -1.19601682e-03 9.99844173e-01 2.21555203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3207140569999 meters Centerline goodness : 0.988944 Centerline is valid? [True, True] Translation: X:298.61, Y:279.60, Z:2.22 [[-8.41216082e-01 -5.40506056e-01 1.44467188e-02 2.98609730e+02] [ 5.40411357e-01 -8.41339811e-01 -1.01433667e-02 2.79600934e+02] [ 1.76371508e-02 -7.25592276e-04 9.99844190e-01 2.21628342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3507140569999 meters Centerline goodness : 0.989509 Centerline is valid? [True, True] Translation: X:298.60, Y:279.60, Z:2.22 [[-8.46924567e-01 -5.31523571e-01 1.41940745e-02 2.98601323e+02] [ 5.31421522e-01 -8.47042423e-01 -1.05023723e-02 2.79597057e+02] [ 1.76052417e-02 -1.35168040e-03 9.99844102e-01 2.21679886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.380714057 meters Centerline goodness : 0.989725 Centerline is valid? [True, True] Translation: X:298.60, Y:279.60, Z:2.22 [[-8.45995247e-01 -5.32994825e-01 1.44415457e-02 2.98599291e+02] [ 5.32898912e-01 -8.46118031e-01 -1.01502797e-02 2.79598690e+02] [ 1.76292988e-02 -8.91204422e-04 9.99844195e-01 2.21706637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.410714057 meters Centerline goodness : 0.990610 Centerline is valid? [True, True] Translation: X:298.60, Y:279.60, Z:2.22 [[-8.44906718e-01 -5.34718732e-01 1.44400622e-02 2.98595651e+02] [ 5.34623033e-01 -8.45029669e-01 -1.01523897e-02 2.79602188e+02] [ 1.76309540e-02 -8.57832370e-04 9.99844195e-01 2.21634740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4407140569999 meters Centerline goodness : 0.989928 Centerline is valid? [True, True] Translation: X:298.60, Y:279.60, Z:2.22 [[-8.44829230e-01 -5.34841191e-01 1.44385782e-02 2.98597610e+02] [ 5.34745473e-01 -8.44952167e-01 -1.01544998e-02 2.79601254e+02] [ 1.76309527e-02 -8.57853870e-04 9.99844195e-01 2.21584807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4707140569999 meters Centerline goodness : 0.989622 Centerline is valid? [True, True] Translation: X:298.59, Y:279.60, Z:2.22 [[-8.45393065e-01 -5.33949629e-01 1.44346465e-02 2.98594608e+02] [ 5.33853687e-01 -8.45515827e-01 -1.01600856e-02 2.79604143e+02] [ 1.76296960e-02 -8.83276631e-04 9.99844195e-01 2.21508474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.500714057 meters Centerline goodness : 0.989826 Centerline is valid? [True, True] Translation: X:298.59, Y:279.61, Z:2.21 [[-8.47160603e-01 -5.31140844e-01 1.44331642e-02 2.98591376e+02] [ 5.31044459e-01 -8.47283018e-01 -1.01621910e-02 2.79608589e+02] [ 1.76265296e-02 -9.44355981e-04 9.99844195e-01 2.21418739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.530714057 meters Centerline goodness : 0.990569 Centerline is valid? [True, True] Translation: X:298.59, Y:279.61, Z:2.21 [[-8.48165511e-01 -5.29534681e-01 1.44321784e-02 2.98585528e+02] [ 5.29438041e-01 -8.48287724e-01 -1.01635908e-02 2.79614107e+02] [ 1.76246136e-02 -9.79462885e-04 9.99844195e-01 2.21433004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5607140569999 meters Centerline goodness : 0.990545 Centerline is valid? [True, True] Translation: X:298.58, Y:279.62, Z:2.22 [[-8.50030965e-01 -5.26535008e-01 1.44306881e-02 2.98581155e+02] [ 5.26437901e-01 -8.50152807e-01 -1.01657064e-02 2.79619606e+02] [ 1.76208902e-02 -1.04430407e-03 9.99844195e-01 2.21548051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5907140569999 meters Centerline goodness : 0.989576 Centerline is valid? [True, True] Translation: X:298.24, Y:279.86, Z:2.22 [[-8.49489090e-01 -5.27408839e-01 1.44291912e-02 2.98244660e+02] [ 5.27311822e-01 -8.49611004e-01 -1.01678305e-02 2.79859898e+02] [ 1.76218033e-02 -1.02877802e-03 9.99844195e-01 2.22306763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.620714057 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:298.58, Y:279.62, Z:2.22 [[-8.51375923e-01 -5.24359951e-01 1.43415412e-02 2.98581265e+02] [ 5.24260409e-01 -8.51495798e-01 -1.02921923e-02 2.79621384e+02] [ 1.76085755e-02 -1.24382243e-03 9.99844183e-01 2.21634120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.650714057 meters Centerline goodness : 0.990313 Centerline is valid? [True, True] Translation: X:298.58, Y:279.63, Z:2.22 [[-8.52425947e-01 -5.22649001e-01 1.44231124e-02 2.98577301e+02] [ 5.22551156e-01 -8.52547199e-01 -1.01765830e-02 2.79626299e+02] [ 1.76151650e-02 -1.13796934e-03 9.99844193e-01 2.21656302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6807140569999 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:298.58, Y:279.63, Z:2.22 [[-8.52945721e-01 -5.21800359e-01 1.44216146e-02 2.98577434e+02] [ 5.21702357e-01 -8.53066846e-01 -1.01787052e-02 2.79626880e+02] [ 1.76138533e-02 -1.15809273e-03 9.99844193e-01 2.21640047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7107140569999 meters Centerline goodness : 0.990491 Centerline is valid? [True, True] Translation: X:298.57, Y:279.63, Z:2.22 [[-8.53786450e-01 -5.20423634e-01 1.44201147e-02 2.98570554e+02] [ 5.20325401e-01 -8.53907388e-01 -1.01808296e-02 2.79633315e+02] [ 1.76117868e-02 -1.18910239e-03 9.99844193e-01 2.21591761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7407140569999 meters Centerline goodness : 0.989724 Centerline is valid? [True, True] Translation: X:298.57, Y:279.63, Z:2.22 [[-8.54237595e-01 -5.19682822e-01 1.44186126e-02 2.98572810e+02] [ 5.19584449e-01 -8.54358419e-01 -1.01829565e-02 2.79631862e+02] [ 1.76105706e-02 -1.20697744e-03 9.99844193e-01 2.21608646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.770714057 meters Centerline goodness : 0.989835 Centerline is valid? [True, True] Translation: X:298.57, Y:279.64, Z:2.22 [[-8.54604475e-01 -5.19079318e-01 1.44171084e-02 2.98567321e+02] [ 5.18980824e-01 -8.54725201e-01 -1.01850857e-02 2.79636085e+02] [ 1.76095332e-02 -1.22201703e-03 9.99844193e-01 2.21585597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8007140569999 meters Centerline goodness : 0.989413 Centerline is valid? [True, True] Translation: X:298.57, Y:279.64, Z:2.22 [[-8.55352380e-01 -5.17846016e-01 1.44156048e-02 2.98567854e+02] [ 5.17747313e-01 -8.55472934e-01 -1.01872134e-02 2.79636485e+02] [ 1.76075676e-02 -1.25001662e-03 9.99844193e-01 2.21559679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8307140569999 meters Centerline goodness : 0.990740 Centerline is valid? [True, True] Translation: X:298.56, Y:279.64, Z:2.22 [[-8.55485614e-01 -5.17625925e-01 1.44141000e-02 2.98561072e+02] [ 5.17527155e-01 -8.55606114e-01 -1.01893422e-02 2.79641814e+02] [ 1.76070597e-02 -1.25714748e-03 9.99844193e-01 2.21528717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8607140569999 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:298.22, Y:279.89, Z:2.22 [[-8.54395496e-01 -5.19423347e-01 1.44125929e-02 2.98217595e+02] [ 5.19324795e-01 -8.54516174e-01 -1.01914734e-02 2.79887418e+02] [ 1.76094830e-02 -1.22273215e-03 9.99844193e-01 2.22005955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.890714057 meters Centerline goodness : 0.989488 Centerline is valid? [True, True] Translation: X:298.56, Y:279.64, Z:2.21 [[-8.56242459e-01 -5.16375894e-01 1.43104172e-02 2.98561864e+02] [ 5.16274509e-01 -8.56360788e-01 -1.03359775e-02 2.79640187e+02] [ 1.75921298e-02 -1.46199921e-03 9.99844178e-01 2.21399768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9207140569999 meters Centerline goodness : 0.989094 Centerline is valid? [True, True] Translation: X:298.58, Y:279.64, Z:2.21 [[-8.48260044e-01 -5.29383930e-01 1.44066516e-02 2.98579030e+02] [ 5.29286651e-01 -8.48381753e-01 -1.02000557e-02 2.79638122e+02] [ 1.76220859e-02 -1.02705134e-03 9.99844192e-01 2.21346463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9507140569999 meters Centerline goodness : 0.989447 Centerline is valid? [True, True] Translation: X:298.56, Y:279.64, Z:2.21 [[-8.57472566e-01 -5.14335621e-01 1.41303743e-02 2.98559083e+02] [ 5.14229801e-01 -8.57587068e-01 -1.05892805e-02 2.79640707e+02] [ 1.75644705e-02 -1.81375795e-03 9.99844088e-01 2.21386125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9807140569999 meters Centerline goodness : 0.989230 Centerline is valid? [True, True] Translation: X:298.57, Y:279.64, Z:2.21 [[-8.50577608e-01 -5.25652180e-01 1.44054794e-02 2.98572343e+02] [ 5.25554356e-01 -8.50698867e-01 -1.02007824e-02 2.79640141e+02] [ 1.76167885e-02 -1.10569465e-03 9.99844201e-01 2.21274886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.010714057 meters Centerline goodness : 0.989437 Centerline is valid? [True, True] Translation: X:298.56, Y:279.64, Z:2.21 [[-8.51303761e-01 -5.24482205e-01 1.41536023e-02 2.98564718e+02] [ 5.24378308e-01 -8.51419973e-01 -1.05555130e-02 2.79643286e+02] [ 1.75868384e-02 -1.56410583e-03 9.99844116e-01 2.21292737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.040714057 meters Centerline goodness : 0.990191 Centerline is valid? [True, True] Translation: X:298.55, Y:279.64, Z:2.21 [[-8.59003246e-01 -5.11774303e-01 1.41593290e-02 2.98549409e+02] [ 5.11668823e-01 -8.59118017e-01 -1.05474443e-02 2.79643013e+02] [ 1.75624456e-02 -1.81540164e-03 9.99844120e-01 2.21376532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0707140569999 meters Centerline goodness : 0.990230 Centerline is valid? [True, True] Translation: X:298.55, Y:279.64, Z:2.21 [[-8.59168375e-01 -5.11490216e-01 1.44035552e-02 2.98548962e+02] [ 5.11390366e-01 -8.59287961e-01 -1.02026620e-02 2.79641679e+02] [ 1.75953633e-02 -1.39996519e-03 9.99844210e-01 2.21442383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1007140569999 meters Centerline goodness : 0.989319 Centerline is valid? [True, True] Translation: X:298.55, Y:279.65, Z:2.21 [[-8.53460550e-01 -5.20958415e-01 1.44020444e-02 2.98545956e+02] [ 5.20859858e-01 -8.53581203e-01 -1.02047942e-02 2.79648649e+02] [ 1.76095878e-02 -1.20794245e-03 9.99844210e-01 2.21487767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.130714057 meters Centerline goodness : 0.989065 Centerline is valid? [True, True] Translation: X:298.56, Y:279.64, Z:2.21 [[-8.52029035e-01 -5.23302154e-01 1.41907996e-02 2.98557755e+02] [ 5.23198977e-01 -8.52145841e-01 -1.05022158e-02 2.79640195e+02] [ 1.75884630e-02 -1.52358100e-03 9.99844150e-01 2.21422314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.160714057 meters Centerline goodness : 0.989712 Centerline is valid? [True, True] Translation: X:298.55, Y:279.64, Z:2.21 [[-8.52318738e-01 -5.22830510e-01 1.41783700e-02 2.98551812e+02] [ 5.22726980e-01 -8.52435241e-01 -1.05197015e-02 2.79640562e+02] [ 1.75861631e-02 -1.55472215e-03 9.99844143e-01 2.21389683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1907140569999 meters Centerline goodness : 0.990291 Centerline is valid? [True, True] Translation: X:298.55, Y:279.64, Z:2.21 [[-8.51763689e-01 -5.23734650e-01 1.41645530e-02 2.98551455e+02] [ 5.23630923e-01 -8.51880029e-01 -1.05391285e-02 2.79639707e+02] [ 1.75862066e-02 -1.55984898e-03 9.99844134e-01 2.21395234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2207140569999 meters Centerline goodness : 0.989766 Centerline is valid? [True, True] Translation: X:298.55, Y:279.64, Z:2.21 [[-8.51985646e-01 -5.23373335e-01 1.41707908e-02 2.98545179e+02] [ 5.23269703e-01 -8.52102065e-01 -1.05303599e-02 2.79642084e+02] [ 1.75862697e-02 -1.55656994e-03 9.99844138e-01 2.21411487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.250714057 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:298.55, Y:279.64, Z:2.21 [[-8.51284217e-01 -5.24513483e-01 1.41699970e-02 2.98548608e+02] [ 5.24409988e-01 -8.51400759e-01 -1.05314755e-02 2.79635691e+02] [ 1.75882471e-02 -1.53439093e-03 9.99844137e-01 2.21422282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.280714057 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:298.54, Y:279.64, Z:2.21 [[-8.51618005e-01 -5.23971514e-01 1.41642587e-02 2.98543172e+02] [ 5.23867813e-01 -8.51734368e-01 -1.05395335e-02 2.79636507e+02] [ 1.75866013e-02 -1.55545725e-03 9.99844134e-01 2.21454937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3107140569999 meters Centerline goodness : 0.991158 Centerline is valid? [True, True] Translation: X:298.54, Y:279.63, Z:2.21 [[-8.49966102e-01 -5.26645968e-01 1.42003520e-02 2.98543165e+02] [ 5.26543472e-01 -8.50083500e-01 -1.04888604e-02 2.79631596e+02] [ 1.75954010e-02 -1.43807316e-03 9.99844155e-01 2.21465908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3407140569999 meters Centerline goodness : 0.991237 Centerline is valid? [True, True] Translation: X:298.54, Y:279.63, Z:2.21 [[-8.49676741e-01 -5.27113474e-01 1.41711904e-02 2.98537685e+02] [ 5.27010364e-01 -8.49793622e-01 -1.05297679e-02 2.79632504e+02] [ 1.75929698e-02 -1.47853466e-03 9.99844139e-01 2.21437658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.370714057 meters Centerline goodness : 0.990548 Centerline is valid? [True, True] Translation: X:298.54, Y:279.63, Z:2.21 [[-8.46245539e-01 -5.32603313e-01 1.42196674e-02 2.98539786e+02] [ 5.32502095e-01 -8.46364029e-01 -1.04617574e-02 2.79625866e+02] [ 1.76069816e-02 -1.28121290e-03 9.99844164e-01 2.21317684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.400714057 meters Centerline goodness : 0.990481 Centerline is valid? [True, True] Translation: X:298.53, Y:279.63, Z:2.21 [[-8.44633744e-01 -5.35154420e-01 1.42682947e-02 2.98531904e+02] [ 5.35054705e-01 -8.44753477e-01 -1.03935354e-02 2.79627428e+02] [ 1.76153380e-02 -1.14441254e-03 9.99844183e-01 2.21350344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4307140569999 meters Centerline goodness : 0.990138 Centerline is valid? [True, True] Translation: X:298.53, Y:279.62, Z:2.21 [[-8.42548441e-01 -5.38433985e-01 1.41763194e-02 2.98534046e+02] [ 5.38332572e-01 -8.42666791e-01 -1.05224354e-02 2.79622914e+02] [ 1.76115504e-02 -1.23408705e-03 9.99844143e-01 2.21353422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4607140569999 meters Centerline goodness : 0.989101 Centerline is valid? [True, True] Translation: X:298.53, Y:279.62, Z:2.22 [[-8.39776285e-01 -5.42747787e-01 1.41643990e-02 2.98526955e+02] [ 5.42646702e-01 -8.39894924e-01 -1.05391330e-02 2.79624266e+02] [ 1.76166979e-02 -1.16424956e-03 9.99844136e-01 2.21733453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4907140569999 meters Centerline goodness : 0.990681 Centerline is valid? [True, True] Translation: X:298.53, Y:279.62, Z:2.21 [[-8.36416876e-01 -5.47908482e-01 1.42514502e-02 2.98526368e+02] [ 5.47810193e-01 -8.36537790e-01 -1.04172012e-02 2.79623468e+02] [ 1.76295496e-02 -9.06033177e-04 9.99844177e-01 2.21253093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.520714057 meters Centerline goodness : 0.990123 Centerline is valid? [True, True] Translation: X:298.52, Y:279.62, Z:2.21 [[-8.42138565e-01 -5.39076780e-01 1.41018559e-02 2.98516766e+02] [ 5.38973721e-01 -8.42255547e-01 -1.06264410e-02 2.79617456e+02] [ 1.76058339e-02 -1.34840600e-03 9.99844096e-01 2.21361167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5507140569999 meters Centerline goodness : 0.989228 Centerline is valid? [True, True] Translation: X:298.53, Y:279.62, Z:2.21 [[-8.33537469e-01 -5.52276094e-01 1.43667222e-02 2.98527451e+02] [ 5.52181211e-01 -8.33661045e-01 -1.02553944e-02 2.79617846e+02] [ 1.76407858e-02 -6.15221442e-04 9.99844200e-01 2.21277193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5807140569999 meters Centerline goodness : 0.989793 Centerline is valid? [True, True] Translation: X:298.51, Y:279.62, Z:2.21 [[-8.40809235e-01 -5.41147265e-01 1.41232901e-02 2.98509901e+02] [ 5.41045009e-01 -8.40926888e-01 -1.05956449e-02 2.79619777e+02] [ 1.76104587e-02 -1.26758047e-03 9.99844120e-01 2.21419049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6107140569999 meters Centerline goodness : 0.989903 Centerline is valid? [True, True] Translation: X:298.52, Y:279.62, Z:2.21 [[-8.34023737e-01 -5.51541592e-01 1.43623845e-02 2.98522430e+02] [ 5.51446504e-01 -8.34147149e-01 -1.02609851e-02 2.79617979e+02] [ 1.76397022e-02 -6.37818366e-04 9.99844205e-01 2.21460455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.640714057 meters Centerline goodness : 0.989388 Centerline is valid? [True, True] Translation: X:298.53, Y:279.62, Z:2.21 [[-8.32578934e-01 -5.53726158e-01 1.41301291e-02 2.98529290e+02] [ 5.53625859e-01 -8.32698241e-01 -1.05852082e-02 2.79615033e+02] [ 1.76274403e-02 -9.90216478e-04 9.99844134e-01 2.21358643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6707140569999 meters Centerline goodness : 0.989040 Centerline is valid? [True, True] Translation: X:298.53, Y:279.62, Z:2.21 [[-8.34311438e-01 -5.51112679e-01 1.41151927e-02 2.98525345e+02] [ 5.51011655e-01 -8.34430146e-01 -1.06060462e-02 2.79619120e+02] [ 1.76232688e-02 -1.07110993e-03 9.99844124e-01 2.21248586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7007140569999 meters Centerline goodness : 0.989999 Centerline is valid? [True, True] Translation: X:298.52, Y:279.62, Z:2.21 [[-8.34816134e-01 -5.50348541e-01 1.40891966e-02 2.98520008e+02] [ 5.50246799e-01 -8.34934250e-01 -1.06422890e-02 2.79624189e+02] [ 1.76205210e-02 -1.13181923e-03 9.99844106e-01 2.21242339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7307140569999 meters Centerline goodness : 0.989518 Centerline is valid? [True, True] Translation: X:298.52, Y:279.63, Z:2.21 [[-8.38541624e-01 -5.44655797e-01 1.40715301e-02 2.98516644e+02] [ 5.44552842e-01 -8.38658703e-01 -1.06669146e-02 2.79625750e+02] [ 1.76110080e-02 -1.28196018e-03 9.99844092e-01 2.21331270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.760714057 meters Centerline goodness : 0.989632 Centerline is valid? [True, True] Translation: X:298.18, Y:279.86, Z:2.22 [[-8.47453294e-01 -5.30679778e-01 1.42086859e-02 2.98180806e+02] [ 5.30578085e-01 -8.47571344e-01 -1.04743346e-02 2.79862413e+02] [ 1.76013926e-02 -1.33769205e-03 9.99844189e-01 2.22004399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.790714057 meters Centerline goodness : 0.990200 Centerline is valid? [True, True] Translation: X:298.51, Y:279.63, Z:2.21 [[-8.42482296e-01 -5.38534274e-01 1.42974188e-02 2.98508336e+02] [ 5.38435784e-01 -8.42602987e-01 -1.03495568e-02 2.79634377e+02] [ 1.76206389e-02 -1.02107651e-03 9.99844223e-01 2.21300113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8207140569999 meters Centerline goodness : 0.989864 Centerline is valid? [True, True] Translation: X:298.50, Y:279.64, Z:2.21 [[-8.49101973e-01 -5.28039002e-01 1.41651602e-02 2.98495696e+02] [ 5.27935953e-01 -8.49218854e-01 -1.05340886e-02 2.79639255e+02] [ 1.75917307e-02 -1.46621806e-03 9.99844178e-01 2.21150514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8507140569999 meters Centerline goodness : 0.990810 Centerline is valid? [True, True] Translation: X:298.49, Y:279.64, Z:2.21 [[-8.49462458e-01 -5.27453864e-01 1.43510907e-02 2.98493370e+02] [ 5.27355060e-01 -8.49582884e-01 -1.02743854e-02 2.79641886e+02] [ 1.76117053e-02 -1.15958435e-03 9.99844229e-01 2.21171579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.880714057 meters Centerline goodness : 0.989354 Centerline is valid? [True, True] Translation: X:298.49, Y:279.64, Z:2.21 [[-8.49514661e-01 -5.27369823e-01 1.43495805e-02 2.98492879e+02] [ 5.27270972e-01 -8.49635048e-01 -1.02764942e-02 2.79643077e+02] [ 1.76114194e-02 -1.16391528e-03 9.99844229e-01 2.21139646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.910714057 meters Centerline goodness : 0.989354 Centerline is valid? [True, True] Translation: X:298.49, Y:279.64, Z:2.21 [[-8.49437176e-01 -5.27494661e-01 1.43480708e-02 2.98490819e+02] [ 5.27395793e-01 -8.49557548e-01 -1.02786017e-02 2.79644595e+02] [ 1.76114193e-02 -1.16391422e-03 9.99844229e-01 2.21144070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9407140569999 meters Centerline goodness : 0.990678 Centerline is valid? [True, True] Translation: X:298.49, Y:279.65, Z:2.21 [[-8.48848187e-01 -5.28441985e-01 1.43465601e-02 2.98489251e+02] [ 5.28343216e-01 -8.48968641e-01 -1.02807097e-02 2.79647183e+02] [ 1.76125383e-02 -1.14685410e-03 9.99844229e-01 2.21121113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9707140569999 meters Centerline goodness : 0.990121 Centerline is valid? [True, True] Translation: X:298.49, Y:279.65, Z:2.21 [[-8.47583590e-01 -5.30467979e-01 1.43450492e-02 2.98488940e+02] [ 5.30369463e-01 -8.47704251e-01 -1.02828176e-02 2.79648585e+02] [ 1.76150646e-02 -1.10737140e-03 9.99844229e-01 2.21025935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.000714057 meters Centerline goodness : 0.991000 Centerline is valid? [True, True] Translation: X:298.52, Y:279.64, Z:2.21 [[-8.35904862e-01 -5.48686910e-01 1.43435396e-02 2.98521160e+02] [ 5.48590992e-01 -8.36027598e-01 -1.02849228e-02 2.79637328e+02] [ 1.76347975e-02 -7.28480317e-04 9.99844229e-01 2.20762726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.030714057 meters Centerline goodness : 0.991353 Centerline is valid? [True, True] Translation: X:298.49, Y:279.65, Z:2.21 [[-8.45549862e-01 -5.33713626e-01 1.39712565e-02 2.98488356e+02] [ 5.33606934e-01 -8.45663613e-01 -1.08024776e-02 2.79650535e+02] [ 1.75804128e-02 -1.67887414e-03 9.99844043e-01 2.21036080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0607140569999 meters Centerline goodness : 0.990521 Centerline is valid? [True, True] Translation: X:298.52, Y:279.64, Z:2.21 [[-8.33213433e-01 -5.52765475e-01 1.43424201e-02 2.98524036e+02] [ 5.52670159e-01 -8.33336617e-01 -1.02848911e-02 2.79636417e+02] [ 1.76371966e-02 -6.42881781e-04 9.99844246e-01 2.20750831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0907140569999 meters Centerline goodness : 0.990401 Centerline is valid? [True, True] Translation: X:298.51, Y:279.65, Z:2.21 [[-8.33054419e-01 -5.53014005e-01 1.39944956e-02 2.98510108e+02] [ 5.52910533e-01 -8.33171046e-01 -1.07680893e-02 2.79646014e+02] [ 1.76147127e-02 -1.23270037e-03 9.99844089e-01 2.20937097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.120714057 meters Centerline goodness : 0.990923 Centerline is valid? [True, True] Translation: X:298.49, Y:279.65, Z:2.21 [[-8.39141766e-01 -5.43730259e-01 1.40890653e-02 2.98494464e+02] [ 5.43627686e-01 -8.39259079e-01 -1.06365933e-02 2.79647982e+02] [ 1.76078136e-02 -1.26640369e-03 9.99844168e-01 2.21104766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.150714057 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:298.52, Y:279.64, Z:2.21 [[-8.24165607e-01 -5.66167409e-01 1.43358724e-02 2.98523505e+02] [ 5.66073959e-01 -8.24290198e-01 -1.02928431e-02 2.79641864e+02] [ 1.76443914e-02 -3.67843210e-04 9.99844258e-01 2.20724122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1807140569999 meters Centerline goodness : 0.990130 Centerline is valid? [True, True] Translation: X:298.50, Y:279.65, Z:2.21 [[-8.37303736e-01 -5.46561917e-01 1.38752893e-02 2.98495147e+02] [ 5.46454841e-01 -8.37417221e-01 -1.09317994e-02 2.79649746e+02] [ 1.75943114e-02 -1.57101745e-03 9.99843974e-01 2.21062811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2107140569999 meters Centerline goodness : 0.990365 Centerline is valid? [True, True] Translation: X:298.49, Y:279.65, Z:2.21 [[-8.36583597e-01 -5.47651749e-01 1.43334156e-02 2.98494467e+02] [ 5.47555528e-01 -8.36706029e-01 -1.02939055e-02 2.79650721e+02] [ 1.76303306e-02 -7.63371562e-04 9.99844282e-01 2.21039554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2407140569999 meters Centerline goodness : 0.991402 Centerline is valid? [True, True] Translation: X:298.49, Y:279.65, Z:2.21 [[-8.36288853e-01 -5.48101836e-01 1.43294473e-02 2.98493874e+02] [ 5.48005586e-01 -8.36411262e-01 -1.02994265e-02 2.79652587e+02] [ 1.76304457e-02 -7.60678392e-04 9.99844282e-01 2.20929849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.270714057 meters Centerline goodness : 0.991045 Centerline is valid? [True, True] Translation: X:298.49, Y:279.66, Z:2.21 [[-8.36137278e-01 -5.48333141e-01 1.43254816e-02 2.98490819e+02] [ 5.48236831e-01 -8.36259640e-01 -1.03049395e-02 2.79655537e+02] [ 1.76303619e-02 -7.62587491e-04 9.99844282e-01 2.20895676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3007140569999 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:298.52, Y:279.65, Z:2.21 [[-8.27527267e-01 -5.61242832e-01 1.43215117e-02 2.98516300e+02] [ 5.61148337e-01 -8.27651036e-01 -1.03104538e-02 2.79649526e+02] [ 1.76398823e-02 -4.95689149e-04 9.99844282e-01 2.20917691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3307140569999 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:298.52, Y:279.65, Z:2.21 [[-8.30148110e-01 -5.57366579e-01 1.40218129e-02 2.98517377e+02] [ 5.57264444e-01 -8.30265806e-01 -1.07252359e-02 2.79647978e+02] [ 1.76197199e-02 -1.08967654e-03 9.99844167e-01 2.20682024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3607140569999 meters Centerline goodness : 0.991020 Centerline is valid? [True, True] Translation: X:298.51, Y:279.66, Z:2.21 [[-8.32163043e-01 -5.54352522e-01 1.40695305e-02 2.98505317e+02] [ 5.54251071e-01 -8.32281282e-01 -1.06591844e-02 2.79657371e+02] [ 1.76187526e-02 -1.07212694e-03 9.99844203e-01 2.20767792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.390714057 meters Centerline goodness : 0.990203 Centerline is valid? [True, True] Translation: X:298.51, Y:279.66, Z:2.21 [[-8.32731887e-01 -5.53496544e-01 1.41131464e-02 2.98506560e+02] [ 5.53395990e-01 -8.32850854e-01 -1.05987773e-02 2.79659389e+02] [ 1.76205326e-02 -1.01578123e-03 9.99844230e-01 2.20771455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4207140569999 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:298.50, Y:279.66, Z:2.21 [[-8.35690219e-01 -5.49020112e-01 1.40987391e-02 2.98501731e+02] [ 5.48918586e-01 -8.35808368e-01 -1.06187214e-02 2.79663819e+02] [ 1.76137357e-02 -1.13490171e-03 9.99844222e-01 2.20947516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4507140569999 meters Centerline goodness : 0.988678 Centerline is valid? [True, True] Translation: X:298.50, Y:279.66, Z:2.22 [[-8.35968483e-01 -5.48595382e-01 1.41351429e-02 2.98504746e+02] [ 5.48494644e-01 -8.36087278e-01 -1.05683275e-02 2.79662896e+02] [ 1.76159488e-02 -1.08173853e-03 9.99844242e-01 2.21671798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4807140569999 meters Centerline goodness : 0.989978 Centerline is valid? [True, True] Translation: X:298.50, Y:279.67, Z:2.21 [[-8.35444967e-01 -5.49390112e-01 1.42200963e-02 2.98498296e+02] [ 5.49291475e-01 -8.35565472e-01 -1.04507281e-02 2.79669175e+02] [ 1.76233481e-02 -9.20030535e-04 9.99844273e-01 2.20925494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.510714057 meters Centerline goodness : 0.989228 Centerline is valid? [True, True] Translation: X:298.50, Y:279.67, Z:2.22 [[-8.35810215e-01 -5.48836632e-01 1.41292605e-02 2.98500334e+02] [ 5.48735792e-01 -8.35928927e-01 -1.05763531e-02 2.79670367e+02] [ 1.76157476e-02 -1.08659303e-03 9.99844240e-01 2.21777107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.540714057 meters Centerline goodness : 0.989503 Centerline is valid? [True, True] Translation: X:298.50, Y:279.67, Z:2.21 [[-8.34323858e-01 -5.51092235e-01 1.41791550e-02 2.98498672e+02] [ 5.50992883e-01 -8.34443790e-01 -1.05073484e-02 2.79674387e+02] [ 1.76222259e-02 -9.53918024e-04 9.99844261e-01 2.21287682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5707140569999 meters Centerline goodness : 0.989957 Centerline is valid? [True, True] Translation: X:298.50, Y:279.68, Z:2.21 [[-8.35630533e-01 -5.49111512e-01 1.40769072e-02 2.98496612e+02] [ 5.49009498e-01 -8.35748275e-01 -1.06485735e-02 2.79678292e+02] [ 1.76120052e-02 -1.16991741e-03 9.99844212e-01 2.21275486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6007140569999 meters Centerline goodness : 0.990002 Centerline is valid? [True, True] Translation: X:298.49, Y:279.68, Z:2.21 [[-8.34995241e-01 -5.50076600e-01 1.40954425e-02 2.98492525e+02] [ 5.49975152e-01 -8.35113456e-01 -1.06229828e-02 2.79683497e+02] [ 1.76147479e-02 -1.11799692e-03 9.99844223e-01 2.21380687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.630714057 meters Centerline goodness : 0.989816 Centerline is valid? [True, True] Translation: X:298.49, Y:279.69, Z:2.21 [[-8.35658864e-01 -5.49069525e-01 1.40327777e-02 2.98487613e+02] [ 5.48966487e-01 -8.35775750e-01 -1.07094430e-02 2.79688744e+02] [ 1.76084840e-02 -1.24591628e-03 9.99844182e-01 2.21293048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.660714057 meters Centerline goodness : 0.990468 Centerline is valid? [True, True] Translation: X:298.49, Y:279.69, Z:2.21 [[-8.37334504e-01 -5.46510699e-01 1.40351319e-02 2.98488106e+02] [ 5.46407358e-01 -8.37451119e-01 -1.07061949e-02 2.79691852e+02] [ 1.76047870e-02 -1.29576709e-03 9.99844184e-01 2.21223923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6907140569999 meters Centerline goodness : 0.990167 Centerline is valid? [True, True] Translation: X:298.48, Y:279.70, Z:2.21 [[-8.37685116e-01 -5.45972960e-01 1.40418518e-02 2.98482952e+02] [ 5.45869698e-01 -8.37801795e-01 -1.06969250e-02 2.79697748e+02] [ 1.76045205e-02 -1.29563340e-03 9.99844189e-01 2.21221299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7207140569999 meters Centerline goodness : 0.991083 Centerline is valid? [True, True] Translation: X:298.50, Y:279.69, Z:2.21 [[-8.32986145e-01 -5.53116209e-01 1.40193580e-02 2.98504069e+02] [ 5.53013429e-01 -8.33103271e-01 -1.07279177e-02 2.79690080e+02] [ 1.76133582e-02 -1.18331361e-03 9.99844173e-01 2.20610938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.750714057 meters Centerline goodness : 0.989660 Centerline is valid? [True, True] Translation: X:298.47, Y:279.70, Z:2.21 [[-8.48034273e-01 -5.29761137e-01 1.38206344e-02 2.98470498e+02] [ 5.29650704e-01 -8.48144504e-01 -1.10014726e-02 2.79701504e+02] [ 1.75500477e-02 -2.00951706e-03 9.99843967e-01 2.21122310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.780714057 meters Centerline goodness : 0.989879 Centerline is valid? [True, True] Translation: X:298.49, Y:279.70, Z:2.21 [[-8.39182288e-01 -5.43662296e-01 1.42966736e-02 2.98491197e+02] [ 5.43564652e-01 -8.39303569e-01 -1.03435066e-02 2.79698174e+02] [ 1.76226237e-02 -9.08921128e-04 9.99844296e-01 2.21084099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8107140569999 meters Centerline goodness : 0.989603 Centerline is valid? [True, True] Translation: X:298.49, Y:279.70, Z:2.21 [[-8.40409917e-01 -5.41771351e-01 1.39633232e-02 2.98491177e+02] [ 5.41665762e-01 -8.40524543e-01 -1.08025364e-02 2.79699839e+02] [ 1.75890206e-02 -1.51510459e-03 9.99844153e-01 2.21078994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8407140569999 meters Centerline goodness : 0.989205 Centerline is valid? [True, True] Translation: X:298.49, Y:279.70, Z:2.21 [[-8.39420755e-01 -5.43300665e-01 1.40422145e-02 2.98494103e+02] [ 5.43197085e-01 -8.39537115e-01 -1.06938722e-02 2.79698001e+02] [ 1.75989481e-02 -1.34896830e-03 9.99844217e-01 2.21141765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.870714057 meters Centerline goodness : 0.988690 Centerline is valid? [True, True] Translation: X:298.50, Y:279.70, Z:2.21 [[-8.38157662e-01 -5.45248417e-01 1.39963405e-02 2.98498008e+02] [ 5.45144059e-01 -8.38273370e-01 -1.07570097e-02 2.79696220e+02] [ 1.75980021e-02 -1.38604826e-03 9.99844182e-01 2.20973796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.900714057 meters Centerline goodness : 0.989681 Centerline is valid? [True, True] Translation: X:298.49, Y:279.70, Z:2.21 [[-8.38721525e-01 -5.44379261e-01 1.40507941e-02 2.98493108e+02] [ 5.44276027e-01 -8.38838185e-01 -1.06820653e-02 2.79698370e+02] [ 1.76014374e-02 -1.31176770e-03 9.99844222e-01 2.21021072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9307140569999 meters Centerline goodness : 0.988915 Centerline is valid? [True, True] Translation: X:298.49, Y:279.70, Z:2.21 [[-8.38570250e-01 -5.44613201e-01 1.40142113e-02 2.98489450e+02] [ 5.44509163e-01 -8.38686227e-01 -1.07323887e-02 2.79701491e+02] [ 1.75985265e-02 -1.36899537e-03 9.99844197e-01 2.21042389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9607140569999 meters Centerline goodness : 0.988748 Centerline is valid? [True, True] Translation: X:298.49, Y:279.70, Z:2.21 [[-8.39097077e-01 -5.43801095e-01 1.40165875e-02 2.98492436e+02] [ 5.43696999e-01 -8.39213000e-01 -1.07291206e-02 2.79699082e+02] [ 1.75974100e-02 -1.38199716e-03 9.99844199e-01 2.21148649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9907140569999 meters Centerline goodness : 0.988764 Centerline is valid? [True, True] Translation: X:298.49, Y:279.70, Z:2.21 [[-8.39000180e-01 -5.43949657e-01 1.40523433e-02 2.98490391e+02] [ 5.43846399e-01 -8.39116818e-01 -1.06799478e-02 2.79700580e+02] [ 1.76009115e-02 -1.31816185e-03 9.99844223e-01 2.21126126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.020714057 meters Centerline goodness : 0.989582 Centerline is valid? [True, True] Translation: X:298.49, Y:279.70, Z:2.21 [[-8.40036200e-01 -5.42347600e-01 1.40806273e-02 2.98490001e+02] [ 5.42244767e-01 -8.40153189e-01 -1.06410527e-02 2.79700398e+02] [ 1.76010333e-02 -1.30372296e-03 9.99844240e-01 2.21280053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0507140569999 meters Centerline goodness : 0.990007 Centerline is valid? [True, True] Translation: X:298.50, Y:279.70, Z:2.21 [[-8.37105317e-01 -5.46860429e-01 1.40839999e-02 2.98499214e+02] [ 5.46758304e-01 -8.37222924e-01 -1.06364166e-02 2.79697514e+02] [ 1.76080829e-02 -1.20325703e-03 9.99844242e-01 2.21080292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0807140569999 meters Centerline goodness : 0.988757 Centerline is valid? [True, True] Translation: X:298.48, Y:279.71, Z:2.21 [[-8.39759579e-01 -5.42778368e-01 1.39818882e-02 2.98484879e+02] [ 5.42673345e-01 -8.39874696e-01 -1.07766307e-02 2.79707698e+02] [ 1.75923562e-02 -1.46218082e-03 9.99844173e-01 2.21235017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1107140569999 meters Centerline goodness : 0.990233 Centerline is valid? [True, True] Translation: X:298.48, Y:279.71, Z:2.21 [[-8.38657868e-01 -5.44476805e-01 1.40709142e-02 2.98482505e+02] [ 5.44374048e-01 -8.38774930e-01 -1.06542541e-02 2.79712890e+02] [ 1.76033243e-02 -1.27543351e-03 9.99844236e-01 2.21203428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.140714057 meters Centerline goodness : 0.989897 Centerline is valid? [True, True] Translation: X:298.48, Y:279.72, Z:2.21 [[-8.32387981e-01 -5.54015771e-01 1.40276158e-02 2.98481682e+02] [ 5.53913358e-01 -8.32505380e-01 -1.07137274e-02 2.79720344e+02] [ 1.76136396e-02 -1.14789417e-03 9.99844209e-01 2.20854880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1707140569999 meters Centerline goodness : 0.989926 Centerline is valid? [True, True] Translation: X:298.47, Y:279.72, Z:2.21 [[-8.39271836e-01 -5.43536168e-01 1.38282335e-02 2.98474069e+02] [ 5.43427787e-01 -8.39384014e-01 -1.09871710e-02 2.79721577e+02] [ 1.75791229e-02 -1.70657684e-03 9.99844019e-01 2.21169211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2007140569999 meters Centerline goodness : 0.989067 Centerline is valid? [True, True] Translation: X:298.48, Y:279.73, Z:2.21 [[-8.37628801e-01 -5.46059215e-01 1.40472252e-02 2.98475118e+02] [ 5.45956146e-01 -8.37745600e-01 -1.06863083e-02 2.79725213e+02] [ 1.76033583e-02 -1.28199064e-03 9.99844227e-01 2.21290151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2307140569999 meters Centerline goodness : 0.989591 Centerline is valid? [True, True] Translation: X:298.47, Y:279.73, Z:2.21 [[-8.38162011e-01 -5.45241947e-01 1.39879426e-02 2.98472518e+02] [ 5.45137411e-01 -8.38277556e-01 -1.07676816e-02 2.79727508e+02] [ 1.75967700e-02 -1.39971081e-03 9.99844185e-01 2.21230821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.260714057 meters Centerline goodness : 0.988923 Centerline is valid? [True, True] Translation: X:298.47, Y:279.74, Z:2.21 [[-8.32327919e-01 -5.54106582e-01 1.40047124e-02 2.98469269e+02] [ 5.54003663e-01 -8.32444889e-01 -1.07446726e-02 2.79737691e+02] [ 1.76118451e-02 -1.18442897e-03 9.99844198e-01 2.20853282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.290714057 meters Centerline goodness : 0.989786 Centerline is valid? [True, True] Translation: X:298.46, Y:279.74, Z:2.21 [[-8.30877256e-01 -5.56282756e-01 1.38737525e-02 2.98464305e+02] [ 5.56177146e-01 -8.30991965e-01 -1.09241351e-02 2.79743331e+02] [ 1.76058849e-02 -1.36035129e-03 9.99844079e-01 2.20664938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3207140569999 meters Centerline goodness : 0.989760 Centerline is valid? [True, True] Translation: X:298.47, Y:279.74, Z:2.21 [[-8.36370641e-01 -5.47991760e-01 1.37543731e-02 2.98469095e+02] [ 5.47882336e-01 -8.36481926e-01 -1.10875608e-02 2.79736185e+02] [ 1.75811765e-02 -1.73753225e-03 9.99843929e-01 2.20918266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3507140569999 meters Centerline goodness : 0.989724 Centerline is valid? [True, True] Translation: X:298.48, Y:279.73, Z:2.21 [[-8.32454925e-01 -5.53917680e-01 1.39284612e-02 2.98476086e+02] [ 5.53812993e-01 -8.32570398e-01 -1.08490168e-02 2.79734563e+02] [ 1.76058867e-02 -1.31755466e-03 9.99844136e-01 2.20668875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.380714057 meters Centerline goodness : 0.989128 Centerline is valid? [True, True] Translation: X:298.47, Y:279.74, Z:2.21 [[-8.36494810e-01 -5.47801107e-01 1.37978490e-02 2.98467137e+02] [ 5.47692635e-01 -8.36606936e-01 -1.10277857e-02 2.79738767e+02] [ 1.75844094e-02 -1.66770521e-03 9.99843991e-01 2.20877521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.410714057 meters Centerline goodness : 0.988939 Centerline is valid? [True, True] Translation: X:298.47, Y:279.74, Z:2.21 [[-8.37691569e-01 -5.45965448e-01 1.39486502e-02 2.98468532e+02] [ 5.45860127e-01 -8.37806437e-01 -1.08211115e-02 2.79735846e+02] [ 1.75942220e-02 -1.45074192e-03 9.99844157e-01 2.21161163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4407140569999 meters Centerline goodness : 0.989202 Centerline is valid? [True, True] Translation: X:298.46, Y:279.74, Z:2.21 [[-8.36785140e-01 -5.47352496e-01 1.39955443e-02 2.98464966e+02] [ 5.47248432e-01 -8.36901096e-01 -1.07568346e-02 2.79739222e+02] [ 1.76006666e-02 -1.34211968e-03 9.99844196e-01 2.21069592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4707140569999 meters Centerline goodness : 0.989646 Centerline is valid? [True, True] Translation: X:298.47, Y:279.74, Z:2.21 [[-8.32442621e-01 -5.53934594e-01 1.39910194e-02 2.98471401e+02] [ 5.53831344e-01 -8.32559307e-01 -1.07630338e-02 2.79737144e+02] [ 1.76103702e-02 -1.21094300e-03 9.99844192e-01 2.20809638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.500714057 meters Centerline goodness : 0.988939 Centerline is valid? [True, True] Translation: X:298.46, Y:279.74, Z:2.21 [[-8.37637152e-01 -5.46049826e-01 1.39136157e-02 2.98462386e+02] [ 5.45943727e-01 -8.37751343e-01 -1.08689720e-02 2.79737798e+02] [ 1.75911505e-02 -1.50820351e-03 9.99844126e-01 2.21155336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.530714057 meters Centerline goodness : 0.989742 Centerline is valid? [True, True] Translation: X:298.47, Y:279.73, Z:2.21 [[-8.33511772e-01 -5.52322676e-01 1.40636573e-02 2.98470945e+02] [ 5.52220869e-01 -8.33629656e-01 -1.06634684e-02 2.79734831e+02] [ 1.76135572e-02 -1.12188136e-03 9.99844240e-01 2.20992492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5607140569999 meters Centerline goodness : 0.988839 Centerline is valid? [True, True] Translation: X:298.47, Y:279.73, Z:2.21 [[-8.35195336e-01 -5.49776452e-01 1.39500455e-02 2.98471098e+02] [ 5.49671694e-01 -8.35310710e-01 -1.08188512e-02 2.79731317e+02] [ 1.76005720e-02 -1.36790891e-03 9.99844162e-01 2.21211856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5907140569999 meters Centerline goodness : 0.989035 Centerline is valid? [True, True] Translation: X:298.47, Y:279.73, Z:2.21 [[-8.34338111e-01 -5.51072025e-01 1.41258683e-02 2.98465707e+02] [ 5.50971475e-01 -8.34457031e-01 -1.05781569e-02 2.79734197e+02] [ 1.76167564e-02 -1.04280899e-03 9.99844269e-01 2.21128752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.620714057 meters Centerline goodness : 0.989005 Centerline is valid? [True, True] Translation: X:298.47, Y:279.73, Z:2.21 [[-8.33657533e-01 -5.52103700e-01 1.40222207e-02 2.98468440e+02] [ 5.52000916e-01 -8.33774594e-01 -1.07198427e-02 2.79732215e+02] [ 1.76098362e-02 -1.19639894e-03 9.99844219e-01 2.21104359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.650714057 meters Centerline goodness : 0.988847 Centerline is valid? [True, True] Translation: X:298.49, Y:279.72, Z:2.21 [[-8.27763408e-01 -5.60902489e-01 1.40049142e-02 2.98491950e+02] [ 5.60800553e-01 -8.27881222e-01 -1.07434710e-02 2.79719984e+02] [ 1.76204451e-02 -1.03908850e-03 9.99844208e-01 2.20852574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6807140569999 meters Centerline goodness : 0.989429 Centerline is valid? [True, True] Translation: X:298.48, Y:279.72, Z:2.21 [[-8.29911535e-01 -5.57720169e-01 1.39662854e-02 2.98483899e+02] [ 5.57616897e-01 -8.30028216e-01 -1.07961431e-02 2.79722881e+02] [ 1.76136377e-02 -1.17200691e-03 9.99844181e-01 2.20962332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7107140569999 meters Centerline goodness : 0.989674 Centerline is valid? [True, True] Translation: X:298.48, Y:279.72, Z:2.21 [[-8.31626093e-01 -5.55161664e-01 1.39128627e-02 2.98479838e+02] [ 5.55056819e-01 -8.31741422e-01 -1.08689397e-02 2.79724422e+02] [ 1.76059229e-02 -1.31646457e-03 9.99844137e-01 2.21027923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7407140569999 meters Centerline goodness : 0.989918 Centerline is valid? [True, True] Translation: X:298.48, Y:279.73, Z:2.21 [[-8.30400406e-01 -5.56992664e-01 1.39405240e-02 2.98476968e+02] [ 5.56888703e-01 -8.30516500e-01 -1.08312433e-02 2.79727981e+02] [ 1.76107582e-02 -1.23094847e-03 9.99844161e-01 2.20951820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.770714057 meters Centerline goodness : 0.989838 Centerline is valid? [True, True] Translation: X:298.46, Y:279.74, Z:2.21 [[-8.35282161e-01 -5.49646287e-01 1.38805673e-02 2.98455791e+02] [ 5.49539954e-01 -8.35396162e-01 -1.09129641e-02 2.79740783e+02] [ 1.75940428e-02 -1.48747790e-03 9.99844106e-01 2.21055352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8007140569999 meters Centerline goodness : 0.989838 Centerline is valid? [True, True] Translation: X:298.45, Y:279.74, Z:2.21 [[-8.35221530e-01 -5.49734430e-01 1.40375426e-02 2.98453696e+02] [ 5.49631670e-01 -8.35338595e-01 -1.06985982e-02 2.79742215e+02] [ 1.76074889e-02 -1.22022159e-03 9.99844232e-01 2.21067733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8307140569999 meters Centerline goodness : 0.990696 Centerline is valid? [True, True] Translation: X:298.47, Y:279.73, Z:2.21 [[-8.30924371e-01 -5.56208497e-01 1.40284726e-02 2.98474040e+02] [ 5.56106441e-01 -8.31042057e-01 -1.07109739e-02 2.79730500e+02] [ 1.76157854e-02 -1.09868530e-03 9.99844226e-01 2.20980588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8607140569999 meters Centerline goodness : 0.989168 Centerline is valid? [True, True] Translation: X:298.45, Y:279.74, Z:2.21 [[-8.35307244e-01 -5.49608416e-01 1.38707324e-02 2.98452681e+02] [ 5.49501864e-01 -8.35421047e-01 -1.09258978e-02 2.79743551e+02] [ 1.75928672e-02 -1.50448825e-03 9.99844102e-01 2.21198394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.890714057 meters Centerline goodness : 0.990018 Centerline is valid? [True, True] Translation: X:298.46, Y:279.74, Z:2.21 [[-8.30318113e-01 -5.57111597e-01 1.40889963e-02 2.98462311e+02] [ 5.57011070e-01 -8.30437062e-01 -1.06280082e-02 2.79739744e+02] [ 1.76210113e-02 -9.76900857e-04 9.99844261e-01 2.21004844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9207140569999 meters Centerline goodness : 0.988829 Centerline is valid? [True, True] Translation: X:298.46, Y:279.75, Z:2.21 [[-8.30126708e-01 -5.57399725e-01 1.39712355e-02 2.98455180e+02] [ 5.57296537e-01 -8.30243445e-01 -1.07885169e-02 2.79745175e+02] [ 1.76130431e-02 -1.16971485e-03 9.99844194e-01 2.21376254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9507140569999 meters Centerline goodness : 0.988687 Centerline is valid? [True, True] Translation: X:298.45, Y:279.74, Z:2.21 [[-8.31385719e-01 -5.55520124e-01 1.39706418e-02 2.98452969e+02] [ 5.55416658e-01 -8.31502211e-01 -1.07893258e-02 2.79744701e+02] [ 1.76103072e-02 -1.21056422e-03 9.99844194e-01 2.21365068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9807140569999 meters Centerline goodness : 0.988976 Centerline is valid? [True, True] Translation: X:298.45, Y:279.75, Z:2.21 [[-8.27437038e-01 -5.61382559e-01 1.40560045e-02 2.98446121e+02] [ 5.61281883e-01 -8.27555881e-01 -1.06729857e-02 2.79753482e+02] [ 1.76237573e-02 -9.41843010e-04 9.99844246e-01 2.20885432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.010714057 meters Centerline goodness : 0.989981 Centerline is valid? [True, True] Translation: X:298.43, Y:279.75, Z:2.21 [[-8.37957285e-01 -5.45555359e-01 1.40335198e-02 2.98431801e+02] [ 5.45451932e-01 -8.38073757e-01 -1.07036366e-02 2.79750124e+02] [ 1.76005509e-02 -1.31457979e-03 9.99844234e-01 2.21350340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.040714057 meters Centerline goodness : 0.990093 Centerline is valid? [True, True] Translation: X:298.43, Y:279.75, Z:2.21 [[-8.36630303e-01 -5.47581667e-01 1.42847670e-02 2.98429689e+02] [ 5.47484299e-01 -8.36751815e-01 -1.03606108e-02 2.79751914e+02] [ 1.76260853e-02 -8.47315324e-04 9.99844289e-01 2.21219523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0707140569999 meters Centerline goodness : 0.989414 Centerline is valid? [True, True] Translation: X:298.43, Y:279.77, Z:2.21 [[-8.23054313e-01 -5.67784359e-01 1.42309418e-02 2.98430646e+02] [ 5.67688707e-01 -8.23177176e-01 -1.04340230e-02 2.79766258e+02] [ 1.76388616e-02 -5.09022702e-04 9.99844294e-01 2.20941293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1007140569999 meters Centerline goodness : 0.989566 Centerline is valid? [True, True] Translation: X:298.44, Y:279.76, Z:2.21 [[-8.22371862e-01 -5.68782630e-01 1.38144995e-02 2.98435051e+02] [ 5.68677501e-01 -8.22487024e-01 -1.09997982e-02 2.79764116e+02] [ 1.76187407e-02 -1.18992947e-03 9.99844070e-01 2.20907837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.130714057 meters Centerline goodness : 0.989308 Centerline is valid? [True, True] Translation: X:298.43, Y:279.76, Z:2.21 [[-8.25436997e-01 -5.64324674e-01 1.38357160e-02 2.98430244e+02] [ 5.64219404e-01 -8.25551998e-01 -1.09709778e-02 2.79764790e+02] [ 1.76132964e-02 -1.24947149e-03 9.99844093e-01 2.21052480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.160714057 meters Centerline goodness : 0.990619 Centerline is valid? [True, True] Translation: X:298.43, Y:279.76, Z:2.21 [[-8.34538999e-01 -5.50772405e-01 1.39433278e-02 2.98425487e+02] [ 5.50667691e-01 -8.34654372e-01 -1.08246617e-02 2.79755932e+02] [ 1.75997845e-02 -1.35546225e-03 9.99844193e-01 2.21226073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1907140569999 meters Centerline goodness : 0.988520 Centerline is valid? [True, True] Translation: X:298.45, Y:279.76, Z:2.21 [[-8.22340970e-01 -5.68817205e-01 1.42237591e-02 2.98445583e+02] [ 5.68721559e-01 -8.22463822e-01 -1.04426960e-02 2.79758855e+02] [ 1.76385124e-02 -4.98098336e-04 9.99844305e-01 2.20744832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2207140569999 meters Centerline goodness : 0.990264 Centerline is valid? [True, True] Translation: X:298.43, Y:279.76, Z:2.21 [[-8.34157208e-01 -5.51347771e-01 1.40494926e-02 2.98427223e+02] [ 5.51245556e-01 -8.34274704e-01 -1.06796923e-02 2.79757432e+02] [ 1.76093608e-02 -1.16382195e-03 9.99844266e-01 2.21269677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.250714057 meters Centerline goodness : 0.991298 Centerline is valid? [True, True] Translation: X:298.42, Y:279.76, Z:2.21 [[-8.34229925e-01 -5.51232261e-01 1.42627924e-02 2.98423951e+02] [ 5.51134936e-01 -8.34351452e-01 -1.03892742e-02 2.79760170e+02] [ 1.76270847e-02 -8.06320235e-04 9.99844306e-01 2.21174110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.280714057 meters Centerline goodness : 0.991154 Centerline is valid? [True, True] Translation: X:298.42, Y:279.76, Z:2.21 [[-8.34431283e-01 -5.50928553e-01 1.42183794e-02 2.98423484e+02] [ 5.50830158e-01 -8.34551940e-01 -1.04497048e-02 2.79762673e+02] [ 1.76230169e-02 -8.87648437e-04 9.99844309e-01 2.21160109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3107140569999 meters Centerline goodness : 0.991370 Centerline is valid? [True, True] Translation: X:298.42, Y:279.76, Z:2.21 [[-8.34634080e-01 -5.50621381e-01 1.42143301e-02 2.98421332e+02] [ 5.50522847e-01 -8.34754625e-01 -1.04552100e-02 2.79764724e+02] [ 1.76223400e-02 -9.00961075e-04 9.99844309e-01 2.21174252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3407140569999 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:298.42, Y:279.77, Z:2.21 [[-8.34408255e-01 -5.50963575e-01 1.42128019e-02 2.98418120e+02] [ 5.50865056e-01 -8.34528811e-01 -1.04572871e-02 2.79767780e+02] [ 1.76225769e-02 -8.96310766e-04 9.99844309e-01 2.21205282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.370714057 meters Centerline goodness : 0.991469 Centerline is valid? [True, True] Translation: X:298.42, Y:279.77, Z:2.21 [[-8.34530591e-01 -5.50778296e-01 1.42112716e-02 2.98416070e+02] [ 5.50679715e-01 -8.34651097e-01 -1.04593663e-02 2.79770618e+02] [ 1.76222454e-02 -9.02802157e-04 9.99844309e-01 2.21204666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.400714057 meters Centerline goodness : 0.991478 Centerline is valid? [True, True] Translation: X:298.42, Y:279.77, Z:2.21 [[-8.34243708e-01 -5.51212771e-01 1.42097399e-02 2.98415276e+02] [ 5.51114217e-01 -8.34364236e-01 -1.04614468e-02 2.79772111e+02] [ 1.76225819e-02 -8.96206526e-04 9.99844309e-01 2.21198684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4307140569999 meters Centerline goodness : 0.991116 Centerline is valid? [True, True] Translation: X:298.41, Y:279.77, Z:2.21 [[-8.34255637e-01 -5.51194822e-01 1.42056786e-02 2.98413593e+02] [ 5.51096172e-01 -8.34376086e-01 -1.04669588e-02 2.79774114e+02] [ 1.76222120e-02 -9.03424339e-04 9.99844309e-01 2.21276318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4607140569999 meters Centerline goodness : 0.985814 Centerline is valid? [True, True] Translation: X:297.66, Y:280.32, Z:2.23 [[-8.35829687e-01 -5.48805045e-01 1.42041460e-02 2.97664623e+02] [ 5.48706015e-01 -8.35949824e-01 -1.04690382e-02 2.80324044e+02] [ 1.76194143e-02 -9.56432567e-04 9.99844309e-01 2.22994066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4907140569999 meters Centerline goodness : 0.991021 Centerline is valid? [True, True] Translation: X:298.40, Y:279.78, Z:2.21 [[-8.32696787e-01 -5.53545864e-01 1.42491596e-02 2.98397750e+02] [ 5.53448560e-01 -8.32818328e-01 -1.04078894e-02 2.79784624e+02] [ 1.76282054e-02 -7.80439168e-04 9.99844307e-01 2.21320531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.520714057 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:298.40, Y:279.79, Z:2.21 [[-8.32506006e-01 -5.53834699e-01 1.41730717e-02 2.98395373e+02] [ 5.53735692e-01 -8.32626154e-01 -1.05104919e-02 2.79788052e+02] [ 1.76219453e-02 -9.01911927e-04 9.99844315e-01 2.21373673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5507140569999 meters Centerline goodness : 0.991411 Centerline is valid? [True, True] Translation: X:298.40, Y:279.79, Z:2.21 [[-8.32168573e-01 -5.54341622e-01 1.41715316e-02 2.98395532e+02] [ 5.54242654e-01 -8.32288752e-01 -1.05125680e-02 2.79788525e+02] [ 1.76223604e-02 -8.93761369e-04 9.99844315e-01 2.21377334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5807140569999 meters Centerline goodness : 0.991585 Centerline is valid? [True, True] Translation: X:298.39, Y:279.79, Z:2.21 [[-8.31797291e-01 -5.54898685e-01 1.41674505e-02 2.98393758e+02] [ 5.54799703e-01 -8.31917460e-01 -1.05180651e-02 2.79791717e+02] [ 1.76226099e-02 -8.88800756e-04 9.99844315e-01 2.21339355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6107140569999 meters Centerline goodness : 0.992087 Centerline is valid? [True, True] Translation: X:298.39, Y:279.79, Z:2.21 [[-8.31398282e-01 -5.55496376e-01 1.41659104e-02 2.98392461e+02] [ 5.55397446e-01 -8.31518493e-01 -1.05201389e-02 2.79793294e+02] [ 1.76231155e-02 -8.78714925e-04 9.99844315e-01 2.21307042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.640714057 meters Centerline goodness : 0.984780 Centerline is valid? [True, True] Translation: X:297.61, Y:280.37, Z:2.23 [[-8.33075343e-01 -5.52978223e-01 1.41618297e-02 2.97609278e+02] [ 5.52878836e-01 -8.33195178e-01 -1.05256293e-02 2.80372757e+02] [ 1.76200120e-02 -9.38866296e-04 9.99844315e-01 2.23099454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6707140569999 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:298.38, Y:279.80, Z:2.21 [[-8.28583422e-01 -5.59685620e-01 1.41957887e-02 2.98378732e+02] [ 5.59587984e-01 -8.28704688e-01 -1.04799076e-02 2.79802191e+02] [ 1.76295702e-02 -7.39684950e-04 9.99844313e-01 2.21215173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7007140569999 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:298.38, Y:279.80, Z:2.21 [[-8.28020508e-01 -5.60519843e-01 1.41260395e-02 2.98376619e+02] [ 5.60420740e-01 -8.28140570e-01 -1.05730952e-02 2.79804150e+02] [ 1.76247761e-02 -8.38214094e-04 9.99844320e-01 2.21196601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7307140569999 meters Centerline goodness : 0.992283 Centerline is valid? [True, True] Translation: X:298.37, Y:279.81, Z:2.21 [[-8.26875608e-01 -5.62207523e-01 1.41219459e-02 2.98373938e+02] [ 5.62108573e-01 -8.26995796e-01 -1.05785600e-02 2.79806717e+02] [ 1.76261359e-02 -8.09086369e-04 9.99844320e-01 2.21151314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.760714057 meters Centerline goodness : 0.985524 Centerline is valid? [True, True] Translation: X:297.56, Y:280.42, Z:2.24 [[-8.29804520e-01 -5.57875564e-01 1.41178481e-02 2.97556628e+02] [ 5.57775894e-01 -8.29924111e-01 -1.05840260e-02 2.80416489e+02] [ 1.76213120e-02 -9.08077218e-04 9.99844320e-01 2.23719876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.790714057 meters Centerline goodness : 0.992132 Centerline is valid? [True, True] Translation: X:298.36, Y:279.82, Z:2.21 [[-8.23450736e-01 -5.67208015e-01 1.42811910e-02 2.98359602e+02] [ 5.67113457e-01 -8.23574451e-01 -1.03658189e-02 2.79815659e+02] [ 1.76411996e-02 -4.36685617e-04 9.99844287e-01 2.21199254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8207140569999 meters Centerline goodness : 0.989461 Centerline is valid? [True, True] Translation: X:298.02, Y:280.08, Z:2.22 [[-8.20211272e-01 -5.71887509e-01 1.40764758e-02 2.98016920e+02] [ 5.71788981e-01 -8.20331775e-01 -1.06367372e-02 2.80079905e+02] [ 1.76303975e-02 -6.75597973e-04 9.99844344e-01 2.22270346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8507140569999 meters Centerline goodness : 0.990989 Centerline is valid? [True, True] Translation: X:298.35, Y:279.82, Z:2.21 [[-8.23666785e-01 -5.66898927e-01 1.40937405e-02 2.98354309e+02] [ 5.66800060e-01 -8.23787010e-01 -1.06138736e-02 2.79820799e+02] [ 1.76272339e-02 -7.53962230e-04 9.99844344e-01 2.21433913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.880714057 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:298.36, Y:279.82, Z:2.21 [[-8.21715638e-01 -5.69721059e-01 1.41889189e-02 2.98356610e+02] [ 5.69624773e-01 -8.21837958e-01 -1.04875933e-02 2.79821668e+02] [ 1.76359949e-02 -5.35459741e-04 9.99844330e-01 2.21173799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.910714057 meters Centerline goodness : 0.989387 Centerline is valid? [True, True] Translation: X:298.38, Y:279.82, Z:2.21 [[-8.15615706e-01 -5.78422586e-01 1.40830463e-02 2.98378309e+02] [ 5.78325177e-01 -8.15737113e-01 -1.06278859e-02 2.79815045e+02] [ 1.76354728e-02 -5.23690487e-04 9.99844346e-01 2.21471138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9407140569999 meters Centerline goodness : 0.992010 Centerline is valid? [True, True] Translation: X:298.35, Y:279.83, Z:2.21 [[-8.22053989e-01 -5.69237025e-01 1.40160170e-02 2.98353312e+02] [ 5.69136747e-01 -8.22173045e-01 -1.07166380e-02 2.79826710e+02] [ 1.76238986e-02 -8.32624678e-04 9.99844340e-01 2.21076186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9707140569999 meters Centerline goodness : 0.991757 Centerline is valid? [True, True] Translation: X:298.08, Y:280.03, Z:2.22 [[-8.23803615e-01 -5.66700398e-01 1.40805582e-02 2.98084071e+02] [ 5.66601207e-01 -8.23923571e-01 -1.06311559e-02 2.80034662e+02] [ 1.76259841e-02 -7.79923440e-04 9.99844346e-01 2.22263134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.000714057 meters Centerline goodness : 0.985389 Centerline is valid? [True, True] Translation: X:297.52, Y:280.46, Z:2.24 [[-8.27558747e-01 -5.61202184e-01 1.40935604e-02 2.97522148e+02] [ 5.61102487e-01 -8.27678284e-01 -1.06140450e-02 2.80456621e+02] [ 1.76215591e-02 -8.75813960e-04 9.99844345e-01 2.23599197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.030714057 meters Centerline goodness : 0.985769 Centerline is valid? [True, True] Translation: X:297.50, Y:280.47, Z:2.24 [[-8.31618777e-01 -5.55169497e-01 1.40370813e-02 2.97503076e+02] [ 5.55067698e-01 -8.31736514e-01 -1.06874833e-02 2.80473420e+02] [ 1.76085178e-02 -1.09638134e-03 9.99844357e-01 2.23709596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0607140569999 meters Centerline goodness : 0.985144 Centerline is valid? [True, True] Translation: X:297.51, Y:280.47, Z:2.24 [[-8.32894328e-01 -5.53253870e-01 1.40426031e-02 2.97510155e+02] [ 5.53151921e-01 -8.33011935e-01 -1.06803023e-02 2.80469177e+02] [ 1.76065746e-02 -1.12787030e-03 9.99844356e-01 2.23757049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0907140569999 meters Centerline goodness : 0.985332 Centerline is valid? [True, True] Translation: X:297.50, Y:280.48, Z:2.24 [[-8.34069478e-01 -5.51481015e-01 1.40284269e-02 2.97501943e+02] [ 5.51378509e-01 -8.34186597e-01 -1.06986687e-02 2.80477343e+02] [ 1.76024383e-02 -1.18845995e-03 9.99844359e-01 2.23763335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.120714057 meters Centerline goodness : 0.991860 Centerline is valid? [True, True] Translation: X:298.33, Y:279.85, Z:2.21 [[-8.29446285e-01 -5.58404170e-01 1.42703917e-02 2.98333179e+02] [ 5.58308093e-01 -8.29568788e-01 -1.03778514e-02 2.79853926e+02] [ 1.76333070e-02 -6.40595105e-04 9.99844316e-01 2.21140215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.150714057 meters Centerline goodness : 0.985107 Centerline is valid? [True, True] Translation: X:297.50, Y:280.49, Z:2.23 [[-8.34509100e-01 -5.50815351e-01 1.40361093e-02 2.97496579e+02] [ 5.50712973e-01 -8.34626288e-01 -1.06855962e-02 2.80486710e+02] [ 1.76006962e-02 -1.18735978e-03 9.99844391e-01 2.23495573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1807140569999 meters Centerline goodness : 0.990801 Centerline is valid? [True, True] Translation: X:298.32, Y:279.87, Z:2.21 [[-8.32133912e-01 -5.54392183e-01 1.42288658e-02 2.98315546e+02] [ 5.54294591e-01 -8.32255175e-01 -1.04321248e-02 2.79869629e+02] [ 1.76255357e-02 -7.93941417e-04 9.99844343e-01 2.21374346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2107140569999 meters Centerline goodness : 0.991528 Centerline is valid? [True, True] Translation: X:298.31, Y:279.87, Z:2.21 [[-8.30366814e-01 -5.57036797e-01 1.41760731e-02 2.98311881e+02] [ 5.56938407e-01 -8.30487403e-01 -1.05016538e-02 2.79874506e+02] [ 1.76228577e-02 -8.25025231e-04 9.99844365e-01 2.21225718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2407140569999 meters Centerline goodness : 0.991072 Centerline is valid? [True, True] Translation: X:298.32, Y:279.87, Z:2.21 [[-8.29743699e-01 -5.57967918e-01 1.40426503e-02 2.98315634e+02] [ 5.57866694e-01 -8.29861887e-01 -1.06771331e-02 2.79873036e+02] [ 1.76109580e-02 -1.02535703e-03 9.99844389e-01 2.21264637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.270714057 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:298.31, Y:279.88, Z:2.21 [[-8.29078803e-01 -5.58955508e-01 1.40384758e-02 2.98313649e+02] [ 5.58854332e-01 -8.29197032e-01 -1.06826190e-02 2.79875307e+02] [ 1.76117712e-02 -1.01127001e-03 9.99844389e-01 2.21296759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3007140569999 meters Centerline goodness : 0.984795 Centerline is valid? [True, True] Translation: X:297.57, Y:280.44, Z:2.23 [[-8.31872137e-01 -5.54789858e-01 1.40343090e-02 2.97570377e+02] [ 5.54687999e-01 -8.31989777e-01 -1.06880904e-02 2.80437825e+02] [ 1.76060457e-02 -1.10646184e-03 9.99844389e-01 2.23406386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3307140569999 meters Centerline goodness : 0.984174 Centerline is valid? [True, True] Translation: X:297.57, Y:280.44, Z:2.24 [[-8.29576443e-01 -5.58216930e-01 1.40279875e-02 2.97570243e+02] [ 5.58115419e-01 -8.29694383e-01 -1.06962695e-02 2.80439349e+02] [ 1.76097812e-02 -1.04413711e-03 9.99844391e-01 2.23733357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3607140569999 meters Centerline goodness : 0.984248 Centerline is valid? [True, True] Translation: X:297.50, Y:280.49, Z:2.24 [[-8.30264197e-01 -5.57194230e-01 1.39983438e-02 2.97498725e+02] [ 5.57091934e-01 -8.30381448e-01 -1.07344781e-02 2.80493457e+02] [ 1.76051542e-02 -1.11408839e-03 9.99844397e-01 2.23758725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.390714057 meters Centerline goodness : 0.991391 Centerline is valid? [True, True] Translation: X:298.30, Y:279.88, Z:2.21 [[-8.24169464e-01 -5.66165400e-01 1.41928050e-02 2.98302279e+02] [ 5.66068740e-01 -8.24291440e-01 -1.04787481e-02 2.79883493e+02] [ 1.76317123e-02 -6.02160960e-04 9.99844368e-01 2.21228745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4207140569999 meters Centerline goodness : 0.990009 Centerline is valid? [True, True] Translation: X:298.30, Y:279.88, Z:2.21 [[-8.24297447e-01 -5.65983969e-01 1.39951686e-02 2.98302975e+02] [ 5.65882894e-01 -8.24415721e-01 -1.07363743e-02 2.79883674e+02] [ 1.76144528e-02 -9.30339408e-04 9.99844421e-01 2.21242101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4507140569999 meters Centerline goodness : 0.991217 Centerline is valid? [True, True] Translation: X:298.30, Y:279.89, Z:2.21 [[-8.22303713e-01 -5.68874047e-01 1.41039520e-02 2.98302334e+02] [ 5.68775802e-01 -8.22424369e-01 -1.05945581e-02 2.79885111e+02] [ 1.76264030e-02 -6.89957829e-04 9.99844405e-01 2.21087825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4807140569999 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:298.30, Y:279.89, Z:2.21 [[-8.21318673e-01 -5.70298101e-01 1.39897710e-02 2.98301170e+02] [ 5.70197530e-01 -8.21437374e-01 -1.07432442e-02 2.79886604e+02] [ 1.76185725e-02 -8.46694227e-04 9.99844422e-01 2.21051408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.510714057 meters Centerline goodness : 0.991238 Centerline is valid? [True, True] Translation: X:298.30, Y:279.89, Z:2.21 [[-8.19079204e-01 -5.73509948e-01 1.39856038e-02 2.98301812e+02] [ 5.73409751e-01 -8.19198220e-01 -1.07486663e-02 2.79885739e+02] [ 1.76214488e-02 -7.84527444e-04 9.99844422e-01 2.21157978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.540714057 meters Centerline goodness : 0.990641 Centerline is valid? [True, True] Translation: X:298.30, Y:279.89, Z:2.21 [[-8.17592731e-01 -5.75627175e-01 1.39814423e-02 2.98299018e+02] [ 5.75527194e-01 -8.17711929e-01 -1.07540768e-02 2.79887262e+02] [ 1.76231310e-02 -7.45754759e-04 9.99844422e-01 2.21168378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5707140569999 meters Centerline goodness : 0.991553 Centerline is valid? [True, True] Translation: X:298.30, Y:279.89, Z:2.21 [[-8.15992188e-01 -5.77893922e-01 1.39772829e-02 2.98300170e+02] [ 5.77794180e-01 -8.16111585e-01 -1.07594801e-02 2.79886305e+02] [ 1.76248607e-02 -7.03659056e-04 9.99844422e-01 2.21197032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6007140569999 meters Centerline goodness : 0.986245 Centerline is valid? [True, True] Translation: X:297.57, Y:280.45, Z:2.23 [[-8.17509676e-01 -5.75745326e-01 1.39731262e-02 2.97565931e+02] [ 5.75645178e-01 -8.17628734e-01 -1.07648756e-02 2.80448701e+02] [ 1.76226563e-02 -7.56827232e-04 9.99844423e-01 2.22901088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.630714057 meters Centerline goodness : 0.991103 Centerline is valid? [True, True] Translation: X:298.29, Y:279.90, Z:2.21 [[-8.11312233e-01 -5.84442475e-01 1.41228083e-02 2.98286711e+02] [ 5.84346970e-01 -8.11435080e-01 -1.05702697e-02 2.79895345e+02] [ 1.76374566e-02 -3.23168897e-04 9.99844396e-01 2.21245504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.660714057 meters Centerline goodness : 0.991194 Centerline is valid? [True, True] Translation: X:298.29, Y:279.90, Z:2.21 [[-8.10679693e-01 -5.85323962e-01 1.39390088e-02 2.98285378e+02] [ 5.85224492e-01 -8.10799294e-01 -1.08073307e-02 2.79896629e+02] [ 1.76275281e-02 -6.03834201e-04 9.99844441e-01 2.21243890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6907140569999 meters Centerline goodness : 0.990297 Centerline is valid? [True, True] Translation: X:298.28, Y:279.90, Z:2.21 [[-8.10347218e-01 -5.85784266e-01 1.39348490e-02 2.98284864e+02] [ 5.85684773e-01 -8.10466799e-01 -1.08126916e-02 2.79899603e+02] [ 1.76276371e-02 -6.00605693e-04 9.99844441e-01 2.21281916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7207140569999 meters Centerline goodness : 0.990297 Centerline is valid? [True, True] Translation: X:298.28, Y:279.90, Z:2.21 [[-8.10121989e-01 -5.86095810e-01 1.39306886e-02 2.98282751e+02] [ 5.85996270e-01 -8.10241533e-01 -1.08180491e-02 2.79901153e+02] [ 1.76276357e-02 -6.00607924e-04 9.99844441e-01 2.21286358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.750714057 meters Centerline goodness : 0.990659 Centerline is valid? [True, True] Translation: X:298.28, Y:279.90, Z:2.21 [[-8.10289685e-01 -5.85864044e-01 1.39265275e-02 2.98280601e+02] [ 5.85764378e-01 -8.10409123e-01 -1.08234032e-02 2.79904624e+02] [ 1.76272277e-02 -6.12428285e-04 9.99844441e-01 2.21283934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.780714057 meters Centerline goodness : 0.990560 Centerline is valid? [True, True] Translation: X:298.28, Y:279.91, Z:2.21 [[-8.11510275e-01 -5.84172271e-01 1.39223615e-02 2.98279888e+02] [ 5.84072265e-01 -8.11629427e-01 -1.08287593e-02 2.79908274e+02] [ 1.76256592e-02 -6.55984221e-04 9.99844441e-01 2.21321280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8107140569999 meters Centerline goodness : 0.985602 Centerline is valid? [True, True] Translation: X:297.51, Y:280.50, Z:2.23 [[-8.15690456e-01 -5.78321160e-01 1.39181921e-02 2.97512960e+02] [ 5.78220208e-01 -8.15808809e-01 -1.08341156e-02 2.80502862e+02] [ 1.76201820e-02 -7.89504770e-04 9.99844441e-01 2.22982627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8407140569999 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:298.26, Y:279.92, Z:2.21 [[-8.11760056e-01 -5.83823125e-01 1.40060497e-02 2.98262419e+02] [ 5.83724916e-01 -8.11880706e-01 -1.07211050e-02 2.79922453e+02] [ 1.76304705e-02 -5.27284629e-04 9.99844432e-01 2.21389281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.870714057 meters Centerline goodness : 0.989695 Centerline is valid? [True, True] Translation: X:298.26, Y:279.93, Z:2.21 [[-8.12640904e-01 -5.82599435e-01 1.38801905e-02 2.98258600e+02] [ 5.82498297e-01 -8.12759081e-01 -1.08816465e-02 2.79927073e+02] [ 1.76208920e-02 -7.57683779e-04 9.99844453e-01 2.21380887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.900714057 meters Centerline goodness : 0.989527 Centerline is valid? [True, True] Translation: X:298.26, Y:279.93, Z:2.21 [[-8.14746553e-01 -5.79651199e-01 1.38759832e-02 2.98256740e+02] [ 5.79549542e-01 -8.14864284e-01 -1.08870089e-02 2.79931707e+02] [ 1.76177109e-02 -8.28333323e-04 9.99844453e-01 2.21392886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9307140569999 meters Centerline goodness : 0.989377 Centerline is valid? [True, True] Translation: X:298.25, Y:279.94, Z:2.21 [[-8.15697911e-01 -5.78311760e-01 1.38717660e-02 2.98252709e+02] [ 5.78209819e-01 -8.15815397e-01 -1.08923796e-02 2.79936002e+02] [ 1.76159915e-02 -8.64100001e-04 9.99844453e-01 2.21426721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9607140569999 meters Centerline goodness : 0.989370 Centerline is valid? [True, True] Translation: X:298.25, Y:279.94, Z:2.21 [[-8.17520255e-01 -5.75732859e-01 1.38675389e-02 2.98248479e+02] [ 5.75630456e-01 -8.17637338e-01 -1.08977586e-02 2.79941454e+02] [ 1.76128153e-02 -9.26560615e-04 9.99844453e-01 2.21417424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9907140569999 meters Centerline goodness : 0.989098 Centerline is valid? [True, True] Translation: X:298.25, Y:279.94, Z:2.21 [[-8.17896289e-01 -5.75198635e-01 1.38632991e-02 2.98247703e+02] [ 5.75096065e-01 -8.18013226e-01 -1.09031496e-02 2.79942907e+02] [ 1.76118387e-02 -9.44916825e-04 9.99844453e-01 2.21410635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.020714057 meters Centerline goodness : 0.986694 Centerline is valid? [True, True] Translation: X:298.27, Y:279.93, Z:2.22 [[-8.15191224e-01 -5.79026074e-01 1.38590521e-02 2.98267829e+02] [ 5.78923962e-01 -8.15308561e-01 -1.09085452e-02 2.79934762e+02] [ 1.76157360e-02 -8.69213001e-04 9.99844453e-01 2.22264614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0507140569999 meters Centerline goodness : 0.988415 Centerline is valid? [True, True] Translation: X:298.26, Y:279.94, Z:2.22 [[-8.15775222e-01 -5.78204115e-01 1.38126483e-02 2.98260127e+02] [ 5.78100889e-01 -8.15891584e-01 -1.09674728e-02 2.79940085e+02] [ 1.76110614e-02 -9.61888279e-04 9.99844451e-01 2.22096933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0807140569999 meters Centerline goodness : 0.987119 Centerline is valid? [True, True] Translation: X:298.26, Y:279.94, Z:2.22 [[-8.15669351e-01 -5.78356169e-01 1.36986015e-02 2.98263537e+02] [ 5.78250538e-01 -8.15783572e-01 -1.11121586e-02 2.79939031e+02] [ 1.76018795e-02 -1.14262349e-03 9.99844422e-01 2.22434205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1107140569999 meters Centerline goodness : 0.987611 Centerline is valid? [True, True] Translation: X:298.26, Y:279.94, Z:2.22 [[-8.16246584e-01 -5.77539265e-01 1.37808545e-02 2.98259182e+02] [ 5.77435267e-01 -8.16362261e-01 -1.10077788e-02 2.79941338e+02] [ 1.76075940e-02 -1.02751043e-03 9.99844446e-01 2.22020165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.140714057 meters Centerline goodness : 0.987789 Centerline is valid? [True, True] Translation: X:298.26, Y:279.94, Z:2.22 [[-8.16294894e-01 -5.77473591e-01 1.36710811e-02 2.98256223e+02] [ 5.77367256e-01 -8.16408475e-01 -1.11469062e-02 2.79943657e+02] [ 1.75982305e-02 -1.20592802e-03 9.99844412e-01 2.21989473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1707140569999 meters Centerline goodness : 0.986921 Centerline is valid? [True, True] Translation: X:298.25, Y:279.95, Z:2.22 [[-8.17714547e-01 -5.75461854e-01 1.36592268e-02 2.98251002e+02] [ 5.75354991e-01 -8.17827639e-01 -1.11619244e-02 2.79946792e+02] [ 1.75941549e-02 -1.26836362e-03 9.99844406e-01 2.22163663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2007140569999 meters Centerline goodness : 0.988372 Centerline is valid? [True, True] Translation: X:298.25, Y:279.95, Z:2.22 [[-8.19306148e-01 -5.73191374e-01 1.37507771e-02 2.98246876e+02] [ 5.73086125e-01 -8.19420698e-01 -1.10459373e-02 2.79948217e+02] [ 1.75991073e-02 -1.16962480e-03 9.99844440e-01 2.21916203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2307140569999 meters Centerline goodness : 0.986500 Centerline is valid? [True, True] Translation: X:298.25, Y:279.95, Z:2.22 [[-8.20062569e-01 -5.72111371e-01 1.36367927e-02 2.98247850e+02] [ 5.72003580e-01 -8.20174789e-01 -1.11901705e-02 2.79947667e+02] [ 1.75865774e-02 -1.37634577e-03 9.99844397e-01 2.22369401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.260714057 meters Centerline goodness : 0.982619 Centerline is valid? [True, True] Translation: X:297.45, Y:280.56, Z:2.24 [[-8.34147876e-01 -5.51367852e-01 1.38135489e-02 2.97445496e+02] [ 5.51260949e-01 -8.34260839e-01 -1.09643998e-02 2.80563168e+02] [ 1.75695205e-02 -1.53106070e-03 9.99844472e-01 2.23971112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.290714057 meters Centerline goodness : 0.989707 Centerline is valid? [True, True] Translation: X:298.21, Y:279.97, Z:2.21 [[-8.28415003e-01 -5.59939411e-01 1.40156540e-02 2.98210348e+02] [ 5.59837989e-01 -8.28532927e-01 -1.07058783e-02 2.79966862e+02] [ 1.76070740e-02 -1.02241467e-03 9.99844461e-01 2.21418041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3207140569999 meters Centerline goodness : 0.989128 Centerline is valid? [True, True] Translation: X:298.23, Y:279.95, Z:2.22 [[-8.23795392e-01 -5.66718118e-01 1.38465361e-02 2.98233195e+02] [ 5.66614062e-01 -8.23910949e-01 -1.09203143e-02 2.79953314e+02] [ 1.75970527e-02 -1.15046255e-03 9.99844498e-01 2.21796890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3507140569999 meters Centerline goodness : 0.986742 Centerline is valid? [True, True] Translation: X:298.23, Y:279.96, Z:2.22 [[-8.24360085e-01 -5.65901660e-01 1.36293958e-02 2.98227715e+02] [ 5.65792950e-01 -8.24471351e-01 -1.11950515e-02 2.79955623e+02] [ 1.75723446e-02 -1.51733757e-03 9.99844443e-01 2.22398138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.380714057 meters Centerline goodness : 0.988152 Centerline is valid? [True, True] Translation: X:298.23, Y:279.95, Z:2.22 [[-8.24014676e-01 -5.66402209e-01 1.37241278e-02 2.98227189e+02] [ 5.66295538e-01 -8.24127844e-01 -1.10751872e-02 2.79951493e+02] [ 1.75834464e-02 -1.35420451e-03 9.99844482e-01 2.22283042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.410714057 meters Centerline goodness : 0.986939 Centerline is valid? [True, True] Translation: X:298.23, Y:279.95, Z:2.22 [[-8.23272671e-01 -5.67480645e-01 1.37049942e-02 2.98225787e+02] [ 5.67373723e-01 -8.23385610e-01 -1.10993831e-02 2.79950815e+02] [ 1.75831801e-02 -1.36196519e-03 9.99844476e-01 2.22310128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4407140569999 meters Centerline goodness : 0.987729 Centerline is valid? [True, True] Translation: X:298.22, Y:279.95, Z:2.22 [[-8.20319471e-01 -5.71740615e-01 1.37344846e-02 2.98217802e+02] [ 5.71634898e-01 -8.20433528e-01 -1.10620940e-02 2.79953337e+02] [ 1.75928801e-02 -1.22334043e-03 9.99844485e-01 2.22268095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4707140569999 meters Centerline goodness : 0.988109 Centerline is valid? [True, True] Translation: X:298.21, Y:279.96, Z:2.22 [[-8.19786931e-01 -5.72506732e-01 1.36172838e-02 2.98211913e+02] [ 5.72398671e-01 -8.19898832e-01 -1.12101325e-02 2.79956334e+02] [ 1.75826715e-02 -1.39540498e-03 9.99844439e-01 2.22270911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.500714057 meters Centerline goodness : 0.987797 Centerline is valid? [True, True] Translation: X:298.20, Y:279.96, Z:2.22 [[-8.18620590e-01 -5.74173539e-01 1.36042860e-02 2.98203611e+02] [ 5.74065435e-01 -8.18732460e-01 -1.12265435e-02 2.79959074e+02] [ 1.75842548e-02 -1.38052932e-03 9.99844432e-01 2.21969731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.530714057 meters Centerline goodness : 0.988777 Centerline is valid? [True, True] Translation: X:298.20, Y:279.96, Z:2.22 [[-8.19033848e-01 -5.73585282e-01 1.35454787e-02 2.98200653e+02] [ 5.73475878e-01 -8.19144500e-01 -1.13007199e-02 2.79958453e+02] [ 1.75776310e-02 -1.48766679e-03 9.99844395e-01 2.21616831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5607140569999 meters Centerline goodness : 0.988434 Centerline is valid? [True, True] Translation: X:298.20, Y:279.96, Z:2.22 [[-8.19661753e-01 -5.72689639e-01 1.34606234e-02 2.98199993e+02] [ 5.72578369e-01 -8.19770625e-01 -1.14076340e-02 2.79957553e+02] [ 1.75676574e-02 -1.64313947e-03 9.99844327e-01 2.21751893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5907140569999 meters Centerline goodness : 0.987433 Centerline is valid? [True, True] Translation: X:298.19, Y:279.96, Z:2.22 [[-8.21296404e-01 -5.70341100e-01 1.35368381e-02 2.98192530e+02] [ 5.70231081e-01 -8.21406453e-01 -1.13116063e-02 2.79959129e+02] [ 1.75707202e-02 -1.57105575e-03 9.99844389e-01 2.21927491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.620714057 meters Centerline goodness : 0.989408 Centerline is valid? [True, True] Translation: X:298.18, Y:279.96, Z:2.21 [[-8.20998615e-01 -5.70770146e-01 1.35172146e-02 2.98184915e+02] [ 5.70659781e-01 -8.21108337e-01 -1.13363265e-02 2.79963370e+02] [ 1.75695343e-02 -1.59337759e-03 9.99844374e-01 2.21241268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.650714057 meters Centerline goodness : 0.987563 Centerline is valid? [True, True] Translation: X:298.18, Y:279.96, Z:2.22 [[-8.23817140e-01 -5.66696794e-01 1.34187448e-02 2.98180591e+02] [ 5.66583884e-01 -8.23924368e-01 -1.14602824e-02 2.79959575e+02] [ 1.75505361e-02 -1.83833257e-03 9.99844287e-01 2.21855480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6807140569999 meters Centerline goodness : 0.986478 Centerline is valid? [True, True] Translation: X:298.17, Y:279.96, Z:2.22 [[-8.23570250e-01 -5.67052848e-01 1.35318328e-02 2.98173998e+02] [ 5.66942289e-01 -8.23679760e-01 -1.13178218e-02 2.79963092e+02] [ 1.75636999e-02 -1.64925311e-03 9.99844386e-01 2.21770648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7107140569999 meters Centerline goodness : 0.986939 Centerline is valid? [True, True] Translation: X:298.18, Y:279.96, Z:2.22 [[-8.23440311e-01 -5.67241872e-01 1.35171374e-02 2.98176884e+02] [ 5.67131038e-01 -8.23549557e-01 -1.13363240e-02 2.79956989e+02] [ 1.75624701e-02 -1.66879799e-03 9.99844375e-01 2.21903917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7407140569999 meters Centerline goodness : 0.986087 Centerline is valid? [True, True] Translation: X:298.17, Y:279.96, Z:2.22 [[-8.22844063e-01 -5.68106867e-01 1.34994935e-02 2.98173929e+02] [ 5.67995787e-01 -8.22953079e-01 -1.13585220e-02 2.79957016e+02] [ 1.75623041e-02 -1.67863698e-03 9.99844362e-01 2.21854946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.770714057 meters Centerline goodness : 0.987343 Centerline is valid? [True, True] Translation: X:298.18, Y:279.95, Z:2.22 [[-8.22879843e-01 -5.68055489e-01 1.34805918e-02 2.98178296e+02] [ 5.67944017e-01 -8.22988480e-01 -1.13822817e-02 2.79945838e+02] [ 1.75601393e-02 -1.71002870e-03 9.99844347e-01 2.21855410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8007140569999 meters Centerline goodness : 0.986793 Centerline is valid? [True, True] Translation: X:298.17, Y:279.94, Z:2.22 [[-8.23909154e-01 -5.66562393e-01 1.34446929e-02 2.98173850e+02] [ 5.66449997e-01 -8.24016879e-01 -1.14273650e-02 2.79940983e+02] [ 1.75529692e-02 -1.79936444e-03 9.99844316e-01 2.21856363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8307140569999 meters Centerline goodness : 0.987933 Centerline is valid? [True, True] Translation: X:298.17, Y:279.94, Z:2.22 [[-8.22913245e-01 -5.68004628e-01 1.35843639e-02 2.98169882e+02] [ 5.67895271e-01 -8.23023910e-01 -1.12518788e-02 2.79940041e+02] [ 1.75713755e-02 -1.54482409e-03 9.99844418e-01 2.21815796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8607140569999 meters Centerline goodness : 0.987644 Centerline is valid? [True, True] Translation: X:298.17, Y:279.94, Z:2.22 [[-8.21928850e-01 -5.69429883e-01 1.35120025e-02 2.98171744e+02] [ 5.69319236e-01 -8.22038291e-01 -1.13427051e-02 2.79935806e+02] [ 1.75662587e-02 -1.63025365e-03 9.99844372e-01 2.21922189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.890714057 meters Centerline goodness : 0.987980 Centerline is valid? [True, True] Translation: X:298.17, Y:279.93, Z:2.22 [[-8.22237584e-01 -5.68984337e-01 1.34973967e-02 2.98166812e+02] [ 5.68873333e-01 -8.22346678e-01 -1.13610273e-02 2.79934981e+02] [ 1.75637859e-02 -1.66315457e-03 9.99844362e-01 2.21794486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9207140569999 meters Centerline goodness : 0.988016 Centerline is valid? [True, True] Translation: X:298.16, Y:279.93, Z:2.22 [[-8.20884483e-01 -5.70933918e-01 1.35324523e-02 2.98161725e+02] [ 5.70823889e-01 -8.20994526e-01 -1.13170592e-02 2.79932093e+02] [ 1.75713622e-02 -1.56535120e-03 9.99844386e-01 2.21882149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9507140569999 meters Centerline goodness : 0.989429 Centerline is valid? [True, True] Translation: X:298.16, Y:279.93, Z:2.21 [[-8.18750371e-01 -5.73990369e-01 1.35235576e-02 2.98158372e+02] [ 5.73880570e-01 -8.18860650e-01 -1.13282059e-02 2.79931607e+02] [ 1.75761902e-02 -1.51406582e-03 9.99844380e-01 2.21455387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9807140569999 meters Centerline goodness : 0.989237 Centerline is valid? [True, True] Translation: X:298.15, Y:279.93, Z:2.21 [[-8.19092331e-01 -5.73505617e-01 1.33813700e-02 2.98151947e+02] [ 5.73392858e-01 -8.19199755e-01 -1.15061506e-02 2.79929973e+02] [ 1.75608570e-02 -1.75181775e-03 9.99844262e-01 2.21401377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.010714057 meters Centerline goodness : 0.988361 Centerline is valid? [True, True] Translation: X:298.15, Y:279.93, Z:2.22 [[-8.19838540e-01 -5.72436253e-01 1.34723789e-02 2.98151084e+02] [ 5.72325201e-01 -8.19947609e-01 -1.13922139e-02 2.79926644e+02] [ 1.75679611e-02 -1.62919402e-03 9.99844344e-01 2.21641793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.040714057 meters Centerline goodness : 0.988135 Centerline is valid? [True, True] Translation: X:298.15, Y:279.93, Z:2.22 [[-8.19641637e-01 -5.72716940e-01 1.35237834e-02 2.98145776e+02] [ 5.72606975e-01 -8.19751750e-01 -1.13278369e-02 2.79927850e+02] [ 1.75737892e-02 -1.54095408e-03 9.99844382e-01 2.21685293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0707140569999 meters Centerline goodness : 0.987863 Centerline is valid? [True, True] Translation: X:298.14, Y:279.92, Z:2.22 [[-8.19618196e-01 -5.72750164e-01 1.35374435e-02 2.98144412e+02] [ 5.72640483e-01 -8.19728580e-01 -1.13107361e-02 2.79923480e+02] [ 1.75752553e-02 -1.51839697e-03 9.99844390e-01 2.21700127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1007140569999 meters Centerline goodness : 0.989258 Centerline is valid? [True, True] Translation: X:298.14, Y:279.93, Z:2.22 [[-8.18828041e-01 -5.73878344e-01 1.35751998e-02 2.98136000e+02] [ 5.73769591e-01 -8.18939309e-01 -1.12634744e-02 2.79927892e+02] [ 1.75811287e-02 -1.43381186e-03 9.99844412e-01 2.21554664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.130714057 meters Centerline goodness : 0.988956 Centerline is valid? [True, True] Translation: X:298.13, Y:279.92, Z:2.22 [[-8.18605410e-01 -5.74196641e-01 1.35425440e-02 2.98133211e+02] [ 5.74087260e-01 -8.18716086e-01 -1.13043242e-02 2.79924862e+02] [ 1.75784036e-02 -1.47917897e-03 9.99844394e-01 2.21703310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.160714057 meters Centerline goodness : 0.988337 Centerline is valid? [True, True] Translation: X:298.14, Y:279.92, Z:2.22 [[-8.18130262e-01 -5.74873066e-01 1.35584945e-02 2.98135459e+02] [ 5.74764105e-01 -8.18241338e-01 -1.12843813e-02 2.79920584e+02] [ 1.75812076e-02 -1.43915786e-03 9.99844403e-01 2.21718809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1907140569999 meters Centerline goodness : 0.988528 Centerline is valid? [True, True] Translation: X:298.13, Y:279.92, Z:2.22 [[-8.18105974e-01 -5.74906355e-01 1.36124451e-02 2.98127979e+02] [ 5.74798509e-01 -8.18218097e-01 -1.12169233e-02 2.79922398e+02] [ 1.75866294e-02 -1.35221879e-03 9.99844429e-01 2.21875583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2207140569999 meters Centerline goodness : 0.988987 Centerline is valid? [True, True] Translation: X:298.12, Y:279.92, Z:2.22 [[-8.16091371e-01 -5.77762600e-01 1.36107352e-02 2.98120348e+02] [ 5.77655111e-01 -8.16203838e-01 -1.12190600e-02 2.79924290e+02] [ 1.75910876e-02 -1.29346729e-03 9.99844428e-01 2.21623995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.250714057 meters Centerline goodness : 0.989396 Centerline is valid? [True, True] Translation: X:298.12, Y:279.92, Z:2.22 [[-8.16057101e-01 -5.77812338e-01 1.35539978e-02 2.98120263e+02] [ 5.77703686e-01 -8.16168481e-01 -1.12898906e-02 2.79922244e+02] [ 1.75857839e-02 -1.38300086e-03 9.99844402e-01 2.21632086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.280714057 meters Centerline goodness : 0.989001 Centerline is valid? [True, True] Translation: X:298.11, Y:279.93, Z:2.22 [[-8.13603016e-01 -5.81262468e-01 1.35674353e-02 2.98112285e+02] [ 5.81154567e-01 -8.13715114e-01 -1.12731218e-02 2.79926626e+02] [ 1.75926697e-02 -1.28706892e-03 9.99844409e-01 2.21957276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3107140569999 meters Centerline goodness : 0.988643 Centerline is valid? [True, True] Translation: X:298.10, Y:279.93, Z:2.22 [[-8.13662576e-01 -5.81180946e-01 1.34877827e-02 2.98104827e+02] [ 5.81071394e-01 -8.13773127e-01 -1.13724337e-02 2.79931630e+02] [ 1.75854369e-02 -1.41595903e-03 9.99844362e-01 2.21993946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3407140569999 meters Centerline goodness : 0.990330 Centerline is valid? [True, True] Translation: X:298.10, Y:279.93, Z:2.21 [[-8.15369058e-01 -5.78784184e-01 1.34969593e-02 2.98103925e+02] [ 5.78674494e-01 -8.15479465e-01 -1.13609952e-02 2.79927008e+02] [ 1.75820575e-02 -1.45305785e-03 9.99844368e-01 2.21356281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.370714057 meters Centerline goodness : 0.989498 Centerline is valid? [True, True] Translation: X:297.77, Y:280.19, Z:2.23 [[-8.25592987e-01 -5.64103345e-01 1.35512196e-02 2.97766959e+02] [ 5.63992804e-01 -8.25702484e-01 -1.12927095e-02 2.80188917e+02] [ 1.75595308e-02 -1.68039145e-03 9.99844407e-01 2.22502526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.400714057 meters Centerline goodness : 0.989636 Centerline is valid? [True, True] Translation: X:298.11, Y:279.93, Z:2.22 [[-8.10288162e-01 -5.85869783e-01 1.37728608e-02 2.98109101e+02] [ 5.85766887e-01 -8.10404753e-01 -1.10131909e-02 2.79925028e+02] [ 1.76138877e-02 -8.56172424e-04 9.99844497e-01 2.21729396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4307140569999 meters Centerline goodness : 0.989517 Centerline is valid? [True, True] Translation: X:298.09, Y:279.93, Z:2.22 [[-8.15974788e-01 -5.77933488e-01 1.33427394e-02 2.98094699e+02] [ 5.77820663e-01 -8.16082074e-01 -1.15468621e-02 2.79929900e+02] [ 1.75620888e-02 -1.71223781e-03 9.99844309e-01 2.21801489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4607140569999 meters Centerline goodness : 0.989534 Centerline is valid? [True, True] Translation: X:298.10, Y:279.92, Z:2.22 [[-8.16045450e-01 -5.77829017e-01 1.35443812e-02 2.98100653e+02] [ 5.77720266e-01 -8.16156655e-01 -1.12964009e-02 2.79923866e+02] [ 1.75817251e-02 -1.39351305e-03 9.99844458e-01 2.21751735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4907140569999 meters Centerline goodness : 0.989482 Centerline is valid? [True, True] Translation: X:298.09, Y:279.93, Z:2.22 [[-8.14073115e-01 -5.80603396e-01 1.35889822e-02 2.98094036e+02] [ 5.80495941e-01 -8.14185545e-01 -1.12410276e-02 2.79926116e+02] [ 1.75905317e-02 -1.26266929e-03 9.99844477e-01 2.21714899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.520714057 meters Centerline goodness : 0.992519 Centerline is valid? [True, True] Translation: X:298.08, Y:279.92, Z:2.22 [[-8.22857515e-01 -5.68087288e-01 1.35034694e-02 2.98082406e+02] [ 5.67976399e-01 -8.22966617e-01 -1.13471068e-02 2.79920869e+02] [ 1.75590516e-02 -1.66740020e-03 9.99844438e-01 2.21595023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5507140569999 meters Centerline goodness : 0.990222 Centerline is valid? [True, True] Translation: X:298.09, Y:279.93, Z:2.22 [[-8.12128164e-01 -5.83317399e-01 1.37352737e-02 2.98086602e+02] [ 5.83213361e-01 -8.12243726e-01 -1.10592134e-02 2.79928681e+02] [ 1.76074215e-02 -9.70903567e-04 9.99844506e-01 2.21899465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5807140569999 meters Centerline goodness : 0.990026 Centerline is valid? [True, True] Translation: X:298.09, Y:279.92, Z:2.22 [[-8.08857767e-01 -5.87849177e-01 1.35076782e-02 2.98088026e+02] [ 5.87741061e-01 -8.08969605e-01 -1.13412873e-02 2.79924704e+02] [ 1.75942675e-02 -1.23447125e-03 9.99844447e-01 2.22102158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6107140569999 meters Centerline goodness : 0.990026 Centerline is valid? [True, True] Translation: X:298.09, Y:279.93, Z:2.22 [[-8.08652984e-01 -5.88131234e-01 1.34908457e-02 2.98085921e+02] [ 5.88022810e-01 -8.08764537e-01 -1.13621397e-02 2.79926307e+02] [ 1.75933469e-02 -1.25510318e-03 9.99844437e-01 2.22105855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.640714057 meters Centerline goodness : 0.990205 Centerline is valid? [True, True] Translation: X:298.08, Y:279.93, Z:2.22 [[-8.03974339e-01 -5.94510998e-01 1.34883524e-02 2.98077951e+02] [ 5.94403409e-01 -8.04086699e-01 -1.13652263e-02 2.79933319e+02] [ 1.76025568e-02 -1.11982766e-03 9.99844436e-01 2.22035183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6707140569999 meters Centerline goodness : 0.989526 Centerline is valid? [True, True] Translation: X:297.69, Y:280.24, Z:2.23 [[-8.16641453e-01 -5.76987494e-01 1.34970001e-02 2.97686844e+02] [ 5.76877678e-01 -8.16751628e-01 -1.13543878e-02 2.80236786e+02] [ 1.75750366e-02 -1.48634564e-03 9.99844442e-01 2.22808997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7007140569999 meters Centerline goodness : 0.991130 Centerline is valid? [True, True] Translation: X:297.78, Y:280.16, Z:2.22 [[-8.15199648e-01 -5.79016242e-01 1.37741217e-02 2.97784958e+02] [ 5.78912494e-01 -8.15315397e-01 -1.10058203e-02 2.80156552e+02] [ 1.76028022e-02 -9.97929677e-04 9.99844561e-01 2.22180183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7307140569999 meters Centerline goodness : 0.984621 Centerline is valid? [True, True] Translation: X:297.38, Y:280.46, Z:2.23 [[-8.25580932e-01 -5.64115665e-01 1.37710355e-02 2.97383709e+02] [ 5.64009768e-01 -8.25694718e-01 -1.10097061e-02 2.80462774e+02] [ 1.75814190e-02 -1.32240482e-03 9.99844560e-01 2.23012093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.760714057 meters Centerline goodness : 0.992864 Centerline is valid? [True, True] Translation: X:298.06, Y:279.93, Z:2.22 [[-8.20714749e-01 -5.71168241e-01 1.39334819e-02 2.98055897e+02] [ 5.71066773e-01 -8.20832512e-01 -1.08040671e-02 2.79931236e+02] [ 1.76079950e-02 -9.10108672e-04 9.99844553e-01 2.21521690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.790714057 meters Centerline goodness : 0.992964 Centerline is valid? [True, True] Translation: X:298.06, Y:279.93, Z:2.21 [[-8.20860890e-01 -5.70961623e-01 1.37921770e-02 2.98056060e+02] [ 5.70857147e-01 -8.20975958e-01 -1.09815386e-02 2.79930331e+02] [ 1.75930829e-02 -1.14095272e-03 9.99844579e-01 2.21442897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8207140569999 meters Centerline goodness : 0.992895 Centerline is valid? [True, True] Translation: X:298.05, Y:279.93, Z:2.21 [[-8.21521263e-01 -5.70011147e-01 1.37879017e-02 2.98054182e+02] [ 5.69906449e-01 -8.21636128e-01 -1.09869039e-02 2.79929905e+02] [ 1.75912959e-02 -1.16816107e-03 9.99844579e-01 2.21305647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8507140569999 meters Centerline goodness : 0.992685 Centerline is valid? [True, True] Translation: X:298.05, Y:279.94, Z:2.21 [[-8.21843259e-01 -5.69546898e-01 1.37836322e-02 2.98047844e+02] [ 5.69442045e-01 -8.21957984e-01 -1.09922576e-02 2.79935091e+02] [ 1.75901728e-02 -1.18493310e-03 9.99844579e-01 2.21425017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.880714057 meters Centerline goodness : 0.992981 Centerline is valid? [True, True] Translation: X:298.06, Y:279.93, Z:2.21 [[-8.08728115e-01 -5.88019454e-01 1.38549197e-02 2.98062720e+02] [ 5.87918750e-01 -8.08846506e-01 -1.09028811e-02 2.79934233e+02] [ 1.76176096e-02 -6.71899352e-04 9.99844572e-01 2.20825183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.910714057 meters Centerline goodness : 0.992158 Centerline is valid? [True, True] Translation: X:298.05, Y:279.93, Z:2.22 [[-8.21106276e-01 -5.70619031e-01 1.33568658e-02 2.98045221e+02] [ 5.70505613e-01 -8.21212838e-01 -1.15247940e-02 2.79932286e+02] [ 1.75450965e-02 -1.84291378e-03 9.99844375e-01 2.21551087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9407140569999 meters Centerline goodness : 0.984108 Centerline is valid? [True, True] Translation: X:297.27, Y:280.55, Z:2.23 [[-8.24622278e-01 -5.65516041e-01 1.37733518e-02 2.97266707e+02] [ 5.65410444e-01 -8.24736293e-01 -1.10034733e-02 2.80548177e+02] [ 1.75820238e-02 -1.28611223e-03 9.99844597e-01 2.23471766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9707140569999 meters Centerline goodness : 0.991180 Centerline is valid? [True, True] Translation: X:297.73, Y:280.18, Z:2.23 [[-8.13654913e-01 -5.81183016e-01 1.38558503e-02 2.97733806e+02] [ 5.81081355e-01 -8.13772470e-01 -1.09007405e-02 2.80178379e+02] [ 1.76108348e-02 -8.18064835e-04 9.99844583e-01 2.22662939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.000714057 meters Centerline goodness : 0.991009 Centerline is valid? [True, True] Translation: X:298.02, Y:279.95, Z:2.22 [[-8.06715593e-01 -5.90781677e-01 1.36734333e-02 2.98022089e+02] [ 5.90677591e-01 -8.06830963e-01 -1.11256764e-02 2.79948112e+02] [ 1.76049951e-02 -8.98665964e-04 9.99844616e-01 2.21972369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.030714057 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:297.62, Y:280.27, Z:2.23 [[-8.15012298e-01 -5.79285048e-01 1.35568642e-02 2.97618710e+02] [ 5.79176955e-01 -8.15123952e-01 -1.12693153e-02 2.80267154e+02] [ 1.75786705e-02 -1.33280723e-03 9.99844595e-01 2.22557902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0607140569999 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:298.43, Y:280.66, Z:3.02 [[-7.88134996e-01 6.15353102e-01 -1.35568642e-02 2.98430098e+02] [ 6.15250140e-01 7.88251399e-01 1.12693153e-02 2.80655159e+02] [ 1.76208253e-02 5.40879180e-04 -9.99844595e-01 3.02324377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0907140569999 meters Centerline goodness : 0.991755 Centerline is valid? [True, True] Translation: X:297.96, Y:280.05, Z:2.22 [[-8.48936724e-01 -5.28293073e-01 1.45899720e-02 2.97961164e+02] [ 5.28202686e-01 -8.49061872e-01 -9.79078278e-03 2.80045327e+02] [ 1.75601916e-02 -6.05292661e-04 9.99845625e-01 2.21962849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.120714057 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:297.96, Y:280.04, Z:2.22 [[-8.57609578e-01 -5.14105951e-01 1.41733021e-02 2.97957393e+02] [ 5.14003608e-01 -8.57725156e-01 -1.03850054e-02 2.80036467e+02] [ 1.74957908e-02 -1.62115166e-03 9.99845623e-01 2.22126393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.150714057 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:297.97, Y:280.04, Z:2.22 [[-8.50882723e-01 -5.25158591e-01 1.43891000e-02 2.97967434e+02] [ 5.25062892e-01 -8.51003770e-01 -1.00768623e-02 2.80038320e+02] [ 1.75371291e-02 -1.01904556e-03 9.99845693e-01 2.21793774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1807140569999 meters Centerline goodness : 0.992508 Centerline is valid? [True, True] Translation: X:297.97, Y:280.04, Z:2.22 [[-8.50247154e-01 -5.26192633e-01 1.41806220e-02 2.97971686e+02] [ 5.26092122e-01 -8.50364312e-01 -1.03738412e-02 2.80036283e+02] [ 1.75173337e-02 -1.36001546e-03 9.99845635e-01 2.21693125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2107140569999 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:297.95, Y:280.04, Z:2.22 [[-8.59922307e-01 -5.10229448e-01 1.41257718e-02 2.97950706e+02] [ 5.10125496e-01 -8.60036473e-01 -1.04519534e-02 2.80040444e+02] [ 1.74815733e-02 -1.78195151e-03 9.99845598e-01 2.21927983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2407140569999 meters Centerline goodness : 0.992691 Centerline is valid? [True, True] Translation: X:297.95, Y:280.04, Z:2.22 [[-8.60372181e-01 -5.09463169e-01 1.43871348e-02 2.97950515e+02] [ 5.09365233e-01 -8.60491415e-01 -1.00788727e-02 2.80039742e+02] [ 1.75148204e-02 -1.34327547e-03 9.99845701e-01 2.21981775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.270714057 meters Centerline goodness : 0.992064 Centerline is valid? [True, True] Translation: X:297.97, Y:280.04, Z:2.22 [[-8.53846288e-01 -5.20326406e-01 1.43856488e-02 2.97967842e+02] [ 5.20229954e-01 -8.53966725e-01 -1.00809933e-02 2.80036359e+02] [ 1.75302724e-02 -1.12377328e-03 9.99845701e-01 2.21713135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3007140569999 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:297.94, Y:280.05, Z:2.22 [[-8.61608547e-01 -5.07372829e-01 1.42662254e-02 2.97938636e+02] [ 5.07271769e-01 -8.61725169e-01 -1.02511525e-02 2.80046929e+02] [ 1.74947218e-02 -1.59562723e-03 9.99845682e-01 2.21870835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3307140569999 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:297.48, Y:280.37, Z:2.23 [[-8.62333515e-01 -5.06136309e-01 1.43856440e-02 2.97480041e+02] [ 5.06037883e-01 -8.62452341e-01 -1.00807378e-02 2.80367138e+02] [ 1.75091598e-02 -1.41327725e-03 9.99845704e-01 2.22768550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3607140569999 meters Centerline goodness : 0.993753 Centerline is valid? [True, True] Translation: X:298.31, Y:280.81, Z:3.02 [[-8.12350440e-01 5.82992123e-01 -1.43856440e-02 2.98313031e+02] [ 5.82904995e-01 8.12477782e-01 1.00807378e-02 2.80805325e+02] [ 1.75650069e-02 -1.96371925e-04 -9.99845704e-01 3.02434137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.390714057 meters Centerline goodness : 0.993162 Centerline is valid? [True, True] Translation: X:297.94, Y:280.12, Z:2.22 [[-8.81445494e-01 -4.72047358e-01 1.50044594e-02 2.97937409e+02] [ 4.71961352e-01 -8.81572732e-01 -9.05540912e-03 2.80116217e+02] [ 1.75021042e-02 -9.00324607e-04 9.99846421e-01 2.21709390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4207140569999 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:297.91, Y:280.13, Z:2.22 [[-8.87034953e-01 -4.61472734e-01 1.45571024e-02 2.97907646e+02] [ 4.61373034e-01 -8.87152206e-01 -9.79222088e-03 2.80129204e+02] [ 1.74332084e-02 -1.96978768e-03 9.99846090e-01 2.22069337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4507140569999 meters Centerline goodness : 0.993881 Centerline is valid? [True, True] Translation: X:297.93, Y:280.12, Z:2.22 [[-8.82173064e-01 -4.70693754e-01 1.47673677e-02 2.97929890e+02] [ 4.70601012e-01 -8.82295573e-01 -9.44504305e-03 2.80118779e+02] [ 1.74749059e-02 -1.38262439e-03 9.99846346e-01 2.21812556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4807140569999 meters Centerline goodness : 0.992142 Centerline is valid? [True, True] Translation: X:297.91, Y:280.13, Z:2.22 [[-8.86055582e-01 -4.63347928e-01 1.46356994e-02 2.97909022e+02] [ 4.63250600e-01 -8.86174659e-01 -9.66211541e-03 2.80127975e+02] [ 1.74467071e-02 -1.78117476e-03 9.99846208e-01 2.21860270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.510714057 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:297.91, Y:280.13, Z:2.22 [[-8.85569556e-01 -4.64268432e-01 1.48790318e-02 2.97907259e+02] [ 4.64177883e-01 -8.85693598e-01 -9.25973108e-03 2.80127688e+02] [ 1.74772640e-02 -1.29361847e-03 9.99846424e-01 2.22048381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.540714057 meters Centerline goodness : 0.992782 Centerline is valid? [True, True] Translation: X:297.91, Y:280.13, Z:2.22 [[-8.84800128e-01 -4.65736003e-01 1.47888134e-02 2.97908096e+02] [ 4.65643177e-01 -8.84922543e-01 -9.40880763e-03 2.80127523e+02] [ 1.74689748e-02 -1.43860413e-03 9.99846371e-01 2.21949349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5707140569999 meters Centerline goodness : 0.993051 Centerline is valid? [True, True] Translation: X:297.90, Y:280.13, Z:2.22 [[-8.85254397e-01 -4.64871561e-01 1.48014675e-02 2.97903081e+02] [ 4.64778963e-01 -8.85376972e-01 -9.38789249e-03 2.80129248e+02] [ 1.74690427e-02 -1.43126240e-03 9.99846380e-01 2.22075461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6007140569999 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:297.91, Y:280.12, Z:2.22 [[-8.82969473e-01 -4.69196845e-01 1.48064638e-02 2.97914000e+02] [ 4.69104985e-01 -8.83092597e-01 -9.37962855e-03 2.80123126e+02] [ 1.74763707e-02 -1.33613969e-03 9.99846384e-01 2.21900704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.630714057 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:297.91, Y:280.13, Z:2.22 [[-8.83203072e-01 -4.68758129e-01 1.47699223e-02 2.97906761e+02] [ 4.68665203e-01 -8.83325429e-01 -9.44001344e-03 2.80127288e+02] [ 1.74717310e-02 -1.41530024e-03 9.99846356e-01 2.21959432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.660714057 meters Centerline goodness : 0.992800 Centerline is valid? [True, True] Translation: X:297.91, Y:280.13, Z:2.22 [[-8.81930385e-01 -4.71147460e-01 1.47941599e-02 2.97907655e+02] [ 4.71055535e-01 -8.82053471e-01 -9.39990464e-03 2.80125665e+02] [ 1.74779812e-02 -1.32119063e-03 9.99846376e-01 2.21885028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6907140569999 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:297.91, Y:280.12, Z:2.22 [[-8.81670281e-01 -4.71630901e-01 1.48932586e-02 2.97906704e+02] [ 4.71541792e-01 -8.81795350e-01 -9.23577743e-03 2.80124792e+02] [ 1.74886842e-02 -1.12011664e-03 9.99846434e-01 2.22180439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7207140569999 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:297.90, Y:280.13, Z:2.22 [[-8.80451915e-01 -4.73903565e-01 1.48268872e-02 2.97902207e+02] [ 4.73812933e-01 -8.80575927e-01 -9.34562548e-03 2.80126577e+02] [ 1.74851251e-02 -1.20320295e-03 9.99846400e-01 2.22192666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.750714057 meters Centerline goodness : 0.992770 Centerline is valid? [True, True] Translation: X:297.90, Y:280.13, Z:2.22 [[-8.78461918e-01 -4.77582163e-01 1.48302632e-02 2.97899268e+02] [ 4.77492145e-01 -8.78586374e-01 -9.34003784e-03 2.80125620e+02] [ 1.74903027e-02 -1.12353335e-03 9.99846402e-01 2.22416390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.780714057 meters Centerline goodness : 0.992459 Centerline is valid? [True, True] Translation: X:297.89, Y:280.13, Z:2.22 [[-8.77093116e-01 -4.80090886e-01 1.48460963e-02 2.97893276e+02] [ 4.80001666e-01 -8.77218133e-01 -9.31383018e-03 2.80129012e+02] [ 1.74947499e-02 -1.04294538e-03 9.99846411e-01 2.22355080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8107140569999 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:297.91, Y:280.12, Z:2.22 [[-8.74100142e-01 -4.85519016e-01 1.48400344e-02 2.97907419e+02] [ 4.85430403e-01 -8.74225594e-01 -9.32386205e-03 2.80121170e+02] [ 1.75004502e-02 -9.46185272e-04 9.99846408e-01 2.22295146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8407140569999 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:297.90, Y:280.12, Z:2.22 [[-8.72861468e-01 -4.87744034e-01 1.47856144e-02 2.97904316e+02] [ 4.87654218e-01 -8.72986107e-01 -9.41379643e-03 2.80124642e+02] [ 1.74991590e-02 -1.00667294e-03 9.99846371e-01 2.22177064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.870714057 meters Centerline goodness : 0.992861 Centerline is valid? [True, True] Translation: X:297.90, Y:280.13, Z:2.22 [[-8.72811270e-01 -4.87834118e-01 1.47770112e-02 2.97902760e+02] [ 4.87744075e-01 -8.72935754e-01 -9.42801637e-03 2.80126103e+02] [ 1.74986895e-02 -1.02147927e-03 9.99846364e-01 2.22185185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.900714057 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:297.91, Y:280.12, Z:2.22 [[-8.70659717e-01 -4.91663281e-01 1.47944115e-02 2.97910216e+02] [ 4.91574273e-01 -8.70784926e-01 -9.39926599e-03 2.80122978e+02] [ 1.75040245e-02 -9.11010187e-04 9.99846378e-01 2.22046002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9307140569999 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:297.91, Y:280.12, Z:2.22 [[-8.70221907e-01 -4.92440773e-01 1.46941468e-02 2.97914469e+02] [ 4.92349082e-01 -8.70345276e-01 -9.56463788e-03 2.80121316e+02] [ 1.74989989e-02 -1.08870775e-03 9.99846288e-01 2.21935473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9607140569999 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:297.90, Y:280.13, Z:2.22 [[-8.73108867e-01 -4.87303003e-01 1.47203582e-02 2.97903217e+02] [ 4.87211312e-01 -8.73232203e-01 -9.52140102e-03 2.80128613e+02] [ 1.74940981e-02 -1.14129463e-03 9.99846315e-01 2.22061587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9907140569999 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:297.40, Y:280.42, Z:2.23 [[-8.84432324e-01 -4.66431366e-01 1.48743370e-02 2.97395973e+02] [ 4.66341057e-01 -8.84556500e-01 -9.26373628e-03 2.80423938e+02] [ 1.74780886e-02 -1.25663376e-03 9.99846457e-01 2.23127409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.020714057 meters Centerline goodness : 0.992864 Centerline is valid? [True, True] Translation: X:298.22, Y:280.91, Z:3.03 [[-8.77201469e-01 4.79892006e-01 -1.48743370e-02 2.98218606e+02] [ 4.79803605e-01 8.77327011e-01 9.26373628e-03 2.80911177e+02] [ 1.74952506e-02 9.89402550e-04 -9.99846457e-01 3.02866612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0507140569999 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:297.84, Y:280.23, Z:2.22 [[-9.09622284e-01 -4.15136342e-01 1.57834622e-02 2.97842422e+02] [ 4.15069554e-01 -9.09759181e-01 -7.44974880e-03 2.80225250e+02] [ 1.74518111e-02 -2.25222906e-04 9.99847680e-01 2.22314649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0807140569999 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:297.84, Y:280.23, Z:2.22 [[-9.10673272e-01 -4.12842152e-01 1.53476038e-02 2.97842808e+02] [ 4.12760279e-01 -9.10801751e-01 -8.31400361e-03 2.80225699e+02] [ 1.74109956e-02 -1.23645963e-03 9.99847653e-01 2.22324370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1107140569999 meters Centerline goodness : 0.992432 Centerline is valid? [True, True] Translation: X:297.83, Y:280.23, Z:2.23 [[-9.12757416e-01 -4.08211850e-01 1.53942980e-02 2.97827764e+02] [ 4.08130881e-01 -9.12886408e-01 -8.22129791e-03 2.80232707e+02] [ 1.74092766e-02 -1.22116224e-03 9.99847701e-01 2.22586759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.140714057 meters Centerline goodness : 0.991535 Centerline is valid? [True, True] Translation: X:297.85, Y:280.23, Z:2.22 [[-9.12818621e-01 -4.08073670e-01 1.54287208e-02 2.97847862e+02] [ 4.07993832e-01 -9.12948281e-01 -8.15285157e-03 2.80225162e+02] [ 1.74125882e-02 -1.14725181e-03 9.99847731e-01 2.22405583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1707140569999 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:297.84, Y:280.23, Z:2.22 [[-9.12473094e-01 -4.08842696e-01 1.55081832e-02 2.97844357e+02] [ 4.08765640e-01 -9.12604370e-01 -7.99465533e-03 2.80227176e+02] [ 1.74213922e-02 -9.55695439e-04 9.99847779e-01 2.22468398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2007140569999 meters Centerline goodness : 0.991906 Centerline is valid? [True, True] Translation: X:297.85, Y:280.23, Z:2.23 [[-9.12231526e-01 -4.09385958e-01 1.53876795e-02 2.97850461e+02] [ 4.09304936e-01 -9.12360491e-01 -8.23435354e-03 2.80225197e+02] [ 1.74101395e-02 -1.21338373e-03 9.99847696e-01 2.22639739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2307140569999 meters Centerline goodness : 0.992004 Centerline is valid? [True, True] Translation: X:297.85, Y:280.23, Z:2.22 [[-9.11590876e-01 -4.10809979e-01 1.54024460e-02 2.97853034e+02] [ 4.10729652e-01 -9.11720259e-01 -8.20496614e-03 2.80225445e+02] [ 1.74134040e-02 -1.15333101e-03 9.99847710e-01 2.22465178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.260714057 meters Centerline goodness : 0.993470 Centerline is valid? [True, True] Translation: X:297.86, Y:280.23, Z:2.22 [[-9.11152371e-01 -4.11781525e-01 1.54056095e-02 2.97855108e+02] [ 4.11701442e-01 -9.11281902e-01 -8.19866610e-03 2.80225303e+02] [ 1.74149123e-02 -1.12772241e-03 9.99847713e-01 2.22469224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.290714057 meters Centerline goodness : 0.992383 Centerline is valid? [True, True] Translation: X:297.85, Y:280.23, Z:2.22 [[-9.10444400e-01 -4.13344892e-01 1.53946230e-02 2.97854509e+02] [ 4.13264663e-01 -9.10573852e-01 -8.22055684e-03 2.80227816e+02] [ 1.74158664e-02 -1.12230623e-03 9.99847702e-01 2.22411858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3207140569999 meters Centerline goodness : 0.992117 Centerline is valid? [True, True] Translation: X:297.86, Y:280.23, Z:2.23 [[-9.11010092e-01 -4.12097076e-01 1.53822197e-02 2.97856436e+02] [ 4.12016253e-01 -9.11139190e-01 -8.24528933e-03 2.80227544e+02] [ 1.74132028e-02 -1.17381726e-03 9.99847690e-01 2.22681593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3507140569999 meters Centerline goodness : 0.992717 Centerline is valid? [True, True] Translation: X:297.84, Y:280.23, Z:2.23 [[-9.16246901e-01 -4.00316797e-01 1.54298093e-02 2.97844426e+02] [ 4.00235907e-01 -9.16375901e-01 -8.15022380e-03 2.80227461e+02] [ 1.74021769e-02 -1.29205357e-03 9.99847736e-01 2.22611368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.380714057 meters Centerline goodness : 0.992271 Centerline is valid? [True, True] Translation: X:297.85, Y:280.23, Z:2.23 [[-9.16113183e-01 -4.00615795e-01 1.56083364e-02 2.97845476e+02] [ 4.00540981e-01 -9.16245708e-01 -7.79264474e-03 2.80228139e+02] [ 1.74229278e-02 -8.87166213e-04 9.99847816e-01 2.22602818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.410714057 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:297.85, Y:280.23, Z:2.23 [[-9.16013062e-01 -4.00844554e-01 1.56113393e-02 2.97845592e+02] [ 4.00769875e-01 -9.16145663e-01 -7.78662421e-03 2.80229368e+02] [ 1.74234867e-02 -8.76094981e-04 9.99847816e-01 2.22541679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4407140569999 meters Centerline goodness : 0.992606 Centerline is valid? [True, True] Translation: X:297.85, Y:280.23, Z:2.22 [[-9.16051852e-01 -4.00755783e-01 1.56143454e-02 2.97851918e+02] [ 4.00681193e-01 -9.16184503e-01 -7.78059142e-03 2.80228501e+02] [ 1.74237383e-02 -8.71050614e-04 9.99847816e-01 2.22463894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4707140569999 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:297.86, Y:280.23, Z:2.23 [[-9.11354539e-01 -4.11325908e-01 1.56173492e-02 2.97863738e+02] [ 4.11252961e-01 -9.11488101e-01 -7.77455747e-03 2.80230942e+02] [ 1.74329049e-02 -6.62697132e-04 9.99847816e-01 2.22524605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.500714057 meters Centerline goodness : 0.991626 Centerline is valid? [True, True] Translation: X:297.87, Y:280.23, Z:2.22 [[-9.12351859e-01 -4.09115536e-01 1.54455161e-02 2.97866647e+02] [ 4.09036416e-01 -9.12481940e-01 -8.11910352e-03 2.80231531e+02] [ 1.74154059e-02 -1.08970065e-03 9.99847747e-01 2.22446154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.530714057 meters Centerline goodness : 0.991626 Centerline is valid? [True, True] Translation: X:297.87, Y:280.23, Z:2.22 [[-9.12494331e-01 -4.08796697e-01 1.54711425e-02 2.97869044e+02] [ 4.08718400e-01 -9.12624886e-01 -8.06767068e-03 2.80230405e+02] [ 1.74173868e-02 -1.03836316e-03 9.99847767e-01 2.22443688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5607140569999 meters Centerline goodness : 0.992611 Centerline is valid? [True, True] Translation: X:297.87, Y:280.23, Z:2.22 [[-9.13011309e-01 -4.07640688e-01 1.54731952e-02 2.97873044e+02] [ 4.07562295e-01 -9.13141805e-01 -8.06354725e-03 2.80230665e+02] [ 1.74162513e-02 -1.05581888e-03 9.99847768e-01 2.22430495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5907140569999 meters Centerline goodness : 0.992477 Centerline is valid? [True, True] Translation: X:297.87, Y:280.23, Z:2.23 [[-9.13423265e-01 -4.06716677e-01 1.54752572e-02 2.97874698e+02] [ 4.06638223e-01 -9.13553722e-01 -8.05940225e-03 2.80232421e+02] [ 1.74153721e-02 -1.06881443e-03 9.99847770e-01 2.22579331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.620714057 meters Centerline goodness : 0.992780 Centerline is valid? [True, True] Translation: X:297.88, Y:280.24, Z:2.22 [[-9.14456006e-01 -4.04390587e-01 1.54423602e-02 2.97876603e+02] [ 4.04310686e-01 -9.14585613e-01 -8.12555731e-03 2.80236326e+02] [ 1.74092593e-02 -1.18695345e-03 9.99847743e-01 2.22236351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.650714057 meters Centerline goodness : 0.992511 Centerline is valid? [True, True] Translation: X:297.86, Y:280.24, Z:2.22 [[-9.21923425e-01 -3.87064527e-01 1.54353711e-02 2.97863122e+02] [ 3.86981961e-01 -9.22051359e-01 -8.13963049e-03 2.80235602e+02] [ 1.73827672e-02 -1.53090584e-03 9.99847736e-01 2.22305512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6807140569999 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:297.89, Y:280.23, Z:2.22 [[-9.18102726e-01 -3.96034088e-01 1.56328572e-02 2.97888991e+02] [ 3.95959492e-01 -9.18235351e-01 -7.74080339e-03 2.80232501e+02] [ 1.74202642e-02 -9.16874471e-04 9.99847835e-01 2.22488473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7107140569999 meters Centerline goodness : 0.993407 Centerline is valid? [True, True] Translation: X:297.89, Y:280.23, Z:2.23 [[-9.19318989e-01 -3.93210469e-01 1.54312783e-02 2.97888343e+02] [ 3.93128644e-01 -9.19447390e-01 -8.14655374e-03 2.80234076e+02] [ 1.73915588e-02 -1.42280403e-03 9.99847743e-01 2.22561440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7407140569999 meters Centerline goodness : 0.992726 Centerline is valid? [True, True] Translation: X:297.88, Y:280.24, Z:2.23 [[-9.21213624e-01 -3.88751072e-01 1.54292822e-02 2.97879159e+02] [ 3.88668560e-01 -9.21341587e-01 -8.15057522e-03 2.80239172e+02] [ 1.73841842e-02 -1.51154403e-03 9.99847741e-01 2.22500155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.770714057 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:297.88, Y:280.24, Z:2.22 [[-9.23324585e-01 -3.83708756e-01 1.54693943e-02 2.97877386e+02] [ 3.83626889e-01 -9.23452918e-01 -8.06961798e-03 2.80241351e+02] [ 1.73816404e-02 -1.51640105e-03 9.99847778e-01 2.22442079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8007140569999 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:297.87, Y:280.24, Z:2.22 [[-9.24612191e-01 -3.80594342e-01 1.54997832e-02 2.97872909e+02] [ 3.80513063e-01 -9.24740870e-01 -8.00822111e-03 2.80243690e+02] [ 1.73811666e-02 -1.50662889e-03 9.99847801e-01 2.22433250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8307140569999 meters Centerline goodness : 0.992519 Centerline is valid? [True, True] Translation: X:297.87, Y:280.25, Z:2.22 [[-9.25225825e-01 -3.79098997e-01 1.55281617e-02 2.97873574e+02] [ 3.79018466e-01 -9.25354952e-01 -7.95083067e-03 2.80245677e+02] [ 1.73832133e-02 -1.47085383e-03 9.99847819e-01 2.22487902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8607140569999 meters Centerline goodness : 0.992688 Centerline is valid? [True, True] Translation: X:297.88, Y:280.24, Z:2.22 [[-9.25770767e-01 -3.77766813e-01 1.55151961e-02 2.97877056e+02] [ 3.77685660e-01 -9.25899514e-01 -7.97706650e-03 2.80244332e+02] [ 1.73789835e-02 -1.52506789e-03 9.99847811e-01 2.22459779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.890714057 meters Centerline goodness : 0.992949 Centerline is valid? [True, True] Translation: X:297.88, Y:280.24, Z:2.23 [[-9.25738522e-01 -3.77845159e-01 1.55314166e-02 2.97877590e+02] [ 3.77764562e-01 -9.25867607e-01 -7.94422707e-03 2.80244932e+02] [ 1.73817233e-02 -1.48705823e-03 9.99847821e-01 2.22558837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9207140569999 meters Centerline goodness : 0.991631 Centerline is valid? [True, True] Translation: X:297.88, Y:280.25, Z:2.23 [[-9.26344520e-01 -3.76357787e-01 1.55127919e-02 2.97877989e+02] [ 3.76276356e-01 -9.26473093e-01 -7.98193414e-03 2.80245617e+02] [ 1.73762473e-02 -1.55692416e-03 9.99847809e-01 2.22533363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9507140569999 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:297.88, Y:280.25, Z:2.23 [[-9.26745821e-01 -3.75368561e-01 1.55121174e-02 2.97875251e+02] [ 3.75286971e-01 -9.26874294e-01 -7.98330003e-03 2.80246757e+02] [ 1.73744628e-02 -1.57699437e-03 9.99847809e-01 2.22510847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9807140569999 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:297.88, Y:280.24, Z:2.23 [[-9.26623361e-01 -3.75670419e-01 1.55204032e-02 2.97880029e+02] [ 3.75589149e-01 -9.26752030e-01 -7.96650558e-03 2.80243623e+02] [ 1.73763457e-02 -1.55265515e-03 9.99847814e-01 2.22617342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.010714057 meters Centerline goodness : 0.992157 Centerline is valid? [True, True] Translation: X:297.89, Y:280.24, Z:2.23 [[-9.25924996e-01 -3.77388842e-01 1.55101084e-02 2.97887455e+02] [ 3.77307464e-01 -9.26053605e-01 -7.98737730e-03 2.80239986e+02] [ 1.73775389e-02 -1.54363261e-03 9.99847808e-01 2.22728416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.040714057 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:297.87, Y:280.24, Z:2.23 [[-9.30387099e-01 -3.66251153e-01 1.54899719e-02 2.97865166e+02] [ 3.66167565e-01 -9.30514300e-01 -8.02823197e-03 2.80243689e+02] [ 1.73539896e-02 -1.79743816e-03 9.99847793e-01 2.22589559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0707140569999 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:297.89, Y:280.24, Z:2.23 [[-9.26414176e-01 -3.76180461e-01 1.56535816e-02 2.97887132e+02] [ 3.76103791e-01 -9.26545584e-01 -7.69542968e-03 2.80236577e+02] [ 1.73986272e-02 -1.24178377e-03 9.99847861e-01 2.22676508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1007140569999 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:297.89, Y:280.23, Z:2.22 [[-9.24843898e-01 -3.80029913e-01 1.55251541e-02 2.97891393e+02] [ 3.79949423e-01 -9.24973046e-01 -7.95619830e-03 2.80234861e+02] [ 1.73839424e-02 -1.45946812e-03 9.99847823e-01 2.22394360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.130714057 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:297.88, Y:280.23, Z:2.23 [[-9.27179371e-01 -3.74298183e-01 1.54687951e-02 2.97884464e+02] [ 3.74214999e-01 -9.27306853e-01 -8.07062204e-03 2.80234160e+02] [ 1.73651389e-02 -1.69425912e-03 9.99847779e-01 2.22506657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.160714057 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:297.88, Y:280.23, Z:2.22 [[-9.30185163e-01 -3.66760868e-01 1.55572462e-02 2.97880498e+02] [ 3.66679621e-01 -9.30313814e-01 -7.89074271e-03 2.80230173e+02] [ 1.73671367e-02 -1.63532665e-03 9.99847843e-01 2.22489458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1907140569999 meters Centerline goodness : 0.993335 Centerline is valid? [True, True] Translation: X:297.89, Y:280.23, Z:2.23 [[-9.28142575e-01 -3.71895422e-01 1.56574695e-02 2.97885425e+02] [ 3.71818294e-01 -9.28273706e-01 -7.68659046e-03 2.80230494e+02] [ 1.73930250e-02 -1.31251828e-03 9.99847868e-01 2.22535974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2207140569999 meters Centerline goodness : 0.992610 Centerline is valid? [True, True] Translation: X:297.89, Y:280.23, Z:2.22 [[-9.28994834e-01 -3.69764958e-01 1.55715842e-02 2.97888416e+02] [ 3.69684614e-01 -9.29124041e-01 -7.86148341e-03 2.80225921e+02] [ 1.73748343e-02 -1.54670239e-03 9.99847850e-01 2.22386883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.250714057 meters Centerline goodness : 0.992442 Centerline is valid? [True, True] Translation: X:297.88, Y:280.23, Z:2.23 [[-9.30223019e-01 -3.66663434e-01 1.55903927e-02 2.97882241e+02] [ 3.66583295e-01 -9.30352345e-01 -7.82315867e-03 2.80226805e+02] [ 1.73730246e-02 -1.56210474e-03 9.99847857e-01 2.22738450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.280714057 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:297.88, Y:280.22, Z:2.22 [[-9.30515058e-01 -3.65918538e-01 1.56636518e-02 2.97884169e+02] [ 3.65840785e-01 -9.30645817e-01 -7.67362664e-03 2.80222408e+02] [ 1.73852342e-02 -1.41002248e-03 9.99847871e-01 2.22483353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3107140569999 meters Centerline goodness : 0.992856 Centerline is valid? [True, True] Translation: X:297.88, Y:280.22, Z:2.23 [[-9.31630478e-01 -3.63071144e-01 1.56203931e-02 2.97884137e+02] [ 3.62991522e-01 -9.31760113e-01 -7.76192424e-03 2.80219418e+02] [ 1.73725899e-02 -1.56117492e-03 9.99847866e-01 2.22684413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3407140569999 meters Centerline goodness : 0.993470 Centerline is valid? [True, True] Translation: X:297.87, Y:280.23, Z:2.23 [[-9.30407015e-01 -3.66193065e-01 1.56660954e-02 2.97867235e+02] [ 3.66115435e-01 -9.30537845e-01 -7.66855916e-03 2.80226617e+02] [ 1.73860679e-02 -1.39928188e-03 9.99847872e-01 2.22752169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.370714057 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:297.89, Y:280.21, Z:2.23 [[-9.31355879e-01 -3.63775255e-01 1.56137803e-02 2.97887880e+02] [ 3.63695508e-01 -9.31485438e-01 -7.77539119e-03 2.80213203e+02] [ 1.73725039e-02 -1.56299455e-03 9.99847865e-01 2.22870232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.400714057 meters Centerline goodness : 0.992927 Centerline is valid? [True, True] Translation: X:297.89, Y:280.21, Z:2.23 [[-9.31177763e-01 -3.64228644e-01 1.56674312e-02 2.97887827e+02] [ 3.64150786e-01 -9.31308457e-01 -7.66573834e-03 2.80211274e+02] [ 1.73832927e-02 -1.43285769e-03 9.99847872e-01 2.22949844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4307140569999 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:297.89, Y:280.21, Z:2.23 [[-9.30377645e-01 -3.66267491e-01 1.56704283e-02 2.97892256e+02] [ 3.66190021e-01 -9.30508570e-01 -7.65960678e-03 2.80205819e+02] [ 1.73869328e-02 -1.38797246e-03 9.99847872e-01 2.22998371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4607140569999 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:297.92, Y:280.20, Z:2.23 [[-9.24456642e-01 -3.80964907e-01 1.56734219e-02 2.97922499e+02] [ 3.80889626e-01 -9.24588837e-01 -7.65347614e-03 2.80195417e+02] [ 1.74071768e-02 -1.10546305e-03 9.99847873e-01 2.22916256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4907140569999 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:297.92, Y:280.19, Z:2.23 [[-9.24030129e-01 -3.82005894e-01 1.54860394e-02 2.97916398e+02] [ 3.81924348e-01 -9.24158652e-01 -8.03607475e-03 2.80195000e+02] [ 1.73813853e-02 -1.51107967e-03 9.99847790e-01 2.23098633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.520714057 meters Centerline goodness : 0.993069 Centerline is valid? [True, True] Translation: X:297.93, Y:280.18, Z:2.23 [[-9.23050043e-01 -3.84367211e-01 1.55069277e-02 2.97933929e+02] [ 3.84286706e-01 -9.23179199e-01 -7.99339174e-03 2.80184408e+02] [ 1.73880708e-02 -1.41919441e-03 9.99847809e-01 2.23125554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5507140569999 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:297.94, Y:280.18, Z:2.23 [[-9.22770089e-01 -3.85041143e-01 1.54492768e-02 2.97937322e+02] [ 3.84958772e-01 -9.22898128e-01 -8.11108504e-03 2.80181755e+02] [ 1.73812101e-02 -1.53733204e-03 9.99847753e-01 2.23147620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5807140569999 meters Centerline goodness : 0.993138 Centerline is valid? [True, True] Translation: X:297.96, Y:280.17, Z:2.23 [[-9.20483579e-01 -3.90472804e-01 1.55232418e-02 2.97958397e+02] [ 3.90393718e-01 -9.20613591e-01 -7.95993554e-03 2.80170548e+02] [ 1.73990458e-02 -1.26681387e-03 9.99847823e-01 2.22720444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6107140569999 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:297.92, Y:280.18, Z:2.23 [[-9.23058967e-01 -3.84349096e-01 1.54245004e-02 2.97921319e+02] [ 3.84265788e-01 -9.23186434e-01 -8.16169223e-03 2.80184592e+02] [ 1.73766286e-02 -1.60661540e-03 9.99847724e-01 2.23383789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.640714057 meters Centerline goodness : 0.992517 Centerline is valid? [True, True] Translation: X:297.90, Y:280.19, Z:2.23 [[-9.27861649e-01 -3.72602997e-01 1.54844332e-02 2.97899452e+02] [ 3.72520105e-01 -9.27989304e-01 -8.03882806e-03 2.80187960e+02] [ 1.73646798e-02 -1.69065758e-03 9.99847793e-01 2.22904547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6707140569999 meters Centerline goodness : 0.992710 Centerline is valid? [True, True] Translation: X:297.90, Y:280.18, Z:2.23 [[-9.27230978e-01 -3.74161375e-01 1.56837222e-02 2.97901798e+02] [ 3.74085535e-01 -9.27362825e-01 -7.62914090e-03 2.80183013e+02] [ 1.73990307e-02 -1.20692218e-03 9.99847897e-01 2.22889319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7007140569999 meters Centerline goodness : 0.992409 Centerline is valid? [True, True] Translation: X:297.91, Y:280.18, Z:2.23 [[-9.26763017e-01 -3.75318863e-01 1.56863127e-02 2.97905765e+02] [ 3.75243278e-01 -9.26895010e-01 -7.62381084e-03 2.80179779e+02] [ 1.74009250e-02 -1.17928256e-03 9.99847897e-01 2.22914557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7307140569999 meters Centerline goodness : 0.992431 Centerline is valid? [True, True] Translation: X:297.94, Y:280.17, Z:2.23 [[-9.20296370e-01 -3.90907199e-01 1.56892688e-02 2.97937466e+02] [ 3.90833955e-01 -9.20429677e-01 -7.61772253e-03 2.80166219e+02] [ 1.74186912e-02 -8.78663425e-04 9.99847897e-01 2.23365843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.760714057 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:297.93, Y:280.17, Z:2.23 [[-9.19909619e-01 -3.91824809e-01 1.54794338e-02 2.97928179e+02] [ 3.91744434e-01 -9.20038871e-01 -8.04823249e-03 2.80169532e+02] [ 1.73951779e-02 -1.33966446e-03 9.99847795e-01 2.23231637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.790714057 meters Centerline goodness : 0.992888 Centerline is valid? [True, True] Translation: X:297.94, Y:280.16, Z:2.23 [[-9.19300951e-01 -3.93248261e-01 1.55424232e-02 2.97935969e+02] [ 3.93170260e-01 -9.19431585e-01 -7.91881664e-03 2.80163763e+02] [ 1.74042557e-02 -1.16895709e-03 9.99847851e-01 2.23389176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8207140569999 meters Centerline goodness : 0.993135 Centerline is valid? [True, True] Translation: X:297.91, Y:280.17, Z:2.23 [[-9.22819759e-01 -3.84919218e-01 1.55205859e-02 2.97910474e+02] [ 3.84839288e-01 -9.22949241e-01 -7.96372138e-03 2.80167526e+02] [ 1.73901024e-02 -1.37614823e-03 9.99847834e-01 2.23341654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8507140569999 meters Centerline goodness : 0.993238 Centerline is valid? [True, True] Translation: X:297.93, Y:280.16, Z:2.24 [[-9.18296013e-01 -3.95583356e-01 1.56920918e-02 2.97929995e+02] [ 3.95510922e-01 -9.18429745e-01 -7.61007666e-03 2.80160829e+02] [ 1.74225036e-02 -7.81909339e-04 9.99847911e-01 2.23726182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.880714057 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:297.92, Y:280.16, Z:2.24 [[-9.18016010e-01 -3.96239064e-01 1.55308986e-02 2.97922819e+02] [ 3.96161104e-01 -9.18146671e-01 -7.94172832e-03 2.80161256e+02] [ 1.74064659e-02 -1.13789581e-03 9.99847849e-01 2.23766210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.910714057 meters Centerline goodness : 0.992849 Centerline is valid? [True, True] Translation: X:297.93, Y:280.16, Z:2.24 [[-9.17731184e-01 -3.96897361e-01 1.55550157e-02 2.97931701e+02] [ 3.96820332e-01 -9.17862375e-01 -7.89205644e-03 2.80155118e+02] [ 1.74097000e-02 -1.07023980e-03 9.99847867e-01 2.23643037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9407140569999 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:297.92, Y:280.16, Z:2.24 [[-9.17846660e-01 -3.96629709e-01 1.55686531e-02 2.97922908e+02] [ 3.96553117e-01 -9.17978096e-01 -7.86395319e-03 2.80158176e+02] [ 1.74107600e-02 -1.04410527e-03 9.99847876e-01 2.23603969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9707140569999 meters Centerline goodness : 0.992220 Centerline is valid? [True, True] Translation: X:297.93, Y:280.15, Z:2.24 [[-9.18208466e-01 -3.95790989e-01 1.55790392e-02 2.97931333e+02] [ 3.95714638e-01 -9.18340035e-01 -7.84253415e-03 2.80151374e+02] [ 1.74108598e-02 -1.03622739e-03 9.99847883e-01 2.23717413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.000714057 meters Centerline goodness : 0.992152 Centerline is valid? [True, True] Translation: X:297.93, Y:280.15, Z:2.24 [[-9.17582597e-01 -3.97240065e-01 1.55726766e-02 2.97930970e+02] [ 3.97163701e-01 -9.17714162e-01 -7.85565885e-03 2.80151412e+02] [ 1.74118483e-02 -1.02331399e-03 9.99847879e-01 2.23737004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.030714057 meters Centerline goodness : 0.992237 Centerline is valid? [True, True] Translation: X:297.95, Y:280.14, Z:2.24 [[-9.17136708e-01 -3.98269496e-01 1.55456256e-02 2.97953517e+02] [ 3.98192336e-01 -9.17267830e-01 -7.91144132e-03 2.80139320e+02] [ 1.74103880e-02 -1.06572427e-03 9.99847860e-01 2.23646143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0607140569999 meters Centerline goodness : 0.992005 Centerline is valid? [True, True] Translation: X:297.92, Y:280.15, Z:2.23 [[-9.22879788e-01 -3.84774680e-01 1.55352044e-02 2.97915126e+02] [ 3.84695245e-01 -9.23009554e-01 -7.93295353e-03 2.80151741e+02] [ 1.73915417e-02 -1.34484322e-03 9.99847851e-01 2.23154223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0907140569999 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:297.92, Y:280.15, Z:2.23 [[-9.23795994e-01 -3.82562908e-01 1.57029678e-02 2.97919260e+02] [ 3.82489005e-01 -9.23928903e-01 -7.58567242e-03 2.80148570e+02] [ 1.74104227e-02 -1.00140127e-03 9.99847926e-01 2.23131240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.120714057 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:297.92, Y:280.15, Z:2.23 [[-9.25211649e-01 -3.79126271e-01 1.57058899e-02 2.97919272e+02] [ 3.79051977e-01 -9.25344340e-01 -7.57961747e-03 2.80147430e+02] [ 1.74069884e-02 -1.05940177e-03 9.99847926e-01 2.23189784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.150714057 meters Centerline goodness : 0.992413 Centerline is valid? [True, True] Translation: X:297.92, Y:280.15, Z:2.23 [[-9.25876623e-01 -3.77499288e-01 1.57088096e-02 2.97919604e+02] [ 3.77424863e-01 -9.26009241e-01 -7.57356140e-03 2.80146391e+02] [ 1.74055169e-02 -1.08328814e-03 9.99847926e-01 2.23211369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1807140569999 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:297.88, Y:280.16, Z:2.24 [[-9.26902573e-01 -3.74973015e-01 1.57117315e-02 2.97879901e+02] [ 3.74898331e-01 -9.27035045e-01 -7.56749508e-03 2.80163309e+02] [ 1.74029321e-02 -1.12402876e-03 9.99847926e-01 2.23685857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2107140569999 meters Centerline goodness : 0.992325 Centerline is valid? [True, True] Translation: X:297.92, Y:280.14, Z:2.24 [[-9.27094838e-01 -3.74497291e-01 1.57143283e-02 2.97917032e+02] [ 3.74422630e-01 -9.27227323e-01 -7.56209878e-03 2.80144477e+02] [ 1.74027401e-02 -1.12698262e-03 9.99847926e-01 2.23745467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2407140569999 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:297.90, Y:280.15, Z:2.24 [[-9.27917131e-01 -3.72455206e-01 1.57135842e-02 2.97901562e+02] [ 3.72380227e-01 -9.28049437e-01 -7.56364463e-03 2.80149850e+02] [ 1.74001018e-02 -1.16700738e-03 9.99847926e-01 2.23868747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.270714057 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:297.89, Y:280.15, Z:2.24 [[-9.28355718e-01 -3.71360557e-01 1.57161564e-02 2.97892862e+02] [ 3.71285513e-01 -9.28487986e-01 -7.55829615e-03 2.80153893e+02] [ 1.73991155e-02 -1.18160626e-03 9.99847926e-01 2.23993065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3007140569999 meters Centerline goodness : 0.989874 Centerline is valid? [True, True] Translation: X:297.35, Y:280.41, Z:2.25 [[-9.30713824e-01 -3.65410316e-01 1.57187558e-02 2.97350000e+02] [ 3.65334517e-01 -9.30845661e-01 -7.55288652e-03 2.80411727e+02] [ 1.73916382e-02 -1.28697185e-03 9.99847926e-01 2.24964613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3307140569999 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:297.90, Y:280.15, Z:2.24 [[-9.28622840e-01 -3.70688692e-01 1.57960322e-02 2.97901825e+02] [ 3.70616362e-01 -9.28756628e-01 -7.39178105e-03 2.80147646e+02] [ 1.74107192e-02 -1.00990872e-03 9.99847912e-01 2.24159658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3607140569999 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:297.35, Y:280.41, Z:2.25 [[-9.30718989e-01 -3.65397686e-01 1.57064888e-02 2.97347218e+02] [ 3.65321475e-01 -9.30850580e-01 -7.57738840e-03 2.80411908e+02] [ 1.73891544e-02 -1.31450162e-03 9.99847933e-01 2.24993267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.390714057 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:297.38, Y:280.40, Z:2.25 [[-9.31192462e-01 -3.64187906e-01 1.57406643e-02 2.97377493e+02] [ 3.64112705e-01 -9.31324639e-01 -7.50693543e-03 2.80395973e+02] [ 1.73936036e-02 -1.25902583e-03 9.99847927e-01 2.24723009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4207140569999 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:297.38, Y:280.39, Z:2.25 [[-9.31451079e-01 -3.63525707e-01 1.57463960e-02 2.97380067e+02] [ 3.63450611e-01 -9.31583317e-01 -7.49509243e-03 2.80394799e+02] [ 1.73937386e-02 -1.25827467e-03 9.99847926e-01 2.24718656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4507140569999 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:297.42, Y:280.38, Z:2.25 [[-9.31410194e-01 -3.63630088e-01 1.57546670e-02 2.97419160e+02] [ 3.63555294e-01 -9.31542607e-01 -7.47796395e-03 2.80375428e+02] [ 1.73953563e-02 -1.23735924e-03 9.99847924e-01 2.24635346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4807140569999 meters Centerline goodness : 0.992037 Centerline is valid? [True, True] Translation: X:297.89, Y:280.15, Z:2.24 [[-9.28979098e-01 -3.69795364e-01 1.57868371e-02 2.97887665e+02] [ 3.69722581e-01 -9.29112636e-01 -7.41092527e-03 2.80151892e+02] [ 1.74082756e-02 -1.04784450e-03 9.99847915e-01 2.24022552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.510714057 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:297.43, Y:280.37, Z:2.25 [[-9.30247004e-01 -3.66597462e-01 1.57102841e-02 2.97432977e+02] [ 3.66521548e-01 -9.30378769e-01 -7.56980314e-03 2.80367741e+02] [ 1.73915854e-02 -1.28362905e-03 9.99847931e-01 2.24519885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.540714057 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:297.86, Y:280.16, Z:2.24 [[-9.27960798e-01 -3.72343636e-01 1.57788837e-02 2.97857279e+02] [ 3.72270944e-01 -9.28094381e-01 -7.42725008e-03 2.80164640e+02] [ 1.74097826e-02 -1.01817700e-03 9.99847920e-01 2.23984642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5707140569999 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:297.87, Y:280.16, Z:2.24 [[-9.27260383e-01 -3.74087611e-01 1.57048074e-02 2.97872071e+02] [ 3.74012579e-01 -9.27392648e-01 -7.58071292e-03 2.80155925e+02] [ 1.74003737e-02 -1.15549925e-03 9.99847934e-01 2.23995065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6007140569999 meters Centerline goodness : 0.991173 Centerline is valid? [True, True] Translation: X:297.38, Y:280.39, Z:2.25 [[-9.28265376e-01 -3.71586689e-01 1.57074433e-02 2.97380394e+02] [ 3.71511392e-01 -9.28397491e-01 -7.57524729e-03 2.80390067e+02] [ 1.73976120e-02 -1.19634565e-03 9.99847934e-01 2.24856272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.630714057 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:297.89, Y:280.15, Z:2.24 [[-9.12355416e-01 -4.09095019e-01 1.57753325e-02 2.97889419e+02] [ 4.09027599e-01 -9.12491730e-01 -7.43415501e-03 2.80151046e+02] [ 1.74361362e-02 -3.30045211e-04 9.99847925e-01 2.24060734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.660714057 meters Centerline goodness : 0.992617 Centerline is valid? [True, True] Translation: X:297.93, Y:280.13, Z:2.24 [[-9.10228878e-01 -4.13821642e-01 1.53309434e-02 2.97925949e+02] [ 4.13739659e-01 -9.10357135e-01 -8.32950703e-03 2.80131977e+02] [ 1.74035640e-02 -1.23873856e-03 9.99847779e-01 2.24082444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6907140569999 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:297.92, Y:280.14, Z:2.23 [[-9.07071906e-01 -4.20697346e-01 1.53069149e-02 2.97924148e+02] [ 4.20615522e-01 -9.07200306e-01 -8.37778685e-03 2.80135053e+02] [ 1.74109506e-02 -1.16092907e-03 9.99847744e-01 2.23315537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7207140569999 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:297.93, Y:280.13, Z:2.24 [[-9.07753615e-01 -4.19226257e-01 1.52551618e-02 2.97927923e+02] [ 4.19142480e-01 -9.07880852e-01 -8.48173640e-03 2.80130219e+02] [ 1.74056359e-02 -1.30524052e-03 9.99847659e-01 2.24159665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.750714057 meters Centerline goodness : 0.992465 Centerline is valid? [True, True] Translation: X:297.94, Y:280.13, Z:2.24 [[-9.07317238e-01 -4.20165284e-01 1.53806415e-02 2.97935193e+02] [ 4.20085892e-01 -9.07447036e-01 -8.22918617e-03 2.80125134e+02] [ 1.74147359e-02 -1.00529195e-03 9.99847847e-01 2.24168144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.780714057 meters Centerline goodness : 0.992277 Centerline is valid? [True, True] Translation: X:297.93, Y:280.13, Z:2.24 [[-9.07928908e-01 -4.18841505e-01 1.53912953e-02 2.97928903e+02] [ 4.18762287e-01 -9.08058798e-01 -8.20772879e-03 2.80127539e+02] [ 1.74139386e-02 -1.00674019e-03 9.99847859e-01 2.24285536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8107140569999 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:297.93, Y:280.13, Z:2.24 [[-9.07120972e-01 -4.20587707e-01 1.54117615e-02 2.97929393e+02] [ 4.20509439e-01 -9.07251410e-01 -8.16644957e-03 2.80129002e+02] [ 1.74170507e-02 -9.27166482e-04 9.99847882e-01 2.24139457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8407140569999 meters Centerline goodness : 0.991352 Centerline is valid? [True, True] Translation: X:297.93, Y:280.13, Z:2.24 [[-9.07581793e-01 -4.19590845e-01 1.54535610e-02 2.97931755e+02] [ 4.19513866e-01 -9.07712949e-01 -8.08203051e-03 2.80128844e+02] [ 1.74185435e-02 -8.52120595e-04 9.99847923e-01 2.24068797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.870714057 meters Centerline goodness : 0.992114 Centerline is valid? [True, True] Translation: X:297.93, Y:280.13, Z:2.24 [[-9.06901684e-01 -4.21056823e-01 1.55076578e-02 2.97930107e+02] [ 4.20981922e-01 -9.07033990e-01 -7.97262053e-03 2.80131054e+02] [ 1.74228990e-02 -7.01939398e-04 9.99847963e-01 2.24063095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.900714057 meters Centerline goodness : 0.991380 Centerline is valid? [True, True] Translation: X:297.92, Y:280.14, Z:2.24 [[-9.06935520e-01 -4.20986097e-01 1.54489334e-02 2.97924377e+02] [ 4.20909161e-01 -9.07066705e-01 -8.09138997e-03 2.80135100e+02] [ 1.74195758e-02 -8.35771393e-04 9.99847918e-01 2.23951500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9307140569999 meters Centerline goodness : 0.992341 Centerline is valid? [True, True] Translation: X:297.94, Y:280.13, Z:2.24 [[-9.01516348e-01 -4.32467571e-01 1.54943337e-02 2.97942139e+02] [ 4.32393883e-01 -9.01649343e-01 -7.99950025e-03 2.80131739e+02] [ 1.74299803e-02 -5.12025113e-04 9.99847955e-01 2.23639925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9607140569999 meters Centerline goodness : 0.992617 Centerline is valid? [True, True] Translation: X:297.94, Y:280.13, Z:2.24 [[-9.02183734e-01 -4.31079566e-01 1.53270474e-02 2.97942195e+02] [ 4.30999914e-01 -9.02313454e-01 -8.33691669e-03 2.80132727e+02] [ 1.74236755e-02 -9.15474493e-04 9.99847777e-01 2.23673056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9907140569999 meters Centerline goodness : 0.991740 Centerline is valid? [True, True] Translation: X:297.93, Y:280.14, Z:2.24 [[-9.03515818e-01 -4.28280834e-01 1.53197369e-02 2.97932641e+02] [ 4.28200531e-01 -9.03645149e-01 -8.35168432e-03 2.80137066e+02] [ 1.74204722e-02 -9.85959429e-04 9.99847766e-01 2.23733683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.020714057 meters Centerline goodness : 0.991718 Centerline is valid? [True, True] Translation: X:297.94, Y:280.13, Z:2.24 [[-9.04485375e-01 -4.26226017e-01 1.54139463e-02 2.97939604e+02] [ 4.26148656e-01 -9.04616340e-01 -8.16099345e-03 2.80134625e+02] [ 1.74221354e-02 -8.12866741e-04 9.99847893e-01 2.23870197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0507140569999 meters Centerline goodness : 0.991681 Centerline is valid? [True, True] Translation: X:297.94, Y:280.14, Z:2.24 [[-9.06456094e-01 -4.22018837e-01 1.54094291e-02 2.97937572e+02] [ 4.21940713e-01 -9.06586611e-01 -8.17014060e-03 2.80136503e+02] [ 1.74179354e-02 -9.04008234e-04 9.99847888e-01 2.23956191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0807140569999 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:297.94, Y:280.14, Z:2.24 [[-9.05797838e-01 -4.23427216e-01 1.54812651e-02 2.97942649e+02] [ 4.23351776e-01 -9.05929844e-01 -8.02441935e-03 2.80137461e+02] [ 1.74226976e-02 -7.14480610e-04 9.99847958e-01 2.23880884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1107140569999 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:297.94, Y:280.14, Z:2.24 [[-9.06887720e-01 -4.21088609e-01 1.54611502e-02 2.97940046e+02] [ 4.21012134e-01 -9.07019148e-01 -8.06523267e-03 2.80139346e+02] [ 1.74197369e-02 -8.04928642e-04 9.99847941e-01 2.23945930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.140714057 meters Centerline goodness : 0.991717 Centerline is valid? [True, True] Translation: X:297.95, Y:280.14, Z:2.24 [[-9.05947274e-01 -4.23107053e-01 1.54906060e-02 2.97947999e+02] [ 4.23031890e-01 -9.06079430e-01 -8.00542654e-03 2.80137579e+02] [ 1.74228719e-02 -6.99474027e-04 9.99847966e-01 2.23752585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1707140569999 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:297.95, Y:280.14, Z:2.24 [[-9.07723424e-01 -4.19284223e-01 1.54572194e-02 2.97953463e+02] [ 4.19207350e-01 -9.07854625e-01 -8.07322582e-03 2.80138005e+02] [ 1.74178844e-02 -8.48476194e-04 9.99847937e-01 2.23705118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2007140569999 meters Centerline goodness : 0.990768 Centerline is valid? [True, True] Translation: X:297.95, Y:280.14, Z:2.24 [[-9.09494105e-01 -4.15427621e-01 1.55037207e-02 2.97951325e+02] [ 4.15351799e-01 -9.09625871e-01 -7.97867682e-03 2.80139590e+02] [ 1.74171481e-02 -8.17061272e-04 9.99847976e-01 2.23563178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2307140569999 meters Centerline goodness : 0.990496 Centerline is valid? [True, True] Translation: X:297.95, Y:280.15, Z:2.24 [[-9.10288955e-01 -4.13680358e-01 1.55749413e-02 2.97946902e+02] [ 4.13606755e-01 -9.10421928e-01 -7.83360236e-03 2.80145356e+02] [ 1.74203755e-02 -6.88940773e-04 9.99848016e-01 2.23797932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.260714057 meters Centerline goodness : 0.990434 Centerline is valid? [True, True] Translation: X:297.95, Y:280.14, Z:2.24 [[-9.10690954e-01 -4.12794215e-01 1.55859512e-02 2.97954419e+02] [ 4.12720866e-01 -9.10824062e-01 -7.81115980e-03 2.80143949e+02] [ 1.74204610e-02 -6.80905302e-04 9.99848020e-01 2.23757319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.290714057 meters Centerline goodness : 0.990641 Centerline is valid? [True, True] Translation: X:297.95, Y:280.15, Z:2.24 [[-9.09800298e-01 -4.14753299e-01 1.55922555e-02 2.97953367e+02] [ 4.14680457e-01 -9.09933682e-01 -7.79829909e-03 2.80148475e+02] [ 1.74222888e-02 -6.29091185e-04 9.99848023e-01 2.23739542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3207140569999 meters Centerline goodness : 0.990313 Centerline is valid? [True, True] Translation: X:297.96, Y:280.15, Z:2.23 [[-9.08781217e-01 -4.16983818e-01 1.55304811e-02 2.97955803e+02] [ 4.16909149e-01 -9.08913620e-01 -7.92425507e-03 2.80153206e+02] [ 1.74201520e-02 -7.26614494e-04 9.99847994e-01 2.23455484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3507140569999 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:297.96, Y:280.15, Z:2.23 [[-9.09301643e-01 -4.15847952e-01 1.55242752e-02 2.97964206e+02] [ 4.15772902e-01 -9.09433835e-01 -7.93691255e-03 2.80151300e+02] [ 1.74188500e-02 -7.62474682e-04 9.99847990e-01 2.23374196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.380714057 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:297.98, Y:280.15, Z:2.23 [[-9.06117425e-01 -4.22741191e-01 1.55273484e-02 2.97975328e+02] [ 4.22667254e-01 -9.06250240e-01 -7.93064209e-03 2.80153604e+02] [ 1.74242723e-02 -6.23191295e-04 9.99847992e-01 2.23227979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.410714057 meters Centerline goodness : 0.990212 Centerline is valid? [True, True] Translation: X:297.97, Y:280.15, Z:2.23 [[-9.10890674e-01 -4.12360932e-01 1.53831645e-02 2.97974401e+02] [ 4.12280510e-01 -9.11019836e-01 -8.22436447e-03 2.80152513e+02] [ 1.74057746e-02 -1.14931797e-03 9.99847847e-01 2.23282218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4407140569999 meters Centerline goodness : 0.990051 Centerline is valid? [True, True] Translation: X:297.98, Y:280.15, Z:2.23 [[-9.12802837e-01 -4.08105713e-01 1.55147889e-02 2.97977614e+02] [ 4.08029227e-01 -9.12934203e-01 -7.95554207e-03 2.80152084e+02] [ 1.74106836e-02 -9.31354040e-04 9.99847989e-01 2.23194912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4707140569999 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:297.98, Y:280.15, Z:2.23 [[-9.13432055e-01 -4.06693634e-01 1.55617993e-02 2.97976766e+02] [ 4.06618576e-01 -9.13564209e-01 -7.85943361e-03 2.80153345e+02] [ 1.74130845e-02 -8.51341926e-04 9.99848018e-01 2.23205655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.500714057 meters Centerline goodness : 0.989583 Centerline is valid? [True, True] Translation: X:297.98, Y:280.15, Z:2.23 [[-9.14316636e-01 -4.04700212e-01 1.55829316e-02 2.97981467e+02] [ 4.04625600e-01 -9.14449032e-01 -7.81618759e-03 2.80150132e+02] [ 1.74130095e-02 -8.41217302e-04 9.99848028e-01 2.23380470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.530714057 meters Centerline goodness : 0.990259 Centerline is valid? [True, True] Translation: X:297.98, Y:280.15, Z:2.24 [[-9.14056728e-01 -4.05286939e-01 1.55818862e-02 2.97976976e+02] [ 4.05212376e-01 -9.14189151e-01 -7.81832785e-03 2.80153782e+02] [ 1.74134575e-02 -8.32422061e-04 9.99848028e-01 2.23663505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5607140569999 meters Centerline goodness : 0.989102 Centerline is valid? [True, True] Translation: X:297.99, Y:280.15, Z:2.24 [[-9.14266779e-01 -4.04812799e-01 1.55838148e-02 2.97987593e+02] [ 4.04738234e-01 -9.14399200e-01 -7.81437593e-03 2.80149382e+02] [ 1.74131872e-02 -8.37058629e-04 9.99848029e-01 2.23550075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5907140569999 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:297.99, Y:280.15, Z:2.24 [[-9.11826504e-01 -4.10277199e-01 1.56539800e-02 2.97985826e+02] [ 4.10205892e-01 -9.11960686e-01 -7.67036399e-03 2.80152838e+02] [ 1.74227898e-02 -5.72686328e-04 9.99848048e-01 2.23913970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.620714057 meters Centerline goodness : 0.989477 Centerline is valid? [True, True] Translation: X:297.99, Y:280.15, Z:2.24 [[-9.10360257e-01 -4.13524346e-01 1.55505113e-02 2.97990576e+02] [ 4.13449886e-01 -9.10492756e-01 -7.88249118e-03 2.80152276e+02] [ 1.74182299e-02 -7.46549592e-04 9.99848012e-01 2.23775678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.650714057 meters Centerline goodness : 0.990405 Centerline is valid? [True, True] Translation: X:297.99, Y:280.15, Z:2.24 [[-9.10393981e-01 -4.13450216e-01 1.55472793e-02 2.97992187e+02] [ 4.13375632e-01 -9.10526413e-01 -7.88911917e-03 2.80150971e+02] [ 1.74179665e-02 -7.55340204e-04 9.99848010e-01 2.23972471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6807140569999 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:297.99, Y:280.15, Z:2.24 [[-9.09182818e-01 -4.16106861e-01 1.55461604e-02 2.97993451e+02] [ 4.16032625e-01 -9.09315446e-01 -7.89141426e-03 2.80151153e+02] [ 1.74200354e-02 -7.07028326e-04 9.99848010e-01 2.24039317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7107140569999 meters Centerline goodness : 0.990963 Centerline is valid? [True, True] Translation: X:298.00, Y:280.15, Z:2.24 [[-9.07884264e-01 -4.18932101e-01 1.55582175e-02 2.98000414e+02] [ 4.18858702e-01 -9.08017348e-01 -7.86666905e-03 2.80148556e+02] [ 1.74227316e-02 -6.25330248e-04 9.99848017e-01 2.23958930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7407140569999 meters Centerline goodness : 0.990738 Centerline is valid? [True, True] Translation: X:298.00, Y:280.15, Z:2.24 [[-9.07625950e-01 -4.19491963e-01 1.55443509e-02 2.97996306e+02] [ 4.19418159e-01 -9.07758820e-01 -7.89514632e-03 2.80150526e+02] [ 1.74224721e-02 -6.46256656e-04 9.99848008e-01 2.24288336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.770714057 meters Centerline goodness : 0.990990 Centerline is valid? [True, True] Translation: X:298.01, Y:280.15, Z:2.24 [[-9.04477939e-01 -4.26237405e-01 1.55348877e-02 2.98008261e+02] [ 4.26164258e-01 -9.04611179e-01 -7.91458569e-03 2.80147367e+02] [ 1.74265255e-02 -5.38154276e-04 9.99848002e-01 2.24057572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8007140569999 meters Centerline goodness : 0.989993 Centerline is valid? [True, True] Translation: X:298.01, Y:280.15, Z:2.24 [[-9.06471602e-01 -4.21982843e-01 1.54827277e-02 2.98007717e+02] [ 4.21907240e-01 -9.06603515e-01 -8.02164129e-03 2.80146982e+02] [ 1.74216903e-02 -7.39115122e-04 9.99847958e-01 2.24090081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8307140569999 meters Centerline goodness : 0.990945 Centerline is valid? [True, True] Translation: X:298.01, Y:280.15, Z:2.24 [[-9.06575453e-01 -4.21756077e-01 1.55807613e-02 2.98007026e+02] [ 4.21683892e-01 -9.06709183e-01 -7.82007562e-03 2.80145540e+02] [ 1.74253838e-02 -5.19332516e-04 9.99848032e-01 2.24199083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8607140569999 meters Centerline goodness : 0.990434 Centerline is valid? [True, True] Translation: X:298.00, Y:280.15, Z:2.24 [[-9.06734502e-01 -4.21413661e-01 1.55906877e-02 2.98004014e+02] [ 4.21341776e-01 -9.06868388e-01 -7.79965258e-03 2.80147160e+02] [ 1.74255819e-02 -5.03206074e-04 9.99848036e-01 2.24220563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.890714057 meters Centerline goodness : 0.991280 Centerline is valid? [True, True] Translation: X:298.02, Y:280.15, Z:2.24 [[-9.01580036e-01 -4.32330497e-01 1.56134520e-02 2.98015969e+02] [ 4.32261045e-01 -9.01715190e-01 -7.75277814e-03 2.80145590e+02] [ 1.74306493e-02 -2.40662906e-04 9.99848046e-01 2.24085005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9207140569999 meters Centerline goodness : 0.990796 Centerline is valid? [True, True] Translation: X:298.03, Y:280.14, Z:2.24 [[-9.02110168e-01 -4.31228641e-01 1.54629987e-02 2.98026060e+02] [ 4.31153703e-01 -9.02242480e-01 -8.06174109e-03 2.80141434e+02] [ 1.74278280e-02 -6.05649440e-04 9.99847940e-01 2.24062426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9507140569999 meters Centerline goodness : 0.990827 Centerline is valid? [True, True] Translation: X:298.02, Y:280.14, Z:2.24 [[-9.02859852e-01 -4.29657087e-01 1.54556100e-02 2.98024074e+02] [ 4.29581659e-01 -9.02991895e-01 -8.07692383e-03 2.80144043e+02] [ 1.74265981e-02 -6.52883686e-04 9.99847932e-01 2.24158198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9807140569999 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:297.95, Y:280.18, Z:2.24 [[-9.04087605e-01 -4.27063860e-01 1.55583195e-02 2.97949566e+02] [ 4.26991684e-01 -9.04221345e-01 -7.86516981e-03 2.80179975e+02] [ 1.74270944e-02 -4.67529480e-04 9.99848027e-01 2.24473389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.010714057 meters Centerline goodness : 0.991224 Centerline is valid? [True, True] Translation: X:298.03, Y:280.14, Z:2.24 [[-9.02985133e-01 -4.29389726e-01 1.55663791e-02 2.98028519e+02] [ 4.29318181e-01 -9.03119206e-01 -7.84854097e-03 2.80143331e+02] [ 1.74283788e-02 -4.04186234e-04 9.99848033e-01 2.24357824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.040714057 meters Centerline goodness : 0.990949 Centerline is valid? [True, True] Translation: X:298.01, Y:280.15, Z:2.24 [[-9.02290310e-01 -4.30847982e-01 1.55632278e-02 2.98014212e+02] [ 4.30776541e-01 -9.02424440e-01 -7.85503266e-03 2.80153256e+02] [ 1.74289621e-02 -3.83246427e-04 9.99848031e-01 2.24362677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0707140569999 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:298.00, Y:280.15, Z:2.24 [[-9.09682918e-01 -4.15013958e-01 1.55049563e-02 2.98000423e+02] [ 4.14938135e-01 -9.09814674e-01 -7.97519567e-03 2.80150338e+02] [ 1.74164543e-02 -8.21301601e-04 9.99847985e-01 2.23871326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1007140569999 meters Centerline goodness : 0.992026 Centerline is valid? [True, True] Translation: X:297.97, Y:280.16, Z:2.24 [[-9.11012060e-01 -4.12081026e-01 1.56924902e-02 2.97972525e+02] [ 4.12011412e-01 -9.11147095e-01 -7.58733272e-03 2.80163925e+02] [ 1.74247627e-02 -4.46666562e-04 9.99848078e-01 2.24440560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.130714057 meters Centerline goodness : 0.990625 Centerline is valid? [True, True] Translation: X:298.01, Y:280.16, Z:2.24 [[-9.06647255e-01 -4.21596175e-01 1.57295791e-02 2.98006377e+02] [ 4.21529310e-01 -9.06783675e-01 -7.51051828e-03 2.80158233e+02] [ 1.74297313e-02 -1.78912178e-04 9.99848075e-01 2.24398717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.160714057 meters Centerline goodness : 0.991940 Centerline is valid? [True, True] Translation: X:297.99, Y:280.16, Z:2.24 [[-9.11404994e-01 -4.11213827e-01 1.56245175e-02 2.97986512e+02] [ 4.11141675e-01 -9.11538702e-01 -7.72776022e-03 2.80162859e+02] [ 1.74201143e-02 -6.19228956e-04 9.99848067e-01 2.24457839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1907140569999 meters Centerline goodness : 0.991306 Centerline is valid? [True, True] Translation: X:298.01, Y:280.16, Z:2.25 [[-9.08349884e-01 -4.17915488e-01 1.57204759e-02 2.98011788e+02] [ 4.17847750e-01 -9.08485868e-01 -7.52901649e-03 2.80160147e+02] [ 1.74283228e-02 -2.70215759e-04 9.99848079e-01 2.24504074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2207140569999 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:298.02, Y:280.16, Z:2.24 [[-9.05490118e-01 -4.24079229e-01 1.56350066e-02 2.98022735e+02] [ 4.24009357e-01 -9.05625025e-01 -7.70574780e-03 2.80159150e+02] [ 1.74273008e-02 -3.48089405e-04 9.99848072e-01 2.24365346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.250714057 meters Centerline goodness : 0.991432 Centerline is valid? [True, True] Translation: X:298.03, Y:280.16, Z:2.24 [[-9.05345423e-01 -4.24392658e-01 1.55092821e-02 2.98032412e+02] [ 4.24318372e-01 -9.05478037e-01 -7.96520005e-03 2.80157564e+02] [ 1.74236867e-02 -6.30384068e-04 9.99847997e-01 2.24213235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.280714057 meters Centerline goodness : 0.991144 Centerline is valid? [True, True] Translation: X:298.03, Y:280.16, Z:2.24 [[-9.06883165e-01 -4.21096475e-01 1.55139721e-02 2.98030900e+02] [ 4.21021873e-01 -9.07015597e-01 -7.95551418e-03 2.80161026e+02] [ 1.74214537e-02 -6.83000285e-04 9.99848002e-01 2.24121164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3107140569999 meters Centerline goodness : 0.991792 Centerline is valid? [True, True] Translation: X:298.03, Y:280.16, Z:2.24 [[-9.05592881e-01 -4.23863097e-01 1.55437717e-02 2.98034386e+02] [ 4.23789955e-01 -9.05726095e-01 -7.89393319e-03 2.80161320e+02] [ 1.74243466e-02 -5.61395391e-04 9.99848027e-01 2.24059961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3407140569999 meters Centerline goodness : 0.991792 Centerline is valid? [True, True] Translation: X:298.04, Y:280.16, Z:2.24 [[-9.05727831e-01 -4.23578057e-01 1.54507443e-02 2.98036830e+02] [ 4.23501589e-01 -9.05859272e-01 -8.08599338e-03 2.80160327e+02] [ 1.74212494e-02 -7.80294494e-04 9.99847934e-01 2.24047613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.370714057 meters Centerline goodness : 0.991799 Centerline is valid? [True, True] Translation: X:298.00, Y:280.17, Z:2.25 [[-9.16088562e-01 -4.00677637e-01 1.54654029e-02 2.98001792e+02] [ 4.00598399e-01 -9.16218331e-01 -8.05564296e-03 2.80167914e+02] [ 1.73974016e-02 -1.18426674e-03 9.99847952e-01 2.24550277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.400714057 meters Centerline goodness : 0.990289 Centerline is valid? [True, True] Translation: X:298.02, Y:280.17, Z:2.24 [[-9.11287877e-01 -4.11468507e-01 1.57503398e-02 2.98021361e+02] [ 4.11400941e-01 -9.11423921e-01 -7.46331767e-03 2.80167184e+02] [ 1.74261567e-02 -3.21526271e-04 9.99848101e-01 2.24215523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4307140569999 meters Centerline goodness : 0.990675 Centerline is valid? [True, True] Translation: X:298.04, Y:280.16, Z:2.24 [[-9.07487938e-01 -4.19786663e-01 1.56460584e-02 2.98040255e+02] [ 4.19716603e-01 -9.07622717e-01 -7.67970936e-03 2.80161554e+02] [ 1.74245576e-02 -4.02333137e-04 9.99848100e-01 2.24062200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4607140569999 meters Centerline goodness : 0.990422 Centerline is valid? [True, True] Translation: X:298.02, Y:280.17, Z:2.24 [[-9.11890044e-01 -4.10141608e-01 1.55051157e-02 2.98020544e+02] [ 4.10065143e-01 -9.12021398e-01 -7.97168350e-03 2.80171078e+02] [ 1.74105164e-02 -9.11191323e-04 9.99848010e-01 2.24090919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4907140569999 meters Centerline goodness : 0.990693 Centerline is valid? [True, True] Translation: X:298.04, Y:280.17, Z:2.24 [[-9.06150860e-01 -4.22664437e-01 1.56649892e-02 2.98041009e+02] [ 4.22595497e-01 -9.06286203e-01 -7.63964278e-03 2.80166506e+02] [ 1.74259689e-02 -3.02714972e-04 9.99848110e-01 2.23871380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.520714057 meters Centerline goodness : 0.991287 Centerline is valid? [True, True] Translation: X:298.03, Y:280.17, Z:2.24 [[-9.07486022e-01 -4.19797756e-01 1.54584845e-02 2.98034977e+02] [ 4.19721065e-01 -9.07617294e-01 -8.06698763e-03 2.80169634e+02] [ 1.74168912e-02 -8.32426931e-04 9.99847968e-01 2.23899175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5507140569999 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] Translation: X:298.02, Y:280.17, Z:2.24 [[-9.13262016e-01 -4.07078478e-01 1.54791305e-02 2.98024708e+02] [ 4.07000684e-01 -9.13392608e-01 -8.02419841e-03 2.80172265e+02] [ 1.74050018e-02 -1.02817893e-03 9.99847993e-01 2.24021933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5807140569999 meters Centerline goodness : 0.989760 Centerline is valid? [True, True] Translation: X:298.02, Y:280.17, Z:2.24 [[-9.13819879e-01 -4.05819694e-01 1.56078146e-02 2.98023085e+02] [ 4.05746258e-01 -9.13952846e-01 -7.75689119e-03 2.80173254e+02] [ 1.74127058e-02 -7.55589012e-04 9.99848102e-01 2.24009981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6107140569999 meters Centerline goodness : 0.990529 Centerline is valid? [True, True] Translation: X:298.02, Y:280.17, Z:2.24 [[-9.14291262e-01 -4.04756163e-01 1.56184722e-02 2.98022617e+02] [ 4.04682950e-01 -9.14424346e-01 -7.73473691e-03 2.80174882e+02] [ 1.74125937e-02 -7.51272977e-04 9.99848107e-01 2.23899819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.640714057 meters Centerline goodness : 0.989654 Centerline is valid? [True, True] Translation: X:298.03, Y:280.17, Z:2.24 [[-9.14291262e-01 -4.04756539e-01 1.56087129e-02 2.98025436e+02] [ 4.04682980e-01 -9.14424160e-01 -7.75503501e-03 2.80174537e+02] [ 1.74118853e-02 -7.73780304e-04 9.99848102e-01 2.23754798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6707140569999 meters Centerline goodness : 0.990224 Centerline is valid? [True, True] Translation: X:298.03, Y:280.17, Z:2.24 [[-9.15032862e-01 -4.03076903e-01 1.56164142e-02 2.98032193e+02] [ 4.03003372e-01 -9.15165772e-01 -7.73900595e-03 2.80171055e+02] [ 1.74110223e-02 -7.87977169e-04 9.99848106e-01 2.23849809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7007140569999 meters Centerline goodness : 0.990442 Centerline is valid? [True, True] Translation: X:298.03, Y:280.17, Z:2.24 [[-9.16170130e-01 -4.00484772e-01 1.56281779e-02 2.98027675e+02] [ 4.00411283e-01 -9.16303057e-01 -7.71450451e-03 2.80173009e+02] [ 1.74096887e-02 -8.10099848e-04 9.99848112e-01 2.23823979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7307140569999 meters Centerline goodness : 0.990535 Centerline is valid? [True, True] Translation: X:298.03, Y:280.17, Z:2.24 [[-9.16369410e-01 -4.00027858e-01 1.56466239e-02 2.98029834e+02] [ 3.99954957e-01 -9.16502652e-01 -7.67603890e-03 2.80172678e+02] [ 1.74108017e-02 -7.76142446e-04 9.99848119e-01 2.23781087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.760714057 meters Centerline goodness : 0.990233 Centerline is valid? [True, True] Translation: X:298.04, Y:280.17, Z:2.24 [[-9.16690089e-01 -3.99291713e-01 1.56655240e-02 2.98040632e+02] [ 3.99219378e-01 -9.16823631e-01 -7.63658586e-03 2.80168073e+02] [ 1.74117480e-02 -7.46401836e-04 9.99848125e-01 2.23937016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.790714057 meters Centerline goodness : 0.991065 Centerline is valid? [True, True] Translation: X:298.05, Y:280.16, Z:2.24 [[-9.15150093e-01 -4.02808484e-01 1.56726820e-02 2.98049836e+02] [ 4.02736918e-01 -9.15284047e-01 -7.62163433e-03 2.80164876e+02] [ 1.74150147e-02 -6.62971744e-04 9.99848127e-01 2.23890401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8207140569999 meters Centerline goodness : 0.989822 Centerline is valid? [True, True] Translation: X:298.06, Y:280.16, Z:2.24 [[-9.17558338e-01 -3.97294804e-01 1.56055943e-02 2.98060167e+02] [ 3.97220050e-01 -9.17690572e-01 -7.76175624e-03 2.80160979e+02] [ 1.74048121e-02 -9.23009220e-04 9.99848099e-01 2.23793105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8507140569999 meters Centerline goodness : 0.991057 Centerline is valid? [True, True] Translation: X:298.06, Y:280.16, Z:2.24 [[-9.14761318e-01 -4.03688557e-01 1.57251085e-02 2.98064423e+02] [ 4.03619007e-01 -9.14896319e-01 -7.51156027e-03 2.80158285e+02] [ 1.74191748e-02 -5.24332120e-04 9.99848137e-01 2.23795973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.880714057 meters Centerline goodness : 0.990518 Centerline is valid? [True, True] Translation: X:298.05, Y:280.16, Z:2.24 [[-9.18105074e-01 -3.96029994e-01 1.55986332e-02 2.98049982e+02] [ 3.95954814e-01 -9.18237070e-01 -7.77617519e-03 2.80163053e+02] [ 1.74028418e-02 -9.62992004e-04 9.99848095e-01 2.23866452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.910714057 meters Centerline goodness : 0.991504 Centerline is valid? [True, True] Translation: X:298.05, Y:280.16, Z:2.24 [[-9.17320203e-01 -3.97840267e-01 1.57088489e-02 2.98054928e+02] [ 3.97769281e-01 -9.17454451e-01 -7.54513777e-03 2.80161084e+02] [ 1.74139130e-02 -6.72809764e-04 9.99848140e-01 2.23898355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9407140569999 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:298.05, Y:280.16, Z:2.24 [[-9.18889901e-01 -3.94203380e-01 1.56539471e-02 2.98047574e+02] [ 3.94129904e-01 -9.19022818e-01 -7.66020391e-03 2.80164443e+02] [ 1.74060129e-02 -8.69195329e-04 9.99848126e-01 2.23843029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9707140569999 meters Centerline goodness : 0.990982 Centerline is valid? [True, True] Translation: X:298.06, Y:280.16, Z:2.24 [[-9.19137737e-01 -3.93623793e-01 1.56885118e-02 2.98059079e+02] [ 3.93551468e-01 -9.19271271e-01 -7.58765776e-03 2.80159468e+02] [ 1.74086808e-02 -7.99865727e-04 9.99848138e-01 2.23699331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.000714057 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:298.06, Y:280.16, Z:2.24 [[-9.19723125e-01 -3.92253583e-01 1.57003306e-02 2.98056151e+02] [ 3.92181481e-01 -9.19856777e-01 -7.56283629e-03 2.80160577e+02] [ 1.74086052e-02 -7.98336495e-04 9.99848140e-01 2.23842666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.030714057 meters Centerline goodness : 0.990669 Centerline is valid? [True, True] Translation: X:298.06, Y:280.16, Z:2.24 [[-9.19525847e-01 -3.92716187e-01 1.56912030e-02 2.98061705e+02] [ 3.92643825e-01 -9.19659361e-01 -7.58201700e-03 2.80158705e+02] [ 1.74081425e-02 -8.10806653e-04 9.99848138e-01 2.23657749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0607140569999 meters Centerline goodness : 0.990443 Centerline is valid? [True, True] Translation: X:298.06, Y:280.16, Z:2.24 [[-9.19423843e-01 -3.92953968e-01 1.57154523e-02 2.98057401e+02] [ 3.92882510e-01 -9.19557838e-01 -7.53101261e-03 2.80160354e+02] [ 1.74106086e-02 -7.49866222e-04 9.99848143e-01 2.23798413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0907140569999 meters Centerline goodness : 0.990628 Centerline is valid? [True, True] Translation: X:298.07, Y:280.16, Z:2.24 [[-9.17965596e-01 -3.96348686e-01 1.57125594e-02 2.98066467e+02] [ 3.96277620e-01 -9.18099798e-01 -7.53709947e-03 2.80156041e+02] [ 1.74130171e-02 -6.92262370e-04 9.99848142e-01 2.23849027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.120714057 meters Centerline goodness : 0.990544 Centerline is valid? [True, True] Translation: X:298.07, Y:280.16, Z:2.24 [[-9.16956933e-01 -3.98676555e-01 1.57158595e-02 2.98065982e+02] [ 3.98605949e-01 -9.17091377e-01 -7.53015039e-03 2.80156980e+02] [ 1.74149736e-02 -6.40388524e-04 9.99848143e-01 2.23766641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.150714057 meters Centerline goodness : 0.990578 Centerline is valid? [True, True] Translation: X:298.07, Y:280.15, Z:2.24 [[-9.16035634e-01 -4.00789566e-01 1.56984359e-02 2.98072706e+02] [ 4.00718642e-01 -9.16169915e-01 -7.56683951e-03 2.80153273e+02] [ 1.74151450e-02 -6.40838731e-04 9.99848140e-01 2.23913774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1807140569999 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:298.07, Y:280.15, Z:2.24 [[-9.15136836e-01 -4.02836889e-01 1.57166171e-02 2.98072918e+02] [ 4.02766922e-01 -9.15271614e-01 -7.52851230e-03 2.80153817e+02] [ 1.74177360e-02 -5.59485433e-04 9.99848143e-01 2.24138976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2107140569999 meters Centerline goodness : 0.991449 Centerline is valid? [True, True] Translation: X:298.07, Y:280.15, Z:2.24 [[-9.14278970e-01 -4.04780437e-01 1.57086817e-02 2.98074962e+02] [ 4.04710469e-01 -9.14413750e-01 -7.54524844e-03 2.80153006e+02] [ 1.74184035e-02 -5.40994021e-04 9.99848142e-01 2.23678558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2407140569999 meters Centerline goodness : 0.989656 Centerline is valid? [True, True] Translation: X:298.08, Y:280.15, Z:2.24 [[-9.12420484e-01 -4.08955737e-01 1.56225758e-02 2.98083287e+02] [ 4.08883274e-01 -9.12553980e-01 -7.72668352e-03 2.80152814e+02] [ 1.74163152e-02 -6.62174397e-04 9.99848105e-01 2.23980023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.270714057 meters Centerline goodness : 0.990850 Centerline is valid? [True, True] Translation: X:298.08, Y:280.15, Z:2.24 [[-9.12692125e-01 -4.08346502e-01 1.56913827e-02 2.98081235e+02] [ 4.08276438e-01 -9.12826857e-01 -7.58152701e-03 2.80153161e+02] [ 1.74194056e-02 -5.13178165e-04 9.99848139e-01 2.23566908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3007140569999 meters Centerline goodness : 0.991290 Centerline is valid? [True, True] Translation: X:298.09, Y:280.15, Z:2.24 [[-9.12343339e-01 -4.09127713e-01 1.56252041e-02 2.98090508e+02] [ 4.09055370e-01 -9.12476898e-01 -7.72111181e-03 2.80150135e+02] [ 1.74165586e-02 -6.52731265e-04 9.99848107e-01 2.23601137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3307140569999 meters Centerline goodness : 0.989169 Centerline is valid? [True, True] Translation: X:298.08, Y:280.15, Z:2.24 [[-9.13391281e-01 -4.06783313e-01 1.56110118e-02 2.98083420e+02] [ 4.06710116e-01 -9.13524386e-01 -7.75107543e-03 2.80154550e+02] [ 1.74140481e-02 -7.30608291e-04 9.99848097e-01 2.24112877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3607140569999 meters Centerline goodness : 0.989235 Centerline is valid? [True, True] Translation: X:298.10, Y:280.15, Z:2.24 [[-9.12689813e-01 -4.08350246e-01 1.57283643e-02 2.98098515e+02] [ 4.08281537e-01 -9.12825227e-01 -7.50272790e-03 2.80151177e+02] [ 1.74209885e-02 -4.26062570e-04 9.99848152e-01 2.24003451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.390714057 meters Centerline goodness : 0.989379 Centerline is valid? [True, True] Translation: X:298.10, Y:280.15, Z:2.24 [[-9.13724586e-01 -4.06030420e-01 1.57060162e-02 2.98099853e+02] [ 4.05960555e-01 -9.13859412e-01 -7.55001890e-03 2.80151680e+02] [ 1.74186281e-02 -5.22614836e-04 9.99848148e-01 2.23726549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4207140569999 meters Centerline goodness : 0.989190 Centerline is valid? [True, True] Translation: X:298.11, Y:280.15, Z:2.24 [[-9.14581847e-01 -4.04095600e-01 1.57096170e-02 2.98105010e+02] [ 4.04025581e-01 -9.14716591e-01 -7.54239360e-03 2.80152202e+02] [ 1.74176954e-02 -5.51049111e-04 9.99848149e-01 2.24004849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4507140569999 meters Centerline goodness : 0.989573 Centerline is valid? [True, True] Translation: X:298.10, Y:280.16, Z:2.24 [[-9.14503024e-01 -4.04273573e-01 1.57193066e-02 2.98099832e+02] [ 4.04203933e-01 -9.14637962e-01 -7.52185896e-03 2.80156599e+02] [ 1.74183634e-02 -5.24957210e-04 9.99848151e-01 2.23883698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4807140569999 meters Centerline goodness : 0.989370 Centerline is valid? [True, True] Translation: X:298.10, Y:280.16, Z:2.24 [[-9.15500444e-01 -4.02009992e-01 1.57131383e-02 2.98101276e+02] [ 4.01939794e-01 -9.15635095e-01 -7.53493581e-03 2.80156539e+02] [ 1.74166204e-02 -5.82501493e-04 9.99848149e-01 2.24203465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.510714057 meters Centerline goodness : 0.987926 Centerline is valid? [True, True] Translation: X:298.11, Y:280.16, Z:2.24 [[-9.15166204e-01 -4.02770373e-01 1.57113437e-02 2.98111560e+02] [ 4.02700221e-01 -9.15300879e-01 -7.53874174e-03 2.80156368e+02] [ 1.74169885e-02 -5.72240088e-04 9.99848149e-01 2.24090444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.540714057 meters Centerline goodness : 0.988615 Centerline is valid? [True, True] Translation: X:298.11, Y:280.16, Z:2.24 [[-9.16895237e-01 -3.98817480e-01 1.57398494e-02 2.98106034e+02] [ 3.98747784e-01 -9.17030142e-01 -7.47826139e-03 2.80159438e+02] [ 1.74163777e-02 -5.80552177e-04 9.99848155e-01 2.24335183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5707140569999 meters Centerline goodness : 0.989307 Centerline is valid? [True, True] Translation: X:298.12, Y:280.16, Z:2.24 [[-9.15316449e-01 -4.02426354e-01 1.57742949e-02 2.98120343e+02] [ 4.02358448e-01 -9.15452262e-01 -7.40509185e-03 2.80155590e+02] [ 1.74206181e-02 -4.31081554e-04 9.99848157e-01 2.24437721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6007140569999 meters Centerline goodness : 0.988309 Centerline is valid? [True, True] Translation: X:298.10, Y:280.17, Z:2.24 [[-9.18430716e-01 -3.95271393e-01 1.56698783e-02 2.98104379e+02] [ 3.95198642e-01 -9.18564024e-01 -7.62671194e-03 2.80165531e+02] [ 1.74084075e-02 -8.11891879e-04 9.99848133e-01 2.24368392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.630714057 meters Centerline goodness : 0.987892 Centerline is valid? [True, True] Translation: X:298.11, Y:280.17, Z:2.24 [[-9.18495071e-01 -3.95117400e-01 1.57811477e-02 2.98107607e+02] [ 3.95048670e-01 -9.18630466e-01 -7.39015430e-03 2.80166560e+02] [ 1.74170216e-02 -5.53498897e-04 9.99848159e-01 2.24299890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.660714057 meters Centerline goodness : 0.987858 Centerline is valid? [True, True] Translation: X:298.11, Y:280.17, Z:2.24 [[-9.19794872e-01 -3.92082906e-01 1.57603347e-02 2.98110717e+02] [ 3.92012972e-01 -9.19929649e-01 -7.43441110e-03 2.80168281e+02] [ 1.74133046e-02 -6.59877580e-04 9.99848159e-01 2.24464231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6907140569999 meters Centerline goodness : 0.988707 Centerline is valid? [True, True] Translation: X:298.11, Y:280.17, Z:2.24 [[-9.20609154e-01 -3.90167023e-01 1.57632666e-02 2.98106127e+02] [ 3.90096915e-01 -9.20743840e-01 -7.42817135e-03 2.80172220e+02] [ 1.74121581e-02 -6.89240876e-04 9.99848159e-01 2.24268832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7207140569999 meters Centerline goodness : 0.988859 Centerline is valid? [True, True] Translation: X:298.11, Y:280.17, Z:2.24 [[-9.20988941e-01 -3.89269518e-01 1.57674883e-02 2.98107228e+02] [ 3.89199433e-01 -9.21123639e-01 -7.41917932e-03 2.80173949e+02] [ 1.74118665e-02 -6.96284605e-04 9.99848160e-01 2.24363326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.750714057 meters Centerline goodness : 0.983077 Centerline is valid? [True, True] Translation: X:297.17, Y:280.61, Z:2.26 [[-9.27049517e-01 -3.74607034e-01 1.57722449e-02 2.97171450e+02] [ 3.74534992e-01 -9.27183178e-01 -7.40902303e-03 2.80607360e+02] [ 1.73992323e-02 -9.61273606e-04 9.99848160e-01 2.25749127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.780714057 meters Centerline goodness : 0.982728 Centerline is valid? [True, True] Translation: X:297.19, Y:280.60, Z:2.26 [[-9.28205673e-01 -3.71733684e-01 1.57574389e-02 2.97188920e+02] [ 3.71660708e-01 -9.28338822e-01 -7.43981943e-03 2.80600696e+02] [ 1.73938737e-02 -1.04926172e-03 9.99848165e-01 2.25509060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8107140569999 meters Centerline goodness : 0.987663 Centerline is valid? [True, True] Translation: X:298.12, Y:280.18, Z:2.24 [[-9.11276307e-01 -4.11486183e-01 1.59566005e-02 2.98119206e+02] [ 4.11426507e-01 -9.11415981e-01 -7.00997798e-03 2.80178691e+02] [ 1.74276097e-02 1.76941532e-04 9.99848112e-01 2.23875917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8407140569999 meters Centerline goodness : 0.982535 Centerline is valid? [True, True] Translation: X:297.15, Y:280.63, Z:2.26 [[-9.25331283e-01 -3.78835974e-01 1.56627476e-02 2.97148542e+02] [ 3.78760702e-01 -9.25463138e-01 -7.63613953e-03 2.80626183e+02] [ 1.73881399e-02 -1.13352550e-03 9.99848172e-01 2.26010910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.870714057 meters Centerline goodness : 0.988854 Centerline is valid? [True, True] Translation: X:298.06, Y:280.20, Z:2.24 [[-9.23009671e-01 -3.84448889e-01 1.58808101e-02 2.98057287e+02] [ 3.84382353e-01 -9.23146136e-01 -7.17073174e-03 2.80203888e+02] [ 1.74170883e-02 -5.14351600e-04 9.99848179e-01 2.23845555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.900714057 meters Centerline goodness : 0.982950 Centerline is valid? [True, True] Translation: X:297.22, Y:280.60, Z:2.26 [[-9.23272178e-01 -3.83821768e-01 1.57903778e-02 2.97220131e+02] [ 3.83751869e-01 -9.23406902e-01 -7.36181825e-03 2.80597362e+02] [ 1.74065700e-02 -7.37374966e-04 9.99848222e-01 2.25673999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9307140569999 meters Centerline goodness : 0.982993 Centerline is valid? [True, True] Translation: X:297.24, Y:280.59, Z:2.26 [[-9.23517566e-01 -3.83232779e-01 1.57461683e-02 2.97237628e+02] [ 3.83161235e-01 -9.23651403e-01 -7.45342157e-03 2.80590822e+02] [ 1.74003659e-02 -8.50044468e-04 9.99848241e-01 2.25516206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9607140569999 meters Centerline goodness : 0.983318 Centerline is valid? [True, True] Translation: X:297.21, Y:280.60, Z:2.25 [[-9.23585494e-01 -3.83068775e-01 1.57527237e-02 2.97213508e+02] [ 3.82997439e-01 -9.23719444e-01 -7.43979845e-03 2.80603518e+02] [ 1.74010517e-02 -8.38037080e-04 9.99848239e-01 2.25400760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9907140569999 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:298.05, Y:280.21, Z:2.23 [[-9.19621078e-01 -3.92485939e-01 1.58701407e-02 2.98050536e+02] [ 3.92420262e-01 -9.19757925e-01 -7.19014221e-03 2.80213227e+02] [ 1.74187174e-02 -3.84441561e-04 9.99848209e-01 2.23349921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.020714057 meters Centerline goodness : 0.983571 Centerline is valid? [True, True] Translation: X:297.14, Y:280.65, Z:2.26 [[-9.22690961e-01 -3.85219285e-01 1.57319280e-02 2.97136233e+02] [ 3.85147564e-01 -9.22824681e-01 -7.48080194e-03 2.80645084e+02] [ 1.73995606e-02 -8.43354582e-04 9.99848261e-01 2.25620035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0507140569999 meters Centerline goodness : 0.983714 Centerline is valid? [True, True] Translation: X:297.13, Y:280.65, Z:2.26 [[-9.23880860e-01 -3.82357571e-01 1.57112703e-02 2.97125315e+02] [ 3.82284715e-01 -9.24013959e-01 -7.52333893e-03 2.80651586e+02] [ 1.73940386e-02 -9.44490366e-04 9.99848266e-01 2.25572160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0807140569999 meters Centerline goodness : 0.983076 Centerline is valid? [True, True] Translation: X:297.14, Y:280.65, Z:2.26 [[-9.23973619e-01 -3.82133169e-01 1.57160094e-02 2.97136941e+02] [ 3.82060447e-01 -9.24106791e-01 -7.51356879e-03 2.80646822e+02] [ 1.73944549e-02 -9.37873773e-04 9.99848265e-01 2.25583970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1107140569999 meters Centerline goodness : 0.983195 Centerline is valid? [True, True] Translation: X:297.12, Y:280.65, Z:2.25 [[-9.25659986e-01 -3.78029949e-01 1.57145647e-02 2.97123836e+02] [ 3.77956586e-01 -9.25792807e-01 -7.51655097e-03 2.80653420e+02] [ 1.73899124e-02 -1.01834723e-03 9.99848265e-01 2.25452045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.140714057 meters Centerline goodness : 0.989392 Centerline is valid? [True, True] Translation: X:298.04, Y:280.23, Z:2.24 [[-9.22620187e-01 -3.85383040e-01 1.58714749e-02 2.98037832e+02] [ 3.85316416e-01 -9.22756550e-01 -7.18396425e-03 2.80225818e+02] [ 1.74140854e-02 -5.12530592e-04 9.99848232e-01 2.23919987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1707140569999 meters Centerline goodness : 0.988558 Centerline is valid? [True, True] Translation: X:298.07, Y:280.22, Z:2.24 [[-9.18564228e-01 -3.94956770e-01 1.57768229e-02 2.98067954e+02] [ 3.94888134e-01 -9.18699540e-01 -7.38351371e-03 2.80220456e+02] [ 1.74103287e-02 -5.52151393e-04 9.99848276e-01 2.24057682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2007140569999 meters Centerline goodness : 0.988722 Centerline is valid? [True, True] Translation: X:298.04, Y:280.23, Z:2.24 [[-9.24360923e-01 -3.81198569e-01 1.56376387e-02 2.98036272e+02] [ 3.81122961e-01 -9.24492488e-01 -7.67646138e-03 2.80228225e+02] [ 1.73831356e-02 -1.13595778e-03 9.99848257e-01 2.23911621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2307140569999 meters Centerline goodness : 0.988722 Centerline is valid? [True, True] Translation: X:298.04, Y:280.23, Z:2.24 [[-9.24512181e-01 -3.80825693e-01 1.57803543e-02 2.98038633e+02] [ 3.80755127e-01 -9.24646492e-01 -7.37549635e-03 2.80227043e+02] [ 1.74000277e-02 -8.10285422e-04 9.99848280e-01 2.23917241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.260714057 meters Centerline goodness : 0.988824 Centerline is valid? [True, True] Translation: X:298.06, Y:280.23, Z:2.24 [[-9.18517219e-01 -3.95065746e-01 1.57852615e-02 2.98061860e+02] [ 3.94997442e-01 -9.18652696e-01 -7.36513506e-03 2.80226598e+02] [ 1.74108856e-02 -5.29865470e-04 9.99848279e-01 2.23622866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.290714057 meters Centerline goodness : 0.983359 Centerline is valid? [True, True] Translation: X:297.13, Y:280.65, Z:2.25 [[-9.32133303e-01 -3.61775033e-01 1.56949034e-02 2.97134217e+02] [ 3.61698634e-01 -9.32264420e-01 -7.55973550e-03 2.80648497e+02] [ 1.73667236e-02 -1.36985610e-03 9.99848249e-01 2.25339996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3207140569999 meters Centerline goodness : 0.983464 Centerline is valid? [True, True] Translation: X:297.14, Y:280.64, Z:2.26 [[-9.31777559e-01 -3.62686332e-01 1.57862197e-02 2.97143282e+02] [ 3.62613291e-01 -9.31910577e-01 -7.36732687e-03 2.80644945e+02] [ 1.73833739e-02 -1.14041676e-03 9.99848247e-01 2.25584768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3507140569999 meters Centerline goodness : 0.982965 Centerline is valid? [True, True] Translation: X:297.15, Y:280.64, Z:2.25 [[-9.34827168e-01 -3.54752197e-01 1.57811744e-02 2.97154974e+02] [ 3.54677849e-01 -9.34959459e-01 -7.37797627e-03 2.80638576e+02] [ 1.73721116e-02 -1.29989968e-03 9.99848249e-01 2.25362539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.380714057 meters Centerline goodness : 0.983439 Centerline is valid? [True, True] Translation: X:297.15, Y:280.64, Z:2.25 [[-9.36019128e-01 -3.51594118e-01 1.58040369e-02 2.97154302e+02] [ 3.51520135e-01 -9.36151629e-01 -7.32954513e-03 2.80638553e+02] [ 1.73719998e-02 -1.30515727e-03 9.99848244e-01 2.25315957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.410714057 meters Centerline goodness : 0.983715 Centerline is valid? [True, True] Translation: X:297.14, Y:280.64, Z:2.25 [[-9.37182628e-01 -3.48480503e-01 1.58133528e-02 2.97137641e+02] [ 3.48406410e-01 -9.37315070e-01 -7.30974852e-03 2.80644857e+02] [ 1.73693987e-02 -1.34109585e-03 9.99848241e-01 2.25280361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4407140569999 meters Centerline goodness : 0.990610 Centerline is valid? [True, True] Translation: X:298.02, Y:280.24, Z:2.23 [[-9.32996033e-01 -3.59532432e-01 1.59634673e-02 2.98019771e+02] [ 3.59465477e-01 -9.33132268e-01 -6.98148461e-03 2.80243087e+02] [ 1.74060966e-02 -7.75382059e-04 9.99848202e-01 2.23059278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4707140569999 meters Centerline goodness : 0.983246 Centerline is valid? [True, True] Translation: X:297.12, Y:280.65, Z:2.25 [[-9.36472812e-01 -3.50383663e-01 1.58101800e-02 2.97120804e+02] [ 3.50309789e-01 -9.36605346e-01 -7.31288848e-03 2.80652604e+02] [ 1.73702158e-02 -1.30986041e-03 9.99848268e-01 2.25299206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.500714057 meters Centerline goodness : 0.982919 Centerline is valid? [True, True] Translation: X:297.12, Y:280.65, Z:2.25 [[-9.37656663e-01 -3.47204113e-01 1.57888222e-02 2.97116833e+02] [ 3.47129038e-01 -9.37788511e-01 -7.35792646e-03 2.80653116e+02] [ 1.73612784e-02 -1.41845012e-03 9.99848276e-01 2.25263151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.530714057 meters Centerline goodness : 0.982164 Centerline is valid? [True, True] Translation: X:297.14, Y:280.64, Z:2.25 [[-9.38321241e-01 -3.45403426e-01 1.58025700e-02 2.97137531e+02] [ 3.45328584e-01 -9.38453226e-01 -7.32882201e-03 2.80643205e+02] [ 1.73613730e-02 -1.41971026e-03 9.99848272e-01 2.25313992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5607140569999 meters Centerline goodness : 0.983612 Centerline is valid? [True, True] Translation: X:297.10, Y:280.66, Z:2.25 [[-9.39339892e-01 -3.42623152e-01 1.58095906e-02 2.97098913e+02] [ 3.42548167e-01 -9.39471798e-01 -7.31390991e-03 2.80659684e+02] [ 1.73585794e-02 -1.45470105e-03 9.99848270e-01 2.24946210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5907140569999 meters Centerline goodness : 0.983179 Centerline is valid? [True, True] Translation: X:297.11, Y:280.65, Z:2.25 [[-9.39549047e-01 -3.42048782e-01 1.58182932e-02 2.97110927e+02] [ 3.41974026e-01 -9.39681086e-01 -7.29537932e-03 2.80653446e+02] [ 1.73595265e-02 -1.44492129e-03 9.99848268e-01 2.25329128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.620714057 meters Centerline goodness : 0.983182 Centerline is valid? [True, True] Translation: X:297.19, Y:280.62, Z:2.25 [[-9.37064981e-01 -3.48795404e-01 1.58425594e-02 2.97185246e+02] [ 3.48722472e-01 -9.37198043e-01 -7.24337033e-03 2.80618725e+02] [ 1.73740699e-02 -1.26285222e-03 9.99848262e-01 2.25072834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.650714057 meters Centerline goodness : 0.982945 Centerline is valid? [True, True] Translation: X:297.11, Y:280.65, Z:2.26 [[-9.39277138e-01 -3.42794899e-01 1.58150663e-02 2.97106113e+02] [ 3.42720135e-01 -9.39409170e-01 -7.30212662e-03 2.80652806e+02] [ 1.73599501e-02 -1.43857892e-03 9.99848270e-01 2.25554048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6807140569999 meters Centerline goodness : 0.982919 Centerline is valid? [True, True] Translation: X:297.12, Y:280.64, Z:2.25 [[-9.39432113e-01 -3.42369033e-01 1.58350930e-02 2.97124574e+02] [ 3.42294925e-01 -9.39564520e-01 -7.25928370e-03 2.80643954e+02] [ 1.73634455e-02 -1.39933226e-03 9.99848265e-01 2.25406066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7107140569999 meters Centerline goodness : 0.982861 Centerline is valid? [True, True] Translation: X:297.12, Y:280.65, Z:2.25 [[-9.38843623e-01 -3.43979031e-01 1.58454694e-02 2.97118116e+02] [ 3.43905523e-01 -9.38976367e-01 -7.23699402e-03 2.80645255e+02] [ 1.73678955e-02 -1.34506124e-03 9.99848262e-01 2.25415697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7407140569999 meters Centerline goodness : 0.982692 Centerline is valid? [True, True] Translation: X:297.12, Y:280.64, Z:2.25 [[-9.39187556e-01 -3.43038845e-01 1.58456563e-02 2.97121500e+02] [ 3.42965211e-01 -9.39320231e-01 -7.23659201e-03 2.80643318e+02] [ 1.73665777e-02 -1.36200829e-03 9.99848262e-01 2.25355242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.770714057 meters Centerline goodness : 0.982830 Centerline is valid? [True, True] Translation: X:297.13, Y:280.64, Z:2.26 [[-9.39656760e-01 -3.41750811e-01 1.58605441e-02 2.97130762e+02] [ 3.41677534e-01 -9.39789636e-01 -7.20442912e-03 2.80637882e+02] [ 1.73676945e-02 -1.35049893e-03 9.99848258e-01 2.25558823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8007140569999 meters Centerline goodness : 0.983718 Centerline is valid? [True, True] Translation: X:297.11, Y:280.64, Z:2.25 [[-9.38618959e-01 -3.44590561e-01 1.58680405e-02 2.97113374e+02] [ 3.44517958e-01 -9.38752207e-01 -7.18822195e-03 2.80644699e+02] [ 1.73731515e-02 -1.28017649e-03 9.99848256e-01 2.25298746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8307140569999 meters Centerline goodness : 0.982861 Centerline is valid? [True, True] Translation: X:297.13, Y:280.64, Z:2.25 [[-9.38760845e-01 -3.44203950e-01 1.58655987e-02 2.97130169e+02] [ 3.44131202e-01 -9.38894014e-01 -7.19351027e-03 2.80636720e+02] [ 1.73721503e-02 -1.29313822e-03 9.99848257e-01 2.25382811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8607140569999 meters Centerline goodness : 0.983176 Centerline is valid? [True, True] Translation: X:297.23, Y:280.59, Z:2.25 [[-9.37911162e-01 -3.46511163e-01 1.58954787e-02 2.97226607e+02] [ 3.46439841e-01 -9.38045108e-01 -7.12829610e-03 2.80593424e+02] [ 1.73807102e-02 -1.17888138e-03 9.99848249e-01 2.24936646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.890714057 meters Centerline goodness : 0.987967 Centerline is valid? [True, True] Translation: X:298.05, Y:280.23, Z:2.24 [[-9.26399734e-01 -3.76200563e-01 1.60209000e-02 2.98051781e+02] [ 3.76138363e-01 -9.26538199e-01 -6.84811077e-03 2.80231201e+02] [ 1.74202389e-02 -3.18012896e-04 9.99848206e-01 2.24062000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9207140569999 meters Centerline goodness : 0.988513 Centerline is valid? [True, True] Translation: X:298.05, Y:280.23, Z:2.24 [[-9.25750940e-01 -3.77806426e-01 1.57322141e-02 2.98054778e+02] [ 3.77733695e-01 -9.25884089e-01 -7.47733070e-03 2.80229364e+02] [ 1.73911903e-02 -9.79558565e-04 9.99848282e-01 2.24036330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9507140569999 meters Centerline goodness : 0.987313 Centerline is valid? [True, True] Translation: X:298.05, Y:280.23, Z:2.24 [[-9.27143342e-01 -3.74377667e-01 1.57030693e-02 2.98049819e+02] [ 3.74303371e-01 -9.27275645e-01 -7.54085393e-03 2.80230978e+02] [ 1.73842010e-02 -1.11374074e-03 9.99848263e-01 2.24254562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9807140569999 meters Centerline goodness : 0.983482 Centerline is valid? [True, True] Translation: X:297.10, Y:280.65, Z:2.26 [[-9.36008371e-01 -3.51622103e-01 1.58185456e-02 2.97100695e+02] [ 3.51548866e-01 -9.36141182e-01 -7.28572702e-03 2.80649182e+02] [ 1.73702147e-02 -1.25850969e-03 9.99848334e-01 2.25737981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.010714057 meters Centerline goodness : 0.987580 Centerline is valid? [True, True] Translation: X:298.06, Y:280.23, Z:2.24 [[-9.19327100e-01 -3.93169171e-01 1.59901659e-02 2.98055089e+02] [ 3.93108530e-01 -9.19466149e-01 -6.90543186e-03 2.80227154e+02] [ 1.74174191e-02 -6.24800586e-05 9.99848303e-01 2.24081601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.040714057 meters Centerline goodness : 0.989126 Centerline is valid? [True, True] Translation: X:297.64, Y:280.41, Z:2.25 [[-9.29017809e-01 -3.69704662e-01 1.56324353e-02 2.97643950e+02] [ 3.69627455e-01 -9.29148338e-01 -7.67536352e-03 2.80408438e+02] [ 1.73624689e-02 -1.35237215e-03 9.99848346e-01 2.24712421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0707140569999 meters Centerline goodness : 0.988353 Centerline is valid? [True, True] Translation: X:297.64, Y:280.41, Z:2.25 [[-9.29326696e-01 -3.68920506e-01 1.57972090e-02 2.97635370e+02] [ 3.68849175e-01 -9.29460439e-01 -7.31968362e-03 2.80412522e+02] [ 1.73832622e-02 -9.75589901e-04 9.99848424e-01 2.24955202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1007140569999 meters Centerline goodness : 0.983782 Centerline is valid? [True, True] Translation: X:297.08, Y:280.66, Z:2.26 [[-9.35683091e-01 -3.52487509e-01 1.58022190e-02 2.97080703e+02] [ 3.52414013e-01 -9.35815657e-01 -7.30886282e-03 2.80658421e+02] [ 1.73642468e-02 -1.26985593e-03 9.99848424e-01 2.25514934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.130714057 meters Centerline goodness : 0.982888 Centerline is valid? [True, True] Translation: X:297.11, Y:280.65, Z:2.26 [[-9.35556464e-01 -3.52823152e-01 1.58090886e-02 2.97107465e+02] [ 3.52749949e-01 -9.35689194e-01 -7.29423020e-03 2.80645960e+02] [ 1.73659667e-02 -1.24750901e-03 9.99848422e-01 2.25853947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.160714057 meters Centerline goodness : 0.982809 Centerline is valid? [True, True] Translation: X:297.08, Y:280.66, Z:2.26 [[-9.34749267e-01 -3.54956191e-01 1.58085491e-02 2.97084117e+02] [ 3.54883272e-01 -9.34882153e-01 -7.29538121e-03 2.80656225e+02] [ 1.73686711e-02 -1.20916263e-03 9.99848422e-01 2.26152027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1907140569999 meters Centerline goodness : 0.981845 Centerline is valid? [True, True] Translation: X:297.09, Y:280.65, Z:2.26 [[-9.36114402e-01 -3.51340577e-01 1.57995310e-02 2.97089195e+02] [ 3.51266823e-01 -9.36246824e-01 -7.31463786e-03 2.80653256e+02] [ 1.73621898e-02 -1.29748681e-03 9.99848424e-01 2.25998349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2207140569999 meters Centerline goodness : 0.982519 Centerline is valid? [True, True] Translation: X:297.09, Y:280.65, Z:2.26 [[-9.36701533e-01 -3.49771391e-01 1.58180800e-02 2.97094520e+02] [ 3.49698081e-01 -9.36834206e-01 -7.27486040e-03 2.80650394e+02] [ 1.73634565e-02 -1.28282067e-03 9.99848421e-01 2.25983464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.250714057 meters Centerline goodness : 0.983388 Centerline is valid? [True, True] Translation: X:297.12, Y:280.64, Z:2.26 [[-9.37204271e-01 -3.48421337e-01 1.58343202e-02 2.97115067e+02] [ 3.48348423e-01 -9.37337165e-01 -7.23986572e-03 2.80639315e+02] [ 1.73646205e-02 -1.26937261e-03 9.99848418e-01 2.25758532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.280714057 meters Centerline goodness : 0.989401 Centerline is valid? [True, True] Translation: X:297.70, Y:280.38, Z:2.25 [[-9.30051207e-01 -3.67084369e-01 1.59316882e-02 2.97703646e+02] [ 3.67017769e-01 -9.30187397e-01 -7.02591410e-03 2.80377573e+02] [ 1.73985589e-02 -6.87247215e-04 9.99848397e-01 2.24829863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3107140569999 meters Centerline goodness : 0.982511 Centerline is valid? [True, True] Translation: X:297.07, Y:280.66, Z:2.26 [[-9.35295425e-01 -3.53514471e-01 1.58109486e-02 2.97071338e+02] [ 3.53441464e-01 -9.35428249e-01 -7.28853776e-03 2.80658054e+02] [ 1.73666115e-02 -1.22869122e-03 9.99848434e-01 2.25984113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3407140569999 meters Centerline goodness : 0.983038 Centerline is valid? [True, True] Translation: X:297.04, Y:280.67, Z:2.26 [[-9.36947895e-01 -3.49110990e-01 1.58164252e-02 2.97039334e+02] [ 3.49037556e-01 -9.37080484e-01 -7.27675233e-03 2.80671084e+02] [ 1.73616576e-02 -1.29741138e-03 9.99848433e-01 2.25832974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.370714057 meters Centerline goodness : 0.983396 Centerline is valid? [True, True] Translation: X:297.08, Y:280.65, Z:2.26 [[-9.37232311e-01 -3.48345667e-01 1.58395619e-02 2.97084497e+02] [ 3.48272963e-01 -9.37365306e-01 -7.22673356e-03 2.80649892e+02] [ 1.73648571e-02 -1.25663703e-03 9.99848430e-01 2.25590514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.400714057 meters Centerline goodness : 0.989253 Centerline is valid? [True, True] Translation: X:298.02, Y:280.23, Z:2.24 [[-9.27784885e-01 -3.72773015e-01 1.59839118e-02 2.98018832e+02] [ 3.72709306e-01 -9.27922452e-01 -6.90631365e-03 2.80233073e+02] [ 1.74063180e-02 -4.50220741e-04 9.99848397e-01 2.24385200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4307140569999 meters Centerline goodness : 0.989605 Centerline is valid? [True, True] Translation: X:298.02, Y:280.23, Z:2.24 [[-9.27700873e-01 -3.72992584e-01 1.57360021e-02 2.98024424e+02] [ 3.72919738e-01 -9.27833744e-01 -7.44402239e-03 2.80230492e+02] [ 1.73769588e-02 -1.03756031e-03 9.99848471e-01 2.24417550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4607140569999 meters Centerline goodness : 0.988564 Centerline is valid? [True, True] Translation: X:298.03, Y:280.23, Z:2.24 [[-9.27539561e-01 -3.73392957e-01 1.57500264e-02 2.98026806e+02] [ 3.73320682e-01 -9.27672737e-01 -7.41359034e-03 2.80227701e+02] [ 1.73790525e-02 -9.96587719e-04 9.99848476e-01 2.24449816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4907140569999 meters Centerline goodness : 0.989464 Centerline is valid? [True, True] Translation: X:298.03, Y:280.23, Z:2.24 [[-9.26165753e-01 -3.76787488e-01 1.57539280e-02 2.98030430e+02] [ 3.76715845e-01 -9.26299269e-01 -7.40511804e-03 2.80227058e+02] [ 1.73830078e-02 -9.23612419e-04 9.99848478e-01 2.24247249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.520714057 meters Centerline goodness : 0.988915 Centerline is valid? [True, True] Translation: X:298.03, Y:280.23, Z:2.24 [[-9.26379814e-01 -3.76262720e-01 1.57100564e-02 2.98032724e+02] [ 3.76189390e-01 -9.26512432e-01 -7.50036700e-03 2.80225047e+02] [ 1.73776711e-02 -1.03823205e-03 9.99848458e-01 2.24199287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5507140569999 meters Centerline goodness : 0.989291 Centerline is valid? [True, True] Translation: X:298.04, Y:280.22, Z:2.24 [[-9.26383050e-01 -3.76255246e-01 1.56982164e-02 2.98038347e+02] [ 3.76181480e-01 -9.26515435e-01 -7.52608724e-03 2.80222681e+02] [ 1.73763696e-02 -1.06666137e-03 9.99848451e-01 2.23954831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5807140569999 meters Centerline goodness : 0.989852 Centerline is valid? [True, True] Translation: X:298.03, Y:280.22, Z:2.24 [[-9.27115867e-01 -3.74444345e-01 1.57353645e-02 2.98033703e+02] [ 3.74371686e-01 -9.27248839e-01 -7.44528317e-03 2.80222963e+02] [ 1.73784426e-02 -1.01176524e-03 9.99848472e-01 2.24023832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6107140569999 meters Centerline goodness : 0.989522 Centerline is valid? [True, True] Translation: X:298.03, Y:280.22, Z:2.24 [[-9.27053832e-01 -3.74598127e-01 1.57300845e-02 2.98027487e+02] [ 3.74525295e-01 -9.27186712e-01 -7.45677386e-03 2.80224955e+02] [ 1.73780189e-02 -1.02151622e-03 9.99848469e-01 2.24062949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.640714057 meters Centerline goodness : 0.988781 Centerline is valid? [True, True] Translation: X:298.03, Y:280.22, Z:2.24 [[-9.27360719e-01 -3.73837261e-01 1.57416563e-02 2.98028317e+02] [ 3.73764747e-01 -9.27493766e-01 -7.43157396e-03 2.80223546e+02] [ 1.73784874e-02 -1.00807358e-03 9.99848475e-01 2.24107587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6707140569999 meters Centerline goodness : 0.989960 Centerline is valid? [True, True] Translation: X:298.03, Y:280.22, Z:2.24 [[-9.26235584e-01 -3.76615497e-01 1.57610269e-02 2.98032099e+02] [ 3.76544098e-01 -9.26369225e-01 -7.38934706e-03 2.80221454e+02] [ 1.73834729e-02 -9.09554528e-04 9.99848482e-01 2.24159099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7007140569999 meters Centerline goodness : 0.989794 Centerline is valid? [True, True] Translation: X:298.03, Y:280.22, Z:2.24 [[-9.26104499e-01 -3.76939984e-01 1.57068540e-02 2.98031491e+02] [ 3.76866631e-01 -9.26237109e-01 -7.50740850e-03 2.80220124e+02] [ 1.73781134e-02 -1.03325565e-03 9.99848455e-01 2.24147297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7307140569999 meters Centerline goodness : 0.989931 Centerline is valid? [True, True] Translation: X:298.04, Y:280.22, Z:2.24 [[-9.25373464e-01 -3.78729167e-01 1.57534609e-02 2.98035757e+02] [ 3.78657794e-01 -9.25507121e-01 -7.40573658e-03 2.80218087e+02] [ 1.73847087e-02 -8.87901362e-04 9.99848480e-01 2.24144274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.760714057 meters Centerline goodness : 0.990410 Centerline is valid? [True, True] Translation: X:298.04, Y:280.22, Z:2.24 [[-9.24009847e-01 -3.82044551e-01 1.57404983e-02 2.98035151e+02] [ 3.81973177e-01 -9.24143510e-01 -7.43401854e-03 2.80218408e+02] [ 1.73866056e-02 -8.56658187e-04 9.99848475e-01 2.24199529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.790714057 meters Centerline goodness : 0.990172 Centerline is valid? [True, True] Translation: X:298.04, Y:280.22, Z:2.24 [[-9.22985750e-01 -3.84512338e-01 1.57342666e-02 2.98037888e+02] [ 3.84441090e-01 -9.23119484e-01 -7.44761866e-03 2.80217090e+02] [ 1.73883093e-02 -8.25147287e-04 9.99848471e-01 2.24091657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8207140569999 meters Centerline goodness : 0.989345 Centerline is valid? [True, True] Translation: X:298.04, Y:280.22, Z:2.24 [[-9.23024087e-01 -3.84420980e-01 1.57176613e-02 2.98040379e+02] [ 3.84349103e-01 -9.23157494e-01 -7.48385605e-03 2.80215869e+02] [ 1.73868281e-02 -8.66710365e-04 9.99848462e-01 2.24044203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8507140569999 meters Centerline goodness : 0.989913 Centerline is valid? [True, True] Translation: X:298.04, Y:280.22, Z:2.24 [[-9.22019349e-01 -3.86823665e-01 1.57407774e-02 2.98042062e+02] [ 3.86752995e-01 -9.22153385e-01 -7.43336370e-03 2.80215347e+02] [ 1.73908121e-02 -7.65912373e-04 9.99848475e-01 2.23869825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.880714057 meters Centerline goodness : 0.989602 Centerline is valid? [True, True] Translation: X:298.04, Y:280.21, Z:2.24 [[-9.22037590e-01 -3.86781063e-01 1.57191866e-02 2.98044706e+02] [ 3.86709584e-01 -9.22171209e-01 -7.48052800e-03 2.80214827e+02] [ 1.73891079e-02 -8.18567889e-04 9.99848463e-01 2.23929878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.910714057 meters Centerline goodness : 0.989948 Centerline is valid? [True, True] Translation: X:298.05, Y:280.21, Z:2.24 [[-9.22475118e-01 -3.85736101e-01 1.57263302e-02 2.98045708e+02] [ 3.85664737e-01 -9.22608794e-01 -7.46491003e-03 2.80214491e+02] [ 1.73887358e-02 -8.21102757e-04 9.99848467e-01 2.23841012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9407140569999 meters Centerline goodness : 0.990652 Centerline is valid? [True, True] Translation: X:298.05, Y:280.21, Z:2.24 [[-9.23037074e-01 -3.84388946e-01 1.57384339e-02 2.98050696e+02] [ 3.84317837e-01 -9.23170878e-01 -7.43843249e-03 2.80212472e+02] [ 1.73885150e-02 -8.17388105e-04 9.99848474e-01 2.23764636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9707140569999 meters Centerline goodness : 0.991071 Centerline is valid? [True, True] Translation: X:298.06, Y:280.21, Z:2.24 [[-9.23233121e-01 -3.83918352e-01 1.57259149e-02 2.98056348e+02] [ 3.83846708e-01 -9.23366648e-01 -7.46583173e-03 2.80210212e+02] [ 1.73870551e-02 -8.56362464e-04 9.99848467e-01 2.23707943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.000714057 meters Centerline goodness : 0.990389 Centerline is valid? [True, True] Translation: X:298.06, Y:280.21, Z:2.24 [[-9.25361976e-01 -3.78758942e-01 1.57123134e-02 2.98055230e+02] [ 3.78686049e-01 -9.25494836e-01 -7.49562302e-03 2.80211485e+02] [ 1.73806992e-02 -9.86130634e-04 9.99848458e-01 2.23612620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.030714057 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:298.05, Y:280.21, Z:2.24 [[-9.26302386e-01 -3.76450736e-01 1.57712890e-02 2.98054456e+02] [ 3.76379704e-01 -9.26436213e-01 -7.36628835e-03 2.80211737e+02] [ 1.73841379e-02 -8.87417401e-04 9.99848491e-01 2.23542867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0607140569999 meters Centerline goodness : 0.990125 Centerline is valid? [True, True] Translation: X:298.06, Y:280.21, Z:2.23 [[-9.26746571e-01 -3.75355480e-01 1.57815648e-02 2.98055429e+02] [ 3.75284673e-01 -9.26880512e-01 -7.34373991e-03 2.80211226e+02] [ 1.73841379e-02 -8.83206386e-04 9.99848494e-01 2.23431872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0907140569999 meters Centerline goodness : 0.989354 Centerline is valid? [True, True] Translation: X:298.05, Y:280.21, Z:2.24 [[-9.28319612e-01 -3.71448877e-01 1.57616395e-02 2.98054074e+02] [ 3.71376766e-01 -9.28452865e-01 -7.38747759e-03 2.80211221e+02] [ 1.73780096e-02 -1.00443362e-03 9.99848486e-01 2.23907489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.120714057 meters Centerline goodness : 0.990052 Centerline is valid? [True, True] Translation: X:298.05, Y:280.21, Z:2.24 [[-9.28048663e-01 -3.72123334e-01 1.58083075e-02 2.98049534e+02] [ 3.72053059e-01 -9.28182876e-01 -7.28494382e-03 2.80213284e+02] [ 1.73838979e-02 -8.79253205e-04 9.99848502e-01 2.23758963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.150714057 meters Centerline goodness : 0.990052 Centerline is valid? [True, True] Translation: X:298.05, Y:280.21, Z:2.24 [[-9.28186373e-01 -3.71780022e-01 1.58010076e-02 2.98051971e+02] [ 3.71709424e-01 -9.28320419e-01 -7.30098849e-03 2.80212268e+02] [ 1.73827596e-02 -9.03294604e-04 9.99848500e-01 2.23753783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1807140569999 meters Centerline goodness : 0.990639 Centerline is valid? [True, True] Translation: X:298.06, Y:280.21, Z:2.24 [[-9.27411142e-01 -3.73709541e-01 1.58035759e-02 2.98057728e+02] [ 3.73639318e-01 -9.27545383e-01 -7.29533806e-03 2.80209743e+02] [ 1.73848713e-02 -8.60940473e-04 9.99848501e-01 2.23843363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2107140569999 meters Centerline goodness : 0.989323 Centerline is valid? [True, True] Translation: X:298.06, Y:280.21, Z:2.24 [[-9.26429416e-01 -3.76137052e-01 1.57941809e-02 2.98063748e+02] [ 3.76066829e-01 -9.26563660e-01 -7.31601571e-03 2.80208356e+02] [ 1.73861386e-02 -8.38104622e-04 9.99848498e-01 2.23989098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2407140569999 meters Centerline goodness : 0.990137 Centerline is valid? [True, True] Translation: X:298.07, Y:280.21, Z:2.24 [[-9.25981902e-01 -3.77238116e-01 1.57771996e-02 2.98067504e+02] [ 3.77167418e-01 -9.26115904e-01 -7.35338378e-03 2.80206464e+02] [ 1.73854921e-02 -8.58454667e-04 9.99848492e-01 2.23672292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.270714057 meters Centerline goodness : 0.989804 Centerline is valid? [True, True] Translation: X:298.06, Y:280.21, Z:2.24 [[-9.26110825e-01 -3.76921295e-01 1.57821634e-02 2.98064635e+02] [ 3.76850737e-01 -9.26244898e-01 -7.34245190e-03 2.80207922e+02] [ 1.73856748e-02 -8.52404291e-04 9.99848494e-01 2.23767395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3007140569999 meters Centerline goodness : 0.991171 Centerline is valid? [True, True] Translation: X:298.04, Y:280.21, Z:2.24 [[-9.30195628e-01 -3.66722919e-01 1.58238807e-02 2.98038838e+02] [ 3.66652449e-01 -9.30329733e-01 -7.25045289e-03 2.80211955e+02] [ 1.73803339e-02 -9.42474967e-04 9.99848506e-01 2.23537011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3307140569999 meters Centerline goodness : 0.989621 Centerline is valid? [True, True] Translation: X:298.06, Y:280.21, Z:2.24 [[-9.26224714e-01 -3.76636043e-01 1.59081882e-02 2.98057498e+02] [ 3.76570194e-01 -9.26361153e-01 -7.06424344e-03 2.80211153e+02] [ 1.73973763e-02 -5.52527324e-04 9.99848502e-01 2.23873260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3607140569999 meters Centerline goodness : 0.989722 Centerline is valid? [True, True] Translation: X:298.07, Y:280.21, Z:2.24 [[-9.23919483e-01 -3.82259695e-01 1.58213370e-02 2.98070442e+02] [ 3.82191390e-01 -9.24054703e-01 -7.25586313e-03 2.80207451e+02] [ 1.73934049e-02 -6.57054544e-04 9.99848507e-01 2.23730413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.390714057 meters Centerline goodness : 0.992052 Centerline is valid? [True, True] Translation: X:298.05, Y:280.21, Z:2.24 [[-9.29196239e-01 -3.69250269e-01 1.57666915e-02 2.98045086e+02] [ 3.69178029e-01 -9.29329420e-01 -7.37641864e-03 2.80211202e+02] [ 1.73761949e-02 -1.03342435e-03 9.99848488e-01 2.23584272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4207140569999 meters Centerline goodness : 0.990429 Centerline is valid? [True, True] Translation: X:298.07, Y:280.21, Z:2.24 [[-9.24561704e-01 -3.80702233e-01 1.58576943e-02 2.98066354e+02] [ 3.80635078e-01 -9.24697493e-01 -7.17529996e-03 2.80210326e+02] [ 1.73952229e-02 -5.98012853e-04 9.99848513e-01 2.23810697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4507140569999 meters Centerline goodness : 0.989566 Centerline is valid? [True, True] Translation: X:298.07, Y:280.21, Z:2.24 [[-9.25352040e-01 -3.78780064e-01 1.57881608e-02 2.98072166e+02] [ 3.78710006e-01 -9.25486369e-01 -7.32887187e-03 2.80207559e+02] [ 1.73877582e-02 -8.02652051e-04 9.99848499e-01 2.23696014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4807140569999 meters Centerline goodness : 0.990407 Centerline is valid? [True, True] Translation: X:298.07, Y:280.21, Z:2.24 [[-9.25006091e-01 -3.79623196e-01 1.58101440e-02 2.98073212e+02] [ 3.79554089e-01 -9.25140904e-01 -7.28027012e-03 2.80207740e+02] [ 1.73903703e-02 -7.33489424e-04 9.99848507e-01 2.23574076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.510714057 meters Centerline goodness : 0.991483 Centerline is valid? [True, True] Translation: X:298.05, Y:280.21, Z:2.23 [[-9.28796606e-01 -3.70252117e-01 1.58187745e-02 2.98048794e+02] [ 3.70181975e-01 -9.28930880e-01 -7.26117250e-03 2.80211939e+02] [ 1.73830126e-02 -8.88327175e-04 9.99848509e-01 2.23460699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.540714057 meters Centerline goodness : 0.990062 Centerline is valid? [True, True] Translation: X:298.08, Y:280.20, Z:2.24 [[-9.23408825e-01 -3.83488960e-01 1.58858087e-02 2.98084275e+02] [ 3.83423292e-01 -9.23545338e-01 -7.11259514e-03 2.80203812e+02] [ 1.73988663e-02 -4.76844060e-04 9.99848515e-01 2.23767377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5707140569999 meters Centerline goodness : 0.989346 Centerline is valid? [True, True] Translation: X:298.08, Y:280.20, Z:2.24 [[-9.24319653e-01 -3.81292464e-01 1.57872122e-02 2.98084573e+02] [ 3.81222741e-01 -9.24454154e-01 -7.33068039e-03 2.80203283e+02] [ 1.73896871e-02 -7.57447660e-04 9.99848501e-01 2.23723422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6007140569999 meters Centerline goodness : 0.989526 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.24295690e-01 -3.81350149e-01 1.57968645e-02 2.98088116e+02] [ 3.81280798e-01 -9.24430380e-01 -7.30931633e-03 2.80202091e+02] [ 1.73905103e-02 -7.32928469e-04 9.99848505e-01 2.23910418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.630714057 meters Centerline goodness : 0.989717 Centerline is valid? [True, True] Translation: X:298.10, Y:280.20, Z:2.24 [[-9.23916725e-01 -3.82266223e-01 1.58246715e-02 2.98097793e+02] [ 3.82198058e-01 -9.24052009e-01 -7.24772828e-03 2.80197927e+02] [ 1.73933812e-02 -6.48138638e-04 9.99848514e-01 2.23879010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.660714057 meters Centerline goodness : 0.990779 Centerline is valid? [True, True] Translation: X:298.08, Y:280.21, Z:2.24 [[-9.25237957e-01 -3.79059173e-01 1.57755170e-02 2.98077362e+02] [ 3.78988684e-01 -9.25372065e-01 -7.35657470e-03 2.80206371e+02] [ 1.73867999e-02 -8.27839702e-04 9.99848495e-01 2.23542554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6907140569999 meters Centerline goodness : 0.990795 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.26026938e-01 -3.77128943e-01 1.57439210e-02 2.98088099e+02] [ 3.77056986e-01 -9.26160286e-01 -7.42654673e-03 2.80201945e+02] [ 1.73821601e-02 -9.40826915e-04 9.99848476e-01 2.23936422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7207140569999 meters Centerline goodness : 0.989475 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.25943547e-01 -3.77328653e-01 1.58630247e-02 2.98085666e+02] [ 3.77261229e-01 -9.26079191e-01 -7.16219798e-03 2.80202975e+02] [ 1.73929196e-02 -6.47286814e-04 9.99848522e-01 2.24226611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.750714057 meters Centerline goodness : 0.989779 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.26541098e-01 -3.75860649e-01 1.58229687e-02 2.98093315e+02] [ 3.75791492e-01 -9.26675874e-01 -7.25111687e-03 2.80199518e+02] [ 1.73881728e-02 -7.72320778e-04 9.99848516e-01 2.24020608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.780714057 meters Centerline goodness : 0.989865 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.26939277e-01 -3.74876557e-01 1.58475168e-02 2.98087349e+02] [ 3.74808186e-01 -9.27074449e-01 -7.19657210e-03 2.80202008e+02] [ 1.73896540e-02 -7.31006332e-04 9.99848521e-01 2.24334287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8107140569999 meters Centerline goodness : 0.991316 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.27430538e-01 -3.73659396e-01 1.58509536e-02 2.98085586e+02] [ 3.73590978e-01 -9.27565685e-01 -7.18892892e-03 2.80201847e+02] [ 1.73890115e-02 -7.45458945e-04 9.99848522e-01 2.23952925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8407140569999 meters Centerline goodness : 0.991227 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.27886670e-01 -3.72527205e-01 1.58053538e-02 2.98088565e+02] [ 3.72456898e-01 -9.28020857e-01 -7.29029201e-03 2.80200645e+02] [ 1.73835301e-02 -8.77751745e-04 9.99848510e-01 2.23946503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.870714057 meters Centerline goodness : 0.990346 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.28363116e-01 -3.71338010e-01 1.58116539e-02 2.98085976e+02] [ 3.71267768e-01 -9.28497335e-01 -7.27627773e-03 2.80202444e+02] [ 1.73830370e-02 -8.84670403e-04 9.99848512e-01 2.24145139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.900714057 meters Centerline goodness : 0.989868 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.28165598e-01 -3.71827629e-01 1.59008434e-02 2.98085586e+02] [ 3.71760846e-01 -9.28301557e-01 -7.07758952e-03 2.80202412e+02] [ 1.73924210e-02 -6.57864114e-04 9.99848524e-01 2.24367429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9307140569999 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.28362748e-01 -3.71336445e-01 1.58698438e-02 2.98090255e+02] [ 3.71268411e-01 -9.28498084e-01 -7.14663354e-03 2.80200204e+02] [ 1.73889251e-02 -7.42696664e-04 9.99848525e-01 2.24413810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9607140569999 meters Centerline goodness : 0.990891 Centerline is valid? [True, True] Translation: X:298.08, Y:280.20, Z:2.24 [[-9.28839276e-01 -3.70142998e-01 1.58669385e-02 2.98084828e+02] [ 3.70074679e-01 -9.28974469e-01 -7.15310677e-03 2.80202605e+02] [ 1.73876532e-02 -7.72134335e-04 9.99848525e-01 2.23958282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9907140569999 meters Centerline goodness : 0.990078 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.29562110e-01 -3.68325834e-01 1.58228521e-02 2.98091789e+02] [ 3.68255581e-01 -9.29696319e-01 -7.25134787e-03 2.80200459e+02] [ 1.73813061e-02 -9.13724635e-04 9.99848516e-01 2.24433393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.020714057 meters Centerline goodness : 0.990023 Centerline is valid? [True, True] Translation: X:298.10, Y:280.20, Z:2.24 [[-9.29759560e-01 -3.67824687e-01 1.58795362e-02 2.98095916e+02] [ 3.67756513e-01 -9.29894824e-01 -7.12487260e-03 2.80198985e+02] [ 1.73870025e-02 -7.84615576e-04 9.99848527e-01 2.24409686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0507140569999 meters Centerline goodness : 0.991653 Centerline is valid? [True, True] Translation: X:298.10, Y:280.20, Z:2.24 [[-9.27016155e-01 -3.74685264e-01 1.58745443e-02 2.98103018e+02] [ 3.74617900e-01 -9.27151825e-01 -7.13601325e-03 2.80199347e+02] [ 1.73918717e-02 -6.68311110e-04 9.99848527e-01 2.23633664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0807140569999 meters Centerline goodness : 0.989353 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.30929917e-01 -3.64859782e-01 1.57107917e-02 2.98090697e+02] [ 3.64784819e-01 -9.31061638e-01 -7.50085914e-03 2.80203096e+02] [ 1.73644773e-02 -1.25171587e-03 9.99848443e-01 2.24375990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1107140569999 meters Centerline goodness : 0.991408 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.29856009e-01 -3.67580843e-01 1.58784824e-02 2.98092164e+02] [ 3.67512610e-01 -9.29991236e-01 -7.12618174e-03 2.80202958e+02] [ 1.73862974e-02 -7.90780382e-04 9.99848534e-01 2.23750030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.140714057 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:298.10, Y:280.20, Z:2.24 [[-9.30516172e-01 -3.65910846e-01 1.57767508e-02 2.98097488e+02] [ 3.65838522e-01 -9.30649293e-01 -7.35320288e-03 2.80201519e+02] [ 1.73732387e-02 -1.07053099e-03 9.99848501e-01 2.24300166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1707140569999 meters Centerline goodness : 0.991008 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.31760885e-01 -3.62726999e-01 1.58359533e-02 2.98090918e+02] [ 3.62656455e-01 -9.31894927e-01 -7.22092938e-03 2.80203839e+02] [ 1.73766706e-02 -9.85168852e-04 9.99848529e-01 2.24286815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2007140569999 meters Centerline goodness : 0.990343 Centerline is valid? [True, True] Translation: X:298.09, Y:280.21, Z:2.24 [[-9.32192612e-01 -3.61615026e-01 1.58589815e-02 2.98087678e+02] [ 3.61545194e-01 -9.32327020e-01 -7.16943058e-03 2.80205137e+02] [ 1.73783308e-02 -9.49551650e-04 9.99848535e-01 2.24372795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2307140569999 meters Centerline goodness : 0.989546 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.32209783e-01 -3.61570150e-01 1.58728591e-02 2.98088536e+02] [ 3.61500839e-01 -9.32344457e-01 -7.13838101e-03 2.80204336e+02] [ 1.73799977e-02 -9.16416742e-04 9.99848536e-01 2.24439873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.260714057 meters Centerline goodness : 0.990908 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.29872432e-01 -3.67538636e-01 1.58937485e-02 2.98094930e+02] [ 3.67470987e-01 -9.30007948e-01 -7.09159297e-03 2.80202809e+02] [ 1.73877468e-02 -7.53785353e-04 9.99848538e-01 2.23873634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.290714057 meters Centerline goodness : 0.989905 Centerline is valid? [True, True] Translation: X:298.09, Y:280.21, Z:2.24 [[-9.30460921e-01 -3.66049846e-01 1.58108870e-02 2.98086463e+02] [ 3.65978830e-01 -9.30594724e-01 -7.27703329e-03 2.80205131e+02] [ 1.73772850e-02 -9.84545174e-04 9.99848519e-01 2.24398448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3207140569999 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.29290610e-01 -3.69008841e-01 1.58567662e-02 2.98093225e+02] [ 3.68939998e-01 -9.29425526e-01 -7.17424577e-03 2.80200594e+02] [ 1.73850434e-02 -8.16763939e-04 9.99848535e-01 2.24295559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3507140569999 meters Centerline goodness : 0.990806 Centerline is valid? [True, True] Translation: X:298.11, Y:280.20, Z:2.24 [[-9.27231262e-01 -3.74153105e-01 1.58631653e-02 2.98106276e+02] [ 3.74085256e-01 -9.27366679e-01 -7.15989864e-03 2.80195241e+02] [ 1.73898692e-02 -7.04705629e-04 9.99848536e-01 2.24099814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.380714057 meters Centerline goodness : 0.991379 Centerline is valid? [True, True] Translation: X:298.11, Y:280.19, Z:2.24 [[-9.26736614e-01 -3.75379678e-01 1.57907092e-02 2.98107661e+02] [ 3.75309241e-01 -9.26870735e-01 -7.32221850e-03 2.80192734e+02] [ 1.73845583e-02 -8.59368893e-04 9.99848508e-01 2.23880788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.410714057 meters Centerline goodness : 0.991015 Centerline is valid? [True, True] Translation: X:298.10, Y:280.19, Z:2.24 [[-9.26938598e-01 -3.74878145e-01 1.58496677e-02 2.98104571e+02] [ 3.74809888e-01 -9.27073812e-01 -7.18996541e-03 2.80192699e+02] [ 1.73891728e-02 -7.24044283e-04 9.99848535e-01 2.24205988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4407140569999 meters Centerline goodness : 0.991177 Centerline is valid? [True, True] Translation: X:298.12, Y:280.19, Z:2.24 [[-9.24216231e-01 -3.81540385e-01 1.58522327e-02 2.98118552e+02] [ 3.81473202e-01 -9.24351980e-01 -7.18420781e-03 2.80188451e+02] [ 1.73941081e-02 -5.92559483e-04 9.99848535e-01 2.23936692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4707140569999 meters Centerline goodness : 0.991085 Centerline is valid? [True, True] Translation: X:298.13, Y:280.18, Z:2.24 [[-9.23302058e-01 -3.83750824e-01 1.57675583e-02 2.98130620e+02] [ 3.83680720e-01 -9.23436370e-01 -7.37398656e-03 2.80181169e+02] [ 1.73901102e-02 -7.58708843e-04 9.99848493e-01 2.23928860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.500714057 meters Centerline goodness : 0.990741 Centerline is valid? [True, True] Translation: X:298.11, Y:280.19, Z:2.24 [[-9.25775812e-01 -3.77744494e-01 1.57557637e-02 2.98107393e+02] [ 3.77673069e-01 -9.25909437e-01 -7.40045430e-03 2.80189841e+02] [ 1.73838911e-02 -9.00633965e-04 9.99848483e-01 2.24171332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.530714057 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:298.12, Y:280.19, Z:2.24 [[-9.24039038e-01 -3.81969301e-01 1.58527247e-02 2.98120935e+02] [ 3.81902211e-01 -9.24174828e-01 -7.18245381e-03 2.80185815e+02] [ 1.73941660e-02 -5.82677100e-04 9.99848540e-01 2.24048571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5607140569999 meters Centerline goodness : 0.992225 Centerline is valid? [True, True] Translation: X:298.13, Y:280.19, Z:2.24 [[-9.21705711e-01 -3.87567203e-01 1.58191390e-02 2.98125524e+02] [ 3.87499642e-01 -9.21841282e-01 -7.25791273e-03 2.80185502e+02] [ 1.73956643e-02 -5.59748907e-04 9.99848527e-01 2.23538295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5907140569999 meters Centerline goodness : 0.991144 Centerline is valid? [True, True] Translation: X:298.13, Y:280.18, Z:2.24 [[-9.23574181e-01 -3.83099393e-01 1.56712432e-02 2.98126123e+02] [ 3.83025531e-01 -9.23706577e-01 -7.58957695e-03 2.80184162e+02] [ 1.73831928e-02 -1.00705106e-03 9.99848394e-01 2.24077718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.620714057 meters Centerline goodness : 0.990458 Centerline is valid? [True, True] Translation: X:298.11, Y:280.19, Z:2.24 [[-9.24302462e-01 -3.81333634e-01 1.57992853e-02 2.98111350e+02] [ 3.81264413e-01 -9.24437198e-01 -7.30166960e-03 2.80190983e+02] [ 1.73898192e-02 -7.25245958e-04 9.99848523e-01 2.24213050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.650714057 meters Centerline goodness : 0.990774 Centerline is valid? [True, True] Translation: X:298.12, Y:280.19, Z:2.24 [[-9.22278891e-01 -3.86199964e-01 1.58503734e-02 2.98124463e+02] [ 3.86133426e-01 -9.22414945e-01 -7.18663587e-03 2.80187441e+02] [ 1.73960999e-02 -5.07723566e-04 9.99848548e-01 2.24098625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6807140569999 meters Centerline goodness : 0.991849 Centerline is valid? [True, True] Translation: X:298.11, Y:280.19, Z:2.24 [[-9.27412855e-01 -3.73705198e-01 1.58057321e-02 2.98110093e+02] [ 3.73635115e-01 -9.27547140e-01 -7.28718223e-03 2.80186879e+02] [ 1.73838195e-02 -8.52649933e-04 9.99848526e-01 2.23600951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7107140569999 meters Centerline goodness : 0.990625 Centerline is valid? [True, True] Translation: X:298.14, Y:280.18, Z:2.24 [[-9.20802655e-01 -3.89704151e-01 1.59105576e-02 2.98135689e+02] [ 3.89640474e-01 -9.20940057e-01 -7.05063311e-03 2.80184877e+02] [ 1.74003308e-02 -2.92844487e-04 9.99848560e-01 2.24061346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7407140569999 meters Centerline goodness : 0.990878 Centerline is valid? [True, True] Translation: X:298.12, Y:280.19, Z:2.24 [[-9.20304000e-01 -3.90884934e-01 1.57960891e-02 2.98124262e+02] [ 3.90816996e-01 -9.20439386e-01 -7.30840517e-03 2.80190845e+02] [ 1.73960880e-02 -5.52574415e-04 9.99848524e-01 2.24005919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.770714057 meters Centerline goodness : 0.990701 Centerline is valid? [True, True] Translation: X:298.08, Y:280.21, Z:2.24 [[-9.20142212e-01 -3.91266485e-01 1.57749024e-02 2.98081859e+02] [ 3.91197784e-01 -9.20277230e-01 -7.35619711e-03 2.80210507e+02] [ 1.73955168e-02 -5.97640640e-04 9.99848508e-01 2.23960846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8007140569999 meters Centerline goodness : 0.991372 Centerline is valid? [True, True] Translation: X:298.12, Y:280.19, Z:2.24 [[-9.24763243e-01 -3.80215326e-01 1.57876470e-02 2.98120931e+02] [ 3.80145502e-01 -9.24897673e-01 -7.32741672e-03 2.80187988e+02] [ 1.73879541e-02 -7.74522652e-04 9.99848518e-01 2.23641254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8307140569999 meters Centerline goodness : 0.990566 Centerline is valid? [True, True] Translation: X:298.12, Y:280.19, Z:2.24 [[-9.24406807e-01 -3.81075768e-01 1.59158564e-02 2.98124471e+02] [ 3.81011037e-01 -9.24543706e-01 -7.03746173e-03 2.80187540e+02] [ 1.73967110e-02 -4.41360588e-04 9.99848568e-01 2.23597005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8607140569999 meters Centerline goodness : 0.991155 Centerline is valid? [True, True] Translation: X:298.13, Y:280.19, Z:2.24 [[-9.23683878e-01 -3.82824626e-01 1.59185402e-02 2.98127836e+02] [ 3.82760258e-01 -9.23820948e-01 -7.03138577e-03 2.80188406e+02] [ 1.73976685e-02 -4.01793115e-04 9.99848568e-01 2.23636310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.890714057 meters Centerline goodness : 0.991042 Centerline is valid? [True, True] Translation: X:298.13, Y:280.19, Z:2.24 [[-9.23626052e-01 -3.82964008e-01 1.59212208e-02 2.98131135e+02] [ 3.82899766e-01 -9.23763181e-01 -7.02531080e-03 2.80188093e+02] [ 1.73978788e-02 -3.92528366e-04 9.99848568e-01 2.23637236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9207140569999 meters Centerline goodness : 0.989592 Centerline is valid? [True, True] Translation: X:298.13, Y:280.20, Z:2.24 [[-9.19320789e-01 -3.93186617e-01 1.59238982e-02 2.98125298e+02] [ 3.93124005e-01 -9.19458671e-01 -7.01923684e-03 2.80199305e+02] [ 1.74012363e-02 -1.92863726e-04 9.99848568e-01 2.24370297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9507140569999 meters Centerline goodness : 0.990317 Centerline is valid? [True, True] Translation: X:298.06, Y:280.22, Z:2.24 [[-9.24913610e-01 -3.79846894e-01 1.58477511e-02 2.98058417e+02] [ 3.79779328e-01 -9.25049153e-01 -7.19205298e-03 2.80224282e+02] [ 1.73918277e-02 -6.33379435e-04 9.99848550e-01 2.24132139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9807140569999 meters Centerline goodness : 0.989428 Centerline is valid? [True, True] Translation: X:298.05, Y:280.23, Z:2.24 [[-9.25364020e-01 -3.78742880e-01 1.59769272e-02 2.98053753e+02] [ 3.78680199e-01 -9.25501875e-01 -6.89832056e-03 2.80227757e+02] [ 1.73993659e-02 -3.33311653e-04 9.99848564e-01 2.24117987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.010714057 meters Centerline goodness : 0.990278 Centerline is valid? [True, True] Translation: X:298.14, Y:280.20, Z:2.24 [[-9.24540805e-01 -3.80747390e-01 1.59913860e-02 2.98137871e+02] [ 3.80685578e-01 -9.24679057e-01 -6.86538996e-03 2.80196597e+02] [ 1.74008790e-02 -2.59643162e-04 9.99848560e-01 2.23728023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.040714057 meters Centerline goodness : 0.990278 Centerline is valid? [True, True] Translation: X:298.14, Y:280.20, Z:2.24 [[-9.24686102e-01 -3.80396944e-01 1.59304264e-02 2.98140337e+02] [ 3.80332687e-01 -9.24823221e-01 -7.00404072e-03 2.80195657e+02] [ 1.73971439e-02 -4.17677247e-04 9.99848571e-01 2.23718659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0707140569999 meters Centerline goodness : 0.989653 Centerline is valid? [True, True] Translation: X:298.14, Y:280.20, Z:2.24 [[-9.25133835e-01 -3.79306635e-01 1.59330974e-02 2.98143781e+02] [ 3.79242322e-01 -9.25270928e-01 -6.99795920e-03 2.80196181e+02] [ 1.73968042e-02 -4.31543969e-04 9.99848571e-01 2.23799861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1007140569999 meters Centerline goodness : 0.988896 Centerline is valid? [True, True] Translation: X:298.00, Y:280.26, Z:2.25 [[-9.26957231e-01 -3.74828419e-01 1.59357653e-02 2.97997146e+02] [ 3.74763547e-01 -9.27094061e-01 -6.99187869e-03 2.80260051e+02] [ 1.73947082e-02 -5.09028575e-04 9.99848571e-01 2.24560614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.130714057 meters Centerline goodness : 0.989557 Centerline is valid? [True, True] Translation: X:298.14, Y:280.20, Z:2.24 [[-9.26189164e-01 -3.76719646e-01 1.59981436e-02 2.98143882e+02] [ 3.76657506e-01 -9.26327268e-01 -6.84951890e-03 2.80201745e+02] [ 1.73998650e-02 -3.18129297e-04 9.99848560e-01 2.23846342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.160714057 meters Centerline goodness : 0.988626 Centerline is valid? [True, True] Translation: X:297.92, Y:280.30, Z:2.25 [[-9.28132052e-01 -3.71909873e-01 1.59355411e-02 2.97918267e+02] [ 3.71844566e-01 -9.28268673e-01 -6.99219356e-03 2.80299671e+02] [ 1.73929294e-02 -5.64134588e-04 9.99848572e-01 2.24752038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1907140569999 meters Centerline goodness : 0.988122 Centerline is valid? [True, True] Translation: X:298.00, Y:280.27, Z:2.25 [[-9.29399954e-01 -3.68727676e-01 1.59883076e-02 2.98003718e+02] [ 3.68663963e-01 -9.29537336e-01 -6.87192894e-03 2.80265949e+02] [ 1.73955992e-02 -4.92457605e-04 9.99848564e-01 2.24631884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2207140569999 meters Centerline goodness : 0.982356 Centerline is valid? [True, True] Translation: X:297.35, Y:280.55, Z:2.26 [[-9.29778370e-01 -3.67773683e-01 1.59593487e-02 2.97353108e+02] [ 3.67708705e-01 -9.29915146e-01 -6.93750720e-03 2.80552770e+02] [ 1.73922727e-02 -5.81952680e-04 9.99848574e-01 2.25576534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.250714057 meters Centerline goodness : 0.982494 Centerline is valid? [True, True] Translation: X:297.36, Y:280.55, Z:2.26 [[-9.31121985e-01 -3.64359725e-01 1.59323872e-02 2.97356742e+02] [ 3.64293212e-01 -9.31258012e-01 -6.99794259e-03 2.80552739e+02] [ 1.73869316e-02 -7.11877691e-04 9.99848582e-01 2.25554934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.280714057 meters Centerline goodness : 0.982365 Centerline is valid? [True, True] Translation: X:297.36, Y:280.56, Z:2.26 [[-9.32959861e-01 -3.59627218e-01 1.59424339e-02 2.97356037e+02] [ 3.59560401e-01 -9.33095741e-01 -6.97536097e-03 2.80556806e+02] [ 1.73843469e-02 -7.75463861e-04 9.99848580e-01 2.25522926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3107140569999 meters Centerline goodness : 0.982572 Centerline is valid? [True, True] Translation: X:297.35, Y:280.56, Z:2.26 [[-9.34013602e-01 -3.56881295e-01 1.59478447e-02 2.97349721e+02] [ 3.56814285e-01 -9.34149389e-01 -6.96316671e-03 2.80561742e+02] [ 1.73826933e-02 -8.13273619e-04 9.99848579e-01 2.25620916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3407140569999 meters Centerline goodness : 0.988395 Centerline is valid? [True, True] Translation: X:297.81, Y:280.36, Z:2.25 [[-9.36156928e-01 -3.51218371e-01 1.59957035e-02 2.97806857e+02] [ 3.51152393e-01 -9.36293232e-01 -6.85424744e-03 2.80364335e+02] [ 1.73840066e-02 -7.99721665e-04 9.99848567e-01 2.24998867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.370714057 meters Centerline goodness : 0.982251 Centerline is valid? [True, True] Translation: X:297.36, Y:280.56, Z:2.26 [[-9.36137385e-01 -3.51271598e-01 1.59706547e-02 2.97356704e+02] [ 3.51204664e-01 -9.36273210e-01 -6.91087890e-03 2.80563513e+02] [ 1.73804916e-02 -8.60563691e-04 9.99848578e-01 2.25552583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.400714057 meters Centerline goodness : 0.988666 Centerline is valid? [True, True] Translation: X:298.12, Y:280.23, Z:2.24 [[-9.33670849e-01 -3.57773377e-01 1.60298785e-02 2.98118783e+02] [ 3.57709697e-01 -9.33808257e-01 -6.77588777e-03 2.80231949e+02] [ 1.73930651e-02 -5.92405912e-04 9.99848554e-01 2.23944950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4307140569999 meters Centerline goodness : 0.988002 Centerline is valid? [True, True] Translation: X:297.78, Y:280.38, Z:2.25 [[-9.36999157e-01 -3.48969177e-01 1.59088775e-02 2.97780701e+02] [ 3.48899570e-01 -9.37133609e-01 -7.04897759e-03 2.80381679e+02] [ 1.73686197e-02 -1.05428555e-03 9.99848598e-01 2.24858352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4607140569999 meters Centerline goodness : 0.983000 Centerline is valid? [True, True] Translation: X:297.34, Y:280.58, Z:2.26 [[-9.36454070e-01 -3.50428027e-01 1.59365016e-02 2.97342280e+02] [ 3.50359673e-01 -9.36589172e-01 -6.98736990e-03 2.80578501e+02] [ 1.73745251e-02 -9.59843492e-04 9.99848591e-01 2.25568200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4907140569999 meters Centerline goodness : 0.987212 Centerline is valid? [True, True] Translation: X:298.14, Y:280.23, Z:2.24 [[-9.31034070e-01 -3.64581365e-01 1.59996598e-02 2.98141218e+02] [ 3.64517499e-01 -9.31171378e-01 -6.84520978e-03 2.80231427e+02] [ 1.73940612e-02 -5.40967536e-04 9.99848566e-01 2.24154288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.520714057 meters Centerline goodness : 0.987706 Centerline is valid? [True, True] Translation: X:298.11, Y:280.24, Z:2.24 [[-9.30478208e-01 -3.66003088e-01 1.58759067e-02 2.98113063e+02] [ 3.65934717e-01 -9.30613278e-01 -7.12110870e-03 2.80243361e+02] [ 1.73806774e-02 -8.16491025e-04 9.99848611e-01 2.24393870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5507140569999 meters Centerline goodness : 0.986576 Centerline is valid? [True, True] Translation: X:298.14, Y:280.24, Z:2.24 [[-9.31746690e-01 -3.62765783e-01 1.57826509e-02 2.98136769e+02] [ 3.62693424e-01 -9.31879695e-01 -7.32898455e-03 2.80236695e+02] [ 1.73662368e-02 -1.10449340e-03 9.99848586e-01 2.24131593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5807140569999 meters Centerline goodness : 0.987890 Centerline is valid? [True, True] Translation: X:298.16, Y:280.23, Z:2.24 [[-9.27973084e-01 -3.72308668e-01 1.58811604e-02 2.98158024e+02] [ 3.72241423e-01 -9.28108715e-01 -7.10891784e-03 2.80228918e+02] [ 1.73861551e-02 -6.85258666e-04 9.99848615e-01 2.23967905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6107140569999 meters Centerline goodness : 0.988468 Centerline is valid? [True, True] Translation: X:298.13, Y:280.24, Z:2.24 [[-9.29769850e-01 -3.67805109e-01 1.57298809e-02 2.98129565e+02] [ 3.67731490e-01 -9.29902202e-01 -7.44624411e-03 2.80241189e+02] [ 1.73660175e-02 -1.13892074e-03 9.99848551e-01 2.23706975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.640714057 meters Centerline goodness : 0.989258 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.23 [[-9.27333211e-01 -3.73906740e-01 1.57119862e-02 2.98154104e+02] [ 3.73833318e-01 -9.27465691e-01 -7.48615073e-03 2.80231407e+02] [ 1.73714503e-02 -1.06849228e-03 9.99848534e-01 2.23308799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6707140569999 meters Centerline goodness : 0.986989 Centerline is valid? [True, True] Translation: X:298.13, Y:280.24, Z:2.24 [[-9.29693772e-01 -3.68001674e-01 1.56287904e-02 2.98125642e+02] [ 3.67924298e-01 -9.29824101e-01 -7.67153216e-03 2.80243651e+02] [ 1.73551627e-02 -1.38196391e-03 9.99848433e-01 2.23857079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7007140569999 meters Centerline goodness : 0.987569 Centerline is valid? [True, True] Translation: X:298.14, Y:280.24, Z:2.24 [[-9.28041327e-01 -3.72141916e-01 1.58015685e-02 2.98139698e+02] [ 3.72071641e-01 -9.28175424e-01 -7.28539061e-03 2.80237082e+02] [ 1.73778268e-02 -8.81828034e-04 9.99848605e-01 2.23720727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7307140569999 meters Centerline goodness : 0.987551 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.23 [[-9.26661177e-01 -3.75568439e-01 1.57292954e-02 2.98146464e+02] [ 3.75495922e-01 -9.26794130e-01 -7.44671094e-03 2.80234394e+02] [ 1.73745682e-02 -9.94291659e-04 9.99848556e-01 2.23329736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.760714057 meters Centerline goodness : 0.989008 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.24 [[-9.26133330e-01 -3.76869655e-01 1.56945480e-02 2.98147987e+02] [ 3.76796013e-01 -9.26265702e-01 -7.52423229e-03 2.80232936e+02] [ 1.73729763e-02 -1.05479920e-03 9.99848522e-01 2.23615247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.790714057 meters Centerline goodness : 0.988153 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.23 [[-9.25179044e-01 -3.79205940e-01 1.57032392e-02 2.98151530e+02] [ 3.79132961e-01 -9.25311772e-01 -7.50482925e-03 2.80231908e+02] [ 1.73762679e-02 -9.89695192e-04 9.99848531e-01 2.23382304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8207140569999 meters Centerline goodness : 0.987837 Centerline is valid? [True, True] Translation: X:298.16, Y:280.23, Z:2.23 [[-9.24947695e-01 -3.79770555e-01 1.56871458e-02 2.98158929e+02] [ 3.79697048e-01 -9.25080152e-01 -7.54077410e-03 2.80227865e+02] [ 1.73756312e-02 -1.01845867e-03 9.99848514e-01 2.23481162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8507140569999 meters Centerline goodness : 0.988708 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.24 [[-9.24673743e-01 -3.80436256e-01 1.57074724e-02 2.98148755e+02] [ 3.80363615e-01 -9.24806650e-01 -7.49532056e-03 2.80231337e+02] [ 1.73778666e-02 -9.56175143e-04 9.99848536e-01 2.23669016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.880714057 meters Centerline goodness : 0.989507 Centerline is valid? [True, True] Translation: X:298.16, Y:280.23, Z:2.24 [[-9.24162178e-01 -3.81677828e-01 1.56941093e-02 2.98155610e+02] [ 3.81604858e-01 -9.24294922e-01 -7.52522757e-03 2.80228161e+02] [ 1.73781981e-02 -9.65582339e-04 9.99848521e-01 2.23674128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.910714057 meters Centerline goodness : 0.989044 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.24 [[-9.25795808e-01 -3.77698127e-01 1.56922598e-02 2.98148877e+02] [ 3.77624517e-01 -9.25928201e-01 -7.52936913e-03 2.80229105e+02] [ 1.73737345e-02 -1.04487637e-03 9.99848519e-01 2.23773639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9407140569999 meters Centerline goodness : 0.990362 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.24 [[-9.25696129e-01 -3.77939859e-01 1.57524474e-02 2.98154379e+02] [ 3.77868571e-01 -9.25829718e-01 -7.39441600e-03 2.80226564e+02] [ 1.73787285e-02 -8.92627477e-04 9.99848580e-01 2.23721399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9707140569999 meters Centerline goodness : 0.987373 Centerline is valid? [True, True] Translation: X:298.16, Y:280.23, Z:2.24 [[-9.25968936e-01 -3.77270955e-01 1.57530011e-02 2.98158606e+02] [ 3.77199591e-01 -9.26102483e-01 -7.39317317e-03 2.80225444e+02] [ 1.73781230e-02 -9.03823110e-04 9.99848581e-01 2.23844742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.000714057 meters Centerline goodness : 0.988672 Centerline is valid? [True, True] Translation: X:298.16, Y:280.22, Z:2.24 [[-9.25973035e-01 -3.77257146e-01 1.58425124e-02 2.98163276e+02] [ 3.77189207e-01 -9.26108297e-01 -7.19193653e-03 2.80222389e+02] [ 1.73850916e-02 -6.83914618e-04 9.99848634e-01 2.23699714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.030714057 meters Centerline goodness : 0.990062 Centerline is valid? [True, True] Translation: X:298.17, Y:280.22, Z:2.24 [[-9.26450322e-01 -3.76087933e-01 1.57374823e-02 2.98165240e+02] [ 3.76015811e-01 -9.26583476e-01 -7.42779711e-03 2.80221326e+02] [ 1.73755959e-02 -9.63942839e-04 9.99848568e-01 2.23639436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0607140569999 meters Centerline goodness : 0.989367 Centerline is valid? [True, True] Translation: X:298.15, Y:280.22, Z:2.24 [[-9.28534486e-01 -3.70911537e-01 1.57588100e-02 2.98154464e+02] [ 3.70839485e-01 -9.28667656e-01 -7.37983190e-03 2.80224457e+02] [ 1.73719620e-02 -1.00843944e-03 9.99848588e-01 2.23509123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0907140569999 meters Centerline goodness : 0.989870 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.24 [[-9.29495241e-01 -3.68495669e-01 1.57968099e-02 2.98151951e+02] [ 3.68424719e-01 -9.29628969e-01 -7.29425061e-03 2.80225660e+02] [ 1.73730718e-02 -9.60035977e-04 9.99848616e-01 2.23568903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.120714057 meters Centerline goodness : 0.988877 Centerline is valid? [True, True] Translation: X:298.16, Y:280.23, Z:2.24 [[-9.29287861e-01 -3.69019406e-01 1.57717643e-02 2.98157157e+02] [ 3.68947576e-01 -9.29421139e-01 -7.35067745e-03 2.80225508e+02] [ 1.73711538e-02 -1.01194111e-03 9.99848598e-01 2.23636425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.150714057 meters Centerline goodness : 0.988603 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.24 [[-9.31882195e-01 -3.62415584e-01 1.58277849e-02 2.98152191e+02] [ 3.62344945e-01 -9.32016068e-01 -7.22427986e-03 2.80225987e+02] [ 1.73699415e-02 -9.97059911e-04 9.99848634e-01 2.23644511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1807140569999 meters Centerline goodness : 0.989669 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.24 [[-9.31519708e-01 -3.63343662e-01 1.58876021e-02 2.98149877e+02] [ 3.63275451e-01 -9.31654813e-01 -7.08914077e-03 2.80227550e+02] [ 1.73775553e-02 -8.32098535e-04 9.99848653e-01 2.23624530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2107140569999 meters Centerline goodness : 0.990313 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.24 [[-9.31742683e-01 -3.62777434e-01 1.57513773e-02 2.98150574e+02] [ 3.62703941e-01 -9.31875069e-01 -7.39640611e-03 2.80228205e+02] [ 1.73615651e-02 -1.17846063e-03 9.99848582e-01 2.23557421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2407140569999 meters Centerline goodness : 0.990079 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.23 [[-9.31778175e-01 -3.62686992e-01 1.57346401e-02 2.98150819e+02] [ 3.62612850e-01 -9.31910218e-01 -7.43415958e-03 2.80230085e+02] [ 1.73595449e-02 -1.22140495e-03 9.99848566e-01 2.23263805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.270714057 meters Centerline goodness : 0.990074 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.23 [[-9.31154748e-01 -3.64284741e-01 1.57309468e-02 2.98146362e+02] [ 3.64210685e-01 -9.31286844e-01 -7.44249394e-03 2.80233241e+02] [ 1.73612108e-02 -1.20073466e-03 9.99848562e-01 2.23247443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3007140569999 meters Centerline goodness : 0.989095 Centerline is valid? [True, True] Translation: X:298.14, Y:280.23, Z:2.23 [[-9.32074501e-01 -3.61928164e-01 1.56565765e-02 2.98143645e+02] [ 3.61850962e-01 -9.32204894e-01 -7.61030753e-03 2.80234301e+02] [ 1.73495219e-02 -1.42802633e-03 9.99848466e-01 2.23357755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3307140569999 meters Centerline goodness : 0.990586 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.23 [[-9.33530478e-01 -3.58154514e-01 1.56904503e-02 2.98149693e+02] [ 3.58078062e-01 -9.33661257e-01 -7.53381841e-03 2.80230523e+02] [ 1.73478366e-02 -1.41464307e-03 9.99848514e-01 2.23399428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3607140569999 meters Centerline goodness : 0.989526 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.23 [[-9.32625850e-01 -3.60502930e-01 1.57054727e-02 2.98150622e+02] [ 3.60427377e-01 -9.32757127e-01 -7.49986588e-03 2.80231156e+02] [ 1.73531153e-02 -1.33388645e-03 9.99848534e-01 2.23263952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.390714057 meters Centerline goodness : 0.990360 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.23 [[-9.35008232e-01 -3.54280384e-01 1.56529897e-02 2.98152892e+02] [ 3.54201981e-01 -9.35137913e-01 -7.61843767e-03 2.80227505e+02] [ 1.73367671e-02 -1.57898199e-03 9.99848460e-01 2.23316488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4207140569999 meters Centerline goodness : 0.988056 Centerline is valid? [True, True] Translation: X:298.15, Y:280.23, Z:2.24 [[-9.37349932e-01 -3.48034595e-01 1.57170911e-02 2.98152644e+02] [ 3.47957739e-01 -9.37480432e-01 -7.47335386e-03 2.80226728e+02] [ 1.73354510e-02 -1.53626426e-03 9.99848550e-01 2.23537580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4507140569999 meters Centerline goodness : 0.989868 Centerline is valid? [True, True] Translation: X:298.17, Y:280.22, Z:2.23 [[-9.33575228e-01 -3.58029967e-01 1.58693476e-02 2.98168268e+02] [ 3.57960331e-01 -9.33709588e-01 -7.12790899e-03 2.80222578e+02] [ 1.73693671e-02 -9.73842330e-04 9.99848667e-01 2.23098614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4807140569999 meters Centerline goodness : 0.990070 Centerline is valid? [True, True] Translation: X:298.16, Y:280.22, Z:2.23 [[-9.35859032e-01 -3.52025936e-01 1.56720635e-02 2.98158221e+02] [ 3.51947960e-01 -9.35988925e-01 -7.57402769e-03 2.80224138e+02] [ 1.73351321e-02 -1.57247144e-03 9.99848499e-01 2.23242369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.510714057 meters Centerline goodness : 0.989290 Centerline is valid? [True, True] Translation: X:298.15, Y:280.22, Z:2.23 [[-9.37903059e-01 -3.46541705e-01 1.57066609e-02 2.98151480e+02] [ 3.46464272e-01 -9.38033221e-01 -7.49564980e-03 2.80224965e+02] [ 1.73309250e-02 -1.58839605e-03 9.99848547e-01 2.23465503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.540714057 meters Centerline goodness : 0.990546 Centerline is valid? [True, True] Translation: X:298.14, Y:280.22, Z:2.23 [[-9.41253941e-01 -3.37329345e-01 1.58092466e-02 2.98139136e+02] [ 3.37254510e-01 -9.41385495e-01 -7.26258766e-03 2.80221444e+02] [ 1.73324793e-02 -1.50419955e-03 9.99848650e-01 2.23471294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5707140569999 meters Centerline goodness : 0.989799 Centerline is valid? [True, True] Translation: X:298.14, Y:280.22, Z:2.23 [[-9.40815422e-01 -3.38544929e-01 1.59270842e-02 2.98142398e+02] [ 3.38474761e-01 -9.40949476e-01 -6.99425350e-03 2.80218994e+02] [ 1.73544506e-02 -1.18938553e-03 9.99848693e-01 2.23426019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6007140569999 meters Centerline goodness : 0.990574 Centerline is valid? [True, True] Translation: X:298.15, Y:280.22, Z:2.23 [[-9.40579041e-01 -3.39200985e-01 1.59298227e-02 2.98146526e+02] [ 3.39131016e-01 -9.40713198e-01 -6.98801093e-03 2.80216040e+02] [ 1.73557346e-02 -1.17047966e-03 9.99848693e-01 2.23409691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.630714057 meters Centerline goodness : 0.989549 Centerline is valid? [True, True] Translation: X:298.15, Y:280.21, Z:2.23 [[-9.39834888e-01 -3.41257289e-01 1.59325555e-02 2.98148789e+02] [ 3.41187719e-01 -9.39969252e-01 -6.98177467e-03 2.80213124e+02] [ 1.73586937e-02 -1.12572316e-03 9.99848693e-01 2.23421411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.660714057 meters Centerline goodness : 0.988408 Centerline is valid? [True, True] Translation: X:298.17, Y:280.22, Z:2.23 [[-9.30915702e-01 -3.64886314e-01 1.59352826e-02 2.98173756e+02] [ 3.64820266e-01 -9.31051833e-01 -6.97554473e-03 2.80215945e+02] [ 1.73818548e-02 -6.80130099e-04 9.99848693e-01 2.23477134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6907140569999 meters Centerline goodness : 0.990392 Centerline is valid? [True, True] Translation: X:298.15, Y:280.21, Z:2.23 [[-9.39006327e-01 -3.43541705e-01 1.56912323e-02 2.98150347e+02] [ 3.43463265e-01 -9.39135915e-01 -7.53123575e-03 2.80212084e+02] [ 1.73234934e-02 -1.68251614e-03 9.99848521e-01 2.23391302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7207140569999 meters Centerline goodness : 0.990093 Centerline is valid? [True, True] Translation: X:298.15, Y:280.21, Z:2.23 [[-9.38808900e-01 -3.44069606e-01 1.59359768e-02 2.98152161e+02] [ 3.44000607e-01 -9.38943543e-01 -6.97181380e-03 2.80210882e+02] [ 1.73617717e-02 -1.06321515e-03 9.99848708e-01 2.23345306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.750714057 meters Centerline goodness : 0.990497 Centerline is valid? [True, True] Translation: X:298.16, Y:280.21, Z:2.23 [[-9.38815143e-01 -3.44052446e-01 1.59387013e-02 2.98156221e+02] [ 3.43983550e-01 -9.38949838e-01 -6.96557940e-03 2.80209082e+02] [ 1.73621657e-02 -1.05674035e-03 9.99848708e-01 2.23264904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.780714057 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:298.16, Y:280.21, Z:2.23 [[-9.38971424e-01 -3.43625576e-01 1.59414221e-02 2.98158436e+02] [ 3.43556725e-01 -9.39106141e-01 -6.95934706e-03 2.80207432e+02] [ 1.73620971e-02 -1.05784525e-03 9.99848708e-01 2.23196416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8107140569999 meters Centerline goodness : 0.989525 Centerline is valid? [True, True] Translation: X:298.16, Y:280.21, Z:2.23 [[-9.39166421e-01 -3.43092143e-01 1.59441386e-02 2.98161598e+02] [ 3.43023321e-01 -9.39301153e-01 -6.95311792e-03 2.80206111e+02] [ 1.73619079e-02 -1.06092350e-03 9.99848708e-01 2.23165225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8407140569999 meters Centerline goodness : 0.989712 Centerline is valid? [True, True] Translation: X:298.16, Y:280.21, Z:2.23 [[-9.39370752e-01 -3.42532171e-01 1.59468517e-02 2.98163888e+02] [ 3.42463374e-01 -9.39505497e-01 -6.94688984e-03 2.80205055e+02] [ 1.73616881e-02 -1.06449249e-03 9.99848708e-01 2.23106264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.870714057 meters Centerline goodness : 0.990128 Centerline is valid? [True, True] Translation: X:298.17, Y:280.20, Z:2.23 [[-9.39484430e-01 -3.42220131e-01 1.59495615e-02 2.98166367e+02] [ 3.42151393e-01 -9.39619206e-01 -6.94066283e-03 2.80204384e+02] [ 1.73617488e-02 -1.06347997e-03 9.99848708e-01 2.23094107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.900714057 meters Centerline goodness : 0.989858 Centerline is valid? [True, True] Translation: X:298.17, Y:280.20, Z:2.23 [[-9.39780939e-01 -3.41404910e-01 1.59522698e-02 2.98166720e+02] [ 3.41336162e-01 -9.39915708e-01 -6.93443263e-03 2.80203858e+02] [ 1.73612383e-02 -1.07176108e-03 9.99848708e-01 2.23042178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9307140569999 meters Centerline goodness : 0.989950 Centerline is valid? [True, True] Translation: X:298.17, Y:280.20, Z:2.23 [[-9.39913963e-01 -3.41038388e-01 1.59549774e-02 2.98170369e+02] [ 3.40969692e-01 -9.40048759e-01 -6.92819712e-03 2.80201002e+02] [ 1.73612379e-02 -1.07174548e-03 9.99848708e-01 2.23057087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9607140569999 meters Centerline goodness : 0.989950 Centerline is valid? [True, True] Translation: X:298.17, Y:280.20, Z:2.23 [[-9.40047057e-01 -3.40671223e-01 1.59576827e-02 2.98172812e+02] [ 3.40602580e-01 -9.40181881e-01 -6.92196055e-03 2.80200021e+02] [ 1.73612369e-02 -1.07174076e-03 9.99848708e-01 2.23052710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9907140569999 meters Centerline goodness : 0.980818 Centerline is valid? [True, True] Translation: X:297.29, Y:280.58, Z:2.26 [[-9.42044083e-01 -3.35109253e-01 1.59603836e-02 2.97291892e+02] [ 3.35039919e-01 -9.42178553e-01 -6.91572719e-03 2.80577486e+02] [ 1.73550553e-02 -1.16755425e-03 9.99848708e-01 2.26274120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.020714057 meters Centerline goodness : 0.989427 Centerline is valid? [True, True] Translation: X:298.15, Y:280.20, Z:2.23 [[-9.38902982e-01 -3.43808469e-01 1.60289591e-02 2.98152546e+02] [ 3.43743071e-01 -9.39039424e-01 -6.75727514e-03 2.80204727e+02] [ 1.73750329e-02 -8.34582161e-04 9.99848694e-01 2.23078600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0507140569999 meters Centerline goodness : 0.981061 Centerline is valid? [True, True] Translation: X:297.24, Y:280.60, Z:2.26 [[-9.41373256e-01 -3.36990320e-01 1.59347697e-02 2.97240578e+02] [ 3.36920299e-01 -9.41507353e-01 -6.97253329e-03 2.80598057e+02] [ 1.73523790e-02 -1.19500900e-03 9.99848722e-01 2.26148309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0807140569999 meters Centerline goodness : 0.987960 Centerline is valid? [True, True] Translation: X:298.18, Y:280.19, Z:2.23 [[-9.26659081e-01 -3.75559586e-01 1.60606737e-02 2.98177713e+02] [ 3.75500140e-01 -9.26798236e-01 -6.68387926e-03 2.80194290e+02] [ 1.73951990e-02 -1.62892180e-04 9.99848679e-01 2.23447086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1107140569999 meters Centerline goodness : 0.981876 Centerline is valid? [True, True] Translation: X:297.18, Y:280.62, Z:2.26 [[-9.39936815e-01 -3.40982377e-01 1.58051058e-02 2.97179909e+02] [ 3.40908063e-01 -9.40068588e-01 -7.26237902e-03 2.80623503e+02] [ 1.73342267e-02 -1.43808941e-03 9.99848717e-01 2.26435110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.140714057 meters Centerline goodness : 0.989129 Centerline is valid? [True, True] Translation: X:298.14, Y:280.20, Z:2.23 [[-9.28048499e-01 -3.72115770e-01 1.59948810e-02 2.98141894e+02] [ 3.72053259e-01 -9.28186243e-01 -6.83159226e-03 2.80202390e+02] [ 1.73883717e-02 -3.89101361e-04 9.99848735e-01 2.23162513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1707140569999 meters Centerline goodness : 0.980976 Centerline is valid? [True, True] Translation: X:297.21, Y:280.61, Z:2.26 [[-9.37640248e-01 -3.47247735e-01 1.58043059e-02 2.97206346e+02] [ 3.47174375e-01 -9.37772505e-01 -7.25828525e-03 2.80610806e+02] [ 1.73412667e-02 -1.31881036e-03 9.99848759e-01 2.26063809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2007140569999 meters Centerline goodness : 0.982004 Centerline is valid? [True, True] Translation: X:297.20, Y:280.61, Z:2.26 [[-9.38052604e-01 -3.46129348e-01 1.58677805e-02 2.97195347e+02] [ 3.46058175e-01 -9.38186052e-01 -7.11843022e-03 2.80613428e+02] [ 1.73508280e-02 -1.18628682e-03 9.99848759e-01 2.25934606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2307140569999 meters Centerline goodness : 0.981723 Centerline is valid? [True, True] Translation: X:297.18, Y:280.62, Z:2.26 [[-9.38951228e-01 -3.43683848e-01 1.58746196e-02 2.97182516e+02] [ 3.43612582e-01 -9.39084627e-01 -7.10331405e-03 2.80618140e+02] [ 1.73489056e-02 -1.21494643e-03 9.99848758e-01 2.25931601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.260714057 meters Centerline goodness : 0.988482 Centerline is valid? [True, True] Translation: X:297.75, Y:280.37, Z:2.25 [[-9.35006019e-01 -3.54272758e-01 1.59548449e-02 2.97745159e+02] [ 3.54206062e-01 -9.35141774e-01 -6.92302145e-03 2.80371590e+02] [ 1.73726799e-02 -8.21763946e-04 9.99848746e-01 2.24515145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.290714057 meters Centerline goodness : 0.982432 Centerline is valid? [True, True] Translation: X:297.19, Y:280.61, Z:2.26 [[-9.37474485e-01 -3.47691573e-01 1.58795490e-02 2.97189769e+02] [ 3.47621091e-01 -9.37608287e-01 -7.09066974e-03 2.80613727e+02] [ 1.73541629e-02 -1.12725580e-03 9.99848770e-01 2.25643079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3207140569999 meters Centerline goodness : 0.982611 Centerline is valid? [True, True] Translation: X:297.18, Y:280.62, Z:2.25 [[-9.38319077e-01 -3.45406342e-01 1.58672264e-02 2.97175437e+02] [ 3.45335079e-01 -9.38452460e-01 -7.11779494e-03 2.80619074e+02] [ 1.73491691e-02 -1.19925292e-03 9.99848773e-01 2.25315395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3507140569999 meters Centerline goodness : 0.982450 Centerline is valid? [True, True] Translation: X:297.24, Y:280.59, Z:2.25 [[-9.34204686e-01 -3.56383381e-01 1.58899711e-02 2.97244158e+02] [ 3.56314538e-01 -9.34339339e-01 -7.06747821e-03 2.80588090e+02] [ 1.73653569e-02 -9.40643539e-04 9.99848768e-01 2.25269253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.380714057 meters Centerline goodness : 0.982904 Centerline is valid? [True, True] Translation: X:297.17, Y:280.62, Z:2.25 [[-9.36635587e-01 -3.49946363e-01 1.58531001e-02 2.97170931e+02] [ 3.49875224e-01 -9.36769034e-01 -7.14880946e-03 2.80618046e+02] [ 1.73523931e-02 -1.14922240e-03 9.99848775e-01 2.25252157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.410714057 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:297.79, Y:280.34, Z:2.24 [[-9.33193731e-01 -3.59019285e-01 1.59565907e-02 2.97792520e+02] [ 3.58953388e-01 -9.33329858e-01 -6.91673882e-03 2.80342660e+02] [ 1.73760051e-02 -7.26985026e-04 9.99848762e-01 2.24225392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4407140569999 meters Centerline goodness : 0.983521 Centerline is valid? [True, True] Translation: X:297.16, Y:280.62, Z:2.26 [[-9.33482895e-01 -3.58270147e-01 1.58803606e-02 2.97160649e+02] [ 3.58201265e-01 -9.33617504e-01 -7.08589597e-03 2.80621614e+02] [ 1.73648477e-02 -9.26197418e-04 9.99848791e-01 2.25589581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4707140569999 meters Centerline goodness : 0.989558 Centerline is valid? [True, True] Translation: X:298.12, Y:280.19, Z:2.24 [[-9.16615413e-01 -3.99451584e-01 1.59566958e-02 2.98119428e+02] [ 3.99391727e-01 -9.16754292e-01 -6.91500924e-03 2.80193779e+02] [ 1.73905807e-02 3.45682245e-05 9.99848772e-01 2.23543034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.500714057 meters Centerline goodness : 0.990198 Centerline is valid? [True, True] Translation: X:298.08, Y:280.20, Z:2.24 [[-9.25023558e-01 -3.79592105e-01 1.55322665e-02 2.98084985e+02] [ 3.79513835e-01 -9.25152977e-01 -7.82420286e-03 2.80197441e+02] [ 1.73397282e-02 -1.34286193e-03 9.99848754e-01 2.23644546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.530714057 meters Centerline goodness : 0.989994 Centerline is valid? [True, True] Translation: X:297.74, Y:280.36, Z:2.24 [[-9.24288514e-01 -3.81367596e-01 1.57955751e-02 2.97743004e+02] [ 3.81299111e-01 -9.24423217e-01 -7.25971705e-03 2.80357378e+02] [ 1.73704172e-02 -6.87234340e-04 9.99848887e-01 2.24451642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5607140569999 meters Centerline goodness : 0.989106 Centerline is valid? [True, True] Translation: X:297.70, Y:280.38, Z:2.25 [[-9.26034160e-01 -3.77109484e-01 1.57851554e-02 2.97698757e+02] [ 3.77040001e-01 -9.26168349e-01 -7.28200910e-03 2.80375480e+02] [ 1.73658260e-02 -7.91754163e-04 9.99848889e-01 2.24521814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5907140569999 meters Centerline goodness : 0.989960 Centerline is valid? [True, True] Translation: X:298.10, Y:280.20, Z:2.23 [[-9.16880808e-01 -3.98846329e-01 1.58490032e-02 2.98101177e+02] [ 3.98782401e-01 -9.17017750e-01 -7.14447852e-03 2.80196908e+02] [ 1.73833662e-02 -2.30331699e-04 9.99848871e-01 2.23412857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.620714057 meters Centerline goodness : 0.988976 Centerline is valid? [True, True] Translation: X:297.69, Y:280.38, Z:2.25 [[-9.26092932e-01 -3.76971694e-01 1.56276124e-02 2.97687605e+02] [ 3.76896492e-01 -9.26224045e-01 -7.61924576e-03 2.80381215e+02] [ 1.73469103e-02 -1.16613737e-03 9.99848851e-01 2.24583638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.650714057 meters Centerline goodness : 0.989802 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.23 [[-9.19674435e-01 -3.92362145e-01 1.58392351e-02 2.98088074e+02] [ 3.92296917e-01 -9.19810745e-01 -7.16392972e-03 2.80201007e+02] [ 1.73799535e-02 -3.74799920e-04 9.99848887e-01 2.23435431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6807140569999 meters Centerline goodness : 0.989049 Centerline is valid? [True, True] Translation: X:297.68, Y:280.38, Z:2.25 [[-9.26412239e-01 -3.76184462e-01 1.56720803e-02 2.97683741e+02] [ 3.76110783e-01 -9.26544169e-01 -7.52210640e-03 2.80382938e+02] [ 1.73505742e-02 -1.07413303e-03 9.99848891e-01 2.24654926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7107140569999 meters Centerline goodness : 0.988695 Centerline is valid? [True, True] Translation: X:297.70, Y:280.38, Z:2.25 [[-9.27312167e-01 -3.73955302e-01 1.57980468e-02 2.97700628e+02] [ 3.73885858e-01 -9.27446366e-01 -7.25282612e-03 2.80375567e+02] [ 1.73640739e-02 -8.18967602e-04 9.99848898e-01 2.24656684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7407140569999 meters Centerline goodness : 0.984110 Centerline is valid? [True, True] Translation: X:297.22, Y:280.60, Z:2.25 [[-9.30986808e-01 -3.64712240e-01 1.57653155e-02 2.97215296e+02] [ 3.64640289e-01 -9.31119670e-01 -7.32252641e-03 2.80597988e+02] [ 1.73500103e-02 -1.06850631e-03 9.99848906e-01 2.24728859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.770714057 meters Centerline goodness : 0.984029 Centerline is valid? [True, True] Translation: X:297.21, Y:280.60, Z:2.25 [[-9.31890289e-01 -3.62398087e-01 1.57516814e-02 2.97213646e+02] [ 3.62325323e-01 -9.32022703e-01 -7.35125443e-03 2.80598616e+02] [ 1.73450052e-02 -1.14332957e-03 9.99848910e-01 2.24668985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8007140569999 meters Centerline goodness : 0.984727 Centerline is valid? [True, True] Translation: X:297.15, Y:280.63, Z:2.25 [[-9.33050978e-01 -3.59399364e-01 1.57470406e-02 2.97150337e+02] [ 3.59326011e-01 -9.33183065e-01 -7.36103035e-03 2.80627651e+02] [ 1.73404212e-02 -1.20989529e-03 9.99848912e-01 2.24668743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8307140569999 meters Centerline goodness : 0.989119 Centerline is valid? [True, True] Translation: X:297.70, Y:280.37, Z:2.24 [[-9.31562038e-01 -3.63237391e-01 1.58356183e-02 2.97699179e+02] [ 3.63167781e-01 -9.31696160e-01 -7.17141698e-03 2.80374024e+02] [ 1.73589115e-02 -9.29633484e-04 9.99848891e-01 2.24394622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8607140569999 meters Centerline goodness : 0.989367 Centerline is valid? [True, True] Translation: X:298.08, Y:280.20, Z:2.24 [[-9.27951628e-01 -3.72363775e-01 1.58428404e-02 2.98078052e+02] [ 3.72295749e-01 -9.28086563e-01 -7.15588436e-03 2.80201966e+02] [ 1.73681194e-02 -7.42092405e-04 9.99848887e-01 2.23844805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.890714057 meters Centerline goodness : 0.989489 Centerline is valid? [True, True] Translation: X:298.08, Y:280.20, Z:2.24 [[-9.27633386e-01 -3.73160484e-01 1.57338575e-02 2.98081365e+02] [ 3.73088613e-01 -9.27766287e-01 -7.38937903e-03 2.80200531e+02] [ 1.73547668e-02 -9.84511618e-04 9.99848910e-01 2.24054456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9207140569999 meters Centerline goodness : 0.990186 Centerline is valid? [True, True] Translation: X:298.08, Y:280.20, Z:2.24 [[-9.28606624e-01 -3.70732314e-01 1.57254539e-02 2.98081900e+02] [ 3.70659792e-01 -9.28739172e-01 -7.40739097e-03 2.80197806e+02] [ 1.73510042e-02 -1.04975886e-03 9.99848909e-01 2.24260678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9507140569999 meters Centerline goodness : 0.990264 Centerline is valid? [True, True] Translation: X:298.12, Y:280.18, Z:2.24 [[-9.25121169e-01 -3.79345032e-01 1.57534301e-02 2.98119882e+02] [ 3.79274762e-01 -9.25254922e-01 -7.34738543e-03 2.80182023e+02] [ 1.73631329e-02 -8.22343355e-04 9.99848911e-01 2.23964731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9807140569999 meters Centerline goodness : 0.990587 Centerline is valid? [True, True] Translation: X:298.10, Y:280.19, Z:2.24 [[-9.26964615e-01 -3.74823012e-01 1.56305028e-02 2.98101647e+02] [ 3.74747656e-01 -9.27095614e-01 -7.61038743e-03 2.80189179e+02] [ 1.73435189e-02 -1.19706559e-03 9.99848873e-01 2.24024976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.010714057 meters Centerline goodness : 0.990172 Centerline is valid? [True, True] Translation: X:298.08, Y:280.19, Z:2.24 [[-9.29089159e-01 -3.69522367e-01 1.57020811e-02 2.98084187e+02] [ 3.69448838e-01 -9.29221153e-01 -7.45692698e-03 2.80193749e+02] [ 1.73462072e-02 -1.12703439e-03 9.99848908e-01 2.24087367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.040714057 meters Centerline goodness : 0.990487 Centerline is valid? [True, True] Translation: X:298.09, Y:280.19, Z:2.24 [[-9.29031580e-01 -3.69664080e-01 1.57731106e-02 2.98085341e+02] [ 3.69593144e-01 -9.29164976e-01 -7.30443281e-03 2.80192365e+02] [ 1.73560084e-02 -9.56415225e-04 9.99848916e-01 2.23922077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0707140569999 meters Centerline goodness : 0.991131 Centerline is valid? [True, True] Translation: X:298.12, Y:280.18, Z:2.24 [[-9.25847490e-01 -3.77568191e-01 1.57698135e-02 2.98118691e+02] [ 3.77498274e-01 -9.25981423e-01 -7.31151431e-03 2.80177884e+02] [ 1.73631496e-02 -8.16269792e-04 9.99848916e-01 2.23945963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1007140569999 meters Centerline goodness : 0.990621 Centerline is valid? [True, True] Translation: X:298.08, Y:280.19, Z:2.24 [[-9.28671411e-01 -3.70573046e-01 1.56533636e-02 2.98076183e+02] [ 3.70497915e-01 -9.28802521e-01 -7.56121881e-03 2.80193074e+02] [ 1.73408675e-02 -1.22234916e-03 9.99848889e-01 2.24183585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.130714057 meters Centerline goodness : 0.991595 Centerline is valid? [True, True] Translation: X:298.13, Y:280.17, Z:2.24 [[-9.24332720e-01 -3.81260028e-01 1.58055333e-02 2.98125260e+02] [ 3.81191965e-01 -9.24467605e-01 -7.23410220e-03 2.80171447e+02] [ 1.73697775e-02 -6.61775051e-04 9.99848915e-01 2.23932858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.160714057 meters Centerline goodness : 0.990971 Centerline is valid? [True, True] Translation: X:298.08, Y:280.19, Z:2.24 [[-9.26045836e-01 -3.77084853e-01 1.56883095e-02 2.98082312e+02] [ 3.77011918e-01 -9.26178157e-01 -7.48562288e-03 2.80188101e+02] [ 1.73528846e-02 -1.01735024e-03 9.99848910e-01 2.24353623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1907140569999 meters Centerline goodness : 0.992172 Centerline is valid? [True, True] Translation: X:298.12, Y:280.17, Z:2.24 [[-9.21509538e-01 -3.88035279e-01 1.57731905e-02 2.98116663e+02] [ 3.87967025e-01 -9.21644318e-01 -7.30327284e-03 2.80173526e+02] [ 1.73711989e-02 -6.10557776e-04 9.99848923e-01 2.24072201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2207140569999 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:298.08, Y:280.19, Z:2.24 [[-9.24182284e-01 -3.81631982e-01 1.56248847e-02 2.98079356e+02] [ 3.81557410e-01 -9.24313724e-01 -7.62118901e-03 2.80188335e+02] [ 1.73507849e-02 -1.08157732e-03 9.99848879e-01 2.23726617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.250714057 meters Centerline goodness : 0.991555 Centerline is valid? [True, True] Translation: X:298.11, Y:280.18, Z:2.24 [[-9.19513333e-01 -3.92745425e-01 1.56927332e-02 2.98110517e+02] [ 3.92674918e-01 -9.19646957e-01 -7.47558516e-03 2.80176406e+02] [ 1.73677762e-02 -7.11757526e-04 9.99848915e-01 2.23910459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.280714057 meters Centerline goodness : 0.991362 Centerline is valid? [True, True] Translation: X:298.08, Y:280.19, Z:2.24 [[-9.22215839e-01 -3.86358968e-01 1.56427164e-02 2.98084809e+02] [ 3.86285719e-01 -9.22348006e-01 -7.58283242e-03 2.80185596e+02] [ 1.73577236e-02 -9.50450204e-04 9.99848892e-01 2.24139069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3107140569999 meters Centerline goodness : 0.992228 Centerline is valid? [True, True] Translation: X:298.08, Y:280.19, Z:2.24 [[-9.21922226e-01 -3.87054788e-01 1.57480268e-02 2.98084526e+02] [ 3.86985481e-01 -9.22056461e-01 -7.35661209e-03 2.80185229e+02] [ 1.73679818e-02 -6.87966455e-04 9.99848929e-01 2.23828375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3407140569999 meters Centerline goodness : 0.992344 Centerline is valid? [True, True] Translation: X:298.10, Y:280.18, Z:2.24 [[-9.18982517e-01 -3.93983288e-01 1.57576296e-02 2.98103379e+02] [ 3.93915346e-01 -9.19117448e-01 -7.33597256e-03 2.80178955e+02] [ 1.73733629e-02 -5.34458391e-04 9.99848929e-01 2.23614821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.370714057 meters Centerline goodness : 0.992087 Centerline is valid? [True, True] Translation: X:298.07, Y:280.19, Z:2.23 [[-9.22641304e-01 -3.85343154e-01 1.56101843e-02 2.98072232e+02] [ 3.85268584e-01 -9.22772756e-01 -7.65240207e-03 2.80189441e+02] [ 1.73534535e-02 -1.04630863e-03 9.99848870e-01 2.23470157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.400714057 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:298.09, Y:280.18, Z:2.23 [[-9.20144808e-01 -3.91260967e-01 1.57603611e-02 2.98093909e+02] [ 3.91192737e-01 -9.20279589e-01 -7.32948406e-03 2.80184288e+02] [ 1.73716797e-02 -5.78847885e-04 9.99848933e-01 2.23388899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4307140569999 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:298.09, Y:280.19, Z:2.23 [[-9.19473401e-01 -3.92839781e-01 1.56707010e-02 2.98092718e+02] [ 3.92768497e-01 -9.19606615e-01 -7.52199341e-03 2.80186956e+02] [ 1.73658185e-02 -7.61315187e-04 9.99848913e-01 2.23316219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4607140569999 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:298.10, Y:280.19, Z:2.23 [[-9.19927359e-01 -3.91776009e-01 1.56593061e-02 2.98095940e+02] [ 3.91704156e-01 -9.20060273e-01 -7.54645814e-03 2.80187364e+02] [ 1.73640267e-02 -8.08378036e-04 9.99848907e-01 2.23318302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4907140569999 meters Centerline goodness : 0.992782 Centerline is valid? [True, True] Translation: X:298.09, Y:280.19, Z:2.23 [[-9.19429420e-01 -3.92942478e-01 1.56764264e-02 2.98092606e+02] [ 3.92871419e-01 -9.19562751e-01 -7.50968536e-03 2.80191215e+02] [ 1.73663321e-02 -7.45805783e-04 9.99848916e-01 2.23304190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.520714057 meters Centerline goodness : 0.992214 Centerline is valid? [True, True] Translation: X:298.13, Y:280.18, Z:2.24 [[-9.13910204e-01 -4.05614179e-01 1.56613560e-02 2.98129377e+02] [ 4.05544415e-01 -9.14044225e-01 -7.54204875e-03 2.80180318e+02] [ 1.73743339e-02 -5.41379873e-04 9.99848908e-01 2.23814519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5507140569999 meters Centerline goodness : 0.991552 Centerline is valid? [True, True] Translation: X:298.12, Y:280.19, Z:2.23 [[-9.12626884e-01 -4.08499603e-01 1.54998588e-02 2.98119908e+02] [ 4.08424371e-01 -9.12758085e-01 -7.88746235e-03 2.80190179e+02] [ 1.73696467e-02 -8.67790109e-04 9.99848760e-01 2.23303575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5807140569999 meters Centerline goodness : 0.991472 Centerline is valid? [True, True] Translation: X:298.12, Y:280.19, Z:2.23 [[-9.13519615e-01 -4.06500008e-01 1.54808287e-02 2.98120328e+02] [ 4.06423799e-01 -9.13650283e-01 -7.92819469e-03 2.80190918e+02] [ 1.73668747e-02 -9.50784158e-04 9.99848732e-01 2.23412957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6107140569999 meters Centerline goodness : 0.991546 Centerline is valid? [True, True] Translation: X:298.09, Y:280.20, Z:2.24 [[-9.23425612e-01 -3.83464416e-01 1.54977689e-02 2.98089036e+02] [ 3.83385562e-01 -9.23554671e-01 -7.89182350e-03 2.80196941e+02] [ 1.73392703e-02 -1.34589113e-03 9.99848758e-01 2.23893733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.640714057 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:298.11, Y:280.20, Z:2.23 [[-9.13923843e-01 -4.05579404e-01 1.57656834e-02 2.98105787e+02] [ 4.05513548e-01 -9.14059770e-01 -7.31435722e-03 2.80203944e+02] [ 1.73773296e-02 -2.91567242e-04 9.99848960e-01 2.23421507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6707140569999 meters Centerline goodness : 0.990459 Centerline is valid? [True, True] Translation: X:298.10, Y:280.20, Z:2.24 [[-9.18212297e-01 -3.95785629e-01 1.54891383e-02 2.98102044e+02] [ 3.95708239e-01 -9.18342232e-01 -7.90790055e-03 2.80203652e+02] [ 1.73541632e-02 -1.13195190e-03 9.99848764e-01 2.23988447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7007140569999 meters Centerline goodness : 0.989485 Centerline is valid? [True, True] Translation: X:298.10, Y:280.21, Z:2.24 [[-9.17238004e-01 -3.98035059e-01 1.55735537e-02 2.98096067e+02] [ 3.97961057e-01 -9.17369773e-01 -7.72631963e-03 2.80212454e+02] [ 1.73620535e-02 -8.89206117e-04 9.99848873e-01 2.23561752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7307140569999 meters Centerline goodness : 0.989495 Centerline is valid? [True, True] Translation: X:298.12, Y:280.20, Z:2.23 [[-9.15354123e-01 -4.02348242e-01 1.55795258e-02 2.98124582e+02] [ 4.02275079e-01 -9.15486353e-01 -7.71347091e-03 2.80201623e+02] [ 1.73663447e-02 -7.93302441e-04 9.99848879e-01 2.23463169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.760714057 meters Centerline goodness : 0.989325 Centerline is valid? [True, True] Translation: X:298.10, Y:280.21, Z:2.24 [[-9.18760549e-01 -3.94508552e-01 1.55581203e-02 2.98102982e+02] [ 3.94433484e-01 -9.18891733e-01 -7.75950319e-03 2.80211464e+02] [ 1.73574185e-02 -9.92481835e-04 9.99848856e-01 2.23818174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.790714057 meters Centerline goodness : 0.990250 Centerline is valid? [True, True] Translation: X:298.10, Y:280.21, Z:2.23 [[-9.20009734e-01 -3.91584825e-01 1.56017157e-02 2.98104172e+02] [ 3.91510927e-01 -9.20141529e-01 -7.66556049e-03 2.80211733e+02] [ 1.73575037e-02 -9.44148071e-04 9.99848901e-01 2.23429273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8207140569999 meters Centerline goodness : 0.989416 Centerline is valid? [True, True] Translation: X:298.11, Y:280.21, Z:2.23 [[-9.20488386e-01 -3.90457425e-01 1.56246892e-02 2.98105822e+02] [ 3.90384204e-01 -9.20620535e-01 -7.61601648e-03 2.80210991e+02] [ 1.73581400e-02 -9.10822840e-04 9.99848921e-01 2.23492803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8507140569999 meters Centerline goodness : 0.989416 Centerline is valid? [True, True] Translation: X:298.11, Y:280.21, Z:2.23 [[-9.20620709e-01 -3.90146876e-01 1.55860669e-02 2.98108250e+02] [ 3.90072202e-01 -9.20752083e-01 -7.69929620e-03 2.80210000e+02] [ 1.73547599e-02 -1.00844009e-03 9.99848886e-01 2.23485475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.880714057 meters Centerline goodness : 0.989107 Centerline is valid? [True, True] Translation: X:298.12, Y:280.21, Z:2.24 [[-9.22348813e-01 -3.86043593e-01 1.55888557e-02 2.98118197e+02] [ 3.85968436e-01 -9.22479908e-01 -7.69327763e-03 2.80206826e+02] [ 1.73503467e-02 -1.07907923e-03 9.99848889e-01 2.23633607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.910714057 meters Centerline goodness : 0.990349 Centerline is valid? [True, True] Translation: X:298.11, Y:280.21, Z:2.24 [[-9.22719647e-01 -3.85153544e-01 1.56589065e-02 2.98114654e+02] [ 3.85080817e-01 -9.22852038e-01 -7.54185269e-03 2.80208767e+02] [ 1.73556250e-02 -9.29071156e-04 9.99848948e-01 2.23658623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9407140569999 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:298.15, Y:280.20, Z:2.23 [[-9.19053474e-01 -3.93824279e-01 1.55932252e-02 2.98147547e+02] [ 3.93750396e-01 -9.19185285e-01 -7.68366633e-03 2.80197597e+02] [ 1.73590775e-02 -9.21861661e-04 9.99848895e-01 2.23040183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9707140569999 meters Centerline goodness : 0.990950 Centerline is valid? [True, True] Translation: X:298.14, Y:280.20, Z:2.24 [[-9.24310674e-01 -3.81328011e-01 1.54507442e-02 2.98135606e+02] [ 3.81247218e-01 -9.24438593e-01 -7.99040593e-03 2.80197803e+02] [ 1.73302298e-02 -1.49506426e-03 9.99848703e-01 2.23570042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.000714057 meters Centerline goodness : 0.989987 Centerline is valid? [True, True] Translation: X:298.15, Y:280.19, Z:2.23 [[-9.24802762e-01 -3.80126383e-01 1.56136259e-02 2.98148123e+02] [ 3.80051305e-01 -9.24933865e-01 -7.63872221e-03 2.80192722e+02] [ 1.73452512e-02 -1.13033250e-03 9.99848921e-01 2.23349644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.030714057 meters Centerline goodness : 0.990003 Centerline is valid? [True, True] Translation: X:298.13, Y:280.20, Z:2.24 [[-9.27381775e-01 -3.73788237e-01 1.56651578e-02 2.98132801e+02] [ 3.73714135e-01 -9.27513388e-01 -7.52727960e-03 2.80197438e+02] [ 1.73432522e-02 -1.12637101e-03 9.99848960e-01 2.23775195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0607140569999 meters Centerline goodness : 0.990846 Centerline is valid? [True, True] Translation: X:298.13, Y:280.20, Z:2.23 [[-9.27926372e-01 -3.72431869e-01 1.57210579e-02 2.98129841e+02] [ 3.72359614e-01 -9.28058977e-01 -7.40623077e-03 2.80198312e+02] [ 1.73483852e-02 -1.01854981e-03 9.99848987e-01 2.23330641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0907140569999 meters Centerline goodness : 0.989652 Centerline is valid? [True, True] Translation: X:298.15, Y:280.19, Z:2.24 [[-9.27579112e-01 -3.73297505e-01 1.56832430e-02 2.98149134e+02] [ 3.73223993e-01 -9.27711043e-01 -7.48809734e-03 2.80190087e+02] [ 1.73448058e-02 -1.09244010e-03 9.99848971e-01 2.24349088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.120714057 meters Centerline goodness : 0.989130 Centerline is valid? [True, True] Translation: X:298.16, Y:280.19, Z:2.23 [[-9.26637779e-01 -3.75627474e-01 1.56979947e-02 2.98155263e+02] [ 3.75554833e-01 -9.26770183e-01 -7.45615760e-03 2.80188925e+02] [ 1.73491710e-02 -1.01369955e-03 9.99848978e-01 2.23499517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.150714057 meters Centerline goodness : 0.988482 Centerline is valid? [True, True] Translation: X:298.14, Y:280.19, Z:2.24 [[-9.27788378e-01 -3.72776555e-01 1.56960195e-02 2.98141258e+02] [ 3.72703435e-01 -9.27920520e-01 -7.46043531e-03 2.80193380e+02] [ 1.73457340e-02 -1.07174478e-03 9.99848977e-01 2.24436184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1807140569999 meters Centerline goodness : 0.989340 Centerline is valid? [True, True] Translation: X:298.14, Y:280.19, Z:2.24 [[-9.27459848e-01 -3.73592561e-01 1.57107910e-02 2.98142751e+02] [ 3.73520097e-01 -9.27592343e-01 -7.42841916e-03 2.80193215e+02] [ 1.73484115e-02 -1.02126433e-03 9.99848983e-01 2.23844865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2107140569999 meters Centerline goodness : 0.990005 Centerline is valid? [True, True] Translation: X:298.14, Y:280.19, Z:2.24 [[-9.26945573e-01 -3.74866580e-01 1.57147339e-02 2.98142500e+02] [ 3.74794443e-01 -9.27078244e-01 -7.41986516e-03 2.80193703e+02] [ 1.73502474e-02 -9.88016224e-04 9.99848985e-01 2.23713879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2407140569999 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:298.14, Y:280.19, Z:2.24 [[-9.25669911e-01 -3.78006365e-01 1.56972640e-02 2.98144311e+02] [ 3.77934037e-01 -9.25802487e-01 -7.45776491e-03 2.80193893e+02] [ 1.73516487e-02 -9.70898231e-04 9.99848977e-01 2.23655588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.270714057 meters Centerline goodness : 0.990161 Centerline is valid? [True, True] Translation: X:298.14, Y:280.19, Z:2.24 [[-9.25115508e-01 -3.79362004e-01 1.56769220e-02 2.98141762e+02] [ 3.79289124e-01 -9.25247795e-01 -7.50190009e-03 2.80194225e+02] [ 1.73509734e-02 -9.94038092e-04 9.99848966e-01 2.23760796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3007140569999 meters Centerline goodness : 0.989520 Centerline is valid? [True, True] Translation: X:298.15, Y:280.19, Z:2.24 [[-9.23900880e-01 -3.82313426e-01 1.56079926e-02 2.98148276e+02] [ 3.82238446e-01 -9.24032049e-01 -7.65132748e-03 2.80191566e+02] [ 1.73474906e-02 -1.10309338e-03 9.99848912e-01 2.23785354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3307140569999 meters Centerline goodness : 0.987908 Centerline is valid? [True, True] Translation: X:298.15, Y:280.19, Z:2.24 [[-9.23988468e-01 -3.82102034e-01 1.55995936e-02 2.98150829e+02] [ 3.82026718e-01 -9.24119454e-01 -7.66954419e-03 2.80190445e+02] [ 1.73464364e-02 -1.12710884e-03 9.99848904e-01 2.23942619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3607140569999 meters Centerline goodness : 0.987619 Centerline is valid? [True, True] Translation: X:298.15, Y:280.19, Z:2.24 [[-9.23565984e-01 -3.83118831e-01 1.56791248e-02 2.98150713e+02] [ 3.83046576e-01 -9.23698608e-01 -7.49679530e-03 2.80190161e+02] [ 1.73549492e-02 -9.17950041e-04 9.99848970e-01 2.24119954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.390714057 meters Centerline goodness : 0.989064 Centerline is valid? [True, True] Translation: X:298.15, Y:280.19, Z:2.23 [[-9.21824016e-01 -3.87291201e-01 1.56846490e-02 2.98151036e+02] [ 3.87219751e-01 -9.21957072e-01 -7.48478750e-03 2.80189367e+02] [ 1.73593654e-02 -8.26250999e-04 9.99848973e-01 2.23396384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4207140569999 meters Centerline goodness : 0.987423 Centerline is valid? [True, True] Translation: X:298.16, Y:280.19, Z:2.23 [[-9.21299021e-01 -3.88542313e-01 1.55879589e-02 2.98159408e+02] [ 3.88467486e-01 -9.21430302e-01 -7.69481482e-03 2.80188038e+02] [ 1.73529788e-02 -1.03381016e-03 9.99848891e-01 2.23475902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4507140569999 meters Centerline goodness : 0.987604 Centerline is valid? [True, True] Translation: X:298.16, Y:280.19, Z:2.24 [[-9.19533201e-01 -3.92698545e-01 1.57017818e-02 2.98156547e+02] [ 3.92628518e-01 -9.19666998e-01 -7.44716824e-03 2.80188399e+02] [ 1.73649026e-02 -6.82951154e-04 9.99848985e-01 2.23901710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4807140569999 meters Centerline goodness : 0.988335 Centerline is valid? [True, True] Translation: X:298.16, Y:280.19, Z:2.24 [[-9.19505676e-01 -3.92768856e-01 1.55543329e-02 2.98162154e+02] [ 3.92693404e-01 -9.19636644e-01 -7.76750977e-03 2.80186008e+02] [ 1.73551704e-02 -1.03418539e-03 9.99848853e-01 2.23704606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.510714057 meters Centerline goodness : 0.987903 Centerline is valid? [True, True] Translation: X:298.17, Y:280.18, Z:2.24 [[-9.19561934e-01 -3.92636726e-01 1.55644111e-02 2.98167358e+02] [ 3.92561625e-01 -9.19693088e-01 -7.74560413e-03 2.80183735e+02] [ 1.73556900e-02 -1.01257219e-03 9.99848866e-01 2.23780971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.540714057 meters Centerline goodness : 0.987520 Centerline is valid? [True, True] Translation: X:298.17, Y:280.18, Z:2.24 [[-9.19627632e-01 -3.92483121e-01 1.55569310e-02 2.98168428e+02] [ 3.92407723e-01 -9.19758627e-01 -7.76186842e-03 2.80182768e+02] [ 1.73550238e-02 -1.03336882e-03 9.99848856e-01 2.23996780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5707140569999 meters Centerline goodness : 0.987915 Centerline is valid? [True, True] Translation: X:298.16, Y:280.19, Z:2.24 [[-9.18116924e-01 -3.96002737e-01 1.55931588e-02 2.98161960e+02] [ 3.95929178e-01 -9.18248909e-01 -7.68298794e-03 2.80187546e+02] [ 1.73608853e-02 -8.80094721e-04 9.99848901e-01 2.24081847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6007140569999 meters Centerline goodness : 0.987220 Centerline is valid? [True, True] Translation: X:298.17, Y:280.18, Z:2.23 [[-9.19624572e-01 -3.92491360e-01 1.55299217e-02 2.98172909e+02] [ 3.92414972e-01 -9.19755036e-01 -7.82066739e-03 2.80182300e+02] [ 1.73532680e-02 -1.09790412e-03 9.99848818e-01 2.23278210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.630714057 meters Centerline goodness : 0.986571 Centerline is valid? [True, True] Translation: X:298.17, Y:280.18, Z:2.24 [[-9.19251696e-01 -3.93358466e-01 1.56664089e-02 2.98170282e+02] [ 3.93287248e-01 -9.19384875e-01 -7.52277263e-03 2.80184067e+02] [ 1.73626057e-02 -7.53922643e-04 9.99848974e-01 2.23928508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.660714057 meters Centerline goodness : 0.986775 Centerline is valid? [True, True] Translation: X:298.17, Y:280.18, Z:2.24 [[-9.19310155e-01 -3.93220090e-01 1.57098313e-02 2.98165657e+02] [ 3.93150469e-01 -9.19444145e-01 -7.42790910e-03 2.80184474e+02] [ 1.73651154e-02 -6.52224749e-04 9.99849002e-01 2.24121953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6907140569999 meters Centerline goodness : 0.986973 Centerline is valid? [True, True] Translation: X:298.17, Y:280.19, Z:2.24 [[-9.18695712e-01 -3.94656612e-01 1.56316031e-02 2.98168349e+02] [ 3.94584289e-01 -9.18828329e-01 -7.59874472e-03 2.80185806e+02] [ 1.73616546e-02 -8.12949207e-04 9.99848945e-01 2.24080185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7207140569999 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:297.78, Y:280.35, Z:2.24 [[-9.28961952e-01 -3.69843767e-01 1.56613892e-02 2.97784070e+02] [ 3.69769014e-01 -9.29093177e-01 -7.53290271e-03 2.80351124e+02] [ 1.73368869e-02 -1.20668358e-03 9.99848977e-01 2.24481444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.750714057 meters Centerline goodness : 0.989472 Centerline is valid? [True, True] Translation: X:298.14, Y:280.19, Z:2.24 [[-9.32193996e-01 -3.61617710e-01 1.57157627e-02 2.98137607e+02] [ 3.61543817e-01 -9.32325653e-01 -7.41242936e-03 2.80187572e+02] [ 1.73326745e-02 -1.22788530e-03 9.99849024e-01 2.23801806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.780714057 meters Centerline goodness : 0.989382 Centerline is valid? [True, True] Translation: X:298.14, Y:280.19, Z:2.24 [[-9.32893970e-01 -3.59802781e-01 1.58366604e-02 2.98135764e+02] [ 3.59733144e-01 -9.33027879e-01 -7.14444448e-03 2.80188800e+02] [ 1.73466367e-02 -9.68037525e-04 9.99849067e-01 2.23745062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8107140569999 meters Centerline goodness : 0.989495 Centerline is valid? [True, True] Translation: X:298.15, Y:280.20, Z:2.23 [[-9.23934508e-01 -3.82222627e-01 1.58394277e-02 2.98153085e+02] [ 3.82156350e-01 -9.24070111e-01 -7.13830416e-03 2.80196394e+02] [ 1.73651631e-02 -5.42187679e-04 9.99849067e-01 2.23062710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8407140569999 meters Centerline goodness : 0.986983 Centerline is valid? [True, True] Translation: X:298.15, Y:280.20, Z:2.24 [[-9.26418512e-01 -3.76174996e-01 1.55278141e-02 2.98152282e+02] [ 3.76096215e-01 -9.26547561e-01 -7.82658288e-03 2.80196749e+02] [ 1.73314230e-02 -1.41073916e-03 9.99848804e-01 2.23957152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.870714057 meters Centerline goodness : 0.987396 Centerline is valid? [True, True] Translation: X:298.16, Y:280.19, Z:2.24 [[-9.26847317e-01 -3.75110642e-01 1.56862236e-02 2.98159750e+02] [ 3.75037597e-01 -9.26979456e-01 -7.47590084e-03 2.80191372e+02] [ 1.73450970e-02 -1.04609504e-03 9.99849015e-01 2.24000634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.900714057 meters Centerline goodness : 0.981072 Centerline is valid? [True, True] Translation: X:297.28, Y:280.57, Z:2.26 [[-9.38074626e-01 -3.46073071e-01 1.57932201e-02 2.97275832e+02] [ 3.45999987e-01 -9.38206632e-01 -7.23364800e-03 2.80570146e+02] [ 1.73206747e-02 -1.32124769e-03 9.99849113e-01 2.25897465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9307140569999 meters Centerline goodness : 0.987113 Centerline is valid? [True, True] Translation: X:298.14, Y:280.20, Z:2.24 [[-9.25360313e-01 -3.78753977e-01 1.59284949e-02 2.98139721e+02] [ 3.78690824e-01 -9.25497316e-01 -6.92658846e-03 2.80196570e+02] [ 1.73652522e-02 -3.77615201e-04 9.99849141e-01 2.24189340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9607140569999 meters Centerline goodness : 0.987616 Centerline is valid? [True, True] Translation: X:298.15, Y:280.19, Z:2.24 [[-9.25724681e-01 -3.77874762e-01 1.56358391e-02 2.98150934e+02] [ 3.77800564e-01 -9.25856067e-01 -7.56818290e-03 2.80190146e+02] [ 1.73363618e-02 -1.09882486e-03 9.99849110e-01 2.24154138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9907140569999 meters Centerline goodness : 0.982112 Centerline is valid? [True, True] Translation: X:297.29, Y:280.56, Z:2.26 [[-9.36726262e-01 -3.49707433e-01 1.57677408e-02 2.97294619e+02] [ 3.49634198e-01 -9.36858058e-01 -7.27374438e-03 2.80560133e+02] [ 1.73158175e-02 -1.30056598e-03 9.99849224e-01 2.25970382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.020714057 meters Centerline goodness : 0.981691 Centerline is valid? [True, True] Translation: X:297.18, Y:280.61, Z:2.26 [[-9.36710359e-01 -3.49747249e-01 1.58292183e-02 2.97176525e+02] [ 3.49676262e-01 -9.36843387e-01 -7.14002366e-03 2.80611220e+02] [ 1.73267021e-02 -1.15303226e-03 9.99849217e-01 2.26444672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0507140569999 meters Centerline goodness : 0.988446 Centerline is valid? [True, True] Translation: X:298.15, Y:280.18, Z:2.24 [[-9.18724472e-01 -3.94575646e-01 1.59813823e-02 2.98150490e+02] [ 3.94517064e-01 -9.18863459e-01 -6.79925175e-03 2.80180799e+02] [ 1.73675274e-02 5.82890579e-05 9.99849171e-01 2.24373037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0807140569999 meters Centerline goodness : 0.989391 Centerline is valid? [True, True] Translation: X:298.10, Y:280.19, Z:2.25 [[-9.27734927e-01 -3.72916832e-01 1.55222906e-02 2.98104376e+02] [ 3.72838350e-01 -9.27863665e-01 -7.78358863e-03 2.80190675e+02] [ 1.73052007e-02 -1.43380180e-03 9.99849226e-01 2.24526084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1107140569999 meters Centerline goodness : 0.988976 Centerline is valid? [True, True] Translation: X:297.75, Y:280.35, Z:2.25 [[-9.26156778e-01 -3.76809064e-01 1.57655103e-02 2.97753937e+02] [ 3.76739911e-01 -9.26290620e-01 -7.26135172e-03 2.80354758e+02] [ 1.73395874e-02 -7.85653178e-04 9.99849349e-01 2.25204657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.140714057 meters Centerline goodness : 0.988967 Centerline is valid? [True, True] Translation: X:298.12, Y:280.19, Z:2.24 [[-9.19746448e-01 -3.92196431e-01 1.57616691e-02 2.98121710e+02] [ 3.92129378e-01 -9.19881353e-01 -7.26960454e-03 2.80188723e+02] [ 1.73499785e-02 -5.05579442e-04 9.99849350e-01 2.24025919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1707140569999 meters Centerline goodness : 0.990528 Centerline is valid? [True, True] Translation: X:298.10, Y:280.19, Z:2.24 [[-9.24952547e-01 -3.79763066e-01 1.55820338e-02 2.98104574e+02] [ 3.79687748e-01 -9.25083059e-01 -7.65166955e-03 2.80186108e+02] [ 1.73204970e-02 -1.16112392e-03 9.99849315e-01 2.23619845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2007140569999 meters Centerline goodness : 0.983081 Centerline is valid? [True, True] Translation: X:297.19, Y:280.61, Z:2.26 [[-9.27519551e-01 -3.73444218e-01 1.57130050e-02 2.97185502e+02] [ 3.73372700e-01 -9.27652129e-01 -7.37253396e-03 2.80612968e+02] [ 1.73294327e-02 -9.71362285e-04 9.99849362e-01 2.25922289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2307140569999 meters Centerline goodness : 0.988572 Centerline is valid? [True, True] Translation: X:298.12, Y:280.18, Z:2.24 [[-9.12472673e-01 -4.08830175e-01 1.58590567e-02 2.98116565e+02] [ 4.08769208e-01 -9.12610479e-01 -7.06030472e-03 2.80183768e+02] [ 1.73596070e-02 4.03589440e-05 9.99849310e-01 2.23770326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.260714057 meters Centerline goodness : 0.983463 Centerline is valid? [True, True] Translation: X:297.15, Y:280.63, Z:2.26 [[-9.25048853e-01 -3.79527944e-01 1.55935984e-02 2.97153234e+02] [ 3.79453113e-01 -9.25179581e-01 -7.62087609e-03 2.80629467e+02] [ 1.73192143e-02 -1.13264322e-03 9.99849370e-01 2.25925409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.290714057 meters Centerline goodness : 0.982910 Centerline is valid? [True, True] Translation: X:297.18, Y:280.62, Z:2.26 [[-9.22236101e-01 -3.86309839e-01 1.56614698e-02 2.97175256e+02] [ 3.86238327e-01 -9.22368682e-01 -7.48133352e-03 2.80618137e+02] [ 1.73357620e-02 -8.50495985e-04 9.99849363e-01 2.26042795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3207140569999 meters Centerline goodness : 0.983816 Centerline is valid? [True, True] Translation: X:297.18, Y:280.62, Z:2.26 [[-9.22736593e-01 -3.85113391e-01 1.56478489e-02 2.97176241e+02] [ 3.85041233e-01 -9.22868820e-01 -7.50936252e-03 2.80616409e+02] [ 1.73328679e-02 -9.04096537e-04 9.99849366e-01 2.26031189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3507140569999 meters Centerline goodness : 0.988788 Centerline is valid? [True, True] Translation: X:298.09, Y:280.19, Z:2.24 [[-9.02292560e-01 -4.30835154e-01 1.57862782e-02 2.98086891e+02] [ 4.30774789e-01 -9.02430600e-01 -7.21763432e-03 2.80191754e+02] [ 1.73556311e-02 2.87912921e-04 9.99849338e-01 2.23956675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.380714057 meters Centerline goodness : 0.990363 Centerline is valid? [True, True] Translation: X:298.07, Y:280.19, Z:2.24 [[-9.13624913e-01 -4.06270396e-01 1.52932448e-02 2.98068191e+02] [ 4.06189447e-01 -9.13751990e-01 -8.21181553e-03 2.80185297e+02] [ 1.73104504e-02 -1.29056463e-03 9.99849330e-01 2.24126684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.410714057 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:298.07, Y:280.18, Z:2.24 [[-9.14342435e-01 -4.04642280e-01 1.55736114e-02 2.98070189e+02] [ 4.04570650e-01 -9.14474795e-01 -7.64455108e-03 2.80182701e+02] [ 1.73349837e-02 -6.89111346e-04 9.99849500e-01 2.23833204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4407140569999 meters Centerline goodness : 0.991446 Centerline is valid? [True, True] Translation: X:298.07, Y:280.18, Z:2.24 [[-9.16381019e-01 -4.00004893e-01 1.55535918e-02 2.98071311e+02] [ 3.99931907e-01 -9.16512635e-01 -7.68506839e-03 2.80182565e+02] [ 1.73291283e-02 -8.22073189e-04 9.99849501e-01 2.23782533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4707140569999 meters Centerline goodness : 0.984186 Centerline is valid? [True, True] Translation: X:297.16, Y:280.63, Z:2.26 [[-9.20460803e-01 -3.90525164e-01 1.55565552e-02 2.97158544e+02] [ 3.90450924e-01 -9.20591716e-01 -7.67906495e-03 2.80629888e+02] [ 1.73201039e-02 -9.94206936e-04 9.99849501e-01 2.25891501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.500714057 meters Centerline goodness : 0.988583 Centerline is valid? [True, True] Translation: X:297.70, Y:280.37, Z:2.25 [[-9.14826520e-01 -4.03544967e-01 1.56171994e-02 2.97698423e+02] [ 4.03474667e-01 -9.14959608e-01 -7.55702392e-03 2.80373623e+02] [ 1.73387056e-02 -6.12221569e-04 9.99849486e-01 2.24605065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.530714057 meters Centerline goodness : 0.991651 Centerline is valid? [True, True] Translation: X:298.04, Y:280.19, Z:2.24 [[-9.18702325e-01 -3.94646137e-01 1.55069150e-02 2.98044139e+02] [ 3.94570837e-01 -9.18832615e-01 -7.77692816e-03 2.80191697e+02] [ 1.73173940e-02 -1.02610553e-03 9.99849516e-01 2.23731977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5607140569999 meters Centerline goodness : 0.982974 Centerline is valid? [True, True] Translation: X:297.13, Y:280.65, Z:2.26 [[-9.23229595e-01 -3.83935919e-01 1.55024487e-02 2.97131473e+02] [ 3.83858961e-01 -9.23358911e-01 -7.78582119e-03 2.80646452e+02] [ 1.73035806e-02 -1.23734669e-03 9.99849516e-01 2.25952873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5907140569999 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:298.02, Y:280.21, Z:2.23 [[-9.06387160e-01 -4.22160023e-01 1.55958562e-02 2.98019489e+02] [ 4.22091726e-01 -9.06521275e-01 -7.59951847e-03 2.80208402e+02] [ 1.73461883e-02 -3.05224104e-04 9.99849497e-01 2.23493503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.620714057 meters Centerline goodness : 0.990737 Centerline is valid? [True, True] Translation: X:297.65, Y:280.39, Z:2.25 [[-9.14448211e-01 -4.04417069e-01 1.52086976e-02 2.97649203e+02] [ 4.04333611e-01 -9.14573468e-01 -8.34878341e-03 2.80393481e+02] [ 1.72858619e-02 -1.48514240e-03 9.99849485e-01 2.24536883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.650714057 meters Centerline goodness : 0.991043 Centerline is valid? [True, True] Translation: X:298.02, Y:280.20, Z:2.24 [[-9.17318517e-01 -3.97859713e-01 1.53097089e-02 2.98018677e+02] [ 3.97778596e-01 -9.17445214e-01 -8.15284822e-03 2.80196728e+02] [ 1.72895090e-02 -1.38888413e-03 9.99849561e-01 2.23889681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6807140569999 meters Centerline goodness : 0.990708 Centerline is valid? [True, True] Translation: X:298.03, Y:280.20, Z:2.23 [[-9.09635948e-01 -4.15120275e-01 1.54142549e-02 2.98032271e+02] [ 4.15044978e-01 -9.09766158e-01 -7.95014872e-03 2.80200267e+02] [ 1.73236354e-02 -8.34131979e-04 9.99849587e-01 2.23461156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7107140569999 meters Centerline goodness : 0.990720 Centerline is valid? [True, True] Translation: X:298.02, Y:280.19, Z:2.24 [[-9.16789084e-01 -3.99082749e-01 1.51899454e-02 2.98021105e+02] [ 3.98997983e-01 -9.16913473e-01 -8.38410320e-03 2.80190649e+02] [ 1.72738165e-02 -1.62569672e-03 9.99849475e-01 2.24062255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7407140569999 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:298.03, Y:280.19, Z:2.24 [[-9.10108071e-01 -4.14082764e-01 1.54519860e-02 2.98033078e+02] [ 4.14008583e-01 -9.10238909e-01 -7.87539677e-03 2.80191245e+02] [ 1.73260649e-02 -7.70207339e-04 9.99849596e-01 2.23976022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.770714057 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:298.04, Y:280.19, Z:2.24 [[-9.10259766e-01 -4.13753942e-01 1.53243043e-02 2.98035503e+02] [ 4.13675544e-01 -9.10388139e-01 -8.12287986e-03 2.80190203e+02] [ 1.73119384e-02 -1.05464081e-03 9.99849581e-01 2.23962447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8007140569999 meters Centerline goodness : 0.992002 Centerline is valid? [True, True] Translation: X:298.02, Y:280.19, Z:2.24 [[-9.15547308e-01 -4.01918060e-01 1.53297224e-02 2.98023380e+02] [ 4.01838180e-01 -9.15674761e-01 -8.11236627e-03 2.80185683e+02] [ 1.72975464e-02 -1.26718735e-03 9.99849583e-01 2.23751221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8307140569999 meters Centerline goodness : 0.992166 Centerline is valid? [True, True] Translation: X:298.03, Y:280.18, Z:2.24 [[-9.15468431e-01 -4.02094167e-01 1.54218347e-02 2.98030096e+02] [ 4.02017302e-01 -9.15597702e-01 -7.93330668e-03 2.80181113e+02] [ 1.73101328e-02 -1.06284743e-03 9.99849604e-01 2.23726706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8607140569999 meters Centerline goodness : 0.992526 Centerline is valid? [True, True] Translation: X:298.03, Y:280.18, Z:2.24 [[-9.15420192e-01 -4.02203860e-01 1.54249203e-02 2.98032098e+02] [ 4.02127111e-01 -9.15549531e-01 -7.92730279e-03 2.80177150e+02] [ 1.73106703e-02 -1.05403440e-03 9.99849604e-01 2.23741494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.890714057 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:298.03, Y:280.18, Z:2.24 [[-9.15598993e-01 -4.01796542e-01 1.54279957e-02 2.98028698e+02] [ 4.01719837e-01 -9.15728358e-01 -7.92131290e-03 2.80177413e+02] [ 1.73106093e-02 -1.05501419e-03 9.99849604e-01 2.23743495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9207140569999 meters Centerline goodness : 0.991707 Centerline is valid? [True, True] Translation: X:298.05, Y:280.18, Z:2.23 [[-9.06878259e-01 -4.21110088e-01 1.54310745e-02 2.98045846e+02] [ 4.21036243e-01 -9.07009278e-01 -7.91531070e-03 2.80177477e+02] [ 1.73293450e-02 -6.81181535e-04 9.99849604e-01 2.23084227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9507140569999 meters Centerline goodness : 0.992435 Centerline is valid? [True, True] Translation: X:298.03, Y:280.17, Z:2.24 [[-9.15454399e-01 -4.02135194e-01 1.51831760e-02 2.98032549e+02] [ 4.02050627e-01 -9.15578932e-01 -8.39719790e-03 2.80171037e+02] [ 1.72782048e-02 -1.58284633e-03 9.99849468e-01 2.23627489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9807140569999 meters Centerline goodness : 0.990989 Centerline is valid? [True, True] Translation: X:298.05, Y:280.17, Z:2.24 [[-9.07952044e-01 -4.18789880e-01 1.54312470e-02 2.98047557e+02] [ 4.18715732e-01 -9.08082878e-01 -7.91346542e-03 2.80172818e+02] [ 1.73269304e-02 -7.23741234e-04 9.99849616e-01 2.23517825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.010714057 meters Centerline goodness : 0.991556 Centerline is valid? [True, True] Translation: X:298.05, Y:280.17, Z:2.23 [[-9.07520151e-01 -4.19730806e-01 1.52717627e-02 2.98053821e+02] [ 4.19651560e-01 -9.07648026e-01 -8.22373623e-03 2.80166115e+02] [ 1.73131407e-02 -1.05438730e-03 9.99849560e-01 2.23341609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.040714057 meters Centerline goodness : 0.990244 Centerline is valid? [True, True] Translation: X:298.06, Y:280.16, Z:2.24 [[-9.06561293e-01 -4.21799239e-01 1.52323540e-02 2.98062417e+02] [ 4.21718999e-01 -9.06688585e-01 -8.30036520e-03 2.80160218e+02] [ 1.73120893e-02 -1.10101670e-03 9.99849528e-01 2.23963838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0707140569999 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:298.07, Y:280.15, Z:2.24 [[-9.06615517e-01 -4.21680262e-01 1.52990617e-02 2.98071456e+02] [ 4.21602184e-01 -9.06744088e-01 -8.17055534e-03 2.80149630e+02] [ 1.73176957e-02 -9.57434415e-04 9.99849579e-01 2.23788195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1007140569999 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:298.08, Y:280.14, Z:2.24 [[-9.05967111e-01 -4.23072720e-01 1.52665611e-02 2.98079561e+02] [ 4.22993776e-01 -9.06095177e-01 -8.23378077e-03 2.80143968e+02] [ 1.73164454e-02 -1.00187425e-03 9.99849557e-01 2.23861550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.130714057 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:298.09, Y:280.14, Z:2.24 [[-9.05137355e-01 -4.24845650e-01 1.52493519e-02 2.98088847e+02] [ 4.24766394e-01 -9.05265244e-01 -8.26726558e-03 2.80138171e+02] [ 1.73170201e-02 -1.00559865e-03 9.99849543e-01 2.23796426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.160714057 meters Centerline goodness : 0.992525 Centerline is valid? [True, True] Translation: X:298.10, Y:280.13, Z:2.24 [[-9.03586954e-01 -4.28133804e-01 1.52336167e-02 2.98100069e+02] [ 4.28054499e-01 -9.03714829e-01 -8.29788390e-03 2.80130817e+02] [ 1.73194499e-02 -9.77041492e-04 9.99849530e-01 2.23540048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1907140569999 meters Centerline goodness : 0.992520 Centerline is valid? [True, True] Translation: X:298.10, Y:280.13, Z:2.24 [[-9.03830877e-01 -4.27619342e-01 1.52132699e-02 2.98097278e+02] [ 4.27539299e-01 -9.03958315e-01 -8.33745448e-03 2.80131299e+02] [ 1.73174186e-02 -1.03137806e-03 9.99849510e-01 2.23514101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2207140569999 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:298.04, Y:280.15, Z:2.24 [[-9.10367600e-01 -4.13519954e-01 1.52341961e-02 2.98042241e+02] [ 4.13438619e-01 -9.10494192e-01 -8.29664634e-03 2.80151646e+02] [ 1.73014758e-02 -1.25459303e-03 9.99849531e-01 2.23946400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.250714057 meters Centerline goodness : 0.992398 Centerline is valid? [True, True] Translation: X:298.05, Y:280.15, Z:2.24 [[-9.11312196e-01 -4.11426372e-01 1.54409192e-02 2.98047058e+02] [ 4.11351528e-01 -9.11442611e-01 -7.89220091e-03 2.80147880e+02] [ 1.73205713e-02 -8.40613239e-04 9.99849634e-01 2.24222048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.280714057 meters Centerline goodness : 0.992880 Centerline is valid? [True, True] Translation: X:298.05, Y:280.15, Z:2.24 [[-9.11990922e-01 -4.09917027e-01 1.55109589e-02 2.98046542e+02] [ 4.09844289e-01 -9.12122535e-01 -7.75493144e-03 2.80147653e+02] [ 1.73267736e-02 -7.15349120e-04 9.99849624e-01 2.24004762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3107140569999 meters Centerline goodness : 0.993194 Centerline is valid? [True, True] Translation: X:298.05, Y:280.15, Z:2.24 [[-9.10427974e-01 -4.13375970e-01 1.55309871e-02 2.98048300e+02] [ 4.13304401e-01 -9.10560235e-01 -7.71563302e-03 2.80148166e+02] [ 1.73313566e-02 -6.05502799e-04 9.99849617e-01 2.23857565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3407140569999 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:298.05, Y:280.15, Z:2.24 [[-9.10159762e-01 -4.13969230e-01 1.54494358e-02 2.98052915e+02] [ 4.13895031e-01 -9.10290546e-01 -7.87561127e-03 2.80145577e+02] [ 1.73237361e-02 -7.73619759e-04 9.99849634e-01 2.23838559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.370714057 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:298.06, Y:280.14, Z:2.24 [[-9.09698367e-01 -4.14982050e-01 1.54524708e-02 2.98059013e+02] [ 4.14908098e-01 -9.09829291e-01 -7.86965202e-03 2.80141834e+02] [ 1.73248749e-02 -7.47654342e-04 9.99849634e-01 2.23681068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.400714057 meters Centerline goodness : 0.993173 Centerline is valid? [True, True] Translation: X:298.06, Y:280.14, Z:2.24 [[-9.08260203e-01 -4.18120236e-01 1.54554958e-02 2.98060960e+02] [ 4.18046837e-01 -9.08391438e-01 -7.86370657e-03 2.80139747e+02] [ 1.73276149e-02 -6.81170587e-04 9.99849634e-01 2.23842461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4307140569999 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:298.07, Y:280.14, Z:2.24 [[-9.06998199e-01 -4.20850687e-01 1.54585140e-02 2.98067042e+02] [ 4.20777784e-01 -9.07129711e-01 -7.85776885e-03 2.80135382e+02] [ 1.73298248e-02 -6.22382932e-04 9.99849634e-01 2.24007947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4607140569999 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:298.08, Y:280.13, Z:2.24 [[-9.03217168e-01 -4.28905221e-01 1.54615244e-02 2.98078668e+02] [ 4.28833592e-01 -9.03349378e-01 -7.85184086e-03 2.80133585e+02] [ 1.73348540e-02 -4.61496398e-04 9.99849634e-01 2.23954799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4907140569999 meters Centerline goodness : 0.992015 Centerline is valid? [True, True] Translation: X:298.09, Y:280.13, Z:2.25 [[-9.02741338e-01 -4.29909513e-01 1.53586270e-02 2.98086012e+02] [ 4.29834582e-01 -9.02871731e-01 -8.05415265e-03 2.80130261e+02] [ 1.73294270e-02 -6.69147539e-04 9.99849610e-01 2.24672609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.520714057 meters Centerline goodness : 0.992844 Centerline is valid? [True, True] Translation: X:298.08, Y:280.14, Z:2.24 [[-9.02839820e-01 -4.29700225e-01 1.54264725e-02 2.98076128e+02] [ 4.29627537e-01 -9.02971452e-01 -7.92063429e-03 2.80136143e+02] [ 1.73331626e-02 -5.23426645e-04 9.99849632e-01 2.24138899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5507140569999 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:298.09, Y:280.13, Z:2.24 [[-9.00540797e-01 -4.34499643e-01 1.53731242e-02 2.98090762e+02] [ 4.34425864e-01 -9.00671838e-01 -8.02557254e-03 2.80132204e+02] [ 1.73332484e-02 -5.48872715e-04 9.99849617e-01 2.24191055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5807140569999 meters Centerline goodness : 0.991781 Centerline is valid? [True, True] Translation: X:298.09, Y:280.13, Z:2.25 [[-9.02609764e-01 -4.30186780e-01 1.53280274e-02 2.98090033e+02] [ 4.30110869e-01 -9.02739608e-01 -8.11423793e-03 2.80134480e+02] [ 1.73278553e-02 -7.31239215e-04 9.99849594e-01 2.24581603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6107140569999 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:298.07, Y:280.14, Z:2.24 [[-9.05570792e-01 -4.23913971e-01 1.54429848e-02 2.98068775e+02] [ 4.23841001e-01 -9.05702262e-01 -7.88780846e-03 2.80142199e+02] [ 1.73304984e-02 -5.97598830e-04 9.99849637e-01 2.24175672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.640714057 meters Centerline goodness : 0.992246 Centerline is valid? [True, True] Translation: X:298.09, Y:280.14, Z:2.25 [[-9.02513625e-01 -4.30383551e-01 1.54646394e-02 2.98089905e+02] [ 4.30312255e-01 -9.02646009e-01 -7.84512191e-03 2.80139102e+02] [ 1.73355065e-02 -4.25705562e-04 9.99849638e-01 2.24578711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6707140569999 meters Centerline goodness : 0.991354 Centerline is valid? [True, True] Translation: X:298.08, Y:280.15, Z:2.25 [[-9.04113927e-01 -4.27013008e-01 1.54239618e-02 2.98084146e+02] [ 4.26939851e-01 -9.04245295e-01 -7.92523666e-03 2.80146348e+02] [ 1.73312240e-02 -5.80212884e-04 9.99849635e-01 2.24513243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7007140569999 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:298.10, Y:280.14, Z:2.24 [[-9.05133754e-01 -4.24847431e-01 1.54125859e-02 2.98095248e+02] [ 4.24773578e-01 -9.05264736e-01 -7.94765417e-03 2.80142380e+02] [ 1.73290109e-02 -6.46830813e-04 9.99849632e-01 2.23871564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7307140569999 meters Centerline goodness : 0.992623 Centerline is valid? [True, True] Translation: X:298.06, Y:280.16, Z:2.24 [[-9.09103584e-01 -4.16287116e-01 1.53528945e-02 2.98061688e+02] [ 4.16210045e-01 -9.09232726e-01 -8.06530092e-03 2.80160584e+02] [ 1.73168350e-02 -9.42165067e-04 9.99849608e-01 2.24355049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.760714057 meters Centerline goodness : 0.992432 Centerline is valid? [True, True] Translation: X:297.97, Y:280.21, Z:2.25 [[-9.10089070e-01 -4.14123426e-01 1.54813715e-02 2.97970904e+02] [ 4.14050334e-01 -9.10220467e-01 -7.81167767e-03 2.80207554e+02] [ 1.73264599e-02 -6.99255411e-04 9.99849641e-01 2.24542824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.790714057 meters Centerline goodness : 0.992107 Centerline is valid? [True, True] Translation: X:298.07, Y:280.16, Z:2.24 [[-9.09961088e-01 -4.14404310e-01 1.54882896e-02 2.98073068e+02] [ 4.14331490e-01 -9.10092637e-01 -7.79800835e-03 2.80158324e+02] [ 1.73273066e-02 -6.78598051e-04 9.99849641e-01 2.24391802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8207140569999 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:298.07, Y:280.16, Z:2.24 [[-9.10350375e-01 -4.13548804e-01 1.54784351e-02 2.98065804e+02] [ 4.13475530e-01 -9.10481671e-01 -7.81746720e-03 2.80163963e+02] [ 1.73257356e-02 -7.16680052e-04 9.99849641e-01 2.24336485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8507140569999 meters Centerline goodness : 0.992022 Centerline is valid? [True, True] Translation: X:298.08, Y:280.16, Z:2.24 [[-9.11567473e-01 -4.10859113e-01 1.54768333e-02 2.98077145e+02] [ 4.10785398e-01 -9.11698522e-01 -7.82063102e-03 2.80161075e+02] [ 1.73233836e-02 -7.71375721e-04 9.99849641e-01 2.24297196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.880714057 meters Centerline goodness : 0.992561 Centerline is valid? [True, True] Translation: X:298.08, Y:280.16, Z:2.24 [[-9.12021088e-01 -4.09850663e-01 1.54909352e-02 2.98076191e+02] [ 4.09777276e-01 -9.12152321e-01 -7.79275873e-03 2.80162527e+02] [ 1.73239598e-02 -7.59327060e-04 9.99849641e-01 2.24002308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.910714057 meters Centerline goodness : 0.991958 Centerline is valid? [True, True] Translation: X:298.11, Y:280.16, Z:2.24 [[-9.04196372e-01 -4.26836546e-01 1.54752436e-02 2.98112373e+02] [ 4.26765095e-01 -9.04328669e-01 -7.82379621e-03 2.80156294e+02] [ 1.73341886e-02 -4.69954337e-04 9.99849641e-01 2.24051114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9407140569999 meters Centerline goodness : 0.991468 Centerline is valid? [True, True] Translation: X:298.11, Y:280.16, Z:2.24 [[-9.05682542e-01 -4.23683687e-01 1.52074832e-02 2.98111135e+02] [ 4.23602869e-01 -9.05809515e-01 -8.35061628e-03 2.80157125e+02] [ 1.73131029e-02 -1.12107385e-03 9.99849489e-01 2.24131807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9707140569999 meters Centerline goodness : 0.990477 Centerline is valid? [True, True] Translation: X:298.10, Y:280.17, Z:2.24 [[-9.08227210e-01 -4.18198186e-01 1.52843735e-02 2.98095357e+02] [ 4.18119138e-01 -9.08355196e-01 -8.19903109e-03 2.80165909e+02] [ 1.73124600e-02 -1.05589406e-03 9.99849571e-01 2.24488257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.000714057 meters Centerline goodness : 0.989949 Centerline is valid? [True, True] Translation: X:298.10, Y:280.16, Z:2.25 [[-9.08428160e-01 -4.17758869e-01 1.53559948e-02 2.98099899e+02] [ 4.17682138e-01 -9.08557487e-01 -8.05755012e-03 2.80163760e+02] [ 1.73179171e-02 -9.05780685e-04 9.99849623e-01 2.24547499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.030714057 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:298.10, Y:280.17, Z:2.25 [[-9.08979104e-01 -4.16558387e-01 1.53655229e-02 2.98098307e+02] [ 4.16481804e-01 -9.09108512e-01 -8.03871435e-03 2.80165355e+02] [ 1.73175216e-02 -9.07562651e-04 9.99849629e-01 2.24660975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0607140569999 meters Centerline goodness : 0.990617 Centerline is valid? [True, True] Translation: X:298.09, Y:280.17, Z:2.25 [[-9.09349560e-01 -4.15748180e-01 1.53892355e-02 2.98092693e+02] [ 4.15672273e-01 -9.09479353e-01 -7.99178416e-03 2.80168564e+02] [ 1.73187617e-02 -8.70446914e-04 9.99849640e-01 2.24565218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0907140569999 meters Centerline goodness : 0.990234 Centerline is valid? [True, True] Translation: X:298.10, Y:280.17, Z:2.24 [[-9.09351434e-01 -4.15743066e-01 1.54166546e-02 2.98100313e+02] [ 4.15668076e-01 -9.09481747e-01 -7.93747226e-03 2.80165988e+02] [ 1.73211150e-02 -8.09740623e-04 9.99849650e-01 2.24278790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.120714057 meters Centerline goodness : 0.990377 Centerline is valid? [True, True] Translation: X:298.11, Y:280.17, Z:2.24 [[-9.08377292e-01 -4.17867159e-01 1.54185542e-02 2.98106666e+02] [ 4.17792537e-01 -9.08507816e-01 -7.93370643e-03 2.80165958e+02] [ 1.73231124e-02 -7.65041888e-04 9.99849651e-01 2.24103830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.150714057 meters Centerline goodness : 0.990159 Centerline is valid? [True, True] Translation: X:298.12, Y:280.16, Z:2.24 [[-9.06101117e-01 -4.22782195e-01 1.53617071e-02 2.98115551e+02] [ 4.22706371e-01 -9.06230975e-01 -8.04633934e-03 2.80164664e+02] [ 1.73231038e-02 -7.97305612e-04 9.99849626e-01 2.23879607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1807140569999 meters Centerline goodness : 0.991044 Centerline is valid? [True, True] Translation: X:298.11, Y:280.16, Z:2.24 [[-9.07011608e-01 -4.20827979e-01 1.52890406e-02 2.98113627e+02] [ 4.20749451e-01 -9.07139912e-01 -8.19021745e-03 2.80164874e+02] [ 1.73159716e-02 -9.95766875e-04 9.99849571e-01 2.23932676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2107140569999 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:298.12, Y:280.16, Z:2.24 [[-9.04957475e-01 -4.25225542e-01 1.53364617e-02 2.98124158e+02] [ 4.25149224e-01 -9.05087061e-01 -8.09623433e-03 2.80162310e+02] [ 1.73235587e-02 -8.06462978e-04 9.99849611e-01 2.23613393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2407140569999 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:298.12, Y:280.17, Z:2.23 [[-9.03783472e-01 -4.27715554e-01 1.53245019e-02 2.98116776e+02] [ 4.27639192e-01 -9.03913042e-01 -8.11993816e-03 2.80166366e+02] [ 1.73250410e-02 -7.85308302e-04 9.99849602e-01 2.23491068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.270714057 meters Centerline goodness : 0.990704 Centerline is valid? [True, True] Translation: X:298.12, Y:280.17, Z:2.24 [[-9.01639199e-01 -4.32221589e-01 1.52070222e-02 2.98120100e+02] [ 4.32141939e-01 -9.01766920e-01 -8.35265633e-03 2.80166864e+02] [ 1.73233879e-02 -9.59490311e-04 9.99849478e-01 2.23833512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3007140569999 meters Centerline goodness : 0.989811 Centerline is valid? [True, True] Translation: X:298.12, Y:280.16, Z:2.24 [[-9.04695553e-01 -4.25784229e-01 1.52887841e-02 2.98117855e+02] [ 4.25706400e-01 -9.04824280e-01 -8.19041020e-03 2.80164612e+02] [ 1.73210106e-02 -9.01294438e-04 9.99849574e-01 2.23972944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3307140569999 meters Centerline goodness : 0.991336 Centerline is valid? [True, True] Translation: X:298.12, Y:280.16, Z:2.24 [[-9.00579462e-01 -4.34418933e-01 1.53890912e-02 2.98124846e+02] [ 4.34345731e-01 -9.00710791e-01 -7.99111947e-03 2.80164079e+02] [ 1.73326141e-02 -5.12451992e-04 9.99849648e-01 2.23780390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3607140569999 meters Centerline goodness : 0.990247 Centerline is valid? [True, True] Translation: X:298.13, Y:280.16, Z:2.24 [[-8.99723777e-01 -4.36193038e-01 1.52564106e-02 2.98132562e+02] [ 4.36115618e-01 -8.99852786e-01 -8.25420288e-03 2.80160682e+02] [ 1.73289494e-02 -7.72943667e-04 9.99849544e-01 2.23870837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.390714057 meters Centerline goodness : 0.990659 Centerline is valid? [True, True] Translation: X:298.12, Y:280.16, Z:2.24 [[-9.03331376e-01 -4.28672052e-01 1.52544043e-02 2.98120578e+02] [ 4.28593491e-01 -9.03459696e-01 -8.25818346e-03 2.80164280e+02] [ 1.73217919e-02 -9.21937832e-04 9.99849541e-01 2.23901172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4207140569999 meters Centerline goodness : 0.990646 Centerline is valid? [True, True] Translation: X:298.13, Y:280.16, Z:2.24 [[-9.00132376e-01 -4.35344779e-01 1.53827434e-02 2.98131797e+02] [ 4.35271508e-01 -9.00263664e-01 -8.00304161e-03 2.80161475e+02] [ 1.73326074e-02 -5.08126923e-04 9.99849650e-01 2.23886355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4507140569999 meters Centerline goodness : 0.990340 Centerline is valid? [True, True] Translation: X:298.13, Y:280.16, Z:2.24 [[-9.02188024e-01 -4.31072132e-01 1.52835516e-02 2.98127599e+02] [ 4.30994896e-01 -9.02317106e-01 -8.19999397e-03 2.80163169e+02] [ 1.73253990e-02 -8.10803605e-04 9.99849575e-01 2.24141121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4807140569999 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:298.13, Y:280.16, Z:2.24 [[-9.02712763e-01 -4.29970497e-01 1.53310089e-02 2.98132102e+02] [ 4.29894701e-01 -9.02842646e-01 -8.10567622e-03 2.80161971e+02] [ 1.73266903e-02 -7.26377891e-04 9.99849618e-01 2.24204733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.510714057 meters Centerline goodness : 0.989720 Centerline is valid? [True, True] Translation: X:298.15, Y:280.16, Z:2.24 [[-8.99154018e-01 -4.37361857e-01 1.53836628e-02 2.98148247e+02] [ 4.37288918e-01 -8.99285487e-01 -8.00091470e-03 2.80158042e+02] [ 1.73335996e-02 -4.66949354e-04 9.99849653e-01 2.24231651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.540714057 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:298.15, Y:280.16, Z:2.24 [[-8.98465424e-01 -4.38777940e-01 1.52905602e-02 2.98145862e+02] [ 4.38702052e-01 -8.98595293e-01 -8.18584997e-03 2.80159343e+02] [ 1.73317958e-02 -6.46703027e-04 9.99849584e-01 2.24212180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5707140569999 meters Centerline goodness : 0.989818 Centerline is valid? [True, True] Translation: X:298.14, Y:280.16, Z:2.24 [[-9.01327082e-01 -4.32870719e-01 1.52457464e-02 2.98138506e+02] [ 4.32792473e-01 -9.01455601e-01 -8.27494740e-03 2.80163003e+02] [ 1.73253460e-02 -8.60189889e-04 9.99849535e-01 2.24281181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6007140569999 meters Centerline goodness : 0.989746 Centerline is valid? [True, True] Translation: X:298.14, Y:280.16, Z:2.24 [[-9.01487975e-01 -4.32529473e-01 1.54170938e-02 2.98142793e+02] [ 4.32456980e-01 -9.01619665e-01 -7.93347896e-03 2.80160965e+02] [ 1.73318184e-02 -4.84706038e-04 9.99849675e-01 2.24077918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.630714057 meters Centerline goodness : 0.988652 Centerline is valid? [True, True] Translation: X:298.15, Y:280.16, Z:2.24 [[-9.00362509e-01 -4.34867376e-01 1.54180751e-02 2.98147034e+02] [ 4.34795259e-01 -9.00494405e-01 -7.93152213e-03 2.80161019e+02] [ 1.73330505e-02 -4.37539222e-04 9.99849676e-01 2.24193247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.660714057 meters Centerline goodness : 0.988652 Centerline is valid? [True, True] Translation: X:298.15, Y:280.16, Z:2.24 [[-9.00517275e-01 -4.34547067e-01 1.54105202e-02 2.98149419e+02] [ 4.34474645e-01 -9.00649007e-01 -7.94659346e-03 2.80159921e+02] [ 1.73326386e-02 -4.60564386e-04 9.99849672e-01 2.24188190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6907140569999 meters Centerline goodness : 0.988631 Centerline is valid? [True, True] Translation: X:298.15, Y:280.16, Z:2.24 [[-9.00894843e-01 -4.33763641e-01 1.54138127e-02 2.98147782e+02] [ 4.33691217e-01 -9.01026573e-01 -7.94001880e-03 2.80162523e+02] [ 1.73323463e-02 -4.68286795e-04 9.99849674e-01 2.23981644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7207140569999 meters Centerline goodness : 0.989008 Centerline is valid? [True, True] Translation: X:298.16, Y:280.16, Z:2.24 [[-9.01020625e-01 -4.33501788e-01 1.54283275e-02 2.98157722e+02] [ 4.33429822e-01 -9.01152598e-01 -7.91101938e-03 2.80158793e+02] [ 1.73327185e-02 -4.40894371e-04 9.99849680e-01 2.23884545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.750714057 meters Centerline goodness : 0.990215 Centerline is valid? [True, True] Translation: X:298.13, Y:280.17, Z:2.24 [[-9.09386833e-01 -4.15665559e-01 1.54185670e-02 2.98128962e+02] [ 4.15590676e-01 -9.09517178e-01 -7.93052788e-03 2.80165588e+02] [ 1.73198989e-02 -8.04104946e-04 9.99849676e-01 2.23691836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.780714057 meters Centerline goodness : 0.987903 Centerline is valid? [True, True] Translation: X:298.15, Y:280.17, Z:2.24 [[-9.02641600e-01 -4.30111151e-01 1.55737152e-02 2.98148754e+02] [ 4.30043690e-01 -9.02775922e-01 -7.61966382e-03 2.80168426e+02] [ 1.73368775e-02 -1.80447575e-04 9.99849689e-01 2.24072736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8107140569999 meters Centerline goodness : 0.988857 Centerline is valid? [True, True] Translation: X:298.16, Y:280.16, Z:2.24 [[-9.02807741e-01 -4.29767862e-01 1.54197025e-02 2.98161596e+02] [ 4.29695069e-01 -9.02939258e-01 -7.92746436e-03 2.80162328e+02] [ 1.73300241e-02 -5.31206066e-04 9.99849683e-01 2.23895143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8407140569999 meters Centerline goodness : 0.988902 Centerline is valid? [True, True] Translation: X:298.16, Y:280.17, Z:2.24 [[-9.04807720e-01 -4.25542793e-01 1.53727533e-02 2.98158644e+02] [ 4.25467794e-01 -9.04938018e-01 -8.02117612e-03 2.80165230e+02] [ 1.73247426e-02 -7.17010625e-04 9.99849658e-01 2.23973938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.870714057 meters Centerline goodness : 0.988735 Centerline is valid? [True, True] Translation: X:298.16, Y:280.17, Z:2.24 [[-9.07334961e-01 -4.20126821e-01 1.53858168e-02 2.98155612e+02] [ 4.20051486e-01 -9.07465056e-01 -7.99507956e-03 2.80167084e+02] [ 1.73210385e-02 -7.91379980e-04 9.99849666e-01 2.23934751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.900714057 meters Centerline goodness : 0.988908 Centerline is valid? [True, True] Translation: X:298.14, Y:280.17, Z:2.24 [[-9.09338358e-01 -4.15772311e-01 1.53992505e-02 2.98144239e+02] [ 4.15696806e-01 -9.09468346e-01 -7.96821864e-03 2.80172997e+02] [ 1.73180955e-02 -8.44387616e-04 9.99849674e-01 2.23879065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9307140569999 meters Centerline goodness : 0.988794 Centerline is valid? [True, True] Translation: X:298.14, Y:280.17, Z:2.24 [[-9.12588878e-01 -4.08587587e-01 1.54183173e-02 2.98143560e+02] [ 4.08511702e-01 -9.12718633e-01 -7.93004265e-03 2.80172542e+02] [ 1.73127025e-02 -9.38305662e-04 9.99849684e-01 2.23837636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9607140569999 meters Centerline goodness : 0.988299 Centerline is valid? [True, True] Translation: X:298.14, Y:280.17, Z:2.24 [[-9.14778716e-01 -4.03659504e-01 1.54565612e-02 2.98136865e+02] [ 4.03584210e-01 -9.14908799e-01 -7.85336272e-03 2.80174910e+02] [ 1.73114284e-02 -9.46065002e-04 9.99849698e-01 2.24042736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9907140569999 meters Centerline goodness : 0.988866 Centerline is valid? [True, True] Translation: X:298.14, Y:280.17, Z:2.24 [[-9.14681362e-01 -4.03879287e-01 1.54766575e-02 2.98144760e+02] [ 4.03804705e-01 -9.14811848e-01 -7.81302617e-03 2.80172756e+02] [ 1.73137491e-02 -8.96882331e-04 9.99849704e-01 2.23974727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.020714057 meters Centerline goodness : 0.988851 Centerline is valid? [True, True] Translation: X:298.15, Y:280.17, Z:2.24 [[-9.17076722e-01 -3.98411094e-01 1.54559380e-02 2.98145037e+02] [ 3.98335035e-01 -9.17206359e-01 -7.85462111e-03 2.80171076e+02] [ 1.73056528e-02 -1.04664858e-03 9.99849698e-01 2.24058163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0507140569999 meters Centerline goodness : 0.988993 Centerline is valid? [True, True] Translation: X:298.14, Y:280.17, Z:2.24 [[-9.17397539e-01 -3.97670774e-01 1.54826158e-02 2.98144416e+02] [ 3.97595511e-01 -9.17527631e-01 -7.80101781e-03 2.80171355e+02] [ 1.73079645e-02 -1.00081601e-03 9.99849705e-01 2.24117048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0807140569999 meters Centerline goodness : 0.988787 Centerline is valid? [True, True] Translation: X:298.15, Y:280.17, Z:2.24 [[-9.16963800e-01 -3.98670697e-01 1.54617194e-02 2.98149227e+02] [ 3.98594870e-01 -9.17093570e-01 -7.84301354e-03 2.80169723e+02] [ 1.73066231e-02 -1.02879748e-03 9.99849700e-01 2.24235436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1107140569999 meters Centerline goodness : 0.987721 Centerline is valid? [True, True] Translation: X:298.15, Y:280.17, Z:2.24 [[-9.16712525e-01 -3.99248343e-01 1.54566116e-02 2.98154732e+02] [ 3.99172425e-01 -9.16842244e-01 -7.85328192e-03 2.80167357e+02] [ 1.73066842e-02 -1.02934877e-03 9.99849698e-01 2.24237788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.140714057 meters Centerline goodness : 0.989324 Centerline is valid? [True, True] Translation: X:298.16, Y:280.16, Z:2.24 [[-9.18186217e-01 -3.95847652e-01 1.54501674e-02 2.98158517e+02] [ 3.95771036e-01 -9.18315528e-01 -7.86624146e-03 2.80162506e+02] [ 1.73019619e-02 -1.10794570e-03 9.99849696e-01 2.23790609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1707140569999 meters Centerline goodness : 0.988088 Centerline is valid? [True, True] Translation: X:298.16, Y:280.16, Z:2.24 [[-9.17313307e-01 -3.97865563e-01 1.54690292e-02 2.98159561e+02] [ 3.97789869e-01 -9.17443153e-01 -7.82826928e-03 2.80163281e+02] [ 1.73065537e-02 -1.02755247e-03 9.99849702e-01 2.23778791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2007140569999 meters Centerline goodness : 0.988009 Centerline is valid? [True, True] Translation: X:298.16, Y:280.16, Z:2.24 [[-9.15106320e-01 -4.02916822e-01 1.54421083e-02 2.98160074e+02] [ 4.02840933e-01 -9.15236062e-01 -7.88247723e-03 2.80164292e+02] [ 1.73091570e-02 -9.92591432e-04 9.99849693e-01 2.23553203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2307140569999 meters Centerline goodness : 0.987840 Centerline is valid? [True, True] Translation: X:298.17, Y:280.16, Z:2.23 [[-9.17139293e-01 -3.98270579e-01 1.53643609e-02 2.98166167e+02] [ 3.98191416e-01 -9.17267121e-01 -8.03893761e-03 2.80157764e+02] [ 1.72948954e-02 -1.25486893e-03 9.99849645e-01 2.23368545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.260714057 meters Centerline goodness : 0.989355 Centerline is valid? [True, True] Translation: X:298.16, Y:280.16, Z:2.23 [[-9.17467098e-01 -3.97511270e-01 1.54568572e-02 2.98164756e+02] [ 3.97435120e-01 -9.17596678e-01 -7.85246709e-03 2.80155581e+02] [ 1.73046050e-02 -1.06128227e-03 9.99849701e-01 2.23481198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.290714057 meters Centerline goodness : 0.988492 Centerline is valid? [True, True] Translation: X:298.17, Y:280.15, Z:2.24 [[-9.16944544e-01 -3.98716049e-01 1.54341987e-02 2.98168519e+02] [ 3.98639303e-01 -9.17073784e-01 -7.89815441e-03 2.80150756e+02] [ 1.73034199e-02 -1.08949139e-03 9.99849691e-01 2.23647723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3207140569999 meters Centerline goodness : 0.988213 Centerline is valid? [True, True] Translation: X:298.17, Y:280.15, Z:2.24 [[-9.16652526e-01 -3.99387332e-01 1.54241996e-02 2.98169641e+02] [ 3.99310342e-01 -9.16781627e-01 -7.91832548e-03 2.80149863e+02] [ 1.73031017e-02 -1.09931063e-03 9.99849686e-01 2.23661571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3507140569999 meters Centerline goodness : 0.988580 Centerline is valid? [True, True] Translation: X:298.17, Y:280.14, Z:2.24 [[-9.15998444e-01 -4.00885003e-01 1.54293208e-02 2.98174413e+02] [ 4.00808398e-01 -9.16127770e-01 -7.90798630e-03 2.80144922e+02] [ 1.73054224e-02 -1.05950177e-03 9.99849689e-01 2.23860553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.380714057 meters Centerline goodness : 0.989590 Centerline is valid? [True, True] Translation: X:298.17, Y:280.14, Z:2.24 [[-9.16961068e-01 -3.98677902e-01 1.54379683e-02 2.98172197e+02] [ 3.98601279e-01 -9.17090377e-01 -7.89051527e-03 2.80142843e+02] [ 1.73037862e-02 -1.08170140e-03 9.99849693e-01 2.23960217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.410714057 meters Centerline goodness : 0.988188 Centerline is valid? [True, True] Translation: X:298.18, Y:280.14, Z:2.24 [[-9.16342747e-01 -4.00096280e-01 1.54575786e-02 2.98178995e+02] [ 4.00020523e-01 -9.16472556e-01 -7.85085457e-03 2.80138049e+02] [ 1.73075443e-02 -1.01072496e-03 9.99849702e-01 2.24001547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4407140569999 meters Centerline goodness : 0.988216 Centerline is valid? [True, True] Translation: X:298.18, Y:280.13, Z:2.24 [[-9.15264957e-01 -4.02555532e-01 1.54629557e-02 2.98179083e+02] [ 4.02480307e-01 -9.15395072e-01 -7.83997128e-03 2.80134787e+02] [ 1.73107372e-02 -9.52115829e-04 9.99849705e-01 2.23976451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4707140569999 meters Centerline goodness : 0.988285 Centerline is valid? [True, True] Translation: X:298.19, Y:280.13, Z:2.24 [[-9.14663708e-01 -4.03919386e-01 1.54735399e-02 2.98186305e+02] [ 4.03844717e-01 -9.14794138e-01 -7.81853539e-03 2.80130361e+02] [ 1.73131616e-02 -9.02423232e-04 9.99849709e-01 2.23991054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.500714057 meters Centerline goodness : 0.988006 Centerline is valid? [True, True] Translation: X:298.19, Y:280.13, Z:2.24 [[-9.15624000e-01 -4.01737698e-01 1.54762045e-02 2.98188995e+02] [ 4.01662809e-01 -9.15754303e-01 -7.81313423e-03 2.80126335e+02] [ 1.73112314e-02 -9.37677434e-04 9.99849710e-01 2.24176373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.530714057 meters Centerline goodness : 0.988166 Centerline is valid? [True, True] Translation: X:298.18, Y:280.13, Z:2.24 [[-9.15471364e-01 -4.02084368e-01 1.55030039e-02 2.98180828e+02] [ 4.02010445e-01 -9.15602208e-01 -7.75876233e-03 2.80129694e+02] [ 1.73142616e-02 -8.70555240e-04 9.99849718e-01 2.24413184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5607140569999 meters Centerline goodness : 0.988447 Centerline is valid? [True, True] Translation: X:298.19, Y:280.12, Z:2.24 [[-9.15456053e-01 -4.02118756e-01 1.55151847e-02 2.98193547e+02] [ 4.02045256e-01 -9.15587132e-01 -7.73403354e-03 2.80122917e+02] [ 1.73155034e-02 -8.42361407e-04 9.99849721e-01 2.24461206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5907140569999 meters Centerline goodness : 0.988361 Centerline is valid? [True, True] Translation: X:298.19, Y:280.12, Z:2.25 [[-9.16325123e-01 -4.00134673e-01 1.55084556e-02 2.98189473e+02] [ 4.00060659e-01 -9.16455914e-01 -7.74770036e-03 2.80123793e+02] [ 1.73129394e-02 -8.95089495e-04 9.99849719e-01 2.24502446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.620714057 meters Centerline goodness : 0.988255 Centerline is valid? [True, True] Translation: X:298.19, Y:280.12, Z:2.25 [[-9.16355711e-01 -4.00063217e-01 1.55445455e-02 2.98187843e+02] [ 3.99990432e-01 -9.16487184e-01 -7.67434524e-03 2.80123815e+02] [ 1.73166000e-02 -8.14760628e-04 9.99849724e-01 2.24641020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.650714057 meters Centerline goodness : 0.988381 Centerline is valid? [True, True] Translation: X:298.20, Y:280.12, Z:2.25 [[-9.15706626e-01 -4.01546778e-01 1.55422322e-02 2.98196654e+02] [ 4.01474127e-01 -9.15838172e-01 -7.67904870e-03 2.80119654e+02] [ 1.73176668e-02 -7.91951679e-04 9.99849724e-01 2.24552030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6807140569999 meters Centerline goodness : 0.987961 Centerline is valid? [True, True] Translation: X:298.20, Y:280.12, Z:2.25 [[-9.15591054e-01 -4.01810917e-01 1.55244923e-02 2.98197528e+02] [ 4.01737693e-01 -9.15722285e-01 -7.71511719e-03 2.80117867e+02] [ 1.73161419e-02 -8.27118565e-04 9.99849722e-01 2.24590467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7107140569999 meters Centerline goodness : 0.988573 Centerline is valid? [True, True] Translation: X:298.20, Y:280.12, Z:2.24 [[-9.14591334e-01 -4.04080577e-01 1.55428046e-02 2.98199049e+02] [ 4.04008310e-01 -9.14723093e-01 -7.67787220e-03 2.80117946e+02] [ 1.73198414e-02 -7.42693158e-04 9.99849724e-01 2.24390548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7407140569999 meters Centerline goodness : 0.988166 Centerline is valid? [True, True] Translation: X:298.21, Y:280.11, Z:2.24 [[-9.13620007e-01 -4.06272633e-01 1.55251719e-02 2.98208354e+02] [ 4.06200074e-01 -9.13751606e-01 -7.71373003e-03 2.80113885e+02] [ 1.73200281e-02 -7.41092112e-04 9.99849722e-01 2.24185542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.770714057 meters Centerline goodness : 0.989185 Centerline is valid? [True, True] Translation: X:298.20, Y:280.12, Z:2.24 [[-9.13875298e-01 -4.05698727e-01 1.55074868e-02 2.98200039e+02] [ 4.05625476e-01 -9.14006518e-01 -7.74969401e-03 2.80117079e+02] [ 1.73179850e-02 -7.92022205e-04 9.99849719e-01 2.24144920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8007140569999 meters Centerline goodness : 0.988504 Centerline is valid? [True, True] Translation: X:298.20, Y:280.12, Z:2.24 [[-9.14122334e-01 -4.05143210e-01 1.54705385e-02 2.98200666e+02] [ 4.05068609e-01 -9.14252806e-01 -7.82483971e-03 2.80116329e+02] [ 1.73141640e-02 -8.86231204e-04 9.99849706e-01 2.24097196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8307140569999 meters Centerline goodness : 0.989328 Centerline is valid? [True, True] Translation: X:298.20, Y:280.12, Z:2.24 [[-9.12909942e-01 -4.07867407e-01 1.54795754e-02 2.98200219e+02] [ 4.07793506e-01 -9.13040807e-01 -7.80644718e-03 2.80118136e+02] [ 1.73174794e-02 -8.14112902e-04 9.99849710e-01 2.23836344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8607140569999 meters Centerline goodness : 0.989318 Centerline is valid? [True, True] Translation: X:298.21, Y:280.11, Z:2.24 [[-9.13263973e-01 -4.07076722e-01 1.54096934e-02 2.98206439e+02] [ 4.07000311e-01 -9.13393435e-01 -7.94852914e-03 2.80114868e+02] [ 1.73107740e-02 -9.87355301e-04 9.99849670e-01 2.23781051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.890714057 meters Centerline goodness : 0.990168 Centerline is valid? [True, True] Translation: X:298.21, Y:280.11, Z:2.24 [[-9.14515224e-01 -4.04259253e-01 1.53740656e-02 2.98209742e+02] [ 4.04181228e-01 -9.14643755e-01 -8.02094252e-03 2.80112622e+02] [ 1.73043333e-02 -1.12136533e-03 9.99849640e-01 2.23792008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9207140569999 meters Centerline goodness : 0.990286 Centerline is valid? [True, True] Translation: X:298.20, Y:280.12, Z:2.24 [[-9.17703198e-01 -3.96967956e-01 1.54039597e-02 2.98198478e+02] [ 3.96889927e-01 -9.17831696e-01 -7.96012279e-03 2.80115814e+02] [ 1.72981561e-02 -1.19135372e-03 9.99849666e-01 2.23748598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9507140569999 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:298.20, Y:280.12, Z:2.24 [[-9.18508642e-01 -3.95101713e-01 1.53788940e-02 2.98201376e+02] [ 3.95022572e-01 -9.18636484e-01 -8.01114863e-03 2.80115064e+02] [ 1.72928316e-02 -1.28329900e-03 9.99849644e-01 2.23622003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9807140569999 meters Centerline goodness : 0.990560 Centerline is valid? [True, True] Translation: X:298.19, Y:280.12, Z:2.24 [[-9.20295652e-01 -3.90917495e-01 1.54733684e-02 2.98193360e+02] [ 3.90840987e-01 -9.20425008e-01 -7.81846995e-03 2.80116445e+02] [ 1.72984519e-02 -1.14767732e-03 9.99849712e-01 2.23908134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.010714057 meters Centerline goodness : 0.988965 Centerline is valid? [True, True] Translation: X:298.19, Y:280.12, Z:2.25 [[-9.20821603e-01 -3.89679888e-01 1.53999961e-02 2.98193869e+02] [ 3.89600710e-01 -9.20949400e-01 -7.96807104e-03 2.80117087e+02] [ 1.72876142e-02 -1.33732252e-03 9.99849664e-01 2.24520047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.040714057 meters Centerline goodness : 0.988498 Centerline is valid? [True, True] Translation: X:298.20, Y:280.12, Z:2.24 [[-9.21190776e-01 -3.88802008e-01 1.55097939e-02 2.98196174e+02] [ 3.88726454e-01 -9.21320671e-01 -7.74373238e-03 2.80115766e+02] [ 1.73002724e-02 -1.10438765e-03 9.99849729e-01 2.24377888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0707140569999 meters Centerline goodness : 0.989339 Centerline is valid? [True, True] Translation: X:298.19, Y:280.12, Z:2.25 [[-9.20864723e-01 -3.89573275e-01 1.55185448e-02 2.98194355e+02] [ 3.89498129e-01 -9.20994853e-01 -7.72583975e-03 2.80115999e+02] [ 1.73022806e-02 -1.07000913e-03 9.99849732e-01 2.24502810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1007140569999 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:298.18, Y:280.12, Z:2.24 [[-9.21385080e-01 -3.88343185e-01 1.54630297e-02 2.98178969e+02] [ 3.88265967e-01 -9.21514017e-01 -7.83932683e-03 2.80121312e+02] [ 1.72937477e-02 -1.21927061e-03 9.99849709e-01 2.24086862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.130714057 meters Centerline goodness : 0.989414 Centerline is valid? [True, True] Translation: X:298.19, Y:280.11, Z:2.24 [[-9.21660632e-01 -3.87690953e-01 1.54079165e-02 2.98193704e+02] [ 3.87611767e-01 -9.21788416e-01 -7.95198332e-03 2.80113844e+02] [ 1.72857509e-02 -1.35674024e-03 9.99849670e-01 2.24376864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.160714057 meters Centerline goodness : 0.990867 Centerline is valid? [True, True] Translation: X:298.19, Y:280.11, Z:2.24 [[-9.20525008e-01 -3.90374808e-01 1.55312024e-02 2.98193288e+02] [ 3.90300219e-01 -9.20655450e-01 -7.69946300e-03 2.80111168e+02] [ 1.73045625e-02 -1.02571654e-03 9.99849739e-01 2.23999650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1907140569999 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:298.21, Y:280.10, Z:2.24 [[-9.16894871e-01 -3.98831101e-01 1.54125886e-02 2.98211116e+02] [ 3.98753635e-01 -9.17023698e-01 -7.94205944e-03 2.80104634e+02] [ 1.73012493e-02 -1.13620784e-03 9.99849677e-01 2.24165631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2207140569999 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:298.20, Y:280.10, Z:2.24 [[-9.19697358e-01 -3.92329423e-01 1.53099191e-02 2.98202266e+02] [ 3.92247564e-01 -9.19823569e-01 -8.15174095e-03 2.80103369e+02] [ 1.72805922e-02 -1.49185617e-03 9.99849566e-01 2.23919174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.250714057 meters Centerline goodness : 0.991064 Centerline is valid? [True, True] Translation: X:298.20, Y:280.10, Z:2.24 [[-9.19081400e-01 -3.93765838e-01 1.54222148e-02 2.98204852e+02] [ 3.93687998e-01 -9.19209988e-01 -7.92198976e-03 2.80101737e+02] [ 1.72956628e-02 -1.20941257e-03 9.99849687e-01 2.23906906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.280714057 meters Centerline goodness : 0.990773 Centerline is valid? [True, True] Translation: X:298.20, Y:280.10, Z:2.24 [[-9.19349016e-01 -3.93140999e-01 1.54123945e-02 2.98196669e+02] [ 3.93062736e-01 -9.19477357e-01 -7.94209091e-03 2.80104338e+02] [ 1.72937093e-02 -1.24351550e-03 9.99849679e-01 2.23898842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3107140569999 meters Centerline goodness : 0.990743 Centerline is valid? [True, True] Translation: X:298.21, Y:280.10, Z:2.24 [[-9.17790778e-01 -3.96765326e-01 1.54066195e-02 2.98211722e+02] [ 3.96687372e-01 -9.17919312e-01 -7.95391468e-03 2.80096560e+02] [ 1.72978711e-02 -1.18841812e-03 9.99849674e-01 2.23862655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3407140569999 meters Centerline goodness : 0.990587 Centerline is valid? [True, True] Translation: X:298.22, Y:280.09, Z:2.24 [[-9.17449810e-01 -3.97553533e-01 1.53959360e-02 2.98220754e+02] [ 3.97475324e-01 -9.17578200e-01 -7.97578531e-03 2.80091744e+02] [ 1.72977769e-02 -1.19787805e-03 9.99849665e-01 2.23669880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.370714057 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:298.21, Y:280.09, Z:2.24 [[-9.16851425e-01 -3.98928538e-01 1.54753715e-02 2.98214394e+02] [ 3.98853254e-01 -9.16981483e-01 -7.81294888e-03 2.80090826e+02] [ 1.73074374e-02 -9.90911040e-04 9.99849724e-01 2.24007907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.400714057 meters Centerline goodness : 0.991015 Centerline is valid? [True, True] Translation: X:298.23, Y:280.09, Z:2.24 [[-9.14097499e-01 -4.05201895e-01 1.54008615e-02 2.98225795e+02] [ 4.05124933e-01 -9.14226634e-01 -7.96554724e-03 2.80086440e+02] [ 1.73075326e-02 -1.04201383e-03 9.99849670e-01 2.24115894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4307140569999 meters Centerline goodness : 0.992010 Centerline is valid? [True, True] Translation: X:298.21, Y:280.09, Z:2.24 [[-9.15585429e-01 -4.01829891e-01 1.53642655e-02 2.98213328e+02] [ 4.01751199e-01 -9.15713561e-01 -8.04048578e-03 2.80088615e+02] [ 1.73001738e-02 -1.18913954e-03 9.99849634e-01 2.24067569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4607140569999 meters Centerline goodness : 0.991233 Centerline is valid? [True, True] Translation: X:298.21, Y:280.09, Z:2.24 [[-9.15608936e-01 -4.01773513e-01 1.54376336e-02 2.98212519e+02] [ 4.01697337e-01 -9.15738499e-01 -7.88996046e-03 2.80088434e+02] [ 1.73068125e-02 -1.02286200e-03 9.99849703e-01 2.24326623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4907140569999 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:298.22, Y:280.09, Z:2.24 [[-9.15460793e-01 -4.02111214e-01 1.54307300e-02 2.98217194e+02] [ 4.02034847e-01 -9.15590250e-01 -7.90412915e-03 2.80086511e+02] [ 1.73065649e-02 -1.03222917e-03 9.99849697e-01 2.24312262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.520714057 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:298.23, Y:280.08, Z:2.25 [[-9.13047613e-01 -4.07561001e-01 1.54300848e-02 2.98229710e+02] [ 4.07485385e-01 -9.13177510e-01 -7.90545371e-03 2.80083135e+02] [ 1.73123611e-02 -9.30521580e-04 9.99849697e-01 2.24986818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5507140569999 meters Centerline goodness : 0.991433 Centerline is valid? [True, True] Translation: X:298.21, Y:280.09, Z:2.24 [[-9.17294213e-01 -3.97914789e-01 1.53345005e-02 2.98205161e+02] [ 3.97834531e-01 -9.17421413e-01 -8.10167410e-03 2.80092476e+02] [ 1.72919751e-02 -1.33102493e-03 9.99849597e-01 2.24451668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5807140569999 meters Centerline goodness : 0.991433 Centerline is valid? [True, True] Translation: X:298.21, Y:280.09, Z:2.24 [[-9.17434157e-01 -3.97586781e-01 1.54699426e-02 2.98207519e+02] [ 3.97511139e-01 -9.17564001e-01 -7.82293373e-03 2.80091293e+02] [ 1.73049574e-02 -1.02755212e-03 9.99849730e-01 2.24457639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6107140569999 meters Centerline goodness : 0.992164 Centerline is valid? [True, True] Translation: X:298.21, Y:280.09, Z:2.25 [[-9.18641475e-01 -3.94789178e-01 1.54707721e-02 2.98205673e+02] [ 3.94713170e-01 -9.18771104e-01 -7.82122487e-03 2.80092778e+02] [ 1.73018333e-02 -1.07838406e-03 9.99849731e-01 2.24636446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.640714057 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:298.19, Y:280.09, Z:2.25 [[-9.22323402e-01 -3.86108880e-01 1.54749892e-02 2.98191031e+02] [ 3.86031798e-01 -9.22452392e-01 -7.81252546e-03 2.80094692e+02] [ 1.72914263e-02 -1.23183714e-03 9.99849733e-01 2.24707950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6707140569999 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:298.21, Y:280.09, Z:2.25 [[-9.19036708e-01 -3.93863030e-01 1.56026712e-02 2.98210144e+02] [ 3.93791485e-01 -9.19168801e-01 -7.54861389e-03 2.80091288e+02] [ 1.73146085e-02 -7.93254203e-04 9.99849776e-01 2.24706515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7007140569999 meters Centerline goodness : 0.992047 Centerline is valid? [True, True] Translation: X:298.22, Y:280.09, Z:2.25 [[-9.18517186e-01 -3.95078863e-01 1.54554934e-02 2.98220627e+02] [ 3.95002376e-01 -9.18646540e-01 -7.85218092e-03 2.80087032e+02] [ 1.73003662e-02 -1.10740651e-03 9.99849724e-01 2.24591527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7307140569999 meters Centerline goodness : 0.990746 Centerline is valid? [True, True] Translation: X:298.22, Y:280.09, Z:2.25 [[-9.18644871e-01 -3.94782154e-01 1.54483759e-02 2.98223012e+02] [ 3.94705380e-01 -9.18774061e-01 -7.86686413e-03 2.80086529e+02] [ 1.72992646e-02 -1.12929731e-03 9.99849719e-01 2.24971016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.760714057 meters Centerline goodness : 0.990930 Centerline is valid? [True, True] Translation: X:298.22, Y:280.09, Z:2.25 [[-9.19340433e-01 -3.93157424e-01 1.55050954e-02 2.98215934e+02] [ 3.93082388e-01 -9.19470597e-01 -7.74967076e-03 2.80089077e+02] [ 1.73033199e-02 -1.02980576e-03 9.99849756e-01 2.24908629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.790714057 meters Centerline goodness : 0.991403 Centerline is valid? [True, True] Translation: X:298.19, Y:280.10, Z:2.25 [[-9.21603024e-01 -3.87822861e-01 1.55336689e-02 2.98191547e+02] [ 3.87748063e-01 -9.21733310e-01 -7.69055692e-03 2.80097054e+02] [ 1.73004738e-02 -1.06449051e-03 9.99849769e-01 2.24730143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8207140569999 meters Centerline goodness : 0.991370 Centerline is valid? [True, True] Translation: X:298.23, Y:280.08, Z:2.25 [[-9.14489129e-01 -4.04309728e-01 1.55973615e-02 2.98232147e+02] [ 4.04239522e-01 -9.14621930e-01 -7.55865944e-03 2.80084618e+02] [ 1.73217284e-02 -6.07241916e-04 9.99849783e-01 2.24628682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8507140569999 meters Centerline goodness : 0.991196 Centerline is valid? [True, True] Translation: X:298.03, Y:280.17, Z:2.25 [[-9.22863072e-01 -3.84820292e-01 1.53978342e-02 2.98031373e+02] [ 3.84740365e-01 -9.22990405e-01 -7.97272066e-03 2.80174336e+02] [ 1.72801179e-02 -1.43356113e-03 9.99849660e-01 2.24620911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.880714057 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:298.24, Y:280.08, Z:2.25 [[-9.12615390e-01 -4.08519295e-01 1.56568446e-02 2.98244353e+02] [ 4.08451851e-01 -9.12749602e-01 -7.43305500e-03 2.80079245e+02] [ 1.73273251e-02 -3.88453216e-04 9.99849795e-01 2.24529178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.910714057 meters Centerline goodness : 0.991732 Centerline is valid? [True, True] Translation: X:298.25, Y:280.08, Z:2.24 [[-9.11406915e-01 -4.11220886e-01 1.53237918e-02 2.98252386e+02] [ 4.11142217e-01 -9.11535066e-01 -8.11798048e-03 2.80076553e+02] [ 1.73064567e-02 -1.09852581e-03 9.99849629e-01 2.24352906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9407140569999 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:298.23, Y:280.08, Z:2.25 [[-9.15233643e-01 -4.02628694e-01 1.54114559e-02 2.98229606e+02] [ 4.02551847e-01 -9.15362775e-01 -7.93728576e-03 2.80083619e+02] [ 1.73028520e-02 -1.06056093e-03 9.99849732e-01 2.24847677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9707140569999 meters Centerline goodness : 0.992127 Centerline is valid? [True, True] Translation: X:298.25, Y:280.08, Z:2.25 [[-9.11133178e-01 -4.11820812e-01 1.54903205e-02 2.98247276e+02] [ 4.11748025e-01 -9.11264572e-01 -7.77449802e-03 2.80078141e+02] [ 1.73174804e-02 -7.05494216e-04 9.99849792e-01 2.24563712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.000714057 meters Centerline goodness : 0.991923 Centerline is valid? [True, True] Translation: X:298.25, Y:280.08, Z:2.25 [[-9.10949258e-01 -4.12232771e-01 1.53490011e-02 2.98254265e+02] [ 4.12155129e-01 -9.11077988e-01 -8.06529743e-03 2.80075492e+02] [ 1.73089169e-02 -1.02090720e-03 9.99849668e-01 2.24561195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.030714057 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:298.25, Y:280.08, Z:2.25 [[-9.10700190e-01 -4.12782341e-01 1.53591174e-02 2.98246757e+02] [ 4.12705127e-01 -9.10829163e-01 -8.04446063e-03 2.80080485e+02] [ 1.73101434e-02 -9.87305314e-04 9.99849681e-01 2.24530151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0607140569999 meters Centerline goodness : 0.991573 Centerline is valid? [True, True] Translation: X:298.23, Y:280.09, Z:2.25 [[-9.15454186e-01 -4.02128790e-01 1.53645298e-02 2.98230144e+02] [ 4.02050264e-01 -9.15582356e-01 -8.03329407e-03 2.80087195e+02] [ 1.72979112e-02 -1.17679944e-03 9.99849687e-01 2.24720322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0907140569999 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:298.24, Y:280.08, Z:2.24 [[-9.15460601e-01 -4.02107005e-01 1.55513192e-02 2.98235610e+02] [ 4.02034988e-01 -9.15592375e-01 -7.64666781e-03 2.80084731e+02] [ 1.73134479e-02 -7.48048703e-04 9.99849831e-01 2.24471420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.120714057 meters Centerline goodness : 0.990719 Centerline is valid? [True, True] Translation: X:298.22, Y:280.09, Z:2.25 [[-9.16801482e-01 -3.99042297e-01 1.55011847e-02 2.98224966e+02] [ 3.98968086e-01 -9.16932057e-01 -7.75049078e-03 2.80089937e+02] [ 1.73063068e-02 -9.21183454e-04 9.99849810e-01 2.24867436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.150714057 meters Centerline goodness : 0.991301 Centerline is valid? [True, True] Translation: X:298.24, Y:280.09, Z:2.25 [[-9.17910685e-01 -3.96482614e-01 1.55406316e-02 2.98236313e+02] [ 3.96409418e-01 -9.18041810e-01 -7.66869110e-03 2.80086517e+02] [ 1.73074523e-02 -8.78720757e-04 9.99849829e-01 2.24822761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1807140569999 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:298.24, Y:280.08, Z:2.25 [[-9.18800442e-01 -3.94416023e-01 1.55482621e-02 2.98241730e+02] [ 3.94342800e-01 -9.18931548e-01 -7.65285762e-03 2.80084725e+02] [ 1.73061982e-02 -9.00103768e-04 9.99849831e-01 2.24749026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2107140569999 meters Centerline goodness : 0.990674 Centerline is valid? [True, True] Translation: X:298.24, Y:280.09, Z:2.24 [[-9.19698815e-01 -3.92316572e-01 1.55498111e-02 2.98243866e+02] [ 3.92243103e-01 -9.19829784e-01 -7.64964074e-03 2.80085620e+02] [ 1.73042602e-02 -9.36059373e-04 9.99849832e-01 2.24494286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2407140569999 meters Centerline goodness : 0.990931 Centerline is valid? [True, True] Translation: X:298.24, Y:280.09, Z:2.24 [[-9.20225688e-01 -3.91079148e-01 1.55493792e-02 2.98241191e+02] [ 3.91005488e-01 -9.20356549e-01 -7.65053804e-03 2.80087602e+02] [ 1.73029388e-02 -9.60329043e-04 9.99849832e-01 2.24469676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.270714057 meters Centerline goodness : 0.991056 Centerline is valid? [True, True] Translation: X:298.25, Y:280.08, Z:2.24 [[-9.20014987e-01 -3.91574205e-01 1.55584460e-02 2.98254891e+02] [ 3.91500933e-01 -9.20146063e-01 -7.63169031e-03 2.80081495e+02] [ 1.73044159e-02 -9.30123357e-04 9.99849835e-01 2.24377286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3007140569999 meters Centerline goodness : 0.990408 Centerline is valid? [True, True] Translation: X:298.24, Y:280.09, Z:2.25 [[-9.20437284e-01 -3.90581308e-01 1.55385776e-02 2.98244655e+02] [ 3.90507199e-01 -9.20567897e-01 -7.67300154e-03 2.80086905e+02] [ 1.73012467e-02 -9.94590272e-04 9.99849828e-01 2.24624047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3307140569999 meters Centerline goodness : 0.990350 Centerline is valid? [True, True] Translation: X:298.25, Y:280.09, Z:2.25 [[-9.19946811e-01 -3.91733961e-01 1.55681644e-02 2.98245785e+02] [ 3.91661054e-01 -9.20078087e-01 -7.61142942e-03 2.80086690e+02] [ 1.73055823e-02 -9.04666562e-04 9.99849838e-01 2.24530480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3607140569999 meters Centerline goodness : 0.990250 Centerline is valid? [True, True] Translation: X:298.26, Y:280.08, Z:2.25 [[-9.18609180e-01 -3.94860756e-01 1.55614536e-02 2.98255870e+02] [ 3.94788059e-01 -9.18740574e-01 -7.62540015e-03 2.80083257e+02] [ 1.73079100e-02 -8.61286528e-04 9.99849836e-01 2.24694050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.390714057 meters Centerline goodness : 0.991031 Centerline is valid? [True, True] Translation: X:298.28, Y:280.08, Z:2.25 [[-9.13957688e-01 -4.05511280e-01 1.55546430e-02 2.98275071e+02] [ 4.05439875e-01 -9.14089790e-01 -7.63957944e-03 2.80077984e+02] [ 1.73162760e-02 -6.75779846e-04 9.99849834e-01 2.24515992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4207140569999 meters Centerline goodness : 0.990095 Centerline is valid? [True, True] Translation: X:298.25, Y:280.09, Z:2.25 [[-9.17169494e-01 -3.98199153e-01 1.54128062e-02 2.98252883e+02] [ 3.98121730e-01 -9.17298279e-01 -7.93443125e-03 2.80086048e+02] [ 1.72976244e-02 -1.14104522e-03 9.99849734e-01 2.24818379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4507140569999 meters Centerline goodness : 0.990158 Centerline is valid? [True, True] Translation: X:298.27, Y:280.08, Z:2.25 [[-9.15681107e-01 -4.01604296e-01 1.55595328e-02 2.98265324e+02] [ 4.01532512e-01 -9.15812997e-01 -7.62866576e-03 2.80080447e+02] [ 1.73133273e-02 -7.37766801e-04 9.99849841e-01 2.24916284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4807140569999 meters Centerline goodness : 0.990570 Centerline is valid? [True, True] Translation: X:298.26, Y:280.08, Z:2.25 [[-9.15455422e-01 -4.02118601e-01 1.55563696e-02 2.98263827e+02] [ 4.02046779e-01 -9.15587293e-01 -7.63525904e-03 2.80080595e+02] [ 1.73134940e-02 -7.35351000e-04 9.99849840e-01 2.24845421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.510714057 meters Centerline goodness : 0.991168 Centerline is valid? [True, True] Translation: X:298.22, Y:280.09, Z:2.25 [[-9.19542581e-01 -3.92682320e-01 1.55575651e-02 2.98223922e+02] [ 3.92609188e-01 -9.19673728e-01 -7.63276499e-03 2.80093912e+02] [ 1.73051358e-02 -9.10609390e-04 9.99849840e-01 2.24694741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.540714057 meters Centerline goodness : 0.990649 Centerline is valid? [True, True] Translation: X:298.27, Y:280.08, Z:2.25 [[-9.14954629e-01 -4.03251731e-01 1.56865751e-02 2.98266894e+02] [ 4.03184713e-01 -9.15088996e-01 -7.36313664e-03 2.80080223e+02] [ 1.73238098e-02 -4.12348676e-04 9.99849847e-01 2.24814868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5707140569999 meters Centerline goodness : 0.990372 Centerline is valid? [True, True] Translation: X:298.27, Y:280.08, Z:2.25 [[-9.14665014e-01 -4.03912900e-01 1.55653895e-02 2.98267333e+02] [ 4.03841668e-01 -9.14797195e-01 -7.61575440e-03 2.80081793e+02] [ 1.73152761e-02 -6.79911236e-04 9.99849848e-01 2.24724477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6007140569999 meters Centerline goodness : 0.990093 Centerline is valid? [True, True] Translation: X:298.28, Y:280.08, Z:2.25 [[-9.14390575e-01 -4.04533242e-01 1.55798858e-02 2.98275568e+02] [ 4.04462614e-01 -9.14523074e-01 -7.58551925e-03 2.80078285e+02] [ 1.73167598e-02 -6.34645963e-04 9.99849852e-01 2.24684937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.630714057 meters Centerline goodness : 0.989413 Centerline is valid? [True, True] Translation: X:298.27, Y:280.08, Z:2.25 [[-9.13855682e-01 -4.05740615e-01 1.55674811e-02 2.98272512e+02] [ 4.05669722e-01 -9.13988043e-01 -7.61140811e-03 2.80081114e+02] [ 1.73167490e-02 -6.40472805e-04 9.99849849e-01 2.24843809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.660714057 meters Centerline goodness : 0.989259 Centerline is valid? [True, True] Translation: X:298.28, Y:280.08, Z:2.25 [[-9.13689290e-01 -4.06114680e-01 1.55804009e-02 2.98278079e+02] [ 4.06044300e-01 -9.13821921e-01 -7.58442695e-03 2.80078963e+02] [ 1.73178590e-02 -6.03476705e-04 9.99849853e-01 2.24861865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6907140569999 meters Centerline goodness : 0.989102 Centerline is valid? [True, True] Translation: X:298.27, Y:280.08, Z:2.25 [[-9.13645525e-01 -4.06212873e-01 1.55870428e-02 2.98274474e+02] [ 4.06142744e-01 -9.13778287e-01 -7.57054442e-03 2.80081156e+02] [ 1.73183539e-02 -5.86229680e-04 9.99849854e-01 2.24801412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7207140569999 meters Centerline goodness : 0.988949 Centerline is valid? [True, True] Translation: X:298.28, Y:280.08, Z:2.25 [[-9.14582032e-01 -4.04099570e-01 1.55962733e-02 2.98275714e+02] [ 4.04029463e-01 -9.14714804e-01 -7.55123607e-03 2.80080930e+02] [ 1.73175933e-02 -6.04870910e-04 9.99849856e-01 2.24730921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.750714057 meters Centerline goodness : 0.989625 Centerline is valid? [True, True] Translation: X:298.29, Y:280.08, Z:2.24 [[-9.12230190e-01 -4.09379952e-01 1.56248537e-02 2.98289795e+02] [ 4.09311637e-01 -9.12363887e-01 -7.49142237e-03 2.80077275e+02] [ 1.73223904e-02 -4.38467207e-04 9.99849860e-01 2.24479729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.780714057 meters Centerline goodness : 0.990255 Centerline is valid? [True, True] Translation: X:298.23, Y:280.10, Z:2.24 [[-9.17998630e-01 -3.96278338e-01 1.55561688e-02 2.98225607e+02] [ 3.96205679e-01 -9.18130037e-01 -7.63516608e-03 2.80103202e+02] [ 1.73082367e-02 -8.45629586e-04 9.99849844e-01 2.24471512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8107140569999 meters Centerline goodness : 0.991108 Centerline is valid? [True, True] Translation: X:298.26, Y:280.09, Z:2.24 [[-9.16171004e-01 -4.00479550e-01 1.57105738e-02 2.98263558e+02] [ 4.00413011e-01 -9.16305606e-01 -7.31140264e-03 2.80088337e+02] [ 1.73237541e-02 -4.07776951e-04 9.99849849e-01 2.23902779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8407140569999 meters Centerline goodness : 0.988403 Centerline is valid? [True, True] Translation: X:298.27, Y:280.09, Z:2.25 [[-9.14817324e-01 -4.03565101e-01 1.56356561e-02 2.98270368e+02] [ 4.03496332e-01 -9.14950783e-01 -7.46825218e-03 2.80089646e+02] [ 1.73197817e-02 -5.23156603e-04 9.99849864e-01 2.24825228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.870714057 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:298.27, Y:280.09, Z:2.24 [[-9.16186066e-01 -4.00446867e-01 1.56652055e-02 2.98266829e+02] [ 4.00378700e-01 -9.16319837e-01 -7.40634253e-03 2.80090702e+02] [ 1.73201852e-02 -5.13573237e-04 9.99849862e-01 2.23964232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.900714057 meters Centerline goodness : 0.989414 Centerline is valid? [True, True] Translation: X:298.19, Y:280.13, Z:2.25 [[-9.17880593e-01 -3.96548435e-01 1.56382794e-02 2.98191670e+02] [ 3.96478739e-01 -9.18013571e-01 -7.46276628e-03 2.80126770e+02] [ 1.73155010e-02 -6.49683022e-04 9.99849864e-01 2.24631393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9307140569999 meters Centerline goodness : 0.989226 Centerline is valid? [True, True] Translation: X:298.09, Y:280.18, Z:2.25 [[-9.18437275e-01 -3.95254421e-01 1.57135049e-02 2.98091987e+02] [ 3.95187222e-01 -9.18571551e-01 -7.30521428e-03 2.80176468e+02] [ 1.73213968e-02 -4.99604742e-04 9.99849849e-01 2.24626345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9607140569999 meters Centerline goodness : 0.988809 Centerline is valid? [True, True] Translation: X:298.21, Y:280.13, Z:2.24 [[-9.08380783e-01 -4.17847825e-01 1.57336981e-02 2.98211415e+02] [ 4.17784701e-01 -9.08517031e-01 -7.26287552e-03 2.80132035e+02] [ 1.73291095e-02 -2.41581787e-05 9.99849839e-01 2.24455350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9907140569999 meters Centerline goodness : 0.988569 Centerline is valid? [True, True] Translation: X:298.29, Y:280.10, Z:2.24 [[-9.07458004e-01 -4.19858650e-01 1.54494142e-02 2.98289193e+02] [ 4.19785680e-01 -9.07589281e-01 -7.85367170e-03 2.80097675e+02] [ 1.73191547e-02 -6.41434400e-04 9.99849806e-01 2.24142834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.020714057 meters Centerline goodness : 0.988663 Centerline is valid? [True, True] Translation: X:298.29, Y:280.10, Z:2.24 [[-9.10228475e-01 -4.13818735e-01 1.54330031e-02 2.98290344e+02] [ 4.13744318e-01 -9.10358953e-01 -7.88769432e-03 2.80097689e+02] [ 1.73136483e-02 -7.94286617e-04 9.99849792e-01 2.24333053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0507140569999 meters Centerline goodness : 0.988463 Centerline is valid? [True, True] Translation: X:298.31, Y:280.09, Z:2.24 [[-9.09534466e-01 -4.15340358e-01 1.54739174e-02 2.98305421e+02] [ 4.15267599e-01 -9.09665838e-01 -7.80282536e-03 2.80091794e+02] [ 1.73169223e-02 -6.71122059e-04 9.99849826e-01 2.24207047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0807140569999 meters Centerline goodness : 0.990276 Centerline is valid? [True, True] Translation: X:298.31, Y:280.09, Z:2.24 [[-9.10437163e-01 -4.13359594e-01 1.54278427e-02 2.98306537e+02] [ 4.13284931e-01 -9.10567506e-01 -7.89831724e-03 2.80091706e+02] [ 1.73129374e-02 -8.14826649e-04 9.99849788e-01 2.23500591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1107140569999 meters Centerline goodness : 0.988452 Centerline is valid? [True, True] Translation: X:298.29, Y:280.10, Z:2.24 [[-9.12303188e-01 -4.09226142e-01 1.53901919e-02 2.98293360e+02] [ 4.09149573e-01 -9.12432466e-01 -7.97638261e-03 2.80098064e+02] [ 1.73066551e-02 -9.79988826e-04 9.99849748e-01 2.24147940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.140714057 meters Centerline goodness : 0.988711 Centerline is valid? [True, True] Translation: X:298.31, Y:280.09, Z:2.24 [[-9.09187445e-01 -4.16098511e-01 1.54989738e-02 2.98309876e+02] [ 4.16026755e-01 -9.09319345e-01 -7.75039111e-03 2.80091452e+02] [ 1.73184429e-02 -5.98570533e-04 9.99849845e-01 2.24476935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1707140569999 meters Centerline goodness : 0.987399 Centerline is valid? [True, True] Translation: X:298.29, Y:280.10, Z:2.24 [[-9.13813204e-01 -4.05842237e-01 1.54112864e-02 2.98285405e+02] [ 4.05765928e-01 -9.13942607e-01 -7.93245962e-03 2.80102595e+02] [ 1.73043584e-02 -9.95411411e-04 9.99849773e-01 2.24260030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2007140569999 meters Centerline goodness : 0.989344 Centerline is valid? [True, True] Translation: X:298.29, Y:280.10, Z:2.24 [[-9.12361220e-01 -4.09088074e-01 1.56189509e-02 2.98292058e+02] [ 4.09019571e-01 -9.12494790e-01 -7.49999713e-03 2.80099059e+02] [ 1.73203707e-02 -4.54249927e-04 9.99849888e-01 2.24216813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2307140569999 meters Centerline goodness : 0.988719 Centerline is valid? [True, True] Translation: X:298.31, Y:280.09, Z:2.24 [[-9.10161852e-01 -4.13960722e-01 1.55539224e-02 2.98306409e+02] [ 4.13890616e-01 -9.10294600e-01 -7.63539386e-03 2.80093258e+02] [ 1.73194048e-02 -5.11821666e-04 9.99849877e-01 2.24070987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.260714057 meters Centerline goodness : 0.988147 Centerline is valid? [True, True] Translation: X:298.32, Y:280.09, Z:2.24 [[-9.08267735e-01 -4.18103443e-01 1.54671223e-02 2.98317863e+02] [ 4.18030865e-01 -9.08399202e-01 -7.81578187e-03 2.80090902e+02] [ 1.73181269e-02 -6.33087979e-04 9.99849830e-01 2.24127527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.290714057 meters Centerline goodness : 0.989219 Centerline is valid? [True, True] Translation: X:298.33, Y:280.09, Z:2.24 [[-9.09730903e-01 -4.14911892e-01 1.54209305e-02 2.98329049e+02] [ 4.14837226e-01 -9.09861243e-01 -7.91170441e-03 2.80087339e+02] [ 1.73135673e-02 -8.00345960e-04 9.99849789e-01 2.23793226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3207140569999 meters Centerline goodness : 0.988760 Centerline is valid? [True, True] Translation: X:298.31, Y:280.10, Z:2.24 [[-9.13456244e-01 -4.06645352e-01 1.54028492e-02 2.98306774e+02] [ 4.06568874e-01 -9.13585551e-01 -7.94928027e-03 2.80097709e+02] [ 1.73043583e-02 -9.99000644e-04 9.99849769e-01 2.23684731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3507140569999 meters Centerline goodness : 0.990299 Centerline is valid? [True, True] Translation: X:298.32, Y:280.09, Z:2.23 [[-9.11802762e-01 -4.10335865e-01 1.54984234e-02 2.98320764e+02] [ 4.10263276e-01 -9.11934195e-01 -7.75033896e-03 2.80093807e+02] [ 1.73137844e-02 -7.08346485e-04 9.99849854e-01 2.23138470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.380714057 meters Centerline goodness : 0.988497 Centerline is valid? [True, True] Translation: X:298.30, Y:280.10, Z:2.24 [[-9.15513380e-01 -4.01996096e-01 1.53097896e-02 2.98304648e+02] [ 4.01915737e-01 -9.15640457e-01 -8.14215039e-03 2.80100720e+02] [ 1.72913755e-02 -1.30100224e-03 9.99849647e-01 2.23547388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.410714057 meters Centerline goodness : 0.988150 Centerline is valid? [True, True] Translation: X:298.30, Y:280.10, Z:2.24 [[-9.18856658e-01 -3.94286635e-01 1.55077608e-02 2.98302515e+02] [ 3.94212106e-01 -9.18986981e-01 -7.72945100e-03 2.80101713e+02] [ 1.72990495e-02 -9.88910474e-04 9.99849871e-01 2.23705088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4407140569999 meters Centerline goodness : 0.988939 Centerline is valid? [True, True] Translation: X:298.32, Y:280.10, Z:2.23 [[-9.16944812e-01 -3.98710527e-01 1.55604563e-02 2.98318145e+02] [ 3.98638485e-01 -9.17076497e-01 -7.61946787e-03 2.80096678e+02] [ 1.73080908e-02 -7.83634800e-04 9.99849897e-01 2.23358125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4707140569999 meters Centerline goodness : 0.988939 Centerline is valid? [True, True] Translation: X:298.32, Y:280.10, Z:2.23 [[-9.17078813e-01 -3.98406297e-01 1.54555444e-02 2.98320578e+02] [ 3.98330525e-01 -9.17208460e-01 -7.83802161e-03 2.80095708e+02] [ 1.72986733e-02 -1.03166843e-03 9.99849835e-01 2.23346626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.500714057 meters Centerline goodness : 0.988358 Centerline is valid? [True, True] Translation: X:298.32, Y:280.10, Z:2.24 [[-9.19742158e-01 -3.92218460e-01 1.54610252e-02 2.98319951e+02] [ 3.92142007e-01 -9.19871399e-01 -7.82659189e-03 2.80095815e+02] [ 1.72918887e-02 -1.13552905e-03 9.99849839e-01 2.23573143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.530714057 meters Centerline goodness : 0.988617 Centerline is valid? [True, True] Translation: X:298.30, Y:280.11, Z:2.24 [[-9.20829776e-01 -3.89655726e-01 1.55222334e-02 2.98300518e+02] [ 3.89581057e-01 -9.20960004e-01 -7.69872970e-03 2.80106258e+02] [ 1.72952102e-02 -1.04205147e-03 9.99849884e-01 2.23523554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5607140569999 meters Centerline goodness : 0.987971 Centerline is valid? [True, True] Translation: X:298.30, Y:280.10, Z:2.24 [[-9.21539231e-01 -3.87972704e-01 1.55764990e-02 2.98303828e+02] [ 3.87899707e-01 -9.21670376e-01 -7.58519082e-03 2.80103324e+02] [ 1.72992447e-02 -9.47931521e-04 9.99849908e-01 2.23796183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5907140569999 meters Centerline goodness : 0.987420 Centerline is valid? [True, True] Translation: X:298.31, Y:280.10, Z:2.24 [[-9.21288359e-01 -3.88567686e-01 1.55856984e-02 2.98309005e+02] [ 3.88495098e-01 -9.21419728e-01 -7.56592962e-03 2.80100117e+02] [ 1.73008457e-02 -9.15435470e-04 9.99849910e-01 2.23918683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.620714057 meters Centerline goodness : 0.989088 Centerline is valid? [True, True] Translation: X:298.31, Y:280.10, Z:2.24 [[-9.20142304e-01 -3.91273625e-01 1.55913947e-02 2.98312634e+02] [ 3.91201625e-01 -9.20273995e-01 -7.55399342e-03 2.80098929e+02] [ 1.73040334e-02 -8.51369986e-04 9.99849912e-01 2.23598546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.650714057 meters Centerline goodness : 0.988114 Centerline is valid? [True, True] Translation: X:298.31, Y:280.10, Z:2.24 [[-9.21067315e-01 -3.89092378e-01 1.55602801e-02 2.98309360e+02] [ 3.89018966e-01 -9.21198237e-01 -7.61922329e-03 2.80098685e+02] [ 1.72986843e-02 -9.64573450e-04 9.99849901e-01 2.24084270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6807140569999 meters Centerline goodness : 0.987687 Centerline is valid? [True, True] Translation: X:298.32, Y:280.09, Z:2.24 [[-9.19383011e-01 -3.93054208e-01 1.55970509e-02 2.98321982e+02] [ 3.92982666e-01 -9.19514949e-01 -7.54203661e-03 2.80094052e+02] [ 1.73061507e-02 -8.04649707e-04 9.99849914e-01 2.23587506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7107140569999 meters Centerline goodness : 0.987208 Centerline is valid? [True, True] Translation: X:298.32, Y:280.10, Z:2.23 [[-9.19135552e-01 -3.93633139e-01 1.55816828e-02 2.98320237e+02] [ 3.93561134e-01 -9.19267243e-01 -7.57431762e-03 2.80095007e+02] [ 1.73052330e-02 -8.29479858e-04 9.99849909e-01 2.23450320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7407140569999 meters Centerline goodness : 0.987757 Centerline is valid? [True, True] Translation: X:298.32, Y:280.09, Z:2.23 [[-9.18991093e-01 -3.93969989e-01 1.55890881e-02 2.98322573e+02] [ 3.93898295e-01 -9.19122951e-01 -7.55874987e-03 2.80093413e+02] [ 1.73062092e-02 -8.05908595e-04 9.99849912e-01 2.23418698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.770714057 meters Centerline goodness : 0.987623 Centerline is valid? [True, True] Translation: X:298.32, Y:280.09, Z:2.23 [[-9.18528121e-01 -3.95048579e-01 1.55792013e-02 2.98321420e+02] [ 3.94976688e-01 -9.18659876e-01 -7.57954578e-03 2.80093431e+02] [ 1.73062759e-02 -8.08604621e-04 9.99849908e-01 2.23253090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8007140569999 meters Centerline goodness : 0.988161 Centerline is valid? [True, True] Translation: X:298.32, Y:280.09, Z:2.23 [[-9.18834956e-01 -3.94335178e-01 1.55592720e-02 2.98317239e+02] [ 3.94262476e-01 -9.18966274e-01 -7.62147664e-03 2.80094667e+02] [ 1.73038626e-02 -8.68442060e-04 9.99849900e-01 2.23198066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8307140569999 meters Centerline goodness : 0.988143 Centerline is valid? [True, True] Translation: X:298.33, Y:280.09, Z:2.23 [[-9.18202857e-01 -3.95806780e-01 1.55082404e-02 2.98325609e+02] [ 3.95732477e-01 -9.18333312e-01 -7.72879632e-03 2.80091840e+02] [ 1.73008438e-02 -9.59488466e-04 9.99849869e-01 2.22763475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8607140569999 meters Centerline goodness : 0.988652 Centerline is valid? [True, True] Translation: X:298.30, Y:280.09, Z:2.23 [[-9.24161220e-01 -3.81686177e-01 1.55467567e-02 2.98302380e+02] [ 3.81611241e-01 -9.24291282e-01 -7.64765156e-03 2.80093792e+02] [ 1.72887346e-02 -1.13484587e-03 9.99849895e-01 2.22851010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.890714057 meters Centerline goodness : 0.989857 Centerline is valid? [True, True] Translation: X:298.30, Y:280.09, Z:2.23 [[-9.24663719e-01 -3.80462747e-01 1.56558582e-02 2.98302867e+02] [ 3.80391509e-01 -9.24795806e-01 -7.41737227e-03 2.80092853e+02] [ 1.73005058e-02 -9.03219497e-04 9.99849927e-01 2.22869964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9207140569999 meters Centerline goodness : 0.989900 Centerline is valid? [True, True] Translation: X:298.31, Y:280.09, Z:2.23 [[-9.24783515e-01 -3.80171350e-01 1.56587332e-02 2.98305831e+02] [ 3.80100173e-01 -9.24915635e-01 -7.41129788e-03 2.80091159e+02] [ 1.73005703e-02 -9.01958898e-04 9.99849927e-01 2.22902884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9507140569999 meters Centerline goodness : 0.989708 Centerline is valid? [True, True] Translation: X:298.30, Y:280.09, Z:2.23 [[-9.25052691e-01 -3.79515788e-01 1.56616069e-02 2.98302384e+02] [ 3.79444620e-01 -9.25184816e-01 -7.40522032e-03 2.80092091e+02] [ 1.73002789e-02 -9.07506518e-04 9.99849927e-01 2.22851891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9807140569999 meters Centerline goodness : 0.990478 Centerline is valid? [True, True] Translation: X:298.31, Y:280.09, Z:2.23 [[-9.25279507e-01 -3.78962345e-01 1.56644835e-02 2.98309198e+02] [ 3.78891200e-01 -9.25411644e-01 -7.39913035e-03 2.80087556e+02] [ 1.73000872e-02 -9.11128743e-04 9.99849927e-01 2.22818385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.010714057 meters Centerline goodness : 0.990273 Centerline is valid? [True, True] Translation: X:298.31, Y:280.09, Z:2.23 [[-9.25616017e-01 -3.78139556e-01 1.56673591e-02 2.98309316e+02] [ 3.78068397e-01 -9.25748146e-01 -7.39303624e-03 2.80086709e+02] [ 1.72996281e-02 -9.19779414e-04 9.99849927e-01 2.22846411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.040714057 meters Centerline goodness : 0.990082 Centerline is valid? [True, True] Translation: X:298.31, Y:280.08, Z:2.23 [[-9.26136565e-01 -3.76862716e-01 1.56702281e-02 2.98311668e+02] [ 3.76791477e-01 -9.26268652e-01 -7.38695025e-03 2.80084643e+02] [ 1.72987071e-02 -9.36916359e-04 9.99849927e-01 2.22863817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0707140569999 meters Centerline goodness : 0.989962 Centerline is valid? [True, True] Translation: X:298.31, Y:280.08, Z:2.23 [[-9.26558402e-01 -3.75824269e-01 1.56730966e-02 2.98312957e+02] [ 3.75752986e-01 -9.26690464e-01 -7.38085901e-03 2.80083857e+02] [ 1.72980151e-02 -9.49584102e-04 9.99849927e-01 2.22919565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1007140569999 meters Centerline goodness : 0.990110 Centerline is valid? [True, True] Translation: X:298.31, Y:280.08, Z:2.23 [[-9.26894267e-01 -3.74995042e-01 1.56759637e-02 2.98313847e+02] [ 3.74923743e-01 -9.27026321e-01 -7.37476458e-03 2.80083151e+02] [ 1.72975311e-02 -9.58336035e-04 9.99849927e-01 2.22959101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.130714057 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:298.32, Y:280.08, Z:2.23 [[-9.27488009e-01 -3.73523985e-01 1.56788318e-02 2.98315054e+02] [ 3.73452579e-01 -9.27620005e-01 -7.36866186e-03 2.80081743e+02] [ 1.72963700e-02 -9.79045333e-04 9.99849927e-01 2.23063106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.160714057 meters Centerline goodness : 0.990295 Centerline is valid? [True, True] Translation: X:298.32, Y:280.08, Z:2.23 [[-9.27811736e-01 -3.72719019e-01 1.56816995e-02 2.98318986e+02] [ 3.72647601e-01 -9.27943726e-01 -7.36255387e-03 2.80079847e+02] [ 1.72958985e-02 -9.87316173e-04 9.99849927e-01 2.23074726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1907140569999 meters Centerline goodness : 0.990445 Centerline is valid? [True, True] Translation: X:298.32, Y:280.08, Z:2.23 [[-9.28055418e-01 -3.72111724e-01 1.56845639e-02 2.98319738e+02] [ 3.72040322e-01 -9.28187417e-01 -7.35644684e-03 2.80079472e+02] [ 1.72956349e-02 -9.91900149e-04 9.99849927e-01 2.22998910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2207140569999 meters Centerline goodness : 0.990031 Centerline is valid? [True, True] Translation: X:298.32, Y:280.08, Z:2.23 [[-9.28518409e-01 -3.70954807e-01 1.56874258e-02 2.98320450e+02] [ 3.70883344e-01 -9.28650374e-01 -7.35033870e-03 2.80079159e+02] [ 1.72947774e-02 -1.00671984e-03 9.99849927e-01 2.22763102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.250714057 meters Centerline goodness : 0.990552 Centerline is valid? [True, True] Translation: X:298.32, Y:280.08, Z:2.23 [[-9.28837852e-01 -3.70154102e-01 1.56902898e-02 2.98323075e+02] [ 3.70082628e-01 -9.28969812e-01 -7.34422014e-03 2.80077890e+02] [ 1.72942988e-02 -1.01488599e-03 9.99849927e-01 2.22718395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.280714057 meters Centerline goodness : 0.990505 Centerline is valid? [True, True] Translation: X:298.33, Y:280.07, Z:2.22 [[-9.28846078e-01 -3.70133338e-01 1.56931533e-02 2.98328000e+02] [ 3.70061964e-01 -9.28978092e-01 -7.33809630e-03 2.80074954e+02] [ 1.72946697e-02 -1.00852285e-03 9.99849927e-01 2.22498060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3107140569999 meters Centerline goodness : 0.990924 Centerline is valid? [True, True] Translation: X:298.33, Y:280.07, Z:2.22 [[-9.28914603e-01 -3.69961207e-01 1.56960105e-02 2.98329482e+02] [ 3.69889912e-01 -9.29046659e-01 -7.33197969e-03 2.80073599e+02] [ 1.72948742e-02 -1.00498706e-03 9.99849927e-01 2.22460047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3407140569999 meters Centerline goodness : 0.990509 Centerline is valid? [True, True] Translation: X:298.33, Y:280.07, Z:2.22 [[-9.28921955e-01 -3.69942626e-01 1.56988629e-02 2.98331875e+02] [ 3.69871431e-01 -9.29054065e-01 -7.32586709e-03 2.80072015e+02] [ 1.72952429e-02 -9.98597884e-04 9.99849927e-01 2.22413054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.370714057 meters Centerline goodness : 0.990166 Centerline is valid? [True, True] Translation: X:298.34, Y:280.07, Z:2.22 [[-9.28574879e-01 -3.70812825e-01 1.57017130e-02 2.98335291e+02] [ 3.70741856e-01 -9.28707111e-01 -7.31975339e-03 2.80069472e+02] [ 1.72965509e-02 -9.75656891e-04 9.99849927e-01 2.22435245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.400714057 meters Centerline goodness : 0.990490 Centerline is valid? [True, True] Translation: X:298.34, Y:280.07, Z:2.22 [[-9.28288496e-01 -3.71529051e-01 1.57045587e-02 2.98335133e+02] [ 3.71458288e-01 -9.28420837e-01 -7.31364273e-03 2.80068724e+02] [ 1.72976703e-02 -9.55581909e-04 9.99849927e-01 2.22436390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4307140569999 meters Centerline goodness : 0.990234 Centerline is valid? [True, True] Translation: X:298.34, Y:280.07, Z:2.22 [[-9.28018793e-01 -3.72202092e-01 1.57074031e-02 2.98340583e+02] [ 3.72131527e-01 -9.28151241e-01 -7.30752889e-03 2.80065109e+02] [ 1.72987232e-02 -9.36304243e-04 9.99849928e-01 2.22461210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4607140569999 meters Centerline goodness : 0.983283 Centerline is valid? [True, True] Translation: X:297.42, Y:280.49, Z:2.25 [[-9.30115866e-01 -3.66930054e-01 1.57102441e-02 2.97415860e+02] [ 3.66858842e-01 -9.30247967e-01 -7.30141602e-03 2.80488346e+02] [ 1.72935316e-02 -1.02772094e-03 9.99849928e-01 2.25148854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4907140569999 meters Centerline goodness : 0.991188 Centerline is valid? [True, True] Translation: X:298.32, Y:280.07, Z:2.23 [[-9.24575185e-01 -3.80669277e-01 1.58628294e-02 2.98320669e+02] [ 3.80605635e-01 -9.24711163e-01 -6.97250473e-03 2.80068279e+02] [ 1.73227538e-02 -4.09122584e-04 9.99849866e-01 2.22591285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.520714057 meters Centerline goodness : 0.990911 Centerline is valid? [True, True] Translation: X:298.33, Y:280.06, Z:2.23 [[-9.24594202e-01 -3.80630631e-01 1.56806948e-02 2.98326036e+02] [ 3.80560379e-01 -9.24726782e-01 -7.36052403e-03 2.80064985e+02] [ 1.73019993e-02 -8.38046693e-04 9.99849958e-01 2.22597821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5507140569999 meters Centerline goodness : 0.991569 Centerline is valid? [True, True] Translation: X:298.33, Y:280.06, Z:2.23 [[-9.24516647e-01 -3.80818849e-01 1.56835477e-02 2.98328292e+02] [ 3.80748727e-01 -9.24649295e-01 -7.35444001e-03 2.80063128e+02] [ 1.73024907e-02 -8.27811387e-04 9.99849958e-01 2.22634813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5807140569999 meters Centerline goodness : 0.984202 Centerline is valid? [True, True] Translation: X:297.49, Y:280.45, Z:2.25 [[-9.26882927e-01 -3.75022635e-01 1.56863954e-02 2.97493316e+02] [ 3.74951786e-01 -9.27015188e-01 -7.34836107e-03 2.80449764e+02] [ 1.72973286e-02 -9.29428429e-04 9.99849958e-01 2.25117315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6107140569999 meters Centerline goodness : 0.983848 Centerline is valid? [True, True] Translation: X:297.42, Y:280.48, Z:2.25 [[-9.27102027e-01 -3.74481272e-01 1.56719057e-02 2.97416217e+02] [ 3.74409837e-01 -9.27233967e-01 -7.37861361e-03 2.80484385e+02] [ 1.72946759e-02 -9.73011990e-04 9.99849962e-01 2.25490991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.640714057 meters Centerline goodness : 0.991039 Centerline is valid? [True, True] Translation: X:298.31, Y:280.07, Z:2.23 [[-9.23066324e-01 -3.84316144e-01 1.58007332e-02 2.98309817e+02] [ 3.84250799e-01 -9.23201422e-01 -7.10332518e-03 2.80066905e+02] [ 1.73171819e-02 -4.85395889e-04 9.99849929e-01 2.22736015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6707140569999 meters Centerline goodness : 0.984573 Centerline is valid? [True, True] Translation: X:297.41, Y:280.49, Z:2.25 [[-9.26400059e-01 -3.76215161e-01 1.56551475e-02 2.97413214e+02] [ 3.76143431e-01 -9.26531812e-01 -7.41087106e-03 2.80486745e+02] [ 1.72930743e-02 -9.76850491e-04 9.99849986e-01 2.25369952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7007140569999 meters Centerline goodness : 0.991634 Centerline is valid? [True, True] Translation: X:298.29, Y:280.07, Z:2.23 [[-9.22363824e-01 -3.85999503e-01 1.57911119e-02 2.98290681e+02] [ 3.85934068e-01 -9.22498866e-01 -7.12306369e-03 2.80073092e+02] [ 1.73167819e-02 -4.75728200e-04 9.99849940e-01 2.22699984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7307140569999 meters Centerline goodness : 0.990886 Centerline is valid? [True, True] Translation: X:298.30, Y:280.07, Z:2.23 [[-9.22575486e-01 -3.85499992e-01 1.56278247e-02 2.98296662e+02] [ 3.85428677e-01 -9.22707435e-01 -7.46490918e-03 2.80070615e+02] [ 1.72976325e-02 -8.63530409e-04 9.99850012e-01 2.22905933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.760714057 meters Centerline goodness : 0.991495 Centerline is valid? [True, True] Translation: X:298.29, Y:280.07, Z:2.23 [[-9.23279365e-01 -3.83809190e-01 1.56754350e-02 2.98292275e+02] [ 3.83739319e-01 -9.23412091e-01 -7.36513947e-03 2.80071446e+02] [ 1.73016944e-02 -7.84800550e-04 9.99850006e-01 2.22532864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.790714057 meters Centerline goodness : 0.990171 Centerline is valid? [True, True] Translation: X:297.94, Y:280.24, Z:2.24 [[-9.20662434e-01 -3.90046587e-01 1.56314668e-02 2.97944919e+02] [ 3.89976052e-01 -9.20794802e-01 -7.45730266e-03 2.80244031e+02] [ 1.73020688e-02 -7.69760723e-04 9.99850012e-01 2.23664820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8207140569999 meters Centerline goodness : 0.983869 Centerline is valid? [True, True] Translation: X:297.45, Y:280.47, Z:2.25 [[-9.27189750e-01 -3.74265591e-01 1.56344224e-02 2.97447598e+02] [ 3.74192910e-01 -9.27320952e-01 -7.45110103e-03 2.80469632e+02] [ 1.72868182e-02 -1.05829449e-03 9.99850012e-01 2.24616262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8507140569999 meters Centerline goodness : 0.989334 Centerline is valid? [True, True] Translation: X:297.94, Y:280.25, Z:2.24 [[-9.18953706e-01 -3.94051484e-01 1.57325774e-02 2.97940555e+02] [ 3.93985145e-01 -9.19088253e-01 -7.24485185e-03 2.80245393e+02] [ 1.73144717e-02 -4.59281665e-04 9.99849988e-01 2.23697260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.880714057 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:298.28, Y:280.08, Z:2.23 [[-9.21273745e-01 -3.88601347e-01 1.56102650e-02 2.98277125e+02] [ 3.88529893e-01 -9.21405601e-01 -7.49944930e-03 2.80075355e+02] [ 1.72976817e-02 -8.43991136e-04 9.99850028e-01 2.22546543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.910714057 meters Centerline goodness : 0.991852 Centerline is valid? [True, True] Translation: X:298.28, Y:280.07, Z:2.23 [[-9.20364428e-01 -3.90750269e-01 1.56060010e-02 2.98280686e+02] [ 3.90678973e-01 -9.20496369e-01 -7.50831209e-03 2.80073308e+02] [ 1.72991422e-02 -8.13446925e-04 9.99850028e-01 2.22549587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9407140569999 meters Centerline goodness : 0.991390 Centerline is valid? [True, True] Translation: X:298.29, Y:280.07, Z:2.22 [[-9.19815637e-01 -3.92040248e-01 1.56089103e-02 2.98286085e+02] [ 3.91969239e-01 -9.19947733e-01 -7.50225909e-03 2.80070653e+02] [ 1.73005692e-02 -7.82482519e-04 9.99850028e-01 2.22492781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9707140569999 meters Centerline goodness : 0.991473 Centerline is valid? [True, True] Translation: X:298.29, Y:280.07, Z:2.22 [[-9.18682105e-01 -3.94689070e-01 1.56118119e-02 2.98288718e+02] [ 3.94618545e-01 -9.18814460e-01 -7.49621614e-03 2.80069151e+02] [ 1.73030331e-02 -7.25929128e-04 9.99850028e-01 2.22498594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.000714057 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:298.29, Y:280.07, Z:2.22 [[-9.18270137e-01 -3.95646479e-01 1.56147068e-02 2.98293803e+02] [ 3.95576194e-01 -9.18402620e-01 -7.49018119e-03 2.80066775e+02] [ 1.73040514e-02 -7.01203420e-04 9.99850028e-01 2.22485785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.030714057 meters Centerline goodness : 0.989898 Centerline is valid? [True, True] Translation: X:297.95, Y:280.24, Z:2.23 [[-9.14506976e-01 -4.04268576e-01 1.56175964e-02 2.97951980e+02] [ 4.04199644e-01 -9.14640167e-01 -7.48415122e-03 2.80237313e+02] [ 1.73100882e-02 -5.31681586e-04 9.99850028e-01 2.23403141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0607140569999 meters Centerline goodness : 0.990765 Centerline is valid? [True, True] Translation: X:298.30, Y:280.07, Z:2.22 [[-9.16629185e-01 -3.99435068e-01 1.55744400e-02 2.98296034e+02] [ 3.99363903e-01 -9.16761203e-01 -7.57421052e-03 2.80067639e+02] [ 1.73034477e-02 -7.22873250e-04 9.99850023e-01 2.22451300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0907140569999 meters Centerline goodness : 0.991948 Centerline is valid? [True, True] Translation: X:298.30, Y:280.07, Z:2.22 [[-9.16243101e-01 -4.00318326e-01 1.56146867e-02 2.98298078e+02] [ 4.00248715e-01 -9.16375939e-01 -7.49031040e-03 2.80067556e+02] [ 1.73074317e-02 -6.13186935e-04 9.99850027e-01 2.22497412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.120714057 meters Centerline goodness : 0.991023 Centerline is valid? [True, True] Translation: X:298.30, Y:280.07, Z:2.22 [[-9.16053972e-01 -4.00750809e-01 1.56175668e-02 2.98300960e+02] [ 4.00681363e-01 -9.16186897e-01 -7.48430057e-03 2.80067017e+02] [ 1.73079495e-02 -5.98355338e-04 9.99850027e-01 2.22491771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.150714057 meters Centerline goodness : 0.990937 Centerline is valid? [True, True] Translation: X:298.31, Y:280.07, Z:2.22 [[-9.15573080e-01 -4.01848152e-01 1.56204445e-02 2.98306045e+02] [ 4.01778967e-01 -9.15706141e-01 -7.47828964e-03 2.80065799e+02] [ 1.73088738e-02 -5.70954633e-04 9.99850027e-01 2.22480931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1807140569999 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:298.31, Y:280.07, Z:2.22 [[-9.15349531e-01 -4.02356992e-01 1.56233175e-02 2.98308601e+02] [ 4.02287983e-01 -9.15482683e-01 -7.47228258e-03 2.80065829e+02] [ 1.73094018e-02 -5.54677448e-04 9.99850027e-01 2.22424728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2107140569999 meters Centerline goodness : 0.991498 Centerline is valid? [True, True] Translation: X:298.31, Y:280.06, Z:2.22 [[-9.15348751e-01 -4.02358653e-01 1.56261863e-02 2.98313884e+02] [ 4.02289748e-01 -9.15481957e-01 -7.46627846e-03 2.80064583e+02] [ 1.73096134e-02 -5.47994102e-04 9.99850027e-01 2.22383646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2407140569999 meters Centerline goodness : 0.990603 Centerline is valid? [True, True] Translation: X:298.32, Y:280.07, Z:2.22 [[-9.15686333e-01 -4.01589681e-01 1.56290495e-02 2.98315436e+02] [ 4.01520766e-01 -9.15819534e-01 -7.46028020e-03 2.80067369e+02] [ 1.73093604e-02 -5.55888698e-04 9.99850027e-01 2.22341493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.270714057 meters Centerline goodness : 0.990975 Centerline is valid? [True, True] Translation: X:298.32, Y:280.07, Z:2.22 [[-9.16169186e-01 -4.00486786e-01 1.56319104e-02 2.98315959e+02] [ 4.00417812e-01 -9.16302357e-01 -7.45428085e-03 2.80069052e+02] [ 1.73088973e-02 -5.70087069e-04 9.99850027e-01 2.22377316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3007140569999 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:298.32, Y:280.07, Z:2.22 [[-9.16891368e-01 -3.98830507e-01 1.56347742e-02 2.98319549e+02] [ 3.98761395e-01 -9.17024467e-01 -7.44826939e-03 2.80068972e+02] [ 1.73080675e-02 -5.94709537e-04 9.99850027e-01 2.22339300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3307140569999 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:298.32, Y:280.07, Z:2.22 [[-9.18230038e-01 -3.95738629e-01 1.56376390e-02 2.98321637e+02] [ 3.95669171e-01 -9.18362956e-01 -7.44224982e-03 2.80071788e+02] [ 1.73062141e-02 -6.46365651e-04 9.99850027e-01 2.22244499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3607140569999 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:298.32, Y:280.07, Z:2.22 [[-9.18845814e-01 -3.94306663e-01 1.56405025e-02 2.98323377e+02] [ 3.94237101e-01 -9.18978678e-01 -7.43622712e-03 2.80073235e+02] [ 1.73054422e-02 -6.66679794e-04 9.99850027e-01 2.22224833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.390714057 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:298.33, Y:280.07, Z:2.22 [[-9.18997834e-01 -3.93952111e-01 1.56433670e-02 2.98325785e+02] [ 3.93882600e-01 -9.19130725e-01 -7.43019629e-03 2.80072171e+02] [ 1.73054408e-02 -6.66684243e-04 9.99850027e-01 2.22220476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4207140569999 meters Centerline goodness : 0.990720 Centerline is valid? [True, True] Translation: X:298.33, Y:280.07, Z:2.22 [[-9.19518163e-01 -3.92735971e-01 1.56462311e-02 2.98329711e+02] [ 3.92666387e-01 -9.19651016e-01 -7.42416029e-03 2.80072932e+02] [ 1.73048071e-02 -6.82901201e-04 9.99850027e-01 2.22222030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4507140569999 meters Centerline goodness : 0.989880 Centerline is valid? [True, True] Translation: X:298.34, Y:280.07, Z:2.22 [[-9.20075661e-01 -3.91428007e-01 1.56490928e-02 2.98335107e+02] [ 3.91358336e-01 -9.20208468e-01 -7.41812318e-03 2.80074772e+02] [ 1.73040889e-02 -7.00831648e-04 9.99850027e-01 2.22182174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4807140569999 meters Centerline goodness : 0.990086 Centerline is valid? [True, True] Translation: X:298.34, Y:280.08, Z:2.22 [[-9.20244657e-01 -3.91030418e-01 1.56519504e-02 2.98336795e+02] [ 3.90960792e-01 -9.20377488e-01 -7.41208904e-03 2.80076304e+02] [ 1.73040550e-02 -7.01636433e-04 9.99850027e-01 2.22143033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.510714057 meters Centerline goodness : 0.990563 Centerline is valid? [True, True] Translation: X:298.34, Y:280.08, Z:2.22 [[-9.20184668e-01 -3.91171452e-01 1.56548055e-02 2.98339863e+02] [ 3.91101949e-01 -9.20317563e-01 -7.40605380e-03 2.80077120e+02] [ 1.73044293e-02 -6.92312202e-04 9.99850027e-01 2.22137487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.540714057 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:298.35, Y:280.08, Z:2.22 [[-9.19444339e-01 -3.92908316e-01 1.56576603e-02 2.98345675e+02] [ 3.92839166e-01 -9.19577419e-01 -7.40001339e-03 2.80077613e+02] [ 1.73059576e-02 -6.52958197e-04 9.99850028e-01 2.22136122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5707140569999 meters Centerline goodness : 0.990153 Centerline is valid? [True, True] Translation: X:298.35, Y:280.08, Z:2.22 [[-9.18993340e-01 -3.93961913e-01 1.56605108e-02 2.98348217e+02] [ 3.93893019e-01 -9.19126552e-01 -7.39397595e-03 2.80077832e+02] [ 1.73069362e-02 -6.26448762e-04 9.99850028e-01 2.22101720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6007140569999 meters Centerline goodness : 0.990198 Centerline is valid? [True, True] Translation: X:298.35, Y:280.08, Z:2.22 [[-9.17361878e-01 -3.97745955e-01 1.56633567e-02 2.98352040e+02] [ 3.97677714e-01 -9.17495425e-01 -7.38794242e-03 2.80079257e+02] [ 1.73095823e-02 -5.48448861e-04 9.99850028e-01 2.22079747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.630714057 meters Centerline goodness : 0.991027 Centerline is valid? [True, True] Translation: X:298.36, Y:280.08, Z:2.22 [[-9.16792396e-01 -3.99056729e-01 1.56662002e-02 2.98360156e+02] [ 3.98988782e-01 -9.16926093e-01 -7.38190779e-03 2.80077365e+02] [ 1.73105477e-02 -5.17038810e-04 9.99850028e-01 2.22036815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.660714057 meters Centerline goodness : 0.990170 Centerline is valid? [True, True] Translation: X:298.36, Y:280.08, Z:2.22 [[-9.16382622e-01 -3.99996715e-01 1.56690352e-02 2.98363373e+02] [ 3.99929007e-01 -9.16516440e-01 -7.37588518e-03 2.80077376e+02] [ 1.73112582e-02 -4.92631298e-04 9.99850028e-01 2.22001405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6907140569999 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:298.37, Y:280.08, Z:2.22 [[-9.15869079e-01 -4.01171065e-01 1.56718618e-02 2.98367261e+02] [ 4.01103632e-01 -9.16003036e-01 -7.36987453e-03 2.80079131e+02] [ 1.73120534e-02 -4.63799504e-04 9.99850028e-01 2.22021609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7207140569999 meters Centerline goodness : 0.990056 Centerline is valid? [True, True] Translation: X:298.37, Y:280.08, Z:2.22 [[-9.15832206e-01 -4.01255125e-01 1.56746861e-02 2.98371196e+02] [ 4.01187807e-01 -9.15966220e-01 -7.36386279e-03 2.80079334e+02] [ 1.73122706e-02 -4.55569771e-04 9.99850028e-01 2.22037128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.750714057 meters Centerline goodness : 0.990031 Centerline is valid? [True, True] Translation: X:298.38, Y:280.08, Z:2.22 [[-9.15884065e-01 -4.01136630e-01 1.56775071e-02 2.98375413e+02] [ 4.01069398e-01 -9.16018122e-01 -7.35785199e-03 2.80081400e+02] [ 1.73123846e-02 -4.51171064e-04 9.99850028e-01 2.22090058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.780714057 meters Centerline goodness : 0.990366 Centerline is valid? [True, True] Translation: X:298.38, Y:280.08, Z:2.22 [[-9.16037110e-01 -4.00786901e-01 1.56803249e-02 2.98378568e+02] [ 4.00719720e-01 -9.16171194e-01 -7.35184212e-03 2.80082251e+02] [ 1.73123840e-02 -4.51144820e-04 9.99850028e-01 2.22067317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8107140569999 meters Centerline goodness : 0.990288 Centerline is valid? [True, True] Translation: X:298.38, Y:280.08, Z:2.22 [[-9.16227452e-01 -4.00351464e-01 1.56831390e-02 2.98381430e+02] [ 4.00284322e-01 -9.16361556e-01 -7.34583412e-03 2.80082966e+02] [ 1.73123411e-02 -4.52740242e-04 9.99850028e-01 2.21987799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8407140569999 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:298.39, Y:280.09, Z:2.22 [[-9.16813776e-01 -3.99006830e-01 1.56859521e-02 2.98386451e+02] [ 3.98939594e-01 -9.16947832e-01 -7.33982209e-03 2.80085693e+02] [ 1.73118389e-02 -4.71502638e-04 9.99850028e-01 2.21803667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.870714057 meters Centerline goodness : 0.990512 Centerline is valid? [True, True] Translation: X:298.39, Y:280.09, Z:2.22 [[-9.17255137e-01 -3.97991050e-01 1.56887616e-02 2.98389069e+02] [ 3.97923769e-01 -9.17389170e-01 -7.33381194e-03 2.80087111e+02] [ 1.73114915e-02 -4.84045529e-04 9.99850028e-01 2.21715342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.900714057 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:298.39, Y:280.09, Z:2.22 [[-9.18170143e-01 -3.95875439e-01 1.56915688e-02 2.98392203e+02] [ 3.95807951e-01 -9.18304072e-01 -7.32780070e-03 2.80090596e+02] [ 1.73105278e-02 -5.17320128e-04 9.99850028e-01 2.21697720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9307140569999 meters Centerline goodness : 0.991258 Centerline is valid? [True, True] Translation: X:298.40, Y:280.09, Z:2.22 [[-9.18740255e-01 -3.94550416e-01 1.56943760e-02 2.98395334e+02] [ 3.94482837e-01 -9.18874139e-01 -7.32178343e-03 2.80091618e+02] [ 1.73099689e-02 -5.35655213e-04 9.99850028e-01 2.21755321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9607140569999 meters Centerline goodness : 0.990795 Centerline is valid? [True, True] Translation: X:298.40, Y:280.09, Z:2.22 [[-9.19557906e-01 -3.92640873e-01 1.56971828e-02 2.98396369e+02] [ 3.92573120e-01 -9.19691701e-01 -7.31576105e-03 2.80093514e+02] [ 1.73090355e-02 -5.64973913e-04 9.99850028e-01 2.21777780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9907140569999 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:298.39, Y:280.10, Z:2.22 [[-9.21414716e-01 -3.88263353e-01 1.56999905e-02 2.98394615e+02] [ 3.88195066e-01 -9.21548240e-01 -7.30973059e-03 2.80098969e+02] [ 1.73063991e-02 -6.40634495e-04 9.99850028e-01 2.21732701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.020714057 meters Centerline goodness : 0.989538 Centerline is valid? [True, True] Translation: X:298.40, Y:280.10, Z:2.22 [[-9.22348014e-01 -3.86040883e-01 1.57028052e-02 2.98398907e+02] [ 3.85972377e-01 -9.22481426e-01 -7.30367888e-03 2.80099465e+02] [ 1.73050648e-02 -6.75684650e-04 9.99850028e-01 2.21730744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0507140569999 meters Centerline goodness : 0.988899 Centerline is valid? [True, True] Translation: X:298.40, Y:280.10, Z:2.22 [[-9.23962880e-01 -3.82159560e-01 1.57056228e-02 2.98400753e+02] [ 3.82090597e-01 -9.24096056e-01 -7.29761494e-03 2.80103402e+02] [ 1.73023574e-02 -7.41754512e-04 9.99850028e-01 2.21782634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0807140569999 meters Centerline goodness : 0.990175 Centerline is valid? [True, True] Translation: X:298.40, Y:280.11, Z:2.22 [[-9.24552933e-01 -3.80729720e-01 1.57084400e-02 2.98401129e+02] [ 3.80660654e-01 -9.24686055e-01 -7.29154580e-03 2.80105495e+02] [ 1.73014836e-02 -7.61835001e-04 9.99850028e-01 2.21879344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1107140569999 meters Centerline goodness : 0.989147 Centerline is valid? [True, True] Translation: X:298.40, Y:280.11, Z:2.22 [[-9.25400458e-01 -3.78664956e-01 1.57112600e-02 2.98401858e+02] [ 3.78595696e-01 -9.25533479e-01 -7.28546436e-03 2.80108262e+02] [ 1.73000472e-02 -7.93756634e-04 9.99850028e-01 2.22029138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.140714057 meters Centerline goodness : 0.988884 Centerline is valid? [True, True] Translation: X:298.41, Y:280.11, Z:2.22 [[-9.25672928e-01 -3.77998277e-01 1.57140848e-02 2.98405009e+02] [ 3.77929024e-01 -9.25805954e-01 -7.27936644e-03 2.80108468e+02] [ 1.72997813e-02 -7.99503704e-04 9.99850028e-01 2.22072928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1707140569999 meters Centerline goodness : 0.989478 Centerline is valid? [True, True] Translation: X:298.41, Y:280.11, Z:2.22 [[-9.26038498e-01 -3.77101683e-01 1.57169106e-02 2.98408101e+02] [ 3.77032405e-01 -9.26171510e-01 -7.27326024e-03 2.80108140e+02] [ 1.72993135e-02 -8.09534390e-04 9.99850028e-01 2.22063840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2007140569999 meters Centerline goodness : 0.984358 Centerline is valid? [True, True] Translation: X:297.56, Y:280.50, Z:2.24 [[-9.27904234e-01 -3.72487076e-01 1.57197330e-02 2.97564611e+02] [ 3.72417240e-01 -9.28036954e-01 -7.26715502e-03 2.80497828e+02] [ 1.72954144e-02 -8.88924350e-04 9.99850028e-01 2.23580526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2307140569999 meters Centerline goodness : 0.987756 Centerline is valid? [True, True] Translation: X:298.39, Y:280.12, Z:2.22 [[-9.26120714e-01 -3.76897857e-01 1.57616226e-02 2.98394339e+02] [ 3.76830192e-01 -9.26254558e-01 -7.17642494e-03 2.80117560e+02] [ 1.73040540e-02 -7.06780514e-04 9.99850024e-01 2.21967621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.260714057 meters Centerline goodness : 0.988953 Centerline is valid? [True, True] Translation: X:298.39, Y:280.12, Z:2.22 [[-9.26354774e-01 -3.76323047e-01 1.57415333e-02 2.98387089e+02] [ 3.76254564e-01 -9.26488197e-01 -7.21972015e-03 2.80122099e+02] [ 1.73012919e-02 -7.65198470e-04 9.99850029e-01 2.22016399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.290714057 meters Centerline goodness : 0.989022 Centerline is valid? [True, True] Translation: X:298.40, Y:280.12, Z:2.22 [[-9.26749140e-01 -3.75351153e-01 1.57335266e-02 2.98396338e+02] [ 3.75282238e-01 -9.26882338e-01 -7.23698552e-03 2.80119399e+02] [ 1.72995388e-02 -8.02357016e-04 9.99850030e-01 2.22007365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3207140569999 meters Centerline goodness : 0.988553 Centerline is valid? [True, True] Translation: X:298.40, Y:280.12, Z:2.22 [[-9.26998569e-01 -3.74735628e-01 1.57118459e-02 2.98398086e+02] [ 3.74665834e-01 -9.27131307e-01 -7.28375331e-03 2.80118932e+02] [ 1.72964261e-02 -8.65337056e-04 9.99850031e-01 2.21962007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3507140569999 meters Centerline goodness : 0.988813 Centerline is valid? [True, True] Translation: X:298.40, Y:280.12, Z:2.22 [[-9.27312182e-01 -3.73958777e-01 1.57146776e-02 2.98398079e+02] [ 3.73888974e-01 -9.27444915e-01 -7.27763872e-03 2.80119494e+02] [ 1.72960347e-02 -8.73098343e-04 9.99850031e-01 2.21967217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.380714057 meters Centerline goodness : 0.988693 Centerline is valid? [True, True] Translation: X:298.40, Y:280.12, Z:2.22 [[-9.27500799e-01 -3.73489772e-01 1.57371585e-02 2.98403667e+02] [ 3.73420723e-01 -9.27633928e-01 -7.22904496e-03 2.80117310e+02] [ 1.72982965e-02 -8.28363889e-04 9.99850030e-01 2.21875479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.410714057 meters Centerline goodness : 0.986480 Centerline is valid? [True, True] Translation: X:298.43, Y:280.11, Z:2.22 [[-9.20400864e-01 -3.90659937e-01 1.57182693e-02 2.98433806e+02] [ 3.90592677e-01 -9.20534904e-01 -7.26988533e-03 2.80114934e+02] [ 1.73092685e-02 -5.51767838e-04 9.99850031e-01 2.21770155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4407140569999 meters Centerline goodness : 0.984574 Centerline is valid? [True, True] Translation: X:297.47, Y:280.54, Z:2.24 [[-9.33963060e-01 -3.57026116e-01 1.56638334e-02 2.97468130e+02] [ 3.56952017e-01 -9.34093481e-01 -7.39091194e-03 2.80540990e+02] [ 1.72702333e-02 -1.31160180e-03 9.99849998e-01 2.23519922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4707140569999 meters Centerline goodness : 0.988675 Centerline is valid? [True, True] Translation: X:298.39, Y:280.13, Z:2.22 [[-9.29225634e-01 -3.69170787e-01 1.58949985e-02 2.98385713e+02] [ 3.69107123e-01 -9.29361425e-01 -6.87563037e-03 2.80130611e+02] [ 1.73104803e-02 -5.22054834e-04 9.99850026e-01 2.21819460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.500714057 meters Centerline goodness : 0.988675 Centerline is valid? [True, True] Translation: X:298.39, Y:280.13, Z:2.22 [[-9.29020111e-01 -3.69693086e-01 1.57688398e-02 2.98388035e+02] [ 3.69624769e-01 -9.29153569e-01 -7.15372185e-03 2.80129595e+02] [ 1.72963553e-02 -8.17397672e-04 9.99850073e-01 2.21831227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.530714057 meters Centerline goodness : 0.987423 Centerline is valid? [True, True] Translation: X:298.39, Y:280.13, Z:2.22 [[-9.28044450e-01 -3.72135399e-01 1.57716168e-02 2.98393843e+02] [ 3.72067538e-01 -9.28178140e-01 -7.14759440e-03 2.80127161e+02] [ 1.72987428e-02 -7.65178691e-04 9.99850073e-01 2.21887625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5607140569999 meters Centerline goodness : 0.984548 Centerline is valid? [True, True] Translation: X:298.42, Y:280.13, Z:2.22 [[-9.21275458e-01 -3.88590658e-01 1.57743871e-02 2.98420200e+02] [ 3.88525291e-01 -9.21410385e-01 -7.14147514e-03 2.80126989e+02] [ 1.73097946e-02 -4.50517448e-04 9.99850073e-01 2.22164486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5907140569999 meters Centerline goodness : 0.987614 Centerline is valid? [True, True] Translation: X:298.40, Y:280.13, Z:2.22 [[-9.27269884e-01 -3.74065329e-01 1.56745975e-02 2.98397574e+02] [ 3.73994127e-01 -9.27401855e-01 -7.36154496e-03 2.80126301e+02] [ 1.72903495e-02 -9.63931541e-04 9.99850046e-01 2.21897870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.620714057 meters Centerline goodness : 0.983783 Centerline is valid? [True, True] Translation: X:298.09, Y:280.27, Z:2.23 [[-9.24271297e-01 -3.81410146e-01 1.57756415e-02 2.98090206e+02] [ 3.81343786e-01 -9.24405735e-01 -7.13823692e-03 2.80271840e+02] [ 1.73056895e-02 -5.81724638e-04 9.99850076e-01 2.23051637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.650714057 meters Centerline goodness : 0.986865 Centerline is valid? [True, True] Translation: X:298.40, Y:280.13, Z:2.22 [[-9.26267270e-01 -3.76536817e-01 1.57787961e-02 2.98395444e+02] [ 3.76469869e-01 -9.26401416e-01 -7.13125694e-03 2.80128535e+02] [ 1.73026799e-02 -6.65208596e-04 9.99850076e-01 2.21939697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6807140569999 meters Centerline goodness : 0.987146 Centerline is valid? [True, True] Translation: X:298.40, Y:280.13, Z:2.22 [[-9.25887959e-01 -3.77468698e-01 1.57756253e-02 2.98403104e+02] [ 3.77401766e-01 -9.26022112e-01 -7.13826450e-03 2.80126706e+02] [ 1.73030493e-02 -6.55484303e-04 9.99850076e-01 2.21931417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7107140569999 meters Centerline goodness : 0.987296 Centerline is valid? [True, True] Translation: X:298.41, Y:280.13, Z:2.22 [[-9.25734152e-01 -3.77845634e-01 1.57783818e-02 2.98405505e+02] [ 3.77778860e-01 -9.25868384e-01 -7.13216629e-03 2.80126587e+02] [ 1.73035628e-02 -6.41750806e-04 9.99850076e-01 2.21969057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7407140569999 meters Centerline goodness : 0.987524 Centerline is valid? [True, True] Translation: X:298.41, Y:280.13, Z:2.22 [[-9.25501654e-01 -3.78414646e-01 1.57811309e-02 2.98408613e+02] [ 3.78348058e-01 -9.25635979e-01 -7.12607824e-03 2.80126220e+02] [ 1.73041950e-02 -6.24436959e-04 9.99850076e-01 2.21975231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.770714057 meters Centerline goodness : 0.986427 Centerline is valid? [True, True] Translation: X:298.42, Y:280.13, Z:2.22 [[-9.23765749e-01 -3.82632605e-01 1.57838777e-02 2.98417644e+02] [ 3.82566735e-01 -9.23900427e-01 -7.11998914e-03 2.80127638e+02] [ 1.73070713e-02 -5.38815559e-04 9.99850076e-01 2.21801557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8007140569999 meters Centerline goodness : 0.986687 Centerline is valid? [True, True] Translation: X:298.41, Y:280.13, Z:2.22 [[-9.25112795e-01 -3.79364088e-01 1.57862497e-02 2.98414179e+02] [ 3.79297832e-01 -9.25247284e-01 -7.11472612e-03 2.80128421e+02] [ 1.73052562e-02 -5.94233898e-04 9.99850076e-01 2.22012171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8307140569999 meters Centerline goodness : 0.986407 Centerline is valid? [True, True] Translation: X:298.42, Y:280.13, Z:2.22 [[-9.25165412e-01 -3.79235652e-01 1.57886410e-02 2.98415464e+02] [ 3.79169467e-01 -9.25299936e-01 -7.10941542e-03 2.80129380e+02] [ 1.73053723e-02 -5.90814648e-04 9.99850076e-01 2.21972167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8607140569999 meters Centerline goodness : 0.986303 Centerline is valid? [True, True] Translation: X:298.42, Y:280.13, Z:2.22 [[-9.25073351e-01 -3.79460047e-01 1.57913813e-02 2.98421309e+02] [ 3.79393999e-01 -9.25207942e-01 -7.10332342e-03 2.80129745e+02] [ 1.73057389e-02 -5.79939888e-04 9.99850076e-01 2.21886226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.890714057 meters Centerline goodness : 0.984979 Centerline is valid? [True, True] Translation: X:298.45, Y:280.13, Z:2.22 [[-9.17001154e-01 -3.98571736e-01 1.57941193e-02 2.98452684e+02] [ 3.98508600e-01 -9.17137136e-01 -7.09723036e-03 2.80129755e+02] [ 1.73141288e-02 -2.14076071e-04 9.99850076e-01 2.21776035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9207140569999 meters Centerline goodness : 0.987014 Centerline is valid? [True, True] Translation: X:298.42, Y:280.14, Z:2.22 [[-9.25216333e-01 -3.79120822e-01 1.55608119e-02 2.98419300e+02] [ 3.79046082e-01 -9.25346469e-01 -7.61448081e-03 2.80135741e+02] [ 1.72859506e-02 -1.14677723e-03 9.99849929e-01 2.21876455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9507140569999 meters Centerline goodness : 0.985137 Centerline is valid? [True, True] Translation: X:298.12, Y:280.28, Z:2.23 [[-9.21103267e-01 -3.88997865e-01 1.57934066e-02 2.98122714e+02] [ 3.88933322e-01 -9.21238571e-01 -7.09687047e-03 2.80278135e+02] [ 1.73101628e-02 -3.94368499e-04 9.99850090e-01 2.22562806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9807140569999 meters Centerline goodness : 0.986723 Centerline is valid? [True, True] Translation: X:298.42, Y:280.14, Z:2.22 [[-9.25773497e-01 -3.77754408e-01 1.56537590e-02 2.98419986e+02] [ 3.77682959e-01 -9.25905348e-01 -7.40737462e-03 2.80139106e+02] [ 1.72920676e-02 -9.45393090e-04 9.99850034e-01 2.21801636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.010714057 meters Centerline goodness : 0.986600 Centerline is valid? [True, True] Translation: X:298.43, Y:280.14, Z:2.22 [[-9.26334988e-01 -3.76369571e-01 1.57935186e-02 2.98427270e+02] [ 3.76303194e-01 -9.26469400e-01 -7.09632936e-03 2.80140061e+02] [ 1.73030542e-02 -6.30426664e-04 9.99850092e-01 2.21852286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.040714057 meters Centerline goodness : 0.986148 Centerline is valid? [True, True] Translation: X:298.43, Y:280.14, Z:2.22 [[-9.26677408e-01 -3.75525578e-01 1.57962590e-02 2.98429119e+02] [ 3.75459183e-01 -9.26811810e-01 -7.09022424e-03 2.80141119e+02] [ 1.73027199e-02 -6.39500140e-04 9.99850092e-01 2.21867534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0707140569999 meters Centerline goodness : 0.981117 Centerline is valid? [True, True] Translation: X:297.53, Y:280.55, Z:2.25 [[-9.28535329e-01 -3.70907718e-01 1.57989951e-02 2.97527369e+02] [ 3.70840757e-01 -9.28669450e-01 -7.08412218e-03 2.80546456e+02] [ 1.72995997e-02 -7.18946421e-04 9.99850092e-01 2.24760502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1007140569999 meters Centerline goodness : 0.986397 Centerline is valid? [True, True] Translation: X:298.41, Y:280.15, Z:2.22 [[-9.25636909e-01 -3.78079177e-01 1.58886224e-02 2.98411899e+02] [ 3.78016679e-01 -9.25773191e-01 -6.88394917e-03 2.80151830e+02] [ 1.73119385e-02 -3.65873162e-04 9.99850070e-01 2.22003337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.130714057 meters Centerline goodness : 0.985629 Centerline is valid? [True, True] Translation: X:298.41, Y:280.15, Z:2.22 [[-9.25742068e-01 -3.77826500e-01 1.57720903e-02 2.98412541e+02] [ 3.77759569e-01 -9.25876185e-01 -7.14131995e-03 2.80154057e+02] [ 1.73011827e-02 -6.52962265e-04 9.99850110e-01 2.21985028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.160714057 meters Centerline goodness : 0.981286 Centerline is valid? [True, True] Translation: X:297.50, Y:280.57, Z:2.25 [[-9.27985973e-01 -3.72281060e-01 1.57748512e-02 2.97496687e+02] [ 3.72213431e-01 -9.28119739e-01 -7.13521596e-03 2.80567554e+02] [ 1.72972566e-02 -7.49768828e-04 9.99850110e-01 2.24831477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1907140569999 meters Centerline goodness : 0.985124 Centerline is valid? [True, True] Translation: X:298.40, Y:280.17, Z:2.22 [[-9.23537502e-01 -3.83178922e-01 1.58869579e-02 2.98403499e+02] [ 3.83117125e-01 -9.23674098e-01 -6.88690395e-03 2.80165357e+02] [ 1.73132879e-02 -2.73748453e-04 9.99850076e-01 2.22145556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2207140569999 meters Centerline goodness : 0.983538 Centerline is valid? [True, True] Translation: X:298.43, Y:280.17, Z:2.22 [[-9.15445581e-01 -4.02132496e-01 1.57747664e-02 2.98429851e+02] [ 4.02069266e-01 -9.15581466e-01 -7.13337497e-03 2.80167331e+02] [ 1.73116456e-02 -1.87667856e-04 9.99850125e-01 2.21937380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.250714057 meters Centerline goodness : 0.982440 Centerline is valid? [True, True] Translation: X:298.42, Y:280.17, Z:2.22 [[-9.15210271e-01 -4.02676296e-01 1.55550666e-02 2.98422388e+02] [ 4.02604924e-01 -9.15342178e-01 -7.61395358e-03 2.80172334e+02] [ 1.73041672e-02 -7.05822097e-04 9.99850023e-01 2.22265023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.280714057 meters Centerline goodness : 0.982440 Centerline is valid? [True, True] Translation: X:298.42, Y:280.17, Z:2.22 [[-9.15349187e-01 -4.02358358e-01 1.56082771e-02 2.98424747e+02] [ 4.02288924e-01 -9.15482065e-01 -7.49741916e-03 2.80171295e+02] [ 1.73057470e-02 -5.83719551e-04 9.99850074e-01 2.22262783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3107140569999 meters Centerline goodness : 0.984379 Centerline is valid? [True, True] Translation: X:298.43, Y:280.17, Z:2.22 [[-9.14254641e-01 -4.04839220e-01 1.56095231e-02 2.98428690e+02] [ 4.04770192e-01 -9.14387730e-01 -7.49468789e-03 2.80171277e+02] [ 1.73073000e-02 -5.33783537e-04 9.99850075e-01 2.22347759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3407140569999 meters Centerline goodness : 0.983626 Centerline is valid? [True, True] Translation: X:298.43, Y:280.17, Z:2.22 [[-9.14539085e-01 -4.04196745e-01 1.55965626e-02 2.98432479e+02] [ 4.04127139e-01 -9.14671886e-01 -7.52311488e-03 2.80169499e+02] [ 1.73065559e-02 -5.77188375e-04 9.99850064e-01 2.22262541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.370714057 meters Centerline goodness : 0.987274 Centerline is valid? [True, True] Translation: X:298.41, Y:280.17, Z:2.22 [[-9.20524766e-01 -3.90370978e-01 1.56414484e-02 2.98412977e+02] [ 3.90301050e-01 -9.20657356e-01 -7.42451015e-03 2.80169854e+02] [ 1.72987278e-02 -7.29571730e-04 9.99850100e-01 2.21994427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.400714057 meters Centerline goodness : 0.985516 Centerline is valid? [True, True] Translation: X:298.45, Y:280.17, Z:2.22 [[-9.12027573e-01 -4.09823031e-01 1.58363415e-02 2.98445752e+02] [ 4.09763346e-01 -9.12165046e-01 -6.99490506e-03 2.80168408e+02] [ 1.73120304e-02 1.09605998e-04 9.99850130e-01 2.22080300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4307140569999 meters Centerline goodness : 0.986054 Centerline is valid? [True, True] Translation: X:298.45, Y:280.17, Z:2.22 [[-9.12832643e-01 -4.08034771e-01 1.56266230e-02 2.98452653e+02] [ 4.07966884e-01 -9.12966287e-01 -7.45527208e-03 2.80167566e+02] [ 1.73085902e-02 -4.30271013e-04 9.99850103e-01 2.22136159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4607140569999 meters Centerline goodness : 0.985240 Centerline is valid? [True, True] Translation: X:298.46, Y:280.17, Z:2.22 [[-9.12761785e-01 -4.08193147e-01 1.56294403e-02 2.98456551e+02] [ 4.08125389e-01 -9.12895491e-01 -7.44908830e-03 2.80167614e+02] [ 1.73087124e-02 -4.20471710e-04 9.99850105e-01 2.22254176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4907140569999 meters Centerline goodness : 0.986924 Centerline is valid? [True, True] Translation: X:298.46, Y:280.17, Z:2.22 [[-9.12796738e-01 -4.08112789e-01 1.56865177e-02 2.98455454e+02] [ 4.08047171e-01 -9.12931471e-01 -7.32365333e-03 2.80170829e+02] [ 1.73095923e-02 -2.84167694e-04 9.99850137e-01 2.22108429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.520714057 meters Centerline goodness : 0.987810 Centerline is valid? [True, True] Translation: X:298.44, Y:280.18, Z:2.22 [[-9.17992036e-01 -3.96290851e-01 1.56263588e-02 2.98436832e+02] [ 3.96221243e-01 -9.18124793e-01 -7.45595310e-03 2.80177055e+02] [ 1.73016735e-02 -6.53010252e-04 9.99850102e-01 2.22021507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5507140569999 meters Centerline goodness : 0.989178 Centerline is valid? [True, True] Translation: X:298.44, Y:280.18, Z:2.22 [[-9.18716622e-01 -3.94602659e-01 1.57641933e-02 2.98438218e+02] [ 3.94537994e-01 -9.18851793e-01 -7.15215192e-03 2.80179068e+02] [ 1.73072154e-02 -3.51227658e-04 9.99850157e-01 2.22018355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5807140569999 meters Centerline goodness : 0.988255 Centerline is valid? [True, True] Translation: X:298.46, Y:280.18, Z:2.22 [[-9.15786335e-01 -4.01356193e-01 1.57669272e-02 2.98457878e+02] [ 4.01292629e-01 -9.15922027e-01 -7.14611989e-03 2.80183103e+02] [ 1.73094154e-02 -2.17167286e-04 9.99850157e-01 2.22250892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6107140569999 meters Centerline goodness : 0.986928 Centerline is valid? [True, True] Translation: X:298.46, Y:280.19, Z:2.22 [[-9.15844486e-01 -4.01228226e-01 1.56456945e-02 2.98462602e+02] [ 4.01160067e-01 -9.15977973e-01 -7.41303914e-03 2.80186174e+02] [ 1.73054321e-02 -5.12763159e-04 9.99850118e-01 2.22107377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.640714057 meters Centerline goodness : 0.986080 Centerline is valid? [True, True] Translation: X:297.53, Y:280.60, Z:2.24 [[-9.25969554e-01 -3.77269890e-01 1.57421382e-02 2.97526532e+02] [ 3.77201928e-01 -9.26103073e-01 -7.19746018e-03 2.80600784e+02] [ 1.72942276e-02 -7.26664124e-04 9.99850180e-01 2.24416946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6707140569999 meters Centerline goodness : 0.989551 Centerline is valid? [True, True] Translation: X:298.41, Y:280.21, Z:2.22 [[-9.26095699e-01 -3.76953673e-01 1.58960571e-02 2.98412302e+02] [ 3.76891544e-01 -9.26232045e-01 -6.85287822e-03 2.80209516e+02] [ 1.73066551e-02 -3.55331535e-04 9.99850166e-01 2.22265107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7007140569999 meters Centerline goodness : 0.988850 Centerline is valid? [True, True] Translation: X:298.44, Y:280.21, Z:2.22 [[-9.21847482e-01 -3.87231719e-01 1.57738715e-02 2.98435357e+02] [ 3.87166466e-01 -9.21982312e-01 -7.12344299e-03 2.80210870e+02] [ 1.73016536e-02 -4.59613890e-04 9.99850210e-01 2.22239862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7307140569999 meters Centerline goodness : 0.990314 Centerline is valid? [True, True] Translation: X:298.41, Y:280.22, Z:2.22 [[-9.30347526e-01 -3.66346334e-01 1.56155192e-02 2.98405959e+02] [ 3.66272178e-01 -9.30477750e-01 -7.47321438e-03 2.80220545e+02] [ 1.72676779e-02 -1.23315627e-03 9.99850142e-01 2.22266388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.760714057 meters Centerline goodness : 0.990127 Centerline is valid? [True, True] Translation: X:298.40, Y:280.22, Z:2.22 [[-9.31670147e-01 -3.62962711e-01 1.57736188e-02 2.98404737e+02] [ 3.62893956e-01 -9.31803219e-01 -7.12311762e-03 2.80223136e+02] [ 1.72833349e-02 -9.12245120e-04 9.99850216e-01 2.22246553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.790714057 meters Centerline goodness : 0.989636 Centerline is valid? [True, True] Translation: X:298.42, Y:280.22, Z:2.22 [[-9.28845487e-01 -3.70131282e-01 1.57763983e-02 2.98421583e+02] [ 3.70063659e-01 -9.28979137e-01 -7.11695612e-03 2.80223886e+02] [ 1.72901530e-02 -7.72280884e-04 9.99850216e-01 2.22229619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8207140569999 meters Centerline goodness : 0.989206 Centerline is valid? [True, True] Translation: X:298.42, Y:280.22, Z:2.22 [[-9.30695187e-01 -3.65459901e-01 1.56693576e-02 2.98422131e+02] [ 3.65387619e-01 -9.30826412e-01 -7.35382356e-03 2.80224041e+02] [ 1.72729796e-02 -1.11877892e-03 9.99850185e-01 2.22333762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8507140569999 meters Centerline goodness : 0.990709 Centerline is valid? [True, True] Translation: X:298.42, Y:280.23, Z:2.22 [[-9.32130150e-01 -3.61783293e-01 1.56918066e-02 2.98417486e+02] [ 3.61711326e-01 -9.32261533e-01 -7.30408872e-03 2.80228040e+02] [ 1.72713650e-02 -1.13245711e-03 9.99850198e-01 2.22276788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.880714057 meters Centerline goodness : 0.990126 Centerline is valid? [True, True] Translation: X:298.43, Y:280.22, Z:2.22 [[-9.33719037e-01 -3.57662993e-01 1.56825826e-02 2.98425736e+02] [ 3.57590106e-01 -9.33849917e-01 -7.32453545e-03 2.80223072e+02] [ 1.72648937e-02 -1.23112183e-03 9.99850193e-01 2.22190719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.910714057 meters Centerline goodness : 0.990703 Centerline is valid? [True, True] Translation: X:298.41, Y:280.23, Z:2.22 [[-9.35475545e-01 -3.53043303e-01 1.56822122e-02 2.98412184e+02] [ 3.52969756e-01 -9.35606055e-01 -7.32535682e-03 2.80227788e+02] [ 1.72585408e-02 -1.31734556e-03 9.99850192e-01 2.22331788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9407140569999 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:298.40, Y:280.23, Z:2.22 [[-9.39043956e-01 -3.43437802e-01 1.57138602e-02 2.98400034e+02] [ 3.43364087e-01 -9.39174354e-01 -7.25509534e-03 2.80227487e+02] [ 1.72497285e-02 -1.41727815e-03 9.99850208e-01 2.22199812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9707140569999 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:298.40, Y:280.23, Z:2.22 [[-9.39906765e-01 -3.41066141e-01 1.57848071e-02 2.98399070e+02] [ 3.40994722e-01 -9.40038418e-01 -7.09730613e-03 2.80227122e+02] [ 1.72589759e-02 -1.28827012e-03 9.99850223e-01 2.22282775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.000714057 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:298.40, Y:280.23, Z:2.22 [[-9.41545015e-01 -3.36517066e-01 1.57876161e-02 2.98397490e+02] [ 3.36445115e-01 -9.41676378e-01 -7.09105222e-03 2.80225752e+02] [ 1.72530852e-02 -1.36487856e-03 9.99850223e-01 2.22488497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.030714057 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:298.42, Y:280.22, Z:2.23 [[-9.37838281e-01 -3.46713168e-01 1.57904303e-02 2.98419797e+02] [ 3.46642752e-01 -9.37970473e-01 -7.08477999e-03 2.80221358e+02] [ 1.72673439e-02 -1.17073968e-03 9.99850223e-01 2.22586853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0607140569999 meters Centerline goodness : 0.989831 Centerline is valid? [True, True] Translation: X:298.41, Y:280.22, Z:2.23 [[-9.40190599e-01 -3.40288914e-01 1.56554324e-02 2.98412972e+02] [ 3.40212615e-01 -9.40319542e-01 -7.38487170e-03 2.80218173e+02] [ 1.72340990e-02 -1.61701134e-03 9.99850174e-01 2.22707725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0907140569999 meters Centerline goodness : 0.988208 Centerline is valid? [True, True] Translation: X:298.41, Y:280.22, Z:2.23 [[-9.40752331e-01 -3.38731804e-01 1.56785508e-02 2.98409736e+02] [ 3.38656141e-01 -9.40881629e-01 -7.33341544e-03 2.80216948e+02] [ 1.72357214e-02 -1.58929017e-03 9.99850191e-01 2.22509428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.120714057 meters Centerline goodness : 0.984233 Centerline is valid? [True, True] Translation: X:297.72, Y:280.52, Z:2.24 [[-9.46192975e-01 -3.23219767e-01 1.57428370e-02 2.97715249e+02] [ 3.23144371e-01 -9.46322378e-01 -7.18836372e-03 2.80517851e+02] [ 1.72212202e-02 -1.71437010e-03 9.99850234e-01 2.23770707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.150714057 meters Centerline goodness : 0.988417 Centerline is valid? [True, True] Translation: X:298.42, Y:280.59, Z:3.01 [[-9.04504632e-01 4.26173126e-01 -1.57428370e-02 2.98419510e+02] [ 4.26112548e-01 9.04641600e-01 7.18836372e-03 2.80586597e+02] [ 1.73051127e-02 -2.06312103e-04 -9.99850234e-01 3.01329109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1807140569999 meters Centerline goodness : 0.986895 Centerline is valid? [True, True] Translation: X:298.44, Y:280.61, Z:3.01 [[-9.37739566e-01 3.46960459e-01 -1.62156033e-02 2.98435233e+02] [ 3.46910546e-01 9.37879752e-01 5.88595809e-03 2.80614231e+02] [ 1.72504807e-02 -1.05868007e-04 -9.99851194e-01 3.01169064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2107140569999 meters Centerline goodness : 0.987606 Centerline is valid? [True, True] Translation: X:298.31, Y:280.32, Z:2.22 [[-9.84931493e-01 -1.72142979e-01 1.66357972e-02 2.98309083e+02] [ 1.72093514e-01 -9.85070918e-01 -4.37138418e-03 2.80319474e+02] [ 1.71399431e-02 -1.44260116e-03 9.99852060e-01 2.22453709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2407140569999 meters Centerline goodness : 0.987794 Centerline is valid? [True, True] Translation: X:298.31, Y:280.31, Z:2.22 [[-9.85311690e-01 -1.69959546e-01 1.65718799e-02 2.98311099e+02] [ 1.69905931e-01 -9.85449542e-01 -4.60157458e-03 2.80314485e+02] [ 1.71128330e-02 -1.71832454e-03 9.99852088e-01 2.22454191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.270714057 meters Centerline goodness : 0.983208 Centerline is valid? [True, True] Translation: X:297.80, Y:280.45, Z:2.24 [[-9.85621773e-01 -1.68151816e-01 1.65737267e-02 2.97796381e+02] [ 1.68098059e-01 -9.85759570e-01 -4.59491310e-03 2.80452404e+02] [ 1.71103527e-02 -1.74283510e-03 9.99852088e-01 2.23562380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3007140569999 meters Centerline goodness : 0.984181 Centerline is valid? [True, True] Translation: X:297.81, Y:280.44, Z:2.24 [[-9.86066299e-01 -1.65525800e-01 1.65669408e-02 2.97810965e+02] [ 1.65471268e-01 -9.86203792e-01 -4.61948466e-03 2.80439067e+02] [ 1.71030237e-02 -1.81376544e-03 9.99852087e-01 2.23567944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3307140569999 meters Centerline goodness : 0.987035 Centerline is valid? [True, True] Translation: X:298.30, Y:280.73, Z:3.02 [[-9.53342589e-01 3.01435640e-01 -1.65669408e-02 2.98304404e+02] [ 3.01400817e-01 9.53486344e-01 4.61948466e-03 2.80729810e+02] [ 1.71888291e-02 -5.89338030e-04 -9.99852087e-01 3.01558084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3607140569999 meters Centerline goodness : 0.986305 Centerline is valid? [True, True] Translation: X:298.29, Y:280.78, Z:3.02 [[-9.73597549e-01 2.27651681e-01 -1.68085014e-02 2.98294795e+02] [ 2.27626208e-01 9.73742514e-01 3.43883533e-03 2.80775711e+02] [ 1.71500091e-02 -4.78013794e-04 -9.99852814e-01 3.01666071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.390714057 meters Centerline goodness : 0.985426 Centerline is valid? [True, True] Translation: X:298.28, Y:280.82, Z:3.02 [[-9.88353294e-01 1.51227158e-01 -1.69739203e-02 2.98284148e+02] [ 1.51213285e-01 9.88498918e-01 2.10523473e-03 2.80815761e+02] [ 1.70970705e-02 -4.85966563e-04 -9.99853716e-01 3.01673804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4207140569999 meters Centerline goodness : 0.985471 Centerline is valid? [True, True] Translation: X:298.26, Y:280.40, Z:2.23 [[-9.97887221e-01 6.26971435e-02 1.70341803e-02 2.98257564e+02] [-6.27192585e-02 -9.98030915e-01 -7.66636587e-04 2.80404603e+02] [ 1.69525726e-02 -1.83338801e-03 9.99854614e-01 2.22549929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4507140569999 meters Centerline goodness : 0.986830 Centerline is valid? [True, True] Translation: X:298.26, Y:280.39, Z:2.23 [[-9.97874207e-01 6.29038449e-02 1.70344863e-02 2.98260776e+02] [-6.29258739e-02 -9.98017914e-01 -7.59774363e-04 2.80393802e+02] [ 1.69529298e-02 -1.83006918e-03 9.99854614e-01 2.22574341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4807140569999 meters Centerline goodness : 0.986804 Centerline is valid? [True, True] Translation: X:298.27, Y:280.39, Z:2.23 [[-9.97867312e-01 6.30130487e-02 1.70347892e-02 2.98266867e+02] [-6.30349778e-02 -9.98011034e-01 -7.52922783e-04 2.80388390e+02] [ 1.69534636e-02 -1.82510459e-03 9.99854614e-01 2.22688119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.510714057 meters Centerline goodness : 0.986758 Centerline is valid? [True, True] Translation: X:298.26, Y:280.38, Z:2.23 [[-9.97900070e-01 6.24920510e-02 1.70350888e-02 2.98264273e+02] [-6.25137896e-02 -9.98043821e-01 -7.46080701e-04 2.80379080e+02] [ 1.69551411e-02 -1.80944194e-03 9.99854614e-01 2.22981199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.540714057 meters Centerline goodness : 0.986876 Centerline is valid? [True, True] Translation: X:298.27, Y:280.37, Z:2.23 [[-9.97890888e-01 6.26384165e-02 1.70353859e-02 2.98268759e+02] [-6.26600606e-02 -9.98034654e-01 -7.39236096e-04 2.80374005e+02] [ 1.69556008e-02 -1.80511527e-03 9.99854614e-01 2.23024746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5707140569999 meters Centerline goodness : 0.987689 Centerline is valid? [True, True] Translation: X:298.28, Y:280.36, Z:2.23 [[-9.97922263e-01 6.21364883e-02 1.70356804e-02 2.98275274e+02] [-6.21579444e-02 -9.98066057e-01 -7.32384157e-04 2.80364867e+02] [ 1.69572266e-02 -1.78976533e-03 9.99854614e-01 2.23100198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6007140569999 meters Centerline goodness : 0.987386 Centerline is valid? [True, True] Translation: X:298.28, Y:280.36, Z:2.23 [[-9.97921878e-01 6.21425884e-02 1.70359715e-02 2.98278867e+02] [-6.21639300e-02 -9.98065689e-01 -7.25550028e-04 2.80360829e+02] [ 1.69579311e-02 -1.78306519e-03 9.99854614e-01 2.23069701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.630714057 meters Centerline goodness : 0.987095 Centerline is valid? [True, True] Translation: X:298.29, Y:280.36, Z:2.23 [[-9.97917373e-01 6.22148036e-02 1.70362593e-02 2.98285380e+02] [-6.22360405e-02 -9.98061200e-01 -7.18728847e-04 2.80356596e+02] [ 1.69585138e-02 -1.77750132e-03 9.99854614e-01 2.22946274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.660714057 meters Centerline goodness : 0.988989 Centerline is valid? [True, True] Translation: X:298.29, Y:280.35, Z:2.23 [[-9.97963885e-01 6.14641401e-02 1.70365438e-02 2.98286783e+02] [-6.14851538e-02 -9.98107744e-01 -7.11920567e-04 2.80349141e+02] [ 1.69605487e-02 -1.75796553e-03 9.99854614e-01 2.22807326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6907140569999 meters Centerline goodness : 0.988581 Centerline is valid? [True, True] Translation: X:298.31, Y:280.35, Z:2.23 [[-9.98681616e-01 4.84228889e-02 1.70368251e-02 2.98309588e+02] [-4.84419066e-02 -9.98825753e-01 -7.05122770e-04 2.80350791e+02] [ 1.69826756e-02 -1.52948944e-03 9.99854614e-01 2.22760865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7207140569999 meters Centerline goodness : 0.990191 Centerline is valid? [True, True] Translation: X:298.30, Y:280.34, Z:2.23 [[-9.97992347e-01 6.10049301e-02 1.70197840e-02 2.98296236e+02] [-6.10325764e-02 -9.98135158e-01 -1.10921736e-03 2.80341012e+02] [ 1.69203771e-02 -2.14575170e-03 9.99854538e-01 2.22733701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.750714057 meters Centerline goodness : 0.989529 Centerline is valid? [True, True] Translation: X:298.29, Y:280.33, Z:2.23 [[-9.98036518e-01 6.02732288e-02 1.70366100e-02 2.98290295e+02] [-6.02938581e-02 -9.98180425e-01 -6.99379494e-04 2.80333179e+02] [ 1.69634567e-02 -1.72520922e-03 9.99854622e-01 2.22759302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.780714057 meters Centerline goodness : 0.988517 Centerline is valid? [True, True] Translation: X:298.31, Y:280.33, Z:2.23 [[-9.98724380e-01 4.75326973e-02 1.70368860e-02 2.98312262e+02] [-4.75513736e-02 -9.98868554e-01 -6.92588776e-04 2.80334827e+02] [ 1.69846891e-02 -1.50183263e-03 9.99854622e-01 2.22945945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8107140569999 meters Centerline goodness : 0.989481 Centerline is valid? [True, True] Translation: X:298.31, Y:280.33, Z:2.23 [[-9.98691052e-01 4.82335745e-02 1.70207072e-02 2.98308260e+02] [-4.82589446e-02 -9.98834272e-01 -1.08273308e-03 2.80327884e+02] [ 1.69486416e-02 -1.90271720e-03 9.99854551e-01 2.22841661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8407140569999 meters Centerline goodness : 0.988439 Centerline is valid? [True, True] Translation: X:298.31, Y:280.32, Z:2.23 [[-9.98600665e-01 5.00687602e-02 1.70244161e-02 2.98312588e+02] [-5.00928606e-02 -9.98744072e-01 -9.91895769e-04 2.80324567e+02] [ 1.69533717e-02 -1.84330948e-03 9.99854582e-01 2.23235085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.870714057 meters Centerline goodness : 0.989647 Centerline is valid? [True, True] Translation: X:298.31, Y:280.32, Z:2.23 [[-9.98590502e-01 5.02691350e-02 1.70300749e-02 2.98308274e+02] [-5.02908939e-02 -9.98734249e-01 -8.51558624e-04 2.80320937e+02] [ 1.69657120e-02 -1.70681605e-03 9.99854615e-01 2.22919670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.900714057 meters Centerline goodness : 0.988859 Centerline is valid? [True, True] Translation: X:298.32, Y:280.32, Z:2.23 [[-9.98562303e-01 5.08279640e-02 1.70248525e-02 2.98319521e+02] [-5.08519832e-02 -9.98705720e-01 -9.80627425e-04 2.80317632e+02] [ 1.69529743e-02 -1.84496509e-03 9.99854586e-01 2.23061564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9307140569999 meters Centerline goodness : 0.989903 Centerline is valid? [True, True] Translation: X:298.31, Y:280.31, Z:2.23 [[-9.98527543e-01 5.15038877e-02 1.70321749e-02 2.98314294e+02] [-5.15249027e-02 -9.98671392e-01 -7.97038494e-04 2.80311398e+02] [ 1.69684952e-02 -1.67344604e-03 9.99854624e-01 2.23166635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9607140569999 meters Centerline goodness : 0.989476 Centerline is valid? [True, True] Translation: X:298.33, Y:280.31, Z:2.24 [[-9.98611015e-01 4.98614135e-02 1.70258741e-02 2.98326521e+02] [-4.98848610e-02 -9.98754519e-01 -9.54991701e-04 2.80305901e+02] [ 1.69570515e-02 -1.80299860e-03 9.99854593e-01 2.23537598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9907140569999 meters Centerline goodness : 0.989581 Centerline is valid? [True, True] Translation: X:298.33, Y:280.30, Z:2.24 [[-9.98608037e-01 4.99200815e-02 1.70286029e-02 2.98331884e+02] [-4.99423750e-02 -9.98751708e-01 -8.86183719e-04 2.80302700e+02] [ 1.69631078e-02 -1.73539905e-03 9.99854610e-01 2.23676931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.020714057 meters Centerline goodness : 0.990120 Centerline is valid? [True, True] Translation: X:298.33, Y:280.30, Z:2.24 [[-9.98542756e-01 5.12094651e-02 1.70280658e-02 2.98328532e+02] [-5.12321740e-02 -9.98686365e-01 -8.99789630e-04 2.80300555e+02] [ 1.69596193e-02 -1.77086324e-03 9.99854607e-01 2.23716798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0507140569999 meters Centerline goodness : 0.990072 Centerline is valid? [True, True] Translation: X:298.32, Y:280.30, Z:2.24 [[-9.98497675e-01 5.20801664e-02 1.70308424e-02 2.98324928e+02] [-5.21018019e-02 -9.98641435e-01 -8.28846881e-04 2.80298600e+02] [ 1.69645384e-02 -1.71493926e-03 9.99854621e-01 2.23699174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0807140569999 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:298.32, Y:280.29, Z:2.23 [[-9.98390494e-01 5.40961287e-02 1.70302641e-02 2.98316052e+02] [-5.41183056e-02 -9.98534174e-01 -8.43715847e-04 2.80293579e+02] [ 1.69596589e-02 -1.76400692e-03 9.99854619e-01 2.23406756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1107140569999 meters Centerline goodness : 0.990449 Centerline is valid? [True, True] Translation: X:298.33, Y:280.29, Z:2.23 [[-9.98323366e-01 5.53217976e-02 1.70280677e-02 2.98328156e+02] [-5.53451048e-02 -9.98466879e-01 -9.00204276e-04 2.80291153e+02] [ 1.69521607e-02 -1.84111515e-03 9.99854607e-01 2.23449945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.140714057 meters Centerline goodness : 0.991224 Centerline is valid? [True, True] Translation: X:298.33, Y:280.29, Z:2.23 [[-9.98334304e-01 5.51223545e-02 1.70336039e-02 2.98329714e+02] [-5.51431955e-02 -9.98478170e-01 -7.55918846e-04 2.80286022e+02] [ 1.69660137e-02 -1.69394707e-03 9.99854632e-01 2.23292803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1707140569999 meters Centerline goodness : 0.991066 Centerline is valid? [True, True] Translation: X:298.34, Y:280.28, Z:2.23 [[-9.98356227e-01 5.47249226e-02 1.70301823e-02 2.98338690e+02] [-5.47472111e-02 -9.98499889e-01 -8.44963268e-04 2.80283599e+02] [ 1.69583946e-02 -1.77592932e-03 9.99854619e-01 2.23138334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2007140569999 meters Centerline goodness : 0.991066 Centerline is valid? [True, True] Translation: X:298.34, Y:280.28, Z:2.23 [[-9.98335745e-01 5.50970979e-02 1.70308610e-02 2.98341329e+02] [-5.51191392e-02 -9.98479442e-01 -8.27168941e-04 2.80283571e+02] [ 1.69593900e-02 -1.76451872e-03 9.99854622e-01 2.23134420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2307140569999 meters Centerline goodness : 0.992220 Centerline is valid? [True, True] Translation: X:298.34, Y:280.28, Z:2.23 [[-9.98364879e-01 5.45665675e-02 1.70311118e-02 2.98337985e+02] [-5.45884203e-02 -9.98508603e-01 -8.20526340e-04 2.80277936e+02] [ 1.69609383e-02 -1.74888617e-03 9.99854623e-01 2.23329824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.260714057 meters Centerline goodness : 0.992476 Centerline is valid? [True, True] Translation: X:298.34, Y:280.28, Z:2.23 [[-9.98407423e-01 5.37836515e-02 1.70275437e-02 2.98336639e+02] [-5.38069916e-02 -9.98550935e-01 -9.15242415e-04 2.80275621e+02] [ 1.69536446e-02 -1.82998572e-03 9.99854602e-01 2.23191831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.290714057 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:298.35, Y:280.27, Z:2.23 [[-9.98448620e-01 5.30120610e-02 1.70315545e-02 2.98345460e+02] [-5.30334712e-02 -9.98592409e-01 -8.07584844e-04 2.80272791e+02] [ 1.69647693e-02 -1.70957443e-03 9.99854626e-01 2.23242365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3207140569999 meters Centerline goodness : 0.992486 Centerline is valid? [True, True] Translation: X:298.35, Y:280.27, Z:2.23 [[-9.98550403e-01 5.10586701e-02 1.70324461e-02 2.98349405e+02] [-5.10793917e-02 -9.98694289e-01 -7.83508018e-04 2.80269486e+02] [ 1.69702018e-02 -1.65237924e-03 9.99854630e-01 2.23309451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3507140569999 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:298.35, Y:280.26, Z:2.23 [[-9.98627071e-01 4.95381672e-02 1.70277087e-02 2.98352040e+02] [-4.95608244e-02 -9.98770692e-01 -9.10948589e-04 2.80263886e+02] [ 1.69616497e-02 -1.75360520e-03 9.99854603e-01 2.23240797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.380714057 meters Centerline goodness : 0.992358 Centerline is valid? [True, True] Translation: X:298.35, Y:280.26, Z:2.23 [[-9.98617746e-01 4.97242370e-02 1.70322326e-02 2.98349698e+02] [-4.97448284e-02 -9.98761650e-01 -7.87180631e-04 2.80261001e+02] [ 1.69719987e-02 -1.63335803e-03 9.99854631e-01 2.23299236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.410714057 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:298.35, Y:280.26, Z:2.23 [[-9.98584600e-01 5.03853749e-02 1.70326137e-02 2.98348222e+02] [-5.04058832e-02 -9.98728514e-01 -7.76638821e-04 2.80256033e+02] [ 1.69718258e-02 -1.63408351e-03 9.99854633e-01 2.23327241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4407140569999 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:298.35, Y:280.25, Z:2.24 [[-9.98620449e-01 4.96694212e-02 1.70336913e-02 2.98352770e+02] [-4.96893188e-02 -9.98764444e-01 -7.46636035e-04 2.80254108e+02] [ 1.69755602e-02 -1.59199853e-03 9.99854637e-01 2.23504761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4707140569999 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:298.35, Y:280.25, Z:2.23 [[-9.98548447e-01 5.10978074e-02 1.70298024e-02 2.98352886e+02] [-5.11197425e-02 -9.98692165e-01 -8.54946466e-04 2.80251793e+02] [ 1.69638443e-02 -1.72426458e-03 9.99854617e-01 2.23409335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.500714057 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:298.35, Y:280.25, Z:2.23 [[-9.98456655e-01 5.28607587e-02 1.70308122e-02 2.98352645e+02] [-5.28824683e-02 -9.98600401e-01 -8.26594691e-04 2.80248143e+02] [ 1.69632814e-02 -1.72595036e-03 9.99854624e-01 2.23420823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.530714057 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:298.36, Y:280.25, Z:2.23 [[-9.98398684e-01 5.39446647e-02 1.70305999e-02 2.98355525e+02] [-5.39666314e-02 -9.98542393e-01 -8.32575606e-04 2.80246413e+02] [ 1.69608629e-02 -1.75032650e-03 9.99854622e-01 2.23276977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5607140569999 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:298.36, Y:280.24, Z:2.23 [[-9.98243019e-01 5.67522010e-02 1.70312450e-02 2.98356991e+02] [-5.67742617e-02 -9.98386709e-01 -8.14222386e-04 2.80242607e+02] [ 1.69575597e-02 -1.77972817e-03 9.99854626e-01 2.23163547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5907140569999 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:298.37, Y:280.24, Z:2.23 [[-9.98246465e-01 5.66912018e-02 1.70324242e-02 2.98365483e+02] [-5.67126836e-02 -9.98390236e-01 -7.80486066e-04 2.80240826e+02] [ 1.69607593e-02 -1.74507194e-03 9.99854633e-01 2.23131832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.620714057 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:298.37, Y:280.24, Z:2.23 [[-9.98193320e-01 5.76195130e-02 1.70319829e-02 2.98365368e+02] [-5.76413426e-02 -9.98337041e-01 -7.93159089e-04 2.80239107e+02] [ 1.69579579e-02 -1.77347246e-03 9.99854631e-01 2.23210168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.650714057 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:298.41, Y:280.24, Z:2.23 [[-9.98626338e-01 4.95516842e-02 1.70313690e-02 2.98405685e+02] [-4.95726493e-02 -9.98770191e-01 -8.10746336e-04 2.80235588e+02] [ 1.69702498e-02 -1.65392273e-03 9.99854627e-01 2.22870389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6807140569999 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:298.37, Y:280.23, Z:2.23 [[-9.97790510e-01 6.42204415e-02 1.70244688e-02 2.98370641e+02] [-6.42468229e-02 -9.97933531e-01 -1.00668388e-03 2.80229098e+02] [ 1.69246386e-02 -2.09822766e-03 9.99854566e-01 2.23124028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7107140569999 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:298.37, Y:280.23, Z:2.23 [[-9.97831295e-01 6.35797223e-02 1.70389678e-02 2.98373420e+02] [-6.35988565e-02 -9.97975373e-01 -5.82915819e-04 2.80225479e+02] [ 1.69674086e-02 -1.66531051e-03 9.99854656e-01 2.23114908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7407140569999 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:298.41, Y:280.23, Z:2.23 [[-9.98543788e-01 5.11856466e-02 1.70391943e-02 2.98406407e+02] [-5.12028770e-02 -9.98688106e-01 -5.76216831e-04 2.80228600e+02] [ 1.69873467e-02 -1.44783351e-03 9.99854656e-01 2.22937531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.770714057 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:298.40, Y:280.23, Z:2.23 [[-9.98543430e-01 5.11949845e-02 1.70320672e-02 2.98401950e+02] [-5.12157323e-02 -9.98687306e-01 -7.83931271e-04 2.80226794e+02] [ 1.69695760e-02 -1.65509922e-03 9.99854637e-01 2.23263515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8007140569999 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:298.39, Y:280.22, Z:2.23 [[-9.98422715e-01 5.34990000e-02 1.70275796e-02 2.98394744e+02] [-5.35222963e-02 -9.98566235e-01 -9.15069562e-04 2.80223263e+02] [ 1.69542108e-02 -1.82498140e-03 9.99854602e-01 2.23349053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8307140569999 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:298.39, Y:280.22, Z:2.23 [[-9.98424975e-01 5.34547677e-02 1.70339794e-02 2.98386013e+02] [-5.34748382e-02 -9.98568934e-01 -7.24647219e-04 2.80221224e+02] [ 1.69708669e-02 -1.63439518e-03 9.99854649e-01 2.23488534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8607140569999 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:298.37, Y:280.22, Z:2.23 [[-9.98475828e-01 5.24975356e-02 1.70302709e-02 2.98371580e+02] [-5.25193508e-02 -9.98619557e-01 -8.35953250e-04 2.80218082e+02] [ 1.69628761e-02 -1.72909789e-03 9.99854625e-01 2.23420382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.890714057 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:298.41, Y:280.22, Z:2.23 [[-9.98622592e-01 4.96273090e-02 1.70308517e-02 2.98408321e+02] [-4.96484144e-02 -9.98766422e-01 -8.18422645e-04 2.80215949e+02] [ 1.69692267e-02 -1.66285013e-03 9.99854630e-01 2.23286493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9207140569999 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:298.38, Y:280.21, Z:2.23 [[-9.98668620e-01 4.86922672e-02 1.70308626e-02 2.98379588e+02] [-4.87132323e-02 -9.98812471e-01 -8.18093477e-04 2.80213038e+02] [ 1.69708031e-02 -1.64663265e-03 9.99854630e-01 2.23386171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9507140569999 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:298.41, Y:280.21, Z:2.23 [[-9.98707080e-01 4.78973836e-02 1.70296364e-02 2.98408171e+02] [-4.79188678e-02 -9.98850865e-01 -8.55538097e-04 2.80210333e+02] [ 1.69690890e-02 -1.67047285e-03 9.99854619e-01 2.23360119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9807140569999 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:298.40, Y:280.21, Z:2.23 [[-9.98735954e-01 4.72912825e-02 1.70302388e-02 2.98396957e+02] [-4.73123662e-02 -9.98879792e-01 -8.37025645e-04 2.80209415e+02] [ 1.69715774e-02 -1.64170850e-03 9.99854625e-01 2.23391789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.010714057 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:298.42, Y:280.21, Z:2.23 [[-9.98803009e-01 4.58532306e-02 1.70302770e-02 2.98417232e+02] [-4.58740871e-02 -9.98946880e-01 -8.35842649e-04 2.80205828e+02] [ 1.69740160e-02 -1.61609056e-03 9.99854625e-01 2.23319858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.040714057 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:298.41, Y:280.20, Z:2.23 [[-9.98859138e-01 4.46136094e-02 1.70308029e-02 2.98412896e+02] [-4.46340095e-02 -9.99003070e-01 -8.19428929e-04 2.80204774e+02] [ 1.69772667e-02 -1.57864709e-03 9.99854630e-01 2.23254046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0707140569999 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:298.38, Y:280.20, Z:2.24 [[-9.98817715e-01 4.55318693e-02 1.70300173e-02 2.98380312e+02] [-4.55528245e-02 -9.98961574e-01 -8.44409188e-04 2.80201520e+02] [ 1.69738853e-02 -1.61917624e-03 9.99854622e-01 2.23503910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1007140569999 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:298.39, Y:280.20, Z:2.23 [[-9.98803105e-01 4.58503945e-02 1.70322712e-02 2.98385823e+02] [-4.58701620e-02 -9.98947112e-01 -7.71539364e-04 2.80199408e+02] [ 1.69789627e-02 -1.55188895e-03 9.99854643e-01 2.23423848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.130714057 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:298.41, Y:280.20, Z:2.23 [[-9.98882029e-01 4.40969235e-02 1.70338946e-02 2.98412908e+02] [-4.41155423e-02 -9.99026177e-01 -7.18654304e-04 2.80196987e+02] [ 1.69856161e-02 -1.46931037e-03 9.99854654e-01 2.23479759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.160714057 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:298.39, Y:280.20, Z:2.24 [[-9.98769597e-01 4.65741016e-02 1.70336588e-02 2.98385011e+02] [-4.65932086e-02 -9.98913683e-01 -7.26377438e-04 2.80195169e+02] [ 1.69813244e-02 -1.51913652e-03 9.99854653e-01 2.23673068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1907140569999 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:298.42, Y:280.19, Z:2.24 [[-9.98881998e-01 4.40970406e-02 1.70354038e-02 2.98423026e+02] [-4.41148107e-02 -9.99026244e-01 -6.68576951e-04 2.80191735e+02] [ 1.69893332e-02 -1.41934310e-03 9.99854663e-01 2.23699367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2207140569999 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:298.43, Y:280.19, Z:2.24 [[-9.98881267e-01 4.41139957e-02 1.70343468e-02 2.98426222e+02] [-4.41323633e-02 -9.99025445e-01 -7.03682742e-04 2.80190849e+02] [ 1.69867037e-02 -1.45466149e-03 9.99854657e-01 2.23677176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.250714057 meters Centerline goodness : 0.995296 Centerline is valid? [True, True] Translation: X:298.44, Y:280.19, Z:2.23 [[-9.98886813e-01 4.39881712e-02 1.70345293e-02 2.98435568e+02] [-4.40064169e-02 -9.99031005e-01 -6.97566741e-04 2.80188794e+02] [ 1.69873382e-02 -1.44641882e-03 9.99854659e-01 2.23346400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.280714057 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:298.44, Y:280.19, Z:2.23 [[-9.98924753e-01 4.31180641e-02 1.70344093e-02 2.98444535e+02] [-4.31362526e-02 -9.99068952e-01 -7.01594629e-04 2.80188682e+02] [ 1.69882980e-02 -1.43564082e-03 9.99854658e-01 2.23473569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3107140569999 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:298.43, Y:280.19, Z:2.23 [[-9.98805626e-01 4.57948294e-02 1.70339278e-02 2.98427962e+02] [-4.58136798e-02 -9.98949744e-01 -7.17860351e-04 2.80187552e+02] [ 1.69831636e-02 -1.49738987e-03 9.99854654e-01 2.23430137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3407140569999 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:298.43, Y:280.19, Z:2.23 [[-9.98771408e-01 4.65343558e-02 1.70361197e-02 2.98427966e+02] [-4.65520441e-02 -9.98915659e-01 -6.42982814e-04 2.80185202e+02] [ 1.69877259e-02 -1.43525905e-03 9.99854668e-01 2.23284607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.370714057 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:298.42, Y:280.18, Z:2.23 [[-9.98668434e-01 4.86939813e-02 1.70368729e-02 2.98423101e+02] [-4.87115419e-02 -9.98812698e-01 -6.17040973e-04 2.80183633e+02] [ 1.69865988e-02 -1.44611169e-03 9.99854672e-01 2.23359746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.400714057 meters Centerline goodness : 0.995238 Centerline is valid? [True, True] Translation: X:298.43, Y:280.18, Z:2.23 [[-9.98663349e-01 4.87968622e-02 1.70405978e-02 2.98426316e+02] [-4.88122261e-02 -9.98807854e-01 -4.86600394e-04 2.80182835e+02] [ 1.69965384e-02 -1.31773949e-03 9.99854680e-01 2.23359920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4307140569999 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:298.43, Y:280.18, Z:2.23 [[-9.98666639e-01 4.87294184e-02 1.70407851e-02 2.98432839e+02] [-4.87446598e-02 -9.98811157e-01 -4.79952972e-04 2.80182100e+02] [ 1.69971384e-02 -1.30996029e-03 9.99854680e-01 2.23493053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4607140569999 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:298.43, Y:280.18, Z:2.24 [[-9.98673016e-01 4.85984971e-02 1.70409464e-02 2.98426899e+02] [-4.86136212e-02 -9.98817546e-01 -4.74153682e-04 2.80181916e+02] [ 1.69977531e-02 -1.30194660e-03 9.99854680e-01 2.23549984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4907140569999 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:298.43, Y:280.18, Z:2.24 [[-9.98696412e-01 4.81152491e-02 1.70411060e-02 2.98427025e+02] [-4.81302047e-02 -9.98840960e-01 -4.68347125e-04 2.80181279e+02] [ 1.69988200e-02 -1.28792851e-03 9.99854680e-01 2.23715550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.520714057 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:298.39, Y:280.18, Z:2.24 [[-9.98709063e-01 4.78518795e-02 1.70412641e-02 2.98393171e+02] [-4.78666982e-02 -9.98853626e-01 -4.62520641e-04 2.80181934e+02] [ 1.69995960e-02 -1.27763260e-03 9.99854680e-01 2.23754508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5507140569999 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:298.44, Y:280.18, Z:2.24 [[-9.98758498e-01 4.68086778e-02 1.70414450e-02 2.98441572e+02] [-4.68232307e-02 -9.98903087e-01 -4.55757296e-04 2.80180317e+02] [ 1.70014186e-02 -1.25312698e-03 9.99854680e-01 2.23683596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5807140569999 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:298.45, Y:280.18, Z:2.24 [[-9.98768687e-01 4.65907022e-02 1.70416225e-02 2.98445762e+02] [-4.66051091e-02 -9.98913291e-01 -4.49019412e-04 2.80180281e+02] [ 1.70021831e-02 -1.24269321e-03 9.99854680e-01 2.23626452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6107140569999 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:298.44, Y:280.18, Z:2.24 [[-9.98762786e-01 4.67169692e-02 1.70417944e-02 2.98438614e+02] [-4.67312821e-02 -9.98907399e-01 -4.42398515e-04 2.80180523e+02] [ 1.70025070e-02 -1.23823608e-03 9.99854680e-01 2.23727518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.640714057 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:298.45, Y:280.18, Z:2.24 [[-9.98760576e-01 4.67641249e-02 1.70419642e-02 2.98451806e+02] [-4.67783319e-02 -9.98905200e-01 -4.35757426e-04 2.80180422e+02] [ 1.70029289e-02 -1.23241200e-03 9.99854680e-01 2.23520327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6707140569999 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:298.40, Y:280.18, Z:2.24 [[-9.98765508e-01 4.66586078e-02 1.70421315e-02 2.98397378e+02] [-4.66726867e-02 -9.98910144e-01 -4.29116272e-04 2.80182486e+02] [ 1.70035360e-02 -1.22398859e-03 9.99854680e-01 2.23561647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7007140569999 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:298.46, Y:280.18, Z:2.23 [[-9.98763556e-01 4.67003124e-02 1.70422989e-02 2.98456676e+02] [-4.67142827e-02 -9.98908203e-01 -4.22359616e-04 2.80182228e+02] [ 1.70039678e-02 -1.21795616e-03 9.99854680e-01 2.23476419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7307140569999 meters Centerline goodness : 0.993265 Centerline is valid? [True, True] Translation: X:298.46, Y:280.18, Z:2.23 [[-9.98781959e-01 4.63050019e-02 1.70424637e-02 2.98456894e+02] [-4.63188002e-02 -9.98926622e-01 -4.15600554e-04 2.80183158e+02] [ 1.70049263e-02 -1.20448081e-03 9.99854680e-01 2.23404314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.760714057 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:298.47, Y:280.19, Z:2.23 [[-9.99050290e-01 4.01007077e-02 1.70426227e-02 2.98472927e+02] [-4.01134947e-02 -9.99195046e-01 -4.08977087e-04 2.80186085e+02] [ 1.70125039e-02 -1.09222783e-03 9.99854680e-01 2.23230685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.790714057 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:298.50, Y:280.19, Z:2.23 [[-9.99328857e-01 3.24252355e-02 1.70422994e-02 2.98500039e+02] [-3.24371408e-02 -9.99473688e-01 -4.22539789e-04 2.80187208e+02] [ 1.70196289e-02 -9.75059670e-04 9.99854680e-01 2.23441174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8207140569999 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:298.47, Y:280.19, Z:2.23 [[-9.99244102e-01 3.49427658e-02 1.70360915e-02 2.98470679e+02] [-3.49594016e-02 -9.99388502e-01 -6.79585476e-04 2.80186422e+02] [ 1.70019273e-02 -1.27464334e-03 9.99854644e-01 2.23394297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8507140569999 meters Centerline goodness : 0.993291 Centerline is valid? [True, True] Translation: X:298.48, Y:280.19, Z:2.24 [[-9.99436390e-01 2.89237140e-02 1.70387888e-02 2.98477828e+02] [-2.89375426e-02 -9.99581062e-01 -5.65556025e-04 2.80186758e+02] [ 1.70152926e-02 -1.05829795e-03 9.99854669e-01 2.23731585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.880714057 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:298.50, Y:280.19, Z:2.24 [[-9.99576024e-01 2.36110841e-02 1.70378539e-02 2.98496753e+02] [-2.36248202e-02 -9.99720712e-01 -6.05361980e-04 2.80187673e+02] [ 1.70188022e-02 -1.00762156e-03 9.99854662e-01 2.23847657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.910714057 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:298.50, Y:280.19, Z:2.24 [[-9.99684983e-01 1.84307816e-02 1.70364415e-02 2.98496508e+02] [-1.84447886e-02 -9.99829659e-01 -6.65400301e-04 2.80188451e+02] [ 1.70212756e-02 -9.79424250e-04 9.99854648e-01 2.23829016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9407140569999 meters Centerline goodness : 0.993122 Centerline is valid? [True, True] Translation: X:298.48, Y:280.19, Z:2.24 [[-9.99641216e-01 2.06674635e-02 1.70380548e-02 2.98475316e+02] [-2.06806042e-02 -9.99785956e-01 -5.95409690e-04 2.80187325e+02] [ 1.70221023e-02 -9.47553335e-04 9.99854665e-01 2.23796396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9707140569999 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:298.49, Y:280.19, Z:2.24 [[-9.99706599e-01 1.72121182e-02 1.70428435e-02 2.98490923e+02] [-1.72211190e-02 -9.99851633e-01 -3.81495193e-04 2.80188025e+02] [ 1.70337486e-02 -6.74880098e-04 9.99854687e-01 2.23765485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.000714057 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:298.49, Y:280.19, Z:2.24 [[-9.99788634e-01 1.14988945e-02 1.70429879e-02 2.98494704e+02] [-1.15069545e-02 -9.99933723e-01 -3.74930259e-04 2.80190026e+02] [ 1.70375471e-02 -5.70963898e-04 9.99854687e-01 2.23603821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.030714057 meters Centerline goodness : 0.992074 Centerline is valid? [True, True] Translation: X:298.50, Y:280.19, Z:2.24 [[-9.99813675e-01 9.06347089e-03 1.70431291e-02 2.98496370e+02] [-9.07106619e-03 -9.99958789e-01 -3.68398093e-04 2.80191193e+02] [ 1.70390878e-02 -5.22928803e-04 9.99854687e-01 2.23775308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0607140569999 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:298.51, Y:280.19, Z:2.24 [[-9.99842733e-01 4.90267256e-03 1.70432678e-02 2.98507253e+02] [-4.90955264e-03 -9.99987883e-01 -3.61865872e-04 2.80193825e+02] [ 1.70412872e-02 -4.45483783e-04 9.99854687e-01 2.23666239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0907140569999 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:298.51, Y:280.19, Z:2.24 [[-9.99840789e-01 5.28384810e-03 1.70434037e-02 2.98509928e+02] [-5.29067253e-03 -9.99985941e-01 -3.55350896e-04 2.80193841e+02] [ 1.70412864e-02 -4.45465388e-04 9.99854688e-01 2.23661951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.120714057 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:298.51, Y:280.20, Z:2.24 [[-9.99845180e-01 4.37423613e-03 1.70435366e-02 2.98513620e+02] [-4.38081784e-03 -9.99990343e-01 -3.48854237e-04 2.80195499e+02] [ 1.70418461e-02 -4.23464857e-04 9.99854688e-01 2.23722580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.150714057 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:298.52, Y:280.20, Z:2.24 [[-9.99848511e-01 3.53111408e-03 1.70436671e-02 2.98516349e+02] [-3.53746275e-03 -9.99993685e-01 -3.42360692e-04 2.80197807e+02] [ 1.70423505e-02 -4.02600165e-04 9.99854688e-01 2.23713529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1807140569999 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] Translation: X:298.54, Y:280.21, Z:2.23 [[-9.99716184e-01 -1.66451256e-02 1.70437950e-02 2.98538723e+02] [ 1.66418183e-02 -9.99861459e-01 -3.35869259e-04 2.80211168e+02] [ 1.70470243e-02 -5.21341937e-05 9.99854688e-01 2.23136653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2107140569999 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:298.52, Y:280.21, Z:2.23 [[-9.99750390e-01 -1.44586990e-02 1.70324191e-02 2.98522761e+02] [ 1.44458780e-02 -9.99895270e-01 -8.75542810e-04 2.80214077e+02] [ 1.70432945e-02 -6.29276018e-04 9.99854554e-01 2.23248430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2407140569999 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:298.52, Y:280.22, Z:2.23 [[-9.99800464e-01 -1.04356027e-02 1.70332127e-02 2.98524635e+02] [ 1.04228573e-02 -9.99945330e-01 -8.36875885e-04 2.80218988e+02] [ 1.70410148e-02 -6.59174154e-04 9.99854574e-01 2.23383161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.270714057 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:298.52, Y:280.22, Z:2.23 [[-9.99788901e-01 -1.14874990e-02 1.70349942e-02 2.98520456e+02] [ 1.14764280e-02 -9.99933864e-01 -7.47515959e-04 2.80222754e+02] [ 1.70424547e-02 -5.51857276e-04 9.99854615e-01 2.23260514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3007140569999 meters Centerline goodness : 0.993023 Centerline is valid? [True, True] Translation: X:298.53, Y:280.22, Z:2.24 [[-9.99841046e-01 5.26395882e-03 1.70344943e-02 2.98528452e+02] [-5.27789254e-03 -9.99985773e-01 -7.73117657e-04 2.80220301e+02] [ 1.70301823e-02 -8.62900997e-04 9.99854604e-01 2.23628565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3307140569999 meters Centerline goodness : 0.992650 Centerline is valid? [True, True] Translation: X:298.53, Y:280.22, Z:2.24 [[-9.99835342e-01 6.23113230e-03 1.70429274e-02 2.98528976e+02] [-6.23733539e-03 -9.99980499e-01 -3.10837680e-04 2.80223080e+02] [ 1.70406582e-02 -4.17088953e-04 9.99854710e-01 2.23614777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3607140569999 meters Centerline goodness : 0.992553 Centerline is valid? [True, True] Translation: X:298.52, Y:280.24, Z:2.23 [[-9.99827198e-01 -7.42347502e-03 1.70430435e-02 2.98518446e+02] [ 7.41936561e-03 -9.99972430e-01 -3.04336878e-04 2.80238700e+02] [ 1.70448329e-02 -1.77835717e-04 9.99854710e-01 2.23223281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.390714057 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:298.52, Y:280.24, Z:2.23 [[-9.99833239e-01 -6.57943035e-03 1.70354302e-02 2.98519746e+02] [ 6.56817083e-03 -9.99978172e-01 -7.16813464e-04 2.80242606e+02] [ 1.70397746e-02 -6.04802311e-04 9.99854630e-01 2.23216145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4207140569999 meters Centerline goodness : 0.992890 Centerline is valid? [True, True] Translation: X:298.52, Y:280.25, Z:2.23 [[-9.99824803e-01 -7.75511559e-03 1.70358968e-02 2.98521545e+02] [ 7.74446460e-03 -9.99969772e-01 -6.91091955e-04 2.80247074e+02] [ 1.70407414e-02 -5.59036978e-04 9.99854640e-01 2.23104693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4507140569999 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:298.53, Y:280.25, Z:2.23 [[-9.99822565e-01 -8.03816521e-03 1.70360329e-02 2.98527090e+02] [ 8.02768467e-03 -9.99967544e-01 -6.83494904e-04 2.80254849e+02] [ 1.70409740e-02 -5.46613728e-04 9.99854643e-01 2.23035829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4807140569999 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:298.53, Y:280.26, Z:2.23 [[-9.99837788e-01 -5.84911776e-03 1.70348566e-02 2.98532096e+02] [ 5.83719841e-03 -9.99982683e-01 -7.49341602e-04 2.80257309e+02] [ 1.70389446e-02 -6.49784212e-04 9.99854616e-01 2.23018473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.510714057 meters Centerline goodness : 0.991763 Centerline is valid? [True, True] Translation: X:298.56, Y:280.26, Z:2.24 [[-9.99838867e-01 -5.65697792e-03 1.70363676e-02 2.98562333e+02] [ 5.64648005e-03 -9.99983838e-01 -6.64242212e-04 2.80262707e+02] [ 1.70398499e-02 -5.67939671e-04 9.99854650e-01 2.23683973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.540714057 meters Centerline goodness : 0.991171 Centerline is valid? [True, True] Translation: X:298.56, Y:280.27, Z:2.24 [[-9.99838605e-01 -5.69651989e-03 1.70386020e-02 2.98557805e+02] [ 5.68821913e-03 -9.99983679e-01 -5.35597702e-04 2.80266345e+02] [ 1.70413750e-02 -4.38591957e-04 9.99854689e-01 2.23615106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5707140569999 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:298.56, Y:280.27, Z:2.23 [[-9.99847212e-01 -3.90203645e-03 1.70389702e-02 2.98560391e+02] [ 3.89384317e-03 -9.99992287e-01 -5.14005151e-04 2.80268820e+02] [ 1.70408445e-02 -4.47579540e-04 9.99854694e-01 2.23484434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6007140569999 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:298.57, Y:280.28, Z:2.23 [[-9.99815058e-01 -8.91620437e-03 1.70397083e-02 2.98565332e+02] [ 8.90949157e-03 -9.99960199e-01 -4.69824057e-04 2.80278448e+02] [ 1.70432192e-02 -3.17922029e-04 9.99854703e-01 2.22742007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.630714057 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:298.57, Y:280.28, Z:2.23 [[-9.99816599e-01 -8.74893605e-03 1.70359986e-02 2.98570362e+02] [ 8.73848717e-03 -9.99961582e-01 -6.87686234e-04 2.80282297e+02] [ 1.70413607e-02 -5.38691256e-04 9.99854640e-01 2.22771717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.660714057 meters Centerline goodness : 0.990450 Centerline is valid? [True, True] Translation: X:298.56, Y:280.29, Z:2.24 [[-9.99795802e-01 -1.08679394e-02 1.70364744e-02 2.98561936e+02] [ 1.08582845e-02 -9.99940830e-01 -6.59115585e-04 2.80290645e+02] [ 1.70426296e-02 -4.73994108e-04 9.99854652e-01 2.23535118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6907140569999 meters Centerline goodness : 0.990979 Centerline is valid? [True, True] Translation: X:298.56, Y:280.30, Z:2.23 [[-9.99758178e-01 -1.39033858e-02 1.70376778e-02 2.98564216e+02] [ 1.38954261e-02 -9.99903283e-01 -5.85483194e-04 2.80295283e+02] [ 1.70441702e-02 -3.48595819e-04 9.99854677e-01 2.23453366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7207140569999 meters Centerline goodness : 0.992441 Centerline is valid? [True, True] Translation: X:298.55, Y:280.29, Z:2.23 [[-9.99806747e-01 9.81098062e-03 1.70356304e-02 2.98554866e+02] [-9.82453436e-03 -9.99951485e-01 -7.12102218e-04 2.80287481e+02] [ 1.70278174e-02 -8.79331738e-04 9.99854630e-01 2.23480887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.750714057 meters Centerline goodness : 0.990227 Centerline is valid? [True, True] Translation: X:298.60, Y:280.30, Z:2.24 [[-9.99829431e-01 -7.11784086e-03 1.70424677e-02 2.98597360e+02] [ 7.11453369e-03 -9.99974659e-01 -2.54676393e-04 2.80303536e+02] [ 1.70438486e-02 -1.33383742e-04 9.99854734e-01 2.23599031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.780714057 meters Centerline goodness : 0.990538 Centerline is valid? [True, True] Translation: X:298.61, Y:280.31, Z:2.23 [[-9.99846815e-01 -4.01659088e-03 1.70356533e-02 2.98605788e+02] [ 4.00562817e-03 -9.99991748e-01 -6.77588846e-04 2.80306290e+02] [ 1.70382343e-02 -6.09246557e-04 9.99854653e-01 2.23305088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8107140569999 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:298.55, Y:280.31, Z:2.24 [[-9.99663780e-01 1.95470747e-02 1.70363717e-02 2.98553806e+02] [-1.95606528e-02 -9.99808473e-01 -6.30725513e-04 2.80305423e+02] [ 1.70207800e-02 -9.63756003e-04 9.99854672e-01 2.23554263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8407140569999 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:298.62, Y:280.31, Z:2.23 [[-9.99849370e-01 3.27768160e-03 1.70438888e-02 2.98619203e+02] [-3.27971624e-03 -9.99994618e-01 -9.14261927e-05 2.80314987e+02] [ 1.70434974e-02 -1.47311540e-04 9.99854738e-01 2.23298287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.870714057 meters Centerline goodness : 0.988068 Centerline is valid? [True, True] Translation: X:298.58, Y:280.32, Z:2.24 [[-9.99786799e-01 1.16673644e-02 1.70360962e-02 2.98575348e+02] [-1.16794916e-02 -9.99931605e-01 -6.12531587e-04 2.80320946e+02] [ 1.70277843e-02 -8.11373937e-04 9.99854688e-01 2.23615634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.900714057 meters Centerline goodness : 0.988852 Centerline is valid? [True, True] Translation: X:298.59, Y:280.32, Z:2.23 [[-9.99805425e-01 9.93753282e-03 1.70399086e-02 2.98592047e+02] [-9.94484632e-03 -9.99950490e-01 -3.44514468e-04 2.80323793e+02] [ 1.70356413e-02 -5.13906706e-04 9.99854751e-01 2.23454036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9307140569999 meters Centerline goodness : 0.983386 Centerline is valid? [True, True] Translation: X:297.68, Y:280.33, Z:2.25 [[-9.99306094e-01 3.31203442e-02 1.70403205e-02 2.97675045e+02] [-3.31303207e-02 -9.99450994e-01 -3.03423637e-04 2.80328132e+02] [ 1.70209158e-02 -8.67764373e-04 9.99854757e-01 2.25222902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9607140569999 meters Centerline goodness : 0.988390 Centerline is valid? [True, True] Translation: X:298.57, Y:280.33, Z:2.23 [[-9.99801837e-01 1.02849105e-02 1.70442567e-02 2.98566789e+02] [-1.02841248e-02 -9.99947108e-01 1.33747594e-04 2.80331285e+02] [ 1.70447308e-02 -4.15641743e-05 9.99854727e-01 2.23381002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9907140569999 meters Centerline goodness : 0.989829 Centerline is valid? [True, True] Translation: X:298.56, Y:280.34, Z:2.23 [[-9.99807205e-01 9.76602464e-03 1.70345766e-02 2.98564802e+02] [-9.77516114e-03 -9.99952119e-01 -4.53167007e-04 2.80337159e+02] [ 1.70293353e-02 -6.19595370e-04 9.99854798e-01 2.22902334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.020714057 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:298.57, Y:280.34, Z:2.23 [[-9.99805626e-01 9.93447128e-03 1.70298775e-02 2.98571794e+02] [-9.94831020e-03 -9.99950249e-01 -7.28101599e-04 2.80339722e+02] [ 1.70217970e-02 -8.97378579e-04 9.99854716e-01 2.22871311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0507140569999 meters Centerline goodness : 0.989865 Centerline is valid? [True, True] Translation: X:298.56, Y:280.34, Z:2.23 [[-9.99744954e-01 1.48324194e-02 1.70301594e-02 2.98560595e+02] [-1.48466772e-02 -9.99889529e-01 -7.11078862e-04 2.80341086e+02] [ 1.70177310e-02 -9.63738783e-04 9.99854723e-01 2.23075640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0807140569999 meters Centerline goodness : 0.989515 Centerline is valid? [True, True] Translation: X:298.57, Y:280.35, Z:2.23 [[-9.99771962e-01 1.28783214e-02 1.70344713e-02 2.98570636e+02] [-1.28876062e-02 -9.99916857e-01 -4.35394378e-04 2.80345875e+02] [ 1.70274479e-02 -6.54828650e-04 9.99854808e-01 2.22938242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1107140569999 meters Centerline goodness : 0.987829 Centerline is valid? [True, True] Translation: X:298.57, Y:280.35, Z:2.23 [[-9.99759876e-01 1.37874853e-02 1.70322105e-02 2.98565687e+02] [-1.37993519e-02 -9.99904617e-01 -5.79378156e-04 2.80349008e+02] [ 1.70225978e-02 -8.14272500e-04 9.99854774e-01 2.23200045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.140714057 meters Centerline goodness : 0.987997 Centerline is valid? [True, True] Translation: X:298.56, Y:280.35, Z:2.23 [[-9.99678440e-01 1.87856520e-02 1.70327684e-02 2.98559184e+02] [-1.87976235e-02 -9.99823162e-01 -5.43008478e-04 2.80350848e+02] [ 1.70195556e-02 -8.63009436e-04 9.99854784e-01 2.23022099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1707140569999 meters Centerline goodness : 0.988332 Centerline is valid? [True, True] Translation: X:298.56, Y:280.35, Z:2.23 [[-9.99669086e-01 1.92756969e-02 1.70342553e-02 2.98562355e+02] [-1.92860416e-02 -9.99813909e-01 -4.43206675e-04 2.80352443e+02] [ 1.70225422e-02 -7.71583368e-04 9.99854808e-01 2.23016718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2007140569999 meters Centerline goodness : 0.988314 Centerline is valid? [True, True] Translation: X:298.57, Y:280.35, Z:2.23 [[-9.99707020e-01 1.71956959e-02 1.70347396e-02 2.98567765e+02] [-1.72051791e-02 -9.99851896e-01 -4.10291080e-04 2.80354733e+02] [ 1.70251615e-02 -7.03256620e-04 9.99854814e-01 2.22941083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2307140569999 meters Centerline goodness : 0.989728 Centerline is valid? [True, True] Translation: X:298.55, Y:280.35, Z:2.23 [[-9.99284137e-01 3.37797146e-02 1.70336310e-02 2.98545774e+02] [-3.37928907e-02 -9.99428739e-01 -4.86218973e-04 2.80348089e+02] [ 1.70074760e-02 -1.06148654e-03 9.99854799e-01 2.22858685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.260714057 meters Centerline goodness : 0.989031 Centerline is valid? [True, True] Translation: X:298.57, Y:280.36, Z:2.23 [[-9.99689408e-01 1.81886049e-02 1.70370978e-02 2.98567420e+02] [-1.81952686e-02 -9.99834425e-01 -2.36192168e-04 2.80358422e+02] [ 1.70299808e-02 -5.46113380e-04 9.99854830e-01 2.22763838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.290714057 meters Centerline goodness : 0.988373 Centerline is valid? [True, True] Translation: X:298.57, Y:280.36, Z:2.23 [[-9.99655646e-01 1.99638279e-02 1.70304022e-02 2.98566301e+02] [-1.99783567e-02 -9.99800179e-01 -6.83387786e-04 2.80361570e+02] [ 1.70133561e-02 -1.02339191e-03 9.99854739e-01 2.22796872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3207140569999 meters Centerline goodness : 0.988187 Centerline is valid? [True, True] Translation: X:298.57, Y:280.36, Z:2.23 [[-9.99578986e-01 2.34904272e-02 1.70308933e-02 2.98569953e+02] [-2.35048966e-02 -9.99723511e-01 -6.49897452e-04 2.80361485e+02] [ 1.70109181e-02 -1.04993322e-03 9.99854753e-01 2.22850001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3507140569999 meters Centerline goodness : 0.988538 Centerline is valid? [True, True] Translation: X:298.57, Y:280.36, Z:2.23 [[-9.99560258e-01 2.42736496e-02 1.70317841e-02 2.98572987e+02] [-2.42871787e-02 -9.99704850e-01 -5.87918543e-04 2.80362342e+02] [ 1.70124863e-02 -1.00131400e-03 9.99854776e-01 2.22831897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.380714057 meters Centerline goodness : 0.985372 Centerline is valid? [True, True] Translation: X:298.57, Y:280.37, Z:2.23 [[-9.99550536e-01 2.46707740e-02 1.70317278e-02 2.98568165e+02] [-2.46844281e-02 -9.99695118e-01 -5.91898387e-04 2.80366873e+02] [ 1.70119325e-02 -1.01205081e-03 9.99854774e-01 2.23314390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.410714057 meters Centerline goodness : 0.984718 Centerline is valid? [True, True] Translation: X:298.58, Y:280.37, Z:2.23 [[-9.99575066e-01 2.36541938e-02 1.70342859e-02 2.98577589e+02] [-2.36645113e-02 -9.99719875e-01 -4.04348330e-04 2.80367922e+02] [ 1.70199497e-02 -8.07284560e-04 9.99854824e-01 2.23293266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4407140569999 meters Centerline goodness : 0.984988 Centerline is valid? [True, True] Translation: X:298.58, Y:280.37, Z:2.23 [[-9.99617435e-01 2.17908295e-02 1.70335935e-02 2.98582342e+02] [-2.18017393e-02 -9.99762210e-01 -4.55036317e-04 2.80368744e+02] [ 1.70196275e-02 -8.26224201e-04 9.99854814e-01 2.23331665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4707140569999 meters Centerline goodness : 0.987484 Centerline is valid? [True, True] Translation: X:298.58, Y:280.37, Z:2.23 [[-9.99615438e-01 2.18831633e-02 1.70323971e-02 2.98582810e+02] [-2.18955676e-02 -9.99760116e-01 -5.42114922e-04 2.80368854e+02] [ 1.70164481e-02 -9.14840446e-04 9.99854791e-01 2.22736214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.500714057 meters Centerline goodness : 0.985488 Centerline is valid? [True, True] Translation: X:298.57, Y:280.37, Z:2.23 [[-9.99457992e-01 2.81723261e-02 1.70306590e-02 2.98571587e+02] [-2.81878076e-02 -9.99602421e-01 -6.69631360e-04 2.80366962e+02] [ 1.70050229e-02 -1.14932535e-03 9.99854744e-01 2.23190569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.530714057 meters Centerline goodness : 0.988226 Centerline is valid? [True, True] Translation: X:298.58, Y:280.37, Z:2.23 [[-9.99579400e-01 2.34692936e-02 1.70356873e-02 2.98576615e+02] [-2.34772660e-02 -9.99724335e-01 -2.68117986e-04 2.80367544e+02] [ 1.70246987e-02 -6.67956580e-04 9.99854846e-01 2.22736596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5607140569999 meters Centerline goodness : 0.987980 Centerline is valid? [True, True] Translation: X:298.59, Y:280.37, Z:2.23 [[-9.99684320e-01 1.84721711e-02 1.70305271e-02 2.98585093e+02] [-1.84860058e-02 -9.99828905e-01 -6.55268707e-04 2.80369662e+02] [ 1.70155090e-02 -9.69888274e-04 9.99854755e-01 2.22550634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5907140569999 meters Centerline goodness : 0.988052 Centerline is valid? [True, True] Translation: X:298.59, Y:280.37, Z:2.23 [[-9.99688475e-01 1.82470341e-02 1.70293553e-02 2.98588601e+02] [-1.82623114e-02 -9.99832955e-01 -7.42023810e-04 2.80369806e+02] [ 1.70129709e-02 -1.05278804e-03 9.99854715e-01 2.22545357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.620714057 meters Centerline goodness : 0.985817 Centerline is valid? [True, True] Translation: X:298.58, Y:280.37, Z:2.23 [[-9.99635325e-01 2.09577532e-02 1.70290713e-02 2.98579666e+02] [-2.09737906e-02 -9.99779734e-01 -7.63698357e-04 2.80369239e+02] [ 1.70093150e-02 -1.12058403e-03 9.99854703e-01 2.23257707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.650714057 meters Centerline goodness : 0.985229 Centerline is valid? [True, True] Translation: X:298.58, Y:280.37, Z:2.23 [[-9.99597588e-01 2.26850137e-02 1.70309171e-02 2.98580985e+02] [-2.26987826e-02 -9.99742160e-01 -6.15574503e-04 2.80368803e+02] [ 1.70125615e-02 -1.00190787e-03 9.99854774e-01 2.23119953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6807140569999 meters Centerline goodness : 0.984328 Centerline is valid? [True, True] Translation: X:298.58, Y:280.37, Z:2.23 [[-9.99483481e-01 2.72522885e-02 1.70318451e-02 2.98581472e+02] [-2.72653897e-02 -9.99628086e-01 -5.37446111e-04 2.80367611e+02] [ 1.70108641e-02 -1.00154840e-03 9.99854803e-01 2.23360688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7107140569999 meters Centerline goodness : 0.985298 Centerline is valid? [True, True] Translation: X:298.58, Y:280.37, Z:2.23 [[-9.99544070e-01 2.49307425e-02 1.70326074e-02 2.98582616e+02] [-2.49423894e-02 -9.99688779e-01 -4.71675791e-04 2.80367720e+02] [ 1.70155473e-02 -8.96294666e-04 9.99854823e-01 2.23246799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7407140569999 meters Centerline goodness : 0.984749 Centerline is valid? [True, True] Translation: X:298.58, Y:280.37, Z:2.23 [[-9.99459396e-01 2.81217644e-02 1.70318102e-02 2.98579234e+02] [-2.81350615e-02 -9.99603984e-01 -5.41568022e-04 2.80366135e+02] [ 1.70098355e-02 -1.02046627e-03 9.99854802e-01 2.23279019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.770714057 meters Centerline goodness : 0.985466 Centerline is valid? [True, True] Translation: X:298.58, Y:280.36, Z:2.23 [[-9.99459124e-01 2.81307273e-02 1.70329773e-02 2.98580297e+02] [-2.81422202e-02 -9.99603835e-01 -4.35380562e-04 2.80363633e+02] [ 1.70139819e-02 -9.14490872e-04 9.99854834e-01 2.23016151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8007140569999 meters Centerline goodness : 0.985294 Centerline is valid? [True, True] Translation: X:298.59, Y:280.36, Z:2.23 [[-9.99489723e-01 2.70213239e-02 1.70335244e-02 2.98590881e+02] [-2.70317954e-02 -9.99634500e-01 -3.84774879e-04 2.80359867e+02] [ 1.70169015e-02 -8.45025282e-04 9.99854845e-01 2.23143111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8307140569999 meters Centerline goodness : 0.988778 Centerline is valid? [True, True] Translation: X:298.59, Y:280.36, Z:2.23 [[-9.99553850e-01 2.45345958e-02 1.70339351e-02 2.98591858e+02] [-2.45440371e-02 -9.99698690e-01 -3.45400621e-04 2.80357712e+02] [ 1.70203284e-02 -7.63328056e-04 9.99854852e-01 2.22696935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8607140569999 meters Centerline goodness : 0.987098 Centerline is valid? [True, True] Translation: X:298.60, Y:280.36, Z:2.23 [[-9.99552597e-01 2.45872380e-02 1.70315771e-02 2.98596191e+02] [-2.46004409e-02 -9.99697203e-01 -5.66099133e-04 2.80355855e+02] [ 1.70125012e-02 -9.84830164e-04 9.99854792e-01 2.23017640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.890714057 meters Centerline goodness : 0.990131 Centerline is valid? [True, True] Translation: X:298.59, Y:280.35, Z:2.23 [[-9.99209442e-01 3.59213824e-02 1.70336791e-02 2.98587710e+02] [-3.59326199e-02 -9.99354152e-01 -3.54027673e-04 2.80346002e+02] [ 1.70099607e-02 -9.65812509e-04 9.99854854e-01 2.22865350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9207140569999 meters Centerline goodness : 0.989715 Centerline is valid? [True, True] Translation: X:298.59, Y:280.34, Z:2.23 [[-9.99329905e-01 3.23965056e-02 1.70354924e-02 2.98593487e+02] [-3.24038608e-02 -9.99474845e-01 -1.55835473e-04 2.80343015e+02] [ 1.70214976e-02 -7.07746774e-04 9.99854873e-01 2.22866266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9507140569999 meters Centerline goodness : 0.986996 Centerline is valid? [True, True] Translation: X:298.61, Y:280.35, Z:2.23 [[-9.99771387e-01 1.29214797e-02 1.70355502e-02 2.98610325e+02] [-1.29258975e-02 -9.99916446e-01 -1.49241466e-04 2.80350338e+02] [ 1.70321984e-02 -3.69407124e-04 9.99854873e-01 2.23011387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9807140569999 meters Centerline goodness : 0.986709 Centerline is valid? [True, True] Translation: X:298.62, Y:280.35, Z:2.23 [[-9.99772589e-01 1.28321860e-02 1.70324888e-02 2.98616256e+02] [-1.28420915e-02 -9.99917425e-01 -4.72317987e-04 2.80349588e+02] [ 1.70250214e-02 -6.90943357e-04 9.99854825e-01 2.23167056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.010714057 meters Centerline goodness : 0.986709 Centerline is valid? [True, True] Translation: X:298.62, Y:280.35, Z:2.23 [[-9.99767943e-01 1.31882855e-02 1.70332105e-02 2.98618865e+02] [-1.31969148e-02 -9.99912839e-01 -3.94308422e-04 2.80349615e+02] [ 1.70265256e-02 -6.19002748e-04 9.99854847e-01 2.23164645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.040714057 meters Centerline goodness : 0.986377 Centerline is valid? [True, True] Translation: X:298.62, Y:280.35, Z:2.23 [[-9.99780999e-01 1.21581999e-02 1.70332533e-02 2.98621484e+02] [-1.21665978e-02 -9.99925908e-01 -3.89489162e-04 2.80349743e+02] [ 1.70272558e-02 -5.96640606e-04 9.99854848e-01 2.23265038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0707140569999 meters Centerline goodness : 0.988886 Centerline is valid? [True, True] Translation: X:298.62, Y:280.35, Z:2.23 [[-9.99788305e-01 1.15420852e-02 1.70330625e-02 2.98622281e+02] [-1.15507640e-02 -9.99933203e-01 -4.11228345e-04 2.80347703e+02] [ 1.70271783e-02 -6.07886175e-04 9.99854842e-01 2.22539253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1007140569999 meters Centerline goodness : 0.986246 Centerline is valid? [True, True] Translation: X:298.63, Y:280.35, Z:2.23 [[-9.99791197e-01 1.12923377e-02 1.70307182e-02 2.98625490e+02] [-1.13053363e-02 -9.99935870e-01 -6.67158713e-04 2.80348960e+02] [ 1.70220922e-02 -8.59557405e-04 9.99854744e-01 2.23224841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.130714057 meters Centerline goodness : 0.987721 Centerline is valid? [True, True] Translation: X:298.63, Y:280.35, Z:2.23 [[-9.99666031e-01 1.94348638e-02 1.70327142e-02 2.98629962e+02] [-1.94450908e-02 -9.99810832e-01 -4.35009057e-04 2.80345328e+02] [ 1.70210378e-02 -7.66066451e-04 9.99854838e-01 2.22710105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.160714057 meters Centerline goodness : 0.986986 Centerline is valid? [True, True] Translation: X:298.63, Y:280.35, Z:2.23 [[-9.99676579e-01 1.88839862e-02 1.70332801e-02 2.98629455e+02] [-1.88929862e-02 -9.99821444e-01 -3.67602474e-04 2.80346883e+02] [ 1.70232969e-02 -6.89293109e-04 9.99854856e-01 2.23232372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1907140569999 meters Centerline goodness : 0.989665 Centerline is valid? [True, True] Translation: X:298.65, Y:280.34, Z:2.23 [[-9.99604581e-01 2.23734781e-02 1.70325923e-02 2.98645272e+02] [-2.23843482e-02 -9.99749339e-01 -4.47792656e-04 2.80344818e+02] [ 1.70183042e-02 -8.28879068e-04 9.99854835e-01 2.22669496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2207140569999 meters Centerline goodness : 0.988272 Centerline is valid? [True, True] Translation: X:298.64, Y:280.34, Z:2.23 [[-9.99508142e-01 2.63323433e-02 1.70317876e-02 2.98644609e+02] [-2.63453535e-02 -9.99652755e-01 -5.39921710e-04 2.80344443e+02] [ 1.70116560e-02 -9.88364611e-04 9.99854803e-01 2.22885374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.250714057 meters Centerline goodness : 0.989270 Centerline is valid? [True, True] Translation: X:298.63, Y:280.34, Z:2.23 [[-9.99340108e-01 3.20817402e-02 1.70326385e-02 2.98634460e+02] [-3.20938184e-02 -9.99484766e-01 -4.36188112e-04 2.80344788e+02] [ 1.70098690e-02 -9.82542682e-04 9.99854839e-01 2.22980363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.280714057 meters Centerline goodness : 0.987474 Centerline is valid? [True, True] Translation: X:298.64, Y:280.34, Z:2.23 [[-9.99113665e-01 3.84938813e-02 1.70324834e-02 2.98635553e+02] [-3.85072221e-02 -9.99258218e-01 -4.55867773e-04 2.80343109e+02] [ 1.70023008e-02 -1.11133734e-03 9.99854833e-01 2.23364835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3107140569999 meters Centerline goodness : 0.987438 Centerline is valid? [True, True] Translation: X:298.63, Y:280.34, Z:2.23 [[-9.98989255e-01 4.15971968e-02 1.70335312e-02 2.98633563e+02] [-4.16085523e-02 -9.99133940e-01 -3.12650896e-04 2.80343776e+02] [ 1.70057737e-02 -1.02107546e-03 9.99854870e-01 2.23253394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3407140569999 meters Centerline goodness : 0.988290 Centerline is valid? [True, True] Translation: X:298.64, Y:280.34, Z:2.23 [[-9.98929830e-01 4.30005609e-02 1.70336943e-02 2.98635882e+02] [-4.30117254e-02 -9.99074526e-01 -2.89459444e-04 2.80343356e+02] [ 1.70054831e-02 -1.02179826e-03 9.99854874e-01 2.23291642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.370714057 meters Centerline goodness : 0.988650 Centerline is valid? [True, True] Translation: X:298.63, Y:280.34, Z:2.23 [[-9.98867357e-01 4.44281473e-02 1.70336017e-02 2.98631264e+02] [-4.44397487e-02 -9.99012020e-01 -3.02994556e-04 2.80343000e+02] [ 1.70033114e-02 -1.05962035e-03 9.99854872e-01 2.23370477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.400714057 meters Centerline goodness : 0.988043 Centerline is valid? [True, True] Translation: X:298.63, Y:280.34, Z:2.23 [[-9.98906469e-01 4.35398865e-02 1.70336478e-02 2.98628018e+02] [-4.35512370e-02 -9.99051151e-01 -2.95803376e-04 2.80341970e+02] [ 1.70046062e-02 -1.03731634e-03 9.99854873e-01 2.23187582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4307140569999 meters Centerline goodness : 0.989418 Centerline is valid? [True, True] Translation: X:298.63, Y:280.34, Z:2.23 [[-9.98915608e-01 4.33296475e-02 1.70337703e-02 2.98632914e+02] [-4.33406269e-02 -9.99060316e-01 -2.75770864e-04 2.80340471e+02] [ 1.70058149e-02 -1.01372610e-03 9.99854877e-01 2.23118173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4607140569999 meters Centerline goodness : 0.989076 Centerline is valid? [True, True] Translation: X:298.62, Y:280.34, Z:2.23 [[-9.98892630e-01 4.38563031e-02 1.70334737e-02 2.98622945e+02] [-4.38682000e-02 -9.99037274e-01 -3.25251270e-04 2.80338605e+02] [ 1.70028108e-02 -1.07211893e-03 9.99854867e-01 2.23139513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4907140569999 meters Centerline goodness : 0.988012 Centerline is valid? [True, True] Translation: X:298.63, Y:280.34, Z:2.23 [[-9.98996379e-01 4.14260223e-02 1.70329073e-02 2.98633743e+02] [-4.14391959e-02 -9.99140939e-01 -4.21052629e-04 2.80337184e+02] [ 1.70008325e-02 -1.12646003e-03 9.99854841e-01 2.23372578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.520714057 meters Centerline goodness : 0.987899 Centerline is valid? [True, True] Translation: X:298.64, Y:280.34, Z:2.23 [[-9.99114313e-01 3.84765268e-02 1.70336994e-02 2.98644697e+02] [-3.84868391e-02 -9.99259069e-01 -2.77887536e-04 2.80336036e+02] [ 1.70103864e-02 -9.33214662e-04 9.99854877e-01 2.23101368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5507140569999 meters Centerline goodness : 0.989180 Centerline is valid? [True, True] Translation: X:298.65, Y:280.33, Z:2.23 [[-9.99198907e-01 3.62133162e-02 1.70335245e-02 2.98648000e+02] [-3.62238577e-02 -9.99343653e-01 -3.10641746e-04 2.80332609e+02] [ 1.70110952e-02 -9.27412859e-04 9.99854871e-01 2.23234744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5807140569999 meters Centerline goodness : 0.987672 Centerline is valid? [True, True] Translation: X:298.64, Y:280.33, Z:2.23 [[-9.99184841e-01 3.65993648e-02 1.70335057e-02 2.98641995e+02] [-3.66100241e-02 -9.99329579e-01 -3.14280140e-04 2.80332117e+02] [ 1.70105836e-02 -9.37621005e-04 9.99854870e-01 2.23429104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6107140569999 meters Centerline goodness : 0.990410 Centerline is valid? [True, True] Translation: X:298.63, Y:280.32, Z:2.23 [[-9.98840446e-01 4.50289029e-02 1.70341407e-02 2.98633651e+02] [-4.50384206e-02 -9.98985240e-01 -1.75332926e-04 2.80323848e+02] [ 1.70089601e-02 -9.42320409e-04 9.99854893e-01 2.23091113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.640714057 meters Centerline goodness : 0.988208 Centerline is valid? [True, True] Translation: X:298.65, Y:280.33, Z:2.23 [[-9.99266476e-01 3.42977146e-02 1.70345755e-02 2.98650744e+02] [-3.43038993e-02 -9.99411446e-01 -7.09162126e-05 2.80329217e+02] [ 1.70221174e-02 -6.55216555e-04 9.99854899e-01 2.23430870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6707140569999 meters Centerline goodness : 0.988918 Centerline is valid? [True, True] Translation: X:298.67, Y:280.33, Z:2.23 [[-9.99369502e-01 3.11520252e-02 1.70337974e-02 2.98674079e+02] [-3.11607285e-02 -9.99514356e-01 -2.45703282e-04 2.80328331e+02] [ 1.70178709e-02 -7.76333902e-04 9.99854884e-01 2.23379415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7007140569999 meters Centerline goodness : 0.989204 Centerline is valid? [True, True] Translation: X:298.66, Y:280.33, Z:2.23 [[-9.99360075e-01 3.14530683e-02 1.70336422e-02 2.98663692e+02] [-3.14624383e-02 -9.99504895e-01 -2.82323094e-04 2.80328149e+02] [ 1.70163288e-02 -8.18062344e-04 9.99854877e-01 2.23150195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7307140569999 meters Centerline goodness : 0.990246 Centerline is valid? [True, True] Translation: X:298.65, Y:280.32, Z:2.23 [[-9.98994821e-01 4.14634322e-02 1.70332734e-02 2.98645722e+02] [-4.14758860e-02 -9.99139434e-01 -3.78382742e-04 2.80322068e+02] [ 1.70029261e-02 -1.08447251e-03 9.99854852e-01 2.23022160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.760714057 meters Centerline goodness : 0.990490 Centerline is valid? [True, True] Translation: X:298.69, Y:280.33, Z:2.23 [[-9.99560002e-01 2.42824351e-02 1.70342306e-02 2.98693394e+02] [-2.42868024e-02 -9.99705031e-01 -4.95324108e-05 2.80330113e+02] [ 1.70280032e-02 -4.63217608e-04 9.99854906e-01 2.22766705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.790714057 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:298.65, Y:280.32, Z:2.23 [[-9.98974659e-01 4.19465621e-02 1.70328300e-02 2.98646938e+02] [-4.19601450e-02 -9.99119188e-01 -4.40709045e-04 2.80322635e+02] [ 1.69993411e-02 -1.15495719e-03 9.99854834e-01 2.22885659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8207140569999 meters Centerline goodness : 0.989779 Centerline is valid? [True, True] Translation: X:298.67, Y:280.33, Z:2.23 [[-9.99452152e-01 2.83768121e-02 1.70338739e-02 2.98668064e+02] [-2.83814427e-02 -9.99597165e-01 -3.01201216e-05 2.80331324e+02] [ 1.70261573e-02 -5.13549536e-04 9.99854913e-01 2.22857446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8507140569999 meters Centerline goodness : 0.990438 Centerline is valid? [True, True] Translation: X:298.65, Y:280.32, Z:2.23 [[-9.98963263e-01 4.22170619e-02 1.70328881e-02 2.98654567e+02] [-4.22291713e-02 -9.99107889e-01 -3.51741071e-04 2.80324559e+02] [ 1.70028434e-02 -1.07066116e-03 9.99854868e-01 2.22843970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.880714057 meters Centerline goodness : 0.990131 Centerline is valid? [True, True] Translation: X:298.68, Y:280.33, Z:2.23 [[-9.99517138e-01 2.59874812e-02 1.70335525e-02 2.98679236e+02] [-2.59918612e-02 -9.99662154e-01 -3.57716129e-05 2.80334203e+02] [ 1.70268682e-02 -4.78488074e-04 9.99854918e-01 2.22688358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.910714057 meters Centerline goodness : 0.989439 Centerline is valid? [True, True] Translation: X:298.67, Y:280.34, Z:2.23 [[-9.99512483e-01 2.61669077e-02 1.70319994e-02 2.98674074e+02] [-2.61793985e-02 -9.99657130e-01 -5.10785642e-04 2.80335387e+02] [ 1.70127940e-02 -9.56424125e-04 9.99854815e-01 2.22702947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9407140569999 meters Centerline goodness : 0.990037 Centerline is valid? [True, True] Translation: X:298.67, Y:280.34, Z:2.23 [[-9.99483417e-01 2.72542975e-02 1.70324239e-02 2.98673290e+02] [-2.72643085e-02 -9.99628196e-01 -3.55785432e-04 2.80335125e+02] [ 1.70163945e-02 -8.19978899e-04 9.99854874e-01 2.22576111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9707140569999 meters Centerline goodness : 0.989415 Centerline is valid? [True, True] Translation: X:298.68, Y:280.34, Z:2.23 [[-9.99462049e-01 2.80269935e-02 1.70323137e-02 2.98675468e+02] [-2.80378180e-02 -9.99606784e-01 -3.97021173e-04 2.80335918e+02] [ 1.70144890e-02 -8.74356506e-04 9.99854861e-01 2.22631949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.000714057 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:298.68, Y:280.34, Z:2.23 [[-9.99498930e-01 2.66791474e-02 1.70327074e-02 2.98680067e+02] [-2.66864006e-02 -9.99643835e-01 -1.98652806e-04 2.80335478e+02] [ 1.70213411e-02 -6.53094920e-04 9.99854913e-01 2.22564230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.030714057 meters Centerline goodness : 0.989415 Centerline is valid? [True, True] Translation: X:298.68, Y:280.34, Z:2.23 [[-9.99487843e-01 2.70915597e-02 1.70323153e-02 2.98678335e+02] [-2.71019968e-02 -9.99632600e-01 -3.82222385e-04 2.80336224e+02] [ 1.70157026e-02 -8.43636382e-04 9.99854867e-01 2.22772732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0607140569999 meters Centerline goodness : 0.989673 Centerline is valid? [True, True] Translation: X:298.72, Y:280.34, Z:2.23 [[-9.99583136e-01 2.33120185e-02 1.70324318e-02 2.98720331e+02] [-2.33209325e-02 -9.99727977e-01 -3.24891589e-04 2.80336669e+02] [ 1.70202247e-02 -7.21968345e-04 9.99854885e-01 2.22792437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0907140569999 meters Centerline goodness : 0.988434 Centerline is valid? [True, True] Translation: X:298.69, Y:280.34, Z:2.23 [[-9.99486078e-01 2.71564376e-02 1.70325617e-02 2.98688338e+02] [-2.71644689e-02 -9.99630949e-01 -2.40305873e-04 2.80337275e+02] [ 1.70197500e-02 -7.02862868e-04 9.99854907e-01 2.23038814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.120714057 meters Centerline goodness : 0.990112 Centerline is valid? [True, True] Translation: X:298.72, Y:280.34, Z:2.23 [[-9.99581451e-01 2.33839782e-02 1.70326967e-02 2.98718767e+02] [-2.33888322e-02 -9.99726440e-01 -8.58111240e-05 2.80337030e+02] [ 1.70260306e-02 -4.84150094e-04 9.99854929e-01 2.22811175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.150714057 meters Centerline goodness : 0.989803 Centerline is valid? [True, True] Translation: X:298.70, Y:280.34, Z:2.23 [[-9.99460252e-01 2.80910254e-02 1.70322932e-02 2.98699441e+02] [-2.81015971e-02 -9.99604999e-01 -3.81622359e-04 2.80338498e+02] [ 1.70148453e-02 -8.60051019e-04 9.99854867e-01 2.22920669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1807140569999 meters Centerline goodness : 0.988440 Centerline is valid? [True, True] Translation: X:298.70, Y:280.34, Z:2.23 [[-9.99332683e-01 3.23123236e-02 1.70323694e-02 2.98699843e+02] [-3.23217671e-02 -9.99477476e-01 -2.79387535e-04 2.80340842e+02] [ 1.70144420e-02 -8.29717373e-04 9.99854900e-01 2.23115975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2107140569999 meters Centerline goodness : 0.989697 Centerline is valid? [True, True] Translation: X:298.70, Y:280.34, Z:2.23 [[-9.99308106e-01 3.30636745e-02 1.70323907e-02 2.98703386e+02] [-3.30695871e-02 -9.99453050e-01 -6.55343776e-05 2.80342060e+02] [ 1.70209080e-02 -6.28743162e-04 9.99854936e-01 2.22648198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2407140569999 meters Centerline goodness : 0.988920 Centerline is valid? [True, True] Translation: X:298.70, Y:280.34, Z:2.23 [[-9.99187198e-01 3.65354843e-02 1.70323843e-02 2.98696555e+02] [-3.65433746e-02 -9.99332056e-01 -1.52141994e-04 2.80342918e+02] [ 1.70154490e-02 -7.74439131e-04 9.99854927e-01 2.23074004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.270714057 meters Centerline goodness : 0.989827 Centerline is valid? [True, True] Translation: X:298.69, Y:280.34, Z:2.23 [[-9.98944951e-01 4.26483774e-02 1.70323771e-02 2.98686619e+02] [-4.26565682e-02 -9.99089788e-01 -1.17723974e-04 2.80344912e+02] [ 1.70118532e-02 -8.44142524e-04 9.99854932e-01 2.22809520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3007140569999 meters Centerline goodness : 0.989949 Centerline is valid? [True, True] Translation: X:298.68, Y:280.35, Z:2.23 [[-9.98874577e-01 4.42659746e-02 1.70323924e-02 2.98683509e+02] [-4.42763890e-02 -9.99019292e-01 -2.34655120e-04 2.80346764e+02] [ 1.70053014e-02 -9.88523865e-04 9.99854911e-01 2.22724316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3307140569999 meters Centerline goodness : 0.989798 Centerline is valid? [True, True] Translation: X:298.67, Y:280.35, Z:2.23 [[-9.98660345e-01 4.88611519e-02 1.70323969e-02 2.98674423e+02] [-4.88724523e-02 -9.98804997e-01 -2.47609706e-04 2.80346983e+02] [ 1.69999447e-02 -1.07969300e-03 9.99854908e-01 2.22692080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3607140569999 meters Centerline goodness : 0.989130 Centerline is valid? [True, True] Translation: X:298.67, Y:280.35, Z:2.23 [[-9.98284127e-01 5.60241117e-02 1.70323743e-02 2.98667879e+02] [-5.60359079e-02 -9.98428731e-01 -2.15740523e-04 2.80347902e+02] [ 1.69935252e-02 -1.16979490e-03 9.99854915e-01 2.22617868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.390714057 meters Centerline goodness : 0.988937 Centerline is valid? [True, True] Translation: X:298.68, Y:280.35, Z:2.23 [[-9.98154934e-01 5.82805931e-02 1.70323567e-02 2.98675310e+02] [-5.82924271e-02 -9.98299531e-01 -1.98736436e-04 2.80348774e+02] [ 1.69918113e-02 -1.19122717e-03 9.99854919e-01 2.22646552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4207140569999 meters Centerline goodness : 0.989259 Centerline is valid? [True, True] Translation: X:298.68, Y:280.35, Z:2.23 [[-9.97909874e-01 6.23360337e-02 1.70324068e-02 2.98676612e+02] [-6.23491232e-02 -9.98054372e-01 -2.38052980e-04 2.80347612e+02] [ 1.69844288e-02 -1.29951105e-03 9.99854910e-01 2.22721236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4507140569999 meters Centerline goodness : 0.989037 Centerline is valid? [True, True] Translation: X:298.68, Y:280.35, Z:2.23 [[-9.97817852e-01 6.37920836e-02 1.70324711e-02 2.98676037e+02] [-6.38062083e-02 -9.97962267e-01 -2.86589328e-04 2.80346688e+02] [ 1.69794813e-02 -1.37274134e-03 9.99854896e-01 2.22724855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4807140569999 meters Centerline goodness : 0.989322 Centerline is valid? [True, True] Translation: X:298.68, Y:280.35, Z:2.23 [[-9.97792675e-01 6.41846854e-02 1.70324255e-02 2.98679100e+02] [-6.41983755e-02 -9.97937123e-01 -2.57658657e-04 2.80346284e+02] [ 1.69807520e-02 -1.35054397e-03 9.99854905e-01 2.22778614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.510714057 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:298.68, Y:280.34, Z:2.23 [[-9.97669130e-01 6.60772449e-02 1.70324704e-02 2.98683427e+02] [-6.60916464e-02 -9.97813517e-01 -2.83412838e-04 2.80342789e+02] [ 1.69765021e-02 -1.40845625e-03 9.99854897e-01 2.22700095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.540714057 meters Centerline goodness : 0.990222 Centerline is valid? [True, True] Translation: X:298.69, Y:280.34, Z:2.23 [[-9.97615912e-01 6.68758957e-02 1.70325331e-02 2.98685880e+02] [-6.68909529e-02 -9.97760242e-01 -3.15223562e-04 2.80341087e+02] [ 1.69733035e-02 -1.45379441e-03 9.99854886e-01 2.22656647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5707140569999 meters Centerline goodness : 0.990585 Centerline is valid? [True, True] Translation: X:298.70, Y:280.34, Z:2.23 [[-9.97539181e-01 6.80108512e-02 1.70325350e-02 2.98700495e+02] [-6.80260876e-02 -9.97683493e-01 -3.16106840e-04 2.80336837e+02] [ 1.69715803e-02 -1.47398567e-03 9.99854886e-01 2.22583643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6007140569999 meters Centerline goodness : 0.990191 Centerline is valid? [True, True] Translation: X:298.70, Y:280.34, Z:2.23 [[-9.97484572e-01 6.88071205e-02 1.70325999e-02 2.98704339e+02] [-6.88229650e-02 -9.97628829e-01 -3.45148040e-04 2.80335536e+02] [ 1.69684640e-02 -1.51651387e-03 9.99854875e-01 2.22559048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.630714057 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:298.70, Y:280.33, Z:2.23 [[-9.97337662e-01 7.09047233e-02 1.70325687e-02 2.98698599e+02] [-7.09206740e-02 -9.97481903e-01 -3.33528949e-04 2.80333740e+02] [ 1.69660302e-02 -1.54060223e-03 9.99854880e-01 2.22727175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.660714057 meters Centerline goodness : 0.989552 Centerline is valid? [True, True] Translation: X:298.70, Y:280.33, Z:2.23 [[-9.97107204e-01 7.40752001e-02 1.70319888e-02 2.98699927e+02] [-7.40887143e-02 -9.97251641e-01 -1.62977175e-04 2.80329339e+02] [ 1.69731062e-02 -1.42438386e-03 9.99854932e-01 2.22773094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6907140569999 meters Centerline goodness : 0.989615 Centerline is valid? [True, True] Translation: X:298.70, Y:280.33, Z:2.23 [[-9.96969279e-01 7.59089836e-02 1.70318391e-02 2.98702168e+02] [-7.59221046e-02 -9.97113744e-01 -1.24177326e-04 2.80326133e+02] [ 1.69732547e-02 -1.41689405e-03 9.99854940e-01 2.23000866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7207140569999 meters Centerline goodness : 0.990351 Centerline is valid? [True, True] Translation: X:298.70, Y:280.32, Z:2.23 [[-9.97036774e-01 7.50172743e-02 1.70317337e-02 2.98700961e+02] [-7.50298304e-02 -9.97181285e-01 -9.85306772e-05 2.80320412e+02] [ 1.69763346e-02 -1.37612680e-03 9.99854945e-01 2.22687752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.750714057 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:298.71, Y:280.32, Z:2.23 [[-9.97108003e-01 7.40643413e-02 1.70324305e-02 2.98714056e+02] [-7.40798480e-02 -9.97252274e-01 -2.80439023e-04 2.80317360e+02] [ 1.69648595e-02 -1.54138786e-03 9.99854898e-01 2.22689523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.780714057 meters Centerline goodness : 0.989588 Centerline is valid? [True, True] Translation: X:298.72, Y:280.31, Z:2.23 [[-9.97204278e-01 7.27566011e-02 1.70324550e-02 2.98716345e+02] [-7.27720259e-02 -9.97348560e-01 -2.86763913e-04 2.80314073e+02] [ 1.69664305e-02 -1.52544846e-03 9.99854896e-01 2.23070291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8107140569999 meters Centerline goodness : 0.989143 Centerline is valid? [True, True] Translation: X:298.72, Y:280.31, Z:2.23 [[-9.97459751e-01 6.91661523e-02 1.70320061e-02 2.98721756e+02] [-6.91792735e-02 -9.97604228e-01 -1.81711383e-04 2.80307058e+02] [ 1.69786330e-02 -1.35951160e-03 9.99854928e-01 2.23163421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8407140569999 meters Centerline goodness : 0.989589 Centerline is valid? [True, True] Translation: X:298.73, Y:280.30, Z:2.23 [[-9.97629451e-01 6.66737592e-02 1.70319587e-02 2.98727403e+02] [-6.66863419e-02 -9.97773974e-01 -1.71266856e-04 2.80304291e+02] [ 1.69826261e-02 -1.30665988e-03 9.99854931e-01 2.23208120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.870714057 meters Centerline goodness : 0.990262 Centerline is valid? [True, True] Translation: X:298.74, Y:280.30, Z:2.23 [[-9.97928793e-01 6.20325745e-02 1.70318378e-02 2.98736524e+02] [-6.20440509e-02 -9.98073401e-01 -1.45739914e-04 2.80298099e+02] [ 1.69899837e-02 -1.20216227e-03 9.99854937e-01 2.23266169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.900714057 meters Centerline goodness : 0.990262 Centerline is valid? [True, True] Translation: X:298.74, Y:280.30, Z:2.23 [[-9.97906385e-01 6.23920403e-02 1.70317149e-02 2.98739154e+02] [-6.24031475e-02 -9.98051017e-01 -1.20956013e-04 2.80298183e+02] [ 1.69909737e-02 -1.18353540e-03 9.99854943e-01 2.23262470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9307140569999 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:298.74, Y:280.30, Z:2.23 [[-9.98222728e-01 5.71078532e-02 1.70316836e-02 2.98739251e+02] [-5.71180943e-02 -9.98367422e-01 -1.15063096e-04 2.80295530e+02] [ 1.69973071e-02 -1.08767591e-03 9.99854944e-01 2.22949776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9607140569999 meters Centerline goodness : 0.990779 Centerline is valid? [True, True] Translation: X:298.73, Y:280.29, Z:2.23 [[-9.98211732e-01 5.72995906e-02 1.70321563e-02 2.98732827e+02] [-5.73113493e-02 -9.98356333e-01 -2.02682035e-04 2.80291776e+02] [ 1.69925476e-02 -1.17845545e-03 9.99854922e-01 2.23322314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9907140569999 meters Centerline goodness : 0.990908 Centerline is valid? [True, True] Translation: X:298.75, Y:280.29, Z:2.23 [[-9.98453003e-01 5.29294647e-02 1.70315314e-02 2.98748255e+02] [-5.29387481e-02 -9.98597757e-01 -9.43679282e-05 2.80285876e+02] [ 1.70026542e-02 -9.95849889e-04 9.99854949e-01 2.23384928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.020714057 meters Centerline goodness : 0.990780 Centerline is valid? [True, True] Translation: X:298.73, Y:280.28, Z:2.23 [[-9.98648295e-01 4.91071413e-02 1.70314849e-02 2.98726446e+02] [-4.91157424e-02 -9.98793090e-01 -8.68431705e-05 2.80284393e+02] [ 1.70066648e-02 -9.23239807e-04 9.99854950e-01 2.23236273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0507140569999 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:298.75, Y:280.28, Z:2.23 [[-9.98896199e-01 4.37757400e-02 1.70313968e-02 2.98748553e+02] [-4.37833375e-02 -9.99041047e-01 -7.32931318e-05 2.80278095e+02] [ 1.70118560e-02 -8.18903625e-04 9.99854953e-01 2.23094638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0807140569999 meters Centerline goodness : 0.991799 Centerline is valid? [True, True] Translation: X:298.74, Y:280.28, Z:2.23 [[-9.98979682e-01 4.18269183e-02 1.70324481e-02 2.98736551e+02] [-4.18370987e-02 -9.99124416e-01 -2.41672296e-04 2.80276341e+02] [ 1.70074263e-02 -9.54013925e-04 9.99854908e-01 2.23019189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1107140569999 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:298.75, Y:280.27, Z:2.23 [[-9.99143963e-01 3.76998588e-02 1.70311878e-02 2.98754590e+02] [-3.77062889e-02 -9.99288864e-01 -5.64766671e-05 2.80274412e+02] [ 1.70169472e-02 -6.98611210e-04 9.99854957e-01 2.22931175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.140714057 meters Centerline goodness : 0.991854 Centerline is valid? [True, True] Translation: X:298.75, Y:280.27, Z:2.23 [[-9.99361442e-01 3.14108622e-02 1.70313444e-02 2.98753632e+02] [-3.14167644e-02 -9.99506369e-01 -7.90368894e-05 2.80271254e+02] [ 1.70204546e-02 -6.14056155e-04 9.99854953e-01 2.23011537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1707140569999 meters Centerline goodness : 0.991112 Centerline is valid? [True, True] Translation: X:298.77, Y:280.27, Z:2.23 [[-9.99493393e-01 2.68868560e-02 1.70309615e-02 2.98772625e+02] [-2.68912026e-02 -9.99638366e-01 -2.62194917e-05 2.80271238e+02] [ 1.70240976e-02 -4.84189245e-04 9.99854962e-01 2.23056569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2007140569999 meters Centerline goodness : 0.993052 Centerline is valid? [True, True] Translation: X:298.76, Y:280.27, Z:2.23 [[-9.99520040e-01 2.58770981e-02 1.70313285e-02 2.98763140e+02] [-2.58821552e-02 -9.99664998e-01 -7.65378470e-05 2.80267839e+02] [ 1.70236424e-02 -5.17308599e-04 9.99854953e-01 2.22869368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2307140569999 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:298.77, Y:280.27, Z:2.23 [[-9.99645147e-01 2.04812651e-02 1.70322498e-02 2.98774763e+02] [-2.04877304e-02 -9.99790083e-01 -2.05170481e-04 2.80267235e+02] [ 1.70244723e-02 -5.54049818e-04 9.99854920e-01 2.22747515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.260714057 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:298.78, Y:280.27, Z:2.23 [[-9.99656907e-01 1.98989011e-02 1.70324084e-02 2.98780610e+02] [-1.99056520e-02 -9.99801837e-01 -2.26898106e-04 2.80267686e+02] [ 1.70245182e-02 -5.65861454e-04 9.99854912e-01 2.22950242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.290714057 meters Centerline goodness : 0.991979 Centerline is valid? [True, True] Translation: X:298.79, Y:280.27, Z:2.23 [[-9.99695420e-01 1.78609328e-02 1.70310020e-02 2.98794609e+02] [-1.78643121e-02 -9.99840419e-01 -4.62933232e-05 2.80268253e+02] [ 1.70274573e-02 -3.50526357e-04 9.99854961e-01 2.22996001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3207140569999 meters Centerline goodness : 0.992909 Centerline is valid? [True, True] Translation: X:298.81, Y:280.27, Z:2.23 [[-9.99751050e-01 1.44151165e-02 1.70306100e-02 2.98809038e+02] [-1.44171679e-02 -9.99896067e-01 2.32393890e-06 2.80269298e+02] [ 1.70288735e-02 -2.43209804e-04 9.99854969e-01 2.22849926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3507140569999 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:298.80, Y:280.27, Z:2.23 [[-9.99727828e-01 1.59434701e-02 1.70316266e-02 2.98804046e+02] [-1.59479225e-02 -9.99872816e-01 -1.25625157e-04 2.80270118e+02] [ 1.70274575e-02 -3.97210026e-04 9.99854943e-01 2.22897003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.380714057 meters Centerline goodness : 0.991709 Centerline is valid? [True, True] Translation: X:298.80, Y:280.27, Z:2.23 [[-9.99742766e-01 1.49786661e-02 1.70306347e-02 2.98804459e+02] [-1.49809647e-02 -9.99887779e-01 -7.39098114e-06 2.80273995e+02] [ 1.70286128e-02 -2.62524417e-04 9.99854968e-01 2.22805461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.410714057 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:298.81, Y:280.28, Z:2.22 [[-9.99736616e-01 1.53834297e-02 1.70308234e-02 2.98805402e+02] [-1.53861622e-02 -9.99881626e-01 -2.94181557e-05 2.80275636e+02] [ 1.70283548e-02 -2.91449418e-04 9.99854965e-01 2.22432979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4407140569999 meters Centerline goodness : 0.993243 Centerline is valid? [True, True] Translation: X:298.78, Y:280.27, Z:2.23 [[-9.99431200e-01 2.91063340e-02 1.70322601e-02 2.98777979e+02] [-2.91138570e-02 -9.99576083e-01 -1.93847362e-04 2.80271159e+02] [ 1.70193976e-02 -6.89611885e-04 9.99854922e-01 2.22592430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4707140569999 meters Centerline goodness : 0.992770 Centerline is valid? [True, True] Translation: X:298.82, Y:280.28, Z:2.22 [[-9.99773670e-01 1.27526357e-02 1.70287731e-02 2.98817673e+02] [-1.27516689e-02 -9.99918681e-01 1.65358424e-04 2.80283177e+02] [ 1.70294971e-02 -5.18242776e-05 9.99854986e-01 2.22499984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.500714057 meters Centerline goodness : 0.991649 Centerline is valid? [True, True] Translation: X:298.83, Y:280.29, Z:2.23 [[-9.99760659e-01 1.37305043e-02 1.70322626e-02 2.98825554e+02] [-1.37366249e-02 -9.99905619e-01 -2.42408494e-04 2.80289869e+02] [ 1.70273267e-02 -4.76316280e-04 9.99854911e-01 2.22503983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.530714057 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:298.78, Y:280.28, Z:2.22 [[-9.99230898e-01 3.53204159e-02 1.70317743e-02 2.98781727e+02] [-3.53287637e-02 -9.99375727e-01 -1.89406192e-04 2.80282115e+02] [ 1.70144519e-02 -7.90972049e-04 9.99854931e-01 2.22400875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5607140569999 meters Centerline goodness : 0.992025 Centerline is valid? [True, True] Translation: X:298.78, Y:280.29, Z:2.22 [[-9.99079839e-01 3.93639537e-02 1.70280816e-02 2.98783178e+02] [-3.93667108e-02 -9.99224816e-01 1.73377715e-04 2.80287793e+02] [ 1.70217066e-02 -4.97121385e-04 9.99854997e-01 2.22367532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5907140569999 meters Centerline goodness : 0.992101 Centerline is valid? [True, True] Translation: X:298.78, Y:280.29, Z:2.22 [[-9.98983066e-01 4.17478247e-02 1.70280128e-02 2.98784321e+02] [-4.17508168e-02 -9.99128038e-01 1.79894344e-04 2.80290672e+02] [ 1.70206752e-02 -5.31222039e-04 9.99854997e-01 2.22366313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.620714057 meters Centerline goodness : 0.991395 Centerline is valid? [True, True] Translation: X:298.78, Y:280.29, Z:2.22 [[-9.98877118e-01 4.42103107e-02 1.70279414e-02 2.98782745e+02] [-4.42135491e-02 -9.99022086e-01 1.86415308e-04 2.80293741e+02] [ 1.70195310e-02 -5.66659737e-04 9.99854997e-01 2.22354612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.650714057 meters Centerline goodness : 0.991281 Centerline is valid? [True, True] Translation: X:298.78, Y:280.30, Z:2.22 [[-9.98640663e-01 4.92633457e-02 1.70278673e-02 2.98784754e+02] [-4.92672062e-02 -9.98785615e-01 1.92950381e-04 2.80299657e+02] [ 1.70166943e-02 -6.46227355e-04 9.99854997e-01 2.22397034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6807140569999 meters Centerline goodness : 0.991363 Centerline is valid? [True, True] Translation: X:298.78, Y:280.30, Z:2.22 [[-9.98491774e-01 5.21941694e-02 1.70277907e-02 2.98780439e+02] [-5.21983439e-02 -9.98636717e-01 1.99495219e-04 2.80302127e+02] [ 1.70149895e-02 -6.89628138e-04 9.99854997e-01 2.22414944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7107140569999 meters Centerline goodness : 0.991082 Centerline is valid? [True, True] Translation: X:298.79, Y:280.30, Z:2.22 [[-9.98347414e-01 5.48862299e-02 1.70277112e-02 2.98786435e+02] [-5.48906835e-02 -9.98492349e-01 2.06059708e-04 2.80304765e+02] [ 1.70133492e-02 -7.28943530e-04 9.99854997e-01 2.22416718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7407140569999 meters Centerline goodness : 0.991178 Centerline is valid? [True, True] Translation: X:298.78, Y:280.31, Z:2.22 [[-9.98025105e-01 6.04644585e-02 1.70276291e-02 2.98783757e+02] [-6.04696100e-02 -9.98170016e-01 2.12634052e-04 2.80309448e+02] [ 1.70093256e-02 -8.17439971e-04 9.99854997e-01 2.22319061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.770714057 meters Centerline goodness : 0.991104 Centerline is valid? [True, True] Translation: X:298.78, Y:280.31, Z:2.22 [[-9.97846694e-01 6.33406563e-02 1.70275445e-02 2.98781119e+02] [-6.33461136e-02 -9.97991594e-01 2.19210582e-04 2.80311708e+02] [ 1.70072312e-02 -8.59890210e-04 9.99854997e-01 2.22270093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8007140569999 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:298.78, Y:280.31, Z:2.22 [[-9.97670985e-01 6.60505194e-02 1.70274569e-02 2.98779132e+02] [-6.60562578e-02 -9.97815875e-01 2.25813659e-04 2.80313906e+02] [ 1.70051819e-02 -8.99482346e-04 9.99854997e-01 2.22275726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8307140569999 meters Centerline goodness : 0.991017 Centerline is valid? [True, True] Translation: X:298.78, Y:280.32, Z:2.22 [[-9.97260815e-01 7.19787212e-02 1.70273664e-02 2.98780288e+02] [-7.19852078e-02 -9.97405673e-01 2.32441240e-04 2.80317228e+02] [ 1.69999227e-02 -9.93913969e-04 9.99854997e-01 2.22211753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8607140569999 meters Centerline goodness : 0.990523 Centerline is valid? [True, True] Translation: X:298.78, Y:280.32, Z:2.22 [[-9.97053560e-01 7.47948532e-02 1.70272732e-02 2.98782307e+02] [-7.48016359e-02 -9.97198405e-01 2.39083389e-04 2.80318873e+02] [ 1.69974518e-02 -1.03528894e-03 9.99854997e-01 2.22157054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.890714057 meters Centerline goodness : 0.991169 Centerline is valid? [True, True] Translation: X:298.78, Y:280.32, Z:2.22 [[-9.96792709e-01 7.81944417e-02 1.70271772e-02 2.98783650e+02] [-7.82016052e-02 -9.96937535e-01 2.45731081e-04 2.80319823e+02] [ 1.69942469e-02 -1.08660964e-03 9.99854997e-01 2.22112705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9207140569999 meters Centerline goodness : 0.991129 Centerline is valid? [True, True] Translation: X:298.79, Y:280.32, Z:2.22 [[-9.96578313e-01 8.08810557e-02 1.70270786e-02 2.98786470e+02] [-8.08884964e-02 -9.96723125e-01 2.52383274e-04 2.80321030e+02] [ 1.69916960e-02 -1.12577509e-03 9.99854997e-01 2.22138306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9507140569999 meters Centerline goodness : 0.991372 Centerline is valid? [True, True] Translation: X:298.79, Y:280.32, Z:2.22 [[-9.96323718e-01 8.39590996e-02 1.70269774e-02 2.98789135e+02] [-8.39668744e-02 -9.96468513e-01 2.59037701e-04 2.80321364e+02] [ 1.69885954e-02 -1.17161667e-03 9.99854997e-01 2.22069272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9807140569999 meters Centerline goodness : 0.991137 Centerline is valid? [True, True] Translation: X:298.79, Y:280.32, Z:2.22 [[-9.95953100e-01 8.82468643e-02 1.70268736e-02 2.98787595e+02] [-8.82551491e-02 -9.96097866e-01 2.65689813e-04 2.80322171e+02] [ 1.69838787e-02 -1.23809467e-03 9.99854997e-01 2.21977027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.010714057 meters Centerline goodness : 0.990921 Centerline is valid? [True, True] Translation: X:298.79, Y:280.32, Z:2.22 [[-9.95773171e-01 9.02545405e-02 1.70267670e-02 2.98786164e+02] [-9.02630039e-02 -9.95917926e-01 2.72352036e-04 2.80322151e+02] [ 1.69818435e-02 -1.26568629e-03 9.99854997e-01 2.21955931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.040714057 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:298.79, Y:280.32, Z:2.22 [[-9.95625134e-01 9.18732023e-02 1.70266575e-02 2.98792291e+02] [-9.18817873e-02 -9.95769883e-01 2.79036907e-04 2.80322086e+02] [ 1.69802687e-02 -1.28662356e-03 9.99854997e-01 2.21949773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0707140569999 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:298.85, Y:280.33, Z:2.22 [[-9.96450985e-01 8.24350184e-02 1.70265453e-02 2.98846070e+02] [-8.24421177e-02 -9.96595814e-01 2.85721732e-04 2.80325520e+02] [ 1.69921372e-02 -1.11899675e-03 9.99854997e-01 2.22092127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1007140569999 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:298.79, Y:280.32, Z:2.22 [[-9.95385532e-01 9.44329257e-02 1.70312814e-02 2.98793155e+02] [-9.44466748e-02 -9.95529922e-01 -2.96580405e-06 2.80318544e+02] [ 1.69548702e-02 -1.61150001e-03 9.99854957e-01 2.21958450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.130714057 meters Centerline goodness : 0.991537 Centerline is valid? [True, True] Translation: X:298.80, Y:280.32, Z:2.22 [[-9.95307347e-01 9.52543567e-02 1.70262070e-02 2.98795291e+02] [-9.52632045e-02 -9.95452076e-01 2.92476706e-04 2.80316599e+02] [ 1.69766328e-02 -1.33086683e-03 9.99855001e-01 2.22081804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.160714057 meters Centerline goodness : 0.990095 Centerline is valid? [True, True] Translation: X:298.84, Y:280.32, Z:2.23 [[-9.96074512e-01 8.68658676e-02 1.70260894e-02 2.98835462e+02] [-8.68733819e-02 -9.96219316e-01 2.99168241e-04 2.80318452e+02] [ 1.69877067e-02 -1.18112011e-03 9.99855001e-01 2.22568509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1907140569999 meters Centerline goodness : 0.990381 Centerline is valid? [True, True] Translation: X:298.84, Y:280.32, Z:2.23 [[-9.95933511e-01 8.84670009e-02 1.70303325e-02 2.98837879e+02] [-8.84790125e-02 -9.96078040e-01 4.83491545e-05 2.80316640e+02] [ 1.69678175e-02 -1.45867446e-03 9.99854972e-01 2.22577369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2207140569999 meters Centerline goodness : 0.989589 Centerline is valid? [True, True] Translation: X:298.83, Y:280.31, Z:2.23 [[-9.95544049e-01 9.27468598e-02 1.70313528e-02 2.98826819e+02] [-9.27605014e-02 -9.95688450e-01 -1.10421225e-05 2.80313993e+02] [ 1.69568971e-02 -1.59082974e-03 9.99854956e-01 2.23211317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.250714057 meters Centerline goodness : 0.989785 Centerline is valid? [True, True] Translation: X:298.84, Y:280.31, Z:2.23 [[-9.95499843e-01 9.32208008e-02 1.70277992e-02 2.98844536e+02] [-9.32311387e-02 -9.95644475e-01 1.87422125e-04 2.80312583e+02] [ 1.69711058e-02 -1.40094241e-03 9.99854999e-01 2.23235229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.280714057 meters Centerline goodness : 0.991458 Centerline is valid? [True, True] Translation: X:298.80, Y:280.31, Z:2.22 [[-9.94688019e-01 1.01517472e-01 1.70278288e-02 2.98799821e+02] [-1.01529043e-01 -9.94832558e-01 1.85786668e-04 2.80306494e+02] [ 1.69586991e-02 -1.54401939e-03 9.99854999e-01 2.22268834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3107140569999 meters Centerline goodness : 0.989926 Centerline is valid? [True, True] Translation: X:298.83, Y:280.31, Z:2.23 [[-9.95084072e-01 9.75593444e-02 1.70253909e-02 2.98829148e+02] [-9.75681133e-02 -9.95228799e-01 3.16807064e-04 2.80305259e+02] [ 1.69750669e-02 -1.34588561e-03 9.99855007e-01 2.22817965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3407140569999 meters Centerline goodness : 0.991927 Centerline is valid? [True, True] Translation: X:298.84, Y:280.30, Z:2.22 [[-9.95324646e-01 9.50733528e-02 1.70266296e-02 2.98843143e+02] [-9.50829005e-02 -9.95469326e-01 2.49734334e-04 2.80303382e+02] [ 1.69732306e-02 -1.37037459e-03 9.99855005e-01 2.22477850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.370714057 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:298.80, Y:280.30, Z:2.22 [[-9.94148896e-01 1.06667017e-01 1.70329460e-02 2.98804680e+02] [-1.06684172e-01 -9.94292954e-01 -9.91180039e-05 2.80297488e+02] [ 1.69251656e-02 -1.91568379e-03 9.99854924e-01 2.22128543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.400714057 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:298.80, Y:280.29, Z:2.22 [[-9.93896770e-01 1.08992533e-01 1.70246473e-02 2.98804986e+02] [-1.09002747e-01 -9.94041394e-01 3.29605807e-04 2.80293511e+02] [ 1.69591287e-02 -1.52813917e-03 9.99855016e-01 2.22035026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4307140569999 meters Centerline goodness : 0.991587 Centerline is valid? [True, True] Translation: X:298.80, Y:280.29, Z:2.22 [[-9.93755083e-01 1.10276925e-01 1.70245147e-02 2.98803900e+02] [-1.10287212e-01 -9.93899702e-01 3.36314987e-04 2.80291488e+02] [ 1.69577479e-02 -1.54337153e-03 9.99855016e-01 2.21989333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4607140569999 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:298.81, Y:280.29, Z:2.22 [[-9.93623014e-01 1.11460651e-01 1.70243793e-02 2.98810976e+02] [-1.11470995e-01 -9.93767629e-01 3.43039080e-04 2.80287096e+02] [ 1.69565124e-02 -1.55687298e-03 9.99855016e-01 2.21859518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4907140569999 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:298.81, Y:280.28, Z:2.22 [[-9.93589960e-01 1.11754943e-01 1.70242412e-02 2.98809285e+02] [-1.11765217e-01 -9.93734579e-01 3.49760800e-04 2.80284610e+02] [ 1.69566646e-02 -1.55519918e-03 9.99855016e-01 2.21763682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.520714057 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:298.81, Y:280.28, Z:2.22 [[-9.93628627e-01 1.11410640e-01 1.70241004e-02 2.98814877e+02] [-1.11420749e-01 -9.93773259e-01 3.56482463e-04 2.80279849e+02] [ 1.69578117e-02 -1.54262685e-03 9.99855016e-01 2.21646923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5507140569999 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:298.82, Y:280.28, Z:2.22 [[-9.94814325e-01 1.00272851e-01 1.70239569e-02 2.98819715e+02] [-1.00281225e-01 -9.94959067e-01 3.63208713e-04 2.80283519e+02] [ 1.69745602e-02 -1.34585802e-03 9.99855016e-01 2.21926589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5807140569999 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:298.82, Y:280.28, Z:2.22 [[-9.93718003e-01 1.10609536e-01 1.70311641e-02 2.98820058e+02] [-1.10625272e-01 -9.93862188e-01 1.82719430e-05 2.80275373e+02] [ 1.69286511e-02 -1.86592001e-03 9.99854959e-01 2.21702113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6107140569999 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:298.82, Y:280.27, Z:2.22 [[-9.93791116e-01 1.09951890e-01 1.70235232e-02 2.98819273e+02] [-1.09961558e-01 -9.93935772e-01 3.69936975e-04 2.80272966e+02] [ 1.69609639e-02 -1.50429305e-03 9.99855021e-01 2.21735944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.640714057 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:298.83, Y:280.27, Z:2.22 [[-9.93975197e-01 1.08275166e-01 1.70233746e-02 2.98825196e+02] [-1.08284476e-01 -9.94119877e-01 3.76654960e-04 2.80268269e+02] [ 1.69640574e-02 -1.46898150e-03 9.99855021e-01 2.22039703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6707140569999 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:298.83, Y:280.27, Z:2.22 [[-9.94072001e-01 1.07382802e-01 1.70232426e-02 2.98829368e+02] [-1.07391882e-01 -9.94216695e-01 3.82526345e-04 2.80266022e+02] [ 1.69658688e-02 -1.44789933e-03 9.99855021e-01 2.22110923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7007140569999 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:298.85, Y:280.27, Z:2.22 [[-9.95704475e-01 9.10099565e-02 1.70230894e-02 2.98849872e+02] [-9.10165398e-02 -9.95849305e-01 3.89229277e-04 2.80271622e+02] [ 1.69878554e-02 -1.16182536e-03 9.99855021e-01 2.21923662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7307140569999 meters Centerline goodness : 0.993733 Centerline is valid? [True, True] Translation: X:298.86, Y:280.27, Z:2.22 [[-9.95999922e-01 8.77156892e-02 1.70327100e-02 2.98857156e+02] [-8.77293677e-02 -9.96144344e-01 -5.61110584e-05 2.80268498e+02] [ 1.69621160e-02 -1.55015549e-03 9.99854931e-01 2.21792882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.760714057 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:298.86, Y:280.27, Z:2.22 [[-9.96204856e-01 8.53566976e-02 1.70328890e-02 2.98862099e+02] [-8.53701746e-02 -9.96349301e-01 -6.43789022e-05 2.80267576e+02] [ 1.69652119e-02 -1.51823529e-03 9.99854928e-01 2.21687331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.790714057 meters Centerline goodness : 0.993421 Centerline is valid? [True, True] Translation: X:298.85, Y:280.27, Z:2.22 [[-9.96546427e-01 8.12716278e-02 1.70335431e-02 2.98851290e+02] [-8.12850195e-02 -9.96690893e-01 -9.41912331e-05 2.80266891e+02] [ 1.69695222e-02 -1.47843782e-03 9.99854914e-01 2.21541837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8207140569999 meters Centerline goodness : 0.993421 Centerline is valid? [True, True] Translation: X:298.85, Y:280.27, Z:2.22 [[-9.96520064e-01 8.15937679e-02 1.70358087e-02 2.98853917e+02] [-8.16089554e-02 -9.96664407e-01 -1.97068969e-04 2.80267082e+02] [ 1.69629046e-02 -1.58665773e-03 9.99854861e-01 2.21533757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8507140569999 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:298.84, Y:280.26, Z:2.22 [[-9.94709296e-01 1.01307524e-01 1.70353399e-02 2.98844110e+02] [-1.01325219e-01 -9.94853340e-01 -1.76569237e-04 2.80255730e+02] [ 1.69297770e-02 -1.90174460e-03 9.99854872e-01 2.21799729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.880714057 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:298.87, Y:280.26, Z:2.22 [[-9.96034341e-01 8.73262921e-02 1.70208875e-02 2.98870713e+02] [-8.73318902e-02 -9.96179185e-01 4.15537962e-04 2.80259307e+02] [ 1.69921413e-02 -1.07257620e-03 9.99855048e-01 2.21974546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.910714057 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:298.87, Y:280.26, Z:2.22 [[-9.96262559e-01 8.46819294e-02 1.70259877e-02 2.98871985e+02] [-8.46907604e-02 -9.96407263e-01 2.02969678e-04 2.80258698e+02] [ 1.69820057e-02 -1.23973276e-03 9.99855027e-01 2.21696139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9407140569999 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:298.87, Y:280.26, Z:2.22 [[-9.96171029e-01 8.57512469e-02 1.70295208e-02 2.98871638e+02] [-8.57627381e-02 -9.96315587e-01 5.57166478e-05 2.80256625e+02] [ 1.69715548e-02 -1.40499502e-03 9.99854986e-01 2.21619413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9707140569999 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:298.88, Y:280.26, Z:2.22 [[-9.96532673e-01 8.14411617e-02 1.70284682e-02 2.98884551e+02] [-8.14512929e-02 -9.96677319e-01 9.88911481e-05 2.80257441e+02] [ 1.69799418e-02 -1.28844249e-03 9.99855000e-01 2.21714817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.000714057 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:298.90, Y:280.26, Z:2.22 [[-9.97556127e-01 6.77632921e-02 1.70267662e-02 2.98899907e+02] [-6.77702666e-02 -9.97700939e-01 1.67704218e-04 2.80258773e+02] [ 1.69989848e-02 -9.86614115e-04 9.99855020e-01 2.22146461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.030714057 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:298.88, Y:280.25, Z:2.22 [[-9.96806125e-01 7.80216572e-02 1.70343980e-02 2.98882322e+02] [-7.80355089e-02 -9.96950569e-01 -1.48973479e-04 2.80254231e+02] [ 1.69708296e-02 -1.47778559e-03 9.99854893e-01 2.21512767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0607140569999 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:298.87, Y:280.25, Z:2.22 [[-9.95587315e-01 9.22815657e-02 1.70297316e-02 2.98872569e+02] [-9.22943367e-02 -9.95731768e-01 3.61560632e-05 2.80245178e+02] [ 1.69603813e-02 -1.53575126e-03 9.99854983e-01 2.21699104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0907140569999 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:298.87, Y:280.24, Z:2.22 [[-9.95635304e-01 9.17643534e-02 1.70189738e-02 2.98873023e+02] [-9.17700709e-02 -9.95780124e-01 4.46372995e-04 2.80243481e+02] [ 1.69881170e-02 -1.11740772e-03 9.99855067e-01 2.21545068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.120714057 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:298.90, Y:280.25, Z:2.21 [[-9.97174605e-01 7.31653423e-02 1.70187979e-02 2.98898675e+02] [-7.31682432e-02 -9.97319509e-01 4.52984954e-04 2.80252754e+02] [ 1.70063219e-02 -7.93530447e-04 9.99855067e-01 2.21179552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.150714057 meters Centerline goodness : 0.994008 Centerline is valid? [True, True] Translation: X:298.89, Y:280.25, Z:2.21 [[-9.96819952e-01 7.78451911e-02 1.70326039e-02 2.98890324e+02] [-7.78580506e-02 -9.96964451e-01 -9.21858600e-05 2.80250875e+02] [ 1.69737244e-02 -1.41801804e-03 9.99854930e-01 2.21259998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1807140569999 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:298.88, Y:280.25, Z:2.21 [[-9.96841596e-01 7.75683842e-02 1.70287506e-02 2.98881336e+02] [-7.75786892e-02 -9.96986231e-01 5.55879649e-05 2.80250490e+02] [ 1.69817417e-02 -1.26565575e-03 9.99854999e-01 2.21194529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2107140569999 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:298.88, Y:280.25, Z:2.22 [[-9.96255030e-01 8.47697681e-02 1.70294341e-02 2.98879635e+02] [-8.47815559e-02 -9.96399562e-01 2.98454400e-05 2.80248104e+02] [ 1.69706507e-02 -1.41404825e-03 9.99854988e-01 2.21537983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2407140569999 meters Centerline goodness : 0.993991 Centerline is valid? [True, True] Translation: X:298.88, Y:280.24, Z:2.21 [[-9.94999986e-01 9.84137280e-02 1.70225157e-02 2.98876342e+02] [-9.84232087e-02 -9.95144609e-01 2.81959642e-04 2.80239726e+02] [ 1.69676134e-02 -1.39486077e-03 9.99855067e-01 2.21407019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.270714057 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:298.86, Y:280.24, Z:2.22 [[-9.94733510e-01 1.01072585e-01 1.70169559e-02 2.98863002e+02] [-1.01079094e-01 -9.94878278e-01 4.79346273e-04 2.80238323e+02] [ 1.69782485e-02 -1.24323668e-03 9.99855086e-01 2.21734045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3007140569999 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:298.87, Y:280.25, Z:2.21 [[-9.95878621e-01 8.90856938e-02 1.70150374e-02 2.98873282e+02] [-8.90893131e-02 -9.96023491e-01 5.46667840e-04 2.80245653e+02] [ 1.69960772e-02 -9.71443177e-04 9.99855084e-01 2.21271048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3307140569999 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:298.88, Y:280.24, Z:2.21 [[-9.95707822e-01 9.09727272e-02 1.70263622e-02 2.98883294e+02] [-9.09835983e-02 -9.95852382e-01 1.36644949e-04 2.80244299e+02] [ 1.69681743e-02 -1.41306125e-03 9.99855032e-01 2.21392998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3607140569999 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:298.90, Y:280.24, Z:2.21 [[-9.96038802e-01 8.72751760e-02 1.70220047e-02 2.98900839e+02] [-8.72828587e-02 -9.96183526e-01 2.92476426e-04 2.80243975e+02] [ 1.69825666e-02 -1.19441136e-03 9.99855072e-01 2.21046289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.390714057 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:298.89, Y:280.24, Z:2.21 [[-9.95766376e-01 9.03289392e-02 1.70296292e-02 2.98894425e+02] [-9.03417665e-02 -9.95910822e-01 1.61294856e-05 2.80240081e+02] [ 1.69614490e-02 -1.52242558e-03 9.99854985e-01 2.21363835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4207140569999 meters Centerline goodness : 0.994062 Centerline is valid? [True, True] Translation: X:298.89, Y:280.24, Z:2.21 [[-9.95679022e-01 9.12875963e-02 1.70252986e-02 2.98889059e+02] [-9.12979505e-02 -9.95823607e-01 1.69709380e-04 2.80238725e+02] [ 1.69696866e-02 -1.38539880e-03 9.99855045e-01 2.21458304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4507140569999 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:298.91, Y:280.24, Z:2.21 [[-9.96124846e-01 8.62869905e-02 1.70248664e-02 2.98907466e+02] [-8.62963596e-02 -9.96269494e-01 1.84930824e-04 2.80239222e+02] [ 1.69773121e-02 -1.28496980e-03 9.99855049e-01 2.21185334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4807140569999 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:298.89, Y:280.24, Z:2.22 [[-9.95763710e-01 9.03586052e-02 1.70280793e-02 2.98894396e+02] [-9.03704864e-02 -9.95908214e-01 7.20160355e-05 2.80236044e+02] [ 1.69649113e-02 -1.46712485e-03 9.99855009e-01 2.21504658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.510714057 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:298.89, Y:280.23, Z:2.21 [[-9.95935906e-01 8.84412856e-02 1.70237984e-02 2.98894501e+02] [-8.84503819e-02 -9.96080560e-01 2.19340847e-04 2.80234893e+02] [ 1.69764734e-02 -1.28731204e-03 9.99855061e-01 2.21386812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.540714057 meters Centerline goodness : 0.993663 Centerline is valid? [True, True] Translation: X:298.90, Y:280.23, Z:2.21 [[-9.96094083e-01 8.66415547e-02 1.70240703e-02 2.98898769e+02] [-8.66505483e-02 -9.96238746e-01 2.10020004e-04 2.80231913e+02] [ 1.69782349e-02 -1.26594534e-03 9.99855058e-01 2.21429005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5707140569999 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:298.90, Y:280.23, Z:2.21 [[-9.96182692e-01 8.56167811e-02 1.70238416e-02 2.98904976e+02] [-8.56254938e-02 -9.96327370e-01 2.17776727e-04 2.80230769e+02] [ 1.69799647e-02 -1.24072944e-03 9.99855060e-01 2.21353421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6007140569999 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:298.91, Y:280.23, Z:2.21 [[-9.96225334e-01 8.51191127e-02 1.70241345e-02 2.98913908e+02] [-8.51279220e-02 -9.96370009e-01 2.07852378e-04 2.80229814e+02] [ 1.69800292e-02 -1.24216139e-03 9.99855057e-01 2.21258413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.630714057 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:298.91, Y:280.23, Z:2.21 [[-9.96408325e-01 8.29495926e-02 1.70239652e-02 2.98911637e+02] [-8.29579905e-02 -9.96553022e-01 2.13516400e-04 2.80227710e+02] [ 1.69829951e-02 -1.19952442e-03 9.99855059e-01 2.20879239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.660714057 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:298.92, Y:280.23, Z:2.21 [[-9.96541384e-01 8.13363441e-02 1.70196905e-02 2.98918343e+02] [-8.13421143e-02 -9.96686177e-01 3.54098931e-04 2.80226868e+02] [ 1.69920914e-02 -1.03154337e-03 9.99855092e-01 2.20795485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6907140569999 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:298.92, Y:280.23, Z:2.21 [[-9.96709134e-01 7.92531939e-02 1.70244703e-02 2.98921443e+02] [-7.92613442e-02 -9.96853851e-01 1.96527649e-04 2.80226261e+02] [ 1.69864842e-02 -1.15350150e-03 9.99855054e-01 2.20718415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7207140569999 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:298.92, Y:280.22, Z:2.21 [[-9.96941809e-01 7.62700925e-02 1.70265402e-02 2.98918484e+02] [-7.62789654e-02 -9.97086507e-01 1.28646581e-04 2.80222889e+02] [ 1.69867454e-02 -1.17051372e-03 9.99855030e-01 2.20729925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.750714057 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:298.93, Y:280.22, Z:2.21 [[-9.97065846e-01 7.46311626e-02 1.70261029e-02 2.98931754e+02] [-7.46395555e-02 -9.97210568e-01 1.42863809e-04 2.80221869e+02] [ 1.69892719e-02 -1.12837613e-03 9.99855035e-01 2.20677924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.780714057 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:298.93, Y:280.22, Z:2.21 [[-9.97197779e-01 7.28473080e-02 1.70252699e-02 2.98930219e+02] [-7.28549841e-02 -9.97342530e-01 1.69757221e-04 2.80220709e+02] [ 1.69923922e-02 -1.07109425e-03 9.99855045e-01 2.21077839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8107140569999 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:298.94, Y:280.22, Z:2.21 [[-9.97334090e-01 7.09574582e-02 1.70221325e-02 2.98937755e+02] [-7.09631572e-02 -9.97478901e-01 2.69744786e-04 2.80219759e+02] [ 1.69983584e-02 -9.38918592e-04 9.99855077e-01 2.21068754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8407140569999 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:298.94, Y:280.22, Z:2.21 [[-9.97559760e-01 6.77109865e-02 1.70219551e-02 2.98935867e+02] [-6.77161188e-02 -9.97704591e-01 2.75342233e-04 2.80216604e+02] [ 1.70015265e-02 -8.77990404e-04 9.99855078e-01 2.20737367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.870714057 meters Centerline goodness : 0.994009 Centerline is valid? [True, True] Translation: X:298.98, Y:280.22, Z:2.20 [[-9.98000861e-01 6.08631578e-02 1.70281176e-02 2.98976656e+02] [-6.08706762e-02 -9.98145658e-01 7.68991990e-05 2.80217477e+02] [ 1.70012220e-02 -9.59767568e-04 9.99855008e-01 2.20408226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.900714057 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:298.94, Y:280.20, Z:2.21 [[-9.96471525e-01 8.21855616e-02 1.70303760e-02 2.98937301e+02] [-8.21974049e-02 -9.96616068e-01 4.57364061e-06 2.80204087e+02] [ 1.69731222e-02 -1.39529521e-03 9.99854973e-01 2.21134487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9307140569999 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:298.94, Y:280.20, Z:2.21 [[-9.96411629e-01 8.29122509e-02 1.70124593e-02 2.98935986e+02] [-8.29148381e-02 -9.96556482e-01 5.54424691e-04 2.80200929e+02] [ 1.69998452e-02 -8.58150096e-04 9.99855124e-01 2.21457006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9607140569999 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:298.94, Y:280.20, Z:2.21 [[-9.96303418e-01 8.42026229e-02 1.70122699e-02 2.98941855e+02] [-8.42052998e-02 -9.96448270e-01 5.60176872e-04 2.80200063e+02] [ 1.69990152e-02 -8.74417151e-04 9.99855124e-01 2.21479182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9907140569999 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:298.95, Y:280.21, Z:2.21 [[-9.97087937e-01 7.43386563e-02 1.70120506e-02 2.98953053e+02] [-7.43397874e-02 -9.97232809e-01 5.66757331e-04 2.80206923e+02] [ 1.70071070e-02 -6.99565330e-04 9.99855124e-01 2.21158803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.020714057 meters Centerline goodness : 0.992525 Centerline is valid? [True, True] Translation: X:298.96, Y:280.21, Z:2.21 [[-9.96812511e-01 7.79422149e-02 1.70243887e-02 2.98955480e+02] [-7.79503207e-02 -9.96957227e-01 1.87942015e-04 2.80206811e+02] [ 1.69872360e-02 -1.13971361e-03 9.99855057e-01 2.21192939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0507140569999 meters Centerline goodness : 0.992828 Centerline is valid? [True, True] Translation: X:298.96, Y:280.21, Z:2.21 [[-9.96407936e-01 8.29545767e-02 1.70224388e-02 2.98958029e+02] [-8.29624039e-02 -9.96552647e-01 2.47046157e-04 2.80206062e+02] [ 1.69842500e-02 -1.16606369e-03 9.99855077e-01 2.21285682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0807140569999 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:298.93, Y:280.21, Z:2.21 [[-9.96080318e-01 8.68012873e-02 1.70158034e-02 2.98932340e+02] [-8.68063320e-02 -9.96225107e-01 4.43291643e-04 2.80205117e+02] [ 1.69900489e-02 -1.03552540e-03 9.99855122e-01 2.21407988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1107140569999 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:298.94, Y:280.21, Z:2.21 [[-9.95646340e-01 9.16443729e-02 1.70198607e-02 2.98943279e+02] [-9.16521679e-02 -9.95791030e-01 3.23095539e-04 2.80205917e+02] [ 1.69778345e-02 -1.23821824e-03 9.99855099e-01 2.21289607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.140714057 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:298.97, Y:280.21, Z:2.21 [[-9.95453273e-01 9.37179587e-02 1.70213453e-02 2.98969610e+02] [-9.37268026e-02 -9.95597915e-01 2.79171131e-04 2.80205970e+02] [ 1.69725793e-02 -1.31745446e-03 9.99855087e-01 2.21382060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1707140569999 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:298.95, Y:280.20, Z:2.21 [[-9.95058563e-01 9.78198319e-02 1.70216513e-02 2.98946835e+02] [-9.78294252e-02 -9.95203161e-01 2.70162550e-04 2.80204949e+02] [ 1.69664284e-02 -1.39639080e-03 9.99855085e-01 2.21330800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2007140569999 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:298.96, Y:280.21, Z:2.21 [[-9.94911932e-01 9.93006742e-02 1.70183514e-02 2.98955546e+02] [-9.93088566e-02 -9.95056590e-01 3.65716701e-04 2.80205056e+02] [ 1.69705386e-02 -1.32621710e-03 9.99855111e-01 2.21319705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2307140569999 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:298.96, Y:280.21, Z:2.21 [[-9.94969922e-01 9.87177727e-02 1.70192552e-02 2.98964675e+02] [-9.87263143e-02 -9.95114566e-01 3.39635385e-04 2.80205133e+02] [ 1.69696369e-02 -1.34232135e-03 9.99855104e-01 2.21215352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.260714057 meters Centerline goodness : 0.993035 Centerline is valid? [True, True] Translation: X:298.96, Y:280.20, Z:2.21 [[-9.94836285e-01 1.00055570e-01 1.70190541e-02 2.98958735e+02] [-1.00064209e-01 -9.94980922e-01 3.45375337e-04 2.80204380e+02] [ 1.69681909e-02 -1.35940626e-03 9.99855106e-01 2.21319938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.290714057 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:298.96, Y:280.20, Z:2.21 [[-9.94831290e-01 1.00105535e-01 1.70172110e-02 2.98955714e+02] [-1.00113298e-01 -9.94975964e-01 3.97261249e-04 2.80203947e+02] [ 1.69714840e-02 -1.30844119e-03 9.99855118e-01 2.21414612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3207140569999 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:298.96, Y:280.20, Z:2.21 [[-9.95113080e-01 9.72647042e-02 1.70157611e-02 2.98964256e+02] [-9.72713674e-02 -9.95257801e-01 4.37575108e-04 2.80204969e+02] [ 1.69776296e-02 -1.21970964e-03 9.99855126e-01 2.21453542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3507140569999 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:298.96, Y:280.20, Z:2.21 [[-9.95153853e-01 9.68465683e-02 1.70162164e-02 2.98961651e+02] [-9.68533853e-02 -9.95298569e-01 4.24966707e-04 2.80204370e+02] [ 1.69773724e-02 -1.22517091e-03 9.99855123e-01 2.21425976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.380714057 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:298.97, Y:280.20, Z:2.21 [[-9.95384823e-01 9.44433174e-02 1.70151344e-02 2.98970113e+02] [-9.44492781e-02 -9.95529571e-01 4.54730253e-04 2.80204901e+02] [ 1.69820157e-02 -1.15443557e-03 9.99855129e-01 2.21321247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.410714057 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:298.98, Y:280.20, Z:2.21 [[-9.95842932e-01 8.94839510e-02 1.70140205e-02 2.98978239e+02] [-8.94886717e-02 -9.95987722e-01 4.85207131e-04 2.80204884e+02] [ 1.69891737e-02 -1.03937200e-03 9.99855133e-01 2.21198435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4407140569999 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:298.99, Y:280.21, Z:2.22 [[-9.96155572e-01 8.59337909e-02 1.70135554e-02 2.98987526e+02] [-8.59377805e-02 -9.96300382e-01 4.97828063e-04 2.80206428e+02] [ 1.69933919e-02 -9.66192986e-04 9.99855135e-01 2.21602412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4707140569999 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:298.99, Y:280.21, Z:2.21 [[-9.96330366e-01 8.38834158e-02 1.70110351e-02 2.98987520e+02] [-8.38859520e-02 -9.96475202e-01 5.65659198e-04 2.80205914e+02] [ 1.69985240e-02 -8.63403438e-04 9.99855142e-01 2.21144896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.500714057 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:298.99, Y:280.21, Z:2.21 [[-9.96721258e-01 7.91027336e-02 1.70144578e-02 2.98990995e+02] [-7.91061434e-02 -9.96866086e-01 4.73580955e-04 2.80207665e+02] [ 1.69985976e-02 -8.73919937e-04 9.99855131e-01 2.21045959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.530714057 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:299.01, Y:280.21, Z:2.21 [[-9.97026810e-01 7.51532604e-02 1.70154909e-02 2.99014528e+02] [-7.51565685e-02 -9.97171646e-01 4.45868442e-04 2.80209991e+02] [ 1.70008736e-02 -8.34283118e-04 9.99855127e-01 2.20951979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5607140569999 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:298.99, Y:280.21, Z:2.21 [[-9.96330192e-01 8.38839103e-02 1.70187449e-02 2.98988903e+02] [-8.38899693e-02 -9.96474959e-01 3.58831363e-04 2.80205470e+02] [ 1.69888533e-02 -1.07018746e-03 9.99855106e-01 2.21011373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5907140569999 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:298.99, Y:280.21, Z:2.21 [[-9.96369611e-01 8.34166518e-02 1.70076427e-02 2.98991822e+02] [-8.34176910e-02 -9.96514459e-01 6.49548067e-04 2.80206585e+02] [ 1.70025450e-02 -7.71548326e-04 9.99855149e-01 2.20998863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.620714057 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:299.03, Y:280.21, Z:2.21 [[-9.97485372e-01 6.88017541e-02 1.70073899e-02 2.99034449e+02] [-6.88005583e-02 -9.97630219e-01 6.56099286e-04 2.80214854e+02] [ 1.70122269e-02 -5.15668484e-04 9.99855149e-01 2.20787510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.650714057 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:299.01, Y:280.21, Z:2.21 [[-9.97073655e-01 7.45269502e-02 1.70252936e-02 2.99011025e+02] [-7.45347402e-02 -9.97218402e-01 1.77398652e-04 2.80213907e+02] [ 1.69911570e-02 -1.09209631e-03 9.99855043e-01 2.20930917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6807140569999 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:298.99, Y:280.21, Z:2.21 [[-9.96061130e-01 8.70207420e-02 1.70181258e-02 2.98987076e+02] [-8.70271782e-02 -9.96205871e-01 3.63419651e-04 2.80209902e+02] [ 1.69851819e-02 -1.11905128e-03 9.99855115e-01 2.20983475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7107140569999 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:298.99, Y:280.21, Z:2.21 [[-9.96027039e-01 8.74124451e-02 1.70059544e-02 2.98989754e+02] [-8.74136885e-02 -9.96171871e-01 6.71626678e-04 2.80209958e+02] [ 1.69995620e-02 -8.17594872e-04 9.99855163e-01 2.20991742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7407140569999 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:298.99, Y:280.21, Z:2.21 [[-9.95844952e-01 8.94630558e-02 1.70056912e-02 2.98994675e+02] [-8.94644850e-02 -9.95989782e-01 6.78225787e-04 2.80211393e+02] [ 1.69981709e-02 -8.45997684e-04 9.99855163e-01 2.20992853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.770714057 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:299.00, Y:280.21, Z:2.21 [[-9.95677293e-01 9.13101559e-02 1.70054257e-02 2.98998774e+02] [-9.13117414e-02 -9.95822121e-01 6.84820319e-04 2.80212764e+02] [ 1.69969101e-02 -8.70934991e-04 9.99855163e-01 2.20995975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8007140569999 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:299.02, Y:280.22, Z:2.21 [[-9.96324865e-01 8.39499113e-02 1.70051580e-02 2.99022234e+02] [-8.39503144e-02 -9.96469702e-01 6.91404788e-04 2.80220827e+02] [ 1.70031681e-02 -7.38724575e-04 9.99855163e-01 2.20909572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8307140569999 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:299.00, Y:280.22, Z:2.21 [[-9.95745293e-01 9.05629813e-02 1.70193204e-02 2.98995988e+02] [-9.05703763e-02 -9.95890001e-01 3.37359364e-04 2.80220152e+02] [ 1.69799233e-02 -1.20552225e-03 9.99855104e-01 2.20901661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8607140569999 meters Centerline goodness : 0.993726 Centerline is valid? [True, True] Translation: X:299.02, Y:280.22, Z:2.21 [[-9.95697346e-01 9.10898937e-02 1.70125511e-02 2.99015612e+02] [-9.10945366e-02 -9.95842122e-01 5.03434227e-04 2.80222980e+02] [ 1.69876728e-02 -1.04848234e-03 9.99855149e-01 2.20801396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.890714057 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:299.02, Y:280.22, Z:2.21 [[-9.95231312e-01 9.60481135e-02 1.70116426e-02 2.99021913e+02] [-9.60530993e-02 -9.95376073e-01 5.25634904e-04 2.80223800e+02] [ 1.69834683e-02 -1.11089269e-03 9.99855153e-01 2.20659246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9207140569999 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:299.02, Y:280.22, Z:2.21 [[-9.94917726e-01 9.92432832e-02 1.70143980e-02 2.99016543e+02] [-9.92498761e-02 -9.95062436e-01 4.58560773e-04 2.80223913e+02] [ 1.69758974e-02 -1.23244665e-03 9.99855140e-01 2.20648369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9507140569999 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:299.02, Y:280.22, Z:2.21 [[-9.94821824e-01 1.00200256e-01 1.70131231e-02 2.99016587e+02] [-1.00206463e-01 -9.94966545e-01 4.89395315e-04 2.80223996e+02] [ 1.69765259e-02 -1.21796375e-03 9.99855147e-01 2.20608799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9807140569999 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:299.02, Y:280.22, Z:2.21 [[-9.94760478e-01 1.00807355e-01 1.70137545e-02 2.99020754e+02] [-1.00813909e-01 -9.94905187e-01 4.74193310e-04 2.80224279e+02] [ 1.69748747e-02 -1.24351433e-03 9.99855143e-01 2.21037741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.010714057 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:299.03, Y:280.22, Z:2.21 [[-9.94801800e-01 1.00399530e-01 1.70092062e-02 2.99026509e+02] [-1.00404177e-01 -9.94946562e-01 5.82711945e-04 2.80224513e+02] [ 1.69817553e-02 -1.12811246e-03 9.99855163e-01 2.20579644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.040714057 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:299.03, Y:280.22, Z:2.21 [[-9.94831916e-01 1.00099980e-01 1.70132962e-02 2.99028935e+02] [-1.00106247e-01 -9.94976635e-01 4.85057794e-04 2.80223541e+02] [ 1.69763865e-02 -1.22058625e-03 9.99855146e-01 2.20597353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0707140569999 meters Centerline goodness : 0.993660 Centerline is valid? [True, True] Translation: X:299.04, Y:280.22, Z:2.21 [[-9.94852164e-01 9.98984272e-02 1.70139766e-02 2.99035581e+02] [-9.99049396e-02 -9.94996876e-01 4.68884870e-04 2.80223702e+02] [ 1.69756944e-02 -1.23330917e-03 9.99855142e-01 2.21088801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1007140569999 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:299.04, Y:280.23, Z:2.20 [[-9.95920443e-01 8.86182146e-02 1.70083140e-02 2.99039431e+02] [-8.86208170e-02 -9.96065253e-01 6.02115073e-04 2.80226967e+02] [ 1.69947490e-02 -9.07631974e-04 9.99855167e-01 2.20433768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.130714057 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:299.04, Y:280.23, Z:2.21 [[-9.95720129e-01 9.08381435e-02 1.70251544e-02 2.99038042e+02] [-9.08479500e-02 -9.95864755e-01 1.98121713e-04 2.80226018e+02] [ 1.69727482e-02 -1.34942660e-03 9.99855042e-01 2.20584233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.160714057 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:299.04, Y:280.23, Z:2.21 [[-9.95880309e-01 8.90665950e-02 1.70162146e-02 2.99035061e+02] [-8.90725586e-02 -9.96025056e-01 4.08616926e-04 2.80225112e+02] [ 1.69849702e-02 -1.10874422e-03 9.99855130e-01 2.20549460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1907140569999 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:299.04, Y:280.23, Z:2.21 [[-9.95855767e-01 8.93395399e-02 1.70216937e-02 2.99044458e+02] [-8.93477470e-02 -9.96000453e-01 2.79236676e-04 2.80225483e+02] [ 1.69785615e-02 -1.24277052e-03 9.99855081e-01 2.20547126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2207140569999 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:299.04, Y:280.22, Z:2.20 [[-9.96217640e-01 8.52115149e-02 1.70121028e-02 2.99039732e+02] [-8.52153191e-02 -9.96362433e-01 5.02473814e-04 2.80224507e+02] [ 1.69930367e-02 -9.49118490e-04 9.99855157e-01 2.20328712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.250714057 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:299.04, Y:280.22, Z:2.21 [[-9.95758480e-01 9.04172336e-02 1.70227166e-02 2.99035630e+02] [-9.04260286e-02 -9.95903142e-01 2.53908699e-04 2.80222315e+02] [ 1.69759347e-02 -1.28646492e-03 9.99855071e-01 2.20708327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.280714057 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:299.04, Y:280.22, Z:2.20 [[-9.95990903e-01 8.78209121e-02 1.70178814e-02 2.99042336e+02] [-8.78274188e-02 -9.96135639e-01 3.66095277e-04 2.80223503e+02] [ 1.69842689e-02 -1.13000903e-03 9.99855118e-01 2.20339318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3107140569999 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:299.04, Y:280.22, Z:2.21 [[-9.95688687e-01 9.11827511e-02 1.70218718e-02 2.99037255e+02] [-9.11913257e-02 -9.95833353e-01 2.73377210e-04 2.80221991e+02] [ 1.69758750e-02 -1.28004846e-03 9.99855080e-01 2.20591564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3407140569999 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:299.05, Y:280.22, Z:2.21 [[-9.95020300e-01 9.82086452e-02 1.70195614e-02 2.99047476e+02] [-9.82173358e-02 -9.95164935e-01 3.26517020e-04 2.80220319e+02] [ 1.69693375e-02 -1.34672491e-03 9.99855103e-01 2.20664531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.370714057 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:299.06, Y:280.22, Z:2.21 [[-9.95306731e-01 9.52629989e-02 1.70138930e-02 2.99062928e+02] [-9.52690575e-02 -9.95451455e-01 4.55899485e-04 2.80221647e+02] [ 1.69799349e-02 -1.16713773e-03 9.99855149e-01 2.20717175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.400714057 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:299.03, Y:280.21, Z:2.21 [[-9.93763694e-01 1.10200124e-01 1.70192238e-02 2.99033132e+02] [-1.10210420e-01 -9.93908221e-01 3.34602535e-04 2.80214310e+02] [ 1.69524197e-02 -1.54317996e-03 9.99855107e-01 2.20500506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4307140569999 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:299.04, Y:280.22, Z:2.21 [[-9.93850276e-01 1.09419557e-01 1.69997149e-02 2.99041738e+02] [-1.09422376e-01 -9.93995048e-01 7.67020157e-04 2.80215313e+02] [ 1.69815594e-02 -1.09784599e-03 9.99855200e-01 2.20658553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4607140569999 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:299.06, Y:280.22, Z:2.21 [[-9.94024838e-01 1.07821123e-01 1.70066837e-02 2.99062794e+02] [-1.07826362e-01 -9.94169554e-01 6.11263343e-04 2.80216552e+02] [ 1.69734342e-02 -1.22615788e-03 9.99855189e-01 2.20694513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4907140569999 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:299.04, Y:280.21, Z:2.21 [[-9.93321961e-01 1.14114486e-01 1.70107629e-02 2.99036376e+02] [-1.14122192e-01 -9.93466585e-01 5.20240074e-04 2.80213094e+02] [ 1.69589914e-02 -1.42453965e-03 9.99855171e-01 2.20678320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.520714057 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:299.05, Y:280.21, Z:2.21 [[-9.93373414e-01 1.13666654e-01 1.70044903e-02 2.99052122e+02] [-1.13671939e-01 -9.93518121e-01 6.58538437e-04 2.80213862e+02] [ 1.69691231e-02 -1.27875882e-03 9.99855196e-01 2.20737536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5507140569999 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:299.05, Y:280.21, Z:2.21 [[-9.92932813e-01 1.17452986e-01 1.70066391e-02 2.99046387e+02] [-1.17459629e-01 -9.93077470e-01 6.11174541e-04 2.80211670e+02] [ 1.69606944e-02 -1.39073826e-03 9.99855190e-01 2.20600941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5807140569999 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:299.05, Y:280.21, Z:2.21 [[-9.92942138e-01 1.17374545e-01 1.70037260e-02 2.99052955e+02] [-1.17380090e-01 -9.93086834e-01 6.75004772e-04 2.80211735e+02] [ 1.69654048e-02 -1.32565820e-03 9.99855198e-01 2.20614089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6107140569999 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:299.06, Y:280.21, Z:2.21 [[-9.92750334e-01 1.18985671e-01 1.70054339e-02 2.99055002e+02] [-1.18992085e-01 -9.92894998e-01 6.37814130e-04 2.80211079e+02] [ 1.69605010e-02 -1.39032183e-03 9.99855194e-01 2.20680834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.640714057 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:299.05, Y:280.21, Z:2.21 [[-9.92702886e-01 1.19381000e-01 1.70045964e-02 2.99050457e+02] [-1.19387163e-01 -9.92847559e-01 6.55936543e-04 2.80209831e+02] [ 1.69612784e-02 -1.37898042e-03 9.99855196e-01 2.20748279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6707140569999 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:299.05, Y:280.21, Z:2.21 [[-9.92625350e-01 1.20024028e-01 1.70043065e-02 2.99053936e+02] [-1.20030178e-01 -9.92770023e-01 6.62164197e-04 2.80208982e+02] [ 1.69608414e-02 -1.38374896e-03 9.99855197e-01 2.20828449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7007140569999 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:299.06, Y:280.21, Z:2.21 [[-9.92888193e-01 1.17830197e-01 1.70023970e-02 2.99061947e+02] [-1.17835335e-01 -9.93032900e-01 7.02804211e-04 2.80208992e+02] [ 1.69667512e-02 -1.30567714e-03 9.99855202e-01 2.20870018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7307140569999 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:299.07, Y:280.21, Z:2.21 [[-9.93607643e-01 1.11600755e-01 1.70036450e-02 2.99067085e+02] [-1.11605437e-01 -9.93752368e-01 6.76320198e-04 2.80208878e+02] [ 1.69728904e-02 -1.22570231e-03 9.99855199e-01 2.21122026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.760714057 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:299.06, Y:280.21, Z:2.21 [[-9.93451161e-01 1.12984661e-01 1.70075372e-02 2.99056716e+02] [-1.12990952e-01 -9.93595840e-01 5.93652647e-04 2.80206708e+02] [ 1.69656918e-02 -1.33193290e-03 9.99855185e-01 2.21106275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.790714057 meters Centerline goodness : 0.993137 Centerline is valid? [True, True] Translation: X:299.06, Y:280.21, Z:2.21 [[-9.93881674e-01 1.09133496e-01 1.70028785e-02 2.99058223e+02] [-1.09137558e-01 -9.94026416e-01 6.91566542e-04 2.80206675e+02] [ 1.69767834e-02 -1.16831732e-03 9.99855201e-01 2.21276633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8207140569999 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:299.07, Y:280.21, Z:2.21 [[-9.94487277e-01 1.03469188e-01 1.70053786e-02 2.99065671e+02] [-1.03473321e-01 -9.94632024e-01 6.39051420e-04 2.80206571e+02] [ 1.69802163e-02 -1.12407449e-03 9.99855194e-01 2.21414740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8507140569999 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:299.07, Y:280.21, Z:2.21 [[-9.94636771e-01 1.02021902e-01 1.70066111e-02 2.99067510e+02] [-1.02026264e-01 -9.94781517e-01 6.13240693e-04 2.80206203e+02] [ 1.69804263e-02 -1.12516924e-03 9.99855189e-01 2.21356022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.880714057 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:299.07, Y:280.21, Z:2.21 [[-9.95021185e-01 9.82021102e-02 1.70055196e-02 2.99072941e+02] [-9.82055285e-02 -9.95165951e-01 6.35975226e-04 2.80207356e+02] [ 1.69857682e-02 -1.03722721e-03 9.99855193e-01 2.21483707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.910714057 meters Centerline goodness : 0.991976 Centerline is valid? [True, True] Translation: X:299.07, Y:280.21, Z:2.21 [[-9.94985077e-01 9.85668697e-02 1.70078979e-02 2.99072106e+02] [-9.85711839e-02 -9.95129830e-01 5.86508902e-04 2.80207170e+02] [ 1.69828769e-02 -1.09292103e-03 9.99855183e-01 2.21388782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9407140569999 meters Centerline goodness : 0.992687 Centerline is valid? [True, True] Translation: X:299.07, Y:280.21, Z:2.21 [[-9.95320880e-01 9.51176381e-02 1.69994475e-02 2.99072166e+02] [-9.51184932e-02 -9.95465667e-01 7.60071704e-04 2.80206428e+02] [ 1.69946626e-02 -8.60446598e-04 9.99855210e-01 2.21246026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9707140569999 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:299.10, Y:280.21, Z:2.21 [[-9.95496766e-01 9.32578633e-02 1.70046800e-02 2.99099204e+02] [-9.32602799e-02 -9.95641549e-01 6.52551645e-04 2.80206809e+02] [ 1.69914215e-02 -9.36248164e-04 9.99855197e-01 2.20931653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.000714057 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:299.07, Y:280.21, Z:2.21 [[-9.95704167e-01 9.10167544e-02 1.70047735e-02 2.99070749e+02] [-9.10188777e-02 -9.95848955e-01 6.50636013e-04 2.80206344e+02] [ 1.69934047e-02 -8.99914408e-04 9.99855197e-01 2.21385926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.030714057 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:299.08, Y:280.21, Z:2.21 [[-9.95928572e-01 8.85271497e-02 1.70065853e-02 2.99081969e+02] [-8.85295425e-02 -9.96073363e-01 6.13574963e-04 2.80205698e+02] [ 1.69941247e-02 -8.94508381e-04 9.99855189e-01 2.21150618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0607140569999 meters Centerline goodness : 0.993124 Centerline is valid? [True, True] Translation: X:299.08, Y:280.20, Z:2.21 [[-9.95853443e-01 8.93685997e-02 1.70050867e-02 2.99076343e+02] [-8.93705953e-02 -9.95998234e-01 6.44068785e-04 2.80204617e+02] [ 1.69945959e-02 -8.78356606e-04 9.99855196e-01 2.21103144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0907140569999 meters Centerline goodness : 0.993067 Centerline is valid? [True, True] Translation: X:299.09, Y:280.20, Z:2.21 [[-9.95501054e-01 9.32125908e-02 1.70018772e-02 2.99090285e+02] [-9.32140396e-02 -9.95645841e-01 7.08955219e-04 2.80202114e+02] [ 1.69939319e-02 -8.79047989e-04 9.99855206e-01 2.21052367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.120714057 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:299.07, Y:280.20, Z:2.21 [[-9.96115480e-01 8.64009538e-02 1.69948598e-02 2.99074668e+02] [-8.63990197e-02 -9.96260251e-01 8.49368742e-04 2.80204661e+02] [ 1.70046896e-02 -6.22269874e-04 9.99855216e-01 2.21082747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.150714057 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:299.07, Y:280.20, Z:2.21 [[-9.95934888e-01 8.84573044e-02 1.70001240e-02 2.99071232e+02] [-8.84574576e-02 -9.96079678e-01 7.44412814e-04 2.80203043e+02] [ 1.69993268e-02 -7.62401054e-04 9.99855210e-01 2.20857891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1807140569999 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:299.07, Y:280.20, Z:2.21 [[-9.95905240e-01 8.87910922e-02 1.69969110e-02 2.99071561e+02] [-8.87902099e-02 -9.96050022e-01 8.08026876e-04 2.80203028e+02] [ 1.70015192e-02 -7.04441096e-04 9.99855216e-01 2.20866740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2107140569999 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:299.10, Y:280.21, Z:2.21 [[-9.96130014e-01 8.62330714e-02 1.69956417e-02 2.99104961e+02] [-8.62313913e-02 -9.96274788e-01 8.33031181e-04 2.80206215e+02] [ 1.70041641e-02 -6.35750465e-04 9.99855217e-01 2.21047233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2407140569999 meters Centerline goodness : 0.993447 Centerline is valid? [True, True] Translation: X:299.10, Y:280.21, Z:2.21 [[-9.95837371e-01 8.95486667e-02 1.69990140e-02 2.99096309e+02] [-8.95485997e-02 -9.95982159e-01 7.66647467e-04 2.80205786e+02] [ 1.69993669e-02 -7.58781702e-04 9.99855212e-01 2.21248147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.270714057 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:299.10, Y:280.21, Z:2.21 [[-9.95927817e-01 8.85375899e-02 1.69964441e-02 2.99100432e+02] [-8.85365207e-02 -9.96072596e-01 8.16832391e-04 2.80207342e+02] [ 1.70020126e-02 -6.91299929e-04 9.99855216e-01 2.21270020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3007140569999 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:299.10, Y:280.21, Z:2.22 [[-9.95550526e-01 9.26831161e-02 1.69997214e-02 2.99100196e+02] [-9.26837388e-02 -9.95695314e-01 7.52922846e-04 2.80209167e+02] [ 1.69963262e-02 -8.26025006e-04 9.99855211e-01 2.21526050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3307140569999 meters Centerline goodness : 0.993260 Centerline is valid? [True, True] Translation: X:299.09, Y:280.21, Z:2.21 [[-9.95076286e-01 9.76431329e-02 1.70000991e-02 2.99094117e+02] [-9.76446022e-02 -9.95221069e-01 7.45583103e-04 2.80208951e+02] [ 1.69916579e-02 -9.18055852e-04 9.99855210e-01 2.21438151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3607140569999 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:299.11, Y:280.21, Z:2.22 [[-9.95127400e-01 9.71213734e-02 1.69969435e-02 2.99108647e+02] [-9.71217282e-02 -9.95272184e-01 8.06526048e-04 2.80211676e+02] [ 1.69949160e-02 -8.48176354e-04 9.99855216e-01 2.21535004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.390714057 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:299.10, Y:280.21, Z:2.22 [[-9.94606067e-01 1.02321524e-01 1.70022994e-02 2.99098211e+02] [-1.02324397e-01 -9.94750835e-01 7.03196204e-04 2.80213104e+02] [ 1.69850036e-02 -1.04034682e-03 9.99855203e-01 2.21506424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4207140569999 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:299.10, Y:280.21, Z:2.21 [[-9.93490331e-01 1.12641977e-01 1.69925400e-02 2.99099055e+02] [-1.12643176e-01 -9.93635106e-01 8.89616257e-04 2.80211524e+02] [ 1.69845924e-02 -1.03026852e-03 9.99855221e-01 2.21193385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4507140569999 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:299.09, Y:280.21, Z:2.21 [[-9.93720481e-01 1.10593260e-01 1.69922595e-02 2.99088003e+02] [-1.10594069e-01 -9.93865258e-01 8.94940784e-04 2.80214683e+02] [ 1.69869908e-02 -9.89922139e-04 9.99855221e-01 2.21310193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4807140569999 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:299.10, Y:280.22, Z:2.21 [[-9.93658141e-01 1.11151069e-01 1.69981915e-02 2.99101210e+02] [-1.11153876e-01 -9.93802900e-01 7.82483606e-04 2.80216953e+02] [ 1.69798259e-02 -1.11189367e-03 9.99855214e-01 2.21311269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.510714057 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:299.12, Y:280.22, Z:2.21 [[-9.93474779e-01 1.12777791e-01 1.70009660e-02 2.99116149e+02] [-1.12781733e-01 -9.93619519e-01 7.29829224e-04 2.80218840e+02] [ 1.69748002e-02 -1.19233148e-03 9.99855207e-01 2.21193017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.540714057 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:299.09, Y:280.22, Z:2.21 [[-9.93102483e-01 1.16010322e-01 1.70018749e-02 2.99090840e+02] [-1.16015027e-01 -9.93247203e-01 7.12667212e-04 2.80218098e+02] [ 1.69697414e-02 -1.26472139e-03 9.99855204e-01 2.21282133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5707140569999 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:299.09, Y:280.22, Z:2.21 [[-9.92487349e-01 1.21160370e-01 1.70008093e-02 2.99086333e+02] [-1.21165486e-01 -9.92632051e-01 7.32611160e-04 2.80218675e+02] [ 1.69643117e-02 -1.33280401e-03 9.99855207e-01 2.21419059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6007140569999 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:299.08, Y:280.22, Z:2.21 [[-9.92118975e-01 1.24140869e-01 1.69995464e-02 2.99083262e+02] [-1.24146019e-01 -9.92263672e-01 7.56099213e-04 2.80218345e+02] [ 1.69618951e-02 -1.36028563e-03 9.99855211e-01 2.21466049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.630714057 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:299.09, Y:280.22, Z:2.21 [[-9.92071854e-01 1.24517080e-01 1.69980598e-02 2.99085927e+02] [-1.24521816e-01 -9.92216561e-01 7.83600697e-04 2.80218556e+02] [ 1.69633281e-02 -1.33924108e-03 9.99855215e-01 2.21462641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.660714057 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:299.12, Y:280.22, Z:2.22 [[-9.92251743e-01 1.23075381e-01 1.69979403e-02 2.99122854e+02] [-1.23079869e-01 -9.92396457e-01 7.85799796e-04 2.80221917e+02] [ 1.69654084e-02 -1.31239306e-03 9.99855216e-01 2.21530727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6907140569999 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:299.12, Y:280.22, Z:2.21 [[-9.92291040e-01 1.22757293e-01 1.70040844e-02 2.99124682e+02] [-1.22763670e-01 -9.92435706e-01 6.72268362e-04 2.80222806e+02] [ 1.69579863e-02 -1.42039792e-03 9.99855194e-01 2.21276671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7207140569999 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:299.15, Y:280.23, Z:2.21 [[-9.92438407e-01 1.21560282e-01 1.70031211e-02 2.99152327e+02] [-1.21566181e-01 -9.92583088e-01 6.90011744e-04 2.80225357e+02] [ 1.69608885e-02 -1.38221035e-03 9.99855198e-01 2.21123954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.750714057 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:299.12, Y:280.22, Z:2.21 [[-9.91803314e-01 1.26638359e-01 1.69974146e-02 2.99115862e+02] [-1.26643224e-01 -9.91948014e-01 7.94209791e-04 2.80221809e+02] [ 1.69611291e-02 -1.36490749e-03 9.99855218e-01 2.21170530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.780714057 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:299.12, Y:280.22, Z:2.21 [[-9.91375343e-01 1.29947091e-01 1.69906477e-02 2.99124468e+02] [-1.29950355e-01 -9.91520078e-01 9.16485904e-04 2.80220534e+02] [ 1.69656631e-02 -1.29935918e-03 9.99855229e-01 2.21100333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8107140569999 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:299.12, Y:280.22, Z:2.21 [[-9.91691558e-01 1.27510718e-01 1.69962191e-02 2.99124573e+02] [-1.27515343e-01 -9.91836263e-01 8.15745696e-04 2.80221918e+02] [ 1.69614828e-02 -1.35831059e-03 9.99855221e-01 2.21301766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8407140569999 meters Centerline goodness : 0.995002 Centerline is valid? [True, True] Translation: X:299.13, Y:280.22, Z:2.21 [[-9.91407041e-01 1.29703548e-01 1.70020085e-02 2.99129036e+02] [-1.29710276e-01 -9.91551682e-01 7.11089987e-04 2.80221658e+02] [ 1.69506010e-02 -1.50035559e-03 9.99855203e-01 2.21010490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.870714057 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:299.12, Y:280.22, Z:2.21 [[-9.91527291e-01 1.28781696e-01 1.69972067e-02 2.99115430e+02] [-1.28786826e-01 -9.91671981e-01 7.96996240e-04 2.80220967e+02] [ 1.69582921e-02 -1.39877278e-03 9.99855219e-01 2.21264432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.900714057 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:299.11, Y:280.22, Z:2.21 [[-9.91408608e-01 1.29691854e-01 1.69998473e-02 2.99114493e+02] [-1.29697920e-01 -9.91553270e-01 7.49866143e-04 2.80220630e+02] [ 1.69535057e-02 -1.46142109e-03 9.99855211e-01 2.21221035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9307140569999 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:299.11, Y:280.22, Z:2.21 [[-9.91495069e-01 1.29029541e-01 1.69972298e-02 2.99105312e+02] [-1.29034721e-01 -9.91639757e-01 7.96181670e-04 2.80219589e+02] [ 1.69578598e-02 -1.40382261e-03 9.99855220e-01 2.21378229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9607140569999 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:299.13, Y:280.22, Z:2.21 [[-9.91647866e-01 1.27849675e-01 1.69991158e-02 2.99126652e+02] [-1.27855251e-01 -9.91792545e-01 7.62886807e-04 2.80220010e+02] [ 1.69571312e-02 -1.41691114e-03 9.99855214e-01 2.21278723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9907140569999 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:299.12, Y:280.22, Z:2.21 [[-9.91917748e-01 1.25739750e-01 1.69910481e-02 2.99120318e+02] [-1.25742612e-01 -9.92062487e-01 9.04039395e-04 2.80219183e+02] [ 1.69698552e-02 -1.23976605e-03 9.99855233e-01 2.21008330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.020714057 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:299.13, Y:280.22, Z:2.21 [[-9.92110047e-01 1.24211806e-01 1.70024382e-02 2.99126716e+02] [-1.24217861e-01 -9.92254719e-01 7.03605335e-04 2.80219786e+02] [ 1.69581456e-02 -1.41395258e-03 9.99855201e-01 2.20819352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0507140569999 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:299.13, Y:280.22, Z:2.21 [[-9.92160088e-01 1.23811296e-01 1.70036403e-02 2.99127896e+02] [-1.23817652e-01 -9.92304753e-01 6.82519042e-04 2.80219349e+02] [ 1.69572966e-02 -1.42818266e-03 9.99855195e-01 2.20834381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0807140569999 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:299.14, Y:280.22, Z:2.21 [[-9.92174485e-01 1.23695873e-01 1.70035880e-02 2.99141322e+02] [-1.23702196e-01 -9.92319152e-01 6.83430671e-04 2.80220347e+02] [ 1.69575236e-02 -1.42529871e-03 9.99855195e-01 2.21100614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1107140569999 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:299.13, Y:280.22, Z:2.21 [[-9.92238719e-01 1.23180854e-01 1.69941539e-02 2.99134702e+02] [-1.23184329e-01 -9.92383447e-01 8.46171408e-04 2.80218825e+02] [ 1.69689491e-02 -1.25380941e-03 9.99855231e-01 2.20955802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.140714057 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:299.15, Y:280.22, Z:2.21 [[-9.93062282e-01 1.16353249e-01 1.70066557e-02 2.99152655e+02] [-1.16359435e-01 -9.93206971e-01 6.28674592e-04 2.80220907e+02] [ 1.69642773e-02 -1.35457182e-03 9.99855179e-01 2.20827033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1707140569999 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:299.17, Y:280.22, Z:2.21 [[-9.92834700e-01 1.18278017e-01 1.70167315e-02 2.99168347e+02] [-1.18287495e-01 -9.92979287e-01 4.51955738e-04 2.80220990e+02] [ 1.69507183e-02 -1.56414920e-03 9.99855103e-01 2.21190690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2007140569999 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:299.16, Y:280.22, Z:2.21 [[-9.92794298e-01 1.18618991e-01 1.70004797e-02 2.99160678e+02] [-1.18623732e-01 -9.92939008e-01 7.32851303e-04 2.80219365e+02] [ 1.69673695e-02 -1.28908975e-03 9.99855213e-01 2.20998005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2307140569999 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:299.16, Y:280.22, Z:2.21 [[-9.92788094e-01 1.18669551e-01 1.70099280e-02 2.99158240e+02] [-1.18677089e-01 -9.92932739e-01 5.69163160e-04 2.80218182e+02] [ 1.69572567e-02 -1.45363033e-03 9.99855159e-01 2.20971597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.260714057 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:299.16, Y:280.22, Z:2.21 [[-9.93058350e-01 1.16387026e-01 1.70051326e-02 2.99161167e+02] [-1.16392829e-01 -9.93203043e-01 6.51409258e-04 2.80218512e+02] [ 1.69653650e-02 -1.33238809e-03 9.99855190e-01 2.20906604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.290714057 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:299.17, Y:280.22, Z:2.21 [[-9.93078853e-01 1.16211830e-01 1.70059712e-02 2.99165530e+02] [-1.16217853e-01 -9.93223542e-01 6.37055358e-04 2.80218101e+02] [ 1.69647644e-02 -1.34375125e-03 9.99855185e-01 2.20971750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3207140569999 meters Centerline goodness : 0.993726 Centerline is valid? [True, True] Translation: X:299.18, Y:280.22, Z:2.21 [[-9.93464841e-01 1.12864953e-01 1.70033208e-02 2.99181989e+02] [-1.12869718e-01 -9.93609562e-01 6.82180347e-04 2.80219358e+02] [ 1.69716564e-02 -1.24143785e-03 9.99855200e-01 2.21000882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3507140569999 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:299.17, Y:280.22, Z:2.21 [[-9.94001684e-01 1.08035883e-01 1.69970645e-02 2.99172149e+02] [-1.08038140e-01 -9.94146438e-01 7.88067609e-04 2.80217959e+02] [ 1.69827107e-02 -1.05299070e-03 9.99855229e-01 2.20960994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.380714057 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:299.18, Y:280.22, Z:2.21 [[-9.94350705e-01 1.04773568e-01 1.70051197e-02 2.99176575e+02] [-1.04777677e-01 -9.94495457e-01 6.51610306e-04 2.80217889e+02] [ 1.69797858e-02 -1.13382777e-03 9.99855190e-01 2.20982029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.410714057 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:299.17, Y:280.22, Z:2.21 [[-9.94491479e-01 1.03428250e-01 1.70086905e-02 2.99169659e+02] [-1.03433191e-01 -9.94636228e-01 5.91316315e-04 2.80216840e+02] [ 1.69786186e-02 -1.17120409e-03 9.99855167e-01 2.21039499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4407140569999 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:299.18, Y:280.22, Z:2.21 [[-9.95355849e-01 9.47505271e-02 1.70021295e-02 2.99180990e+02] [-9.47523276e-02 -9.95500630e-01 7.01437910e-04 2.80217737e+02] [ 1.69920923e-02 -9.12811023e-04 9.99855207e-01 2.21043095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4707140569999 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:299.19, Y:280.22, Z:2.21 [[-9.95400671e-01 9.42773654e-02 1.70083001e-02 2.99185061e+02] [-9.42808647e-02 -9.95545459e-01 5.97766349e-04 2.80217710e+02] [ 1.69888918e-02 -1.00854022e-03 9.99855170e-01 2.21114746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.500714057 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:299.18, Y:280.22, Z:2.21 [[-9.95672161e-01 9.13669464e-02 1.70008540e-02 2.99184511e+02] [-9.13679098e-02 -9.95816943e-01 7.21672145e-04 2.80218524e+02] [ 1.69956754e-02 -8.34783631e-04 9.99855215e-01 2.21145188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.530714057 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:299.19, Y:280.22, Z:2.22 [[-9.95843997e-01 8.94743851e-02 1.70020084e-02 2.99191296e+02] [-8.94753998e-02 -9.95988785e-01 7.02525633e-04 2.80219865e+02] [ 1.69966677e-02 -8.21655562e-04 9.99855209e-01 2.21589692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5607140569999 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:299.20, Y:280.22, Z:2.21 [[-9.96168286e-01 8.57902239e-02 1.69936136e-02 2.99203470e+02] [-8.57883437e-02 -9.96313030e-01 8.40936352e-04 2.80221580e+02] [ 1.70031028e-02 -6.20139843e-04 9.99855244e-01 2.21136501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5907140569999 meters Centerline goodness : 0.994054 Centerline is valid? [True, True] Translation: X:299.21, Y:280.22, Z:2.21 [[-9.96103052e-01 8.65412303e-02 1.70095874e-02 2.99206737e+02] [-8.65439873e-02 -9.96247864e-01 5.75322498e-04 2.80222129e+02] [ 1.69955542e-02 -8.98997019e-04 9.99855161e-01 2.21143143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.620714057 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:299.20, Y:280.22, Z:2.21 [[-9.95698952e-01 9.10729700e-02 1.70091658e-02 2.99198129e+02] [-9.10762668e-02 -9.95843750e-01 5.82307695e-04 2.80223168e+02] [ 1.69915039e-02 -9.69328160e-04 9.99855164e-01 2.21130082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.650714057 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:299.20, Y:280.23, Z:2.21 [[-9.95716875e-01 9.08779831e-02 1.70028596e-02 2.99202040e+02] [-9.08794833e-02 -9.95861662e-01 6.86012997e-04 2.80225950e+02] [ 1.69948395e-02 -8.62136379e-04 9.99855206e-01 2.20991521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6807140569999 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:299.18, Y:280.22, Z:2.21 [[-9.93692431e-01 1.10842427e-01 1.70090853e-02 2.99175353e+02] [-1.10848563e-01 -9.93837137e-01 5.84500185e-04 2.80217807e+02] [ 1.69690480e-02 -1.30461926e-03 9.99855164e-01 2.21452207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7107140569999 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:299.19, Y:280.23, Z:2.21 [[-9.94490895e-01 1.03438706e-01 1.69792045e-02 2.99192487e+02] [-1.03435621e-01 -9.94635584e-01 1.06218198e-03 2.80229251e+02] [ 1.69979917e-02 -6.99924245e-04 9.99855279e-01 2.21021501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7407140569999 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:299.20, Y:280.23, Z:2.21 [[-9.94533363e-01 1.03025509e-01 1.70039618e-02 2.99204151e+02] [-1.03029240e-01 -9.94678110e-01 6.58786847e-04 2.80232923e+02] [ 1.69813404e-02 -1.09671976e-03 9.99855205e-01 2.20769865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.770714057 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:299.20, Y:280.23, Z:2.21 [[-9.93300172e-01 1.14304009e-01 1.70106567e-02 2.99197916e+02] [-1.14311243e-01 -9.93444834e-01 5.49646522e-04 2.80233549e+02] [ 1.69619758e-02 -1.39854534e-03 9.99855157e-01 2.21143037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8007140569999 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:299.20, Y:280.24, Z:2.21 [[-9.93740870e-01 1.10411129e-01 1.69842797e-02 2.99199048e+02] [-1.10410610e-01 -9.93885584e-01 9.71116055e-04 2.80236965e+02] [ 1.69876528e-02 -9.10206974e-04 9.99855285e-01 2.21050508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8307140569999 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:299.19, Y:280.24, Z:2.21 [[-9.92481403e-01 1.21208887e-01 1.70020696e-02 2.99192108e+02] [-1.21214827e-01 -9.92626061e-01 6.84506198e-04 2.80239127e+02] [ 1.69596656e-02 -1.38154326e-03 9.99855220e-01 2.21208185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8607140569999 meters Centerline goodness : 0.994950 Centerline is valid? [True, True] Translation: X:299.18, Y:280.24, Z:2.21 [[-9.91977062e-01 1.25270592e-01 1.69937166e-02 2.99179591e+02] [-1.25274856e-01 -9.92121738e-01 8.17598377e-04 2.80238702e+02] [ 1.69622567e-02 -1.31784657e-03 9.99855262e-01 2.20869652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.890714057 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:299.18, Y:280.24, Z:2.21 [[-9.91633991e-01 1.27957177e-01 1.69996783e-02 2.99177508e+02] [-1.27963450e-01 -9.91778621e-01 7.22745477e-04 2.80239641e+02] [ 1.69523980e-02 -1.45863850e-03 9.99855234e-01 2.20900256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9207140569999 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:299.18, Y:280.24, Z:2.22 [[-9.91205977e-01 1.31231688e-01 1.69986613e-02 2.99175910e+02] [-1.31238165e-01 -9.91350593e-01 7.38807685e-04 2.80242353e+02] [ 1.69485879e-02 -1.49856251e-03 9.99855239e-01 2.21616145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9507140569999 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:299.18, Y:280.24, Z:2.21 [[-9.91149608e-01 1.31658079e-01 1.69883560e-02 2.99178862e+02] [-1.31661869e-01 -9.91294276e-01 9.00012979e-04 2.80242414e+02] [ 1.69589540e-02 -1.34467119e-03 9.99855282e-01 2.20984215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9807140569999 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:299.19, Y:280.24, Z:2.21 [[-9.90911756e-01 1.33435266e-01 1.69977201e-02 2.99188964e+02] [-1.33441819e-01 -9.91056363e-01 7.53150985e-04 2.80244399e+02] [ 1.69461955e-02 -1.52190053e-03 9.99855245e-01 2.21496911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.010714057 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:299.19, Y:280.24, Z:2.21 [[-9.90803098e-01 1.34241081e-01 1.69868749e-02 2.99188982e+02] [-1.34244881e-01 -9.90947760e-01 9.21587115e-04 2.80244932e+02] [ 1.69568205e-02 -1.36728963e-03 9.99855288e-01 2.20706128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.040714057 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:299.18, Y:280.24, Z:2.21 [[-9.88843568e-01 1.47985018e-01 1.69951026e-02 2.99178996e+02] [-1.47993002e-01 -9.88988090e-01 7.93872210e-04 2.80237091e+02] [ 1.69254353e-02 -1.73014083e-03 9.99855258e-01 2.21073175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0707140569999 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:299.18, Y:280.25, Z:2.20 [[-9.91054966e-01 1.32370402e-01 1.69744139e-02 2.99183750e+02] [-1.32370712e-01 -9.91199658e-01 1.11020499e-03 2.80245824e+02] [ 1.69719915e-02 -1.14664109e-03 9.99855308e-01 2.20350836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1007140569999 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:299.20, Y:280.25, Z:2.20 [[-9.91264214e-01 1.30791314e-01 1.69967844e-02 2.99202678e+02] [-1.30797296e-01 -9.91408838e-01 7.64009978e-04 2.80247339e+02] [ 1.69506881e-02 -1.46579769e-03 9.99855252e-01 2.20186364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.130714057 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:299.21, Y:280.25, Z:2.20 [[-9.91580122e-01 1.28374230e-01 1.69976306e-02 2.99206443e+02] [-1.28380083e-01 -9.91724755e-01 7.50924864e-04 2.80247525e+02] [ 1.69533704e-02 -1.43755506e-03 9.99855248e-01 2.20472153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.160714057 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:299.19, Y:280.24, Z:2.20 [[-9.91670517e-01 1.27675252e-01 1.69886724e-02 2.99185452e+02] [-1.27678662e-01 -9.91815190e-01 8.88210974e-04 2.80243303e+02] [ 1.69630259e-02 -1.28827833e-03 9.99855288e-01 2.20391652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1907140569999 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:299.19, Y:280.24, Z:2.21 [[-9.91564838e-01 1.28491035e-01 1.70066235e-02 2.99190669e+02] [-1.28499279e-01 -9.91709414e-01 6.11661483e-04 2.80242598e+02] [ 1.69442217e-02 -1.57883684e-03 9.99855190e-01 2.20502782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2207140569999 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:299.20, Y:280.24, Z:2.21 [[-9.91851918e-01 1.26256546e-01 1.70016821e-02 2.99204247e+02] [-1.26263170e-01 -9.91996542e-01 6.87592365e-04 2.80244001e+02] [ 1.69524229e-02 -1.46469646e-03 9.99855225e-01 2.20742299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.250714057 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:299.21, Y:280.24, Z:2.20 [[-9.91871988e-01 1.26099679e-01 1.69950118e-02 2.99209725e+02] [-1.26104541e-01 -9.92016644e-01 7.89588658e-04 2.80244003e+02] [ 1.69589015e-02 -1.35997729e-03 9.99855263e-01 2.20454712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.280714057 meters Centerline goodness : 0.992726 Centerline is valid? [True, True] Translation: X:299.20, Y:280.24, Z:2.21 [[-9.91659813e-01 1.27757961e-01 1.69917486e-02 2.99195260e+02] [-1.27762220e-01 -9.91804472e-01 8.39109140e-04 2.80242264e+02] [ 1.69596951e-02 -1.33879271e-03 9.99855278e-01 2.20701716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3107140569999 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:299.21, Y:280.24, Z:2.21 [[-9.91474035e-01 1.29192320e-01 1.69876953e-02 2.99210307e+02] [-1.29195744e-01 -9.91618702e-01 9.00311008e-04 2.80241019e+02] [ 1.69616296e-02 -1.30210295e-03 9.99855293e-01 2.20612254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3407140569999 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:299.21, Y:280.24, Z:2.21 [[-9.91359331e-01 1.30068436e-01 1.69964343e-02 2.99211361e+02] [-1.30074247e-01 -9.91503959e-01 7.67857553e-04 2.80240993e+02] [ 1.69519059e-02 -1.44957565e-03 9.99855255e-01 2.20560713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.370714057 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:299.22, Y:280.24, Z:2.21 [[-9.91120738e-01 1.31874566e-01 1.69935725e-02 2.99215271e+02] [-1.31879905e-01 -9.91265370e-01 8.10952227e-04 2.80239761e+02] [ 1.69520839e-02 -1.43735917e-03 9.99855270e-01 2.20855288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.400714057 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:299.21, Y:280.24, Z:2.21 [[-9.90665703e-01 1.35250187e-01 1.69956711e-02 2.99210399e+02] [-1.35256555e-01 -9.90810303e-01 7.79504326e-04 2.80238251e+02] [ 1.69449142e-02 -1.52654773e-03 9.99855259e-01 2.20885173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4307140569999 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:299.22, Y:280.24, Z:2.21 [[-9.90458362e-01 1.36761224e-01 1.69882350e-02 2.99215809e+02] [-1.36765927e-01 -9.90602993e-01 8.90154247e-04 2.80239060e+02] [ 1.69503350e-02 -1.44175099e-03 9.99855293e-01 2.20728836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4607140569999 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:299.23, Y:280.24, Z:2.21 [[-9.90729374e-01 1.34785293e-01 1.69774234e-02 2.99232802e+02] [-1.34786989e-01 -9.90874042e-01 1.04952543e-03 2.80241471e+02] [ 1.69639487e-02 -1.24854011e-03 9.99855322e-01 2.20759264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4907140569999 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:299.23, Y:280.24, Z:2.21 [[-9.90193138e-01 1.38669429e-01 1.69805388e-02 2.99225722e+02] [-1.38672475e-01 -9.90337790e-01 1.00361011e-03 2.80240961e+02] [ 1.69556393e-02 -1.36096550e-03 9.99855317e-01 2.21001895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.520714057 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:299.23, Y:280.24, Z:2.21 [[-9.90140488e-01 1.39045576e-01 1.69747700e-02 2.99228382e+02] [-1.39047240e-01 -9.90285152e-01 1.08795589e-03 2.80241186e+02] [ 1.69611381e-02 -1.28306574e-03 9.99855326e-01 2.21000765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5507140569999 meters Centerline goodness : 0.994361 Centerline is valid? [True, True] Translation: X:299.23, Y:280.24, Z:2.21 [[-9.90208471e-01 1.38560656e-01 1.69743530e-02 2.99226213e+02] [-1.38562145e-01 -9.90353137e-01 1.09401961e-03 2.80240724e+02] [ 1.69621918e-02 -1.26869528e-03 9.99855327e-01 2.20998612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5807140569999 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:299.24, Y:280.24, Z:2.21 [[-9.89943751e-01 1.40437575e-01 1.69899328e-02 2.99237044e+02] [-1.40443211e-01 -9.90088356e-01 8.66933667e-04 2.80243303e+02] [ 1.69432847e-02 -1.52790514e-03 9.99855285e-01 2.21007027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6107140569999 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:299.24, Y:280.24, Z:2.21 [[-9.89947928e-01 1.40410252e-01 1.69723469e-02 2.99239115e+02] [-1.40411560e-01 -9.90092591e-01 1.12052545e-03 2.80243655e+02] [ 1.69615282e-02 -1.27385184e-03 9.99855331e-01 2.20812176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.640714057 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:299.23, Y:280.24, Z:2.21 [[-9.90051794e-01 1.39675552e-01 1.69760287e-02 2.99227332e+02] [-1.39677656e-01 -9.90196452e-01 1.06755741e-03 2.80243005e+02] [ 1.69587150e-02 -1.31423476e-03 9.99855327e-01 2.21196327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6707140569999 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:299.25, Y:280.24, Z:2.21 [[-9.90197119e-01 1.38640854e-01 1.69817215e-02 2.99245179e+02] [-1.38644204e-01 -9.90341766e-01 9.85563867e-04 2.80244301e+02] [ 1.69543475e-02 -1.37851477e-03 9.99855314e-01 2.20958552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7007140569999 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:299.23, Y:280.24, Z:2.21 [[-9.90139720e-01 1.39049318e-01 1.69888750e-02 2.99234115e+02] [-1.39054483e-01 -9.90284339e-01 8.82625342e-04 2.80244346e+02] [ 1.69465453e-02 -1.48845681e-03 9.99855289e-01 2.20986443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7307140569999 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:299.24, Y:280.24, Z:2.21 [[-9.90099418e-01 1.39337155e-01 1.69793989e-02 2.99241308e+02] [-1.39340055e-01 -9.90244067e-01 1.01792464e-03 2.80244603e+02] [ 1.69555837e-02 -1.35806378e-03 9.99855321e-01 2.21006824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.760714057 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:299.26, Y:280.25, Z:2.21 [[-9.90957823e-01 1.33094219e-01 1.69859190e-02 2.99264445e+02] [-1.33097800e-01 -9.91102478e-01 9.24533543e-04 2.80249025e+02] [ 1.69578365e-02 -1.34461471e-03 9.99855301e-01 2.21066266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.790714057 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:299.23, Y:280.24, Z:2.21 [[-9.89129561e-01 1.46061607e-01 1.69917125e-02 2.99232082e+02] [-1.46068495e-01 -9.89274121e-01 8.41716357e-04 2.80242541e+02] [ 1.69324039e-02 -1.64938734e-03 9.99855276e-01 2.21146452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8207140569999 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:299.24, Y:280.24, Z:2.21 [[-9.89077336e-01 1.46417819e-01 1.69660005e-02 2.99235587e+02] [-1.46418580e-01 -9.89221992e-01 1.20403861e-03 2.80243456e+02] [ 1.69594335e-02 -1.29325040e-03 9.99855342e-01 2.21109049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8507140569999 meters Centerline goodness : 0.995799 Centerline is valid? [True, True] Translation: X:299.26, Y:280.25, Z:2.21 [[-9.90269294e-01 1.38126377e-01 1.69655272e-02 2.99255622e+02] [-1.38125813e-01 -9.90413951e-01 1.21067128e-03 2.80250385e+02] [ 1.69701204e-02 -1.14448663e-03 9.99855342e-01 2.20901718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.880714057 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:299.25, Y:280.25, Z:2.21 [[-9.89968466e-01 1.40263920e-01 1.69843868e-02 2.99251453e+02] [-1.40268198e-01 -9.90113094e-01 9.45082170e-04 2.80252696e+02] [ 1.69490247e-02 -1.44676778e-03 9.99855308e-01 2.20861099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.910714057 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:299.25, Y:280.25, Z:2.21 [[-9.89996028e-01 1.40070728e-01 1.69721799e-02 2.99249104e+02] [-1.40072073e-01 -9.90140682e-01 1.11538435e-03 2.80252604e+02] [ 1.69610785e-02 -1.27310234e-03 9.99855340e-01 2.20799685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9407140569999 meters Centerline goodness : 0.994272 Centerline is valid? [True, True] Translation: X:299.25, Y:280.25, Z:2.21 [[-9.89814273e-01 1.41348284e-01 1.69814187e-02 2.99254474e+02] [-1.41352017e-01 -9.89958906e-01 9.86275048e-04 2.80254508e+02] [ 1.69503149e-02 -1.42412866e-03 9.99855319e-01 2.20910881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9707140569999 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:299.25, Y:280.25, Z:2.21 [[-9.88783815e-01 1.48385450e-01 1.69801378e-02 2.99249234e+02] [-1.48389908e-01 -9.88928424e-01 1.00407544e-03 2.80251104e+02] [ 1.69411311e-02 -1.52686755e-03 9.99855323e-01 2.20985971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.000714057 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:299.25, Y:280.25, Z:2.21 [[-9.88719861e-01 1.48812875e-01 1.69636251e-02 2.99247038e+02] [-1.48813516e-01 -9.88864511e-01 1.23153341e-03 2.80251354e+02] [ 1.69579949e-02 -1.30677516e-03 9.99855349e-01 2.21001711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.030714057 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:299.25, Y:280.25, Z:2.21 [[-9.88726451e-01 1.48769138e-01 1.69631414e-02 2.99254080e+02] [-1.48769661e-01 -9.88871101e-01 1.23816062e-03 2.80253232e+02] [ 1.69585604e-02 -1.29939863e-03 9.99855349e-01 2.21121141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0607140569999 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:299.26, Y:280.25, Z:2.21 [[-9.88654716e-01 1.49245172e-01 1.69626549e-02 2.99257792e+02] [-1.49245651e-01 -9.88799366e-01 1.24478991e-03 2.80254194e+02] [ 1.69584413e-02 -1.30093505e-03 9.99855349e-01 2.21081262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0907140569999 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:299.24, Y:280.25, Z:2.21 [[-9.88592117e-01 1.49659319e-01 1.69621669e-02 2.99236410e+02] [-1.49659746e-01 -9.88736767e-01 1.25140440e-03 2.80253359e+02] [ 1.69584024e-02 -1.30142506e-03 9.99855349e-01 2.21046889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.120714057 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:299.26, Y:280.26, Z:2.21 [[-9.88508551e-01 1.50210340e-01 1.69616720e-02 2.99256410e+02] [-1.50210733e-01 -9.88653202e-01 1.25807626e-03 2.80256234e+02] [ 1.69581874e-02 -1.30420606e-03 9.99855349e-01 2.21088995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.150714057 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:299.26, Y:280.26, Z:2.21 [[-9.88374988e-01 1.51086734e-01 1.69611733e-02 2.99256428e+02] [-1.51087142e-01 -9.88519639e-01 1.26476508e-03 2.80256319e+02] [ 1.69575421e-02 -1.31255302e-03 9.99855349e-01 2.21047627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1807140569999 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:299.25, Y:280.26, Z:2.21 [[-9.88285618e-01 1.51670276e-01 1.69606747e-02 2.99248160e+02] [-1.51670656e-01 -9.88430269e-01 1.27141614e-03 2.80256301e+02] [ 1.69572803e-02 -1.31591437e-03 9.99855349e-01 2.21122643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2107140569999 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:299.27, Y:280.26, Z:2.21 [[-9.88120758e-01 1.52740695e-01 1.69601710e-02 2.99270321e+02] [-1.52741118e-01 -9.88265408e-01 1.27809996e-03 2.80258300e+02] [ 1.69563682e-02 -1.32759837e-03 9.99855349e-01 2.21072900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2407140569999 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:299.27, Y:280.26, Z:2.21 [[-9.87914076e-01 1.54071894e-01 1.69596662e-02 2.99265518e+02] [-1.54072397e-01 -9.88058726e-01 1.28476310e-03 2.80259060e+02] [ 1.69550921e-02 -1.34378088e-03 9.99855349e-01 2.20994707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.270714057 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:299.27, Y:280.26, Z:2.21 [[-9.87777537e-01 1.54944903e-01 1.69592253e-02 2.99271212e+02] [-1.54945435e-01 -9.87922187e-01 1.29055788e-03 2.80260007e+02] [ 1.69543603e-02 -1.35297046e-03 9.99855349e-01 2.20875276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3007140569999 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:299.27, Y:280.26, Z:2.21 [[-9.87636475e-01 1.55841573e-01 1.69587175e-02 2.99271200e+02] [-1.55842124e-01 -9.87781124e-01 1.29719574e-03 2.80260905e+02] [ 1.69536581e-02 -1.36172473e-03 9.99855349e-01 2.20773489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3307140569999 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:298.73, Y:280.22, Z:2.22 [[-9.86627538e-01 1.62106512e-01 1.69582075e-02 2.98731007e+02] [-1.62107868e-01 -9.86772182e-01 1.30383005e-03 2.80215961e+02] [ 1.69452467e-02 -1.46266422e-03 9.99855349e-01 2.21708236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3607140569999 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:299.27, Y:280.26, Z:2.21 [[-9.87596169e-01 1.56098466e-01 1.69433449e-02 2.99265151e+02] [-1.56095679e-01 -9.87740808e-01 1.49500497e-03 2.80259502e+02] [ 1.69690012e-02 -1.16832175e-03 9.99855334e-01 2.20852865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.390714057 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:299.27, Y:280.26, Z:2.21 [[-9.87470688e-01 1.56888694e-01 1.69581043e-02 2.99271815e+02] [-1.56889300e-01 -9.87615335e-01 1.30290721e-03 2.80259421e+02] [ 1.69524953e-02 -1.37396244e-03 9.99855352e-01 2.20874451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4207140569999 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:298.69, Y:280.21, Z:2.21 [[-9.87248654e-01 1.58280107e-01 1.69558991e-02 2.98690177e+02] [-1.58280427e-01 -9.87393302e-01 1.33165114e-03 2.80213271e+02] [ 1.69529151e-02 -1.36911615e-03 9.99855352e-01 2.21467563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4507140569999 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:299.07, Y:280.24, Z:2.22 [[-9.88395526e-01 1.50953042e-01 1.69547535e-02 2.99065349e+02] [-1.50952035e-01 -9.88540171e-01 1.34656373e-03 2.80244326e+02] [ 1.69637229e-02 -1.22841697e-03 9.99855351e-01 2.21787514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4807140569999 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:299.28, Y:280.26, Z:2.21 [[-9.87462128e-01 1.56941703e-01 1.69660556e-02 2.99276577e+02] [-1.56944147e-01 -9.87606756e-01 1.19562978e-03 2.80257470e+02] [ 1.69434353e-02 -1.48208400e-03 9.99855351e-01 2.21094802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.510714057 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:299.29, Y:280.27, Z:2.21 [[-9.89858308e-01 1.41042141e-01 1.69600813e-02 2.99294824e+02] [-1.41040903e-01 -9.90002948e-01 1.27509470e-03 2.80266249e+02] [ 1.69703726e-02 -1.12990211e-03 9.99855354e-01 2.20695117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.540714057 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:299.29, Y:280.27, Z:2.21 [[-9.89750529e-01 1.41792040e-01 1.69973076e-02 2.99294547e+02] [-1.41799497e-01 -9.89895099e-01 7.71810876e-04 2.80266433e+02] [ 1.69349882e-02 -1.64630944e-03 9.99855237e-01 2.21192152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5707140569999 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:299.27, Y:280.26, Z:2.21 [[-9.89196034e-01 1.45610784e-01 1.69913575e-02 2.99273936e+02] [-1.45617438e-01 -9.89340607e-01 8.51597873e-04 2.80263652e+02] [ 1.69342418e-02 -1.63184070e-03 9.99855274e-01 2.20715515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6007140569999 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:299.29, Y:280.26, Z:2.21 [[-9.89174025e-01 1.45760124e-01 1.69921624e-02 2.99289013e+02] [-1.45766983e-01 -9.89318594e-01 8.40829398e-04 2.80264629e+02] [ 1.69332216e-02 -1.64516965e-03 9.99855269e-01 2.20979324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.630714057 meters Centerline goodness : 0.994621 Centerline is valid? [True, True] Translation: X:299.28, Y:280.26, Z:2.21 [[-9.88684357e-01 1.49045630e-01 1.69894660e-02 2.99281797e+02] [-1.49052356e-01 -9.88828917e-01 8.76808427e-04 2.80263799e+02] [ 1.69303597e-02 -1.66543316e-03 9.99855284e-01 2.20954184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.660714057 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:299.28, Y:280.26, Z:2.21 [[-9.88117872e-01 1.52756732e-01 1.69838773e-02 2.99283257e+02] [-1.52762736e-01 -9.88262436e-01 9.50932856e-04 2.80263372e+02] [ 1.69297893e-02 -1.65486982e-03 9.99855311e-01 2.20995235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6907140569999 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:299.28, Y:280.26, Z:2.21 [[-9.87888675e-01 1.54232769e-01 1.69770271e-02 2.99277631e+02] [-1.54237451e-01 -9.88033261e-01 1.04110855e-03 2.80262008e+02] [ 1.69344405e-02 -1.58999403e-03 9.99855338e-01 2.21007904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7207140569999 meters Centerline goodness : 0.994868 Centerline is valid? [True, True] Translation: X:299.29, Y:280.26, Z:2.21 [[-9.87802563e-01 1.54783365e-01 1.69766400e-02 2.99290721e+02] [-1.54788041e-01 -9.87947148e-01 1.04618455e-03 2.80262617e+02] [ 1.69339551e-02 -1.59435707e-03 9.99855339e-01 2.20904984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.750714057 meters Centerline goodness : 0.994054 Centerline is valid? [True, True] Translation: X:299.30, Y:280.26, Z:2.21 [[-9.87240262e-01 1.58330082e-01 1.69779489e-02 2.99296654e+02] [-1.58335569e-01 -9.87384823e-01 1.02904054e-03 2.80260998e+02] [ 1.69266972e-02 -1.67230294e-03 9.99855335e-01 2.21056019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.780714057 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:299.29, Y:280.26, Z:2.21 [[-9.86993975e-01 1.59859113e-01 1.69692913e-02 2.99289542e+02] [-1.59862901e-01 -9.87138566e-01 1.14178253e-03 2.80258902e+02] [ 1.69335663e-02 -1.58582767e-03 9.99855359e-01 2.21097336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8107140569999 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:299.32, Y:280.26, Z:2.21 [[-9.86976887e-01 1.59964850e-01 1.69667809e-02 2.99322079e+02] [-1.59968097e-01 -9.87121486e-01 1.17440808e-03 2.80259760e+02] [ 1.69361380e-02 -1.55503003e-03 9.99855364e-01 2.21092113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8407140569999 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:299.31, Y:280.26, Z:2.21 [[-9.86533381e-01 1.62677576e-01 1.69674821e-02 2.99307033e+02] [-1.62681376e-01 -9.86677968e-01 1.16530872e-03 2.80256177e+02] [ 1.69310103e-02 -1.61067738e-03 9.99855363e-01 2.21218988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.870714057 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:299.31, Y:280.26, Z:2.21 [[-9.86522679e-01 1.62743343e-01 1.69590348e-02 2.99305826e+02] [-1.62745293e-01 -9.86667292e-01 1.27435452e-03 2.80255849e+02] [ 1.69403177e-02 -1.50282345e-03 9.99855373e-01 2.21323688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.900714057 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:299.31, Y:280.25, Z:2.21 [[-9.86130329e-01 1.65104149e-01 1.69585892e-02 2.99311861e+02] [-1.65106347e-01 -9.86274939e-01 1.28007736e-03 2.80254516e+02] [ 1.69371776e-02 -1.53764760e-03 9.99855373e-01 2.21270207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9307140569999 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:299.31, Y:280.25, Z:2.21 [[-9.86124519e-01 1.65139327e-01 1.69539359e-02 2.99306437e+02] [-1.65140515e-01 -9.86269140e-01 1.33956934e-03 2.80253601e+02] [ 1.69423594e-02 -1.47879954e-03 9.99855374e-01 2.21150825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9607140569999 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:299.31, Y:280.25, Z:2.21 [[-9.85888553e-01 1.66542291e-01 1.69536799e-02 2.99311347e+02] [-1.66543629e-01 -9.86033172e-01 1.34282769e-03 2.80252247e+02] [ 1.69405284e-02 -1.49964894e-03 9.99855374e-01 2.21087616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9907140569999 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:299.31, Y:280.25, Z:2.21 [[-9.85970366e-01 1.66057422e-01 1.69520168e-02 2.99305895e+02] [-1.66058329e-01 -9.86114989e-01 1.36392385e-03 2.80252016e+02] [ 1.69431276e-02 -1.47023509e-03 9.99855374e-01 2.20860805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.020714057 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:299.28, Y:280.25, Z:2.21 [[-9.85504295e-01 1.68801150e-01 1.69545195e-02 2.99277251e+02] [-1.68803000e-01 -9.85648909e-01 1.33227598e-03 2.80248893e+02] [ 1.69360934e-02 -1.54901004e-03 9.99855374e-01 2.21030541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0507140569999 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:299.32, Y:280.25, Z:2.21 [[-9.86144429e-01 1.65020997e-01 1.69480245e-02 2.99318378e+02] [-1.65020901e-01 -9.86289057e-01 1.41379921e-03 2.80251462e+02] [ 1.69489577e-02 -1.40256805e-03 9.99855372e-01 2.20772639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0807140569999 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:299.30, Y:280.25, Z:2.21 [[-9.85733518e-01 1.67457361e-01 1.69547632e-02 2.99301154e+02] [-1.67459067e-01 -9.85878134e-01 1.32914246e-03 2.80248814e+02] [ 1.69379050e-02 -1.52904855e-03 9.99855374e-01 2.20902483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1107140569999 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:299.32, Y:280.25, Z:2.21 [[-9.86045696e-01 1.65609619e-01 1.69511238e-02 2.99318783e+02] [-1.65610277e-01 -9.86190320e-01 1.37462586e-03 2.80250883e+02] [ 1.69446854e-02 -1.45183639e-03 9.99855374e-01 2.20759576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.140714057 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:299.32, Y:280.25, Z:2.21 [[-9.86071315e-01 1.65456905e-01 1.69520988e-02 2.99320137e+02] [-1.65457749e-01 -9.86215938e-01 1.36245896e-03 2.80250575e+02] [ 1.69438583e-02 -1.46137442e-03 9.99855375e-01 2.20773630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1707140569999 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:299.33, Y:280.25, Z:2.21 [[-9.86496486e-01 1.62902723e-01 1.69524879e-02 2.99331115e+02] [-1.62903275e-01 -9.86641110e-01 1.35761204e-03 2.80251782e+02] [ 1.69471802e-02 -1.42233629e-03 9.99855375e-01 2.21061847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2007140569999 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:299.33, Y:280.25, Z:2.21 [[-9.86204566e-01 1.64659912e-01 1.69607879e-02 2.99333131e+02] [-1.64662485e-01 -9.86349174e-01 1.25425637e-03 2.80251627e+02] [ 1.69357849e-02 -1.55585214e-03 9.99855369e-01 2.21093478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2307140569999 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:299.32, Y:280.25, Z:2.21 [[-9.86121973e-01 1.65154108e-01 1.69580493e-02 2.99319117e+02] [-1.65156174e-01 -9.86266586e-01 1.28824495e-03 2.80250903e+02] [ 1.69379164e-02 -1.53035989e-03 9.99855372e-01 2.21100207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.260714057 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:299.32, Y:280.25, Z:2.21 [[-9.84906418e-01 1.72255124e-01 1.69564363e-02 2.99319914e+02] [-1.72257892e-01 -9.85051018e-01 1.30817779e-03 2.80246946e+02] [ 1.69282952e-02 -1.63244728e-03 9.99855374e-01 2.20871414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.290714057 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:299.33, Y:280.25, Z:2.21 [[-9.85696227e-01 1.67677119e-01 1.69508706e-02 2.99333222e+02] [-1.67678045e-01 -9.85840848e-01 1.37670722e-03 2.80252312e+02] [ 1.69417029e-02 -1.48527373e-03 9.99855376e-01 2.20899773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3207140569999 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:299.32, Y:280.25, Z:2.21 [[-9.83956117e-01 1.77603606e-01 1.69504785e-02 2.99319005e+02] [-1.77605908e-01 -9.84100723e-01 1.38151317e-03 2.80246327e+02] [ 1.69263399e-02 -1.65115679e-03 9.99855376e-01 2.20910302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3507140569999 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:299.32, Y:280.25, Z:2.21 [[-9.84216798e-01 1.76154407e-01 1.69387284e-02 2.99315956e+02] [-1.76154051e-01 -9.84361430e-01 1.52478727e-03 2.80247095e+02] [ 1.69424289e-02 -1.48310439e-03 9.99855367e-01 2.20998542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.380714057 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:299.30, Y:280.25, Z:2.21 [[-9.83931431e-01 1.77740379e-01 1.69498118e-02 2.99302384e+02] [-1.77742563e-01 -9.84076039e-01 1.38959799e-03 2.80246477e+02] [ 1.69268913e-02 -1.64543384e-03 9.99855376e-01 2.21146359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.410714057 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:299.33, Y:280.25, Z:2.21 [[-9.83036063e-01 1.82627549e-01 1.69492546e-02 2.99330005e+02] [-1.82630337e-01 -9.83180660e-01 1.39636085e-03 2.80247966e+02] [ 1.69191933e-02 -1.72277501e-03 9.99855376e-01 2.21112247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4407140569999 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:299.33, Y:280.25, Z:2.21 [[-9.82960362e-01 1.83035891e-01 1.69348876e-02 2.99332679e+02] [-1.83035789e-01 -9.83104998e-01 1.56919352e-03 2.80248190e+02] [ 1.69359914e-02 -1.55723549e-03 9.99855363e-01 2.21114724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4707140569999 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:299.36, Y:280.26, Z:2.21 [[-9.85247119e-01 1.70297862e-01 1.69337872e-02 2.99360508e+02] [-1.70295663e-01 -9.85391741e-01 1.58234050e-03 2.80259154e+02] [ 1.69558833e-02 -1.32475410e-03 9.99855361e-01 2.20973942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.500714057 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:299.37, Y:280.26, Z:2.21 [[-9.85207500e-01 1.70524171e-01 1.69613973e-02 2.99365462e+02] [-1.70527678e-01 -9.85352094e-01 1.24998741e-03 2.80260271e+02] [ 1.69261014e-02 -1.66089074e-03 9.99855364e-01 2.21070761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.530714057 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:299.33, Y:280.26, Z:2.21 [[-9.84588982e-01 1.74059591e-01 1.69645537e-02 2.99329061e+02] [-1.74064264e-01 -9.84733549e-01 1.21212149e-03 2.80257443e+02] [ 1.69165466e-02 -1.75948108e-03 9.99855357e-01 2.21197353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5607140569999 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:299.35, Y:280.26, Z:2.21 [[-9.85115361e-01 1.71056429e-01 1.69535711e-02 2.99350883e+02] [-1.71058427e-01 -9.85259971e-01 1.34295871e-03 2.80259903e+02] [ 1.69333967e-02 -1.57708195e-03 9.99855376e-01 2.21067958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5907140569999 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:299.36, Y:280.26, Z:2.21 [[-9.85573028e-01 1.68398893e-01 1.69593552e-02 2.99359712e+02] [-1.68401677e-01 -9.85717633e-01 1.27406146e-03 2.80260640e+02] [ 1.69316860e-02 -1.60030325e-03 9.99855368e-01 2.20970824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.620714057 meters Centerline goodness : 0.994389 Centerline is valid? [True, True] Translation: X:299.34, Y:280.26, Z:2.21 [[-9.85509157e-01 1.68771040e-01 1.69716940e-02 2.99340497e+02] [-1.68776386e-01 -9.85653723e-01 1.12722069e-03 2.80259448e+02] [ 1.69184556e-02 -1.75353486e-03 9.99855335e-01 2.21262168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.650714057 meters Centerline goodness : 0.993179 Centerline is valid? [True, True] Translation: X:299.36, Y:280.26, Z:2.21 [[-9.85963779e-01 1.66096274e-01 1.69545037e-02 2.99364404e+02] [-1.66097766e-01 -9.86108393e-01 1.32997773e-03 2.80261752e+02] [ 1.69398828e-02 -1.50479532e-03 9.99855378e-01 2.21184122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6807140569999 meters Centerline goodness : 0.993655 Centerline is valid? [True, True] Translation: X:299.36, Y:280.26, Z:2.21 [[-9.86565309e-01 1.62485445e-01 1.69519978e-02 2.99358088e+02] [-1.62485905e-01 -9.86709928e-01 1.35946003e-03 2.80260902e+02] [ 1.69475970e-02 -1.41326459e-03 9.99855380e-01 2.21369034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7107140569999 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:299.37, Y:280.26, Z:2.21 [[-9.86987834e-01 1.59898434e-01 1.69560382e-02 2.99373431e+02] [-1.59899325e-01 -9.87132456e-01 1.31196260e-03 2.80262538e+02] [ 1.69476364e-02 -1.41636793e-03 9.99855375e-01 2.21342038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7407140569999 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:299.37, Y:280.26, Z:2.21 [[-9.87239272e-01 1.58337951e-01 1.69620817e-02 2.99366524e+02] [-1.58339824e-01 -9.87383897e-01 1.24103901e-03 2.80262032e+02] [ 1.69445899e-02 -1.46057057e-03 9.99855363e-01 2.21382177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.770714057 meters Centerline goodness : 0.993639 Centerline is valid? [True, True] Translation: X:299.37, Y:280.26, Z:2.21 [[-9.88143325e-01 1.52595042e-01 1.69564630e-02 2.99371816e+02] [-1.52594953e-01 -9.88287950e-01 1.30672086e-03 2.80264131e+02] [ 1.69572672e-02 -1.29624318e-03 9.99855375e-01 2.21136170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8007140569999 meters Centerline goodness : 0.993504 Centerline is valid? [True, True] Translation: X:299.37, Y:280.26, Z:2.21 [[-9.88265286e-01 1.51803023e-01 1.69578259e-02 2.99365360e+02] [-1.51803089e-01 -9.88409913e-01 1.29082548e-03 2.80263591e+02] [ 1.69572345e-02 -1.29857234e-03 9.99855373e-01 2.21262973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8307140569999 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:299.37, Y:280.26, Z:2.21 [[-9.88814625e-01 1.48182636e-01 1.69571422e-02 2.99371770e+02] [-1.48182037e-01 -9.88959250e-01 1.29876540e-03 2.80264247e+02] [ 1.69623772e-02 -1.22850566e-03 9.99855374e-01 2.21102906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8607140569999 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:299.37, Y:280.27, Z:2.21 [[-9.89210070e-01 1.45517733e-01 1.69713511e-02 2.99372388e+02] [-1.45519572e-01 -9.89354724e-01 1.13311516e-03 2.80265168e+02] [ 1.69555748e-02 -1.34877482e-03 9.99855334e-01 2.20946266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.890714057 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:299.37, Y:280.27, Z:2.21 [[-9.89378826e-01 1.44365486e-01 1.69748430e-02 2.99373416e+02] [-1.44367850e-01 -9.89523487e-01 1.09247897e-03 2.80266414e+02] [ 1.69547221e-02 -1.36974604e-03 9.99855320e-01 2.20933935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9207140569999 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:299.38, Y:280.27, Z:2.21 [[-9.89644892e-01 1.42532500e-01 1.69550419e-02 2.99379622e+02] [-1.42530691e-01 -9.89789501e-01 1.32128266e-03 2.80266146e+02] [ 1.69702481e-02 -1.10901319e-03 9.99855380e-01 2.20939349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9507140569999 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:299.39, Y:280.27, Z:2.21 [[-9.90116633e-01 1.39215499e-01 1.69734577e-02 2.99393423e+02] [-1.39216855e-01 -9.90261299e-01 1.10742941e-03 2.80269009e+02] [ 1.69623297e-02 -1.26650713e-03 9.99855327e-01 2.20977637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9807140569999 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:299.39, Y:280.27, Z:2.21 [[-9.90643842e-01 1.35414661e-01 1.69601842e-02 2.99393590e+02] [-1.35412843e-01 -9.90788460e-01 1.26084010e-03 2.80267892e+02] [ 1.69746910e-02 -1.04758327e-03 9.99855371e-01 2.20851179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.010714057 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:299.41, Y:280.27, Z:2.21 [[-9.91570509e-01 1.28451455e-01 1.69749763e-02 2.99406521e+02] [-1.28451551e-01 -9.91715187e-01 1.08919113e-03 2.80270714e+02] [ 1.69742500e-02 -1.10045223e-03 9.99855321e-01 2.20889524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.040714057 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:299.41, Y:280.27, Z:2.21 [[-9.91779952e-01 1.26824514e-01 1.69725890e-02 2.99414155e+02] [-1.26823900e-01 -9.91924620e-01 1.11685027e-03 2.80272448e+02] [ 1.69771729e-02 -1.04486022e-03 9.99855331e-01 2.20826827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0707140569999 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:299.41, Y:280.27, Z:2.21 [[-9.91852690e-01 1.26255285e-01 1.69659836e-02 2.99408230e+02] [-1.26253291e-01 -9.91997320e-01 1.19288996e-03 2.80271817e+02] [ 1.69808189e-02 -9.58840149e-04 9.99855356e-01 2.21081742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1007140569999 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:299.41, Y:280.27, Z:2.21 [[-9.91994526e-01 1.25135415e-01 1.69702250e-02 2.99410655e+02] [-1.25134090e-01 -9.92139179e-01 1.14411077e-03 2.80272472e+02] [ 1.69799939e-02 -9.88602034e-04 9.99855341e-01 2.20773455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.130714057 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:299.42, Y:280.27, Z:2.21 [[-9.92269017e-01 1.22937625e-01 1.69864040e-02 2.99417830e+02] [-1.22939169e-01 -9.92413747e-01 9.57276697e-04 2.80274633e+02] [ 1.69752261e-02 -1.13841838e-03 9.99855262e-01 2.20727301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.160714057 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:299.42, Y:280.28, Z:2.21 [[-9.92421236e-01 1.21701978e-01 1.69917452e-02 2.99422635e+02] [-1.21704397e-01 -9.92565987e-01 8.95502825e-04 2.80277336e+02] [ 1.69744129e-02 -1.17925409e-03 9.99855229e-01 2.20680512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1907140569999 meters Centerline goodness : 0.993646 Centerline is valid? [True, True] Translation: X:299.43, Y:280.28, Z:2.21 [[-9.92087483e-01 1.24392935e-01 1.69947997e-02 2.99427027e+02] [-1.24396347e-01 -9.92232235e-01 8.60294627e-04 2.80278416e+02] [ 1.69698026e-02 -1.26060347e-03 9.99855208e-01 2.20840739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2207140569999 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:299.41, Y:280.28, Z:2.21 [[-9.91795044e-01 1.26706110e-01 1.69750687e-02 2.99413723e+02] [-1.26706011e-01 -9.91939720e-01 1.08567466e-03 2.80277048e+02] [ 1.69758065e-02 -1.07407650e-03 9.99855324e-01 2.20810937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.250714057 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:299.42, Y:280.28, Z:2.21 [[-9.92020669e-01 1.24926036e-01 1.69846498e-02 2.99422850e+02] [-1.24927546e-01 -9.92165387e-01 9.76247555e-04 2.80280117e+02] [ 1.69735404e-02 -1.15339286e-03 9.99855274e-01 2.20610638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.280714057 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:299.42, Y:280.28, Z:2.21 [[-9.91850436e-01 1.26269923e-01 1.69887757e-02 2.99422710e+02] [-1.26272434e-01 -9.91995166e-01 9.29097609e-04 2.80280513e+02] [ 1.69701004e-02 -1.22368819e-03 9.99855249e-01 2.20577584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3107140569999 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:299.42, Y:280.28, Z:2.20 [[-9.91980781e-01 1.25241737e-01 1.69893637e-02 2.99423267e+02] [-1.25244213e-01 -9.92125515e-01 9.22386610e-04 2.80281759e+02] [ 1.69711025e-02 -1.21282969e-03 9.99855245e-01 2.20496859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3407140569999 meters Centerline goodness : 0.994104 Centerline is valid? [True, True] Translation: X:299.43, Y:280.28, Z:2.20 [[-9.91975434e-01 1.25283221e-01 1.69957005e-02 2.99427535e+02] [-1.25286938e-01 -9.92120185e-01 8.50115974e-04 2.80283405e+02] [ 1.69682827e-02 -1.28604510e-03 9.99855201e-01 2.20413069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.370714057 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:299.42, Y:280.28, Z:2.21 [[-9.91367815e-01 1.30004000e-01 1.69945628e-02 2.99423567e+02] [-1.30008185e-01 -9.91512545e-01 8.63037371e-04 2.80282484e+02] [ 1.69625205e-02 -1.35384479e-03 9.99855210e-01 2.20532788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.400714057 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:299.42, Y:280.28, Z:2.20 [[-9.91156987e-01 1.31602690e-01 1.69870348e-02 2.99420051e+02] [-1.31605659e-01 -9.91301696e-01 9.47845155e-04 2.80284844e+02] [ 1.69640153e-02 -1.29612656e-03 9.99855261e-01 2.20477662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4307140569999 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:299.41, Y:280.28, Z:2.21 [[-9.90806846e-01 1.34214951e-01 1.69747237e-02 2.99412133e+02] [-1.34215950e-01 -9.90951513e-01 1.08554100e-03 2.80283272e+02] [ 1.69668240e-02 -1.20271722e-03 9.99855330e-01 2.20634896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4607140569999 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:299.41, Y:280.27, Z:2.21 [[-9.87042833e-01 1.59555489e-01 1.69850670e-02 2.99408609e+02] [-1.59562162e-01 -9.87187406e-01 9.70275375e-04 2.80270157e+02] [ 1.69222570e-02 -1.75247066e-03 9.99855273e-01 2.21292549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4907140569999 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:299.42, Y:280.29, Z:2.20 [[-9.91169316e-01 1.31516823e-01 1.69326138e-02 2.99423526e+02] [-1.31509584e-01 -9.91313695e-01 1.54512647e-03 2.80286790e+02] [ 1.69887421e-02 -6.95319058e-04 9.99855439e-01 2.20475717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.520714057 meters Centerline goodness : 0.993988 Centerline is valid? [True, True] Translation: X:299.41, Y:280.28, Z:2.21 [[-9.89654803e-01 1.42457239e-01 1.70090141e-02 2.99413705e+02] [-1.42466276e-01 -9.89799419e-01 6.85432874e-04 2.80283574e+02] [ 1.69331571e-02 -1.74486896e-03 9.99855101e-01 2.20673054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5507140569999 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:299.41, Y:280.27, Z:2.21 [[-9.85941315e-01 1.66226510e-01 1.69844434e-02 2.99412886e+02] [-1.66234373e-01 -9.86085806e-01 9.57694466e-04 2.80272228e+02] [ 1.69073127e-02 -1.87916775e-03 9.99855295e-01 2.21187606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5807140569999 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:299.41, Y:280.28, Z:2.21 [[-9.89042113e-01 1.46660622e-01 1.69221708e-02 2.99411248e+02] [-1.46654071e-01 -9.89186491e-01 1.63419127e-03 2.80283564e+02] [ 1.69788542e-02 -8.65421244e-04 9.99855474e-01 2.20639730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6107140569999 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:299.42, Y:280.28, Z:2.21 [[-9.88349851e-01 1.51248745e-01 1.69820229e-02 2.99416763e+02] [-1.51254142e-01 -9.88494429e-01 9.73554179e-04 2.80283997e+02] [ 1.69338839e-02 -1.60638918e-03 9.99855321e-01 2.20533382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.640714057 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:299.42, Y:280.28, Z:2.20 [[-9.88513618e-01 1.50176869e-01 1.69627604e-02 2.99416500e+02] [-1.50178497e-01 -9.88658189e-01 1.18507486e-03 2.80283605e+02] [ 1.69483428e-02 -1.37597923e-03 9.99855420e-01 2.20460634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6707140569999 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:299.41, Y:280.28, Z:2.21 [[-9.87823981e-01 1.54645683e-01 1.69851429e-02 2.99411973e+02] [-1.54652180e-01 -9.87968533e-01 9.38246534e-04 2.80282100e+02] [ 1.69258825e-02 -1.69996696e-03 9.99855302e-01 2.20529492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7007140569999 meters Centerline goodness : 0.993276 Centerline is valid? [True, True] Translation: X:299.41, Y:280.28, Z:2.20 [[-9.87308287e-01 1.57905728e-01 1.69742974e-02 2.99413362e+02] [-1.57910673e-01 -9.87452835e-01 1.05703942e-03 2.80282022e+02] [ 1.69282307e-02 -1.63679896e-03 9.99855368e-01 2.20491643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7307140569999 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:299.41, Y:280.28, Z:2.21 [[-9.87455149e-01 1.56986905e-01 1.69540885e-02 2.99411966e+02] [-1.56987963e-01 -9.87599691e-01 1.27675609e-03 2.80281986e+02] [ 1.69442866e-02 -1.40084845e-03 9.99855454e-01 2.20561012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.760714057 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:299.41, Y:280.27, Z:2.21 [[-9.83873763e-01 1.78056710e-01 1.69772393e-02 2.99412037e+02] [-1.78065164e-01 -9.84018164e-01 1.02454938e-03 2.80270853e+02] [ 1.68883397e-02 -2.01502764e-03 9.99855351e-01 2.21107175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.790714057 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:299.42, Y:280.28, Z:2.21 [[-9.86723943e-01 1.61522097e-01 1.69255112e-02 2.99421533e+02] [-1.61518657e-01 -9.86868396e-01 1.57904321e-03 2.80281375e+02] [ 1.69583024e-02 -1.17570609e-03 9.99855506e-01 2.20662396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8207140569999 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:299.42, Y:280.28, Z:2.21 [[-9.86474342e-01 1.63035442e-01 1.69651854e-02 2.99420204e+02] [-1.63039553e-01 -9.86618864e-01 1.14980891e-03 2.80278875e+02] [ 1.69256316e-02 -1.63173927e-03 9.99855420e-01 2.20822815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8507140569999 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:299.42, Y:280.27, Z:2.21 [[-9.83912795e-01 1.77842264e-01 1.69629527e-02 2.99424650e+02] [-1.77848136e-01 -9.84057246e-01 1.17382209e-03 2.80269161e+02] [ 1.69012717e-02 -1.86189095e-03 9.99855430e-01 2.21167070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.880714057 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:299.43, Y:280.28, Z:2.21 [[-9.87448515e-01 1.57031906e-01 1.69237045e-02 2.99427513e+02] [-1.57027600e-01 -9.87592933e-01 1.59125870e-03 2.80278528e+02] [ 1.69636094e-02 -1.08620267e-03 9.99855518e-01 2.20696944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.910714057 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:299.44, Y:280.28, Z:2.21 [[-9.88145707e-01 1.52577116e-01 1.69789723e-02 2.99440282e+02] [-1.52582380e-01 -9.88290257e-01 9.92608944e-04 2.80279411e+02] [ 1.69316024e-02 -1.60984975e-03 9.99855354e-01 2.20638855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9407140569999 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:299.45, Y:280.28, Z:2.20 [[-9.87987794e-01 1.53595646e-01 1.69852100e-02 2.99454638e+02] [-1.53602215e-01 -9.88132331e-01 9.24984483e-04 2.80280529e+02] [ 1.69257088e-02 -1.69509250e-03 9.99855313e-01 2.20365780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9707140569999 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:299.44, Y:280.28, Z:2.21 [[-9.88332424e-01 1.51365485e-01 1.69561341e-02 2.99438640e+02] [-1.51366403e-01 -9.88476951e-01 1.23666868e-03 2.80277316e+02] [ 1.69479367e-02 -1.34434926e-03 9.99855470e-01 2.20697419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.000714057 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:299.46, Y:280.28, Z:2.20 [[-9.88552810e-01 1.49916512e-01 1.69817714e-02 2.99459993e+02] [-1.49921931e-01 -9.88697371e-01 9.60744122e-04 2.80281524e+02] [ 1.69338642e-02 -1.59619366e-03 9.99855338e-01 2.20257440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.030714057 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:299.43, Y:280.27, Z:2.21 [[-9.88574424e-01 1.49777554e-01 1.69496876e-02 2.99430754e+02] [-1.49777115e-01 -9.88718928e-01 1.30255324e-03 2.80274275e+02] [ 1.69535702e-02 -1.25100448e-03 9.99855495e-01 2.20700050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0607140569999 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:299.44, Y:280.26, Z:2.21 [[-9.85267215e-01 1.70177251e-01 1.69769939e-02 2.99440380e+02] [-1.70184758e-01 -9.85411652e-01 1.01219307e-03 2.80264388e+02] [ 1.69015799e-02 -1.89194495e-03 9.99855368e-01 2.21214255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0907140569999 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:299.45, Y:280.28, Z:2.21 [[-9.88540543e-01 1.50004481e-01 1.69189368e-02 2.99451077e+02] [-1.49998673e-01 -9.88684873e-01 1.61895389e-03 2.80275056e+02] [ 1.69703472e-02 -9.37416516e-04 9.99855554e-01 2.20583658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.120714057 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:299.46, Y:280.28, Z:2.20 [[-9.89383756e-01 1.44331949e-01 1.69726834e-02 2.99457210e+02] [-1.44335067e-01 -9.89528318e-01 1.04758218e-03 2.80277394e+02] [ 1.69461504e-02 -1.41329260e-03 9.99855405e-01 2.20321727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.150714057 meters Centerline goodness : 0.993246 Centerline is valid? [True, True] Translation: X:299.45, Y:280.27, Z:2.20 [[-9.88988420e-01 1.47015123e-01 1.69841022e-02 2.99452605e+02] [-1.47020709e-01 -9.89132981e-01 9.26018602e-04 2.80274675e+02] [ 1.69356743e-02 -1.58119307e-03 9.99855331e-01 2.20390315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1807140569999 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:299.46, Y:280.28, Z:2.20 [[-9.89196983e-01 1.45607006e-01 1.69684471e-02 2.99458487e+02] [-1.45609556e-01 -9.89341531e-01 1.09167053e-03 2.80275114e+02] [ 1.69465443e-02 -1.39089086e-03 9.99855430e-01 2.20401146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2107140569999 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:299.46, Y:280.27, Z:2.21 [[-9.89252681e-01 1.45228364e-01 1.69663252e-02 2.99457120e+02] [-1.45230477e-01 -9.89397224e-01 1.11405567e-03 2.80274648e+02] [ 1.69482275e-02 -1.36194495e-03 9.99855441e-01 2.20959702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2407140569999 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:299.47, Y:280.27, Z:2.21 [[-9.89607940e-01 1.42788671e-01 1.69564215e-02 2.99465014e+02] [-1.42788650e-01 -9.89752453e-01 1.21813651e-03 2.80273729e+02] [ 1.69565959e-02 -1.21570699e-03 9.99855488e-01 2.20515211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.270714057 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:299.46, Y:280.27, Z:2.21 [[-9.89639605e-01 1.42567313e-01 1.69709800e-02 2.99461682e+02] [-1.42569877e-01 -9.89784167e-01 1.06491400e-03 2.80272900e+02] [ 1.69494292e-02 -1.36566945e-03 9.99855415e-01 2.20591233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3007140569999 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:299.47, Y:280.27, Z:2.21 [[-9.89689340e-01 1.42222464e-01 1.69641141e-02 2.99473844e+02] [-1.42223747e-01 -9.89833882e-01 1.13697615e-03 2.80273493e+02] [ 1.69533585e-02 -1.28744670e-03 9.99855453e-01 2.20628939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3307140569999 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:299.48, Y:280.27, Z:2.21 [[-9.89642201e-01 1.42550098e-01 1.69641650e-02 2.99476472e+02] [-1.42551438e-01 -9.89786743e-01 1.13644294e-03 2.80273834e+02] [ 1.69529057e-02 -1.29359422e-03 9.99855452e-01 2.20624420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3607140569999 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:299.47, Y:280.27, Z:2.21 [[-9.89351647e-01 1.44553020e-01 1.69629951e-02 2.99465046e+02] [-1.44554444e-01 -9.89496182e-01 1.14862664e-03 2.80272358e+02] [ 1.69508564e-02 -1.31568068e-03 9.99855458e-01 2.21250591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.390714057 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:299.46, Y:280.27, Z:2.21 [[-9.89343024e-01 1.44613733e-01 1.69484026e-02 2.99455740e+02] [-1.44612589e-01 -9.89487499e-01 1.29952093e-03 2.80271493e+02] [ 1.69581610e-02 -1.16528041e-03 9.99855521e-01 2.21221810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4207140569999 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:299.47, Y:280.28, Z:2.20 [[-9.89692256e-01 1.42203792e-01 1.69505336e-02 2.99471104e+02] [-1.42202671e-01 -9.89836738e-01 1.27752079e-03 2.80275333e+02] [ 1.69599292e-02 -1.14605873e-03 9.99855513e-01 2.20475297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4507140569999 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:299.48, Y:280.27, Z:2.21 [[-9.88876076e-01 1.47773168e-01 1.69468779e-02 2.99475398e+02] [-1.47772219e-01 -9.89020547e-01 1.31513402e-03 2.80273110e+02] [ 1.69551520e-02 -1.20377318e-03 9.99855526e-01 2.21201078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4807140569999 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:299.46, Y:280.27, Z:2.21 [[-9.88963036e-01 1.47190232e-01 1.69454899e-02 2.99458326e+02] [-1.47188955e-01 -9.89107499e-01 1.32935712e-03 2.80272848e+02] [ 1.69565795e-02 -1.17950390e-03 9.99855531e-01 2.20822377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.510714057 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:299.47, Y:280.27, Z:2.21 [[-9.88692000e-01 1.48999641e-01 1.69480226e-02 2.99465727e+02] [-1.48999070e-01 -9.88836477e-01 1.30347871e-03 2.80272863e+02] [ 1.69530408e-02 -1.23650063e-03 9.99855522e-01 2.20795724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.540714057 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:299.47, Y:280.27, Z:2.21 [[-9.87981045e-01 1.53641278e-01 1.69650634e-02 2.99467665e+02] [-1.53644367e-01 -9.88125566e-01 1.12895504e-03 2.80272097e+02] [ 1.69370670e-02 -1.49120024e-03 9.99855446e-01 2.20834251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5707140569999 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:299.47, Y:280.27, Z:2.22 [[-9.87579251e-01 1.56205681e-01 1.69413069e-02 2.99472167e+02] [-1.56205026e-01 -9.87723703e-01 1.37005188e-03 2.80272161e+02] [ 1.69473402e-02 -1.29328248e-03 9.99855547e-01 2.21594877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6007140569999 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:299.46, Y:280.27, Z:2.21 [[-9.87346126e-01 1.57672624e-01 1.69401953e-02 2.99460641e+02] [-1.57671992e-01 -9.87490575e-01 1.38129513e-03 2.80270302e+02] [ 1.69460756e-02 -1.30717795e-03 9.99855550e-01 2.20975811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.630714057 meters Centerline goodness : 0.992806 Centerline is valid? [True, True] Translation: X:299.47, Y:280.27, Z:2.22 [[-9.87068791e-01 1.59398453e-01 1.69509449e-02 2.99471970e+02] [-1.59399929e-01 -9.87213271e-01 1.27263928e-03 2.80271744e+02] [ 1.69370545e-02 -1.44579691e-03 9.99855513e-01 2.21723903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.660714057 meters Centerline goodness : 0.993846 Centerline is valid? [True, True] Translation: X:299.47, Y:280.27, Z:2.21 [[-9.86268612e-01 1.64278053e-01 1.69394874e-02 2.99473591e+02] [-1.64278272e-01 -9.86413059e-01 1.38807773e-03 2.80269664e+02] [ 1.69373623e-02 -1.41377223e-03 9.99855553e-01 2.20955080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6907140569999 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:299.48, Y:280.27, Z:2.21 [[-9.85894703e-01 1.66506868e-01 1.69439485e-02 2.99476532e+02] [-1.66508181e-01 -9.86039158e-01 1.34313291e-03 2.80270186e+02] [ 1.69310376e-02 -1.49711843e-03 9.99855539e-01 2.21054237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7207140569999 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:299.47, Y:280.27, Z:2.21 [[-9.85935024e-01 1.66269801e-01 1.69257793e-02 2.99471942e+02] [-1.66267972e-01 -9.86079427e-01 1.52511059e-03 2.80268810e+02] [ 1.69437426e-02 -1.31055504e-03 9.99855586e-01 2.20838085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.750714057 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:299.48, Y:280.27, Z:2.21 [[-9.85521035e-01 1.68704136e-01 1.69470785e-02 2.99475270e+02] [-1.68706316e-01 -9.85665491e-01 1.31123272e-03 2.80268766e+02] [ 1.69253608e-02 -1.56683175e-03 9.99855528e-01 2.20735894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.780714057 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:299.47, Y:280.27, Z:2.21 [[-9.84942264e-01 1.72051247e-01 1.69441810e-02 2.99469397e+02] [-1.72053423e-01 -9.85086709e-01 1.34020266e-03 2.80268343e+02] [ 1.69220711e-02 -1.59528210e-03 9.99855539e-01 2.21288976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8107140569999 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:299.47, Y:280.27, Z:2.21 [[-9.84726618e-01 1.73283388e-01 1.69220178e-02 2.99465963e+02] [-1.73281989e-01 -9.84871016e-01 1.56010103e-03 2.80267985e+02] [ 1.69363444e-02 -1.39600788e-03 9.99855595e-01 2.21256800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8407140569999 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:299.48, Y:280.27, Z:2.21 [[-9.84347678e-01 1.75423340e-01 1.69204316e-02 2.99482892e+02] [-1.75421986e-01 -9.84492074e-01 1.57579299e-03 2.80268843e+02] [ 1.69344617e-02 -1.41708756e-03 9.99855598e-01 2.20565178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.870714057 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:299.50, Y:280.27, Z:2.21 [[-9.84478041e-01 1.74690113e-01 1.69218955e-02 2.99496817e+02] [-1.74688899e-01 -9.84622441e-01 1.56131161e-03 2.80269885e+02] [ 1.69344238e-02 -1.41899031e-03 9.99855595e-01 2.20543089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.900714057 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:299.50, Y:280.27, Z:2.21 [[-9.84192746e-01 1.76288627e-01 1.69398528e-02 2.99499832e+02] [-1.76290689e-01 -9.84337178e-01 1.38330988e-03 2.80270139e+02] [ 1.69183887e-02 -1.62489477e-03 9.99855554e-01 2.20862272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9307140569999 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:299.50, Y:280.27, Z:2.21 [[-9.84073409e-01 1.76955393e-01 1.69208576e-02 2.99498946e+02] [-1.76954354e-01 -9.84217806e-01 1.57053367e-03 2.80268977e+02] [ 1.69317238e-02 -1.44869900e-03 9.99855599e-01 2.20739495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9607140569999 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:299.50, Y:280.27, Z:2.20 [[-9.84412108e-01 1.75061126e-01 1.69234753e-02 2.99498457e+02] [-1.75060249e-01 -9.84556511e-01 1.54479772e-03 2.80269264e+02] [ 1.69325518e-02 -1.44191020e-03 9.99855594e-01 2.20302704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9907140569999 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:299.51, Y:280.27, Z:2.20 [[-9.84439639e-01 1.74906553e-01 1.69202664e-02 2.99505829e+02] [-1.74905115e-01 -9.84584032e-01 1.57628448e-03 2.80268621e+02] [ 1.69351266e-02 -1.40768422e-03 9.99855600e-01 2.20338131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.020714057 meters Centerline goodness : 0.993212 Centerline is valid? [True, True] Translation: X:299.51, Y:280.27, Z:2.20 [[-9.84371887e-01 1.75285720e-01 1.69382605e-02 2.99514333e+02] [-1.75287362e-01 -9.84516319e-01 1.39927393e-03 2.80269625e+02] [ 1.69212666e-02 -1.59165707e-03 9.99855558e-01 2.20279724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0507140569999 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:299.51, Y:280.27, Z:2.20 [[-9.84676502e-01 1.73568344e-01 1.69179585e-02 2.99513398e+02] [-1.73566346e-01 -9.84820883e-01 1.59757932e-03 2.80267278e+02] [ 1.69384480e-02 -1.36328942e-03 9.99855605e-01 2.20448618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0807140569999 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:299.48, Y:280.26, Z:2.21 [[-9.84580958e-01 1.74107499e-01 1.69386106e-02 2.99479753e+02] [-1.74109023e-01 -9.84725393e-01 1.39597935e-03 2.80263627e+02] [ 1.69229304e-02 -1.57471026e-03 9.99855557e-01 2.20532619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1107140569999 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:299.50, Y:280.27, Z:2.21 [[-9.85214750e-01 1.70486438e-01 1.69195282e-02 2.99501842e+02] [-1.70484270e-01 -9.85359129e-01 1.58104925e-03 2.80266024e+02] [ 1.69413590e-02 -1.32684037e-03 9.99855605e-01 2.20793168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.140714057 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:299.49, Y:280.26, Z:2.21 [[-9.85438068e-01 1.69190066e-01 1.69273582e-02 2.99493080e+02] [-1.69189004e-01 -9.85582475e-01 1.50517238e-03 2.80264072e+02] [ 1.69379678e-02 -1.38066870e-03 9.99855589e-01 2.20795990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1707140569999 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:299.49, Y:280.26, Z:2.21 [[-9.85471494e-01 1.68995755e-01 1.69224400e-02 2.99492237e+02] [-1.68993855e-01 -9.85615882e-01 1.55259678e-03 2.80262918e+02] [ 1.69414079e-02 -1.32974850e-03 9.99855600e-01 2.20749855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2007140569999 meters Centerline goodness : 0.993465 Centerline is valid? [True, True] Translation: X:299.51, Y:280.26, Z:2.21 [[-9.85403214e-01 1.69393660e-01 1.69202463e-02 2.99506164e+02] [-1.69391457e-01 -9.85547593e-01 1.57369325e-03 2.80261901e+02] [ 1.69422816e-02 -1.31542279e-03 9.99855604e-01 2.20724979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2307140569999 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:299.52, Y:280.26, Z:2.21 [[-9.85574064e-01 1.68398010e-01 1.69078314e-02 2.99522203e+02] [-1.68393634e-01 -9.85718378e-01 1.69243744e-03 2.80262084e+02] [ 1.69513632e-02 -1.17914871e-03 9.99855620e-01 2.20704043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.260714057 meters Centerline goodness : 0.993917 Centerline is valid? [True, True] Translation: X:299.53, Y:280.26, Z:2.21 [[-9.85653646e-01 1.67931488e-01 1.69087399e-02 2.99530489e+02] [-1.67927192e-01 -9.85797963e-01 1.68375586e-03 2.80261995e+02] [ 1.69513570e-02 -1.17983710e-03 9.99855619e-01 2.20745078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.290714057 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:299.55, Y:280.26, Z:2.21 [[-9.85932331e-01 1.66287599e-01 1.69078110e-02 2.99546716e+02] [-1.66282911e-01 -9.86076634e-01 1.69260592e-03 2.80261711e+02] [ 1.69538567e-02 -1.14268513e-03 9.99855620e-01 2.20729623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3207140569999 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:299.51, Y:280.25, Z:2.21 [[-9.84934884e-01 1.72095652e-01 1.69221782e-02 2.99508487e+02] [-1.72094149e-01 -9.85079277e-01 1.55593312e-03 2.80251839e+02] [ 1.69374564e-02 -1.37971506e-03 9.99855599e-01 2.20632108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3507140569999 meters Centerline goodness : 0.994188 Centerline is valid? [True, True] Translation: X:299.52, Y:280.26, Z:2.21 [[-9.86581045e-01 1.62395568e-01 1.68973599e-02 2.99517473e+02] [-1.62388645e-01 -9.86725252e-01 1.79019409e-03 2.80256753e+02] [ 1.69637713e-02 -9.77767815e-04 9.99855627e-01 2.20787816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.380714057 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:299.54, Y:280.25, Z:2.21 [[-9.85491720e-01 1.68877888e-01 1.69212364e-02 2.99536343e+02] [-1.68875774e-01 -9.85636103e-01 1.56409091e-03 2.80253493e+02] [ 1.69423219e-02 -1.31618826e-03 9.99855602e-01 2.20580191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.410714057 meters Centerline goodness : 0.994212 Centerline is valid? [True, True] Translation: X:299.58, Y:280.26, Z:2.20 [[-9.88936340e-01 1.47375137e-01 1.68962941e-02 2.99577417e+02] [-1.47365881e-01 -9.89080413e-01 1.79842930e-03 2.80264202e+02] [ 1.69768373e-02 -7.11405176e-04 9.99855630e-01 2.20231842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4407140569999 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:299.57, Y:280.26, Z:2.20 [[-9.88460413e-01 1.50527209e-01 1.69579528e-02 2.99570884e+02] [-1.50528463e-01 -9.88604936e-01 1.20976765e-03 2.80261805e+02] [ 1.69468187e-02 -1.35684714e-03 9.99855472e-01 2.20419420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4707140569999 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:299.59, Y:280.26, Z:2.20 [[-9.89394277e-01 1.44263984e-01 1.69371401e-02 2.99588337e+02] [-1.44260942e-01 -9.89538680e-01 1.40765481e-03 2.80264731e+02] [ 1.69630292e-02 -1.05064218e-03 9.99855565e-01 2.20174601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.500714057 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:299.59, Y:280.26, Z:2.20 [[-9.89299755e-01 1.44908265e-01 1.69584855e-02 2.99590647e+02] [-1.44908804e-01 -9.89444284e-01 1.20357489e-03 2.80264010e+02] [ 1.69538845e-02 -1.26673750e-03 9.99855470e-01 2.20310449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.530714057 meters Centerline goodness : 0.993655 Centerline is valid? [True, True] Translation: X:299.56, Y:280.26, Z:2.21 [[-9.88361427e-01 1.51177386e-01 1.69436382e-02 2.99556466e+02] [-1.51176439e-01 -9.88505882e-01 1.34413118e-03 2.80257251e+02] [ 1.69520883e-02 -1.23299147e-03 9.99855543e-01 2.20781183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5607140569999 meters Centerline goodness : 0.992995 Centerline is valid? [True, True] Translation: X:299.56, Y:280.26, Z:2.21 [[-9.88400752e-01 1.50922019e-01 1.69262618e-02 2.99561690e+02] [-1.50918250e-01 -9.88545098e-01 1.50718938e-03 2.80258127e+02] [ 1.69598412e-02 -1.06477469e-03 9.99855605e-01 2.20625404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5907140569999 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:299.59, Y:280.26, Z:2.21 [[-9.89534499e-01 1.43302199e-01 1.69102014e-02 2.99590438e+02] [-1.43294758e-01 -9.89678668e-01 1.65713961e-03 2.80262900e+02] [ 1.69731373e-02 -7.83346408e-04 9.99855639e-01 2.20921891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.620714057 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:299.59, Y:280.26, Z:2.21 [[-9.89244312e-01 1.45287604e-01 1.69470578e-02 2.99589987e+02] [-1.45286377e-01 -9.89388777e-01 1.31011775e-03 2.80262644e+02] [ 1.69575727e-02 -1.16615010e-03 9.99855530e-01 2.21136350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.650714057 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:299.57, Y:280.26, Z:2.21 [[-9.88812597e-01 1.48198159e-01 1.69397123e-02 2.99571578e+02] [-1.48196183e-01 -9.88957021e-01 1.37885774e-03 2.80260641e+02] [ 1.69569916e-02 -1.14696879e-03 9.99855562e-01 2.21132090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6807140569999 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:299.59, Y:280.26, Z:2.21 [[-9.89119344e-01 1.46138311e-01 1.69268551e-02 2.99585502e+02] [-1.46133992e-01 -9.89263671e-01 1.49845162e-03 2.80264344e+02] [ 1.69641040e-02 -9.91441426e-04 9.99855608e-01 2.21145533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7107140569999 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:299.57, Y:280.26, Z:2.21 [[-9.89173757e-01 1.45769471e-01 1.69274900e-02 2.99570249e+02] [-1.45765198e-01 -9.89318088e-01 1.49255427e-03 2.80263939e+02] [ 1.69642408e-02 -9.91043415e-04 9.99855606e-01 2.21029609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7407140569999 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:299.55, Y:280.26, Z:2.21 [[-9.87456338e-01 1.56982520e-01 1.69253727e-02 2.99548188e+02] [-1.56979552e-01 -9.87600696e-01 1.51207707e-03 2.80257111e+02] [ 1.69528796e-02 -1.16382735e-03 9.99855612e-01 2.21179783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.770714057 meters Centerline goodness : 0.993671 Centerline is valid? [True, True] Translation: X:299.57, Y:280.27, Z:2.21 [[-9.89203488e-01 1.45572057e-01 1.68889005e-02 2.99568337e+02] [-1.45561729e-01 -9.89347450e-01 1.84580280e-03 2.80265576e+02] [ 1.69776880e-02 -6.32502986e-04 9.99855669e-01 2.21118735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8007140569999 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:299.57, Y:280.27, Z:2.21 [[-9.89925695e-01 1.40572535e-01 1.69257260e-02 2.99573623e+02] [-1.40567268e-01 -9.90069984e-01 1.50643686e-03 2.80269878e+02] [ 1.69694170e-02 -8.87942504e-04 9.99855615e-01 2.21156988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8307140569999 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:299.56, Y:280.27, Z:2.21 [[-9.89676303e-01 1.42318936e-01 1.69155728e-02 2.99560610e+02] [-1.42312335e-01 -9.89820510e-01 1.59950906e-03 2.80269851e+02] [ 1.69710213e-02 -8.24298451e-04 9.99855642e-01 2.20935064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8607140569999 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:299.58, Y:280.27, Z:2.21 [[-9.89780643e-01 1.41590745e-01 1.69215586e-02 2.99578329e+02] [-1.41584973e-01 -9.89924901e-01 1.54466837e-03 2.80272900e+02] [ 1.69697829e-02 -8.66955565e-04 9.99855627e-01 2.21016666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.890714057 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:299.58, Y:280.28, Z:2.21 [[-9.90214964e-01 1.38520372e-01 1.69243195e-02 2.99583426e+02] [-1.38514584e-01 -9.90359229e-01 1.51937777e-03 2.80276043e+02] [ 1.69716208e-02 -8.39754483e-04 9.99855619e-01 2.20908216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9207140569999 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:299.60, Y:280.28, Z:2.21 [[-9.91300497e-01 1.30524459e-01 1.69319269e-02 2.99598054e+02] [-1.30518697e-01 -9.91444788e-01 1.44961821e-03 2.80282581e+02] [ 1.69762813e-02 -7.72925791e-04 9.99855594e-01 2.20605564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9507140569999 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:299.61, Y:280.29, Z:2.20 [[-9.91567377e-01 1.28479778e-01 1.69435564e-02 2.99605757e+02] [-1.28475544e-01 -9.91711769e-01 1.34272160e-03 2.80285194e+02] [ 1.69756369e-02 -8.45433686e-04 9.99855546e-01 2.20497459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9807140569999 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:299.59, Y:280.27, Z:2.21 [[-9.88894025e-01 1.47653320e-01 1.69441555e-02 2.99587590e+02] [-1.47651976e-01 -9.89038476e-01 1.33724756e-03 2.80274984e+02] [ 1.69558708e-02 -1.17944191e-03 9.99855543e-01 2.20964222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.010714057 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:299.59, Y:280.28, Z:2.21 [[-9.89119536e-01 1.46141862e-01 1.68848947e-02 2.99589432e+02] [-1.46131173e-01 -9.89263452e-01 1.87183285e-03 2.80277939e+02] [ 1.69771624e-02 -6.15943024e-04 9.99855688e-01 2.20958410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.040714057 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:299.62, Y:280.29, Z:2.20 [[-9.92481744e-01 1.21222571e-01 1.68841748e-02 2.99623026e+02] [-1.21208155e-01 -9.92625335e-01 1.87830409e-03 2.80294181e+02] [ 1.69873525e-02 -1.82317162e-04 9.99855688e-01 2.20117330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0707140569999 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:299.62, Y:280.30, Z:2.20 [[-9.92013352e-01 1.24986559e-01 1.69667331e-02 2.99617075e+02] [-1.24985617e-01 -9.92157921e-01 1.12003672e-03 2.80295476e+02] [ 1.69736681e-02 -1.00950622e-03 9.99855427e-01 2.20286275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1007140569999 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:299.61, Y:280.30, Z:2.20 [[-9.92205466e-01 1.23455423e-01 1.69431804e-02 2.99613131e+02] [-1.23450589e-01 -9.92349823e-01 1.33489915e-03 2.80297291e+02] [ 1.69783626e-02 -7.67151361e-04 9.99855563e-01 2.20270055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.130714057 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:299.60, Y:280.29, Z:2.21 [[-9.89349963e-01 1.44565950e-01 1.69509964e-02 2.99598162e+02] [-1.44565405e-01 -9.89494440e-01 1.26400729e-03 2.80287549e+02] [ 1.69556491e-02 -1.19998209e-03 9.99855523e-01 2.20919630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.160714057 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:299.60, Y:280.29, Z:2.21 [[-9.89261480e-01 1.45178320e-01 1.68813450e-02 2.99597210e+02] [-1.45167228e-01 -9.89405334e-01 1.88711090e-03 2.80289264e+02] [ 1.69764604e-02 -5.83771939e-04 9.99855719e-01 2.20913761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1907140569999 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:299.60, Y:280.29, Z:2.21 [[-9.89124925e-01 1.46105879e-01 1.68806196e-02 2.99602320e+02] [-1.46094812e-01 -9.89268781e-01 1.89357760e-03 2.80294277e+02] [ 1.69761328e-02 -5.93186142e-04 9.99855719e-01 2.20890134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2207140569999 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:299.61, Y:280.31, Z:2.20 [[-9.92214306e-01 1.23393036e-01 1.68798914e-02 2.99609140e+02] [-1.23378564e-01 -9.92357859e-01 1.90004720e-03 2.80308901e+02] [ 1.69853454e-02 -1.97362748e-04 9.99855719e-01 2.20260778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.250714057 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:299.61, Y:280.31, Z:2.20 [[-9.92175922e-01 1.23691097e-01 1.69543974e-02 2.99611715e+02] [-1.23688143e-01 -9.92320381e-01 1.22679268e-03 2.80309551e+02] [ 1.69759374e-02 -8.79863762e-04 9.99855511e-01 2.20230662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.280714057 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:299.62, Y:280.31, Z:2.20 [[-9.92175912e-01 1.23691557e-01 1.69516407e-02 2.99621833e+02] [-1.23688178e-01 -9.92320345e-01 1.25166206e-03 2.80313245e+02] [ 1.69762780e-02 -8.54848615e-04 9.99855527e-01 2.20232566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3107140569999 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:299.60, Y:280.30, Z:2.21 [[-9.88665925e-01 1.49172052e-01 1.69525406e-02 2.99600230e+02] [-1.49172527e-01 -9.88810402e-01 1.24361446e-03 2.80302169e+02] [ 1.69483610e-02 -1.29933407e-03 9.99855522e-01 2.20850526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3407140569999 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:299.62, Y:280.32, Z:2.20 [[-9.92188329e-01 1.23603763e-01 1.68650535e-02 2.99621063e+02] [-1.23587405e-01 -9.92331649e-01 2.01271809e-03 2.80318647e+02] [ 1.69845059e-02 -8.73127992e-05 9.99855749e-01 2.20308225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.370714057 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:299.60, Y:280.32, Z:2.20 [[-9.92479155e-01 1.21233880e-01 1.69550254e-02 2.99603687e+02] [-1.21230944e-01 -9.92623598e-01 1.20469249e-03 2.80323527e+02] [ 1.69760079e-02 -8.59841545e-04 9.99855527e-01 2.20320949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.400714057 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:299.62, Y:280.33, Z:2.20 [[-9.92404639e-01 1.21841018e-01 1.69646430e-02 2.99623011e+02] [-1.21839649e-01 -9.92549168e-01 1.11806258e-03 2.80327506e+02] [ 1.69744682e-02 -9.57395662e-04 9.99855465e-01 2.20293192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4307140569999 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:299.62, Y:280.33, Z:2.20 [[-9.90963444e-01 1.33054299e-01 1.69707771e-02 2.99620671e+02] [-1.33055510e-01 -9.91108017e-01 1.06279257e-03 2.80329849e+02] [ 1.69612823e-02 -1.20486680e-03 9.99855421e-01 2.20386517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4607140569999 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:299.63, Y:280.33, Z:2.20 [[-9.90644389e-01 1.35412808e-01 1.69430031e-02 2.99627278e+02] [-1.35410118e-01 -9.90788767e-01 1.31115419e-03 2.80333057e+02] [ 1.69644843e-02 -9.95366518e-04 9.99855597e-01 2.20362184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4907140569999 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:299.62, Y:280.33, Z:2.20 [[-9.90127753e-01 1.39140720e-01 1.69379089e-02 2.99620919e+02] [-1.39137799e-01 -9.90272100e-01 1.35653959e-03 2.80333978e+02] [ 1.69618885e-02 -1.01355587e-03 9.99855623e-01 2.20388434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.520714057 meters Centerline goodness : 0.993120 Centerline is valid? [True, True] Translation: X:299.63, Y:280.34, Z:2.20 [[-9.90086114e-01 1.39436950e-01 1.69358836e-02 2.99629493e+02] [-1.39433765e-01 -9.90230446e-01 1.37453152e-03 2.80337433e+02] [ 1.69620880e-02 -1.00052943e-03 9.99855633e-01 2.20295726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5507140569999 meters Centerline goodness : 0.992943 Centerline is valid? [True, True] Translation: X:299.63, Y:280.34, Z:2.21 [[-9.89063739e-01 1.46513039e-01 1.69366609e-02 2.99632243e+02] [-1.46511004e-01 -9.89208095e-01 1.36762866e-03 2.80340428e+02] [ 1.69542575e-02 -1.12873528e-03 9.99855629e-01 2.20679549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5807140569999 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:299.64, Y:280.34, Z:2.21 [[-9.88502660e-01 1.50253723e-01 1.69206953e-02 2.99635734e+02] [-1.50249822e-01 -9.88646911e-01 1.50881423e-03 2.80341710e+02] [ 1.69552981e-02 -1.05086458e-03 9.99855696e-01 2.20559143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6107140569999 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:299.63, Y:280.34, Z:2.21 [[-9.87956388e-01 1.53805349e-01 1.69141964e-02 2.99628763e+02] [-1.53800989e-01 -9.88100604e-01 1.56606969e-03 2.80341872e+02] [ 1.69537976e-02 -1.05421157e-03 9.99855718e-01 2.20526498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.640714057 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:299.64, Y:280.34, Z:2.20 [[-9.87790696e-01 1.54866514e-01 1.69087139e-02 2.99637170e+02] [-1.54861487e-01 -9.87934874e-01 1.61419301e-03 2.80344453e+02] [ 1.69546926e-02 -1.02402375e-03 9.99855734e-01 2.20498339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6707140569999 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:299.63, Y:280.35, Z:2.21 [[-9.87392101e-01 1.57388153e-01 1.69058555e-02 2.99632223e+02] [-1.57383067e-01 -9.87536269e-01 1.63922611e-03 2.80346302e+02] [ 1.69531403e-02 -1.04213648e-03 9.99855742e-01 2.20551959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7007140569999 meters Centerline goodness : 0.993741 Centerline is valid? [True, True] Translation: X:299.64, Y:280.35, Z:2.21 [[-9.87316900e-01 1.57859419e-01 1.69039163e-02 2.99639945e+02] [-1.57854112e-01 -9.87461056e-01 1.65616750e-03 2.80348057e+02] [ 1.69534007e-02 -1.03319053e-03 9.99855747e-01 2.20526142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7307140569999 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:299.64, Y:280.35, Z:2.20 [[-9.86568503e-01 1.62470922e-01 1.69052982e-02 2.99635026e+02] [-1.62466494e-01 -9.86712691e-01 1.64411430e-03 2.80347159e+02] [ 1.69477931e-02 -1.12451315e-03 9.99855743e-01 2.20403385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.760714057 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:299.63, Y:280.35, Z:2.20 [[-9.86253425e-01 1.64373866e-01 1.68942226e-02 2.99634907e+02] [-1.64368073e-01 -9.86397541e-01 1.74034199e-03 2.80350126e+02] [ 1.69504863e-02 -1.06045256e-03 9.99855768e-01 2.20459414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.790714057 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:299.62, Y:280.35, Z:2.20 [[-9.85538525e-01 1.68607006e-01 1.68965443e-02 2.99624208e+02] [-1.68602177e-01 -9.85682681e-01 1.72021035e-03 2.80349662e+02] [ 1.69446706e-02 -1.15346058e-03 9.99855763e-01 2.20378681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8207140569999 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:299.62, Y:280.35, Z:2.20 [[-9.85003221e-01 1.71707288e-01 1.68896772e-02 2.99620806e+02] [-1.71701898e-01 -9.85147345e-01 1.77952742e-03 2.80350478e+02] [ 1.69443785e-02 -1.14714940e-03 9.99855776e-01 2.20417505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8507140569999 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:299.62, Y:280.35, Z:2.21 [[-9.84859864e-01 1.72527884e-01 1.68871939e-02 2.99619532e+02] [-1.72522249e-01 -9.85003975e-01 1.80091712e-03 2.80352211e+02] [ 1.69446615e-02 -1.13976568e-03 9.99855779e-01 2.20604613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.880714057 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:299.62, Y:280.35, Z:2.21 [[-9.84000598e-01 1.77362659e-01 1.68911038e-02 2.99619973e+02] [-1.77358307e-01 -9.84144760e-01 1.76730454e-03 2.80353997e+02] [ 1.69367452e-02 -1.25674885e-03 9.99855773e-01 2.20579783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.910714057 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:299.62, Y:280.35, Z:2.21 [[-9.83240240e-01 1.81530752e-01 1.68883627e-02 2.99616715e+02] [-1.81526608e-01 -9.83384403e-01 1.79080199e-03 2.80353465e+02] [ 1.69328381e-02 -1.30489863e-03 9.99855778e-01 2.20514966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9407140569999 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:299.62, Y:280.35, Z:2.20 [[-9.82954415e-01 1.83072657e-01 1.68825551e-02 2.99616983e+02] [-1.83067892e-01 -9.83098550e-01 1.84039920e-03 2.80354075e+02] [ 1.69341422e-02 -1.28162526e-03 9.99855786e-01 2.20460134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9707140569999 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:299.62, Y:280.35, Z:2.20 [[-9.82526557e-01 1.85355168e-01 1.68827119e-02 2.99618329e+02] [-1.85350761e-01 -9.82670705e-01 1.83906154e-03 2.80354524e+02] [ 1.69310259e-02 -1.32229668e-03 9.99855786e-01 2.20358608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.000714057 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:299.63, Y:280.36, Z:2.20 [[-9.82068411e-01 1.87767749e-01 1.68792317e-02 2.99626074e+02] [-1.87763190e-01 -9.82212550e-01 1.86869383e-03 2.80356302e+02] [ 1.69298736e-02 -1.33411319e-03 9.99855789e-01 2.20340989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.030714057 meters Centerline goodness : 0.992335 Centerline is valid? [True, True] Translation: X:299.63, Y:280.36, Z:2.21 [[-9.81806948e-01 1.89130257e-01 1.68778603e-02 2.99628800e+02] [-1.89125698e-01 -9.81951086e-01 1.88033546e-03 2.80357257e+02] [ 1.69288616e-02 -1.34591070e-03 9.99855791e-01 2.21202061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0607140569999 meters Centerline goodness : 0.993508 Centerline is valid? [True, True] Translation: X:299.61, Y:280.35, Z:2.21 [[-9.81735275e-01 1.89503352e-01 1.68620994e-02 2.99614731e+02] [-1.89496572e-01 -9.81879318e-01 2.01352655e-03 2.80354959e+02] [ 1.69381167e-02 -1.21856000e-03 9.99855797e-01 2.20554287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0907140569999 meters Centerline goodness : 0.991542 Centerline is valid? [True, True] Translation: X:299.62, Y:280.36, Z:2.21 [[-9.81166930e-01 1.92422864e-01 1.68788986e-02 2.99621953e+02] [-1.92418939e-01 -9.81311087e-01 1.87161497e-03 2.80356127e+02] [ 1.69235919e-02 -1.41145305e-03 9.99855790e-01 2.21214996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.120714057 meters Centerline goodness : 0.992128 Centerline is valid? [True, True] Translation: X:299.63, Y:280.36, Z:2.21 [[-9.81527844e-01 1.90575058e-01 1.68594056e-02 2.99627635e+02] [-1.90568061e-01 -9.81671876e-01 2.03541124e-03 2.80357268e+02] [ 1.69383029e-02 -1.21505144e-03 9.99855798e-01 2.21029563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.150714057 meters Centerline goodness : 0.991869 Centerline is valid? [True, True] Translation: X:299.63, Y:280.36, Z:2.21 [[-9.81952535e-01 1.88373632e-01 1.68699166e-02 2.99634591e+02] [-1.88367823e-01 -9.82096621e-01 1.94704090e-03 2.80358603e+02] [ 1.69346593e-02 -1.26584772e-03 9.99855797e-01 2.20878138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1807140569999 meters Centerline goodness : 0.992067 Centerline is valid? [True, True] Translation: X:299.63, Y:280.36, Z:2.21 [[-9.80654090e-01 1.95019214e-01 1.68837559e-02 2.99629636e+02] [-1.95016372e-01 -9.80798279e-01 1.83056004e-03 2.80356756e+02] [ 1.69165531e-02 -1.49746262e-03 9.99855784e-01 2.20934563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2107140569999 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:299.63, Y:280.36, Z:2.21 [[-9.80221759e-01 1.97182341e-01 1.68649819e-02 2.99631982e+02] [-1.97177132e-01 -9.80365864e-01 1.98764304e-03 2.80356835e+02] [ 1.69257807e-02 -1.37705781e-03 9.99855800e-01 2.20972252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2407140569999 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:299.62, Y:280.36, Z:2.21 [[-9.79992867e-01 1.98317037e-01 1.68622026e-02 2.99624423e+02] [-1.98311598e-01 -9.80136963e-01 2.01083939e-03 2.80355773e+02] [ 1.69260517e-02 -1.37336208e-03 9.99855801e-01 2.20844084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.270714057 meters Centerline goodness : 0.992780 Centerline is valid? [True, True] Translation: X:299.62, Y:280.36, Z:2.21 [[-9.80051464e-01 1.98027172e-01 1.68632077e-02 2.99622493e+02] [-1.98021833e-01 -9.80195564e-01 2.00246191e-03 2.80355031e+02] [ 1.69257833e-02 -1.37676758e-03 9.99855801e-01 2.21021594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3007140569999 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:299.63, Y:280.36, Z:2.21 [[-9.79737933e-01 1.99572352e-01 1.68659143e-02 2.99627306e+02] [-1.99567626e-01 -9.79882056e-01 1.97993699e-03 2.80355203e+02] [ 1.69217475e-02 -1.42607111e-03 9.99855800e-01 2.21138853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3307140569999 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:299.64, Y:280.36, Z:2.21 [[-9.79995428e-01 1.98304557e-01 1.68601180e-02 2.99641142e+02] [-1.98298822e-01 -9.80139513e-01 2.02800347e-03 2.80356034e+02] [ 1.69274301e-02 -1.35590741e-03 9.99855801e-01 2.21063546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3607140569999 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:299.63, Y:280.35, Z:2.21 [[-9.80228230e-01 1.97150056e-01 1.68663003e-02 2.99627894e+02] [-1.97145028e-01 -9.80372343e-01 1.97678272e-03 2.80354868e+02] [ 1.69249772e-02 -1.38740901e-03 9.99855800e-01 2.21070088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.390714057 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:299.63, Y:280.36, Z:2.21 [[-9.80269898e-01 1.96942932e-01 1.68643945e-02 2.99633557e+02] [-1.96937604e-01 -9.80413999e-01 1.99253340e-03 2.80355191e+02] [ 1.69265038e-02 -1.36801292e-03 9.99855801e-01 2.20981112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4207140569999 meters Centerline goodness : 0.992750 Centerline is valid? [True, True] Translation: X:299.64, Y:280.36, Z:2.21 [[-9.80476880e-01 1.95910250e-01 1.68600824e-02 2.99642017e+02] [-1.95904162e-01 -9.80620949e-01 2.02810479e-03 2.80356287e+02] [ 1.69306765e-02 -1.31445044e-03 9.99855802e-01 2.20957798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4507140569999 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:299.64, Y:280.35, Z:2.21 [[-9.78976060e-01 2.03277039e-01 1.68617638e-02 2.99644964e+02] [-2.03272271e-01 -9.79120180e-01 2.01425873e-03 2.80350601e+02] [ 1.69191458e-02 -1.45561794e-03 9.99855801e-01 2.21095914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4807140569999 meters Centerline goodness : 0.992622 Centerline is valid? [True, True] Translation: X:299.66, Y:280.36, Z:2.21 [[-9.81035190e-01 1.93097094e-01 1.68364992e-02 2.99657597e+02] [-1.93087298e-01 -9.81179068e-01 2.22093635e-03 2.80358573e+02] [ 1.69484769e-02 -1.07209741e-03 9.99855789e-01 2.21028761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.510714057 meters Centerline goodness : 0.992926 Centerline is valid? [True, True] Translation: X:299.66, Y:280.36, Z:2.21 [[-9.81256035e-01 1.91969941e-01 1.68563328e-02 2.99659569e+02] [-1.91962754e-01 -9.81400053e-01 2.05852995e-03 2.80359045e+02] [ 1.69379818e-02 -1.21584313e-03 9.99855803e-01 2.20932687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.540714057 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:299.69, Y:280.36, Z:2.21 [[-9.82483572e-01 1.85585350e-01 1.68555290e-02 2.99685556e+02] [-1.85577115e-01 -9.82627534e-01 2.06509064e-03 2.80361451e+02] [ 1.69459575e-02 -1.09908281e-03 9.99855803e-01 2.20718996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5707140569999 meters Centerline goodness : 0.993364 Centerline is valid? [True, True] Translation: X:299.69, Y:280.36, Z:2.21 [[-9.82650250e-01 1.84698006e-01 1.68858720e-02 2.99690091e+02] [-1.84693892e-01 -9.82794418e-01 1.81632973e-03 2.80360658e+02] [ 1.69308132e-02 -1.33390056e-03 9.99855774e-01 2.20656458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6007140569999 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:299.69, Y:280.36, Z:2.21 [[-9.82827134e-01 1.83754935e-01 1.68804404e-02 2.99689800e+02] [-1.83749924e-01 -9.82971263e-01 1.86069546e-03 2.80360007e+02] [ 1.69348998e-02 -1.27303766e-03 9.99855784e-01 2.20696392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.630714057 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:299.66, Y:280.35, Z:2.21 [[-9.80171448e-01 1.97431465e-01 1.68745111e-02 2.99661857e+02] [-1.97427639e-01 -9.80315604e-01 1.90887900e-03 2.80348033e+02] [ 1.69192193e-02 -1.46046618e-03 9.99855793e-01 2.20738356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.660714057 meters Centerline goodness : 0.992767 Centerline is valid? [True, True] Translation: X:299.68, Y:280.36, Z:2.21 [[-9.82866531e-01 1.83548798e-01 1.68291971e-02 2.99683056e+02] [-1.83536689e-01 -9.83010229e-01 2.27449221e-03 2.80355177e+02] [ 1.69607533e-02 -8.53252855e-04 9.99855792e-01 2.20724504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6907140569999 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:299.69, Y:280.35, Z:2.21 [[-9.82900634e-01 1.83363496e-01 1.68574035e-02 2.99686240e+02] [-1.83355256e-01 -9.83044589e-01 2.04628135e-03 2.80354316e+02] [ 1.69467926e-02 -1.07960228e-03 9.99855810e-01 2.20744494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7207140569999 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:299.69, Y:280.35, Z:2.21 [[-9.83326671e-01 1.81064597e-01 1.68602851e-02 2.99687789e+02] [-1.81056418e-01 -9.83470631e-01 2.02301121e-03 2.80354152e+02] [ 1.69478909e-02 -1.06338195e-03 9.99855809e-01 2.20832376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.750714057 meters Centerline goodness : 0.993331 Centerline is valid? [True, True] Translation: X:299.71, Y:280.36, Z:2.21 [[-9.84210937e-01 1.76194207e-01 1.68651454e-02 2.99706481e+02] [-1.76185986e-01 -9.84354897e-01 1.98375187e-03 2.80355790e+02] [ 1.69508140e-02 -1.01897197e-03 9.99855805e-01 2.20726286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.780714057 meters Centerline goodness : 0.993057 Centerline is valid? [True, True] Translation: X:299.70, Y:280.35, Z:2.21 [[-9.83434392e-01 1.80476513e-01 1.68826792e-02 2.99700073e+02] [-1.80471341e-01 -9.83578519e-01 1.84199848e-03 2.80353754e+02] [ 1.69378780e-02 -1.23535511e-03 9.99855781e-01 2.20605712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8107140569999 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:299.70, Y:280.35, Z:2.21 [[-9.83339492e-01 1.80995287e-01 1.68567097e-02 2.99703405e+02] [-1.80986623e-01 -9.83483420e-01 2.05083328e-03 2.80353887e+02] [ 1.69494856e-02 -1.03417360e-03 9.99855812e-01 2.20701599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8407140569999 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:299.70, Y:280.35, Z:2.21 [[-9.83104261e-01 1.82268305e-01 1.68605217e-02 2.99698458e+02] [-1.82260350e-01 -9.83248231e-01 2.02024893e-03 2.80351991e+02] [ 1.69463055e-02 -1.08688924e-03 9.99855810e-01 2.20695391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.870714057 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:299.70, Y:280.35, Z:2.21 [[-9.82649259e-01 1.84705422e-01 1.68624187e-02 2.99698193e+02] [-1.84698083e-01 -9.82793263e-01 2.00505569e-03 2.80351392e+02] [ 1.69426161e-02 -1.14418990e-03 9.99855809e-01 2.20664967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.900714057 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:299.70, Y:280.35, Z:2.21 [[-9.82198328e-01 1.87089109e-01 1.68555478e-02 2.99698118e+02] [-1.87081182e-01 -9.82342297e-01 2.05991837e-03 2.80351027e+02] [ 1.69433058e-02 -1.13010741e-03 9.99855813e-01 2.20773996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9307140569999 meters Centerline goodness : 0.992644 Centerline is valid? [True, True] Translation: X:299.71, Y:280.35, Z:2.21 [[-9.81911421e-01 1.88589463e-01 1.68515878e-02 2.99706567e+02] [-1.88581217e-01 -9.82055370e-01 2.09147089e-03 2.80351216e+02] [ 1.69436217e-02 -1.12425378e-03 9.99855814e-01 2.20709325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9607140569999 meters Centerline goodness : 0.992858 Centerline is valid? [True, True] Translation: X:299.71, Y:280.35, Z:2.21 [[-9.81755307e-01 1.89400347e-01 1.68530716e-02 2.99707356e+02] [-1.89392421e-01 -9.81899275e-01 2.07966388e-03 2.80350409e+02] [ 1.69419079e-02 -1.15012299e-03 9.99855814e-01 2.20717245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9907140569999 meters Centerline goodness : 0.992960 Centerline is valid? [True, True] Translation: X:299.71, Y:280.35, Z:2.21 [[-9.81711249e-01 1.89628626e-01 1.68525354e-02 2.99706514e+02] [-1.89620661e-01 -9.81855215e-01 2.08391914e-03 2.80349687e+02] [ 1.69419204e-02 -1.14978203e-03 9.99855814e-01 2.20862792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.020714057 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:299.70, Y:280.35, Z:2.21 [[-9.81774468e-01 1.89300842e-01 1.68548173e-02 2.99704495e+02] [-1.89293138e-01 -9.81918449e-01 2.06584101e-03 2.80347692e+02] [ 1.69411215e-02 -1.16231130e-03 9.99855813e-01 2.20711186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0507140569999 meters Centerline goodness : 0.992950 Centerline is valid? [True, True] Translation: X:299.71, Y:280.35, Z:2.21 [[-9.82015918e-01 1.88041954e-01 1.68807810e-02 2.99706384e+02] [-1.88037589e-01 -9.82160072e-01 1.85974488e-03 2.80348440e+02] [ 1.69293391e-02 -1.34792228e-03 9.99855780e-01 2.20895864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0807140569999 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:299.72, Y:280.35, Z:2.21 [[-9.82118940e-01 1.87504783e-01 1.68625084e-02 2.99715126e+02] [-1.87497868e-01 -9.82262965e-01 2.00427346e-03 2.80347149e+02] [ 1.69392284e-02 -1.19324946e-03 9.99855809e-01 2.20773380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1107140569999 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:299.72, Y:280.35, Z:2.21 [[-9.81875877e-01 1.88773701e-01 1.68597978e-02 2.99718248e+02] [-1.88766606e-01 -9.82019890e-01 2.02566692e-03 2.80345477e+02] [ 1.69390494e-02 -1.19361332e-03 9.99855812e-01 2.20579805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.140714057 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:299.72, Y:280.35, Z:2.21 [[-9.81804148e-01 1.89147175e-01 1.68511404e-02 2.99720873e+02] [-1.89138969e-01 -9.81948098e-01 2.09383668e-03 2.80345860e+02] [ 1.69429886e-02 -1.13146979e-03 9.99855817e-01 2.20577770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1707140569999 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:299.73, Y:280.34, Z:2.21 [[-9.82302370e-01 1.86542538e-01 1.68503719e-02 2.99725697e+02] [-1.86533848e-01 -9.82446291e-01 2.09987019e-03 2.80344133e+02] [ 1.69463005e-02 -1.08045725e-03 9.99855817e-01 2.20684651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2007140569999 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:299.72, Y:280.34, Z:2.21 [[-9.82035418e-01 1.87942116e-01 1.68581851e-02 2.99722092e+02] [-1.87934678e-01 -9.82179414e-01 2.03860140e-03 2.80341748e+02] [ 1.69409015e-02 -1.16625882e-03 9.99855812e-01 2.20755066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2307140569999 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:299.72, Y:280.34, Z:2.21 [[-9.82079900e-01 1.87710655e-01 1.68457825e-02 2.99723515e+02] [-1.87701526e-01 -9.82223792e-01 2.13551396e-03 2.80340414e+02] [ 1.69471871e-02 -1.06473375e-03 9.99855819e-01 2.20670891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.260714057 meters Centerline goodness : 0.994504 Centerline is valid? [True, True] Translation: X:299.73, Y:280.34, Z:2.21 [[-9.82292000e-01 1.86597072e-01 1.68511270e-02 2.99726296e+02] [-1.86588494e-01 -9.82435927e-01 2.09377316e-03 2.80337663e+02] [ 1.69458445e-02 -1.08752979e-03 9.99855817e-01 2.20748239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.290714057 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:299.73, Y:280.34, Z:2.21 [[-9.82221019e-01 1.86968085e-01 1.68761641e-02 2.99731467e+02] [-1.86962913e-01 -9.82365140e-01 1.89767271e-03 2.80336969e+02] [ 1.69333595e-02 -1.29128277e-03 9.99855787e-01 2.20716273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3207140569999 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:299.73, Y:280.34, Z:2.21 [[-9.82237350e-01 1.86882144e-01 1.68775635e-02 2.99732218e+02] [-1.86877147e-01 -9.82381480e-01 1.88672454e-03 2.80336287e+02] [ 1.69328009e-02 -1.30081959e-03 9.99855784e-01 2.20753862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3507140569999 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:299.73, Y:280.34, Z:2.21 [[-9.82032693e-01 1.87954729e-01 1.68763279e-02 2.99733826e+02] [-1.87949725e-01 -9.82176820e-01 1.89636207e-03 2.80335627e+02] [ 1.69319683e-02 -1.30961164e-03 9.99855786e-01 2.20701157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.380714057 meters Centerline goodness : 0.994497 Centerline is valid? [True, True] Translation: X:299.73, Y:280.33, Z:2.21 [[-9.81956819e-01 1.88353519e-01 1.68451269e-02 2.99729647e+02] [-1.88344438e-01 -9.82100708e-01 2.13823589e-03 2.80331644e+02] [ 1.69463553e-02 -1.07303064e-03 9.99855824e-01 2.20685258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.410714057 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:299.74, Y:280.33, Z:2.21 [[-9.83043968e-01 1.82594803e-01 1.68432556e-02 2.99739844e+02] [-1.82584632e-01 -9.83187784e-01 2.15270425e-03 2.80334571e+02] [ 1.69531558e-02 -9.59116695e-04 9.99855825e-01 2.20616227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4407140569999 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:299.74, Y:280.33, Z:2.21 [[-9.81827025e-01 1.89027998e-01 1.68555238e-02 2.99738986e+02] [-1.89020390e-01 -9.81971007e-01 2.05784373e-03 2.80331291e+02] [ 1.69406257e-02 -1.16559108e-03 9.99855818e-01 2.20642590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4707140569999 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:299.74, Y:280.33, Z:2.21 [[-9.82111927e-01 1.87543954e-01 1.68353074e-02 2.99740811e+02] [-1.87533471e-01 -9.82255720e-01 2.21335989e-03 2.80330047e+02] [ 1.69516792e-02 -9.83416477e-04 9.99855826e-01 2.20917055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.500714057 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:299.74, Y:280.33, Z:2.21 [[-9.82107098e-01 1.87567797e-01 1.68513863e-02 2.99736747e+02] [-1.87559433e-01 -9.82251034e-01 2.08957640e-03 2.80328355e+02] [ 1.69442288e-02 -1.10844862e-03 9.99855822e-01 2.21007243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.530714057 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:299.74, Y:280.33, Z:2.21 [[-9.82790383e-01 1.83951936e-01 1.68744868e-02 2.99741492e+02] [-1.83946086e-01 -9.82934476e-01 1.91148956e-03 2.80329112e+02] [ 1.69381370e-02 -1.22540225e-03 9.99855789e-01 2.20908581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5607140569999 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:299.74, Y:280.33, Z:2.21 [[-9.81779498e-01 1.89272057e-01 1.68851037e-02 2.99741675e+02] [-1.89268389e-01 -9.81923688e-01 1.82957971e-03 2.80326349e+02] [ 1.69261717e-02 -1.39957254e-03 9.99855763e-01 2.20963337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5907140569999 meters Centerline goodness : 0.994365 Centerline is valid? [True, True] Translation: X:299.75, Y:280.33, Z:2.21 [[-9.81606880e-01 1.90166386e-01 1.68724022e-02 2.99751432e+02] [-1.90161179e-01 -9.81750993e-01 1.92721553e-03 2.80327727e+02] [ 1.69309892e-02 -1.31670785e-03 9.99855794e-01 2.20990493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.620714057 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:299.75, Y:280.33, Z:2.21 [[-9.81407402e-01 1.91194939e-01 1.68525167e-02 2.99747788e+02] [-1.91187282e-01 -9.81551374e-01 2.07925277e-03 2.80325592e+02] [ 1.69391535e-02 -1.18139281e-03 9.99855824e-01 2.20917976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.650714057 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:299.76, Y:280.33, Z:2.21 [[-9.81860629e-01 1.88851935e-01 1.68716619e-02 2.99761872e+02] [-1.88846440e-01 -9.82004729e-01 1.93275566e-03 2.80327545e+02] [ 1.69330564e-02 -1.28845660e-03 9.99855795e-01 2.20961166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6807140569999 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:299.75, Y:280.32, Z:2.21 [[-9.81167588e-01 1.92419452e-01 1.68795093e-02 2.99748104e+02] [-1.92415507e-01 -9.81311758e-01 1.87277189e-03 2.80322998e+02] [ 1.69244186e-02 -1.41037626e-03 9.99855777e-01 2.21023311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7107140569999 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:299.75, Y:280.32, Z:2.21 [[-9.81128233e-01 1.92620685e-01 1.68719480e-02 2.99748966e+02] [-1.92615784e-01 -9.81272354e-01 1.93035253e-03 2.80321680e+02] [ 1.69278019e-02 -1.35588013e-03 9.99855795e-01 2.21126240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7407140569999 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:299.75, Y:280.32, Z:2.21 [[-9.81151271e-01 1.92502703e-01 1.68787686e-02 2.99753071e+02] [-1.92498673e-01 -9.81295436e-01 1.87845204e-03 2.80321562e+02] [ 1.69246657e-02 -1.40609494e-03 9.99855779e-01 2.21077903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.770714057 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:299.76, Y:280.32, Z:2.21 [[-9.81065086e-01 1.92942025e-01 1.68722150e-02 2.99760907e+02] [-1.92937208e-01 -9.81209211e-01 1.92819479e-03 2.80321146e+02] [ 1.69272025e-02 -1.36359346e-03 9.99855795e-01 2.21055891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8007140569999 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:299.77, Y:280.32, Z:2.21 [[-9.81184800e-01 1.92332449e-01 1.68706234e-02 2.99765178e+02] [-1.92327337e-01 -9.81328911e-01 1.94025145e-03 2.80319678e+02] [ 1.69288038e-02 -1.34093682e-03 9.99855798e-01 2.21244103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8307140569999 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:299.77, Y:280.32, Z:2.21 [[-9.81102274e-01 1.92752223e-01 1.68792266e-02 2.99773281e+02] [-1.92748287e-01 -9.81246443e-01 1.87510102e-03 2.80320169e+02] [ 1.69241110e-02 -1.41377614e-03 9.99855777e-01 2.21113141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8607140569999 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:299.75, Y:280.32, Z:2.21 [[-9.81135889e-01 1.92582069e-01 1.68675234e-02 2.99752459e+02] [-1.92576599e-01 -9.81279980e-01 1.96331686e-03 2.80316567e+02] [ 1.69298626e-02 -1.32200965e-03 9.99855806e-01 2.21333096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.890714057 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:299.76, Y:280.32, Z:2.21 [[-9.80966125e-01 1.93443797e-01 1.68807527e-02 2.99764731e+02] [-1.93440157e-01 -9.81110306e-01 1.86372039e-03 2.80316723e+02] [ 1.69224056e-02 -1.43716888e-03 9.99855773e-01 2.21236802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9207140569999 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:299.76, Y:280.32, Z:2.21 [[-9.80749093e-01 1.94541435e-01 1.68773984e-02 2.99759695e+02] [-1.94537525e-01 -9.80893258e-01 1.88892545e-03 2.80315440e+02] [ 1.69224005e-02 -1.43072539e-03 9.99855782e-01 2.21249771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9507140569999 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:299.77, Y:280.32, Z:2.21 [[-9.81062341e-01 1.92955894e-01 1.68732344e-02 2.99769940e+02] [-1.92951217e-01 -9.81206472e-01 1.92017009e-03 2.80317072e+02] [ 1.69266349e-02 -1.37190454e-03 9.99855793e-01 2.20876273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9807140569999 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:299.77, Y:280.31, Z:2.21 [[-9.79766089e-01 1.99432735e-01 1.68817752e-02 2.99765544e+02] [-1.99430107e-01 -9.79910296e-01 1.85613180e-03 2.80313845e+02] [ 1.69127988e-02 -1.54815924e-03 9.99855770e-01 2.21178431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.010714057 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:299.75, Y:280.31, Z:2.21 [[-9.77107093e-01 2.12078332e-01 1.68674298e-02 2.99749581e+02] [-2.12075735e-01 -9.77251262e-01 1.96307890e-03 2.80305529e+02] [ 1.69000435e-02 -1.65903425e-03 9.99855808e-01 2.21093563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.040714057 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:299.76, Y:280.31, Z:2.21 [[-9.79484719e-01 2.00814816e-01 1.68254490e-02 2.99760080e+02] [-2.00805246e-01 -9.79628544e-01 2.27373910e-03 2.80313433e+02] [ 1.69392906e-02 -1.15154571e-03 9.99855857e-01 2.20907803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0707140569999 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:299.76, Y:280.31, Z:2.21 [[-9.78806657e-01 2.04089606e-01 1.68807912e-02 2.99760245e+02] [-2.04087574e-01 -9.78950866e-01 1.86129675e-03 2.80313015e+02] [ 1.69053365e-02 -1.62331008e-03 9.99855777e-01 2.20916648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1007140569999 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:299.76, Y:280.31, Z:2.21 [[-9.78336410e-01 2.06332706e-01 1.68725894e-02 2.99755294e+02] [-2.06329962e-01 -9.78480583e-01 1.92219928e-03 2.80311908e+02] [ 1.69061137e-02 -1.60076318e-03 9.99855800e-01 2.20677745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.130714057 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:299.76, Y:280.31, Z:2.21 [[-9.77795443e-01 2.08881309e-01 1.68721638e-02 2.99759584e+02] [-2.08878886e-01 -9.77939622e-01 1.92535071e-03 2.80311211e+02] [ 1.69021273e-02 -1.64163963e-03 9.99855801e-01 2.20798420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.160714057 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:299.75, Y:280.31, Z:2.21 [[-9.77669335e-01 2.09470978e-01 1.68695551e-02 2.99752138e+02] [-2.09468312e-01 -9.77813502e-01 1.94461399e-03 2.80309486e+02] [ 1.69026190e-02 -1.63244778e-03 9.99855808e-01 2.20657510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1907140569999 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:299.77, Y:280.31, Z:2.21 [[-9.77556461e-01 2.09997154e-01 1.68689240e-02 2.99768266e+02] [-2.09994486e-01 -9.77700627e-01 1.94926497e-03 2.80309496e+02] [ 1.69020977e-02 -1.63686447e-03 9.99855810e-01 2.20709688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2207140569999 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:299.78, Y:280.31, Z:2.21 [[-9.77765520e-01 2.09021359e-01 1.68718558e-02 2.99779411e+02] [-2.09018918e-01 -9.77909697e-01 1.92764970e-03 2.80310445e+02] [ 1.69020714e-02 -1.64174762e-03 9.99855802e-01 2.20617676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.250714057 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:299.80, Y:280.31, Z:2.21 [[-9.78162863e-01 2.07153616e-01 1.68758395e-02 2.99801648e+02] [-2.07151402e-01 -9.78307055e-01 1.89825584e-03 2.80312789e+02] [ 1.69029834e-02 -1.63905045e-03 9.99855791e-01 2.20618810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.280714057 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:299.81, Y:280.31, Z:2.21 [[-9.78417909e-01 2.05945123e-01 1.68819740e-02 2.99805501e+02] [-2.05943507e-01 -9.78562128e-01 1.85300315e-03 2.80312620e+02] [ 1.69016773e-02 -1.66372145e-03 9.99855772e-01 2.20575654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3107140569999 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:299.80, Y:280.31, Z:2.21 [[-9.78224889e-01 2.06860369e-01 1.68776309e-02 2.99797381e+02] [-2.06858341e-01 -9.78369089e-01 1.88495824e-03 2.80308291e+02] [ 1.69024755e-02 -1.64736565e-03 9.99855786e-01 2.20703015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3407140569999 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:299.78, Y:280.30, Z:2.21 [[-9.77907922e-01 2.08354451e-01 1.68677063e-02 2.99779325e+02] [-2.08351397e-01 -9.78052076e-01 1.95766581e-03 2.80304138e+02] [ 1.69053835e-02 -1.59999327e-03 9.99855814e-01 2.20858613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.370714057 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:299.79, Y:280.30, Z:2.21 [[-9.78127163e-01 2.07323303e-01 1.68612320e-02 2.99793654e+02] [-2.07319288e-01 -9.78271278e-01 2.00493011e-03 2.80304922e+02] [ 1.69105277e-02 -1.53458201e-03 9.99855829e-01 2.20919539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.400714057 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:299.81, Y:280.31, Z:2.21 [[-9.78425752e-01 2.05909393e-01 1.68632496e-02 2.99807277e+02] [-2.05905422e-01 -9.78569873e-01 1.99019753e-03 2.80305878e+02] [ 1.69116683e-02 -1.52497400e-03 9.99855825e-01 2.20989289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4307140569999 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:299.81, Y:280.31, Z:2.21 [[-9.78197725e-01 2.06990507e-01 1.68564618e-02 2.99810407e+02] [-2.06985849e-01 -9.78341811e-01 2.03964296e-03 2.80305755e+02] [ 1.69135681e-02 -1.49387494e-03 9.99855839e-01 2.21167729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4607140569999 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:299.81, Y:280.31, Z:2.21 [[-9.78261814e-01 2.06688285e-01 1.68456658e-02 2.99813218e+02] [-2.06682241e-01 -9.78405829e-01 2.11799061e-03 2.80305330e+02] [ 1.69196615e-02 -1.40975064e-03 9.99855858e-01 2.21058376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4907140569999 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:299.81, Y:280.30, Z:2.21 [[-9.77995688e-01 2.07942222e-01 1.68661131e-02 2.99806709e+02] [-2.07938902e-01 -9.78139833e-01 1.96964918e-03 2.80303778e+02] [ 1.69069903e-02 -1.58081263e-03 9.99855817e-01 2.21008339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.520714057 meters Centerline goodness : 0.992127 Centerline is valid? [True, True] Translation: X:299.81, Y:280.30, Z:2.21 [[-9.77857807e-01 2.08590079e-01 1.68608528e-02 2.99809143e+02] [-2.08586203e-01 -9.78001925e-01 2.00771892e-03 2.80304374e+02] [ 1.69087367e-02 -1.55367764e-03 9.99855830e-01 2.21228282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5507140569999 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:299.79, Y:280.29, Z:2.21 [[-9.75319155e-01 2.20156788e-01 1.68384884e-02 2.99789501e+02] [-2.20151863e-01 -9.75463200e-01 2.16859369e-03 2.80294339e+02] [ 1.69027564e-02 -1.59195361e-03 9.99855871e-01 2.21005616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5807140569999 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:299.80, Y:280.30, Z:2.21 [[-9.75198378e-01 2.20693063e-01 1.68135771e-02 2.99803560e+02] [-2.20685162e-01 -9.75342274e-01 2.34705250e-03 2.80296325e+02] [ 1.69169707e-02 -1.42166520e-03 9.99855887e-01 2.20962942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6107140569999 meters Centerline goodness : 0.994010 Centerline is valid? [True, True] Translation: X:299.84, Y:280.31, Z:2.21 [[-9.77733819e-01 2.09174362e-01 1.68126530e-02 2.99841143e+02] [-2.09164651e-01 -9.77877604e-01 2.35365334e-03 2.80307476e+02] [ 1.69330408e-02 -1.21536623e-03 9.99855887e-01 2.21143440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.640714057 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:299.84, Y:280.31, Z:2.21 [[-9.77659515e-01 2.09518230e-01 1.68518048e-02 2.99837945e+02] [-2.09513380e-01 -9.77803584e-01 2.07259104e-03 2.80306694e+02] [ 1.69120007e-02 -1.50439023e-03 9.99855850e-01 2.21037495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6707140569999 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:299.82, Y:280.30, Z:2.21 [[-9.77367704e-01 2.10875955e-01 1.68434766e-02 2.99823284e+02] [-2.10870285e-01 -9.77511727e-01 2.13216444e-03 2.80303411e+02] [ 1.69143181e-02 -1.46788004e-03 9.99855865e-01 2.21062446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7007140569999 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:299.83, Y:280.30, Z:2.21 [[-9.76706715e-01 2.13916542e-01 1.68435734e-02 2.99828766e+02] [-2.13911331e-01 -9.76850756e-01 2.13147304e-03 2.80302678e+02] [ 1.69096147e-02 -1.52120718e-03 9.99855865e-01 2.21155630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7307140569999 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:299.82, Y:280.30, Z:2.21 [[-9.77342893e-01 2.10992034e-01 1.68294988e-02 2.99824290e+02] [-2.10984677e-01 -9.77486821e-01 2.23170569e-03 2.80302673e+02] [ 1.69214854e-02 -1.36962467e-03 9.99855883e-01 2.21043072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.760714057 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:299.83, Y:280.30, Z:2.21 [[-9.76667622e-01 2.14095134e-01 1.68413204e-02 2.99831918e+02] [-2.14089676e-01 -9.76811650e-01 2.14747270e-03 2.80301684e+02] [ 1.69105615e-02 -1.50818578e-03 9.99855869e-01 2.21106556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.790714057 meters Centerline goodness : 0.993427 Centerline is valid? [True, True] Translation: X:299.82, Y:280.29, Z:2.21 [[-9.74816460e-01 2.22372618e-01 1.68311999e-02 2.99815030e+02] [-2.22367150e-01 -9.74960474e-01 2.21939518e-03 2.80294511e+02] [ 1.69032873e-02 -1.57920298e-03 9.99855882e-01 2.20883447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8207140569999 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:299.83, Y:280.30, Z:2.21 [[-9.76804213e-01 2.13473628e-01 1.68089384e-02 2.99826864e+02] [-2.13464152e-01 -9.76948006e-01 2.37682998e-03 2.80301556e+02] [ 1.69288493e-02 -1.26640824e-03 9.99855895e-01 2.20880565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8507140569999 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:299.79, Y:280.30, Z:2.21 [[-9.75971145e-01 2.17247525e-01 1.68474745e-02 2.99792042e+02] [-2.17243281e-01 -9.76115224e-01 2.10370383e-03 2.80295895e+02] [ 1.69021008e-02 -1.60684641e-03 9.99855858e-01 2.21194635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.880714057 meters Centerline goodness : 0.993700 Centerline is valid? [True, True] Translation: X:299.83, Y:280.30, Z:2.21 [[-9.76113859e-01 2.16606551e-01 1.68326031e-02 2.99831989e+02] [-2.16600413e-01 -9.76257846e-01 2.20876732e-03 2.80301989e+02] [ 1.69113943e-02 -1.48994039e-03 9.99855882e-01 2.21116055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.910714057 meters Centerline goodness : 0.993183 Centerline is valid? [True, True] Translation: X:299.83, Y:280.30, Z:2.21 [[-9.75833780e-01 2.17864449e-01 1.68379384e-02 2.99827036e+02] [-2.17859142e-01 -9.75977808e-01 2.17110244e-03 2.80301785e+02] [ 1.69064602e-02 -1.54966370e-03 9.99855875e-01 2.21081685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9407140569999 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:299.83, Y:280.30, Z:2.21 [[-9.75736213e-01 2.18301368e-01 1.68331590e-02 2.99830672e+02] [-2.18295549e-01 -9.75880214e-01 2.20478198e-03 2.80302245e+02] [ 1.69084537e-02 -1.52331805e-03 9.99855881e-01 2.21108783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9707140569999 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:299.83, Y:280.30, Z:2.21 [[-9.75415882e-01 2.19728155e-01 1.68343236e-02 2.99826660e+02] [-2.19722687e-01 -9.75559899e-01 2.19658298e-03 2.80301727e+02] [ 1.69055422e-02 -1.55630090e-03 9.99855880e-01 2.21007239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.000714057 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:299.84, Y:280.30, Z:2.21 [[-9.75487604e-01 2.19408855e-01 1.68430552e-02 2.99835427e+02] [-2.19404392e-01 -9.75631669e-01 2.13516240e-03 2.80304434e+02] [ 1.69010916e-02 -1.61261584e-03 9.99855866e-01 2.20884431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.030714057 meters Centerline goodness : 0.993634 Centerline is valid? [True, True] Translation: X:299.83, Y:280.31, Z:2.21 [[-9.75287353e-01 2.20298034e-01 1.68331758e-02 2.99834510e+02] [-2.20292515e-01 -9.75431365e-01 2.20452383e-03 2.80305679e+02] [ 1.69052599e-02 -1.55817842e-03 9.99855882e-01 2.20941683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0607140569999 meters Centerline goodness : 0.993634 Centerline is valid? [True, True] Translation: X:299.84, Y:280.31, Z:2.21 [[-9.75206760e-01 2.20654326e-01 1.68357719e-02 2.99837140e+02] [-2.20649170e-01 -9.75350790e-01 2.18632313e-03 2.80306143e+02] [ 1.69032051e-02 -1.58268200e-03 9.99855878e-01 2.20936386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0907140569999 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:299.85, Y:280.31, Z:2.21 [[-9.75412972e-01 2.19741013e-01 1.68351078e-02 2.99846806e+02] [-2.19735643e-01 -9.75556993e-01 2.19096828e-03 2.80308280e+02] [ 1.69050528e-02 -1.56217437e-03 9.99855879e-01 2.20834935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.120714057 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:299.83, Y:280.30, Z:2.21 [[-9.72639707e-01 2.31706951e-01 1.68490217e-02 2.99834466e+02] [-2.31705018e-01 -9.72783841e-01 2.09372205e-03 2.80301323e+02] [ 1.68755860e-02 -1.86756567e-03 9.99855853e-01 2.20658992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.150714057 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:299.84, Y:280.30, Z:2.21 [[-9.72439632e-01 2.32548600e-01 1.68021090e-02 2.99837521e+02] [-2.32541208e-01 -9.72583535e-01 2.41950996e-03 2.80302889e+02] [ 1.69041083e-02 -1.55435535e-03 9.99855907e-01 2.20610111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1807140569999 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:299.86, Y:280.31, Z:2.20 [[-9.75768871e-01 2.18157815e-01 1.68011591e-02 2.99858788e+02] [-2.18148186e-01 -9.75912641e-01 2.42608840e-03 2.80313555e+02] [ 1.69257337e-02 -1.29784084e-03 9.99855907e-01 2.20329084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2107140569999 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:299.87, Y:280.32, Z:2.20 [[-9.76120805e-01 2.16573028e-01 1.68611477e-02 2.99868304e+02] [-2.16570337e-01 -9.76264954e-01 2.00731169e-03 2.80316020e+02] [ 1.68956771e-02 -1.69224573e-03 9.99855826e-01 2.20173908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2407140569999 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:299.86, Y:280.32, Z:2.20 [[-9.75983151e-01 2.17191618e-01 1.68727395e-02 2.99858221e+02] [-2.17190405e-01 -9.76127357e-01 1.92643306e-03 2.80315369e+02] [ 1.68883478e-02 -1.78443093e-03 9.99855789e-01 2.20313594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.270714057 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:299.86, Y:280.32, Z:2.20 [[-9.75768842e-01 2.18153829e-01 1.68544727e-02 2.99857246e+02] [-2.18150584e-01 -9.75912961e-01 2.05324193e-03 2.80315328e+02] [ 1.68964209e-02 -1.67332355e-03 9.99855845e-01 2.20353018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3007140569999 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:299.85, Y:280.31, Z:2.20 [[-9.75336078e-01 2.20080866e-01 1.68507535e-02 2.99851021e+02] [-2.20077464e-01 -9.75480183e-01 2.07899567e-03 2.80314061e+02] [ 1.68951233e-02 -1.68075161e-03 9.99855855e-01 2.20396553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3307140569999 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:299.83, Y:280.31, Z:2.20 [[-9.72602903e-01 2.31861292e-01 1.68503753e-02 2.99834925e+02] [-2.31859589e-01 -9.72747037e-01 2.08160600e-03 2.80307103e+02] [ 1.68737965e-02 -1.88234505e-03 9.99855856e-01 2.20357794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3607140569999 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:299.85, Y:280.32, Z:2.20 [[-9.75302224e-01 2.20234985e-01 1.67965168e-02 2.99848320e+02] [-2.20225238e-01 -9.75445969e-01 2.45074097e-03 2.80316005e+02] [ 1.69238335e-02 -1.30880379e-03 9.99855925e-01 2.20235725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.390714057 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:299.85, Y:280.32, Z:2.20 [[-9.75299040e-01 2.20245306e-01 1.68460207e-02 2.99850588e+02] [-2.20241400e-01 -9.75443117e-01 2.10977981e-03 2.80317836e+02] [ 1.68970040e-02 -1.65252497e-03 9.99855870e-01 2.20323656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4207140569999 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:299.85, Y:280.32, Z:2.20 [[-9.74940907e-01 2.21826249e-01 1.68328111e-02 2.99850775e+02] [-2.21821024e-01 -9.75084915e-01 2.20041179e-03 2.80317526e+02] [ 1.69015292e-02 -1.58859991e-03 9.99855897e-01 2.20219142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4507140569999 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:299.85, Y:280.31, Z:2.20 [[-9.72384964e-01 2.32774520e-01 1.68375875e-02 2.99845581e+02] [-2.32771475e-01 -9.72529044e-01 2.16772296e-03 2.80311756e+02] [ 1.68796336e-02 -1.81144887e-03 9.99855888e-01 2.20317320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4807140569999 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:299.84, Y:280.32, Z:2.20 [[-9.74943354e-01 2.21818472e-01 1.67935230e-02 2.99844186e+02] [-2.21808669e-01 -9.75087086e-01 2.46761268e-03 2.80319008e+02] [ 1.69225095e-02 -1.31916640e-03 9.99855934e-01 2.20052089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.510714057 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:299.84, Y:280.32, Z:2.20 [[-9.74940685e-01 2.21826701e-01 1.68396716e-02 2.99842016e+02] [-2.21822302e-01 -9.75084732e-01 2.15216836e-03 2.80320711e+02] [ 1.68975151e-02 -1.63717824e-03 9.99855886e-01 2.19923789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.540714057 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:299.85, Y:280.32, Z:2.20 [[-9.74142667e-01 2.25305231e-01 1.68409321e-02 2.99849873e+02] [-2.25301494e-01 -9.74286735e-01 2.14356152e-03 2.80324357e+02] [ 1.68908523e-02 -1.70615241e-03 9.99855884e-01 2.19855856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5707140569999 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:299.85, Y:280.33, Z:2.20 [[-9.73723997e-01 2.27108268e-01 1.68348560e-02 2.99853687e+02] [-2.27104089e-01 -9.73868040e-01 2.18494070e-03 2.80325708e+02] [ 1.68911463e-02 -1.69573544e-03 9.99855896e-01 2.19846630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6007140569999 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:299.87, Y:280.33, Z:2.20 [[-9.73402300e-01 2.28483379e-01 1.68317422e-02 2.99872814e+02] [-2.28479040e-01 -9.73546332e-01 2.20612538e-03 2.80328090e+02] [ 1.68905439e-02 -1.69825279e-03 9.99855902e-01 2.19979029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.630714057 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:299.85, Y:280.32, Z:2.20 [[-9.70340979e-01 2.41153610e-01 1.68321522e-02 2.99852076e+02] [-2.41151196e-01 -9.70485057e-01 2.20334116e-03 2.80320667e+02] [ 1.68666959e-02 -1.92110142e-03 9.99855902e-01 2.20135047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.660714057 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:299.88, Y:280.33, Z:2.20 [[-9.72511168e-01 2.32250885e-01 1.67795908e-02 2.99876529e+02] [-2.32241078e-01 -9.72654893e-01 2.55771094e-03 2.80330270e+02] [ 1.69147817e-02 -1.40950780e-03 9.99855941e-01 2.20009039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6907140569999 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:299.86, Y:280.32, Z:2.20 [[-9.70383733e-01 2.40981864e-01 1.68271027e-02 2.99864436e+02] [-2.40978862e-01 -9.70527788e-01 2.23612513e-03 2.80324869e+02] [ 1.68700363e-02 -1.88507660e-03 9.99855914e-01 2.20014686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7207140569999 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:299.87, Y:280.33, Z:2.20 [[-9.72995840e-01 2.30211265e-01 1.67889575e-02 2.99874305e+02] [-2.30202265e-01 -9.73139611e-01 2.49301416e-03 2.80333372e+02] [ 1.69119195e-02 -1.43916362e-03 9.99855948e-01 2.19888036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.750714057 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:299.87, Y:280.33, Z:2.20 [[-9.72763835e-01 2.31186372e-01 1.68339516e-02 2.99874490e+02] [-2.31182726e-01 -9.72907886e-01 2.18897959e-03 2.80333424e+02] [ 1.68839465e-02 -1.76235865e-03 9.99855903e-01 2.19994212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.780714057 meters Centerline goodness : 0.994621 Centerline is valid? [True, True] Translation: X:299.86, Y:280.33, Z:2.20 [[-9.72882480e-01 2.30687309e-01 1.68239498e-02 2.99859344e+02] [-2.30682434e-01 -9.73026476e-01 2.25635044e-03 2.80332001e+02] [ 1.68906600e-02 -1.68582587e-03 9.99855921e-01 2.20065762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8107140569999 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:299.84, Y:280.33, Z:2.20 [[-9.72458516e-01 2.32468068e-01 1.68235712e-02 2.99837835e+02] [-2.32463413e-01 -9.72602519e-01 2.25889444e-03 2.80328167e+02] [ 1.68877685e-02 -1.71418364e-03 9.99855922e-01 2.20163822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8407140569999 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:299.90, Y:280.34, Z:2.20 [[-9.74208232e-01 2.25023148e-01 1.68197532e-02 2.99901892e+02] [-2.25016952e-01 -9.74352171e-01 2.28454407e-03 2.80341882e+02] [ 1.69024384e-02 -1.55910797e-03 9.99855928e-01 2.19909205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.870714057 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:299.88, Y:280.34, Z:2.20 [[-9.73054023e-01 2.29962142e-01 1.68309728e-02 2.99884238e+02] [-2.29957971e-01 -9.73198054e-01 2.20907623e-03 2.80337878e+02] [ 1.68878738e-02 -1.72086583e-03 9.99855909e-01 2.19874370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.900714057 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:299.89, Y:280.34, Z:2.20 [[-9.73485413e-01 2.28129943e-01 1.68190093e-02 2.99889313e+02] [-2.28124127e-01 -9.73629366e-01 2.28918816e-03 2.80340038e+02] [ 1.68977137e-02 -1.60833053e-03 9.99855930e-01 2.19812374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9307140569999 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:299.88, Y:280.34, Z:2.20 [[-9.73694330e-01 2.27236230e-01 1.68240027e-02 2.99881288e+02] [-2.27230854e-01 -9.73838308e-01 2.25582577e-03 2.80340807e+02] [ 1.68964636e-02 -1.62644773e-03 9.99855922e-01 2.19676469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9607140569999 meters Centerline goodness : 0.994249 Centerline is valid? [True, True] Translation: X:299.89, Y:280.34, Z:2.20 [[-9.73629584e-01 2.27514533e-01 1.68098237e-02 2.99891255e+02] [-2.27507579e-01 -9.73773474e-01 2.35025393e-03 2.80343416e+02] [ 1.69036774e-02 -1.53608554e-03 9.99855943e-01 2.19610573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9907140569999 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:299.90, Y:280.35, Z:2.20 [[-9.73872248e-01 2.26472947e-01 1.68181300e-02 2.99899715e+02] [-2.26466787e-01 -9.74016184e-01 2.29495007e-03 2.80345858e+02] [ 1.69008749e-02 -1.57375968e-03 9.99855931e-01 2.19886102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.020714057 meters Centerline goodness : 0.994179 Centerline is valid? [True, True] Translation: X:299.90, Y:280.35, Z:2.20 [[-9.73816734e-01 2.26712332e-01 1.68073477e-02 2.99898893e+02] [-2.26704980e-01 -9.73960601e-01 2.36657559e-03 2.80346638e+02] [ 1.69062263e-02 -1.50569849e-03 9.99855946e-01 2.19555405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0507140569999 meters Centerline goodness : 0.994021 Centerline is valid? [True, True] Translation: X:299.88, Y:280.35, Z:2.20 [[-9.74131769e-01 2.25355819e-01 1.67944144e-02 2.99880356e+02] [-2.25346801e-01 -9.74275529e-01 2.45215498e-03 2.80345912e+02] [ 1.69149943e-02 -1.39584547e-03 9.99855957e-01 2.19642016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0807140569999 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:299.90, Y:280.35, Z:2.20 [[-9.75018432e-01 2.21488955e-01 1.67839160e-02 2.99901770e+02] [-2.21478179e-01 -9.75162068e-01 2.52146221e-03 2.80350085e+02] [ 1.69255142e-02 -1.25879901e-03 9.99855961e-01 2.19663207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1107140569999 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:299.91, Y:280.35, Z:2.20 [[-9.75218534e-01 2.20602967e-01 1.68268054e-02 2.99906074e+02] [-2.20596933e-01 -9.75362491e-01 2.23701182e-03 2.80352317e+02] [ 1.69057263e-02 -1.53036629e-03 9.99855917e-01 2.19641752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.140714057 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:299.90, Y:280.35, Z:2.20 [[-9.75382923e-01 2.19874812e-01 1.68291918e-02 2.99901110e+02] [-2.19868941e-01 -9.75526891e-01 2.22120809e-03 2.80354549e+02] [ 1.69057169e-02 -1.53368815e-03 9.99855912e-01 2.19617092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1707140569999 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:299.88, Y:280.35, Z:2.20 [[-9.75296641e-01 2.20257261e-01 1.68285709e-02 2.99882937e+02] [-2.20251376e-01 -9.75440608e-01 2.22531182e-03 2.80353247e+02] [ 1.69054125e-02 -1.53617675e-03 9.99855913e-01 2.19610566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2007140569999 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:299.91, Y:280.36, Z:2.20 [[-9.75495559e-01 2.19374991e-01 1.68234425e-02 2.99910448e+02] [-2.19368396e-01 -9.75639484e-01 2.25915848e-03 2.80360110e+02] [ 1.69092176e-02 -1.48673253e-03 9.99855924e-01 2.19677944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2307140569999 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:299.91, Y:280.36, Z:2.19 [[-9.75678677e-01 2.18560234e-01 1.68090276e-02 2.99907258e+02] [-2.18551893e-01 -9.75822488e-01 2.35408753e-03 2.80361459e+02] [ 1.69171371e-02 -1.37681180e-03 9.99855947e-01 2.19389455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.260714057 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:299.91, Y:280.36, Z:2.19 [[-9.75724392e-01 2.18353870e-01 1.68373933e-02 2.99911884e+02] [-2.18348703e-01 -9.75868407e-01 2.16708717e-03 2.80363511e+02] [ 1.69042720e-02 -1.56194318e-03 9.99855893e-01 2.19351806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.290714057 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:299.91, Y:280.36, Z:2.19 [[-9.75900247e-01 2.17566658e-01 1.68361714e-02 2.99909894e+02] [-2.17561237e-01 -9.76044250e-01 2.17512208e-03 2.80364791e+02] [ 1.69060824e-02 -1.54019610e-03 9.99855896e-01 2.19396744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3207140569999 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:299.93, Y:280.37, Z:2.19 [[-9.76958711e-01 2.12764772e-01 1.68174908e-02 2.99926318e+02] [-2.12756545e-01 -9.77102540e-01 2.29758258e-03 2.80369078e+02] [ 1.69212576e-02 -1.33338791e-03 9.99855936e-01 2.19453712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3507140569999 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:299.93, Y:280.37, Z:2.19 [[-9.76991146e-01 2.12614164e-01 1.68380148e-02 2.99925938e+02] [-2.12608225e-01 -9.77135132e-01 2.16275205e-03 2.80370643e+02] [ 1.69128475e-02 -1.46691083e-03 9.99855892e-01 2.19179105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.380714057 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:299.93, Y:280.37, Z:2.19 [[-9.77308200e-01 2.11150868e-01 1.68521234e-02 2.99932479e+02] [-2.11146302e-01 -9.77452277e-01 2.07000908e-03 2.80372383e+02] [ 1.69092306e-02 -1.53522670e-03 9.99855850e-01 2.19182122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.410714057 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:299.93, Y:280.37, Z:2.19 [[-9.77466323e-01 2.10417953e-01 1.68484909e-02 2.99933865e+02] [-2.10412871e-01 -9.77610372e-01 2.09385574e-03 2.80372896e+02] [ 1.69118443e-02 -1.49846587e-03 9.99855862e-01 2.19222066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4407140569999 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:299.95, Y:280.38, Z:2.19 [[-9.78688582e-01 2.04657266e-01 1.68541465e-02 2.99948401e+02] [-2.04651971e-01 -9.78832642e-01 2.05675760e-03 2.80377912e+02] [ 1.69183192e-02 -1.43630914e-03 9.99855843e-01 2.19339486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4707140569999 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:299.95, Y:280.38, Z:2.19 [[-9.78786028e-01 2.04191984e-01 1.68388126e-02 2.99947486e+02] [-2.04184901e-01 -9.78929963e-01 2.15711576e-03 2.80378193e+02] [ 1.69244840e-02 -1.32687652e-03 9.99855890e-01 2.19339380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.500714057 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:299.94, Y:280.38, Z:2.19 [[-9.78855584e-01 2.03858317e-01 1.68384218e-02 2.99944965e+02] [-2.03851142e-01 -9.78999514e-01 2.15966705e-03 2.80378426e+02] [ 1.69250728e-02 -1.31852935e-03 9.99855891e-01 2.19367258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.530714057 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:299.95, Y:280.38, Z:2.19 [[-9.78865777e-01 2.03810110e-01 1.68294410e-02 2.99945936e+02] [-2.03801926e-01 -9.79009630e-01 2.21815811e-03 2.80378519e+02] [ 1.69282679e-02 -1.25859343e-03 9.99855914e-01 2.19136571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5607140569999 meters Centerline goodness : 0.992821 Centerline is valid? [True, True] Translation: X:299.94, Y:280.38, Z:2.20 [[-9.79447368e-01 2.00994538e-01 1.68537804e-02 2.99936573e+02] [-2.00988657e-01 -9.79591404e-01 2.05951119e-03 2.80380183e+02] [ 1.69237689e-02 -1.37023587e-03 9.99855844e-01 2.19662250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5907140569999 meters Centerline goodness : 0.991949 Centerline is valid? [True, True] Translation: X:299.94, Y:280.38, Z:2.20 [[-9.79632867e-01 2.00090195e-01 1.68332784e-02 2.99943036e+02] [-2.00081899e-01 -9.79776722e-01 2.19271992e-03 2.80381742e+02] [ 1.69315961e-02 -1.21997382e-03 9.99855906e-01 2.19762148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.620714057 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:299.93, Y:280.38, Z:2.19 [[-9.79453436e-01 2.00966980e-01 1.68297361e-02 2.99931424e+02] [-2.00958420e-01 -9.79597266e-01 2.21569130e-03 2.80379920e+02] [ 1.69316442e-02 -1.21191071e-03 9.99855915e-01 2.19126330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.650714057 meters Centerline goodness : 0.991890 Centerline is valid? [True, True] Translation: X:299.94, Y:280.38, Z:2.20 [[-9.79710770e-01 1.99706532e-01 1.68555331e-02 2.99940723e+02] [-1.99700654e-01 -9.79854812e-01 2.04826271e-03 2.80383107e+02] [ 1.69250266e-02 -1.35935595e-03 9.99855837e-01 2.19714946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6807140569999 meters Centerline goodness : 0.992055 Centerline is valid? [True, True] Translation: X:299.93, Y:280.38, Z:2.20 [[-9.79977539e-01 1.98396316e-01 1.68203575e-02 2.99928636e+02] [-1.98386354e-01 -9.80121256e-01 2.27554771e-03 2.80381793e+02] [ 1.69374502e-02 -1.10694375e-03 9.99855938e-01 2.19623667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7107140569999 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:299.92, Y:280.38, Z:2.19 [[-9.80512191e-01 1.95736693e-01 1.68222897e-02 2.99923786e+02] [-1.95726555e-01 -9.80655900e-01 2.26308749e-03 2.80381962e+02] [ 1.69398469e-02 -1.07358393e-03 9.99855934e-01 2.19459424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7407140569999 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:299.93, Y:280.38, Z:2.19 [[-9.80360932e-01 1.96492029e-01 1.68322947e-02 2.99934530e+02] [-1.96483105e-01 -9.80504745e-01 2.19857869e-03 2.80381919e+02] [ 1.69361480e-02 -1.15186087e-03 9.99855910e-01 2.18867766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.770714057 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:299.94, Y:280.38, Z:2.19 [[-9.80964665e-01 1.93453900e-01 1.68497704e-02 2.99936331e+02] [-1.93446460e-01 -9.81108616e-01 2.08587366e-03 2.80382509e+02] [ 1.69349753e-02 -1.21336008e-03 9.99855857e-01 2.19463930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8007140569999 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:299.95, Y:280.37, Z:2.20 [[-9.77372450e-01 2.10856166e-01 1.68158361e-02 2.99952758e+02] [-2.10847552e-01 -9.77516242e-01 2.30366114e-03 2.80373513e+02] [ 1.69234941e-02 -1.29404295e-03 9.99855950e-01 2.19771797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8307140569999 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:299.96, Y:280.37, Z:2.19 [[-9.77994103e-01 2.07959175e-01 1.67486344e-02 2.99955210e+02] [-2.07942815e-01 -9.78137170e-01 2.73170380e-03 2.80373822e+02] [ 1.69505447e-02 -8.11167966e-04 9.99856000e-01 2.19452634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8607140569999 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:299.96, Y:280.37, Z:2.20 [[-9.78808540e-01 2.04090203e-01 1.67640087e-02 2.99955688e+02] [-2.04074949e-01 -9.78951724e-01 2.63384950e-03 2.80373375e+02] [ 1.69486981e-02 -8.43079837e-04 9.99856005e-01 2.19558229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.890714057 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:299.96, Y:280.37, Z:2.20 [[-9.78878011e-01 2.03756808e-01 1.67631171e-02 2.99963491e+02] [-2.03741408e-01 -9.79021181e-01 2.63951217e-03 2.80373978e+02] [ 1.69492652e-02 -8.31580637e-04 9.99856005e-01 2.20085852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9207140569999 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:299.98, Y:280.39, Z:2.20 [[-9.83187152e-01 1.81831602e-01 1.67419289e-02 2.99976441e+02] [-1.81810725e-01 -9.83329633e-01 2.77354325e-03 2.80386485e+02] [ 1.69671526e-02 -3.16950142e-04 9.99855997e-01 2.19954826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9507140569999 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:299.98, Y:280.39, Z:2.20 [[-9.83125529e-01 1.82156956e-01 1.68237342e-02 2.99979000e+02] [-1.82145023e-01 -9.83269099e-01 2.25183390e-03 2.80387183e+02] [ 1.69524452e-02 -8.50524058e-04 9.99855935e-01 2.19931277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9807140569999 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:299.98, Y:280.39, Z:2.20 [[-9.82778878e-01 1.84018307e-01 1.68208225e-02 2.99980302e+02] [-1.84006328e-01 -9.82922437e-01 2.27035508e-03 2.80386313e+02] [ 1.69513507e-02 -8.63880768e-04 9.99855942e-01 2.19896185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.010714057 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:299.98, Y:280.39, Z:2.20 [[-9.83118972e-01 1.82194514e-01 1.68002019e-02 2.99980855e+02] [-1.82180038e-01 -9.83262258e-01 2.40105376e-03 2.80387490e+02] [ 1.69564633e-02 -7.00139928e-04 9.99855984e-01 2.19829742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.040714057 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:299.98, Y:280.38, Z:2.20 [[-9.79854025e-01 1.99007049e-01 1.68013129e-02 2.99975410e+02] [-1.98995149e-01 -9.79997551e-01 2.39402396e-03 2.80377478e+02] [ 1.69416732e-02 -9.97585745e-04 9.99855982e-01 2.19610497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0707140569999 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:299.57, Y:280.32, Z:2.20 [[-9.80538573e-01 1.95609975e-01 1.67583967e-02 2.99573558e+02] [-1.95592966e-01 -9.80681546e-01 2.66400088e-03 2.80317969e+02] [ 1.69557555e-02 -6.65668884e-04 9.99856019e-01 2.20205135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1007140569999 meters Centerline goodness : 0.992003 Centerline is valid? [True, True] Translation: X:299.42, Y:280.29, Z:2.20 [[-9.78306270e-01 2.06483832e-01 1.67710982e-02 2.99421231e+02] [-2.06469757e-01 -9.78449567e-01 2.58533902e-03 2.80293022e+02] [ 1.69435045e-02 -9.33471194e-04 9.99856013e-01 2.20154373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.130714057 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:299.57, Y:280.32, Z:2.20 [[-9.79027336e-01 2.03038615e-01 1.67569884e-02 2.99569705e+02] [-2.03022547e-01 -9.79170416e-01 2.67240722e-03 2.80320875e+02] [ 1.69505492e-02 -7.85686748e-04 9.99856020e-01 2.20112728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.160714057 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:299.96, Y:280.38, Z:2.19 [[-9.77423621e-01 2.10621606e-01 1.67810848e-02 2.99963746e+02] [-2.10609228e-01 -9.77567080e-01 2.52155791e-03 2.80381262e+02] [ 1.69357306e-02 -1.06962105e-03 9.99856008e-01 2.19467400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1907140569999 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:299.97, Y:280.38, Z:2.19 [[-9.76727810e-01 2.13827067e-01 1.67562343e-02 2.99968190e+02] [-2.13812498e-01 -9.76871050e-01 2.67710047e-03 2.80382778e+02] [ 1.69411168e-02 -9.67893852e-04 9.99856021e-01 2.19453208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2207140569999 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:299.97, Y:280.39, Z:2.19 [[-9.75495913e-01 2.19378639e-01 1.67551930e-02 2.99970491e+02] [-2.19364775e-01 -9.75639223e-01 2.68360236e-03 2.80385478e+02] [ 1.69357485e-02 -1.05765599e-03 9.99856021e-01 2.19458805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.250714057 meters Centerline goodness : 0.992845 Centerline is valid? [True, True] Translation: X:299.57, Y:280.33, Z:2.20 [[-9.75959131e-01 2.17308705e-01 1.67541498e-02 2.99572966e+02] [-2.17294425e-01 -9.76102400e-01 2.69009945e-03 2.80327176e+02] [ 1.69383478e-02 -1.01515623e-03 9.99856021e-01 2.20128006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.280714057 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:299.97, Y:280.39, Z:2.19 [[-9.74376032e-01 2.24300188e-01 1.67562981e-02 2.99969591e+02] [-2.24287164e-01 -9.74519422e-01 2.67673709e-03 2.80387807e+02] [ 1.69297305e-02 -1.15007411e-03 9.99856020e-01 2.19499442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3107140569999 meters Centerline goodness : 0.992245 Centerline is valid? [True, True] Translation: X:299.42, Y:280.30, Z:2.20 [[-9.74344312e-01 2.24438098e-01 1.67541509e-02 2.99422770e+02] [-2.24424865e-01 -9.74487682e-01 2.69010995e-03 2.80302400e+02] [ 1.69304768e-02 -1.13895472e-03 9.99856021e-01 2.20212417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3407140569999 meters Centerline goodness : 0.994614 Centerline is valid? [True, True] Translation: X:299.96, Y:280.39, Z:2.20 [[-9.72980249e-01 2.30278642e-01 1.67684931e-02 2.99961607e+02] [-2.30267797e-01 -9.73123824e-01 2.60094790e-03 2.80388116e+02] [ 1.69167629e-02 -1.33057302e-03 9.99856016e-01 2.19595391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.370714057 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:299.96, Y:280.39, Z:2.19 [[-9.72440011e-01 2.32550479e-01 1.67540971e-02 2.99962771e+02] [-2.32538434e-01 -9.72583486e-01 2.69059081e-03 2.80388477e+02] [ 1.69204564e-02 -1.27953335e-03 9.99856020e-01 2.19490605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.400714057 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:299.96, Y:280.39, Z:2.20 [[-9.71981918e-01 2.34457856e-01 1.67530438e-02 2.99961521e+02] [-2.34445980e-01 -9.72125408e-01 2.69713370e-03 2.80388759e+02] [ 1.69184237e-02 -1.30611857e-03 9.99856020e-01 2.19600796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4307140569999 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:299.96, Y:280.39, Z:2.20 [[-9.71278018e-01 2.37357081e-01 1.67519859e-02 2.99961566e+02] [-2.37345521e-01 -9.71421533e-01 2.70368840e-03 2.80390226e+02] [ 1.69149794e-02 -1.34997570e-03 9.99856020e-01 2.19559889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4607140569999 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:299.96, Y:280.39, Z:2.20 [[-9.70926855e-01 2.38789548e-01 1.67509230e-02 2.99963924e+02] [-2.38778087e-01 -9.71070378e-01 2.71025720e-03 2.80390992e+02] [ 1.69135063e-02 -1.36829186e-03 9.99856020e-01 2.19505898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4907140569999 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:299.97, Y:280.39, Z:2.19 [[-9.70583893e-01 2.40179828e-01 1.67498564e-02 2.99966630e+02] [-2.40168460e-01 -9.70727423e-01 2.71683339e-03 2.80391330e+02] [ 1.69120735e-02 -1.38587249e-03 9.99856020e-01 2.19478360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.520714057 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:299.98, Y:280.40, Z:2.19 [[-9.74776858e-01 2.22552367e-01 1.67487871e-02 2.99978241e+02] [-2.22538287e-01 -9.74920147e-01 2.72340916e-03 2.80402606e+02] [ 1.69348312e-02 -1.07253019e-03 9.99856020e-01 2.18974218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5507140569999 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:299.98, Y:280.40, Z:2.19 [[-9.75815487e-01 2.17947342e-01 1.68253222e-02 2.99976012e+02] [-2.17940715e-01 -9.75959419e-01 2.24879313e-03 2.80403953e+02] [ 1.69109502e-02 -1.47251558e-03 9.99855915e-01 2.18708448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5807140569999 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:299.56, Y:280.33, Z:2.20 [[-9.69907426e-01 2.42892886e-01 1.68116629e-02 2.99559012e+02] [-2.42888547e-01 -9.70051402e-01 2.33046450e-03 2.80325926e+02] [ 1.68742304e-02 -1.82302556e-03 9.99855958e-01 2.19792274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6107140569999 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:299.98, Y:280.40, Z:2.19 [[-9.71864053e-01 2.34945850e-01 1.67544015e-02 2.99978369e+02] [-2.34934498e-01 -9.72007536e-01 2.67055897e-03 2.80398866e+02] [ 1.69128413e-02 -1.34076664e-03 9.99856069e-01 2.19361439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.640714057 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:299.48, Y:280.31, Z:2.20 [[-9.69242580e-01 2.45536623e-01 1.67507478e-02 2.99481884e+02] [-2.45526465e-01 -9.69386150e-01 2.69224590e-03 2.80310930e+02] [ 1.68989879e-02 -1.50331253e-03 9.99856072e-01 2.20171395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6707140569999 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:299.98, Y:280.40, Z:2.19 [[-9.74296370e-01 2.24648888e-01 1.67170520e-02 2.99975417e+02] [-2.24632241e-01 -9.74439324e-01 2.89125083e-03 2.80395832e+02] [ 1.69392692e-02 -9.38253668e-04 9.99856080e-01 2.19077811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7007140569999 meters Centerline goodness : 0.992997 Centerline is valid? [True, True] Translation: X:299.49, Y:280.31, Z:2.20 [[-9.69538021e-01 2.44364621e-01 1.67915951e-02 2.99494525e+02] [-2.44358500e-01 -9.69681874e-01 2.44688092e-03 2.80309661e+02] [ 1.68804366e-02 -1.73082492e-03 9.99856017e-01 2.20354093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7307140569999 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:299.97, Y:280.38, Z:2.20 [[-9.69221320e-01 2.45622669e-01 1.67193615e-02 2.99968237e+02] [-2.45609407e-01 -9.69364616e-01 2.87399586e-03 2.80383337e+02] [ 1.69130760e-02 -1.32089440e-03 9.99856091e-01 2.19643064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.760714057 meters Centerline goodness : 0.995027 Centerline is valid? [True, True] Translation: X:299.98, Y:280.38, Z:2.20 [[-9.69128818e-01 2.45986773e-01 1.67284528e-02 2.99975077e+02] [-2.45974488e-01 -9.69272200e-01 2.82006700e-03 2.80383043e+02] [ 1.69081235e-02 -1.38176442e-03 9.99856093e-01 2.19642388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.790714057 meters Centerline goodness : 0.994178 Centerline is valid? [True, True] Translation: X:299.97, Y:280.39, Z:2.19 [[-9.72083194e-01 2.34039440e-01 1.67273444e-02 2.99973131e+02] [-2.34025279e-01 -9.72226403e-01 2.82662656e-03 2.80389041e+02] [ 1.69243079e-02 -1.16690527e-03 9.99856093e-01 2.19326688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8207140569999 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:299.97, Y:280.39, Z:2.19 [[-9.71525529e-01 2.36339955e-01 1.67801422e-02 2.99972014e+02] [-2.36331509e-01 -9.71669235e-01 2.51303836e-03 2.80387508e+02] [ 1.68986793e-02 -1.52419540e-03 9.99856045e-01 2.19349399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8507140569999 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:299.98, Y:280.38, Z:2.19 [[-9.68053903e-01 2.50180622e-01 1.67719069e-02 2.99977767e+02] [-2.50173390e-01 -9.68197662e-01 2.56179151e-03 2.80379621e+02] [ 1.68794316e-02 -1.71593253e-03 9.99856060e-01 2.19405568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.880714057 meters Centerline goodness : 0.992387 Centerline is valid? [True, True] Translation: X:299.40, Y:280.28, Z:2.20 [[-9.66715427e-01 2.55306813e-01 1.67246626e-02 2.99400399e+02] [-2.55295567e-01 -9.66858887e-01 2.84001437e-03 2.80277827e+02] [ 1.68954637e-02 -1.52424651e-03 9.99856100e-01 2.20212466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.910714057 meters Centerline goodness : 0.991380 Centerline is valid? [True, True] Translation: X:299.36, Y:280.27, Z:2.20 [[-9.67134825e-01 2.53713624e-01 1.67220944e-02 2.99355176e+02] [-2.53701881e-01 -9.67278245e-01 2.85514804e-03 2.80271550e+02] [ 1.68993081e-02 -1.48111371e-03 9.99856100e-01 2.20151063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9407140569999 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:300.01, Y:280.39, Z:2.19 [[-9.73537736e-01 2.27913108e-01 1.67299792e-02 3.00009128e+02] [-2.27898353e-01 -9.73680878e-01 2.80864054e-03 2.80387483e+02] [ 1.69297869e-02 -1.07841716e-03 9.99856099e-01 2.18833700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9707140569999 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:299.39, Y:280.28, Z:2.20 [[-9.66352180e-01 2.56673484e-01 1.67983964e-02 2.99386477e+02] [-2.56670000e-01 -9.66496121e-01 2.39978467e-03 2.80275400e+02] [ 1.68515461e-02 -1.99260727e-03 9.99856017e-01 2.20257820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.000714057 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:300.01, Y:280.39, Z:2.19 [[-9.73209890e-01 2.29308968e-01 1.67304132e-02 3.00007604e+02] [-2.29294519e-01 -9.73353054e-01 2.80271662e-03 2.80387143e+02] [ 1.69272869e-02 -1.10856052e-03 9.99856109e-01 2.18810567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.030714057 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:299.97, Y:280.37, Z:2.19 [[-9.68655198e-01 2.47838649e-01 1.68258905e-02 2.99973189e+02] [-2.47837137e-01 -9.68799194e-01 2.20806556e-03 2.80370468e+02] [ 1.68481531e-02 -2.03122634e-03 9.99855997e-01 2.19427262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0607140569999 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:299.99, Y:280.38, Z:2.19 [[-9.72303295e-01 2.33122099e-01 1.67448598e-02 2.99985571e+02] [-2.33109815e-01 -9.72446644e-01 2.70895396e-03 2.80379243e+02] [ 1.69149998e-02 -1.26946633e-03 9.99856125e-01 2.19203378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0907140569999 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:299.98, Y:280.37, Z:2.20 [[-9.69153761e-01 2.45882881e-01 1.68106216e-02 2.99981289e+02] [-2.45879489e-01 -9.69297676e-01 2.30052129e-03 2.80370119e+02] [ 1.68601553e-02 -1.90382820e-03 9.99856045e-01 2.19549153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.120714057 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:299.99, Y:280.37, Z:2.20 [[-9.70032781e-01 2.42396490e-01 1.67435255e-02 2.99989112e+02] [-2.42385482e-01 -9.70176226e-01 2.71440588e-03 2.80370189e+02] [ 1.69021329e-02 -1.42532482e-03 9.99856133e-01 2.19656070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.150714057 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:300.00, Y:280.38, Z:2.19 [[-9.74011115e-01 2.25880585e-01 1.67424581e-02 2.99997114e+02] [-2.25867029e-01 -9.74154342e-01 2.72097361e-03 2.80378648e+02] [ 1.69243534e-02 -1.13131073e-03 9.99856133e-01 2.19278306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1807140569999 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:300.01, Y:280.38, Z:2.19 [[-9.74839275e-01 2.22274786e-01 1.68020233e-02 3.00013715e+02] [-2.22267013e-01 -9.74982996e-01 2.35225092e-03 2.80380637e+02] [ 1.69045331e-02 -1.44146896e-03 9.99856069e-01 2.19275863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2107140569999 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:300.02, Y:280.38, Z:2.19 [[-9.75959080e-01 2.17304448e-01 1.68122085e-02 3.00017947e+02] [-2.17297024e-01 -9.76102845e-01 2.28916910e-03 2.80379357e+02] [ 1.69078911e-02 -1.41910750e-03 9.99856044e-01 2.19309485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2407140569999 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:300.01, Y:280.38, Z:2.19 [[-9.76077563e-01 2.16771905e-01 1.68087268e-02 3.00011748e+02] [-2.16764034e-01 -9.76221294e-01 2.31068128e-03 2.80376701e+02] [ 1.69099278e-02 -1.38812327e-03 9.99856053e-01 2.19402678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.270714057 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:300.00, Y:280.37, Z:2.20 [[-9.73428490e-01 2.28374287e-01 1.67976116e-02 2.99996062e+02] [-2.28366954e-01 -9.73572224e-01 2.37905038e-03 2.80365514e+02] [ 1.68970020e-02 -1.52018398e-03 9.99856080e-01 2.19753212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3007140569999 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:300.02, Y:280.37, Z:2.19 [[-9.77410251e-01 2.10687007e-01 1.67387853e-02 3.00015109e+02] [-2.10670921e-01 -9.77553202e-01 2.73861171e-03 2.80374940e+02] [ 1.69400431e-02 -8.49628156e-04 9.99856146e-01 2.19408946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3307140569999 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:300.02, Y:280.37, Z:2.19 [[-9.77604804e-01 2.09777634e-01 1.67985582e-02 3.00017555e+02] [-2.09767696e-01 -9.77748378e-01 2.37127853e-03 2.80374533e+02] [ 1.69222042e-02 -1.20562156e-03 9.99856082e-01 2.19499990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3607140569999 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:300.03, Y:280.38, Z:2.19 [[-9.78050492e-01 2.07690034e-01 1.67953954e-02 3.00033094e+02] [-2.07679457e-01 -9.78194013e-01 2.39069114e-03 2.80376028e+02] [ 1.69256779e-02 -1.14984195e-03 9.99856089e-01 2.19481884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.390714057 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:300.04, Y:280.38, Z:2.19 [[-9.78339928e-01 2.06322623e-01 1.67916802e-02 3.00039717e+02] [-2.06311456e-01 -9.78483397e-01 2.41348004e-03 2.80376701e+02] [ 1.69283358e-02 -1.10311210e-03 9.99856097e-01 2.19386965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4207140569999 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:300.04, Y:280.38, Z:2.19 [[-9.78906763e-01 2.03616285e-01 1.67916108e-02 3.00041395e+02] [-2.03604713e-01 -9.79050200e-01 2.41390468e-03 2.80376020e+02] [ 1.69313402e-02 -1.05586350e-03 9.99856097e-01 2.19431487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4507140569999 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:300.03, Y:280.38, Z:2.19 [[-9.78999565e-01 2.03168361e-01 1.68067894e-02 3.00029836e+02] [-2.03158313e-01 -9.79143152e-01 2.32105396e-03 2.80375119e+02] [ 1.69278175e-02 -1.14212816e-03 9.99856062e-01 2.19407458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4807140569999 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:300.03, Y:280.37, Z:2.20 [[-9.75740809e-01 2.18284022e-01 1.67916485e-02 3.00030053e+02] [-2.18274616e-01 -9.75884403e-01 2.41321717e-03 2.80365858e+02] [ 1.69134746e-02 -1.31051615e-03 9.99856098e-01 2.19732814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.510714057 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:300.03, Y:280.37, Z:2.20 [[-9.75644944e-01 2.18716581e-01 1.67332445e-02 3.00032291e+02] [-2.18701193e-01 -9.75787956e-01 2.76648382e-03 2.80365838e+02] [ 1.69331743e-02 -9.60474576e-04 9.99856162e-01 2.19751713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.540714057 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:300.03, Y:280.37, Z:2.20 [[-9.75429023e-01 2.19677616e-01 1.67321699e-02 3.00032368e+02] [-2.19662258e-01 -9.75572039e-01 2.77296799e-03 2.80365431e+02] [ 1.69325961e-02 -9.70592768e-04 9.99856162e-01 2.19766174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5707140569999 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:300.03, Y:280.36, Z:2.20 [[-9.74856943e-01 2.22202635e-01 1.67310917e-02 3.00034252e+02] [-2.22187537e-01 -9.74999986e-01 2.77945833e-03 2.80364992e+02] [ 1.69304171e-02 -1.00786580e-03 9.99856162e-01 2.19684600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6007140569999 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:300.04, Y:280.37, Z:2.20 [[-9.74457382e-01 2.23948472e-01 1.67300097e-02 3.00036960e+02] [-2.23933519e-01 -9.74600440e-01 2.78595588e-03 2.80365500e+02] [ 1.69289854e-02 -1.03161467e-03 9.99856162e-01 2.19636236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.630714057 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:300.04, Y:280.37, Z:2.20 [[-9.75967259e-01 2.17274143e-01 1.67289248e-02 3.00044883e+02] [-2.17258100e-01 -9.76110199e-01 2.79245521e-03 2.80373386e+02] [ 1.69360024e-02 -9.09149552e-04 9.99856162e-01 2.19644975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.660714057 meters Centerline goodness : 0.991565 Centerline is valid? [True, True] Translation: X:299.43, Y:280.26, Z:2.20 [[-9.71687365e-01 2.35675242e-01 1.67584202e-02 2.99425183e+02] [-2.35664855e-01 -9.71830855e-01 2.62021665e-03 2.80262288e+02] [ 1.69038701e-02 -1.40333926e-03 9.99856135e-01 2.20462153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6907140569999 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:300.04, Y:280.37, Z:2.20 [[-9.71047168e-01 2.38301595e-01 1.67256522e-02 3.00035191e+02] [-2.38288332e-01 -9.71190389e-01 2.81057302e-03 2.80366603e+02] [ 1.69135567e-02 -1.25632880e-03 9.99856166e-01 2.19630584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7207140569999 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:300.04, Y:280.37, Z:2.20 [[-9.70368028e-01 2.41052905e-01 1.67148923e-02 3.00036289e+02] [-2.41038975e-01 -9.70511184e-01 2.87317008e-03 2.80366453e+02] [ 1.69145759e-02 -1.24090812e-03 9.99856168e-01 2.19643863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.750714057 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:300.03, Y:280.36, Z:2.20 [[-9.69183677e-01 2.45771540e-01 1.67137710e-02 3.00034399e+02] [-2.45758196e-01 -9.69326888e-01 2.87967780e-03 2.80364809e+02] [ 1.69088505e-02 -1.31660950e-03 9.99856168e-01 2.19626869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.780714057 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:300.08, Y:280.38, Z:2.19 [[-9.72037044e-01 2.34232091e-01 1.67126442e-02 3.00077964e+02] [-2.34216934e-01 -9.72180075e-01 2.88620269e-03 2.80378793e+02] [ 1.69237410e-02 -1.10888835e-03 9.99856168e-01 2.19426939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8107140569999 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:300.04, Y:280.37, Z:2.20 [[-9.71159507e-01 2.37840037e-01 1.67728903e-02 3.00038285e+02] [-2.37831417e-01 -9.71303139e-01 2.53575997e-03 2.80371502e+02] [ 1.68946662e-02 -1.52649286e-03 9.99856110e-01 2.19538667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8407140569999 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:299.42, Y:280.26, Z:2.21 [[-9.66751493e-01 2.55169287e-01 1.67387848e-02 2.99415033e+02] [-2.55159941e-01 -9.66895012e-01 2.72761677e-03 2.80255039e+02] [ 1.68806515e-02 -1.63413975e-03 9.99856176e-01 2.20607792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.870714057 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:299.42, Y:280.26, Z:2.21 [[-9.66563808e-01 2.55882071e-01 1.66964510e-02 2.99417801e+02] [-2.55868796e-01 -9.66706978e-01 2.96266287e-03 2.80255513e+02] [ 1.68986680e-02 -1.40849812e-03 9.99856215e-01 2.20612552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.900714057 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:300.04, Y:280.37, Z:2.20 [[-9.69430345e-01 2.44797580e-01 1.67018346e-02 3.00041875e+02] [-2.44783180e-01 -9.69573408e-01 2.93267905e-03 2.80368800e+02] [ 1.69115674e-02 -1.24530013e-03 9.99856214e-01 2.19787262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9307140569999 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:300.05, Y:280.37, Z:2.20 [[-9.69380329e-01 2.44992564e-01 1.67457783e-02 3.00047175e+02] [-2.44982498e-01 -9.69523793e-01 2.68155174e-03 2.80368434e+02] [ 1.68923907e-02 -1.50297910e-03 9.99856184e-01 2.19790368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9607140569999 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:300.04, Y:280.37, Z:2.20 [[-9.69155631e-01 2.45879704e-01 1.67491670e-02 3.00042412e+02] [-2.45870102e-01 -9.69299131e-01 2.66221319e-03 2.80366636e+02] [ 1.68895372e-02 -1.53802049e-03 9.99856179e-01 2.19838485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9907140569999 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:300.05, Y:280.37, Z:2.20 [[-9.69309899e-01 2.45271162e-01 1.67444617e-02 3.00052959e+02] [-2.45261010e-01 -9.69453354e-01 2.68902603e-03 2.80366975e+02] [ 1.68925151e-02 -1.50026402e-03 9.99856186e-01 2.19705216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.020714057 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:300.05, Y:280.36, Z:2.20 [[-9.66726678e-01 2.55263034e-01 1.67425787e-02 3.00045038e+02] [-2.55254179e-01 -9.66870216e-01 2.69972716e-03 2.80358945e+02] [ 1.68770413e-02 -1.66371493e-03 9.99856188e-01 2.19772756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0507140569999 meters Centerline goodness : 0.995120 Centerline is valid? [True, True] Translation: X:300.04, Y:280.36, Z:2.20 [[-9.66703726e-01 2.55353665e-01 1.66857140e-02 3.00044355e+02] [-2.55339306e-01 -9.66846788e-01 3.02128614e-03 2.80357546e+02] [ 1.69040255e-02 -1.33983006e-03 9.99856219e-01 2.19671155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0807140569999 meters Centerline goodness : 0.995602 Centerline is valid? [True, True] Translation: X:300.06, Y:280.36, Z:2.20 [[-9.66593937e-01 2.55768177e-01 1.66972976e-02 3.00055064e+02] [-2.55755002e-01 -9.66737111e-01 2.95585157e-03 2.80358362e+02] [ 1.68979100e-02 -1.41330917e-03 9.99856221e-01 2.19508116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1107140569999 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:300.09, Y:280.37, Z:2.19 [[-9.69237644e-01 2.45559828e-01 1.66961355e-02 3.00088014e+02] [-2.45545031e-01 -9.69380659e-01 2.96240113e-03 2.80366449e+02] [ 1.69123576e-02 -1.22838242e-03 9.99856221e-01 2.19245594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.140714057 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:300.08, Y:280.36, Z:2.19 [[-9.69046748e-01 2.46308271e-01 1.67521814e-02 3.00075986e+02] [-2.46299025e-01 -9.69190277e-01 2.64516701e-03 2.80363008e+02] [ 1.68875778e-02 -1.56275545e-03 9.99856173e-01 2.19151443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1707140569999 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:300.06, Y:280.35, Z:2.19 [[-9.66680913e-01 2.55436339e-01 1.67418785e-02 3.00063900e+02] [-2.55427449e-01 -9.66824447e-01 2.70325712e-03 2.80354764e+02] [ 1.68769676e-02 -1.66314826e-03 9.99856191e-01 2.19265389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2007140569999 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:300.08, Y:280.36, Z:2.19 [[-9.68610613e-01 2.48021809e-01 1.66931956e-02 3.00083069e+02] [-2.48007137e-01 -9.68753633e-01 2.97630839e-03 2.80358816e+02] [ 1.69097833e-02 -1.25714775e-03 9.99856229e-01 2.18891487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2307140569999 meters Centerline goodness : 0.994853 Centerline is valid? [True, True] Translation: X:300.08, Y:280.36, Z:2.19 [[-9.69632014e-01 2.43995903e-01 1.67259056e-02 3.00084633e+02] [-2.43983785e-01 -9.69775291e-01 2.79262615e-03 2.80359552e+02] [ 1.69017593e-02 -1.37303003e-03 9.99856212e-01 2.19083126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.260714057 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:300.09, Y:280.36, Z:2.19 [[-9.69698976e-01 2.43728638e-01 1.67405816e-02 3.00087406e+02] [-2.43717894e-01 -9.69842381e-01 2.71016311e-03 2.80358123e+02] [ 1.68962698e-02 -1.45193689e-03 9.99856194e-01 2.19146997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.290714057 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:300.08, Y:280.35, Z:2.19 [[-9.69895226e-01 2.42946439e-01 1.67415132e-02 3.00079308e+02] [-2.42935669e-01 -9.70038630e-01 2.70493536e-03 2.80353730e+02] [ 1.68970690e-02 -1.44360683e-03 9.99856192e-01 2.19198460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3207140569999 meters Centerline goodness : 0.994455 Centerline is valid? [True, True] Translation: X:300.08, Y:280.35, Z:2.19 [[-9.67884620e-01 2.50838461e-01 1.67161316e-02 3.00077353e+02] [-2.50826425e-01 -9.68027892e-01 2.84686231e-03 2.80346398e+02] [ 1.68957842e-02 -1.43741326e-03 9.99856223e-01 2.19335265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3507140569999 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:300.10, Y:280.35, Z:2.19 [[-9.70387626e-01 2.40975780e-01 1.66891729e-02 3.00096473e+02] [-2.40959714e-01 -9.70530491e-01 2.99698688e-03 2.80353409e+02] [ 1.69195524e-02 -1.11317934e-03 9.99856234e-01 2.19353752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.380714057 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:300.07, Y:280.34, Z:2.20 [[-9.68129820e-01 2.49888834e-01 1.67398525e-02 3.00072062e+02] [-2.49878931e-01 -9.68273284e-01 2.71429018e-03 2.80341837e+02] [ 1.68870227e-02 -1.55515119e-03 9.99856195e-01 2.19507841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.410714057 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:300.09, Y:280.35, Z:2.19 [[-9.70915711e-01 2.38839310e-01 1.66873211e-02 3.00089284e+02] [-2.38822776e-01 -9.71058518e-01 3.00592167e-03 2.80350723e+02] [ 1.69222975e-02 -1.06681577e-03 9.99856239e-01 2.19345923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4407140569999 meters Centerline goodness : 0.994305 Centerline is valid? [True, True] Translation: X:300.09, Y:280.35, Z:2.19 [[-9.70687847e-01 2.39759518e-01 1.67474534e-02 3.00087669e+02] [-2.39748862e-01 -9.70831267e-01 2.67084685e-03 2.80350351e+02] [ 1.68993124e-02 -1.42262434e-03 9.99856184e-01 2.19282858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4707140569999 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:300.09, Y:280.34, Z:2.19 [[-9.67320392e-01 2.53004110e-01 1.67385689e-02 3.00088182e+02] [-2.52994568e-01 -9.67463875e-01 2.72019035e-03 2.80343157e+02] [ 1.68821800e-02 -1.60347139e-03 9.99856200e-01 2.19469456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.500714057 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:300.09, Y:280.35, Z:2.19 [[-9.69704299e-01 2.43711285e-01 1.66847983e-02 3.00090614e+02] [-2.43695270e-01 -9.69847158e-01 3.01750970e-03 2.80349562e+02] [ 1.69171054e-02 -1.13991430e-03 9.99856246e-01 2.19196543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.530714057 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:300.09, Y:280.34, Z:2.19 [[-9.66628982e-01 2.55633009e-01 1.67384530e-02 3.00093409e+02] [-2.55623856e-01 -9.66772489e-01 2.72021498e-03 2.80343675e+02] [ 1.68776526e-02 -1.64930927e-03 9.99856202e-01 2.19226853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5607140569999 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:300.08, Y:280.35, Z:2.19 [[-9.67488886e-01 2.52362686e-01 1.66832670e-02 3.00082872e+02] [-2.52347825e-01 -9.67631866e-01 3.02461626e-03 2.80345015e+02] [ 1.69065610e-02 -1.28370353e-03 9.99856250e-01 2.19274396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5907140569999 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:300.11, Y:280.35, Z:2.19 [[-9.67626395e-01 2.51832946e-01 1.67130816e-02 3.00105113e+02] [-2.51820831e-01 -9.67769647e-01 2.85996770e-03 2.80348766e+02] [ 1.68946472e-02 -1.44132188e-03 9.99856236e-01 2.19106473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.620714057 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:300.10, Y:280.35, Z:2.19 [[-9.67298514e-01 2.53089095e-01 1.67180837e-02 3.00095890e+02] [-2.53077639e-01 -9.67441826e-01 2.83237622e-03 2.80347179e+02] [ 1.68906169e-02 -1.49121983e-03 9.99856231e-01 2.19182981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.650714057 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:300.11, Y:280.35, Z:2.19 [[-9.67150808e-01 2.53653096e-01 1.67158981e-02 3.00109187e+02] [-2.53641517e-01 -9.67294107e-01 2.84441189e-03 2.80348731e+02] [ 1.68906836e-02 -1.48887050e-03 9.99856234e-01 2.19073022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6807140569999 meters Centerline goodness : 0.994655 Centerline is valid? [True, True] Translation: X:300.08, Y:280.34, Z:2.19 [[-9.67143733e-01 2.53680147e-01 1.67147244e-02 3.00080898e+02] [-2.53668462e-01 -9.67287023e-01 2.85086053e-03 2.80342979e+02] [ 1.68911427e-02 -1.48280652e-03 9.99856235e-01 2.19263552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7107140569999 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:300.10, Y:280.35, Z:2.19 [[-9.68261049e-01 2.49381475e-01 1.67158876e-02 3.00101626e+02] [-2.49369263e-01 -9.68404296e-01 2.84447587e-03 2.80347939e+02] [ 1.68970969e-02 -1.41423337e-03 9.99856234e-01 2.18835508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7407140569999 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:300.09, Y:280.34, Z:2.19 [[-9.67416242e-01 2.52637648e-01 1.67342008e-02 3.00090448e+02] [-2.52627644e-01 -9.67559685e-01 2.74392666e-03 2.80344606e+02] [ 1.68845572e-02 -1.57300250e-03 9.99856208e-01 2.19085341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.770714057 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:300.11, Y:280.35, Z:2.19 [[-9.68378775e-01 2.48923685e-01 1.67196871e-02 3.00113762e+02] [-2.48911766e-01 -9.68522050e-01 2.82338971e-03 2.80348866e+02] [ 1.68961942e-02 -1.42761617e-03 9.99856230e-01 2.18908981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8007140569999 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:300.11, Y:280.34, Z:2.19 [[-9.65683459e-01 2.59182171e-01 1.67349576e-02 3.00110266e+02] [-2.59173210e-01 -9.65826973e-01 2.73974520e-03 2.80342195e+02] [ 1.68731666e-02 -1.69152607e-03 9.99856207e-01 2.19133400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8307140569999 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:300.11, Y:280.34, Z:2.19 [[-9.65811059e-01 2.58710081e-01 1.66761162e-02 3.00108746e+02] [-2.58695545e-01 -9.65954062e-01 3.06037934e-03 2.80341150e+02] [ 1.69001131e-02 -1.35828875e-03 9.99856260e-01 2.19108788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8607140569999 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:300.12, Y:280.35, Z:2.19 [[-9.68834100e-01 2.47148607e-01 1.66749176e-02 3.00118847e+02] [-2.47132251e-01 -9.68976906e-01 3.06689617e-03 2.80348022e+02] [ 1.69155892e-02 -1.14959633e-03 9.99856260e-01 2.18847935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.890714057 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:300.12, Y:280.35, Z:2.19 [[-9.68642682e-01 2.47894328e-01 1.67259499e-02 3.00120796e+02] [-2.47882855e-01 -9.68786000e-01 2.78855010e-03 2.80346851e+02] [ 1.68951318e-02 -1.44496755e-03 9.99856223e-01 2.19021807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9207140569999 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:300.11, Y:280.34, Z:2.19 [[-9.66339757e-01 2.56725304e-01 1.67209928e-02 3.00106258e+02] [-2.56714676e-01 -9.66483134e-01 2.81551356e-03 2.80339686e+02] [ 1.68833711e-02 -1.57178156e-03 9.99856230e-01 2.19137679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9507140569999 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:300.11, Y:280.34, Z:2.19 [[-9.68115830e-01 2.49947571e-01 1.66719126e-02 3.00106476e+02] [-2.49931384e-01 -9.68258648e-01 3.08109157e-03 2.80343289e+02] [ 1.69128350e-02 -1.18398068e-03 9.99856267e-01 2.19200402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9807140569999 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:300.14, Y:280.35, Z:2.19 [[-9.68468010e-01 2.48577271e-01 1.67048908e-02 3.00138680e+02] [-2.48563947e-01 -9.68611140e-01 2.90233407e-03 2.80349612e+02] [ 1.69019976e-02 -1.34141588e-03 9.99856251e-01 2.19153842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.010714057 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:300.16, Y:280.35, Z:2.19 [[-9.68688104e-01 2.47717579e-01 1.67140137e-02 3.00156037e+02] [-2.47704977e-01 -9.68831309e-01 2.85283113e-03 2.80353680e+02] [ 1.68997562e-02 -1.37664079e-03 9.99856241e-01 2.19060587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.040714057 meters Centerline goodness : 0.995266 Centerline is valid? [True, True] Translation: X:300.13, Y:280.35, Z:2.19 [[-9.66409494e-01 2.56462776e-01 1.67192725e-02 3.00127075e+02] [-2.56451958e-01 -9.66552852e-01 2.82436468e-03 2.80345000e+02] [ 1.68844049e-02 -1.55819732e-03 9.99856234e-01 2.19064306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0707140569999 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:300.15, Y:280.35, Z:2.19 [[-9.68264583e-01 2.49370891e-01 1.66690159e-02 3.00152893e+02] [-2.49354380e-01 -9.68407360e-01 3.09503653e-03 2.80353506e+02] [ 1.69142097e-02 -1.15967786e-03 9.99856272e-01 2.19190867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1007140569999 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:300.13, Y:280.35, Z:2.19 [[-9.68176467e-01 2.49711272e-01 1.66915773e-02 3.00132430e+02] [-2.49696895e-01 -9.68319482e-01 2.97344213e-03 2.80349897e+02] [ 1.69052815e-02 -1.28901833e-03 9.99856265e-01 2.19123229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.130714057 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:300.14, Y:280.35, Z:2.19 [[-9.66800197e-01 2.54987728e-01 1.66924375e-02 3.00137630e+02] [-2.54974211e-01 -9.66943296e-01 2.96881202e-03 2.80347791e+02] [ 1.68976511e-02 -1.38589303e-03 9.99856264e-01 2.19013721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.160714057 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:300.14, Y:280.35, Z:2.19 [[-9.66799837e-01 2.54990750e-01 1.66671321e-02 3.00136468e+02] [-2.54974904e-01 -9.66942687e-01 3.10466273e-03 2.80347541e+02] [ 1.69078218e-02 -1.24811298e-03 9.99856274e-01 2.19014653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1907140569999 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:300.13, Y:280.35, Z:2.19 [[-9.68128401e-01 2.49899272e-01 1.66659207e-02 3.00127283e+02] [-2.49882563e-01 -9.68271153e-01 3.11115183e-03 2.80348534e+02] [ 1.69146049e-02 -1.15252853e-03 9.99856274e-01 2.19135302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2207140569999 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:300.15, Y:280.35, Z:2.19 [[-9.68369816e-01 2.48960374e-01 1.66922861e-02 3.00148812e+02] [-2.48945948e-01 -9.68512826e-01 2.96987088e-03 2.80353447e+02] [ 1.69060734e-02 -1.27954367e-03 9.99856263e-01 2.19152157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.250714057 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:300.15, Y:280.35, Z:2.19 [[-9.68338608e-01 2.49081641e-01 1.66936371e-02 3.00149177e+02] [-2.49067356e-01 -9.68481634e-01 2.96263368e-03 2.80354304e+02] [ 1.69054186e-02 -1.28900749e-03 9.99856262e-01 2.19157175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.280714057 meters Centerline goodness : 0.995715 Centerline is valid? [True, True] Translation: X:300.16, Y:280.36, Z:2.19 [[-9.68778879e-01 2.47363822e-01 1.66920137e-02 3.00157705e+02] [-2.47349136e-01 -9.68921863e-01 2.97131393e-03 2.80357316e+02] [ 1.69082526e-02 -1.25020899e-03 9.99856264e-01 2.18907162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3107140569999 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:300.16, Y:280.36, Z:2.19 [[-9.68468595e-01 2.48575504e-01 1.66972919e-02 3.00155861e+02] [-2.48561480e-01 -9.68611650e-01 2.94313053e-03 2.80357639e+02] [ 1.69047816e-02 -1.29997409e-03 9.99856259e-01 2.19051740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3407140569999 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:300.16, Y:280.36, Z:2.19 [[-9.68523397e-01 2.48363050e-01 1.66801000e-02 3.00158439e+02] [-2.48347425e-01 -9.68666273e-01 3.03468920e-03 2.80359831e+02] [ 1.69111549e-02 -1.20329237e-03 9.99856272e-01 2.18949832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.370714057 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:300.16, Y:280.36, Z:2.19 [[-9.68760486e-01 2.47435141e-01 1.67024661e-02 3.00160577e+02] [-2.47421423e-01 -9.68903576e-01 2.91547118e-03 2.80362289e+02] [ 1.69044691e-02 -1.30815464e-03 9.99856254e-01 2.18691445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.400714057 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:300.16, Y:280.36, Z:2.19 [[-9.66027012e-01 2.57901556e-01 1.66913273e-02 3.00155256e+02] [-2.57888369e-01 -9.66170140e-01 2.97470860e-03 2.80357034e+02] [ 1.68938440e-02 -1.43085033e-03 9.99856265e-01 2.18986952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4307140569999 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:300.16, Y:280.36, Z:2.19 [[-9.68388248e-01 2.48890859e-01 1.66595622e-02 3.00160148e+02] [-2.48873454e-01 -9.68530911e-01 3.14307764e-03 2.80364920e+02] [ 1.69175843e-02 -1.10240334e-03 9.99856280e-01 2.18694616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4607140569999 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:300.16, Y:280.37, Z:2.19 [[-9.68114188e-01 2.49950839e-01 1.67181842e-02 3.00162752e+02] [-2.49938939e-01 -9.68257461e-01 2.83119124e-03 2.80366218e+02] [ 1.68951652e-02 -1.43760881e-03 9.99856233e-01 2.18722420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4907140569999 meters Centerline goodness : 0.995173 Centerline is valid? [True, True] Translation: X:300.15, Y:280.36, Z:2.19 [[-9.65059605e-01 2.61496777e-01 1.67151022e-02 3.00154741e+02] [-2.61486307e-01 -9.65202985e-01 2.84754048e-03 2.80360645e+02] [ 1.68780892e-02 -1.62272407e-03 9.99856238e-01 2.19052623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.520714057 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:300.17, Y:280.37, Z:2.19 [[-9.68645652e-01 2.47887394e-01 1.66565318e-02 3.00166017e+02] [-2.47869609e-01 -9.68788260e-01 3.15660501e-03 2.80370324e+02] [ 1.69191350e-02 -1.07101630e-03 9.99856288e-01 2.18648574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5507140569999 meters Centerline goodness : 0.995363 Centerline is valid? [True, True] Translation: X:300.16, Y:280.37, Z:2.19 [[-9.68702285e-01 2.47660780e-01 1.67338457e-02 3.00159276e+02] [-2.47649990e-01 -9.68845673e-01 2.74678673e-03 2.80370441e+02] [ 1.68927853e-02 -1.48331812e-03 9.99856206e-01 2.18667208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5807140569999 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:300.17, Y:280.37, Z:2.19 [[-9.68693563e-01 2.47694885e-01 1.67339374e-02 3.00174408e+02] [-2.47684108e-01 -9.68836953e-01 2.74630056e-03 2.80373741e+02] [ 1.68927015e-02 -1.48440668e-03 9.99856206e-01 2.18649433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6107140569999 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:300.18, Y:280.37, Z:2.19 [[-9.68082419e-01 2.50073056e-01 1.67300969e-02 3.00179419e+02] [-2.50062281e-01 -9.68225801e-01 2.76663540e-03 2.80374344e+02] [ 1.68903724e-02 -1.50523510e-03 9.99856214e-01 2.18938910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.640714057 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:300.18, Y:280.37, Z:2.19 [[-9.68085137e-01 2.50063857e-01 1.67103312e-02 3.00176657e+02] [-2.50051288e-01 -9.68228336e-01 2.87104744e-03 2.80374428e+02] [ 1.68973613e-02 -1.39902148e-03 9.99856251e-01 2.18991697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6707140569999 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:300.17, Y:280.37, Z:2.19 [[-9.65452797e-01 2.60041916e-01 1.67062663e-02 3.00171275e+02] [-2.60030458e-01 -9.65596083e-01 2.89246556e-03 2.80368346e+02] [ 1.68836676e-02 -1.55159911e-03 9.99856257e-01 2.19061164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7007140569999 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:300.18, Y:280.38, Z:2.19 [[-9.67647964e-01 2.51754078e-01 1.66523864e-02 3.00180543e+02] [-2.51736545e-01 -9.67790592e-01 3.17505589e-03 2.80376300e+02] [ 1.69153562e-02 -1.11967786e-03 9.99856298e-01 2.19097766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7307140569999 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:300.17, Y:280.37, Z:2.19 [[-9.67342222e-01 2.52925627e-01 1.66629338e-02 3.00172671e+02] [-2.52909216e-01 -9.67484985e-01 3.11976594e-03 2.80374503e+02] [ 1.69102070e-02 -1.19632821e-03 9.99856297e-01 2.18940153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.760714057 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:300.18, Y:280.38, Z:2.19 [[-9.67248730e-01 2.53281543e-01 1.66839633e-02 3.00175270e+02] [-2.53267073e-01 -9.67391716e-01 3.00962961e-03 2.80375126e+02] [ 1.69022115e-02 -1.31443813e-03 9.99856283e-01 2.18930962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.790714057 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:300.18, Y:280.38, Z:2.19 [[-9.67111254e-01 2.53806057e-01 1.66825477e-02 3.00178329e+02] [-2.53791536e-01 -9.67254234e-01 3.01702840e-03 2.80375764e+02] [ 1.69020050e-02 -1.31608728e-03 9.99856285e-01 2.18895717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8207140569999 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:300.18, Y:280.37, Z:2.19 [[-9.65944698e-01 2.58210634e-01 1.66765745e-02 3.00179951e+02] [-2.58196230e-01 -9.66087685e-01 3.04820355e-03 2.80373706e+02] [ 1.68981118e-02 -1.36143261e-03 9.99856290e-01 2.19026531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8507140569999 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:300.19, Y:280.38, Z:2.19 [[-9.67136845e-01 2.53710856e-01 1.66470470e-02 3.00187145e+02] [-2.53693155e-01 -9.67279449e-01 3.20172955e-03 2.80378238e+02] [ 1.69146600e-02 -1.12673127e-03 9.99856302e-01 2.18971604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.880714057 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:300.21, Y:280.38, Z:2.19 [[-9.66846336e-01 2.54813811e-01 1.66758356e-02 3.00205203e+02] [-2.54798840e-01 -9.66989264e-01 3.05200536e-03 2.80380957e+02] [ 1.69030471e-02 -1.29816337e-03 9.99856291e-01 2.18650215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.910714057 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:300.19, Y:280.38, Z:2.19 [[-9.67375365e-01 2.52798684e-01 1.66652234e-02 3.00192576e+02] [-2.52782470e-01 -9.67518149e-01 3.10708951e-03 2.80381162e+02] [ 1.69093742e-02 -1.20695448e-03 9.99856298e-01 2.18830171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9407140569999 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:300.19, Y:280.38, Z:2.19 [[-9.66546028e-01 2.55950891e-01 1.66708421e-02 3.00191542e+02] [-2.55935643e-01 -9.66688923e-01 3.07794729e-03 2.80379169e+02] [ 1.69033217e-02 -1.29168495e-03 9.99856294e-01 2.18887098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9707140569999 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:300.21, Y:280.39, Z:2.19 [[-9.69150123e-01 2.45908556e-01 1.66439766e-02 3.00211787e+02] [-2.45889446e-01 -9.69292542e-01 3.21694578e-03 2.80387641e+02] [ 1.69239569e-02 -9.74874797e-04 9.99856304e-01 2.18859562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.000714057 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:300.20, Y:280.38, Z:2.19 [[-9.67135862e-01 2.53711429e-01 1.66953569e-02 3.00197949e+02] [-2.53698037e-01 -9.67278967e-01 2.95044830e-03 2.80381411e+02] [ 1.68976301e-02 -1.38209492e-03 9.99856270e-01 2.18801171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.030714057 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] Translation: X:300.19, Y:280.38, Z:2.19 [[-9.68934302e-01 2.46757679e-01 1.66423209e-02 3.00193046e+02] [-2.46738569e-01 -9.69076717e-01 3.22420688e-03 2.80384290e+02] [ 1.69232835e-02 -9.82257793e-04 9.99856309e-01 2.18839674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0607140569999 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:300.21, Y:280.39, Z:2.19 [[-9.69241113e-01 2.45547158e-01 1.66810831e-02 3.00205329e+02] [-2.45531302e-01 -9.69383947e-01 3.02379407e-03 2.80387328e+02] [ 1.69128582e-02 -1.16494253e-03 9.99856289e-01 2.18854369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0907140569999 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:300.22, Y:280.39, Z:2.19 [[-9.70614021e-01 2.40062653e-01 1.66836567e-02 3.00219074e+02] [-2.40046219e-01 -9.70756792e-01 3.01048828e-03 2.80392476e+02] [ 1.69184789e-02 -1.08282657e-03 9.99856286e-01 2.18782183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.120714057 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:300.21, Y:280.39, Z:2.19 [[-9.69722200e-01 2.43638701e-01 1.67044641e-02 3.00214196e+02] [-2.43624637e-01 -9.69865253e-01 2.90291169e-03 2.80391111e+02] [ 1.69083410e-02 -1.25460111e-03 9.99856257e-01 2.18880147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.150714057 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:300.21, Y:280.39, Z:2.19 [[-9.70387832e-01 2.40975243e-01 1.66849909e-02 3.00214368e+02] [-2.40959065e-01 -9.70530633e-01 3.00331810e-03 2.80393779e+02] [ 1.69170200e-02 -1.10601646e-03 9.99856285e-01 2.18993085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1807140569999 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:300.20, Y:280.39, Z:2.19 [[-9.67761125e-01 2.51317289e-01 1.66741061e-02 3.00200537e+02] [-2.51301676e-01 -9.67903977e-01 3.05929674e-03 2.80385074e+02] [ 1.69077878e-02 -1.22956236e-03 9.99856297e-01 2.18914599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2107140569999 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:300.22, Y:280.40, Z:2.19 [[-9.70946053e-01 2.38719366e-01 1.66381004e-02 3.00216472e+02] [-2.38698738e-01 -9.71088250e-01 3.24396915e-03 2.80395500e+02] [ 1.69314621e-02 -8.21774537e-04 9.99856315e-01 2.18746901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2407140569999 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:300.21, Y:280.39, Z:2.19 [[-9.70226823e-01 2.41621253e-01 1.67057328e-02 3.00208325e+02] [-2.41607016e-01 -9.70369860e-01 2.89565865e-03 2.80394548e+02] [ 1.69103923e-02 -1.22677657e-03 9.99856257e-01 2.18682168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.270714057 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:300.22, Y:280.40, Z:2.19 [[-9.70297346e-01 2.41340420e-01 1.66692065e-02 3.00222518e+02] [-2.41322927e-01 -9.70439972e-01 3.08322082e-03 2.80399074e+02] [ 1.69205701e-02 -1.03102071e-03 9.99856305e-01 2.19024003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3007140569999 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:300.22, Y:280.40, Z:2.19 [[-9.70152442e-01 2.41921987e-01 1.66730684e-02 3.00219818e+02] [-2.41904919e-01 -9.70295123e-01 3.06340567e-03 2.80399695e+02] [ 1.69189021e-02 -1.06132675e-03 9.99856302e-01 2.18989771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3307140569999 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:300.22, Y:280.40, Z:2.19 [[-9.69875904e-01 2.43028473e-01 1.66700696e-02 3.00224616e+02] [-2.43011305e-01 -9.70018570e-01 3.07876499e-03 2.80402093e+02] [ 1.69185047e-02 -1.06499539e-03 9.99856305e-01 2.19006542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3607140569999 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:300.24, Y:280.40, Z:2.19 [[-9.69830023e-01 2.43211655e-01 1.66678424e-02 3.00237381e+02] [-2.43194318e-01 -9.69972667e-01 3.09015632e-03 2.80404540e+02] [ 1.69189135e-02 -1.05659818e-03 9.99856307e-01 2.18976654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.390714057 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:300.23, Y:280.40, Z:2.19 [[-9.69410778e-01 2.44876953e-01 1.66739602e-02 3.00225077e+02] [-2.44860396e-01 -9.69553521e-01 3.05891451e-03 2.80403557e+02] [ 1.69153545e-02 -1.11744780e-03 9.99856301e-01 2.18940853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4207140569999 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:300.22, Y:280.40, Z:2.19 [[-9.69014058e-01 2.46442817e-01 1.66641173e-02 3.00223137e+02] [-2.46425632e-01 -9.69156717e-01 3.10905233e-03 2.80403180e+02] [ 1.69163448e-02 -1.09375021e-03 9.99856310e-01 2.18932531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4507140569999 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:300.24, Y:280.41, Z:2.19 [[-9.69326679e-01 2.45210945e-01 1.66547740e-02 3.00235594e+02] [-2.45192765e-01 -9.69469207e-01 3.15655069e-03 2.80406115e+02] [ 1.69203114e-02 -1.02390130e-03 9.99856317e-01 2.18778279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4807140569999 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:300.24, Y:280.41, Z:2.19 [[-9.69743566e-01 2.43556460e-01 1.66633460e-02 3.00239729e+02] [-2.43538783e-01 -9.69886164e-01 3.11297451e-03 2.80407633e+02] [ 1.69197337e-02 -1.03938400e-03 9.99856311e-01 2.18653743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.510714057 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:300.24, Y:280.41, Z:2.19 [[-9.69490105e-01 2.44562845e-01 1.66718687e-02 3.00238235e+02] [-2.44546058e-01 -9.69632818e-01 3.06966255e-03 2.80406655e+02] [ 1.69163164e-02 -1.10103230e-03 9.99856303e-01 2.18586124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.540714057 meters Centerline goodness : 0.993723 Centerline is valid? [True, True] Translation: X:300.24, Y:280.41, Z:2.19 [[-9.69674587e-01 2.43829475e-01 1.66848038e-02 3.00242888e+02] [-2.43813706e-01 -9.69817433e-01 3.00398133e-03 2.80408612e+02] [ 1.69136728e-02 -1.15509948e-03 9.99856286e-01 2.18616293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5707140569999 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:300.24, Y:280.41, Z:2.19 [[-9.69722342e-01 2.43641051e-01 1.66618346e-02 3.00236019e+02] [-2.43623263e-01 -9.69864924e-01 3.12023886e-03 2.80405605e+02] [ 1.69199472e-02 -1.03344516e-03 9.99856313e-01 2.18684230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6007140569999 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:300.23, Y:280.40, Z:2.18 [[-9.67200390e-01 2.53465990e-01 1.66852458e-02 3.00234054e+02] [-2.53451681e-01 -9.67343390e-01 3.00176174e-03 2.80399461e+02] [ 1.69012067e-02 -1.32559846e-03 9.99856286e-01 2.18402472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.630714057 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:300.24, Y:280.41, Z:2.19 [[-9.69695787e-01 2.43749146e-01 1.66263302e-02 3.00236209e+02] [-2.43728318e-01 -9.69837938e-01 3.29871449e-03 2.80405652e+02] [ 1.69289046e-02 -8.53557966e-04 9.99856332e-01 2.18635227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.660714057 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:300.24, Y:280.41, Z:2.19 [[-9.69231845e-01 2.45582928e-01 1.66930268e-02 3.00236700e+02] [-2.45568144e-01 -9.69374807e-01 2.96162318e-03 2.80406642e+02] [ 1.69091237e-02 -1.22877610e-03 9.99856276e-01 2.18677052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6907140569999 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:300.24, Y:280.41, Z:2.19 [[-9.68931986e-01 2.46765023e-01 1.66682442e-02 3.00241169e+02] [-2.46748272e-01 -9.69074695e-01 3.08649204e-03 2.80407894e+02] [ 1.69144119e-02 -1.12225958e-03 9.99856311e-01 2.18729614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7207140569999 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:300.25, Y:280.41, Z:2.19 [[-9.68698348e-01 2.47680834e-01 1.66647820e-02 3.00248180e+02] [-2.47663919e-01 -9.68841034e-01 3.10391487e-03 2.80409191e+02] [ 1.69143048e-02 -1.12050800e-03 9.99856315e-01 2.18547631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.750714057 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:300.23, Y:280.41, Z:2.19 [[-9.68140630e-01 2.49850890e-01 1.66809485e-02 3.00230438e+02] [-2.49835690e-01 -9.68283529e-01 3.02257445e-03 2.80406082e+02] [ 1.69070805e-02 -1.24121914e-03 9.99856295e-01 2.18561209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.780714057 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:300.24, Y:280.41, Z:2.19 [[-9.66979548e-01 2.54306736e-01 1.66924400e-02 3.00242781e+02] [-2.54293185e-01 -9.67122632e-01 2.96483126e-03 2.80408319e+02] [ 1.68976131e-02 -1.37784255e-03 9.99856276e-01 2.18926138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8107140569999 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:300.24, Y:280.40, Z:2.19 [[-9.63949278e-01 2.65564444e-01 1.66528067e-02 3.00241492e+02] [-2.65549154e-01 -9.64092133e-01 3.16320537e-03 2.80403040e+02] [ 1.68948748e-02 -1.37296920e-03 9.99856329e-01 2.18657749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8407140569999 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:300.22, Y:280.40, Z:2.19 [[-9.65601947e-01 2.59493125e-01 1.66192035e-02 3.00220049e+02] [-2.59474061e-01 -9.65744333e-01 3.33086805e-03 2.80403873e+02] [ 1.69142390e-02 -1.09595956e-03 9.99856343e-01 2.18787633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.870714057 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:300.24, Y:280.40, Z:2.19 [[-9.63233761e-01 2.68147606e-01 1.66608438e-02 3.00240886e+02] [-2.68133391e-01 -9.63376734e-01 3.12289482e-03 2.80404240e+02] [ 1.68880661e-02 -1.45925082e-03 9.99856322e-01 2.18615999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.900714057 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:300.24, Y:280.41, Z:2.19 [[-9.65072768e-01 2.61454422e-01 1.66174004e-02 3.00242127e+02] [-2.61435506e-01 -9.65215171e-01 3.33909798e-03 2.80410054e+02] [ 1.69123889e-02 -1.12190595e-03 9.99856346e-01 2.18528653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9307140569999 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:300.24, Y:280.41, Z:2.19 [[-9.64914310e-01 2.62035832e-01 1.66612554e-02 3.00241300e+02] [-2.62020750e-01 -9.65057194e-01 3.12062818e-03 2.80409517e+02] [ 1.68967808e-02 -1.35445585e-03 9.99856322e-01 2.18562271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9607140569999 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:300.23, Y:280.41, Z:2.18 [[-9.64800359e-01 2.62455007e-01 1.66624372e-02 3.00234911e+02] [-2.62440088e-01 -9.64943262e-01 3.11474800e-03 2.80408763e+02] [ 1.68957878e-02 -1.36778151e-03 9.99856320e-01 2.18425294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9907140569999 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:300.25, Y:280.41, Z:2.18 [[-9.65014867e-01 2.61666787e-01 1.66373112e-02 3.00251016e+02] [-2.61649611e-01 -9.65157494e-01 3.23941224e-03 2.80410656e+02] [ 1.69052722e-02 -1.22706504e-03 9.99856343e-01 2.18385616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.020714057 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:300.26, Y:280.41, Z:2.18 [[-9.65400688e-01 2.60238142e-01 1.66619845e-02 3.00262118e+02] [-2.60222860e-01 -9.65543551e-01 3.11679565e-03 2.80412688e+02] [ 1.68989808e-02 -1.32687260e-03 9.99856322e-01 2.18343868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0507140569999 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:300.24, Y:280.41, Z:2.18 [[-9.65671998e-01 2.59229328e-01 1.66657513e-02 3.00235208e+02] [-2.59214218e-01 -9.65814885e-01 3.09810840e-03 2.80407345e+02] [ 1.68991512e-02 -1.32824316e-03 9.99856317e-01 2.18169509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0807140569999 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:300.26, Y:280.41, Z:2.18 [[-9.65968256e-01 2.58123101e-01 1.66671325e-02 3.00260798e+02] [-2.58107944e-01 -9.66111139e-01 3.09126196e-03 2.80411358e+02] [ 1.69002285e-02 -1.31585839e-03 9.99856315e-01 2.18216075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1107140569999 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:300.26, Y:280.41, Z:2.18 [[-9.65765448e-01 2.58881276e-01 1.66608937e-02 3.00256352e+02] [-2.58865701e-01 -9.65908278e-01 3.12216717e-03 2.80409446e+02] [ 1.69011657e-02 -1.29765274e-03 9.99856323e-01 2.18295933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.140714057 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:300.25, Y:280.41, Z:2.18 [[-9.66132263e-01 2.57509043e-01 1.66596060e-02 3.00247769e+02] [-2.57493156e-01 -9.66275058e-01 3.12852981e-03 2.80407906e+02] [ 1.69033865e-02 -1.26716094e-03 9.99856325e-01 2.18205239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1707140569999 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:300.25, Y:280.41, Z:2.18 [[-9.66209300e-01 2.57219733e-01 1.66612573e-02 3.00248250e+02] [-2.57203943e-01 -9.66352107e-01 3.12037893e-03 2.80407051e+02] [ 1.69032642e-02 -1.27040194e-03 9.99856323e-01 2.18203443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2007140569999 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:300.26, Y:280.41, Z:2.18 [[-9.66379138e-01 2.56580651e-01 1.66652496e-02 3.00261202e+02] [-2.56565104e-01 -9.66521978e-01 3.10068497e-03 2.80409977e+02] [ 1.69029057e-02 -1.27928422e-03 9.99856317e-01 2.18148760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2307140569999 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:300.25, Y:280.40, Z:2.18 [[-9.63483498e-01 2.67248774e-01 1.66626150e-02 3.00247041e+02] [-2.67234584e-01 -9.63626474e-01 3.11365051e-03 2.80400863e+02] [ 1.68886563e-02 -1.45287612e-03 9.99856321e-01 2.18268763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.260714057 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:300.28, Y:280.41, Z:2.18 [[-9.65881519e-01 2.58450884e-01 1.66142305e-02 3.00279672e+02] [-2.58431324e-01 -9.66023821e-01 3.35078453e-03 2.80413688e+02] [ 1.69157557e-02 -1.05717673e-03 9.99856359e-01 2.18180967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.290714057 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:300.28, Y:280.42, Z:2.18 [[-9.65447951e-01 2.60062803e-01 1.66610900e-02 3.00282131e+02] [-2.60047429e-01 -9.65590802e-01 3.12063806e-03 2.80415111e+02] [ 1.68993571e-02 -1.31985998e-03 9.99856325e-01 2.18311631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3207140569999 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:300.27, Y:280.41, Z:2.18 [[-9.62987224e-01 2.69033973e-01 1.66230973e-02 3.00273555e+02] [-2.69016732e-01 -9.63129827e-01 3.30669385e-03 2.80407853e+02] [ 1.68998138e-02 -1.28758738e-03 9.99856359e-01 2.18078591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3507140569999 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:300.29, Y:280.42, Z:2.18 [[-9.65394649e-01 2.60264232e-01 1.66042649e-02 3.00287768e+02] [-2.60244119e-01 -9.65536870e-01 3.39869950e-03 2.80416829e+02] [ 1.69165898e-02 -1.04007596e-03 9.99856363e-01 2.18031357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.380714057 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:300.29, Y:280.42, Z:2.18 [[-9.65275979e-01 2.60700560e-01 1.66584012e-02 3.00287264e+02] [-2.60685054e-01 -9.65418812e-01 3.13376387e-03 2.80418183e+02] [ 1.68993079e-02 -1.31764924e-03 9.99856328e-01 2.17859262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.410714057 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:300.29, Y:280.41, Z:2.18 [[-9.62631341e-01 2.70303781e-01 1.66363311e-02 3.00287071e+02] [-2.70287848e-01 -9.62774102e-01 3.24151576e-03 2.80411970e+02] [ 1.68932227e-02 -1.37621345e-03 9.99856352e-01 2.17812576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4407140569999 meters Centerline goodness : 0.995527 Centerline is valid? [True, True] Translation: X:300.31, Y:280.42, Z:2.18 [[-9.65467542e-01 2.59993873e-01 1.66015720e-02 3.00313158e+02] [-2.59973514e-01 -9.65609724e-01 3.41070634e-03 2.80422522e+02] [ 1.69174021e-02 -1.02304273e-03 9.99856367e-01 2.17670841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4707140569999 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:300.32, Y:280.42, Z:2.18 [[-9.66428763e-01 2.56393835e-01 1.66627822e-02 3.00316923e+02] [-2.56378069e-01 -9.66571571e-01 3.11186816e-03 2.80424551e+02] [ 1.69036354e-02 -1.26457303e-03 9.99856324e-01 2.17834349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.500714057 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:300.31, Y:280.42, Z:2.18 [[-9.66583638e-01 2.55808689e-01 1.66729028e-02 3.00309172e+02] [-2.55793684e-01 -9.66726545e-01 3.06248359e-03 2.80422878e+02] [ 1.69015477e-02 -1.30467670e-03 9.99856307e-01 2.17781601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.530714057 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:300.30, Y:280.42, Z:2.18 [[-9.66986599e-01 2.54281185e-01 1.66732314e-02 3.00295227e+02] [-2.54265982e-01 -9.67129486e-01 3.06088301e-03 2.80420090e+02] [ 1.69034987e-02 -1.27960270e-03 9.99856307e-01 2.17653557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5607140569999 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:300.29, Y:280.42, Z:2.18 [[-9.65953854e-01 2.58176083e-01 1.66811820e-02 3.00290262e+02] [-2.58162120e-01 -9.66096882e-01 3.02221704e-03 2.80417571e+02] [ 1.68959021e-02 -1.38712710e-03 9.99856292e-01 2.18067766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5907140569999 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:300.30, Y:280.42, Z:2.18 [[-9.66448581e-01 2.56319320e-01 1.66597368e-02 3.00304232e+02] [-2.56303295e-01 -9.66591355e-01 3.12631863e-03 2.80421123e+02] [ 1.69044934e-02 -1.24851923e-03 9.99856329e-01 2.17789374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.620714057 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:300.31, Y:280.42, Z:2.18 [[-9.65951767e-01 2.58184822e-01 1.66667885e-02 3.00311218e+02] [-2.58169660e-01 -9.66094646e-01 3.09210803e-03 2.80419907e+02] [ 1.69000305e-02 -1.31603190e-03 9.99856318e-01 2.17933738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.650714057 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:300.31, Y:280.42, Z:2.18 [[-9.67081968e-01 2.53919535e-01 1.66534513e-02 3.00309590e+02] [-2.53902633e-01 -9.67224632e-01 3.15672329e-03 2.80421747e+02] [ 1.69091820e-02 -1.17554496e-03 9.99856339e-01 2.17629749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6807140569999 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:300.31, Y:280.42, Z:2.18 [[-9.66994666e-01 2.54250479e-01 1.66736123e-02 3.00312163e+02] [-2.54235303e-01 -9.67137556e-01 3.05903068e-03 2.80422407e+02] [ 1.69034367e-02 -1.28095452e-03 9.99856306e-01 2.17621272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7107140569999 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:300.32, Y:280.42, Z:2.18 [[-9.67504321e-01 2.52304221e-01 1.66724290e-02 3.00320212e+02] [-2.52288659e-01 -9.67647167e-01 3.06475732e-03 2.80424668e+02] [ 1.69062799e-02 -1.24109879e-03 9.99856308e-01 2.17510244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7407140569999 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:300.31, Y:280.42, Z:2.18 [[-9.65877820e-01 2.58459519e-01 1.66947004e-02 3.00309695e+02] [-2.58446718e-01 -9.66020988e-01 2.95710002e-03 2.80421128e+02] [ 1.68917217e-02 -1.45849321e-03 9.99856261e-01 2.17665211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.770714057 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:300.31, Y:280.41, Z:2.18 [[-9.62383598e-01 2.71183569e-01 1.66518147e-02 3.00310280e+02] [-2.71169108e-01 -9.62526523e-01 3.16341504e-03 2.80414230e+02] [ 1.68856795e-02 -1.47103898e-03 9.99856345e-01 2.17847969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8007140569999 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:300.31, Y:280.41, Z:2.18 [[-9.61692995e-01 2.73626379e-01 1.65887976e-02 3.00310061e+02] [-2.73607098e-01 -9.61835303e-01 3.46510610e-03 2.80414854e+02] [ 1.69038356e-02 -1.20644450e-03 9.99856392e-01 2.17712417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8307140569999 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:300.32, Y:280.43, Z:2.17 [[-9.65393865e-01 2.60268211e-01 1.65874473e-02 3.00319764e+02] [-2.60246848e-01 -9.65535875e-01 3.47155805e-03 2.80425487e+02] [ 1.69193116e-02 -9.65410019e-04 9.99856392e-01 2.17366980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8607140569999 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:300.33, Y:280.43, Z:2.17 [[-9.66976846e-01 2.54318760e-01 1.66657670e-02 3.00330677e+02] [-2.54302966e-01 -9.67119651e-01 3.09557976e-03 2.80430443e+02] [ 1.69050548e-02 -1.24480003e-03 9.99856324e-01 2.17172951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.890714057 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:300.32, Y:280.42, Z:2.18 [[-9.63762648e-01 2.66237027e-01 1.67153953e-02 3.00319153e+02] [-2.66227103e-01 -9.63906099e-01 2.85703914e-03 2.80424845e+02] [ 1.68727210e-02 -1.69658366e-03 9.99856206e-01 2.17612717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9207140569999 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:300.32, Y:280.43, Z:2.17 [[-9.64286616e-01 2.64336619e-01 1.66575702e-02 3.00319760e+02] [-2.64321654e-01 -9.64429492e-01 3.13355795e-03 2.80426293e+02] [ 1.68933660e-02 -1.38130851e-03 9.99856343e-01 2.17432818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9507140569999 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:300.33, Y:280.43, Z:2.17 [[-9.63945686e-01 2.65575940e-01 1.66774011e-02 3.00327343e+02] [-2.65562790e-01 -9.64088778e-01 3.03868016e-03 2.80428842e+02] [ 1.68854956e-02 -1.49977455e-03 9.99856305e-01 2.17488959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9807140569999 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:300.33, Y:280.43, Z:2.18 [[-9.62543982e-01 2.70612554e-01 1.66711922e-02 3.00329044e+02] [-2.70599642e-01 -9.62687083e-01 3.06834967e-03 2.80427943e+02] [ 1.68794753e-02 -1.55779714e-03 9.99856318e-01 2.17756120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.010714057 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:300.33, Y:280.43, Z:2.18 [[-9.62589984e-01 2.70450520e-01 1.66444756e-02 3.00327698e+02] [-2.70435395e-01 -9.62732821e-01 3.19565789e-03 2.80428401e+02] [ 1.68884503e-02 -1.42514704e-03 9.99856364e-01 2.17758987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.040714057 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:300.33, Y:280.43, Z:2.18 [[-9.62516546e-01 2.70711333e-01 1.66515279e-02 3.00329554e+02] [-2.70696823e-01 -9.62659457e-01 3.16209847e-03 2.80429068e+02] [ 1.68857667e-02 -1.46394361e-03 9.99856354e-01 2.17737758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0707140569999 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:300.33, Y:280.43, Z:2.18 [[-9.62861595e-01 2.69481768e-01 1.66470969e-02 3.00330621e+02] [-2.69466713e-01 -9.63004443e-01 3.18315533e-03 2.80430714e+02] [ 1.68890306e-02 -1.42090047e-03 9.99856361e-01 2.17645540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1007140569999 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:300.32, Y:280.42, Z:2.18 [[-9.59233675e-01 2.82122897e-01 1.66561769e-02 3.00320149e+02] [-2.82110464e-01 -9.59376790e-01 3.14007823e-03 2.80422738e+02] [ 1.68654375e-02 -1.68681301e-03 9.99856346e-01 2.17781846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.130714057 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:300.32, Y:280.43, Z:2.18 [[-9.62335787e-01 2.71357719e-01 1.65777367e-02 3.00324395e+02] [-2.71337322e-01 -9.62477914e-01 3.51050394e-03 2.80430324e+02] [ 1.69083078e-02 -1.11987511e-03 9.99856417e-01 2.17645062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.160714057 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:300.33, Y:280.43, Z:2.18 [[-9.62589983e-01 2.70450686e-01 1.66418595e-02 3.00330172e+02] [-2.70435366e-01 -9.62732792e-01 3.20693319e-03 2.80432725e+02] [ 1.68889811e-02 -1.41358560e-03 9.99856372e-01 2.17531142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1907140569999 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:300.34, Y:280.44, Z:2.17 [[-9.62515583e-01 2.70714711e-01 1.66522497e-02 3.00342527e+02] [-2.70700276e-01 -9.62658501e-01 3.15772310e-03 2.80435967e+02] [ 1.68852718e-02 -1.46841090e-03 9.99856355e-01 2.17397066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2207140569999 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:300.34, Y:280.44, Z:2.18 [[-9.61993479e-01 2.72565088e-01 1.66378703e-02 3.00336713e+02] [-2.72549759e-01 -9.62136281e-01 3.22573598e-03 2.80435236e+02] [ 1.68871217e-02 -1.43151056e-03 9.99856378e-01 2.17642013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.250714057 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:300.34, Y:280.44, Z:2.18 [[-9.62088146e-01 2.72230697e-01 1.66387483e-02 3.00344843e+02] [-2.72215389e-01 -9.62230951e-01 3.22158503e-03 2.80437898e+02] [ 1.68873330e-02 -1.42987459e-03 9.99856376e-01 2.17635564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.280714057 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:300.35, Y:280.44, Z:2.18 [[-9.61334624e-01 2.74879034e-01 1.66510792e-02 3.00346548e+02] [-2.74865123e-01 -9.61477591e-01 3.16329842e-03 2.80437642e+02] [ 1.68791639e-02 -1.53581263e-03 9.99856357e-01 2.17547200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3107140569999 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:300.32, Y:280.43, Z:2.18 [[-9.60689450e-01 2.77126401e-01 1.66354510e-02 3.00319529e+02] [-2.77111556e-01 -9.60832299e-01 3.23698345e-03 2.80432580e+02] [ 1.68809322e-02 -1.50013987e-03 9.99856382e-01 2.17683365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3407140569999 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:300.34, Y:280.44, Z:2.18 [[-9.60558452e-01 2.77580476e-01 1.66294608e-02 3.00339039e+02] [-2.77565213e-01 -9.60701250e-01 3.26517946e-03 2.80437380e+02] [ 1.68822939e-02 -1.47936412e-03 9.99856390e-01 2.17616653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.370714057 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:300.34, Y:280.44, Z:2.18 [[-9.60822001e-01 2.76667318e-01 1.66216339e-02 3.00340599e+02] [-2.76651287e-01 -9.60964704e-01 3.30196061e-03 2.80439686e+02] [ 1.68863481e-02 -1.42580002e-03 9.99856399e-01 2.17850720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.400714057 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:300.36, Y:280.45, Z:2.18 [[-9.61506193e-01 2.74279169e-01 1.66366363e-02 3.00364610e+02] [-2.74263997e-01 -9.61649010e-01 3.23143510e-03 2.80446160e+02] [ 1.68849202e-02 -1.45578550e-03 9.99856380e-01 2.17732262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4307140569999 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:300.34, Y:280.44, Z:2.18 [[-9.59944820e-01 2.79694155e-01 1.66470058e-02 3.00340905e+02] [-2.79680626e-01 -9.60087818e-01 3.18271353e-03 2.80440330e+02] [ 1.68727738e-02 -1.60061564e-03 9.99856363e-01 2.17817431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4607140569999 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:300.34, Y:280.44, Z:2.18 [[-9.57523397e-01 2.87876523e-01 1.66147883e-02 3.00342118e+02] [-2.87861616e-01 -9.57666214e-01 3.33357606e-03 2.80436896e+02] [ 1.68710796e-02 -1.59078273e-03 9.99856408e-01 2.17921448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4907140569999 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:300.35, Y:280.44, Z:2.18 [[-9.59824582e-01 2.80111152e-01 1.65685078e-02 3.00348317e+02] [-2.80091377e-01 -9.59966781e-01 3.54960184e-03 2.80443530e+02] [ 1.68995001e-02 -1.23370106e-03 9.99856432e-01 2.17820966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.520714057 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:300.35, Y:280.44, Z:2.18 [[-9.59446557e-01 2.81400214e-01 1.66200201e-02 3.00347027e+02] [-2.81384770e-01 -9.59589320e-01 3.30873176e-03 2.80444117e+02] [ 1.68794716e-02 -1.50206923e-03 9.99856403e-01 2.17716981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5507140569999 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:300.36, Y:280.45, Z:2.18 [[-9.59949372e-01 2.79680487e-01 1.66141293e-02 3.00361686e+02] [-2.79664314e-01 -9.60092048e-01 3.33625155e-03 2.80448750e+02] [ 1.68841779e-02 -1.44374649e-03 9.99856410e-01 2.17737061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5807140569999 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:300.35, Y:280.45, Z:2.18 [[-9.58849188e-01 2.83428450e-01 1.66297384e-02 3.00346316e+02] [-2.83414088e-01 -9.58992078e-01 3.26340553e-03 2.80445846e+02] [ 1.68727294e-02 -1.58398842e-03 9.99856391e-01 2.17587716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6107140569999 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:300.35, Y:280.45, Z:2.17 [[-9.58318437e-01 2.85218880e-01 1.66121727e-02 3.00354599e+02] [-2.85203378e-01 -9.58461185e-01 3.34513488e-03 2.80448890e+02] [ 1.68762184e-02 -1.53214335e-03 9.99856413e-01 2.17397726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.640714057 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:300.35, Y:280.45, Z:2.17 [[-9.58294676e-01 2.85298853e-01 1.66096042e-02 3.00352463e+02] [-2.85283158e-01 -9.58437400e-01 3.35706738e-03 2.80449029e+02] [ 1.68770333e-02 -1.52138055e-03 9.99856415e-01 2.17344578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6707140569999 meters Centerline goodness : 0.993999 Centerline is valid? [True, True] Translation: X:300.38, Y:280.45, Z:2.18 [[-9.58270064e-01 2.85381367e-01 1.66120550e-02 3.00381573e+02] [-2.85365881e-01 -9.58412813e-01 3.34568386e-03 2.80454238e+02] [ 1.68760022e-02 -1.53444501e-03 9.99856413e-01 2.17618370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7007140569999 meters Centerline goodness : 0.995021 Centerline is valid? [True, True] Translation: X:300.37, Y:280.45, Z:2.17 [[-9.58376171e-01 2.85026540e-01 1.65827379e-02 3.00372261e+02] [-2.85008664e-01 -9.58518618e-01 3.48153525e-03 2.80451920e+02] [ 1.68871930e-02 -1.38960357e-03 9.99856436e-01 2.17282780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7307140569999 meters Centerline goodness : 0.994763 Centerline is valid? [True, True] Translation: X:300.37, Y:280.45, Z:2.17 [[-9.58884610e-01 2.83309850e-01 1.66082506e-02 3.00371501e+02] [-2.83293752e-01 -9.59027288e-01 3.36327000e-03 2.80451587e+02] [ 1.68806130e-02 -1.48002577e-03 9.99856417e-01 2.17410508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.760714057 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:300.38, Y:280.45, Z:2.17 [[-9.59398106e-01 2.81566329e-01 1.66035148e-02 3.00380487e+02] [-2.81549594e-01 -9.59540706e-01 3.38519476e-03 2.80453231e+02] [ 1.68849052e-02 -1.42696342e-03 9.99856422e-01 2.17400582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.790714057 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:300.37, Y:280.45, Z:2.18 [[-9.60014052e-01 2.79458888e-01 1.66056967e-02 3.00368476e+02] [-2.79442014e-01 -9.60156638e-01 3.37510249e-03 2.80450697e+02] [ 1.68872723e-02 -1.40018353e-03 9.99856419e-01 2.17617552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8207140569999 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:300.39, Y:280.45, Z:2.18 [[-9.60726733e-01 2.76999227e-01 1.66003953e-02 3.00385243e+02] [-2.76981567e-01 -9.60869218e-01 3.39959312e-03 2.80453960e+02] [ 1.68924935e-02 -1.33192351e-03 9.99856425e-01 2.17676174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8507140569999 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:300.38, Y:280.45, Z:2.18 [[-9.60713341e-01 2.77044785e-01 1.66151825e-02 3.00379294e+02] [-2.77028306e-01 -9.60855983e-01 3.33131252e-03 2.80453088e+02] [ 1.68877203e-02 -1.40243949e-03 9.99856409e-01 2.17711928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.880714057 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:300.38, Y:280.46, Z:2.18 [[-9.61626506e-01 2.73858929e-01 1.66057244e-02 3.00384329e+02] [-2.73841228e-01 -9.61768991e-01 3.37489278e-03 2.80455272e+02] [ 1.68951153e-02 -1.30194560e-03 9.99856420e-01 2.17718843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.910714057 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:300.39, Y:280.46, Z:2.18 [[-9.62006102e-01 2.72521556e-01 1.66211005e-02 3.00386401e+02] [-2.72504874e-01 -9.62148729e-01 3.30408147e-03 2.80456613e+02] [ 1.68924041e-02 -1.35078435e-03 9.99856401e-01 2.17640314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9407140569999 meters Centerline goodness : 0.994251 Centerline is valid? [True, True] Translation: X:300.40, Y:280.46, Z:2.17 [[-9.62618152e-01 2.70351897e-01 1.66176359e-02 3.00396576e+02] [-2.70334619e-01 -9.62760703e-01 3.32001620e-03 2.80460433e+02] [ 1.68963795e-02 -1.29641441e-03 9.99856406e-01 2.17496991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9707140569999 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:300.40, Y:280.46, Z:2.17 [[-9.63039914e-01 2.68846441e-01 1.66047071e-02 3.00404611e+02] [-2.68827920e-01 -9.63182293e-01 3.37941156e-03 2.80463191e+02] [ 1.69019027e-02 -1.20930067e-03 9.99856421e-01 2.17390196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.000714057 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:300.41, Y:280.47, Z:2.17 [[-9.64906038e-01 2.62070017e-01 1.66025228e-02 3.00414153e+02] [-2.62050324e-01 -9.65048258e-01 3.38943890e-03 2.80467133e+02] [ 1.69105060e-02 -1.08020641e-03 9.99856424e-01 2.16997698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.030714057 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:300.38, Y:280.46, Z:2.17 [[-9.65170467e-01 2.61089464e-01 1.66811541e-02 3.00378508e+02] [-2.61075836e-01 -9.65313545e-01 3.02788552e-03 2.80460310e+02] [ 1.68930930e-02 -1.43262057e-03 9.99856275e-01 2.16977563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0607140569999 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:300.43, Y:280.47, Z:2.17 [[-9.66499269e-01 2.56126601e-01 1.66831450e-02 3.00430355e+02] [-2.56112397e-01 -9.66642296e-01 3.01872773e-03 2.80472623e+02] [ 1.68998100e-02 -1.35516211e-03 9.99856270e-01 2.16799470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0907140569999 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:300.43, Y:280.47, Z:2.17 [[-9.66759847e-01 2.55141227e-01 1.66838882e-02 3.00434827e+02] [-2.55126935e-01 -9.66902867e-01 3.01530074e-03 2.80473372e+02] [ 1.69010268e-02 -1.34143757e-03 9.99856268e-01 2.16839641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.120714057 meters Centerline goodness : 0.995460 Centerline is valid? [True, True] Translation: X:300.43, Y:280.47, Z:2.17 [[-9.67473998e-01 2.52418966e-01 1.66951951e-02 3.00426322e+02] [-2.52405167e-01 -9.67617099e-01 2.96318220e-03 2.80472573e+02] [ 1.69025197e-02 -1.34715179e-03 9.99856235e-01 2.16750732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.150714057 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:300.40, Y:280.45, Z:2.17 [[-9.60528141e-01 2.77681037e-01 1.67012847e-02 3.00395365e+02] [-2.77671474e-01 -9.60671607e-01 2.93529428e-03 2.80454450e+02] [ 1.68595256e-02 -1.81803760e-03 9.99856215e-01 2.17369230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1807140569999 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:300.40, Y:280.45, Z:2.17 [[-9.60565234e-01 2.77562066e-01 1.65448126e-02 3.00395358e+02] [-2.77540267e-01 -9.60707089e-01 3.64545950e-03 2.80454369e+02] [ 1.69065600e-02 -1.09015004e-03 9.99856480e-01 2.17422703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2107140569999 meters Centerline goodness : 0.995120 Centerline is valid? [True, True] Translation: X:300.42, Y:280.47, Z:2.17 [[-9.63499150e-01 2.67199746e-01 1.65433868e-02 3.00418139e+02] [-2.67176309e-01 -9.63640744e-01 3.65191830e-03 2.80465828e+02] [ 1.69176732e-02 -9.01380852e-04 9.99856480e-01 2.17358171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2407140569999 meters Centerline goodness : 0.994763 Centerline is valid? [True, True] Translation: X:300.42, Y:280.47, Z:2.17 [[-9.63731370e-01 2.66356313e-01 1.66180799e-02 3.00419072e+02] [-2.66338573e-01 -9.63873847e-01 3.31243207e-03 2.80467781e+02] [ 1.69000198e-02 -1.23374098e-03 9.99856423e-01 2.17473444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.270714057 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:300.41, Y:280.46, Z:2.18 [[-9.62529035e-01 2.70668775e-01 1.66213991e-02 3.00412413e+02] [-2.70651932e-01 -9.62671626e-01 3.29736367e-03 2.80464868e+02] [ 1.68934427e-02 -1.32480551e-03 9.99856418e-01 2.17538312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3007140569999 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:300.41, Y:280.46, Z:2.18 [[-9.62148628e-01 2.72019150e-01 1.66012318e-02 3.00412161e+02] [-2.72000938e-01 -9.62291020e-01 3.38866839e-03 2.80464845e+02] [ 1.68969989e-02 -1.25514797e-03 9.99856448e-01 2.17607847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3307140569999 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:300.41, Y:280.46, Z:2.18 [[-9.61394989e-01 2.74671029e-01 1.65982170e-02 3.00410373e+02] [-2.74652976e-01 -9.61537398e-01 3.40229304e-03 2.80464642e+02] [ 1.68943177e-02 -1.28780221e-03 9.99856452e-01 2.17743370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3607140569999 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:300.42, Y:280.47, Z:2.18 [[-9.61222058e-01 2.75276021e-01 1.65911700e-02 3.00416322e+02] [-2.75257511e-01 -9.61364400e-01 3.43410695e-03 2.80466634e+02] [ 1.68954875e-02 -1.26590481e-03 9.99856460e-01 2.17637487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.390714057 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:300.42, Y:280.47, Z:2.18 [[-9.60689767e-01 2.77128081e-01 1.65890919e-02 3.00419206e+02] [-2.77109684e-01 -9.60832122e-01 3.44347450e-03 2.80466582e+02] [ 1.68936158e-02 -1.28888729e-03 9.99856462e-01 2.17592774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4207140569999 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:300.43, Y:280.47, Z:2.17 [[-9.61061577e-01 2.75836141e-01 1.65852117e-02 3.00434059e+02] [-2.75817252e-01 -9.61203862e-01 3.46094746e-03 2.80469820e+02] [ 1.68964240e-02 -1.24830390e-03 9.99856466e-01 2.17405471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4507140569999 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:300.44, Y:280.47, Z:2.17 [[-9.60634590e-01 2.77319184e-01 1.65907804e-02 3.00438744e+02] [-2.77300946e-01 -9.60776967e-01 3.43588365e-03 2.80471065e+02] [ 1.68928761e-02 -1.30001041e-03 9.99856460e-01 2.17253627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4807140569999 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:300.41, Y:280.46, Z:2.17 [[-9.59365701e-01 2.81677480e-01 1.65906490e-02 3.00408365e+02] [-2.81659878e-01 -9.59508157e-01 3.43647426e-03 2.80463595e+02] [ 1.68868405e-02 -1.37608465e-03 9.99856460e-01 2.17218150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.510714057 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:300.42, Y:280.46, Z:2.17 [[-9.56368887e-01 2.91691030e-01 1.65799510e-02 3.00418557e+02] [-2.91674093e-01 -9.56511413e-01 3.48441663e-03 2.80461199e+02] [ 1.68752854e-02 -1.50355451e-03 9.99856472e-01 2.17154576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.540714057 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:300.42, Y:280.46, Z:2.17 [[-9.55744739e-01 2.93732360e-01 1.65316258e-02 3.00422750e+02] [-2.93712013e-01 -9.55886793e-01 3.70031700e-03 2.80461581e+02] [ 1.68892657e-02 -1.31897859e-03 9.99856496e-01 2.17110639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5707140569999 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:300.43, Y:280.46, Z:2.17 [[-9.55630093e-01 2.94105217e-01 1.65301787e-02 3.00425336e+02] [-2.94084815e-01 -9.55772139e-01 3.70677065e-03 2.80462235e+02] [ 1.68892648e-02 -1.31897296e-03 9.99856496e-01 2.17106377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6007140569999 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:300.41, Y:280.46, Z:2.17 [[-9.57042024e-01 2.89477747e-01 1.65287302e-02 3.00410937e+02] [-2.89456547e-01 -9.57183953e-01 3.71321831e-03 2.80462568e+02] [ 1.68959294e-02 -1.23064319e-03 9.99856496e-01 2.16961287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.630714057 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:300.44, Y:280.47, Z:2.17 [[-9.56487707e-01 2.91301686e-01 1.65709016e-02 3.00442663e+02] [-2.91283987e-01 -9.56630133e-01 3.52532165e-03 2.80468503e+02] [ 1.68791559e-02 -1.45491146e-03 9.99856478e-01 2.17065555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.660714057 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:300.43, Y:280.46, Z:2.17 [[-9.54626241e-01 2.97344392e-01 1.65847227e-02 3.00432841e+02] [-2.97328655e-01 -9.54768911e-01 3.46374332e-03 2.80463953e+02] [ 1.68645023e-02 -1.62453303e-03 9.99856464e-01 2.17033112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6907140569999 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:300.43, Y:280.46, Z:2.17 [[-9.54188340e-01 2.98747609e-01 1.65673697e-02 3.00427174e+02] [-2.98730752e-01 -9.54330865e-01 3.54091563e-03 2.80462536e+02] [ 1.68685923e-02 -1.57048241e-03 9.99856482e-01 2.17066815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7207140569999 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:300.43, Y:280.46, Z:2.17 [[-9.53479850e-01 3.01001042e-01 1.65695004e-02 3.00429509e+02] [-3.00984685e-01 -9.53622435e-01 3.53144811e-03 2.80462957e+02] [ 1.68640168e-02 -1.62000123e-03 9.99856480e-01 2.16912977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.750714057 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:300.41, Y:280.46, Z:2.17 [[-9.51989692e-01 3.05681862e-01 1.65597795e-02 3.00405920e+02] [-3.05665463e-01 -9.52132264e-01 3.57452934e-03 2.80455574e+02] [ 1.68597691e-02 -1.65883758e-03 9.99856488e-01 2.17210158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.780714057 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:300.42, Y:280.46, Z:2.17 [[-9.52070053e-01 3.05431929e-01 1.65514422e-02 3.00420443e+02] [-3.05414857e-01 -9.52212541e-01 3.61142193e-03 2.80458560e+02] [ 1.68635344e-02 -1.61672968e-03 9.99856493e-01 2.17270468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8107140569999 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:300.40, Y:280.45, Z:2.18 [[-9.51670076e-01 3.06675540e-01 1.65584078e-02 3.00395580e+02] [-3.06659184e-01 -9.51812652e-01 3.58063828e-03 2.80451329e+02] [ 1.68585962e-02 -1.67020152e-03 9.99856489e-01 2.17541102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8407140569999 meters Centerline goodness : 0.995641 Centerline is valid? [True, True] Translation: X:300.43, Y:280.46, Z:2.17 [[-9.51051201e-01 3.08589311e-01 1.65605056e-02 3.00425321e+02] [-3.08573402e-01 -9.51193829e-01 3.57137362e-03 2.80456920e+02] [ 1.68543384e-02 -1.71357237e-03 9.99856487e-01 2.17456337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.870714057 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:300.42, Y:280.46, Z:2.18 [[-9.50989023e-01 3.08781271e-01 1.65531034e-02 3.00419787e+02] [-3.08764828e-01 -9.51131585e-01 3.60404110e-03 2.80455332e+02] [ 1.68570399e-02 -1.68361260e-03 9.99856493e-01 2.17726371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.900714057 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:300.42, Y:280.45, Z:2.18 [[-9.51141133e-01 3.08312121e-01 1.65583978e-02 3.00416400e+02] [-3.08296010e-01 -9.51283737e-01 3.58070674e-03 2.80454272e+02] [ 1.68557099e-02 -1.69913051e-03 9.99856489e-01 2.17512840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9307140569999 meters Centerline goodness : 0.995815 Centerline is valid? [True, True] Translation: X:300.45, Y:280.46, Z:2.17 [[-9.51908173e-01 3.05935517e-01 1.65617081e-02 3.00447981e+02] [-3.05919301e-01 -9.52050768e-01 3.56611880e-03 2.80461884e+02] [ 1.68585893e-02 -1.67192852e-03 9.99856486e-01 2.17185174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9607140569999 meters Centerline goodness : 0.996048 Centerline is valid? [True, True] Translation: X:300.43, Y:280.46, Z:2.18 [[-9.50701445e-01 3.09664405e-01 1.65746145e-02 3.00432156e+02] [-3.09649730e-01 -9.50844220e-01 3.50924552e-03 2.80455357e+02] [ 1.68465648e-02 -1.79608012e-03 9.99856473e-01 2.17574186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9907140569999 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:300.43, Y:280.45, Z:2.17 [[-9.51086555e-01 3.08480781e-01 1.65520975e-02 3.00429391e+02] [-3.08464221e-01 -9.51229102e-01 3.60821340e-03 2.80454221e+02] [ 1.68579013e-02 -1.67400660e-03 9.99856494e-01 2.17287906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.020714057 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:300.44, Y:280.45, Z:2.17 [[-9.51200789e-01 3.08128052e-01 1.65578320e-02 3.00437667e+02] [-3.08111873e-01 -9.51343385e-01 3.58303459e-03 2.80454143e+02] [ 1.68562174e-02 -1.69347929e-03 9.99856490e-01 2.17317505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0507140569999 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:300.46, Y:280.46, Z:2.17 [[-9.51719740e-01 3.06521437e-01 1.65573337e-02 3.00458448e+02] [-3.06504979e-01 -9.51862303e-01 3.58522018e-03 2.80457751e+02] [ 1.68592487e-02 -1.66278041e-03 9.99856490e-01 2.17242017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0807140569999 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:300.46, Y:280.46, Z:2.17 [[-9.52082543e-01 3.05392540e-01 1.65598086e-02 3.00462453e+02] [-3.05376101e-01 -9.52225111e-01 3.57436597e-03 2.80458073e+02] [ 1.68602503e-02 -1.65387834e-03 9.99856488e-01 2.17163413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1107140569999 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:300.45, Y:280.45, Z:2.17 [[-9.52268605e-01 3.04811587e-01 1.65650179e-02 3.00449655e+02] [-3.04795454e-01 -9.52411213e-01 3.55155157e-03 2.80452771e+02] [ 1.68592628e-02 -1.66691107e-03 9.99856483e-01 2.17145106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.140714057 meters Centerline goodness : 0.995823 Centerline is valid? [True, True] Translation: X:300.47, Y:280.45, Z:2.17 [[-9.52510727e-01 3.04054706e-01 1.65544660e-02 3.00466034e+02] [-3.04037664e-01 -9.52653219e-01 3.59767350e-03 2.80454114e+02] [ 1.68645549e-02 -1.60635857e-03 9.99856493e-01 2.17376910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1707140569999 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:300.46, Y:280.45, Z:2.17 [[-9.53366983e-01 3.01359040e-01 1.65567387e-02 3.00463424e+02] [-3.01341766e-01 -9.53509448e-01 3.58774394e-03 2.80449997e+02] [ 1.68682059e-02 -1.56880027e-03 9.99856491e-01 2.17454311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2007140569999 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:300.47, Y:280.45, Z:2.17 [[-9.53578006e-01 3.00690595e-01 1.65575432e-02 3.00473220e+02] [-3.00673282e-01 -9.53720468e-01 3.58423055e-03 2.80450133e+02] [ 1.68690123e-02 -1.56056745e-03 9.99856490e-01 2.17464470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2307140569999 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:300.47, Y:280.45, Z:2.18 [[-9.53938444e-01 2.99545545e-01 1.65502476e-02 3.00471980e+02] [-2.99527513e-01 -9.54080811e-01 3.61605970e-03 2.80447713e+02] [ 1.68734482e-02 -1.50775615e-03 9.99856496e-01 2.17574155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.260714057 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:300.49, Y:280.45, Z:2.17 [[-9.54084167e-01 2.99080909e-01 1.65533397e-02 3.00490508e+02] [-2.99063039e-01 -9.54226556e-01 3.60257619e-03 2.80447684e+02] [ 1.68730981e-02 -1.51333118e-03 9.99856494e-01 2.17439150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.290714057 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:300.49, Y:280.45, Z:2.17 [[-9.54327523e-01 2.98304009e-01 1.65438119e-02 3.00491077e+02] [-2.98285310e-01 -9.54469798e-01 3.64405106e-03 2.80445958e+02] [ 1.68776039e-02 -1.45715785e-03 9.99856501e-01 2.17442290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3207140569999 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:300.49, Y:280.44, Z:2.17 [[-9.54605226e-01 2.97413893e-01 1.65480945e-02 3.00492248e+02] [-2.97395382e-01 -9.54747529e-01 3.62542613e-03 2.80443269e+02] [ 1.68775044e-02 -1.46047615e-03 9.99856498e-01 2.17408545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3507140569999 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:300.49, Y:280.44, Z:2.17 [[-9.54412406e-01 2.98031937e-01 1.65506281e-02 3.00494175e+02] [-2.98013708e-01 -9.54554748e-01 3.61441516e-03 2.80442416e+02] [ 1.68756918e-02 -1.48267138e-03 9.99856496e-01 2.17462302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.380714057 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:300.51, Y:280.44, Z:2.17 [[-9.54339378e-01 2.98265498e-01 1.65542714e-02 3.00505355e+02] [-2.98247576e-01 -9.54481762e-01 3.59859061e-03 2.80443902e+02] [ 1.68740855e-02 -1.50299458e-03 9.99856493e-01 2.17373383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.410714057 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:300.51, Y:280.44, Z:2.17 [[-9.53910500e-01 2.99634079e-01 1.65582914e-02 3.00511409e+02] [-2.99616662e-01 -9.54052950e-01 3.58113729e-03 2.80443562e+02] [ 1.68705176e-02 -1.54505554e-03 9.99856489e-01 2.17178893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4407140569999 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:300.51, Y:280.44, Z:2.17 [[-9.53960254e-01 2.99475899e-01 1.65535500e-02 3.00512916e+02] [-2.99458104e-01 -9.54102653e-01 3.60169720e-03 2.80442945e+02] [ 1.68724075e-02 -1.52121871e-03 9.99856494e-01 2.17013363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4707140569999 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:300.52, Y:280.44, Z:2.17 [[-9.54092684e-01 2.99053760e-01 1.65529401e-02 3.00516116e+02] [-2.99035856e-01 -9.54235068e-01 3.60433818e-03 2.80442837e+02] [ 1.68732868e-02 -1.51104991e-03 9.99856494e-01 2.17165906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.500714057 meters Centerline goodness : 0.995888 Centerline is valid? [True, True] Translation: X:300.49, Y:280.43, Z:2.17 [[-9.51405119e-01 3.07496235e-01 1.65639891e-02 3.00493913e+02] [-3.07480418e-01 -9.51547762e-01 3.55657285e-03 2.80433446e+02] [ 1.68550595e-02 -1.70936068e-03 9.99856482e-01 2.17037308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.530714057 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:300.54, Y:280.45, Z:2.17 [[-9.55001776e-01 2.96140772e-01 1.65000188e-02 3.00542250e+02] [-2.96118518e-01 -9.55143518e-01 3.83202088e-03 2.80447862e+02] [ 1.68947036e-02 -1.22637437e-03 9.99856522e-01 2.17060751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5607140569999 meters Centerline goodness : 0.996189 Centerline is valid? [True, True] Translation: X:300.50, Y:280.43, Z:2.17 [[-9.51885283e-01 3.06006670e-01 1.65627933e-02 3.00500120e+02] [-3.05990549e-01 -9.52027889e-01 3.56122071e-03 2.80433231e+02] [ 1.68579985e-02 -1.67818464e-03 9.99856486e-01 2.17092097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5907140569999 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:300.53, Y:280.44, Z:2.17 [[-9.54660650e-01 2.97238720e-01 1.64980605e-02 3.00529910e+02] [-2.97216502e-01 -9.54802393e-01 3.83938440e-03 2.80442616e+02] [ 1.68936014e-02 -1.23818663e-03 9.99856526e-01 2.17206563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.620714057 meters Centerline goodness : 0.995266 Centerline is valid? [True, True] Translation: X:300.53, Y:280.44, Z:2.17 [[-9.54909142e-01 2.96436638e-01 1.65484419e-02 3.00534727e+02] [-2.96418031e-01 -9.55051427e-01 3.62251824e-03 2.80443415e+02] [ 1.68784602e-02 -1.44608078e-03 9.99856503e-01 2.17313569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.650714057 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:300.51, Y:280.44, Z:2.17 [[-9.54822212e-01 2.96716004e-01 1.65576790e-02 3.00511422e+02] [-2.96698123e-01 -9.54964600e-01 3.58278768e-03 2.80437705e+02] [ 1.68750678e-02 -1.49170702e-03 9.99856493e-01 2.17355312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6807140569999 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:300.48, Y:280.43, Z:2.17 [[-9.54574663e-01 2.97511972e-01 1.65480635e-02 3.00479020e+02] [-2.97493499e-01 -9.54716966e-01 3.62403481e-03 2.80430005e+02] [ 1.68769108e-02 -1.46352951e-03 9.99856504e-01 2.17309991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7107140569999 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:300.51, Y:280.43, Z:2.17 [[-9.52514541e-01 3.04043754e-01 1.65361797e-02 3.00510327e+02] [-3.04025380e-01 -9.52656845e-01 3.67490535e-03 2.80434320e+02] [ 1.68706368e-02 -1.52701754e-03 9.99856515e-01 2.17242759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7407140569999 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:300.50, Y:280.43, Z:2.17 [[-9.52088611e-01 3.05377322e-01 1.64914346e-02 3.00503968e+02] [-3.05355860e-01 -9.52230463e-01 3.86578937e-03 2.80434129e+02] [ 1.68841708e-02 -1.35518215e-03 9.99856534e-01 2.17235525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.770714057 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:300.49, Y:280.43, Z:2.17 [[-9.53791565e-01 3.00016222e-01 1.64899171e-02 3.00488517e+02] [-2.99993851e-01 -9.53933276e-01 3.87225139e-03 2.80434959e+02] [ 1.68920189e-02 -1.25355303e-03 9.99856534e-01 2.17310540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8007140569999 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:300.53, Y:280.45, Z:2.17 [[-9.53653763e-01 3.00451216e-01 1.65398986e-02 3.00527239e+02] [-3.00432578e-01 -9.53796036e-01 3.65905242e-03 2.80445644e+02] [ 1.68750565e-02 -1.47965526e-03 9.99856511e-01 2.17280337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8307140569999 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:300.52, Y:280.45, Z:2.17 [[-9.52808229e-01 3.03121813e-01 1.65422052e-02 3.00522775e+02] [-3.03103744e-01 -9.52950578e-01 3.64921144e-03 2.80447291e+02] [ 1.68700596e-02 -1.53700563e-03 9.99856509e-01 2.17321332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8607140569999 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:300.51, Y:280.45, Z:2.17 [[-9.51810520e-01 3.06240391e-01 1.65395454e-02 3.00514369e+02] [-3.06222592e-01 -9.51952900e-01 3.66053670e-03 2.80448502e+02] [ 1.68658724e-02 -1.58064514e-03 9.99856512e-01 2.17324870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.890714057 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:300.54, Y:280.46, Z:2.17 [[-9.51839864e-01 3.06149458e-01 1.65342854e-02 3.00539303e+02] [-3.06131259e-01 -9.51982189e-01 3.68291406e-03 2.80457247e+02] [ 1.68678674e-02 -1.55611720e-03 9.99856516e-01 2.17358362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9207140569999 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:300.51, Y:280.45, Z:2.17 [[-9.51068107e-01 3.08538169e-01 1.65425019e-02 3.00512219e+02] [-3.08520931e-01 -9.51210559e-01 3.64801053e-03 2.80452867e+02] [ 1.68609529e-02 -1.63420161e-03 9.99856509e-01 2.17351154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9507140569999 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:300.52, Y:280.46, Z:2.17 [[-9.50713477e-01 3.09629929e-01 1.65285346e-02 3.00523608e+02] [-3.09611833e-01 -9.50855809e-01 3.70722700e-03 2.80459415e+02] [ 1.68641216e-02 -1.59291921e-03 9.99856522e-01 2.17252126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9807140569999 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:300.53, Y:280.46, Z:2.17 [[-9.50670600e-01 3.09761667e-01 1.65263431e-02 3.00526348e+02] [-3.09743430e-01 -9.50812913e-01 3.71650585e-03 2.80462280e+02] [ 1.68646915e-02 -1.58575338e-03 9.99856524e-01 2.17439272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.010714057 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:300.52, Y:280.46, Z:2.17 [[-9.50399358e-01 3.10592359e-01 1.65362462e-02 3.00517156e+02] [-3.10574970e-01 -9.50541785e-01 3.67458494e-03 2.80464049e+02] [ 1.68596910e-02 -1.64342099e-03 9.99856515e-01 2.17407425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.040714057 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:300.54, Y:280.47, Z:2.17 [[-9.50553059e-01 3.10121583e-01 1.65374169e-02 3.00540585e+02] [-3.10104208e-01 -9.50695490e-01 3.66963050e-03 2.80472495e+02] [ 1.68600793e-02 -1.64014408e-03 9.99856514e-01 2.17248288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0707140569999 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:300.52, Y:280.47, Z:2.17 [[-9.50141948e-01 3.11380033e-01 1.65152538e-02 3.00522549e+02] [-3.11361232e-01 -9.50284179e-01 3.76324129e-03 2.80469771e+02] [ 1.68659826e-02 -1.56659635e-03 9.99856532e-01 2.17294870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1007140569999 meters Centerline goodness : 0.995127 Centerline is valid? [True, True] Translation: X:300.49, Y:280.47, Z:2.17 [[-9.50089429e-01 3.11539286e-01 1.65333199e-02 3.00494575e+02] [-3.11521824e-01 -9.50231845e-01 3.68701778e-03 2.80465792e+02] [ 1.68591379e-02 -1.64749335e-03 9.99856517e-01 2.17371637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.130714057 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:300.51, Y:280.47, Z:2.17 [[-9.49827139e-01 3.12337652e-01 1.65407821e-02 3.00507184e+02] [-3.12320852e-01 -9.49969643e-01 3.65558942e-03 2.80473355e+02] [ 1.68550191e-02 -1.69385311e-03 9.99856509e-01 2.17315601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.160714057 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:300.54, Y:280.48, Z:2.17 [[-9.50118588e-01 3.11449904e-01 1.65416318e-02 3.00536601e+02] [-3.11433033e-01 -9.50261085e-01 3.65201173e-03 2.80484870e+02] [ 1.68562876e-02 -1.68176632e-03 9.99856508e-01 2.17222257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1907140569999 meters Centerline goodness : 0.995479 Centerline is valid? [True, True] Translation: X:300.54, Y:280.49, Z:2.17 [[-9.50281734e-01 3.10951629e-01 1.65441853e-02 3.00541281e+02] [-3.10934868e-01 -9.50424247e-01 3.64125386e-03 2.80488163e+02] [ 1.68562487e-02 -1.68394704e-03 9.99856505e-01 2.17263594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2207140569999 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:300.53, Y:280.49, Z:2.17 [[-9.50151162e-01 3.11350140e-01 1.65487355e-02 3.00525888e+02] [-3.11333770e-01 -9.50293725e-01 3.62211104e-03 2.80487167e+02] [ 1.68539042e-02 -1.71062719e-03 9.99856500e-01 2.17276211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.250714057 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:300.54, Y:280.50, Z:2.17 [[-9.50856327e-01 3.09190385e-01 1.65393999e-02 3.00538905e+02] [-3.09173015e-01 -9.50998760e-01 3.66130464e-03 2.80496023e+02] [ 1.68609890e-02 -1.63216146e-03 9.99856511e-01 2.17317570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.280714057 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:300.53, Y:280.50, Z:2.17 [[-9.50765917e-01 3.09467439e-01 1.65552433e-02 3.00528000e+02] [-3.09451257e-01 -9.50908511e-01 3.59482495e-03 2.80495829e+02] [ 1.68550031e-02 -1.70520383e-03 9.99856490e-01 2.17238527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3107140569999 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:300.54, Y:280.50, Z:2.17 [[-9.51158037e-01 3.08260855e-01 1.65418797e-02 3.00537694e+02] [-3.08243526e-01 -9.51300478e-01 3.65080213e-03 2.80503607e+02] [ 1.68616975e-02 -1.62643755e-03 9.99856509e-01 2.17213177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3407140569999 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:300.54, Y:280.50, Z:2.17 [[-9.50722411e-01 3.09601658e-01 1.65442362e-02 3.00535514e+02] [-3.09584700e-01 -9.50864899e-01 3.64093521e-03 2.80504783e+02] [ 1.68585731e-02 -1.66032371e-03 9.99856506e-01 2.17145606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.370714057 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:300.53, Y:280.51, Z:2.17 [[-9.50647839e-01 3.09831035e-01 1.65352913e-02 3.00525263e+02] [-3.09813467e-01 -9.50790243e-01 3.67833668e-03 2.80505325e+02] [ 1.68612565e-02 -1.62605311e-03 9.99856517e-01 2.17207382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.400714057 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:300.52, Y:280.51, Z:2.17 [[-9.49891545e-01 3.12141606e-01 1.65429874e-02 3.00524558e+02] [-3.12124938e-01 -9.50034067e-01 3.64621217e-03 2.80509922e+02] [ 1.68545361e-02 -1.69997280e-03 9.99856507e-01 2.16894942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4307140569999 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:300.54, Y:280.52, Z:2.17 [[-9.50139082e-01 3.11388012e-01 1.65297133e-02 3.00539984e+02] [-3.11370277e-01 -9.50281458e-01 3.70155437e-03 2.80517354e+02] [ 1.68604998e-02 -1.62986995e-03 9.99856523e-01 2.16866845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4607140569999 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:300.54, Y:280.52, Z:2.17 [[-9.49312334e-01 3.13899142e-01 1.65354714e-02 3.00537568e+02] [-3.13882197e-01 -9.49454813e-01 3.67756019e-03 2.80521390e+02] [ 1.68540659e-02 -1.69903685e-03 9.99856517e-01 2.16796254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4907140569999 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:300.54, Y:280.52, Z:2.17 [[-9.49198886e-01 3.14242222e-01 1.65317897e-02 3.00540124e+02] [-3.14225064e-01 -9.49341336e-01 3.69287889e-03 2.80522082e+02] [ 1.68547698e-02 -1.68942614e-03 9.99856521e-01 2.16792338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.520714057 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:300.54, Y:280.52, Z:2.17 [[-9.48470528e-01 3.16433899e-01 1.65301410e-02 3.00537466e+02] [-3.16416952e-01 -9.48613000e-01 3.69972608e-03 2.80523391e+02] [ 1.68514254e-02 -1.72133569e-03 9.99856523e-01 2.16699850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5507140569999 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:300.54, Y:280.53, Z:2.17 [[-9.48529201e-01 3.16258673e-01 1.65168435e-02 3.00537273e+02] [-3.16240747e-01 -9.48671540e-01 3.75486413e-03 2.80528339e+02] [ 1.68565677e-02 -1.66170067e-03 9.99856537e-01 2.16691394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5807140569999 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:300.54, Y:280.53, Z:2.17 [[-9.47836520e-01 3.18328347e-01 1.65225867e-02 3.00540498e+02] [-3.18311143e-01 -9.47978953e-01 3.73107221e-03 2.80530414e+02] [ 1.68507705e-02 -1.72287696e-03 9.99856531e-01 2.16727990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6107140569999 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:300.55, Y:280.54, Z:2.17 [[-9.48429434e-01 3.16557803e-01 1.65156032e-02 3.00545895e+02] [-3.16539835e-01 -9.48571766e-01 3.75997588e-03 2.80536211e+02] [ 1.68564846e-02 -1.66177451e-03 9.99856538e-01 2.16752281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.640714057 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:300.55, Y:280.54, Z:2.17 [[-9.48642543e-01 3.15918149e-01 1.65242028e-02 3.00547584e+02] [-3.15900699e-01 -9.48784948e-01 3.72438355e-03 2.80538577e+02] [ 1.68545153e-02 -1.68689854e-03 9.99856530e-01 2.16830114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6707140569999 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:300.55, Y:280.54, Z:2.17 [[-9.48840011e-01 3.15324335e-01 1.65286624e-02 3.00548804e+02] [-3.15307114e-01 -9.48982450e-01 3.70594097e-03 2.80540671e+02] [ 1.68539839e-02 -1.69525976e-03 9.99856524e-01 2.16841764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7007140569999 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:300.55, Y:280.55, Z:2.17 [[-9.49361821e-01 3.13749832e-01 1.65280124e-02 3.00554726e+02] [-3.13732329e-01 -9.49504224e-01 3.70862496e-03 2.80545287e+02] [ 1.68569981e-02 -1.66454488e-03 9.99856525e-01 2.17080496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7307140569999 meters Centerline goodness : 0.993909 Centerline is valid? [True, True] Translation: X:300.54, Y:280.54, Z:2.17 [[-9.49503908e-01 3.13320941e-01 1.65020317e-02 3.00541846e+02] [-3.13301525e-01 -9.49646037e-01 3.81570749e-03 2.80542188e+02] [ 1.68666301e-02 -1.54708253e-03 9.99856551e-01 2.16839934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.760714057 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:300.56, Y:280.55, Z:2.17 [[-9.50472237e-01 3.10370525e-01 1.65125384e-02 3.00556864e+02] [-3.10351414e-01 -9.50614416e-01 3.77241914e-03 2.80548005e+02] [ 1.68679048e-02 -1.53911000e-03 9.99856542e-01 2.17127820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.790714057 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:300.56, Y:280.55, Z:2.17 [[-9.51226605e-01 3.08051940e-01 1.64908758e-02 3.00556509e+02] [-3.08030948e-01 -9.51368501e-01 3.86149943e-03 2.80548725e+02] [ 1.68784422e-02 -1.40653913e-03 9.99856560e-01 2.16787424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8207140569999 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:300.57, Y:280.55, Z:2.17 [[-9.53287623e-01 3.01612286e-01 1.65147723e-02 3.00568488e+02] [-3.01592027e-01 -9.53429645e-01 3.76321756e-03 2.80553775e+02] [ 1.68807061e-02 -1.39329493e-03 9.99856540e-01 2.16824625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8507140569999 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:300.56, Y:280.55, Z:2.17 [[-9.50664520e-01 3.09780186e-01 1.65289591e-02 3.00563753e+02] [-3.09762152e-01 -9.50806859e-01 3.70491039e-03 2.80546519e+02] [ 1.68635555e-02 -1.59791908e-03 9.99856523e-01 2.16699842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.880714057 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:300.59, Y:280.56, Z:2.17 [[-9.56076254e-01 2.92655981e-01 1.64521862e-02 3.00593719e+02] [-2.92629995e-01 -9.56217304e-01 4.01917791e-03 2.80560351e+02] [ 1.69081016e-02 -9.71762605e-04 9.99856576e-01 2.16595675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.910714057 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:300.57, Y:280.55, Z:2.17 [[-9.53142323e-01 3.02068993e-01 1.65540067e-02 3.00574304e+02] [-3.02051602e-01 -9.53284776e-01 3.60072863e-03 2.80548286e+02] [ 1.68683510e-02 -1.56815738e-03 9.99856490e-01 2.16889153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9407140569999 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:300.60, Y:280.56, Z:2.17 [[-9.58109585e-01 2.85929018e-01 1.64505145e-02 3.00595983e+02] [-2.85901961e-01 -9.58250425e-01 4.02383879e-03 2.80560343e+02] [ 1.69142448e-02 -8.47955835e-04 9.99856584e-01 2.16833115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9707140569999 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:300.60, Y:280.56, Z:2.17 [[-9.58967608e-01 2.83032163e-01 1.65505955e-02 3.00595389e+02] [-2.83011729e-01 -9.59109643e-01 3.61298518e-03 2.80559278e+02] [ 1.68964268e-02 -1.21927689e-03 9.99856502e-01 2.17043801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.000714057 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:300.58, Y:280.55, Z:2.17 [[-9.56219527e-01 2.92182963e-01 1.65327826e-02 3.00584222e+02] [-2.92162631e-01 -9.56361549e-01 3.68591637e-03 2.80549262e+02] [ 1.68882795e-02 -1.30571605e-03 9.99856530e-01 2.16947794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.030714057 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:300.60, Y:280.56, Z:2.17 [[-9.60384855e-01 2.78191332e-01 1.64472673e-02 3.00596541e+02] [-2.78162957e-01 -9.60525425e-01 4.03453459e-03 2.80558476e+02] [ 1.69203909e-02 -7.00314569e-04 9.99856595e-01 2.17091940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0607140569999 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:300.23, Y:280.46, Z:2.18 [[-9.58416284e-01 2.84895825e-01 1.65104833e-02 3.00233437e+02] [-2.84872808e-01 -9.58557875e-01 3.77935233e-03 2.80464088e+02] [ 1.69029755e-02 -1.08119493e-03 9.99856550e-01 2.17564434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0907140569999 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:300.59, Y:280.55, Z:2.17 [[-9.57326804e-01 2.88537347e-01 1.64800052e-02 3.00590547e+02] [-2.88512761e-01 -9.57468099e-01 3.90206385e-03 2.80549276e+02] [ 1.69049704e-02 -1.01914150e-03 9.99856581e-01 2.17060922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.120714057 meters Centerline goodness : 0.994407 Centerline is valid? [True, True] Translation: X:300.24, Y:280.46, Z:2.18 [[-9.58910592e-01 2.83232031e-01 1.64345214e-02 3.00238884e+02] [-2.83203529e-01 -9.59051132e-01 4.08505045e-03 2.80464468e+02] [ 1.69185635e-02 -7.37116325e-04 9.99856599e-01 2.17637444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.150714057 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:300.23, Y:280.46, Z:2.18 [[-9.59244322e-01 2.82097930e-01 1.64647901e-02 3.00228585e+02] [-2.82071332e-01 -9.59385246e-01 3.96414097e-03 2.80462780e+02] [ 1.69143526e-02 -8.41665543e-04 9.99856588e-01 2.17676799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1807140569999 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:300.59, Y:280.55, Z:2.17 [[-9.57716091e-01 2.87242313e-01 1.64846160e-02 3.00594518e+02] [-2.87217840e-01 -9.57857413e-01 3.88435003e-03 2.80549889e+02] [ 1.69056614e-02 -1.01457129e-03 9.99856574e-01 2.17152620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2107140569999 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:300.61, Y:280.56, Z:2.17 [[-9.61280594e-01 2.75080933e-01 1.64347012e-02 3.00609839e+02] [-2.75051238e-01 -9.61420890e-01 4.08516029e-03 2.80560773e+02] [ 1.69244147e-02 -5.93399579e-04 9.99856596e-01 2.17216579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2407140569999 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:300.60, Y:280.55, Z:2.17 [[-9.57368336e-01 2.88396900e-01 1.65256477e-02 3.00598623e+02] [-2.88375447e-01 -9.57510196e-01 3.71848653e-03 2.80550601e+02] [ 1.68958762e-02 -1.20562978e-03 9.99856528e-01 2.17117251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.270714057 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:300.61, Y:280.56, Z:2.17 [[-9.59975929e-01 2.79600095e-01 1.64317896e-02 3.00612817e+02] [-2.79570890e-01 -9.60116320e-01 4.09510188e-03 2.80559730e+02] [ 1.69214203e-02 -6.62650810e-04 9.99856603e-01 2.17164208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3007140569999 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:300.62, Y:280.56, Z:2.17 [[-9.59849331e-01 2.80029845e-01 1.65090171e-02 3.00617378e+02] [-2.80006025e-01 -9.59990784e-01 3.78425497e-03 2.80560697e+02] [ 1.69082086e-02 -9.90309642e-04 9.99856556e-01 2.17120169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3307140569999 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:300.62, Y:280.56, Z:2.17 [[-9.59383016e-01 2.81623246e-01 1.65098756e-02 3.00621343e+02] [-2.81599720e-01 -9.59524519e-01 3.78080048e-03 2.80562116e+02] [ 1.69063917e-02 -1.02194058e-03 9.99856555e-01 2.17135216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3607140569999 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:300.62, Y:280.56, Z:2.17 [[-9.58887680e-01 2.83305302e-01 1.65082722e-02 3.00618892e+02] [-2.83281914e-01 -9.59029204e-01 3.78724136e-03 2.80561045e+02] [ 1.69048607e-02 -1.04495586e-03 9.99856557e-01 2.17168896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.390714057 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:300.62, Y:280.56, Z:2.17 [[-9.59331188e-01 2.81800407e-01 1.64985627e-02 3.00623983e+02] [-2.81776129e-01 -9.59472550e-01 3.82617458e-03 2.80563013e+02] [ 1.69081356e-02 -9.78332524e-04 9.99856569e-01 2.17283804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4207140569999 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:300.63, Y:280.56, Z:2.17 [[-9.58559262e-01 2.84414200e-01 1.65137482e-02 3.00626303e+02] [-2.84391353e-01 -9.58700882e-01 3.76529828e-03 2.80562684e+02] [ 1.69026492e-02 -1.08710564e-03 9.99856549e-01 2.17305073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4507140569999 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:300.63, Y:280.56, Z:2.17 [[-9.58494438e-01 2.84633239e-01 1.65024708e-02 3.00630076e+02] [-2.84609649e-01 -9.58635921e-01 3.81043349e-03 2.80564012e+02] [ 1.69044374e-02 -1.04448313e-03 9.99856564e-01 2.17337661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4807140569999 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:300.63, Y:280.57, Z:2.17 [[-9.59330696e-01 2.81801686e-01 1.65053042e-02 3.00634879e+02] [-2.81777872e-01 -9.59472145e-01 3.79909627e-03 2.80568039e+02] [ 1.69069713e-02 -1.00623983e-03 9.99856561e-01 2.17328807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.510714057 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:300.63, Y:280.57, Z:2.17 [[-9.59309123e-01 2.81873830e-01 1.65272488e-02 3.00629166e+02] [-2.81851536e-01 -9.59450852e-01 3.71126949e-03 2.80567507e+02] [ 1.69031927e-02 -1.09797578e-03 9.99856528e-01 2.17146522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.540714057 meters Centerline goodness : 0.994192 Centerline is valid? [True, True] Translation: X:300.63, Y:280.57, Z:2.17 [[-9.58514431e-01 2.84563849e-01 1.65378704e-02 3.00628880e+02] [-2.84542683e-01 -9.58656352e-01 3.66878066e-03 2.80567020e+02] [ 1.68981368e-02 -1.18915079e-03 9.99856509e-01 2.17202876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5707140569999 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:300.63, Y:280.57, Z:2.17 [[-9.58575617e-01 2.84357880e-01 1.65342664e-02 3.00631341e+02] [-2.84336436e-01 -9.58717490e-01 3.68317780e-03 2.80567851e+02] [ 1.68990310e-02 -1.17068993e-03 9.99856516e-01 2.17079025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6007140569999 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:300.62, Y:280.57, Z:2.17 [[-9.58030136e-01 2.86190084e-01 1.65376454e-02 3.00624080e+02] [-2.86169143e-01 -9.58172091e-01 3.66969469e-03 2.80565178e+02] [ 1.68961405e-02 -1.21688571e-03 9.99856510e-01 2.17249795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.630714057 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:300.63, Y:280.57, Z:2.17 [[-9.58763922e-01 2.83723111e-01 1.65208530e-02 3.00634833e+02] [-2.83700654e-01 -9.58905614e-01 3.73662180e-03 2.80568130e+02] [ 1.69021047e-02 -1.10443863e-03 9.99856539e-01 2.16969108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.660714057 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:300.64, Y:280.57, Z:2.17 [[-9.57908405e-01 2.86597509e-01 1.65334861e-02 3.00638342e+02] [-2.86576344e-01 -9.58050317e-01 3.68624981e-03 2.80567197e+02] [ 1.68963816e-02 -1.20701631e-03 9.99856517e-01 2.17275928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6907140569999 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:300.64, Y:280.57, Z:2.17 [[-9.58087767e-01 2.85998121e-01 1.65198759e-02 3.00639009e+02] [-2.85975935e-01 -9.58229500e-01 3.74043125e-03 2.80566872e+02] [ 1.68995888e-02 -1.14062555e-03 9.99856541e-01 2.17216513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7207140569999 meters Centerline goodness : 0.993369 Centerline is valid? [True, True] Translation: X:300.64, Y:280.57, Z:2.17 [[-9.57870129e-01 2.86726792e-01 1.65095106e-02 3.00635218e+02] [-2.86704006e-01 -9.58011750e-01 3.78160870e-03 2.80565029e+02] [ 1.69005937e-02 -1.11105282e-03 9.99856557e-01 2.17248236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.750714057 meters Centerline goodness : 0.994008 Centerline is valid? [True, True] Translation: X:300.65, Y:280.57, Z:2.17 [[-9.58047025e-01 2.86135544e-01 1.65029615e-02 3.00647152e+02] [-2.86112224e-01 -9.58188550e-01 3.80760486e-03 2.80567523e+02] [ 1.69024398e-02 -1.07383451e-03 9.99856567e-01 2.17245019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.780714057 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:300.63, Y:280.56, Z:2.17 [[-9.53931061e-01 2.99571336e-01 1.65089303e-02 3.00633353e+02] [-2.99550415e-01 -9.54072969e-01 3.78395723e-03 2.80555711e+02] [ 1.68842893e-02 -1.33562258e-03 9.99856558e-01 2.17156798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8107140569999 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:300.63, Y:280.56, Z:2.17 [[-9.59013403e-01 2.82884960e-01 1.64131680e-02 3.00632396e+02] [-2.82855097e-01 -9.59153624e-01 4.16164087e-03 2.80563582e+02] [ 1.69200152e-02 -6.51478864e-04 9.99856634e-01 2.16988622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8407140569999 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:300.64, Y:280.56, Z:2.17 [[-9.58410401e-01 2.84913942e-01 1.65393218e-02 3.00641429e+02] [-2.84892954e-01 -9.58552345e-01 3.66141646e-03 2.80563824e+02] [ 1.68969943e-02 -1.20279663e-03 9.99856512e-01 2.17108209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.870714057 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:300.64, Y:280.56, Z:2.17 [[-9.59077226e-01 2.82662838e-01 1.65104289e-02 3.00642348e+02] [-2.82639551e-01 -9.59218759e-01 3.77582113e-03 2.80564333e+02] [ 1.69043974e-02 -1.04519615e-03 9.99856564e-01 2.16962372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.900714057 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:300.65, Y:280.56, Z:2.17 [[-9.59182041e-01 2.82305836e-01 1.65295830e-02 3.00651325e+02] [-2.82283798e-01 -9.59323807e-01 3.70000338e-03 2.80564661e+02] [ 1.69017551e-02 -1.11705669e-03 9.99856531e-01 2.17009422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9307140569999 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:300.65, Y:280.56, Z:2.17 [[-9.59255680e-01 2.82056429e-01 1.65139959e-02 3.00650037e+02] [-2.82033296e-01 -9.59397243e-01 3.76163060e-03 2.80563465e+02] [ 1.69044742e-02 -1.04913117e-03 9.99856559e-01 2.17075884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9607140569999 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:300.66, Y:280.56, Z:2.17 [[-9.59000185e-01 2.82923380e-01 1.65229215e-02 3.00655200e+02] [-2.82900981e-01 -9.59141882e-01 3.72638182e-03 2.80563636e+02] [ 1.69021066e-02 -1.10074984e-03 9.99856543e-01 2.17195576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9907140569999 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:300.65, Y:280.56, Z:2.17 [[-9.58729755e-01 2.83839195e-01 1.65096226e-02 3.00645808e+02] [-2.83816030e-01 -9.58871306e-01 3.77880207e-03 2.80560175e+02] [ 1.69031755e-02 -1.06284555e-03 9.99856566e-01 2.17249377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.020714057 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:300.65, Y:280.56, Z:2.17 [[-9.58255565e-01 2.85435843e-01 1.65121925e-02 3.00651037e+02] [-2.85413088e-01 -9.58397186e-01 3.76868245e-03 2.80561095e+02] [ 1.69009559e-02 -1.10143494e-03 9.99856562e-01 2.17274544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0507140569999 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:300.66, Y:280.56, Z:2.18 [[-9.57572432e-01 2.87720550e-01 1.64900450e-02 3.00655165e+02] [-2.87696638e-01 -9.57713829e-01 3.85572158e-03 2.80560657e+02] [ 1.69021145e-02 -1.05199781e-03 9.99856596e-01 2.17510064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0807140569999 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:300.66, Y:280.56, Z:2.17 [[-9.57595782e-01 2.87643250e-01 1.64827197e-02 3.00655261e+02] [-2.87618832e-01 -9.57737082e-01 3.88448460e-03 2.80560799e+02] [ 1.69034577e-02 -1.02097452e-03 9.99856605e-01 2.17451720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1107140569999 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:300.66, Y:280.56, Z:2.18 [[-9.57656715e-01 2.87439589e-01 1.64954230e-02 3.00664112e+02] [-2.87415997e-01 -9.57798173e-01 3.83461260e-03 2.80562742e+02] [ 1.69015055e-02 -1.06880594e-03 9.99856588e-01 2.17606402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.140714057 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:300.67, Y:280.56, Z:2.17 [[-9.58340114e-01 2.85152696e-01 1.64974379e-02 3.00665582e+02] [-2.85128902e-01 -9.58481542e-01 3.82670324e-03 2.80562916e+02] [ 1.69036845e-02 -1.03661315e-03 9.99856585e-01 2.17387123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1707140569999 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:300.67, Y:280.56, Z:2.17 [[-9.58602452e-01 2.84269325e-01 1.65011924e-02 3.00671841e+02] [-2.84245654e-01 -9.58743906e-01 3.81197322e-03 2.80563879e+02] [ 1.69040448e-02 -1.03622536e-03 9.99856579e-01 2.17450718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2007140569999 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:300.68, Y:280.57, Z:2.17 [[-9.60035344e-01 2.79392379e-01 1.64935190e-02 3.00680938e+02] [-2.79367473e-01 -9.60176574e-01 3.84206640e-03 2.80566005e+02] [ 1.69101346e-02 -9.19233175e-04 9.99856591e-01 2.17266529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2307140569999 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:300.68, Y:280.56, Z:2.17 [[-9.59890130e-01 2.79890525e-01 1.64995001e-02 3.00679953e+02] [-2.79866094e-01 -9.60031451e-01 3.81862633e-03 2.80564526e+02] [ 1.69088364e-02 -9.52188923e-04 9.99856582e-01 2.17475158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.260714057 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:300.67, Y:280.55, Z:2.17 [[-9.57298644e-01 2.88630531e-01 1.64840518e-02 3.00669479e+02] [-2.88606352e-01 -9.57439986e-01 3.87901461e-03 2.80554789e+02] [ 1.69020924e-02 -1.04402664e-03 9.99856604e-01 2.17423099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.290714057 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:300.70, Y:280.57, Z:2.17 [[-9.61794289e-01 2.73281627e-01 1.63981322e-02 3.00700247e+02] [-2.73249480e-01 -9.61933973e-01 4.21340852e-03 2.80570066e+02] [ 1.69253676e-02 -4.28348835e-04 9.99856664e-01 2.17413478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3207140569999 meters Centerline goodness : 0.993909 Centerline is valid? [True, True] Translation: X:300.71, Y:280.57, Z:2.17 [[-9.61965711e-01 2.72671604e-01 1.64975157e-02 3.00705818e+02] [-2.72646009e-01 -9.62106816e-01 3.82469244e-03 2.80571757e+02] [ 1.69152574e-02 -8.18758838e-04 9.99856592e-01 2.17352929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3507140569999 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:300.71, Y:280.57, Z:2.17 [[-9.62368336e-01 2.71246814e-01 1.65030559e-02 3.00711228e+02] [-2.71221380e-01 -9.62509480e-01 3.80303691e-03 2.80574547e+02] [ 1.69159094e-02 -8.16059296e-04 9.99856583e-01 2.17234395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.380714057 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:300.71, Y:280.58, Z:2.17 [[-9.62278175e-01 2.71566867e-01 1.64970064e-02 3.00713761e+02] [-2.71541075e-01 -9.62419244e-01 3.82666590e-03 2.80575275e+02] [ 1.69162321e-02 -7.97297769e-04 9.99856592e-01 2.17230797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.410714057 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:300.71, Y:280.58, Z:2.17 [[-9.62417346e-01 2.71073317e-01 1.64957163e-02 3.00714663e+02] [-2.71047367e-01 -9.62558384e-01 3.83169800e-03 2.80577076e+02] [ 1.69167611e-02 -7.83427849e-04 9.99856594e-01 2.17244596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4407140569999 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:300.68, Y:280.56, Z:2.17 [[-9.57875899e-01 2.86708056e-01 1.65000879e-02 3.00684634e+02] [-2.86684698e-01 -9.58017397e-01 3.81470022e-03 2.80563176e+02] [ 1.69010766e-02 -1.07631332e-03 9.99856587e-01 2.17262180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4707140569999 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:300.71, Y:280.58, Z:2.17 [[-9.61368265e-01 2.74776961e-01 1.63915045e-02 3.00705913e+02] [-2.74744663e-01 -9.61507897e-01 4.23497916e-03 2.80576210e+02] [ 1.69242357e-02 -4.32103822e-04 9.99856682e-01 2.17369349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.500714057 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:300.71, Y:280.58, Z:2.17 [[-9.60725760e-01 2.77009054e-01 1.64923955e-02 3.00709256e+02] [-2.76983783e-01 -9.60866909e-01 3.84290462e-03 2.80576974e+02] [ 1.69115165e-02 -8.76148635e-04 9.99856606e-01 2.17265498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.530714057 meters Centerline goodness : 0.992944 Centerline is valid? [True, True] Translation: X:300.71, Y:280.58, Z:2.17 [[-9.61032943e-01 2.75942372e-01 1.64769250e-02 3.00709798e+02] [-2.75915916e-01 -9.61173853e-01 3.90293990e-03 2.80579968e+02] [ 1.69141760e-02 -7.95392024e-04 9.99856629e-01 2.17436852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5607140569999 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:300.69, Y:280.57, Z:2.17 [[-9.56556728e-01 2.91080015e-01 1.64818597e-02 3.00686940e+02] [-2.91056114e-01 -9.56698100e-01 3.88383222e-03 2.80567642e+02] [ 1.68986698e-02 -1.08204021e-03 9.99856622e-01 2.17453151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5907140569999 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:300.69, Y:280.57, Z:2.18 [[-9.55251225e-01 2.95341464e-01 1.63864891e-02 3.00689159e+02] [-2.95311887e-01 -9.55391446e-01 4.25142858e-03 2.80570235e+02] [ 1.69111347e-02 -7.77942664e-04 9.99856694e-01 2.17513924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.620714057 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:300.69, Y:280.57, Z:2.18 [[-9.54399687e-01 2.98081824e-01 1.63848507e-02 3.00686971e+02] [-2.98052542e-01 -9.54539970e-01 4.25773362e-03 2.80570972e+02] [ 1.69091479e-02 -8.19966768e-04 9.99856694e-01 2.17517711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.650714057 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:300.69, Y:280.57, Z:2.17 [[-9.53474510e-01 3.01028153e-01 1.63832068e-02 3.00689086e+02] [-3.00999196e-01 -9.53614860e-01 4.26404963e-03 2.80572827e+02] [ 1.69068685e-02 -8.65669459e-04 9.99856694e-01 2.17396301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6807140569999 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:300.69, Y:280.57, Z:2.17 [[-9.52036326e-01 3.05546196e-01 1.63815575e-02 3.00688540e+02] [-3.05517797e-01 -9.52176790e-01 4.27037665e-03 2.80574830e+02] [ 1.69029362e-02 -9.39303660e-04 9.99856694e-01 2.17492954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7107140569999 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:300.69, Y:280.58, Z:2.17 [[-9.51437977e-01 3.07404415e-01 1.63799046e-02 3.00691247e+02] [-3.07376181e-01 -9.51578474e-01 4.27670731e-03 2.80576294e+02] [ 1.69014433e-02 -9.65770775e-04 9.99856694e-01 2.17449256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7407140569999 meters Centerline goodness : 0.992869 Centerline is valid? [True, True] Translation: X:300.70, Y:280.59, Z:2.18 [[-9.55022103e-01 2.96081974e-01 1.63782473e-02 3.00700242e+02] [-2.96051965e-01 -9.55162232e-01 4.28304474e-03 2.80587295e+02] [ 1.69120156e-02 -7.58409902e-04 9.99856694e-01 2.17594227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.770714057 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:300.71, Y:280.59, Z:2.18 [[-9.54752936e-01 2.96942574e-01 1.64905786e-02 3.00707380e+02] [-2.96920097e-01 -9.54894561e-01 3.85155981e-03 2.80589837e+02] [ 1.68904559e-02 -1.21909617e-03 9.99856603e-01 2.17519317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8007140569999 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:300.71, Y:280.59, Z:2.17 [[-9.54326979e-01 2.98308947e-01 1.64860211e-02 3.00705951e+02] [-2.98286371e-01 -9.54468581e-01 3.86904569e-03 2.80589927e+02] [ 1.68895601e-02 -1.22522072e-03 9.99856611e-01 2.17460023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8307140569999 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:300.71, Y:280.59, Z:2.18 [[-9.54284326e-01 2.98446132e-01 1.64721552e-02 3.00710266e+02] [-2.98422663e-01 -9.54425760e-01 3.92216849e-03 2.80591408e+02] [ 1.68920053e-02 -1.17280051e-03 9.99856632e-01 2.17543852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8607140569999 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:300.71, Y:280.59, Z:2.18 [[-9.54501456e-01 2.97750652e-01 1.64778347e-02 3.00706477e+02] [-2.97727454e-01 -9.54642944e-01 3.90042769e-03 2.80590650e+02] [ 1.68918035e-02 -1.18293985e-03 9.99856624e-01 2.17596123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.890714057 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:300.71, Y:280.59, Z:2.18 [[-9.54043142e-01 2.99215363e-01 1.64878826e-02 3.00708945e+02] [-2.99193044e-01 -9.54184787e-01 3.86196861e-03 2.80591475e+02] [ 1.68880471e-02 -1.24857511e-03 9.99856607e-01 2.17629051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9207140569999 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:300.71, Y:280.59, Z:2.18 [[-9.53410084e-01 3.01227177e-01 1.64742404e-02 3.00710427e+02] [-3.01204259e-01 -9.53551611e-01 3.91409622e-03 2.80590553e+02] [ 1.68880706e-02 -1.23037256e-03 9.99856629e-01 2.17548665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9507140569999 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:300.71, Y:280.59, Z:2.18 [[-9.53376415e-01 3.01334822e-01 1.64540962e-02 3.00707376e+02] [-3.01310598e-01 -9.53517696e-01 3.99092096e-03 2.80589216e+02] [ 1.68918753e-02 -1.15294365e-03 9.99856657e-01 2.17552849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9807140569999 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:300.72, Y:280.59, Z:2.18 [[-9.54421229e-01 2.98009324e-01 1.64487221e-02 3.00716556e+02] [-2.97984256e-01 -9.54562356e-01 4.01139606e-03 2.80592453e+02] [ 1.68967644e-02 -1.07289867e-03 9.99856664e-01 2.17547707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.010714057 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:300.71, Y:280.59, Z:2.18 [[-9.54443450e-01 2.97937338e-01 1.64634134e-02 3.00714529e+02] [-2.97913221e-01 -9.54584762e-01 3.95542583e-03 2.80591654e+02] [ 1.68941926e-02 -1.12943826e-03 9.99856645e-01 2.17519216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.040714057 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:300.72, Y:280.59, Z:2.17 [[-9.55042503e-01 2.96011783e-01 1.64572876e-02 3.00715584e+02] [-2.95986981e-01 -9.55183687e-01 3.97873353e-03 2.80592646e+02] [ 1.68974846e-02 -1.07128324e-03 9.99856653e-01 2.17476955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0707140569999 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:300.72, Y:280.59, Z:2.18 [[-9.55991347e-01 2.92933088e-01 1.64544770e-02 3.00718853e+02] [-2.92907648e-01 -9.56132415e-01 3.98941673e-03 2.80593650e+02] [ 1.69012910e-02 -1.00579428e-03 9.99856657e-01 2.17510002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1007140569999 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:300.72, Y:280.59, Z:2.18 [[-9.56178890e-01 2.92319451e-01 1.64702758e-02 3.00724668e+02] [-2.92294951e-01 -9.56320146e-01 3.92936981e-03 2.80594719e+02] [ 1.68994878e-02 -1.05699800e-03 9.99856635e-01 2.17544290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.130714057 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:300.72, Y:280.59, Z:2.17 [[-9.57484553e-01 2.88014289e-01 1.64651483e-02 3.00724234e+02] [-2.87988820e-01 -9.57625630e-01 3.94883720e-03 2.80594484e+02] [ 1.69047695e-02 -9.60828011e-04 9.99856643e-01 2.17243762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.160714057 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:300.73, Y:280.60, Z:2.17 [[-9.58100266e-01 2.85958940e-01 1.64731320e-02 3.00727538e+02] [-2.85933688e-01 -9.58241395e-01 3.91855383e-03 2.80595497e+02] [ 1.69057825e-02 -9.55855919e-04 9.99856630e-01 2.17189228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1907140569999 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:300.73, Y:280.59, Z:2.17 [[-9.58820995e-01 2.83533300e-01 1.64671770e-02 3.00727157e+02] [-2.83507304e-01 -9.58961979e-01 3.94111753e-03 2.80594878e+02] [ 1.69088347e-02 -8.89738716e-04 9.99856640e-01 2.17254840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2207140569999 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:300.73, Y:280.59, Z:2.18 [[-9.54985870e-01 2.96193173e-01 1.64800441e-02 3.00728855e+02] [-2.96169882e-01 -9.55127348e-01 3.89242188e-03 2.80585846e+02] [ 1.68934496e-02 -1.16368481e-03 9.99856618e-01 2.17582246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.250714057 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:300.74, Y:280.60, Z:2.17 [[-9.60095629e-01 2.79193014e-01 1.63598149e-02 3.00736092e+02] [-2.79159480e-01 -9.60234922e-01 4.34510575e-03 2.80597737e+02] [ 1.69223887e-02 -3.95280372e-04 9.99856728e-01 2.17179012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.280714057 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:300.74, Y:280.60, Z:2.17 [[-9.59642529e-01 2.80739154e-01 1.64846594e-02 3.00736309e+02] [-2.80713915e-01 -9.59783673e-01 3.87294895e-03 2.80597555e+02] [ 1.69089953e-02 -9.10826750e-04 9.99856618e-01 2.17230260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3107140569999 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:300.74, Y:280.60, Z:2.17 [[-9.59305064e-01 2.81891065e-01 1.64688034e-02 3.00744210e+02] [-2.81864969e-01 -9.59446024e-01 3.93283505e-03 2.80599687e+02] [ 1.69095590e-02 -8.69190182e-04 9.99856645e-01 2.17245148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3407140569999 meters Centerline goodness : 0.994389 Centerline is valid? [True, True] Translation: X:300.74, Y:280.60, Z:2.17 [[-9.58603781e-01 2.84266855e-01 1.64664916e-02 3.00744678e+02] [-2.84240959e-01 -9.58744774e-01 3.94155635e-03 2.80599449e+02] [ 1.69076166e-02 -9.02060545e-04 9.99856649e-01 2.17311492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.370714057 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:300.74, Y:280.60, Z:2.17 [[-9.57858071e-01 2.86769889e-01 1.64604682e-02 3.00741974e+02] [-2.86743972e-01 -9.57999050e-01 3.96424911e-03 2.80599196e+02] [ 1.69059402e-02 -9.22752027e-04 9.99856659e-01 2.17350042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.400714057 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:300.75, Y:280.60, Z:2.18 [[-9.57238419e-01 2.88831795e-01 1.64561278e-02 3.00748085e+02] [-2.88805901e-01 -9.57379395e-01 3.98058091e-03 2.80600524e+02] [ 1.69044760e-02 -9.42261842e-04 9.99856665e-01 2.17514851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4307140569999 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:300.75, Y:280.60, Z:2.17 [[-9.56697288e-01 2.90619531e-01 1.64495667e-02 3.00750707e+02] [-2.90593477e-01 -9.56838225e-01 4.00524939e-03 2.80602300e+02] [ 1.69035779e-02 -9.48325570e-04 9.99856675e-01 2.17341854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4607140569999 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:300.76, Y:280.60, Z:2.17 [[-9.56334656e-01 2.91810363e-01 1.64541232e-02 3.00759676e+02] [-2.91784779e-01 -9.56475686e-01 3.98812294e-03 2.80604957e+02] [ 1.69017443e-02 -9.87082508e-04 9.99856668e-01 2.17483128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4907140569999 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:300.77, Y:280.61, Z:2.17 [[-9.56334507e-01 2.91810928e-01 1.64527704e-02 3.00765836e+02] [-2.91785257e-01 -9.56475519e-01 3.99320330e-03 2.80607363e+02] [ 1.69019324e-02 -9.81837712e-04 9.99856670e-01 2.17417793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.520714057 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:300.77, Y:280.61, Z:2.17 [[-9.55724624e-01 2.93801567e-01 1.64646120e-02 3.00770730e+02] [-2.93776953e-01 -9.55865843e-01 3.94871715e-03 2.80608433e+02] [ 1.68980995e-02 -1.06303735e-03 9.99856652e-01 2.17461843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5507140569999 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:300.78, Y:280.61, Z:2.17 [[-9.55104885e-01 2.95810517e-01 1.64558928e-02 3.00775558e+02] [-2.95785638e-01 -9.55246044e-01 3.98145004e-03 2.80609028e+02] [ 1.68971813e-02 -1.06471435e-03 9.99856666e-01 2.17244432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5807140569999 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:300.74, Y:280.60, Z:2.17 [[-9.51524965e-01 3.07132041e-01 1.64362754e-02 3.00744553e+02] [-3.07107575e-01 -9.51666168e-01 4.05491207e-03 2.80595082e+02] [ 1.68872407e-02 -1.18935463e-03 9.99856693e-01 2.17403420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6107140569999 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:300.77, Y:280.61, Z:2.17 [[-9.54610104e-01 2.97409304e-01 1.63479520e-02 3.00771710e+02] [-2.97377756e-01 -9.54749836e-01 4.38425497e-03 2.80607577e+02] [ 1.69121227e-02 -6.76263193e-04 9.99856751e-01 2.17369807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.640714057 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:300.75, Y:280.60, Z:2.17 [[-9.51863657e-01 3.06081218e-01 1.64276191e-02 3.00751723e+02] [-3.06056052e-01 -9.52004723e-01 4.08651263e-03 2.80596512e+02] [ 1.68899757e-02 -1.13796939e-03 9.99856707e-01 2.17495968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6707140569999 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:300.77, Y:280.61, Z:2.17 [[-9.54720227e-01 2.97055713e-01 1.63460312e-02 3.00770220e+02] [-2.97024009e-01 -9.54859918e-01 4.39028591e-03 2.80606548e+02] [ 1.69123296e-02 -6.63668983e-04 9.99856756e-01 2.17487202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7007140569999 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:300.78, Y:280.61, Z:2.17 [[-9.54433002e-01 2.97972952e-01 1.64245128e-02 3.00775147e+02] [-2.97946400e-01 -9.54573807e-01 4.09747373e-03 2.80607551e+02] [ 1.68993461e-02 -9.82860314e-04 9.99856713e-01 2.17453808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7307140569999 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:300.77, Y:280.61, Z:2.17 [[-9.53591969e-01 3.00653822e-01 1.64206130e-02 3.00772695e+02] [-3.00627416e-01 -9.53732797e-01 4.11200269e-03 2.80605962e+02] [ 1.68971665e-02 -1.01531370e-03 9.99856717e-01 2.17404890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.760714057 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:300.77, Y:280.61, Z:2.18 [[-9.53328128e-01 3.01490087e-01 1.64075521e-02 3.00771938e+02] [-3.01462970e-01 -9.53468808e-01 4.16058003e-03 2.80605825e+02] [ 1.68984627e-02 -9.79871402e-04 9.99856731e-01 2.17556329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.790714057 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:300.77, Y:280.60, Z:2.18 [[-9.52733103e-01 3.03364864e-01 1.64132368e-02 3.00767246e+02] [-3.03338386e-01 -9.52873910e-01 4.13945273e-03 2.80604686e+02] [ 1.68955096e-02 -1.03497112e-03 9.99856725e-01 2.17742444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8207140569999 meters Centerline goodness : 0.993846 Centerline is valid? [True, True] Translation: X:300.77, Y:280.60, Z:2.18 [[-9.51837070e-01 3.06163545e-01 1.64339579e-02 3.00769212e+02] [-3.06138806e-01 -9.51978218e-01 4.06243161e-03 2.80604330e+02] [ 1.68885385e-02 -1.16429927e-03 9.99856701e-01 2.17684814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8507140569999 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:300.76, Y:280.60, Z:2.18 [[-9.50877499e-01 3.09131332e-01 1.64256743e-02 3.00763066e+02] [-3.09106504e-01 -9.51018620e-01 4.09318275e-03 2.80602140e+02] [ 1.68864531e-02 -1.18516737e-03 9.99856711e-01 2.17694401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.880714057 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:300.76, Y:280.60, Z:2.17 [[-9.50512411e-01 3.10252762e-01 1.64128264e-02 3.00759498e+02] [-3.10227281e-01 -9.50653401e-01 4.14078282e-03 2.80601466e+02] [ 1.68875986e-02 -1.15584106e-03 9.99856726e-01 2.17393961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.910714057 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:300.76, Y:280.60, Z:2.18 [[-9.49791112e-01 3.12453615e-01 1.64189556e-02 3.00760081e+02] [-3.12428851e-01 -9.49932237e-01 4.11809817e-03 2.80600323e+02] [ 1.68836099e-02 -1.21842239e-03 9.99856719e-01 2.17632561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9407140569999 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:300.77, Y:280.60, Z:2.18 [[-9.49126864e-01 3.14466005e-01 1.64112016e-02 3.00765526e+02] [-3.14441047e-01 -9.49267946e-01 4.14676879e-03 2.80599423e+02] [ 1.68826455e-02 -1.22454576e-03 9.99856728e-01 2.17578035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9707140569999 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:300.77, Y:280.60, Z:2.18 [[-9.48817477e-01 3.15398796e-01 1.64010792e-02 3.00768546e+02] [-3.15373333e-01 -9.48958457e-01 4.18413276e-03 2.80598252e+02] [ 1.68836132e-02 -1.20248473e-03 9.99856739e-01 2.17577711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.000714057 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] Translation: X:300.77, Y:280.60, Z:2.18 [[-9.48773986e-01 3.15529901e-01 1.63952744e-02 3.00767892e+02] [-3.15504090e-01 -9.48914898e-01 4.20553358e-03 2.80596395e+02] [ 1.68846917e-02 -1.18267528e-03 9.99856744e-01 2.17708027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.030714057 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:300.78, Y:280.60, Z:2.18 [[-9.49305463e-01 3.13927160e-01 1.63974658e-02 3.00781645e+02] [-3.13901250e-01 -9.49446358e-01 4.19745644e-03 2.80598758e+02] [ 1.68862098e-02 -1.16251667e-03 9.99856742e-01 2.17697165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0607140569999 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:300.78, Y:280.60, Z:2.18 [[-9.48966844e-01 3.14949050e-01 1.64020123e-02 3.00782444e+02] [-3.14923579e-01 -9.49107824e-01 4.18070838e-03 2.80595314e+02] [ 1.68839883e-02 -1.19802680e-03 9.99856738e-01 2.17692088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0907140569999 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:300.79, Y:280.60, Z:2.18 [[-9.49969834e-01 3.11911797e-01 1.63812685e-02 3.00789356e+02] [-3.11884565e-01 -9.50110466e-01 4.25696181e-03 2.80595215e+02] [ 1.68918113e-02 -1.06507951e-03 9.99856756e-01 2.17847169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.120714057 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:300.79, Y:280.59, Z:2.18 [[-9.49433130e-01 3.13540746e-01 1.63991609e-02 3.00789536e+02] [-3.13514886e-01 -9.49574036e-01 4.19122191e-03 2.80593247e+02] [ 1.68863363e-02 -1.16209614e-03 9.99856740e-01 2.17756392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.150714057 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:300.79, Y:280.59, Z:2.18 [[-9.49503344e-01 3.13328925e-01 1.63824218e-02 3.00791478e+02] [-3.13301977e-01 -9.49644031e-01 4.25264108e-03 2.80592463e+02] [ 1.68899445e-02 -1.09474822e-03 9.99856755e-01 2.17728114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1807140569999 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:300.80, Y:280.59, Z:2.18 [[-9.49869745e-01 3.12216573e-01 1.63792071e-02 3.00800824e+02] [-3.12189258e-01 -9.50010359e-01 4.26442266e-03 2.80591577e+02] [ 1.68918398e-02 -1.06276644e-03 9.99856758e-01 2.17750495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2107140569999 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:300.80, Y:280.59, Z:2.18 [[-9.51111522e-01 3.08412887e-01 1.63818034e-02 3.00804717e+02] [-3.08385173e-01 -9.51252060e-01 4.25491041e-03 2.80592327e+02] [ 1.68954934e-02 -1.00501095e-03 9.99856756e-01 2.17997237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2407140569999 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:300.80, Y:280.59, Z:2.18 [[-9.51247945e-01 3.07990866e-01 1.64004244e-02 3.00803739e+02] [-3.07964261e-01 -9.51388714e-01 4.18672024e-03 2.80588119e+02] [ 1.68926503e-02 -1.06813556e-03 9.99856738e-01 2.17827137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.270714057 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:300.81, Y:280.59, Z:2.18 [[-9.51913797e-01 3.05928288e-01 1.63708908e-02 3.00812666e+02] [-3.05899524e-01 -9.52054114e-01 4.29471954e-03 2.80589428e+02] [ 1.68998502e-02 -9.19644928e-04 9.99856764e-01 2.17871341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3007140569999 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:300.82, Y:280.59, Z:2.18 [[-9.51803116e-01 3.06272335e-01 1.63732809e-02 3.00815199e+02] [-3.06243771e-01 -9.51943477e-01 4.28598253e-03 2.80590208e+02] [ 1.68991158e-02 -9.34803761e-04 9.99856763e-01 2.17866524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3307140569999 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:300.81, Y:280.59, Z:2.18 [[-9.52792195e-01 3.03181476e-01 1.63715038e-02 3.00814338e+02] [-3.03152346e-01 -9.52932437e-01 4.29246913e-03 2.80589549e+02] [ 1.69023342e-02 -8.73228706e-04 9.99856764e-01 2.17922779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3607140569999 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:300.82, Y:280.59, Z:2.18 [[-9.53880393e-01 2.99739736e-01 1.63794532e-02 3.00819073e+02] [-2.99710596e-01 -9.54020640e-01 4.26348037e-03 2.80588382e+02] [ 1.69042709e-02 -8.42245348e-04 9.99856758e-01 2.18070776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.390714057 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:300.82, Y:280.59, Z:2.18 [[-9.54609101e-01 2.97410606e-01 1.63828042e-02 3.00815160e+02] [-2.97381333e-01 -9.54749323e-01 4.25126869e-03 2.80586830e+02] [ 1.69058436e-02 -8.13640384e-04 9.99856755e-01 2.18178045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4207140569999 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:300.82, Y:280.58, Z:2.18 [[-9.52852980e-01 3.02989692e-01 1.63843068e-02 3.00819129e+02] [-3.02961334e-01 -9.52993391e-01 4.24579774e-03 2.80581548e+02] [ 1.69005691e-02 -9.18190416e-04 9.99856754e-01 2.18026154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4507140569999 meters Centerline goodness : 0.993924 Centerline is valid? [True, True] Translation: X:300.82, Y:280.59, Z:2.18 [[-9.55932591e-01 2.93132502e-01 1.63161620e-02 3.00823859e+02] [-2.93098467e-01 -9.56071702e-01 4.49325149e-03 2.80588115e+02] [ 1.69165388e-02 -4.86996528e-04 9.99856787e-01 2.18051297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4807140569999 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:300.83, Y:280.59, Z:2.18 [[-9.55835452e-01 2.93444797e-01 1.63932939e-02 3.00829525e+02] [-2.93415605e-01 -9.55975699e-01 4.21257384e-03 2.80589201e+02] [ 1.69077485e-02 -7.83520837e-04 9.99856747e-01 2.18043842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.510714057 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:300.83, Y:280.59, Z:2.18 [[-9.55653171e-01 2.94038168e-01 1.63881557e-02 3.00829184e+02] [-2.94008743e-01 -9.55793365e-01 4.23124931e-03 2.80589606e+02] [ 1.69078393e-02 -7.74654254e-04 9.99856752e-01 2.18075210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.540714057 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:300.84, Y:280.59, Z:2.18 [[-9.56295043e-01 2.91943625e-01 1.63924212e-02 3.00838643e+02] [-2.91914158e-01 -9.56435232e-01 4.21575142e-03 2.80593161e+02] [ 1.69090509e-02 -7.53677632e-04 9.99856748e-01 2.17749869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5707140569999 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:300.84, Y:280.59, Z:2.18 [[-9.54983678e-01 2.96203832e-01 1.64153580e-02 3.00836016e+02] [-2.96176420e-01 -9.55124312e-01 4.13239560e-03 2.80592273e+02] [ 1.69027390e-02 -9.15471617e-04 9.99856719e-01 2.17948979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6007140569999 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:300.84, Y:280.59, Z:2.18 [[-9.54389018e-01 2.98115616e-01 1.63915200e-02 3.00835642e+02] [-2.98087002e-01 -9.54529382e-01 4.21883911e-03 2.80592097e+02] [ 1.69038892e-02 -8.59685336e-04 9.99856749e-01 2.18135088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.630714057 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:300.84, Y:280.60, Z:2.18 [[-9.54314043e-01 2.98355610e-01 1.63901641e-02 3.00843383e+02] [-2.98326947e-01 -9.54454395e-01 4.22374976e-03 2.80595106e+02] [ 1.69038436e-02 -8.58843911e-04 9.99856751e-01 2.17929500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.660714057 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:300.84, Y:280.60, Z:2.18 [[-9.52593691e-01 3.03803172e-01 1.63979539e-02 3.00842545e+02] [-3.03775795e-01 -9.52734309e-01 4.19556066e-03 2.80595687e+02] [ 1.68975179e-02 -9.84636881e-04 9.99856742e-01 2.17988546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6907140569999 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:300.84, Y:280.60, Z:2.18 [[-9.52146648e-01 3.05202383e-01 1.63788065e-02 3.00844693e+02] [-3.05174025e-01 -9.52287050e-01 4.26477536e-03 2.80597548e+02] [ 1.68989449e-02 -9.37694732e-04 9.99856763e-01 2.17982367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7207140569999 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:300.84, Y:280.60, Z:2.18 [[-9.50951691e-01 3.08905065e-01 1.63872747e-02 3.00841357e+02] [-3.08877779e-01 -9.51092314e-01 4.23419817e-03 2.80597221e+02] [ 1.68937762e-02 -1.03514710e-03 9.99856754e-01 2.17998975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.750714057 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:300.85, Y:280.60, Z:2.18 [[-9.50855706e-01 3.09200819e-01 1.63792536e-02 3.00846416e+02] [-3.09173079e-01 -9.50996232e-01 4.26313383e-03 2.80599158e+02] [ 1.68947729e-02 -1.01039915e-03 9.99856763e-01 2.18074100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.780714057 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:300.86, Y:280.60, Z:2.18 [[-9.50929048e-01 3.08974695e-01 1.63885055e-02 3.00855459e+02] [-3.08947496e-01 -9.51069689e-01 4.22977929e-03 2.80601817e+02] [ 1.68935056e-02 -1.04096775e-03 9.99856753e-01 2.18175849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8107140569999 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:300.85, Y:280.60, Z:2.18 [[-9.50203047e-01 3.11200294e-01 1.63873835e-02 3.00851426e+02] [-3.11173354e-01 -9.50343737e-01 4.23381911e-03 2.80600474e+02] [ 1.68912131e-02 -1.07632927e-03 9.99856754e-01 2.18036715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8407140569999 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:300.85, Y:280.60, Z:2.18 [[-9.50740355e-01 3.09555897e-01 1.63684075e-02 3.00851653e+02] [-3.09527541e-01 -9.50880746e-01 4.30206205e-03 2.80601326e+02] [ 1.68961323e-02 -9.76328944e-04 9.99856774e-01 2.18228262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.870714057 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:300.85, Y:280.60, Z:2.18 [[-9.51256968e-01 3.07963866e-01 1.63840732e-02 3.00852832e+02] [-3.07936242e-01 -9.51397522e-01 4.24574135e-03 2.80602133e+02] [ 1.68953016e-02 -1.00645890e-03 9.99856758e-01 2.18214715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.900714057 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:300.84, Y:280.59, Z:2.18 [[-9.47997772e-01 3.17854683e-01 1.63897897e-02 3.00841047e+02] [-3.17828878e-01 -9.48138677e-01 4.22522693e-03 2.80593144e+02] [ 1.68828017e-02 -1.20364276e-03 9.99856751e-01 2.18027201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9307140569999 meters Centerline goodness : 0.993832 Centerline is valid? [True, True] Translation: X:300.85, Y:280.60, Z:2.18 [[-9.51114095e-01 3.08409487e-01 1.62962003e-02 3.00853802e+02] [-3.08376547e-01 -9.51253444e-01 4.55971469e-03 2.80600782e+02] [ 1.69080759e-02 -6.88557063e-04 9.99856811e-01 2.17830525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9607140569999 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:300.86, Y:280.61, Z:2.18 [[-9.52640139e-01 3.03659480e-01 1.63610985e-02 3.00864251e+02] [-3.03629823e-01 -9.52780250e-01 4.32725972e-03 2.80605528e+02] [ 1.69025450e-02 -8.45396157e-04 9.99856784e-01 2.18008773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9907140569999 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:300.86, Y:280.60, Z:2.18 [[-9.51694545e-01 3.06608028e-01 1.64015636e-02 3.00860316e+02] [-3.06581296e-01 -9.51835290e-01 4.18214817e-03 2.80603168e+02] [ 1.68938673e-02 -1.04828503e-03 9.99856739e-01 2.17906387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.020714057 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:300.85, Y:280.60, Z:2.18 [[-9.48454564e-01 3.16489855e-01 1.63741130e-02 3.00854207e+02] [-3.16462898e-01 -9.48595231e-01 4.28033410e-03 2.80595362e+02] [ 1.68870879e-02 -1.12209685e-03 9.99856773e-01 2.17806838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0507140569999 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:300.86, Y:280.60, Z:2.18 [[-9.51485748e-01 3.07261183e-01 1.62922023e-02 3.00857795e+02] [-3.07227861e-01 -9.51624998e-01 4.57221021e-03 2.80601410e+02] [ 1.69089297e-02 -6.55025628e-04 9.99856819e-01 2.18048382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0807140569999 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:300.86, Y:280.60, Z:2.18 [[-9.51765751e-01 3.06388461e-01 1.63727135e-02 3.00864990e+02] [-3.06359934e-01 -9.51906105e-01 4.28475707e-03 2.80603460e+02] [ 1.68980860e-02 -9.37858397e-04 9.99856777e-01 2.18041251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1107140569999 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:300.87, Y:280.60, Z:2.18 [[-9.51725272e-01 3.06514145e-01 1.63733341e-02 3.00871028e+02] [-3.06485675e-01 -9.51865637e-01 4.28254157e-03 2.80602928e+02] [ 1.68978737e-02 -9.42389323e-04 9.99856777e-01 2.18118338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.140714057 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:300.86, Y:280.60, Z:2.18 [[-9.51421997e-01 3.07454420e-01 1.63696100e-02 3.00864618e+02] [-3.07425861e-01 -9.51562340e-01 4.29581766e-03 2.80600338e+02] [ 1.68974725e-02 -9.45306040e-04 9.99856781e-01 2.18195257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1707140569999 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:300.87, Y:280.60, Z:2.18 [[-9.51899437e-01 3.05973171e-01 1.63670631e-02 3.00871123e+02] [-3.05944238e-01 -9.52039701e-01 4.30488462e-03 2.80602521e+02] [ 1.68992730e-02 -9.09591385e-04 9.99856783e-01 2.18090419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2007140569999 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:300.88, Y:280.60, Z:2.18 [[-9.51487430e-01 3.07251158e-01 1.63828388e-02 3.00876873e+02] [-3.07223377e-01 -9.51627945e-01 4.24871860e-03 2.80603538e+02] [ 1.68957909e-02 -9.90588720e-04 9.99856765e-01 2.18187836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2307140569999 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:300.87, Y:280.59, Z:2.18 [[-9.46777507e-01 3.21471706e-01 1.63796891e-02 3.00866126e+02] [-3.21445841e-01 -9.46918383e-01 4.25990726e-03 2.80592202e+02] [ 1.68796684e-02 -1.23199856e-03 9.99856769e-01 2.18094147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.260714057 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:300.88, Y:280.60, Z:2.18 [[-9.51094538e-01 3.08470477e-01 1.62832561e-02 3.00881625e+02] [-3.08436836e-01 -9.51233698e-01 4.60118079e-03 2.80603254e+02] [ 1.69085103e-02 -6.46198067e-04 9.99856832e-01 2.17860287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.290714057 meters Centerline goodness : 0.993726 Centerline is valid? [True, True] Translation: X:300.88, Y:280.60, Z:2.18 [[-9.49421105e-01 3.13576479e-01 1.64121045e-02 3.00880358e+02] [-3.13551452e-01 -9.49562174e-01 4.14305748e-03 2.80601417e+02] [ 1.68834790e-02 -1.21253300e-03 9.99856729e-01 2.18167916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3207140569999 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:300.87, Y:280.59, Z:2.18 [[-9.44506595e-01 3.28083858e-01 1.63790774e-02 3.00866461e+02] [-3.28058974e-01 -9.44647639e-01 4.26014457e-03 2.80589168e+02] [ 1.68701414e-02 -1.34956868e-03 9.99856778e-01 2.18104830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3507140569999 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:300.88, Y:280.60, Z:2.18 [[-9.47649685e-01 3.18896575e-01 1.62803216e-02 3.00876548e+02] [-3.18864330e-01 -9.47789163e-01 4.60898379e-03 2.80598015e+02] [ 1.69001016e-02 -8.23511808e-04 9.99856844e-01 2.18192506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.380714057 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:300.87, Y:280.59, Z:2.18 [[-9.42811374e-01 3.32924054e-01 1.63794794e-02 3.00865256e+02] [-3.32899931e-01 -9.42952547e-01 4.25801467e-03 2.80586383e+02] [ 1.68626673e-02 -1.43822289e-03 9.99856781e-01 2.17975149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.410714057 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:300.88, Y:280.60, Z:2.18 [[-9.47043019e-01 3.20693858e-01 1.62779080e-02 3.00883496e+02] [-3.20661754e-01 -9.47182522e-01 4.61618689e-03 2.80598490e+02] [ 1.68985327e-02 -8.47974954e-04 9.99856850e-01 2.18093406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4407140569999 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:300.87, Y:280.59, Z:2.18 [[-9.45403590e-01 3.25490111e-01 1.63780104e-02 3.00867851e+02] [-3.25464803e-01 -9.45544550e-01 4.26225437e-03 2.80591066e+02] [ 1.68734602e-02 -1.30091537e-03 9.99856787e-01 2.18142953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4707140569999 meters Centerline goodness : 0.992914 Centerline is valid? [True, True] Translation: X:300.86, Y:280.59, Z:2.18 [[-9.45198688e-01 3.26085700e-01 1.63571547e-02 3.00863600e+02] [-3.26059212e-01 -9.45339405e-01 4.33585476e-03 2.80588304e+02] [ 1.68769231e-02 -1.23515674e-03 9.99856812e-01 2.18270914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.500714057 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:300.88, Y:280.59, Z:2.18 [[-9.45138875e-01 3.26258644e-01 1.63647381e-02 3.00884900e+02] [-3.26232643e-01 -9.45279691e-01 4.30910280e-03 2.80590721e+02] [ 1.68751367e-02 -1.26601121e-03 9.99856803e-01 2.18188371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.530714057 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:300.88, Y:280.59, Z:2.18 [[-9.45133600e-01 3.26273603e-01 1.63711177e-02 3.00884464e+02] [-3.26247992e-01 -9.45274496e-01 4.28660146e-03 2.80589051e+02] [ 1.68738049e-02 -1.28963320e-03 9.99856796e-01 2.18181399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5607140569999 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:300.87, Y:280.58, Z:2.18 [[-9.44290360e-01 3.28706308e-01 1.63670147e-02 3.00868549e+02] [-3.28680811e-01 -9.44431271e-01 4.30104369e-03 2.80581155e+02] [ 1.68713007e-02 -1.31808958e-03 9.99856801e-01 2.18261552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5907140569999 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:300.88, Y:280.58, Z:2.18 [[-9.43862325e-01 3.29933536e-01 1.63637547e-02 3.00884590e+02] [-3.29908024e-01 -9.44003230e-01 4.31250177e-03 2.80584480e+02] [ 1.68702762e-02 -1.32812602e-03 9.99856805e-01 2.18200193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.620714057 meters Centerline goodness : 0.994370 Centerline is valid? [True, True] Translation: X:300.86, Y:280.58, Z:2.18 [[-9.43418149e-01 3.31202423e-01 1.63447948e-02 3.00860804e+02] [-3.31175952e-01 -9.43558855e-01 4.37904334e-03 2.80575782e+02] [ 1.68726256e-02 -1.28173403e-03 9.99856826e-01 2.18301135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.650714057 meters Centerline goodness : 0.993447 Centerline is valid? [True, True] Translation: X:300.89, Y:280.58, Z:2.18 [[-9.43241758e-01 3.31703507e-01 1.63636699e-02 3.00890477e+02] [-3.31678253e-01 -9.43382709e-01 4.31282640e-03 2.80581673e+02] [ 1.68677829e-02 -1.35943551e-03 9.99856805e-01 2.17992424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6807140569999 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:300.91, Y:280.58, Z:2.18 [[-9.43928508e-01 3.29744077e-01 1.63650667e-02 3.00906159e+02] [-3.29718616e-01 -9.44069423e-01 4.30792509e-03 2.80584976e+02] [ 1.68702718e-02 -1.32949382e-03 9.99856803e-01 2.17752851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7107140569999 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:300.90, Y:280.57, Z:2.18 [[-9.38373259e-01 3.45234587e-01 1.63922487e-02 3.00895836e+02] [-3.45213100e-01 -9.38514875e-01 4.21260647e-03 2.80571073e+02] [ 1.68387067e-02 -1.70582171e-03 9.99856764e-01 2.17894422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7407140569999 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:300.92, Y:280.58, Z:2.18 [[-9.43585158e-01 3.30730311e-01 1.62638129e-02 3.00922499e+02] [-3.30698922e-01 -9.43724801e-01 4.66078952e-03 2.80584541e+02] [ 1.68900280e-02 -9.80573585e-04 9.99856872e-01 2.17763690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.770714057 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:300.90, Y:280.57, Z:2.18 [[-9.38325824e-01 3.45364489e-01 1.63712611e-02 3.00896140e+02] [-3.45341768e-01 -9.38467209e-01 4.28488863e-03 2.80567835e+02] [ 1.68437401e-02 -1.63305860e-03 9.99856801e-01 2.17633912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8007140569999 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:300.93, Y:280.58, Z:2.18 [[-9.44127538e-01 3.29178918e-01 1.62613766e-02 3.00925809e+02] [-3.29147181e-01 -9.44267095e-01 4.66770942e-03 2.80582831e+02] [ 1.68915943e-02 -9.45473253e-04 9.99856880e-01 2.17656427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8307140569999 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:300.93, Y:280.58, Z:2.18 [[-9.44439153e-01 3.28277463e-01 1.63888309e-02 3.00926109e+02] [-3.28253271e-01 -9.44580313e-01 4.22163201e-03 2.80579446e+02] [ 1.68664337e-02 -1.39261280e-03 9.99856782e-01 2.17714890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8607140569999 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:300.92, Y:280.57, Z:2.18 [[-9.44788607e-01 3.27270680e-01 1.63825927e-02 3.00922904e+02] [-3.27245962e-01 -9.44929666e-01 4.24342754e-03 2.80573767e+02] [ 1.68691472e-02 -1.35199529e-03 9.99856792e-01 2.17852984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.890714057 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:300.93, Y:280.57, Z:2.18 [[-9.44704076e-01 3.27515340e-01 1.63680158e-02 3.00928725e+02] [-3.27489780e-01 -9.44844962e-01 4.29427436e-03 2.80573398e+02] [ 1.68716780e-02 -1.30353940e-03 9.99856813e-01 2.17985123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9207140569999 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:300.93, Y:280.57, Z:2.18 [[-9.44991221e-01 3.26687105e-01 1.63440353e-02 3.00929921e+02] [-3.26659983e-01 -9.45131785e-01 4.37777145e-03 2.80571975e+02] [ 1.68774288e-02 -1.20198672e-03 9.99856844e-01 2.18058918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9507140569999 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:300.93, Y:280.57, Z:2.18 [[-9.45286984e-01 3.25830505e-01 1.63401621e-02 3.00925437e+02] [-3.25803023e-01 -9.45427473e-01 4.39123848e-03 2.80568880e+02] [ 1.68792376e-02 -1.17269365e-03 9.99856848e-01 2.18138911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9807140569999 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:300.93, Y:280.57, Z:2.18 [[-9.46053778e-01 3.23596674e-01 1.63536340e-02 3.00929249e+02] [-3.23569667e-01 -9.46194376e-01 4.34441940e-03 2.80568104e+02] [ 1.68795562e-02 -1.18148551e-03 9.99856832e-01 2.18063150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.010714057 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:300.93, Y:280.57, Z:2.18 [[-9.46262460e-01 3.22986399e-01 1.63444874e-02 3.00932136e+02] [-3.22958754e-01 -9.46402923e-01 4.37618113e-03 2.80566870e+02] [ 1.68819176e-02 -1.13757937e-03 9.99856843e-01 2.18045595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.040714057 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:300.95, Y:280.57, Z:2.18 [[-9.46727235e-01 3.21621749e-01 1.63399110e-02 3.00947030e+02] [-3.21593629e-01 -9.46867598e-01 4.39206217e-03 2.80570022e+02] [ 1.68843150e-02 -1.09672639e-03 9.99856848e-01 2.18081950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0707140569999 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:300.94, Y:280.57, Z:2.18 [[-9.46898992e-01 3.21115630e-01 1.63417109e-02 3.00942566e+02] [-3.21087542e-01 -9.47039363e-01 4.38581775e-03 2.80567375e+02] [ 1.68845981e-02 -1.09419338e-03 9.99856846e-01 2.18282032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1007140569999 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:300.95, Y:280.57, Z:2.18 [[-9.46497186e-01 3.22298498e-01 1.63326615e-02 3.00945759e+02] [-3.22270046e-01 -9.46637474e-01 4.41717829e-03 2.80565998e+02] [ 1.68847593e-02 -1.08268074e-03 9.99856856e-01 2.18109485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.130714057 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:300.96, Y:280.57, Z:2.18 [[-9.48490979e-01 3.16384088e-01 1.63086160e-02 3.00963502e+02] [-3.16353333e-01 -9.48630758e-01 4.50038224e-03 2.80569890e+02] [ 1.68947041e-02 -8.90713070e-04 9.99856878e-01 2.17912315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.160714057 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:300.96, Y:280.57, Z:2.18 [[-9.49064679e-01 3.14658393e-01 1.63196513e-02 3.00961320e+02] [-3.14628038e-01 -9.49204555e-01 4.46222677e-03 2.80567779e+02] [ 1.68947644e-02 -8.99678054e-04 9.99856869e-01 2.18055767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1907140569999 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:300.96, Y:280.57, Z:2.18 [[-9.48954668e-01 3.14989646e-01 1.63267132e-02 3.00963857e+02] [-3.14959759e-01 -9.49094651e-01 4.43783263e-03 2.80568610e+02] [ 1.68934675e-02 -9.30955662e-04 9.99856862e-01 2.18050157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2207140569999 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:300.96, Y:280.56, Z:2.18 [[-9.50439138e-01 3.10481829e-01 1.63242067e-02 3.00955608e+02] [-3.10451129e-01 -9.50578942e-01 4.44647681e-03 2.80564081e+02] [ 1.68979973e-02 -8.41762802e-04 9.99856864e-01 2.18067421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.250714057 meters Centerline goodness : 0.993141 Centerline is valid? [True, True] Translation: X:300.97, Y:280.57, Z:2.18 [[-9.51165450e-01 3.08250381e-01 1.63091798e-02 3.00965249e+02] [-3.08218466e-01 -9.51304968e-01 4.49822436e-03 2.80565983e+02] [ 1.69015831e-02 -7.48234777e-04 9.99856878e-01 2.18107867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.280714057 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:300.98, Y:280.57, Z:2.18 [[-9.52225993e-01 3.04958633e-01 1.63061714e-02 3.00976803e+02] [-3.04926059e-01 -9.52365356e-01 4.50857546e-03 2.80568912e+02] [ 1.69043618e-02 -6.78993849e-04 9.99856881e-01 2.18140017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3107140569999 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:300.96, Y:280.56, Z:2.18 [[-9.50752935e-01 3.09520410e-01 1.63086449e-02 3.00963909e+02] [-3.09488651e-01 -9.50892488e-01 4.50007245e-03 2.80559339e+02] [ 1.69006322e-02 -7.68883416e-04 9.99856878e-01 2.18342545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3407140569999 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:300.98, Y:280.57, Z:2.18 [[-9.54335135e-01 2.98296372e-01 1.62396064e-02 3.00975758e+02] [-2.98258936e-01 -9.54473242e-01 4.73676699e-03 2.80568691e+02] [ 1.69132302e-02 -3.23144560e-04 9.99856909e-01 2.18177270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.370714057 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:300.98, Y:280.57, Z:2.18 [[-9.55228249e-01 2.95419779e-01 1.63140197e-02 3.00978254e+02] [-2.95386279e-01 -9.55367398e-01 4.48126180e-03 2.80570227e+02] [ 1.69097359e-02 -5.38309720e-04 9.99856875e-01 2.18130988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.400714057 meters Centerline goodness : 0.993013 Centerline is valid? [True, True] Translation: X:300.97, Y:280.57, Z:2.18 [[-9.54929156e-01 2.96384015e-01 1.63346988e-02 3.00974489e+02] [-2.96351869e-01 -9.55068647e-01 4.41024146e-03 2.80569616e+02] [ 1.69078838e-02 -6.29350379e-04 9.99856853e-01 2.18116331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4307140569999 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:300.98, Y:280.57, Z:2.18 [[-9.54658303e-01 2.97255531e-01 1.63301310e-02 3.00975479e+02] [-2.97223244e-01 -9.54797756e-01 4.42590975e-03 2.80572894e+02] [ 1.69075986e-02 -6.28463026e-04 9.99856859e-01 2.17898884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4607140569999 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:300.97, Y:280.57, Z:2.18 [[-9.53083140e-01 3.02267083e-01 1.63444079e-02 3.00974950e+02] [-3.02236367e-01 -9.53222965e-01 4.37696251e-03 2.80573456e+02] [ 1.69028767e-02 -7.68265305e-04 9.99856841e-01 2.17895701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4907140569999 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:300.98, Y:280.58, Z:2.18 [[-9.51773638e-01 3.06366697e-01 1.63214561e-02 3.00979095e+02] [-3.06335238e-01 -9.51913268e-01 4.45549561e-03 2.80575454e+02] [ 1.69016261e-02 -7.59213892e-04 9.99856869e-01 2.17974783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.520714057 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:300.95, Y:280.57, Z:2.18 [[-9.49856076e-01 3.12261019e-01 1.63245524e-02 3.00951922e+02] [-3.12230608e-01 -9.49995942e-01 4.44491563e-03 2.80571237e+02] [ 1.68962324e-02 -8.74994795e-04 9.99856866e-01 2.17694125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5507140569999 meters Centerline goodness : 0.993879 Centerline is valid? [True, True] Translation: X:300.99, Y:280.58, Z:2.18 [[-9.49522047e-01 3.13275347e-01 1.63229947e-02 3.00993116e+02] [-3.13244994e-01 -9.49661924e-01 4.45023385e-03 2.80584342e+02] [ 1.68954751e-02 -8.87501219e-04 9.99856867e-01 2.17624048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5807140569999 meters Centerline goodness : 0.994197 Centerline is valid? [True, True] Translation: X:300.96, Y:280.57, Z:2.18 [[-9.42676980e-01 3.33305875e-01 1.63494772e-02 3.00962621e+02] [-3.33280049e-01 -9.42817798e-01 4.35985181e-03 2.80570220e+02] [ 1.68677423e-02 -1.33902261e-03 9.99856833e-01 2.17941550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6107140569999 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:300.95, Y:280.57, Z:2.18 [[-9.45596058e-01 3.24938104e-01 1.62272582e-02 3.00954107e+02] [-3.24903896e-01 -9.45734982e-01 4.77518762e-03 2.80574831e+02] [ 1.68983261e-02 -7.56900812e-04 9.99856927e-01 2.17833046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.640714057 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:300.95, Y:280.57, Z:2.18 [[-9.40191002e-01 3.40256557e-01 1.63203960e-02 3.00953099e+02] [-3.40230071e-01 -9.40331656e-01 4.45823915e-03 2.80569848e+02] [ 1.68635301e-02 -1.36109318e-03 9.99856874e-01 2.18191438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6707140569999 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:300.97, Y:280.58, Z:2.18 [[-9.39411454e-01 3.42407483e-01 1.62245390e-02 3.00971656e+02] [-3.42375715e-01 -9.39550951e-01 4.78337616e-03 2.80576194e+02] [ 1.68816448e-02 -1.06132979e-03 9.99856932e-01 2.18183286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7007140569999 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:301.00, Y:280.59, Z:2.18 [[-9.43577398e-01 3.30754470e-01 1.62226741e-02 3.00995883e+02] [-3.30720870e-01 -9.43716464e-01 4.78969267e-03 2.80590722e+02] [ 1.68938169e-02 -8.45731145e-04 9.99856932e-01 2.17871937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7307140569999 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:300.99, Y:280.59, Z:2.18 [[-9.41953326e-01 3.35345780e-01 1.63444026e-02 3.00991544e+02] [-3.35319987e-01 -9.42094136e-01 4.37560251e-03 2.80590472e+02] [ 1.68653057e-02 -1.35899152e-03 9.99856847e-01 2.17912122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.760714057 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:300.98, Y:280.59, Z:2.18 [[-9.41342371e-01 3.37057628e-01 1.63308254e-02 3.00978636e+02] [-3.37031294e-01 -9.41483062e-01 4.42171793e-03 2.80587513e+02] [ 1.68655693e-02 -1.34164876e-03 9.99856866e-01 2.17871947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.790714057 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:300.98, Y:280.59, Z:2.18 [[-9.39607675e-01 3.41864440e-01 1.63132404e-02 3.00976761e+02] [-3.41837795e-01 -9.39748285e-01 4.48133758e-03 2.80587121e+02] [ 1.68623496e-02 -1.36578294e-03 9.99856888e-01 2.18267580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8207140569999 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:300.97, Y:280.59, Z:2.18 [[-9.39025083e-01 3.43461819e-01 1.63055880e-02 3.00970793e+02] [-3.43434966e-01 -9.39165645e-01 4.50724806e-03 2.80585928e+02] [ 1.68617157e-02 -1.36749007e-03 9.99856896e-01 2.18233300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8507140569999 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:300.96, Y:280.58, Z:2.18 [[-9.37935377e-01 3.46426924e-01 1.62976777e-02 3.00958759e+02] [-3.46400053e-01 -9.38075928e-01 4.53398802e-03 2.80582157e+02] [ 1.68591547e-02 -1.39292867e-03 9.99856904e-01 2.18446701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.880714057 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:300.99, Y:280.59, Z:2.18 [[-9.38350398e-01 3.45301752e-01 1.62858831e-02 3.00992567e+02] [-3.45274025e-01 -9.38490771e-01 4.57381575e-03 2.80594036e+02] [ 1.68634976e-02 -1.33125056e-03 9.99856915e-01 2.18278417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.910714057 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:300.99, Y:280.59, Z:2.18 [[-9.37522133e-01 3.47543018e-01 1.63125663e-02 3.00994605e+02] [-3.47517185e-01 -9.37662894e-01 4.48361162e-03 2.80594516e+02] [ 1.68539361e-02 -1.46541201e-03 9.99856888e-01 2.18397677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9407140569999 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:300.99, Y:280.59, Z:2.18 [[-9.37005110e-01 3.48935369e-01 1.62951749e-02 3.00988144e+02] [-3.48908730e-01 -9.37145701e-01 4.54231804e-03 2.80593634e+02] [ 1.68559285e-02 -1.42935355e-03 9.99856907e-01 2.18335702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9707140569999 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:300.98, Y:280.59, Z:2.18 [[-9.33274935e-01 3.58793151e-01 1.62901888e-02 3.00977825e+02] [-3.58767705e-01 -9.33415743e-01 4.55911455e-03 2.80586012e+02] [ 1.68412978e-02 -1.58948632e-03 9.99856912e-01 2.18062574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.000714057 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:300.98, Y:280.59, Z:2.18 [[-9.35750177e-01 3.52290833e-01 1.62103651e-02 3.00982007e+02] [-3.52259781e-01 -9.35889815e-01 4.82717650e-03 2.80591308e+02] [ 1.68716857e-02 -1.19322841e-03 9.99856951e-01 2.18216008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.030714057 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:300.98, Y:280.59, Z:2.18 [[-9.36109762e-01 3.51331628e-01 1.62665293e-02 3.00983628e+02] [-3.51303690e-01 -9.36250075e-01 4.63832290e-03 2.80592178e+02] [ 1.68591289e-02 -1.37251243e-03 9.99856933e-01 2.18257537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0607140569999 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:300.98, Y:280.59, Z:2.18 [[-9.35731187e-01 3.52338515e-01 1.62701202e-02 3.00975640e+02] [-3.52310937e-01 -9.35871573e-01 4.62625859e-03 2.80588714e+02] [ 1.68567521e-02 -1.40320686e-03 9.99856930e-01 2.18371924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0907140569999 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:300.98, Y:280.59, Z:2.18 [[-9.33566110e-01 3.58036045e-01 1.62637227e-02 3.00984947e+02] [-3.58008951e-01 -9.33706586e-01 4.64772408e-03 2.80585851e+02] [ 1.68495978e-02 -1.48360063e-03 9.99856935e-01 2.18267563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.120714057 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:300.97, Y:280.59, Z:2.18 [[-9.36332824e-01 3.50739538e-01 1.62055173e-02 3.00970369e+02] [-3.50707990e-01 -9.36472347e-01 4.84251035e-03 2.80585308e+02] [ 1.68744787e-02 -1.14920302e-03 9.99856955e-01 2.18452237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.150714057 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:300.99, Y:280.59, Z:2.19 [[-9.37011020e-01 3.48921271e-01 1.62571462e-02 3.00994827e+02] [-3.48892432e-01 -9.37151143e-01 4.66960978e-03 2.80591220e+02] [ 1.68647293e-02 -1.29651944e-03 9.99856940e-01 2.18656311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1807140569999 meters Centerline goodness : 0.994722 Centerline is valid? [True, True] Translation: X:301.01, Y:280.60, Z:2.19 [[-9.36936115e-01 3.49122023e-01 1.62643866e-02 3.01012483e+02] [-3.49093632e-01 -9.37076335e-01 4.64536332e-03 2.80595219e+02] [ 1.68627705e-02 -1.32538515e-03 9.99856935e-01 2.18549714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2107140569999 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:300.98, Y:280.58, Z:2.19 [[-9.34271382e-01 3.56191704e-01 1.62620772e-02 3.00979676e+02] [-3.56164240e-01 -9.34411785e-01 4.65308346e-03 2.80582109e+02] [ 1.68528663e-02 -1.44472765e-03 9.99856937e-01 2.18604600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2407140569999 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:300.99, Y:280.59, Z:2.18 [[-9.37399191e-01 3.47879720e-01 1.62005011e-02 3.00993577e+02] [-3.47847473e-01 -9.37538550e-01 4.85841183e-03 2.80591234e+02] [ 1.68787373e-02 -1.08103206e-03 9.99856960e-01 2.18456486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.270714057 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:301.02, Y:280.60, Z:2.18 [[-9.37154318e-01 3.48534872e-01 1.62858053e-02 3.01016578e+02] [-3.48507640e-01 -9.37294783e-01 4.57317466e-03 2.80598283e+02] [ 1.68585112e-02 -1.38995721e-03 9.99856919e-01 2.18414379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3007140569999 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:300.99, Y:280.59, Z:2.18 [[-9.36193986e-01 3.51106910e-01 1.62713960e-02 3.00991669e+02] [-3.51079232e-01 -9.36334351e-01 4.62127594e-03 2.80591192e+02] [ 1.68580289e-02 -1.38613845e-03 9.99856933e-01 2.18157489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3307140569999 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:301.01, Y:280.60, Z:2.18 [[-9.35820013e-01 3.52102784e-01 1.62644523e-02 3.01013056e+02] [-3.52074856e-01 -9.35960322e-01 4.64442787e-03 2.80597178e+02] [ 1.68581980e-02 -1.37995616e-03 9.99856938e-01 2.18246664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3607140569999 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:301.00, Y:280.59, Z:2.18 [[-9.35367724e-01 3.53302455e-01 1.62664167e-02 3.01003816e+02] [-3.53274820e-01 -9.35508093e-01 4.63787972e-03 2.80594226e+02] [ 1.68559387e-02 -1.40839241e-03 9.99856937e-01 2.18147006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.390714057 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:301.00, Y:280.59, Z:2.18 [[-9.31811751e-01 3.62577615e-01 1.62583382e-02 3.00997845e+02] [-3.62550911e-01 -9.31952293e-01 4.66476654e-03 2.80587538e+02] [ 1.68433355e-02 -1.54779104e-03 9.99856943e-01 2.18002727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4207140569999 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:301.01, Y:280.59, Z:2.18 [[-9.31511769e-01 3.63350471e-01 1.61943933e-02 3.01011669e+02] [-3.63320212e-01 -9.31651564e-01 4.87709688e-03 2.80591765e+02] [ 1.68596273e-02 -1.34067726e-03 9.99856968e-01 2.18061380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4507140569999 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:301.01, Y:280.59, Z:2.18 [[-9.31222833e-01 3.64090426e-01 1.61924841e-02 3.01005995e+02] [-3.64060168e-01 -9.31362629e-01 4.88342732e-03 2.80590085e+02] [ 1.68590837e-02 -1.34747947e-03 9.99856968e-01 2.18040913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4807140569999 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:301.01, Y:280.59, Z:2.18 [[-9.31019772e-01 3.64609437e-01 1.61908157e-02 3.01013069e+02] [-3.64579162e-01 -9.31159564e-01 4.88895271e-03 2.80592252e+02] [ 1.68587912e-02 -1.35112237e-03 9.99856968e-01 2.18042222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.510714057 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:301.04, Y:280.60, Z:2.18 [[-9.34213963e-01 3.56345607e-01 1.61889025e-02 3.01038749e+02] [-3.56313985e-01 -9.34353456e-01 4.89527959e-03 2.80604628e+02] [ 1.68705684e-02 -1.19509384e-03 9.99856968e-01 2.18030136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.540714057 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:301.03, Y:280.60, Z:2.18 [[-9.34619501e-01 3.55277414e-01 1.62587589e-02 3.01034466e+02] [-3.55249627e-01 -9.34759836e-01 4.66380087e-03 2.80603954e+02] [ 1.68549779e-02 -1.41703878e-03 9.99856941e-01 2.18020630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5707140569999 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:301.03, Y:280.60, Z:2.18 [[-9.33738181e-01 3.57586618e-01 1.62732706e-02 3.01026399e+02] [-3.57560010e-01 -9.33878758e-01 4.61575004e-03 2.80600871e+02] [ 1.68477922e-02 -1.50876875e-03 9.99856928e-01 2.18144276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6007140569999 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:301.02, Y:280.59, Z:2.18 [[-9.30709999e-01 3.65396691e-01 1.62529048e-02 3.01020993e+02] [-3.65370095e-01 -9.30850559e-01 4.68306916e-03 2.80594697e+02] [ 1.68402035e-02 -1.57974606e-03 9.99856946e-01 2.18182731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.630714057 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:301.03, Y:280.60, Z:2.18 [[-9.33268334e-01 3.58815130e-01 1.61839162e-02 3.01030093e+02] [-3.58783615e-01 -9.33407845e-01 4.91044440e-03 2.80602032e+02] [ 1.68681361e-02 -1.22376169e-03 9.99856974e-01 2.18193156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.660714057 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:301.02, Y:280.60, Z:2.18 [[-9.30416189e-01 3.66144562e-01 1.62442355e-02 3.01024324e+02] [-3.66117586e-01 -9.30556669e-01 4.71150622e-03 2.80596689e+02] [ 1.68412740e-02 -1.56363862e-03 9.99856953e-01 2.18146323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6907140569999 meters Centerline goodness : 0.994785 Centerline is valid? [True, True] Translation: X:301.05, Y:280.61, Z:2.18 [[-9.32204960e-01 3.61568912e-01 1.61813224e-02 3.01046155e+02] [-3.61537670e-01 -9.32344529e-01 4.91848530e-03 2.80607500e+02] [ 1.68649388e-02 -1.26512120e-03 9.99856976e-01 2.17779848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7207140569999 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:301.03, Y:280.60, Z:2.18 [[-9.29994197e-01 3.67216701e-01 1.62076363e-02 3.01026291e+02] [-3.67187803e-01 -9.30134275e-01 4.83192828e-03 2.80598835e+02] [ 1.68496428e-02 -1.45758108e-03 9.99856972e-01 2.17949733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.750714057 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:301.04, Y:280.61, Z:2.18 [[-9.31982054e-01 3.62143184e-01 1.61791552e-02 3.01042924e+02] [-3.62111908e-01 -9.32121616e-01 4.92548272e-03 2.80608181e+02] [ 1.68646703e-02 -1.26820326e-03 9.99856977e-01 2.17582434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.780714057 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:301.04, Y:280.61, Z:2.18 [[-9.32807436e-01 3.60009593e-01 1.62290194e-02 3.01040142e+02] [-3.59980828e-01 -9.32947550e-01 4.76151246e-03 2.80609194e+02] [ 1.68550140e-02 -1.40056161e-03 9.99856963e-01 2.17715002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8107140569999 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:301.03, Y:280.61, Z:2.18 [[-9.32838625e-01 3.59927687e-01 1.62529950e-02 3.01026560e+02] [-3.59900273e-01 -9.32979028e-01 4.68268571e-03 2.80605310e+02] [ 1.68491317e-02 -1.48126725e-03 9.99856946e-01 2.17662464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8407140569999 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:301.04, Y:280.61, Z:2.18 [[-9.32931895e-01 3.59686289e-01 1.62435248e-02 3.01043943e+02] [-3.59658301e-01 -9.33072177e-01 4.71379608e-03 2.80610436e+02] [ 1.68518689e-02 -1.44446782e-03 9.99856954e-01 2.17681754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.870714057 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:301.05, Y:280.61, Z:2.18 [[-9.32988294e-01 3.59539756e-01 1.62482869e-02 3.01046324e+02] [-3.59512016e-01 -9.33128629e-01 4.69815571e-03 2.80611171e+02] [ 1.68509154e-02 -1.45813009e-03 9.99856950e-01 2.17668034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.900714057 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:301.05, Y:280.61, Z:2.18 [[-9.33259289e-01 3.58835872e-01 1.62455284e-02 3.01053600e+02] [-3.58807869e-01 -9.33399569e-01 4.70720548e-03 2.80613952e+02] [ 1.68526833e-02 -1.43598018e-03 9.99856952e-01 2.17600323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9307140569999 meters Centerline goodness : 0.995060 Centerline is valid? [True, True] Translation: X:301.03, Y:280.61, Z:2.18 [[-9.33211151e-01 3.58961471e-01 1.62360770e-02 3.01030339e+02] [-3.58932952e-01 -9.33351320e-01 4.73817360e-03 2.80607065e+02] [ 1.68547857e-02 -1.40594660e-03 9.99856960e-01 2.17692578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9607140569999 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:301.05, Y:280.61, Z:2.18 [[-9.33807813e-01 3.57406318e-01 1.62386049e-02 3.01053626e+02] [-3.57377709e-01 -9.33947965e-01 4.72989514e-03 2.80614461e+02] [ 1.68565064e-02 -1.38650239e-03 9.99856958e-01 2.17657860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9907140569999 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:301.05, Y:280.61, Z:2.18 [[-9.34714588e-01 3.55027994e-01 1.62407537e-02 3.01053075e+02] [-3.54999149e-01 -9.34854694e-01 4.72285822e-03 2.80614737e+02] [ 1.68594917e-02 -1.35092925e-03 9.99856956e-01 2.17689950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.020714057 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:301.06, Y:280.62, Z:2.18 [[-9.33968947e-01 3.56984333e-01 1.62539787e-02 3.01056892e+02] [-3.56956531e-01 -9.34109275e-01 4.67955064e-03 2.80615116e+02] [ 1.68535185e-02 -1.43140888e-03 9.99856945e-01 2.17566016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0507140569999 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:301.06, Y:280.62, Z:2.18 [[-9.33608715e-01 3.57926247e-01 1.62348116e-02 3.01058214e+02] [-3.57897502e-01 -9.33748836e-01 4.74224023e-03 2.80616301e+02] [ 1.68566087e-02 -1.38300171e-03 9.99856961e-01 2.17540436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0807140569999 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:301.02, Y:280.60, Z:2.18 [[-9.32912289e-01 3.59739227e-01 1.61971960e-02 3.01018355e+02] [-3.59708634e-01 -9.33051998e-01 4.86498925e-03 2.80604369e+02] [ 1.68629536e-02 -1.28766299e-03 9.99856981e-01 2.17658325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1107140569999 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:301.02, Y:280.61, Z:2.18 [[-9.32778369e-01 3.60084613e-01 1.62353463e-02 3.01020869e+02] [-3.60056221e-01 -9.32918563e-01 4.74056524e-03 2.80605279e+02] [ 1.68532605e-02 -1.42374072e-03 9.99856960e-01 2.17648384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.140714057 meters Centerline goodness : 0.994455 Centerline is valid? [True, True] Translation: X:301.05, Y:280.61, Z:2.18 [[-9.32220083e-01 3.61527539e-01 1.62343769e-02 3.01048970e+02] [-3.61499309e-01 -9.32360309e-01 4.74372405e-03 2.80614571e+02] [ 1.68512756e-02 -1.44652122e-03 9.99856961e-01 2.17599045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1707140569999 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:301.06, Y:280.62, Z:2.18 [[-9.31322732e-01 3.63833159e-01 1.62296400e-02 3.01061505e+02] [-3.63805009e-01 -9.31462971e-01 4.75915597e-03 2.80619707e+02] [ 1.68488474e-02 -1.47211420e-03 9.99856964e-01 2.17549407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2007140569999 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:301.04, Y:280.61, Z:2.18 [[-9.30375541e-01 3.66248607e-01 1.62268672e-02 3.01037382e+02] [-3.66220665e-01 -9.30515819e-01 4.76817449e-03 2.80612555e+02] [ 1.68456939e-02 -1.50642118e-03 9.99856966e-01 2.17600887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2307140569999 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:301.06, Y:280.62, Z:2.17 [[-9.27702795e-01 3.72967046e-01 1.62205995e-02 3.01055708e+02] [-3.72939767e-01 -9.27843198e-01 4.78853145e-03 2.80615779e+02] [ 1.68361373e-02 -1.60697258e-03 9.99856971e-01 2.17456507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.260714057 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:301.06, Y:280.62, Z:2.18 [[-9.29379087e-01 3.68772831e-01 1.61589423e-02 3.01061535e+02] [-3.68741464e-01 -9.29518612e-01 4.98826454e-03 2.80622561e+02] [ 1.68595740e-02 -1.32248327e-03 9.99856993e-01 2.17530542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.290714057 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:301.06, Y:280.62, Z:2.17 [[-9.29254957e-01 3.69082897e-01 1.62184988e-02 3.01062591e+02] [-3.69054916e-01 -9.29395220e-01 4.79511490e-03 2.80624177e+02] [ 1.68431901e-02 -1.52963242e-03 9.99856973e-01 2.17471494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3207140569999 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:301.06, Y:280.63, Z:2.18 [[-9.28448069e-01 3.71108076e-01 1.62166418e-02 3.01062960e+02] [-3.71080297e-01 -9.28588371e-01 4.80113016e-03 2.80625342e+02] [ 1.68403231e-02 -1.56007622e-03 9.99856975e-01 2.17552680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3507140569999 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:301.07, Y:280.63, Z:2.18 [[-9.29057094e-01 3.69580893e-01 1.62135588e-02 3.01065011e+02] [-3.69552711e-01 -9.29197313e-01 4.81110429e-03 2.80627581e+02] [ 1.68436875e-02 -1.52197405e-03 9.99856977e-01 2.17697836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.380714057 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:301.06, Y:280.63, Z:2.18 [[-9.28450879e-01 3.71100580e-01 1.62272615e-02 3.01060151e+02] [-3.71073396e-01 -9.28591306e-01 4.76678106e-03 2.80626661e+02] [ 1.68374491e-02 -1.59578295e-03 9.99856967e-01 2.17709515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.410714057 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:301.06, Y:280.63, Z:2.18 [[-9.28544621e-01 3.70866259e-01 1.62205203e-02 3.01063363e+02] [-3.70838661e-01 -9.28684961e-01 4.78856158e-03 2.80629757e+02] [ 1.68396692e-02 -1.56880295e-03 9.99856972e-01 2.17746959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4407140569999 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:301.06, Y:280.63, Z:2.18 [[-9.28730684e-01 3.70399915e-01 1.62240628e-02 3.01055812e+02] [-3.70372445e-01 -9.28871052e-01 4.77712367e-03 2.80628643e+02] [ 1.68395084e-02 -1.57228447e-03 9.99856969e-01 2.17737512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4707140569999 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:301.07, Y:280.63, Z:2.18 [[-9.28910988e-01 3.69947379e-01 1.62269460e-02 3.01067323e+02] [-3.69920002e-01 -9.29051376e-01 4.76781830e-03 2.80634021e+02] [ 1.68395084e-02 -1.57379311e-03 9.99856967e-01 2.17508488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.500714057 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:301.07, Y:280.64, Z:2.18 [[-9.29395011e-01 3.68729872e-01 1.62232714e-02 3.01074711e+02] [-3.68702106e-01 -9.29535321e-01 4.77966864e-03 2.80637287e+02] [ 1.68425104e-02 -1.53935414e-03 9.99856970e-01 2.17527577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.530714057 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:301.07, Y:280.64, Z:2.17 [[-9.29652812e-01 3.68078916e-01 1.62345955e-02 3.01067601e+02] [-3.68051684e-01 -9.29793235e-01 4.74315899e-03 2.80635732e+02] [ 1.68406739e-02 -1.56567911e-03 9.99856960e-01 2.17388265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5607140569999 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:301.08, Y:280.64, Z:2.17 [[-9.30743528e-01 3.65311895e-01 1.62390125e-02 3.01078449e+02] [-3.65284492e-01 -9.30883923e-01 4.72892583e-03 2.80639196e+02] [ 1.68441685e-02 -1.53044233e-03 9.99856956e-01 2.17394505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5907140569999 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:301.08, Y:280.64, Z:2.17 [[-9.32317103e-01 3.61276958e-01 1.62412521e-02 3.01078409e+02] [-3.61249072e-01 -9.32457406e-01 4.72171065e-03 2.80639489e+02] [ 1.68501211e-02 -1.46500566e-03 9.99856953e-01 2.17292785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.620714057 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:301.08, Y:280.64, Z:2.17 [[-9.32657263e-01 3.60397976e-01 1.62397601e-02 3.01079000e+02] [-3.60369874e-01 -9.32797520e-01 4.72651153e-03 2.80639322e+02] [ 1.68518331e-02 -1.44410500e-03 9.99856955e-01 2.17425385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.650714057 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:301.06, Y:280.63, Z:2.17 [[-9.33531076e-01 3.58128838e-01 1.62316010e-02 3.01064234e+02] [-3.58099943e-01 -9.33671164e-01 4.75272810e-03 2.80634834e+02] [ 1.68570668e-02 -1.37571600e-03 9.99856963e-01 2.17396686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6807140569999 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:301.08, Y:280.64, Z:2.17 [[-9.34866428e-01 3.54628169e-01 1.62364947e-02 3.01080279e+02] [-3.54599021e-01 -9.35006468e-01 4.73701457e-03 2.80639455e+02] [ 1.68611063e-02 -1.32896921e-03 9.99856958e-01 2.17427336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7107140569999 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:301.09, Y:280.64, Z:2.17 [[-9.35085312e-01 3.54050395e-01 1.62412544e-02 3.01093080e+02] [-3.54021423e-01 -9.35225394e-01 4.72172759e-03 2.80643150e+02] [ 1.68609630e-02 -1.33453388e-03 9.99856953e-01 2.17479589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7407140569999 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:301.09, Y:280.64, Z:2.17 [[-9.35797704e-01 3.52163606e-01 1.62311952e-02 3.01088570e+02] [-3.52133794e-01 -9.35937600e-01 4.75401522e-03 2.80642543e+02] [ 1.68655770e-02 -1.26675581e-03 9.99856964e-01 2.17334573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.770714057 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:301.10, Y:280.65, Z:2.17 [[-9.35949707e-01 3.51759327e-01 1.62333722e-02 3.01098148e+02] [-3.51729576e-01 -9.36089617e-01 4.74702940e-03 2.80646722e+02] [ 1.68657031e-02 -1.26677637e-03 9.99856961e-01 2.17226071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8007140569999 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:301.09, Y:280.64, Z:2.17 [[-9.35170633e-01 3.53824924e-01 1.62422768e-02 3.01088068e+02] [-3.53795975e-01 -9.35310721e-01 4.71848496e-03 2.80643722e+02] [ 1.68610932e-02 -1.33386359e-03 9.99856952e-01 2.17283671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8307140569999 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:301.09, Y:280.65, Z:2.17 [[-9.34317198e-01 3.56072909e-01 1.62313602e-02 3.01087807e+02] [-3.56043693e-01 -9.34457219e-01 4.75343954e-03 2.80645943e+02] [ 1.68600827e-02 -1.33785311e-03 9.99856964e-01 2.17226606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8607140569999 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:301.11, Y:280.66, Z:2.17 [[-9.33502951e-01 3.58201746e-01 1.62403934e-02 3.01109175e+02] [-3.58173350e-01 -9.33643150e-01 4.72452015e-03 2.80655511e+02] [ 1.68550634e-02 -1.40652259e-03 9.99856954e-01 2.17020511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.890714057 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:301.10, Y:280.66, Z:2.17 [[-9.35355783e-01 3.53335464e-01 1.62360411e-02 3.01101350e+02] [-3.53306097e-01 -9.35495777e-01 4.73844752e-03 2.80656203e+02] [ 1.68630094e-02 -1.30415802e-03 9.99856959e-01 2.16738458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9207140569999 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:301.09, Y:280.65, Z:2.17 [[-9.32312116e-01 3.61286744e-01 1.63097497e-02 3.01093239e+02] [-3.61262660e-01 -9.32453226e-01 4.50251669e-03 2.80652675e+02] [ 1.68347783e-02 -1.69435270e-03 9.99856849e-01 2.17032836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9507140569999 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:301.10, Y:280.65, Z:2.17 [[-9.27037007e-01 3.74618363e-01 1.62317372e-02 3.01100114e+02] [-3.74591979e-01 -9.27177585e-01 4.75132572e-03 2.80648378e+02] [ 1.68296368e-02 -1.67562380e-03 9.99856968e-01 2.17208109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9807140569999 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:301.10, Y:280.65, Z:2.17 [[-9.26695976e-01 3.75465564e-01 1.61300325e-02 3.01102355e+02] [-3.75433708e-01 -9.26835357e-01 5.07460533e-03 2.80650603e+02] [ 1.68552240e-02 -1.35314159e-03 9.99857025e-01 2.17258015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.010714057 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:301.11, Y:280.66, Z:2.17 [[-9.33371728e-01 3.58548606e-01 1.61280482e-02 3.01112848e+02] [-3.58514112e-01 -9.33510480e-01 5.08090413e-03 2.80663844e+02] [ 1.68774531e-02 -1.03976061e-03 9.99857025e-01 2.16859362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.040714057 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:301.12, Y:280.67, Z:2.17 [[-9.33840810e-01 3.57318341e-01 1.62771504e-02 3.01124909e+02] [-3.57291873e-01 -9.33981428e-01 4.60535691e-03 2.80668684e+02] [ 1.68481347e-02 -1.51502334e-03 9.99856912e-01 2.16830707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0707140569999 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:301.11, Y:280.66, Z:2.17 [[-9.32939055e-01 3.59666172e-01 1.62777124e-02 3.01106354e+02] [-3.59640090e-01 -9.33079747e-01 4.60356654e-03 2.80662889e+02] [ 1.68441509e-02 -1.55927091e-03 9.99856911e-01 2.16914007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1007140569999 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:301.11, Y:280.66, Z:2.17 [[-9.32460377e-01 3.60906664e-01 1.62488513e-02 3.01111887e+02] [-3.60879178e-01 -9.32600758e-01 4.69529048e-03 2.80664924e+02] [ 1.68482527e-02 -1.48569978e-03 9.99856954e-01 2.17141096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.130714057 meters Centerline goodness : 0.994490 Centerline is valid? [True, True] Translation: X:301.12, Y:280.67, Z:2.17 [[-9.32670839e-01 3.60363065e-01 1.62347933e-02 3.01121498e+02] [-3.60334725e-01 -9.32811031e-01 4.73992621e-03 2.80668868e+02] [ 1.68520886e-02 -1.42916882e-03 9.99856972e-01 2.17082930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.160714057 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:301.11, Y:280.67, Z:2.17 [[-9.32683688e-01 3.60329981e-01 1.62309220e-02 3.01108025e+02] [-3.60301424e-01 -9.32823832e-01 4.75220113e-03 2.80665479e+02] [ 1.68529514e-02 -1.41572382e-03 9.99856977e-01 2.17143603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1907140569999 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:301.12, Y:280.67, Z:2.17 [[-9.32454739e-01 3.60922008e-01 1.62315826e-02 3.01119291e+02] [-3.60893576e-01 -9.32594908e-01 4.75010759e-03 2.80669041e+02] [ 1.68519096e-02 -1.42861355e-03 9.99856976e-01 2.17255991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2207140569999 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:301.12, Y:280.67, Z:2.17 [[-9.32756720e-01 3.60140550e-01 1.62383873e-02 3.01122048e+02] [-3.60112374e-01 -9.32896950e-01 4.72854844e-03 2.80670594e+02] [ 1.68516840e-02 -1.43705886e-03 9.99856968e-01 2.17124151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.250714057 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:301.13, Y:280.67, Z:2.17 [[-9.32645397e-01 3.60428816e-01 1.62367379e-02 3.01131931e+02] [-3.60400593e-01 -9.32785615e-01 4.73377041e-03 2.80673309e+02] [ 1.68515829e-02 -1.43680080e-03 9.99856970e-01 2.17194155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.280714057 meters Centerline goodness : 0.993796 Centerline is valid? [True, True] Translation: X:301.12, Y:280.67, Z:2.17 [[-9.32349482e-01 3.61194024e-01 1.62271351e-02 3.01119937e+02] [-3.61165390e-01 -9.32489605e-01 4.76414295e-03 2.80669683e+02] [ 1.68524148e-02 -1.41883339e-03 9.99856981e-01 2.17272164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3107140569999 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:301.13, Y:280.68, Z:2.18 [[-9.33002550e-01 3.59503783e-01 1.62256264e-02 3.01132385e+02] [-3.59474813e-01 -9.33142602e-01 4.76890755e-03 2.80675860e+02] [ 1.68552636e-02 -1.38330112e-03 9.99856983e-01 2.17588651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3407140569999 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:301.13, Y:280.68, Z:2.18 [[-9.33135877e-01 3.59159104e-01 1.61917669e-02 3.01130897e+02] [-3.59128237e-01 -9.33275488e-01 4.87572019e-03 2.80676000e+02] [ 1.68625385e-02 -1.26521126e-03 9.99857017e-01 2.17619215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.370714057 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:301.13, Y:280.68, Z:2.17 [[-9.33100057e-01 3.59251648e-01 1.62030055e-02 3.01134960e+02] [-3.59221406e-01 -9.33239815e-01 4.84029685e-03 2.80677596e+02] [ 1.68601744e-02 -1.30398514e-03 9.99857007e-01 2.17002716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.400714057 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:301.13, Y:280.68, Z:2.17 [[-9.33174655e-01 3.59056216e-01 1.62387536e-02 3.01134220e+02] [-3.59027894e-01 -9.33314857e-01 4.72754749e-03 2.80679105e+02] [ 1.68533253e-02 -1.41853801e-03 9.99856966e-01 2.16938716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4307140569999 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:301.14, Y:280.68, Z:2.17 [[-9.32527321e-01 3.60735925e-01 1.61983883e-02 3.01139367e+02] [-3.60705658e-01 -9.32667069e-01 4.85463963e-03 2.80679230e+02] [ 1.68589463e-02 -1.31576622e-03 9.99857012e-01 2.17007454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4607140569999 meters Centerline goodness : 0.993726 Centerline is valid? [True, True] Translation: X:301.13, Y:280.68, Z:2.17 [[-9.32315222e-01 3.61281321e-01 1.62522202e-02 3.01134943e+02] [-3.61254070e-01 -9.32455655e-01 4.68503001e-03 2.80678115e+02] [ 1.68470884e-02 -1.50325588e-03 9.99856948e-01 2.17026228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4907140569999 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:301.14, Y:280.68, Z:2.18 [[-9.32266608e-01 3.61407142e-01 1.62434681e-02 3.01136921e+02] [-3.61379433e-01 -9.32406938e-01 4.71256683e-03 2.80678444e+02] [ 1.68486776e-02 -1.47668659e-03 9.99856961e-01 2.17508200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.520714057 meters Centerline goodness : 0.993155 Centerline is valid? [True, True] Translation: X:301.15, Y:280.68, Z:2.17 [[-9.32458596e-01 3.60913424e-01 1.62008424e-02 3.01146185e+02] [-3.60883324e-01 -9.32598380e-01 4.84647124e-03 2.80681273e+02] [ 1.68580359e-02 -1.32748008e-03 9.99857012e-01 2.17457774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5507140569999 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:301.14, Y:280.68, Z:2.17 [[-9.31667925e-01 3.62949850e-01 1.61951976e-02 3.01140560e+02] [-3.62919749e-01 -9.31807703e-01 4.86418677e-03 2.80677158e+02] [ 1.68562657e-02 -1.34575026e-03 9.99857017e-01 2.17306731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5807140569999 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:301.14, Y:280.67, Z:2.17 [[-9.27329437e-01 3.73894761e-01 1.62118498e-02 3.01140437e+02] [-3.73867213e-01 -9.27469758e-01 4.81198000e-03 2.80669737e+02] [ 1.68351745e-02 -1.59878838e-03 9.99857000e-01 2.17214969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6107140569999 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:301.16, Y:280.68, Z:2.17 [[-9.32026674e-01 3.62031740e-01 1.61027275e-02 3.01164399e+02] [-3.61996521e-01 -9.32165203e-01 5.15298322e-03 2.80684282e+02] [ 1.68759458e-02 -1.02641353e-03 9.99857064e-01 2.17138520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.640714057 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:301.14, Y:280.68, Z:2.17 [[-9.32112222e-01 3.61807122e-01 1.61991543e-02 3.01138981e+02] [-3.61777077e-01 -9.32252012e-01 4.85102951e-03 2.80677361e+02] [ 1.68568312e-02 -1.33877880e-03 9.99857017e-01 2.16949913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6707140569999 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:301.15, Y:280.68, Z:2.17 [[-9.31831775e-01 3.62527759e-01 1.62224453e-02 3.01146827e+02] [-3.62499083e-01 -9.31971880e-01 4.77813875e-03 2.80679840e+02] [ 1.68510708e-02 -1.42820002e-03 9.99856991e-01 2.16874262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7007140569999 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:301.15, Y:280.67, Z:2.17 [[-9.26277263e-01 3.76493740e-01 1.62140533e-02 3.01148949e+02] [-3.76466718e-01 -9.26417686e-01 4.80436850e-03 2.80672976e+02] [ 1.68298004e-02 -1.65387412e-03 9.99857001e-01 2.16941035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7307140569999 meters Centerline goodness : 0.993692 Centerline is valid? [True, True] Translation: X:301.15, Y:280.68, Z:2.17 [[-9.32068993e-01 3.61923056e-01 1.60964206e-02 3.01151265e+02] [-3.61887517e-01 -9.32207429e-01 5.17057287e-03 2.80682169e+02] [ 1.68765524e-02 -1.00576304e-03 9.99857075e-01 2.16602117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.760714057 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:301.15, Y:280.68, Z:2.17 [[-9.32333215e-01 3.61235783e-01 1.62322038e-02 3.01154176e+02] [-3.61207463e-01 -9.32473400e-01 4.74633894e-03 2.80683728e+02] [ 1.68506457e-02 -1.43802371e-03 9.99856984e-01 2.16552367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.790714057 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:301.16, Y:280.68, Z:2.17 [[-9.31610792e-01 3.63094663e-01 1.62356860e-02 3.01162413e+02] [-3.63066811e-01 -9.31751075e-01 4.73546310e-03 2.80684845e+02] [ 1.68470393e-02 -1.48303021e-03 9.99856979e-01 2.16677520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8207140569999 meters Centerline goodness : 0.993696 Centerline is valid? [True, True] Translation: X:301.16, Y:280.68, Z:2.17 [[-9.31064236e-01 3.64494177e-01 1.62291056e-02 3.01158990e+02] [-3.64466180e-01 -9.31204480e-01 4.75599110e-03 2.80683472e+02] [ 1.68461469e-02 -1.48682690e-03 9.99856988e-01 2.17107933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8507140569999 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:301.15, Y:280.68, Z:2.17 [[-9.30564214e-01 3.65771036e-01 1.61800512e-02 3.01150703e+02] [-3.65740590e-01 -9.30703888e-01 4.90856927e-03 2.80680136e+02] [ 1.68542490e-02 -1.34996256e-03 9.99857046e-01 2.17283605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.880714057 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:301.16, Y:280.68, Z:2.17 [[-9.30707808e-01 3.65406193e-01 1.61645125e-02 3.01161766e+02] [-3.65374857e-01 -9.30847272e-01 4.95683794e-03 2.80682306e+02] [ 1.68579516e-02 -1.29273867e-03 9.99857059e-01 2.16878358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.910714057 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:301.16, Y:280.68, Z:2.17 [[-9.31346726e-01 3.63773875e-01 1.61815923e-02 3.01158385e+02] [-3.63743212e-01 -9.31486355e-01 4.90378508e-03 2.80679850e+02] [ 1.68568014e-02 -1.31882019e-03 9.99857044e-01 2.16898400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9407140569999 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:301.16, Y:280.68, Z:2.17 [[-9.31478376e-01 3.63436506e-01 1.61845820e-02 3.01164775e+02] [-3.63405953e-01 -9.31618032e-01 4.89450368e-03 2.80680887e+02] [ 1.68566897e-02 -1.32244909e-03 9.99857041e-01 2.16958191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9707140569999 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:301.18, Y:280.69, Z:2.17 [[-9.34856458e-01 3.54657062e-01 1.61793240e-02 3.01181414e+02] [-3.54624915e-01 -9.34995750e-01 4.91082292e-03 2.80686412e+02] [ 1.68692572e-02 -1.14667687e-03 9.99857046e-01 2.16690331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.000714057 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:301.18, Y:280.69, Z:2.17 [[-9.34739776e-01 3.54961368e-01 1.62473938e-02 3.01183877e+02] [-3.54932922e-01 -9.34879960e-01 4.69917071e-03 2.80687393e+02] [ 1.68573870e-02 -1.37423319e-03 9.99856960e-01 2.16677199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.030714057 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:301.18, Y:280.68, Z:2.17 [[-9.33025480e-01 3.59443519e-01 1.62422196e-02 3.01179879e+02] [-3.59415468e-01 -9.33165734e-01 4.71522973e-03 2.80683360e+02] [ 1.68515416e-02 -1.43827549e-03 9.99856968e-01 2.16909121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0607140569999 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:301.18, Y:280.68, Z:2.17 [[-9.33189530e-01 3.59020448e-01 1.61746509e-02 3.01181995e+02] [-3.58988718e-01 -9.33328908e-01 4.92437419e-03 2.80683008e+02] [ 1.68642203e-02 -1.21114275e-03 9.99857055e-01 2.16958667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0907140569999 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:301.21, Y:280.69, Z:2.17 [[-9.37388265e-01 3.47911792e-01 1.61438995e-02 3.01205980e+02] [-3.47876773e-01 -9.37526829e-01 5.01948494e-03 2.80690400e+02] [ 1.68816769e-02 -9.10881395e-04 9.99857079e-01 2.16624776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.120714057 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:301.20, Y:280.68, Z:2.17 [[-9.36544840e-01 3.50170641e-01 1.62568632e-02 3.01196104e+02] [-3.50141998e-01 -9.36684996e-01 4.66904854e-03 2.80684550e+02] [ 1.68625235e-02 -1.31943722e-03 9.99856947e-01 2.16769035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.150714057 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:301.20, Y:280.68, Z:2.17 [[-9.37127199e-01 3.48610916e-01 1.62185872e-02 3.01200907e+02] [-3.48579993e-01 -9.37266807e-01 4.78757062e-03 2.80682636e+02] [ 1.68701428e-02 -1.16691238e-03 9.99857008e-01 2.16914799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1807140569999 meters Centerline goodness : 0.994129 Centerline is valid? [True, True] Translation: X:301.20, Y:280.68, Z:2.17 [[-9.37721889e-01 3.47009321e-01 1.61922900e-02 3.01196678e+02] [-3.46976759e-01 -9.37861090e-01 4.86884782e-03 2.80680463e+02] [ 1.68756544e-02 -1.05272314e-03 9.99857042e-01 2.16935315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2107140569999 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:301.20, Y:280.68, Z:2.17 [[-9.38712149e-01 3.44321338e-01 1.61962433e-02 3.01198404e+02] [-3.44288587e-01 -9.38851310e-01 4.85663681e-03 2.80681005e+02] [ 1.68781079e-02 -1.01719774e-03 9.99857037e-01 2.16887867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2407140569999 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:301.21, Y:280.68, Z:2.17 [[-9.38810820e-01 3.44051460e-01 1.62122365e-02 3.01211033e+02] [-3.44019521e-01 -9.38950190e-01 4.80723195e-03 2.80683273e+02] [ 1.68764178e-02 -1.06424448e-03 9.99857017e-01 2.16958093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.270714057 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:301.19, Y:280.68, Z:2.17 [[-9.38493721e-01 3.44916535e-01 1.61901011e-02 3.01192313e+02] [-3.44883548e-01 -9.38632818e-01 4.87552146e-03 2.80675968e+02] [ 1.68782082e-02 -1.00805322e-03 9.99857045e-01 2.17171376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3007140569999 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:301.22, Y:280.68, Z:2.17 [[-9.38801743e-01 3.44077063e-01 1.61945477e-02 3.01215828e+02] [-3.44044187e-01 -9.38940872e-01 4.86180933e-03 2.80683757e+02] [ 1.68785598e-02 -1.00736491e-03 9.99857040e-01 2.17107546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3307140569999 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:301.20, Y:280.68, Z:2.17 [[-9.38737495e-01 3.44252030e-01 1.62005039e-02 3.01203213e+02] [-3.44219496e-01 -9.38876712e-01 4.84344721e-03 2.80679766e+02] [ 1.68776423e-02 -1.02980378e-03 9.99857032e-01 2.17097542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3607140569999 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:301.22, Y:280.69, Z:2.17 [[-9.38143149e-01 3.45868199e-01 1.62055570e-02 3.01220241e+02] [-3.45836174e-01 -9.38282491e-01 4.82788178e-03 2.80685379e+02] [ 1.68752011e-02 -1.07522359e-03 9.99857026e-01 2.17492241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.390714057 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:301.22, Y:280.69, Z:2.17 [[-9.38621277e-01 3.44571340e-01 1.61458935e-02 3.01220823e+02] [-3.44535969e-01 -9.38759742e-01 5.01127540e-03 2.80686139e+02] [ 1.68838567e-02 -8.59151357e-04 9.99857088e-01 2.16959040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4207140569999 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:301.21, Y:280.68, Z:2.17 [[-9.38315328e-01 3.45400925e-01 1.62033001e-02 3.01209176e+02] [-3.45368711e-01 -9.38454622e-01 4.83480890e-03 2.80682355e+02] [ 1.68760093e-02 -1.05953758e-03 9.99857029e-01 2.16782100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4507140569999 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:301.22, Y:280.69, Z:2.17 [[-9.38038559e-01 3.46152221e-01 1.61957122e-02 3.01219339e+02] [-3.46119717e-01 -9.38177777e-01 4.85810342e-03 2.80685643e+02] [ 1.68761005e-02 -1.04856698e-03 9.99857039e-01 2.17041484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4807140569999 meters Centerline goodness : 0.992192 Centerline is valid? [True, True] Translation: X:301.24, Y:280.70, Z:2.16 [[-9.35804848e-01 3.52147550e-01 1.61675704e-02 3.01244811e+02] [-3.52114450e-01 -9.35943891e-01 4.94440809e-03 2.80697147e+02] [ 1.68730999e-02 -1.06583408e-03 9.99857071e-01 2.16325118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.510714057 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:301.22, Y:280.68, Z:2.17 [[-9.37266552e-01 3.48243146e-01 1.60661956e-02 3.01216519e+02] [-3.48204148e-01 -9.37404002e-01 5.25438217e-03 2.80684664e+02] [ 1.68903186e-02 -6.69559278e-04 9.99857124e-01 2.16820677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.540714057 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:301.23, Y:280.69, Z:2.17 [[-9.37471261e-01 3.47685459e-01 1.62005294e-02 3.01230357e+02] [-3.47653449e-01 -9.37610595e-01 4.84262137e-03 2.80690310e+02] [ 1.68734971e-02 -1.09235156e-03 9.99857036e-01 2.16630361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5707140569999 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:301.24, Y:280.69, Z:2.17 [[-9.38337145e-01 3.45342421e-01 1.61868741e-02 3.01236279e+02] [-3.45309343e-01 -9.38476212e-01 4.88444066e-03 2.80692562e+02] [ 1.68778009e-02 -1.00622677e-03 9.99857053e-01 2.16606122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6007140569999 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:301.23, Y:280.69, Z:2.17 [[-9.38216030e-01 3.45670443e-01 1.62057115e-02 3.01229874e+02] [-3.45638407e-01 -9.38355367e-01 4.82677782e-03 2.80690294e+02] [ 1.68751908e-02 -1.07275599e-03 9.99857028e-01 2.16680402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.630714057 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:301.22, Y:280.69, Z:2.17 [[-9.38985063e-01 3.43576936e-01 1.61845499e-02 3.01219160e+02] [-3.43543476e-01 -9.39124035e-01 4.89144042e-03 2.80686653e+02] [ 1.68798860e-02 -9.67107054e-04 9.99857057e-01 2.16870820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.660714057 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:301.24, Y:280.69, Z:2.17 [[-9.40251362e-01 3.40095791e-01 1.61934871e-02 3.01239236e+02] [-3.40062286e-01 -9.40390335e-01 4.86413835e-03 2.80694035e+02] [ 1.68824718e-02 -9.33281541e-04 9.99857045e-01 2.16786957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6907140569999 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:301.24, Y:280.69, Z:2.17 [[-9.40104740e-01 3.40499589e-01 1.62206049e-02 3.01239704e+02] [-3.40467570e-01 -9.40244103e-01 4.78123380e-03 2.80694539e+02] [ 1.68793363e-02 -1.02772938e-03 9.99857006e-01 2.17254501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7207140569999 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:301.24, Y:280.70, Z:2.17 [[-9.41769306e-01 3.35870840e-01 1.61664539e-02 3.01244209e+02] [-3.35835298e-01 -9.41907737e-01 4.94646459e-03 2.80697237e+02] [ 1.68886813e-02 -7.70837353e-04 9.99857079e-01 2.16678515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.750714057 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:301.24, Y:280.69, Z:2.17 [[-9.41446701e-01 3.36772147e-01 1.62058778e-02 3.01237992e+02] [-3.36738805e-01 -9.41585730e-01 4.82610407e-03 2.80694628e+02] [ 1.68845207e-02 -9.13628157e-04 9.99857029e-01 2.16802820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.780714057 meters Centerline goodness : 0.993150 Centerline is valid? [True, True] Translation: X:301.25, Y:280.70, Z:2.17 [[-9.42312870e-01 3.34340382e-01 1.62161868e-02 3.01251939e+02] [-3.34307221e-01 -9.42451958e-01 4.79465042e-03 2.80700623e+02] [ 1.68860223e-02 -9.03127556e-04 9.99857013e-01 2.16706817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8107140569999 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:301.26, Y:280.70, Z:2.17 [[-9.42361280e-01 3.34204041e-01 1.62134933e-02 3.01257727e+02] [-3.34170718e-01 -9.42500326e-01 4.80286609e-03 2.80703009e+02] [ 1.68863599e-02 -8.92039654e-04 9.99857017e-01 2.16771246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8407140569999 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:301.25, Y:280.69, Z:2.17 [[-9.35563433e-01 3.52786129e-01 1.62176100e-02 3.01246826e+02] [-3.52755781e-01 -9.35703164e-01 4.79033509e-03 2.80689847e+02] [ 1.68648328e-02 -1.23919333e-03 9.99857011e-01 2.17416781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.870714057 meters Centerline goodness : 0.993276 Centerline is valid? [True, True] Translation: X:301.25, Y:280.70, Z:2.17 [[-9.42658829e-01 3.33371761e-01 1.60499647e-02 3.01246970e+02] [-3.33329847e-01 -9.42795387e-01 5.29819524e-03 2.80703517e+02] [ 1.68981013e-02 -3.55541747e-04 9.99857154e-01 2.16570333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.900714057 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:301.25, Y:280.71, Z:2.17 [[-9.42128893e-01 3.34857996e-01 1.62256239e-02 3.01250564e+02] [-3.34825445e-01 -9.42268131e-01 4.76358754e-03 2.80705093e+02] [ 1.68840137e-02 -9.44838275e-04 9.99857008e-01 2.16610739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9307140569999 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:301.25, Y:280.71, Z:2.17 [[-9.41620117e-01 3.36285884e-01 1.62283498e-02 3.01250370e+02] [-3.36253687e-01 -9.41759441e-01 4.75529683e-03 2.80705480e+02] [ 1.68823408e-02 -9.79159286e-04 9.99857004e-01 2.16573951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9607140569999 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:301.26, Y:280.71, Z:2.17 [[-9.41142235e-01 3.37621270e-01 1.62225852e-02 3.01256811e+02] [-3.37588969e-01 -9.41281525e-01 4.77281539e-03 2.80707758e+02] [ 1.68814237e-02 -9.84667658e-04 9.99857014e-01 2.16618771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9907140569999 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:301.25, Y:280.71, Z:2.17 [[-9.40626472e-01 3.39055719e-01 1.62191098e-02 3.01252423e+02] [-3.39023448e-01 -9.40765763e-01 4.78336614e-03 2.80706662e+02] [ 1.68802109e-02 -9.99297723e-04 9.99857020e-01 2.16648390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.020714057 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:301.26, Y:280.71, Z:2.16 [[-9.40917465e-01 3.38247226e-01 1.62215664e-02 3.01261894e+02] [-3.38214964e-01 -9.41056762e-01 4.77590861e-03 2.80712435e+02] [ 1.68808525e-02 -9.92640668e-04 9.99857016e-01 2.16437279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0507140569999 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:301.26, Y:280.71, Z:2.17 [[-9.38543355e-01 3.44778794e-01 1.62466408e-02 3.01257810e+02] [-3.44748815e-01 -9.38683209e-01 4.69976037e-03 2.80710294e+02] [ 1.68708267e-02 -1.19008131e-03 9.99856969e-01 2.16663167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0807140569999 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:301.25, Y:280.71, Z:2.17 [[-9.36820110e-01 3.49436150e-01 1.62005712e-02 3.01248980e+02] [-3.49404456e-01 -9.36959501e-01 4.83933201e-03 2.80708412e+02] [ 1.68703167e-02 -1.12696823e-03 9.99857051e-01 2.16739206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1107140569999 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:301.25, Y:280.71, Z:2.17 [[-9.36362315e-01 3.50661045e-01 1.62001752e-02 3.01250774e+02] [-3.50629513e-01 -9.36501743e-01 4.84053011e-03 2.80710402e+02] [ 1.68688777e-02 -1.14776956e-03 9.99857052e-01 2.16692892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.140714057 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:301.25, Y:280.71, Z:2.17 [[-9.34696739e-01 3.55076168e-01 1.62148313e-02 3.01250094e+02] [-3.55046060e-01 -9.34836505e-01 4.79619887e-03 2.80710935e+02] [ 1.68612322e-02 -1.27402053e-03 9.99857028e-01 2.16716621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1707140569999 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:301.25, Y:280.71, Z:2.17 [[-9.32296950e-01 3.61331325e-01 1.61885948e-02 3.01247894e+02] [-3.61300784e-01 -9.32436579e-01 4.87540047e-03 2.80712441e+02] [ 1.68564729e-02 -1.30363099e-03 9.99857070e-01 2.16761649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2007140569999 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:301.25, Y:280.72, Z:2.17 [[-9.30274222e-01 3.66507050e-01 1.62004293e-02 3.01254531e+02] [-3.66477903e-01 -9.30414168e-01 4.83970117e-03 2.80717034e+02] [ 1.68468935e-02 -1.43485011e-03 9.99857051e-01 2.16766875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2307140569999 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:301.25, Y:280.72, Z:2.16 [[-9.33780866e-01 3.57478322e-01 1.62032058e-02 3.01252261e+02] [-3.57447966e-01 -9.33920559e-01 4.83132328e-03 2.80722278e+02] [ 1.68596003e-02 -1.28040573e-03 9.99857047e-01 2.16317286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.260714057 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:301.25, Y:280.71, Z:2.17 [[-9.21494750e-01 3.88050031e-01 1.62664849e-02 3.01245687e+02] [-3.88027623e-01 -9.21636061e-01 4.64054333e-03 2.80705635e+02] [ 1.67925420e-02 -2.03560914e-03 9.99856923e-01 2.17289007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.290714057 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:301.25, Y:280.72, Z:2.17 [[-9.29523237e-01 3.68414986e-01 1.60296782e-02 3.01251758e+02] [-3.68377316e-01 -9.29660976e-01 5.35006951e-03 2.80719012e+02] [ 1.68732121e-02 -9.31955919e-04 9.99857203e-01 2.16663954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3207140569999 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:301.25, Y:280.72, Z:2.17 [[-9.28459577e-01 3.71078333e-01 1.62383712e-02 3.01250158e+02] [-3.71051925e-01 -9.28600117e-01 4.72147856e-03 2.80717356e+02] [ 1.68309918e-02 -1.64157692e-03 9.99857001e-01 2.16780984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3507140569999 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:301.24, Y:280.71, Z:2.17 [[-9.26969012e-01 3.74787574e-01 1.62088115e-02 3.01244928e+02] [-3.74760184e-01 -9.27109306e-01 4.81035744e-03 2.80713427e+02] [ 1.68302022e-02 -1.61536489e-03 9.99857057e-01 2.17011677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.380714057 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:301.24, Y:280.71, Z:2.17 [[-9.29894695e-01 3.67469997e-01 1.61758569e-02 3.01243171e+02] [-3.67439788e-01 -9.30034355e-01 4.90928839e-03 2.80714999e+02] [ 1.68481188e-02 -1.37853218e-03 9.99857110e-01 2.16837814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.410714057 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:301.26, Y:280.72, Z:2.17 [[-9.26699640e-01 3.75451566e-01 1.62449509e-02 3.01261310e+02] [-3.75426169e-01 -9.26840379e-01 4.70153009e-03 2.80717171e+02] [ 1.68216733e-02 -1.74187344e-03 9.99856988e-01 2.17141569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4407140569999 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:301.26, Y:280.71, Z:2.18 [[-9.21751666e-01 3.87444214e-01 1.61507646e-02 3.01260804e+02] [-3.87415729e-01 -9.21891650e-01 4.98379369e-03 2.80707524e+02] [ 1.68201971e-02 -1.66324012e-03 9.99857147e-01 2.17589608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4707140569999 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:301.26, Y:280.72, Z:2.17 [[-9.31340721e-01 3.63796269e-01 1.60229897e-02 3.01256453e+02] [-3.63757652e-01 -9.31478171e-01 5.36538069e-03 2.80717713e+02] [ 1.68769706e-02 -8.31487590e-04 9.99857228e-01 2.16859194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.500714057 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:301.26, Y:280.71, Z:2.17 [[-9.22565229e-01 3.85498766e-01 1.62511651e-02 3.01263824e+02] [-3.85475260e-01 -9.22706299e-01 4.68078402e-03 2.80708767e+02] [ 1.67994888e-02 -1.94609350e-03 9.99856985e-01 2.17456737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.530714057 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:301.27, Y:280.72, Z:2.17 [[-9.32097695e-01 3.61852536e-01 1.60196816e-02 3.01267983e+02] [-3.61813531e-01 -9.32235013e-01 5.37120094e-03 2.80722351e+02] [ 1.68776907e-02 -7.89653541e-04 9.99857250e-01 2.16658923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5607140569999 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:301.28, Y:280.73, Z:2.17 [[-9.31747654e-01 3.62743695e-01 1.62271729e-02 3.01282627e+02] [-3.62715559e-01 -9.31887802e-01 4.74842810e-03 2.80726524e+02] [ 1.68443668e-02 -1.46151134e-03 9.99857055e-01 2.16629831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5907140569999 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:301.28, Y:280.72, Z:2.17 [[-9.31956493e-01 3.62207866e-01 1.62035860e-02 3.01279956e+02] [-3.62178425e-01 -9.32096328e-01 4.81915972e-03 2.80724405e+02] [ 1.68488406e-02 -1.37734205e-03 9.99857100e-01 2.16588129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.620714057 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:301.27, Y:280.72, Z:2.17 [[-9.32422044e-01 3.61008239e-01 1.61920973e-02 3.01273341e+02] [-3.60978022e-01 -9.32561693e-01 4.85357584e-03 2.80721323e+02] [ 1.68523105e-02 -1.31941015e-03 9.99857119e-01 2.16632162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.650714057 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:301.28, Y:280.71, Z:2.17 [[-9.25971010e-01 3.77246788e-01 1.62034062e-02 3.01275933e+02] [-3.77219603e-01 -9.26111301e-01 4.81976133e-03 2.80709827e+02] [ 1.68243970e-02 -1.64928318e-03 9.99857100e-01 2.17209107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6807140569999 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:301.29, Y:280.72, Z:2.17 [[-9.33557854e-01 3.58068814e-01 1.60143178e-02 3.01287045e+02] [-3.58029060e-01 -9.33694930e-01 5.38237052e-03 2.80722775e+02] [ 1.68797464e-02 -7.08836891e-04 9.99857276e-01 2.16746451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7107140569999 meters Centerline goodness : 0.993285 Centerline is valid? [True, True] Translation: X:301.29, Y:280.72, Z:2.17 [[-9.33958528e-01 3.57014919e-01 1.61807349e-02 3.01291828e+02] [-3.56983563e-01 -9.34097893e-01 4.88485533e-03 2.80723522e+02] [ 1.68583566e-02 -1.21400410e-03 9.99857151e-01 2.16833232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7407140569999 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:301.29, Y:280.72, Z:2.17 [[-9.34804996e-01 3.54793179e-01 1.61684559e-02 3.01292615e+02] [-3.54760860e-01 -9.34944122e-01 4.92153120e-03 2.80722895e+02] [ 1.68627285e-02 -1.13526336e-03 9.99857170e-01 2.17022581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.770714057 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:301.28, Y:280.72, Z:2.17 [[-9.36086860e-01 3.51398443e-01 1.61407960e-02 3.01284110e+02] [-3.51364199e-01 -9.36225486e-01 5.00397565e-03 2.80718574e+02] [ 1.68698138e-02 -9.87141992e-04 9.99857207e-01 2.17165896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8007140569999 meters Centerline goodness : 0.993672 Centerline is valid? [True, True] Translation: X:301.29, Y:280.72, Z:2.17 [[-9.36029566e-01 3.51550274e-01 1.61572455e-02 3.01293764e+02] [-3.51516896e-01 -9.36168425e-01 4.95496652e-03 2.80721007e+02] [ 1.68678229e-02 -1.04154961e-03 9.99857186e-01 2.17236166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8307140569999 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:301.30, Y:280.72, Z:2.17 [[-9.36165349e-01 3.51189146e-01 1.61438393e-02 3.01303776e+02] [-3.51155027e-01 -9.36304009e-01 4.99487243e-03 2.80723610e+02] [ 1.68696865e-02 -9.92963843e-04 9.99857204e-01 2.17212318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8607140569999 meters Centerline goodness : 0.993333 Centerline is valid? [True, True] Translation: X:301.31, Y:280.73, Z:2.17 [[-9.36985588e-01 3.48995689e-01 1.61250296e-02 3.01308395e+02] [-3.48960285e-01 -9.37123903e-01 5.05082813e-03 2.80725910e+02] [ 1.68738679e-02 -8.94441754e-04 9.99857226e-01 2.17155002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.890714057 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:301.30, Y:280.71, Z:2.18 [[-9.30765998e-01 3.65259078e-01 1.61388735e-02 3.01302593e+02] [-3.65226798e-01 -9.30905092e-01 5.00968872e-03 2.80714415e+02] [ 1.68535938e-02 -1.23150115e-03 9.99857210e-01 2.17593584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9207140569999 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:301.31, Y:280.72, Z:2.18 [[-9.30624666e-01 3.65624928e-01 1.60044952e-02 3.01305156e+02] [-3.65585856e-01 -9.30761915e-01 5.40741673e-03 2.80715184e+02] [ 1.68734610e-02 -8.18741706e-04 9.99857298e-01 2.17606088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9507140569999 meters Centerline goodness : 0.993788 Centerline is valid? [True, True] Translation: X:301.32, Y:280.73, Z:2.17 [[-9.36857219e-01 3.49345782e-01 1.60024061e-02 3.01315938e+02] [-3.49304218e-01 -9.36993734e-01 5.41359217e-03 2.80729167e+02] [ 1.68853698e-02 -5.17945032e-04 9.99857298e-01 2.16985426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9807140569999 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:301.29, Y:280.72, Z:2.17 [[-9.34784947e-01 3.54845531e-01 1.61787824e-02 3.01292714e+02] [-3.54813756e-01 -9.34924212e-01 4.89036503e-03 2.80720420e+02] [ 1.68612596e-02 -1.16901495e-03 9.99857155e-01 2.17127511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.010714057 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:301.31, Y:280.73, Z:2.17 [[-9.34401176e-01 3.55857082e-01 1.61300907e-02 3.01309084e+02] [-3.55822973e-01 -9.34539815e-01 5.03450729e-03 2.80726299e+02] [ 1.68657771e-02 -1.03520730e-03 9.99857227e-01 2.17129940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.040714057 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:301.32, Y:280.73, Z:2.17 [[-9.33098962e-01 3.59257574e-01 1.61345192e-02 3.01315318e+02] [-3.59224196e-01 -9.33237785e-01 5.02139343e-03 2.80728195e+02] [ 1.68613165e-02 -1.11045267e-03 9.99857221e-01 2.17094214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0707140569999 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:301.31, Y:280.73, Z:2.17 [[-9.32436580e-01 3.60973738e-01 1.61240223e-02 3.01308680e+02] [-3.60940080e-01 -9.32575322e-01 5.05245144e-03 2.80726375e+02] [ 1.68606676e-02 -1.10871536e-03 9.99857234e-01 2.17125320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1007140569999 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:301.30, Y:280.73, Z:2.17 [[-9.31923443e-01 3.62296113e-01 1.61314457e-02 3.01304832e+02] [-3.62263030e-01 -9.32062332e-01 5.03051145e-03 2.80725979e+02] [ 1.68580477e-02 -1.15577485e-03 9.99857225e-01 2.17040489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.130714057 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:301.31, Y:280.73, Z:2.17 [[-9.30763219e-01 3.65266029e-01 1.61417919e-02 3.01308902e+02] [-3.65233917e-01 -9.30902351e-01 4.99996504e-03 2.80726721e+02] [ 1.68527494e-02 -1.24174632e-03 9.99857211e-01 2.17088516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.160714057 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:301.32, Y:280.73, Z:2.17 [[-9.30193293e-01 3.66716255e-01 1.61129179e-02 3.01322180e+02] [-3.66682890e-01 -9.30332091e-01 5.08511866e-03 2.80730995e+02] [ 1.68551603e-02 -1.17818803e-03 9.99857248e-01 2.17072162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1907140569999 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:301.30, Y:280.72, Z:2.17 [[-9.28461343e-01 3.71078751e-01 1.61274457e-02 3.01303136e+02] [-3.71046777e-01 -9.28600487e-01 5.04229860e-03 2.80723375e+02] [ 1.68470438e-02 -1.30245742e-03 9.99857230e-01 2.17238032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2207140569999 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:301.32, Y:280.73, Z:2.17 [[-9.28180033e-01 3.71782544e-01 1.61110778e-02 3.01318678e+02] [-3.71749843e-01 -9.28318987e-01 5.09046560e-03 2.80728750e+02] [ 1.68487656e-02 -1.26442210e-03 9.99857250e-01 2.17161382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.250714057 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:301.32, Y:280.73, Z:2.17 [[-9.26607763e-01 3.75684315e-01 1.61043317e-02 3.01323910e+02] [-3.75651856e-01 -9.26746766e-01 5.11031062e-03 2.80729060e+02] [ 1.68445009e-02 -1.31436860e-03 9.99857257e-01 2.17227301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.280714057 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:301.32, Y:280.73, Z:2.17 [[-9.25680312e-01 3.77963694e-01 1.61060925e-02 3.01324845e+02] [-3.77931667e-01 -9.25819417e-01 5.10513265e-03 2.80729021e+02] [ 1.68408880e-02 -1.36128159e-03 9.99857256e-01 2.17189187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3107140569999 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:301.33, Y:280.73, Z:2.17 [[-9.26381341e-01 3.76242962e-01 1.60886677e-02 3.01334075e+02] [-3.76209791e-01 -9.26520159e-01 5.15633092e-03 2.80732874e+02] [ 1.68465081e-02 -1.27598555e-03 9.99857273e-01 2.16942654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3407140569999 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:301.32, Y:280.73, Z:2.17 [[-9.24686231e-01 3.80388236e-01 1.61295753e-02 3.01316259e+02] [-3.80357769e-01 -9.24825716e-01 5.03613541e-03 2.80725519e+02] [ 1.68327327e-02 -1.47816422e-03 9.99857227e-01 2.17106304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.370714057 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:301.33, Y:280.73, Z:2.17 [[-9.24257912e-01 3.81428446e-01 1.61137605e-02 3.01328054e+02] [-3.81397332e-01 -9.24397233e-01 5.08252207e-03 2.80729439e+02] [ 1.68341341e-02 -1.44818402e-03 9.99857247e-01 2.16992213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.400714057 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:301.32, Y:280.72, Z:2.17 [[-9.18032679e-01 3.96177080e-01 1.61158592e-02 3.01320246e+02] [-3.96148308e-01 -9.18172505e-01 5.07637287e-03 2.80718124e+02] [ 1.68082814e-02 -1.72399416e-03 9.99857245e-01 2.17421092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4307140569999 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:301.33, Y:280.73, Z:2.17 [[-9.24127371e-01 3.81750261e-01 1.59793503e-02 3.01330350e+02] [-3.81712418e-01 -9.24264928e-01 5.47480676e-03 2.80729454e+02] [ 1.68591620e-02 -1.04009767e-03 9.99857333e-01 2.17005969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4607140569999 meters Centerline goodness : 0.995666 Centerline is valid? [True, True] Translation: X:301.32, Y:280.72, Z:2.18 [[-9.18281682e-01 3.95599325e-01 1.61222349e-02 3.01324584e+02] [-3.95570806e-01 -9.18421563e-01 5.05671080e-03 2.80716381e+02] [ 1.68074395e-02 -1.73400055e-03 9.99857241e-01 2.17526631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4907140569999 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:301.33, Y:280.72, Z:2.18 [[-9.18415526e-01 3.95294406e-01 1.59766729e-02 3.01333238e+02] [-3.95258481e-01 -9.18553587e-01 5.48101623e-03 2.80717884e+02] [ 1.68420452e-02 -1.28106505e-03 9.99857342e-01 2.17560707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.520714057 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:301.33, Y:280.72, Z:2.18 [[-9.18604878e-01 3.94854267e-01 1.59745324e-02 3.01333413e+02] [-3.94818168e-01 -9.18742893e-01 5.48724770e-03 2.80715078e+02] [ 1.68431513e-02 -1.26642311e-03 9.99857342e-01 2.17651986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5507140569999 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:301.33, Y:280.71, Z:2.18 [[-9.18532320e-01 3.95023114e-01 1.59723916e-02 3.01334803e+02] [-3.94986934e-01 -9.18670313e-01 5.49347197e-03 2.80714601e+02] [ 1.68434104e-02 -1.26295444e-03 9.99857342e-01 2.17681237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5807140569999 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:301.34, Y:280.72, Z:2.18 [[-9.18269606e-01 3.95633519e-01 1.59702445e-02 3.01343898e+02] [-3.95597322e-01 -9.18407596e-01 5.49970701e-03 2.80716781e+02] [ 1.68430623e-02 -1.26757216e-03 9.99857342e-01 2.17653220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6107140569999 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:301.35, Y:280.73, Z:2.18 [[-9.22866299e-01 3.84789311e-01 1.59680989e-02 3.01352230e+02] [-3.84751384e-01 -9.23003823e-01 5.50592960e-03 2.80726668e+02] [ 1.68572392e-02 -1.06251126e-03 9.99857342e-01 2.17729103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.640714057 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:301.35, Y:280.73, Z:2.17 [[-9.23725573e-01 3.82718652e-01 1.60467678e-02 3.01348641e+02] [-3.82684358e-01 -9.23864076e-01 5.27741966e-03 2.80725653e+02] [ 1.68447993e-02 -1.26595954e-03 9.99857315e-01 2.17189302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6707140569999 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:301.34, Y:280.72, Z:2.17 [[-9.21318887e-01 3.88473939e-01 1.61092492e-02 3.01342329e+02] [-3.88443658e-01 -9.21458386e-01 5.09582700e-03 2.80720922e+02] [ 1.68235988e-02 -1.56265403e-03 9.99857252e-01 2.17277541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7007140569999 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:301.35, Y:280.72, Z:2.17 [[-9.22000568e-01 3.86855124e-01 1.60644354e-02 3.01352761e+02] [-3.86822344e-01 -9.22139450e-01 5.22585307e-03 2.80724527e+02] [ 1.68352976e-02 -1.39584303e-03 9.99857302e-01 2.17109231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7307140569999 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:301.35, Y:280.72, Z:2.17 [[-9.20868790e-01 3.89540708e-01 1.60843976e-02 3.01345074e+02] [-3.89509337e-01 -9.21008018e-01 5.16794963e-03 2.80720860e+02] [ 1.68269859e-02 -1.50601953e-03 9.99857282e-01 2.17255363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.760714057 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:301.35, Y:280.72, Z:2.17 [[-9.20128693e-01 3.91286188e-01 1.60719630e-02 3.01351885e+02] [-3.91254456e-01 -9.20267825e-01 5.20398514e-03 2.80721256e+02] [ 1.68267579e-02 -1.49989108e-03 9.99857295e-01 2.17286683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.790714057 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:301.34, Y:280.72, Z:2.17 [[-9.20378651e-01 3.90698787e-01 1.60498225e-02 3.01340668e+02] [-3.90665855e-01 -9.20517483e-01 5.26807371e-03 2.80717306e+02] [ 1.68323722e-02 -1.42149506e-03 9.99857315e-01 2.17263812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8207140569999 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:301.34, Y:280.72, Z:2.17 [[-9.21133654e-01 3.88915060e-01 1.60582331e-02 3.01340274e+02] [-3.88882280e-01 -9.21272530e-01 5.24375360e-03 2.80716194e+02] [ 1.68333838e-02 -1.41456440e-03 9.99857308e-01 2.17169033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8507140569999 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:301.35, Y:280.72, Z:2.17 [[-9.21363651e-01 3.88368586e-01 1.60892867e-02 3.01349139e+02] [-3.88337281e-01 -9.21502899e-01 5.15393448e-03 2.80718814e+02] [ 1.68279506e-02 -1.49942197e-03 9.99857276e-01 2.17128269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.880714057 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:301.36, Y:280.72, Z:2.17 [[-9.21141340e-01 3.88895182e-01 1.60987575e-02 3.01364550e+02] [-3.88864432e-01 -9.21280724e-01 5.12653978e-03 2.80723449e+02] [ 1.68251616e-02 -1.53796646e-03 9.99857264e-01 2.17101594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.910714057 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:301.37, Y:280.72, Z:2.17 [[-9.20263198e-01 3.90968902e-01 1.60923303e-02 3.01367487e+02] [-3.90938144e-01 -9.20402573e-01 5.14512133e-03 2.80723508e+02] [ 1.68230046e-02 -1.55623991e-03 9.99857272e-01 2.17102464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9407140569999 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:301.37, Y:280.72, Z:2.17 [[-9.19773898e-01 3.92119716e-01 1.60656412e-02 3.01366903e+02] [-3.92087795e-01 -9.19912980e-01 5.22213692e-03 2.80722402e+02] [ 1.68266947e-02 -1.49595661e-03 9.99857302e-01 2.17148028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9707140569999 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:301.36, Y:280.72, Z:2.17 [[-9.19431745e-01 3.92921873e-01 1.60520560e-02 3.01359812e+02] [-3.92889394e-01 -9.19570684e-01 5.26127149e-03 2.80718962e+02] [ 1.68282688e-02 -1.46930254e-03 9.99857315e-01 2.17131161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.000714057 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:301.37, Y:280.72, Z:2.17 [[-9.19484091e-01 3.92799303e-01 1.60534700e-02 3.01369584e+02] [-3.92766876e-01 -9.19623044e-01 5.25719981e-03 2.80722006e+02] [ 1.68281654e-02 -1.47135967e-03 9.99857314e-01 2.17040991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.030714057 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:301.37, Y:280.72, Z:2.17 [[-9.19213372e-01 3.93432480e-01 1.60518320e-02 3.01369995e+02] [-3.93400067e-01 -9.19352326e-01 5.26191259e-03 2.80721511e+02] [ 1.68274964e-02 -1.47797138e-03 9.99857315e-01 2.16979501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0607140569999 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:301.37, Y:280.72, Z:2.17 [[-9.18445829e-01 3.95221375e-01 1.60413258e-02 3.01366076e+02] [-3.95188709e-01 -9.18584714e-01 5.29211020e-03 2.80718876e+02] [ 1.68268718e-02 -1.47883431e-03 9.99857325e-01 2.17273874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0907140569999 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:301.38, Y:280.72, Z:2.17 [[-9.18312551e-01 3.95531494e-01 1.60279846e-02 3.01377072e+02] [-3.95498211e-01 -9.18451279e-01 5.33040326e-03 2.80721935e+02] [ 1.68292653e-02 -1.44406302e-03 9.99857335e-01 2.17288833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.120714057 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:301.37, Y:280.72, Z:2.17 [[-9.18153134e-01 3.95901554e-01 1.60244117e-02 3.01370398e+02] [-3.95868149e-01 -9.18291831e-01 5.34064702e-03 2.80719317e+02] [ 1.68294568e-02 -1.44002240e-03 9.99857338e-01 2.17351681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.150714057 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:301.37, Y:280.72, Z:2.17 [[-9.18627528e-01 3.94799981e-01 1.60137276e-02 3.01369800e+02] [-3.94765880e-01 -9.18766048e-01 5.37124977e-03 2.80718025e+02] [ 1.68334385e-02 -1.38749536e-03 9.99857345e-01 2.17298854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1807140569999 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:301.37, Y:280.72, Z:2.17 [[-9.18680590e-01 3.94676398e-01 1.60160905e-02 3.01366376e+02] [-3.94642395e-01 -9.18819135e-01 5.36448556e-03 2.80716013e+02] [ 1.68331263e-02 -1.39237957e-03 9.99857343e-01 2.17475843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2107140569999 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:301.38, Y:280.72, Z:2.17 [[-9.19426490e-01 3.92935531e-01 1.60186751e-02 3.01383994e+02] [-3.92901394e-01 -9.19565004e-01 5.35708823e-03 2.80721417e+02] [ 1.68352033e-02 -1.36831095e-03 9.99857342e-01 2.17237628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2407140569999 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:301.39, Y:280.72, Z:2.17 [[-9.19749001e-01 3.92179940e-01 1.60209299e-02 3.01391421e+02] [-3.92145801e-01 -9.19887516e-01 5.35063415e-03 2.80724325e+02] [ 1.68358647e-02 -1.36129996e-03 9.99857340e-01 2.17111140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.270714057 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:301.39, Y:280.72, Z:2.17 [[-9.19688609e-01 3.92321228e-01 1.60286084e-02 3.01389543e+02] [-3.92287491e-01 -9.19827228e-01 5.32866733e-03 2.80723563e+02] [ 1.68340997e-02 -1.38710792e-03 9.99857334e-01 2.17133513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3007140569999 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:301.39, Y:280.72, Z:2.17 [[-9.18953787e-01 3.94038784e-01 1.60428851e-02 3.01388578e+02] [-3.94006013e-01 -9.19092651e-01 5.28784201e-03 2.80723214e+02] [ 1.68285126e-02 -1.46171075e-03 9.99857322e-01 2.17136273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3307140569999 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:301.40, Y:280.73, Z:2.17 [[-9.18897915e-01 3.94169813e-01 1.60243968e-02 3.01397316e+02] [-3.94136146e-01 -9.19036548e-01 5.34065796e-03 2.80726967e+02] [ 1.68321324e-02 -1.40827453e-03 9.99857338e-01 2.17029561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3607140569999 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:301.39, Y:280.72, Z:2.17 [[-9.17600345e-01 3.97180367e-01 1.60425519e-02 3.01388562e+02] [-3.97148054e-01 -9.17739316e-01 5.28881935e-03 2.80724744e+02] [ 1.68234958e-02 -1.51824580e-03 9.99857322e-01 2.16887333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.390714057 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:301.41, Y:280.73, Z:2.17 [[-9.18241317e-01 3.95696938e-01 1.60255064e-02 3.01406935e+02] [-3.95663558e-01 -9.18380020e-01 5.33743985e-03 2.80732828e+02] [ 1.68295135e-02 -1.43965108e-03 9.99857337e-01 2.16623351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4207140569999 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:301.39, Y:280.73, Z:2.17 [[-9.17063212e-01 3.98418811e-01 1.60473309e-02 3.01394439e+02] [-3.98386923e-01 -9.17202285e-01 5.27520122e-03 2.80728504e+02] [ 1.68203880e-02 -1.55535382e-03 9.99857318e-01 2.16673262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4507140569999 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:301.40, Y:280.73, Z:2.17 [[-9.16642247e-01 3.99386574e-01 1.60423185e-02 3.01403092e+02] [-3.99354585e-01 -9.16781292e-01 5.28947791e-03 2.80732724e+02] [ 1.68198440e-02 -1.55801455e-03 9.99857323e-01 2.16603180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4807140569999 meters Centerline goodness : 0.993733 Centerline is valid? [True, True] Translation: X:301.39, Y:280.73, Z:2.17 [[-9.15563041e-01 4.01854023e-01 1.60518785e-02 3.01391618e+02] [-4.01822882e-01 -9.15702288e-01 5.26227389e-03 2.80728216e+02] [ 1.68134078e-02 -1.63206860e-03 9.99857313e-01 2.16747244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.510714057 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:301.40, Y:280.73, Z:2.17 [[-9.15708869e-01 4.01521857e-01 1.60457227e-02 3.01397242e+02] [-4.01490361e-01 -9.15848030e-01 5.27976881e-03 2.80731487e+02] [ 1.68153861e-02 -1.60747188e-03 9.99857319e-01 2.16689582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.540714057 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:301.40, Y:280.73, Z:2.17 [[-9.15727518e-01 4.01478835e-01 1.60579372e-02 3.01403978e+02] [-4.01447936e-01 -9.15866827e-01 5.24507267e-03 2.80734341e+02] [ 1.68127176e-02 -1.64336836e-03 9.99857306e-01 2.16598452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5707140569999 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:301.38, Y:280.73, Z:2.17 [[-9.14143415e-01 4.05073290e-01 1.60451252e-02 3.01384019e+02] [-4.05042305e-01 -9.14282690e-01 5.28142188e-03 2.80727276e+02] [ 1.68091432e-02 -1.67097749e-03 9.99857320e-01 2.16820171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6007140569999 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:301.38, Y:280.73, Z:2.17 [[-9.14383596e-01 4.04531293e-01 1.60334618e-02 3.01378962e+02] [-4.04499651e-01 -9.14522711e-01 5.31446110e-03 2.80727049e+02] [ 1.68128308e-02 -1.62607367e-03 9.99857332e-01 2.16788163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.630714057 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:301.40, Y:280.74, Z:2.17 [[-9.14591330e-01 4.04060854e-01 1.60475961e-02 3.01400484e+02] [-4.04029836e-01 -9.14730601e-01 5.27443814e-03 2.80736026e+02] [ 1.68104212e-02 -1.65975224e-03 9.99857317e-01 2.16718223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.660714057 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:301.40, Y:280.74, Z:2.17 [[-9.13638765e-01 4.06209468e-01 1.60647481e-02 3.01397532e+02] [-4.06179624e-01 -9.13778312e-01 5.22585019e-03 2.80737651e+02] [ 1.68024083e-02 -1.75063405e-03 9.99857297e-01 2.16733564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6907140569999 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:301.39, Y:280.74, Z:2.17 [[-9.12141088e-01 4.09561550e-01 1.60614848e-02 3.01388695e+02] [-4.09532058e-01 -9.12280706e-01 5.23507943e-03 2.80735162e+02] [ 1.67966699e-02 -1.80256187e-03 9.99857301e-01 2.16804298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7207140569999 meters Centerline goodness : 0.994250 Centerline is valid? [True, True] Translation: X:301.38, Y:280.73, Z:2.17 [[-9.11263090e-01 4.11512880e-01 1.60227851e-02 3.01381633e+02] [-4.11481783e-01 -9.11402316e-01 5.34433543e-03 2.80734380e+02] [ 1.68024663e-02 -1.72298855e-03 9.99857344e-01 2.16856093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.750714057 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:301.38, Y:280.74, Z:2.17 [[-9.12030612e-01 4.09808637e-01 1.60325800e-02 3.01378043e+02] [-4.09777760e-01 -9.12169897e-01 5.31671272e-03 2.80735209e+02] [ 1.68032717e-02 -1.72078998e-03 9.99857334e-01 2.16736023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.780714057 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:301.39, Y:280.74, Z:2.17 [[-9.11490368e-01 4.11007848e-01 1.60579601e-02 3.01389373e+02] [-4.10978401e-01 -9.11629992e-01 5.24515788e-03 2.80742372e+02] [ 1.67947191e-02 -1.81856387e-03 9.99857305e-01 2.16553102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8107140569999 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:301.39, Y:280.74, Z:2.17 [[-9.11343992e-01 4.11333160e-01 1.60362028e-02 3.01391863e+02] [-4.11302694e-01 -9.11483371e-01 5.30645968e-03 2.80743319e+02] [ 1.67994550e-02 -1.75972326e-03 9.99857331e-01 2.16551275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8407140569999 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:301.40, Y:280.75, Z:2.17 [[-9.11006486e-01 4.12080148e-01 1.60354133e-02 3.01400787e+02] [-4.12049758e-01 -9.11145880e-01 5.30868194e-03 2.80747975e+02] [ 1.67982032e-02 -1.77114450e-03 9.99857332e-01 2.16524293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.870714057 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:301.40, Y:280.75, Z:2.16 [[-9.10780243e-01 4.12579766e-01 1.60401215e-02 3.01400665e+02] [-4.12549684e-01 -9.10919709e-01 5.29543235e-03 2.80749280e+02] [ 1.67960511e-02 -1.79437191e-03 9.99857326e-01 2.16490866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.900714057 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:301.43, Y:280.76, Z:2.16 [[-9.11440202e-01 4.11119790e-01 1.60398398e-02 3.01426807e+02] [-4.11089470e-01 -9.11579617e-01 5.29622504e-03 2.80761596e+02] [ 1.67989740e-02 -1.76661683e-03 9.99857327e-01 2.16244760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9307140569999 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:301.43, Y:280.76, Z:2.16 [[-9.10577858e-01 4.13026195e-01 1.60413783e-02 3.01427063e+02] [-4.12996243e-01 -9.10717354e-01 5.29189824e-03 2.80763014e+02] [ 1.67948542e-02 -1.80634361e-03 9.99857325e-01 2.16279691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9607140569999 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:301.42, Y:280.75, Z:2.17 [[-9.05184989e-01 4.24717356e-01 1.59782454e-02 3.01415266e+02] [-4.24686108e-01 -9.05324141e-01 5.46904433e-03 2.80752335e+02] [ 1.67882894e-02 -1.83524202e-03 9.99857382e-01 2.16762165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9907140569999 meters Centerline goodness : 0.994179 Centerline is valid? [True, True] Translation: X:301.38, Y:280.74, Z:2.17 [[-9.05392225e-01 4.24278217e-01 1.59032594e-02 3.01381548e+02] [-4.24243245e-01 -9.05530462e-01 5.67903234e-03 2.80741200e+02] [ 1.68103756e-02 -1.60509866e-03 9.99857407e-01 2.16882433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.020714057 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:301.42, Y:280.76, Z:2.17 [[-9.05760372e-01 4.23491802e-01 1.59009874e-02 3.01418001e+02] [-4.23456599e-01 -9.05898551e-01 5.68538681e-03 2.80755441e+02] [ 1.68123962e-02 -1.58377998e-03 9.99857407e-01 2.16910732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0507140569999 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:301.42, Y:280.76, Z:2.17 [[-9.06665291e-01 4.21551042e-01 1.58987120e-02 3.01417147e+02] [-4.21515433e-01 -9.06803366e-01 5.69174258e-03 2.80756936e+02] [ 1.68163656e-02 -1.54104705e-03 9.99857407e-01 2.16981597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0807140569999 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:301.41, Y:280.76, Z:2.17 [[-9.07180767e-01 4.20440672e-01 1.58964623e-02 3.01410132e+02] [-4.20404785e-01 -9.07318770e-01 5.69801900e-03 2.80755474e+02] [ 1.68188375e-02 -1.51381556e-03 9.99857407e-01 2.17138060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1107140569999 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:301.41, Y:280.77, Z:2.17 [[-9.16388602e-01 3.99974131e-01 1.58941992e-02 3.01409628e+02] [-3.99935047e-01 -9.16525733e-01 5.70432483e-03 2.80766968e+02] [ 1.68490249e-02 -1.12926903e-03 9.99857407e-01 2.16629308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.140714057 meters Centerline goodness : 0.994618 Centerline is valid? [True, True] Translation: X:301.41, Y:280.77, Z:2.17 [[-9.15907663e-01 4.01067351e-01 1.60664983e-02 3.01405850e+02] [-4.01036780e-01 -9.16047065e-01 5.22267913e-03 2.80765730e+02] [ 1.68123147e-02 -1.65976492e-03 9.99857285e-01 2.16691449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1707140569999 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:301.45, Y:280.78, Z:2.17 [[-9.16379805e-01 3.99987700e-01 1.60590831e-02 3.01449508e+02] [-3.99956603e-01 -9.16519079e-01 5.24341715e-03 2.80782450e+02] [ 1.68157584e-02 -1.61797476e-03 9.99857296e-01 2.16602279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2007140569999 meters Centerline goodness : 0.994531 Centerline is valid? [True, True] Translation: X:301.45, Y:280.79, Z:2.16 [[-9.17346538e-01 3.97765927e-01 1.60498168e-02 3.01449746e+02] [-3.97734042e-01 -9.17485622e-01 5.26933614e-03 2.80785350e+02] [ 1.68214385e-02 -1.54975123e-03 9.99857309e-01 2.16462642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2307140569999 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:301.44, Y:280.78, Z:2.16 [[-9.16241066e-01 4.00305752e-01 1.60503459e-02 3.01444259e+02] [-4.00274278e-01 -9.16380244e-01 5.26785709e-03 2.80784133e+02] [ 1.68169734e-02 -1.59791362e-03 9.99857308e-01 2.16441010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.260714057 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:301.44, Y:280.79, Z:2.16 [[-9.16083567e-01 4.00667492e-01 1.60143706e-02 3.01441439e+02] [-4.00634329e-01 -9.16222307e-01 5.36824887e-03 2.80785211e+02] [ 1.68236064e-02 -1.49814204e-03 9.99857351e-01 2.16439098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.290714057 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:301.42, Y:280.78, Z:2.17 [[-9.15831401e-01 4.01243317e-01 1.60201532e-02 3.01422076e+02] [-4.01210521e-01 -9.15970236e-01 5.35213307e-03 2.80779601e+02] [ 1.68214911e-02 -1.52580246e-03 9.99857345e-01 2.16511478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3207140569999 meters Centerline goodness : 0.994212 Centerline is valid? [True, True] Translation: X:301.44, Y:280.79, Z:2.16 [[-9.16978715e-01 3.98613623e-01 1.60379354e-02 3.01444668e+02] [-3.98581289e-01 -9.17117680e-01 5.30257892e-03 2.80791762e+02] [ 1.68223543e-02 -1.53006896e-03 9.99857323e-01 2.16293789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3507140569999 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:301.44, Y:280.79, Z:2.16 [[-9.16441913e-01 3.99844957e-01 1.60695474e-02 3.01444329e+02] [-3.99814344e-01 -9.16581312e-01 5.21439200e-03 2.80793268e+02] [ 1.68139952e-02 -1.64614817e-03 9.99857280e-01 2.16257920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.380714057 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:301.43, Y:280.79, Z:2.16 [[-9.15402587e-01 4.02219700e-01 1.60441858e-02 3.01426603e+02] [-4.02188219e-01 -9.15541755e-01 5.28501145e-03 2.80788069e+02] [ 1.68148577e-02 -1.61486935e-03 9.99857316e-01 2.16272829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.410714057 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:301.44, Y:280.80, Z:2.16 [[-9.15786194e-01 4.01346376e-01 1.60228913e-02 3.01443747e+02] [-4.01313733e-01 -9.15925066e-01 5.34424619e-03 2.80797780e+02] [ 1.68206617e-02 -1.53601945e-03 9.99857343e-01 2.16237792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4407140569999 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:301.43, Y:280.79, Z:2.16 [[-9.14600257e-01 4.04040356e-01 1.60549486e-02 3.01433307e+02] [-4.04009673e-01 -9.14739618e-01 5.25505831e-03 2.80794724e+02] [ 1.68093531e-02 -1.68007684e-03 9.99857301e-01 2.16309106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4707140569999 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:301.44, Y:280.80, Z:2.16 [[-9.14209668e-01 4.04925040e-01 1.60123730e-02 3.01440751e+02] [-4.04892435e-01 -9.14348535e-01 5.37326491e-03 2.80799155e+02] [ 1.68166593e-02 -1.57099796e-03 9.99857356e-01 2.16394349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.500714057 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:301.44, Y:280.80, Z:2.16 [[-9.13926644e-01 4.05563044e-01 1.60220882e-02 3.01441426e+02] [-4.05531005e-01 -9.14065655e-01 5.34630567e-03 2.80800897e+02] [ 1.68135045e-02 -1.61132233e-03 9.99857345e-01 2.16395993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.530714057 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:301.45, Y:280.81, Z:2.16 [[-9.13061079e-01 4.07508739e-01 1.60029002e-02 3.01450220e+02] [-4.07476071e-01 -9.13199922e-01 5.39949123e-03 2.80805486e+02] [ 1.68141870e-02 -1.59073359e-03 9.99857366e-01 2.16295488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5607140569999 meters Centerline goodness : 0.994192 Centerline is valid? [True, True] Translation: X:301.45, Y:280.80, Z:2.17 [[-9.13197477e-01 4.07205450e-01 1.59401885e-02 3.01445153e+02] [-4.07169722e-01 -9.13335513e-01 5.57302690e-03 2.80804872e+02] [ 1.68281071e-02 -1.40108800e-03 9.99857416e-01 2.16548420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5907140569999 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:301.43, Y:280.80, Z:2.17 [[-9.12891099e-01 4.07889574e-01 1.59980132e-02 3.01434986e+02] [-4.07856729e-01 -9.13029894e-01 5.41300008e-03 2.80802368e+02] [ 1.68145706e-02 -1.58341776e-03 9.99857371e-01 2.16559803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.620714057 meters Centerline goodness : 0.994163 Centerline is valid? [True, True] Translation: X:301.46, Y:280.82, Z:2.16 [[-9.13852288e-01 4.05731286e-01 1.60037473e-02 3.01464865e+02] [-4.05698388e-01 -9.13991077e-01 5.39713110e-03 2.80815565e+02] [ 1.68170671e-02 -1.56051387e-03 9.99857365e-01 2.16306032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.650714057 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:301.46, Y:280.81, Z:2.16 [[-9.12675133e-01 4.08372349e-01 1.60039288e-02 3.01457292e+02] [-4.08339862e-01 -9.12814019e-01 5.39662905e-03 2.80813465e+02] [ 1.68124446e-02 -1.60967294e-03 9.99857365e-01 2.16439622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6807140569999 meters Centerline goodness : 0.992987 Centerline is valid? [True, True] Translation: X:301.45, Y:280.81, Z:2.16 [[-9.12396625e-01 4.08995186e-01 1.59792551e-02 3.01452828e+02] [-4.08961609e-01 -9.12535226e-01 5.46478192e-03 2.80812999e+02] [ 1.68167026e-02 -1.54885327e-03 9.99857390e-01 2.16376279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7107140569999 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:301.46, Y:280.81, Z:2.17 [[-9.13423301e-01 4.06699315e-01 1.59229365e-02 3.01455433e+02] [-4.06662697e-01 -9.13561091e-01 5.62001371e-03 2.80813562e+02] [ 1.68322310e-02 -1.34181282e-03 9.99857428e-01 2.16593453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7407140569999 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:301.46, Y:280.81, Z:2.17 [[-9.13333819e-01 4.06898566e-01 1.59653723e-02 3.01456110e+02] [-4.06864006e-01 -9.13472166e-01 5.50299582e-03 2.80813014e+02] [ 1.68230843e-02 -1.46966316e-03 9.99857402e-01 2.16672081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.770714057 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:301.47, Y:280.82, Z:2.17 [[-9.16206360e-01 4.00389532e-01 1.59414250e-02 3.01471627e+02] [-4.00352847e-01 -9.16344141e-01 5.56898872e-03 2.80818854e+02] [ 1.68375961e-02 -1.27985198e-03 9.99857419e-01 2.16824737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8007140569999 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:301.47, Y:280.82, Z:2.17 [[-9.16606175e-01 3.99472224e-01 1.59706712e-02 3.01471105e+02] [-3.99436797e-01 -9.16744307e-01 5.48836161e-03 2.80817584e+02] [ 1.68334700e-02 -1.34860761e-03 9.99857398e-01 2.16830830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8307140569999 meters Centerline goodness : 0.994148 Centerline is valid? [True, True] Translation: X:301.47, Y:280.82, Z:2.17 [[-9.17273895e-01 3.97937335e-01 1.59524305e-02 3.01471216e+02] [-3.97900807e-01 -9.17411724e-01 5.53858068e-03 2.80816876e+02] [ 1.68389548e-02 -1.26708949e-03 9.99857412e-01 2.16774983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8607140569999 meters Centerline goodness : 0.993873 Centerline is valid? [True, True] Translation: X:301.49, Y:280.82, Z:2.17 [[-9.20780544e-01 3.89755307e-01 1.59370551e-02 3.01486886e+02] [-3.89716824e-01 -9.20917831e-01 5.58086824e-03 2.80822958e+02] [ 1.68518912e-02 -1.07218358e-03 9.99857422e-01 2.16887841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.890714057 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:301.49, Y:280.82, Z:2.17 [[-9.22135594e-01 3.86536801e-01 1.59764609e-02 3.01486453e+02] [-3.86499708e-01 -9.22273294e-01 5.47247284e-03 2.80822595e+02] [ 1.68499753e-02 -1.12853546e-03 9.99857392e-01 2.16719525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9207140569999 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:301.50, Y:280.83, Z:2.17 [[-9.24632733e-01 3.80525380e-01 1.59607269e-02 3.01498267e+02] [-3.80486647e-01 -9.24769965e-01 5.51570545e-03 2.80825589e+02] [ 1.68588667e-02 -9.72841642e-04 9.99857406e-01 2.16804290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9507140569999 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:301.50, Y:280.83, Z:2.17 [[-9.25954490e-01 3.77297698e-01 1.59602259e-02 3.01500771e+02] [-3.77258463e-01 -9.26091580e-01 5.51708083e-03 2.80826313e+02] [ 1.68622127e-02 -9.12564504e-04 9.99857406e-01 2.16704458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9807140569999 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:301.51, Y:280.83, Z:2.16 [[-9.29938649e-01 3.67367583e-01 1.59740113e-02 3.01506604e+02] [-3.67327531e-01 -9.30075515e-01 5.47925764e-03 2.80831601e+02] [ 1.68699384e-02 -7.72320671e-04 9.99857394e-01 2.16337623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.010714057 meters Centerline goodness : 0.993812 Centerline is valid? [True, True] Translation: X:301.51, Y:280.83, Z:2.16 [[-9.30354823e-01 3.66309929e-01 1.60293524e-02 3.01512798e+02] [-3.66272333e-01 -9.30492450e-01 5.32723177e-03 2.80832976e+02] [ 1.68666093e-02 -9.14892545e-04 9.99857330e-01 2.16424106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.040714057 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:301.53, Y:280.84, Z:2.16 [[-9.30724384e-01 3.65369603e-01 1.60366682e-02 3.01526209e+02] [-3.65332214e-01 -9.30862078e-01 5.30713412e-03 2.80837922e+02] [ 1.68669917e-02 -9.19232352e-04 9.99857320e-01 2.16375328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0707140569999 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:301.15, Y:280.69, Z:2.17 [[-9.23024472e-01 3.84409581e-01 1.59718072e-02 3.01145485e+02] [-3.84371994e-01 -9.23162018e-01 5.48264928e-03 2.80691730e+02] [ 1.68521487e-02 -1.07849593e-03 9.99857411e-01 2.17389130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1007140569999 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:301.50, Y:280.82, Z:2.17 [[-9.21903901e-01 3.87093870e-01 1.58598019e-02 3.01503537e+02] [-3.87051484e-01 -9.22039959e-01 5.78466377e-03 2.80824316e+02] [ 1.68625790e-02 -8.05655775e-04 9.99857492e-01 2.16931719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.130714057 meters Centerline goodness : 0.993115 Centerline is valid? [True, True] Translation: X:301.05, Y:280.66, Z:2.17 [[-9.21582017e-01 3.87860873e-01 1.58280889e-02 3.01047484e+02] [-3.87817133e-01 -9.21717643e-01 5.87017353e-03 2.80656925e+02] [ 1.68658395e-02 -7.28557714e-04 9.99857496e-01 2.17379122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.160714057 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:301.50, Y:280.83, Z:2.17 [[-9.20516034e-01 3.90383468e-01 1.58423540e-02 3.01501967e+02] [-3.90340758e-01 -9.20651988e-01 5.83175368e-03 2.80827790e+02] [ 1.68619149e-02 -8.15693693e-04 9.99857495e-01 2.16952942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1907140569999 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:301.13, Y:280.69, Z:2.17 [[-9.20856337e-01 3.89580644e-01 1.58280873e-02 3.01125943e+02] [-3.89537157e-01 -9.20992044e-01 5.87022134e-03 2.80691509e+02] [ 1.68644671e-02 -7.59997615e-04 9.99857496e-01 2.17409811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2207140569999 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:301.05, Y:280.67, Z:2.18 [[-9.19552837e-01 3.92646705e-01 1.58475390e-02 3.01054095e+02] [-3.92604567e-01 -9.19688972e-01 5.81797866e-03 2.80665744e+02] [ 1.68592170e-02 -8.71877386e-04 9.99857493e-01 2.17595011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.250714057 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:301.50, Y:280.83, Z:2.17 [[-9.18063923e-01 3.96115366e-01 1.58508381e-02 3.01496853e+02] [-3.96073896e-01 -9.18200263e-01 5.80910757e-03 2.80831671e+02] [ 1.68553205e-02 -9.44971092e-04 9.99857492e-01 2.17182477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.280714057 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:301.50, Y:280.83, Z:2.17 [[-9.17694088e-01 3.96972495e-01 1.58239873e-02 3.01498268e+02] [-3.96929909e-01 -9.17830081e-01 5.88135073e-03 2.80833190e+02] [ 1.68584660e-02 -8.83733034e-04 9.99857495e-01 2.17223736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3107140569999 meters Centerline goodness : 0.994158 Centerline is valid? [True, True] Translation: X:301.50, Y:280.84, Z:2.17 [[-9.17176797e-01 3.98166293e-01 1.58217111e-02 3.01500798e+02] [-3.98123779e-01 -9.17312812e-01 5.88746771e-03 2.80837120e+02] [ 1.68576495e-02 -8.99150617e-04 9.99857495e-01 2.17112492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3407140569999 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:301.50, Y:280.84, Z:2.17 [[-9.16839385e-01 3.98942712e-01 1.58194333e-02 3.01501067e+02] [-3.98900208e-01 -9.16975403e-01 5.89358175e-03 2.80838370e+02] [ 1.68572327e-02 -9.06907357e-04 9.99857495e-01 2.17102847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.370714057 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:301.50, Y:280.84, Z:2.17 [[-9.16003296e-01 4.00858803e-01 1.58171523e-02 3.01502265e+02] [-4.00816478e-01 -9.16139370e-01 5.89969696e-03 2.80840966e+02] [ 1.68556614e-02 -9.35633426e-04 9.99857495e-01 2.16998966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.400714057 meters Centerline goodness : 0.994027 Centerline is valid? [True, True] Translation: X:301.50, Y:280.84, Z:2.17 [[-9.15362553e-01 4.02319880e-01 1.58148663e-02 3.01502515e+02] [-4.02277667e-01 -9.15498662e-01 5.90581846e-03 2.80842009e+02] [ 1.68545172e-02 -9.56002467e-04 9.99857496e-01 2.16954884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4307140569999 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:301.51, Y:280.85, Z:2.17 [[-9.14834734e-01 4.03518739e-01 1.58125764e-02 3.01507761e+02] [-4.03476598e-01 -9.14970865e-01 5.91194322e-03 2.80845046e+02] [ 1.68536266e-02 -9.71553555e-04 9.99857496e-01 2.16914684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4607140569999 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:301.50, Y:280.85, Z:2.17 [[-9.13623714e-01 4.06253301e-01 1.58102850e-02 3.01504035e+02] [-4.06211463e-01 -9.13759938e-01 5.91806501e-03 2.80845577e+02] [ 1.68510384e-02 -1.01543445e-03 9.99857496e-01 2.16837939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4907140569999 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:301.05, Y:280.68, Z:2.18 [[-9.14545634e-01 4.04173714e-01 1.58079884e-02 3.01053846e+02] [-4.04131460e-01 -9.14681730e-01 5.92419310e-03 2.80680494e+02] [ 1.68536813e-02 -9.70560504e-04 9.99857496e-01 2.17506132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.520714057 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:301.50, Y:280.85, Z:2.16 [[-9.21559147e-01 3.87914139e-01 1.58543415e-02 3.01498801e+02] [-3.87871601e-01 -9.21695164e-01 5.80055242e-03 2.80854730e+02] [ 1.68629862e-02 -8.03896680e-04 9.99857487e-01 2.16403145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5507140569999 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:301.50, Y:280.86, Z:2.16 [[-9.21247123e-01 3.88648194e-01 1.60100068e-02 3.01499672e+02] [-3.88613064e-01 -9.21385356e-01 5.37711677e-03 2.80855568e+02] [ 1.68411925e-02 -1.26804444e-03 9.99857373e-01 2.16337315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5807140569999 meters Centerline goodness : 0.993796 Centerline is valid? [True, True] Translation: X:301.51, Y:280.85, Z:2.17 [[-9.13087198e-01 4.07450557e-01 1.59941304e-02 3.01508021e+02] [-4.07417517e-01 -9.13225924e-01 5.42024846e-03 2.80846844e+02] [ 1.68147377e-02 -1.56712941e-03 9.99857394e-01 2.16933347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6107140569999 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:301.50, Y:280.85, Z:2.17 [[-9.12159050e-01 4.09530377e-01 1.58347308e-02 3.01504426e+02] [-4.09490174e-01 -9.12295761e-01 5.85159726e-03 2.80845700e+02] [ 1.68423646e-02 -1.14657928e-03 9.99857500e-01 2.17004891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.640714057 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:301.51, Y:280.85, Z:2.17 [[-9.11730649e-01 4.10483323e-01 1.58324516e-02 3.01510017e+02] [-4.10443157e-01 -9.11867371e-01 5.85775763e-03 2.80847784e+02] [ 1.68416078e-02 -1.15762423e-03 9.99857500e-01 2.17107525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6707140569999 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:301.51, Y:280.85, Z:2.17 [[-9.11098831e-01 4.11883874e-01 1.58301676e-02 3.01511726e+02] [-4.11843812e-01 -9.11235584e-01 5.86392340e-03 2.80848552e+02] [ 1.68402675e-02 -1.17694281e-03 9.99857500e-01 2.17174180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7007140569999 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:301.52, Y:280.86, Z:2.17 [[-9.17902654e-01 3.96489833e-01 1.58281720e-02 3.01520449e+02] [-3.96447382e-01 -9.18038684e-01 5.86930499e-03 2.80862551e+02] [ 1.68579940e-02 -8.87586736e-04 9.99857500e-01 2.16714799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7307140569999 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:301.52, Y:280.86, Z:2.17 [[-9.17771154e-01 3.96787103e-01 1.60032247e-02 3.01522814e+02] [-3.96752878e-01 -9.17909604e-01 5.39553967e-03 2.80863735e+02] [ 1.68303942e-02 -1.39745479e-03 9.99857382e-01 2.16692995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.760714057 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:301.51, Y:280.85, Z:2.17 [[-9.09464794e-01 4.15473271e-01 1.59921827e-02 3.01508624e+02] [-4.15441365e-01 -9.09603781e-01 5.42534875e-03 2.80846628e+02] [ 1.68006373e-02 -1.70965053e-03 9.99857398e-01 2.17229049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.790714057 meters Centerline goodness : 0.994034 Centerline is valid? [True, True] Translation: X:301.52, Y:280.85, Z:2.17 [[-9.08986221e-01 4.16525778e-01 1.58216810e-02 3.01515045e+02] [-4.16486068e-01 -9.09123059e-01 5.88383497e-03 2.80848145e+02] [ 1.68346240e-02 -1.24118481e-03 9.99857517e-01 2.17208498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8207140569999 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:301.52, Y:280.85, Z:2.17 [[-9.08502858e-01 4.17579099e-01 1.58193764e-02 3.01517797e+02] [-4.17539441e-01 -9.08639710e-01 5.89002475e-03 2.80848048e+02] [ 1.68336648e-02 -1.25410925e-03 9.99857517e-01 2.17221452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8507140569999 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:301.51, Y:280.84, Z:2.17 [[-9.08005524e-01 4.18659515e-01 1.58170729e-02 3.01512645e+02] [-4.18619912e-01 -9.08142392e-01 5.89620420e-03 2.80844209e+02] [ 1.68326564e-02 -1.26755567e-03 9.99857517e-01 2.17176590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.880714057 meters Centerline goodness : 0.993854 Centerline is valid? [True, True] Translation: X:301.52, Y:280.85, Z:2.17 [[-9.07798155e-01 4.19109060e-01 1.58147591e-02 3.01524820e+02] [-4.19069418e-01 -9.07935011e-01 5.90240375e-03 2.80847723e+02] [ 1.68325243e-02 -1.26929063e-03 9.99857517e-01 2.17111928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.910714057 meters Centerline goodness : 0.994021 Centerline is valid? [True, True] Translation: X:301.53, Y:280.85, Z:2.17 [[-9.08010673e-01 4.18648521e-01 1.58124436e-02 3.01530721e+02] [-4.18608702e-01 -9.08147479e-01 5.90860028e-03 2.80847588e+02] [ 1.68336576e-02 -1.25415439e-03 9.99857517e-01 2.17143277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9407140569999 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:301.54, Y:280.86, Z:2.17 [[-9.11962722e-01 4.09968332e-01 1.58101371e-02 3.01542476e+02] [-4.09927104e-01 -9.12099109e-01 5.91476552e-03 2.80856162e+02] [ 1.68452785e-02 -1.08695806e-03 9.99857517e-01 2.17061990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9707140569999 meters Centerline goodness : 0.993873 Centerline is valid? [True, True] Translation: X:301.55, Y:280.86, Z:2.17 [[-9.12308120e-01 4.09195693e-01 1.58990356e-02 3.01547550e+02] [-4.09158464e-01 -9.12445684e-01 5.67678866e-03 2.80856482e+02] [ 1.68299239e-02 -1.32624461e-03 9.99857487e-01 2.17243303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.000714057 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:301.53, Y:280.84, Z:2.17 [[-9.09492017e-01 4.15417174e-01 1.59010149e-02 3.01530131e+02] [-4.15380976e-01 -9.09629858e-01 5.67149620e-03 2.80841585e+02] [ 1.68200748e-02 -1.44679855e-03 9.99857486e-01 2.17414102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.030714057 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:301.56, Y:280.86, Z:2.17 [[-9.13531921e-01 4.06459873e-01 1.58050820e-02 3.01558355e+02] [-4.06417904e-01 -9.13668077e-01 5.92730178e-03 2.80855429e+02] [ 1.68498092e-02 -1.00868893e-03 9.99857523e-01 2.17331250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0607140569999 meters Centerline goodness : 0.994400 Centerline is valid? [True, True] Translation: X:301.56, Y:280.85, Z:2.17 [[-9.14885186e-01 4.03401209e-01 1.58921714e-02 3.01557742e+02] [-4.03362797e-01 -9.15022417e-01 5.69469644e-03 2.80853133e+02] [ 1.68389405e-02 -1.20031729e-03 9.99857495e-01 2.17386789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0907140569999 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:301.56, Y:280.85, Z:2.17 [[-9.15469707e-01 4.02073171e-01 1.58864767e-02 3.01555502e+02] [-4.02034298e-01 -9.15606804e-01 5.70989113e-03 2.80850748e+02] [ 1.68415602e-02 -1.15967616e-03 9.99857498e-01 2.17461107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.120714057 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:301.57, Y:280.85, Z:2.18 [[-9.18383878e-01 3.95371493e-01 1.58882331e-02 3.01566719e+02] [-3.95331700e-01 -9.18520712e-01 5.70520534e-03 2.80853997e+02] [ 1.68493467e-02 -1.04155359e-03 9.99857497e-01 2.17730043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.150714057 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:301.55, Y:280.84, Z:2.18 [[-9.13421713e-01 4.06702589e-01 1.59304192e-02 3.01554955e+02] [-4.06666441e-01 -9.13559592e-01 5.59265786e-03 2.80841062e+02] [ 1.68279357e-02 -1.36991178e-03 9.99857462e-01 2.17579030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1807140569999 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:301.57, Y:280.85, Z:2.18 [[-9.19599516e-01 3.92539283e-01 1.58000683e-02 3.01568642e+02] [-3.92495043e-01 -9.19734942e-01 5.93942112e-03 2.80852847e+02] [ 1.68633310e-02 -7.39559718e-04 9.99857530e-01 2.17577724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2107140569999 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:301.57, Y:280.85, Z:2.18 [[-9.19972067e-01 3.91659041e-01 1.59559514e-02 3.01574527e+02] [-3.91621834e-01 -9.20109685e-01 5.52328682e-03 2.80853570e+02] [ 1.68444706e-02 -1.16742935e-03 9.99857440e-01 2.17728663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2407140569999 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:301.57, Y:280.85, Z:2.18 [[-9.19651540e-01 3.92411732e-01 1.59398088e-02 3.01571295e+02] [-3.92373893e-01 -9.19788967e-01 5.56634814e-03 2.80851742e+02] [ 1.68455606e-02 -1.13526419e-03 9.99857459e-01 2.17749638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.270714057 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:301.58, Y:280.85, Z:2.18 [[-9.19880301e-01 3.91876350e-01 1.59109255e-02 3.01575992e+02] [-3.91837103e-01 -9.20017303e-01 5.64326789e-03 2.80852480e+02] [ 1.68497900e-02 -1.04335999e-03 9.99857488e-01 2.17839458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3007140569999 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:301.56, Y:280.85, Z:2.17 [[-9.20844595e-01 3.89604649e-01 1.59200897e-02 3.01564589e+02] [-3.89565485e-01 -9.20981629e-01 5.61888419e-03 2.80848704e+02] [ 1.68512535e-02 -1.02779832e-03 9.99857479e-01 2.17332023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3307140569999 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:301.57, Y:280.85, Z:2.18 [[-9.19722592e-01 3.92245344e-01 1.59356172e-02 3.01573794e+02] [-3.92207286e-01 -9.19859954e-01 5.57757966e-03 2.80850950e+02] [ 1.68463158e-02 -1.12023914e-03 9.99857463e-01 2.17532535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3607140569999 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:301.57, Y:280.85, Z:2.18 [[-9.19200015e-01 3.93469726e-01 1.59030666e-02 3.01571064e+02] [-3.93430359e-01 -9.19336974e-01 5.66404657e-03 2.80849816e+02] [ 1.68489079e-02 -1.05035750e-03 9.99857495e-01 2.17574930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.390714057 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:301.57, Y:280.85, Z:2.18 [[-9.18625443e-01 3.94809035e-01 1.59097891e-02 3.01571256e+02] [-3.94770175e-01 -9.18762553e-01 5.64620208e-03 2.80849642e+02] [ 1.68464900e-02 -1.09396534e-03 9.99857489e-01 2.17516661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4207140569999 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:301.57, Y:280.85, Z:2.17 [[-9.18043982e-01 3.96159537e-01 1.59018376e-02 3.01572472e+02] [-3.96120514e-01 -9.18181039e-01 5.66728984e-03 2.80850145e+02] [ 1.68459167e-02 -1.09622277e-03 9.99857497e-01 2.17497316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4507140569999 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:301.57, Y:280.85, Z:2.18 [[-9.17338431e-01 3.97790353e-01 1.59071948e-02 3.01571896e+02] [-3.97751820e-01 -9.17475630e-01 5.65309030e-03 2.80849370e+02] [ 1.68432084e-02 -1.14131872e-03 9.99857492e-01 2.17514077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4807140569999 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:301.57, Y:280.85, Z:2.17 [[-9.16962756e-01 3.98655777e-01 1.59020645e-02 3.01571296e+02] [-3.98617139e-01 -9.17099921e-01 5.66667339e-03 2.80848868e+02] [ 1.68428342e-02 -1.14270699e-03 9.99857496e-01 2.17486665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.510714057 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:301.57, Y:280.85, Z:2.17 [[-9.16199985e-01 4.00405618e-01 1.59037452e-02 3.01572877e+02] [-4.00367319e-01 -9.16337247e-01 5.66222515e-03 2.80848048e+02] [ 1.68403809e-02 -1.17960925e-03 9.99857495e-01 2.17494642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.540714057 meters Centerline goodness : 0.994272 Centerline is valid? [True, True] Translation: X:301.57, Y:280.85, Z:2.17 [[-9.16043195e-01 4.00764146e-01 1.59048471e-02 3.01572573e+02] [-4.00725950e-01 -9.16180487e-01 5.65931007e-03 2.80847702e+02] [ 1.68397592e-02 -1.18931250e-03 9.99857494e-01 2.17384016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5707140569999 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:301.58, Y:280.85, Z:2.17 [[-9.15752088e-01 4.01429313e-01 1.58940279e-02 3.01582569e+02] [-4.01390722e-01 -9.15889260e-01 5.68791870e-03 2.80850579e+02] [ 1.68404668e-02 -1.17099192e-03 9.99857504e-01 2.17401258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6007140569999 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:301.59, Y:280.85, Z:2.17 [[-9.16018198e-01 4.00820919e-01 1.59138805e-02 3.01590863e+02] [-4.00783145e-01 -9.16155616e-01 5.63541501e-03 2.80853500e+02] [ 1.68383832e-02 -1.21587236e-03 9.99857485e-01 2.17333579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.630714057 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:301.60, Y:280.86, Z:2.17 [[-9.16235080e-01 4.00324530e-01 1.59232315e-02 3.01598897e+02] [-4.00287109e-01 -9.16372605e-01 5.61068923e-03 2.80855714e+02] [ 1.68377097e-02 -1.23315403e-03 9.99857475e-01 2.17351080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.660714057 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:301.60, Y:280.86, Z:2.17 [[-9.17145155e-01 3.98234950e-01 1.59276286e-02 3.01604088e+02] [-3.98197417e-01 -9.17282654e-01 5.59906363e-03 2.80855791e+02] [ 1.68398803e-02 -1.20718650e-03 9.99857470e-01 2.17323725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6907140569999 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:301.61, Y:280.86, Z:2.18 [[-9.17991688e-01 3.96279758e-01 1.59252934e-02 3.01605375e+02] [-3.96241826e-01 -9.18129074e-01 5.60523093e-03 2.80855226e+02] [ 1.68427144e-02 -1.16471192e-03 9.99857473e-01 2.17537884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7207140569999 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:301.62, Y:280.86, Z:2.18 [[-9.19795921e-01 3.92075117e-01 1.58923545e-02 3.01619251e+02] [-3.92035058e-01 -9.19932668e-01 5.69212618e-03 2.80856362e+02] [ 1.68516371e-02 -9.94765691e-04 9.99857506e-01 2.17637743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.750714057 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:301.62, Y:280.86, Z:2.18 [[-9.20649570e-01 3.90065066e-01 1.59252588e-02 3.01622879e+02] [-3.90026205e-01 -9.20786697e-01 5.60527565e-03 2.80855859e+02] [ 1.68501887e-02 -1.05077364e-03 9.99857473e-01 2.17729873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.780714057 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:301.61, Y:280.84, Z:2.18 [[-9.15895697e-01 4.01100793e-01 1.59130568e-02 3.01608515e+02] [-4.01063027e-01 -9.16033115e-01 5.63742485e-03 2.80840860e+02] [ 1.68380626e-02 -1.21884557e-03 9.99857487e-01 2.18141251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8107140569999 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:301.62, Y:280.86, Z:2.18 [[-9.27318025e-01 3.73941843e-01 1.57727264e-02 3.01624135e+02] [-3.73893752e-01 -9.27452096e-01 6.00596120e-03 2.80856525e+02] [ 1.68743284e-02 -3.27887798e-04 9.99857565e-01 2.17510347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8407140569999 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:301.62, Y:280.84, Z:2.18 [[-9.18387242e-01 3.95358110e-01 1.60262056e-02 3.01620963e+02] [-3.95324683e-01 -9.18525944e-01 5.33724963e-03 2.80842532e+02] [ 1.68306106e-02 -1.43389270e-03 9.99857327e-01 2.18244313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.870714057 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:301.65, Y:280.86, Z:2.17 [[-9.28912996e-01 3.69962088e-01 1.57701893e-02 3.01646091e+02] [-3.69913368e-01 -9.29046818e-01 6.00914257e-03 2.80863700e+02] [ 1.68743991e-02 -2.51633197e-04 9.99857586e-01 2.17394291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.900714057 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:301.63, Y:280.84, Z:2.18 [[-9.19103167e-01 3.93691642e-01 1.60080714e-02 3.01625827e+02] [-3.93657179e-01 -9.19241565e-01 5.38238286e-03 2.80843205e+02] [ 1.68342837e-02 -1.35472708e-03 9.99857376e-01 2.18143496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9307140569999 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:301.63, Y:280.84, Z:2.18 [[-9.18974925e-01 3.94000614e-01 1.57671548e-02 3.01626868e+02] [-3.93955308e-01 -9.19109921e-01 6.01401332e-03 2.80843336e+02] [ 1.68612733e-02 -6.84826874e-04 9.99857604e-01 2.17998362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9607140569999 meters Centerline goodness : 0.994021 Centerline is valid? [True, True] Translation: X:301.63, Y:280.85, Z:2.18 [[-9.18321796e-01 3.95520606e-01 1.57648409e-02 3.01631577e+02] [-3.95475419e-01 -9.18456832e-01 6.02007272e-03 2.80845610e+02] [ 1.68603886e-02 -7.06243079e-04 9.99857604e-01 2.17933687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9907140569999 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:301.63, Y:280.85, Z:2.18 [[-9.17843376e-01 3.96629640e-01 1.57628173e-02 3.01632144e+02] [-3.96584526e-01 -9.17978436e-01 6.02536659e-03 2.80846768e+02] [ 1.68597654e-02 -7.20946617e-04 9.99857604e-01 2.17844319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.020714057 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:301.64, Y:280.86, Z:2.17 [[-9.23696677e-01 3.82800282e-01 1.57605014e-02 3.01641993e+02] [-3.82753041e-01 -9.23831008e-01 6.03141821e-03 2.80861060e+02] [ 1.68688685e-02 -4.61178883e-04 9.99857604e-01 2.17269631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0507140569999 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:301.64, Y:280.86, Z:2.17 [[-9.24030122e-01 3.81987256e-01 1.59395923e-02 3.01641577e+02] [-3.81947947e-01 -9.24167104e-01 5.56149056e-03 2.80861987e+02] [ 1.68552654e-02 -9.49109762e-04 9.99857489e-01 2.17162717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0807140569999 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:301.64, Y:280.85, Z:2.18 [[-9.15691488e-01 4.01564845e-01 1.59616370e-02 3.01635344e+02] [-4.01529462e-01 -9.15829570e-01 5.50372139e-03 2.80849101e+02] [ 1.68282402e-02 -1.36935669e-03 9.99857457e-01 2.17700453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1107140569999 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:301.64, Y:280.85, Z:2.18 [[-9.15116363e-01 4.02881858e-01 1.57559917e-02 3.01636562e+02] [-4.02837411e-01 -9.15251625e-01 6.04016266e-03 2.80849984e+02] [ 1.68541690e-02 -8.19651227e-04 9.99857622e-01 2.17770323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.140714057 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:301.64, Y:280.85, Z:2.18 [[-9.14780938e-01 4.03642982e-01 1.57536627e-02 3.01637884e+02] [-4.03598544e-01 -9.14916203e-01 6.04623093e-03 2.80850724e+02] [ 1.68538000e-02 -8.27178524e-04 9.99857622e-01 2.17759314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1707140569999 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:301.64, Y:280.86, Z:2.18 [[-9.20024128e-01 3.91545016e-01 1.57513295e-02 3.01641527e+02] [-3.91498694e-01 -9.20158759e-01 6.05230334e-03 2.80861015e+02] [ 1.68634730e-02 -5.98359809e-04 9.99857623e-01 2.17592878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2007140569999 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:301.64, Y:280.85, Z:2.18 [[-9.14591985e-01 4.04065861e-01 1.58833568e-02 3.01642370e+02] [-4.04027313e-01 -9.14729112e-01 5.70811288e-03 2.80852885e+02] [ 1.68354224e-02 -1.19671567e-03 9.99857558e-01 2.17754343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2307140569999 meters Centerline goodness : 0.992825 Centerline is valid? [True, True] Translation: X:301.65, Y:280.86, Z:2.18 [[-9.20230499e-01 3.91060192e-01 1.57402417e-02 3.01646308e+02] [-3.91013326e-01 -9.20364935e-01 6.07999680e-03 2.80862406e+02] [ 1.68644112e-02 -5.59645750e-04 9.99857629e-01 2.17520027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.260714057 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:301.65, Y:280.85, Z:2.18 [[-9.14890702e-01 4.03389446e-01 1.58732167e-02 3.01646425e+02] [-4.03350351e-01 -9.15027659e-01 5.73389056e-03 2.80853830e+02] [ 1.68374233e-02 -1.15658437e-03 9.99857572e-01 2.17841387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.290714057 meters Centerline goodness : 0.992827 Centerline is valid? [True, True] Translation: X:301.65, Y:280.86, Z:2.18 [[-9.18903673e-01 3.94167659e-01 1.57447224e-02 3.01647313e+02] [-3.94121463e-01 -9.19038334e-01 6.06733605e-03 2.80861155e+02] [ 1.68615511e-02 -6.30035648e-04 9.99857635e-01 2.17959019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3207140569999 meters Centerline goodness : 0.993421 Centerline is valid? [True, True] Translation: X:301.65, Y:280.86, Z:2.18 [[-9.14756493e-01 4.03695059e-01 1.58384640e-02 3.01651769e+02] [-4.03654455e-01 -9.14892979e-01 5.82389660e-03 2.80856646e+02] [ 1.68415778e-02 -1.06581934e-03 9.99857603e-01 2.17682930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3507140569999 meters Centerline goodness : 0.993212 Centerline is valid? [True, True] Translation: X:301.66, Y:280.86, Z:2.18 [[-9.18047946e-01 3.96156790e-01 1.57405773e-02 3.01657846e+02] [-3.96110713e-01 -9.18182644e-01 6.07742579e-03 2.80863959e+02] [ 1.68603383e-02 -6.55643029e-04 9.99857639e-01 2.17816442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.380714057 meters Centerline goodness : 0.993242 Centerline is valid? [True, True] Translation: X:301.65, Y:280.86, Z:2.18 [[-9.14869046e-01 4.03440326e-01 1.58281832e-02 3.01652802e+02] [-4.03399228e-01 -9.15005375e-01 5.85032121e-03 2.80857125e+02] [ 1.68431282e-02 -1.03279909e-03 9.99857611e-01 2.17747206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.410714057 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:301.66, Y:280.86, Z:2.18 [[-9.15168121e-01 4.02764983e-01 1.57378243e-02 3.01657475e+02] [-4.02719764e-01 -9.15303106e-01 6.08405679e-03 2.80858715e+02] [ 1.68553245e-02 -7.69998075e-04 9.99857642e-01 2.17819581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4407140569999 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:301.65, Y:280.86, Z:2.18 [[-9.20497967e-01 3.90430388e-01 1.57354827e-02 3.01649090e+02] [-3.90383256e-01 -9.20632296e-01 6.09010693e-03 2.80860827e+02] [ 1.68643564e-02 -5.36937940e-04 9.99857642e-01 2.18206112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4707140569999 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:301.66, Y:280.87, Z:2.18 [[-9.21669094e-01 3.87653600e-01 1.58356270e-02 3.01661206e+02] [-3.87610497e-01 -9.21804807e-01 5.83094060e-03 2.80865481e+02] [ 1.68577422e-02 -7.63857509e-04 9.99857606e-01 2.18048242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.500714057 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:301.67, Y:280.86, Z:2.18 [[-9.19033860e-01 3.93860318e-01 1.58370917e-02 3.01666719e+02] [-3.93818196e-01 -9.19169883e-01 5.82715149e-03 2.80861454e+02] [ 1.68520614e-02 -8.81585342e-04 9.99857605e-01 2.17938679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.530714057 meters Centerline goodness : 0.992543 Centerline is valid? [True, True] Translation: X:301.67, Y:280.86, Z:2.18 [[-9.22254389e-01 3.86263276e-01 1.57328921e-02 3.01674713e+02] [-3.86215436e-01 -9.22388462e-01 6.09607407e-03 2.80863816e+02] [ 1.68665277e-02 -4.54154722e-04 9.99857647e-01 2.17957616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5607140569999 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:301.66, Y:280.86, Z:2.18 [[-9.26326132e-01 3.76394004e-01 1.57305596e-02 3.01662953e+02] [-3.76344632e-01 -9.26459650e-01 6.10208718e-03 2.80863597e+02] [ 1.68705177e-02 -2.67588830e-04 9.99857647e-01 2.18370372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5907140569999 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:301.68, Y:280.87, Z:2.18 [[-9.30564639e-01 3.65786773e-01 1.57952205e-02 3.01681508e+02] [-3.65738704e-01 -9.30698648e-01 5.93531185e-03 2.80873143e+02] [ 1.68716489e-02 -2.53732147e-04 9.99857631e-01 2.17890398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.620714057 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:301.68, Y:280.87, Z:2.18 [[-9.30435134e-01 3.66115176e-01 1.58158059e-02 3.01683947e+02] [-3.66068056e-01 -9.30569491e-01 5.88221047e-03 2.80874199e+02] [ 1.68712730e-02 -3.16646052e-04 9.99857620e-01 2.17883666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.650714057 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:301.69, Y:280.87, Z:2.18 [[-9.28065456e-01 3.72081246e-01 1.58131260e-02 3.01690407e+02] [-3.72034873e-01 -9.28200071e-01 5.88911525e-03 2.80871764e+02] [ 1.68689740e-02 -4.17549893e-04 9.99857622e-01 2.18098660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6807140569999 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:301.69, Y:280.88, Z:2.18 [[-9.32531430e-01 3.60746261e-01 1.57247354e-02 3.01694887e+02] [-3.60694408e-01 -9.32663999e-01 6.11636255e-03 2.80881261e+02] [ 1.68723495e-02 3.18761700e-05 9.99857651e-01 2.17850018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7107140569999 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:301.70, Y:280.89, Z:2.18 [[-9.34043717e-01 3.56808546e-01 1.58112833e-02 3.01699505e+02] [-3.56759895e-01 -9.34177522e-01 5.89355477e-03 2.80888117e+02] [ 1.68734161e-02 -1.35993958e-04 9.99857625e-01 2.17744916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7407140569999 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:301.70, Y:280.89, Z:2.18 [[-9.34192371e-01 3.56418891e-01 1.58173654e-02 3.01700615e+02] [-3.56370449e-01 -9.34326256e-01 5.87790449e-03 2.80891229e+02] [ 1.68735760e-02 -1.45748069e-04 9.99857620e-01 2.17964198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.770714057 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:301.70, Y:280.89, Z:2.18 [[-9.31989456e-01 3.62140435e-01 1.58101393e-02 3.01699486e+02] [-3.62092500e-01 -9.32123518e-01 5.89647848e-03 2.80892390e+02] [ 1.68723560e-02 -2.29277106e-04 9.99857625e-01 2.17649682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8007140569999 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:301.71, Y:280.90, Z:2.18 [[-9.34941948e-01 3.54452311e-01 1.57198475e-02 3.01709709e+02] [-3.54399369e-01 -9.35074079e-01 6.12809739e-03 2.80904332e+02] [ 1.68713402e-02 1.58311287e-04 9.99857656e-01 2.17627249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8307140569999 meters Centerline goodness : 0.992970 Centerline is valid? [True, True] Translation: X:301.70, Y:280.90, Z:2.18 [[-9.32607702e-01 3.60546200e-01 1.57896430e-02 3.01701852e+02] [-3.60497147e-01 -9.32741345e-01 5.94891854e-03 2.80901458e+02] [ 1.68725128e-02 -1.44114005e-04 9.99857639e-01 2.17755750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8607140569999 meters Centerline goodness : 0.993333 Centerline is valid? [True, True] Translation: X:301.70, Y:280.91, Z:2.18 [[-9.32928580e-01 3.59718280e-01 1.57169653e-02 3.01700999e+02] [-3.59665965e-01 -9.33060959e-01 6.13510573e-03 2.80910613e+02] [ 1.68717964e-02 7.07579824e-05 9.99857659e-01 2.17775421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.890714057 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:301.70, Y:280.92, Z:2.18 [[-9.32758797e-01 3.60158392e-01 1.57149463e-02 3.01696562e+02] [-3.60106053e-01 -9.32891166e-01 6.14027303e-03 2.80919135e+02] [ 1.68718054e-02 6.83464079e-05 9.99857659e-01 2.17723690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9207140569999 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:301.71, Y:280.93, Z:2.18 [[-9.33919347e-01 3.57138302e-01 1.57126314e-02 3.01711043e+02] [-3.57085435e-01 -9.34051507e-01 6.14619091e-03 2.80932580e+02] [ 1.68714473e-02 1.29294777e-04 9.99857659e-01 2.17809964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9507140569999 meters Centerline goodness : 0.992856 Centerline is valid? [True, True] Translation: X:301.72, Y:280.94, Z:2.18 [[-9.33451870e-01 3.58356184e-01 1.57623820e-02 3.01715557e+02] [-3.58305634e-01 -9.33584943e-01 6.01896797e-03 2.80940207e+02] [ 1.68724569e-02 -2.93333666e-05 9.99857650e-01 2.18186021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9807140569999 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:301.69, Y:280.94, Z:2.17 [[-9.30493995e-01 3.65969790e-01 1.57174398e-02 3.01691470e+02] [-3.65918388e-01 -9.30626730e-01 6.13371534e-03 2.80938729e+02] [ 1.68718241e-02 -4.39149495e-05 9.99857660e-01 2.17484018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.010714057 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:301.69, Y:280.95, Z:2.18 [[-9.32395140e-01 3.61099075e-01 1.57086277e-02 3.01693507e+02] [-3.61046601e-01 -9.32527455e-01 6.15620092e-03 2.80950420e+02] [ 1.68717251e-02 6.84651776e-05 9.99857660e-01 2.17508445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.040714057 meters Centerline goodness : 0.992683 Centerline is valid? [True, True] Translation: X:301.69, Y:280.96, Z:2.17 [[-9.31745834e-01 3.62767306e-01 1.57981585e-02 3.01688070e+02] [-3.62718935e-01 -9.31879734e-01 5.92749268e-03 2.80963611e+02] [ 1.68722843e-02 -2.07374640e-04 9.99857631e-01 2.17205454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0707140569999 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:301.68, Y:280.96, Z:2.17 [[-9.25559843e-01 3.78270095e-01 1.58338999e-02 3.01680252e+02] [-3.78225525e-01 -9.25695085e-01 5.83625102e-03 2.80958920e+02] [ 1.68650426e-02 -5.86985548e-04 9.99857603e-01 2.17180581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1007140569999 meters Centerline goodness : 0.992172 Centerline is valid? [True, True] Translation: X:301.68, Y:280.97, Z:2.17 [[-9.29350715e-01 3.68864013e-01 1.57031130e-02 3.01679435e+02] [-3.68812425e-01 -9.29483371e-01 6.16916185e-03 2.80972834e+02] [ 1.68713642e-02 -5.81882079e-05 9.99857667e-01 2.17042598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.130714057 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:301.67, Y:280.97, Z:2.17 [[-9.20916319e-01 3.89438455e-01 1.58373628e-02 3.01666130e+02] [-3.89395683e-01 -9.21052142e-01 5.82701596e-03 2.80969539e+02] [ 1.68563010e-02 -8.00806602e-04 9.99857602e-01 2.17070622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.160714057 meters Centerline goodness : 0.991546 Centerline is valid? [True, True] Translation: X:301.66, Y:280.98, Z:2.17 [[-9.17866708e-01 3.96578155e-01 1.56994547e-02 3.01661271e+02] [-3.96530427e-01 -9.18000795e-01 6.17749784e-03 2.80977280e+02] [ 1.68619726e-02 -5.55191884e-04 9.99857673e-01 2.17085527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1907140569999 meters Centerline goodness : 0.991821 Centerline is valid? [True, True] Translation: X:301.66, Y:280.98, Z:2.17 [[-9.16426989e-01 3.99893956e-01 1.56970796e-02 3.01661082e+02] [-3.99846611e-01 -9.16561210e-01 6.18352714e-03 2.80981705e+02] [ 1.68600894e-02 -6.09672934e-04 9.99857673e-01 2.17099900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2207140569999 meters Centerline goodness : 0.991614 Centerline is valid? [True, True] Translation: X:301.65, Y:280.98, Z:2.17 [[-9.14989712e-01 4.03171805e-01 1.56946970e-02 3.01652590e+02] [-4.03124836e-01 -9.15124066e-01 6.18956863e-03 2.80982640e+02] [ 1.68580545e-02 -6.63530558e-04 9.99857673e-01 2.17118158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.250714057 meters Centerline goodness : 0.990873 Centerline is valid? [True, True] Translation: X:301.65, Y:280.99, Z:2.17 [[-9.11420556e-01 4.11176752e-01 1.56923025e-02 3.01649329e+02] [-4.11130859e-01 -9.11555281e-01 6.19563353e-03 2.80987115e+02] [ 1.68519017e-02 -8.04762048e-04 9.99857673e-01 2.16942162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.280714057 meters Centerline goodness : 0.988267 Centerline is valid? [True, True] Translation: X:301.66, Y:281.01, Z:2.17 [[-9.19468544e-01 3.92853044e-01 1.56231501e-02 3.01655998e+02] [-3.92801489e-01 -9.19601222e-01 6.37047082e-03 2.81006658e+02] [ 1.68697268e-02 -2.79349087e-04 9.99857657e-01 2.17251990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3107140569999 meters Centerline goodness : 0.991010 Centerline is valid? [True, True] Translation: X:301.64, Y:280.99, Z:2.17 [[-9.08519578e-01 4.17542968e-01 1.58128418e-02 3.01643113e+02] [-4.17503302e-01 -9.08656318e-01 5.88966248e-03 2.80993496e+02] [ 1.68276258e-02 -1.25104002e-03 9.99857623e-01 2.16908310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3407140569999 meters Centerline goodness : 0.991159 Centerline is valid? [True, True] Translation: X:301.65, Y:281.00, Z:2.17 [[-9.09095129e-01 4.16295697e-01 1.56185646e-02 3.01647729e+02] [-4.16247390e-01 -9.09229015e-01 6.38035919e-03 2.80998335e+02] [ 1.68569682e-02 -7.00833278e-04 9.99857666e-01 2.16880076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.370714057 meters Centerline goodness : 0.989993 Centerline is valid? [True, True] Translation: X:301.66, Y:281.02, Z:2.17 [[-9.16288323e-01 4.00211961e-01 1.56874497e-02 3.01659888e+02] [-4.00164273e-01 -9.16422412e-01 6.20623990e-03 2.81018932e+02] [ 1.68601419e-02 -5.90851730e-04 9.99857683e-01 2.16772144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.400714057 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] Translation: X:301.65, Y:281.00, Z:2.17 [[-9.07509570e-01 4.19731699e-01 1.58644575e-02 3.01647062e+02] [-4.19694654e-01 -9.07647094e-01 5.75760120e-03 2.81002955e+02] [ 1.68159765e-02 -1.43314982e-03 9.99857574e-01 2.16760989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4307140569999 meters Centerline goodness : 0.990676 Centerline is valid? [True, True] Translation: X:301.65, Y:281.00, Z:2.17 [[-9.06946978e-01 4.20952676e-01 1.56851517e-02 3.01647491e+02] [-4.20907977e-01 -9.07082083e-01 6.21046167e-03 2.81004042e+02] [ 1.68420305e-02 -9.69446024e-04 9.99857693e-01 2.16765938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4607140569999 meters Centerline goodness : 0.988422 Centerline is valid? [True, True] Translation: X:301.65, Y:281.02, Z:2.17 [[-9.13596317e-01 4.06319851e-01 1.56827267e-02 3.01651049e+02] [-4.06272881e-01 -9.13730650e-01 6.21657931e-03 2.81019038e+02] [ 1.68557076e-02 -6.92022591e-04 9.99857693e-01 2.16817869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4907140569999 meters Centerline goodness : 0.988538 Centerline is valid? [True, True] Translation: X:301.65, Y:281.02, Z:2.17 [[-9.13543794e-01 4.06432163e-01 1.58313931e-02 3.01654967e+02] [-4.06391682e-01 -9.13680300e-01 5.84042318e-03 2.81021227e+02] [ 1.68385678e-02 -1.09826410e-03 9.99857618e-01 2.16705849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.520714057 meters Centerline goodness : 0.991097 Centerline is valid? [True, True] Translation: X:301.65, Y:281.01, Z:2.17 [[-9.04567205e-01 4.26036918e-01 1.58340119e-02 3.01647734e+02] [-4.25999504e-01 -9.04704587e-01 5.83380617e-03 2.81005883e+02] [ 1.68105200e-02 -1.46821146e-03 9.99857615e-01 2.16635549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5507140569999 meters Centerline goodness : 0.990263 Centerline is valid? [True, True] Translation: X:301.65, Y:281.01, Z:2.17 [[-9.03719593e-01 4.27837709e-01 1.56777298e-02 3.01648330e+02] [-4.27793748e-01 -9.03854928e-01 6.22726509e-03 2.81005511e+02] [ 1.68346522e-02 -1.07913334e-03 9.99857705e-01 2.16602163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5807140569999 meters Centerline goodness : 0.988092 Centerline is valid? [True, True] Translation: X:301.66, Y:281.02, Z:2.17 [[-9.11502583e-01 4.10995530e-01 1.56752871e-02 3.01662029e+02] [-4.10948960e-01 -9.11637042e-01 6.23340786e-03 2.81024592e+02] [ 1.68520751e-02 -7.59975568e-04 9.99857705e-01 2.16657405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6107140569999 meters Centerline goodness : 0.990971 Centerline is valid? [True, True] Translation: X:301.65, Y:281.00, Z:2.17 [[-9.01893538e-01 4.31670090e-01 1.57790689e-02 3.01649143e+02] [-4.31631127e-01 -9.02030434e-01 5.97208718e-03 2.81003255e+02] [ 1.68111718e-02 -1.42455046e-03 9.99857667e-01 2.16558607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.640714057 meters Centerline goodness : 0.990733 Centerline is valid? [True, True] Translation: X:301.65, Y:281.00, Z:2.17 [[-9.01205139e-01 4.33109268e-01 1.56735128e-02 3.01652909e+02] [-4.33065924e-01 -9.01340669e-01 6.23733611e-03 2.81003283e+02] [ 1.68286226e-02 -1.16654495e-03 9.99857708e-01 2.16537671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6707140569999 meters Centerline goodness : 0.991259 Centerline is valid? [True, True] Translation: X:301.65, Y:281.00, Z:2.16 [[-8.99809605e-01 4.36001254e-01 1.56710607e-02 3.01653987e+02] [-4.35958239e-01 -8.99945239e-01 6.24349085e-03 2.81000906e+02] [ 1.68252663e-02 -1.21397498e-03 9.99857708e-01 2.16447862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7007140569999 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:301.65, Y:281.00, Z:2.16 [[-8.98767561e-01 4.38145372e-01 1.56686045e-02 3.01654446e+02] [-4.38102574e-01 -8.98903263e-01 6.24964886e-03 2.80999266e+02] [ 1.68228144e-02 -1.24747429e-03 9.99857708e-01 2.16408583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7307140569999 meters Centerline goodness : 0.990155 Centerline is valid? [True, True] Translation: X:301.66, Y:281.01, Z:2.16 [[-9.04611415e-01 4.25949245e-01 1.56661412e-02 3.01661279e+02] [-4.25904509e-01 -9.04746492e-01 6.25581747e-03 2.81011109e+02] [ 1.68385470e-02 -1.01319629e-03 9.99857708e-01 2.16224838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.760714057 meters Centerline goodness : 0.991340 Centerline is valid? [True, True] Translation: X:301.66, Y:281.00, Z:2.16 [[-8.95713443e-01 4.44350497e-01 1.58134257e-02 3.01659050e+02] [-4.44314971e-01 -8.95851305e-01 5.88618743e-03 2.80996632e+02] [ 1.67820083e-02 -1.75380455e-03 9.99857634e-01 2.16216020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.790714057 meters Centerline goodness : 0.992424 Centerline is valid? [True, True] Translation: X:301.66, Y:281.00, Z:2.16 [[-8.94333954e-01 4.47125768e-01 1.56628742e-02 3.01661223e+02] [-4.47084103e-01 -8.94470001e-01 6.26271605e-03 2.80995664e+02] [ 1.68101928e-02 -1.40166247e-03 9.99857716e-01 2.16160797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8207140569999 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:301.66, Y:280.99, Z:2.16 [[-8.91818033e-01 4.52123156e-01 1.56604003e-02 3.01659002e+02] [-4.52082146e-01 -8.91954278e-01 6.26889614e-03 2.80991193e+02] [ 1.68026742e-02 -1.48907275e-03 9.99857716e-01 2.16064282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8507140569999 meters Centerline goodness : 0.990709 Centerline is valid? [True, True] Translation: X:301.67, Y:281.00, Z:2.16 [[-8.98213774e-01 4.39279917e-01 1.56579172e-02 3.01665829e+02] [-4.39236849e-01 -8.98349383e-01 6.27509219e-03 2.81004121e+02] [ 1.68228022e-02 -1.24115996e-03 9.99857716e-01 2.16165201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.880714057 meters Centerline goodness : 0.989886 Centerline is valid? [True, True] Translation: X:301.67, Y:281.00, Z:2.16 [[-8.97464523e-01 4.40805826e-01 1.57370393e-02 3.01673118e+02] [-4.40766420e-01 -8.97601263e-01 6.07743243e-03 2.81003040e+02] [ 1.68045540e-02 -1.48207849e-03 9.99857695e-01 2.16049570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.910714057 meters Centerline goodness : 0.991780 Centerline is valid? [True, True] Translation: X:301.68, Y:281.00, Z:2.16 [[-8.97453321e-01 4.40827840e-01 1.57592122e-02 3.01677025e+02] [-4.40789403e-01 -8.97590351e-01 6.02204060e-03 2.81000686e+02] [ 1.67999999e-02 -1.54199339e-03 9.99857681e-01 2.16002214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9407140569999 meters Centerline goodness : 0.991289 Centerline is valid? [True, True] Translation: X:301.68, Y:281.00, Z:2.16 [[-8.97441877e-01 4.40848119e-01 1.58434197e-02 3.01683158e+02] [-4.40813361e-01 -8.97579973e-01 5.81142953e-03 2.80995436e+02] [ 1.67826940e-02 -1.76857088e-03 9.99857597e-01 2.16016273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9707140569999 meters Centerline goodness : 0.990144 Centerline is valid? [True, True] Translation: X:301.68, Y:280.99, Z:2.16 [[-8.98162781e-01 4.39377703e-01 1.58383574e-02 3.01679650e+02] [-4.39342497e-01 -8.98300757e-01 5.82408239e-03 2.80992303e+02] [ 1.67865804e-02 -1.72748947e-03 9.99857603e-01 2.16464336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.000714057 meters Centerline goodness : 0.991810 Centerline is valid? [True, True] Translation: X:301.34, Y:280.84, Z:2.17 [[-8.92560626e-01 4.50652998e-01 1.57291253e-02 3.01339409e+02] [-4.50614800e-01 -8.92697687e-01 6.09447947e-03 2.80844112e+02] [ 1.67878492e-02 -1.64808423e-03 9.99857716e-01 2.16754588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.030714057 meters Centerline goodness : 0.991035 Centerline is valid? [True, True] Translation: X:301.68, Y:280.98, Z:2.16 [[-8.97593908e-01 4.40541946e-01 1.57471029e-02 3.01680512e+02] [-4.40502976e-01 -8.97730765e-01 6.05000500e-03 2.80978973e+02] [ 1.68019397e-02 -1.50619804e-03 9.99857703e-01 2.16004714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0607140569999 meters Centerline goodness : 0.991476 Centerline is valid? [True, True] Translation: X:301.69, Y:280.98, Z:2.16 [[-8.98623053e-01 4.38438674e-01 1.57523958e-02 3.01687829e+02] [-4.38399614e-01 -8.98759888e-01 6.03681744e-03 2.80980203e+02] [ 1.68043957e-02 -1.48102092e-03 9.99857699e-01 2.16177459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0907140569999 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:301.69, Y:280.96, Z:2.16 [[-8.90940337e-01 4.53847580e-01 1.57381745e-02 3.01687896e+02] [-4.53810263e-01 -8.91077647e-01 6.07221336e-03 2.80959802e+02] [ 1.67797948e-02 -1.73216528e-03 9.99857709e-01 2.15844454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.120714057 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:301.70, Y:280.96, Z:2.16 [[-8.90768665e-01 4.54187600e-01 1.56463968e-02 3.01696521e+02] [-4.54146360e-01 -8.90904817e-01 6.30014432e-03 2.80959615e+02] [ 1.68008977e-02 -1.49378302e-03 9.99857739e-01 2.15757797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.150714057 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:301.69, Y:280.96, Z:2.16 [[-8.90409587e-01 4.54891236e-01 1.56439082e-02 3.01694141e+02] [-4.54849995e-01 -8.90545739e-01 6.30631790e-03 2.80955462e+02] [ 1.68003045e-02 -1.50042563e-03 9.99857739e-01 2.15635183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1807140569999 meters Centerline goodness : 0.993146 Centerline is valid? [True, True] Translation: X:301.70, Y:280.95, Z:2.15 [[-8.89809916e-01 4.56063219e-01 1.56414158e-02 3.01699332e+02] [-4.56022050e-01 -8.89946090e-01 6.31249362e-03 2.80951493e+02] [ 1.67989130e-02 -1.51591107e-03 9.99857739e-01 2.15482431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2107140569999 meters Centerline goodness : 0.992369 Centerline is valid? [True, True] Translation: X:301.70, Y:280.96, Z:2.15 [[-8.97814640e-01 4.40095780e-01 1.56389163e-02 3.01702954e+02] [-4.40052078e-01 -8.97950022e-01 6.31868001e-03 2.80961576e+02] [ 1.68237896e-02 -1.20893418e-03 9.99857739e-01 2.15447539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2407140569999 meters Centerline goodness : 0.992810 Centerline is valid? [True, True] Translation: X:301.71, Y:280.95, Z:2.15 [[-8.96895613e-01 4.41960658e-01 1.57808880e-02 3.01705859e+02] [-4.41923361e-01 -8.97032967e-01 5.96649216e-03 2.80954400e+02] [ 1.67929316e-02 -1.62262241e-03 9.99857672e-01 2.15430606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.270714057 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:301.71, Y:280.95, Z:2.16 [[-8.96690800e-01 4.42374996e-01 1.58105057e-02 3.01708836e+02] [-4.42339046e-01 -8.96828546e-01 5.89300662e-03 2.80953512e+02] [ 1.67862316e-02 -1.70939919e-03 9.99857640e-01 2.15790909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3007140569999 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:301.71, Y:280.94, Z:2.16 [[-8.88091346e-01 4.59396952e-01 1.57544318e-02 3.01709321e+02] [-4.59361199e-01 -8.88229084e-01 6.03187128e-03 2.80938471e+02] [ 1.67645679e-02 -1.88012201e-03 9.99857697e-01 2.15556450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3307140569999 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:301.71, Y:280.94, Z:2.16 [[-8.87144272e-01 4.61227302e-01 1.56338030e-02 3.01714117e+02] [-4.61186622e-01 -8.87280583e-01 6.32981101e-03 2.80935010e+02] [ 1.67910515e-02 -1.59464522e-03 9.99857749e-01 2.15592617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3607140569999 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:301.72, Y:280.94, Z:2.15 [[-8.94504024e-01 4.46786542e-01 1.56312966e-02 3.01720474e+02] [-4.46743551e-01 -8.94639623e-01 6.33599439e-03 2.80944655e+02] [ 1.68152144e-02 -1.31560849e-03 9.99857749e-01 2.15446625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.390714057 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:301.72, Y:280.93, Z:2.16 [[-8.85122821e-01 4.65088169e-01 1.58299775e-02 3.01717416e+02] [-4.65056595e-01 -8.85261659e-01 5.84454440e-03 2.80930426e+02] [ 1.67319006e-02 -2.18869580e-03 9.99857616e-01 2.15510554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4207140569999 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:301.73, Y:280.94, Z:2.16 [[-8.93755532e-01 4.48282075e-01 1.56278874e-02 3.01725458e+02] [-4.48239196e-01 -8.93891154e-01 6.34249978e-03 2.80944110e+02] [ 1.68128593e-02 -1.33638743e-03 9.99857761e-01 2.15609254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4507140569999 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:301.73, Y:280.94, Z:2.16 [[-8.89543554e-01 4.56577457e-01 1.57889848e-02 3.01725526e+02] [-4.56542794e-01 -8.89681594e-01 5.94464357e-03 2.80936974e+02] [ 1.67613594e-02 -1.92032787e-03 9.99857674e-01 2.15612974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4807140569999 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:301.19, Y:280.71, Z:2.17 [[-8.82285886e-01 4.70453032e-01 1.56703741e-02 3.01186053e+02] [-4.70415445e-01 -8.82423053e-01 6.23424310e-03 2.80705294e+02] [ 1.67608179e-02 -1.87120131e-03 9.99857777e-01 2.16535961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.510714057 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:301.73, Y:280.93, Z:2.15 [[-8.94103862e-01 4.47586324e-01 1.56449987e-02 3.01731559e+02] [-4.47544143e-01 -8.94239677e-01 6.29611450e-03 2.80932853e+02] [ 1.68084334e-02 -1.37244726e-03 9.99857786e-01 2.15182838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.540714057 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:301.73, Y:280.93, Z:2.15 [[-8.93956242e-01 4.47873325e-01 1.58657253e-02 3.01733879e+02] [-4.47840829e-01 -8.94094850e-01 5.74378553e-03 2.80934142e+02] [ 1.67579516e-02 -1.97062662e-03 9.99857634e-01 2.15157039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5707140569999 meters Centerline goodness : 0.992723 Centerline is valid? [True, True] Translation: X:301.16, Y:280.69, Z:2.17 [[-8.81160923e-01 4.72553999e-01 1.57526492e-02 3.01158237e+02] [-4.72520498e-01 -8.81299122e-01 6.01969285e-03 2.80689272e+02] [ 1.67274259e-02 -2.13913155e-03 9.99857799e-01 2.16582558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6007140569999 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:301.73, Y:280.93, Z:2.15 [[-8.89131032e-01 4.57385850e-01 1.56266254e-02 3.01732535e+02] [-4.57344630e-01 -8.89267040e-01 6.32624515e-03 2.80927752e+02] [ 1.67897779e-02 -1.52189231e-03 9.99857884e-01 2.15451166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.630714057 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:301.73, Y:280.92, Z:2.15 [[-8.87896560e-01 4.59772805e-01 1.57691631e-02 3.01731628e+02] [-4.59738118e-01 -8.88034448e-01 5.97337464e-03 2.80924549e+02] [ 1.67499553e-02 -1.94594657e-03 9.99857816e-01 2.15315379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.660714057 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:301.74, Y:280.93, Z:2.15 [[-8.91347677e-01 4.53048045e-01 1.57094598e-02 3.01742659e+02] [-4.53009737e-01 -8.91484555e-01 6.12101266e-03 2.80929392e+02] [ 1.67778536e-02 -1.66058783e-03 9.99857863e-01 2.15243587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6907140569999 meters Centerline goodness : 0.994228 Centerline is valid? [True, True] Translation: X:301.73, Y:280.92, Z:2.15 [[-8.88599009e-01 4.58412399e-01 1.58073978e-02 3.01728704e+02] [-4.58379164e-01 -8.88737297e-01 5.87866042e-03 2.80920337e+02] [ 1.67434748e-02 -2.02200998e-03 9.99857774e-01 2.15384288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7207140569999 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:301.72, Y:280.91, Z:2.15 [[-8.82743953e-01 4.69591120e-01 1.57255549e-02 3.01721439e+02] [-4.69556081e-01 -8.82881710e-01 6.08056308e-03 2.80908239e+02] [ 1.67391832e-02 -2.01644961e-03 9.99857857e-01 2.15347238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.750714057 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:301.75, Y:280.92, Z:2.15 [[-8.90169831e-01 4.55361145e-01 1.56172894e-02 3.01748355e+02] [-4.55319254e-01 -8.90305618e-01 6.34696211e-03 2.80924743e+02] [ 1.67943204e-02 -1.46097838e-03 9.99857898e-01 2.15265591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.780714057 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:301.75, Y:280.93, Z:2.15 [[-8.90987525e-01 4.53753803e-01 1.57707346e-02 3.01751261e+02] [-4.53718276e-01 -8.91125192e-01 5.96811893e-03 2.80925309e+02] [ 1.67617555e-02 -1.83795097e-03 9.99857823e-01 2.15262720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8107140569999 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:301.75, Y:280.92, Z:2.15 [[-8.91050994e-01 4.53629680e-01 1.57556458e-02 3.01752355e+02] [-4.53593481e-01 -8.91188470e-01 6.00534687e-03 2.80924007e+02] [ 1.67654534e-02 -1.79558791e-03 9.99857838e-01 2.15205145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8407140569999 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:301.77, Y:280.93, Z:2.15 [[-8.93426544e-01 4.48932774e-01 1.57599185e-02 3.01767917e+02] [-4.48896036e-01 -8.93563882e-01 5.99480493e-03 2.80929595e+02] [ 1.67737584e-02 -1.71864710e-03 9.99857834e-01 2.15105612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.870714057 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:301.77, Y:280.93, Z:2.15 [[-8.94667006e-01 4.46456095e-01 1.57449258e-02 3.01768866e+02] [-4.46418333e-01 -8.94804051e-01 6.03176287e-03 2.80928892e+02] [ 1.67815407e-02 -1.63240431e-03 9.99857847e-01 2.14952953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.900714057 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:301.77, Y:280.93, Z:2.15 [[-8.95154446e-01 4.45477356e-01 1.57620771e-02 3.01773283e+02] [-4.45440181e-01 -8.95291668e-01 5.98948877e-03 2.80929078e+02] [ 1.67798379e-02 -1.65954497e-03 9.99857831e-01 2.14854798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9307140569999 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:301.77, Y:280.93, Z:2.15 [[-8.96612031e-01 4.42536644e-01 1.57538610e-02 3.01773868e+02] [-4.42498666e-01 -8.96749025e-01 6.00972154e-03 2.80929123e+02] [ 1.67867815e-02 -1.58267387e-03 9.99857839e-01 2.14739875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9607140569999 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:301.79, Y:280.93, Z:2.15 [[-8.99465647e-01 4.36707457e-01 1.57526903e-02 3.01786597e+02] [-4.36668540e-01 -8.99602376e-01 6.01260279e-03 2.80932483e+02] [ 1.67969061e-02 -1.47057464e-03 9.99857841e-01 2.14551354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9907140569999 meters Centerline goodness : 0.994759 Centerline is valid? [True, True] Translation: X:301.79, Y:280.93, Z:2.15 [[-9.00557840e-01 4.34450364e-01 1.57625435e-02 3.01789536e+02] [-4.34411526e-01 -9.00694602e-01 5.98835809e-03 2.80932378e+02] [ 1.67988822e-02 -1.45456772e-03 9.99857831e-01 2.14520487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.020714057 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:301.79, Y:280.93, Z:2.15 [[-9.02425473e-01 4.30557735e-01 1.57576068e-02 3.01786975e+02] [-4.30518096e-01 -9.02562000e-01 6.00049138e-03 2.80928119e+02] [ 1.68057750e-02 -1.36893859e-03 9.99857836e-01 2.14551073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0507140569999 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:301.79, Y:280.93, Z:2.15 [[-9.03490831e-01 4.28318375e-01 1.57381132e-02 3.01793496e+02] [-4.28277568e-01 -9.03626993e-01 6.04834915e-03 2.80929910e+02] [ 1.68120030e-02 -1.27565284e-03 9.99857855e-01 2.14577503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0807140569999 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:301.79, Y:280.93, Z:2.15 [[-9.03850347e-01 4.27558966e-01 1.57442351e-02 3.01793847e+02] [-4.27518305e-01 -9.03986558e-01 6.03332489e-03 2.80928995e+02] [ 1.68121790e-02 -1.27772589e-03 9.99857849e-01 2.14654341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1107140569999 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:301.80, Y:280.93, Z:2.15 [[-9.05704328e-01 4.23617762e-01 1.57373174e-02 3.01800328e+02] [-4.23576214e-01 -9.05840265e-01 6.05028960e-03 2.80929779e+02] [ 1.68185059e-02 -1.18617986e-03 9.99857855e-01 2.14748569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.140714057 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:301.80, Y:280.93, Z:2.15 [[-9.05262160e-01 4.24560726e-01 1.57674213e-02 3.01801498e+02] [-4.24520600e-01 -9.05398555e-01 5.97644284e-03 2.80928997e+02] [ 1.68131634e-02 -1.28334759e-03 9.99857825e-01 2.14884446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1707140569999 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:301.80, Y:280.93, Z:2.15 [[-9.04690928e-01 4.25777506e-01 1.57429355e-02 3.01802482e+02] [-4.25736523e-01 -9.04827041e-01 6.03644509e-03 2.80927587e+02] [ 1.68148163e-02 -1.24122551e-03 9.99857851e-01 2.15022137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2007140569999 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:301.79, Y:280.92, Z:2.15 [[-9.05036031e-01 4.25044131e-01 1.57247947e-02 3.01792113e+02] [-4.25002269e-01 -9.05171860e-01 6.08083123e-03 2.80921815e+02] [ 1.68182633e-02 -1.17970206e-03 9.99857867e-01 2.15057869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2307140569999 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:301.82, Y:280.93, Z:2.15 [[-9.04747448e-01 4.25658080e-01 1.57243350e-02 3.01816119e+02] [-4.25616290e-01 -9.04883298e-01 6.08195517e-03 2.80929813e+02] [ 1.68175215e-02 -1.18989972e-03 9.99857867e-01 2.15021477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.260714057 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:301.80, Y:280.92, Z:2.15 [[-9.03264034e-01 4.28796867e-01 1.57267726e-02 3.01796640e+02] [-4.28755653e-01 -9.03400062e-01 6.07599700e-03 2.80921009e+02] [ 1.68129359e-02 -1.25471310e-03 9.99857865e-01 2.15125894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.290714057 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:301.81, Y:280.93, Z:2.15 [[-9.02776714e-01 4.29822651e-01 1.57064826e-02 3.01814957e+02] [-4.29780733e-01 -9.02912509e-01 6.12553278e-03 2.80927804e+02] [ 1.68144724e-02 -1.22035527e-03 9.99857882e-01 2.15130228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3207140569999 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:301.82, Y:280.93, Z:2.15 [[-9.01069212e-01 4.33390528e-01 1.57138853e-02 3.01819460e+02] [-4.33349461e-01 -9.01205273e-01 6.10746001e-03 2.80928707e+02] [ 1.68083516e-02 -1.30635955e-03 9.99857876e-01 2.15090271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3507140569999 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:301.82, Y:280.93, Z:2.15 [[-8.99888201e-01 4.35837029e-01 1.57260920e-02 3.01818163e+02] [-4.35796848e-01 -9.00024538e-01 6.07767848e-03 2.80928265e+02] [ 1.68027460e-02 -1.38415017e-03 9.99857866e-01 2.15016714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.380714057 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:301.82, Y:280.93, Z:2.15 [[-8.96792566e-01 4.42170981e-01 1.57454058e-02 3.01819112e+02] [-4.42132584e-01 -8.96929435e-01 6.03057713e-03 2.80927958e+02] [ 1.67890641e-02 -1.55338021e-03 9.99857847e-01 2.14945850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.410714057 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:301.81, Y:280.93, Z:2.15 [[-8.95218108e-01 4.45350661e-01 1.57266660e-02 3.01814530e+02] [-4.45311954e-01 -8.95354870e-01 6.07621251e-03 2.80925248e+02] [ 1.67869923e-02 -1.56373691e-03 9.99857866e-01 2.14882467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4407140569999 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:301.81, Y:280.92, Z:2.15 [[-8.94664734e-01 4.46462014e-01 1.57061969e-02 3.01808063e+02] [-4.46422609e-01 -8.94801278e-01 6.12598915e-03 2.80922740e+02] [ 1.67889465e-02 -1.53089495e-03 9.99857884e-01 2.14768849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4707140569999 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:301.82, Y:280.93, Z:2.15 [[-8.93307326e-01 4.49171572e-01 1.57137203e-02 3.01822284e+02] [-4.49132900e-01 -8.93444086e-01 6.10770087e-03 2.80927004e+02] [ 1.67827361e-02 -1.60149485e-03 9.99857877e-01 2.14580237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.500714057 meters Centerline goodness : 0.994989 Centerline is valid? [True, True] Translation: X:301.82, Y:280.92, Z:2.15 [[-8.91989240e-01 4.51783639e-01 1.57079201e-02 3.01824442e+02] [-4.51745122e-01 -8.92126039e-01 6.12179155e-03 2.80924809e+02] [ 1.67791698e-02 -1.63540409e-03 9.99857882e-01 2.14609277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.530714057 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:301.82, Y:280.92, Z:2.15 [[-8.91593482e-01 4.52564244e-01 1.57056863e-02 3.01820992e+02] [-4.52525752e-01 -8.91730285e-01 6.12721261e-03 2.80923152e+02] [ 1.67781934e-02 -1.64424466e-03 9.99857884e-01 2.14626673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5607140569999 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:301.81, Y:280.92, Z:2.15 [[-8.91035207e-01 4.53662885e-01 1.56922197e-02 3.01809853e+02] [-4.53623992e-01 -8.91171886e-01 6.15985838e-03 2.80917401e+02] [ 1.67789641e-02 -1.62971664e-03 9.99857895e-01 2.14734357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5907140569999 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:301.82, Y:280.92, Z:2.15 [[-8.90799576e-01 4.54125216e-01 1.56972530e-02 3.01824488e+02] [-4.54086606e-01 -8.90936340e-01 6.14766245e-03 2.80922176e+02] [ 1.67770617e-02 -1.65157723e-03 9.99857891e-01 2.14657304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.620714057 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:301.83, Y:280.92, Z:2.15 [[-8.91061655e-01 4.53611257e-01 1.56829374e-02 3.01830289e+02] [-4.53571964e-01 -8.91198212e-01 6.18231725e-03 2.80923829e+02] [ 1.67809745e-02 -1.60451487e-03 9.99857902e-01 2.14613523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.650714057 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:301.82, Y:280.92, Z:2.15 [[-8.91437406e-01 4.52872313e-01 1.56850027e-02 3.01823540e+02] [-4.52832993e-01 -8.91573957e-01 6.17731970e-03 2.80918845e+02] [ 1.67818770e-02 -1.59599288e-03 9.99857901e-01 2.14535076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6807140569999 meters Centerline goodness : 0.994759 Centerline is valid? [True, True] Translation: X:301.82, Y:280.92, Z:2.15 [[-8.91412058e-01 4.52921964e-01 1.56919927e-02 3.01823119e+02] [-4.52882946e-01 -8.91548701e-01 6.16042018e-03 2.80917093e+02] [ 1.67803653e-02 -1.61516304e-03 9.99857895e-01 2.14589299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7107140569999 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:301.82, Y:280.92, Z:2.15 [[-8.91559593e-01 4.52631788e-01 1.56830136e-02 3.01822354e+02] [-4.52592348e-01 -8.91696107e-01 6.18210763e-03 2.80915176e+02] [ 1.67827006e-02 -1.58629459e-03 9.99857902e-01 2.14663696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7407140569999 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:301.82, Y:280.91, Z:2.15 [[-8.93014717e-01 4.49754724e-01 1.56653739e-02 3.01818137e+02] [-4.49714103e-01 -8.93150872e-01 6.22465364e-03 2.80910903e+02] [ 1.67911097e-02 -1.48623226e-03 9.99857915e-01 2.14612615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.770714057 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:301.84, Y:280.92, Z:2.15 [[-8.93934254e-01 4.47924114e-01 1.56696270e-02 3.01844459e+02] [-4.47883393e-01 -8.94070382e-01 6.21439538e-03 2.80920637e+02] [ 1.67933270e-02 -1.46290482e-03 9.99857912e-01 2.14503093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8007140569999 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:301.82, Y:280.91, Z:2.15 [[-8.95193524e-01 4.45402132e-01 1.56682674e-02 3.01823906e+02] [-4.45360970e-01 -8.95329519e-01 6.21767180e-03 2.80908774e+02] [ 1.67976266e-02 -1.41201523e-03 9.99857913e-01 2.14641157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8307140569999 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:301.80, Y:280.90, Z:2.15 [[-8.95309365e-01 4.45169230e-01 1.56683840e-02 3.01799354e+02] [-4.45128037e-01 -8.95445350e-01 6.21739125e-03 2.80897081e+02] [ 1.67979729e-02 -1.40794840e-03 9.99857913e-01 2.14714884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8607140569999 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:301.84, Y:280.91, Z:2.15 [[-8.91033252e-01 4.53667707e-01 1.56638132e-02 3.01842851e+02] [-4.53627618e-01 -8.91169564e-01 6.22837903e-03 2.80908026e+02] [ 1.67847280e-02 -1.55584547e-03 9.99857916e-01 2.14733922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.890714057 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:301.83, Y:280.90, Z:2.15 [[-8.91487733e-01 4.52777704e-01 1.55555126e-02 3.01833772e+02] [-4.52732966e-01 -8.91622548e-01 6.48803877e-03 2.80902473e+02] [ 1.68072851e-02 -1.25848639e-03 9.99857956e-01 2.14704667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9207140569999 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:301.85, Y:280.91, Z:2.15 [[-8.91446612e-01 4.52858746e-01 1.55529516e-02 3.01852141e+02] [-4.52813914e-01 -8.91581396e-01 6.49417223e-03 2.80909363e+02] [ 1.68076650e-02 -1.25338505e-03 9.99857956e-01 2.14652093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9507140569999 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:301.86, Y:280.92, Z:2.14 [[-8.96286084e-01 4.43203612e-01 1.55503921e-02 3.01863488e+02] [-4.43157221e-01 -8.96420339e-01 6.50029527e-03 2.80919357e+02] [ 1.68206421e-02 -1.06514435e-03 9.99857956e-01 2.14333804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9807140569999 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:301.80, Y:280.89, Z:2.14 [[-8.96275897e-01 4.43220717e-01 1.56496735e-02 3.01801626e+02] [-4.43178440e-01 -8.96411539e-01 6.26282322e-03 2.80893084e+02] [ 1.68043609e-02 -1.32238038e-03 9.99857922e-01 2.14327355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.010714057 meters Centerline goodness : 0.994400 Centerline is valid? [True, True] Translation: X:301.85, Y:280.91, Z:2.14 [[-8.96149334e-01 4.43475797e-01 1.56712831e-02 3.01852300e+02] [-4.43434456e-01 -8.96285281e-01 6.21116755e-03 2.80913518e+02] [ 1.68004429e-02 -1.38305326e-03 9.99857906e-01 2.14190302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.040714057 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:301.85, Y:280.91, Z:2.14 [[-8.96222060e-01 4.43328968e-01 1.56666780e-02 3.01845599e+02] [-4.43287413e-01 -8.96357938e-01 6.22217671e-03 2.80910455e+02] [ 1.68014224e-02 -1.36838914e-03 9.99857910e-01 2.14008799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0707140569999 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:301.84, Y:280.91, Z:2.14 [[-8.95829852e-01 4.44120832e-01 1.56704249e-02 3.01843194e+02] [-4.44079554e-01 -8.95965817e-01 6.21322580e-03 2.80908935e+02] [ 1.67995881e-02 -1.39292214e-03 9.99857907e-01 2.13942123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1007140569999 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:301.85, Y:280.91, Z:2.14 [[-8.96415493e-01 4.42937971e-01 1.56594373e-02 3.01846280e+02] [-4.42896057e-01 -8.96551254e-01 6.23945567e-03 2.80909787e+02] [ 1.68031800e-02 -1.34235831e-03 9.99857916e-01 2.13770895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.130714057 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:301.87, Y:280.92, Z:2.14 [[-8.95485504e-01 4.44813634e-01 1.57016960e-02 3.01869668e+02] [-4.44773761e-01 -8.95621918e-01 6.13851698e-03 2.80919857e+02] [ 1.67932792e-02 -1.48674942e-03 9.99857878e-01 2.13645459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.160714057 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:301.86, Y:280.92, Z:2.14 [[-8.93482447e-01 4.48824525e-01 1.56736284e-02 3.01857214e+02] [-4.48784096e-01 -8.93618670e-01 6.20550877e-03 2.80915813e+02] [ 1.67914315e-02 -1.48956200e-03 9.99857904e-01 2.14024012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1907140569999 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:301.87, Y:280.92, Z:2.14 [[-8.84631419e-01 4.66029069e-01 1.56256132e-02 3.01869927e+02] [-4.65989281e-01 -8.84767794e-01 6.31989511e-03 2.80919759e+02] [ 1.67702941e-02 -1.69059046e-03 9.99857939e-01 2.13668636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2207140569999 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:301.89, Y:280.95, Z:2.13 [[-8.90046455e-01 4.55605075e-01 1.55345931e-02 3.01888382e+02] [-4.55559929e-01 -8.90181122e-01 6.53622291e-03 2.80946533e+02] [ 1.68065379e-02 -1.25939611e-03 9.99857967e-01 2.12954469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.250714057 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:301.91, Y:280.96, Z:2.13 [[-8.91083561e-01 4.53568635e-01 1.56710404e-02 3.01907009e+02] [-4.53528834e-01 -8.91219962e-01 6.21099380e-03 2.80959574e+02] [ 1.67834560e-02 -1.57275423e-03 9.99857911e-01 2.12928496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.280714057 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:301.90, Y:280.97, Z:2.13 [[-8.91532118e-01 4.52682488e-01 1.57812677e-02 3.01904430e+02] [-4.52647157e-01 -8.91669881e-01 5.94766692e-03 2.80965522e+02] [ 1.67640857e-02 -1.84080986e-03 9.99857778e-01 2.12872175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3107140569999 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:301.91, Y:280.97, Z:2.14 [[-8.92149725e-01 4.51466329e-01 1.57169245e-02 3.01908654e+02] [-4.51428124e-01 -8.92286627e-01 6.10113895e-03 2.80972037e+02] [ 1.67784604e-02 -1.65193231e-03 9.99857867e-01 2.13776428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3407140569999 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:301.91, Y:280.98, Z:2.14 [[-8.92508800e-01 4.50752914e-01 1.58067041e-02 3.01913249e+02] [-4.50718353e-01 -8.92646802e-01 5.88673788e-03 2.80979831e+02] [ 1.67632681e-02 -1.87040628e-03 9.99857737e-01 2.14152932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.370714057 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:301.88, Y:280.98, Z:2.13 [[-8.90199365e-01 4.55299682e-01 1.57254972e-02 3.01884185e+02] [-4.55262433e-01 -8.90336537e-01 6.08011380e-03 2.80978517e+02] [ 1.67692586e-02 -1.74671468e-03 9.99857860e-01 2.13451748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.400714057 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:301.85, Y:280.96, Z:2.14 [[-8.80783825e-01 4.73257454e-01 1.57237082e-02 3.01854943e+02] [-4.73222921e-01 -8.80921704e-01 6.08435933e-03 2.80961014e+02] [ 1.67308243e-02 -2.08181385e-03 9.99857863e-01 2.13711858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4307140569999 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:301.86, Y:280.96, Z:2.14 [[-8.80596871e-01 4.73611923e-01 1.55208676e-02 3.01857460e+02] [-4.73569037e-01 -8.80732242e-01 6.56399142e-03 2.80961920e+02] [ 1.67785131e-02 -1.56997203e-03 9.99857998e-01 2.13727454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4607140569999 meters Centerline goodness : 0.995127 Centerline is valid? [True, True] Translation: X:301.86, Y:280.97, Z:2.14 [[-8.80962266e-01 4.72931991e-01 1.55182833e-02 3.01858801e+02] [-4.72888894e-01 -8.81097570e-01 6.57009551e-03 2.80967881e+02] [ 1.67803300e-02 -1.55041760e-03 9.99857998e-01 2.13511568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4907140569999 meters Centerline goodness : 0.994795 Centerline is valid? [True, True] Translation: X:301.86, Y:280.97, Z:2.14 [[-8.82425710e-01 4.70195842e-01 1.55156979e-02 3.01855016e+02] [-4.70152219e-01 -8.82560845e-01 6.57619551e-03 2.80972007e+02] [ 1.67856472e-02 -1.49173579e-03 9.99857998e-01 2.13531993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.520714057 meters Centerline goodness : 0.994763 Centerline is valid? [True, True] Translation: X:301.87, Y:280.98, Z:2.14 [[-8.83224086e-01 4.68694524e-01 1.55131069e-02 3.01865787e+02] [-4.68650565e-01 -8.83359112e-01 6.58230176e-03 2.80977764e+02] [ 1.67887332e-02 -1.45657887e-03 9.99857998e-01 2.13637424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5507140569999 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:301.89, Y:281.00, Z:2.14 [[-8.93385806e-01 4.49022523e-01 1.55105185e-02 3.01889484e+02] [-4.48975479e-01 -8.93519788e-01 6.58839554e-03 2.81003495e+02] [ 1.68172932e-02 -1.07786341e-03 9.99857998e-01 2.13584573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5807140569999 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:301.87, Y:280.99, Z:2.14 [[-8.86124057e-01 4.63182860e-01 1.56778160e-02 3.01867335e+02] [-4.63144841e-01 -8.86260963e-01 6.19362980e-03 2.80986979e+02] [ 1.67634195e-02 -1.77277525e-03 9.99857912e-01 2.13777159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6107140569999 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:301.87, Y:280.99, Z:2.14 [[-8.87316666e-01 4.60899828e-01 1.55075088e-02 3.01865707e+02] [-4.60854475e-01 -8.87451221e-01 6.59414667e-03 2.80992068e+02] [ 1.68013987e-02 -1.29560860e-03 9.99858007e-01 2.13972958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.640714057 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:301.87, Y:281.00, Z:2.14 [[-8.87694188e-01 4.60172377e-01 1.55052518e-02 3.01869914e+02] [-4.60126822e-01 -8.87828675e-01 6.59944960e-03 2.80995722e+02] [ 1.68028915e-02 -1.27608916e-03 9.99858007e-01 2.14148089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6707140569999 meters Centerline goodness : 0.994198 Centerline is valid? [True, True] Translation: X:301.87, Y:281.00, Z:2.14 [[-8.87788647e-01 4.59990202e-01 1.55026681e-02 3.01870889e+02] [-4.59944514e-01 -8.87923089e-01 6.60551339e-03 2.80997137e+02] [ 1.68036483e-02 -1.26606733e-03 9.99858007e-01 2.14313166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7007140569999 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:301.87, Y:281.00, Z:2.14 [[-8.88105312e-01 4.59378604e-01 1.55000833e-02 3.01872662e+02] [-4.59332718e-01 -8.88239687e-01 6.61157313e-03 2.81001075e+02] [ 1.68050043e-02 -1.24792216e-03 9.99858007e-01 2.14462115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7307140569999 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:301.87, Y:281.00, Z:2.14 [[-8.87788666e-01 4.59990340e-01 1.54974961e-02 3.01874684e+02] [-4.59944442e-01 -8.87923036e-01 6.61763186e-03 2.81004739e+02] [ 1.68046305e-02 -1.25292865e-03 9.99858007e-01 2.14425514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.760714057 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:301.87, Y:281.01, Z:2.14 [[-8.86977709e-01 4.61552220e-01 1.54949075e-02 3.01873249e+02] [-4.61506453e-01 -8.87112124e-01 6.62368751e-03 2.81007512e+02] [ 1.68028979e-02 -1.27593662e-03 9.99858007e-01 2.14375731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.790714057 meters Centerline goodness : 0.993877 Centerline is valid? [True, True] Translation: X:301.87, Y:281.01, Z:2.14 [[-8.84956667e-01 4.65415606e-01 1.54923143e-02 3.01866542e+02] [-4.65370320e-01 -8.85091245e-01 6.62974724e-03 2.81011709e+02] [ 1.67976996e-02 -1.34262424e-03 9.99858007e-01 2.14269266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8207140569999 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:301.87, Y:281.02, Z:2.14 [[-8.83433354e-01 4.68300735e-01 1.54897090e-02 3.01870892e+02] [-4.68255784e-01 -8.83568043e-01 6.63582867e-03 2.81016485e+02] [ 1.67937753e-02 -1.39083345e-03 9.99858007e-01 2.14234269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8507140569999 meters Centerline goodness : 0.992174 Centerline is valid? [True, True] Translation: X:301.89, Y:281.04, Z:2.14 [[-8.91106229e-01 4.53530416e-01 1.54870977e-02 3.01890492e+02] [-4.53483123e-01 -8.91240115e-01 6.64191743e-03 2.81042715e+02] [ 1.68150343e-02 -1.10448344e-03 9.99858007e-01 2.14266499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.880714057 meters Centerline goodness : 0.992967 Centerline is valid? [True, True] Translation: X:301.89, Y:281.04, Z:2.14 [[-8.88686956e-01 4.58244885e-01 1.57200525e-02 3.01889159e+02] [-4.58207810e-01 -8.88824188e-01 6.09635126e-03 2.81043251e+02] [ 1.67659847e-02 -1.78530300e-03 9.99857847e-01 2.14074057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.910714057 meters Centerline goodness : 0.992988 Centerline is valid? [True, True] Translation: X:301.88, Y:281.04, Z:2.14 [[-8.88801683e-01 4.58023445e-01 1.56873392e-02 3.01875221e+02] [-4.57984995e-01 -8.88938491e-01 6.17285413e-03 2.81041441e+02] [ 1.67723915e-02 -1.69812282e-03 9.99857892e-01 2.13981134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9407140569999 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:301.86, Y:281.04, Z:2.14 [[-8.81650123e-01 4.71641918e-01 1.57150435e-02 3.01863212e+02] [-4.71606716e-01 -8.81787841e-01 6.10814764e-03 2.81036312e+02] [ 1.67381927e-02 -2.02607093e-03 9.99857854e-01 2.14000892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9707140569999 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:301.86, Y:281.03, Z:2.14 [[-8.79635246e-01 4.75392460e-01 1.56154632e-02 3.01856845e+02] [-4.75353765e-01 -8.79771903e-01 6.34002325e-03 2.81034253e+02] [ 1.67520450e-02 -1.84596133e-03 9.99857971e-01 2.14052538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.000714057 meters Centerline goodness : 0.992244 Centerline is valid? [True, True] Translation: X:301.85, Y:281.03, Z:2.14 [[-8.77533862e-01 4.79260673e-01 1.56053887e-02 3.01850562e+02] [-4.79222169e-01 -8.77670564e-01 6.36345489e-03 2.81033674e+02] [ 1.67461440e-02 -1.89430107e-03 9.99857979e-01 2.14199124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.030714057 meters Centerline goodness : 0.992303 Centerline is valid? [True, True] Translation: X:301.85, Y:281.03, Z:2.14 [[-8.75994597e-01 4.82069010e-01 1.55864047e-02 3.01850431e+02] [-4.82030169e-01 -8.76131189e-01 6.40754634e-03 2.81033512e+02] [ 1.67446148e-02 -1.90014133e-03 9.99857994e-01 2.14326841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0607140569999 meters Centerline goodness : 0.992079 Centerline is valid? [True, True] Translation: X:301.85, Y:281.03, Z:2.14 [[-8.74864055e-01 4.84118115e-01 1.55735651e-02 3.01852579e+02] [-4.84079071e-01 -8.75000579e-01 6.43734590e-03 2.81034252e+02] [ 1.67433142e-02 -1.90703438e-03 9.99858002e-01 2.14363313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0907140569999 meters Centerline goodness : 0.992163 Centerline is valid? [True, True] Translation: X:301.85, Y:281.03, Z:2.14 [[-8.73114549e-01 4.87266613e-01 1.55638320e-02 3.01847493e+02] [-4.87227664e-01 -8.73251094e-01 6.45991431e-03 2.81033501e+02] [ 1.67388339e-02 -1.94288433e-03 9.99858008e-01 2.14390304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.120714057 meters Centerline goodness : 0.992193 Centerline is valid? [True, True] Translation: X:301.85, Y:281.03, Z:2.14 [[-8.72306342e-01 4.88712699e-01 1.55416981e-02 3.01848174e+02] [-4.88673075e-01 -8.72442681e-01 6.51117596e-03 2.81034652e+02] [ 1.67413351e-02 -1.91506930e-03 9.99858020e-01 2.14348891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.150714057 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:301.86, Y:281.03, Z:2.14 [[-8.67583105e-01 4.97049373e-01 1.55395271e-02 3.01858456e+02] [-4.97010969e-01 -8.67719791e-01 6.51619926e-03 2.81032870e+02] [ 1.67228279e-02 -2.06997101e-03 9.99858021e-01 2.13724745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1807140569999 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:301.87, Y:281.04, Z:2.14 [[-8.66926562e-01 4.98195967e-01 1.54633677e-02 3.01867493e+02] [-4.98154646e-01 -8.67062376e-01 6.69217862e-03 2.81036109e+02] [ 1.67417207e-02 -1.90152107e-03 9.99858039e-01 2.13637616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2107140569999 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:301.87, Y:281.03, Z:2.13 [[-8.66172954e-01 4.99505136e-01 1.54606909e-02 3.01869409e+02] [-4.99463912e-01 -8.66308797e-01 6.69835712e-03 2.81034712e+02] [ 1.67395963e-02 -1.92012137e-03 9.99858039e-01 2.13445873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2407140569999 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:301.91, Y:281.06, Z:2.13 [[-8.74808446e-01 4.84222296e-01 1.54580176e-02 3.01909306e+02] [-4.84178586e-01 -8.74943510e-01 6.70452065e-03 2.81059302e+02] [ 1.67713706e-02 -1.61926982e-03 9.99858039e-01 2.13407066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.270714057 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:301.87, Y:281.03, Z:2.13 [[-8.65986436e-01 4.99822359e-01 1.56557710e-02 3.01872009e+02] [-4.99789142e-01 -8.66124576e-01 6.24757797e-03 2.81032425e+02] [ 1.66825271e-02 -2.41426656e-03 9.99857922e-01 2.13375888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3007140569999 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:301.88, Y:281.03, Z:2.13 [[-8.66808983e-01 4.98400790e-01 1.54544238e-02 3.01876526e+02] [-4.98359166e-01 -8.66944693e-01 6.71123918e-03 2.81028809e+02] [ 1.67430176e-02 -1.88449131e-03 9.99858050e-01 2.13480827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3307140569999 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:301.88, Y:281.03, Z:2.13 [[-8.67545672e-01 4.97117431e-01 1.54520785e-02 3.01884060e+02] [-4.97075512e-01 -8.67681291e-01 6.71663469e-03 2.81028815e+02] [ 1.67464356e-02 -1.85386246e-03 9.99858050e-01 2.13434178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3607140569999 meters Centerline goodness : 0.991939 Centerline is valid? [True, True] Translation: X:301.92, Y:281.05, Z:2.14 [[-8.78481708e-01 4.77526129e-01 1.54493988e-02 3.01915470e+02] [-4.77481070e-01 -8.78616317e-01 6.72279263e-03 2.81045832e+02] [ 1.67844030e-02 -1.47094513e-03 9.99858050e-01 2.13723199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.390714057 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:301.92, Y:281.04, Z:2.14 [[-8.80240868e-01 4.74271506e-01 1.55741039e-02 3.01919811e+02] [-4.74230961e-01 -8.80376952e-01 6.43567248e-03 2.81042349e+02] [ 1.67633382e-02 -1.72078033e-03 9.99858005e-01 2.13520205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4207140569999 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:301.93, Y:281.04, Z:2.14 [[-8.82344707e-01 4.70343697e-01 1.56404901e-02 3.01925314e+02] [-4.70305226e-01 -8.82481457e-01 6.28267627e-03 2.81040390e+02] [ 1.67574597e-02 -1.81231811e-03 9.99857941e-01 2.13640185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4507140569999 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:301.93, Y:281.03, Z:2.14 [[-8.85763942e-01 4.63871777e-01 1.56593074e-02 3.01930600e+02] [-4.63833066e-01 -8.85900648e-01 6.23930491e-03 2.81033340e+02] [ 1.67668281e-02 -1.73675327e-03 9.99857919e-01 2.13783053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4807140569999 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:301.92, Y:281.01, Z:2.14 [[-8.77012844e-01 4.80211920e-01 1.56519338e-02 3.01922991e+02] [-4.80175451e-01 -8.77150156e-01 6.25626355e-03 2.81011691e+02] [ 1.67334285e-02 -2.02885086e-03 9.99857928e-01 2.13681274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.510714057 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:301.93, Y:281.00, Z:2.14 [[-8.79060028e-01 4.76460980e-01 1.54402536e-02 3.01927418e+02] [-4.76415437e-01 -8.79194455e-01 6.74111429e-03 2.81003279e+02] [ 1.67868633e-02 -1.43013107e-03 9.99858068e-01 2.13656370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.540714057 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:301.95, Y:281.02, Z:2.14 [[-8.91085901e-01 4.53572032e-01 1.54379413e-02 3.01954786e+02] [-4.53522936e-01 -8.91219071e-01 6.74640571e-03 2.81024766e+02] [ 1.68185686e-02 -9.89833453e-04 9.99858068e-01 2.13711863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5707140569999 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:301.94, Y:281.00, Z:2.13 [[-8.80457167e-01 4.73865841e-01 1.56952814e-02 3.01935632e+02] [-4.73830154e-01 -8.80594740e-01 6.15550571e-03 2.80997280e+02] [ 1.67380661e-02 -2.01723846e-03 9.99857874e-01 2.13355888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6007140569999 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:301.94, Y:280.99, Z:2.13 [[-8.80581109e-01 4.73644036e-01 1.54349316e-02 3.01942728e+02] [-4.73597893e-01 -8.80715313e-01 6.75077668e-03 2.80990390e+02] [ 1.67912457e-02 -1.36534464e-03 9.99858085e-01 2.13326522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.630714057 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:301.95, Y:280.99, Z:2.13 [[-8.79185385e-01 4.76229869e-01 1.54327870e-02 3.01947724e+02] [-4.76184035e-01 -8.79319695e-01 6.75567568e-03 2.80987069e+02] [ 1.67876081e-02 -1.40935548e-03 9.99858085e-01 2.13425025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.660714057 meters Centerline goodness : 0.985136 Centerline is valid? [True, True] Translation: X:301.20, Y:280.65, Z:2.14 [[-8.74476722e-01 4.84822232e-01 1.54229105e-02 3.01197990e+02] [-4.84777321e-01 -8.74611344e-01 6.77828272e-03 2.80646990e+02] [ 1.67753147e-02 -1.54922679e-03 9.99858084e-01 2.14405253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6907140569999 meters Centerline goodness : 0.992877 Centerline is valid? [True, True] Translation: X:301.93, Y:280.97, Z:2.14 [[-8.78169687e-01 4.78102854e-01 1.53513018e-02 3.01930655e+02] [-4.78054069e-01 -8.78302976e-01 6.94189325e-03 2.80969348e+02] [ 1.68020331e-02 -1.24259210e-03 9.99858064e-01 2.13716722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7207140569999 meters Centerline goodness : 0.992562 Centerline is valid? [True, True] Translation: X:301.95, Y:280.97, Z:2.14 [[-8.75389474e-01 4.83171635e-01 1.54415195e-02 3.01951033e+02] [-4.83127224e-01 -8.75524257e-01 6.73505151e-03 2.80972508e+02] [ 1.67736107e-02 -1.56442524e-03 9.99858089e-01 2.13736509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.750714057 meters Centerline goodness : 0.992857 Centerline is valid? [True, True] Translation: X:301.95, Y:280.97, Z:2.14 [[-8.73177800e-01 4.87157234e-01 1.54388651e-02 3.01953485e+02] [-4.87113333e-01 -8.73312750e-01 6.74113063e-03 2.80969849e+02] [ 1.67669483e-02 -1.63427142e-03 9.99858089e-01 2.13710546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.780714057 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:301.94, Y:280.96, Z:2.14 [[-8.72379671e-01 4.88585368e-01 1.54288102e-02 3.01944830e+02] [-4.88541284e-01 -8.72514561e-01 6.76414528e-03 2.80964148e+02] [ 1.67667240e-02 -1.63670794e-03 9.99858089e-01 2.13937505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8107140569999 meters Centerline goodness : 0.992312 Centerline is valid? [True, True] Translation: X:301.95, Y:280.96, Z:2.14 [[-8.70009949e-01 4.92792465e-01 1.54361510e-02 3.01950032e+02] [-4.92749328e-01 -8.70145145e-01 6.74735144e-03 2.80961633e+02] [ 1.67567358e-02 -1.73589017e-03 9.99858089e-01 2.14106959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8407140569999 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:301.98, Y:280.99, Z:2.14 [[-8.80362017e-01 4.74051186e-01 1.54334878e-02 3.01977357e+02] [-4.74005058e-01 -8.80496221e-01 6.75343779e-03 2.80985027e+02] [ 1.67906029e-02 -1.37008116e-03 9.99858089e-01 2.14111259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.870714057 meters Centerline goodness : 0.992255 Centerline is valid? [True, True] Translation: X:301.94, Y:280.97, Z:2.14 [[-8.77393602e-01 4.79514987e-01 1.56794377e-02 3.01942588e+02] [-4.79479584e-01 -8.77531207e-01 6.18940819e-03 2.80966896e+02] [ 1.67271099e-02 -2.08742313e-03 9.99857913e-01 2.14286150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.900714057 meters Centerline goodness : 0.991820 Centerline is valid? [True, True] Translation: X:301.97, Y:280.98, Z:2.14 [[-8.77748650e-01 4.78866972e-01 1.56118480e-02 3.01965846e+02] [-4.78828743e-01 -8.77885406e-01 6.34410885e-03 2.80976129e+02] [ 1.67433977e-02 -1.90686858e-03 9.99858001e-01 2.14237250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9307140569999 meters Centerline goodness : 0.991898 Centerline is valid? [True, True] Translation: X:301.93, Y:280.96, Z:2.14 [[-8.77019229e-01 4.80201559e-01 1.56120136e-02 3.01928548e+02] [-4.80163545e-01 -8.77156045e-01 6.34373005e-03 2.80957981e+02] [ 1.67404412e-02 -1.93274657e-03 9.99858001e-01 2.14248502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9607140569999 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:301.95, Y:280.96, Z:2.14 [[-8.77751195e-01 4.78862089e-01 1.56185646e-02 3.01946257e+02] [-4.78824129e-01 -8.77888034e-01 6.32877053e-03 2.80964848e+02] [ 1.67419593e-02 -1.92345970e-03 9.99857993e-01 2.14242828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9907140569999 meters Centerline goodness : 0.991973 Centerline is valid? [True, True] Translation: X:301.95, Y:280.96, Z:2.14 [[-8.78740821e-01 4.77044436e-01 1.55940934e-02 3.01945747e+02] [-4.77005211e-01 -8.78877275e-01 6.38462630e-03 2.80963497e+02] [ 1.67510448e-02 -1.82803209e-03 9.99858020e-01 2.14317144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.020714057 meters Centerline goodness : 0.991438 Centerline is valid? [True, True] Translation: X:301.93, Y:280.96, Z:2.14 [[-8.78679020e-01 4.77157801e-01 1.56081191e-02 3.01931663e+02] [-4.77119156e-01 -8.78815655e-01 6.35263956e-03 2.80956247e+02] [ 1.67478709e-02 -1.86500151e-03 9.99858005e-01 2.14442841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0507140569999 meters Centerline goodness : 0.991529 Centerline is valid? [True, True] Translation: X:301.98, Y:280.98, Z:2.14 [[-8.79595310e-01 4.75468773e-01 1.55414174e-02 3.01979630e+02] [-4.75427203e-01 -8.79731019e-01 6.50458212e-03 2.80976917e+02] [ 1.67649926e-02 -1.66741265e-03 9.99858067e-01 2.14268488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0807140569999 meters Centerline goodness : 0.991614 Centerline is valid? [True, True] Translation: X:301.97, Y:280.96, Z:2.14 [[-8.72919112e-01 4.87616232e-01 1.55767259e-02 3.01972116e+02] [-4.87577962e-01 -8.73055818e-01 6.42414959e-03 2.80964444e+02] [ 1.67318708e-02 -1.98710529e-03 9.99858038e-01 2.14344217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1107140569999 meters Centerline goodness : 0.991493 Centerline is valid? [True, True] Translation: X:301.96, Y:280.97, Z:2.14 [[-8.79927837e-01 4.74857177e-01 1.54163231e-02 3.01964198e+02] [-4.74810561e-01 -8.80061844e-01 6.78842311e-03 2.80971022e+02] [ 1.67908492e-02 -1.34651057e-03 9.99858117e-01 2.14185187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.140714057 meters Centerline goodness : 0.991899 Centerline is valid? [True, True] Translation: X:301.98, Y:280.98, Z:2.14 [[-8.80555130e-01 4.73688410e-01 1.55548563e-02 3.01983665e+02] [-4.73647113e-01 -8.80690927e-01 6.47324427e-03 2.80978728e+02] [ 1.67653216e-02 -1.66746434e-03 9.99858062e-01 2.14265255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1707140569999 meters Centerline goodness : 0.990999 Centerline is valid? [True, True] Translation: X:301.99, Y:280.98, Z:2.14 [[-8.78124029e-01 4.78179199e-01 1.55834629e-02 3.01987396e+02] [-4.78139737e-01 -8.78260399e-01 6.40816359e-03 2.80980433e+02] [ 1.67505889e-02 -1.82391043e-03 9.99858035e-01 2.14262633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2007140569999 meters Centerline goodness : 0.991590 Centerline is valid? [True, True] Translation: X:301.98, Y:280.98, Z:2.14 [[-8.78412104e-01 4.77652523e-01 1.54997735e-02 3.01975136e+02] [-4.77609652e-01 -8.78547372e-01 6.59815964e-03 2.80975508e+02] [ 1.67689129e-02 -1.60693813e-03 9.99858101e-01 2.14177596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2307140569999 meters Centerline goodness : 0.991765 Centerline is valid? [True, True] Translation: X:301.99, Y:280.98, Z:2.14 [[-8.79429133e-01 4.75777092e-01 1.55099772e-02 3.01988669e+02] [-4.75734336e-01 -8.79564444e-01 6.57500796e-03 2.80984460e+02] [ 1.67702626e-02 -1.59637514e-03 9.99858095e-01 2.14236749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.260714057 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:301.99, Y:280.98, Z:2.14 [[-8.80037300e-01 4.74651135e-01 1.55129486e-02 3.01985787e+02] [-4.74608324e-01 -8.80172595e-01 6.56826620e-03 2.80984968e+02] [ 1.67717073e-02 -1.58225531e-03 9.99858093e-01 2.14172231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.290714057 meters Centerline goodness : 0.992020 Centerline is valid? [True, True] Translation: X:301.99, Y:280.99, Z:2.14 [[-8.80393471e-01 4.73989906e-01 1.55211570e-02 3.01992259e+02] [-4.73947319e-01 -8.80528842e-01 6.54964920e-03 2.80989895e+02] [ 1.67712940e-02 -1.58994236e-03 9.99858088e-01 2.14389724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3207140569999 meters Centerline goodness : 0.991977 Centerline is valid? [True, True] Translation: X:301.99, Y:280.99, Z:2.15 [[-8.81541159e-01 4.71852188e-01 1.55144093e-02 3.01990834e+02] [-4.71809006e-01 -8.81676337e-01 6.56494108e-03 2.80990984e+02] [ 1.67763694e-02 -1.53257225e-03 9.99858092e-01 2.14608572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3507140569999 meters Centerline goodness : 0.991977 Centerline is valid? [True, True] Translation: X:301.99, Y:280.99, Z:2.15 [[-8.81372174e-01 4.72167602e-01 1.55192644e-02 3.01993237e+02] [-4.72124659e-01 -8.81507432e-01 6.55394278e-03 2.80992140e+02] [ 1.67749063e-02 -1.55056461e-03 9.99858089e-01 2.14603586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.380714057 meters Centerline goodness : 0.992481 Centerline is valid? [True, True] Translation: X:301.99, Y:280.99, Z:2.15 [[-8.82688344e-01 4.69702594e-01 1.55164454e-02 3.01990807e+02] [-4.69659163e-01 -8.82823444e-01 6.56032200e-03 2.80992650e+02] [ 1.67796820e-02 -1.49672099e-03 9.99858091e-01 2.14685843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.410714057 meters Centerline goodness : 0.992284 Centerline is valid? [True, True] Translation: X:302.00, Y:281.00, Z:2.15 [[-8.84484631e-01 4.66310972e-01 1.55246562e-02 3.01995992e+02] [-4.66267346e-01 -8.84619674e-01 6.54174845e-03 2.80997403e+02] [ 1.67839054e-02 -1.45256427e-03 9.99858085e-01 2.14787613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4407140569999 meters Centerline goodness : 0.991678 Centerline is valid? [True, True] Translation: X:302.00, Y:281.00, Z:2.15 [[-8.84717216e-01 4.65869579e-01 1.55236348e-02 3.02004689e+02] [-4.65825846e-01 -8.84852223e-01 6.54405714e-03 2.81001219e+02] [ 1.67847999e-02 -1.44167028e-03 9.99858086e-01 2.14803525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4707140569999 meters Centerline goodness : 0.992849 Centerline is valid? [True, True] Translation: X:302.01, Y:281.00, Z:2.15 [[-8.86747995e-01 4.61992620e-01 1.55181498e-02 3.02008310e+02] [-4.61948081e-01 -8.86882734e-01 6.55644727e-03 2.81004315e+02] [ 1.67918093e-02 -1.35466304e-03 9.99858090e-01 2.14769170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.500714057 meters Centerline goodness : 0.992590 Centerline is valid? [True, True] Translation: X:302.02, Y:281.01, Z:2.15 [[-8.88828906e-01 4.57977237e-01 1.54927555e-02 3.02018189e+02] [-4.57931094e-01 -8.88963088e-01 6.61377918e-03 2.81009657e+02] [ 1.68014481e-02 -1.21609635e-03 9.99858106e-01 2.14974104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.530714057 meters Centerline goodness : 0.993111 Centerline is valid? [True, True] Translation: X:302.02, Y:281.01, Z:2.15 [[-8.89723525e-01 4.56236380e-01 1.55052858e-02 3.02017547e+02] [-4.56190464e-01 -8.89857793e-01 6.58550608e-03 2.81008374e+02] [ 1.68020469e-02 -1.21408384e-03 9.99858099e-01 2.14680144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5607140569999 meters Centerline goodness : 0.992899 Centerline is valid? [True, True] Translation: X:302.02, Y:281.01, Z:2.15 [[-8.93279011e-01 4.49235849e-01 1.54842291e-02 3.02019340e+02] [-4.49188060e-01 -8.93412610e-01 6.63297033e-03 2.81010128e+02] [ 1.68135736e-02 -1.03023765e-03 9.99858111e-01 2.15083341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5907140569999 meters Centerline goodness : 0.992960 Centerline is valid? [True, True] Translation: X:302.02, Y:281.01, Z:2.15 [[-8.95020960e-01 4.45755272e-01 1.54828534e-02 3.02019189e+02] [-4.45706910e-01 -8.95154352e-01 6.63606841e-03 2.81010894e+02] [ 1.68176061e-02 -9.61394446e-04 9.99858112e-01 2.14954368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.620714057 meters Centerline goodness : 0.992603 Centerline is valid? [True, True] Translation: X:302.04, Y:281.02, Z:2.15 [[-8.99598413e-01 4.36443802e-01 1.54759030e-02 3.02037873e+02] [-4.36393790e-01 -8.99731190e-01 6.65171296e-03 2.81021903e+02] [ 1.68272516e-02 -7.69717558e-04 9.99858116e-01 2.15125306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.650714057 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:302.04, Y:281.02, Z:2.15 [[-9.01348211e-01 4.32817904e-01 1.54940519e-02 3.02039433e+02] [-4.32768058e-01 -9.01481062e-01 6.61085085e-03 2.81023517e+02] [ 1.68288889e-02 -7.46652158e-04 9.99858105e-01 2.15098534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6807140569999 meters Centerline goodness : 0.992846 Centerline is valid? [True, True] Translation: X:302.04, Y:281.03, Z:2.15 [[-9.03450054e-01 4.28413537e-01 1.54868464e-02 3.02041837e+02] [-4.28362765e-01 -9.03582549e-01 6.62706436e-03 2.81026611e+02] [ 1.68327682e-02 -6.46766711e-04 9.99858110e-01 2.15286558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7107140569999 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:302.00, Y:281.00, Z:2.15 [[-9.01294612e-01 4.32929200e-01 1.55025890e-02 3.01999123e+02] [-4.32879700e-01 -9.01427598e-01 6.59167977e-03 2.81003536e+02] [ 1.68281922e-02 -7.69710605e-04 9.99858100e-01 2.15051589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7407140569999 meters Centerline goodness : 0.992807 Centerline is valid? [True, True] Translation: X:302.04, Y:281.02, Z:2.15 [[-9.01675932e-01 4.32137855e-01 1.54074106e-02 3.02039790e+02] [-4.32084584e-01 -9.01807409e-01 6.80512285e-03 2.81021959e+02] [ 1.68352682e-02 -5.21289116e-04 9.99858141e-01 2.15037772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.770714057 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:302.02, Y:281.02, Z:2.15 [[-9.02453695e-01 4.30512199e-01 1.53809879e-02 3.02022473e+02] [-4.30457682e-01 -9.02584658e-01 6.86432863e-03 2.81016671e+02] [ 1.68378209e-02 -4.26125648e-04 9.99858143e-01 2.14825268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8007140569999 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:302.04, Y:281.03, Z:2.15 [[-9.02320860e-01 4.30789815e-01 1.54013041e-02 3.02040271e+02] [-4.30736114e-01 -9.02452161e-01 6.81881887e-03 2.81026308e+02] [ 1.68364179e-02 -4.81135387e-04 9.99858142e-01 2.15259813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8307140569999 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:302.04, Y:281.03, Z:2.15 [[-9.01997041e-01 4.31468260e-01 1.53778493e-02 3.02044863e+02] [-4.31413763e-01 -9.02128012e-01 6.87131042e-03 2.81030143e+02] [ 1.68375409e-02 -4.36314156e-04 9.99858143e-01 2.15076018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8607140569999 meters Centerline goodness : 0.992950 Centerline is valid? [True, True] Translation: X:302.05, Y:281.05, Z:2.15 [[-9.13706365e-01 4.06084068e-01 1.53755622e-02 3.02052318e+02] [-4.06025845e-01 -9.13835723e-01 6.87642427e-03 2.81050266e+02] [ 1.68431443e-02 4.01569904e-05 9.99858143e-01 2.14865785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.890714057 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:302.05, Y:281.05, Z:2.14 [[-9.11791582e-01 4.10352399e-01 1.57168599e-02 3.02048948e+02] [-4.10307873e-01 -9.11926607e-01 6.10846234e-03 2.81053462e+02] [ 1.68392449e-02 -8.79106800e-04 9.99857823e-01 2.14488787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9207140569999 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:302.05, Y:281.06, Z:2.15 [[-9.09195220e-01 4.16076765e-01 1.56261462e-02 3.02052673e+02] [-4.16029580e-01 -9.09329173e-01 6.31219272e-03 2.81058353e+02] [ 1.68356673e-02 -7.61923600e-04 9.99857980e-01 2.14602007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9507140569999 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:302.06, Y:281.07, Z:2.15 [[-9.12357177e-01 4.09097034e-01 1.56204768e-02 3.02056231e+02] [-4.09048605e-01 -9.12490676e-01 6.32492335e-03 2.81066519e+02] [ 1.68410468e-02 -6.18945026e-04 9.99857988e-01 2.14501960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9807140569999 meters Centerline goodness : 0.992517 Centerline is valid? [True, True] Translation: X:302.06, Y:281.06, Z:2.15 [[-9.05246275e-01 4.24597342e-01 1.56932601e-02 3.02055082e+02] [-4.24554021e-01 -9.05381643e-01 6.16147874e-03 2.81062078e+02] [ 1.68245371e-02 -1.08498098e-03 9.99857869e-01 2.15150953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.010714057 meters Centerline goodness : 0.992846 Centerline is valid? [True, True] Translation: X:302.05, Y:281.06, Z:2.15 [[-9.03843328e-01 4.27581702e-01 1.55282752e-02 3.02050394e+02] [-4.27532459e-01 -9.03976408e-01 6.53068509e-03 2.81060851e+02] [ 1.68295959e-02 -7.36125553e-04 9.99858101e-01 2.15375007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.040714057 meters Centerline goodness : 0.993449 Centerline is valid? [True, True] Translation: X:302.05, Y:281.07, Z:2.15 [[-9.07383008e-01 4.20017384e-01 1.55394202e-02 3.02049254e+02] [-4.19967459e-01 -9.07515845e-01 6.50575217e-03 2.81069211e+02] [ 1.68347991e-02 -6.22841836e-04 9.99858091e-01 2.14699594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0707140569999 meters Centerline goodness : 0.993122 Centerline is valid? [True, True] Translation: X:302.04, Y:281.07, Z:2.14 [[-9.07619260e-01 4.19502185e-01 1.56587094e-02 3.02043709e+02] [-4.19456775e-01 -9.07753874e-01 6.23848254e-03 2.81070167e+02] [ 1.68313112e-02 -9.05984843e-04 9.99857933e-01 2.14151019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1007140569999 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:302.04, Y:281.08, Z:2.14 [[-9.07154387e-01 4.20505702e-01 1.56803360e-02 3.02042712e+02] [-4.20461276e-01 -9.07289369e-01 6.19005366e-03 2.81075429e+02] [ 1.68295550e-02 -9.77639728e-04 9.99857895e-01 2.14337902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.130714057 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:302.01, Y:281.07, Z:2.14 [[-9.10954690e-01 4.12209350e-01 1.56526222e-02 3.02012780e+02] [-4.12162628e-01 -9.11088843e-01 6.25201700e-03 2.81067308e+02] [ 1.68380693e-02 -7.56121692e-04 9.99857944e-01 2.14110730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.160714057 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:302.02, Y:281.07, Z:2.14 [[-9.07990417e-01 4.18690797e-01 1.58561857e-02 3.02023971e+02] [-4.18652938e-01 -9.08127813e-01 5.79593130e-03 2.81072593e+02] [ 1.68261463e-02 -1.37558864e-03 9.99857484e-01 2.14071058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1907140569999 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:302.04, Y:281.06, Z:2.15 [[-8.92037207e-01 4.51688086e-01 1.57319474e-02 3.02035144e+02] [-4.51650411e-01 -8.92174324e-01 6.07310036e-03 2.81058732e+02] [ 1.67787866e-02 -1.68790901e-03 9.99857802e-01 2.15041002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2207140569999 meters Centerline goodness : 0.992460 Centerline is valid? [True, True] Translation: X:302.04, Y:281.08, Z:2.15 [[-9.07376192e-01 4.20039162e-01 1.53475763e-02 3.02035389e+02] [-4.19982105e-01 -9.07505965e-01 6.92498496e-03 2.81078474e+02] [ 1.68367819e-02 -1.62140928e-04 9.99858238e-01 2.14517801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.250714057 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:302.03, Y:281.07, Z:2.14 [[-9.05840418e-01 4.23328388e-01 1.56911617e-02 3.02029171e+02] [-4.23284922e-01 -9.05975687e-01 6.15869904e-03 2.81074915e+02] [ 1.68229631e-02 -1.06303363e-03 9.99857919e-01 2.14252820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.280714057 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:302.04, Y:281.08, Z:2.15 [[-9.04338436e-01 4.26527938e-01 1.56815409e-02 3.02041344e+02] [-4.26484578e-01 -9.04473720e-01 6.18014517e-03 2.81080114e+02] [ 1.68195462e-02 -1.09899253e-03 9.99857937e-01 2.14657453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3107140569999 meters Centerline goodness : 0.992282 Centerline is valid? [True, True] Translation: X:302.04, Y:281.08, Z:2.15 [[-9.03856083e-01 4.27552655e-01 1.55855310e-02 3.02041066e+02] [-4.27505760e-01 -9.03990014e-01 6.39370630e-03 2.81080697e+02] [ 1.68228105e-02 -8.83913920e-04 9.99858096e-01 2.14616197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3407140569999 meters Centerline goodness : 0.992892 Centerline is valid? [True, True] Translation: X:302.04, Y:281.08, Z:2.15 [[-9.07807681e-01 4.19097378e-01 1.55756839e-02 3.02035687e+02] [-4.19048859e-01 -9.07941019e-01 6.41560404e-03 2.81082317e+02] [ 1.68305651e-02 -7.02837934e-04 9.99858109e-01 2.14736227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.370714057 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:302.05, Y:281.09, Z:2.14 [[-9.05654309e-01 4.23726252e-01 1.56950829e-02 3.02046910e+02] [-4.23683003e-01 -9.05789654e-01 6.14949152e-03 2.81085229e+02] [ 1.68221447e-02 -1.08042639e-03 9.99857914e-01 2.14369788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.400714057 meters Centerline goodness : 0.992717 Centerline is valid? [True, True] Translation: X:302.05, Y:281.08, Z:2.15 [[-9.03165721e-01 4.29004930e-01 1.56987129e-02 3.02049862e+02] [-4.28962613e-01 -9.03301367e-01 6.14140128e-03 2.81084125e+02] [ 1.68153602e-02 -1.18745777e-03 9.99857907e-01 2.14995766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4307140569999 meters Centerline goodness : 0.993034 Centerline is valid? [True, True] Translation: X:302.05, Y:281.09, Z:2.15 [[-9.04191355e-01 4.26841294e-01 1.56365888e-02 3.02051097e+02] [-4.26796259e-01 -9.04326002e-01 6.27970511e-03 2.81086037e+02] [ 1.68210113e-02 -9.95582544e-04 9.99858021e-01 2.14858226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4607140569999 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:302.04, Y:281.08, Z:2.15 [[-9.02967474e-01 4.29422565e-01 1.56844626e-02 3.02036721e+02] [-4.29379760e-01 -9.03102937e-01 6.17314591e-03 2.81080235e+02] [ 1.68155724e-02 -1.16044081e-03 9.99857935e-01 2.14869057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4907140569999 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:302.04, Y:281.08, Z:2.15 [[-9.02796183e-01 4.29782914e-01 1.56747886e-02 3.02041864e+02] [-4.29739790e-01 -9.02931525e-01 6.19464927e-03 2.81082227e+02] [ 1.68156152e-02 -1.14357465e-03 9.99857954e-01 2.14938716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.520714057 meters Centerline goodness : 0.992522 Centerline is valid? [True, True] Translation: X:302.05, Y:281.08, Z:2.15 [[-8.99653689e-01 4.36322503e-01 1.56816632e-02 3.02049355e+02] [-4.36280628e-01 -8.99789436e-01 6.17937103e-03 2.81082388e+02] [ 1.68063935e-02 -1.28231190e-03 9.99857940e-01 2.14909453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5507140569999 meters Centerline goodness : 0.992759 Centerline is valid? [True, True] Translation: X:302.06, Y:281.08, Z:2.15 [[-8.96204778e-01 4.43365852e-01 1.56114427e-02 3.02056367e+02] [-4.43322332e-01 -8.96339877e-01 6.33519943e-03 2.81081158e+02] [ 1.68019698e-02 -1.24326519e-03 9.99858064e-01 2.14937309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5807140569999 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:302.05, Y:281.06, Z:2.15 [[-8.84968315e-01 4.65392279e-01 1.55276723e-02 3.02054236e+02] [-4.65348873e-01 -8.85103332e-01 6.52058047e-03 2.81064405e+02] [ 1.67782223e-02 -1.45527768e-03 9.99858177e-01 2.15288050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6107140569999 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:302.01, Y:281.04, Z:2.15 [[-8.84557285e-01 4.66179493e-01 1.53326743e-02 3.02013304e+02] [-4.66128742e-01 -8.84689597e-01 6.95073255e-03 2.81042686e+02] [ 1.68049464e-02 -9.98679069e-04 9.99858288e-01 2.15182839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.640714057 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:302.06, Y:281.06, Z:2.15 [[-8.85011676e-01 4.65316373e-01 1.53299369e-02 3.02058515e+02] [-4.65265389e-01 -8.85143899e-01 6.95676463e-03 2.81061580e+02] [ 1.68062966e-02 -9.75671140e-04 9.99858288e-01 2.15311772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6707140569999 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:302.06, Y:281.06, Z:2.15 [[-8.84884468e-01 4.65558327e-01 1.53271953e-02 3.02061606e+02] [-4.65507275e-01 -8.85016665e-01 6.96279977e-03 2.81059068e+02] [ 1.68064127e-02 -9.73647544e-04 9.99858288e-01 2.15173202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7007140569999 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:302.05, Y:281.07, Z:2.15 [[-8.98169049e-01 4.39383112e-01 1.53244970e-02 3.02045193e+02] [-4.39328101e-01 -8.98299648e-01 6.96873346e-03 2.81068010e+02] [ 1.68279340e-02 -4.73381445e-04 9.99858288e-01 2.14947115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7307140569999 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:302.07, Y:281.06, Z:2.15 [[-8.83482352e-01 4.68206115e-01 1.55553396e-02 3.02066229e+02] [-4.68164202e-01 -8.83617877e-01 6.45970242e-03 2.81056822e+02] [ 1.67694484e-02 -1.57542009e-03 9.99858142e-01 2.15420165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.760714057 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:302.06, Y:281.05, Z:2.15 [[-8.82653885e-01 4.69773761e-01 1.53209705e-02 3.02064688e+02] [-4.69723137e-01 -8.82786232e-01 6.97454709e-03 2.81054448e+02] [ 1.68016010e-02 -1.04050323e-03 9.99858302e-01 2.15418429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.790714057 meters Centerline goodness : 0.993189 Centerline is valid? [True, True] Translation: X:302.07, Y:281.06, Z:2.15 [[-8.80633316e-01 4.73550750e-01 1.53182585e-02 3.02070390e+02] [-4.73500590e-01 -8.80765839e-01 6.98049835e-03 2.81055198e+02] [ 1.67974190e-02 -1.10594502e-03 9.99858302e-01 2.15347136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8207140569999 meters Centerline goodness : 0.991263 Centerline is valid? [True, True] Translation: X:302.06, Y:281.06, Z:2.15 [[-8.89260498e-01 4.57146800e-01 1.52502815e-02 3.02056937e+02] [-4.57091638e-01 -8.89391031e-01 7.12941028e-03 2.81061497e+02] [ 1.68226507e-02 -6.30873242e-04 9.99858290e-01 2.15165712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8507140569999 meters Centerline goodness : 0.991961 Centerline is valid? [True, True] Translation: X:302.05, Y:281.06, Z:2.15 [[-8.87451770e-01 4.60643187e-01 1.54016391e-02 3.02054990e+02] [-4.60594257e-01 -8.87584772e-01 6.79728334e-03 2.81057347e+02] [ 1.68013826e-02 -1.06164538e-03 9.99858283e-01 2.15238407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.880714057 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:302.05, Y:281.05, Z:2.15 [[-8.85980005e-01 4.63467640e-01 1.54005981e-02 3.02053304e+02] [-4.63419095e-01 -8.86113147e-01 6.79956695e-03 2.81053220e+02] [ 1.67980517e-02 -1.11265085e-03 9.99858284e-01 2.14857295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.910714057 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:302.08, Y:281.06, Z:2.14 [[-8.88329674e-01 4.58945511e-01 1.54728399e-02 3.02075037e+02] [-4.58899034e-01 -8.88463604e-01 6.64087198e-03 2.81062410e+02] [ 1.67948535e-02 -1.20118766e-03 9.99858235e-01 2.14484352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9407140569999 meters Centerline goodness : 0.993224 Centerline is valid? [True, True] Translation: X:302.08, Y:281.06, Z:2.15 [[-8.86461690e-01 4.62540224e-01 1.55632099e-02 3.02082619e+02] [-4.62497753e-01 -8.86597050e-01 6.44196497e-03 2.81063403e+02] [ 1.67779639e-02 -1.48739445e-03 9.99858134e-01 2.14505988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9707140569999 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:302.08, Y:281.06, Z:2.15 [[-8.86542265e-01 4.62387265e-01 1.55186709e-02 3.02083387e+02] [-4.62343064e-01 -8.86677011e-01 6.53986351e-03 2.81064288e+02] [ 1.67839984e-02 -1.37708446e-03 9.99858190e-01 2.14605207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.000714057 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:302.08, Y:281.06, Z:2.15 [[-8.85074240e-01 4.65193192e-01 1.54559045e-02 3.02079145e+02] [-4.65147022e-01 -8.85208257e-01 6.67757324e-03 2.81056188e+02] [ 1.67880559e-02 -1.27911989e-03 9.99858252e-01 2.14611971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.030714057 meters Centerline goodness : 0.993393 Centerline is valid? [True, True] Translation: X:302.07, Y:281.05, Z:2.15 [[-8.83722253e-01 4.67753908e-01 1.55326077e-02 3.02072852e+02] [-4.67711059e-01 -8.83857451e-01 6.50928631e-03 2.81049541e+02] [ 1.67733552e-02 -1.51237123e-03 9.99858174e-01 2.14781665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0607140569999 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:302.09, Y:281.05, Z:2.15 [[-8.83547299e-01 4.68084165e-01 1.55366089e-02 3.02094385e+02] [-4.68041520e-01 -8.83682567e-01 6.50050817e-03 2.81054642e+02] [ 1.67722153e-02 -1.52827159e-03 9.99858169e-01 2.14683633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0907140569999 meters Centerline goodness : 0.992145 Centerline is valid? [True, True] Translation: X:302.09, Y:281.05, Z:2.15 [[-8.82505705e-01 4.70045671e-01 1.55160561e-02 3.02094510e+02] [-4.70002539e-01 -8.82640793e-01 6.54556316e-03 2.81052516e+02] [ 1.67718177e-02 -1.51608892e-03 9.99858194e-01 2.15166041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.120714057 meters Centerline goodness : 0.993335 Centerline is valid? [True, True] Translation: X:302.09, Y:281.05, Z:2.15 [[-8.84029248e-01 4.67177326e-01 1.54154166e-02 3.02091901e+02] [-4.67129925e-01 -8.84162801e-01 6.76571953e-03 2.81048998e+02] [ 1.67905287e-02 -1.21990846e-03 9.99858285e-01 2.14658961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.150714057 meters Centerline goodness : 0.992714 Centerline is valid? [True, True] Translation: X:302.07, Y:281.03, Z:2.15 [[-8.82981206e-01 4.69151462e-01 1.55272298e-02 3.02070635e+02] [-4.69108623e-01 -8.83116400e-01 6.52098107e-03 2.81034211e+02] [ 1.67716791e-02 -1.52605366e-03 9.99858181e-01 2.14648478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1807140569999 meters Centerline goodness : 0.991896 Centerline is valid? [True, True] Translation: X:302.09, Y:281.04, Z:2.15 [[-8.81809954e-01 4.71350304e-01 1.54949951e-02 3.02094518e+02] [-4.71306571e-01 -8.81944822e-01 6.59144863e-03 2.81042169e+02] [ 1.67726120e-02 -1.49048801e-03 9.99858219e-01 2.15203956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2107140569999 meters Centerline goodness : 0.992374 Centerline is valid? [True, True] Translation: X:302.10, Y:281.04, Z:2.15 [[-8.80451638e-01 4.73885467e-01 1.54103222e-02 3.02102409e+02] [-4.73838898e-01 -8.80585476e-01 6.77630567e-03 2.81039068e+02] [ 1.67812987e-02 -1.33580068e-03 9.99858292e-01 2.14891427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2407140569999 meters Centerline goodness : 0.992374 Centerline is valid? [True, True] Translation: X:302.10, Y:281.04, Z:2.15 [[-8.80294858e-01 4.74173118e-01 1.55182942e-02 3.02104743e+02] [-4.74130712e-01 -8.80430175e-01 6.54024857e-03 2.81040351e+02] [ 1.67639846e-02 -1.60035271e-03 9.99858194e-01 2.14876035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.270714057 meters Centerline goodness : 0.992881 Centerline is valid? [True, True] Translation: X:302.09, Y:281.03, Z:2.15 [[-8.80570247e-01 4.73661760e-01 1.55105772e-02 3.02094390e+02] [-4.73618981e-01 -8.80705436e-01 6.55709815e-03 2.81034820e+02] [ 1.67660963e-02 -1.57211824e-03 9.99858203e-01 2.14710653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3007140569999 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:302.09, Y:281.03, Z:2.15 [[-8.80687258e-01 4.73444552e-01 1.54986772e-02 3.02088601e+02] [-4.73401286e-01 -8.80822278e-01 6.58304520e-03 2.81030962e+02] [ 1.67682871e-02 -1.53948970e-03 9.99858217e-01 2.14666512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3307140569999 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:302.08, Y:281.02, Z:2.15 [[-8.80771404e-01 4.73287778e-01 1.55052464e-02 3.02082106e+02] [-4.73244738e-01 -8.80906505e-01 6.56873664e-03 2.81023427e+02] [ 1.67675752e-02 -1.55222087e-03 9.99858209e-01 2.14559722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3607140569999 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:302.11, Y:281.03, Z:2.14 [[-8.82296361e-01 4.70437742e-01 1.55390555e-02 3.02105352e+02] [-4.70395553e-01 -8.82431775e-01 6.49508239e-03 2.81033086e+02] [ 1.67676883e-02 -1.57891506e-03 9.99858166e-01 2.14378703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.390714057 meters Centerline goodness : 0.993692 Centerline is valid? [True, True] Translation: X:302.11, Y:281.03, Z:2.14 [[-8.85479060e-01 4.64419413e-01 1.55384732e-02 3.02107494e+02] [-4.64376280e-01 -8.85614175e-01 6.49635141e-03 2.81031099e+02] [ 1.67781238e-02 -1.46331525e-03 9.99858167e-01 2.14383262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4207140569999 meters Centerline goodness : 0.992365 Centerline is valid? [True, True] Translation: X:302.13, Y:281.04, Z:2.14 [[-8.83528945e-01 4.68117056e-01 1.55892882e-02 3.02125584e+02] [-4.68076428e-01 -8.83664915e-01 6.38556665e-03 2.81037721e+02] [ 1.67648997e-02 -1.65514539e-03 9.99858089e-01 2.14204994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4507140569999 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:302.13, Y:281.04, Z:2.14 [[-8.89083962e-01 4.57485460e-01 1.53871142e-02 3.02128565e+02] [-4.57435578e-01 -8.89216572e-01 6.82494640e-03 2.81041833e+02] [ 1.68047907e-02 -9.70663102e-04 9.99858318e-01 2.13888833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4807140569999 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:302.14, Y:281.04, Z:2.14 [[-8.90047918e-01 4.55604397e-01 1.54705495e-02 3.02137802e+02] [-4.55557373e-01 -8.90181637e-01 6.64333865e-03 2.81039170e+02] [ 1.67983334e-02 -1.13483317e-03 9.99858254e-01 2.14358283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.510714057 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:302.12, Y:281.03, Z:2.14 [[-8.87864059e-01 4.59839745e-01 1.56467659e-02 3.02116398e+02] [-4.59800057e-01 -8.88000411e-01 6.25924562e-03 2.81026804e+02] [ 1.67725844e-02 -1.63702462e-03 9.99857990e-01 2.14423277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.540714057 meters Centerline goodness : 0.992735 Centerline is valid? [True, True] Translation: X:302.14, Y:281.03, Z:2.15 [[-8.88992207e-01 4.57658460e-01 1.55431965e-02 3.02135601e+02] [-4.57614505e-01 -8.89127053e-01 6.48442373e-03 2.81033068e+02] [ 1.67875279e-02 -1.34819002e-03 9.99858171e-01 2.14910742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5707140569999 meters Centerline goodness : 0.992179 Centerline is valid? [True, True] Translation: X:302.14, Y:281.04, Z:2.15 [[-8.89102376e-01 4.57445995e-01 1.54959965e-02 3.02143311e+02] [-4.57400226e-01 -8.89236552e-01 6.58694772e-03 2.81035122e+02] [ 1.67927794e-02 -1.23140144e-03 9.99858233e-01 2.14652864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6007140569999 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:302.15, Y:281.03, Z:2.14 [[-8.89603999e-01 4.56472545e-01 1.54123797e-02 3.02149229e+02] [-4.56423489e-01 -8.89736921e-01 6.76826960e-03 2.81034288e+02] [ 1.68024925e-02 -1.01349243e-03 9.99858315e-01 2.14383613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.630714057 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:302.14, Y:281.03, Z:2.14 [[-8.90635399e-01 4.54454024e-01 1.54959726e-02 3.02141313e+02] [-4.54407806e-01 -8.90769420e-01 6.58684294e-03 2.81027661e+02] [ 1.67967558e-02 -1.17501541e-03 9.99858234e-01 2.14499068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.660714057 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:302.15, Y:281.03, Z:2.15 [[-8.91539521e-01 4.52678079e-01 1.54867340e-02 3.02150445e+02] [-4.52631246e-01 -8.91673317e-01 6.60687638e-03 2.81030543e+02] [ 1.67998956e-02 -1.11948832e-03 9.99858245e-01 2.14523672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6907140569999 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:302.12, Y:281.01, Z:2.15 [[-8.90265026e-01 4.55178849e-01 1.55047744e-02 3.02117015e+02] [-4.55133070e-01 -8.90399209e-01 6.56780938e-03 2.81011106e+02] [ 1.67949668e-02 -1.20964458e-03 9.99858223e-01 2.14783178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7207140569999 meters Centerline goodness : 0.992393 Centerline is valid? [True, True] Translation: X:302.16, Y:281.03, Z:2.15 [[-8.91132689e-01 4.53478909e-01 1.54728559e-02 3.02164064e+02] [-4.53431678e-01 -8.91266327e-01 6.63687115e-03 2.81032717e+02] [ 1.68001165e-02 -1.10155019e-03 9.99858261e-01 2.14893426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.750714057 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:302.17, Y:281.04, Z:2.14 [[-8.95501399e-01 4.44791408e-01 1.54222817e-02 3.02172811e+02] [-4.44740995e-01 -8.95633817e-01 6.74632269e-03 2.81039284e+02] [ 1.68134234e-02 -8.17579500e-04 9.99858310e-01 2.14183434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.780714057 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:302.17, Y:281.03, Z:2.14 [[-8.94751978e-01 4.46292114e-01 1.55642678e-02 3.02167095e+02] [-4.46247241e-01 -8.94886555e-01 6.43850689e-03 2.81034324e+02] [ 1.68017088e-02 -1.18464476e-03 9.99858140e-01 2.14353464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8107140569999 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:302.16, Y:281.03, Z:2.15 [[-8.91828159e-01 4.52107869e-01 1.55244873e-02 3.02158559e+02] [-4.52062378e-01 -8.91962464e-01 6.52457215e-03 2.81027614e+02] [ 1.67970704e-02 -1.19923948e-03 9.99858200e-01 2.14763530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8407140569999 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:302.18, Y:281.04, Z:2.15 [[-8.92569374e-01 4.50646273e-01 1.54223733e-02 3.02175847e+02] [-4.50596749e-01 -8.92702119e-01 6.74506033e-03 2.81035108e+02] [ 1.68072217e-02 -9.28837009e-04 9.99858317e-01 2.14720097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.870714057 meters Centerline goodness : 0.992796 Centerline is valid? [True, True] Translation: X:302.17, Y:281.03, Z:2.15 [[-8.91777090e-01 4.52210899e-01 1.54571824e-02 3.02170711e+02] [-4.52162905e-01 -8.91910432e-01 6.66991723e-03 2.81032432e+02] [ 1.68026315e-02 -1.04108511e-03 9.99858284e-01 2.15026280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.900714057 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:302.16, Y:281.03, Z:2.15 [[-8.90686852e-01 4.54356154e-01 1.54083480e-02 3.02161356e+02] [-4.54306663e-01 -8.90819596e-01 6.77517767e-03 2.81028063e+02] [ 1.68044021e-02 -9.65553506e-04 9.99858330e-01 2.15091102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9307140569999 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:302.17, Y:281.03, Z:2.15 [[-8.88555947e-01 4.58510004e-01 1.53917281e-02 3.02167457e+02] [-4.58460515e-01 -8.88688678e-01 6.81095475e-03 2.81030891e+02] [ 1.68013454e-02 -1.00458525e-03 9.99858343e-01 2.15190299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9607140569999 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:302.15, Y:281.03, Z:2.15 [[-8.88683806e-01 4.58261834e-01 1.54008112e-02 3.02154170e+02] [-4.58212645e-01 -8.88816656e-01 6.79141621e-03 2.81026685e+02] [ 1.68007443e-02 -1.02142482e-03 9.99858336e-01 2.15078651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9907140569999 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:302.18, Y:281.04, Z:2.15 [[-8.86216197e-01 4.63015866e-01 1.54000211e-02 3.02176805e+02] [-4.62967360e-01 -8.86349298e-01 6.79311453e-03 2.81037388e+02] [ 1.67951177e-02 -1.10953898e-03 9.99858336e-01 2.15303647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.020714057 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:302.17, Y:281.04, Z:2.15 [[-8.85212790e-01 4.64931591e-01 1.53926101e-02 3.02174931e+02] [-4.64883098e-01 -8.85345889e-01 6.80903904e-03 2.81037171e+02] [ 1.67935214e-02 -1.12831581e-03 9.99858342e-01 2.15306943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0507140569999 meters Centerline goodness : 0.992705 Centerline is valid? [True, True] Translation: X:302.17, Y:281.04, Z:2.15 [[-8.84120381e-01 4.67006086e-01 1.53775255e-02 3.02170059e+02] [-4.66957344e-01 -8.84253377e-01 6.84142726e-03 2.81036325e+02] [ 1.67926170e-02 -1.13200320e-03 9.99858353e-01 2.15214949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0807140569999 meters Centerline goodness : 0.992844 Centerline is valid? [True, True] Translation: X:302.17, Y:281.04, Z:2.15 [[-8.83866406e-01 4.67487363e-01 1.53538803e-02 3.02169633e+02] [-4.67437815e-01 -8.83999088e-01 6.89214387e-03 2.81040230e+02] [ 1.67948064e-02 -1.08524982e-03 9.99858368e-01 2.15170544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1107140569999 meters Centerline goodness : 0.994129 Centerline is valid? [True, True] Translation: X:302.16, Y:281.03, Z:2.15 [[-8.76632246e-01 4.80915392e-01 1.53717585e-02 3.02161369e+02] [-4.80868541e-01 -8.76765916e-01 6.85381752e-03 2.81028491e+02] [ 1.67735402e-02 -1.38351762e-03 9.99858357e-01 2.15222541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.140714057 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:302.17, Y:281.04, Z:2.15 [[-8.75089980e-01 4.83720108e-01 1.52441449e-02 3.02174981e+02] [-4.83668940e-01 -8.75222009e-01 7.12678389e-03 2.81036526e+02] [ 1.67893798e-02 -1.13654224e-03 9.99858402e-01 2.15181490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1707140569999 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:301.64, Y:280.79, Z:2.16 [[-8.77458703e-01 4.79409965e-01 1.52417145e-02 3.01641843e+02] [-4.79358059e-01 -8.77590444e-01 7.13197795e-03 2.80792080e+02] [ 1.67951243e-02 -1.04822254e-03 9.99858403e-01 2.16024392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2007140569999 meters Centerline goodness : 0.992048 Centerline is valid? [True, True] Translation: X:301.62, Y:280.78, Z:2.16 [[-8.76434142e-01 4.81279271e-01 1.52793213e-02 3.01618507e+02] [-4.81229024e-01 -8.76566535e-01 7.05240952e-03 2.80781562e+02] [ 1.67875202e-02 -1.17188039e-03 9.99858393e-01 2.16095704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2307140569999 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:302.17, Y:281.04, Z:2.15 [[-8.73249407e-01 4.87032333e-01 1.53290382e-02 3.02170714e+02] [-4.86984803e-01 -8.73382820e-01 6.94636499e-03 2.81038041e+02] [ 1.67712230e-02 -1.39909955e-03 9.99858374e-01 2.15071728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.260714057 meters Centerline goodness : 0.993300 Centerline is valid? [True, True] Translation: X:302.18, Y:281.06, Z:2.15 [[-8.83103104e-01 4.68931540e-01 1.52354333e-02 3.02183307e+02] [-4.68877829e-01 -8.83234124e-01 7.14593561e-03 2.81058227e+02] [ 1.68074091e-02 -8.32958959e-04 9.99858399e-01 2.14844919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.290714057 meters Centerline goodness : 0.990950 Centerline is valid? [True, True] Translation: X:301.57, Y:280.76, Z:2.16 [[-8.72739801e-01 4.87944310e-01 1.53489876e-02 3.01569247e+02] [-4.87897590e-01 -8.72873542e-01 6.90808887e-03 2.80761004e+02] [ 1.67684879e-02 -1.45976997e-03 9.99858333e-01 2.16499717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3207140569999 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:302.17, Y:281.04, Z:2.16 [[-8.69383071e-01 4.93902720e-01 1.52702381e-02 3.02166585e+02] [-4.93854042e-01 -8.69516052e-01 7.07256569e-03 2.81041442e+02] [ 1.67708765e-02 -1.39249990e-03 9.99858389e-01 2.15582573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3507140569999 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:302.17, Y:281.04, Z:2.16 [[-8.69202257e-01 4.94223767e-01 1.51757872e-02 3.02173970e+02] [-4.94171708e-01 -8.69333926e-01 7.26973557e-03 2.81044727e+02] [ 1.67857028e-02 -1.18057411e-03 9.99858413e-01 2.15590915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.380714057 meters Centerline goodness : 0.991261 Centerline is valid? [True, True] Translation: X:301.62, Y:280.79, Z:2.16 [[-8.72586480e-01 4.88223942e-01 1.51729491e-02 3.01621486e+02] [-4.88170874e-01 -8.72717745e-01 7.27565435e-03 2.80785096e+02] [ 1.67938505e-02 -1.05835419e-03 9.99858413e-01 2.16390610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.410714057 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:302.16, Y:281.04, Z:2.16 [[-8.68760815e-01 4.94996597e-01 1.52648294e-02 3.02163614e+02] [-4.94947887e-01 -8.68893783e-01 7.08401372e-03 2.81040687e+02] [ 1.67700781e-02 -1.40098153e-03 9.99858391e-01 2.15587591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4407140569999 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:302.21, Y:281.08, Z:2.15 [[-8.81513957e-01 4.71914146e-01 1.51717906e-02 3.02214272e+02] [-4.71858607e-01 -8.81644195e-01 7.27796525e-03 2.81080795e+02] [ 1.68106958e-02 -7.43312005e-04 9.99858414e-01 2.14857631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4707140569999 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:302.17, Y:281.04, Z:2.15 [[-8.67842510e-01 4.96598325e-01 1.54751999e-02 3.02168811e+02] [-4.96557600e-01 -8.67978352e-01 6.64302293e-03 2.81043837e+02] [ 1.67310525e-02 -1.91923041e-03 9.99858184e-01 2.15460618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.500714057 meters Centerline goodness : 0.992595 Centerline is valid? [True, True] Translation: X:302.21, Y:281.08, Z:2.15 [[-8.79800514e-01 4.75101015e-01 1.51684392e-02 3.02208800e+02] [-4.75045876e-01 -8.79930899e-01 7.28201523e-03 2.81078904e+02] [ 1.68068712e-02 -7.98983746e-04 9.99858435e-01 2.15064096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.530714057 meters Centerline goodness : 0.990288 Centerline is valid? [True, True] Translation: X:301.58, Y:280.76, Z:2.16 [[-8.62918675e-01 5.05110860e-01 1.53094656e-02 3.01578118e+02] [-5.05065285e-01 -8.63052803e-01 6.99415334e-03 2.80762286e+02] [ 1.67457000e-02 -1.69689409e-03 9.99858341e-01 2.16150097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5607140569999 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:302.17, Y:281.05, Z:2.15 [[-8.60528092e-01 5.09179260e-01 1.50958137e-02 3.02174809e+02] [-5.09126709e-01 -8.60659520e-01 7.42866411e-03 2.81050543e+02] [ 1.67748774e-02 -1.29310778e-03 9.99858456e-01 2.15195918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5907140569999 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:302.23, Y:281.09, Z:2.15 [[-8.74577473e-01 4.84650591e-01 1.51012736e-02 3.02227683e+02] [-4.84594537e-01 -8.74707445e-01 7.41754839e-03 2.81092828e+02] [ 1.68041156e-02 -8.30773946e-04 9.99858456e-01 2.14842779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.620714057 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:302.15, Y:281.04, Z:2.15 [[-8.59531359e-01 5.10850587e-01 1.54117218e-02 3.02151099e+02] [-5.10809620e-01 -8.59667093e-01 6.78393182e-03 2.81038375e+02] [ 1.67145257e-02 -2.04145364e-03 9.99858219e-01 2.15190714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.650714057 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:302.24, Y:281.10, Z:2.15 [[-8.76230835e-01 4.81655160e-01 1.50940727e-02 3.02235134e+02] [-4.81598459e-01 -8.76360502e-01 7.42930720e-03 2.81097256e+02] [ 1.68062133e-02 -7.59494127e-04 9.99858477e-01 2.14970735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6807140569999 meters Centerline goodness : 0.992642 Centerline is valid? [True, True] Translation: X:302.24, Y:281.10, Z:2.15 [[-8.76880620e-01 4.80458532e-01 1.54912037e-02 3.02242042e+02] [-4.80415819e-01 -8.77015907e-01 6.61366229e-03 2.81100793e+02] [ 1.67636225e-02 -1.64282704e-03 9.99858131e-01 2.14957514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7107140569999 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:302.25, Y:281.10, Z:2.15 [[-8.77648069e-01 4.79057490e-01 1.54204141e-02 3.02247739e+02] [-4.79012016e-01 -8.77782322e-01 6.75894571e-03 2.81101050e+02] [ 1.67736905e-02 -1.45458801e-03 9.99858254e-01 2.15205316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7407140569999 meters Centerline goodness : 0.992643 Centerline is valid? [True, True] Translation: X:302.24, Y:281.10, Z:2.15 [[-8.77779862e-01 4.78814436e-01 1.54677086e-02 3.02244165e+02] [-4.78770624e-01 -8.77914751e-01 6.66187767e-03 2.81098422e+02] [ 1.67691328e-02 -1.55782244e-03 9.99858175e-01 2.15274860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.770714057 meters Centerline goodness : 0.992120 Centerline is valid? [True, True] Translation: X:302.20, Y:281.08, Z:2.15 [[-8.78859282e-01 4.76831170e-01 1.54401474e-02 3.02201498e+02] [-4.76786066e-01 -8.78993693e-01 6.71827597e-03 2.81079000e+02] [ 1.67752756e-02 -1.45722795e-03 9.99858223e-01 2.15337169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8007140569999 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:302.24, Y:281.10, Z:2.15 [[-8.77745445e-01 4.78877578e-01 1.54660631e-02 3.02244126e+02] [-4.78833716e-01 -8.77880315e-01 6.66524906e-03 2.81097597e+02] [ 1.67691906e-02 -1.55528046e-03 9.99858178e-01 2.15324861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8307140569999 meters Centerline goodness : 0.990036 Centerline is valid? [True, True] Translation: X:301.61, Y:280.77, Z:2.17 [[-8.59357800e-01 5.11147207e-01 1.52546475e-02 3.01613585e+02] [-5.11100962e-01 -8.59491486e-01 7.08464051e-03 2.80770946e+02] [ 1.67325339e-02 -1.70842394e-03 9.99858542e-01 2.16578983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8607140569999 meters Centerline goodness : 0.992692 Centerline is valid? [True, True] Translation: X:302.22, Y:281.08, Z:2.15 [[-8.80782729e-01 4.73279956e-01 1.50952793e-02 3.02216664e+02] [-4.73222520e-01 -8.80911852e-01 7.39966170e-03 2.81084510e+02] [ 1.67997220e-02 -6.25931884e-04 9.99858679e-01 2.15109417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.890714057 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:302.23, Y:281.09, Z:2.15 [[-8.79995720e-01 4.74726729e-01 1.55584401e-02 3.02227751e+02] [-4.74686109e-01 -8.80131575e-01 6.44271864e-03 2.81090232e+02] [ 1.67520051e-02 -1.71581057e-03 9.99858203e-01 2.14614195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9207140569999 meters Centerline goodness : 0.993042 Centerline is valid? [True, True] Translation: X:302.23, Y:281.09, Z:2.15 [[-8.77461103e-01 4.79394983e-01 1.55712194e-02 3.02231085e+02] [-4.79355551e-01 -8.77597337e-01 6.41630432e-03 2.81090367e+02] [ 1.67412048e-02 -1.83409299e-03 9.99858174e-01 2.14676588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9507140569999 meters Centerline goodness : 0.993014 Centerline is valid? [True, True] Translation: X:302.22, Y:281.09, Z:2.15 [[-8.76468787e-01 4.81208701e-01 1.55129245e-02 3.02223538e+02] [-4.81167433e-01 -8.76604343e-01 6.53655700e-03 2.81087559e+02] [ 1.67441451e-02 -1.73522590e-03 9.99858301e-01 2.14543967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9807140569999 meters Centerline goodness : 0.992154 Centerline is valid? [True, True] Translation: X:302.22, Y:281.08, Z:2.15 [[-8.74236869e-01 4.85252408e-01 1.54918420e-02 3.02219598e+02] [-4.85211002e-01 -8.74372339e-01 6.57995382e-03 2.81084937e+02] [ 1.67385765e-02 -1.76437394e-03 9.99858344e-01 2.14861235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.010714057 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:302.20, Y:281.05, Z:2.15 [[-8.57028079e-01 5.15039400e-01 1.54041486e-02 3.02196497e+02] [-5.14999487e-01 -8.57163833e-01 6.75953699e-03 2.81052477e+02] [ 1.66853069e-02 -2.14001561e-03 9.99858500e-01 2.14944809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.040714057 meters Centerline goodness : 0.988971 Centerline is valid? [True, True] Translation: X:301.58, Y:280.75, Z:2.16 [[-8.59115473e-01 5.11559338e-01 1.50880137e-02 3.01575988e+02] [-5.11507557e-01 -8.59246881e-01 7.40379079e-03 2.80751343e+02] [ 1.67518070e-02 -1.35692179e-03 9.99858758e-01 2.16034180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0707140569999 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:302.21, Y:281.07, Z:2.15 [[-8.77190219e-01 4.79901469e-01 1.52282670e-02 3.02214873e+02] [-4.79849865e-01 -8.77321747e-01 7.11750419e-03 2.81072502e+02] [ 1.67757906e-02 -1.06387683e-03 9.99858711e-01 2.15165120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1007140569999 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:302.19, Y:281.04, Z:2.15 [[-8.60132234e-01 5.09834692e-01 1.55282628e-02 3.02194927e+02] [-5.09798825e-01 -8.60269211e-01 6.48401900e-03 2.81043393e+02] [ 1.66642642e-02 -2.33917638e-03 9.99858405e-01 2.15371307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.130714057 meters Centerline goodness : 0.992723 Centerline is valid? [True, True] Translation: X:302.25, Y:281.09, Z:2.15 [[-8.78810293e-01 4.76929951e-01 1.51753207e-02 3.02250893e+02] [-4.76876042e-01 -8.78940860e-01 7.22531589e-03 2.81091791e+02] [ 1.67841790e-02 -8.87064919e-04 9.99858742e-01 2.15012917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.160714057 meters Centerline goodness : 0.992723 Centerline is valid? [True, True] Translation: X:302.25, Y:281.09, Z:2.15 [[-8.78689685e-01 4.77137019e-01 1.56430078e-02 3.02252279e+02] [-4.77100482e-01 -8.78826667e-01 6.23051101e-03 2.81093051e+02] [ 1.67202999e-02 -1.98860081e-03 9.99858228e-01 2.14961563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1907140569999 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:302.24, Y:281.09, Z:2.15 [[-8.77493118e-01 4.79335002e-01 1.56135675e-02 3.02241966e+02] [-4.79297704e-01 -8.77629824e-01 6.29305269e-03 2.81090022e+02] [ 1.67194129e-02 -1.96143663e-03 9.99858297e-01 2.14960268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2207140569999 meters Centerline goodness : 0.992707 Centerline is valid? [True, True] Translation: X:302.26, Y:281.10, Z:2.15 [[-8.76465843e-01 4.81210329e-01 1.56283434e-02 3.02259666e+02] [-4.81173878e-01 -8.76602813e-01 6.26166535e-03 2.81098174e+02] [ 1.67130278e-02 -2.03181479e-03 9.99858263e-01 2.15021891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.250714057 meters Centerline goodness : 0.992517 Centerline is valid? [True, True] Translation: X:302.20, Y:281.05, Z:2.15 [[-8.55364555e-01 5.17791998e-01 1.55860576e-02 3.02202295e+02] [-5.17759766e-01 -8.55502479e-01 6.35089005e-03 2.81048332e+02] [ 1.66223509e-02 -2.63750727e-03 9.99858360e-01 2.15343593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.280714057 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:302.24, Y:281.09, Z:2.15 [[-8.73140835e-01 4.87232120e-01 1.51638793e-02 3.02235696e+02] [-4.87179564e-01 -8.73271846e-01 7.23567256e-03 2.81086482e+02] [ 1.67676409e-02 -1.06977090e-03 9.99858841e-01 2.15218152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3107140569999 meters Centerline goodness : 0.991511 Centerline is valid? [True, True] Translation: X:302.24, Y:281.09, Z:2.15 [[-8.72188922e-01 4.88919540e-01 1.56258489e-02 3.02239862e+02] [-4.88884379e-01 -8.72326155e-01 6.25652821e-03 2.81088931e+02] [ 1.66897756e-02 -2.18235882e-03 9.99858334e-01 2.15077313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3407140569999 meters Centerline goodness : 0.992013 Centerline is valid? [True, True] Translation: X:302.25, Y:281.09, Z:2.15 [[-8.70268525e-01 4.92331080e-01 1.55821064e-02 3.02252471e+02] [-4.92294812e-01 -8.70405368e-01 6.34922601e-03 2.81092418e+02] [ 1.66886703e-02 -2.14545858e-03 9.99858433e-01 2.14829315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.370714057 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:302.25, Y:281.09, Z:2.15 [[-8.70687985e-01 4.91589410e-01 1.55655163e-02 3.02252955e+02] [-4.91552405e-01 -8.70824594e-01 6.38437255e-03 2.81092293e+02] [ 1.66933244e-02 -2.09247051e-03 9.99858467e-01 2.14858237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.400714057 meters Centerline goodness : 0.991299 Centerline is valid? [True, True] Translation: X:302.26, Y:281.09, Z:2.15 [[-8.70403581e-01 4.92092435e-01 1.55769522e-02 3.02255329e+02] [-4.92055936e-01 -8.70540352e-01 6.36015240e-03 2.81092239e+02] [ 1.66901483e-02 -2.12883235e-03 9.99858444e-01 2.14837885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4307140569999 meters Centerline goodness : 0.991576 Centerline is valid? [True, True] Translation: X:302.25, Y:281.08, Z:2.15 [[-8.69589288e-01 4.93530314e-01 1.55659838e-02 3.02245127e+02] [-4.93493631e-01 -8.69725985e-01 6.38334310e-03 2.81083266e+02] [ 1.66885139e-02 -2.13082707e-03 9.99858467e-01 2.14777194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4607140569999 meters Centerline goodness : 0.992425 Centerline is valid? [True, True] Translation: X:302.25, Y:281.08, Z:2.15 [[-8.70702437e-01 4.91564237e-01 1.55520879e-02 3.02246842e+02] [-4.91526727e-01 -8.70838880e-01 6.41268065e-03 2.81080905e+02] [ 1.66956073e-02 -2.06073017e-03 9.99858495e-01 2.14863194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4907140569999 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:302.25, Y:281.08, Z:2.15 [[-8.72319881e-01 4.88688791e-01 1.55335541e-02 3.02254493e+02] [-4.88650141e-01 -8.72455967e-01 6.45178793e-03 2.81083517e+02] [ 1.67052584e-02 -1.96245049e-03 9.99858532e-01 2.14891133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.520714057 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:302.27, Y:281.09, Z:2.15 [[-8.74001604e-01 4.85673695e-01 1.55646560e-02 3.02272379e+02] [-4.85635734e-01 -8.74137948e-01 6.38605748e-03 2.81090350e+02] [ 1.67071966e-02 -1.97732864e-03 9.99858470e-01 2.14909259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5507140569999 meters Centerline goodness : 0.992610 Centerline is valid? [True, True] Translation: X:302.26, Y:281.08, Z:2.15 [[-8.75041785e-01 4.83796380e-01 1.55864468e-02 3.02262558e+02] [-4.83758939e-01 -8.75178321e-01 6.33999122e-03 2.81082026e+02] [ 1.67081852e-02 -1.99232574e-03 9.99858424e-01 2.14823457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5807140569999 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:302.29, Y:281.10, Z:2.15 [[-8.77756876e-01 4.78852772e-01 1.55848993e-02 3.02291561e+02] [-4.78814504e-01 -8.77893179e-01 6.34326431e-03 2.81097447e+02] [ 1.67193665e-02 -1.89443199e-03 9.99858427e-01 2.15045666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6107140569999 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:302.29, Y:281.10, Z:2.15 [[-8.78579190e-01 4.77340625e-01 1.56376080e-02 3.02293260e+02] [-4.77304092e-01 -8.78716093e-01 6.23152149e-03 2.81096645e+02] [ 1.67155762e-02 -1.98900920e-03 9.99858307e-01 2.14999735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.640714057 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:302.29, Y:281.10, Z:2.15 [[-8.79784469e-01 4.75116186e-01 1.56172599e-02 3.02294760e+02] [-4.75078547e-01 -8.79921021e-01 6.27461583e-03 2.81096068e+02] [ 1.67231268e-02 -1.89911557e-03 9.99858355e-01 2.14836738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6707140569999 meters Centerline goodness : 0.992720 Centerline is valid? [True, True] Translation: X:302.30, Y:281.10, Z:2.15 [[-8.80415561e-01 4.73945569e-01 1.56216947e-02 3.02297527e+02] [-4.73907914e-01 -8.80552120e-01 6.26522293e-03 2.81097179e+02] [ 1.67250911e-02 -1.88724499e-03 9.99858345e-01 2.14941780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7007140569999 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:302.30, Y:281.10, Z:2.15 [[-8.83086961e-01 4.68948978e-01 1.56292971e-02 3.02300391e+02] [-4.68910833e-01 -8.83223403e-01 6.24912150e-03 2.81096587e+02] [ 1.67346801e-02 -1.81022900e-03 9.99858327e-01 2.14914948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7307140569999 meters Centerline goodness : 0.992834 Centerline is valid? [True, True] Translation: X:302.30, Y:281.09, Z:2.15 [[-8.83437707e-01 4.68287239e-01 1.56486254e-02 3.02297288e+02] [-4.68249712e-01 -8.83574369e-01 6.20820079e-03 2.81091866e+02] [ 1.67339455e-02 -1.84290567e-03 9.99858279e-01 2.14790190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.760714057 meters Centerline goodness : 0.992434 Centerline is valid? [True, True] Translation: X:302.29, Y:281.09, Z:2.15 [[-8.85577076e-01 4.64230320e-01 1.56029479e-02 3.02292097e+02] [-4.64190472e-01 -8.85712965e-01 6.30472556e-03 2.81089988e+02] [ 1.67465780e-02 -1.65941930e-03 9.99858389e-01 2.14852667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.790714057 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:302.28, Y:281.07, Z:2.15 [[-8.77419616e-01 4.79469345e-01 1.56193482e-02 3.02276398e+02] [-4.79432462e-01 -8.77556380e-01 6.27017850e-03 2.81069778e+02] [ 1.67132170e-02 -1.98684493e-03 9.99858350e-01 2.14952216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8207140569999 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:302.28, Y:281.07, Z:2.15 [[-8.78620559e-01 4.77270780e-01 1.54439454e-02 3.02280450e+02] [-4.77227095e-01 -8.78754936e-01 6.63796328e-03 2.81070661e+02] [ 1.67395491e-02 -1.53801817e-03 9.99858701e-01 2.15017926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8507140569999 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:302.29, Y:281.09, Z:2.15 [[-8.87852936e-01 4.59867341e-01 1.54658680e-02 3.02292770e+02] [-4.59821816e-01 -8.87986736e-01 6.59194260e-03 2.81086882e+02] [ 1.67649048e-02 -1.25886792e-03 9.99858667e-01 2.14929264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.880714057 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:302.31, Y:281.09, Z:2.15 [[-8.87772101e-01 4.60017875e-01 1.56285170e-02 3.02305016e+02] [-4.59978357e-01 -8.87908138e-01 6.24897535e-03 2.81091310e+02] [ 1.67513278e-02 -1.64111360e-03 9.99858340e-01 2.14908311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.910714057 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:302.31, Y:281.10, Z:2.15 [[-8.88953359e-01 4.57732318e-01 1.55900849e-02 3.02312515e+02] [-4.57691033e-01 -8.89088775e-01 6.32999341e-03 2.81096120e+02] [ 1.67584121e-02 -1.50837317e-03 9.99858430e-01 2.14784742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9407140569999 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:302.32, Y:281.10, Z:2.15 [[-8.88229397e-01 4.59136138e-01 1.55738808e-02 3.02319894e+02] [-4.59094470e-01 -8.88364658e-01 6.36414902e-03 2.81096922e+02] [ 1.67572961e-02 -1.49705830e-03 9.99858466e-01 2.14867249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9707140569999 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:302.31, Y:281.09, Z:2.15 [[-8.89438562e-01 4.56789285e-01 1.55754451e-02 3.02309515e+02] [-4.56747317e-01 -8.89573734e-01 6.36085374e-03 2.81093221e+02] [ 1.67610767e-02 -1.45645419e-03 9.99858463e-01 2.15077922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.000714057 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:302.32, Y:281.09, Z:2.16 [[-8.89713559e-01 4.56253366e-01 1.55772299e-02 3.02315825e+02] [-4.56211382e-01 -8.89848730e-01 6.35709723e-03 2.81093495e+02] [ 1.67618252e-02 -1.45051397e-03 9.99858459e-01 2.15514539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.030714057 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:302.28, Y:281.07, Z:2.15 [[-8.85576877e-01 4.64232381e-01 1.55528730e-02 3.02281933e+02] [-4.64190719e-01 -8.85712093e-01 6.40819506e-03 2.81067341e+02] [ 1.67502593e-02 -1.54454995e-03 9.99858512e-01 2.15486576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0607140569999 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:302.32, Y:281.09, Z:2.15 [[-8.92343515e-01 4.51091918e-01 1.54639446e-02 3.02321962e+02] [-4.51045031e-01 -8.92476831e-01 6.59449907e-03 2.81094134e+02] [ 1.67759375e-02 -1.09037687e-03 9.99858680e-01 2.15421105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0907140569999 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:302.31, Y:281.09, Z:2.15 [[-8.90916665e-01 4.53899128e-01 1.55909458e-02 3.02310853e+02] [-4.53857301e-01 -8.91051913e-01 6.32756923e-03 2.81087654e+02] [ 1.67644202e-02 -1.43872769e-03 9.99858432e-01 2.15468712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.120714057 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:302.32, Y:281.09, Z:2.16 [[-8.91111866e-01 4.53517773e-01 1.55329163e-02 3.02323496e+02] [-4.53473767e-01 -8.91246290e-01 6.44933314e-03 2.81093429e+02] [ 1.67685412e-02 -1.29669279e-03 9.99858557e-01 2.15544510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.150714057 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:302.31, Y:281.09, Z:2.15 [[-8.91398819e-01 4.52953024e-01 1.55468260e-02 3.02310166e+02] [-4.52909441e-01 -8.91533409e-01 6.42016658e-03 2.81089335e+02] [ 1.67685486e-02 -1.31837535e-03 9.99858529e-01 2.15354132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1807140569999 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:302.32, Y:281.10, Z:2.15 [[-8.90668089e-01 4.54388606e-01 1.55354563e-02 3.02324358e+02] [-4.54344825e-01 -8.90802591e-01 6.44399307e-03 2.81096140e+02] [ 1.67671018e-02 -1.31899519e-03 9.99858552e-01 2.15265755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2107140569999 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:302.29, Y:281.08, Z:2.15 [[-8.90865668e-01 4.54002064e-01 1.55076629e-02 3.02291299e+02] [-4.53957214e-01 -8.90999759e-01 6.50211882e-03 2.81081893e+02] [ 1.67692992e-02 -1.24730101e-03 9.99858607e-01 2.15156143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2407140569999 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:302.30, Y:281.09, Z:2.15 [[-8.89882494e-01 4.55925777e-01 1.55187618e-02 3.02301444e+02] [-4.55881620e-01 -8.90016838e-01 6.47894331e-03 2.81085159e+02] [ 1.67658766e-02 -1.30922006e-03 9.99858586e-01 2.15075064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.270714057 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:302.33, Y:281.10, Z:2.15 [[-8.91115632e-01 4.53510610e-01 1.55259987e-02 3.02328221e+02] [-4.53466352e-01 -8.91249958e-01 6.46381342e-03 2.81098993e+02] [ 1.67689536e-02 -1.28051278e-03 9.99858571e-01 2.14862779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3007140569999 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:302.31, Y:281.08, Z:2.15 [[-8.81578231e-01 4.71783212e-01 1.55056044e-02 3.02309039e+02] [-4.71740987e-01 -8.81713167e-01 6.50633443e-03 2.81075702e+02] [ 1.67410749e-02 -1.57878635e-03 9.99858612e-01 2.14900401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3307140569999 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:302.34, Y:281.10, Z:2.15 [[-8.93319798e-01 4.49167004e-01 1.51241826e-02 3.02335693e+02] [-4.49107813e-01 -8.93447776e-01 7.29691531e-03 2.81101724e+02] [ 1.67902009e-02 -2.73909672e-04 9.99858997e-01 2.14767898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3607140569999 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:302.34, Y:281.10, Z:2.15 [[-8.92035322e-01 4.51697263e-01 1.55745464e-02 3.02340401e+02] [-4.51654635e-01 -8.92170228e-01 6.35411250e-03 2.81102084e+02] [ 1.67652818e-02 -1.36622327e-03 9.99858519e-01 2.14747598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.390714057 meters Centerline goodness : 0.993991 Centerline is valid? [True, True] Translation: X:302.35, Y:281.11, Z:2.15 [[-8.94022441e-01 4.47754613e-01 1.54816294e-02 3.02351306e+02] [-4.47708023e-01 -8.94155829e-01 6.54826470e-03 2.81108526e+02] [ 1.67750049e-02 -1.07695408e-03 9.99858710e-01 2.14626564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4207140569999 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:302.34, Y:281.10, Z:2.15 [[-8.93739279e-01 4.48323908e-01 1.53549319e-02 3.02335188e+02] [-4.48272855e-01 -8.93870819e-01 6.81221982e-03 2.81100606e+02] [ 1.67794066e-02 -7.94850713e-04 9.99858900e-01 2.14641492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4507140569999 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:302.31, Y:281.08, Z:2.15 [[-8.89029636e-01 4.57592619e-01 1.53395319e-02 3.02308603e+02] [-4.57542384e-01 -8.89161472e-01 6.84423254e-03 2.81080660e+02] [ 1.67711911e-02 -9.33760446e-04 9.99858918e-01 2.15167020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4807140569999 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:302.33, Y:281.09, Z:2.15 [[-8.84612606e-01 4.66073791e-01 1.53544681e-02 3.02328334e+02] [-4.66025355e-01 -8.84745132e-01 6.81322841e-03 2.81085272e+02] [ 1.67602581e-02 -1.12850372e-03 9.99858900e-01 2.14970931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.510714057 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:302.34, Y:281.11, Z:2.15 [[-8.93777100e-01 4.48256651e-01 1.51152105e-02 3.02343560e+02] [-4.48197140e-01 -8.93904870e-01 7.30808714e-03 2.81106350e+02] [ 1.67874590e-02 -2.42793194e-04 9.99859051e-01 2.14767909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.540714057 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:302.31, Y:281.09, Z:2.15 [[-8.92363285e-01 4.51057672e-01 1.53213835e-02 3.02314240e+02] [-4.51005848e-01 -8.92494472e-01 6.88053639e-03 2.81092942e+02] [ 1.67777688e-02 -7.70095483e-04 9.99858947e-01 2.15093664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5707140569999 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:302.33, Y:281.09, Z:2.15 [[-8.83498018e-01 4.68181562e-01 1.54038342e-02 3.02328558e+02] [-4.68135236e-01 -8.83631360e-01 6.70977392e-03 2.81089063e+02] [ 1.67527034e-02 -1.28300560e-03 9.99858840e-01 2.15045584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6007140569999 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:302.32, Y:281.10, Z:2.15 [[-8.91157604e-01 4.53442366e-01 1.51044688e-02 3.02324738e+02] [-4.53383278e-01 -8.91285543e-01 7.32692526e-03 2.81100509e+02] [ 1.67847330e-02 -3.18668404e-04 9.99859076e-01 2.15161467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.630714057 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:302.33, Y:281.10, Z:2.15 [[-8.90989334e-01 4.53763416e-01 1.53873295e-02 3.02329417e+02] [-4.53714386e-01 -8.91121659e-01 6.74126427e-03 2.81103440e+02] [ 1.67709217e-02 -9.75058179e-04 9.99858883e-01 2.15173641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.660714057 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:302.33, Y:281.09, Z:2.15 [[-8.81769800e-01 4.71428425e-01 1.54032309e-02 3.02325003e+02] [-4.71382613e-01 -8.81903300e-01 6.70840186e-03 2.81093389e+02] [ 1.67466915e-02 -1.34554905e-03 9.99858859e-01 2.14771805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6907140569999 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:302.33, Y:281.10, Z:2.15 [[-8.81192965e-01 4.72515666e-01 1.50964749e-02 3.02333986e+02] [-4.72459131e-01 -8.81322020e-01 7.33938184e-03 2.81098995e+02] [ 1.67728287e-02 -6.65055780e-04 9.99859105e-01 2.14695737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7207140569999 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:302.32, Y:281.11, Z:2.15 [[-8.87706653e-01 4.60162015e-01 1.50936579e-02 3.02324037e+02] [-4.60103585e-01 -8.87834861e-01 7.34517068e-03 2.81105231e+02] [ 1.67806442e-02 -4.24289214e-04 9.99859105e-01 2.14874269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.750714057 meters Centerline goodness : 0.985816 Centerline is valid? [True, True] Translation: X:301.49, Y:280.69, Z:2.16 [[-8.74155110e-01 4.85409813e-01 1.51709414e-02 3.01493541e+02] [-4.85357748e-01 -8.74286082e-01 7.19053812e-03 2.80686427e+02] [ 1.67541007e-02 -1.07768834e-03 9.99859059e-01 2.16456191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.780714057 meters Centerline goodness : 0.993421 Centerline is valid? [True, True] Translation: X:302.33, Y:281.11, Z:2.15 [[-8.74126515e-01 4.85461599e-01 1.51615190e-02 3.02328260e+02] [-4.85409217e-01 -8.74257352e-01 7.20934926e-03 2.81107426e+02] [ 1.67549317e-02 -1.05765774e-03 9.99859067e-01 2.14890946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8107140569999 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:302.32, Y:281.11, Z:2.15 [[-8.73194162e-01 4.87141310e-01 1.50099845e-02 3.02323531e+02] [-4.87083964e-01 -8.73322838e-01 7.51213241e-03 2.81106488e+02] [ 1.67680323e-02 -7.51572597e-04 9.99859124e-01 2.14856832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8407140569999 meters Centerline goodness : 0.994264 Centerline is valid? [True, True] Translation: X:302.29, Y:281.09, Z:2.15 [[-8.74189675e-01 4.85352644e-01 1.50074611e-02 3.02293238e+02] [-4.85294949e-01 -8.74318194e-01 7.51717015e-03 2.81092608e+02] [ 1.67697747e-02 -7.11612559e-04 9.99859124e-01 2.15088966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.870714057 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:302.31, Y:281.10, Z:2.15 [[-8.72787206e-01 4.87866235e-01 1.51337060e-02 3.02313368e+02] [-4.87813252e-01 -8.72917781e-01 7.26496267e-03 2.81102682e+02] [ 1.67548111e-02 -1.04165587e-03 9.99859086e-01 2.14959580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.900714057 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:302.33, Y:281.11, Z:2.15 [[-8.72972428e-01 4.87538773e-01 1.50028274e-02 3.02329424e+02] [-4.87481250e-01 -8.73101021e-01 7.52587091e-03 2.81110717e+02] [ 1.67681378e-02 -7.43719242e-04 9.99859128e-01 2.15008223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9307140569999 meters Centerline goodness : 0.993769 Centerline is valid? [True, True] Translation: X:302.34, Y:281.13, Z:2.15 [[-8.86635721e-01 4.62225163e-01 1.49999155e-02 3.02342790e+02] [-4.62163867e-01 -8.86762558e-01 7.53167016e-03 2.81133366e+02] [ 1.67826909e-02 -2.54571140e-04 9.99859128e-01 2.14566019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9607140569999 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:302.35, Y:281.14, Z:2.15 [[-8.87666376e-01 4.60231299e-01 1.53478535e-02 3.02351628e+02] [-4.60181630e-01 -8.87798490e-01 6.83431355e-03 2.81137732e+02] [ 1.67711662e-02 -9.96209914e-04 9.99858858e-01 2.14528128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9907140569999 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:302.35, Y:281.14, Z:2.14 [[-8.87413826e-01 4.60718667e-01 1.53300711e-02 3.02354475e+02] [-4.60668457e-01 -8.87545704e-01 6.86993551e-03 2.81137455e+02] [ 1.67712463e-02 -9.65604457e-04 9.99858887e-01 2.14061037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.020714057 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:302.33, Y:281.12, Z:2.15 [[-8.86631273e-01 4.62225404e-01 1.52532584e-02 3.02332455e+02] [-4.62172772e-01 -8.86762088e-01 7.02344010e-03 2.81124042e+02] [ 1.67724237e-02 -8.22439072e-04 9.99858995e-01 2.14786642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0507140569999 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:302.33, Y:281.13, Z:2.15 [[-8.86484971e-01 4.62505254e-01 1.52737256e-02 3.02334786e+02] [-4.62453366e-01 -8.86616111e-01 6.98257785e-03 2.81125333e+02] [ 1.67714101e-02 -8.73435501e-04 9.99858969e-01 2.14780082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0807140569999 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:302.35, Y:281.13, Z:2.14 [[-8.85659929e-01 4.64083207e-01 1.52730860e-02 3.02351943e+02] [-4.64031531e-01 -8.85791151e-01 6.98385405e-03 2.81132290e+02] [ 1.67698539e-02 -9.01873819e-04 9.99858969e-01 2.14453753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1107140569999 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:302.35, Y:281.12, Z:2.15 [[-8.77384125e-01 4.79548268e-01 1.51840739e-02 3.02352774e+02] [-4.79495835e-01 -8.77514936e-01 7.16105961e-03 2.81118790e+02] [ 1.67583254e-02 -9.97700169e-04 9.99859072e-01 2.14958825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.140714057 meters Centerline goodness : 0.992390 Centerline is valid? [True, True] Translation: X:302.35, Y:281.13, Z:2.15 [[-8.84311231e-01 4.66657286e-01 1.49874503e-02 3.02348426e+02] [-4.66596292e-01 -8.84438171e-01 7.55131147e-03 2.81126675e+02] [ 1.67793476e-02 -3.15379178e-04 9.99859167e-01 2.15002994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1707140569999 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:302.36, Y:281.13, Z:2.15 [[-8.82692463e-01 4.69707539e-01 1.51275533e-02 3.02358639e+02] [-4.69651731e-01 -8.82821816e-01 7.27278124e-03 2.81129116e+02] [ 1.67710142e-02 -6.85052395e-04 9.99859122e-01 2.15385532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2007140569999 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:302.36, Y:281.12, Z:2.15 [[-8.77863258e-01 4.78673246e-01 1.51004682e-02 3.02358149e+02] [-4.78617834e-01 -8.77992762e-01 7.32656989e-03 2.81121438e+02] [ 1.67651348e-02 -7.95626871e-04 9.99859139e-01 2.15033322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2307140569999 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:302.39, Y:281.14, Z:2.15 [[-8.84175748e-01 4.66914111e-01 1.49819773e-02 3.02389794e+02] [-4.66852984e-01 -8.84302617e-01 7.56134777e-03 2.81144835e+02] [ 1.67791017e-02 -3.08820501e-04 9.99859173e-01 2.14979091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.260714057 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:302.39, Y:281.14, Z:2.15 [[-8.83694207e-01 4.67819811e-01 1.51384607e-02 3.02385729e+02] [-4.67764106e-01 -8.83823608e-01 7.25056607e-03 2.81143091e+02] [ 1.67716874e-02 -6.73945309e-04 9.99859118e-01 2.14999862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.290714057 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:302.35, Y:281.13, Z:2.15 [[-8.81328440e-01 4.72262078e-01 1.51231680e-02 3.02351374e+02] [-4.72206505e-01 -8.81457886e-01 7.28088590e-03 2.81125347e+02] [ 1.67689220e-02 -7.24406495e-04 9.99859129e-01 2.14905352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3207140569999 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:302.36, Y:281.13, Z:2.15 [[-8.82419995e-01 4.70221221e-01 1.50650621e-02 3.02364622e+02] [-4.70163384e-01 -8.82548408e-01 7.39590361e-03 2.81133448e+02] [ 1.67733574e-02 -5.56747341e-04 9.99859162e-01 2.14819993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3507140569999 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:302.36, Y:281.13, Z:2.15 [[-8.81804342e-01 4.71373777e-01 1.50951725e-02 3.02362997e+02] [-4.71317125e-01 -8.81933300e-01 7.33631011e-03 2.81132753e+02] [ 1.67710795e-02 -6.45423190e-04 9.99859147e-01 2.14890928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.380714057 meters Centerline goodness : 0.992590 Centerline is valid? [True, True] Translation: X:302.36, Y:281.13, Z:2.15 [[-8.81477987e-01 4.71984303e-01 1.50790284e-02 3.02355056e+02] [-4.71927195e-01 -8.81606733e-01 7.36823765e-03 2.81128728e+02] [ 1.67714655e-02 -6.21264293e-04 9.99859156e-01 2.15005222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.410714057 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:302.38, Y:281.14, Z:2.15 [[-8.81758935e-01 4.71459017e-01 1.50856378e-02 3.02381420e+02] [-4.71402056e-01 -8.81887750e-01 7.35516801e-03 2.81142964e+02] [ 1.67714995e-02 -6.25915578e-04 9.99859153e-01 2.14927333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4407140569999 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:302.38, Y:281.14, Z:2.15 [[-8.81709763e-01 4.71551137e-01 1.50804231e-02 3.02377840e+02] [-4.71494013e-01 -8.81838503e-01 7.36547888e-03 2.81140854e+02] [ 1.67716977e-02 -6.16114581e-04 9.99859155e-01 2.14929757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4707140569999 meters Centerline goodness : 0.991504 Centerline is valid? [True, True] Translation: X:302.40, Y:281.15, Z:2.15 [[-8.81900476e-01 4.71194267e-01 1.50835325e-02 3.02400887e+02] [-4.71137195e-01 -8.82029242e-01 7.35933095e-03 2.81153135e+02] [ 1.67717913e-02 -6.16215732e-04 9.99859154e-01 2.14708698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.500714057 meters Centerline goodness : 0.992095 Centerline is valid? [True, True] Translation: X:302.37, Y:281.13, Z:2.15 [[-8.81515535e-01 4.71915137e-01 1.50487308e-02 3.02368266e+02] [-4.71856998e-01 -8.81643804e-01 7.42803952e-03 2.81134547e+02] [ 1.67730246e-02 -5.52916700e-04 9.99859170e-01 2.14971585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.530714057 meters Centerline goodness : 0.992385 Centerline is valid? [True, True] Translation: X:302.40, Y:281.15, Z:2.15 [[-8.81646757e-01 4.71669227e-01 1.50710230e-02 3.02400875e+02] [-4.71611803e-01 -8.81775359e-01 7.38403685e-03 2.81148124e+02] [ 1.67720797e-02 -5.97560200e-04 9.99859160e-01 2.15018036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5607140569999 meters Centerline goodness : 0.991865 Centerline is valid? [True, True] Translation: X:302.38, Y:281.13, Z:2.15 [[-8.78498280e-01 4.77507505e-01 1.50783239e-02 3.02377776e+02] [-4.77451182e-01 -8.78627371e-01 7.36963432e-03 2.81128274e+02] [ 1.67672838e-02 -7.24952496e-04 9.99859156e-01 2.15447638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5907140569999 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:302.38, Y:281.13, Z:2.15 [[-8.79313499e-01 4.76008288e-01 1.49626481e-02 3.02383995e+02] [-4.75947857e-01 -8.79440684e-01 7.59745098e-03 2.81129725e+02] [ 1.67752111e-02 -4.40899086e-04 9.99859189e-01 2.15359207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.620714057 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:302.40, Y:281.14, Z:2.15 [[-8.85167303e-01 4.65032312e-01 1.49597374e-02 3.02403749e+02] [-4.64970208e-01 -8.85293679e-01 7.60317797e-03 2.81144273e+02] [ 1.67794844e-02 -2.25747650e-04 9.99859189e-01 2.15375926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.650714057 meters Centerline goodness : 0.992992 Centerline is valid? [True, True] Translation: X:302.39, Y:281.13, Z:2.16 [[-8.81682543e-01 4.71601888e-01 1.50848820e-02 3.02388592e+02] [-4.71544920e-01 -8.81811356e-01 7.35672310e-03 2.81128188e+02] [ 1.67714647e-02 -6.26905162e-04 9.99859153e-01 2.15505421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6807140569999 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:302.41, Y:281.15, Z:2.15 [[-8.86651206e-01 4.62196880e-01 1.49560581e-02 3.02413904e+02] [-4.62134257e-01 -8.86777321e-01 7.60990732e-03 2.81145878e+02] [ 1.67799686e-02 -1.64373325e-04 9.99859193e-01 2.15383059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7107140569999 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:302.42, Y:281.15, Z:2.15 [[-8.87906748e-01 4.59776480e-01 1.50730020e-02 3.02417591e+02] [-4.59717405e-01 -8.88034598e-01 7.37979282e-03 2.81146055e+02] [ 1.67784024e-02 -3.76753515e-04 9.99859162e-01 2.15235282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7407140569999 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:302.42, Y:281.15, Z:2.15 [[-8.87883957e-01 4.59820433e-01 1.50747730e-02 3.02423755e+02] [-4.59761423e-01 -8.88011838e-01 7.37630857e-03 2.81148086e+02] [ 1.67783543e-02 -3.81493047e-04 9.99859161e-01 2.15236001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.770714057 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:302.40, Y:281.13, Z:2.15 [[-8.83206134e-01 4.68742868e-01 1.50681119e-02 3.02404368e+02] [-4.68684927e-01 -8.83334499e-01 7.38939590e-03 2.81131160e+02] [ 1.67739097e-02 -5.35837140e-04 9.99859165e-01 2.14920553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8007140569999 meters Centerline goodness : 0.993227 Centerline is valid? [True, True] Translation: X:302.42, Y:281.15, Z:2.15 [[-8.87596709e-01 4.60378800e-01 1.49479880e-02 3.02419228e+02] [-4.60315667e-01 -8.87722563e-01 7.62489043e-03 2.81145607e+02] [ 1.67800042e-02 -1.12965429e-04 9.99859199e-01 2.15065607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8307140569999 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:302.39, Y:281.13, Z:2.15 [[-8.82507584e-01 4.70056911e-01 1.50620511e-02 3.02393361e+02] [-4.69998959e-01 -8.82635939e-01 7.40120019e-03 2.81127257e+02] [ 1.67732929e-02 -5.47533043e-04 9.99859169e-01 2.14832411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8607140569999 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:302.43, Y:281.15, Z:2.15 [[-8.87082491e-01 4.61369047e-01 1.49417482e-02 3.02431169e+02] [-4.61305857e-01 -8.87208312e-01 7.63658625e-03 2.81152782e+02] [ 1.67797277e-02 -1.18433987e-04 9.99859203e-01 2.15186811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.890714057 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:302.43, Y:281.15, Z:2.15 [[-8.87577502e-01 4.60412210e-01 1.50590548e-02 3.02427469e+02] [-4.60352769e-01 -8.87705170e-01 7.40674885e-03 2.81151884e+02] [ 1.67781584e-02 -3.58413952e-04 9.99859173e-01 2.15447723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9207140569999 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:302.42, Y:281.15, Z:2.16 [[-8.87270884e-01 4.61002225e-01 1.50773713e-02 3.02417305e+02] [-4.60943477e-01 -8.87398885e-01 7.37087695e-03 2.81145590e+02] [ 1.67776332e-02 -4.09851472e-04 9.99859162e-01 2.15594514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9507140569999 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:302.43, Y:281.16, Z:2.16 [[-8.88960566e-01 4.57735960e-01 1.50633328e-02 3.02434036e+02] [-4.57676276e-01 -8.89088123e-01 7.39835797e-03 2.81155491e+02] [ 1.67791248e-02 -3.17281575e-04 9.99859170e-01 2.15588606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9807140569999 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:302.43, Y:281.15, Z:2.16 [[-8.87492430e-01 4.60575379e-01 1.50833273e-02 3.02431255e+02] [-4.60516768e-01 -8.87620498e-01 7.35921316e-03 2.81153069e+02] [ 1.67777428e-02 -4.14879153e-04 9.99859158e-01 2.15503051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.010714057 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:302.42, Y:281.15, Z:2.16 [[-8.83012157e-01 4.69109091e-01 1.50396448e-02 3.02424802e+02] [-4.69050262e-01 -8.83140096e-01 7.44460675e-03 2.81145209e+02] [ 1.67744460e-02 -4.80671056e-04 9.99859184e-01 2.15507217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.040714057 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:302.43, Y:281.15, Z:2.16 [[-8.82610868e-01 4.69867074e-01 1.49328270e-02 3.02426810e+02] [-4.69804817e-01 -8.82737144e-01 7.65303368e-03 2.81146968e+02] [ 1.67776696e-02 -2.60863386e-04 9.99859211e-01 2.15507962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0707140569999 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:302.43, Y:281.16, Z:2.15 [[-8.88777728e-01 4.58095238e-01 1.49299259e-02 3.02429313e+02] [-4.58031214e-01 -8.88903117e-01 7.65868913e-03 2.81158201e+02] [ 1.67796667e-02 -3.14997675e-05 9.99859211e-01 2.15139699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1007140569999 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:302.42, Y:281.14, Z:2.16 [[-8.81303291e-01 4.72309458e-01 1.51090844e-02 3.02418951e+02] [-4.72253412e-01 -8.81432524e-01 7.30895548e-03 2.81144644e+02] [ 1.67697272e-02 -6.93910156e-04 9.99859137e-01 2.15558052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.130714057 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:302.41, Y:281.14, Z:2.15 [[-8.80729011e-01 4.73385290e-01 1.49257072e-02 3.02411005e+02] [-4.73323318e-01 -8.80855419e-01 7.66599429e-03 2.81140806e+02] [ 1.67763590e-02 -3.13021690e-04 9.99859218e-01 2.15472886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.160714057 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:302.43, Y:281.15, Z:2.15 [[-8.79811590e-01 4.75088278e-01 1.49229500e-02 3.02428353e+02] [-4.75026460e-01 -8.79938073e-01 7.67135776e-03 2.81151127e+02] [ 1.67758441e-02 -3.39446665e-04 9.99859218e-01 2.15471380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1907140569999 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:302.44, Y:281.16, Z:2.15 [[-8.84220792e-01 4.66830788e-01 1.49200130e-02 3.02436448e+02] [-4.66767692e-01 -8.84346643e-01 7.67706572e-03 2.81162614e+02] [ 1.67783541e-02 -1.75958912e-04 9.99859218e-01 2.15457242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2207140569999 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:302.39, Y:281.13, Z:2.15 [[-8.78417932e-01 4.77656174e-01 1.50504599e-02 3.02387787e+02] [-4.77598949e-01 -8.78546604e-01 7.42357179e-03 2.81131468e+02] [ 1.67684453e-02 -6.67085225e-04 9.99859177e-01 2.15366834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.250714057 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:302.43, Y:281.16, Z:2.15 [[-8.78309075e-01 4.77861450e-01 1.48863820e-02 3.02434582e+02] [-4.77798838e-01 -8.78435164e-01 7.74165268e-03 2.81155202e+02] [ 1.67761588e-02 -3.13132202e-04 9.99859221e-01 2.15407835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.280714057 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:302.43, Y:281.15, Z:2.15 [[-8.77852941e-01 4.78698104e-01 1.49110541e-02 3.02431805e+02] [-4.78636424e-01 -8.77979486e-01 7.69383691e-03 2.81153551e+02] [ 1.67746247e-02 -3.82916250e-04 9.99859223e-01 2.15498864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3107140569999 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:302.44, Y:281.16, Z:2.16 [[-8.77158005e-01 4.79970397e-01 1.49081259e-02 3.02436549e+02] [-4.79908804e-01 -8.77284593e-01 7.69950648e-03 2.81156821e+02] [ 1.67742044e-02 -4.00857137e-04 9.99859223e-01 2.15659020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3407140569999 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:302.42, Y:281.15, Z:2.16 [[-8.77122811e-01 4.80036802e-01 1.48405720e-02 3.02422038e+02] [-4.79973005e-01 -8.77248314e-01 7.83010212e-03 2.81148580e+02] [ 1.67776040e-02 -2.55112775e-04 9.99859214e-01 2.15698419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.370714057 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:302.44, Y:281.15, Z:2.16 [[-8.76978417e-01 4.80299614e-01 1.48706829e-02 3.02436021e+02] [-4.80236840e-01 -8.77104426e-01 7.77191883e-03 2.81154652e+02] [ 1.67759914e-02 -3.25644719e-04 9.99859220e-01 2.15745854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.400714057 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:302.45, Y:281.17, Z:2.16 [[-8.81761939e-01 4.71459286e-01 1.49004636e-02 3.02449669e+02] [-4.71396220e-01 -8.81887800e-01 7.71439713e-03 2.81167761e+02] [ 1.67775612e-02 -2.21760443e-04 9.99859222e-01 2.15793600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4307140569999 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:302.44, Y:281.16, Z:2.16 [[-8.76096280e-01 4.81901377e-01 1.50456459e-02 3.02441938e+02] [-4.81844603e-01 -8.76225153e-01 7.43363119e-03 2.81157724e+02] [ 1.67656505e-02 -7.37086651e-04 9.99859175e-01 2.15791999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4607140569999 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:302.45, Y:281.16, Z:2.16 [[-8.75582187e-01 4.82839427e-01 1.48970268e-02 3.02445757e+02] [-4.82777893e-01 -8.75708800e-01 7.72040338e-03 2.81158952e+02] [ 1.67731726e-02 -4.32107543e-04 9.99859227e-01 2.15750175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4907140569999 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:302.46, Y:281.17, Z:2.15 [[-8.81298603e-01 4.72325036e-01 1.48940832e-02 3.02456481e+02] [-4.72261895e-01 -8.81424421e-01 7.72607792e-03 2.81170123e+02] [ 1.67772287e-02 -2.24926306e-04 9.99859227e-01 2.15436623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.520714057 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:302.45, Y:281.16, Z:2.16 [[-8.74719912e-01 4.84395316e-01 1.50417136e-02 3.02445760e+02] [-4.84338780e-01 -8.74848887e-01 7.44119426e-03 2.81157612e+02] [ 1.67637060e-02 -7.76324408e-04 9.99859178e-01 2.15575116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5507140569999 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:302.44, Y:281.16, Z:2.16 [[-8.74250060e-01 4.85247478e-01 1.48901840e-02 3.02441223e+02] [-4.85186079e-01 -8.74376733e-01 7.73297318e-03 2.81155665e+02] [ 1.67720362e-02 -4.63957708e-04 9.99859232e-01 2.15593596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5807140569999 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:302.45, Y:281.16, Z:2.16 [[-8.73089172e-01 4.87333222e-01 1.48872194e-02 3.02451514e+02] [-4.87272028e-01 -8.73215943e-01 7.73867623e-03 2.81162645e+02] [ 1.67710714e-02 -4.97571192e-04 9.99859232e-01 2.15578772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6107140569999 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:302.45, Y:281.16, Z:2.16 [[-8.72139992e-01 4.89029951e-01 1.48842547e-02 3.02446616e+02] [-4.88968907e-01 -8.72266836e-01 7.74437432e-03 2.81161092e+02] [ 1.67702727e-02 -5.23759187e-04 9.99859232e-01 2.15596302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.640714057 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:302.47, Y:281.19, Z:2.15 [[-8.77570396e-01 4.79216806e-01 1.48812887e-02 3.02474801e+02] [-4.79154246e-01 -8.77696499e-01 7.75006937e-03 2.81185125e+02] [ 1.67752185e-02 -3.29201237e-04 9.99859232e-01 2.15362143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6707140569999 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:302.45, Y:281.16, Z:2.16 [[-8.70380268e-01 4.92150158e-01 1.50469877e-02 3.02446684e+02] [-4.92094937e-01 -8.70509820e-01 7.43148637e-03 2.81163921e+02] [ 1.67559578e-02 -9.36327392e-04 9.99859171e-01 2.15745007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7007140569999 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:302.46, Y:281.17, Z:2.16 [[-8.69845240e-01 4.93100308e-01 1.48776554e-02 3.02456177e+02] [-4.93039654e-01 -8.69972264e-01 7.75629195e-03 2.81169342e+02] [ 1.67677775e-02 -5.88500443e-04 9.99859238e-01 2.15781640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7307140569999 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:302.50, Y:281.19, Z:2.16 [[-8.74278214e-01 4.85197226e-01 1.48746805e-02 3.02495855e+02] [-4.85135327e-01 -8.74404636e-01 7.76199298e-03 2.81194252e+02] [ 1.67725870e-02 -4.30091606e-04 9.99859238e-01 2.15860159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.760714057 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:302.50, Y:281.20, Z:2.15 [[-8.75303724e-01 4.83342291e-01 1.49539655e-02 3.02499875e+02] [-4.83282712e-01 -8.75431271e-01 7.60991925e-03 2.81196070e+02] [ 1.67693648e-02 -5.66002337e-04 9.99859224e-01 2.15382426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.790714057 meters Centerline goodness : 0.996184 Centerline is valid? [True, True] Translation: X:302.51, Y:281.20, Z:2.16 [[-8.75734971e-01 4.82558556e-01 1.50167219e-02 3.02506814e+02] [-4.82500920e-01 -8.75863442e-01 7.48952564e-03 2.81195857e+02] [ 1.67667324e-02 -6.86742644e-04 9.99859193e-01 2.15552703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8207140569999 meters Centerline goodness : 0.996142 Centerline is valid? [True, True] Translation: X:302.51, Y:281.20, Z:2.16 [[-8.78011499e-01 4.78405036e-01 1.49809482e-02 3.02514672e+02] [-4.78345622e-01 -8.78139135e-01 7.55811270e-03 2.81199771e+02] [ 1.67711961e-02 -5.29961111e-04 9.99859213e-01 2.15591039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8507140569999 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:302.47, Y:281.17, Z:2.16 [[-8.74550812e-01 4.84701089e-01 1.50244005e-02 3.02470827e+02] [-4.84644019e-01 -8.74679542e-01 7.47490252e-03 2.81172193e+02] [ 1.67646291e-02 -7.44303760e-04 9.99859187e-01 2.15980525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.880714057 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:302.48, Y:281.17, Z:2.16 [[-8.75466432e-01 4.83050278e-01 1.48646065e-02 3.02475589e+02] [-4.82987758e-01 -8.75592539e-01 7.78020184e-03 2.81173353e+02] [ 1.67735672e-02 -3.68117455e-04 9.99859246e-01 2.16052654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.910714057 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:302.46, Y:281.17, Z:2.16 [[-8.76085445e-01 4.81926784e-01 1.48616441e-02 3.02463443e+02] [-4.81864007e-01 -8.76211424e-01 7.78585649e-03 2.81167223e+02] [ 1.67741551e-02 -3.40215846e-04 9.99859246e-01 2.16092406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9407140569999 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:302.46, Y:281.17, Z:2.16 [[-8.76069586e-01 4.81955705e-01 1.48586648e-02 3.02463793e+02] [-4.81892836e-01 -8.76195519e-01 7.79153820e-03 2.81167669e+02] [ 1.67742718e-02 -3.34354463e-04 9.99859246e-01 2.16092330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9707140569999 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:302.47, Y:281.17, Z:2.16 [[-8.75883805e-01 4.82293343e-01 1.48556623e-02 3.02466152e+02] [-4.82230426e-01 -8.76009714e-01 7.79725863e-03 2.81168989e+02] [ 1.67742704e-02 -3.34359796e-04 9.99859246e-01 2.16088108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.000714057 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:302.47, Y:281.17, Z:2.16 [[-8.75893556e-01 4.82275728e-01 1.48526551e-02 3.02474802e+02] [-4.82212711e-01 -8.76019415e-01 7.80298264e-03 2.81174759e+02] [ 1.67744034e-02 -3.27556895e-04 9.99859246e-01 2.16008501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.030714057 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:302.49, Y:281.18, Z:2.16 [[-8.75128341e-01 4.83662977e-01 1.48496548e-02 3.02485503e+02] [-4.83600063e-01 -8.75254251e-01 7.80868835e-03 2.81180799e+02] [ 1.67739969e-02 -3.47689518e-04 9.99859246e-01 2.16045332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0607140569999 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:302.48, Y:281.18, Z:2.16 [[-8.75957791e-01 4.82160499e-01 1.48054415e-02 3.02481769e+02] [-4.82095948e-01 -8.76082875e-01 7.89267451e-03 2.81180063e+02] [ 1.67763297e-02 -2.23993639e-04 9.99859242e-01 2.15896704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0907140569999 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:302.49, Y:281.18, Z:2.16 [[-8.76380250e-01 4.81390964e-01 1.48457819e-02 3.02487843e+02] [-4.81327599e-01 -8.76505934e-01 7.81605226e-03 2.81183823e+02] [ 1.67749929e-02 -2.95850733e-04 9.99859246e-01 2.15924800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.120714057 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:302.49, Y:281.19, Z:2.16 [[-8.76529341e-01 4.81119533e-01 1.48427985e-02 3.02494677e+02] [-4.81056033e-01 -8.76654957e-01 7.82171378e-03 2.81187253e+02] [ 1.67751921e-02 -2.84256116e-04 9.99859246e-01 2.15932615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.150714057 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:302.50, Y:281.19, Z:2.16 [[-8.76871817e-01 4.80495157e-01 1.48398237e-02 3.02496809e+02] [-4.80431472e-01 -8.76997339e-01 7.82735364e-03 2.81187598e+02] [ 1.67754914e-02 -2.65932533e-04 9.99859246e-01 2.15872747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1807140569999 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:302.49, Y:281.18, Z:2.16 [[-8.76425506e-01 4.81308842e-01 1.48368512e-02 3.02489866e+02] [-4.81245178e-01 -8.76551039e-01 7.83298401e-03 2.81184280e+02] [ 1.67753418e-02 -2.75136112e-04 9.99859246e-01 2.15895762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2107140569999 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:302.54, Y:281.22, Z:2.16 [[-8.83857776e-01 4.67520468e-01 1.48338647e-02 3.02541972e+02] [-4.67454750e-01 -8.83982247e-01 7.83863561e-03 2.81219985e+02] [ 1.67775956e-02 -5.92148415e-06 9.99859246e-01 2.15988352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2407140569999 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:302.50, Y:281.19, Z:2.16 [[-8.74923418e-01 4.84028606e-01 1.50106988e-02 3.02496455e+02] [-4.83970949e-01 -8.75051895e-01 7.50343772e-03 2.81188170e+02] [ 1.67670189e-02 -6.99808757e-04 9.99859179e-01 2.15970099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.270714057 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:302.48, Y:281.18, Z:2.16 [[-8.75598909e-01 4.82812065e-01 1.48007064e-02 3.02483353e+02] [-4.82747476e-01 -8.75723963e-01 7.90039997e-03 2.81182747e+02] [ 1.67757417e-02 -2.27422069e-04 9.99859251e-01 2.16390914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3007140569999 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:302.51, Y:281.21, Z:2.16 [[-8.83491349e-01 4.68212011e-01 1.48508916e-02 3.02506514e+02] [-4.68146946e-01 -8.83616155e-01 7.80555841e-03 2.81205559e+02] [ 1.67771439e-02 -5.62562162e-05 9.99859252e-01 2.16176190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3307140569999 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:302.53, Y:281.23, Z:2.16 [[-8.86358667e-01 4.62754829e-01 1.50426450e-02 3.02534522e+02] [-4.62695131e-01 -8.86486230e-01 7.44182525e-03 2.81225366e+02] [ 1.67788382e-02 -3.64032282e-04 9.99859159e-01 2.16076945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3607140569999 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:302.50, Y:281.21, Z:2.16 [[-8.83137829e-01 4.68870337e-01 1.51056908e-02 3.02502506e+02] [-4.68813562e-01 -8.83266794e-01 7.32223101e-03 2.81206983e+02] [ 1.67755320e-02 -6.15213525e-04 9.99859092e-01 2.16090800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.390714057 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:302.50, Y:281.19, Z:2.16 [[-8.72984251e-01 4.87516084e-01 1.50520804e-02 3.02501197e+02] [-4.87460312e-01 -8.73113586e-01 7.42360350e-03 2.81193585e+02] [ 1.67613020e-02 -8.56602877e-04 9.99859153e-01 2.16035100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4207140569999 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:302.48, Y:281.18, Z:2.16 [[-8.72774552e-01 4.87898521e-01 1.48194024e-02 3.02479994e+02] [-4.87835309e-01 -8.72900280e-01 7.86218204e-03 2.81182211e+02] [ 1.67718075e-02 -3.67515338e-04 9.99859276e-01 2.16068154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4507140569999 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:302.51, Y:281.20, Z:2.16 [[-8.72326414e-01 4.88699399e-01 1.48163636e-02 3.02510254e+02] [-4.88636204e-01 -8.72452151e-01 7.86790452e-03 2.81198758e+02] [ 1.67716085e-02 -3.76430734e-04 9.99859276e-01 2.16325387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4807140569999 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:302.51, Y:281.20, Z:2.16 [[-8.72097060e-01 4.89108843e-01 1.48073408e-02 3.02512508e+02] [-4.89045419e-01 -8.72222682e-01 7.88488238e-03 2.81200120e+02] [ 1.67718642e-02 -3.65079438e-04 9.99859276e-01 2.16091185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.510714057 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:302.50, Y:281.20, Z:2.16 [[-8.71354997e-01 4.90429464e-01 1.48124819e-02 3.02501307e+02] [-4.90366395e-01 -8.71480797e-01 7.87521250e-03 2.81195506e+02] [ 1.67710298e-02 -4.01437592e-04 9.99859276e-01 2.16344409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.540714057 meters Centerline goodness : 0.985628 Centerline is valid? [True, True] Translation: X:301.69, Y:280.76, Z:2.18 [[-8.69007375e-01 4.94577478e-01 1.48087848e-02 3.01686692e+02] [-4.94514891e-01 -8.69133416e-01 7.88216334e-03 2.80759950e+02] [ 1.67691502e-02 -4.73506556e-04 9.99859276e-01 2.17564603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5707140569999 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:302.50, Y:281.20, Z:2.16 [[-8.71263885e-01 4.90593046e-01 1.47548458e-02 3.02503396e+02] [-4.90528167e-01 -8.71388767e-01 7.98336860e-03 2.81197082e+02] [ 1.67737920e-02 -2.82046718e-04 9.99859270e-01 2.16051083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6007140569999 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:302.51, Y:281.20, Z:2.16 [[-8.70843893e-01 4.91336428e-01 1.48131631e-02 3.02510612e+02] [-4.91273516e-01 -8.70969769e-01 7.87365311e-03 2.81201248e+02] [ 1.67704299e-02 -4.20592008e-04 9.99859278e-01 2.15965932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.630714057 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:302.51, Y:281.20, Z:2.16 [[-8.70628992e-01 4.91717214e-01 1.48101502e-02 3.02512614e+02] [-4.91654261e-01 -8.70754847e-01 7.87931628e-03 2.81202958e+02] [ 1.67704055e-02 -4.21512264e-04 9.99859278e-01 2.15979077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.660714057 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:302.51, Y:281.20, Z:2.16 [[-8.69892377e-01 4.93019270e-01 1.48071406e-02 3.02511030e+02] [-4.92956410e-01 -8.70018279e-01 7.88496797e-03 2.81202620e+02] [ 1.67699241e-02 -4.40201343e-04 9.99859278e-01 2.15985227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6907140569999 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:302.52, Y:281.21, Z:2.16 [[-8.69483649e-01 4.93739833e-01 1.48041244e-02 3.02517320e+02] [-4.93676980e-01 -8.69609554e-01 7.89062694e-03 2.81206724e+02] [ 1.67697248e-02 -4.47684315e-04 9.99859278e-01 2.16012052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7207140569999 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:302.52, Y:281.21, Z:2.16 [[-8.69038180e-01 4.94523577e-01 1.48011060e-02 3.02516595e+02] [-4.94460742e-01 -8.69164095e-01 7.89628475e-03 2.81206743e+02] [ 1.67694889e-02 -4.56392910e-04 9.99859278e-01 2.16060686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.750714057 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:302.52, Y:281.21, Z:2.16 [[-8.68339576e-01 4.95749330e-01 1.47980874e-02 3.02519439e+02] [-4.95686576e-01 -8.68465531e-01 7.90193764e-03 2.81208801e+02] [ 1.67690091e-02 -4.73648109e-04 9.99859278e-01 2.16066313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.780714057 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:302.51, Y:281.20, Z:2.16 [[-8.67881510e-01 4.96550894e-01 1.47950637e-02 3.02510019e+02] [-4.96488160e-01 -8.68007475e-01 7.90759503e-03 2.81203981e+02] [ 1.67687493e-02 -4.82718432e-04 9.99859278e-01 2.16041649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8107140569999 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:302.52, Y:281.21, Z:2.16 [[-8.66988272e-01 4.98108956e-01 1.47920242e-02 3.02520282e+02] [-4.98046352e-01 -8.67114301e-01 7.91327668e-03 2.81210574e+02] [ 1.67680497e-02 -5.06395604e-04 9.99859278e-01 2.15870796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8407140569999 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:302.52, Y:281.21, Z:2.16 [[-8.66427048e-01 4.99084619e-01 1.47889779e-02 3.02524969e+02] [-4.99022060e-01 -8.66553099e-01 7.91896569e-03 2.81214038e+02] [ 1.67676686e-02 -5.18820156e-04 9.99859278e-01 2.15750380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.870714057 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:302.61, Y:281.28, Z:2.15 [[-8.84263148e-01 4.66754820e-01 1.47859442e-02 3.02605287e+02] [-4.66687555e-01 -8.84386752e-01 7.92462615e-03 2.81277837e+02] [ 1.67753506e-02 1.07038737e-04 9.99859278e-01 2.15024607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.900714057 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:302.53, Y:281.22, Z:2.15 [[-8.64263174e-01 5.02808848e-01 1.52456333e-02 3.02525188e+02] [-5.02761667e-01 -8.64396221e-01 7.06261543e-03 2.81216655e+02] [ 1.67294133e-02 -1.56096157e-03 9.99858835e-01 2.15468350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9307140569999 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:302.53, Y:281.22, Z:2.15 [[-8.63323097e-01 5.04435091e-01 1.47807022e-02 3.02525458e+02] [-5.04373134e-01 -8.63449401e-01 7.92929337e-03 2.81216879e+02] [ 1.67622023e-02 -6.09446994e-04 9.99859319e-01 2.15469264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9607140569999 meters Centerline goodness : 0.993108 Centerline is valid? [True, True] Translation: X:302.53, Y:281.22, Z:2.15 [[-8.61550747e-01 5.07456334e-01 1.47776569e-02 3.02527713e+02] [-5.07394723e-01 -8.61677220e-01 7.93496482e-03 2.81219156e+02] [ 1.67602185e-02 -6.61730266e-04 9.99859319e-01 2.15268648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9907140569999 meters Centerline goodness : 0.993101 Centerline is valid? [True, True] Translation: X:302.51, Y:281.21, Z:2.15 [[-8.60718045e-01 5.08867525e-01 1.47746069e-02 3.02511620e+02] [-5.08806025e-01 -8.60844571e-01 7.94063978e-03 2.81211174e+02] [ 1.67593738e-02 -6.82757041e-04 9.99859319e-01 2.15239107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.020714057 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:302.53, Y:281.22, Z:2.15 [[-8.59902031e-01 5.10245333e-01 1.47715321e-02 3.02526515e+02] [-5.10183937e-01 -8.60028608e-01 7.94635549e-03 2.81219328e+02] [ 1.67585310e-02 -7.03111184e-04 9.99859319e-01 2.15163159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0507140569999 meters Centerline goodness : 0.992183 Centerline is valid? [True, True] Translation: X:302.53, Y:281.22, Z:2.15 [[-8.59780351e-01 5.10450430e-01 1.47684484e-02 3.02531692e+02] [-5.10388966e-01 -8.59906895e-01 7.95208252e-03 2.81222068e+02] [ 1.67586345e-02 -7.00608802e-04 9.99859319e-01 2.15113146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0807140569999 meters Centerline goodness : 0.992174 Centerline is valid? [True, True] Translation: X:302.54, Y:281.22, Z:2.15 [[-8.60683024e-01 5.08927024e-01 1.47653816e-02 3.02537135e+02] [-5.08865238e-01 -8.60809412e-01 7.95777290e-03 2.81224678e+02] [ 1.67601051e-02 -6.64469366e-04 9.99859319e-01 2.15173130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1107140569999 meters Centerline goodness : 0.993361 Centerline is valid? [True, True] Translation: X:302.60, Y:281.29, Z:2.15 [[-8.83128544e-01 4.68898761e-01 1.47623207e-02 3.02603033e+02] [-4.68831147e-01 -8.83251912e-01 7.96344696e-03 2.81286677e+02] [ 1.67728984e-02 1.11711561e-04 9.99859319e-01 2.14500097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.140714057 meters Centerline goodness : 0.989765 Centerline is valid? [True, True] Translation: X:302.07, Y:280.98, Z:2.16 [[-8.60371627e-01 5.09442869e-01 1.51204326e-02 3.02065678e+02] [-5.09392279e-01 -8.60503330e-01 7.31602961e-03 2.80977057e+02] [ 1.67382818e-02 -1.40772736e-03 9.99858914e-01 2.16041899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1707140569999 meters Centerline goodness : 0.991923 Centerline is valid? [True, True] Translation: X:302.53, Y:281.23, Z:2.15 [[-8.55848816e-01 5.17015080e-01 1.47719825e-02 3.02533674e+02] [-5.16954764e-01 -8.55975877e-01 7.94163185e-03 2.81230890e+02] [ 1.67504041e-02 -8.39610530e-04 9.99859350e-01 2.15332247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2007140569999 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:302.59, Y:281.29, Z:2.14 [[-8.81538121e-01 4.71885616e-01 1.46460848e-02 3.02589414e+02] [-4.71815018e-01 -8.81659731e-01 8.16739755e-03 2.81293497e+02] [ 1.67669406e-02 2.89629517e-04 9.99859383e-01 2.14489698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2307140569999 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:302.54, Y:281.24, Z:2.15 [[-8.56975516e-01 5.15128146e-01 1.53609102e-02 3.02543478e+02] [-5.15086239e-01 -8.57110791e-01 6.87443410e-03 2.81239998e+02] [ 1.67072164e-02 -2.02097174e-03 9.99858382e-01 2.14958953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.260714057 meters Centerline goodness : 0.990848 Centerline is valid? [True, True] Translation: X:302.55, Y:281.24, Z:2.15 [[-8.57082079e-01 5.14971803e-01 1.46407622e-02 3.02546767e+02] [-5.14907343e-01 -8.57206947e-01 8.16567175e-03 2.81241974e+02] [ 1.67552537e-02 -5.39985019e-04 9.99859475e-01 2.14835672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.290714057 meters Centerline goodness : 0.991576 Centerline is valid? [True, True] Translation: X:302.55, Y:281.24, Z:2.15 [[-8.57499890e-01 5.14275878e-01 1.46376361e-02 3.02548533e+02] [-5.14211221e-01 -8.57624656e-01 8.17127169e-03 2.81243614e+02] [ 1.67558855e-02 -5.19972140e-04 9.99859475e-01 2.14768642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3207140569999 meters Centerline goodness : 0.990824 Centerline is valid? [True, True] Translation: X:302.55, Y:281.25, Z:2.15 [[-8.59175823e-01 5.11471150e-01 1.46345094e-02 3.02554312e+02] [-5.11405990e-01 -8.59300327e-01 8.17686769e-03 2.81246961e+02] [ 1.67576706e-02 -4.58808730e-04 9.99859475e-01 2.14772005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3507140569999 meters Centerline goodness : 0.990939 Centerline is valid? [True, True] Translation: X:302.56, Y:281.24, Z:2.15 [[-8.62445217e-01 5.05938899e-01 1.46313837e-02 3.02558057e+02] [-5.05872846e-01 -8.62569250e-01 8.18245689e-03 2.81244843e+02] [ 1.67604049e-02 -3.44698879e-04 9.99859475e-01 2.14650729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.380714057 meters Centerline goodness : 0.991395 Centerline is valid? [True, True] Translation: X:302.56, Y:281.24, Z:2.14 [[-8.64453696e-01 5.02499573e-01 1.46282605e-02 3.02561534e+02] [-5.02432932e-01 -8.64577414e-01 8.18803658e-03 2.81244096e+02] [ 1.67617485e-02 -2.71541308e-04 9.99859475e-01 2.14475113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.410714057 meters Centerline goodness : 0.991503 Centerline is valid? [True, True] Translation: X:302.62, Y:281.31, Z:2.14 [[-8.90034885e-01 4.55657777e-01 1.46251341e-02 3.02616803e+02] [-4.55584537e-01 -8.90154815e-01 8.19361695e-03 2.81308032e+02] [ 1.67521188e-02 6.29619955e-04 9.99859475e-01 2.14104895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4407140569999 meters Centerline goodness : 0.992243 Centerline is valid? [True, True] Translation: X:302.58, Y:281.27, Z:2.15 [[-8.75811224e-01 4.82411077e-01 1.53053471e-02 3.02582722e+02] [-4.82362483e-01 -8.75944011e-01 6.96597770e-03 2.81270183e+02] [ 1.67670919e-02 -1.28184377e-03 9.99858601e-01 2.14583775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4707140569999 meters Centerline goodness : 0.990899 Centerline is valid? [True, True] Translation: X:302.57, Y:281.25, Z:2.15 [[-8.68057481e-01 4.96240929e-01 1.48710992e-02 3.02572615e+02] [-4.96180952e-01 -8.68184605e-01 7.74303431e-03 2.81252826e+02] [ 1.67532699e-02 -6.57357311e-04 9.99859438e-01 2.14647479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.500714057 meters Centerline goodness : 0.992567 Centerline is valid? [True, True] Translation: X:302.58, Y:281.26, Z:2.15 [[-8.77072680e-01 4.80135279e-01 1.46160187e-02 3.02581581e+02] [-4.80065321e-01 -8.77194439e-01 8.19782562e-03 2.81262078e+02] [ 1.67571556e-02 1.73445184e-04 9.99859574e-01 2.14821146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.530714057 meters Centerline goodness : 0.991763 Centerline is valid? [True, True] Translation: X:302.59, Y:281.28, Z:2.15 [[-8.81453740e-01 4.72036279e-01 1.48679462e-02 3.02594269e+02] [-4.71972741e-01 -8.81579104e-01 7.74700413e-03 2.81275439e+02] [ 1.67641377e-02 -1.88639549e-04 9.99859454e-01 2.14805900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5607140569999 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:302.59, Y:281.27, Z:2.15 [[-8.78116650e-01 4.78213090e-01 1.49462300e-02 3.02590515e+02] [-4.78152814e-01 -8.78243715e-01 7.60682887e-03 2.81266556e+02] [ 1.67641177e-02 -4.66898834e-04 9.99859363e-01 2.14900557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5907140569999 meters Centerline goodness : 0.990728 Centerline is valid? [True, True] Translation: X:302.63, Y:281.31, Z:2.14 [[-8.93837802e-01 4.48144517e-01 1.48484439e-02 3.02625701e+02] [-4.48077048e-01 -8.93961073e-01 7.78194424e-03 2.81307607e+02] [ 1.67613665e-02 3.02549020e-04 9.99859473e-01 2.14270178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.620714057 meters Centerline goodness : 0.992752 Centerline is valid? [True, True] Translation: X:302.59, Y:281.27, Z:2.15 [[-8.81252172e-01 4.72402137e-01 1.51931441e-02 3.02587746e+02] [-4.72348624e-01 -8.81382706e-01 7.16263112e-03 2.81266897e+02] [ 1.67746167e-02 -8.64376504e-04 9.99858923e-01 2.14660664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.650714057 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:302.61, Y:281.28, Z:2.15 [[-8.84464404e-01 4.66369960e-01 1.48922366e-02 3.02605940e+02] [-4.66306403e-01 -8.84589760e-01 7.70039927e-03 2.81278157e+02] [ 1.67647549e-02 -1.33616246e-04 9.99859453e-01 2.14615390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6807140569999 meters Centerline goodness : 0.992249 Centerline is valid? [True, True] Translation: X:302.63, Y:281.31, Z:2.14 [[-8.97765375e-01 4.40220100e-01 1.49531330e-02 3.02629213e+02] [-4.40154704e-01 -8.97889865e-01 7.59125855e-03 2.81309645e+02] [ 1.67680912e-02 2.33477238e-04 9.99859378e-01 2.14309506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7107140569999 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:302.60, Y:281.28, Z:2.14 [[-8.85401119e-01 4.64576481e-01 1.52824238e-02 3.02604223e+02] [-4.64524633e-01 -8.85532540e-01 6.99897960e-03 2.81277660e+02] [ 1.67846449e-02 -9.02157950e-04 9.99858721e-01 2.14416351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7407140569999 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:302.61, Y:281.28, Z:2.14 [[-8.87767408e-01 4.60049295e-01 1.49557858e-02 3.02610836e+02] [-4.59986818e-01 -8.87893363e-01 7.58304976e-03 2.81284403e+02] [ 1.67677197e-02 -1.47479908e-04 9.99859401e-01 2.14246433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.770714057 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:302.61, Y:281.28, Z:2.14 [[-8.84285758e-01 4.66703939e-01 1.50376664e-02 3.02607718e+02] [-4.66644895e-01 -8.84413500e-01 7.43665035e-03 2.81276054e+02] [ 1.67702292e-02 -4.41126281e-04 9.99859273e-01 2.14199799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8007140569999 meters Centerline goodness : 0.990868 Centerline is valid? [True, True] Translation: X:302.21, Y:281.06, Z:2.15 [[-8.84640986e-01 4.66037406e-01 1.48142629e-02 3.02208644e+02] [-4.65971643e-01 -8.84765017e-01 7.82897469e-03 2.81057111e+02] [ 1.67557367e-02 2.28054476e-05 9.99859613e-01 2.15430038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8307140569999 meters Centerline goodness : 0.984777 Centerline is valid? [True, True] Translation: X:302.07, Y:281.17, Z:2.96 [[ 5.50823825e-01 -8.34494166e-01 -1.45808370e-02 3.02074915e+02] [-8.34620743e-01 -5.50763369e-01 -8.24175176e-03 2.81165877e+02] [-1.15289713e-03 1.67092222e-02 -9.99859727e-01 2.95528278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8607140569999 meters Centerline goodness : 0.984777 Centerline is valid? [True, True] Translation: X:302.91, Y:281.66, Z:2.15 [[ 5.50125336e-01 8.35081230e-01 1.20570877e-03 3.02912882e+02] [-8.35081293e-01 5.50126239e-01 -5.96325345e-04 2.81660805e+02] [-1.16127214e-03 -6.78811161e-04 9.99999095e-01 2.15083121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.890714057 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:302.17, Y:281.09, Z:2.95 [[ 6.14075618e-01 -7.89246847e-01 -7.41810336e-04 3.02169334e+02] [-7.89246338e-01 -6.14076065e-01 8.96383203e-04 2.81093423e+02] [-1.16299559e-03 3.50240213e-05 -9.99999323e-01 2.95231725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9207140569999 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:302.96, Y:281.59, Z:2.14 [[ 5.76669513e-01 8.16977179e-01 7.49537102e-04 3.02960273e+02] [-8.16976699e-01 5.76669992e-01 -8.90638513e-04 2.81588412e+02] [-1.15986689e-03 -9.87502701e-05 9.99999322e-01 2.14471390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9507140569999 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:302.98, Y:281.56, Z:2.15 [[ 5.74684831e-01 8.18374574e-01 6.34640608e-04 3.02979523e+02] [-8.18373995e-01 5.74685180e-01 -9.74263341e-04 2.81555346e+02] [-1.16203090e-03 4.05209938e-05 9.99999324e-01 2.14534820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9807140569999 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:303.00, Y:281.55, Z:2.14 [[ 5.78551553e-01 8.15645583e-01 6.19721366e-04 3.02995348e+02] [-8.15644990e-01 5.78551881e-01 -9.85108830e-04 2.81548417e+02] [-1.16204063e-03 6.44636155e-05 9.99999323e-01 2.14405517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.010714057 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:303.01, Y:281.55, Z:2.14 [[ 5.73530036e-01 8.19184277e-01 6.46752259e-04 3.03005127e+02] [-8.19183709e-01 5.73530400e-01 -9.65150868e-04 2.81546474e+02] [-1.16156850e-03 2.37340973e-05 9.99999325e-01 2.14289630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.040714057 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:303.02, Y:281.52, Z:2.14 [[ 5.73412680e-01 8.19266392e-01 6.91254163e-04 3.03021518e+02] [-8.19265862e-01 5.73413096e-01 -9.32149594e-04 2.81524469e+02] [-1.16005302e-03 -3.18145409e-05 9.99999327e-01 2.14268522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0707140569999 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:303.04, Y:281.50, Z:2.14 [[ 5.73366621e-01 8.19298627e-01 6.91505315e-04 3.03038266e+02] [-8.19298097e-01 5.73367037e-01 -9.31963242e-04 2.81502618e+02] [-1.16004256e-03 -3.21923744e-05 9.99999327e-01 2.14216945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1007140569999 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:303.06, Y:281.44, Z:2.14 [[ 5.71371195e-01 8.20691464e-01 6.91755073e-04 3.03057189e+02] [-8.20690936e-01 5.71371613e-01 -9.31777821e-04 2.81439069e+02] [-1.15995132e-03 -3.53261109e-05 9.99999327e-01 2.14319438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.130714057 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:303.07, Y:281.46, Z:2.14 [[ 5.72301288e-01 8.20043212e-01 6.05443008e-04 3.03068791e+02] [-8.20042611e-01 5.72301604e-01 -9.95546408e-04 2.81461797e+02] [-1.16288708e-03 7.32634272e-05 9.99999321e-01 2.14061476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.160714057 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:303.09, Y:281.44, Z:2.14 [[ 5.72231873e-01 8.20091583e-01 6.92936488e-04 3.03085296e+02] [-8.20091056e-01 5.72232291e-01 -9.30382435e-04 2.81439274e+02] [-1.15951944e-03 -3.58765325e-05 9.99999327e-01 2.13927549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1907140569999 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:303.10, Y:281.38, Z:2.14 [[ 5.69917561e-01 8.21701584e-01 6.93189234e-04 3.03103910e+02] [-8.21701058e-01 5.69917981e-01 -9.30194086e-04 2.81375527e+02] [-1.15940296e-03 -3.94603818e-05 9.99999327e-01 2.13915983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2207140569999 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:303.12, Y:281.37, Z:2.15 [[ 5.78236231e-01 8.15869165e-01 6.06450798e-04 3.03124249e+02] [-8.15868562e-01 5.78236543e-01 -9.94463827e-04 2.81369189e+02] [-1.16202439e-03 8.02508749e-05 9.99999322e-01 2.14722202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.250714057 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:303.14, Y:281.33, Z:2.14 [[ 5.73302548e-01 8.19343505e-01 6.38972418e-04 3.03138157e+02] [-8.19342932e-01 5.73302904e-01 -9.70275225e-04 2.81332393e+02] [-1.16131345e-03 3.27237245e-05 9.99999325e-01 2.14043382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.280714057 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:303.16, Y:281.33, Z:2.15 [[ 5.84281806e-01 8.11550612e-01 6.12541914e-04 3.03158086e+02] [-8.11550012e-01 5.84282122e-01 -9.89930928e-04 2.81328022e+02] [-1.16127634e-03 8.12902326e-05 9.99999322e-01 2.14686010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3107140569999 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:303.18, Y:281.31, Z:2.15 [[ 5.87439041e-01 8.09268163e-01 6.42364529e-04 3.03175030e+02] [-8.09267586e-01 5.87439391e-01 -9.67659322e-04 2.81307375e+02] [-1.16044611e-03 4.85960721e-05 9.99999326e-01 2.14734696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3407140569999 meters Centerline goodness : 0.984925 Centerline is valid? [True, True] Translation: X:302.47, Y:280.69, Z:2.95 [[ 6.45837893e-01 -7.63474297e-01 -6.44191310e-04 3.02467165e+02] [-7.63473697e-01 -6.45838200e-01 9.66352229e-04 2.80691189e+02] [-1.15382844e-03 -1.32283767e-04 -9.99999326e-01 2.94819968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.370714057 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:303.25, Y:281.29, Z:2.14 [[ 6.41151966e-01 7.67413543e-01 7.81363226e-04 3.03245082e+02] [-7.67413074e-01 6.41152440e-01 -8.50866155e-04 2.81285916e+02] [-1.15393915e-03 -5.40938471e-05 9.99999333e-01 2.13742066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.400714057 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:303.27, Y:281.26, Z:2.14 [[ 6.45744116e-01 7.63553579e-01 6.84983099e-04 3.03267816e+02] [-7.63553012e-01 6.45744475e-01 -9.33268188e-04 2.81264078e+02] [-1.15492432e-03 7.96315320e-05 9.99999330e-01 2.13876851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4307140569999 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:303.28, Y:281.26, Z:2.14 [[ 6.49750569e-01 7.60147168e-01 6.93803040e-04 3.03282466e+02] [-7.60146608e-01 6.49750935e-01 -9.25723166e-04 2.81255445e+02] [-1.15448502e-03 7.40971272e-05 9.99999331e-01 2.14473241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4607140569999 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:303.30, Y:281.22, Z:2.14 [[ 6.51601028e-01 7.58561526e-01 7.15420893e-04 3.03304274e+02] [-7.58560985e-01 6.51601419e-01 -9.07171669e-04 2.81224488e+02] [-1.15431479e-03 4.84236154e-05 9.99999333e-01 2.13819174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4907140569999 meters Centerline goodness : 0.985486 Centerline is valid? [True, True] Translation: X:302.64, Y:280.56, Z:2.95 [[ 6.91618391e-01 -7.22262769e-01 -7.02683292e-04 3.02642475e+02] [-7.22262197e-01 -6.91618736e-01 9.17708513e-04 2.80560629e+02] [-1.14881562e-03 -1.27182507e-04 -9.99999332e-01 2.95309344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.520714057 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:303.38, Y:281.21, Z:2.14 [[ 7.08676979e-01 7.05532586e-01 8.42249912e-04 3.03378013e+02] [-7.05532155e-01 7.08677479e-01 -7.80415773e-04 2.81207534e+02] [-1.14749230e-03 -4.11717032e-05 9.99999341e-01 2.13838139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5507140569999 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:303.40, Y:281.21, Z:2.14 [[ 7.20332379e-01 6.93628641e-01 7.57193950e-04 3.03397314e+02] [-6.93628106e-01 7.20332770e-01 -8.67245905e-04 2.81206689e+02] [-1.14697821e-03 9.94943006e-05 9.99999337e-01 2.14092895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5807140569999 meters Centerline goodness : 0.984778 Centerline is valid? [True, True] Translation: X:302.80, Y:280.49, Z:2.95 [[ 7.44721022e-01 -6.67375452e-01 -7.77970736e-04 3.02797404e+02] [-6.67374925e-01 -7.44721420e-01 8.46740060e-04 2.80487608e+02] [-1.14446500e-03 -1.11386962e-04 -9.99999339e-01 2.95415181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6107140569999 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:303.47, Y:281.20, Z:2.13 [[ 7.72773235e-01 6.34681589e-01 8.98480799e-04 3.03469255e+02] [-6.34681197e-01 7.72773757e-01 -7.06477304e-04 2.81196072e+02] [-1.14271052e-03 -2.43021168e-05 9.99999347e-01 2.13088060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.640714057 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:303.49, Y:281.18, Z:2.13 [[ 7.74623327e-01 6.32422348e-01 8.22501011e-04 3.03490195e+02] [-6.32421852e-01 7.74623757e-01 -7.98062980e-04 2.81181160e+02] [-1.14184169e-03 9.80305883e-05 9.99999343e-01 2.13032386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6707140569999 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:303.51, Y:281.16, Z:2.13 [[ 7.75239786e-01 6.31666514e-01 8.30448481e-04 3.03510699e+02] [-6.31666028e-01 7.75240226e-01 -7.88471160e-04 2.81164264e+02] [-1.14184790e-03 8.66881204e-05 9.99999344e-01 2.12960379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7007140569999 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:303.53, Y:281.15, Z:2.13 [[ 7.77456339e-01 6.28936364e-01 8.31670285e-04 3.03531672e+02] [-6.28935878e-01 7.77456779e-01 -7.86994464e-04 2.81148991e+02] [-1.14155714e-03 8.87865543e-05 9.99999344e-01 2.13076361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7307140569999 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:303.55, Y:281.13, Z:2.13 [[ 7.77557897e-01 6.28810799e-01 8.34108462e-04 3.03552142e+02] [-6.28810316e-01 7.77558340e-01 -7.84044328e-04 2.81133029e+02] [-1.14158353e-03 8.51438530e-05 9.99999345e-01 2.13321108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.760714057 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:303.57, Y:281.12, Z:2.13 [[ 7.78227527e-01 6.27981858e-01 8.38093196e-04 3.03574726e+02] [-6.27981380e-01 7.78227974e-01 -7.79205748e-04 2.81116780e+02] [-1.14155464e-03 8.00924407e-05 9.99999345e-01 2.13357600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.790714057 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:303.60, Y:281.10, Z:2.13 [[ 7.78076566e-01 6.28168885e-01 8.41981741e-04 3.03599560e+02] [-6.28168412e-01 7.78077018e-01 -7.74542020e-04 2.81099852e+02] [-1.14166984e-03 7.37466620e-05 9.99999346e-01 2.13441692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8207140569999 meters Centerline goodness : 0.985193 Centerline is valid? [True, True] Translation: X:303.06, Y:280.34, Z:2.96 [[ 8.02239262e-01 -5.97002052e-01 -8.46615023e-04 3.03062135e+02] [-5.97001567e-01 -8.02239701e-01 7.69111848e-04 2.80342603e+02] [-1.13834953e-03 -1.11581225e-04 -9.99999346e-01 2.96169960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8507140569999 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:303.66, Y:281.10, Z:2.14 [[ 8.13816991e-01 5.81120481e-01 9.44549754e-04 3.03661128e+02] [-5.81120137e-01 8.13817538e-01 -6.33312304e-04 2.81102903e+02] [-1.13672191e-03 -3.34965693e-05 9.99999353e-01 2.13983344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.880714057 meters Centerline goodness : 0.985820 Centerline is valid? [True, True] Translation: X:303.69, Y:281.08, Z:2.13 [[ 8.11645678e-01 5.84149355e-01 9.07695220e-04 3.03690256e+02] [-5.84148955e-01 8.11646185e-01 -6.84221198e-04 2.81082481e+02] [-1.13641473e-03 2.51159639e-05 9.99999354e-01 2.13438142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.910714057 meters Centerline goodness : 0.984970 Centerline is valid? [True, True] Translation: X:303.21, Y:280.29, Z:2.96 [[ 8.53537901e-01 -5.21029981e-01 -9.00737853e-04 3.03207901e+02] [-5.21029534e-01 -8.53538367e-01 6.93689131e-04 2.80294598e+02] [-1.13024715e-03 -1.22778941e-04 -9.99999354e-01 2.95970747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9407140569999 meters Centerline goodness : 0.985391 Centerline is valid? [True, True] Translation: X:303.75, Y:281.09, Z:2.14 [[ 8.44539162e-01 5.35492897e-01 9.79963966e-04 3.03752433e+02] [-5.35492601e-01 8.44539730e-01 -5.65143272e-04 2.81091921e+02] [-1.13024871e-03 -4.74778279e-05 9.99999360e-01 2.13639676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9707140569999 meters Centerline goodness : 0.985601 Centerline is valid? [True, True] Translation: X:303.78, Y:281.08, Z:2.13 [[ 8.41466776e-01 5.40308033e-01 9.45817977e-04 3.03775129e+02] [-5.40307677e-01 8.41467307e-01 -6.20278078e-04 2.81077799e+02] [-1.13101614e-03 1.09106801e-05 9.99999360e-01 2.13395726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.000714057 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:303.79, Y:281.07, Z:2.14 [[ 8.39519029e-01 5.43329460e-01 9.47634123e-04 3.03794493e+02] [-5.43329109e-01 8.39519564e-01 -6.17341175e-04 2.81065602e+02] [-1.13097703e-03 3.39246019e-06 9.99999360e-01 2.13939422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.030714057 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:303.82, Y:281.04, Z:2.13 [[ 8.33900368e-01 5.51914181e-01 9.55580540e-04 3.03820373e+02] [-5.51913851e-01 8.33900915e-01 -6.04375740e-04 2.81037623e+02] [-1.13042303e-03 -2.34089839e-05 9.99999361e-01 2.13073505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0607140569999 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:303.84, Y:281.02, Z:2.13 [[ 8.31648331e-01 5.55301871e-01 9.41309361e-04 3.03844700e+02] [-5.55301516e-01 8.31648864e-01 -6.27596438e-04 2.81022308e+02] [-1.13134434e-03 -7.70985429e-07 9.99999360e-01 2.13137978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0907140569999 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:303.87, Y:281.02, Z:2.14 [[ 8.34438093e-01 5.51100883e-01 9.41038324e-04 3.03865974e+02] [-5.51100526e-01 8.34438624e-01 -6.28037963e-04 2.81020921e+02] [-1.13135100e-03 5.45208537e-06 9.99999360e-01 2.13882355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.120714057 meters Centerline goodness : 0.992832 Centerline is valid? [True, True] Translation: X:303.89, Y:280.99, Z:2.13 [[ 8.25116788e-01 5.64961391e-01 9.55458747e-04 3.03893572e+02] [-5.64961069e-01 8.25117340e-01 -6.04401211e-04 2.80986309e+02] [-1.12982893e-03 -4.10954091e-05 9.99999361e-01 2.13187531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.150714057 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:303.92, Y:280.97, Z:2.13 [[ 8.25173821e-01 5.64878118e-01 9.36071895e-04 3.03918658e+02] [-5.64877761e-01 8.25174352e-01 -6.35776922e-04 2.80973991e+02] [-1.13155899e-03 -4.13972311e-06 9.99999360e-01 2.13249335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1807140569999 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:303.94, Y:280.96, Z:2.13 [[ 8.23454529e-01 5.67381486e-01 9.42445996e-04 3.03941721e+02] [-5.67381142e-01 8.23455068e-01 -6.25445606e-04 2.80957203e+02] [-1.13092819e-03 -1.97000686e-05 9.99999360e-01 2.13132666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2107140569999 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:303.96, Y:280.96, Z:2.14 [[ 8.28798184e-01 5.59546861e-01 9.38534215e-04 3.03961056e+02] [-5.59546505e-01 8.28798715e-01 -6.31870123e-04 2.80963824e+02] [-1.13141690e-03 -1.46072884e-06 9.99999360e-01 2.13925552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2407140569999 meters Centerline goodness : 0.992617 Centerline is valid? [True, True] Translation: X:303.98, Y:280.95, Z:2.13 [[ 8.25253863e-01 5.64761135e-01 9.60066533e-04 3.03980154e+02] [-5.64760822e-01 8.25254420e-01 -5.96383131e-04 2.80950005e+02] [-1.12911316e-03 -5.00404818e-05 9.99999361e-01 2.13142197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.270714057 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:304.00, Y:280.94, Z:2.13 [[ 8.25136971e-01 5.64931894e-01 9.66517655e-04 3.04003319e+02] [-5.64931594e-01 8.25137535e-01 -5.85738234e-04 2.80935343e+02] [-1.12841221e-03 -6.27020873e-05 9.99999361e-01 2.13175263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3007140569999 meters Centerline goodness : 0.991255 Centerline is valid? [True, True] Translation: X:304.03, Y:280.90, Z:2.13 [[ 8.20275919e-01 5.71967205e-01 9.66665867e-04 3.04031274e+02] [-5.71966910e-01 8.20276485e-01 -5.85493532e-04 2.80902812e+02] [-1.12781638e-03 -7.26346439e-05 9.99999361e-01 2.13410822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3307140569999 meters Centerline goodness : 0.992530 Centerline is valid? [True, True] Translation: X:304.05, Y:280.90, Z:2.13 [[ 8.24806011e-01 5.65415017e-01 9.49750249e-04 3.04051323e+02] [-5.65414685e-01 8.24806558e-01 -6.13393329e-04 2.80904215e+02] [-1.13018203e-03 -3.10722338e-05 9.99999361e-01 2.13458359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3607140569999 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:304.07, Y:280.89, Z:2.14 [[ 8.24751127e-01 5.65495043e-01 9.67102303e-04 3.04074857e+02] [-5.65494744e-01 8.24751692e-01 -5.84692407e-04 2.80888772e+02] [-1.12825992e-03 -6.46655475e-05 9.99999361e-01 2.13526513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.390714057 meters Centerline goodness : 0.990902 Centerline is valid? [True, True] Translation: X:304.10, Y:280.86, Z:2.14 [[ 8.19514653e-01 5.73057413e-01 9.67256660e-04 3.04096384e+02] [-5.73057120e-01 8.19515220e-01 -5.84436943e-04 2.80859619e+02] [-1.12759748e-03 -7.53386772e-05 9.99999361e-01 2.13640255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4207140569999 meters Centerline goodness : 0.990655 Centerline is valid? [True, True] Translation: X:304.12, Y:280.84, Z:2.14 [[ 8.19761354e-01 5.72704464e-01 9.58660293e-04 3.04120651e+02] [-5.72704154e-01 8.19761913e-01 -5.98658981e-04 2.80843236e+02] [-1.12872787e-03 -5.82712355e-05 9.99999361e-01 2.13678235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4507140569999 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:304.14, Y:280.84, Z:2.14 [[ 8.25455581e-01 5.64466267e-01 9.57560787e-04 3.04142045e+02] [-5.64465949e-01 8.25456136e-01 -6.00480042e-04 2.80842725e+02] [-1.12937515e-03 -4.48408565e-05 9.99999361e-01 2.13882124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4807140569999 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:304.17, Y:280.82, Z:2.14 [[ 8.27419148e-01 5.61584017e-01 9.72203703e-04 3.04165549e+02] [-5.61583726e-01 8.27419716e-01 -5.76172715e-04 2.80822323e+02] [-1.12798990e-03 -6.92374414e-05 9.99999361e-01 2.13503741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.510714057 meters Centerline goodness : 0.991043 Centerline is valid? [True, True] Translation: X:304.19, Y:280.81, Z:2.13 [[ 8.28763635e-01 5.59597982e-01 9.67924870e-04 3.04188146e+02] [-5.59597681e-01 8.28764198e-01 -5.83273312e-04 2.80805620e+02] [-1.12858005e-03 -5.82528026e-05 9.99999361e-01 2.13469980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.540714057 meters Centerline goodness : 0.991349 Centerline is valid? [True, True] Translation: X:304.21, Y:280.79, Z:2.13 [[ 8.31516591e-01 5.55499075e-01 9.68074779e-04 3.04209676e+02] [-5.55498772e-01 8.31517153e-01 -5.83024397e-04 2.80786727e+02] [-1.12884030e-03 -5.29698924e-05 9.99999361e-01 2.13387891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5707140569999 meters Centerline goodness : 0.990097 Centerline is valid? [True, True] Translation: X:304.23, Y:280.75, Z:2.13 [[ 8.26548705e-01 5.62864372e-01 9.68227923e-04 3.04233924e+02] [-5.62864073e-01 8.26549270e-01 -5.82769959e-04 2.80754936e+02] [-1.12830853e-03 -6.32929576e-05 9.99999361e-01 2.13243187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6007140569999 meters Centerline goodness : 0.989321 Centerline is valid? [True, True] Translation: X:304.26, Y:280.74, Z:2.13 [[ 8.28376905e-01 5.60170326e-01 9.53191601e-04 3.04258389e+02] [-5.60169997e-01 8.28377453e-01 -6.07727536e-04 2.80735041e+02] [-1.13003336e-03 -3.05218803e-05 9.99999361e-01 2.12685840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.630714057 meters Centerline goodness : 0.990751 Centerline is valid? [True, True] Translation: X:304.28, Y:280.72, Z:2.13 [[ 8.33506559e-01 5.52508744e-01 9.51057234e-04 3.04280731e+02] [-5.52508406e-01 8.33507101e-01 -6.11273093e-04 2.80715322e+02] [-1.13044669e-03 -1.59669844e-05 9.99999361e-01 2.12706742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.660714057 meters Centerline goodness : 0.990526 Centerline is valid? [True, True] Translation: X:304.31, Y:280.70, Z:2.13 [[ 8.35253956e-01 5.49863557e-01 9.47742299e-04 3.04305540e+02] [-5.49863211e-01 8.35254493e-01 -6.16785837e-04 2.80695420e+02] [-1.13075407e-03 -5.95581374e-06 9.99999361e-01 2.12554928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6907140569999 meters Centerline goodness : 0.990739 Centerline is valid? [True, True] Translation: X:304.33, Y:280.68, Z:2.12 [[ 8.37434955e-01 5.46536189e-01 9.43754786e-04 3.04328132e+02] [-5.46535834e-01 8.37435486e-01 -6.23425086e-04 2.80677334e+02] [-1.13105812e-03 6.28214965e-06 9.99999360e-01 2.12482516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7207140569999 meters Centerline goodness : 0.991553 Centerline is valid? [True, True] Translation: X:304.35, Y:280.66, Z:2.12 [[ 8.41559480e-01 5.40163635e-01 9.43077590e-04 3.04348885e+02] [-5.40163274e-01 8.41560008e-01 -6.24553506e-04 2.80657092e+02] [-1.13101748e-03 1.61830452e-05 9.99999360e-01 2.12404972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.750714057 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:304.36, Y:280.67, Z:2.13 [[ 8.50992772e-01 5.25176554e-01 9.42589661e-04 3.04364162e+02] [-5.25176183e-01 8.50993294e-01 -6.25369405e-04 2.80666029e+02] [-1.13056683e-03 3.71592039e-05 9.99999360e-01 2.13224400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.780714057 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:304.39, Y:280.65, Z:2.13 [[ 8.51141269e-01 5.24935803e-01 9.70824387e-04 3.04388553e+02] [-5.24935485e-01 8.51141823e-01 -5.77940739e-04 2.80651553e+02] [-1.12969102e-03 -1.77109564e-05 9.99999362e-01 2.13218870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8107140569999 meters Centerline goodness : 0.991553 Centerline is valid? [True, True] Translation: X:304.42, Y:280.61, Z:2.12 [[ 8.46247854e-01 5.32788539e-01 9.70987762e-04 3.04418446e+02] [-5.32788226e-01 8.46248411e-01 -5.77666125e-04 2.80609003e+02] [-1.12947074e-03 -2.84821288e-05 9.99999362e-01 2.12437859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8407140569999 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:304.43, Y:280.62, Z:2.13 [[ 8.56996445e-01 5.15321464e-01 9.39017096e-04 3.04431293e+02] [-5.15321080e-01 8.56996958e-01 -6.31229930e-04 2.80617520e+02] [-1.13002113e-03 5.70665015e-05 9.99999360e-01 2.13283955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.870714057 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:304.45, Y:280.60, Z:2.13 [[ 8.58620551e-01 5.12610775e-01 9.71321340e-04 3.04454434e+02] [-5.12610450e-01 8.58621100e-01 -5.76833279e-04 2.80601290e+02] [-1.12968795e-03 -2.62856133e-06 9.99999362e-01 2.13323924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.900714057 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:304.48, Y:280.56, Z:2.13 [[ 8.55174289e-01 5.18339649e-01 9.71481842e-04 3.04483272e+02] [-5.18339328e-01 8.55174841e-01 -5.76562841e-04 2.80560721e+02] [-1.12964221e-03 -1.04955275e-05 9.99999362e-01 2.12575979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9307140569999 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:304.51, Y:280.54, Z:2.13 [[ 8.55949394e-01 5.17058740e-01 9.46128157e-04 3.04508577e+02] [-5.17058370e-01 8.55949916e-01 -6.19223589e-04 2.80544989e+02] [-1.13001329e-03 4.08205724e-05 9.99999361e-01 2.12516456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9607140569999 meters Centerline goodness : 0.992767 Centerline is valid? [True, True] Translation: X:304.53, Y:280.53, Z:2.12 [[ 8.56388944e-01 5.16330399e-01 9.46073942e-04 3.04533954e+02] [-5.16330029e-01 8.56389466e-01 -6.19315229e-04 2.80528369e+02] [-1.12997904e-03 4.18883294e-05 9.99999361e-01 2.12401447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9907140569999 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:304.56, Y:280.52, Z:2.12 [[ 8.57401371e-01 5.14647447e-01 9.45479978e-04 3.04558993e+02] [-5.14647075e-01 8.57401892e-01 -6.20323046e-04 2.80515195e+02] [-1.12990399e-03 4.52773254e-05 9.99999361e-01 2.12385182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.020714057 meters Centerline goodness : 0.993462 Centerline is valid? [True, True] Translation: X:304.58, Y:280.53, Z:2.13 [[ 8.64454587e-01 5.02710029e-01 9.45379724e-04 3.04575943e+02] [-5.02709649e-01 8.64455102e-01 -6.20493484e-04 2.80527582e+02] [-1.12916662e-03 6.11369295e-05 9.99999361e-01 2.13092589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0507140569999 meters Centerline goodness : 0.993191 Centerline is valid? [True, True] Translation: X:304.60, Y:280.51, Z:2.13 [[ 8.64466698e-01 5.02689147e-01 9.74628397e-04 3.04600468e+02] [-5.02688824e-01 8.64467247e-01 -5.70528236e-04 2.80513979e+02] [-1.12933268e-03 3.26785732e-06 9.99999362e-01 2.13057663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0807140569999 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:304.62, Y:280.50, Z:2.13 [[ 8.64471907e-01 5.02680189e-01 9.74786419e-04 3.04624999e+02] [-5.02679866e-01 8.64472456e-01 -5.70258116e-04 2.80500161e+02] [-1.12933347e-03 2.96661449e-06 9.99999362e-01 2.12979512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1107140569999 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:304.65, Y:280.49, Z:2.13 [[ 8.64692192e-01 5.02301168e-01 9.74946151e-04 3.04649369e+02] [-5.02300845e-01 8.64692741e-01 -5.69984898e-04 2.80485827e+02] [-1.12933294e-03 3.14521490e-06 9.99999362e-01 2.12913186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.140714057 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] Translation: X:304.67, Y:280.47, Z:2.13 [[ 8.65026362e-01 5.01725465e-01 9.75104996e-04 3.04673623e+02] [-5.01725142e-01 8.65026911e-01 -5.69713023e-04 2.80471702e+02] [-1.12933159e-03 3.58209114e-06 9.99999362e-01 2.12900988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1707140569999 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:304.70, Y:280.46, Z:2.13 [[ 8.65435607e-01 5.01019220e-01 9.75263477e-04 3.04697108e+02] [-5.01018896e-01 8.65436157e-01 -5.69441598e-04 2.80457736e+02] [-1.12932946e-03 4.18960444e-06 9.99999362e-01 2.12947374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2007140569999 meters Centerline goodness : 0.993257 Centerline is valid? [True, True] Translation: X:304.72, Y:280.44, Z:2.13 [[ 8.65643849e-01 5.00659341e-01 9.75337533e-04 3.04720823e+02] [-5.00659017e-01 8.65644398e-01 -5.69314728e-04 2.80443825e+02] [-1.12932821e-03 4.51226142e-06 9.99999362e-01 2.12938543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2307140569999 meters Centerline goodness : 0.992287 Centerline is valid? [True, True] Translation: X:304.75, Y:280.41, Z:2.13 [[ 8.62475891e-01 5.06097211e-01 9.75493493e-04 3.04750504e+02] [-5.06096891e-01 8.62476442e-01 -5.69047372e-04 2.80414477e+02] [-1.12933344e-03 -2.90458430e-06 9.99999362e-01 2.12533911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.260714057 meters Centerline goodness : 0.993192 Centerline is valid? [True, True] Translation: X:304.77, Y:280.41, Z:2.13 [[ 8.65719370e-01 5.00528782e-01 9.54676242e-04 3.04769308e+02] [-5.00528418e-01 8.65719895e-01 -6.04640344e-04 2.80414027e+02] [-1.12912211e-03 4.56062683e-05 9.99999362e-01 2.12890769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.290714057 meters Centerline goodness : 0.992939 Centerline is valid? [True, True] Translation: X:304.79, Y:280.40, Z:2.13 [[ 8.65456540e-01 5.00983060e-01 9.75610285e-04 3.04793252e+02] [-5.00982737e-01 8.65457090e-01 -5.68729668e-04 2.80399409e+02] [-1.12927277e-03 3.44689958e-06 9.99999362e-01 2.12845286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3207140569999 meters Centerline goodness : 0.992320 Centerline is valid? [True, True] Translation: X:304.82, Y:280.39, Z:2.13 [[ 8.65259487e-01 5.01323316e-01 9.75762430e-04 3.04817690e+02] [-5.01322994e-01 8.65260038e-01 -5.68468516e-04 2.80385044e+02] [-1.12927476e-03 2.70063406e-06 9.99999362e-01 2.12806456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3507140569999 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:304.85, Y:280.35, Z:2.12 [[ 8.59204590e-01 5.11631234e-01 9.75914734e-04 3.04848987e+02] [-5.11630918e-01 8.59205145e-01 -5.68206928e-04 2.80348607e+02] [-1.12922337e-03 -1.11021514e-05 9.99999362e-01 2.12167873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.380714057 meters Centerline goodness : 0.992660 Centerline is valid? [True, True] Translation: X:304.87, Y:280.36, Z:2.13 [[ 8.63516117e-01 5.04320349e-01 9.49855140e-04 3.04866333e+02] [-5.04319979e-01 8.63516638e-01 -6.12875044e-04 2.80358653e+02] [-1.12930107e-03 5.01965537e-05 9.99999361e-01 2.12664343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.410714057 meters Centerline goodness : 0.991601 Centerline is valid? [True, True] Translation: X:304.90, Y:280.32, Z:2.12 [[ 8.57361343e-01 5.14714070e-01 9.76381122e-04 3.04896788e+02] [-5.14713758e-01 8.57361899e-01 -5.67214225e-04 2.80324764e+02] [-1.12906512e-03 -1.62492470e-05 9.99999362e-01 2.12079938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4407140569999 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:304.92, Y:280.33, Z:2.13 [[ 8.60944909e-01 5.08697308e-01 9.55609280e-04 3.04917562e+02] [-5.08696952e-01 8.60945438e-01 -6.02985486e-04 2.80332505e+02] [-1.12946454e-03 3.30217563e-05 9.99999362e-01 2.12625302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4707140569999 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:304.94, Y:280.32, Z:2.13 [[ 8.59887165e-01 5.10483210e-01 9.77289144e-04 3.04942156e+02] [-5.10482897e-01 8.59887721e-01 -5.65519975e-04 2.80320245e+02] [-1.12904739e-03 -1.26060252e-05 9.99999363e-01 2.12524086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.500714057 meters Centerline goodness : 0.990864 Centerline is valid? [True, True] Translation: X:304.97, Y:280.29, Z:2.12 [[ 8.52665254e-01 5.22456706e-01 9.77358898e-04 3.04974977e+02] [-5.22456401e-01 8.52665813e-01 -5.65399396e-04 2.80285924e+02] [-1.12875723e-03 -2.85309928e-05 9.99999363e-01 2.12006528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.530714057 meters Centerline goodness : 0.992368 Centerline is valid? [True, True] Translation: X:304.99, Y:280.30, Z:2.13 [[ 8.57401285e-01 5.14647581e-01 9.50861372e-04 3.04993403e+02] [-5.14647220e-01 8.57401811e-01 -6.11098891e-04 2.80297982e+02] [-1.12977083e-03 3.45988133e-05 9.99999361e-01 2.12660361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5607140569999 meters Centerline goodness : 0.992138 Centerline is valid? [True, True] Translation: X:305.02, Y:280.29, Z:2.13 [[ 8.56727179e-01 5.15768925e-01 9.77787408e-04 3.05017862e+02] [-5.15768617e-01 8.56727737e-01 -5.64455851e-04 2.80286416e+02] [-1.12882638e-03 -2.07273899e-05 9.99999363e-01 2.12598116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5907140569999 meters Centerline goodness : 0.992105 Centerline is valid? [True, True] Translation: X:305.04, Y:280.27, Z:2.13 [[ 8.57002650e-01 5.15311070e-01 9.79976133e-04 3.05044428e+02] [-5.15310765e-01 8.57003210e-01 -5.60661787e-04 2.80272969e+02] [-1.12875792e-03 -2.45036136e-05 9.99999363e-01 2.12686688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.620714057 meters Centerline goodness : 0.990414 Centerline is valid? [True, True] Translation: X:305.07, Y:280.26, Z:2.12 [[ 8.56786807e-01 5.15669866e-01 9.77959963e-04 3.05073829e+02] [-5.15669558e-01 8.56787365e-01 -5.64156797e-04 2.80255609e+02] [-1.12882240e-03 -2.09420804e-05 9.99999363e-01 2.12473713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.650714057 meters Centerline goodness : 0.991092 Centerline is valid? [True, True] Translation: X:305.10, Y:280.24, Z:2.12 [[ 8.58228574e-01 5.13266767e-01 9.69664736e-04 3.05100163e+02] [-5.13266441e-01 8.58229122e-01 -5.78574121e-04 2.80243881e+02] [-1.12915738e-03 -1.14752559e-06 9.99999363e-01 2.12493261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6807140569999 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:305.12, Y:280.24, Z:2.13 [[ 8.60579373e-01 5.09315429e-01 9.67932108e-04 3.05122433e+02] [-5.09315097e-01 8.60579917e-01 -5.81587049e-04 2.80239074e+02] [-1.12919419e-03 7.51938214e-06 9.99999362e-01 2.12726415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7107140569999 meters Centerline goodness : 0.991907 Centerline is valid? [True, True] Translation: X:305.15, Y:280.23, Z:2.13 [[ 8.61957919e-01 5.06978882e-01 9.79201780e-04 3.05148007e+02] [-5.06978571e-01 8.61958475e-01 -5.61949553e-04 2.80227385e+02] [-1.12892783e-03 -1.20574512e-05 9.99999363e-01 2.12746922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7407140569999 meters Centerline goodness : 0.991888 Centerline is valid? [True, True] Translation: X:305.17, Y:280.22, Z:2.13 [[ 8.64890875e-01 5.01958978e-01 9.79360496e-04 3.05174349e+02] [-5.01958663e-01 8.64891430e-01 -5.61672808e-04 2.80217823e+02] [-1.12897721e-03 -5.81279925e-06 9.99999363e-01 2.12789943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.770714057 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:305.20, Y:280.21, Z:2.13 [[ 8.66203236e-01 4.99690898e-01 9.79520904e-04 3.05198825e+02] [-4.99690583e-01 8.66203790e-01 -5.61392927e-04 2.80206663e+02] [-1.12898766e-03 -3.17700159e-06 9.99999363e-01 2.12822023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8007140569999 meters Centerline goodness : 0.991995 Centerline is valid? [True, True] Translation: X:305.22, Y:280.20, Z:2.13 [[ 8.67521938e-01 4.97397958e-01 9.79590336e-04 3.05224245e+02] [-4.97397641e-01 8.67522491e-01 -5.61271747e-04 2.80195241e+02] [-1.12899207e-03 -3.30368957e-07 9.99999363e-01 2.12836509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8307140569999 meters Centerline goodness : 0.989691 Centerline is valid? [True, True] Translation: X:305.25, Y:280.18, Z:2.13 [[ 8.69474447e-01 4.93976948e-01 9.79750016e-04 3.05253160e+02] [-4.93976630e-01 8.69474999e-01 -5.60992872e-04 2.80184340e+02] [-1.12898569e-03 3.79535608e-06 9.99999363e-01 2.12712601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8607140569999 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:305.28, Y:280.17, Z:2.13 [[ 8.69164575e-01 4.94521983e-01 9.74653355e-04 3.05280760e+02] [-4.94521655e-01 8.69165122e-01 -5.69902239e-04 2.80169732e+02] [-1.12896389e-03 1.33516478e-05 9.99999363e-01 2.12555182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.890714057 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:305.31, Y:280.16, Z:2.13 [[ 8.70223021e-01 4.92657046e-01 9.63456166e-04 3.05306831e+02] [-4.92656694e-01 8.70223554e-01 -5.89777739e-04 2.80160383e+02] [-1.12898041e-03 3.85850356e-05 9.99999362e-01 2.12564163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9207140569999 meters Centerline goodness : 0.991660 Centerline is valid? [True, True] Translation: X:305.33, Y:280.16, Z:2.13 [[ 8.71314581e-01 4.90723923e-01 9.65147565e-04 3.05331786e+02] [-4.90723574e-01 8.71315115e-01 -5.86766422e-04 2.80159689e+02] [-1.12888798e-03 3.76374764e-05 9.99999362e-01 2.12837174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9507140569999 meters Centerline goodness : 0.992484 Centerline is valid? [True, True] Translation: X:305.36, Y:280.15, Z:2.13 [[ 8.72459982e-01 4.88684590e-01 9.75043365e-04 3.05360783e+02] [-4.88684260e-01 8.72460527e-01 -5.69099127e-04 2.80148124e+02] [-1.12879682e-03 2.00278697e-05 9.99999363e-01 2.12732952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9807140569999 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:305.39, Y:280.14, Z:2.13 [[ 8.72668124e-01 4.88312813e-01 9.70087600e-04 3.05386434e+02] [-4.88312472e-01 8.72668663e-01 -5.77948297e-04 2.80139306e+02] [-1.12878461e-03 3.06511825e-05 9.99999362e-01 2.12735674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.010714057 meters Centerline goodness : 0.992814 Centerline is valid? [True, True] Translation: X:305.41, Y:280.13, Z:2.13 [[ 8.74184983e-01 4.85592082e-01 9.72102609e-04 3.05414433e+02] [-4.85591744e-01 8.74185523e-01 -5.74343146e-04 2.80132486e+02] [-1.12869451e-03 3.00371527e-05 9.99999363e-01 2.12674704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.040714057 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:305.44, Y:280.12, Z:2.13 [[ 8.75645963e-01 4.82952588e-01 9.72098513e-04 3.05435192e+02] [-4.82952248e-01 8.75646502e-01 -5.74350484e-04 2.80120726e+02] [-1.12859871e-03 3.34505209e-05 9.99999363e-01 2.12809452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0707140569999 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:305.46, Y:280.11, Z:2.13 [[ 8.79157888e-01 4.76529591e-01 9.78713202e-04 3.05463614e+02] [-4.76529260e-01 8.79158432e-01 -5.62480524e-04 2.80105599e+02] [-1.12848258e-03 2.81237123e-05 9.99999363e-01 2.12788534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1007140569999 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:305.49, Y:280.09, Z:2.12 [[ 8.81905179e-01 4.71425827e-01 9.72517624e-04 3.05485778e+02] [-4.71425480e-01 8.81905714e-01 -5.73596603e-04 2.80090648e+02] [-1.12807710e-03 4.73882273e-05 9.99999363e-01 2.12491597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.130714057 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:305.51, Y:280.08, Z:2.13 [[ 8.83388821e-01 4.68639776e-01 9.75627061e-04 3.05509183e+02] [-4.68639434e-01 8.83389358e-01 -5.68006874e-04 2.80077013e+02] [-1.12804918e-03 4.45536091e-05 9.99999363e-01 2.12542804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.160714057 meters Centerline goodness : 0.993191 Centerline is valid? [True, True] Translation: X:305.54, Y:280.06, Z:2.12 [[ 8.84105982e-01 4.67285415e-01 9.76978033e-04 3.05535742e+02] [-4.67285074e-01 8.84106520e-01 -5.65575016e-04 2.80059389e+02] [-1.12803760e-03 4.35010019e-05 9.99999363e-01 2.12188378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1907140569999 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:305.56, Y:280.05, Z:2.12 [[ 8.84020547e-01 4.67447035e-01 9.70021821e-04 3.05557562e+02] [-4.67446681e-01 8.84021078e-01 -5.78089781e-04 2.80046747e+02] [-1.12774609e-03 5.76097634e-05 9.99999362e-01 2.12263733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2207140569999 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:305.59, Y:280.03, Z:2.12 [[ 8.85341241e-01 4.64940789e-01 9.75035748e-04 3.05586057e+02] [-4.64940443e-01 8.85341776e-01 -5.69052447e-04 2.80028714e+02] [-1.12781557e-03 5.04720467e-05 9.99999363e-01 2.11838294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.250714057 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:305.61, Y:280.02, Z:2.12 [[ 8.86186980e-01 4.63326771e-01 9.69363142e-04 3.05610629e+02] [-4.63326413e-01 8.86187508e-01 -5.79301313e-04 2.80015966e+02] [-1.12744331e-03 6.42377335e-05 9.99999362e-01 2.11885832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.280714057 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:305.63, Y:280.00, Z:2.12 [[ 8.86070554e-01 4.63549388e-01 9.69016134e-04 3.05633789e+02] [-4.63549030e-01 8.86071081e-01 -5.79929282e-04 2.80004380e+02] [-1.12744304e-03 6.46717713e-05 9.99999362e-01 2.12007279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3107140569999 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:305.66, Y:279.99, Z:2.12 [[ 8.83981410e-01 4.67521043e-01 9.70374482e-04 3.05655896e+02] [-4.67520690e-01 8.83981940e-01 -5.77475179e-04 2.79992090e+02] [-1.12777532e-03 5.68071752e-05 9.99999362e-01 2.11948792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3407140569999 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:305.69, Y:279.98, Z:2.12 [[ 8.85186483e-01 4.65235356e-01 9.76517431e-04 3.05685671e+02] [-4.65235013e-01 8.85187021e-01 -5.66333216e-04 2.79975926e+02] [-1.12787879e-03 4.70004070e-05 9.99999363e-01 2.12074511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.370714057 meters Centerline goodness : 0.992526 Centerline is valid? [True, True] Translation: X:305.71, Y:279.97, Z:2.12 [[ 8.83939193e-01 4.67600863e-01 9.67563319e-04 3.05707045e+02] [-4.67600504e-01 8.83939720e-01 -5.82566095e-04 2.79965361e+02] [-1.12767606e-03 6.25199079e-05 9.99999362e-01 2.12416944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.400714057 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:305.73, Y:279.95, Z:2.12 [[ 8.83712451e-01 4.68029223e-01 9.74933391e-04 3.05733080e+02] [-4.68028880e-01 8.83712987e-01 -5.69155729e-04 2.79951977e+02] [-1.12794281e-03 4.66730218e-05 9.99999363e-01 2.12326348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4307140569999 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:305.76, Y:279.94, Z:2.12 [[ 8.84883163e-01 4.65812023e-01 9.73371940e-04 3.05760643e+02] [-4.65811675e-01 8.84883697e-01 -5.72000806e-04 2.79936794e+02] [-1.12776581e-03 5.27458689e-05 9.99999363e-01 2.12197047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4607140569999 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] Translation: X:305.78, Y:279.94, Z:2.13 [[ 8.89654563e-01 4.56633134e-01 9.68996451e-04 3.05779366e+02] [-4.56632772e-01 8.89655088e-01 -5.79982223e-04 2.79941287e+02] [-1.12691172e-03 7.35082964e-05 9.99999362e-01 2.12589603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4907140569999 meters Centerline goodness : 0.993162 Centerline is valid? [True, True] Translation: X:305.81, Y:279.91, Z:2.12 [[ 8.86215022e-01 4.63273088e-01 9.90347349e-04 3.05810411e+02] [-4.63272773e-01 8.86215575e-01 -5.40889578e-04 2.79908375e+02] [-1.12824083e-03 2.05435070e-05 9.99999363e-01 2.12423964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.520714057 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:305.83, Y:279.89, Z:2.12 [[ 8.85329123e-01 4.64963878e-01 9.67161805e-04 3.05832597e+02] [-4.64963517e-01 8.85329649e-01 -5.83301338e-04 2.79894596e+02] [-1.12747107e-03 6.67187079e-05 9.99999362e-01 2.12317996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5507140569999 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:305.86, Y:279.88, Z:2.13 [[ 8.87881176e-01 4.60071812e-01 9.72425360e-04 3.05859805e+02] [-4.60071458e-01 8.87881706e-01 -5.73656967e-04 2.79879322e+02] [-1.12732209e-03 6.19540694e-05 9.99999363e-01 2.12528033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5807140569999 meters Centerline goodness : 0.991781 Centerline is valid? [True, True] Translation: X:305.88, Y:279.87, Z:2.13 [[ 8.89860251e-01 4.56232168e-01 9.71391275e-04 3.05879356e+02] [-4.56231810e-01 8.89860778e-01 -5.75536646e-04 2.79870772e+02] [-1.12698133e-03 6.89675842e-05 9.99999363e-01 2.12668084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6107140569999 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:305.91, Y:279.86, Z:2.12 [[ 8.91612866e-01 4.52797443e-01 9.86490031e-04 3.05907619e+02] [-4.52797113e-01 8.91613411e-01 -5.48014247e-04 2.79855078e+02] [-1.12770719e-03 4.19367148e-05 9.99999363e-01 2.12479388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.640714057 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:305.93, Y:279.85, Z:2.13 [[ 8.93070038e-01 4.49916604e-01 9.77948233e-04 3.05927964e+02] [-4.49916255e-01 8.93070572e-01 -5.63534190e-04 2.79848410e+02] [-1.12692018e-03 6.32806939e-05 9.99999363e-01 2.12625982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6707140569999 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:305.95, Y:279.83, Z:2.13 [[ 8.93194887e-01 4.49668673e-01 9.89109248e-04 3.05952849e+02] [-4.49668347e-01 8.93195434e-01 -5.43211608e-04 2.79834824e+02] [-1.12773311e-03 4.04227100e-05 9.99999363e-01 2.12621686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7007140569999 meters Centerline goodness : 0.990373 Centerline is valid? [True, True] Translation: X:305.98, Y:279.82, Z:2.12 [[ 8.93053878e-01 4.49948656e-01 9.89259952e-04 3.05976778e+02] [-4.49948330e-01 8.93054425e-01 -5.42937017e-04 2.79817926e+02] [-1.12775676e-03 3.97561454e-05 9.99999363e-01 2.12483717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7307140569999 meters Centerline goodness : 0.993400 Centerline is valid? [True, True] Translation: X:306.01, Y:279.80, Z:2.12 [[ 8.93270015e-01 4.49519413e-01 9.88777342e-04 3.06008502e+02] [-4.49519086e-01 8.93270561e-01 -5.43816712e-04 2.79798246e+02] [-1.12770186e-03 4.13008755e-05 9.99999363e-01 2.11872452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.760714057 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:306.02, Y:279.81, Z:2.12 [[ 9.00531359e-01 4.34790006e-01 9.59864011e-04 3.06020329e+02] [-4.34789612e-01 9.00531863e-01 -5.97956469e-04 2.79814691e+02] [-1.12437362e-03 1.21139651e-04 9.99999361e-01 2.12392160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.790714057 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:306.05, Y:279.78, Z:2.12 [[ 8.93272774e-01 4.49513913e-01 9.96611104e-04 3.06054756e+02] [-4.49513603e-01 8.93273330e-01 -5.28685499e-04 2.79777383e+02] [-1.12789761e-03 2.42701139e-05 9.99999364e-01 2.12136771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8207140569999 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:306.08, Y:279.76, Z:2.12 [[ 8.92650123e-01 4.50749183e-01 9.65330175e-04 3.06082991e+02] [-4.50748809e-01 8.92650640e-01 -5.87568817e-04 2.79760187e+02] [-1.12654876e-03 8.93719494e-05 9.99999361e-01 2.11741318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8507140569999 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:306.11, Y:279.75, Z:2.12 [[ 8.92405485e-01 4.51233346e-01 9.58432158e-04 3.06105038e+02] [-4.51232958e-01 8.92405993e-01 -6.00511408e-04 2.79750495e+02] [-1.12628137e-03 1.03423496e-04 9.99999360e-01 2.11753039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.880714057 meters Centerline goodness : 0.990734 Centerline is valid? [True, True] Translation: X:306.13, Y:279.75, Z:2.12 [[ 8.96027925e-01 4.43996646e-01 9.67521156e-04 3.06128800e+02] [-4.43996272e-01 8.96028442e-01 -5.83763289e-04 2.79747947e+02] [-1.12611542e-03 9.34924218e-05 9.99999362e-01 2.12199397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.910714057 meters Centerline goodness : 0.993054 Centerline is valid? [True, True] Translation: X:306.15, Y:279.74, Z:2.13 [[ 8.95595119e-01 4.44868985e-01 9.84459592e-04 3.06149794e+02] [-4.44868646e-01 8.95595658e-01 -5.52445370e-04 2.79738850e+02] [-1.12744355e-03 5.68121710e-05 9.99999363e-01 2.12522926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9407140569999 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:306.19, Y:279.70, Z:2.12 [[ 8.88586379e-01 4.58708252e-01 9.93277373e-04 3.06186647e+02] [-4.58707939e-01 8.88586934e-01 -5.36108178e-04 2.79696917e+02] [-1.12853054e-03 2.07542084e-05 9.99999363e-01 2.12152054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9707140569999 meters Centerline goodness : 0.989890 Centerline is valid? [True, True] Translation: X:306.21, Y:279.69, Z:2.12 [[ 8.91086659e-01 4.53832189e-01 9.54633017e-04 3.06209839e+02] [-4.53831797e-01 8.91087164e-01 -6.05744764e-04 2.79690730e+02] [-1.12556770e-03 1.06528260e-04 9.99999361e-01 2.12219116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.000714057 meters Centerline goodness : 0.992915 Centerline is valid? [True, True] Translation: X:306.23, Y:279.67, Z:2.12 [[ 8.87785601e-01 4.60256200e-01 9.77885858e-04 3.06234463e+02] [-4.60255858e-01 8.87786138e-01 -5.63677788e-04 2.79669267e+02] [-1.12758971e-03 5.03473297e-05 9.99999363e-01 2.12111099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.030714057 meters Centerline goodness : 0.990318 Centerline is valid? [True, True] Translation: X:306.26, Y:279.66, Z:2.12 [[ 8.91956011e-01 4.52121172e-01 9.59280011e-04 3.06259989e+02] [-4.52120788e-01 8.91956521e-01 -5.97364239e-04 2.79663954e+02] [-1.12571708e-03 9.91121886e-05 9.99999361e-01 2.12126913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0607140569999 meters Centerline goodness : 0.992727 Centerline is valid? [True, True] Translation: X:306.28, Y:279.65, Z:2.12 [[ 8.91584778e-01 4.52852764e-01 9.78450204e-04 3.06279631e+02] [-4.52852419e-01 8.91585313e-01 -5.62529912e-04 2.79654862e+02] [-1.12711506e-03 5.84495652e-05 9.99999363e-01 2.12316555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0907140569999 meters Centerline goodness : 0.991832 Centerline is valid? [True, True] Translation: X:306.30, Y:279.64, Z:2.12 [[ 8.91678234e-01 4.52668696e-01 9.89117380e-04 3.06304281e+02] [-4.52668371e-01 8.91678782e-01 -5.43102475e-04 2.79640967e+02] [-1.12782047e-03 3.65305030e-05 9.99999363e-01 2.12299988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.120714057 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:306.34, Y:279.59, Z:2.12 [[ 8.84650989e-01 4.66252774e-01 9.89262294e-04 3.06340674e+02] [-4.66252458e-01 8.84651542e-01 -5.42838385e-04 2.79592994e+02] [-1.12825232e-03 1.89765374e-05 9.99999363e-01 2.11769241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.150714057 meters Centerline goodness : 0.992074 Centerline is valid? [True, True] Translation: X:306.35, Y:279.61, Z:2.12 [[ 8.92807519e-01 4.50437384e-01 9.46829104e-04 3.06349613e+02] [-4.50436976e-01 8.92808012e-01 -6.19827042e-04 2.79614673e+02] [-1.12452988e-03 1.26899406e-04 9.99999360e-01 2.12191627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1807140569999 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:306.37, Y:279.60, Z:2.12 [[ 8.92908323e-01 4.50237435e-01 9.89707409e-04 3.06372783e+02] [-4.50237111e-01 8.92908871e-01 -5.41450601e-04 2.79600942e+02] [-1.12749985e-03 3.78627435e-05 9.99999364e-01 2.12069054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2107140569999 meters Centerline goodness : 0.991995 Centerline is valid? [True, True] Translation: X:306.40, Y:279.59, Z:2.12 [[ 8.93504089e-01 4.49053965e-01 9.89772726e-04 3.06396968e+02] [-4.49053641e-01 8.93504636e-01 -5.41331175e-04 2.79587517e+02] [-1.12745343e-03 3.92205725e-05 9.99999364e-01 2.12091408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2407140569999 meters Centerline goodness : 0.991497 Centerline is valid? [True, True] Translation: X:306.42, Y:279.57, Z:2.12 [[ 8.94068252e-01 4.47929661e-01 9.89919826e-04 3.06420983e+02] [-4.47929336e-01 8.94068799e-01 -5.41062043e-04 2.79573858e+02] [-1.12741417e-03 4.03322654e-05 9.99999364e-01 2.12056795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.270714057 meters Centerline goodness : 0.991304 Centerline is valid? [True, True] Translation: X:306.45, Y:279.56, Z:2.12 [[ 8.95009174e-01 4.46046633e-01 9.90071690e-04 3.06445645e+02] [-4.46046308e-01 8.95009720e-01 -5.40784010e-04 2.79559196e+02] [-1.12733867e-03 4.23888280e-05 9.99999364e-01 2.11979181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3007140569999 meters Centerline goodness : 0.992678 Centerline is valid? [True, True] Translation: X:306.48, Y:279.51, Z:2.12 [[ 8.86872057e-01 4.62014042e-01 9.90204284e-04 3.06484469e+02] [-4.62013726e-01 8.86872609e-01 -5.40541114e-04 2.79507974e+02] [-1.12792264e-03 2.19028390e-05 9.99999364e-01 2.11620552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3307140569999 meters Centerline goodness : 0.991973 Centerline is valid? [True, True] Translation: X:306.49, Y:279.53, Z:2.12 [[ 8.96685710e-01 4.42666752e-01 9.40276069e-04 3.06491996e+02] [-4.42666327e-01 8.96686190e-01 -6.31498592e-04 2.79534202e+02] [-1.12267600e-03 1.50027209e-04 9.99999359e-01 2.11897885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3607140569999 meters Centerline goodness : 0.991839 Centerline is valid? [True, True] Translation: X:306.53, Y:279.48, Z:2.12 [[ 8.88615205e-01 4.58652414e-01 9.90615232e-04 3.06531629e+02] [-4.58652098e-01 8.88615757e-01 -5.38977616e-04 2.79481494e+02] [-1.12747969e-03 2.45959500e-05 9.99999364e-01 2.11694060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.390714057 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:306.54, Y:279.51, Z:2.12 [[ 8.98264801e-01 4.39453597e-01 9.40155164e-04 3.06539113e+02] [-4.39453171e-01 8.98265279e-01 -6.31208026e-04 2.79508338e+02] [-1.12189538e-03 1.53837783e-04 9.99999359e-01 2.11982691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4207140569999 meters Centerline goodness : 0.990340 Centerline is valid? [True, True] Translation: X:306.56, Y:279.50, Z:2.12 [[ 8.98398352e-01 4.39180394e-01 9.91042013e-04 3.06562498e+02] [-4.39180068e-01 8.98398898e-01 -5.37358145e-04 2.79495670e+02] [-1.12634821e-03 4.75157732e-05 9.99999365e-01 2.11862406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4507140569999 meters Centerline goodness : 0.989496 Centerline is valid? [True, True] Translation: X:306.59, Y:279.48, Z:2.12 [[ 8.98611471e-01 4.38744165e-01 9.91106386e-04 3.06587198e+02] [-4.38743838e-01 8.98612016e-01 -5.37239388e-04 2.79482005e+02] [-1.12633075e-03 4.79276571e-05 9.99999365e-01 2.11853597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4807140569999 meters Centerline goodness : 0.992124 Centerline is valid? [True, True] Translation: X:306.63, Y:279.42, Z:2.11 [[ 8.89697916e-01 4.56548614e-01 9.91246553e-04 3.06629578e+02] [-4.56548299e-01 8.89698467e-01 -5.36980645e-04 2.79423735e+02] [-1.12706831e-03 2.51986331e-05 9.99999365e-01 2.11384427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.510714057 meters Centerline goodness : 0.989741 Centerline is valid? [True, True] Translation: X:306.63, Y:279.46, Z:2.12 [[ 8.99005767e-01 4.37935787e-01 9.36259918e-04 3.06632813e+02] [-4.37935353e-01 8.99006240e-01 -6.37832014e-04 2.79457750e+02] [-1.12103297e-03 1.63393341e-04 9.99999358e-01 2.11962562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.540714057 meters Centerline goodness : 0.991136 Centerline is valid? [True, True] Translation: X:306.66, Y:279.44, Z:2.12 [[ 8.98922135e-01 4.38107307e-01 9.91605151e-04 3.06657515e+02] [-4.38106983e-01 8.98922680e-01 -5.35311041e-04 2.79444520e+02] [-1.12590004e-03 4.67738028e-05 9.99999365e-01 2.12223742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5707140569999 meters Centerline goodness : 0.991786 Centerline is valid? [True, True] Translation: X:306.70, Y:279.38, Z:2.11 [[ 8.89251273e-01 4.57417960e-01 9.91753609e-04 3.06700479e+02] [-4.57417647e-01 8.89251826e-01 -5.35035856e-04 2.79384989e+02] [-1.12665372e-03 2.21357133e-05 9.99999365e-01 2.11434795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6007140569999 meters Centerline goodness : 0.989334 Centerline is valid? [True, True] Translation: X:306.70, Y:279.42, Z:2.12 [[ 8.98427598e-01 4.39120688e-01 9.34226331e-04 3.06702417e+02] [-4.39120251e-01 8.98428069e-01 -6.40961968e-04 2.79420291e+02] [-1.12079482e-03 1.65620220e-04 9.99999358e-01 2.12146621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.630714057 meters Centerline goodness : 0.989866 Centerline is valid? [True, True] Translation: X:306.73, Y:279.41, Z:2.12 [[ 8.98380088e-01 4.39217752e-01 9.92150653e-04 3.06726405e+02] [-4.39217430e-01 8.98380635e-01 -5.33174229e-04 2.79405840e+02] [-1.12550852e-03 4.32232504e-05 9.99999366e-01 2.12166034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.660714057 meters Centerline goodness : 0.989869 Centerline is valid? [True, True] Translation: X:306.75, Y:279.39, Z:2.12 [[ 8.97859368e-01 4.40281241e-01 9.92299955e-04 3.06750297e+02] [-4.40280920e-01 8.97859915e-01 -5.32896216e-04 2.79392407e+02] [-1.12557056e-03 4.15751220e-05 9.99999366e-01 2.12105367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6907140569999 meters Centerline goodness : 0.989487 Centerline is valid? [True, True] Translation: X:306.77, Y:279.38, Z:2.12 [[ 8.96923427e-01 4.42184781e-01 9.92364580e-04 3.06774969e+02] [-4.42184462e-01 8.96923976e-01 -5.32775843e-04 2.79378986e+02] [-1.12566095e-03 3.90509374e-05 9.99999366e-01 2.11921096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7207140569999 meters Centerline goodness : 0.989381 Centerline is valid? [True, True] Translation: X:306.80, Y:279.37, Z:2.12 [[ 8.96256594e-01 4.43534816e-01 9.92410327e-04 3.06799683e+02] [-4.43534497e-01 8.96257143e-01 -5.32690617e-04 2.79366494e+02] [-1.12572168e-03 3.72592627e-05 9.99999366e-01 2.12131062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.750714057 meters Centerline goodness : 0.989359 Centerline is valid? [True, True] Translation: X:306.83, Y:279.35, Z:2.12 [[ 8.95264122e-01 4.45534697e-01 9.92558934e-04 3.06825192e+02] [-4.45534381e-01 8.95264672e-01 -5.32413575e-04 2.79354498e+02] [-1.12581167e-03 3.44316421e-05 9.99999366e-01 2.12051903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.780714057 meters Centerline goodness : 0.989372 Centerline is valid? [True, True] Translation: X:306.85, Y:279.34, Z:2.12 [[ 8.92841484e-01 4.50369959e-01 9.92604894e-04 3.06851055e+02] [-4.50369645e-01 8.92842035e-01 -5.32327874e-04 2.79343801e+02] [-1.12598386e-03 2.82452949e-05 9.99999366e-01 2.12058171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8107140569999 meters Centerline goodness : 0.989400 Centerline is valid? [True, True] Translation: X:306.88, Y:279.33, Z:2.12 [[ 8.91688855e-01 4.52647766e-01 9.92753473e-04 3.06876054e+02] [-4.52647454e-01 8.91689408e-01 -5.32050642e-04 2.79331763e+02] [-1.12605929e-03 2.50562962e-05 9.99999366e-01 2.11961522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8407140569999 meters Centerline goodness : 0.990943 Centerline is valid? [True, True] Translation: X:306.92, Y:279.27, Z:2.11 [[ 8.81357045e-01 4.72449758e-01 9.92799421e-04 3.06917241e+02] [-4.72449458e-01 8.81357604e-01 -5.31964889e-04 2.79274976e+02] [-1.12633800e-03 -1.96545952e-07 9.99999366e-01 2.11250539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.870714057 meters Centerline goodness : 0.990871 Centerline is valid? [True, True] Translation: X:306.92, Y:279.31, Z:2.12 [[ 8.89669745e-01 4.56603613e-01 9.40537219e-04 3.06922952e+02] [-4.56603199e-01 8.89670233e-01 -6.28886366e-04 2.79310053e+02] [-1.12391975e-03 1.30048871e-04 9.99999360e-01 2.12138626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.900714057 meters Centerline goodness : 0.990707 Centerline is valid? [True, True] Translation: X:306.95, Y:279.30, Z:2.12 [[ 8.89131014e-01 4.57651673e-01 9.93129098e-04 3.06948992e+02] [-4.57651366e-01 8.89131568e-01 -5.30415399e-04 2.79297420e+02] [-1.12576793e-03 1.71018932e-05 9.99999366e-01 2.12274417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9307140569999 meters Centerline goodness : 0.991283 Centerline is valid? [True, True] Translation: X:306.97, Y:279.29, Z:2.12 [[ 8.88357237e-01 4.59151862e-01 9.93259322e-04 3.06973587e+02] [-4.59151556e-01 8.88357793e-01 -5.30171428e-04 2.79286707e+02] [-1.12579886e-03 1.49250617e-05 9.99999366e-01 2.12298613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9607140569999 meters Centerline goodness : 0.984936 Centerline is valid? [True, True] Translation: X:307.01, Y:279.28, Z:2.12 [[ 8.94132630e-01 4.47801131e-01 9.93323992e-04 3.07013975e+02] [-4.47800818e-01 8.94133182e-01 -5.30050236e-04 2.79280365e+02] [-1.12552104e-03 2.91239154e-05 9.99999366e-01 2.12269335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9907140569999 meters Centerline goodness : 0.986013 Centerline is valid? [True, True] Translation: X:307.03, Y:279.26, Z:2.12 [[ 8.90484877e-01 4.55011796e-01 9.74141897e-04 3.07032295e+02] [-4.55011448e-01 8.90485408e-01 -5.65891024e-04 2.79261533e+02] [-1.12494624e-03 6.06716843e-05 9.99999365e-01 2.12007742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.020714057 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:307.06, Y:279.25, Z:2.13 [[ 8.95024551e-01 4.46015800e-01 9.79683331e-04 3.07058273e+02] [-4.46015458e-01 8.95025085e-01 -5.55485385e-04 2.79252917e+02] [-1.12459642e-03 6.02191476e-05 9.99999366e-01 2.12641815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0507140569999 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:307.08, Y:279.24, Z:2.13 [[ 8.96280452e-01 4.43486642e-01 9.74445657e-04 3.07083977e+02] [-4.43486288e-01 8.96280979e-01 -5.65587921e-04 2.79241331e+02] [-1.12420780e-03 7.47721101e-05 9.99999365e-01 2.12605977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0807140569999 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:307.10, Y:279.25, Z:2.12 [[ 8.96257537e-01 4.43532951e-01 9.73864223e-04 3.07095243e+02] [-4.43532595e-01 8.96258063e-01 -5.66711979e-04 2.79247218e+02] [-1.12418910e-03 7.59793565e-05 9.99999365e-01 2.12281925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1107140569999 meters Centerline goodness : 0.992071 Centerline is valid? [True, True] Translation: X:307.14, Y:279.19, Z:2.12 [[ 8.89991552e-01 4.55975917e-01 1.00055228e-03 3.07136084e+02] [-4.55975626e-01 8.89992114e-01 -5.14846424e-04 2.79194024e+02] [-1.12524121e-03 1.98151484e-06 9.99999367e-01 2.11711648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.140714057 meters Centerline goodness : 0.993292 Centerline is valid? [True, True] Translation: X:307.14, Y:279.22, Z:2.12 [[ 8.98721928e-01 4.38517934e-01 9.58572438e-04 3.07144925e+02] [-4.38517543e-01 8.98722431e-01 -5.96311940e-04 2.79223334e+02] [-1.12298403e-03 1.15567785e-04 9.99999363e-01 2.12312437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1707140569999 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:307.17, Y:279.21, Z:2.12 [[ 9.00212829e-01 4.35449032e-01 1.00168976e-03 3.07170292e+02] [-4.35448732e-01 9.00213386e-01 -5.11947469e-04 2.79211003e+02] [-1.12466156e-03 2.46771422e-05 9.99999367e-01 2.12201689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2007140569999 meters Centerline goodness : 0.986576 Centerline is valid? [True, True] Translation: X:307.20, Y:279.19, Z:2.12 [[ 9.03611540e-01 4.28351702e-01 1.00182730e-03 3.07202763e+02] [-4.28351398e-01 9.03612095e-01 -5.11678182e-04 2.79194044e+02] [-1.12444149e-03 3.32241863e-05 9.99999367e-01 2.11885531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2307140569999 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:307.22, Y:279.18, Z:2.12 [[ 9.02126779e-01 4.31469927e-01 9.88415056e-04 3.07221139e+02] [-4.31469596e-01 9.02127319e-01 -5.37958701e-04 2.79184755e+02] [-1.12378923e-03 5.88359053e-05 9.99999367e-01 2.12045203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.260714057 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:307.26, Y:279.15, Z:2.12 [[ 9.05726286e-01 4.23861877e-01 1.00254876e-03 3.07261377e+02] [-4.23861571e-01 9.05726840e-01 -5.10185006e-04 2.79148633e+02] [-1.12428329e-03 3.71460793e-05 9.99999367e-01 2.12367431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.290714057 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:307.27, Y:279.16, Z:2.12 [[ 9.04692802e-01 4.26063369e-01 9.68925344e-04 3.07267801e+02] [-4.26062994e-01 9.04693315e-01 -5.75984535e-04 2.79159507e+02] [-1.12198619e-03 1.08265831e-04 9.99999365e-01 2.11953069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3207140569999 meters Centerline goodness : 0.990229 Centerline is valid? [True, True] Translation: X:307.31, Y:279.14, Z:2.12 [[ 9.11797137e-01 4.10639714e-01 1.00285536e-03 3.07311977e+02] [-4.10639402e-01 9.11797687e-01 -5.09154317e-04 2.79139985e+02] [-1.12348018e-03 5.24335241e-05 9.99999368e-01 2.11984628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3507140569999 meters Centerline goodness : 0.992532 Centerline is valid? [True, True] Translation: X:307.33, Y:279.12, Z:2.11 [[ 9.05649890e-01 4.24025150e-01 9.74564398e-04 3.07328386e+02] [-4.24024785e-01 9.05650409e-01 -5.64797053e-04 2.79120555e+02] [-1.12210280e-03 9.82689301e-05 9.99999366e-01 2.11386697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.380714057 meters Centerline goodness : 0.993361 Centerline is valid? [True, True] Translation: X:307.34, Y:279.14, Z:2.12 [[ 9.12732287e-01 4.08556998e-01 9.75412519e-04 3.07337761e+02] [-4.08556627e-01 9.12732801e-01 -5.63073701e-04 2.79142695e+02] [-1.12033870e-03 1.15424299e-04 9.99999366e-01 2.12005446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.410714057 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:307.36, Y:279.13, Z:2.12 [[ 9.12658879e-01 4.08720873e-01 1.00955531e-03 3.07363164e+02] [-4.08720577e-01 9.12659436e-01 -4.93182696e-04 2.79130732e+02] [-1.12295424e-03 3.74815358e-05 9.99999369e-01 2.12051786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4407140569999 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:307.40, Y:279.09, Z:2.12 [[ 9.07243382e-01 4.20604834e-01 1.00969322e-03 3.07401509e+02] [-4.20604546e-01 9.07243944e-01 -4.92900187e-04 2.79087752e+02] [-1.12335426e-03 2.24988729e-05 9.99999369e-01 2.11595001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4707140569999 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:307.41, Y:279.11, Z:2.12 [[ 9.11986318e-01 4.10219461e-01 9.74298707e-04 3.07411342e+02] [-4.10219088e-01 9.11986832e-01 -5.65064573e-04 2.79108363e+02] [-1.12034808e-03 1.15655232e-04 9.99999366e-01 2.12069294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.500714057 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:307.46, Y:279.06, Z:2.12 [[ 9.10547632e-01 4.13402938e-01 1.00997592e-03 3.07458446e+02] [-4.13402647e-01 9.10548192e-01 -4.91796175e-04 2.79062956e+02] [-1.12294173e-03 3.02771258e-05 9.99999369e-01 2.11928567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.530714057 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:307.47, Y:279.06, Z:2.12 [[ 9.06486020e-01 4.22234731e-01 9.63421231e-04 3.07472670e+02] [-4.22234342e-01 9.06486523e-01 -5.86743571e-04 2.79058876e+02] [-1.12107188e-03 1.25085315e-04 9.99999364e-01 2.11616033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5607140569999 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:307.49, Y:279.08, Z:2.12 [[ 9.11399528e-01 4.11521483e-01 9.84460202e-04 3.07486299e+02] [-4.11521134e-01 9.11400056e-01 -5.43523361e-04 2.79076640e+02] [-1.12090862e-03 9.02407562e-05 9.99999368e-01 2.12097706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5907140569999 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:307.51, Y:279.06, Z:2.12 [[ 9.11511164e-01 4.11274089e-01 1.01079793e-03 3.07511845e+02] [-4.11273799e-01 9.11511724e-01 -4.89091587e-04 2.79064345e+02] [-1.12250486e-03 3.00977349e-05 9.99999370e-01 2.12091610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.620714057 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:307.56, Y:279.02, Z:2.12 [[ 9.09844768e-01 4.14947558e-01 1.01093058e-03 3.07557003e+02] [-4.14947271e-01 9.09845329e-01 -4.88817259e-04 2.79020553e+02] [-1.12262399e-03 2.52649402e-05 9.99999370e-01 2.12109609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.650714057 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:307.56, Y:279.04, Z:2.12 [[ 9.11074374e-01 4.12240880e-01 9.70013055e-04 3.07560493e+02] [-4.12240500e-01 9.11074883e-01 -5.72985161e-04 2.79041590e+02] [-1.11996244e-03 1.22153430e-04 9.99999365e-01 2.12103518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6807140569999 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:307.59, Y:279.03, Z:2.12 [[ 9.10658528e-01 4.13158594e-01 1.01125607e-03 3.07585719e+02] [-4.13158307e-01 9.10659089e-01 -4.87417340e-04 2.79029610e+02] [-1.12229019e-03 2.60619128e-05 9.99999370e-01 2.12101288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7107140569999 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:307.61, Y:279.02, Z:2.12 [[ 9.10144455e-01 4.14289812e-01 1.01138571e-03 3.07611199e+02] [-4.14289526e-01 9.10145017e-01 -4.87148184e-04 2.79018271e+02] [-1.12232819e-03 2.43687129e-05 9.99999370e-01 2.12130739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7407140569999 meters Centerline goodness : 0.985447 Centerline is valid? [True, True] Translation: X:307.65, Y:279.01, Z:2.12 [[ 9.17917738e-01 3.96769459e-01 1.01142573e-03 3.07654907e+02] [-3.96769162e-01 9.17918294e-01 -4.87065067e-04 2.79010092e+02] [-1.12165873e-03 4.57831232e-05 9.99999370e-01 2.12433012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.770714057 meters Centerline goodness : 0.993975 Centerline is valid? [True, True] Translation: X:307.67, Y:279.00, Z:2.12 [[ 9.18282514e-01 3.95924540e-01 9.91309169e-04 3.07674783e+02] [-3.95924198e-01 9.18283045e-01 -5.29010250e-04 2.79002160e+02] [-1.11975054e-03 9.32975753e-05 9.99999369e-01 2.12330760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8007140569999 meters Centerline goodness : 0.992968 Centerline is valid? [True, True] Translation: X:307.69, Y:279.00, Z:2.12 [[ 9.14856609e-01 4.03777681e-01 9.85026223e-04 3.07690330e+02] [-4.03777328e-01 9.14857134e-01 -5.42835791e-04 2.78997471e+02] [-1.12034324e-03 9.88856546e-05 9.99999368e-01 2.11742854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8307140569999 meters Centerline goodness : 0.991879 Centerline is valid? [True, True] Translation: X:307.71, Y:279.00, Z:2.12 [[ 9.16673881e-01 3.99634833e-01 9.98485694e-04 3.07711503e+02] [-3.99634509e-01 9.16674422e-01 -5.13782727e-04 2.78995657e+02] [-1.12061177e-03 7.19418661e-05 9.99999370e-01 2.11995291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8607140569999 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:307.74, Y:278.98, Z:2.12 [[ 9.14971680e-01 4.03516785e-01 1.01451262e-03 3.07741755e+02] [-4.03516501e-01 9.14972242e-01 -4.79030700e-04 2.78975073e+02] [-1.12154781e-03 2.89269424e-05 9.99999371e-01 2.11692112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.890714057 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:307.76, Y:278.97, Z:2.12 [[ 9.15270488e-01 4.02838602e-01 9.97594230e-04 3.07764304e+02] [-4.02838277e-01 9.15271029e-01 -5.16499456e-04 2.78967402e+02] [-1.12113502e-03 7.08675678e-05 9.99999369e-01 2.11800498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9207140569999 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:307.78, Y:278.98, Z:2.12 [[ 9.20108174e-01 3.91663040e-01 1.00568779e-03 3.07782033e+02] [-3.91662729e-01 9.20108721e-01 -4.98470899e-04 2.78978546e+02] [-1.12057474e-03 6.47567241e-05 9.99999370e-01 2.12425118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9507140569999 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:307.81, Y:278.97, Z:2.12 [[ 9.19998640e-01 3.91920214e-01 1.02391351e-03 3.07807446e+02] [-3.91919947e-01 9.19999210e-01 -4.57698281e-04 2.78966376e+02] [-1.12138083e-03 1.97896678e-05 9.99999371e-01 2.12296313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9807140569999 meters Centerline goodness : 0.994179 Centerline is valid? [True, True] Translation: X:307.84, Y:278.93, Z:2.12 [[ 9.15675462e-01 4.01917155e-01 1.02395242e-03 3.07840767e+02] [-4.01916894e-01 9.15676035e-01 -4.57611217e-04 2.78933536e+02] [-1.12153049e-03 7.47958633e-06 9.99999371e-01 2.11983505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.010714057 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:307.86, Y:278.94, Z:2.12 [[ 9.18818168e-01 3.94679824e-01 1.00492230e-03 3.07857890e+02] [-3.94679512e-01 9.18818716e-01 -5.00103416e-04 2.78943711e+02] [-1.12072215e-03 6.28818595e-05 9.99999370e-01 2.12470814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.040714057 meters Centerline goodness : 0.992895 Centerline is valid? [True, True] Translation: X:307.89, Y:278.93, Z:2.12 [[ 9.17642383e-01 3.97405848e-01 1.02429782e-03 3.07888351e+02] [-3.97405585e-01 9.17642955e-01 -4.56642017e-04 2.78925854e+02] [-1.12141189e-03 1.19723926e-05 9.99999371e-01 2.12221154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0707140569999 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:307.91, Y:278.92, Z:2.13 [[ 9.15629706e-01 4.02021402e-01 1.01647384e-03 3.07911164e+02] [-4.02021123e-01 9.15630270e-01 -4.74186493e-04 2.78921930e+02] [-1.12134733e-03 2.55352852e-05 9.99999371e-01 2.12717904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1007140569999 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:307.94, Y:278.91, Z:2.13 [[ 9.14260147e-01 4.05126318e-01 1.02456557e-03 3.07936781e+02] [-4.05126061e-01 9.14260721e-01 -4.56005790e-04 2.78911139e+02] [-1.12146000e-03 1.82970800e-06 9.99999371e-01 2.12771191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.130714057 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:307.96, Y:278.90, Z:2.12 [[ 9.12460838e-01 4.09162766e-01 1.02469077e-03 3.07964426e+02] [-4.09162512e-01 9.12461413e-01 -4.55724282e-04 2.78895508e+02] [-1.12145619e-03 -3.43448835e-06 9.99999371e-01 2.12357323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.160714057 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:307.99, Y:278.89, Z:2.13 [[ 9.11558327e-01 4.11169525e-01 1.01933705e-03 3.07988089e+02] [-4.11169259e-01 9.11558896e-01 -4.67773401e-04 2.78887960e+02] [-1.12151992e-03 7.28268000e-06 9.99999371e-01 2.12816308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1907140569999 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:308.01, Y:278.88, Z:2.13 [[ 9.08238843e-01 4.18450898e-01 1.02512621e-03 3.08012802e+02] [-4.18450651e-01 9.08239421e-01 -4.54722308e-04 2.78875454e+02] [-1.12133899e-03 -1.59682671e-05 9.99999371e-01 2.12808259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2207140569999 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:308.04, Y:278.86, Z:2.13 [[ 9.06429788e-01 4.22355286e-01 1.02516550e-03 3.08038491e+02] [-4.22355042e-01 9.06430368e-01 -4.54633724e-04 2.78863817e+02] [-1.12125809e-03 -2.08902658e-05 9.99999371e-01 2.12802670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.250714057 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:308.06, Y:278.85, Z:2.13 [[ 9.04747756e-01 4.25946530e-01 1.02520430e-03 3.08063654e+02] [-4.25946289e-01 9.04748337e-01 -4.54546212e-04 2.78852033e+02] [-1.12116426e-03 -2.54323000e-05 9.99999371e-01 2.12860785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.280714057 meters Centerline goodness : 0.992989 Centerline is valid? [True, True] Translation: X:308.09, Y:278.83, Z:2.12 [[ 8.99428322e-01 4.37067091e-01 1.02533042e-03 3.08093339e+02] [-4.37066857e-01 8.99428906e-01 -4.54261540e-04 2.78830226e+02] [-1.12075458e-03 -3.95622479e-05 9.99999371e-01 2.12485573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3107140569999 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:308.11, Y:278.83, Z:2.13 [[ 8.99537254e-01 4.36842877e-01 1.01448090e-03 3.08114776e+02] [-4.36842615e-01 8.99537826e-01 -4.78700652e-04 2.78828321e+02] [-1.12168091e-03 -1.25594168e-05 9.99999371e-01 2.12894513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3407140569999 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:308.14, Y:278.82, Z:2.13 [[ 8.97494129e-01 4.41025212e-01 1.02543644e-03 3.08139083e+02] [-4.41024981e-01 8.97494713e-01 -4.53953139e-04 2.78817663e+02] [-1.12052856e-03 -4.48228084e-05 9.99999371e-01 2.12824593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.370714057 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:308.16, Y:278.81, Z:2.13 [[ 8.94227244e-01 4.47612093e-01 1.02549002e-03 3.08164202e+02] [-4.47611866e-01 8.94227830e-01 -4.53832065e-04 2.78805322e+02] [-1.12016244e-03 -5.31925042e-05 9.99999371e-01 2.12815692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.400714057 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:308.19, Y:278.79, Z:2.13 [[ 8.92642325e-01 4.50764493e-01 1.02561097e-03 3.08189745e+02] [-4.50764268e-01 8.92642912e-01 -4.53558556e-04 2.78793976e+02] [-1.11995246e-03 -5.74432163e-05 9.99999371e-01 2.12830814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4307140569999 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:308.21, Y:278.78, Z:2.13 [[ 8.91242443e-01 4.53526026e-01 1.02573201e-03 3.08214785e+02] [-4.53525803e-01 8.91243031e-01 -4.53284666e-04 2.78782367e+02] [-1.11975290e-03 -6.12094009e-05 9.99999371e-01 2.12836553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4607140569999 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:308.24, Y:278.77, Z:2.13 [[ 8.90444144e-01 4.55091392e-01 1.02585472e-03 3.08239593e+02] [-4.55091171e-01 8.90444732e-01 -4.53006781e-04 2.78770183e+02] [-1.11962642e-03 -6.34801913e-05 9.99999371e-01 2.12832860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4907140569999 meters Centerline goodness : 0.994136 Centerline is valid? [True, True] Translation: X:308.26, Y:278.76, Z:2.13 [[ 8.89380370e-01 4.57166825e-01 1.02597654e-03 3.08263903e+02] [-4.57166605e-01 8.89380959e-01 -4.52730713e-04 2.78758907e+02] [-1.11945746e-03 -6.63924033e-05 9.99999371e-01 2.12833554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.520714057 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:308.29, Y:278.75, Z:2.13 [[ 8.89962839e-01 4.56031898e-01 1.02602930e-03 3.08289493e+02] [-4.56031678e-01 8.89963429e-01 -4.52611106e-04 2.78746716e+02] [-1.11953366e-03 -6.50948000e-05 9.99999371e-01 2.12901843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5507140569999 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:308.31, Y:278.74, Z:2.13 [[ 8.90560988e-01 4.54862697e-01 1.02614593e-03 3.08314094e+02] [-4.54862477e-01 8.90561577e-01 -4.52346550e-04 2.78735434e+02] [-1.11960171e-03 -6.39130868e-05 9.99999371e-01 2.12930564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5807140569999 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:308.34, Y:278.72, Z:2.13 [[ 8.91517403e-01 4.52985283e-01 1.02619643e-03 3.08339464e+02] [-4.52985062e-01 8.91517992e-01 -4.52231936e-04 2.78724204e+02] [-1.11972700e-03 -6.16790137e-05 9.99999371e-01 2.12947986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6107140569999 meters Centerline goodness : 0.993879 Centerline is valid? [True, True] Translation: X:308.36, Y:278.71, Z:2.13 [[ 8.93761810e-01 4.48540715e-01 1.02631468e-03 3.08364499e+02] [-4.48540491e-01 8.93762398e-01 -4.51963431e-04 2.78712737e+02] [-1.12000547e-03 -5.63960353e-05 9.99999371e-01 2.12847212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.640714057 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:308.39, Y:278.70, Z:2.13 [[ 8.95149519e-01 4.45764833e-01 1.02643622e-03 3.08390058e+02] [-4.45764607e-01 8.95150106e-01 -4.51687239e-04 2.78701060e+02] [-1.12016077e-03 -5.32213213e-05 9.99999371e-01 2.12824359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6707140569999 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:308.42, Y:278.69, Z:2.13 [[ 8.96660288e-01 4.42718053e-01 1.02655691e-03 3.08415224e+02] [-4.42717825e-01 8.96660874e-01 -4.51412779e-04 2.78689705e+02] [-1.12032200e-03 -4.97111285e-05 9.99999371e-01 2.12764084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7007140569999 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:308.44, Y:278.68, Z:2.13 [[ 9.00055333e-01 4.35774419e-01 1.02667807e-03 3.08440412e+02] [-4.35774187e-01 9.00055917e-01 -4.51137037e-04 2.78678784e+02] [-1.12066165e-03 -4.13515062e-05 9.99999371e-01 2.12747056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7307140569999 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:308.47, Y:278.67, Z:2.13 [[ 9.01826284e-01 4.32097558e-01 1.02679989e-03 3.08465527e+02] [-4.32097325e-01 9.01826867e-01 -4.50859613e-04 2.78669004e+02] [-1.12081106e-03 -3.70804340e-05 9.99999371e-01 2.12734289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.760714057 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:308.50, Y:278.65, Z:2.13 [[ 9.00718674e-01 4.34401676e-01 1.02685270e-03 3.08497974e+02] [-4.34401444e-01 9.00719258e-01 -4.50739297e-04 2.78646774e+02] [-1.12070791e-03 -4.00769932e-05 9.99999371e-01 2.12633825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.790714057 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:308.52, Y:278.64, Z:2.13 [[ 9.05643139e-01 4.24039475e-01 1.01402251e-03 3.08523467e+02] [-4.24039204e-01 9.05643707e-01 -4.79966325e-04 2.78641642e+02] [-1.12186777e-03 4.69291264e-06 9.99999371e-01 2.12523394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8207140569999 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:308.54, Y:278.64, Z:2.13 [[ 9.09930755e-01 4.14758948e-01 1.01818516e-03 3.08544728e+02] [-4.14758681e-01 9.09931324e-01 -4.70470208e-04 2.78639370e+02] [-1.12161030e-03 5.79417929e-06 9.99999371e-01 2.12682782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8507140569999 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:308.58, Y:278.62, Z:2.12 [[ 9.12065286e-01 4.10043727e-01 1.02747637e-03 3.08575944e+02] [-4.10043481e-01 9.12065865e-01 -4.49218858e-04 2.78618513e+02] [-1.12132550e-03 -1.15930628e-05 9.99999371e-01 2.12353930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.880714057 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:308.60, Y:278.61, Z:2.12 [[ 9.14266534e-01 4.05111919e-01 1.01882911e-03 3.08602622e+02] [-4.05111648e-01 9.14267102e-01 -4.69075017e-04 2.78607457e+02] [-1.12150982e-03 1.61200497e-05 9.99999371e-01 2.12399436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.910714057 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:308.63, Y:278.60, Z:2.12 [[ 9.16269637e-01 4.00560754e-01 1.01688280e-03 3.08627452e+02] [-4.00560475e-01 9.16270201e-01 -4.73547673e-04 2.78597777e+02] [-1.12142402e-03 2.65742967e-05 9.99999371e-01 2.12385911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9407140569999 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:308.65, Y:278.60, Z:2.13 [[ 9.19929094e-01 3.92083443e-01 1.01802214e-03 3.08647807e+02] [-3.92083162e-01 9.19929656e-01 -4.70935483e-04 2.78597684e+02] [-1.12115476e-03 3.40779116e-05 9.99999371e-01 2.12550781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9707140569999 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:308.67, Y:278.59, Z:2.13 [[ 9.22715906e-01 3.85479311e-01 1.02832300e-03 3.08673891e+02] [-3.85479052e-01 9.22716479e-01 -4.47251701e-04 2.78588136e+02] [-1.12125686e-03 1.62892832e-05 9.99999371e-01 2.12666038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.000714057 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:308.70, Y:278.57, Z:2.13 [[ 9.21777420e-01 3.87718108e-01 1.02844696e-03 3.08704364e+02] [-3.87717851e-01 9.21777993e-01 -4.46966473e-04 2.78567410e+02] [-1.12129677e-03 1.32563568e-05 9.99999371e-01 2.12514182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.030714057 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:308.73, Y:278.56, Z:2.12 [[ 9.22677977e-01 3.85570120e-01 1.01685800e-03 3.08728899e+02] [-3.85569832e-01 9.22678536e-01 -4.73599454e-04 2.78556683e+02] [-1.12083885e-03 4.49100189e-05 9.99999371e-01 2.12493945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0607140569999 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:308.75, Y:278.55, Z:2.12 [[ 9.23392519e-01 3.83855730e-01 1.01737945e-03 3.08753719e+02] [-3.83855442e-01 9.23393078e-01 -4.72400397e-04 2.78546302e+02] [-1.12077474e-03 4.56843547e-05 9.99999371e-01 2.12397541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0907140569999 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:308.77, Y:278.55, Z:2.12 [[ 9.26034272e-01 3.77438063e-01 1.01811461e-03 3.08773439e+02] [-3.77437773e-01 9.26034830e-01 -4.70714159e-04 2.78545259e+02] [-1.12047503e-03 5.16225335e-05 9.99999371e-01 2.12479602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.120714057 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:308.80, Y:278.52, Z:2.12 [[ 9.24353298e-01 3.81536268e-01 1.02837939e-03 3.08803952e+02] [-3.81536007e-01 9.24353869e-01 -4.47104256e-04 2.78524018e+02] [-1.12117296e-03 2.09185285e-05 9.99999371e-01 2.12403354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.150714057 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:308.82, Y:278.52, Z:2.12 [[ 9.26469362e-01 3.76368817e-01 1.01735237e-03 3.08824423e+02] [-3.76368524e-01 9.26469919e-01 -4.72457355e-04 2.78522529e+02] [-1.12036458e-03 5.48178530e-05 9.99999371e-01 2.12313135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1807140569999 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:308.86, Y:278.50, Z:2.12 [[ 9.24181063e-01 3.81953276e-01 1.02875325e-03 3.08856185e+02] [-3.81953016e-01 9.24181635e-01 -4.46169842e-04 2.78500663e+02] [-1.12117090e-03 1.94063109e-05 9.99999371e-01 2.12232769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2107140569999 meters Centerline goodness : 0.993462 Centerline is valid? [True, True] Translation: X:308.88, Y:278.50, Z:2.12 [[ 9.26032692e-01 3.77441944e-01 1.01637638e-03 3.08875829e+02] [-3.77441650e-01 9.26033248e-01 -4.74682668e-04 2.78500602e+02] [-1.12036346e-03 5.59488930e-05 9.99999371e-01 2.12381769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2407140569999 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:308.91, Y:278.48, Z:2.12 [[ 9.23167623e-01 3.84396255e-01 1.02910788e-03 3.08906391e+02] [-3.84395998e-01 9.23168196e-01 -4.45256752e-04 2.78481464e+02] [-1.12119469e-03 1.54616679e-05 9.99999371e-01 2.12414696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.270714057 meters Centerline goodness : 0.993988 Centerline is valid? [True, True] Translation: X:308.93, Y:278.47, Z:2.13 [[ 9.22912318e-01 3.85008848e-01 1.02013137e-03 3.08932648e+02] [-3.85008568e-01 9.22912881e-01 -4.65994715e-04 2.78470375e+02] [-1.12090447e-03 3.73129463e-05 9.99999371e-01 2.12506352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3007140569999 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:308.96, Y:278.46, Z:2.13 [[ 9.22785971e-01 3.85311575e-01 1.02038935e-03 3.08958379e+02] [-3.85311296e-01 9.22786535e-01 -4.65397752e-04 2.78460624e+02] [-1.12092469e-03 3.62949750e-05 9.99999371e-01 2.12500934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3307140569999 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:308.99, Y:278.45, Z:2.13 [[ 9.21868424e-01 3.87501696e-01 1.02180794e-03 3.08986121e+02] [-3.87501422e-01 9.21868990e-01 -4.62110071e-04 2.78447903e+02] [-1.12104149e-03 3.00526546e-05 9.99999371e-01 2.12559966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3607140569999 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:309.01, Y:278.44, Z:2.12 [[ 9.21593167e-01 3.88155890e-01 1.01970594e-03 3.09011287e+02] [-3.88155611e-01 9.21593730e-01 -4.66984244e-04 2.78437122e+02] [-1.12101729e-03 3.45649050e-05 9.99999371e-01 2.12494212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.390714057 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:309.04, Y:278.42, Z:2.12 [[ 9.21438460e-01 3.88523001e-01 1.02069397e-03 3.09038210e+02] [-3.88522725e-01 9.21439025e-01 -4.64688301e-04 2.78424911e+02] [-1.12104935e-03 3.16188702e-05 9.99999371e-01 2.12470553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4207140569999 meters Centerline goodness : 0.993999 Centerline is valid? [True, True] Translation: X:309.06, Y:278.41, Z:2.12 [[ 9.21371565e-01 3.88681619e-01 1.01884907e-03 3.09063776e+02] [-3.88681338e-01 9.21372128e-01 -4.68981284e-04 2.78413690e+02] [-1.12102354e-03 3.60984004e-05 9.99999371e-01 2.12450642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4507140569999 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:309.08, Y:278.41, Z:2.13 [[ 9.23138102e-01 3.84467172e-01 1.01946050e-03 3.09084174e+02] [-3.84466890e-01 9.23138664e-01 -4.67557346e-04 2.78412977e+02] [-1.12086385e-03 3.96711932e-05 9.99999371e-01 2.12510513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4807140569999 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:309.11, Y:278.40, Z:2.13 [[ 9.23244220e-01 3.84212243e-01 1.03068259e-03 3.09110262e+02] [-3.84211989e-01 9.23244796e-01 -4.41350483e-04 2.78401879e+02] [-1.12114460e-03 1.14736744e-05 9.99999371e-01 2.12505964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.510714057 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:309.14, Y:278.38, Z:2.12 [[ 9.20638547e-01 3.90414657e-01 1.03080437e-03 3.09141424e+02] [-3.90414408e-01 9.20639124e-01 -4.41065870e-04 2.78380250e+02] [-1.12119741e-03 3.62136353e-06 9.99999371e-01 2.12445579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.540714057 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:309.17, Y:278.37, Z:2.12 [[ 9.20375966e-01 3.91033301e-01 1.01970260e-03 3.09166925e+02] [-3.91033023e-01 9.20376530e-01 -4.67008161e-04 2.78369283e+02] [-1.12112608e-03 3.10856970e-05 9.99999371e-01 2.12493980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5707140569999 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:309.19, Y:278.36, Z:2.13 [[ 9.19154926e-01 3.93894885e-01 1.02044825e-03 3.09192735e+02] [-3.93894611e-01 9.19155492e-01 -4.65263979e-04 2.78358794e+02] [-1.12121572e-03 2.57006109e-05 9.99999371e-01 2.12528043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6007140569999 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:309.22, Y:278.35, Z:2.13 [[ 9.18836287e-01 3.94637602e-01 1.02056614e-03 3.09218548e+02] [-3.94637329e-01 9.18836853e-01 -4.64987623e-04 2.78348011e+02] [-1.12123538e-03 2.44940065e-05 9.99999371e-01 2.12559901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.630714057 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:309.24, Y:278.34, Z:2.13 [[ 9.18483439e-01 3.95458131e-01 1.01975913e-03 3.09244084e+02] [-3.95457856e-01 9.18484004e-01 -4.66882194e-04 2.78337376e+02] [-1.12126481e-03 2.55518033e-05 9.99999371e-01 2.12568948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.660714057 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:309.27, Y:278.33, Z:2.13 [[ 9.17555885e-01 3.97605529e-01 1.02036728e-03 3.09269728e+02] [-3.97605257e-01 9.17556452e-01 -4.65452195e-04 2.78325733e+02] [-1.12131094e-03 2.13750078e-05 9.99999371e-01 2.12550005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6907140569999 meters Centerline goodness : 0.993366 Centerline is valid? [True, True] Translation: X:309.29, Y:278.31, Z:2.13 [[ 9.17482801e-01 3.97774144e-01 1.02017569e-03 3.09294962e+02] [-3.97773871e-01 9.17483368e-01 -4.65903752e-04 2.78314289e+02] [-1.12131870e-03 2.16594441e-05 9.99999371e-01 2.12572908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7207140569999 meters Centerline goodness : 0.993052 Centerline is valid? [True, True] Translation: X:309.32, Y:278.30, Z:2.13 [[ 9.17050768e-01 3.98769165e-01 1.02062841e-03 3.09320474e+02] [-3.98768895e-01 9.17051336e-01 -4.64835627e-04 2.78303925e+02] [-1.12133076e-03 1.92830042e-05 9.99999371e-01 2.12574160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.750714057 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:309.35, Y:278.29, Z:2.13 [[ 9.16432536e-01 4.00187909e-01 1.02158200e-03 3.09346780e+02] [-4.00187642e-01 9.16433106e-01 -4.62585503e-04 2.78291375e+02] [-1.12133269e-03 1.51039143e-05 9.99999371e-01 2.12625314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.780714057 meters Centerline goodness : 0.992934 Centerline is valid? [True, True] Translation: X:309.37, Y:278.28, Z:2.13 [[ 9.15730754e-01 4.01791171e-01 1.02060160e-03 3.09373236e+02] [-4.01790902e-01 9.15731323e-01 -4.64901981e-04 2.78281740e+02] [-1.12139036e-03 1.56566051e-05 9.99999371e-01 2.12699132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8107140569999 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:309.40, Y:278.27, Z:2.13 [[ 9.14046386e-01 4.05608383e-01 1.02201613e-03 3.09398155e+02] [-4.05608120e-01 9.14046957e-01 -4.61545573e-04 2.78272635e+02] [-1.12137749e-03 7.33602001e-06 9.99999371e-01 2.12862617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8407140569999 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:309.42, Y:278.27, Z:2.13 [[ 9.15052323e-01 4.03333853e-01 1.02468579e-03 3.09420622e+02] [-4.03333596e-01 9.15052896e-01 -4.55201159e-04 2.78273876e+02] [-1.12123974e-03 3.24267317e-06 9.99999371e-01 2.12922614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.870714057 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:309.45, Y:278.26, Z:2.13 [[ 9.14064545e-01 4.05567429e-01 1.03368296e-03 3.09446458e+02] [-4.05567198e-01 9.14065129e-01 -4.33760221e-04 2.78262832e+02] [-1.12077257e-03 -2.27430647e-05 9.99999372e-01 2.12880953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.900714057 meters Centerline goodness : 0.992339 Centerline is valid? [True, True] Translation: X:309.47, Y:278.25, Z:2.13 [[ 9.13201806e-01 4.07506310e-01 1.03380453e-03 3.09470117e+02] [-4.07506080e-01 9.13202391e-01 -4.33470294e-04 2.78254183e+02] [-1.12071465e-03 -2.54357761e-05 9.99999372e-01 2.13275629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9307140569999 meters Centerline goodness : 0.992679 Centerline is valid? [True, True] Translation: X:309.50, Y:278.24, Z:2.13 [[ 9.11547049e-01 4.11194479e-01 1.03820447e-03 3.09496763e+02] [-4.11194264e-01 9.11547639e-01 -4.22962798e-04 2.78242479e+02] [-1.12029280e-03 -4.13532339e-05 9.99999372e-01 2.13298847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9607140569999 meters Centerline goodness : 0.991920 Centerline is valid? [True, True] Translation: X:309.52, Y:278.23, Z:2.13 [[ 9.11929523e-01 4.10345547e-01 1.03751225e-03 3.09521810e+02] [-4.10345329e-01 9.11930113e-01 -4.24612771e-04 2.78231572e+02] [-1.12037662e-03 -3.85213826e-05 9.99999372e-01 2.13223902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9907140569999 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:309.55, Y:278.22, Z:2.13 [[ 9.11899981e-01 4.10411190e-01 1.03917643e-03 3.09550676e+02] [-4.10410977e-01 9.11900572e-01 -4.20642620e-04 2.78217950e+02] [-1.12026202e-03 -4.29054182e-05 9.99999372e-01 2.12790357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.020714057 meters Centerline goodness : 0.992837 Centerline is valid? [True, True] Translation: X:309.58, Y:278.19, Z:2.12 [[ 9.10079705e-01 4.14431975e-01 1.03373730e-03 3.09582781e+02] [-4.14431749e-01 9.10080292e-01 -4.33609657e-04 2.78191740e+02] [-1.12048565e-03 -3.37942101e-05 9.99999372e-01 2.12315948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0507140569999 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:309.60, Y:278.18, Z:2.12 [[ 9.09587276e-01 4.15511670e-01 1.01997030e-03 3.09603911e+02] [-4.15511408e-01 9.09587847e-01 -4.66366863e-04 2.78183671e+02] [-1.12153346e-03 3.92070080e-07 9.99999371e-01 2.12329860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0807140569999 meters Centerline goodness : 0.991852 Centerline is valid? [True, True] Translation: X:309.63, Y:278.17, Z:2.12 [[ 9.10660763e-01 4.13153630e-01 1.02595422e-03 3.09629183e+02] [-4.13153383e-01 9.10661341e-01 -4.52113169e-04 2.78172800e+02] [-1.12108904e-03 -1.21547346e-05 9.99999372e-01 2.12283941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1107140569999 meters Centerline goodness : 0.992268 Centerline is valid? [True, True] Translation: X:309.66, Y:278.16, Z:2.12 [[ 9.12439690e-01 4.09209918e-01 1.02757235e-03 3.09656721e+02] [-4.09209673e-01 9.12440268e-01 -4.48241068e-04 2.78162040e+02] [-1.12102308e-03 -1.14996053e-05 9.99999372e-01 2.12270391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.140714057 meters Centerline goodness : 0.990805 Centerline is valid? [True, True] Translation: X:309.68, Y:278.16, Z:2.12 [[ 9.15606787e-01 4.02073576e-01 1.02489051e-03 3.09678437e+02] [-4.02073319e-01 9.15607361e-01 -4.54603936e-04 2.78157984e+02] [-1.12118153e-03 4.15731855e-06 9.99999371e-01 2.12205718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1707140569999 meters Centerline goodness : 0.991786 Centerline is valid? [True, True] Translation: X:309.71, Y:278.15, Z:2.12 [[ 9.17797921e-01 3.97046475e-01 1.03558115e-03 3.09706359e+02] [-3.97046243e-01 9.17798506e-01 -4.29157453e-04 2.78148976e+02] [-1.12085028e-03 -1.72937861e-05 9.99999372e-01 2.12261423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2007140569999 meters Centerline goodness : 0.991152 Centerline is valid? [True, True] Translation: X:309.74, Y:278.12, Z:2.12 [[ 9.13317730e-01 4.07246432e-01 1.03349603e-03 3.09737473e+02] [-4.07246202e-01 9.13318314e-01 -4.34121412e-04 2.78121343e+02] [-1.12070525e-03 -2.43965505e-05 9.99999372e-01 2.12270618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2307140569999 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:309.76, Y:278.12, Z:2.13 [[ 9.16691605e-01 3.99594120e-01 1.02036606e-03 3.09760117e+02] [-3.99593850e-01 9.16692172e-01 -4.65086276e-04 2.78118967e+02] [-1.12120732e-03 1.86086806e-05 9.99999371e-01 2.12573404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.260714057 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:309.79, Y:278.11, Z:2.12 [[ 9.21035626e-01 3.89476970e-01 1.03246279e-03 3.09788348e+02] [-3.89476725e-01 9.21036205e-01 -4.36471770e-04 2.78112295e+02] [-1.12093132e-03 -1.14178427e-07 9.99999372e-01 2.12458329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.290714057 meters Centerline goodness : 0.991094 Centerline is valid? [True, True] Translation: X:309.81, Y:278.10, Z:2.12 [[ 9.20679970e-01 3.90316958e-01 1.03258227e-03 3.09813557e+02] [-3.90316714e-01 9.20680549e-01 -4.36188949e-04 2.78096400e+02] [-1.12093035e-03 -1.44368856e-06 9.99999372e-01 2.12417150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3207140569999 meters Centerline goodness : 0.992139 Centerline is valid? [True, True] Translation: X:309.84, Y:278.08, Z:2.12 [[ 9.24597476e-01 3.80944147e-01 1.03141295e-03 3.09843987e+02] [-3.80943895e-01 9.24598051e-01 -4.38957217e-04 2.78084891e+02] [-1.12086059e-03 1.29482689e-05 9.99999372e-01 2.12092906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3507140569999 meters Centerline goodness : 0.992320 Centerline is valid? [True, True] Translation: X:309.87, Y:278.07, Z:2.12 [[ 9.23840374e-01 3.82776580e-01 1.02598746e-03 3.09869164e+02] [-3.82776314e-01 9.23840944e-01 -4.51804290e-04 2.78070176e+02] [-1.12078932e-03 2.46713478e-05 9.99999372e-01 2.12292737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.380714057 meters Centerline goodness : 0.984164 Centerline is valid? [True, True] Translation: X:309.89, Y:278.07, Z:2.12 [[ 9.26337230e-01 3.76693903e-01 1.01954878e-03 3.09888657e+02] [-3.76693617e-01 9.26337790e-01 -4.66874107e-04 2.78066893e+02] [-1.12031519e-03 4.84253505e-05 9.99999371e-01 2.12316317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.410714057 meters Centerline goodness : 0.992912 Centerline is valid? [True, True] Translation: X:309.92, Y:278.05, Z:2.12 [[ 9.28400459e-01 3.71579740e-01 1.04097510e-03 3.09921310e+02] [-3.71579507e-01 9.28401043e-01 -4.16231299e-04 2.78053998e+02] [-1.12110549e-03 -3.75685556e-07 9.99999372e-01 2.12084194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4407140569999 meters Centerline goodness : 0.992748 Centerline is valid? [True, True] Translation: X:309.95, Y:278.04, Z:2.12 [[ 9.29273672e-01 3.69390548e-01 1.03199676e-03 3.09946819e+02] [-3.69390290e-01 9.29274245e-01 -4.37414014e-04 2.78043530e+02] [-1.12058461e-03 2.52677440e-05 9.99999372e-01 2.12077223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4707140569999 meters Centerline goodness : 0.989263 Centerline is valid? [True, True] Translation: X:309.97, Y:278.03, Z:2.12 [[ 9.29104737e-01 3.69815255e-01 1.03211773e-03 3.09971427e+02] [-3.69814998e-01 9.29105310e-01 -4.37128386e-04 2.78030653e+02] [-1.12060281e-03 2.44454371e-05 9.99999372e-01 2.12027210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.500714057 meters Centerline goodness : 0.988619 Centerline is valid? [True, True] Translation: X:310.00, Y:278.02, Z:2.12 [[ 9.30195192e-01 3.67063805e-01 1.03341372e-03 3.09996916e+02] [-3.67063549e-01 9.30195766e-01 -4.34066392e-04 2.78020203e+02] [-1.12060712e-03 2.44379650e-05 9.99999372e-01 2.11974095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.530714057 meters Centerline goodness : 0.988855 Centerline is valid? [True, True] Translation: X:310.02, Y:278.01, Z:2.12 [[ 9.30998929e-01 3.65020445e-01 1.03414651e-03 3.10022641e+02] [-3.65020190e-01 9.30999503e-01 -4.32334931e-04 2.78010300e+02] [-1.12060098e-03 2.50190022e-05 9.99999372e-01 2.11994994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5607140569999 meters Centerline goodness : 0.988658 Centerline is valid? [True, True] Translation: X:310.05, Y:278.00, Z:2.12 [[ 9.31126503e-01 3.64694895e-01 1.03418875e-03 3.10047294e+02] [-3.64694640e-01 9.31127077e-01 -4.32235052e-04 2.77998100e+02] [-1.12059506e-03 2.53024184e-05 9.99999372e-01 2.12007527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5907140569999 meters Centerline goodness : 0.989573 Centerline is valid? [True, True] Translation: X:310.07, Y:277.99, Z:2.12 [[ 9.31855781e-01 3.62827420e-01 1.03332910e-03 3.10074049e+02] [-3.62827161e-01 9.31856353e-01 -4.34267565e-04 2.77986550e+02] [-1.12047846e-03 2.97548779e-05 9.99999372e-01 2.11949547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.620714057 meters Centerline goodness : 0.992370 Centerline is valid? [True, True] Translation: X:310.10, Y:277.98, Z:2.12 [[ 9.33352665e-01 3.58959243e-01 1.03226923e-03 3.10101327e+02] [-3.58958979e-01 9.33353235e-01 -4.36774088e-04 2.77978786e+02] [-1.12025592e-03 3.71219488e-05 9.99999372e-01 2.11993373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.650714057 meters Centerline goodness : 0.988985 Centerline is valid? [True, True] Translation: X:310.13, Y:277.97, Z:2.12 [[ 9.32578207e-01 3.60966510e-01 1.03249994e-03 3.10127620e+02] [-3.60966248e-01 9.32578778e-01 -4.36228031e-04 2.77965078e+02] [-1.12035124e-03 3.41191259e-05 9.99999372e-01 2.11885338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6807140569999 meters Centerline goodness : 0.983006 Centerline is valid? [True, True] Translation: X:310.15, Y:277.96, Z:2.12 [[ 9.33858378e-01 3.57641532e-01 1.03194927e-03 3.10150819e+02] [-3.57641267e-01 9.33858947e-01 -4.37531445e-04 2.77960205e+02] [-1.12017447e-03 3.95247616e-05 9.99999372e-01 2.11854123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7107140569999 meters Centerline goodness : 0.988973 Centerline is valid? [True, True] Translation: X:310.18, Y:277.94, Z:2.12 [[ 9.31995908e-01 3.62467299e-01 1.04126937e-03 3.10179147e+02] [-3.62467061e-01 9.31996490e-01 -4.15403654e-04 2.77942613e+02] [-1.12102963e-03 9.72865881e-06 9.99999372e-01 2.11911747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7407140569999 meters Centerline goodness : 0.989439 Centerline is valid? [True, True] Translation: X:310.21, Y:277.93, Z:2.12 [[ 9.32485565e-01 3.61205764e-01 1.03271461e-03 3.10205835e+02] [-3.61205503e-01 9.32486137e-01 -4.35693304e-04 2.77932518e+02] [-1.12036699e-03 3.32555160e-05 9.99999372e-01 2.11848952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.770714057 meters Centerline goodness : 0.988915 Centerline is valid? [True, True] Translation: X:310.23, Y:277.92, Z:2.12 [[ 9.32388577e-01 3.61456050e-01 1.03194059e-03 3.10232227e+02] [-3.61455787e-01 9.32389148e-01 -4.37530669e-04 2.77921308e+02] [-1.12031832e-03 3.49476998e-05 9.99999372e-01 2.11871899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8007140569999 meters Centerline goodness : 0.988461 Centerline is valid? [True, True] Translation: X:310.26, Y:277.91, Z:2.12 [[ 9.32709840e-01 3.60626246e-01 1.03171205e-03 3.10257682e+02] [-3.60625982e-01 9.32710410e-01 -4.38073484e-04 2.77911550e+02] [-1.12026936e-03 3.65332791e-05 9.99999372e-01 2.11826476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8307140569999 meters Centerline goodness : 0.992506 Centerline is valid? [True, True] Translation: X:310.28, Y:277.90, Z:2.12 [[ 9.33448868e-01 3.58708997e-01 1.03271751e-03 3.10284686e+02] [-3.58708734e-01 9.33449439e-01 -4.35682774e-04 2.77903225e+02] [-1.12027291e-03 3.62428021e-05 9.99999372e-01 2.11937276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8607140569999 meters Centerline goodness : 0.992895 Centerline is valid? [True, True] Translation: X:310.31, Y:277.89, Z:2.12 [[ 9.33561611e-01 3.58415472e-01 1.03329546e-03 3.10310263e+02] [-3.58415211e-01 9.33562182e-01 -4.34307716e-04 2.77892825e+02] [-1.12030817e-03 3.51042003e-05 9.99999372e-01 2.12031995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.890714057 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:310.34, Y:277.88, Z:2.12 [[ 9.33683561e-01 3.58097669e-01 1.03341609e-03 3.10335576e+02] [-3.58097407e-01 9.33684132e-01 -4.34020489e-04 2.77882089e+02] [-1.12030593e-03 3.51741716e-05 9.99999372e-01 2.12069968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9207140569999 meters Centerline goodness : 0.992967 Centerline is valid? [True, True] Translation: X:310.36, Y:277.87, Z:2.12 [[ 9.33641816e-01 3.58206492e-01 1.03353830e-03 3.10360521e+02] [-3.58206231e-01 9.33642388e-01 -4.33729292e-04 2.77871079e+02] [-1.12031981e-03 3.47279464e-05 9.99999372e-01 2.11669399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9507140569999 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:310.39, Y:277.86, Z:2.12 [[ 9.33795405e-01 3.57805916e-01 1.03359120e-03 3.10385643e+02] [-3.57805655e-01 9.33795976e-01 -4.33603187e-04 2.77860158e+02] [-1.12030909e-03 3.50718882e-05 9.99999372e-01 2.11952002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9807140569999 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:310.41, Y:277.85, Z:2.12 [[ 9.33816119e-01 3.57751852e-01 1.03371337e-03 3.10410484e+02] [-3.57751592e-01 9.33816690e-01 -4.33311725e-04 2.77849811e+02] [-1.12031687e-03 3.48208686e-05 9.99999372e-01 2.11868674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.010714057 meters Centerline goodness : 0.993674 Centerline is valid? [True, True] Translation: X:310.44, Y:277.84, Z:2.12 [[ 9.34266385e-01 3.56574330e-01 1.03376627e-03 3.10436055e+02] [-3.56574069e-01 9.34266956e-01 -4.33185495e-04 2.77838392e+02] [-1.12027649e-03 3.60964014e-05 9.99999372e-01 2.11867768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.040714057 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:310.47, Y:277.81, Z:2.12 [[ 9.31656063e-01 3.63339940e-01 1.03388816e-03 3.10468954e+02] [-3.63339683e-01 9.31656636e-01 -4.32894376e-04 2.77812066e+02] [-1.12051658e-03 2.76560730e-05 9.99999372e-01 2.12202426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0707140569999 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:310.49, Y:277.80, Z:2.12 [[ 9.31998261e-01 3.62461310e-01 1.01979182e-03 3.10494970e+02] [-3.62461015e-01 9.31998817e-01 -4.66521726e-04 2.77801095e+02] [-1.11954084e-03 6.51626598e-05 9.99999371e-01 2.12164640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1007140569999 meters Centerline goodness : 0.992737 Centerline is valid? [True, True] Translation: X:310.51, Y:277.80, Z:2.12 [[ 9.35585808e-01 3.53097940e-01 1.02035236e-03 3.10514850e+02] [-3.53097641e-01 9.35586361e-01 -4.65184675e-04 2.77804594e+02] [-1.11888351e-03 7.49361670e-05 9.99999371e-01 2.11772087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.130714057 meters Centerline goodness : 0.992448 Centerline is valid? [True, True] Translation: X:310.54, Y:277.79, Z:2.12 [[ 9.35729083e-01 3.52718038e-01 1.03423686e-03 3.10540784e+02] [-3.52717776e-01 9.35729653e-01 -4.31939621e-04 2.77793736e+02] [-1.12011899e-03 3.93847403e-05 9.99999372e-01 2.11816316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.160714057 meters Centerline goodness : 0.992786 Centerline is valid? [True, True] Translation: X:310.57, Y:277.78, Z:2.12 [[ 9.36013003e-01 3.51963902e-01 1.03435747e-03 3.10566856e+02] [-3.51963639e-01 9.36013574e-01 -4.31650598e-04 2.77782694e+02] [-1.12009806e-03 3.99743519e-05 9.99999372e-01 2.11832698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1907140569999 meters Centerline goodness : 0.992088 Centerline is valid? [True, True] Translation: X:310.61, Y:277.75, Z:2.12 [[ 9.31637223e-01 3.63388242e-01 1.03447682e-03 3.10605355e+02] [-3.63387987e-01 9.31637797e-01 -4.31364386e-04 2.77745934e+02] [-1.12051045e-03 2.59586693e-05 9.99999372e-01 2.11775177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2207140569999 meters Centerline goodness : 0.992189 Centerline is valid? [True, True] Translation: X:310.63, Y:277.74, Z:2.12 [[ 9.32277905e-01 3.61741471e-01 1.00842292e-03 3.10631968e+02] [-3.61741146e-01 9.32278445e-01 -4.93767036e-04 2.77735921e+02] [-1.11874697e-03 9.55400341e-05 9.99999370e-01 2.11734221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.250714057 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:310.66, Y:277.73, Z:2.12 [[ 9.32930346e-01 3.60055481e-01 1.01012145e-03 3.10658789e+02] [-3.60055160e-01 9.32930888e-01 -4.89683586e-04 2.77725484e+02] [-1.11868676e-03 9.31412373e-05 9.99999370e-01 2.11740526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.280714057 meters Centerline goodness : 0.991782 Centerline is valid? [True, True] Translation: X:310.68, Y:277.72, Z:2.12 [[ 9.32844322e-01 3.60278300e-01 1.00919171e-03 3.10681917e+02] [-3.60277977e-01 9.32844863e-01 -4.91922813e-04 2.77715436e+02] [-1.11864841e-03 9.52978565e-05 9.99999370e-01 2.11626596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3107140569999 meters Centerline goodness : 0.991572 Centerline is valid? [True, True] Translation: X:310.71, Y:277.71, Z:2.12 [[ 9.33929132e-01 3.57456777e-01 1.01441234e-03 3.10708403e+02] [-3.57456466e-01 9.33929679e-01 -4.79300117e-04 2.77705059e+02] [-1.11871886e-03 8.50240934e-05 9.99999371e-01 2.11705468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3407140569999 meters Centerline goodness : 0.990802 Centerline is valid? [True, True] Translation: X:310.73, Y:277.70, Z:2.12 [[ 9.33852470e-01 3.57657015e-01 1.01161243e-03 3.10732840e+02] [-3.57656697e-01 9.33853014e-01 -4.86073527e-04 2.77695019e+02] [-1.11854492e-03 9.21110037e-05 9.99999370e-01 2.11541999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.370714057 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:310.76, Y:277.68, Z:2.12 [[ 9.34397418e-01 3.56230878e-01 1.01293444e-03 3.10758817e+02] [-3.56230562e-01 9.34397963e-01 -4.82896147e-04 2.77683791e+02] [-1.11850640e-03 9.03787087e-05 9.99999370e-01 2.11530371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.400714057 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:310.78, Y:277.67, Z:2.12 [[ 9.34722305e-01 3.55377529e-01 1.01270690e-03 3.10784817e+02] [-3.55377212e-01 9.34722849e-01 -4.83444621e-04 2.77673616e+02] [-1.11840563e-03 9.19935171e-05 9.99999370e-01 2.11527273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4307140569999 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:310.81, Y:277.67, Z:2.12 [[ 9.35695847e-01 3.52806259e-01 1.01303769e-03 3.10810424e+02] [-3.52805941e-01 9.35696390e-01 -4.82645329e-04 2.77665340e+02] [-1.11817600e-03 9.42035145e-05 9.99999370e-01 2.11546665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4607140569999 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:310.84, Y:277.65, Z:2.12 [[ 9.36286984e-01 3.51234465e-01 1.01715502e-03 3.10837017e+02] [-3.51234157e-01 9.36287532e-01 -4.72620875e-04 2.77654835e+02] [-1.11835030e-03 8.52491887e-05 9.99999371e-01 2.11672132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4907140569999 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:310.85, Y:277.67, Z:2.12 [[ 9.39816109e-01 3.41679162e-01 1.01525355e-03 3.10850410e+02] [-3.41678844e-01 9.39816652e-01 -4.77261747e-04 2.77667922e+02] [-1.11722259e-03 1.01647617e-04 9.99999371e-01 2.11588691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.520714057 meters Centerline goodness : 0.992667 Centerline is valid? [True, True] Translation: X:310.87, Y:277.66, Z:2.12 [[ 9.39705774e-01 3.41982430e-01 1.03755509e-03 3.10874818e+02] [-3.41982172e-01 9.39706345e-01 -4.22493935e-04 2.77657640e+02] [-1.11948260e-03 4.21946471e-05 9.99999373e-01 2.11571932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5507140569999 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:310.90, Y:277.65, Z:2.12 [[ 9.39717000e-01 3.41951580e-01 1.03763014e-03 3.10900335e+02] [-3.41951322e-01 9.39717572e-01 -4.22309527e-04 2.77647064e+02] [-1.11948869e-03 4.20324434e-05 9.99999373e-01 2.11595506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5807140569999 meters Centerline goodness : 0.992431 Centerline is valid? [True, True] Translation: X:310.93, Y:277.64, Z:2.12 [[ 9.39834156e-01 3.41629453e-01 1.03773847e-03 3.10925309e+02] [-3.41629195e-01 9.39834728e-01 -4.22043174e-04 2.77637001e+02] [-1.11948503e-03 4.21288331e-05 9.99999373e-01 2.11632804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6107140569999 meters Centerline goodness : 0.992493 Centerline is valid? [True, True] Translation: X:310.95, Y:277.63, Z:2.12 [[ 9.39584781e-01 3.42314714e-01 1.03778544e-03 3.10951139e+02] [-3.42314456e-01 9.39585353e-01 -4.21927635e-04 2.77627056e+02] [-1.11952004e-03 4.11878252e-05 9.99999373e-01 2.11614842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.640714057 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:310.98, Y:277.62, Z:2.12 [[ 9.39637839e-01 3.42169043e-01 1.03781870e-03 3.10977154e+02] [-3.42168786e-01 9.39638411e-01 -4.21845810e-04 2.77615924e+02] [-1.11951689e-03 4.12731210e-05 9.99999373e-01 2.11850944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6707140569999 meters Centerline goodness : 0.991869 Centerline is valid? [True, True] Translation: X:311.00, Y:277.61, Z:2.12 [[ 9.39719906e-01 3.41943593e-01 1.03793184e-03 3.11002661e+02] [-3.41943335e-01 9.39720479e-01 -4.21567242e-04 2.77605036e+02] [-1.11951803e-03 4.12412521e-05 9.99999373e-01 2.11961887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7007140569999 meters Centerline goodness : 0.992508 Centerline is valid? [True, True] Translation: X:311.03, Y:277.59, Z:2.12 [[ 9.39236056e-01 3.43270381e-01 1.03804925e-03 3.11029733e+02] [-3.43270124e-01 9.39236629e-01 -4.21277959e-04 2.77594553e+02] [-1.11958612e-03 3.93481546e-05 9.99999373e-01 2.11986826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7307140569999 meters Centerline goodness : 0.992532 Centerline is valid? [True, True] Translation: X:311.06, Y:277.58, Z:2.12 [[ 9.38983430e-01 3.43960812e-01 1.03815312e-03 3.11056576e+02] [-3.43960557e-01 9.38984003e-01 -4.21021816e-04 2.77584631e+02] [-1.11962418e-03 3.82487828e-05 9.99999373e-01 2.11981392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.760714057 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:311.08, Y:277.58, Z:2.12 [[ 9.38196591e-01 3.46101255e-01 1.03825664e-03 3.11082975e+02] [-3.46101001e-01 9.38197165e-01 -4.20766393e-04 2.77575466e+02] [-1.11971721e-03 3.54199346e-05 9.99999373e-01 2.11861953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.790714057 meters Centerline goodness : 0.991883 Centerline is valid? [True, True] Translation: X:311.12, Y:277.54, Z:2.12 [[ 9.35350520e-01 3.53720689e-01 1.03829317e-03 3.11120969e+02] [-3.53720440e-01 9.35351096e-01 -4.20676235e-04 2.77543936e+02] [-1.11997054e-03 2.62142198e-05 9.99999373e-01 2.11888320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8207140569999 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:311.15, Y:277.53, Z:2.12 [[ 9.35640935e-01 3.52951841e-01 1.01920757e-03 3.11147783e+02] [-3.52951540e-01 9.35641487e-01 -4.67887743e-04 2.77534160e+02] [-1.11875472e-03 7.80440453e-05 9.99999371e-01 2.11997419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8507140569999 meters Centerline goodness : 0.992516 Centerline is valid? [True, True] Translation: X:311.17, Y:277.53, Z:2.12 [[ 9.34927221e-01 3.54838065e-01 1.01897030e-03 3.11173455e+02] [-3.54837764e-01 9.34927773e-01 -4.68474594e-04 2.77525553e+02] [-1.11889625e-03 7.64205080e-05 9.99999371e-01 2.12122976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.880714057 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:311.20, Y:277.52, Z:2.12 [[ 9.35075241e-01 3.54447813e-01 1.02039839e-03 3.11199551e+02] [-3.54447516e-01 9.35075795e-01 -4.64923617e-04 2.77516185e+02] [-1.11894099e-03 7.30608898e-05 9.99999371e-01 2.12409758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.910714057 meters Centerline goodness : 0.992845 Centerline is valid? [True, True] Translation: X:311.22, Y:277.52, Z:2.13 [[ 9.37692913e-01 3.47463605e-01 1.02185328e-03 3.11223928e+02] [-3.47463308e-01 9.37693467e-01 -4.61281868e-04 2.77517029e+02] [-1.11846380e-03 7.74842181e-05 9.99999372e-01 2.12755279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9407140569999 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:311.25, Y:277.50, Z:2.13 [[ 9.36102106e-01 3.51726867e-01 1.02828072e-03 3.11253300e+02] [-3.51726590e-01 9.36102670e-01 -4.45131002e-04 2.77500903e+02] [-1.11914086e-03 5.50143984e-05 9.99999372e-01 2.12683165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9707140569999 meters Centerline goodness : 0.992670 Centerline is valid? [True, True] Translation: X:311.28, Y:277.49, Z:2.13 [[ 9.35773951e-01 3.52599017e-01 1.02239960e-03 3.11278896e+02] [-3.52598724e-01 9.35774507e-01 -4.59911005e-04 2.77490828e+02] [-1.11889965e-03 6.98759436e-05 9.99999372e-01 2.12599168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.000714057 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:311.30, Y:277.49, Z:2.13 [[ 9.38608990e-01 3.44981326e-01 1.02438690e-03 3.11303096e+02] [-3.44981034e-01 9.38609546e-01 -4.54893770e-04 2.77491249e+02] [-1.11842918e-03 7.35733306e-05 9.99999372e-01 2.12634256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.030714057 meters Centerline goodness : 0.992894 Centerline is valid? [True, True] Translation: X:311.33, Y:277.48, Z:2.13 [[ 9.38400382e-01 3.45548347e-01 1.03101717e-03 3.11328748e+02] [-3.45548073e-01 9.38400947e-01 -4.38107870e-04 2.77479964e+02] [-1.11889494e-03 5.48545960e-05 9.99999373e-01 2.12558649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0607140569999 meters Centerline goodness : 0.983649 Centerline is valid? [True, True] Translation: X:311.36, Y:277.47, Z:2.12 [[ 9.39593537e-01 3.42290698e-01 1.03097113e-03 3.11358992e+02] [-3.42290423e-01 9.39594101e-01 -4.38222218e-04 2.77471420e+02] [-1.11869378e-03 5.88592219e-05 9.99999373e-01 2.12251258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0907140569999 meters Centerline goodness : 0.992747 Centerline is valid? [True, True] Translation: X:311.38, Y:277.46, Z:2.13 [[ 9.39061404e-01 3.43747895e-01 1.03188537e-03 3.11381021e+02] [-3.43747623e-01 9.39061969e-01 -4.35950941e-04 2.77460065e+02] [-1.11886153e-03 5.46765582e-05 9.99999373e-01 2.12585984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.120714057 meters Centerline goodness : 0.984704 Centerline is valid? [True, True] Translation: X:311.41, Y:277.45, Z:2.12 [[ 9.40395302e-01 3.40081787e-01 1.02700493e-03 3.11412054e+02] [-3.40081499e-01 9.40395860e-01 -4.48138061e-04 2.77452084e+02] [-1.11819478e-03 7.21615506e-05 9.99999372e-01 2.12431382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.150714057 meters Centerline goodness : 0.983848 Centerline is valid? [True, True] Translation: X:311.44, Y:277.44, Z:2.12 [[ 9.41051435e-01 3.38261928e-01 1.03174966e-03 3.11438876e+02] [-3.38261653e-01 9.41051999e-01 -4.36276370e-04 2.77441946e+02] [-1.11850576e-03 6.15571592e-05 9.99999373e-01 2.12494752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1807140569999 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:311.46, Y:277.43, Z:2.13 [[ 9.40669328e-01 3.39323079e-01 1.03145907e-03 3.11460008e+02] [-3.39322804e-01 9.40669891e-01 -4.37003074e-04 2.77430273e+02] [-1.11854772e-03 6.10778032e-05 9.99999373e-01 2.12615723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2107140569999 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:311.49, Y:277.42, Z:2.13 [[ 9.41171422e-01 3.37927948e-01 1.02824275e-03 3.11486853e+02] [-3.37927662e-01 9.41171980e-01 -4.45333993e-04 2.77419024e+02] [-1.11824407e-03 7.16639564e-05 9.99999372e-01 2.12609621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2407140569999 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:311.51, Y:277.41, Z:2.13 [[ 9.41945137e-01 3.35765251e-01 1.02740442e-03 3.11512177e+02] [-3.35764961e-01 9.41945694e-01 -4.47514285e-04 2.77409201e+02] [-1.11801891e-03 7.65675007e-05 9.99999372e-01 2.12801587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.270714057 meters Centerline goodness : 0.993741 Centerline is valid? [True, True] Translation: X:311.53, Y:277.41, Z:2.13 [[ 9.44741887e-01 3.27813530e-01 1.02795839e-03 3.11534826e+02] [-3.27813237e-01 9.44742443e-01 -4.46071630e-04 2.77410715e+02] [-1.11738424e-03 8.44441850e-05 9.99999372e-01 2.12905774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3007140569999 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:311.57, Y:277.39, Z:2.13 [[ 9.42400741e-01 3.34484333e-01 1.03625718e-03 3.11565600e+02] [-3.34484068e-01 9.42401309e-01 -4.24399153e-04 2.77389860e+02] [-1.11852499e-03 5.33425592e-05 9.99999373e-01 2.12754022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3307140569999 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:311.58, Y:277.40, Z:2.13 [[ 9.43938459e-01 3.30119877e-01 1.02628114e-03 3.11579193e+02] [-3.30119581e-01 9.43939013e-01 -4.50303247e-04 2.77400684e+02] [-1.11740086e-03 8.62630522e-05 9.99999372e-01 2.12830538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3607140569999 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:311.62, Y:277.37, Z:2.13 [[ 9.42445326e-01 3.34358661e-01 1.04542073e-03 3.11616480e+02] [-3.34358422e-01 9.42445906e-01 -4.00321060e-04 2.77373418e+02] [-1.11910330e-03 2.77354861e-05 9.99999373e-01 2.12870356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.390714057 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:311.64, Y:277.36, Z:2.13 [[ 9.42649189e-01 3.33783528e-01 1.03067985e-03 3.11642091e+02] [-3.33783247e-01 9.42649750e-01 -4.39032742e-04 2.77364585e+02] [-1.11811200e-03 6.98301922e-05 9.99999372e-01 2.12863508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4207140569999 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:311.66, Y:277.36, Z:2.13 [[ 9.42004338e-01 3.35599115e-01 1.03061203e-03 3.11664022e+02] [-3.35598834e-01 9.42004899e-01 -4.39211215e-04 2.77359867e+02] [-1.11824048e-03 6.78666731e-05 9.99999372e-01 2.12851034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4507140569999 meters Centerline goodness : 0.993451 Centerline is valid? [True, True] Translation: X:311.69, Y:277.35, Z:2.13 [[ 9.41475421e-01 3.37080042e-01 1.03750060e-03 3.11691892e+02] [-3.37079782e-01 9.41475992e-01 -4.21067756e-04 2.77350250e+02] [-1.11871545e-03 4.67044658e-05 9.99999373e-01 2.12877990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4807140569999 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:311.71, Y:277.35, Z:2.13 [[ 9.43819301e-01 3.30460369e-01 1.03540937e-03 3.11711112e+02] [-3.30460100e-01 9.43819867e-01 -4.26586174e-04 2.77353917e+02] [-1.11820976e-03 6.04587797e-05 9.99999373e-01 2.12929144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.510714057 meters Centerline goodness : 0.993380 Centerline is valid? [True, True] Translation: X:311.74, Y:277.34, Z:2.13 [[ 9.43856866e-01 3.30353022e-01 1.04717050e-03 3.11736986e+02] [-3.30352787e-01 9.43857447e-01 -3.95441467e-04 2.77343950e+02] [-1.11901496e-03 2.73044493e-05 9.99999374e-01 2.12899968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.540714057 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:311.76, Y:277.33, Z:2.13 [[ 9.43913466e-01 3.30191265e-01 1.04727943e-03 3.11762620e+02] [-3.30191029e-01 9.43914047e-01 -3.95152787e-04 2.77333396e+02] [-1.11901776e-03 2.71877648e-05 9.99999374e-01 2.12837539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5707140569999 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:311.79, Y:277.31, Z:2.13 [[ 9.42081555e-01 3.35382239e-01 1.04738774e-03 3.11794891e+02] [-3.35382008e-01 9.42082137e-01 -3.94865489e-04 2.77311819e+02] [-1.11915615e-03 2.07204917e-05 9.99999374e-01 2.12798013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6007140569999 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:311.82, Y:277.31, Z:2.13 [[ 9.43895849e-01 3.30241654e-01 1.03784735e-03 3.11815474e+02] [-3.30241391e-01 9.43896418e-01 -4.20131806e-04 2.77312647e+02] [-1.11836542e-03 5.38205135e-05 9.99999373e-01 2.12772924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.630714057 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:311.84, Y:277.30, Z:2.13 [[ 9.43740530e-01 3.30685220e-01 1.04756372e-03 3.11841823e+02] [-3.30684985e-01 9.43741111e-01 -3.94318927e-04 2.77302342e+02] [-1.11902439e-03 2.57211608e-05 9.99999374e-01 2.12953177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.660714057 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:311.87, Y:277.29, Z:2.13 [[ 9.43693546e-01 3.30819277e-01 1.04766120e-03 3.11867335e+02] [-3.30819043e-01 9.43694127e-01 -3.94059740e-04 2.77292520e+02] [-1.11903428e-03 2.52853567e-05 9.99999374e-01 2.12785151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6907140569999 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:311.90, Y:277.27, Z:2.13 [[ 9.41885987e-01 3.35931080e-01 1.04769586e-03 3.11898820e+02] [-3.35930850e-01 9.41886569e-01 -3.93967590e-04 2.77272791e+02] [-1.11915661e-03 1.91191927e-05 9.99999374e-01 2.12955294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7207140569999 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:311.92, Y:277.27, Z:2.13 [[ 9.43432503e-01 3.31563015e-01 1.03907445e-03 3.11919834e+02] [-3.31562756e-01 9.43433074e-01 -4.16883484e-04 2.77272376e+02] [-1.11852035e-03 4.87830386e-05 9.99999373e-01 2.13069998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.750714057 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:311.95, Y:277.26, Z:2.13 [[ 9.43386651e-01 3.31693425e-01 1.04797983e-03 3.11945965e+02] [-3.31693193e-01 9.43387233e-01 -3.93145027e-04 2.77262485e+02] [-1.11905442e-03 2.32799935e-05 9.99999374e-01 2.13078235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.780714057 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:311.98, Y:277.24, Z:2.13 [[ 9.41342781e-01 3.37450249e-01 1.04801399e-03 3.11978593e+02] [-3.37450021e-01 9.41343364e-01 -3.93053950e-04 2.77240605e+02] [-1.11917717e-03 1.63461549e-05 9.99999374e-01 2.13128982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8107140569999 meters Centerline goodness : 0.994814 Centerline is valid? [True, True] Translation: X:312.00, Y:277.24, Z:2.13 [[ 9.43064709e-01 3.32607695e-01 1.03774645e-03 3.11998203e+02] [-3.32607433e-01 9.43065278e-01 -4.20391319e-04 2.77242681e+02] [-1.11848803e-03 5.12940352e-05 9.99999373e-01 2.13118122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8407140569999 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:312.03, Y:277.22, Z:2.13 [[ 9.42283562e-01 3.34814261e-01 1.04819826e-03 3.12032258e+02] [-3.34814032e-01 9.42284145e-01 -3.92477434e-04 2.77222237e+02] [-1.11910764e-03 1.88735492e-05 9.99999374e-01 2.12934351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.870714057 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:312.05, Y:277.22, Z:2.13 [[ 9.42269302e-01 3.34854426e-01 1.03713822e-03 3.12051350e+02] [-3.34854164e-01 9.42269872e-01 -4.21968965e-04 2.77223672e+02] [-1.11856228e-03 5.03183502e-05 9.99999373e-01 2.13103025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.900714057 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:312.08, Y:277.22, Z:2.13 [[ 9.41096828e-01 3.38135566e-01 1.04837958e-03 3.12076920e+02] [-3.38135339e-01 9.41097412e-01 -3.91896731e-04 2.77215114e+02] [-1.11914153e-03 1.43185856e-05 9.99999374e-01 2.13084366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9307140569999 meters Centerline goodness : 0.996494 Centerline is valid? [True, True] Translation: X:312.11, Y:277.20, Z:2.13 [[ 9.41620601e-01 3.36674240e-01 1.04845063e-03 3.12108101e+02] [-3.36674012e-01 9.41621185e-01 -3.91706559e-04 2.77203821e+02] [-1.11912083e-03 1.58528850e-05 9.99999374e-01 2.12957125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9607140569999 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:312.13, Y:277.20, Z:2.13 [[ 9.39775772e-01 3.41790006e-01 1.04423695e-03 3.12131721e+02] [-3.41789769e-01 9.39776352e-01 -4.02998301e-04 2.77195731e+02] [-1.11908999e-03 2.18185325e-05 9.99999374e-01 2.13230941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9907140569999 meters Centerline goodness : 0.995602 Centerline is valid? [True, True] Translation: X:312.16, Y:277.19, Z:2.13 [[ 9.37448462e-01 3.48122509e-01 1.04881478e-03 3.12157820e+02] [-3.48122289e-01 9.37449049e-01 -3.90709660e-04 2.77187276e+02] [-1.11922524e-03 1.15436819e-06 9.99999374e-01 2.13307982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.020714057 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:312.18, Y:277.18, Z:2.13 [[ 9.36028215e-01 3.51923401e-01 1.04884768e-03 3.12183877e+02] [-3.51923185e-01 9.36028803e-01 -3.90621326e-04 2.77178265e+02] [-1.11922042e-03 -3.48123217e-06 9.99999374e-01 2.13340780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0507140569999 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:312.21, Y:277.17, Z:2.13 [[ 9.32830535e-01 3.60313880e-01 1.04888019e-03 3.12211064e+02] [-3.60313669e-01 9.32831125e-01 -3.90534000e-04 2.77170427e+02] [-1.11914291e-03 -1.36238293e-05 9.99999374e-01 2.13271893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0807140569999 meters Centerline goodness : 0.995621 Centerline is valid? [True, True] Translation: X:312.24, Y:277.15, Z:2.13 [[ 9.29258528e-01 3.69428598e-01 1.04892846e-03 3.12243374e+02] [-3.69428392e-01 9.29259119e-01 -3.90404309e-04 2.77148343e+02] [-1.11895285e-03 -2.47174223e-05 9.99999374e-01 2.13399068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1107140569999 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:312.27, Y:277.14, Z:2.14 [[ 9.28353940e-01 3.71695954e-01 1.03959282e-03 3.12269748e+02] [-3.71695721e-01 9.28354522e-01 -4.15561496e-04 2.77138022e+02] [-1.11957322e-03 -6.24050201e-07 9.99999373e-01 2.13560254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.140714057 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:312.29, Y:277.14, Z:2.13 [[ 9.29622983e-01 3.68510554e-01 1.03947610e-03 3.12289558e+02] [-3.68510319e-01 9.29623565e-01 -4.15876505e-04 2.77140339e+02] [-1.11957636e-03 3.55068844e-06 9.99999373e-01 2.13426251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1707140569999 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:312.32, Y:277.13, Z:2.14 [[ 9.27622396e-01 3.73517856e-01 1.04986955e-03 3.12315540e+02] [-3.73517656e-01 9.27622989e-01 -3.87734101e-04 2.77129064e+02] [-1.11870874e-03 -3.24739792e-05 9.99999374e-01 2.13615928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2007140569999 meters Centerline goodness : 0.995652 Centerline is valid? [True, True] Translation: X:312.34, Y:277.12, Z:2.14 [[ 9.26435997e-01 3.76450849e-01 1.04996101e-03 3.12341685e+02] [-3.76450652e-01 9.26436591e-01 -3.87486279e-04 2.77119334e+02] [-1.11859184e-03 -3.62772695e-05 9.99999374e-01 2.13618169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2307140569999 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:312.37, Y:277.10, Z:2.14 [[ 9.22436296e-01 3.86147869e-01 1.05006467e-03 3.12370489e+02] [-3.86147678e-01 9.22436893e-01 -3.87205175e-04 2.77099123e+02] [-1.11813684e-03 -4.83079248e-05 9.99999374e-01 2.13523272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.260714057 meters Centerline goodness : 0.995307 Centerline is valid? [True, True] Translation: X:312.39, Y:277.10, Z:2.14 [[ 9.23558564e-01 3.83455981e-01 1.04436606e-03 3.12394122e+02] [-3.83455770e-01 9.23559154e-01 -4.02668362e-04 2.77098598e+02] [-1.11893943e-03 -2.85803789e-05 9.99999374e-01 2.13771524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.290714057 meters Centerline goodness : 0.995307 Centerline is valid? [True, True] Translation: X:312.42, Y:277.09, Z:2.14 [[ 9.23665184e-01 3.83199066e-01 1.05040084e-03 3.12420746e+02] [-3.83198875e-01 9.23665780e-01 -3.86257170e-04 2.77088869e+02] [-1.11823270e-03 -4.57401209e-05 9.99999374e-01 2.13767504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3207140569999 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:312.45, Y:277.07, Z:2.13 [[ 9.19751957e-01 3.92498706e-01 1.05050820e-03 3.12450585e+02] [-3.92498521e-01 9.19752555e-01 -3.85964979e-04 2.77065739e+02] [-1.11769835e-03 -5.73308685e-05 9.99999374e-01 2.13330305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3507140569999 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:312.48, Y:277.05, Z:2.13 [[ 9.18653698e-01 3.95062393e-01 1.04338654e-03 3.12475716e+02] [-3.95062187e-01 9.18654290e-01 -4.05417923e-04 2.77053473e+02] [-1.11867690e-03 -3.97638945e-05 9.99999374e-01 2.13298632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.380714057 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:312.50, Y:277.05, Z:2.14 [[ 9.19545276e-01 3.92982691e-01 1.04362762e-03 3.12499192e+02] [-3.92982485e-01 9.19545868e-01 -4.04758474e-04 2.77046856e+02] [-1.11872654e-03 -3.79336337e-05 9.99999374e-01 2.13630777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.410714057 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:312.52, Y:277.05, Z:2.14 [[ 9.23979030e-01 3.82441702e-01 1.04702727e-03 3.12524725e+02] [-3.82441499e-01 9.23979623e-01 -3.95451412e-04 2.77047038e+02] [-1.11866897e-03 -3.50378670e-05 9.99999374e-01 2.13850848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4407140569999 meters Centerline goodness : 0.994178 Centerline is valid? [True, True] Translation: X:312.56, Y:277.02, Z:2.14 [[ 9.21659515e-01 3.87998239e-01 1.05144690e-03 3.12557406e+02] [-3.87998053e-01 9.21660113e-01 -3.83328631e-04 2.77023346e+02] [-1.11780751e-03 -5.46608722e-05 9.99999374e-01 2.13787565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4707140569999 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:312.58, Y:277.02, Z:2.14 [[ 9.23292390e-01 3.84096446e-01 1.04006647e-03 3.12581366e+02] [-3.84096223e-01 9.23292976e-01 -4.14493271e-04 2.77016367e+02] [-1.11949146e-03 -1.67871180e-05 9.99999373e-01 2.13521648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.500714057 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:312.60, Y:277.02, Z:2.14 [[ 9.28238149e-01 3.71985013e-01 1.04299974e-03 3.12601208e+02] [-3.71984792e-01 9.28238735e-01 -4.06470450e-04 2.77015873e+02] [-1.11935368e-03 -1.06786639e-05 9.99999373e-01 2.13728808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.530714057 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:312.63, Y:276.99, Z:2.14 [[ 9.27651051e-01 3.73446679e-01 1.05143456e-03 3.12631964e+02] [-3.73446484e-01 9.27651646e-01 -3.83334929e-04 2.76994414e+02] [-1.11852015e-03 -3.70534882e-05 9.99999374e-01 2.13560640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5607140569999 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:312.65, Y:276.99, Z:2.14 [[ 9.28873907e-01 3.70394623e-01 1.04268540e-03 3.12653268e+02] [-3.70394399e-01 9.28874493e-01 -4.07300552e-04 2.76986965e+02] [-1.11938581e-03 -7.87397782e-06 9.99999373e-01 2.13684972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5907140569999 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:312.68, Y:276.98, Z:2.14 [[ 9.34782190e-01 3.55219875e-01 1.04799159e-03 3.12679363e+02] [-3.55219658e-01 9.34782777e-01 -3.92741216e-04 2.76984622e+02] [-1.11915398e-03 -5.13972048e-06 9.99999374e-01 2.13824182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.620714057 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:312.71, Y:276.98, Z:2.14 [[ 9.36388375e-01 3.50963965e-01 1.05161598e-03 3.12705477e+02] [-3.50963757e-01 9.36388966e-01 -3.82783983e-04 2.76975303e+02] [-1.11906499e-03 -1.06446245e-05 9.99999374e-01 2.13875206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.650714057 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:312.74, Y:276.95, Z:2.14 [[ 9.35848235e-01 3.52401725e-01 1.05172068e-03 3.12736629e+02] [-3.52401518e-01 9.35848826e-01 -3.82496112e-04 2.76954980e+02] [-1.11904385e-03 -1.26696519e-05 9.99999374e-01 2.13801857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6807140569999 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:312.76, Y:276.95, Z:2.14 [[ 9.38781919e-01 3.44510408e-01 1.04256198e-03 3.12762848e+02] [-3.44510168e-01 9.38782498e-01 -4.07653733e-04 2.76947255e+02] [-1.11917989e-03 2.35247520e-05 9.99999373e-01 2.13686411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7107140569999 meters Centerline goodness : 0.993462 Centerline is valid? [True, True] Translation: X:312.79, Y:276.94, Z:2.13 [[ 9.40343102e-01 3.40226046e-01 1.04328385e-03 3.12786549e+02] [-3.40225805e-01 9.40343680e-01 -4.05669061e-04 2.76940241e+02] [-1.11906455e-03 2.65160156e-05 9.99999374e-01 2.13478962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7407140569999 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:312.82, Y:276.93, Z:2.14 [[ 9.41276689e-01 3.37634567e-01 1.04626762e-03 3.12815207e+02] [-3.37634334e-01 9.41277270e-01 -3.97446735e-04 2.76929885e+02] [-1.11901968e-03 2.08514755e-05 9.99999374e-01 2.13579406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.770714057 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:312.84, Y:276.92, Z:2.14 [[ 9.42949158e-01 3.32935121e-01 1.04421388e-03 3.12841706e+02] [-3.32934879e-01 9.42949736e-01 -4.03109281e-04 2.76923503e+02] [-1.11885044e-03 3.24563341e-05 9.99999374e-01 2.13510839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8007140569999 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:312.86, Y:276.92, Z:2.14 [[ 9.44833405e-01 3.27549606e-01 1.04505473e-03 3.12863885e+02] [-3.27549363e-01 9.44833983e-01 -4.00790845e-04 2.76924133e+02] [-1.11868211e-03 3.63735667e-05 9.99999374e-01 2.13596427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8307140569999 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:312.89, Y:276.91, Z:2.14 [[ 9.43923936e-01 3.30161317e-01 1.05233171e-03 3.12894606e+02] [-3.30161098e-01 9.43924523e-01 -3.80674465e-04 2.76908430e+02] [-1.11900569e-03 1.18887467e-05 9.99999374e-01 2.13508005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8607140569999 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:312.92, Y:276.90, Z:2.13 [[ 9.44253488e-01 3.29217642e-01 1.04588585e-03 3.12922177e+02] [-3.29217403e-01 9.44254067e-01 -3.98483624e-04 2.76901658e+02] [-1.11876981e-03 3.19457296e-05 9.99999374e-01 2.13494120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.890714057 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:312.95, Y:276.89, Z:2.13 [[ 9.44625328e-01 3.28149198e-01 1.04608391e-03 3.12949275e+02] [-3.28148959e-01 9.44625906e-01 -3.97935531e-04 2.76894771e+02] [-1.11874018e-03 3.26286364e-05 9.99999374e-01 2.13385165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9207140569999 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:312.98, Y:276.89, Z:2.13 [[ 9.44768893e-01 3.27735627e-01 1.04763093e-03 3.12976399e+02] [-3.27735392e-01 9.44769473e-01 -3.93639502e-04 2.76886923e+02] [-1.11877941e-03 2.85526231e-05 9.99999374e-01 2.13385446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9507140569999 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:313.00, Y:276.88, Z:2.13 [[ 9.43878190e-01 3.30292093e-01 1.04696055e-03 3.13004636e+02] [-3.30291857e-01 9.43878770e-01 -3.95503236e-04 2.76877370e+02] [-1.11883543e-03 2.75043345e-05 9.99999374e-01 2.13420241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9807140569999 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:313.03, Y:276.87, Z:2.13 [[ 9.44195131e-01 3.29384975e-01 1.04562647e-03 3.13031843e+02] [-3.29384734e-01 9.44195709e-01 -3.99210226e-04 2.76867316e+02] [-1.11876988e-03 3.25189531e-05 9.99999374e-01 2.13403728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.010714057 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:313.06, Y:276.86, Z:2.13 [[ 9.44862434e-01 3.27465855e-01 1.04579213e-03 3.13058609e+02] [-3.27465614e-01 9.44863013e-01 -3.98747716e-04 2.76858714e+02] [-1.11870657e-03 3.43007738e-05 9.99999374e-01 2.13342442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.040714057 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:313.09, Y:276.85, Z:2.13 [[ 9.44732836e-01 3.27839558e-01 1.04576307e-03 3.13085726e+02] [-3.27839317e-01 9.44733414e-01 -3.98828984e-04 2.76849604e+02] [-1.11871924e-03 3.39445848e-05 9.99999374e-01 2.13297245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0707140569999 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:313.11, Y:276.84, Z:2.13 [[ 9.44427662e-01 3.28717656e-01 1.04565870e-03 3.13111315e+02] [-3.28717416e-01 9.44428241e-01 -3.99121095e-04 2.76841232e+02] [-1.11874776e-03 3.32147770e-05 9.99999374e-01 2.13252812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1007140569999 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:313.14, Y:276.83, Z:2.13 [[ 9.43723649e-01 3.30733396e-01 1.04674140e-03 3.13137401e+02] [-3.30733160e-01 9.43724229e-01 -3.96091565e-04 2.76830588e+02] [-1.11883593e-03 2.76088858e-05 9.99999374e-01 2.13372138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.130714057 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:313.16, Y:276.82, Z:2.13 [[ 9.43274330e-01 3.32012714e-01 1.04665635e-03 3.13162842e+02] [-3.32012479e-01 9.43274911e-01 -3.96329792e-04 2.76823680e+02] [-1.11887120e-03 2.63447513e-05 9.99999374e-01 2.13228182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.160714057 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:313.19, Y:276.81, Z:2.13 [[ 9.41860984e-01 3.36001173e-01 1.04811900e-03 3.13187015e+02] [-3.36000944e-01 9.41861567e-01 -3.92234665e-04 2.76813094e+02] [-1.11897431e-03 1.72615538e-05 9.99999374e-01 2.13250140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1907140569999 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:313.21, Y:276.80, Z:2.13 [[ 9.40698652e-01 3.39241719e-01 1.05031006e-03 3.13212561e+02] [-3.39241499e-01 9.40699238e-01 -3.86092551e-04 2.76803640e+02] [-1.11900457e-03 6.88798353e-06 9.99999374e-01 2.13363775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2207140569999 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:313.24, Y:276.79, Z:2.14 [[ 9.38911918e-01 3.44155932e-01 1.05164544e-03 3.13244729e+02] [-3.44155719e-01 9.38912507e-01 -3.82336934e-04 2.76789942e+02] [-1.11898658e-03 -2.94908987e-06 9.99999374e-01 2.13568417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.250714057 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:313.27, Y:276.78, Z:2.14 [[ 9.38216132e-01 3.46048258e-01 1.04557270e-03 3.13269823e+02] [-3.46048028e-01 9.38216714e-01 -3.99410375e-04 2.76782070e+02] [-1.11918905e-03 1.29148863e-05 9.99999374e-01 2.13656515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.280714057 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:313.29, Y:276.78, Z:2.14 [[ 9.38232342e-01 3.46004299e-01 1.04721830e-03 3.13289061e+02] [-3.46004074e-01 9.38232927e-01 -3.94775388e-04 2.76781499e+02] [-1.11912868e-03 8.04923699e-06 9.99999374e-01 2.13713826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3107140569999 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:313.31, Y:276.77, Z:2.14 [[ 9.35500386e-01 3.53324088e-01 1.05656244e-03 3.13314933e+02] [-3.53323898e-01 9.35500982e-01 -3.68344263e-04 2.76771167e+02] [-1.11856011e-03 -2.87225601e-05 9.99999374e-01 2.13919196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3407140569999 meters Centerline goodness : 0.993919 Centerline is valid? [True, True] Translation: X:313.35, Y:276.75, Z:2.14 [[ 9.32075738e-01 3.62261925e-01 1.05678468e-03 3.13350648e+02] [-3.62261740e-01 9.32076336e-01 -3.67715671e-04 2.76746953e+02] [-1.11821338e-03 -4.00938013e-05 9.99999374e-01 2.13589911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.370714057 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:313.38, Y:276.74, Z:2.14 [[ 9.30818179e-01 3.65481093e-01 1.04314280e-03 3.13375244e+02] [-3.65480867e-01 9.30818764e-01 -4.06193054e-04 2.76736942e+02] [-1.11943277e-03 -3.15685470e-06 9.99999373e-01 2.13600935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.400714057 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:313.40, Y:276.73, Z:2.14 [[ 9.28960928e-01 3.70176318e-01 1.04357444e-03 3.13397340e+02] [-3.70176096e-01 9.28961514e-01 -4.04975043e-04 2.76729490e+02] [-1.11935266e-03 -1.01003189e-05 9.99999373e-01 2.13659315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4307140569999 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:313.42, Y:276.72, Z:2.13 [[ 9.27281387e-01 3.74363635e-01 1.04805577e-03 3.13423538e+02] [-3.74363430e-01 9.27281979e-01 -3.92300687e-04 2.76716125e+02] [-1.11870634e-03 -2.85806283e-05 9.99999374e-01 2.13353914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4607140569999 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:313.45, Y:276.71, Z:2.14 [[ 9.28595655e-01 3.71091646e-01 1.04830551e-03 3.13454377e+02] [-3.71091441e-01 9.28596247e-01 -3.91589515e-04 2.76705698e+02] [-1.11876816e-03 -2.53888784e-05 9.99999374e-01 2.13604860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4907140569999 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:313.48, Y:276.69, Z:2.14 [[ 9.28551072e-01 3.71203203e-01 1.04394247e-03 3.13482243e+02] [-3.71202983e-01 9.28551658e-01 -4.04034306e-04 2.76692736e+02] [-1.11933334e-03 -1.23480710e-05 9.99999373e-01 2.13501164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.520714057 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:313.51, Y:276.68, Z:2.14 [[ 9.29697425e-01 3.68322698e-01 1.04263608e-03 3.13507937e+02] [-3.68322473e-01 9.29698010e-01 -4.07763494e-04 2.76684991e+02] [-1.11952524e-03 -4.92962756e-06 9.99999373e-01 2.13538666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5507140569999 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:313.53, Y:276.67, Z:2.13 [[ 9.31405533e-01 3.63981651e-01 1.04479114e-03 3.13534606e+02] [-3.63981429e-01 9.31406119e-01 -4.01596747e-04 2.76673119e+02] [-1.11929871e-03 -6.23513958e-06 9.99999374e-01 2.13484825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5807140569999 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:313.55, Y:276.68, Z:2.14 [[ 9.35980459e-01 3.52050410e-01 1.04368830e-03 3.13552287e+02] [-3.52050177e-01 9.35981041e-01 -4.04757749e-04 2.76678956e+02] [-1.11936760e-03 1.14146912e-05 9.99999373e-01 2.13821821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6107140569999 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:313.59, Y:276.65, Z:2.14 [[ 9.34228593e-01 3.56673266e-01 1.05679694e-03 3.13586120e+02] [-3.56673079e-01 9.34229190e-01 -3.67011929e-04 2.76654766e+02] [-1.11819389e-03 -3.40579799e-05 9.99999374e-01 2.13516221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.640714057 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:313.61, Y:276.65, Z:2.14 [[ 9.36985477e-01 3.49366750e-01 1.04417892e-03 3.13610905e+02] [-3.49366518e-01 9.36986058e-01 -4.03253848e-04 2.76645840e+02] [-1.11926458e-03 1.30418466e-05 9.99999374e-01 2.13534969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6707140569999 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:313.64, Y:276.64, Z:2.14 [[ 9.38857913e-01 3.44303247e-01 1.04606037e-03 3.13636967e+02] [-3.44303017e-01 9.38858495e-01 -3.97864864e-04 2.76637871e+02] [-1.11908883e-03 1.33768339e-05 9.99999374e-01 2.13565632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7007140569999 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:313.67, Y:276.63, Z:2.13 [[ 9.40044839e-01 3.41049263e-01 1.04909609e-03 3.13665119e+02] [-3.41049042e-01 9.40045424e-01 -3.89106747e-04 2.76626632e+02] [-1.11890255e-03 7.98457385e-06 9.99999374e-01 2.13442043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7307140569999 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:313.69, Y:276.62, Z:2.14 [[ 9.41879904e-01 3.35948141e-01 1.04569641e-03 3.13690373e+02] [-3.35947905e-01 9.41880484e-01 -3.98928840e-04 2.76619106e+02] [-1.11894044e-03 2.44435386e-05 9.99999374e-01 2.13501003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.760714057 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:313.72, Y:276.61, Z:2.13 [[ 9.43628430e-01 3.31004967e-01 1.04741719e-03 3.13717566e+02] [-3.31004734e-01 9.43629011e-01 -3.93942921e-04 2.76609222e+02] [-1.11877031e-03 2.50356928e-05 9.99999374e-01 2.13449152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.790714057 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:313.74, Y:276.60, Z:2.14 [[ 9.43576664e-01 3.31152510e-01 1.04661645e-03 3.13740403e+02] [-3.31152274e-01 9.43577244e-01 -3.96266155e-04 2.76602255e+02] [-1.11878800e-03 2.73180784e-05 9.99999374e-01 2.13537072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8207140569999 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:313.77, Y:276.59, Z:2.13 [[ 9.45457562e-01 3.25743598e-01 1.05159096e-03 3.13772463e+02] [-3.25743375e-01 9.45458147e-01 -3.81784508e-04 2.76591857e+02] [-1.11859910e-03 1.84122614e-05 9.99999374e-01 2.13414053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8507140569999 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:313.80, Y:276.59, Z:2.13 [[ 9.45696946e-01 3.25047984e-01 1.04581976e-03 3.13796760e+02] [-3.25047742e-01 9.45697524e-01 -3.98583096e-04 2.76586340e+02] [-1.11858779e-03 3.69974652e-05 9.99999374e-01 2.13340659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.880714057 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:313.83, Y:276.58, Z:2.13 [[ 9.46554962e-01 3.22540851e-01 1.05034266e-03 3.13826766e+02] [-3.22540621e-01 9.46555545e-01 -3.85405224e-04 2.76576469e+02] [-1.11851660e-03 2.60290523e-05 9.99999374e-01 2.13293029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.910714057 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:313.85, Y:276.57, Z:2.13 [[ 9.47136550e-01 3.20829020e-01 1.04717196e-03 3.13853406e+02] [-3.20828779e-01 9.47137128e-01 -3.94651051e-04 2.76569062e+02] [-1.11843095e-03 3.78255335e-05 9.99999374e-01 2.13160432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9407140569999 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:313.88, Y:276.56, Z:2.13 [[ 9.47971891e-01 3.18352315e-01 1.04770991e-03 3.13879197e+02] [-3.18352074e-01 9.47972469e-01 -3.93080572e-04 2.76563041e+02] [-1.11833826e-03 3.90887089e-05 9.99999374e-01 2.12980581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9707140569999 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:313.91, Y:276.56, Z:2.13 [[ 9.48685978e-01 3.16217987e-01 1.04874975e-03 3.13905791e+02] [-3.16217749e-01 9.48686557e-01 -3.90046843e-04 2.76556692e+02] [-1.11827462e-03 3.83986854e-05 9.99999374e-01 2.12881289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.000714057 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:313.93, Y:276.55, Z:2.13 [[ 9.49400442e-01 3.14066390e-01 1.05077315e-03 3.13933356e+02] [-3.14066157e-01 9.49401023e-01 -3.84109354e-04 2.76546415e+02] [-1.11824094e-03 3.46613064e-05 9.99999374e-01 2.12687368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.030714057 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:313.96, Y:276.54, Z:2.13 [[ 9.51017843e-01 3.09134215e-01 1.04885351e-03 3.13961552e+02] [-3.09133973e-01 9.51018420e-01 -3.89773500e-04 2.76536201e+02] [-1.11797133e-03 4.64453010e-05 9.99999374e-01 2.12585615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0607140569999 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:313.98, Y:276.53, Z:2.13 [[ 9.52349891e-01 3.05005887e-01 1.04639324e-03 3.13984875e+02] [-3.05005634e-01 9.52350464e-01 -3.97041998e-04 2.76528527e+02] [-1.11763324e-03 5.89670696e-05 9.99999374e-01 2.12566396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0907140569999 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:314.01, Y:276.52, Z:2.13 [[ 9.53291022e-01 3.02051528e-01 1.04983262e-03 3.14011485e+02] [-3.02051284e-01 9.53291599e-01 -3.86858296e-04 2.76520482e+02] [-1.11764775e-03 5.16852500e-05 9.99999374e-01 2.12507156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.120714057 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:314.04, Y:276.51, Z:2.13 [[ 9.53597354e-01 3.01083015e-01 1.05091763e-03 3.14037049e+02] [-3.01082774e-01 9.53597932e-01 -3.83641178e-04 2.76512750e+02] [-1.11766072e-03 4.94260157e-05 9.99999374e-01 2.12504316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.150714057 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:314.06, Y:276.51, Z:2.13 [[ 9.53955368e-01 2.99946740e-01 1.05301602e-03 3.14063113e+02] [-2.99946506e-01 9.53955948e-01 -3.77406914e-04 2.76505497e+02] [-1.11773287e-03 4.41808737e-05 9.99999374e-01 2.12520848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1807140569999 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:314.09, Y:276.50, Z:2.13 [[ 9.53798314e-01 3.00445782e-01 1.05316938e-03 3.14089168e+02] [-3.00445548e-01 9.53798894e-01 -3.76950809e-04 2.76496785e+02] [-1.11776507e-03 4.31149950e-05 9.99999374e-01 2.12535399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2107140569999 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:314.12, Y:276.49, Z:2.13 [[ 9.53927293e-01 3.00036017e-01 1.05293037e-03 3.14115119e+02] [-3.00035782e-01 9.53927873e-01 -3.77660897e-04 2.76488326e+02] [-1.11773150e-03 4.43442493e-05 9.99999374e-01 2.12532382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2407140569999 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:314.14, Y:276.48, Z:2.13 [[ 9.53330078e-01 3.01928223e-01 1.05415486e-03 3.14143534e+02] [-3.01927994e-01 9.53330660e-01 -3.73999028e-04 2.76477576e+02] [-1.11787901e-03 3.82656594e-05 9.99999374e-01 2.12573451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.270714057 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:314.16, Y:276.48, Z:2.13 [[ 9.54839817e-01 2.97119201e-01 1.05129602e-03 3.14163331e+02] [-2.97118959e-01 9.54840394e-01 -3.82554776e-04 2.76480234e+02] [-1.11748427e-03 5.29185528e-05 9.99999374e-01 2.12703251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3007140569999 meters Centerline goodness : 0.994370 Centerline is valid? [True, True] Translation: X:314.20, Y:276.46, Z:2.13 [[ 9.53056357e-01 3.02791107e-01 1.06106243e-03 3.14195624e+02] [-3.02790902e-01 9.53056948e-01 -3.53216481e-04 2.76461837e+02] [-1.11820373e-03 1.53551625e-05 9.99999375e-01 2.12586076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3307140569999 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:314.22, Y:276.46, Z:2.13 [[ 9.54237162e-01 2.99049043e-01 1.05242966e-03 3.14215673e+02] [-2.99048807e-01 9.54237742e-01 -3.79117761e-04 2.76462998e+02] [-1.11764291e-03 4.70404216e-05 9.99999374e-01 2.12713890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3607140569999 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:314.25, Y:276.44, Z:2.12 [[ 9.52445580e-01 3.04706894e-01 1.06128250e-03 3.14248443e+02] [-3.04706691e-01 9.52446171e-01 -3.52461346e-04 2.76444192e+02] [-1.11821185e-03 1.23203735e-05 9.99999375e-01 2.12493234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.390714057 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:314.27, Y:276.44, Z:2.12 [[ 9.52325130e-01 3.05083170e-01 1.05223577e-03 3.14273730e+02] [-3.05082936e-01 9.52325710e-01 -3.79658541e-04 2.76435457e+02] [-1.11789861e-03 4.05391903e-05 9.99999374e-01 2.12483906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4207140569999 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:314.30, Y:276.43, Z:2.12 [[ 9.52570445e-01 3.04316347e-01 1.05286541e-03 3.14300298e+02] [-3.04316115e-01 9.52571026e-01 -3.77764576e-04 2.76426833e+02] [-1.11788902e-03 3.94434597e-05 9.99999374e-01 2.12457228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4507140569999 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:314.33, Y:276.42, Z:2.12 [[ 9.52520905e-01 3.04471371e-01 1.05345095e-03 3.14327943e+02] [-3.04471141e-01 9.52521487e-01 -3.75996227e-04 2.76416564e+02] [-1.11791476e-03 3.73988522e-05 9.99999374e-01 2.12340504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4807140569999 meters Centerline goodness : 0.993135 Centerline is valid? [True, True] Translation: X:314.35, Y:276.41, Z:2.12 [[ 9.52457266e-01 3.04670395e-01 1.05256020e-03 3.14353896e+02] [-3.04670162e-01 9.52457846e-01 -3.78688474e-04 2.76407692e+02] [-1.11789439e-03 4.00009011e-05 9.99999374e-01 2.12220683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.510714057 meters Centerline goodness : 0.993247 Centerline is valid? [True, True] Translation: X:314.38, Y:276.40, Z:2.12 [[ 9.52034496e-01 3.05988903e-01 1.05307288e-03 3.14380448e+02] [-3.05988673e-01 9.52035078e-01 -3.77139202e-04 2.76398303e+02] [-1.11796273e-03 3.68211567e-05 9.99999374e-01 2.12173626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.540714057 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:314.41, Y:276.39, Z:2.12 [[ 9.51795800e-01 3.06730576e-01 1.05330035e-03 3.14407510e+02] [-3.06730347e-01 9.51796382e-01 -3.76447791e-04 2.76388229e+02] [-1.11799551e-03 3.52222453e-05 9.99999374e-01 2.12071567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5707140569999 meters Centerline goodness : 0.993355 Centerline is valid? [True, True] Translation: X:314.43, Y:276.38, Z:2.12 [[ 9.51142607e-01 3.08750117e-01 1.05193983e-03 3.14431313e+02] [-3.08749885e-01 9.51143188e-01 -3.80586539e-04 2.76383094e+02] [-1.11805154e-03 3.72057703e-05 9.99999374e-01 2.12388478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6007140569999 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:314.46, Y:276.37, Z:2.12 [[ 9.50356234e-01 3.11162200e-01 1.05505662e-03 3.14458793e+02] [-3.11161979e-01 9.50356820e-01 -3.71113322e-04 2.76374355e+02] [-1.11815669e-03 2.43963538e-05 9.99999375e-01 2.12418471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.630714057 meters Centerline goodness : 0.993150 Centerline is valid? [True, True] Translation: X:314.49, Y:276.37, Z:2.13 [[ 9.50020586e-01 3.12185480e-01 1.05516918e-03 3.14485737e+02] [-3.12185261e-01 9.50021171e-01 -3.70770379e-04 2.76366716e+02] [-1.11818219e-03 2.28312282e-05 9.99999375e-01 2.12543142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.660714057 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:314.51, Y:276.37, Z:2.13 [[ 9.49284137e-01 3.14417733e-01 1.05614249e-03 3.14507185e+02] [-3.14417519e-01 9.49284725e-01 -3.67801151e-04 2.76365216e+02] [-1.11822313e-03 1.70780981e-05 9.99999375e-01 2.12548491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6907140569999 meters Centerline goodness : 0.992737 Centerline is valid? [True, True] Translation: X:314.54, Y:276.35, Z:2.13 [[ 9.47045091e-01 3.21098842e-01 1.06280147e-03 3.14538097e+02] [-3.21098654e-01 9.47045687e-01 -3.47431151e-04 2.76350535e+02] [-1.11808128e-03 -1.22311540e-05 9.99999375e-01 2.12770802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7207140569999 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:314.56, Y:276.34, Z:2.13 [[ 9.45738364e-01 3.24927420e-01 1.05796388e-03 3.14563442e+02] [-3.24927218e-01 9.45738956e-01 -3.62219213e-04 2.76342270e+02] [-1.11825261e-03 -1.19665447e-06 9.99999375e-01 2.12882350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.750714057 meters Centerline goodness : 0.992374 Centerline is valid? [True, True] Translation: X:314.59, Y:276.33, Z:2.13 [[ 9.43342031e-01 3.31820272e-01 1.05846185e-03 3.14588683e+02] [-3.31820076e-01 9.43342624e-01 -3.60696015e-04 2.76333504e+02] [-1.11817843e-03 -1.09591791e-05 9.99999375e-01 2.13145027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.780714057 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:314.62, Y:276.32, Z:2.13 [[ 9.41193031e-01 3.37867656e-01 1.06114134e-03 3.14620804e+02] [-3.37867473e-01 9.41193629e-01 -3.52473697e-04 2.76320189e+02] [-1.11782893e-03 -2.67793574e-05 9.99999375e-01 2.12724972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8107140569999 meters Centerline goodness : 0.992786 Centerline is valid? [True, True] Translation: X:314.65, Y:276.31, Z:2.13 [[ 9.40119379e-01 3.40843719e-01 1.05495368e-03 3.14645119e+02] [-3.40843516e-01 9.40119971e-01 -3.71441313e-04 2.76310753e+02] [-1.11838646e-03 -1.03749449e-05 9.99999375e-01 2.12749054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8407140569999 meters Centerline goodness : 0.992345 Centerline is valid? [True, True] Translation: X:314.67, Y:276.30, Z:2.13 [[ 9.38535157e-01 3.45182046e-01 1.05620112e-03 3.14674268e+02] [-3.45181850e-01 9.38535751e-01 -3.67624893e-04 2.76296799e+02] [-1.11818002e-03 -1.95525695e-05 9.99999375e-01 2.12599713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.870714057 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:314.69, Y:276.30, Z:2.12 [[ 9.40311473e-01 3.40313424e-01 1.05244255e-03 3.14692631e+02] [-3.40313213e-01 9.40312062e-01 -3.79131375e-04 2.76301082e+02] [-1.11864792e-03 -1.65852503e-06 9.99999374e-01 2.12456698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.900714057 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:314.72, Y:276.29, Z:2.12 [[ 9.39484210e-01 3.42590556e-01 1.06326825e-03 3.14717096e+02] [-3.42590383e-01 9.39484811e-01 -3.45849201e-04 2.76290718e+02] [-1.11740904e-03 -3.93456118e-05 9.99999375e-01 2.12304111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9307140569999 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:314.74, Y:276.28, Z:2.12 [[ 9.39513124e-01 3.42511254e-01 1.06330985e-03 3.14743565e+02] [-3.42511082e-01 9.39513725e-01 -3.45721240e-04 2.76280743e+02] [-1.11740761e-03 -3.93857648e-05 9.99999375e-01 2.12258646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9607140569999 meters Centerline goodness : 0.992131 Centerline is valid? [True, True] Translation: X:314.77, Y:276.27, Z:2.12 [[ 9.39870477e-01 3.41529437e-01 1.06340570e-03 3.14770133e+02] [-3.41529265e-01 9.39871077e-01 -3.45426173e-04 2.76270946e+02] [-1.11743746e-03 -3.85283040e-05 9.99999375e-01 2.12218278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9907140569999 meters Centerline goodness : 0.991822 Centerline is valid? [True, True] Translation: X:314.80, Y:276.26, Z:2.12 [[ 9.41174431e-01 3.37919458e-01 1.06350175e-03 3.14795088e+02] [-3.37919283e-01 9.41175031e-01 -3.45130191e-04 2.76259307e+02] [-1.11756750e-03 -3.45500383e-05 9.99999375e-01 2.12178064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.020714057 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:314.82, Y:276.25, Z:2.12 [[ 9.42401520e-01 3.34482055e-01 1.06354334e-03 3.14821201e+02] [-3.34481878e-01 9.42402119e-01 -3.45001980e-04 2.76249625e+02] [-1.11768247e-03 -3.06055831e-05 9.99999375e-01 2.12165096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0507140569999 meters Centerline goodness : 0.991894 Centerline is valid? [True, True] Translation: X:314.86, Y:276.22, Z:2.12 [[ 9.41624542e-01 3.36663171e-01 1.06363749e-03 3.14857651e+02] [-3.36662996e-01 9.41625142e-01 -3.44711468e-04 2.76222229e+02] [-1.11759946e-03 -3.34986060e-05 9.99999375e-01 2.12004628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0807140569999 meters Centerline goodness : 0.991564 Centerline is valid? [True, True] Translation: X:314.87, Y:276.23, Z:2.12 [[ 9.46616283e-01 3.22360843e-01 1.04921084e-03 3.14874154e+02] [-3.22360609e-01 9.46616864e-01 -3.89066978e-04 2.76230906e+02] [-1.11862064e-03 3.00728906e-05 9.99999374e-01 2.12175475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1107140569999 meters Centerline goodness : 0.992250 Centerline is valid? [True, True] Translation: X:314.91, Y:276.21, Z:2.12 [[ 9.45492782e-01 3.25641319e-01 1.06376550e-03 3.14910219e+02] [-3.25641138e-01 9.45493380e-01 -3.44067877e-04 2.76205021e+02] [-1.11782596e-03 -2.10921147e-05 9.99999375e-01 2.12062032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.140714057 meters Centerline goodness : 0.991980 Centerline is valid? [True, True] Translation: X:314.93, Y:276.21, Z:2.12 [[ 9.49620041e-01 3.13401775e-01 1.05100358e-03 3.14926864e+02] [-3.13401542e-01 9.49620622e-01 -3.83404995e-04 2.76212748e+02] [-1.11821448e-03 3.47029261e-05 9.99999374e-01 2.12083016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1707140569999 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:314.95, Y:276.20, Z:2.12 [[ 9.52362152e-01 3.04967538e-01 1.06391731e-03 3.14952520e+02] [-3.04967345e-01 9.52362746e-01 -3.43395283e-04 2.76203848e+02] [-1.11795963e-03 2.57663289e-06 9.99999375e-01 2.12082482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2007140569999 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:314.98, Y:276.20, Z:2.12 [[ 9.53485119e-01 3.01438213e-01 1.06395807e-03 3.14978721e+02] [-3.01438018e-01 9.53485712e-01 -3.43268954e-04 2.76195207e+02] [-1.11794320e-03 6.58442757e-06 9.99999375e-01 2.12054152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2307140569999 meters Centerline goodness : 0.992912 Centerline is valid? [True, True] Translation: X:315.02, Y:276.17, Z:2.12 [[ 9.52234394e-01 3.05366217e-01 1.06405477e-03 3.15016895e+02] [-3.05366024e-01 9.52234989e-01 -3.42968937e-04 2.76171483e+02] [-1.11796131e-03 1.66064278e-06 9.99999375e-01 2.11898228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.260714057 meters Centerline goodness : 0.992617 Centerline is valid? [True, True] Translation: X:315.04, Y:276.17, Z:2.12 [[ 9.53457335e-01 3.01526132e-01 1.04959169e-03 3.15042703e+02] [-3.01525888e-01 9.53457911e-01 -3.87763089e-04 2.76166088e+02] [-1.11766221e-03 5.32364950e-05 9.99999374e-01 2.11913408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.290714057 meters Centerline goodness : 0.992114 Centerline is valid? [True, True] Translation: X:315.07, Y:276.16, Z:2.12 [[ 9.53057187e-01 3.02788523e-01 1.05250352e-03 3.15067709e+02] [-3.02788289e-01 9.53057768e-01 -3.78724185e-04 2.76159134e+02] [-1.11776999e-03 4.22600661e-05 9.99999374e-01 2.11819989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3207140569999 meters Centerline goodness : 0.992169 Centerline is valid? [True, True] Translation: X:315.10, Y:276.16, Z:2.12 [[ 9.54485802e-01 2.98254495e-01 1.05383953e-03 3.15095087e+02] [-2.98254263e-01 9.54486383e-01 -3.74585893e-04 2.76156138e+02] [-1.11759740e-03 4.32247855e-05 9.99999375e-01 2.11535410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3507140569999 meters Centerline goodness : 0.992567 Centerline is valid? [True, True] Translation: X:315.12, Y:276.15, Z:2.11 [[ 9.54977534e-01 2.96676243e-01 1.05684298e-03 3.15122363e+02] [-2.96676020e-01 9.54978118e-01 -3.65209168e-04 2.76149651e+02] [-1.11761080e-03 3.52265827e-05 9.99999375e-01 2.11477754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.380714057 meters Centerline goodness : 0.989243 Centerline is valid? [True, True] Translation: X:315.15, Y:276.14, Z:2.11 [[ 9.54106279e-01 2.99466347e-01 1.05670738e-03 3.15150570e+02] [-2.99466125e-01 9.54106863e-01 -3.65626987e-04 2.76144293e+02] [-1.11770474e-03 3.23989402e-05 9.99999375e-01 2.11464784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.410714057 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:315.18, Y:276.14, Z:2.12 [[ 9.54538741e-01 2.98085003e-01 1.06030159e-03 3.15175774e+02] [-2.98084793e-01 9.54539329e-01 -3.54534777e-04 2.76142301e+02] [-1.11778107e-03 2.23573996e-05 9.99999375e-01 2.11577799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4407140569999 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:315.21, Y:276.13, Z:2.11 [[ 9.53168278e-01 3.02438593e-01 1.06370824e-03 3.15207522e+02] [-3.02438397e-01 9.53168872e-01 -3.44000842e-04 2.76125693e+02] [-1.11793271e-03 6.18447487e-06 9.99999375e-01 2.11312833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4707140569999 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:315.23, Y:276.12, Z:2.11 [[ 9.53955042e-01 2.99947766e-01 1.05613552e-03 3.15232611e+02] [-2.99947543e-01 9.53955626e-01 -3.67377772e-04 2.76117178e+02] [-1.11770056e-03 3.36766245e-05 9.99999375e-01 2.11345767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.500714057 meters Centerline goodness : 0.991940 Centerline is valid? [True, True] Translation: X:315.26, Y:276.11, Z:2.11 [[ 9.54967013e-01 2.96710104e-01 1.05731185e-03 3.15258289e+02] [-2.96709883e-01 9.54967598e-01 -3.63738864e-04 2.76108642e+02] [-1.11762355e-03 3.36437431e-05 9.99999375e-01 2.11132774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.530714057 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:315.28, Y:276.09, Z:2.10 [[ 9.59053237e-01 2.83223888e-01 1.05746856e-03 3.15282306e+02] [-2.83223659e-01 9.59053819e-01 -3.63253213e-04 2.76093115e+02] [-1.11705125e-03 4.88790539e-05 9.99999375e-01 2.10212004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5607140569999 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:315.32, Y:276.07, Z:2.10 [[ 9.57023833e-01 2.90007351e-01 1.05790452e-03 3.15316729e+02] [-2.90007127e-01 9.57024417e-01 -3.61905253e-04 2.76074727e+02] [-1.11739564e-03 3.95521013e-05 9.99999375e-01 2.10039548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5907140569999 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:315.34, Y:276.07, Z:2.10 [[ 9.58374158e-01 2.85513352e-01 1.04855994e-03 3.15340101e+02] [-2.85513095e-01 9.58374729e-01 -3.90253660e-04 2.76073286e+02] [-1.11633597e-03 7.46314309e-05 9.99999374e-01 2.10222198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.620714057 meters Centerline goodness : 0.991412 Centerline is valid? [True, True] Translation: X:315.37, Y:276.06, Z:2.10 [[ 9.58650136e-01 2.84585306e-01 1.05842876e-03 3.15366187e+02] [-2.84585081e-01 9.58650719e-01 -3.60176753e-04 2.76064926e+02] [-1.11716451e-03 4.40704574e-05 9.99999375e-01 2.10224565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.650714057 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:315.39, Y:276.06, Z:2.10 [[ 9.59139976e-01 2.82930001e-01 1.05896838e-03 3.15393022e+02] [-2.82929777e-01 9.59140559e-01 -3.58527362e-04 2.76056003e+02] [-1.11713767e-03 4.42642378e-05 9.99999375e-01 2.10225146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6807140569999 meters Centerline goodness : 0.993361 Centerline is valid? [True, True] Translation: X:315.42, Y:276.05, Z:2.10 [[ 9.59474645e-01 2.81792983e-01 1.05830408e-03 3.15416563e+02] [-2.81792757e-01 9.59475228e-01 -3.60561108e-04 2.76051044e+02] [-1.11702014e-03 4.77268169e-05 9.99999375e-01 2.10412443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7107140569999 meters Centerline goodness : 0.992886 Centerline is valid? [True, True] Translation: X:315.45, Y:276.02, Z:2.10 [[ 9.56410646e-01 2.92023194e-01 1.06289987e-03 3.15453131e+02] [-2.92022989e-01 9.56411237e-01 -3.46461825e-04 2.76024033e+02] [-1.11774427e-03 2.09685818e-05 9.99999375e-01 2.10029234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7407140569999 meters Centerline goodness : 0.991788 Centerline is valid? [True, True] Translation: X:315.48, Y:276.02, Z:2.10 [[ 9.58262771e-01 2.85886974e-01 1.04861315e-03 3.15476809e+02] [-2.85886718e-01 9.58263342e-01 -3.89607170e-04 2.76023132e+02] [-1.11623116e-03 7.35614747e-05 9.99999374e-01 2.10158197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.770714057 meters Centerline goodness : 0.991330 Centerline is valid? [True, True] Translation: X:315.50, Y:276.02, Z:2.10 [[ 9.58424280e-01 2.85345021e-01 1.05766108e-03 3.15502128e+02] [-2.85344795e-01 9.58424863e-01 -3.62184060e-04 2.76015415e+02] [-1.11703609e-03 4.53279137e-05 9.99999375e-01 2.10124738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8007140569999 meters Centerline goodness : 0.991906 Centerline is valid? [True, True] Translation: X:315.53, Y:276.01, Z:2.10 [[ 9.58433033e-01 2.85315616e-01 1.05852152e-03 3.15529080e+02] [-2.85315393e-01 9.58433617e-01 -3.59572278e-04 2.76005524e+02] [-1.11711419e-03 4.26134657e-05 9.99999375e-01 2.10146823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8307140569999 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:315.56, Y:275.99, Z:2.10 [[ 9.57108173e-01 2.89728884e-01 1.05771979e-03 3.15559285e+02] [-2.89728661e-01 9.57108757e-01 -3.62008770e-04 2.75990300e+02] [-1.11723727e-03 4.00298151e-05 9.99999375e-01 2.09895745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8607140569999 meters Centerline goodness : 0.992262 Centerline is valid? [True, True] Translation: X:315.58, Y:275.99, Z:2.10 [[ 9.58731728e-01 2.84310352e-01 1.04737829e-03 3.15582050e+02] [-2.84310091e-01 9.58732297e-01 -3.93301333e-04 2.75989802e+02] [-1.11597503e-03 7.92902495e-05 9.99999374e-01 2.10186505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.890714057 meters Centerline goodness : 0.993315 Centerline is valid? [True, True] Translation: X:315.61, Y:275.97, Z:2.10 [[ 9.57666776e-01 2.87877102e-01 1.05847841e-03 3.15614104e+02] [-2.87876880e-01 9.57667360e-01 -3.59520610e-04 2.75973981e+02] [-1.11716797e-03 3.95894814e-05 9.99999375e-01 2.09917857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9207140569999 meters Centerline goodness : 0.991914 Centerline is valid? [True, True] Translation: X:315.64, Y:275.97, Z:2.10 [[ 9.58953511e-01 2.83561400e-01 1.04694475e-03 3.15635296e+02] [-2.83561137e-01 9.58954079e-01 -3.94596991e-04 2.75973094e+02] [-1.11586441e-03 8.15273258e-05 9.99999374e-01 2.10187232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9507140569999 meters Centerline goodness : 0.992130 Centerline is valid? [True, True] Translation: X:315.66, Y:275.96, Z:2.10 [[ 9.59461867e-01 2.81836485e-01 1.05879152e-03 3.15662505e+02] [-2.81836260e-01 9.59462451e-01 -3.58344350e-04 2.75964851e+02] [-1.11686522e-03 4.54118973e-05 9.99999375e-01 2.10183953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9807140569999 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:315.69, Y:275.96, Z:2.10 [[ 9.59704759e-01 2.81008285e-01 1.05827891e-03 3.15686120e+02] [-2.81008059e-01 9.59705341e-01 -3.59914314e-04 2.75959465e+02] [-1.11677483e-03 4.80265765e-05 9.99999375e-01 2.10323406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.010714057 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:315.71, Y:275.95, Z:2.10 [[ 9.60029002e-01 2.79898529e-01 1.06274739e-03 3.15713709e+02] [-2.79898317e-01 9.60029589e-01 -3.46197087e-04 2.75950301e+02] [-1.11716900e-03 3.48980371e-05 9.99999375e-01 2.10108214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.040714057 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:315.74, Y:275.94, Z:2.10 [[ 9.59931015e-01 2.80234404e-01 1.06122886e-03 3.15739491e+02] [-2.80234187e-01 9.59931600e-01 -3.50861820e-04 2.75942699e+02] [-1.11703067e-03 3.94105362e-05 9.99999375e-01 2.10359831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0707140569999 meters Centerline goodness : 0.993325 Centerline is valid? [True, True] Translation: X:315.78, Y:275.91, Z:2.10 [[ 9.56893305e-01 2.90437727e-01 1.06295540e-03 3.15777302e+02] [-2.90437522e-01 9.56893895e-01 -3.45550772e-04 2.75914704e+02] [-1.11749651e-03 2.19330871e-05 9.99999375e-01 2.10012565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1007140569999 meters Centerline goodness : 0.993325 Centerline is valid? [True, True] Translation: X:315.80, Y:275.91, Z:2.10 [[ 9.57137546e-01 2.89631876e-01 1.04635104e-03 3.15804029e+02] [-2.89631614e-01 9.57138115e-01 -3.96559883e-04 2.75906485e+02] [-1.11635885e-03 7.65060117e-05 9.99999374e-01 2.10011824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.130714057 meters Centerline goodness : 0.991960 Centerline is valid? [True, True] Translation: X:315.83, Y:275.90, Z:2.10 [[ 9.58374250e-01 2.85513048e-01 1.04727252e-03 3.15827691e+02] [-2.85512787e-01 9.58374819e-01 -3.93783663e-04 2.75904469e+02] [-1.11610999e-03 7.83824261e-05 9.99999374e-01 2.10203298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.160714057 meters Centerline goodness : 0.991859 Centerline is valid? [True, True] Translation: X:315.85, Y:275.90, Z:2.10 [[ 9.58533160e-01 2.84979059e-01 1.05732167e-03 3.15854241e+02] [-2.84978831e-01 9.58533742e-01 -3.63357701e-04 2.75896568e+02] [-1.11702783e-03 4.69761119e-05 9.99999375e-01 2.10202412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1907140569999 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:315.88, Y:275.89, Z:2.10 [[ 9.58702567e-01 2.84408630e-01 1.05756981e-03 3.15877695e+02] [-2.84408403e-01 9.58703150e-01 -3.62605546e-04 2.75891141e+02] [-1.11702365e-03 4.68491280e-05 9.99999375e-01 2.10365518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2207140569999 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:315.90, Y:275.88, Z:2.10 [[ 9.58859727e-01 2.83878312e-01 1.06188998e-03 3.15904300e+02] [-2.83878099e-01 9.58860315e-01 -3.49478717e-04 2.75882074e+02] [-1.11741359e-03 3.36537587e-05 9.99999375e-01 2.10285563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.250714057 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:315.94, Y:275.85, Z:2.10 [[ 9.55605456e-01 2.94647389e-01 1.06198814e-03 3.15943902e+02] [-2.94647183e-01 9.55606046e-01 -3.49180160e-04 2.75852892e+02] [-1.11772731e-03 2.07666511e-05 9.99999375e-01 2.09776198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.280714057 meters Centerline goodness : 0.990193 Centerline is valid? [True, True] Translation: X:315.97, Y:275.85, Z:2.10 [[ 9.57087747e-01 2.89796402e-01 1.04387388e-03 3.15966813e+02] [-2.89796134e-01 9.57088313e-01 -4.02614290e-04 2.75850747e+02] [-1.11575566e-03 8.28265896e-05 9.99999374e-01 2.10061381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3107140569999 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:315.99, Y:275.84, Z:2.10 [[ 9.57095592e-01 2.89770447e-01 1.05681869e-03 3.15990628e+02] [-2.89770221e-01 9.57096174e-01 -3.64252069e-04 2.75842821e+02] [-1.11702661e-03 4.23894636e-05 9.99999375e-01 2.10259641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3407140569999 meters Centerline goodness : 0.992914 Centerline is valid? [True, True] Translation: X:316.03, Y:275.81, Z:2.10 [[ 9.54855841e-01 2.97067672e-01 1.05931507e-03 3.16027419e+02] [-2.97067459e-01 9.54856428e-01 -3.56841370e-04 2.75814699e+02] [-1.11749983e-03 2.60440312e-05 9.99999375e-01 2.09734346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.370714057 meters Centerline goodness : 0.991987 Centerline is valid? [True, True] Translation: X:316.05, Y:275.81, Z:2.10 [[ 9.56289442e-01 2.92419932e-01 1.04248847e-03 3.16050602e+02] [-2.92419662e-01 9.56290007e-01 -4.05656230e-04 2.75811342e+02] [-1.11554327e-03 8.30806435e-05 9.99999374e-01 2.09896315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.400714057 meters Centerline goodness : 0.992117 Centerline is valid? [True, True] Translation: X:316.08, Y:275.80, Z:2.10 [[ 9.56710079e-01 2.91040745e-01 1.05305027e-03 3.16077282e+02] [-2.91040508e-01 9.56710657e-01 -3.74887726e-04 2.75802272e+02] [-1.11657202e-03 5.21785811e-05 9.99999375e-01 2.09777145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4307140569999 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:316.10, Y:275.80, Z:2.10 [[ 9.56915183e-01 2.90365673e-01 1.05307942e-03 3.16100505e+02] [-2.90365436e-01 9.56915761e-01 -3.74802686e-04 2.75796867e+02] [-1.11653813e-03 5.28765164e-05 9.99999375e-01 2.09932649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4607140569999 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:316.13, Y:275.79, Z:2.10 [[ 9.57033146e-01 2.89976617e-01 1.05753724e-03 3.16127386e+02] [-2.89976394e-01 9.57033730e-01 -3.61771484e-04 2.75788228e+02] [-1.11700408e-03 3.95664654e-05 9.99999375e-01 2.09997998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4907140569999 meters Centerline goodness : 0.991634 Centerline is valid? [True, True] Translation: X:316.16, Y:275.78, Z:2.10 [[ 9.56919378e-01 2.90351831e-01 1.05763920e-03 3.16156918e+02] [-2.90351608e-01 9.56919962e-01 -3.61473169e-04 2.75776156e+02] [-1.11703046e-03 3.88134377e-05 9.99999375e-01 2.09907684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.520714057 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:316.18, Y:275.77, Z:2.10 [[ 9.57130903e-01 2.89653804e-01 1.05304951e-03 3.16181115e+02] [-2.89653566e-01 9.57131481e-01 -3.74893527e-04 2.75771054e+02] [-1.11649618e-03 5.38026326e-05 9.99999375e-01 2.10101618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5507140569999 meters Centerline goodness : 0.991700 Centerline is valid? [True, True] Translation: X:316.21, Y:275.76, Z:2.10 [[ 9.56934846e-01 2.90300849e-01 1.05776251e-03 3.16211238e+02] [-2.90300627e-01 9.56935429e-01 -3.61087378e-04 2.75758015e+02] [-1.11703439e-03 3.84679759e-05 9.99999375e-01 2.09924810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5807140569999 meters Centerline goodness : 0.993508 Centerline is valid? [True, True] Translation: X:316.23, Y:275.75, Z:2.10 [[ 9.57266043e-01 2.89206873e-01 1.05290324e-03 3.16234469e+02] [-2.89206634e-01 9.57266620e-01 -3.75313324e-04 2.75753663e+02] [-1.11645232e-03 5.47680990e-05 9.99999375e-01 2.10174840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6107140569999 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:316.26, Y:275.74, Z:2.10 [[ 9.57146242e-01 2.89603093e-01 1.05796988e-03 3.16260266e+02] [-2.89602871e-01 9.57146826e-01 -3.60441682e-04 2.75744842e+02] [-1.11701754e-03 3.86042857e-05 9.99999375e-01 2.10109246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.640714057 meters Centerline goodness : 0.992701 Centerline is valid? [True, True] Translation: X:316.30, Y:275.72, Z:2.10 [[ 9.53694497e-01 3.00775143e-01 1.05801447e-03 3.16297694e+02] [-3.00774929e-01 9.53695084e-01 -3.60310746e-04 2.75716217e+02] [-1.11739572e-03 2.54021479e-05 9.99999375e-01 2.09638189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6707140569999 meters Centerline goodness : 0.990837 Centerline is valid? [True, True] Translation: X:316.32, Y:275.71, Z:2.10 [[ 9.54825267e-01 2.97165989e-01 1.04164643e-03 3.16321340e+02] [-2.97165721e-01 9.54825832e-01 -4.07283414e-04 2.75714348e+02] [-1.11562169e-03 7.93428838e-05 9.99999375e-01 2.09868800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7007140569999 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:316.34, Y:275.71, Z:2.10 [[ 9.54896128e-01 2.96938177e-01 1.05091303e-03 3.16344122e+02] [-2.96937937e-01 9.54896705e-01 -3.80612703e-04 2.75709920e+02] [-1.11653183e-03 5.13896491e-05 9.99999375e-01 2.10279724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7307140569999 meters Centerline goodness : 0.990976 Centerline is valid? [True, True] Translation: X:316.37, Y:275.70, Z:2.10 [[ 9.55053260e-01 2.96432378e-01 1.05597483e-03 3.16374324e+02] [-2.96432154e-01 9.55053844e-01 -3.66008852e-04 2.75698814e+02] [-1.11700970e-03 3.65330525e-05 9.99999375e-01 2.10309327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.760714057 meters Centerline goodness : 0.992717 Centerline is valid? [True, True] Translation: X:316.40, Y:275.68, Z:2.10 [[ 9.53651082e-01 3.00912791e-01 1.05168738e-03 3.16403894e+02] [-3.00912556e-01 9.53651661e-01 -3.78371464e-04 2.75681931e+02] [-1.11680023e-03 4.43684170e-05 9.99999375e-01 2.10199914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.790714057 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:316.42, Y:275.70, Z:2.11 [[ 9.57446557e-01 2.88608744e-01 1.04129425e-03 3.16418694e+02] [-2.88608468e-01 9.57447119e-01 -4.08947677e-04 2.75696173e+02] [-1.11501005e-03 9.10192079e-05 9.99999374e-01 2.10551409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8207140569999 meters Centerline goodness : 0.993917 Centerline is valid? [True, True] Translation: X:316.44, Y:275.69, Z:2.10 [[ 9.57525576e-01 2.88346407e-01 1.05865092e-03 3.16443846e+02] [-2.88346187e-01 9.57526161e-01 -3.57558419e-04 2.75687351e+02] [-1.11678664e-03 3.71133732e-05 9.99999376e-01 2.10466665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8507140569999 meters Centerline goodness : 0.992498 Centerline is valid? [True, True] Translation: X:316.48, Y:275.66, Z:2.10 [[ 9.54708450e-01 2.97541015e-01 1.05869371e-03 3.16479576e+02] [-2.97540801e-01 9.54709036e-01 -3.57431678e-04 2.75657425e+02] [-1.11709504e-03 2.62384676e-05 9.99999376e-01 2.10108709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.880714057 meters Centerline goodness : 0.988529 Centerline is valid? [True, True] Translation: X:316.50, Y:275.66, Z:2.10 [[ 9.56321834e-01 2.92313977e-01 1.04336386e-03 3.16504964e+02] [-2.92313712e-01 9.56322400e-01 -4.01796854e-04 2.75655126e+02] [-1.11524307e-03 7.92575412e-05 9.99999375e-01 2.10299926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.910714057 meters Centerline goodness : 0.988819 Centerline is valid? [True, True] Translation: X:316.53, Y:275.64, Z:2.10 [[ 9.56385109e-01 2.92106857e-01 1.05243838e-03 3.16532863e+02] [-2.92106621e-01 9.56385687e-01 -3.75406590e-04 2.75644963e+02] [-1.11619585e-03 5.16090533e-05 9.99999376e-01 2.10365580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9407140569999 meters Centerline goodness : 0.992463 Centerline is valid? [True, True] Translation: X:316.56, Y:275.63, Z:2.10 [[ 9.55838656e-01 2.93890042e-01 1.05184552e-03 3.16560719e+02] [-2.93889805e-01 9.55839234e-01 -3.77141058e-04 2.75631952e+02] [-1.11623322e-03 5.13593275e-05 9.99999376e-01 2.10140560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9707140569999 meters Centerline goodness : 0.992004 Centerline is valid? [True, True] Translation: X:316.59, Y:275.62, Z:2.10 [[ 9.55695094e-01 2.94356584e-01 1.04392009e-03 3.16587022e+02] [-2.94356320e-01 9.55695661e-01 -4.00935421e-04 2.75623243e+02] [-1.11568788e-03 7.58875378e-05 9.99999375e-01 2.10208013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.000714057 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:316.61, Y:275.61, Z:2.10 [[ 9.55135784e-01 2.96166415e-01 1.04373434e-03 3.16613129e+02] [-2.96166152e-01 9.55136351e-01 -4.01491358e-04 2.75613146e+02] [-1.11581687e-03 7.43599783e-05 9.99999375e-01 2.10328634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.030714057 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:316.63, Y:275.63, Z:2.11 [[ 9.58705067e-01 2.84400259e-01 1.04254608e-03 3.16628341e+02] [-2.84399985e-01 9.58705630e-01 -4.05010266e-04 2.75628680e+02] [-1.11467982e-03 9.17853041e-05 9.99999375e-01 2.10543162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0607140569999 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:316.65, Y:275.62, Z:2.10 [[ 9.58717081e-01 2.84359695e-01 1.05917848e-03 3.16654376e+02] [-2.84359476e-01 9.58717666e-01 -3.55448414e-04 2.75620636e+02] [-1.11652833e-03 3.95870270e-05 9.99999376e-01 2.10473099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0907140569999 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:316.68, Y:275.61, Z:2.11 [[ 9.58984083e-01 2.83457941e-01 1.06048351e-03 3.16682176e+02] [-2.83457725e-01 9.58984669e-01 -3.51554631e-04 2.75612011e+02] [-1.11663838e-03 3.65330509e-05 9.99999376e-01 2.10581057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.120714057 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:316.71, Y:275.60, Z:2.11 [[ 9.59492627e-01 2.81731746e-01 1.05932494e-03 3.16709400e+02] [-2.81731526e-01 9.59493211e-01 -3.55011733e-04 2.75603295e+02] [-1.11643316e-03 4.21859095e-05 9.99999376e-01 2.10588853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.150714057 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:316.74, Y:275.59, Z:2.11 [[ 9.60107976e-01 2.79627524e-01 1.05940773e-03 3.16735779e+02] [-2.79627303e-01 9.60108559e-01 -3.54764489e-04 2.75594800e+02] [-1.11634835e-03 4.43728898e-05 9.99999376e-01 2.10535712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1807140569999 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:316.76, Y:275.59, Z:2.10 [[ 9.60442235e-01 2.78477271e-01 1.05950968e-03 3.16762303e+02] [-2.78477049e-01 9.60442819e-01 -3.54459750e-04 2.75586354e+02] [-1.11630745e-03 4.53889856e-05 9.99999376e-01 2.10447962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2107140569999 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:316.79, Y:275.58, Z:2.10 [[ 9.61290651e-01 2.75534319e-01 1.05961334e-03 3.16788565e+02] [-2.75534096e-01 9.61291234e-01 -3.54149600e-04 2.75577970e+02] [-1.11617738e-03 4.84810961e-05 9.99999376e-01 2.10188395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2407140569999 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:316.81, Y:275.57, Z:2.10 [[ 9.61705832e-01 2.74081683e-01 1.05971214e-03 3.16813983e+02] [-2.74081459e-01 9.61706415e-01 -3.53853713e-04 2.75569483e+02] [-1.11611679e-03 4.98557293e-05 9.99999376e-01 2.10210545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.270714057 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:316.84, Y:275.56, Z:2.10 [[ 9.62381181e-01 2.71700826e-01 1.05975815e-03 3.16840452e+02] [-2.71700601e-01 9.62381763e-01 -3.53715858e-04 2.75561107e+02] [-1.11599681e-03 5.24725579e-05 9.99999376e-01 2.09875373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3007140569999 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:316.87, Y:275.55, Z:2.10 [[ 9.62639367e-01 2.70784650e-01 1.05985886e-03 3.16865964e+02] [-2.70784424e-01 9.62639949e-01 -3.53413842e-04 2.75553210e+02] [-1.11596152e-03 5.32168049e-05 9.99999376e-01 2.10066202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3307140569999 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:316.89, Y:275.54, Z:2.10 [[ 9.62858091e-01 2.70005875e-01 1.05996629e-03 3.16892980e+02] [-2.70005649e-01 9.62858673e-01 -3.53091335e-04 2.75544657e+02] [-1.11593447e-03 5.37799621e-05 9.99999376e-01 2.09764652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3607140569999 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:316.92, Y:275.54, Z:2.10 [[ 9.62738690e-01 2.70431307e-01 1.06006136e-03 3.16919961e+02] [-2.70431082e-01 9.62739272e-01 -3.52805685e-04 2.75537159e+02] [-1.11597241e-03 5.29861410e-05 9.99999376e-01 2.09687904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.390714057 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:316.95, Y:275.53, Z:2.10 [[ 9.62649716e-01 2.70747855e-01 1.06009508e-03 3.16947269e+02] [-2.70747631e-01 9.62650298e-01 -3.52704357e-04 2.75528837e+02] [-1.11599479e-03 5.25125187e-05 9.99999376e-01 2.09657082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4207140569999 meters Centerline goodness : 0.992576 Centerline is valid? [True, True] Translation: X:316.97, Y:275.52, Z:2.10 [[ 9.62573578e-01 2.71018417e-01 1.06018793e-03 3.16974674e+02] [-2.71018193e-01 9.62574161e-01 -3.52425040e-04 2.75520046e+02] [-1.11602318e-03 5.19048157e-05 9.99999376e-01 2.09513593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4507140569999 meters Centerline goodness : 0.990369 Centerline is valid? [True, True] Translation: X:317.00, Y:275.51, Z:2.10 [[ 9.62666414e-01 2.70688475e-01 1.06028366e-03 3.17001207e+02] [-2.70688251e-01 9.62666997e-01 -3.52136786e-04 2.75511236e+02] [-1.11601946e-03 5.19839273e-05 9.99999376e-01 2.09549188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4807140569999 meters Centerline goodness : 0.989570 Centerline is valid? [True, True] Translation: X:317.03, Y:275.50, Z:2.09 [[ 9.62538273e-01 2.71143780e-01 1.06033364e-03 3.17028944e+02] [-2.71143557e-01 9.62538855e-01 -3.51986232e-04 2.75503419e+02] [-1.11605120e-03 5.12975868e-05 9.99999376e-01 2.09054923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.510714057 meters Centerline goodness : 0.986354 Centerline is valid? [True, True] Translation: X:317.06, Y:275.50, Z:2.10 [[ 9.62279837e-01 2.72059537e-01 1.06042710e-03 3.17056261e+02] [-2.72059314e-01 9.62280420e-01 -3.51704421e-04 2.75495222e+02] [-1.11611278e-03 4.99390025e-05 9.99999376e-01 2.09910847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.540714057 meters Centerline goodness : 0.984590 Centerline is valid? [True, True] Translation: X:317.08, Y:275.49, Z:2.10 [[ 9.62576504e-01 2.71008026e-01 1.06053974e-03 3.17082511e+02] [-2.71007803e-01 9.62577087e-01 -3.51364444e-04 2.75487874e+02] [-1.11607384e-03 5.08006129e-05 9.99999376e-01 2.10088375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5707140569999 meters Centerline goodness : 0.982943 Centerline is valid? [True, True] Translation: X:317.11, Y:275.48, Z:2.10 [[ 9.62085525e-01 2.72745886e-01 1.06063692e-03 3.17109424e+02] [-2.72745664e-01 9.62086108e-01 -3.51070852e-04 2.75481406e+02] [-1.11617718e-03 4.84760633e-05 9.99999376e-01 2.09798088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6007140569999 meters Centerline goodness : 0.981768 Centerline is valid? [True, True] Translation: X:317.14, Y:275.47, Z:2.10 [[ 9.61613879e-01 2.74404122e-01 1.06077985e-03 3.17137026e+02] [-2.74403902e-01 9.61614463e-01 -3.50638444e-04 2.75473165e+02] [-1.11627788e-03 4.60966637e-05 9.99999376e-01 2.09510785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.630714057 meters Centerline goodness : 0.982071 Centerline is valid? [True, True] Translation: X:317.16, Y:275.46, Z:2.08 [[ 9.61584091e-01 2.74508491e-01 1.06090532e-03 3.17164467e+02] [-2.74508271e-01 9.61584675e-01 -3.50258401e-04 2.75464873e+02] [-1.11629920e-03 4.55756199e-05 9.99999376e-01 2.08470072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.660714057 meters Centerline goodness : 0.976373 Centerline is valid? [True, True] Translation: X:317.19, Y:275.46, Z:2.10 [[ 9.61006538e-01 2.76523614e-01 1.06093136e-03 3.17193016e+02] [-2.76523396e-01 9.61007122e-01 -3.50179514e-04 2.75456471e+02] [-1.11639550e-03 4.31524598e-05 9.99999376e-01 2.09589140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6907140569999 meters Centerline goodness : 0.855764 Centerline is valid? [True, False] Translation: X:317.19, Y:275.46, Z:2.09 [[ 9.60807721e-01 2.77211473e-01 1.52409876e-03 3.17192416e+02] [-2.77208188e-01 9.60807667e-01 -2.06113242e-03 2.75456849e+02] [-2.03573533e-03 1.55785929e-03 9.99996714e-01 2.09374401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7207140569999 meters Centerline goodness : 0.907835 Centerline is valid? [False, False] Translation: X:317.19, Y:275.46, Z:2.09 [[ 9.60638703e-01 2.77796608e-01 1.52516374e-03 3.17192314e+02] [-2.77790494e-01 9.60635885e-01 -3.33743790e-03 2.75458308e+02] [-2.39225595e-03 2.78239602e-03 9.99993268e-01 2.09289031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.750714057 meters Centerline goodness : 0.926050 Centerline is valid? [False, False] Translation: X:317.19, Y:275.47, Z:2.09 [[ 9.61789795e-01 2.73591434e-01 1.03979575e-02 3.17194515e+02] [-2.73431074e-01 9.61780832e-01 -1.45972162e-02 2.75465672e+02] [-1.39942296e-02 1.11963288e-02 9.99839389e-01 2.08899783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.780714057 meters Centerline goodness : 0.875175 Centerline is valid? [False, False] Translation: X:317.20, Y:275.47, Z:2.09 [[ 9.62957622e-01 2.68939369e-01 1.96018829e-02 3.17196558e+02] [-2.68441640e-01 9.62978323e-01 -2.47353187e-02 2.75471155e+02] [-2.55284894e-02 1.85571021e-02 9.99501841e-01 2.08554267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8107140569999 meters Centerline goodness : 0.841447 Centerline is valid? [False, False] Translation: X:317.20, Y:275.48, Z:2.08 [[ 9.63872016e-01 2.64798566e-01 2.88523331e-02 3.17199206e+02] [-2.63787939e-01 9.63960775e-01 -3.45766758e-02 2.75477796e+02] [-3.69683715e-02 2.57165927e-02 9.98985484e-01 2.08172609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8407140569999 meters Centerline goodness : 0.704380 Centerline is valid? [False, False] Translation: X:317.20, Y:275.48, Z:2.08 [[ 9.64286591e-01 2.62057069e-01 3.84377885e-02 3.17203088e+02] [-2.60545130e-01 9.64623313e-01 -4.02255967e-02 2.75482400e+02] [-4.76193889e-02 2.87742249e-02 9.98451019e-01 2.07712814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.870714057 meters Centerline goodness : 0.651533 Centerline is valid? [False, False] Translation: X:317.20, Y:275.48, Z:2.08 [[ 9.64081091e-01 2.62789210e-01 3.85937841e-02 3.17202911e+02] [-2.61251616e-01 9.64413466e-01 -4.06725924e-02 2.75483105e+02] [-4.79086835e-02 2.91289888e-02 9.98426893e-01 2.07662215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.900714057 meters Centerline goodness : 0.150014 Centerline is valid? [False, False] Translation: X:317.20, Y:275.48, Z:2.07 [[ 9.63468386e-01 2.64935732e-01 3.92138635e-02 3.17202608e+02] [-2.63360446e-01 9.63821910e-01 -4.10926018e-02 2.75484041e+02] [-4.86820794e-02 2.92640421e-02 9.98385532e-01 2.07466509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9307140569999 meters Centerline goodness : 0.166687 Centerline is valid? [False, False] Translation: X:317.20, Y:275.48, Z:2.07 [[ 9.62542311e-01 2.68083286e-01 4.05419615e-02 3.17201856e+02] [-2.66679160e-01 9.63079220e-01 -3.68868805e-02 2.75482058e+02] [-4.89338768e-02 2.46934870e-02 9.98496724e-01 2.07371016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9607140569999 meters Centerline goodness : 0.162235 Centerline is valid? [False, False] Translation: X:317.20, Y:275.48, Z:2.07 [[ 9.62569647e-01 2.68000089e-01 4.04428736e-02 3.17202453e+02] [-2.66566281e-01 9.63085163e-01 -3.75418080e-02 2.75483307e+02] [-4.90111394e-02 2.53558985e-02 9.98476333e-01 2.07390986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9907140569999 meters Centerline goodness : 0.164697 Centerline is valid? [False, False] Translation: X:317.20, Y:275.49, Z:2.07 [[ 9.62681470e-01 2.67668898e-01 3.99718398e-02 3.17203261e+02] [-2.66206504e-01 9.63151990e-01 -3.83710966e-02 2.75485288e+02] [-4.87697062e-02 2.62983800e-02 9.98463775e-01 2.07470612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.020714057 meters Centerline goodness : 0.164697 Centerline is valid? [False, False] Translation: X:317.20, Y:275.49, Z:2.07 [[ 9.62681470e-01 2.67668898e-01 3.99718398e-02 3.17203261e+02] [-2.66206504e-01 9.63151990e-01 -3.83710966e-02 2.75485288e+02] [-4.87697062e-02 2.62983800e-02 9.98463775e-01 2.07470612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0507140569999 meters Centerline goodness : 0.157826 Centerline is valid? [False, False] Translation: X:317.20, Y:275.49, Z:2.08 [[ 9.62812539e-01 2.67275255e-01 3.94455709e-02 3.17204277e+02] [-2.65784243e-01 9.63233385e-01 -3.92451460e-02 2.75487448e+02] [-4.84845472e-02 2.73017074e-02 9.98450733e-01 2.07537588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0807140569999 meters Centerline goodness : 0.157299 Centerline is valid? [False, False] Translation: X:317.21, Y:275.49, Z:2.08 [[ 9.63787888e-01 2.63973301e-01 3.78285961e-02 3.17206185e+02] [-2.62299626e-01 9.63982770e-01 -4.40014144e-02 2.75491391e+02] [-4.80813135e-02 3.24856036e-02 9.98315017e-01 2.07642836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1107140569999 meters Centerline goodness : 0.158520 Centerline is valid? [False, False] Translation: X:317.21, Y:275.49, Z:2.08 [[ 9.63672353e-01 2.64394173e-01 3.78327481e-02 3.17206925e+02] [-2.62741129e-01 9.63882052e-01 -4.35716572e-02 2.75490669e+02] [-4.79863991e-02 3.20485825e-02 9.98333709e-01 2.07511214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.140714057 meters Centerline goodness : 0.157574 Centerline is valid? [False, False] Translation: X:317.21, Y:275.49, Z:2.07 [[ 9.64699009e-01 2.59166416e-01 4.67823859e-02 3.17210867e+02] [-2.56919145e-01 9.65187510e-01 -4.90471605e-02 2.75493881e+02] [-5.78651514e-02 3.52964565e-02 9.97700248e-01 2.06937368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1707140569999 meters Centerline goodness : 0.167948 Centerline is valid? [False, False] Translation: X:317.21, Y:275.49, Z:2.07 [[ 9.64727410e-01 2.59103694e-01 4.65435200e-02 3.17212115e+02] [-2.56903735e-01 9.65225631e-01 -4.83730529e-02 2.75492490e+02] [-5.74586352e-02 3.47096059e-02 9.97744330e-01 2.06813541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2007140569999 meters Centerline goodness : 0.159718 Centerline is valid? [False, False] Translation: X:317.21, Y:275.49, Z:2.07 [[ 9.64731947e-01 2.59125217e-01 4.63291785e-02 3.17213522e+02] [-2.56980076e-01 9.65246380e-01 -4.75464727e-02 2.75490772e+02] [-5.70395619e-02 3.39639253e-02 9.97794037e-01 2.06654837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2307140569999 meters Centerline goodness : 0.159182 Centerline is valid? [False, False] Translation: X:317.21, Y:275.49, Z:2.07 [[ 9.64677338e-01 2.59366575e-01 4.61152300e-02 3.17214656e+02] [-2.57247129e-01 9.65191006e-01 -4.72253782e-02 2.75490607e+02] [-5.67586898e-02 3.36942415e-02 9.97819197e-01 2.06566407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.260714057 meters Centerline goodness : 0.159791 Centerline is valid? [False, False] Translation: X:317.22, Y:275.49, Z:2.07 [[ 9.64584575e-01 2.59755122e-01 4.58680082e-02 3.17215636e+02] [-2.57670115e-01 9.65100436e-01 -4.67681616e-02 2.75490303e+02] [-5.64155042e-02 3.32930323e-02 9.97852126e-01 2.06511309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.290714057 meters Centerline goodness : 0.162686 Centerline is valid? [False, False] Translation: X:317.22, Y:275.49, Z:2.06 [[ 9.64401440e-01 2.60466978e-01 4.56816739e-02 3.17216810e+02] [-2.58422195e-01 9.64928088e-01 -4.61709283e-02 2.75489897e+02] [-5.61055323e-02 3.27221513e-02 9.97888486e-01 2.06412224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3207140569999 meters Centerline goodness : 0.169923 Centerline is valid? [False, False] Translation: X:317.22, Y:275.49, Z:2.06 [[ 9.64225873e-01 2.61132863e-01 4.55861110e-02 3.17217785e+02] [-2.59178859e-01 9.64798520e-01 -4.46109326e-02 2.75487307e+02] [-5.56307930e-02 3.12000592e-02 9.97963813e-01 2.06332471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3507140569999 meters Centerline goodness : 0.172230 Centerline is valid? [False, False] Translation: X:317.22, Y:275.49, Z:2.06 [[ 9.64119897e-01 2.61545213e-01 4.54634512e-02 3.17218760e+02] [-2.59673215e-01 9.64729542e-01 -4.32057011e-02 2.75485150e+02] [-5.51601788e-02 2.98498356e-02 9.98031233e-01 2.06268387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.380714057 meters Centerline goodness : 0.165767 Centerline is valid? [False, False] Translation: X:317.22, Y:275.48, Z:2.06 [[ 9.64162708e-01 2.61356965e-01 4.56378049e-02 3.17218677e+02] [-2.59492896e-01 9.64788752e-01 -4.29662736e-02 2.75484584e+02] [-5.52603757e-02 2.95837925e-02 9.98033612e-01 2.06247291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.410714057 meters Centerline goodness : 0.177203 Centerline is valid? [False, False] Translation: X:317.23, Y:275.48, Z:2.06 [[ 9.65055190e-01 2.57004594e-01 5.11577780e-02 3.17227673e+02] [-2.54843601e-01 9.65927698e-01 -4.51488838e-02 2.75482313e+02] [-6.10181853e-02 3.05339323e-02 9.97669514e-01 2.05824297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4407140569999 meters Centerline goodness : 0.182343 Centerline is valid? [False, False] Translation: X:317.23, Y:275.48, Z:2.06 [[ 9.65127300e-01 2.56827848e-01 5.06828563e-02 3.17229393e+02] [-2.54758784e-01 9.66009072e-01 -4.38683711e-02 2.75480469e+02] [-6.02267183e-02 2.94266597e-02 9.97750878e-01 2.05769366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4707140569999 meters Centerline goodness : 0.189926 Centerline is valid? [False, False] Translation: X:317.23, Y:275.48, Z:2.06 [[ 9.65202749e-01 2.56562055e-01 5.05921468e-02 3.17230126e+02] [-2.54537210e-01 9.66098758e-01 -4.31740426e-02 2.75478610e+02] [-5.99538313e-02 2.87941207e-02 9.97785767e-01 2.05700750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.500714057 meters Centerline goodness : 0.181437 Centerline is valid? [False, False] Translation: X:317.24, Y:275.48, Z:2.05 [[ 9.66554331e-01 2.49952846e-01 5.74134110e-02 3.17236440e+02] [-2.47071521e-01 9.67554344e-01 -5.28607058e-02 2.75479865e+02] [-6.87632791e-02 3.69075253e-02 9.96950072e-01 2.05319873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.530714057 meters Centerline goodness : 0.191202 Centerline is valid? [False, False] Translation: X:317.24, Y:275.48, Z:2.05 [[ 9.66805157e-01 2.49094218e-01 5.69197568e-02 3.17238376e+02] [-2.46339094e-01 9.67826777e-01 -5.12677302e-02 2.75477110e+02] [-6.78589599e-02 3.55443447e-02 9.97061563e-01 2.05248915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5607140569999 meters Centerline goodness : 0.185935 Centerline is valid? [False, False] Translation: X:317.24, Y:275.48, Z:2.05 [[ 9.67162672e-01 2.47886778e-01 5.61115933e-02 3.17240414e+02] [-2.45203855e-01 9.68149877e-01 -5.06051880e-02 2.75475472e+02] [-6.68687892e-02 3.51846699e-02 9.97141216e-01 2.05227322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5907140569999 meters Centerline goodness : 0.194275 Centerline is valid? [False, False] Translation: X:317.24, Y:275.47, Z:2.05 [[ 9.67765679e-01 2.45826458e-01 5.47626032e-02 3.17243995e+02] [-2.43252097e-01 9.68691526e-01 -4.96502245e-02 2.75472677e+02] [-6.52534085e-02 3.47286652e-02 9.97264214e-01 2.05148187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6207140569999 meters Centerline goodness : 0.203317 Centerline is valid? [False, False] Translation: X:317.25, Y:275.48, Z:2.05 [[ 9.68798364e-01 2.42153344e-01 5.28345269e-02 3.17247090e+02] [-2.39370643e-01 9.69429927e-01 -5.39195038e-02 2.75475569e+02] [-6.42761597e-02 3.95900925e-02 9.97146529e-01 2.05140474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.650714057 meters Centerline goodness : 0.206814 Centerline is valid? [False, False] Translation: X:317.25, Y:275.48, Z:2.05 [[ 9.69629441e-01 2.36961413e-01 6.05643087e-02 3.17252224e+02] [-2.33408366e-01 9.70506378e-01 -6.03150519e-02 2.75478544e+02] [-7.30703878e-02 4.43470337e-02 9.96340333e-01 2.04712634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6807140569999 meters Centerline goodness : 0.214327 Centerline is valid? [False, False] Translation: X:317.26, Y:275.48, Z:2.05 [[ 9.70772617e-01 2.32931286e-01 5.78233702e-02 3.17257508e+02] [-2.29206029e-01 9.71242817e-01 -6.44359182e-02 2.75481675e+02] [-7.11696742e-02 4.92991599e-02 9.96245186e-01 2.04727118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7107140569999 meters Centerline goodness : 0.199200 Centerline is valid? [False, False] Translation: X:317.26, Y:275.49, Z:2.05 [[ 9.71747264e-01 2.29306279e-01 5.59096270e-02 3.17260554e+02] [-2.25359572e-01 9.71832938e-01 -6.89478299e-02 2.75485504e+02] [-7.01449874e-02 5.44000954e-02 9.96052363e-01 2.04791312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7407140569999 meters Centerline goodness : 0.204331 Centerline is valid? [False, False] Translation: X:317.26, Y:275.49, Z:2.05 [[ 9.72693076e-01 2.25683964e-01 5.41749842e-02 3.17263393e+02] [-2.21526020e-01 9.72389039e-01 -7.33878722e-02 2.75489596e+02] [-6.92416267e-02 5.93827065e-02 9.95830955e-01 2.04855283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.770714057 meters Centerline goodness : 0.225633 Centerline is valid? [False, False] Translation: X:317.27, Y:275.49, Z:2.05 [[ 9.73600781e-01 2.22433845e-01 5.12318687e-02 3.17269588e+02] [-2.18258755e-01 9.72902688e-01 -7.63117035e-02 2.75492850e+02] [-6.68179284e-02 6.31153302e-02 9.95766950e-01 2.04927688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8007140569999 meters Centerline goodness : 0.206855 Centerline is valid? [False, False] Translation: X:317.27, Y:275.49, Z:2.05 [[ 9.73749597e-01 2.21917267e-01 5.06403951e-02 3.17271542e+02] [-2.17753201e-01 9.72984209e-01 -7.67155278e-02 2.75493810e+02] [-6.62968051e-02 6.36746061e-02 9.95766176e-01 2.04914292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8307140569999 meters Centerline goodness : 0.213237 Centerline is valid? [False, False] Translation: X:317.27, Y:275.49, Z:2.05 [[ 9.73884248e-01 2.21481838e-01 4.99526525e-02 3.17273850e+02] [-2.17335434e-01 9.73045601e-01 -7.71204782e-02 2.75494826e+02] [-6.56869940e-02 6.42499375e-02 9.95769634e-01 2.04894991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8607140569999 meters Centerline goodness : 0.212285 Centerline is valid? [False, False] Translation: X:317.28, Y:275.50, Z:2.05 [[ 9.74032511e-01 2.20987263e-01 4.92473006e-02 3.17275946e+02] [-2.16853170e-01 9.73112200e-01 -7.76359976e-02 2.75495981e+02] [-6.50797156e-02 6.49405524e-02 9.95764709e-01 2.04914721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.890714057 meters Centerline goodness : 0.137954 Centerline is valid? [False, False] Translation: X:317.28, Y:275.50, Z:2.05 [[ 9.74707416e-01 2.18569299e-01 4.66145440e-02 3.17283147e+02] [-2.14443426e-01 9.73431048e-01 -8.02870577e-02 2.75499425e+02] [-6.29243303e-02 6.82602080e-02 9.95681210e-01 2.04912487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9207140569999 meters Centerline goodness : 0.157730 Centerline is valid? [False, False] Translation: X:317.29, Y:275.50, Z:2.05 [[ 9.74812429e-01 2.18259655e-01 4.58634099e-02 3.17285506e+02] [-2.14168442e-01 9.73468777e-01 -8.05631399e-02 2.75499840e+02] [-6.22302806e-02 6.87114551e-02 9.95693792e-01 2.04914655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9507140569999 meters Centerline goodness : 0.212806 Centerline is valid? [False, False] Translation: X:317.29, Y:275.50, Z:2.05 [[ 9.74924442e-01 2.17898771e-01 4.51935649e-02 3.17288015e+02] [-2.13835957e-01 9.73517305e-01 -8.08593856e-02 2.75500281e+02] [-6.16158783e-02 6.91677822e-02 9.95700407e-01 2.04871799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9807140569999 meters Centerline goodness : 0.230884 Centerline is valid? [False, False] Translation: X:317.29, Y:275.50, Z:2.05 [[ 9.75023113e-01 2.17619278e-01 4.44047133e-02 3.17290940e+02] [-2.13590206e-01 9.73542031e-01 -8.12104542e-02 2.75500822e+02] [-6.09028152e-02 6.96976581e-02 9.95707328e-01 2.04831651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.010714057 meters Centerline goodness : 0.583922 Centerline is valid? [False, False] Translation: X:317.30, Y:275.50, Z:2.05 [[ 9.75556282e-01 2.15773256e-01 4.16154148e-02 3.17299144e+02] [-2.11809060e-01 9.73737534e-01 -8.34993176e-02 2.75503071e+02] [-5.85394111e-02 7.26437620e-02 9.95638499e-01 2.04772180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.040714057 meters Centerline goodness : 0.204564 Centerline is valid? [False, False] Translation: X:317.30, Y:275.50, Z:2.05 [[ 9.75628370e-01 2.15603374e-01 4.07979041e-02 3.17302116e+02] [-2.11696247e-01 9.73757835e-01 -8.35486492e-02 2.75503360e+02] [-5.77406494e-02 7.28756692e-02 9.95668195e-01 2.04716095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0707140569999 meters Centerline goodness : 0.429690 Centerline is valid? [False, False] Translation: X:317.31, Y:275.50, Z:2.05 [[ 9.75598936e-01 2.15923785e-01 3.97949160e-02 3.17305924e+02] [-2.12114257e-01 9.73704198e-01 -8.31124391e-02 2.75503448e+02] [-5.66944292e-02 7.26433381e-02 9.95745292e-01 2.04624604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1007140569999 meters Centerline goodness : 0.806293 Centerline is valid? [False, False] Translation: X:317.32, Y:275.51, Z:2.05 [[ 9.75955708e-01 2.15333149e-01 3.37948442e-02 3.17324162e+02] [-2.12230683e-01 9.74113241e-01 -7.78558348e-02 2.75506553e+02] [-4.96849474e-02 6.88115435e-02 9.96391679e-01 2.04610202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.130714057 meters Centerline goodness : 0.830061 Centerline is valid? [False, False] Translation: X:317.33, Y:275.51, Z:2.04 [[ 9.75813363e-01 2.16167539e-01 3.25557277e-02 3.17329753e+02] [-2.13164248e-01 9.73934338e-01 -7.75429545e-02 2.75509374e+02] [-4.84694108e-02 6.87277340e-02 9.96457332e-01 2.04459312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.160714057 meters Centerline goodness : 0.834702 Centerline is valid? [False, False] Translation: X:317.33, Y:275.51, Z:2.04 [[ 9.75835287e-01 2.16240612e-01 3.13925204e-02 3.17333991e+02] [-2.13303421e-01 9.73880424e-01 -7.78368140e-02 2.75510302e+02] [-4.74040414e-02 6.92597778e-02 9.96471746e-01 2.04406690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1907140569999 meters Centerline goodness : 0.839850 Centerline is valid? [False, False] Translation: X:317.35, Y:275.51, Z:2.05 [[ 9.77027818e-01 2.11646846e-01 2.49450543e-02 3.17349420e+02] [-2.09260568e-01 9.74928869e-01 -7.56552385e-02 2.75509978e+02] [-4.03318461e-02 6.86972563e-02 9.96821965e-01 2.04592433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2207140569999 meters Centerline goodness : 0.841482 Centerline is valid? [False, False] Translation: X:317.35, Y:275.51, Z:2.05 [[ 9.77071030e-01 2.11538384e-01 2.41601706e-02 3.17352665e+02] [-2.09215273e-01 9.74955962e-01 -7.54310396e-02 2.75509804e+02] [-3.95116626e-02 6.86468069e-02 9.96858287e-01 2.04528904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.250714057 meters Centerline goodness : 0.856341 Centerline is valid? [False, False] Translation: X:317.37, Y:275.51, Z:2.04 [[ 9.77913781e-01 2.07015842e-01 2.87937153e-02 3.17371818e+02] [-2.04455303e-01 9.76087486e-01 -7.38325790e-02 2.75508374e+02] [-4.33896987e-02 6.63148688e-02 9.96854890e-01 2.04179008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.280714057 meters Centerline goodness : 0.857959 Centerline is valid? [False, False] Translation: X:317.38, Y:275.51, Z:2.04 [[ 9.78754654e-01 2.03631321e-01 2.39502143e-02 3.17381435e+02] [-2.01545506e-01 9.76969943e-01 -7.00652531e-02 2.75507135e+02] [-3.76661196e-02 6.37496344e-02 9.97254856e-01 2.04481270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3107140569999 meters Centerline goodness : 0.861935 Centerline is valid? [False, False] Translation: X:317.38, Y:275.51, Z:2.04 [[ 9.78813404e-01 2.03436372e-01 2.31940204e-02 3.17384532e+02] [-2.01404109e-01 9.77008555e-01 -6.99333178e-02 2.75507512e+02] [-3.68877368e-02 6.37802979e-02 9.97281990e-01 2.04458815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3407140569999 meters Centerline goodness : 0.862466 Centerline is valid? [False, False] Translation: X:317.39, Y:275.51, Z:2.04 [[ 9.78826804e-01 2.03469175e-01 2.23244915e-02 3.17388087e+02] [-2.01504667e-01 9.77012018e-01 -6.95944425e-02 2.75507560e+02] [-3.59716203e-02 6.36224165e-02 9.97325539e-01 2.04380599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3707140569999 meters Centerline goodness : 0.864972 Centerline is valid? [False, False] Translation: X:317.39, Y:275.51, Z:2.04 [[ 9.78854970e-01 2.03408056e-01 2.16358401e-02 3.17390939e+02] [-2.01501773e-01 9.77041174e-01 -6.91923317e-02 2.75506369e+02] [-3.52133843e-02 6.33695977e-02 9.97368694e-01 2.04304331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.400714057 meters Centerline goodness : 0.860799 Centerline is valid? [False, False] Translation: X:317.41, Y:275.50, Z:2.04 [[ 9.79898468e-01 1.98817177e-01 1.64536173e-02 3.17405916e+02] [-1.97418891e-01 9.78261103e-01 -6.34901267e-02 2.75503992e+02] [-2.87188616e-02 5.89656230e-02 9.97846823e-01 2.04317646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4307140569999 meters Centerline goodness : 0.862692 Centerline is valid? [False, False] Translation: X:317.41, Y:275.50, Z:2.04 [[ 9.79816593e-01 1.99293062e-01 1.55473401e-02 3.17410061e+02] [-1.97963747e-01 9.78188635e-01 -6.29074632e-02 2.75504436e+02] [-2.77452523e-02 5.85599665e-02 9.97898257e-01 2.04162788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4607140569999 meters Centerline goodness : 0.866029 Centerline is valid? [False, False] Translation: X:317.41, Y:275.51, Z:2.04 [[ 9.79729812e-01 1.99801793e-01 1.44477772e-02 3.17414608e+02] [-1.98545719e-01 9.78093633e-01 -6.25495203e-02 2.75505627e+02] [-2.66287852e-02 5.84130854e-02 9.97937282e-01 2.04016907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4907140569999 meters Centerline goodness : 0.867800 Centerline is valid? [False, False] Translation: X:317.43, Y:275.51, Z:2.04 [[ 9.80242918e-01 1.97425581e-01 1.21227998e-02 3.17432515e+02] [-1.96489274e-01 9.78966529e-01 -5.49226705e-02 2.75505628e+02] [-2.27109554e-02 5.14555586e-02 9.98417016e-01 2.03692424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.520714057 meters Centerline goodness : 0.824344 Centerline is valid? [False, False] Translation: X:317.44, Y:275.51, Z:2.04 [[ 9.80169733e-01 1.97839977e-01 1.12533697e-02 3.17436518e+02] [-1.96952751e-01 9.78885680e-01 -5.47031857e-02 2.75507202e+02] [-2.18382395e-02 5.14020248e-02 9.98439244e-01 2.03556626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5507140569999 meters Centerline goodness : 0.823981 Centerline is valid? [False, False] Translation: X:317.44, Y:275.51, Z:2.03 [[ 9.80183968e-01 1.97822484e-01 1.02788497e-02 3.17440016e+02] [-1.96984200e-01 9.78875935e-01 -5.47643095e-02 2.75508204e+02] [-2.08953303e-02 5.16543272e-02 9.98446401e-01 2.03453365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5807140569999 meters Centerline goodness : 0.875324 Centerline is valid? [False, False] Translation: X:317.45, Y:275.51, Z:2.04 [[ 9.81310406e-01 1.92370260e-01 4.85492748e-03 3.17450339e+02] [-1.91869383e-01 9.80059367e-01 -5.16698780e-02 2.75506409e+02] [-1.46978650e-02 4.97726771e-02 9.98652419e-01 2.03685062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6107140569999 meters Centerline goodness : 0.876872 Centerline is valid? [False, False] Translation: X:317.46, Y:275.50, Z:2.04 [[ 9.82435802e-01 1.86599877e-01 -6.17019434e-04 3.17461539e+02] [-1.86413949e-01 9.81298194e-01 -4.79968197e-02 2.75504946e+02] [-8.35072061e-03 4.72688151e-02 9.98847298e-01 2.03886127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.640714057 meters Centerline goodness : 0.812659 Centerline is valid? [False, False] Translation: X:317.48, Y:275.50, Z:2.04 [[ 9.84421250e-01 1.75784315e-01 -3.83099170e-03 3.17477382e+02] [-1.75773850e-01 9.83364403e-01 -4.58039908e-02 2.75504071e+02] [-4.28436230e-03 4.57638101e-02 9.98943100e-01 2.03619623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6707140569999 meters Centerline goodness : 0.832118 Centerline is valid? [False, False] Translation: X:317.49, Y:275.50, Z:2.04 [[ 9.85851182e-01 1.67538494e-01 -5.31973346e-03 3.17486559e+02] [-1.67616659e-01 9.85043203e-01 -3.99317494e-02 2.75500437e+02] [-1.44993789e-03 4.02584383e-02 9.99188248e-01 2.03598865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7007140569999 meters Centerline goodness : 0.833381 Centerline is valid? [False, False] Translation: X:317.50, Y:275.50, Z:2.04 [[ 9.87108663e-01 1.59807366e-01 -8.83703024e-03 3.17497463e+02] [-1.60021273e-01 9.86489945e-01 -3.50824891e-02 2.75498649e+02] [ 3.11120128e-03 3.60443418e-02 9.99345349e-01 2.03668370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7307140569999 meters Centerline goodness : 0.746226 Centerline is valid? [False, False] Translation: X:317.52, Y:275.49, Z:2.04 [[ 9.89250139e-01 1.45634842e-01 -1.32157252e-02 3.17517565e+02] [-1.45937835e-01 9.88953333e-01 -2.59509953e-02 2.75492858e+02] [ 9.29036639e-03 2.76007001e-02 9.99575855e-01 2.03612112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.760714057 meters Centerline goodness : 0.786768 Centerline is valid? [False, False] Translation: X:317.53, Y:275.49, Z:2.04 [[ 9.90149296e-01 1.38719441e-01 -1.90076124e-02 3.17529826e+02] [-1.39139319e-01 9.90007900e-01 -2.29043041e-02 2.75492084e+02] [ 1.56404142e-02 2.53233869e-02 9.99556954e-01 2.03780604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.790714057 meters Centerline goodness : 0.897701 Centerline is valid? [False, False] Translation: X:317.54, Y:275.49, Z:2.04 [[ 9.91116514e-01 1.31195010e-01 -2.18157105e-02 3.17544754e+02] [-1.31570529e-01 9.91164971e-01 -1.67689216e-02 2.75489128e+02] [ 1.94229692e-02 1.94902597e-02 9.99621367e-01 2.03503245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8207140569999 meters Centerline goodness : 0.898977 Centerline is valid? [False, False] Translation: X:317.55, Y:275.49, Z:2.03 [[ 9.91152362e-01 1.30651631e-01 -2.33911538e-02 3.17549221e+02] [-1.31068640e-01 9.91222742e-01 -1.72767903e-02 2.75489724e+02] [ 2.09286028e-02 2.01897783e-02 9.99577094e-01 2.03356860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8507140569999 meters Centerline goodness : 0.859933 Centerline is valid? [False, False] Translation: X:317.55, Y:275.49, Z:2.03 [[ 9.91067117e-01 1.31031967e-01 -2.48312891e-02 3.17553613e+02] [-1.31471027e-01 9.91175019e-01 -1.69543490e-02 2.75489933e+02] [ 2.23905917e-02 2.00674929e-02 9.99547876e-01 2.03211457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.880714057 meters Centerline goodness : 0.907280 Centerline is valid? [False, False] Translation: X:317.56, Y:275.49, Z:2.03 [[ 9.90967844e-01 1.31533902e-01 -2.61067815e-02 3.17557814e+02] [-1.31992723e-01 9.91110002e-01 -1.66998298e-02 2.75490692e+02] [ 2.36780985e-02 1.99948995e-02 9.99519660e-01 2.03073210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.910714057 meters Centerline goodness : 0.907280 Centerline is valid? [False, False] Translation: X:317.56, Y:275.49, Z:2.03 [[ 9.90967844e-01 1.31533902e-01 -2.61067815e-02 3.17557814e+02] [-1.31992723e-01 9.91110002e-01 -1.66998298e-02 2.75490692e+02] [ 2.36780985e-02 1.99948995e-02 9.99519660e-01 2.03073210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9407140569999 meters Centerline goodness : 0.855966 Centerline is valid? [False, False] Translation: X:317.57, Y:275.49, Z:2.03 [[ 9.91214029e-01 1.29292107e-01 -2.78980242e-02 3.17569896e+02] [-1.29520121e-01 9.91555362e-01 -6.51941918e-03 2.75489572e+02] [ 2.68195260e-02 1.00754952e-02 9.99589514e-01 2.03048559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9707140569999 meters Centerline goodness : 0.870642 Centerline is valid? [False, False] Translation: X:317.57, Y:275.49, Z:2.03 [[ 9.91075631e-01 1.30084889e-01 -2.91035347e-02 3.17573642e+02] [-1.30313807e-01 9.91454008e-01 -6.10420168e-03 2.75490455e+02] [ 2.80607518e-02 9.84231792e-03 9.99557764e-01 2.02965537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.000714057 meters Centerline goodness : 0.862824 Centerline is valid? [False, False] Translation: X:317.58, Y:275.49, Z:2.03 [[ 9.90944804e-01 1.30782756e-01 -3.04017454e-02 3.17577244e+02] [-1.31010239e-01 9.91365162e-01 -5.60650866e-03 2.75490242e+02] [ 2.94059966e-02 9.53868057e-03 9.99522036e-01 2.02890453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.030714057 meters Centerline goodness : 0.847648 Centerline is valid? [False, False] Translation: X:317.59, Y:275.49, Z:2.03 [[ 9.91710571e-01 1.24651040e-01 -3.11811019e-02 3.17588897e+02] [-1.24669829e-01 9.92197367e-01 1.34844679e-03 2.75486944e+02] [ 3.11058925e-02 2.55007371e-03 9.99512842e-01 2.02744943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0607140569999 meters Centerline goodness : 0.844793 Centerline is valid? [False, False] Translation: X:317.59, Y:275.49, Z:2.03 [[ 9.91605266e-01 1.25143365e-01 -3.25289725e-02 3.17592842e+02] [-1.25154914e-01 9.92135775e-01 1.68890328e-03 2.75486769e+02] [ 3.24845124e-02 2.39643537e-03 9.99469366e-01 2.02628151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0907140569999 meters Centerline goodness : 0.873586 Centerline is valid? [False, False] Translation: X:317.60, Y:275.48, Z:2.02 [[ 9.91280765e-01 1.27511265e-01 -3.32162797e-02 3.17596981e+02] [-1.27356135e-01 9.91834061e-01 6.75357665e-03 2.75484479e+02] [ 3.38061947e-02 -2.46439362e-03 9.99425369e-01 2.02472515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1207140569999 meters Centerline goodness : 0.916405 Centerline is valid? [False, False] Translation: X:317.60, Y:275.49, Z:2.02 [[ 9.91917516e-01 1.24606084e-01 -2.39366865e-02 3.17600064e+02] [-1.24566991e-01 9.92206284e-01 3.12322894e-03 2.75488353e+02] [ 2.41393041e-02 -1.16264493e-04 9.99708598e-01 2.01955633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.150714057 meters Centerline goodness : 0.918538 Centerline is valid? [False, False] Translation: X:317.60, Y:275.49, Z:2.01 [[ 9.92666299e-01 1.19934313e-01 -1.51452702e-02 3.17604791e+02] [-1.19983179e-01 9.92773127e-01 -2.35682714e-03 2.75491589e+02] [ 1.47531528e-02 4.15672053e-03 9.99882526e-01 2.01466951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1807140569999 meters Centerline goodness : 0.921062 Centerline is valid? [False, False] Translation: X:317.61, Y:275.50, Z:2.01 [[ 9.93303728e-01 1.15382309e-01 -5.88450948e-03 3.17607862e+02] [-1.15449842e-01 9.93230340e-01 -1.28384451e-02 2.75498751e+02] [ 4.36334390e-03 1.34318411e-02 9.99900268e-01 2.01028484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2107140569999 meters Centerline goodness : 0.922925 Centerline is valid? [False, False] Translation: X:317.61, Y:275.50, Z:2.01 [[ 9.93396674e-01 1.14530170e-01 -6.77410866e-03 3.17610440e+02] [-1.14609534e-01 9.93328200e-01 -1.27961301e-02 2.75498444e+02] [ 5.26337021e-03 1.34880105e-02 9.99895180e-01 2.00932605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2407140569999 meters Centerline goodness : 0.931113 Centerline is valid? [False, False] Translation: X:317.61, Y:275.50, Z:2.01 [[ 9.93473198e-01 1.13784866e-01 -8.00060693e-03 3.17614836e+02] [-1.13869949e-01 9.93433287e-01 -1.11328128e-02 2.75495243e+02] [ 6.68132363e-03 1.19711798e-02 9.99906021e-01 2.00701544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.270714057 meters Centerline goodness : 0.932873 Centerline is valid? [False, False] Translation: X:317.62, Y:275.50, Z:2.01 [[ 9.93550212e-01 1.13035489e-01 -8.99741118e-03 3.17617170e+02] [-1.13130105e-01 9.93521372e-01 -1.08103461e-02 2.75495060e+02] [ 7.71716753e-03 1.17584997e-02 9.99901087e-01 2.00696724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3007140569999 meters Centerline goodness : 0.935331 Centerline is valid? [False, False] Translation: X:317.62, Y:275.49, Z:2.01 [[ 9.93563294e-01 1.12856396e-01 -9.76809232e-03 3.17619308e+02] [-1.12946433e-01 9.93558343e-01 -9.21537661e-03 2.75493326e+02] [ 8.66515543e-03 1.02593311e-02 9.99909827e-01 2.00690768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3307140569999 meters Centerline goodness : 0.934875 Centerline is valid? [False, False] Translation: X:317.62, Y:275.49, Z:2.01 [[ 9.93674542e-01 1.11738553e-01 -1.11982185e-02 3.17622841e+02] [-1.11827276e-01 9.93698324e-01 -7.63554275e-03 2.75491621e+02] [ 1.02744665e-02 8.83951072e-03 9.99908145e-01 2.00693623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3607140569999 meters Centerline goodness : 0.937299 Centerline is valid? [False, False] Translation: X:317.63, Y:275.49, Z:2.01 [[ 9.93760288e-01 1.10870462e-01 -1.21749934e-02 3.17625056e+02] [-1.10967421e-01 9.93795000e-01 -7.59793856e-03 2.75491838e+02] [ 1.12570607e-02 8.90155723e-03 9.99897015e-01 2.00695062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.390714057 meters Centerline goodness : 0.939896 Centerline is valid? [False, False] Translation: X:317.63, Y:275.49, Z:2.01 [[ 9.93810717e-01 1.10303761e-01 -1.31658458e-02 3.17627759e+02] [-1.10405533e-01 9.93860041e-01 -7.26887529e-03 2.75492103e+02] [ 1.22832238e-02 8.67746838e-03 9.99886906e-01 2.00640258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4207140569999 meters Centerline goodness : 0.940261 Centerline is valid? [False, False] Translation: X:317.63, Y:275.49, Z:2.01 [[ 9.93899080e-01 1.09392408e-01 -1.40683885e-02 3.17629871e+02] [-1.09507885e-01 9.93955980e-01 -7.71576257e-03 2.75493508e+02] [ 1.31393130e-02 9.20928878e-03 9.99871265e-01 2.00627473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4507140569999 meters Centerline goodness : 0.941639 Centerline is valid? [False, False] Translation: X:317.63, Y:275.49, Z:2.01 [[ 9.94413614e-01 1.04297785e-01 -1.62337762e-02 3.17634189e+02] [-1.04464033e-01 9.94480855e-01 -9.75161410e-03 2.75491824e+02] [ 1.51271078e-02 1.13929835e-02 9.99820669e-01 2.00639287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4807140569999 meters Centerline goodness : 0.942377 Centerline is valid? [False, False] Translation: X:317.64, Y:275.49, Z:2.01 [[ 9.94599766e-01 1.02309927e-01 -1.74351173e-02 3.17636821e+02] [-1.02486690e-01 9.94688403e-01 -9.56341800e-03 2.75491295e+02] [ 1.63640764e-02 1.12986408e-02 9.99802259e-01 2.00677994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.510714057 meters Centerline goodness : 0.944239 Centerline is valid? [False, False] Translation: X:317.64, Y:275.49, Z:2.01 [[ 9.94974001e-01 9.84362028e-02 -1.83589812e-02 3.17637446e+02] [-9.87018756e-02 9.95016122e-01 -1.41724254e-02 2.75493617e+02] [ 1.68724026e-02 1.59132606e-02 9.99731009e-01 2.00786578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.540714057 meters Centerline goodness : 0.940250 Centerline is valid? [False, False] Translation: X:317.64, Y:275.49, Z:2.01 [[ 9.94978589e-01 9.81892355e-02 -1.94031090e-02 3.17639726e+02] [-9.84507616e-02 9.95056810e-01 -1.30150482e-02 2.75493518e+02] [ 1.80292581e-02 1.48599452e-02 9.99727027e-01 2.00837855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5707140569999 meters Centerline goodness : 0.947390 Centerline is valid? [False, False] Translation: X:317.64, Y:275.49, Z:2.01 [[ 9.95005683e-01 9.77879845e-02 -2.00299960e-02 3.17640463e+02] [-9.80573968e-02 9.95096640e-01 -1.29392061e-02 2.75494972e+02] [ 1.86664828e-02 1.48386729e-02 9.99715648e-01 2.00959670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6007140569999 meters Centerline goodness : 0.944450 Centerline is valid? [False, False] Translation: X:317.64, Y:275.49, Z:2.01 [[ 9.95005197e-01 9.74426245e-02 -2.16700872e-02 3.17644284e+02] [-9.76204185e-02 9.95196937e-01 -7.30141272e-03 2.75493386e+02] [ 2.08545356e-02 9.38038658e-03 9.99738514e-01 2.01219342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.630714057 meters Centerline goodness : 0.948106 Centerline is valid? [False, False] Translation: X:317.65, Y:275.49, Z:2.01 [[ 9.95070763e-01 9.64920312e-02 -2.28793266e-02 3.17646864e+02] [-9.66416660e-02 9.95303907e-01 -5.52467550e-03 2.75492005e+02] [ 2.22387960e-02 7.70853932e-03 9.99722969e-01 2.01318022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.660714057 meters Centerline goodness : 0.951094 Centerline is valid? [False, True] Translation: X:317.65, Y:275.49, Z:2.01 [[ 9.95338319e-01 9.34590611e-02 -2.38124731e-02 3.17647174e+02] [-9.37009429e-02 9.95557412e-01 -9.25053080e-03 2.75493252e+02] [ 2.28421382e-02 1.14386590e-02 9.99673644e-01 2.01439135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6907140569999 meters Centerline goodness : 0.951298 Centerline is valid? [True, True] Translation: X:317.68, Y:275.48, Z:2.03 [[ 9.94807712e-01 9.91696857e-02 -2.28689695e-02 3.17677560e+02] [-9.91710770e-02 9.95069816e-01 1.07607487e-03 2.75477301e+02] [ 2.28629353e-02 1.19745276e-03 9.99737892e-01 2.02712348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7207140569999 meters Centerline goodness : 0.957133 Centerline is valid? [True, True] Translation: X:317.71, Y:275.48, Z:2.02 [[ 9.95581800e-01 9.10803407e-02 -2.28309206e-02 3.17710742e+02] [-9.10705130e-02 9.95843359e-01 1.47199931e-03 2.75475091e+02] [ 2.28700908e-02 6.13727924e-04 9.99738257e-01 2.02346741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.750714057 meters Centerline goodness : 0.954539 Centerline is valid? [True, True] Translation: X:317.74, Y:275.47, Z:2.03 [[ 9.95462838e-01 9.23782920e-02 -2.28032556e-02 3.17737555e+02] [-9.23622211e-02 9.95723920e-01 1.75923746e-03 2.75471295e+02] [ 2.28682624e-02 3.54903820e-04 9.99738424e-01 2.03018251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.780714057 meters Centerline goodness : 0.955360 Centerline is valid? [True, True] Translation: X:317.77, Y:275.47, Z:2.03 [[ 9.95569343e-01 9.12201896e-02 -2.28157771e-02 3.17766278e+02] [-9.12067767e-02 9.95830642e-01 1.62997204e-03 2.75469026e+02] [ 2.28693363e-02 4.58203287e-04 9.99738358e-01 2.03200031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8107140569999 meters Centerline goodness : 0.959630 Centerline is valid? [True, True] Translation: X:317.81, Y:275.46, Z:2.03 [[ 9.95881249e-01 8.77487808e-02 -2.28186190e-02 3.17805792e+02] [-8.77351287e-02 9.96142553e-01 1.60066641e-03 2.75464370e+02] [ 2.28710539e-02 4.07920813e-04 9.99738340e-01 2.03269461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8407140569999 meters Centerline goodness : 0.953310 Centerline is valid? [True, True] Translation: X:317.82, Y:275.46, Z:2.04 [[ 9.94991225e-01 9.73360793e-02 -2.27628853e-02 3.17821436e+02] [-9.73118907e-02 9.95251568e-01 2.17056100e-03 2.75461626e+02] [ 2.28660712e-02 5.54102551e-05 9.99738536e-01 2.03862881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8707140569999 meters Centerline goodness : 0.960904 Centerline is valid? [True, True] Translation: X:317.86, Y:275.47, Z:2.03 [[ 9.95889987e-01 8.76466605e-02 -2.28297473e-02 3.17857472e+02] [-8.76358418e-02 9.96151485e-01 1.47587062e-03 2.75465123e+02] [ 2.28712418e-02 5.30899351e-04 9.99738278e-01 2.03109188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.900714057 meters Centerline goodness : 0.961764 Centerline is valid? [True, True] Translation: X:317.89, Y:275.46, Z:2.03 [[ 9.95889076e-01 8.76636292e-02 -2.28042941e-02 3.17885711e+02] [-8.76467472e-02 9.96150098e-01 1.74066673e-03 2.75463806e+02] [ 2.28690929e-02 2.65211215e-04 9.99738433e-01 2.02742114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9307140569999 meters Centerline goodness : 0.966156 Centerline is valid? [True, True] Translation: X:317.92, Y:275.46, Z:2.03 [[ 9.96502528e-01 8.03885600e-02 -2.28120640e-02 3.17918017e+02] [-8.03716270e-02 9.96763586e-01 1.65964345e-03 2.75460566e+02] [ 2.28716511e-02 1.79603808e-04 9.99738393e-01 2.02984821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9607140569999 meters Centerline goodness : 0.964946 Centerline is valid? [True, True] Translation: X:317.95, Y:275.45, Z:2.03 [[ 9.96377161e-01 8.19323129e-02 -2.27958255e-02 3.17945713e+02] [-8.19119130e-02 9.96637895e-01 1.82878136e-03 2.75454230e+02] [ 2.28690199e-02 4.50936965e-05 9.99738469e-01 2.03148098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9907140569999 meters Centerline goodness : 0.966661 Centerline is valid? [True, True] Translation: X:317.97, Y:275.45, Z:2.04 [[ 9.96708010e-01 7.78023478e-02 -2.28021576e-02 3.17973624e+02] [-7.77823743e-02 9.96968803e-01 1.76290795e-03 2.75454552e+02] [ 2.28701981e-02 1.65014786e-05 9.99738443e-01 2.04068334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.020714057 meters Centerline goodness : 0.966847 Centerline is valid? [True, True] Translation: X:318.00, Y:275.45, Z:2.05 [[ 9.96980731e-01 7.42236190e-02 -2.28095499e-02 3.18004905e+02] [-7.42044442e-02 9.97241623e-01 1.68706348e-03 2.75451037e+02] [ 2.28718525e-02 1.06001919e-05 9.99738405e-01 2.04514444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0507140569999 meters Centerline goodness : 0.791737 Centerline is valid? [True, False] Translation: X:318.01, Y:275.46, Z:2.04 [[ 9.97553795e-01 6.86284509e-02 -1.32876344e-02 3.18009619e+02] [-6.86982011e-02 9.97625624e-01 -4.86543688e-03 2.75455970e+02] [ 1.29221771e-02 5.76637160e-03 9.99899878e-01 2.04110014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0807140569999 meters Centerline goodness : 0.966217 Centerline is valid? [False, True] Translation: X:318.01, Y:275.45, Z:2.04 [[ 9.97554558e-01 6.84442381e-02 -1.41524088e-02 3.18012099e+02] [-6.85002975e-02 9.97644906e-01 -3.51448802e-03 2.75454334e+02] [ 1.38785321e-02 4.47533776e-03 9.99893673e-01 2.04069195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1107140569999 meters Centerline goodness : 0.972712 Centerline is valid? [True, True] Translation: X:318.04, Y:275.45, Z:2.04 [[ 9.97914625e-01 6.30675615e-02 -1.37435304e-02 3.18040255e+02] [-6.30603393e-02 9.98009256e-01 9.58657413e-04 2.75453421e+02] [ 1.37766307e-02 -8.99865628e-05 9.99905094e-01 2.03580608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.140714057 meters Centerline goodness : 0.970534 Centerline is valid? [True, True] Translation: X:318.07, Y:275.44, Z:2.04 [[ 9.97751510e-01 6.55985272e-02 -1.37389346e-02 3.18071953e+02] [-6.55908518e-02 9.97846091e-01 1.00899954e-03 2.75444273e+02] [ 1.37755310e-02 -1.05582398e-04 9.99905107e-01 2.04318617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1707140569999 meters Centerline goodness : 0.972491 Centerline is valid? [True, True] Translation: X:318.11, Y:275.46, Z:2.02 [[ 9.98839041e-01 4.61752115e-02 -1.37265816e-02 3.18107963e+02] [-4.61638686e-02 9.98933227e-01 1.14222399e-03 2.75462345e+02] [ 1.37646809e-02 -5.07225804e-04 9.99905134e-01 2.02085396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2007140569999 meters Centerline goodness : 0.972951 Centerline is valid? [True, True] Translation: X:318.13, Y:275.44, Z:2.04 [[ 9.97874164e-01 6.37108757e-02 -1.37141204e-02 3.18131443e+02] [-6.36993487e-02 9.97968318e-01 1.27613989e-03 2.75441803e+02] [ 1.37675617e-02 -3.99846485e-04 9.99905143e-01 2.04453855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2307140569999 meters Centerline goodness : 0.974581 Centerline is valid? [True, True] Translation: X:318.16, Y:275.44, Z:2.05 [[ 9.97795783e-01 6.49244590e-02 -1.37255006e-02 3.18160895e+02] [-6.49147420e-02 9.97890148e-01 1.15275253e-03 2.75439859e+02] [ 1.37713837e-02 -2.59224284e-04 9.99905136e-01 2.04634657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.260714057 meters Centerline goodness : 0.978445 Centerline is valid? [True, True] Translation: X:318.19, Y:275.44, Z:2.04 [[ 9.97675364e-01 6.67493652e-02 -1.37255588e-02 3.18193548e+02] [-6.67398295e-02 9.97769747e-01 1.15212219e-03 2.75440740e+02] [ 1.37718508e-02 -2.33402473e-04 9.99905136e-01 2.04270145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.290714057 meters Centerline goodness : 0.977269 Centerline is valid? [True, True] Translation: X:318.22, Y:275.44, Z:2.05 [[ 9.97577778e-01 6.81937104e-02 -1.37183759e-02 3.18222523e+02] [-6.81832442e-02 9.97672057e-01 1.22973757e-03 2.75438588e+02] [ 1.37703007e-02 -2.91395499e-04 9.99905142e-01 2.04590162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3207140569999 meters Centerline goodness : 0.978386 Centerline is valid? [True, True] Translation: X:318.25, Y:275.44, Z:2.05 [[ 9.97390603e-01 7.08786379e-02 -1.37187591e-02 3.18250462e+02] [-7.08684825e-02 9.97484915e-01 1.22559002e-03 2.75437323e+02] [ 1.37711234e-02 -2.50164332e-04 9.99905142e-01 2.04557044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3507140569999 meters Centerline goodness : 0.974456 Centerline is valid? [True, True] Translation: X:318.27, Y:275.44, Z:2.02 [[ 9.97491760e-01 6.94393438e-02 -1.37246721e-02 3.18271531e+02] [-6.94299448e-02 9.97586154e-01 1.16069665e-03 2.75442107e+02] [ 1.37721409e-02 -2.04882112e-04 9.99905139e-01 2.02145873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.380714057 meters Centerline goodness : 0.981632 Centerline is valid? [True, True] Translation: X:318.31, Y:275.43, Z:2.04 [[ 9.97219095e-01 7.32459534e-02 -1.37516383e-02 3.18307466e+02] [-7.32410392e-02 9.97313897e-01 8.61304297e-04 2.75434598e+02] [ 1.37777870e-02 1.48275190e-04 9.99905071e-01 2.04269351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.410714057 meters Centerline goodness : 0.980547 Centerline is valid? [True, True] Translation: X:318.34, Y:275.43, Z:2.04 [[ 9.97148553e-01 7.42047900e-02 -1.37263252e-02 3.18337556e+02] [-7.41961870e-02 9.97243018e-01 1.13564774e-03 2.75431702e+02] [ 1.37727525e-02 -1.13968509e-04 9.99905145e-01 2.04396515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4407140569999 meters Centerline goodness : 0.982149 Centerline is valid? [True, True] Translation: X:318.36, Y:275.43, Z:2.05 [[ 9.97134622e-01 7.43918862e-02 -1.37256080e-02 3.18364682e+02] [-7.43831938e-02 9.97229078e-01 1.14342212e-03 2.75429964e+02] [ 1.37726367e-02 -1.19191222e-04 9.99905146e-01 2.04509864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4707140569999 meters Centerline goodness : 0.979753 Centerline is valid? [True, True] Translation: X:318.40, Y:275.43, Z:2.05 [[ 9.96997052e-01 7.62123286e-02 -1.37316534e-02 3.18400093e+02] [-7.62047125e-02 9.97091611e-01 1.07777916e-03 2.75425068e+02] [ 1.37738564e-02 -2.81259460e-05 9.99905136e-01 2.05079599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.500714057 meters Centerline goodness : 0.982593 Centerline is valid? [True, True] Translation: X:318.43, Y:275.42, Z:2.06 [[ 9.97039279e-01 7.56606612e-02 -1.37164165e-02 3.18428891e+02] [-7.56507267e-02 9.97133604e-01 1.24243066e-03 2.75423281e+02] [ 1.37711029e-02 -2.01095299e-04 9.99905154e-01 2.05646421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.530714057 meters Centerline goodness : 0.982883 Centerline is valid? [True, True] Translation: X:318.45, Y:275.43, Z:2.06 [[ 9.97231978e-01 7.30769749e-02 -1.37163336e-02 3.18445092e+02] [-7.30667837e-02 9.97326275e-01 1.24332791e-03 2.75428619e+02] [ 1.37705185e-02 -2.37677976e-04 9.99905154e-01 2.05623459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5607140569999 meters Centerline goodness : 0.984926 Centerline is valid? [True, True] Translation: X:318.49, Y:275.42, Z:2.06 [[ 9.97216601e-01 7.32775362e-02 -1.37642377e-02 3.18487495e+02] [-7.32746238e-02 9.97311544e-01 7.16463276e-04 2.75420606e+02] [ 1.37797338e-02 2.94100265e-04 9.99905012e-01 2.06183176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5907140569999 meters Centerline goodness : 0.985262 Centerline is valid? [True, True] Translation: X:318.51, Y:275.42, Z:2.07 [[ 9.97009032e-01 7.60583132e-02 -1.37158164e-02 3.18505963e+02] [-7.60484401e-02 9.97103352e-01 1.24071445e-03 2.75416874e+02] [ 1.37704531e-02 -1.93937069e-04 9.99905164e-01 2.06898207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6207140569999 meters Centerline goodness : 0.984556 Centerline is valid? [True, True] Translation: X:318.54, Y:275.41, Z:2.07 [[ 9.97176805e-01 7.38209364e-02 -1.37436646e-02 3.18537868e+02] [-7.38150371e-02 9.97271509e-01 9.36707329e-04 2.75414413e+02] [ 1.37753138e-02 8.04262926e-05 9.99905113e-01 2.07089222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.650714057 meters Centerline goodness : 0.984303 Centerline is valid? [True, True] Translation: X:318.57, Y:275.41, Z:2.07 [[ 9.97346541e-01 7.14919934e-02 -1.37394049e-02 3.18572667e+02] [-7.14852332e-02 9.97441174e-01 9.83131185e-04 2.75411007e+02] [ 1.37745341e-02 1.64207380e-06 9.99905127e-01 2.06761167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6807140569999 meters Centerline goodness : 0.985499 Centerline is valid? [True, True] Translation: X:318.60, Y:275.41, Z:2.07 [[ 9.97601318e-01 6.78476451e-02 -1.37224899e-02 3.18603004e+02] [-6.78380164e-02 9.97695666e-01 1.16647151e-03 2.75406859e+02] [ 1.37700111e-02 -2.32767024e-04 9.99905162e-01 2.07129865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7107140569999 meters Centerline goodness : 0.984571 Centerline is valid? [True, True] Translation: X:318.63, Y:275.40, Z:2.08 [[ 9.97608225e-01 6.77468130e-02 -1.37185406e-02 3.18630180e+02] [-6.77365890e-02 9.97702507e-01 1.20908337e-03 2.75402742e+02] [ 1.37689339e-02 -2.76944371e-04 9.99905165e-01 2.07814114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7407140569999 meters Centerline goodness : 0.991740 Centerline is valid? [True, True] Translation: X:318.69, Y:275.40, Z:2.07 [[ 9.99062761e-01 4.10511847e-02 -1.37258672e-02 3.18691654e+02] [-4.10395301e-02 9.99156885e-01 1.12980916e-03 2.75396888e+02] [ 1.37606747e-02 -5.65447123e-04 9.99905158e-01 2.06525656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.770714057 meters Centerline goodness : 0.985554 Centerline is valid? [True, True] Translation: X:318.69, Y:275.39, Z:2.08 [[ 9.98172964e-01 5.88644476e-02 -1.36275827e-02 3.18689082e+02] [-5.88402985e-02 9.98265057e-01 2.16663696e-03 2.75392342e+02] [ 1.37314775e-02 -1.36082740e-03 9.99904793e-01 2.08033744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8007140569999 meters Centerline goodness : 0.986434 Centerline is valid? [True, True] Translation: X:318.71, Y:275.39, Z:2.08 [[ 9.98130061e-01 5.95674686e-02 -1.37149069e-02 3.18713268e+02] [-5.95563210e-02 9.98224201e-01 1.22016607e-03 2.75387577e+02] [ 1.37632342e-02 -4.01075031e-04 9.99905202e-01 2.07883238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8307140569999 meters Centerline goodness : 0.986434 Centerline is valid? [True, True] Translation: X:318.74, Y:275.38, Z:2.08 [[ 9.98121925e-01 5.97009124e-02 -1.37267602e-02 3.18743262e+02] [-5.96915455e-02 9.98216273e-01 1.09144706e-03 2.75384735e+02] [ 1.37674358e-02 -2.70025714e-04 9.99905188e-01 2.07930528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8607140569999 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:318.80, Y:275.38, Z:2.06 [[ 9.99312941e-01 3.44269629e-02 -1.37269863e-02 3.18804955e+02] [-3.44152454e-02 9.99407027e-01 1.08898934e-03 2.75378500e+02] [ 1.37563371e-02 -6.15823542e-04 9.99905187e-01 2.06201281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.890714057 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:318.84, Y:275.37, Z:2.07 [[ 9.99498144e-01 2.85981157e-02 -1.36237772e-02 3.18835800e+02] [-2.85714227e-02 9.99589441e-01 2.14995965e-03 2.75373644e+02] [ 1.36796687e-02 -1.75962998e-03 9.99904881e-01 2.06869548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9207140569999 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:318.86, Y:275.37, Z:2.06 [[ 9.99504845e-01 2.83650645e-02 -1.36194036e-02 3.18860567e+02] [-2.83377415e-02 9.99595996e-01 2.19502697e-03 2.75371058e+02] [ 1.36761633e-02 -1.80799695e-03 9.99904842e-01 2.06381504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9507140569999 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:318.89, Y:275.37, Z:2.06 [[ 9.99542327e-01 2.70069557e-02 -1.36293979e-02 3.18887367e+02] [-2.69809136e-02 9.99633762e-01 2.09103716e-03 2.75368088e+02] [ 1.36808788e-02 -1.72234654e-03 9.99904929e-01 2.06106748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9807140569999 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:318.91, Y:275.36, Z:2.06 [[ 9.99479677e-01 2.92311224e-02 -1.36351107e-02 3.18909368e+02] [-2.92060945e-02 9.99571347e-01 2.03112304e-03 2.75361741e+02] [ 1.36886380e-02 -1.63183787e-03 9.99904975e-01 2.06092383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.010714057 meters Centerline goodness : 0.992533 Centerline is valid? [True, True] Translation: X:318.94, Y:275.36, Z:2.06 [[ 9.99578441e-01 2.56226617e-02 -1.36535238e-02 3.18942806e+02] [-2.55999444e-02 9.99670582e-01 1.83605363e-03 2.75358633e+02] [ 1.36960707e-02 -1.48575018e-03 9.99905101e-01 2.05815970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.040714057 meters Centerline goodness : 0.990100 Centerline is valid? [True, True] Translation: X:318.94, Y:275.36, Z:2.06 [[ 9.99065032e-01 4.10225170e-02 -1.36460826e-02 3.18943129e+02] [-4.10001135e-02 9.99157302e-01 1.91759840e-03 2.75355312e+02] [ 1.37132478e-02 -1.35631457e-03 9.99905049e-01 2.06330704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0707140569999 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:319.00, Y:275.35, Z:2.06 [[ 9.99602353e-01 2.46356329e-02 -1.37193735e-02 3.18999143e+02] [-2.46229314e-02 9.99696211e-01 1.09398008e-03 2.75352514e+02] [ 1.37421566e-02 -7.55733872e-04 9.99905287e-01 2.06042946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1007140569999 meters Centerline goodness : 0.987527 Centerline is valid? [True, True] Translation: X:318.99, Y:275.35, Z:2.06 [[ 9.98896334e-01 4.49449897e-02 -1.36404522e-02 3.18991158e+02] [-4.49224713e-02 9.98988567e-01 1.95293902e-03 2.75348107e+02] [ 1.37144306e-02 -1.33802081e-03 9.99905058e-01 2.06213788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.130714057 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:319.06, Y:275.34, Z:2.06 [[ 9.99589727e-01 2.51362276e-02 -1.37312867e-02 3.19056268e+02] [-2.51257829e-02 9.99683863e-01 9.32660361e-04 2.75343383e+02] [ 1.37503893e-02 -5.87268386e-04 9.99905286e-01 2.06036101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.160714057 meters Centerline goodness : 0.991142 Centerline is valid? [True, True] Translation: X:319.06, Y:275.34, Z:2.06 [[ 9.99177286e-01 3.81953885e-02 -1.36331990e-02 3.19062637e+02] [-3.81716573e-02 9.99269202e-01 1.99677591e-03 2.75338720e+02] [ 1.36995035e-02 -1.47473133e-03 9.99905070e-01 2.06345980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1907140569999 meters Centerline goodness : 0.994010 Centerline is valid? [True, True] Translation: X:319.12, Y:275.34, Z:2.07 [[ 9.99574111e-01 2.57680634e-02 -1.36968654e-02 3.19116537e+02] [-2.57527656e-02 9.99667507e-01 1.29211742e-03 2.75335597e+02] [ 1.37256066e-02 -9.38834962e-04 9.99905359e-01 2.06815442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2207140569999 meters Centerline goodness : 0.986353 Centerline is valid? [True, True] Translation: X:319.12, Y:275.33, Z:2.07 [[ 9.99359277e-01 3.30889421e-02 -1.36439820e-02 3.19120579e+02] [-3.30660816e-02 9.99451366e-01 1.89775970e-03 2.75332791e+02] [ 1.36992913e-02 -1.44539074e-03 9.99905116e-01 2.06971837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.250714057 meters Centerline goodness : 0.988898 Centerline is valid? [True, True] Translation: X:319.15, Y:275.33, Z:2.07 [[ 9.99452677e-01 3.01084621e-02 -1.37049619e-02 3.19153637e+02] [-3.00950526e-02 9.99546340e-01 1.18367451e-03 2.75326230e+02] [ 1.37343831e-02 -7.70575108e-04 9.99905382e-01 2.07357972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.280714057 meters Centerline goodness : 0.989736 Centerline is valid? [True, True] Translation: X:319.18, Y:275.33, Z:2.07 [[ 9.99627560e-01 2.36049208e-02 -1.36948695e-02 3.19177583e+02] [-2.35892923e-02 9.99720887e-01 1.30162627e-03 2.75329864e+02] [ 1.37217719e-02 -9.78089213e-04 9.99905374e-01 2.07119269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3107140569999 meters Centerline goodness : 0.990799 Centerline is valid? [True, True] Translation: X:319.21, Y:275.32, Z:2.08 [[ 9.99487668e-01 2.89229406e-02 -1.37063603e-02 3.19210520e+02] [-2.89096531e-02 9.99581348e-01 1.16662613e-03 2.75317183e+02] [ 1.37343643e-02 -7.69782311e-04 9.99905383e-01 2.07779901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3407140569999 meters Centerline goodness : 0.979450 Centerline is valid? [True, True] Translation: X:319.22, Y:275.32, Z:2.09 [[ 9.99117364e-01 3.97092904e-02 -1.36991254e-02 3.19224210e+02] [-3.96958243e-02 9.99211024e-01 1.25361317e-03 2.75317041e+02] [ 1.37380972e-02 -7.08708609e-04 9.99905377e-01 2.08671792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3707140569999 meters Centerline goodness : 0.980996 Centerline is valid? [True, True] Translation: X:319.25, Y:275.31, Z:2.08 [[ 9.99227596e-01 3.68158267e-02 -1.37406986e-02 3.19251735e+02] [-3.68090422e-02 9.99322039e-01 7.46417066e-04 2.75314201e+02] [ 1.37588629e-02 -2.40058575e-04 9.99905314e-01 2.07529289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.400714057 meters Centerline goodness : 0.980483 Centerline is valid? [True, True] Translation: X:319.28, Y:275.31, Z:2.08 [[ 9.99154825e-01 3.87365671e-02 -1.37518936e-02 3.19280632e+02] [-3.87320072e-02 9.99249455e-01 5.97857010e-04 2.75311058e+02] [ 1.37647311e-02 -6.47132747e-05 9.99905260e-01 2.07502516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4307140569999 meters Centerline goodness : 0.984532 Centerline is valid? [True, True] Translation: X:319.33, Y:275.30, Z:2.08 [[ 9.99552763e-01 2.65560133e-02 -1.37496018e-02 3.19325028e+02] [-2.65498853e-02 9.99647292e-01 6.28057831e-04 2.75302489e+02] [ 1.37614309e-02 -2.62726589e-04 9.99905273e-01 2.07860407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4607140569999 meters Centerline goodness : 0.980939 Centerline is valid? [True, True] Translation: X:319.35, Y:275.30, Z:2.08 [[ 9.99329082e-01 3.39600057e-02 -1.37151283e-02 3.19346708e+02] [-3.39484309e-02 9.99423007e-01 1.07594897e-03 2.75298301e+02] [ 1.37437540e-02 -6.09620009e-04 9.99905364e-01 2.08045281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4907140569999 meters Centerline goodness : 0.982645 Centerline is valid? [True, True] Translation: X:319.38, Y:275.29, Z:2.08 [[ 9.99442670e-01 3.04270817e-02 -1.37310501e-02 3.19382457e+02] [-3.04180298e-02 9.99536888e-01 8.67641942e-04 2.75294434e+02] [ 1.37510909e-02 -4.49486887e-04 9.99905348e-01 2.07892951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.520714057 meters Centerline goodness : 0.980702 Centerline is valid? [True, True] Translation: X:319.40, Y:275.29, Z:2.08 [[ 9.99261702e-01 3.58873425e-02 -1.37167971e-02 3.19403162e+02] [-3.58762598e-02 9.99355685e-01 1.05326405e-03 2.75291154e+02] [ 1.37457580e-02 -5.60379056e-04 9.99905366e-01 2.08312248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5507140569999 meters Centerline goodness : 0.982507 Centerline is valid? [True, True] Translation: X:319.43, Y:275.29, Z:2.08 [[ 9.99222052e-01 3.69691184e-02 -1.37322349e-02 3.19430899e+02] [-3.69609154e-02 9.99316350e-01 8.50744843e-04 2.75289525e+02] [ 1.37542981e-02 -3.42527035e-04 9.99905346e-01 2.07870920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5807140569999 meters Centerline goodness : 0.980514 Centerline is valid? [True, True] Translation: X:319.45, Y:275.28, Z:2.08 [[ 9.98916002e-01 4.44771291e-02 -1.37334072e-02 3.19451024e+02] [-4.44698466e-02 9.99010378e-01 8.35348149e-04 2.75284992e+02] [ 1.37569702e-02 -2.23720122e-04 9.99905343e-01 2.08433268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6107140569999 meters Centerline goodness : 0.982311 Centerline is valid? [True, True] Translation: X:319.50, Y:275.28, Z:2.08 [[ 9.99187122e-01 3.78951950e-02 -1.37494964e-02 3.19495622e+02] [-3.78902110e-02 9.99281714e-01 6.22899251e-04 2.75280263e+02] [ 1.37632252e-02 -1.01421592e-04 9.99905277e-01 2.08280939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.640714057 meters Centerline goodness : 0.974719 Centerline is valid? [True, True] Translation: X:319.51, Y:275.28, Z:2.09 [[ 9.98691221e-01 4.92717339e-02 -1.37164711e-02 3.19505343e+02] [-4.92619140e-02 9.98785340e-01 1.05307520e-03 2.75278726e+02] [ 1.37516971e-02 -3.75997335e-04 9.99905370e-01 2.09309482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6707140569999 meters Centerline goodness : 0.973703 Centerline is valid? [True, True] Translation: X:319.54, Y:275.27, Z:2.10 [[ 9.98616861e-01 5.07456323e-02 -1.37566942e-02 3.19539563e+02] [-5.07430031e-02 9.98711598e-01 5.40324627e-04 2.75273310e+02] [ 1.37663892e-02 1.58478695e-04 9.99905226e-01 2.09849516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7007140569999 meters Centerline goodness : 0.974409 Centerline is valid? [True, True] Translation: X:319.55, Y:275.29, Z:2.05 [[ 9.99392149e-01 3.20365018e-02 -1.37475506e-02 3.19551330e+02] [-3.20303455e-02 9.99486674e-01 6.67809381e-04 2.75294874e+02] [ 1.37618879e-02 -2.27064658e-04 9.99905275e-01 2.05261987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7307140569999 meters Centerline goodness : 0.984781 Centerline is valid? [True, True] Translation: X:319.61, Y:275.29, Z:2.09 [[ 9.99472826e-01 2.94077714e-02 -1.37568983e-02 3.19606000e+02] [-2.94030684e-02 9.99567488e-01 5.44044789e-04 2.75289115e+02] [ 1.37669474e-02 -1.39262962e-04 9.99905221e-01 2.09163234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.760714057 meters Centerline goodness : 0.982460 Centerline is valid? [True, True] Translation: X:319.60, Y:275.28, Z:2.09 [[ 9.98613403e-01 5.08286399e-02 -1.37011259e-02 3.19601601e+02] [-5.08160967e-02 9.98707230e-01 1.26229732e-03 2.75278164e+02] [ 1.37475743e-02 -5.64309289e-04 9.99905338e-01 2.09091188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.790714057 meters Centerline goodness : 0.975899 Centerline is valid? [True, True] Translation: X:319.65, Y:275.26, Z:2.10 [[ 9.97757791e-01 6.54890389e-02 -1.38049199e-02 3.19645208e+02] [-6.54986264e-02 9.97852630e-01 -2.43039269e-04 2.75256754e+02] [ 1.37593592e-02 1.14669761e-03 9.99904678e-01 2.09935033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8207140569999 meters Centerline goodness : 0.976203 Centerline is valid? [True, True] Translation: X:319.68, Y:275.25, Z:2.10 [[ 9.97525775e-01 6.89381672e-02 -1.37788891e-02 3.19676012e+02] [-6.89436799e-02 9.97620551e-01 7.50889206e-05 2.75251872e+02] [ 1.37512795e-02 8.75064189e-04 9.99905064e-01 2.10284999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8507140569999 meters Centerline goodness : 0.973687 Centerline is valid? [True, True] Translation: X:319.70, Y:275.25, Z:2.10 [[ 9.97213722e-01 7.33158341e-02 -1.37688136e-02 3.19702405e+02] [-7.33200543e-02 9.97308443e-01 1.98711274e-04 2.75247433e+02] [ 1.37463228e-02 8.11372555e-04 9.99905186e-01 2.10277765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.880714057 meters Centerline goodness : 0.986723 Centerline is valid? [True, True] Translation: X:319.76, Y:275.25, Z:2.10 [[ 9.98210959e-01 5.81857651e-02 -1.37585745e-02 3.19756803e+02] [-5.81869559e-02 9.98305654e-01 3.14079669e-04 2.75251043e+02] [ 1.37535377e-02 4.87051802e-04 9.99905297e-01 2.10290585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.910714057 meters Centerline goodness : 0.987214 Centerline is valid? [True, True] Translation: X:319.78, Y:275.25, Z:2.10 [[ 9.97911772e-01 6.31278449e-02 -1.36736833e-02 3.19784617e+02] [-6.31166951e-02 9.98005376e-01 1.24585573e-03 2.75247168e+02] [ 1.37250576e-02 -3.80216405e-04 9.99905735e-01 2.10394971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9407140569999 meters Centerline goodness : 0.984020 Centerline is valid? [True, True] Translation: X:319.82, Y:275.24, Z:2.10 [[ 9.97752062e-01 6.56037329e-02 -1.36737887e-02 3.19817867e+02] [-6.55928313e-02 9.97845695e-01 1.24469795e-03 2.75242885e+02] [ 1.37259880e-02 -3.44997429e-04 9.99905735e-01 2.09942756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9707140569999 meters Centerline goodness : 0.976721 Centerline is valid? [True, True] Translation: X:319.82, Y:275.23, Z:2.10 [[ 9.96232469e-01 8.56414721e-02 -1.36530473e-02 3.19818732e+02] [-8.56293416e-02 9.96325976e-01 1.47167262e-03 2.75234343e+02] [ 1.37289219e-02 -2.97026596e-04 9.99905710e-01 2.10429102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.000714057 meters Centerline goodness : 0.985365 Centerline is valid? [True, True] Translation: X:319.88, Y:275.23, Z:2.10 [[ 9.97376737e-01 7.10697136e-02 -1.37383126e-02 3.19876097e+02] [-7.10692903e-02 9.97471246e-01 5.19639711e-04 2.75234305e+02] [ 1.37405024e-02 4.58095566e-04 9.99905490e-01 2.10144164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.030714057 meters Centerline goodness : 0.988822 Centerline is valid? [True, True] Translation: X:319.90, Y:275.23, Z:2.11 [[ 9.97317924e-01 7.19085773e-02 -1.36423697e-02 3.19896939e+02] [-7.18940142e-02 9.97411064e-01 1.55556312e-03 2.75234575e+02] [ 1.37189088e-02 -5.70586262e-04 9.99905729e-01 2.10623671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0607140569999 meters Centerline goodness : 0.979165 Centerline is valid? [True, True] Translation: X:319.91, Y:275.22, Z:2.10 [[ 9.96012259e-01 8.81629703e-02 -1.36700950e-02 3.19911215e+02] [-8.81540747e-02 9.96106063e-01 1.25311870e-03 2.75224670e+02] [ 1.37273432e-02 -4.30470099e-05 9.99905775e-01 2.10461826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0907140569999 meters Centerline goodness : 0.989505 Centerline is valid? [True, True] Translation: X:319.95, Y:275.23, Z:2.11 [[ 9.97378471e-01 7.10500941e-02 -1.37138684e-02 3.19953625e+02] [-7.10462009e-02 9.97472728e-01 7.71478278e-04 2.75228591e+02] [ 1.37340233e-02 2.04862422e-04 9.99905663e-01 2.10780506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1207140569999 meters Centerline goodness : 0.979561 Centerline is valid? [True, True] Translation: X:319.97, Y:275.22, Z:2.11 [[ 9.96483639e-01 8.26650844e-02 -1.36689992e-02 3.19969918e+02] [-8.26555941e-02 9.96577377e-01 1.25874224e-03 2.75217787e+02] [ 1.37262694e-02 -1.24496802e-04 9.99905783e-01 2.10809100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.150714057 meters Centerline goodness : 0.989042 Centerline is valid? [True, True] Translation: X:320.01, Y:275.22, Z:2.11 [[ 9.97652696e-01 6.70907494e-02 -1.37087713e-02 3.20010546e+02] [-6.70857797e-02 9.97746872e-01 8.22571290e-04 2.75219145e+02] [ 1.37330706e-02 9.90231455e-05 9.99905692e-01 2.10865335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1807140569999 meters Centerline goodness : 0.983819 Centerline is valid? [True, True] Translation: X:320.03, Y:275.21, Z:2.10 [[ 9.97138335e-01 7.43526386e-02 -1.36684157e-02 3.20027764e+02] [-7.43423462e-02 9.97231983e-01 1.26026825e-03 2.75210086e+02] [ 1.37242855e-02 -2.40519700e-04 9.99905789e-01 2.10441754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2107140569999 meters Centerline goodness : 0.987891 Centerline is valid? [True, True] Translation: X:320.07, Y:275.21, Z:2.11 [[ 9.98082414e-01 6.03631618e-02 -1.37034303e-02 3.20065954e+02] [-6.03568338e-02 9.98176481e-01 8.75262652e-04 2.75211214e+02] [ 1.37312755e-02 -4.64885956e-05 9.99905721e-01 2.10859181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2407140569999 meters Centerline goodness : 0.987842 Centerline is valid? [True, True] Translation: X:320.09, Y:275.21, Z:2.11 [[ 9.98150862e-01 5.92285895e-02 -1.36685762e-02 3.20092846e+02] [-5.92169522e-02 9.98244348e-01 1.25490793e-03 2.75207865e+02] [ 1.37189053e-02 -4.43176010e-04 9.99905793e-01 2.10799348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.270714057 meters Centerline goodness : 0.979550 Centerline is valid? [True, True] Translation: X:320.11, Y:275.20, Z:2.11 [[ 9.97607328e-01 6.77700881e-02 -1.36687197e-02 3.20108664e+02] [-6.77592728e-02 9.97700912e-01 1.25334226e-03 2.75199844e+02] [ 1.37222333e-02 -3.24160911e-04 9.99905793e-01 2.10968785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3007140569999 meters Centerline goodness : 0.979206 Centerline is valid? [True, True] Translation: X:320.13, Y:275.20, Z:2.11 [[ 9.97761664e-01 6.54500648e-02 -1.37095447e-02 3.20134784e+02] [-6.54452241e-02 9.97855841e-01 8.01905067e-04 2.75199430e+02] [ 1.37326340e-02 9.71140890e-05 9.99905698e-01 2.10947993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3307140569999 meters Centerline goodness : 0.987930 Centerline is valid? [True, True] Translation: X:320.18, Y:275.20, Z:2.11 [[ 9.98521253e-01 5.26037167e-02 -1.37170138e-02 3.20176227e+02] [-5.25988004e-02 9.98615466e-01 7.19179963e-04 2.75198826e+02] [ 1.37358537e-02 3.38199360e-06 9.99905659e-01 2.10926818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3607140569999 meters Centerline goodness : 0.987969 Centerline is valid? [True, True] Translation: X:320.20, Y:275.19, Z:2.11 [[ 9.98669456e-01 4.97242240e-02 -1.36682115e-02 3.20204042e+02] [-4.97117376e-02 9.98762823e-01 1.25198700e-03 2.75194986e+02] [ 1.37135556e-02 -5.70850631e-04 9.99905802e-01 2.11145715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.390714057 meters Centerline goodness : 0.987321 Centerline is valid? [True, True] Translation: X:320.23, Y:275.19, Z:2.11 [[ 9.98749362e-01 4.80925001e-02 -1.36683621e-02 3.20231582e+02] [-4.80798836e-02 9.98842711e-01 1.25033998e-03 2.75192346e+02] [ 1.37126759e-02 -5.91602992e-04 9.99905802e-01 2.11324350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4207140569999 meters Centerline goodness : 0.986557 Centerline is valid? [True, True] Translation: X:320.26, Y:275.19, Z:2.12 [[ 9.98814605e-01 4.67177960e-02 -1.36686770e-02 3.20258526e+02] [-4.67050982e-02 9.98907943e-01 1.24688866e-03 2.75190760e+02] [ 1.37120019e-02 -6.07013705e-04 9.99905802e-01 2.11528678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4507140569999 meters Centerline goodness : 0.981876 Centerline is valid? [True, True] Translation: X:320.28, Y:275.19, Z:2.12 [[ 9.98481181e-01 5.33712851e-02 -1.36688134e-02 3.20276007e+02] [-5.33592299e-02 9.98574605e-01 1.24539109e-03 2.75188481e+02] [ 1.37157981e-02 -5.14142207e-04 9.99905802e-01 2.11704103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4807140569999 meters Centerline goodness : 0.986335 Centerline is valid? [True, True] Translation: X:320.32, Y:275.19, Z:2.12 [[ 9.98929090e-01 4.41919333e-02 -1.37020782e-02 3.20315030e+02] [-4.41840804e-02 9.99023023e-01 8.75456832e-04 2.75186768e+02] [ 1.37273797e-02 -2.69105571e-04 9.99905739e-01 2.11645068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.510714057 meters Centerline goodness : 0.985431 Centerline is valid? [True, True] Translation: X:320.34, Y:275.18, Z:2.12 [[ 9.98982458e-01 4.29791960e-02 -1.36688509e-02 3.20342043e+02] [-4.29662249e-02 9.99075754e-01 1.24134393e-03 2.75184013e+02] [ 1.37095695e-02 -6.52781887e-04 9.99905806e-01 2.11633437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.540714057 meters Centerline goodness : 0.982254 Centerline is valid? [True, True] Translation: X:320.36, Y:275.18, Z:2.12 [[ 9.98776892e-01 4.75171468e-02 -1.36689838e-02 3.20359761e+02] [-4.75046197e-02 9.98870249e-01 1.23987895e-03 2.75182981e+02] [ 1.37124567e-02 -5.89022566e-04 9.99905806e-01 2.11892809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5707140569999 meters Centerline goodness : 0.980541 Centerline is valid? [True, True] Translation: X:320.39, Y:275.18, Z:2.12 [[ 9.98938790e-01 4.39719578e-02 -1.37026043e-02 3.20387235e+02] [-4.39642316e-02 9.99032732e-01 8.64704767e-04 2.75180725e+02] [ 1.37273730e-02 -2.61362662e-04 9.99905741e-01 2.11721669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6007140569999 meters Centerline goodness : 0.980975 Centerline is valid? [True, True] Translation: X:320.42, Y:275.18, Z:2.12 [[ 9.99010421e-01 4.23132015e-02 -1.37030020e-02 3.20419313e+02] [-4.23053805e-02 9.99104356e-01 8.60247258e-04 2.75175632e+02] [ 1.37271288e-02 -2.79685260e-04 9.99905739e-01 2.11721092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.630714057 meters Centerline goodness : 0.980405 Centerline is valid? [True, True] Translation: X:320.45, Y:275.18, Z:2.12 [[ 9.99212241e-01 3.72488084e-02 -1.36902800e-02 3.20447028e+02] [-3.72385687e-02 9.99305901e-01 1.00219417e-03 2.75175423e+02] [ 1.37181081e-02 -4.91598256e-04 9.99905781e-01 2.11671412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.660714057 meters Centerline goodness : 0.982718 Centerline is valid? [True, True] Translation: X:320.48, Y:275.17, Z:2.11 [[ 9.99326766e-01 3.40415527e-02 -1.36816771e-02 3.20479327e+02] [-3.40297513e-02 9.99420221e-01 1.09451399e-03 2.75174449e+02] [ 1.37110037e-02 -6.28193063e-04 9.99905802e-01 2.11484244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6907140569999 meters Centerline goodness : 0.982238 Centerline is valid? [True, True] Translation: X:320.51, Y:275.17, Z:2.11 [[ 9.99427618e-01 3.09431807e-02 -1.36731964e-02 3.20507747e+02] [-3.09298526e-02 9.99520855e-01 1.18520330e-03 2.75174338e+02] [ 1.37033189e-02 -7.61614965e-04 9.99905815e-01 2.11419466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7207140569999 meters Centerline goodness : 0.982238 Centerline is valid? [True, True] Translation: X:320.54, Y:275.17, Z:2.11 [[ 9.99429343e-01 3.08866238e-02 -1.36749847e-02 3.20536090e+02] [-3.08735514e-02 9.99522618e-01 1.16606434e-03 2.75171723e+02] [ 1.37044723e-02 -7.43203572e-04 9.99905813e-01 2.11459313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.750714057 meters Centerline goodness : 0.986186 Centerline is valid? [True, True] Translation: X:320.57, Y:275.17, Z:2.11 [[ 9.99520693e-01 2.77735500e-02 -1.36752931e-02 3.20567077e+02] [-2.77602322e-02 9.99613934e-01 1.16275782e-03 2.75170968e+02] [ 1.37023075e-02 -7.82571190e-04 9.99905813e-01 2.11381249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.780714057 meters Centerline goodness : 0.981229 Centerline is valid? [True, True] Translation: X:320.59, Y:275.17, Z:2.12 [[ 9.99273325e-01 3.55822989e-02 -1.36645995e-02 3.20586474e+02] [-3.55681497e-02 9.99366437e-01 1.27717140e-03 2.75169628e+02] [ 1.37013868e-02 -7.90218791e-04 9.99905819e-01 2.11892934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8107140569999 meters Centerline goodness : 0.981456 Centerline is valid? [True, True] Translation: X:320.62, Y:275.17, Z:2.12 [[ 9.99304691e-01 3.46791994e-02 -1.36926401e-02 3.20615895e+02] [-3.46690948e-02 9.99398371e-01 9.74712174e-04 2.75170089e+02] [ 1.37182045e-02 -4.99323008e-04 9.99905776e-01 2.12128693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8407140569999 meters Centerline goodness : 0.986971 Centerline is valid? [True, True] Translation: X:320.65, Y:275.17, Z:2.12 [[ 9.99534086e-01 2.72791055e-02 -1.36916259e-02 3.20653965e+02] [-2.72681579e-02 9.99627669e-01 9.85659597e-04 2.75171273e+02] [ 1.37134160e-02 -6.11854948e-04 9.99905779e-01 2.11769815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8707140569999 meters Centerline goodness : 0.981000 Centerline is valid? [True, True] Translation: X:320.68, Y:275.17, Z:2.12 [[ 9.99284854e-01 3.52570476e-02 -1.36645829e-02 3.20675189e+02] [-3.52428924e-02 9.99377962e-01 1.27540278e-03 2.75171451e+02] [ 1.37010499e-02 -7.92911253e-04 9.99905822e-01 2.12457069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.900714057 meters Centerline goodness : 0.981319 Centerline is valid? [True, True] Translation: X:320.70, Y:275.17, Z:2.13 [[ 9.99250413e-01 3.62109978e-02 -1.36885571e-02 3.20699098e+02] [-3.62004731e-02 9.99344032e-01 1.01594833e-03 2.75173841e+02] [ 1.37163664e-02 -5.19654539e-04 9.99905791e-01 2.12605554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9307140569999 meters Centerline goodness : 0.986773 Centerline is valid? [True, True] Translation: X:320.74, Y:275.17, Z:2.12 [[ 9.99487376e-01 2.89343058e-02 -1.37037020e-02 3.20739733e+02] [-2.89253539e-02 9.99581212e-01 8.51043360e-04 2.75171691e+02] [ 1.37225874e-02 -4.54222665e-04 9.99905738e-01 2.11848518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9607140569999 meters Centerline goodness : 0.983363 Centerline is valid? [True, True] Translation: X:320.76, Y:275.18, Z:2.12 [[ 9.99481718e-01 2.91473087e-02 -1.36649096e-02 3.20763677e+02] [-2.91326741e-02 9.99574748e-01 1.26883689e-03 2.75175593e+02] [ 1.36960817e-02 -8.70083923e-04 9.99905826e-01 2.11629610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9907140569999 meters Centerline goodness : 0.986190 Centerline is valid? [True, True] Translation: X:320.80, Y:275.17, Z:2.12 [[ 9.99509635e-01 2.81618252e-02 -1.36894616e-02 3.20797909e+02] [-2.81507368e-02 9.99603187e-01 1.00205472e-03 2.75172185e+02] [ 1.37122491e-02 -6.16194912e-04 9.99905793e-01 2.11943750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.020714057 meters Centerline goodness : 0.987773 Centerline is valid? [True, True] Translation: X:320.83, Y:275.17, Z:2.12 [[ 9.99538850e-01 2.71173919e-02 -1.36650597e-02 3.20826223e+02] [-2.71026134e-02 9.99631856e-01 1.26554533e-03 2.75172357e+02] [ 1.36943473e-02 -8.94602897e-04 9.99905828e-01 2.11990859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0507140569999 meters Centerline goodness : 0.983046 Centerline is valid? [True, True] Translation: X:320.85, Y:275.17, Z:2.13 [[ 9.99299198e-01 3.48478858e-02 -1.36651651e-02 3.20847108e+02] [-3.48338426e-02 9.99392318e-01 1.26440637e-03 2.75167344e+02] [ 1.37009229e-02 -7.87510060e-04 9.99905828e-01 2.12754065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0807140569999 meters Centerline goodness : 0.986855 Centerline is valid? [True, True] Translation: X:320.88, Y:275.17, Z:2.12 [[ 9.99596393e-01 2.48936521e-02 -1.36878729e-02 3.20882416e+02] [-2.48820540e-02 9.99689876e-01 1.01699586e-03 2.75169351e+02] [ 1.37089447e-02 -6.76003005e-04 9.99905799e-01 2.11868039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1107140569999 meters Centerline goodness : 0.982655 Centerline is valid? [True, True] Translation: X:320.90, Y:275.17, Z:2.12 [[ 9.99344208e-01 3.35322237e-02 -1.36654512e-02 3.20900033e+02] [-3.35181161e-02 9.99437316e-01 1.26014822e-03 2.75165413e+02] [ 1.37000174e-02 -8.01281642e-04 9.99905829e-01 2.12462423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.140714057 meters Centerline goodness : 0.987771 Centerline is valid? [True, True] Translation: X:320.94, Y:275.17, Z:2.12 [[ 9.99665776e-01 2.19259304e-02 -1.36963272e-02 3.20939561e+02] [-2.19153572e-02 9.99759405e-01 9.21601968e-04 2.75167398e+02] [ 1.37132389e-02 -6.21134044e-04 9.99905776e-01 2.11693700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1707140569999 meters Centerline goodness : 0.987829 Centerline is valid? [True, True] Translation: X:320.97, Y:275.17, Z:2.12 [[ 9.99684015e-01 2.10979880e-02 -1.36654471e-02 3.20967930e+02] [-2.10827629e-02 9.99776943e-01 1.25725451e-03 2.75166720e+02] [ 1.36889245e-02 -9.68751855e-04 9.99905833e-01 2.11691457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2007140569999 meters Centerline goodness : 0.983909 Centerline is valid? [True, True] Translation: X:321.00, Y:275.15, Z:2.13 [[ 9.99380223e-01 3.24410533e-02 -1.36655494e-02 3.21001758e+02] [-3.24268988e-02 9.99473320e-01 1.25614238e-03 2.75154729e+02] [ 1.36991026e-02 -8.12232466e-04 9.99905833e-01 2.12731140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2307140569999 meters Centerline goodness : 0.985109 Centerline is valid? [True, True] Translation: X:321.02, Y:275.17, Z:2.12 [[ 9.99590124e-01 2.51660239e-02 -1.36475481e-02 3.21023820e+02] [-2.51485683e-02 9.99682674e-01 1.44916977e-03 2.75166580e+02] [ 1.36796872e-02 -1.10535949e-03 9.99905818e-01 2.12018856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.260714057 meters Centerline goodness : 0.986584 Centerline is valid? [True, True] Translation: X:321.06, Y:275.16, Z:2.13 [[ 9.99449121e-01 3.02370467e-02 -1.36811931e-02 3.21059286e+02] [-3.02250235e-02 9.99542531e-01 1.08477987e-03 2.75161378e+02] [ 1.37077349e-02 -6.70667909e-04 9.99905820e-01 2.12806256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.290714057 meters Centerline goodness : 0.983711 Centerline is valid? [True, True] Translation: X:321.09, Y:275.16, Z:2.13 [[ 9.99048356e-01 4.14264378e-02 -1.36467253e-02 3.21086625e+02] [-4.14102541e-02 9.99141151e-01 1.46647248e-03 2.75159457e+02] [ 1.36957556e-02 -8.99962554e-04 9.99905804e-01 2.12922524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3207140569999 meters Centerline goodness : 0.984861 Centerline is valid? [True, True] Translation: X:321.11, Y:275.17, Z:2.13 [[ 9.99252683e-01 3.61618219e-02 -1.36527820e-02 3.21110067e+02] [-3.61460447e-02 9.99345537e-01 1.40067550e-03 2.75171740e+02] [ 1.36944977e-02 -9.06134678e-04 9.99905815e-01 2.12574794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3507140569999 meters Centerline goodness : 0.984771 Centerline is valid? [True, True] Translation: X:321.15, Y:275.17, Z:2.13 [[ 9.99041114e-01 4.15892727e-02 -1.36815846e-02 3.21145398e+02] [-4.15783049e-02 9.99134659e-01 1.08524319e-03 2.75167726e+02] [ 1.37148799e-02 -5.15345467e-04 9.99905814e-01 2.13366970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.380714057 meters Centerline goodness : 0.989101 Centerline is valid? [True, True] Translation: X:321.17, Y:275.18, Z:2.13 [[ 9.99093680e-01 4.03164364e-02 -1.36529619e-02 3.21169102e+02] [-4.03009982e-02 9.99186598e-01 1.40411196e-03 2.75177668e+02] [ 1.36984654e-02 -8.52611395e-04 9.99905808e-01 2.12819148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.410714057 meters Centerline goodness : 0.986826 Centerline is valid? [True, True] Translation: X:321.21, Y:275.17, Z:2.14 [[ 9.98575618e-01 5.15740255e-02 -1.36695071e-02 3.21205510e+02] [-5.15621705e-02 9.98669043e-01 1.21850755e-03 2.75173208e+02] [ 1.37141569e-02 -5.11942473e-04 9.99905825e-01 2.13723460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4407140569999 meters Centerline goodness : 0.987700 Centerline is valid? [True, True] Translation: X:321.23, Y:275.18, Z:2.13 [[ 9.98734246e-01 4.84116029e-02 -1.36463432e-02 3.21227835e+02] [-4.83959160e-02 9.98827138e-01 1.47761651e-03 2.75182792e+02] [ 1.37018717e-02 -8.15318931e-04 9.99905793e-01 2.12978681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4707140569999 meters Centerline goodness : 0.984010 Centerline is valid? [True, True] Translation: X:321.25, Y:275.18, Z:2.13 [[ 9.98506791e-01 5.28897104e-02 -1.36698907e-02 3.21248669e+02] [-5.28780670e-02 9.98600241e-01 1.21204482e-03 2.75184266e+02] [ 1.37148608e-02 -4.87397589e-04 9.99905828e-01 2.13194500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.500714057 meters Centerline goodness : 0.985674 Centerline is valid? [True, True] Translation: X:321.29, Y:275.18, Z:2.13 [[ 9.98553500e-01 5.19938283e-02 -1.36948772e-02 3.21291638e+02] [-5.19858834e-02 9.98647381e-01 9.35728968e-04 2.75183413e+02] [ 1.37250053e-02 -2.22435150e-04 9.99905783e-01 2.12974412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.530714057 meters Centerline goodness : 0.988152 Centerline is valid? [True, True] Translation: X:321.31, Y:275.18, Z:2.13 [[ 9.98197295e-01 5.84471921e-02 -1.36413323e-02 3.21312959e+02] [-5.84318794e-02 9.98290243e-01 1.51873720e-03 2.75182670e+02] [ 1.37067748e-02 -7.18910680e-04 9.99905799e-01 2.13111957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5607140569999 meters Centerline goodness : 0.984410 Centerline is valid? [True, True] Translation: X:321.34, Y:275.18, Z:2.13 [[ 9.98070801e-01 6.05632177e-02 -1.36664774e-02 3.21335101e+02] [-6.05518824e-02 9.98164278e-01 1.24207217e-03 2.75181622e+02] [ 1.37166134e-02 -4.12145033e-04 9.99905838e-01 2.13089423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5907140569999 meters Centerline goodness : 0.985366 Centerline is valid? [True, True] Translation: X:321.36, Y:275.18, Z:2.13 [[ 9.98123354e-01 5.96849012e-02 -1.36924468e-02 3.21363798e+02] [-5.96773957e-02 9.98217258e-01 9.56448964e-04 2.75178826e+02] [ 1.37251222e-02 -1.37524484e-04 9.99905797e-01 2.13036693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6207140569999 meters Centerline goodness : 0.984578 Centerline is valid? [True, True] Translation: X:321.39, Y:275.17, Z:2.13 [[ 9.98077358e-01 6.04488978e-02 -1.36937532e-02 3.21392662e+02] [-6.04416601e-02 9.98171287e-01 9.42157330e-04 2.75174150e+02] [ 1.37256637e-02 -1.12672721e-04 9.99905792e-01 2.13035667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.650714057 meters Centerline goodness : 0.983287 Centerline is valid? [True, True] Translation: X:321.42, Y:275.17, Z:2.13 [[ 9.98016968e-01 6.14383535e-02 -1.36915922e-02 3.21422204e+02] [-6.14308851e-02 9.98110872e-01 9.65764661e-04 2.75168755e+02] [ 1.37250620e-02 -1.22762894e-04 9.99905799e-01 2.12918634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6807140569999 meters Centerline goodness : 0.987566 Centerline is valid? [True, True] Translation: X:321.45, Y:275.17, Z:2.13 [[ 9.98270090e-01 5.71800134e-02 -1.36847842e-02 3.21454441e+02] [-5.71711234e-02 9.98363852e-01 1.04026932e-03 2.75165696e+02] [ 1.37218765e-02 -2.56095261e-04 9.99905818e-01 2.12827866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7107140569999 meters Centerline goodness : 0.987803 Centerline is valid? [True, True] Translation: X:321.48, Y:275.16, Z:2.13 [[ 9.98460583e-01 5.37561940e-02 -1.36650952e-02 3.21482024e+02] [-5.37440490e-02 9.98553956e-01 1.25470727e-03 2.75160868e+02] [ 1.37127831e-02 -5.18358205e-04 9.99905841e-01 2.12648930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7407140569999 meters Centerline goodness : 0.983635 Centerline is valid? [True, True] Translation: X:321.51, Y:275.16, Z:2.13 [[ 9.98456624e-01 5.38295912e-02 -1.36654352e-02 3.21505239e+02] [-5.38175038e-02 9.98550004e-01 1.25099255e-03 2.75158550e+02] [ 1.37129608e-02 -5.13622187e-04 9.99905841e-01 2.12801568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.770714057 meters Centerline goodness : 0.983322 Centerline is valid? [True, True] Translation: X:321.53, Y:275.15, Z:2.13 [[ 9.98543516e-01 5.21870070e-02 -1.36880443e-02 3.21533355e+02] [-5.21781698e-02 9.98637289e-01 1.00219374e-03 2.75153276e+02] [ 1.37216929e-02 -2.86516961e-04 9.99905812e-01 2.12940085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8007140569999 meters Centerline goodness : 0.982882 Centerline is valid? [True, True] Translation: X:321.56, Y:275.15, Z:2.13 [[ 9.98578104e-01 5.15212957e-02 -1.36867055e-02 3.21561455e+02] [-5.15121943e-02 9.98671848e-01 1.01692265e-03 2.75148394e+02] [ 1.37209207e-02 -3.10444461e-04 9.99905816e-01 2.12734435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8307140569999 meters Centerline goodness : 0.985641 Centerline is valid? [True, True] Translation: X:321.59, Y:275.14, Z:2.13 [[ 9.98611937e-01 5.08613852e-02 -1.36864106e-02 3.21593975e+02] [-5.08521773e-02 9.98705670e-01 1.02017274e-03 2.75143765e+02] [ 1.37205833e-02 -3.22772902e-04 9.99905816e-01 2.12833968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8607140569999 meters Centerline goodness : 0.982453 Centerline is valid? [True, True] Translation: X:321.62, Y:275.14, Z:2.13 [[ 9.98462080e-01 5.37282001e-02 -1.36658594e-02 3.21617474e+02] [-5.37161764e-02 9.98555467e-01 1.24564265e-03 2.75143332e+02] [ 1.37130447e-02 -5.09649242e-04 9.99905842e-01 2.12701049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.890714057 meters Centerline goodness : 0.981759 Centerline is valid? [True, True] Translation: X:321.65, Y:275.14, Z:2.13 [[ 9.98297113e-01 5.67049618e-02 -1.36902101e-02 3.21647557e+02] [-5.66968951e-02 9.98390959e-01 9.76944793e-04 2.75136762e+02] [ 1.37235796e-02 -1.99088759e-04 9.99905807e-01 2.12959228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9207140569999 meters Centerline goodness : 0.986613 Centerline is valid? [True, True] Translation: X:321.68, Y:275.13, Z:2.13 [[ 9.98386840e-01 5.51049759e-02 -1.36806094e-02 3.21679093e+02] [-5.50953110e-02 9.98480513e-01 1.08263896e-03 2.75134088e+02] [ 1.37194807e-02 -3.27155061e-04 9.99905830e-01 2.12842841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9507140569999 meters Centerline goodness : 0.981472 Centerline is valid? [True, True] Translation: X:321.69, Y:275.14, Z:2.13 [[ 9.98307143e-01 5.65340114e-02 -1.36658062e-02 3.21692753e+02] [-5.65222575e-02 9.98400563e-01 1.24511459e-03 2.75138408e+02] [ 1.37143399e-02 -4.70584569e-04 9.99905843e-01 2.13457563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9807140569999 meters Centerline goodness : 0.979959 Centerline is valid? [True, True] Translation: X:321.72, Y:275.14, Z:2.13 [[ 9.98177899e-01 5.87581235e-02 -1.37246036e-02 3.21721320e+02] [-5.87554109e-02 9.98272228e-01 6.01129002e-04 2.75136739e+02] [ 1.37362119e-02 2.06361042e-04 9.99905632e-01 2.13209685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.010714057 meters Centerline goodness : 0.981492 Centerline is valid? [True, True] Translation: X:321.75, Y:275.13, Z:2.12 [[ 9.98016651e-01 6.14350126e-02 -1.37296434e-02 3.21751888e+02] [-6.14333097e-02 9.98111041e-01 5.46142825e-04 2.75131658e+02] [ 1.37372609e-02 2.98397800e-04 9.99905595e-01 2.12365038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.040714057 meters Centerline goodness : 0.985349 Centerline is valid? [True, True] Translation: X:321.79, Y:275.12, Z:2.12 [[ 9.97909507e-01 6.31517494e-02 -1.37285289e-02 3.21793801e+02] [-6.31500431e-02 9.98003888e-01 5.58182673e-04 2.75121842e+02] [ 1.37363755e-02 3.09941398e-04 9.99905604e-01 2.12454022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0707140569999 meters Centerline goodness : 0.981568 Centerline is valid? [True, True] Translation: X:321.82, Y:275.12, Z:2.13 [[ 9.97953804e-01 6.24629885e-02 -1.36594685e-02 3.21819483e+02] [-6.24511811e-02 9.98047187e-01 1.28967127e-03 2.75121048e+02] [ 1.37133508e-02 -4.33982406e-04 9.99905873e-01 2.12551765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1007140569999 meters Centerline goodness : 0.981918 Centerline is valid? [True, True] Translation: X:321.85, Y:275.12, Z:2.13 [[ 9.98061358e-01 6.07175763e-02 -1.36711704e-02 3.21847863e+02] [-6.07073091e-02 9.98154930e-01 1.16513646e-03 2.75119559e+02] [ 1.37166904e-02 -3.32937707e-04 9.99905866e-01 2.12679871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.130714057 meters Centerline goodness : 0.981981 Centerline is valid? [True, True] Translation: X:321.87, Y:275.12, Z:2.13 [[ 9.98319403e-01 5.63159655e-02 -1.36704441e-02 3.21872470e+02] [-5.63051799e-02 9.98412916e-01 1.17287811e-03 2.75121263e+02] [ 1.37147997e-02 -4.01190157e-04 9.99905867e-01 2.12605604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.160714057 meters Centerline goodness : 0.980738 Centerline is valid? [True, True] Translation: X:321.90, Y:275.11, Z:2.13 [[ 9.98338729e-01 5.59699976e-02 -1.36799928e-02 3.21904977e+02] [-5.59605640e-02 9.98432405e-01 1.07170981e-03 2.75114473e+02] [ 1.37185317e-02 -3.04389300e-04 9.99905850e-01 2.12723319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1907140569999 meters Centerline goodness : 0.980322 Centerline is valid? [True, True] Translation: X:321.93, Y:275.11, Z:2.13 [[ 9.98381440e-01 5.52062380e-02 -1.36664063e-02 3.21932471e+02] [-5.51947701e-02 9.98474867e-01 1.21517368e-03 2.75111464e+02] [ 1.37126484e-02 -4.58892695e-04 9.99905872e-01 2.13068565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2207140569999 meters Centerline goodness : 0.983541 Centerline is valid? [True, True] Translation: X:321.96, Y:275.11, Z:2.13 [[ 9.98553704e-01 5.19972969e-02 -1.36667816e-02 3.21958853e+02] [-5.19855831e-02 9.98647101e-01 1.21120434e-03 2.75111752e+02] [ 1.37112712e-02 -4.98976967e-04 9.99905872e-01 2.13016873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.250714057 meters Centerline goodness : 0.987104 Centerline is valid? [True, True] Translation: X:321.99, Y:275.11, Z:2.13 [[ 9.98673402e-01 4.96436587e-02 -1.36727152e-02 3.21991088e+02] [-4.96325850e-02 9.98766884e-01 1.14825876e-03 2.75108779e+02] [ 1.37128589e-02 -4.68123282e-04 9.99905865e-01 2.13005998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.280714057 meters Centerline goodness : 0.984484 Centerline is valid? [True, True] Translation: X:322.02, Y:275.11, Z:2.13 [[ 9.98716032e-01 4.87822919e-02 -1.36592768e-02 3.22015787e+02] [-4.87691948e-02 9.98809241e-01 1.29049901e-03 2.75109617e+02] [ 1.37059654e-02 -6.22690123e-04 9.99905875e-01 2.13091720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3107140569999 meters Centerline goodness : 0.988525 Centerline is valid? [True, True] Translation: X:322.05, Y:275.10, Z:2.13 [[ 9.98541629e-01 5.22267517e-02 -1.36741360e-02 3.22046939e+02] [-5.22161414e-02 9.98635165e-01 1.13205828e-03 2.75104767e+02] [ 1.37145967e-02 -4.16396698e-04 9.99905864e-01 2.12976757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3407140569999 meters Centerline goodness : 0.986261 Centerline is valid? [True, True] Translation: X:322.08, Y:275.09, Z:2.14 [[ 9.98046313e-01 6.09669587e-02 -1.36597178e-02 3.22083980e+02] [-6.09550713e-02 9.98139683e-01 1.28529171e-03 2.75094045e+02] [ 1.37126668e-02 -4.50151578e-04 9.99905876e-01 2.13548549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3707140569999 meters Centerline goodness : 0.986052 Centerline is valid? [True, True] Translation: X:322.10, Y:275.10, Z:2.13 [[ 9.98216519e-01 5.81212038e-02 -1.36274296e-02 3.22104818e+02] [-5.81045687e-02 9.98309198e-01 1.61380266e-03 2.75102237e+02] [ 1.36981845e-02 -8.19108553e-04 9.99905840e-01 2.13037508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.400714057 meters Centerline goodness : 0.985117 Centerline is valid? [True, True] Translation: X:322.13, Y:275.10, Z:2.13 [[ 9.97980935e-01 6.20248003e-02 -1.36739769e-02 3.22134259e+02] [-6.20150729e-02 9.98074568e-01 1.13466307e-03 2.75100368e+02] [ 1.37180259e-02 -2.84379434e-04 9.99905863e-01 2.13214667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4307140569999 meters Centerline goodness : 0.988015 Centerline is valid? [True, True] Translation: X:322.16, Y:275.10, Z:2.13 [[ 9.97772344e-01 6.52952091e-02 -1.36705942e-02 3.22164572e+02] [-6.52853125e-02 9.97865953e-01 1.16943060e-03 2.75096572e+02] [ 1.37177787e-02 -2.74336501e-04 9.99905869e-01 2.13307126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4607140569999 meters Centerline goodness : 0.985627 Centerline is valid? [True, True] Translation: X:322.19, Y:275.09, Z:2.14 [[ 9.97486268e-01 6.95319498e-02 -1.36547762e-02 3.22191703e+02] [-6.95202304e-02 9.97579653e-01 1.33163296e-03 2.75093785e+02] [ 1.37143179e-02 -3.79002408e-04 9.99905882e-01 2.13549390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4907140569999 meters Centerline goodness : 0.985345 Centerline is valid? [True, True] Translation: X:322.22, Y:275.09, Z:2.14 [[ 9.97425095e-01 7.04022233e-02 -1.36640410e-02 3.22219703e+02] [-7.03918906e-02 9.97518648e-01 1.23626136e-03 2.75090242e+02] [ 1.37171712e-02 -2.71240431e-04 9.99905878e-01 2.13552984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.520714057 meters Centerline goodness : 0.984468 Centerline is valid? [True, True] Translation: X:322.25, Y:275.09, Z:2.14 [[ 9.97461730e-01 6.98814474e-02 -1.36631004e-02 3.22247616e+02] [-6.98709332e-02 9.97555262e-01 1.24595850e-03 2.75085801e+02] [ 1.37167671e-02 -2.88142340e-04 9.99905879e-01 2.13589870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5507140569999 meters Centerline goodness : 0.984968 Centerline is valid? [True, True] Translation: X:322.28, Y:275.08, Z:2.14 [[ 9.97689955e-01 6.65434246e-02 -1.36647921e-02 3.22275053e+02] [-6.65328365e-02 9.97783480e-01 1.22849626e-03 2.75082348e+02] [ 1.37162521e-02 -3.16501000e-04 9.99905878e-01 2.13767508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5807140569999 meters Centerline goodness : 0.985467 Centerline is valid? [True, True] Translation: X:322.30, Y:275.08, Z:2.14 [[ 9.97850220e-01 6.40946625e-02 -1.36679618e-02 3.22304000e+02] [-6.40842921e-02 9.97943773e-01 1.19580972e-03 2.75076624e+02] [ 1.37165024e-02 -3.17337338e-04 9.99905874e-01 2.13637674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6107140569999 meters Centerline goodness : 0.987338 Centerline is valid? [True, True] Translation: X:322.34, Y:275.07, Z:2.13 [[ 9.98299102e-01 5.66760392e-02 -1.36648893e-02 3.22341473e+02] [-5.66645414e-02 9.98392520e-01 1.22743854e-03 2.75070265e+02] [ 1.37124896e-02 -4.51036109e-04 9.99905878e-01 2.13012221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.640714057 meters Centerline goodness : 0.987338 Centerline is valid? [True, True] Translation: X:322.37, Y:275.07, Z:2.13 [[ 9.98335525e-01 5.60403342e-02 -1.36257272e-02 3.22368558e+02] [-5.60233241e-02 9.98428134e-01 1.62719077e-03 2.75067925e+02] [ 1.36954977e-02 -8.61123815e-04 9.99905841e-01 2.13030361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6707140569999 meters Centerline goodness : 0.984843 Centerline is valid? [True, True] Translation: X:322.39, Y:275.06, Z:2.13 [[ 9.98164382e-01 5.90099572e-02 -1.36268367e-02 3.22387400e+02] [-5.89933777e-02 9.98257066e-01 1.61580658e-03 2.75062879e+02] [ 1.36984347e-02 -8.08947452e-04 9.99905845e-01 2.13125728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7007140569999 meters Centerline goodness : 0.986512 Centerline is valid? [True, True] Translation: X:322.42, Y:275.06, Z:2.13 [[ 9.98217695e-01 5.80926573e-02 -1.36629655e-02 3.22417030e+02] [-5.80810990e-02 9.98311096e-01 1.24157799e-03 2.75058769e+02] [ 1.37120167e-02 -4.45805061e-04 9.99905886e-01 2.13224889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7307140569999 meters Centerline goodness : 0.988515 Centerline is valid? [True, True] Translation: X:322.44, Y:275.06, Z:2.13 [[ 9.98215279e-01 5.81359196e-02 -1.36554712e-02 3.22443931e+02] [-5.81233029e-02 9.98308540e-01 1.31932249e-03 2.75056373e+02] [ 1.37090735e-02 -5.23266780e-04 9.99905889e-01 2.13324567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.760714057 meters Centerline goodness : 0.985089 Centerline is valid? [True, True] Translation: X:322.47, Y:275.05, Z:2.14 [[ 9.97858200e-01 6.39728444e-02 -1.36560655e-02 3.22471355e+02] [-6.39608579e-02 9.97951544e-01 1.31314171e-03 2.75051765e+02] [ 1.37120971e-02 -4.36875554e-04 9.99905889e-01 2.13714902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.790714057 meters Centerline goodness : 0.989007 Centerline is valid? [True, True] Translation: X:322.50, Y:275.05, Z:2.14 [[ 9.97892555e-01 6.34338249e-02 -1.36601152e-02 3.22500128e+02] [-6.34223654e-02 9.97985966e-01 1.27090902e-03 2.75051357e+02] [ 1.37132219e-02 -4.01873829e-04 9.99905889e-01 2.13891782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8207140569999 meters Centerline goodness : 0.985441 Centerline is valid? [True, True] Translation: X:322.53, Y:275.05, Z:2.14 [[ 9.97745017e-01 6.57143775e-02 -1.36565628e-02 3.22528794e+02] [-6.57026243e-02 9.97838391e-01 1.30799927e-03 2.75046594e+02] [ 1.37129970e-02 -4.07777743e-04 9.99905889e-01 2.13844423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8507140569999 meters Centerline goodness : 0.990704 Centerline is valid? [True, True] Translation: X:322.56, Y:275.04, Z:2.14 [[ 9.97922272e-01 6.29648651e-02 -1.36588772e-02 3.22556289e+02] [-6.29531854e-02 9.98015655e-01 1.28380202e-03 2.75044853e+02] [ 1.37126077e-02 -4.21264798e-04 9.99905889e-01 2.13804947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.880714057 meters Centerline goodness : 0.984837 Centerline is valid? [True, True] Translation: X:322.58, Y:275.04, Z:2.14 [[ 9.97751412e-01 6.56170997e-02 -1.36570766e-02 3.22584086e+02] [-6.56054101e-02 9.97844794e-01 1.30267973e-03 2.75036658e+02] [ 1.37131208e-02 -4.03772430e-04 9.99905889e-01 2.13648986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.910714057 meters Centerline goodness : 0.983295 Centerline is valid? [True, True] Translation: X:322.61, Y:275.03, Z:2.14 [[ 9.97837892e-01 6.42881283e-02 -1.36593660e-02 3.22609588e+02] [-6.42766431e-02 9.97931299e-01 1.27863440e-03 2.75034198e+02] [ 1.37133099e-02 -3.97891659e-04 9.99905889e-01 2.13606225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9407140569999 meters Centerline goodness : 0.987384 Centerline is valid? [True, True] Translation: X:322.64, Y:275.03, Z:2.14 [[ 9.97813048e-01 6.46711208e-02 -1.36662682e-02 3.22642978e+02] [-6.46606655e-02 9.97906581e-01 1.20598353e-03 2.75030593e+02] [ 1.37156513e-02 -3.19676106e-04 9.99905885e-01 2.14338213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9707140569999 meters Centerline goodness : 0.985802 Centerline is valid? [True, True] Translation: X:322.67, Y:275.03, Z:2.14 [[ 9.97916229e-01 6.30661533e-02 -1.36330194e-02 3.22665815e+02] [-6.30507285e-02 9.98009106e-01 1.55871641e-03 2.75030195e+02] [ 1.37041798e-02 -6.95896596e-04 9.99905851e-01 2.13929657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.000714057 meters Centerline goodness : 0.984751 Centerline is valid? [True, True] Translation: X:322.70, Y:275.03, Z:2.14 [[ 9.98065634e-01 6.06489054e-02 -1.36638147e-02 3.22695929e+02] [-6.06377533e-02 9.98159081e-01 1.22937878e-03 2.75029723e+02] [ 1.37132212e-02 -3.98457687e-04 9.99905890e-01 2.13881473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.030714057 meters Centerline goodness : 0.984819 Centerline is valid? [True, True] Translation: X:322.72, Y:275.03, Z:2.14 [[ 9.98050438e-01 6.08990805e-02 -1.36610609e-02 3.22722549e+02] [-6.08875489e-02 9.98143838e-01 1.25883736e-03 2.75026705e+02] [ 1.37123658e-02 -4.24594668e-04 9.99905891e-01 2.13901909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0607140569999 meters Centerline goodness : 0.986094 Centerline is valid? [True, True] Translation: X:322.75, Y:275.03, Z:2.14 [[ 9.98191616e-01 5.85385613e-02 -1.36650747e-02 3.22753939e+02] [-5.85273955e-02 9.98285062e-01 1.21593180e-03 2.75025961e+02] [ 1.37128189e-02 -4.13951698e-04 9.99905889e-01 2.13742076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0907140569999 meters Centerline goodness : 0.985794 Centerline is valid? [True, True] Translation: X:322.78, Y:275.02, Z:2.14 [[ 9.98039659e-01 6.10760542e-02 -1.36584941e-02 3.22778218e+02] [-6.10641639e-02 9.98133014e-01 1.28628641e-03 2.75024103e+02] [ 1.37115551e-02 -4.49720332e-04 9.99905891e-01 2.13865673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1207140569999 meters Centerline goodness : 0.986357 Centerline is valid? [True, True] Translation: X:322.81, Y:275.02, Z:2.15 [[ 9.97599471e-01 6.78855668e-02 -1.36691056e-02 3.22812275e+02] [-6.78758820e-02 9.97693085e-01 1.17173937e-03 2.75016566e+02] [ 1.37171163e-02 -2.41123982e-04 9.99905887e-01 2.14722494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.150714057 meters Centerline goodness : 0.988246 Centerline is valid? [True, True] Translation: X:322.83, Y:275.03, Z:2.14 [[ 9.98054070e-01 6.08462507e-02 -1.36311297e-02 3.22830064e+02] [-6.08301469e-02 9.98146860e-01 1.59329386e-03 2.75025594e+02] [ 1.37028152e-02 -7.61009804e-04 9.99905822e-01 2.14496322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1807140569999 meters Centerline goodness : 0.987413 Centerline is valid? [True, True] Translation: X:322.86, Y:275.02, Z:2.14 [[ 9.98249664e-01 5.75402780e-02 -1.36647388e-02 3.22857843e+02] [-5.75290255e-02 9.98343094e-01 1.21545479e-03 2.75023634e+02] [ 1.37120352e-02 -4.27208231e-04 9.99905894e-01 2.14476943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2107140569999 meters Centerline goodness : 0.986091 Centerline is valid? [True, True] Translation: X:322.89, Y:275.02, Z:2.14 [[ 9.98704073e-01 4.90248935e-02 -1.36650704e-02 3.22890835e+02] [-4.90128956e-02 9.98797411e-01 1.21171502e-03 2.75023874e+02] [ 1.37080411e-02 -5.40380055e-04 9.99905894e-01 2.14229603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2407140569999 meters Centerline goodness : 0.984709 Centerline is valid? [True, True] Translation: X:322.91, Y:275.02, Z:2.14 [[ 9.98365831e-01 5.54921281e-02 -1.36488628e-02 3.22913920e+02] [-5.54782387e-02 9.98458923e-01 1.39444452e-03 2.75015430e+02] [ 1.37052095e-02 -6.34950895e-04 9.99905878e-01 2.14225601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.270714057 meters Centerline goodness : 0.987110 Centerline is valid? [True, True] Translation: X:322.94, Y:275.01, Z:2.14 [[ 9.98493017e-01 5.31498256e-02 -1.36671230e-02 3.22941876e+02] [-5.31385534e-02 9.98586444e-01 1.18685323e-03 2.75013252e+02] [ 1.37108848e-02 -4.58813518e-04 9.99905896e-01 2.14230607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3007140569999 meters Centerline goodness : 0.983717 Centerline is valid? [True, True] Translation: X:322.97, Y:275.01, Z:2.14 [[ 9.98448785e-01 5.39746441e-02 -1.36660371e-02 3.22965201e+02] [-5.39632799e-02 9.98542201e-01 1.19922775e-03 2.75013703e+02] [ 1.37108427e-02 -4.59903300e-04 9.99905896e-01 2.14083222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3307140569999 meters Centerline goodness : 0.983278 Centerline is valid? [True, True] Translation: X:323.00, Y:275.01, Z:2.14 [[ 9.98240732e-01 5.76898918e-02 -1.36863805e-02 3.22995464e+02] [-5.76820678e-02 9.98334536e-01 9.66054446e-04 2.75009387e+02] [ 1.37193179e-02 -1.74896167e-04 9.99905870e-01 2.14476218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3607140569999 meters Centerline goodness : 0.982177 Centerline is valid? [True, True] Translation: X:323.02, Y:275.01, Z:2.15 [[ 9.97925094e-01 6.29153301e-02 -1.36808997e-02 3.23023047e+02] [-6.29071392e-02 9.98018854e-01 1.02864461e-03 2.75005276e+02] [ 1.37185133e-02 -1.65884005e-04 9.99905883e-01 2.14699569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.390714057 meters Centerline goodness : 0.986893 Centerline is valid? [True, True] Translation: X:323.05, Y:275.00, Z:2.15 [[ 9.97771597e-01 6.53049241e-02 -1.36787119e-02 3.23053691e+02] [-6.52966150e-02 9.97865343e-01 1.05365921e-03 2.75000952e+02] [ 1.37183217e-02 -1.58137644e-04 9.99905887e-01 2.14688530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4207140569999 meters Centerline goodness : 0.985459 Centerline is valid? [True, True] Translation: X:323.08, Y:275.00, Z:2.15 [[ 9.97554121e-01 6.85493342e-02 -1.36661581e-02 3.23081284e+02] [-6.85393660e-02 9.97647695e-01 1.19698913e-03 2.74997229e+02] [ 1.37160640e-02 -2.57391623e-04 9.99905897e-01 2.14751306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4507140569999 meters Centerline goodness : 0.984931 Centerline is valid? [True, True] Translation: X:323.11, Y:274.99, Z:2.15 [[ 9.97282631e-01 7.23918647e-02 -1.36664763e-02 3.23108497e+02] [-7.23823069e-02 9.97376247e-01 1.19334507e-03 2.74994122e+02] [ 1.37170073e-02 -2.00891229e-04 9.99905897e-01 2.14837818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4807140569999 meters Centerline goodness : 0.982558 Centerline is valid? [True, True] Translation: X:323.13, Y:274.99, Z:2.15 [[ 9.97034824e-01 7.57283216e-02 -1.36667989e-02 3.23132957e+02] [-7.57191279e-02 9.97128476e-01 1.18963961e-03 2.74993797e+02] [ 1.37176437e-02 -1.51274023e-04 9.99905897e-01 2.14858110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.510714057 meters Centerline goodness : 0.985083 Centerline is valid? [True, True] Translation: X:323.16, Y:274.99, Z:2.15 [[ 9.96777851e-01 7.90357117e-02 -1.36847172e-02 3.23163919e+02] [-7.90296777e-02 9.96871780e-01 9.81992545e-04 2.74985560e+02] [ 1.37195208e-02 1.02670368e-04 9.99905878e-01 2.15066191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.540714057 meters Centerline goodness : 0.981685 Centerline is valid? [True, True] Translation: X:323.19, Y:274.98, Z:2.15 [[ 9.96503267e-01 8.24284223e-02 -1.36672867e-02 3.23188853e+02] [-8.24199451e-02 9.96596986e-01 1.18331694e-03 2.74981064e+02] [ 1.37183157e-02 -5.27221707e-05 9.99905898e-01 2.15427238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5707140569999 meters Centerline goodness : 0.985992 Centerline is valid? [True, True] Translation: X:323.22, Y:274.98, Z:2.15 [[ 9.96819175e-01 7.85130864e-02 -1.36831352e-02 3.23220421e+02] [-7.85067726e-02 9.96913080e-01 9.98781496e-04 2.74976530e+02] [ 1.37193138e-02 7.86142339e-05 9.99905883e-01 2.15408424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6007140569999 meters Centerline goodness : 0.985833 Centerline is valid? [True, True] Translation: X:323.25, Y:274.97, Z:2.15 [[ 9.97017799e-01 7.59519740e-02 -1.36676773e-02 3.23247998e+02] [-7.59429594e-02 9.97111468e-01 1.17811551e-03 2.74970090e+02] [ 1.37176780e-02 -1.36638277e-04 9.99905899e-01 2.15341094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.630714057 meters Centerline goodness : 0.982482 Centerline is valid? [True, True] Translation: X:323.27, Y:274.96, Z:2.15 [[ 9.96990497e-01 7.63094677e-02 -1.36680051e-02 3.23272503e+02] [-7.63005389e-02 9.97084173e-01 1.17430016e-03 2.74961417e+02] [ 1.37177618e-02 -1.27889943e-04 9.99905899e-01 2.15487362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.660714057 meters Centerline goodness : 0.985992 Centerline is valid? [True, True] Translation: X:323.31, Y:274.96, Z:2.15 [[ 9.97799056e-01 6.48832662e-02 -1.36823052e-02 3.23305123e+02] [-6.48755552e-02 9.97892854e-01 1.00713689e-03 2.74956597e+02] [ 1.37188209e-02 -1.17273093e-04 9.99905886e-01 2.15255384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6907140569999 meters Centerline goodness : 0.986237 Centerline is valid? [True, True] Translation: X:323.33, Y:274.95, Z:2.15 [[ 9.98019902e-01 6.13959055e-02 -1.36681270e-02 3.23331487e+02] [-6.13856029e-02 9.98113437e-01 1.17242840e-03 2.74951765e+02] [ 1.37143235e-02 -3.31080667e-04 9.99905899e-01 2.15264013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7207140569999 meters Centerline goodness : 0.982620 Centerline is valid? [True, True] Translation: X:323.36, Y:274.94, Z:2.15 [[ 9.98144100e-01 5.93425080e-02 -1.36682695e-02 3.23355538e+02] [-5.93320357e-02 9.98237616e-01 1.17076438e-03 2.74942697e+02] [ 1.37136569e-02 -3.57625300e-04 9.99905899e-01 2.15330673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.750714057 meters Centerline goodness : 0.982687 Centerline is valid? [True, True] Translation: X:323.39, Y:274.94, Z:2.15 [[ 9.98549084e-01 5.20825349e-02 -1.36797496e-02 3.23385074e+02] [-5.20732136e-02 9.98642731e-01 1.03694916e-03 2.74935671e+02] [ 1.37151895e-02 -3.23096111e-04 9.99905890e-01 2.15340121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.780714057 meters Centerline goodness : 0.982682 Centerline is valid? [True, True] Translation: X:323.41, Y:274.93, Z:2.15 [[ 9.98864714e-01 4.56314994e-02 -1.36765654e-02 3.23407552e+02] [-4.56210656e-02 9.98958240e-01 1.07407572e-03 2.74931922e+02] [ 1.37113294e-02 -4.48916845e-04 9.99905895e-01 2.15464150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8107140569999 meters Centerline goodness : 0.982170 Centerline is valid? [True, True] Translation: X:323.44, Y:274.93, Z:2.15 [[ 9.99130288e-01 3.93858188e-02 -1.36903512e-02 3.23438515e+02] [-3.93770241e-02 9.99224009e-01 9.11469196e-04 2.74929328e+02] [ 1.37156266e-02 -3.71591188e-04 9.99905867e-01 2.15307885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8407140569999 meters Centerline goodness : 0.983761 Centerline is valid? [True, True] Translation: X:323.47, Y:274.93, Z:2.15 [[ 9.99201867e-01 3.75284619e-02 -1.36836769e-02 3.23465699e+02] [-3.75184241e-02 9.99295446e-01 9.89614944e-04 2.74927159e+02] [ 1.37111747e-02 -4.75435107e-04 9.99905884e-01 2.15473821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8707140569999 meters Centerline goodness : 0.982479 Centerline is valid? [True, True] Translation: X:323.49, Y:274.92, Z:2.15 [[ 9.99055904e-01 4.12290973e-02 -1.36916726e-02 3.23492474e+02] [-4.12206862e-02 9.99149664e-01 8.96081858e-04 2.74919727e+02] [ 1.37169747e-02 -3.30855732e-04 9.99905863e-01 2.15484369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.900714057 meters Centerline goodness : 0.982183 Centerline is valid? [True, True] Translation: X:323.52, Y:274.92, Z:2.15 [[ 9.98898197e-01 4.48875003e-02 -1.36932120e-02 3.23521233e+02] [-4.48796838e-02 9.98992014e-01 8.77741355e-04 2.74915067e+02] [ 1.37188090e-02 -2.62227232e-04 9.99905858e-01 2.15397270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9307140569999 meters Centerline goodness : 0.982349 Centerline is valid? [True, True] Translation: X:323.55, Y:274.91, Z:2.16 [[ 9.98550404e-01 5.20546116e-02 -1.36896996e-02 3.23551800e+02] [-5.20469041e-02 9.98644219e-01 9.18926268e-04 2.74909967e+02] [ 1.37189737e-02 -2.05087715e-04 9.99905869e-01 2.15559370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9607140569999 meters Centerline goodness : 0.981120 Centerline is valid? [True, True] Translation: X:323.57, Y:274.92, Z:2.16 [[ 9.98735019e-01 4.83860945e-02 -1.36802108e-02 3.23567397e+02] [-4.83764945e-02 9.98828639e-01 1.03198808e-03 2.74919406e+02] [ 1.37141202e-02 -3.68881991e-04 9.99905889e-01 2.16048025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9907140569999 meters Centerline goodness : 0.982284 Centerline is valid? [True, True] Translation: X:323.60, Y:274.92, Z:2.15 [[ 9.98264180e-01 5.72722647e-02 -1.37300947e-02 3.23596141e+02] [-5.72722195e-02 9.98358520e-01 3.96808665e-04 2.74917453e+02] [ 1.37302832e-02 3.90233121e-04 9.99905659e-01 2.15388592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.020714057 meters Centerline goodness : 0.982972 Centerline is valid? [True, True] Translation: X:323.64, Y:274.90, Z:2.16 [[ 9.97395831e-01 7.08028855e-02 -1.37298252e-02 3.23636316e+02] [-7.08040729e-02 9.97490162e-01 4.00195878e-04 2.74904969e+02] [ 1.37237006e-02 5.72973843e-04 9.99905661e-01 2.15958855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0507140569999 meters Centerline goodness : 0.981701 Centerline is valid? [True, True] Translation: X:323.66, Y:274.91, Z:2.16 [[ 9.97492511e-01 6.94364685e-02 -1.36845409e-02 3.23655148e+02] [-6.94299153e-02 9.97586376e-01 9.53949814e-04 2.74912136e+02] [ 1.37177505e-02 -1.44127688e-06 9.99905907e-01 2.16102394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0807140569999 meters Centerline goodness : 0.980685 Centerline is valid? [True, True] Translation: X:323.68, Y:274.91, Z:2.16 [[ 9.97245558e-01 7.28898375e-02 -1.37247096e-02 3.23682387e+02] [-7.28904790e-02 9.97339848e-01 4.54147530e-04 2.74909920e+02] [ 1.37213025e-02 5.47504051e-04 9.99905709e-01 2.16067176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1107140569999 meters Centerline goodness : 0.988250 Centerline is valid? [True, True] Translation: X:323.72, Y:274.90, Z:2.16 [[ 9.97405164e-01 7.06722991e-02 -1.37245820e-02 3.23724928e+02] [-7.06727091e-02 9.97499454e-01 4.55729122e-04 2.74904209e+02] [ 1.37224705e-02 5.15406812e-04 9.99905710e-01 2.15557853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.140714057 meters Centerline goodness : 0.983226 Centerline is valid? [True, True] Translation: X:323.75, Y:274.90, Z:2.16 [[ 9.97136659e-01 7.43749237e-02 -1.36694345e-02 3.23750309e+02] [-7.43664820e-02 9.97230344e-01 1.12552791e-03 2.74899076e+02] [ 1.37152860e-02 -1.05757378e-04 9.99905935e-01 2.15747499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1707140569999 meters Centerline goodness : 0.983467 Centerline is valid? [True, True] Translation: X:323.78, Y:274.89, Z:2.16 [[ 9.96958277e-01 7.67268594e-02 -1.36814622e-02 3.23778658e+02] [-7.67206547e-02 9.97052147e-01 9.78558494e-04 2.74892253e+02] [ 1.37162129e-02 7.40687449e-05 9.99905926e-01 2.15924233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2007140569999 meters Centerline goodness : 0.981951 Centerline is valid? [True, True] Translation: X:323.80, Y:274.90, Z:2.16 [[ 9.97706700e-01 6.62887440e-02 -1.36800455e-02 3.23796481e+02] [-6.62813159e-02 9.97800478e-01 9.96162138e-04 2.74899186e+02] [ 1.37159903e-02 -8.71462202e-05 9.99905928e-01 2.16051227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2307140569999 meters Centerline goodness : 0.988696 Centerline is valid? [True, True] Translation: X:323.84, Y:274.89, Z:2.16 [[ 9.98070214e-01 6.05605165e-02 -1.37212521e-02 3.23837916e+02] [-6.05597288e-02 9.98164463e-01 4.73285447e-04 2.74891718e+02] [ 1.37247286e-02 3.58583198e-04 9.99905747e-01 2.15919704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.260714057 meters Centerline goodness : 0.988412 Centerline is valid? [True, True] Translation: X:323.87, Y:274.89, Z:2.16 [[ 9.98345938e-01 5.58434507e-02 -1.36710118e-02 3.23865427e+02] [-5.58336400e-02 9.98439481e-01 1.09854349e-03 2.74887099e+02] [ 1.37110244e-02 -3.33424085e-04 9.99905944e-01 2.16074384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.290714057 meters Centerline goodness : 0.982685 Centerline is valid? [True, True] Translation: X:323.89, Y:274.88, Z:2.16 [[ 9.98088389e-01 6.02715715e-02 -1.36713147e-02 3.23894922e+02] [-6.02622277e-02 9.98181980e-01 1.09476066e-03 2.74877066e+02] [ 1.37124429e-02 -2.68804020e-04 9.99905944e-01 2.16215710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3207140569999 meters Centerline goodness : 0.980456 Centerline is valid? [True, True] Translation: X:323.91, Y:274.88, Z:2.17 [[ 9.98787562e-01 4.72931308e-02 -1.36662501e-02 3.23909994e+02] [-4.72817158e-02 9.98880924e-01 1.15734290e-03 2.74883478e+02] [ 1.37056909e-02 -5.09775938e-04 9.99905943e-01 2.16807311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3507140569999 meters Centerline goodness : 0.980852 Centerline is valid? [True, True] Translation: X:323.94, Y:274.88, Z:2.17 [[ 9.98983399e-01 4.29428250e-02 -1.37143238e-02 3.23938899e+02] [-4.29395556e-02 9.99077530e-01 5.32894838e-04 2.74879600e+02] [ 1.37245567e-02 5.65338706e-05 9.99905812e-01 2.16934289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.380714057 meters Centerline goodness : 0.980976 Centerline is valid? [True, True] Translation: X:323.97, Y:274.88, Z:2.17 [[ 9.99070709e-01 4.08578505e-02 -1.37242645e-02 3.23969323e+02] [-4.08561570e-02 9.99164957e-01 4.03864890e-04 2.74876515e+02] [ 1.37293052e-02 1.57231124e-04 9.99905736e-01 2.16960692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.410714057 meters Centerline goodness : 0.988342 Centerline is valid? [True, True] Translation: X:324.01, Y:274.87, Z:2.17 [[ 9.99116878e-01 3.97157742e-02 -1.37157448e-02 3.24010377e+02] [-3.97124937e-02 9.99211017e-01 5.11552545e-04 2.74867070e+02] [ 1.37252400e-02 3.35856481e-05 9.99905804e-01 2.16554269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4407140569999 meters Centerline goodness : 0.982569 Centerline is valid? [True, True] Translation: X:324.02, Y:274.87, Z:2.17 [[ 9.99276143e-01 3.55017211e-02 -1.36681386e-02 3.24023906e+02] [-3.54899616e-02 9.99369425e-01 1.10202814e-03 2.74870247e+02] [ 1.36986438e-02 -6.16148713e-04 9.99905979e-01 2.16821442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4707140569999 meters Centerline goodness : 0.983434 Centerline is valid? [True, True] Translation: X:324.07, Y:274.86, Z:2.16 [[ 9.99031012e-01 4.18175372e-02 -1.37233495e-02 3.24065924e+02] [-4.18156989e-02 9.99125252e-01 4.20988859e-04 2.74856589e+02] [ 1.37289498e-02 1.53270527e-04 9.99905742e-01 2.16479387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.500714057 meters Centerline goodness : 0.983119 Centerline is valid? [True, True] Translation: X:324.09, Y:274.86, Z:2.17 [[ 9.99005394e-01 4.24422642e-02 -1.36702696e-02 3.24092397e+02] [-4.24318294e-02 9.99098810e-01 1.05258557e-03 2.74855224e+02] [ 1.37026242e-02 -4.71484109e-04 9.99906003e-01 2.16680433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.530714057 meters Centerline goodness : 0.983119 Centerline is valid? [True, True] Translation: X:324.12, Y:274.85, Z:2.17 [[ 9.99007319e-01 4.23962958e-02 -1.36722507e-02 3.24120769e+02] [-4.23861800e-02 9.99100772e-01 1.02893286e-03 2.74852879e+02] [ 1.37035792e-02 -4.48396975e-04 9.99906001e-01 2.16720429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5607140569999 meters Centerline goodness : 0.982622 Centerline is valid? [True, True] Translation: X:324.15, Y:274.85, Z:2.17 [[ 9.98962851e-01 4.34314131e-02 -1.36723763e-02 3.24148932e+02] [-4.34214146e-02 9.99056317e-01 1.02743169e-03 2.74853830e+02] [ 1.37040967e-02 -4.32692177e-04 9.99906001e-01 2.16645277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5907140569999 meters Centerline goodness : 0.981322 Centerline is valid? [True, True] Translation: X:324.17, Y:274.86, Z:2.17 [[ 9.99051655e-01 4.13378799e-02 -1.36737450e-02 3.24167956e+02] [-4.13279139e-02 9.99145126e-01 1.01073404e-03 2.74862855e+02] [ 1.37038372e-02 -4.44668159e-04 9.99905999e-01 2.17113485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6207140569999 meters Centerline goodness : 0.983478 Centerline is valid? [True, True] Translation: X:324.21, Y:274.85, Z:2.17 [[ 9.98588170e-01 5.13184595e-02 -1.37142908e-02 3.24208793e+02] [-5.13163235e-02 9.98682320e-01 5.07839294e-04 2.74854677e+02] [ 1.37222813e-02 1.96644673e-04 9.99905826e-01 2.16870331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.650714057 meters Centerline goodness : 0.983962 Centerline is valid? [True, True] Translation: X:324.23, Y:274.86, Z:2.17 [[ 9.98562691e-01 5.18239828e-02 -1.36684862e-02 3.24234229e+02] [-5.18143319e-02 9.98656173e-01 1.05948794e-03 2.74860936e+02] [ 1.37050250e-02 -3.49741647e-04 9.99906021e-01 2.16808436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6807140569999 meters Centerline goodness : 0.988897 Centerline is valid? [True, True] Translation: X:324.27, Y:274.86, Z:2.17 [[ 9.98716832e-01 4.87612343e-02 -1.36759273e-02 3.24267135e+02] [-4.87525237e-02 9.98810418e-01 9.69788181e-04 2.74864421e+02] [ 1.37069468e-02 -3.01807808e-04 9.99906010e-01 2.16722202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7107140569999 meters Centerline goodness : 0.985875 Centerline is valid? [True, True] Translation: X:324.30, Y:274.86, Z:2.16 [[ 9.98196888e-01 5.84493129e-02 -1.36620437e-02 3.24295116e+02] [-5.84392267e-02 9.98290321e-01 1.13666333e-03 2.74861416e+02] [ 1.37051232e-02 -3.36214531e-04 9.99906024e-01 2.16292309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7407140569999 meters Centerline goodness : 0.985386 Centerline is valid? [True, True] Translation: X:324.32, Y:274.86, Z:2.17 [[ 9.98411727e-01 5.46569527e-02 -1.36616399e-02 3.24319700e+02] [-5.46464451e-02 9.98505114e-01 1.14152438e-03 2.74864063e+02] [ 1.37036096e-02 -3.93151271e-04 9.99906024e-01 2.16782689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.770714057 meters Centerline goodness : 0.984508 Centerline is valid? [True, True] Translation: X:324.35, Y:274.87, Z:2.17 [[ 9.98524724e-01 5.25490332e-02 -1.36738908e-02 3.24348034e+02] [-5.25403558e-02 9.98618308e-01 9.93302403e-04 2.74867139e+02] [ 1.37071948e-02 -2.73405917e-04 9.99906015e-01 2.16741860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8007140569999 meters Centerline goodness : 0.984235 Centerline is valid? [True, True] Translation: X:324.38, Y:274.87, Z:2.17 [[ 9.98387764e-01 5.50896675e-02 -1.36748198e-02 3.24377133e+02] [-5.50813827e-02 9.98481385e-01 9.82023406e-04 2.74865243e+02] [ 1.37081523e-02 -2.27212170e-04 9.99906013e-01 2.16933107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8307140569999 meters Centerline goodness : 0.980237 Centerline is valid? [True, True] Translation: X:324.39, Y:274.88, Z:2.17 [[ 9.98777448e-01 4.75051872e-02 -1.36699506e-02 3.24393257e+02] [-4.74953727e-02 9.98870915e-01 1.04189680e-03 2.74875119e+02] [ 1.37040116e-02 -3.91363633e-04 9.99906019e-01 2.17109157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8607140569999 meters Centerline goodness : 0.980719 Centerline is valid? [True, True] Translation: X:324.42, Y:274.87, Z:2.17 [[ 9.98683145e-01 4.94373931e-02 -1.37084098e-02 3.24420887e+02] [-4.94342657e-02 9.98777218e-01 5.67099436e-04 2.74874388e+02] [ 1.37196833e-02 1.11312523e-04 9.99905875e-01 2.17241636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.890714057 meters Centerline goodness : 0.985012 Centerline is valid? [True, True] Translation: X:324.46, Y:274.87, Z:2.18 [[ 9.98280819e-01 5.69847860e-02 -1.37164286e-02 3.24461810e+02] [-5.69837409e-02 9.98374997e-01 4.67328489e-04 2.74865729e+02] [ 1.37207700e-02 3.15088345e-04 9.99905816e-01 2.17629225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9207140569999 meters Centerline goodness : 0.985260 Centerline is valid? [True, True] Translation: X:324.49, Y:274.87, Z:2.17 [[ 9.98580073e-01 5.14916893e-02 -1.36544681e-02 3.24485926e+02] [-5.14795523e-02 9.98673280e-01 1.23909473e-03 2.74873780e+02] [ 1.37001556e-02 -5.34409400e-04 9.99906006e-01 2.17274134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9507140569999 meters Centerline goodness : 0.989245 Centerline is valid? [True, True] Translation: X:324.52, Y:274.88, Z:2.18 [[ 9.98902465e-01 4.47978920e-02 -1.36752942e-02 3.24517326e+02] [-4.47887018e-02 9.98996004e-01 9.77701956e-04 2.74877713e+02] [ 1.37053632e-02 -3.64130220e-04 9.99906011e-01 2.17597227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9807140569999 meters Centerline goodness : 0.989574 Centerline is valid? [True, True] Translation: X:324.54, Y:274.88, Z:2.17 [[ 9.99056766e-01 4.12166124e-02 -1.36663423e-02 3.24544651e+02] [-4.12055531e-02 9.99150096e-01 1.08994664e-03 2.74878252e+02] [ 1.36996511e-02 -5.25789372e-04 9.99906017e-01 2.17479442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.010714057 meters Centerline goodness : 0.984663 Centerline is valid? [True, True] Translation: X:324.57, Y:274.88, Z:2.17 [[ 9.99010018e-01 4.23345139e-02 -1.36664753e-02 3.24565898e+02] [-4.23235819e-02 9.99103363e-01 1.08827703e-03 2.74876050e+02] [ 1.37002931e-02 -5.08785467e-04 9.99906017e-01 2.17069348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.040714057 meters Centerline goodness : 0.985118 Centerline is valid? [True, True] Translation: X:324.60, Y:274.88, Z:2.17 [[ 9.99133922e-01 3.92952814e-02 -1.36852798e-02 3.24597415e+02] [-3.92873033e-02 9.99227593e-01 8.51421447e-04 2.74875565e+02] [ 1.37081660e-02 -3.13026312e-04 9.99905990e-01 2.17075290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0707140569999 meters Centerline goodness : 0.986578 Centerline is valid? [True, True] Translation: X:324.63, Y:274.87, Z:2.18 [[ 9.99062137e-01 4.10819233e-02 -1.36792279e-02 3.24630745e+02] [-4.10730759e-02 9.99155715e-01 9.27211735e-04 2.74872397e+02] [ 1.37057704e-02 -3.64494173e-04 9.99906005e-01 2.17716527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1007140569999 meters Centerline goodness : 0.985049 Centerline is valid? [True, True] Translation: X:324.66, Y:274.87, Z:2.18 [[ 9.99069701e-01 4.09059222e-02 -1.36542357e-02 3.24660441e+02] [-4.08927180e-02 9.99162767e-01 1.24495073e-03 2.74873560e+02] [ 1.36937298e-02 -6.85433739e-04 9.99906002e-01 2.18080820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.130714057 meters Centerline goodness : 0.985558 Centerline is valid? [True, True] Translation: X:324.69, Y:274.87, Z:2.18 [[ 9.99078738e-01 4.06847365e-02 -1.36538150e-02 3.24689036e+02] [-4.06714385e-02 9.99171792e-01 1.25031821e-03 2.74872390e+02] [ 1.36933757e-02 -6.93846038e-04 9.99906001e-01 2.18158254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.160714057 meters Centerline goodness : 0.985336 Centerline is valid? [True, True] Translation: X:324.71, Y:274.87, Z:2.18 [[ 9.99023129e-01 4.20281437e-02 -1.36536755e-02 3.24713759e+02] [-4.20149465e-02 9.99116198e-01 1.25210339e-03 2.74873893e+02] [ 1.36942320e-02 -6.77221800e-04 9.99906000e-01 2.18045145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1907140569999 meters Centerline goodness : 0.985060 Centerline is valid? [True, True] Translation: X:324.74, Y:274.87, Z:2.18 [[ 9.98908425e-01 4.46688914e-02 -1.36619490e-02 3.24743107e+02] [-4.46573926e-02 9.99001704e-01 1.14573295e-03 2.74873189e+02] [ 1.36994890e-02 -5.34375273e-04 9.99906015e-01 2.17556163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2207140569999 meters Centerline goodness : 0.985481 Centerline is valid? [True, True] Translation: X:324.77, Y:274.87, Z:2.18 [[ 9.98773477e-01 4.75921609e-02 -1.36575174e-02 3.24769994e+02] [-4.75801533e-02 9.98866699e-01 1.20296267e-03 2.74873733e+02] [ 1.36992909e-02 -5.51660442e-04 9.99906008e-01 2.17562398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.250714057 meters Centerline goodness : 0.985353 Centerline is valid? [True, True] Translation: X:324.80, Y:274.87, Z:2.18 [[ 9.98627048e-01 5.05706210e-02 -1.36612911e-02 3.24800785e+02] [-5.05595619e-02 9.98720381e-01 1.15390675e-03 2.74873149e+02] [ 1.37021637e-02 -4.61613600e-04 9.99906014e-01 2.17638694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.280714057 meters Centerline goodness : 0.986887 Centerline is valid? [True, True] Translation: X:324.83, Y:274.87, Z:2.18 [[ 9.98504326e-01 5.29394255e-02 -1.36575171e-02 3.24828605e+02] [-5.29279169e-02 9.98597611e-01 1.20299201e-03 2.74870697e+02] [ 1.37020496e-02 -4.78328797e-04 9.99906008e-01 2.17893011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3107140569999 meters Centerline goodness : 0.985823 Centerline is valid? [True, True] Translation: X:324.86, Y:274.87, Z:2.18 [[ 9.98526040e-01 5.25281636e-02 -1.36579731e-02 3.24856421e+02] [-5.25166983e-02 9.98619329e-01 1.19701197e-03 2.74867737e+02] [ 1.37019927e-02 -4.77975968e-04 9.99906009e-01 2.17961635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3407140569999 meters Centerline goodness : 0.987497 Centerline is valid? [True, True] Translation: X:324.89, Y:274.86, Z:2.18 [[ 9.98643903e-01 5.02373518e-02 -1.36588324e-02 3.24886505e+02] [-5.02258286e-02 9.98737183e-01 1.18558370e-03 2.74863964e+02] [ 1.37011444e-02 -4.97949755e-04 9.99906011e-01 2.17652982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3707140569999 meters Centerline goodness : 0.985961 Centerline is valid? [True, True] Translation: X:324.91, Y:274.86, Z:2.17 [[ 9.98650759e-01 5.01027276e-02 -1.36520359e-02 3.24911428e+02] [-5.00899558e-02 9.98743895e-01 1.27606899e-03 2.74860346e+02] [ 1.36988220e-02 -5.90517392e-04 9.99905992e-01 2.17377194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.400714057 meters Centerline goodness : 0.986455 Centerline is valid? [True, True] Translation: X:324.94, Y:274.86, Z:2.17 [[ 9.98627086e-01 5.05707539e-02 -1.36580603e-02 3.24936362e+02] [-5.05591133e-02 9.98720354e-01 1.19646093e-03 2.74862045e+02] [ 1.37010887e-02 -5.04278879e-04 9.99906009e-01 2.17239216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4307140569999 meters Centerline goodness : 0.986842 Centerline is valid? [True, True] Translation: X:324.97, Y:274.86, Z:2.18 [[ 9.98520676e-01 5.26280751e-02 -1.36655146e-02 3.24969401e+02] [-5.26179869e-02 9.98614112e-01 1.09696509e-03 2.74860913e+02] [ 1.37043069e-02 -3.76290448e-04 9.99906021e-01 2.17890676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4607140569999 meters Centerline goodness : 0.986624 Centerline is valid? [True, True] Translation: X:325.00, Y:274.86, Z:2.18 [[ 9.98331221e-01 5.61098043e-02 -1.36551293e-02 3.24995498e+02] [-5.60981496e-02 9.98424495e-01 1.23534786e-03 2.74858140e+02] [ 1.37029307e-02 -4.67258855e-04 9.99906001e-01 2.18072743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4907140569999 meters Centerline goodness : 0.987190 Centerline is valid? [True, True] Translation: X:325.03, Y:274.86, Z:2.18 [[ 9.98306278e-01 5.65507974e-02 -1.36594912e-02 3.25025343e+02] [-5.65399826e-02 9.98399642e-01 1.17693094e-03 2.74855535e+02] [ 1.37041875e-02 -4.02630148e-04 9.99906012e-01 2.18143468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.520714057 meters Centerline goodness : 0.986300 Centerline is valid? [True, True] Translation: X:325.05, Y:274.85, Z:2.18 [[ 9.98222372e-01 5.80134500e-02 -1.36578052e-02 3.25053690e+02] [-5.80024602e-02 9.98315719e-01 1.19972635e-03 2.74852894e+02] [ 1.37044019e-02 -4.05407376e-04 9.99906008e-01 2.18111778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5507140569999 meters Centerline goodness : 0.986780 Centerline is valid? [True, True] Translation: X:325.08, Y:274.85, Z:2.19 [[ 9.98472639e-01 5.35331124e-02 -1.36599711e-02 3.25084084e+02] [-5.35221120e-02 9.98565979e-01 1.16987185e-03 2.74852488e+02] [ 1.37030093e-02 -4.36974534e-04 9.99906014e-01 2.18754937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5807140569999 meters Centerline goodness : 0.985929 Centerline is valid? [True, True] Translation: X:325.11, Y:274.85, Z:2.18 [[ 9.98405881e-01 5.47654566e-02 -1.36543308e-02 3.25106855e+02] [-5.47535097e-02 9.98499122e-01 1.24752694e-03 2.74849840e+02] [ 1.37021587e-02 -4.97915705e-04 9.99905997e-01 2.18465213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6107140569999 meters Centerline goodness : 0.986073 Centerline is valid? [True, True] Translation: X:325.14, Y:274.85, Z:2.19 [[ 9.98537083e-01 5.23154730e-02 -1.36669568e-02 3.25137573e+02] [-5.23056840e-02 9.98630544e-01 1.07296042e-03 2.74846866e+02] [ 1.37043730e-02 -3.56531240e-04 9.99906027e-01 2.18706506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.640714057 meters Centerline goodness : 0.986343 Centerline is valid? [True, True] Translation: X:325.17, Y:274.84, Z:2.19 [[ 9.98559822e-01 5.18812132e-02 -1.36609241e-02 3.25167618e+02] [-5.18702409e-02 9.98653163e-01 1.15652381e-03 2.74843719e+02] [ 1.37025269e-02 -4.46262787e-04 9.99906016e-01 2.19037813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6707140569999 meters Centerline goodness : 0.986946 Centerline is valid? [True, True] Translation: X:325.19, Y:274.84, Z:2.19 [[ 9.98696564e-01 4.91798024e-02 -1.36572257e-02 3.25194661e+02] [-4.91678759e-02 9.98789798e-01 1.20787189e-03 2.74841281e+02] [ 1.37001006e-02 -5.34800732e-04 9.99906006e-01 2.18586262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7007140569999 meters Centerline goodness : 0.988490 Centerline is valid? [True, True] Translation: X:325.23, Y:274.84, Z:2.18 [[ 9.99089457e-01 4.04180131e-02 -1.36616762e-02 3.25231041e+02] [-4.04061349e-02 9.99182683e-01 1.14447803e-03 2.74837949e+02] [ 1.36967679e-02 -5.91420399e-04 9.99906020e-01 2.18491962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7307140569999 meters Centerline goodness : 0.985966 Centerline is valid? [True, True] Translation: X:325.25, Y:274.84, Z:2.18 [[ 9.98899854e-01 4.48672928e-02 -1.36384694e-02 3.25248502e+02] [-4.48513379e-02 9.98992586e-01 1.47362034e-03 2.74836233e+02] [ 1.36908471e-02 -8.60295544e-04 9.99905906e-01 2.18374993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.760714057 meters Centerline goodness : 0.987266 Centerline is valid? [True, True] Translation: X:325.28, Y:274.84, Z:2.18 [[ 9.99086636e-01 4.04857058e-02 -1.36675227e-02 3.25277492e+02] [-4.04749866e-02 9.99179990e-01 1.06009735e-03 2.74836117e+02] [ 1.36992339e-02 -5.05936302e-04 9.99906033e-01 2.18137115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.790714057 meters Centerline goodness : 0.985465 Centerline is valid? [True, True] Translation: X:325.31, Y:274.83, Z:2.19 [[ 9.99036926e-01 4.16941449e-02 -1.36681755e-02 3.25307953e+02] [-4.16836658e-02 9.99130306e-01 1.05079210e-03 2.74832682e+02] [ 1.37001002e-02 -4.80040447e-04 9.99906034e-01 2.18887621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8207140569999 meters Centerline goodness : 0.988739 Centerline is valid? [True, True] Translation: X:325.35, Y:274.83, Z:2.19 [[ 9.99244382e-01 3.63871345e-02 -1.36617135e-02 3.25345223e+02] [-3.63748427e-02 9.99337558e-01 1.14722009e-03 2.74829706e+02] [ 1.36944074e-02 -6.49410552e-04 9.99906016e-01 2.18888374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8507140569999 meters Centerline goodness : 0.986709 Centerline is valid? [True, True] Translation: X:325.36, Y:274.83, Z:2.19 [[ 9.99046848e-01 4.14660112e-02 -1.36369155e-02 3.25363464e+02] [-4.14491913e-02 9.99139466e-01 1.51386114e-03 2.74828865e+02] [ 1.36879543e-02 -9.47179080e-04 9.99905867e-01 2.19071788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.880714057 meters Centerline goodness : 0.989717 Centerline is valid? [True, True] Translation: X:325.40, Y:274.83, Z:2.19 [[ 9.99329359e-01 3.39720587e-02 -1.36650045e-02 3.25399817e+02] [-3.39603558e-02 9.99422589e-01 1.08761727e-03 2.74826949e+02] [ 1.36940628e-02 -6.22819452e-04 9.99906038e-01 2.18934806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.910714057 meters Centerline goodness : 0.989209 Centerline is valid? [True, True] Translation: X:325.43, Y:274.83, Z:2.19 [[ 9.99380086e-01 3.24558510e-02 -1.36404018e-02 3.25426487e+02] [-3.24389625e-02 9.99472655e-01 1.45761186e-03 2.74825585e+02] [ 1.36805166e-02 -1.01422778e-03 9.99905903e-01 2.18769751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9407140569999 meters Centerline goodness : 0.987803 Centerline is valid? [True, True] Translation: X:325.45, Y:274.83, Z:2.19 [[ 9.99295134e-01 3.49734787e-02 -1.36414983e-02 3.25449432e+02] [-3.49570512e-02 9.99387777e-01 1.44089693e-03 2.74825239e+02] [ 1.36835398e-02 -9.63014741e-04 9.99905912e-01 2.18816191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9707140569999 meters Centerline goodness : 0.988829 Centerline is valid? [True, True] Translation: X:325.48, Y:274.82, Z:2.19 [[ 9.99395408e-01 3.19734454e-02 -1.36571131e-02 3.25482902e+02] [-3.19600441e-02 9.99488429e-01 1.19845194e-03 2.74823644e+02] [ 1.36884452e-02 -7.61245425e-04 9.99906019e-01 2.18921885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.000714057 meters Centerline goodness : 0.985953 Centerline is valid? [True, True] Translation: X:325.50, Y:274.82, Z:2.19 [[ 9.99246509e-01 3.63356601e-02 -1.36430601e-02 3.25504941e+02] [-3.63197035e-02 9.99339219e-01 1.41561222e-03 2.74822094e+02] [ 1.36854823e-02 -9.19033670e-04 9.99905927e-01 2.19011147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.030714057 meters Centerline goodness : 0.988393 Centerline is valid? [True, True] Translation: X:325.54, Y:274.82, Z:2.19 [[ 9.99354644e-01 3.32223195e-02 -1.36592028e-02 3.25538383e+02] [-3.32094722e-02 9.99447733e-01 1.16637085e-03 2.74818954e+02] [ 1.36904088e-02 -7.12003213e-04 9.99906028e-01 2.18761844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0607140569999 meters Centerline goodness : 0.987112 Centerline is valid? [True, True] Translation: X:325.56, Y:274.82, Z:2.19 [[ 9.99310085e-01 3.45413980e-02 -1.36471583e-02 3.25562074e+02] [-3.45261291e-02 9.99402880e-01 1.35292780e-03 2.74818432e+02] [ 1.36857413e-02 -8.80810849e-04 9.99905958e-01 2.18916457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0907140569999 meters Centerline goodness : 0.987769 Centerline is valid? [True, True] Translation: X:325.59, Y:274.82, Z:2.19 [[ 9.99392675e-01 3.20577015e-02 -1.36596001e-02 3.25588718e+02] [-3.20448630e-02 9.99485761e-01 1.15777642e-03 2.74816007e+02] [ 1.36896914e-02 -7.19353255e-04 9.99906033e-01 2.18655444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1207140569999 meters Centerline goodness : 0.986095 Centerline is valid? [True, True] Translation: X:325.62, Y:274.81, Z:2.19 [[ 9.99429216e-01 3.08967322e-02 -1.36613918e-02 3.25616236e+02] [-3.08841709e-02 9.99522332e-01 1.12953783e-03 2.74814820e+02] [ 1.36897652e-02 -7.06972354e-04 9.99906041e-01 2.18904719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.150714057 meters Centerline goodness : 0.988075 Centerline is valid? [True, True] Translation: X:325.65, Y:274.81, Z:2.19 [[ 9.99567449e-01 2.60424707e-02 -1.36640254e-02 3.25650050e+02] [-2.60300399e-02 9.99660570e-01 1.08684173e-03 2.74813955e+02] [ 1.36876914e-02 -7.30696491e-04 9.99906052e-01 2.19067627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1807140569999 meters Centerline goodness : 0.987151 Centerline is valid? [True, True] Translation: X:325.68, Y:274.81, Z:2.19 [[ 9.99533288e-01 2.73297338e-02 -1.36488910e-02 3.25676521e+02] [-2.73140930e-02 9.99626014e-01 1.33107966e-03 2.74812955e+02] [ 1.36801646e-02 -9.57651355e-04 9.99905964e-01 2.19154975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2107140569999 meters Centerline goodness : 0.987178 Centerline is valid? [True, True] Translation: X:325.70, Y:274.81, Z:2.19 [[ 9.99510867e-01 2.81359872e-02 -1.36525601e-02 3.25704754e+02] [-2.81212240e-02 9.99603711e-01 1.27216005e-03 2.74811710e+02] [ 1.36829433e-02 -8.87611097e-04 9.99905990e-01 2.19338179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2407140569999 meters Centerline goodness : 0.987185 Centerline is valid? [True, True] Translation: X:325.73, Y:274.81, Z:2.19 [[ 9.99515025e-01 2.79880193e-02 -1.36522738e-02 3.25732479e+02] [-2.79731791e-02 9.99607859e-01 1.27680129e-03 2.74812541e+02] [ 1.36826553e-02 -8.94284579e-04 9.99905988e-01 2.19459107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.270714057 meters Centerline goodness : 0.986375 Centerline is valid? [True, True] Translation: X:325.75, Y:274.81, Z:2.20 [[ 9.99379003e-01 3.24832792e-02 -1.36545146e-02 3.25754789e+02] [-3.24693590e-02 9.99471962e-01 1.23996669e-03 2.74811048e+02] [ 1.36875827e-02 -7.95843340e-04 9.99906004e-01 2.19815199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3007140569999 meters Centerline goodness : 0.987443 Centerline is valid? [True, True] Translation: X:325.79, Y:274.81, Z:2.19 [[ 9.99564314e-01 2.61603801e-02 -1.36681197e-02 3.25790234e+02] [-2.61489610e-02 9.99657544e-01 1.01352627e-03 2.74808540e+02] [ 1.36899532e-02 -6.55677565e-04 9.99906073e-01 2.19401727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3307140569999 meters Centerline goodness : 0.987477 Centerline is valid? [True, True] Translation: X:325.82, Y:274.81, Z:2.19 [[ 9.99606179e-01 2.45168014e-02 -1.36533581e-02 3.25817584e+02] [-2.45018941e-02 9.99698992e-01 1.25806599e-03 2.74806464e+02] [ 1.36800920e-02 -9.23037399e-04 9.99905997e-01 2.19289048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3607140569999 meters Centerline goodness : 0.987815 Centerline is valid? [True, True] Translation: X:325.85, Y:274.80, Z:2.19 [[ 9.99655310e-01 2.24213352e-02 -1.36581778e-02 3.25846246e+02] [-2.24073765e-02 9.99748234e-01 1.17419442e-03 2.74804419e+02] [ 1.36810661e-02 -8.67745754e-04 9.99906033e-01 2.19344516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.390714057 meters Centerline goodness : 0.987154 Centerline is valid? [True, True] Translation: X:325.87, Y:274.80, Z:2.20 [[ 9.99562585e-01 2.62330014e-02 -1.36553389e-02 3.25867754e+02] [-2.62187141e-02 9.99655481e-01 1.22428110e-03 2.74803827e+02] [ 1.36827509e-02 -8.65720156e-04 9.99906012e-01 2.19698792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4207140569999 meters Centerline goodness : 0.988079 Centerline is valid? [True, True] Translation: X:325.90, Y:274.80, Z:2.20 [[ 9.99642705e-01 2.29699477e-02 -1.36691196e-02 3.25904113e+02] [-2.29586800e-02 9.99735934e-01 9.80686691e-04 2.74801632e+02] [ 1.36880364e-02 -6.66511353e-04 9.99906092e-01 2.20044487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4507140569999 meters Centerline goodness : 0.988079 Centerline is valid? [True, True] Translation: X:325.93, Y:274.80, Z:2.20 [[ 9.99656919e-01 2.23518747e-02 -1.36542286e-02 3.25932125e+02] [-2.23369607e-02 9.99749725e-01 1.24381711e-03 2.74800304e+02] [ 1.36786129e-02 -9.38396409e-04 9.99906003e-01 2.20070692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4807140569999 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:325.95, Y:274.80, Z:2.20 [[ 9.99587657e-01 2.52599328e-02 -1.36547643e-02 3.25952583e+02] [-2.52454188e-02 9.99680522e-01 1.23427574e-03 2.74801185e+02] [ 1.36815796e-02 -8.89046546e-04 9.99906008e-01 2.20033964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.510714057 meters Centerline goodness : 0.988674 Centerline is valid? [True, True] Translation: X:325.99, Y:274.80, Z:2.20 [[ 9.99657337e-01 2.23227013e-02 -1.36713263e-02 3.25987678e+02] [-2.23120300e-02 9.99750621e-01 9.32608393e-04 2.74797408e+02] [ 1.36887353e-02 -6.27253780e-04 9.99906108e-01 2.19931149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.540714057 meters Centerline goodness : 0.988724 Centerline is valid? [True, True] Translation: X:326.02, Y:274.79, Z:2.20 [[ 9.99631303e-01 2.34665460e-02 -1.36594022e-02 3.26017575e+02] [-2.34529548e-02 9.99724275e-01 1.15436481e-03 2.74794901e+02] [ 1.36827249e-02 -8.33585855e-04 9.99906040e-01 2.19763060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5707140569999 meters Centerline goodness : 0.988812 Centerline is valid? [True, True] Translation: X:326.05, Y:274.80, Z:2.20 [[ 9.99611787e-01 2.42839579e-02 -1.36589000e-02 3.26046258e+02] [-2.42703112e-02 9.99704755e-01 1.16400464e-03 2.74795729e+02] [ 1.36831339e-02 -8.32047001e-04 9.99906035e-01 2.19909297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6007140569999 meters Centerline goodness : 0.989343 Centerline is valid? [True, True] Translation: X:326.07, Y:274.80, Z:2.20 [[ 9.99523913e-01 2.76664500e-02 -1.36570699e-02 3.26073295e+02] [-2.76526352e-02 9.99616873e-01 1.19938742e-03 2.74796804e+02] [ 1.36850203e-02 -8.21162432e-04 9.99906019e-01 2.20001929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.630714057 meters Centerline goodness : 0.989278 Centerline is valid? [True, True] Translation: X:326.10, Y:274.80, Z:2.20 [[ 9.99499019e-01 2.85510922e-02 -1.36581841e-02 3.26100687e+02] [-2.85376472e-02 9.99592024e-01 1.17831754e-03 2.74795676e+02] [ 1.36862541e-02 -7.87954782e-04 9.99906028e-01 2.20047635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.660714057 meters Centerline goodness : 0.988327 Centerline is valid? [True, True] Translation: X:326.13, Y:274.79, Z:2.20 [[ 9.99495720e-01 2.86656726e-02 -1.36596316e-02 3.26127594e+02] [-2.86526212e-02 9.99588768e-01 1.15026193e-03 2.74793364e+02] [ 1.36869873e-02 -7.58297631e-04 9.99906041e-01 2.20063089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6907140569999 meters Centerline goodness : 0.988023 Centerline is valid? [True, True] Translation: X:326.15, Y:274.79, Z:2.20 [[ 9.99504462e-01 2.83591523e-02 -1.36597802e-02 3.26154883e+02] [-2.83461120e-02 9.99597510e-01 1.14735150e-03 2.74791318e+02] [ 1.36868202e-02 -7.59581288e-04 9.99906043e-01 2.19980639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7207140569999 meters Centerline goodness : 0.988476 Centerline is valid? [True, True] Translation: X:326.18, Y:274.79, Z:2.20 [[ 9.99548928e-01 2.67451395e-02 -1.36615665e-02 3.26182855e+02] [-2.67324298e-02 9.99642006e-01 1.11212746e-03 2.74789605e+02] [ 1.36864197e-02 -7.46418942e-04 9.99906058e-01 2.20072346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.750714057 meters Centerline goodness : 0.986742 Centerline is valid? [True, True] Translation: X:326.21, Y:274.79, Z:2.20 [[ 9.99439024e-01 3.05775900e-02 -1.36619646e-02 3.26205418e+02] [-3.05653463e-02 9.99532161e-01 1.10413709e-03 2.74788966e+02] [ 1.36893349e-02 -6.85935015e-04 9.99906061e-01 2.20434835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.780714057 meters Centerline goodness : 0.987281 Centerline is valid? [True, True] Translation: X:326.23, Y:274.79, Z:2.21 [[ 9.99442549e-01 3.04572059e-02 -1.36729701e-02 3.26234392e+02] [-3.04480267e-02 9.99535965e-01 8.79050539e-04 2.74786995e+02] [ 1.36933988e-02 -4.62245552e-04 9.99906134e-01 2.20629770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8107140569999 meters Centerline goodness : 0.987766 Centerline is valid? [True, True] Translation: X:326.27, Y:274.78, Z:2.20 [[ 9.99616455e-01 2.40829184e-02 -1.36732035e-02 3.26269144e+02] [-2.40732096e-02 9.99709816e-01 8.74223506e-04 2.74783661e+02] [ 1.36902896e-02 -5.44730308e-04 9.99906135e-01 2.20452681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8407140569999 meters Centerline goodness : 0.988853 Centerline is valid? [True, True] Translation: X:326.30, Y:274.78, Z:2.20 [[ 9.99654995e-01 2.24330328e-02 -1.36619695e-02 3.26297205e+02] [-2.24200000e-02 9.99748028e-01 1.10637723e-03 2.74781833e+02] [ 1.36833465e-02 -7.99694170e-04 9.99906059e-01 2.20434777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8707140569999 meters Centerline goodness : 0.986526 Centerline is valid? [True, True] Translation: X:326.32, Y:274.78, Z:2.21 [[ 9.99655030e-01 2.24320866e-02 -1.36610002e-02 3.26316714e+02] [-2.24187776e-02 9.99748033e-01 1.12661673e-03 2.74781253e+02] [ 1.36828305e-02 -8.19965155e-04 9.99906049e-01 2.20583386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.900714057 meters Centerline goodness : 0.986289 Centerline is valid? [True, True] Translation: X:326.35, Y:274.78, Z:2.20 [[ 9.99781371e-01 1.58176514e-02 -1.36752611e-02 3.26346547e+02] [-1.58079571e-02 9.99874713e-01 8.16705157e-04 2.74777463e+02] [ 1.36864661e-02 -6.00348660e-04 9.99906156e-01 2.20299746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9307140569999 meters Centerline goodness : 0.986698 Centerline is valid? [True, True] Translation: X:326.37, Y:274.78, Z:2.20 [[ 9.99844481e-01 1.11404641e-02 -1.36712807e-02 3.26372789e+02] [-1.11291483e-02 9.99937661e-01 9.03504720e-04 2.74775296e+02] [ 1.36804939e-02 -7.51214498e-04 9.99906135e-01 2.20127091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9607140569999 meters Centerline goodness : 0.986366 Centerline is valid? [True, True] Translation: X:326.40, Y:274.77, Z:2.20 [[ 9.99887872e-01 6.10344813e-03 -1.36744990e-02 3.26402799e+02] [-6.09264061e-03 9.99981094e-01 8.31861269e-04 2.74773284e+02] [ 1.36793177e-02 -7.48454186e-04 9.99906154e-01 2.20146967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9907140569999 meters Centerline goodness : 0.987374 Centerline is valid? [True, True] Translation: X:326.43, Y:274.77, Z:2.19 [[ 9.99880769e-01 7.18229866e-03 -1.36697593e-02 3.26430112e+02] [-7.17014608e-03 9.99973854e-01 9.37814255e-04 2.74771705e+02] [ 1.36761375e-02 -8.39688268e-04 9.99906125e-01 2.19447353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.020714057 meters Centerline goodness : 0.987364 Centerline is valid? [True, True] Translation: X:326.47, Y:274.77, Z:2.20 [[ 9.99906408e-01 3.91678237e-04 -1.36755596e-02 3.26465654e+02] [-3.80661459e-04 9.99999601e-01 8.08175257e-04 2.74769930e+02] [ 1.36758707e-02 -8.02893860e-04 9.99906159e-01 2.19904210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0507140569999 meters Centerline goodness : 0.985070 Centerline is valid? [True, True] Translation: X:326.49, Y:274.77, Z:2.20 [[ 9.99876940e-01 7.71582485e-03 -1.36590726e-02 3.26488031e+02] [-7.70054284e-03 9.99969665e-01 1.17105853e-03 2.74769586e+02] [ 1.36676939e-02 -1.06573215e-03 9.99906025e-01 2.20278437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0807140569999 meters Centerline goodness : 0.988165 Centerline is valid? [True, True] Translation: X:326.53, Y:274.77, Z:2.20 [[ 9.99901103e-01 3.29158279e-03 -1.36729446e-02 3.26526053e+02] [-3.28015161e-03 9.99994252e-01 8.58385051e-04 2.74768551e+02] [ 1.36756915e-02 -8.13450828e-04 9.99906152e-01 2.20189372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1107140569999 meters Centerline goodness : 0.987952 Centerline is valid? [True, True] Translation: X:326.55, Y:274.77, Z:2.20 [[ 9.99900809e-01 3.44220162e-03 -1.36573658e-02 3.26554741e+02] [-3.42599680e-03 9.99993400e-01 1.20974530e-03 2.74768243e+02] [ 1.36614399e-02 -1.16283521e-03 9.99906002e-01 2.20238309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.140714057 meters Centerline goodness : 0.988424 Centerline is valid? [True, True] Translation: X:326.58, Y:274.77, Z:2.20 [[ 9.99892333e-01 5.36528906e-03 -1.36578385e-02 3.26584574e+02] [-5.34941043e-03 9.99984973e-01 1.19886935e-03 2.74765982e+02] [ 1.36640656e-02 -1.12567889e-03 9.99906009e-01 2.20358833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1707140569999 meters Centerline goodness : 0.988103 Centerline is valid? [True, True] Translation: X:326.61, Y:274.76, Z:2.20 [[ 9.99894532e-01 4.94669576e-03 -1.36548624e-02 3.26614328e+02] [-4.92983197e-03 9.99987044e-01 1.26838632e-03 2.74761729e+02] [ 1.36609598e-02 -1.20093637e-03 9.99905964e-01 2.20253543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2007140569999 meters Centerline goodness : 0.986255 Centerline is valid? [True, True] Translation: X:326.64, Y:274.76, Z:2.20 [[ 9.99867832e-01 8.82679466e-03 -1.36530861e-02 3.26636142e+02] [-8.80971535e-03 9.99960335e-01 1.31058737e-03 2.74762266e+02] [ 1.36641128e-02 -1.19013435e-03 9.99905933e-01 2.20057114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2307140569999 meters Centerline goodness : 0.986924 Centerline is valid? [True, True] Translation: X:326.67, Y:274.76, Z:2.20 [[ 9.99899991e-01 3.63675937e-03 -1.36667894e-02 3.26669630e+02] [-3.62376060e-03 9.99992958e-01 9.75764130e-04 2.74762802e+02] [ 1.36702418e-02 -9.26141372e-04 9.99906129e-01 2.20316562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.260714057 meters Centerline goodness : 0.986197 Centerline is valid? [True, True] Translation: X:326.69, Y:274.77, Z:2.20 [[ 9.99887795e-01 6.14856889e-03 -1.36598570e-02 3.26691112e+02] [-6.13347052e-03 9.99980532e-01 1.14692832e-03 2.74765488e+02] [ 1.36666431e-02 -1.06301730e-03 9.99906042e-01 2.20413475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.290714057 meters Centerline goodness : 0.986957 Centerline is valid? [True, True] Translation: X:326.72, Y:274.77, Z:2.21 [[ 9.99902145e-01 2.96371964e-03 -1.36717364e-02 3.26719937e+02] [-2.95267869e-03 9.99995298e-01 8.27689529e-04 2.74766071e+02] [ 1.36741252e-02 -7.87240291e-04 9.99906195e-01 2.20509206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3207140569999 meters Centerline goodness : 0.987855 Centerline is valid? [True, True] Translation: X:326.75, Y:274.76, Z:2.20 [[ 9.99904646e-01 1.96095914e-03 -1.36694591e-02 3.26753118e+02] [-1.94898817e-03 9.99997706e-01 8.89011893e-04 2.74763777e+02] [ 1.36711711e-02 -8.62285508e-04 9.99906173e-01 2.20152472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3507140569999 meters Centerline goodness : 0.986134 Centerline is valid? [True, True] Translation: X:326.78, Y:274.76, Z:2.21 [[ 9.99861923e-01 9.46008268e-03 -1.36616648e-02 3.26775844e+02] [-9.44608867e-03 9.99954792e-01 1.08849302e-03 2.74763585e+02] [ 1.36713444e-02 -9.59293429e-04 9.99906083e-01 2.20730793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.380714057 meters Centerline goodness : 0.987299 Centerline is valid? [True, True] Translation: X:326.81, Y:274.76, Z:2.21 [[ 9.99854079e-01 1.02409714e-02 -1.36727299e-02 3.26814326e+02] [-1.02310391e-02 9.99947345e-01 7.96186841e-04 2.74761389e+02] [ 1.36801636e-02 -6.56184427e-04 9.99906207e-01 2.20532096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.410714057 meters Centerline goodness : 0.985980 Centerline is valid? [True, True] Translation: X:326.83, Y:274.76, Z:2.21 [[ 9.99684452e-01 2.10809317e-02 -1.36598470e-02 3.26834991e+02] [-2.10673934e-02 9.99777414e-01 1.13425722e-03 2.74764087e+02] [ 1.36807177e-02 -8.46121931e-04 9.99906057e-01 2.20769576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4407140569999 meters Centerline goodness : 0.985579 Centerline is valid? [True, True] Translation: X:326.87, Y:274.76, Z:2.21 [[ 9.99651146e-01 2.25982924e-02 -1.36712614e-02 3.26870956e+02] [-2.25891566e-02 9.99744494e-01 8.22313365e-04 2.74763319e+02] [ 1.36863512e-02 -5.13204234e-04 9.99906206e-01 2.20869707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4707140569999 meters Centerline goodness : 0.984928 Centerline is valid? [True, True] Translation: X:326.89, Y:274.76, Z:2.21 [[ 9.99458196e-01 2.99452017e-02 -1.36601221e-02 3.26887728e+02] [-2.99326246e-02 9.99551286e-01 1.12428820e-03 2.74763840e+02] [ 1.36876597e-02 -7.14795744e-04 9.99906064e-01 2.21079897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.500714057 meters Centerline goodness : 0.986288 Centerline is valid? [True, True] Translation: X:326.92, Y:274.76, Z:2.21 [[ 9.99463683e-01 2.97545536e-02 -1.36752604e-02 3.26923529e+02] [-2.97478613e-02 9.99557195e-01 6.92574058e-04 2.74762170e+02] [ 1.36898122e-02 -2.85392869e-04 9.99906249e-01 2.21186953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.530714057 meters Centerline goodness : 0.986697 Centerline is valid? [True, True] Translation: X:326.95, Y:274.76, Z:2.21 [[ 9.99405863e-01 3.16410174e-02 -1.36662623e-02 3.26951538e+02] [-3.16309289e-02 9.99499162e-01 9.53775777e-04 2.74761498e+02] [ 1.36895961e-02 -5.20932533e-04 9.99906157e-01 2.21332129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5607140569999 meters Centerline goodness : 0.984494 Centerline is valid? [True, True] Translation: X:326.97, Y:274.76, Z:2.22 [[ 9.99063608e-01 4.10506832e-02 -1.36655971e-02 3.26971077e+02] [-4.10412061e-02 9.99156981e-01 9.73337686e-04 2.74760807e+02] [ 1.36940329e-02 -4.11573675e-04 9.99906148e-01 2.21614631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5907140569999 meters Centerline goodness : 0.985834 Centerline is valid? [True, True] Translation: X:327.01, Y:274.76, Z:2.22 [[ 9.99246702e-01 3.63180082e-02 -1.36759268e-02 3.27006375e+02] [-3.63123951e-02 9.99340270e-01 6.58611805e-04 2.74756945e+02] [ 1.36908239e-02 -1.61510018e-04 9.99906263e-01 2.21669106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6207140569999 meters Centerline goodness : 0.984408 Centerline is valid? [True, True] Translation: X:327.03, Y:274.75, Z:2.22 [[ 9.99234544e-01 3.66543712e-02 -1.36668992e-02 3.27025785e+02] [-3.66450575e-02 9.99327910e-01 9.31365262e-04 2.74753046e+02] [ 1.36918524e-02 -4.29828036e-04 9.99906170e-01 2.21847938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.650714057 meters Centerline goodness : 0.986457 Centerline is valid? [True, True] Translation: X:327.06, Y:274.75, Z:2.22 [[ 9.99579577e-01 2.55661436e-02 -1.36762774e-02 3.27061826e+02] [-2.55597975e-02 9.99673091e-01 6.38637090e-04 2.74746935e+02] [ 1.36881340e-02 -2.88805711e-04 9.99906271e-01 2.21725003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6807140569999 meters Centerline goodness : 0.984520 Centerline is valid? [True, True] Translation: X:327.08, Y:274.74, Z:2.22 [[ 9.99713688e-01 1.96388625e-02 -1.36695746e-02 3.27084110e+02] [-1.96288972e-02 9.99806962e-01 8.62807037e-04 2.74742759e+02] [ 1.36838804e-02 -5.94241331e-04 9.99906195e-01 2.21953038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7107140569999 meters Centerline goodness : 0.985550 Centerline is valid? [True, True] Translation: X:327.11, Y:274.74, Z:2.22 [[ 9.99757713e-01 1.72479249e-02 -1.36756739e-02 3.27112540e+02] [-1.72406056e-02 9.99851157e-01 6.52922808e-04 2.74738856e+02] [ 1.36848999e-02 -4.16987714e-04 9.99906270e-01 2.21622165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7407140569999 meters Centerline goodness : 0.984310 Centerline is valid? [True, True] Translation: X:327.14, Y:274.73, Z:2.22 [[ 9.99864882e-01 9.12332314e-03 -1.36741860e-02 3.27137198e+02] [-9.11456009e-03 9.99958214e-01 7.03030507e-04 2.74734864e+02] [ 1.36800285e-02 -5.78301325e-04 9.99906257e-01 2.21939554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.770714057 meters Centerline goodness : 0.985007 Centerline is valid? [True, True] Translation: X:327.17, Y:274.73, Z:2.22 [[ 9.99901399e-01 3.18012396e-03 -1.36777037e-02 3.27168304e+02] [-3.17245271e-03 9.99994798e-01 5.82518215e-04 2.74730396e+02] [ 1.36794850e-02 -5.39068910e-04 9.99906286e-01 2.21841744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8007140569999 meters Centerline goodness : 0.988006 Centerline is valid? [True, True] Translation: X:327.20, Y:274.73, Z:2.22 [[ 9.99887964e-01 -6.08607260e-03 -1.36755025e-02 3.27202861e+02] [ 6.09564552e-03 9.99981205e-01 6.58431443e-04 2.74727894e+02] [ 1.36712382e-02 -7.41718690e-04 9.99906269e-01 2.21638281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8307140569999 meters Centerline goodness : 0.986218 Centerline is valid? [True, True] Translation: X:327.23, Y:274.73, Z:2.22 [[ 9.99906310e-01 -7.19531517e-04 -1.36694279e-02 3.27227220e+02] [ 7.31465602e-04 9.99999356e-01 8.68069844e-04 2.74727013e+02] [ 1.36687945e-02 -8.77987231e-04 9.99906192e-01 2.21778130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8607140569999 meters Centerline goodness : 0.986576 Centerline is valid? [True, True] Translation: X:327.26, Y:274.73, Z:2.22 [[ 9.99906405e-01 -3.21640938e-04 -1.36776125e-02 3.27258246e+02] [ 3.29489940e-04 9.99999782e-01 5.71608087e-04 2.74726517e+02] [ 1.36774256e-02 -5.76061224e-04 9.99906294e-01 2.21567409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.890714057 meters Centerline goodness : 0.986190 Centerline is valid? [True, True] Translation: X:327.28, Y:274.73, Z:2.22 [[ 9.99904316e-01 2.09422117e-03 -1.36738331e-02 3.27284497e+02] [-2.08472051e-03 9.99997576e-01 7.09022377e-04 2.74725871e+02] [ 1.36752848e-02 -6.80448414e-04 9.99906257e-01 2.21663796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9207140569999 meters Centerline goodness : 0.988385 Centerline is valid? [True, True] Translation: X:327.32, Y:274.72, Z:2.21 [[ 9.99904713e-01 -1.87417032e-03 -1.36767050e-02 3.27320549e+02] [ 1.88253212e-03 9.99998049e-01 5.98541785e-04 2.74723896e+02] [ 1.36755565e-02 -6.24231588e-04 9.99906290e-01 2.21283008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9507140569999 meters Centerline goodness : 0.987927 Centerline is valid? [True, True] Translation: X:327.35, Y:274.72, Z:2.21 [[ 9.99906410e-01 5.82852071e-04 -1.36686157e-02 3.27347494e+02] [-5.70531515e-04 9.99999428e-01 9.05257541e-04 2.74723340e+02] [ 1.36691355e-02 -8.97374442e-04 9.99906170e-01 2.21265046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9807140569999 meters Centerline goodness : 0.984989 Centerline is valid? [True, True] Translation: X:327.37, Y:274.73, Z:2.21 [[ 9.99898884e-01 3.91065689e-03 -1.36721491e-02 3.27371504e+02] [-3.90023544e-03 9.99992083e-01 7.88819846e-04 2.74727134e+02] [ 1.36751256e-02 -7.35415483e-04 9.99906221e-01 2.21286184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.010714057 meters Centerline goodness : 0.985461 Centerline is valid? [True, True] Translation: X:327.40, Y:274.73, Z:2.22 [[ 9.99846486e-01 1.09450510e-02 -1.36824934e-02 3.27404849e+02] [-1.09400925e-02 9.99940060e-01 4.37189606e-04 2.74726034e+02] [ 1.36864583e-02 -2.87434748e-04 9.99906295e-01 2.21711743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.040714057 meters Centerline goodness : 0.984607 Centerline is valid? [True, True] Translation: X:327.43, Y:274.73, Z:2.22 [[ 9.99802820e-01 1.43979829e-02 -1.36754963e-02 3.27431245e+02] [-1.43896033e-02 9.99896212e-01 7.10949395e-04 2.74726237e+02] [ 1.36843132e-02 -5.14024244e-04 9.99906233e-01 2.21679512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0707140569999 meters Centerline goodness : 0.984409 Centerline is valid? [True, True] Translation: X:327.46, Y:274.73, Z:2.22 [[ 9.99709281e-01 1.98565027e-02 -1.36774684e-02 3.27459561e+02] [-1.98496811e-02 9.99802774e-01 6.34335288e-04 2.74726513e+02] [ 1.36873665e-02 -3.62657488e-04 9.99906258e-01 2.21960838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1007140569999 meters Centerline goodness : 0.985431 Centerline is valid? [True, True] Translation: X:327.49, Y:274.73, Z:2.22 [[ 9.99599546e-01 2.47725547e-02 -1.36772629e-02 3.27487681e+02] [-2.47660823e-02 9.99693067e-01 6.42420512e-04 2.74725528e+02] [ 1.36889793e-02 -3.03431034e-04 9.99906255e-01 2.22066021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.130714057 meters Centerline goodness : 0.984742 Centerline is valid? [True, True] Translation: X:327.52, Y:274.73, Z:2.22 [[ 9.99565627e-01 2.61049655e-02 -1.36780481e-02 3.27517989e+02] [-2.60990718e-02 9.99659176e-01 6.09236886e-04 2.74725055e+02] [ 1.36892903e-02 -2.51987891e-04 9.99906266e-01 2.22044332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.160714057 meters Centerline goodness : 0.983172 Centerline is valid? [True, True] Translation: X:327.54, Y:274.73, Z:2.22 [[ 9.99596413e-01 2.48996379e-02 -1.36755277e-02 3.27544345e+02] [-2.48923616e-02 9.99689891e-01 7.02051804e-04 2.74725474e+02] [ 1.36887677e-02 -3.61352283e-04 9.99906239e-01 2.21581297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1907140569999 meters Centerline goodness : 0.983932 Centerline is valid? [True, True] Translation: X:327.57, Y:274.72, Z:2.22 [[ 9.99602788e-01 2.46398099e-02 -1.36801123e-02 3.27571418e+02] [-2.46348171e-02 9.99696375e-01 5.33386243e-04 2.74722011e+02] [ 1.36891012e-02 -1.96167312e-04 9.99906281e-01 2.21763010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2207140569999 meters Centerline goodness : 0.982812 Centerline is valid? [True, True] Translation: X:327.60, Y:274.72, Z:2.22 [[ 9.99707028e-01 1.99674261e-02 -1.36806738e-02 3.27600311e+02] [-1.99622833e-02 9.99800602e-01 5.12386128e-04 2.74720614e+02] [ 1.36881770e-02 -2.39138526e-04 9.99906284e-01 2.21523741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.250714057 meters Centerline goodness : 0.984657 Centerline is valid? [True, True] Translation: X:327.63, Y:274.72, Z:2.22 [[ 9.99799543e-01 1.46180253e-02 -1.36816431e-02 3.27632428e+02] [-1.46128845e-02 9.99893113e-01 4.75642503e-04 2.74717034e+02] [ 1.36871337e-02 -2.75618886e-04 9.99906289e-01 2.21936953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.280714057 meters Centerline goodness : 0.984466 Centerline is valid? [True, True] Translation: X:327.66, Y:274.72, Z:2.22 [[ 9.99906409e-01 -2.86369110e-04 -1.36781131e-02 3.27658380e+02] [ 2.94871310e-04 9.99999765e-01 6.19578912e-04 2.74718190e+02] [ 1.36779324e-02 -6.23554208e-04 9.99906258e-01 2.21808016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3107140569999 meters Centerline goodness : 0.987192 Centerline is valid? [True, True] Translation: X:327.69, Y:274.71, Z:2.22 [[ 9.99845606e-01 -1.10247634e-02 -1.36828205e-02 3.27692892e+02] [ 1.10315869e-02 9.99939061e-01 4.23313821e-04 2.74714536e+02] [ 1.36773197e-02 -5.74191687e-04 9.99906296e-01 2.21649880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3407140569999 meters Centerline goodness : 0.987192 Centerline is valid? [True, True] Translation: X:327.72, Y:274.71, Z:2.22 [[ 9.99837538e-01 -1.17440310e-02 -1.36738771e-02 3.27721748e+02] [ 1.17568100e-02 9.99930521e-01 8.54542771e-04 2.74714181e+02] [ 1.36628913e-02 -1.01516512e-03 9.99906143e-01 2.21671047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3707140569999 meters Centerline goodness : 0.985184 Centerline is valid? [True, True] Translation: X:327.74, Y:274.72, Z:2.22 [[ 9.99796989e-01 -1.47985061e-02 -1.36742767e-02 3.27742920e+02] [ 1.48112976e-02 9.99889958e-01 8.34639265e-04 2.74717372e+02] [ 1.36604205e-02 -1.03700361e-03 9.99906154e-01 2.22239962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.400714057 meters Centerline goodness : 0.985561 Centerline is valid? [True, True] Translation: X:327.77, Y:274.72, Z:2.22 [[ 9.99768811e-01 -1.65874553e-02 -1.36814185e-02 3.27774534e+02] [ 1.65951310e-02 9.99862191e-01 4.47688313e-04 2.74716558e+02] [ 1.36721071e-02 -6.74629745e-04 9.99906305e-01 2.22159096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4307140569999 meters Centerline goodness : 0.985671 Centerline is valid? [True, True] Translation: X:327.80, Y:274.72, Z:2.22 [[ 9.99665399e-01 -2.19535048e-02 -1.36796640e-02 3.27804467e+02] [ 2.19630117e-02 9.99758635e-01 5.45100729e-04 2.74719548e+02] [ 1.36643953e-02 -8.45364957e-04 9.99906280e-01 2.22447257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4607140569999 meters Centerline goodness : 0.985452 Centerline is valid? [True, True] Translation: X:327.84, Y:274.72, Z:2.22 [[ 9.99650798e-01 -2.26077948e-02 -1.36809728e-02 3.27836500e+02] [ 2.26163621e-02 9.99744106e-01 4.71811533e-04 2.74718423e+02] [ 1.36668053e-02 -7.81060611e-04 9.99906300e-01 2.22257808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4907140569999 meters Centerline goodness : 0.986696 Centerline is valid? [True, True] Translation: X:327.87, Y:274.72, Z:2.22 [[ 9.99580847e-01 -2.55140969e-02 -1.36807191e-02 3.27867859e+02] [ 2.55231330e-02 9.99674114e-01 4.86281955e-04 2.74720765e+02] [ 1.36638537e-02 -8.35252941e-04 9.99906296e-01 2.22199054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 27559.75 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%| | 0/31150 [00:00